forked from uav/ard-uav-server
ard-sample/src/main/java/com/ard/sample/wayline/service/impl/WaylineJobServiceImpl.java
@@ -1,8 +1,10 @@ package com.ard.sample.wayline.service.impl; import com.ard.ossdock.service.impl.OssDockServiceContext; import com.ard.common.config.OssConfiguration; import com.ard.oss.service.impl.OssServiceContext; import com.ard.route.domain.route.ArdRouteInfo; import com.ard.route.service.IArdRouteInfoService; import com.ard.sample.config.DockConfiguration; import com.baomidou.mybatisplus.core.conditions.Wrapper; import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper; import com.baomidou.mybatisplus.core.conditions.update.LambdaUpdateWrapper; @@ -65,6 +67,7 @@ @Service @Transactional @Slf4j @SuppressWarnings("all") public class WaylineJobServiceImpl implements IWaylineJobService { @Autowired @@ -77,7 +80,7 @@ private IArdRouteInfoService _ardRouteInfoService; @Resource private OssDockServiceContext _ossService; private OssServiceContext _ossService; @Autowired private IDeviceService deviceService; @@ -188,7 +191,7 @@ } if (waylineJobOpt.isEmpty()) { return ResponseResult.error("创建机场任务失败！"); return ResponseResult.error(314013000,"创建机场任务失败！"); } WaylineJobDTO waylineJob = waylineJobOpt.get(); @@ -205,23 +208,26 @@ // } // 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！"); if (ardRouteOpt == null || ardRouteOpt.getPath() == null || ardRouteOpt.getPath().isEmpty()) { return ResponseResult.error(314013001,"机场任务航线不存在！"); } // get file url // URL url = waylineFileService.getObjectUrl(waylineFile.get().getWaylineId()); URL url = null; String minioUrl = subStringMinioUrlName(ardRouteOpt.getPath1()); String minioUrl = subStringMinioUrlName(ardRouteOpt.getPath()); String md5 = ""; String httpUrl=""; try (InputStream inputStream = _ossService.getObject(kmzPath, minioUrl)) { md5 = DigestUtils.md5Hex(inputStream); url = new URL(ardRouteOpt.getPath1()); log.info("机场任务航线文件url地址：{}", url); url = new URL(ardRouteOpt.getPath()); log.info("机场任务航线文件url地址转换前：{}", url); httpUrl = url.toString().replace(OssConfiguration.endpoint, DockConfiguration.endpoint); log.info("机场任务航线文件url地址转换后：{}", httpUrl); 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()); return ResponseResult.error(314013002,"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()); @@ -239,7 +245,7 @@ // .fingerprint(waylineFile.get().getSign()) // .replace("https://", "http://") // .replace("9001", "9011") .url(url.toString()) .url(httpUrl) .fingerprint(md5) .build()) // .simulateMission(WaylineSimulateMissionDTO.builder() @@ -289,7 +295,7 @@ // Issue an immediate task execution command. if (WaylineTaskTypeEnum.IMMEDIATE.getVal() == waylineJob.getTaskType()) { if (!executeFlightTask(waylineJob.getJobId())) { return ResponseResult.error("Failed to execute job."); return ResponseResult.error("无法执行作业。"); } } @@ -298,7 +304,7 @@ 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.error("无法创建计划作业。"); } } @@ -308,7 +314,7 @@ public ResponseResult publishFlightTaskPrepare(Optional<WaylineJobDTO> waylineJobOpt) throws SQLException{ if (waylineJobOpt.isEmpty()) { return ResponseResult.error("创建机场任务失败！"); return ResponseResult.error(314013000,"创建机场任务失败！"); } WaylineJobDTO waylineJob = waylineJobOpt.get(); boolean isOnline = deviceService.checkDeviceOnline(waylineJob.getDockSn()); @@ -317,21 +323,24 @@ } // 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！"); if (ardRouteOpt == null || ardRouteOpt.getPath() == null || ardRouteOpt.getPath().isEmpty()) { return ResponseResult.error(314013001,"机场任务航线不存在！"); } // get file url URL url = null; String minioUrl = subStringMinioUrlName(ardRouteOpt.getPath()); String md5 = ""; String httpUrl=""; 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url地址转换前：{}", url); httpUrl = url.toString().replace(OssConfiguration.endpoint, DockConfiguration.endpoint); log.info("机场任务航线文件url地址转换后：{}", httpUrl); 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()); return ResponseResult.error(314013002,"机场任务航线文件地址错误！" + e.getMessage()); } WaylineTaskCreateDTO flightTask = WaylineTaskCreateDTO.builder() @@ -341,8 +350,9 @@ .waylineType(waylineJob.getWaylineType()) .rthAltitude(waylineJob.getRthAltitude()) .outOfControlAction(waylineJob.getOutOfControlAction()) .rthMode(waylineJob.getRthMode()) .file(WaylineTaskFileDTO.builder() .url(url.toString()) .url(httpUrl) // .fingerprint(waylineFile.get().getSign()) .fingerprint(md5) .build()) @@ -375,7 +385,7 @@ 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url地址：{}", httpUrl); log.info("机场任务航线文件md5值：{}", md5); if (ResponseResult.CODE_SUCCESS != serviceReply.getResult()) { @@ -395,7 +405,7 @@ // Issue an immediate task execution command. if (WaylineTaskTypeEnum.IMMEDIATE.getVal() == waylineJob.getTaskType()) { if (!executeFlightTask(waylineJob.getJobId())) { return ResponseResult.error("Failed to execute job."); return ResponseResult.error("无法执行作业。"); } } @@ -404,7 +414,7 @@ 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.error("无法创建计划作业。"); } } @@ -489,9 +499,9 @@ * @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 +511,85 @@ //// + 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 +599,31 @@ * @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(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 +639,7 @@ 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 +648,11 @@ .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 +672,8 @@ 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 +790,18 @@ .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 @@ -745,12 +860,18 @@ // get file url URL url = null; String minioUrl = subStringMinioUrlName(ardRouteOpt.getPath1()); String minioUrl = subStringMinioUrlName(ardRouteOpt.getPath()); String md5 = ""; String httpUrl = ""; try (InputStream inputStream = _ossService.getObject(kmzPath, minioUrl)) { md5 = DigestUtils.md5Hex(inputStream); 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); url = new URL(ardRouteOpt.getPath()); log.info("机场通过flightTaskResourceGet获取航线文件地址转换前：{}", url); httpUrl = url.toString().replace(OssConfiguration.endpoint, DockConfiguration.endpoint); log.info("机场通过flightTaskResourceGet获取航线文件地址转换后：{}", httpUrl); log.info("机场通过flightTaskResourceGet获取航线文件地址，jobId: " + jobId + " 返回信息为url：" + httpUrl + " md5：" + md5); // } // try { // url = waylineFileService.getObjectUrl(waylineFile.get().getWaylineId()); @@ -764,7 +885,7 @@ builder.data(RequestsReply.success(WaylineTaskCreateDTO.builder() .file(WaylineTaskFileDTO.builder() .url(url.toString()) .url(httpUrl) .fingerprint(md5) .build()) .build()));
