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This commit is contained in:
rqian
2026-07-29 13:08:49 +08:00
parent 29ecbf321f
commit 6be6d5d333
59 changed files with 1396 additions and 304 deletions
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16
maibu-netty-server/src/main/java/com/maibu/common/CommandConstant.java
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@@ -1,16 +0,0 @@
package com.maibu.common;
public class CommandConstant {
public static byte remoteControl = (byte)0x00;
public static byte heartbeat = (byte)0xff;
public static byte path = (byte)0x01;
public static byte status = (byte)0x02;
public static byte connect = (byte)0x03;
public static byte interaction = (byte)0x12; //主要用于推送状态消息等
}

17
maibu-netty-server/src/main/java/com/maibu/common/Constant.java
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@@ -1,17 +0,0 @@
package com.maibu.common;
import com.maibu.core.enums.ConnectionCloseReason;
import io.netty.util.AttributeKey;
import lombok.Data;
@Data
public class Constant {
public static final AttributeKey<String> ATT_DEVICE_ID = AttributeKey.valueOf("deviceId");
public static final AttributeKey<ConnectionCloseReason> ATT_CLOSE_REASON = AttributeKey.valueOf("closeReason");
public static final AttributeKey<String> ATT_ORG_ID = AttributeKey.valueOf("orgId");
public static final AttributeKey<String> ATT_SITE_ID = AttributeKey.valueOf("siteId");
}

4
maibu-netty-server/src/main/java/com/maibu/controller/DeviceExternalApiController.java
View File

@@ -1,11 +1,11 @@
package com.maibu.controller;
import com.maibu.common.CommandConstant;
import com.maibu.constant.CommandConstant;
import com.maibu.core.controller.BaseController;
import com.maibu.core.domain.AjaxResult;
import com.maibu.core.business.device.NettyDevice;
import com.maibu.dto.ObstacleData;
import com.maibu.manager.DeviceSessionManager;
import com.maibu.memory.DeviceSessionManager;
import com.maibu.utils.CommandUtils;
import io.netty.buffer.ByteBuf;
import io.netty.buffer.Unpooled;

2
maibu-netty-server/src/main/java/com/maibu/controller/DeviceMemoryController.java
View File

@@ -1,6 +1,6 @@
package com.maibu.controller;
import com.maibu.manager.DeviceSessionManager;
import com.maibu.memory.DeviceSessionManager;
import com.maibu.memory.GlobalMemory;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.web.bind.annotation.GetMapping;

18
maibu-netty-server/src/main/java/com/maibu/controller/NettyDeviceController.java
View File

@@ -5,6 +5,7 @@ import com.maibu.core.controller.BaseController;
import com.maibu.core.domain.AjaxResult;
import com.maibu.core.page.TableDataInfo;
import com.maibu.core.business.ErrorIdentificationStandard;
import com.maibu.dto.SendCommandDTO;
import com.maibu.service.NettyDeviceService;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.web.bind.annotation.*;
@@ -19,26 +20,29 @@ public class NettyDeviceController extends BaseController {
private NettyDeviceService nettyDeviceService;
@GetMapping("/statusHistory")
public TableDataInfo statusHistory(DeviceRunningStatusHistory history)
{
public TableDataInfo statusHistory(DeviceRunningStatusHistory history) {
startPage();
List<DeviceRunningStatusHistory> list = nettyDeviceService.statusHistory(history);
return getDataTable(list);
}
@GetMapping("/getErrorIdentification")
public TableDataInfo getErrorIdentification()
{
public TableDataInfo getErrorIdentification() {
startPage();
List<ErrorIdentificationStandard> list = nettyDeviceService.allErrorIdentificationStandard();
return getDataTable(list);
}
@PostMapping("/updateErrorIdentification")
public AjaxResult updateErrorIdentification(@RequestBody ErrorIdentificationStandard standard)
{
int i = nettyDeviceService.updateErrorIdentification(standard);
public AjaxResult updateErrorIdentification(@RequestBody ErrorIdentificationStandard standard) {
int i = nettyDeviceService.updateErrorIdentification(standard);
return AjaxResult.success(i);
}
@PostMapping("/sendCommand")
public AjaxResult sendCommand(@RequestBody SendCommandDTO command) {
nettyDeviceService.sendCommand(command);
return AjaxResult.success();
}
}

16
maibu-netty-server/src/main/java/com/maibu/dto/SendCommandDTO.java Normal file
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@@ -0,0 +1,16 @@
package com.maibu.dto;
import lombok.Data;
import java.util.List;
import java.util.Map;
@Data
public class SendCommandDTO {
private String commandType;
private Map<String,Object> params;
private List<String> deviceIds;
}

6
maibu-netty-server/src/main/java/com/maibu/handler/MowerCommamdHandler.java
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@@ -4,9 +4,7 @@ import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Component;
import com.maibu.core.business.dto.DeviceTaskCommandDTO;
import com.maibu.core.business.dto.uav.FlightTaskCreateDTO;
import com.maibu.core.business.inter.mower.MowerCommandInter;
import com.maibu.core.business.inter.uav.UAVCommandInter;
import com.maibu.service.DeviceTaskService;
@Component
@@ -16,8 +14,8 @@ public class MowerCommamdHandler implements MowerCommandInter {
private DeviceTaskService dService;
@Override
public void createDeviceTask(DeviceTaskCommandDTO dto) {
dService.createDeviceTask(dto, "system");
public Long createDeviceTask(DeviceTaskCommandDTO dto) {
return dService.createDeviceTask(dto, "system");
}
}

8
maibu-netty-server/src/main/java/com/maibu/init/InitThread.java
View File

@@ -162,7 +162,7 @@ public class InitThread implements ApplicationRunner {
if (!CollectionUtils.isEmpty(deviceRunParamList)) {
deviceRunParamList.forEach(x -> {
Long orgId = x.getOrgId();
Long siteId = x.getId();
Long siteId = x.getSiteId();
SiteMemory siteMemory = GlobalMemory.getSiteMemory(orgId, siteId);
if (siteMemory != null) {
siteMemory.saveDeviceRunParam(x);
@@ -174,7 +174,7 @@ public class InitThread implements ApplicationRunner {
if (!CollectionUtils.isEmpty(standadList)) {
standadList.forEach(x -> {
Long orgId = x.getOrgId();
Long siteId = x.getId();
Long siteId = x.getSiteId();
SiteMemory siteMemory = GlobalMemory.getSiteMemory(orgId, siteId);
if (siteMemory != null) {
siteMemory.saveErrorIdentificationStandard(x);
@@ -186,7 +186,7 @@ public class InitThread implements ApplicationRunner {
if (!CollectionUtils.isEmpty(orderModelList)) {
orderModelList.forEach(x -> {
Long orgId = x.getOrgId();
Long siteId = x.getId();
Long siteId = x.getSiteId();
SiteMemory siteMemory = GlobalMemory.getSiteMemory(orgId, siteId);
if (siteMemory != null) {
siteMemory.saveOrderModel(x);
@@ -198,7 +198,7 @@ public class InitThread implements ApplicationRunner {
if (!CollectionUtils.isEmpty(alarmOrderList)) {
alarmOrderList.forEach(x -> {
Long orgId = x.getOrgId();
Long siteId = x.getId();
Long siteId = x.getSiteId();
SiteMemory siteMemory = GlobalMemory.getSiteMemory(orgId, siteId);
if (siteMemory != null) {
siteMemory.saveAlarmOrderConfig(x);

235
maibu-netty-server/src/main/java/com/maibu/manager/DeviceSessionManager.java
View File

@@ -1,235 +0,0 @@
package com.maibu.manager;
import cn.hutool.core.util.ObjectUtil;
import com.maibu.core.enums.ConnectorStatus;
import com.maibu.core.enums.ConnectorType;
import com.maibu.core.business.device.Connector;
import com.maibu.core.business.device.NettyDevice;
import io.netty.channel.Channel;
import lombok.Data;
import org.apache.commons.lang3.StringUtils;
import org.slf4j.Logger;
import org.slf4j.LoggerFactory;
import org.springframework.stereotype.Component;
import org.springframework.util.CollectionUtils;
import java.util.*;
import java.util.concurrent.ConcurrentHashMap;
import java.util.stream.Collectors;
/**
* 设备会话管理器
* 负责管理设备信息、连接通道、双向绑定关系、状态管理和消息转发
*/
@Component
@Data
public class DeviceSessionManager {
private static final Logger logger = LoggerFactory.getLogger(DeviceSessionManager.class);
// 设备ID -> 设备对象（业务实体）
private final ConcurrentHashMap<String, NettyDevice> deviceMap = new ConcurrentHashMap<>();
// 设备ID -> Channel（通信通道）
private final ConcurrentHashMap<String, Channel> channelMap = new ConcurrentHashMap<>();
// Channel -> 设备ID（反查）
private final ConcurrentHashMap<Channel, String> channelToDeviceIdMap = new ConcurrentHashMap<>();
public void clearChannelToDeviceIdMap(String deviceId) {
if (StringUtils.isEmpty(deviceId) || CollectionUtils.isEmpty(channelToDeviceIdMap)) {
return;
}
// 获取 entrySet 迭代器，安全遍历+删除
Iterator<Map.Entry<Channel, String>> iterator = channelToDeviceIdMap.entrySet().iterator();
while (iterator.hasNext()) {
Map.Entry<Channel, String> entry = iterator.next();
Channel channel = entry.getKey();
String value = entry.getValue();
// 匹配目标 deviceId
if (deviceId.equals(value)) {
// 关闭 Channel：捕获 IO 异常，避免单个 Channel 关闭失败影响整体遍历
if (channel != null && channel.isActive()) {
try {
channel.close().syncUninterruptibly(); // 优雅关闭，等待关闭完成
} catch (Exception e) {
// 记录日志，不中断后续操作
logger.error("关闭 Channel 失败", e);
}
}
// 关键：使用迭代器的 remove() 方法，安全移除键值对，不会触发并发修改异常
iterator.remove();
}
}
}
/**
* 注册设备连接（设备上线）
*
* @param deviceId 设备ID
* @param channel 通信通道
* @param deviceType 设备类型（MASTER/SLAVE）
*/
public void registerDevice(String deviceId, Channel channel, ConnectorType deviceType, ConnectorStatus status, String slaveId) {
NettyDevice nettyDevice = deviceMap.computeIfAbsent(deviceId, id -> new NettyDevice(id, deviceType));
nettyDevice.setChannel(channel);
nettyDevice.setConnectorStatus(status); // 默认上线即ACTIVE
nettyDevice.setCurrentSlaveId(slaveId);
nettyDevice.setLatestLoginTime(System.currentTimeMillis());
deviceMap.put(deviceId, nettyDevice);
channelMap.put(deviceId, channel);
channelToDeviceIdMap.put(channel, deviceId);
System.out.println("Registered device: " + deviceId + " type: " + deviceType);
}
/**
* 上位机绑定下位机，建立双向绑定关系
*
* @param masterId 上位机设备ID
* @param slaveId 下位机设备ID
*/
public void bindConnector(String masterId, String slaveId) {
NettyDevice master = deviceMap.get(masterId);
if (master == null) return;
NettyDevice slave = deviceMap.computeIfAbsent(slaveId, id -> new NettyDevice(id, ConnectorType.SLAVE));
master.addConnectedDevice(slave);
System.out.println("Bind connectors for master " + masterId + " and slave " + slaveId);
}
/**
* 根据设备ID获取设备对象
*/
public NettyDevice getDevice(String deviceId) {
return deviceMap.get(deviceId);
}
// 模糊匹配
public List<NettyDevice> getDevicesLike(String query) {
return deviceMap.values().stream()
.filter(device -> device.getConnectorId().contains(query))
.collect(Collectors.toList());
}
public List<NettyDevice> getSlaveControl(String slaveId) {
// 获取所有连接的主机 且是active状态的
return deviceMap.values().stream()
.filter(device -> ObjectUtil.equals(device.getCurrentSlaveId(), slaveId)
&& ConnectorStatus.ACTIVE.equals(device.getConnectorStatus()))
.collect(Collectors.toList());
}
public List<NettyDevice> getAllSlaveControl(String slaveId) {
// 获取所有连接的主机 不区分状态
return deviceMap.values().stream()
.filter(device -> ObjectUtil.equals(device.getCurrentSlaveId(), slaveId))
.collect(Collectors.toList());
}
public NettyDevice getCurrentControl(String slaveId) {
// 获取所有连接的主机 不区分状态
return deviceMap.values().stream()
.filter(device -> ObjectUtil.equals(device.getCurrentSlaveId(), slaveId)
&& ConnectorStatus.ACTIVE.equals(device.getConnectorStatus()))
.findFirst().orElse(null);
}
/// 模糊匹配
public NettyDevice getUserControl(String userName) {
return deviceMap.values().stream()
.filter(device -> device.getConnectorId().contains(userName)
&& ConnectorStatus.ACTIVE.equals(device.getConnectorStatus()))
.findFirst().orElse(null);
}
/**
* 根据设备ID获取Channel
*/
public Channel getChannel(String deviceId) {
return channelMap.get(deviceId);
}
/**
* 根据Channel反查设备ID
*/
public String getDeviceIdByChannel(Channel channel) {
return channelToDeviceIdMap.get(channel);
}
/**
* 根据从机查控制的主机
*/
public NettyDevice getMasterBySlaveId(String slaveId) {
return deviceMap.values().stream().filter(x -> Objects.equals(x.getCurrentSlaveId(), slaveId)
&& ConnectorStatus.ACTIVE.equals(x.getConnectorStatus())).findFirst().orElse(null);
}
/**
* 根据从机查所有主机
*/
public List<NettyDevice> getMastersBySlaveId(String slaveId) {
return deviceMap.values().stream().filter(x -> Objects.equals(x.getCurrentSlaveId(), slaveId)).collect(Collectors.toList());
}
/**
* 移除设备连接（设备下线）
*/
public void removeDevice(String deviceId) {
NettyDevice nettyDevice = deviceMap.remove(deviceId);
// Channel channel = channelMap.remove(deviceId);
clearChannelToDeviceIdMap(deviceId);
// if (channel != null) {
// channelToDeviceIdMap.remove(channel);
// channel.close();
// }
if (nettyDevice != null) {
// 仅当设备是上位机时，才解绑绑定关系
if (nettyDevice.getDeviceType() == ConnectorType.MASTER) {
for (Connector connected : new HashSet<>(nettyDevice.getConnectedConnectors())) {
nettyDevice.removeConnectedDevice(connected);
}
} else {
// 如果是下位机，则保留绑定关系，只清理channel和状态
nettyDevice.setChannel(null);
nettyDevice.setConnectorStatus(ConnectorStatus.DISABLED); // 或者设置为离线状态
// 注意：此时device仍留在deviceMap中
nettyDevice.setLatestStatus(null);
deviceMap.put(deviceId, nettyDevice);
}
System.out.println("Removed device: " + deviceId);
}
}
/**
* 判断设备是否在线
*/
public boolean isOnline(String deviceId) {
Channel ch = channelMap.get(deviceId);
return ch != null && ch.isActive();
}
/**
* 判断设备是否允许发送消息（ACTIVE状态才允许）
*/
public boolean canSend(String deviceId) {
NettyDevice nettyDevice = deviceMap.get(deviceId);
return nettyDevice != null && nettyDevice.canSend();
}
/**
* 判断设备是否允许接收消息（非DISABLED状态才允许）
*/
public boolean canReceive(String deviceId) {
NettyDevice nettyDevice = deviceMap.get(deviceId);
return nettyDevice != null && nettyDevice.canReceive();
}
}

9
maibu-netty-server/src/main/java/com/maibu/netty/handler/CommandForwardHandler.java
View File

@@ -3,6 +3,7 @@ package com.maibu.netty.handler;
import java.util.List;
import java.util.Set;
import com.maibu.memory.DeviceSessionManager;
import org.apache.commons.codec.binary.Hex;
import org.slf4j.Logger;
import org.slf4j.LoggerFactory;
@@ -10,11 +11,10 @@ import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Component;
import org.springframework.util.CollectionUtils;
import com.maibu.common.CommandConstant;
import com.maibu.constant.CommandConstant;
import com.maibu.core.business.device.Connector;
import com.maibu.core.business.device.NettyDevice;
import com.maibu.core.enums.ConnectorType;
import com.maibu.manager.DeviceSessionManager;
import io.netty.buffer.ByteBuf;
import io.netty.channel.Channel;
@@ -36,7 +36,10 @@ public class CommandForwardHandler extends SimpleChannelInboundHandler<String> {
protected void channelRead0(ChannelHandlerContext ctx, String msg) throws Exception {
Channel currentChannel = ctx.channel();
byte[] bytes = Hex.decodeHex(msg.toCharArray());
if (bytes.length > 3 && (bytes[2] == CommandConstant.remoteControl || bytes[2] == CommandConstant.path || bytes[2] == CommandConstant.status)) {
if (bytes.length > 3 && (bytes[2] == CommandConstant.remoteControl
|| bytes[2] == CommandConstant.path
|| bytes[2] == CommandConstant.status
)) {
String senderDeviceId = deviceSessionManager.getDeviceIdByChannel(currentChannel);
NettyDevice senderNettyDevice =

22
maibu-netty-server/src/main/java/com/maibu/netty/handler/DataToDataBaseHandler.java
View File

@@ -7,7 +7,13 @@ import java.time.LocalDateTime;
import java.util.ArrayList;
import java.util.Date;
import java.util.List;
import java.util.concurrent.CompletableFuture;
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;
@@ -17,7 +23,7 @@ import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Component;
import org.springframework.util.CollectionUtils;
import com.maibu.common.CommandConstant;
import com.maibu.constant.CommandConstant;
import com.maibu.common.NettyCacheKey;
import com.maibu.core.business.DeviceRunStatistics;
import com.maibu.core.business.DeviceRunningStatusHistory;
@@ -30,7 +36,6 @@ import com.maibu.core.redis.RedisCache;
import com.maibu.dto.WebStatusMessageDTO;
import com.maibu.influxdb.MowerRealTimeData;
import com.maibu.influxdb.util.InfluxSqlBuilder;
import com.maibu.manager.DeviceSessionManager;
import com.maibu.memory.GlobalMemory;
import com.maibu.mqtt.MqttTopic;
import com.maibu.utils.json.JsonUtils;
@@ -55,6 +60,9 @@ public class DataToDataBaseHandler extends SimpleChannelInboundHandler<String> {
@Autowired
private WebsocketMesDispather websocketMesDispather;
@Autowired
private DeviceRunParamMapper deviceRunParamMapper;
private static final Long recordInterval = 5000L; // 5秒记录一次
// private static final Long pushInterval = 500L; // 0.5秒推送一次
@@ -136,6 +144,15 @@ public class DataToDataBaseHandler extends SimpleChannelInboundHandler<String> {
latestStatus.setWorkArea(Double.valueOf(workArea));
nettyDevice.setLatestStatus(latestStatus);
}
} else if (bytes[2] == CommandConstant.readConfig) {
DeviceRunParam runParam = DeviceRunParam.fromBytes(bytes);
logger.debug("收到返回的设备运行参数: {}", JsonUtils.toJsonString(runParam));
CompletableFuture<DeviceRunParam> future =
ctx.channel().attr(Constant.READ_CONFIG_KEY).get();
if (future != null) {
future.complete(runParam);
ctx.channel().attr(Constant.READ_CONFIG_KEY).set(null);
}
}
ctx.fireChannelRead(msg);
} catch (Exception e) {
@@ -143,6 +160,7 @@ public class DataToDataBaseHandler extends SimpleChannelInboundHandler<String> {
}
}
public WebStatusMessageDTO createWebDeviceStatusMessage(String[] split) {
WebStatusMessageDTO webStatusMessageDTO = new WebStatusMessageDTO();
List<DeviceStatusDetail> transferData = transferStatusData(split);

6
maibu-netty-server/src/main/java/com/maibu/netty/handler/DeviceConnectHandler.java
View File

@@ -8,6 +8,7 @@ import java.util.concurrent.ConcurrentHashMap;
import javax.annotation.Resource;
import com.maibu.memory.DeviceSessionManager;
import org.apache.commons.codec.binary.Hex;
import org.apache.commons.lang3.StringUtils;
import org.eclipse.paho.client.mqttv3.MqttException;
@@ -17,8 +18,8 @@ import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Component;
import org.springframework.util.CollectionUtils;
import com.maibu.common.CommandConstant;
import com.maibu.common.Constant;
import com.maibu.constant.CommandConstant;
import com.maibu.constant.Constant;
import com.maibu.core.business.Device;
import com.maibu.core.business.device.NettyDevice;
import com.maibu.core.business.inter.WebsocketMesDispather;
@@ -37,7 +38,6 @@ import com.maibu.dto.DeviceRequestDTO;
import com.maibu.dto.DeviceRespondDTO;
import com.maibu.dto.DeviceStatusChangeDTO;
import com.maibu.dto.DeviceTaskStatusMessageDTO;
import com.maibu.manager.DeviceSessionManager;
import com.maibu.mapper.DeviceRunStatisticsMapper;
import com.maibu.memory.GlobalMemory;
import com.maibu.mqtt.MqttTopic;

4
maibu-netty-server/src/main/java/com/maibu/netty/handler/HeartbeatHandler.java
View File

@@ -1,8 +1,8 @@
package com.maibu.netty.handler;
import com.maibu.common.Constant;
import com.maibu.manager.DeviceSessionManager;
import com.maibu.constant.Constant;
import com.maibu.memory.DeviceSessionManager;
import io.netty.buffer.ByteBuf;
import io.netty.buffer.Unpooled;
import io.netty.channel.ChannelHandler;

4
maibu-netty-server/src/main/java/com/maibu/netty/handler/HexDecoder.java
View File

@@ -1,7 +1,7 @@
package com.maibu.netty.handler;
import com.maibu.common.CommandConstant;
import com.maibu.common.Constant;
import com.maibu.constant.CommandConstant;
import com.maibu.constant.Constant;
import io.netty.buffer.ByteBuf;
import io.netty.channel.Channel;
import io.netty.channel.ChannelHandlerContext;

21
maibu-netty-server/src/main/java/com/maibu/scheduled/ScheduledTask.java
View File

@@ -2,10 +2,14 @@ package com.maibu.scheduled;
import com.maibu.common.NettyCacheKey;
import com.maibu.core.business.DevicePlan;
import com.maibu.core.business.DeviceRunParam;
import com.maibu.core.business.DeviceStatusRecordDTO;
import com.maibu.core.redis.RedisCache;
import com.maibu.mapper.DeviceStatusHistoryMapper;
import com.maibu.memory.SiteMemory;
import com.maibu.utils.json.JsonUtils;
import org.apache.commons.codec.DecoderException;
import org.apache.commons.codec.binary.Hex;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.scheduling.annotation.Scheduled;
import org.springframework.stereotype.Component;
@@ -70,4 +74,21 @@ public class ScheduledTask {
}
System.out.println("0点定时刷新状态执行完成");
}
public static void main(String[] args) throws DecoderException {
String hex = "AB AA 05 88 4D 43 37 30 30 50 4C 55 53 2D 43 4E 2D 4A 53 2D 31 37 38 34 38 37 31 39 37 39 31 39 30 2D 30 30 30 30 30 30 30 41 2D 36 30 00 B1 FB 7F FE FE FE 00 00 00 00 00 00 00 00 00 00 00 00 00 12 01 48 95 E8 03 E8 03 28 32 91 53 24 4D 43 37 30 30 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 31 32 33 34 35 36 37 38 00 00 00 00 00 00 00 00 00 00 00 00 00 08 00 00 00 CD CC A4 41 00 00 80 3F 33 33 33 3F B8 1E 05 3F 33 33 33 3F 9A 99 19 3E 00 00 80 3F 00 00 80 3F 00 00 80 3F 32 36 2D 34 2D 32 37 00 2D 32 37 00 50 B1 BF 00 00 AA AB";
String cleanHex = hex.replaceAll("\\s+", ""); // 移除所有空白字符
byte[] bytes = Hex.decodeHex(cleanHex);
DeviceRunParam runParam = DeviceRunParam.fromBytes(bytes);
System.out.println(JsonUtils.toJsonString(runParam));
runParam.setLeftBackwardGain(0.2f);
runParam.setLeftForwardGain(0.2f);
runParam.setRightForwardGain(0.2f);
runParam.setRightBackwardGain(0.2f);
byte[] newB = runParam.toWriteBytes();
System.out.println(Hex.encodeHexString(newB));
}
}

39
maibu-netty-server/src/main/java/com/maibu/service/AlertPushService.java
View File

@@ -11,6 +11,8 @@ import java.util.concurrent.TimeUnit;
import javax.crypto.Mac;
import javax.crypto.spec.SecretKeySpec;
import com.maibu.core.business.alarm_center.Alarm;
import com.maibu.memory.DeviceSessionManager;
import org.apache.commons.codec.binary.Base64;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
@@ -26,7 +28,6 @@ import com.maibu.core.business.alarm_center.AlarmMessage;
import com.maibu.core.business.device.NettyDevice;
import com.maibu.core.redis.RedisCache;
import com.maibu.dto.DeviceErrorPushDTO;
import com.maibu.manager.DeviceSessionManager;
import com.maibu.memory.GlobalMemory;
import com.maibu.memory.SiteMemory;
import com.maibu.service.impl.AlarmServiceImpl;
@@ -93,25 +94,37 @@ public class AlertPushService {
Boolean exists = redisCache.hasKey(pushKey);
if (exists != null && !exists) {
newList.add(detail);
redisCache.setCacheObject(pushKey, JsonUtils.toJsonString(detail), 10,
TimeUnit.MINUTES);
redisCache.setCacheObject(pushKey, JsonUtils.toJsonString(detail));
AlarmOrderConfig config = siteMemory.getAlarmOrderConfig(detail.getNo());
log.debug("compare config:{}", JsonUtils.toJsonString(config));
if (config != null && config.isAutoGenerateOrder()) {
IOTWorkOrder workOrder = wService.generateWorkOrders(siteId, deviceId, orgId, config.getModelId(), detail.getNo());
workOrders.add(workOrder);
}
}
}
AlarmOrderConfig config = siteMemory.getAlarmOrderConfig(detail.getNo());
if (config != null && config.isAutoGenerateOrder()) {
IOTWorkOrder workOrder = wService.generateWorkOrders(siteId, deviceId, orgId, orgId);
workOrders.add(workOrder);
}
});
//todo 后续添加配置推送的告警等级
if (alertPush == 1) {
alarmService.pushAlertMes(dto.getDetails());
}
if (!CollectionUtils.isEmpty(workOrders)) {
wService.saveAll(workOrders);
List<Alarm> alarms = alarmService.pushAlertMes(newList);
log.debug("alarms : {}", JsonUtils.toJsonString(alarms));
log.debug("workOrders : {}", JsonUtils.toJsonString(workOrders));
if (!CollectionUtils.isEmpty(workOrders)) {
if (!CollectionUtils.isEmpty(alarms)) {
workOrders.forEach(x -> {
alarms.forEach(y -> {
if (x.getAlarmNo().equals(y.getAlarmNo())) {
x.setAlarmId(y.getId());
x.setTaskDescription(y.getAlarmContent());
}
});
});
}
wService.saveAll(workOrders);
}
}
}
});
}
}
}

3
maibu-netty-server/src/main/java/com/maibu/service/DevicePlanTaskMonitorService.java
View File

@@ -4,14 +4,13 @@ package com.maibu.service;
import com.maibu.core.business.DevicePlan;
import com.maibu.core.business.DevicePlanTask;
import com.maibu.core.business.DeviceTaskPlanRule;
import com.maibu.core.business.WorkRecord;
import com.maibu.core.business.device.NettyDevice;
import com.maibu.core.enums.DeviceTaskPlanRepeatType;
import com.maibu.core.enums.DeviceTaskStaus;
import com.maibu.manager.DeviceSessionManager;
import com.maibu.mapper.DevicePlanMapper;
import com.maibu.mapper.DevicePlanTaskMapper;
import com.maibu.mapper.WorkRecordMapper;
import com.maibu.memory.DeviceSessionManager;
import com.maibu.memory.GlobalMemory;
import com.maibu.memory.SiteMemory;
import lombok.extern.slf4j.Slf4j;

8
maibu-netty-server/src/main/java/com/maibu/service/DeviceTaskService.java
View File

@@ -9,6 +9,7 @@ import java.util.List;
import java.util.Random;
import java.util.stream.Collectors;
import com.maibu.memory.DeviceSessionManager;
import org.apache.commons.lang3.StringUtils;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
@@ -29,7 +30,6 @@ import com.maibu.dto.DevicePlanStatisticsDTO;
import com.maibu.dto.DevicePlanTaskStatisticsDTO;
import com.maibu.dto.DeviceTaskQueryDTO;
import com.maibu.dto.DeviceWorkStatisticsDTO;
import com.maibu.manager.DeviceSessionManager;
import com.maibu.mapper.DeviceMapper;
import com.maibu.mapper.DevicePlanMapper;
import com.maibu.mapper.DevicePlanTaskMapper;
@@ -454,7 +454,7 @@ public class DeviceTaskService {
return list;
}
public boolean createDeviceTask(DeviceTaskCommandDTO dto, String username) {
public Long createDeviceTask(DeviceTaskCommandDTO dto, String username) {
DevicePlanTask task = new DevicePlanTask();
task.setOrgId(dto.getOrgId());
task.setSiteId(dto.getSiteId());
@@ -464,7 +464,7 @@ public class DeviceTaskService {
task.setCreateTime(LocalDateTime.now());
task.setRouteId(dto.getRouteId());
task.setStartTime(dto.getStartTime());
boolean result = devicePlanTaskMapper.saveOrUpdate(task);
devicePlanTaskMapper.saveOrUpdate(task);
if (dto.getOrgId() == null) {
SysSite site = sysSiteMapper.selectById(dto.getSiteId());
if (site != null) {
@@ -473,7 +473,7 @@ public class DeviceTaskService {
}
SiteMemory siteMemory = GlobalMemory.getSiteMemory(task.getOrgId(), task.getSiteId());
siteMemory.addDevicePlanPrepare(task);
return result;
return task.getId();
}
public boolean cancelTask(DeviceTaskCommandDTO dto, String username) {

40
maibu-netty-server/src/main/java/com/maibu/service/DeviceThreadService.java
View File

@@ -14,6 +14,7 @@ import java.util.concurrent.ScheduledExecutorService;
import java.util.concurrent.TimeUnit;
import java.util.stream.Collectors;
import com.maibu.memory.DeviceSessionManager;
import org.apache.commons.lang3.StringUtils;
import org.eclipse.paho.client.mqttv3.MqttException;
import org.springframework.beans.factory.annotation.Autowired;
@@ -36,7 +37,6 @@ 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.manager.DeviceSessionManager;
import com.maibu.mapper.ErrorIdentificationStandardMapper;
import com.maibu.memory.GlobalMemory;
import com.maibu.memory.SiteMemory;
@@ -92,19 +92,22 @@ public class DeviceThreadService {
String[] parts = k.split(":");
String deviceId = parts[1];
NettyDevice slaveDevice = sessionManager.getDevice(deviceId);
Long siteId = slaveDevice != null ? slaveDevice.getDevice().getSiteId() : null;
Long orgId = slaveDevice != null ? slaveDevice.getDevice().getOrgId() : null;
SiteMemory siteMemory = GlobalMemory.getSiteMemory(orgId, siteId);
List<AlarmMessage> compared = compareErrorStandard(siteId, orgId, history,
siteMemory.standards.get(ErrorSource.MOWER));
DeviceErrorPushDTO pushDTO = new DeviceErrorPushDTO();
pushDTO.setDeviceId(deviceId);
pushDTO.setTime(System.currentTimeMillis());
pushDTO.setDetails(compared);
pushDTO.setEvent(RespondCode.device_error_push);
pushList.add(pushDTO);
if (slaveDevice != null && slaveDevice.isOnline()) {
Long siteId = slaveDevice.getDevice().getSiteId();
Long orgId = slaveDevice.getDevice().getOrgId();
log.debug("compare siteId:{},orgId:{}", siteId, orgId);
SiteMemory siteMemory = GlobalMemory.getSiteMemory(orgId, siteId);
if (siteMemory != null) {
List<AlarmMessage> compared = compareErrorStandard(siteId, orgId, history,
siteMemory.standards.get(ErrorSource.MOWER));
DeviceErrorPushDTO pushDTO = new DeviceErrorPushDTO();
pushDTO.setDeviceId(deviceId);
pushDTO.setTime(System.currentTimeMillis());
pushDTO.setDetails(compared);
pushDTO.setEvent(RespondCode.device_error_push);
pushList.add(pushDTO);
}
}
}
});
// 按实际deviceId分组，推送错误信息
@@ -195,7 +198,7 @@ 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<>();
@@ -204,9 +207,11 @@ public class DeviceThreadService {
String compareValues = standard.getCompareValues();
CompareEnum compareType = standard.getCompareType();
String targetValue = knownClassFieldFinding(fieldName, history);
log.debug("compare2 compareType:{} compareValues:{},targetValue:{}", compareType, compareValues, targetValue);
if (!StringUtils.isEmpty(compareValues) && !StringUtils.isEmpty(targetValue)) {
boolean result = CompareUtils.compare(compareType, compareValues, targetValue);
if (!result) {
boolean result = CompareUtils.compare(compareType, targetValue, compareValues);
log.debug("compare3 result:{}", result);
if (result) {
AlarmMessage alarm = new AlarmMessage();
alarm.setContent(standard.getErrorDescription());
alarm.setDeviceSn(history.getDeviceId());
@@ -217,6 +222,7 @@ public class DeviceThreadService {
alarm.setNo(standard.getErrorCode());
alarm.setSuggestion(standard.getSuggestion());
alarm.setStatus("未处理");
alarm.setTimeValues(targetValue);
alarm.setTime(LocalDateTime.now());
alarm.setOrgId(orgId);
alarm.setSiteId(siteId);

28
maibu-netty-server/src/main/java/com/maibu/service/NettyDeviceService.java
View File

@@ -1,14 +1,19 @@
package com.maibu.service;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.maibu.constant.Constant;
import com.maibu.core.business.DeviceRunningStatusHistory;
import com.maibu.core.business.ErrorIdentificationStandard;
import com.maibu.core.business.device.NettyDevice;
import com.maibu.dto.SendCommandDTO;
import com.maibu.mapper.DeviceStatusHistoryMapper;
import com.maibu.mapper.ErrorIdentificationStandardMapper;
import com.maibu.memory.DeviceSessionManager;
import lombok.extern.slf4j.Slf4j;
import org.apache.commons.lang3.StringUtils;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
import org.springframework.util.CollectionUtils;
import java.util.List;
@@ -19,6 +24,9 @@ public class NettyDeviceService {
@Autowired
private DeviceStatusHistoryMapper deviceStatusHistoryMapper;
@Autowired
private DeviceSessionManager deviceSessionManager;
@Autowired
private ErrorIdentificationStandardMapper errorIdentificationStandardMapper;
@@ -40,5 +48,25 @@ public class NettyDeviceService {
return errorIdentificationStandardMapper.updateById(standard);
}
public void sendCommand(SendCommandDTO command) {
if (command == null || command.getCommandType() == null || CollectionUtils.isEmpty(command.getDeviceIds()))
return;
command.getDeviceIds().forEach(deviceId -> {
NettyDevice nettyDevice = deviceSessionManager.getDevice(deviceId);
if (nettyDevice != null && !nettyDevice.isExecutingTask()) {
if (nettyDevice.getChannel() != null && nettyDevice.getChannel().isActive()) {
if (Constant.WheelGainCoefficients.equals(command.getCommandType())) {
double leftForwardGain = (double) command.getParams().get("leftForwardGain");
double leftBackwardGain = (double) command.getParams().get("leftBackwardGain");
double rightForwardGain = (double) command.getParams().get("rightForwardGain");
double rightBackwardGain = (double) command.getParams().get("rightBackwardGain");
nettyDevice.sendWheelGainCoefficientsCommand(leftForwardGain, leftBackwardGain, rightForwardGain, rightBackwardGain);
}
}
}
});
}
}

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

@@ -7,9 +7,9 @@ import com.maibu.core.domain.AjaxResult;
import com.maibu.core.domain.entity.UserClient;
import com.maibu.core.domain.model.LoginUser;
import com.maibu.core.enums.ConnectorStatus;
import com.maibu.manager.DeviceSessionManager;
import com.maibu.mapper.DeviceMapper;
import com.maibu.mapper.SysUserClientMapper;
import com.maibu.memory.DeviceSessionManager;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;

24
maibu-netty-server/src/main/java/com/maibu/utils/CompareUtils.java
View File

@@ -31,38 +31,38 @@ public class CompareUtils {
return !compareValue.equals(targetValue);
case GT:
return isNumeric(compareValue) && isNumeric(targetValue) &&
Double.parseDouble(compareValue) > Double.parseDouble(targetValue);
Double.parseDouble(targetValue) > Double.parseDouble(compareValue);
case LT:
return isNumeric(compareValue) && isNumeric(targetValue) &&
Double.parseDouble(compareValue) < Double.parseDouble(targetValue);
Double.parseDouble(targetValue) < Double.parseDouble(compareValue);
case GTE:
return isNumeric(compareValue) && isNumeric(targetValue) &&
Double.parseDouble(compareValue) >= Double.parseDouble(targetValue);
Double.parseDouble(targetValue) >= Double.parseDouble(compareValue);
case LTE:
return isNumeric(compareValue) && isNumeric(targetValue) &&
Double.parseDouble(compareValue) <= Double.parseDouble(targetValue);
Double.parseDouble(targetValue) <= Double.parseDouble(compareValue);
case BETWEEN:
// 范围值用英文中划线分割
String[] rangeValues = targetValue.split("-");
String[] rangeValues = compareValue.split("-");
if (rangeValues.length != 2) {
return false;
}
return isNumeric(compareValue) && isNumeric(rangeValues[0]) && isNumeric(rangeValues[1]) &&
Double.parseDouble(compareValue) >= Double.parseDouble(rangeValues[0]) &&
Double.parseDouble(compareValue) <= Double.parseDouble(rangeValues[1]);
Double.parseDouble(targetValue) >= Double.parseDouble(rangeValues[0]) &&
Double.parseDouble(targetValue) <= Double.parseDouble(rangeValues[1]);
case NOT_BETWEEN:
// 范围值用英文中划线分割
String[] notRangeValues = targetValue.split("-");
String[] notRangeValues = compareValue.split("-");
if (notRangeValues.length != 2) {
return false;
}
return isNumeric(compareValue) && isNumeric(notRangeValues[0]) && isNumeric(notRangeValues[1]) &&
(Double.parseDouble(compareValue) < Double.parseDouble(notRangeValues[0]) ||
Double.parseDouble(compareValue) > Double.parseDouble(notRangeValues[1]));
(Double.parseDouble(targetValue) < Double.parseDouble(notRangeValues[0]) ||
Double.parseDouble(targetValue) > Double.parseDouble(notRangeValues[1]));
case CONTAIN:
return compareValue.contains(targetValue);
return targetValue.contains(compareValue);
case NOT_CONTAIN:
return !compareValue.contains(targetValue);
return !targetValue.contains(compareValue);
default:
return false;
}

2
maibu-netty-server/src/main/java/com/maibu/utils/DingTalkTemplate.java
View File

@@ -12,6 +12,7 @@ public class DingTalkTemplate {
"告警时间：%s\n\n" +
"设备名称：%s\n\n" +
"设备编号：%s\n\n" +
"当前值：%s\n\n" +
"告警内容：\n%s\n\n" +
"发生位置：\n%s\n\n" +
"处理建议：\n%s\n\n" +
@@ -21,6 +22,7 @@ public class DingTalkTemplate {
alarm.getTime(),
alarm.getDeviceName(),
alarm.getDeviceSn(),
alarm.getTimeValues(),
alarm.getContent(),
alarm.getLocation(),
alarm.getSuggestion(),