package com.ard.tianyu.service.impl;
|
|
import com.alibaba.fastjson2.JSON;
|
import com.ard.common.exception.NoPermissionException;
|
import com.ard.common.utils.SecurityUtils;
|
import com.ard.tianyu.websocket.domain.ControlAuthorityDTO;
|
import com.ard.tianyu.websocket.domain.BaseMessage;
|
import com.ard.tianyu.websocket.utils.WebSocketUtil;
|
import lombok.extern.slf4j.Slf4j;
|
import org.springframework.stereotype.Service;
|
|
import java.util.concurrent.ConcurrentHashMap;
|
|
|
/**
|
* 无人机控制管理器
|
*
|
* @author liusuyi
|
* @date 2024年02月21日8:37
|
**/
|
@Service
|
@Slf4j
|
public class UavControlManager {
|
|
private static final String CONTROL_REQUEST_ACTION = "controlRequest";
|
private static final String REQUEST_ACTION = "request";
|
private static final String APPROVE_ACTION = "approve";
|
private static final String REJECT_ACTION = "reject";
|
|
// 存储每个无人机的当前控制者
|
public static final ConcurrentHashMap<String, Long> uavControlMap = new ConcurrentHashMap<>();
|
// 存储无人机的控制请求（用于判断哪个控制者正在等待）
|
public static final ConcurrentHashMap<String, Long> controlRequestMap = new ConcurrentHashMap<>();
|
|
|
/**
|
* 申请控制
|
*
|
* @param boxSn 盒子编号
|
*/
|
public boolean requestControl(String boxSn) {
|
Long requester = SecurityUtils.getUserId();
|
Long controller = uavControlMap.get(boxSn);
|
// 如果无人机没有控制者，直接控制
|
if (controller == null) {
|
uavControlMap.put(boxSn, requester);
|
log.info("控制权已授予给用户: {}", requester);
|
return true; // 控制成功
|
}
|
// 如果无人机已经有控制者,则发送申请给当前控制者
|
if (!controller.equals(requester)) {
|
// 则将控制请求加入请求队列
|
controlRequestMap.put(boxSn, requester);
|
// 通知当前控制者，有新的控制请求
|
notifyMessage(boxSn, REQUEST_ACTION, requester, controller);
|
log.info("控制请求已发送给当前控制者: {}", controller);
|
} else {
|
throw new NoPermissionException("当前已经获取控制权，无需重复申请");
|
}
|
return false; // 等待当前控制者的同意
|
}
|
|
/**
|
* 处理控制请求
|
*
|
* @param boxSn 盒子编号
|
* @param approve 是否同意
|
*/
|
public boolean handleControlResponse(String boxSn, boolean approve) {
|
Long controller = SecurityUtils.getUserId();
|
Long requester = controlRequestMap.get(boxSn);
|
|
if (requester == null || requester.equals(controller)) {
|
throw new NoPermissionException("无申请不需要处理控制权");
|
}
|
|
if (approve) {
|
uavControlMap.put(boxSn, requester);
|
notifyMessage(boxSn, APPROVE_ACTION, controller, requester);
|
log.info("控制权已转移给用户: {}", requester);
|
} else {
|
notifyMessage(boxSn, REJECT_ACTION, controller, requester);
|
log.info("控制请求被拒绝，请求者: {}", requester);
|
}
|
|
controlRequestMap.remove(boxSn);
|
return true;
|
}
|
|
/**
|
* 释放控制
|
*
|
* @param boxSn 盒子编号
|
*/
|
public boolean releaseControl(String boxSn) {
|
Long controller = uavControlMap.get(boxSn);
|
|
if (controller == null) {
|
log.warn("无人机当前 {} 没有控制者,无需释放", boxSn);
|
throw new NoPermissionException("无人机" + boxSn + "当前没有控制者,无需释放");
|
}
|
|
if (!controller.equals(SecurityUtils.getUserId())) {
|
log.warn("无权限释放控制, 实际控制者是 {}", controller);
|
throw new NoPermissionException("无权限释放控制, 实际控制者是 " + controller);
|
}
|
|
uavControlMap.remove(boxSn);
|
log.info("控制权已释放，无人机: {}", boxSn);
|
return true;
|
}
|
|
|
/**
|
* 释放指定用户控制的无人机
|
*
|
* @param userId 用户id
|
*/
|
public void releaseAllControlByUser(String userId) {
|
String boxSn = uavControlMap.entrySet().stream()
|
.filter(entry -> entry.getValue().toString().equals(userId))
|
.map(ConcurrentHashMap.Entry::getKey)
|
.findFirst()
|
.orElse(null);
|
if (boxSn != null) {
|
// 用户控制了某个无人机，移除缓存
|
uavControlMap.remove(boxSn);
|
log.info("移除{}控制的无人机: {}", userId, boxSn);
|
}
|
}
|
|
|
/**
|
* 发送消息给指定用户
|
*
|
* @param boxSn 盒子编号
|
* @param action 指令()
|
* @param source 发送方用户ID
|
* @param target 接收方用户ID
|
*/
|
private void notifyMessage(String boxSn, String action, Long source, Long target) {
|
ControlAuthorityDTO controlAuthorityDTO = buildControlAuthorityDTO(boxSn, action, source);
|
BaseMessage<ControlAuthorityDTO> baseMessage = buildBaseMessage(CONTROL_REQUEST_ACTION, controlAuthorityDTO);
|
WebSocketUtil.sendMessage(target.toString(), JSON.toJSONString(baseMessage));
|
}
|
|
private ControlAuthorityDTO buildControlAuthorityDTO(String boxSn, String action, Long userId) {
|
return ControlAuthorityDTO.builder()
|
.boxSn(boxSn)
|
.userId(userId)
|
.action(action)
|
.build();
|
}
|
|
private <T> BaseMessage<T> buildBaseMessage(String type, T data) {
|
return new BaseMessage<>(type, data);
|
}
|
}
|
