package com.dji.sample.control.service.impl;
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import com.dji.sample.component.mqtt.config.MqttPropertyConfiguration;
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import com.dji.sample.component.mqtt.model.EventsReceiver;
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import com.dji.sample.component.mqtt.model.MapKeyConst;
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import com.dji.sample.component.redis.RedisConst;
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import com.dji.sample.component.redis.RedisOpsUtils;
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import com.dji.sample.component.websocket.service.IWebSocketMessageService;
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import com.dji.sample.control.model.dto.JwtAclDTO;
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import com.dji.sample.control.model.enums.DroneAuthorityEnum;
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import com.dji.sample.control.model.enums.MqttAclAccessEnum;
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import com.dji.sample.control.model.param.DrcConnectParam;
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import com.dji.sample.control.model.param.DrcModeParam;
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import com.dji.sample.control.model.param.DroneControlParam;
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import com.dji.sample.control.model.param.HeartBeatParam;
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import com.dji.sample.control.service.IControlService;
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import com.dji.sample.control.service.IDrcService;
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import com.dji.sample.manage.model.dto.DeviceDTO;
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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.sample.wayline.model.enums.WaylineJobStatusEnum;
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import com.dji.sample.wayline.model.enums.WaylineTaskStatusEnum;
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import com.dji.sample.wayline.model.param.UpdateJobParam;
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import com.dji.sample.wayline.service.IFlightTaskService;
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import com.dji.sample.wayline.service.IWaylineJobService;
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import com.dji.sample.wayline.service.IWaylineRedisService;
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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.device.DockModeCodeEnum;
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import com.dji.sdk.cloudapi.device.OsdDockDrone;
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import com.dji.sdk.cloudapi.wayline.FlighttaskProgress;
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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.TopicConst;
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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.core.type.TypeReference;
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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 org.springframework.util.StringUtils;
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import java.util.Collections;
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import java.util.List;
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import java.util.Map;
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import java.util.Optional;
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/**
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* @author sean
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* @version 1.3
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* @date 2023/1/11
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*/
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@Service
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@Slf4j
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public class DrcServiceImpl implements IDrcService {
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@Autowired
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private ObjectMapper objectMapper;
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@Autowired
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private IWaylineJobService waylineJobService;
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@Autowired
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private IFlightTaskService flighttaskService;
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@Autowired
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private IDeviceService deviceService;
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@Autowired
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private ObjectMapper mapper;
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@Autowired
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private IWebSocketMessageService webSocketMessageService;
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@Autowired
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private IControlService controlService;
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@Autowired
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private IDeviceRedisService deviceRedisService;
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@Autowired
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private IWaylineRedisService waylineRedisService;
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@Autowired
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private AbstractControlService abstractControlService;
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@Override
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public void setDrcModeInRedis(String dockSn, String clientId) {
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RedisOpsUtils.setWithExpire(RedisConst.DRC_PREFIX + dockSn, clientId, RedisConst.DRC_MODE_ALIVE_SECOND);
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}
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@Override
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public String getDrcModeInRedis(String dockSn) {
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return (String) RedisOpsUtils.get(RedisConst.DRC_PREFIX + dockSn);
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}
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@Override
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public Boolean delDrcModeInRedis(String dockSn) {
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return RedisOpsUtils.del(RedisConst.DRC_PREFIX + dockSn);
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}
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@Override
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public DrcModeMqttBroker userDrcAuth(String workspaceId, String userId, String username, DrcConnectParam param) {
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// refresh token
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String clientId = param.getClientId();
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// first time
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if (!StringUtils.hasText(clientId) || !RedisOpsUtils.checkExist(RedisConst.MQTT_ACL_PREFIX + clientId)) {
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clientId = userId + "-" + System.currentTimeMillis();
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RedisOpsUtils.hashSet(RedisConst.MQTT_ACL_PREFIX + clientId, "", MqttAclAccessEnum.ALL.getValue());
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}
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String key = RedisConst.MQTT_ACL_PREFIX + clientId;
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try {
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RedisOpsUtils.expireKey(key, RedisConst.DRC_MODE_ALIVE_SECOND);
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return MqttPropertyConfiguration.getMqttBrokerWithDrc(
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clientId, username, param.getExpireSec(), Collections.emptyMap());
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} catch (RuntimeException e) {
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RedisOpsUtils.del(key);
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throw e;
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}
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}
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private void checkDrcModeCondition(String workspaceId, String dockSn) {
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Optional<EventsReceiver<FlighttaskProgress>> runningOpt = waylineRedisService.getRunningWaylineJob(dockSn);
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if (runningOpt.isPresent() && WaylineJobStatusEnum.IN_PROGRESS == waylineJobService.getWaylineState(dockSn)) {
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flighttaskService.updateJobStatus(workspaceId, runningOpt.get().getBid(),
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UpdateJobParam.builder().status(WaylineTaskStatusEnum.PAUSE).build());
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}
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DockModeCodeEnum dockMode = deviceService.getDockMode(dockSn);
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Optional<DeviceDTO> dockOpt = deviceRedisService.getDeviceOnline(dockSn);
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if (dockOpt.isPresent() && (DockModeCodeEnum.IDLE == dockMode || DockModeCodeEnum.WORKING == dockMode)) {
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Optional<OsdDockDrone> deviceOsd = deviceRedisService.getDeviceOsd(dockOpt.get().getChildDeviceSn(), OsdDockDrone.class);
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if (deviceOsd.isEmpty() || deviceOsd.get().getElevation() <= 0) {
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throw new RuntimeException("The drone is not in the sky and cannot enter command flight mode.");
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}
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} else {
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throw new RuntimeException("The current state of the dock does not support entering command flight mode.");
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}
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HttpResultResponse result = controlService.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 JwtAclDTO deviceDrcEnter(DrcModeParam param) {
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String topic = TopicConst.THING_MODEL_PRE + TopicConst.PRODUCT + param.getDockSn() + TopicConst.DRC;
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String pubTopic = topic + TopicConst.DOWN;
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String subTopic = topic + TopicConst.UP;
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TopicServicesResponse<ServicesReplyData> reply = abstractControlService.drcModeEnter(
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SDKManager.getDeviceSDK(param.getDockSn()),
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new DrcModeEnterRequest()
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.setMqttBroker(MqttPropertyConfiguration.getMqttBrokerWithDrc(param.getDockSn() + "-" + System.currentTimeMillis(),
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// RedisConst.DRC_MODE_ALIVE_SECOND.longValue()))
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param.getExpireSec()))
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.setHsiFrequency(param.getDeviceInfo().getHsiFrequency()).setOsdFrequency(param.getDeviceInfo().getOsdFrequency()));
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if (!reply.getData().getResult().isSuccess()) {
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throw new RuntimeException("SN: " + param.getDockSn() + "; Error:" + reply.getData().getResult() +
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"; Failed to enter command flight control mode, please try again later!");
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}
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// refreshAcl(param.getDockSn(), param.getClientId(), pubTopic, subTopic);
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return JwtAclDTO.builder().sub(List.of(subTopic)).pub(List.of(pubTopic)).build();
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}
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private void refreshAcl(String dockSn, String clientId, String pubTopic, String subTopic) {
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this.setDrcModeInRedis(dockSn, clientId);
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// assign acl，Match by clientId. https://www.emqx.io/docs/zh/v4.4/advanced/acl-redis.html
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// scheme: HSET mqtt_acl:[clientid] [topic] [access]
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String key = RedisConst.MQTT_ACL_PREFIX + clientId;
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RedisOpsUtils.hashSet(key, pubTopic, MqttAclAccessEnum.PUB.getValue());
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RedisOpsUtils.hashSet(key, subTopic, MqttAclAccessEnum.SUB.getValue());
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RedisOpsUtils.expireKey(key, RedisConst.DRC_MODE_ALIVE_SECOND);
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}
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@Override
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public void deviceDrcExit( DrcModeParam param) {
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// if (!deviceService.checkDockDrcMode(param.getDockSn())) {
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// throw new RuntimeException("The dock is not in flight control mode.");
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// }
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TopicServicesResponse<ServicesReplyData> reply =
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abstractControlService.drcModeExit(SDKManager.getDeviceSDK(param.getDockSn()));
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if (!reply.getData().getResult().isSuccess()) {
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throw new RuntimeException("SN: " + param.getDockSn() + "; Error:" +
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reply.getData().getResult() + "; Failed to exit command flight control mode, please try again later!");
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}
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}
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@Override
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public void droneControl(String sn, DroneControlParam param) {
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abstractControlService.droneControlDown( SDKManager.getDeviceSDK(sn),
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mapper.convertValue(param, DroneControlRequest.class));
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}
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@Override
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public void droneEmergencyStop(String sn) {
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abstractControlService.droneEmergencyStopDown( SDKManager.getDeviceSDK(sn));
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}
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@Override
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public void heartBeat(String sn, HeartBeatParam param) {
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abstractControlService.heartBeatDown( SDKManager.getDeviceSDK(sn),
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mapper.convertValue(param, HeartBeatRequest.class));
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}
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}
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