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a-tuoheng-device
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This commit is contained in:
孙小云 2026-01-28 15:03:05 +08:00
parent d4b3d86b3c
commit faa7ca1790
2 changed files with 102 additions and 81 deletions
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7
pom.xml
View File

@ -111,6 +111,13 @@
<artifactId>spring-integration-mqtt</artifactId>
</dependency>
<!-- Eclipse Paho MQTT v5 Client (支持MQTT 5.0) -->
<dependency>
<groupId>org.eclipse.paho</groupId>
<artifactId>org.eclipse.paho.mqttv5.client</artifactId>
<version>1.2.5</version>
</dependency>
</dependencies>
<build>

176
src/main/java/com/ruoyi/device/domain/impl/djimqtt/service/DjiMqttClientService.java
View File

@ -3,17 +3,19 @@ package com.ruoyi.device.domain.impl.djimqtt.service;
import com.ruoyi.device.domain.impl.djimqtt.config.DjiMqttClientConfig;
import com.ruoyi.device.domain.impl.djimqtt.handler.DjiMqttMessageHandler;
import lombok.extern.slf4j.Slf4j;
import org.eclipse.paho.client.mqttv3.MqttConnectOptions;
import org.springframework.integration.mqtt.core.DefaultMqttPahoClientFactory;
import org.springframework.integration.mqtt.core.MqttPahoClientFactory;
import org.springframework.integration.mqtt.inbound.MqttPahoMessageDrivenChannelAdapter;
import org.springframework.integration.mqtt.support.DefaultPahoMessageConverter;
import org.springframework.integration.channel.DirectChannel;
import org.springframework.messaging.Message;
import org.eclipse.paho.mqttv5.client.IMqttToken;
import org.eclipse.paho.mqttv5.client.MqttCallback;
import org.eclipse.paho.mqttv5.client.MqttClient;
import org.eclipse.paho.mqttv5.client.MqttConnectionOptions;
import org.eclipse.paho.mqttv5.client.MqttDisconnectResponse;
import org.eclipse.paho.mqttv5.client.persist.MemoryPersistence;
import org.eclipse.paho.mqttv5.common.MqttException;
import org.eclipse.paho.mqttv5.common.MqttMessage;
import org.eclipse.paho.mqttv5.common.packet.MqttProperties;
/**
* DJI MQTT客户端服务（基于Spring Integration MQTT）
* 支持动态创建多个客户端，自动重连和重新订阅
* DJI MQTT客户端服务（基于Eclipse Paho MQTT v5）
* 支持MQTT 5.0协议，动态创建多个客户端
*
* @author ruoyi
*/
@ -22,7 +24,7 @@ public class DjiMqttClientService {
private final DjiMqttClientConfig config;
private final DjiMqttMessageHandler messageHandler;
private MqttPahoMessageDrivenChannelAdapter adapter;
private MqttClient mqttClient;
/**
* 无人机OSD主题
@ -50,7 +52,7 @@ public class DjiMqttClientService {
*/
public void connect() {
try {
if (adapter != null && adapter.isRunning()) {
if (mqttClient != null && mqttClient.isConnected()) {
log.info("MQTT客户端[{}]已连接，无需重复连接", config.getClientId());
return;
}
@ -58,91 +60,102 @@ public class DjiMqttClientService {
String broker = String.format("tcp://%s:%d", config.getHost(), config.getPort());
log.info("开始连接DJI MQTT服务器[{}]: {}", config.getClientId(), broker);
// 创建MQTT客户端工厂
MqttPahoClientFactory clientFactory = createClientFactory(broker);
mqttClient = new MqttClient(broker, config.getClientId(), new MemoryPersistence());
// 构建订阅主题
String[] topics = buildTopics();
MqttConnectionOptions options = new MqttConnectionOptions();
options.setUserName(config.getUsername());
options.setPassword(config.getPassword().getBytes());
options.setConnectionTimeout(config.getConnectionTimeout());
options.setKeepAliveInterval(config.getKeepAliveInterval());
options.setAutomaticReconnect(config.getAutoReconnect());
options.setCleanStart(config.getCleanSession());
// 创建消息驱动适配器
adapter = new MqttPahoMessageDrivenChannelAdapter(
config.getClientId(),
clientFactory,
topics
);
mqttClient.setCallback(new MqttCallback() {
@Override
public void disconnected(MqttDisconnectResponse disconnectResponse) {
log.error("MQTT客户端[{}]连接丢失: {}", config.getClientId(),
disconnectResponse.getReasonString());
// 设置消息转换器
adapter.setConverter(new DefaultPahoMessageConverter());
if (config.getAutoReconnect()) {
log.info("MQTT客户端[{}]将自动重连...", config.getClientId());
}
}
// 设置QoS
adapter.setQos(1);
@Override
public void mqttErrorOccurred(MqttException exception) {
log.error("MQTT客户端[{}]发生错误: {}", config.getClientId(),
exception.getMessage(), exception);
}
// 创建消息通道并设置消息处理器
DirectChannel channel = new DirectChannel();
channel.subscribe(this::handleMessage);
adapter.setOutputChannel(channel);
@Override
public void messageArrived(String topic, MqttMessage message) {
try {
String payload = new String(message.getPayload());
messageHandler.handleMessage(topic, payload);
} catch (Exception e) {
log.error("MQTT客户端[{}]处理消息失败: {}", config.getClientId(),
e.getMessage(), e);
}
}
// 启动适配器
adapter.start();
@Override
public void deliveryComplete(IMqttToken token) {
// 不需要处理
}
log.info("MQTT客户端[{}]成功连接到服务器并订阅主题", config.getClientId());
@Override
public void connectComplete(boolean reconnect, String serverURI) {
if (reconnect) {
log.info("MQTT客户端[{}]重连成功: {}", config.getClientId(), serverURI);
// 重连后重新订阅
subscribe();
} else {
log.info("MQTT客户端[{}]首次连接成功: {}", config.getClientId(), serverURI);
}
}
@Override
public void authPacketArrived(int reasonCode, MqttProperties properties) {
// 不需要处理
}
});
mqttClient.connect(options);
log.info("MQTT客户端[{}]成功连接到服务器", config.getClientId());
subscribe();
} catch (Exception e) {
log.error("MQTT客户端[{}]连接失败: {}", config.getClientId(), e.getMessage(), e);
throw new RuntimeException("MQTT连接失败", e);
}
}
/**
* 创建MQTT客户端工厂
* 订阅主题
*/
private MqttPahoClientFactory createClientFactory(String broker) {
DefaultMqttPahoClientFactory factory = new DefaultMqttPahoClientFactory();
MqttConnectOptions options = new MqttConnectOptions();
options.setServerURIs(new String[]{broker});
options.setUserName(config.getUsername());
options.setPassword(config.getPassword().toCharArray());
options.setConnectionTimeout(config.getConnectionTimeout());
options.setKeepAliveInterval(config.getKeepAliveInterval());
options.setAutomaticReconnect(config.getAutoReconnect());
options.setCleanSession(config.getCleanSession());
// 设置MQTT版本为5.0
options.setMqttVersion(MqttConnectOptions.MQTT_VERSION_5_0);
factory.setConnectionOptions(options);
return factory;
}
/**
* 构建订阅主题
*/
private String[] buildTopics() {
String osdTopic = config.getUseSharedSubscription()
? String.format("$share/%s/%s", config.getSharedGroupName(), DRONE_OSD_TOPIC)
: DRONE_OSD_TOPIC;
String stateTopic = config.getUseSharedSubscription()
? String.format("$share/%s/%s", config.getSharedGroupName(), DRONE_STATE_TOPIC)
: DRONE_STATE_TOPIC;
return new String[]{osdTopic, stateTopic};
}
/**
* 处理接收到的MQTT消息
*/
private void handleMessage(Message<?> message) {
private void subscribe() {
try {
String topic = (String) message.getHeaders().get("mqtt_receivedTopic");
String payload = (String) message.getPayload();
if (topic != null) {
messageHandler.handleMessage(topic, payload);
if (mqttClient == null || !mqttClient.isConnected()) {
log.warn("MQTT客户端[{}]未连接，无法订阅主题", config.getClientId());
return;
}
String osdTopic = config.getUseSharedSubscription()
? String.format("$share/%s/%s", config.getSharedGroupName(), DRONE_OSD_TOPIC)
: DRONE_OSD_TOPIC;
String stateTopic = config.getUseSharedSubscription()
? String.format("$share/%s/%s", config.getSharedGroupName(), DRONE_STATE_TOPIC)
: DRONE_STATE_TOPIC;
mqttClient.subscribe(osdTopic, 1);
log.info("MQTT客户端[{}]成功订阅主题: {}", config.getClientId(), osdTopic);
mqttClient.subscribe(stateTopic, 1);
log.info("MQTT客户端[{}]成功订阅主题: {}", config.getClientId(), stateTopic);
} catch (Exception e) {
log.error("MQTT客户端[{}]处理消息失败: {}", config.getClientId(), e.getMessage(), e);
log.error("MQTT客户端[{}]订阅主题失败: {}", config.getClientId(), e.getMessage(), e);
}
}
@ -151,8 +164,9 @@ public class DjiMqttClientService {
*/
public void disconnect() {
try {
if (adapter != null && adapter.isRunning()) {
adapter.stop();
if (mqttClient != null && mqttClient.isConnected()) {
mqttClient.disconnect();
mqttClient.close();
log.info("MQTT客户端[{}]已断开连接", config.getClientId());
}
} catch (Exception e) {
@ -164,7 +178,7 @@ public class DjiMqttClientService {
* 检查连接状态
*/
public boolean isConnected() {
return adapter != null && adapter.isRunning();
return mqttClient != null && mqttClient.isConnected();
}
/**