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2025-05-28 5826c5028d061efb0c2c8c7eeaf31a9bca535d7a

消防机器人websocket

 src/main/java/com/whyc/mapper/EnvironmentMapper.java

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package com.whyc.mapper;

import com.whyc.pojo.db_fire_robot.Environment;

public interface EnvironmentMapper extends CustomMapper<Environment>{
}

 src/main/java/com/whyc/mapper/EnvironmentThresholdMapper.java

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package com.whyc.mapper;

import com.whyc.pojo.db_fire_robot.EnvironmentThreshold;

public interface EnvironmentThresholdMapper extends CustomMapper<EnvironmentThreshold>{
}

 src/main/java/com/whyc/mapper/IdentifyAlarmMapper.java

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package com.whyc.mapper;

import com.whyc.pojo.db_fire_robot.IdentifyAlarm;

public interface IdentifyAlarmMapper extends CustomMapper<IdentifyAlarm>{
}

 src/main/java/com/whyc/mapper/RobotAlarmMapper.java

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package com.whyc.mapper;

import com.whyc.pojo.db_fire_robot.RobotAlarm;

public interface RobotAlarmMapper extends CustomMapper<RobotAlarm>{
}

 src/main/java/com/whyc/mapper/RobotStatusMapper.java

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package com.whyc.mapper;

import com.whyc.pojo.db_fire_robot.RobotStatus;

public interface RobotStatusMapper extends CustomMapper<RobotStatus>{
}

 src/main/java/com/whyc/pojo/db_fire_robot/Environment.java

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package com.whyc.pojo.db_fire_robot;

import com.baomidou.mybatisplus.annotation.IdType;
import com.baomidou.mybatisplus.annotation.TableId;
import com.baomidou.mybatisplus.annotation.TableName;
import io.swagger.annotations.ApiModelProperty;
import lombok.Data;
import lombok.ToString;
import org.apache.ibatis.type.Alias;

import java.util.Date;

/**
 * "temperature": 25.3,      // 温度，单位：℃
 *     "humidity": 60.5,        // 湿度，单位：%
 *     "co": 0.02,             // CO浓度，单位：ppm
 *     "co2": 400,             // CO2浓度，单位：ppm
 *     "ch4": 0.1,             // CH4浓度，单位：%
 *     "h2": 0.01,             // H2浓度，单位：%
 *     "smoke": 0.05          // 烟感浓度，单位：%
 */
@Data
@ToString
@TableName(schema = "db_fire_robot",value = "tb_environment")
public class Environment {

    @TableId(value = "id",type = IdType.AUTO)
    private int id;
    @ApiModelProperty(value = "温度")
    private float temperature;
    @ApiModelProperty(value = "湿度")
    private float humidity;
    @ApiModelProperty(value = "CO浓度")
    private float co;
    @ApiModelProperty(value = "CO2浓度")
    private float co2;
    @ApiModelProperty(value = "CH4浓度")
    private float ch4;
    @ApiModelProperty(value = "H2浓度")
    private float h2;
    @ApiModelProperty(value = "烟感浓度")
    private float smoke;

    private Date recordTime;


}

 src/main/java/com/whyc/pojo/db_fire_robot/EnvironmentThreshold.java

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package com.whyc.pojo.db_fire_robot;

import com.baomidou.mybatisplus.annotation.IdType;
import com.baomidou.mybatisplus.annotation.TableId;
import com.baomidou.mybatisplus.annotation.TableName;
import io.swagger.annotations.ApiModelProperty;
import lombok.Data;
import lombok.ToString;

import java.util.Date;

/**
 * 环境数据报警阈值
 * "temperature": 60.0,      // 温度，单位：℃
 *     "humidity": 60.0,        // 湿度，单位：%
 *     "co": 100.0,             // CO浓度，单位：ppm
 *     "co2": 1600,             // CO2浓度，单位：ppm
 *     "ch4": 100.0,             // CH4浓度，单位：%
 *     "h2": 100.0,             // H2浓度，单位：%
 *     "smoke": 100.0          // 烟感浓度，单位：%
 */
@Data
@ToString
@TableName(schema = "db_fire_robot",value = "tb_environment_threshold")
public class EnvironmentThreshold {

    @TableId(value = "id",type = IdType.AUTO)
    private int id;
    @ApiModelProperty(value = "温度")
    private float temperature;
    @ApiModelProperty(value = "湿度")
    private float humidity;
    @ApiModelProperty(value = "CO浓度")
    private float co;
    @ApiModelProperty(value = "CO2浓度")
    private float co2;
    @ApiModelProperty(value = "CH4浓度")
    private float ch4;
    @ApiModelProperty(value = "H2浓度")
    private float h2;
    @ApiModelProperty(value = "烟感浓度")
    private float smoke;

    private Date recordTime;

}

 src/main/java/com/whyc/pojo/db_fire_robot/IdentifyAlarm.java

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package com.whyc.pojo.db_fire_robot;

import com.baomidou.mybatisplus.annotation.IdType;
import com.baomidou.mybatisplus.annotation.TableId;
import com.baomidou.mybatisplus.annotation.TableName;
import io.swagger.annotations.ApiModelProperty;
import lombok.Data;
import lombok.ToString;

import java.util.Date;

/**
 * 算法识别报警状态
 * "type": "identifyAlarm",
 *   "data": {
 *     "gatherTime":"2025-03-28 13:44:31",  // 采集时间
 *     "position": 2,  // 位置 1-"右岸开关站直流第二组蓄电池", 2-"右岸开关站直流第一组蓄电池",3-
 *         "7-9号机组直流第二组蓄电池",4- "7-9号机组直流第一组蓄电池",5-
 *         "10-12号机组直流第二组蓄电池", 6-"10-12号机组直流第一组蓄电池",7-
 *         "右岸公用直流第二组蓄电池", 8-"右岸公用直流第一组蓄电池"
 * "batteryCells": 1,  // 电池节数 1-"53-56节电池本体",2- "53-56节电池接线柱",3- "101-104节电池本体", 4-"101-104节电池接线柱",5-
 *             "1-4节电池接线柱",6- "1-4节电池本体",7- "49-52节电池接线柱", 8-"49-52节电池本体",9-
 *             "57-61节电池本体", 10-"57-61节电池接线柱", 11-"96-100节电池本体",12- "96-100节电池接线柱",13-
 *             "5-9节电池接线柱", 14-"5-9节电池本体", 15-"44-48节电池接线柱", 16-"44-48节电池本体",17-
 *             "62-65节电池本体", 18-"62-65节电池接线柱", 19-"92-95节电池本体",20- "92-95节电池接线柱",21-
 *             "10-13节电池接线柱", 22-"10-13节电池本体", 23-"40-43节电池接线柱", 24-"40-43节电池本体"
 * "identifyType": 0 ,   // 识别类型 0-异物识别 1-指示灯识别 2-漏液识别 3-结晶识别 4-表计识别
 * "identifyResult": True,  // 识别结果
 * "imagePath": "D:\room14_3_1748337299944.jpg" // 识别结果图片路径
 */
@Data
@ToString
@TableName(schema = "db_fire_robot",value = "tb_identify_alarm")
public class IdentifyAlarm {

    @TableId(value = "id",type = IdType.AUTO)
    private int id;
    @ApiModelProperty(value = "采集时间")
    private Date  gatherTime;
    @ApiModelProperty(value = "位置")
    private int position;
    @ApiModelProperty(value = "电池节数")
    private int batteryCells;
    @ApiModelProperty(value = "识别类型")
    private int identifyType;
    @ApiModelProperty(value = "识别结果")
    private boolean identifyResult;
    @ApiModelProperty(value = "识别结果图片路径")
    private String imagePath;

}

 src/main/java/com/whyc/pojo/db_fire_robot/IdentifyAlarmHis.java

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package com.whyc.pojo.db_fire_robot;

import com.baomidou.mybatisplus.annotation.IdType;
import com.baomidou.mybatisplus.annotation.TableId;
import com.baomidou.mybatisplus.annotation.TableName;
import io.swagger.annotations.ApiModelProperty;
import lombok.Data;
import lombok.ToString;

import java.util.Date;

/**
 * 算法识别报警历史
 * "type": "identifyAlarm",
 *   "data": {
 *     "gatherTime":"2025-03-28 13:44:31",  // 采集时间
 *     "position": 2,  // 位置 1-"右岸开关站直流第二组蓄电池", 2-"右岸开关站直流第一组蓄电池",3-
 *         "7-9号机组直流第二组蓄电池",4- "7-9号机组直流第一组蓄电池",5-
 *         "10-12号机组直流第二组蓄电池", 6-"10-12号机组直流第一组蓄电池",7-
 *         "右岸公用直流第二组蓄电池", 8-"右岸公用直流第一组蓄电池"
 * "batteryCells": 1,  // 电池节数 1-"53-56节电池本体",2- "53-56节电池接线柱",3- "101-104节电池本体", 4-"101-104节电池接线柱",5-
 *             "1-4节电池接线柱",6- "1-4节电池本体",7- "49-52节电池接线柱", 8-"49-52节电池本体",9-
 *             "57-61节电池本体", 10-"57-61节电池接线柱", 11-"96-100节电池本体",12- "96-100节电池接线柱",13-
 *             "5-9节电池接线柱", 14-"5-9节电池本体", 15-"44-48节电池接线柱", 16-"44-48节电池本体",17-
 *             "62-65节电池本体", 18-"62-65节电池接线柱", 19-"92-95节电池本体",20- "92-95节电池接线柱",21-
 *             "10-13节电池接线柱", 22-"10-13节电池本体", 23-"40-43节电池接线柱", 24-"40-43节电池本体"
 * "identifyType": 0 ,   // 识别类型 0-异物识别 1-指示灯识别 2-漏液识别 3-结晶识别 4-表计识别
 * "identifyResult": True,  // 识别结果
 * "imagePath": "D:\room14_3_1748337299944.jpg" // 识别结果图片路径
 */
@Data
@ToString
@TableName(schema = "db_fire_robot",value = "tb_identify_alarm_his")
public class IdentifyAlarmHis {

    @TableId(value = "id",type = IdType.AUTO)
    private int id;
    @ApiModelProperty(value = "采集时间")
    private Date  gatherTime;
    @ApiModelProperty(value = "位置")
    private int position;
    @ApiModelProperty(value = "电池节数")
    private int batteryCells;
    @ApiModelProperty(value = "识别类型")
    private int identifyType;
    @ApiModelProperty(value = "识别结果")
    private boolean identifyResult;
    @ApiModelProperty(value = "识别结果图片路径")
    private String imagePath;
    @ApiModelProperty(value = "确认时间")
    private Date confirmTime;

}

 src/main/java/com/whyc/pojo/db_fire_robot/RobotAlarm.java

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package com.whyc.pojo.db_fire_robot;

import com.baomidou.mybatisplus.annotation.IdType;
import com.baomidou.mybatisplus.annotation.TableId;
import com.baomidou.mybatisplus.annotation.TableName;
import io.swagger.annotations.ApiModelProperty;
import lombok.Data;
import lombok.ToString;

import java.util.Date;

/**
 * 报警状态推送
 * "pushTime":"2025-03-28 13-44-31",  // 推送时间
 *     "MCUConnection": "DisConnected",  // 单片机连接状态
 * "armConnection": "DisConnected",  // 机械臂连接状态
 * "tempStatus": 0,      // 温度异常报警
 * "humidityStatus": 0,  // 湿度异常报警
 * "coStatus": 0,        // 一氧化碳异常报警
 * "co2Status": 0,       // 二氧化碳异常报警
 * "ch4Status": 0,       // 甲烷异常报警
 * "h2Status": 0,        // 氢气异常报警
 * "smokeStatus": 0,    // 烟感异常报警
 * "foreignRecognition": 0,  //异物识别异常报警
 * "meterIdentification": 0  //温湿度表表计异常报警
 */
@Data
@ToString
@TableName(schema = "db_fire_robot",value = "tb_robot_alarm")
public class RobotAlarm {

    @TableId(value = "id",type = IdType.AUTO)
    private int id;
    @ApiModelProperty(value = "推送时间")
    private Date pushTime;
    @ApiModelProperty(value = "单片机连接状态")
    private String MCUConnection;
    @ApiModelProperty(value = "机械臂连接状态")
    private String armConnection;
    @ApiModelProperty(value = "温度异常报警")
    private int tempStatus;
    @ApiModelProperty(value = "湿度异常报警")
    private int humidityStatus;
    @ApiModelProperty(value = "一氧化碳异常报警")
    private int coStatus;
    @ApiModelProperty(value = "二氧化碳异常报警")
    private int co2Status;
    @ApiModelProperty(value = "甲烷异常报警")
    private int ch4Status;
    @ApiModelProperty(value = "氢气异常报警")
    private int h2Status;
    @ApiModelProperty(value = "烟感异常报警")
    private int smokeStatus;
    @ApiModelProperty(value = "异物识别异常报警")
    private int foreignRecognition;
    @ApiModelProperty(value = "温湿度表表计异常报警")
    private int meterIdentification;


}

 src/main/java/com/whyc/pojo/db_fire_robot/RobotStatus.java

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package com.whyc.pojo.db_fire_robot;

import com.baomidou.mybatisplus.annotation.IdType;
import com.baomidou.mybatisplus.annotation.TableId;
import com.baomidou.mybatisplus.annotation.TableName;
import io.swagger.annotations.ApiModelProperty;
import lombok.Data;
import lombok.ToString;

import java.util.Date;

/**
 * "mode": 1,    // 当前巡检模式： 1-遥控、2-手动、3-自动 4 自动返回 5 指定点 6 温湿度表计
 * "position": 5,  // 当前位置点位：0、1、2、3……16
 * "regposition": 5,  // 当前位置区间：0-1、2-3……
 * "perposition": 56,  // 当前位置区间百分比，单位：%
 * "state": 0,  // 当前状态：0-停车、1-前进、2-左转、3-右转、 4-倒车
 * "interval": 10,            // 巡检间隔，单位：小时
 *     "charging": false,         // 是否充电
 *     "battery": 85             // 当前电量，单位：%
 */
@Data
@ToString
@TableName(schema = "db_fire_robot",value = "tb_robot_status")
public class RobotStatus {

    @TableId(value = "id",type = IdType.AUTO)
    private int id;

    @ApiModelProperty(value = "当前巡检模式： 1-遥控、2-手动、3-自动 4 自动返回 5 指定点 6 温湿度表计")
    private int mode;

    @ApiModelProperty(value = "当前位置点位：0、1、2、3……16")
    private int position;

    @ApiModelProperty(value = "当前位置区间：0-1、2-3……")
    private int regposition;

    @ApiModelProperty(value = "当前位置区间百分比，单位：%")
    private int perposition;

    @ApiModelProperty(value = "当前状态：0-停车、1-前进、2-左转、3-右转、 4-倒车")
    private int state;

    @ApiModelProperty(value = "巡检间隔，单位：小时")
    private int interval;

    @ApiModelProperty(value = "是否充电")
    private boolean charging;

    @ApiModelProperty(value = "当前电量，单位：%")
    private int battery;

    private Date recordTime;

}

 src/main/java/com/whyc/service/EnvironmentService.java

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@@ -0,0 +1,18 @@
package com.whyc.service;

import com.whyc.mapper.EnvironmentMapper;
import com.whyc.pojo.db_fire_robot.Environment;
import org.springframework.stereotype.Service;

import javax.annotation.Resource;

@Service
public class EnvironmentService {

    @Resource
    private EnvironmentMapper mapper;

    public void add(Environment env) {
        mapper.insert(env);
    }
}

 src/main/java/com/whyc/service/EnvironmentThresholdService.java

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@@ -0,0 +1,18 @@
package com.whyc.service;

import com.whyc.mapper.EnvironmentThresholdMapper;
import com.whyc.pojo.db_fire_robot.EnvironmentThreshold;
import org.springframework.stereotype.Service;

import javax.annotation.Resource;

@Service
public class EnvironmentThresholdService {

    @Resource
    private EnvironmentThresholdMapper mapper;

    public void add(EnvironmentThreshold threshold) {
        mapper.insert(threshold);
    }
}

 src/main/java/com/whyc/service/IdentifyAlarmService.java

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@@ -0,0 +1,19 @@
package com.whyc.service;

import com.whyc.mapper.EnvironmentMapper;
import com.whyc.mapper.IdentifyAlarmMapper;
import com.whyc.pojo.db_fire_robot.IdentifyAlarm;
import org.springframework.stereotype.Service;

import javax.annotation.Resource;

@Service
public class IdentifyAlarmService {

    @Resource
    private IdentifyAlarmMapper mapper;

    public void add(IdentifyAlarm alarm) {
        mapper.insert(alarm);
    }
}

 src/main/java/com/whyc/service/RobotAlarmService.java

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@@ -0,0 +1,19 @@
package com.whyc.service;

import com.whyc.mapper.EnvironmentMapper;
import com.whyc.mapper.RobotAlarmMapper;
import com.whyc.pojo.db_fire_robot.RobotAlarm;
import org.springframework.stereotype.Service;

import javax.annotation.Resource;

@Service
public class RobotAlarmService {

    @Resource
    private RobotAlarmMapper mapper;

    public void add(RobotAlarm alarm) {
        mapper.insert(alarm);
    }
}

 src/main/java/com/whyc/service/RobotStatusService.java

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@@ -0,0 +1,18 @@
package com.whyc.service;

import com.whyc.mapper.RobotStatusMapper;
import com.whyc.pojo.db_fire_robot.RobotStatus;
import org.springframework.stereotype.Service;

import javax.annotation.Resource;

@Service
public class RobotStatusService {

    @Resource
    private RobotStatusMapper mapper;

    public void add(RobotStatus status) {
        mapper.insert(status);
    }
}

 src/main/java/com/whyc/webSocket/receiver/ThirdPartyWebSocketHandler.java

@@ -1,17 +1,40 @@
package com.whyc.webSocket.receiver;

import com.google.gson.Gson;
import com.google.gson.reflect.TypeToken;
import com.whyc.dto.FireRobotData;
import com.whyc.pojo.db_fire_robot.*;
import com.whyc.service.*;
import com.whyc.util.JsonUtil;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.web.socket.CloseStatus;
import org.springframework.web.socket.TextMessage;
import org.springframework.web.socket.WebSocketHttpHeaders;
import org.springframework.web.socket.WebSocketSession;
import org.springframework.web.socket.handler.TextWebSocketHandler;
import org.slf4j.Logger;
import org.slf4j.LoggerFactory;

import java.util.Date;

public class ThirdPartyWebSocketHandler extends TextWebSocketHandler {

    private static final Logger log = LoggerFactory.getLogger(ThirdPartyWebSocketHandler.class);
    private WebSocketSession session;

    @Autowired
    private EnvironmentService environmentService;

    @Autowired
    private EnvironmentThresholdService environmentThresholdService;

    @Autowired
    private RobotAlarmService  robotAlarmService;

    @Autowired
    private RobotStatusService robotStatusService;

    @Autowired
    private IdentifyAlarmService  identifyAlarmService;

    @Override
    public void afterConnectionEstablished(WebSocketSession session) {
@@ -24,6 +47,51 @@
        log.info("Received message: {}", message.getPayload());
        // 可以在这里做业务处理，比如发布事件、存入队列等
        String jsonStr = message.getPayload();
        Gson gson = JsonUtil.getGson();
        FireRobotData fireRobotData = gson.fromJson(jsonStr, FireRobotData.class);
        Date now = new Date();
        switch (fireRobotData.getType()){
            case "environment": {
                FireRobotData<Environment> data = gson.fromJson(jsonStr, new TypeToken<FireRobotData<Environment>>() {
                }.getType());
                Environment env = data.getData();
                env.setRecordTime(now);
                //存入数据库
                environmentService.add(env);
            }break;
            case "status": {
                FireRobotData<RobotStatus> data = gson.fromJson(jsonStr, new TypeToken<FireRobotData<RobotStatus>>() {
                }.getType());
                RobotStatus status = data.getData();
                status.setRecordTime(now);
                //存入数据库
                robotStatusService.add(status);
            }break;
            case "alarm": {
                FireRobotData<RobotAlarm> data = gson.fromJson(jsonStr, new TypeToken<FireRobotData<RobotAlarm>>() {
                }.getType());
                RobotAlarm alarm = data.getData();
                //存入数据库
                robotAlarmService.add(alarm);
            }break;
            case "threshold": {
                FireRobotData<EnvironmentThreshold> data = gson.fromJson(jsonStr, new TypeToken<FireRobotData<EnvironmentThreshold>>() {
                }.getType());
                EnvironmentThreshold threshold = data.getData();
                threshold.setRecordTime(now);
                //存入数据库
                environmentThresholdService.add(threshold);
            }break;
            case "identifyAlarm": {
                FireRobotData<IdentifyAlarm> data = gson.fromJson(jsonStr, new TypeToken<FireRobotData<IdentifyAlarm>>() {
                }.getType());
                IdentifyAlarm alarm = data.getData();
                //存入数据库
                identifyAlarmService.add(alarm);
            }break;
            default:
                break;
        }

    }