836 lines
40 KiB
Java
836 lines
40 KiB
Java
package com.ruoyi.device.service.impl;
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import com.ruoyi.device.domain.api.*;
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import com.ruoyi.device.domain.impl.machine.state.CoverState;
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import com.ruoyi.device.domain.impl.machine.state.DroneState;
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import com.ruoyi.device.domain.impl.machine.state.MachineStates;
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import com.ruoyi.device.domain.impl.machine.statemachine.MachineStateManager;
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import com.ruoyi.device.domain.model.*;
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import com.ruoyi.device.domain.model.thingsboard.AttributeMap;
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import com.ruoyi.device.domain.model.thingsboard.TelemetryMap;
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import com.ruoyi.device.domain.model.thingsboard.TelemetryValue;
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import com.ruoyi.device.domain.model.thingsboard.tuoheng.constants.TuohengDeviceAttributes;
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import com.ruoyi.device.domain.model.thingsboard.tuoheng.constants.TuohengDeviceTelemetry;
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import com.ruoyi.device.service.api.IBufferDeviceService;
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import com.ruoyi.device.service.dto.AircraftDetailDTO;
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import com.ruoyi.device.service.dto.DockDetailDTO;
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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.stereotype.Service;
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import org.springframework.util.CollectionUtils;
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import java.util.HashMap;
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import java.util.List;
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import java.util.Map;
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/**
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* 拓恒设备缓冲服务实现
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* 专门处理拓恒设备的数据整合
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*
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* @author ruoyi
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* @date 2026-02-04Ï
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*/
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@Service("tuohengBufferDeviceService")
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@Slf4j
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public class TuohengBufferDeviceImpl implements IBufferDeviceService {
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/**
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* 默认经纬度 - 南京市
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*/
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private static final Double DEFAULT_LONGITUDE = 118.796877;
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private static final Double DEFAULT_LATITUDE = 32.060255;
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@Autowired
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private IDockDomain dockDomain;
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@Autowired
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private IDeviceDomain deviceDomain;
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@Autowired
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private IAircraftDomain aircraftDomain;
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@Autowired
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private IDockAircraftDomain dockAircraftDomain;
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@Autowired
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private IThingsBoardDomain thingsBoardDomain;
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@Autowired
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private MachineStateManager machineStateManager;
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@Override
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public DockDetailDTO getDockDetailById(Long dockId) {
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log.info("获取拓恒机场详情: dockId={}", dockId);
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// 查询机场基础信息
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Dock dock = dockDomain.selectDockByDockId(dockId);
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if (dock == null) {
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log.warn("机场不存在: dockId={}", dockId);
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return null;
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}
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log.info("Dock对象详细信息: dockId={}, cabinVideoUrl={}, outsideVideoUrl={}, liveVideoUrl={}",
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dock.getDockId(), dock.getCabinVideoUrl(), dock.getOutsideVideoUrl(), dock.getLiveVideoUrl());
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// 查询设备信息
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Device device = deviceDomain.selectDeviceByDeviceId(dock.getDeviceId());
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if (device == null) {
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log.warn("机场对应的设备不存在: deviceId={}", dock.getDeviceId());
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return null;
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}
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// 检查是否是拓恒设备
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if (!"tuoheng".equals(device.getDeviceManufacturer())) {
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log.warn("设备不是拓恒厂商: deviceId={}, manufacturer={}",
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device.getDeviceId(), device.getDeviceManufacturer());
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return null;
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}
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// 构建机场详情DTO
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DockDetailDTO dto = new DockDetailDTO();
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dto.setDockId(dock.getDockId());
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dto.setDockName(dock.getDockName());
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dto.setDockLocation(dock.getDockLocation());
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dto.setInternalCamera(dock.getCabinVideoUrl());
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dto.setExternalCamera(dock.getOutsideVideoUrl());
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dto.setLiveCamera(dock.getLiveVideoUrl());
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log.info("设置DTO视频地址: internalCamera={}, externalCamera={}, liveCamera={}",
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dto.getInternalCamera(), dto.getExternalCamera(), dto.getLiveCamera());
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dto.setDockIotId(device.getIotDeviceId());
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dto.setSnNumber(device.getDeviceSn());
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dto.setBindTime(device.getCreateTime().getTime());
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dto.setDockManufacturer(device.getDeviceManufacturer());
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// 查询关联的无人机，获取无人机的 iotDeviceId
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String aircraftIotDeviceId = null;
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List<DockAircraft> aircrafts = dockAircraftDomain.selectDockAircraftByDockId(dockId);
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if (!CollectionUtils.isEmpty(aircrafts)) {
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DockAircraft dockAircraft = aircrafts.get(0);
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Aircraft aircraft = aircraftDomain.selectAircraftByAircraftId(dockAircraft.getAircraftId());
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if (aircraft != null) {
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dto.setAircraftId(aircraft.getAircraftId());
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dto.setAircraftName(aircraft.getAircraftName());
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Device airDevice = deviceDomain.selectDeviceByDeviceId(aircraft.getDeviceId());
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if (airDevice != null) {
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aircraftIotDeviceId = airDevice.getIotDeviceId();
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dto.setAircraftIotId(aircraftIotDeviceId);
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dto.setAircraftManufacturer(airDevice.getDeviceManufacturer());
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dto.setAircraftModel(airDevice.getDeviceModel());
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}
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}
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}
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// 获取ThingsBoard数据并填充到DTO（传入无人机的 iotDeviceId 用于判断工作状态）
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fillTuohengDockDetail(dto, device.getIotDeviceId(), aircraftIotDeviceId);
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return dto;
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}
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@Override
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public AircraftDetailDTO getAircraftDetailById(Long aircraftId) {
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log.info("获取拓恒无人机详情: aircraftId={}", aircraftId);
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// 查询无人机基础信息
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Aircraft aircraft = aircraftDomain.selectAircraftByAircraftId(aircraftId);
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if (aircraft == null) {
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log.warn("无人机不存在: aircraftId={}", aircraftId);
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return null;
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}
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// 查询设备信息
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Device device = deviceDomain.selectDeviceByDeviceId(aircraft.getDeviceId());
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if (device == null) {
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log.warn("无人机对应的设备不存在: deviceId={}", aircraft.getDeviceId());
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return null;
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}
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// 检查是否是拓恒设备
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if (!"tuoheng".equals(device.getDeviceManufacturer())) {
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log.warn("设备不是拓恒厂商: deviceId={}, manufacturer={}",
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device.getDeviceId(), device.getDeviceManufacturer());
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return null;
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}
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// 构建无人机详情DTO
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AircraftDetailDTO dto = new AircraftDetailDTO();
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dto.setAircraftId(aircraft.getAircraftId());
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dto.setAircraftName(aircraft.getAircraftName());
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dto.setSnNumber(device.getDeviceSn());
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dto.setBindTime(device.getCreateTime().getTime());
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dto.setAircraftManufacturer(device.getDeviceManufacturer());
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// 查询无人机关联的机场，获取机场SN（用于从MachineStateManager获取状态）
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String dockSn = null;
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List<DockAircraft> dockAircrafts = dockAircraftDomain.selectDockAircraftByAircraftId(aircraftId);
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if (!CollectionUtils.isEmpty(dockAircrafts)) {
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DockAircraft dockAircraft = dockAircrafts.get(0);
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Dock dock = dockDomain.selectDockByDockId(dockAircraft.getDockId());
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if (dock != null) {
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Device dockDevice = deviceDomain.selectDeviceByDeviceId(dock.getDeviceId());
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if (dockDevice != null) {
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dockSn = dockDevice.getDeviceSn();
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}
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}
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}
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// 获取ThingsBoard数据并填充到DTO（传入机场SN用于获取状态）
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fillTuohengAircraftDetail(dto, device.getIotDeviceId(), dockSn);
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return dto;
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}
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@Override
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public Map<Long, DockDetailDTO> getDockDetailsByIds(List<Long> dockIds) {
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if (CollectionUtils.isEmpty(dockIds)) {
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return new HashMap<>();
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}
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Map<Long, DockDetailDTO> resultMap = new HashMap<>(dockIds.size());
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for (Long dockId : dockIds) {
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try {
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DockDetailDTO dto = getDockDetailById(dockId);
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if (dto != null) {
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resultMap.put(dockId, dto);
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}
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} catch (Exception e) {
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log.error("获取拓恒机场详情失败, dockId: {}", dockId, e);
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}
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}
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return resultMap;
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}
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@Override
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public Map<Long, AircraftDetailDTO> getAircraftDetailsByIds(List<Long> aircraftIds) {
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if (CollectionUtils.isEmpty(aircraftIds)) {
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return new HashMap<>();
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}
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Map<Long, AircraftDetailDTO> resultMap = new HashMap<>(aircraftIds.size());
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for (Long aircraftId : aircraftIds) {
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try {
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AircraftDetailDTO dto = getAircraftDetailById(aircraftId);
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if (dto != null) {
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resultMap.put(aircraftId, dto);
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}
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} catch (Exception e) {
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log.error("获取拓恒无人机详情失败, aircraftId: {}", aircraftId, e);
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}
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}
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return resultMap;
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}
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/**
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* 填充拓恒机场详情数据
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*
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* @param dto 机场详情DTO
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* @param iotDeviceId ThingsBoard设备ID（机场）
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* @param aircraftIotDeviceId 无人机ThingsBoard设备ID（用于判断工作状态）
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*/
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private void fillTuohengDockDetail(DockDetailDTO dto, String iotDeviceId, String aircraftIotDeviceId) {
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try {
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log.info("========== 开始填充拓恒机场详情 ==========");
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log.info("iotDeviceId: {}", iotDeviceId);
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// 获取拓恒设备属性
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AttributeMap attributes = thingsBoardDomain.getPredefinedTuohengDeviceAttributes(iotDeviceId);
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// log.info("拓恒设备属性数据: {}", attributes);
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// 获取拓恒设备遥测数据
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TelemetryMap telemetry = thingsBoardDomain.getPredefinedTuohengDeviceTelemetry(iotDeviceId);
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// log.info("拓恒设备遥测数据: {}", telemetry);
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// 设置固件版本（从属性中获取 hardware_version）
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attributes.get(TuohengDeviceAttributes.HARDWARE_VERSION)
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.ifPresent(value -> {
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log.info("HARDWARE_VERSION 固件版本: {}", value);
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dto.setFirmwareVersion(value);
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});
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// 设置机场位置（从属性中获取 home.longitude 和 home.latitude，取不到则使用南京市默认值）
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log.info("---------- 解析机场位置数据 ----------");
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Double homeLongitude = attributes.get(TuohengDeviceAttributes.HOME_LONGITUDE)
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.orElse(null);
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if (homeLongitude != null) {
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log.info("HOME_LONGITUDE 机场经度: {}", homeLongitude);
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dto.setLongitude(homeLongitude);
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} else {
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log.info("HOME_LONGITUDE 未设置，使用默认值（南京市）: {}", DEFAULT_LONGITUDE);
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dto.setLongitude(DEFAULT_LONGITUDE);
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}
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Double homeLatitude = attributes.get(TuohengDeviceAttributes.HOME_LATITUDE)
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.orElse(null);
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if (homeLatitude != null) {
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log.info("HOME_LATITUDE 机场纬度: {}", homeLatitude);
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dto.setLatitude(homeLatitude);
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} else {
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log.info("HOME_LATITUDE 未设置，使用默认值（南京市）: {}", DEFAULT_LATITUDE);
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dto.setLatitude(DEFAULT_LATITUDE);
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}
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// 设置备降点位置（从属性中获取 backup.longitude 和 backup.latitude，取不到则使用南京市默认值）
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log.info("---------- 解析备降点位置数据 ----------");
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Double backupLongitude = attributes.get(TuohengDeviceAttributes.BACKUP_LONGITUDE)
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.orElse(null);
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if (backupLongitude != null) {
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log.info("BACKUP_LONGITUDE 备降点经度: {}", backupLongitude);
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dto.setBackupLongitude(backupLongitude);
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} else {
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log.info("BACKUP_LONGITUDE 未设置，使用默认值（南京市）: {}", DEFAULT_LONGITUDE);
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dto.setBackupLongitude(DEFAULT_LONGITUDE);
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}
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Double backupLatitude = attributes.get(TuohengDeviceAttributes.BACKUP_LATITUDE)
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.orElse(null);
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if (backupLatitude != null) {
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log.info("BACKUP_LATITUDE 备降点纬度: {}", backupLatitude);
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dto.setBackupLatitude(backupLatitude);
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} else {
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log.info("BACKUP_LATITUDE 未设置，使用默认值（南京市）: {}", DEFAULT_LATITUDE);
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dto.setBackupLatitude(DEFAULT_LATITUDE);
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}
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// 设置运行数据（从属性中获取 runningDuration 和 missionCount，取不到则默认为 0）
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log.info("---------- 解析运行数据 ----------");
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Integer runningDuration = attributes.get(TuohengDeviceAttributes.RUNNING_DURATION)
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.orElse(0);
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log.info("RUNNING_DURATION 运行时长: {} 小时", runningDuration);
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dto.setRunningDuration(runningDuration);
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Integer missionCount = attributes.get(TuohengDeviceAttributes.MISSION_COUNT)
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.orElse(0);
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log.info("MISSION_COUNT 作业架次: {}", missionCount);
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dto.setMissionCount(missionCount);
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// 设置在线状态 - 基于心跳时间戳判断离线，基于无人机mode判断工作状态
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telemetry.get(TuohengDeviceTelemetry.STATUS).ifPresentOrElse(statusValue -> {
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long lastHeartbeatTime = statusValue.getTimestamp();
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long currentTime = System.currentTimeMillis();
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long timeDiff = currentTime - lastHeartbeatTime;
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log.info("STATUS 心跳时间戳: {}, 当前时间: {}, 时间差: {}ms ({}秒)",
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lastHeartbeatTime, currentTime, timeDiff, timeDiff / 1000);
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// 5分钟 = 300000 毫秒
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if (timeDiff > 300000) {
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dto.setDockStatus("OFFLINE");
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log.info("心跳超时(>5分钟)，设置机场状态为 OFFLINE");
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} else {
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// 心跳正常，机场在线，通过无人机mode和舱门状态判断是IDLE还是WORKING
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String dockStatus = "IDLE"; // 默认空闲
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if (aircraftIotDeviceId != null) {
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try {
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// 获取无人机遥测数据
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TelemetryMap aircraftTelemetry = thingsBoardDomain.getPredefinedTuohengDeviceTelemetry(aircraftIotDeviceId);
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// 通过mode字段判断工作状态
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String mode = aircraftTelemetry.get(TuohengDeviceTelemetry.MODE)
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.map(TelemetryValue::getValue)
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.orElse("");
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log.info("无人机MODE值: {}", mode);
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// 通过 MachineStateManager 获取舱门状态
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MachineStates machineStates =
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machineStateManager.getStates(dto.getSnNumber());
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CoverState coverState =
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machineStates.getCoverState();
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log.info("机场舱门状态(从MachineStateManager): {}", coverState);
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// 通过MODE判断飞行模式（暂时注释掉，数据不准确）
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// boolean isFlyingMode = "auto".equalsIgnoreCase(mode) ||
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// "guided".equalsIgnoreCase(mode) ||
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// "loiter".equalsIgnoreCase(mode) ||
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// "rtl".equalsIgnoreCase(mode);
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// if (isFlyingMode) {
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// dockStatus = "WORKING";
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// log.info("无人机处于{}模式，设置机场状态为 WORKING", mode);
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// } else if (coverState == CoverState.OPENED) {
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if (coverState == CoverState.OPENED) {
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dockStatus = "WORKING";
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log.info("舱门打开，设置机场状态为 WORKING");
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} else {
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log.info("舱门关闭，设置机场状态为 IDLE");
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}
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} catch (Exception e) {
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log.warn("获取无人机mode或舱门状态失败，默认设置为IDLE: {}", e.getMessage());
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}
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} else {
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log.info("机场未绑定无人机，设置机场状态为 IDLE");
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}
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dto.setDockStatus(dockStatus);
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log.info("心跳正常，设置机场状态: {}", dockStatus);
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}
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}, () -> {
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dto.setDockStatus("OFFLINE");
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log.info("没有心跳数据，设置机场状态为 OFFLINE");
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});
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// 设置舱内温度和湿度
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log.info("---------- 解析舱内环境数据 ----------");
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telemetry.get(TuohengDeviceTelemetry.NEST_INNER_TEMP)
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.ifPresent(value -> {
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log.info("NEST_INNER_TEMP 舱内温度: {}", value.getValue());
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dto.setCabinTemperature(value.getValue());
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});
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telemetry.get(TuohengDeviceTelemetry.NEST_INNER_HUM)
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.ifPresent(value -> {
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log.info("NEST_INNER_HUM 舱内湿度: {}", value.getValue());
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dto.setCabinHumidity(value.getValue());
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});
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/**
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* 通过 MachineStateManager 获取舱门状态
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||
*/
|
||
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||
// 设置舱门状态
|
||
log.info("---------- 解析舱门状态 ----------");
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||
try {
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MachineStates machineStates =
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machineStateManager.getStates(dto.getSnNumber());
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CoverState coverState =
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machineStates.getCoverState();
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log.info("舱门状态(从MachineStateManager): {}", coverState);
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||
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String cabinDoorStatus;
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if (coverState == CoverState.OPENED) {
|
||
cabinDoorStatus = "OPEN";
|
||
} else if (coverState == CoverState.CLOSED) {
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||
cabinDoorStatus = "CLOSED";
|
||
} else {
|
||
cabinDoorStatus = "UNKNOWN";
|
||
}
|
||
dto.setCabinDoorStatus(cabinDoorStatus);
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||
log.info("设置舱门状态: {}", cabinDoorStatus);
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||
} catch (Exception e) {
|
||
log.warn("从MachineStateManager获取舱门状态失败: {}", e.getMessage());
|
||
dto.setCabinDoorStatus("UNKNOWN");
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||
}
|
||
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||
|
||
// 设置空调状态（从属性中获取 airConditionerStatus，取不到则默认为 IDLE）
|
||
log.info("---------- 解析空调状态 ----------");
|
||
String airConditionerStatus = attributes.get(TuohengDeviceAttributes.AIR_CONDITIONER_STATUS)
|
||
.orElse("IDLE");
|
||
log.info("AIR_CONDITIONER_STATUS 空调状态: {}", airConditionerStatus);
|
||
dto.setAirConditionerStatus(airConditionerStatus);
|
||
|
||
// 设置环境数据
|
||
log.info("---------- 解析气象数据 ----------");
|
||
// 环境温度和湿度从属性中获取（手动维护），取不到则为 null
|
||
attributes.get(TuohengDeviceAttributes.ENVIRONMENT_TEMPERATURE)
|
||
.ifPresent(value -> {
|
||
log.info("ENVIRONMENT_TEMPERATURE 环境温度: {}", value);
|
||
dto.setEnvironmentTemperature(value);
|
||
});
|
||
attributes.get(TuohengDeviceAttributes.ENVIRONMENT_HUMIDITY)
|
||
.ifPresent(value -> {
|
||
log.info("ENVIRONMENT_HUMIDITY 环境湿度: {}", value);
|
||
dto.setEnvironmentHumidity(value);
|
||
});
|
||
|
||
// 风速和降雨量从遥测数据中获取
|
||
telemetry.get(TuohengDeviceTelemetry.WEATHER_WIND_SPEED)
|
||
.ifPresent(value -> {
|
||
log.info("WEATHER_WIND_SPEED 风速: {}", value.getValue());
|
||
dto.setWindSpeed(value.getValue());
|
||
});
|
||
telemetry.get(TuohengDeviceTelemetry.WEATHER_RAINFALL)
|
||
.ifPresent(value -> {
|
||
log.info("WEATHER_RAINFALL 降雨量: {}", value.getValue());
|
||
dto.setRainfall(value.getValue());
|
||
});
|
||
|
||
// 设置电池信息（从无人机设备获取）
|
||
log.info("---------- 解析电池数据 ----------");
|
||
if (aircraftIotDeviceId != null) {
|
||
try {
|
||
// 获取无人机遥测数据
|
||
TelemetryMap aircraftTelemetry = thingsBoardDomain.getPredefinedTuohengDeviceTelemetry(aircraftIotDeviceId);
|
||
|
||
// 从无人机获取电池电量（使用 battery_remain）
|
||
aircraftTelemetry.get(TuohengDeviceTelemetry.BATTERY_REMAIN)
|
||
.ifPresent(value -> {
|
||
log.info("BATTERY_REMAIN 无人机电池电量: {}", value.getValue());
|
||
dto.setCapacity_percent(value.getValue());
|
||
});
|
||
} catch (Exception e) {
|
||
log.warn("从无人机获取电池电量失败，尝试从机场获取: {}", e.getMessage());
|
||
// 如果无人机数据获取失败，降级使用机场的 BATTERY_LEVEL
|
||
telemetry.get(TuohengDeviceTelemetry.BATTERY_LEVEL)
|
||
.ifPresent(value -> {
|
||
log.info("BATTERY_LEVEL 机场电池电量（降级）: {}", value.getValue());
|
||
dto.setCapacity_percent(value.getValue());
|
||
});
|
||
}
|
||
} else {
|
||
// 如果没有绑定无人机，使用机场的 BATTERY_LEVEL
|
||
log.info("机场未绑定无人机，使用机场电池电量");
|
||
telemetry.get(TuohengDeviceTelemetry.BATTERY_LEVEL)
|
||
.ifPresent(value -> {
|
||
log.info("BATTERY_LEVEL 机场电池电量: {}", value.getValue());
|
||
dto.setCapacity_percent(value.getValue());
|
||
});
|
||
}
|
||
|
||
// 设置充电状态
|
||
telemetry.get(TuohengDeviceTelemetry.BATTERY_B_CHARGING)
|
||
.ifPresent(value -> {
|
||
log.info("BATTERY_B_CHARGING 充电状态原始值: {}", value.getValue());
|
||
String chargingStatus = value.getValue() == 1 ? "CHARGING" : "FREE";
|
||
dto.setChargingStatus(chargingStatus);
|
||
log.info("设置充电状态: {}", chargingStatus);
|
||
});
|
||
|
||
// 设置机场设备自检数据（升降架、X轴夹器、Y轴夹器）
|
||
log.info("---------- 解析机场设备自检数据 ----------");
|
||
|
||
// 升降架状态，取不到值时默认为 NORMAL
|
||
String elevatorPosition = telemetry.get(TuohengDeviceTelemetry.LIFTER_STATUS)
|
||
.map(value -> {
|
||
Integer lifterStatus = value.getValue();
|
||
log.info("LIFTER_STATUS 升降架状态原始值: {}", lifterStatus);
|
||
// 0=正常, 非0=异常
|
||
return (lifterStatus != null && lifterStatus == 0) ? "NORMAL" : "ABNORMAL";
|
||
})
|
||
.orElse("NORMAL");
|
||
dto.setElevatorPosition(elevatorPosition);
|
||
log.info("设置升降架位置: {}", elevatorPosition);
|
||
|
||
// X轴夹器状态，取不到值时默认为 NORMAL
|
||
String xAxisClampStatus = telemetry.get(TuohengDeviceTelemetry.HOLDER_X_STATUS)
|
||
.map(value -> {
|
||
Integer holderXStatus = value.getValue();
|
||
log.info("HOLDER_X_STATUS X轴夹器状态原始值: {}", holderXStatus);
|
||
// 0=正常, 非0=异常
|
||
return (holderXStatus != null && holderXStatus == 0) ? "NORMAL" : "ABNORMAL";
|
||
})
|
||
.orElse("NORMAL");
|
||
dto.setXAxisClampStatus(xAxisClampStatus);
|
||
log.info("设置X轴夹器状态: {}", xAxisClampStatus);
|
||
|
||
// Y轴夹器状态，取不到值时默认为 NORMAL
|
||
String yAxisClampStatus = telemetry.get(TuohengDeviceTelemetry.HOLDER_Y_STATUS)
|
||
.map(value -> {
|
||
Integer holderYStatus = value.getValue();
|
||
log.info("HOLDER_Y_STATUS Y轴夹器状态原始值: {}", holderYStatus);
|
||
// 0=正常, 非0=异常
|
||
return (holderYStatus != null && holderYStatus == 0) ? "NORMAL" : "ABNORMAL";
|
||
})
|
||
.orElse("NORMAL");
|
||
dto.setYAxisClampStatus(yAxisClampStatus);
|
||
log.info("设置Y轴夹器状态: {}", yAxisClampStatus);
|
||
|
||
// 填充无人机状态信息
|
||
if (aircraftIotDeviceId != null) {
|
||
fillTuohengAircraftStatus(dto, aircraftIotDeviceId);
|
||
}
|
||
|
||
log.info("拓恒机场详情填充完成: iotDeviceId={}, dockStatus={}", iotDeviceId, dto.getDockStatus());
|
||
log.info("========== 拓恒机场详情填充结束 ==========");
|
||
} catch (Exception e) {
|
||
log.error("填充拓恒机场详情失败: iotDeviceId={}, error={}", iotDeviceId, e.getMessage(), e);
|
||
}
|
||
}
|
||
|
||
/**
|
||
* 填充拓恒无人机状态信息（用于机场详情中的无人机状态）
|
||
*
|
||
* @param dto 机场详情DTO
|
||
* @param aircraftIotDeviceId 无人机ThingsBoard设备ID
|
||
*/
|
||
private void fillTuohengAircraftStatus(DockDetailDTO dto, String aircraftIotDeviceId) {
|
||
try {
|
||
log.info("========== 开始填充拓恒无人机状态（机场详情中） ==========");
|
||
log.info("aircraftIotDeviceId: {}", aircraftIotDeviceId);
|
||
|
||
// 获取拓恒无人机遥测数据
|
||
TelemetryMap aircraftTelemetry = thingsBoardDomain.getPredefinedTuohengDeviceTelemetry(aircraftIotDeviceId);
|
||
log.info("拓恒无人机遥测数据: {}", aircraftTelemetry);
|
||
|
||
// 获取机场遥测数据（用于获取舱门状态）
|
||
// 注意：aircraftIotDeviceId 是无人机的ID，我们需要获取机场的舱门状态
|
||
// 舱门状态在机场设备的遥测数据中，需要从 dto.getDockIotId() 获取
|
||
String dockIotId = dto.getDockIotId();
|
||
TelemetryMap dockTelemetry = null;
|
||
if (dockIotId != null) {
|
||
dockTelemetry = thingsBoardDomain.getPredefinedTuohengDeviceTelemetry(dockIotId);
|
||
log.info("拓恒机场遥测数据（用于获取舱门状态）: {}", dockTelemetry);
|
||
}
|
||
|
||
// 获取 mode 字段
|
||
String mode = aircraftTelemetry.get(TuohengDeviceTelemetry.MODE)
|
||
.map(TelemetryValue::getValue)
|
||
.orElse("");
|
||
log.info("无人机 MODE 值: {}", mode);
|
||
|
||
// 通过 MachineStateManager 获取舱门状态（使用机场SN）
|
||
CoverState coverState = null;
|
||
try {
|
||
MachineStates machineStates =
|
||
machineStateManager.getStates(dto.getSnNumber());
|
||
coverState = machineStates.getCoverState();
|
||
log.info("机场舱门状态(从MachineStateManager): {}", coverState);
|
||
} catch (Exception e) {
|
||
log.warn("从MachineStateManager获取舱门状态失败: {}", e.getMessage());
|
||
}
|
||
|
||
// 从 MachineStateManager 获取无人机开关机状态
|
||
DroneState droneState = null;
|
||
try {
|
||
MachineStates machineStates =
|
||
machineStateManager.getStates(dto.getSnNumber());
|
||
droneState = machineStates.getDroneState();
|
||
log.info("无人机状态(从MachineStateManager): {}", droneState);
|
||
} catch (Exception e) {
|
||
log.warn("从MachineStateManager获取无人机状态失败: {}", e.getMessage());
|
||
}
|
||
|
||
boolean isPowerOn = (droneState != null && droneState != DroneState.POWER_OFF && droneState != DroneState.UNKNOWN);
|
||
log.info("无人机开关机状态: {}", isPowerOn ? "开机" : "关机");
|
||
|
||
// 判断逻辑：开仓且开机才是任务中
|
||
String aircraftStatus;
|
||
if (coverState == CoverState.OPENED && isPowerOn) {
|
||
// 舱门打开且开机，表示正在执行任务
|
||
aircraftStatus = "IN_MISSION";
|
||
log.info("舱门打开 + 开机 → IN_MISSION");
|
||
} else if (coverState == CoverState.OPENED && !isPowerOn) {
|
||
// 舱门打开但关机
|
||
aircraftStatus = "POWER_OFF_OUT_CABIN";
|
||
log.info("舱门打开 + 关机 → POWER_OFF_OUT_CABIN");
|
||
} else if (coverState == CoverState.CLOSED) {
|
||
// 舱门关闭（舱内），根据开关机状态判断
|
||
if (isPowerOn) {
|
||
aircraftStatus = "POWER_ON_IN_CABIN";
|
||
log.info("舱门关闭 + 开机 → POWER_ON_IN_CABIN");
|
||
} else {
|
||
aircraftStatus = "POWER_OFF_IN_CABIN";
|
||
log.info("舱门关闭 + 关机 → POWER_OFF_IN_CABIN");
|
||
}
|
||
} else {
|
||
// 无法获取舱门状态，默认根据开关机状态判断
|
||
if (isPowerOn) {
|
||
aircraftStatus = "POWER_ON_IN_CABIN";
|
||
log.warn("无法获取舱门状态，默认设置: POWER_ON_IN_CABIN");
|
||
} else {
|
||
aircraftStatus = "POWER_OFF_IN_CABIN";
|
||
log.warn("无法获取舱门状态，默认设置: POWER_OFF_IN_CABIN");
|
||
}
|
||
}
|
||
|
||
dto.setAircraftStatus(aircraftStatus);
|
||
|
||
log.info("拓恒无人机状态填充完成: aircraftIotDeviceId={}, aircraftStatus={}",
|
||
aircraftIotDeviceId, dto.getAircraftStatus());
|
||
log.info("========== 拓恒无人机状态填充结束 ==========");
|
||
} catch (Exception e) {
|
||
log.error("填充拓恒无人机状态失败: aircraftIotDeviceId={}, error={}",
|
||
aircraftIotDeviceId, e.getMessage(), e);
|
||
}
|
||
}
|
||
|
||
/**
|
||
* 填充拓恒无人机详情数据
|
||
*
|
||
* @param dto 无人机详情DTO
|
||
* @param iotDeviceId ThingsBoard设备ID
|
||
* @param dockSn 机场SN号（用于从MachineStateManager获取状态）
|
||
*/
|
||
private void fillTuohengAircraftDetail(AircraftDetailDTO dto, String iotDeviceId, String dockSn) {
|
||
try {
|
||
log.info("========== 开始填充拓恒无人机详情 ==========");
|
||
log.info("iotDeviceId: {}", iotDeviceId);
|
||
|
||
// 获取拓恒设备属性
|
||
AttributeMap attributes = thingsBoardDomain.getPredefinedTuohengDeviceAttributes(iotDeviceId);
|
||
log.info("拓恒无人机属性数据: {}", attributes);
|
||
|
||
// 获取拓恒设备遥测数据
|
||
TelemetryMap telemetry = thingsBoardDomain.getPredefinedTuohengDeviceTelemetry(iotDeviceId);
|
||
log.info("拓恒无人机遥测数据: {}", telemetry);
|
||
|
||
// 设置无人机状态
|
||
log.info("---------- 解析无人机状态 ----------");
|
||
|
||
// 获取 mode 字段
|
||
String mode = telemetry.get(TuohengDeviceTelemetry.MODE)
|
||
.map(TelemetryValue::getValue)
|
||
.orElse("");
|
||
log.info("无人机 MODE 值: {}", mode);
|
||
|
||
// // 获取 tsingal（图传信号强度，用于判断开关机）
|
||
// Integer tsingal = telemetry.get(TuohengDeviceTelemetry.TSINGAL)
|
||
// .map(TelemetryValue::getValue)
|
||
// .orElse(0);
|
||
// log.info("无人机 TSINGAL 值: {}", tsingal);
|
||
|
||
// 从 MachineStateManager 获取无人机开关机状态
|
||
DroneState droneState = null;
|
||
if (dockSn != null) {
|
||
try {
|
||
MachineStates machineStates = machineStateManager.getStates(dockSn);
|
||
droneState = machineStates.getDroneState();
|
||
log.info("无人机状态(从MachineStateManager): {}", droneState);
|
||
} catch (Exception e) {
|
||
log.warn("从MachineStateManager获取无人机状态失败: {}", e.getMessage());
|
||
}
|
||
} else {
|
||
log.warn("机场SN为空，无法从MachineStateManager获取无人机状态");
|
||
}
|
||
|
||
boolean isPowerOn = (droneState != null && droneState != DroneState.POWER_OFF && droneState != DroneState.UNKNOWN);
|
||
log.info("无人机开关机状态: {}", isPowerOn ? "开机" : "关机");
|
||
|
||
// 从 MachineStateManager 获取舱门状态
|
||
CoverState coverState = null;
|
||
if (dockSn != null) {
|
||
try {
|
||
MachineStates machineStates = machineStateManager.getStates(dockSn);
|
||
coverState = machineStates.getCoverState();
|
||
log.info("机场舱门状态(从MachineStateManager): {}", coverState);
|
||
} catch (Exception e) {
|
||
log.warn("从MachineStateManager获取舱门状态失败: {}", e.getMessage());
|
||
}
|
||
} else {
|
||
log.warn("机场SN为空，无法从MachineStateManager获取舱门状态");
|
||
}
|
||
|
||
// 判断逻辑：开仓且开机才是任务中
|
||
String aircraftStatus;
|
||
if (coverState == CoverState.OPENED && isPowerOn) {
|
||
// 舱门打开且开机，表示正在执行任务
|
||
aircraftStatus = "IN_MISSION";
|
||
log.info("舱门打开 + 开机 → IN_MISSION");
|
||
} else if (coverState == CoverState.OPENED && !isPowerOn) {
|
||
// 舱门打开但关机
|
||
aircraftStatus = "POWER_OFF_OUT_CABIN";
|
||
log.info("舱门打开 + 关机 → POWER_OFF_OUT_CABIN");
|
||
} else if (coverState == CoverState.CLOSED) {
|
||
// 舱门关闭（舱内），根据开关机状态判断
|
||
if (isPowerOn) {
|
||
aircraftStatus = "POWER_ON_IN_CABIN";
|
||
log.info("舱门关闭 + 开机 → POWER_ON_IN_CABIN");
|
||
} else {
|
||
aircraftStatus = "POWER_OFF_IN_CABIN";
|
||
log.info("舱门关闭 + 关机 → POWER_OFF_IN_CABIN");
|
||
}
|
||
} else {
|
||
// 无法获取舱门状态，默认根据开关机状态判断
|
||
if (isPowerOn) {
|
||
aircraftStatus = "POWER_ON_IN_CABIN";
|
||
log.warn("无法获取舱门状态，默认设置: POWER_ON_IN_CABIN");
|
||
} else {
|
||
aircraftStatus = "POWER_OFF_IN_CABIN";
|
||
log.warn("无法获取舱门状态，默认设置: POWER_OFF_IN_CABIN");
|
||
}
|
||
}
|
||
|
||
dto.setAircraftStatus(aircraftStatus);
|
||
|
||
// 设置作业架次（从属性中获取，取不到则默认为 0）
|
||
log.info("---------- 解析作业架次 ----------");
|
||
Integer missionCount = attributes.get(TuohengDeviceAttributes.MISSION_COUNT)
|
||
.orElse(0);
|
||
log.info("MISSION_COUNT 作业架次: {}", missionCount);
|
||
dto.setMissionCount(missionCount);
|
||
|
||
// 设置GPS信号
|
||
log.info("---------- 解析GPS数据 ----------");
|
||
telemetry.get(TuohengDeviceTelemetry.SAT_COUNT)
|
||
.ifPresent(value -> {
|
||
log.info("SAT_COUNT 卫星数量: {}", value.getValue());
|
||
dto.setGpsSignal(value.getValue());
|
||
});
|
||
|
||
// 设置电池信息
|
||
log.info("---------- 解析电池数据 ----------");
|
||
telemetry.get(TuohengDeviceTelemetry.BATTERY_REMAIN)
|
||
.ifPresent(value -> {
|
||
log.info("BATTERY_REMAIN 剩余电量: {}", value.getValue());
|
||
dto.setBatteryLevel(value.getValue());
|
||
});
|
||
|
||
// 优先使用 battery_totalVoltage（BMS电池电压），如果没有则使用 voltage（无人机电压）
|
||
// 注意：电压需要乘以1000转换为毫伏（mV）
|
||
Double voltageValue = telemetry.get(TuohengDeviceTelemetry.BATTERY_TOTAL_VOLTAGE)
|
||
.map(TelemetryValue::getValue)
|
||
.orElse(null);
|
||
|
||
if (voltageValue != null) {
|
||
log.info("BATTERY_TOTAL_VOLTAGE 总电压: {} V", voltageValue);
|
||
dto.setVoltage((int) (voltageValue * 1000)); // 转换为毫伏
|
||
log.info("设置电压: {} mV", dto.getVoltage());
|
||
} else {
|
||
telemetry.get(TuohengDeviceTelemetry.VOLTAGE)
|
||
.ifPresent(value -> {
|
||
log.info("VOLTAGE 电压（备用）: {} V", value.getValue());
|
||
Double voltage = value.getValue();
|
||
if (voltage != null) {
|
||
dto.setVoltage((int) (voltage * 1000)); // 转换为毫伏
|
||
log.info("设置电压: {} mV", dto.getVoltage());
|
||
}
|
||
});
|
||
}
|
||
|
||
telemetry.get(TuohengDeviceTelemetry.BATTERY_CELL_TEMP)
|
||
.ifPresent(value -> {
|
||
log.info("BATTERY_CELL_TEMP 电池温度: {}", value.getValue());
|
||
dto.setBatteryTemperature(value.getValue());
|
||
});
|
||
|
||
telemetry.get(TuohengDeviceTelemetry.BATTERY_NUM_CYCLES)
|
||
.ifPresent(value -> {
|
||
log.info("BATTERY_NUM_CYCLES 循环次数: {}", value.getValue());
|
||
dto.setCycleCount(value.getValue());
|
||
});
|
||
|
||
// 设置飞行时长（从属性中获取，取不到则默认为 null）
|
||
log.info("---------- 解析飞行数据 ----------");
|
||
Integer flightDuration = attributes.get(TuohengDeviceAttributes.FLIGHT_DURATION)
|
||
.orElse(null);
|
||
if (flightDuration != null) {
|
||
log.info("FLIGHT_DURATION 飞行时长: {} 秒", flightDuration);
|
||
dto.setFlightDuration(flightDuration);
|
||
} else {
|
||
log.info("FLIGHT_DURATION 未设置");
|
||
}
|
||
|
||
// 设置最大飞行高度（从属性中获取，取不到则默认为 null）
|
||
log.info("---------- 解析飞行限制 ----------");
|
||
Integer maxAltitude = attributes.get(TuohengDeviceAttributes.MAX_ALTITUDE)
|
||
.orElse(null);
|
||
if (maxAltitude != null) {
|
||
log.info("MAX_ALTITUDE 最大飞行高度: {} 米", maxAltitude);
|
||
dto.setMaxAltitude(maxAltitude);
|
||
} else {
|
||
log.info("MAX_ALTITUDE 未设置");
|
||
}
|
||
|
||
// 设置最大飞行距离（从属性中获取，取不到则默认为 null）
|
||
Integer maxDistance = attributes.get(TuohengDeviceAttributes.MAX_DISTANCE)
|
||
.orElse(null);
|
||
if (maxDistance != null) {
|
||
log.info("MAX_DISTANCE 最大飞行距离: {} 米", maxDistance);
|
||
dto.setMaxDistance(maxDistance);
|
||
} else {
|
||
log.info("MAX_DISTANCE 未设置");
|
||
}
|
||
|
||
log.info("拓恒无人机详情填充完成: iotDeviceId={}, aircraftStatus={}", iotDeviceId, dto.getAircraftStatus());
|
||
log.info("========== 拓恒无人机详情填充结束 ==========");
|
||
} catch (Exception e) {
|
||
log.error("填充拓恒无人机详情失败: iotDeviceId={}, error={}", iotDeviceId, e.getMessage(), e);
|
||
}
|
||
}
|
||
}
|