From 36c5ec4b58dac24f6610823ca3159df362521db3 Mon Sep 17 00:00:00 2001
From: zhaowenyu <35589726@qq.com>
Date: Sat, 15 Nov 2025 15:49:37 +0800
Subject: [PATCH] 2025-11-15 zwy 加注释
---
ard-sample/src/main/java/com/ard/sample/wayline/service/impl/WaylineJobServiceImpl.java | 211 +++++++++++++++++++++++++++++++++++++++++++++-------
1 files changed, 181 insertions(+), 30 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 af5185c..da2cf17 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
@@ -3,6 +3,7 @@
import com.ard.oss.service.impl.OssServiceContext;
import com.ard.route.domain.route.ArdRouteInfo;
import com.ard.route.service.IArdRouteInfoService;
+import com.baomidou.mybatisplus.core.conditions.Wrapper;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.baomidou.mybatisplus.core.conditions.update.LambdaUpdateWrapper;
import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
@@ -32,6 +33,7 @@
import com.fasterxml.jackson.databind.ObjectMapper;
import lombok.extern.slf4j.Slf4j;
import org.apache.commons.codec.digest.DigestUtils;
+import org.apache.ibatis.annotations.Param;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.integration.annotation.ServiceActivator;
import org.springframework.integration.mqtt.support.MqttHeaders;
@@ -106,8 +108,8 @@
/**
* 创建航线任务
*
- * @param param 任务参数
- * @param username 用户名
+ * @param param 任务参数
+ * @param username 用户名
* @param beginTime 开始时间
* @param endTime 结束时间
* @return Optional<WaylineJobDTO> 返回创建的航线任务对象，若创建失败则返回Optional.empty()
@@ -132,6 +134,8 @@
.outOfControlAction(param.getOutOfControlAction())
.rthAltitude(param.getRthAltitude())
.mediaCount(0)
+ .parentId(param.getParentId())
+ .loopSum(param.getLoopSum())
.build();
return insertWaylineJob(jobEntity);
@@ -163,7 +167,7 @@
/**
* 发布飞行任务
*
- * @param param 任务参数
+ * @param param 任务参数
* @param loginUser 登录用户
* @return ResponseResult 返回结果
* @throws SQLException SQL异常
@@ -178,6 +182,12 @@
if (waylineJobOpt.isEmpty()) {
return ResponseResult.error("创建机场任务失败！");
}
+ // 循环任务
+ if (param.getTaskType() == WaylineTaskTypeEnum.LOOP.getVal()) {
+ // 循环任务，不立即执行，由定时任务发布
+ return ResponseResult.success();
+ }
+
WaylineJobDTO waylineJob = waylineJobOpt.get();
boolean isOnline = deviceService.checkDeviceOnline(waylineJob.getDockSn());
@@ -198,15 +208,13 @@
// get file url
// URL url = waylineFileService.getObjectUrl(waylineFile.get().getWaylineId());
- URL url= null;
- String minioUrl = subStringMinioUrlName(ardRouteOpt.getUpPath());
+ URL url = null;
+ String minioUrl = subStringMinioUrlName(ardRouteOpt.getPath());
String md5 = "";
- try (InputStream inputStream = _ossService.getObject(kmzPath,minioUrl))
- {
+ try (InputStream inputStream = _ossService.getObject(kmzPath, minioUrl)) {
md5 = DigestUtils.md5Hex(inputStream);
- url = new URL(ardRouteOpt.getUpPath());
- }
- catch (Exception e) {
+ url = new URL(ardRouteOpt.getPath());
+ } catch (Exception e) {
return ResponseResult.error("机场任务航线文件地址错误！" + e.getMessage());
}
@@ -223,9 +231,9 @@
.fingerprint(md5)
.build())
.simulateMission(WaylineSimulateMissionDTO.builder()
- .isEnable(param.getSimulateMission().getIsEnable())
- .latitude(param.getSimulateMission().getLatitude())
- .longitude(param.getSimulateMission().getLongitude())
+ .isEnable(1)
+ .latitude(46.558831038)
+ .longitude(125.148072319)
.build())
.build();
@@ -240,6 +248,95 @@
.build();
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()
+ .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());
+ }
+
+ // 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.");
+// }
+// }
+
+ return ResponseResult.success();
+ }
+
+ public ResponseResult publishFlightTaskPrepare(Optional<WaylineJobDTO> waylineJobOpt) throws SQLException{
+
+ if (waylineJobOpt.isEmpty()) {
+ return ResponseResult.error("创建机场任务失败！");
+ }
+ WaylineJobDTO waylineJob = waylineJobOpt.get();
+ boolean isOnline = deviceService.checkDeviceOnline(waylineJob.getDockSn());
+ if (!isOnline) {
+ return ResponseResult.error("机场不在线！");
+ }
+ // 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！");
+ }
+ // get file url
+ URL url = null;
+ String minioUrl = subStringMinioUrlName(ardRouteOpt.getPath());
+ String md5 = "";
+ try (InputStream inputStream = _ossService.getObject(kmzPath, minioUrl)) {
+ md5 = DigestUtils.md5Hex(inputStream);
+ url = new URL(ardRouteOpt.getPath());
+ } catch (Exception e) {
+ return ResponseResult.error("机场任务航线文件地址错误！" + e.getMessage());
+ }
+
+ WaylineTaskCreateDTO flightTask = WaylineTaskCreateDTO.builder()
+ .flightId(waylineJob.getJobId())
+ .executeTime(waylineJob.getBeginTime().atZone(ZoneId.systemDefault()).toInstant().toEpochMilli())
+ .taskType(waylineJob.getTaskType())
+ .waylineType(waylineJob.getWaylineType())
+ .rthAltitude(waylineJob.getRthAltitude())
+ .outOfControlAction(waylineJob.getOutOfControlAction())
+ .file(WaylineTaskFileDTO.builder()
+ .url(url.toString())
+// .fingerprint(waylineFile.get().getSign())
+ .fingerprint(md5)
+ .build())
+ .simulateMission(WaylineSimulateMissionDTO.builder()
+ .isEnable(1)
+ .latitude(46.558831038)
+ .longitude(125.148072319)
+ .build())
+ .build();
+
+ String topic = TopicConst.THING_MODEL_PRE + TopicConst.PRODUCT +
+ waylineJob.getDockSn() + TopicConst.SERVICES_SUF;
+ CommonTopicResponse<Object> response = CommonTopicResponse.builder()
+ .tid(UUID.randomUUID().toString())
+ .bid(waylineJob.getJobId())
+ .timestamp(System.currentTimeMillis())
+ .data(flightTask)
+ .method(WaylineMethodEnum.FLIGHT_TASK_PREPARE.getMethod())
+ .build();
+
+ 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()
@@ -277,7 +374,7 @@
* @param jobId 任务ID
* @return 如果任务执行成功返回true，否则返回false
* @throws IllegalArgumentException 如果任务不存在
- * @throws RuntimeException 如果设备处于离线状态
+ * @throws RuntimeException 如果设备处于离线状态
*/
@Override
public Boolean executeFlightTask(String jobId) {
@@ -340,7 +437,7 @@
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() ;
+ boolean isErr = !jobIds.removeAll(waylineJobIds) || !jobIds.isEmpty();
if (isErr) {
throw new IllegalArgumentException("These tasks have an incorrect status and cannot be canceled. "
+ Arrays.toString(jobIds.toArray()));
@@ -358,7 +455,7 @@
* 发布取消任务
*
* @param dockSn 设备序列号
- * @param jobIds 任务ID列表
+ * @param jobIds 任务ID列表
* @throws RuntimeException 如果设备离线或取消任务失败，则抛出运行时异常
*/
@Override
@@ -390,8 +487,16 @@
.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);
}
+ }
+
+ @Override
+ public void deleteTask(String jobid) {
+ mapper.delete(new LambdaQueryWrapper<WaylineJobEntity>()
+ .eq(WaylineJobEntity::getJobId, jobid));
}
/**
@@ -404,10 +509,10 @@
@Override
public List<WaylineJobDTO> getJobsByConditions(Collection<String> jobIds, WaylineJobStatusEnum status) {
return mapper.selectList(
- new LambdaQueryWrapper<WaylineJobEntity>()
- .eq(Objects.nonNull(status), WaylineJobEntity::getStatus, status.getVal())
- .and(!CollectionUtils.isEmpty(jobIds),
- wrapper -> jobIds.forEach(id -> wrapper.eq(WaylineJobEntity::getJobId, id).or())))
+ new LambdaQueryWrapper<WaylineJobEntity>()
+ .eq(Objects.nonNull(status), WaylineJobEntity::getStatus, status.getVal())
+ .and(!CollectionUtils.isEmpty(jobIds),
+ wrapper -> jobIds.forEach(id -> wrapper.eq(WaylineJobEntity::getJobId, id).or())))
.stream()
.map(this::entity2Dto)
.collect(Collectors.toList());
@@ -461,24 +566,68 @@
return new PaginationData<WaylineJobDTO>(records, new Pagination(pageData));
}
+ /**
+ * 根据条件筛选获取任务分页数据
+ *
+ * @param page 页码，从1开始
+ * @param pageSize 每页显示条数
+ * @return PaginationData 包含工作线任务分页数据的对象
+ */
+ @Override
+ public PaginationData<WaylineJobDTO> getJobsList(long page, long pageSize, Integer status,
+ Long startTime, Long endTime, Integer taskType, String name, Boolean isComplete) {
+ Page<WaylineJobEntity> pageData = mapper.selectPage(
+ new Page<WaylineJobEntity>(page, pageSize),
+ new LambdaQueryWrapper<WaylineJobEntity>()
+ // 实际开始时间筛选，允许为空，为空则不进行筛选
+ .ge(startTime != null, WaylineJobEntity::getExecuteTime, startTime)
+ .le(endTime != null, WaylineJobEntity::getExecuteTime, endTime)
+ // 任务类型筛选，允许为空，为空则不进行筛选
+ .eq(taskType != null, WaylineJobEntity::getTaskType, taskType)
+ // 任务名称筛选，允许为空，为空则不进行筛选;....模糊查询
+ .like(name != null, WaylineJobEntity::getName, "%"+name+"%")
+ // 根据是否完成筛选，允许为空，为空则不进行筛选
+ .eq(isComplete != null && isComplete, WaylineJobEntity::getStatus, 3)
+ .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));
+ List<WaylineJobDTO> records = pageData.getRecords()
+ .stream()
+ .map(this::entity2Dto)
+ .collect(Collectors.toList());
+
+ return new PaginationData<WaylineJobDTO>(records, new Pagination(pageData));
+ }
+
+ public List<WaylineJobEntity> selectList(Long taskType, Long executeTime, String parentId) {
+ return mapper.selectList(new LambdaQueryWrapper<WaylineJobEntity>()
+ .eq(taskType != null,WaylineJobEntity::getTaskType, taskType)
+ .ne(WaylineJobEntity::getStatus, WaylineJobStatusEnum.SUCCESS.getVal())
+ .eq(executeTime != null,WaylineJobEntity::getBeginTime, executeTime)
+ .eq(parentId != null,WaylineJobEntity::getParentId,parentId)
+ .ne(WaylineJobEntity::getStatus, 3)
+ .orderByDesc(WaylineJobEntity::getId));
+ }
+
/**
* 根据航班任务ID获取航班任务资源
*
* @param receiver 接收到的消息对象
* @param headers 消息头信息
- *
* @Override 覆盖父类方法
* @ServiceActivator(inputChannel = ChannelName.INBOUND_REQUESTS_FLIGHT_TASK_RESOURCE_GET, outputChannel = ChannelName.OUTBOUND)
- * 指定输入通道和输出通道
+ * 指定输入通道和输出通道
* @Transactional(isolation = Isolation.READ_UNCOMMITTED)
- * 设置事务隔离级别为未提交读
+ * 设置事务隔离级别为未提交读
*/
@Override
@ServiceActivator(inputChannel = ChannelName.INBOUND_REQUESTS_FLIGHT_TASK_RESOURCE_GET, outputChannel = ChannelName.OUTBOUND)
@Transactional(isolation = Isolation.READ_UNCOMMITTED)
public void flightTaskResourceGet(CommonTopicReceiver receiver, MessageHeaders headers) {
- Map<String, String> jobIdMap = objectMapper.convertValue(receiver.getData(), new TypeReference<Map<String, String>>() {});
+ Map<String, String> jobIdMap = objectMapper.convertValue(receiver.getData(), new TypeReference<Map<String, String>>() {
+ });
String jobId = jobIdMap.get(MapKeyConst.FLIGHT_ID);
CommonTopicResponse.CommonTopicResponseBuilder<RequestsReply> builder = CommonTopicResponse.<RequestsReply>builder()
@@ -517,12 +666,11 @@
// get file url
URL url = null;
- String minioUrl = subStringMinioUrlName(ardRouteOpt.getUpPath());
+ String minioUrl = subStringMinioUrlName(ardRouteOpt.getPath());
String md5 = "";
- try (InputStream inputStream = _ossService.getObject(kmzPath,minioUrl))
- {
+ try (InputStream inputStream = _ossService.getObject(kmzPath, minioUrl)) {
md5 = DigestUtils.md5Hex(inputStream);
- url = new URL(ardRouteOpt.getUpPath());
+ url = new URL(ardRouteOpt.getPath());
// }
// try {
// url = waylineFileService.getObjectUrl(waylineFile.get().getWaylineId());
@@ -615,6 +763,7 @@
.rthAltitude(dto.getRthAltitude())
.outOfControlAction(dto.getOutOfControlAction())
.parentId(dto.getParentId())
+ .loopSum(dto.getLoopSum())
.build();
}
@@ -656,7 +805,9 @@
.waylineType(entity.getWaylineType())
.rthAltitude(entity.getRthAltitude())
.outOfControlAction(entity.getOutOfControlAction())
- .mediaCount(entity.getMediaCount());
+ .mediaCount(entity.getMediaCount())
+ .loopSum(entity.getLoopSum());
+
if (Objects.nonNull(entity.getEndTime())) {
builder.endTime(LocalDateTime.ofInstant(Instant.ofEpochMilli(entity.getEndTime()), ZoneId.systemDefault()));
@@ -678,7 +829,7 @@
Object mediaFileCount = RedisOpsUtils.hashGet(countKey, entity.getJobId());
if (Objects.nonNull(mediaFileCount)) {
builder.uploadedCount(((MediaFileCountDTO) mediaFileCount).getUploadedCount())
- .uploading(RedisOpsUtils.checkExist(key) && entity.getJobId().equals(((MediaFileCountDTO)RedisOpsUtils.get(key)).getJobId()));
+ .uploading(RedisOpsUtils.checkExist(key) && entity.getJobId().equals(((MediaFileCountDTO) RedisOpsUtils.get(key)).getJobId()));
return builder.build();
}
--
Gitblit v1.9.3