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; @@ -195,7 +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 @@ -212,11 +213,11 @@ // 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) { @@ -235,15 +236,18 @@ .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(46.55819013988211) .longitude(125.14652370145113) .build()) // .simulateMission(WaylineSimulateMissionDTO.builder() // .isEnable(1) // .latitude(46.55819013988211) // .longitude(125.14652370145113) // .build()) .build(); String topic = TopicConst.THING_MODEL_PRE + TopicConst.PRODUCT + @@ -270,14 +274,16 @@ 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 @@ -374,14 +380,16 @@ 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 @@ -417,12 +425,13 @@ // 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(); @@ -452,7 +461,8 @@ 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()) @@ -480,9 +490,9 @@ * @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(); @@ -496,9 +506,81 @@ 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 @@ -508,10 +590,12 @@ * @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) { 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; @@ -525,8 +609,9 @@ 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) { @@ -539,7 +624,7 @@ // 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 @@ -579,6 +664,18 @@ 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()); } /** @@ -628,6 +725,7 @@ 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) @@ -640,10 +738,14 @@ .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)); @@ -717,20 +819,22 @@ // 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()); jsonResourceGet.put("fingerprint", md5); // 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() @@ -738,12 +842,6 @@ .fingerprint(md5) .build()) .build())); // WaylineTaskFileDTO.builder() // .url(url.toString()) //// .fingerprint(waylineFile.get().getSign()) // .fingerprint(md5) // .build() } catch (NullPointerException | IOException e) { e.printStackTrace(); @@ -794,7 +892,8 @@ .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); } }
