From 923a5e9fdfcfcc765606bce6fa7f99cb3717dcbe Mon Sep 17 00:00:00 2001
From: guoshilong <123456>
Date: Wed, 15 Nov 2023 14:05:06 +0800
Subject: [PATCH] 图斑飞行
---
src/main/java/com/dji/sample/control/service/impl/ControlServiceImpl.java | 107 ++++++++++++++++++++++++++++++++++++++++++-----------
1 files changed, 84 insertions(+), 23 deletions(-)
diff --git a/src/main/java/com/dji/sample/control/service/impl/ControlServiceImpl.java b/src/main/java/com/dji/sample/control/service/impl/ControlServiceImpl.java
index 3f1ae9d..3cee5df 100644
--- a/src/main/java/com/dji/sample/control/service/impl/ControlServiceImpl.java
+++ b/src/main/java/com/dji/sample/control/service/impl/ControlServiceImpl.java
@@ -1,5 +1,6 @@
package com.dji.sample.control.service.impl;
+import com.alibaba.fastjson.JSONObject;
import com.dji.sample.common.error.CommonErrorEnum;
import com.dji.sample.common.model.ResponseResult;
import com.dji.sample.component.mqtt.model.*;
@@ -9,10 +10,12 @@
import com.dji.sample.component.websocket.model.BizCodeEnum;
import com.dji.sample.component.websocket.service.ISendMessageService;
import com.dji.sample.control.model.dto.FlyToProgressReceiver;
+import com.dji.sample.control.model.dto.PointDTO;
import com.dji.sample.control.model.dto.ResultNotifyDTO;
import com.dji.sample.control.model.dto.TakeoffProgressReceiver;
import com.dji.sample.control.model.enums.DroneAuthorityEnum;
import com.dji.sample.control.model.enums.DroneControlMethodEnum;
+import com.dji.sample.control.model.enums.FlyToStatusEnum;
import com.dji.sample.control.model.enums.RemoteDebugMethodEnum;
import com.dji.sample.control.model.param.*;
import com.dji.sample.control.service.IControlService;
@@ -24,6 +27,7 @@
import com.dji.sample.manage.service.IDeviceRedisService;
import com.dji.sample.manage.service.IDeviceService;
import com.dji.sample.wayline.model.enums.WaylineErrorCodeEnum;
+import com.dji.sample.wayline.model.param.PointPOJO;
import com.fasterxml.jackson.core.type.TypeReference;
import com.fasterxml.jackson.databind.ObjectMapper;
import lombok.extern.slf4j.Slf4j;
@@ -32,9 +36,7 @@
import org.springframework.messaging.MessageHeaders;
import org.springframework.stereotype.Service;
-import java.util.Objects;
-import java.util.Optional;
-import java.util.UUID;
+import java.util.*;
/**
* @author sean
@@ -97,7 +99,7 @@
"error: " + serviceIdentifier + serviceReply.getResult());
}
if (controlMethodEnum.getProgress()) {
- RedisOpsUtils.setWithExpire(serviceIdentifier + RedisConst.DELIMITER + bid, sn,
+ RedisOpsUtils.setWithExpire(serviceIdentifier + RedisConst.DELIMITER + bid, sn,
RedisConst.DEVICE_ALIVE_SECOND * RedisConst.DEVICE_ALIVE_SECOND);
}
return ResponseResult.success();
@@ -105,6 +107,7 @@
/**
* Handles multi-state command progress information.
+ *
* @param receiver
* @param headers
* @return
@@ -118,7 +121,8 @@
String sn = RedisOpsUtils.get(key).toString();
EventsReceiver<EventsOutputProgressReceiver> eventsReceiver = mapper.convertValue(receiver.getData(),
- new TypeReference<EventsReceiver<EventsOutputProgressReceiver>>(){});
+ new TypeReference<EventsReceiver<EventsOutputProgressReceiver>>() {
+ });
eventsReceiver.setBid(receiver.getBid());
eventsReceiver.setSn(sn);
@@ -137,7 +141,7 @@
Optional<DeviceDTO> deviceOpt = deviceRedisService.getDeviceOnline(sn);
if (deviceOpt.isEmpty()) {
- throw new RuntimeException("The device is offline.");
+ throw new RuntimeException("设备离线.");
}
DeviceDTO device = deviceOpt.get();
@@ -151,12 +155,12 @@
// TODO 设备固件版本不兼容情况
Optional<DeviceDTO> dockOpt = deviceRedisService.getDeviceOnline(dockSn);
if (dockOpt.isEmpty()) {
- throw new RuntimeException("The dock is offline, please restart the dock.");
+ throw new RuntimeException("机场离线请重启机场");
}
DeviceModeCodeEnum deviceMode = deviceService.getDeviceMode(dockOpt.get().getChildDeviceSn());
if (DeviceModeCodeEnum.MANUAL != deviceMode) {
- throw new RuntimeException("The current state of the drone does not support this function, please try again later.");
+ throw new RuntimeException("无人机当前状态不支持此功能，请稍后再试");
}
ResponseResult result = seizeAuthority(dockSn, DroneAuthorityEnum.FLIGHT, null);
@@ -172,7 +176,7 @@
param.setFlyToId(UUID.randomUUID().toString());
ServiceReply reply = messageSenderService.publishServicesTopic(sn, DroneControlMethodEnum.FLY_TO_POINT.getMethod(), param, param.getFlyToId());
return ResponseResult.CODE_SUCCESS != reply.getResult() ?
- ResponseResult.error("Flying to the target point failed." + reply.getResult())
+ ResponseResult.error("飞向目标点失败。" + reply.getResult())
: ResponseResult.success();
}
@@ -180,21 +184,22 @@
public ResponseResult flyToPointStop(String sn) {
ServiceReply reply = messageSenderService.publishServicesTopic(sn, DroneControlMethodEnum.FLY_TO_POINT_STOP.getMethod(), null);
return ResponseResult.CODE_SUCCESS != reply.getResult() ?
- ResponseResult.error("The drone flying to the target point failed to stop. " + reply.getResult())
+ ResponseResult.error("飞向目标点的无人机停止失败" + reply.getResult())
: ResponseResult.success();
}
@ServiceActivator(inputChannel = ChannelName.INBOUND_EVENTS_FLY_TO_POINT_PROGRESS, outputChannel = ChannelName.OUTBOUND_EVENTS)
public CommonTopicReceiver handleFlyToPointProgress(CommonTopicReceiver receiver, MessageHeaders headers) {
- String dockSn = receiver.getGateway();
+ String dockSn = receiver.getGateway();
Optional<DeviceDTO> deviceOpt = deviceRedisService.getDeviceOnline(dockSn);
if (deviceOpt.isEmpty()) {
- log.error("The dock is offline.");
+ log.error("机场离线");
return null;
}
- FlyToProgressReceiver eventsReceiver = mapper.convertValue(receiver.getData(), new TypeReference<FlyToProgressReceiver>(){});
+ FlyToProgressReceiver eventsReceiver = mapper.convertValue(receiver.getData(), new TypeReference<FlyToProgressReceiver>() {
+ });
webSocketMessageService.sendBatch(deviceOpt.get().getWorkspaceId(), UserTypeEnum.WEB.getVal(),
BizCodeEnum.FLY_TO_POINT_PROGRESS.getCode(),
ResultNotifyDTO.builder().sn(dockSn)
@@ -202,13 +207,68 @@
eventsReceiver.getStatus().getMessage() : eventsReceiver.getResult().getErrorMsg())
.result(eventsReceiver.getResult().getErrorCode())
.build());
+
+ if (eventsReceiver.getStatus().equals(FlyToStatusEnum.WAYLINE_OK)) {
+ JSONObject jsonObject = (JSONObject) RedisOpsUtils.get("tuban:" + dockSn);
+ if (jsonObject != null) {
+ List<PointPOJO> targetList = (List<PointPOJO>) jsonObject.get("targetList");
+ int curIndex = (Integer) jsonObject.get("curIndex");
+ flyToNextPoint(targetList, curIndex, dockSn);
+ }
+ }
return receiver;
}
+
+ private ResponseResult flyToNextPoint(List<PointPOJO> targetList, int curIndex, String sn) {
+ curIndex = curIndex + 1;
+ //当无人机状态为人工时再发布下一个命令
+ while (true) {
+ Optional<DeviceDTO> dockOpt = deviceRedisService.getDeviceOnline(sn);
+ DeviceModeCodeEnum deviceMode = deviceService.getDeviceMode(dockOpt.get().getChildDeviceSn());
+
+ if (DeviceModeCodeEnum.MANUAL == deviceMode) {
+ if (curIndex == targetList.size()) {
+ //当前是最后一个点，返航
+ ResponseResult returnHome = controlDockDebug(sn, "return_home", null);
+
+ RedisOpsUtils.del("tuban:" + sn);
+
+ return returnHome;
+ }
+ else {
+ //当前不是最后一个点，飞行到下一个点
+ FlyToPointParam flyToPointParam = new FlyToPointParam();
+ flyToPointParam.setMaxSpeed(14);
+ List<PointDTO> pointDTOS = new ArrayList<>();
+
+ PointDTO pointDTO = new PointDTO();
+ pointDTO.setHeight(150.0);
+ pointDTO.setLongitude(targetList.get(curIndex).getLon());
+ pointDTO.setLatitude(targetList.get(curIndex).getLat());
+ pointDTOS.add(pointDTO);
+ flyToPointParam.setPoints(pointDTOS);
+
+
+ ResponseResult flyToRes = flyToPoint(sn, flyToPointParam);
+ if (flyToRes.getCode() == ResponseResult.CODE_SUCCESS) {
+ JSONObject jsonObject = new JSONObject();
+ jsonObject.put("targetList", targetList);
+ jsonObject.put("curIndex", curIndex);
+ RedisOpsUtils.set("tuban:" + sn, jsonObject);
+ }
+ return flyToRes;
+
+
+ }
+ }
+ }
+ }
+
private void checkTakeoffCondition(String dockSn) {
Optional<DeviceDTO> dockOpt = deviceRedisService.getDeviceOnline(dockSn);
if (dockOpt.isEmpty() || DockModeCodeEnum.IDLE != deviceService.getDockMode(dockSn)) {
- throw new RuntimeException("The current state does not support takeoff.");
+ throw new RuntimeException("当前状态不支持起飞");
}
ResponseResult result = seizeAuthority(dockSn, DroneAuthorityEnum.FLIGHT, null);
@@ -225,20 +285,21 @@
param.setFlightId(UUID.randomUUID().toString());
ServiceReply reply = messageSenderService.publishServicesTopic(sn, DroneControlMethodEnum.TAKE_OFF_TO_POINT.getMethod(), param, param.getFlightId());
return ResponseResult.CODE_SUCCESS != reply.getResult() ?
- ResponseResult.error("The drone failed to take off. " + reply.getResult())
+ ResponseResult.error("无人机起飞失败 " + reply.getResult())
: ResponseResult.success();
}
@ServiceActivator(inputChannel = ChannelName.INBOUND_EVENTS_TAKE_OFF_TO_POINT_PROGRESS, outputChannel = ChannelName.OUTBOUND_EVENTS)
public CommonTopicReceiver handleTakeoffToPointProgress(CommonTopicReceiver receiver, MessageHeaders headers) {
- String dockSn = receiver.getGateway();
+ String dockSn = receiver.getGateway();
Optional<DeviceDTO> deviceOpt = deviceRedisService.getDeviceOnline(dockSn);
if (deviceOpt.isEmpty()) {
- log.error("The dock is offline.");
+ log.error("机场离线");
return null;
}
- TakeoffProgressReceiver eventsReceiver = mapper.convertValue(receiver.getData(), new TypeReference<TakeoffProgressReceiver>(){});
+ TakeoffProgressReceiver eventsReceiver = mapper.convertValue(receiver.getData(), new TypeReference<TakeoffProgressReceiver>() {
+ });
webSocketMessageService.sendBatch(deviceOpt.get().getWorkspaceId(), UserTypeEnum.WEB.getVal(),
BizCodeEnum.TAKE_OFF_TO_POINT_PROGRESS.getCode(),
@@ -272,14 +333,14 @@
}
ServiceReply serviceReply = messageSenderService.publishServicesTopic(sn, method, param);
return ResponseResult.CODE_SUCCESS != serviceReply.getResult() ?
- ResponseResult.error(serviceReply.getResult(), "Method: " + method + " Error Code:" + serviceReply.getResult())
+ ResponseResult.error(serviceReply.getResult(), "方法: " + method + " 错误码：" + serviceReply.getResult())
: ResponseResult.success();
}
private Boolean checkPayloadAuthority(String sn, String payloadIndex) {
Optional<DeviceDTO> dockOpt = deviceRedisService.getDeviceOnline(sn);
if (dockOpt.isEmpty()) {
- throw new RuntimeException("The dock is offline, please restart the dock.");
+ throw new RuntimeException("机场离线请重启机场");
}
return devicePayloadService.checkAuthorityPayload(dockOpt.get().getChildDeviceSn(), payloadIndex);
}
@@ -294,15 +355,15 @@
ServiceReply serviceReply = messageSenderService.publishServicesTopic(param.getSn(), param.getCmd().getCmd(), param.getData());
return ResponseResult.CODE_SUCCESS != serviceReply.getResult() ?
- ResponseResult.error(serviceReply.getResult(), " Error Code:" + serviceReply.getResult())
+ ResponseResult.error(serviceReply.getResult(), "错误码：" + serviceReply.getResult())
: ResponseResult.success();
}
@Override
- public ResponseResult requestsConfig(String sn,String method, RequestsParam param) {
+ public ResponseResult requestsConfig(String sn, String method, RequestsParam param) {
ServiceReply serviceReply = messageSenderService.publishRequestsTopic(sn, method, param);
return ResponseResult.CODE_SUCCESS != serviceReply.getResult() ?
- ResponseResult.error(serviceReply.getResult(), " Error Code:" + serviceReply.getResult())
+ ResponseResult.error(serviceReply.getResult(), "错误码：" + serviceReply.getResult())
: ResponseResult.success();
}
--
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