From a0eb7202ff56203ef2ce6de9b4ab7f6a2f1ae912 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=E5=AD=99=E5=B0=8F=E4=BA=91?= Date: Wed, 11 Feb 2026 16:13:40 +0800 Subject: [PATCH] =?UTF-8?q?=E4=BF=AE=E6=94=B9=20TuohengBufferDeviceImpl=20?= =?UTF-8?q?=E4=B8=AD=E6=9C=BA=E5=9C=BA=E5=92=8C=E6=97=A0=E4=BA=BA=E6=9C=BA?= =?UTF-8?q?=E7=9A=84=E7=8A=B6=E6=80=81=E5=88=A4=E6=96=AD?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../service/impl/TuohengBufferDeviceImpl.java | 207 +++++++++++------- 1 file changed, 132 insertions(+), 75 deletions(-) diff --git a/src/main/java/com/ruoyi/device/service/impl/TuohengBufferDeviceImpl.java b/src/main/java/com/ruoyi/device/service/impl/TuohengBufferDeviceImpl.java index 1b75dc6..8c09640 100644 --- a/src/main/java/com/ruoyi/device/service/impl/TuohengBufferDeviceImpl.java +++ b/src/main/java/com/ruoyi/device/service/impl/TuohengBufferDeviceImpl.java @@ -1,6 +1,10 @@ package com.ruoyi.device.service.impl; import com.ruoyi.device.domain.api.*; +import com.ruoyi.device.domain.impl.machine.state.CoverState; +import com.ruoyi.device.domain.impl.machine.state.DroneState; +import com.ruoyi.device.domain.impl.machine.state.MachineStates; +import com.ruoyi.device.domain.impl.machine.statemachine.MachineStateManager; import com.ruoyi.device.domain.model.*; import com.ruoyi.device.domain.model.thingsboard.AttributeMap; import com.ruoyi.device.domain.model.thingsboard.TelemetryMap; @@ -51,6 +55,9 @@ public class TuohengBufferDeviceImpl implements IBufferDeviceService { @Autowired private IThingsBoardDomain thingsBoardDomain; + @Autowired + private MachineStateManager machineStateManager; + @Override public DockDetailDTO getDockDetailById(Long dockId) { log.info("获取拓恒机场详情: dockId={}", dockId); @@ -145,8 +152,23 @@ public class TuohengBufferDeviceImpl implements IBufferDeviceService { dto.setBindTime(device.getCreateTime().getTime()); dto.setAircraftManufacturer(device.getDeviceManufacturer()); - // 获取ThingsBoard数据并填充到DTO - fillTuohengAircraftDetail(dto, device.getIotDeviceId()); + // 查询无人机关联的机场，获取机场SN（用于从MachineStateManager获取状态） +// String dockSn = null; +// List dockAircrafts = dockAircraftDomain.selectDockAircraftByAircraftId(aircraftId); +// if (!CollectionUtils.isEmpty(dockAircrafts)) { +// DockAircraft dockAircraft = dockAircrafts.get(0); +// Dock dock = dockDomain.selectDockByDockId(dockAircraft.getDockId()); +// if (dock != null) { +// Device dockDevice = deviceDomain.selectDeviceByDeviceId(dock.getDeviceId()); +// if (dockDevice != null) { +// dockSn = dockDevice.getDeviceSn(); +// } +// } +// } + + // 获取ThingsBoard数据并填充到DTO（传入机场SN用于获取状态） + // 这边的SN号是通用的 + fillTuohengAircraftDetail(dto, device.getIotDeviceId(), device.getDeviceSn()); return dto; } @@ -307,23 +329,31 @@ public class TuohengBufferDeviceImpl implements IBufferDeviceService { log.info("无人机MODE值: {}", mode); - // 获取舱门状态（从机场遥测数据中获取） - Integer doorStatus = telemetry.get(TuohengDeviceTelemetry.NEST_DOOR_STATUS) - .map(TelemetryValue::getValue) - .orElse(null); - log.info("机场舱门状态: {}", doorStatus); + // 通过 MachineStateManager 获取舱门状态;只通过舱门状态判断是否作业 + MachineStates machineStates = + machineStateManager.getStates(dto.getSnNumber()); + CoverState coverState = + machineStates.getCoverState(); + log.info("机场舱门状态(从MachineStateManager): {}", coverState); - // WORKING状态需要同时满足：mode=="auto" 且舱门打开(doorStatus==0) - if ("auto".equalsIgnoreCase(mode) && doorStatus != null && doorStatus == 0) { - dockStatus = "WORKING"; // auto模式且舱门打开表示正在执行任务 + if(coverState == CoverState.OPENED){ + dockStatus = "WORKING"; //只通过舱门状态判断是否作业 log.info("无人机处于auto模式且舱门打开，设置机场状态为 WORKING"); - } else { - if ("auto".equalsIgnoreCase(mode) && (doorStatus == null || doorStatus != 0)) { - log.info("无人机处于auto模式但舱门未打开(doorStatus={}), 设置机场状态为 IDLE", doorStatus); - } else { - log.info("无人机处于{}模式，设置机场状态为 IDLE", mode); - } } +// +// // WORKING状态需要同时满足：mode=="auto" 且舱门打开 +// if ("auto".equalsIgnoreCase(mode) && +// coverState == CoverState.OPENED) { +// dockStatus = "WORKING"; // auto模式且舱门打开表示正在执行任务 +// log.info("无人机处于auto模式且舱门打开，设置机场状态为 WORKING"); +// } else { +// if ("auto".equalsIgnoreCase(mode) && +// coverState != CoverState.OPENED) { +// log.info("无人机处于auto模式但舱门未打开(coverState={}), 设置机场状态为 IDLE", coverState); +// } else { +// log.info("无人机处于{}模式，设置机场状态为 IDLE", mode); +// } +// } } catch (Exception e) { log.warn("获取无人机mode或舱门状态失败，默认设置为IDLE: {}", e.getMessage()); } @@ -352,17 +382,34 @@ public class TuohengBufferDeviceImpl implements IBufferDeviceService { dto.setCabinHumidity(value.getValue()); }); + /** + * 通过 MachineStateManager 获取舱门状态 + */ + // 设置舱门状态 log.info("---------- 解析舱门状态 ----------"); - telemetry.get(TuohengDeviceTelemetry.NEST_DOOR_STATUS) - .ifPresent(value -> { - Integer doorStatus = value.getValue(); - log.info("NEST_DOOR_STATUS 舱门状态原始值: {}", doorStatus); - // 0=打开, 1=关闭 - String cabinDoorStatus = (doorStatus != null && doorStatus == 0) ? "OPEN" : "CLOSED"; - dto.setCabinDoorStatus(cabinDoorStatus); - log.info("设置舱门状态: {}", cabinDoorStatus); - }); + try { + MachineStates machineStates = + machineStateManager.getStates(dto.getSnNumber()); + CoverState coverState = + machineStates.getCoverState(); + log.info("舱门状态(从MachineStateManager): {}", coverState); + + String cabinDoorStatus; + if (coverState == CoverState.OPENED) { + cabinDoorStatus = "OPEN"; + } else if (coverState == CoverState.CLOSED) { + cabinDoorStatus = "CLOSED"; + } else { + cabinDoorStatus = "UNKNOWN"; + } + dto.setCabinDoorStatus(cabinDoorStatus); + log.info("设置舱门状态: {}", cabinDoorStatus); + } catch (Exception e) { + log.warn("从MachineStateManager获取舱门状态失败: {}", e.getMessage()); + dto.setCabinDoorStatus("UNKNOWN"); + } + // 设置空调状态（从属性中获取 airConditionerStatus，取不到则默认为 IDLE） log.info("---------- 解析空调状态 ----------"); @@ -513,59 +560,54 @@ public class TuohengBufferDeviceImpl implements IBufferDeviceService { .orElse(""); log.info("无人机 MODE 值: {}", mode); - // 获取 tsingal（图传信号强度，用于判断开关机） - Integer tsingal = aircraftTelemetry.get(TuohengDeviceTelemetry.TSINGAL) - .map(TelemetryValue::getValue) - .orElse(0); - log.info("无人机 TSINGAL 值: {}", tsingal); - - boolean isPowerOn = tsingal > 60; // tsingal > 60 表示开机 - log.info("无人机开关机状态: {}", isPowerOn ? "开机" : "关机"); - - // 获取 nest_door_status（舱门状态） - Integer doorStatus = null; - if (dockTelemetry != null) { - doorStatus = dockTelemetry.get(TuohengDeviceTelemetry.NEST_DOOR_STATUS) - .map(TelemetryValue::getValue) - .orElse(null); - log.info("机场舱门状态: {}", doorStatus); + // 通过 MachineStateManager 获取舱门状态（使用机场SN） + CoverState coverState = null; + try { + MachineStates machineStates = + machineStateManager.getStates(dto.getSnNumber()); + coverState = machineStates.getCoverState(); + log.info("机场舱门状态(从MachineStateManager): {}", coverState); + } catch (Exception e) { + log.warn("从MachineStateManager获取舱门状态失败: {}", e.getMessage()); } - // 判断逻辑：IN_MISSION 需要同时满足 mode=="auto" 且舱门打开 + // 从 MachineStateManager 获取无人机开关机状态 + DroneState droneState = null; + try { + MachineStates machineStates = + machineStateManager.getStates(dto.getSnNumber()); + droneState = machineStates.getDroneState(); + log.info("无人机状态(从MachineStateManager): {}", droneState); + } catch (Exception e) { + log.warn("从MachineStateManager获取无人机状态失败: {}", e.getMessage()); + } + + boolean isPowerOn = (droneState != null && droneState != DroneState.POWER_OFF && droneState != DroneState.UNKNOWN); + log.info("无人机开关机状态: {}", isPowerOn ? "开机" : "关机"); + + // 判断逻辑：舱门打开就是任务中 String aircraftStatus; - if ("auto".equalsIgnoreCase(mode) && doorStatus != null && doorStatus == 0) { - // mode == "auto" 且舱门打开，表示正在执行任务 + if (coverState == CoverState.OPENED) { + // 舱门打开，表示正在执行任务 aircraftStatus = "IN_MISSION"; - log.info("无人机处于 auto 模式且舱门打开，设置状态: IN_MISSION"); - } else { - // 其他情况，根据 tsingal 和 nest_door_status 判断 - if (doorStatus != null && doorStatus == 1) { - // 舱门关闭（舱内） - if (isPowerOn) { - aircraftStatus = "POWER_ON_IN_CABIN"; - log.info("舱门关闭 + 开机 → POWER_ON_IN_CABIN"); - } else { - aircraftStatus = "POWER_OFF_IN_CABIN"; - log.info("舱门关闭 + 关机 → POWER_OFF_IN_CABIN"); - } - } else if (doorStatus != null && doorStatus == 0) { - // 舱门打开（舱外），但不是 auto 模式 - if (isPowerOn) { - aircraftStatus = "POWER_ON_OUT_CABIN"; - log.info("舱门打开 + 开机(非auto模式) → POWER_ON_OUT_CABIN"); - } else { - aircraftStatus = "POWER_OFF_OUT_CABIN"; - log.info("舱门打开 + 关机 → POWER_OFF_OUT_CABIN"); - } + log.info("舱门打开，设置状态: IN_MISSION"); + } else if (coverState == CoverState.CLOSED) { + // 舱门关闭（舱内），根据开关机状态判断 + if (isPowerOn) { + aircraftStatus = "POWER_ON_IN_CABIN"; + log.info("舱门关闭 + 开机 → POWER_ON_IN_CABIN"); } else { - // 无法获取舱门状态，默认根据开关机状态判断 - if (isPowerOn) { - aircraftStatus = "POWER_ON_IN_CABIN"; - log.warn("无法获取舱门状态，默认设置: POWER_ON_IN_CABIN"); - } else { - aircraftStatus = "POWER_OFF_IN_CABIN"; - log.warn("无法获取舱门状态，默认设置: POWER_OFF_IN_CABIN"); - } + aircraftStatus = "POWER_OFF_IN_CABIN"; + log.info("舱门关闭 + 关机 → POWER_OFF_IN_CABIN"); + } + } else { + // 无法获取舱门状态，默认根据开关机状态判断 + if (isPowerOn) { + aircraftStatus = "POWER_ON_IN_CABIN"; + log.warn("无法获取舱门状态，默认设置: POWER_ON_IN_CABIN"); + } else { + aircraftStatus = "POWER_OFF_IN_CABIN"; + log.warn("无法获取舱门状态，默认设置: POWER_OFF_IN_CABIN"); } } @@ -585,8 +627,9 @@ public class TuohengBufferDeviceImpl implements IBufferDeviceService { * * @param dto 无人机详情DTO * @param iotDeviceId ThingsBoard设备ID + * @param dockSn 机场SN号（用于从MachineStateManager获取状态） */ - private void fillTuohengAircraftDetail(AircraftDetailDTO dto, String iotDeviceId) { + private void fillTuohengAircraftDetail(AircraftDetailDTO dto, String iotDeviceId, String dockSn) { try { log.info("========== 开始填充拓恒无人机详情 =========="); log.info("iotDeviceId: {}", iotDeviceId); @@ -614,7 +657,21 @@ public class TuohengBufferDeviceImpl implements IBufferDeviceService { .orElse(0); log.info("无人机 TSINGAL 值: {}", tsingal); - boolean isPowerOn = tsingal > 60; // tsingal > 60 表示开机 + // 从 MachineStateManager 获取无人机开关机状态 + DroneState droneState = null; + if (dockSn != null) { + try { + MachineStates machineStates = machineStateManager.getStates(dockSn); + droneState = machineStates.getDroneState(); + log.info("无人机状态(从MachineStateManager): {}", droneState); + } catch (Exception e) { + log.warn("从MachineStateManager获取无人机状态失败: {}", e.getMessage()); + } + } else { + log.warn("机场SN为空，无法从MachineStateManager获取无人机状态"); + } + + boolean isPowerOn = (droneState != null && droneState != DroneState.POWER_OFF && droneState != DroneState.UNKNOWN); log.info("无人机开关机状态: {}", isPowerOn ? "开机" : "关机"); // 判断逻辑