上云API 机场执行航线任务流程详解

本文主要参考大疆文档机场航线管理对执行航线任务进行具体拆分，以最简单的立即执行模式进行分析。（请提前准备好航线文件导入航线管理中）

1. 下发任务（调用发布任务方法）
   

@Override
public HttpResultResponse publishFlightTask(CreateJobParam param, CustomClaim customClaim) throws SQLException {
		  // 如果是立即执行 填入taskDays和taskPeriods 为当前时间
		  // taskDays 代表执行日期 taskPeriods 代表执行时间段
        fillImmediateTime(param);
		// 获取具体的执行时间点
        for (Long taskDay : param.getTaskDays()) {
            LocalDate date = LocalDate.ofInstant(Instant.ofEpochSecond(taskDay), ZoneId.systemDefault());
            for (List<Long> taskPeriod : param.getTaskPeriods()) {
                long beginTime = LocalDateTime.of(date, LocalTime.ofInstant(Instant.ofEpochSecond(taskPeriod.get(0)), ZoneId.systemDefault()))
                        .atZone(ZoneId.systemDefault()).toInstant().toEpochMilli();
                long endTime = taskPeriod.size() > 1 ?
                        LocalDateTime.of(date, LocalTime.ofInstant(Instant.ofEpochSecond(taskPeriod.get(1)), ZoneId.systemDefault()))
                                .atZone(ZoneId.systemDefault()).toInstant().toEpochMilli() : beginTime;		// 如果任务类型不是立即执行并且  执行时间小于当前系统时间 则不执行该时间点任务
                if (TaskTypeEnum.IMMEDIATE != param.getTaskType() && endTime < System.currentTimeMillis()) {
                    continue;
                }
				// 创建航线任务
                Optional<WaylineJobDTO> waylineJobOpt = waylineJobService.createWaylineJob(param, customClaim.getWorkspaceId(), customClaim.getUsername(), beginTime, endTime);
                if (waylineJobOpt.isEmpty()) {
                    throw new SQLException("Failed to create wayline job.");
                }
                WaylineJobDTO waylineJob = waylineJobOpt.get();
                // If it is a conditional task type, add conditions to the job parameters.
                addConditions(waylineJob, param, beginTime, endTime);
				// 发布航线任务
                HttpResultResponse response = this.publishOneFlightTask(waylineJob);
                if (HttpResultResponse.CODE_SUCCESS != response.getCode()) {
                    return response;
                }
            }
        }
        return HttpResultResponse.success();
    }
	/**
	**	发布一个航线任务
	*/
	public HttpResultResponse publishOneFlightTask(WaylineJobDTO waylineJob) throws SQLException {
		// redis 中判断设备是否在线
        boolean isOnline = deviceRedisService.checkDeviceOnline(waylineJob.getDockSn());
        if (!isOnline) {
            throw new RuntimeException("Dock is offline.");
        }
		// 进行航线任务准备 下发任务 Topic: thing/product/{gateway_sn}/services Method: flighttask_prepare
        boolean isSuccess = this.prepareFlightTask(waylineJob);
        if (!isSuccess) {
            return HttpResultResponse.error("Failed to prepare job.");
        }

        // Issue an immediate task execution command.
        if (TaskTypeEnum.IMMEDIATE == waylineJob.getTaskType()) {
        	// 立即执行 航线任务
            if (!executeFlightTask(waylineJob.getWorkspaceId(), waylineJob.getJobId())) {
                return HttpResultResponse.error("Failed to execute job.");
            }
        }
		// 定时任务放入redis中，定时扫描 
        if (TaskTypeEnum.TIMED == waylineJob.getTaskType()) {
            // key: wayline_job_timed, value: {workspace_id}:{dock_sn}:{job_id}
            boolean isAdd = RedisOpsUtils.zAdd(RedisConst.WAYLINE_JOB_TIMED_EXECUTE,
                    waylineJob.getWorkspaceId() + RedisConst.DELIMITER + waylineJob.getDockSn() + RedisConst.DELIMITER + waylineJob.getJobId(),
                    waylineJob.getBeginTime().atZone(ZoneId.systemDefault()).toInstant().toEpochMilli());
            if (!isAdd) {
                return HttpResultResponse.error("Failed to create scheduled job.");
            }
        }

        return HttpResultResponse.success();
	/**
	*	 航线任务准备
	*/
 private Boolean prepareFlightTask(WaylineJobDTO waylineJob) throws SQLException {
        // 获取航线文件
        Optional<GetWaylineListResponse> waylineFile = waylineFileService.getWaylineByWaylineId(waylineJob.getWorkspaceId(), waylineJob.getFileId());
        if (waylineFile.isEmpty()) {
        	// 航线文件不存在
            throw new SQLException("Wayline file doesn't exist.");
        }

        // get file url
        URL url = waylineFileService.getObjectUrl(waylineJob.getWorkspaceId(), waylineFile.get().getId());

        FlighttaskPrepareRequest flightTask = new FlighttaskPrepareRequest()
                .setFlightId(waylineJob.getJobId())
                .setExecuteTime(waylineJob.getBeginTime().atZone(ZoneId.systemDefault()).toInstant().toEpochMilli())
                .setTaskType(waylineJob.getTaskType())
                .setWaylineType(waylineJob.getWaylineType())
                .setRthAltitude(waylineJob.getRthAltitude())
                .setOutOfControlAction(waylineJob.getOutOfControlAction())
                .setExitWaylineWhenRcLost(ExitWaylineWhenRcLostEnum.EXECUTE_RC_LOST_ACTION)
                .setFile(new FlighttaskFile()
                        .setUrl(url.toString())
                        .setFingerprint(waylineFile.get().getSign()));

        if (TaskTypeEnum.CONDITIONAL == waylineJob.getTaskType()) {
            if (Objects.isNull(waylineJob.getConditions())) {
                throw new IllegalArgumentException();
            }
            flightTask.setReadyConditions(waylineJob.getConditions().getReadyConditions());
            flightTask.setExecutableConditions(waylineJob.getConditions().getExecutableConditions());
        }
		// 发送消息 获取flighttaskPrepare的响应结果
        TopicServicesResponse<ServicesReplyData> serviceReply = abstractWaylineService.flighttaskPrepare(
                SDKManager.getDeviceSDK(waylineJob.getDockSn()), flightTask);
                // 如果失败 则更新航线任务失败
        if (!serviceReply.getData().getResult().isSuccess()) {
            log.info("Prepare task ====> Error code: {}", serviceReply.getData().getResult());
            waylineJobService.updateJob(WaylineJobDTO.builder()
                    .workspaceId(waylineJob.getWorkspaceId())
                    .jobId(waylineJob.getJobId())
                    .executeTime(LocalDateTime.now())
                    .status(WaylineJobStatusEnum.FAILED.getVal())
                    .completedTime(LocalDateTime.now())
                    .code(serviceReply.getData().getResult().getCode()).build());
            return false;
        }
        return true;
    }

	/**
		执行航线任务
	**/
    @Override
    public Boolean executeFlightTask(String workspaceId, String jobId) {
        // 查询航线任务
        Optional<WaylineJobDTO> waylineJob = waylineJobService.getJobByJobId(workspaceId, jobId);
        if (waylineJob.isEmpty()) {
            throw new IllegalArgumentException("Job doesn't exist.");
        }
		// redis 中获取机场在线状态
        boolean isOnline = deviceRedisService.checkDeviceOnline(waylineJob.get().getDockSn());
        if (!isOnline) {
            throw new RuntimeException("Dock is offline.");
        }
		
        WaylineJobDTO job = waylineJob.get();
		// 下发执行航线任务 Topic:thing/product/{gateway_sn}/services Method: flighttask_execute
        TopicServicesResponse<ServicesReplyData> serviceReply = abstractWaylineService.flighttaskExecute(
                SDKManager.getDeviceSDK(job.getDockSn()), new FlighttaskExecuteRequest().setFlightId(jobId));
        if (!serviceReply.getData().getResult().isSuccess()) {
            log.info("Execute job ====> Error: {}", serviceReply.getData().getResult());
            waylineJobService.updateJob(WaylineJobDTO.builder()
                    .jobId(jobId)
                    .executeTime(LocalDateTime.now())
                    .status(WaylineJobStatusEnum.FAILED.getVal())
                    .completedTime(LocalDateTime.now())
                    .code(serviceReply.getData().getResult().getCode()).build());
            // The conditional task fails and enters the blocking status.
            if (TaskTypeEnum.CONDITIONAL == job.getTaskType()
                    && WaylineErrorCodeEnum.find(serviceReply.getData().getResult().getCode()).isBlock()) {
                waylineRedisService.setBlockedWaylineJob(job.getDockSn(), jobId);
            }
            return false;
        }

2. 如果上述步骤没出错，那么通过监听 Topic:thing/product/{gateway_sn}/events_reply
   Method: flighttask_progress 获取任务执行进度
   

@Override
    public TopicEventsResponse<MqttReply> flighttaskProgress(TopicEventsRequest<EventsDataRequest<FlighttaskProgress>> response, MessageHeaders headers) {
    	// 获取任务进度相关消息
        EventsReceiver<FlighttaskProgress> eventsReceiver = new EventsReceiver<>();
        eventsReceiver.setResult(response.getData().getResult());
        eventsReceiver.setOutput(response.getData().getOutput());
        eventsReceiver.setBid(response.getBid());
        eventsReceiver.setSn(response.getGateway());

        FlighttaskProgress output = eventsReceiver.getOutput();
        log.info("Task progress: {}", output.getProgress().toString());
        if (!eventsReceiver.getResult().isSuccess()) {
            log.error("Task progress ===> Error: " + eventsReceiver.getResult());
        }

        Optional<DeviceDTO> deviceOpt = deviceRedisService.getDeviceOnline(response.getGateway());
        if (deviceOpt.isEmpty()) {
            return new TopicEventsResponse<>();
        }
		// 获取当前任务状态
        FlighttaskStatusEnum statusEnum = output.getStatus();
        // 更新redis中的运行中的航线任务
        waylineRedisService.setRunningWaylineJob(response.getGateway(), eventsReceiver);
		// 航线任务已结束
        if (statusEnum.isEnd()) {
            WaylineJobDTO job = WaylineJobDTO.builder()
                    .jobId(response.getBid())
                    .status(WaylineJobStatusEnum.SUCCESS.getVal())
                    .completedTime(LocalDateTime.now())
                    .mediaCount(output.getExt().getMediaCount())
                    .build();

            // 航线飞行过程中是否有媒体文件（拍照或者录像）
            if (Objects.nonNull(job.getMediaCount()) && job.getMediaCount() != 0) {
                mediaRedisService.setMediaCount(response.getGateway(), job.getJobId(),
                        MediaFileCountDTO.builder().deviceSn(deviceOpt.get().getChildDeviceSn())
                                .jobId(response.getBid()).mediaCount(job.getMediaCount()).uploadedCount(0).build());
            }
			
            if (FlighttaskStatusEnum.OK != statusEnum) {
                job.setCode(eventsReceiver.getResult().getCode());
                job.setStatus(WaylineJobStatusEnum.FAILED.getVal());
            }
            // 更新航线任务
            waylineJobService.updateJob(job);
            // 根据sn删除redis中运行中的任务
            waylineRedisService.delRunningWaylineJob(response.getGateway());
            // 根据bid 删除redis中暂停的任务
            waylineRedisService.delPausedWaylineJob(response.getBid());
        }
		// 发送websocket 消息通知前端
        webSocketMessageService.sendBatch(deviceOpt.get().getWorkspaceId(), UserTypeEnum.WEB.getVal(),
                BizCodeEnum.FLIGHT_TASK_PROGRESS.getCode(), eventsReceiver);

        return new TopicEventsResponse<>();
    }