From 8d9a2d656e4ae007590c622e5f7c228adacdca49 Mon Sep 17 00:00:00 2001
From: rain <167982779@qq.com>
Date: Fri, 14 Jun 2024 10:11:36 +0800
Subject: [PATCH] 统一风格
---
src/main/java/com/dji/sample/manage/service/impl/DeviceServiceImpl.java | 1073 ++++++++++++++++++++++++++++++++++++++++++++++++-----------
1 files changed, 870 insertions(+), 203 deletions(-)
diff --git a/src/main/java/com/dji/sample/manage/service/impl/DeviceServiceImpl.java b/src/main/java/com/dji/sample/manage/service/impl/DeviceServiceImpl.java
index 80e34df..1ddd9db 100644
--- a/src/main/java/com/dji/sample/manage/service/impl/DeviceServiceImpl.java
+++ b/src/main/java/com/dji/sample/manage/service/impl/DeviceServiceImpl.java
@@ -1,44 +1,54 @@
package com.dji.sample.manage.service.impl;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
-import com.dji.sample.component.mqtt.model.CommonTopicResponse;
-import com.dji.sample.component.mqtt.model.TopicStateReceiver;
+import com.baomidou.mybatisplus.core.conditions.update.LambdaUpdateWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.dji.sample.common.error.CommonErrorEnum;
+import com.dji.sample.common.model.Pagination;
+import com.dji.sample.common.model.PaginationData;
+import com.dji.sample.common.model.ResponseResult;
+import com.dji.sample.component.mqtt.model.*;
import com.dji.sample.component.mqtt.service.IMessageSenderService;
import com.dji.sample.component.mqtt.service.IMqttTopicService;
+import com.dji.sample.component.redis.RedisConst;
+import com.dji.sample.component.redis.RedisOpsUtils;
import com.dji.sample.component.websocket.config.ConcurrentWebSocketSession;
import com.dji.sample.component.websocket.model.BizCodeEnum;
import com.dji.sample.component.websocket.model.CustomWebSocketMessage;
-import com.dji.sample.component.websocket.model.WebSocketManager;
import com.dji.sample.component.websocket.service.ISendMessageService;
+import com.dji.sample.component.websocket.service.IWebSocketManageService;
+import com.dji.sample.control.model.enums.DroneAuthorityEnum;
import com.dji.sample.manage.dao.IDeviceMapper;
import com.dji.sample.manage.model.dto.*;
import com.dji.sample.manage.model.entity.DeviceEntity;
-import com.dji.sample.manage.model.enums.DeviceDomainEnum;
-import com.dji.sample.manage.model.enums.IconUrlEnum;
-import com.dji.sample.manage.model.enums.UserTypeEnum;
+import com.dji.sample.manage.model.enums.*;
+import com.dji.sample.manage.model.param.DeviceOtaCreateParam;
import com.dji.sample.manage.model.param.DeviceQueryParam;
-import com.dji.sample.manage.model.receiver.StatusGatewayReceiver;
-import com.dji.sample.manage.model.receiver.StatusSubDeviceReceiver;
-import com.dji.sample.manage.service.IDeviceDictionaryService;
-import com.dji.sample.manage.service.IDevicePayloadService;
-import com.dji.sample.manage.service.IDeviceService;
-import com.dji.sample.manage.service.IWorkspaceService;
-import com.fasterxml.jackson.databind.DeserializationFeature;
+import com.dji.sample.manage.model.receiver.*;
+import com.dji.sample.manage.service.*;
+import com.dji.sample.wayline.model.entity.WaylineJobEntity;
+import com.dji.sample.wayline.model.param.WaylineJobQueryParam;
+import com.dji.sample.wayline.service.IWaylineJobService;
+import com.fasterxml.jackson.core.type.TypeReference;
import com.fasterxml.jackson.databind.JsonNode;
import com.fasterxml.jackson.databind.ObjectMapper;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Qualifier;
+import org.springframework.integration.annotation.ServiceActivator;
+import org.springframework.integration.mqtt.support.MqttHeaders;
+import org.springframework.messaging.Message;
+import org.springframework.messaging.MessageHeaders;
import org.springframework.stereotype.Service;
import org.springframework.transaction.annotation.Transactional;
import org.springframework.util.CollectionUtils;
import org.springframework.util.StringUtils;
import java.io.IOException;
-import java.util.Collection;
-import java.util.List;
-import java.util.Map;
-import java.util.Optional;
+import java.time.Instant;
+import java.time.LocalDateTime;
+import java.time.ZoneId;
+import java.util.*;
import java.util.concurrent.ConcurrentHashMap;
import java.util.stream.Collectors;
@@ -77,106 +87,152 @@
private ISendMessageService sendMessageService;
@Autowired
+ private ObjectMapper objectMapper;
+
+ @Autowired
+ private IWebSocketManageService webSocketManageService;
+
+ @Autowired
+ private IDeviceFirmwareService deviceFirmwareService;
+
+ @Autowired
+ private ICapacityCameraService capacityCameraService;
+
+ @Autowired
+ private IDeviceRedisService deviceRedisService;
+
+ @Autowired
+ private IWaylineJobService waylineJobService;
+
+ @Autowired
@Qualifier("gatewayOSDServiceImpl")
- private AbstractTSAService tsaService;
+ private ITSAService tsaService;
+
+ private static final List<String> INIT_TOPICS_SUFFIX = List.of(
+ OSD_SUF, STATE_SUF, SERVICES_SUF + _REPLY_SUF, EVENTS_SUF, PROPERTY_SUF + SET_SUF + _REPLY_SUF);
@Override
- public Boolean deviceOffline(String gatewaySn) {
- List<DeviceDTO> gatewaysList = this.getDevicesByParams(
- DeviceQueryParam.builder()
- .deviceSn(gatewaySn)
- .build());
+ public Boolean deviceOffline(StatusGatewayReceiver gateway) {
+ String gatewaySn = gateway.getSn();
+ this.subscribeTopicOnline(gatewaySn);
- // If no information about this gateway device exists in the database, the drone is considered to be offline.
- if (gatewaysList.isEmpty()) {
- log.debug("The drone is already offline.");
+ // Only the remote controller is logged in and the aircraft is not connected.
+ Optional<DeviceDTO> deviceOpt = deviceRedisService.getDeviceOnline(gatewaySn);
+ if (deviceOpt.isEmpty()) {
+ Optional<DeviceDTO> gatewayOpt = this.getDeviceBySn(gatewaySn);
+ if (gatewayOpt.isPresent()) {
+ DeviceDTO value = gatewayOpt.get();
+ value.setChildDeviceSn(null);
+ deviceRedisService.setDeviceOnline(value);
+ this.pushDeviceOnlineTopo(value.getWorkspaceId(), gatewaySn, gatewaySn);
+ return true;
+ }
+
+ // When connecting for the first time
+ DeviceEntity gatewayDevice = deviceGatewayConvertToDeviceEntity(gateway);
+ return onlineSaveDevice(gatewayDevice, null, null).isPresent();
+ }
+
+ DeviceDTO deviceDTO = deviceOpt.get();
+ String deviceSn = deviceDTO.getChildDeviceSn();
+ if (!StringUtils.hasText(deviceSn)) {
return true;
}
- // Handle the drone connected to the gateway device offline.
- return this.subDeviceOffline(gatewaysList.get(0).getChildDeviceSn());
+
+ return subDeviceOffline(deviceSn);
}
@Override
public Boolean subDeviceOffline(String deviceSn) {
+
+ // If no information about this device exists in the cache, the drone is considered to be offline.
+ Optional<DeviceDTO> deviceOpt = deviceRedisService.getDeviceOnline(deviceSn);
+ if (deviceOpt.isEmpty()) {
+ log.debug("The drone is already offline.");
+ return true;
+ }
+ DeviceDTO device = deviceOpt.get();
// Cancel drone-related subscriptions.
this.unsubscribeTopicOffline(deviceSn);
- List<DeviceDTO> devicesList = this.getDevicesByParams(
- DeviceQueryParam.builder()
- .deviceSn(deviceSn)
- .build());
+ capacityCameraService.deleteCapacityCameraByDeviceSn(deviceSn);
+ deviceRedisService.delDeviceOnline(deviceSn);
+ RedisOpsUtils.del(RedisConst.OSD_PREFIX + deviceSn);
+ deviceRedisService.delHmsKeysBySn(deviceSn);
+ // Publish the latest device topology information in the current workspace.
+ this.pushDeviceOfflineTopo(device.getWorkspaceId(), deviceSn);
- // If no information about this drone exists in the database, the drone is considered to be offline.
- if (devicesList.isEmpty()) {
- log.debug("{} is already offline.", deviceSn);
- return true;
- }
-
- List<String> ids = devicesList.stream()
- .map(DeviceDTO::getDeviceSn)
- .collect(Collectors.toList());
-
- // Delete all data related to the drone.
- boolean isDel = this.delDeviceByDeviceSns(ids);
- payloadService.deletePayloadsByDeviceSn(ids);
-
- log.debug("{} offline status: {}.", deviceSn, isDel);
- return isDel;
+ log.debug("{} offline.", deviceSn);
+ return true;
}
@Override
public Boolean deviceOnline(StatusGatewayReceiver deviceGateway) {
String deviceSn = deviceGateway.getSubDevices().get(0).getSn();
- List<DeviceDTO> devicesList = this.getDevicesByParams(
- DeviceQueryParam.builder()
- .deviceSn(deviceSn)
- .build());
- // If the information about this drone exists in the database, the drone is considered to be online.
- if (!devicesList.isEmpty()) {
+ Optional<DeviceDTO> deviceOpt = deviceRedisService.getDeviceOnline(deviceSn);
+ Optional<DeviceDTO> gatewayOpt = deviceRedisService.getDeviceOnline(deviceGateway.getSn());
+
+ if (deviceOpt.isPresent() && gatewayOpt.isPresent()) {
+ DeviceDTO device = DeviceDTO.builder().loginTime(LocalDateTime.now()).deviceSn(deviceSn).build();
+ DeviceDTO gateway = DeviceDTO.builder()
+ .loginTime(LocalDateTime.now())
+ .deviceSn(deviceGateway.getSn())
+ .childDeviceSn(deviceSn).build();
+ this.updateDevice(gateway);
+ this.updateDevice(device);
+ String workspaceId = deviceOpt.get().getWorkspaceId();
+ if (StringUtils.hasText(workspaceId)) {
+ this.subscribeTopicOnline(deviceSn);
+ this.subscribeTopicOnline(deviceGateway.getSn());
+ }
log.warn("{} is already online.", deviceSn);
- // Subscribe to topic related to drone and gateway devices.
- this.subscribeTopicOnline(deviceGateway.getSn());
- this.subscribeTopicOnline(deviceSn);
return true;
}
- // Delete the gateway device information that was previously bound to the drone.
- this.delDeviceByDeviceSns(
- this.getDevicesByParams(
- DeviceQueryParam.builder()
- .childSn(deviceSn)
- .build())
- .stream()
- .map(DeviceDTO::getDeviceSn)
- .collect(Collectors.toList()));
+ List<DeviceDTO> gatewaysList = this.getDevicesByParams(
+ DeviceQueryParam.builder()
+ .childSn(deviceSn)
+ .build());
+ gatewaysList.stream()
+ .filter(gateway -> !gateway.getDeviceSn().equals(deviceGateway.getSn()))
+ .findAny()
+ .ifPresent(gateway -> {
+ gateway.setChildDeviceSn("");
+ this.updateDevice(gateway);
+ });
DeviceEntity gateway = deviceGatewayConvertToDeviceEntity(deviceGateway);
- gateway.setWorkspaceId(WorkspaceDTO.DEFAULT_WORKSPACE_ID);
- // Set the icon of the gateway device displayed in the pilot's map, required in the TSA module.
- gateway.setUrlNormal(IconUrlEnum.NORMAL_PERSON.getUrl());
- // Set the icon of the gateway device displayed in the pilot's map when it is selected, required in the TSA module.
- gateway.setUrlSelect(IconUrlEnum.SELECT_PERSON.getUrl());
+ Optional<DeviceEntity> gatewayEntityOpt = onlineSaveDevice(gateway, deviceSn, null);
+ if (gatewayEntityOpt.isEmpty()) {
+ log.error("Failed to go online, please check the status data or code logic.");
+ return false;
+ }
DeviceEntity subDevice = subDeviceConvertToDeviceEntity(deviceGateway.getSubDevices().get(0));
- subDevice.setWorkspaceId(WorkspaceDTO.DEFAULT_WORKSPACE_ID);
- // Set the icon of the drone device displayed in the pilot's map, required in the TSA module.
- subDevice.setUrlSelect(IconUrlEnum.SELECT_EQUIPMENT.getUrl());
- // Set the icon of the drone device displayed in the pilot's map when it is selected, required in the TSA module.
- subDevice.setUrlNormal(IconUrlEnum.NORMAL_EQUIPMENT.getUrl());
-
- gateway.setChildSn(subDevice.getDeviceSn());
-
- boolean isSave = this.saveDevice(gateway) > 0 && this.saveDevice(subDevice) > 0;
-
- log.debug(subDevice.getDeviceSn() + " online status: {}", isSave);
- if (isSave) {
- // Subscribe to topic related to drone and gateway devices.
- this.subscribeTopicOnline(subDevice.getDeviceSn());
- this.subscribeTopicOnline(gateway.getDeviceSn());
-
+ Optional<DeviceEntity> subDeviceEntityOpt = onlineSaveDevice(subDevice, null, gateway.getDeviceSn());
+ if (subDeviceEntityOpt.isEmpty()) {
+ log.error("Failed to go online, please check the status data or code logic.");
+ return false;
}
- return isSave;
+
+ subDevice = subDeviceEntityOpt.get();
+ gateway = gatewayEntityOpt.get();
+
+ // dock go online
+ if (DeviceDomainEnum.DOCK.getVal() == deviceGateway.getDomain() && !subDevice.getBoundStatus()) {
+ // Directly bind the drone of the dock to the same workspace as the dock.
+ bindDevice(DeviceDTO.builder().deviceSn(deviceSn).workspaceId(gateway.getWorkspaceId()).build());
+ subDevice.setWorkspaceId(gateway.getWorkspaceId());
+ }
+
+ // Subscribe to topic related to drone devices.
+ this.subscribeTopicOnline(deviceGateway.getSn());
+ this.subscribeTopicOnline(deviceSn);
+ this.pushDeviceOnlineTopo(subDevice.getWorkspaceId(), deviceGateway.getSn(), deviceSn);
+
+ log.debug("{} online.", subDevice.getDeviceSn());
+ return true;
}
@Override
@@ -188,16 +244,14 @@
return;
}
}
- topicService.subscribe(THING_MODEL_PRE + PRODUCT + sn + OSD_SUF);
- topicService.subscribe(THING_MODEL_PRE + PRODUCT + sn + STATE_SUF);
- topicService.subscribe(THING_MODEL_PRE + PRODUCT + sn + SERVICES_SUF + _REPLY_SUF);
+ String prefix = THING_MODEL_PRE + PRODUCT + sn;
+ INIT_TOPICS_SUFFIX.forEach(suffix -> topicService.subscribe(prefix + suffix));
}
@Override
public void unsubscribeTopicOffline(String sn) {
- topicService.unsubscribe(THING_MODEL_PRE + PRODUCT + sn + OSD_SUF);
- topicService.unsubscribe(THING_MODEL_PRE + PRODUCT + sn + STATE_SUF);
- topicService.unsubscribe(THING_MODEL_PRE + PRODUCT + sn + SERVICES_SUF + _REPLY_SUF);
+ String prefix = THING_MODEL_PRE + PRODUCT + sn;
+ INIT_TOPICS_SUFFIX.forEach(suffix -> topicService.unsubscribe(prefix + suffix));
}
@Override
@@ -231,18 +285,26 @@
public List<DeviceDTO> getDevicesByParams(DeviceQueryParam param) {
return mapper.selectList(
new LambdaQueryWrapper<DeviceEntity>()
+ //设备编码
.eq(StringUtils.hasText(param.getDeviceSn()),
- DeviceEntity::getDeviceSn, param.getDeviceSn())
+ DeviceEntity::getDeviceSn, param.getDeviceSn())
+ //设备类型
.eq(param.getDeviceType() != null,
DeviceEntity::getDeviceType, param.getDeviceType())
+ //负载类型
.eq(param.getSubType() != null,
DeviceEntity::getSubType, param.getSubType())
.eq(StringUtils.hasText(param.getChildSn()),
DeviceEntity::getChildSn, param.getChildSn())
- .eq(param.getDomain() != null,
- DeviceEntity::getDomain, param.getDomain())
+ .and(!CollectionUtils.isEmpty(param.getDomains()), wrapper -> {
+ for (Integer domain : param.getDomains()) {
+ wrapper.eq(DeviceEntity::getDomain, domain).or();
+ }
+ })
.eq(StringUtils.hasText(param.getWorkspaceId()),
DeviceEntity::getWorkspaceId, param.getWorkspaceId())
+ .eq(param.getBoundStatus() != null, DeviceEntity::getBoundStatus, param.getBoundStatus())
+ .eq(param.getReserveId() != null, DeviceEntity::getReserveId, param.getReserveId())
.orderBy(param.isOrderBy(),
param.isAsc(), DeviceEntity::getId))
.stream()
@@ -251,42 +313,56 @@
}
@Override
- public List<DeviceDTO> getDevicesTopoForWeb(String workspaceId) {
+ public List<DeviceDTO> getDevicesTopoForWeb(String workspaceId, String reserveId) {
List<DeviceDTO> devicesList = this.getDevicesByParams(
DeviceQueryParam.builder()
.workspaceId(workspaceId)
- .domain(DeviceDomainEnum.SUB_DEVICE.getVal())
+ .reserveId(reserveId)
+ .domains(List.of(DeviceDomainEnum.GATEWAY.getVal(), DeviceDomainEnum.DOCK.getVal()))
.build());
- devicesList.forEach(device -> {
- this.spliceDeviceTopo(device);
- device.setWorkspaceId(workspaceId);
+ devicesList.stream()
+ .filter(gateway -> DeviceDomainEnum.DOCK.getVal() == gateway.getDomain() ||
+ deviceRedisService.checkDeviceOnline(gateway.getDeviceSn()))
+ .forEach(this::spliceDeviceTopo);
+ devicesList.forEach(deviceDTO -> {
+ WaylineJobQueryParam waylineJobQueryParam = new WaylineJobQueryParam();
+ waylineJobQueryParam.setDockSn(deviceDTO.getDeviceSn());
+ WaylineJobEntity latestJob = waylineJobService.getLatestJob(workspaceId, waylineJobQueryParam);
+ deviceDTO.setLatestWaylineJob(latestJob);
+ deviceDTO.setOnlineStatus(true);
+ OsdDockReceiver osdDockReceiver = (OsdDockReceiver) RedisOpsUtils.get("osd:" + deviceDTO.getDeviceSn());
+ deviceDTO.setLatitude(osdDockReceiver!=null? osdDockReceiver.getLatitude():null);
+ deviceDTO.setLongitude(osdDockReceiver!=null? osdDockReceiver.getLongitude():null);
});
+
return devicesList;
}
@Override
- public void spliceDeviceTopo(DeviceDTO device) {
+ public void spliceDeviceTopo(DeviceDTO gateway) {
- // remote controller
- List<DeviceDTO> gatewaysList = getDevicesByParams(
- DeviceQueryParam.builder()
- .childSn(device.getDeviceSn())
- .build());
+ gateway.setStatus(deviceRedisService.checkDeviceOnline(gateway.getDeviceSn()));
+
+ // sub device
+ if (!StringUtils.hasText(gateway.getChildDeviceSn())) {
+ return;
+ }
+
+ DeviceDTO subDevice = getDevicesByParams(DeviceQueryParam.builder().deviceSn(gateway.getChildDeviceSn()).build()).get(0);
+ subDevice.setStatus(deviceRedisService.checkDeviceOnline(subDevice.getDeviceSn()));
+ gateway.setChildren(subDevice);
// payloads
- List<DevicePayloadDTO> payloadsList = payloadService
- .getDevicePayloadEntitiesByDeviceSn(device.getDeviceSn());
-
-
- device.setGatewaysList(gatewaysList);
- device.setPayloadsList(payloadsList);
-
+ subDevice.setPayloadsList(payloadService.getDevicePayloadEntitiesByDeviceSn(gateway.getChildDeviceSn()));
}
@Override
public Optional<TopologyDeviceDTO> getDeviceTopoForPilot(String sn) {
+ if (sn.isBlank()) {
+ return Optional.empty();
+ }
List<TopologyDeviceDTO> topologyDeviceList = this.getDevicesByParams(
DeviceQueryParam.builder()
.deviceSn(sn)
@@ -301,7 +377,7 @@
}
@Override
- public void pushDeviceOnlineTopo(Collection<ConcurrentWebSocketSession> sessions, String sn) {
+ public void pushDeviceOnlineTopo(Collection<ConcurrentWebSocketSession> sessions, String sn, String gatewaySn) {
CustomWebSocketMessage<TopologyDeviceDTO> pilotMessage =
CustomWebSocketMessage.<TopologyDeviceDTO>builder()
@@ -312,6 +388,8 @@
this.getDeviceTopoForPilot(sn)
.ifPresent(pilotMessage::setData);
+ pilotMessage.getData().setOnlineStatus(deviceRedisService.checkDeviceOnline(sn));
+ pilotMessage.getData().setGatewaySn(gatewaySn.equals(sn) ? "" : gatewaySn);
sendMessageService.sendBatch(sessions, pilotMessage);
}
@@ -321,91 +399,91 @@
TopologyDeviceDTO.TopologyDeviceDTOBuilder builder = TopologyDeviceDTO.builder();
if (device != null) {
- String domain = String.valueOf(DeviceDomainEnum.getVal(device.getDomain()));
- String subType = String.valueOf(device.getSubType());
- String type = String.valueOf(device.getType());
-
builder.sn(device.getDeviceSn())
- .deviceCallsign(device.getDeviceName())
+ .deviceCallsign(device.getNickname())
.deviceModel(DeviceModelDTO.builder()
- .domain(domain)
- .subType(subType)
- .type(type)
- .key(domain + "-" + type + "-" + subType)
+ .domain(String.valueOf(device.getDomain()))
+ .subType(String.valueOf(device.getSubType()))
+ .type(String.valueOf(device.getType()))
+ .key(device.getDomain() + "-" + device.getType() + "-" + device.getSubType())
.build())
.iconUrls(device.getIconUrl())
+ .onlineStatus(deviceRedisService.checkDeviceOnline(device.getDeviceSn()))
+ .boundStatus(device.getBoundStatus())
+ .model(device.getDeviceName())
+ .userId(device.getUserId())
+ .domain(device.getDomain())
.build();
}
return builder.build();
}
@Override
- public void pushDeviceOnlineTopo(String workspaceId, String deviceSn, String gatewaySn) {
+ public void pushDeviceOnlineTopo(String workspaceId, String gatewaySn, String deviceSn) {
- // All connected accounts on the pilot side of this workspace.
- Collection<ConcurrentWebSocketSession> pilotSessions = WebSocketManager
- .getValueWithWorkspaceAndUserType(
- workspaceId, UserTypeEnum.PILOT.getVal());
+ // All connected accounts in this workspace.
+ Collection<ConcurrentWebSocketSession> allSessions = webSocketManageService.getValueWithWorkspace(workspaceId);
- this.pushDeviceOnlineTopo(pilotSessions, deviceSn);
- this.pushDeviceOnlineTopo(pilotSessions, gatewaySn);
- this.pushDeviceUpdateTopo(pilotSessions, deviceSn);
- this.pushDeviceUpdateTopo(pilotSessions, gatewaySn);
- }
-
- @Override
- public void pushDeviceOfflineTopo(String workspaceId, String gatewaySn) {
- // All connected accounts on the pilot side of this workspace.
- Collection<ConcurrentWebSocketSession> pilotSessions = WebSocketManager
- .getValueWithWorkspaceAndUserType(
- workspaceId, UserTypeEnum.PILOT.getVal());
-
-
- List<DeviceDTO> gatewaysList = this.getDevicesByParams(
- DeviceQueryParam.builder()
- .deviceSn(gatewaySn)
- .build());
-
- if (!gatewaysList.isEmpty()) {
- String deviceSn = gatewaysList.get(0).getChildDeviceSn();
- this.pushDeviceOfflineTopo(pilotSessions, deviceSn);
- this.pushDeviceUpdateTopo(pilotSessions, deviceSn);
+ if (!gatewaySn.equals(deviceSn)) {
+ this.pushDeviceOnlineTopo(allSessions, deviceSn, gatewaySn);
+ this.pushDeviceUpdateTopo(allSessions, deviceSn);
}
-
- this.pushDeviceOfflineTopo(pilotSessions, gatewaySn);
- this.pushDeviceUpdateTopo(pilotSessions, gatewaySn);
+ this.pushDeviceOnlineTopo(allSessions, gatewaySn, gatewaySn);
+ this.pushDeviceUpdateTopo(allSessions, gatewaySn);
}
@Override
- public void handleOSD(String topic, byte[] payload) {
- TopicStateReceiver receiver;
+ public void pushDeviceOfflineTopo(String workspaceId, String sn) {
+ // All connected accounts of this workspace.
+ Collection<ConcurrentWebSocketSession> allSessions = webSocketManageService
+ .getValueWithWorkspace(workspaceId);
+
+ this.pushDeviceOfflineTopo(allSessions, sn);
+ this.pushDeviceUpdateTopo(allSessions, sn);
+ }
+
+ @Override
+ @ServiceActivator(inputChannel = ChannelName.INBOUND_OSD)
+ public void handleOSD(Message<?> message) {
+ String topic = message.getHeaders().get(MqttHeaders.RECEIVED_TOPIC).toString();
+ byte[] payload = (byte[])message.getPayload();
+ CommonTopicReceiver receiver;
try {
String from = topic.substring((THING_MODEL_PRE + PRODUCT).length(),
topic.indexOf(OSD_SUF));
- List<DeviceDTO> deviceList = this.getDevicesByParams(
- DeviceQueryParam.builder().deviceSn(from).build());
- if (deviceList.isEmpty()) {
- return;
+ Optional<DeviceDTO> deviceOpt = deviceRedisService.getDeviceOnline(from);
+
+ if (deviceOpt.isEmpty()) {
+ deviceOpt = this.getDeviceBySn(from);
+ if (deviceOpt.isEmpty()) {
+ log.error("请重新启动无人机.");
+ return;
+ }
+
+ if (!StringUtils.hasText(deviceOpt.get().getWorkspaceId())) {
+ this.unsubscribeTopicOffline(from);
+ return;
+ }
+ deviceRedisService.setDeviceOnline(deviceOpt.get());
+ this.subscribeTopicOnline(from);
}
+ DeviceDTO device = deviceOpt.get();
+ deviceRedisService.setDeviceOnline(device);
- ObjectMapper mapper = new ObjectMapper();
- mapper.configure(DeserializationFeature.FAIL_ON_UNKNOWN_PROPERTIES, false);
+ receiver = objectMapper.readValue(payload, CommonTopicReceiver.class);
- receiver = mapper.readValue(payload, TopicStateReceiver.class);
+ CustomWebSocketMessage<TelemetryDTO> wsMessage = CustomWebSocketMessage.<TelemetryDTO>builder()
+ .timestamp(System.currentTimeMillis())
+ .data(TelemetryDTO.builder().sn(from).build())
+ .build();
- CustomWebSocketMessage wsMessage = CustomWebSocketMessage.builder()
- .timestamp(System.currentTimeMillis()).build();
-
- JsonNode hostNode = mapper.readTree(payload).findPath("data");
-
- String workspaceId = deviceList.get(0).getWorkspaceId();
- Collection<ConcurrentWebSocketSession> webSessions = WebSocketManager
+ Collection<ConcurrentWebSocketSession> webSessions = webSocketManageService
.getValueWithWorkspaceAndUserType(
- workspaceId, UserTypeEnum.WEB.getVal());
+ device.getWorkspaceId(), UserTypeEnum.WEB.getVal());
- tsaService.handleOSD(receiver, from, workspaceId, hostNode, webSessions, wsMessage);
+ tsaService.handleOSD(receiver, device, webSessions, wsMessage);
} catch (IOException e) {
e.printStackTrace();
@@ -451,17 +529,48 @@
* @param entity
* @return
*/
- private Integer saveDevice(DeviceEntity entity) {
+ private Optional<DeviceEntity> saveDevice(DeviceEntity entity) {
DeviceEntity deviceEntity = mapper.selectOne(
new LambdaQueryWrapper<DeviceEntity>()
.eq(DeviceEntity::getDeviceSn, entity.getDeviceSn()));
// Update the information directly if the device already exists.
if (deviceEntity != null) {
+ if (deviceEntity.getDeviceName().equals(entity.getNickname())) {
+ entity.setNickname(null);
+ }
entity.setId(deviceEntity.getId());
mapper.updateById(entity);
- return deviceEntity.getId();
+ fillNullField(entity, deviceEntity);
+ return Optional.of(entity);
}
- return mapper.insert(entity) > 0 ? entity.getId() : 0;
+ return mapper.insert(entity) > 0 ? Optional.of(entity) : Optional.empty();
+ }
+
+ private void fillNullField(DeviceEntity entity, DeviceEntity oldEntity) {
+ if (Objects.isNull(entity) || Objects.isNull(oldEntity)) {
+ return;
+ }
+ if (Objects.isNull(entity.getWorkspaceId())) {
+ entity.setWorkspaceId(oldEntity.getWorkspaceId());
+ }
+ if (Objects.isNull(entity.getUserId())) {
+ entity.setUserId(oldEntity.getUserId());
+ }
+ if (Objects.isNull(entity.getChildSn())) {
+ entity.setChildSn(oldEntity.getChildSn());
+ }
+ if (Objects.isNull(entity.getBoundStatus())) {
+ entity.setBoundStatus(oldEntity.getBoundStatus());
+ }
+ if (Objects.isNull(entity.getBoundTime())) {
+ entity.setBoundTime(oldEntity.getBoundTime());
+ }
+ if (Objects.isNull(entity.getFirmwareVersion())) {
+ entity.setFirmwareVersion(oldEntity.getFirmwareVersion());
+ }
+ if (Objects.isNull(entity.getDeviceIndex())) {
+ entity.setDeviceIndex(oldEntity.getDeviceIndex());
+ }
}
/**
@@ -477,19 +586,23 @@
// Query the model information of this gateway device.
Optional<DeviceDictionaryDTO> dictionaryOpt = dictionaryService
- .getOneDictionaryInfoByDomainTypeSubType(gateway.getDomain(),
+ .getOneDictionaryInfoByTypeSubType(Objects.nonNull(gateway.getDomain()) ?
+ gateway.getDomain() : DeviceDomainEnum.GATEWAY.getVal(),
gateway.getType(), gateway.getSubType());
dictionaryOpt.ifPresent(entity ->
builder.deviceName(entity.getDeviceName())
+ .nickname(entity.getDeviceName())
.deviceDesc(entity.getDeviceDesc()));
return builder
.deviceSn(gateway.getSn())
- .domain(gateway.getDomain())
.subType(gateway.getSubType())
.deviceType(gateway.getType())
.version(gateway.getVersion())
+ .domain(gateway.getDomain() != null ?
+ gateway.getDomain() : DeviceDomainEnum.GATEWAY.getVal())
+ .deviceIndex(gateway.getSubDevices().isEmpty() ? null : gateway.getSubDevices().get(0).getIndex())
.build();
}
@@ -506,48 +619,602 @@
// Query the model information of this drone device.
Optional<DeviceDictionaryDTO> dictionaryOpt = dictionaryService
- .getOneDictionaryInfoByDomainTypeSubType(DeviceDomainEnum.SUB_DEVICE.getVal(),
- device.getType(), device.getSubType());
+ .getOneDictionaryInfoByTypeSubType(DeviceDomainEnum.SUB_DEVICE.getVal(), device.getType(), device.getSubType());
dictionaryOpt.ifPresent(dictionary ->
builder.deviceName(dictionary.getDeviceName())
+ .nickname(dictionary.getDeviceName())
.deviceDesc(dictionary.getDeviceDesc()));
return builder
.deviceSn(device.getSn())
.deviceType(device.getType())
.subType(device.getSubType())
- .domain(DeviceDomainEnum.SUB_DEVICE.getVal())
.version(device.getVersion())
- .deviceIndex(device.getIndex())
+ .domain(DeviceDomainEnum.SUB_DEVICE.getVal())
.build();
}
/**
- * Convert database entity objects into device data transfer object.
+ * Convert database entity object into device data transfer object.
* @param entity
* @return
*/
private DeviceDTO deviceEntityConvertToDTO(DeviceEntity entity) {
- DeviceDTO.DeviceDTOBuilder builder = DeviceDTO.builder();
-
- if (entity != null) {
- builder.deviceSn(entity.getDeviceSn())
- .childDeviceSn(entity.getChildSn())
- .deviceName(entity.getDeviceName())
- .deviceDesc(entity.getDeviceDesc())
- .deviceIndex(entity.getDeviceIndex())
- .workspaceId(entity.getWorkspaceId())
- .type(entity.getDeviceType())
- .subType(entity.getSubType())
- .domain(DeviceDomainEnum.getDesc(entity.getDomain()))
- .iconUrl(IconUrlDTO.builder()
- .normalUrl(entity.getUrlNormal())
- .selectUrl(entity.getUrlSelect())
- .build())
- .build();
+ if (entity == null) {
+ return null;
}
- return builder.build();
+ DeviceDTO deviceDTO = DeviceDTO.builder()
+ .deviceSn(entity.getDeviceSn())
+ .childDeviceSn(entity.getChildSn())
+ .deviceName(entity.getDeviceName())
+ .deviceDesc(entity.getDeviceDesc())
+ .controlSource(entity.getDeviceIndex())
+ .workspaceId(entity.getWorkspaceId())
+ .type(entity.getDeviceType())
+ .subType(entity.getSubType())
+ .domain(entity.getDomain())
+ .iconUrl(IconUrlDTO.builder()
+ .normalUrl(entity.getUrlNormal())
+ .selectUrl(entity.getUrlSelect())
+ .build())
+ .boundStatus(entity.getBoundStatus())
+ .loginTime(entity.getLoginTime() != null ?
+ LocalDateTime.ofInstant(Instant.ofEpochMilli(entity.getLoginTime()), ZoneId.systemDefault())
+ : null)
+ .boundTime(entity.getBoundTime() != null ?
+ LocalDateTime.ofInstant(Instant.ofEpochMilli(entity.getBoundTime()), ZoneId.systemDefault())
+ : null)
+ .nickname(entity.getNickname())
+ .firmwareVersion(entity.getFirmwareVersion())
+ .workspaceName(entity.getWorkspaceId() != null ?
+ workspaceService.getWorkspaceByWorkspaceId(entity.getWorkspaceId())
+ .map(WorkspaceDTO::getWorkspaceName).orElse("") : "")
+ .firmwareStatus(DeviceFirmwareStatusEnum.NOT_UPGRADE.getVal()).build();
+
+ addFirmwareStatus(deviceDTO, entity);
+ return deviceDTO;
}
-}
\ No newline at end of file
+ private void addFirmwareStatus(DeviceDTO deviceDTO, DeviceEntity entity) {
+ if (!StringUtils.hasText(entity.getFirmwareVersion())) {
+ return;
+ }
+ // Query whether the device is updating firmware.
+ Optional<EventsReceiver<EventsOutputProgressReceiver<FirmwareProgressExtReceiver>>> progressOpt =
+ deviceRedisService.getFirmwareUpgradingProgress(entity.getDeviceSn());
+ if (progressOpt.isPresent()) {
+ deviceDTO.setFirmwareStatus(DeviceFirmwareStatusEnum.UPGRADING.getVal());
+ deviceDTO.setFirmwareProgress(progressOpt.map(EventsReceiver::getOutput)
+ .map(EventsOutputProgressReceiver::getProgress)
+ .map(OutputProgressReceiver::getPercent)
+ .orElse(0));
+ return;
+ }
+
+ // First query the latest firmware version of the device model and compare it with the current firmware version
+ // to see if it needs to be upgraded.
+ Optional<DeviceFirmwareNoteDTO> firmwareReleaseNoteOpt = deviceFirmwareService.getLatestFirmwareReleaseNote(entity.getDeviceName());
+ if (firmwareReleaseNoteOpt.isEmpty()) {
+ deviceDTO.setFirmwareStatus(DeviceFirmwareStatusEnum.NOT_UPGRADE.getVal());
+ return;
+ }
+ if (entity.getFirmwareVersion().equals(firmwareReleaseNoteOpt.get().getProductVersion())) {
+ deviceDTO.setFirmwareStatus(Objects.requireNonNullElse(entity.getCompatibleStatus(), true) ?
+ DeviceFirmwareStatusEnum.NOT_UPGRADE.getVal() :
+ DeviceFirmwareStatusEnum.CONSISTENT_UPGRADE.getVal());
+ return;
+ }
+ deviceDTO.setFirmwareStatus(DeviceFirmwareStatusEnum.NORMAL_UPGRADE.getVal());
+ }
+
+ @Override
+ public Boolean updateDevice(DeviceDTO deviceDTO) {
+ int update = mapper.update(this.deviceDTO2Entity(deviceDTO),
+ new LambdaUpdateWrapper<DeviceEntity>().eq(DeviceEntity::getDeviceSn, deviceDTO.getDeviceSn()));
+ return update > 0;
+ }
+
+ @Override
+ public Boolean bindDevice(DeviceDTO device) {
+ device.setBoundStatus(true);
+ device.setBoundTime(LocalDateTime.now());
+
+ boolean isUpd = this.saveDevice(this.deviceDTO2Entity(device)).isPresent();
+ if (!isUpd) {
+ return false;
+ }
+
+ Optional<DeviceDTO> deviceOpt = deviceRedisService.getDeviceOnline(device.getDeviceSn());
+ if (deviceOpt.isEmpty()) {
+ return false;
+ }
+
+ DeviceDTO redisDevice = deviceOpt.get();
+ redisDevice.setWorkspaceId(device.getWorkspaceId());
+ deviceRedisService.setDeviceOnline(redisDevice);
+
+ if (DeviceDomainEnum.GATEWAY.getVal() == redisDevice.getDomain()) {
+ this.pushDeviceOnlineTopo(webSocketManageService.getValueWithWorkspace(device.getWorkspaceId()),
+ device.getDeviceSn(), device.getDeviceSn());
+ }
+ if (DeviceDomainEnum.SUB_DEVICE.getVal() == redisDevice.getDomain()) {
+ DeviceDTO subDevice = this.getDevicesByParams(DeviceQueryParam.builder()
+ .childSn(device.getChildDeviceSn())
+ .build()).get(0);
+ this.pushDeviceOnlineTopo(webSocketManageService.getValueWithWorkspace(device.getWorkspaceId()),
+ device.getDeviceSn(), subDevice.getDeviceSn());
+ }
+ this.subscribeTopicOnline(device.getDeviceSn());
+
+ return true;
+ }
+
+ /**
+ * Handle dock binding status requests.
+ * @param receiver
+ * @param headers
+ */
+ @ServiceActivator(inputChannel = ChannelName.INBOUND_REQUESTS_AIRPORT_BIND_STATUS, outputChannel = ChannelName.OUTBOUND)
+ public void bindStatus(CommonTopicReceiver receiver, MessageHeaders headers) {
+ List<Map<String, String>> data = ((Map<String, List<Map<String, String>>>) receiver.getData()).get(MapKeyConst.DEVICES);
+ String dockSn = data.get(0).get(MapKeyConst.SN);
+ String droneSn = data.size() > 1 ? data.get(1).get(MapKeyConst.SN) : "null";
+
+ Optional<DeviceDTO> dockOpt = this.getDeviceBySn(dockSn);
+ Optional<DeviceDTO> droneOpt = this.getDeviceBySn(droneSn);
+
+ List<BindStatusReceiver> bindStatusResult = new ArrayList<>();
+ bindStatusResult.add(dockOpt.isPresent() ? this.dto2BindStatus(dockOpt.get()) :
+ BindStatusReceiver.builder().sn(dockSn).isDeviceBindOrganization(false).build());
+ if (data.size() > 1) {
+ bindStatusResult.add(droneOpt.isPresent() ? this.dto2BindStatus(droneOpt.get()) :
+ BindStatusReceiver.builder().sn(droneSn).isDeviceBindOrganization(false).build());
+ }
+
+ messageSender.publish(headers.get(MqttHeaders.RECEIVED_TOPIC) + _REPLY_SUF,
+ CommonTopicResponse.builder()
+ .tid(receiver.getTid())
+ .bid(receiver.getBid())
+ .timestamp(System.currentTimeMillis())
+ .method(RequestsMethodEnum.AIRPORT_BIND_STATUS.getMethod())
+ .data(RequestsReply.success(Map.of(MapKeyConst.BIND_STATUS, bindStatusResult)))
+ .build());
+
+ }
+
+ /**
+ * Handle dock binding requests.
+ * @param receiver
+ * @param headers
+ */
+ @ServiceActivator(inputChannel = ChannelName.INBOUND_REQUESTS_AIRPORT_ORGANIZATION_BIND)
+ public void bindDevice(CommonTopicReceiver receiver, MessageHeaders headers) {
+ Map<String, List<BindDeviceReceiver>> data = objectMapper.convertValue(receiver.getData(),
+ new TypeReference<Map<String, List<BindDeviceReceiver>>>() {});
+ List<BindDeviceReceiver> devices = data.get(MapKeyConst.BIND_DEVICES);
+ BindDeviceReceiver dock = null;
+ BindDeviceReceiver drone = null;
+ for (BindDeviceReceiver device : devices) {
+ int val = Integer.parseInt(device.getDeviceModelKey().split("-")[0]);
+ if (val == DeviceDomainEnum.DOCK.getVal()) {
+ dock = device;
+ }
+ if (val == DeviceDomainEnum.SUB_DEVICE.getVal()) {
+ drone = device;
+ }
+ }
+
+ Optional<DeviceEntity> dockEntityOpt = this.bindDevice2Entity(DeviceDomainEnum.DOCK.getVal(), dock);
+ Optional<DeviceEntity> droneEntityOpt = this.bindDevice2Entity(DeviceDomainEnum.SUB_DEVICE.getVal(), drone);
+
+ List<ErrorInfoReply> bindResult = new ArrayList<>();
+
+ droneEntityOpt.ifPresent(droneEntity -> {
+ dockEntityOpt.get().setChildSn(droneEntity.getDeviceSn());
+ Optional<DeviceEntity> deviceEntityOpt = this.saveDevice(droneEntity);
+ bindResult.add(
+ deviceEntityOpt.isPresent() ?
+ ErrorInfoReply.success(droneEntity.getDeviceSn()) :
+ new ErrorInfoReply(droneEntity.getDeviceSn(),
+ CommonErrorEnum.DEVICE_BINDING_FAILED.getErrorCode())
+ );
+ });
+ Optional<DeviceEntity> dockOpt = this.saveDevice(dockEntityOpt.get());
+
+ bindResult.add(dockOpt.isPresent() ?
+ ErrorInfoReply.success(dock.getSn()) :
+ new ErrorInfoReply(dock.getSn(),
+ CommonErrorEnum.DEVICE_BINDING_FAILED.getErrorCode()));
+
+ String topic = headers.get(MqttHeaders.RECEIVED_TOPIC) + _REPLY_SUF;
+ messageSender.publish(topic,
+ CommonTopicResponse.builder()
+ .tid(receiver.getTid())
+ .bid(receiver.getBid())
+ .method(RequestsMethodEnum.AIRPORT_ORGANIZATION_BIND.getMethod())
+ .timestamp(System.currentTimeMillis())
+ .data(RequestsReply.success(Map.of(MapKeyConst.ERR_INFOS, bindResult)))
+ .build());
+
+ }
+
+ @Override
+ public PaginationData<DeviceDTO> getBoundDevicesWithDomain(String workspaceId, Long page,
+ Long pageSize, Integer domain) {
+
+ Page<DeviceEntity> pagination = mapper.selectPage(new Page<>(page, pageSize),
+ new LambdaQueryWrapper<DeviceEntity>()
+ .eq(DeviceEntity::getDomain, domain)
+ .eq(DeviceEntity::getWorkspaceId, workspaceId)
+ .eq(DeviceEntity::getBoundStatus, true));
+ List<DeviceDTO> devicesList = pagination.getRecords().stream().map(this::deviceEntityConvertToDTO)
+ .peek(device -> {
+ device.setStatus(deviceRedisService.checkDeviceOnline(device.getDeviceSn()));
+ if (StringUtils.hasText(device.getChildDeviceSn())) {
+ Optional<DeviceDTO> childOpt = this.getDeviceBySn(device.getChildDeviceSn());
+ childOpt.ifPresent(child -> {
+ child.setStatus(deviceRedisService.checkDeviceOnline(child.getDeviceSn()));
+ child.setWorkspaceName(device.getWorkspaceName());
+ device.setChildren(child);
+ });
+ }
+ })
+ .collect(Collectors.toList());
+ return new PaginationData<DeviceDTO>(devicesList, new Pagination(pagination));
+ }
+
+ @Override
+ public void unbindDevice(String deviceSn) {
+
+ Optional<DeviceDTO> deviceOpt = deviceRedisService.getDeviceOnline(deviceSn);
+ if (deviceOpt.isPresent()) {
+ subDeviceOffline(deviceSn);
+ } else {
+ deviceOpt = getDeviceBySn(deviceSn);
+ }
+ if (deviceOpt.isEmpty()) {
+ return;
+ }
+ DeviceDTO device = DeviceDTO.builder()
+ .deviceSn(deviceSn)
+ .workspaceId("")
+ .userId("")
+ .boundStatus(false)
+ .build();
+ this.updateDevice(device);
+ }
+
+ @Override
+ public Optional<DeviceDTO> getDeviceBySn(String sn) {
+ List<DeviceDTO> devicesList = this.getDevicesByParams(DeviceQueryParam.builder().deviceSn(sn).build());
+ if (devicesList.isEmpty()) {
+ return Optional.empty();
+ }
+ DeviceDTO device = devicesList.get(0);
+ device.setStatus(deviceRedisService.checkDeviceOnline(sn));
+ return Optional.of(device);
+ }
+
+ /**
+ * Update the firmware version information of the device or payload.
+ * @param receiver
+ */
+ @ServiceActivator(inputChannel = ChannelName.INBOUND_STATE_FIRMWARE_VERSION)
+ public void updateFirmwareVersion(FirmwareVersionReceiver receiver) {
+ // If the reported version is empty, it will not be processed to prevent misleading page.
+ if (!StringUtils.hasText(receiver.getFirmwareVersion())) {
+ return;
+ }
+
+ if (receiver.getDomain() == DeviceDomainEnum.SUB_DEVICE) {
+ final DeviceDTO device = DeviceDTO.builder()
+ .deviceSn(receiver.getSn())
+ .firmwareVersion(receiver.getFirmwareVersion())
+ .firmwareStatus(receiver.getCompatibleStatus() == null ?
+ null : DeviceFirmwareStatusEnum.CompatibleStatusEnum.INCONSISTENT.getVal() != receiver.getCompatibleStatus() ?
+ DeviceFirmwareStatusEnum.UNKNOWN.getVal() : DeviceFirmwareStatusEnum.CONSISTENT_UPGRADE.getVal())
+ .build();
+ this.updateDevice(device);
+ return;
+ }
+ payloadService.updateFirmwareVersion(receiver);
+ }
+
+ @Override
+ public ResponseResult createDeviceOtaJob(String workspaceId, List<DeviceFirmwareUpgradeDTO> upgradeDTOS) {
+ List<DeviceOtaCreateParam> deviceOtaFirmwares = deviceFirmwareService.getDeviceOtaFirmware(workspaceId, upgradeDTOS);
+ if (deviceOtaFirmwares.isEmpty()) {
+ return ResponseResult.error();
+ }
+
+ Optional<DeviceDTO> deviceOpt = deviceRedisService.getDeviceOnline(deviceOtaFirmwares.get(0).getSn());
+ if (deviceOpt.isEmpty()) {
+ throw new RuntimeException("设备离线");
+ }
+ DeviceDTO device = deviceOpt.get();
+ String gatewaySn = DeviceDomainEnum.DOCK.getVal() == device.getDomain() ? device.getDeviceSn() : device.getParentSn();
+
+ checkOtaConditions(gatewaySn);
+
+ String bid = UUID.randomUUID().toString();
+ ServiceReply serviceReply = messageSender.publishServicesTopic(
+ gatewaySn, FirmwareMethodEnum.OTA_CREATE.getMethod(), Map.of(MapKeyConst.DEVICES, deviceOtaFirmwares), bid);
+ if (serviceReply.getResult() != ResponseResult.CODE_SUCCESS) {
+ return ResponseResult.error(serviceReply.getResult(), "硬件错误码 " + serviceReply.getResult());
+ }
+
+ // Record the device state that needs to be updated.
+ deviceOtaFirmwares.forEach(deviceOta -> deviceRedisService.setFirmwareUpgrading(deviceOta.getSn(),
+ EventsReceiver.<EventsOutputProgressReceiver<FirmwareProgressExtReceiver>>builder()
+ .bid(bid).sn(deviceOta.getSn()).build()));
+ return ResponseResult.success();
+ }
+
+ /**
+ * Determine whether the firmware can be upgraded.
+ * @param dockSn
+ */
+ private void checkOtaConditions(String dockSn) {
+ Optional<OsdDockReceiver> deviceOpt = deviceRedisService.getDeviceOsd(dockSn, OsdDockReceiver.class);
+ if (deviceOpt.isEmpty()) {
+ throw new RuntimeException("机场离线");
+ }
+ boolean emergencyStopState = deviceOpt.get().getEmergencyStopState();
+ if (emergencyStopState) {
+// throw new RuntimeException("The emergency stop button of the dock is pressed and can't be upgraded.");
+ throw new RuntimeException("机场急停按钮被按下，无法升级");
+ }
+
+ DockModeCodeEnum dockMode = this.getDockMode(dockSn);
+ if (DockModeCodeEnum.IDLE != dockMode) {
+ throw new RuntimeException("当前机场状态无法升级");
+ }
+ }
+
+ @Override
+ public void devicePropertySet(String workspaceId, String dockSn, DeviceSetPropertyEnum propertyEnum, JsonNode param) {
+ Optional<DeviceDTO> dockOpt = deviceRedisService.getDeviceOnline(dockSn);
+ if (dockOpt.isEmpty()) {
+ throw new RuntimeException("机场离线");
+ }
+ String childSn = dockOpt.get().getChildDeviceSn();
+ boolean deviceOnline = deviceRedisService.checkDeviceOnline(childSn);
+ Optional<OsdSubDeviceReceiver> osdOpt = deviceRedisService.getDeviceOsd(childSn, OsdSubDeviceReceiver.class);
+ if (!deviceOnline || osdOpt.isEmpty()) {
+ throw new RuntimeException("设备离线");
+ }
+
+ // Make sure the data is valid.
+ BasicDeviceProperty basicDeviceProperty = objectMapper.convertValue(param, propertyEnum.getClazz());
+ boolean valid = basicDeviceProperty.valid();
+ if (!valid) {
+ throw new IllegalArgumentException(CommonErrorEnum.ILLEGAL_ARGUMENT.getErrorMsg());
+ }
+
+ String topic = THING_MODEL_PRE + PRODUCT + dockSn + PROPERTY_SUF + SET_SUF;
+ if (!param.isObject()) {
+ this.deviceOnePropertySet(topic, propertyEnum, Map.entry(propertyEnum.getProperty(), param));
+ return;
+ }
+ // If there are multiple parameters, set them separately.
+ for (Iterator<Map.Entry<String, JsonNode>> filed = param.fields(); filed.hasNext(); ) {
+ Map.Entry<String, JsonNode> node = filed.next();
+ boolean isPublish = basicDeviceProperty.canPublish(node.getKey(), osdOpt.get());
+ if (!isPublish) {
+ continue;
+ }
+ this.deviceOnePropertySet(topic, propertyEnum, Map.entry(propertyEnum.getProperty(), node));
+ }
+
+ }
+
+ @Override
+ public void deviceOnePropertySet(String topic, DeviceSetPropertyEnum propertyEnum, Map.Entry<String, Object> value) {
+ if (Objects.isNull(value) || Objects.isNull(value.getValue())) {
+ throw new IllegalArgumentException(CommonErrorEnum.ILLEGAL_ARGUMENT.getErrorMsg());
+ }
+
+ Map reply = messageSender.publishWithReply(
+ Map.class, topic,
+ CommonTopicResponse.builder()
+ .bid(UUID.randomUUID().toString())
+ .tid(UUID.randomUUID().toString())
+ .timestamp(System.currentTimeMillis())
+ .data(value)
+ .build());
+
+ while (true) {
+ reply = (Map<String, Object>) reply.get(value.getKey());
+ if (value.getValue() instanceof JsonNode) {
+ break;
+ }
+ value = (Map.Entry) value.getValue();
+ }
+
+ SetReply setReply = objectMapper.convertValue(reply, SetReply.class);
+ if (SetReplyStatusResultEnum.SUCCESS.getVal() != setReply.getResult()) {
+ throw new RuntimeException("设置失败" + value.getKey() + "; 错误码： " + setReply.getResult());
+ }
+
+ }
+
+ @Override
+ public DockModeCodeEnum getDockMode(String dockSn) {
+ return deviceRedisService.getDeviceOsd(dockSn, OsdDockReceiver.class)
+ .map(OsdDockReceiver::getModeCode).orElse(DockModeCodeEnum.DISCONNECTED);
+ }
+
+ @Override
+ public DeviceModeCodeEnum getDeviceMode(String deviceSn) {
+ return deviceRedisService.getDeviceOsd(deviceSn, OsdSubDeviceReceiver.class)
+ .map(OsdSubDeviceReceiver::getModeCode).orElse(DeviceModeCodeEnum.DISCONNECTED);
+ }
+
+ @Override
+ public Boolean checkDockDrcMode(String dockSn) {
+ return deviceRedisService.getDeviceOsd(dockSn, OsdDockReceiver.class)
+ .map(OsdDockReceiver::getDrcState)
+ .orElse(DockDrcStateEnum.DISCONNECTED) != DockDrcStateEnum.DISCONNECTED;
+ }
+
+ @Override
+ public Boolean checkAuthorityFlight(String gatewaySn) {
+ return deviceRedisService.getDeviceOnline(gatewaySn).flatMap(gateway ->
+ Optional.of((DeviceDomainEnum.DOCK.getVal() == gateway.getDomain()
+ || DeviceDomainEnum.GATEWAY.getVal() == gateway.getDomain())
+ && ControlSourceEnum.A.getControlSource().equals(gateway.getControlSource())))
+ .orElse(true);
+ }
+
+ /**
+ * Convert device data transfer object into database entity object.
+ * @param dto
+ * @return
+ */
+ private DeviceEntity deviceDTO2Entity(DeviceDTO dto) {
+ DeviceEntity.DeviceEntityBuilder builder = DeviceEntity.builder();
+ if (dto == null) {
+ return builder.build();
+ }
+
+ return builder.deviceSn(dto.getDeviceSn())
+ .userId(dto.getUserId())
+ .nickname(dto.getNickname())
+ .workspaceId(dto.getWorkspaceId())
+ .boundStatus(dto.getBoundStatus())
+ .loginTime(dto.getLoginTime() != null ?
+ dto.getLoginTime().atZone(ZoneId.systemDefault()).toInstant().toEpochMilli() : null)
+ .boundTime(dto.getBoundTime() != null ?
+ dto.getBoundTime().atZone(ZoneId.systemDefault()).toInstant().toEpochMilli() : null)
+ .childSn(dto.getChildDeviceSn())
+ .domain(dto.getDomain())
+ .firmwareVersion(dto.getFirmwareVersion())
+ .compatibleStatus(dto.getFirmwareStatus() == null ? null :
+ DeviceFirmwareStatusEnum.CONSISTENT_UPGRADE != DeviceFirmwareStatusEnum.find(dto.getFirmwareStatus()))
+ .build();
+ }
+
+ /**
+ * Convert device binding data object into database entity object.
+ *
+ * @param domain
+ * @param receiver
+ * @return
+ */
+ private Optional<DeviceEntity> bindDevice2Entity(Integer domain, BindDeviceReceiver receiver) {
+ if (receiver == null) {
+ return Optional.empty();
+ }
+ int[] droneKey = Arrays.stream(receiver.getDeviceModelKey().split("-")).mapToInt(Integer::parseInt).toArray();
+ Optional<DeviceDictionaryDTO> dictionaryOpt = dictionaryService.getOneDictionaryInfoByTypeSubType(domain, droneKey[1], droneKey[2]);
+ DeviceEntity.DeviceEntityBuilder builder = DeviceEntity.builder();
+
+ dictionaryOpt.ifPresent(entity ->
+ builder.deviceName(entity.getDeviceName())
+ .nickname(entity.getDeviceName())
+ .deviceDesc(entity.getDeviceDesc()));
+
+ Optional<WorkspaceDTO> workspace = workspaceService.getWorkspaceNameByBindCode(receiver.getDeviceBindingCode());
+
+ DeviceEntity entity = builder
+ .workspaceId(workspace.isPresent() ? workspace.get().getWorkspaceId() : receiver.getOrganizationId())
+ .domain(droneKey[0])
+ .deviceType(droneKey[1])
+ .subType(droneKey[2])
+ .deviceSn(receiver.getSn())
+ .boundStatus(true)
+ .loginTime(System.currentTimeMillis())
+ .boundTime(System.currentTimeMillis())
+ .urlSelect(IconUrlEnum.SELECT_EQUIPMENT.getUrl())
+ .urlNormal(IconUrlEnum.NORMAL_EQUIPMENT.getUrl())
+ .build();
+ if (StringUtils.hasText(receiver.getDeviceCallsign())) {
+ entity.setNickname(receiver.getDeviceCallsign());
+ }
+ return Optional.of(entity);
+ }
+
+ /**
+ * Convert device data transfer object into device binding status data object.
+ * @param device
+ * @return
+ */
+ private BindStatusReceiver dto2BindStatus(DeviceDTO device) {
+ if (device == null) {
+ return null;
+ }
+ return BindStatusReceiver.builder()
+ .sn(device.getDeviceSn())
+ .deviceCallsign(device.getNickname())
+ .isDeviceBindOrganization(device.getBoundStatus())
+ .organizationId(device.getWorkspaceId())
+ .organizationName(device.getWorkspaceName())
+ .build();
+ }
+
+ private Optional<DeviceEntity> onlineSaveDevice(DeviceEntity device, String childSn, String parentSn) {
+
+ Optional<DeviceDTO> deviceOpt = this.getDeviceBySn(device.getDeviceSn());
+ if (deviceOpt.isEmpty()) {
+ // Set the icon of the gateway device displayed in the pilot's map, required in the TSA module.
+ device.setUrlNormal(IconUrlEnum.NORMAL_PERSON.getUrl());
+ // Set the icon of the gateway device displayed in the pilot's map when it is selected, required in the TSA module.
+ device.setUrlSelect(IconUrlEnum.SELECT_PERSON.getUrl());
+ device.setBoundStatus(false);
+ } else {
+ DeviceDTO oldDevice = deviceOpt.get();
+ device.setNickname(oldDevice.getNickname());
+ device.setBoundStatus(oldDevice.getBoundStatus());
+ }
+
+ device.setChildSn(childSn);
+ device.setLoginTime(System.currentTimeMillis());
+
+ Optional<DeviceEntity> saveDeviceOpt = this.saveDevice(device);
+ if (saveDeviceOpt.isEmpty()) {
+ return saveDeviceOpt;
+ }
+
+ DeviceDTO redisDevice = this.deviceEntityConvertToDTO(saveDeviceOpt.get());
+ redisDevice.setParentSn(parentSn);
+
+ deviceRedisService.setDeviceOnline(redisDevice);
+
+ return saveDeviceOpt;
+ }
+
+ /**
+ * Handles messages in the state topic about basic drone data.
+ *
+ * Note: Only the data of the drone payload is handled here. You can handle other data from the drone
+ * according to your business needs.
+ * @param deviceBasic basic drone data
+ */
+ @ServiceActivator(inputChannel = ChannelName.INBOUND_STATE_BASIC, outputChannel = ChannelName.INBOUND_STATE_PAYLOAD)
+ public List<DevicePayloadReceiver> stateBasic(DeviceBasicReceiver deviceBasic) {
+ Optional<DeviceDTO> deviceOpt = deviceRedisService.getDeviceOnline(deviceBasic.getDeviceSn());
+ if (deviceOpt.isEmpty()) {
+ return deviceBasic.getPayloads();
+ }
+ Optional<DeviceDTO> dockOpt = deviceRedisService.getDeviceOnline(deviceOpt.get().getParentSn());
+ if (dockOpt.isEmpty()) {
+ return deviceBasic.getPayloads();
+ }
+ DeviceDTO dock = dockOpt.get();
+ if (!deviceBasic.getControlSource().equals(dock.getControlSource())) {
+ dock.setControlSource(deviceBasic.getControlSource());
+ deviceRedisService.setDeviceOnline(dock);
+
+ sendMessageService.sendBatch(dock.getWorkspaceId(), UserTypeEnum.WEB.getVal(),
+ BizCodeEnum.CONTROL_SOURCE_CHANGE.getCode(),
+ DeviceAuthorityDTO.builder()
+ .controlSource(dock.getControlSource())
+ .sn(dock.getDeviceSn())
+ .type(DroneAuthorityEnum.FLIGHT)
+ .build());
+
+ }
+ return deviceBasic.getPayloads();
+ }
+}
--
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