From 3823dc87eb8ef4d5cd25390ec9b17c856d10fafd Mon Sep 17 00:00:00 2001
From: guoshilong <123456>
Date: Thu, 16 Nov 2023 15:07:55 +0800
Subject: [PATCH] 图斑飞行途中进入控制
---
src/main/java/com/dji/sample/control/service/impl/DrcServiceImpl.java | 27 +++++++++++++++++++++++++--
1 files changed, 25 insertions(+), 2 deletions(-)
diff --git a/src/main/java/com/dji/sample/control/service/impl/DrcServiceImpl.java b/src/main/java/com/dji/sample/control/service/impl/DrcServiceImpl.java
index aade731..1f5307c 100644
--- a/src/main/java/com/dji/sample/control/service/impl/DrcServiceImpl.java
+++ b/src/main/java/com/dji/sample/control/service/impl/DrcServiceImpl.java
@@ -1,5 +1,6 @@
package com.dji.sample.control.service.impl;
+import com.alibaba.fastjson.JSONObject;
import com.dji.sample.common.model.ResponseResult;
import com.dji.sample.component.mqtt.config.MqttConfiguration;
import com.dji.sample.component.mqtt.model.*;
@@ -18,6 +19,7 @@
import com.dji.sample.control.service.IControlService;
import com.dji.sample.control.service.IDrcService;
import com.dji.sample.manage.model.dto.DeviceDTO;
+import com.dji.sample.manage.model.enums.DockDrcStateEnum;
import com.dji.sample.manage.model.enums.DockModeCodeEnum;
import com.dji.sample.manage.model.enums.UserTypeEnum;
import com.dji.sample.manage.model.receiver.OsdSubDeviceReceiver;
@@ -26,6 +28,7 @@
import com.dji.sample.wayline.model.dto.WaylineTaskProgressReceiver;
import com.dji.sample.wayline.model.enums.WaylineJobStatusEnum;
import com.dji.sample.wayline.model.enums.WaylineTaskStatusEnum;
+import com.dji.sample.wayline.model.param.PointPOJO;
import com.dji.sample.wayline.model.param.UpdateJobParam;
import com.dji.sample.wayline.service.IWaylineJobService;
import com.dji.sample.wayline.service.IWaylineRedisService;
@@ -149,7 +152,7 @@
String pubTopic = topic + TopicConst.DOWN;
String subTopic = topic + TopicConst.UP;
- // If the dock is in drc mode, refresh the permissions directly.
+ // If the dock is in drc mode, refresh the permissions directly. 如果dock处于drc模式，直接刷新权限
if (deviceService.checkDockDrcMode(param.getDockSn())
&& param.getClientId().equals(this.getDrcModeInRedis(param.getDockSn()))) {
refreshAcl(param.getDockSn(), param.getClientId(), topic, subTopic);
@@ -209,7 +212,7 @@
}
@ServiceActivator(inputChannel = ChannelName.INBOUND_EVENTS_DRC_STATUS_NOTIFY, outputChannel = ChannelName.OUTBOUND_EVENTS)
- public CommonTopicReceiver handleDrcStatusNotify(CommonTopicReceiver receiver, MessageHeaders headers) {
+ public CommonTopicReceiver handleDrcStatusNotify(CommonTopicReceiver receiver, MessageHeaders headers) throws Exception {
String dockSn = receiver.getGateway();
Optional<DeviceDTO> deviceOpt = deviceRedisService.getDeviceOnline(dockSn);
@@ -225,6 +228,26 @@
.message(eventsReceiver.getResult().getErrorMsg())
.result(eventsReceiver.getResult().getErrorCode()).build());
}
+
+ //当进入控制时，停止当前的图斑飞行
+ if (eventsReceiver.getDrcState()==DockDrcStateEnum.CONNECTED){
+ JSONObject jsonObject = (JSONObject) RedisOpsUtils.get("tuban:" + dockSn);
+ if (jsonObject != null) {
+ controlService.flyToPointStop(dockSn);
+ }
+ }
+
+ //当退出控制后，继续执行图斑飞行
+ if(eventsReceiver.getDrcState() == DockDrcStateEnum.DISCONNECTED){
+ JSONObject jsonObject = (JSONObject) RedisOpsUtils.get("tuban:" + dockSn);
+ if (jsonObject != null) {
+ List<PointPOJO> targetList = (List<PointPOJO>) jsonObject.get("targetList");
+ int curIndex = (Integer) jsonObject.get("curIndex");
+ String payloadIndex = jsonObject.getString("payloadIndex");
+ controlService.flyToNextPoint(targetList, curIndex, dockSn, payloadIndex);
+ }
+ }
+
return receiver;
}
--
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