From 642dac3e705380eea241648f875836e64dbc809e Mon Sep 17 00:00:00 2001
From: sean.zhou <sean.zhou@dji.com>
Date: Thu, 18 May 2023 17:43:06 +0800
Subject: [PATCH] Merge branch 'v1.5.0' What's new? 1. Add new model: DJI Matrices 350 RTK. 2. Update file hms.json. 3. Fixed some issues.
---
src/main/java/com/dji/sample/wayline/service/impl/WaylineJobServiceImpl.java | 110 ++++++++++++++++++++++++------------------------------
1 files changed, 49 insertions(+), 61 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 4d4cbb2..9d07192 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
@@ -27,10 +27,7 @@
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.WaylineErrorCodeEnum;
-import com.dji.sample.wayline.model.enums.WaylineJobStatusEnum;
-import com.dji.sample.wayline.model.enums.WaylineMethodEnum;
-import com.dji.sample.wayline.model.enums.WaylineTaskTypeEnum;
+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.service.IWaylineFileService;
@@ -152,71 +149,67 @@
return;
}
long now = System.currentTimeMillis() / 1000;
- if (CollectionUtils.isEmpty(param.getTaskDays())) {
- param.setTaskDays(List.of(now));
- }
- if (CollectionUtils.isEmpty(param.getTaskPeriods())) {
- param.setTaskPeriods(List.of(List.of(now)));
- }
+ param.setTaskDays(Collections.singletonList(now));
+ param.setTaskPeriods(Collections.singletonList(Collections.singletonList(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)));
for (Long taskDay : param.getTaskDays()) {
LocalDate date = LocalDate.ofInstant(Instant.ofEpochSecond(taskDay), ZoneId.systemDefault());
for (List<Long> taskPeriod : param.getTaskPeriods()) {
long beginTime = LocalDateTime.of(date, LocalTime.ofInstant(Instant.ofEpochSecond(taskPeriod.get(0)), ZoneId.systemDefault()))
.atZone(ZoneId.systemDefault()).toInstant().toEpochMilli();
- long endTime = taskPeriod.size() > 1 ?
+ long endTime = taskPeriod.size() > 1 && Objects.nonNull(taskPeriod.get(1)) ?
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.");
+ }
Optional<WaylineJobDTO> waylineJobOpt = this.createWaylineJob(param, customClaim.getWorkspaceId(), customClaim.getUsername(), beginTime, endTime);
if (waylineJobOpt.isEmpty()) {
- throw new SQLException("Failed to create wayline job.");
+ return ResponseResult.error("Failed to create wayline job.");
}
WaylineJobDTO waylineJob = waylineJobOpt.get();
- // If it is a conditional task type, add conditions to the job parameters.
- addConditions(waylineJob, param, beginTime, endTime);
+ if (WaylineTaskTypeEnum.IMMEDIATE == param.getTaskType()) {
+ return this.publishOneFlightTask(waylineJob);
+ }
- return this.publishOneFlightTask(waylineJob);
+ // If it is a conditional task type, add conditions to the job parameters.
+ addPreparedJob(waylineJob, param, beginTime, endTime);
}
}
- return ResponseResult.error();
+ return ResponseResult.success();
}
- private void addConditions(WaylineJobDTO waylineJob, CreateJobParam param, Long beginTime, Long endTime) {
- if (WaylineTaskTypeEnum.CONDITION != param.getTaskType()) {
- return;
+ private void addPreparedJob(WaylineJobDTO waylineJob, CreateJobParam param, Long beginTime, Long endTime) {
+ if (WaylineTaskTypeEnum.CONDITION == param.getTaskType()) {
+ 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());
+
+ waylineRedisService.setConditionalWaylineJob(waylineJob);
}
-
- 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());
-
- waylineRedisService.setConditionalWaylineJob(waylineJob);
- // key: wayline_job_condition, value: {workspace_id}:{dock_sn}:{job_id}
- boolean isAdd = waylineRedisService.addPrepareConditionalWaylineJob(waylineJob);
+ // value: {workspace_id}:{dock_sn}:{job_id}
+ boolean isAdd = waylineRedisService.addPreparedWaylineJob(waylineJob);
if (!isAdd) {
- throw new RuntimeException("Failed to create conditional job.");
+ throw new RuntimeException("Failed to create prepare job.");
}
}
public ResponseResult publishOneFlightTask(WaylineJobDTO waylineJob) throws SQLException {
-
- boolean isOnline = deviceRedisService.checkDeviceOnline(waylineJob.getDockSn());
- if (!isOnline) {
- throw new RuntimeException("Dock is offline.");
- }
boolean isSuccess = this.prepareFlightTask(waylineJob);
if (!isSuccess) {
@@ -224,19 +217,10 @@
}
// Issue an immediate task execution command.
- if (WaylineTaskTypeEnum.IMMEDIATE.getVal() == waylineJob.getTaskType()) {
- if (!executeFlightTask(waylineJob.getWorkspaceId(), waylineJob.getJobId())) {
+ if (WaylineTaskTypeEnum.IMMEDIATE == waylineJob.getTaskType()) {
+ boolean isExecuted = executeFlightTask(waylineJob.getWorkspaceId(), waylineJob.getJobId());
+ if (!isExecuted) {
return ResponseResult.error("Failed to execute job.");
- }
- }
-
- if (WaylineTaskTypeEnum.TIMED.getVal() == waylineJob.getTaskType()) {
- // key: wayline_job_timed, value: {workspace_id}:{dock_sn}:{job_id}
- boolean isAdd = RedisOpsUtils.zAdd(RedisConst.WAYLINE_JOB_TIMED_EXECUTE,
- waylineJob.getWorkspaceId() + RedisConst.DELIMITER + waylineJob.getDockSn() + RedisConst.DELIMITER + waylineJob.getJobId(),
- waylineJob.getBeginTime().atZone(ZoneId.systemDefault()).toInstant().toEpochMilli());
- if (!isAdd) {
- return ResponseResult.error("Failed to create scheduled job.");
}
}
@@ -244,6 +228,12 @@
}
private Boolean prepareFlightTask(WaylineJobDTO waylineJob) throws SQLException {
+
+ boolean isOnline = deviceRedisService.checkDeviceOnline(waylineJob.getDockSn());
+ if (!isOnline) {
+ throw new RuntimeException("Dock is offline.");
+ }
+
// get wayline file
Optional<WaylineFileDTO> waylineFile = waylineFileService.getWaylineByWaylineId(waylineJob.getWorkspaceId(), waylineJob.getFileId());
if (waylineFile.isEmpty()) {
@@ -266,7 +256,7 @@
.build())
.build();
- if (WaylineTaskTypeEnum.CONDITION.getVal() == waylineJob.getTaskType()) {
+ if (WaylineTaskTypeEnum.CONDITION == waylineJob.getTaskType()) {
if (Objects.isNull(waylineJob.getConditions())) {
throw new IllegalArgumentException();
}
@@ -317,7 +307,7 @@
.completedTime(LocalDateTime.now())
.code(serviceReply.getResult()).build());
// The conditional task fails and enters the blocking status.
- if (WaylineTaskTypeEnum.CONDITION.getVal() == job.getTaskType()
+ if (WaylineTaskTypeEnum.CONDITION == job.getTaskType()
&& WaylineErrorCodeEnum.find(serviceReply.getResult()).isBlock()) {
waylineRedisService.setBlockedWaylineJob(job.getDockSn(), jobId);
}
@@ -372,7 +362,6 @@
.status(WaylineJobStatusEnum.CANCEL.getVal())
.completedTime(LocalDateTime.now())
.build());
- RedisOpsUtils.zRemove(RedisConst.WAYLINE_JOB_TIMED_EXECUTE, workspaceId + RedisConst.DELIMITER + dockSn + RedisConst.DELIMITER + jobId);
}
}
@@ -382,8 +371,7 @@
new LambdaQueryWrapper<WaylineJobEntity>()
.eq(WaylineJobEntity::getWorkspaceId, workspaceId)
.eq(Objects.nonNull(status), WaylineJobEntity::getStatus, status.getVal())
- .and(!CollectionUtils.isEmpty(jobIds),
- wrapper -> jobIds.forEach(id -> wrapper.eq(WaylineJobEntity::getJobId, id).or())))
+ .in(!CollectionUtils.isEmpty(jobIds), WaylineJobEntity::getJobId, jobIds))
.stream()
.map(this::entity2Dto)
.collect(Collectors.toList());
@@ -524,8 +512,8 @@
.fileId(dto.getFileId())
.dockSn(dto.getDockSn())
.workspaceId(dto.getWorkspaceId())
- .taskType(dto.getTaskType())
- .waylineType(dto.getWaylineType())
+ .taskType(Optional.ofNullable(dto.getTaskType()).map(WaylineTaskTypeEnum::getVal).orElse(null))
+ .waylineType(Optional.ofNullable(dto.getWaylineType()).map(WaylineTemplateTypeEnum::getVal).orElse(null))
.username(dto.getUsername())
.rthAltitude(dto.getRthAltitude())
.outOfControlAction(dto.getOutOfControlAction())
@@ -645,8 +633,8 @@
LocalDateTime.ofInstant(Instant.ofEpochMilli(entity.getExecuteTime()), ZoneId.systemDefault()) : null)
.completedTime(WaylineJobStatusEnum.find(entity.getStatus()).getEnd() ?
LocalDateTime.ofInstant(Instant.ofEpochMilli(entity.getUpdateTime()), ZoneId.systemDefault()) : null)
- .taskType(entity.getTaskType())
- .waylineType(entity.getWaylineType())
+ .taskType(WaylineTaskTypeEnum.find(entity.getTaskType()))
+ .waylineType(WaylineTemplateTypeEnum.find(entity.getWaylineType()))
.rthAltitude(entity.getRthAltitude())
.outOfControlAction(entity.getOutOfControlAction())
.mediaCount(entity.getMediaCount());
--
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