package com.dji.sample.control.service.impl;
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import com.dji.sample.component.websocket.service.IWebSocketMessageService;
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import com.dji.sample.control.model.enums.DroneAuthorityEnum;
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import com.dji.sample.control.model.enums.RemoteDebugMethodEnum;
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import com.dji.sample.control.model.param.*;
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import com.dji.sample.control.service.IControlService;
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import com.dji.sample.manage.model.dto.DeviceDTO;
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import com.dji.sample.manage.service.IDevicePayloadService;
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import com.dji.sample.manage.service.IDeviceRedisService;
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import com.dji.sample.manage.service.IDeviceService;
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import com.dji.sdk.cloudapi.control.*;
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import com.dji.sdk.cloudapi.control.api.AbstractControlService;
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import com.dji.sdk.cloudapi.debug.DebugMethodEnum;
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import com.dji.sdk.cloudapi.debug.api.AbstractDebugService;
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import com.dji.sdk.cloudapi.device.DockModeCodeEnum;
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import com.dji.sdk.cloudapi.device.DroneModeCodeEnum;
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import com.dji.sdk.cloudapi.device.PayloadIndex;
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import com.dji.sdk.cloudapi.wayline.api.AbstractWaylineService;
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import com.dji.sdk.common.HttpResultResponse;
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import com.dji.sdk.common.SDKManager;
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import com.dji.sdk.exception.CloudSDKErrorEnum;
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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 com.fasterxml.jackson.databind.ObjectMapper;
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import lombok.extern.slf4j.Slf4j;
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import org.springframework.beans.factory.annotation.Autowired;
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import org.springframework.beans.factory.annotation.Qualifier;
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import org.springframework.stereotype.Service;
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import java.util.Objects;
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import java.util.Optional;
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import java.util.UUID;
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/**
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* @author sean
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* @version 1.2
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* @date 2022/7/29
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*/
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@Service
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@Slf4j
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public class ControlServiceImpl implements IControlService {
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@Autowired
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private IWebSocketMessageService webSocketMessageService;
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@Autowired
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private IDeviceService deviceService;
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@Autowired
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private IDeviceRedisService deviceRedisService;
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@Autowired
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private ObjectMapper mapper;
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@Autowired
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private IDevicePayloadService devicePayloadService;
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@Autowired
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private AbstractControlService abstractControlService;
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@Autowired
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private AbstractDebugService abstractDebugService;
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@Autowired
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@Qualifier("SDKWaylineService")
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private AbstractWaylineService abstractWaylineService;
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private RemoteDebugHandler checkDebugCondition(String sn, RemoteDebugParam param, RemoteDebugMethodEnum controlMethodEnum) {
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RemoteDebugHandler handler = Objects.nonNull(controlMethodEnum.getClazz()) ?
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mapper.convertValue(Objects.nonNull(param) ? param : new Object(), controlMethodEnum.getClazz())
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: new RemoteDebugHandler();
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if (!handler.canPublish(sn)) {
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throw new RuntimeException("The current state of the dock does not support this function.");
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}
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return handler;
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}
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@Override
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public HttpResultResponse controlDockDebug(String sn, RemoteDebugMethodEnum controlMethodEnum, RemoteDebugParam param) {
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DebugMethodEnum methodEnum = controlMethodEnum.getDebugMethodEnum();
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RemoteDebugHandler data = checkDebugCondition(sn, param, controlMethodEnum);
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boolean isExist = deviceRedisService.checkDeviceOnline(sn);
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if (!isExist) {
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return HttpResultResponse.error("The dock is offline.");
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}
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TopicServicesResponse response;
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switch (controlMethodEnum) {
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case RETURN_HOME:
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response = abstractWaylineService.returnHome(SDKManager.getDeviceSDK(sn));
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break;
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case RETURN_HOME_CANCEL:
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response = abstractWaylineService.returnHomeCancel(SDKManager.getDeviceSDK(sn));
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break;
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default:
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response = abstractDebugService.remoteDebug(SDKManager.getDeviceSDK(sn), methodEnum,
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Objects.nonNull(methodEnum.getClazz()) ? mapper.convertValue(data, methodEnum.getClazz()) : null);
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}
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ServicesReplyData serviceReply = (ServicesReplyData) response.getData();
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if (!serviceReply.getResult().isSuccess()) {
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return HttpResultResponse.error(serviceReply.getResult());
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}
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return HttpResultResponse.success();
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}
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private void checkFlyToCondition(String dockSn) {
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// TODO 设备固件版本不兼容情况
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Optional<DeviceDTO> dockOpt = deviceRedisService.getDeviceOnline(dockSn);
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if (dockOpt.isEmpty()) {
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throw new RuntimeException("The dock is offline, please restart the dock.");
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}
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DroneModeCodeEnum deviceMode = deviceService.getDeviceMode(dockOpt.get().getChildDeviceSn());
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if (DroneModeCodeEnum.MANUAL != deviceMode) {
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throw new RuntimeException("The current state of the drone does not support this function, please try again later.");
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}
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HttpResultResponse result = seizeAuthority(dockSn, DroneAuthorityEnum.FLIGHT, null);
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if (HttpResultResponse.CODE_SUCCESS != result.getCode()) {
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throw new IllegalArgumentException(result.getMessage());
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}
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}
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@Override
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public HttpResultResponse flyToPoint(String sn, FlyToPointParam param) {
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// checkFlyToCondition(sn);
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param.setFlyToId(UUID.randomUUID().toString());
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TopicServicesResponse<ServicesReplyData> response = abstractControlService.flyToPoint(
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SDKManager.getDeviceSDK(sn), mapper.convertValue(param, FlyToPointRequest.class));
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ServicesReplyData reply = response.getData();
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return reply.getResult().isSuccess() ?
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HttpResultResponse.success(param.getFlyToId())
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: HttpResultResponse.error("Flying to the target point failed. " + reply.getResult());
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}
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@Override
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public HttpResultResponse flyToPointStop(String sn) {
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TopicServicesResponse<ServicesReplyData> response = abstractControlService.flyToPointStop(SDKManager.getDeviceSDK(sn));
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ServicesReplyData reply = response.getData();
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return reply.getResult().isSuccess() ?
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HttpResultResponse.success()
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: HttpResultResponse.error("The drone flying to the target point failed to stop. " + reply.getResult());
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}
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private void checkTakeoffCondition(String dockSn) {
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Optional<DeviceDTO> dockOpt = deviceRedisService.getDeviceOnline(dockSn);
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if (dockOpt.isEmpty() || DockModeCodeEnum.IDLE != deviceService.getDockMode(dockSn)) {
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throw new RuntimeException("The current state does not support takeoff.");
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}
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HttpResultResponse result = seizeAuthority(dockSn, DroneAuthorityEnum.FLIGHT, null);
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if (HttpResultResponse.CODE_SUCCESS != result.getCode()) {
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throw new IllegalArgumentException(result.getMessage());
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}
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}
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@Override
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public HttpResultResponse takeoffToPoint(String sn, TakeoffToPointParam param) {
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// checkTakeoffCondition(sn);
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param.setFlightId(UUID.randomUUID().toString());
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TopicServicesResponse<ServicesReplyData> response = abstractControlService.takeoffToPoint(
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SDKManager.getDeviceSDK(sn), mapper.convertValue(param, TakeoffToPointRequest.class));
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ServicesReplyData reply = response.getData();
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return reply.getResult().isSuccess() ?
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HttpResultResponse.success(param.getFlightId())
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: HttpResultResponse.error("The drone failed to take off. " + reply.getResult());
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}
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@Override
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public HttpResultResponse seizeAuthority(String sn, DroneAuthorityEnum authority, DronePayloadParam param) {
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TopicServicesResponse<ServicesReplyData> response;
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switch (authority) {
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case FLIGHT:
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// if (deviceService.checkAuthorityFlight(sn)) {
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// return HttpResultResponse.success();
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// }
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response = abstractControlService.flightAuthorityGrab(SDKManager.getDeviceSDK(sn));
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break;
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case PAYLOAD:
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// if (checkPayloadAuthority(sn, param.getPayloadIndex())) {
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// return HttpResultResponse.success();
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// }
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response = abstractControlService.payloadAuthorityGrab(SDKManager.getDeviceSDK(sn),
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new PayloadAuthorityGrabRequest().setPayloadIndex(new PayloadIndex(param.getPayloadIndex())));
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break;
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default:
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return HttpResultResponse.error(CloudSDKErrorEnum.INVALID_PARAMETER);
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}
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ServicesReplyData serviceReply = response.getData();
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return serviceReply.getResult().isSuccess() ?
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HttpResultResponse.success()
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: HttpResultResponse.error(serviceReply.getResult());
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}
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private Boolean checkPayloadAuthority(String sn, String payloadIndex) {
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Optional<DeviceDTO> dockOpt = deviceRedisService.getDeviceOnline(sn);
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if (dockOpt.isEmpty()) {
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throw new RuntimeException("The dock is offline, please restart the dock.");
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}
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return devicePayloadService.checkAuthorityPayload(dockOpt.get().getChildDeviceSn(), payloadIndex);
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}
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@Override
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public HttpResultResponse payloadCommands(PayloadCommandsParam param) throws Exception {
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param.getCmd().getClazz()
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.getDeclaredConstructor(DronePayloadParam.class)
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.newInstance(param.getData())
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.checkCondition(param.getSn());
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TopicServicesResponse<ServicesReplyData> response = abstractControlService.payloadControl(
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SDKManager.getDeviceSDK(param.getSn()), param.getCmd().getCmd(),
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mapper.convertValue(param.getData(), param.getCmd().getCmd().getClazz()));
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ServicesReplyData serviceReply = response.getData();
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return serviceReply.getResult().isSuccess() ?
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HttpResultResponse.success()
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: HttpResultResponse.error(serviceReply.getResult());
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}
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// @Override
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// public HttpResultResponse cameraFrameZoom(String sn, LiveCameraChangeParam param) {
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//
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// TopicServicesResponse<ServicesReplyData<RemoteDebugResponse>> response = abstractControlService.cameraFrameZoom(SDKManager.getDeviceSDK(sn),mapper.convertValue(param, EsimOperatorSwitchRequest.class));
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//
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// ServicesReplyData reply = response.getData();
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// return reply.getResult().isSuccess() ?
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// HttpResultResponse.success()
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// : HttpResultResponse.error("The live camera failed to change. " + reply.getResult());
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// }
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@Override
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public HttpResultResponse cameraModeSwitch(String sn, CameraModeSwitchParam param) {
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TopicServicesResponse<ServicesReplyData> response = abstractControlService.cameraModeSwitch(SDKManager.getDeviceSDK(sn),mapper.convertValue(param, CameraModeSwitchRequest.class));
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ServicesReplyData reply = response.getData();
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return reply.getResult().isSuccess() ?
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HttpResultResponse.success()
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: HttpResultResponse.error("The camera mode failed to switch. " + reply.getResult());
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}
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@Override
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public HttpResultResponse cameraPhotoTake(String sn, CameraPhotoTakeParam param) {
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TopicServicesResponse<ServicesReplyData> response = abstractControlService.cameraPhotoTake(SDKManager.getDeviceSDK(sn),mapper.convertValue(param, CameraPhotoTakeRequest.class));
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ServicesReplyData reply = response.getData();
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return reply.getResult().isSuccess() ?
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HttpResultResponse.success()
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: HttpResultResponse.error("The camera photo failed to take. " + reply.getResult());
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}
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@Override
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public HttpResultResponse cameraPhotoStop(String sn, CameraPhotoStopParam param) {
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TopicServicesResponse<ServicesReplyData> response = abstractControlService.cameraPhotoStop(SDKManager.getDeviceSDK(sn),mapper.convertValue(param, CameraPhotoStopRequest.class));
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ServicesReplyData reply = response.getData();
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return reply.getResult().isSuccess() ?
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HttpResultResponse.success()
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: HttpResultResponse.error("The camera photo failed to stop. " + reply.getResult());
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}
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@Override
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public HttpResultResponse cameraRecordingStart(String sn, CameraRecordingStartParam param) {
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TopicServicesResponse<ServicesReplyData> response = abstractControlService.cameraRecordingStart(SDKManager.getDeviceSDK(sn),mapper.convertValue(param, CameraRecordingStartRequest.class));
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ServicesReplyData reply = response.getData();
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return reply.getResult().isSuccess() ?
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HttpResultResponse.success()
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: HttpResultResponse.error("The camera recording failed to start. " + reply.getResult());
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}
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@Override
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public HttpResultResponse cameraRecordingStop(String sn, CameraRecordingStopParam param) {
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TopicServicesResponse<ServicesReplyData> response = abstractControlService.cameraRecordingStop(SDKManager.getDeviceSDK(sn),mapper.convertValue(param, CameraRecordingStopRequest.class));
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ServicesReplyData reply = response.getData();
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return reply.getResult().isSuccess() ?
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HttpResultResponse.success()
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: HttpResultResponse.error("The camera recording failed to stop. " + reply.getResult());
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}
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// @Override
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// public HttpResultResponse cameraScreenDrag(String sn, CameraScreenDragParam param) {
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//
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// TopicServicesResponse<ServicesReplyData> response = abstractControlService.cameraScreenDrag(SDKManager.getDeviceSDK(sn),mapper.convertValue(param, CameraRecordingStopRequest.class));
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//
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// ServicesReplyData reply = response.getData();
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// return reply.getResult().isSuccess() ?
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// HttpResultResponse.success()
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// : HttpResultResponse.error("The camera screen failed to drag. " + reply.getResult());
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// }
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@Override
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public HttpResultResponse cameraFocalLengthSet(String sn, CameraFocalLengthSetParam param) {
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TopicServicesResponse<ServicesReplyData> response = abstractControlService.cameraFocalLengthSet(SDKManager.getDeviceSDK(sn),mapper.convertValue(param, CameraFocalLengthSetRequest.class));
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ServicesReplyData reply = response.getData();
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return reply.getResult().isSuccess() ?
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HttpResultResponse.success()
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: HttpResultResponse.error("The camera focal length failed to set. " + reply.getResult());
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}
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@Override
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public HttpResultResponse gimbalReset(String sn, GimbalResetParam param) {
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TopicServicesResponse<ServicesReplyData> response = abstractControlService.gimbalReset(SDKManager.getDeviceSDK(sn),mapper.convertValue(param, GimbalResetRequest.class));
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ServicesReplyData reply = response.getData();
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return reply.getResult().isSuccess() ?
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HttpResultResponse.success()
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: HttpResultResponse.error("The gimbal failed to reset . " + reply.getResult());
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}
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@Override
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public HttpResultResponse cameraScreenSplit(String sn, CameraScreenSplitParam param) {
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TopicServicesResponse<ServicesReplyData> response = abstractControlService.cameraScreenSplit(SDKManager.getDeviceSDK(sn),mapper.convertValue(param, CameraScreenSplitRequest.class));
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ServicesReplyData reply = response.getData();
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return reply.getResult().isSuccess() ?
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HttpResultResponse.success()
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: HttpResultResponse.error("The camera screen failed to split . " + reply.getResult());
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}
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@Override
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public HttpResultResponse photoStorageSet(String sn, PhotoStorageSetParam param) {
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TopicServicesResponse<ServicesReplyData> response = abstractControlService.photoStorageSet(SDKManager.getDeviceSDK(sn),mapper.convertValue(param, PhotoStorageSetRequest.class));
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ServicesReplyData reply = response.getData();
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return reply.getResult().isSuccess() ?
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HttpResultResponse.success()
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: HttpResultResponse.error("The photo storage failed to set . " + reply.getResult());
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}
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@Override
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public HttpResultResponse videoStorageSet(String sn, VideoStorageSetParam param) {
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TopicServicesResponse<ServicesReplyData> response = abstractControlService.videoStorageSet(SDKManager.getDeviceSDK(sn),mapper.convertValue(param, VideoStorageSetRequest.class));
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ServicesReplyData reply = response.getData();
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return reply.getResult().isSuccess() ?
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HttpResultResponse.success()
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: HttpResultResponse.error("The video storage failed to set . " + reply.getResult());
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}
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@Override
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public HttpResultResponse cameraExposureModeSet(String sn, CameraExposureModeSetParam param) {
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TopicServicesResponse<ServicesReplyData> response = abstractControlService.cameraExposureModeSet(SDKManager.getDeviceSDK(sn),mapper.convertValue(param, CameraExposureModeSetRequest.class));
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ServicesReplyData reply = response.getData();
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return reply.getResult().isSuccess() ?
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HttpResultResponse.success()
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: HttpResultResponse.error("The camera exposure mode failed to set . " + reply.getResult());
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}
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@Override
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public HttpResultResponse cameraExposureSet(String sn, CameraExposureSetParam param) {
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TopicServicesResponse<ServicesReplyData> response = abstractControlService.cameraExposureSet(SDKManager.getDeviceSDK(sn),mapper.convertValue(param, CameraExposureSetRequest.class));
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ServicesReplyData reply = response.getData();
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return reply.getResult().isSuccess() ?
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HttpResultResponse.success()
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: HttpResultResponse.error("The camera exposure failed to set . " + reply.getResult());
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}
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@Override
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public HttpResultResponse cameraFocusModeSet(String sn, CameraFocusModeSetParam param) {
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TopicServicesResponse<ServicesReplyData> response = abstractControlService.cameraFocusModeSet(SDKManager.getDeviceSDK(sn),mapper.convertValue(param, CameraFocusModeSetRequest.class));
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ServicesReplyData reply = response.getData();
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return reply.getResult().isSuccess() ?
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HttpResultResponse.success()
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: HttpResultResponse.error("The camera focus mode failed to set . " + reply.getResult());
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}
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@Override
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public HttpResultResponse cameraFocusValueSet(String sn, CameraFocusValueSetParam param) {
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TopicServicesResponse<ServicesReplyData> response = abstractControlService.cameraFocusValueSet(SDKManager.getDeviceSDK(sn),mapper.convertValue(param, CameraFocusValueSetRequest.class));
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ServicesReplyData reply = response.getData();
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return reply.getResult().isSuccess() ?
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HttpResultResponse.success()
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: HttpResultResponse.error("The camera focus value failed to set . " + reply.getResult());
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}
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@Override
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public HttpResultResponse cameraPointFocusAction(String sn, CameraPointFocusActionParam param) {
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TopicServicesResponse<ServicesReplyData> response = abstractControlService.cameraPointFocusAction(SDKManager.getDeviceSDK(sn),mapper.convertValue(param, CameraPointFocusActionRequest.class));
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ServicesReplyData reply = response.getData();
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return reply.getResult().isSuccess() ?
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HttpResultResponse.success()
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: HttpResultResponse.error("The camera point focus action failed to set . " + reply.getResult());
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}
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@Override
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public HttpResultResponse irMeteringModeSet(String sn, IrMeteringModeSetParam param) {
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TopicServicesResponse<ServicesReplyData> response = abstractControlService.irMeteringModeSet(SDKManager.getDeviceSDK(sn),mapper.convertValue(param, IrMeteringModeSetRequest.class));
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ServicesReplyData reply = response.getData();
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return reply.getResult().isSuccess() ?
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HttpResultResponse.success()
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: HttpResultResponse.error("The ir metering mode failed to set . " + reply.getResult());
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}
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@Override
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public HttpResultResponse irMeteringPointSet(String sn, IrMeteringPointSetParam param) {
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TopicServicesResponse<ServicesReplyData> response = abstractControlService.irMeteringPointSet(SDKManager.getDeviceSDK(sn),mapper.convertValue(param, IrMeteringPointSetRequest.class));
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ServicesReplyData reply = response.getData();
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return reply.getResult().isSuccess() ?
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HttpResultResponse.success()
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: HttpResultResponse.error("The ir metering point failed to set . " + reply.getResult());
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}
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@Override
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public HttpResultResponse irMeteringAreaSet(String sn, IrMeteringAreaSetParam param) {
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TopicServicesResponse<ServicesReplyData> response = abstractControlService.irMeteringAreaSet(SDKManager.getDeviceSDK(sn),mapper.convertValue(param, IrMeteringAreaSetRequest.class));
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ServicesReplyData reply = response.getData();
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return reply.getResult().isSuccess() ?
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HttpResultResponse.success()
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: HttpResultResponse.error("The ir metering rea failed to set . " + reply.getResult());
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}
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@Override
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public HttpResultResponse flyToPointUpdate(String sn, FlyToPointUpdateParam param) {
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TopicServicesResponse<ServicesReplyData> response = abstractControlService.flyToPointUpdate(SDKManager.getDeviceSDK(sn),mapper.convertValue(param, FlyToPointUpdateRequest.class));
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ServicesReplyData reply = response.getData();
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return reply.getResult().isSuccess() ?
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HttpResultResponse.success()
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: HttpResultResponse.error("The fly to point failed to update . " + reply.getResult());
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}
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@Override
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public HttpResultResponse cameraAim(String sn, CameraAimParam param) {
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TopicServicesResponse<ServicesReplyData> response = abstractControlService.cameraAim(SDKManager.getDeviceSDK(sn),mapper.convertValue(param, CameraAimRequest.class));
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ServicesReplyData reply = response.getData();
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return reply.getResult().isSuccess() ?
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HttpResultResponse.success()
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: HttpResultResponse.error("The camera failed to aim . " + reply.getResult());
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}
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@Override
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public HttpResultResponse cameraLookAt(String sn, CameraLookAtParam param) {
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TopicServicesResponse<ServicesReplyData> response = abstractControlService.cameraLookAt(SDKManager.getDeviceSDK(sn),mapper.convertValue(param, CameraLookAtRequest.class));
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ServicesReplyData reply = response.getData();
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return reply.getResult().isSuccess() ?
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HttpResultResponse.success()
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: HttpResultResponse.error("The camera failed to look at . " + reply.getResult());
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}
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}
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