1、阿罗斯机库蛙跳
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@ -1,6 +1,8 @@
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package com.multictrl.modules.business.dto.flight;
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import com.multictrl.modules.business.dto.multi.PrivateMultiFlightBindDockInfo;
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import io.swagger.v3.oas.annotations.media.Schema;
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import java.util.List;
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import lombok.AllArgsConstructor;
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import lombok.Data;
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import lombok.NoArgsConstructor;
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@ -19,6 +21,7 @@ import lombok.NoArgsConstructor;
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*/
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@Data
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public class FlightTaskPrepare {
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//计划 ID
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private String flight_id;
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//开始执行时间
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@ -53,10 +56,7 @@ public class FlightTaskPrepare {
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private int rth_altitude;
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//返航高度模式
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//{"0":"智能高度","1":"设定高度"}
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/// 智能返航模式下，飞行器将自动规划最佳返航高度。
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/// 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。
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/// 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），
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/// 飞行器将使用您设定的返航高度进行直线返航
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/// 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
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private int rth_mode;
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//遥控器失控动作
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//{"0":"返航","1":"悬停","2":"降落"}
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@ -86,10 +86,14 @@ public class FlightTaskPrepare {
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// 如果不一致则拉取文件更新，如果一致则不处理
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private int flight_safety_advance_check;
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private List<PrivateMultiFlightBindDockInfo> private_multi_flight_bind_dock_info;
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@Data
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@NoArgsConstructor
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@AllArgsConstructor
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public static class BreakPoint {
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//断点序号
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@Schema(description = "断点序号")
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private int index;
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@ -110,6 +114,7 @@ public class FlightTaskPrepare {
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@NoArgsConstructor
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@AllArgsConstructor
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public static class ExecutableConditions {
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//存储容量
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//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。
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private int storage_capacity;
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@ -119,6 +124,7 @@ public class FlightTaskPrepare {
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@NoArgsConstructor
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@AllArgsConstructor
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public static class FileInfo {
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//文件 URL
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private String url;
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//文件签名 文件内容 MD5 签名
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@ -130,6 +136,7 @@ public class FlightTaskPrepare {
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@NoArgsConstructor
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@AllArgsConstructor
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public static class ReadyConditions {
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//电池容量
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//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。
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private int battery_capacity;
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@ -145,6 +152,7 @@ public class FlightTaskPrepare {
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@NoArgsConstructor
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@AllArgsConstructor
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public static class SimulateMission {
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//是否开启模拟器任务
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//{"0":"不开启","1":"开启"}
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//当次任务打开或关闭模拟器
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@ -158,7 +158,7 @@ public class MultiServiceImpl implements MultiService {
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flightExecute.setPrivateMultiFlightBindDockInfos(privateMultiFlightBindDockInfos);
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log.info("privateMultiDockFlightTaskOutbound-> 下发航线给妙算 flightExecute:{}", flightExecute);
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return routeFlightService.flightExecute(multiTaskDTO.getMiaoSuan().getDockSn(), flightExecute);
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return routeFlightService.flightExecute(multiTaskDTO.getMiaoSuan().getDockSn(), flightExecute, true);
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}
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@Override
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@ -59,7 +59,7 @@ public class RouteFlightServiceImpl implements RouteFlightService {
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* 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
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*/
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@Override
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public String flightExecute(String dockSn, FlightExecute flightExecute) {
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public String flightExecute(String dockSn, FlightExecute flightExecute, Boolean isRecord) {
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ReentrantLock lock = cacheLock.computeIfAbsent(dockSn, k -> new ReentrantLock());
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lock.lock();
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try {
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@ -129,7 +129,9 @@ public class RouteFlightServiceImpl implements RouteFlightService {
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Utils.sleep(1000);
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String resultMsg = djiBaseService.executeAndReturnResult(dockSn, "flighttask_execute",
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new JSONObject().set("flight_id", taskId));
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if (isRecord) {
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flightTaskService.addRouteTask(taskId, dockSn, route.getId());
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}
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return resultMsg;
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} finally {
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Utils.sleep(2000);
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@ -2144,3 +2144,76 @@ INSERT INTO "public"."sys_dict_data" ("id", "dict_type_id", "dict_label", "dict_
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VALUES (2060253516358848514, 2060253239434121218, 'Ars550', 'Ars550', '', 0, 1067246875800000001,
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'2026-05-29 14:54:50.617', 1067246875800000001, '2026-05-29 14:54:50.617', 'source-material/Ars550.png');
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-- 20260605 aros 蛙跳 by zhangchuang
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ALTER TABLE public.bus_dock
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ADD scenario varchar(128) NULL;
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COMMENT
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ON COLUMN public.bus_dock.scenario IS '使用场景';
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CREATE TABLE public.bus_multi_group
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(
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id int8 NOT NULL,
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group_name varchar(128) NOT NULL,
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group_mark varchar(256) NULL,
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dept_id int8 NULL,
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creator int8 NULL,
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create_date timestamp NULL,
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updater int8 NULL,
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update_date timestamp NULL
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);
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COMMENT
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ON TABLE public.bus_multi_group IS '跳飞设备组信息';
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-- Column comments
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COMMENT
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ON COLUMN public.bus_multi_group.id IS '组id';
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COMMENT
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ON COLUMN public.bus_multi_group.group_name IS '组名称';
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COMMENT
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ON COLUMN public.bus_multi_group.group_mark IS '组描述';
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COMMENT
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ON COLUMN public.bus_multi_group.dept_id IS '所属组织';
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COMMENT
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ON COLUMN public.bus_multi_group.creator IS '创建人';
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COMMENT
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ON COLUMN public.bus_multi_group.create_date IS '创建时间';
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COMMENT
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ON COLUMN public.bus_multi_group.updater IS '更新人';
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COMMENT
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ON COLUMN public.bus_multi_group.update_date IS '更新时间';
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CREATE TABLE public.bus_multi_group_device
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(
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id int8 NOT NULL,
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groud_id int8 NOT NULL,
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gateway_sn varchar(64) NOT NULL,
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creator int8 NULL,
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create_date timestamp NULL,
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updater int8 NULL,
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update_date timestamp NULL
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);
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COMMENT
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ON TABLE public.bus_multi_group_device IS '蛙跳任务组绑定的设备编号';
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-- Column comments
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COMMENT
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ON COLUMN public.bus_multi_group_device.id IS '编号';
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COMMENT
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ON COLUMN public.bus_multi_group_device.groud_id IS '蛙跳组';
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COMMENT
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ON COLUMN public.bus_multi_group_device.gateway_sn IS '设备编号sn';
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COMMENT
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ON COLUMN public.bus_multi_group_device.creator IS '创建人';
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COMMENT
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ON COLUMN public.bus_multi_group_device.create_date IS '创建时间';
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COMMENT
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ON COLUMN public.bus_multi_group_device.updater IS '更新人';
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COMMENT
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ON COLUMN public.bus_multi_group_device.update_date IS '更新时间';
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