forked from uav/ard-uav-server
blame | history | patch | commit | commitdiff | ignore whitespace
Xiajijian
2025-10-14 dc0b17d8d9b6f2c17165cd394dbd74e304422a5c 
 ard-work/src/main/java/com/ard/work/service/impl/TyServiceImpl.java


@@ -3,8 +3,6 @@


import com.ard.common.utils.ByteUtils;


import com.ard.work.aspect.annotation.CheckTakeoffAltitude;


import com.ard.work.aspect.annotation.CheckControlRight;


import com.ard.work.component.netty.TcpClientSession;


import com.ard.work.component.netty.TyTcpClientManager;


import com.ard.work.component.netty.command.BaseCmd;


import com.ard.work.component.netty.command.camera.*;


import com.ard.work.component.netty.command.manual.*;


@@ -47,14 +45,13 @@


import com.ard.work.component.netty.command.real.UavTelemetryDataCmd;


import com.ard.work.component.netty.handler.ErrorCodeEnum;


import com.ard.work.component.netty.protobuf.TelemetryDataPB;


import com.ard.work.service.IArdDroneService;


import com.ard.work.service.IArdServerService;


import com.ard.work.service.IArdDroneInfoService;


import com.ard.work.service.IArdServerInfoService;


import com.ard.work.service.ITyService;


import com.ard.work.domain.message.UavControlType;


import io.netty.channel.Channel;


import io.netty.channel.ChannelFuture;


import lombok.extern.slf4j.Slf4j;


import org.springframework.scheduling.annotation.Scheduled;


import org.springframework.stereotype.Service;




import javax.annotation.Resource;


@@ -78,9 +75,9 @@


@Service


public class TyServiceImpl implements ITyService {


    @Resource


    private IArdServerService ardServerService;


    private IArdServerInfoService ardServerService;


    @Resource


    private IArdDroneService ardDroneService;


    private IArdDroneInfoService ardDroneService;


    @Resource


    private TyClient tyClient;




@@ -882,27 +879,6 @@


    }






    /**


     * 定时向所有已连接的六合服务器发送心跳


     */


    @Scheduled(fixedRate = 5000) // 每5秒执行一次


    public void sendHeartBeat() {


        long timestamp = System.currentTimeMillis();




        for (TcpClientSession session : channels.values()) {


            ChannelFuture future = session.getChannelFuture();


            if (future == null || !future.channel().isActive()) {


                log.warn("边缘服务器 [{}] 连接未激活，跳过心跳发送", session.getServerId());


                continue;


            }




            HeartbeatCmd heartbeat = new HeartbeatCmd(timestamp);


            future.channel().writeAndFlush(heartbeat);




            log.info("→ 向边缘服务器 [{}] ({}:{}) 发送心跳，时间戳={}",


                    session.getServerId(), session.getHost(), session.getPort(), timestamp);


        }


    }


    /**


     * 发送消息


     */