sdy
/
Dock-MultiCtrl
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

1、阿罗斯机库蛙跳

This commit is contained in:
zhangchuang 2026-06-03 17:53:20 +08:00
parent 92553d35be
commit 5c0549e8d0
26 changed files with 778 additions and 72 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
admin/src/main/java/com/multictrl/common/constant/BusinessConstant.java
View File

@ -44,6 +44,8 @@ public interface BusinessConstant {
String AIRPORT_ORGANIZATION_GET = "airport_organization_get";
String AIRPORT_ORGANIZATION_BIND = "airport_organization_bind";
String FLIGHT_TASK_RESOURCE_GET = "flighttask_resource_get";
//私有协议，为了确认跳飞场景下，妙算pskd设备是否开启成功
String PRIVATE_GET_MULTI_MIAOSUAN_PSDK_STATUS = "private_get_multi_miaosuan_psdk_status";
//********************************* dj events topic method *********************************//
String FLIGHTTASK_PROGRESS = "flighttask_progress";
String TAKEOFF_TO_POINT_PROGRESS = "takeoff_to_point_progress";

1
admin/src/main/java/com/multictrl/modules/business/controller/RouteFlightController.java
View File

@ -32,6 +32,7 @@ import java.util.List;
@ApiOrder(5)
@RequiredArgsConstructor
public class RouteFlightController {
private final DJIBaseService djiBaseService;
private final RouteFlightService routeFlightService;

16
admin/src/main/java/com/multictrl/modules/business/dao/MultiGroupDao.java Normal file
View File

@ -0,0 +1,16 @@
package com.multictrl.modules.business.dao;
import com.multictrl.common.dao.BaseDao;
import com.multictrl.modules.business.entity.MultiGroupEntity;
import org.apache.ibatis.annotations.Mapper;
/**
* 蛙跳组信息
*
* @author 张闯
* @since 2026-05-28
*/
@Mapper
public interface MultiGroupDao extends BaseDao<MultiGroupEntity> {
}

16
admin/src/main/java/com/multictrl/modules/business/dao/MultiGroupDeviceDao.java Normal file
View File

@ -0,0 +1,16 @@
package com.multictrl.modules.business.dao;
import com.multictrl.common.dao.BaseDao;
import com.multictrl.modules.business.entity.MultiGroupDeviceEntity;
import org.apache.ibatis.annotations.Mapper;
/**
* 蛙跳组绑定的设备信息
*
* @author 张闯
* @since 2026-05-28
*/
@Mapper
public interface MultiGroupDeviceDao extends BaseDao<MultiGroupDeviceEntity> {
}

4
admin/src/main/java/com/multictrl/modules/business/dto/DockDTO.java
View File

@ -51,6 +51,10 @@ public class DockDTO implements Serializable {
@Schema(description = "机库型号")
private String dockModel;
@NotBlank(message = "{dock.model.require}", groups = {AddGroup.class, UpdateGroup.class})
@Schema(description = "使用场景")
private String scenario;
@NotNull(message = "{dept.id.require}", groups = {AddGroup.class, UpdateGroup.class})
@JsonProperty(required = true)
@Schema(description = "所属部门")

7
admin/src/main/java/com/multictrl/modules/business/dto/flight/FlightExecute.java
View File

@ -1,7 +1,9 @@
package com.multictrl.modules.business.dto.flight;
import com.multictrl.modules.business.dto.multi.PrivateMultiFlightBindDockInfo;
import io.swagger.v3.oas.annotations.media.Schema;
import jakarta.validation.constraints.NotNull;
import java.util.List;
import lombok.Data;
/**
@ -20,4 +22,9 @@ public class FlightExecute {
@Schema(description = "模拟器执行")
private FlightTaskPrepare.SimulateMission simulateMission;
@Schema(hidden = true)
List<PrivateMultiFlightBindDockInfo> privateMultiFlightBindDockInfos;
@Schema(hidden = true)
private String taskId;
}

18
admin/src/main/java/com/multictrl/modules/business/dto/flight/FlightTaskPrepare.java
View File

@ -1,6 +1,8 @@
package com.multictrl.modules.business.dto.flight;
import com.multictrl.modules.business.dto.multi.PrivateMultiFlightBindDockInfo;
import io.swagger.v3.oas.annotations.media.Schema;
import java.util.List;
import lombok.AllArgsConstructor;
import lombok.Data;
import lombok.NoArgsConstructor;
@ -19,6 +21,7 @@ import lombok.NoArgsConstructor;
*/
@Data
public class FlightTaskPrepare {
//计划 ID
private String flight_id;
//开始执行时间
@ -53,10 +56,7 @@ public class FlightTaskPrepare {
private int rth_altitude;
//返航高度模式
//{"0":"智能高度","1":"设定高度"}
/// 智能返航模式下，飞行器将自动规划最佳返航高度。
/// 大疆机场当前不支持设置返航高度模式，只能选择'设定高度'模式。
/// 当环境，光线不满足视觉系统要求时（譬如傍晚阳光直射、夜间弱光无光），
/// 飞行器将使用您设定的返航高度进行直线返航
/// 智能返航模式下，飞行器将自动规划最佳返航高度。 大疆机场当前不支持设置返航高度模式，只能选择'设定高度'模式。 当环境，光线不满足视觉系统要求时（譬如傍晚阳光直射、夜间弱光无光）， 飞行器将使用您设定的返航高度进行直线返航
private int rth_mode;
//遥控器失控动作
//{"0":"返航","1":"悬停","2":"降落"}
@ -86,10 +86,16 @@ public class FlightTaskPrepare {
// 如果不一致则拉取文件更新，如果一致则不处理
private int flight_safety_advance_check;
// aros 机场蛙跳参数
// 把所有参与到本地任务的机场经纬度高度/备降点经纬度高度 信息都给到psdk
// psdk根据到每个机库的距离，自动计算出需要返航的机场位置
private List<PrivateMultiFlightBindDockInfo> private_multi_flight_bind_dock_info;
@Data
@NoArgsConstructor
@AllArgsConstructor
public static class BreakPoint {
//断点序号
@Schema(description = "断点序号")
private int index;
@ -110,6 +116,7 @@ public class FlightTaskPrepare {
@NoArgsConstructor
@AllArgsConstructor
public static class ExecutableConditions {
//存储容量
//可执行任务的机场或飞行器最低存储容量，机场或飞行器存储容量不满足 storage_capacity 时，任务执行失败。
private int storage_capacity;
@ -119,6 +126,7 @@ public class FlightTaskPrepare {
@NoArgsConstructor
@AllArgsConstructor
public static class FileInfo {
//文件 URL
private String url;
//文件签名 文件内容 MD5 签名
@ -130,6 +138,7 @@ public class FlightTaskPrepare {
@NoArgsConstructor
@AllArgsConstructor
public static class ReadyConditions {
//电池容量
//可执行任务的飞行器电池电量百分比阈值，任务开始执行时的飞行器电量必须大于 battery_capacity。
private int battery_capacity;
@ -145,6 +154,7 @@ public class FlightTaskPrepare {
@NoArgsConstructor
@AllArgsConstructor
public static class SimulateMission {
//是否开启模拟器任务
//{"0":"不开启","1":"开启"}
//当次任务打开或关闭模拟器

53
admin/src/main/java/com/multictrl/modules/business/dto/multi/MultiDockDTO.java Normal file
View File

@ -0,0 +1,53 @@
package com.multictrl.modules.business.dto.multi;
import com.fasterxml.jackson.annotation.JsonProperty;
import io.swagger.v3.oas.annotations.media.Schema;
import lombok.Data;
/**
* @author 张闯
* @since 2026-05-28
*/
@Schema(name = "蛙跳组绑定设备列表")
@Data
public class MultiDockDTO {
@Schema(description = "主键")
private Long id;
@JsonProperty(required = true)
@Schema(description = "机库名称")
private String dockName;
@JsonProperty(required = true)
@Schema(description = "SN码")
private String dockSn;
@JsonProperty(required = true)
@Schema(description = "机库类型")
private String dockType;
@JsonProperty(required = true)
@Schema(description = "机库型号")
private String dockModel;
@Schema(description = "使用场景")
private String scenario;
@JsonProperty(required = true)
@Schema(description = "所属部门")
private Long deptId;
@JsonProperty(required = true)
@Schema(description = "机场经度")
private double longitude;
@JsonProperty(required = true)
@Schema(description = "机场纬度")
private double latitude;
@JsonProperty(required = true)
@Schema(description = "机场椭球高度")
private double height;
}

36
admin/src/main/java/com/multictrl/modules/business/dto/multi/MultiGroupDTO.java Normal file
View File

@ -0,0 +1,36 @@
package com.multictrl.modules.business.dto.multi;
import com.fasterxml.jackson.annotation.JsonProperty;
import com.multictrl.common.validator.group.AddGroup;
import com.multictrl.common.validator.group.UpdateGroup;
import io.swagger.v3.oas.annotations.media.Schema;
import jakarta.validation.constraints.NotBlank;
import jakarta.validation.constraints.NotNull;
import jakarta.validation.constraints.Null;
import lombok.Data;
/**
* @author 张闯
* @since 2026-05-28
*/
@Data
@Schema(name = "蛙跳组信息")
public class MultiGroupDTO {
/**
* 蛙跳组名称
*/
@NotBlank(message = "{group.name.require}", groups = {AddGroup.class, UpdateGroup.class})
@JsonProperty(required = true)
@Schema(description = "蛙跳组名称")
private String groupName;
/**
* 蛙跳组备注说明
*/
@NotBlank(message = "{group.mark.require}", groups = {AddGroup.class, UpdateGroup.class})
@JsonProperty(required = true)
@Schema(description = "蛙跳组备注说明")
private String groupMark;
}

34
admin/src/main/java/com/multictrl/modules/business/dto/multi/MultiGroupDeviceDTO.java Normal file
View File

@ -0,0 +1,34 @@
package com.multictrl.modules.business.dto.multi;
import com.fasterxml.jackson.annotation.JsonProperty;
import com.multictrl.common.validator.group.AddGroup;
import com.multictrl.common.validator.group.UpdateGroup;
import io.swagger.v3.oas.annotations.media.Schema;
import jakarta.validation.constraints.NotBlank;
import java.util.List;
import lombok.Data;
/**
* @author 张闯
* @since 2026-05-28
*/
@Data
@Schema(name = "蛙跳组绑定设备列表")
public class MultiGroupDeviceDTO {
/**
* 蛙跳组id
*/
@NotBlank(message = "{group.id.require}", groups = {AddGroup.class, UpdateGroup.class})
@JsonProperty(required = true)
@Schema(description = "蛙跳组id")
private Long groudId;
/**
* 网关sn
*/
@NotBlank(message = "{gateway.sns.require}", groups = {AddGroup.class, UpdateGroup.class})
@JsonProperty(required = true)
@Schema(description = "设备网关sn列表")
private List<String> gatewaySns;
}

25
admin/src/main/java/com/multictrl/modules/business/dto/multi/MultiTaskDTO.java Normal file
View File

@ -0,0 +1,25 @@
package com.multictrl.modules.business.dto.multi;
import io.swagger.v3.oas.annotations.media.Schema;
import java.util.List;
import lombok.Data;
/**
* @author 张闯
* @since 2026-05-31
*/
@Data
@Schema(name = "蛙跳任务类")
public class MultiTaskDTO {
List<MultiDockDTO> docks;
MultiDockDTO miaoSuan;
MultiDockDTO miaoSuanLocatedDock;
String taskId;
Long routeId;
}

29
admin/src/main/java/com/multictrl/modules/business/dto/multi/PrivateMultiFlightBindDockInfo.java Normal file
View File

@ -0,0 +1,29 @@
package com.multictrl.modules.business.dto.multi;
import lombok.Data;
/**
* aros 机场蛙跳参数
* @author 张闯
* @since 2026-05-31
*/
@Data
public class PrivateMultiFlightBindDockInfo {
private String dock_sn;
private double longitude;
private double latitude;
private double height;
private double alternate_land_point_longitude;
private double alternate_land_point_latitude;
private double alternate_land_point_height;
private double alternate_land_point_safe_land_height;
}

11
admin/src/main/java/com/multictrl/modules/business/entity/DockEntity.java
View File

@ -31,8 +31,19 @@ public class DockEntity extends BaseEntity {
private String dockSn;
/**
* 机库类型
*
* dock
* pilot
* miao_suan
*/
private String dockType;
/**
* 使用场景
* null或者 inspection 巡检
* multi 蛙跳
*/
private String scenario;
/**
* 机库型号
*/

33
admin/src/main/java/com/multictrl/modules/business/entity/MultiGroupDeviceEntity.java Normal file
View File

@ -0,0 +1,33 @@
package com.multictrl.modules.business.entity;
import com.baomidou.mybatisplus.annotation.TableName;
import com.multictrl.common.entity.BaseEntity;
import java.util.Date;
import lombok.Data;
import lombok.EqualsAndHashCode;
/**
* @author 张闯
* @since 2026-05-28
*/
@EqualsAndHashCode(callSuper = true)
@Data
@TableName("bus_multi_group_device")
public class MultiGroupDeviceEntity extends BaseEntity {
/**
* 蛙跳组id
*/
private Long groudId;
/**
* 网关sn
*/
private String gatewaySn;
/**
* 更新者
*/
private Long updater;
/**
* 更新时间
*/
private Date updateDate;
}

33
admin/src/main/java/com/multictrl/modules/business/entity/MultiGroupEntity.java Normal file
View File

@ -0,0 +1,33 @@
package com.multictrl.modules.business.entity;
import com.baomidou.mybatisplus.annotation.TableName;
import com.multictrl.common.entity.BaseEntity;
import java.util.Date;
import lombok.Data;
import lombok.EqualsAndHashCode;
/**
* @author 张闯
* @since 2026-05-28
*/
@EqualsAndHashCode(callSuper = true)
@Data
@TableName("bus_multi_group")
public class MultiGroupEntity extends BaseEntity {
/**
* 蛙跳组名称
*/
private String groupName;
/**
* 蛙跳组标识
*/
private String groupMark;
/**
* 组织编号
*/
private Long deptId;
private Long updater;
private Date updateDate;
}

21
admin/src/main/java/com/multictrl/modules/business/handler/OsdHandler.java
View File

@ -28,6 +28,7 @@ import java.util.Optional;
@Component
@RequiredArgsConstructor
public class OsdHandler implements MessageHandler {
private static final String GPS_ZERO = "0.000000";
private final InfluxService influxService;
private final FlightTaskService flightTaskService;
@ -41,7 +42,7 @@ public class OsdHandler implements MessageHandler {
if (gateway.equals(dockSn)) {
// log.debug("dock osd --> topic: {}, payload: {}", topic, payload);
if (data.containsKey("network_state")) {//网络状态，机库osd分3次上报信息，只有网络状态对程序有用，其他前端展示即可
CacheUtils.set(BusinessConstant.DOCK_OSD + dockSn, data);
CacheUtils.set(BusinessConstant.DOCK_OSD + dockSn, data, 5000);
//判断飞行结束，从“任务中”切到“空闲“
if (data.containsKey("mode_code")) {
int modeCode = data.getInt("mode_code", -1);
@ -54,7 +55,8 @@ public class OsdHandler implements MessageHandler {
CacheUtils.set(BusinessConstant.DOCK_IN_WORK + dockSn, true);
}
//刚从“任务中”切到“空闲“，说明架次结束入库了
if (modeCode == DockMode.IDLE.getCode() && CacheUtils.get(BusinessConstant.DOCK_IN_WORK + dockSn) != null) {
if (modeCode == DockMode.IDLE.getCode()
&& CacheUtils.get(BusinessConstant.DOCK_IN_WORK + dockSn) != null) {
CacheUtils.delete(BusinessConstant.DOCK_IN_WORK + dockSn);
log.debug("{}机库架次飞行完成，取消DRC心跳", dockSn);
List<String> list = Optional.ofNullable(CacheUtils.get(BusinessConstant.DRC_HEART_BEAT_SN))
@ -76,7 +78,8 @@ public class OsdHandler implements MessageHandler {
//保存osd到influxdb
String latitude = data.getStr("latitude");
String longitude = data.getStr("longitude");
if (latitude != null && longitude != null && !GPS_ZERO.equals(latitude) && !GPS_ZERO.equals(longitude)) {
if (latitude != null && longitude != null && !GPS_ZERO.equals(latitude) && !GPS_ZERO.equals(
longitude)) {
String payload_index = data.getJSONArray("cameras") != null ?
data.getJSONArray("cameras").getJSONObject(0).getStr("payload_index") : null;
//获取电池电量，如果单电池则把 a赋值给b
@ -98,10 +101,14 @@ public class OsdHandler implements MessageHandler {
.is_near_area_limit(data.getInt("is_near_area_limit"))
.is_near_height_limit(data.getInt("is_near_height_limit"))
.payload_index(payload_index)
.gimbal_pitch(payload_index != null ? data.getJSONObject(payload_index).getDouble("gimbal_pitch") : null)
.gimbal_roll(payload_index != null ? data.getJSONObject(payload_index).getDouble("gimbal_roll") : null)
.gimbal_yaw(payload_index != null ? data.getJSONObject(payload_index).getDouble("gimbal_yaw") : null)
.zoom_factor(payload_index != null ? data.getJSONObject(payload_index).getDouble("zoom_factor") : null)
.gimbal_pitch(
payload_index != null ? data.getJSONObject(payload_index).getDouble("gimbal_pitch") : null)
.gimbal_roll(
payload_index != null ? data.getJSONObject(payload_index).getDouble("gimbal_roll") : null)
.gimbal_yaw(
payload_index != null ? data.getJSONObject(payload_index).getDouble("gimbal_yaw") : null)
.zoom_factor(
payload_index != null ? data.getJSONObject(payload_index).getDouble("zoom_factor") : null)
.track_id(data.getStr("track_id"))
.position_state_is_fixed(data.getJSONObject("position_state").getInt("is_fixed"))
.position_state_is_quality(data.getJSONObject("position_state").getInt("quality"))

20
admin/src/main/java/com/multictrl/modules/business/handler/RequestsHandler.java
View File

@ -36,6 +36,7 @@ import java.util.List;
@Component
@RequiredArgsConstructor
public class RequestsHandler implements MessageHandler {
private final DJIConfig djiConfig;
private final MqttPushService mqttPushService;
private final DockDeviceDao dockDeviceDao;
@ -74,7 +75,8 @@ public class RequestsHandler implements MessageHandler {
return;
}
String sn = deviceJson.getStr("sn");
DockDeviceEntity dockDevice = dockDeviceDao.selectOne(new QueryWrapper<DockDeviceEntity>().eq("sn", sn));
DockDeviceEntity dockDevice = dockDeviceDao.selectOne(
new QueryWrapper<DockDeviceEntity>().eq("sn", sn));
if (dockDevice == null) {
data.set("result", 1);
mqttPushService.pushMessageByClient1(topic + BusinessConstant._REPLY, message.toString());
@ -100,7 +102,8 @@ public class RequestsHandler implements MessageHandler {
} else if (BusinessConstant.AIRPORT_ORGANIZATION_GET.equals(method)) {//第三步 查询设备绑定对应的组织信息
String deviceBindingCode = data.getStr("device_binding_code");
String organizationId = data.getStr("organization_id");
if (!djiConfig.getDeviceBindCode().equals(deviceBindingCode) || !djiConfig.getOrganizationId().equals(organizationId)) {
if (!djiConfig.getDeviceBindCode().equals(deviceBindingCode) || !djiConfig.getOrganizationId()
.equals(organizationId)) {
data.set("result", 2);
mqttPushService.pushMessageByClient1(topic + BusinessConstant._REPLY, message.toString());
log.debug("requests step3--> 查询设备绑定对应的组织信息失败，设备绑定码或组织id不匹配");
@ -208,6 +211,19 @@ public class RequestsHandler implements MessageHandler {
message.remove("gateway");
mqttPushService.pushMessageByClient1(topic + BusinessConstant._REPLY, message.toString());
log.debug("requests storage_config_get--> 存储配置获取成功");
} else if (BusinessConstant.PRIVATE_GET_MULTI_MIAOSUAN_PSDK_STATUS.equals(method)) {
String psdkSn = message.getStr("psdk_sn");
int status = CacheUtils.get(BusinessConstant.DOCK_OSD + psdkSn) != null ? 1 : 0;
data.clear();
data.set("result", 0);
JSONObject output = new JSONObject();
output.set("status", status);
data.set("output", output);
message.set("timestamp", System.currentTimeMillis());
message.remove("need_reply");
mqttPushService.pushMessageByClient1(topic + BusinessConstant._REPLY, message.toString());
log.debug("requests private_get_multi_miaosuan_psdk_status--> 检查妙算设备是否上线：{}-> status: {}",
psdkSn, status);
}
} else {
log.debug("requests --> payload解析失败，解析后为null");

5
admin/src/main/java/com/multictrl/modules/business/service/MqttPushService.java
View File

@ -15,6 +15,7 @@ import org.springframework.stereotype.Component;
@Slf4j
@Component
public class MqttPushService {
@Resource(name = "mqttOutboundChannel1")
private MessageChannel mqttOutboundHandler1;
@ -22,7 +23,7 @@ public class MqttPushService {
private MessageChannel mqttOutboundHandler2;
/**
* 客户端1推送消息
* 客户端1推送消息 该连接处理正常的协议交互
*
* @param topic 主题
* @param msg 消息
@ -34,7 +35,7 @@ public class MqttPushService {
}
/**
* 客户端2推送消息
* 客户端2推送消息 该连接处理drc控制的协议交互
*
* @param topic 主题
* @param msg 消息

35
admin/src/main/java/com/multictrl/modules/business/service/MultiService.java Normal file
View File

@ -0,0 +1,35 @@
package com.multictrl.modules.business.service;
import com.multictrl.common.utils.Result;
import com.multictrl.modules.business.dto.multi.MultiDockDTO;
import com.multictrl.modules.business.dto.multi.MultiGroupDTO;
import com.multictrl.modules.business.dto.multi.MultiGroupDeviceDTO;
import com.multictrl.modules.business.dto.multi.MultiTaskDTO;
import com.multictrl.modules.business.entity.DockEntity;
import java.util.List;
/**
* 阿罗斯机场 蛙跳 充电机库 Ars550 换电机库 Ars600
*
* @author 张闯
* @since 2026-05-28
*/
public interface MultiService {
List<MultiDockDTO> getDockList();
void saveMultiGroup(MultiGroupDTO multiGroupDTO);
void saveMultiGroupDevice(MultiGroupDeviceDTO multiGroupDeviceDTO);
void updateMultiGroup(MultiGroupDTO multiGroupDTO);
void updateMultiGroupDevice(MultiGroupDeviceDTO multiGroupDeviceDTO);
String privateMultiDockTaskFlightTaskCheck(MultiTaskDTO multiTaskDTO);
String privateMultiDockFlightTaskOutbound(MultiTaskDTO multiTaskDTO);
String privateMultiDockFlightTaskInbound(MultiTaskDTO multiTaskDTO);
}

1
admin/src/main/java/com/multictrl/modules/business/service/RouteFlightService.java
View File

@ -2,6 +2,7 @@ package com.multictrl.modules.business.service;
import com.multictrl.modules.business.dto.flight.FlightExecute;
import com.multictrl.modules.business.dto.multi.PrivateMultiFlightBindDockInfo;
import java.util.List;
/**

1
admin/src/main/java/com/multictrl/modules/business/service/impl/DJIBaseServiceImpl.java
View File

@ -93,6 +93,7 @@ public class DJIBaseServiceImpl implements DJIBaseService {
return message;
}
@Override
public String executeAndReturnResult(String dockSn, String method) {

231
admin/src/main/java/com/multictrl/modules/business/service/impl/MultiServiceImpl.java Normal file
View File

@ -0,0 +1,231 @@
package com.multictrl.modules.business.service.impl;
import cn.hutool.json.JSONObject;
import com.multictrl.common.constant.BusinessConstant;
import com.multictrl.common.exception.ErrorCode;
import com.multictrl.common.exception.RenException;
import com.multictrl.common.utils.CacheUtils;
import com.multictrl.common.utils.MessageUtils;
import com.multictrl.modules.business.dao.MultiGroupDao;
import com.multictrl.modules.business.dao.MultiGroupDeviceDao;
import com.multictrl.modules.business.dto.flight.FlightExecute;
import com.multictrl.modules.business.dto.multi.MultiDockDTO;
import com.multictrl.modules.business.dto.multi.MultiGroupDTO;
import com.multictrl.modules.business.dto.multi.MultiGroupDeviceDTO;
import com.multictrl.modules.business.dto.multi.MultiTaskDTO;
import com.multictrl.modules.business.dto.multi.PrivateMultiFlightBindDockInfo;
import com.multictrl.modules.business.service.DJIBaseService;
import com.multictrl.modules.business.service.MultiService;
import com.multictrl.modules.business.service.RouteFlightService;
import jakarta.annotation.Resource;
import java.util.ArrayList;
import java.util.List;
import lombok.extern.slf4j.Slf4j;
import org.springframework.stereotype.Service;
/**
* 阿罗斯机场 蛙跳
*
* @author 张闯
* @since 2026-05-28
*/
@Slf4j
@Service
public class MultiServiceImpl implements MultiService {
@Resource
MultiGroupDao multiGroupDao;
@Resource
MultiGroupDeviceDao multiGroupDeviceDao;
@Resource
DJIBaseService djiBaseService;
@Resource
RouteFlightService routeFlightService;
private static final String MIAO_SUAN = "miao_suan";
@Override
public List<MultiDockDTO> getDockList() {
return List.of();
}
@Override
public void saveMultiGroup(MultiGroupDTO multiGroupDTO) {
}
@Override
public void saveMultiGroupDevice(MultiGroupDeviceDTO multiGroupDeviceDTO) {
}
@Override
public void updateMultiGroup(MultiGroupDTO multiGroupDTO) {
}
@Override
public void updateMultiGroupDevice(MultiGroupDeviceDTO multiGroupDeviceDTO) {
}
@Override
public String privateMultiDockTaskFlightTaskCheck(MultiTaskDTO multiTaskDTO) {
for (MultiDockDTO multiDockDTO : multiTaskDTO.getDocks()) {
if (multiDockDTO.getDockType().equals(MIAO_SUAN)) {
continue;
}
String result = privateMultiDockTaskFlightTaskCheck(multiDockDTO.getDockSn());
log.info("privateMultiDockTaskFlightTaskCheck-> dockSn:{},result:{}", multiDockDTO.getDockSn(), result);
}
return MessageUtils.getMessage(ErrorCode.DOCK_EXEC_SUCCESS);
}
@Override
public String privateMultiDockFlightTaskOutbound(MultiTaskDTO multiTaskDTO) {
//第一步，调用所有机场出库
for (MultiDockDTO multiDockDTO : multiTaskDTO.getDocks()) {
if (multiDockDTO.getDockType().equals(MIAO_SUAN)) {
continue;
}
boolean need_drone_open = multiDockDTO.getDockSn()
.equals(multiTaskDTO.getMiaoSuanLocatedDock().getDockSn());
String result = privateMultiDockFlightTaskOutbound(multiDockDTO.getDockSn(),
need_drone_open, multiTaskDTO.getMiaoSuan().getDockSn(), multiTaskDTO.getTaskId());
log.info("privateMultiDockFlightTaskOutbound-> 调用所有机场出库 dockSn:{},result:{}",
multiDockDTO.getDockSn(),
result);
}
//第二步，检查机库各传感器状态，是否已经出库完成,180秒内
int tryCount = 180;
while (tryCount-- > 0) {
boolean allFinished = true;
for (MultiDockDTO multiDockDTO : multiTaskDTO.getDocks()) {
if (multiDockDTO.getDockType().equals(MIAO_SUAN)) {
continue;
}
Object o;
if ((o = CacheUtils.get(BusinessConstant.DOCK_OSD + multiDockDTO.getDockSn())) == null) {
continue;
}
JSONObject jsonObject = (JSONObject) o;
//cover_state 舱盖状态 {"0":"关闭","1":"打开","2":"半开","3":"舱盖状态异常"}
int cover_state = jsonObject.getInt("cover_state");
//putter_state 推杆状态 {"0":"关闭","1":"打开","2":"半开","3":"推杆状态异常"}
int putter_state = jsonObject.getInt("putter_state");
log.info(
"privateMultiDockFlightTaskOutbound-> 检查机库各传感器状态，是否已经出库完成 dockSn:{},cover_state:{},putter_state:{}"
, multiDockDTO.getDockSn(), cover_state, putter_state);
allFinished = allFinished && cover_state == 1 && putter_state == 1;
}
if (allFinished) {
break;
}
}
if (tryCount <= 0) {
return "出库超时";
}
//第三步，下发航线给psdk
FlightExecute flightExecute = new FlightExecute();
flightExecute.setTaskId(multiTaskDTO.getTaskId());
flightExecute.setRouteId(multiTaskDTO.getRouteId());
//获取每个机库的 经纬度/高度/备降点经纬度/备降点高度
List<PrivateMultiFlightBindDockInfo> privateMultiFlightBindDockInfos = new ArrayList<>();
for (MultiDockDTO multiDockDTO : multiTaskDTO.getDocks()) {
if (multiDockDTO.getDockType().equals(MIAO_SUAN)) {
continue;
}
Object o;
if ((o = CacheUtils.get(BusinessConstant.DOCK_OSD + multiDockDTO.getDockSn())) == null) {
throw new RenException("机库: " + multiDockDTO.getDockSn() + "信息获取失败");
}
JSONObject jsonObject = (JSONObject) o;
PrivateMultiFlightBindDockInfo privateMultiFlightBindDockInfo = new PrivateMultiFlightBindDockInfo();
privateMultiFlightBindDockInfo.setDock_sn(multiDockDTO.getDockSn());
privateMultiFlightBindDockInfo.setLongitude(jsonObject.getDouble("longitude"));
privateMultiFlightBindDockInfo.setLatitude(jsonObject.getDouble("latitude"));
privateMultiFlightBindDockInfo.setHeight(jsonObject.getDouble("height"));
JSONObject alternate_land_point = jsonObject.getJSONObject("alternate_land_point");
privateMultiFlightBindDockInfo.setAlternate_land_point_longitude(
alternate_land_point.getDouble("longitude"));
privateMultiFlightBindDockInfo.setAlternate_land_point_latitude(alternate_land_point.getDouble("latitude"));
privateMultiFlightBindDockInfo.setAlternate_land_point_height(alternate_land_point.getDouble("height"));
privateMultiFlightBindDockInfo.setAlternate_land_point_safe_land_height(
alternate_land_point.getDouble("safe_land_height"));
privateMultiFlightBindDockInfos.add(privateMultiFlightBindDockInfo);
}
flightExecute.setPrivateMultiFlightBindDockInfos(privateMultiFlightBindDockInfos);
log.info("privateMultiDockFlightTaskOutbound-> 下发航线给妙算 flightExecute:{}", flightExecute);
return routeFlightService.flightExecute(multiTaskDTO.getMiaoSuan().getDockSn(), flightExecute);
}
@Override
public String privateMultiDockFlightTaskInbound(MultiTaskDTO multiTaskDTO) {
//第一步，调用所有机场入库
for (MultiDockDTO multiDockDTO : multiTaskDTO.getDocks()) {
if (multiDockDTO.getDockType().equals(MIAO_SUAN)) {
continue;
}
boolean need_drone_close = multiDockDTO.getDockSn()
.equals(multiTaskDTO.getMiaoSuanLocatedDock().getDockSn());
String result = privateMultiDockFlightTaskInbound(multiDockDTO.getDockSn(),
need_drone_close, multiTaskDTO.getMiaoSuan().getDockSn(), multiTaskDTO.getTaskId());
log.info("privateMultiDockFlightTaskInbound-> dockSn:{},result:{}", multiDockDTO.getDockSn(),
result);
}
//第二步，判断所有机场的门都关闭了
int tryCount = 180;
while (tryCount-- > 0) {
boolean allFinished = true;
for (MultiDockDTO multiDockDTO : multiTaskDTO.getDocks()) {
if (multiDockDTO.getDockType().equals(MIAO_SUAN)) {
continue;
}
Object o;
if ((o = CacheUtils.get(BusinessConstant.DOCK_OSD + multiDockDTO.getDockSn())) == null) {
continue;
}
JSONObject jsonObject = (JSONObject) o;
//cover_state 舱盖状态 {"0":"关闭","1":"打开","2":"半开","3":"舱盖状态异常"}
int cover_state = jsonObject.getInt("cover_state");
log.info(
"privateMultiDockFlightTaskInbound-> 检查机库各传感器状态，是否已经入库完成 dockSn:{},cover_state:{}"
, multiDockDTO.getDockSn(), cover_state);
allFinished = allFinished && cover_state == 0;
}
if (allFinished) {
break;
}
}
if (tryCount <= 0) {
return "入库超时";
}
return "流程结束";
}
private String privateMultiDockTaskFlightTaskCheck(String dockSn) {
return djiBaseService.executeAndReturnResult(dockSn, "private_multi_dock_task_flighttask_check");
}
private String privateMultiDockFlightTaskOutbound(String dockSn, boolean need_drone_open, String psdk_sn,
String task_id) {
JSONObject jsonObject = new JSONObject();
jsonObject.set("need_drone_open", need_drone_open);
jsonObject.set("psdk_sn", psdk_sn);
jsonObject.set("task_id", task_id);
return djiBaseService.executeAndReturnResult(dockSn, "private_multi_doc_dask_flighttask_outbound", jsonObject);
}
private String privateMultiDockFlightTaskInbound(String dockSn, boolean need_drone_close, String psdk_sn,
String task_id) {
JSONObject jsonObject = new JSONObject();
jsonObject.set("need_drone_close", need_drone_close);
jsonObject.set("psdk_sn", psdk_sn);
jsonObject.set("task_id", task_id);
return djiBaseService.executeAndReturnResult(dockSn, "private_multi_doc_dask_flighttask_inbound", jsonObject);
}
}

23
admin/src/main/java/com/multictrl/modules/business/service/impl/RouteFlightServiceImpl.java
View File

@ -15,6 +15,7 @@ import com.multictrl.modules.business.dto.RouteDTO;
import com.multictrl.modules.business.dto.flight.FlightExecute;
import com.multictrl.modules.business.dto.flight.FlightTaskPrepare;
import com.multictrl.modules.business.dto.flight.InFlightWaylineDeliver;
import com.multictrl.modules.business.dto.multi.PrivateMultiFlightBindDockInfo;
import com.multictrl.modules.business.service.DJIBaseService;
import com.multictrl.modules.business.service.FlightTaskService;
import com.multictrl.modules.business.service.RouteFlightService;
@ -40,6 +41,7 @@ import java.util.concurrent.locks.ReentrantLock;
@Service
@RequiredArgsConstructor
public class RouteFlightServiceImpl implements RouteFlightService {
private final DJIBaseService djiBaseService;
private final RouteService routeService;
private final MinioConfig minioConfig;
@ -53,6 +55,9 @@ public class RouteFlightServiceImpl implements RouteFlightService {
return djiBaseService.executeAndReturnResult(dockSn, "flighttask_undo", data);
}
/*
* multiFlightBindDockInfos aros机场蛙跳模式参数，把N个参与到蛙跳的的机场信息给到妙算，返航时，自动计算离哪个机库位置近，就降落到哪个机库
*/
@Override
public String flightExecute(String dockSn, FlightExecute flightExecute) {
ReentrantLock lock = cacheLock.computeIfAbsent(dockSn, k -> new ReentrantLock());
@ -60,7 +65,7 @@ public class RouteFlightServiceImpl implements RouteFlightService {
try {
Boolean dockOnline = djiBaseService.isDockOnline(dockSn);
if (!dockOnline) {
throw new RenException(ErrorCode.DOCK_OSD_NOT_EXIST, "无法操作");
throw new RenException(ErrorCode.DOCK_OSD_NOT_EXIST, "机场不在线，无法操作");
}
Integer dockModeCode = djiBaseService.getDockModeCode(dockSn);
if (!Objects.equals(DockMode.IDLE.getCode(), dockModeCode)) {
@ -73,6 +78,9 @@ public class RouteFlightServiceImpl implements RouteFlightService {
}
//任务标识
String taskId = IdUtil.fastSimpleUUID();
if (StrUtil.isNotEmpty(flightExecute.getTaskId())) {
taskId = flightExecute.getTaskId();
}
CacheUtils.set(BusinessConstant.WORKING_TASK_ID + dockSn, taskId);
//设置默认相机模式，需要定频推送前端
CacheUtils.set(BusinessConstant.UAV_VIDEO_TYPE + dockSn, "wide");
@ -110,12 +118,17 @@ public class RouteFlightServiceImpl implements RouteFlightService {
if (flightExecute.getSimulateMission() != null) {
flightTaskPrepare.setSimulate_mission(flightExecute.getSimulateMission());
}
if (flightExecute.getPrivateMultiFlightBindDockInfos() != null) {
flightTaskPrepare.setPrivate_multi_flight_bind_dock_info(
flightExecute.getPrivateMultiFlightBindDockInfos());
}
JSONObject data = JsonUtils.parseObject(JsonUtils.toJsonString(flightTaskPrepare), JSONObject.class);
String result = djiBaseService.executeAndReturnResult(dockSn, "flighttask_prepare", data);
log.debug("flight_task_prepare --> result:{}", result);
//执行任务
Utils.sleep(1000);
String resultMsg = djiBaseService.executeAndReturnResult(dockSn, "flighttask_execute", new JSONObject().set("flight_id", taskId));
String resultMsg = djiBaseService.executeAndReturnResult(dockSn, "flighttask_execute",
new JSONObject().set("flight_id", taskId));
flightTaskService.addRouteTask(taskId, dockSn, route.getId());
return resultMsg;
} finally {
@ -176,7 +189,8 @@ public class RouteFlightServiceImpl implements RouteFlightService {
if (flightId == null) {
throw new RenException(ErrorCode.ROUTE_TASK_NOT_EXIST);
}
return djiBaseService.executeAndReturnResult(dockSn, "in_flight_wayline_stop", new JSONObject().set("in_flight_wayline_id", flightId));
return djiBaseService.executeAndReturnResult(dockSn, "in_flight_wayline_stop",
new JSONObject().set("in_flight_wayline_id", flightId));
}
@Override
@ -185,6 +199,7 @@ public class RouteFlightServiceImpl implements RouteFlightService {
if (flightId == null) {
throw new RenException(ErrorCode.ROUTE_TASK_NOT_EXIST);
}
return djiBaseService.executeAndReturnResult(dockSn, "in_flight_wayline_recover", new JSONObject().set("in_flight_wayline_id", flightId));
return djiBaseService.executeAndReturnResult(dockSn, "in_flight_wayline_recover",
new JSONObject().set("in_flight_wayline_id", flightId));
}
}

2
admin/src/main/resources/application-docker.yml
View File

@ -78,6 +78,6 @@ influx:
org: dj
host:
ip: 223.108.157.174
ip: 192.168.1.193
port: 61620
is-ssl: false

17
pom.xml
View File

@ -8,6 +8,18 @@
<name>Dock-MultiCtrl</name>
<description>大疆机场多版本控制</description>
<build>
<plugins>
<plugin>
<groupId>org.apache.maven.plugins</groupId>
<artifactId>maven-compiler-plugin</artifactId>
<configuration>
<source>7</source>
<target>7</target>
</configuration>
</plugin>
</plugins>
</build>
<parent>
<groupId>org.springframework.boot</groupId>
@ -106,6 +118,11 @@
<artifactId>springdoc-openapi-starter-webmvc-ui</artifactId>
<version>${springdoc.version}</version>
</dependency>
<dependency>
<groupId>com.alibaba.fastjson2</groupId>
<artifactId>fastjson2</artifactId>
<version>2.0.62</version>
</dependency>
</dependencies>
<dependencyManagement>

72
prj-deploy/file/pgsql/init.sql
View File

@ -2027,3 +2027,75 @@ INSERT INTO "public"."bus_device_dic"
VALUES (41, 1, 99, 0, 'M4TD Camera', NULL);
INSERT INTO "public"."bus_device_dic"
VALUES (42, 3, 3, 0, 'Dock3', NULL);
ALTER TABLE public.bus_dock
ADD scenario varchar(128) NULL;
COMMENT
ON COLUMN public.bus_dock.scenario IS '使用场景';
CREATE TABLE public.bus_multi_group
(
id int8 NOT NULL,
group_name varchar(128) NOT NULL,
group_mark varchar(256) NULL,
dept_id int8 NULL,
creator int8 NULL,
create_date timestamp NULL,
updater int8 NULL,
update_date timestamp NULL
);
COMMENT
ON TABLE public.bus_multi_group IS '跳飞设备组信息';
-- Column comments
COMMENT
ON COLUMN public.bus_multi_group.id IS '组id';
COMMENT
ON COLUMN public.bus_multi_group.group_name IS '组名称';
COMMENT
ON COLUMN public.bus_multi_group.group_mark IS '组描述';
COMMENT
ON COLUMN public.bus_multi_group.dept_id IS '所属组织';
COMMENT
ON COLUMN public.bus_multi_group.creator IS '创建人';
COMMENT
ON COLUMN public.bus_multi_group.create_date IS '创建时间';
COMMENT
ON COLUMN public.bus_multi_group.updater IS '更新人';
COMMENT
ON COLUMN public.bus_multi_group.update_date IS '更新时间';
CREATE TABLE public.bus_multi_group_device
(
id int8 NOT NULL,
groud_id int8 NOT NULL,
gateway_sn varchar(64) NOT NULL,
creator int8 NULL,
create_date timestamp NULL,
updater int8 NULL,
update_date timestamp NULL
);
COMMENT
ON TABLE public.bus_multi_group_device IS '蛙跳任务组绑定的设备编号';
-- Column comments
COMMENT
ON COLUMN public.bus_multi_group_device.id IS '编号';
COMMENT
ON COLUMN public.bus_multi_group_device.groud_id IS '蛙跳组';
COMMENT
ON COLUMN public.bus_multi_group_device.gateway_sn IS '设备编号sn';
COMMENT
ON COLUMN public.bus_multi_group_device.creator IS '创建人';
COMMENT
ON COLUMN public.bus_multi_group_device.create_date IS '创建时间';
COMMENT
ON COLUMN public.bus_multi_group_device.updater IS '更新人';
COMMENT
ON COLUMN public.bus_multi_group_device.update_date IS '更新时间';