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#优化路径规划下发 任务状态接收相关

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This commit is contained in:
rqian
2026-08-28 06:32:11 +00:00
parent 9ff685e0c1
commit a92ec91cd2
10 changed files with 169 additions and 90 deletions
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16
maibu-common/src/main/java/com/maibu/core/business/dto/WebRouteStatusMessageDTO.java Normal file
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@@ -0,0 +1,16 @@
package com.maibu.core.business.dto;
import java.util.List;
import com.maibu.core.business.path.LatAndLngEntity;
import com.maibu.core.enums.MesType;
import lombok.Data;
@Data
public class WebRouteStatusMessageDTO {
private List<LatAndLngEntity> data;
private String deviceId;
private Long taskId;
private MesType type;
}

3
maibu-common/src/main/java/com/maibu/core/enums/MesType.java
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@@ -14,5 +14,6 @@ public enum MesType {
remoteControl,
detectionReport, // 障碍物消息
switchPermission, // 切换控制申请
switchResult;// 切换结果
switchResult,// 切换结果
route_post;// 路径规划 点位推送
}

47
maibu-common/src/main/java/com/maibu/memory/DeviceSessionManager.java
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@@ -1,6 +1,5 @@
package com.maibu.memory;
import cn.hutool.core.util.ObjectUtil;
import com.maibu.core.business.device.Connector;
import com.maibu.core.business.device.NettyDevice;
@@ -30,7 +29,7 @@ public class DeviceSessionManager {
// 设备ID -> 设备对象（业务实体）
private final ConcurrentHashMap<String, NettyDevice> deviceMap = new ConcurrentHashMap<>();
//当前设备的控制权在哪 登录的账号 deviceId(下位机) -> token key 唯一保证一个deviceId 只有一个控制权
// 当前设备的控制权在哪 登录的账号 deviceId(下位机) -> token key 唯一保证一个deviceId 只有一个控制权
private final ConcurrentHashMap<String, String> controllerMap = new ConcurrentHashMap<>();
// 设备ID -> Channel（通信通道）
@@ -39,7 +38,6 @@ public class DeviceSessionManager {
// 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;
@@ -67,7 +65,6 @@ public class DeviceSessionManager {
}
}
/**
* 注册设备连接（设备上线）
*
@@ -75,7 +72,8 @@ public class DeviceSessionManager {
* @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) {
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
@@ -109,7 +107,8 @@ public class DeviceSessionManager {
*/
public void bindConnector(String masterId, String slaveId) {
NettyDevice master = deviceMap.get(masterId);
if (master == null) return;
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);
@@ -147,7 +146,6 @@ public class DeviceSessionManager {
}
}
public boolean unLock(String token) {
if (!StringUtils.isEmpty(token)) {
Iterator<String> iterator = controllerMap.keySet().iterator();
@@ -179,7 +177,6 @@ public class DeviceSessionManager {
}
// 模糊匹配
public List<NettyDevice> getDevicesLike(String query) {
return deviceMap.values().stream()
@@ -187,7 +184,6 @@ public class DeviceSessionManager {
.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()
@@ -196,7 +192,6 @@ public class DeviceSessionManager {
.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()
@@ -212,7 +207,6 @@ public class DeviceSessionManager {
.findFirst().orElse(null);
}
/// 模糊匹配
public NettyDevice getUserControl(String userName) {
return deviceMap.values().stream()
@@ -221,7 +215,6 @@ public class DeviceSessionManager {
.findFirst().orElse(null);
}
/**
* 根据设备ID获取Channel
*/
@@ -236,7 +229,6 @@ public class DeviceSessionManager {
return channelToDeviceIdMap.get(channel);
}
/**
* 根据从机查控制的主机
*/
@@ -249,7 +241,8 @@ public class DeviceSessionManager {
* 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());
return deviceMap.values().stream().filter(x -> Objects.equals(x.getCurrentSlaveId(), slaveId))
.collect(Collectors.toList());
}
/**
@@ -257,12 +250,12 @@ public class DeviceSessionManager {
*/
public void removeDevice(String deviceId) {
NettyDevice nettyDevice = deviceMap.remove(deviceId);
// Channel channel = channelMap.remove(deviceId);
// Channel channel = channelMap.remove(deviceId);
clearChannelToDeviceIdMap(deviceId);
// if (channel != null) {
// channelToDeviceIdMap.remove(channel);
// channel.close();
// }
// 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) {
@@ -281,7 +274,6 @@ public class DeviceSessionManager {
}
}
/**
* 判断设备是否在线
*/
@@ -306,5 +298,20 @@ public class DeviceSessionManager {
return nettyDevice != null && nettyDevice.canReceive();
}
/**
* 获取客户端当前 控制的设备
*/
public String getDeviceByTaskId(Long taskId) {
if (taskId == null) {
return null;
}
for (String key : deviceMap.keySet()) {
NettyDevice nettyDevice = deviceMap.get(key);
if (nettyDevice != null && Objects.equals(nettyDevice.getCurrentTaskId(), taskId)) {
return nettyDevice.getConnectorId();
}
}
return null;
}
}

1
maibu-common/src/main/java/com/maibu/memory/GlobalMemory.java
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@@ -108,6 +108,7 @@ public class GlobalMemory {
MqttTopic.MOWER_HEARTBEAT,//心跳
MqttTopic.MOWER_WILDCARD_LOCATION,//位置 经纬度
MqttTopic.MOWER_WILDCARD_TASK_ROUTE, //路径回复
MqttTopic.MOWER_WILDCARD_TASK_STATUS,//任务状态
MqttTopic.MOWER_WILDCARD_ERROR,//错误
MqttTopic.MOWER_WILDCARD_REALTIME, //状态消息
MqttTopic.MOWER_WILDCARD_TASK_TARGET_REPLY //路径规划下发回复

18
maibu-common/src/main/java/com/maibu/mqtt/HostMessageHandler.java
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@@ -74,21 +74,17 @@ public class HostMessageHandler implements CustomMqttMessageHandler {
case "realtime_post":
handleRealtimePost(deviceId, topic, payload);
break;
case "status_post":
handleStatusPost(deviceId, topic, payload);
break;
case "heartbeat_post":
handleHeartbeatPost(deviceId, topic, payload);
break;
case "error_post":
handleErrorPost(deviceId, topic, payload);
break;
case "route_post":
case "point_post":
handleTaskPost(deviceId, topic, payload, action);
break;
// case "route_post":
// case "point_post":
// handleTaskPost(deviceId, topic, payload, action);
// break;
case "task_status_post":
case "task_finish_post":
handleTaskPost(deviceId, topic, payload, action);
break;
case "config_reply":
@@ -357,13 +353,11 @@ public class HostMessageHandler implements CustomMqttMessageHandler {
if (remaining.equals("property/location/post")) return "location_post";
if (remaining.equals("property/realtime/post")) return "realtime_post";
if (remaining.equals("event/status/post")) return "status_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/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("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";

40
maibu-common/src/main/java/com/maibu/mqtt/MqttTopic.java
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@@ -1,6 +1,5 @@
package com.maibu.mqtt;
public class MqttTopic {
/** @deprecated 通用设备主题，建议使用 MOWER_* 系列主题 */
@@ -13,6 +12,7 @@ public class MqttTopic {
public static final String DEVICE_TASK_ARRIVE_TOPIC = "task/%s/arrive";
/** @deprecated 通用设备主题，建议使用 MOWER_* 系列主题 */
public static final String DEVICE_ERROR_PUSH_TOPIC = "device/%s/error";
public static final String DEVICE_ROUTE_PUSH_TOPIC = "device/%s/route/post";
/** 产品标识：割草机 */
public static final String MOWER_PRODUCT = "mower";
@@ -47,8 +47,9 @@ public class MqttTopic {
// ==================== 任务管理 ====================
/** 路径规划下发（平台->设备），对应 TCP 0x01 path */
// public static final String MOWER_TASK_ROUTE_SET = "mower/%s/task/route/set";
// public static final String MOWER_TASK_ROUTE_POST = "mower/%s/task/route/post";
// public static final String MOWER_TASK_ROUTE_SET = "mower/%s/task/route/set";
// public static final String MOWER_TASK_ROUTE_POST =
// "mower/%s/task/route/post";
public static final String MOWER_TASK_ROUTE_SET = "mower/%s/task/target/set";
@@ -57,28 +58,32 @@ public class MqttTopic {
public static final String MOWER_TASK_POINT_POST = "mower/%s/task/point/post";
/** 任务状态变更上报：执行中/暂停/完成等（设备->平台） */
public static final String MOWER_TASK_STATUS_POST = "mower/%s/task/status/post";
/** 任务完成上报（设备->平台） */
public static final String MOWER_TASK_FINISH_POST = "mower/%s/task/finish/post";
// ==================== 错误告警 ====================
/** 设备错误告警上报：电机故障/传感器异常等（设备->平台） */
public static final String MOWER_ERROR_POST = "mower/%s/event/error/post";
// ==================== OTA 固件升级 ====================
// /** 下发 OTA 升级指令（平台->设备） */
// public static final String MOWER_OTA_UPGRADE_SET = "mower/%s/ota/upgrade/set";
// /** OTA 升级进度上报（设备->平台） */
// public static final String MOWER_OTA_PROGRESS_POST = "mower/%s/ota/progress/post";
// /** OTA 升级结果上报（设备->平台） */
// public static final String MOWER_OTA_RESULT_POST = "mower/%s/ota/result/post";
// /** 下发 OTA 升级指令（平台->设备） */
// public static final String MOWER_OTA_UPGRADE_SET =
// "mower/%s/ota/upgrade/set";
// /** OTA 升级进度上报（设备->平台） */
// public static final String MOWER_OTA_PROGRESS_POST =
// "mower/%s/ota/progress/post";
// /** OTA 升级结果上报（设备->平台） */
// public static final String MOWER_OTA_RESULT_POST =
// "mower/%s/ota/result/post";
// ==================== 设备信息 ====================
// /** 查询设备信息（平台->设备） */
// public static final String MOWER_INFO_DEVICE_GET = "mower/%s/info/device/get";
// /** 设备信息响应（设备->平台） */
// public static final String MOWER_INFO_DEVICE_REPLY = "mower/%s/info/device/reply";
// /** 查询设备信息（平台->设备） */
// public static final String MOWER_INFO_DEVICE_GET =
// "mower/%s/info/device/get";
// /** 设备信息响应（设备->平台） */
// public static final String MOWER_INFO_DEVICE_REPLY =
// "mower/%s/info/device/reply";
/** 设备版本信息上报（设备->平台） */
// public static final String MOWER_INFO_VERSION_POST = "mower/%s/info/version/post";
// public static final String MOWER_INFO_VERSION_POST =
// "mower/%s/info/version/post";
// ==================== 通配符订阅 ====================
/** 订阅所有设备的状态变更事件 */
@@ -98,9 +103,6 @@ public class MqttTopic {
public static final String MOWER_HEARTBEAT = "mower/+/event/heartbeat/post";
/**
* 格式化 Topic 模板，将 %s 替换为设备ID
*