From c0c839c0066269d6d7bab08b49fe379781be7617 Mon Sep 17 00:00:00 2001
From: zhaowenyu <35589726@qq.com>
Date: Fri, 21 Nov 2025 08:14:53 +0800
Subject: [PATCH] 2025-11-21 zwy 模拟飞行注释
---
ard-sample/src/main/java/com/ard/sample/wayline/service/impl/WaylineJobServiceImpl.java | 111 ++++++++++++++++++++++++++++++++-----------------------
1 files changed, 64 insertions(+), 47 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 f637365..a3f7f8a 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
@@ -179,13 +179,14 @@
}
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("创建机场任务失败！");
}
WaylineJobDTO waylineJob = waylineJobOpt.get();
@@ -230,11 +231,11 @@
// .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();
String topic = TopicConst.THING_MODEL_PRE + TopicConst.PRODUCT +
@@ -248,6 +249,7 @@
.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()
@@ -261,20 +263,20 @@
// 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();
}
@@ -317,11 +319,11 @@
// .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();
String topic = TopicConst.THING_MODEL_PRE + TopicConst.PRODUCT +
@@ -335,6 +337,7 @@
.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()
@@ -348,20 +351,20 @@
// 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();
}
@@ -437,8 +440,9 @@
// 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()));
+ 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.
@@ -578,8 +582,8 @@
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)
+ .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
@@ -776,14 +780,27 @@
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())
--
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