From 904201c851b7a126dbdf28080a2165619a8efe2d Mon Sep 17 00:00:00 2001
From: zhaowenyu <35589726@qq.com>
Date: Wed, 10 Dec 2025 11:00:12 +0800
Subject: [PATCH] 2025-12-10 zwy 增加判断航线地址path1为null
---
ard-sample/src/main/java/com/ard/sample/wayline/service/impl/WaylineJobServiceImpl.java | 404 ++++++++++++++++++++++++++++++++++++++++++++-------------
1 files changed, 310 insertions(+), 94 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 da2cf17..2d39428 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;
@@ -65,6 +65,7 @@
@Service
@Transactional
@Slf4j
+@SuppressWarnings("all")
public class WaylineJobServiceImpl implements IWaylineJobService {
@Autowired
@@ -77,7 +78,7 @@
private IArdRouteInfoService _ardRouteInfoService;
@Resource
- private OssServiceContext _ossService;
+ private OssDockServiceContext _ossService;
@Autowired
private IDeviceService deviceService;
@@ -133,6 +134,7 @@
.waylineType(param.getWaylineType())
.outOfControlAction(param.getOutOfControlAction())
.rthAltitude(param.getRthAltitude())
+ .rthMode(param.getRth_mode())
.mediaCount(0)
.parentId(param.getParentId())
.loopSum(param.getLoopSum())
@@ -177,22 +179,24 @@
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());
- 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();
}
+ if (waylineJobOpt.isEmpty()) {
+ return ResponseResult.error(314013000,"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！");
+ return ResponseResult.error(CommonErrorEnum.DEVICE_OFFLINE.getErrorMsg());
}
// get wayline file
@@ -202,21 +206,26 @@
// }
// 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.getPath1() == null || ardRouteOpt.getPath1().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.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) {
- return ResponseResult.error("机场任务航线文件地址错误！" + e.getMessage());
+ log.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());
WaylineTaskCreateDTO flightTask = WaylineTaskCreateDTO.builder()
.flightId(waylineJob.getJobId())
@@ -225,16 +234,20 @@
.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 +
@@ -247,35 +260,48 @@
.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());
+ String errorMsg = CommonErrorEnum.getMsgByCode(serviceReply.getResult());
+ log.info("Prepare task ====> Error code: {},Error Msg:{}", serviceReply.getResult(), errorMsg);
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());
+ //return ResponseResult.error("Prepare task ====> Error code: " + serviceReply.getResult());
+ return ResponseResult.error(serviceReply.getResult(), errorMsg);
}
// 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("无法执行作业。");
+ }
+ }
+
+ 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("无法创建计划作业。");
+ }
+ }
return ResponseResult.success();
}
@@ -283,7 +309,7 @@
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());
@@ -292,18 +318,21 @@
}
// 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.getPath1() == null || ardRouteOpt.getPath1().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 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) {
- return ResponseResult.error("机场任务航线文件地址错误！" + e.getMessage());
+ log.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()
@@ -318,12 +347,21 @@
// .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;
@@ -336,34 +374,40 @@
.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());
+ String errorMsg = CommonErrorEnum.getMsgByCode(serviceReply.getResult());
+ log.info("Prepare task ====> Error code: {},Error Msg： {}", serviceReply.getResult(), errorMsg);
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());
+// return ResponseResult.error("Prepare task ====> Error code: " + serviceReply.getResult());
+ return ResponseResult.error(serviceReply.getResult(), errorMsg);
}
// 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("无法执行作业。");
+ }
+ }
+
+ 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("无法创建计划作业。");
+ }
+ }
return ResponseResult.success();
}
@@ -381,17 +425,18 @@
// get job
Optional<WaylineJobDTO> waylineJob = this.getJobByJobId(jobId);
if (waylineJob.isEmpty()) {
- throw new IllegalArgumentException("Job doesn't exist.");
+ throw new IllegalArgumentException("计划任务不存在。");
}
boolean isOnline = deviceService.checkDeviceOnline(waylineJob.get().getDockSn());
if (!isOnline) {
- throw new RuntimeException("Dock is offline.");
+// throw new RuntimeException("Dock is offline.");
+ throw new RuntimeException(CommonErrorEnum.DEVICE_OFFLINE.getErrorMsg());
}
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()
@@ -402,9 +447,22 @@
.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());
+ String errorMsg = CommonErrorEnum.getMsgByCode(serviceReply.getResult());
+ log.info("Execute job ====> Error code: {},Error Msg:{}", serviceReply.getResult(), errorMsg);
this.updateJob(WaylineJobDTO.builder()
.jobId(jobId)
.executeTime(LocalDateTime.now())
@@ -432,24 +490,97 @@
* @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();
+// 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("These tasks have an incorrect status and cannot be canceled. "
- + 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
@@ -459,10 +590,31 @@
* @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("Dock is offline.");
+ 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;
@@ -476,8 +628,9 @@
ServiceReply serviceReply = messageSender.publishWithReply(topic, response);
if (ResponseResult.CODE_SUCCESS != serviceReply.getResult()) {
- log.info("Cancel job ====> Error code: {}", serviceReply.getResult());
- throw new RuntimeException("Failed to cancel the wayline job of " + dockSn);
+ 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);
+ return ResponseResult.error(serviceReply.getResult(), errorMsg);
}
for (String jobId : jobIds) {
@@ -486,11 +639,11 @@
.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
@@ -510,7 +663,8 @@
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()
@@ -530,6 +684,18 @@
new LambdaQueryWrapper<WaylineJobEntity>()
.eq(WaylineJobEntity::getJobId, jobId));
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());
}
/**
@@ -579,9 +745,10 @@
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::getExecuteTime, startTime)
- .le(endTime != null, WaylineJobEntity::getExecuteTime, endTime)
+ .ge(startTime != null, WaylineJobEntity::getBeginTime, startTime)
+ .le(endTime != null, WaylineJobEntity::getBeginTime, 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
@@ -591,10 +758,14 @@
.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));
@@ -608,6 +779,18 @@
.eq(parentId != null,WaylineJobEntity::getParentId,parentId)
.ne(WaylineJobEntity::getStatus, 3)
.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));
}
@@ -629,6 +812,8 @@
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())
@@ -666,21 +851,28 @@
// 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) {
@@ -688,6 +880,15 @@
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());
@@ -723,7 +924,8 @@
.data(Map.of(MapKeyConst.FLIGHT_ID, jobId))
.build());
if (ResponseResult.CODE_SUCCESS != reply.getResult()) {
- throw new RuntimeException("Failed to set media job upload priority. Error Code: " + reply.getResult());
+ String errorMsg = CommonErrorEnum.getMsgByCode(reply.getResult());
+ throw new RuntimeException("未能设置媒体作业上传优先级. Error Code: " + reply.getResult() +", Error Msg: " + errorMsg);
}
}
@@ -778,14 +980,27 @@
return null;
}
// 修改航线文件名称，从ard_route_info航线表中取;
+ String fileId = entity.getFileId();
+ String fileName = "";
+ try {
+ if (fileId != null) {
+ ArdRouteInfo ardRouteInfo = _ardRouteInfoService.selectArdRouteInfoById(fileId);
+ if (ardRouteInfo != null) {
+ fileName = Optional.ofNullable(ardRouteInfo.getName()).orElse("");
+ }
+ }
+ }
+ catch (Exception e) {
+ log.info("获取航线名称失败，fileId:{},异常原因：{}", fileId,e.getMessage());
+ fileName = "";
+ }
WaylineJobDTO.WaylineJobDTOBuilder builder = WaylineJobDTO.builder()
.jobId(entity.getJobId())
.jobName(entity.getName())
.fileId(entity.getFileId())
// .fileName(waylineFileService.getWaylineByWaylineId(entity.getFileId())
// .orElse(WaylineFileDTO.builder().build()).getName())
- .fileName(_ardRouteInfoService.selectArdRouteInfoById(entity.getFileId())
- .getName())
+ .fileName(fileName)
.dockSn(entity.getDockSn())
.dockName(deviceService.getDeviceBySn(entity.getDockSn())
.orElse(DeviceDTO.builder().build()).getNickname())
@@ -804,6 +1019,7 @@
.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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