From 3c8d6b8e60f02b9a40fc5acd4dc6c34a6b594eb6 Mon Sep 17 00:00:00 2001
From: liusuyi <1951119284@qq.com>
Date: Mon, 19 Jan 2026 11:23:32 +0800
Subject: [PATCH] 增加用户优先级和所属平台 调整无人机控制逻辑增加优先级判断
---
ard-work/src/main/java/com/ard/work/component/websocket/handler/UavControlManager.java | 144 ++++++++++++++++++++++++++++++++++++++----------
1 files changed, 114 insertions(+), 30 deletions(-)
diff --git a/ard-work/src/main/java/com/ard/work/component/websocket/handler/UavControlManager.java b/ard-work/src/main/java/com/ard/work/component/websocket/handler/UavControlManager.java
index 4e56d46..ea5b677 100644
--- a/ard-work/src/main/java/com/ard/work/component/websocket/handler/UavControlManager.java
+++ b/ard-work/src/main/java/com/ard/work/component/websocket/handler/UavControlManager.java
@@ -1,10 +1,12 @@
package com.ard.work.component.websocket.handler;
import com.alibaba.fastjson2.JSON;
-import com.ard.work.service.control.UavControlService;
-import com.ard.work.domain.message.BaseMessage;
-import com.ard.work.domain.message.UavControlMessage;
+import com.ard.common.constant.CacheConstants;
+import com.ard.common.core.domain.entity.SysUser;
+import com.ard.common.core.redis.RedisCache;
import com.ard.work.component.websocket.utils.WebSocketUtil;
+import com.ard.work.domain.message.*;
+import com.ard.work.service.control.UavControlService;
import org.springframework.stereotype.Service;
import javax.annotation.Resource;
@@ -12,43 +14,123 @@
import java.util.Map;
@Service
-public class UavControlManager extends BaseSubscriptionManager<Map<String, Object>> {
+public class UavControlManager extends BaseSubscriptionManager<Map<String, Object>> {
@Resource
private UavControlService uavControlService;
- /**
- * 发送控制请求
- */
- public void sendControlRequest(Long controllerId, String boxSn, String type, Long requester) {
- UavControlMessage message = new UavControlMessage(boxSn, type, requester,null);
- BaseMessage<UavControlMessage> baseMessage = new BaseMessage<>("control", message);
- WebSocketUtil.sendMessage(controllerId, JSON.toJSONString(baseMessage));
+ @Resource
+ private RedisCache redisCache;
+
+ /* ===================== 1️⃣ 申请控制 ===================== */
+
+ public void sendControlRequest(Long controllerId, String boxSn, String type, Long requesterId) {
+
+ SysUser requester = redisCache.getCacheObject(CacheConstants.SYS_USER_KEY + requesterId);
+
+ UavControlMessage msg = new UavControlMessage();
+ msg.setBoxSn(boxSn);
+ msg.setType(type);
+ msg.setAction("request");
+ msg.setOperatorId(requesterId);
+ msg.setOperator(requester);
+
+ BaseMessage<UavControlMessage> base = new BaseMessage<>("control", msg);
+
+ WebSocketUtil.sendMessage(controllerId, JSON.toJSONString(base));
}
- /**
- * 发送控制同意通知
- */
- public void sendControlApproval(Long requesterId, String boxSn, String type) {
- UavControlMessage message = new UavControlMessage(boxSn, type, null,true);
- BaseMessage<UavControlMessage> baseMessage = new BaseMessage<>("control", message);
- WebSocketUtil.sendMessage(requesterId, JSON.toJSONString(baseMessage));
+ /* ===================== 2️⃣ 同意控制 ===================== */
+
+ public void sendControlApproval(Long requesterId, String boxSn, String type, Long controllerId) {
+
+ SysUser controller = redisCache.getCacheObject(CacheConstants.SYS_USER_KEY + controllerId);
+
+ UavControlMessage msg = new UavControlMessage();
+ msg.setBoxSn(boxSn);
+ msg.setType(type);
+ msg.setAction("approve");
+ msg.setApproved(true);
+ msg.setController(controller);
+
+ BaseMessage<UavControlMessage> base = new BaseMessage<>("control", msg);
+
+ WebSocketUtil.sendMessage(requesterId, JSON.toJSONString(base));
}
- /**
- * 发送控制拒绝通知
- */
- public void sendControlRejection(Long requesterId, String boxSn, String type) {
- UavControlMessage message = new UavControlMessage(boxSn, type, null,false);
- BaseMessage<UavControlMessage> baseMessage = new BaseMessage<>("control", message);
- WebSocketUtil.sendMessage(requesterId, JSON.toJSONString(baseMessage));
+ /* ===================== 3️⃣ 拒绝控制 ===================== */
+
+ public void sendControlRejection(Long requesterId, String boxSn, String type, Long controllerId) {
+
+ SysUser controller = redisCache.getCacheObject(CacheConstants.SYS_USER_KEY + controllerId);
+
+ UavControlMessage msg = new UavControlMessage();
+ msg.setBoxSn(boxSn);
+ msg.setType(type);
+ msg.setAction("reject");
+ msg.setApproved(false);
+ msg.setController(controller);
+
+ BaseMessage<UavControlMessage> base = new BaseMessage<>("control", msg);
+
+ WebSocketUtil.sendMessage(requesterId, JSON.toJSONString(base));
}
/**
* 发送控制释放通知
*/
- public void sendControlRelease(String boxSn, String type) {
- UavControlMessage message = new UavControlMessage(boxSn, type, null,null);
+ public void sendControlRelease(String boxSn, String type, Long operatorId) {
+ SysUser operator = redisCache.getCacheObject(CacheConstants.SYS_USER_KEY + operatorId);
+
+ UavControlMessage message = new UavControlMessage();
+ message.setBoxSn(boxSn);
+ message.setType(type);
+ message.setAction("release");
+ message.setOperatorId(operatorId);
+ message.setOperator(operator);
+
BaseMessage<UavControlMessage> baseMessage = new BaseMessage<>("control", message);
+ WebSocketUtil.sendMessageAll(JSON.toJSONString(baseMessage));
+ }
+
+ /* ===================== 4️⃣ 控制权接管 ===================== */
+
+ public void sendControlTakeover(Long oldControllerId, Long newControllerId, String boxSn, String type) {
+
+ SysUser newController = redisCache.getCacheObject(CacheConstants.SYS_USER_KEY + newControllerId);
+ SysUser oldController = redisCache.getCacheObject(CacheConstants.SYS_USER_KEY + oldControllerId);
+
+ // 1️⃣ 通知原控制者：你被抢占了
+ UavControlMessage msgOld = new UavControlMessage();
+ msgOld.setBoxSn(boxSn);
+ msgOld.setType(type);
+ msgOld.setAction("takeover");
+ msgOld.setOperatorId(newControllerId);
+ msgOld.setOperator(newController);
+ msgOld.setControllerId(oldControllerId);
+ msgOld.setController(oldController);
+ BaseMessage<UavControlMessage> baseMessage = new BaseMessage<>("control", msgOld);
+ WebSocketUtil.sendMessage(oldControllerId, JSON.toJSONString(baseMessage));
+
+ // 2️⃣ 通知新控制者：你已获得控制权
+ UavControlMessage msgNew = new UavControlMessage();
+ msgNew.setBoxSn(boxSn);
+ msgNew.setType(type);
+ msgNew.setAction("approve"); // 或 "takeover" 也可
+ msgNew.setOperatorId(newControllerId);
+ msgNew.setOperator(newController);
+ baseMessage = new BaseMessage<>("control", msgNew);
+ WebSocketUtil.sendMessage(newControllerId, JSON.toJSONString(baseMessage));
+
+ // 3️⃣ 广播给观战用户（可选）
+ UavControlMessage msgBroadcast = new UavControlMessage();
+ msgBroadcast.setBoxSn(boxSn);
+ msgBroadcast.setType(type);
+ msgBroadcast.setAction("takeover");
+ msgBroadcast.setOperatorId(newControllerId);
+ msgBroadcast.setOperator(newController);
+ msgBroadcast.setControllerId(oldControllerId);
+ msgBroadcast.setController(oldController);
+ baseMessage = new BaseMessage<>("control", msgBroadcast);
WebSocketUtil.sendMessageAll(JSON.toJSONString(baseMessage));
}
@@ -66,12 +148,14 @@
// 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, Object> 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);
+ SysUser flyUser = redisCache.getCacheObject(CacheConstants.SYS_USER_KEY + flyUserId);
+ map.put("flyController", flyUser);
// 将载荷当前控制者用户ID添加到映射中
- map.put("payloadController", payloadUserId);
+ SysUser payloadUser = redisCache.getCacheObject(CacheConstants.SYS_USER_KEY + payloadUserId);
+ map.put("payloadController", payloadUser);
// 返回包含当前控制者信息的映射
return map;
}
--
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