From 3f43e40ed1a1e9f66b3ad2862da9dbc4b710c712 Mon Sep 17 00:00:00 2001
From: nishiwei <13126973358@163.com>
Date: Fri, 23 Oct 2026 14:09:47 +0800
Subject: [PATCH] 智云3.0机场1适配内容提交
---
ard-sample/src/main/java/com/ard/sample/manage/service/impl/DeviceServiceImpl.java | 144 +++++++++++++++++++++++++++++++++++++++---------
1 files changed, 117 insertions(+), 27 deletions(-)
diff --git a/ard-sample/src/main/java/com/ard/sample/manage/service/impl/DeviceServiceImpl.java b/ard-sample/src/main/java/com/ard/sample/manage/service/impl/DeviceServiceImpl.java
index c66e278..a607a8b 100644
--- a/ard-sample/src/main/java/com/ard/sample/manage/service/impl/DeviceServiceImpl.java
+++ b/ard-sample/src/main/java/com/ard/sample/manage/service/impl/DeviceServiceImpl.java
@@ -1,9 +1,13 @@
package com.ard.sample.manage.service.impl;
import com.alibaba.fastjson2.JSONObject;
+import com.ard.common.core.domain.model.LoginUser;
+import com.ard.common.utils.SecurityUtils;
import com.ard.device.camera.domain.ArdCamera;
import com.ard.device.camera.service.IArdCameraService;
import com.ard.device.channel.domain.ArdChannel;
+import com.ard.sample.component.websocket.enums.MessageType;
+import com.ard.sample.component.websocket.handler.DockWebSocketHandler;
import com.ard.sample.component.websocket.handler.LiveStreamHandler;
import com.ard.system.authorize.service.AuthorizeService;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
@@ -38,12 +42,14 @@
import com.fasterxml.jackson.databind.JsonNode;
import com.fasterxml.jackson.databind.ObjectMapper;
import lombok.extern.slf4j.Slf4j;
+import org.apache.poi.ss.formula.functions.T;
import org.springframework.beans.factory.annotation.Autowired;
-import org.springframework.beans.factory.annotation.Qualifier;
+import org.springframework.dao.DuplicateKeyException;
import org.springframework.integration.annotation.ServiceActivator;
import org.springframework.integration.mqtt.support.MqttHeaders;
import org.springframework.messaging.Message;
import org.springframework.messaging.MessageHeaders;
+import org.springframework.scheduling.annotation.Scheduled;
import org.springframework.stereotype.Service;
import org.springframework.transaction.annotation.Transactional;
import org.springframework.util.CollectionUtils;
@@ -56,6 +62,7 @@
import java.time.ZoneId;
import java.util.*;
import java.util.concurrent.ConcurrentHashMap;
+import java.util.concurrent.TimeUnit;
import java.util.stream.Collectors;
import static com.ard.sample.component.mqtt.model.TopicConst.*;
@@ -69,6 +76,9 @@
@Slf4j
@Transactional
public class DeviceServiceImpl implements IDeviceService {
+
+ @Autowired
+ private DockWebSocketHandler _dockWebSocketHandler;
@Autowired
private LiveStreamHandler _liveStreamHandler;
@@ -106,9 +116,9 @@
@Resource
private AuthorizeService authorizeService;
+ // 机场1：OSD 按机型分发（原为 @Qualifier("gatewayOSDServiceImpl") ITSAService tsaService，直连 dock2 链头）
@Autowired
- @Qualifier("gatewayOSDServiceImpl")
- private ITSAService tsaService;
+ private DockOsdDispatcher dockOsdDispatcher;
@Resource
private ISysDeptService sysDeptService;
@@ -349,8 +359,13 @@
return;
}
- DeviceDTO subDevice =
- getDevicesByParams(DeviceQueryParam.builder().deviceSn(gateway.getChildDeviceSn()).build()).get(0);
+ List<DeviceDTO> subDevices =
+ getDevicesByParams(DeviceQueryParam.builder().deviceSn(gateway.getChildDeviceSn()).build());
+ if (CollectionUtils.isEmpty(subDevices)) {
+ log.warn("网关 {} 的子设备 {} 不存在，跳过拓扑拼接", gateway.getDeviceSn(), gateway.getChildDeviceSn());
+ return;
+ }
+ DeviceDTO subDevice = subDevices.get(0);
subDevice.setStatus(RedisOpsUtils.checkExist(RedisConst.DEVICE_ONLINE_PREFIX + subDevice.getDeviceSn()));
gateway.setChildren(subDevice);
@@ -361,6 +376,7 @@
//region 单独写一个方法做权限验证，由于有好多定时任务也在实时获取设备列表，原方法不适用再添加权限注解
@Override
public List<DeviceDTO> getDockList(String nickname) {
+ LoginUser loginUser = SecurityUtils.getLoginUser();
List<DeviceDTO> devicesList = this.getDockListByParams(
DeviceQueryParam.builder()
.domains(List.of(DeviceDomainEnum.GATEWAY.getVal(), DeviceDomainEnum.DOCK.getVal()))
@@ -368,8 +384,9 @@
.build());
// 在獲取设备列表时，顺便获取直播地址
for(DeviceDTO devices : devicesList){
- _liveStreamHandler.StartLiveStreaming(devices.getDeviceSn());
- _liveStreamHandler.StartLiveStreaming(devices.getChildDeviceSn());
+ // 暂时注释掉机场设备视频直址 2026-04-01
+// _liveStreamHandler.StartLiveStreaming(devices.getDeviceSn(), loginUser.getUserId().toString());
+// _liveStreamHandler.StartLiveStreaming(devices.getChildDeviceSn(), loginUser.getUserId().toString());
ArdCamera ardCamera = new ArdCamera();
ardCamera.setDockId(devices.getId());
List<ArdCamera> ardCameraList = _cameraService.selectArdCameraList(ardCamera);
@@ -377,7 +394,7 @@
for(ArdChannel ardChannel : ardCamera1.getChannelList()) {
if(ardChannel.getChanNo() == 1) {
// 修改列表中外接相机地址
- updateCameraWebrtcUrl(devices.getDeviceSn(), ardChannel.getArdVtdu().getWebrtcUrl());
+ updateCameraWebrtcUrl(devices.getDeviceSn(), ardChannel.getArdVtdu().getWebrtcUrl(), ardCamera1.getState());
}
}
}
@@ -398,8 +415,13 @@
if (!StringUtils.hasText(gateway.getChildDeviceSn())) {
return;
}
- DeviceDTO subDevice =
- getDevicesByParams(DeviceQueryParam.builder().deviceSn(gateway.getChildDeviceSn()).build()).get(0);
+ List<DeviceDTO> subDevices =
+ getDevicesByParams(DeviceQueryParam.builder().deviceSn(gateway.getChildDeviceSn()).build());
+ if (CollectionUtils.isEmpty(subDevices)) {
+ log.warn("网关 {} 的子设备 {} 不存在，跳过拓扑拼接", gateway.getDeviceSn(), gateway.getChildDeviceSn());
+ return;
+ }
+ DeviceDTO subDevice = subDevices.get(0);
subDevice.setStatus(RedisOpsUtils.checkExist(RedisConst.DEVICE_ONLINE_PREFIX + subDevice.getDeviceSn()));
gateway.setChildren(subDevice);
}
@@ -425,7 +447,7 @@
})
.eq(param.getBoundStatus() != null, DeviceEntity::getBoundStatus,
param.getBoundStatus())
- .like(param.getNickname()!=null, DeviceEntity::getNickname, "%" + param.getNickname() + "%")
+ .like(StringUtils.hasText(param.getNickname()), DeviceEntity::getNickname, "%" + param.getNickname() + "%")
.orderBy(param.isOrderBy(),
param.isAsc(), DeviceEntity::getId))
.stream()
@@ -650,7 +672,8 @@
.getValueAndUserType(UserTypeEnum.WEB.getVal());
- tsaService.handleOSD(receiver, device, webSessions, wsMessage);
+ // 机场1：OSD 按机型分发（dock1=67 → dock1 链；其余透传 dock2 原链）
+ dockOsdDispatcher.dispatch(receiver, device, webSessions, wsMessage);
} catch (NullPointerException e) {
log.error("处理OSD消息NPE，headers={}, payload={}",
@@ -734,7 +757,22 @@
}
// 调用验证方法
- return mapper.insert(entity) > 0 ? Optional.of(entity) : Optional.empty();
+ try {
+ return mapper.insert(entity) > 0 ? Optional.of(entity) : Optional.empty();
+ } catch (DuplicateKeyException e) {
+ // 机场首次上线时 MQTT QoS1 可能重复投递 update_topo（或多线程并发），
+ // 两个线程同时查到“设备不存在”后会并发 insert，后插入者触发唯一键冲突。
+ // 此时数据已被另一线程写入，退化为更新即可，避免整条状态消息处理失败。
+ DeviceEntity exist = mapper.selectOne(
+ new LambdaQueryWrapper<DeviceEntity>()
+ .eq(DeviceEntity::getDeviceSn, entity.getDeviceSn()));
+ if (exist == null) {
+ throw e;
+ }
+ entity.setId(exist.getId());
+ mapper.updateById(entity);
+ return Optional.of(exist);
+ }
}
/**
@@ -867,6 +905,7 @@
.workType(entity.getWorkType())
.webrtcUrl(entity.getWebrtcUrl())
.cameraWebrtcUrl(entity.getCameraWebrtcUrl())
+ .cameraState(entity.getCameraState())
.workspaceName(entity.getDeptId() != null
? Optional.ofNullable(sysDeptService.selectDeptById(entity.getDeptId()))
.map(SysDept::getDeptName)
@@ -927,10 +966,12 @@
return update > 0;
}
- public Boolean updateCameraWebrtcUrl(String sn, String CameraWebrtcUrl){
+ public Boolean updateCameraWebrtcUrl(String sn, String CameraWebrtcUrl, String state){
LambdaUpdateWrapper<DeviceEntity> lambdaUpdateWrapper = new LambdaUpdateWrapper<>();
lambdaUpdateWrapper.eq(DeviceEntity::getDeviceSn, sn)
- .set(DeviceEntity::getCameraWebrtcUrl, CameraWebrtcUrl);
+ .set(DeviceEntity::getCameraWebrtcUrl, CameraWebrtcUrl)
+ .set(DeviceEntity::getCameraState, state);
+
int update = mapper.update(null, lambdaUpdateWrapper);
return update > 0;
}
@@ -1185,23 +1226,30 @@
return ResponseResult.success();
}
+ /**
+ * 属性设置
+ * */
@Override
- public void devicePropertySet(String dockSn, DeviceSetPropertyEnum propertyEnum, JsonNode param) {
+ public ResponseResult devicePropertySet(String dockSn, DeviceSetPropertyEnum propertyEnum, JsonNode param) {
boolean dockOnline = this.checkDeviceOnline(dockSn);
if (!dockOnline) {
- throw new RuntimeException(CommonErrorEnum.DEVICE_OFFLINE.getErrorMsg());
+ return ResponseResult.error(CommonErrorEnum.DEVICE_OFFLINE.getErrorCode(),"机场" + CommonErrorEnum.DEVICE_OFFLINE.getErrorMsg());
+ //throw new RuntimeException(CommonErrorEnum.DEVICE_OFFLINE.getErrorMsg());
}
DeviceDTO deviceDTO = (DeviceDTO) RedisOpsUtils.get(RedisConst.DEVICE_ONLINE_PREFIX + dockSn);
boolean deviceOnline = this.checkDeviceOnline(deviceDTO.getChildDeviceSn());
if (!deviceOnline) {
- throw new RuntimeException("Device is offline.");
+ return ResponseResult.error(2222,"无人机" + CommonErrorEnum.DEVICE_OFFLINE.getErrorMsg());
+ //throw new RuntimeException("Device is offline.");
+ // CommonErrorEnum.DEVICE_OFFLINE.getErrorCode()
}
// Make sure the data is valid.
BasicDeviceProperty basicDeviceProperty = objectMapper.convertValue(param, propertyEnum.getClazz());
boolean valid = basicDeviceProperty.valid();
if (!valid) {
- throw new IllegalArgumentException(CommonErrorEnum.ILLEGAL_ARGUMENT.getErrorMsg());
+ return ResponseResult.error(CommonErrorEnum.ILLEGAL_ARGUMENT.getErrorMsg());
+ // throw new IllegalArgumentException(CommonErrorEnum.ILLEGAL_ARGUMENT.getErrorMsg());
}
String topic = THING_MODEL_PRE + PRODUCT + dockSn + PROPERTY_SUF + SET_SUF;
@@ -1209,12 +1257,14 @@
(OsdSubDeviceReceiver) RedisOpsUtils.get(RedisConst.OSD_PREFIX + deviceDTO.getChildDeviceSn());
if (!param.isObject()) {
this.deviceOnePropertySet(topic, propertyEnum, Map.entry(propertyEnum.getProperty(), param));
- return;
+ return ResponseResult.success();
+// return;
}
if(param.size()==1){
this.deviceOnePropertySetSilent(topic,propertyEnum,param);
- return;
+ return ResponseResult.success();
+// return;
}
// if(Objects.equals(param.fieldNames().next(), "silent_mode"))
// {
@@ -1231,7 +1281,7 @@
this.deviceOnePropertySet(topic, propertyEnum, Map.entry(propertyEnum.getProperty(), node));
}
-
+ return ResponseResult.success();
}
/**
@@ -1328,6 +1378,7 @@
.workType(dto.getWorkType())
.webrtcUrl(dto.getWebrtcUrl())
.cameraWebrtcUrl(dto.getCameraWebrtcUrl())
+ .cameraState(dto.getCameraState())
.compatibleStatus(dto.getFirmwareStatus() == null ? null :
DeviceFirmwareStatusEnum.CONSISTENT_UPGRADE != DeviceFirmwareStatusEnum.find(dto.getFirmwareStatus()))
.build();
@@ -1469,9 +1520,48 @@
messageSender.publish(topic, builder.build());
}
-// @DataScopePlus(deptAlias="d")
-// @Override
-// public List<DeviceEntity> selectList(Wrapper<DeviceEntity> queryWrapper) {
-// return mapper.selectList(queryWrapper);
-// }
+ /**
+ * 定时任务，每秒钟从redis中读取信息发送机场摄像头（舱内舱外）、飞行器摄像头模式（广角、变焦、红外）
+ * */
+ @Override
+ @Scheduled(initialDelay = 5, fixedRate = 1, timeUnit = TimeUnit.SECONDS)
+ public void sendCameraInfo() {
+ // 此方法修改为定时任务，每秒钟从redis中读取信息发送
+ // 发送机场摄像头位置信息
+ Map<Object, Object> map = RedisOpsUtils.getAllData(RedisConst.COVER_STATE_PREFIX+"*");
+ map.forEach((k, v) -> {
+ _dockWebSocketHandler.broadcastMessageToAllClients(v.toString());
+ });
+ }
+
+ // 机场直播摄像头信息存redis中，舱内、舱外
+ @Override
+ public void setRedisCameraPosition(String sn, Integer cameraPosition) {
+ String liveStatus = "";
+ Optional<DeviceDTO> device = getDeviceBySn(sn);
+ if(device.get().getDomain().equals(DeviceDomainEnum.DOCK.getVal())){
+ CommonTopicReceiver<Map<String,Integer>> stateReceiver = new CommonTopicReceiver<>();
+ stateReceiver.setTid(UUID.randomUUID().toString());
+ stateReceiver.setBid(UUID.randomUUID().toString());
+ stateReceiver.setType(MessageType.LIVESTATUS.getType());
+ stateReceiver.setGateway(sn);
+ stateReceiver.setTimestamp(System.currentTimeMillis());
+ Map<String,Integer> live_status = new HashMap<>();
+ live_status.put("camera_position", cameraPosition);
+ stateReceiver.setData(live_status);
+ try{
+ liveStatus=objectMapper.writeValueAsString(stateReceiver);
+ }
+ catch (Exception e){
+ log.error("机场直播设备状态反馈转换异常:{}",e);
+ }
+ }
+ log.info("机场直播设备状态反馈存入redis中，key值：{}中:{}",RedisConst.COVER_STATE_PREFIX,liveStatus);
+ RedisOpsUtils.set(RedisConst.COVER_STATE_PREFIX + sn, liveStatus);
+ }
+
+ public void setChildRedisCamera(String sn, String context){
+ // 保存子设备信息到redis中，便于前端获取
+ RedisOpsUtils.set(RedisConst.COVER_STATE_PREFIX + sn, context);
+ }
}
\ No newline at end of file
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