forked from uav/ard-uav-server
blame | history | patch | commit | commitdiff | ignore whitespace
zhaowenyu
2025-12-04 9de7bdfd10bf84a5e5fbbdc4853e8b30bf7cd0c9 
 ard-sample/src/main/java/com/ard/sample/wayline/service/impl/WaylineJobServiceImpl.java


@@ -65,6 +65,7 @@


@Service


@Transactional


@Slf4j


@SuppressWarnings("all")


public class WaylineJobServiceImpl implements IWaylineJobService {




    @Autowired


@@ -489,9 +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();


@@ -501,13 +502,85 @@


////                    + 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


@@ -517,10 +590,22 @@


     * @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是否删除，或者清掉父任务ID，和正常任务一起显示在列表中。


                this.deleteTask(jobId);


                return ResponseResult.success();


            }


        }


        boolean isOnline = deviceService.checkDeviceOnline(dockSn);


        if (!isOnline) {


            throw new RuntimeException(CommonErrorEnum.DEVICE_OFFLINE.getErrorMsg());


            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;




@@ -536,8 +621,7 @@


        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);


            return ResponseResult.error(serviceReply.getResult(), errorMsg);


        }




        for (String jobId : jobIds) {


@@ -546,11 +630,11 @@


                    .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


@@ -570,7 +654,8 @@


    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()


@@ -687,6 +772,18 @@


                .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));


    }






    /**


     * 根据航班任务ID获取航班任务资源