package com.dji.sample.manage.service.impl;
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import com.dji.sample.component.websocket.model.BizCodeEnum;
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import com.dji.sample.component.websocket.service.IWebSocketMessageService;
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import com.dji.sample.component.websocketWmm.WebSocketServerPlayBack;
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import com.dji.sample.manage.model.dto.DeviceDTO;
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import com.dji.sample.manage.model.dto.DevicePayloadReceiver;
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import com.dji.sample.manage.model.dto.TelemetryDTO;
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import com.dji.sample.manage.model.enums.DeviceFirmwareStatusEnum;
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import com.dji.sample.manage.model.enums.UserTypeEnum;
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import com.dji.sample.manage.model.param.DeviceQueryParam;
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import com.dji.sample.manage.service.IDeviceDictionaryService;
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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.FlyToPointRequest;
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import com.dji.sdk.cloudapi.device.*;
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import com.dji.sdk.cloudapi.device.api.AbstractDeviceService;
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import com.dji.sdk.cloudapi.tsa.DeviceIconUrl;
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import com.dji.sdk.cloudapi.tsa.IconUrlEnum;
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import com.dji.sdk.config.version.GatewayManager;
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import com.dji.sdk.common.SDKManager;
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import com.dji.sdk.mqtt.MqttReply;
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import com.dji.sdk.mqtt.osd.TopicOsdRequest;
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import com.dji.sdk.mqtt.state.TopicStateRequest;
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import com.dji.sdk.mqtt.status.TopicStatusRequest;
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import com.dji.sdk.mqtt.status.TopicStatusResponse;
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import com.fasterxml.jackson.core.JsonProcessingException;
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import com.fasterxml.jackson.databind.ObjectMapper;
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import com.fasterxml.jackson.databind.SerializationFeature;
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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.messaging.MessageHeaders;
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import org.springframework.stereotype.Service;
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import org.springframework.util.StringUtils;
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import java.io.IOException;
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import java.time.LocalDateTime;
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import java.util.List;
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import java.util.Objects;
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import java.util.Optional;
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import java.util.stream.Collectors;
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/**
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* @author sean
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* @version 1.7
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* @date 2023/7/4
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*/
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@Service
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@Slf4j
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public class SDKDeviceService extends AbstractDeviceService {
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@Autowired
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private IDeviceRedisService deviceRedisService;
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@Autowired
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private IDeviceService deviceService;
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@Autowired
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private IDeviceDictionaryService dictionaryService;
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@Autowired
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private IWebSocketMessageService webSocketMessageService;
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@Autowired
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private IDevicePayloadService devicePayloadService;
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// @Autowired
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// private ObjectMapper mapper;
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@Override
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public TopicStatusResponse<MqttReply> updateTopoOnline(TopicStatusRequest<UpdateTopo> request, MessageHeaders headers) {
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UpdateTopoSubDevice updateTopoSubDevice = request.getData().getSubDevices().get(0);
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String deviceSn = updateTopoSubDevice.getSn();
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Optional<DeviceDTO> deviceOpt = deviceRedisService.getDeviceOnline(deviceSn);
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Optional<DeviceDTO> gatewayOpt = deviceRedisService.getDeviceOnline(request.getFrom());
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GatewayManager gatewayManager = SDKManager.registerDevice(request.getFrom(), deviceSn,
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request.getData().getDomain(), request.getData().getType(),
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request.getData().getSubType(), request.getData().getThingVersion(), updateTopoSubDevice.getThingVersion());
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if (deviceOpt.isPresent() && gatewayOpt.isPresent()) {
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deviceOnlineAgain(deviceOpt.get().getWorkspaceId(), request.getFrom(), deviceSn);
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return new TopicStatusResponse<MqttReply>().setData(MqttReply.success());
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}
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changeSubDeviceParent(deviceSn, request.getFrom());
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DeviceDTO gateway = deviceGatewayConvertToDevice(request.getFrom(), request.getData());
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Optional<DeviceDTO> gatewayEntityOpt = onlineSaveDevice(gateway, deviceSn, null);
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if (gatewayEntityOpt.isEmpty()) {
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log.error("Failed to go online, please check the status data or code logic.");
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return null;
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}
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DeviceDTO subDevice = subDeviceConvertToDevice(updateTopoSubDevice);
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Optional<DeviceDTO> subDeviceEntityOpt = onlineSaveDevice(subDevice, null, gateway.getDeviceSn());
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if (subDeviceEntityOpt.isEmpty()) {
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log.error("Failed to go online, please check the status data or code logic.");
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return null;
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}
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subDevice = subDeviceEntityOpt.get();
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gateway = gatewayEntityOpt.get();
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dockGoOnline(gateway, subDevice);
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deviceService.gatewayOnlineSubscribeTopic(gatewayManager);
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if (!StringUtils.hasText(subDevice.getWorkspaceId())) {
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return new TopicStatusResponse<MqttReply>().setData(MqttReply.success());
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}
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// Subscribe to topic related to drone devices.
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deviceService.subDeviceOnlineSubscribeTopic(gatewayManager);
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deviceService.pushDeviceOnlineTopo(gateway.getWorkspaceId(), gateway.getDeviceSn(), subDevice.getDeviceSn());
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log.debug("{} online.", subDevice.getDeviceSn());
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WebSocketServerPlayBack.sendInfo(request.toString());
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return new TopicStatusResponse<MqttReply>().setData(MqttReply.success());
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}
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@Override
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public TopicStatusResponse<MqttReply> updateTopoOffline(TopicStatusRequest<UpdateTopo> request, MessageHeaders headers) {
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GatewayManager gatewayManager = SDKManager.registerDevice(request.getFrom(), null,
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request.getData().getDomain(), request.getData().getType(),
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request.getData().getSubType(), request.getData().getThingVersion(), null);
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deviceService.gatewayOnlineSubscribeTopic(gatewayManager);
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// Only the remote controller is logged in and the aircraft is not connected.
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Optional<DeviceDTO> deviceOpt = deviceRedisService.getDeviceOnline(request.getFrom());
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if (deviceOpt.isEmpty()) {
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// When connecting for the first time
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DeviceDTO gatewayDevice = deviceGatewayConvertToDevice(request.getFrom(), request.getData());
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Optional<DeviceDTO> gatewayDeviceOpt = onlineSaveDevice(gatewayDevice, null, null);
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if (gatewayDeviceOpt.isEmpty()) {
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return null;
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}
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deviceService.pushDeviceOnlineTopo(gatewayDeviceOpt.get().getWorkspaceId(), request.getFrom(), null);
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return new TopicStatusResponse<MqttReply>().setData(MqttReply.success());
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}
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String deviceSn = deviceOpt.get().getChildDeviceSn();
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if (!StringUtils.hasText(deviceSn)) {
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return new TopicStatusResponse<MqttReply>().setData(MqttReply.success());
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}
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deviceService.subDeviceOffline(deviceSn);
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WebSocketServerPlayBack.sendInfo(request.toString());
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return new TopicStatusResponse<MqttReply>().setData(MqttReply.success());
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}
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@Override
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public void osdDock(TopicOsdRequest<OsdDock> request, MessageHeaders headers) {
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ObjectMapper mapper = new ObjectMapper();
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String dockOsd = "";
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try {
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dockOsd = mapper.writeValueAsString(request.getData());
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} catch (JsonProcessingException e) {
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throw new RuntimeException("trans json failed.");
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}
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if (dockOsd.contains("flighttaskStepCode")) {
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WebSocketServerPlayBack.sendInfo(BizCodeEnum.DOCK_OSD1, dockOsd);
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} else if (dockOsd.contains("networkState")) {
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WebSocketServerPlayBack.sendInfo(BizCodeEnum.DOCK_OSD2, dockOsd);
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} else if (dockOsd.contains("jobNumber")) {
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WebSocketServerPlayBack.sendInfo(BizCodeEnum.DOCK_OSD3, dockOsd);
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}
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String from = request.getFrom();
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Optional<DeviceDTO> deviceOpt = deviceRedisService.getDeviceOnline(from);
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// if (deviceOpt.isEmpty() || !StringUtils.hasText(deviceOpt.get().getWorkspaceId())) {
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if (deviceOpt.isEmpty()) {
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deviceOpt = deviceService.getDeviceBySn(from);
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if (deviceOpt.isEmpty()) {
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log.error("Please restart the drone.");
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return;
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}
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}
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DeviceDTO device = deviceOpt.get();
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if (!StringUtils.hasText(device.getWorkspaceId())) {
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log.error("Please bind the dock first.");
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}
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if (StringUtils.hasText(device.getChildDeviceSn())) {
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deviceService.getDeviceBySn(device.getChildDeviceSn()).ifPresent(device::setChildren);
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}
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deviceRedisService.setDeviceOnline(device);
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fillDockOsd(from, request.getData());
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deviceService.pushOsdDataToWeb(device.getWorkspaceId(), BizCodeEnum.DOCK_OSD, from, request.getData());
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}
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@Override
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public void osdDockDrone(TopicOsdRequest<OsdDockDrone> request, MessageHeaders headers) {
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ObjectMapper mapper = new ObjectMapper();
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String dockDroneOsd = "";
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try {
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dockDroneOsd = mapper.writeValueAsString(request.getData());
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} catch (JsonProcessingException e) {
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throw new RuntimeException("trans json failed.");
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}
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WebSocketServerPlayBack.sendInfo(BizCodeEnum.DEVICE_OSD, dockDroneOsd);
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String from = request.getFrom();
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Optional<DeviceDTO> deviceOpt = deviceRedisService.getDeviceOnline(from);
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if (deviceOpt.isEmpty()) {
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deviceOpt = deviceService.getDeviceBySn(from);
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if (deviceOpt.isEmpty()) {
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log.error("Please restart the drone.");
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return;
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}
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}
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if (!StringUtils.hasText(deviceOpt.get().getWorkspaceId())) {
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log.error("Please restart the drone.");
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}
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DeviceDTO device = deviceOpt.get();
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deviceRedisService.setDeviceOnline(device);
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deviceRedisService.setDeviceOsd(from, request.getData());
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deviceService.pushOsdDataToWeb(device.getWorkspaceId(), BizCodeEnum.DEVICE_OSD, from, request.getData());
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}
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@Override
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public void osdRemoteControl(TopicOsdRequest<OsdRemoteControl> request, MessageHeaders headers) {
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String from = request.getFrom();
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Optional<DeviceDTO> deviceOpt = deviceRedisService.getDeviceOnline(from);
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if (deviceOpt.isEmpty()) {
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deviceOpt = deviceService.getDeviceBySn(from);
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if (deviceOpt.isEmpty()) {
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log.error("Please restart the drone.");
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return;
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}
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}
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DeviceDTO device = deviceOpt.get();
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if (StringUtils.hasText(device.getChildDeviceSn())) {
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deviceService.getDeviceBySn(device.getChildDeviceSn()).ifPresent(device::setChildren);
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}
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deviceRedisService.setDeviceOnline(device);
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OsdRemoteControl data = request.getData();
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deviceService.pushOsdDataToPilot(device.getWorkspaceId(), from,
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new DeviceOsdHost()
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.setLatitude(data.getLatitude())
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.setLongitude(data.getLongitude())
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.setHeight(data.getHeight()));
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deviceService.pushOsdDataToWeb(device.getWorkspaceId(), BizCodeEnum.RC_OSD, from, data);
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}
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@Override
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public void osdRcDrone(TopicOsdRequest<OsdRcDrone> request, MessageHeaders headers) {
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String from = request.getFrom();
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Optional<DeviceDTO> deviceOpt = deviceRedisService.getDeviceOnline(from);
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if (deviceOpt.isEmpty()) {
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deviceOpt = deviceService.getDeviceBySn(from);
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if (deviceOpt.isEmpty()) {
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log.error("Please restart the drone.");
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return;
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}
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}
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DeviceDTO device = deviceOpt.get();
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if (!StringUtils.hasText(device.getWorkspaceId())) {
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log.error("Please bind the drone first.");
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}
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deviceRedisService.setDeviceOnline(device);
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OsdRcDrone data = request.getData();
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deviceService.pushOsdDataToPilot(device.getWorkspaceId(), from,
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new DeviceOsdHost()
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.setLatitude(data.getLatitude())
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.setLongitude(data.getLongitude())
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.setElevation(data.getElevation())
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.setHeight(data.getHeight())
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.setAttitudeHead(data.getAttitudeHead())
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.setElevation(data.getElevation())
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.setHorizontalSpeed(data.getHorizontalSpeed())
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.setVerticalSpeed(data.getVerticalSpeed()));
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deviceService.pushOsdDataToWeb(device.getWorkspaceId(), BizCodeEnum.DEVICE_OSD, from, data);
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}
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@Override
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public void dockFirmwareVersionUpdate(TopicStateRequest<DockFirmwareVersion> request, MessageHeaders headers) {
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// If the reported version is empty, it will not be processed to prevent misleading page.
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if (!StringUtils.hasText(request.getData().getFirmwareVersion())) {
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return;
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}
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DeviceDTO device = DeviceDTO.builder()
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.deviceSn(request.getFrom())
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.firmwareVersion(request.getData().getFirmwareVersion())
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.firmwareStatus(request.getData().getNeedCompatibleStatus() ?
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DeviceFirmwareStatusEnum.UNKNOWN : DeviceFirmwareStatusEnum.CONSISTENT_UPGRADE)
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.build();
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boolean isUpd = deviceService.updateDevice(device);
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if (!isUpd) {
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log.error("Data update of firmware version failed. SN: {}", request.getFrom());
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}
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}
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@Override
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public void rcAndDroneFirmwareVersionUpdate(TopicStateRequest<FirmwareVersion> request, MessageHeaders headers) {
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// If the reported version is empty, it will not be processed to prevent misleading page.
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if (!StringUtils.hasText(request.getData().getFirmwareVersion())) {
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return;
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}
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DeviceDTO device = DeviceDTO.builder()
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.deviceSn(request.getFrom())
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.firmwareVersion(request.getData().getFirmwareVersion())
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.build();
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boolean isUpd = deviceService.updateDevice(device);
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if (!isUpd) {
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log.error("Data update of firmware version failed. SN: {}", request.getFrom());
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}
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}
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@Override
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public void rcPayloadFirmwareVersionUpdate(TopicStateRequest<PayloadFirmwareVersion> request, MessageHeaders headers) {
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// If the reported version is empty, it will not be processed to prevent misleading page.
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if (!StringUtils.hasText(request.getData().getFirmwareVersion())) {
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return;
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}
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boolean isUpd = devicePayloadService.updateFirmwareVersion(request.getFrom(), request.getData());
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if (!isUpd) {
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log.error("Data update of payload firmware version failed. SN: {}", request.getFrom());
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}
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}
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@Override
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public void dockControlSourceUpdate(TopicStateRequest<DockDroneControlSource> request, MessageHeaders headers) {
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// If the control source is empty, it will not be processed.
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if (ControlSourceEnum.UNKNOWN == request.getData().getControlSource()) {
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return;
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}
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Optional<DeviceDTO> deviceOpt = deviceRedisService.getDeviceOnline(request.getFrom());
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if (deviceOpt.isEmpty()) {
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return;
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}
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Optional<DeviceDTO> dockOpt = deviceRedisService.getDeviceOnline(request.getGateway());
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if (dockOpt.isEmpty()) {
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return;
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}
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deviceService.updateFlightControl(dockOpt.get(), request.getData().getControlSource());
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devicePayloadService.updatePayloadControl(deviceOpt.get(),
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request.getData().getPayloads().stream()
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.map(p -> DevicePayloadReceiver.builder()
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.controlSource(p.getControlSource())
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.payloadIndex(p.getPayloadIndex())
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.sn(p.getSn())
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.deviceSn(request.getFrom())
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.build()).collect(Collectors.toList()));
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}
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@Override
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public void rcControlSourceUpdate(TopicStateRequest<RcDroneControlSource> request, MessageHeaders headers) {
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// If the control source is empty, it will not be processed.
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if (ControlSourceEnum.UNKNOWN == request.getData().getControlSource()) {
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return;
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}
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Optional<DeviceDTO> deviceOpt = deviceRedisService.getDeviceOnline(request.getFrom());
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if (deviceOpt.isEmpty()) {
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return;
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}
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Optional<DeviceDTO> dockOpt = deviceRedisService.getDeviceOnline(request.getGateway());
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if (dockOpt.isEmpty()) {
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return;
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}
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deviceService.updateFlightControl(dockOpt.get(), request.getData().getControlSource());
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devicePayloadService.updatePayloadControl(deviceOpt.get(),
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request.getData().getPayloads().stream()
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.map(p -> DevicePayloadReceiver.builder()
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.controlSource(p.getControlSource())
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.payloadIndex(p.getPayloadIndex())
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.sn(p.getSn())
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.deviceSn(request.getFrom())
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.build()).collect(Collectors.toList()));
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}
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@Override
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public void rcLiveStatusUpdate(TopicStateRequest<RcLiveStatus> request, MessageHeaders headers) {
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ObjectMapper mapper = new ObjectMapper();
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String rcLiveStatusUpdate = "";
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try {
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rcLiveStatusUpdate = mapper.writeValueAsString(request.getData());
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} catch (JsonProcessingException e) {
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throw new RuntimeException("trans json failed.");
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}
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WebSocketServerPlayBack.sendInfo(BizCodeEnum.RC_LIVE_STATUS, rcLiveStatusUpdate);
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}
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private void dockGoOnline(DeviceDTO gateway, DeviceDTO subDevice) {
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if (DeviceDomainEnum.DOCK != gateway.getDomain()) {
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return;
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}
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if (!StringUtils.hasText(gateway.getWorkspaceId())) {
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log.error("The dock is not bound, please bind it first and then go online.");
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return;
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}
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if (!Objects.requireNonNullElse(subDevice.getBoundStatus(), false)) {
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// Directly bind the drone of the dock to the same workspace as the dock.
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deviceService.bindDevice(DeviceDTO.builder().deviceSn(subDevice.getDeviceSn()).workspaceId(gateway.getWorkspaceId()).build());
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subDevice.setWorkspaceId(gateway.getWorkspaceId());
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}
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deviceRedisService.setDeviceOnline(subDevice);
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}
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private void changeSubDeviceParent(String deviceSn, String gatewaySn) {
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List<DeviceDTO> gatewaysList = deviceService.getDevicesByParams(
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DeviceQueryParam.builder()
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.childSn(deviceSn)
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.build());
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gatewaysList.stream()
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.filter(gateway -> !gateway.getDeviceSn().equals(gatewaySn))
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.forEach(gateway -> {
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gateway.setChildDeviceSn("");
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deviceService.updateDevice(gateway);
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deviceRedisService.getDeviceOnline(gateway.getDeviceSn())
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.ifPresent(device -> {
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device.setChildDeviceSn(null);
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deviceRedisService.setDeviceOnline(device);
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});
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});
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}
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public void deviceOnlineAgain(String workspaceId, String gatewaySn, String deviceSn) {
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DeviceDTO device = DeviceDTO.builder().loginTime(LocalDateTime.now()).deviceSn(deviceSn).build();
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DeviceDTO gateway = DeviceDTO.builder()
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.loginTime(LocalDateTime.now())
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.deviceSn(gatewaySn)
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.childDeviceSn(deviceSn).build();
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deviceService.updateDevice(gateway);
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deviceService.updateDevice(device);
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gateway = deviceRedisService.getDeviceOnline(gatewaySn).map(g -> {
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g.setChildDeviceSn(deviceSn);
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return g;
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}).get();
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device = deviceRedisService.getDeviceOnline(deviceSn).map(d -> {
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d.setParentSn(gatewaySn);
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return d;
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}).get();
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deviceRedisService.setDeviceOnline(gateway);
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deviceRedisService.setDeviceOnline(device);
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if (StringUtils.hasText(workspaceId)) {
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deviceService.subDeviceOnlineSubscribeTopic(SDKManager.getDeviceSDK(gatewaySn));
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}
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log.warn("{} is already online.", deviceSn);
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}
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/**
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* Convert the received gateway device object into a database entity object.
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*
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* @param gateway
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* @return
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*/
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private DeviceDTO deviceGatewayConvertToDevice(String gatewaySn, UpdateTopo gateway) {
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if (null == gateway) {
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throw new IllegalArgumentException();
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}
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return DeviceDTO.builder()
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.deviceSn(gatewaySn)
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.subType(gateway.getSubType())
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.type(gateway.getType())
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.thingVersion(gateway.getThingVersion())
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.domain(gateway.getDomain())
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.controlSource(gateway.getSubDevices().isEmpty() ? null :
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ControlSourceEnum.find(gateway.getSubDevices().get(0).getIndex().getControlSource()))
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.build();
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}
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/**
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* Convert the received drone device object into a database entity object.
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*
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* @param device
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* @return
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*/
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private DeviceDTO subDeviceConvertToDevice(UpdateTopoSubDevice device) {
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if (null == device) {
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throw new IllegalArgumentException();
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}
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return DeviceDTO.builder()
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.deviceSn(device.getSn())
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.type(device.getType())
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.subType(device.getSubType())
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.thingVersion(device.getThingVersion())
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.domain(device.getDomain())
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.build();
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}
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private Optional<DeviceDTO> onlineSaveDevice(DeviceDTO device, String childSn, String parentSn) {
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device.setChildDeviceSn(childSn);
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device.setLoginTime(LocalDateTime.now());
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Optional<DeviceDTO> deviceOpt = deviceService.getDeviceBySn(device.getDeviceSn());
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if (deviceOpt.isEmpty()) {
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device.setIconUrl(new DeviceIconUrl());
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// Set the icon of the gateway device displayed in the pilot's map, required in the TSA module.
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device.getIconUrl().setNormalIconUrl(IconUrlEnum.NORMAL_PERSON.getUrl());
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// Set the icon of the gateway device displayed in the pilot's map when it is selected, required in the TSA module.
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device.getIconUrl().setSelectIconUrl(IconUrlEnum.SELECT_PERSON.getUrl());
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device.setBoundStatus(false);
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// Query the model information of this gateway device.
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dictionaryService.getOneDictionaryInfoByTypeSubType(
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device.getDomain().getDomain(), device.getType().getType(), device.getSubType().getSubType())
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.ifPresent(entity -> {
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device.setDeviceName(entity.getDeviceName());
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device.setNickname(entity.getDeviceName());
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device.setDeviceDesc(entity.getDeviceDesc());
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});
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}
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boolean success = deviceService.saveOrUpdateDevice(device);
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if (!success) {
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return Optional.empty();
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}
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deviceOpt = deviceService.getDeviceBySn(device.getDeviceSn());
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DeviceDTO redisDevice = deviceOpt.get();
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redisDevice.setStatus(true);
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redisDevice.setParentSn(parentSn);
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deviceRedisService.setDeviceOnline(redisDevice);
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return deviceOpt;
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}
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private void fillDockOsd(String dockSn, OsdDock dock) {
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Optional<OsdDock> oldDockOpt = deviceRedisService.getDeviceOsd(dockSn, OsdDock.class);
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if (Objects.nonNull(dock.getJobNumber())) {
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return;
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}
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if (oldDockOpt.isEmpty()) {
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deviceRedisService.setDeviceOsd(dockSn, dock);
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return;
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}
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OsdDock oldDock = oldDockOpt.get();
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if (Objects.nonNull(dock.getModeCode())) {
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dock.setDrcState(oldDock.getDrcState());
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deviceRedisService.setDeviceOsd(dockSn, dock);
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return;
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}
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if (Objects.nonNull(dock.getDrcState())) {
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oldDock.setDrcState(dock.getDrcState());
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deviceRedisService.setDeviceOsd(dockSn, oldDock);
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}
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}
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}
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