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 | 240 ++++++++++++++++++++++++++++++++++++-----------------------
1 files changed, 147 insertions(+), 93 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 8ae67ba..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
@@ -1,8 +1,9 @@
package com.dji.sample.wayline.service.impl;
-import com.alibaba.druid.stat.TableStat;
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;
@@ -13,16 +14,22 @@
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.param.DrcModeParam;
-import com.dji.sample.control.model.param.FlyToPointParam;
-import com.dji.sample.control.model.param.TakeoffToPointParam;
+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;
@@ -35,13 +42,15 @@
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.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.*;
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;
@@ -57,6 +66,7 @@
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.*;
@@ -103,6 +113,12 @@
@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) {
@@ -133,7 +149,9 @@
.rthAltitude(param.getRthAltitude())
.mediaCount(0)
.build();
-
+ if (StringUtils.hasText(param.getJobId())){
+ jobEntity.setJobId(param.getJobId());
+ }
return insertWaylineJob(jobEntity);
}
@@ -320,7 +338,7 @@
if (WaylineTaskTypeEnum.IMMEDIATE == waylineJob.getTaskType()) {
boolean isExecuted = executeFlightTask(waylineJob.getWorkspaceId(), waylineJob.getJobId());
if (!isExecuted) {
- return ResponseResult.error("执行任务失败");
+ 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！");
}
}
@@ -329,10 +347,10 @@
private Boolean prepareFlightTask(WaylineJobDTO waylineJob) throws SQLException {
- boolean isOnline = deviceRedisService.checkDeviceOnline(waylineJob.getDockSn());
+ /*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());
@@ -343,19 +361,27 @@
// get file url
//获取航线文件地址
URL url = waylineFileService.getObjectUrl(waylineJob.getWorkspaceId(), waylineFile.get().getWaylineId());
-
- WaylineTaskCreateDTO flightTask = WaylineTaskCreateDTO.builder()
- .flightId(waylineJob.getJobId())
+ 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(url.toString())
+ .url(MinioUrlUtils.getUrl(url))
.fingerprint(waylineFile.get().getSign())
- .build())
- .build();
+ .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()) {
@@ -410,7 +436,7 @@
.status(WaylineJobStatusEnum.FAILED.getVal())
.completedTime(LocalDateTime.now())
.code(serviceReply.getResult()).build());
- // The conditional task fails and enters the blocking status.
+ // 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);
@@ -491,13 +517,32 @@
}
@Override
- public Boolean updateJob(WaylineJobDTO dto){
+ 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){
+ if (dto.getStatus() == 3) {
this.checkNextJob(dto);
}
- }catch (SQLException e) {
+ } catch (SQLException e) {
throw new RuntimeException(e);
}
@@ -520,10 +565,27 @@
}
@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
+ List<WaylineJobEntity> list = mapper.getJobs(workspaceId, waylineJobQueryParam);
+ List<WaylineJobDTO> records = list
.stream()
.map(this::entity2Dto)
.collect(Collectors.toList());
@@ -575,7 +637,7 @@
url = waylineFileService.getObjectUrl(waylineJob.getWorkspaceId(), waylineFile.get().getWaylineId());
builder.data(RequestsReply.success(WaylineTaskCreateDTO.builder()
.file(WaylineTaskFileDTO.builder()
- .url(url.toString())
+ .url(MinioUrlUtils.getUrl(url))
.fingerprint(waylineFile.get().getSign())
.build())
.build()));
@@ -700,39 +762,57 @@
}
@Override
- public ResponseResult flyByArea(String sn, FlyAreaParam flyAreaParam) {
+ public ResponseResult flyByArea(String sn, FlyAreaParam flyAreaParam, String deviceSn) throws Exception {
- List<List<PointPOJO>> areaList = flyAreaParam.getAreaList();
+ //获取所有中心点
+// List<PointPOJO> targetList = GeoUtils.caculatePointList(flyAreaParam);
PointPOJO dockPoint = flyAreaParam.getDockPoint();
- Double radius = flyAreaParam.getRadius();
+ GeoJson geoJson = GeoUtils.readJsonFile(flyAreaParam.getJsonPath());
+ List<PointPOJO> targetList = GeoUtils.caculatePointList(geoJson, dockPoint, flyAreaParam.getRadius());
- List<PointPOJO> centerPointList = new ArrayList<>();
+ //一键起飞
+ TakeoffToPointParam takeoffToPointParam = buildTakeoffToPointParam(dockPoint);
- //根据区域获取中心点
- areaList.forEach(area -> {
- PointPOJO centerPoint = GeoUtils.getCenterPoint(area);
- centerPointList.add(centerPoint);
- });
+ ResponseResult takeoffToPointRes = controlService.takeoffToPoint(sn, takeoffToPointParam);
- //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());
+ //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);
- //当距离小于半径时,添加到目标集合中
- if (distance <= radius) {
- centerPoint.setDistance(distance);
- targetList.add(centerPoint);
+ //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;
}
- });
+ }
- //按距离从近到远排序
- targetList.sort(Comparator.comparing(PointPOJO::getDistance));
+ return ResponseResult.success(targetList);
+ }
- //后续为无人机操作逻辑
- //先飞到空中
+ public TakeoffToPointParam buildTakeoffToPointParam(PointPOJO dockPoint) {
TakeoffToPointParam takeoffToPointParam = new TakeoffToPointParam();
takeoffToPointParam.setTargetLatitude(dockPoint.getLat());
@@ -749,43 +829,12 @@
takeoffToPointParam.setMaxSpeed(10.0);
takeoffToPointParam.setExitWaylineWhenRcLost(WaylineRcLostActionEnum.EXECUTE_RC_LOST_ACTION);
- return ResponseResult.success();
-// //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();
+ return takeoffToPointParam;
}
@Override
- public ResponseResult checkNextJob(WaylineJobDTO job) throws SQLException {
+ public ResponseResult checkNextJob(WaylineJobDTO job) throws SQLException {
WaylineJobEntity params = new WaylineJobEntity();
params.setJobId(job.getJobId());
@@ -809,7 +858,7 @@
long currentTime = System.currentTimeMillis();
for (int i = 0; i < executeStartTimeArr.size(); i++) {
- Long startTime = executeStartTimeArr.get(i).get(0)*1000;
+ 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
@@ -903,21 +952,26 @@
}
-
-
@Override
- public WaylineJobCountDTO patrolStatistics(String workspaceId,String queryTime) {
+ public WaylineJobCountDTO patrolStatistics(String workspaceId, String queryTime,String deviceSn) {
WaylineJobCountDTO waylineJobCountDTO = new WaylineJobCountDTO();
- List<WaylineJobEntity> list = mapper.patrolStatistics(workspaceId,queryTime);
- if (!CollectionUtils.isEmpty(list)){
+ List<DroneFlightLogEntity> list = flightLogMapper.patrolStatistics(workspaceId,queryTime,deviceSn);
+ if (!CollectionUtils.isEmpty(list)) {
waylineJobCountDTO.setTotalNumber(list.size());
- long totalTime = list.stream().mapToLong(s -> s.getEndTime() - s.getBeginTime()).sum() / 1000;
- StringBuffer buffer = new StringBuffer();
+ 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;
- buffer.append(h).append(" h ");
- buffer.append(m).append(" min");
- waylineJobCountDTO.setTotalDuration(buffer.toString());
+ 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;
}
@@ -925,9 +979,9 @@
@Override
public void updateJobCollect(WaylineJobEntity waylineJob) {
new LambdaUpdateChainWrapper<>(mapper)
- .eq(WaylineJobEntity::getJobId,waylineJob.getJobId())
- .set(WaylineJobEntity::getCollectStatus,waylineJob.getCollectStatus())
- .set(WaylineJobEntity::getUserId,waylineJob.getUserId())
+ .eq(WaylineJobEntity::getJobId, waylineJob.getJobId())
+ .set(WaylineJobEntity::getCollectStatus, waylineJob.getCollectStatus())
+ .set(WaylineJobEntity::getUserId, waylineJob.getUserId())
.update();
}
--
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