增加云台速度简易控制接口

liusuyi

2025-10-27 8a1be2c973eacb1fb661caf920321eb2c58ef87c

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

@@ -80,10 +80,10 @@
     */
    private void handleStreamMessage(String payload, Long userId) {
        // 解析JSON负载数据为BaseMessage对象，包含UavStreamMessage类型的有效载荷
        BaseMessage<UavStreamMessage> streamMessage = JSON.parseObject(payload,
        BaseMessage<UavStreamMessage> baseMessage = JSON.parseObject(payload,
                new TypeReference<BaseMessage<UavStreamMessage>>() {
                });
        UavStreamMessage uavStreamMessage = streamMessage.getPayload();
        UavStreamMessage uavStreamMessage = baseMessage.getPayload();

        // 检查解析后的UavStreamMessage对象是否非空
        if (uavStreamMessage != null) {
@@ -107,11 +107,11 @@
     */
    private void handleStateMessage(String payload, Long userId) {
        // 解析接收到的JSON消息，将其转换为BaseMessage对象
        BaseMessage<UavStateMessage> stateMessage = JSON.parseObject(payload,
        BaseMessage<UavStateMessage> baseMessage = JSON.parseObject(payload,
                new TypeReference<BaseMessage<UavStateMessage>>() {
                });
        // 获取消息的有效载荷部分
        UavStateMessage uavStateMessage = stateMessage.getPayload();
        UavStateMessage uavStateMessage = baseMessage.getPayload();

        // 检查有效载荷是否存在
        if (uavStateMessage != null) {
@@ -138,11 +138,11 @@
     */
    private void handleTelemetryMessage(String payload, Long userId) {
        // 解析接收到的JSON消息，将其转换为BaseMessage对象
        BaseMessage<UavTelemetryMessage> telemetryMessage = JSON.parseObject(payload,
        BaseMessage<UavTelemetryMessage> baseMessage = JSON.parseObject(payload,
                new TypeReference<BaseMessage<UavTelemetryMessage>>() {
                });
        // 获取消息的有效载荷部分
        UavTelemetryMessage uavTelemetryMessage = telemetryMessage.getPayload();
        UavTelemetryMessage uavTelemetryMessage = baseMessage.getPayload();

        // 检查有效载荷是否存在
        if (uavTelemetryMessage != null) {
@@ -169,11 +169,11 @@
     */
    private void handleSignalMessage(String payload, Long userId) {
        // 解析接收到的JSON消息，将其转换为BaseMessage对象
        BaseMessage<UavSignalMessage> signalMessage = JSON.parseObject(payload,
        BaseMessage<UavSignalMessage> baseMessage = JSON.parseObject(payload,
                new TypeReference<BaseMessage<UavSignalMessage>>() {
                });
        // 获取消息的有效载荷部分
        UavSignalMessage uavSignalMessage = signalMessage.getPayload();
        UavSignalMessage uavSignalMessage = baseMessage.getPayload();

        // 检查有效载荷是否存在
        if (uavSignalMessage != null) {
@@ -192,19 +192,19 @@
    }

    /**
     * 处理无人机控制
     * 根据接收到的消息内容，决定无人机控制信息的订阅或退订
     * 处理无人机控制者
     * 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
     *
     * @param payload 消息负载，包含控制信息
     * @param userId  用户ID，用于标识用户
     */
    private void handleControlMessage(String payload, Long userId) {
        // 解析接收到的JSON消息，将其转换为BaseMessage对象
        BaseMessage<UavControlMessage> controlMessage = JSON.parseObject(payload,
        BaseMessage<UavControlMessage> baseMessage = JSON.parseObject(payload,
                new TypeReference<BaseMessage<UavControlMessage>>() {
                });
        // 获取消息的有效载荷部分
        UavControlMessage uavControlMessage = controlMessage.getPayload();
        UavControlMessage uavControlMessage = baseMessage.getPayload();

        // 检查有效载荷是否存在
        if (uavControlMessage != null) {
@@ -224,18 +224,18 @@

    private void handleAllMessage(String payload, Long userId) {
        // 解析接收到的JSON消息，将其转换为BaseMessage对象
        BaseMessage<UavControlMessage> controlMessage = JSON.parseObject(payload,
                new TypeReference<BaseMessage<UavControlMessage>>() {
        BaseMessage<UavAllMessage> baseMessage = JSON.parseObject(payload,
                new TypeReference<BaseMessage<UavAllMessage>>() {
                });
        // 获取消息的有效载荷部分
        UavControlMessage uavControlMessage = controlMessage.getPayload();
        UavAllMessage uavAllMessage = baseMessage.getPayload();

        // 检查有效载荷是否存在
        if (uavControlMessage != null) {
        if (uavAllMessage != null) {
            // 获取无人机盒子的序列号
            String boxSn = uavControlMessage.getBoxSn();
            String boxSn = uavAllMessage.getBoxSn();
            // 根据消息中的订阅标志，决定是订阅还是退订无人机状态
            Boolean subscribe = uavControlMessage.getSubscribe();
            Boolean subscribe = uavAllMessage.getSubscribe();
            if (subscribe) {
                // 执行订阅操作
                uavAllManager.subscribe(boxSn, userId, 1);
@@ -250,6 +250,9 @@
    public void afterConnectionEstablished(WebSocketSession session) {
        log.info("【cmd】Connected: {}", session.getId());
        String userIdStr = (String) session.getAttributes().get("userId");
        if (userIdStr == null || userIdStr.isBlank()) {
            return;
        }
        Long userId = Long.parseLong(userIdStr);
        WebSocketSessionManager.addSession(userId, session);
        log.info("【cmd】size: {}", WebSocketSessionManager.getOnlineUserCount());
@@ -259,6 +262,9 @@
    public void afterConnectionClosed(WebSocketSession session, CloseStatus status) {
        log.info("【cmd】Disconnected: {}", session.getId());
        String userIdStr = (String) session.getAttributes().get("userId");
        if (userIdStr == null || userIdStr.isBlank()) {
            return;
        }
        Long userId = Long.parseLong(userIdStr);
        WebSocketSessionManager.removeSession(userId);
        log.info("【cmd】size: {}", WebSocketSessionManager.getOnlineUserCount());
@@ -271,4 +277,6 @@
        uavSignalManager.removeSubscribe(userId);
        uavControlManager.removeSubscribe(userId);
    }


}