From 8d9a2d656e4ae007590c622e5f7c228adacdca49 Mon Sep 17 00:00:00 2001
From: rain <167982779@qq.com>
Date: Fri, 14 Jun 2024 10:11:36 +0800
Subject: [PATCH] 统一风格
---
src/main/java/com/dji/sample/wayline/service/impl/WaylineJobServiceImpl.java | 972 ++++++++++++++++++++++++++++++++++++++++++++++----------
1 files changed, 792 insertions(+), 180 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 067a3fc..1799c73 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
@@ -1,31 +1,58 @@
package com.dji.sample.wayline.service.impl;
+import com.alibaba.fastjson.JSON;
+import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
import com.baomidou.mybatisplus.core.conditions.update.LambdaUpdateWrapper;
+import com.baomidou.mybatisplus.core.toolkit.Wrappers;
+import com.baomidou.mybatisplus.extension.conditions.query.LambdaQueryChainWrapper;
+import com.baomidou.mybatisplus.extension.conditions.update.LambdaUpdateChainWrapper;
import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
import com.dji.sample.common.error.CommonErrorEnum;
import com.dji.sample.common.model.CustomClaim;
import com.dji.sample.common.model.Pagination;
import com.dji.sample.common.model.PaginationData;
import com.dji.sample.common.model.ResponseResult;
+import com.dji.sample.common.util.MinioUrlUtils;
+import com.dji.sample.common.util.SpringBeanUtils;
import com.dji.sample.component.mqtt.model.*;
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.enums.CameraModeEnum;
+import com.dji.sample.control.model.enums.DroneAuthorityEnum;
+import com.dji.sample.control.model.enums.PayloadCommandsEnum;
+import com.dji.sample.control.model.param.*;
+import com.dji.sample.control.service.IControlService;
+import com.dji.sample.control.service.IDrcService;
+import com.dji.sample.geo.entity.GeoJson;
+import com.dji.sample.log.dao.IDroneFlightLogMapper;
+import com.dji.sample.log.model.entity.DroneFlightLogEntity;
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;
import com.dji.sample.manage.service.IDeviceService;
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.geo.utils.GeoUtils;
import com.dji.sample.wayline.dao.IWaylineJobMapper;
import com.dji.sample.wayline.model.dto.*;
+import com.dji.sample.wayline.model.entity.WaylineJobBreakPointEntity;
import com.dji.sample.wayline.model.entity.WaylineJobEntity;
-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.param.CreateJobParam;
+import com.dji.sample.wayline.model.enums.*;
+import com.dji.sample.wayline.model.param.*;
import com.dji.sample.wayline.service.IWaylineFileService;
+import com.dji.sample.wayline.service.IWaylineJobBreakPointService;
import com.dji.sample.wayline.service.IWaylineJobService;
+import com.dji.sample.wayline.service.IWaylineRedisService;
import com.fasterxml.jackson.core.type.TypeReference;
import com.fasterxml.jackson.databind.ObjectMapper;
import lombok.extern.slf4j.Slf4j;
@@ -37,12 +64,12 @@
import org.springframework.transaction.annotation.Isolation;
import org.springframework.transaction.annotation.Transactional;
import org.springframework.util.CollectionUtils;
+import org.springframework.util.StringUtils;
+import java.io.File;
import java.net.URL;
import java.sql.SQLException;
-import java.time.Instant;
-import java.time.LocalDateTime;
-import java.time.ZoneId;
+import java.time.*;
import java.util.*;
import java.util.stream.Collectors;
@@ -74,30 +101,25 @@
@Autowired
private IFileService fileService;
- @Override
- public Optional<WaylineJobDTO> createWaylineJob(CreateJobParam param, CustomClaim customClaim) {
- if (Objects.isNull(param)) {
- return Optional.empty();
- }
- // Immediate tasks, allocating time on the backend.
- if (Objects.isNull(param.getExecuteTime())) {
- param.setExecuteTime(System.currentTimeMillis());
- }
- WaylineJobEntity jobEntity = WaylineJobEntity.builder()
- .name(param.getName())
- .dockSn(param.getDockSn())
- .fileId(param.getFileId())
- .username(customClaim.getUsername())
- .workspaceId(customClaim.getWorkspaceId())
- .jobId(UUID.randomUUID().toString())
- .executeTime(param.getExecuteTime())
- .status(WaylineJobStatusEnum.PENDING.getVal())
- .taskType(param.getTaskType())
- .waylineType(param.getWaylineType())
- .outOfControlAction(param.getOutOfControlAction())
- .rthAltitude(param.getRthAltitude())
- .mediaCount(0)
- .build();
+ @Autowired
+ private IDrcService drcService;
+
+ @Autowired
+ private IDeviceRedisService deviceRedisService;
+
+ @Autowired
+ private IWaylineRedisService waylineRedisService;
+
+ @Autowired
+ private IControlService controlService;
+
+ @Autowired
+ private IDroneFlightLogMapper flightLogMapper;
+
+ @Autowired
+ private IWaylineJobBreakPointService waylineJobBreakPointService;
+
+ private Optional<WaylineJobDTO> insertWaylineJob(WaylineJobEntity jobEntity) {
int id = mapper.insert(jobEntity);
if (id <= 0) {
return Optional.empty();
@@ -106,176 +128,361 @@
}
@Override
- public ResponseResult publishFlightTask(CreateJobParam param, CustomClaim customClaim) throws SQLException {
- Optional<WaylineJobDTO> waylineJobOpt = this.createWaylineJob(param, customClaim);
- if (waylineJobOpt.isEmpty()) {
- throw new SQLException("Failed to create wayline job.");
+ public Optional<WaylineJobDTO> createWaylineJob(CreateJobParam param, String workspaceId, String username, Long beginTime, Long endTime) {
+ if (Objects.isNull(param)) {
+ return Optional.empty();
}
+ // Immediate tasks, allocating time on the backend.
+ WaylineJobEntity jobEntity = WaylineJobEntity.builder()
+ .name(param.getName())
+ .dockSn(param.getDockSn())
+ .fileId(param.getFileId())
+ .username(username)
+ .workspaceId(workspaceId)
+ .jobId(UUID.randomUUID().toString())
+ .beginTime(beginTime)
+ .endTime(endTime)
+ .status(WaylineJobStatusEnum.PENDING.getVal())
+ .taskType(param.getTaskType().getVal())
+ .waylineType(param.getWaylineType().getVal())
+ .outOfControlAction(param.getOutOfControlAction())
+ .rthAltitude(param.getRthAltitude())
+ .mediaCount(0)
+ .build();
+ if (StringUtils.hasText(param.getJobId())){
+ jobEntity.setJobId(param.getJobId());
+ }
+ return insertWaylineJob(jobEntity);
+ }
+
+ @Override
+ public Optional<WaylineJobDTO> createWaylineJobByParent(String workspaceId, String parentId) {
+ Optional<WaylineJobDTO> parentJobOpt = this.getJobByJobId(workspaceId, parentId);
+ if (parentJobOpt.isEmpty()) {
+ return Optional.empty();
+ }
+ WaylineJobEntity jobEntity = this.dto2Entity(parentJobOpt.get());
+ jobEntity.setJobId(UUID.randomUUID().toString());
+ jobEntity.setErrorCode(null);
+ jobEntity.setCompletedTime(null);
+ jobEntity.setExecuteTime(null);
+ jobEntity.setStatus(WaylineJobStatusEnum.PENDING.getVal());
+ jobEntity.setParentId(parentId);
+
+ return this.insertWaylineJob(jobEntity);
+ }
+
+ /**
+ * 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 - 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)));
+ 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 && 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("任务已过期");
+ }
+ Optional<WaylineJobDTO> waylineJobOpt = this.createWaylineJob(param, customClaim.getWorkspaceId(), customClaim.getUsername(), beginTime, endTime);
+ if (waylineJobOpt.isEmpty()) {
+ throw new SQLException("任务创建失败");
+ }
+ WaylineJobDTO waylineJob = waylineJobOpt.get();
+ // 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();
- boolean isOnline = deviceService.checkDeviceOnline(waylineJob.getDockSn());
- if (!isOnline) {
- throw new RuntimeException("Dock is offline.");
+ //存一条记录,
+ List<Long> timeArr = param.getExecuteStartTimeArr().get(0);
+
+ 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()));
+
+ LocalDateTime endTime = timeArr.size() > 1 && Objects.nonNull(timeArr.get(1)) ?
+ LocalDateTime.of(date, LocalTime.ofInstant(Instant.ofEpochSecond(timeArr.get(1)), ZoneId.systemDefault())) : beginTime;
+
+ 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);
}
- // get wayline file
- Optional<WaylineFileDTO> waylineFile = waylineFileService.getWaylineByWaylineId(waylineJob.getWorkspaceId(), waylineJob.getFileId());
- if (waylineFile.isEmpty()) {
- throw new SQLException("Wayline file doesn't exist.");
+ ResponseResult response = this.publishOneFlightTask(waylineJob);
+ if (ResponseResult.CODE_SUCCESS != response.getCode()) {
+ return response;
}
- // get file url
- URL url = waylineFileService.getObjectUrl(waylineJob.getWorkspaceId(), waylineFile.get().getWaylineId());
+ return ResponseResult.success();
+ }
- FlightTaskCreateDTO flightTask = FlightTaskCreateDTO.builder()
- .flightId(waylineJob.getJobId())
- .executeTime(waylineJob.getExecuteTime().atZone(ZoneId.systemDefault()).toInstant().toEpochMilli())
- .taskType(waylineJob.getTaskType())
- .waylineType(waylineJob.getWaylineType())
- .rthAltitude(waylineJob.getRthAltitude())
- .outOfControlAction(waylineJob.getOutOfControlAction())
- .file(FlightTaskFileDTO.builder()
- .url(url.toString())
- .fingerprint(waylineFile.get().getSign())
- .build())
- .build();
+ 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());
- String topic = TopicConst.THING_MODEL_PRE + TopicConst.PRODUCT +
- waylineJob.getDockSn() + TopicConst.SERVICES_SUF;
- CommonTopicResponse<Object> response = CommonTopicResponse.builder()
- .tid(UUID.randomUUID().toString())
- .bid(waylineJob.getJobId())
- .timestamp(System.currentTimeMillis())
- .data(flightTask)
- .method(WaylineMethodEnum.FLIGHT_TASK_PREPARE.getMethod())
- .build();
+ waylineRedisService.setConditionalWaylineJob(waylineJob);
+ }
+ // value: {workspace_id}:{dock_sn}:{job_id}
+ boolean isAdd = waylineRedisService.addPreparedWaylineJob(waylineJob);
+ if (!isAdd) {
+ throw new RuntimeException("创建任务失败。");
+ }
+ }
- ServiceReply serviceReply = messageSender.publishWithReply(topic, response);
- if (ResponseResult.CODE_SUCCESS != serviceReply.getResult()) {
- log.info("Prepare task ====> Error code: {}", serviceReply.getResult());
- this.updateJob(WaylineJobDTO.builder()
- .workspaceId(waylineJob.getWorkspaceId())
- .jobId(waylineJob.getJobId())
- .status(WaylineJobStatusEnum.FAILED.getVal())
- .endTime(LocalDateTime.now())
- .code(serviceReply.getResult()).build());
- return ResponseResult.error("Prepare task ====> Error code: " + serviceReply.getResult());
+ public ResponseResult publishOneFlightTask(WaylineJobDTO waylineJob) throws SQLException {
+
+ boolean isSuccess = this.prepareFlightTask(waylineJob);
+ if (!isSuccess) {
+ return ResponseResult.error("任务准备失败");
}
// Issue an immediate task execution command.
- if (WaylineTaskTypeEnum.IMMEDIATE.getVal() == waylineJob.getTaskType()) {
- if (!executeFlightTask(waylineJob.getJobId())) {
- return ResponseResult.error("Failed to execute job.");
- }
- }
-
- if (WaylineTaskTypeEnum.TIMED.getVal() == waylineJob.getTaskType()) {
- boolean isAdd = RedisOpsUtils.zAdd(RedisConst.WAYLINE_JOB, waylineJob.getJobId(),
- waylineJob.getExecuteTime().atZone(ZoneId.systemDefault()).toInstant().toEpochMilli());
- if (!isAdd) {
- return ResponseResult.error("Failed to create scheduled job.");
+ //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("当前状态不支持飞行，请检查是否已有正在执行的飞行任务！");
}
}
return ResponseResult.success();
}
- @Override
- public Boolean executeFlightTask(String jobId) {
- // get job
- Optional<WaylineJobDTO> waylineJob = this.getJobByJobId(jobId);
- if (waylineJob.isEmpty()) {
- throw new IllegalArgumentException("Job doesn't exist.");
+ private Boolean prepareFlightTask(WaylineJobDTO waylineJob) throws SQLException {
+
+ /*boolean isOnline = deviceRedisService.checkDeviceOnline(waylineJob.getDockSn());
+ if (!isOnline) {
+ 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("航线文件不存在。");
}
- boolean isOnline = deviceService.checkDeviceOnline(waylineJob.get().getDockSn());
+ // get file url
+ //获取航线文件地址
+ URL url = waylineFileService.getObjectUrl(waylineJob.getWorkspaceId(), waylineFile.get().getWaylineId());
+ WaylineTaskCreateDTO.WaylineTaskCreateDTOBuilder flightTaskBuilder = WaylineTaskCreateDTO.builder().flightId(waylineJob.getJobId())
+ .executeTime(waylineJob.getBeginTime().atZone(ZoneId.systemDefault()).toInstant().toEpochMilli())
+ .taskType(waylineJob.getTaskType())
+ .waylineType(waylineJob.getWaylineType())
+ .rthAltitude(waylineJob.getRthAltitude())
+ .outOfControlAction(waylineJob.getOutOfControlAction())
+ .file(WaylineTaskFileDTO.builder()
+ .url(MinioUrlUtils.getUrl(url))
+ .fingerprint(waylineFile.get().getSign())
+ .build());
+ WaylineJobBreakPointEntity entity = waylineJob.getWaylineJobBreakPointEntity();
+ if (null != entity) {
+ flightTaskBuilder.breakPoint(BreakPointJobDTO.builder()
+ .index(entity.getBpIndex())
+ .state(entity.getState())
+ .progress(entity.getProgress())
+ .waylineId(entity.getWaylineId())
+ .build());
+ }
+
+ WaylineTaskCreateDTO flightTask = flightTaskBuilder.build();
+
+ //当任务类型为条件时
+ if (WaylineTaskTypeEnum.CONDITION == waylineJob.getTaskType()) {
+ if (Objects.isNull(waylineJob.getConditions())) {
+ throw new IllegalArgumentException();
+ }
+ flightTask.setReadyConditions(waylineJob.getConditions().getReadyConditions());
+ 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())
+ .executeTime(LocalDateTime.now())
+ .status(WaylineJobStatusEnum.FAILED.getVal())
+ .completedTime(LocalDateTime.now())
+ .code(serviceReply.getResult()).build());
+ return false;
+ }
+ return true;
+ }
+
+ @Override
+ public Boolean executeFlightTask(String workspaceId, String jobId) {
+ // get job
+ Optional<WaylineJobDTO> waylineJob = this.getJobByJobId(workspaceId, jobId);
+ if (waylineJob.isEmpty()) {
+ 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();
- FlightTaskCreateDTO flightTask = FlightTaskCreateDTO.builder().flightId(jobId).build();
+ WaylineTaskCreateDTO flightTask = WaylineTaskCreateDTO.builder().flightId(jobId).build();
- String topic = TopicConst.THING_MODEL_PRE + TopicConst.PRODUCT +
- job.getDockSn() + TopicConst.SERVICES_SUF;
- CommonTopicResponse<Object> response = CommonTopicResponse.builder()
- .tid(UUID.randomUUID().toString())
- .bid(jobId)
- .timestamp(System.currentTimeMillis())
- .data(flightTask)
- .method(WaylineMethodEnum.FLIGHT_TASK_EXECUTE.getMethod())
- .build();
-
- ServiceReply serviceReply = messageSender.publishWithReply(topic, response);
+ ServiceReply serviceReply = messageSender.publishServicesTopic(
+ job.getDockSn(), WaylineMethodEnum.FLIGHT_TASK_EXECUTE.getMethod(), flightTask, jobId);
if (ResponseResult.CODE_SUCCESS != serviceReply.getResult()) {
log.info("Execute job ====> Error code: {}", serviceReply.getResult());
this.updateJob(WaylineJobDTO.builder()
.jobId(jobId)
+ .executeTime(LocalDateTime.now())
.status(WaylineJobStatusEnum.FAILED.getVal())
- .endTime(LocalDateTime.now())
+ .completedTime(LocalDateTime.now())
.code(serviceReply.getResult()).build());
+ // 条件任务失败，进入阻塞状态。
+ if (WaylineTaskTypeEnum.CONDITION == job.getTaskType()
+ && WaylineErrorCodeEnum.find(serviceReply.getResult()).isBlock()) {
+ waylineRedisService.setBlockedWaylineJob(job.getDockSn(), jobId);
+ }
return false;
}
this.updateJob(WaylineJobDTO.builder()
.jobId(jobId)
+ .executeTime(LocalDateTime.now())
.status(WaylineJobStatusEnum.IN_PROGRESS.getVal())
.build());
- RedisOpsUtils.setWithExpire(jobId,
- EventsReceiver.<FlightTaskProgressReceiver>builder().bid(jobId).sn(job.getDockSn()).build(),
- RedisConst.DEVICE_ALIVE_SECOND * RedisConst.DEVICE_ALIVE_SECOND);
+ waylineRedisService.setRunningWaylineJob(job.getDockSn(), EventsReceiver.<WaylineTaskProgressReceiver>builder().bid(jobId).sn(job.getDockSn()).build());
return true;
}
@Override
public void cancelFlightTask(String workspaceId, Collection<String> jobIds) {
- List<WaylineJobEntity> waylineJobs = mapper.selectList(
- new LambdaQueryWrapper<WaylineJobEntity>()
- .or(wrapper -> jobIds.forEach(id -> wrapper.eq(WaylineJobEntity::getJobId, id))));
+ List<WaylineJobDTO> waylineJobs = getJobsByConditions(workspaceId, jobIds, WaylineJobStatusEnum.PENDING);
- // Check if the job have ended.
- List<String> endJobs = waylineJobs.stream()
- .filter(job -> WaylineJobStatusEnum.find(job.getStatus()).getEnd())
- .map(WaylineJobEntity::getName)
- .collect(Collectors.toList());
- if (!CollectionUtils.isEmpty(endJobs)) {
- throw new IllegalArgumentException("There are jobs that have ended." + Arrays.toString(endJobs.toArray()));
- }
-
- Set<String> ids = waylineJobs.stream().map(WaylineJobEntity::getJobId).collect(Collectors.toSet());
- for (String id : jobIds) {
- if (!ids.contains(id)) {
- throw new IllegalArgumentException("Job id " + id + " doesn't exist.");
- }
+ 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();
+ if (isErr) {
+ 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.
Map<String, List<String>> dockJobs = waylineJobs.stream()
- .collect(Collectors.groupingBy(WaylineJobEntity::getDockSn,
- Collectors.mapping(WaylineJobEntity::getJobId, Collectors.toList())));
+ .collect(Collectors.groupingBy(WaylineJobDTO::getDockSn,
+ Collectors.mapping(WaylineJobDTO::getJobId, Collectors.toList())));
dockJobs.forEach((dockSn, idList) -> this.publishCancelTask(workspaceId, dockSn, idList));
}
- private void publishCancelTask(String workspaceId, String dockSn, List<String> jobIds) {
- boolean isOnline = deviceService.checkDeviceOnline(dockSn);
+ 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");
}
- String topic = TopicConst.THING_MODEL_PRE + TopicConst.PRODUCT + dockSn + TopicConst.SERVICES_SUF;
- CommonTopicResponse<Object> response = CommonTopicResponse.builder()
- .tid(UUID.randomUUID().toString())
- .bid(UUID.randomUUID().toString())
- .timestamp(System.currentTimeMillis())
- .data(Map.of(MapKeyConst.FLIGHT_IDS, jobIds))
- .method(WaylineMethodEnum.FLIGHT_TASK_CANCEL.getMethod())
- .build();
-
- ServiceReply serviceReply = messageSender.publishWithReply(topic, response);
+ 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) {
@@ -283,35 +490,72 @@
.workspaceId(workspaceId)
.jobId(jobId)
.status(WaylineJobStatusEnum.CANCEL.getVal())
- .endTime(LocalDateTime.now())
+ .completedTime(LocalDateTime.now())
.build());
- RedisOpsUtils.zRemove(RedisConst.WAYLINE_JOB, jobId);
}
}
+ 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))
+ .stream()
+ .map(this::entity2Dto)
+ .collect(Collectors.toList());
+ }
+
@Override
- public Optional<WaylineJobDTO> getJobByJobId(String jobId) {
+ public Optional<WaylineJobDTO> getJobByJobId(String workspaceId, String jobId) {
WaylineJobEntity jobEntity = mapper.selectOne(
new LambdaQueryWrapper<WaylineJobEntity>()
+ .eq(WaylineJobEntity::getWorkspaceId, workspaceId)
.eq(WaylineJobEntity::getJobId, jobId));
return Optional.ofNullable(entity2Dto(jobEntity));
}
@Override
+ public Optional<WaylineJobDTO> getJobByJobId(String workspaceId, String jobId,Boolean isBreakPoint) {
+ WaylineJobEntity jobEntity = mapper.selectOne(
+ new LambdaQueryWrapper<WaylineJobEntity>()
+ .eq(WaylineJobEntity::getWorkspaceId, workspaceId)
+ .eq(WaylineJobEntity::getJobId, jobId));
+ WaylineJobDTO waylineJobDTO = entity2Dto(jobEntity);
+ if (isBreakPoint) {
+ QueryWrapper queryWrapper = new QueryWrapper();
+ queryWrapper.eq("job_id", jobId);
+ WaylineJobBreakPointEntity waylineJobBreakPointEntity = waylineJobBreakPointService.getOne(queryWrapper);
+ waylineJobDTO.setWaylineJobBreakPointEntity(waylineJobBreakPointEntity);
+ }
+
+ //设置当前时间为执行时间
+ waylineJobDTO.setBeginTime(LocalDateTime.now());
+ return Optional.ofNullable(waylineJobDTO);
+ }
+
+ @Override
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;
}
@Override
- public PaginationData<WaylineJobDTO> getJobsByWorkspaceId(String workspaceId, long page, long pageSize) {
- Page<WaylineJobEntity> pageData = mapper.selectPage(
- new Page<WaylineJobEntity>(page, pageSize),
- new LambdaQueryWrapper<WaylineJobEntity>()
- .eq(WaylineJobEntity::getWorkspaceId, workspaceId)
- .orderByDesc(WaylineJobEntity::getId));
+ public PaginationData<WaylineJobDTO> getJobsByWorkspaceId(String workspaceId, long page, long pageSize, WaylineJobQueryParam waylineJobQueryParam) {
+ Page<WaylineJobEntity> pageData = mapper.getPage(new Page<WaylineJobEntity>(page, pageSize), waylineJobQueryParam, workspaceId);
+
List<WaylineJobDTO> records = pageData.getRecords()
.stream()
.map(this::entity2Dto)
@@ -320,12 +564,42 @@
return new PaginationData<WaylineJobDTO>(records, new Pagination(pageData));
}
+ @Override
+ public PaginationData<WaylineJobDTO> getJobsByWorkspaceIdNew(String workspaceId, long page, long pageSize, WaylineJobQueryParam waylineJobQueryParam, String order) {
+ Page<WaylineJobEntity> pageData = mapper.getPageNew(new Page<WaylineJobEntity>(page, pageSize), waylineJobQueryParam, workspaceId,order);
+
+ List<WaylineJobDTO> records = pageData.getRecords()
+ .stream()
+ .map(this::entity2Dto)
+ .collect(Collectors.toList());
+
+ // 是否需要断点续飞
+ records.forEach(wjd -> wjd.setBreakPoint(waylineJobBreakPointService.count(
+ new LambdaQueryWrapper<WaylineJobBreakPointEntity>().eq(WaylineJobBreakPointEntity::getJobId,wjd.getJobId())) > 0));
+
+
+ return new PaginationData<WaylineJobDTO>(records, new Pagination(pageData));
+ }
+
+ @Override
+ public List<WaylineJobDTO> getChildrenJobs(String workspaceId, WaylineJobQueryParam waylineJobQueryParam) {
+
+ List<WaylineJobEntity> list = mapper.getJobs(workspaceId, waylineJobQueryParam);
+ List<WaylineJobDTO> records = list
+ .stream()
+ .map(this::entity2Dto)
+ .collect(Collectors.toList());
+
+ return records;
+ }
+
@Override
@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()
@@ -336,7 +610,11 @@
String topic = headers.get(MqttHeaders.RECEIVED_TOPIC).toString() + TopicConst._REPLY_SUF;
- Optional<WaylineJobDTO> waylineJobOpt = this.getJobByJobId(jobId);
+ Optional<DeviceDTO> deviceOpt = deviceRedisService.getDeviceOnline(receiver.getGateway());
+ if (deviceOpt.isEmpty()) {
+ return;
+ }
+ Optional<WaylineJobDTO> waylineJobOpt = this.getJobByJobId(deviceOpt.get().getWorkspaceId(), jobId);
if (waylineJobOpt.isEmpty()) {
builder.data(RequestsReply.error(CommonErrorEnum.ILLEGAL_ARGUMENT));
messageSender.publish(topic, builder.build());
@@ -357,9 +635,9 @@
URL url = null;
try {
url = waylineFileService.getObjectUrl(waylineJob.getWorkspaceId(), waylineFile.get().getWaylineId());
- builder.data(RequestsReply.success(FlightTaskCreateDTO.builder()
- .file(FlightTaskFileDTO.builder()
- .url(url.toString())
+ builder.data(RequestsReply.success(WaylineTaskCreateDTO.builder()
+ .file(WaylineTaskFileDTO.builder()
+ .url(MinioUrlUtils.getUrl(url))
.fingerprint(waylineFile.get().getSign())
.build())
.build()));
@@ -377,29 +655,22 @@
@Override
public void uploadMediaHighestPriority(String workspaceId, String jobId) {
- Optional<WaylineJobDTO> jobOpt = getJobByJobId(jobId);
+ Optional<WaylineJobDTO> jobOpt = getJobByJobId(workspaceId, jobId);
if (jobOpt.isEmpty()) {
throw new RuntimeException(CommonErrorEnum.ILLEGAL_ARGUMENT.getErrorMsg());
}
String dockSn = jobOpt.get().getDockSn();
String key = RedisConst.MEDIA_HIGHEST_PRIORITY_PREFIX + dockSn;
- if (RedisOpsUtils.checkExist(key) && jobId.equals(RedisOpsUtils.get(key).toString())) {
+ if (RedisOpsUtils.checkExist(key) && jobId.equals(((MediaFileCountDTO) RedisOpsUtils.get(key)).getJobId())) {
return;
}
- ServiceReply reply = messageSender.publishWithReply(TopicConst.THING_MODEL_PRE + TopicConst.PRODUCT + dockSn + TopicConst.SERVICES_SUF,
- CommonTopicResponse.builder()
- .tid(UUID.randomUUID().toString())
- .bid(UUID.randomUUID().toString())
- .timestamp(System.currentTimeMillis())
- .method(MediaMethodEnum.UPLOAD_FLIGHT_TASK_MEDIA_PRIORITIZE.getMethod())
- .data(Map.of(MapKeyConst.FLIGHT_ID, jobId))
- .build());
+ 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());
}
- RedisOpsUtils.setWithExpire(key, jobId, RedisConst.DEVICE_ALIVE_SECOND * 5);
}
private WaylineJobEntity dto2Entity(WaylineJobDTO dto) {
@@ -407,17 +678,348 @@
if (dto == null) {
return builder.build();
}
+ if (Objects.nonNull(dto.getBeginTime())) {
+ builder.beginTime(dto.getBeginTime().atZone(ZoneId.systemDefault()).toInstant().toEpochMilli());
+ }
if (Objects.nonNull(dto.getEndTime())) {
builder.endTime(dto.getEndTime().atZone(ZoneId.systemDefault()).toInstant().toEpochMilli());
}
if (Objects.nonNull(dto.getExecuteTime())) {
builder.executeTime(dto.getExecuteTime().atZone(ZoneId.systemDefault()).toInstant().toEpochMilli());
}
+ if (Objects.nonNull(dto.getCompletedTime())) {
+ builder.completedTime(dto.getCompletedTime().atZone(ZoneId.systemDefault()).toInstant().toEpochMilli());
+ }
return builder.status(dto.getStatus())
.mediaCount(dto.getMediaCount())
.name(dto.getJobName())
.errorCode(dto.getCode())
+ .jobId(dto.getJobId())
+ .fileId(dto.getFileId())
+ .dockSn(dto.getDockSn())
+ .workspaceId(dto.getWorkspaceId())
+ .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())
+ .parentId(dto.getParentId())
.build();
+ }
+
+ @Override
+ public void updateJobStatus(String workspaceId, String jobId, UpdateJobParam param) {
+ Optional<WaylineJobDTO> waylineJobOpt = this.getJobByJobId(workspaceId, jobId);
+ if (waylineJobOpt.isEmpty()) {
+ 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("航路线作业状态不匹配，无法执行操作.");
+ }
+
+ switch (param.getStatus()) {
+ case PAUSE:
+ pauseJob(workspaceId, waylineJob.getDockSn(), jobId, statusEnum);
+ break;
+ case RESUME:
+ resumeJob(workspaceId, waylineJob.getDockSn(), jobId, statusEnum);
+ break;
+ }
+
+ }
+
+ public WaylineJobStatusEnum getWaylineState(String dockSn) {
+ Optional<DeviceDTO> dockOpt = deviceRedisService.getDeviceOnline(dockSn);
+ if (dockOpt.isEmpty() || !StringUtils.hasText(dockOpt.get().getChildDeviceSn())) {
+ return WaylineJobStatusEnum.UNKNOWN;
+ }
+ Optional<OsdDockReceiver> dockOsdOpt = deviceRedisService.getDeviceOsd(dockSn, OsdDockReceiver.class);
+ Optional<OsdSubDeviceReceiver> deviceOsdOpt = deviceRedisService.getDeviceOsd(dockOpt.get().getChildDeviceSn(), OsdSubDeviceReceiver.class);
+ if (dockOsdOpt.isEmpty() || deviceOsdOpt.isEmpty() || DockModeCodeEnum.WORKING != dockOsdOpt.get().getModeCode()) {
+ return WaylineJobStatusEnum.UNKNOWN;
+ }
+
+ OsdSubDeviceReceiver osdDevice = deviceOsdOpt.get();
+ if (DeviceModeCodeEnum.WAYLINE == osdDevice.getModeCode()
+ || DeviceModeCodeEnum.MANUAL == osdDevice.getModeCode()
+ || DeviceModeCodeEnum.TAKEOFF_AUTO == osdDevice.getModeCode()) {
+ if (StringUtils.hasText(waylineRedisService.getPausedWaylineJobId(dockSn))) {
+ return WaylineJobStatusEnum.PAUSED;
+ }
+ if (waylineRedisService.getRunningWaylineJob(dockSn).isPresent()) {
+ return WaylineJobStatusEnum.IN_PROGRESS;
+ }
+ }
+ return WaylineJobStatusEnum.UNKNOWN;
+ }
+
+ @Override
+ public WaylineJobEntity getLatestJob(String workspaceId, WaylineJobQueryParam waylineJobQueryParam) {
+ WaylineJobEntity waylineJobEntity = mapper.getLatest(workspaceId, waylineJobQueryParam);
+ return waylineJobEntity;
+ }
+
+ @Override
+ public ResponseResult flyByArea(String sn, FlyAreaParam flyAreaParam, String deviceSn) throws Exception {
+
+ //获取所有中心点
+// List<PointPOJO> targetList = GeoUtils.caculatePointList(flyAreaParam);
+ PointPOJO dockPoint = flyAreaParam.getDockPoint();
+ GeoJson geoJson = GeoUtils.readJsonFile(flyAreaParam.getJsonPath());
+ List<PointPOJO> targetList = GeoUtils.caculatePointList(geoJson, dockPoint, flyAreaParam.getRadius());
+
+ //一键起飞
+ TakeoffToPointParam takeoffToPointParam = buildTakeoffToPointParam(dockPoint);
+
+ ResponseResult takeoffToPointRes = controlService.takeoffToPoint(sn, takeoffToPointParam);
+
+ //设置飞向第一个点
+ while (takeoffToPointRes.getCode() == ResponseResult.CODE_SUCCESS) {
+ //获取无人机状态
+ DeviceModeCodeEnum deviceMode = deviceService.getDeviceMode(deviceSn);
+
+ //当无人机状态为手动飞行
+ if (deviceMode == DeviceModeCodeEnum.MANUAL) {
+ //飞向目标点
+ FlyToPointParam flyToPointParam = new FlyToPointParam();
+ flyToPointParam.setMaxSpeed(14);
+ List<PointDTO> pointDTOS = new ArrayList<>();
+
+ PointDTO pointDTO = new PointDTO();
+ pointDTO.setHeight(120.0);
+ pointDTO.setLongitude(targetList.get(0).getLon());
+ pointDTO.setLatitude(targetList.get(0).getLat());
+ pointDTOS.add(pointDTO);
+ flyToPointParam.setPoints(pointDTOS);
+
+
+ ResponseResult flyToRes = controlService.flyToPoint(sn, flyToPointParam);
+
+ if (flyToRes.getCode() == ResponseResult.CODE_SUCCESS) {
+ //第一个点指令飞行成功后，把数组存到redis中
+ JSONObject jsonObject = new JSONObject();
+ jsonObject.put("targetList",targetList);
+ jsonObject.put("payloadIndex",flyAreaParam.getPayloadIndex());
+ jsonObject.put("curIndex",0);
+ RedisOpsUtils.set("tuban:"+sn,jsonObject);
+ }
+ break;
+ }
+ }
+
+ return ResponseResult.success(targetList);
+ }
+
+ public TakeoffToPointParam buildTakeoffToPointParam(PointPOJO dockPoint) {
+ 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);
+
+ return takeoffToPointParam;
+ }
+
+
+ @Override
+ public ResponseResult checkNextJob(WaylineJobDTO job) throws SQLException {
+
+ WaylineJobEntity params = new WaylineJobEntity();
+ params.setJobId(job.getJobId());
+
+
+ WaylineJobEntity job1 = mapper.selectOne(Wrappers.query(params));
+
+ WaylineJobEntity currentJob = JSON.parseObject(JSON.toJSONString(job1), WaylineJobEntity.class);
+
+ 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 = executeStartTimeArr.get(i).get(0) * 1000;
+ //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;
+ }
+ }
+
+ if (indexTime == -1) {
+ return ResponseResult.success();
+ }
+
+
+ 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();
+ }
+
+
+ @Override
+ public WaylineJobCountDTO patrolStatistics(String workspaceId, String queryTime,String deviceSn) {
+ WaylineJobCountDTO waylineJobCountDTO = new WaylineJobCountDTO();
+ List<DroneFlightLogEntity> list = flightLogMapper.patrolStatistics(workspaceId,queryTime,deviceSn);
+ if (!CollectionUtils.isEmpty(list)) {
+ waylineJobCountDTO.setTotalNumber(list.size());
+ long totalTime = list.stream().filter(task -> task.getEndTime()!= null && task.getStartTime()!= null).mapToLong(s -> s.getEndTime() - s.getStartTime()).sum() / 1000;
+ long h = totalTime / 3600;
+ long m = (totalTime % 3600) / 60;
+ waylineJobCountDTO.setTotalDuration( String.format("%02d h %02d min", h, m));
+ List<String> deviceSns = list.stream().map(DroneFlightLogEntity::getDeviceSn).distinct().collect(Collectors.toList());
+ double sum = 0.0;
+ for (String sn : deviceSns) {
+ Double totalFlightDistance = new LambdaQueryChainWrapper<>(flightLogMapper)
+ .eq(DroneFlightLogEntity::getDeviceSn, sn).orderByDesc(DroneFlightLogEntity::getEndTime).last("limit 1").one().getTotalFlightDistance();
+ if (totalFlightDistance!= null){
+ sum+=totalFlightDistance;
+ }
+ }
+ waylineJobCountDTO.setTotalDistance((int) sum);
+ }
+ return waylineJobCountDTO;
+ }
+
+ @Override
+ public void updateJobCollect(WaylineJobEntity waylineJob) {
+ new LambdaUpdateChainWrapper<>(mapper)
+ .eq(WaylineJobEntity::getJobId, waylineJob.getJobId())
+ .set(WaylineJobEntity::getCollectStatus, waylineJob.getCollectStatus())
+ .set(WaylineJobEntity::getUserId, waylineJob.getUserId())
+ .update();
+ }
+
+ private void pauseJob(String workspaceId, String dockSn, String jobId, WaylineJobStatusEnum statusEnum) {
+ if (WaylineJobStatusEnum.PAUSED == statusEnum && jobId.equals(waylineRedisService.getPausedWaylineJobId(dockSn))) {
+ waylineRedisService.setPausedWaylineJob(dockSn, jobId);
+ return;
+ }
+
+ ServiceReply reply = messageSender.publishServicesTopic(
+ dockSn, WaylineMethodEnum.FLIGHT_TASK_PAUSE.getMethod(), "", jobId);
+ if (ResponseResult.CODE_SUCCESS != 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);
+ }
+
+ private void resumeJob(String workspaceId, String dockSn, String jobId, WaylineJobStatusEnum statusEnum) {
+ Optional<EventsReceiver<WaylineTaskProgressReceiver>> runningDataOpt = waylineRedisService.getRunningWaylineJob(dockSn);
+ if (WaylineJobStatusEnum.IN_PROGRESS == statusEnum && jobId.equals(runningDataOpt.map(EventsReceiver::getSn).get())) {
+ waylineRedisService.setRunningWaylineJob(dockSn, runningDataOpt.get());
+ return;
+ }
+ ServiceReply reply = messageSender.publishServicesTopic(
+ dockSn, WaylineMethodEnum.FLIGHT_TASK_RESUME.getMethod(), "", jobId);
+ if (ResponseResult.CODE_SUCCESS != 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));
+ waylineRedisService.delPausedWaylineJob(dockSn);
+
+ if (deviceService.checkDockDrcMode(dockSn)) {
+ drcService.deviceDrcExit(workspaceId, DrcModeParam.builder().dockSn(dockSn)
+ .clientId(drcService.getDrcModeInRedis(dockSn)).build());
+ }
+
}
private WaylineJobDTO entity2Dto(WaylineJobEntity entity) {
@@ -436,23 +1038,33 @@
.orElse(DeviceDTO.builder().build()).getNickname())
.username(entity.getUsername())
.workspaceId(entity.getWorkspaceId())
- .status(entity.getStatus())
+ .status(WaylineJobStatusEnum.IN_PROGRESS.getVal() == entity.getStatus() &&
+ entity.getJobId().equals(waylineRedisService.getPausedWaylineJobId(entity.getDockSn())) ?
+ WaylineJobStatusEnum.PAUSED.getVal() : entity.getStatus())
.code(entity.getErrorCode())
- .executeTime(LocalDateTime.ofInstant(Instant.ofEpochMilli(entity.getExecuteTime()), ZoneId.systemDefault()))
- .taskType(entity.getTaskType())
- .waylineType(entity.getWaylineType())
+ .beginTime(LocalDateTime.ofInstant(Instant.ofEpochMilli(entity.getBeginTime()), ZoneId.systemDefault()))
+ .endTime(Objects.nonNull(entity.getEndTime()) ?
+ LocalDateTime.ofInstant(Instant.ofEpochMilli(entity.getEndTime()), ZoneId.systemDefault()) : null)
+ .executeTime(Objects.nonNull(entity.getExecuteTime()) ?
+ 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(WaylineTaskTypeEnum.find(entity.getTaskType()))
+ .waylineType(WaylineTemplateTypeEnum.find(entity.getWaylineType()))
.rthAltitude(entity.getRthAltitude())
.outOfControlAction(entity.getOutOfControlAction())
- .mediaCount(entity.getMediaCount());
+ .mediaCount(entity.getMediaCount())
+ .hasChildren(entity.getHasChildren());
if (Objects.nonNull(entity.getEndTime())) {
builder.endTime(LocalDateTime.ofInstant(Instant.ofEpochMilli(entity.getEndTime()), ZoneId.systemDefault()));
}
- if (WaylineJobStatusEnum.IN_PROGRESS.getVal() == entity.getStatus() && RedisOpsUtils.getExpire(entity.getJobId()) > 0) {
- EventsReceiver<FlightTaskProgressReceiver> taskProgress = (EventsReceiver<FlightTaskProgressReceiver>) RedisOpsUtils.get(entity.getJobId());
- if (Objects.nonNull(taskProgress.getOutput()) && Objects.nonNull(taskProgress.getOutput().getProgress())) {
- builder.progress(taskProgress.getOutput().getProgress().getPercent());
- }
+ if (WaylineJobStatusEnum.IN_PROGRESS.getVal() == entity.getStatus()) {
+ builder.progress(waylineRedisService.getRunningWaylineJob(entity.getDockSn())
+ .map(EventsReceiver::getOutput)
+ .map(WaylineTaskProgressReceiver::getProgress)
+ .map(WaylineTaskProgress::getPercent)
+ .orElse(null));
}
if (entity.getMediaCount() == 0) {
@@ -465,7 +1077,7 @@
Object mediaFileCount = RedisOpsUtils.hashGet(countKey, entity.getJobId());
if (Objects.nonNull(mediaFileCount)) {
builder.uploadedCount(((MediaFileCountDTO) mediaFileCount).getUploadedCount())
- .uploading(RedisOpsUtils.checkExist(key) && entity.getJobId().equals(RedisOpsUtils.get(key)));
+ .uploading(RedisOpsUtils.checkExist(key) && entity.getJobId().equals(((MediaFileCountDTO) RedisOpsUtils.get(key)).getJobId()));
return builder.build();
}
--
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