大疆上云API源码解析（远程调试）

远程调试

远程调试只对机场生效，远程调试可以分为命令（cmd）和任务（job）,命令是机场能立即回复的行为，任务是需要持续动作的行为。

命令（cmd）	任务（job）
调试模式开启/关闭	机场重启
补光灯开启/关闭	飞行器开机/关机
4G图传功能开启/关闭	一键起飞自检
一键返航	飞行器数据格式化
	机场数据格式化
	打开/关闭舱盖
	推杆展开/闭合
	充电打开/关闭

*所有的调试都是通过访问 /devices/{sn}/jobs/{service_identifier} *

 @Override
    public HttpResultResponse controlDockDebug(String sn, RemoteDebugMethodEnum controlMethodEnum, RemoteDebugParam param) {
        // 获取对应调试方法的枚举
        DebugMethodEnum methodEnum = controlMethodEnum.getDebugMethodEnum();
        // 检查执行该命令的条件
        RemoteDebugHandler data = checkDebugCondition(sn, param, controlMethodEnum);
        // 判断执行命令设备是否上线
        boolean isExist = deviceRedisService.checkDeviceOnline(sn);
        if (!isExist) {
            return HttpResultResponse.error("The dock is offline.");
        }
        TopicServicesResponse response;
        switch (controlMethodEnum) {
            // 一键返航
            case RETURN_HOME:
                response = abstractWaylineService.returnHome(SDKManager.getDeviceSDK(sn));
                break;
            // 取消一键返航
            case RETURN_HOME_CANCEL:
                response = abstractWaylineService.returnHomeCancel(SDKManager.getDeviceSDK(sn));
                break;
            default:
                // 其他命令根据不同的debugMethod 进行远程调用
                response = abstractDebugService.remoteDebug(SDKManager.getDeviceSDK(sn), methodEnum,
                        Objects.nonNull(methodEnum.getClazz()) ? mapper.convertValue(data, methodEnum.getClazz()) : null);
        }
        ServicesReplyData serviceReply = (ServicesReplyData) response.getData();
        if (!serviceReply.getResult().isSuccess()) {
            return HttpResultResponse.error(serviceReply.getResult());
        }
        return HttpResultResponse.success();
    }

public TopicServicesResponse<ServicesReplyData<RemoteDebugResponse>> remoteDebug(GatewayManager gateway, DebugMethodEnum methodEnum, BaseModel request) {
        try {
            List<Class> clazz = new ArrayList<>();
            List<Object> args = new ArrayList<>();
            clazz.add(GatewayManager.class);
            args.add(gateway);
            if (Objects.nonNull(request)) {
                clazz.add(request.getClass());
                args.add(request);
            }
            AbstractDebugService abstractDebugService = SpringBeanUtils.getBean(this.getClass());
            // 根据方法名获取方法
            Method method = abstractDebugService.getClass().getDeclaredMethod(Common.convertSnake(methodEnum.getMethod()), clazz.toArray(Class[]::new));
            // abstractDebugService 执行对应方法  
            return (TopicServicesResponse<ServicesReplyData<RemoteDebugResponse>>) method.invoke(abstractDebugService, args.toArray());
        } catch (NoSuchMethodException | IllegalAccessException e) {
            throw new CloudSDKException(e);
        } catch (InvocationTargetException e) {
            throw new CloudSDKException(e.getTargetException());
        }
    }

任务类的进度上报

job类型的调试指令，如机场重启，机场会通过thing/product/{gateway_sn}/events主题持续上报云端，
最终路由会进入EventsRouter中

 @Bean
    public IntegrationFlow eventsMethodRouterFlow() {
        return IntegrationFlows
                .from(ChannelName.INBOUND_EVENTS)
                .transform(Message.class, source -> {
                    try {
                        TopicEventsRequest data = Common.getObjectMapper().readValue((byte[]) source.getPayload(), TopicEventsRequest.class);
                        // 对应消息主题
                        String topic = String.valueOf(source.getHeaders().get(MqttHeaders.RECEIVED_TOPIC));
                        return data.setFrom(topic.substring((THING_MODEL_PRE + PRODUCT).length(), topic.indexOf(EVENTS_SUF)))
                                .setData(Common.getObjectMapper().convertValue(data.getData(), EventsMethodEnum.find(data.getMethod()).getClassType()));
                    } catch (IOException e) {
                        throw new CloudSDKException(e);
                    }
                }, null)
                .<TopicEventsRequest, EventsMethodEnum>route(
                        // 不同的命令走不同的通道
                        response -> EventsMethodEnum.find(response.getMethod()),
                        mapping -> Arrays.stream(EventsMethodEnum.values()).forEach(
                                methodEnum -> mapping.channelMapping(methodEnum, methodEnum.getChannelName())))
                .get();
    }

机场重启会进入ChannelName.INBOUND_EVENTS_CONTROL_PROGRESS中进行处理

@ServiceActivator(inputChannel = ChannelName.INBOUND_EVENTS_CONTROL_PROGRESS, outputChannel = ChannelName.OUTBOUND_EVENTS)
    public TopicEventsResponse<MqttReply> remoteDebugProgress(TopicEventsRequest<EventsDataRequest<RemoteDebugProgress>> request, MessageHeaders headers) {
        throw new UnsupportedOperationException("remoteDebugProgress not implemented");
    }

  @Override
    public TopicEventsResponse<MqttReply> remoteDebugProgress(TopicEventsRequest<EventsDataRequest<RemoteDebugProgress>> request, MessageHeaders headers) {
        // 获取网关
        String sn = request.getGateway();
        // 上报消息转换为另外一个实体
        EventsReceiver<RemoteDebugProgress> eventsReceiver = new EventsReceiver<RemoteDebugProgress>()
                .setOutput(request.getData().getOutput()).setResult(request.getData().getResult());
        eventsReceiver.setBid(request.getBid());
        eventsReceiver.setSn(sn);

        log.info("SN: {}, {} ===> Control progress: {}", sn, request.getMethod(), eventsReceiver.getOutput().getProgress());

        if (!eventsReceiver.getResult().isSuccess()) {
            log.error("SN: {}, {} ===> Error: {}", sn, request.getMethod(), eventsReceiver.getResult());
        }
        // 设备当前是否在线
        Optional<DeviceDTO> deviceOpt = deviceRedisService.getDeviceOnline(sn);

        if (deviceOpt.isEmpty()) {
            throw new RuntimeException("The device is offline.");
        }

        DeviceDTO device = deviceOpt.get();
        // websocket 推送消息对应的任务进度
        webSocketMessageService.sendBatch(device.getWorkspaceId(), UserTypeEnum.WEB.getVal(),
                request.getMethod(), eventsReceiver);

        return new TopicEventsResponse<MqttReply>().setData(MqttReply.success());
    }