From fc7ee73b5f804116ada59048fdf6fb9265856a3f Mon Sep 17 00:00:00 2001
From: zhaowenyu <35589726@qq.com>
Date: Wed, 04 Feb 2026 09:45:14 +0800
Subject: [PATCH] Merge remote-tracking branch 'origin/dev' into dev
---
ard-route/src/main/java/com/ard/route/domain/route/ArdRoutePoint.java | 3 -
ard-admin/src/main/java/com/ard/web/controller/inspection/BigFileUploadController.java | 3
ard-work/src/main/java/com/ard/work/service/control/UavControlService.java | 81 ++++++++++++++++++++-------
ard-route/src/main/java/com/ard/route/domain/route/ArdRouteInfo.java | 3
ard-route/src/main/java/com/ard/route/domain/route/ArdRouteMission.java | 10 +++
ard-admin/src/main/java/com/ard/web/controller/work/UavControlController.java | 7 +
ard-route/src/main/java/com/ard/route/service/impl/ArdRouteInfoServiceImpl.java | 45 ++++++++-------
ard-route/src/main/java/com/ard/route/service/impl/ArdRouteMissionServiceImpl.java | 3
ard-route/src/main/resources/mapper/ArdRouteMissionMapper.xml | 17 ++++-
9 files changed, 118 insertions(+), 54 deletions(-)
diff --git a/ard-admin/src/main/java/com/ard/web/controller/inspection/BigFileUploadController.java b/ard-admin/src/main/java/com/ard/web/controller/inspection/BigFileUploadController.java
index dee3e85..9732383 100644
--- a/ard-admin/src/main/java/com/ard/web/controller/inspection/BigFileUploadController.java
+++ b/ard-admin/src/main/java/com/ard/web/controller/inspection/BigFileUploadController.java
@@ -1,5 +1,6 @@
package com.ard.web.controller.inspection;
+import com.ard.common.core.controller.BaseController;
import io.lettuce.core.dynamic.annotation.Value;
import io.swagger.annotations.Api;
import org.springframework.web.bind.annotation.RequestMapping;
@@ -8,7 +9,7 @@
@Api(tags = "大文件上传")
@RestController
@RequestMapping("/inspection/bigfile")
-public class BigFileUploadController {
+public class BigFileUploadController extends BaseController {
/** 若依文件上传根目录（从配置文件读取） */
//@Value("${ruoyi.profile}")
diff --git a/ard-admin/src/main/java/com/ard/web/controller/work/UavControlController.java b/ard-admin/src/main/java/com/ard/web/controller/work/UavControlController.java
index 12cd1de..92ba714 100644
--- a/ard-admin/src/main/java/com/ard/web/controller/work/UavControlController.java
+++ b/ard-admin/src/main/java/com/ard/web/controller/work/UavControlController.java
@@ -35,8 +35,10 @@
public AjaxResult handleControlRequest(
@RequestParam String boxSn,
@RequestParam String type,
- @RequestParam boolean approve) {
- return AjaxResult.success(uavControlService.handleControlResponse(boxSn, approve, type));
+ @RequestParam boolean approve,
+ @RequestParam Long requesterId
+ ) {
+ return AjaxResult.success(uavControlService.handleControlResponse(boxSn, approve, type, requesterId));
}
/**
@@ -56,6 +58,7 @@
public AjaxResult getCurrentController(@RequestParam String boxSn, @RequestParam String type) {
return AjaxResult.success(uavControlService.getCurrentController(boxSn, type));
}
+
/**
* 获取全部类型当前控制者
*/
diff --git a/ard-route/src/main/java/com/ard/route/domain/route/ArdRouteInfo.java b/ard-route/src/main/java/com/ard/route/domain/route/ArdRouteInfo.java
index 1585a1f..54fece0 100644
--- a/ard-route/src/main/java/com/ard/route/domain/route/ArdRouteInfo.java
+++ b/ard-route/src/main/java/com/ard/route/domain/route/ArdRouteInfo.java
@@ -33,8 +33,7 @@
* 航线类型
* 1：逐点巡检
* 2：沿线巡检
- * 3：任务航线
- * 4：巡检航线
+ * 3：巡检航线
* */
private String type;
diff --git a/ard-route/src/main/java/com/ard/route/domain/route/ArdRouteMission.java b/ard-route/src/main/java/com/ard/route/domain/route/ArdRouteMission.java
index 708f10c..8edb55d 100644
--- a/ard-route/src/main/java/com/ard/route/domain/route/ArdRouteMission.java
+++ b/ard-route/src/main/java/com/ard/route/domain/route/ArdRouteMission.java
@@ -39,7 +39,17 @@
/** 执行时间 */
private Date executeTime;
+ /**
+ * 任务类型
+ * 1：报警任务
+ * 2：巡检任务
+ * */
+ private String taskType;
+
/** 航线任务航点列表 */
private List<ArdRoutePoint> missionDetailList;
+ /** 任务描述 */
+ private String taskDescription;
+
}
diff --git a/ard-route/src/main/java/com/ard/route/domain/route/ArdRoutePoint.java b/ard-route/src/main/java/com/ard/route/domain/route/ArdRoutePoint.java
index 65f65a4..b0b2980 100644
--- a/ard-route/src/main/java/com/ard/route/domain/route/ArdRoutePoint.java
+++ b/ard-route/src/main/java/com/ard/route/domain/route/ArdRoutePoint.java
@@ -1,6 +1,5 @@
package com.ard.route.domain.route;
-import com.ard.common.core.domain.BaseEntity;
import lombok.Data;
/**
@@ -11,8 +10,6 @@
*/
@Data
public class ArdRoutePoint{
-
- private static final long serialVersionUID = 1L;
/** 航线任务ID */
private String missionId;
diff --git a/ard-route/src/main/java/com/ard/route/service/impl/ArdRouteInfoServiceImpl.java b/ard-route/src/main/java/com/ard/route/service/impl/ArdRouteInfoServiceImpl.java
index a8b9e9f..136018d 100644
--- a/ard-route/src/main/java/com/ard/route/service/impl/ArdRouteInfoServiceImpl.java
+++ b/ard-route/src/main/java/com/ard/route/service/impl/ArdRouteInfoServiceImpl.java
@@ -5,6 +5,7 @@
import com.ard.common.exception.ControlException;
import com.ard.common.utils.DateUtils;
+import com.ard.common.utils.SecurityUtils;
import com.ard.common.utils.file.FileUtils;
import com.ard.common.utils.uuid.IdUtils;
import com.ard.data.noflyzone.domain.ArdNoFlyZone;
@@ -36,10 +37,7 @@
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
import org.springframework.web.multipart.MultipartFile;
-
import javax.annotation.Resource;
-
-import static com.ard.common.utils.SecurityUtils.getUsername;
import static com.ard.route.enums.kml.DroneEnumValueEnums.M350_RTK;
import static com.ard.route.util.InitializationUtils.divided_23;
import static com.ard.route.util.ToolUtils.*;
@@ -165,18 +163,20 @@
*/
private void checkRouteMissionStatus(ArdRouteInfo ardRouteInfo,String type){
ArdRouteMission mission = ardRouteMissionMapper.selectArdRouteMissionById(ardRouteInfo.getMissionId());
- switch(type){
- case "1":
- validateForCreate(mission);
- break;
- case "2":
- bindRoute(mission, ardRouteInfo);
- break;
- case "3":
- executeMission(mission);
- break;
- default:
- throw new RuntimeException("不支持的操作类型!!!");
+ if (mission != null){
+ switch(type){
+ case "1":
+ validateForCreate(mission);
+ break;
+ case "2":
+ bindRoute(mission,ardRouteInfo);
+ break;
+ case "3":
+ executeMission(mission,ardRouteInfo);
+ break;
+ default:
+ throw new RuntimeException("不支持的操作类型!!!");
+ }
}
}
@@ -187,17 +187,18 @@
}
private void bindRoute(ArdRouteMission mission, ArdRouteInfo routeInfo) {
- if (!"0".equals(mission.getRouteId())) {
+ if (mission.getRouteId() != null) {
throw new RuntimeException("航线任务下已绑定航线，不可创建新航线信息！！！");
}
mission.setRouteId(routeInfo.getId());
ardRouteMissionMapper.updateArdRouteMission(mission);
}
- private void executeMission(ArdRouteMission mission) {
+ private void executeMission(ArdRouteMission mission,ArdRouteInfo ardRouteInfo) {
if ("0".equals(mission.getExecuteStatus())) {
+ mission.setRouteId(ardRouteInfo.getId());
mission.setExecuteStatus("1");
- mission.setExecuteBy(getUsername());
+ mission.setExecuteBy(SecurityUtils.getUsername());
mission.setExecuteTime(DateUtils.getNowDate());
mission.setUpdateTime(DateUtils.getNowDate());
ardRouteMissionMapper.updateArdRouteMission(mission);
@@ -472,9 +473,11 @@
@Override
public Boolean routeBegins(String id,String boxSn) {
ArdRouteInfo route = ardRouteInfoMapper.selectArdRouteInfoById(id);
- // 判断是否循环航线
- if (null != route && "0".equals(route.getIsLoop())){
- deleteArdRouteInfoById(id);
+ if (null != route){
+ // 判断是否循环航线
+ if ("0".equals(route.getIsLoop())){
+ deleteArdRouteInfoById(id);
+ }
checkRouteMissionStatus(route,"3");
}
WayLineBeginDTO wayLineBeginDTO = new WayLineBeginDTO(boxSn);
diff --git a/ard-route/src/main/java/com/ard/route/service/impl/ArdRouteMissionServiceImpl.java b/ard-route/src/main/java/com/ard/route/service/impl/ArdRouteMissionServiceImpl.java
index 12cfac1..f3e54d2 100644
--- a/ard-route/src/main/java/com/ard/route/service/impl/ArdRouteMissionServiceImpl.java
+++ b/ard-route/src/main/java/com/ard/route/service/impl/ArdRouteMissionServiceImpl.java
@@ -2,6 +2,7 @@
import java.util.List;
import com.ard.common.utils.DateUtils;
+import com.ard.common.utils.SecurityUtils;
import com.ard.common.utils.uuid.IdUtils;
import com.ard.route.domain.route.ArdRouteMission;
import com.ard.route.domain.route.ArdRoutePoint;
@@ -138,7 +139,7 @@
ArdRouteMission ardRouteMission = new ArdRouteMission();
ardRouteMission.setId(id);
ardRouteMission.setExecuteStatus(status);
- ardRouteMission.setExecuteBy(getUsername());
+ ardRouteMission.setExecuteBy(SecurityUtils.getUsername());
ardRouteMission.setExecuteTime(DateUtils.getNowDate());
ardRouteMission.setUpdateTime(DateUtils.getNowDate());
return ardRouteMissionMapper.updateArdRouteMission(ardRouteMission);
diff --git a/ard-route/src/main/resources/mapper/ArdRouteMissionMapper.xml b/ard-route/src/main/resources/mapper/ArdRouteMissionMapper.xml
index 9c71e07..895f203 100644
--- a/ard-route/src/main/resources/mapper/ArdRouteMissionMapper.xml
+++ b/ard-route/src/main/resources/mapper/ArdRouteMissionMapper.xml
@@ -15,6 +15,8 @@
<result property="updateTime" column="update_time" />
<result property="executeBy" column="execute_by" />
<result property="executeTime" column="execute_time" />
+ <result property="taskType" column="task_type" />
+ <result property="taskDescription" column="task_description" />
</resultMap>
<sql id="selectArdRouteMissionVo">
@@ -27,7 +29,9 @@
update_by,
update_time,
execute_by,
- execute_time
+ execute_time,
+ task_type,
+ task_description
from ard_route_mission
</sql>
@@ -39,14 +43,15 @@
<if test="executeStatus != null and executeStatus != ''"> and execute_status = #{executeStatus}</if>
<if test="executeBy != null and executeBy != ''"> and execute_by = #{executeBy}</if>
<if test="executeTime != null "> and execute_time = #{executeTime}</if>
+ <if test="taskType != null and taskType != ''"> and task_type = #{taskType}</if>
</where>
- order by create_time asc
+ order by create_time DESC
</select>
<select id="selectArdRouteMissionById" parameterType="String" resultMap="ArdRouteMissionResult">
<include refid="selectArdRouteMissionVo"/>
where id = #{id}
- order by create_time asc
+ order by create_time DESC
</select>
<insert id="insertArdRouteMission" parameterType="ArdRouteMission">
@@ -62,6 +67,8 @@
<if test="updateTime != null">update_time,</if>
<if test="executeBy != null">execute_by,</if>
<if test="executeTime != null">execute_time,</if>
+ <if test="taskType != null">task_type,</if>
+ <if test="taskDescription != null">task_description,</if>
</trim>
<trim prefix="values (" suffix=")" suffixOverrides=",">
<if test="id != null">#{id},</if>
@@ -74,6 +81,8 @@
<if test="updateTime != null">#{updateTime},</if>
<if test="executeBy != null">#{executeBy},</if>
<if test="executeTime != null">#{executeTime},</if>
+ <if test="taskType != null">#{taskType},</if>
+ <if test="taskDescription != null">#{taskDescription},</if>
</trim>
</insert>
@@ -89,6 +98,8 @@
<if test="updateTime != null">update_time = #{updateTime},</if>
<if test="executeBy != null">execute_by = #{executeBy},</if>
<if test="executeTime != null">execute_time = #{executeTime},</if>
+ <if test="taskType != null">task_type = #{taskType},</if>
+ <if test="taskDescription != null">task_description = #{taskDescription},</if>
</trim>
where id = #{id}
</update>
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 3014fe2..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
@@ -10,6 +10,7 @@
import javax.annotation.Resource;
import java.util.HashMap;
import java.util.Map;
+import java.util.Set;
import java.util.concurrent.ConcurrentHashMap;
/**
@@ -25,17 +26,26 @@
@Resource
private ISysUserService sysUserService;
- /** 当前飞行控制权限用户 */
+ /**
+ * 当前飞行控制权限用户
+ */
private final ConcurrentHashMap<String, Long> uavFlyControlMap = new ConcurrentHashMap<>();
- /** 当前载荷控制权限用户 */
+ /**
+ * 当前载荷控制权限用户
+ */
private final ConcurrentHashMap<String, Long> uavPayloadControlMap = new ConcurrentHashMap<>();
- /** 飞行控制请求 */
- private final ConcurrentHashMap<String, Long> flyControlRequests = new ConcurrentHashMap<>();
+ /**
+ * 飞行控制请求：boxSn -> 多个请求者
+ */
+ private final ConcurrentHashMap<String, Set<Long>> flyControlRequests = new ConcurrentHashMap<>();
- /** 载荷控制请求 */
- private final ConcurrentHashMap<String, Long> payloadControlRequests = new ConcurrentHashMap<>();
+ /**
+ * 载荷控制请求
+ */
+ private final ConcurrentHashMap<String, Set<Long>> payloadControlRequests = new ConcurrentHashMap<>();
+
/**
* 请求获取 UAV 控制权限
@@ -49,9 +59,13 @@
/**
* 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);
@@ -76,49 +90,73 @@
// 通知原控制者被抢占
uavControlManager.sendControlTakeover(controller, requester, boxSn, controlType.getType());
-
- // 通知新控制者获得控制
- uavControlManager.sendControlApproval(requester, boxSn, controlType.getType(), requester);
return true;
}
- // 优先级相同或更低 → 申请流程
- requestMap.put(boxSn, requester);
+ // ===== 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
*/
- 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);
+ private boolean handleSingleControlResponse(String boxSn,
+ boolean approve,
+ UavControlType controlType,
+ Long controller,
+ Long requester) {
- if (requester == null || requester.equals(controller)) {
+ 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);
+
+ // 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(), controller);
}
- requestMap.remove(boxSn);
+ requesters.remove(requester);
+ if (requesters.isEmpty()) {
+ requestMap.remove(boxSn);
+ }
+
return true;
}
+
/**
* 释放 UAV 控制权限
@@ -184,7 +222,7 @@
/**
* 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;
@@ -195,6 +233,7 @@
}
}
+
/**
* 获取用户优先级
*/
--
Gitblit v1.9.3