1.媒体库增加媒体标识

2.飞行日志优化

admin/src/main/java/com/multictrl/common/constant/BusinessConstant.java

@@ -79,6 +79,7 @@ public interface BusinessConstant {
     String FLIGHT_TASK_KMZ_FILE_INFO = "flight_task_kmz_file_info_";
     String UAV_SPEAKER_INDEX = "uav_speaker_index_";
     String UAV_LIGHT_INDEX = "uav_light_index_";
+    String UAV_MODE_CODE = "uav_mode_code_";
 
     //********************************* other *********************************//
     String HTTP_PROTOCOL = "http://";

admin/src/main/java/com/multictrl/modules/business/dto/MediaFileDTO.java

@@ -21,6 +21,9 @@ public class MediaFileDTO implements Serializable {
     @Serial
     private static final long serialVersionUID = 1L;
 
+    @Schema(description = "媒体id")
+    private Long id;
+
     @Schema(description = "架次编号")
     private String taskId;
 

admin/src/main/java/com/multictrl/modules/business/handler/EventsHandler.java

@@ -276,7 +276,9 @@ public class EventsHandler implements MessageHandler {
                 }
             } else if (BusinessConstant.RETURN_HOME_INFO.equals(method)) {
                 log.debug("events --> 返航信息: {}", payload);
-                //飞行日志
+                //飞行日志 飞机一起飞就会上报返航信息，所以需要先判断飞机返航 才能保存返航信息防止信息错乱
+                Object modeCode = CacheUtils.get(BusinessConstant.UAV_MODE_CODE + gateway);
+                if (modeCode instanceof Integer && (Integer) modeCode == 9) {
                     JSONObject data = message.getJSONObject(BusinessConstant.DATA);
                     if (data != null) {
                         FlightLog flightLog = new FlightLog();
@@ -287,7 +289,7 @@ public class EventsHandler implements MessageHandler {
 
                         int lastPointType = data.getInt("last_point_type", -1);
                         String lastPointTypeCn = lastPointType == 0 ? "轨迹最后一个点在返航点的上空"
-                            : lastPointType == 1 ? "轨迹最后一个点不在返航点上空" : String.valueOf(lastPointType);
+                                : lastPointType == 1 ? "轨迹最后一个点不在返航点上空" : lastPointType == -1 ? "飞机降落完成" : String.valueOf(lastPointType);
 
                         StringBuilder msg = new StringBuilder();
                         msg.append("任务ID: ").append(data.getStr("flight_id", "")).append("\n");
@@ -315,15 +317,16 @@ public class EventsHandler implements MessageHandler {
                                         : planStatus == 1 ? "规划路径不可达"
                                         : planStatus == 2 ? "规划路径因电量不可达"
                                         : planStatus == 3 ? "目标可达" : String.valueOf(planStatus);
-                            msg.append(" 机场SN: ").append(info.getStr("sn", "")).append("\n");
+                                msg.append("\t机场SN: ").append(info.getStr("sn", "")).append("\n");
-                            msg.append(" 路径规划状态: ").append(planStatusCn).append("\n");
+                                msg.append("\t路径规划状态: ").append(planStatusCn).append("\n");
-                            msg.append(" 预估电量消耗: ").append(info.getInt("estimated_battery_consumption", 0)).append("%\n");
+                                msg.append("\t预估电量消耗: ").append(info.getInt("estimated_battery_consumption", 0)).append("%\n");
-                            msg.append(" Home点距离: ").append(info.getDouble("home_distance", 0d)).append("m\n");
+                                msg.append("\tHome点距离: ").append(info.getDouble("home_distance", 0d)).append("m\n");
                             }
                         }
                         flightLog.setMessage(msg.toString());
                         influxService.addRecord(flightLog);
                     }
+                }
             } else if (BusinessConstant.DEVICE_EXIT_HOMING_NOTIFY.equals(method)) {
                 log.debug("events --> 设备返航退出状态通知: {}", payload);
                 JSONObject data = message.getJSONObject(BusinessConstant.DATA);
@@ -401,7 +404,7 @@ public class EventsHandler implements MessageHandler {
                     boolean isFinalReport = data.getBool("is_final_report", false);
                     JSONArray obstacles = data.getJSONArray("obstacles");
                     StringBuilder msg = new StringBuilder();
-                    msg.append("航线ID: ").append(waylineUuid).append("\n");
+//                    msg.append("航线ID: ").append(waylineUuid).append("\n");
                     msg.append("任务ID: ").append(flightId).append("\n");
                     if (obstacles != null && !obstacles.isEmpty()) {
                         msg.append("避障记录(").append(obstacles.size()).append("条):\n");
@@ -492,23 +495,38 @@ public class EventsHandler implements MessageHandler {
                 "日志拉取-上传飞行器日志", "日志拉取-上传机场日志", "日志拉取-通知结果",
                 "自定义飞行区文件更新准备中", "自定义飞行区更新中", "离线地图更新准备中", "离线地图更新中"
         };
-        String stepStr = currentStep >= 0 && currentStep < stepCn.length ? stepCn[currentStep] : String.valueOf(currentStep);
+        String stepStr;
+        if (currentStep > 6000) {
+            stepStr = currentStep == 65533 ? "结束后等待服务回包" : currentStep == 65534 ? "无具体状态" : "UNKNOWN";
+        } else {
+            stepStr = currentStep >= 0 && currentStep < stepCn.length ? stepCn[currentStep] : String.valueOf(currentStep);
+        }
 
         StringBuilder msg = new StringBuilder();
-        msg.append("任务状态: ").append(statusCn).append("\n");
+//        msg.append("任务状态: ").append(statusCn).append("\n");
-        msg.append("执行步骤: ").append(stepStr).append("\n");
+//        msg.append("执行步骤: ").append(stepStr).append("\n");
-        msg.append("进度: ").append(percent).append("%\n");
+//        msg.append("进度: ").append(percent).append("%\n");
         if (output.containsKey("ext")) {
             JSONObject ext = output.getJSONObject("ext");
             int missionState = ext.getInt("wayline_mission_state", -1);
-            String[] missionStateCn = {"断连", "不支持该航点", "航线准备状态", "航线文件上传中",
+            String[] missionStateCn = {"断连", "不支持该航点", "航线准备状态,可上传文件,可执行已有文件", "航线文件上传中",
-                    "触发开始命令", "进入航线", "航线执行", "航线中断", "航线恢复", "航线停止"};
+                    "触发开始命令，飞行器触发读航线等逻辑，还未开始任务，处于准备状态", "进入航线，到第一个航点", "航线执行",
-            msg.append("航线任务状态: ").append(missionState >= 0 && missionState < missionStateCn.length ? missionStateCn[missionState] : missionState).append("\n");
+                    "航线中断，触发条件：1.用户主动暂停 2.飞控异常", "航线恢复", "航线停止"};
-            msg.append("当前航点: ").append(ext.getInt("current_waypoint_index", -1)).append("\n");
+//            msg.append("航线ID: ").append(ext.getInt("wayline_id", -1)).append("\n");
-            msg.append("航线ID: ").append(ext.getInt("wayline_id", -1)).append("\n");
             msg.append("任务ID: ").append(ext.getStr("flight_id", "")).append("\n");
-            msg.append("航迹ID: ").append(ext.getStr("track_id", "")).append("\n");
+            String trackId = ext.getStr("track_id", "");
+            if (StrUtil.isNotBlank(trackId)) {
+                msg.append("航迹ID: ").append(trackId).append("\n");
+            }
+            msg.append("任务状态: ").append(statusCn).append("\n");
+            msg.append("航线状态: ").append(missionState >= 0 && missionState < missionStateCn.length ? missionStateCn[missionState] : missionState).append("\n");
+            msg.append("当前航点: ").append(ext.getInt("current_waypoint_index", -1)).append("\n");
+            msg.append("进度: ").append("\n");
+            msg.append("\t执行步骤: ").append(stepStr).append("\n");
+            msg.append("\t进度值: ").append(percent).append("%\n");
+            if ("ok".equals(status)) {
                 msg.append("媒体文件数: ").append(ext.getInt("media_count", 0)).append("\n");
+            }
             if (ext.containsKey("break_point")) {
                 appendBreakPointInfo(msg, ext.getJSONObject("break_point"));
             }
@@ -524,15 +542,15 @@ public class EventsHandler implements MessageHandler {
         int bpState = bp.getInt("state", -1);
         int breakReason = bp.getInt("break_reason", 0);
         msg.append("断点信息:\n");
-        msg.append("  断点序号: ").append(bp.getInt("index", -1)).append("\n");
+        msg.append("\t断点序号: ").append(bp.getInt("index", -1)).append("\n");
-        msg.append("  断点状态: ").append(bpState == 0 ? "在航段上" : bpState == 1 ? "在航点上" : bpState).append("\n");
+        msg.append("\t断点状态: ").append(bpState == 0 ? "在航段上" : bpState == 1 ? "在航点上" : bpState).append("\n");
-        msg.append("  航段进度: ").append(bp.getDouble("progress", 0d)).append("\n");
+        msg.append("\t航段进度: ").append(bp.getDouble("progress", 0d)).append("\n");
-        msg.append("  航线ID: ").append(bp.getInt("wayline_id", -1)).append("\n");
+//        msg.append("\t航线ID: ").append(bp.getInt("wayline_id", -1)).append("\n");
-        msg.append("  中断原因: ").append(getBreakReasonCn(breakReason)).append("\n");
+        msg.append("\t中断原因: ").append(getBreakReasonCn(breakReason)).append("\n");
-        msg.append("  纬度: ").append(bp.getDouble("latitude", 0d)).append("\n");
+        msg.append("\t纬度: ").append(bp.getDouble("latitude", 0d)).append("\n");
-        msg.append("  经度: ").append(bp.getDouble("longitude", 0d)).append("\n");
+        msg.append("\t经度: ").append(bp.getDouble("longitude", 0d)).append("\n");
-        msg.append("  高度: ").append(bp.getDouble("height", 0d)).append("m\n");
+        msg.append("\t高度: ").append(bp.getDouble("height", 0d)).append("m\n");
-        msg.append("  偏航角: ").append(bp.getDouble("attitude_head", 0d));
+        msg.append("\t偏航角: ").append(bp.getDouble("attitude_head", 0d));
     }
 
     /**

admin/src/main/java/com/multictrl/modules/business/handler/OsdHandler.java

@@ -77,6 +77,11 @@ public class OsdHandler implements MessageHandler {
             } else {
 //                log.debug("uav osd --> topic: {}, payload: {}", topic, payload);
                 CacheUtils.set(BusinessConstant.UAV_OSD + dockSn, data);
+                //保存无人机状态 {"0":"待机","1":"起飞准备","2":"起飞准备完毕","3":"手动飞行","4":"自动起飞","5":"航线飞行","6":"全景拍照","7":"智能跟随","8":"ADS-B 躲避","9":"自动返航","10":"自动降落","11":"强制降落","12":"三桨叶降落","13":"升级中","14":"未连接","15":"APAS","16":"虚拟摇杆状态","17":"指令飞行","18":"空中 RTK 收敛模式","19":"机场选址中","20":"POI环绕","21":"进离场航线飞行过程中"}
+                Integer mode = data.getInt("mode_code");
+                if (mode != null) {
+                    CacheUtils.set(BusinessConstant.UAV_MODE_CODE + dockSn, mode, 1000 * 5);
+                }
                 //保存osd到influxdb
                 String latitude = data.getStr("latitude");
                 String longitude = data.getStr("longitude");

admin/src/main/java/com/multictrl/modules/business/service/impl/FlightTaskServiceImpl.java

@@ -298,7 +298,7 @@ public class FlightTaskServiceImpl extends CrudServiceImpl<FlightTaskDao, Flight
         HashMap<String, Object> condition = Maps.newHashMap();
         condition.put("dockSn", dockSn);
 
-        return influxService.queryData(DateUtils.format(outboundDate, DateUtils.DATE_TIME_PATTERN),
+        return influxService.queryData(DateUtils.format(DateUtils.getBeforeTime(outboundDate, -5), DateUtils.DATE_TIME_PATTERN),
                 DateUtils.format(inboundDate, DateUtils.DATE_TIME_PATTERN), "flight_log", condition, JSONObject.class,
                 "dockSn", "_time", "method", "level", "message");
     }

admin/src/main/resources/application-docker.yml

@@ -71,7 +71,7 @@ srs:
   server-url: http://${host.ip}:61630
 
 influx:
-  saveOpen: true
+  saveOpen: false
   url: http://${host.ip}:61634
   token: u32ol28aVjyZzAi1Wi-GydHcULZymvqZMKOX8lLZUwr3WdTpx1rBB2sBvk62_0zo7Ot0LnsgxJlHA0gInegWXg==
   bucket: flight_records