From 5c0549e8d0e40fa073593da39ae79b07edd43c66 Mon Sep 17 00:00:00 2001 From: zhangchuang <724914749@qq.com> Date: Wed, 3 Jun 2026 17:53:20 +0800 Subject: [PATCH] =?UTF-8?q?1=E3=80=81=E9=98=BF=E7=BD=97=E6=96=AF=E6=9C=BA?= =?UTF-8?q?=E5=BA=93=E8=9B=99=E8=B7=B3?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../common/constant/BusinessConstant.java | 2 + .../controller/RouteFlightController.java | 17 +- .../modules/business/dao/MultiGroupDao.java | 16 ++ .../business/dao/MultiGroupDeviceDao.java | 16 ++ .../modules/business/dto/DockDTO.java | 4 + .../business/dto/flight/FlightExecute.java | 7 + .../dto/flight/FlightTaskPrepare.java | 18 +- .../business/dto/multi/MultiDockDTO.java | 53 ++++ .../business/dto/multi/MultiGroupDTO.java | 36 +++ .../dto/multi/MultiGroupDeviceDTO.java | 34 +++ .../business/dto/multi/MultiTaskDTO.java | 25 ++ .../multi/PrivateMultiFlightBindDockInfo.java | 29 +++ .../modules/business/entity/DockEntity.java | 11 + .../entity/MultiGroupDeviceEntity.java | 33 +++ .../business/entity/MultiGroupEntity.java | 33 +++ .../modules/business/handler/OsdHandler.java | 93 +++---- .../business/handler/RequestsHandler.java | 28 ++- .../business/service/MqttPushService.java | 9 +- .../business/service/MultiService.java | 35 +++ .../business/service/RouteFlightService.java | 1 + .../service/impl/DJIBaseServiceImpl.java | 1 + .../service/impl/MultiServiceImpl.java | 231 ++++++++++++++++++ .../service/impl/RouteFlightServiceImpl.java | 23 +- .../src/main/resources/application-docker.yml | 2 +- pom.xml | 19 +- prj-deploy/file/pgsql/init.sql | 74 +++++- 26 files changed, 778 insertions(+), 72 deletions(-) create mode 100644 admin/src/main/java/com/multictrl/modules/business/dao/MultiGroupDao.java create mode 100644 admin/src/main/java/com/multictrl/modules/business/dao/MultiGroupDeviceDao.java create mode 100644 admin/src/main/java/com/multictrl/modules/business/dto/multi/MultiDockDTO.java create mode 100644 admin/src/main/java/com/multictrl/modules/business/dto/multi/MultiGroupDTO.java create mode 100644 admin/src/main/java/com/multictrl/modules/business/dto/multi/MultiGroupDeviceDTO.java create mode 100644 admin/src/main/java/com/multictrl/modules/business/dto/multi/MultiTaskDTO.java create mode 100644 admin/src/main/java/com/multictrl/modules/business/dto/multi/PrivateMultiFlightBindDockInfo.java create mode 100644 admin/src/main/java/com/multictrl/modules/business/entity/MultiGroupDeviceEntity.java create mode 100644 admin/src/main/java/com/multictrl/modules/business/entity/MultiGroupEntity.java create mode 100644 admin/src/main/java/com/multictrl/modules/business/service/MultiService.java create mode 100644 admin/src/main/java/com/multictrl/modules/business/service/impl/MultiServiceImpl.java diff --git a/admin/src/main/java/com/multictrl/common/constant/BusinessConstant.java b/admin/src/main/java/com/multictrl/common/constant/BusinessConstant.java index 9a21763..81239c2 100644 --- a/admin/src/main/java/com/multictrl/common/constant/BusinessConstant.java +++ b/admin/src/main/java/com/multictrl/common/constant/BusinessConstant.java @@ -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"; diff --git a/admin/src/main/java/com/multictrl/modules/business/controller/RouteFlightController.java b/admin/src/main/java/com/multictrl/modules/business/controller/RouteFlightController.java index f8c55d0..e955fda 100644 --- a/admin/src/main/java/com/multictrl/modules/business/controller/RouteFlightController.java +++ b/admin/src/main/java/com/multictrl/modules/business/controller/RouteFlightController.java @@ -25,13 +25,14 @@ import java.util.List; @RestController @RequestMapping("business/command") @Tag(name = "航线飞行", description = """ - 航线管理是无人机自主作业的重要功能， - 可以实现行业领域的批量化、智能化作业。 - 上云 API 提供了相关的接口，实现了航线任务在云端的共享查看、下发执行、取消以及进度上报等功能。 - 用户需要遵照航线文件格式规范（WPML）编写航线文件，定义航线任务。一个航线任务中可以定义多条航线。""") + 航线管理是无人机自主作业的重要功能， + 可以实现行业领域的批量化、智能化作业。 + 上云 API 提供了相关的接口，实现了航线任务在云端的共享查看、下发执行、取消以及进度上报等功能。 + 用户需要遵照航线文件格式规范（WPML）编写航线文件，定义航线任务。一个航线任务中可以定义多条航线。""") @ApiOrder(5) @RequiredArgsConstructor public class RouteFlightController { + private final DJIBaseService djiBaseService; private final RouteFlightService routeFlightService; @@ -76,7 +77,7 @@ public class RouteFlightController { @Operation(summary = "取消任务") @RequiresPermissions("bus:route:flight:flightTaskUndo") public Result flightTaskUndo(@PathVariable String dockSn, - @RequestBody List taskIds) { + @RequestBody List taskIds) { if (taskIds.isEmpty()) { return new Result<>().error(ErrorCode.PARAMS_ERROR); } @@ -89,7 +90,7 @@ public class RouteFlightController { @Operation(summary = "执行航线") @RequiresPermissions("bus:route:flight:flightExecute") public Result flightExecute(@PathVariable String dockSn, - @RequestBody FlightExecute flightExecute) { + @RequestBody FlightExecute flightExecute) { return new Result<>().ok(routeFlightService.flightExecute(dockSn, flightExecute)); } @@ -99,8 +100,8 @@ public class RouteFlightController { @Operation(summary = "空中下发航线") @RequiresPermissions("bus:route:flight:inFlightWaylineDeliver") public Result inFlightWaylineDeliver(@PathVariable String dockSn, - @Parameter(name = "routeId", description = "航线标识") - @RequestParam Long routeId) { + @Parameter(name = "routeId", description = "航线标识") + @RequestParam Long routeId) { return new Result<>().ok(routeFlightService.inFlightWaylineDeliver(dockSn, routeId)); } diff --git a/admin/src/main/java/com/multictrl/modules/business/dao/MultiGroupDao.java b/admin/src/main/java/com/multictrl/modules/business/dao/MultiGroupDao.java new file mode 100644 index 0000000..f490f97 --- /dev/null +++ b/admin/src/main/java/com/multictrl/modules/business/dao/MultiGroupDao.java @@ -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 { + +} diff --git a/admin/src/main/java/com/multictrl/modules/business/dao/MultiGroupDeviceDao.java b/admin/src/main/java/com/multictrl/modules/business/dao/MultiGroupDeviceDao.java new file mode 100644 index 0000000..7325dc9 --- /dev/null +++ b/admin/src/main/java/com/multictrl/modules/business/dao/MultiGroupDeviceDao.java @@ -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 { + +} diff --git a/admin/src/main/java/com/multictrl/modules/business/dto/DockDTO.java b/admin/src/main/java/com/multictrl/modules/business/dto/DockDTO.java index 2877738..e6a08eb 100644 --- a/admin/src/main/java/com/multictrl/modules/business/dto/DockDTO.java +++ b/admin/src/main/java/com/multictrl/modules/business/dto/DockDTO.java @@ -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") diff --git a/admin/src/main/java/com/multictrl/modules/business/dto/flight/FlightExecute.java b/admin/src/main/java/com/multictrl/modules/business/dto/flight/FlightExecute.java index 60bc4f8..c36561b 100644 --- a/admin/src/main/java/com/multictrl/modules/business/dto/flight/FlightExecute.java +++ b/admin/src/main/java/com/multictrl/modules/business/dto/flight/FlightExecute.java @@ -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 privateMultiFlightBindDockInfos; + @Schema(hidden = true) + private String taskId; } diff --git a/admin/src/main/java/com/multictrl/modules/business/dto/flight/FlightTaskPrepare.java b/admin/src/main/java/com/multictrl/modules/business/dto/flight/FlightTaskPrepare.java index 4e93bea..2e4b808 100644 --- a/admin/src/main/java/com/multictrl/modules/business/dto/flight/FlightTaskPrepare.java +++ b/admin/src/main/java/com/multictrl/modules/business/dto/flight/FlightTaskPrepare.java @@ -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 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 diff --git a/admin/src/main/java/com/multictrl/modules/business/dto/multi/MultiDockDTO.java b/admin/src/main/java/com/multictrl/modules/business/dto/multi/MultiDockDTO.java new file mode 100644 index 0000000..61bf95d --- /dev/null +++ b/admin/src/main/java/com/multictrl/modules/business/dto/multi/MultiDockDTO.java @@ -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; + +} diff --git a/admin/src/main/java/com/multictrl/modules/business/dto/multi/MultiGroupDTO.java b/admin/src/main/java/com/multictrl/modules/business/dto/multi/MultiGroupDTO.java new file mode 100644 index 0000000..15535b7 --- /dev/null +++ b/admin/src/main/java/com/multictrl/modules/business/dto/multi/MultiGroupDTO.java @@ -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; + +} diff --git a/admin/src/main/java/com/multictrl/modules/business/dto/multi/MultiGroupDeviceDTO.java b/admin/src/main/java/com/multictrl/modules/business/dto/multi/MultiGroupDeviceDTO.java new file mode 100644 index 0000000..1476db3 --- /dev/null +++ b/admin/src/main/java/com/multictrl/modules/business/dto/multi/MultiGroupDeviceDTO.java @@ -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 gatewaySns; + +} diff --git a/admin/src/main/java/com/multictrl/modules/business/dto/multi/MultiTaskDTO.java b/admin/src/main/java/com/multictrl/modules/business/dto/multi/MultiTaskDTO.java new file mode 100644 index 0000000..956a948 --- /dev/null +++ b/admin/src/main/java/com/multictrl/modules/business/dto/multi/MultiTaskDTO.java @@ -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 docks; + + MultiDockDTO miaoSuan; + + MultiDockDTO miaoSuanLocatedDock; + + String taskId; + + Long routeId; + +} diff --git a/admin/src/main/java/com/multictrl/modules/business/dto/multi/PrivateMultiFlightBindDockInfo.java b/admin/src/main/java/com/multictrl/modules/business/dto/multi/PrivateMultiFlightBindDockInfo.java new file mode 100644 index 0000000..a34afc4 --- /dev/null +++ b/admin/src/main/java/com/multictrl/modules/business/dto/multi/PrivateMultiFlightBindDockInfo.java @@ -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; + +} diff --git a/admin/src/main/java/com/multictrl/modules/business/entity/DockEntity.java b/admin/src/main/java/com/multictrl/modules/business/entity/DockEntity.java index f5f2646..f1135ba 100644 --- a/admin/src/main/java/com/multictrl/modules/business/entity/DockEntity.java +++ b/admin/src/main/java/com/multictrl/modules/business/entity/DockEntity.java @@ -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 */ diff --git a/admin/src/main/java/com/multictrl/modules/business/entity/MultiGroupDeviceEntity.java b/admin/src/main/java/com/multictrl/modules/business/entity/MultiGroupDeviceEntity.java new file mode 100644 index 0000000..0240d58 --- /dev/null +++ b/admin/src/main/java/com/multictrl/modules/business/entity/MultiGroupDeviceEntity.java @@ -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; +} diff --git a/admin/src/main/java/com/multictrl/modules/business/entity/MultiGroupEntity.java b/admin/src/main/java/com/multictrl/modules/business/entity/MultiGroupEntity.java new file mode 100644 index 0000000..90e7096 --- /dev/null +++ b/admin/src/main/java/com/multictrl/modules/business/entity/MultiGroupEntity.java @@ -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; +} diff --git a/admin/src/main/java/com/multictrl/modules/business/handler/OsdHandler.java b/admin/src/main/java/com/multictrl/modules/business/handler/OsdHandler.java index 84f740f..8469c21 100644 --- a/admin/src/main/java/com/multictrl/modules/business/handler/OsdHandler.java +++ b/admin/src/main/java/com/multictrl/modules/business/handler/OsdHandler.java @@ -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); @@ -54,13 +55,14 @@ 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 list = Optional.ofNullable(CacheUtils.get(BusinessConstant.DRC_HEART_BEAT_SN)) - .filter(obj -> obj instanceof List) - .map(obj -> (List) obj) - .orElse(Collections.emptyList()); + .filter(obj -> obj instanceof List) + .map(obj -> (List) obj) + .orElse(Collections.emptyList()); if (CollUtil.isNotEmpty(list)) { list.remove(dockSn); } @@ -76,9 +78,10 @@ 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; + 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 int capacity_percent_a; int capacity_percent_b; @@ -91,44 +94,48 @@ public class OsdHandler implements MessageHandler { } UavReport uavReport = UavReport.builder() - .dockSn(dockSn) - .obstacle_avoidance_horizon(data.getJSONObject("obstacle_avoidance").getInt("horizon")) - .obstacle_avoidance_upside(data.getJSONObject("obstacle_avoidance").getInt("upside")) - .obstacle_avoidance_downside(data.getJSONObject("obstacle_avoidance").getInt("downside")) - .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) - .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")) - .position_state_is_gps_number(data.getJSONObject("position_state").getInt("gps_number")) - .position_state_is_rtk_number(data.getJSONObject("position_state").getInt("rtk_number")) - .battery_capacity_percent(data.getJSONObject("battery").getInt("capacity_percent")) - .battery_remain_flight_time(data.getJSONObject("battery").getInt("remain_flight_time")) - .battery_return_home_power(data.getJSONObject("battery").getInt("return_home_power")) - .battery_landing_power(data.getJSONObject("battery").getInt("landing_power")) - .battery_capacity_percent_a(capacity_percent_a) - .battery_capacity_percent_b(capacity_percent_b) - .wind_direction(data.getInt("wind_direction")) - .wind_speed(data.getDouble("wind_speed")) - .home_distance(data.getDouble("home_distance")) - //state上报 + .dockSn(dockSn) + .obstacle_avoidance_horizon(data.getJSONObject("obstacle_avoidance").getInt("horizon")) + .obstacle_avoidance_upside(data.getJSONObject("obstacle_avoidance").getInt("upside")) + .obstacle_avoidance_downside(data.getJSONObject("obstacle_avoidance").getInt("downside")) + .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) + .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")) + .position_state_is_gps_number(data.getJSONObject("position_state").getInt("gps_number")) + .position_state_is_rtk_number(data.getJSONObject("position_state").getInt("rtk_number")) + .battery_capacity_percent(data.getJSONObject("battery").getInt("capacity_percent")) + .battery_remain_flight_time(data.getJSONObject("battery").getInt("remain_flight_time")) + .battery_return_home_power(data.getJSONObject("battery").getInt("return_home_power")) + .battery_landing_power(data.getJSONObject("battery").getInt("landing_power")) + .battery_capacity_percent_a(capacity_percent_a) + .battery_capacity_percent_b(capacity_percent_b) + .wind_direction(data.getInt("wind_direction")) + .wind_speed(data.getDouble("wind_speed")) + .home_distance(data.getDouble("home_distance")) + //state上报 // .home_latitude(data.getDouble("home_latitude")) // .home_longitude(data.getDouble("home_longitude")) - .attitude_head(data.getInt("attitude_head")) - .attitude_roll(data.getDouble("attitude_roll")) - .attitude_pitch(data.getDouble("attitude_pitch")) - .elevation(data.getDouble("elevation")) - .height(data.getDouble("height")) - .latitude(data.getDouble("latitude")) - .longitude(data.getDouble("longitude")) - .vertical_speed(data.getDouble("vertical_speed")) - .horizontal_speed(data.getDouble("horizontal_speed")) - .build(); + .attitude_head(data.getInt("attitude_head")) + .attitude_roll(data.getDouble("attitude_roll")) + .attitude_pitch(data.getDouble("attitude_pitch")) + .elevation(data.getDouble("elevation")) + .height(data.getDouble("height")) + .latitude(data.getDouble("latitude")) + .longitude(data.getDouble("longitude")) + .vertical_speed(data.getDouble("vertical_speed")) + .horizontal_speed(data.getDouble("horizontal_speed")) + .build(); influxService.addRecord(uavReport); } } diff --git a/admin/src/main/java/com/multictrl/modules/business/handler/RequestsHandler.java b/admin/src/main/java/com/multictrl/modules/business/handler/RequestsHandler.java index 05cfc56..4eeafcf 100644 --- a/admin/src/main/java/com/multictrl/modules/business/handler/RequestsHandler.java +++ b/admin/src/main/java/com/multictrl/modules/business/handler/RequestsHandler.java @@ -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().eq("sn", sn)); + DockDeviceEntity dockDevice = dockDeviceDao.selectOne( + new QueryWrapper().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"); @@ -143,9 +146,9 @@ public class RequestsHandler implements MessageHandler { device.setDeviceType(Integer.parseInt(split[1])); device.setSubType(Integer.parseInt(split[2])); DeviceDicEntity deviceDicEntity = deviceDicDao.selectOne(new QueryWrapper() - .eq("domain", device.getDomain()) - .eq("device_type", device.getDeviceType()) - .eq("sub_type", device.getSubType())); + .eq("domain", device.getDomain()) + .eq("device_type", device.getDeviceType()) + .eq("sub_type", device.getSubType())); device.setDeviceName(deviceDicEntity != null ? deviceDicEntity.getDeviceName() : "unknown"); bindDeviceList.add(device); } @@ -156,7 +159,7 @@ public class RequestsHandler implements MessageHandler { return; } dockDeviceDao.delete(new QueryWrapper().eq("sn", gateway).or() - .eq("parent_sn", gateway)); + .eq("parent_sn", gateway)); dockDeviceDao.insert(bindDeviceList); data.set("result", 0); mqttPushService.pushMessageByClient1(topic + BusinessConstant._REPLY, message.toString()); @@ -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"); diff --git a/admin/src/main/java/com/multictrl/modules/business/service/MqttPushService.java b/admin/src/main/java/com/multictrl/modules/business/service/MqttPushService.java index 388f2d9..cee4808 100644 --- a/admin/src/main/java/com/multictrl/modules/business/service/MqttPushService.java +++ b/admin/src/main/java/com/multictrl/modules/business/service/MqttPushService.java @@ -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 @@ -30,11 +31,11 @@ public class MqttPushService { public void pushMessageByClient1(String topic, String msg) { log.debug("client1 down-> topic:{},msg:{}", topic, msg); mqttOutboundHandler1.send(MessageBuilder.withPayload(msg). - setHeader("mqtt_topic", topic).build()); + setHeader("mqtt_topic", topic).build()); } /** - * 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 @@ -42,6 +43,6 @@ public class MqttPushService { public void pushMessageByClient2(String topic, String msg) { log.debug("client2 down-> topic:{},msg:{}", topic, msg); mqttOutboundHandler2.send(MessageBuilder.withPayload(msg). - setHeader("mqtt_topic", topic).build()); + setHeader("mqtt_topic", topic).build()); } } diff --git a/admin/src/main/java/com/multictrl/modules/business/service/MultiService.java b/admin/src/main/java/com/multictrl/modules/business/service/MultiService.java new file mode 100644 index 0000000..7c1ae52 --- /dev/null +++ b/admin/src/main/java/com/multictrl/modules/business/service/MultiService.java @@ -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 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); + +} diff --git a/admin/src/main/java/com/multictrl/modules/business/service/RouteFlightService.java b/admin/src/main/java/com/multictrl/modules/business/service/RouteFlightService.java index e1a124d..939a15b 100644 --- a/admin/src/main/java/com/multictrl/modules/business/service/RouteFlightService.java +++ b/admin/src/main/java/com/multictrl/modules/business/service/RouteFlightService.java @@ -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; /** diff --git a/admin/src/main/java/com/multictrl/modules/business/service/impl/DJIBaseServiceImpl.java b/admin/src/main/java/com/multictrl/modules/business/service/impl/DJIBaseServiceImpl.java index 9fd3c19..5ad6114 100644 --- a/admin/src/main/java/com/multictrl/modules/business/service/impl/DJIBaseServiceImpl.java +++ b/admin/src/main/java/com/multictrl/modules/business/service/impl/DJIBaseServiceImpl.java @@ -93,6 +93,7 @@ public class DJIBaseServiceImpl implements DJIBaseService { return message; } + @Override public String executeAndReturnResult(String dockSn, String method) { diff --git a/admin/src/main/java/com/multictrl/modules/business/service/impl/MultiServiceImpl.java b/admin/src/main/java/com/multictrl/modules/business/service/impl/MultiServiceImpl.java new file mode 100644 index 0000000..0b177b5 --- /dev/null +++ b/admin/src/main/java/com/multictrl/modules/business/service/impl/MultiServiceImpl.java @@ -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 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 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); + } + +} diff --git a/admin/src/main/java/com/multictrl/modules/business/service/impl/RouteFlightServiceImpl.java b/admin/src/main/java/com/multictrl/modules/business/service/impl/RouteFlightServiceImpl.java index 89f0c67..58eb960 100644 --- a/admin/src/main/java/com/multictrl/modules/business/service/impl/RouteFlightServiceImpl.java +++ b/admin/src/main/java/com/multictrl/modules/business/service/impl/RouteFlightServiceImpl.java @@ -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)); } } diff --git a/admin/src/main/resources/application-docker.yml b/admin/src/main/resources/application-docker.yml index 0e1f335..1d70ee0 100644 --- a/admin/src/main/resources/application-docker.yml +++ b/admin/src/main/resources/application-docker.yml @@ -78,6 +78,6 @@ influx: org: dj host: - ip: 223.108.157.174 + ip: 192.168.1.193 port: 61620 is-ssl: false \ No newline at end of file diff --git a/pom.xml b/pom.xml index 5a77ff0..e86b753 100644 --- a/pom.xml +++ b/pom.xml @@ -8,8 +8,20 @@ Dock-MultiCtrl 大疆机场多版本控制 + + + + org.apache.maven.plugins + maven-compiler-plugin + + 7 + 7 + + + + - + org.springframework.boot spring-boot-starter-parent 4.0.5 @@ -106,6 +118,11 @@ springdoc-openapi-starter-webmvc-ui ${springdoc.version} + + com.alibaba.fastjson2 + fastjson2 + 2.0.62 + diff --git a/prj-deploy/file/pgsql/init.sql b/prj-deploy/file/pgsql/init.sql index 2e18827..7b8c2c8 100644 --- a/prj-deploy/file/pgsql/init.sql +++ b/prj-deploy/file/pgsql/init.sql @@ -2026,4 +2026,76 @@ VALUES (40, 1, 98, 0, 'M4D Camera', NULL); 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); \ No newline at end of file +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';