轨迹回放补充航线类型

Backend/sample/src/main/java/com/dji/sample/manage/service/impl/SDKDeviceService.java

@@ -4,6 +4,7 @@ import cn.hutool.core.date.DateUtil;
 import com.dji.sample.component.mqtt.model.EventsReceiver;
 import com.dji.sample.manage.model.dto.OsdDroneDTO;
 import com.dji.sample.map.model.dto.FlightTrackDTO;
+import com.dji.sample.wayline.model.dto.WaylineJobDTO;
 import com.dji.sample.wayline.model.enums.WaylineJobStatusEnum;
 import com.dji.sample.wayline.service.IWaylineRedisService;
 import com.dji.sdk.cloudapi.property.DockDroneCommanderFlightHeight;
@@ -86,6 +87,8 @@ public class SDKDeviceService extends AbstractDeviceService {
     @Autowired
     private IWaylineRedisService waylineRedisService;
 
+
+
     @Override
     public TopicStatusResponse<MqttReply> updateTopoOnline(TopicStatusRequest<UpdateTopo> request, MessageHeaders headers) {
         UpdateTopoSubDevice updateTopoSubDevice = request.getData().getSubDevices().get(0);
@@ -208,7 +211,7 @@ public class SDKDeviceService extends AbstractDeviceService {
         log.info("=============获取机库飞机OSD信息：" + request.getData());
         deviceRedisService.setDeviceOsd(from, request.getData());
 
-        OsdDroneDTO data = toDroneDto(request.getData());
+
         deviceService.pushOsdDataToWeb(device.getWorkspaceId(), BizCodeEnum.DEVICE_OSD, from, request.getData());
         //添加航点轨迹信息
         String jobId = null;
@@ -221,6 +224,7 @@ public class SDKDeviceService extends AbstractDeviceService {
                     .orElse(null);
             log.info("======FlightId:" +  jobId);
         }
+        OsdDroneDTO data = toDroneDto(request.getData());
         toAddFilghtPoint(from, device, data,jobId);
     }
 
@@ -269,6 +273,17 @@ public class SDKDeviceService extends AbstractDeviceService {
 
         deviceRedisService.setDeviceOnline(device);
         deviceRedisService.setDeviceOsd(from, request.getData());
+        //添加航点轨迹信息
+        String jobId = null;
+        Optional<EventsReceiver<FlighttaskProgress>> runningDataOpt = waylineRedisService.getRunningWaylineJob(request.getGateway());
+        if (runningDataOpt.isPresent()) {
+            log.info("======jobId getSn:" +  runningDataOpt.map(EventsReceiver::getSn).get());
+            jobId = runningDataOpt.map(EventsReceiver::getOutput)
+                    .map(FlighttaskProgress::getExt)
+                    .map(FlighttaskProgressExt::getFlightId)
+                    .orElse(null);
+            log.info("======FlightId:" +  jobId);
+        }
         OsdDroneDTO data = toDroneDto(request.getData());
         deviceService.pushOsdDataToPilot(device.getWorkspaceId(), from,
                 new DeviceOsdHost()
@@ -282,7 +297,7 @@ public class SDKDeviceService extends AbstractDeviceService {
                         .setVerticalSpeed(data.getVerticalSpeed()));
         deviceService.pushOsdDataToWeb(device.getWorkspaceId(), BizCodeEnum.DEVICE_OSD, from, data);
         //添加航点轨迹信息
-        toAddFilghtPoint(from, device, data,null);
+        toAddFilghtPoint(from, device, data,jobId);
 
     }
 
@@ -308,7 +323,12 @@ public class SDKDeviceService extends AbstractDeviceService {
                     }
                     log.info("==============创建飞行任务====：" + data.toString());
                     deviceRedisService.setDroneFlightTaskLock(device.getDeviceSn());
-                    flightTask = createFlightTask(device);
+                    String templateType = null;
+                    if(null != jobId) {
+                        Optional<WaylineJobDTO> waylineJobDTO = waylineRedisService.getConditionalWaylineJob(jobId);
+                        templateType = waylineJobDTO.get().getWaylineType().getType();
+                    }
+                    flightTask = createFlightTask(device,templateType);
                 }
                 //添加飞行轨迹
                 addFlightPoint(flightTask, device,data,false);
@@ -501,7 +521,7 @@ public class SDKDeviceService extends AbstractDeviceService {
         return flightTaskDTO;
     }
 
-    private FlightTaskDTO createFlightTask(DeviceDTO device) {
+    private FlightTaskDTO createFlightTask(DeviceDTO device,String templateType) {
         Date curTime = new Date();
         String taskName = getTaskName(curTime, device.getDeviceSn());
         return flightTaskService.createFlightTask(FlightTaskEntity.builder()
@@ -511,6 +531,7 @@ public class SDKDeviceService extends AbstractDeviceService {
                 .deviceName(device.getDeviceName())
                 .payload(device.getPayloadsList() == null ? null : device.getPayloadsList().get(0).getPayloadName())
                 .beginTime(curTime.getTime())
+                .templateType(templateType)
                 .createTime(curTime.getTime())
                 .username(UserRequest.getCurrentUser() != null ? UserRequest.getCurrentUser().getUsername() : "system")
                 .build());
@@ -874,7 +895,6 @@ public class SDKDeviceService extends AbstractDeviceService {
             dto.setHorizontalSpeed(osdDockDrone.getHorizontalSpeed());
             dto.setWindDirection(osdDockDrone.getWindDirection());
         }
-
         return dto;
     }