websocket无人机控制者和视频流数据增加boxSn

liusuyi

2025-10-20 f0ed143646e3c280416ca05f64c1b59604289928

websocket无人机控制者和视频流数据增加boxSn

 ard-work/src/main/java/com/ard/work/component/websocket/handler/BaseSubscriptionManager.java

@@ -23,10 +23,10 @@
    /**
     * 订阅指定设备的数据
     */
    public void subscribe(String boxSn, Long userId,Integer period) {
    public void subscribe(String boxSn, Long userId, Integer period) {
        subscriptions.computeIfAbsent(boxSn, k -> new HashSet<>()).add(userId);
        if (subscriptions.get(boxSn).size() == 1) {
            startPushTask(boxSn,period);
            startPushTask(boxSn, period);
        }
    }

@@ -46,7 +46,7 @@
    /**
     * 启动推送任务
     */
    private void startPushTask(String boxSn,Integer period) {
    private void startPushTask(String boxSn, Integer period) {
        // 如果已经存在任务，则不再创建
        if (pushTasks.containsKey(boxSn)) {
            return;
@@ -79,7 +79,6 @@
    }



    /**
     * 向订阅者发送数据
     */
@@ -90,7 +89,7 @@
        if (userIds != null) {
            for (Long userId : userIds) {
                try {
                    log.debug("给用户{}定时推送",userId);
                    log.debug("给用户{}定时推送", userId);
                    WebSocketUtil.sendMessage(userId, JSON.toJSONString(baseMessage));
                } catch (Exception e) {
                    log.error("Error sending message to session {}", userId, e);

 ard-work/src/main/java/com/ard/work/component/websocket/handler/TyMessageHandler.java

@@ -192,8 +192,8 @@
    }

    /**
     * 处理无人机控制
     * 根据接收到的消息内容，决定无人机控制信息的订阅或退订
     * 处理无人机控制者
     * 根据接收到的消息内容，决定无人机控制者信息的订阅或退订
     *
     * @param payload 消息负载，包含控制信息
     * @param userId  用户ID，用于标识用户

 ard-work/src/main/java/com/ard/work/component/websocket/handler/UavControlManager.java

@@ -12,7 +12,7 @@
import java.util.Map;

@Service
public class UavControlManager  extends BaseSubscriptionManager<Map<String, Long>> {
public class UavControlManager  extends BaseSubscriptionManager<Map<String, Object>> {

    @Resource
    private UavControlService uavControlService;
@@ -60,13 +60,14 @@
     * @return 返回一个映射，包含无人机（fly）和载荷（payload）的当前控制者用户ID
     */
    @Override
    protected Map<String, Long> getData(String boxSn) {
    protected Map<String, Object> getData(String boxSn) {
        // 获取当前控制飞行的用户ID
        Long flyUserId = uavControlService.getCurrentController(boxSn, "fly");
        // 获取当前控制载荷的用户ID
        Long payloadUserId = uavControlService.getCurrentController(boxSn, "payload");
        // 创建一个映射，用于存储飞行和载荷的当前控制者用户ID
        Map<String, Long> map=new HashMap<>();
        Map<String, Object> map=new HashMap<>();
        map.put("boxSn", boxSn);
        // 将飞行当前控制者用户ID添加到映射中
        map.put("flyController", flyUserId);
        // 将载荷当前控制者用户ID添加到映射中

 ard-work/src/main/java/com/ard/work/component/websocket/handler/UavStreamManager.java

@@ -42,14 +42,15 @@
    public void subscribe(String boxSn, Long userId) {

        STREAM_USER_MAP.computeIfAbsent(boxSn, k -> ConcurrentHashMap.newKeySet()).add(userId);
        String webrtcUrl = getWebrtcUrl(boxSn);
        BoxStreamUrlReceiver streamReceiver = getWebrtcUrl(boxSn);
        String webrtcUrl = streamReceiver.getRtc();
        if (Objects.equals(webrtcUrl, "")) {
            log.warn("{}{}{}", STREAM_LOG_PREFIX, STREAM_NOT_FOUND_MSG, boxSn);
            BaseMessage<String> baseMessage = new BaseMessage<>("stream", STREAM_NOT_FOUND_MSG + boxSn);
            sendMessageToUser(userId, JSON.toJSONString(baseMessage));
        }
        BOX_STREAM_PULL_MAP.put(boxSn, webrtcUrl);
        BaseMessage<String> baseMessage = new BaseMessage<>("stream", webrtcUrl);
        BaseMessage<BoxStreamUrlReceiver> baseMessage = new BaseMessage<>("stream", streamReceiver);
        sendMessageToUser(userId, JSON.toJSONString(baseMessage));
    }

@@ -117,15 +118,9 @@
     * @param boxSn 盒子编号
     * @return String webrtcUrl
     */
    private String getWebrtcUrl(String boxSn) {
        try {
            BoxStreamUrlReceiver boxLiveUrl = tyService.getBoxLiveUrl(boxSn);
            if (boxLiveUrl != null) {
                return boxLiveUrl.getRtc();
            }
        } catch (Exception e) {
            log.error("获取媒体地址异常：{}", e.getMessage());
        }
        return "";
    private BoxStreamUrlReceiver getWebrtcUrl(String boxSn) {
        BoxStreamUrlReceiver boxLiveUrl = tyService.getBoxLiveUrl(boxSn);
        boxLiveUrl.setBoxSn(boxSn);
        return boxLiveUrl;
    }
}

 ard-work/src/main/java/com/ard/work/domain/receiver/BoxStreamUrlReceiver.java

@@ -8,6 +8,8 @@
@JsonIgnoreProperties(ignoreUnknown = true)
public class BoxStreamUrlReceiver {

    private String boxSn;

    @JsonProperty("rtsp")
    private String rtsp;


 ard-work/src/main/java/com/ard/work/service/impl/TyServiceImpl.java

@@ -52,6 +52,7 @@
import com.ard.work.service.ITyService;
import lombok.extern.slf4j.Slf4j;
import org.springframework.stereotype.Service;

import javax.annotation.Resource;
import java.util.*;
import java.util.stream.Collectors;
@@ -93,6 +94,7 @@
        List<ArdServerInfo> ardServerInfos = ardServerService.selectArdServerInfoList(new ArdServerInfo());
        return getBoxList(ardServerInfos);
    }

    /**
     * 获取指定服务器云盒列表
     *
@@ -103,6 +105,7 @@
        TyHttpCommonReceiver<List<BoxInfoReceiver>> boxList = tyClient.getBoxList(serverId);
        return boxList.getContent();
    }

    /**
     * 获取直播地址
     *
@@ -111,12 +114,13 @@
    @Override
    public BoxStreamUrlReceiver getBoxLiveUrl(String boxSn) {
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
        if(ardDroneInfo== null){
            log.warn("未找到对应的飞行器信息,boxSn:{}",boxSn);
        if (ardDroneInfo == null) {
            log.warn("未找到对应的飞行器信息,boxSn:{}", boxSn);
            return null;
        }
        TyHttpCommonReceiver<BoxStreamUrlReceiver> boxLiveUrl = tyClient.getBoxLiveUrl(ardDroneInfo.getServerId(),boxSn);
        return boxLiveUrl.getContent();
        TyHttpCommonReceiver<BoxStreamUrlReceiver> boxLiveUrl = tyClient.getBoxLiveUrl(ardDroneInfo.getServerId(),
                boxSn);
        return boxLiveUrl == null ? null : boxLiveUrl.getContent();
    }

    /**
@@ -140,7 +144,8 @@
    @Override
    public List<BoxPhotosReceiver> getBoxPhotos(BoxPhotosDTO boxPhotosDTO) {
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxPhotosDTO.getBoxSn());
        TyHttpCommonReceiver<List<BoxPhotosReceiver>> boxPhotos = tyClient.getBoxPhotos(ardDroneInfo.getServerId(),boxPhotosDTO);
        TyHttpCommonReceiver<List<BoxPhotosReceiver>> boxPhotos = tyClient.getBoxPhotos(ardDroneInfo.getServerId(),
                boxPhotosDTO);
        return boxPhotos.getContent();
    }

@@ -150,7 +155,7 @@
    @Override
    public Boolean updateBoxSettings(BoxSettingsDTO boxSettingsDTO) {
        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSettingsDTO.getBoxSn());
        TyHttpCommonReceiver<?> result = tyClient.updateBoxSettings(ardDroneInfo.getServerId(),boxSettingsDTO);
        TyHttpCommonReceiver<?> result = tyClient.updateBoxSettings(ardDroneInfo.getServerId(), boxSettingsDTO);
        return result.getState() == 1;
    }

@@ -673,8 +678,8 @@
                break;
            case 0x02:
                // 处理注册消息
                 HeartbeatReplyCmd heartbeatReplyCmd = (HeartbeatReplyCmd) tyCommand;
                 logPrint("心跳消息", heartbeatReplyCmd.getTimestamp());
                HeartbeatReplyCmd heartbeatReplyCmd = (HeartbeatReplyCmd) tyCommand;
                logPrint("心跳消息", heartbeatReplyCmd.getTimestamp());
                break;
            case 0x03:
                // 处理订阅消息