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处理机场飞行控制数据

This commit is contained in:
孙小云 2026-02-26 09:58:53 +08:00
parent cae0018b88
commit f62d2798f6
2 changed files with 77 additions and 102 deletions
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161
src/main/java/com/ruoyi/device/domain/impl/tuohengmqtt/handler/TuohengMqttMessageHandler.java
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@ -22,6 +22,8 @@ import java.util.ArrayList;
import java.util.List; import java.util.List;
import java.util.regex.Pattern; import java.util.regex.Pattern;
import static com.ruoyi.device.domain.impl.tuohengmqtt.service.TuohengMqttClientService.*;
@Slf4j @Slf4j
@Component @Component
public class TuohengMqttMessageHandler { public class TuohengMqttMessageHandler {
@ -38,6 +40,7 @@ public class TuohengMqttMessageHandler {
private final List<IAirportFlyControlDataCallback> airportFlyControlDataCallbacks = new ArrayList<>(); private final List<IAirportFlyControlDataCallback> airportFlyControlDataCallbacks = new ArrayList<>();
private static final Pattern TUOHENG_SN_PATTERN = Pattern.compile("^TH[0-9A-Z]+"); private static final Pattern TUOHENG_SN_PATTERN = Pattern.compile("^TH[0-9A-Z]+");
/** /**
* 设置 MQTT 回调注册中心 * 设置 MQTT 回调注册中心
@ -100,34 +103,23 @@ public class TuohengMqttMessageHandler {
try { try {
log.debug("收到MQTT消息 - Topic: {}", topic); log.debug("收到MQTT消息 - Topic: {}", topic);
// 如果是 confirm 消息，打印详细日志
// if (topic.contains("/control/confirm")) {
// log.info("【收到confirm消息】Topic: {}, Payload: {}", topic, payload);
// }
// 通知 MqttCallbackRegistry 处理回调（用于指令回调） // 通知 MqttCallbackRegistry 处理回调（用于指令回调）
if (machineCallBackRegistry != null) { if (machineCallBackRegistry != null) {
try { try {
// 将 payload 解析为 JSON 对象传递给回调注册中心 // 将 payload 解析为 JSON 对象传递给回调注册中心
Object messageBody = objectMapper.readValue(payload, Object.class); Object messageBody = objectMapper.readValue(payload, Object.class);
machineCallBackRegistry.handleMessage(topic, messageBody); machineCallBackRegistry.handleMessage(topic, messageBody);
// // 如果是 confirm 消息，打印回调处理结果
// if (topic.contains("/control/confirm")) {
// log.info("【confirm消息已传递给回调注册中心】Topic: {}", topic);
// }
} catch (Exception e) { } catch (Exception e) {
log.debug("通知回调注册中心失败: {}", e.getMessage()); log.debug("通知回调注册中心失败: {}", e.getMessage());
} }
} }
String deviceSn = extractDeviceSnFromTopic(topic); String deviceSn = extractDeviceSnFromTopic(topic);
if (deviceSn == null) { if (deviceSn == null) {
log.warn("无法从Topic解析设备SN: {}", topic); log.warn("无法从Topic解析设备SN: {}", topic);
return; return;
} }
if (isProductTopic(topic)) { if (isProductTopic(topic)) {
if (!isTuohengSn(deviceSn)) { if (!isTuohengSn(deviceSn)) {
log.debug("跳过大疆设备 - SN: {}", deviceSn); log.debug("跳过大疆设备 - SN: {}", deviceSn);
@ -135,34 +127,29 @@ public class TuohengMqttMessageHandler {
} }
} }
String messageType = extractMessageTypeFromTopic(topic); // 根据Topic模式匹配分发到不同的处理方法
if (matchTopic(topic, AIRPORT_NEST_REALTIME_TOPIC)) {
if (messageType == null) { handleAirportNestRealTimeData(deviceSn, payload);
log.warn("无法从Topic解析消息类型: {}", topic); } else if (matchTopic(topic, AIRPORT_NEST_BASIC_TOPIC)) {
return; handleRealTimeBasicData(deviceSn, payload);
} } else if (matchTopic(topic, AIRPORT_NEST_CONFIRM_TOPIC)) {
// 机场控制确认消息（已由 MqttCallbackRegistry 处理）
switch (messageType) { log.debug("机场控制确认消息 - SN: {}", deviceSn);
case "realTime/data": } else if (matchTopic(topic, AIRPORT_DRONE_REALTIME_TOPIC)) {
handleRealTimeData(deviceSn, payload, topic); handleAirportDroneRealTimeData(deviceSn, payload);
break; } else if (matchTopic(topic, AIRPORT_FLY_DATA_TOPIC)) {
case "realTime/basic": handleAirportFlyControlData(deviceSn, payload, topic);
handleRealTimeBasicData(deviceSn, payload); } else if (matchTopic(topic, AIRPORT_FLY_CONFIRM_TOPIC)) {
break; // 飞行控制确认消息（已由 MqttCallbackRegistry 处理）
case "heartbeat/message": log.debug("飞行控制确认消息 - SN: {}", deviceSn);
handleHeartbeatMessage(deviceSn, payload); } else if (matchTopic(topic, HEARTBEAT_MESSAGE_TOPIC)) {
break; handleHeartbeatMessage(deviceSn, payload);
case "osd": } else if (matchTopic(topic, PRODUCT_OSD_TOPIC)) {
handleOsdData(deviceSn, payload); handleOsdData(deviceSn, payload);
break; } else if (matchTopic(topic, PRODUCT_EVENTS_TOPIC)) {
case "events": handleEventsData(deviceSn, payload);
handleEventsData(deviceSn, payload); } else {
break; log.debug("未知的消息类型 - Topic: {}", topic);
case "control/data":
handleAirportFlyControlData(deviceSn, payload, topic);
break;
default:
log.debug("未知消息类型: {}", messageType);
} }
} catch (Exception e) { } catch (Exception e) {
@ -170,31 +157,35 @@ public class TuohengMqttMessageHandler {
} }
} }
private void handleRealTimeData(String deviceSn, String payload, String topic) { private void handleAirportNestRealTimeData(String deviceSn, String payload) {
try { try {
if (topic.contains("airportNest")) { TuohengRealTimeData data = objectMapper.readValue(payload, TuohengRealTimeData.class);
TuohengRealTimeData data = objectMapper.readValue(payload, TuohengRealTimeData.class); log.debug("处理机场实时数据 - 设备SN: {}", deviceSn);
log.debug("处理机场实时数据 - 设备SN: {}", deviceSn); for (ITuohengRealTimeDataCallback callback : realTimeDataCallbacks) {
for (ITuohengRealTimeDataCallback callback : realTimeDataCallbacks) { try {
try { callback.onRealTimeData(deviceSn, data);
callback.onRealTimeData(deviceSn, data); } catch (Exception e) {
} catch (Exception e) { log.error("实时数据回调执行失败: {}", e.getMessage(), e);
log.error("实时数据回调执行失败: {}", e.getMessage(), e);
}
}
} else if (topic.contains("airportDrone")) {
DroneRealTimeData data = objectMapper.readValue(payload, DroneRealTimeData.class);
log.debug("处理无人机实时数据 - 设备SN: {}", deviceSn);
for (IDroneRealTimeCallback callback : droneRealTimeCallbacks) {
try {
callback.onDroneRealTimeData(deviceSn, data);
} catch (Exception e) {
log.error("无人机实时数据回调执行失败: {}", e.getMessage(), e);
}
} }
} }
} catch (Exception e) { } catch (Exception e) {
log.error("处理实时数据失败 - SN: {}, Error: {}", deviceSn, e.getMessage(), e); log.error("处理机场实时数据失败 - SN: {}, Error: {}", deviceSn, e.getMessage(), e);
}
}
private void handleAirportDroneRealTimeData(String deviceSn, String payload) {
try {
DroneRealTimeData data = objectMapper.readValue(payload, DroneRealTimeData.class);
log.debug("处理无人机实时数据 - 设备SN: {}", deviceSn);
for (IDroneRealTimeCallback callback : droneRealTimeCallbacks) {
try {
callback.onDroneRealTimeData(deviceSn, data);
} catch (Exception e) {
log.error("无人机实时数据回调执行失败: {}", e.getMessage(), e);
}
}
} catch (Exception e) {
log.error("处理无人机实时数据失败 - SN: {}, Error: {}", deviceSn, e.getMessage(), e);
} }
} }
@ -305,38 +296,7 @@ public class TuohengMqttMessageHandler {
return null; return null;
} }
private String extractMessageTypeFromTopic(String topic) {
if (topic == null) {
return null;
}
String[] parts = topic.split("/");
// /topic/v1/heartbeat/{deviceSn}/message
// parts[0]="", parts[1]="topic", parts[2]="v1", parts[3]="heartbeat",
// parts[4]=deviceSn, parts[5]="message"
if (topic.startsWith("/topic/v1/heartbeat/")) {
if (parts.length >= 6) {
return "heartbeat/message";
}
}
// /topic/v1/airportNest/{deviceSn}/realTime/data
// parts[0]="", parts[1]="topic", parts[2]="v1", parts[3]="airportNest",
// parts[4]=deviceSn, parts[5]="realTime", parts[6]="data"
else if (topic.startsWith("/topic/v1/")) {
if (parts.length >= 7) {
return parts[5] + "/" + parts[6]; // "realTime/data" or "realTime/basic"
}
}
// thing/product/{deviceSn}/osd
// parts[0]="thing", parts[1]="product", parts[2]=deviceSn, parts[3]="osd"
else if (topic.startsWith("thing/product/")) {
if (parts.length >= 4) {
return parts[3]; // "osd" or "events"
}
}
return null;
}
private boolean isProductTopic(String topic) { private boolean isProductTopic(String topic) {
return topic != null && topic.startsWith("thing/product/"); return topic != null && topic.startsWith("thing/product/");
} }
@ -347,4 +307,19 @@ public class TuohengMqttMessageHandler {
} }
return TUOHENG_SN_PATTERN.matcher(sn).matches(); return TUOHENG_SN_PATTERN.matcher(sn).matches();
} }
/**
* 匹配Topic模式
* @param topic 实际topic
* @param pattern 模式topic（支持+通配符）
* @return 是否匹配
*/
private boolean matchTopic(String topic, String pattern) {
if (topic == null || pattern == null) {
return false;
}
// 将模式中的+替换为正则表达式（匹配除斜杠外的任意字符）
String regex = pattern.replace("+", "[^/]+");
return topic.matches(regex);
}
} }

18
src/main/java/com/ruoyi/device/domain/impl/tuohengmqtt/service/TuohengMqttClientService.java
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@ -20,15 +20,15 @@ public class TuohengMqttClientService {
private final TuohengMqttMessageHandler messageHandler; private final TuohengMqttMessageHandler messageHandler;
private MqttClient mqttClient; private MqttClient mqttClient;
private static final String AIRPORT_NEST_REALTIME_TOPIC = "/topic/v1/airportNest/+/realTime/data"; public static final String AIRPORT_NEST_REALTIME_TOPIC = "/topic/v1/airportNest/+/realTime/data";
private static final String AIRPORT_NEST_BASIC_TOPIC = "/topic/v1/airportNest/+/realTime/basic"; public static final String AIRPORT_NEST_BASIC_TOPIC = "/topic/v1/airportNest/+/realTime/basic";
private static final String AIRPORT_NEST_CONFIRM_TOPIC = "/topic/v1/airportNest/+/control/confirm"; public static final String AIRPORT_NEST_CONFIRM_TOPIC = "/topic/v1/airportNest/+/control/confirm";
private static final String AIRPORT_DRONE_REALTIME_TOPIC = "/topic/v1/airportDrone/+/realTime/data"; public static final String AIRPORT_DRONE_REALTIME_TOPIC = "/topic/v1/airportDrone/+/realTime/data";
private static final String AIRPORT_FLY_DATA_TOPIC = "/topic/v1/airportFly/+/control/data"; public static final String AIRPORT_FLY_DATA_TOPIC = "/topic/v1/airportFly/+/control/data";
private static final String AIRPORT_FLY_CONFIRM_TOPIC = "/topic/v1/airportFly/+/control/confirm"; public static final String AIRPORT_FLY_CONFIRM_TOPIC = "/topic/v1/airportFly/+/control/confirm";
private static final String HEARTBEAT_MESSAGE_TOPIC = "/topic/v1/heartbeat/+/message"; public static final String HEARTBEAT_MESSAGE_TOPIC = "/topic/v1/heartbeat/+/message";
private static final String PRODUCT_OSD_TOPIC = "thing/product/+/osd"; public static final String PRODUCT_OSD_TOPIC = "thing/product/+/osd";
private static final String PRODUCT_EVENTS_TOPIC = "thing/product/+/events"; public static final String PRODUCT_EVENTS_TOPIC = "thing/product/+/events";
public TuohengMqttClientService(TuohengMqttClientConfig config, TuohengMqttMessageHandler messageHandler) { public TuohengMqttClientService(TuohengMqttClientConfig config, TuohengMqttMessageHandler messageHandler) {
this.config = config; this.config = config;