Merge branch 'dev' of http://59.110.226.79:18000/r/uav/ard-uav-server into dev

zhaowenyu

2025-11-27 84ffb112e0f8fed4003a4fdd46afb257a87c9e34

 ard-sample/src/main/java/com/ard/sample/manage/service/impl/DeviceServiceImpl.java

@@ -1,10 +1,7 @@
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.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;
@@ -615,6 +612,7 @@
            // 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
@@ -876,6 +874,9 @@
        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;
@@ -1072,6 +1073,16 @@
            this.deviceOnePropertySet(topic, propertyEnum, Map.entry(propertyEnum.getProperty(), param));
            return;
        }

        if(param.size()==1){
            this.deviceOnePropertySetSilent(topic,propertyEnum,param);
            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();
@@ -1079,12 +1090,34 @@
            if (!isPublish) {
                continue;
            }

            this.deviceOnePropertySet(topic, propertyEnum, Map.entry(propertyEnum.getProperty(), node));
        }

    }

    /**
     * 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())) {
@@ -1101,20 +1134,29 @@
                        .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) {
@@ -1205,7 +1247,7 @@
                .sn(device.getDeviceSn())
                .deviceCallsign(device.getNickname())
                .isDeviceBindOrganization(device.getBoundStatus())
                .organizationId(device.getDeptId().toString())
                .organizationId(String.valueOf(device.getDeptId()))
                .organizationName(device.getWorkspaceName())
                .build();
    }