Merge branch 'prod' of http://git.raytue.com/GeoFly/GeoFlyApi into prod

984de8bc · tntxia · 7920a055 · f43581be · 984de8bc · 984de8bc
Commit 984de8bc authored Mar 12, 2026 by tntxia
4 changed files
--- a/cloud-sdk/src/main/java/com/dji/sdk/mqtt/MqttTopicServiceImpl.java
+++ b/cloud-sdk/src/main/java/com/dji/sdk/mqtt/MqttTopicServiceImpl.java
@@ -28,8 +28,8 @@ public class MqttTopicServiceImpl implements IMqttTopicService {
    public void subscribe(String... topics) {
        Set<String> topicSet = new HashSet<>(Arrays.asList(getSubscribedTopic()));
        for (String topic : topics) {
-            if (topicSet.contains(topic)) {
+            if (topicSet.contains(topic) || isCoveredByWildcard(topicSet, topic)) {
-                return;
+                continue;
            }
            subscribe(topic, 1);
        }
@@ -38,7 +38,7 @@ public class MqttTopicServiceImpl implements IMqttTopicService {
    @Override
    public void subscribe(String topic, int qos) {
        Set<String> topicSet = new HashSet<>(Arrays.asList(getSubscribedTopic()));
-        if (topicSet.contains(topic)) {
+        if (topicSet.contains(topic) || isCoveredByWildcard(topicSet, topic)) {
            return;
        }
        log.debug("subscribe topic: {}", topic);
@@ -47,11 +47,41 @@ public class MqttTopicServiceImpl implements IMqttTopicService {
    @Override
    public void unsubscribe(String... topics) {
-        log.debug("unsubscribe topic: {}", Arrays.toString(topics));
+        Set<String> currentTopics = new HashSet<>(Arrays.asList(getSubscribedTopic()));
-        adapter.removeTopic(topics);
+        for (String topic : topics) {
+            if (!currentTopics.contains(topic)) {
+                continue;
+            }
+            if (isCoveredByWildcard(currentTopics, topic)) {
+                log.debug("skip unsubscribe, topic {} is covered by wildcard", topic);
+                continue;
+            }
+            log.debug("unsubscribe topic: {}", topic);
+            adapter.removeTopic(topic);
+        }
    }
    public String[] getSubscribedTopic() {
        return adapter.getTopic();
    }
+    /**
+     * Check if a specific topic is already covered by a single-level wildcard (+) subscription.
+     * e.g. "thing/product/DRONE-001/osd" is covered by "thing/product/+/osd"
+     */
+    private boolean isCoveredByWildcard(Set<String> existingTopics, String topic) {
+        String[] parts = topic.split("/");
+        if (parts.length < 3) {
+            return false;
+        }
+        for (int i = 0; i < parts.length; i++) {
+            String[] wildcardParts = parts.clone();
+            wildcardParts[i] = "+";
+            String wildcardTopic = String.join("/", wildcardParts);
+            if (existingTopics.contains(wildcardTopic)) {
+                return true;
+            }
+        }
+        return false;
+    }
 }
--- a/sample/src/main/java/com/dji/sample/manage/service/impl/DeviceServiceImpl.java
+++ b/sample/src/main/java/com/dji/sample/manage/service/impl/DeviceServiceImpl.java
@@ -1698,7 +1698,20 @@ public class DeviceServiceImpl extends ServiceImpl<IDeviceMapper, DeviceEntity> 
        } else if (DeviceDomainEnum.REMOTER_CONTROL == dbDevice.getDomain()) {
            recoverGatewayOnline(dbDevice);
        } else if (DeviceDomainEnum.DRONE == dbDevice.getDomain()) {
-            recoverDroneOnline(dbDevice);
+            // 通过 child_sn 反查父设备（数据库中没有 parent_sn 字段，parentSn 只存在于 Redis）
+            List<DeviceDTO> parentDevices = this.getDevicesByParams(
+                    DeviceQueryParam.builder().childSn(deviceSn).build());
+            if (!parentDevices.isEmpty()) {
+                // 子设备无人机：通过父设备（机场/遥控器）恢复整个拓扑
+                DeviceDTO parentDevice = parentDevices.get(0);
+                log.info("[Auto-Recovery] Drone {} is a sub-device, recovering via gateway {}",
+                        deviceSn, parentDevice.getDeviceSn());
+                recoverGatewayOnline(parentDevice);
+            } else {
+                // 独立无人机：直接恢复
+                log.info("[Auto-Recovery] Drone {} is an independent device, recovering directly", deviceSn);
+                recoverDroneOnline(dbDevice);
+            }
        }
    }
@@ -1726,6 +1739,7 @@ public class DeviceServiceImpl extends ServiceImpl<IDeviceMapper, DeviceEntity> 
        }
        DeviceDTO dbDevice = dbDeviceOpt.get();
+        log.info("[Auto-Recovery] Recovering gateway {} and sub-device {}", gatewaySn, deviceSn);
        GatewayManager gatewayManager = SDKManager.registerDevice(gatewaySn, deviceSn,
                dbGateway.getDomain(), dbGateway.getType(),
                dbGateway.getSubType(), dbGateway.getThingVersion(), dbDevice.getThingVersion());
@@ -1759,6 +1773,7 @@ public class DeviceServiceImpl extends ServiceImpl<IDeviceMapper, DeviceEntity> 
        if (DeviceDomainEnum.DRONE != dbDevice.getDomain()) {
            return;
        }
+        log.info("[Auto-Recovery] Recovering independent drone {}", dbDevice.getDeviceSn());
        deviceRedisService.setDeviceOnline(dbDevice);
        this.subDroneOnlineSubscribeTopic(dbDevice.getDeviceSn());
        // deviceService.pushDeviceOnlineTopo(dbGateway.getWorkspaceId(), dbGateway.getDeviceSn(), dbDevice.getDeviceSn());

--- a/sample/src/main/java/com/dji/sample/manage/service/impl/SDKDeviceService.java
+++ b/sample/src/main/java/com/dji/sample/manage/service/impl/SDKDeviceService.java
@@ -151,6 +151,7 @@ public class SDKDeviceService extends AbstractDeviceService {
    public void osdDock(TopicOsdRequest<OsdDock> request, MessageHeaders headers) {
        String from = request.getFrom();
        Optional<DeviceDTO> deviceOpt = deviceRedisService.getDeviceOnline(from);
+        boolean needsRecovery = deviceOpt.isEmpty();
        if (deviceOpt.isEmpty() || !StringUtils.hasText(deviceOpt.get().getWorkspaceId())) {
            deviceOpt = deviceService.getDeviceBySn(from);
            if (deviceOpt.isEmpty()) {
@@ -168,6 +169,11 @@ public class SDKDeviceService extends AbstractDeviceService {
        }
        deviceRedisService.setDeviceOnline(device);
+        if (needsRecovery && StringUtils.hasText(device.getWorkspaceId())) {
+            triggerDeviceAutoRecovery(from);
+        }
        fillDockOsd(from, request.getData());
        deviceService.pushOsdDataToWeb(device.getWorkspaceId(), BizCodeEnum.DOCK_OSD, from, request.getData());
@@ -177,6 +183,7 @@ public class SDKDeviceService extends AbstractDeviceService {
    public void osdDockDrone(TopicOsdRequest<OsdDockDrone> request, MessageHeaders headers) {
        String from = request.getFrom();
        Optional<DeviceDTO> deviceOpt = deviceRedisService.getDeviceOnline(from);
+        boolean needsRecovery = deviceOpt.isEmpty();
        if (deviceOpt.isEmpty()) {
            deviceOpt = deviceService.getDeviceBySn(from);
            if (deviceOpt.isEmpty()) {
@@ -191,6 +198,10 @@ public class SDKDeviceService extends AbstractDeviceService {
        DeviceDTO device = deviceOpt.get();
        deviceRedisService.setDeviceOnline(device);
+        if (needsRecovery && StringUtils.hasText(device.getWorkspaceId())) {
+            triggerDeviceAutoRecovery(from);
+        }
        deviceRedisService.setDeviceOsd(from, request.getData());
        // 存放数据
        deviceDetailService.saveDeviceOsd(from, request.getData());
@@ -234,6 +245,7 @@ public class SDKDeviceService extends AbstractDeviceService {
    public void osdRemoteControl(TopicOsdRequest<OsdRemoteControl> request, MessageHeaders headers) {
        String from = request.getFrom();
        Optional<DeviceDTO> deviceOpt = deviceRedisService.getDeviceOnline(from);
+        boolean needsRecovery = deviceOpt.isEmpty();
        if (deviceOpt.isEmpty() || !StringUtils.hasText(deviceOpt.get().getWorkspaceId())) {
            deviceOpt = deviceService.getDeviceBySn(from);
            if (deviceOpt.isEmpty()) {
@@ -247,6 +259,10 @@ public class SDKDeviceService extends AbstractDeviceService {
        }
        deviceRedisService.setDeviceOnline(device);
+        if (needsRecovery && StringUtils.hasText(device.getWorkspaceId())) {
+            triggerDeviceAutoRecovery(from);
+        }
        OsdRemoteControl data = request.getData();
        deviceService.pushOsdDataToPilot(device.getWorkspaceId(), from,
                new DeviceOsdHost()
@@ -261,6 +277,7 @@ public class SDKDeviceService extends AbstractDeviceService {
    public void osdRcDrone(TopicOsdRequest<OsdRcDrone> request, MessageHeaders headers) {
        String from = request.getFrom();
        Optional<DeviceDTO> deviceOpt = deviceRedisService.getDeviceOnline(from);
+        boolean needsRecovery = deviceOpt.isEmpty();
        if (deviceOpt.isEmpty()) {
            deviceOpt = deviceService.getDeviceBySn(from);
            if (deviceOpt.isEmpty()) {
@@ -275,6 +292,10 @@ public class SDKDeviceService extends AbstractDeviceService {
        deviceRedisService.setDeviceOnline(device);
+        if (needsRecovery && StringUtils.hasText(device.getWorkspaceId())) {
+            triggerDeviceAutoRecovery(from);
+        }
        OsdRcDrone data = request.getData();
        deviceService.pushOsdDataToPilot(device.getWorkspaceId(), from,
                new DeviceOsdHost()
@@ -425,6 +446,15 @@ public class SDKDeviceService extends AbstractDeviceService {
    }
+    private void triggerDeviceAutoRecovery(String deviceSn) {
+        log.warn("[Auto-Recovery] OSD received from offline device {}, triggering online recovery", deviceSn);
+        try {
+            deviceService.recoverDeviceOnline(deviceSn);
+        } catch (Exception e) {
+            log.error("[Auto-Recovery] Failed to recover device {}: {}", deviceSn, e.getMessage());
+        }
+    }
    public void deviceOnlineAgain(String workspaceId, String gatewaySn, String deviceSn) {
        DeviceDTO device = DeviceDTO.builder().loginTime(LocalDateTime.now()).deviceSn(deviceSn).build();
        DeviceDTO gateway = DeviceDTO.builder()

--- a/sample/src/main/resources/application.yml
+++ b/sample/src/main/resources/application.yml
@@ -112,7 +112,7 @@ mqtt:
 cloud-sdk:
  mqtt:
    # Topics that need to be subscribed when initially connecting to mqtt, multiple topics are divided by ",".
-    inbound-topic: sys/product/+/status,thing/product/+/requests,/ai_info
+    inbound-topic: sys/product/+/status,thing/product/+/requests,thing/product/+/osd,/ai_info
 url:
  manage: