forked from uav/ard-uav-server
ard-work/src/main/java/com/ard/tianyu/service/impl/UavControlManager.java
@@ -3,94 +3,156 @@ import com.alibaba.fastjson2.JSON; import com.ard.common.exception.NoPermissionException; import com.ard.common.utils.SecurityUtils; import com.ard.tianyu.websocket.domain.ControlMessage; import com.ard.tianyu.websocket.domain.WsMessage; import com.ard.tianyu.websocket.domain.ControlAuthorityDTO; import com.ard.tianyu.websocket.domain.BaseMessage; import com.ard.tianyu.websocket.utils.WebSocketUtil; import lombok.extern.slf4j.Slf4j; import org.springframework.stereotype.Service; import java.util.concurrent.ConcurrentHashMap; /** * 无人机控制管理器 * * @author liusuyi * @date 2024年02月21日8:37 **/ @Service @Slf4j public class UavControlManager { // 存储每个无人机的当前控制者 public static final ConcurrentHashMap<String, Long> droneControlMap = new ConcurrentHashMap<>(); private static final String CONTROL_REQUEST_ACTION = "controlRequest"; private static final String REQUEST_ACTION = "request"; private static final String APPROVE_ACTION = "approve"; private static final String REJECT_ACTION = "reject"; // 存储每个无人机的当前控制者 public static final ConcurrentHashMap<String, Long> uavControlMap = new ConcurrentHashMap<>(); // 存储无人机的控制请求（用于判断哪个控制者正在等待） public static final ConcurrentHashMap<String, Long> controlRequestMap = new ConcurrentHashMap<>(); // 发送通知（通过 WebSocket推送） public void notifyMessage(String boxSn, String action, Long source, Long target) { ControlMessage controlMessage = ControlMessage.builder() .boxSn(boxSn) .userId(source) .action(action) .build(); WsMessage<ControlMessage> wsMessage = new WsMessage<>("controlRequest", controlMessage); WebSocketUtil.sendMessage(target.toString(), JSON.toJSONString(wsMessage)); } // 申请控制 /** * 申请控制 * * @param boxSn 盒子编号 */ public boolean requestControl(String boxSn) { Long requester = SecurityUtils.getUserId(); Long controller = uavControlMap.get(boxSn); // 如果无人机没有控制者，直接控制 if (droneControlMap.get(boxSn) == null) { droneControlMap.put(boxSn, requester); if (controller == null) { uavControlMap.put(boxSn, requester); log.info("控制权已授予给用户: {}", requester); return true; // 控制成功 } // 如果无人机已经有控制者,则发送申请给当前控制者 Long controller = droneControlMap.get(boxSn); if (!controller.equals(requester)) { // 则将控制请求加入请求队列 controlRequestMap.put(boxSn, requester); // 通知当前控制者，有新的控制请求 notifyMessage(boxSn, "request", requester, controller); notifyMessage(boxSn, REQUEST_ACTION, requester, controller); log.info("控制请求已发送给当前控制者: {}", controller); } else { throw new NoPermissionException("当前已经获取控制权，无需重复申请"); } return false; // 等待当前控制者的同意 } // 处理控制请求的同意或拒绝 /** * 处理控制请求 * * @param boxSn 盒子编号 * @param approve 是否同意 */ public boolean handleControlResponse(String boxSn, boolean approve) { Long controller = SecurityUtils.getUserId(); Long requester = controlRequestMap.get(boxSn); // 确保请求者是当前的控制者 if (requester != null && !requester.equals(controller)) { if (approve) { // 同意控制，将控制权赋予请求者 droneControlMap.put(boxSn, requester); notifyMessage(boxSn, "approve", controller, requester); } else { notifyMessage(boxSn, "reject", controller, requester); } // 无论同意还是拒绝，都移除控制请求 controlRequestMap.remove(boxSn); return true; } else { if (requester == null || requester.equals(controller)) { throw new NoPermissionException("无申请不需要处理控制权"); } if (approve) { uavControlMap.put(boxSn, requester); notifyMessage(boxSn, APPROVE_ACTION, controller, requester); log.info("控制权已转移给用户: {}", requester); } else { notifyMessage(boxSn, REJECT_ACTION, controller, requester); log.info("控制请求被拒绝，请求者: {}", requester); } controlRequestMap.remove(boxSn); return true; } // 释放控制 /** * 释放控制 * * @param boxSn 盒子编号 */ public boolean releaseControl(String boxSn) { Long controller = droneControlMap.get(boxSn); if (controller != null) { if (controller.equals(SecurityUtils.getUserId())) { droneControlMap.remove(boxSn); return true; } else { // 当前控制者不匹配，可以记录日志或者抛出异常 log.warn("无权限释放控制, 实际控制者是 {}", controller); throw new NoPermissionException("无权限释放控制, 实际控制者是 " + controller); } } else { // 说明无人机没有控制者 Long controller = uavControlMap.get(boxSn); if (controller == null) { log.warn("无人机当前 {} 没有控制者,无需释放", boxSn); throw new NoPermissionException("无人机" + boxSn + "当前没有控制者,无需释放"); } if (!controller.equals(SecurityUtils.getUserId())) { log.warn("无权限释放控制, 实际控制者是 {}", controller); throw new NoPermissionException("无权限释放控制, 实际控制者是 " + controller); } uavControlMap.remove(boxSn); log.info("控制权已释放，无人机: {}", boxSn); return true; } /** * 释放指定用户控制的无人机 * * @param userId 用户id */ public void releaseAllControlByUser(String userId) { String boxSn = uavControlMap.entrySet().stream() .filter(entry -> entry.getValue().toString().equals(userId)) .map(ConcurrentHashMap.Entry::getKey) .findFirst() .orElse(null); if (boxSn != null) { // 用户控制了某个无人机，移除缓存 uavControlMap.remove(boxSn); log.info("移除{}控制的无人机: {}", userId, boxSn); } } /** * 发送消息给指定用户 * * @param boxSn 盒子编号 * @param action 指令() * @param source 发送方用户ID * @param target 接收方用户ID */ private void notifyMessage(String boxSn, String action, Long source, Long target) { ControlAuthorityDTO controlAuthorityDTO = buildControlAuthorityDTO(boxSn, action, source); BaseMessage<ControlAuthorityDTO> baseMessage = buildBaseMessage(CONTROL_REQUEST_ACTION, controlAuthorityDTO); WebSocketUtil.sendMessage(target.toString(), JSON.toJSONString(baseMessage)); } private ControlAuthorityDTO buildControlAuthorityDTO(String boxSn, String action, Long userId) { return ControlAuthorityDTO.builder() .boxSn(boxSn) .userId(userId) .action(action) .build(); } private <T> BaseMessage<T> buildBaseMessage(String type, T data) { return new BaseMessage<>(type, data); } }
