From dd73bbc7132f7b126b8fc2faabf2827b49622d21 Mon Sep 17 00:00:00 2001
From: guoshilong <123456>
Date: Mon, 23 Oct 2023 09:28:40 +0800
Subject: [PATCH] 获取计划最近一条
---
src/main/java/com/dji/sample/wayline/service/impl/WaylineJobServiceImpl.java | 189 +++++++++++++++++++++++++++++++++++++----------
1 files changed, 149 insertions(+), 40 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 1ee81ad..c149023 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
@@ -142,24 +142,27 @@
}
/**
- * For immediate tasks, the server time shall prevail.
+ * 对于即时任务，以服务器时间为准。
+ *
* @param param
*/
private void fillImmediateTime(CreateJobParam param) {
if (WaylineTaskTypeEnum.IMMEDIATE != param.getTaskType()) {
return;
}
- long now = System.currentTimeMillis() / 1000;
- param.setTaskDays(Collections.singletonList(now));
- param.setTaskPeriods(Collections.singletonList(Collections.singletonList(now)));
+ long now = System.currentTimeMillis() / 1000 - 10;
+// param.setTaskDays(Collections.singletonList(now));
+// param.setTaskPeriods(Collections.singletonList(Collections.singletonList(now)));
+ param.setTaskDays(List.of(now));
+ param.setTaskPeriods(List.of(List.of(now)));
}
@Override
public ResponseResult publishFlightTask(CreateJobParam param, CustomClaim customClaim) throws SQLException {
fillImmediateTime(param);
- param.getTaskDays().sort((a, b) -> (int) (a - b));
- param.getTaskPeriods().sort((a, b) -> (int) (a.get(0) - b.get(0)));
+// param.getTaskDays().sort((a, b) -> (int) (a - b));
+// param.getTaskPeriods().sort((a, b) -> (int) (a.get(0) - b.get(0)));
for (Long taskDay : param.getTaskDays()) {
LocalDate date = LocalDate.ofInstant(Instant.ofEpochSecond(taskDay), ZoneId.systemDefault());
for (List<Long> taskPeriod : param.getTaskPeriods()) {
@@ -169,21 +172,107 @@
LocalDateTime.of(date, LocalTime.ofInstant(Instant.ofEpochSecond(taskPeriod.get(1)), ZoneId.systemDefault()))
.atZone(ZoneId.systemDefault()).toInstant().toEpochMilli() : beginTime;
if (WaylineTaskTypeEnum.IMMEDIATE != param.getTaskType() && endTime < System.currentTimeMillis()) {
- return ResponseResult.error("The task has expired.");
+ return ResponseResult.error("任务已过期");
}
Optional<WaylineJobDTO> waylineJobOpt = this.createWaylineJob(param, customClaim.getWorkspaceId(), customClaim.getUsername(), beginTime, endTime);
if (waylineJobOpt.isEmpty()) {
- return ResponseResult.error("Failed to create wayline job.");
+ throw new SQLException("任务创建失败");
}
-
WaylineJobDTO waylineJob = waylineJobOpt.get();
- if (WaylineTaskTypeEnum.IMMEDIATE == param.getTaskType()) {
- return this.publishOneFlightTask(waylineJob);
- }
-
// If it is a conditional task type, add conditions to the job parameters.
+ //如果是条件任务类型，需要在任务参数中添加条件。
addPreparedJob(waylineJob, param, beginTime, endTime);
+
+ ResponseResult response = this.publishOneFlightTask(waylineJob);
+ if (ResponseResult.CODE_SUCCESS != response.getCode()) {
+ return response;
+ }
}
+ }
+ return ResponseResult.success();
+ }
+
+ @Override
+ public ResponseResult publishFlightTaskCondition(CreateJobParam param, CustomClaim customClaim) throws SQLException {
+ //开始日期
+ LocalDate startDate = LocalDate.ofInstant(Instant.ofEpochSecond(param.getTaskDays().get(0)), ZoneId.systemDefault());
+ long start = 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());
+ long end = LocalDateTime.of(endDate, LocalTime.ofInstant(Instant.ofEpochSecond(param.getExecuteStartTimeArr().get(param.getExecuteStartTimeArr().size() - 1).get(0)), ZoneId.systemDefault()))
+ .atZone(ZoneId.systemDefault()).toInstant().toEpochMilli();
+
+ //保存数据
+ WaylineJobEntity waylineJobEntity = WaylineJobEntity.builder()
+ .jobId(UUID.randomUUID().toString())
+ .name(param.getName())
+ .dockSn(param.getDockSn())
+ .fileId(param.getFileId())
+ .username(customClaim.getUsername())
+ .workspaceId(customClaim.getWorkspaceId())
+
+ .beginTime(start)
+ .endTime(end)
+ .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");
+ }
+
+ 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();
+
+ 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;
+
+ if (WaylineTaskTypeEnum.IMMEDIATE != param.getTaskType() && endTime < System.currentTimeMillis()) {
+ //中断当前循环执行下一个
+ continue;
+ }
+
+
+ //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;
+ }
+
}
return ResponseResult.success();
}
@@ -192,8 +281,7 @@
if (WaylineTaskTypeEnum.CONDITION == param.getTaskType()) {
waylineJob.setConditions(
WaylineTaskConditionDTO.builder()
- .executableConditions(Objects.nonNull(param.getMinStorageCapacity()) ?
- WaylineTaskExecutableConditionDTO.builder().storageCapacity(param.getMinStorageCapacity()).build() : null)
+ .executableConditions(Objects.nonNull(param.getMinStorageCapacity()) ? WaylineTaskExecutableConditionDTO.builder().storageCapacity(param.getMinStorageCapacity()).build() : null)
.readyConditions(WaylineTaskReadyConditionDTO.builder()
.batteryCapacity(param.getMinBatteryCapacity())
.beginTime(beginTime)
@@ -206,7 +294,7 @@
// value: {workspace_id}:{dock_sn}:{job_id}
boolean isAdd = waylineRedisService.addPreparedWaylineJob(waylineJob);
if (!isAdd) {
- throw new RuntimeException("Failed to create prepare job.");
+ throw new RuntimeException("创建任务失败。");
}
}
@@ -214,14 +302,15 @@
boolean isSuccess = this.prepareFlightTask(waylineJob);
if (!isSuccess) {
- return ResponseResult.error("Failed to prepare job.");
+ return ResponseResult.error("任务准备失败");
}
// Issue an immediate task execution command.
+ //发出立即任务执行命令
if (WaylineTaskTypeEnum.IMMEDIATE == waylineJob.getTaskType()) {
boolean isExecuted = executeFlightTask(waylineJob.getWorkspaceId(), waylineJob.getJobId());
if (!isExecuted) {
- return ResponseResult.error("Failed to execute job.");
+ return ResponseResult.error("执行任务失败");
}
}
@@ -232,16 +321,17 @@
boolean isOnline = deviceRedisService.checkDeviceOnline(waylineJob.getDockSn());
if (!isOnline) {
- throw new RuntimeException("Dock is offline.");
+ throw new RuntimeException("设备离线。");
}
// get wayline file
Optional<WaylineFileDTO> waylineFile = waylineFileService.getWaylineByWaylineId(waylineJob.getWorkspaceId(), waylineJob.getFileId());
if (waylineFile.isEmpty()) {
- throw new SQLException("Wayline file doesn't exist.");
+ throw new SQLException("航线文件不存在。");
}
// get file url
+ //获取航线文件地址
URL url = waylineFileService.getObjectUrl(waylineJob.getWorkspaceId(), waylineFile.get().getWaylineId());
WaylineTaskCreateDTO flightTask = WaylineTaskCreateDTO.builder()
@@ -257,6 +347,7 @@
.build())
.build();
+ //当任务类型为条件时
if (WaylineTaskTypeEnum.CONDITION == waylineJob.getTaskType()) {
if (Objects.isNull(waylineJob.getConditions())) {
throw new IllegalArgumentException();
@@ -265,10 +356,12 @@
flightTask.setExecutableConditions(waylineJob.getConditions().getExecutableConditions());
}
+ //发布飞行指令
ServiceReply serviceReply = messageSender.publishServicesTopic(
waylineJob.getDockSn(), WaylineMethodEnum.FLIGHT_TASK_PREPARE.getMethod(), flightTask, waylineJob.getJobId());
if (ResponseResult.CODE_SUCCESS != serviceReply.getResult()) {
log.info("Prepare task ====> Error code: {}", serviceReply.getResult());
+ //飞行失败，更新数据库信息
this.updateJob(WaylineJobDTO.builder()
.workspaceId(waylineJob.getWorkspaceId())
.jobId(waylineJob.getJobId())
@@ -286,12 +379,12 @@
// get job
Optional<WaylineJobDTO> waylineJob = this.getJobByJobId(workspaceId, jobId);
if (waylineJob.isEmpty()) {
- throw new IllegalArgumentException("Job doesn't exist.");
+ throw new IllegalArgumentException("任务不存在");
}
boolean isOnline = deviceRedisService.checkDeviceOnline(waylineJob.get().getDockSn());
if (!isOnline) {
- throw new RuntimeException("Dock is offline.");
+ throw new RuntimeException("设备离线");
}
WaylineJobDTO job = waylineJob.get();
@@ -330,9 +423,9 @@
Set<String> waylineJobIds = waylineJobs.stream().map(WaylineJobDTO::getJobId).collect(Collectors.toSet());
// Check if the task status is correct.
- boolean isErr = !jobIds.removeAll(waylineJobIds) || !jobIds.isEmpty() ;
+ boolean isErr = !jobIds.removeAll(waylineJobIds) || !jobIds.isEmpty();
if (isErr) {
- throw new IllegalArgumentException("These tasks have an incorrect status and cannot be canceled. " + Arrays.toString(jobIds.toArray()));
+ throw new IllegalArgumentException("以下任务状态不正确，不能取消" + Arrays.toString(jobIds.toArray()));
}
// Group job id by dock sn.
@@ -346,14 +439,14 @@
public void publishCancelTask(String workspaceId, String dockSn, List<String> jobIds) {
boolean isOnline = deviceRedisService.checkDeviceOnline(dockSn);
if (!isOnline) {
- throw new RuntimeException("Dock is offline.");
+ throw new RuntimeException("设备离线");
}
ServiceReply serviceReply = messageSender.publishServicesTopic(
dockSn, WaylineMethodEnum.FLIGHT_TASK_CANCEL.getMethod(), Map.of(MapKeyConst.FLIGHT_IDS, jobIds));
if (ResponseResult.CODE_SUCCESS != serviceReply.getResult()) {
log.info("Cancel job ====> Error code: {}", serviceReply.getResult());
- throw new RuntimeException("Failed to cancel the wayline job of " + dockSn);
+ throw new RuntimeException("航路作业取消失败 " + dockSn);
}
for (String jobId : jobIds) {
@@ -369,10 +462,10 @@
public List<WaylineJobDTO> getJobsByConditions(String workspaceId, Collection<String> jobIds, WaylineJobStatusEnum status) {
return mapper.selectList(
- new LambdaQueryWrapper<WaylineJobEntity>()
- .eq(WaylineJobEntity::getWorkspaceId, workspaceId)
- .eq(Objects.nonNull(status), WaylineJobEntity::getStatus, status.getVal())
- .in(!CollectionUtils.isEmpty(jobIds), WaylineJobEntity::getJobId, jobIds))
+ new LambdaQueryWrapper<WaylineJobEntity>()
+ .eq(WaylineJobEntity::getWorkspaceId, workspaceId)
+ .eq(Objects.nonNull(status), WaylineJobEntity::getStatus, status.getVal())
+ .in(!CollectionUtils.isEmpty(jobIds), WaylineJobEntity::getJobId, jobIds))
.stream()
.map(this::entity2Dto)
.collect(Collectors.toList());
@@ -407,8 +500,7 @@
//
// .orderByDesc(WaylineJobEntity::getId));
- Page<WaylineJobEntity> pageData = mapper.getPage(new Page<WaylineJobEntity>(page, pageSize),waylineJobQueryParam,workspaceId);
-
+ Page<WaylineJobEntity> pageData = mapper.getPage(new Page<WaylineJobEntity>(page, pageSize), waylineJobQueryParam, workspaceId);
List<WaylineJobDTO> records = pageData.getRecords()
@@ -424,7 +516,8 @@
@ServiceActivator(inputChannel = ChannelName.INBOUND_REQUESTS_FLIGHT_TASK_RESOURCE_GET, outputChannel = ChannelName.OUTBOUND)
@Transactional(isolation = Isolation.READ_UNCOMMITTED)
public void flightTaskResourceGet(CommonTopicReceiver receiver, MessageHeaders headers) {
- Map<String, String> jobIdMap = objectMapper.convertValue(receiver.getData(), new TypeReference<Map<String, String>>() {});
+ Map<String, String> jobIdMap = objectMapper.convertValue(receiver.getData(), new TypeReference<Map<String, String>>() {
+ });
String jobId = jobIdMap.get(MapKeyConst.FLIGHT_ID);
CommonTopicResponse.CommonTopicResponseBuilder<RequestsReply> builder = CommonTopicResponse.<RequestsReply>builder()
@@ -494,7 +587,7 @@
ServiceReply reply = messageSender.publishServicesTopic(
dockSn, MediaMethodEnum.UPLOAD_FLIGHT_TASK_MEDIA_PRIORITIZE.getMethod(), Map.of(MapKeyConst.FLIGHT_ID, jobId));
if (ResponseResult.CODE_SUCCESS != reply.getResult()) {
- throw new RuntimeException("Failed to set media job upload priority. Error Code: " + reply.getResult());
+ throw new RuntimeException("设置媒体作业上传优先级失败. 错误码: " + reply.getResult());
}
}
@@ -536,12 +629,12 @@
public void updateJobStatus(String workspaceId, String jobId, UpdateJobParam param) {
Optional<WaylineJobDTO> waylineJobOpt = this.getJobByJobId(workspaceId, jobId);
if (waylineJobOpt.isEmpty()) {
- throw new RuntimeException("The job does not exist.");
+ throw new RuntimeException("任务不存在");
}
WaylineJobDTO waylineJob = waylineJobOpt.get();
WaylineJobStatusEnum statusEnum = this.getWaylineState(waylineJob.getDockSn());
if (statusEnum.getEnd() || WaylineJobStatusEnum.PENDING == statusEnum) {
- throw new RuntimeException("The wayline job status does not match, and the operation cannot be performed.");
+ throw new RuntimeException("航路线作业状态不匹配，无法执行操作.");
}
switch (param.getStatus()) {
@@ -580,6 +673,22 @@
return WaylineJobStatusEnum.UNKNOWN;
}
+ @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;
+ }
+
private void pauseJob(String workspaceId, String dockSn, String jobId, WaylineJobStatusEnum statusEnum) {
if (WaylineJobStatusEnum.PAUSED == statusEnum && jobId.equals(waylineRedisService.getPausedWaylineJobId(dockSn))) {
waylineRedisService.setPausedWaylineJob(dockSn, jobId);
@@ -589,7 +698,7 @@
ServiceReply reply = messageSender.publishServicesTopic(
dockSn, WaylineMethodEnum.FLIGHT_TASK_PAUSE.getMethod(), "", jobId);
if (ResponseResult.CODE_SUCCESS != reply.getResult()) {
- throw new RuntimeException("Failed to pause wayline job. Error Code: " + reply.getResult());
+ throw new RuntimeException("未能恢复航路作业。错误码： " + reply.getResult());
}
waylineRedisService.delRunningWaylineJob(dockSn);
waylineRedisService.setPausedWaylineJob(dockSn, jobId);
@@ -604,7 +713,7 @@
ServiceReply reply = messageSender.publishServicesTopic(
dockSn, WaylineMethodEnum.FLIGHT_TASK_RESUME.getMethod(), "", jobId);
if (ResponseResult.CODE_SUCCESS != reply.getResult()) {
- throw new RuntimeException("Failed to resume wayline job. Error Code: " + reply.getResult());
+ throw new RuntimeException("未能恢复航路作业。错误码：: " + reply.getResult());
}
runningDataOpt.ifPresent(runningData -> waylineRedisService.setRunningWaylineJob(dockSn, runningData));
@@ -635,7 +744,7 @@
.workspaceId(entity.getWorkspaceId())
.status(WaylineJobStatusEnum.IN_PROGRESS.getVal() == entity.getStatus() &&
entity.getJobId().equals(waylineRedisService.getPausedWaylineJobId(entity.getDockSn())) ?
- WaylineJobStatusEnum.PAUSED.getVal() : entity.getStatus())
+ WaylineJobStatusEnum.PAUSED.getVal() : entity.getStatus())
.code(entity.getErrorCode())
.beginTime(LocalDateTime.ofInstant(Instant.ofEpochMilli(entity.getBeginTime()), ZoneId.systemDefault()))
.endTime(Objects.nonNull(entity.getEndTime()) ?
@@ -671,7 +780,7 @@
Object mediaFileCount = RedisOpsUtils.hashGet(countKey, entity.getJobId());
if (Objects.nonNull(mediaFileCount)) {
builder.uploadedCount(((MediaFileCountDTO) mediaFileCount).getUploadedCount())
- .uploading(RedisOpsUtils.checkExist(key) && entity.getJobId().equals(((MediaFileCountDTO)RedisOpsUtils.get(key)).getJobId()));
+ .uploading(RedisOpsUtils.checkExist(key) && entity.getJobId().equals(((MediaFileCountDTO) RedisOpsUtils.get(key)).getJobId()));
return builder.build();
}
--
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