From db2d1a70f50bdcf7158f5b5f2162066fdaca9616 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=E5=AD=99=E5=B0=8F=E4=BA=91?= Date: Tue, 10 Mar 2026 10:47:15 +0800 Subject: [PATCH] =?UTF-8?q?=E4=BF=AE=E6=94=B9=E7=8E=AF=E5=A2=83=E9=85=8D?= =?UTF-8?q?=E7=BD=AE,=E4=BF=AE=E6=94=B9=E6=B5=8B=E8=AF=95=E7=8E=AF?= =?UTF-8?q?=E5=A2=83?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- pom.xml | 4 ++ .../controller/AircraftFlyController.java | 19 +++++- .../service/TuohengMqttClientService.java | 32 +++++++--- .../ruoyi/device/service/FlightService.java | 44 ++++++------- .../service/impl/FlightServiceImpl.java | 62 ++++++++++++------- 5 files changed, 106 insertions(+), 55 deletions(-) diff --git a/pom.xml b/pom.xml index 205bf5b..6499180 100644 --- a/pom.xml +++ b/pom.xml @@ -135,6 +135,10 @@ org.eclipse.paho.mqttv5.client 1.2.5 + + com.ruoyi + tuoheng-api-task + diff --git a/src/main/java/com/ruoyi/device/controller/AircraftFlyController.java b/src/main/java/com/ruoyi/device/controller/AircraftFlyController.java index 9e2eaa4..03369e3 100644 --- a/src/main/java/com/ruoyi/device/controller/AircraftFlyController.java +++ b/src/main/java/com/ruoyi/device/controller/AircraftFlyController.java @@ -1,5 +1,6 @@ package com.ruoyi.device.controller; +import com.ruoyi.common.core.constant.SecurityConstants; import com.ruoyi.common.core.domain.R; import com.ruoyi.common.core.web.controller.BaseController; import com.ruoyi.device.api.domain.*; @@ -8,6 +9,10 @@ import com.ruoyi.device.api.enums.DroneMissionStatusEnum; import com.ruoyi.device.domain.impl.machine.MachineCommandManager; import com.ruoyi.device.domain.impl.machine.command.CommandResult; import com.ruoyi.device.domain.impl.machine.command.CommandType; +import com.ruoyi.device.domain.impl.machine.state.MachineStates; +import com.ruoyi.device.service.FlightService; +import com.ruoyi.task.api.RemoteTaskService; +import com.ruoyi.task.api.domain.TaskDTO; import io.swagger.v3.oas.annotations.Operation; import io.swagger.v3.oas.annotations.Parameter; import io.swagger.v3.oas.annotations.tags.Tag; @@ -15,6 +20,7 @@ import lombok.extern.slf4j.Slf4j; import org.springframework.beans.factory.annotation.Autowired; import org.springframework.web.bind.annotation.*; +import java.util.Date; import java.util.Objects; import java.util.UUID; import java.util.concurrent.CompletableFuture; @@ -38,7 +44,8 @@ public class AircraftFlyController extends BaseController private com.ruoyi.device.domain.impl.machine.statemachine.MachineStateManager machineStateManager; @Autowired - private com.ruoyi.device.domain.impl.machine.mqtt.MqttClient mqttClient; + private FlightService flightService; + /** * 无人机飞控命令 * @@ -229,6 +236,9 @@ public class AircraftFlyController extends BaseController return R.ok(vo); } + //从配置文件获取 + private String airlineFileUrl = ""; + /** * 无人机一键起飞 * @@ -239,11 +249,16 @@ public class AircraftFlyController extends BaseController @PostMapping("/takeoff") public R takeoff(@RequestBody DroneTakeoffRequest request) { + + flightService.onClickTakeOff(request.getSn(),airlineFileUrl); + + log.info("收到无人机起飞请求: sn={}, messageID={}", request.getSn(), request.getMessageID()); try { java.util.Map params = new java.util.HashMap<>(); if(Objects.isNull(request.getMessageID())){ + params.put("messageID", UUID.randomUUID().toString()); }else { params.put("messageID", request.getMessageID()); @@ -350,7 +365,7 @@ public class AircraftFlyController extends BaseController try { // 从 MachineStateManager 获取状态 - com.ruoyi.device.domain.impl.machine.state.MachineStates states = machineStateManager.getStates(sn); + MachineStates states = machineStateManager.getStates(sn); // 转换为 VO 对象 MachineStateVO vo = new MachineStateVO(); diff --git a/src/main/java/com/ruoyi/device/domain/impl/tuohengmqtt/service/TuohengMqttClientService.java b/src/main/java/com/ruoyi/device/domain/impl/tuohengmqtt/service/TuohengMqttClientService.java index e2adbec..91f638a 100644 --- a/src/main/java/com/ruoyi/device/domain/impl/tuohengmqtt/service/TuohengMqttClientService.java +++ b/src/main/java/com/ruoyi/device/domain/impl/tuohengmqtt/service/TuohengMqttClientService.java @@ -20,16 +20,28 @@ public class TuohengMqttClientService { private final TuohengMqttMessageHandler messageHandler; private MqttClient mqttClient; - public static final String AIRPORT_NEST_REALTIME_TOPIC = "/topic/v1/airportNest/+/realTime/data"; - public static final String AIRPORT_NEST_BASIC_TOPIC = "/topic/v1/airportNest/+/realTime/basic"; - public static final String AIRPORT_NEST_CONFIRM_TOPIC = "/topic/v1/airportNest/+/control/confirm"; - public static final String AIRPORT_DRONE_REALTIME_TOPIC = "/topic/v1/airportDrone/+/realTime/data"; - public static final String AIRPORT_FLY_CONTROL_TOPIC = "/topic/v1/airportFly/+/control"; - public static final String AIRPORT_FLY_DATA_TOPIC = "/topic/v1/airportFly/+/control/data"; - public static final String AIRPORT_FLY_CONFIRM_TOPIC = "/topic/v1/airportFly/+/control/confirm"; - public static final String HEARTBEAT_MESSAGE_TOPIC = "/topic/v1/heartbeat/+/message"; - public static final String PRODUCT_OSD_TOPIC = "thing/product/+/osd"; - public static final String PRODUCT_EVENTS_TOPIC = "thing/product/+/events"; +// public static final String AIRPORT_NEST_REALTIME_TOPIC = "/topic/v1/airportNest/+/realTime/data"; +// public static final String AIRPORT_NEST_BASIC_TOPIC = "/topic/v1/airportNest/+/realTime/basic"; +// public static final String AIRPORT_NEST_CONFIRM_TOPIC = "/topic/v1/airportNest/+/control/confirm"; +// public static final String AIRPORT_DRONE_REALTIME_TOPIC = "/topic/v1/airportDrone/+/realTime/data"; +// public static final String AIRPORT_FLY_CONTROL_TOPIC = "/topic/v1/airportFly/+/control"; +// public static final String AIRPORT_FLY_DATA_TOPIC = "/topic/v1/airportFly/+/control/data"; +// public static final String AIRPORT_FLY_CONFIRM_TOPIC = "/topic/v1/airportFly/+/control/confirm"; +// public static final String HEARTBEAT_MESSAGE_TOPIC = "/topic/v1/heartbeat/+/message"; +// public static final String PRODUCT_OSD_TOPIC = "thing/product/+/osd"; +// public static final String PRODUCT_EVENTS_TOPIC = "thing/product/+/events"; + + + public static final String AIRPORT_NEST_REALTIME_TOPIC = "/topic/v1/airportNest/THJSQ03A2302KSPYGJ2G/realTime/data"; + public static final String AIRPORT_NEST_BASIC_TOPIC = "/topic/v1/airportNest/THJSQ03A2302KSPYGJ2G/realTime/basic"; + public static final String AIRPORT_NEST_CONFIRM_TOPIC = "/topic/v1/airportNest/THJSQ03A2302KSPYGJ2G/control/confirm"; + public static final String AIRPORT_DRONE_REALTIME_TOPIC = "/topic/v1/airportDrone/THJSQ03A2302KSPYGJ2G/realTime/data"; + public static final String AIRPORT_FLY_CONTROL_TOPIC = "/topic/v1/airportFly/THJSQ03A2302KSPYGJ2G/control"; + public static final String AIRPORT_FLY_DATA_TOPIC = "/topic/v1/airportFly/THJSQ03A2302KSPYGJ2G/control/data"; + public static final String AIRPORT_FLY_CONFIRM_TOPIC = "/topic/v1/airportFly/THJSQ03A2302KSPYGJ2G/control/confirm"; + public static final String HEARTBEAT_MESSAGE_TOPIC = "/topic/v1/heartbeat/THJSQ03A2302KSPYGJ2G/message"; + public static final String PRODUCT_OSD_TOPIC = "thing/product/THJSQ03A2302KSPYGJ2G/osd"; + public static final String PRODUCT_EVENTS_TOPIC = "thing/product/THJSQ03A2302KSPYGJ2G/events"; public TuohengMqttClientService(TuohengMqttClientConfig config, TuohengMqttMessageHandler messageHandler) { this.config = config; diff --git a/src/main/java/com/ruoyi/device/service/FlightService.java b/src/main/java/com/ruoyi/device/service/FlightService.java index b5127fc..93fc1c1 100644 --- a/src/main/java/com/ruoyi/device/service/FlightService.java +++ b/src/main/java/com/ruoyi/device/service/FlightService.java @@ -13,6 +13,8 @@ import java.util.Map; public interface FlightService { + public Long onClickTakeOff(String sn,String url); + /** * 获取或创建飞行记录（通过messageID匹配） * 如果存在相同messageID的飞行记录，返回该记录 @@ -24,23 +26,23 @@ public interface FlightService */ FlightEntity getOrCreateFlightByMessageId(String deviceSn, String messageId); - /** - * 获取最新的飞行记录（包括已返航的） - * 用于WebSocket推送 - * - * @param deviceSn 设备SN号 - * @return 飞行记录 - */ - FlightEntity getLatestFlight(String deviceSn); +// /** +// * 获取最新的飞行记录（包括已返航的） +// * 用于WebSocket推送 +// * +// * @param deviceSn 设备SN号 +// * @return 飞行记录 +// */ +// FlightEntity getLatestFlight(String deviceSn); - /** - * 更新飞行ID（外部ID） - * - * @param flightId 飞行ID - * @param flightIdExternal 外部飞行ID - */ - void updateFlightIdExternal(Long flightId, String flightIdExternal); +// /** +// * 更新飞行ID（外部ID） +// * +// * @param flightId 飞行ID +// * @param flightIdExternal 外部飞行ID +// */ +// void updateFlightIdExternal(Long flightId, String flightIdExternal); /** * 更新飞行状态 @@ -50,12 +52,12 @@ public interface FlightService */ void updateFlightStatus(Long flightId, String status); - /** - * 更新返航时间 - * - * @param flightId 飞行ID - */ - void updateReturnTime(Long flightId); +// /** +// * 更新返航时间 +// * +// * @param flightId 飞行ID +// */ +// void updateReturnTime(Long flightId); /** * 获取飞行记录和日志（用于WebSocket推送） diff --git a/src/main/java/com/ruoyi/device/service/impl/FlightServiceImpl.java b/src/main/java/com/ruoyi/device/service/impl/FlightServiceImpl.java index 8f90d22..f4fe236 100644 --- a/src/main/java/com/ruoyi/device/service/impl/FlightServiceImpl.java +++ b/src/main/java/com/ruoyi/device/service/impl/FlightServiceImpl.java @@ -1,5 +1,7 @@ package com.ruoyi.device.service.impl; +import com.ruoyi.common.core.constant.SecurityConstants; +import com.ruoyi.common.core.domain.R; import com.ruoyi.device.mapper.FlightLogMapper; import com.ruoyi.device.mapper.FlightMapper; import com.ruoyi.device.mapper.PreCheckLogMapper; @@ -7,16 +9,17 @@ import com.ruoyi.device.mapper.entity.FlightEntity; import com.ruoyi.device.mapper.entity.FlightLogEntity; import com.ruoyi.device.mapper.entity.PreCheckLogEntity; import com.ruoyi.device.service.FlightService; +import com.ruoyi.task.api.RemoteTaskService; +import com.ruoyi.task.api.domain.TaskDTO; +import com.ruoyi.task.api.enums.ExecuteTypeEnum; +import com.ruoyi.task.api.enums.StatusEnum; +import com.ruoyi.task.api.enums.TaskCategoryEnum; import lombok.extern.slf4j.Slf4j; import org.springframework.beans.factory.annotation.Autowired; import org.springframework.stereotype.Service; import org.springframework.transaction.annotation.Transactional; -import java.util.ArrayList; -import java.util.Date; -import java.util.HashMap; -import java.util.List; -import java.util.Map; +import java.util.*; /** * 飞行服务实现类 @@ -37,7 +40,22 @@ public class FlightServiceImpl implements FlightService @Autowired private FlightLogMapper flightLogMapper; + @Autowired + private RemoteTaskService remoteTaskService; + public Long onClickTakeOff(String sn,String routeUrl){ + TaskDTO taskDTO = new TaskDTO(); + taskDTO.setActualStartTime(new Date()); + taskDTO.setStartTime(new Date()); + taskDTO.setExecuteType(ExecuteTypeEnum.ONCE); + taskDTO.setTaskCategory(TaskCategoryEnum.MANUAL_FLIGHT); + taskDTO.setRouteId(-1L); + taskDTO.setUavId(sn); + taskDTO.setStatus(StatusEnum.RUNNING); + taskDTO.setRouteUrl(routeUrl); + R taskId = remoteTaskService.createTaskWithoutPlan(taskDTO,SecurityConstants.INNER); + return taskId.getData(); + } @Override @Transactional(rollbackFor = Exception.class) @@ -65,21 +83,21 @@ public class FlightServiceImpl implements FlightService return flight; } - @Override - public FlightEntity getLatestFlight(String deviceSn) { - return flightMapper.selectLatestFlightByDeviceSn(deviceSn); - } +// @Override +// public FlightEntity getLatestFlight(String deviceSn) { +// return flightMapper.selectLatestFlightByDeviceSn(deviceSn); +// } - - @Override - public void updateFlightIdExternal(Long flightId, String flightIdExternal) { - FlightEntity flight = new FlightEntity(); - flight.setFlightId(flightId); - flight.setFlightIdExternal(flightIdExternal); - flightMapper.updateFlight(flight); - log.info("更新飞行ID: flightId={}, flightIdExternal={}", flightId, flightIdExternal); - } +// +// @Override +// public void updateFlightIdExternal(Long flightId, String flightIdExternal) { +// FlightEntity flight = new FlightEntity(); +// flight.setFlightId(flightId); +// flight.setFlightIdExternal(flightIdExternal); +// flightMapper.updateFlight(flight); +// log.info("更新飞行ID: flightId={}, flightIdExternal={}", flightId, flightIdExternal); +// } @Override public void updateFlightStatus(Long flightId, String status) { @@ -92,10 +110,10 @@ public class FlightServiceImpl implements FlightService } } - @Override - public void updateReturnTime(Long flightId) { - flightMapper.updateReturnTime(flightId); - } +// @Override +// public void updateReturnTime(Long flightId) { +// flightMapper.updateReturnTime(flightId); +// } @Override public Map getLatestFlightWithLogs(String deviceSn) {