From d267efe74181bbc89e7ecda1032f11965984769b Mon Sep 17 00:00:00 2001
From: liusuyi <1951119284@qq.com>
Date: Wed, 19 Mar 2025 14:08:07 +0800
Subject: [PATCH] 增加状态统一订阅 增加载荷和飞控用户同时获取
---
ard-work/src/main/java/com/ard/tianyu/websocket/handler/TyMessageHandler.java | 154 ++++++++++++++++++++++++++++++++++++++++++++++++---
1 files changed, 144 insertions(+), 10 deletions(-)
diff --git a/ard-work/src/main/java/com/ard/tianyu/websocket/handler/TyMessageHandler.java b/ard-work/src/main/java/com/ard/tianyu/websocket/handler/TyMessageHandler.java
index f5e5bbe..082386f 100644
--- a/ard-work/src/main/java/com/ard/tianyu/websocket/handler/TyMessageHandler.java
+++ b/ard-work/src/main/java/com/ard/tianyu/websocket/handler/TyMessageHandler.java
@@ -3,9 +3,7 @@
import com.alibaba.fastjson2.JSON;
import com.alibaba.fastjson2.TypeReference;
import com.ard.tianyu.service.control.UavControlService;
-import com.ard.tianyu.websocket.domain.BaseMessage;
-import com.ard.tianyu.websocket.domain.UavStreamMessage;
-import com.ard.tianyu.websocket.domain.UavStateMessage;
+import com.ard.tianyu.websocket.domain.*;
import com.ard.tianyu.websocket.utils.WebSocketUtil;
import lombok.extern.slf4j.Slf4j;
import org.springframework.stereotype.Component;
@@ -13,6 +11,7 @@
import org.springframework.web.socket.TextMessage;
import org.springframework.web.socket.WebSocketSession;
import org.springframework.web.socket.handler.TextWebSocketHandler;
+
import javax.annotation.Resource;
@@ -26,8 +25,14 @@
private UavControlService uavControlService;
@Resource
private UavStateManager uavStateManager;
-
-
+ @Resource
+ private UavTelemetryManager uavTelemetryManager;
+ @Resource
+ private UavSignalManager uavSignalManager;
+ @Resource
+ private UavControlManager uavControlManager;
+ @Resource
+ private UavAllManager uavAllManager;
@Override
public void handleTextMessage(WebSocketSession session, TextMessage message) {
String userIdStr = (String) session.getAttributes().get("userId");
@@ -43,6 +48,18 @@
break;
case "state":
handleStateMessage(payload, userId);
+ break;
+ case "telemetry":
+ handleTelemetryMessage(payload, userId);
+ break;
+ case "signal":
+ handleSignalMessage(payload, userId);
+ break;
+ case "controller":
+ handleControlMessage(payload, userId);
+ break;
+ case "all":
+ handleAllMessage(payload, userId);
break;
}
}
@@ -68,9 +85,9 @@
// 根据Subscribe决定操作类型：true表示开始拉流，false表示停止拉流
if (uavStreamMessage.getSubscribe()) {
- uavStreamManager.startPullStream(boxSn, userId);
+ uavStreamManager.subscribe(boxSn, userId);
} else {
- uavStreamManager.stopPullStream(boxSn, userId);
+ uavStreamManager.unsubscribe(boxSn, userId);
}
}
}
@@ -98,15 +115,129 @@
Boolean subscribe = uavStateMessage.getSubscribe();
if (subscribe) {
// 执行订阅操作
- uavStateManager.subscribeState(boxSn, userId);
+ uavStateManager.subscribe(boxSn, userId, 2);
} else {
// 执行退订操作
- uavStateManager.unsubscribeState(boxSn, userId);
+ uavStateManager.unsubscribe(boxSn, userId);
}
}
}
+ /**
+ * 处理遥测消息
+ * 根据接收到的消息内容，决定无人机状态信息的订阅或退订
+ *
+ * @param payload 消息负载，包含订阅信息
+ * @param userId 用户ID，用于标识用户
+ */
+ private void handleTelemetryMessage(String payload, Long userId) {
+ // 解析接收到的JSON消息，将其转换为BaseMessage对象
+ BaseMessage<UavTelemetryMessage> telemetryMessage = JSON.parseObject(payload,
+ new TypeReference<BaseMessage<UavTelemetryMessage>>() {
+ });
+ // 获取消息的有效载荷部分
+ UavTelemetryMessage uavTelemetryMessage = telemetryMessage.getPayload();
+ // 检查有效载荷是否存在
+ if (uavTelemetryMessage != null) {
+ // 获取无人机盒子的序列号
+ String boxSn = uavTelemetryMessage.getBoxSn();
+ // 根据消息中的订阅标志，决定是订阅还是退订无人机状态
+ Boolean subscribe = uavTelemetryMessage.getSubscribe();
+ if (subscribe) {
+ // 执行订阅操作
+ uavTelemetryManager.subscribe(boxSn, userId, 2);
+ } else {
+ // 执行退订操作
+ uavTelemetryManager.unsubscribe(boxSn, userId);
+ }
+ }
+ }
+
+ /**
+ * 处理信号质量
+ * 根据接收到的消息内容，决定无人机信号质量信息的订阅或退订
+ *
+ * @param payload 消息负载，包含订阅信息
+ * @param userId 用户ID，用于标识用户
+ */
+ private void handleSignalMessage(String payload, Long userId) {
+ // 解析接收到的JSON消息，将其转换为BaseMessage对象
+ BaseMessage<UavSignalMessage> signalMessage = JSON.parseObject(payload,
+ new TypeReference<BaseMessage<UavSignalMessage>>() {
+ });
+ // 获取消息的有效载荷部分
+ UavSignalMessage uavSignalMessage = signalMessage.getPayload();
+
+ // 检查有效载荷是否存在
+ if (uavSignalMessage != null) {
+ // 获取无人机盒子的序列号
+ String boxSn = uavSignalMessage.getBoxSn();
+ // 根据消息中的订阅标志，决定是订阅还是退订无人机状态
+ Boolean subscribe = uavSignalMessage.getSubscribe();
+ if (subscribe) {
+ // 执行订阅操作
+ uavSignalManager.subscribe(boxSn, userId, 2);
+ } else {
+ // 执行退订操作
+ uavSignalManager.unsubscribe(boxSn, userId);
+ }
+ }
+ }
+
+ /**
+ * 处理无人机控制
+ * 根据接收到的消息内容，决定无人机控制信息的订阅或退订
+ *
+ * @param payload 消息负载，包含控制信息
+ * @param userId 用户ID，用于标识用户
+ */
+ private void handleControlMessage(String payload, Long userId) {
+ // 解析接收到的JSON消息，将其转换为BaseMessage对象
+ BaseMessage<UavControlMessage> controlMessage = JSON.parseObject(payload,
+ new TypeReference<BaseMessage<UavControlMessage>>() {
+ });
+ // 获取消息的有效载荷部分
+ UavControlMessage uavControlMessage = controlMessage.getPayload();
+
+ // 检查有效载荷是否存在
+ if (uavControlMessage != null) {
+ // 获取无人机盒子的序列号
+ String boxSn = uavControlMessage.getBoxSn();
+ // 根据消息中的订阅标志，决定是订阅还是退订无人机状态
+ Boolean subscribe = uavControlMessage.getSubscribe();
+ if (subscribe) {
+ // 执行订阅操作
+ uavControlManager.subscribe(boxSn, userId, 2);
+ } else {
+ // 执行退订操作
+ uavControlManager.unsubscribe(boxSn, userId);
+ }
+ }
+ }
+ private void handleAllMessage(String payload, Long userId) {
+ // 解析接收到的JSON消息，将其转换为BaseMessage对象
+ BaseMessage<UavControlMessage> controlMessage = JSON.parseObject(payload,
+ new TypeReference<BaseMessage<UavControlMessage>>() {
+ });
+ // 获取消息的有效载荷部分
+ UavControlMessage uavControlMessage = controlMessage.getPayload();
+
+ // 检查有效载荷是否存在
+ if (uavControlMessage != null) {
+ // 获取无人机盒子的序列号
+ String boxSn = uavControlMessage.getBoxSn();
+ // 根据消息中的订阅标志，决定是订阅还是退订无人机状态
+ Boolean subscribe = uavControlMessage.getSubscribe();
+ if (subscribe) {
+ // 执行订阅操作
+ uavAllManager.subscribe(boxSn, userId, 2);
+ } else {
+ // 执行退订操作
+ uavAllManager.unsubscribe(boxSn, userId);
+ }
+ }
+ }
@Override
public void afterConnectionEstablished(WebSocketSession session) {
log.info("【cmd】Connected: {}", session.getId());
@@ -130,6 +261,9 @@
uavControlService.releaseAllControls(userId);
}
- uavStateManager.removeSubscribeState(userId);
+ uavStateManager.removeSubscribe(userId);
+ uavTelemetryManager.removeSubscribe(userId);
+ uavSignalManager.removeSubscribe(userId);
+ uavControlManager.removeSubscribe(userId);
}
}
--
Gitblit v1.9.3