From dbecdea3ad1768d1c7f8e88a2d3b64193c62352a Mon Sep 17 00:00:00 2001
From: rain <167982779@qq.com>
Date: Mon, 12 Aug 2024 13:34:52 +0800
Subject: [PATCH] 国土调查的任务下发、更新、取消，成果上传
---
src/main/java/com/dji/sample/wayline/service/impl/WaylineJobServiceImpl.java | 467 +++++++++++++++++++++++++++++++--------------------------
1 files changed, 253 insertions(+), 214 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..9eafe2b 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
@@ -1,7 +1,9 @@
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.query.QueryWrapper;
import com.baomidou.mybatisplus.core.conditions.update.LambdaUpdateWrapper;
import com.baomidou.mybatisplus.core.toolkit.Wrappers;
import com.baomidou.mybatisplus.extension.conditions.query.LambdaQueryChainWrapper;
@@ -12,16 +14,18 @@
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.MinioUrlUtils;
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.dto.PointDTO;
-import com.dji.sample.control.model.param.DrcModeParam;
-import com.dji.sample.control.model.param.FlyToPointParam;
-import com.dji.sample.control.model.param.TakeoffToPointParam;
+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.log.dao.IDroneFlightLogMapper;
+import com.dji.sample.log.model.entity.DroneFlightLogEntity;
import com.dji.sample.manage.model.dto.DeviceDTO;
import com.dji.sample.manage.model.enums.DeviceModeCodeEnum;
import com.dji.sample.manage.model.enums.DockModeCodeEnum;
@@ -34,15 +38,18 @@
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.WaylineJobBreakPointEntity;
import com.dji.sample.wayline.model.entity.WaylineJobEntity;
import com.dji.sample.wayline.model.enums.*;
import com.dji.sample.wayline.model.param.*;
import com.dji.sample.wayline.service.IWaylineFileService;
+import com.dji.sample.wayline.service.IWaylineJobBreakPointService;
import com.dji.sample.wayline.service.IWaylineJobService;
import com.dji.sample.wayline.service.IWaylineRedisService;
+import com.dji.sample.wayline.util.ErrorCodeUtil;
import com.fasterxml.jackson.core.type.TypeReference;
import com.fasterxml.jackson.databind.ObjectMapper;
import lombok.extern.slf4j.Slf4j;
@@ -102,6 +109,12 @@
@Autowired
private IControlService controlService;
+ @Autowired
+ private IDroneFlightLogMapper flightLogMapper;
+
+ @Autowired
+ private IWaylineJobBreakPointService waylineJobBreakPointService;
+
private Optional<WaylineJobDTO> insertWaylineJob(WaylineJobEntity jobEntity) {
int id = mapper.insert(jobEntity);
if (id <= 0) {
@@ -114,6 +127,29 @@
public Optional<WaylineJobDTO> createWaylineJob(CreateJobParam param, String workspaceId, String username, Long beginTime, Long endTime) {
if (Objects.isNull(param)) {
return Optional.empty();
+ }
+ if (param.getJobId()!=null){
+ WaylineJobEntity jobEntity = WaylineJobEntity.builder()
+ .name(param.getName())
+ .dockSn(param.getDockSn())
+ .fileId(param.getFileId())
+ .username(username)
+ .workspaceId(workspaceId)
+ .jobId(param.getJobId())
+ .beginTime(beginTime)
+ .endTime(endTime)
+ .status(WaylineJobStatusEnum.PENDING.getVal())
+ .taskType(param.getTaskType().getVal())
+ .waylineType(param.getWaylineType().getVal())
+ .outOfControlAction(param.getOutOfControlAction())
+ .rthAltitude(param.getRthAltitude())
+ .rthMode(param.getRthMode())
+ .mediaCount(0)
+ .build();
+ if (StringUtils.hasText(param.getJobId())) {
+ jobEntity.setJobId(param.getJobId());
+ }
+ return insertWaylineJob(jobEntity);
}
// Immediate tasks, allocating time on the backend.
WaylineJobEntity jobEntity = WaylineJobEntity.builder()
@@ -130,9 +166,12 @@
.waylineType(param.getWaylineType().getVal())
.outOfControlAction(param.getOutOfControlAction())
.rthAltitude(param.getRthAltitude())
+ .rthMode(param.getRthMode())
.mediaCount(0)
.build();
-
+ if (StringUtils.hasText(param.getJobId())) {
+ jobEntity.setJobId(param.getJobId());
+ }
return insertWaylineJob(jobEntity);
}
@@ -151,6 +190,11 @@
jobEntity.setParentId(parentId);
return this.insertWaylineJob(jobEntity);
+ }
+ @Override
+ public String getWaylineId(String jobId){
+ WaylineJobEntity waylineJob=mapper.selectOne(new LambdaQueryWrapper<WaylineJobEntity>().select(WaylineJobEntity::getFileId).eq(WaylineJobEntity::getJobId,jobId));
+ return waylineJob.getFileId();
}
/**
@@ -283,108 +327,6 @@
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();
}
@@ -421,7 +363,7 @@
if (WaylineTaskTypeEnum.IMMEDIATE == waylineJob.getTaskType()) {
boolean isExecuted = executeFlightTask(waylineJob.getWorkspaceId(), waylineJob.getJobId());
if (!isExecuted) {
- return ResponseResult.error("执行任务失败");
+ return ResponseResult.error("当前状态不支持飞行，请检查是否已有正在执行的飞行任务！");
}
}
@@ -430,10 +372,10 @@
private Boolean prepareFlightTask(WaylineJobDTO waylineJob) throws SQLException {
- boolean isOnline = deviceRedisService.checkDeviceOnline(waylineJob.getDockSn());
+ /*boolean isOnline = deviceRedisService.checkDeviceOnline(waylineJob.getDockSn());
if (!isOnline) {
throw new RuntimeException("设备离线。");
- }
+ }*/
// get wayline file
Optional<WaylineFileDTO> waylineFile = waylineFileService.getWaylineByWaylineId(waylineJob.getWorkspaceId(), waylineJob.getFileId());
@@ -444,19 +386,28 @@
// get file url
//获取航线文件地址
URL url = waylineFileService.getObjectUrl(waylineJob.getWorkspaceId(), waylineFile.get().getWaylineId());
-
- WaylineTaskCreateDTO flightTask = WaylineTaskCreateDTO.builder()
- .flightId(waylineJob.getJobId())
+ WaylineTaskCreateDTO.WaylineTaskCreateDTOBuilder flightTaskBuilder = WaylineTaskCreateDTO.builder().flightId(waylineJob.getJobId())
.executeTime(waylineJob.getBeginTime().atZone(ZoneId.systemDefault()).toInstant().toEpochMilli())
.taskType(waylineJob.getTaskType())
.waylineType(waylineJob.getWaylineType())
.rthAltitude(waylineJob.getRthAltitude())
+ .rthMode(waylineJob.getRthMode())
.outOfControlAction(waylineJob.getOutOfControlAction())
.file(WaylineTaskFileDTO.builder()
- .url(url.toString())
+ .url(MinioUrlUtils.getUrl(url))
.fingerprint(waylineFile.get().getSign())
- .build())
- .build();
+ .build());
+ WaylineJobBreakPointEntity entity = waylineJob.getWaylineJobBreakPointEntity();
+ if (null != entity) {
+ flightTaskBuilder.breakPoint(BreakPointJobDTO.builder()
+ .index(entity.getBpIndex())
+ .state(entity.getState())
+ .progress(entity.getProgress())
+ .waylineId(entity.getWaylineId())
+ .build());
+ }
+
+ WaylineTaskCreateDTO flightTask = flightTaskBuilder.build();
//当任务类型为条件时
if (WaylineTaskTypeEnum.CONDITION == waylineJob.getTaskType()) {
@@ -511,7 +462,7 @@
.status(WaylineJobStatusEnum.FAILED.getVal())
.completedTime(LocalDateTime.now())
.code(serviceReply.getResult()).build());
- // The conditional task fails and enters the blocking status.
+ // 条件任务失败，进入阻塞状态。
if (WaylineTaskTypeEnum.CONDITION == job.getTaskType()
&& WaylineErrorCodeEnum.find(serviceReply.getResult()).isBlock()) {
waylineRedisService.setBlockedWaylineJob(job.getDockSn(), jobId);
@@ -592,13 +543,32 @@
}
@Override
- public Boolean updateJob(WaylineJobDTO dto){
+ public Optional<WaylineJobDTO> getJobByJobId(String workspaceId, String jobId, Boolean isBreakPoint) {
+ WaylineJobEntity jobEntity = mapper.selectOne(
+ new LambdaQueryWrapper<WaylineJobEntity>()
+ .eq(WaylineJobEntity::getWorkspaceId, workspaceId)
+ .eq(WaylineJobEntity::getJobId, jobId));
+ WaylineJobDTO waylineJobDTO = entity2Dto(jobEntity);
+ if (isBreakPoint) {
+ QueryWrapper queryWrapper = new QueryWrapper();
+ queryWrapper.eq("job_id", jobId);
+ WaylineJobBreakPointEntity waylineJobBreakPointEntity = waylineJobBreakPointService.getOne(queryWrapper);
+ waylineJobDTO.setWaylineJobBreakPointEntity(waylineJobBreakPointEntity);
+ }
+
+ //设置当前时间为执行时间
+ waylineJobDTO.setBeginTime(LocalDateTime.now());
+ return Optional.ofNullable(waylineJobDTO);
+ }
+
+ @Override
+ 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 +580,7 @@
@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 +588,35 @@
.collect(Collectors.toList());
return new PaginationData<WaylineJobDTO>(records, new Pagination(pageData));
+ }
+
+ @Override
+ public PaginationData<WaylineJobDTO> getJobsByWorkspaceIdNew(String workspaceId, long page, long pageSize, WaylineJobQueryParam waylineJobQueryParam, String order) {
+ Page<WaylineJobEntity> pageData = mapper.getPageNew(new Page<WaylineJobEntity>(page, pageSize), waylineJobQueryParam, workspaceId, order);
+
+ List<WaylineJobDTO> records = pageData.getRecords()
+ .stream()
+ .map(this::entity2Dto)
+ .collect(Collectors.toList());
+
+ // 是否需要断点续飞
+ records.forEach(wjd -> wjd.setBreakPoint(waylineJobBreakPointService.count(
+ new LambdaQueryWrapper<WaylineJobBreakPointEntity>().eq(WaylineJobBreakPointEntity::getJobId, wjd.getJobId())) > 0));
+
+
+ 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;
}
@@ -676,7 +663,7 @@
url = waylineFileService.getObjectUrl(waylineJob.getWorkspaceId(), waylineFile.get().getWaylineId());
builder.data(RequestsReply.success(WaylineTaskCreateDTO.builder()
.file(WaylineTaskFileDTO.builder()
- .url(url.toString())
+ .url(MinioUrlUtils.getUrl(url))
.fingerprint(waylineFile.get().getSign())
.build())
.build()));
@@ -691,6 +678,17 @@
messageSender.publish(topic, builder.build());
}
+
+ @Override
+ public List<String> selectJobIdByName(String name) {
+ List<WaylineJobEntity> waylineJobs = mapper.selectList(new LambdaQueryWrapper<WaylineJobEntity>()
+ .select(WaylineJobEntity::getJobId)
+ .like(WaylineJobEntity::getName, name));
+ return waylineJobs.stream()
+ .map(WaylineJobEntity::getJobId)
+ .collect(Collectors.toList());
+ }
+
@Override
public void uploadMediaHighestPriority(String workspaceId, String jobId) {
@@ -769,6 +767,15 @@
}
+ @Override
+ public List<String> getJobNamesByPartialName(String partialJobName) {
+ LambdaQueryWrapper<WaylineJobEntity> queryWrapper = new LambdaQueryWrapper<>();
+ queryWrapper.like(WaylineJobEntity::getName, partialJobName);
+ return mapper.selectList(queryWrapper).stream()
+ .map(WaylineJobEntity::getName)
+ .collect(Collectors.toList());
+ }
+
public WaylineJobStatusEnum getWaylineState(String dockSn) {
Optional<DeviceDTO> dockOpt = deviceRedisService.getDeviceOnline(dockSn);
if (dockOpt.isEmpty() || !StringUtils.hasText(dockOpt.get().getChildDeviceSn())) {
@@ -795,55 +802,98 @@
}
@Override
+ public String getName(String jobId) {
+ WaylineJobEntity entity = mapper.selectOne(
+ new LambdaQueryWrapper<WaylineJobEntity>()
+ .select(WaylineJobEntity::getName)
+ .eq(WaylineJobEntity::getJobId, jobId)
+ );
+ return entity != null ? entity.getName() : null;
+ }
+
+ @Override
+ public List<String> getJobIds(String jobNames) {
+ List<String> names = getJobNamesByPartialName(jobNames);
+
+ // 如果 names 列表为空，直接返回空的 jobIdStringList
+ if (names.isEmpty()) {
+ return new ArrayList<>();
+ }
+
+ // 使用 LambdaQueryWrapper 进行查询
+ List<Object> jobIdList = mapper.selectObjs(
+ new LambdaQueryWrapper<WaylineJobEntity>()
+ .select(WaylineJobEntity::getJobId)
+ .in(WaylineJobEntity::getName, names) // 使用 IN 子句
+ );
+
+ // 将 Object 类型的 jobId 转换为 String 类型，并放入 List<String> 中
+ List<String> jobIdStringList = new ArrayList<>();
+ for (Object jobIdObj : jobIdList) {
+ jobIdStringList.add(String.valueOf(jobIdObj));
+ }
+ return jobIdStringList;
+ }
+
+
+ @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) throws Exception {
- 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(120.0);
+ 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;
}
- });
+ }
- //按距离从近到远排序
- targetList.sort(Comparator.comparing(PointPOJO::getDistance));
+ return ResponseResult.success(targetList);
+ }
- //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 +910,21 @@
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 +939,7 @@
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 +947,11 @@
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());
@@ -1005,18 +1034,25 @@
@Override
- public WaylineJobCountDTO patrolStatistics(String workspaceId,String queryTime) {
+ public WaylineJobCountDTO patrolStatistics(String workspaceId, String queryTime, String deviceSn) {
WaylineJobCountDTO waylineJobCountDTO = new WaylineJobCountDTO();
- List<WaylineJobEntity> list = mapper.patrolStatistics(workspaceId,queryTime);
- if (!CollectionUtils.isEmpty(list)){
+ List<DroneFlightLogEntity> list = flightLogMapper.patrolStatistics(workspaceId, queryTime, deviceSn);
+ if (!CollectionUtils.isEmpty(list)) {
waylineJobCountDTO.setTotalNumber(list.size());
- long totalTime = list.stream().mapToLong(s -> s.getEndTime() - s.getBeginTime()).sum() / 1000;
- StringBuffer buffer = new StringBuffer();
+ long totalTime = list.stream().filter(task -> task.getEndTime() != null && task.getStartTime() != null).mapToLong(s -> s.getEndTime() - s.getStartTime()).sum() / 1000;
long h = totalTime / 3600;
long m = (totalTime % 3600) / 60;
- buffer.append(h).append(" h ");
- buffer.append(m).append(" min");
- waylineJobCountDTO.setTotalDuration(buffer.toString());
+ waylineJobCountDTO.setTotalDuration(String.format("%02d h %02d min", h, m));
+ List<String> deviceSns = list.stream().map(DroneFlightLogEntity::getDeviceSn).distinct().collect(Collectors.toList());
+ double sum = 0.0;
+ for (String sn : deviceSns) {
+ Double totalFlightDistance = new LambdaQueryChainWrapper<>(flightLogMapper)
+ .eq(DroneFlightLogEntity::getDeviceSn, sn).orderByDesc(DroneFlightLogEntity::getEndTime).last("limit 1").one().getTotalFlightDistance();
+ if (totalFlightDistance != null) {
+ sum += totalFlightDistance;
+ }
+ }
+ waylineJobCountDTO.setTotalDistance((int) sum);
}
return waylineJobCountDTO;
}
@@ -1024,9 +1060,9 @@
@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();
}
@@ -1074,6 +1110,7 @@
WaylineJobDTO.WaylineJobDTOBuilder builder = WaylineJobDTO.builder()
.jobId(entity.getJobId())
+ .reason(ErrorCodeUtil.codeToReason(entity.getErrorCode()))
.jobName(entity.getName())
.fileId(entity.getFileId())
.fileName(waylineFileService.getWaylineByWaylineId(entity.getWorkspaceId(), entity.getFileId())
@@ -1097,8 +1134,10 @@
.taskType(WaylineTaskTypeEnum.find(entity.getTaskType()))
.waylineType(WaylineTemplateTypeEnum.find(entity.getWaylineType()))
.rthAltitude(entity.getRthAltitude())
+ .rthMode(entity.getRthMode())
.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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