From ad5e2cca44e988fd6398f55d1eda3aec46cab4c8 Mon Sep 17 00:00:00 2001
From: liusuyi <1951119284@qq.com>
Date: Thu, 29 Jan 2026 15:21:44 +0800
Subject: [PATCH] 优化
---
ard-work/src/main/java/com/ard/work/service/control/UavControlService.java | 163 ++++++++++++++++++++++++++++++++++-------------------
1 files changed, 104 insertions(+), 59 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..66f5d32 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
@@ -2,17 +2,20 @@
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;
import java.util.HashMap;
import java.util.Map;
+import java.util.Set;
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 +23,32 @@
@Resource
private UavControlManager uavControlManager;
+ @Resource
+ private ISysUserService sysUserService;
+
/**
- * 记录当前获得飞行控制权限的用户
+ * 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：boxSn -> 多个请求者
*/
- private final ConcurrentHashMap<String, Long> flyControlRequests = new ConcurrentHashMap<>();
+ private final ConcurrentHashMap<String, Set<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<>();
+ private final ConcurrentHashMap<String, Set<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);
@@ -54,68 +59,107 @@
/**
* 处理单个控制类型的请求
*/
+ /**
+ * 处理单个控制类型的请求（支持多请求者）
+ */
private boolean requestSingleControl(String boxSn, UavControlType controlType, Long requester) {
ConcurrentHashMap<String, Long> controlMap = getControlMap(controlType);
- ConcurrentHashMap<String, Long> requestMap = getRequestMap(controlType);
+ ConcurrentHashMap<String, Set<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());
+ return true;
+ }
+
+ // ===== 以下是关键改动点 =====
+
+ // 优先级相同或更低 → 加入请求集合（不覆盖）
+ Set<Long> requesters = requestMap.computeIfAbsent(boxSn, k -> ConcurrentHashMap.newKeySet());
+ requesters.add(requester);
+
+ // 通知当前控制者：有新的请求者
+ 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) {
+ public boolean handleControlResponse(String boxSn, boolean approve, String type, Long requester) {
UavControlType controlType = UavControlType.fromString(type);
Long controller = SecurityUtils.getUserId();
- return handleSingleControlResponse(boxSn, approve, controlType, controller);
+ return handleSingleControlResponse(boxSn, approve, controlType, controller, requester);
}
- /**
- * 处理单个控制类型的请求响应
- */
- private boolean handleSingleControlResponse(String boxSn, boolean approve, UavControlType controlType,
- Long controller) {
- ConcurrentHashMap<String, Long> requestMap = getRequestMap(controlType);
- Long requester = requestMap.get(boxSn);
- if (requester == null || requester.equals(controller)) {
+ /**
+ * 处理单个控制类型请求响应
+ */
+ private boolean handleSingleControlResponse(String boxSn,
+ boolean approve,
+ UavControlType controlType,
+ Long controller,
+ Long requester) {
+
+ ConcurrentHashMap<String, Set<Long>> requestMap = getRequestMap(controlType);
+ Set<Long> requesters = requestMap.get(boxSn);
+
+ if (requesters == null || !requesters.contains(requester)) {
throw new ControlException("无控制请求");
}
if (approve) {
getControlMap(controlType).put(boxSn, requester);
- uavControlManager.sendControlApproval(requester, boxSn, controlType.getType());
+
+ // 通知被批准者
+ uavControlManager.sendControlApproval(requester, boxSn, controlType.getType(), controller);
+
+ // 🚨 其他请求者自动拒绝（强烈建议）
+ for (Long other : requesters) {
+ if (!other.equals(requester)) {
+ requesters.remove(requester);
+ uavControlManager.sendControlRejection(other, boxSn, controlType.getType(), controller);
+ }
+ }
} else {
- uavControlManager.sendControlRejection(requester, boxSn, controlType.getType());
+ uavControlManager.sendControlRejection(requester, boxSn, controlType.getType(), controller);
}
- requestMap.remove(boxSn);
+ requesters.remove(requester);
+ if (requesters.isEmpty()) {
+ requestMap.remove(boxSn);
+ }
+
return true;
}
+
/**
* 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 +168,7 @@
}
/**
- * 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 +178,35 @@
}
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) {
@@ -183,9 +220,9 @@
}
/**
- * 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) {
+ private ConcurrentHashMap<String, Set<Long>> getRequestMap(UavControlType controlType) {
switch (controlType) {
case FLY:
return flyControlRequests;
@@ -195,4 +232,12 @@
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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