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 | 286 ++++++++++++++++++---------------------------------------
1 files changed, 91 insertions(+), 195 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 f5b1854..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
@@ -1,10 +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;
@@ -22,6 +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;
@@ -34,7 +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;
@@ -56,6 +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.*;
@@ -283,108 +285,6 @@
return response;
}
-
- //新增多条数据
- //开始日期
-// String parentId = "";
-// for (int i = 0; i < param.getExecuteStartTimeArr().size(); i++) {
-// List<Long> timeArr = param.getExecuteStartTimeArr().get(i);
-//
-// long beginTimeLong = 0L;
-// long endTimeLong = 0L;
-// LocalDateTime beginTime = null;
-// if (i == 0) {
-// //父,开始-结束为整个区间
-// //开始日期
-// LocalDate startDate = LocalDate.ofInstant(Instant.ofEpochSecond(param.getTaskDays().get(0)), ZoneId.systemDefault());
-// beginTimeLong = LocalDateTime.of(startDate, LocalTime.ofInstant(Instant.ofEpochSecond(param.getExecuteStartTimeArr().get(0).get(0)), ZoneId.systemDefault()))
-// .atZone(ZoneId.systemDefault()).toInstant().toEpochMilli();
-//
-// //结束日期
-// LocalDate endDate = LocalDate.ofInstant(Instant.ofEpochSecond(param.getTaskDays().get(1)), ZoneId.systemDefault());
-// endTimeLong = LocalDateTime.of(endDate, LocalTime.ofInstant(Instant.ofEpochSecond(param.getExecuteStartTimeArr().get(param.getExecuteStartTimeArr().size() - 1).get(0)), ZoneId.systemDefault()))
-// .atZone(ZoneId.systemDefault()).toInstant().toEpochMilli();
-// } else {
-// //子,开始-结束为当前区间
-// //开始日期
-// LocalDate date = LocalDate.ofInstant(Instant.ofEpochSecond(timeArr.get(0)), ZoneId.systemDefault());
-// //任务执行开始时间
-// beginTime = LocalDateTime.of(date, LocalTime.ofInstant(Instant.ofEpochSecond(timeArr.get(0)), ZoneId.systemDefault()));
-// //任务结束时间
-// LocalDateTime endTime = timeArr.size() > 1 && Objects.nonNull(timeArr.get(1)) ?
-// LocalDateTime.of(date, LocalTime.ofInstant(Instant.ofEpochSecond(timeArr.get(1)), ZoneId.systemDefault())) : beginTime;
-//
-// beginTimeLong = beginTime.atZone(ZoneId.systemDefault()).toInstant().toEpochMilli();
-// endTimeLong = endTime.atZone(ZoneId.systemDefault()).toInstant().toEpochMilli();
-// }
-//
-//
-// //保存数据
-// WaylineJobEntity waylineJobEntity = WaylineJobEntity.builder()
-// .parentId(parentId.equals("") ? null : parentId)
-// .jobId(UUID.randomUUID().toString())
-// .name(param.getName())
-// .dockSn(param.getDockSn())
-// .fileId(param.getFileId())
-// .username(customClaim.getUsername())
-// .workspaceId(customClaim.getWorkspaceId())
-//
-// .beginTime(beginTimeLong)
-// .endTime(endTimeLong)
-// .status(WaylineJobStatusEnum.PENDING.getVal())
-// .taskType(param.getTaskType().getVal())
-// .waylineType(param.getWaylineType().getVal())
-// .outOfControlAction(param.getOutOfControlAction())
-// .batteryCapacity(param.getMinBatteryCapacity())
-// .rthAltitude(param.getRthAltitude())
-// .mediaCount(0)
-// .repFreVal(param.getRepFreVal())
-// .repFreType(param.getRepFreType())
-// .repRuleType(param.getRepRuleType())
-// .repRuleVal(param.getRepRuleVal())
-// .executeTimeArr(param.getTaskPeriods())
-// .executeStartTimeArr(param.getExecuteStartTimeArr())
-// .build();
-//
-// Optional<WaylineJobDTO> waylineJobOpt = insertWaylineJob(waylineJobEntity);
-//
-// if (waylineJobOpt.isEmpty()) {
-// throw new SQLException("任务创建失败");
-// }
-//
-//
-// if (i == 0) {
-// //把第一个当作父
-// parentId = waylineJobEntity.getId().toString();
-// }
-// WaylineJobDTO waylineJob = waylineJobOpt.get();
-//
-// //条件任务
-// if (param.getTaskType() == WaylineTaskTypeEnum.CONDITION) {
-// //如果是条件任务类型，需要在任务参数中添加条件。
-// waylineJob.setConditions(
-// WaylineTaskConditionDTO.builder()
-// .executableConditions(Objects.nonNull(param.getMinStorageCapacity()) ? WaylineTaskExecutableConditionDTO.builder().storageCapacity(param.getMinStorageCapacity()).build() : null)
-// .readyConditions(WaylineTaskReadyConditionDTO.builder()
-// .batteryCapacity(param.getMinBatteryCapacity())
-// .beginTime(beginTimeLong)
-// .endTime(endTimeLong)
-// .build())
-// .build());
-// } else {
-// waylineJob.setBeginTime(beginTime);
-// }
-//
-// if (waylineJobOpt.isEmpty()) {
-// throw new SQLException("任务创建失败");
-// }
-//
-// ResponseResult response = this.publishOneFlightTask(waylineJob);
-// if (ResponseResult.CODE_SUCCESS != response.getCode()) {
-// return response;
-// }
-// }
-
return ResponseResult.success();
}
@@ -592,13 +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);
}
@@ -610,19 +510,7 @@
@Override
public PaginationData<WaylineJobDTO> getJobsByWorkspaceId(String workspaceId, long page, long pageSize, WaylineJobQueryParam waylineJobQueryParam) {
-// Page<WaylineJobEntity> pageData = mapper.selectPage(
-// new Page<WaylineJobEntity>(page, pageSize),
-// new LambdaQueryWrapper<WaylineJobEntity>()
-// .eq(WaylineJobEntity::getWorkspaceId, workspaceId)
-// .eq(waylineJobDTO.getTaskType() !=null, WaylineJobEntity::getTaskType, waylineJobDTO.getTaskType())
-// .eq(waylineJobDTO.getStatus()!=null, WaylineJobEntity::getStatus, waylineJobDTO.getStatus())
-// .like(StringUtils.hasText(waylineJobDTO.getJobName()),WaylineJobEntity::getName,waylineJobDTO.getJobName())
-//
-//
-// .orderByDesc(WaylineJobEntity::getId));
-
Page<WaylineJobEntity> pageData = mapper.getPage(new Page<WaylineJobEntity>(page, pageSize), waylineJobQueryParam, workspaceId);
-
List<WaylineJobDTO> records = pageData.getRecords()
.stream()
@@ -630,6 +518,18 @@
.collect(Collectors.toList());
return new PaginationData<WaylineJobDTO>(records, new Pagination(pageData));
+ }
+
+ @Override
+ public List<WaylineJobDTO> getChildrenJobs(String workspaceId, WaylineJobQueryParam waylineJobQueryParam) {
+
+ List<WaylineJobEntity> list = mapper.getJobs(workspaceId, waylineJobQueryParam);
+ List<WaylineJobDTO> records = list
+ .stream()
+ .map(this::entity2Dto)
+ .collect(Collectors.toList());
+
+ return records;
}
@@ -796,54 +696,70 @@
@Override
public WaylineJobEntity getLatestJob(String workspaceId, WaylineJobQueryParam waylineJobQueryParam) {
-// List<WaylineJobEntity> waylineJobEntities = mapper.selectList(new LambdaQueryWrapper<>(WaylineJobEntity.class)
-// .eq(WaylineJobEntity::getWorkspaceId, workspaceId)
-// .eq(WaylineJobEntity::getDockSn, waylineJobQueryParam.getDockSn())
-// //获取状态为待执行
-// .eq(WaylineJobEntity::getStatus,1)
-// .orderByDesc(WaylineJobEntity::getBeginTime)
-// );
-
WaylineJobEntity waylineJobEntity = mapper.getLatest(workspaceId, waylineJobQueryParam);
-
-
return waylineJobEntity;
}
@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());
@@ -860,47 +776,21 @@
takeoffToPointParam.setMaxSpeed(10.0);
takeoffToPointParam.setExitWaylineWhenRcLost(WaylineRcLostActionEnum.EXECUTE_RC_LOST_ACTION);
- //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());
- WaylineJobEntity currentJob = mapper.selectOne(Wrappers.query(params));
+ WaylineJobEntity job1 = mapper.selectOne(Wrappers.query(params));
+
+ WaylineJobEntity currentJob = JSON.parseObject(JSON.toJSONString(job1), WaylineJobEntity.class);
+
if (currentJob == null) {
return ResponseResult.error("该任务不存在");
}
@@ -915,7 +805,7 @@
long currentTime = System.currentTimeMillis();
for (int i = 0; i < executeStartTimeArr.size(); i++) {
- Long startTime = Long.valueOf(executeStartTimeArr.get(i).get(0));
+ 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
@@ -923,6 +813,11 @@
break;
}
}
+
+ if (indexTime == -1) {
+ return ResponseResult.success();
+ }
+
List<Long> timeArr = currentJob.getExecuteStartTimeArr().get(indexTime);
LocalDate date = LocalDate.ofInstant(Instant.ofEpochSecond(timeArr.get(0)), ZoneId.systemDefault());
@@ -1005,10 +900,10 @@
@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();
@@ -1024,9 +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();
}
@@ -1098,7 +993,8 @@
.waylineType(WaylineTemplateTypeEnum.find(entity.getWaylineType()))
.rthAltitude(entity.getRthAltitude())
.outOfControlAction(entity.getOutOfControlAction())
- .mediaCount(entity.getMediaCount());
+ .mediaCount(entity.getMediaCount())
+ .hasChildren(entity.getHasChildren());
if (Objects.nonNull(entity.getEndTime())) {
builder.endTime(LocalDateTime.ofInstant(Instant.ofEpochMilli(entity.getEndTime()), ZoneId.systemDefault()));
--
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