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 | 187 +++++++++++++++++++++++++++++++++++++---------
1 files changed, 151 insertions(+), 36 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 625f8d9..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
@@ -65,6 +65,7 @@
@Service
@Transactional
@Slf4j
+@SuppressWarnings("all")
public class WaylineJobServiceImpl implements IWaylineJobService {
@Autowired
@@ -188,14 +189,14 @@
}
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());
if (!isOnline) {
- return ResponseResult.error("机场不在线！");
+ return ResponseResult.error(CommonErrorEnum.DEVICE_OFFLINE.getErrorMsg());
}
// get wayline file
@@ -205,8 +206,8 @@
// }
// 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
@@ -221,7 +222,7 @@
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());
@@ -273,21 +274,23 @@
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.");
+ return ResponseResult.error("无法执行作业。");
}
}
@@ -296,7 +299,7 @@
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。");
}
}
@@ -306,7 +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());
@@ -315,21 +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) {
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()
@@ -377,21 +380,23 @@
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.");
+ return ResponseResult.error("无法执行作业。");
}
}
@@ -400,7 +405,7 @@
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。");
}
}
@@ -420,12 +425,13 @@
// 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();
@@ -455,7 +461,8 @@
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())
@@ -483,9 +490,9 @@
* @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();
@@ -495,13 +502,85 @@
//// + 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
@@ -511,10 +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;
@@ -528,8 +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) {
@@ -538,11 +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
@@ -562,7 +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()
@@ -661,8 +763,8 @@
.stream()
.map(this::entity2Dto)
.peek(job -> {
- List<WaylineJobDTO> parentOpt = this.getJobByJobParentId(job.getJobId());
- job.setParentJobs(parentOpt);
+ List<WaylineJobDTO> childOpt = this.getJobByJobParentId(job.getJobId());
+ job.setChildren(childOpt);
})
.collect(Collectors.toList());
@@ -677,6 +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));
}
@@ -810,7 +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);
}
}
--
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