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 | 480 ++++++++++++++++++++++++++++++++++++++++++++++++++++++-----
1 files changed, 439 insertions(+), 41 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 6270787..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
@@ -1,22 +1,40 @@
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.param.DrcModeParam;
+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;
@@ -24,14 +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.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.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.IWaylineJobBreakPointService;
import com.dji.sample.wayline.service.IWaylineJobService;
import com.dji.sample.wayline.service.IWaylineRedisService;
import com.fasterxml.jackson.core.type.TypeReference;
@@ -47,6 +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.*;
@@ -90,6 +110,15 @@
@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) {
@@ -120,7 +149,9 @@
.rthAltitude(param.getRthAltitude())
.mediaCount(0)
.build();
-
+ if (StringUtils.hasText(param.getJobId())){
+ jobEntity.setJobId(param.getJobId());
+ }
return insertWaylineJob(jobEntity);
}
@@ -143,6 +174,7 @@
/**
* 对于即时任务，以服务器时间为准。
+ *
* @param param
*/
private void fillImmediateTime(CreateJobParam param) {
@@ -191,12 +223,93 @@
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();
+
+ //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);
+ }
+
+ ResponseResult response = this.publishOneFlightTask(waylineJob);
+ if (ResponseResult.CODE_SUCCESS != response.getCode()) {
+ return response;
+ }
+
+ return ResponseResult.success();
+ }
+
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)
+ .executableConditions(Objects.nonNull(param.getMinStorageCapacity()) ? WaylineTaskExecutableConditionDTO.builder().storageCapacity(param.getMinStorageCapacity()).build() : null)
.readyConditions(WaylineTaskReadyConditionDTO.builder()
.batteryCapacity(param.getMinBatteryCapacity())
.beginTime(beginTime)
@@ -225,7 +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！");
}
}
@@ -234,10 +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());
@@ -248,19 +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()) {
@@ -315,7 +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);
@@ -338,7 +459,7 @@
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() ;
+ 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()));
}
@@ -377,10 +498,10 @@
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))
+ 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());
@@ -396,7 +517,36 @@
}
@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;
@@ -404,20 +554,7 @@
@Override
public PaginationData<WaylineJobDTO> getJobsByWorkspaceId(String workspaceId, long page, long pageSize, WaylineJobQueryParam waylineJobQueryParam) {
-// Page<WaylineJobEntity> pageData = mapper.selectPage(
-// new Page<WaylineJobEntity>(page, pageSize),
-// new LambdaQueryWrapper<WaylineJobEntity>()
-// .eq(WaylineJobEntity::getWorkspaceId, workspaceId)
-// .eq(waylineJobDTO.getTaskType() !=null, WaylineJobEntity::getTaskType, waylineJobDTO.getTaskType())
-// .eq(waylineJobDTO.getStatus()!=null, WaylineJobEntity::getStatus, waylineJobDTO.getStatus())
-// .like(StringUtils.hasText(waylineJobDTO.getJobName()),WaylineJobEntity::getName,waylineJobDTO.getJobName())
-//
-//
-// .orderByDesc(WaylineJobEntity::getId));
-
- Page<WaylineJobEntity> pageData = mapper.getPage(new Page<WaylineJobEntity>(page, pageSize),waylineJobQueryParam,workspaceId);
-
-
+ Page<WaylineJobEntity> pageData = mapper.getPage(new Page<WaylineJobEntity>(page, pageSize), waylineJobQueryParam, workspaceId);
List<WaylineJobDTO> records = pageData.getRecords()
.stream()
@@ -427,12 +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()
@@ -470,7 +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()));
@@ -588,6 +755,236 @@
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);
@@ -643,7 +1040,7 @@
.workspaceId(entity.getWorkspaceId())
.status(WaylineJobStatusEnum.IN_PROGRESS.getVal() == entity.getStatus() &&
entity.getJobId().equals(waylineRedisService.getPausedWaylineJobId(entity.getDockSn())) ?
- WaylineJobStatusEnum.PAUSED.getVal() : entity.getStatus())
+ WaylineJobStatusEnum.PAUSED.getVal() : entity.getStatus())
.code(entity.getErrorCode())
.beginTime(LocalDateTime.ofInstant(Instant.ofEpochMilli(entity.getBeginTime()), ZoneId.systemDefault()))
.endTime(Objects.nonNull(entity.getEndTime()) ?
@@ -656,7 +1053,8 @@
.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()));
@@ -679,7 +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(((MediaFileCountDTO)RedisOpsUtils.get(key)).getJobId()));
+ .uploading(RedisOpsUtils.checkExist(key) && entity.getJobId().equals(((MediaFileCountDTO) RedisOpsUtils.get(key)).getJobId()));
return builder.build();
}
--
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