使用Springboot Integration做无人机飞控系统

Pom文件

XML 复制代码

<?xml version="1.0" encoding="UTF-8"?>
<project xmlns="http://maven.apache.org/POM/4.0.0"
         xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
         xsi:schemaLocation="http://maven.apache.org/POM/4.0.0 http://maven.apache.org/xsd/maven-4.0.0.xsd">
    <modelVersion>4.0.0</modelVersion>

    <parent>
        <groupId>org.springframework.boot</groupId>
        <artifactId>spring-boot-starter-parent</artifactId>
        <version>2.7.12</version>
        <relativePath/>
    </parent>

    <groupId>com.tntxia</groupId>
    <artifactId>dji</artifactId>
    <version>1.0.0</version>
    <name>DJI Message Manage</name>
    <description>DJI Message Manage, Device Manage, MQTT Manage</description>

    <properties>
        <java.version>11</java.version>
        <spring-integration.version>5.5.18</spring-integration.version>
    </properties>

    <dependencies>
        <dependency>
            <groupId>org.springframework.boot</groupId>
            <artifactId>spring-boot-starter-integration</artifactId>
        </dependency>

        <dependency>
            <groupId>org.springframework.integration</groupId>
            <artifactId>spring-integration-mqtt</artifactId>
            <version>5.5.5</version>
        </dependency>

        <dependency>
            <groupId>org.springframework.boot</groupId>
            <artifactId>spring-boot-starter-web</artifactId>
        </dependency>

        <dependency>
            <groupId>org.springframework.boot</groupId>
            <artifactId>spring-boot-configuration-processor</artifactId>
            <optional>true</optional>
        </dependency>

        <dependency>
            <groupId>com.fasterxml.jackson.core</groupId>
            <artifactId>jackson-databind</artifactId>
        </dependency>

        <dependency>
            <groupId>com.fasterxml.jackson.datatype</groupId>
            <artifactId>jackson-datatype-jsr310</artifactId>
        </dependency>

        <dependency>
            <groupId>org.projectlombok</groupId>
            <artifactId>lombok</artifactId>
            <optional>true</optional>
        </dependency>

        <dependency>
            <groupId>org.springframework.boot</groupId>
            <artifactId>spring-boot-starter-test</artifactId>
            <scope>test</scope>
        </dependency>
    </dependencies>

    <build>
        <plugins>
            <plugin>
                <groupId>org.springframework.boot</groupId>
                <artifactId>spring-boot-maven-plugin</artifactId>
                <configuration>
                    <excludes>
                        <exclude>
                            <groupId>org.projectlombok</groupId>
                            <artifactId>lombok</artifactId>
                        </exclude>
                    </excludes>
                </configuration>
            </plugin>
        </plugins>
    </build>
</project>

配置类

MqttClientFactoryConfig

java 复制代码

package com.tntxia.dji.config;

import com.tntxia.dji.model.TopicOsdRequest;
import lombok.extern.slf4j.Slf4j;
import org.eclipse.paho.client.mqttv3.MqttConnectOptions;
import org.springframework.beans.factory.annotation.Value;
import org.springframework.context.annotation.Bean;
import org.springframework.context.annotation.Configuration;
import org.springframework.integration.annotation.ServiceActivator;
import org.springframework.integration.channel.DirectChannel;
import org.springframework.integration.dsl.IntegrationFlow;
import org.springframework.integration.dsl.IntegrationFlows;
import org.springframework.integration.mqtt.core.DefaultMqttPahoClientFactory;
import org.springframework.integration.mqtt.core.MqttPahoClientFactory;
import org.springframework.integration.mqtt.inbound.MqttPahoMessageDrivenChannelAdapter;
import org.springframework.messaging.Message;
import org.springframework.messaging.MessageChannel;
import org.springframework.messaging.MessageHandler;
import org.springframework.messaging.MessagingException;

/**
 * 配置客户端工厂
 */
@Slf4j
@Configuration
public class MqttClientFactoryConfig {

    @Value("${mqtt.url}")
    private String url;

    @Value("${mqtt.clientId}")
    private String clientId;

    @Value("${mqtt.username:}")
    private String username;

    @Value("${mqtt.password:}")
    private String password;

    @Bean
    public MqttPahoClientFactory mqttClientFactory() {
        MqttConnectOptions mqttConnectOptions = new MqttConnectOptions();
        mqttConnectOptions.setServerURIs(new String[]{ url });
        mqttConnectOptions.setUserName(username);
        mqttConnectOptions.setPassword(password.toCharArray());
        mqttConnectOptions.setAutomaticReconnect(true);
        mqttConnectOptions.setKeepAliveInterval(10);
        DefaultMqttPahoClientFactory factory = new DefaultMqttPahoClientFactory();
        factory.setConnectionOptions(mqttConnectOptions);
        return factory;
    }

}

MqttChannelAdapterConfig

java 复制代码

package com.tntxia.dji.config;

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.mqtt.core.MqttPahoClientFactory;
import org.springframework.integration.mqtt.inbound.MqttPahoMessageDrivenChannelAdapter;
import org.springframework.messaging.MessageChannel;

import javax.annotation.Resource;
import java.util.Date;

/**
 * 配置消息频道流转适配器
 */
@Slf4j
@Configuration
public class MqttChannelAdapterConfig {

    @Value("${mqtt.clientId}")
    private String clientId;

    @Resource(name = ChannelName.INBOUND)
    private MessageChannel inboundChannel;

    @Bean
    public MqttPahoMessageDrivenChannelAdapter mqttMessageDrivenChannelAdapter(MqttPahoClientFactory mqttClientFactory) {

        // 使用通配符订阅所有 dji/ 下的 topic
        MqttPahoMessageDrivenChannelAdapter adapter = new MqttPahoMessageDrivenChannelAdapter(
                clientId + "-" + new Date().getTime(),
                mqttClientFactory,
                "dji/#"
        );
        adapter.setQos(1);
        adapter.setCompletionTimeout(5000);

        // 这里配置了适配器的出口频道
        adapter.setOutputChannel(inboundChannel);
        return adapter;

    }

}

这里配置适配器的出口频道inboundChannel，默认所有的消息都会流向inboundChannel。

使用Springboot Integration做无人机飞控系统

Pom文件

配置类

MqttClientFactoryConfig

MqttChannelAdapterConfig

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