From b5acf3799d5585e76be23aadecd43d16a59fa9da Mon Sep 17 00:00:00 2001
From: zhaowenyu <35589726@qq.com>
Date: Tue, 16 Dec 2025 16:31:19 +0800
Subject: [PATCH] 2025-12-16 zwy 优化-保存定时任务时，判断时间为当前时间的10分钟之前的时间。否则失败
---
ard-sample/src/main/java/com/ard/sample/wayline/service/impl/WaylineJobServiceImpl.java | 542 ++++++++++++++++++++++++++++++++++++++++++++++-------
1 files changed, 464 insertions(+), 78 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 7439c3a..9942f55 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
@@ -1,8 +1,12 @@
package com.ard.sample.wayline.service.impl;
+import com.ard.common.config.OssConfiguration;
import com.ard.oss.service.impl.OssServiceContext;
import com.ard.route.domain.route.ArdRouteInfo;
import com.ard.route.service.IArdRouteInfoService;
+import com.ard.sample.config.DockConfiguration;
+import com.ard.sample.utils.TimestampUtils;
+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 +36,7 @@
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;
@@ -63,13 +68,16 @@
@Service
@Transactional
@Slf4j
+@SuppressWarnings("all")
public class WaylineJobServiceImpl implements IWaylineJobService {
@Autowired
private IWaylineJobMapper mapper;
-// @Autowired
+ // @Autowired
// private IWaylineFileService waylineFileService;
+ @Autowired
+ private TimestampUtils _timestampUtils;
@Autowired
private IArdRouteInfoService _ardRouteInfoService;
@@ -106,8 +114,8 @@
/**
* 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()
@@ -131,7 +139,10 @@
.waylineType(param.getWaylineType())
.outOfControlAction(param.getOutOfControlAction())
.rthAltitude(param.getRthAltitude())
+ .rthMode(param.getRth_mode())
.mediaCount(0)
+ .parentId(param.getParentId())
+ .loopSum(param.getLoopSum())
.build();
return insertWaylineJob(jobEntity);
@@ -163,7 +174,7 @@
/**
* 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
@@ -173,16 +184,27 @@
if (WaylineTaskTypeEnum.IMMEDIATE.getVal() == param.getTaskType()) {
param.setExecuteTime(System.currentTimeMillis());
}
+ if (param.getExecuteTime() < _timestampUtils.plusMinutesByMillis(System.currentTimeMillis(), 10) && param.getTaskType() == WaylineTaskTypeEnum.TIMED.getVal()) {
+ return ResponseResult.error("定时任务执行时间不能小于当前时间的前10分钟！");
+ }
+ 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
@@ -192,23 +214,29 @@
// }
// 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.getPath() == null || ardRouteOpt.getPath().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.getUpPath());
+ URL url = null;
+ String minioUrl = subStringMinioUrlName(ardRouteOpt.getPath());
String md5 = "";
- try (InputStream inputStream = _ossService.getObject(kmzPath,minioUrl))
- {
+ String httpUrl = "";
+ try (InputStream inputStream = _ossService.getObject(kmzPath, minioUrl)) {
md5 = DigestUtils.md5Hex(inputStream);
- url = new URL(ardRouteOpt.getUpPath());
+ url = new URL(ardRouteOpt.getPath());
+ log.info("机场任务航线文件url地址转换前：{}", url);
+ httpUrl = url.toString().replace(OssConfiguration.endpoint, DockConfiguration.endpoint);
+ log.info("机场任务航线文件url地址转换后：{}", httpUrl);
+ 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(314013002, "机场任务航线文件地址错误！" + e.getMessage());
}
- catch (Exception e) {
- 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())
@@ -217,16 +245,20 @@
.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(httpUrl)
.fingerprint(md5)
.build())
- .simulateMission(WaylineSimulateMissionDTO.builder()
- .isEnable(param.getSimulateMission().getIsEnable())
- .latitude(param.getSimulateMission().getLatitude())
- .longitude(param.getSimulateMission().getLongitude())
- .build())
+// .simulateMission(WaylineSimulateMissionDTO.builder()
+// .isEnable(1)
+// .latitude(46.55819013988211)
+// .longitude(125.14652370145113)
+// .build())
.build();
String topic = TopicConst.THING_MODEL_PRE + TopicConst.PRODUCT +
@@ -239,34 +271,156 @@
.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("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();
+ }
+
+ public ResponseResult publishFlightTaskPrepare(Optional<WaylineJobDTO> waylineJobOpt) throws SQLException {
+
+ 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！");
+ }
+ // 换航线表
+ ArdRouteInfo ardRouteOpt = _ardRouteInfoService.selectArdRouteInfoById(waylineJob.getFileId());
+ if (ardRouteOpt == null || ardRouteOpt.getPath() == null || ardRouteOpt.getPath().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 md5 = "";
+ String httpUrl = "";
+ 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地址转换前：{}", url);
+ httpUrl = url.toString().replace(OssConfiguration.endpoint, DockConfiguration.endpoint);
+ log.info("机场任务航线文件url地址转换后：{}", httpUrl);
+ 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(314013002, "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())
+ .rthMode(waylineJob.getRthMode())
+ .file(WaylineTaskFileDTO.builder()
+ .url(httpUrl)
+// .fingerprint(waylineFile.get().getSign())
+ .fingerprint(md5)
+ .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("机场下发循环任务子任务-定时任务的航线任务的参数flightTask：{}", json);
+ } catch (Exception e) {
+ log.error("机场下发循环任务子任务-定时任务的航线任务的参数flightTask异常：{}", e.getMessage());
+ }
+
+ String topic = TopicConst.THING_MODEL_PRE + TopicConst.PRODUCT +
+ waylineJob.getDockSn() + TopicConst.SERVICES_SUF;
+ 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("下发循环任务子任务-定时任务的结果： {}", serviceReply.getResult());
+ log.info("机场循环任务子任务-定时任务的航线文件url地址：{}", httpUrl);
+ log.info("机场循环任务子任务-定时任务的航线文件md5值：{}", md5);
+
+ if (ResponseResult.CODE_SUCCESS != 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(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。");
// }
// }
-//
-// 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.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();
}
@@ -277,24 +431,25 @@
* @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) {
// 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()
@@ -305,9 +460,21 @@
.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())
@@ -335,37 +502,133 @@
* @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) {
- List<WaylineJobDTO> waylineJobs = getJobsByConditions(jobIds, WaylineJobStatusEnum.PENDING);
+ public ResponseResult cancelFlightTask(Collection<String> jobIds) {
+// List<WaylineJobDTO> waylineJobs = getJobsByConditions(jobIds, WaylineJobStatusEnum.PENDING);
+ List<WaylineJobDTO> waylineJobs = getJobsByConditions(jobIds, WaylineJobStatusEnum.IN_PROGRESS);
- 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()));
- }
+// 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()));
+// }
- // 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
*
* @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
- 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;
@@ -379,8 +642,9 @@
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) {
@@ -389,9 +653,17 @@
.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
+ public void deleteTask(String jobid) {
+ mapper.delete(new LambdaQueryWrapper<WaylineJobEntity>()
+ .eq(WaylineJobEntity::getJobId, jobid));
}
/**
@@ -404,10 +676,12 @@
@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>()
+ // 不过滤状态,
+ //.eq(Objects.nonNull(status), WaylineJobEntity::getStatus, status.getVal())
+ .ne(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());
@@ -425,6 +699,18 @@
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());
}
/**
@@ -461,25 +747,88 @@
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>()
+ .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)
+ // 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::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));
+ }
+
+ 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));
+ }
+
+ /**
+ * 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));
+ }
+
/**
* 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);
+
+ 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())
@@ -506,7 +855,7 @@
// messageSender.publish(topic, builder.build());
// return;
// }
- // 修改航线文件名称，从ard_route_information航线表中取;
+ // 修改航线文件名称，从ard_route_info航线表中取;
// 换航线表
ArdRouteInfo ardRouteOpt = _ardRouteInfoService.selectArdRouteInfoById(waylineJob.getFileId());
if (ardRouteOpt == null) {
@@ -517,20 +866,32 @@
// 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))
- {
+ String httpUrl = "";
+ try (InputStream inputStream = _ossService.getObject(kmzPath, minioUrl)) {
md5 = DigestUtils.md5Hex(inputStream);
- url = new URL(ardRouteOpt.getUpPath());
+ url = new URL(ardRouteOpt.getPath());
+
+ log.info("机场通过flightTaskResourceGet获取航线文件地址转换前：{}", url);
+ httpUrl = url.toString().replace(OssConfiguration.endpoint, DockConfiguration.endpoint);
+ log.info("机场通过flightTaskResourceGet获取航线文件地址转换后：{}", httpUrl);
+
+ log.info("机场通过flightTaskResourceGet获取航线文件地址，jobId: " + jobId + " 返回信息为url：" + httpUrl + " 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())
+ .url(httpUrl)
.fingerprint(md5)
.build())
.build()));
@@ -540,6 +901,14 @@
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());
@@ -575,7 +944,8 @@
.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);
}
}
@@ -615,6 +985,7 @@
.rthAltitude(dto.getRthAltitude())
.outOfControlAction(dto.getOutOfControlAction())
.parentId(dto.getParentId())
+ .loopSum(dto.getLoopSum())
.build();
}
@@ -628,15 +999,27 @@
if (entity == null) {
return null;
}
- // 修改航线文件名称，从ard_route_information航线表中取;
+ // 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())
@@ -655,8 +1038,11 @@
.taskType(entity.getTaskType())
.waylineType(entity.getWaylineType())
.rthAltitude(entity.getRthAltitude())
+ .rthMode(entity.getRthMode())
.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 +1064,7 @@
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();
}
--
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