# 上位机心跳 以及定位信息发送部分

maibu-admin/src/main/resources/application-dev.yml

@@ -3,7 +3,7 @@ spring:
   datasource:
     type: com.alibaba.druid.pool.DruidDataSource
     driver-class-name: com.mysql.cj.jdbc.Driver
-    url: jdbc:mysql://localhost:3306/maibu?useUnicode=true&characterEncoding=utf8&zeroDateTimeBehavior=convertToNull&useSSL=true&serverTimezone=GMT%2B8
+    url: jdbc:mysql://1.95.137.212:3306/maibu?useUnicode=true&characterEncoding=utf8&zeroDateTimeBehavior=convertToNull&useSSL=true&serverTimezone=GMT%2B8
     username: satabot
     password: satabot
 
@@ -31,7 +31,7 @@ spring:
 mqtt:
   username: maibu                       # 账号
   password: jsmbzn520                       # 密码
-  host-url: tcp://localhost:1883          # mqtt连接tcp地址
+  host-url: tcp://1.95.137.212:1883          # mqtt连接tcp地址
   client-id: maibu-mqtt-client               # 客户端Id，不能相同，采用随机数 ${random.value}
   default-topic: test                     # 默认主题
   timeout: 30                             # 超时时间

maibu-common/src/main/java/com/maibu/core/business/dto/WebStatusMessageDTO.java

@@ -1,4 +1,4 @@
-package com.maibu.dto;
+package com.maibu.core.business.dto;
 
 import lombok.Data;
 

maibu-common/src/main/java/com/maibu/core/enums/MesType.java

@@ -3,6 +3,7 @@ package com.maibu.core.enums;
 public enum MesType {
     AUTH, // 登录连接权限web->be
     deviceInfo, // 设备状态 be->web
+    locationInfo,
     path, // 路径下发 web->be
     have_logged_in, // 消息
     device_status_changed, // 上下线状态变化

maibu-common/src/main/java/com/maibu/memory/DeviceSessionManager.java

@@ -87,6 +87,20 @@ public class DeviceSessionManager {
         System.out.println("Registered device: " + deviceId + " type: " + deviceType);
     }
 
+    /**
+     * 注册下位机设备
+     *
+     * @param deviceId 设备ID
+     */
+    public void registerSlaveDevice(String deviceId, ConnectorStatus status, String slaveId) {
+        NettyDevice nettyDevice = deviceMap.computeIfAbsent(deviceId, id -> new NettyDevice(id, ConnectorType.SLAVE));
+        nettyDevice.setConnectorStatus(status); // 默认上线即ACTIVE
+        nettyDevice.setCurrentSlaveId(slaveId);
+        nettyDevice.setLatestLoginTime(System.currentTimeMillis());
+        deviceMap.put(deviceId, nettyDevice);
+        logger.debug("Registered slave device:{},type:{}", deviceId, ConnectorType.SLAVE);
+    }
+
     /**
      * 上位机绑定下位机，建立双向绑定关系
      *

maibu-common/src/main/java/com/maibu/mqtt/CustomMqttDeviceMonitor.java

@@ -7,12 +7,18 @@ import org.eclipse.paho.client.mqttv3.persist.MemoryPersistence;
 import org.springframework.stereotype.Component;
 
 import javax.annotation.PreDestroy;
+import java.util.ArrayList;
+import java.util.Arrays;
 import java.util.List;
 import java.util.Map;
 import java.util.concurrent.ConcurrentHashMap;
 import java.util.concurrent.Executors;
+import java.util.concurrent.LinkedBlockingQueue;
 import java.util.concurrent.ScheduledExecutorService;
+import java.util.concurrent.ThreadFactory;
+import java.util.concurrent.ThreadPoolExecutor;
 import java.util.concurrent.TimeUnit;
+import java.util.concurrent.atomic.AtomicInteger;
 
 /**
  * 自定义外部设备 MQTT 订阅管理器
@@ -69,6 +75,22 @@ public class CustomMqttDeviceMonitor {
 
     private final ConcurrentHashMap<String, HeartBeatDTO> hearBeatMap = new ConcurrentHashMap<>();
 
+    private final ThreadPoolExecutor messageExecutor = new ThreadPoolExecutor(
+            4, 8, 30L, TimeUnit.SECONDS,
+            new LinkedBlockingQueue<>(256),
+            new ThreadFactory() {
+                private final AtomicInteger counter = new AtomicInteger(1);
+
+                @Override
+                public Thread newThread(Runnable r) {
+                    Thread t = new Thread(r, "mqtt-message-worker-" + counter.getAndIncrement());
+                    t.setDaemon(true);
+                    return t;
+                }
+            },
+            new ThreadPoolExecutor.CallerRunsPolicy()
+    );
+
     /**
      * 巡检间隔（秒）
      */
@@ -170,7 +192,7 @@ public class CustomMqttDeviceMonitor {
     }
 
     public List<HeartBeatDTO> getAllHeartBeat() {
-        return (List<HeartBeatDTO>) hearBeatMap.values();
+        return new ArrayList<>(hearBeatMap.values());
     }
 
 
@@ -202,6 +224,7 @@ public class CustomMqttDeviceMonitor {
         if (scheduler != null) {
             scheduler.shutdown();
         }
+        messageExecutor.shutdown();
         clientMap.keySet().forEach(this::disconnectDevice);
         log.info("CustomMqttDeviceMonitor 已停止");
     }
@@ -248,7 +271,7 @@ public class CustomMqttDeviceMonitor {
                 public void messageArrived(String topic, MqttMessage message) {
                     String payload = new String(message.getPayload());
                     log.debug("收到消息: deviceKey={}, topic={}, payload={}", deviceKey, topic, payload);
-                    dispatchMessage(deviceKey, topic, payload, config);
+                    messageExecutor.submit(() -> dispatchMessage(deviceKey, topic, payload, config));
                 }
 
                 @Override
@@ -395,6 +418,7 @@ public class CustomMqttDeviceMonitor {
 
     /**
      * 向指定设备发布消息（指定 QoS）
+     * 异步投递到线程池执行，避免阻塞 MQTT 回调线程
      */
     public void publish(String deviceKey, String topic, String payload, int qos) throws MqttException {
         MqttClient client = clientMap.get(deviceKey);

maibu-common/src/main/java/com/maibu/mqtt/HostMessageHandler.java

@@ -3,7 +3,11 @@ package com.maibu.mqtt;
 import com.fasterxml.jackson.databind.JsonNode;
 import com.fasterxml.jackson.databind.ObjectMapper;
 import com.maibu.constant.Constant;
+import com.maibu.core.business.device.DeviceStatusDetail;
 import com.maibu.core.business.device.NettyDevice;
+import com.maibu.core.business.dto.WebStatusMessageDTO;
+import com.maibu.core.business.inter.WebsocketMesDispather;
+import com.maibu.core.enums.MesType;
 import com.maibu.core.host.HeartBeatDTO;
 import com.maibu.core.host.HostLocationRelTimeDTO;
 import com.maibu.core.host.HostTaskStatusDTO;
@@ -14,7 +18,10 @@ import com.maibu.utils.StringUtils;
 import com.maibu.utils.json.JsonUtils;
 import com.maibu.utils.spring.SpringUtils;
 import lombok.extern.slf4j.Slf4j;
-import org.eclipse.paho.client.mqttv3.MqttException;
+import org.springframework.util.CollectionUtils;
+
+import java.util.ArrayList;
+import java.util.List;
 
 
 /**
@@ -27,6 +34,10 @@ public class HostMessageHandler implements CustomMqttMessageHandler {
 
     private final DeviceSessionManager deviceSessionManager = SpringUtils.getBean(DeviceSessionManager.class);
 
+    private final WebsocketMesDispather websocketMesDispather = SpringUtils.getBean(WebsocketMesDispather.class);
+
+
+    private final String mqttClientId = "maibu-mqtt-client";
 
     @Override
     public String getHandlerType() {
@@ -105,22 +116,111 @@ public class HostMessageHandler implements CustomMqttMessageHandler {
         try {
             log.debug("【位置数据】deviceId={}, payload={}", deviceId, payload);
             HostLocationRelTimeDTO locationRelTimeDTO = JsonUtils.parseObject(payload, HostLocationRelTimeDTO.class);
-
+            if (locationRelTimeDTO != null) {
-
+                WebStatusMessageDTO dto = createWebDeviceLocationMessage(locationRelTimeDTO);
-            //todo 发送位置信息
+                List<NettyDevice> controlMasters = deviceSessionManager
-
+                        .getAllSlaveControl(deviceId);
+                if (!CollectionUtils.isEmpty(controlMasters)) {
+                    for (NettyDevice x : controlMasters) {
+                        try {
+                            websocketMesDispather.dispather(x.getConnectorId(), JsonUtils.toJsonString(dto));
+                        } catch (Exception e) {
+                            log.error("位置数据websocket推送失败: connectorId={}, error={}", x.getConnectorId(), e.getMessage());
+                        }
+                    }
+                }
+//                GlobalMemory.customMqttDeviceMonitor.publish(mqttClientId, String.format(MqttTopic.DEVICE_LOCATION_TOPIC, deviceId),
+//                        JsonUtils.toJsonString(dto));
+            }
         } catch (Exception e) {
             log.error("位置消息解析失败: deviceId={}, payload={}, error={}", deviceId, payload, e.getMessage());
         }
     }
 
+
+    public WebStatusMessageDTO createWebDeviceLocationMessage(HostLocationRelTimeDTO locationRelTimeDTO) {
+        WebStatusMessageDTO webStatusMessageDTO = new WebStatusMessageDTO();
+        List<DeviceStatusDetail> transferData = new ArrayList<>();
+        DeviceStatusDetail lat = new DeviceStatusDetail();
+        lat.setName("latitude");
+        lat.setValue(String.valueOf(locationRelTimeDTO.getData().getLatitude()));
+        lat.setUnit("");
+
+        transferData.add(lat);
+
+        DeviceStatusDetail lng = new DeviceStatusDetail();
+        lng.setName("longitude");
+        lng.setValue(String.valueOf(locationRelTimeDTO.getData().getLongitude()));
+        lng.setUnit("");
+        transferData.add(lng);
+
+        webStatusMessageDTO.setData(transferData);
+        webStatusMessageDTO.setType(MesType.locationInfo);
+        return webStatusMessageDTO;
+    }
+
+    public WebStatusMessageDTO createWebDeviceRealtimeMessage(HostVehicleRelTimeDTO vehicleRelTimeDTO) {
+        //todo 状态消息
+
+        WebStatusMessageDTO webStatusMessageDTO = new WebStatusMessageDTO();
+        List<DeviceStatusDetail> transferData = new ArrayList<>();
+        DeviceStatusDetail voltage = new DeviceStatusDetail();
+        voltage.setName("voltage");
+        voltage.setValue(String.valueOf(vehicleRelTimeDTO.getData().getBattery_voltage()));
+        voltage.setUnit("");
+
+        transferData.add(voltage);
+
+        DeviceStatusDetail speed = new DeviceStatusDetail();
+        speed.setName("speed");
+        speed.setValue(String.valueOf(vehicleRelTimeDTO.getData().getSpeed()));
+        speed.setUnit("");
+        transferData.add(speed);
+
+        DeviceStatusDetail motion = new DeviceStatusDetail();
+        motion.setName("motion");
+        motion.setValue(String.valueOf(vehicleRelTimeDTO.getData().getMotion()));
+        motion.setUnit("");
+        transferData.add(motion);
+
+        DeviceStatusDetail percentage = new DeviceStatusDetail();
+        percentage.setName("percentage");
+        percentage.setValue(String.valueOf(vehicleRelTimeDTO.getData().getBattery_percentage()));
+        percentage.setUnit("");
+        transferData.add(percentage);
+
+        webStatusMessageDTO.setData(transferData);
+        webStatusMessageDTO.setType(MesType.deviceInfo);
+        return webStatusMessageDTO;
+    }
+
     /**
      * 上位机数据
      */
     private void handleRealtimePost(String deviceId, String topic, String payload) {
         log.debug("【实时数据】deviceId={}, payload={}", deviceId, payload);
-
+        try {
             HostVehicleRelTimeDTO vehicleRelTimeDTO = JsonUtils.parseObject(payload, HostVehicleRelTimeDTO.class);
+            if (vehicleRelTimeDTO != null) {
+                WebStatusMessageDTO dto = createWebDeviceRealtimeMessage(vehicleRelTimeDTO);
+                List<NettyDevice> controlMasters = deviceSessionManager
+                        .getAllSlaveControl(deviceId);
+                if (!CollectionUtils.isEmpty(controlMasters)) {
+                    for (NettyDevice x : controlMasters) {
+                        try {
+                            websocketMesDispather.dispather(x.getConnectorId(), JsonUtils.toJsonString(dto));
+                        } catch (Exception e) {
+                            log.error("实时数据websocket推送失败: connectorId={}, error={}", x.getConnectorId(), e.getMessage());
+                        }
+                    }
+                }
+//                GlobalMemory.customMqttDeviceMonitor.publish(mqttClientId, String.format(MqttTopic.DEVICE_STATUS_TOPIC, deviceId),
+//                        JsonUtils.toJsonString(dto));
+
+            }
+        } catch (Exception e) {
+            log.error("实时消息解析失败: deviceId={}, payload={}, error={}", deviceId, payload, e.getMessage());
+        }
     }
 
     /**
@@ -136,7 +236,7 @@ public class HostMessageHandler implements CustomMqttMessageHandler {
      * topic: mower/{deviceId}/event/heartbeat/post
      */
     private void handleHeartbeatPost(String deviceId, String topic, String payload) {
-        log.debug("【心跳】deviceId={}", deviceId);
+        log.debug("【心跳】payload={}", payload);
         // 心跳处理
         HeartBeatDTO beatDTO = JsonUtils.parseObject(payload, HeartBeatDTO.class);
         if (beatDTO != null) {
@@ -156,7 +256,7 @@ public class HostMessageHandler implements CustomMqttMessageHandler {
     /**
      * 处理任务相关上报
      */
-    private void handleTaskPost(String deviceId, String topic, String payload, String action) throws MqttException {
+    private void handleTaskPost(String deviceId, String topic, String payload, String action) {
         log.info("【任务上报】deviceId={}, action={}, payload={}", deviceId, action, payload);
 
 

maibu-common/src/main/java/com/maibu/mqtt/MqttTopic.java

@@ -5,6 +5,8 @@ public class MqttTopic {
 
     /** @deprecated 通用设备主题，建议使用 MOWER_* 系列主题 */
     public static final String DEVICE_STATUS_TOPIC = "device/%s/realTimeMessage";
+
+    public static final String DEVICE_LOCATION_TOPIC = "device/%s/locationMessage";
     /** @deprecated 通用设备主题，建议使用 MOWER_* 系列主题 */
     public static final String DEVICE_TASK_STATUS_TOPIC = "task/%s/status";
     /** @deprecated 通用设备主题，建议使用 MOWER_* 系列主题 */
@@ -90,9 +92,9 @@ public class MqttTopic {
     /** 订阅所有设备的任务状态变更 */
     public static final String MOWER_WILDCARD_TASK_STATUS = "mower/+/task/status/post";
 
-    public static final String MOWER_WILDCARD_TASK_ROUTE = " mower/+/task/route/post";
+    public static final String MOWER_WILDCARD_TASK_ROUTE = "mower/+/task/route/post";
 
-    public static final String MOWER_HEARTBEAT = " mower/+/event/heartbeat/post";
+    public static final String MOWER_HEARTBEAT = "mower/+/event/heartbeat/post";
 
 
 

maibu-framework/src/main/java/com/maibu/config/SecurityConfig.java

@@ -116,7 +116,7 @@ public class SecurityConfig extends WebSecurityConfigurerAdapter {
                 // 过滤请求
                 .authorizeRequests()
                 // 对于登录login 注册register 验证码captchaImage 允许匿名访问
-                .antMatchers("/api/thermal/**","/iotDA/device/**", "/websocket/allMemory", "/iot/UAV/**", "/iot/api/**", "/iot/device/userDevice", "/external/sms/sendAliSmsCode", "/login", "/register", "/captchaImage", "/iot/tool/register", "/iot/tool/ntp",
+                .antMatchers("/iot/host/upload-path-csv","/api/thermal/**","/iotDA/device/**", "/websocket/allMemory", "/iot/UAV/**", "/iot/api/**", "/iot/device/userDevice", "/external/sms/sendAliSmsCode", "/login", "/register", "/captchaImage", "/iot/tool/register", "/iot/tool/ntp",
                         "/iot/tool/mqtt/auth", "/iot/workRecord/**", "/iot/tool/mqtt/authv5", "/iot/tool/mqtt/webhook", "/iot/tool/mqtt/webhookv5", "/auth/**/**",
                         "/wechat/mobileLogin", "/wechat/miniLogin", "/wechat/wxBind/callback").permitAll()
                 .antMatchers("/zlmhook/**").permitAll()

maibu-netty-server/src/main/java/com/maibu/netty/handler/CommandForwardHandler.java

@@ -4,10 +4,13 @@ import java.util.List;
 import java.util.Set;
 
 import com.maibu.memory.DeviceSessionManager;
+import com.maibu.memory.GlobalMemory;
+import com.maibu.mqtt.MqttTopic;
 import org.apache.commons.codec.binary.Hex;
 import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;
 import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.beans.factory.annotation.Value;
 import org.springframework.stereotype.Component;
 import org.springframework.util.CollectionUtils;
 
@@ -32,6 +35,9 @@ public class CommandForwardHandler extends SimpleChannelInboundHandler<String> {
     @Autowired
     private DeviceSessionManager deviceSessionManager;
 
+    @Value("${mqtt.client-id}")
+    private String mqttClientId;
+
     @Override
     protected void channelRead0(ChannelHandlerContext ctx, String msg) throws Exception {
         Channel currentChannel = ctx.channel();
@@ -64,12 +70,6 @@ public class CommandForwardHandler extends SimpleChannelInboundHandler<String> {
             }
 
             if (ConnectorType.MASTER.equals(senderNettyDevice.getDeviceType())) {
-
-
-
-                //TODO  有控制权才能发
-
-
                 Set<Connector> connectedDevices = senderNettyDevice.getConnectedConnectors();
                 if (connectedDevices == null || connectedDevices.isEmpty()) {
                     logger.debug("发送拒绝master:{},该设备没有关联的设备", senderDeviceId);
@@ -84,11 +84,14 @@ public class CommandForwardHandler extends SimpleChannelInboundHandler<String> {
                         logger.debug("发送拒绝master:{},消息到达的slave设备:{},处于禁止接收状态", senderDeviceId, target.getConnectorId());
                         continue;
                     }
-                    Channel targetChannel = target.getChannel();
+                    // todo 向上位机发送控制消息
-                    if (targetChannel != null && targetChannel.isActive()) {
+
-                        targetChannel.writeAndFlush(msg);
+                    GlobalMemory.customMqttDeviceMonitor.publish(mqttClientId, String.format(MqttTopic.MOWER_CONTROL_SET, target.getConnectorId()), msg);
-                        logger.debug("从master:{},向slave:{}, 转发消息:{}", senderDeviceId, target.getConnectorId(), msg);
+//                    Channel targetChannel = target.getChannel();
-                    }
+//                    if (targetChannel != null && targetChannel.isActive()) {
+//                        targetChannel.writeAndFlush(msg);
+//                        logger.debug("从master:{},向slave:{}, 转发消息:{}", senderDeviceId, target.getConnectorId(), msg);
+//                    }
                 }
             } else if (ConnectorType.SLAVE.equals(senderNettyDevice.getDeviceType())) {
                 List<NettyDevice> masters = deviceSessionManager.getMastersBySlaveId(senderDeviceId);

maibu-netty-server/src/main/java/com/maibu/netty/handler/DataToDataBaseHandler.java

@@ -13,10 +13,8 @@ import com.maibu.constant.Constant;
 import com.maibu.core.business.DeviceRunParam;
 import com.maibu.mapper.DeviceRunParamMapper;
 import com.maibu.memory.DeviceSessionManager;
-import com.maibu.memory.SiteMemory;
 import org.apache.commons.codec.binary.Hex;
 import org.apache.commons.lang3.StringUtils;
-import org.eclipse.paho.client.mqttv3.MqttException;
 import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;
 import org.springframework.beans.factory.annotation.Autowired;
@@ -34,7 +32,7 @@ import com.maibu.core.business.device.NettyDevice;
 import com.maibu.core.business.inter.WebsocketMesDispather;
 import com.maibu.core.enums.MesType;
 import com.maibu.core.redis.RedisCache;
-import com.maibu.dto.WebStatusMessageDTO;
+import com.maibu.core.business.dto.WebStatusMessageDTO;
 import com.maibu.influxdb.MowerRealTimeData;
 import com.maibu.influxdb.util.InfluxSqlBuilder;
 import com.maibu.memory.GlobalMemory;
@@ -101,15 +99,8 @@ public class DataToDataBaseHandler extends SimpleChannelInboundHandler<String> {
                 String deviceStatus = new String(bytes, 2, bytes.length - 4, StandardCharsets.UTF_8).trim();
                 String[] split = deviceStatus.split(",");
                 WebStatusMessageDTO dto = createWebDeviceStatusMessage(split);
-                try {
                 GlobalMemory.customMqttDeviceMonitor.publish(mqttClientId, String.format(MqttTopic.DEVICE_STATUS_TOPIC, deviceID),
                             JsonUtils.toJsonString(dto));
-//                    GlobalMemory.mqttClientUtil.publish(
-//                            String.format(MqttTopic.DEVICE_STATUS_TOPIC, deviceID),
-//                            JsonUtils.toJsonString(dto));
-                } catch (MqttException e) {
-                    logger.error("发送实时状态数据错误: {}", e.getMessage());
-                }
                 List<NettyDevice> controlMasters = deviceSessionManager
                         .getAllSlaveControl(deviceID);
                 if (!CollectionUtils.isEmpty(controlMasters)) {

maibu-netty-server/src/main/java/com/maibu/netty/handler/DeviceConnectHandler.java

@@ -194,51 +194,6 @@ public class DeviceConnectHandler extends SimpleChannelInboundHandler<String> {
                                 handleMasterConnect(ctx, sessionId, null, ConnectorStatus.ACTIVE);
                             }
                         }
-                    } else {
-                        handleSlaveConnect(ctx, data);
-                        logger.info("{}: 下位机连接", data);
-                        Device device = deviceService.selectDeviceBySerialNumber(data);
-                        if (device == null) {
-                            device = new Device();
-                            device.setStatus(3);
-                            device.setOnlineStatus(DeviceStatus.online.getType());
-                            device.setSerialNumber(data);
-                            device.setDeviceName(data);
-                            device.setProductId(-1L);
-                            device.setTenantId(-1L);
-                            device.setFirmwareVersion(BigDecimal.valueOf(1.0));
-                            device.setProductName("割草机产品MC700");
-                            device.setCreateTime(LocalDateTime.now());
-                            device.setUpdateTime(LocalDateTime.now());
-                            deviceService.insertDeviceBySelf(device);
-                        } else {
-                            device.setStatus(3);
-                            device.setOnlineStatus(DeviceStatus.online.getType());
-                            device.setUpdateTime(LocalDateTime.now());
-                            deviceService.updateDeviceBySelf(device);
-                        }
-                        NettyDevice slaveDevice = sessionManager.getDevice(data);
-                        if (slaveDevice != null) {
-                            slaveDevice.setOnlineStatus(1);
-                            slaveDevice.setDevice(device);
-                        }
-                        // 推送json 找到设备绑定的主机进行推送
-                        List<NettyDevice> controlMasters = sessionManager.getAllSlaveControl(device.getSerialNumber());
-                        if (!CollectionUtils.isEmpty(controlMasters)) {
-                            controlMasters.forEach(x -> {
-                                DeviceStatusChangeDTO changeDTO = new DeviceStatusChangeDTO();
-                                changeDTO.setDeviceId(data);
-                                changeDTO.setStatus(DeviceStatus.online.getCode());
-                                changeDTO.setEvent(RespondCode.device_status_changed);
-                                ByteBuf buf = ctx.alloc().buffer();
-                                CommandUtils.buildCommand(buf, changeDTO, CommandConstant.interaction);
-                                String content = buf.toString(CharsetUtil.UTF_8);
-                                logger.info("推送下位机登录状态消息:{}", content);
-                                if (x.getChannel() != null && x.getChannel().isActive()) {
-                                    x.getChannel().writeAndFlush(buf);
-                                }
-                            });
-                        }
                     }
                 }
             } else if (cmdType == CommandConstant.interaction) {
@@ -285,7 +240,7 @@ public class DeviceConnectHandler extends SimpleChannelInboundHandler<String> {
         }
     }
 
-    public void pushFinishData(NettyDevice device, String deviceId) {
+    public void pushFinishData(NettyDevice device, String deviceId) throws MqttException {
         Long taskId = device.finishTask();
         // todo 推送信息给前端
         DeviceTaskStatusMessageDTO changeDTO = new DeviceTaskStatusMessageDTO();
@@ -294,16 +249,8 @@ public class DeviceConnectHandler extends SimpleChannelInboundHandler<String> {
         changeDTO.setType(MesType.device_task_change);
         changeDTO.setTaskId(taskId);
 
-        try {
-
         GlobalMemory.customMqttDeviceMonitor.publish(mqttClientId, String.format(MqttTopic.DEVICE_TASK_STATUS_TOPIC, taskId),
                     JsonUtils.toJsonString(changeDTO));
-
-//            GlobalMemory.mqttClientUtil.publish(String.format(MqttTopic.DEVICE_TASK_STATUS_TOPIC, taskId),
-//                    JsonUtils.toJsonString(changeDTO));
-        } catch (MqttException e) {
-            logger.error("任务完成状态推送失败 task:{},device:{}error:{}", taskId, deviceId, e.getMessage());
-        }
         List<NettyDevice> controlMasters = sessionManager
                 .getAllSlaveControl(deviceId);
         if (!CollectionUtils.isEmpty(controlMasters)) {
@@ -317,7 +264,7 @@ public class DeviceConnectHandler extends SimpleChannelInboundHandler<String> {
         }
     }
 
-    public void pushArriveData(NettyDevice device, String deviceId) {
+    public void pushArriveData(NettyDevice device, String deviceId) throws MqttException {
         Long taskId = device.getTask() == null ? null : device.getTask().getId();
         // todo 推送信息给前端
         DeviceTaskStatusMessageDTO reportDTO = new DeviceTaskStatusMessageDTO();
@@ -325,15 +272,8 @@ public class DeviceConnectHandler extends SimpleChannelInboundHandler<String> {
         reportDTO.setTaskId(taskId);
         reportDTO.setEntity(device.getCurrentPoint());
         reportDTO.setType(MesType.device_task_arrive_point);
-        try {
-
         GlobalMemory.customMqttDeviceMonitor.publish(mqttClientId, String.format(MqttTopic.DEVICE_TASK_ARRIVE_TOPIC, taskId),
                     JsonUtils.toJsonString(reportDTO));
-//            GlobalMemory.mqttClientUtil.publish(String.format(MqttTopic.DEVICE_TASK_ARRIVE_TOPIC, taskId),
-//                    JsonUtils.toJsonString(reportDTO));
-        } catch (MqttException e) {
-            logger.error("任务点位到达推送失败 task:{},device:{}error:{}", taskId, deviceId, e.getMessage());
-        }
 
         List<NettyDevice> controlMasters = sessionManager
                 .getAllSlaveControl(deviceId);

maibu-netty-server/src/main/java/com/maibu/service/DeviceThreadService.java

@@ -2,6 +2,7 @@ package com.maibu.service;
 
 import java.io.IOException;
 import java.lang.reflect.Field;
+import java.math.BigDecimal;
 import java.time.LocalDateTime;
 import java.util.ArrayList;
 import java.util.Collection;
@@ -14,12 +15,19 @@ import java.util.concurrent.ScheduledExecutorService;
 import java.util.concurrent.TimeUnit;
 import java.util.stream.Collectors;
 
+import com.maibu.constant.CommandConstant;
 import com.maibu.constant.Constant;
+import com.maibu.core.business.Device;
+import com.maibu.core.enums.*;
 import com.maibu.core.host.HeartBeatDTO;
+import com.maibu.dto.DeviceStatusChangeDTO;
 import com.maibu.memory.DeviceSessionManager;
+import com.maibu.utils.CommandUtils;
 import com.maibu.utils.json.JsonUtils;
+import io.netty.buffer.ByteBuf;
+import io.netty.channel.ChannelHandlerContext;
+import io.netty.util.CharsetUtil;
 import org.apache.commons.lang3.StringUtils;
-import org.eclipse.paho.client.mqttv3.MqttException;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.beans.factory.annotation.Value;
 import org.springframework.core.Constants;
@@ -37,9 +45,6 @@ import com.maibu.core.business.ErrorIdentificationStandard;
 import com.maibu.core.business.alarm_center.AlarmMessage;
 import com.maibu.core.business.device.NettyDevice;
 import com.maibu.core.business.inter.WebsocketMesDispather;
-import com.maibu.core.enums.CompareEnum;
-import com.maibu.core.enums.ErrorSource;
-import com.maibu.core.enums.RespondCode;
 import com.maibu.core.redis.RedisCache;
 import com.maibu.dto.DeviceErrorPushDTO;
 import com.maibu.mapper.ErrorIdentificationStandardMapper;
@@ -74,6 +79,9 @@ public class DeviceThreadService {
     @Autowired
     private AlertPushService alertPushService;
 
+    @Autowired
+    private IDeviceService deviceService;
+
     @Value("${mqtt.client-id}")
     private String mqttClientId;
 
@@ -201,7 +209,7 @@ public class DeviceThreadService {
                     log.info("推送错误信息 device:{},content:{}", deviceId, dto);
                 });
             }
-        } catch (MqttException e) {
+        } catch (Exception e) {
             log.error("推送错误信息失败 device:{}error:{}", deviceId, e.getMessage());
         }
     }
@@ -270,19 +278,58 @@ public class DeviceThreadService {
                 List<HeartBeatDTO> heartBeatDTOS = GlobalMemory.customMqttDeviceMonitor.getAllHeartBeat();
                 if (!CollectionUtils.isEmpty(heartBeatDTOS)) {
                     heartBeatDTOS.forEach(x -> {
+                        String deviceId = x.getSn();
                         Long lastActiveTime = x.getSysTimestamp();
-                        NettyDevice device = sessionManager.getDevice(x.getSn());
+                        NettyDevice nettyDevice = sessionManager.getDevice(x.getSn());
                         if (nowTime - lastActiveTime >= Constant.hostOfflineInterval) {
                             //超时了判断离线
-                            if (device != null) {
+                            if (nettyDevice != null) {
-                                device.status(0);
+                                nettyDevice.status(0);
                                 //todo 推送设备离线
-
                             }
                         } else {
-
+                            if (nettyDevice == null) {
-
+                                sessionManager.registerSlaveDevice(deviceId, ConnectorStatus.ACTIVE, null);
-
+                                Device device = deviceService.selectDeviceBySerialNumber(deviceId);
+                                if (device == null) {
+                                    device = new Device();
+                                    device.setStatus(3);
+                                    device.setOnlineStatus(DeviceStatus.online.getType());
+                                    device.setSerialNumber(deviceId);
+                                    device.setDeviceName(deviceId);
+                                    device.setProductId(-1L);
+                                    device.setTenantId(-1L);
+                                    device.setFirmwareVersion(BigDecimal.valueOf(1.0));
+                                    device.setProductName("割草机产品MC700");
+                                    device.setCreateTime(LocalDateTime.now());
+                                    device.setUpdateTime(LocalDateTime.now());
+                                    deviceService.insertDeviceBySelf(device);
+                                } else {
+                                    device.setStatus(3);
+                                    device.setOnlineStatus(DeviceStatus.online.getType());
+                                    device.setUpdateTime(LocalDateTime.now());
+                                    deviceService.updateDeviceBySelf(device);
+                                }
+                                // 推送json 找到设备绑定的主机进行推送
+//                                List<NettyDevice> controlMasters = sessionManager.getAllSlaveControl(device.getSerialNumber());
+//                                if (!CollectionUtils.isEmpty(controlMasters)) {
+//                                    controlMasters.forEach(x -> {
+//                                        DeviceStatusChangeDTO changeDTO = new DeviceStatusChangeDTO();
+//                                        changeDTO.setDeviceId(data);
+//                                        changeDTO.setStatus(DeviceStatus.online.getCode());
+//                                        changeDTO.setEvent(RespondCode.device_status_changed);
+//                                        ByteBuf buf = ctx.alloc().buffer();
+//                                        CommandUtils.buildCommand(buf, changeDTO, CommandConstant.interaction);
+//                                        String content = buf.toString(CharsetUtil.UTF_8);
+//                                        logger.info("推送下位机登录状态消息:{}", content);
+//                                        if (x.getChannel() != null && x.getChannel().isActive()) {
+//                                            x.getChannel().writeAndFlush(buf);
+//                                        }
+//                                    });
+                            } else {
+                                //todo 推送设备上线
+                                nettyDevice.status(1);
+                            }
                         }
                     });
                 }
@@ -290,8 +337,6 @@ public class DeviceThreadService {
                 log.error("执行监测心跳线程错误：{}", e.getMessage());
             }
         }, 0, 500, TimeUnit.MILLISECONDS);
-
-
     }
 
 }

maibu-web-middleware/src/main/java/com/maibu/netty/handler/ClientHandler.java

@@ -6,6 +6,7 @@ import java.util.Arrays;
 import java.util.List;
 import java.util.concurrent.TimeUnit;
 
+import com.maibu.core.business.dto.WebStatusMessageDTO;
 import org.apache.commons.lang3.StringUtils;
 import org.java_websocket.WebSocket;
 import org.slf4j.Logger;
@@ -23,7 +24,6 @@ import com.maibu.dto.ResultDTO;
 import com.maibu.dto.WebAuthResponseDTO;
 import com.maibu.dto.WebDeviceTaskStatusMessageDTO;
 import com.maibu.dto.WebOlineStatusMessageDTO;
-import com.maibu.dto.WebStatusMessageDTO;
 import com.maibu.dto.WebSwitchControlResponseDTO;
 import com.maibu.memory.MiddleGlobalMemory;
 import com.maibu.netty.NettyClient;

maibu-web-middleware/src/main/java/com/maibu/websocket/WebsocketMesHandler.java

@@ -13,7 +13,7 @@ public class WebsocketMesHandler implements DeviceWebSocketInterace {
     public void sendWebsoketMes(String key, String data) {
         MiddleGlobalMemory.onlineSockets.keySet().forEach(x -> {
             // key: test:web:token
-            if (x.startsWith(key)) {
+            if (x.contains(key)) {
                 WebSocket webSocket = MiddleGlobalMemory.onlineSockets.get(x);
                 WebsocketHandler.sendMessageToClient(webSocket, data);
             }