forked from uav/ard-uav-server
ard-work/src/main/java/com/ard/work/service/control/UavControlService.java
@@ -2,8 +2,9 @@ import com.ard.common.exception.ControlException; import com.ard.common.utils.SecurityUtils; import com.ard.work.domain.message.UavControlType; import com.ard.system.service.ISysUserService; import com.ard.work.component.websocket.handler.UavControlManager; import com.ard.work.domain.message.UavControlType; import org.springframework.stereotype.Service; import javax.annotation.Resource; @@ -12,7 +13,8 @@ import java.util.concurrent.ConcurrentHashMap; /** * UAV控制服务类，负责管理对飞行和载荷的控制请求、释放和权限管理。 * UAV控制服务类，负责管理对飞行和载荷的控制请求、释放和权限管理 * 支持优先级抢占 */ @Service public class UavControlService { @@ -20,30 +22,23 @@ @Resource private UavControlManager uavControlManager; /** * 记录当前获得飞行控制权限的用户 */ @Resource private ISysUserService sysUserService; /** 当前飞行控制权限用户 */ private final ConcurrentHashMap<String, Long> uavFlyControlMap = new ConcurrentHashMap<>(); /** * 记录当前获得载荷控制权限的用户 */ /** 当前载荷控制权限用户 */ private final ConcurrentHashMap<String, Long> uavPayloadControlMap = new ConcurrentHashMap<>(); /** * 记录飞行控制请求 */ /** 飞行控制请求 */ private final ConcurrentHashMap<String, Long> flyControlRequests = new ConcurrentHashMap<>(); /** * 记录载荷控制请求 */ /** 载荷控制请求 */ private final ConcurrentHashMap<String, Long> payloadControlRequests = new ConcurrentHashMap<>(); /** * 请求获取 UAV 控制权限 * * @param boxSn 设备序列号 * @param type 控制类型（"fly"、"payload"） * @return 是否立即获得控制权限 */ public boolean requestControl(String boxSn, String type) { UavControlType controlType = UavControlType.fromString(type); @@ -55,31 +50,46 @@ * 处理单个控制类型的请求 */ private boolean requestSingleControl(String boxSn, UavControlType controlType, Long requester) { ConcurrentHashMap<String, Long> controlMap = getControlMap(controlType); ConcurrentHashMap<String, Long> requestMap = getRequestMap(controlType); Long controller = controlMap.get(boxSn); // 无人控制 → 直接获取 if (controller == null) { controlMap.put(boxSn, requester); uavControlManager.sendControlApproval(requester, boxSn, controlType.getType(), requester); return true; } if (!controller.equals(requester)) { requestMap.put(boxSn, requester); uavControlManager.sendControlRequest(controller, boxSn, controlType.getType(), requester); } else { // 已是控制者 if (controller.equals(requester)) { throw new ControlException("当前已拥有控制权"); } int requesterPriority = getUserPriority(requester); int controllerPriority = getUserPriority(controller); // 优先级高 → 直接接管 if (requesterPriority > controllerPriority) { controlMap.put(boxSn, requester); // 通知原控制者被抢占 uavControlManager.sendControlTakeover(controller, requester, boxSn, controlType.getType()); // 通知新控制者获得控制 uavControlManager.sendControlApproval(requester, boxSn, controlType.getType(), requester); return true; } // 优先级相同或更低 → 申请流程 requestMap.put(boxSn, requester); uavControlManager.sendControlRequest(controller, boxSn, controlType.getType(), requester); return false; } /** * 处理 UAV 控制请求的响应（同意或拒绝） * * @param boxSn 设备序列号 * @param approve 是否同意 * @param type 控制类型 * @return 是否成功处理 * 处理 UAV 控制请求的响应 */ public boolean handleControlResponse(String boxSn, boolean approve, String type) { UavControlType controlType = UavControlType.fromString(type); @@ -88,7 +98,7 @@ } /** * 处理单个控制类型的请求响应 * 处理单个控制类型请求响应 */ private boolean handleSingleControlResponse(String boxSn, boolean approve, UavControlType controlType, Long controller) { @@ -101,9 +111,9 @@ if (approve) { getControlMap(controlType).put(boxSn, requester); uavControlManager.sendControlApproval(requester, boxSn, controlType.getType()); uavControlManager.sendControlApproval(requester, boxSn, controlType.getType(), controller); } else { uavControlManager.sendControlRejection(requester, boxSn, controlType.getType()); uavControlManager.sendControlRejection(requester, boxSn, controlType.getType(), controller); } requestMap.remove(boxSn); @@ -112,10 +122,6 @@ /** * 释放 UAV 控制权限 * * @param boxSn 设备序列号 * @param type 控制类型 * @return 是否成功释放控制 */ public boolean releaseControl(String boxSn, String type) { UavControlType controlType = UavControlType.fromString(type); @@ -124,7 +130,7 @@ } /** * 释放单个控制类型的权限 * 释放单个控制类型权限 */ private boolean releaseSingleControl(String boxSn, UavControlType controlType, Long controller) { ConcurrentHashMap<String, Long> controlMap = getControlMap(controlType); @@ -134,42 +140,35 @@ } controlMap.remove(boxSn); uavControlManager.sendControlRelease(boxSn, controlType.getType()); uavControlManager.sendControlRelease(boxSn, controlType.getType(), controller); return true; } /** * 释放用户所有 UAV 控制权 * 释放用户所有控制权限 */ public void releaseAllControls(Long userId) { // 释放飞行控制 uavFlyControlMap.entrySet().removeIf(entry -> entry.getValue().equals(userId)); // 释放载荷控制 uavPayloadControlMap.entrySet().removeIf(entry -> entry.getValue().equals(userId)); } /** * 获取当前某设备的控制用户 * * @param boxSn 设备序列号 * @param type 控制类型 * @return 当前控制该设备的用户 ID */ public Long getCurrentController(String boxSn, String type) { UavControlType controlType = UavControlType.fromString(type); return getControlMap(controlType).get(boxSn); } public Map<String,Long> getCurrentController(String boxSn) { Long flyController = uavFlyControlMap.get(boxSn); Map<String,Long> map=new HashMap<>(); map.put("flyController",flyController); Long payloadController = uavPayloadControlMap.get(boxSn); map.put("payloadController",payloadController); map.put("flyController", uavFlyControlMap.get(boxSn)); map.put("payloadController", uavPayloadControlMap.get(boxSn)); return map; } /** * 根据控制类型获取对应的控制 Map * 根据控制类型获取对应控制 Map */ private ConcurrentHashMap<String, Long> getControlMap(UavControlType controlType) { switch (controlType) { @@ -183,7 +182,7 @@ } /** * 根据控制类型获取对应的请求 Map * 根据控制类型获取对应请求 Map */ private ConcurrentHashMap<String, Long> getRequestMap(UavControlType controlType) { switch (controlType) { @@ -195,4 +194,11 @@ throw new IllegalArgumentException("不支持的控制类型"); } } /** * 获取用户优先级 */ private int getUserPriority(Long userId) { return sysUserService.selectUserById(userId).getPriority(); } }
