feat: enhance MQTT configuration and add dynamic subscription recovery for online devices

6eb36174 · guoxuejian · gdj · e73893f6 · 6eb36174 · 6eb36174
Commit 6eb36174 authored Mar 04, 2026 by guoxuejian Committed by gdj Mar 05, 2026
4 changed files
--- a/cloud-sdk/src/main/java/com/dji/sdk/mqtt/MqttConfiguration.java
+++ b/cloud-sdk/src/main/java/com/dji/sdk/mqtt/MqttConfiguration.java
@@ -53,6 +53,7 @@ public class MqttConfiguration {
        adapter.setConverter(converter);
        adapter.setQos(1);
        adapter.setOutputChannel(inboundChannel);
+        adapter.setRecoveryInterval(5000);
        return adapter;
    }

--- a/sample/src/main/java/com/dji/sample/component/GlobalScheduleService.java
+++ b/sample/src/main/java/com/dji/sample/component/GlobalScheduleService.java
@@ -3,16 +3,21 @@ package com.dji.sample.component;
 import com.dji.sample.component.redis.RedisConst;
 import com.dji.sample.component.redis.RedisOpsUtils;
 import com.dji.sample.manage.model.dto.DeviceDTO;
+import com.dji.sample.manage.service.IDeviceRedisService;
 import com.dji.sample.manage.service.IDeviceService;
+import com.dji.sdk.common.SDKManager;
 import com.dji.sdk.cloudapi.device.DeviceDomainEnum;
 import com.dji.sdk.mqtt.IMqttTopicService;
+import org.springframework.integration.mqtt.inbound.MqttPahoMessageDrivenChannelAdapter;
 import com.fasterxml.jackson.databind.ObjectMapper;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.scheduling.annotation.Scheduled;
 import org.springframework.stereotype.Component;
+import org.springframework.util.StringUtils;
 import java.util.Arrays;
+import java.util.Optional;
 import java.util.concurrent.TimeUnit;
 /**
@@ -31,6 +36,12 @@ public class GlobalScheduleService {
    private IMqttTopicService topicService;
    @Autowired
+    private IDeviceRedisService deviceRedisService;
+    @Autowired
+    private MqttPahoMessageDrivenChannelAdapter mqttInbound;
+    @Autowired
    private ObjectMapper mapper;
    /**
     * Check the status of the devices every 30 seconds. It is recommended to use cache.
@@ -58,4 +69,86 @@ public class GlobalScheduleService {
        log.info("Subscriptions: {}", Arrays.toString(topicService.getSubscribedTopic()));
    }
+    /**
+     * Check MQTT connection/subscriptions every 30 seconds and recover missing dynamic subscriptions.
+     */
+    @Scheduled(initialDelay = 30, fixedRate = 30, timeUnit = TimeUnit.SECONDS)
+    private void mqttConnectionCheck() {
+        if (!mqttInbound.isRunning()) {
+            log.warn("MQTT adapter is not running, attempting to restart and re-subscribe...");
+            try {
+                mqttInbound.start();
+                resubscribeOnlineDevices();
+            } catch (Exception e) {
+                log.error("Failed to restart MQTT adapter", e);
+            }
+            return;
+        }
+        String[] currentTopics = topicService.getSubscribedTopic();
+        int start = RedisConst.DEVICE_ONLINE_PREFIX.length();
+        boolean missingSubscription = false;
+        for (String key : RedisOpsUtils.getAllKeys(RedisConst.DEVICE_ONLINE_PREFIX + "*")) {
+            String sn = key.substring(start);
+            String osdTopic = "thing/product/" + sn + "/osd";
+            if (!containsTopic(currentTopics, osdTopic) && !containsTopic(currentTopics, "thing/product/+/osd")) {
+                missingSubscription = true;
+                break;
+            }
+        }
+        if (missingSubscription) {
+            log.warn("Detected missing MQTT subscriptions after reconnect, re-subscribing online devices...");
+            resubscribeOnlineDevices();
+        }
+    }
+    private boolean containsTopic(String[] topics, String expected) {
+        if (topics == null || topics.length == 0 || !StringUtils.hasText(expected)) {
+            return false;
+        }
+        for (String topic : topics) {
+            if (expected.equals(topic)) {
+                return true;
+            }
+        }
+        return false;
+    }
+    /**
+     * Re-subscribe all currently online non-drone devices.
+     */
+    private void resubscribeOnlineDevices() {
+        int start = RedisConst.DEVICE_ONLINE_PREFIX.length();
+        RedisOpsUtils.getAllKeys(RedisConst.DEVICE_ONLINE_PREFIX + "*")
+                .stream()
+                .map(key -> key.substring(start))
+                .map(deviceRedisService::getDeviceOnline)
+                .filter(Optional::isPresent)
+                .map(Optional::get)
+                .forEach(device -> {
+                    try {
+                        if (DeviceDomainEnum.DRONE == device.getDomain()) {
+                            deviceService.subDroneOnlineSubscribeTopic(device.getDeviceSn());
+                            log.info("Re-subscribed drone device: {}", device.getDeviceSn());
+                            return;
+                        }
+                        String childSn = device.getChildDeviceSn();
+                        String childThingVersion = StringUtils.hasText(childSn)
+                                ? deviceRedisService.getDeviceOnline(childSn).map(DeviceDTO::getThingVersion).orElse(null)
+                                : null;
+                        deviceService.subDeviceOnlineSubscribeTopic(
+                                SDKManager.registerDevice(device.getDeviceSn(), childSn,
+                                        device.getDomain(), device.getType(), device.getSubType(),
+                                        device.getThingVersion(), childThingVersion));
+                        log.info("Re-subscribed device: {}", device.getDeviceSn());
+                    } catch (Exception e) {
+                        log.error("Failed to re-subscribe device: {}", device.getDeviceSn(), e);
+                    }
+                });
+    }
 }
\ No newline at end of file
--- a/sample/src/main/java/com/dji/sample/component/mqtt/config/MqttPropertyConfiguration.java
+++ b/sample/src/main/java/com/dji/sample/component/mqtt/config/MqttPropertyConfiguration.java
@@ -106,7 +106,7 @@ public class MqttPropertyConfiguration {
        mqttConnectOptions.setPassword(StringUtils.hasText(customizeOptions.getPassword()) ?
                customizeOptions.getPassword().toCharArray() : new char[0]);
        mqttConnectOptions.setAutomaticReconnect(true);
-        mqttConnectOptions.setKeepAliveInterval(10);
+        mqttConnectOptions.setKeepAliveInterval(60);
        return mqttConnectOptions;
    }

--- a/草莓机场OSD数据不转发问题分析.md
+++ b/草莓机场OSD数据不转发问题分析.md
+# 草莓机场 OSD 数据不转发到前端问题分析
+# 草莓机场 OSD 数据不转发到前端问题分析
+## 问题描述
+草莓机场（S24M350S，type=88101）持续通过 MQTT 上报 OSD 数据，但前端显示设备一直离线，数据未能成功转发到 Web 浏览器端。
+## 上报的 OSD 数据示例
+```json
+{
+  "tid": "dc856cbc-439d-42a9-bda4-60fec750f3c1",
+  "bid": "e4f6db87-30c7-423b-9e3d-5f6bdcde5550",
+  "timestamp": 1770624907673,
+  "gateway": "962A0996E2D65E01BF9DB05F75D7D622",
+  "data": {
+    "network_state": {"type": 2, "quality": 4, "rate": 10},
+    "drone_charge_state": {"state": 0, "capacity_percent": 0},
+    "drone_in_dock": 1,
+    ...
+  }
+}
+```
+## 问题根因分析
+### 1. OSD 数据处理流程
+```
+MQTT Topic → OsdRouter.osdRouterFlow() → SDKManager.getDeviceSDK() → OsdDeviceTypeEnum.find() → osdDock()
+```
+### 2. 关键代码位置
+#### OsdRouter.java (第 48 行)
+```java
+GatewayManager gateway = SDKManager.getDeviceSDK(response.getGateway());
+```
+**问题**：如果草莓机场的 SN 没有注册到 `SDKManager`，这里会抛出 `CloudSDKException`
+#### SDKDeviceService.java (第 151-162 行)
+```java
+@Override
+public void osdDock(TopicOsdRequest<OsdDock> request, MessageHeaders headers) {
+    String from = request.getFrom();
+    Optional<DeviceDTO> deviceOpt = deviceRedisService.getDeviceOnline(from);
+    if (deviceOpt.isEmpty() || !StringUtils.hasText(deviceOpt.get().getWorkspaceId())) {
+        deviceOpt = deviceService.getDeviceBySn(from);
+        if (deviceOpt.isEmpty()) {
+            log.error("Please restart the drone.");
+            return;  // ❌ 直接返回，不推送数据
+        }
+    }
+    ...
+}
+```
+**问题**：设备不在 Redis 或数据库中时，直接返回，不推送 OSD 数据到前端
+### 3. 设备注册时机
+设备应该在以下时机注册到 `SDKManager`：
+- 设备上线时（`updateTopoOnline`）
+- 应用启动时（`ApplicationBootInitial`）
+## 可能的原因
+### 原因 1：草莓机场未正确上线
+- 草莓机场可能没有发送 `thing/product/{gateway_sn}/status` 上线消息
+- 或者上线消息的 domain/type/subType 不正确
+### 原因 2：设备未绑定到 Workspace
+- 设备存在于数据库，但 `workspace_id` 字段为空
+- 导致 `osdDock` 方法中的检查失败
+### 原因 3：设备类型映射问题
+虽然代码中已经定义了草莓机场的类型：
+- `DeviceTypeEnum._88101(88101)`
+- `DeviceEnum.S24M350S`
+- `GatewayTypeEnum.DOCK` 包含 `DeviceEnum.S24M350S`
+但可能在某个环节类型映射失败。
+## 解决方案
+### 方案 1：检查设备是否正确上线和绑定（推荐）
+1. **检查数据库中的设备记录**
+```sql
+SELECT device_sn, device_name, workspace_id, domain, type, sub_type, thing_version, bound_status
+FROM tbl_device
+WHERE device_sn = '962A0996E2D65E01BF9DB05F75D7D622';
+```
+2. **检查 Redis 中的设备在线状态**
+```bash
+redis-cli
+> GET device:online:962A0996E2D65E01BF9DB05F75D7D622
+```
+3. **检查设备是否发送了上线消息**
+   - 查看 MQTT 日志，确认是否收到 `thing/product/962A0996E2D65E01BF9DB05F75D7D622/status` 消息
+   - 确认消息内容中的 domain=3, type=88101, sub_type=0
+4. **如果设备未绑定，手动绑定到 Workspace**
+```sql
+UPDATE tbl_device
+SET workspace_id = 'your_workspace_id'
+WHERE device_sn = '962A0996E2D65E01BF9DB05F75D7D622';
+```
+### 方案 2：增强错误处理和日志
+修改 `OsdRouter.java`，添加异常捕获：
+```java
+@Bean
+public IntegrationFlow osdRouterFlow() {
+    return IntegrationFlows
+            .from(ChannelName.INBOUND_OSD)
+            .transform(Message.class, source -> {
+                try {
+                    TopicOsdRequest response = Common.getObjectMapper().readValue(
+                        (byte[]) source.getPayload(), new TypeReference<TopicOsdRequest>() {});
+                    String topic = String.valueOf(source.getHeaders().get(MqttHeaders.RECEIVED_TOPIC));
+                    return response.setFrom(topic.substring(
+                        (THING_MODEL_PRE + PRODUCT).length(), topic.indexOf(OSD_SUF)));
+                } catch (IOException e) {
+                    throw new CloudSDKException(e);
+                }
+            }, null)
+            .<TopicOsdRequest>handle((response, headers) -> {
+                try {
+                    GatewayManager gateway = SDKManager.getDeviceSDK(response.getGateway());
+                    OsdDeviceTypeEnum typeEnum = OsdDeviceTypeEnum.find(
+                        gateway.getType(), response.getFrom().equals(response.getGateway()));
+                    // ... 后续处理
+                } catch (CloudSDKException e) {
+                    log.error("Failed to process OSD data for gateway: {}, error: {}", 
+                        response.getGateway(), e.getMessage());
+                    // 尝试自动注册设备或返回 null 跳过
+                    return null;
+                }
+            })
+            // ... 其他处理
+            .get();
+}
+```
+### 方案 3：修改 osdDock 方法，允许未绑定设备推送数据
+修改 `SDKDeviceService.java` 的 `osdDock` 方法：
+```java
+@Override
+public void osdDock(TopicOsdRequest<OsdDock> request, MessageHeaders headers) {
+    String from = request.getFrom();
+    Optional<DeviceDTO> deviceOpt = deviceRedisService.getDeviceOnline(from);
+    if (deviceOpt.isEmpty() || !StringUtils.hasText(deviceOpt.get().getWorkspaceId())) {
+        deviceOpt = deviceService.getDeviceBySn(from);
+        if (deviceOpt.isEmpty()) {
+            log.warn("Device {} not found in database, OSD data will not be pushed", from);
+            return;
+        }
+        if (!StringUtils.hasText(deviceOpt.get().getWorkspaceId())) {
+            log.warn("Device {} not bound to workspace, OSD data will not be pushed", from);
+            return;
+        }
+    }
+    DeviceDTO device = deviceOpt.get();
+    if (StringUtils.hasText(device.getChildDeviceSn())) {
+        deviceService.getDeviceBySn(device.getChildDeviceSn()).ifPresent(device::setChildren);
+    }
+    deviceRedisService.setDeviceOnline(device);
+    fillDockOsd(from, request.getData());
+    // 推送 OSD 数据到前端
+    deviceService.pushOsdDataToWeb(device.getWorkspaceId(), BizCodeEnum.DOCK_OSD, from, request.getData());
+}
+```
+## 调试步骤
+1. **启用详细日志**
+   - 在 `application.yml` 中设置：
+   ```yaml
+   logging:
+     level:
+       com.raytue.sdk.mqtt.osd: DEBUG
+       com.raytue.sample.manage.service.impl.SDKDeviceService: DEBUG
+   ```
+2. **查看后台日志**
+   - 搜索关键字：`962A0996E2D65E01BF9DB05F75D7D622`
+   - 查找异常：`CloudSDKException`, `NOT_REGISTERED`
+   - 查找警告：`Please restart the drone`, `Please bind the dock first`
+3. **使用 MQTT 工具订阅主题**
+   ```
+   thing/product/+/osd
+   thing/product/962A0996E2D65E01BF9DB05F75D7D622/status
+   ```
+4. **检查 WebSocket 连接**
+   - 前端是否正确连接到 WebSocket
+   - WebSocket 是否订阅了正确的 workspace
+## 预期结果
+修复后，草莓机场的 OSD 数据应该能够：
+1. 被 `OsdRouter` 正确路由到 `osdDock` 方法
+2. 通过 `pushOsdDataToWeb` 推送到前端
+3. 前端通过 WebSocket 接收到数据并更新设备状态为在线