2025-12-06 zwy 在机场设备详情页中，设置机场摄像头舱内、舱外，飞行器视频广角、变焦、红外时，将状态广播发送所有在线用户更改页面按钮选项；

zhaowenyu

2025-12-06 8ccdc1da5a12248af84383b92c1bcd1ea921b71f

2025-12-06 zwy 在机场设备详情页中，设置机场摄像头舱内、舱外，飞行器视频广角、变焦、红外时，将状态广播发送所有在线用户更改页面按钮选项；

 ard-admin/src/main/java/com/ard/web/controller/sample/DeviceController.java

@@ -265,6 +265,7 @@
                .workType(dto.getWorkType())
                .webrtcUrl(dto.getWebrtcUrl())
                .cameraWebrtcUrl(dto.getCameraWebrtcUrl())
                .cameraState(dto.getCameraState())
                .compatibleStatus(dto.getFirmwareStatus() == null ? null :
                        DeviceFirmwareStatusEnum.CONSISTENT_UPGRADE != DeviceFirmwareStatusEnum.find(dto.getFirmwareStatus()))
                .build();

 ard-admin/src/main/java/com/ard/web/controller/sample/LiveStreamController.java

@@ -9,6 +9,7 @@
import com.ard.sample.manage.model.dto.LiveTypeDTO;
import com.ard.sample.manage.model.param.RemoteDebugParam;
import com.ard.sample.manage.model.receiver.LiveCapacityReceiver;
import com.ard.sample.manage.service.IDeviceService;
import com.ard.sample.manage.service.ILiveStreamService;
import com.fasterxml.jackson.databind.ObjectMapper;
import io.swagger.annotations.Api;

 ard-common/src/main/java/com/ard/common/core/redis/RedisConst.java

@@ -21,6 +21,9 @@

    public static final String WEBSOCKET_VIDEO_ADDRESS_PREFIX = "videoaddress" + DELIMITER;

    // cover_state
    public static final String COVER_STATE_PREFIX = "coverstate" + DELIMITER;

    public static final String DEVICE_ONLINE_PREFIX = "online" + DELIMITER;

    public static final String WEBSOCKET_PREFIX = "webSocket" + DELIMITER;

 ard-sample/src/main/java/com/ard/sample/component/mqtt/handler/StateLiveCapacityHandler.java

@@ -20,7 +20,7 @@
@Slf4j
public class StateLiveCapacityHandler extends AbstractStateTopicHandler {

    protected StateLiveCapacityHandler(@Autowired @Qualifier("stateFirmwareVersionHandler") AbstractStateTopicHandler handler) {
    protected StateLiveCapacityHandler(@Autowired @Qualifier("stateLiveStatusHandler") AbstractStateTopicHandler handler) {
        super(handler);
    }

@@ -28,6 +28,7 @@
    public CommonTopicReceiver handleState(Map<String, Object> dataNode, CommonTopicReceiver stateReceiver, String sn) throws JsonProcessingException {
        // Determine if it is live capacity data based on name.
        if (dataNode.containsKey(StateDataEnum.LIVE_CAPACITY.getDesc())) {
            Object data = dataNode.get(StateDataEnum.LIVE_CAPACITY.getDesc());
            stateReceiver.setData(mapper.convertValue(
                    dataNode.get(StateDataEnum.LIVE_CAPACITY.getDesc()),
                    LiveCapacityReceiver.class));

 ard-sample/src/main/java/com/ard/sample/component/mqtt/handler/StateLiveStatusHandler.java

New file
@@ -0,0 +1,65 @@
package com.ard.sample.component.mqtt.handler;

import com.ard.sample.component.mqtt.model.CommonTopicReceiver;
import com.ard.sample.component.mqtt.model.StateDataEnum;
import com.ard.sample.component.websocket.enums.MessageType;
import com.ard.sample.component.websocket.handler.DockWebSocketHandler;
import com.ard.sample.manage.model.dto.DeviceDTO;
import com.ard.sample.manage.model.param.DeviceQueryParam;
import com.ard.sample.manage.model.receiver.LiveCapacityReceiver;
import com.ard.sample.manage.model.receiver.LiveStatusTwoReceiver;
import com.ard.sample.manage.service.IDeviceService;
import com.fasterxml.jackson.core.JsonProcessingException;
import com.fasterxml.jackson.core.type.TypeReference;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Qualifier;
import org.springframework.stereotype.Service;

import java.util.List;
import java.util.Map;

@Service
@Slf4j
public class StateLiveStatusHandler extends AbstractStateTopicHandler{

    @Autowired
    private DockWebSocketHandler _dockWebSocketHandler;
    @Autowired
    private IDeviceService _deviceService;

    protected StateLiveStatusHandler(@Autowired @Qualifier("stateFirmwareVersionHandler")AbstractStateTopicHandler handler) {
        super(handler);
    }

    @Override
    public CommonTopicReceiver handleState(Map<String, Object> dataNode, CommonTopicReceiver stateReceiver, String sn) throws JsonProcessingException {
        if (dataNode.containsKey(StateDataEnum.LIVESTATUS.getDesc())) {
            stateReceiver.setType(MessageType.LIVESTATUS.getType());
            String deviceSn= stateReceiver.getGateway();
            DeviceQueryParam param = DeviceQueryParam.builder().deviceSn(deviceSn).build();
            List<DeviceDTO> deviceDTOS = _deviceService.getDevicesByParams(param);
            // List<DeviceDTO> gatewaysList = _deviceService.getDevicesByParams(DeviceQueryParam.builder().childSn(deviceSn).build());
            String childSn = deviceDTOS.get(0).getChildDeviceSn();
            List<LiveStatusTwoReceiver> list = mapper.convertValue(dataNode.get(StateDataEnum.LIVESTATUS.getDesc()), new TypeReference<List<LiveStatusTwoReceiver>>() {});
            for (LiveStatusTwoReceiver receiver : list) {
                if(receiver.getVideoId().contains(childSn)){
                    stateReceiver.setData(receiver);
                    continue;
                }
            }
            stateReceiver.setGateway(childSn);
            String liveStatus = "";
            try{
                liveStatus=mapper.writeValueAsString(stateReceiver);
            }
            catch (Exception e){
                log.error("接收state直播设备状态反馈转换异常:{}",e);
            }
            _deviceService.setChildRedisCamera(childSn, liveStatus);
            log.info("接收state直播设备状态反馈:{}",liveStatus);
            return stateReceiver;
        }
        return handler.handleState(dataNode, stateReceiver, sn);
    }
}

 ard-sample/src/main/java/com/ard/sample/component/mqtt/model/StateDataEnum.java

@@ -12,7 +12,12 @@

    LIVE_CAPACITY("live_capacity"),

    PAYLOADS("payloads");
    PAYLOADS("payloads"),

    /**
     * 网关当前整体直播状态推送
     * */
    LIVESTATUS("live_status");

    private String desc;


 ard-sample/src/main/java/com/ard/sample/component/websocket/enums/MessageType.java

@@ -6,6 +6,7 @@
    CONTROL("control"),
    PROGRESS("progress"),
    LIVESTREAM("livestream"),
    LIVESTATUS("livestatus"),
    PING("ping"), // 新增心跳请求
    PONG("pong"), // 新增心跳响应
    ALL("all");

 ard-sample/src/main/java/com/ard/sample/component/websocket/handler/DockWebSocketHandler.java

@@ -1,7 +1,6 @@
package com.ard.sample.component.websocket.handler;

import com.alibaba.fastjson2.JSON;
import com.ard.sample.common.model.ResponseResult;
import com.ard.sample.component.websocket.enums.MessageType;
import com.ard.sample.component.websocket.model.Payload;
import com.ard.sample.component.websocket.model.WebSocketMessage;
@@ -14,6 +13,7 @@
import org.springframework.web.socket.WebSocketSession;
import org.springframework.web.socket.handler.TextWebSocketHandler;

import javax.annotation.PreDestroy;
import java.io.IOException;
import java.util.*;
import java.util.concurrent.ConcurrentHashMap;
@@ -21,6 +21,10 @@
import java.util.concurrent.ScheduledExecutorService;
import java.util.concurrent.TimeUnit;

/**
 * WebSocket处理器（设备对接）
 * 核心能力：心跳检测、订阅/取消订阅、定向消息推送、广播消息
 */
@Slf4j
@Component
public class DockWebSocketHandler extends TextWebSocketHandler {
@@ -31,108 +35,143 @@
    @Autowired
    private IControlService _controlService;

    // ====================== 心跳相关常量 ======================
    /** 心跳间隔（秒）：客户端需每隔此时间发一次ping */
    // ====================== 心跳相关常量（可配置化建议放到配置文件） ======================
    /** 心跳间隔（秒）：客户端需每隔此时间发送一次PING消息 */
    private static final long HEARTBEAT_INTERVAL = 30;
    /** 心跳超时阈值（秒）：超过此时间没收到ping，判定连接失效 */
    /** 心跳超时阈值（秒）：超过此时间未收到PING则判定连接失效 */
    private static final long HEARTBEAT_TIMEOUT = 90;
    /** 心跳检测任务间隔（秒）：定时检查超时连接 */
    private static final long CHECK_INTERVAL = 10;
    /** 心跳检测任务间隔（秒）：定时扫描超时连接 */
    private static final long HEARTBEAT_CHECK_INTERVAL = 10;

    // ====================== 核心存储 ======================
    // 存储用户会话：userId -> WebSocketSession
    // ====================== 核心存储（线程安全） ======================
    /** 用户会话映射：userId -> WebSocketSession */
    private final Map<String, WebSocketSession> userSessions = new ConcurrentHashMap<>();
    // 订阅关系：key=订阅标识(sn+type)，value=订阅用户ID集合
    /** 订阅关系映射：订阅标识(sn:type) -> 订阅用户ID集合 */
    private final Map<String, Set<String>> subscriptions = new ConcurrentHashMap<>();
    // 关键：为每个WebSocketSession分配独立的锁对象，确保写操作同步
    /** 会话锁映射：WebSocketSession -> 独立锁对象（防止并发写冲突） */
    private final Map<WebSocketSession, Object> sessionLocks = new ConcurrentHashMap<>();
    // 存储用户最后心跳时间：userId -> 最后心跳时间戳（毫秒）
    /** 用户最后心跳时间：userId -> 最后心跳时间戳（毫秒） */
    private final Map<String, Long> userLastHeartbeatTime = new ConcurrentHashMap<>();

    // ====================== 线程池 ======================
    // 延时任务线程池（单线程，守护线程），用于处理连接关闭后的延时清理
//    private final ScheduledExecutorService delayExecutor = Executors.newSingleThreadScheduledExecutor(runnable -> {
//        Thread thread = new Thread(runnable, "websocket-关闭-延迟-线程");
//        thread.setDaemon(true); // 设为守护线程，不阻塞JVM退出
//        return thread;
//    });

    // 心跳检测线程池（单线程，守护线程），定时检查超时连接
    /** 心跳检测线程池（单线程守护线程） */
    private final ScheduledExecutorService heartbeatCheckExecutor = Executors.newSingleThreadScheduledExecutor(runnable -> {
        Thread thread = new Thread(runnable, "websocket-心跳检测-线程");
        thread.setDaemon(true);
        Thread thread = new Thread(runnable, "websocket-heartbeat-check-thread");
        thread.setDaemon(true); // 守护线程，不阻塞JVM退出
        return thread;
    });

    // ====================== 初始化心跳检测任务 ======================
    // ====================== 初始化 ======================
    public DockWebSocketHandler() {
        // 项目启动后，每隔 CHECK_INTERVAL 秒执行一次心跳检测
        heartbeatCheckExecutor.scheduleAtFixedRate(this::checkHeartbeatTimeout,
                CHECK_INTERVAL, CHECK_INTERVAL, TimeUnit.SECONDS);
        // 启动心跳检测定时任务：首次延迟CHECK_INTERVAL执行，之后每隔CHECK_INTERVAL执行
        heartbeatCheckExecutor.scheduleAtFixedRate(
                this::checkHeartbeatTimeout,
                HEARTBEAT_CHECK_INTERVAL,
                HEARTBEAT_CHECK_INTERVAL,
                TimeUnit.SECONDS
        );
        log.info("WebSocket心跳检测任务已启动，检测间隔：{}秒，超时阈值：{}秒",
                HEARTBEAT_CHECK_INTERVAL, HEARTBEAT_TIMEOUT);
    }

    // ====================== 连接生命周期 ======================
    /**
     * 连接建立后回调
     * 连接建立成功回调
     */
    @Override
    public void afterConnectionEstablished(WebSocketSession session) throws Exception {
        // 从会话属性中获取认证后的用户ID
        // 从会话属性获取认证后的用户ID（需前置拦截器完成认证）
        String userId = (String) session.getAttributes().get("userId");
        if (userId == null) {
            session.close(CloseStatus.POLICY_VIOLATION.withReason("未认证"));
            session.close(CloseStatus.POLICY_VIOLATION.withReason("未认证，拒绝连接"));
            log.warn("WebSocket连接建立失败：会话无用户认证信息");
            return;
        }

        // 初始化会话相关存储
        userSessions.put(userId, session);
        // 为新会话初始化锁对象
        sessionLocks.put(session, new Object());
        // 初始化用户最后心跳时间（连接建立即视为一次心跳）
        userLastHeartbeatTime.put(userId, System.currentTimeMillis());

        log.info("用户[{}]已连接，当前在线人数：{}", userId, userSessions.size());
        log.info("用户[{}]WebSocket连接建立成功，当前在线人数：{}", userId, userSessions.size());
    }

    /**
     * 处理客户端发送的消息（包含心跳消息）
     * 连接关闭回调（同步清理，无延时）
     */
    @Override
    public void afterConnectionClosed(WebSocketSession session, CloseStatus status) throws Exception {
        String userId = (String) session.getAttributes().get("userId");
        if (userId != null) {
            // 同步清理所有关联数据
            userSessions.remove(userId);
            sessionLocks.remove(session);
            userLastHeartbeatTime.remove(userId);
            removeUserAllSubscriptions(userId);

            log.info("用户[{}]WebSocket连接关闭（状态码：{}，原因：{}），当前在线人数：{}",
                    userId, status.getCode(), status.getReason(), userSessions.size());
        } else {
            // 无认证用户直接清理锁
            sessionLocks.remove(session);
            log.warn("无认证用户WebSocket连接关闭，状态码：{}", status.getCode());
        }
    }

    // ====================== 消息处理 ======================
    /**
     * 处理客户端文本消息（包含心跳、订阅/取消订阅）
     */
    @Override
    protected void handleTextMessage(WebSocketSession session, TextMessage message) throws Exception {
        String userId = (String) session.getAttributes().get("userId");
        String jsonMessage = message.getPayload();
        if (userId == null) {
            sendMessage(session, "未认证，无法处理消息");
            return;
        }

        String jsonPayload = message.getPayload();
        try {
            // 解析客户端消息
            WebSocketMessage webSocketMessage = JSON.parseObject(jsonMessage, WebSocketMessage.class);
            String type = webSocketMessage.getType();
            // 解析WebSocket消息体
            WebSocketMessage webSocketMessage = JSON.parseObject(jsonPayload, WebSocketMessage.class);
            String messageType = webSocketMessage.getType();
            Payload payload = webSocketMessage.getPayload();

            // ====================== 处理心跳消息 ======================
            if (MessageType.PING.getType().equals(type)) {
                // 1. 更新用户最后心跳时间
                userLastHeartbeatTime.put(userId, System.currentTimeMillis());
                // 2. 回复pong消息
                WebSocketMessage pongMessage = new WebSocketMessage();
                pongMessage.setType(MessageType.PONG.getType());
                pongMessage.setPayload(new Payload()); // 空payload即可
                sendMessage(session, JSON.toJSONString(pongMessage));
                log.debug("用户[{}]心跳检测成功，已回复pong", userId);
                System.out.println("用户["+userId+"]心跳检测成功，已回复pong");
                return; // 心跳消息无需走后续订阅逻辑
            }

            // 验证消息类型是否合法
            if (!MessageType.fromString(type)) {
                sendMessage(session, "不支持的消息类型：" + type);
            // 1. 处理心跳PING消息
            if (MessageType.PING.getType().equals(messageType)) {
                handleHeartbeatPing(session, userId);
                return;
            }

            // 处理订阅/取消订阅
            handleSubscription(userId, type, payload);
            // 2. 验证消息类型合法性
            if (!MessageType.fromString(messageType)) {
                sendMessage(session, "不支持的消息类型：" + messageType);
                log.warn("用户[{}]发送非法消息类型：{}", userId, messageType);
                return;
            }

            // 3. 处理订阅/取消订阅逻辑
            handleSubscription(userId, messageType, payload);

        } catch (Exception e) {
            log.error("用户[{}]消息处理错误", userId, e);
            sendMessage(session, "消息格式错误");
            log.error("用户[{}]消息处理异常", userId, e);
            sendMessage(session, "消息格式错误或处理失败：" + e.getMessage());
        }
    }

    /**
     * 处理心跳PING消息
     */
    private void handleHeartbeatPing(WebSocketSession session, String userId) throws IOException {
        // 更新最后心跳时间
        userLastHeartbeatTime.put(userId, System.currentTimeMillis());
        // 回复PONG消息
        WebSocketMessage pongMessage = new WebSocketMessage();
        pongMessage.setType(MessageType.PONG.getType());
        pongMessage.setPayload(new Payload());
        sendMessage(session, JSON.toJSONString(pongMessage));

        log.debug("用户[{}]心跳PING接收成功，已回复PONG", userId);
    }

    /**
@@ -140,91 +179,67 @@
     */
    private void handleSubscription(String userId, String type, Payload payload) {
        String sn = payload.getSn();
        boolean subscribe = payload.isSubscribe();
        String subscriptionKey = getSubscriptionKey(sn, type); // 生成唯一订阅标识
        boolean isSubscribe = payload.isSubscribe();
        String subscriptionKey = getSubscriptionKey(sn, type);

        if (subscribe) {
            // 订阅操作
        if (isSubscribe) {
            // 订阅操作：不存在则创建，存在则添加用户
            subscriptions.computeIfAbsent(subscriptionKey, k -> ConcurrentHashMap.newKeySet()).add(userId);
            log.info("用户[{}]订阅了 设备[{}]的[{}]类型消息", userId, sn, type);
            log.info("用户[{}]订阅设备[{}]的[{}]类型消息", userId, sn, type);

            // 直播类型订阅：触发开启直播
            if (MessageType.LIVESTREAM.getType().equals(type)) {
                // 开启直播
                log.info("开启设备[{}]直播", sn);
                _liveStreamService.StartLiveStreaming(sn);
                log.info("设备[{}]直播流已开启（用户[{}]订阅触发）", sn, userId);
            }
        } else {
            // 取消订阅操作
            if (subscriptions.containsKey(subscriptionKey)) {
                subscriptions.get(subscriptionKey).remove(userId);
                if (subscriptions.get(subscriptionKey).isEmpty()) {
                Set<String> subscriberIds = subscriptions.get(subscriptionKey);
                subscriberIds.remove(userId);
                log.info("用户[{}]取消订阅设备[{}]的[{}]类型消息", userId, sn, type);

                // 订阅组为空时移除，并停止直播（直播类型）
                if (subscriberIds.isEmpty()) {
                    subscriptions.remove(subscriptionKey);
                    // 若取消的是直播订阅且无其他订阅者，停止直播
                    if (MessageType.LIVESTREAM.getType().equals(type)) {
                        log.info("设备[{}]无订阅者，停止直播", sn);
                        _liveStreamService.StopLiveStreaming(sn);
                        log.info("设备[{}]直播流已停止（无订阅用户）", sn);
                    }
                }
                log.info("用户[{}]取消订阅了 设备[{}]的[{}]类型消息", userId, sn, type);
            }
        }
    }

    // ====================== 心跳检测 ======================
    /**
     * 连接关闭后回调
     */
    @Override
    public void afterConnectionClosed(WebSocketSession session, CloseStatus status) throws Exception {
        String userId = (String) session.getAttributes().get("userId");
        if (userId != null) {
            log.info("用户[{}]连接关闭（状态码：{}），将延时5秒执行清理操作", userId, status.getCode());

            // 延时5秒执行清理逻辑
//            delayExecutor.schedule(() -> {
                try {
                    // 清理核心存储
                    userSessions.remove(userId);
                    sessionLocks.remove(session);
                    userLastHeartbeatTime.remove(userId); // 清理心跳时间

                    // 清除该用户的所有订阅
                    removeUserAllSubscriptions(userId);

                    log.info("用户[{}]延时5秒清理完成，当前在线人数：{}", userId, userSessions.size());
                } catch (Exception e) {
                    log.error("用户[{}]延时清理操作异常", userId, e);
                }
//            }, 5, TimeUnit.SECONDS); // 延时5秒执行
        } else {
            // 无认证用户，直接清理
            sessionLocks.remove(session);
            log.info("无认证用户连接关闭，直接清理会话锁");
        }
    }

    /**
     * 心跳超时检测：断开超过HEARTBEAT_TIMEOUT未发心跳的用户
     * 检测心跳超时连接并主动关闭
     */
    private void checkHeartbeatTimeout() {
        long currentTime = System.currentTimeMillis();
        // 遍历所有在线用户，检查心跳超时
        // 遍历所有用户心跳记录，检查超时
        for (Map.Entry<String, Long> entry : userLastHeartbeatTime.entrySet()) {
            String userId = entry.getKey();
            Long lastHeartbeat = entry.getValue();
            WebSocketSession session = userSessions.get(userId);
            long lastHeartbeatTime = entry.getValue();
            long timeoutMs = currentTime - lastHeartbeatTime;

            // 1. 计算超时时间差
            long timeoutDiff = currentTime - lastHeartbeat;
            if (timeoutDiff > HEARTBEAT_TIMEOUT * 1000) {
                log.warn("用户[{}]心跳超时（{}秒未发ping），将断开连接", userId, timeoutDiff / 1000);
            // 判定超时：超过阈值则主动关闭连接
            if (timeoutMs > HEARTBEAT_TIMEOUT * 1000) {
                WebSocketSession session = userSessions.get(userId);
                log.warn("用户[{}]心跳超时（{}秒未发送PING），将主动关闭连接",
                        userId, timeoutMs / 1000);

                try {
                    // 2. 主动关闭连接
                    // 主动关闭连接
                    if (session != null && session.isOpen()) {
                        session.close(CloseStatus.SESSION_NOT_RELIABLE.withReason("心跳超时"));
                        session.close(CloseStatus.SESSION_NOT_RELIABLE.withReason(
                                String.format("心跳超时：%d秒未收到PING", timeoutMs / 1000)
                        ));
                    }
                } catch (IOException e) {
                    log.error("关闭用户[{}]超时连接失败", userId, e);
                    log.error("主动关闭用户[{}]超时连接失败", userId, e);
                } finally {
                    // 3. 清理该用户的所有数据
                    // 强制清理用户所有关联数据
                    userSessions.remove(userId);
                    sessionLocks.remove(session);
                    userLastHeartbeatTime.remove(userId);
@@ -234,69 +249,84 @@
        }
    }

    // ====================== 消息推送接口 ======================
    /**
     * 清除用户的所有订阅
     */
    private void removeUserAllSubscriptions(String userId) {
        // 遍历所有订阅，移除该用户并检查是否需要停止直播
        Iterator<Map.Entry<String, Set<String>>> iterator = subscriptions.entrySet().iterator();
        while (iterator.hasNext()) {
            Map.Entry<String, Set<String>> entry = iterator.next();
            Set<String> userIds = entry.getValue();
            if (userIds.contains(userId)) {
                userIds.remove(userId);
                // 若订阅组为空，移除并停止直播（如果是直播类型）
                if (userIds.isEmpty()) {
                    String subscriptionKey = entry.getKey();
                    if (subscriptionKey.contains(MessageType.LIVESTREAM.getType())) {
                        String sn = subscriptionKey.split(":")[0];
                        _liveStreamService.StopLiveStreaming(sn);
                        log.info("设备[{}]无订阅者，停止直播", sn);
                    }
                    iterator.remove(); // 安全移除空订阅组
                }
            }
        }
    }

    /**
     * 向订阅了特定设备特定类型的用户发送消息
     * 向订阅指定设备指定类型的用户推送消息
     *
     * @param sn      设备序列号
     * @param type    消息类型（对应MessageType）
     * @param content 消息内容（JSON字符串）
     */
    public void sendMessageToSubscribers(String sn, String type, String content) {
        String subscriptionKey = getSubscriptionKey(sn, type);
        Set<String> subscriberIds = subscriptions.getOrDefault(subscriptionKey, new HashSet<>());
        Set<String> subscriberIds = subscriptions.getOrDefault(subscriptionKey, Collections.emptySet());

        if (subscriberIds.isEmpty()) {
            log.debug("设备[{}]的[{}]类型消息无订阅用户，无需推送", sn, type);
            return;
        }

        try {
            for (String userId : subscriberIds) {
                WebSocketSession session = userSessions.get(userId);
                if (session == null || !session.isOpen()) {
                    userSessions.remove(userId);
                    sessionLocks.remove(session);
                    userLastHeartbeatTime.remove(userId); // 清理心跳时间
                    continue;
                }

                // 同步发送消息，避免并发冲突
                Object lock = sessionLocks.get(session);
                if (lock == null) {
                    continue;
                }
                synchronized (lock) {
                    session.sendMessage(new TextMessage(content));
                    log.debug("向用户[{}]发送 设备[{}]的[{}]类型消息:{}", userId, sn, type, content);
                }
        // 遍历订阅用户推送消息
        for (String userId : subscriberIds) {
            WebSocketSession session = userSessions.get(userId);
            if (session == null || !session.isOpen()) {
                // 清理无效会话
                userSessions.remove(userId);
                sessionLocks.remove(session);
                userLastHeartbeatTime.remove(userId);
                log.warn("用户[{}]会话无效，已清理", userId);
                continue;
            }
        } catch (IOException e) {
            log.error("发送消息错误：{}", e.getMessage());

            // 线程安全发送消息
            try {
                sendMessage(session, content);
                log.debug("向用户[{}]推送设备[{}]的[{}]类型消息：{}", userId, sn, type, content);
            } catch (IOException e) {
                log.error("向用户[{}]推送消息失败", userId, e);
            }
        }
    }

    /**
     * 通用发送消息方法（封装同步逻辑）
     * 新增：向所有在线客户端广播消息
     *
     * @param content 消息内容（JSON字符串）
     */
    public void broadcastMessageToAllClients(String content) {
        if (userSessions.isEmpty()) {
            log.debug("无在线客户端，无需广播消息");
            return;
        }

        log.info("开始向所有在线客户端（{}人）广播消息", userSessions.size());
        // 遍历所有在线会话发送消息
        for (Map.Entry<String, WebSocketSession> entry : userSessions.entrySet()) {
            String userId = entry.getKey();
            WebSocketSession session = entry.getValue();

            if (session == null || !session.isOpen()) {
                // 清理无效会话
                userSessions.remove(userId);
                sessionLocks.remove(session);
                userLastHeartbeatTime.remove(userId);
                log.warn("用户[{}]会话无效，已清理", userId);
                continue;
            }

            // 线程安全发送广播消息
            try {
                sendMessage(session, content);
                log.debug("向用户[{}]广播消息成功", userId);
            } catch (IOException e) {
                log.error("向用户[{}]广播消息失败", userId, e);
            }
        }
    }

    // ====================== 通用工具方法 ======================
    /**
     * 线程安全发送消息（封装同步逻辑）
     */
    private void sendMessage(WebSocketSession session, String content) throws IOException {
        Object lock = sessionLocks.get(session);
@@ -308,28 +338,61 @@
    }

    /**
     * 生成订阅标识（sn+type的组合）
     * 生成订阅标识（设备SN + 消息类型）
     */
    private String getSubscriptionKey(String sn, String type) {
        return sn + ":" + type;
        return String.format("%s:%s", sn, type);
    }

    // ====================== 销毁线程池（可选，防止内存泄漏） ======================
    /**
     * 清除用户所有订阅关系
     */
    private void removeUserAllSubscriptions(String userId) {
        // 迭代器遍历，避免并发修改异常
        Iterator<Map.Entry<String, Set<String>>> iterator = subscriptions.entrySet().iterator();
        while (iterator.hasNext()) {
            Map.Entry<String, Set<String>> entry = iterator.next();
            Set<String> subscriberIds = entry.getValue();

//    public void destroy() {
//        delayExecutor.shutdown();
//        heartbeatCheckExecutor.shutdown();
//        try {
//            if (!delayExecutor.awaitTermination(1, TimeUnit.SECONDS)) {
//                delayExecutor.shutdownNow();
//            }
//            if (!heartbeatCheckExecutor.awaitTermination(1, TimeUnit.SECONDS)) {
//                heartbeatCheckExecutor.shutdownNow();
//            }
//        } catch (InterruptedException e) {
//            delayExecutor.shutdownNow();
//            heartbeatCheckExecutor.shutdownNow();
//        }
//        log.info("WebSocket线程池已销毁");
//    }
            // 移除当前用户
            if (subscriberIds.remove(userId)) {
                log.debug("用户[{}]已移除订阅：{}", userId, entry.getKey());

                // 订阅组为空时移除，并停止直播（直播类型）
                if (subscriberIds.isEmpty()) {
                    String subscriptionKey = entry.getKey();
                    if (subscriptionKey.contains(MessageType.LIVESTREAM.getType())) {
                        String sn = subscriptionKey.split(":")[0];
                        _liveStreamService.StopLiveStreaming(sn);
                        log.info("设备[{}]无订阅用户，已停止直播流", sn);
                    }
                    iterator.remove(); // 安全移除空订阅组
                }
            }
        }
    }

    // ====================== 资源销毁 ======================
    /**
     * 容器销毁时关闭线程池，防止内存泄漏
     */
    @PreDestroy
    public void destroy() {
        // 关闭心跳检测线程池
        if (heartbeatCheckExecutor != null && !heartbeatCheckExecutor.isShutdown()) {
            heartbeatCheckExecutor.shutdown();
            try {
                // 等待1秒优雅关闭，超时则强制关闭
                if (!heartbeatCheckExecutor.awaitTermination(1, TimeUnit.SECONDS)) {
                    heartbeatCheckExecutor.shutdownNow();
                    log.warn("WebSocket心跳检测线程池强制关闭");
                }
            } catch (InterruptedException e) {
                heartbeatCheckExecutor.shutdownNow();
                Thread.currentThread().interrupt(); // 恢复中断状态
                log.error("WebSocket心跳检测线程池关闭被中断", e);
            }
        }
        log.info("WebSocket处理器资源已销毁");
    }
}

 ard-sample/src/main/java/com/ard/sample/manage/model/dto/DeviceDTO.java

@@ -70,4 +70,6 @@
    private String webrtcUrl;

    private String cameraWebrtcUrl;

    private String cameraState;
}

 ard-sample/src/main/java/com/ard/sample/manage/model/entity/DeviceEntity.java

@@ -100,4 +100,7 @@
    @TableField(value = "cameraWebrtcUrl")
    private String cameraWebrtcUrl;

    @TableField(value = "cameraState")
    private String cameraState;

}

 ard-sample/src/main/java/com/ard/sample/manage/model/receiver/LiveStatusTwoReceiver.java

New file
@@ -0,0 +1,37 @@
package com.ard.sample.manage.model.receiver;

import com.fasterxml.jackson.annotation.JsonProperty;
import lombok.Data;

@Data
public class LiveStatusTwoReceiver {
    /**
     * 直播码流标识符
     * */
    @JsonProperty("video_id")
    private String videoId;

    /**
     * 视频类型
     * */
    @JsonProperty("video_type")
    private String videoType;

    /**
     * 直播码流的质量    "0":"自适应","1":"流畅","2":"标清","3":"高清","4":"超清"
     * */
    @JsonProperty("video_quality")
    private Integer videoQuality;

    /**
     * 直播状态    "0":"未直播","1":"在直播"
     * */
    @JsonProperty("status")
    private Integer status;

    /**
     * 错误码
     * */
    @JsonProperty("error_status")
    private Integer errorStatus;
}

 ard-sample/src/main/java/com/ard/sample/manage/model/receiver/OsdGatewayReceiver.java

@@ -25,6 +25,7 @@

    private Integer transmissionSignalQuality;

    @JsonProperty("live_status")
    private LiveStatusReceiver liveStatus;

    private WirelessLinkStateReceiver wirelessLinkState;

 ard-sample/src/main/java/com/ard/sample/manage/service/IDeviceService.java

@@ -263,6 +263,9 @@
     */
    Boolean checkDeviceOnline(String sn);

    void sendCameraInfo();

    void setRedisCameraPosition(String sn, Integer cameraPosition);
    void setChildRedisCamera(String sn, String context);
//    public List<DeviceEntity> selectList(Wrapper<DeviceEntity> queryWrapper);
}

 ard-sample/src/main/java/com/ard/sample/manage/service/impl/ControlServiceImpl.java

@@ -63,6 +63,7 @@
            return ResponseResult.error("The " + serviceIdentifier + " method does not exist.");
        }


        Object data = "";
        // Add parameter validation.
        if (Objects.nonNull(controlMethodEnum.getClazz())) {
@@ -111,6 +112,18 @@
            RedisOpsUtils.setWithExpire(serviceIdentifier + RedisConst.DELIMITER +  bid, sn,
                    RedisConst.DEVICE_ALIVE_SECOND * RedisConst.DEVICE_ALIVE_SECOND);
        }
        // 执行操作成功后，更新摄像头内外镜头状态
        if(RemoteControlMethodEnum.COVER_OPEN == controlMethodEnum) {
            // 打开盖子,切换机场舱内摄像头镜头
            //打开，摄像头为舱内；将摄像头状态存到redis，格式为：CONVERSTATE:设备SN：1（舱外）或0（舱内）
            _deviceService.setRedisCameraPosition(sn,0);
        }
        if(RemoteControlMethodEnum.COVER_CLOSE == controlMethodEnum) {
            // 关闭盖子,切换机场舱外摄像头镜头
            //关闭，摄像头为舱外；将摄像头状态存到redis，格式为：CONVERSTATE:设备SN：1（舱外）或0（舱内）
            _deviceService.setRedisCameraPosition(sn,1);
        }

        return ResponseResult.success();
    }


 ard-sample/src/main/java/com/ard/sample/manage/service/impl/DeviceServiceImpl.java

@@ -4,6 +4,8 @@
import com.ard.device.camera.domain.ArdCamera;
import com.ard.device.camera.service.IArdCameraService;
import com.ard.device.channel.domain.ArdChannel;
import com.ard.sample.component.websocket.enums.MessageType;
import com.ard.sample.component.websocket.handler.DockWebSocketHandler;
import com.ard.sample.component.websocket.handler.LiveStreamHandler;
import com.ard.system.authorize.service.AuthorizeService;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
@@ -38,12 +40,14 @@
import com.fasterxml.jackson.databind.JsonNode;
import com.fasterxml.jackson.databind.ObjectMapper;
import lombok.extern.slf4j.Slf4j;
import org.apache.poi.ss.formula.functions.T;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Qualifier;
import org.springframework.integration.annotation.ServiceActivator;
import org.springframework.integration.mqtt.support.MqttHeaders;
import org.springframework.messaging.Message;
import org.springframework.messaging.MessageHeaders;
import org.springframework.scheduling.annotation.Scheduled;
import org.springframework.stereotype.Service;
import org.springframework.transaction.annotation.Transactional;
import org.springframework.util.CollectionUtils;
@@ -56,6 +60,7 @@
import java.time.ZoneId;
import java.util.*;
import java.util.concurrent.ConcurrentHashMap;
import java.util.concurrent.TimeUnit;
import java.util.stream.Collectors;

import static com.ard.sample.component.mqtt.model.TopicConst.*;
@@ -69,6 +74,9 @@
@Slf4j
@Transactional
public class DeviceServiceImpl implements IDeviceService {

    @Autowired
    private DockWebSocketHandler _dockWebSocketHandler;

    @Autowired
    private LiveStreamHandler _liveStreamHandler;
@@ -377,7 +385,7 @@
                for(ArdChannel ardChannel : ardCamera1.getChannelList()) {
                    if(ardChannel.getChanNo() == 1) {
                        // 修改列表中外接相机地址
                        updateCameraWebrtcUrl(devices.getDeviceSn(), ardChannel.getArdVtdu().getWebrtcUrl());
                        updateCameraWebrtcUrl(devices.getDeviceSn(), ardChannel.getArdVtdu().getWebrtcUrl(), ardCamera1.getState());
                    }
                }
            }
@@ -867,6 +875,7 @@
                .workType(entity.getWorkType())
                .webrtcUrl(entity.getWebrtcUrl())
                .cameraWebrtcUrl(entity.getCameraWebrtcUrl())
                .cameraState(entity.getCameraState())
                .workspaceName(entity.getDeptId() != null
                        ? Optional.ofNullable(sysDeptService.selectDeptById(entity.getDeptId()))
                        .map(SysDept::getDeptName)
@@ -927,10 +936,12 @@
        return update > 0;
    }

    public Boolean updateCameraWebrtcUrl(String sn, String CameraWebrtcUrl){
    public Boolean updateCameraWebrtcUrl(String sn, String CameraWebrtcUrl, String state){
        LambdaUpdateWrapper<DeviceEntity> lambdaUpdateWrapper = new LambdaUpdateWrapper<>();
        lambdaUpdateWrapper.eq(DeviceEntity::getDeviceSn, sn)
                .set(DeviceEntity::getCameraWebrtcUrl, CameraWebrtcUrl);
                .set(DeviceEntity::getCameraWebrtcUrl, CameraWebrtcUrl)
                .set(DeviceEntity::getCameraState, state);

        int update = mapper.update(null, lambdaUpdateWrapper);
        return update > 0;
    }
@@ -1328,6 +1339,7 @@
                .workType(dto.getWorkType())
                .webrtcUrl(dto.getWebrtcUrl())
                .cameraWebrtcUrl(dto.getCameraWebrtcUrl())
                .cameraState(dto.getCameraState())
                .compatibleStatus(dto.getFirmwareStatus() == null ? null :
                        DeviceFirmwareStatusEnum.CONSISTENT_UPGRADE != DeviceFirmwareStatusEnum.find(dto.getFirmwareStatus()))
                .build();
@@ -1469,9 +1481,48 @@
        messageSender.publish(topic, builder.build());
    }

//    @DataScopePlus(deptAlias="d")
//    @Override
//    public List<DeviceEntity> selectList(Wrapper<DeviceEntity> queryWrapper) {
//        return mapper.selectList(queryWrapper);
//    }
    /**
     * 定时任务，每秒钟从redis中读取信息发送机场摄像头（舱内舱外）、飞行器摄像头模式（广角、变焦、红外）
     * */
    @Override
    @Scheduled(initialDelay = 5, fixedRate = 1, timeUnit = TimeUnit.SECONDS)
    public void sendCameraInfo() {
        // 此方法修改为定时任务，每秒钟从redis中读取信息发送
        // 发送机场摄像头位置信息
        Map<Object, Object> map = RedisOpsUtils.getAllData(RedisConst.COVER_STATE_PREFIX+"*");
        map.forEach((k, v) -> {
           _dockWebSocketHandler.broadcastMessageToAllClients(v.toString());
        });
    }

    // 机场直播摄像头信息存redis中，舱内、舱外
    @Override
    public void setRedisCameraPosition(String sn, Integer cameraPosition) {
        String liveStatus = "";
        Optional<DeviceDTO> device = getDeviceBySn(sn);
        if(device.get().getDomain().equals(DeviceDomainEnum.DOCK.getVal())){
            CommonTopicReceiver<Map<String,Integer>> stateReceiver = new CommonTopicReceiver<>();
            stateReceiver.setTid(UUID.randomUUID().toString());
            stateReceiver.setBid(UUID.randomUUID().toString());
            stateReceiver.setType(MessageType.LIVESTREAM.getType());
            stateReceiver.setGateway(sn);
            stateReceiver.setTimestamp(System.currentTimeMillis());
            Map<String,Integer> live_status = new HashMap<>();
            live_status.put("camera_position", cameraPosition);
            stateReceiver.setData(live_status);
            try{
                liveStatus=objectMapper.writeValueAsString(stateReceiver);
            }
            catch (Exception e){
                log.error("机场直播设备状态反馈转换异常:{}",e);
            }
        }
        log.info("机场直播设备状态反馈存入redis中，key值：{}中:{}",RedisConst.COVER_STATE_PREFIX,liveStatus);
        RedisOpsUtils.set(RedisConst.COVER_STATE_PREFIX + sn, liveStatus);
    }

    public void setChildRedisCamera(String sn, String context){
        // 保存子设备信息到redis中，便于前端获取
        RedisOpsUtils.set(RedisConst.COVER_STATE_PREFIX + sn, context);
    }
}

 ard-sample/src/main/java/com/ard/sample/manage/service/impl/DockOnlineServiceImpl.java

@@ -51,10 +51,12 @@
                _deviceService.updateWorkType(device.getDeviceSn(), 3L);
                RedisOpsUtils.setWithExpire(RedisConst.OSD_STATUS_PREFIX + device.getDeviceSn(), 3, RedisConst.DEVICE_ALIVE_SECOND);
                RedisOpsUtils.del(RedisConst.WEBSOCKET_VIDEO_ADDRESS_PREFIX + device.getDeviceSn());
                RedisOpsUtils.del(RedisConst.COVER_STATE_PREFIX + device.getDeviceSn());
            }
            if(!_deviceService.checkDeviceOnline(device.getChildDeviceSn())){
                _deviceService.updateWorkType(device.getChildDeviceSn(), 6L);
                RedisOpsUtils.del(RedisConst.WEBSOCKET_VIDEO_ADDRESS_PREFIX + device.getChildDeviceSn());
                RedisOpsUtils.del(RedisConst.COVER_STATE_PREFIX + device.getDeviceSn());
            }
        }
    }

 ard-sample/src/main/java/com/ard/sample/manage/service/impl/LiveStreamServiceImpl.java

@@ -182,6 +182,11 @@
                return ResponseResult.error(LiveErrorEnum.URL_TYPE_NOT_SUPPORTED);
        }

        // 开始直播时发送机场相机摄像头默认信息（舱外）到所有在线用户,只取机场sn，发机场的摄像头信息
        if(data.getChildDeviceSn()!=null) {
            String sn = data.getDeviceSn();
            deviceService.setRedisCameraPosition(sn, 1);
        }
        return ResponseResult.success(live);
    }

@@ -268,6 +273,10 @@
        if (ResponseResult.CODE_SUCCESS != receiveReply.getResult()) {
            return ResponseResult.error(LiveErrorEnum.find(receiveReply.getResult()));
        }
        // 将切换相机摄像头信息到redis
        Integer camera_position = liveParam.getCameraPosition();
        String sn = responseResult.getData().getDeviceSn();
        deviceService.setRedisCameraPosition(sn, camera_position);

        return ResponseResult.success();
    }