package com.ard.work.service.impl;
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import com.ard.common.constant.CacheConstants;
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import com.ard.common.core.domain.model.LoginUser;
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import com.ard.common.core.redis.RedisCache;
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import com.ard.common.utils.SecurityUtils;
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import com.ard.work.domain.cache.UavStateCache;
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import com.ard.work.domain.dto.control.SpeedControlDTO;
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import com.ard.work.domain.dto.state.UavState;
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import com.ard.work.service.IGimbalSpeedService;
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import com.ard.work.service.ITyService;
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import lombok.extern.slf4j.Slf4j;
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import org.springframework.security.authentication.UsernamePasswordAuthenticationToken;
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import org.springframework.security.core.context.SecurityContextHolder;
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import org.springframework.stereotype.Service;
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import javax.annotation.Resource;
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import java.util.Map;
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import java.util.concurrent.*;
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/**
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* 云台速度控制实现
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*
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* @author lsy
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* @date 2025/10/28
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*/
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@Service
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@Slf4j
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public class GimbalSpeedService implements IGimbalSpeedService {
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private final ScheduledExecutorService executor = Executors.newSingleThreadScheduledExecutor();
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private final Map<String, ScheduledFuture<?>> tasks = new ConcurrentHashMap<>();
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@Resource
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private ITyService tyService;
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@Resource
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private RedisCache redisCache;
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@Override
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public synchronized void startControl(SpeedControlDTO speed) {
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String boxSn = speed.getBoxSn();
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// ✅ 先判断是否在线
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if (!isUavOnline(boxSn)) {
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throw new RuntimeException("无人机离线，无法启动云台控制: " + boxSn);
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}
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if (tasks.containsKey(boxSn)) {
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return;
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}
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LoginUser loginUser = SecurityUtils.getLoginUser();// 主线程获取
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// ✅ 启动前先试探一次，确保正常
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try {
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SecurityContextHolder.getContext().setAuthentication(
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new UsernamePasswordAuthenticationToken(loginUser, null, loginUser.getAuthorities())
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);
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Boolean ok = tyService.speedControl(speed);
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if (ok == null || !ok) {
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throw new RuntimeException("初始速度控制指令失败");
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}
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} catch (Exception e) {
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log.error("初次控制指令异常: {}", e.getMessage());
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throw new RuntimeException("无法启动云台控制：" + e.getMessage());
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}
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ScheduledFuture<?> future = executor.scheduleAtFixedRate(() -> {
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double currentYaw = getCurrentYaw(boxSn);
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log.warn("currentYaw: {}", currentYaw);
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if ((speed.getYawSpeed() < 0 && currentYaw <= -180) ||
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(speed.getYawSpeed() > 0 && currentYaw >= 180)) {
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stopControl(boxSn);
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return;
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}
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try {
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// 在定时任务线程设置用户上下文
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// 手动设置 SecurityContext
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SecurityContextHolder.getContext().setAuthentication(
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new UsernamePasswordAuthenticationToken(
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loginUser, null, loginUser.getAuthorities())
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);
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Boolean b = tyService.speedControl(speed);
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log.warn("speedControl result:{}", b);
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} catch (Exception e) {
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log.error(e.getMessage());
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}
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}, 0, 200, TimeUnit.MILLISECONDS);
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tasks.put(boxSn, future);
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}
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@Override
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public synchronized void stopControl(String boxSn) {
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ScheduledFuture<?> future = tasks.remove(boxSn);
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if (future != null) {
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future.cancel(false);
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}
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}
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private double getCurrentYaw(String boxSn) {
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UavState uavState = UavStateCache.get(boxSn);
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if(uavState==null)
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{
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return 0;
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}
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return uavState.getPtzState().getYaw();
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}
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private boolean isUavOnline(String boxSn) {
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// 如果 Redis 中存在对应 key，则认为在线
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Object obj = redisCache.getCacheObject(CacheConstants.UAV_ONLINE_KEY + boxSn);
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return obj != null;
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}
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}
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