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/service/control/UavControlService.java | 114 ++++++++++++++++++++++++++++++---------------------------
1 files changed, 60 insertions(+), 54 deletions(-)
diff --git a/ard-work/src/main/java/com/ard/work/service/control/UavControlService.java b/ard-work/src/main/java/com/ard/work/service/control/UavControlService.java
index 4c61618..3014fe2 100644
--- a/ard-work/src/main/java/com/ard/work/service/control/UavControlService.java
+++ b/ard-work/src/main/java/com/ard/work/service/control/UavControlService.java
@@ -2,8 +2,9 @@
import com.ard.common.exception.ControlException;
import com.ard.common.utils.SecurityUtils;
-import com.ard.work.domain.message.UavControlType;
+import com.ard.system.service.ISysUserService;
import com.ard.work.component.websocket.handler.UavControlManager;
+import com.ard.work.domain.message.UavControlType;
import org.springframework.stereotype.Service;
import javax.annotation.Resource;
@@ -12,7 +13,8 @@
import java.util.concurrent.ConcurrentHashMap;
/**
- * UAV控制服务类，负责管理对飞行和载荷的控制请求、释放和权限管理。
+ * UAV控制服务类，负责管理对飞行和载荷的控制请求、释放和权限管理
+ * 支持优先级抢占
*/
@Service
public class UavControlService {
@@ -20,30 +22,23 @@
@Resource
private UavControlManager uavControlManager;
- /**
- * 记录当前获得飞行控制权限的用户
- */
+ @Resource
+ private ISysUserService sysUserService;
+
+ /** 当前飞行控制权限用户 */
private final ConcurrentHashMap<String, Long> uavFlyControlMap = new ConcurrentHashMap<>();
- /**
- * 记录当前获得载荷控制权限的用户
- */
+
+ /** 当前载荷控制权限用户 */
private final ConcurrentHashMap<String, Long> uavPayloadControlMap = new ConcurrentHashMap<>();
- /**
- * 记录飞行控制请求
- */
+ /** 飞行控制请求 */
private final ConcurrentHashMap<String, Long> flyControlRequests = new ConcurrentHashMap<>();
- /**
- * 记录载荷控制请求
- */
+
+ /** 载荷控制请求 */
private final ConcurrentHashMap<String, Long> payloadControlRequests = new ConcurrentHashMap<>();
/**
* 请求获取 UAV 控制权限
- *
- * @param boxSn 设备序列号
- * @param type 控制类型（"fly"、"payload"）
- * @return 是否立即获得控制权限
*/
public boolean requestControl(String boxSn, String type) {
UavControlType controlType = UavControlType.fromString(type);
@@ -55,31 +50,46 @@
* 处理单个控制类型的请求
*/
private boolean requestSingleControl(String boxSn, UavControlType controlType, Long requester) {
-
ConcurrentHashMap<String, Long> controlMap = getControlMap(controlType);
ConcurrentHashMap<String, Long> requestMap = getRequestMap(controlType);
Long controller = controlMap.get(boxSn);
+
+ // 无人控制 → 直接获取
if (controller == null) {
controlMap.put(boxSn, requester);
+ uavControlManager.sendControlApproval(requester, boxSn, controlType.getType(), requester);
return true;
}
- if (!controller.equals(requester)) {
- requestMap.put(boxSn, requester);
- uavControlManager.sendControlRequest(controller, boxSn, controlType.getType(), requester);
- } else {
+
+ // 已是控制者
+ if (controller.equals(requester)) {
throw new ControlException("当前已拥有控制权");
}
+
+ int requesterPriority = getUserPriority(requester);
+ int controllerPriority = getUserPriority(controller);
+
+ // 优先级高 → 直接接管
+ if (requesterPriority > controllerPriority) {
+ controlMap.put(boxSn, requester);
+
+ // 通知原控制者被抢占
+ uavControlManager.sendControlTakeover(controller, requester, boxSn, controlType.getType());
+
+ // 通知新控制者获得控制
+ uavControlManager.sendControlApproval(requester, boxSn, controlType.getType(), requester);
+ return true;
+ }
+
+ // 优先级相同或更低 → 申请流程
+ requestMap.put(boxSn, requester);
+ uavControlManager.sendControlRequest(controller, boxSn, controlType.getType(), requester);
return false;
}
/**
- * 处理 UAV 控制请求的响应（同意或拒绝）
- *
- * @param boxSn 设备序列号
- * @param approve 是否同意
- * @param type 控制类型
- * @return 是否成功处理
+ * 处理 UAV 控制请求的响应
*/
public boolean handleControlResponse(String boxSn, boolean approve, String type) {
UavControlType controlType = UavControlType.fromString(type);
@@ -88,7 +98,7 @@
}
/**
- * 处理单个控制类型的请求响应
+ * 处理单个控制类型请求响应
*/
private boolean handleSingleControlResponse(String boxSn, boolean approve, UavControlType controlType,
Long controller) {
@@ -101,9 +111,9 @@
if (approve) {
getControlMap(controlType).put(boxSn, requester);
- uavControlManager.sendControlApproval(requester, boxSn, controlType.getType());
+ uavControlManager.sendControlApproval(requester, boxSn, controlType.getType(), controller);
} else {
- uavControlManager.sendControlRejection(requester, boxSn, controlType.getType());
+ uavControlManager.sendControlRejection(requester, boxSn, controlType.getType(), controller);
}
requestMap.remove(boxSn);
@@ -112,10 +122,6 @@
/**
* 释放 UAV 控制权限
- *
- * @param boxSn 设备序列号
- * @param type 控制类型
- * @return 是否成功释放控制
*/
public boolean releaseControl(String boxSn, String type) {
UavControlType controlType = UavControlType.fromString(type);
@@ -124,7 +130,7 @@
}
/**
- * 释放单个控制类型的权限
+ * 释放单个控制类型权限
*/
private boolean releaseSingleControl(String boxSn, UavControlType controlType, Long controller) {
ConcurrentHashMap<String, Long> controlMap = getControlMap(controlType);
@@ -134,42 +140,35 @@
}
controlMap.remove(boxSn);
- uavControlManager.sendControlRelease(boxSn, controlType.getType());
+ uavControlManager.sendControlRelease(boxSn, controlType.getType(), controller);
return true;
}
/**
- * 释放用户所有 UAV 控制权
+ * 释放用户所有控制权限
*/
public void releaseAllControls(Long userId) {
- // 释放飞行控制
uavFlyControlMap.entrySet().removeIf(entry -> entry.getValue().equals(userId));
-
- // 释放载荷控制
uavPayloadControlMap.entrySet().removeIf(entry -> entry.getValue().equals(userId));
}
/**
* 获取当前某设备的控制用户
- *
- * @param boxSn 设备序列号
- * @param type 控制类型
- * @return 当前控制该设备的用户 ID
*/
public Long getCurrentController(String boxSn, String type) {
UavControlType controlType = UavControlType.fromString(type);
return getControlMap(controlType).get(boxSn);
}
- public Map<String,Long> getCurrentController(String boxSn) {
- Long flyController = uavFlyControlMap.get(boxSn);
- Map<String,Long> map=new HashMap<>();
- map.put("flyController",flyController);
- Long payloadController = uavPayloadControlMap.get(boxSn);
- map.put("payloadController",payloadController);
+
+ public Map<String, Long> getCurrentController(String boxSn) {
+ Map<String, Long> map = new HashMap<>();
+ map.put("flyController", uavFlyControlMap.get(boxSn));
+ map.put("payloadController", uavPayloadControlMap.get(boxSn));
return map;
}
+
/**
- * 根据控制类型获取对应的控制 Map
+ * 根据控制类型获取对应控制 Map
*/
private ConcurrentHashMap<String, Long> getControlMap(UavControlType controlType) {
switch (controlType) {
@@ -183,7 +182,7 @@
}
/**
- * 根据控制类型获取对应的请求 Map
+ * 根据控制类型获取对应请求 Map
*/
private ConcurrentHashMap<String, Long> getRequestMap(UavControlType controlType) {
switch (controlType) {
@@ -195,4 +194,11 @@
throw new IllegalArgumentException("不支持的控制类型");
}
}
+
+ /**
+ * 获取用户优先级
+ */
+ private int getUserPriority(Long userId) {
+ return sysUserService.selectUserById(userId).getPriority();
+ }
}
--
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