From f131b3b98fe3e236eb4544871d16d89619dc04eb Mon Sep 17 00:00:00 2001
From: zhaowenyu <35589726@qq.com>
Date: Tue, 28 Oct 2025 15:07:03 +0800
Subject: [PATCH] 2025-10-28 zwy 更新，发送websocket消息机场状态信息、远程调试操控状态、远程调试操控进度信息给客户端
---
ard-sample/src/main/java/com/ard/sample/manage/service/impl/DockOSDServiceImpl.java | 39 +++++++++++++------
ard-sample/src/main/java/com/ard/sample/component/mqtt/model/CommonTopicReceiver.java | 2 +
ard-sample/src/main/java/com/ard/sample/manage/service/impl/ControlServiceImpl.java | 31 +++++++++++++++
ard-sample/src/main/java/com/ard/sample/component/mqtt/model/OutputProgressReceiver.java | 10 +++++
ard-sample/src/main/java/com/ard/sample/component/mqtt/handler/ServicesReplyHandler.java | 21 ++++++++++
5 files changed, 90 insertions(+), 13 deletions(-)
diff --git a/ard-sample/src/main/java/com/ard/sample/component/mqtt/handler/ServicesReplyHandler.java b/ard-sample/src/main/java/com/ard/sample/component/mqtt/handler/ServicesReplyHandler.java
index c51ca26..c1909e5 100644
--- a/ard-sample/src/main/java/com/ard/sample/component/mqtt/handler/ServicesReplyHandler.java
+++ b/ard-sample/src/main/java/com/ard/sample/component/mqtt/handler/ServicesReplyHandler.java
@@ -4,12 +4,15 @@
import com.ard.sample.component.mqtt.model.ChannelName;
import com.ard.sample.component.mqtt.model.CommonTopicReceiver;
import com.ard.sample.component.mqtt.model.ServiceReply;
+import com.ard.sample.component.websocket.enums.MessageType;
+import com.ard.sample.component.websocket.handler.DockWebSocketHandler;
import com.ard.sample.manage.model.enums.LogsFileMethodEnum;
import com.ard.sample.manage.model.receiver.LogsFileUploadList;
import com.fasterxml.jackson.core.type.TypeReference;
import com.fasterxml.jackson.databind.ObjectMapper;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.integration.annotation.ServiceActivator;
+import org.springframework.integration.mqtt.support.MqttHeaders;
import org.springframework.messaging.Message;
import org.springframework.stereotype.Component;
@@ -26,6 +29,9 @@
@Autowired
private ObjectMapper mapper;
+ @Autowired
+ private DockWebSocketHandler _dockWebSocketHandler;
+
/**
* Handle the reply message from the pilot side to the on-demand video.
* @param message reply message
@@ -33,9 +39,17 @@
*/
@ServiceActivator(inputChannel = ChannelName.INBOUND_SERVICE_REPLY)
public void serviceReply(Message<?> message) throws IOException {
+ String topic = message.getHeaders().get(MqttHeaders.RECEIVED_TOPIC).toString();
+ // thing/product/7CTDLCE00A1UPE/services_reply
+ String[] parts = topic.split("/");
+ // 目标子串是分割后数组的第3个元素（索引2）
+ String deviceSn = parts.length > 2 ? parts[2] : ""; // 加判断避免数组越界
+
byte[] payload = (byte[])message.getPayload();
CommonTopicReceiver receiver = mapper.readValue(payload, new TypeReference<CommonTopicReceiver>() {});
+ receiver.setGateway(deviceSn);
+ receiver.setType(MessageType.CONTROL.getType());
if (LogsFileMethodEnum.FILE_UPLOAD_LIST.getMethod().equals(receiver.getMethod())) {
LogsFileUploadList list = mapper.convertValue(receiver.getData(), new TypeReference<LogsFileUploadList>() {});
receiver.setData(list);
@@ -46,5 +60,12 @@
Chan<CommonTopicReceiver<?>> chan = Chan.getInstance();
// Put the message to the chan object.
chan.put(receiver);
+ // WebSocket 接口，发给前端
+ String dockControl="";
+ dockControl=mapper.writeValueAsString(receiver);
+
+ _dockWebSocketHandler.sendMessageToSubscribers(deviceSn, MessageType.CONTROL.getType(),dockControl);
+
+// DockControlProgressWebSockerHandler.
}
}
diff --git a/ard-sample/src/main/java/com/ard/sample/component/mqtt/model/CommonTopicReceiver.java b/ard-sample/src/main/java/com/ard/sample/component/mqtt/model/CommonTopicReceiver.java
index 41dd14b..3b5b366 100644
--- a/ard-sample/src/main/java/com/ard/sample/component/mqtt/model/CommonTopicReceiver.java
+++ b/ard-sample/src/main/java/com/ard/sample/component/mqtt/model/CommonTopicReceiver.java
@@ -31,4 +31,6 @@
private Integer needReply;
+ private String type;
+
}
\ No newline at end of file
diff --git a/ard-sample/src/main/java/com/ard/sample/component/mqtt/model/OutputProgressReceiver.java b/ard-sample/src/main/java/com/ard/sample/component/mqtt/model/OutputProgressReceiver.java
index a9d6ee4..5d4cc43 100644
--- a/ard-sample/src/main/java/com/ard/sample/component/mqtt/model/OutputProgressReceiver.java
+++ b/ard-sample/src/main/java/com/ard/sample/component/mqtt/model/OutputProgressReceiver.java
@@ -1,5 +1,6 @@
package com.ard.sample.component.mqtt.model;
+import com.fasterxml.jackson.annotation.JsonProperty;
import lombok.Data;
/**
@@ -10,9 +11,18 @@
@Data
public class OutputProgressReceiver {
+ @JsonProperty("percent")
private Integer percent;
+ @JsonProperty("current_step")
+ private String currentStep;
+
+ @JsonProperty("step_key")
private String stepKey;
+ @JsonProperty("step_result")
private Integer stepResult;
+
+ @JsonProperty("total_steps")
+ private String totalSteps;
}
diff --git a/ard-sample/src/main/java/com/ard/sample/manage/service/impl/ControlServiceImpl.java b/ard-sample/src/main/java/com/ard/sample/manage/service/impl/ControlServiceImpl.java
index 8658cbc..40093b2 100644
--- a/ard-sample/src/main/java/com/ard/sample/manage/service/impl/ControlServiceImpl.java
+++ b/ard-sample/src/main/java/com/ard/sample/manage/service/impl/ControlServiceImpl.java
@@ -6,6 +6,8 @@
import com.ard.sample.component.mqtt.service.IMessageSenderService;
import com.ard.common.core.redis.RedisConst;
import com.ard.common.core.redis.RedisOpsUtils;
+import com.ard.sample.component.websocket.enums.MessageType;
+import com.ard.sample.component.websocket.handler.DockWebSocketHandler;
import com.ard.sample.component.websocket.service.ISendMessageService;
import com.ard.sample.manage.model.dto.BasicDeviceProperty;
import com.ard.sample.manage.model.dto.DeviceDTO;
@@ -37,7 +39,13 @@
private IMessageSenderService messageSenderService;
@Autowired
+ private DockWebSocketHandler _dockWebSocketHandler;
+
+ @Autowired
private ISendMessageService webSocketMessageService;
+
+ @Autowired
+ private IDeviceService _deviceService;
// @Autowired
// private IWebSocketManageService webSocketManageService;
@@ -105,12 +113,19 @@
if (RedisOpsUtils.getExpire(key) <= 0) {
return;
}
+ // 更新设备列表状态--关闭舱盖中...
+ String method = receiver.getMethod();
+ String deviceSn = receiver.getGateway();
+ if(method.equals("cover_close")){
+ _deviceService.updateWorkType(deviceSn, 2L);
+ }
String sn = RedisOpsUtils.get(key).toString();
-
+ receiver.setType(MessageType.PROGRESS.getType());
EventsReceiver<EventsOutputReceiver> eventsReceiver = mapper.convertValue(receiver.getData(),
new TypeReference<EventsReceiver<EventsOutputReceiver>>(){});
eventsReceiver.setBid(receiver.getBid());
eventsReceiver.setSn(sn);
+ eventsReceiver.setType(MessageType.PROGRESS.getType());
log.info("SN: {}, {} ===> Control progress: {}",
sn, receiver.getMethod(), eventsReceiver.getOutput().getProgress().toString());
@@ -133,6 +148,20 @@
// .timestamp(System.currentTimeMillis())
// .bizCode(receiver.getMethod())
// .build());
+ // 更新设备列表状态--飞行器开机中...
+ if(method.equals("drone_open")){
+ _deviceService.updateWorkType(device.getChildDeviceSn(), 7L);
+ }
+
+ String dockProgress ="";
+ try {
+ dockProgress = mapper.writeValueAsString(eventsReceiver);
+ }
+ catch (Exception e) {
+ e.printStackTrace();
+ }
+ // 设备控制进度消息websocket发给前端
+ _dockWebSocketHandler.sendMessageToSubscribers(sn, MessageType.PROGRESS.getType(), dockProgress);
if (receiver.getNeedReply() != null && receiver.getNeedReply() == 1) {
String topic = headers.get(MqttHeaders.RECEIVED_TOPIC) + TopicConst._REPLY_SUF;
diff --git a/ard-sample/src/main/java/com/ard/sample/manage/service/impl/DockOSDServiceImpl.java b/ard-sample/src/main/java/com/ard/sample/manage/service/impl/DockOSDServiceImpl.java
index ca7c946..5918651 100644
--- a/ard-sample/src/main/java/com/ard/sample/manage/service/impl/DockOSDServiceImpl.java
+++ b/ard-sample/src/main/java/com/ard/sample/manage/service/impl/DockOSDServiceImpl.java
@@ -2,15 +2,17 @@
import com.ard.sample.component.mqtt.model.CommonTopicReceiver;
import com.ard.sample.component.websocket.config.ConcurrentWebSocketSession;
+import com.ard.sample.component.websocket.enums.MessageType;
+import com.ard.sample.component.websocket.handler.DockWebSocketHandler;
import com.ard.sample.component.websocket.model.BizCodeEnum;
import com.ard.sample.component.websocket.model.CustomWebSocketMessage;
-import com.ard.sample.component.websocket.service.impl.WebSocketDockServer;
import com.ard.sample.manage.model.dto.DeviceDTO;
import com.ard.sample.manage.model.dto.TelemetryDTO;
import com.ard.sample.manage.model.enums.DeviceDomainEnum;
import com.ard.sample.manage.model.receiver.OsdDockReceiver;
import com.ard.sample.manage.service.IDeviceService;
import com.fasterxml.jackson.databind.JsonNode;
+import com.fasterxml.jackson.databind.node.ObjectNode;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
@@ -25,7 +27,7 @@
public class DockOSDServiceImpl extends AbstractTSAService {
@Autowired
- WebSocketDockServer _websocketdockserver;// = new WebSocketDockServer();
+ private DockWebSocketHandler _dockWebSocketHandler;
@Autowired
private IDeviceService _deviceService;
@@ -50,32 +52,45 @@
if (DeviceDomainEnum.DOCK.getVal() == device.getDomain()) {
wsMessage.setBizCode(BizCodeEnum.DOCK_OSD.getCode());
OsdDockReceiver data = mapper.convertValue(receiver.getData(), OsdDockReceiver.class);
+ receiver.setType(MessageType.STATUS.getType());
String dockOsd="";
+ String dockOsdData="";
try{
- dockOsd=mapper.writeValueAsString(receiver.getData());
- if (dockOsd.contains("flighttask_step_code")) {
- JsonNode jsonNode = mapper.readTree(dockOsd);
+ dockOsd=mapper.writeValueAsString(receiver);
+ dockOsdData=mapper.writeValueAsString(receiver.getData());
+ if (dockOsdData.contains("flighttask_step_code")) {
+ JsonNode jsonNode = mapper.readTree(dockOsdData);
if (jsonNode.has("flighttask_step_code")) {
String deviceSn = device.getDeviceSn();
Long code = jsonNode.get("flighttask_step_code").asLong();
- _deviceService.updateWorkType(deviceSn,code);
+ if(code != null) {
+ //只要状态 "0":"作业准备中","1":"飞行作业中","5":"任务空闲"
+ if(code == 0 || code == 1 || code == 5) {
+ _deviceService.updateWorkType(deviceSn,code);
+ }
+ }
}
- } else if (dockOsd.contains("network_state")) {
- JsonNode jsonNode = mapper.readTree(dockOsd);
- if (jsonNode.has("drone_in_dock")) {
+ } else if (dockOsdData.contains("network_state")) {
+ JsonNode jsonNode = mapper.readTree(dockOsdData);
+ if (jsonNode.has("drone_in_dock") && jsonNode.get("sub_device").has("device_online_status")) {
String childDeviceSn=jsonNode.get("sub_device").get("device_sn").asText();
Long inDock=jsonNode.get("drone_in_dock").asLong();
- _deviceService.updateWorkType(childDeviceSn,inDock);
+ Long deviceOnlineStatus=jsonNode.get("sub_device").get("device_online_status").asLong();
+ if(inDock.equals(1L) && deviceOnlineStatus.equals(0L))
+ {// 飞行器在舱内且关机状态为6
+ _deviceService.updateWorkType(childDeviceSn,6L);
+ }
}
- } else if (dockOsd.contains("job_number")) {
+ } else if (dockOsdData.contains("job_number")) {
}
}catch (Exception e){
e.printStackTrace();
}
wsMessage.getData().setHost(data);
sendMessageService.sendBatch(webSessions, wsMessage);
- _websocketdockserver.sendToAll(dockOsd);
+ // 发送给websocket客户端
+ _dockWebSocketHandler.sendMessageToSubscribers(device.getDeviceSn(), MessageType.STATUS.getType(), dockOsd);
}
}
}
--
Gitblit v1.9.3