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# update 权限相关

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This commit is contained in:
rqian
2026-08-25 09:19:12 +08:00
parent 27f4796c55
commit 33df2ff0f7
20 changed files with 222 additions and 114 deletions
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2
maibu-common/src/main/java/com/maibu/core/business/DevicePlanTask.java
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@@ -40,6 +40,6 @@ public class DevicePlanTask extends OrgBaseDO {
private LocalDateTime canExecuteTime; // 这个时间之前都不能执行
@TableField(exist = false)
private boolean taskAccepted = false; //任务被上位机接收
private volatile boolean taskAccepted = false; //任务被上位机接收
}

50
maibu-common/src/main/java/com/maibu/core/business/device/NettyDevice.java
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@@ -30,6 +30,10 @@ import java.util.ArrayList;
import java.util.LinkedList;
import java.util.List;
import java.util.Queue;
import java.util.concurrent.ScheduledExecutorService;
import java.util.concurrent.ScheduledFuture;
import java.util.concurrent.TimeUnit;
import java.util.concurrent.atomic.AtomicInteger;
@Slf4j
@EqualsAndHashCode(callSuper = true)
@@ -67,6 +71,9 @@ public class NettyDevice extends Connector {
@JsonIgnore
private WorkRecordMapper workRecordMapper = SpringUtils.getBean(WorkRecordMapper.class);
@JsonIgnore
private ScheduledExecutorService executor = SpringUtils.getBean("scheduledExecutorService");
private static final String mqttClientId = "maibu-mqtt-client";
public NettyDevice(String connectorId) {
@@ -80,7 +87,7 @@ public class NettyDevice extends Connector {
}
public void status(Integer onlineStatus){
public void status(Integer onlineStatus) {
this.onlineStatus = onlineStatus;
}
@@ -318,9 +325,46 @@ public class NettyDevice extends Connector {
if (executingTask)
return;
if (task != null) {
// startTime 在启动前记录
task.setStartTime(LocalDateTime.now());
executingTask = true;
sendNavigationCommand();
AtomicInteger count = new AtomicInteger(0);
ScheduledFuture<?>[] futureHolder = new ScheduledFuture<?>[1];
futureHolder[0] = executor.scheduleWithFixedDelay(() -> {
int current = count.incrementAndGet();
try {
executingTask = true;
if (task.isTaskAccepted()) {
// 成功，停止后续执行
futureHolder[0].cancel(false);
log.info("任务执行成功，停止重试，执行次数={}", current);
return;
}
sendNavigationCommand();
// 达到最大次数
if (current >= 10) {
futureHolder[0].cancel(false);
log.warn("任务执行达到最大次数，停止执行");
executingTask = false;
task.setTaskStaus(DeviceTaskStaus.FAILED);
devicePlanTaskMapper.saveOrUpdate(task);
task = null;
}
} catch (Exception e) {
log.error("任务执行异常，次数={}", current, e);
// 异常是否算一次，可以根据你的业务决定
if (current >= 10) {
futureHolder[0].cancel(false);
}
executingTask = false;
task.setTaskStaus(DeviceTaskStaus.FAILED);
devicePlanTaskMapper.saveOrUpdate(task);
task = null;
}
}, 0, 3, TimeUnit.SECONDS);
}
} catch (Exception e) {
throw new RuntimeException(e);

8
maibu-common/src/main/java/com/maibu/core/domain/model/LoginUser.java
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@@ -48,6 +48,12 @@ public class LoginUser implements UserDetails {
*/
private String token;
/**
* 用户唯一标识 用户控制设备
*/
private String realToken;
/**
* 登录时间
*/
@@ -108,7 +114,7 @@ public class LoginUser implements UserDetails {
this.permissions = permissions;
}
public LoginUser(Long userId, Long deptId, Long orgId, Long siteId, Long roleId,String language, SysUser user, Set<String> permissions) {
public LoginUser(Long userId, Long deptId, Long orgId, Long siteId, Long roleId, String language, SysUser user, Set<String> permissions) {
this.userId = userId;
this.deptId = deptId;
this.orgId = orgId;

19
maibu-common/src/main/java/com/maibu/core/host/HostNavigationReplyDTO.java Normal file
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@@ -0,0 +1,19 @@
package com.maibu.core.host;
import lombok.Data;
import lombok.EqualsAndHashCode;
@EqualsAndHashCode(callSuper = true)
@Data
public class HostNavigationReplyDTO extends HostBase {
private String task_id; //任务唯一编号
private String command_id;//指令唯一编号
private boolean accepted;//是否接收
private String code;//任务动作 OK|INVALID|BUSY|ERROR
private String message;
}

3
maibu-common/src/main/java/com/maibu/memory/GlobalMemory.java
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@@ -109,7 +109,8 @@ public class GlobalMemory {
MqttTopic.MOWER_WILDCARD_LOCATION,//位置 经纬度
MqttTopic.MOWER_WILDCARD_TASK_ROUTE, //路径回复
MqttTopic.MOWER_WILDCARD_ERROR,//错误
MqttTopic.MOWER_WILDCARD_REALTIME //状态消息
MqttTopic.MOWER_WILDCARD_REALTIME, //状态消息
MqttTopic.MOWER_WILDCARD_TASK_TARGET_REPLY //路径规划下发回复
));
deviceConfig.setHandlerType(Constant.mqttHandleKey); //唯一的 用于处理上位机mqtt的
customMqttDeviceMonitor.registerDevice(deviceConfig);

26
maibu-common/src/main/java/com/maibu/mqtt/HostMessageHandler.java
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@@ -8,10 +8,7 @@ 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;
import com.maibu.core.host.HostVehicleRelTimeDTO;
import com.maibu.core.host.*;
import com.maibu.memory.DeviceSessionManager;
import com.maibu.memory.GlobalMemory;
import com.maibu.utils.StringUtils;
@@ -100,6 +97,9 @@ public class HostMessageHandler implements CustomMqttMessageHandler {
case "control_reply":
handleControlReply(deviceId, topic, payload);
break;
case "route_reply":
handleRouteReply(deviceId, topic, payload);
break;
default:
log.debug("割草机消息: deviceId={}, topic={}, action={}", deviceId, topic, action);
break;
@@ -307,6 +307,23 @@ public class HostMessageHandler implements CustomMqttMessageHandler {
}
/**
* 处理控制指令响应
*/
private void handleRouteReply(String deviceId, String topic, String payload) {
log.debug("【路径任务下发响应】deviceId={}, payload={}", deviceId, payload);
//todo 更新任务接收状态
HostNavigationReplyDTO replyDTO = SpringUtils.getBean(HostNavigationReplyDTO.class);
NettyDevice device = deviceSessionManager.getDevice(deviceId);
if (replyDTO.isAccepted()) {
if (device != null && device.getTask() != null && String.valueOf(device.getTask().getId()).equals(replyDTO.getTask_id())) {
device.getTask().setTaskAccepted(true);
}
}
}
/**
* 从 Topic 中解析 deviceId
* Topic 格式：mower/{deviceId}/...
@@ -349,6 +366,7 @@ public class HostMessageHandler implements CustomMqttMessageHandler {
if (remaining.equals("task/finish/post")) return "task_finish_post";
if (remaining.equals("action/config/reply")) return "config_reply";
if (remaining.equals("action/control/reply")) return "control_reply";
if (remaining.equals("/task/target/reply")) return "route_reply";
return null;
}

2
maibu-common/src/main/java/com/maibu/mqtt/MqttTopic.java
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@@ -94,6 +94,8 @@ public class MqttTopic {
public static final String MOWER_WILDCARD_TASK_ROUTE = "mower/+/task/route/post";
public static final String MOWER_WILDCARD_TASK_TARGET_REPLY = "mower/+/task/target/reply";
public static final String MOWER_HEARTBEAT = "mower/+/event/heartbeat/post";