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/wayline/service/impl/WaylineJobServiceImpl.java | 142 ++++++++++++++++++++++------------------------
1 files changed, 68 insertions(+), 74 deletions(-)
diff --git a/src/main/java/com/dji/sample/wayline/service/impl/WaylineJobServiceImpl.java b/src/main/java/com/dji/sample/wayline/service/impl/WaylineJobServiceImpl.java
index 8ae67ba..a009206 100644
--- a/src/main/java/com/dji/sample/wayline/service/impl/WaylineJobServiceImpl.java
+++ b/src/main/java/com/dji/sample/wayline/service/impl/WaylineJobServiceImpl.java
@@ -1,11 +1,10 @@
package com.dji.sample.wayline.service.impl;
-import com.alibaba.druid.stat.TableStat;
import com.alibaba.fastjson.JSON;
+import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.baomidou.mybatisplus.core.conditions.update.LambdaUpdateWrapper;
import com.baomidou.mybatisplus.core.toolkit.Wrappers;
-import com.baomidou.mybatisplus.extension.conditions.query.LambdaQueryChainWrapper;
import com.baomidou.mybatisplus.extension.conditions.update.LambdaUpdateChainWrapper;
import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
import com.dji.sample.common.error.CommonErrorEnum;
@@ -23,6 +22,7 @@
import com.dji.sample.control.model.param.TakeoffToPointParam;
import com.dji.sample.control.service.IControlService;
import com.dji.sample.control.service.IDrcService;
+import com.dji.sample.geo.entity.GeoJson;
import com.dji.sample.manage.model.dto.DeviceDTO;
import com.dji.sample.manage.model.enums.DeviceModeCodeEnum;
import com.dji.sample.manage.model.enums.DockModeCodeEnum;
@@ -35,7 +35,7 @@
import com.dji.sample.media.model.MediaFileCountDTO;
import com.dji.sample.media.model.MediaMethodEnum;
import com.dji.sample.media.service.IFileService;
-import com.dji.sample.utils.GeoUtils;
+import com.dji.sample.geo.utils.GeoUtils;
import com.dji.sample.wayline.dao.IWaylineJobMapper;
import com.dji.sample.wayline.model.dto.*;
import com.dji.sample.wayline.model.entity.WaylineJobEntity;
@@ -57,6 +57,7 @@
import org.springframework.util.CollectionUtils;
import org.springframework.util.StringUtils;
+import java.io.File;
import java.net.URL;
import java.sql.SQLException;
import java.time.*;
@@ -491,13 +492,13 @@
}
@Override
- public Boolean updateJob(WaylineJobDTO dto){
+ public Boolean updateJob(WaylineJobDTO dto) {
try {
- if (dto.getStatus() == 3){
+ if (dto.getStatus() == 3) {
this.checkNextJob(dto);
}
- }catch (SQLException e) {
+ } catch (SQLException e) {
throw new RuntimeException(e);
}
@@ -522,8 +523,8 @@
@Override
public List<WaylineJobDTO> getChildrenJobs(String workspaceId, WaylineJobQueryParam waylineJobQueryParam) {
- List<WaylineJobEntity> list= mapper.getJobs(workspaceId, waylineJobQueryParam);
- List<WaylineJobDTO> records =list
+ List<WaylineJobEntity> list = mapper.getJobs(workspaceId, waylineJobQueryParam);
+ List<WaylineJobDTO> records = list
.stream()
.map(this::entity2Dto)
.collect(Collectors.toList());
@@ -700,39 +701,65 @@
}
@Override
- public ResponseResult flyByArea(String sn, FlyAreaParam flyAreaParam) {
+ public ResponseResult flyByArea(String sn, FlyAreaParam flyAreaParam, String deviceSn) {
- List<List<PointPOJO>> areaList = flyAreaParam.getAreaList();
+ //获取所有中心点
+// List<PointPOJO> targetList = GeoUtils.caculatePointList(flyAreaParam);
PointPOJO dockPoint = flyAreaParam.getDockPoint();
- Double radius = flyAreaParam.getRadius();
+ GeoJson geoJson = GeoUtils.readJsonFile(flyAreaParam.getJsonPath());
+ List<PointPOJO> targetList = GeoUtils.caculatePointList(geoJson, dockPoint, flyAreaParam.getRadius());
- List<PointPOJO> centerPointList = new ArrayList<>();
+ //一键起飞
+ TakeoffToPointParam takeoffToPointParam = buildTakeoffToPointParam(dockPoint);
- //根据区域获取中心点
- areaList.forEach(area -> {
- PointPOJO centerPoint = GeoUtils.getCenterPoint(area);
- centerPointList.add(centerPoint);
- });
+ ResponseResult takeoffToPointRes = controlService.takeoffToPoint(sn, takeoffToPointParam);
- //巡逻目标集合
- List<PointPOJO> targetList = new ArrayList<>();
- //获取所有中心点之后,
- centerPointList.forEach(centerPoint -> {
- //判断各个中心点和机场点的距离
- double distance = GeoUtils.distance(dockPoint.getLon(), dockPoint.getLat(), centerPoint.getLon(), centerPoint.getLat());
+ //设置飞向第一个点
+ while (takeoffToPointRes.getCode() == ResponseResult.CODE_SUCCESS) {
+ //获取无人机状态
+ DeviceModeCodeEnum deviceMode = deviceService.getDeviceMode(deviceSn);
- //当距离小于半径时,添加到目标集合中
- if (distance <= radius) {
- centerPoint.setDistance(distance);
- targetList.add(centerPoint);
+ //当无人机状态为手动飞行
+ if (deviceMode == DeviceModeCodeEnum.MANUAL) {
+ //飞向目标点
+ FlyToPointParam flyToPointParam = new FlyToPointParam();
+ flyToPointParam.setMaxSpeed(14);
+ List<PointDTO> pointDTOS = new ArrayList<>();
+
+ PointDTO pointDTO = new PointDTO();
+ pointDTO.setHeight(150.0);
+ pointDTO.setLongitude(targetList.get(0).getLon());
+ pointDTO.setLatitude(targetList.get(0).getLat());
+ pointDTOS.add(pointDTO);
+ flyToPointParam.setPoints(pointDTOS);
+
+
+ ResponseResult flyToRes = controlService.flyToPoint(sn, flyToPointParam);
+
+ if (flyToRes.getCode() == ResponseResult.CODE_SUCCESS) {
+ //第一个点指令飞行成功后，把数组存到redis中
+ /**
+ * {
+ * targetList:[],
+ * curIndex:
+ * }
+ */
+
+ JSONObject jsonObject = new JSONObject();
+ jsonObject.put("targetList",targetList);
+ jsonObject.put("curIndex",0);
+
+
+ RedisOpsUtils.set("tuban:"+sn,jsonObject);
+ }
+ break;
}
- });
+ }
- //按距离从近到远排序
- targetList.sort(Comparator.comparing(PointPOJO::getDistance));
+ return ResponseResult.success();
+ }
- //后续为无人机操作逻辑
- //先飞到空中
+ public TakeoffToPointParam buildTakeoffToPointParam(PointPOJO dockPoint) {
TakeoffToPointParam takeoffToPointParam = new TakeoffToPointParam();
takeoffToPointParam.setTargetLatitude(dockPoint.getLat());
@@ -749,43 +776,12 @@
takeoffToPointParam.setMaxSpeed(10.0);
takeoffToPointParam.setExitWaylineWhenRcLost(WaylineRcLostActionEnum.EXECUTE_RC_LOST_ACTION);
- return ResponseResult.success();
-// //起飞
-// ResponseResult responseResult = controlService.takeoffToPoint(sn, takeoffToPointParam);
-//
-// if (responseResult.getCode() != ResponseResult.CODE_SUCCESS) {
-// return responseResult;
-// }
-// //向目标点飞行
-//
-// FlyToPointParam flyToPointParam = new FlyToPointParam();
-// flyToPointParam.setMaxSpeed(14);
-// List<PointDTO> pointDTOS = new ArrayList<>();
-// targetList.forEach(pointPOJO -> {
-// PointDTO pointDTO = new PointDTO();
-// pointDTO.setHeight(150.0);
-// pointDTO.setLongitude(pointPOJO.getLon());
-// pointDTO.setLatitude(pointPOJO.getLat());
-//
-// pointDTOS.add(pointDTO);
-// });
-// flyToPointParam.setPoints(pointDTOS);
-// ResponseResult responseResult1 = controlService.flyToPoint(sn, flyToPointParam);
-//
-// if (responseResult1.getCode() != ResponseResult.CODE_SUCCESS) {
-// return responseResult1;
-// }
-//
-// //返航
-// //return_home
-//
-//
-// return ResponseResult.success();
+ return takeoffToPointParam;
}
@Override
- public ResponseResult checkNextJob(WaylineJobDTO job) throws SQLException {
+ public ResponseResult checkNextJob(WaylineJobDTO job) throws SQLException {
WaylineJobEntity params = new WaylineJobEntity();
params.setJobId(job.getJobId());
@@ -809,7 +805,7 @@
long currentTime = System.currentTimeMillis();
for (int i = 0; i < executeStartTimeArr.size(); i++) {
- Long startTime = executeStartTimeArr.get(i).get(0)*1000;
+ Long startTime = executeStartTimeArr.get(i).get(0) * 1000;
//如果当前时间小于开始时间
if (currentTime < startTime) {
//当前索引就是下一次要执行的时间
@@ -903,13 +899,11 @@
}
-
-
@Override
- public WaylineJobCountDTO patrolStatistics(String workspaceId,String queryTime) {
+ public WaylineJobCountDTO patrolStatistics(String workspaceId, String queryTime) {
WaylineJobCountDTO waylineJobCountDTO = new WaylineJobCountDTO();
- List<WaylineJobEntity> list = mapper.patrolStatistics(workspaceId,queryTime);
- if (!CollectionUtils.isEmpty(list)){
+ List<WaylineJobEntity> list = mapper.patrolStatistics(workspaceId, queryTime);
+ if (!CollectionUtils.isEmpty(list)) {
waylineJobCountDTO.setTotalNumber(list.size());
long totalTime = list.stream().mapToLong(s -> s.getEndTime() - s.getBeginTime()).sum() / 1000;
StringBuffer buffer = new StringBuffer();
@@ -925,9 +919,9 @@
@Override
public void updateJobCollect(WaylineJobEntity waylineJob) {
new LambdaUpdateChainWrapper<>(mapper)
- .eq(WaylineJobEntity::getJobId,waylineJob.getJobId())
- .set(WaylineJobEntity::getCollectStatus,waylineJob.getCollectStatus())
- .set(WaylineJobEntity::getUserId,waylineJob.getUserId())
+ .eq(WaylineJobEntity::getJobId, waylineJob.getJobId())
+ .set(WaylineJobEntity::getCollectStatus, waylineJob.getCollectStatus())
+ .set(WaylineJobEntity::getUserId, waylineJob.getUserId())
.update();
}
--
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