package com.dji.sample.wayline.service.impl;
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import com.dji.sample.common.model.CustomClaim;
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import com.dji.sample.component.oss.model.OssConfiguration;
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import com.dji.sample.live.service.LiveService;
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import com.dji.sample.wayline.model.dto.WaylineJobDTO;
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import com.dji.sample.wayline.model.enums.WaylineJobStatusEnum;
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import com.dji.sample.wayline.model.param.*;
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import com.dji.sample.wayline.service.IWaylineFileService;
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import com.dji.sample.wayline.service.IWaylineJobService;
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import com.dji.sample.wayline.service.WayLineService;
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import com.dji.sdk.cloudapi.device.ExitWaylineWhenRcLostEnum;
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import com.dji.sdk.cloudapi.livestream.api.AbstractLivestreamService;
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import com.dji.sdk.cloudapi.wayline.*;
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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.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.stereotype.Service;
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import java.net.URL;
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import java.sql.SQLException;
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import java.time.LocalDateTime;
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import java.time.ZoneId;
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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 wmm
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* @version 0.1
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* @date 2024/5/8
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*/
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@Service
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@Slf4j
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public class WayLineServiceImpl implements WayLineService {
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@Autowired
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private SDKWaylineService waylineService;
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@Autowired
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private ObjectMapper mapper;
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@Autowired
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private IWaylineFileService waylineFileService;
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@Autowired
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private IWaylineJobService waylineJobService;
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@Override
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public HttpResultResponse flighttaskCreate(String sn, FlighttaskCreateParam param) {
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TopicServicesResponse<ServicesReplyData> response = waylineService.flighttaskCreate(SDKManager.getDeviceSDK(sn),mapper.convertValue(param, FlighttaskCreateRequest.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 flight task failed to create. " + reply.getResult());
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}
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@Override
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public HttpResultResponse flighttaskPrepare(String sn, FlighttaskPrepareParam param, CustomClaim customClaim) {
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// get wayline file
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Optional<GetWaylineListResponse> waylineFile = waylineFileService.getWaylineByWaylineId(param.getFileId());
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if (waylineFile.isEmpty()) {
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throw new RuntimeException("Wayline file doesn't exist.");
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}
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param.setFlightId(UUID.randomUUID().toString());
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param.setBid(UUID.randomUUID().toString());
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// get file url
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URL url = waylineFileService.getObjectUrl(waylineFile.get().getObjectKey());
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FlighttaskPrepareRequest flightTask = new FlighttaskPrepareRequest()
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.setFlightId(param.getFlightId())
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.setExecuteTime(param.getExecuteTime())
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.setTaskType(param.getTaskType())
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// .setWaylineType(param.getWaylineType())
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.setRthAltitude(param.getRthAltitude())
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.setOutOfControlAction(param.getOutOfControlAction())
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.setExitWaylineWhenRcLost(ExitWaylineWhenRcLostEnum.EXECUTE_RC_LOST_ACTION)
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.setFile(new FlighttaskFile()
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.setUrl(url.toString().replace(OssConfiguration.endpoint,OssConfiguration.endpointSpare))
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.setFingerprint(waylineFile.get().getSign()));
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if (TaskTypeEnum.CONDITIONAL == param.getTaskType()) {
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if (Objects.isNull(param.getReadyConditions())) {
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throw new IllegalArgumentException();
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}
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flightTask.setReadyConditions(param.getReadyConditions());
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flightTask.setExecutableConditions(param.getExecutableConditions());
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}
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TopicServicesResponse<ServicesReplyData> serviceReply = waylineService.flighttaskPrepare(
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SDKManager.getDeviceSDK(sn), flightTask,param.getBid());
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if (!serviceReply.getData().getResult().isSuccess()) {
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log.info("Prepare task ====> Error code: {}", serviceReply.getData().getResult());
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}
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//update job info to dbs
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Optional<WaylineJobDTO> waylineJobOpt = waylineJobService.createWaylineJob(param,sn, param.getWorkspaceId(), customClaim.getUsername(), null, null,flightTask.getFlightId());
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if (waylineJobOpt.isEmpty()) {
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throw new RuntimeException("Failed to create wayline job.");
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}
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// WaylineJobDTO waylineJob = waylineJobOpt.get();
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ServicesReplyData reply = serviceReply.getData();
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// ServicesReplyData reply = new ServicesReplyData();
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return reply.getResult().isSuccess() ?
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HttpResultResponse.success()
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: HttpResultResponse.error("The flight task failed to prepare. " + reply.getResult());
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}
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@Override
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public HttpResultResponse flighttaskExecute(String sn, FlighttaskExecuteParam param) {
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FlighttaskExecuteRequest flightTask = new FlighttaskExecuteRequest()
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.setFlightId(param.getFlightId());
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TopicServicesResponse<ServicesReplyData> response = waylineService.flighttaskExecute(SDKManager.getDeviceSDK(sn),flightTask,param.getBid());
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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 flight task failed to execute. " + reply.getResult());
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}
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@Override
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public HttpResultResponse flighttaskUndo(String sn, FlighttaskUndoParam param) {
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TopicServicesResponse<ServicesReplyData> response = waylineService.flighttaskUndo(SDKManager.getDeviceSDK(sn),mapper.convertValue(param, FlighttaskUndoRequest.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 flight task failed to undo. " + reply.getResult());
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}
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@Override
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public HttpResultResponse flighttaskPause(String sn) {
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TopicServicesResponse<ServicesReplyData> response = waylineService.flighttaskPause(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 flight task failed to pause. " + reply.getResult());
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}
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@Override
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public HttpResultResponse flighttaskRecovery(String sn) {
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TopicServicesResponse<ServicesReplyData> response = waylineService.flighttaskRecovery(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 flight task failed to recovery. " + reply.getResult());
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}
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@Override
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public HttpResultResponse returnHome(String sn) {
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TopicServicesResponse<ServicesReplyData> response = waylineService.returnHome(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 home failed to return. " + reply.getResult());
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}
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@Override
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public HttpResultResponse returnHomeCancel(String sn) {
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TopicServicesResponse<ServicesReplyData> response = waylineService.returnHomeCancel(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 return home failed to cancel. " + reply.getResult());
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}
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}
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