实时轨迹优化

Backend/sample/src/main/java/com/dji/sample/component/redis/RedisConst.java

@@ -64,6 +64,7 @@ public final class RedisConst {
     public static final String DRONE_CONTROL_PREFiX = "control_source" + DELIMITER;
     //飞行任务（轨迹）
     public static final String DRONE_FLIGHT_TASK = "drone_flight_task" + DELIMITER;
+    public static final String DRONE_FLIGHT_TASK_LOCK = "drone_flight_task_lock" + DELIMITER;
     //飞行航点采集
     public static final String DRONE_LAST_TRACK = "drone_last_track" + DELIMITER;
     //Home点

Backend/sample/src/main/java/com/dji/sample/manage/service/IDeviceRedisService.java

@@ -121,6 +121,12 @@ public interface IDeviceRedisService {
 
     Boolean delDroneFlightTask(String sn);
 
+    void setDroneFlightTaskLock(String deviceSn);
+
+    Optional<String> getDroneFlightTaskLock(String sn);
+
+    Boolean delDroneFlightTaskLock(String sn);
+
     void setLastDroneTrack(String deviceSn, FlightTrackEntity flightTrackEntity);
 
     Optional<FlightTrackEntity> getLastDroneTrack(String sn);

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

@@ -127,6 +127,22 @@ public class DeviceRedisServiceImpl implements IDeviceRedisService {
         return RedisOpsUtils.del(RedisConst.DRONE_FLIGHT_TASK + sn);
     }
 
+    @Override
+    public void setDroneFlightTaskLock(String deviceSn) {
+        RedisOpsUtils.setWithExpire(RedisConst.DRONE_FLIGHT_TASK_LOCK + deviceSn, deviceSn, RedisConst.DEVICE_ALIVE_SECOND);
+    }
+
+    @Override
+    public Optional<String> getDroneFlightTaskLock(String sn) {
+        return Optional.ofNullable((String) RedisOpsUtils.get(RedisConst.DRONE_FLIGHT_TASK_LOCK + sn));
+    }
+
+    @Override
+    public Boolean delDroneFlightTaskLock(String sn) {
+        return RedisOpsUtils.del(RedisConst.DRONE_FLIGHT_TASK_LOCK + sn);
+    }
+
+
     @Override
     public void setLastDroneTrack(String deviceSn, FlightTrackEntity flightTrackEntity) {
         RedisOpsUtils.setWithExpire(RedisConst.DRONE_LAST_TRACK + deviceSn, flightTrackEntity, RedisConst.DEVICE_ALIVE_SECOND);

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

@@ -39,6 +39,7 @@ import org.springframework.stereotype.Service;
 import org.springframework.util.CollectionUtils;
 import org.springframework.util.StringUtils;
 
+import java.time.Instant;
 import java.time.LocalDateTime;
 import java.time.ZoneId;
 import java.util.*;
@@ -71,9 +72,6 @@ public class SDKDeviceService extends AbstractDeviceService {
     @Autowired
     private IFlightTrackTaskService flightTaskService;
 
-    // 定义一个静态变量来存储上次调用的时间戳
-    private static long lastInvocationTimestamp = 0;
-
     @Override
     public TopicStatusResponse<MqttReply> updateTopoOnline(TopicStatusRequest<UpdateTopo> request, MessageHeaders headers) {
         UpdateTopoSubDevice updateTopoSubDevice = request.getData().getSubDevices().get(0);
@@ -263,7 +261,6 @@ public class SDKDeviceService extends AbstractDeviceService {
     private void toAddFilghtPoint(String from, DeviceDTO device,OsdRcDrone data) {
 
         switch (data.getModeCode()) {
-            //case IDLE:
             case TAKEOFF_FINISHED:
             case MANUAL:
             case TAKEOFF_AUTO:
@@ -274,75 +271,87 @@ public class SDKDeviceService extends AbstractDeviceService {
             case RETURN_AUTO:
             case LIVE_FLIGHT_CONTROLS:
             case LANDING_THREE_PROPELLER:
+                FlightTaskDTO flightTask = getFlightTask(device);
+                if(flightTask == null) {
+                    Optional<String> lockOpt = deviceRedisService.getDroneFlightTaskLock(device.getDeviceSn());
+                    if(lockOpt.isPresent()) {
+                        return;
+                    }
+                    log.info("==============创建飞行任务====：" + data.toString());
+                    deviceRedisService.setDroneFlightTaskLock(device.getDeviceSn());
+                    flightTask = createFlightTask(device);
+                }
                 //添加飞行轨迹
-                addFlightPoint(device,data);
+                addFlightPoint(flightTask, device,data);
                 //推送实时轨迹信息
-                pushFlyTrackToWeb(from,device,data);
+                List<FlightTrackDTO> trackList = getRedisFlightPoint(flightTask,device,data);
+                pushFlyTrackToWeb(from,device,trackList);
 
                 break;
             case LANDING_AUTO:
             case LANDING_FORCED:
                 //飞行结束
+                log.info("==============飞机降落====：" + data.toString());
+                Optional<FlightTaskDTO> opt = deviceRedisService.getDroneFlightTask(device.getDeviceSn());
+                if(opt.isPresent()) {
+                    //移除redis 任务
+                    deviceRedisService.delDroneFlightTask(device.getDeviceSn());
+
+                    flightTask = opt.get();
+                    log.info("==============飞机降落 执行添加飞行轨迹====：" + flightTask.toString());
+                    //添加飞行轨迹
+                    FlightTaskDTO task = addFlightPoint(flightTask,device,data);
+                    //更新飞行任务
+                    updateFlightTask(task);
 
-                //添加飞行轨迹
-                FlightTaskDTO task = addFlightPoint(device,data);
-                //推送实时轨迹信息
-                pushFlyTrackToWeb(from,device,data);
+                    //推送实时轨迹信息
+                    trackList = getRedisFlightPoint(flightTask,device,data);
+                    pushFlyTrackToWeb(from,device,trackList);
 
-                //更新飞行任务
-                if(task != null) {
-                    updateFlightTask(task);
+                    //移除redis航线
+                    deviceRedisService.delDroneFlyTrack(device.getDeviceSn());
                 }
-                //移除redis
-                deviceRedisService.delDroneFlightTask(device.getDeviceSn());
-                deviceRedisService.delDroneFlyTrack(device.getDeviceSn());
+                break;
+            default:
                 break;
 
         }
     }
 
-    private void pushFlyTrackToWeb(String from, DeviceDTO device,OsdRcDrone data) {
+    private void pushFlyTrackToWeb(String from, DeviceDTO device,List<FlightTrackDTO> trackList) {
         //推送实时轨迹信息
-        List<FlightTrackDTO> trackList = getFlightLine(device);
-        if (System.currentTimeMillis() - lastInvocationTimestamp >= 2000) {
-            if(!CollectionUtils.isEmpty(trackList)) {
-                lastInvocationTimestamp = System.currentTimeMillis();
-                deviceService.pushOsdDataToWeb(device.getWorkspaceId(), BizCodeEnum.DRONE_FLY_TRACK, from, trackList);
-            }
-            //模拟第二条实时航线
-            List<FlightTrackDTO> flightPoints =  flightTaskService.getRTFlightTrackByTaskId(44);
+        if(!CollectionUtils.isEmpty(trackList)) {
             deviceService.pushOsdDataToWeb(device.getWorkspaceId(), BizCodeEnum.DRONE_FLY_TRACK, from, trackList);
         }
-
     }
 
-    private List<FlightTrackDTO> getFlightLine(DeviceDTO device) {
+    private List<FlightTrackDTO> getRedisFlightPoint(FlightTaskDTO task,DeviceDTO device,OsdRcDrone data) {
+        List<FlightTrackDTO> flightPoints = null;
         Optional<List<FlightTrackDTO>> optList = deviceRedisService.getDroneFlyTrack(device.getDeviceSn());
-        if(!optList.isPresent() || optList.get().isEmpty()) {
-            //获取飞行任务（轨迹）
-            FlightTaskDTO task = getFlightTask(device, false);
-            if(task == null) {
-                return null;
-            }
-            List<FlightTrackDTO> flightPoints =  flightTaskService.getRTFlightTrackByTaskId(task.getId());
-            deviceRedisService.setDroneFlyTrack(device.getDeviceSn(),flightPoints);
-            return flightPoints;
+        if(optList.isPresent()) {
+            flightPoints = optList.get();
         } else {
-            return optList.get();
+            flightPoints = new ArrayList<FlightTrackDTO>();
         }
+        addRedisFlightPoint(task,flightPoints,device,data);
+        return flightPoints;
     }
 
-    private void addRedisFlightPoint(String sn,FlightTrackDTO point) {
-        List<FlightTrackDTO> flightPoints = new ArrayList<FlightTrackDTO>();
-        Optional<List<FlightTrackDTO>> optList = deviceRedisService.getDroneFlyTrack(sn);
-        if(optList.isPresent()) {
-            flightPoints = optList.get();
-        }
+    private void addRedisFlightPoint(FlightTaskDTO task, List<FlightTrackDTO> flightPoints, DeviceDTO device,OsdRcDrone data) {
+        FlightTrackDTO point = FlightTrackDTO.builder()
+                .taskId(task.getId())
+                .modeCode(data.getModeCode().getCode())
+                .longitude(data.getLongitude().doubleValue())
+                .latitude(data.getLatitude().doubleValue())
+                .altitude(data.getHeight().doubleValue())
+                .elevation(data.getElevation().doubleValue())
+                .type(FlightPointTypeEnum.HAND.getType())
+                .createTime(LocalDateTime.ofInstant(Instant.ofEpochMilli(System.currentTimeMillis()), ZoneId.systemDefault())).build();
         flightPoints.add(point);
-        deviceRedisService.setDroneFlyTrack(sn,flightPoints);
+        deviceRedisService.setDroneFlyTrack(device.getDeviceSn(),flightPoints);
     }
 
-    private FlightTaskDTO addFlightPoint(DeviceDTO device,OsdRcDrone data) {
+    private FlightTaskDTO addFlightPoint(FlightTaskDTO task, DeviceDTO device,OsdRcDrone data) {
         synchronized (device.getDeviceSn().intern()) {
             Optional<FlightTrackEntity> lastPoint = deviceRedisService.getLastDroneTrack(device.getDeviceSn());
             long curTime = System.currentTimeMillis();
@@ -371,8 +380,6 @@ public class SDKDeviceService extends AbstractDeviceService {
                 }
             }
             if(isAdd) {
-                //获取飞行任务（轨迹）
-                FlightTaskDTO task = getFlightTask(device, true);
                 log.info("获取飞行轨迹任务:" + task.toString());
                 //添加Home信息
                 if(!lastPoint.isPresent()) {
@@ -386,7 +393,6 @@ public class SDKDeviceService extends AbstractDeviceService {
                                 .type(FlightPointTypeEnum.HOME.getType())
                                 .createTime(System.currentTimeMillis()).build();
                         flightTaskService.addHomePoint(flightTrackEntity);
-                        addRedisFlightPoint(device.getDeviceSn(),flightTaskService.flightTrackEntityToDto(flightTrackEntity));
                     }
                 }
                 //添加轨迹信息
@@ -400,7 +406,6 @@ public class SDKDeviceService extends AbstractDeviceService {
                         .type(FlightPointTypeEnum.HAND.getType())
                         .createTime(System.currentTimeMillis()).build();
                 flightTaskService.addFlightPoint(flightTrackEntity);
-                addRedisFlightPoint(device.getDeviceSn(),flightTaskService.flightTrackEntityToDto(flightTrackEntity));
                 log.info("添加轨迹完成: task:" + task.getTaskName());
                 //记录添加时间
                 deviceRedisService.setLastDroneTrack(device.getDeviceSn(), flightTrackEntity);
@@ -432,7 +437,7 @@ public class SDKDeviceService extends AbstractDeviceService {
         return 0;
     }
 
-    private FlightTaskDTO getFlightTask(DeviceDTO device,boolean isCreate) {
+    private FlightTaskDTO getFlightTask(DeviceDTO device) {
         //获取任务名称
         FlightTaskDTO flightTaskDTO = null;
         Optional<FlightTaskDTO> opt = deviceRedisService.getDroneFlightTask(device.getDeviceSn());
@@ -442,25 +447,27 @@ public class SDKDeviceService extends AbstractDeviceService {
             //查询当天未完成的任务
             flightTaskDTO = flightTaskService.getCurrentFlightTask(device.getWorkspaceId(),device.getDeviceSn());
         }
-        if(flightTaskDTO == null && isCreate) {
-            Date curTime = new Date();
-            String taskName = getTaskName(curTime, device.getDeviceSn());
-            flightTaskDTO = flightTaskService.createFlightTask(FlightTaskEntity.builder()
-                    .taskName(taskName)
-                    .workspaceId(device.getWorkspaceId())
-                    .deviceSn(device.getDeviceSn())
-                    .deviceName(device.getDeviceName())
-                    .payload(device.getPayloadsList() == null ? null : device.getPayloadsList().get(0).getPayloadName())
-                    .beginTime(curTime.getTime())
-                    .createTime(curTime.getTime())
-                    .username(UserRequest.getCurrentUser() != null ? UserRequest.getCurrentUser().getUsername() : "system")
-                    .build());
-
-        }
-        deviceRedisService.setDroneFlightTask(device.getDeviceSn(),flightTaskDTO);
+        if(flightTaskDTO != null) {
+            deviceRedisService.setDroneFlightTask(device.getDeviceSn(), flightTaskDTO);
+        }
         return flightTaskDTO;
     }
 
+    private FlightTaskDTO createFlightTask(DeviceDTO device) {
+        Date curTime = new Date();
+        String taskName = getTaskName(curTime, device.getDeviceSn());
+        return flightTaskService.createFlightTask(FlightTaskEntity.builder()
+                .taskName(taskName)
+                .workspaceId(device.getWorkspaceId())
+                .deviceSn(device.getDeviceSn())
+                .deviceName(device.getDeviceName())
+                .payload(device.getPayloadsList() == null ? null : device.getPayloadsList().get(0).getPayloadName())
+                .beginTime(curTime.getTime())
+                .createTime(curTime.getTime())
+                .username(UserRequest.getCurrentUser() != null ? UserRequest.getCurrentUser().getUsername() : "system")
+                .build());
+    }
+
     //飞行器sn yyyy-MM-dd HH:mm:ss
     private String getTaskName(Date curTime,String droneSn) {
         String format = DateUtil.format(curTime, "yyyy-MM-dd HH:mm:ss");

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

@@ -323,8 +323,6 @@ public class UserServiceImpl implements IUserService {
         if (entity != null) {
             builder.userId(entity.getUserId())
                     .username(entity.getUsername())
-                    .mqttUsername(entity.getMqttUsername())
-                    .mqttPassword(entity.getMqttPassword())
                     .userType(UserTypeEnum.find(entity.getUserType()).getDesc())
                     .createTime(LocalDateTime.ofInstant(
                             Instant.ofEpochMilli(entity.getCreateTime()), ZoneId.systemDefault()));