From cbf5045d84088891ef0696b189e1f8af6a653bad Mon Sep 17 00:00:00 2001
From: guoshilong <123456>
Date: Mon, 13 Nov 2023 10:09:32 +0800
Subject: [PATCH] 图斑距离计算，定时任务添加逻辑
---
src/main/java/com/dji/sample/wayline/service/impl/WaylineJobServiceImpl.java | 389 ++++++++++++++++++++++++++++++++++++++++++++++++++-----
1 files changed, 351 insertions(+), 38 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 c149023..0c72c27 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.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.baomidou.mybatisplus.core.conditions.update.LambdaUpdateWrapper;
+import com.baomidou.mybatisplus.core.toolkit.Wrappers;
import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
import com.dji.sample.common.error.CommonErrorEnum;
import com.dji.sample.common.model.CustomClaim;
@@ -12,11 +14,17 @@
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.service.IControlService;
import com.dji.sample.control.service.IDrcService;
import com.dji.sample.manage.model.dto.DeviceDTO;
import com.dji.sample.manage.model.enums.DeviceModeCodeEnum;
import com.dji.sample.manage.model.enums.DockModeCodeEnum;
+import com.dji.sample.manage.model.enums.DroneRcLostActionEnum;
+import com.dji.sample.manage.model.enums.WaylineRcLostActionEnum;
import com.dji.sample.manage.model.receiver.OsdDockReceiver;
import com.dji.sample.manage.model.receiver.OsdSubDeviceReceiver;
import com.dji.sample.manage.service.IDeviceRedisService;
@@ -24,13 +32,12 @@
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.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.*;
-import com.dji.sample.wayline.model.param.CreateJobParam;
-import com.dji.sample.wayline.model.param.UpdateJobParam;
-import com.dji.sample.wayline.model.param.WaylineJobQueryParam;
+import com.dji.sample.wayline.model.param.*;
import com.dji.sample.wayline.service.IWaylineFileService;
import com.dji.sample.wayline.service.IWaylineJobService;
import com.dji.sample.wayline.service.IWaylineRedisService;
@@ -89,6 +96,9 @@
@Autowired
private IWaylineRedisService waylineRedisService;
+
+ @Autowired
+ private IControlService controlService;
private Optional<WaylineJobDTO> insertWaylineJob(WaylineJobEntity jobEntity) {
int id = mapper.insert(jobEntity);
@@ -238,42 +248,141 @@
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();
+ //存一条记录,
+ List<Long> timeArr = param.getExecuteStartTimeArr().get(0);
- 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;
+ LocalDate date = LocalDate.ofInstant(Instant.ofEpochSecond(timeArr.get(0)), ZoneId.systemDefault());
+ LocalDateTime beginTime = LocalDateTime.of(date, LocalTime.ofInstant(Instant.ofEpochSecond(timeArr.get(0)), ZoneId.systemDefault()));
- if (WaylineTaskTypeEnum.IMMEDIATE != param.getTaskType() && endTime < System.currentTimeMillis()) {
- //中断当前循环执行下一个
- continue;
- }
+ LocalDateTime endTime = timeArr.size() > 1 && Objects.nonNull(timeArr.get(1)) ?
+ LocalDateTime.of(date, LocalTime.ofInstant(Instant.ofEpochSecond(timeArr.get(1)), ZoneId.systemDefault())) : beginTime;
-
- //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;
- }
-
+ if (WaylineTaskTypeEnum.IMMEDIATE != param.getTaskType() && endTime.atZone(ZoneId.systemDefault()).toInstant().toEpochMilli() < System.currentTimeMillis()) {
+ return ResponseResult.error("任务已过期");
}
+ //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.atZone(ZoneId.systemDefault()).toInstant().toEpochMilli())
+ .endTime(endTime.atZone(ZoneId.systemDefault()).toInstant().toEpochMilli())
+ .build())
+ .build());
+ } else {
+ waylineJob.setBeginTime(beginTime);
+ }
+
+ ResponseResult response = this.publishOneFlightTask(waylineJob);
+ if (ResponseResult.CODE_SUCCESS != response.getCode()) {
+ 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();
}
@@ -481,7 +590,17 @@
}
@Override
- public Boolean updateJob(WaylineJobDTO dto) {
+ public Boolean updateJob(WaylineJobDTO dto){
+
+ try {
+ if (dto.getStatus() == 3){
+ this.checkNextJob(dto);
+ }
+ }catch (SQLException e) {
+ throw new RuntimeException(e);
+ }
+
+
return mapper.update(this.dto2Entity(dto),
new LambdaUpdateWrapper<WaylineJobEntity>()
.eq(WaylineJobEntity::getJobId, dto.getJobId())) > 0;
@@ -683,12 +802,206 @@
// .orderByDesc(WaylineJobEntity::getBeginTime)
// );
- WaylineJobEntity waylineJobEntity = mapper.getLatest(workspaceId,waylineJobQueryParam);
+ WaylineJobEntity waylineJobEntity = mapper.getLatest(workspaceId, waylineJobQueryParam);
- return waylineJobEntity;
+ return waylineJobEntity;
}
+ @Override
+ public ResponseResult flyByArea(String sn, FlyAreaParam flyAreaParam) {
+
+ List<List<PointPOJO>> areaList = flyAreaParam.getAreaList();
+ PointPOJO dockPoint = flyAreaParam.getDockPoint();
+ Double radius = flyAreaParam.getRadius();
+
+ List<PointPOJO> centerPointList = new ArrayList<>();
+
+ //根据区域获取中心点
+ areaList.forEach(area -> {
+ PointPOJO centerPoint = GeoUtils.getCenterPoint(area);
+ centerPointList.add(centerPoint);
+ });
+
+ //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());
+
+ //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);
+ }
+ });
+
+ //按距离从近到远排序
+ targetList.sort(Comparator.comparing(PointPOJO::getDistance));
+
+ //后续为无人机操作逻辑
+ //先飞到空中
+ TakeoffToPointParam takeoffToPointParam = new TakeoffToPointParam();
+
+ takeoffToPointParam.setTargetLatitude(dockPoint.getLat());
+ takeoffToPointParam.setTargetLongitude(dockPoint.getLon());
+ //设置飞行高度
+ takeoffToPointParam.setTargetHeight(120.0);
+ //设置安全起飞高度
+ takeoffToPointParam.setSecurityTakeoffHeight(100.0);
+ //设置返航高度
+ takeoffToPointParam.setRthAltitude(100.0);
+ //设置失控操作
+ takeoffToPointParam.setRcLostAction(DroneRcLostActionEnum.RETURN_HOME);
+ //设置起飞速度
+ 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();
+ }
+
+ @Override
+ public ResponseResult checkNextJob(WaylineJobDTO job) throws SQLException {
+
+ WaylineJobEntity params = new WaylineJobEntity();
+ params.setJobId(job.getJobId());
+
+
+ WaylineJobEntity currentJob = mapper.selectOne(Wrappers.query(params));
+ if (currentJob == null) {
+ return ResponseResult.error("该任务不存在");
+ }
+
+ //该任务没有多次时间
+ if (currentJob.getExecuteStartTimeArr() == null) {
+ return ResponseResult.success();
+ }
+
+ List<List<Long>> executeStartTimeArr = currentJob.getExecuteStartTimeArr();
+ int indexTime = -1;
+
+ long currentTime = System.currentTimeMillis();
+ for (int i = 0; i < executeStartTimeArr.size(); i++) {
+ Long startTime = Long.valueOf(executeStartTimeArr.get(i).get(0));
+ //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
+ indexTime = i;
+ break;
+ }
+ }
+
+ List<Long> timeArr = currentJob.getExecuteStartTimeArr().get(indexTime);
+ LocalDate date = LocalDate.ofInstant(Instant.ofEpochSecond(timeArr.get(0)), ZoneId.systemDefault());
+ LocalDateTime beginDate = LocalDateTime.of(date, LocalTime.ofInstant(Instant.ofEpochSecond(timeArr.get(0)), ZoneId.systemDefault()));
+ LocalDateTime endDate = timeArr.size() > 1 && Objects.nonNull(timeArr.get(1)) ?
+ LocalDateTime.of(date, LocalTime.ofInstant(Instant.ofEpochSecond(timeArr.get(1)), ZoneId.systemDefault()))
+ : beginDate;
+
+ long beginTime = beginDate
+ .atZone(ZoneId.systemDefault()).toInstant().toEpochMilli();
+ long endTime = endDate
+ .atZone(ZoneId.systemDefault()).toInstant().toEpochMilli();
+
+
+ //添加一条新数据
+ WaylineJobEntity waylineJobEntity = WaylineJobEntity.builder()
+ .jobId(UUID.randomUUID().toString())
+ //大于1则拿前面的parentId,为1则拿第0个的id
+ .parentId(indexTime > 1 ? currentJob.getParentId().toString() : currentJob.getId().toString())
+ .name(currentJob.getName())
+ .dockSn(currentJob.getDockSn())
+ .fileId(currentJob.getFileId())
+ .username(currentJob.getUsername())
+ .workspaceId(currentJob.getWorkspaceId())
+
+ .beginTime(beginTime)
+ .endTime(endTime)
+ .status(WaylineJobStatusEnum.PENDING.getVal())
+ .taskType(currentJob.getTaskType())
+ .waylineType(currentJob.getWaylineType())
+ .outOfControlAction(currentJob.getOutOfControlAction())
+ .batteryCapacity(currentJob.getBatteryCapacity())
+ .rthAltitude(currentJob.getRthAltitude())
+ .mediaCount(0)
+ .repFreVal(currentJob.getRepFreVal())
+ .repFreType(currentJob.getRepFreType())
+ .repRuleType(currentJob.getRepRuleType())
+ .repRuleVal(currentJob.getRepRuleVal())
+ .executeTimeArr(currentJob.getExecuteTimeArr())
+ .executeStartTimeArr(currentJob.getExecuteStartTimeArr())
+ .build();
+
+ Optional<WaylineJobDTO> waylineJobOpt = insertWaylineJob(waylineJobEntity);
+
+ if (waylineJobOpt.isEmpty()) {
+ return ResponseResult.error("任务创建失败");
+ }
+
+ WaylineJobDTO waylineJob = waylineJobOpt.get();
+
+ LocalDateTime beginTimeNext = LocalDateTime.of(date, LocalTime.ofInstant(Instant.ofEpochSecond(timeArr.get(0)), ZoneId.systemDefault()));
+
+ LocalDateTime endTimeNext = timeArr.size() > 1 && Objects.nonNull(timeArr.get(1)) ?
+ LocalDateTime.of(date, LocalTime.ofInstant(Instant.ofEpochSecond(timeArr.get(1)), ZoneId.systemDefault())) : beginTimeNext;
+
+
+ //条件任务
+ if (currentJob.getTaskType() == 2) {
+ //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(null)
+ .readyConditions(WaylineTaskReadyConditionDTO.builder()
+ .batteryCapacity(currentJob.getBatteryCapacity())
+ .beginTime(beginTime)
+ .endTime(endTime)
+ .build())
+ .build());
+ } else {
+ waylineJob.setBeginTime(beginDate);
+ }
+
+ ResponseResult response = this.publishOneFlightTask(waylineJob);
+ if (ResponseResult.CODE_SUCCESS != response.getCode()) {
+ return response;
+ }
+
+ return ResponseResult.success();
+ }
+
+
private void pauseJob(String workspaceId, String dockSn, String jobId, WaylineJobStatusEnum statusEnum) {
if (WaylineJobStatusEnum.PAUSED == statusEnum && jobId.equals(waylineRedisService.getPausedWaylineJobId(dockSn))) {
waylineRedisService.setPausedWaylineJob(dockSn, jobId);
--
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