From da467ef402e3c5ddf87f1c0a1145aebd37bedd13 Mon Sep 17 00:00:00 2001
From: zhaowenyu <35589726@qq.com>
Date: Wed, 12 Nov 2025 20:02:22 +0800
Subject: [PATCH] 2025-11-12 zwy 更改取航线文件从ard_route_information表中取,增加模拟飞行功能.下发任务已成功.执行任务代码暂时注释;
---
ard-sample/src/main/java/com/ard/sample/wayline/service/impl/WaylineJobServiceImpl.java | 221 ++++++++++++++++++++++++++++++++++++++++++++++++-------
1 files changed, 193 insertions(+), 28 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 8041998..22581c7 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
@@ -1,5 +1,8 @@
package com.ard.sample.wayline.service.impl;
+import com.ard.oss.service.impl.OssServiceContext;
+import com.ard.route.domain.route.ArdRouteInformation;
+import com.ard.route.service.IArdRouteInformationService;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.baomidou.mybatisplus.core.conditions.update.LambdaUpdateWrapper;
import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
@@ -29,6 +32,7 @@
import com.fasterxml.jackson.core.type.TypeReference;
import com.fasterxml.jackson.databind.ObjectMapper;
import lombok.extern.slf4j.Slf4j;
+import org.apache.commons.codec.digest.DigestUtils;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.integration.annotation.ServiceActivator;
import org.springframework.integration.mqtt.support.MqttHeaders;
@@ -37,6 +41,11 @@
import org.springframework.transaction.annotation.Isolation;
import org.springframework.transaction.annotation.Transactional;
import org.springframework.util.CollectionUtils;
+
+import javax.annotation.Resource;
+import java.io.IOException;
+import java.io.InputStream;
+import java.net.MalformedURLException;
import java.net.URL;
import java.sql.SQLException;
import java.time.Instant;
@@ -44,6 +53,8 @@
import java.time.ZoneId;
import java.util.*;
import java.util.stream.Collectors;
+
+import static com.ard.route.util.ToolUtils.kmzPath;
/**
* @author sean
@@ -58,8 +69,14 @@
@Autowired
private IWaylineJobMapper mapper;
+// @Autowired
+// private IWaylineFileService waylineFileService;
+
@Autowired
- private IWaylineFileService waylineFileService;
+ private IArdRouteInformationService _ardRouteInformationService;
+
+ @Resource
+ private OssServiceContext _ossService;
@Autowired
private IDeviceService deviceService;
@@ -73,6 +90,12 @@
@Autowired
private IFileService fileService;
+ /**
+ * 插入航路作业
+ *
+ * @param jobEntity 航路作业实体
+ * @return 航路作业DTO的Optional包装对象，如果插入失败则返回Optional.empty()
+ */
private Optional<WaylineJobDTO> insertWaylineJob(WaylineJobEntity jobEntity) {
int id = mapper.insert(jobEntity);
if (id <= 0) {
@@ -81,6 +104,15 @@
return Optional.ofNullable(this.entity2Dto(jobEntity));
}
+ /**
+ * 创建航线任务
+ *
+ * @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()
+ */
@Override
public Optional<WaylineJobDTO> createWaylineJob(CreateJobParam param, String username, Long beginTime, Long endTime) {
if (Objects.isNull(param)) {
@@ -106,6 +138,12 @@
return insertWaylineJob(jobEntity);
}
+ /**
+ * 根据父作业ID创建新的作业
+ *
+ * @param parentId 父作业ID
+ * @return 新创建的作业的DTO对象，如果父作业不存在，则返回Optional.empty()
+ */
@Override
public Optional<WaylineJobDTO> createWaylineJobByParent(String parentId) {
Optional<WaylineJobDTO> parentJobOpt = this.getJobByJobId(parentId);
@@ -123,6 +161,14 @@
return this.insertWaylineJob(jobEntity);
}
+ /**
+ * 发布飞行任务
+ *
+ * @param param 任务参数
+ * @param loginUser 登录用户
+ * @return ResponseResult 返回结果
+ * @throws SQLException SQL异常
+ */
@Override
public ResponseResult publishFlightTask(CreateJobParam param, LoginUser loginUser) throws SQLException {
if (WaylineTaskTypeEnum.IMMEDIATE.getVal() == param.getTaskType()) {
@@ -141,13 +187,29 @@
}
// get wayline file
- Optional<WaylineFileDTO> waylineFile = waylineFileService.getWaylineByWaylineId(waylineJob.getFileId());
- if (waylineFile.isEmpty()) {
+// Optional<WaylineFileDTO> waylineFile = waylineFileService.getWaylineByWaylineId(waylineJob.getFileId());
+// if (waylineFile.isEmpty()) {
+// return ResponseResult.error("机场任务航线不存在！");
+// }
+ // 换航线表
+ ArdRouteInformation ardRouteOpt = _ardRouteInformationService.selectArdRouteInformationById(waylineJob.getFileId());
+ if (ardRouteOpt == null) {
return ResponseResult.error("机场任务航线不存在！");
}
// get file url
- URL url = waylineFileService.getObjectUrl(waylineFile.get().getWaylineId());
+// URL url = waylineFileService.getObjectUrl(waylineFile.get().getWaylineId());
+ URL url= null;
+ String minioUrl = ardRouteOpt.getMinioUpPath();
+ String md5 = "";
+ try (InputStream inputStream = _ossService.getObject(kmzPath,minioUrl))
+ {
+ md5 = DigestUtils.md5Hex(inputStream);
+ url = new URL(ardRouteOpt.getUpPath());
+ }
+ 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())
@@ -158,7 +220,13 @@
.outOfControlAction(waylineJob.getOutOfControlAction())
.file(WaylineTaskFileDTO.builder()
.url(url.toString())
- .fingerprint(waylineFile.get().getSign())
+// .fingerprint(waylineFile.get().getSign())
+ .fingerprint(md5)
+ .build())
+ .simulateMission(WaylineSimulateMissionDTO.builder()
+ .isEnable(param.getSimulateMission().getIsEnable())
+ .latitude(param.getSimulateMission().getLatitude())
+ .longitude(param.getSimulateMission().getLongitude())
.build())
.build();
@@ -184,25 +252,34 @@
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.");
- }
- }
+// 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();
}
+ /**
+ * 执行飞行任务
+ *
+ * @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
+ */
@Override
public Boolean executeFlightTask(String jobId) {
// get job
@@ -252,6 +329,12 @@
return true;
}
+ /**
+ * 取消飞行任务
+ *
+ * @param jobIds 需要取消的任务ID集合
+ * @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);
@@ -272,6 +355,13 @@
}
+ /**
+ * 发布取消任务
+ *
+ * @param dockSn 设备序列号
+ * @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) {
boolean isOnline = deviceService.checkDeviceOnline(dockSn);
@@ -305,6 +395,13 @@
}
+ /**
+ * 根据条件查询作业列表
+ *
+ * @param jobIds 作业ID集合
+ * @param status 作业状态枚举
+ * @return 满足条件的作业DTO列表
+ */
@Override
public List<WaylineJobDTO> getJobsByConditions(Collection<String> jobIds, WaylineJobStatusEnum status) {
return mapper.selectList(
@@ -317,6 +414,12 @@
.collect(Collectors.toList());
}
+ /**
+ * 根据任务ID获取任务详情
+ *
+ * @param jobId 任务ID
+ * @return Optional<WaylineJobDTO> 包含任务详情的Optional对象，如果不存在则返回空的Optional
+ */
@Override
public Optional<WaylineJobDTO> getJobByJobId(String jobId) {
WaylineJobEntity jobEntity = mapper.selectOne(
@@ -325,6 +428,12 @@
return Optional.ofNullable(entity2Dto(jobEntity));
}
+ /**
+ * 更新作业信息
+ *
+ * @param dto 作业信息传输对象
+ * @return 更新成功返回true，否则返回false
+ */
@Override
public Boolean updateJob(WaylineJobDTO dto) {
return mapper.update(this.dto2Entity(dto),
@@ -332,6 +441,13 @@
.eq(WaylineJobEntity::getJobId, dto.getJobId())) > 0;
}
+ /**
+ * 根据工作区ID获取工作线任务分页数据
+ *
+ * @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> getJobsByWorkspaceId(long page, long pageSize) {
Page<WaylineJobEntity> pageData = mapper.selectPage(
@@ -347,6 +463,18 @@
}
+ /**
+ * 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
+ * @Transactional(isolation = Isolation.READ_UNCOMMITTED)
+ * 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)
@@ -373,8 +501,16 @@
WaylineJobDTO waylineJob = waylineJobOpt.get();
// get wayline file
- Optional<WaylineFileDTO> waylineFile = waylineFileService.getWaylineByWaylineId(waylineJob.getFileId());
- if (waylineFile.isEmpty()) {
+// Optional<WaylineFileDTO> waylineFile = waylineFileService.getWaylineByWaylineId(waylineJob.getFileId());
+// if (waylineFile.isEmpty()) {
+// builder.data(RequestsReply.error(CommonErrorEnum.ILLEGAL_ARGUMENT));
+// messageSender.publish(topic, builder.build());
+// return;
+// }
+ // 修改航线文件名称，从ard_route_information航线表中取;
+ // 换航线表
+ ArdRouteInformation ardRouteOpt = _ardRouteInformationService.selectArdRouteInformationById(waylineJob.getFileId());
+ if (ardRouteOpt == null) {
builder.data(RequestsReply.error(CommonErrorEnum.ILLEGAL_ARGUMENT));
messageSender.publish(topic, builder.build());
return;
@@ -382,16 +518,25 @@
// get file url
URL url = null;
- try {
- url = waylineFileService.getObjectUrl(waylineFile.get().getWaylineId());
+ String minioUrl = ardRouteOpt.getMinioUpPath();
+ String md5 = "";
+ try (InputStream inputStream = _ossService.getObject(kmzPath,minioUrl))
+ {
+ md5 = DigestUtils.md5Hex(inputStream);
+ url = new URL(ardRouteOpt.getUpPath());
+// }
+// try {
+// url = waylineFileService.getObjectUrl(waylineFile.get().getWaylineId());
+// url = new URL(ardRouteOpt.getUpPath());
builder.data(RequestsReply.success(WaylineTaskCreateDTO.builder()
.file(WaylineTaskFileDTO.builder()
.url(url.toString())
- .fingerprint(waylineFile.get().getSign())
+// .fingerprint(waylineFile.get().getSign())
+ .fingerprint(md5)
.build())
.build()));
- } catch (SQLException | NullPointerException e) {
+ } catch (NullPointerException | IOException e) {
e.printStackTrace();
builder.data(RequestsReply.error(CommonErrorEnum.ILLEGAL_ARGUMENT));
messageSender.publish(topic, builder.build());
@@ -402,6 +547,12 @@
}
+ /**
+ * 上传媒体文件的最高优先级
+ *
+ * @param jobId 作业ID
+ * @throws RuntimeException 如果作业ID不合法或设置优先级失败
+ */
@Override
public void uploadMediaHighestPriority(String jobId) {
Optional<WaylineJobDTO> jobOpt = getJobByJobId(jobId);
@@ -429,6 +580,12 @@
}
}
+ /**
+ * 将WaylineJobDTO对象转换为WaylineJobEntity对象
+ *
+ * @param dto WaylineJobDTO对象
+ * @return WaylineJobEntity对象
+ */
private WaylineJobEntity dto2Entity(WaylineJobDTO dto) {
WaylineJobEntity.WaylineJobEntityBuilder builder = WaylineJobEntity.builder();
if (dto == null) {
@@ -462,17 +619,25 @@
.build();
}
+ /**
+ * 将实体对象转换为数据传输对象
+ *
+ * @param entity WaylineJobEntity 实体对象
+ * @return WaylineJobDTO 数据传输对象
+ */
private WaylineJobDTO entity2Dto(WaylineJobEntity entity) {
if (entity == null) {
return null;
}
-
+ // 修改航线文件名称，从ard_route_information航线表中取;
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(waylineFileService.getWaylineByWaylineId(entity.getFileId())
+// .orElse(WaylineFileDTO.builder().build()).getName())
+ .fileName(_ardRouteInformationService.selectArdRouteInformationById(entity.getFileId())
+ .getFileName())
.dockSn(entity.getDockSn())
.dockName(deviceService.getDeviceBySn(entity.getDockSn())
.orElse(DeviceDTO.builder().build()).getNickname())
--
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