From bf4990ffb53e2a0e7b2ec0c7a8a054bdf8a57db5 Mon Sep 17 00:00:00 2001
From: shenyijian <1178253012@qq.com>
Date: Thu, 16 Nov 2023 10:02:13 +0800
Subject: [PATCH] 无人机 -设备分页新增保护区ID查询条件
---
src/main/java/com/dji/sample/wayline/service/impl/WaylineJobServiceImpl.java | 339 +++++++++++++++++++++++++++++++++++++++++++++-----------
1 files changed, 271 insertions(+), 68 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 e86e4c6..0d2d1a7 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
@@ -1,8 +1,10 @@
package com.dji.sample.wayline.service.impl;
+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.extension.conditions.query.LambdaQueryChainWrapper;
+import com.baomidou.mybatisplus.core.toolkit.Wrappers;
import com.baomidou.mybatisplus.extension.conditions.update.LambdaUpdateChainWrapper;
import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
import com.dji.sample.common.error.CommonErrorEnum;
@@ -10,15 +12,24 @@
import com.dji.sample.common.model.Pagination;
import com.dji.sample.common.model.PaginationData;
import com.dji.sample.common.model.ResponseResult;
+import com.dji.sample.common.util.SpringBeanUtils;
import com.dji.sample.component.mqtt.model.*;
import com.dji.sample.component.mqtt.service.IMessageSenderService;
import com.dji.sample.component.redis.RedisConst;
import com.dji.sample.component.redis.RedisOpsUtils;
-import com.dji.sample.control.model.param.DrcModeParam;
+import com.dji.sample.control.model.dto.PointDTO;
+import com.dji.sample.control.model.enums.CameraModeEnum;
+import com.dji.sample.control.model.enums.DroneAuthorityEnum;
+import com.dji.sample.control.model.enums.PayloadCommandsEnum;
+import com.dji.sample.control.model.param.*;
+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;
+import com.dji.sample.manage.model.enums.DroneRcLostActionEnum;
+import com.dji.sample.manage.model.enums.WaylineRcLostActionEnum;
import com.dji.sample.manage.model.receiver.OsdDockReceiver;
import com.dji.sample.manage.model.receiver.OsdSubDeviceReceiver;
import com.dji.sample.manage.service.IDeviceRedisService;
@@ -26,13 +37,12 @@
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.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;
import com.dji.sample.wayline.model.enums.*;
-import com.dji.sample.wayline.model.param.CreateJobParam;
-import com.dji.sample.wayline.model.param.UpdateJobParam;
-import com.dji.sample.wayline.model.param.WaylineJobQueryParam;
+import com.dji.sample.wayline.model.param.*;
import com.dji.sample.wayline.service.IWaylineFileService;
import com.dji.sample.wayline.service.IWaylineJobService;
import com.dji.sample.wayline.service.IWaylineRedisService;
@@ -49,6 +59,7 @@
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.*;
@@ -91,6 +102,9 @@
@Autowired
private IWaylineRedisService waylineRedisService;
+
+ @Autowired
+ private IControlService controlService;
private Optional<WaylineJobDTO> insertWaylineJob(WaylineJobEntity jobEntity) {
int id = mapper.insert(jobEntity);
@@ -240,42 +254,39 @@
WaylineJobDTO waylineJob = waylineJobOpt.get();
- //循环执行时间
- for (List<Long> timeArr : param.getExecuteStartTimeArr()) {
- LocalDate date = LocalDate.ofInstant(Instant.ofEpochSecond(timeArr.get(0)), ZoneId.systemDefault());
- long beginTime = LocalDateTime.of(date, LocalTime.ofInstant(Instant.ofEpochSecond(timeArr.get(0)), ZoneId.systemDefault()))
- .atZone(ZoneId.systemDefault()).toInstant().toEpochMilli();
+ //存一条记录,
+ List<Long> timeArr = param.getExecuteStartTimeArr().get(0);
- long endTime = timeArr.size() > 1 && Objects.nonNull(timeArr.get(1)) ?
- LocalDateTime.of(date, LocalTime.ofInstant(Instant.ofEpochSecond(timeArr.get(1)), ZoneId.systemDefault()))
- .atZone(ZoneId.systemDefault()).toInstant().toEpochMilli() : beginTime;
+ LocalDate date = LocalDate.ofInstant(Instant.ofEpochSecond(timeArr.get(0)), ZoneId.systemDefault());
+ LocalDateTime beginTime = LocalDateTime.of(date, LocalTime.ofInstant(Instant.ofEpochSecond(timeArr.get(0)), ZoneId.systemDefault()));
- if (WaylineTaskTypeEnum.IMMEDIATE != param.getTaskType() && endTime < System.currentTimeMillis()) {
- //中断当前循环执行下一个
- continue;
- }
+ LocalDateTime endTime = timeArr.size() > 1 && Objects.nonNull(timeArr.get(1)) ?
+ LocalDateTime.of(date, LocalTime.ofInstant(Instant.ofEpochSecond(timeArr.get(1)), ZoneId.systemDefault())) : beginTime;
-
- //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(beginTime)
- .endTime(endTime)
- .build())
- .build());
- }
-
- ResponseResult response = this.publishOneFlightTask(waylineJob);
- if (ResponseResult.CODE_SUCCESS != response.getCode()) {
- return response;
- }
-
+ if (WaylineTaskTypeEnum.IMMEDIATE != param.getTaskType() && endTime.atZone(ZoneId.systemDefault()).toInstant().toEpochMilli() < System.currentTimeMillis()) {
+ return ResponseResult.error("任务已过期");
}
+ //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(beginTime.atZone(ZoneId.systemDefault()).toInstant().toEpochMilli())
+ .endTime(endTime.atZone(ZoneId.systemDefault()).toInstant().toEpochMilli())
+ .build())
+ .build());
+ } else {
+ waylineJob.setBeginTime(beginTime);
+ }
+
+ ResponseResult response = this.publishOneFlightTask(waylineJob);
+ if (ResponseResult.CODE_SUCCESS != response.getCode()) {
+ return response;
+ }
+
return ResponseResult.success();
}
@@ -484,6 +495,16 @@
@Override
public Boolean updateJob(WaylineJobDTO dto) {
+
+ try {
+ if (dto.getStatus() == 3) {
+ this.checkNextJob(dto);
+ }
+ } catch (SQLException e) {
+ throw new RuntimeException(e);
+ }
+
+
return mapper.update(this.dto2Entity(dto),
new LambdaUpdateWrapper<WaylineJobEntity>()
.eq(WaylineJobEntity::getJobId, dto.getJobId())) > 0;
@@ -491,19 +512,7 @@
@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()
@@ -511,6 +520,18 @@
.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;
}
@@ -677,25 +698,206 @@
@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;
+ WaylineJobEntity waylineJobEntity = mapper.getLatest(workspaceId, waylineJobQueryParam);
+ return waylineJobEntity;
}
@Override
- public WaylineJobCountDTO patrolStatistics(String workspaceId) {
+ public ResponseResult flyByArea(String sn, FlyAreaParam flyAreaParam, String deviceSn) throws Exception {
+
+ //获取所有中心点
+// List<PointPOJO> targetList = GeoUtils.caculatePointList(flyAreaParam);
+ PointPOJO dockPoint = flyAreaParam.getDockPoint();
+ GeoJson geoJson = GeoUtils.readJsonFile(flyAreaParam.getJsonPath());
+ List<PointPOJO> targetList = GeoUtils.caculatePointList(geoJson, dockPoint, flyAreaParam.getRadius());
+
+ //一键起飞
+ TakeoffToPointParam takeoffToPointParam = buildTakeoffToPointParam(dockPoint);
+
+ ResponseResult takeoffToPointRes = controlService.takeoffToPoint(sn, takeoffToPointParam);
+
+ //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
+ JSONObject jsonObject = new JSONObject();
+ jsonObject.put("targetList",targetList);
+ jsonObject.put("payloadIndex",flyAreaParam.getPayloadIndex());
+ jsonObject.put("curIndex",0);
+ RedisOpsUtils.set("tuban:"+sn,jsonObject);
+ }
+ break;
+ }
+ }
+
+ return ResponseResult.success(targetList);
+ }
+
+ public TakeoffToPointParam buildTakeoffToPointParam(PointPOJO dockPoint) {
+ TakeoffToPointParam takeoffToPointParam = new TakeoffToPointParam();
+
+ takeoffToPointParam.setTargetLatitude(dockPoint.getLat());
+ takeoffToPointParam.setTargetLongitude(dockPoint.getLon());
+ //设置飞行高度
+ takeoffToPointParam.setTargetHeight(120.0);
+ //设置安全起飞高度
+ takeoffToPointParam.setSecurityTakeoffHeight(100.0);
+ //设置返航高度
+ takeoffToPointParam.setRthAltitude(100.0);
+ //设置失控操作
+ takeoffToPointParam.setRcLostAction(DroneRcLostActionEnum.RETURN_HOME);
+ //设置起飞速度
+ takeoffToPointParam.setMaxSpeed(10.0);
+ takeoffToPointParam.setExitWaylineWhenRcLost(WaylineRcLostActionEnum.EXECUTE_RC_LOST_ACTION);
+
+ return takeoffToPointParam;
+ }
+
+
+ @Override
+ public ResponseResult checkNextJob(WaylineJobDTO job) throws SQLException {
+
+ WaylineJobEntity params = new WaylineJobEntity();
+ params.setJobId(job.getJobId());
+
+
+ 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");
+ }
+
+ //该任务没有多次时间
+ if (currentJob.getExecuteStartTimeArr() == null) {
+ return ResponseResult.success();
+ }
+
+ List<List<Long>> executeStartTimeArr = currentJob.getExecuteStartTimeArr();
+ int indexTime = -1;
+
+ long currentTime = System.currentTimeMillis();
+ for (int i = 0; i < executeStartTimeArr.size(); i++) {
+ 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
+ indexTime = i;
+ 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());
+ LocalDateTime beginDate = LocalDateTime.of(date, LocalTime.ofInstant(Instant.ofEpochSecond(timeArr.get(0)), ZoneId.systemDefault()));
+ LocalDateTime endDate = timeArr.size() > 1 && Objects.nonNull(timeArr.get(1)) ?
+ LocalDateTime.of(date, LocalTime.ofInstant(Instant.ofEpochSecond(timeArr.get(1)), ZoneId.systemDefault()))
+ : beginDate;
+
+ long beginTime = beginDate
+ .atZone(ZoneId.systemDefault()).toInstant().toEpochMilli();
+ long endTime = endDate
+ .atZone(ZoneId.systemDefault()).toInstant().toEpochMilli();
+
+
+ //添加一条新数据
+ WaylineJobEntity waylineJobEntity = WaylineJobEntity.builder()
+ .jobId(UUID.randomUUID().toString())
+ //大于1则拿前面的parentId,为1则拿第0个的id
+ .parentId(indexTime > 1 ? currentJob.getParentId().toString() : currentJob.getId().toString())
+ .name(currentJob.getName())
+ .dockSn(currentJob.getDockSn())
+ .fileId(currentJob.getFileId())
+ .username(currentJob.getUsername())
+ .workspaceId(currentJob.getWorkspaceId())
+
+ .beginTime(beginTime)
+ .endTime(endTime)
+ .status(WaylineJobStatusEnum.PENDING.getVal())
+ .taskType(currentJob.getTaskType())
+ .waylineType(currentJob.getWaylineType())
+ .outOfControlAction(currentJob.getOutOfControlAction())
+ .batteryCapacity(currentJob.getBatteryCapacity())
+ .rthAltitude(currentJob.getRthAltitude())
+ .mediaCount(0)
+ .repFreVal(currentJob.getRepFreVal())
+ .repFreType(currentJob.getRepFreType())
+ .repRuleType(currentJob.getRepRuleType())
+ .repRuleVal(currentJob.getRepRuleVal())
+ .executeTimeArr(currentJob.getExecuteTimeArr())
+ .executeStartTimeArr(currentJob.getExecuteStartTimeArr())
+ .build();
+
+ Optional<WaylineJobDTO> waylineJobOpt = insertWaylineJob(waylineJobEntity);
+
+ if (waylineJobOpt.isEmpty()) {
+ return ResponseResult.error("任务创建失败");
+ }
+
+ WaylineJobDTO waylineJob = waylineJobOpt.get();
+
+ LocalDateTime beginTimeNext = LocalDateTime.of(date, LocalTime.ofInstant(Instant.ofEpochSecond(timeArr.get(0)), ZoneId.systemDefault()));
+
+ LocalDateTime endTimeNext = timeArr.size() > 1 && Objects.nonNull(timeArr.get(1)) ?
+ LocalDateTime.of(date, LocalTime.ofInstant(Instant.ofEpochSecond(timeArr.get(1)), ZoneId.systemDefault())) : beginTimeNext;
+
+
+ //条件任务
+ if (currentJob.getTaskType() == 2) {
+ //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(null)
+ .readyConditions(WaylineTaskReadyConditionDTO.builder()
+ .batteryCapacity(currentJob.getBatteryCapacity())
+ .beginTime(beginTime)
+ .endTime(endTime)
+ .build())
+ .build());
+ } else {
+ waylineJob.setBeginTime(beginDate);
+ }
+
+ ResponseResult response = this.publishOneFlightTask(waylineJob);
+ if (ResponseResult.CODE_SUCCESS != response.getCode()) {
+ return response;
+ }
+
+ return ResponseResult.success();
+ }
+
+
+ @Override
+ public WaylineJobCountDTO patrolStatistics(String workspaceId, String queryTime) {
WaylineJobCountDTO waylineJobCountDTO = new WaylineJobCountDTO();
- List<WaylineJobEntity> list = new LambdaQueryChainWrapper<>(mapper).eq(WaylineJobEntity::getStatus, 3).list();
- 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();
@@ -711,9 +913,9 @@
@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();
}
@@ -785,7 +987,8 @@
.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()));
--
Gitblit v1.9.3