package com.ard.tianyu.service.impl;
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import com.alibaba.fastjson2.JSON;
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import com.ard.common.exception.NoPermissionException;
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import com.ard.common.utils.SecurityUtils;
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import com.ard.tianyu.websocket.domain.ControlRequestMessage;
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import com.ard.tianyu.websocket.domain.WsMessage;
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import com.ard.tianyu.websocket.utils.WebSocketUtil;
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import lombok.extern.slf4j.Slf4j;
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import org.springframework.stereotype.Service;
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import java.util.concurrent.ConcurrentHashMap;
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@Service
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@Slf4j
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public class UavControlManager {
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// 存储每个无人机的当前控制者
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public static final ConcurrentHashMap<String, Long> droneControlMap = new ConcurrentHashMap<>();
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// 存储无人机的控制请求（用于判断哪个控制者正在等待）
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public static final ConcurrentHashMap<String, Long> controlRequestMap = new ConcurrentHashMap<>();
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// 发送通知（通过 WebSocket推送）
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public void notifyMessage(String boxSn, String action, Long controller, Long requester) {
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ControlRequestMessage controlRequestMessage = ControlRequestMessage.builder()
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.boxSn(boxSn)
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.requester(requester)
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.action(action)
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.build();
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WsMessage<ControlRequestMessage> wsMessage = new WsMessage<>("controlRequest", controlRequestMessage);
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WebSocketUtil.sendMessage(controller.toString(), JSON.toJSONString(wsMessage));
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}
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// 申请控制
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public boolean requestControl(String boxSn) {
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Long requester = SecurityUtils.getUserId();
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// 如果无人机没有控制者，直接控制
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if (droneControlMap.get(boxSn) == null) {
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droneControlMap.put(boxSn, requester);
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return true; // 控制成功
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}
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// 如果无人机已经有控制者,则发送申请给当前控制者
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Long controller = droneControlMap.get(boxSn);
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if(!controller.equals(requester)) {
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// 则将控制请求加入请求队列
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controlRequestMap.put(boxSn, requester);
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// 通知当前控制者，有新的控制请求
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notifyMessage(boxSn, "request", controller, requester);
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}
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return false; // 等待当前控制者的同意
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}
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// 处理控制请求的同意或拒绝
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public boolean handleControlResponse(String boxSn, boolean approve) {
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Long controller = SecurityUtils.getUserId();
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Long requester = controlRequestMap.get(boxSn);
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// 确保请求者是当前的控制者
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if (requester != null && !requester.equals(controller)) {
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if (approve) {
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// 同意控制，将控制权赋予请求者
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droneControlMap.put(boxSn, requester);
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notifyMessage(boxSn, "approve", requester, controller);
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} else {
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notifyMessage(boxSn, "reject", requester, controller);
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}
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// 无论同意还是拒绝，都移除控制请求
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controlRequestMap.remove(boxSn);
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return true;
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}
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return false;
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}
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// 释放控制
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public boolean releaseControl(String boxSn) {
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Long controller = droneControlMap.get(boxSn);
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if (controller != null) {
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if (controller.equals(SecurityUtils.getUserId())) {
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droneControlMap.remove(boxSn);
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return true;
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} else {
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// 当前控制者不匹配，可以记录日志或者抛出异常
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log.warn("无权限释放控制, 实际控制者是 {}", controller);
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throw new NoPermissionException("无权限释放控制, 实际控制者是 " + controller);
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}
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} else {
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// 说明无人机没有控制者
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log.warn("无人机当前 {} 没有控制者,无需释放", boxSn);
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throw new NoPermissionException("无人机" + boxSn + "当前没有控制者,无需释放");
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}
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}
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}
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