/*
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* 【机场1】从 dock2 原类 com.ard.sample.wayline.service.impl.FlightTaskServiceImpl 复制/独立适配（DJI Dock 1 / M30）。
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* 与 dock2 原类同服务共存；本文件内的适配差异以「// 机场1：」内联注释标出。
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*/
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package com.ard.sample.dock1.wayline.service.impl;
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import com.ard.common.utils.uuid.IdUtils;
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import com.ard.route.domain.route.ArdRouteInfo;
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import com.ard.route.service.IArdRouteInfoService;
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import com.ard.route.service.IArdRouteMissionService;
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import com.ard.sample.common.error.CommonErrorEnum;
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import com.ard.sample.common.model.ResponseResult;
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import com.ard.sample.component.mqtt.model.*;
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import com.ard.sample.component.mqtt.service.IMessageSenderService;
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import com.ard.common.core.redis.RedisConst;
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import com.ard.common.core.redis.RedisOpsUtils;
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import com.ard.sample.component.websocket.enums.MessageType;
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import com.ard.sample.component.websocket.handler.DockWebSocketHandler;
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import com.ard.sample.component.websocket.model.BizCodeEnum;
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import com.ard.sample.component.websocket.model.CustomWebSocketMessage;
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import com.ard.sample.component.websocket.service.ISendMessageService;
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import com.ard.sample.component.websocket.service.IWebSocketManageService;
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import com.ard.sample.manage.model.dto.DeviceDTO;
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import com.ard.sample.manage.model.enums.UserTypeEnum;
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// 机场1：任务状态（type="1"）与轨迹点（type="0"）必须写入同一个共享轨迹服务缓存。
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import com.ard.sample.manage.service.IWaylineTrajectoryService;
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import com.ard.sample.media.model.MediaFileCountDTO;
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import com.ard.sample.wayline.model.dto.WaylineJobDTO;
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import com.ard.sample.wayline.model.dto.WaylineTaskProgressExt;
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import com.ard.sample.wayline.model.dto.WaylineTaskProgressReceiver;
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import com.ard.sample.wayline.model.entity.WaylineJobHistoryEntity;
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import com.ard.sample.wayline.model.enums.WaylineJobStatusEnum;
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import com.ard.sample.dock1.wayline.service.IFlightTaskService;
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import com.ard.sample.wayline.service.IWaylineJobHistoryService;
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import com.ard.sample.dock1.wayline.service.IWaylineJobService;
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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.apache.http.HttpStatus;
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import org.springframework.beans.factory.annotation.Autowired;
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import org.springframework.integration.mqtt.support.MqttHeaders;
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import org.springframework.messaging.MessageHeaders;
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import org.springframework.stereotype.Service;
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import java.time.LocalDateTime;
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import java.util.HashMap;
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import java.util.Map;
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import java.util.Objects;
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import java.util.Optional;
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import java.util.concurrent.TimeUnit;
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import com.ard.sample.wayline.service.impl.FlightTaskServiceImpl;
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/**
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* @author sean
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* @version 1.1
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* @date 2022/6/9
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*/
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@Service
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@Slf4j
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public class Dock1FlightTaskServiceImpl implements IFlightTaskService {
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@Autowired
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private IMessageSenderService messageSender;
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@Autowired
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private ObjectMapper mapper;
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@Autowired
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private DockWebSocketHandler _dockWebSocketHandler;
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@Autowired
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private ISendMessageService websocketMessageService;
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@Autowired
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private IWebSocketManageService webSocketManageService;
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@Autowired
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private IWaylineJobService waylineJobService;
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@Autowired
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private IWaylineTrajectoryService _waylineTrajectoryService;
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@Autowired
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private IWaylineJobHistoryService _waylineJobHistoryService;
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@Autowired
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private IArdRouteMissionService _ardRouteMissionService;
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@Autowired
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private IArdRouteInfoService _ardRouteInfoService;
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@Override
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// 机场1：不复制原 ServiceActivator(inputChannel = ChannelName.INBOUND_EVENTS_FLIGHT_TASK_PROGRESS)，消费职责由共享层原类承担
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public void handleProgress(CommonTopicReceiver receiver, MessageHeaders headers) {
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String receivedTopic = String.valueOf(headers.get(MqttHeaders.RECEIVED_TOPIC));
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String dockSn = receivedTopic.substring((TopicConst.THING_MODEL_PRE + TopicConst.PRODUCT).length(),
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receivedTopic.indexOf(TopicConst.EVENTS_SUF));
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EventsReceiver<WaylineTaskProgressReceiver> eventsReceiver = mapper.convertValue(receiver.getData(),
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new TypeReference<EventsReceiver<WaylineTaskProgressReceiver>>() {
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});
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eventsReceiver.setBid(receiver.getBid());
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eventsReceiver.setSn(receiver.getGateway());
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eventsReceiver.setGateway(receiver.getGateway());
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eventsReceiver.setType(MessageType.STATUS.getType() + "-flighttask_progress");
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eventsReceiver.setMethod(EventsMethodEnum.FLIGHT_TASK_PROGRESS.getMethod());
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WaylineTaskProgressReceiver output = eventsReceiver.getOutput();
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log.info("Task progress: {}", output.getProgress().toString());
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if (eventsReceiver.getResult() != ResponseResult.CODE_SUCCESS) {
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String errorMsg = CommonErrorEnum.getMsgByCode(eventsReceiver.getResult());
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log.error("Task progress ===> Error code: {},Error Msg: {}", eventsReceiver.getResult(), errorMsg);
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}
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EventsResultStatusEnum statusEnum = EventsResultStatusEnum.find(output.getStatus());
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String key = RedisConst.WAYLINE_JOB_RUNNING_PREFIX + dockSn;
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RedisOpsUtils.setWithExpire(key, eventsReceiver, RedisConst.DEVICE_ALIVE_SECOND * RedisConst.DEVICE_ALIVE_SECOND);
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if (statusEnum.getEnd()) {
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WaylineJobDTO job = WaylineJobDTO.builder()
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.jobId(receiver.getBid())
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.status(WaylineJobStatusEnum.SUCCESS.getVal())
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.completedTime(LocalDateTime.now())
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.mediaCount(output.getExt().getMediaCount())
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.build();
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// record the update of the media count.
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if (Objects.nonNull(job.getMediaCount()) && job.getMediaCount() != 0) {
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RedisOpsUtils.hashSet(RedisConst.MEDIA_FILE_PREFIX + receiver.getGateway(), job.getJobId(),
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MediaFileCountDTO.builder().jobId(receiver.getBid()).mediaCount(job.getMediaCount()).uploadedCount(0).build());
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}
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if (EventsResultStatusEnum.OK != statusEnum) {
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job.setCode(eventsReceiver.getResult());
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job.setStatus(WaylineJobStatusEnum.FAILED.getVal());
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}
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waylineJobService.updateJob(job);
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RedisOpsUtils.del(key);
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RedisOpsUtils.del(RedisConst.WAYLINE_JOB_PAUSED_PREFIX + receiver.getBid());
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}
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DeviceDTO device = (DeviceDTO) RedisOpsUtils.get(RedisConst.DEVICE_ONLINE_PREFIX + receiver.getGateway());
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websocketMessageService.sendBatch(
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webSocketManageService.getValueAndUserType(UserTypeEnum.WEB.getVal()),
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CustomWebSocketMessage.builder()
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.data(eventsReceiver)
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.timestamp(System.currentTimeMillis())
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.bizCode(BizCodeEnum.FLIGHT_TASK_PROGRESS.getCode())
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.build());
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if (receiver.getNeedReply() != null && receiver.getNeedReply() == 1) {
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messageSender.publish(receivedTopic + TopicConst._REPLY_SUF,
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CommonTopicResponse.builder()
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.tid(receiver.getTid())
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.bid(receiver.getBid())
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.method(EventsMethodEnum.FLIGHT_TASK_PROGRESS.getMethod())
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.timestamp(System.currentTimeMillis())
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.data(RequestsReply.success())
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.build());
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}
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// 进度
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// if (eventsReceiver.getOutput().getProgress().getPercent() >= 95) {
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// return;
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// }
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String json = "";
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try {
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json = mapper.writeValueAsString(eventsReceiver);
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} catch (Exception e) {
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e.printStackTrace();
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}
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_dockWebSocketHandler.sendMessageToSubscribers(dockSn, MessageType.STATUS.getType(), json, "");
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_waylineTrajectoryService.setList(dockSn,"1",json);
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// 计划任务成功后，保存计划任务到历史记录
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String status = eventsReceiver.getOutput().getStatus();
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String jobId = eventsReceiver.getOutput().getExt().getFlightId();
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if(status.equals("ok") && jobId != null) {
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Optional<WaylineJobDTO> job = waylineJobService.getJobByJobId(jobId);
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if(job.isPresent()) {
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if (_waylineJobHistoryService.getJobByJobId(jobId).isPresent()) {
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return;
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}
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WaylineJobHistoryEntity waylineJobHistoryEntity = _waylineJobHistoryService.dto2Entity(job.get());
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Optional<WaylineJobDTO> jobHistory = _waylineJobHistoryService.createWaylineJob(waylineJobHistoryEntity);
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if(jobHistory.isPresent()) {
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log.info("任务执行成功，保存到历史记录。 {}", jobHistory);
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}
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// 同步更新4.2的计划任务的状态；等待夏吉建的接口。1:已执行 0:未执行
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// 在任务中查找航线文件id，取航线文件信息中的状态，是3的修改状态
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ArdRouteInfo ardRouteInfo = _ardRouteInfoService.selectArdRouteInfoById(job.get().getFileId());
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if(ardRouteInfo != null && ardRouteInfo.getType().equals("3")) {
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_ardRouteMissionService.updateArdRouteMissionStatus(jobId, "1");
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log.info("任务航线-执行成功，更新航线状态。 jobId:{}", jobId);
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}
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}
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}
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}
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/**
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* 定时检查并处理航线定时任务
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* <p>
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* 该方法每5秒执行一次，从Redis有序集合中获取最早需要执行的任务，检查其执行时间：
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* 1. 若任务已过期（超过当前时间30秒），则标记为失败并删除
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* 2. 若任务在允许的时间窗口内（当前时间±30秒），则执行任务并删除
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* </p>
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*
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* <p>任务ID格式：{workspace_id}:{dock_sn}:{job_id}</p>
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*/
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// 机场1：不复制原 Scheduled 定时任务，定时职责由共享层原类承担
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private void checkScheduledJob() {
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Object jobIdValue = RedisOpsUtils.zGetMin(RedisConst.WAYLINE_JOB_TIMED_EXECUTE);
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if (Objects.isNull(jobIdValue)) {
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return;
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}
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log.info("检查 wayline 的定时任务。 {}", jobIdValue);
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// format: {workspace_id}:{dock_sn}:{job_id}
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String[] jobArr = String.valueOf(jobIdValue).split(RedisConst.DELIMITER);
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double time = RedisOpsUtils.zScore(RedisConst.WAYLINE_JOB_TIMED_EXECUTE, jobIdValue);
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// region 取定时任务信息websocket发给前端
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// 定时任务执行前，判断有没有任务正在执行，在执行则不发送websocket消息
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String key = RedisConst.WAYLINE_JOB_RUNNING_PREFIX + jobArr[0];
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if (!RedisOpsUtils.checkExist(key)) {
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// 取到待执行的定时任务ID，获取任务信息websocket发给前端
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// pending status状态待执行
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EventsReceiver<WaylineTaskProgressReceiver> eventsReceiver = new EventsReceiver<>();
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WaylineTaskProgressReceiver waylineTaskProgressReceiver = new WaylineTaskProgressReceiver();
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WaylineTaskProgressExt waylineTaskProgressExt = new WaylineTaskProgressExt();
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waylineTaskProgressExt.setFlightId(jobArr[1]);
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waylineTaskProgressReceiver.setStatus("pending");
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waylineTaskProgressReceiver.setExt(waylineTaskProgressExt);
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eventsReceiver.setOutput(waylineTaskProgressReceiver);
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eventsReceiver.setResult(ResponseResult.CODE_SUCCESS);
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eventsReceiver.setBid(IdUtils.simpleUUID());
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eventsReceiver.setSn(jobArr[0]);
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eventsReceiver.setGateway(jobArr[0]);
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eventsReceiver.setType(MessageType.STATUS.getType() + "-flighttask_progress");
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eventsReceiver.setMethod(EventsMethodEnum.FLIGHT_TASK_PROGRESS.getMethod());
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String json = "";
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try {
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json = mapper.writeValueAsString(eventsReceiver);
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} catch (Exception e) {
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e.printStackTrace();
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}
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_dockWebSocketHandler.sendMessageToSubscribers(jobArr[0], MessageType.STATUS.getType(), json, "");
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log.info("定时任务自定义状态为待执行，json: {}", json);
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}
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// endregion
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long now = System.currentTimeMillis();
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int offset = 30_000;
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// 过期任务会直接删除。
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if (time < now - offset) {
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log.info("定时任务超时，jobId: {}", jobArr[1]);
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RedisOpsUtils.zRemove(RedisConst.WAYLINE_JOB_TIMED_EXECUTE, jobIdValue);
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waylineJobService.updateJob(WaylineJobDTO.builder()
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.jobId(jobArr[1])
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.status(WaylineJobStatusEnum.FAILED.getVal())
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.executeTime(LocalDateTime.now())
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.completedTime(LocalDateTime.now())
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.code(HttpStatus.SC_REQUEST_TIMEOUT).build());
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return;
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}
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if (now <= time && time <= now + offset) {
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try {
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waylineJobService.executeFlightTask(jobArr[1]);
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} catch (Exception e) {
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log.info("计划中的任务交付失败了。jobId: {}，异常信息：{}", jobArr[1], e.getMessage());
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waylineJobService.updateJob(WaylineJobDTO.builder()
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.jobId(jobArr[1])
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.status(WaylineJobStatusEnum.FAILED.getVal())
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.executeTime(LocalDateTime.now())
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.completedTime(LocalDateTime.now())
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.code(HttpStatus.SC_INTERNAL_SERVER_ERROR).build());
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} finally {
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RedisOpsUtils.zRemove(RedisConst.WAYLINE_JOB_TIMED_EXECUTE, jobIdValue);
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}
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}
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}
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}
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