From 2db1aa88e8ab53096a936163d686b90d8e056a99 Mon Sep 17 00:00:00 2001
From: rain <167982779@qq.com>
Date: Wed, 21 Aug 2024 23:18:33 +0800
Subject: [PATCH] 国土对接返回信息加密
---
src/main/java/com/dji/sample/wayline/service/impl/WaylineJobServiceImpl.java | 262 +++++++++++++++++++++++++++++++++++++++++++++++-----
1 files changed, 237 insertions(+), 25 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 9ae0776..12e77fe 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
@@ -3,6 +3,7 @@
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;
@@ -14,15 +15,11 @@
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.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.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;
@@ -44,12 +41,15 @@
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;
@@ -63,12 +63,15 @@
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.*;
import java.util.*;
+import java.util.concurrent.ConcurrentHashMap;
import java.util.stream.Collectors;
+
+import static com.dji.sample.component.mqtt.model.TopicConst.*;
+import static com.dji.sample.component.mqtt.model.TopicConst._REPLY_SUF;
/**
* @author sean
@@ -113,6 +116,9 @@
@Autowired
private IDroneFlightLogMapper flightLogMapper;
+ @Autowired
+ private IWaylineJobBreakPointService waylineJobBreakPointService;
+
private Optional<WaylineJobDTO> insertWaylineJob(WaylineJobEntity jobEntity) {
int id = mapper.insert(jobEntity);
if (id <= 0) {
@@ -125,6 +131,29 @@
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()
@@ -141,9 +170,12 @@
.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);
}
@@ -162,6 +194,11 @@
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();
}
/**
@@ -330,7 +367,7 @@
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！");
}
}
@@ -339,10 +376,10 @@
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());
@@ -353,18 +390,28 @@
// 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(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()) {
@@ -419,7 +466,7 @@
.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);
@@ -500,6 +547,25 @@
}
@Override
+ 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 {
@@ -524,6 +590,23 @@
.stream()
.map(this::entity2Dto)
.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));
}
@@ -599,6 +682,89 @@
messageSender.publish(topic, builder.build());
}
+
+ /**
+ * 机场的获取离线地图协议请求回复
+ * @param receiver
+ */
+ @ServiceActivator(inputChannel = ChannelName.INBOUND_REQUESTS_OFFLINE_MAP_GET, outputChannel = ChannelName.OUTBOUND)
+ public void offlineMapGet(CommonTopicReceiver receiver) {
+ log.info("接收到机场的获取离线地图协议消息,编号：{}",receiver.getGateway());
+ // 查询在线设备，不存在就不发送了
+ Optional<DeviceDTO> deviceOpt = deviceRedisService.getDeviceOnline(receiver.getGateway());
+ if (deviceOpt.isEmpty()) {
+ return;
+ }
+ // 组装数据
+ CommonTopicResponse<Object> builder = CommonTopicResponse.builder()
+ .tid(receiver.getTid())
+ .bid(receiver.getBid())
+ .method(RequestsMethodEnum.OFFLINE_MAP_GET.getMethod())
+ .timestamp(System.currentTimeMillis())
+ .build();
+ // 组装 data 数据
+ Map<String, Integer> result = new ConcurrentHashMap<>(1);
+ result.put("result", 0);
+ builder.setData(result);
+ log.info("回复机场的获取离线地图协议消息：{},{}",BASIC_PRE + PRODUCT +receiver.getGateway() + REQUESTS_SUF + _REPLY_SUF, builder );
+ // 回复消息
+ messageSender.publish(
+ new StringBuilder()
+ .append(THING_MODEL_PRE)
+ .append(PRODUCT)
+ .append(receiver.getGateway())
+ .append(REQUESTS_SUF)
+ .append(_REPLY_SUF)
+ .toString(),
+ builder);
+ }
+
+ /**
+ * 自定义飞行区文件获取协议请求回复
+ * @param receiver
+ */
+ @ServiceActivator(inputChannel = ChannelName.INBOUND_REQUESTS_FLIGHT_AREAS_GET, outputChannel = ChannelName.OUTBOUND)
+ public void flightAreasGet(CommonTopicReceiver receiver) {
+ log.info("接收到自定义飞行区文件获取消息,编号：{}",receiver.getGateway());
+ // 查询在线设备，不存在就不发送了
+ Optional<DeviceDTO> deviceOpt = deviceRedisService.getDeviceOnline(receiver.getGateway());
+ if (deviceOpt.isEmpty()) {
+ return;
+ }
+ // 组装数据
+ CommonTopicResponse<Object> builder = CommonTopicResponse.builder()
+ .tid(receiver.getTid())
+ .bid(receiver.getBid())
+ .method(RequestsMethodEnum.FLIGHT_AREAS_GET.getMethod())
+ .timestamp(System.currentTimeMillis())
+ .build();
+ // 组装 data 数据
+ Map<String, Integer> result = new ConcurrentHashMap<>(1);
+ result.put("result", 0);
+ builder.setData(result);
+ log.info("回复自定义飞行区文件获取消息：{},{}",BASIC_PRE + PRODUCT +receiver.getGateway() + REQUESTS_SUF + _REPLY_SUF, builder );
+ // 回复消息
+ messageSender.publish(
+ new StringBuilder()
+ .append(THING_MODEL_PRE)
+ .append(PRODUCT)
+ .append(receiver.getGateway())
+ .append(REQUESTS_SUF)
+ .append(_REPLY_SUF)
+ .toString(),
+ builder);
+ }
+
+ @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) {
@@ -677,6 +843,15 @@
}
+ @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())) {
@@ -701,6 +876,41 @@
}
return WaylineJobStatusEnum.UNKNOWN;
}
+
+ @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) {
@@ -747,10 +957,10 @@
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);
+ jsonObject.put("targetList", targetList);
+ jsonObject.put("payloadIndex", flyAreaParam.getPayloadIndex());
+ jsonObject.put("curIndex", 0);
+ RedisOpsUtils.set("tuban:" + sn, jsonObject);
}
break;
}
@@ -900,23 +1110,23 @@
@Override
- public WaylineJobCountDTO patrolStatistics(String workspaceId, String queryTime,String deviceSn) {
+ public WaylineJobCountDTO patrolStatistics(String workspaceId, String queryTime, String deviceSn) {
WaylineJobCountDTO waylineJobCountDTO = new WaylineJobCountDTO();
- List<DroneFlightLogEntity> list = flightLogMapper.patrolStatistics(workspaceId,queryTime,deviceSn);
+ List<DroneFlightLogEntity> list = flightLogMapper.patrolStatistics(workspaceId, queryTime, deviceSn);
if (!CollectionUtils.isEmpty(list)) {
waylineJobCountDTO.setTotalNumber(list.size());
- long totalTime = list.stream().filter(task -> task.getEndTime()!= null && task.getStartTime()!= null).mapToLong(s -> s.getEndTime() - s.getStartTime()).sum() / 1000;
+ 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;
- waylineJobCountDTO.setTotalDuration( String.format("%02d h %02d min", h, m));
+ 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;
- }
+ if (totalFlightDistance != null) {
+ sum += totalFlightDistance;
+ }
}
waylineJobCountDTO.setTotalDistance((int) sum);
}
@@ -976,6 +1186,7 @@
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())
@@ -999,6 +1210,7 @@
.taskType(WaylineTaskTypeEnum.find(entity.getTaskType()))
.waylineType(WaylineTemplateTypeEnum.find(entity.getWaylineType()))
.rthAltitude(entity.getRthAltitude())
+ .rthMode(entity.getRthMode())
.outOfControlAction(entity.getOutOfControlAction())
.mediaCount(entity.getMediaCount())
.hasChildren(entity.getHasChildren());
--
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