/*
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* 【机场1】从 dock2 原类 com.ard.sample.manage.service.impl.DeviceOSDServiceImpl 复制/独立适配（DJI Dock 1 / M30）。
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* 与 dock2 原类同服务共存；本文件内的适配差异以「// 机场1：」内联注释标出。
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*/
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package com.ard.sample.dock1.manage.service.impl;
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import com.ard.common.core.redis.RedisConst;
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import com.ard.common.core.redis.RedisOpsUtils;
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import com.ard.sample.component.mqtt.model.CommonTopicReceiver;
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import com.ard.sample.component.websocket.config.ConcurrentWebSocketSession;
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import com.ard.sample.component.websocket.enums.MessageType;
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import com.ard.sample.component.websocket.handler.DockWebSocketHandler;
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import com.ard.sample.component.websocket.model.BizCodeEnum;
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import com.ard.sample.component.websocket.model.CustomWebSocketMessage;
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import com.ard.sample.manage.model.dto.DeviceDTO;
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import com.ard.sample.manage.model.dto.TelemetryDTO;
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import com.ard.sample.manage.model.dto.TelemetryDeviceDTO;
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import com.ard.sample.manage.model.enums.DeviceDomainEnum;
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import com.ard.sample.manage.model.receiver.OsdSubDeviceReceiver;
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// 机场1：使用带 M30 专属字段的子类解析飞行器 OSD（仍兼容共享层类型）。
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import com.ard.sample.dock1.manage.model.receiver.Dock1OsdSubDeviceReceiver;
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import com.ard.sample.manage.service.IDeviceService;
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// 机场1：轨迹缓存必须与共享任务进度（FlightTaskServiceImpl 的 type="1" 写入）使用同一个服务实例，
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// 否则 type="0" 的轨迹点写进 dock1 独立缓存、而 type="1" 的任务状态写在共享缓存，两处永远无法配对。
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// 这里复用共享层 IWaylineTrajectoryService，不修改共享层实现。
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import com.ard.sample.manage.service.IWaylineTrajectoryService;
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import com.fasterxml.jackson.core.JsonProcessingException;
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import com.fasterxml.jackson.databind.JsonNode;
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import com.fasterxml.jackson.databind.node.ObjectNode;
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import lombok.extern.slf4j.Slf4j;
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import org.springframework.beans.factory.annotation.Autowired;
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import org.springframework.beans.factory.annotation.Qualifier;
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import org.springframework.stereotype.Service;
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import java.util.Collection;
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import com.ard.sample.manage.service.impl.AbstractTSAService;
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import com.ard.sample.manage.service.impl.DeviceOSDServiceImpl;
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/**
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* @author sean
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* @version 0.3
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* @date 2022/2/21
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*/
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@Service
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@Slf4j
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public class Dock1DeviceOSDServiceImpl extends AbstractTSAService {
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@Autowired
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private IDeviceService _deviceService;
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@Autowired
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private IWaylineTrajectoryService _waylineTrajectoryService;
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@Autowired
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private DockWebSocketHandler _dockWebSocketHandler;
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protected Dock1DeviceOSDServiceImpl(@Autowired @Qualifier("dock1DockOSDServiceImpl") AbstractTSAService tsaService) {
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super(tsaService);
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}
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@Override
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public void pushTelemetryData(Collection<ConcurrentWebSocketSession> sessions,
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CustomWebSocketMessage<TelemetryDTO> message, Object osdData) {
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if (osdData instanceof OsdSubDeviceReceiver) {
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OsdSubDeviceReceiver data = (OsdSubDeviceReceiver) osdData;
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TelemetryDTO telemetry = message.getData();
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telemetry.setHost(TelemetryDeviceDTO.builder()
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.latitude(data.getLatitude())
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.longitude(data.getLongitude())
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.altitude(data.getElevation())
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.attitudeHead(data.getAttitudeHead())
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.elevation(data.getElevation())
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.horizontalSpeed(data.getHorizontalSpeed())
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.verticalSpeed(data.getVerticalSpeed())
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.build());
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this.sendMessageService.sendBatch(sessions, message);
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}
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}
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@Override
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public void handleOSD(CommonTopicReceiver receiver, DeviceDTO device,
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Collection<ConcurrentWebSocketSession> webSessions,
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CustomWebSocketMessage<TelemetryDTO> wsMessage) {
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if (DeviceDomainEnum.SUB_DEVICE.getVal() == device.getDomain()) {
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wsMessage.setBizCode(BizCodeEnum.DEVICE_OSD.getCode());
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// 机场1：M30/M30T 的 OSD 比共享类多 9 个字段，用 dock1 子类承接。
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// 机场1：Dock1 的飞行器 OSD 中 payloads 本身就是数组，convertValue 已经完成解析；
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// 共享层按 device.payloadsList（扁平 key）二次覆盖的逻辑不适用于 dock1，
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// 且该列表当前恒为 null，会在每条 OSD 上触发 NPE 并打印误导性告警，故 dock1 链直接跳过。
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// 容错：单个字段类型异常（如固件把 rid_state 上报成布尔）不应丢弃整帧 OSD，
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// 解析失败时降级为共享接收器，保证状态、遥测、轨迹链路继续工作。
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OsdSubDeviceReceiver data;
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try {
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data = mapper.convertValue(receiver.getData(), Dock1OsdSubDeviceReceiver.class);
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} catch (IllegalArgumentException e) {
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log.warn("机场1 飞行器 OSD 解析失败，降级为共享接收器：{}", e.getMessage());
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data = mapper.convertValue(receiver.getData(), OsdSubDeviceReceiver.class);
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}
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//data.setChildDeviceSn(device.getDeviceSn());
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String dockOsd = "";
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receiver.setType(MessageType.STATUS.getType()+"-aircraft");
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// receiver.setData(data);
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try {
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dockOsd=mapper.writeValueAsString(receiver);
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JsonNode jsonNode = mapper.readTree(dockOsd);
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//在JSON的data下插入childDeviceSn，飞行器的sn
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if(jsonNode.get("data") instanceof ObjectNode){
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ObjectNode objectNode = (ObjectNode) jsonNode.get("data");
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objectNode.put("childDeviceSn", device.getDeviceSn());
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}
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if(jsonNode.has("data")){
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if(jsonNode.get("data").has("mode_code")) {
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Long code = jsonNode.get("data").get("mode_code").asLong();
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if ("0,1,2,3,4,5,8,9,10,11,13,14".contains(code.toString())) {
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_deviceService.updateWorkType(device.getDeviceSn(), code);
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RedisOpsUtils.set(RedisConst.OSD_STATUS_PREFIX + device.getDeviceSn(), code);
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}
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}
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}
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dockOsd=mapper.writeValueAsString(jsonNode);
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} catch (NullPointerException | JsonProcessingException e) {
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log.warn("Please remount the payload, or restart the drone. Otherwise the data of the payload will not be received.");
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}
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RedisOpsUtils.setWithExpire(RedisConst.OSD_PREFIX + device.getDeviceSn(), data, RedisConst.DEVICE_ALIVE_SECOND);
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wsMessage.getData().setHost(data);
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// 发送给websocket客户端
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_dockWebSocketHandler.sendMessageToSubscribers(device.getDeviceSn(), MessageType.STATUS.getType(), dockOsd, "");
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// 将飞行器的OSD数据dockOsd入库；device.getDeviceSn()为飞行器sn,这里要机场的sn，试试receiver.getGateway();
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_waylineTrajectoryService.setList(receiver.getGateway(),"0", dockOsd);
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sendMessageService.sendBatch(webSessions, wsMessage);
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this.pushTelemetryData(data, device.getDeviceSn());
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}
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tsaService.handleOSD(receiver, device, webSessions, wsMessage);
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}
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}
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