迁移MQTT
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孙小云
parent
a205823773
commit
a6b37bd269
7
pom.xml
7
pom.xml
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@ -105,6 +105,13 @@
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<scope>provided</scope>
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</dependency>
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<!-- Eclipse Paho MQTT Client -->
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<dependency>
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<groupId>org.eclipse.paho</groupId>
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<artifactId>org.eclipse.paho.client.mqttv3</artifactId>
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<version>1.2.5</version>
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</dependency>
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</dependencies>
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<build>
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@ -0,0 +1,120 @@
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# DJI MQTT 模块使用说明
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## 概述
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本模块实现了大疆MQTT消息的接收和处理功能，采用共享订阅方式，支持多实例部署。
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## 功能特性
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- ✅ 自动连接和重连
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- ✅ 共享订阅（多实例部署时只有一个实例消费消息）
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- ✅ 自动区分无人机和机场数据
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- ✅ 回调接口设计，使用者无需关心osd和state的区别
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- ✅ 完整的数据模型定义
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- ✅ 原始数据保留（rawData字段）
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## 架构设计
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```
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DjiMqttClientService (MQTT客户端)
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↓
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DjiMqttMessageHandler (消息处理器)
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↓
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IDroneDataCallback / IDockDataCallback (回调接口)
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↓
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使用者实现
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```
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## 配置说明
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在 `bootstrap.yml` 中配置：
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```yaml
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dji:
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mqtt:
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host: mqtt.t-aaron.com
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port: 10883
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version: 5
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client-id: ThingsBoard_gateway
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username: admin
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password: admin
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connection-timeout: 30
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keep-alive-interval: 60
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auto-reconnect: true
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clean-session: false
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```
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## 使用方法
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### 1. 注入消息处理器
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```java
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@Autowired
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private DjiMqttMessageHandler messageHandler;
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```
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### 2. 实现回调接口
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```java
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// 无人机数据回调
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messageHandler.registerDroneDataCallback(new IDroneDataCallback() {
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@Override
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public void onDroneData(DroneData droneData) {
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// 处理无人机数据
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String sn = droneData.getDeviceSn();
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Double latitude = droneData.getLatitude();
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Double longitude = droneData.getLongitude();
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// 访问原始数据
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Map<String, Object> rawData = droneData.getRawData();
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}
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});
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// 机场数据回调
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messageHandler.registerDockDataCallback(new IDockDataCallback() {
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@Override
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public void onDockData(DockData dockData) {
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// 处理机场数据
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String sn = dockData.getDeviceSn();
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Integer modeCode = dockData.getModeCode();
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Float temperature = dockData.getTemperature();
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// 访问原始数据
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Map<String, Object> rawData = dockData.getRawData();
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}
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});
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```
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## 数据模型
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### DroneData（无人机数据）
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主要字段：
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- `deviceSn`: 设备SN
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- `messageType`: 消息类型（osd/state）
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- `latitude/longitude`: 位置信息
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- `elevation/height`: 高度信息
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- `modeCode`: 飞行器状态
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- `rawData`: 原始数据（包含所有字段）
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### DockData（机场数据）
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主要字段：
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- `deviceSn`: 设备SN
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- `messageType`: 消息类型（osd/state）
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- `latitude/longitude`: 位置信息
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- `modeCode`: 机场状态
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- `temperature/humidity`: 环境信息
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- `coverState`: 舱盖状态
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- `rawData`: 原始数据（包含所有字段）
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## 注意事项
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1. **部分字段推送**：每次MQTT消息可能只包含部分字段，使用时需要判空
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2. **原始数据访问**：所有字段都保存在`rawData`中，可以通过Map访问
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3. **共享订阅**：多实例部署时，同一条消息只会被一个实例消费
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4. **自动重连**：连接断开后会自动重连
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## 示例代码
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参考 `DjiMqttUsageExample.java` 获取完整示例。
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package com.ruoyi.device.domain.impl.djimqtt.callback;
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import com.ruoyi.device.domain.impl.djimqtt.model.DockData;
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/**
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* 机场数据回调接口
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*
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* @author ruoyi
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*/
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public interface IDockDataCallback {
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/**
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* 处理机场数据
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*
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* @param dockData 机场数据
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*/
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void onDockData(DockData dockData);
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}
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package com.ruoyi.device.domain.impl.djimqtt.callback;
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import com.ruoyi.device.domain.impl.djimqtt.model.DroneData;
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/**
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* 无人机数据回调接口
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*
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* @author ruoyi
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*/
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public interface IDroneDataCallback {
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/**
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* 处理无人机数据
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*
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* @param droneData 无人机数据
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*/
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void onDroneData(DroneData droneData);
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}
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package com.ruoyi.device.domain.impl.djimqtt.config;
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import lombok.Data;
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import org.springframework.boot.context.properties.ConfigurationProperties;
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import org.springframework.stereotype.Component;
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/**
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* DJI MQTT配置属性
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*
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* @author ruoyi
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*/
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@Data
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@Component
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@ConfigurationProperties(prefix = "dji.mqtt")
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public class DjiMqttProperties {
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/**
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* MQTT服务器地址
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*/
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private String host = "mqtt.t-aaron.com";
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/**
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* MQTT服务器端口
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*/
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private Integer port = 10883;
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/**
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* MQTT协议版本
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*/
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private Integer version = 5;
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/**
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* 客户端ID
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*/
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private String clientId = "ThingsBoard_gateway";
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/**
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* 用户名
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*/
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private String username = "admin";
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/**
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* 密码
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*/
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private String password = "admin";
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/**
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* 连接超时时间（秒）
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*/
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private Integer connectionTimeout = 30;
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/**
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* 保持连接时间（秒）
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*/
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private Integer keepAliveInterval = 60;
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/**
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* 自动重连
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*/
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private Boolean autoReconnect = true;
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/**
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* 清除会话
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*/
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private Boolean cleanSession = false;
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}
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package com.ruoyi.device.domain.impl.djimqtt.example;
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import com.ruoyi.device.domain.impl.djimqtt.callback.IDockDataCallback;
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import com.ruoyi.device.domain.impl.djimqtt.callback.IDroneDataCallback;
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import com.ruoyi.device.domain.impl.djimqtt.handler.DjiMqttMessageHandler;
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import com.ruoyi.device.domain.impl.djimqtt.model.DockData;
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import com.ruoyi.device.domain.impl.djimqtt.model.DroneData;
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import lombok.extern.slf4j.Slf4j;
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import org.springframework.beans.factory.annotation.Autowired;
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import org.springframework.boot.context.event.ApplicationReadyEvent;
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import org.springframework.context.event.EventListener;
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import org.springframework.stereotype.Component;
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/**
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* DJI MQTT使用示例
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*
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* 使用说明：
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* 1. 注入 DjiMqttMessageHandler
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* 2. 实现 IDroneDataCallback 或 IDockDataCallback 接口
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* 3. 在应用启动后注册回调
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* 4. 在回调方法中处理接收到的数据
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*
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* @author ruoyi
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*/
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@Slf4j
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@Component
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public class DjiMqttUsageExample {
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@Autowired
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private DjiMqttMessageHandler messageHandler;
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/**
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* 应用启动后注册回调
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*/
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@EventListener(ApplicationReadyEvent.class)
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public void registerCallbacks() {
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// 注册无人机数据回调
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messageHandler.registerDroneDataCallback(new IDroneDataCallback() {
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@Override
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public void onDroneData(DroneData droneData) {
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handleDroneData(droneData);
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}
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});
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// 注册机场数据回调
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messageHandler.registerDockDataCallback(new IDockDataCallback() {
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@Override
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public void onDockData(DockData dockData) {
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handleDockData(dockData);
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}
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});
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log.info("DJI MQTT回调已注册");
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}
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/**
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* 处理无人机数据
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*/
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private void handleDroneData(DroneData droneData) {
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log.info("收到无人机数据 - SN: {}, Type: {}",
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droneData.getDeviceSn(),
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droneData.getMessageType());
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// 示例：处理位置信息
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if (droneData.getLatitude() != null && droneData.getLongitude() != null) {
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log.info("无人机位置 - 纬度: {}, 经度: {}, 高度: {}",
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droneData.getLatitude(),
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droneData.getLongitude(),
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droneData.getElevation());
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}
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// 示例：处理电池信息（从rawData中获取）
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if (droneData.getRawData() != null && droneData.getRawData().containsKey("battery")) {
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Object battery = droneData.getRawData().get("battery");
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log.info("无人机电池信息: {}", battery);
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}
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// 示例：处理相机信息
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if (droneData.getRawData() != null && droneData.getRawData().containsKey("cameras")) {
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Object cameras = droneData.getRawData().get("cameras");
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log.info("无人机相机信息: {}", cameras);
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}
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}
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/**
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* 处理机场数据
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*/
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private void handleDockData(DockData dockData) {
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log.info("收到机场数据 - SN: {}, Type: {}",
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dockData.getDeviceSn(),
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dockData.getMessageType());
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// 示例：处理机场状态
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if (dockData.getModeCode() != null) {
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log.info("机场状态: {}", dockData.getModeCode());
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}
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// 示例：处理环境信息
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if (dockData.getTemperature() != null) {
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log.info("机场温度: {}°C, 湿度: {}%",
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dockData.getTemperature(),
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dockData.getHumidity());
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}
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// 示例：处理舱盖状态
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if (dockData.getCoverState() != null) {
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log.info("舱盖状态: {}", dockData.getCoverState());
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}
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// 示例：处理飞行器充电状态（从rawData中获取）
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if (dockData.getRawData() != null && dockData.getRawData().containsKey("drone_charge_state")) {
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Object chargeState = dockData.getRawData().get("drone_charge_state");
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log.info("飞行器充电状态: {}", chargeState);
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}
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}
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}
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package com.ruoyi.device.domain.impl.djimqtt.handler;
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import com.fasterxml.jackson.databind.ObjectMapper;
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import com.ruoyi.device.domain.impl.djimqtt.callback.IDockDataCallback;
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import com.ruoyi.device.domain.impl.djimqtt.callback.IDroneDataCallback;
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import com.ruoyi.device.domain.impl.djimqtt.model.DjiMqttMessage;
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import com.ruoyi.device.domain.impl.djimqtt.model.DockData;
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import com.ruoyi.device.domain.impl.djimqtt.model.DroneData;
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import lombok.extern.slf4j.Slf4j;
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import org.springframework.stereotype.Component;
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import java.util.ArrayList;
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import java.util.List;
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import java.util.Map;
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import java.util.regex.Matcher;
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import java.util.regex.Pattern;
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/**
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* DJI MQTT消息处理器
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*
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* @author ruoyi
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*/
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@Slf4j
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@Component
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public class DjiMqttMessageHandler {
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private final ObjectMapper objectMapper = new ObjectMapper();
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/**
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* 无人机数据回调列表
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*/
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private final List<IDroneDataCallback> droneDataCallbacks = new ArrayList<>();
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/**
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* 机场数据回调列表
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*/
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private final List<IDockDataCallback> dockDataCallbacks = new ArrayList<>();
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/**
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* 无人机SN正则表达式（根据文档示例：1581F6Q8X251C00G04H8）
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*/
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private static final Pattern DRONE_SN_PATTERN = Pattern.compile("^[0-9A-Z]{20}$");
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/**
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* 机场SN正则表达式（根据文档示例：7CTXN5K00B0AXM）
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*/
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private static final Pattern DOCK_SN_PATTERN = Pattern.compile("^[0-9A-Z]{14}$");
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/**
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* 注册无人机数据回调
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*
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* @param callback 回调接口
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*/
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public void registerDroneDataCallback(IDroneDataCallback callback) {
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if (callback != null && !droneDataCallbacks.contains(callback)) {
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droneDataCallbacks.add(callback);
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log.info("注册无人机数据回调: {}", callback.getClass().getSimpleName());
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}
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}
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/**
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* 注册机场数据回调
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*
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* @param callback 回调接口
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*/
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public void registerDockDataCallback(IDockDataCallback callback) {
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if (callback != null && !dockDataCallbacks.contains(callback)) {
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dockDataCallbacks.add(callback);
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log.info("注册机场数据回调: {}", callback.getClass().getSimpleName());
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}
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}
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/**
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* 处理MQTT消息
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*
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* @param topic 主题
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* @param payload 消息内容
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*/
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public void handleMessage(String topic, String payload) {
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try {
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log.debug("收到MQTT消息 - Topic: {}, Payload: {}", topic, payload);
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// 解析设备SN和消息类型
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String deviceSn = extractDeviceSnFromTopic(topic);
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String messageType = extractMessageTypeFromTopic(topic);
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if (deviceSn == null || messageType == null) {
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log.warn("无法从Topic解析设备SN或消息类型: {}", topic);
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return;
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}
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// 解析JSON消息
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@SuppressWarnings("unchecked")
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DjiMqttMessage<Map<String, Object>> message = objectMapper.readValue(
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payload,
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objectMapper.getTypeFactory().constructParametricType(
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DjiMqttMessage.class,
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Map.class
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)
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);
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// 判断是无人机还是机场
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if (isDroneSn(deviceSn)) {
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handleDroneMessage(deviceSn, messageType, message);
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} else if (isDockSn(deviceSn)) {
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handleDockMessage(deviceSn, messageType, message);
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} else {
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log.warn("未知的设备SN格式: {}", deviceSn);
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}
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} catch (Exception e) {
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log.error("处理MQTT消息失败 - Topic: {}, Error: {}", topic, e.getMessage(), e);
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}
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}
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/**
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* 处理无人机消息
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*/
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private void handleDroneMessage(String deviceSn, String messageType, DjiMqttMessage<Map<String, Object>> message) {
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try {
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DroneData droneData = objectMapper.convertValue(message.getData(), DroneData.class);
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droneData.setDeviceSn(deviceSn);
|
||||
droneData.setMessageType(messageType);
|
||||
droneData.setRawData(message.getData());
|
||||
|
||||
log.debug("处理无人机数据 - SN: {}, Type: {}", deviceSn, messageType);
|
||||
|
||||
// 通知所有回调
|
||||
for (IDroneDataCallback callback : droneDataCallbacks) {
|
||||
try {
|
||||
callback.onDroneData(droneData);
|
||||
} catch (Exception e) {
|
||||
log.error("无人机数据回调执行失败: {}", e.getMessage(), e);
|
||||
}
|
||||
}
|
||||
} catch (Exception e) {
|
||||
log.error("处理无人机消息失败 - SN: {}, Error: {}", deviceSn, e.getMessage(), e);
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* 处理机场消息
|
||||
*/
|
||||
private void handleDockMessage(String deviceSn, String messageType, DjiMqttMessage<Map<String, Object>> message) {
|
||||
try {
|
||||
DockData dockData = objectMapper.convertValue(message.getData(), DockData.class);
|
||||
dockData.setDeviceSn(deviceSn);
|
||||
dockData.setMessageType(messageType);
|
||||
dockData.setRawData(message.getData());
|
||||
|
||||
log.debug("处理机场数据 - SN: {}, Type: {}", deviceSn, messageType);
|
||||
|
||||
// 通知所有回调
|
||||
for (IDockDataCallback callback : dockDataCallbacks) {
|
||||
try {
|
||||
callback.onDockData(dockData);
|
||||
} catch (Exception e) {
|
||||
log.error("机场数据回调执行失败: {}", e.getMessage(), e);
|
||||
}
|
||||
}
|
||||
} catch (Exception e) {
|
||||
log.error("处理机场消息失败 - SN: {}, Error: {}", deviceSn, e.getMessage(), e);
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* 从Topic中提取设备SN
|
||||
* Topic格式: thing/product/{deviceSn}/osd 或 thing/product/{deviceSn}/state
|
||||
*/
|
||||
private String extractDeviceSnFromTopic(String topic) {
|
||||
if (topic == null) {
|
||||
return null;
|
||||
}
|
||||
String[] parts = topic.split("/");
|
||||
if (parts.length >= 3) {
|
||||
return parts[2];
|
||||
}
|
||||
return null;
|
||||
}
|
||||
|
||||
/**
|
||||
* 从Topic中提取消息类型
|
||||
*/
|
||||
private String extractMessageTypeFromTopic(String topic) {
|
||||
if (topic == null) {
|
||||
return null;
|
||||
}
|
||||
String[] parts = topic.split("/");
|
||||
if (parts.length >= 4) {
|
||||
return parts[3]; // osd 或 state
|
||||
}
|
||||
return null;
|
||||
}
|
||||
|
||||
/**
|
||||
* 判断是否为无人机SN
|
||||
*/
|
||||
private boolean isDroneSn(String sn) {
|
||||
if (sn == null) {
|
||||
return false;
|
||||
}
|
||||
Matcher matcher = DRONE_SN_PATTERN.matcher(sn);
|
||||
return matcher.matches();
|
||||
}
|
||||
|
||||
/**
|
||||
* 判断是否为机场SN
|
||||
*/
|
||||
private boolean isDockSn(String sn) {
|
||||
if (sn == null) {
|
||||
return false;
|
||||
}
|
||||
Matcher matcher = DOCK_SN_PATTERN.matcher(sn);
|
||||
return matcher.matches();
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,43 @@
|
|||
package com.ruoyi.device.domain.impl.djimqtt.model;
|
||||
|
||||
import com.fasterxml.jackson.annotation.JsonProperty;
|
||||
import lombok.Data;
|
||||
|
||||
/**
|
||||
* DJI MQTT消息基础结构
|
||||
*
|
||||
* @author ruoyi
|
||||
*/
|
||||
@Data
|
||||
public class DjiMqttMessage<T> {
|
||||
|
||||
/**
|
||||
* 事务ID
|
||||
*/
|
||||
@JsonProperty("tid")
|
||||
private String tid;
|
||||
|
||||
/**
|
||||
* 业务ID
|
||||
*/
|
||||
@JsonProperty("bid")
|
||||
private String bid;
|
||||
|
||||
/**
|
||||
* 时间戳
|
||||
*/
|
||||
@JsonProperty("timestamp")
|
||||
private Long timestamp;
|
||||
|
||||
/**
|
||||
* 数据内容
|
||||
*/
|
||||
@JsonProperty("data")
|
||||
private T data;
|
||||
|
||||
/**
|
||||
* 网关设备SN
|
||||
*/
|
||||
@JsonProperty("gateway")
|
||||
private String gateway;
|
||||
}
|
||||
|
|
@ -0,0 +1,291 @@
|
|||
package com.ruoyi.device.domain.impl.djimqtt.model;
|
||||
|
||||
import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
|
||||
import com.fasterxml.jackson.annotation.JsonProperty;
|
||||
import com.ruoyi.device.domain.impl.djimqtt.model.dock.*;
|
||||
import com.ruoyi.device.domain.impl.djimqtt.model.drone.MaintainStatus;
|
||||
import com.ruoyi.device.domain.impl.djimqtt.model.drone.PositionState;
|
||||
import com.ruoyi.device.domain.impl.djimqtt.model.drone.StorageInfo;
|
||||
import lombok.Data;
|
||||
|
||||
import java.util.Map;
|
||||
|
||||
/**
|
||||
* 机场完整数据（从osd和state主题接收）
|
||||
* 注意：每次推送可能只包含部分字段
|
||||
*
|
||||
* @author ruoyi
|
||||
*/
|
||||
@Data
|
||||
@JsonIgnoreProperties(ignoreUnknown = true)
|
||||
public class DockData {
|
||||
|
||||
// ========== 元数据 ==========
|
||||
|
||||
/**
|
||||
* 设备SN（从topic中解析）
|
||||
*/
|
||||
private String deviceSn;
|
||||
|
||||
/**
|
||||
* 消息类型（osd或state）
|
||||
*/
|
||||
private String messageType;
|
||||
|
||||
/**
|
||||
* 原始数据（用于存储所有字段）
|
||||
*/
|
||||
private Map<String, Object> rawData;
|
||||
|
||||
// ========== 基础信息 ==========
|
||||
|
||||
/**
|
||||
* Home 点有效性：0-无效，1-有效
|
||||
*/
|
||||
@JsonProperty("home_position_is_valid")
|
||||
private Integer homePositionIsValid;
|
||||
|
||||
/**
|
||||
* 机场朝向角
|
||||
*/
|
||||
@JsonProperty("heading")
|
||||
private Double heading;
|
||||
|
||||
/**
|
||||
* 固件版本
|
||||
*/
|
||||
@JsonProperty("firmware_version")
|
||||
private String firmwareVersion;
|
||||
|
||||
/**
|
||||
* 机场状态
|
||||
*/
|
||||
@JsonProperty("mode_code")
|
||||
private Integer modeCode;
|
||||
|
||||
/**
|
||||
* 机场任务状态
|
||||
*/
|
||||
@JsonProperty("flighttask_step_code")
|
||||
private Integer flighttaskStepCode;
|
||||
|
||||
// ========== 位置信息 ==========
|
||||
|
||||
/**
|
||||
* 纬度
|
||||
*/
|
||||
@JsonProperty("latitude")
|
||||
private Double latitude;
|
||||
|
||||
/**
|
||||
* 经度
|
||||
*/
|
||||
@JsonProperty("longitude")
|
||||
private Double longitude;
|
||||
|
||||
/**
|
||||
* 椭球高度（米）
|
||||
*/
|
||||
@JsonProperty("height")
|
||||
private Double height;
|
||||
|
||||
// ========== 环境信息 ==========
|
||||
|
||||
/**
|
||||
* 舱内温度（摄氏度）
|
||||
*/
|
||||
@JsonProperty("temperature")
|
||||
private Float temperature;
|
||||
|
||||
/**
|
||||
* 舱内湿度（%RH）
|
||||
*/
|
||||
@JsonProperty("humidity")
|
||||
private Float humidity;
|
||||
|
||||
/**
|
||||
* 环境温度（摄氏度）
|
||||
*/
|
||||
@JsonProperty("environment_temperature")
|
||||
private Float environmentTemperature;
|
||||
|
||||
/**
|
||||
* 风速（米/秒）
|
||||
*/
|
||||
@JsonProperty("wind_speed")
|
||||
private Float windSpeed;
|
||||
|
||||
/**
|
||||
* 降雨量：0-无雨，1-小雨，2-中雨，3-大雨
|
||||
*/
|
||||
@JsonProperty("rainfall")
|
||||
private Integer rainfall;
|
||||
|
||||
// ========== 设备状态 ==========
|
||||
|
||||
/**
|
||||
* 舱盖状态：0-关闭，1-打开，2-半开，3-舱盖状态异常
|
||||
*/
|
||||
@JsonProperty("cover_state")
|
||||
private Integer coverState;
|
||||
|
||||
/**
|
||||
* 飞行器是否在舱：0-舱外，1-舱内
|
||||
*/
|
||||
@JsonProperty("drone_in_dock")
|
||||
private Integer droneInDock;
|
||||
|
||||
/**
|
||||
* DRC链路状态：0-未连接，1-连接中，2-已连接
|
||||
*/
|
||||
@JsonProperty("drc_state")
|
||||
private Integer drcState;
|
||||
|
||||
/**
|
||||
* 紧急停止按钮状态：0-关闭，1-开启
|
||||
*/
|
||||
@JsonProperty("emergency_stop_state")
|
||||
private Integer emergencyStopState;
|
||||
|
||||
/**
|
||||
* 补光灯状态：0-关闭，1-打开
|
||||
*/
|
||||
@JsonProperty("supplement_light_state")
|
||||
private Integer supplementLightState;
|
||||
|
||||
/**
|
||||
* 机场声光报警状态：0-关闭，1-开启
|
||||
*/
|
||||
@JsonProperty("alarm_state")
|
||||
private Integer alarmState;
|
||||
|
||||
// ========== 电池和电源 ==========
|
||||
|
||||
/**
|
||||
* 飞行器电池保养信息
|
||||
*/
|
||||
@JsonProperty("drone_battery_maintenance_info")
|
||||
private DroneBatteryMaintenanceInfo droneBatteryMaintenanceInfo;
|
||||
|
||||
/**
|
||||
* 飞行器充电状态
|
||||
*/
|
||||
@JsonProperty("drone_charge_state")
|
||||
private DroneChargeState droneChargeState;
|
||||
|
||||
/**
|
||||
* 机场备用电池信息
|
||||
*/
|
||||
@JsonProperty("backup_battery")
|
||||
private BackupBattery backupBattery;
|
||||
|
||||
/**
|
||||
* 电池运行模式：1-计划模式，2-待命模式
|
||||
*/
|
||||
@JsonProperty("battery_store_mode")
|
||||
private Integer batteryStoreMode;
|
||||
|
||||
/**
|
||||
* 工作电流（毫安）
|
||||
*/
|
||||
@JsonProperty("working_current")
|
||||
private Float workingCurrent;
|
||||
|
||||
/**
|
||||
* 工作电压（毫伏）
|
||||
*/
|
||||
@JsonProperty("working_voltage")
|
||||
private Integer workingVoltage;
|
||||
|
||||
// ========== 网络和存储 ==========
|
||||
|
||||
/**
|
||||
* 网络状态
|
||||
*/
|
||||
@JsonProperty("network_state")
|
||||
private NetworkState networkState;
|
||||
|
||||
/**
|
||||
* 图传链路
|
||||
*/
|
||||
@JsonProperty("wireless_link")
|
||||
private WirelessLink wirelessLink;
|
||||
|
||||
/**
|
||||
* 存储容量
|
||||
*/
|
||||
@JsonProperty("storage")
|
||||
private StorageInfo storage;
|
||||
|
||||
// ========== 空调和配置 ==========
|
||||
|
||||
/**
|
||||
* 机场空调工作状态信息
|
||||
*/
|
||||
@JsonProperty("air_conditioner")
|
||||
private AirConditioner airConditioner;
|
||||
|
||||
/**
|
||||
* 空中回传：false-关闭，true-开启
|
||||
*/
|
||||
@JsonProperty("air_transfer_enable")
|
||||
private Boolean airTransferEnable;
|
||||
|
||||
/**
|
||||
* 机场静音模式：0-非静音模式，1-静音模式
|
||||
*/
|
||||
@JsonProperty("silent_mode")
|
||||
private Integer silentMode;
|
||||
|
||||
// ========== 保养和固件 ==========
|
||||
|
||||
/**
|
||||
* 保养信息
|
||||
*/
|
||||
@JsonProperty("maintain_status")
|
||||
private MaintainStatus maintainStatus;
|
||||
|
||||
/**
|
||||
* 搜星状态
|
||||
*/
|
||||
@JsonProperty("position_state")
|
||||
private PositionState positionState;
|
||||
|
||||
/**
|
||||
* 机场激活时间(unix 时间戳)
|
||||
*/
|
||||
@JsonProperty("activation_time")
|
||||
private Integer activationTime;
|
||||
|
||||
/**
|
||||
* 固件升级状态：0-未升级，1-升级中
|
||||
*/
|
||||
@JsonProperty("firmware_upgrade_status")
|
||||
private Integer firmwareUpgradeStatus;
|
||||
|
||||
/**
|
||||
* 固件一致性：0-不需要一致性升级，1-需要一致性升级
|
||||
*/
|
||||
@JsonProperty("compatible_status")
|
||||
private Integer compatibleStatus;
|
||||
|
||||
// ========== 统计信息 ==========
|
||||
|
||||
/**
|
||||
* 机场累计运行时长（秒）
|
||||
*/
|
||||
@JsonProperty("acc_time")
|
||||
private Integer accTime;
|
||||
|
||||
/**
|
||||
* 机场累计作业次数
|
||||
*/
|
||||
@JsonProperty("job_number")
|
||||
private Integer jobNumber;
|
||||
|
||||
/**
|
||||
* 首次上电时间（毫秒）
|
||||
*/
|
||||
@JsonProperty("first_power_on")
|
||||
private Integer firstPowerOn;
|
||||
}
|
||||
|
|
@ -0,0 +1,329 @@
|
|||
package com.ruoyi.device.domain.impl.djimqtt.model;
|
||||
|
||||
import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
|
||||
import com.fasterxml.jackson.annotation.JsonProperty;
|
||||
import com.ruoyi.device.domain.impl.djimqtt.model.drone.*;
|
||||
import lombok.Data;
|
||||
|
||||
import java.util.List;
|
||||
import java.util.Map;
|
||||
|
||||
/**
|
||||
* 无人机完整数据（从osd和state主题接收）
|
||||
* 注意：每次推送可能只包含部分字段
|
||||
*
|
||||
* @author ruoyi
|
||||
*/
|
||||
@Data
|
||||
@JsonIgnoreProperties(ignoreUnknown = true)
|
||||
public class DroneData {
|
||||
|
||||
// ========== 元数据 ==========
|
||||
|
||||
/**
|
||||
* 设备SN（从topic中解析）
|
||||
*/
|
||||
private String deviceSn;
|
||||
|
||||
/**
|
||||
* 消息类型（osd或state）
|
||||
*/
|
||||
private String messageType;
|
||||
|
||||
/**
|
||||
* 原始数据（用于存储所有字段）
|
||||
*/
|
||||
private Map<String, Object> rawData;
|
||||
|
||||
// ========== 基础信息 ==========
|
||||
|
||||
/**
|
||||
* 飞行器图传连接质量最好的网关SN
|
||||
*/
|
||||
@JsonProperty("best_link_gateway")
|
||||
private String bestLinkGateway;
|
||||
|
||||
/**
|
||||
* 图传连接拓扑
|
||||
*/
|
||||
@JsonProperty("wireless_link_topo")
|
||||
private WirelessLinkTopo wirelessLinkTopo;
|
||||
|
||||
/**
|
||||
* 飞行器相机信息
|
||||
*/
|
||||
@JsonProperty("cameras")
|
||||
private List<CameraInfo> cameras;
|
||||
|
||||
/**
|
||||
* 飞行安全数据库版本
|
||||
*/
|
||||
@JsonProperty("flysafe_database_version")
|
||||
private String flysafeDatabaseVersion;
|
||||
|
||||
/**
|
||||
* 离线地图开关：false-关闭，true-开启
|
||||
*/
|
||||
@JsonProperty("offline_map_enable")
|
||||
private Boolean offlineMapEnable;
|
||||
|
||||
// ========== 返航和限制 ==========
|
||||
|
||||
/**
|
||||
* 返航高度模式当前值：0-智能高度，1-设定高度
|
||||
*/
|
||||
@JsonProperty("current_rth_mode")
|
||||
private Integer currentRthMode;
|
||||
|
||||
/**
|
||||
* 返航高度模式设置值：0-智能高度，1-设定高度
|
||||
*/
|
||||
@JsonProperty("rth_mode")
|
||||
private Integer rthMode;
|
||||
|
||||
/**
|
||||
* 飞行器避障状态
|
||||
*/
|
||||
@JsonProperty("obstacle_avoidance")
|
||||
private ObstacleAvoidance obstacleAvoidance;
|
||||
|
||||
/**
|
||||
* 是否接近限飞区：0-未达到，1-接近
|
||||
*/
|
||||
@JsonProperty("is_near_area_limit")
|
||||
private Integer isNearAreaLimit;
|
||||
|
||||
/**
|
||||
* 是否接近设定的限制高度：0-未达到，1-接近
|
||||
*/
|
||||
@JsonProperty("is_near_height_limit")
|
||||
private Integer isNearHeightLimit;
|
||||
|
||||
/**
|
||||
* 飞行器限高（米）
|
||||
*/
|
||||
@JsonProperty("height_limit")
|
||||
private Integer heightLimit;
|
||||
|
||||
/**
|
||||
* 飞行器限远状态
|
||||
*/
|
||||
@JsonProperty("distance_limit_status")
|
||||
private DistanceLimitStatus distanceLimitStatus;
|
||||
|
||||
// ========== 设备状态 ==========
|
||||
|
||||
/**
|
||||
* 飞行器夜航灯状态：0-关闭，1-打开
|
||||
*/
|
||||
@JsonProperty("night_lights_state")
|
||||
private Integer nightLightsState;
|
||||
|
||||
/**
|
||||
* 飞行器激活时间(unix 时间戳)
|
||||
*/
|
||||
@JsonProperty("activation_time")
|
||||
private Integer activationTime;
|
||||
|
||||
/**
|
||||
* 保养信息
|
||||
*/
|
||||
@JsonProperty("maintain_status")
|
||||
private MaintainStatus maintainStatus;
|
||||
|
||||
/**
|
||||
* 飞行器累计飞行总架次
|
||||
*/
|
||||
@JsonProperty("total_flight_sorties")
|
||||
private Integer totalFlightSorties;
|
||||
|
||||
/**
|
||||
* 飞行器累计飞行总里程（米）
|
||||
*/
|
||||
@JsonProperty("total_flight_distance")
|
||||
private Float totalFlightDistance;
|
||||
|
||||
/**
|
||||
* 飞行器累计飞行航时（秒）
|
||||
*/
|
||||
@JsonProperty("total_flight_time")
|
||||
private Float totalFlightTime;
|
||||
|
||||
// ========== 位置信息 ==========
|
||||
|
||||
/**
|
||||
* 搜星状态
|
||||
*/
|
||||
@JsonProperty("position_state")
|
||||
private PositionState positionState;
|
||||
|
||||
/**
|
||||
* 存储容量
|
||||
*/
|
||||
@JsonProperty("storage")
|
||||
private StorageInfo storage;
|
||||
|
||||
/**
|
||||
* 当前位置纬度
|
||||
*/
|
||||
@JsonProperty("latitude")
|
||||
private Double latitude;
|
||||
|
||||
/**
|
||||
* 当前位置经度
|
||||
*/
|
||||
@JsonProperty("longitude")
|
||||
private Double longitude;
|
||||
|
||||
/**
|
||||
* 相对起飞点高度（米）
|
||||
*/
|
||||
@JsonProperty("elevation")
|
||||
private Float elevation;
|
||||
|
||||
/**
|
||||
* 绝对高度（米）
|
||||
*/
|
||||
@JsonProperty("height")
|
||||
private Double height;
|
||||
|
||||
/**
|
||||
* Home点纬度
|
||||
*/
|
||||
@JsonProperty("home_latitude")
|
||||
private Double homeLatitude;
|
||||
|
||||
/**
|
||||
* Home点经度
|
||||
*/
|
||||
@JsonProperty("home_longitude")
|
||||
private Double homeLongitude;
|
||||
|
||||
/**
|
||||
* 距离Home点的距离（米）
|
||||
*/
|
||||
@JsonProperty("home_distance")
|
||||
private Float homeDistance;
|
||||
|
||||
// ========== 姿态信息 ==========
|
||||
|
||||
/**
|
||||
* 偏航轴角度
|
||||
*/
|
||||
@JsonProperty("attitude_head")
|
||||
private Integer attitudeHead;
|
||||
|
||||
/**
|
||||
* 横滚轴角度
|
||||
*/
|
||||
@JsonProperty("attitude_roll")
|
||||
private Float attitudeRoll;
|
||||
|
||||
/**
|
||||
* 俯仰轴角度
|
||||
*/
|
||||
@JsonProperty("attitude_pitch")
|
||||
private Float attitudePitch;
|
||||
|
||||
// ========== 速度和风速 ==========
|
||||
|
||||
/**
|
||||
* 水平速度（米/秒）
|
||||
*/
|
||||
@JsonProperty("horizontal_speed")
|
||||
private Float horizontalSpeed;
|
||||
|
||||
/**
|
||||
* 垂直速度（米/秒）
|
||||
*/
|
||||
@JsonProperty("vertical_speed")
|
||||
private Float verticalSpeed;
|
||||
|
||||
/**
|
||||
* 当前风向
|
||||
*/
|
||||
@JsonProperty("wind_direction")
|
||||
private Integer windDirection;
|
||||
|
||||
/**
|
||||
* 风速（米/秒）
|
||||
*/
|
||||
@JsonProperty("wind_speed")
|
||||
private Float windSpeed;
|
||||
|
||||
// ========== 电池信息 ==========
|
||||
|
||||
/**
|
||||
* 飞行器电池信息
|
||||
*/
|
||||
@JsonProperty("battery")
|
||||
private BatteryInfo battery;
|
||||
|
||||
/**
|
||||
* 严重低电量告警百分比
|
||||
*/
|
||||
@JsonProperty("serious_low_battery_warning_threshold")
|
||||
private Integer seriousLowBatteryWarningThreshold;
|
||||
|
||||
/**
|
||||
* 低电量告警百分比
|
||||
*/
|
||||
@JsonProperty("low_battery_warning_threshold")
|
||||
private Integer lowBatteryWarningThreshold;
|
||||
|
||||
/**
|
||||
* 返航预留电量百分比
|
||||
*/
|
||||
@JsonProperty("remaining_power_for_return_home")
|
||||
private Integer remainingPowerForReturnHome;
|
||||
|
||||
// ========== 控制和状态 ==========
|
||||
|
||||
/**
|
||||
* 当前控制源
|
||||
*/
|
||||
@JsonProperty("control_source")
|
||||
private String controlSource;
|
||||
|
||||
/**
|
||||
* 固件升级状态：0-未升级，1-升级中
|
||||
*/
|
||||
@JsonProperty("firmware_upgrade_status")
|
||||
private Integer firmwareUpgradeStatus;
|
||||
|
||||
/**
|
||||
* 固件一致性：0-不需要一致性升级，1-需要一致性升级
|
||||
*/
|
||||
@JsonProperty("compatible_status")
|
||||
private Integer compatibleStatus;
|
||||
|
||||
/**
|
||||
* 固件版本
|
||||
*/
|
||||
@JsonProperty("firmware_version")
|
||||
private String firmwareVersion;
|
||||
|
||||
/**
|
||||
* 档位
|
||||
*/
|
||||
@JsonProperty("gear")
|
||||
private Integer gear;
|
||||
|
||||
/**
|
||||
* 飞行器状态
|
||||
*/
|
||||
@JsonProperty("mode_code")
|
||||
private Integer modeCode;
|
||||
|
||||
/**
|
||||
* 飞行器进入当前状态的原因
|
||||
*/
|
||||
@JsonProperty("mode_code_reason")
|
||||
private Integer modeCodeReason;
|
||||
|
||||
/**
|
||||
* 航迹ID
|
||||
*/
|
||||
@JsonProperty("track_id")
|
||||
private String trackId;
|
||||
}
|
||||
|
|
@ -0,0 +1,27 @@
|
|||
package com.ruoyi.device.domain.impl.djimqtt.model.dock;
|
||||
|
||||
import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
|
||||
import com.fasterxml.jackson.annotation.JsonProperty;
|
||||
import lombok.Data;
|
||||
|
||||
/**
|
||||
* 机场空调工作状态信息
|
||||
*
|
||||
* @author ruoyi
|
||||
*/
|
||||
@Data
|
||||
@JsonIgnoreProperties(ignoreUnknown = true)
|
||||
public class AirConditioner {
|
||||
|
||||
/**
|
||||
* 机场空调状态
|
||||
*/
|
||||
@JsonProperty("air_conditioner_state")
|
||||
private Integer airConditionerState;
|
||||
|
||||
/**
|
||||
* 剩余等待可切换时间（秒）
|
||||
*/
|
||||
@JsonProperty("switch_time")
|
||||
private Integer switchTime;
|
||||
}
|
||||
|
|
@ -0,0 +1,33 @@
|
|||
package com.ruoyi.device.domain.impl.djimqtt.model.dock;
|
||||
|
||||
import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
|
||||
import com.fasterxml.jackson.annotation.JsonProperty;
|
||||
import lombok.Data;
|
||||
|
||||
/**
|
||||
* 机场备用电池信息
|
||||
*
|
||||
* @author ruoyi
|
||||
*/
|
||||
@Data
|
||||
@JsonIgnoreProperties(ignoreUnknown = true)
|
||||
public class BackupBattery {
|
||||
|
||||
/**
|
||||
* 备用电池开关：0-关闭，1-开启
|
||||
*/
|
||||
@JsonProperty("switch")
|
||||
private Integer switchState;
|
||||
|
||||
/**
|
||||
* 备用电池电压（毫伏）
|
||||
*/
|
||||
@JsonProperty("voltage")
|
||||
private Integer voltage;
|
||||
|
||||
/**
|
||||
* 备用电池温度（摄氏度）
|
||||
*/
|
||||
@JsonProperty("temperature")
|
||||
private Float temperature;
|
||||
}
|
||||
|
|
@ -0,0 +1,39 @@
|
|||
package com.ruoyi.device.domain.impl.djimqtt.model.dock;
|
||||
|
||||
import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
|
||||
import com.fasterxml.jackson.annotation.JsonProperty;
|
||||
import lombok.Data;
|
||||
|
||||
/**
|
||||
* 机场电池详细信息
|
||||
*
|
||||
* @author ruoyi
|
||||
*/
|
||||
@Data
|
||||
@JsonIgnoreProperties(ignoreUnknown = true)
|
||||
public class DockBatteryDetail {
|
||||
|
||||
/**
|
||||
* 电池剩余电量
|
||||
*/
|
||||
@JsonProperty("capacity_percent")
|
||||
private Integer capacityPercent;
|
||||
|
||||
/**
|
||||
* 电池序号：0-左电池，1-右电池
|
||||
*/
|
||||
@JsonProperty("index")
|
||||
private Integer index;
|
||||
|
||||
/**
|
||||
* 电压（毫伏）
|
||||
*/
|
||||
@JsonProperty("voltage")
|
||||
private Integer voltage;
|
||||
|
||||
/**
|
||||
* 温度（摄氏度）
|
||||
*/
|
||||
@JsonProperty("temperature")
|
||||
private Float temperature;
|
||||
}
|
||||
|
|
@ -0,0 +1,41 @@
|
|||
package com.ruoyi.device.domain.impl.djimqtt.model.dock;
|
||||
|
||||
import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
|
||||
import com.fasterxml.jackson.annotation.JsonProperty;
|
||||
import lombok.Data;
|
||||
|
||||
import java.util.List;
|
||||
|
||||
/**
|
||||
* 飞行器电池保养信息
|
||||
*
|
||||
* @author ruoyi
|
||||
*/
|
||||
@Data
|
||||
@JsonIgnoreProperties(ignoreUnknown = true)
|
||||
public class DroneBatteryMaintenanceInfo {
|
||||
|
||||
/**
|
||||
* 保养状态：0-无需保养，1-待保养，2-正在保养
|
||||
*/
|
||||
@JsonProperty("maintenance_state")
|
||||
private Integer maintenanceState;
|
||||
|
||||
/**
|
||||
* 电池保养剩余时间（小时）
|
||||
*/
|
||||
@JsonProperty("maintenance_time_left")
|
||||
private Integer maintenanceTimeLeft;
|
||||
|
||||
/**
|
||||
* 电池加热保温状态：0-未开启，1-加热中，2-保温中
|
||||
*/
|
||||
@JsonProperty("heat_state")
|
||||
private Integer heatState;
|
||||
|
||||
/**
|
||||
* 电池详细信息
|
||||
*/
|
||||
@JsonProperty("batteries")
|
||||
private List<DockBatteryDetail> batteries;
|
||||
}
|
||||
|
|
@ -0,0 +1,27 @@
|
|||
package com.ruoyi.device.domain.impl.djimqtt.model.dock;
|
||||
|
||||
import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
|
||||
import com.fasterxml.jackson.annotation.JsonProperty;
|
||||
import lombok.Data;
|
||||
|
||||
/**
|
||||
* 飞行器充电状态
|
||||
*
|
||||
* @author ruoyi
|
||||
*/
|
||||
@Data
|
||||
@JsonIgnoreProperties(ignoreUnknown = true)
|
||||
public class DroneChargeState {
|
||||
|
||||
/**
|
||||
* 电量百分比
|
||||
*/
|
||||
@JsonProperty("capacity_percent")
|
||||
private Integer capacityPercent;
|
||||
|
||||
/**
|
||||
* 充电状态：0-空闲，1-充电中
|
||||
*/
|
||||
@JsonProperty("state")
|
||||
private Integer state;
|
||||
}
|
||||
|
|
@ -0,0 +1,33 @@
|
|||
package com.ruoyi.device.domain.impl.djimqtt.model.dock;
|
||||
|
||||
import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
|
||||
import com.fasterxml.jackson.annotation.JsonProperty;
|
||||
import lombok.Data;
|
||||
|
||||
/**
|
||||
* 网络状态
|
||||
*
|
||||
* @author ruoyi
|
||||
*/
|
||||
@Data
|
||||
@JsonIgnoreProperties(ignoreUnknown = true)
|
||||
public class NetworkState {
|
||||
|
||||
/**
|
||||
* 网络类型：1-4G，2-以太网
|
||||
*/
|
||||
@JsonProperty("type")
|
||||
private Integer type;
|
||||
|
||||
/**
|
||||
* 网络质量：0-无信号，1-差，2-较差，3-一般，4-较好，5-好
|
||||
*/
|
||||
@JsonProperty("quality")
|
||||
private Integer quality;
|
||||
|
||||
/**
|
||||
* 网络速率（KB/s）
|
||||
*/
|
||||
@JsonProperty("rate")
|
||||
private Float rate;
|
||||
}
|
||||
|
|
@ -0,0 +1,75 @@
|
|||
package com.ruoyi.device.domain.impl.djimqtt.model.dock;
|
||||
|
||||
import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
|
||||
import com.fasterxml.jackson.annotation.JsonProperty;
|
||||
import lombok.Data;
|
||||
|
||||
/**
|
||||
* 图传链路
|
||||
*
|
||||
* @author ruoyi
|
||||
*/
|
||||
@Data
|
||||
@JsonIgnoreProperties(ignoreUnknown = true)
|
||||
public class WirelessLink {
|
||||
|
||||
/**
|
||||
* 飞行器上 Dongle 数量
|
||||
*/
|
||||
@JsonProperty("dongle_number")
|
||||
private Integer dongleNumber;
|
||||
|
||||
/**
|
||||
* 4G 链路连接状态：0-断开，1-连接
|
||||
*/
|
||||
@JsonProperty("4g_link_state")
|
||||
private Integer fourGLinkState;
|
||||
|
||||
/**
|
||||
* SDR 链路连接状态：0-断开，1-连接
|
||||
*/
|
||||
@JsonProperty("sdr_link_state")
|
||||
private Integer sdrLinkState;
|
||||
|
||||
/**
|
||||
* 机场的图传链路模式：0-SDR 模式，1-4G 融合模式
|
||||
*/
|
||||
@JsonProperty("link_workmode")
|
||||
private Integer linkWorkmode;
|
||||
|
||||
/**
|
||||
* SDR 信号质量（0-5）
|
||||
*/
|
||||
@JsonProperty("sdr_quality")
|
||||
private Integer sdrQuality;
|
||||
|
||||
/**
|
||||
* 总体 4G 信号质量（0-5）
|
||||
*/
|
||||
@JsonProperty("4g_quality")
|
||||
private Integer fourGQuality;
|
||||
|
||||
/**
|
||||
* 天端 4G 信号质量（0-5）
|
||||
*/
|
||||
@JsonProperty("4g_uav_quality")
|
||||
private Integer fourGUavQuality;
|
||||
|
||||
/**
|
||||
* 地端 4G 信号质量（0-5）
|
||||
*/
|
||||
@JsonProperty("4g_gnd_quality")
|
||||
private Integer fourGGndQuality;
|
||||
|
||||
/**
|
||||
* SDR 频段
|
||||
*/
|
||||
@JsonProperty("sdr_freq_band")
|
||||
private Float sdrFreqBand;
|
||||
|
||||
/**
|
||||
* 4G 频段
|
||||
*/
|
||||
@JsonProperty("4g_freq_band")
|
||||
private Float fourGFreqBand;
|
||||
}
|
||||
|
|
@ -0,0 +1,75 @@
|
|||
package com.ruoyi.device.domain.impl.djimqtt.model.drone;
|
||||
|
||||
import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
|
||||
import com.fasterxml.jackson.annotation.JsonProperty;
|
||||
import lombok.Data;
|
||||
|
||||
/**
|
||||
* 电池详细信息
|
||||
*
|
||||
* @author ruoyi
|
||||
*/
|
||||
@Data
|
||||
@JsonIgnoreProperties(ignoreUnknown = true)
|
||||
public class BatteryDetail {
|
||||
|
||||
/**
|
||||
* 电池剩余电量
|
||||
*/
|
||||
@JsonProperty("capacity_percent")
|
||||
private Integer capacityPercent;
|
||||
|
||||
/**
|
||||
* 电池序号
|
||||
*/
|
||||
@JsonProperty("index")
|
||||
private Integer index;
|
||||
|
||||
/**
|
||||
* 电池序列号（SN）
|
||||
*/
|
||||
@JsonProperty("sn")
|
||||
private String sn;
|
||||
|
||||
/**
|
||||
* 电池类型
|
||||
*/
|
||||
@JsonProperty("type")
|
||||
private Integer type;
|
||||
|
||||
/**
|
||||
* 电池子类型
|
||||
*/
|
||||
@JsonProperty("sub_type")
|
||||
private Integer subType;
|
||||
|
||||
/**
|
||||
* 固件版本
|
||||
*/
|
||||
@JsonProperty("firmware_version")
|
||||
private String firmwareVersion;
|
||||
|
||||
/**
|
||||
* 电池循环次数
|
||||
*/
|
||||
@JsonProperty("loop_times")
|
||||
private Integer loopTimes;
|
||||
|
||||
/**
|
||||
* 电压（毫伏）
|
||||
*/
|
||||
@JsonProperty("voltage")
|
||||
private Integer voltage;
|
||||
|
||||
/**
|
||||
* 温度（摄氏度）
|
||||
*/
|
||||
@JsonProperty("temperature")
|
||||
private Float temperature;
|
||||
|
||||
/**
|
||||
* 高电压存储天数
|
||||
*/
|
||||
@JsonProperty("high_voltage_storage_days")
|
||||
private Integer highVoltageStorageDays;
|
||||
}
|
||||
|
|
@ -0,0 +1,47 @@
|
|||
package com.ruoyi.device.domain.impl.djimqtt.model.drone;
|
||||
|
||||
import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
|
||||
import com.fasterxml.jackson.annotation.JsonProperty;
|
||||
import lombok.Data;
|
||||
|
||||
import java.util.List;
|
||||
|
||||
/**
|
||||
* 飞行器电池信息
|
||||
*
|
||||
* @author ruoyi
|
||||
*/
|
||||
@Data
|
||||
@JsonIgnoreProperties(ignoreUnknown = true)
|
||||
public class BatteryInfo {
|
||||
|
||||
/**
|
||||
* 电池的总剩余电量
|
||||
*/
|
||||
@JsonProperty("capacity_percent")
|
||||
private Integer capacityPercent;
|
||||
|
||||
/**
|
||||
* 剩余飞行时间（秒）
|
||||
*/
|
||||
@JsonProperty("remain_flight_time")
|
||||
private Integer remainFlightTime;
|
||||
|
||||
/**
|
||||
* 返航所需电量百分比
|
||||
*/
|
||||
@JsonProperty("return_home_power")
|
||||
private Integer returnHomePower;
|
||||
|
||||
/**
|
||||
* 强制降落电量百分比
|
||||
*/
|
||||
@JsonProperty("landing_power")
|
||||
private Integer landingPower;
|
||||
|
||||
/**
|
||||
* 电池详细信息
|
||||
*/
|
||||
@JsonProperty("batteries")
|
||||
private List<BatteryDetail> batteries;
|
||||
}
|
||||
|
|
@ -0,0 +1,167 @@
|
|||
package com.ruoyi.device.domain.impl.djimqtt.model.drone;
|
||||
|
||||
import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
|
||||
import com.fasterxml.jackson.annotation.JsonProperty;
|
||||
import lombok.Data;
|
||||
|
||||
import java.util.List;
|
||||
|
||||
/**
|
||||
* 飞行器相机信息
|
||||
*
|
||||
* @author ruoyi
|
||||
*/
|
||||
@Data
|
||||
@JsonIgnoreProperties(ignoreUnknown = true)
|
||||
public class CameraInfo {
|
||||
|
||||
/**
|
||||
* 剩余拍照张数
|
||||
*/
|
||||
@JsonProperty("remain_photo_num")
|
||||
private Integer remainPhotoNum;
|
||||
|
||||
/**
|
||||
* 剩余录像时间（秒）
|
||||
*/
|
||||
@JsonProperty("remain_record_duration")
|
||||
private Integer remainRecordDuration;
|
||||
|
||||
/**
|
||||
* 视频录制时长（秒）
|
||||
*/
|
||||
@JsonProperty("record_time")
|
||||
private Integer recordTime;
|
||||
|
||||
/**
|
||||
* 负载编号
|
||||
*/
|
||||
@JsonProperty("payload_index")
|
||||
private String payloadIndex;
|
||||
|
||||
/**
|
||||
* 相机模式：0-拍照，1-录像，2-智能低光，3-全景拍照
|
||||
*/
|
||||
@JsonProperty("camera_mode")
|
||||
private Integer cameraMode;
|
||||
|
||||
/**
|
||||
* 拍照状态：0-空闲，1-拍照中
|
||||
*/
|
||||
@JsonProperty("photo_state")
|
||||
private Integer photoState;
|
||||
|
||||
/**
|
||||
* 录像状态：0-空闲，1-录像中
|
||||
*/
|
||||
@JsonProperty("recording_state")
|
||||
private Integer recordingState;
|
||||
|
||||
/**
|
||||
* 变焦倍数
|
||||
*/
|
||||
@JsonProperty("zoom_factor")
|
||||
private Float zoomFactor;
|
||||
|
||||
/**
|
||||
* 红外变焦倍数
|
||||
*/
|
||||
@JsonProperty("ir_zoom_factor")
|
||||
private Float irZoomFactor;
|
||||
|
||||
/**
|
||||
* 视场角（FOV）在 liveview 中的区域
|
||||
*/
|
||||
@JsonProperty("liveview_world_region")
|
||||
private LiveviewWorldRegion liveviewWorldRegion;
|
||||
|
||||
/**
|
||||
* 照片存储设置集合
|
||||
*/
|
||||
@JsonProperty("photo_storage_settings")
|
||||
private List<String> photoStorageSettings;
|
||||
|
||||
/**
|
||||
* 视频存储设置集合
|
||||
*/
|
||||
@JsonProperty("video_storage_settings")
|
||||
private List<String> videoStorageSettings;
|
||||
|
||||
/**
|
||||
* 广角镜头曝光模式
|
||||
*/
|
||||
@JsonProperty("wide_exposure_mode")
|
||||
private Integer wideExposureMode;
|
||||
|
||||
/**
|
||||
* 广角镜头感光度
|
||||
*/
|
||||
@JsonProperty("wide_iso")
|
||||
private Integer wideIso;
|
||||
|
||||
/**
|
||||
* 广角镜头快门速度
|
||||
*/
|
||||
@JsonProperty("wide_shutter_speed")
|
||||
private Integer wideShutterSpeed;
|
||||
|
||||
/**
|
||||
* 广角镜头曝光值
|
||||
*/
|
||||
@JsonProperty("wide_exposure_value")
|
||||
private Integer wideExposureValue;
|
||||
|
||||
/**
|
||||
* 变焦镜头曝光模式
|
||||
*/
|
||||
@JsonProperty("zoom_exposure_mode")
|
||||
private Integer zoomExposureMode;
|
||||
|
||||
/**
|
||||
* 变焦镜头感光度
|
||||
*/
|
||||
@JsonProperty("zoom_iso")
|
||||
private Integer zoomIso;
|
||||
|
||||
/**
|
||||
* 变焦镜头快门速度
|
||||
*/
|
||||
@JsonProperty("zoom_shutter_speed")
|
||||
private Integer zoomShutterSpeed;
|
||||
|
||||
/**
|
||||
* 变焦镜头曝光值
|
||||
*/
|
||||
@JsonProperty("zoom_exposure_value")
|
||||
private Integer zoomExposureValue;
|
||||
|
||||
/**
|
||||
* 变焦镜头对焦模式
|
||||
*/
|
||||
@JsonProperty("zoom_focus_mode")
|
||||
private Integer zoomFocusMode;
|
||||
|
||||
/**
|
||||
* 变焦镜头对焦值
|
||||
*/
|
||||
@JsonProperty("zoom_focus_value")
|
||||
private Integer zoomFocusValue;
|
||||
|
||||
/**
|
||||
* 红外测温模式
|
||||
*/
|
||||
@JsonProperty("ir_metering_mode")
|
||||
private Integer irMeteringMode;
|
||||
|
||||
/**
|
||||
* 红外测温点
|
||||
*/
|
||||
@JsonProperty("ir_metering_point")
|
||||
private IrMeteringPoint irMeteringPoint;
|
||||
|
||||
/**
|
||||
* 红外测温区域
|
||||
*/
|
||||
@JsonProperty("ir_metering_area")
|
||||
private IrMeteringArea irMeteringArea;
|
||||
}
|
||||
|
|
@ -0,0 +1,27 @@
|
|||
package com.ruoyi.device.domain.impl.djimqtt.model.drone;
|
||||
|
||||
import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
|
||||
import com.fasterxml.jackson.annotation.JsonProperty;
|
||||
import lombok.Data;
|
||||
|
||||
/**
|
||||
* 飞行器对频信息（中心节点）
|
||||
*
|
||||
* @author ruoyi
|
||||
*/
|
||||
@Data
|
||||
@JsonIgnoreProperties(ignoreUnknown = true)
|
||||
public class CenterNode {
|
||||
|
||||
/**
|
||||
* 扰码信息
|
||||
*/
|
||||
@JsonProperty("sdr_id")
|
||||
private Integer sdrId;
|
||||
|
||||
/**
|
||||
* 设备sn
|
||||
*/
|
||||
@JsonProperty("sn")
|
||||
private String sn;
|
||||
}
|
||||
|
|
@ -0,0 +1,33 @@
|
|||
package com.ruoyi.device.domain.impl.djimqtt.model.drone;
|
||||
|
||||
import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
|
||||
import com.fasterxml.jackson.annotation.JsonProperty;
|
||||
import lombok.Data;
|
||||
|
||||
/**
|
||||
* 飞行器限远状态
|
||||
*
|
||||
* @author ruoyi
|
||||
*/
|
||||
@Data
|
||||
@JsonIgnoreProperties(ignoreUnknown = true)
|
||||
public class DistanceLimitStatus {
|
||||
|
||||
/**
|
||||
* 是否开启限远：0-未设置，1-已设置
|
||||
*/
|
||||
@JsonProperty("state")
|
||||
private Integer state;
|
||||
|
||||
/**
|
||||
* 限远距离（米）
|
||||
*/
|
||||
@JsonProperty("distance_limit")
|
||||
private Integer distanceLimit;
|
||||
|
||||
/**
|
||||
* 是否接近设定的限制距离：0-未达到，1-接近
|
||||
*/
|
||||
@JsonProperty("is_near_distance_limit")
|
||||
private Integer isNearDistanceLimit;
|
||||
}
|
||||
|
|
@ -0,0 +1,57 @@
|
|||
package com.ruoyi.device.domain.impl.djimqtt.model.drone;
|
||||
|
||||
import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
|
||||
import com.fasterxml.jackson.annotation.JsonProperty;
|
||||
import lombok.Data;
|
||||
|
||||
/**
|
||||
* 红外测温区域
|
||||
*
|
||||
* @author ruoyi
|
||||
*/
|
||||
@Data
|
||||
@JsonIgnoreProperties(ignoreUnknown = true)
|
||||
public class IrMeteringArea {
|
||||
|
||||
/**
|
||||
* 测温区域左上角点坐标 x
|
||||
*/
|
||||
@JsonProperty("x")
|
||||
private Double x;
|
||||
|
||||
/**
|
||||
* 测温区域左上角点坐标 y
|
||||
*/
|
||||
@JsonProperty("y")
|
||||
private Double y;
|
||||
|
||||
/**
|
||||
* 测温区域宽度
|
||||
*/
|
||||
@JsonProperty("width")
|
||||
private Double width;
|
||||
|
||||
/**
|
||||
* 测温区域高度
|
||||
*/
|
||||
@JsonProperty("height")
|
||||
private Double height;
|
||||
|
||||
/**
|
||||
* 测温区域平均温度
|
||||
*/
|
||||
@JsonProperty("aver_temperature")
|
||||
private Double averTemperature;
|
||||
|
||||
/**
|
||||
* 测温区域最低温度点
|
||||
*/
|
||||
@JsonProperty("min_temperature_point")
|
||||
private TemperaturePoint minTemperaturePoint;
|
||||
|
||||
/**
|
||||
* 测温区域最高温度点
|
||||
*/
|
||||
@JsonProperty("max_temperature_point")
|
||||
private TemperaturePoint maxTemperaturePoint;
|
||||
}
|
||||
|
|
@ -0,0 +1,33 @@
|
|||
package com.ruoyi.device.domain.impl.djimqtt.model.drone;
|
||||
|
||||
import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
|
||||
import com.fasterxml.jackson.annotation.JsonProperty;
|
||||
import lombok.Data;
|
||||
|
||||
/**
|
||||
* 红外测温点
|
||||
*
|
||||
* @author ruoyi
|
||||
*/
|
||||
@Data
|
||||
@JsonIgnoreProperties(ignoreUnknown = true)
|
||||
public class IrMeteringPoint {
|
||||
|
||||
/**
|
||||
* 测温点坐标 x
|
||||
*/
|
||||
@JsonProperty("x")
|
||||
private Double x;
|
||||
|
||||
/**
|
||||
* 测温点坐标 y
|
||||
*/
|
||||
@JsonProperty("y")
|
||||
private Double y;
|
||||
|
||||
/**
|
||||
* 测温点的温度
|
||||
*/
|
||||
@JsonProperty("temperature")
|
||||
private Double temperature;
|
||||
}
|
||||
|
|
@ -0,0 +1,33 @@
|
|||
package com.ruoyi.device.domain.impl.djimqtt.model.drone;
|
||||
|
||||
import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
|
||||
import com.fasterxml.jackson.annotation.JsonProperty;
|
||||
import lombok.Data;
|
||||
|
||||
/**
|
||||
* 机场或遥控器对频信息（叶子节点）
|
||||
*
|
||||
* @author ruoyi
|
||||
*/
|
||||
@Data
|
||||
@JsonIgnoreProperties(ignoreUnknown = true)
|
||||
public class LeafNode {
|
||||
|
||||
/**
|
||||
* 扰码信息
|
||||
*/
|
||||
@JsonProperty("sdr_id")
|
||||
private Integer sdrId;
|
||||
|
||||
/**
|
||||
* 设备sn
|
||||
*/
|
||||
@JsonProperty("sn")
|
||||
private String sn;
|
||||
|
||||
/**
|
||||
* 控制源序号
|
||||
*/
|
||||
@JsonProperty("control_source_index")
|
||||
private Integer controlSourceIndex;
|
||||
}
|
||||
|
|
@ -0,0 +1,39 @@
|
|||
package com.ruoyi.device.domain.impl.djimqtt.model.drone;
|
||||
|
||||
import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
|
||||
import com.fasterxml.jackson.annotation.JsonProperty;
|
||||
import lombok.Data;
|
||||
|
||||
/**
|
||||
* 视场角（FOV）在 liveview 中的区域
|
||||
*
|
||||
* @author ruoyi
|
||||
*/
|
||||
@Data
|
||||
@JsonIgnoreProperties(ignoreUnknown = true)
|
||||
public class LiveviewWorldRegion {
|
||||
|
||||
/**
|
||||
* 左上角的 x 轴起始点
|
||||
*/
|
||||
@JsonProperty("left")
|
||||
private Float left;
|
||||
|
||||
/**
|
||||
* 左上角的 y 轴起始点
|
||||
*/
|
||||
@JsonProperty("top")
|
||||
private Float top;
|
||||
|
||||
/**
|
||||
* 右下角的 x 轴起始点
|
||||
*/
|
||||
@JsonProperty("right")
|
||||
private Float right;
|
||||
|
||||
/**
|
||||
* 右下角的 y 轴起始点
|
||||
*/
|
||||
@JsonProperty("bottom")
|
||||
private Float bottom;
|
||||
}
|
||||
|
|
@ -0,0 +1,23 @@
|
|||
package com.ruoyi.device.domain.impl.djimqtt.model.drone;
|
||||
|
||||
import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
|
||||
import com.fasterxml.jackson.annotation.JsonProperty;
|
||||
import lombok.Data;
|
||||
|
||||
import java.util.List;
|
||||
|
||||
/**
|
||||
* 保养信息
|
||||
*
|
||||
* @author ruoyi
|
||||
*/
|
||||
@Data
|
||||
@JsonIgnoreProperties(ignoreUnknown = true)
|
||||
public class MaintainStatus {
|
||||
|
||||
/**
|
||||
* 保养信息数组
|
||||
*/
|
||||
@JsonProperty("maintain_status_array")
|
||||
private List<MaintainStatusItem> maintainStatusArray;
|
||||
}
|
||||
|
|
@ -0,0 +1,45 @@
|
|||
package com.ruoyi.device.domain.impl.djimqtt.model.drone;
|
||||
|
||||
import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
|
||||
import com.fasterxml.jackson.annotation.JsonProperty;
|
||||
import lombok.Data;
|
||||
|
||||
/**
|
||||
* 保养信息项
|
||||
*
|
||||
* @author ruoyi
|
||||
*/
|
||||
@Data
|
||||
@JsonIgnoreProperties(ignoreUnknown = true)
|
||||
public class MaintainStatusItem {
|
||||
|
||||
/**
|
||||
* 保养状态：0-无保养，1-有保养
|
||||
*/
|
||||
@JsonProperty("state")
|
||||
private Integer state;
|
||||
|
||||
/**
|
||||
* 上一次保养类型：1-飞行器基础保养，2-飞行器常规保养，3-飞行器深度保养
|
||||
*/
|
||||
@JsonProperty("last_maintain_type")
|
||||
private Integer lastMaintainType;
|
||||
|
||||
/**
|
||||
* 上一次保养时间
|
||||
*/
|
||||
@JsonProperty("last_maintain_time")
|
||||
private Long lastMaintainTime;
|
||||
|
||||
/**
|
||||
* 上一次保养时飞行航时（小时）
|
||||
*/
|
||||
@JsonProperty("last_maintain_flight_time")
|
||||
private Integer lastMaintainFlightTime;
|
||||
|
||||
/**
|
||||
* 上一次保养时飞行架次
|
||||
*/
|
||||
@JsonProperty("last_maintain_flight_sorties")
|
||||
private Integer lastMaintainFlightSorties;
|
||||
}
|
||||
|
|
@ -0,0 +1,33 @@
|
|||
package com.ruoyi.device.domain.impl.djimqtt.model.drone;
|
||||
|
||||
import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
|
||||
import com.fasterxml.jackson.annotation.JsonProperty;
|
||||
import lombok.Data;
|
||||
|
||||
/**
|
||||
* 飞行器避障状态
|
||||
*
|
||||
* @author ruoyi
|
||||
*/
|
||||
@Data
|
||||
@JsonIgnoreProperties(ignoreUnknown = true)
|
||||
public class ObstacleAvoidance {
|
||||
|
||||
/**
|
||||
* 水平避障状态：0-关闭，1-开启
|
||||
*/
|
||||
@JsonProperty("horizon")
|
||||
private Integer horizon;
|
||||
|
||||
/**
|
||||
* 上视避障状态：0-关闭，1-开启
|
||||
*/
|
||||
@JsonProperty("upside")
|
||||
private Integer upside;
|
||||
|
||||
/**
|
||||
* 下视避障状态：0-关闭，1-开启
|
||||
*/
|
||||
@JsonProperty("downside")
|
||||
private Integer downside;
|
||||
}
|
||||
|
|
@ -0,0 +1,39 @@
|
|||
package com.ruoyi.device.domain.impl.djimqtt.model.drone;
|
||||
|
||||
import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
|
||||
import com.fasterxml.jackson.annotation.JsonProperty;
|
||||
import lombok.Data;
|
||||
|
||||
/**
|
||||
* 搜星状态
|
||||
*
|
||||
* @author ruoyi
|
||||
*/
|
||||
@Data
|
||||
@JsonIgnoreProperties(ignoreUnknown = true)
|
||||
public class PositionState {
|
||||
|
||||
/**
|
||||
* 是否收敛：0-未开始，1-收敛中，2-收敛成功，3-收敛失败
|
||||
*/
|
||||
@JsonProperty("is_fixed")
|
||||
private Integer isFixed;
|
||||
|
||||
/**
|
||||
* 搜星档位：1-1档，2-2档，3-3档，4-4档，5-5档，10-RTK fixed
|
||||
*/
|
||||
@JsonProperty("quality")
|
||||
private Integer quality;
|
||||
|
||||
/**
|
||||
* GPS 搜星数量
|
||||
*/
|
||||
@JsonProperty("gps_number")
|
||||
private Integer gpsNumber;
|
||||
|
||||
/**
|
||||
* RTK 搜星数量
|
||||
*/
|
||||
@JsonProperty("rtk_number")
|
||||
private Integer rtkNumber;
|
||||
}
|
||||
|
|
@ -0,0 +1,27 @@
|
|||
package com.ruoyi.device.domain.impl.djimqtt.model.drone;
|
||||
|
||||
import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
|
||||
import com.fasterxml.jackson.annotation.JsonProperty;
|
||||
import lombok.Data;
|
||||
|
||||
/**
|
||||
* 存储容量
|
||||
*
|
||||
* @author ruoyi
|
||||
*/
|
||||
@Data
|
||||
@JsonIgnoreProperties(ignoreUnknown = true)
|
||||
public class StorageInfo {
|
||||
|
||||
/**
|
||||
* 总容量（KB）
|
||||
*/
|
||||
@JsonProperty("total")
|
||||
private Integer total;
|
||||
|
||||
/**
|
||||
* 已使用容量（KB）
|
||||
*/
|
||||
@JsonProperty("used")
|
||||
private Integer used;
|
||||
}
|
||||
|
|
@ -0,0 +1,33 @@
|
|||
package com.ruoyi.device.domain.impl.djimqtt.model.drone;
|
||||
|
||||
import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
|
||||
import com.fasterxml.jackson.annotation.JsonProperty;
|
||||
import lombok.Data;
|
||||
|
||||
/**
|
||||
* 温度点
|
||||
*
|
||||
* @author ruoyi
|
||||
*/
|
||||
@Data
|
||||
@JsonIgnoreProperties(ignoreUnknown = true)
|
||||
public class TemperaturePoint {
|
||||
|
||||
/**
|
||||
* 温度点坐标 x
|
||||
*/
|
||||
@JsonProperty("x")
|
||||
private Double x;
|
||||
|
||||
/**
|
||||
* 温度点坐标 y
|
||||
*/
|
||||
@JsonProperty("y")
|
||||
private Double y;
|
||||
|
||||
/**
|
||||
* 温度点的温度
|
||||
*/
|
||||
@JsonProperty("temperature")
|
||||
private Double temperature;
|
||||
}
|
||||
|
|
@ -0,0 +1,35 @@
|
|||
package com.ruoyi.device.domain.impl.djimqtt.model.drone;
|
||||
|
||||
import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
|
||||
import com.fasterxml.jackson.annotation.JsonProperty;
|
||||
import lombok.Data;
|
||||
|
||||
import java.util.List;
|
||||
|
||||
/**
|
||||
* 图传连接拓扑
|
||||
*
|
||||
* @author ruoyi
|
||||
*/
|
||||
@Data
|
||||
@JsonIgnoreProperties(ignoreUnknown = true)
|
||||
public class WirelessLinkTopo {
|
||||
|
||||
/**
|
||||
* 加密编码
|
||||
*/
|
||||
@JsonProperty("secret_code")
|
||||
private List<Integer> secretCode;
|
||||
|
||||
/**
|
||||
* 飞行器对频信息
|
||||
*/
|
||||
@JsonProperty("center_node")
|
||||
private CenterNode centerNode;
|
||||
|
||||
/**
|
||||
* 当前连接的机场或遥控器对频信息
|
||||
*/
|
||||
@JsonProperty("leaf_nodes")
|
||||
private List<LeafNode> leafNodes;
|
||||
}
|
||||
|
|
@ -0,0 +1,159 @@
|
|||
package com.ruoyi.device.domain.impl.djimqtt.service;
|
||||
|
||||
import com.ruoyi.device.domain.impl.djimqtt.config.DjiMqttProperties;
|
||||
import com.ruoyi.device.domain.impl.djimqtt.handler.DjiMqttMessageHandler;
|
||||
import lombok.RequiredArgsConstructor;
|
||||
import lombok.extern.slf4j.Slf4j;
|
||||
import org.eclipse.paho.client.mqttv3.*;
|
||||
import org.eclipse.paho.client.mqttv3.persist.MemoryPersistence;
|
||||
import org.springframework.boot.context.event.ApplicationReadyEvent;
|
||||
import org.springframework.context.event.EventListener;
|
||||
import org.springframework.stereotype.Service;
|
||||
import jakarta.annotation.PreDestroy;
|
||||
|
||||
/**
|
||||
* DJI MQTT客户端服务
|
||||
* 采用共享订阅方式，支持多实例部署
|
||||
*
|
||||
* @author ruoyi
|
||||
*/
|
||||
@Slf4j
|
||||
@Service
|
||||
@RequiredArgsConstructor
|
||||
public class DjiMqttClientService {
|
||||
|
||||
private final DjiMqttProperties mqttProperties;
|
||||
private final DjiMqttMessageHandler messageHandler;
|
||||
|
||||
private MqttClient mqttClient;
|
||||
|
||||
/**
|
||||
* 无人机OSD主题（共享订阅）
|
||||
*/
|
||||
private static final String DRONE_OSD_TOPIC = "$share/dji-group/thing/product/+/osd";
|
||||
|
||||
/**
|
||||
* 无人机State主题（共享订阅）
|
||||
*/
|
||||
private static final String DRONE_STATE_TOPIC = "$share/dji-group/thing/product/+/state";
|
||||
|
||||
/**
|
||||
* 应用启动后自动连接
|
||||
*/
|
||||
@EventListener(ApplicationReadyEvent.class)
|
||||
public void onApplicationReady() {
|
||||
connect();
|
||||
}
|
||||
|
||||
/**
|
||||
* 连接到MQTT服务器
|
||||
*/
|
||||
public void connect() {
|
||||
try {
|
||||
if (mqttClient != null && mqttClient.isConnected()) {
|
||||
log.info("MQTT客户端已连接，无需重复连接");
|
||||
return;
|
||||
}
|
||||
|
||||
String broker = String.format("tcp://%s:%d", mqttProperties.getHost(), mqttProperties.getPort());
|
||||
log.info("开始连接DJI MQTT服务器: {}", broker);
|
||||
|
||||
// 创建MQTT客户端
|
||||
mqttClient = new MqttClient(broker, mqttProperties.getClientId(), new MemoryPersistence());
|
||||
|
||||
// 配置连接选项
|
||||
MqttConnectOptions options = new MqttConnectOptions();
|
||||
options.setUserName(mqttProperties.getUsername());
|
||||
options.setPassword(mqttProperties.getPassword().toCharArray());
|
||||
options.setConnectionTimeout(mqttProperties.getConnectionTimeout());
|
||||
options.setKeepAliveInterval(mqttProperties.getKeepAliveInterval());
|
||||
options.setAutomaticReconnect(mqttProperties.getAutoReconnect());
|
||||
options.setCleanSession(mqttProperties.getCleanSession());
|
||||
|
||||
// 设置MQTT版本
|
||||
if (mqttProperties.getVersion() == 5) {
|
||||
options.setMqttVersion(MqttConnectOptions.MQTT_VERSION_3_1_1);
|
||||
log.info("使用MQTT协议版本: 3.1.1");
|
||||
}
|
||||
|
||||
// 设置回调
|
||||
mqttClient.setCallback(new MqttCallback() {
|
||||
@Override
|
||||
public void connectionLost(Throwable cause) {
|
||||
log.error("MQTT连接丢失: {}", cause.getMessage(), cause);
|
||||
}
|
||||
|
||||
@Override
|
||||
public void messageArrived(String topic, MqttMessage message) {
|
||||
try {
|
||||
String payload = new String(message.getPayload());
|
||||
messageHandler.handleMessage(topic, payload);
|
||||
} catch (Exception e) {
|
||||
log.error("处理MQTT消息失败: {}", e.getMessage(), e);
|
||||
}
|
||||
}
|
||||
|
||||
@Override
|
||||
public void deliveryComplete(IMqttDeliveryToken token) {
|
||||
// 不需要处理发送完成事件
|
||||
}
|
||||
});
|
||||
|
||||
// 连接
|
||||
mqttClient.connect(options);
|
||||
log.info("成功连接到DJI MQTT服务器");
|
||||
|
||||
// 订阅主题
|
||||
subscribe();
|
||||
|
||||
} catch (Exception e) {
|
||||
log.error("连接DJI MQTT服务器失败: {}", e.getMessage(), e);
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* 订阅主题
|
||||
*/
|
||||
private void subscribe() {
|
||||
try {
|
||||
if (mqttClient == null || !mqttClient.isConnected()) {
|
||||
log.warn("MQTT客户端未连接，无法订阅主题");
|
||||
return;
|
||||
}
|
||||
|
||||
// 订阅无人机OSD主题（共享订阅）
|
||||
mqttClient.subscribe(DRONE_OSD_TOPIC, 1);
|
||||
log.info("成功订阅主题: {}", DRONE_OSD_TOPIC);
|
||||
|
||||
// 订阅无人机State主题（共享订阅）
|
||||
mqttClient.subscribe(DRONE_STATE_TOPIC, 1);
|
||||
log.info("成功订阅主题: {}", DRONE_STATE_TOPIC);
|
||||
|
||||
} catch (Exception e) {
|
||||
log.error("订阅MQTT主题失败: {}", e.getMessage(), e);
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* 断开连接
|
||||
*/
|
||||
@PreDestroy
|
||||
public void disconnect() {
|
||||
try {
|
||||
if (mqttClient != null && mqttClient.isConnected()) {
|
||||
mqttClient.disconnect();
|
||||
mqttClient.close();
|
||||
log.info("已断开DJI MQTT连接");
|
||||
}
|
||||
} catch (Exception e) {
|
||||
log.error("断开DJI MQTT连接失败: {}", e.getMessage(), e);
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* 检查连接状态
|
||||
*/
|
||||
public boolean isConnected() {
|
||||
return mqttClient != null && mqttClient.isConnected();
|
||||
}
|
||||
}
|
||||
|
|
@ -34,3 +34,24 @@ device:
|
|||
# 匹配这些正则表达式的设备将被跳过，不进行同步
|
||||
# 当前配置：过滤所有以 TH 开头的设备
|
||||
exclude-patterns: TH.*
|
||||
machine:
|
||||
state:
|
||||
store:
|
||||
type: redis # 或 memory,根据部署方式选择
|
||||
sn:
|
||||
repository:
|
||||
type: memory # 或 redis/mysql,根据需求选择
|
||||
|
||||
# DJI MQTT配置
|
||||
dji:
|
||||
mqtt:
|
||||
host: mqtt.t-aaron.com
|
||||
port: 10883
|
||||
version: 5
|
||||
client-id: ThingsBoard_gateway
|
||||
username: admin
|
||||
password: admin
|
||||
connection-timeout: 30
|
||||
keep-alive-interval: 60
|
||||
auto-reconnect: true
|
||||
clean-session: false
|
||||
Loading…
Reference in New Issue