增加自动断点续飞功能。

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

@@ -45,6 +45,10 @@ public final class RedisConst {
 
     public static final String WAYLINE_JOB_PAUSED_PREFIX = "wayline_job_paused" + DELIMITER;
 
+    public static final String WAYLINE_JOB_BREAK_POINT_PREFIX = "wayline_job_break_point" + DELIMITER;
+
+    public static final Integer WAYLINE_JOB_BREAK_POINT_ALIVE_SECOND = 60 * 60 * 24;
+
     public static final String OSD_PREFIX = "osd" + DELIMITER;
 
     public static final String MEDIA_FILE_PREFIX = "media_file" + DELIMITER;

sample/src/main/java/com/dji/sample/wayline/model/dto/WaylineJobDTO.java

@@ -89,4 +89,9 @@ public class WaylineJobDTO {
 
     private String orgId;
 
+    /**
+     * 断点
+     */
+    private FlighttaskBreakPoint breakPoint;
+
 }

sample/src/main/java/com/dji/sample/wayline/model/param/BreakPointWaylineJobEvent.java

+package com.dji.sample.wayline.model.param;
+
+import com.dji.sdk.cloudapi.wayline.FlighttaskBreakPoint;
+import lombok.Data;
+
+/**
+ * @author guan
+ */
+@Data
+public class BreakPointWaylineJobEvent {
+
+    private String taskId;
+
+    private FlighttaskBreakPoint breakPointInfo;
+
+    public BreakPointWaylineJobEvent(String taskId, FlighttaskBreakPoint breakPointInfo) {
+        this.taskId = taskId;
+        this.breakPointInfo = breakPointInfo;
+    }
+
+}

sample/src/main/java/com/dji/sample/wayline/model/param/CreateJobParam.java

 package com.dji.sample.wayline.model.param;
 
+import com.dji.sdk.cloudapi.wayline.FlighttaskBreakPoint;
 import com.dji.sdk.cloudapi.wayline.OutOfControlActionEnum;
 import com.dji.sdk.cloudapi.wayline.TaskTypeEnum;
 import com.dji.sdk.cloudapi.wayline.WaylineTypeEnum;
@@ -51,4 +52,14 @@ public class CreateJobParam {
 
     private String orgId;
 
+    /**
+     * 断点
+     */
+    private FlighttaskBreakPoint breakPoint;
+
+    /**
+     * 自动断点续飞 0 不续飞 1 续飞
+     */
+    private Integer breakPointResumeFlight;
+
 }

sample/src/main/java/com/dji/sample/wayline/service/IFlightTaskService.java

@@ -6,6 +6,7 @@ import com.dji.sample.wayline.model.dto.WaylineJobDTO;
 import com.dji.sample.wayline.model.param.CreateInFlightJobParam;
 import com.dji.sample.wayline.model.param.CreateJobParam;
 import com.dji.sample.wayline.model.param.UpdateJobParam;
+import com.dji.sdk.cloudapi.wayline.FlighttaskBreakPoint;
 import com.dji.sdk.common.HttpResultResponse;
 
 import java.sql.SQLException;
@@ -95,4 +96,6 @@ public interface IFlightTaskService {
 
     void publishCancelInFlightTask(String workspaceId, String dockSn);
 
+    HttpResultResponse publishTimeFlightTask(String taskId, FlighttaskBreakPoint breakPoint);
+
 }

sample/src/main/java/com/dji/sample/wayline/service/IWaylineJobService.java

@@ -60,6 +60,8 @@ public interface IWaylineJobService extends IService<WaylineJobEntity> {
      */
     Optional<WaylineJobDTO> getJobByJobId(String workspaceId, String jobId);
 
+    WaylineJobEntity getJobEntityByJobId(String jobId);
+
     /**
      * Update job data.
      * @param dto

sample/src/main/java/com/dji/sample/wayline/service/IWaylineRedisService.java

@@ -97,4 +97,12 @@ public interface IWaylineRedisService {
     Double getConditionalWaylineJobTime(ConditionalWaylineJobKey jobKey);
 
     Boolean removePrepareConditionalWaylineJob(ConditionalWaylineJobKey jobKey);
+
+    // 增加 自动断点续飞
+    void setBreakPointWaylineJobDockSn(String jobId, String dockSn);
+    // 获取是否有断点续飞
+    String getBreakPointWaylineJobDockSn(String jobId);
+    // 删除 自动断点续飞
+    Boolean delBreakPointWaylineJobDockSn(String jobId);
+
 }

sample/src/main/java/com/dji/sample/wayline/service/impl/FlightTaskServiceImpl.java

@@ -15,15 +15,14 @@ import com.dji.sample.media.service.IMediaRedisService;
 import com.dji.sample.wayline.model.dto.ConditionalWaylineJobKey;
 import com.dji.sample.wayline.model.dto.WaylineJobDTO;
 import com.dji.sample.wayline.model.dto.WaylineTaskConditionDTO;
+import com.dji.sample.wayline.model.entity.WaylineJobEntity;
 import com.dji.sample.wayline.model.enums.WaylineErrorCodeEnum;
 import com.dji.sample.wayline.model.enums.WaylineJobStatusEnum;
+import com.dji.sample.wayline.model.param.BreakPointWaylineJobEvent;
 import com.dji.sample.wayline.model.param.CreateInFlightJobParam;
 import com.dji.sample.wayline.model.param.CreateJobParam;
 import com.dji.sample.wayline.model.param.UpdateJobParam;
-import com.dji.sample.wayline.service.IFlightTaskService;
-import com.dji.sample.wayline.service.IWaylineFileService;
-import com.dji.sample.wayline.service.IWaylineJobService;
-import com.dji.sample.wayline.service.IWaylineRedisService;
+import com.dji.sample.wayline.service.*;
 import com.dji.sdk.cloudapi.device.*;
 import com.dji.sdk.cloudapi.media.UploadFlighttaskMediaPrioritize;
 import com.dji.sdk.cloudapi.media.api.AbstractMediaService;
@@ -38,6 +37,7 @@ import com.dji.sdk.mqtt.events.TopicEventsResponse;
 import com.dji.sdk.mqtt.services.ServicesReplyData;
 import com.dji.sdk.mqtt.services.TopicServicesResponse;
 import com.fasterxml.jackson.databind.ObjectMapper;
+import lombok.SneakyThrows;
 import lombok.extern.slf4j.Slf4j;
 import org.apache.http.HttpStatus;
 import org.springframework.beans.factory.annotation.Autowired;
@@ -47,12 +47,15 @@ import org.springframework.scheduling.annotation.Async;
 import org.springframework.scheduling.annotation.Scheduled;
 import org.springframework.stereotype.Service;
 import org.springframework.util.StringUtils;
+import org.springframework.context.event.EventListener;
 
 import java.net.URL;
 import java.sql.SQLException;
 import java.time.*;
 import java.util.*;
 import java.util.concurrent.TimeUnit;
+import java.util.regex.Matcher;
+import java.util.regex.Pattern;
 import java.util.stream.Collectors;
 
 /**
@@ -252,6 +255,12 @@ public class FlightTaskServiceImpl extends AbstractWaylineService implements IFl
                     throw new SQLException("Failed to create wayline job.");
                 }
                 WaylineJobDTO waylineJob = waylineJobOpt.get();
+                /**
+                 * 起始飞行断点
+                 */
+                if (param.getBreakPoint() != null) {
+                    waylineJob.setBreakPoint(param.getBreakPoint());
+                }
                 // If it is a conditional task type, add conditions to the job parameters.
                 addConditions(waylineJob, param, beginTime, endTime);
 
@@ -264,6 +273,90 @@ public class FlightTaskServiceImpl extends AbstractWaylineService implements IFl
         return HttpResultResponse.success();
     }
 
+    @SneakyThrows
+    @EventListener
+    public HttpResultResponse publishTimeFlightTask(BreakPointWaylineJobEvent event) {
+
+        String taskId = event.getTaskId();
+        FlighttaskBreakPoint breakPoint = event.getBreakPointInfo();
+        return this.publishTimeFlightTask(taskId, breakPoint);
+    }
+
+    @SneakyThrows
+    @Override
+    public HttpResultResponse publishTimeFlightTask(String taskId, FlighttaskBreakPoint breakPoint) {
+        // 查询任务详情
+        WaylineJobEntity jobEntity = waylineJobService.getJobEntityByJobId(taskId);
+
+        // token
+        CustomClaim customClaim = new CustomClaim();
+        customClaim.setWorkspaceId(jobEntity.getWorkspaceId());
+
+        customClaim.setUsername(jobEntity.getUsername());
+        customClaim.setOrgId(jobEntity.getOrgId());
+
+        // 创建 开始和结束时间是 20-40分钟 电量90 条件任务
+        CreateJobParam param = new CreateJobParam();
+        // 任务信息
+        param.setOrgId(jobEntity.getOrgId());
+        String breakPointTaskName = getBreakPointTaskName(jobEntity.getName());
+        param.setName(breakPointTaskName);
+
+        param.setFileId(jobEntity.getFileId());
+        param.setDockSn(jobEntity.getDockSn());
+        param.setWaylineType(WaylineTypeEnum.find(jobEntity.getWaylineType()));
+        param.setRthAltitude(jobEntity.getRthAltitude());
+        param.setOutOfControlAction(OutOfControlActionEnum.find(jobEntity.getOutOfControlAction()));
+
+        // 断点
+        param.setBreakPoint(breakPoint);
+
+        // 条件信息
+        param.setTaskType(TaskTypeEnum.CONDITIONAL);
+        param.setMinBatteryCapacity(90);
+        ZoneId zone = ZoneId.systemDefault();
+        // 当前时间加20分钟
+        ZonedDateTime now = ZonedDateTime.now(zone);
+        ZonedDateTime plus30Min = now.plusMinutes(20);
+        long timestampPlus30Min = plus30Min.toInstant().getEpochSecond();
+        // 20分钟之后当天0点（如果跨天就是第二天0点）
+        LocalDateTime targetDate = plus30Min.toLocalDate().atStartOfDay();
+        long timestampMidnight = targetDate.atZone(zone).toInstant().getEpochSecond();
+        List<Long> taskDays = new ArrayList<>();
+        taskDays.add(timestampMidnight);
+        param.setTaskDays(taskDays);
+        List<List<Long>> taskPeriods = new ArrayList<>();
+        List<Long> tempPeriod = new ArrayList<>();
+        tempPeriod.add(timestampPlus30Min);
+        // 结束时间 再加20分钟
+        tempPeriod.add(timestampPlus30Min + 20 * 60);
+        taskPeriods.add(tempPeriod);
+        param.setTaskPeriods(taskPeriods);
+        // 自动断点续飞
+        param.setBreakPointResumeFlight(1);
+
+        // minStorageCapacity   存储容量
+
+        return this.publishFlightTask(param, customClaim);
+    }
+
+    public static String getBreakPointTaskName(String name) {
+        if (name == null || name.isEmpty()) {
+            return name;
+        }
+        // 设置 断点续飞任务名称规则 -x
+        Pattern pattern = Pattern.compile("^(.*?)-(\\d+)$");
+        Matcher matcher = pattern.matcher(name);
+
+        if (matcher.matches()) {
+            String prefix = matcher.group(1);
+            int num = Integer.parseInt(matcher.group(2));
+            return prefix + "-" + (num + 1);
+        } else {
+            return name + "-1";
+        }
+    }
+
     public HttpResultResponse publishOneFlightTask(WaylineJobDTO waylineJob) throws SQLException {
 
         boolean isOnline = deviceRedisService.checkDeviceOnline(waylineJob.getDockSn());
@@ -346,6 +439,10 @@ public class FlightTaskServiceImpl extends AbstractWaylineService implements IFl
         if (waylineJob.getSimulateMission() != null) {
             flightTask.setSimulateMission(waylineJob.getSimulateMission());
         }
+        // 设置航线任务断点
+        if (waylineJob.getBreakPoint() != null) {
+            flightTask.setBreakPoint(waylineJob.getBreakPoint());
+        }
 
         if (TaskTypeEnum.CONDITIONAL == waylineJob.getTaskType()) {
             if (Objects.isNull(waylineJob.getConditions())) {

sample/src/main/java/com/dji/sample/wayline/service/impl/SDKWaylineService.java

@@ -11,9 +11,8 @@ import com.dji.sample.media.model.MediaFileCountDTO;
 import com.dji.sample.media.service.IMediaRedisService;
 import com.dji.sample.wayline.model.dto.WaylineJobDTO;
 import com.dji.sample.wayline.model.enums.WaylineJobStatusEnum;
-import com.dji.sample.wayline.service.IWaylineFileService;
-import com.dji.sample.wayline.service.IWaylineJobService;
-import com.dji.sample.wayline.service.IWaylineRedisService;
+import com.dji.sample.wayline.model.param.BreakPointWaylineJobEvent;
+import com.dji.sample.wayline.service.*;
 import com.dji.sdk.cloudapi.wayline.*;
 import com.dji.sdk.cloudapi.wayline.api.AbstractWaylineService;
 import com.dji.sdk.mqtt.MqttReply;
@@ -22,12 +21,15 @@ import com.dji.sdk.mqtt.events.TopicEventsRequest;
 import com.dji.sdk.mqtt.events.TopicEventsResponse;
 import com.dji.sdk.mqtt.requests.TopicRequestsRequest;
 import com.dji.sdk.mqtt.requests.TopicRequestsResponse;
+import com.fasterxml.jackson.databind.ObjectMapper;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.context.ApplicationEventPublisher;
 import org.springframework.messaging.MessageHeaders;
 import org.springframework.stereotype.Service;
 import org.springframework.transaction.annotation.Isolation;
 import org.springframework.transaction.annotation.Transactional;
+import org.springframework.util.StringUtils;
 
 import java.net.URL;
 import java.sql.SQLException;
@@ -62,6 +64,12 @@ public class SDKWaylineService extends AbstractWaylineService {
     @Autowired
     private IWaylineFileService waylineFileService;
 
+    @Autowired
+    private ApplicationEventPublisher eventPublisher;
+
+    @Autowired
+    private ObjectMapper mapper;
+
     @Override
     public TopicEventsResponse<MqttReply> deviceExitHomingNotify(TopicEventsRequest<DeviceExitHomingNotify> request, MessageHeaders headers) {
         return super.deviceExitHomingNotify(request, headers);
@@ -81,6 +89,29 @@ public class SDKWaylineService extends AbstractWaylineService {
             log.error("Task progress ===> Error: " + eventsReceiver.getResult());
         }
 
+        // 单独记录 任务的状态
+        // 如果是没电或者其他情况 任务中止  处理任务状态
+        // 记录断点信息  中断
+        ProgressExtBreakPoint breakPoint = output.getExt().getBreakPoint();
+        if (breakPoint != null) {
+            FlighttaskBreakReasonEnum breakReason = breakPoint.getBreakReason();
+
+            // 判断当前是否自动断点续传任务
+            String taskId = response.getBid();
+            String dockSn = waylineRedisService.getBreakPointWaylineJobDockSn(taskId);
+            if (StringUtils.hasText(dockSn)) {
+                // 转换断点
+                FlighttaskBreakPoint breakPointInfo = mapper.convertValue(breakPoint, FlighttaskBreakPoint.class);
+                // 假如断点是 低电量
+                if (breakReason == FlighttaskBreakReasonEnum.LOW_BATTERY_RTH) {
+                    // 删除redis记录
+                    waylineRedisService.delBreakPointWaylineJobDockSn(taskId);
+                    // 自动创建一个30分钟之后的任务
+                    eventPublisher.publishEvent(new BreakPointWaylineJobEvent(taskId, breakPointInfo));
+                }
+            }
+        }
+
         Optional<DeviceDTO> deviceOpt = deviceRedisService.getDeviceOnline(response.getGateway());
         if (deviceOpt.isEmpty()) {
             return new TopicEventsResponse<>();

sample/src/main/java/com/dji/sample/wayline/service/impl/WaylineJobServiceImpl.java

@@ -129,6 +129,11 @@ public class WaylineJobServiceImpl extends ServiceImpl<IWaylineJobMapper, Waylin
                 .mediaCount(0)
                 .build();
 
+        // 断点续飞存redis
+        if (param.getBreakPointResumeFlight() != null && param.getBreakPointResumeFlight() == 1) {
+            waylineRedisService.setBreakPointWaylineJobDockSn(jobId, param.getDockSn());
+        }
+
         return insertWaylineJob(jobEntity);
     }
 
@@ -184,6 +189,14 @@ public class WaylineJobServiceImpl extends ServiceImpl<IWaylineJobMapper, Waylin
     }
 
     @Override
+    public WaylineJobEntity getJobEntityByJobId(String jobId) {
+        WaylineJobEntity jobEntity = mapper.selectOne(
+                new LambdaQueryWrapper<WaylineJobEntity>()
+                        .eq(WaylineJobEntity::getJobId, jobId));
+        return jobEntity;
+    }
+
+    @Override
     public Boolean updateJob(WaylineJobDTO dto) {
         return mapper.update(this.dto2Entity(dto),
                 new LambdaUpdateWrapper<WaylineJobEntity>()

sample/src/main/java/com/dji/sample/wayline/service/impl/WaylineRedisServiceImpl.java

@@ -109,4 +109,22 @@ public class WaylineRedisServiceImpl implements IWaylineRedisService {
     public Boolean removePrepareConditionalWaylineJob(ConditionalWaylineJobKey jobKey) {
         return RedisOpsUtils.zRemove(RedisConst.WAYLINE_JOB_CONDITION_PREPARE, jobKey.getKey());
     }
+
+    // 增加 自动断点续飞
+    @Override
+    public void setBreakPointWaylineJobDockSn(String jobId, String dockSn) {
+        RedisOpsUtils.setWithExpire(RedisConst.WAYLINE_JOB_BREAK_POINT_PREFIX + jobId, dockSn, RedisConst.WAYLINE_JOB_BREAK_POINT_ALIVE_SECOND);
+    }
+
+    // 获取是否有断点续飞
+    @Override
+    public String getBreakPointWaylineJobDockSn(String jobId) {
+        return (String) RedisOpsUtils.get(RedisConst.WAYLINE_JOB_BREAK_POINT_PREFIX + jobId);
+    }
+    // 删除 自动断点续飞
+    @Override
+    public Boolean delBreakPointWaylineJobDockSn(String jobId) {
+        return RedisOpsUtils.del(RedisConst.WAYLINE_JOB_BREAK_POINT_PREFIX + jobId);
+    }
+
 }