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#update 地图统一推送功能

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This commit is contained in:
rqian
2026-09-14 10:37:27 +08:00
parent cfd2906b71
commit 4f7f32eeb2
17 changed files with 206 additions and 34 deletions
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5
maibu-common/src/main/java/com/maibu/config/DeviceTask.java
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@@ -102,6 +102,11 @@ public class DeviceTask {
return builder(FastBeeConstant.TASK.DEVICE_HEARTBEAT_MONITOR);
}
@Bean(FastBeeConstant.TASK.MAP_MESSAGE_PUSH)
public Executor mapMessagePush() {
return builder(FastBeeConstant.TASK.MAP_MESSAGE_PUSH);
}
@Bean(FastBeeConstant.TASK.DEVICE_TASK_HANDLER)
public Executor deviceTaskHandler() {
return builder(FastBeeConstant.TASK.DEVICE_TASK_HANDLER);

7
maibu-common/src/main/java/com/maibu/constant/FastBeeConstant.java
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@@ -105,6 +105,13 @@ public interface FastBeeConstant {
* 设备错误
*/
String DEVICE_HEARTBEAT_MONITOR = "deviceHeartBeatMonitor";
/**
* 设备错误
*/
String MAP_MESSAGE_PUSH = "mapMessagePush";
/**
* 设备任务处理线程
*/

18
maibu-common/src/main/java/com/maibu/core/business/dto/DeviceMapPushDTO.java Normal file
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@@ -0,0 +1,18 @@
package com.maibu.core.business.dto;
import lombok.Data;
@Data
public class DeviceMapPushDTO {
private String id;
private double lat;
private double lng;
private double y; //yaw
private double f; //fix_status
private double a; //altitude
private String s;//status 运行状态
private Long t; //taskId 任务id
private double b; //电量
private boolean ha = false;//hasAlarm 有无告警
}

12
maibu-common/src/main/java/com/maibu/core/business/dto/WebMapMessageDTO.java Normal file
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@@ -0,0 +1,12 @@
package com.maibu.core.business.dto;
import com.maibu.core.enums.MesType;
import lombok.Data;
import java.util.List;
@Data
public class WebMapMessageDTO {
private List<DeviceMapPushDTO> data;
private MesType type;
}

7
maibu-common/src/main/java/com/maibu/core/business/inter/DeviceWebSocketInterace.java
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@@ -1,7 +0,0 @@
package com.maibu.core.business.inter;
public interface DeviceWebSocketInterace {
void sendWebsoketMes(String key, String data);
}

10
maibu-common/src/main/java/com/maibu/core/business/inter/DeviceWebSocketInterface.java Normal file
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@@ -0,0 +1,10 @@
package com.maibu.core.business.inter;
public interface DeviceWebSocketInterface {
void sendWebsocketMes(String key, String data);
void sendMapWebsocketMes(Long siteId,String data);
}

13
maibu-common/src/main/java/com/maibu/core/business/inter/WebsocketMesDispather.java
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@@ -14,10 +14,19 @@ public class WebsocketMesDispather {
private ApplicationContext applicationContext;
public void dispather(String key, String data) {
Map<String, DeviceWebSocketInterace> beanMap = applicationContext.getBeansOfType(DeviceWebSocketInterace.class);
Map<String, DeviceWebSocketInterface> beanMap = applicationContext.getBeansOfType(DeviceWebSocketInterface.class);
// 遍历
beanMap.values().forEach(x -> {
x.sendWebsoketMes(key, data);
x.sendWebsocketMes(key, data);
});
}
public void mapMessageDispather(Long siteId, String data) {
Map<String, DeviceWebSocketInterface> beanMap = applicationContext.getBeansOfType(DeviceWebSocketInterface.class);
// 遍历
beanMap.values().forEach(x -> {
x.sendMapWebsocketMes(siteId, data);
});
}

3
maibu-common/src/main/java/com/maibu/core/enums/MesType.java
View File

@@ -15,5 +15,6 @@ public enum MesType {
detectionReport, // 障碍物消息
switchPermission, // 切换控制申请
switchResult,// 切换结果
route_post;// 路径规划 点位推送
route_post,// 路径规划 点位推送
mapPush;
}

12
maibu-common/src/main/java/com/maibu/memory/SiteMemory.java
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@@ -7,6 +7,7 @@ import java.util.Objects;
import java.util.concurrent.ConcurrentHashMap;
import com.maibu.core.business.*;
import com.maibu.core.business.dto.DeviceMapPushDTO;
import com.maibu.mqtt.CustomMqttDeviceMonitor;
import org.apache.commons.lang3.StringUtils;
import org.eclipse.paho.client.mqttv3.MqttClient;
@@ -56,6 +57,17 @@ public class SiteMemory {
// 记录 设备上线后的运行数据 下线后清除并保存到数据库
public static ConcurrentHashMap<String, DeviceRunStatistics> deviceRunStatisticsMap = new ConcurrentHashMap<>();
public static ConcurrentHashMap<String, DeviceMapPushDTO> deviceMapPushMap = new ConcurrentHashMap<>();
public Map<String, DeviceMapPushDTO> getAllDeviceMapPush() {
return deviceMapPushMap;
}
public void saveMaPushDTO(String deviceId, DeviceMapPushDTO dto) {
deviceMapPushMap.put(deviceId, dto);
}
public void saveRunStatistics(DeviceRunStatistics deviceRunStatistics) {
if (deviceRunStatistics != null && !StringUtils.isEmpty(deviceRunStatistics.getDeviceId())) {
deviceRunStatisticsMap.put(deviceRunStatistics.getDeviceId(), deviceRunStatistics);

24
maibu-common/src/main/java/com/maibu/mqtt/HostMessageHandler.java
View File

@@ -3,6 +3,7 @@ package com.maibu.mqtt;
import java.util.ArrayList;
import java.util.List;
import com.maibu.core.business.dto.DeviceMapPushDTO;
import org.springframework.util.CollectionUtils;
import com.fasterxml.jackson.databind.JsonNode;
@@ -160,7 +161,7 @@ public class HostMessageHandler implements CustomMqttMessageHandler {
}
public WebStatusMessageDTO createWebDeviceLocationMessage(HostLocationRelTimeDTO locationRelTimeDTO,
String deviceId) {
String deviceId) {
WebStatusMessageDTO webStatusMessageDTO = new WebStatusMessageDTO();
List<DeviceStatusDetail> transferData = new ArrayList<>();
DeviceStatusDetail lat = new DeviceStatusDetail();
@@ -217,6 +218,27 @@ public class HostMessageHandler implements CustomMqttMessageHandler {
webStatusMessageDTO.setData(transferData);
webStatusMessageDTO.setType(MesType.locationInfo);
if (nettyDevice != null && nettyDevice.getDevice() != null) {
Long siteId = nettyDevice.getDevice().getSiteId();
Long orgId = nettyDevice.getDevice().getOrgId();
SiteMemory siteMemory = GlobalMemory.getSiteMemory(orgId, siteId);
if (siteMemory != null) {
DeviceMapPushDTO dto = new DeviceMapPushDTO();
dto.setA(Double.parseDouble(altitude.getValue()));
dto.setId(deviceId);
// dto.setB();
// dto.setHa();
dto.setF(Double.parseDouble(fix_status.getValue()));
dto.setS(status.getValue());
dto.setLat(Double.parseDouble(lat.getValue()));
dto.setLng(Double.parseDouble(lng.getValue()));
dto.setT(nettyDevice.getCurrentTaskId());
dto.setY(Double.parseDouble(yaw.getValue()));
siteMemory.saveMaPushDTO(deviceId, dto);
}
}
return webStatusMessageDTO;
}

8
maibu-netty-server/src/main/java/com/maibu/init/InitThread.java
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@@ -42,6 +42,9 @@ public class InitThread implements ApplicationRunner {
@Resource(name = FastBeeConstant.TASK.DEVICE_HEARTBEAT_MONITOR)
private Executor deviceHeartBeatMonitorExecutor;
@Resource(name = FastBeeConstant.TASK.MAP_MESSAGE_PUSH)
private Executor mapMessagePushExecutor;
@Resource(name = FastBeeConstant.TASK.COMMON_DEVICE_MONITOR)
private Executor commonDeviceMonitorExecutor;
@@ -127,6 +130,11 @@ public class InitThread implements ApplicationRunner {
GlobalMemory.initMqttDeviceMonitor(mqttHostUrl, mqttClientId, mqttUsername, mqttPassword);
// 地图监控推送
mapMessagePushExecutor.execute(() -> {
deviceThreadService.mapMessagePush();
});
// 上位机设备心跳监控
deviceHeartBeatMonitorExecutor.execute(() -> {
deviceThreadService.heartBeatMonitor();

2
maibu-netty-server/src/main/java/com/maibu/service/DevicePlanTaskMonitorService.java
View File

@@ -229,9 +229,9 @@ public class DevicePlanTaskMonitorService {
String deviceId = devicePlanTask.getDeviceId();
if (!StringUtils.isEmpty(deviceId) && deviceId.equals(key)) {
devicePlanTask.setTaskStaus(DeviceTaskStaus.EXECUTING);
siteMemory.addDevicePlanExecute(devicePlanTask);
device.setCurrentTaskId(devicePlanTask.getId());
device.setTask(devicePlanTask);
siteMemory.addDevicePlanExecute(devicePlanTask);
siteMemory.removeDevicePlanPrepare(devicePlanTask);
}
}

43
maibu-netty-server/src/main/java/com/maibu/service/DeviceThreadService.java
View File

@@ -14,6 +14,10 @@ import java.util.concurrent.ScheduledExecutorService;
import java.util.concurrent.TimeUnit;
import java.util.stream.Collectors;
import com.maibu.core.business.dto.DeviceMapPushDTO;
import com.maibu.core.business.dto.WebMapMessageDTO;
import com.maibu.core.enums.*;
import com.maibu.utils.json.JsonUtils;
import org.apache.commons.lang3.StringUtils;
import org.checkerframework.checker.units.qual.s;
import org.springframework.beans.factory.annotation.Autowired;
@@ -35,11 +39,6 @@ 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.ConnectorStatus;
import com.maibu.core.enums.DeviceStatus;
import com.maibu.core.enums.ErrorSource;
import com.maibu.core.enums.RespondCode;
import com.maibu.core.host.HeartBeatDTO;
import com.maibu.core.host.LocationMessage;
import com.maibu.core.redis.RedisCache;
@@ -224,7 +223,7 @@ public class DeviceThreadService {
}
public List<AlarmMessage> compareErrorStandard(Long siteId, Long orgId, DeviceRunningStatusHistory history,
List<ErrorIdentificationStandard> standards) {
List<ErrorIdentificationStandard> standards) {
if (history == null || CollectionUtils.isEmpty(standards))
return null;
List<AlarmMessage> list = new ArrayList<>();
@@ -397,4 +396,36 @@ public class DeviceThreadService {
}, 0, 500, TimeUnit.MILLISECONDS);
}
/**
* 监控心跳
*/
public void mapMessagePush() {
executor.scheduleWithFixedDelay(() -> {
try {
List<SiteMemory> list = GlobalMemory.getAllSiteMemory();
if (!CollectionUtils.isEmpty(list)) {
list.forEach(x -> {
Map<String, DeviceMapPushDTO> map = x.getAllDeviceMapPush();
if (!CollectionUtils.isEmpty(map)) {
List<DeviceMapPushDTO> pushList = new ArrayList<>(map.values());
WebMapMessageDTO dto = new WebMapMessageDTO();
dto.setData(pushList);
dto.setType(MesType.mapPush);
try {
websocketMesDispather.mapMessageDispather(x.getSiteId(), JsonUtils.toJsonString(pushList));
} catch (Exception e) {
log.error("实时地图数据websocket推送失败: siteId={}, error={}", x.getSiteId(),
e.getMessage(), e);
}
}
});
}
} catch (Exception e) {
log.error("执行监测心跳线程错误：{}", e.getMessage());
}
}, 0, 100, TimeUnit.MILLISECONDS);
}
}

2
maibu-web-middleware/src/main/java/com/maibu/dto/WebMessageBaseDTO.java
View File

@@ -8,6 +8,8 @@ import lombok.Data;
public class WebMessageBaseDTO {
private MesType type;
private String userName;
private Long siteId;
private Long orgId;
private String deviceId;
private String token;
private String message;

39
maibu-web-middleware/src/main/java/com/maibu/memory/MiddleGlobalMemory.java
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@@ -9,8 +9,7 @@ import org.slf4j.Logger;
import org.slf4j.LoggerFactory;
import org.springframework.stereotype.Component;
import java.util.Map;
import java.util.Objects;
import java.util.*;
import java.util.concurrent.ConcurrentHashMap;
@Component
@@ -25,6 +24,8 @@ public class MiddleGlobalMemory {
*/
public static Vertx vertx;
//TODO 推送全局的时候需要 判断是不是单个的控制
public static ConcurrentHashMap<Long, Map<String, WebSocket>> mapPushMap = new ConcurrentHashMap<>();
// 存储所有在线WebSocket连接
// key: test:web:token
public static final ConcurrentHashMap<String, WebSocket> onlineSockets = new ConcurrentHashMap<>();
@@ -84,6 +85,7 @@ public class MiddleGlobalMemory {
.findFirst().orElse(null);
}
public static String findNettyClient(NettyClient nettyClient) {
return nettyClientMap.entrySet().stream()
.filter(entry -> Objects.equals(entry.getValue(), nettyClient))
@@ -91,5 +93,38 @@ public class MiddleGlobalMemory {
.findFirst().orElse(null);
}
public static void addMapSocket(Long siteId, String token, WebSocket webSocket) {
mapPushMap
.computeIfAbsent(siteId, k -> new ConcurrentHashMap<>())
.put(token, webSocket);
}
public static void removeByWebSocket(WebSocket webSocket) {
if (webSocket == null) {
return;
}
mapPushMap.forEach((siteId, socketMap) -> {
socketMap.entrySet().removeIf(entry ->
entry.getValue() == webSocket
);
// siteId 下没有连接了，删除整个 siteId
if (socketMap.isEmpty()) {
mapPushMap.remove(siteId, socketMap);
}
});
}
public static List<WebSocket> getMapSockets(Long siteId) {
Map<String, WebSocket> map = mapPushMap.get(siteId);
if (map == null || map.isEmpty()) {
return Collections.emptyList();
}
return new ArrayList<>(map.values());
}
}

16
maibu-web-middleware/src/main/java/com/maibu/websocket/WebsocketHandler.java
View File

@@ -64,6 +64,7 @@ public class WebsocketHandler extends WebSocketServer {
releaseResource(key);
logger.info("客户端断开连接: remoteAddress={}, code={}, reason={}, 当前在线数: {}", conn.getRemoteSocketAddress(), code, reason, MiddleGlobalMemory.onlineSockets.size());
}
MiddleGlobalMemory.removeByWebSocket(conn);
}
@Override
@@ -77,22 +78,15 @@ public class WebsocketHandler extends WebSocketServer {
String deviceId = webMessageBaseDTO.getDeviceId();
MesType type = webMessageBaseDTO.getType();
String key = userName + ":web" + ":" + token;
if (MesType.AUTH.equals(type)) {
if (MesType.mapPush.equals(type)) {
Long siteId = webMessageBaseDTO.getSiteId();
MiddleGlobalMemory.addMapSocket(siteId, token, conn);
} else if (MesType.AUTH.equals(type)) {
if (StringUtils.isEmpty(deviceId)) {
return;
}
//todo 先关闭原先的
// WebSocket oldWebsocket = MiddleGlobalMemory.onlineSockets.get(key);
NettyClient client = MiddleGlobalMemory.nettyClientMap.get(key);
// if (oldWebsocket != null && oldWebsocket.isOpen()) {
// oldWebsocket.close();
// }
// if (oldNettyClient != null && oldNettyClient.isConnected()) {
// oldNettyClient.disconnect();
// }
MiddleGlobalMemory.onlineSockets.put(key, conn);
//这里可以根据需要初始化Netty客户端
if (client == null) {
client = new NettyClient();
}

19
maibu-web-middleware/src/main/java/com/maibu/websocket/WebsocketMesHandler.java
View File

@@ -1,16 +1,19 @@
package com.maibu.websocket;
import com.maibu.core.business.inter.DeviceWebSocketInterace;
import com.maibu.core.business.inter.DeviceWebSocketInterface;
import com.maibu.memory.MiddleGlobalMemory;
import org.java_websocket.WebSocket;
import org.springframework.stereotype.Component;
import org.springframework.util.CollectionUtils;
import java.util.List;
@Component
public class WebsocketMesHandler implements DeviceWebSocketInterace {
public class WebsocketMesHandler implements DeviceWebSocketInterface {
@Override
public void sendWebsoketMes(String key, String data) {
public void sendWebsocketMes(String key, String data) {
MiddleGlobalMemory.onlineSockets.keySet().forEach(x -> {
// key: test:web:token
if (x.contains(key)) {
@@ -21,4 +24,14 @@ public class WebsocketMesHandler implements DeviceWebSocketInterace {
}
@Override
public void sendMapWebsocketMes(Long siteId, String data) {
List<WebSocket> webSocketList = MiddleGlobalMemory.getMapSockets(siteId);
if (!CollectionUtils.isEmpty(webSocketList)) {
webSocketList.forEach(webSocket -> {
WebsocketHandler.sendMessageToClient(webSocket, data);
});
}
}
}