From 297d3758588c6c9a2a80fa758a7d35a83ac2e351 Mon Sep 17 00:00:00 2001
From: liusuyi <1951119284@qq.com>
Date: Fri, 14 Nov 2025 10:30:34 +0800
Subject: [PATCH] 增加websocket心跳解析并回复
---
ard-work/src/main/java/com/ard/work/component/websocket/handler/TyMessageHandler.java | 21 ++++++++++++++++++++-
ard-work/src/main/java/com/ard/work/service/impl/TyServiceImpl.java | 2 +-
ard-work/src/main/java/com/ard/work/domain/enums/MessageType.java | 1 +
3 files changed, 22 insertions(+), 2 deletions(-)
diff --git a/ard-work/src/main/java/com/ard/work/component/websocket/handler/TyMessageHandler.java b/ard-work/src/main/java/com/ard/work/component/websocket/handler/TyMessageHandler.java
index 9807872..e7cc470 100644
--- a/ard-work/src/main/java/com/ard/work/component/websocket/handler/TyMessageHandler.java
+++ b/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, "服务端收到：" + 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);
diff --git a/ard-work/src/main/java/com/ard/work/domain/enums/MessageType.java b/ard-work/src/main/java/com/ard/work/domain/enums/MessageType.java
index 59889c6..1c5f5a1 100644
--- a/ard-work/src/main/java/com/ard/work/domain/enums/MessageType.java
+++ b/ard-work/src/main/java/com/ard/work/domain/enums/MessageType.java
@@ -1,6 +1,7 @@
package com.ard.work.domain.enums;
public enum MessageType {
+ HEARTBEAT("heartbeat"),
STREAM("stream"),
STATE("state"),
TELEMETRY("telemetry"),
diff --git a/ard-work/src/main/java/com/ard/work/service/impl/TyServiceImpl.java b/ard-work/src/main/java/com/ard/work/service/impl/TyServiceImpl.java
index bb840da..22b68f0 100644
--- a/ard-work/src/main/java/com/ard/work/service/impl/TyServiceImpl.java
+++ b/ard-work/src/main/java/com/ard/work/service/impl/TyServiceImpl.java
@@ -873,7 +873,7 @@
case 0x02:
// 处理注册消息
HeartbeatReplyCmd heartbeatReplyCmd = (HeartbeatReplyCmd) tyCommand;
- logPrint("心跳消息", heartbeatReplyCmd.getTimestamp());
+ //logPrint("心跳消息", heartbeatReplyCmd.getTimestamp());
break;
case 0x03:
// 处理订阅消息
--
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