大疆上云API源码解析（指令飞行）

功能概述

指令飞行功能暂时只支持机场，飞行器可以从空闲（idle）状态响应或暂停正在执行的航线任务。通过手动方式（manual）控制设备和负载。

一键起飞（空闲状态）

调用一键起飞接口 POST:/{sn}/jobs/takeoff-to-point

@PostMapping("/{sn}/jobs/takeoff-to-point")
public HttpResultResponse takeoffToPoint(@PathVariable String sn, @Valid @RequestBody TakeoffToPointParam param) {
    return controlService.takeoffToPoint(sn, param);
}
// service
@Override
public HttpResultResponse takeoffToPoint(String sn, TakeoffToPointParam param) {
    // 检查一键起飞条件 当前状态是否空闲 获取飞行控制权
    checkTakeoffCondition(sn);

    param.setFlightId(UUID.randomUUID().toString());
    // 推送一键起飞消息  
    TopicServicesResponse<ServicesReplyData> response = abstractControlService.takeoffToPoint(
            SDKManager.getDeviceSDK(sn), mapper.convertValue(param, TakeoffToPointRequest.class));
    ServicesReplyData reply = response.getData();
    return reply.getResult().isSuccess() ?
            HttpResultResponse.success()
            : HttpResultResponse.error("The drone failed to take off. " + reply.getResult());
}
// 发送消息
@CloudSDKVersion(exclude = GatewayTypeEnum.RC)
public TopicServicesResponse<ServicesReplyData> takeoffToPoint(GatewayManager gateway, TakeoffToPointRequest request) {
    return servicesPublish.publish(
            gateway.getGatewaySn(),
            ControlMethodEnum.TAKEOFF_TO_POINT.getMethod(),
            request);
}

通过mqtt对一键起飞任务进度通知
Topic: thing/product/{gateway_sn}/events
Direction: up
Method: takeoff_to_point_progress

// 进入对应ChannelName.INBOUND_EVENTS_TAKEOFF_TO_POINT_PROGRESS
@ServiceActivator(inputChannel = ChannelName.INBOUND_EVENTS_TAKEOFF_TO_POINT_PROGRESS, outputChannel = ChannelName.OUTBOUND_EVENTS)
    public TopicEventsResponse<MqttReply> takeoffToPointProgress(TopicEventsRequest<TakeoffToPointProgress> request, MessageHeaders headers) {
        throw new UnsupportedOperationException("takeoffToPointProgress not implemented");
    }
// service
@Override
    public TopicEventsResponse<MqttReply> takeoffToPointProgress(TopicEventsRequest<TakeoffToPointProgress> request, MessageHeaders headers) {
        // 网关sn
        String dockSn  = request.getGateway();
        // 获取网关设备
        Optional<DeviceDTO> deviceOpt = deviceRedisService.getDeviceOnline(dockSn);
        if (deviceOpt.isEmpty()) {
            log.error("The dock is offline.");
            return null;
        }

        TakeoffToPointProgress eventsReceiver = request.getData();
        // 发送ws 消息通知web
        webSocketMessageService.sendBatch(deviceOpt.get().getWorkspaceId(), UserTypeEnum.WEB.getVal(),
                BizCodeEnum.TAKE_OFF_TO_POINT_PROGRESS.getCode(),
                ResultNotifyDTO.builder().sn(dockSn)
                        .message(eventsReceiver.getResult().toString())
                        .result(eventsReceiver.getResult().getCode())
                        .build());

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

flyto(暂停正在执行的航线任务)

1. flyto 需要先获取进入drc指令飞行控制模式，先通过接口进入drc模式 POST:/workspaces/{workspace_id}/drc/enter

@PostMapping("/workspaces/{workspace_id}/drc/enter")
public HttpResultResponse drcEnter(@PathVariable("workspace_id") String workspaceId, @Valid @RequestBody DrcModeParam param) {
    JwtAclDTO acl = drcService.deviceDrcEnter(workspaceId, param);
    return HttpResultResponse.success(acl);
}
// service
@Override
    public JwtAclDTO deviceDrcEnter(String workspaceId, DrcModeParam param) {
        // drc 消息相关主题
        String topic = TopicConst.THING_MODEL_PRE + TopicConst.PRODUCT + param.getDockSn() + TopicConst.DRC;
        String pubTopic = topic + TopicConst.DOWN;
        String subTopic = topic + TopicConst.UP;

        // 如果现在是drc模式 直接刷新权限
        if (deviceService.checkDockDrcMode(param.getDockSn())
                && param.getClientId().equals(this.getDrcModeInRedis(param.getDockSn()))) {
            refreshAcl(param.getDockSn(), param.getClientId(), topic, subTopic);
            return JwtAclDTO.builder().sub(List.of(subTopic)).pub(List.of(pubTopic)).build();
        }
        // 检查是否满足进入drc模式的条件  航线任务是否暂停，无人机是否在空中 获取飞行器控制权限
        checkDrcModeCondition(workspaceId, param.getDockSn());
        // 发送进入drc模式的请求 构建相关drc消息通道
        TopicServicesResponse<ServicesReplyData> reply = abstractControlService.drcModeEnter(
                SDKManager.getDeviceSDK(param.getDockSn()),
                new DrcModeEnterRequest()
                        .setMqttBroker(MqttPropertyConfiguration.getMqttBrokerWithDrc(param.getDockSn() + "-" + System.currentTimeMillis(), param.getDockSn(),
                                RedisConst.DRC_MODE_ALIVE_SECOND.longValue(),
                                Map.of(MapKeyConst.ACL, objectMapper.convertValue(JwtAclDTO.builder()
                                        .pub(List.of(subTopic))
                                        .sub(List.of(pubTopic))
                                        .build(), new TypeReference<Map<String, ?>>() {}))))
                        .setHsiFrequency(1).setOsdFrequency(10));

        if (!reply.getData().getResult().isSuccess()) {
            throw new RuntimeException("进入命令飞行控制模式失败，请稍后再试!错误码："+reply.getData().getResult().getCode());
        }
        refreshAcl(param.getDockSn(), param.getClientId(), pubTopic, subTopic);
        return JwtAclDTO.builder().sub(List.of(subTopic)).pub(List.of(pubTopic)).build();
    }

2. 调用flyto 方法 POST:/{sn}/jobs/fly-to-point

@PostMapping("/{sn}/jobs/fly-to-point")
 public HttpResultResponse flyToPoint(@PathVariable String sn, @Valid @RequestBody FlyToPointParam param) {
     return controlService.flyToPoint(sn, param);
 }
 // service
 @Override
    public HttpResultResponse flyToPoint(String sn, FlyToPointParam param) {
        // 检查权限 获取飞行控制
        checkFlyToCondition(sn);

        param.setFlyToId(UUID.randomUUID().toString());
        // 发送mqtt消息
        TopicServicesResponse<ServicesReplyData> response = abstractControlService.flyToPoint(
                SDKManager.getDeviceSDK(sn), mapper.convertValue(param, FlyToPointRequest.class));
        ServicesReplyData reply = response.getData();
        return reply.getResult().isSuccess() ?
                HttpResultResponse.success()
                : HttpResultResponse.error("Flying to the target point failed. " + reply.getResult());
    }

flyto进度通知
Topic: thing/product/{gateway_sn}/events
Direction: up
Method: fly_to_point_progress

// ChannelName.INBOUND_EVENTS_FLY_TO_POINT_PROGRESS
@ServiceActivator(inputChannel = ChannelName.INBOUND_EVENTS_FLY_TO_POINT_PROGRESS, outputChannel = ChannelName.OUTBOUND_EVENTS)
    public TopicEventsResponse<MqttReply> flyToPointProgress(TopicEventsRequest<FlyToPointProgress> request, MessageHeaders headers) {
        throw new UnsupportedOperationException("flyToPointProgress not implemented");
    }
// service
@Override
    public TopicEventsResponse<MqttReply> flyToPointProgress(TopicEventsRequest<FlyToPointProgress> request, MessageHeaders headers) {
        String dockSn  = request.getGateway();

        Optional<DeviceDTO> deviceOpt = deviceRedisService.getDeviceOnline(dockSn);
        if (deviceOpt.isEmpty()) {
            log.error("The dock is offline.");
            return null;
        }

        FlyToPointProgress eventsReceiver = request.getData();
        webSocketMessageService.sendBatch(deviceOpt.get().getWorkspaceId(), UserTypeEnum.WEB.getVal(),
                BizCodeEnum.FLY_TO_POINT_PROGRESS.getCode(),
                ResultNotifyDTO.builder().sn(dockSn)
                        .message(eventsReceiver.getResult().toString())
                        .result(eventsReceiver.getResult().getCode())
                        .build());
        return new TopicEventsResponse<MqttReply>().setData(MqttReply.success());
    }