From 8c5435101924d68588448a4c981417df4b4dab1d Mon Sep 17 00:00:00 2001
From: liusuyi <1951119284@qq.com>
Date: Fri, 21 Feb 2025 11:08:20 +0800
Subject: [PATCH] 整合websocket 统一使用按类型区分
---
ard-work/src/main/java/com/ard/tianyu/service/impl/UavControlManager.java | 156 ++++++++++++++++++++++++++++++++++++---------------
1 files changed, 109 insertions(+), 47 deletions(-)
diff --git a/ard-work/src/main/java/com/ard/tianyu/service/impl/UavControlManager.java b/ard-work/src/main/java/com/ard/tianyu/service/impl/UavControlManager.java
index 908a009..9d87722 100644
--- a/ard-work/src/main/java/com/ard/tianyu/service/impl/UavControlManager.java
+++ b/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);
}
}
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