2025-11-25 zwy rth_mode默认值1

zhaowenyu

2025-11-25 d456e429f4e1235a6a30488879d3d47f8dce44fe

 ard-sample/src/main/java/com/ard/sample/wayline/service/impl/WaylineJobServiceImpl.java

@@ -133,6 +133,7 @@
                .waylineType(param.getWaylineType())
                .outOfControlAction(param.getOutOfControlAction())
                .rthAltitude(param.getRthAltitude())
                .rthMode(param.getRth_mode())
                .mediaCount(0)
                .parentId(param.getParentId())
                .loopSum(param.getLoopSum())
@@ -177,6 +178,7 @@
        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
@@ -215,9 +217,14 @@
        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());
        }

        log.info("机场任务-rth_mode的值：{}", waylineJob.getRthMode());

        WaylineTaskCreateDTO flightTask = WaylineTaskCreateDTO.builder()
                .flightId(waylineJob.getJobId())
@@ -226,6 +233,7 @@
                .waylineType(waylineJob.getWaylineType())
                .rthAltitude(waylineJob.getRthAltitude())
                .outOfControlAction(waylineJob.getOutOfControlAction())
                .rthMode(waylineJob.getRthMode())
                .file(WaylineTaskFileDTO.builder()
                        .url(url.toString())
//                        .fingerprint(waylineFile.get().getSign())
@@ -248,8 +256,19 @@
                .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()
@@ -408,7 +427,7 @@

        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()
@@ -419,7 +438,19 @@
                .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()
@@ -696,13 +727,23 @@
//        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);

            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()));

//            WaylineTaskFileDTO.builder()
//                    .url(url.toString())
////                            .fingerprint(waylineFile.get().getSign())
//                    .fingerprint(md5)
//                    .build()

        } catch (NullPointerException | IOException e) {
            e.printStackTrace();
@@ -847,6 +888,7 @@
                .taskType(entity.getTaskType())
                .waylineType(entity.getWaylineType())
                .rthAltitude(entity.getRthAltitude())
                .rthMode(entity.getRthMode())
                .outOfControlAction(entity.getOutOfControlAction())
                .mediaCount(entity.getMediaCount())
                .loopSum(entity.getLoopSum());