From cf08f4a77150c905c5a578be678259013361b661 Mon Sep 17 00:00:00 2001
From: liusuyi <1951119284@qq.com>
Date: Tue, 28 Oct 2025 10:04:12 +0800
Subject: [PATCH] redis增加在线无人机
---
ard-admin/src/main/java/com/ard/web/controller/work/UavGimbalController.java | 12 ++-
ard-work/src/main/java/com/ard/work/service/impl/GimbalSpeedService.java | 45 ++++++++++++++-
ard-work/src/main/java/com/ard/work/service/impl/ArdDroneInfoServiceImpl.java | 42 +++++++++-----
ard-work/src/main/java/com/ard/work/service/IGimbalSpeedService.java | 16 +++++
ard-admin/src/main/java/com/ard/web/controller/monitor/CacheController.java | 1
ard-common/src/main/java/com/ard/common/constant/CacheConstants.java | 5 +
6 files changed, 99 insertions(+), 22 deletions(-)
diff --git a/ard-admin/src/main/java/com/ard/web/controller/monitor/CacheController.java b/ard-admin/src/main/java/com/ard/web/controller/monitor/CacheController.java
index 4944046..d33b084 100644
--- a/ard-admin/src/main/java/com/ard/web/controller/monitor/CacheController.java
+++ b/ard-admin/src/main/java/com/ard/web/controller/monitor/CacheController.java
@@ -44,6 +44,7 @@
caches.add(new SysCache(CacheConstants.RATE_LIMIT_KEY, "限流处理"));
caches.add(new SysCache(CacheConstants.PWD_ERR_CNT_KEY, "密码错误次数"));
caches.add(new SysCache(CacheConstants.CAMERA_LIST_KEY, "相机列表"));
+ caches.add(new SysCache(CacheConstants.UAV_ONLINE_KEY, "在线无人机"));
}
@PreAuthorize("@ss.hasPermi('monitor:cache:list')")
diff --git a/ard-admin/src/main/java/com/ard/web/controller/work/UavGimbalController.java b/ard-admin/src/main/java/com/ard/web/controller/work/UavGimbalController.java
index d943bcc..18e83e8 100644
--- a/ard-admin/src/main/java/com/ard/web/controller/work/UavGimbalController.java
+++ b/ard-admin/src/main/java/com/ard/web/controller/work/UavGimbalController.java
@@ -4,13 +4,16 @@
import com.ard.work.domain.dto.control.AbsAngleControlDTO;
import com.ard.work.domain.dto.control.AngleControlDTO;
import com.ard.work.domain.dto.control.SpeedControlDTO;
+import com.ard.work.service.IGimbalSpeedService;
import com.ard.work.service.ITyService;
-import com.ard.work.service.impl.GimbalSpeedService;
import com.github.xiaoymin.knife4j.annotations.ApiOperationSupport;
import io.swagger.annotations.Api;
import io.swagger.annotations.ApiOperation;
import org.springframework.validation.annotation.Validated;
-import org.springframework.web.bind.annotation.*;
+import org.springframework.web.bind.annotation.PostMapping;
+import org.springframework.web.bind.annotation.RequestBody;
+import org.springframework.web.bind.annotation.RequestMapping;
+import org.springframework.web.bind.annotation.RestController;
import javax.annotation.Resource;
@@ -28,10 +31,11 @@
@Resource
private ITyService tyService;
@Resource
- private GimbalSpeedService gimbalSpeedService;
+ private IGimbalSpeedService gimbalSpeedService;
- @ApiOperation(value = "云台转动(基于角度)", notes = "actionCode值：0-回中,1-上,2-右上,3-右,4-右下,5-下,6-左下,7-左,8-左上,254-停止 \r\n rotationAngle值：取值范围:0~255【云台实际转动角度= 转动角度/100+2.5 单位：度】")
+ @ApiOperation(value = "云台转动(基于角度)", notes = "actionCode值：0-回中,1-上,2-右上,3-右,4-右下,5-下,6-左下,7-左,8-左上,254-停止 \r\n " +
+ "rotationAngle值：取值范围:0~255【云台实际转动角度= 转动角度/100+2.5 单位：度】")
@ApiOperationSupport(order = 1)
@PostMapping("/angleControl")
public AjaxResult angleControl(@RequestBody AngleControlDTO angleControlDto) {
diff --git a/ard-common/src/main/java/com/ard/common/constant/CacheConstants.java b/ard-common/src/main/java/com/ard/common/constant/CacheConstants.java
index 6cc9ff0..227b406 100644
--- a/ard-common/src/main/java/com/ard/common/constant/CacheConstants.java
+++ b/ard-common/src/main/java/com/ard/common/constant/CacheConstants.java
@@ -51,4 +51,9 @@
* 所有相机 redis key
*/
public static final String CAMERA_LIST_KEY = "camera_list:";
+
+ /**
+ * 在线无人机 redis key
+ */
+ public static final String UAV_ONLINE_KEY = "uav_online:";
}
diff --git a/ard-work/src/main/java/com/ard/work/service/IGimbalSpeedService.java b/ard-work/src/main/java/com/ard/work/service/IGimbalSpeedService.java
new file mode 100644
index 0000000..b5db5a1
--- /dev/null
+++ b/ard-work/src/main/java/com/ard/work/service/IGimbalSpeedService.java
@@ -0,0 +1,16 @@
+package com.ard.work.service;
+
+import com.ard.work.domain.dto.control.SpeedControlDTO;
+
+/**
+ * 云台速度控制接口
+ *
+ * @author lsy
+ * @date 2025/10/28
+ */
+
+public interface IGimbalSpeedService {
+ void startControl(SpeedControlDTO speed);
+
+ void stopControl(String boxSn);
+}
diff --git a/ard-work/src/main/java/com/ard/work/service/impl/ArdDroneInfoServiceImpl.java b/ard-work/src/main/java/com/ard/work/service/impl/ArdDroneInfoServiceImpl.java
index 1aef40a..b53c3fa 100644
--- a/ard-work/src/main/java/com/ard/work/service/impl/ArdDroneInfoServiceImpl.java
+++ b/ard-work/src/main/java/com/ard/work/service/impl/ArdDroneInfoServiceImpl.java
@@ -1,6 +1,8 @@
package com.ard.work.service.impl;
import com.alibaba.fastjson2.JSONObject;
+import com.ard.common.constant.CacheConstants;
+import com.ard.common.core.redis.RedisCache;
import com.ard.common.exception.ServiceException;
import com.ard.common.utils.DateUtils;
import com.ard.common.utils.uuid.IdUtils;
@@ -17,6 +19,7 @@
import javax.annotation.Resource;
import java.util.*;
+import java.util.concurrent.TimeUnit;
import java.util.stream.Collectors;
/**
@@ -37,6 +40,9 @@
@Resource
private AuthorizeService authorizeService;
+
+ @Resource
+ private RedisCache redisCache;
/**
* 查询无人机盒子
@@ -121,7 +127,7 @@
/**
* 批量新增无人机盒子
*
- * @param boxSn 盒子编码数组
+ * @param boxSn 盒子编码数组
* @param deptId 部门ID
* @return 成功插入的记录数
*/
@@ -251,23 +257,29 @@
/**
* 同步盒子属性
*
- * @return 结果
*/
- @Scheduled(fixedRate = 1000 * 10)
+ @Scheduled(fixedRate = 1000 * 5)
public void syncBoxInfo() {
- List<ArdDroneInfo> ArdDroneeListEntity = selectArdDroneList(new ArdDroneInfo());
- // 将本地列表转换为Map，方便快速查找
- Map<String, ArdDroneInfo> localArdDroneMap = ArdDroneeListEntity.stream()
+ List<ArdDroneInfo> localList = selectArdDroneList(new ArdDroneInfo());
+ Map<String, ArdDroneInfo> localMap = localList.stream()
.collect(Collectors.toMap(ArdDroneInfo::getBoxSn, drone -> drone));
- //遍历接口最新获取的无人机盒子信息
- tyService.getBoxList().forEach(remoteArdDrone -> {
- ArdDroneInfo localArdDroneInfo = localArdDroneMap.get(remoteArdDrone.getBoxSn());
- if (localArdDroneInfo != null) {
- if (!localArdDroneInfo.isSameAs(remoteArdDrone)) {
- // 修改无人机（只更新变化的属性）
- updateChangedAttributes(localArdDroneInfo, remoteArdDrone);
- updateArdDrone(localArdDroneInfo);
- }
+
+ tyService.getBoxList().forEach(remote -> {
+ String boxSn = remote.getBoxSn();
+
+ // ✅ 维护在线状态缓存
+ // 只有在线的无人机才存 Redis
+ String redisKey = CacheConstants.UAV_ONLINE_KEY + boxSn;
+ if (remote.getOnLine() == 1) {
+ redisCache.setCacheObject(redisKey, remote, 10, TimeUnit.SECONDS);
+ } else {
+ redisCache.deleteObject(CacheConstants.UAV_ONLINE_KEY + boxSn);
+ }
+ // 数据库同步
+ ArdDroneInfo local = localMap.get(boxSn);
+ if (local != null && !local.isSameAs(remote)) {
+ updateChangedAttributes(local, remote);
+ updateArdDrone(local);
}
});
}
diff --git a/ard-work/src/main/java/com/ard/work/service/impl/GimbalSpeedService.java b/ard-work/src/main/java/com/ard/work/service/impl/GimbalSpeedService.java
index 062969d..dc5956f 100644
--- a/ard-work/src/main/java/com/ard/work/service/impl/GimbalSpeedService.java
+++ b/ard-work/src/main/java/com/ard/work/service/impl/GimbalSpeedService.java
@@ -1,38 +1,70 @@
package com.ard.work.service.impl;
+import com.ard.common.constant.CacheConstants;
import com.ard.common.core.domain.model.LoginUser;
+import com.ard.common.core.redis.RedisCache;
import com.ard.common.utils.SecurityUtils;
import com.ard.work.domain.cache.UavStateCache;
import com.ard.work.domain.dto.control.SpeedControlDTO;
import com.ard.work.domain.dto.state.UavState;
+import com.ard.work.service.IGimbalSpeedService;
import com.ard.work.service.ITyService;
import lombok.extern.slf4j.Slf4j;
import org.springframework.security.authentication.UsernamePasswordAuthenticationToken;
import org.springframework.security.core.context.SecurityContextHolder;
import org.springframework.stereotype.Service;
-
import javax.annotation.Resource;
import java.util.Map;
import java.util.concurrent.*;
+/**
+ * 云台速度控制实现
+ *
+ * @author lsy
+ * @date 2025/10/28
+ */
@Service
@Slf4j
-public class GimbalSpeedService {
+public class GimbalSpeedService implements IGimbalSpeedService {
private final ScheduledExecutorService executor = Executors.newSingleThreadScheduledExecutor();
private final Map<String, ScheduledFuture<?>> tasks = new ConcurrentHashMap<>();
@Resource
private ITyService tyService;
+ @Resource
+ private RedisCache redisCache;
+ @Override
public synchronized void startControl(SpeedControlDTO speed) {
String boxSn = speed.getBoxSn();
+
+ // ✅ 先判断是否在线
+ if (!isUavOnline(boxSn)) {
+ throw new RuntimeException("无人机离线，无法启动云台控制: " + boxSn);
+ }
+
if (tasks.containsKey(boxSn)) {
return;
}
LoginUser loginUser = SecurityUtils.getLoginUser();// 主线程获取
+ // ✅ 启动前先试探一次，确保正常
+ try {
+ SecurityContextHolder.getContext().setAuthentication(
+ new UsernamePasswordAuthenticationToken(loginUser, null, loginUser.getAuthorities())
+ );
+ Boolean ok = tyService.speedControl(speed);
+ if (ok == null || !ok) {
+ throw new RuntimeException("初始速度控制指令失败");
+ }
+ } catch (Exception e) {
+ log.error("初次控制指令异常: {}", e.getMessage());
+ throw new RuntimeException("无法启动云台控制：" + e.getMessage());
+ }
+
ScheduledFuture<?> future = executor.scheduleAtFixedRate(() -> {
double currentYaw = getCurrentYaw(boxSn);
+ log.warn("currentYaw: {}", currentYaw);
if ((speed.getYawSpeed() < 0 && currentYaw <= -180) ||
(speed.getYawSpeed() > 0 && currentYaw >= 180)) {
stopControl(boxSn);
@@ -55,7 +87,7 @@
tasks.put(boxSn, future);
}
-
+ @Override
public synchronized void stopControl(String boxSn) {
ScheduledFuture<?> future = tasks.remove(boxSn);
if (future != null) {
@@ -71,4 +103,11 @@
}
return uavState.getPtzState().getYaw();
}
+
+ private boolean isUavOnline(String boxSn) {
+ // 如果 Redis 中存在对应 key，则认为在线
+ Object obj = redisCache.getCacheObject(CacheConstants.UAV_ONLINE_KEY + boxSn);
+ return obj != null;
+ }
+
}
--
Gitblit v1.9.3