package com.ard.work.component.websocket.handler;
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import com.alibaba.fastjson2.JSON;
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import com.alibaba.fastjson2.TypeReference;
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import com.ard.common.core.domain.model.LoginUser;
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import com.ard.framework.web.service.TokenService;
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import com.ard.work.component.websocket.WebSocketSessionManager;
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import com.ard.work.component.websocket.utils.WebSocketUtil;
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import com.ard.work.domain.enums.MessageType;
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import com.ard.work.domain.message.*;
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import com.ard.work.service.control.UavControlService;
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import lombok.extern.slf4j.Slf4j;
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import org.springframework.stereotype.Component;
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import org.springframework.web.socket.CloseStatus;
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import org.springframework.web.socket.TextMessage;
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import org.springframework.web.socket.WebSocketSession;
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import org.springframework.web.socket.handler.TextWebSocketHandler;
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import javax.annotation.Resource;
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import java.util.Map;
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import java.util.Objects;
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import java.util.concurrent.CompletableFuture;
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import java.util.concurrent.ConcurrentHashMap;
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@Component
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@Slf4j
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public class TyMessageHandler extends TextWebSocketHandler {
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@Resource
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private UavControlService uavControlService;
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@Resource
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private UavStreamManager uavStreamManager;
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@Resource
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private UavStateManager uavStateManager;
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@Resource
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private UavTelemetryManager uavTelemetryManager;
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@Resource
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private UavSignalManager uavSignalManager;
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@Resource
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private UavControlManager uavControlManager;
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@Resource
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private UavAllManager uavAllManager;
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@Resource
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private NoFlyDistanceManager noFlyDistanceManager;
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@Resource
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private TokenService tokenService;
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private final Map<Long, Long> lastDisconnectTime = new ConcurrentHashMap<>();
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@Override
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public void handleTextMessage(WebSocketSession session, TextMessage message) {
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try {
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String userIdStr = (String) session.getAttributes().get("userId");
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Long userId = Long.parseLong(userIdStr);
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String payload = message.getPayload();
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log.info("【ws】【{}】Received message: {}, size: {}", userId, payload,
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WebSocketSessionManager.getOnlineUserCount());
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BaseMessage<?> baseMessage = JSON.parseObject(payload, BaseMessage.class);
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MessageType messageType = MessageType.fromString(baseMessage.getType());
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switch (messageType) {
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case HEARTBEAT:
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handleHeartbeatMessage(payload, userId);
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break;
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case STREAM:
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handleStreamMessage(payload, userId);
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break;
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case STATE:
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handleStateMessage(payload, userId);
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break;
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case TELEMETRY:
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handleTelemetryMessage(payload, userId);
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break;
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case SIGNAL:
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handleSignalMessage(payload, userId);
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break;
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case CONTROLLER:
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handleControlMessage(payload, userId);
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break;
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case NO_FLY_DISTANCE:
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handleNoFlyDistanceMessage(payload, userId);
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break;
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case ALL:
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handleAllMessage(payload, userId);
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break;
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}
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} catch (Exception e) {
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log.error("Error handling message: {}", message, e);
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}
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}
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/**
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* 处理心跳消息
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* <p>
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* 该方法解析给定的负载数据，以获取无人机流消息，并根据消息类型决定是否开始或停止流
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*
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* @param payload 消息的负载数据，通常为JSON字符串
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* @param userId 接收消息的用户ID
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*/
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private void handleHeartbeatMessage(String payload, Long userId) {
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WebSocketUtil.sendMessage(userId, payload);
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}
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/**
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* 处理流消息
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* <p>
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* 该方法解析给定的负载数据，以获取无人机流消息，并根据消息类型决定是否开始或停止流
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*
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* @param payload 消息的负载数据，通常为JSON字符串
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* @param userId 接收消息的用户ID
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*/
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private void handleStreamMessage(String payload, Long userId) {
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// 解析JSON负载数据为BaseMessage对象，包含UavStreamMessage类型的有效载荷
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BaseMessage<UavStreamMessage> baseMessage = JSON.parseObject(payload,
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new TypeReference<BaseMessage<UavStreamMessage>>() {
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});
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UavStreamMessage uavStreamMessage = baseMessage.getPayload();
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// 检查解析后的UavStreamMessage对象是否非空
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if (uavStreamMessage != null) {
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String boxSn = uavStreamMessage.getBoxSn();
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// 根据Subscribe决定操作类型：true表示开始拉流，false表示停止拉流
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if (uavStreamMessage.getSubscribe()) {
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uavStreamManager.subscribe(boxSn, userId);
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} else {
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uavStreamManager.unsubscribe(boxSn, userId);
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}
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}
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}
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/**
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* 处理状态消息
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* 根据接收到的消息内容，决定无人机状态信息的订阅或退订
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*
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* @param payload 消息负载，包含订阅信息
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* @param userId 用户ID，用于标识用户
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*/
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private void handleStateMessage(String payload, Long userId) {
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// 解析接收到的JSON消息，将其转换为BaseMessage对象
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BaseMessage<UavStateMessage> baseMessage = JSON.parseObject(payload,
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new TypeReference<BaseMessage<UavStateMessage>>() {
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});
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// 获取消息的有效载荷部分
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UavStateMessage uavStateMessage = baseMessage.getPayload();
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// 检查有效载荷是否存在
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if (uavStateMessage != null) {
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// 获取无人机盒子的序列号
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String boxSn = uavStateMessage.getBoxSn();
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// 根据消息中的订阅标志，决定是订阅还是退订无人机状态
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Boolean subscribe = uavStateMessage.getSubscribe();
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if (subscribe) {
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// 执行订阅操作
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uavStateManager.subscribe(boxSn, userId, 1);
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} else {
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// 执行退订操作
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uavStateManager.unsubscribe(boxSn, userId);
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}
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}
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}
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/**
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* 处理遥测消息
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* 根据接收到的消息内容，决定无人机状态信息的订阅或退订
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*
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* @param payload 消息负载，包含订阅信息
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* @param userId 用户ID，用于标识用户
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*/
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private void handleTelemetryMessage(String payload, Long userId) {
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// 解析接收到的JSON消息，将其转换为BaseMessage对象
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BaseMessage<UavTelemetryMessage> baseMessage = JSON.parseObject(payload,
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new TypeReference<BaseMessage<UavTelemetryMessage>>() {
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});
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// 获取消息的有效载荷部分
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UavTelemetryMessage uavTelemetryMessage = baseMessage.getPayload();
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// 检查有效载荷是否存在
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if (uavTelemetryMessage != null) {
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// 获取无人机盒子的序列号
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String boxSn = uavTelemetryMessage.getBoxSn();
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// 根据消息中的订阅标志，决定是订阅还是退订无人机状态
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Boolean subscribe = uavTelemetryMessage.getSubscribe();
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if (subscribe) {
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// 执行订阅操作
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uavTelemetryManager.subscribe(boxSn, userId, 1);
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} else {
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// 执行退订操作
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uavTelemetryManager.unsubscribe(boxSn, userId);
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}
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}
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}
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/**
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* 处理信号质量
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* 根据接收到的消息内容，决定无人机信号质量信息的订阅或退订
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*
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* @param payload 消息负载，包含订阅信息
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* @param userId 用户ID，用于标识用户
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*/
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private void handleSignalMessage(String payload, Long userId) {
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// 解析接收到的JSON消息，将其转换为BaseMessage对象
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BaseMessage<UavSignalMessage> baseMessage = JSON.parseObject(payload,
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new TypeReference<BaseMessage<UavSignalMessage>>() {
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});
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// 获取消息的有效载荷部分
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UavSignalMessage uavSignalMessage = baseMessage.getPayload();
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// 检查有效载荷是否存在
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if (uavSignalMessage != null) {
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// 获取无人机盒子的序列号
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String boxSn = uavSignalMessage.getBoxSn();
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// 根据消息中的订阅标志，决定是订阅还是退订无人机状态
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Boolean subscribe = uavSignalMessage.getSubscribe();
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if (subscribe) {
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// 执行订阅操作
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uavSignalManager.subscribe(boxSn, userId, 2);
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} else {
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// 执行退订操作
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uavSignalManager.unsubscribe(boxSn, userId);
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}
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}
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}
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/**
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* 处理无人机控制者
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* 根据接收到的消息内容，决定无人机控制者信息的订阅或退订
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*
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* @param payload 消息负载，包含控制信息
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* @param userId 用户ID，用于标识用户
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*/
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private void handleControlMessage(String payload, Long userId) {
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// 解析接收到的JSON消息，将其转换为BaseMessage对象
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BaseMessage<UavControlMessage> baseMessage = JSON.parseObject(payload,
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new TypeReference<BaseMessage<UavControlMessage>>() {
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});
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// 获取消息的有效载荷部分
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UavControlMessage uavControlMessage = baseMessage.getPayload();
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// 检查有效载荷是否存在
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if (uavControlMessage != null) {
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// 获取无人机盒子的序列号
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String boxSn = uavControlMessage.getBoxSn();
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// 根据消息中的订阅标志，决定是订阅还是退订无人机状态
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Boolean subscribe = uavControlMessage.getSubscribe();
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if (subscribe) {
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// 执行订阅操作
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uavControlManager.subscribe(boxSn, userId, 2);
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} else {
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// 执行退订操作
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uavControlManager.unsubscribe(boxSn, userId);
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}
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}
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}
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private void handleAllMessage(String payload, Long userId) {
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// 解析接收到的JSON消息，将其转换为BaseMessage对象
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BaseMessage<UavAllMessage> baseMessage = JSON.parseObject(payload,
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new TypeReference<BaseMessage<UavAllMessage>>() {
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});
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// 获取消息的有效载荷部分
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UavAllMessage uavAllMessage = baseMessage.getPayload();
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// 检查有效载荷是否存在
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if (uavAllMessage != null) {
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// 获取无人机盒子的序列号
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String boxSn = uavAllMessage.getBoxSn();
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// 根据消息中的订阅标志，决定是订阅还是退订无人机状态
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Boolean subscribe = uavAllMessage.getSubscribe();
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if (subscribe) {
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// 执行订阅操作
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uavAllManager.subscribe(boxSn, userId, 1);
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} else {
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// 执行退订操作
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uavAllManager.unsubscribe(boxSn, userId);
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}
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}
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}
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/**
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* 处理禁飞区距离
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*
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* @param payload 消息负载，包含订阅信息
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* @param userId 用户ID，用于标识用户
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*/
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private void handleNoFlyDistanceMessage(String payload, Long userId) {
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// 解析接收到的JSON消息，将其转换为BaseMessage对象
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BaseMessage<NoFlyDistanceMessage> baseMessage = JSON.parseObject(payload,
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new TypeReference<BaseMessage<NoFlyDistanceMessage>>() {
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});
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// 获取消息的有效载荷部分
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NoFlyDistanceMessage noFlyDistanceMessage = baseMessage.getPayload();
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// 检查有效载荷是否存在
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if (noFlyDistanceMessage != null) {
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// 获取无人机盒子的序列号
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String boxSn = noFlyDistanceMessage.getBoxSn();
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// 根据消息中的订阅标志，决定是订阅还是退订无人机状态
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Boolean subscribe = noFlyDistanceMessage.getSubscribe();
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if (subscribe) {
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// 执行订阅操作
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noFlyDistanceManager.subscribe(boxSn, userId, 1);
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} else {
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// 执行退订操作
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noFlyDistanceManager.unsubscribe(boxSn, userId);
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}
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}
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}
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@Override
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public void afterConnectionEstablished(WebSocketSession session) {
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String userIdStr = (String) session.getAttributes().get("userId");
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if (userIdStr == null || userIdStr.isBlank()) {
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return;
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}
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Long userId = Long.parseLong(userIdStr);
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lastDisconnectTime.remove(userId); // 清除断开标记
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WebSocketSessionManager.addSession(userId, session);
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log.info("【ws】【{}】Connected,size: {}",userId, WebSocketSessionManager.getOnlineUserCount());
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}
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@Override
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public void afterConnectionClosed(WebSocketSession session, CloseStatus status) {
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String userIdStr = (String) session.getAttributes().get("userId");
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if (userIdStr == null || userIdStr.isBlank()) {
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return;
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}
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Long userId = Long.parseLong(userIdStr);
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WebSocketSessionManager.removeSession(userId);
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log.info("【ws】【{}】Disconnected,size: {}",userId, WebSocketSessionManager.getOnlineUserCount());
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long version = System.currentTimeMillis();
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lastDisconnectTime.put(userId, version);
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// 释放该用户所有 UAV 控制权
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// 延迟10秒删除token（若期间没重连）
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CompletableFuture.runAsync(() -> {
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try {
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Thread.sleep(5_000); // 延迟5秒
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} catch (InterruptedException ignored) {
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}
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// 如果版本号不一致，说明用户曾重连 → 不执行删除
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if (!Objects.equals(lastDisconnectTime.get(userId), version)) {
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return;
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}
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if (!WebSocketSessionManager.containsUser(userId)) {
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uavControlService.releaseAllControls(userId);
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uavStreamManager.stopAllPullStreamByUser(userId);
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uavStateManager.removeSubscribe(userId);
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uavTelemetryManager.removeSubscribe(userId);
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uavSignalManager.removeSubscribe(userId);
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uavControlManager.removeSubscribe(userId);
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LoginUser loginUser = tokenService.getLoginUserByUserId(userId);
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if (loginUser != null) {
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tokenService.delLoginUser(loginUser.getToken(), userId);
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log.info("【cmd】用户 [{}] 超时未重连，已删除 token", userId);
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}
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}
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});
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}
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}
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