From 5f369a159d91e0ca996b839cfa570179ce79bb4f Mon Sep 17 00:00:00 2001
From: rqian <1206436827@qq.com>
Date: Wed, 2 Sep 2026 05:03:10 +0000
Subject: [PATCH] =?UTF-8?q?#=E6=9B=B4=E6=96=B0=E4=BC=98=E5=8C=96?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit
---
.../core/business/device/NettyDevice.java | 2 +-
.../com/maibu/core/domain/entity/SysSite.java | 2 +
.../com/maibu/mqtt/HostMessageHandler.java | 130 +++++++++++-------
3 files changed, 83 insertions(+), 51 deletions(-)
diff --git a/maibu-common/src/main/java/com/maibu/core/business/device/NettyDevice.java b/maibu-common/src/main/java/com/maibu/core/business/device/NettyDevice.java
index 09f7793..5297ad4 100644
--- a/maibu-common/src/main/java/com/maibu/core/business/device/NettyDevice.java
+++ b/maibu-common/src/main/java/com/maibu/core/business/device/NettyDevice.java
@@ -367,7 +367,7 @@ public class NettyDevice extends Connector {
}, 0, 5, TimeUnit.SECONDS);
}
} catch (Exception e) {
- throw new RuntimeException(e);
+ log.error("发送开始任务：error {} ", e.getMessage());
}
}
diff --git a/maibu-common/src/main/java/com/maibu/core/domain/entity/SysSite.java b/maibu-common/src/main/java/com/maibu/core/domain/entity/SysSite.java
index 54732b1..f01b977 100644
--- a/maibu-common/src/main/java/com/maibu/core/domain/entity/SysSite.java
+++ b/maibu-common/src/main/java/com/maibu/core/domain/entity/SysSite.java
@@ -43,4 +43,6 @@ public class SysSite extends BaseDO {
private boolean dingTalkOrderPush = false;// 工单是否推送
+ private String siteMapName; // geoserver 地图名称
+
}
diff --git a/maibu-common/src/main/java/com/maibu/mqtt/HostMessageHandler.java b/maibu-common/src/main/java/com/maibu/mqtt/HostMessageHandler.java
index 0b3be73..d1e1d94 100644
--- a/maibu-common/src/main/java/com/maibu/mqtt/HostMessageHandler.java
+++ b/maibu-common/src/main/java/com/maibu/mqtt/HostMessageHandler.java
@@ -20,7 +20,6 @@ import org.springframework.util.CollectionUtils;
import java.util.ArrayList;
import java.util.List;
-
/**
* mqtt相关的 上位机处理器
*/
@@ -33,7 +32,6 @@ public class HostMessageHandler implements CustomMqttMessageHandler {
private final WebsocketMesDispather websocketMesDispather = SpringUtils.getBean(WebsocketMesDispather.class);
-
private final String mqttClientId = "maibu-mqtt-client";
@Override
@@ -49,8 +47,10 @@ public class HostMessageHandler implements CustomMqttMessageHandler {
/**
* 处理 MQTT 消息
*
- * 通配符订阅场景下，deviceKey 为配置中的固定标识（如 "host-monitor"），
- * 真正的设备 ID 需从 topic 中解析，通过 {@link #extractDeviceId(String)} 获取。
+ *
+ * 通配符订阅场景下，deviceKey 为配置中的固定标识（如 "host-monitor"），
+ * 真正的设备 ID 需从 topic 中解析，通过 {@link #extractDeviceId(String)} 获取。
+ *
*/
@Override
public void handleMessage(String deviceKey, String topic, String payload, CustomMqttDeviceConfig config) {
@@ -82,8 +82,8 @@ public class HostMessageHandler implements CustomMqttMessageHandler {
break;
// case "route_post":
// case "point_post":
- // handleTaskPost(deviceId, topic, payload, action);
- // break;
+ // handleTaskPost(deviceId, topic, payload, action);
+ // break;
case "task_status_post":
handleTaskPost(deviceId, topic, payload, action);
break;
@@ -121,21 +121,22 @@ public class HostMessageHandler implements CustomMqttMessageHandler {
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());
+ log.error("位置数据websocket推送失败: connectorId={}, error={}", x.getConnectorId(),
+ e.getMessage());
}
}
}
- //todo 推送实时位置和状态消息到外部
- //todo 记录到内存 开线程池队列 逐一转发
-// GlobalMemory.customMqttDeviceMonitor.publish(mqttClientId, String.format(MqttTopic.DEVICE_LOCATION_TOPIC, deviceId),
-// JsonUtils.toJsonString(dto));
+ // todo 推送实时位置和状态消息到外部
+ // todo 记录到内存 开线程池队列 逐一转发
+ // 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 transferData = new ArrayList<>();
@@ -152,13 +153,31 @@ public class HostMessageHandler implements CustomMqttMessageHandler {
lng.setUnit("");
transferData.add(lng);
+ DeviceStatusDetail yaw = new DeviceStatusDetail();
+ yaw.setName("yaw");
+ yaw.setValue(String.valueOf(locationRelTimeDTO.getData().getYaw()));
+ yaw.setUnit("");
+ transferData.add(yaw);
+
+ DeviceStatusDetail fix_status = new DeviceStatusDetail();
+ fix_status.setName("fix_status");
+ fix_status.setValue(String.valueOf(locationRelTimeDTO.getData().getFix_status()));
+ fix_status.setUnit("");
+ transferData.add(fix_status);
+
+ DeviceStatusDetail altitude = new DeviceStatusDetail();
+ altitude.setName("altitude");
+ altitude.setValue(String.valueOf(locationRelTimeDTO.getData().getAltitude()));
+ altitude.setUnit("");
+ transferData.add(altitude);
+
webStatusMessageDTO.setData(transferData);
webStatusMessageDTO.setType(MesType.locationInfo);
return webStatusMessageDTO;
}
public WebStatusMessageDTO createWebDeviceRealtimeMessage(HostVehicleRelTimeDTO vehicleRelTimeDTO) {
- //todo 状态消息
+ // todo 状态消息
WebStatusMessageDTO webStatusMessageDTO = new WebStatusMessageDTO();
List transferData = new ArrayList<>();
@@ -208,12 +227,14 @@ public class HostMessageHandler implements CustomMqttMessageHandler {
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());
+ 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));
+ // GlobalMemory.customMqttDeviceMonitor.publish(mqttClientId,
+ // String.format(MqttTopic.DEVICE_STATUS_TOPIC, deviceId),
+ // JsonUtils.toJsonString(dto));
}
} catch (Exception e) {
@@ -257,7 +278,6 @@ public class HostMessageHandler implements CustomMqttMessageHandler {
private void handleTaskPost(String deviceId, String topic, String payload, String action) {
log.info("【任务上报】deviceId={}, action={}, payload={}", deviceId, action, payload);
-
HostTaskStatusDTO dto = JsonUtils.parseObject(payload, HostTaskStatusDTO.class);
if (dto != null && !StringUtils.isEmpty(dto.getStatus())) {
NettyDevice nettyDevice = deviceSessionManager.getDevice(deviceId);
@@ -267,25 +287,24 @@ public class HostMessageHandler implements CustomMqttMessageHandler {
if ("cancelled".equals(dto.getStatus())) {
nettyDevice.canceledTask();
}
-// if("paused".equals(dto.getStatus())){
-// NettyDevice nettyDevice = deviceSessionManager.getDevice(deviceId);
-// nettyDevice.finishTask();
-// }
-// if("failed".equals(dto.getStatus())){
-// NettyDevice nettyDevice = deviceSessionManager.getDevice(deviceId);
-// nettyDevice.finishTask();
-// }
-// if("accepted".equals(dto.getStatus())){
-// NettyDevice nettyDevice = deviceSessionManager.getDevice(deviceId);
-// nettyDevice.finishTask();
-// }
-// if("running".equals(dto.getStatus())){
-// NettyDevice nettyDevice = deviceSessionManager.getDevice(deviceId);
-// nettyDevice.finishTask();
-// }
+ // if("paused".equals(dto.getStatus())){
+ // NettyDevice nettyDevice = deviceSessionManager.getDevice(deviceId);
+ // nettyDevice.finishTask();
+ // }
+ // if("failed".equals(dto.getStatus())){
+ // NettyDevice nettyDevice = deviceSessionManager.getDevice(deviceId);
+ // nettyDevice.finishTask();
+ // }
+ // if("accepted".equals(dto.getStatus())){
+ // NettyDevice nettyDevice = deviceSessionManager.getDevice(deviceId);
+ // nettyDevice.finishTask();
+ // }
+ // if("running".equals(dto.getStatus())){
+ // NettyDevice nettyDevice = deviceSessionManager.getDevice(deviceId);
+ // nettyDevice.finishTask();
+ // }
}
-
}
/**
@@ -302,24 +321,23 @@ public class HostMessageHandler implements CustomMqttMessageHandler {
log.debug("【控制响应】deviceId={}, payload={}", deviceId, payload);
}
-
/**
* 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
+ // todo 更新任务接收状态
HostNavigationReplyDTO replyDTO = JsonUtils.parseObject(payload, 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())) {
+ 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}/...
@@ -346,21 +364,30 @@ public class HostMessageHandler implements CustomMqttMessageHandler {
}
StringBuilder path = new StringBuilder();
for (int i = 2; i < parts.length; i++) {
- if (i > 2) path.append("/");
+ if (i > 2)
+ path.append("/");
path.append(parts[i]);
}
String remaining = path.toString();
- if (remaining.equals("property/location/post")) return "location_post";
- if (remaining.equals("property/realtime/post")) return "realtime_post";
- if (remaining.equals("event/heartbeat/post")) return "heartbeat_post";
- if (remaining.equals("event/error/post")) return "error_post";
+ if (remaining.equals("property/location/post"))
+ return "location_post";
+ if (remaining.equals("property/realtime/post"))
+ return "realtime_post";
+ if (remaining.equals("event/heartbeat/post"))
+ return "heartbeat_post";
+ if (remaining.equals("event/error/post"))
+ return "error_post";
// if (remaining.equals("task/route/post")) return "route_post";
// if (remaining.equals("task/point/post")) return "point_post";
- if (remaining.equals("task/status/post")) return "task_status_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";
+ if (remaining.equals("task/status/post"))
+ return "task_status_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;
}
@@ -369,7 +396,8 @@ public class HostMessageHandler implements CustomMqttMessageHandler {
for (String name : names) {
JsonNode fn = node.get(name);
if (fn != null && !fn.isNull()) {
- if (fn.isNumber()) return fn.asDouble();
+ if (fn.isNumber())
+ return fn.asDouble();
try {
return Double.parseDouble(fn.asText());
} catch (Exception ignored) {
@@ -383,7 +411,8 @@ public class HostMessageHandler implements CustomMqttMessageHandler {
for (String name : names) {
JsonNode fn = node.get(name);
if (fn != null && !fn.isNull()) {
- if (fn.isNumber()) return fn.asDouble();
+ if (fn.isNumber())
+ return fn.asDouble();
try {
return Double.parseDouble(fn.asText());
} catch (Exception ignored) {
@@ -397,7 +426,8 @@ public class HostMessageHandler implements CustomMqttMessageHandler {
for (String name : names) {
JsonNode fn = node.get(name);
if (fn != null && !fn.isNull()) {
- if (fn.isNumber()) return fn.asInt();
+ if (fn.isNumber())
+ return fn.asInt();
try {
return Integer.parseInt(fn.asText());
} catch (Exception ignored) {