feat:飞行日志接入

aircraft-system/src/main/java/com/aircraft/modules/aircraft/controller/AircraftLogController.java

@@ -0,0 +1,39 @@
+package com.aircraft.modules.aircraft.controller;
+
+
+import com.aircraft.modules.aircraft.domain.AircraftLog;
+import com.aircraft.modules.aircraft.domain.dto.AircraftDevicePageDTO;
+import com.aircraft.modules.aircraft.domain.vo.AircraftDevicePageVO;
+import com.aircraft.modules.aircraft.service.AircraftLogService;
+import com.aircraft.utils.PageResult;
+import com.baomidou.mybatisplus.core.metadata.IPage;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import io.swagger.annotations.*;
+import lombok.RequiredArgsConstructor;
+import org.springframework.http.ResponseEntity;
+import org.springframework.web.bind.annotation.*;
+
+@Api(tags = "飞行器日志管理")
+@RequiredArgsConstructor
+@RestController
+@RequestMapping("/aircraft/log")
+public class AircraftLogController {
+
+    private final AircraftLogService aircraftLogService;
+
+    /**
+     * 分页查询飞行器日志
+     */
+    @ApiOperation("分页查询飞行器日志")
+    @GetMapping("/page")
+    public ResponseEntity<PageResult<AircraftLog>> page(
+            @ApiParam(value = "型号", required = true)
+            @RequestParam("model")String model,
+            @RequestParam(defaultValue = "1") Integer page,
+            @RequestParam(defaultValue = "10") Integer size)
+     {
+        return ResponseEntity.ok(aircraftLogService.findByUavUUID(model, page,size));
+    }
+
+
+}

aircraft-system/src/main/java/com/aircraft/modules/aircraft/domain/AircraftLog.java

@@ -0,0 +1,173 @@
+package com.aircraft.modules.aircraft.domain;
+
+import io.swagger.annotations.ApiModel;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+import org.springframework.data.annotation.Id;
+import org.springframework.data.mongodb.core.index.CompoundIndex;
+import org.springframework.data.mongodb.core.index.Indexed;
+import org.springframework.data.mongodb.core.mapping.Document;
+
+import java.io.Serializable;
+
+/**
+ * 无人机状态信息DTO
+ */
+@Data
+@Document(collection = "aircraft_log")
+@CompoundIndex(name = "uavUUID_timestamp_idx", def = "{'uavUUID': 1, 'timestampString': -1}")
+@ApiModel(description = "无人机状态信息")
+public class AircraftLog implements Serializable {
+
+    private static final long serialVersionUID = 1L;
+
+    @Id
+    @ApiModelProperty(value = "MongoDB主键ID")
+    private String id;
+
+    @ApiModelProperty(value = "测向传感器角度 0 – 360，无效值：-1000", example = "45.5")
+    private Double rtkdao;
+
+    @ApiModelProperty(value = "无人机上升速度", example = "1.2")
+    private Double climbRate;
+
+    @ApiModelProperty(value = "罗盘1角度 0 – 360，无效值：-1000", example = "90.0")
+    private Double compass1Angle;
+
+    @ApiModelProperty(value = "罗盘2角度 0 – 360，无效值：-1000", example = "90.0")
+    private Double compass2Angle;
+
+    @ApiModelProperty(value = "罗盘3角度 0 – 360，无效值：-1000", example = "90.0")
+    private Double compass3Angle;
+
+    @ApiModelProperty(value = "无人机总电流", example = "15.5")
+    private Double current;
+
+    @ApiModelProperty(value = "设备类型", example = "vehicle")
+    private String device;
+
+    @ApiModelProperty(value = "无人机海拔高度", example = "100.5")
+    private Double elevation;
+
+    @ApiModelProperty(value = "错误消息")
+    private String error;
+
+    @ApiModelProperty(value = "无人机飞行距离", example = "1500.0")
+    private Double flyDistance;
+
+    @ApiModelProperty(value = "飞行模式：定点、定高、任务、定点避障、返航、Offboard、跟踪",
+            example = "定点")
+    private String flyMode;
+
+    @ApiModelProperty(value = "无人机飞行时间", example = "00:00:00")
+    private String flyTime;
+
+    @ApiModelProperty(value = "RTK海拔高度", example = "100.5")
+    private Double gps1Alt;
+
+    @ApiModelProperty(value = "RTK水平定位精度", example = "0.5")
+    private Double gps1Hdop;
+
+    @ApiModelProperty(value = "RTK纬度坐标", example = "21.1234567")
+    private Double gps1Lat;
+
+    @ApiModelProperty(value = "RTK定位类型：None,2D Lock,3D Lock,3D DGPS Lock,3D RTK GPS Lock (float),3D RTK GPS Lock (fixed),Static (fixed)",
+            example = "3D RTK GPS Lock (fixed)")
+    private String gps1Lock;
+
+    @ApiModelProperty(value = "RTK经度坐标", example = "113.1234567")
+    private Double gps1Lon;
+
+    @ApiModelProperty(value = "RTK搜星数量", example = "15")
+    private Integer gps1Satellite;
+
+    @ApiModelProperty(value = "RTK垂直定位精度", example = "0.8")
+    private Double gps1Vdop;
+
+    @ApiModelProperty(value = "GPS海拔高度", example = "100.0")
+    private Double gps2Alt;
+
+    @ApiModelProperty(value = "GPS水平定位精度", example = "1.2")
+    private Double gps2Hdop;
+
+    @ApiModelProperty(value = "GPS纬度坐标", example = "21.1234567")
+    private Double gps2Lat;
+
+    @ApiModelProperty(value = "GPS定位类型：None,2D Lock,3D Lock,3D DGPS Lock,3D RTK GPS Lock (float),3D RTK GPS Lock (fixed),Static (fixed)",
+            example = "3D Lock")
+    private String gps2Lock;
+
+    @ApiModelProperty(value = "GPS经度坐标", example = "113.1234567")
+    private Double gps2Lon;
+
+    @ApiModelProperty(value = "GPS搜星数量", example = "12")
+    private Integer gps2Satellite;
+
+    @ApiModelProperty(value = "GPS垂直定位精度", example = "1.5")
+    private Double gps2Vdop;
+
+    @ApiModelProperty(value = "无人机水平速度", example = "5.5")
+    private Double groundSpeed;
+
+    @ApiModelProperty(value = "无人机距家距离", example = "500.0")
+    private Double homeDistance;
+
+    @ApiModelProperty(value = "无人机纬度坐标", example = "21.1234567")
+    private Double latitude;
+
+    @ApiModelProperty(value = "无人机经度坐标", example = "113.1234567")
+    private Double longitude;
+
+    @ApiModelProperty(value = "无人机俯仰角度", example = "2.5")
+    private Double pitch;
+
+    @ApiModelProperty(value = "无人机俯仰角速度", example = "0.5")
+    private Double pitchRate;
+
+    @ApiModelProperty(value = "无人机相对高度", example = "50.0")
+    private Double relativeAlt;
+
+    @ApiModelProperty(value = "无人机横滚角度", example = "1.5")
+    private Double roll;
+
+    @ApiModelProperty(value = "无人机横滚角速度", example = "0.3")
+    private Double rollRate;
+
+    @ApiModelProperty(value = "无人机SD卡剩余容量", example = "32.5")
+    private Double sdcardRemain;
+
+    @ApiModelProperty(value = "无人机状态：flying-飞行中, armed-解锁, disarmed-上锁",
+            example = "flying")
+    private String state;
+
+    @ApiModelProperty(value = "无人机ID", example = "1")
+    private Integer uavSysID;
+
+    @ApiModelProperty(value = "无人机机型：四旋翼、四旋翼+、六旋翼、六旋翼+、八旋翼、共轴双桨、三旋翼Y、四旋翼共轴双桨、直升机",
+            example = "四旋翼")
+    private String uavType;
+
+    @Indexed
+    @ApiModelProperty(value = "飞控序列号，无人机唯一识别码", example = "UAV-123456789")
+    private String uavUUID;
+
+    @ApiModelProperty(value = "无人机电压1", example = "22.5")
+    private Double voltage1;
+
+    @ApiModelProperty(value = "无人机电压2", example = "22.5")
+    private Double voltage2;
+
+    @ApiModelProperty(value = "无人机航向角", example = "180.0")
+    private Double yaw;
+
+    @ApiModelProperty(value = "无人机航向角速度", example = "1.2")
+    private Double yawRate;
+
+    @ApiModelProperty(value = "当前时间戳(毫秒)", example = "1725935401123")
+    private Long timestampSinceEpoch;
+
+    @Indexed
+    @ApiModelProperty(value = "格式化时间戳：yyyy-MM-dd hh:mm:ss:zzz",
+            example = "2024-09-10 08:30:01:123")
+    private String timestampString;
+}

aircraft-system/src/main/java/com/aircraft/modules/aircraft/service/AircraftLogService.java

@@ -0,0 +1,14 @@
+package com.aircraft.modules.aircraft.service;
+
+import com.aircraft.modules.aircraft.domain.AircraftLog;
+import com.aircraft.utils.PageResult;
+import org.springframework.messaging.Message;
+
+public interface AircraftLogService {
+
+   void saveLog(String message);
+
+
+
+   PageResult<AircraftLog> findByUavUUID(String uavUUID, int page, int size);
+}

aircraft-system/src/main/java/com/aircraft/modules/aircraft/service/impl/AircraftLogServiceImpl.java

@@ -0,0 +1,74 @@
+package com.aircraft.modules.aircraft.service.impl;
+
+import cn.hutool.json.JSONObject;
+import cn.hutool.json.JSONUtil;
+import com.aircraft.modules.aircraft.domain.AircraftLog;
+import com.aircraft.modules.aircraft.service.AircraftLogService;
+import com.aircraft.utils.PageResult;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.beans.factory.annotation.Value;
+import org.springframework.data.domain.Sort;
+import org.springframework.data.mongodb.core.MongoTemplate;
+import org.springframework.data.mongodb.core.query.Criteria;
+import org.springframework.data.mongodb.core.query.Query;
+import org.springframework.stereotype.Service;
+
+import java.util.ArrayList;
+import java.util.List;
+
+
+@Service
+@Slf4j
+@RequiredArgsConstructor
+public class AircraftLogServiceImpl implements AircraftLogService {
+
+
+
+    private final MongoTemplate mongotemplate;
+
+
+    @Override
+    public void saveLog(String message) {
+
+        try {
+            JSONObject result = JSONUtil.parseObj(message);
+            String dataStr = result.getStr("data");
+            if (null != dataStr) {
+                AircraftLog aircraftLog = com.alibaba.fastjson.JSONObject.parseObject(result.getStr("data"), AircraftLog.class);
+                mongotemplate.insert(aircraftLog);
+            }
+        } catch (Exception e) {
+            log.error("飞行器日志解析异常", e);
+        }
+    }
+
+    @Override
+    public PageResult<AircraftLog> findByUavUUID(String uavUUID, int page, int size) {
+        try {
+            // 构建查询条件
+            Query query = new Query(Criteria.where("uavUUID").is(uavUUID));
+
+            // 获取总数
+            long total = mongotemplate.count(query, AircraftLog.class);
+
+            List<AircraftLog> content = new ArrayList<>();
+            // 执行查询
+            if (total > 0){
+                // 设置分页和排序
+                query.with(Sort.by(Sort.Direction.DESC, "timestampString"))
+                        .skip((long) (page - 1) * size)
+                        .limit(size);
+
+                content = mongotemplate.find(query, AircraftLog.class);
+            }
+
+
+            return new PageResult<>(content, total);
+        } catch (Exception e) {
+            log.error("根据uavUUID分页查询无人机日志失败 - uavUUID: {}, page: {}, size: {}",
+                    uavUUID, page, size, e);
+            throw new RuntimeException("查询无人机日志失败", e);
+        }
+    }
+}

aircraft-system/src/main/java/com/aircraft/udp/UdpListener.java

@@ -0,0 +1,61 @@
+package com.aircraft.udp;
+
+import cn.hutool.json.JSONObject;
+import cn.hutool.json.JSONUtil;
+import com.aircraft.modules.aircraft.service.AircraftLogService;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.beans.factory.annotation.Value;
+import org.springframework.context.annotation.Bean;
+import org.springframework.context.annotation.Configuration;
+import org.springframework.integration.config.EnableIntegration;
+import org.springframework.integration.dsl.IntegrationFlow;
+import org.springframework.integration.dsl.IntegrationFlows;
+import org.springframework.integration.ip.dsl.Udp;
+import org.springframework.messaging.handler.annotation.Payload;
+
+import javax.annotation.Resource;
+import java.nio.charset.StandardCharsets;
+
+@Slf4j
+@Configuration
+@EnableIntegration
+public class UdpListener {
+
+    @Value("${udp.receive-port}")
+    private Integer receivePort;
+
+    @Resource
+    private AircraftLogService aircraftLogService;
+
+
+    /**
+     * 定义接收流程
+     */
+    @Bean
+    public IntegrationFlow udpInboundFlow() {
+        return IntegrationFlows
+                .from(Udp.inboundAdapter(receivePort))
+                .handle(message -> {
+                    handleMessage((byte[]) message.getPayload());
+                })
+                .get();
+    }
+
+
+    public void handleMessage(@Payload byte[] payload) {
+        String message = new String(payload, StandardCharsets.UTF_8); // 指定编码，避免乱码
+        log.info("Received UDP data:{} ", message);
+        try {
+            JSONObject result = JSONUtil.parseObj(message);
+            if ("status".equals(result.getStr("command"))) {
+                //目前只有飞行日志
+                aircraftLogService.saveLog(message);
+            }
+        } catch (Exception e) {
+            log.error("UDP Message 解析异常！", e);
+        }
+
+    }
+
+
+}

aircraft-system/src/main/resources/config/application-local.yml

@@ -1,6 +1,15 @@
 #配置数据源
 spring:
 
+  data:
+    mongodb:
+      host: 8.130.155.168
+      port: 27017
+      database: aircraft
+      username: aircraft
+      password: rGisFzT8PDtHYftL
+      authentication-database: aircraft
+
   datasource:
     druid:
       db-type: com.alibaba.druid.pool.DruidDataSource

aircraft-system/src/main/resources/config/application-prod.yml

@@ -1,154 +0,0 @@
-#配置数据源
-spring:
-  datasource:
-    druid:
-      db-type: com.alibaba.druid.pool.DruidDataSource
-      driverClassName: com.p6spy.engine.spy.P6SpyDriver
-      url: jdbc:p6spy:mysql://172.31.108.89:3306/aircraft-mp?serverTimezone=Asia/Shanghai&characterEncoding=utf8&useSSL=false
-      username: aishangyun_dev
-      password: asyfx@123dev
-      # 初始连接数，建议设置为与最小空闲连接数相同
-      initial-size: 20
-      # 最小空闲连接数，保持足够的空闲连接以应对请求
-      min-idle: 20
-      # 最大连接数，根据并发需求适当增加
-      max-active: 50
-      # 获取连接超时时间（毫秒），调整以满足响应时间要求
-      max-wait: 3000
-      # 启用KeepAlive机制，保持长连接
-      keep-alive: true
-      # 连接有效性检测间隔时间（毫秒），定期检查连接的健康状态
-      time-between-eviction-runs-millis: 60000
-      # 连接在池中最小生存时间（毫秒），确保连接在池中至少存在一段时间
-      min-evictable-idle-time-millis: 300000
-      # 连接在池中最大生存时间（毫秒），防止连接在池中停留过长
-      max-evictable-idle-time-millis: 900000
-      # 指明连接是否被空闲连接回收器(如果有)进行检验.如果检测失败,则连接将被从池中去除
-      test-while-idle: true
-      # 指明是否在从池中取出连接前进行检验,如果检验失败, 则从池中去除连接并尝试取出另一个
-      test-on-borrow: true
-      # 是否在归还到池中前进行检验
-      test-on-return: false
-      # 停用 com_ping 探活机制
-      use-ping-method: false
-      # 检测连接是否有效
-      validation-query: SELECT 1
-      # 配置监控统计
-      webStatFilter:
-        enabled: true
-      stat-view-servlet:
-        allow:
-        enabled: true
-        # 控制台管理用户名和密码
-        url-pattern: /druid/*
-        reset-enable: false
-        login-username: admin
-        login-password: 123456
-      filter:
-        stat:
-          enabled: true
-          # 记录慢SQL
-          log-slow-sql: true
-          slow-sql-millis: 1000
-          merge-sql: true
-        wall:
-          config:
-            multi-statement-allow: true
-  redis:
-    #数据库索引
-    database: ${REDIS_DB:1}
-    host: ${REDIS_HOST:172.31.108.89}
-    port: ${REDIS_PORT:6334}
-    password: ${REDIS_PWD:aircraft.redis.@2025}
-
-# 登录相关配置
-login:
-  #  是否限制单用户登录
-  single-login: false
-  # Redis用户登录缓存配置
-  user-cache:
-    # 存活时间/秒
-    idle-time: 21600
-  #  验证码
-  code:
-    #  验证码类型配置 查看 LoginProperties 类
-    code-type: arithmetic
-    #  登录图形验证码有效时间/分钟
-    expiration: 2
-    #  验证码高度
-    width: 111
-    #  验证码宽度
-    height: 36
-    # 内容长度
-    length: 2
-    # 字体名称，为空则使用默认字体，如遇到线上乱码，设置其他字体即可
-    font-name:
-    # 字体大小
-    font-size: 25
-
-#jwt
-jwt:
-  header: Authorization
-  # 令牌前缀
-  token-start-with: Bearer
-  # 必须使用最少88位的Base64对该令牌进行编码
-  base64-secret: ZmQ0ZGI5NjQ0MDQwY2I4MjMxY2Y3ZmI3MjdhN2ZmMjNhODViOTg1ZGE0NTBjMGM4NDA5NzYxMjdjOWMwYWRmZTBlZjlhNGY3ZTg4Y2U3YTE1ODVkZDU5Y2Y3OGYwZWE1NzUzNWQ2YjFjZDc0NGMxZWU2MmQ3MjY1NzJmNTE0MzI=
-  # 令牌过期时间 此处单位/毫秒 ，默认2小时，可在此网站生成 https://www.convertworld.com/zh-hans/time/milliseconds.html
-  token-validity-in-seconds: 7200000
-  # 在线用户key
-  online-key: "online_token:"
-  # 验证码
-  code-key: "captcha_code:"
-  # token 续期检查时间范围（默认30分钟，单位默认毫秒），在token即将过期的一段时间内用户操作了，则给用户的token续期
-  detect: 1800000
-  # 续期时间范围，默认 1小时，这里单位毫秒
-  renew: 3600000
-
-#是否允许生成代码，生产环境设置为false
-generator:
-  enabled: false
-
-#如果生产环境要开启swagger，需要配置请求地址
-#springfox:
-#  documentation:
-#    swagger:
-#      v2:
-#        host: # 接口域名或外网ip
-
-#是否开启 swagger-ui
-swagger:
-  enabled: false
-
-# 文件存储路径
-file:
-  mac:
-    path: ~/file/
-    avatar: ~/avatar/
-  linux:
-    path: /home/eladmin/file/
-    avatar: /home/eladmin/avatar/
-  windows:
-    path: C:\eladmin\file\
-    avatar: C:\eladmin\avatar\
-  # 文件大小 /M
-  maxSize: 100
-  avatarMaxSize: 5
-
-# 亚马逊S3协议云存储配置
-#支持七牛云，阿里云OSS，腾讯云COS，华为云OBS，移动云EOS等
-amz:
-  s3:
-    # 地域
-    region: cn-wulanchabu
-    # 地域对应的 endpoint
-    endPoint: https://oss-cn-wulanchabu.aliyuncs.com
-    # 访问的域名
-    domain: https://oss.aishangfeixing.com
-    # 账号的认证信息，或者子账号的认证信息
-    accessKey: LTAI5tRK1mszQC82s2rCkowq
-    secretKey: Ns8VAkRBauIuC207s3eGiqMrLbpF4e
-    # 存储桶（Bucket）
-    defaultBucket: aishangyun
-
-    # 文件存储路径
-    timeformat: yyyy-MM

aircraft-system/src/main/resources/config/application.yml

@@ -1,3 +1,5 @@
+#测试环境配置文件dev，生产环境配置文件prod以根目录挂载的形式放在服务器，修改配置时务必到相应位置调整！！！
+
 server:
   port: 8084
   http2:
@@ -31,7 +33,7 @@ spring:
     check-template-location: false
   profiles:
     # 激活的环境，如果需要 quartz 分布式支持，需要修改 active: dev,quartz
-    active: dev,quartz
+    active: local,quartz
   data:
     redis:
       repositories:
@@ -76,4 +78,9 @@ code:
 
 #密码加密传输，前端公钥加密，后端私钥解密
 rsa:
-  private_key: MIIBUwIBADANBgkqhkiG9w0BAQEFAASCAT0wggE5AgEAAkEA0vfvyTdGJkdbHkB8mp0f3FE0GYP3AYPaJF7jUd1M0XxFSE2ceK3k2kw20YvQ09NJKk+OMjWQl9WitG9pB6tSCQIDAQABAkA2SimBrWC2/wvauBuYqjCFwLvYiRYqZKThUS3MZlebXJiLB+Ue/gUifAAKIg1avttUZsHBHrop4qfJCwAI0+YRAiEA+W3NK/RaXtnRqmoUUkb59zsZUBLpvZgQPfj1MhyHDz0CIQDYhsAhPJ3mgS64NbUZmGWuuNKp5coY2GIj/zYDMJp6vQIgUueLFXv/eZ1ekgz2Oi67MNCk5jeTF2BurZqNLR3MSmUCIFT3Q6uHMtsB9Eha4u7hS31tj1UWE+D+ADzp59MGnoftAiBeHT7gDMuqeJHPL4b+kC+gzV4FGTfhR9q3tTbklZkD2A==
+  private_key: MIIBUwIBADANBgkqhkiG9w0BAQEFAASCAT0wggE5AgEAAkEA0vfvyTdGJkdbHkB8mp0f3FE0GYP3AYPaJF7jUd1M0XxFSE2ceK3k2kw20YvQ09NJKk+OMjWQl9WitG9pB6tSCQIDAQABAkA2SimBrWC2/wvauBuYqjCFwLvYiRYqZKThUS3MZlebXJiLB+Ue/gUifAAKIg1avttUZsHBHrop4qfJCwAI0+YRAiEA+W3NK/RaXtnRqmoUUkb59zsZUBLpvZgQPfj1MhyHDz0CIQDYhsAhPJ3mgS64NbUZmGWuuNKp5coY2GIj/zYDMJp6vQIgUueLFXv/eZ1ekgz2Oi67MNCk5jeTF2BurZqNLR3MSmUCIFT3Q6uHMtsB9Eha4u7hS31tj1UWE+D+ADzp59MGnoftAiBeHT7gDMuqeJHPL4b+kC+gzV4FGTfhR9q3tTbklZkD2A==
+
+
+
+udp:
+  receive-port: 8088

pom.xml

@@ -156,7 +156,22 @@
             <scope>runtime</scope>
         </dependency>
 
+        <dependency>
+            <groupId>org.springframework.boot</groupId>
+            <artifactId>spring-boot-starter-data-mongodb</artifactId>
+        </dependency>
 
+        <!-- spring-integration -->
+        <dependency>
+            <groupId>org.springframework.boot</groupId>
+            <artifactId>spring-boot-starter-integration</artifactId>
+            <version>2.5.15</version>
+        </dependency>
+        <dependency>
+            <groupId>org.springframework.integration</groupId>
+            <artifactId>spring-integration-ip</artifactId>
+            <version>5.5.18</version>
+        </dependency>
         <!-- druid数据源驱动 -->
         <dependency>
             <groupId>com.alibaba</groupId>