dji-sdk · witcom · Sep 18, 2023 · Sep 19, 2023 · Sep 20, 2023 · Sep 22, 2023
diff --git a/src/main/java/com/dji/sample/component/ApplicationBootInitial.java b/src/main/java/com/dji/sample/component/ApplicationBootInitial.java
@@ -11,6 +11,7 @@
 import org.springframework.boot.CommandLineRunner;
 import org.springframework.stereotype.Component;
 
+import javax.annotation.Resource;
 import java.util.Optional;
 
 /**
@@ -27,6 +28,9 @@ public class ApplicationBootInitial implements CommandLineRunner {
     @Autowired
     private IDeviceRedisService deviceRedisService;
 
+    @Resource
+    SDKManager sdkManager;
+
     /**
      * Subscribe to the devices that exist in the redis when the program starts,
      * to prevent the data from being different from the pilot side due to program interruptions.
@@ -44,7 +48,7 @@ public void run(String... args) throws Exception {
                 .map(Optional::get)
                 .filter(device -> DeviceDomainEnum.DRONE != device.getDomain())
                 .forEach(device -> deviceService.subDeviceOnlineSubscribeTopic(
-                        SDKManager.registerDevice(device.getDeviceSn(), device.getChildDeviceSn(), device.getDomain(),
+                        sdkManager.registerDevice(device.getDeviceSn(), device.getChildDeviceSn(), device.getDomain(),
                                 device.getType(), device.getSubType(), device.getThingVersion(),
                                 deviceRedisService.getDeviceOnline(device.getChildDeviceSn()).map(DeviceDTO::getThingVersion).orElse(null))));
 

diff --git a/src/main/java/com/dji/sample/component/oss/service/impl/AliyunOssServiceImpl.java b/src/main/java/com/dji/sample/component/oss/service/impl/AliyunOssServiceImpl.java
@@ -86,6 +86,7 @@ public Boolean deleteObject(String bucket, String objectKey) {
 
     @Override
     public InputStream getObject(String bucket, String objectKey) {
+        //bug: ossClient.getObject -> OSSObject need to close manually. otherwise will hang up main thread to wait available connection. by witcom @2023.12.08
         return ossClient.getObject(bucket, objectKey).getObjectContent();
     }
 
@@ -94,6 +95,7 @@ public void putObject(String bucket, String objectKey, InputStream input) {
         if (ossClient.doesObjectExist(bucket, objectKey)) {
             throw new RuntimeException("The filename already exists.");
         }
+        //bug: PutObjectResult need to close manually. otherwise will hang up main thread to wait available connection. by witcom @2023.12.08
         PutObjectResult objectResult = ossClient.putObject(new PutObjectRequest(bucket, objectKey, input, new ObjectMetadata()));
         log.info("Upload FlighttaskCreateFile: {}", objectResult.getETag());
     }

diff --git a/src/main/java/com/dji/sample/control/service/impl/ControlServiceImpl.java b/src/main/java/com/dji/sample/control/service/impl/ControlServiceImpl.java
@@ -68,6 +68,9 @@ public class ControlServiceImpl implements IControlService {
     @Qualifier("SDKWaylineService")
     private AbstractWaylineService abstractWaylineService;
 
+    @Autowired
+    SDKManager SDKManager;
+
     private RemoteDebugHandler checkDebugCondition(String sn, RemoteDebugParam param, RemoteDebugMethodEnum controlMethodEnum) {
         RemoteDebugHandler handler = Objects.nonNull(controlMethodEnum.getClazz()) ?
                 mapper.convertValue(Objects.nonNull(param) ? param : new Object(), controlMethodEnum.getClazz())

diff --git a/src/main/java/com/dji/sample/control/service/impl/DrcServiceImpl.java b/src/main/java/com/dji/sample/control/service/impl/DrcServiceImpl.java
@@ -84,6 +84,9 @@ public class DrcServiceImpl implements IDrcService {
     @Autowired
     private AbstractControlService abstractControlService;
 
+    @Autowired
+    SDKManager SDKManager;
+
     @Override
     public void setDrcModeInRedis(String dockSn, String clientId) {
         RedisOpsUtils.setWithExpire(RedisConst.DRC_PREFIX + dockSn, clientId, RedisConst.DRC_MODE_ALIVE_SECOND);

diff --git a/src/main/java/com/dji/sample/manage/service/impl/DeviceLogsServiceImpl.java b/src/main/java/com/dji/sample/manage/service/impl/DeviceLogsServiceImpl.java
@@ -85,6 +85,9 @@ public class DeviceLogsServiceImpl extends AbstractLogService implements IDevice
     @Autowired
     private AbstractLogService abstractLogService;
 
+    @Autowired
+    SDKManager SDKManager;
+
     @Override
     public PaginationData<DeviceLogsDTO> getUploadedLogs(String deviceSn, DeviceLogsQueryParam param) {
         LambdaQueryWrapper<DeviceLogsEntity> queryWrapper = new LambdaQueryWrapper<DeviceLogsEntity>()

diff --git a/src/main/java/com/dji/sample/manage/service/impl/DeviceServiceImpl.java b/src/main/java/com/dji/sample/manage/service/impl/DeviceServiceImpl.java
@@ -124,6 +124,9 @@ public class DeviceServiceImpl implements IDeviceService {
     @Autowired
     private AbstractFirmwareService abstractFirmwareService;
 
+    @Autowired
+    SDKManager SDKManager;
+
     @Override
     public void subDeviceOffline(String deviceSn) {
         // If no information about this device exists in the cache, the drone is considered to be offline.

diff --git a/src/main/java/com/dji/sample/manage/service/impl/LiveStreamServiceImpl.java b/src/main/java/com/dji/sample/manage/service/impl/LiveStreamServiceImpl.java
@@ -46,6 +46,9 @@ public class LiveStreamServiceImpl implements ILiveStreamService {
     @Autowired
     private AbstractLivestreamService abstractLivestreamService;
 
+    @Autowired
+    SDKManager SDKManager;
+
     @Override
     public List<CapacityDeviceDTO> getLiveCapacity(String workspaceId) {
 

diff --git a/src/main/java/com/dji/sample/manage/service/impl/SDKDeviceService.java b/src/main/java/com/dji/sample/manage/service/impl/SDKDeviceService.java
@@ -57,6 +57,9 @@ public class SDKDeviceService extends AbstractDeviceService {
     @Autowired
     private IDevicePayloadService devicePayloadService;
 
+    @Autowired
+    SDKManager SDKManager;
+
     @Override
     public TopicStatusResponse<MqttReply> updateTopoOnline(TopicStatusRequest<UpdateTopo> request, MessageHeaders headers) {
         UpdateTopoSubDevice updateTopoSubDevice = request.getData().getSubDevices().get(0);

diff --git a/src/main/java/com/dji/sample/wayline/service/impl/FlightTaskServiceImpl.java b/src/main/java/com/dji/sample/wayline/service/impl/FlightTaskServiceImpl.java
@@ -62,6 +62,9 @@ public class FlightTaskServiceImpl extends AbstractWaylineService implements IFl
     @Autowired
     private ObjectMapper mapper;
 
+    @Autowired
+    SDKManager SDKManager;
+
     @Autowired
     private IWebSocketMessageService websocketMessageService;
 

diff --git a/src/main/java/com/dji/sdk/cloudapi/control/FlyToPointRequest.java b/src/main/java/com/dji/sdk/cloudapi/control/FlyToPointRequest.java
@@ -13,7 +13,7 @@
  */
 public class FlyToPointRequest extends BaseModel {
 
-    @Pattern(regexp = "^[0-9a-f]{8}-[0-9a-f]{4}-[0-9a-f]{4}-[0-9a-f]{4}-[0-9a-f]{12}$")
+    //@Pattern(regexp = "^[0-9a-f]{8}-[0-9a-f]{4}-[0-9a-f]{4}-[0-9a-f]{4}-[0-9a-f]{12}$")
     @NotNull
     private String flyToId;
 

diff --git a/src/main/java/com/dji/sdk/cloudapi/control/TakeoffToPointRequest.java b/src/main/java/com/dji/sdk/cloudapi/control/TakeoffToPointRequest.java
@@ -19,7 +19,7 @@
  */
 public class TakeoffToPointRequest extends BaseModel {
 
-    @Pattern(regexp = "^[0-9a-f]{8}-[0-9a-f]{4}-[0-9a-f]{4}-[0-9a-f]{4}-[0-9a-f]{12}$")
+    //@Pattern(regexp = "^[0-9a-f]{8}-[0-9a-f]{4}-[0-9a-f]{4}-[0-9a-f]{4}-[0-9a-f]{12}$")
     @NotNull
     private String flightId;
 

diff --git a/src/main/java/com/dji/sdk/cloudapi/debug/RemoteDebugStepKeyEnum.java b/src/main/java/com/dji/sdk/cloudapi/debug/RemoteDebugStepKeyEnum.java
@@ -59,7 +59,9 @@ public enum RemoteDebugStepKeyEnum {
 
     FREE_PUTTER("free_putter", "Free Putter"),
 
-    STOP_CHARGE("stop_charge", "Stop charging");
+    STOP_CHARGE("stop_charge", "Stop charging"),
+
+    UNKNOWN("unknown","Unknown");
 
     private final String stepKey;
 
@@ -79,10 +81,11 @@ public String getMessage() {
         return message;
     }
 
+    //fix: 提供unknown取代异常 witcom@2023.10.30
     @JsonCreator
     public static RemoteDebugStepKeyEnum find(String stepKey) {
         return Arrays.stream(values()).filter(stepKeyEnum -> stepKeyEnum.stepKey.equals(stepKey)).findAny()
-            .orElseThrow(() -> new CloudSDKException(RemoteDebugStepKeyEnum.class,stepKey));
+            .orElse(UNKNOWN);
     }
 
 }
diff --git a/src/main/java/com/dji/sdk/cloudapi/device/CameraModeEnum.java b/src/main/java/com/dji/sdk/cloudapi/device/CameraModeEnum.java
@@ -13,6 +13,8 @@
  */
 public enum CameraModeEnum {
 
+    //fix: Cannot construct instance of `com.dji.sdk.cloudapi.device.CameraModeEnum`, problem: com.dji.sdk.cloudapi.device.CameraModeEnum has unknown data: [-1] vincent @ 2023.12.07
+    UNKNOWN(-1),
     PHOTO(0),
 
     VIDEO(1);

diff --git a/src/main/java/com/dji/sdk/cloudapi/device/DockLiveErrorStatus.java b/src/main/java/com/dji/sdk/cloudapi/device/DockLiveErrorStatus.java
@@ -40,11 +40,14 @@ public DockLiveErrorStatus(int code) {
     }
 
     public String getMessage() {
+        if(success){ return "success";}
         return errorCode.getMessage();
     }
 
     @JsonValue
     public Integer getCode() {
+        //witcom: errorCode.getCode() will cause npe 2023.10.30
+        if(success){ return 0; }
         return source.getSource() * MOD + errorCode.getCode();
     }
 

diff --git a/src/main/java/com/dji/sdk/cloudapi/device/DroneModeCodeEnum.java b/src/main/java/com/dji/sdk/cloudapi/device/DroneModeCodeEnum.java
@@ -45,7 +45,10 @@ public enum DroneModeCodeEnum {
 
     APAS(15),
 
-    VIRTUAL_JOYSTICK(16);
+    VIRTUAL_JOYSTICK(16),
+
+    //witcom: 飞机报这个号上来报异常
+    UNKNOWN_1(17);
 
     private final int code;
 

diff --git a/src/main/java/com/dji/sdk/cloudapi/device/api/AbstractDeviceService.java b/src/main/java/com/dji/sdk/cloudapi/device/api/AbstractDeviceService.java
@@ -169,7 +169,9 @@ public void dockWpmzVersionUpdate(TopicStateRequest<DockWpmzVersion> request, Me
      * @param request  data
      * @param headers   The headers for a {@link Message}.
      */
-    @ServiceActivator(inputChannel = ChannelName.INBOUND_STATE_DOCK_WPMZ_VERSION)
+    //witcom: wrong ChannelName. is INBOUND_STATE_DOCK_PAYLOAD??
+//    @ServiceActivator(inputChannel = ChannelName.INBOUND_STATE_DOCK_WPMZ_VERSION)
+    @ServiceActivator(inputChannel = ChannelName.INBOUND_STATE_DOCK_PAYLOAD)
     public void dockPayload(TopicStateRequest<DockPayload> request, MessageHeaders headers) {
         throw new UnsupportedOperationException("dockPayload not implemented");
     }

diff --git a/src/main/java/com/dji/sdk/cloudapi/media/UploadFlighttaskMediaPrioritize.java b/src/main/java/com/dji/sdk/cloudapi/media/UploadFlighttaskMediaPrioritize.java
@@ -12,8 +12,9 @@
  */
 public class UploadFlighttaskMediaPrioritize extends BaseModel {
 
+    /* fix: flightId是应用层提供的,应用层有自己的id构建规则,如果不是设备原因必须指定格式,最好就不要控制flightId的格式了 by witcom@2023.09.22 */
     @NotNull
-    @Pattern(regexp = "^[0-9a-f]{8}-[0-9a-f]{4}-[0-9a-f]{4}-[0-9a-f]{4}-[0-9a-f]{12}$")
+    //@Pattern(regexp = "^[0-9a-f]{8}-[0-9a-f]{4}-[0-9a-f]{4}-[0-9a-f]{4}-[0-9a-f]{12}$")
     private String flightId;
 
     public UploadFlighttaskMediaPrioritize() {

diff --git a/src/main/java/com/dji/sdk/cloudapi/wayline/ExecutionStepEnum.java b/src/main/java/com/dji/sdk/cloudapi/wayline/ExecutionStepEnum.java
@@ -52,15 +52,16 @@ public String getMsg() {
         return msg;
     }
 
+    //witcom: 这个函数跑不进来,跑了下面的函数,导致FlightTaskProgress报不上来
     @JsonCreator
     public static ExecutionStepEnum find(int step) {
         return Arrays.stream(values()).filter(stepEnum -> stepEnum.min <= step && stepEnum.max >= step).findAny()
                 .orElseThrow(() -> new CloudSDKException(ExecutionStepEnum.class, step));
     }
 
-    @JsonCreator
-    public static ExecutionStepEnum find(String msg) {
-        return Arrays.stream(values()).filter(stepEnum -> stepEnum.msg.equals(msg)).findAny()
-                .orElseThrow(() -> new CloudSDKException(ExecutionStepEnum.class, msg));
-    }
+//    @JsonCreator
+//    public static ExecutionStepEnum find(String msg) {
+//        return Arrays.stream(values()).filter(stepEnum -> stepEnum.msg.equals(msg)).findAny()
+//                .orElseThrow(() -> new CloudSDKException(ExecutionStepEnum.class, msg));
+//    }
 }
diff --git a/src/main/java/com/dji/sdk/cloudapi/wayline/FlighttaskBreakPoint.java b/src/main/java/com/dji/sdk/cloudapi/wayline/FlighttaskBreakPoint.java
@@ -24,23 +24,25 @@ public class FlighttaskBreakPoint {
     @NotNull
     private BreakpointStateEnum state;
 
-    /**
-     * Current wayline segment process
-     */
-    @NotNull
-    @Min(0)
-    @Max(1)
+
+//    @NotNull
+//    @Min(0)
+//    @Max(1)
     private Float progress;
 
     /**
      * Wayline ID
      */
     private Integer waylineID;
 
+    /**
+     * Current wayline segment process
+     * bug: Cannot deserialize value of type `com.dji.sdk.cloudapi.wayline.FlighttaskBreakReasonEnum` from number 1281: index value outside legal index range [0..-1] mark by witcom 2023.11.09
+     */
     /**
      * Break reason
      */
-    private FlighttaskBreakReasonEnum breakReason;
+    private Integer breakReason;
 
     /**
      * Breakpoint latitude
@@ -116,11 +118,11 @@ public FlighttaskBreakPoint setWaylineID(Integer waylineID) {
         return this;
     }
 
-    public FlighttaskBreakReasonEnum getBreakReason() {
+    public Integer getBreakReason() {
         return breakReason;
     }
 
-    public FlighttaskBreakPoint setBreakReason(FlighttaskBreakReasonEnum breakReason) {
+    public FlighttaskBreakPoint setBreakReason(Integer breakReason) {
         this.breakReason = breakReason;
         return this;
     }

diff --git a/src/main/java/com/dji/sdk/cloudapi/wayline/FlighttaskExecuteRequest.java b/src/main/java/com/dji/sdk/cloudapi/wayline/FlighttaskExecuteRequest.java
@@ -12,8 +12,11 @@
  */
 public class FlighttaskExecuteRequest extends BaseModel {
 
+    /**
+     * fix: flightId是应用层提供的,应用层有自己的id构建规则,如果不是设备原因必须指定格式,最好就不要控制flightId的格式了 by witcom@2023.09.22
+     */
     @NotNull
-    @Pattern(regexp = "^[0-9a-f]{8}-[0-9a-f]{4}-[0-9a-f]{4}-[0-9a-f]{4}-[0-9a-f]{12}$")
+    //@Pattern(regexp = "^[0-9a-f]{8}-[0-9a-f]{4}-[0-9a-f]{4}-[0-9a-f]{4}-[0-9a-f]{12}$")
     private String flightId;
 
     public FlighttaskExecuteRequest() {

diff --git a/src/main/java/com/dji/sdk/cloudapi/wayline/FlighttaskPrepareRequest.java b/src/main/java/com/dji/sdk/cloudapi/wayline/FlighttaskPrepareRequest.java
@@ -20,9 +20,10 @@ public class FlighttaskPrepareRequest extends BaseModel {
 
     /**
      * Task ID
+     * fix: flightId是应用层提供的,应用层有自己的id构建规则,如果不是设备原因必须指定格式,最好就不要控制flightId的格式了 by witcom@2023.09.22
      */
     @NotNull
-    @Pattern(regexp = "^[0-9a-f]{8}-[0-9a-f]{4}-[0-9a-f]{4}-[0-9a-f]{4}-[0-9a-f]{12}$")
+    //@Pattern(regexp = "^[0-9a-f]{8}-[0-9a-f]{4}-[0-9a-f]{4}-[0-9a-f]{4}-[0-9a-f]{12}$")
     private String flightId;
 
     /**

diff --git a/src/main/java/com/dji/sdk/cloudapi/wayline/FlighttaskUndoRequest.java b/src/main/java/com/dji/sdk/cloudapi/wayline/FlighttaskUndoRequest.java
@@ -14,9 +14,12 @@
  */
 public class FlighttaskUndoRequest extends BaseModel {
 
+    /**
+     * fix: flightId是应用层提供的,应用层有自己的id构建规则,如果不是设备原因必须指定格式,最好就不要控制flightId的格式了 by witcom@2023.09.22
+     */
     @NotNull
     @Size(min = 1)
-    private List<@Pattern(regexp = "^[0-9a-f]{8}-[0-9a-f]{4}-[0-9a-f]{4}-[0-9a-f]{4}-[0-9a-f]{12}$") String> flightIds;
+    private List</*@Pattern(regexp = "^[0-9a-f]{8}-[0-9a-f]{4}-[0-9a-f]{4}-[0-9a-f]{4}-[0-9a-f]{12}$") */String> flightIds;
 
     public FlighttaskUndoRequest() {
     }