forked from uav/ard-uav-server
ard-sample/src/main/java/com/ard/sample/wayline/service/impl/WaylineJobServiceImpl.java
@@ -1,6 +1,6 @@ package com.ard.sample.wayline.service.impl; import com.ard.oss.service.impl.OssServiceContext; import com.ard.ossdock.service.impl.OssDockServiceContext; import com.ard.route.domain.route.ArdRouteInfo; import com.ard.route.service.IArdRouteInfoService; import com.baomidou.mybatisplus.core.conditions.Wrapper; @@ -65,6 +65,7 @@ @Service @Transactional @Slf4j @SuppressWarnings("all") public class WaylineJobServiceImpl implements IWaylineJobService { @Autowired @@ -77,7 +78,7 @@ private IArdRouteInfoService _ardRouteInfoService; @Resource private OssServiceContext _ossService; private OssDockServiceContext _ossService; @Autowired private IDeviceService deviceService; @@ -133,6 +134,7 @@ .waylineType(param.getWaylineType()) .outOfControlAction(param.getOutOfControlAction()) .rthAltitude(param.getRthAltitude()) .rthMode(param.getRth_mode()) .mediaCount(0) .parentId(param.getParentId()) .loopSum(param.getLoopSum()) @@ -177,6 +179,7 @@ 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 @@ -193,7 +196,7 @@ boolean isOnline = deviceService.checkDeviceOnline(waylineJob.getDockSn()); if (!isOnline) { return ResponseResult.error("机场不在线！"); return ResponseResult.error(CommonErrorEnum.DEVICE_OFFLINE.getErrorMsg()); } // get wayline file @@ -210,14 +213,19 @@ // get file url // URL url = waylineFileService.getObjectUrl(waylineFile.get().getWaylineId()); URL url = null; String minioUrl = subStringMinioUrlName(ardRouteOpt.getPath()); String minioUrl = subStringMinioUrlName(ardRouteOpt.getPath1()); String md5 = ""; try (InputStream inputStream = _ossService.getObject(kmzPath, minioUrl)) { md5 = DigestUtils.md5Hex(inputStream); url = new URL(ardRouteOpt.getPath()); url = new URL(ardRouteOpt.getPath1()); 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()); } log.info("机场任务-rth_mode的值：{}", waylineJob.getRthMode()); WaylineTaskCreateDTO flightTask = WaylineTaskCreateDTO.builder() .flightId(waylineJob.getJobId()) @@ -226,16 +234,20 @@ .waylineType(waylineJob.getWaylineType()) .rthAltitude(waylineJob.getRthAltitude()) .outOfControlAction(waylineJob.getOutOfControlAction()) .rthMode(waylineJob.getRthMode()) .file(WaylineTaskFileDTO.builder() .url(url.toString()) // .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(46.558831038) .longitude(125.148072319) .build()) // .simulateMission(WaylineSimulateMissionDTO.builder() // .isEnable(1) // .latitude(46.55819013988211) // .longitude(125.14652370145113) // .build()) .build(); String topic = TopicConst.THING_MODEL_PRE + TopicConst.PRODUCT + @@ -248,17 +260,30 @@ .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()); String errorMsg = CommonErrorEnum.getMsgByCode(serviceReply.getResult()); log.info("Prepare task ====> Error code: {},Error Msg:{}", serviceReply.getResult(), errorMsg); 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()); //return ResponseResult.error("Prepare task ====> Error code: " + serviceReply.getResult()); return ResponseResult.error(serviceReply.getResult(), errorMsg); } // 飞行命令先注释掉 @@ -303,7 +328,10 @@ 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()); } @@ -319,12 +347,21 @@ // .fingerprint(waylineFile.get().getSign()) .fingerprint(md5) .build()) .simulateMission(WaylineSimulateMissionDTO.builder() .isEnable(1) .latitude(46.558831038) .longitude(125.148072319) .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; @@ -337,16 +374,22 @@ .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()); String errorMsg = CommonErrorEnum.getMsgByCode(serviceReply.getResult()); log.info("Prepare task ====> Error code: {},Error Msg： {}", serviceReply.getResult(), errorMsg); 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()); // return ResponseResult.error("Prepare task ====> Error code: " + serviceReply.getResult()); return ResponseResult.error(serviceReply.getResult(), errorMsg); } // 飞行命令先注释掉 @@ -382,17 +425,18 @@ // get job Optional<WaylineJobDTO> waylineJob = this.getJobByJobId(jobId); if (waylineJob.isEmpty()) { throw new IllegalArgumentException("Job doesn't exist."); throw new IllegalArgumentException("计划任务不存在。"); } boolean isOnline = deviceService.checkDeviceOnline(waylineJob.get().getDockSn()); if (!isOnline) { throw new RuntimeException("Dock is offline."); // throw new RuntimeException("Dock is offline."); throw new RuntimeException(CommonErrorEnum.DEVICE_OFFLINE.getErrorMsg()); } 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() @@ -403,9 +447,22 @@ .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()); String errorMsg = CommonErrorEnum.getMsgByCode(serviceReply.getResult()); log.info("Execute job ====> Error code: {},Error Msg:{}", serviceReply.getResult(), errorMsg); this.updateJob(WaylineJobDTO.builder() .jobId(jobId) .executeTime(LocalDateTime.now()) @@ -433,25 +490,97 @@ * @throws IllegalArgumentException 如果任务状态不正确，抛出非法参数异常 */ @Override public void cancelFlightTask(Collection<String> jobIds) { public ResponseResult cancelFlightTask(Collection<String> jobIds) { List<WaylineJobDTO> waylineJobs = getJobsByConditions(jobIds, WaylineJobStatusEnum.PENDING); // ResponseResult.error(errorCode, CommonErrorEnum.getMsgByCode(errorCode))); // 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())); // } 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. // 按 dock sn 对作业 ID 进行分组。 Map<String, List<String>> dockJobs = waylineJobs.stream() .collect(Collectors.groupingBy(WaylineJobDTO::getDockSn, Collectors.mapping(WaylineJobDTO::getJobId, Collectors.toList()))); dockJobs.forEach((dockSn, idList) -> this.publishCancelTask(dockSn, idList)); // dockJobs.forEach((dockSn, idList) -> this.publishCancelTask(dockSn, idList)); for(Map.Entry<String, List<String>> entry : dockJobs.entrySet()) { String docksn = entry.getKey(); List<String> jobIdList = entry.getValue(); ResponseResult r = publishCancelTask(docksn, jobIdList); String a = r.getMessage(); return r ; } return ResponseResult.success(); } // region 代码备份 // @Override // 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("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() // .collect(Collectors.groupingBy(WaylineJobDTO::getDockSn, // Collectors.mapping(WaylineJobDTO::getJobId, Collectors.toList()))); // dockJobs.forEach((dockSn, idList) -> this.publishCancelTask(dockSn, idList)); // // } //@Override //public void publishCancelTask(String dockSn, List<String> jobIds) { // // boolean isOnline = deviceService.checkDeviceOnline(dockSn); // if (!isOnline) { // Integer errorCode = CommonErrorEnum.DEVICE_OFFLINE.getErrorCode(); // // //return ResponseResult.error(errorCode, CommonErrorEnum.getMsgByCode(errorCode))); // throw new RuntimeException(CommonErrorEnum.DEVICE_OFFLINE.getErrorMsg()); // } // String topic = TopicConst.THING_MODEL_PRE + TopicConst.PRODUCT + dockSn + TopicConst.SERVICES_SUF; // // CommonTopicResponse<Object> response = CommonTopicResponse.builder() // .tid(UUID.randomUUID().toString()) // .bid(UUID.randomUUID().toString()) // .timestamp(System.currentTimeMillis()) // .data(Map.of(MapKeyConst.FLIGHT_IDS, jobIds)) // .method(WaylineMethodEnum.FLIGHT_TASK_CANCEL.getMethod()) // .build(); // // ServiceReply serviceReply = messageSender.publishWithReply(topic, response); // if (ResponseResult.CODE_SUCCESS != serviceReply.getResult()) { // String errorMsg = CommonErrorEnum.getMsgByCode(serviceReply.getResult()); // log.info("取消飞行任务失败 ====> 设备sn: {}, 错误码: {}， {}", dockSn, serviceReply.getResult(), errorMsg); // //throw new RuntimeException("Failed to cancel the wayline job of " + dockSn); // throw new RuntimeException("设备：" + dockSn + "取消飞行任务失败，错误码：" + serviceReply.getResult() + "，" + errorMsg); // } // // for (String jobId : jobIds) { // this.updateJob(WaylineJobDTO.builder() // .jobId(jobId) // .status(WaylineJobStatusEnum.CANCEL.getVal()) // .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); // } // //} // endregion /** * 发布取消任务 @@ -461,10 +590,31 @@ * @throws RuntimeException 如果设备离线或取消任务失败，则抛出运行时异常 */ @Override public void publishCancelTask(String dockSn, List<String> jobIds) { public ResponseResult publishCancelTask(String dockSn, List<String> jobIds) { for(String jobId : jobIds) { Optional<WaylineJobDTO> waylineJobDTO = this.getJobByJobId(jobId); if (waylineJobDTO.isEmpty()) { return ResponseResult.error("任务不存在，jobId: " + jobId); } if (waylineJobDTO.get().getTaskType() == 3) { // 已经执行完的子任务一起全部删除 this.deleteTask(jobId); log.info("删除循环任务已经完成，主任务ID：{}。", waylineJobDTO.get().getJobId()); List<WaylineJobDTO> waylineParentIds = this.getJobByJobParentId(jobId); if (!waylineParentIds.isEmpty()) { for (WaylineJobDTO waylineJob : waylineParentIds) { this.deleteTask(waylineJob.getJobId()); RedisOpsUtils.zRemove(RedisConst.WAYLINE_JOB_TIMED_EXECUTE, dockSn + RedisConst.DELIMITER + waylineJob.getJobId()); log.info("删除循环子任务已经完成，子任务ID：{}。", waylineJob.getJobId()); } } return ResponseResult.success(); } } boolean isOnline = deviceService.checkDeviceOnline(dockSn); if (!isOnline) { throw new RuntimeException("Dock is offline."); Integer errorCode = CommonErrorEnum.DEVICE_OFFLINE.getErrorCode(); return ResponseResult.error(errorCode, CommonErrorEnum.getMsgByCode(errorCode)); } String topic = TopicConst.THING_MODEL_PRE + TopicConst.PRODUCT + dockSn + TopicConst.SERVICES_SUF; @@ -478,8 +628,9 @@ ServiceReply serviceReply = messageSender.publishWithReply(topic, response); if (ResponseResult.CODE_SUCCESS != serviceReply.getResult()) { log.info("Cancel job ====> Error code: {}", serviceReply.getResult()); throw new RuntimeException("Failed to cancel the wayline job of " + dockSn); String errorMsg = CommonErrorEnum.getMsgByCode(serviceReply.getResult()); log.info("取消飞行任务失败 ====> 设备sn: {}, 错误码: {}， {}", dockSn, serviceReply.getResult(), errorMsg); return ResponseResult.error(serviceReply.getResult(), errorMsg); } for (String jobId : jobIds) { @@ -488,11 +639,11 @@ .status(WaylineJobStatusEnum.CANCEL.getVal()) .completedTime(LocalDateTime.now()) .build()); RedisOpsUtils.zRemove(RedisConst.WAYLINE_JOB_TIMED_EXECUTE, RedisConst.DELIMITER + dockSn + RedisConst.DELIMITER + jobId); RedisOpsUtils.zRemove(RedisConst.WAYLINE_JOB_TIMED_EXECUTE, 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); } return ResponseResult.success(); } @Override @@ -512,7 +663,8 @@ public List<WaylineJobDTO> getJobsByConditions(Collection<String> jobIds, WaylineJobStatusEnum status) { return mapper.selectList( new LambdaQueryWrapper<WaylineJobEntity>() .eq(Objects.nonNull(status), WaylineJobEntity::getStatus, status.getVal()) // 不过滤状态, //.eq(Objects.nonNull(status), WaylineJobEntity::getStatus, status.getVal()) .and(!CollectionUtils.isEmpty(jobIds), wrapper -> jobIds.forEach(id -> wrapper.eq(WaylineJobEntity::getJobId, id).or()))) .stream() @@ -532,6 +684,18 @@ new LambdaQueryWrapper<WaylineJobEntity>() .eq(WaylineJobEntity::getJobId, jobId)); return Optional.ofNullable(entity2Dto(jobEntity)); } public List<WaylineJobDTO> getJobByJobParentId(String parentId) { List<WaylineJobEntity> jobEntities = mapper.selectList( new LambdaQueryWrapper<WaylineJobEntity>() .eq(WaylineJobEntity::getParentId, parentId)); if (CollectionUtils.isEmpty(jobEntities)) { return Collections.emptyList(); // 返回不可变空列表，更安全 } return jobEntities.stream() .map(this::entity2Dto) // 调用原有的单个转换方法 .collect(Collectors.toList()); } /** @@ -581,6 +745,7 @@ Page<WaylineJobEntity> pageData = mapper.selectPage( new Page<WaylineJobEntity>(page, pageSize), new LambdaQueryWrapper<WaylineJobEntity>() .isNull(WaylineJobEntity::getParentId) // 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) @@ -593,10 +758,14 @@ .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)); .orderByDesc(WaylineJobEntity::getBeginTime)); List<WaylineJobDTO> records = pageData.getRecords() .stream() .map(this::entity2Dto) .peek(job -> { List<WaylineJobDTO> childOpt = this.getJobByJobParentId(job.getJobId()); job.setChildren(childOpt); }) .collect(Collectors.toList()); return new PaginationData<WaylineJobDTO>(records, new Pagination(pageData)); @@ -610,6 +779,18 @@ .eq(parentId != null,WaylineJobEntity::getParentId,parentId) .ne(WaylineJobEntity::getStatus, 3) .orderByDesc(WaylineJobEntity::getId)); } /** * 获取所有待定状态的定时任务，未执行即将要执行的。 * */ public List<WaylineJobEntity> selectScheduledTaskList(){ // "1":"定时任务" return mapper.selectList(new LambdaQueryWrapper<WaylineJobEntity>() .eq(WaylineJobEntity::getTaskType, 1) .eq(WaylineJobEntity::getStatus, WaylineJobStatusEnum.PENDING.getVal()) .gt(WaylineJobEntity::getBeginTime, System.currentTimeMillis()) .orderByDesc(WaylineJobEntity::getBeginTime)); } @@ -631,6 +812,8 @@ 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()) @@ -668,21 +851,28 @@ // get file url URL url = null; String minioUrl = subStringMinioUrlName(ardRouteOpt.getPath()); String minioUrl = subStringMinioUrlName(ardRouteOpt.getPath1()); String md5 = ""; try (InputStream inputStream = _ossService.getObject(kmzPath, minioUrl)) { md5 = DigestUtils.md5Hex(inputStream); url = new URL(ardRouteOpt.getPath()); url = new URL(ardRouteOpt.getPath1()); 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) { @@ -690,6 +880,15 @@ 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()); @@ -725,7 +924,8 @@ .data(Map.of(MapKeyConst.FLIGHT_ID, jobId)) .build()); if (ResponseResult.CODE_SUCCESS != reply.getResult()) { throw new RuntimeException("Failed to set media job upload priority. Error Code: " + reply.getResult()); String errorMsg = CommonErrorEnum.getMsgByCode(reply.getResult()); throw new RuntimeException("未能设置媒体作业上传优先级. Error Code: " + reply.getResult() +", Error Msg: " + errorMsg); } } @@ -819,6 +1019,7 @@ .taskType(entity.getTaskType()) .waylineType(entity.getWaylineType()) .rthAltitude(entity.getRthAltitude()) .rthMode(entity.getRthMode()) .outOfControlAction(entity.getOutOfControlAction()) .mediaCount(entity.getMediaCount()) .loopSum(entity.getLoopSum());
