forked from uav/ard-uav-server
ard-sample/src/main/java/com/ard/sample/wayline/service/impl/WaylineJobServiceImpl.java
@@ -3,6 +3,7 @@ import com.ard.oss.service.impl.OssServiceContext; import com.ard.route.domain.route.ArdRouteInfo; import com.ard.route.service.IArdRouteInfoService; import com.baomidou.mybatisplus.core.conditions.Wrapper; import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper; import com.baomidou.mybatisplus.core.conditions.update.LambdaUpdateWrapper; import com.baomidou.mybatisplus.extension.plugins.pagination.Page; @@ -32,6 +33,7 @@ import com.fasterxml.jackson.databind.ObjectMapper; import lombok.extern.slf4j.Slf4j; import org.apache.commons.codec.digest.DigestUtils; import org.apache.ibatis.annotations.Param; import org.springframework.beans.factory.annotation.Autowired; import org.springframework.integration.annotation.ServiceActivator; import org.springframework.integration.mqtt.support.MqttHeaders; @@ -106,8 +108,8 @@ /** * 创建航线任务 * * @param param 任务参数 * @param username 用户名 * @param param 任务参数 * @param username 用户名 * @param beginTime 开始时间 * @param endTime 结束时间 * @return Optional<WaylineJobDTO> 返回创建的航线任务对象，若创建失败则返回Optional.empty() @@ -131,7 +133,10 @@ .waylineType(param.getWaylineType()) .outOfControlAction(param.getOutOfControlAction()) .rthAltitude(param.getRthAltitude()) .rthMode(param.getRth_mode()) .mediaCount(0) .parentId(param.getParentId()) .loopSum(param.getLoopSum()) .build(); return insertWaylineJob(jobEntity); @@ -163,7 +168,7 @@ /** * 发布飞行任务 * * @param param 任务参数 * @param param 任务参数 * @param loginUser 登录用户 * @return ResponseResult 返回结果 * @throws SQLException SQL异常 @@ -173,11 +178,19 @@ if (WaylineTaskTypeEnum.IMMEDIATE.getVal() == param.getTaskType()) { param.setExecuteTime(System.currentTimeMillis()); } param.setRth_mode(1); Optional<WaylineJobDTO> waylineJobOpt = this.createWaylineJob(param, loginUser.getUsername(), param.getExecuteTime(), param.getExecuteTime()); // 循环任务 if (param.getTaskType() == WaylineTaskTypeEnum.LOOP.getVal()) { // 循环任务，不立即执行，由定时任务发布 return ResponseResult.success(); } if (waylineJobOpt.isEmpty()) { return ResponseResult.error("创建机场任务失败！"); } WaylineJobDTO waylineJob = waylineJobOpt.get(); boolean isOnline = deviceService.checkDeviceOnline(waylineJob.getDockSn()); @@ -198,15 +211,124 @@ // get file url // URL url = waylineFileService.getObjectUrl(waylineFile.get().getWaylineId()); URL url= null; String minioUrl = subStringMinioUrlName(ardRouteOpt.getUpPath()); URL url = null; String minioUrl = subStringMinioUrlName(ardRouteOpt.getPath()); String md5 = ""; try (InputStream inputStream = _ossService.getObject(kmzPath,minioUrl)) { try (InputStream inputStream = _ossService.getObject(kmzPath, minioUrl)) { md5 = DigestUtils.md5Hex(inputStream); url = new URL(ardRouteOpt.getUpPath()); url = new URL(ardRouteOpt.getPath()); log.info("机场任务航线文件url地址：{}", url); log.info("机场任务航线文件md5值：{}", md5); } catch (Exception e) { log.error("机场任务航线文件地址错误！{}", e.getMessage()); return ResponseResult.error("机场任务航线文件地址错误！" + e.getMessage()); } catch (Exception e) { log.info("机场任务-rth_mode的值：{}", waylineJob.getRthMode()); WaylineTaskCreateDTO flightTask = WaylineTaskCreateDTO.builder() .flightId(waylineJob.getJobId()) .executeTime(waylineJob.getBeginTime().atZone(ZoneId.systemDefault()).toInstant().toEpochMilli()) .taskType(waylineJob.getTaskType()) .waylineType(waylineJob.getWaylineType()) .rthAltitude(waylineJob.getRthAltitude()) .outOfControlAction(waylineJob.getOutOfControlAction()) .rthMode(waylineJob.getRthMode()) .file(WaylineTaskFileDTO.builder() // .url(url.toString().replace("https://192.168.10.103:9001", "http://192.168.10.103:9011")) // .fingerprint(waylineFile.get().getSign()) // .replace("https://", "http://") // .replace("9001", "9011") .url(url.toString()) .fingerprint(md5) .build()) // .simulateMission(WaylineSimulateMissionDTO.builder() // .isEnable(1) // .latitude(46.55819013988211) // .longitude(125.14652370145113) // .build()) .build(); String topic = TopicConst.THING_MODEL_PRE + TopicConst.PRODUCT + waylineJob.getDockSn() + TopicConst.SERVICES_SUF; CommonTopicResponse<Object> response = CommonTopicResponse.builder() .tid(UUID.randomUUID().toString()) .bid(waylineJob.getJobId()) .timestamp(System.currentTimeMillis()) .data(flightTask) .method(WaylineMethodEnum.FLIGHT_TASK_PREPARE.getMethod()) .build(); // 下发参数打印 try{ String json = objectMapper.writeValueAsString(response); log.info("机场下发航线任务的参数response：{}", json); } catch (Exception e){ log.error("机场下发航线任务的参数response异常：{}", e.getMessage()); } ServiceReply serviceReply = messageSender.publishWithReply(topic, response); log.info("下发任务结果： {}", serviceReply.getResult()); if (ResponseResult.CODE_SUCCESS != serviceReply.getResult()) { log.info("Prepare task ====> Error code: {}", serviceReply.getResult()); this.updateJob(WaylineJobDTO.builder() .jobId(waylineJob.getJobId()) .executeTime(LocalDateTime.now()) .status(WaylineJobStatusEnum.FAILED.getVal()) .completedTime(LocalDateTime.now()) .code(serviceReply.getResult()).build()); return ResponseResult.error("Prepare task ====> Error code: " + serviceReply.getResult()); } // 飞行命令先注释掉 // Issue an immediate task execution command. if (WaylineTaskTypeEnum.IMMEDIATE.getVal() == waylineJob.getTaskType()) { if (!executeFlightTask(waylineJob.getJobId())) { return ResponseResult.error("Failed to execute job."); } } if (WaylineTaskTypeEnum.TIMED.getVal() == waylineJob.getTaskType()) { boolean isAdd = RedisOpsUtils.zAdd(RedisConst.WAYLINE_JOB_TIMED_EXECUTE, waylineJob.getDockSn() + RedisConst.DELIMITER + waylineJob.getJobId(), waylineJob.getBeginTime().atZone(ZoneId.systemDefault()).toInstant().toEpochMilli()); if (!isAdd) { return ResponseResult.error("Failed to create scheduled job."); } } return ResponseResult.success(); } public ResponseResult publishFlightTaskPrepare(Optional<WaylineJobDTO> waylineJobOpt) throws SQLException{ if (waylineJobOpt.isEmpty()) { return ResponseResult.error("创建机场任务失败！"); } WaylineJobDTO waylineJob = waylineJobOpt.get(); boolean isOnline = deviceService.checkDeviceOnline(waylineJob.getDockSn()); if (!isOnline) { return ResponseResult.error("机场不在线！"); } // 换航线表 ArdRouteInfo ardRouteOpt = _ardRouteInfoService.selectArdRouteInfoById(waylineJob.getFileId()); if (ardRouteOpt == null) { return ResponseResult.error("机场任务航线不存在！"); } // get file url URL url = null; String minioUrl = subStringMinioUrlName(ardRouteOpt.getPath()); String md5 = ""; try (InputStream inputStream = _ossService.getObject(kmzPath, minioUrl)) { md5 = DigestUtils.md5Hex(inputStream); url = new URL(ardRouteOpt.getPath()); log.info("机场任务航线文件url地址：{}", url); log.info("机场任务航线文件md5值：{}", md5); } catch (Exception e) { log.error("机场任务航线文件地址错误！{}", e.getMessage()); return ResponseResult.error("机场任务航线文件地址错误！" + e.getMessage()); } @@ -222,12 +344,21 @@ // .fingerprint(waylineFile.get().getSign()) .fingerprint(md5) .build()) .simulateMission(WaylineSimulateMissionDTO.builder() .isEnable(param.getSimulateMission().getIsEnable()) .latitude(param.getSimulateMission().getLatitude()) .longitude(param.getSimulateMission().getLongitude()) .build()) // .simulateMission(WaylineSimulateMissionDTO.builder() // .isEnable(1) // .latitude(46.558831038) // .longitude(125.148072319) // .build()) .build(); // 下发参数打印 try{ String json = objectMapper.writeValueAsString(flightTask); log.info("机场下发航线任务的参数flightTask：{}", json); } catch (Exception e){ log.error("机场下发航线任务的参数flightTask异常：{}", e.getMessage()); } String topic = TopicConst.THING_MODEL_PRE + TopicConst.PRODUCT + waylineJob.getDockSn() + TopicConst.SERVICES_SUF; @@ -240,6 +371,11 @@ .build(); ServiceReply serviceReply = messageSender.publishWithReply(topic, response); log.info("下发任务结果： {}", serviceReply.getResult()); log.info("机场任务航线文件url地址：{}", url); log.info("机场任务航线文件md5值：{}", md5); if (ResponseResult.CODE_SUCCESS != serviceReply.getResult()) { log.info("Prepare task ====> Error code: {}", serviceReply.getResult()); this.updateJob(WaylineJobDTO.builder() @@ -253,20 +389,20 @@ // 飞行命令先注释掉 // Issue an immediate task execution command. // if (WaylineTaskTypeEnum.IMMEDIATE.getVal() == waylineJob.getTaskType()) { // if (!executeFlightTask(waylineJob.getJobId())) { // return ResponseResult.error("Failed to execute job."); // } // } // // if (WaylineTaskTypeEnum.TIMED.getVal() == waylineJob.getTaskType()) { // boolean isAdd = RedisOpsUtils.zAdd(RedisConst.WAYLINE_JOB_TIMED_EXECUTE, // waylineJob.getDockSn() + RedisConst.DELIMITER + waylineJob.getJobId(), // waylineJob.getBeginTime().atZone(ZoneId.systemDefault()).toInstant().toEpochMilli()); // if (!isAdd) { // return ResponseResult.error("Failed to create scheduled job."); // } // } if (WaylineTaskTypeEnum.IMMEDIATE.getVal() == waylineJob.getTaskType()) { if (!executeFlightTask(waylineJob.getJobId())) { return ResponseResult.error("Failed to execute job."); } } if (WaylineTaskTypeEnum.TIMED.getVal() == waylineJob.getTaskType()) { boolean isAdd = RedisOpsUtils.zAdd(RedisConst.WAYLINE_JOB_TIMED_EXECUTE, waylineJob.getDockSn() + RedisConst.DELIMITER + waylineJob.getJobId(), waylineJob.getBeginTime().atZone(ZoneId.systemDefault()).toInstant().toEpochMilli()); if (!isAdd) { return ResponseResult.error("Failed to create scheduled job."); } } return ResponseResult.success(); } @@ -277,7 +413,7 @@ * @param jobId 任务ID * @return 如果任务执行成功返回true，否则返回false * @throws IllegalArgumentException 如果任务不存在 * @throws RuntimeException 如果设备处于离线状态 * @throws RuntimeException 如果设备处于离线状态 */ @Override public Boolean executeFlightTask(String jobId) { @@ -294,7 +430,7 @@ WaylineJobDTO job = waylineJob.get(); WaylineTaskCreateDTO flightTask = WaylineTaskCreateDTO.builder().flightId(jobId).build(); // flightTask中，只有任务id是有值的，其他字段不返回 String topic = TopicConst.THING_MODEL_PRE + TopicConst.PRODUCT + job.getDockSn() + TopicConst.SERVICES_SUF; CommonTopicResponse<Object> response = CommonTopicResponse.builder() @@ -305,7 +441,19 @@ .method(WaylineMethodEnum.FLIGHT_TASK_EXECUTE.getMethod()) .build(); // 下发参数打印 try{ String json = objectMapper.writeValueAsString(response); log.info("机场下发-执行飞行任务-的参数response：{}", json); } catch (Exception e){ log.error("机场下发-执行飞行任务-的参数response异常：{}", e.getMessage()); } ServiceReply serviceReply = messageSender.publishWithReply(topic, response); log.info("下发-执行飞行任务-结果： {}", serviceReply.getResult()); if (ResponseResult.CODE_SUCCESS != serviceReply.getResult()) { log.info("Execute job ====> Error code: {}", serviceReply.getResult()); this.updateJob(WaylineJobDTO.builder() @@ -338,13 +486,14 @@ public void cancelFlightTask(Collection<String> jobIds) { List<WaylineJobDTO> waylineJobs = getJobsByConditions(jobIds, WaylineJobStatusEnum.PENDING); Set<String> waylineJobIds = waylineJobs.stream().map(WaylineJobDTO::getJobId).collect(Collectors.toSet()); // Check if the task status is correct. boolean isErr = !jobIds.removeAll(waylineJobIds) || !jobIds.isEmpty() ; if (isErr) { throw new IllegalArgumentException("These tasks have an incorrect status and cannot be canceled. " + Arrays.toString(jobIds.toArray())); } // Set<String> waylineJobIds = waylineJobs.stream().map(WaylineJobDTO::getJobId).collect(Collectors.toSet()); // // Check if the task status is correct. // boolean isErr = !jobIds.removeAll(waylineJobIds) || !jobIds.isEmpty(); // if (isErr) { // throw new IllegalArgumentException("任务开始后，无法取消。" + Arrays.toString(jobIds.toArray())); //// throw new IllegalArgumentException("These tasks have an incorrect status and cannot be canceled. " //// + Arrays.toString(jobIds.toArray())); // } // Group job id by dock sn. Map<String, List<String>> dockJobs = waylineJobs.stream() @@ -358,7 +507,7 @@ * 发布取消任务 * * @param dockSn 设备序列号 * @param jobIds 任务ID列表 * @param jobIds 任务ID列表 * @throws RuntimeException 如果设备离线或取消任务失败，则抛出运行时异常 */ @Override @@ -390,8 +539,16 @@ .completedTime(LocalDateTime.now()) .build()); RedisOpsUtils.zRemove(RedisConst.WAYLINE_JOB_TIMED_EXECUTE, RedisConst.DELIMITER + dockSn + RedisConst.DELIMITER + jobId); // 原流程是修改表中数据的status状态值，现在的精力是直接删除 this.deleteTask(jobId); } } @Override public void deleteTask(String jobid) { mapper.delete(new LambdaQueryWrapper<WaylineJobEntity>() .eq(WaylineJobEntity::getJobId, jobid)); } /** @@ -404,10 +561,10 @@ @Override public List<WaylineJobDTO> getJobsByConditions(Collection<String> jobIds, WaylineJobStatusEnum status) { return mapper.selectList( new LambdaQueryWrapper<WaylineJobEntity>() .eq(Objects.nonNull(status), WaylineJobEntity::getStatus, status.getVal()) .and(!CollectionUtils.isEmpty(jobIds), wrapper -> jobIds.forEach(id -> wrapper.eq(WaylineJobEntity::getJobId, id).or()))) new LambdaQueryWrapper<WaylineJobEntity>() .eq(Objects.nonNull(status), WaylineJobEntity::getStatus, status.getVal()) .and(!CollectionUtils.isEmpty(jobIds), wrapper -> jobIds.forEach(id -> wrapper.eq(WaylineJobEntity::getJobId, id).or()))) .stream() .map(this::entity2Dto) .collect(Collectors.toList()); @@ -461,25 +618,71 @@ return new PaginationData<WaylineJobDTO>(records, new Pagination(pageData)); } /** * 根据条件筛选获取任务分页数据 * * @param page 页码，从1开始 * @param pageSize 每页显示条数 * @return PaginationData 包含工作线任务分页数据的对象 */ @Override public PaginationData<WaylineJobDTO> getJobsList(long page, long pageSize, Integer status, Long startTime, Long endTime, Integer taskType, String name, Boolean isComplete) { Page<WaylineJobEntity> pageData = mapper.selectPage( new Page<WaylineJobEntity>(page, pageSize), new LambdaQueryWrapper<WaylineJobEntity>() // 实际开始时间筛选，允许为空，为空则不进行筛选 .ge(startTime != null, WaylineJobEntity::getBeginTime, startTime) .le(endTime != null, WaylineJobEntity::getBeginTime, endTime) // 任务类型筛选，允许为空，为空则不进行筛选 .eq(taskType != null, WaylineJobEntity::getTaskType, taskType) // 任务名称筛选，允许为空，为空则不进行筛选;....模糊查询 .like(name != null, WaylineJobEntity::getName, "%"+name+"%") // 根据是否完成筛选，允许为空，为空则不进行筛选 .eq(isComplete != null && isComplete, WaylineJobEntity::getStatus, 3) .ne(isComplete != null && !isComplete, WaylineJobEntity::getStatus, 3) // 任务状态筛选，允许为空，为空则不进行筛选 .eq(status != null, WaylineJobEntity::getStatus, status) .orderByDesc(WaylineJobEntity::getId)); List<WaylineJobDTO> records = pageData.getRecords() .stream() .map(this::entity2Dto) .collect(Collectors.toList()); return new PaginationData<WaylineJobDTO>(records, new Pagination(pageData)); } public List<WaylineJobEntity> selectList(Long taskType, Long executeTime, String parentId) { return mapper.selectList(new LambdaQueryWrapper<WaylineJobEntity>() .eq(taskType != null,WaylineJobEntity::getTaskType, taskType) .ne(WaylineJobEntity::getStatus, WaylineJobStatusEnum.SUCCESS.getVal()) .eq(executeTime != null,WaylineJobEntity::getBeginTime, executeTime) .eq(parentId != null,WaylineJobEntity::getParentId,parentId) .ne(WaylineJobEntity::getStatus, 3) .orderByDesc(WaylineJobEntity::getId)); } /** * 根据航班任务ID获取航班任务资源 * * @param receiver 接收到的消息对象 * @param headers 消息头信息 * * @Override 覆盖父类方法 * @ServiceActivator(inputChannel = ChannelName.INBOUND_REQUESTS_FLIGHT_TASK_RESOURCE_GET, outputChannel = ChannelName.OUTBOUND) * 指定输入通道和输出通道 * 指定输入通道和输出通道 * @Transactional(isolation = Isolation.READ_UNCOMMITTED) * 设置事务隔离级别为未提交读 * 设置事务隔离级别为未提交读 */ @Override @ServiceActivator(inputChannel = ChannelName.INBOUND_REQUESTS_FLIGHT_TASK_RESOURCE_GET, outputChannel = ChannelName.OUTBOUND) @Transactional(isolation = Isolation.READ_UNCOMMITTED) public void flightTaskResourceGet(CommonTopicReceiver receiver, MessageHeaders headers) { Map<String, String> jobIdMap = objectMapper.convertValue(receiver.getData(), new TypeReference<Map<String, String>>() {}); Map<String, String> jobIdMap = objectMapper.convertValue(receiver.getData(), new TypeReference<Map<String, String>>() { }); String jobId = jobIdMap.get(MapKeyConst.FLIGHT_ID); log.info("机场通过flightTaskResourceGet获取航线文件地址，jobId: " + jobId); CommonTopicResponse.CommonTopicResponseBuilder<RequestsReply> builder = CommonTopicResponse.<RequestsReply>builder() .tid(receiver.getTid()) @@ -506,7 +709,7 @@ // messageSender.publish(topic, builder.build()); // return; // } // 修改航线文件名称，从ard_route_information航线表中取; // 修改航线文件名称，从ard_route_info航线表中取; // 换航线表 ArdRouteInfo ardRouteOpt = _ardRouteInfoService.selectArdRouteInfoById(waylineJob.getFileId()); if (ardRouteOpt == null) { @@ -517,22 +720,28 @@ // get file url URL url = null; String minioUrl = subStringMinioUrlName(ardRouteOpt.getUpPath()); String minioUrl = subStringMinioUrlName(ardRouteOpt.getPath()); String md5 = ""; try (InputStream inputStream = _ossService.getObject(kmzPath,minioUrl)) { try (InputStream inputStream = _ossService.getObject(kmzPath, minioUrl)) { md5 = DigestUtils.md5Hex(inputStream); url = new URL(ardRouteOpt.getUpPath()); url = new URL(ardRouteOpt.getPath()); log.info("机场通过flightTaskResourceGet获取航线文件地址，jobId: " + jobId + " 返回信息为url：" + url.toString() + " md5：" + md5); // } // try { // url = waylineFileService.getObjectUrl(waylineFile.get().getWaylineId()); // url = new URL(ardRouteOpt.getUpPath()); // Map<String, Object> jsonResourceGet = new HashMap<>(); // jsonResourceGet.put("url", url.toString().replace("https//192.168.10.103:9001", "http//192.168.10.103:9002")); // jsonResourceGet.put("fingerprint", md5); // .replace("https://", "http://") // .replace("9001", "9011") builder.data(RequestsReply.success(WaylineTaskCreateDTO.builder() .file(WaylineTaskFileDTO.builder() .url(url.toString()) // .fingerprint(waylineFile.get().getSign()) .fingerprint(md5) .build()) .url(url.toString()) .fingerprint(md5) .build()) .build())); } catch (NullPointerException | IOException e) { @@ -540,6 +749,15 @@ builder.data(RequestsReply.error(CommonErrorEnum.ILLEGAL_ARGUMENT)); messageSender.publish(topic, builder.build()); return; } // 下发参数打印 try{ String json = objectMapper.writeValueAsString(builder.build()); log.info("机场通过flighttask_resource_get获取航线文件的参数flightTask：{}", json); } catch (Exception e){ log.error("机场通过flighttask_resource_get获取航线文件的参数flightTask异常：{}", e.getMessage()); } messageSender.publish(topic, builder.build()); @@ -615,6 +833,7 @@ .rthAltitude(dto.getRthAltitude()) .outOfControlAction(dto.getOutOfControlAction()) .parentId(dto.getParentId()) .loopSum(dto.getLoopSum()) .build(); } @@ -628,15 +847,28 @@ if (entity == null) { return null; } // 修改航线文件名称，从ard_route_information航线表中取; // 修改航线文件名称，从ard_route_info航线表中取; String fileId = entity.getFileId(); String fileName = ""; try { if (fileId != null) { ArdRouteInfo ardRouteInfo = _ardRouteInfoService.selectArdRouteInfoById(fileId); if (ardRouteInfo != null) { fileName = Optional.ofNullable(ardRouteInfo.getName()).orElse(""); } } } catch (Exception e) { log.info("获取航线名称失败，fileId:{},异常原因：{}", fileId,e.getMessage()); fileName = ""; } WaylineJobDTO.WaylineJobDTOBuilder builder = WaylineJobDTO.builder() .jobId(entity.getJobId()) .jobName(entity.getName()) .fileId(entity.getFileId()) // .fileName(waylineFileService.getWaylineByWaylineId(entity.getFileId()) // .orElse(WaylineFileDTO.builder().build()).getName()) .fileName(_ardRouteInfoService.selectArdRouteInfoById(entity.getFileId()) .getName()) .fileName(fileName) .dockSn(entity.getDockSn()) .dockName(deviceService.getDeviceBySn(entity.getDockSn()) .orElse(DeviceDTO.builder().build()).getNickname()) @@ -655,8 +887,11 @@ .taskType(entity.getTaskType()) .waylineType(entity.getWaylineType()) .rthAltitude(entity.getRthAltitude()) .rthMode(entity.getRthMode()) .outOfControlAction(entity.getOutOfControlAction()) .mediaCount(entity.getMediaCount()); .mediaCount(entity.getMediaCount()) .loopSum(entity.getLoopSum()); if (Objects.nonNull(entity.getEndTime())) { builder.endTime(LocalDateTime.ofInstant(Instant.ofEpochMilli(entity.getEndTime()), ZoneId.systemDefault())); @@ -678,7 +913,7 @@ Object mediaFileCount = RedisOpsUtils.hashGet(countKey, entity.getJobId()); if (Objects.nonNull(mediaFileCount)) { builder.uploadedCount(((MediaFileCountDTO) mediaFileCount).getUploadedCount()) .uploading(RedisOpsUtils.checkExist(key) && entity.getJobId().equals(((MediaFileCountDTO)RedisOpsUtils.get(key)).getJobId())); .uploading(RedisOpsUtils.checkExist(key) && entity.getJobId().equals(((MediaFileCountDTO) RedisOpsUtils.get(key)).getJobId())); return builder.build(); }
