无人机返航

tuoheng-service/tuoheng-admin/src/main/java/com/tuoheng/admin/controller/AirPortController.java

     @PostMapping("/reversalFlight")
     public JsonResult reversalFlight(@RequestBody ReversalFlightRequest request){
         log.info("进入无人机返航接口: request={}", request);
-        return JsonResult.success();
+        return airportService.reversalFlight(request);
     }
 
 }

tuoheng-service/tuoheng-admin/src/main/java/com/tuoheng/admin/entity/request/airport/ReversalFlightRequest.java

 public class ReversalFlightRequest {
 
     /**
-     * 应急事故id
+     * 任务id
      */
-    private String accidentId;
+    private String inspectionId;
 
     /**
      * 校验数字符

tuoheng-service/tuoheng-admin/src/main/java/com/tuoheng/admin/service/third/airport/AirportService.java

 
 import com.tuoheng.admin.entity.domain.Inspection;
 import com.tuoheng.admin.entity.request.airport.DroneHoverRequest;
+import com.tuoheng.admin.entity.request.airport.ReversalFlightRequest;
 import com.tuoheng.common.core.utils.JsonResult;
 
 public interface AirportService {
      */
     JsonResult hover(DroneHoverRequest request);
 
+    /**
+     * 无人机返航
+     * @param request
+     * @return
+     */
+    JsonResult reversalFlight(ReversalFlightRequest request);
 }

tuoheng-service/tuoheng-admin/src/main/java/com/tuoheng/admin/service/third/airport/AirportServiceImpl.java

 
 import com.tuoheng.admin.entity.domain.Inspection;
 import com.tuoheng.admin.entity.request.airport.DroneHoverRequest;
+import com.tuoheng.admin.entity.request.airport.ReversalFlightRequest;
 import com.tuoheng.admin.service.third.airport.drone.DroneService;
+import com.tuoheng.admin.service.third.airport.reversal.ReversalFlightService;
 import com.tuoheng.common.core.utils.JsonResult;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.stereotype.Service;
     @Autowired
     private DroneService droneService;
 
+    @Autowired
+    private ReversalFlightService reversalFlightService;
+
     @Override
     public JsonResult getAirportList() {
         return getAirportListService.getAirportList();
         return droneService.hover(request.getInspectiontId());
     }
 
+    @Override
+    public JsonResult reversalFlight(ReversalFlightRequest request) {
+        return reversalFlightService.reversal(request);
+    }
+
 }

tuoheng-service/tuoheng-admin/src/main/java/com/tuoheng/admin/service/third/airport/reversal/ReversalFlightService.java

+package com.tuoheng.admin.service.third.airport.reversal;
+
+import cn.hutool.core.util.ObjectUtil;
+import com.alibaba.fastjson.JSONObject;
+import com.tuoheng.admin.constant.SystemConstant;
+import com.tuoheng.admin.entity.domain.Inspection;
+import com.tuoheng.admin.entity.domain.User;
+import com.tuoheng.admin.entity.request.airport.ReversalFlightRequest;
+import com.tuoheng.admin.enums.InspectionStatusEnum;
+import com.tuoheng.admin.enums.code.inspection.EditInspectionCodeEnum;
+import com.tuoheng.admin.mapper.InspectionMapper;
+import com.tuoheng.admin.utils.CurrentUserUtil;
+import com.tuoheng.common.core.config.common.CommonConfig;
+import com.tuoheng.common.core.exception.ServiceException;
+import com.tuoheng.common.core.utils.*;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.stereotype.Service;
+
+/**
+ * @Author ChengWang
+ * @Date 2023/5/25
+ */
+@Service
+@Slf4j
+public class ReversalFlightService {
+
+    @Autowired
+    private InspectionMapper inspectionMapper;
+
+
+    public JsonResult reversal(ReversalFlightRequest request) {
+        User user = CurrentUserUtil.getUserInfo();
+        String userId = user.getId();
+        String tenantId = user.getTenantId();
+        JsonResult result = this.check(userId,tenantId,request);
+        if(0 != result.getCode()){
+            log.info("进入无人机返航校验失败：{}",result.getMsg());
+        }
+        request.setZhilin("03");
+        log.info("进入调用无人机平台,回仓指令值：{}",request.getZhilin());
+        JsonResult jsonResult = this.queryInspection(request);
+        if(0 != jsonResult.getCode()){
+            return JsonResult.error(jsonResult.getCode(),jsonResult.getMsg());
+        }
+        Inspection inspection = (Inspection) jsonResult.getData();
+        //回仓
+        JsonResult resultData = this.getReversalFlight(inspection);
+        if(0 != resultData.getCode()){
+            return JsonResult.error(jsonResult.getCode(),jsonResult.getMsg());
+        }
+
+        return JsonResult.success("无人机返航成功");
+    }
+
+    private JsonResult getReversalFlight(Inspection inspection) {
+        log.info("执行无人机回仓");
+        inspection.setStatus(InspectionStatusEnum.FLIGHT_COMPLETED.getCode());
+        inspection.setUpdateTime(DateUtils.now());
+        inspection.setUpdateUser(CurrentUserUtil.getUserId());
+        int count = inspectionMapper.updateById(inspection);
+        if(count<=0){
+            log.info("修改任务状态失败：{}",inspection);
+            throw new SecurityException("修改任务状态失败");
+        }
+        //调用机场平台返航
+        String url = CommonConfig.airportURL + SystemConstant.API_AIRPORT_DRONE_CONTROL;
+        JSONObject jsonObject = new JSONObject();
+        jsonObject.put("airportId", inspection.getAirportId());
+        jsonObject.put("taskId", inspection.getId());
+        jsonObject.put("zhilin", "03");
+        jsonObject.put("msg", "回仓");
+        log.info("调用机场平台，无人机执行定点飞行返航：url:{}", url);
+        log.info("调用机场平台，原无人机执行定点飞行返航，jsonObject:{}", jsonObject);
+
+        String airPortStr = HttpUtils.doSend(url,jsonObject,null,"POST");
+        log.info("调用无人机平台，操作无人机：airPortStr:{}", airPortStr);
+        if (StringUtils.isEmpty(airPortStr)) {
+            log.info("原无人机执行定点飞行返航：机场接口返回数据为空，返航失败，jsonObject：{}", jsonObject);
+            throw new ServiceException("机场接口返回数据为空，返航失败");
+        }
+        JsonResult jsonResult = JacksonUtil.json2pojo(airPortStr, JsonResult.class);
+        if(0 != jsonResult.getCode()){
+            log.info("调用机场平台，无人机执行定点飞行：返航失败，jsonResult：{}", jsonResult.getMsg());
+            return JsonResult.error(-1, jsonResult.getMsg());
+        }
+        log.info("调用无人机平台返航结束");
+        return JsonResult.success();
+
+
+    }
+
+    private JsonResult queryInspection(ReversalFlightRequest request) {
+        Inspection inspection = inspectionMapper.selectById(request.getInspectionId());
+        if(ObjectUtil.isNull(inspection)){
+            return JsonResult.error("巡检任务为空");
+        }
+        return JsonResult.success(inspection);
+    }
+
+    private JsonResult check(String userId, String tenantId, ReversalFlightRequest request) {
+        if(StringUtils.isEmpty(request.getInspectionId())){
+            return JsonResult.error(EditInspectionCodeEnum.ID_IS_NULL.getCode(),EditInspectionCodeEnum.ID_IS_NULL.getMsg());
+        }
+        return JsonResult.success();
+    }
+}