From f98b25a34d04c2acb9bf93e6cbd4e72fa2d81ba0 Mon Sep 17 00:00:00 2001
From: xieb <vip_xiaobin810@163.com>
Date: Sat, 13 Apr 2024 11:40:29 +0800
Subject: [PATCH] 航线规划修改
---
src/main/java/com/dji/sample/control/service/impl/ControlServiceImpl.java | 32 +++++++++++++++++++++++---------
1 files changed, 23 insertions(+), 9 deletions(-)
diff --git a/src/main/java/com/dji/sample/control/service/impl/ControlServiceImpl.java b/src/main/java/com/dji/sample/control/service/impl/ControlServiceImpl.java
index c186883..56955a2 100644
--- a/src/main/java/com/dji/sample/control/service/impl/ControlServiceImpl.java
+++ b/src/main/java/com/dji/sample/control/service/impl/ControlServiceImpl.java
@@ -33,6 +33,7 @@
import org.springframework.integration.annotation.ServiceActivator;
import org.springframework.messaging.MessageHeaders;
import org.springframework.stereotype.Service;
+import org.springframework.util.StringUtils;
import java.util.*;
@@ -100,6 +101,16 @@
RedisOpsUtils.setWithExpire(serviceIdentifier + RedisConst.DELIMITER + bid, sn,
RedisConst.DEVICE_ALIVE_SECOND * RedisConst.DEVICE_ALIVE_SECOND);
}
+
+ //当执行返航指令时，删除图斑redis
+ if (serviceIdentifier == "return_home"){
+ if (RedisOpsUtils.checkExist("tuban:" + sn)){
+ RedisOpsUtils.del("tuban:" + sn);
+ }
+ }
+
+
+
return ResponseResult.success();
}
@@ -205,27 +216,32 @@
eventsReceiver.getStatus().getMessage() : eventsReceiver.getResult().getErrorMsg())
.result(eventsReceiver.getResult().getErrorCode())
.build());
-
+ //当飞向目标点成功后
if (eventsReceiver.getStatus().equals(FlyToStatusEnum.WAYLINE_OK)) {
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");
- flyToNextPoint(targetList, curIndex, dockSn, payloadIndex);
+ flyToNextPoint(targetList, curIndex+1, dockSn, payloadIndex);
}
}
return receiver;
}
- private ResponseResult flyToNextPoint(List<PointPOJO> targetList, int curIndex, String sn, String payloadIndex) throws Exception {
- curIndex = curIndex + 1;
+ @Override
+ public ResponseResult flyToNextPoint(List<PointPOJO> targetList, int curIndex, String sn, String payloadIndex) throws Exception {
//当无人机状态为人工时再发布下一个命令
while (true) {
Optional<DeviceDTO> dockOpt = deviceRedisService.getDeviceOnline(sn);
DeviceModeCodeEnum deviceMode = deviceService.getDeviceMode(dockOpt.get().getChildDeviceSn());
if (DeviceModeCodeEnum.MANUAL == deviceMode) {
+
+ //执行拍照
+ ResponseResult responseResult = takePhoto(sn, payloadIndex);
+
+ //发布飞行指令
if (curIndex == targetList.size()) {
//当前是最后一个点，返航
ResponseResult returnHome = controlDockDebug(sn, "return_home", null);
@@ -245,9 +261,6 @@
pointDTO.setLatitude(targetList.get(curIndex).getLat());
pointDTOS.add(pointDTO);
flyToPointParam.setPoints(pointDTOS);
-
- //执行拍照
- ResponseResult responseResult = takePhoto(sn, payloadIndex);
//发布下一个飞行指令
ResponseResult flyToRes = flyToPoint(sn, flyToPointParam);
@@ -324,8 +337,9 @@
@Override
public ResponseResult takeoffToPoint(String sn, TakeoffToPointParam param) {
checkTakeoffCondition(sn);
-
- param.setFlightId(UUID.randomUUID().toString());
+ if (!StringUtils.hasText(param.getFlightId())){
+ param.setFlightId(UUID.randomUUID().toString());
+ }
ServiceReply reply = messageSenderService.publishServicesTopic(sn, DroneControlMethodEnum.TAKE_OFF_TO_POINT.getMethod(), param, param.getFlightId());
return ResponseResult.CODE_SUCCESS != reply.getResult() ?
ResponseResult.error("无人机起飞失败 " + reply.getResult())
--
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