forked from uav/ard-uav-server
ard-work/src/main/java/com/ard/work/service/impl/ArdFlightTaskPartServiceImpl.java
@@ -1,7 +1,11 @@ package com.ard.work.service.impl; import cn.hutool.core.util.SerializeUtil; import com.ard.common.utils.DateUtils; import com.ard.work.domain.cache.UavStateCache; import com.ard.work.domain.cache.UavTelemetryDataCache; import com.ard.work.domain.dto.UavFlightStateDTO; import com.ard.work.domain.dto.state.UavState; import com.ard.work.domain.dto.telemetry.TelemetryData; import com.ard.work.domain.entity.ArdFlightTaskPart; import com.ard.work.mapper.ArdFlightTaskPartMapper; @@ -11,12 +15,13 @@ import org.springframework.scheduling.annotation.Async; import org.springframework.scheduling.annotation.Scheduled; import org.springframework.stereotype.Service; import java.time.LocalDateTime; import java.time.temporal.ChronoUnit; import java.util.ArrayList; import java.util.Comparator; import java.util.Date; import java.util.List; import java.util.concurrent.ConcurrentHashMap; /** * 轨迹分片处理业务 */ @@ -26,11 +31,12 @@ public class ArdFlightTaskPartServiceImpl implements IArdFlightTaskPartService { private final ArdFlightTaskPartMapper ardflightTaskPartMapper; // 上一次飞行状态缓存 private final ConcurrentHashMap<String, Integer> lastFlightStatusMap = new ConcurrentHashMap<>(); /** * 缓存：boxSn -> 当前分片数据 */ private final ConcurrentHashMap<String, List<TelemetryData>> cacheMap = new ConcurrentHashMap<>(); private final ConcurrentHashMap<String, List<UavFlightStateDTO>> cacheMap = new ConcurrentHashMap<>(); /** * 分片保存阈值条数 @@ -39,27 +45,57 @@ /** * 定时任务：每秒读取一次设备状态数据 * 注意：这里模拟读取状态，实际应该调用设备接口或缓存 */ @Scheduled(fixedRate = 1000) public void readTelemetryTask() { UavTelemetryDataCache.forEach((boxSn, telemetryData) -> { // 只记录相对高度大于1米的数据 float relativeHeight = telemetryData.getUltrasonic(); // 或者 telemetryData.getRelativeHeight()，根据你的字段 if (relativeHeight > 1) { addTelemetryData(telemetryData); } }); log.debug("定时任务：读取遥测数据"); try { long now = System.currentTimeMillis(); UavTelemetryDataCache.forEach((boxSn, telemetryData) -> { // 1️⃣ 从状态缓存里取当前状态 UavState uavState = UavStateCache.get(boxSn); if (uavState == null) { log.warn("状态不存在，不记录"); return; // 状态不存在，不记录 } // 2️⃣ 使用遥测自身时间戳判断是否还活着 long dataTs = telemetryData.getTimestamp(); // 设备时间 / 服务器接收时间 if (now - dataTs > 3000) { //log.warn("超过 3 秒没有新遥测 → 认为已离线或冻结，不记录：{}", new Date(dataTs)); return; // 超过 3 秒没有新遥测 → 认为已离线或冻结，不记录 } int currentStatus = uavState.getFlightControllerState().getFlightStatus(); Integer lastStatus = lastFlightStatusMap.get(boxSn); // 仅在“飞行中 → 非飞行中”状态变化时 flush if (lastStatus != null && lastStatus == 2 && currentStatus != 2) { flushRemaining(boxSn); } lastFlightStatusMap.put(boxSn, currentStatus); log.debug("设备 {} 当前状态为：{}", boxSn, currentStatus); // 只有飞行中才添加缓存 if (currentStatus == 2) { log.warn("设备 {} 当前状态为飞行中，添加遥测数据到缓存", boxSn); UavFlightStateDTO dto = new UavFlightStateDTO(uavState, telemetryData, dataTs); addTelemetryData(dto); } }); } catch (Exception e) { log.error("定时任务：读取遥测数据异常", e); } } /** * 添加一条遥测数据到缓存 */ @Override public void addTelemetryData(TelemetryData telemetryData) { String boxSn = telemetryData.getBoxSn(); List<TelemetryData> list = cacheMap.computeIfAbsent(boxSn, k -> new ArrayList<>()); list.add(telemetryData); public void addTelemetryData(UavFlightStateDTO uavFlightStateDTO) { String boxSn = uavFlightStateDTO.getTelemetryData().getBoxSn(); List<UavFlightStateDTO> list = cacheMap.computeIfAbsent(boxSn, k -> new ArrayList<>()); list.add(uavFlightStateDTO); // 当缓存条数达到阈值 或 时间间隔超过 CHUNK_INTERVAL 时，分片保存 if (list.size() >= CHUNK_SIZE) { @@ -72,18 +108,22 @@ */ @Async public void saveChunk(String boxSn) { List<TelemetryData> dataList = cacheMap.getOrDefault(boxSn, new ArrayList<>()); List<UavFlightStateDTO> dataList = cacheMap.getOrDefault(boxSn, new ArrayList<>()); if (dataList.isEmpty()) { return; } try { byte[] blobData = SerializeUtil.serialize(dataList); // 取第一个和最后一个状态时间 long startTs = dataList.get(0).getTimestamp(); long endTs = dataList.get(dataList.size() - 1).getTimestamp(); ArdFlightTaskPart part = ArdFlightTaskPart.builder() .boxSn(boxSn) .count(dataList.size()) .dataPart(blobData) .startTime(new Date(startTs)) .endTime(new Date(endTs)) .build(); part.setCreateTime(new Date()); ardflightTaskPartMapper.insert(part); @@ -104,7 +144,7 @@ */ @Override public void flushRemaining(String boxSn) { List<TelemetryData> dataList = cacheMap.getOrDefault(boxSn, new ArrayList<>()); List<UavFlightStateDTO> dataList = cacheMap.getOrDefault(boxSn, new ArrayList<>()); if (!dataList.isEmpty()) { saveChunk(boxSn); } @@ -114,18 +154,21 @@ * 获取完整航线轨迹（合并所有分片） */ @Override public List<TelemetryData> getCompleteFlightData(ArdFlightTaskPart ardFlightTaskPart) { List<TelemetryData> allData = new ArrayList<>(); public List<UavFlightStateDTO> getCompleteFlightData(ArdFlightTaskPart ardFlightTaskPart) { List<UavFlightStateDTO> allData = new ArrayList<>(); String boxSn = ardFlightTaskPart.getBoxSn(); List<ArdFlightTaskPart> parts = ardflightTaskPartMapper.selectByTaskStartTime(ardFlightTaskPart); List<ArdFlightTaskPart> parts = ardflightTaskPartMapper.selectByTimeRange(ardFlightTaskPart); for (ArdFlightTaskPart part : parts) { try { List<TelemetryData> partData = SerializeUtil.deserialize(part.getDataPart()); List<UavFlightStateDTO> partData = SerializeUtil.deserialize(part.getDataPart()); allData.addAll(partData); } catch (Exception e) { log.error("反序列化 boxSn={} 分片数据失败", boxSn, e); } } // 按 telemetryData.timestamp 升序排序 allData.sort(Comparator.comparingLong(dto -> dto.getTelemetryData().getTimestamp())); return allData; } }
