From 27e8a174b9b724dd4b8e6536a743dabfa3c1269d Mon Sep 17 00:00:00 2001
From: zhaowenyu <35589726@qq.com>
Date: Tue, 02 Dec 2025 16:59:48 +0800
Subject: [PATCH] 2025-12-02 zwy websocket去掉延时
---
ard-sample/src/main/java/com/ard/sample/wayline/service/impl/WaylineJobServiceImpl.java | 204 ++++++++++++++++++++++++++++++++++++--------------
1 files changed, 145 insertions(+), 59 deletions(-)
diff --git a/ard-sample/src/main/java/com/ard/sample/wayline/service/impl/WaylineJobServiceImpl.java b/ard-sample/src/main/java/com/ard/sample/wayline/service/impl/WaylineJobServiceImpl.java
index dfb1352..f2d8560 100644
--- a/ard-sample/src/main/java/com/ard/sample/wayline/service/impl/WaylineJobServiceImpl.java
+++ b/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;
@@ -77,7 +77,7 @@
private IArdRouteInfoService _ardRouteInfoService;
@Resource
- private OssServiceContext _ossService;
+ private OssDockServiceContext _ossService;
@Autowired
private IDeviceService deviceService;
@@ -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
@@ -210,14 +212,19 @@
// 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 +233,20 @@
.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 +
@@ -248,8 +259,19 @@
.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()
@@ -263,20 +285,20 @@
// 飞行命令先注释掉
// Issue an immediate task execution command.
-// if (WaylineTaskTypeEnum.IMMEDIATE.getVal() == waylineJob.getTaskType()) {
-// if (!executeFlightTask(waylineJob.getJobId())) {
-// return ResponseResult.error("Failed to execute job.");
-// }
-// }
-//
-// if (WaylineTaskTypeEnum.TIMED.getVal() == waylineJob.getTaskType()) {
-// boolean isAdd = RedisOpsUtils.zAdd(RedisConst.WAYLINE_JOB_TIMED_EXECUTE,
-// waylineJob.getDockSn() + RedisConst.DELIMITER + waylineJob.getJobId(),
-// waylineJob.getBeginTime().atZone(ZoneId.systemDefault()).toInstant().toEpochMilli());
-// if (!isAdd) {
-// return ResponseResult.error("Failed to create scheduled job.");
-// }
-// }
+ if (WaylineTaskTypeEnum.IMMEDIATE.getVal() == waylineJob.getTaskType()) {
+ if (!executeFlightTask(waylineJob.getJobId())) {
+ return ResponseResult.error("Failed to execute job.");
+ }
+ }
+
+ if (WaylineTaskTypeEnum.TIMED.getVal() == waylineJob.getTaskType()) {
+ boolean isAdd = RedisOpsUtils.zAdd(RedisConst.WAYLINE_JOB_TIMED_EXECUTE,
+ 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.success();
}
@@ -303,7 +325,10 @@
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 +344,21 @@
// .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;
@@ -337,7 +371,11 @@
.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());
this.updateJob(WaylineJobDTO.builder()
@@ -351,20 +389,20 @@
// 飞行命令先注释掉
// Issue an immediate task execution command.
-// if (WaylineTaskTypeEnum.IMMEDIATE.getVal() == waylineJob.getTaskType()) {
-// if (!executeFlightTask(waylineJob.getJobId())) {
-// return ResponseResult.error("Failed to execute job.");
-// }
-// }
-//
-// if (WaylineTaskTypeEnum.TIMED.getVal() == waylineJob.getTaskType()) {
-// boolean isAdd = RedisOpsUtils.zAdd(RedisConst.WAYLINE_JOB_TIMED_EXECUTE,
-// waylineJob.getDockSn() + RedisConst.DELIMITER + waylineJob.getJobId(),
-// waylineJob.getBeginTime().atZone(ZoneId.systemDefault()).toInstant().toEpochMilli());
-// if (!isAdd) {
-// return ResponseResult.error("Failed to create scheduled job.");
-// }
-// }
+ if (WaylineTaskTypeEnum.IMMEDIATE.getVal() == waylineJob.getTaskType()) {
+ if (!executeFlightTask(waylineJob.getJobId())) {
+ return ResponseResult.error("Failed to execute job.");
+ }
+ }
+
+ if (WaylineTaskTypeEnum.TIMED.getVal() == waylineJob.getTaskType()) {
+ boolean isAdd = RedisOpsUtils.zAdd(RedisConst.WAYLINE_JOB_TIMED_EXECUTE,
+ 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.success();
}
@@ -392,7 +430,7 @@
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()
@@ -403,7 +441,19 @@
.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()
@@ -436,14 +486,14 @@
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()));
- }
+// 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()
@@ -534,6 +584,18 @@
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());
+ }
+
/**
* 更新作业信息
*
@@ -581,6 +643,7 @@
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 +656,14 @@
.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));
@@ -631,6 +698,8 @@
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 +737,28 @@
// 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 +766,15 @@
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());
@@ -819,6 +904,7 @@
.taskType(entity.getTaskType())
.waylineType(entity.getWaylineType())
.rthAltitude(entity.getRthAltitude())
+ .rthMode(entity.getRthMode())
.outOfControlAction(entity.getOutOfControlAction())
.mediaCount(entity.getMediaCount())
.loopSum(entity.getLoopSum());
--
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