package com.dji.sdk.cloudapi.wayline.api;
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import com.dji.sdk.annotations.CloudSDKVersion;
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import com.dji.sdk.cloudapi.wayline.*;
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import com.dji.sdk.config.version.CloudSDKVersionEnum;
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import com.dji.sdk.common.Common;
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import com.dji.sdk.config.version.GatewayManager;
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import com.dji.sdk.config.version.GatewayTypeEnum;
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import com.dji.sdk.exception.CloudSDKErrorEnum;
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import com.dji.sdk.exception.CloudSDKException;
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import com.dji.sdk.mqtt.ChannelName;
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import com.dji.sdk.mqtt.MqttReply;
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import com.dji.sdk.mqtt.events.EventsDataRequest;
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import com.dji.sdk.mqtt.events.TopicEventsRequest;
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import com.dji.sdk.mqtt.events.TopicEventsResponse;
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import com.dji.sdk.mqtt.requests.TopicRequestsRequest;
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import com.dji.sdk.mqtt.requests.TopicRequestsResponse;
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import com.dji.sdk.mqtt.services.ServicesPublish;
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import com.dji.sdk.mqtt.services.ServicesReplyData;
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import com.dji.sdk.mqtt.services.TopicServicesResponse;
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import org.springframework.integration.annotation.ServiceActivator;
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import org.springframework.messaging.Message;
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import org.springframework.messaging.MessageHeaders;
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import javax.annotation.Resource;
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import java.util.UUID;
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/**
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* @author sean
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* @version 1.7
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* @date 2023/5/19
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*/
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public abstract class AbstractWaylineService {
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@Resource
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private ServicesPublish servicesPublish;
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/**
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* Notification of device exits the Return to Home (RTH) state
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* @param request data
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* @param headers The headers for a {@link Message}.
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* @return events_reply
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*/
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@ServiceActivator(inputChannel = ChannelName.INBOUND_EVENTS_DEVICE_EXIT_HOMING_NOTIFY, outputChannel = ChannelName.OUTBOUND_EVENTS)
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public TopicEventsResponse<MqttReply> deviceExitHomingNotify(TopicEventsRequest<DeviceExitHomingNotify> request, MessageHeaders headers) {
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throw new UnsupportedOperationException("deviceExitHomingNotify not implemented");
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}
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/**
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* Report wayline task progress
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* @param request data
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* @param headers The headers for a {@link Message}.
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* @return events_reply
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*/
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@ServiceActivator(inputChannel = ChannelName.INBOUND_EVENTS_FLIGHTTASK_PROGRESS, outputChannel = ChannelName.OUTBOUND_EVENTS)
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public TopicEventsResponse<MqttReply> flighttaskProgress(TopicEventsRequest<EventsDataRequest<FlighttaskProgress>> request, MessageHeaders headers) {
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throw new UnsupportedOperationException("flighttaskProgress not implemented");
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}
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/**
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* Notification of task readiness
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* @param request data
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* @param headers The headers for a {@link Message}.
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* @return events_reply
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*/
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@ServiceActivator(inputChannel = ChannelName.INBOUND_EVENTS_FLIGHTTASK_READY, outputChannel = ChannelName.OUTBOUND_EVENTS)
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public TopicEventsResponse<MqttReply> flighttaskReady(TopicEventsRequest<FlighttaskReady> request, MessageHeaders headers) {
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throw new UnsupportedOperationException("flighttaskReady not implemented");
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}
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/**
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* Create wayline task (Deprecated)
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* @param gateway
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* @return services_reply
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*/
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@CloudSDKVersion(deprecated = CloudSDKVersionEnum.V0_0_1, exclude = GatewayTypeEnum.RC)
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public TopicServicesResponse<ServicesReplyData> flighttaskCreate(GatewayManager gateway, FlighttaskCreateRequest request) {
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return servicesPublish.publish(
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gateway.getGatewaySn(),
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WaylineMethodEnum.FLIGHTTASK_CREATE.getMethod(),
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request);
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}
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/**
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* Issue wayline task
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* @param gateway
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* @return services_reply
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*/
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@CloudSDKVersion(exclude = GatewayTypeEnum.RC)
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public TopicServicesResponse<ServicesReplyData> flighttaskPrepare(GatewayManager gateway, FlighttaskPrepareRequest request,String bid) {
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validPrepareParam(request);
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return servicesPublish.publish(
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gateway.getGatewaySn(),
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WaylineMethodEnum.FLIGHTTASK_PREPARE.getMethod(),
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request,
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bid);
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}
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/**
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* Execute wayline task
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* @param gateway
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* @return services_reply
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*/
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@CloudSDKVersion(exclude = GatewayTypeEnum.RC)
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public TopicServicesResponse<ServicesReplyData> flighttaskExecute(GatewayManager gateway, FlighttaskExecuteRequest request,String bid) {
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return servicesPublish.publish(
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gateway.getGatewaySn(),
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WaylineMethodEnum.FLIGHTTASK_EXECUTE.getMethod(),
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request,
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bid);
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}
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/**
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* Cancel wayline task
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* @param gateway
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* @return services_reply
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*/
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@CloudSDKVersion(exclude = GatewayTypeEnum.RC)
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public TopicServicesResponse<ServicesReplyData> flighttaskUndo(GatewayManager gateway, FlighttaskUndoRequest request) {
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return servicesPublish.publish(
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gateway.getGatewaySn(),
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WaylineMethodEnum.FLIGHTTASK_UNDO.getMethod(),
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request);
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}
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/**
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* Pause wayline task
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* @param gateway
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* @return services_reply
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*/
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@CloudSDKVersion(exclude = GatewayTypeEnum.RC)
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public TopicServicesResponse<ServicesReplyData> flighttaskPause(GatewayManager gateway) {
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return servicesPublish.publish(
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gateway.getGatewaySn(),
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WaylineMethodEnum.FLIGHTTASK_PAUSE.getMethod());
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}
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/**
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* Resume wayline task
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* @param gateway
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* @return services_reply
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*/
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@CloudSDKVersion(exclude = GatewayTypeEnum.RC)
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public TopicServicesResponse<ServicesReplyData> flighttaskRecovery(GatewayManager gateway) {
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return servicesPublish.publish(
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gateway.getGatewaySn(),
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WaylineMethodEnum.FLIGHTTASK_RECOVERY.getMethod());
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}
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/**
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* Return to Home (RTH)
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* @param gateway
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* @return services_reply
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*/
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@CloudSDKVersion(exclude = GatewayTypeEnum.RC)
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public TopicServicesResponse<ServicesReplyData> returnHome(GatewayManager gateway) {
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return servicesPublish.publish(
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gateway.getGatewaySn(),
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WaylineMethodEnum.RETURN_HOME.getMethod());
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}
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/**
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* Cancel return to home
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* @param gateway
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* @return services_reply
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*/
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@CloudSDKVersion(exclude = GatewayTypeEnum.RC)
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public TopicServicesResponse<ServicesReplyData> returnHomeCancel(GatewayManager gateway) {
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return servicesPublish.publish(
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gateway.getGatewaySn(),
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WaylineMethodEnum.RETURN_HOME_CANCEL.getMethod());
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}
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/**
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* Get the wayline task resource
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* @param request data
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* @param headers The headers for a {@link Message}.
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* @return events_reply
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*/
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@ServiceActivator(inputChannel = ChannelName.INBOUND_REQUESTS_FLIGHTTASK_RESOURCE_GET, outputChannel = ChannelName.OUTBOUND_REQUESTS)
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public TopicRequestsResponse<MqttReply<FlighttaskResourceGetResponse>> flighttaskResourceGet(TopicRequestsRequest<FlighttaskResourceGetRequest> request, MessageHeaders headers) {
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throw new UnsupportedOperationException("flighttaskResourceGet not implemented");
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}
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/**
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* Return-to-home information
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* @param request data
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* @param headers The headers for a {@link Message}.
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* @return events_reply
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*/
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@ServiceActivator(inputChannel = ChannelName.INBOUND_EVENTS_RETURN_HOME_INFO, outputChannel = ChannelName.OUTBOUND_EVENTS)
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@CloudSDKVersion(since = CloudSDKVersionEnum.V1_0_0)
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public TopicEventsResponse<MqttReply> returnHomeInfo(TopicRequestsRequest<ReturnHomeInfo> request, MessageHeaders headers) {
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throw new UnsupportedOperationException("returnHomeInfo not implemented");
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}
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private void validPrepareParam(FlighttaskPrepareRequest request) {
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if (null == request.getExecuteTime()
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&& (TaskTypeEnum.IMMEDIATE == request.getTaskType() || TaskTypeEnum.TIMED == request.getTaskType())) {
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throw new CloudSDKException(CloudSDKErrorEnum.INVALID_PARAMETER, "Execute time must not be null.");
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}
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if (TaskTypeEnum.CONDITIONAL == request.getTaskType()) {
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Common.validateModel(request.getReadyConditions());
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}
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}
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}
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