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Merge branch 'main' of http://182.92.203.107:3000/libingkun/skyeyesystem

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This commit is contained in:
wxs 2026-03-11 18:45:18 +08:00
commit e18c6212af
5 changed files with 37 additions and 35 deletions
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2
backend/Skyeye-sys-dev/skyeye-service-manager/src/main/java/com/zhangy/skyeye/jm/service/impl/JmJobServiceImpl.java
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@ -28,7 +28,6 @@ import com.zhangy.skyeye.publics.consts.UavAirlineUploadEnum;
import com.zhangy.skyeye.publics.consts.WebSocketKey;
import com.zhangy.skyeye.publics.service.SysFileTypeService;
import com.zhangy.skyeye.publics.utils.CoordUtil;
import com.zhangy.skyeye.py.service.IPyAirlineService;
import com.zhangy.skyeye.quartz.service.QuartzService;
import com.zhangy.skyeye.sar.consts.SarImageModeEnum;
import com.zhangy.skyeye.sar.dto.SarControlParamDTO;
@ -377,6 +376,7 @@ public class JmJobServiceImpl implements JmJobService {
// 4.任务状态放入缓存
jobStatusService.add(job);
} catch (Throwable ex) {
log.warn("{}", ex.getMessage(), ex);
jobStatusService.remove(job.getId());
throw ex;
}

2
backend/Skyeye-sys-dev/skyeye-service-manager/src/main/java/com/zhangy/skyeye/jm/task/JmTaskScheduler.java
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@ -129,7 +129,7 @@ public class JmTaskScheduler {
controlInfoService.sendUdp(sar.getIp(), SarControlTypeEnum.CONNECT);
} catch (SarConnectException ex) {
// sar可能没通电，连接失败不做处理
log.warn("连接雷达[" + sar.getIp() + "]失败：" + ex.getMessage());
// log.warn("连接雷达[" + sar.getIp() + "]失败：" + ex.getMessage());
}
}
});

54
backend/Skyeye-sys-dev/skyeye-service-manager/src/main/java/com/zhangy/skyeye/sar/control/SarControlContext.java
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@ -24,6 +24,7 @@ import java.net.DatagramPacket;
import java.net.DatagramSocket;
import java.net.InetSocketAddress;
import java.util.List;
import java.util.Objects;
import java.util.stream.Collectors;
/**
@ -78,9 +79,11 @@ public class SarControlContext {
* @param param
*/
public void execute(SarControlParamDTO param) {
log.info("execute :{}",JSON.toJSONString(param));
List<ISarControlStrategy> matchedStrategys = strategies.stream()
.filter(strategy -> strategy.supports(param))
.collect(Collectors.toList());
log.info("matchedStrategys :{}",JSON.toJSONString(matchedStrategys));
if (ObjectUtil.isEmpty(matchedStrategys)) {
throw ServiceException.errorLog("无效的控制指令！");
}
@ -109,36 +112,20 @@ public class SarControlContext {
private void sendUdp(SarControlDTO control) {
SarControlTypeEnum controlType = control.getControlType();
String ip = control.getIp();
// log.debug("开始发送雷达控制指令[" + controlType + "]----------------------");
log.debug("send control:\n{}", JSON.toJSONString(control));
log.trace("send control:{}", JSON.toJSONString(control));
try (DatagramSocket socket = new DatagramSocket()) {
byte[] content = pack(control);
socket.connect(new InetSocketAddress(ip, PORT));
DatagramPacket packet = new DatagramPacket(content, content.length);
int failCount = 0;
SarErrorDTO info = null;
int failCount = 0;
while (info == null && failCount < RETRY_MAX) { // 失败重试
log.info("发送雷达控制指令 [{}] -> {} (第{}次)", controlType, ip, failCount + 1);
socket.send(packet);
// 每0.1秒取回执，1秒后超时
long startTime = System.currentTimeMillis();
String cacheKey = CacheKey.getSarControlBack(ip);
while (System.currentTimeMillis() - startTime < ANSWER_TIMEOUT) {
if (redisUtil.hasKey(cacheKey)) {
info = (SarErrorDTO) redisUtil.get(cacheKey);
redisUtil.del(cacheKey);
break;
} else {
try {
Thread.sleep(POLLING_INTERVAL);
} catch (InterruptedException e) {
Thread.currentThread().interrupt();
}
}
}
if (info == null) { // 超时未收到回执
info = waitForReply(ip);
if (info == null) {
failCount++;
log.warn("雷达 [{}] 未返回回执，第{}次重试", ip, failCount);
} else if (info.getExecStatus() == 1) {
// 只有发送的数据结构错误时才会返回错误状态，并不会因为业务不允许返回错误
throw new ServiceException("控制指令[" + controlType + "]执行状态错误，请重试");
@ -146,9 +133,8 @@ public class SarControlContext {
}
if (info == null) {
throw new SarConnectException("控制指令[" + controlType + "]发送失败，雷达[" + ip + "]无应答，请重试");
} else {
log.info("雷达控制指令[" + controlType + "]发送完毕----------------------");
}
log.info("雷达控制指令 [{}] 发送成功 -> {}", controlType, ip);
} catch (RedisConnectionFailureException ex) {
throw ServiceException.errorLog("无法连接到Redis服务！");
} catch (IOException ex) {
@ -156,6 +142,26 @@ public class SarControlContext {
}
}
private SarErrorDTO waitForReply(String ip) {
String cacheKey = CacheKey.getSarControlBack(ip);
// 每0.1秒取回执，1秒后超时
long startTime = System.currentTimeMillis();
while (System.currentTimeMillis() - startTime < ANSWER_TIMEOUT) {
if (redisUtil.hasKey(cacheKey)) {
SarErrorDTO info = (SarErrorDTO) redisUtil.get(cacheKey);
redisUtil.del(cacheKey);
log.info("收到雷达回执 ip={}", ip);
return info;
}
try {
Thread.sleep(POLLING_INTERVAL);
} catch (InterruptedException e) {
Thread.currentThread().interrupt();
}
}
return null;
}
/**
* 封包
* @param sarControl

9
backend/Skyeye-sys-dev/skyeye-service-manager/src/main/java/com/zhangy/skyeye/sar/listen/SarStatusListener.java
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@ -75,11 +75,10 @@ public class SarStatusListener extends SarAbstractListener {
if (packet.getLength() != 100) {
return;
}
log.debug("接收到状态包----------------------");
String ip = packet.getAddress().getHostAddress();
// 处理接收到的数据
SarStatusPackDTO packDTO = SarStatusPackDTO.parse(ip, packet.getData());
log.debug("recv status:\n{}", JSON.toJSONString(packDTO));
log.trace("recv status:\n{}", JSON.toJSONString(packDTO));
if (packDTO == null) {
if (running)
log.warn("[" + packDTO.getPayloadIp() + "]状态包校验失败，已丢弃。错误包=" +
@ -91,7 +90,6 @@ public class SarStatusListener extends SarAbstractListener {
if (errorStatus == 1) {
SarErrorDTO info = packDTO.getDeviceErrorInfo();
if (info.getErrorPacketType() == SarErrorTypeEnum.RESULT) {
log.debug("收到回执包：" + ip);
redisUtil.set(CacheKey.getSarControlBack(ip), info, answerTimeout, TimeUnit.SECONDS);
}
}
@ -99,11 +97,8 @@ public class SarStatusListener extends SarAbstractListener {
int deviceStatus = packDTO.getDevicePacketStatus();
if (deviceStatus == 1) {
JmSarStatusDTO info = packDTO.getDeviceStatusInfo();
log.debug("sar开机状态：" + info.getIsBoot());
sarJobStatusService.update(ip, info);
redisUtil.set(CacheKey.getSarConnect(ip), info, answerTimeout, TimeUnit.SECONDS);
//System.out.println(info);
}
log.debug("----------------------状态包解析完毕");
}
}
}

5
backend/Skyeye-sys-dev/skyeye-service-manager/src/main/java/com/zhangy/skyeye/sar/service/impl/SarControlServiceImpl.java
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@ -1,11 +1,11 @@
package com.zhangy.skyeye.sar.service.impl;
import com.alibaba.fastjson2.JSON;
import com.zhangy.skyeye.common.extend.exception.ServiceException;
import com.zhangy.skyeye.common.extend.util.JsonUtil;
import com.zhangy.skyeye.jm.dto.JmJobDTO;
import com.zhangy.skyeye.jm.dto.JmSarStatusDTO;
import com.zhangy.skyeye.jm.entity.JmJobPayload;
import com.zhangy.skyeye.jm.entity.JmJobUav;
import com.zhangy.skyeye.publics.consts.CacheKey;
import com.zhangy.skyeye.redis.utils.RedisUtil;
import com.zhangy.skyeye.sar.control.SarControlContext;
@ -36,6 +36,7 @@ public class SarControlServiceImpl implements ISarControlService {
@Override
public void sendUdp(JmJobDTO job) {
log.info("sendUdp：{}", JSON.toJSONString(job));
if (job == null || job.getUavList() == null) return;
job.getUavList().forEach(uav -> {
JmJobPayload sar = uav.getSar0();
@ -48,7 +49,7 @@ public class SarControlServiceImpl implements ISarControlService {
param.setImageBit(sar.getImageBit());
param.setResolution(sar.getResolution());
if (job.getMode().equals(CRUISE.getCode())) {
param.setControlType(SarControlTypeEnum.TURNON);
param.setControlType(SarControlTypeEnum.UPLOAD);
} else {
param.setControlType(SarControlTypeEnum.AUTO);
}