提交操控无人机接口代码

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

     public JsonResult statisticsByMonth() {
         return accidentService.statisticsByMonth();
     }
+
+    @PostMapping(value = "/droneControl")
+    public JsonResult droneControl(@RequestBody DroneControlRequest request) {
+//        log.info("进入操作无人机接口, request={}", request);
+        return accidentService.droneControl(request);
+    }
+
 }

tuoheng-service/tuoheng-admin/src/main/java/com/tuoheng/admin/request/accident/DroneControlRequest.java

+package com.tuoheng.admin.request.accident;
+
+import lombok.Data;
+
+/**
+ * 事故上报请求实体
+ *
+ * @author wanjing
+ * @team tuoheng
+ * @date 2023-03-15
+ */
+@Data
+public class DroneControlRequest {
+
+    /**
+     * 任务id
+     */
+    private String inspectionId;
+
+    /**
+     * 操作类型：1:悬停；2：指点飞行；3：继续任务；4：立即返航；5：取消任务
+     */
+    private Integer type;
+
+    /**
+     * 机场任务ID
+     */
+    private Integer airportTaskId;
+
+    /**
+     * 巡检机场id
+     */
+    private Integer airportId;
+
+    /**
+     * 高度
+     */
+    private Integer zalt;
+
+    /**
+     * 纬度
+     */
+    private String latitude;
+
+    /**
+     * 经度
+     */
+    private String longitude;
+
+    /**
+     * 租户code
+     */
+    private String tenantCode;
+
+
+}

tuoheng-service/tuoheng-admin/src/main/java/com/tuoheng/admin/service/accident/AccidentServiceImpl.java

 import com.tuoheng.admin.service.accident.statistics.StatisticsByMonthService;
 import com.tuoheng.admin.service.accident.verify.AccidentVerifyCompletedService;
 import com.tuoheng.admin.service.accident.verify.AccidentVerifyService;
+import com.tuoheng.admin.service.third.airport.control.AirportDroneControlService;
 import com.tuoheng.common.core.common.BaseServiceImpl;
 import com.tuoheng.common.core.utils.JsonResult;
 import lombok.extern.slf4j.Slf4j;
     @Autowired
     private StatisticsByMonthService statisticsByMonthService;
 
+    @Autowired
+    private AirportDroneControlService airportDroneControlService;
+
     @Override
     public JsonResult getRealtimeInfoList(QueryAccidentRealtimeInfoListRequest request) {
         return queryAccidentRealtimeInfoListService.getList(request);
     public JsonResult statisticsByMonth() {
         return statisticsByMonthService.statistics();
     }
+
+    /**
+     *  操作无人机
+     *
+     * @return 结果
+     */
+    @Override
+    public JsonResult droneControl(DroneControlRequest request) {
+        return airportDroneControlService.exec(request);
+    }
 }

tuoheng-service/tuoheng-admin/src/main/java/com/tuoheng/admin/service/accident/IAccidentService.java

      */
     JsonResult statisticsByMonth();
 
+
+    /**
+     *  操作无人机
+     *
+     * @return 结果
+     */
+    JsonResult droneControl(DroneControlRequest request);
+
+
 }

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

 
     JsonResult reversalFlight(ReversalFlightRequest request);
 
-    JsonResult controlDrone(Integer inspectionId);
 }

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

         return reversalFlightService.reversalFlight(request);
     }
 
-    @Override
-    public JsonResult controlDrone(Integer inspectionId) {
-        return null;
-    }
-
-
 }

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

 package com.tuoheng.admin.service.third.airport.control;
 
+import cn.hutool.core.util.ObjectUtil;
 import com.alibaba.fastjson.JSONObject;
+import com.baomidou.mybatisplus.core.toolkit.Wrappers;
 import com.tuoheng.admin.constant.SystemConstant;
+import com.tuoheng.admin.entity.Inspection;
+import com.tuoheng.admin.entity.Tenant;
+import com.tuoheng.admin.enums.MarkEnum;
+import com.tuoheng.admin.mapper.InspectionMapper;
+import com.tuoheng.admin.mapper.TenantMapper;
+import com.tuoheng.admin.request.accident.DroneControlRequest;
+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.JsonResult;
 @Service
 public class AirportDroneControlService {
 
+    @Autowired
+    private TenantMapper tenantMapper;
+
+    @Autowired
+    private InspectionMapper inspectionMapper;
+
+    @Autowired
+    private DroneContinueService droneContinueService;
+
+    @Autowired
+    private DroneGuideFlightService droneGuideFlightService;
+
+    @Autowired
+    private DronePauseService dronePauseService;
+
+    @Autowired
+    private DroneReturnHomeService droneReturnHomeService;
+
+    @Autowired
+    private DroneUndoService droneUndoService;
+
     @Autowired
     @Qualifier("restTemplate")
     private RestTemplate restTemplate;
 
+    /**
+     * @return
+     */
+    public JsonResult exec(DroneControlRequest request) {
+        //查询当前对应的任务
+        Inspection inspection = inspectionMapper.selectOne(Wrappers.<Inspection>lambdaQuery()
+                .eq(Inspection::getId, request.getInspectionId())
+                .eq(Inspection::getMark, MarkEnum.VALID.getCode()));
+        if (ObjectUtil.isEmpty(inspection)) {
+            throw new ServiceException("操控无人机，该任务不存在");
+        }
+
+        Tenant tenant = tenantMapper.selectById(CurrentUserUtil.getTenantId());
+        if (ObjectUtil.isEmpty(tenant)) {
+            throw new ServiceException("操控无人机，该租户不存在");
+        }
+        request.setAirportId(inspection.getAirportId());
+        request.setAirportTaskId(request.getAirportTaskId());
+        request.setTenantCode(tenant.getCode());
+
+        // 1:悬停；2：指点飞行；3：继续任务；4：立即返航；5：取消任务
+        JSONObject jsonObject = null;
+        if  (1 == request.getType()) {
+            // 悬停
+            jsonObject = dronePauseService.getJSONObject(request);
+        } else if  (2 == request.getType()) {
+            // 指点飞行
+            jsonObject = droneGuideFlightService.getJSONObject(request);
+        } else if  (3 == request.getType()) {
+            // 继续任务
+            jsonObject = droneContinueService.getJSONObject(request);
+        } else if  (4 == request.getType()) {
+            // 立即返航
+            jsonObject = droneReturnHomeService.getJSONObject(request);
+        } else if  (5 == request.getType()) {
+            // 取消任务
+            jsonObject = droneUndoService.getJSONObject(request);
+        } else {
+            throw new ServiceException("操控无人机，错误的操作指令");
+        }
+        JsonResult jsonResult = this.call(jsonObject);
+        return jsonResult;
+    }
 
     /**
      * @return
      */
-    public JsonResult exec(JSONObject jsonObject) {
+    private JsonResult call(JSONObject jsonObject) {
         String url = CommonConfig.airportURL + SystemConstant.API_AIRPORT_DRONE_CONTROL;
         log.info("调用机场平台，操作无人机，url:{}", url);
         log.info("调用机场平台，操作无人机，jsonObject:{}", jsonObject);
         try {
             response = restTemplate.exchange(url, HttpMethod.POST, httpEntity, JsonResult.class);
         } catch (Exception e) {
-            log.error("调用机场平台，接口异常, url:{}", url);
-            log.error("调用机场平台，接口异常, httpEntity:{}", httpEntity);
+            log.error("调用机场平台，操作无人机，接口异常, url:{}", url);
+            log.error("调用机场平台，操作无人机，接口异常, httpEntity:{}", httpEntity);
             throw new ServiceException("调用机场平台，接口异常");
         }
         JsonResult jsonResult = response.getBody();

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

 
 import com.alibaba.fastjson.JSONObject;
 import com.tuoheng.admin.constant.SystemConstant;
+import com.tuoheng.admin.entity.Inspection;
+import com.tuoheng.admin.request.accident.DroneControlRequest;
 import com.tuoheng.common.core.config.common.CommonConfig;
 import com.tuoheng.common.core.exception.ServiceException;
 import com.tuoheng.common.core.utils.JsonResult;
 @Service
 public class DroneContinueService {
 
-    @Autowired
-    private AirportDroneControlService airportDroneControlService;
-
     /**
-     * 调用机场平台，原无人机继续巡检
+     * 用机场平台，原无人机继续巡检
      *
-     * @param airportId    机场Id
-     * @param taskId 巡检任务Id
-     */
-    public JsonResult continuee(Integer airportId, Integer taskId) {
-        log.info("继续任务, taskId={}", taskId);
-        JSONObject jsonObject = this.getJSONObject(airportId, taskId);
-        JsonResult result = airportDroneControlService.exec(jsonObject);
-        return result;
-    }
-
-    /**
-     * @param airportId
-     * @param taskId
+     * @param request
      * @return
      */
-    private JSONObject getJSONObject(Integer airportId, Integer taskId) {
+    public JSONObject getJSONObject(DroneControlRequest request) {
+        log.info("继续巡检, inspectionId={}", request.getInspectionId());
         JSONObject jsonObject = new JSONObject();
         jsonObject.put("zhilin", "04");
-        jsonObject.put("airportId", airportId);
-        jsonObject.put("taskId", taskId);
+        jsonObject.put("airportId", request.getAirportId());
+        jsonObject.put("taskId", request.getAirportTaskId());
         jsonObject.put("msg", "继续巡检");
         return jsonObject;
     }

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

 package com.tuoheng.admin.service.third.airport.control;
 
 import com.alibaba.fastjson.JSONObject;
+import com.baomidou.mybatisplus.core.toolkit.Wrappers;
 import com.tuoheng.admin.constant.SystemConstant;
+import com.tuoheng.admin.entity.Inspection;
+import com.tuoheng.admin.entity.Tenant;
+import com.tuoheng.admin.enums.MarkEnum;
+import com.tuoheng.admin.mapper.TenantMapper;
+import com.tuoheng.admin.request.accident.DroneControlRequest;
 import com.tuoheng.common.core.utils.JsonResult;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.beans.factory.annotation.Autowired;
 @Service
 public class DroneExecuteService {
 
-    @Autowired
-    private AirportDroneControlService airportDroneControlService;
-
     /**
      * 执行任务
      *
-     * @param taskId
-     * @return
-     */
-    public JsonResult callBack(Integer taskId, String url, Integer airportId, String tenantCode) {
-        log.info("执行任务, taskId={}", taskId);
-        JSONObject jsonObject = this.getJSONObject(taskId, url, airportId, tenantCode);
-        JsonResult result = airportDroneControlService.exec(jsonObject);
-        return result;
-    }
-
-    /**
-     * @param taskId
-     * @param url
+     * @param request
      * @return
      */
-    private JSONObject getJSONObject(Integer taskId, String url, Integer airportId, String tenantCode) {
+    public JSONObject getJSONObject(DroneControlRequest request) {
+        String url = "";
         JSONObject jsonObject = new JSONObject();
-        jsonObject.put("requestId", taskId);
-        jsonObject.put("airportId", airportId);
+        jsonObject.put("requestId", request.getAirportTaskId());
+        jsonObject.put("airportId", request.getAirportId());
         jsonObject.put("code", SystemConstant.PLATFORM_CODE);
-        jsonObject.put("tenantCode", tenantCode);
+        jsonObject.put("tenantCode", request.getTenantCode());
         jsonObject.put("wayUrl", url);
         return jsonObject;
     }

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

+package com.tuoheng.admin.service.third.airport.control;
+
+import com.alibaba.fastjson.JSONObject;
+import com.tuoheng.admin.constant.DroneControlConstant;
+import com.tuoheng.admin.entity.Inspection;
+import com.tuoheng.admin.request.accident.DroneControlRequest;
+import com.tuoheng.common.core.utils.JsonResult;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.stereotype.Service;
+
+@Slf4j
+@Service
+public class DroneGuideFlightService {
+
+    /**
+     * 指点飞行
+     *
+     * @param request
+     * @return
+     */
+    public JSONObject getJSONObject(DroneControlRequest request)  {
+        log.info("指点飞行, inspectionId={}", request.getInspectionId());
+        JSONObject jsonObject = new JSONObject();
+        jsonObject.put("taskId", request.getAirportTaskId());
+        jsonObject.put("airportId", request.getAirportId());
+        jsonObject.put("zalt", request.getZalt());
+        jsonObject.put("zlon", request.getLongitude());
+        jsonObject.put("zlat", request.getLatitude());
+        return jsonObject;
+    }
+}

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

 
 import com.alibaba.fastjson.JSONObject;
 import com.tuoheng.admin.constant.DroneControlConstant;
+import com.tuoheng.admin.entity.Inspection;
+import com.tuoheng.admin.request.accident.DroneControlRequest;
 import com.tuoheng.common.core.utils.JsonResult;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.beans.factory.annotation.Autowired;
 @Service
 public class DronePauseService {
 
-    @Autowired
-    private AirportDroneControlService airportDroneControlService;
-
     /**
      * 航线暂停
      *
-     * @param airportId
-     * @return
-     */
-    public JsonResult pause(Integer airportId) {
-        log.info("航线暂停, airportId={}", airportId);
-        JSONObject jsonObject = this.getJSONObject(airportId);
-        JsonResult result = airportDroneControlService.exec(jsonObject);
-        return result;
-    }
-
-    /**
-     * @param airportId
+     * @param request
      * @return
      */
-    private JSONObject getJSONObject(Integer airportId) {
+    public JSONObject getJSONObject(DroneControlRequest request) {
+        log.info("航线暂停, inspectionId={}", request.getInspectionId());
         JSONObject jsonObject = new JSONObject();
         jsonObject.put("zhilin", DroneControlConstant.PAUSE);
-        jsonObject.put("airportId", Integer.valueOf(airportId));
+        jsonObject.put("airportId", request.getAirportTaskId());
         jsonObject.put("msg", "航线暂停");
         return jsonObject;
     }

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

 
 import com.alibaba.fastjson.JSONObject;
 import com.tuoheng.admin.constant.DroneControlConstant;
+import com.tuoheng.admin.entity.Inspection;
+import com.tuoheng.admin.request.accident.DroneControlRequest;
 import com.tuoheng.common.core.utils.JsonResult;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.stereotype.Service;
 
 @Slf4j
+@Service
 public class DroneReturnHomeService {
 
-    @Autowired
-    private AirportDroneControlService airportDroneControlService;
-
     /**
      * 一键返航
      *
-     * @param airportId
-     * @return
-     */
-    public JsonResult returnHome(Integer airportId) {
-        log.info("一键返航, airportId={}", airportId);
-        JSONObject jsonObject = this.getJSONObject(airportId);
-        JsonResult result = airportDroneControlService.exec(jsonObject);
-        return result;
-    }
-
-    /**
-     * @param airportId
+     * @param request
      * @return
      */
-    private JSONObject getJSONObject(Integer airportId) {
+    public JSONObject getJSONObject(DroneControlRequest request) {
+        log.info("一键返航, inspectionId={}", request.getInspectionId());
         JSONObject jsonObject = new JSONObject();
         jsonObject.put("zhilin", DroneControlConstant.RETURN_HOME);
-        jsonObject.put("airportId", airportId);
+        jsonObject.put("airportId", request.getAirportId());
         jsonObject.put("msg", "一键返航");
         return jsonObject;
     }

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

 package com.tuoheng.admin.service.third.airport.control;
 
+import cn.hutool.core.collection.CollectionUtil;
 import com.alibaba.fastjson.JSONObject;
 import com.tuoheng.admin.constant.SystemConstant;
+import com.tuoheng.admin.entity.Inspection;
+import com.tuoheng.admin.request.accident.DroneControlRequest;
+import com.tuoheng.admin.service.third.airport.AirportService;
+import com.tuoheng.admin.service.third.airport.GetAirLineListService;
+import com.tuoheng.admin.service.third.airport.GetAirportListByAirportIds;
+import com.tuoheng.admin.vo.AirportInfoVo;
+import com.tuoheng.admin.vo.AirportLineVo;
+import com.tuoheng.common.core.exception.ServiceException;
 import com.tuoheng.common.core.utils.JsonResult;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.stereotype.Service;
 
+import java.util.List;
+
 @Slf4j
 @Service
 public class DroneUndoService {
 
     @Autowired
-    private AirportDroneControlService airportDroneControlService;
+    private GetAirportListByAirportIds getAirportListByAirportIds;
 
     /**
      * 取消任务
      *
-     * @param taskId
-     * @param airportCode
-     * @return
-     */
-    public JsonResult callBack(Integer taskId, String airportCode) {
-        log.info("取消任务, taskId={}", taskId);
-        JSONObject jsonObject = this.getJSONObject(taskId, airportCode);
-        JsonResult result = airportDroneControlService.exec(jsonObject);
-        return result;
-    }
-
-    /**
-     * @param taskId
-     * @param airportCode
+     * @param request
      * @return
      */
-    private JSONObject getJSONObject(Integer taskId, String airportCode) {
+    public JSONObject getJSONObject(DroneControlRequest request) {
+        log.info("取消任务, inspectionId={}", request.getInspectionId());
+        List<AirportInfoVo> airportInfoVoList = getAirportListByAirportIds.getAirportInfo(String.valueOf(request.getAirportId()));
+        if (CollectionUtil.isEmpty(airportInfoVoList)) {
+            log.error("操控无人机，该机场不存在, ");
+            throw new ServiceException("操控无人机，该机场不存在");
+        }
+        AirportInfoVo airportInfoVo = airportInfoVoList.get(9);
         JSONObject jsonObject = new JSONObject();
         jsonObject.put("code", SystemConstant.PLATFORM_CODE);
-//        jsonObject.put("tenantCode", NJHSJConstant.TENANT_CODE);
-        jsonObject.put("airportCode", airportCode);
-        jsonObject.put("taskId", taskId);
+        jsonObject.put("tenantCode", request.getTenantCode());
+        jsonObject.put("airportCode", airportInfoVo.getCode());
+        jsonObject.put("taskId", request.getAirportTaskId());
         return jsonObject;
     }