Merge remote-tracking branch 'origin/dev' into dev

zhaowenyu

2025-11-15 1e2f717393e4053a3b8de11cbf67cd98a8c77ec1

 ard-work/src/main/java/com/ard/work/component/websocket/handler/TyMessageHandler.java

@@ -5,6 +5,7 @@
import com.ard.common.core.domain.model.LoginUser;
import com.ard.framework.web.service.TokenService;
import com.ard.work.component.websocket.WebSocketSessionManager;
import com.ard.work.component.websocket.utils.WebSocketUtil;
import com.ard.work.domain.enums.MessageType;
import com.ard.work.domain.message.*;
import com.ard.work.service.control.UavControlService;
@@ -14,6 +15,7 @@
import org.springframework.web.socket.TextMessage;
import org.springframework.web.socket.WebSocketSession;
import org.springframework.web.socket.handler.TextWebSocketHandler;

import javax.annotation.Resource;
import java.util.concurrent.CompletableFuture;

@@ -50,6 +52,9 @@
            BaseMessage<?> baseMessage = JSON.parseObject(payload, BaseMessage.class);
            MessageType messageType = MessageType.fromString(baseMessage.getType());
            switch (messageType) {
                case HEARTBEAT:
                    handleHeartbeatMessage(payload, userId);
                    break;
                case STREAM:
                    handleStreamMessage(payload, userId);
                    break;
@@ -72,6 +77,19 @@
        } catch (Exception e) {
            log.error("Error handling message: {}", message, e);
        }
    }

    /**
     * 处理心跳消息
     * <p>
     * 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
     *
     * @param payload 消息的负载数据，通常为JSON字符串
     * @param userId  接收消息的用户ID
     */
    private void handleHeartbeatMessage(String payload, Long userId) {

        WebSocketUtil.sendMessage(userId, payload);
    }

    /**
@@ -285,7 +303,8 @@
        CompletableFuture.runAsync(() -> {
            try {
                Thread.sleep(10_000); // 延迟10秒
            } catch (InterruptedException ignored) {}
            } catch (InterruptedException ignored) {
            }

            if (!WebSocketSessionManager.containsUser(userId)) {
                LoginUser loginUser = tokenService.getLoginUserByUserId(userId);