forked from uav/ard-uav-server
ard-sample/src/main/java/com/ard/sample/manage/service/impl/DeviceServiceImpl.java
@@ -1,10 +1,15 @@ package com.ard.sample.manage.service.impl; import com.alibaba.fastjson2.JSONObject; import com.ard.common.annotation.DataScope; import com.ard.common.annotation.DataScopePlus; import com.ard.common.core.domain.model.LoginUser; import com.ard.common.utils.SecurityUtils; import com.ard.device.camera.domain.ArdCamera; import com.ard.device.camera.service.IArdCameraService; import com.ard.device.channel.domain.ArdChannel; import com.ard.sample.component.websocket.enums.MessageType; import com.ard.sample.component.websocket.handler.DockWebSocketHandler; import com.ard.sample.component.websocket.handler.LiveStreamHandler; import com.ard.system.authorize.service.AuthorizeService; import com.baomidou.mybatisplus.core.conditions.Wrapper; import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper; import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper; import com.baomidou.mybatisplus.core.conditions.update.LambdaUpdateWrapper; @@ -37,12 +42,14 @@ import com.fasterxml.jackson.databind.JsonNode; import com.fasterxml.jackson.databind.ObjectMapper; import lombok.extern.slf4j.Slf4j; import org.apache.poi.ss.formula.functions.T; import org.springframework.beans.factory.annotation.Autowired; import org.springframework.beans.factory.annotation.Qualifier; import org.springframework.integration.annotation.ServiceActivator; import org.springframework.integration.mqtt.support.MqttHeaders; import org.springframework.messaging.Message; import org.springframework.messaging.MessageHeaders; import org.springframework.scheduling.annotation.Scheduled; import org.springframework.stereotype.Service; import org.springframework.transaction.annotation.Transactional; import org.springframework.util.CollectionUtils; @@ -55,6 +62,7 @@ import java.time.ZoneId; import java.util.*; import java.util.concurrent.ConcurrentHashMap; import java.util.concurrent.TimeUnit; import java.util.stream.Collectors; import static com.ard.sample.component.mqtt.model.TopicConst.*; @@ -68,6 +76,15 @@ @Slf4j @Transactional public class DeviceServiceImpl implements IDeviceService { @Autowired private DockWebSocketHandler _dockWebSocketHandler; @Autowired private LiveStreamHandler _liveStreamHandler; @Autowired private IArdCameraService _cameraService; @Autowired private IMessageSenderService messageSender; @@ -351,12 +368,31 @@ // subDevice.setPayloadsList(payloadService.getDevicePayloadEntitiesByDeviceSn(gateway.getChildDeviceSn())); } //region 单独写一个方法做权限验证，由于有好多定时任务也在实时获取设备列表，原方法不适用再添加权限注解 @Override public List<DeviceDTO> getDockList() { public List<DeviceDTO> getDockList(String nickname) { LoginUser loginUser = SecurityUtils.getLoginUser(); List<DeviceDTO> devicesList = this.getDockListByParams( DeviceQueryParam.builder() .domains(List.of(DeviceDomainEnum.GATEWAY.getVal(), DeviceDomainEnum.DOCK.getVal())) .nickname(nickname) .build()); // 在獲取设备列表时，顺便获取直播地址 for(DeviceDTO devices : devicesList){ _liveStreamHandler.StartLiveStreaming(devices.getDeviceSn(), loginUser.getUserId().toString()); _liveStreamHandler.StartLiveStreaming(devices.getChildDeviceSn(), loginUser.getUserId().toString()); ArdCamera ardCamera = new ArdCamera(); ardCamera.setDockId(devices.getId()); List<ArdCamera> ardCameraList = _cameraService.selectArdCameraList(ardCamera); for(ArdCamera ardCamera1 : ardCameraList){ for(ArdChannel ardChannel : ardCamera1.getChannelList()) { if(ardChannel.getChanNo() == 1) { // 修改列表中外接相机地址 updateCameraWebrtcUrl(devices.getDeviceSn(), ardChannel.getArdVtdu().getWebrtcUrl(), ardCamera1.getState()); } } } } devicesList.stream() .filter(gateway -> DeviceDomainEnum.DOCK.getVal() == gateway.getDomain() || @@ -368,27 +404,21 @@ @Override public void spliceDeviceTopoPer(DeviceDTO gateway) { gateway.setStatus(RedisOpsUtils.checkExist(RedisConst.DEVICE_ONLINE_PREFIX + gateway.getDeviceSn())); // sub device if (!StringUtils.hasText(gateway.getChildDeviceSn())) { return; } DeviceDTO subDevice = getDevicesByParams(DeviceQueryParam.builder().deviceSn(gateway.getChildDeviceSn()).build()).get(0); subDevice.setStatus(RedisOpsUtils.checkExist(RedisConst.DEVICE_ONLINE_PREFIX + subDevice.getDeviceSn())); gateway.setChildren(subDevice); // payloads // subDevice.setPayloadsList(payloadService.getDevicePayloadEntitiesByDeviceSn(gateway.getChildDeviceSn())); } //@DataScope(deptAlias = "d") @Override public List<DeviceDTO> getDockListByParams(DeviceQueryParam param){ // 在mapper中添加查询方法做权限验证 return mapper.selectListPer( new LambdaQueryWrapper<DeviceEntity>() .eq(StringUtils.hasText(param.getDeviceSn()), @@ -406,12 +436,98 @@ }) .eq(param.getBoundStatus() != null, DeviceEntity::getBoundStatus, param.getBoundStatus()) .like(param.getNickname()!=null, DeviceEntity::getNickname, "%" + param.getNickname() + "%") .orderBy(param.isOrderBy(), param.isAsc(), DeviceEntity::getId)) .stream() .map(this::deviceEntityConvertToDTO) .collect(Collectors.toList()); } //endregion // region 多路直播列表，按nickname筛选 // /** // * 多路直播列表，按nickname筛选 // * */ // @Override // public List<DeviceDTO> getDockCameraList(String nickname) { // // List<DeviceDTO> devicesList = this.getDockListByParams( // DeviceQueryParam.builder() // .domains(List.of(DeviceDomainEnum.GATEWAY.getVal(), DeviceDomainEnum.DOCK.getVal())) // .nickname(nickname) // .build()); // // // 在獲取设备列表时，顺便获取直播地址 // for(DeviceDTO devices : devicesList){ // _liveStreamHandler.StartLiveStreaming(devices.getDeviceSn()); // _liveStreamHandler.StartLiveStreaming(devices.getChildDeviceSn()); // ArdCamera ardCamera = new ArdCamera(); // ardCamera.setDockId(devices.getId()); // List<ArdCamera> ardCameraList = _cameraService.selectArdCameraList(ardCamera); // for(ArdCamera ardCamera1 : ardCameraList){ // for(ArdChannel ardChannel : ardCamera1.getChannelList()) { // if(ardChannel.getChanNo() == 1) { // // 修改列表中外接相机地址 // updateCameraWebrtcUrl(devices.getDeviceSn(), ardChannel.getArdVtdu().getWebrtcUrl()); // } // } // } // } // // devicesList.stream() // .filter(gateway -> DeviceDomainEnum.DOCK.getVal() == gateway.getDomain() || // RedisOpsUtils.checkExist(RedisConst.DEVICE_ONLINE_PREFIX + gateway.getDeviceSn())) // .forEach(this::spliceDeviceTopoPer); // // return devicesList; // } // @Override // public void spliceDeviceTopoCamera(DeviceDTO gateway) { // gateway.setStatus(RedisOpsUtils.checkExist(RedisConst.DEVICE_ONLINE_PREFIX + gateway.getDeviceSn())); // // sub device // if (!StringUtils.hasText(gateway.getChildDeviceSn())) { // return; // } // DeviceDTO subDevice = // getDevicesByParams(DeviceQueryParam.builder().deviceSn(gateway.getChildDeviceSn()).build()).get(0); // subDevice.setStatus(RedisOpsUtils.checkExist(RedisConst.DEVICE_ONLINE_PREFIX + subDevice.getDeviceSn())); // gateway.setChildren(subDevice); // } // /** // * 按nickname筛选列表 // * */ // @Override // public List<DeviceDTO> getDockCameraListByParams(DeviceQueryParam param) { // return mapper.selectListPer( // new LambdaQueryWrapper<DeviceEntity>() // .eq(StringUtils.hasText(param.getDeviceSn()), // DeviceEntity::getDeviceSn, param.getDeviceSn()) // .eq(param.getDeviceType() != null, // DeviceEntity::getDeviceType, param.getDeviceType()) // .eq(param.getSubType() != null, // DeviceEntity::getSubType, param.getSubType()) // .eq(StringUtils.hasText(param.getChildSn()), // DeviceEntity::getChildSn, param.getChildSn()) // .and(!CollectionUtils.isEmpty(param.getDomains()), wrapper -> { // for (Integer domain : param.getDomains()) { // wrapper.eq(DeviceEntity::getDomain, domain).or(); // } // }) // .eq(param.getBoundStatus() != null, DeviceEntity::getBoundStatus, // param.getBoundStatus()) // .like(param.getNickname()!=null, DeviceEntity::getNickname, "%" + param.getNickname() + "%") // .orderBy(param.isOrderBy(), // param.isAsc(), DeviceEntity::getId)) // .stream() // .map(this::deviceEntityConvertToDTO) // .collect(Collectors.toList()); // } // endregion @Override public Optional<TopologyDeviceDTO> getDeviceTopoForPilot(String sn) { @@ -506,10 +622,10 @@ @Override @ServiceActivator(inputChannel = ChannelName.INBOUND_OSD) public void handleOSD(Message<?> message) { String topic = message.getHeaders().get(MqttHeaders.RECEIVED_TOPIC).toString(); byte[] payload = (byte[]) message.getPayload(); CommonTopicReceiver receiver; try { String topic = message.getHeaders().get(MqttHeaders.RECEIVED_TOPIC).toString(); byte[] payload = (byte[]) message.getPayload(); CommonTopicReceiver receiver; String from = topic.substring((THING_MODEL_PRE + PRODUCT).length(), topic.indexOf(OSD_SUF)); @@ -547,7 +663,12 @@ tsaService.handleOSD(receiver, device, webSessions, wsMessage); } catch (IOException e) { } catch (NullPointerException e) { log.error("处理OSD消息NPE，headers={}, payload={}", message.getHeaders(), message.getPayload(), e); // 打印完整栈 } catch (IOException e) { log.error("处理OSD消息的IO异常：{}",e.getMessage(), e); e.printStackTrace(); } } @@ -619,6 +740,7 @@ // 验证授权数量 validateAuthorization(devicesList.size(), 1); } catch (Exception e) { log.error("保存设备时验证授权异常，请联系管理员！错误信息：" + e.getMessage()); return Optional.empty(); } // 调用验证方法 @@ -754,6 +876,9 @@ .firmwareVersion(entity.getFirmwareVersion()) .deptId(entity.getDeptId()) .workType(entity.getWorkType()) .webrtcUrl(entity.getWebrtcUrl()) .cameraWebrtcUrl(entity.getCameraWebrtcUrl()) .cameraState(entity.getCameraState()) .workspaceName(entity.getDeptId() != null ? Optional.ofNullable(sysDeptService.selectDeptById(entity.getDeptId())) .map(SysDept::getDeptName) @@ -804,6 +929,27 @@ int update = mapper.update(null, lambdaUpdateWrapper); return update > 0; } @Override public Boolean updateWebrtcUrl(String sn, String webrtcUrl){ LambdaUpdateWrapper<DeviceEntity> lambdaUpdateWrapper = new LambdaUpdateWrapper<>(); lambdaUpdateWrapper.eq(DeviceEntity::getDeviceSn, sn) .set(DeviceEntity::getWebrtcUrl, webrtcUrl); int update = mapper.update(null, lambdaUpdateWrapper); return update > 0; } public Boolean updateCameraWebrtcUrl(String sn, String CameraWebrtcUrl, String state){ LambdaUpdateWrapper<DeviceEntity> lambdaUpdateWrapper = new LambdaUpdateWrapper<>(); lambdaUpdateWrapper.eq(DeviceEntity::getDeviceSn, sn) .set(DeviceEntity::getCameraWebrtcUrl, CameraWebrtcUrl) .set(DeviceEntity::getCameraState, state); int update = mapper.update(null, lambdaUpdateWrapper); return update > 0; } @Override public Boolean bindDevice(DeviceDTO device) { @@ -880,6 +1026,9 @@ BindDeviceReceiver dock = null; BindDeviceReceiver drone = null; for (BindDeviceReceiver device : devices) { if(device.getDeviceModelKey().isEmpty()){ continue; } int val = Integer.parseInt(device.getDeviceModelKey().split("-")[0]); if (val == DeviceDomainEnum.DOCK.getVal()) { dock = device; @@ -1039,34 +1188,41 @@ .data(Map.of(MapKeyConst.DEVICES, deviceOtaFirmwares)) .build()); if (serviceReply.getResult() != ResponseResult.CODE_SUCCESS) { return ResponseResult.error(serviceReply.getResult(), "Firmware Error Code: " + serviceReply.getResult()); String errorMsg = CommonErrorEnum.getMsgByCode(serviceReply.getResult()); return ResponseResult.error(serviceReply.getResult(), errorMsg); } // Record the device state that needs to be updated. deviceOtaFirmwares.forEach(deviceOta -> RedisOpsUtils.setWithExpire( RedisConst.FIRMWARE_UPGRADING_PREFIX + deviceOta.getSn(), bid, RedisConst.DEVICE_ALIVE_SECOND * RedisConst.DEVICE_ALIVE_SECOND)); bid,RedisConst.DEVICE_ALIVE_SECOND * RedisConst.DEVICE_ALIVE_SECOND)); return ResponseResult.success(); } /** * 属性设置 * */ @Override public void devicePropertySet(String dockSn, DeviceSetPropertyEnum propertyEnum, JsonNode param) { public ResponseResult devicePropertySet(String dockSn, DeviceSetPropertyEnum propertyEnum, JsonNode param) { boolean dockOnline = this.checkDeviceOnline(dockSn); if (!dockOnline) { throw new RuntimeException("Dock is offline."); return ResponseResult.error(CommonErrorEnum.DEVICE_OFFLINE.getErrorCode(),"机场" + CommonErrorEnum.DEVICE_OFFLINE.getErrorMsg()); //throw new RuntimeException(CommonErrorEnum.DEVICE_OFFLINE.getErrorMsg()); } DeviceDTO deviceDTO = (DeviceDTO) RedisOpsUtils.get(RedisConst.DEVICE_ONLINE_PREFIX + dockSn); boolean deviceOnline = this.checkDeviceOnline(deviceDTO.getChildDeviceSn()); if (!deviceOnline) { throw new RuntimeException("Device is offline."); return ResponseResult.error(2222,"无人机" + CommonErrorEnum.DEVICE_OFFLINE.getErrorMsg()); //throw new RuntimeException("Device is offline."); // CommonErrorEnum.DEVICE_OFFLINE.getErrorCode() } // Make sure the data is valid. BasicDeviceProperty basicDeviceProperty = objectMapper.convertValue(param, propertyEnum.getClazz()); boolean valid = basicDeviceProperty.valid(); if (!valid) { throw new IllegalArgumentException(CommonErrorEnum.ILLEGAL_ARGUMENT.getErrorMsg()); return ResponseResult.error(CommonErrorEnum.ILLEGAL_ARGUMENT.getErrorMsg()); // throw new IllegalArgumentException(CommonErrorEnum.ILLEGAL_ARGUMENT.getErrorMsg()); } String topic = THING_MODEL_PRE + PRODUCT + dockSn + PROPERTY_SUF + SET_SUF; @@ -1074,8 +1230,20 @@ (OsdSubDeviceReceiver) RedisOpsUtils.get(RedisConst.OSD_PREFIX + deviceDTO.getChildDeviceSn()); if (!param.isObject()) { this.deviceOnePropertySet(topic, propertyEnum, Map.entry(propertyEnum.getProperty(), param)); return; return ResponseResult.success(); // return; } if(param.size()==1){ this.deviceOnePropertySetSilent(topic,propertyEnum,param); return ResponseResult.success(); // return; } // if(Objects.equals(param.fieldNames().next(), "silent_mode")) // { // this.deviceOnePropertySet(topic, propertyEnum, Map.entry(propertyEnum.getProperty(), param.get("silent_mode"))); // return; // } // If there are multiple parameters, set them separately. for (Iterator<Map.Entry<String, JsonNode>> filed = param.fields(); filed.hasNext(); ) { Map.Entry<String, JsonNode> node = filed.next(); @@ -1083,12 +1251,34 @@ if (!isPublish) { continue; } this.deviceOnePropertySet(topic, propertyEnum, Map.entry(propertyEnum.getProperty(), node)); } return ResponseResult.success(); } /** * 为静音模式单独列出来一个方法，只有一个值的时候都可以调用，不限于静音模式 * */ @Override public void deviceOnePropertySetSilent(String topic, DeviceSetPropertyEnum propertyEnum, JsonNode value) { // if (Objects.isNull(value) || Objects.isNull(value.getValue())) { // throw new IllegalArgumentException(CommonErrorEnum.ILLEGAL_ARGUMENT.getErrorMsg()); // } Map reply = messageSender.publishWithReply( Map.class, topic, CommonTopicResponse.builder() .bid(UUID.randomUUID().toString()) .tid(UUID.randomUUID().toString()) .timestamp(System.currentTimeMillis()) .data(value) .build(), 2); } @Override public void deviceOnePropertySet(String topic, DeviceSetPropertyEnum propertyEnum, Map.Entry<String, Object> value) { if (Objects.isNull(value) || Objects.isNull(value.getValue())) { @@ -1105,20 +1295,29 @@ .build(), 2); while (true) { reply = (Map<String, Object>) reply.get(value.getKey()); if (value.getValue() instanceof JsonNode) { break; } value = (Map.Entry) value.getValue(); } SetReply setReply = objectMapper.convertValue(reply, SetReply.class); if (SetReplyStatusResultEnum.SUCCESS.getVal() != setReply.getResult()) { throw new RuntimeException("Failed to set " + value.getKey() + "; Error Code: " + setReply.getResult()); } // 接收返回信息在serviceReply中，订阅thing/product/7CTDLCE00A1UPE/property/set_reply上报的信息，此处不处理 // while (true) { // reply = (Map<String, Object>) reply.get(value.getKey()); // if (value.getValue() instanceof JsonNode) { // break; // } // value = (Map.Entry) value.getValue(); // } // SetReply setReply = objectMapper.convertValue(reply, SetReply.class); // if (SetReplyStatusResultEnum.SUCCESS.getVal() != setReply.getResult()) { // throw new RuntimeException("Failed to set " + value.getKey() + "; Error Code: " + setReply.getResult()); // } } // public JsonNode getJsonNode(JsonNode jsonNode) { // ObjectNode parentNode = objectMapper.createObjectNode(); // parentNode.put("bid", UUID.randomUUID().toString()); // parentNode.set("data", jsonNode); // parentNode.put("tid", UUID.randomUUID().toString()); // parentNode.put("timestamp", System.currentTimeMillis()); // return parentNode; // } @Override public Boolean checkDeviceOnline(String sn) { @@ -1150,6 +1349,9 @@ .domain(dto.getDomain()) .firmwareVersion(dto.getFirmwareVersion()) .workType(dto.getWorkType()) .webrtcUrl(dto.getWebrtcUrl()) .cameraWebrtcUrl(dto.getCameraWebrtcUrl()) .cameraState(dto.getCameraState()) .compatibleStatus(dto.getFirmwareStatus() == null ? null : DeviceFirmwareStatusEnum.CONSISTENT_UPGRADE != DeviceFirmwareStatusEnum.find(dto.getFirmwareStatus())) .build(); @@ -1209,7 +1411,7 @@ .sn(device.getDeviceSn()) .deviceCallsign(device.getNickname()) .isDeviceBindOrganization(device.getBoundStatus()) .organizationId(device.getDeptId().toString()) .organizationId(String.valueOf(device.getDeptId())) .organizationName(device.getWorkspaceName()) .build(); } @@ -1291,9 +1493,48 @@ messageSender.publish(topic, builder.build()); } // @DataScopePlus(deptAlias="d") // @Override // public List<DeviceEntity> selectList(Wrapper<DeviceEntity> queryWrapper) { // return mapper.selectList(queryWrapper); // } /** * 定时任务，每秒钟从redis中读取信息发送机场摄像头（舱内舱外）、飞行器摄像头模式（广角、变焦、红外） * */ @Override @Scheduled(initialDelay = 5, fixedRate = 1, timeUnit = TimeUnit.SECONDS) public void sendCameraInfo() { // 此方法修改为定时任务，每秒钟从redis中读取信息发送 // 发送机场摄像头位置信息 Map<Object, Object> map = RedisOpsUtils.getAllData(RedisConst.COVER_STATE_PREFIX+"*"); map.forEach((k, v) -> { _dockWebSocketHandler.broadcastMessageToAllClients(v.toString()); }); } // 机场直播摄像头信息存redis中，舱内、舱外 @Override public void setRedisCameraPosition(String sn, Integer cameraPosition) { String liveStatus = ""; Optional<DeviceDTO> device = getDeviceBySn(sn); if(device.get().getDomain().equals(DeviceDomainEnum.DOCK.getVal())){ CommonTopicReceiver<Map<String,Integer>> stateReceiver = new CommonTopicReceiver<>(); stateReceiver.setTid(UUID.randomUUID().toString()); stateReceiver.setBid(UUID.randomUUID().toString()); stateReceiver.setType(MessageType.LIVESTATUS.getType()); stateReceiver.setGateway(sn); stateReceiver.setTimestamp(System.currentTimeMillis()); Map<String,Integer> live_status = new HashMap<>(); live_status.put("camera_position", cameraPosition); stateReceiver.setData(live_status); try{ liveStatus=objectMapper.writeValueAsString(stateReceiver); } catch (Exception e){ log.error("机场直播设备状态反馈转换异常:{}",e); } } log.info("机场直播设备状态反馈存入redis中，key值：{}中:{}",RedisConst.COVER_STATE_PREFIX,liveStatus); RedisOpsUtils.set(RedisConst.COVER_STATE_PREFIX + sn, liveStatus); } public void setChildRedisCamera(String sn, String context){ // 保存子设备信息到redis中，便于前端获取 RedisOpsUtils.set(RedisConst.COVER_STATE_PREFIX + sn, context); } }
