1、新增获取无人机数据接口；2、新增控制无人机接口；3、重构代码；

tuoheng-admin/src/main/java/com/tuoheng/admin/config/SystemConstant.java

@@ -33,4 +33,10 @@ public interface SystemConstant {
      * 机场平台：定点飞行
      */
     String API_AIRPORT_POINT_FLIGH = "/api/airportInterface/createPointLine";
+
+    /**
+     * 机场平台：定点飞行
+     */
+    String API_AIRPORT_DRONE_CONTROL = "/api/createPointLine/droneCommand";
+
 }

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

@@ -1,14 +1,12 @@
 package com.tuoheng.admin.controller;
 
+import com.tuoheng.admin.entity.request.airport.DroneControlRequest;
 import com.tuoheng.admin.entity.request.airport.PointFlightRequest;
 import com.tuoheng.admin.service.airport.AirportService;
 import com.tuoheng.common.utils.JsonResult;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.beans.factory.annotation.Autowired;
-import org.springframework.web.bind.annotation.GetMapping;
-import org.springframework.web.bind.annotation.PostMapping;
-import org.springframework.web.bind.annotation.RequestMapping;
-import org.springframework.web.bind.annotation.RestController;
+import org.springframework.web.bind.annotation.*;
 
 /**
  * 机场前端控制器
@@ -36,8 +34,24 @@ public class AirPortController {
     /**
      * 定点飞行
      */
-    @PostMapping("/pointFlight")
-    public JsonResult  pointFlight(PointFlightRequest request) {
+    @PostMapping("/pointflight")
+    public JsonResult pointFlight(PointFlightRequest request) {
         return airportService.pointFlight(request);
     }
+
+    /**
+     * 无人机信息
+     */
+    @GetMapping("/drone/data/{airportId}")
+    public JsonResult getDroneDataById(@PathVariable("airportId") String airportId) {
+        return airportService.getDroneDataById(airportId);
+    }
+
+    /**
+     * 操制无人机
+     */
+    @PostMapping("/drone/control")
+    public JsonResult droneControl(DroneControlRequest request) {
+        return airportService.droneControl(request);
+    }
 }

tuoheng-admin/src/main/java/com/tuoheng/admin/conver/InspectionConverMapper.java

@@ -0,0 +1,20 @@
+package com.tuoheng.admin.conver;
+
+import com.tuoheng.admin.entity.domain.ThInspection;
+import com.tuoheng.admin.entity.domain.Warning;
+import com.tuoheng.admin.entity.vo.index.DroneDataVo;
+import com.tuoheng.admin.entity.vo.warning.WarningListVo;
+import org.mapstruct.Mapper;
+import org.mapstruct.factory.Mappers;
+
+import java.util.List;
+
+@Mapper
+public interface InspectionConverMapper {
+
+    InspectionConverMapper INSTANCE = Mappers.getMapper(InspectionConverMapper.class);
+
+    List<DroneDataVo> fromInspectionListToDroneDataVoList(List<ThInspection> inspectionList);
+
+
+}

tuoheng-admin/src/main/java/com/tuoheng/admin/entity/domain/ThInspection.java

@@ -61,6 +61,11 @@ public class ThInspection extends BaseEntity implements Serializable {
      */
     private String altitude;
 
+    /**
+     * 飞行速度
+     */
+    private String speed;
+
     /**
      * 经度
      */
@@ -77,4 +82,14 @@ public class ThInspection extends BaseEntity implements Serializable {
      */
     private Long flyTime;
 
+    /**
+     * 距离机场距离（米）
+     */
+    private String distHome;
+
+    /**
+     * 遥测信号
+     */
+    private String ysingal;
+
 }

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

@@ -0,0 +1,22 @@
+package com.tuoheng.admin.entity.request.airport;
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+import java.io.Serializable;
+
+/**
+ * 无人机控制请求实体
+ *
+ * @author wanjing
+ * @team tuoheng
+ * @date 2023-02-15
+ */
+@Data
+public class DroneControlRequest implements Serializable {
+
+    private static final long serialVersionUID = 1L;
+
+    private String value;
+
+}

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

@@ -6,7 +6,7 @@ import lombok.Data;
 import java.io.Serializable;
 
 /**
- * 查询巡检任务请求实体
+ * 定点飞行请求实体
  *
  * @author wanjing
  * @team tuoheng
@@ -18,10 +18,22 @@ public class PointFlightRequest implements Serializable {
     private static final long serialVersionUID = 1L;
 
     @ApiModelProperty(value = "机场id")
-    private String airportId;
+    private Integer airportId;
 
-    @ApiModelProperty(value = "业务系统任务id")
-    private String requestId;
+    @ApiModelProperty(value = "机场名称")
+    private String airportName;
+
+    @ApiModelProperty(value = "路线id")
+    private Integer inspectionLine;
+
+    @ApiModelProperty(value = "路线名称")
+    private String inspectionLineName;
+
+    @ApiModelProperty(value = "无人机ID")
+    private Integer droneId;
+
+    @ApiModelProperty(value = "无人机名称")
+    private String droneName;
 
     @ApiModelProperty(value = "业务系统标识")
     private String code;

tuoheng-admin/src/main/java/com/tuoheng/admin/entity/vo/index/DroneDataVo.java

@@ -0,0 +1,58 @@
+package com.tuoheng.admin.entity.vo.index;
+
+import lombok.Data;
+
+@Data
+public class DroneDataVo {
+
+    /**
+     * 任务ID
+     */
+    private Integer missionId;
+
+    /**
+     * 巡检ID，跟硬件对接的时候，硬件的巡检ID
+     */
+    private Integer inspectionId;
+
+    /**
+     * 地面站标识
+     */
+    private String hostIp;
+
+    /**
+     * 飞行高度
+     */
+    private String altitude;
+
+    /**
+     * 飞行速度
+     */
+    private String speed;
+
+    /**
+     * 经度
+     */
+    private String lng;
+
+    /**
+     * 纬度
+     */
+    private String lat;
+
+    /**
+     * 飞行时间
+     */
+    private Long flyTime;
+
+    /**
+     * 距离机场距离（米）
+     */
+    private String distHome;
+
+    /**
+     * 遥测信号
+     */
+    private String ysingal;
+
+}

tuoheng-admin/src/main/java/com/tuoheng/admin/enums/InspectionTypeEnum.java

@@ -0,0 +1,28 @@
+package com.tuoheng.admin.enums;
+
+import lombok.Getter;
+
+/**
+ *  巡检方式类型
+ *
+ * @author wanjing
+ * @team tuoheng
+ * @date 2022-11-23
+ */
+public enum InspectionTypeEnum {
+
+    AIRPORT(1,"机场巡逻"),
+    MABNNEDFLIGHT(2,"人工巡检");
+
+    InspectionTypeEnum(int code, String description){
+        this.code = code;
+        this.description = description;
+    }
+
+    @Getter
+    private int code;
+
+    @Getter
+    private String description;
+
+}

tuoheng-admin/src/main/java/com/tuoheng/admin/mapper/ThInspectionMapper.java

@@ -7,6 +7,7 @@ import com.tuoheng.admin.entity.domain.ThMission;
 import java.util.List;
 
 public interface ThInspectionMapper extends BaseMapper<ThInspection> {
-    List<ThInspection> selectListByInspectionId(Integer id);
+
+    List<ThInspection> selectListByMissionId(Integer missionId);
 
 }

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

@@ -1,7 +1,9 @@
 package com.tuoheng.admin.service.airport;
 
+import com.tuoheng.admin.entity.request.airport.DroneControlRequest;
 import com.tuoheng.admin.entity.request.airport.PointFlightRequest;
 import com.tuoheng.common.utils.JsonResult;
+import org.springframework.web.bind.annotation.PostMapping;
 
 public interface AirportService {
 
@@ -12,10 +14,24 @@ public interface AirportService {
      */
     JsonResult getList();
 
+    /**
+     * 定点飞行
+     * @param airportId
+     * @return
+     */
+    JsonResult getDroneDataById(String airportId);
+
     /**
      * 定点飞行
      * @param request
      * @return
      */
     JsonResult pointFlight(PointFlightRequest request);
+
+    /**
+     * 操制无人机
+     * @param request
+     * @return
+     */
+    JsonResult droneControl(DroneControlRequest request);
 }

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

@@ -1,6 +1,9 @@
 package com.tuoheng.admin.service.airport;
 
+import com.tuoheng.admin.entity.request.airport.DroneControlRequest;
 import com.tuoheng.admin.entity.request.airport.PointFlightRequest;
+import com.tuoheng.admin.service.airport.drone.QueryDroneDataService;
+import com.tuoheng.admin.service.third.airport.DroneControlService;
 import com.tuoheng.admin.service.third.airport.PointFlightService;
 import com.tuoheng.common.utils.JsonResult;
 import org.springframework.beans.factory.annotation.Autowired;
@@ -9,9 +12,15 @@ import org.springframework.stereotype.Service;
 @Service
 public class AirportServiceImpl implements AirportService {
 
+    @Autowired
+    private QueryDroneDataService queryDroneDataService;
+
     @Autowired
     private PointFlightService pointFlightService;
 
+    @Autowired
+    private DroneControlService droneControlService;
+
     /**
      * 获取机场列表
      *
@@ -22,6 +31,16 @@ public class AirportServiceImpl implements AirportService {
         return JsonResult.success();
     }
 
+    /**
+     * 定点飞行
+     * @param airportId
+     * @return
+     */
+    @Override
+    public JsonResult getDroneDataById(String airportId) {
+        return queryDroneDataService.getDroneDataById(airportId);
+    }
+
     /**
      * 定点飞行
      * @param request
@@ -31,4 +50,14 @@ public class AirportServiceImpl implements AirportService {
     public JsonResult pointFlight(PointFlightRequest request) {
         return pointFlightService.executePointFligh(request);
     }
+
+    /**
+     * 操制无人机
+     * @param request
+     * @return
+     */
+    @Override
+    public JsonResult droneControl(DroneControlRequest request) {
+        return droneControlService.execute(request);
+    }
 }

tuoheng-admin/src/main/java/com/tuoheng/admin/service/airport/drone/QueryDroneDataService.java

@@ -0,0 +1,98 @@
+package com.tuoheng.admin.service.airport.drone;
+
+import cn.hutool.core.collection.CollectionUtil;
+import cn.hutool.core.util.ObjectUtil;
+import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
+import com.tuoheng.admin.conver.InspectionConverMapper;
+import com.tuoheng.admin.entity.domain.Tenant;
+import com.tuoheng.admin.entity.domain.ThInspection;
+import com.tuoheng.admin.entity.domain.ThMission;
+import com.tuoheng.admin.entity.vo.index.DroneDataVo;
+import com.tuoheng.admin.enums.TaskStatusEnum;
+import com.tuoheng.admin.mapper.TenantMapper;
+import com.tuoheng.admin.mapper.ThInspectionMapper;
+import com.tuoheng.admin.mapper.ThMissionMapper;
+import com.tuoheng.common.exception.ServiceException;
+import com.tuoheng.common.utils.JsonResult;
+import com.tuoheng.common.utils.StringUtils;
+import com.tuoheng.system.entity.User;
+import com.tuoheng.system.utils.ShiroUtils;
+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 QueryDroneDataService {
+
+    @Autowired
+    private TenantMapper tenantMapper;
+
+    @Autowired
+    private ThMissionMapper missionMapper;
+
+    @Autowired
+    private ThInspectionMapper inspectionMapper;
+
+    public JsonResult getDroneDataById(String airportId) {
+        log.info("获取无人机数据信息");
+
+        this.check(airportId);
+
+        // 读取不同租户的机场平台url
+        User user = ShiroUtils.getUserInfo();
+        Integer tenantId = user.getTenantId();
+
+        ThMission mission = missionMapper.selectOne(new LambdaQueryWrapper<ThMission>()
+                .eq(ThMission::getTenantId, tenantId)
+                .eq(ThMission::getStatus, TaskStatusEnum.FLIGHT.getCode())
+                .eq(ThMission::getAirportId, airportId)
+                .eq(ThMission::getMark, 1));
+        if (ObjectUtil.isNull(mission)) {
+            throw new ServiceException("没有正在飞行的任务");
+        }
+
+        List<ThInspection> inspectionList = inspectionMapper.selectListByMissionId(mission.getId());
+        if (CollectionUtil.isEmpty(inspectionList)) {
+            JsonResult.success("无人机数据为空");
+        }
+        List<DroneDataVo> droneDataVoList = InspectionConverMapper.INSTANCE.fromInspectionListToDroneDataVoList(inspectionList);
+        return JsonResult.success(droneDataVoList);
+    }
+
+    /**
+     * 检查参数
+     *
+     * @param airportId
+     * @return
+     */
+    private void check(String airportId) {
+        if (StringUtils.isEmpty(airportId)) {
+            throw new ServiceException("机场ID为空");
+        }
+    }
+
+    /**
+     * 获取租户
+     *
+     * @param tenantId
+     * @return
+     */
+    private Tenant getTenant(Integer tenantId) {
+        Tenant tenant = tenantMapper.selectById(tenantId);
+        if (ObjectUtil.isEmpty(tenant)) {
+            log.info("调用机场平台，操作无人机: 租户不存在");
+            throw new ServiceException("租户不存在");
+        }
+
+        if (StringUtils.isEmpty(tenant.getAirportUrl())) {
+            log.info("调用机场平台，操作无人机: 机场平台URL为空");
+            throw new ServiceException("机场平台URL为空");
+        }
+        return tenant;
+    }
+
+
+}

tuoheng-admin/src/main/java/com/tuoheng/admin/service/impl/ThInspectionServiceImpl.java

@@ -231,7 +231,7 @@ public class ThInspectionServiceImpl extends BaseServiceImpl<ThInspectionMapper,
                 throw new ServiceException(ServiceExceptionEnum.PARAMETER_IS_NULL);
             }
             //根据任务id查询对应的遥测数据
-            List<ThInspection> listData = inspectionMapper.selectListByInspectionId(id);
+            List<ThInspection> listData = inspectionMapper.selectListByMissionId(id);
 
             return JsonResult.success(listData);
     }

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

@@ -0,0 +1,93 @@
+package com.tuoheng.admin.service.third.airport;
+
+import cn.hutool.core.util.ObjectUtil;
+import com.alibaba.fastjson.JSONObject;
+import com.tuoheng.admin.config.SystemConstant;
+import com.tuoheng.admin.entity.domain.Tenant;
+import com.tuoheng.admin.entity.request.airport.DroneControlRequest;
+import com.tuoheng.admin.entity.request.airport.PointFlightRequest;
+import com.tuoheng.admin.mapper.TenantMapper;
+import com.tuoheng.common.exception.ServiceException;
+import com.tuoheng.common.utils.HttpUtils;
+import com.tuoheng.common.utils.JsonResult;
+import com.tuoheng.common.utils.StringUtils;
+import com.tuoheng.system.entity.User;
+import com.tuoheng.system.utils.ShiroUtils;
+import io.swagger.models.auth.In;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.stereotype.Service;
+
+import java.util.ArrayList;
+import java.util.HashMap;
+import java.util.List;
+import java.util.Map;
+
+@Slf4j
+@Service
+public class DroneControlService {
+
+    @Autowired
+    private TenantMapper tenantMapper;
+
+    public JsonResult execute(DroneControlRequest request) {
+        log.info("进入调用机场平台，操作无人机");
+
+        this.check(request);
+
+        // 读取不同租户的机场平台url
+        User user = ShiroUtils.getUserInfo();
+        Integer tenantId = user.getTenantId();
+
+        Tenant tenant = this.getTenant(tenantId);
+
+        String url = tenant.getAirportUrl() + SystemConstant.API_AIRPORT_POINT_FLIGH;
+        JSONObject jsonObject = new JSONObject().parseObject(request.getValue());
+
+        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);
+
+        String airPortStr = HttpUtils.doSend(url, jsonObject, null, "POST");
+        if (StringUtils.isEmpty(airPortStr)) {
+            log.info("执行定点飞行：机场接口返回数据为空，飞行失败，jsonObject：{}", jsonObject);
+            return JsonResult.error(-1, "机场接口返回数据为空");
+        }
+
+        log.info("调用机场平台方法: 操作无人机结束");
+        return JsonResult.success();
+    }
+
+    /**
+     * 检查参数
+     *
+     * @param request
+     * @return
+     */
+    private void check(DroneControlRequest request) {
+        if (StringUtils.isEmpty(request.getValue())) {
+            throw new ServiceException("操作无人机，传参空");
+        }
+    }
+
+    /**
+     * 获取租户
+     *
+     * @param tenantId
+     * @return
+     */
+    private Tenant getTenant(Integer tenantId) {
+        Tenant tenant = tenantMapper.selectById(tenantId);
+        if (ObjectUtil.isEmpty(tenant)) {
+            log.info("调用机场平台，操作无人机: 租户不存在");
+            throw new ServiceException("租户不存在");
+        }
+
+        if (StringUtils.isEmpty(tenant.getAirportUrl())) {
+            log.info("调用机场平台，操作无人机: 机场平台URL为空");
+            throw new ServiceException("机场平台URL为空");
+        }
+        return tenant;
+    }
+
+
+}

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

@@ -4,9 +4,16 @@ import cn.hutool.core.util.ObjectUtil;
 import com.alibaba.fastjson.JSONObject;
 import com.tuoheng.admin.config.SystemConstant;
 import com.tuoheng.admin.entity.domain.Tenant;
+import com.tuoheng.admin.entity.domain.ThMission;
 import com.tuoheng.admin.entity.request.airport.PointFlightRequest;
+import com.tuoheng.admin.enums.AirportFlyTypeEnum;
+import com.tuoheng.admin.enums.InspectionTypeEnum;
+import com.tuoheng.admin.enums.UpdateOrCreateEnum;
 import com.tuoheng.admin.mapper.TenantMapper;
+import com.tuoheng.admin.mapper.ThMissionMapper;
+import com.tuoheng.admin.utils.CodeUtil;
 import com.tuoheng.common.exception.ServiceException;
+import com.tuoheng.common.utils.DateUtils;
 import com.tuoheng.common.utils.HttpUtils;
 import com.tuoheng.common.utils.JsonResult;
 import com.tuoheng.common.utils.StringUtils;
@@ -23,6 +30,9 @@ public class PointFlightService {
     @Autowired
     private TenantMapper tenantMapper;
 
+    @Autowired
+    private ThMissionMapper missionMapper;
+
     public JsonResult executePointFligh(PointFlightRequest request) {
         log.info("进入调用机场平台，执行定点飞行");
         // 读取不同租户的机场平台url
@@ -40,10 +50,13 @@ public class PointFlightService {
             throw new ServiceException("机场平台URL为空");
         }
 
+        // 创建应急任务
+        this.createMission(user, request);
+
         String url = tenant.getAirportUrl() + SystemConstant.API_AIRPORT_POINT_FLIGH;
         JSONObject jsonObject = new JSONObject();
         jsonObject.put("airportId", request.getAirportId());
-        jsonObject.put("requestId", request.getRequestId());
+        jsonObject.put("requestId", request.getInspectionLine());
         jsonObject.put("code", "gs"); // 与机场平台约定好的
         jsonObject.put("tenantCode", tenant.getCode());
         jsonObject.put("alt", request.getAlt());
@@ -63,4 +76,28 @@ public class PointFlightService {
         return JsonResult.success();
     }
 
+    private void createMission(User user, PointFlightRequest request) {
+        ThMission mission = new ThMission(UpdateOrCreateEnum.CREATE.getCode());
+        String code = "XJRW" + CodeUtil.createCodeNo();
+        mission.setCode(code);
+        mission.setName("应急任务" + code);
+        mission.setTenantId(user.getTenantId());
+        mission.setInspectionType(InspectionTypeEnum.AIRPORT.getCode());
+        mission.setAirportId(request.getAirportId());
+        mission.setAirportName(request.getAirportName());
+        mission.setInspectionLine(request.getInspectionLine());
+        mission.setInspectionLineName(request.getInspectionLineName());
+        mission.setDroneId(request.getDroneId());
+        mission.setDroneName(request.getDroneName());
+        mission.setExecutionStartTime(DateUtils.now());
+        mission.setAirportFlyType(AirportFlyTypeEnum.POINTING_FLIGHT.getCode());
+        mission.setCreateUser(user.getId());
+        mission.setCreateTime(DateUtils.now());
+        Integer count = missionMapper.insert(mission);
+        if (count <= 0) {
+            log.info("创建应急任务失败");
+            throw new ServiceException("创建应急任务失败");
+        }
+    }
+
 }

tuoheng-admin/src/main/java/com/tuoheng/admin/service/warning/WarningServiceImpl.java

@@ -75,7 +75,7 @@ public class WarningServiceImpl extends BaseServiceImpl<WarningMapper, Warning>
      */
     @Override
     public JsonResult getOneById(Integer id) {
-        return null;
+        return queryWarningByIdService.getOneById(id);
     }
 
     @Override

tuoheng-admin/src/main/resources/mapper/ThInspectionMapper.xml

@@ -11,7 +11,10 @@
         <result column="lat" jdbcType="VARCHAR" property="lat" />
         <result column="host_ip" jdbcType="VARCHAR" property="hostIp" />
         <result column="altitude" jdbcType="VARCHAR" property="altitude" />
+        <result column="speed" jdbcType="VARCHAR" property="speed" />
         <result column="fly_time" jdbcType="INTEGER" property="flyTime" />
+        <result column="dist_home" jdbcType="VARCHAR" property="distHome" />
+        <result column="ysingal" jdbcType="VARCHAR" property="ysingal" />
         <result column="create_user" jdbcType="INTEGER" property="createUser" />
         <result column="create_time" jdbcType="TIMESTAMP" property="createTime" />
         <result column="update_user" jdbcType="INTEGER" property="updateUser" />
@@ -20,11 +23,11 @@
     </resultMap>
 
     <sql id="Base_Column_List">
-    id, tenant_id, inspection_id, mission_id, lng, lat, host_ip, altitude, fly_time, create_user, create_time, update_user,
-    update_time, mark
+        id, tenant_id, inspection_id, mission_id, lng, lat, host_ip, altitude, speed, fly_time, dist_home, ysingal
+        create_user, create_time, update_user, update_time, mark
     </sql>
 
-    <select id="selectListByInspectionId" resultType="com.tuoheng.admin.entity.domain.ThInspection">
+    <select id="selectListByMissionId" resultType="com.tuoheng.admin.entity.domain.ThInspection">
         select
         <include refid="Base_Column_List"/>
         from th_inspection