From 56189f93858d1228705cc3dcfae0fc77f3c74231 Mon Sep 17 00:00:00 2001
From: liusuyi <1951119284@qq.com>
Date: Sat, 11 Oct 2025 16:23:30 +0800
Subject: [PATCH] 调整tcp和http多服务业务

---
 ard-work/src/main/java/com/ard/work/service/impl/TyServiceImpl.java |  227 ++++++++++++++++++++++++++++++++++++--------------------
 1 files changed, 147 insertions(+), 80 deletions(-)

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 37e86c0..4e5904d 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
@@ -3,6 +3,8 @@
 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.*;
@@ -10,14 +12,14 @@
 import com.ard.work.component.netty.command.settings.*;
 import com.ard.work.component.netty.command.speaker.*;
 import com.ard.work.component.netty.command.wayline.*;
-import com.ard.work.config.TyConfiguration;
 import com.ard.work.domain.dto.camera.*;
 import com.ard.work.domain.dto.manual.*;
 import com.ard.work.domain.dto.speaker.*;
 import com.ard.work.domain.dto.wayline.*;
+import com.ard.work.domain.entity.ArdDroneInfo;
+import com.ard.work.domain.entity.ArdServerInfo;
 import com.ard.work.domain.receiver.*;
 import com.ard.work.component.forest.TyClient;
-import com.ard.work.domain.cache.TyTcpServerCache;
 import com.ard.work.domain.cache.UavSignalInfoCache;
 import com.ard.work.domain.cache.UavStateCache;
 import com.ard.work.domain.cache.UavTelemetryDataCache;
@@ -34,7 +36,6 @@
 import com.ard.work.domain.dto.signal.SignalInfo;
 import com.ard.work.domain.dto.state.UavState;
 import com.ard.work.domain.dto.telemetry.TelemetryData;
-import com.ard.work.component.netty.NettyTcpClient;
 import com.ard.work.component.netty.command.control.AbsAngleControlCmd;
 import com.ard.work.component.netty.command.control.AngleControlCmd;
 import com.ard.work.component.netty.command.control.SpeedControlCmd;
@@ -46,6 +47,8 @@
 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.ITyService;
 import com.ard.work.domain.message.UavControlType;
 import io.netty.channel.Channel;
@@ -56,8 +59,13 @@
 
 import javax.annotation.Resource;
 import java.net.InetSocketAddress;
-import java.util.ArrayList;
+import java.util.Collections;
 import java.util.List;
+import java.util.Optional;
+import java.util.stream.Collectors;
+import java.util.stream.Stream;
+
+import static com.ard.work.component.netty.TyTcpClientManager.channels;
 
 /**
  * TyServiceImpl
@@ -68,13 +76,12 @@
 @Slf4j
 @Service
 public class TyServiceImpl implements ITyService {
-
+    @Resource
+    private IArdServerService ardServerService;
+    @Resource
+    private IArdDroneService ardDroneService;
     @Resource
     private TyClient tyClient;
-
-    @Resource
-    private TyConfiguration tyConfiguration;
-
 
     /**
      * 获取六合token信息
@@ -82,8 +89,9 @@
      * @return AccessTokenReceiver
      */
     @Override
-    public AccessTokenReceiver getAccessToken() {
-        return tyConfiguration.getAccessToken();
+    public AccessTokenReceiver getAccessToken(String serverId) {
+
+        return ardServerService.getAccessToken(serverId);
     }
 
     /**
@@ -93,15 +101,22 @@
      */
     @Override
     public List<BoxInfoReceiver> getBoxList() {
-        //请求云盒列表
-        try {
-            TyHttpCommonReceiver<List<BoxInfoReceiver>> boxListReceiver = tyClient.getBoxList();
-            return boxListReceiver.getContent();
-        } catch (Exception e) {
-            log.error("获取云盒列表失败:{}", e.getMessage());
-            return new ArrayList<>();
-        }
+        List<ArdServerInfo> ardServerInfos = ardServerService.selectArdServerManagementList(new ArdServerInfo());
+
+        return ardServerInfos.stream()
+                .flatMap(ardServerInfo -> {
+                    String baseUrl = "http://" + ardServerInfo.getHost() + ":" + ardServerInfo.getHttpPort();
+                    try {
+                        List<BoxInfoReceiver> boxes = tyClient.getBoxList(baseUrl).getContent();
+                        return Optional.ofNullable(boxes).orElse(Collections.emptyList()).stream();
+                    } catch (Exception e) {
+                        log.error("获取云盒列表失败: {}", baseUrl, e);
+                        return Stream.empty();
+                    }
+                })
+                .collect(Collectors.toList());
     }
+
 
     /**
      * 获取直播地址
@@ -111,7 +126,9 @@
     @Override
     public BoxStreamUrlReceiver getBoxLiveUrl(String boxSn) {
 
-        TyHttpCommonReceiver<BoxStreamUrlReceiver> boxLiveUrl = tyClient.getBoxLiveUrl(boxSn);
+        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSn);
+        String baseUrl="http://"+ardDroneInfo.getArdServerInfo().getHost()+":"+ardDroneInfo.getArdServerInfo().getHttpPort();
+        TyHttpCommonReceiver<BoxStreamUrlReceiver> boxLiveUrl = tyClient.getBoxLiveUrl(baseUrl,boxSn);
         return boxLiveUrl.getContent();
     }
 
@@ -122,7 +139,9 @@
      */
     @Override
     public List<BoxHistoryReceiver> getBoxHistory(BoxHistoryDTO boxHistoryDTO) {
-        TyHttpCommonReceiver<List<BoxHistoryReceiver>> boxHistory = tyClient.getBoxHistory(boxHistoryDTO);
+        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxHistoryDTO.getBoxSn());
+        String baseUrl="http://"+ardDroneInfo.getArdServerInfo().getHost()+":"+ardDroneInfo.getArdServerInfo().getHttpPort();
+        TyHttpCommonReceiver<List<BoxHistoryReceiver>> boxHistory = tyClient.getBoxHistory(baseUrl,boxHistoryDTO);
         return boxHistory.getContent();
     }
 
@@ -133,7 +152,9 @@
      */
     @Override
     public List<BoxPhotosReceiver> getBoxPhotos(BoxPhotosDTO boxPhotosDTO) {
-        TyHttpCommonReceiver<List<BoxPhotosReceiver>> boxPhotos = tyClient.getBoxPhotos(boxPhotosDTO);
+        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxPhotosDTO.getBoxSn());
+        String baseUrl="http://"+ardDroneInfo.getArdServerInfo().getHost()+":"+ardDroneInfo.getArdServerInfo().getHttpPort();
+        TyHttpCommonReceiver<List<BoxPhotosReceiver>> boxPhotos = tyClient.getBoxPhotos(baseUrl,boxPhotosDTO);
         return boxPhotos.getContent();
     }
 
@@ -142,7 +163,9 @@
      */
     @Override
     public Boolean updateBoxSettings(BoxSettingsDTO boxSettingsDTO) {
-        TyHttpCommonReceiver<?> result = tyClient.updateBoxSettings(boxSettingsDTO);
+        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(boxSettingsDTO.getBoxSn());
+        String baseUrl="http://"+ardDroneInfo.getArdServerInfo().getHost()+":"+ardDroneInfo.getArdServerInfo().getHttpPort();
+        TyHttpCommonReceiver<?> result = tyClient.updateBoxSettings(baseUrl,boxSettingsDTO);
         return result.getState() == 1;
     }
 
@@ -151,8 +174,9 @@
      */
     @Override
     public Boolean updateReturnHeight(ReturnHeightSettingDTO returnHeightSettingDTO) {
+        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(returnHeightSettingDTO.getBoxSn());
         ReturnHeightSettingCmd returnHeightSettingCmd = new ReturnHeightSettingCmd(returnHeightSettingDTO);
-        this.sendMessage(tyConfiguration.getIpPort(), returnHeightSettingCmd);
+        this.sendMessage(ardDroneInfo.getServerInfoId(), returnHeightSettingCmd);
         return true;
     }
 
@@ -161,8 +185,9 @@
      */
     @Override
     public Boolean updateReturnPoint(ReturnPointSettingDTO returnPointSettingDTO) {
+        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(returnPointSettingDTO.getBoxSn());
         ReturnPointSettingCmd returnPointSettingCmd = new ReturnPointSettingCmd(returnPointSettingDTO);
-        this.sendMessage(tyConfiguration.getIpPort(), returnPointSettingCmd);
+        this.sendMessage(ardDroneInfo.getServerInfoId(), returnPointSettingCmd);
         return true;
     }
 
@@ -171,8 +196,9 @@
      */
     @Override
     public Boolean updateVideoStream(VideoStreamSettingDTO videoStreamSettingDTO) {
+        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(videoStreamSettingDTO.getBoxSn());
         VideoStreamSettingCmd videoStreamSettingCmd = new VideoStreamSettingCmd(videoStreamSettingDTO);
-        this.sendMessage(tyConfiguration.getIpPort(), videoStreamSettingCmd);
+        this.sendMessage(ardDroneInfo.getServerInfoId(), videoStreamSettingCmd);
         return true;
     }
 
@@ -180,11 +206,11 @@
      * 注册六合平台
      */
     @Override
-    public Boolean registerMessage() {
+    public Boolean registerMessage(String serverId) {
         try {
-            AccessTokenReceiver tyToken = tyConfiguration.getAccessToken();
+            AccessTokenReceiver tyToken = ardServerService.getAccessToken(serverId);
             RegisterCmd registerMessage = new RegisterCmd(tyToken.getCompanyId(), tyToken.getAccessToken().getBytes());
-            this.sendMessage(tyConfiguration.getIpPort(), registerMessage);
+            this.sendMessage(serverId, registerMessage);
         } catch (Exception e) {
             log.error("注册六合平台失败:{}", e.getMessage());
         }
@@ -197,8 +223,9 @@
     @CheckControlRight(UavControlType.PAYLOAD)
     @Override
     public Boolean angleControl(AngleControlDTO angleControlDto) {
+        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(angleControlDto.getBoxSn());
         AngleControlCmd controlAngleCommand = new AngleControlCmd(angleControlDto);
-        this.sendMessage(tyConfiguration.getIpPort(), controlAngleCommand);
+        this.sendMessage(ardDroneInfo.getServerInfoId(), controlAngleCommand);
         return true;
     }
 
@@ -208,8 +235,9 @@
     @CheckControlRight(UavControlType.PAYLOAD)
     @Override
     public Boolean absAngleControl(AbsAngleControlDTO absAngleControlDto) {
+        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(absAngleControlDto.getBoxSn());
         AbsAngleControlCmd absAngleControlCommand = new AbsAngleControlCmd(absAngleControlDto);
-        this.sendMessage(tyConfiguration.getIpPort(), absAngleControlCommand);
+        this.sendMessage(ardDroneInfo.getServerInfoId(), absAngleControlCommand);
         return true;
     }
 
@@ -219,8 +247,9 @@
     @CheckControlRight(UavControlType.PAYLOAD)
     @Override
     public Boolean speedControl(SpeedControlDTO speedControlDto) {
+        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(speedControlDto.getBoxSn());
         SpeedControlCmd speedControlCommand = new SpeedControlCmd(speedControlDto);
-        this.sendMessage(tyConfiguration.getIpPort(), speedControlCommand);
+        this.sendMessage(ardDroneInfo.getServerInfoId(), speedControlCommand);
         return true;
     }
 
@@ -229,8 +258,9 @@
      */
     @Override
     public Boolean updateCameraMode(CameraModeDTO cameraModeDTO) {
+        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(cameraModeDTO.getBoxSn());
         CameraModeCmd cameraModeCommand = new CameraModeCmd(cameraModeDTO);
-        this.sendMessage(tyConfiguration.getIpPort(), cameraModeCommand);
+        this.sendMessage(ardDroneInfo.getServerInfoId(), cameraModeCommand);
         return true;
     }
 
@@ -243,9 +273,9 @@
         updateCameraMode(CameraModeDTO.builder().boxSn(capturePicDto.getBoxSn()).actionParam((byte) 0x01).build());
         //设置拍照回传
         photoReturnToggle(PhotoReturnToggleDTO.builder().boxSn(capturePicDto.getBoxSn()).actionParam((byte) 0x01).build());
-
+        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(capturePicDto.getBoxSn());
         CapturePicCmd capturePicCommand = new CapturePicCmd(capturePicDto);
-        this.sendMessage(tyConfiguration.getIpPort(), capturePicCommand);
+        this.sendMessage(ardDroneInfo.getServerInfoId(), capturePicCommand);
         return true;
     }
 
@@ -261,7 +291,8 @@
         } else {
             baseCmd = new RecordStopCmd(recordDto);
         }
-        this.sendMessage(tyConfiguration.getIpPort(), baseCmd);
+        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(recordDto.getBoxSn());
+        this.sendMessage(ardDroneInfo.getServerInfoId(), baseCmd);
         return true;
     }
 
@@ -271,8 +302,9 @@
     @CheckControlRight(UavControlType.PAYLOAD)
     @Override
     public Boolean zoom(ZoomDTO zoomDTO) {
+        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(zoomDTO.getBoxSn());
         ZoomCmd zoomCommand = new ZoomCmd(zoomDTO);
-        this.sendMessage(tyConfiguration.getIpPort(), zoomCommand);
+        this.sendMessage(ardDroneInfo.getServerInfoId(), zoomCommand);
         return true;
     }
 
@@ -282,8 +314,9 @@
     @CheckControlRight(UavControlType.PAYLOAD)
     @Override
     public Boolean zoomToLevel(ZoomToLevelDTO zoomToLevelDTO) {
+        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(zoomToLevelDTO.getBoxSn());
         ZoomToLevelCmd zoomToLevelCommand = new ZoomToLevelCmd(zoomToLevelDTO);
-        this.sendMessage(tyConfiguration.getIpPort(), zoomToLevelCommand);
+        this.sendMessage(ardDroneInfo.getServerInfoId(), zoomToLevelCommand);
         return true;
     }
 
@@ -292,8 +325,9 @@
      */
     @Override
     public Boolean switchCamera(SwitchCameraDTO switchCameraDTO) {
+        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(switchCameraDTO.getBoxSn());
         SwitchCameraCmd switchCameraCmd = new SwitchCameraCmd(switchCameraDTO);
-        this.sendMessage(tyConfiguration.getIpPort(), switchCameraCmd);
+        this.sendMessage(ardDroneInfo.getServerInfoId(), switchCameraCmd);
         return true;
     }
 
@@ -302,8 +336,9 @@
      */
     @Override
     public Boolean switchSource(SwitchSourceDTO switchSourceDTO) {
+        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(switchSourceDTO.getBoxSn());
         SwitchSourceCmd switchSourceCmd = new SwitchSourceCmd(switchSourceDTO);
-        this.sendMessage(tyConfiguration.getIpPort(), switchSourceCmd);
+        this.sendMessage(ardDroneInfo.getServerInfoId(), switchSourceCmd);
         return true;
     }
 
@@ -312,8 +347,9 @@
      */
     @Override
     public Boolean photoReturnToggle(PhotoReturnToggleDTO photoReturnToggleDTO) {
+        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(photoReturnToggleDTO.getBoxSn());
         PhotoReturnToggleCmd photoReturnToggleCmd = new PhotoReturnToggleCmd(photoReturnToggleDTO);
-        this.sendMessage(tyConfiguration.getIpPort(), photoReturnToggleCmd);
+        this.sendMessage(ardDroneInfo.getServerInfoId(), photoReturnToggleCmd);
         return true;
     }
 
@@ -322,8 +358,9 @@
      */
     @Override
     public Boolean switchUavControl(SwitchUavControlDTO switchUavControlDTO) {
+        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(switchUavControlDTO.getBoxSn());
         SwitchUavControlCmd switchUavControlCmd = new SwitchUavControlCmd(switchUavControlDTO);
-        this.sendMessage(tyConfiguration.getIpPort(), switchUavControlCmd);
+        this.sendMessage(ardDroneInfo.getServerInfoId(), switchUavControlCmd);
         return true;
     }
 
@@ -333,8 +370,9 @@
     @CheckControlRight(UavControlType.FLY)
     @Override
     public Boolean takeOff(TakeOffDTO takeOffDTO) {
+        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(takeOffDTO.getBoxSn());
         TakeOffCmd takeOffCmd = new TakeOffCmd(takeOffDTO);
-        this.sendMessage(tyConfiguration.getIpPort(), takeOffCmd);
+        this.sendMessage(ardDroneInfo.getServerInfoId(), takeOffCmd);
         return true;
     }
 
@@ -344,8 +382,9 @@
     @CheckControlRight(UavControlType.FLY)
     @Override
     public Boolean returnHome(ReturnHomeDTO returnHomeDTO) {
+        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(returnHomeDTO.getBoxSn());
         ReturnHomeCmd returnHomeCmd = new ReturnHomeCmd(returnHomeDTO);
-        this.sendMessage(tyConfiguration.getIpPort(), returnHomeCmd);
+        this.sendMessage(ardDroneInfo.getServerInfoId(), returnHomeCmd);
         return true;
     }
 
@@ -355,8 +394,9 @@
     @CheckControlRight(UavControlType.FLY)
     @Override
     public Boolean returnHomeCancel(ReturnHomeCancelDTO returnHomeCancelDTO) {
+        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(returnHomeCancelDTO.getBoxSn());
         ReturnHomeCancelCmd returnHomeCancelCmd = new ReturnHomeCancelCmd(returnHomeCancelDTO);
-        this.sendMessage(tyConfiguration.getIpPort(), returnHomeCancelCmd);
+        this.sendMessage(ardDroneInfo.getServerInfoId(), returnHomeCancelCmd);
         return true;
     }
 
@@ -366,8 +406,9 @@
     @CheckControlRight(UavControlType.FLY)
     @Override
     public Boolean land(LandDTO landDTO) {
+        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(landDTO.getBoxSn());
         LandCmd landCmd = new LandCmd(landDTO);
-        this.sendMessage(tyConfiguration.getIpPort(), landCmd);
+        this.sendMessage(ardDroneInfo.getServerInfoId(), landCmd);
         return true;
     }
 
@@ -377,8 +418,9 @@
     @CheckControlRight(UavControlType.FLY)
     @Override
     public Boolean landCancel(LandCancelDTO landCancelDTO) {
+        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(landCancelDTO.getBoxSn());
         LandCancelCmd landCancelCmd = new LandCancelCmd(landCancelDTO);
-        this.sendMessage(tyConfiguration.getIpPort(), landCancelCmd);
+        this.sendMessage(ardDroneInfo.getServerInfoId(), landCancelCmd);
         return true;
     }
 
@@ -388,8 +430,9 @@
     @CheckControlRight(UavControlType.FLY)
     @Override
     public Boolean landForced(LandForcedDTO landForcedDTO) {
+        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(landForcedDTO.getBoxSn());
         LandForcedCmd landForcedCmd = new LandForcedCmd(landForcedDTO);
-        this.sendMessage(tyConfiguration.getIpPort(), landForcedCmd);
+        this.sendMessage(ardDroneInfo.getServerInfoId(), landForcedCmd);
         return true;
     }
 
@@ -400,8 +443,9 @@
     @CheckTakeoffAltitude(minAltitude = 30.0)
     @Override
     public Boolean flyControl(FlyControlDTO flyControlDTO) {
+        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(flyControlDTO.getBoxSn());
         FlyControlCmd flyControlCmd = new FlyControlCmd(flyControlDTO);
-        this.sendMessage(tyConfiguration.getIpPort(), flyControlCmd);
+        this.sendMessage(ardDroneInfo.getServerInfoId(), flyControlCmd);
         return true;
     }
 
@@ -412,8 +456,9 @@
     @CheckTakeoffAltitude(minAltitude = 30.0)
     @Override
     public Boolean flyPointControl(FlyPointControlDTO flyPointControlDTO) {
+        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(flyPointControlDTO.getBoxSn());
         FlyPointControlCmd flyPointControlCmd = new FlyPointControlCmd(flyPointControlDTO);
-        this.sendMessage(tyConfiguration.getIpPort(), flyPointControlCmd);
+        this.sendMessage(ardDroneInfo.getServerInfoId(), flyPointControlCmd);
         return true;
     }
 
@@ -423,8 +468,9 @@
     @CheckControlRight(UavControlType.FLY)
     @Override
     public Boolean flyPointControlCancel(FlyPointControlCancelDTO flyPointControlCancelDTO) {
+        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(flyPointControlCancelDTO.getBoxSn());
         FlyPointControlCancelCmd flyPointControlCancelCmd = new FlyPointControlCancelCmd(flyPointControlCancelDTO);
-        this.sendMessage(tyConfiguration.getIpPort(), flyPointControlCancelCmd);
+        this.sendMessage(ardDroneInfo.getServerInfoId(), flyPointControlCancelCmd);
         return true;
     }
 
@@ -434,8 +480,9 @@
     @CheckControlRight(UavControlType.FLY)
     @Override
     public Boolean emeragencyBrake(EmeragencyBrakeDTO emeragencyBrakeDTO) {
+        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(emeragencyBrakeDTO.getBoxSn());
         EmergencyBrakeCmd emergencyBrakeCmd = new EmergencyBrakeCmd(emeragencyBrakeDTO);
-        this.sendMessage(tyConfiguration.getIpPort(), emergencyBrakeCmd);
+        this.sendMessage(ardDroneInfo.getServerInfoId(), emergencyBrakeCmd);
         return true;
     }
 
@@ -468,8 +515,9 @@
      */
     @Override
     public void speakModeSwitch(SpeakModeSwitchDTO speakModeSwitchDTO) {
+        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(speakModeSwitchDTO.getBoxSn());
         SpeakModeSwitchCmd speakModeSwitchCmd = new SpeakModeSwitchCmd(speakModeSwitchDTO);
-        this.sendMessage(tyConfiguration.getIpPort(), speakModeSwitchCmd);
+        this.sendMessage(ardDroneInfo.getServerInfoId(), speakModeSwitchCmd);
     }
 
     /**
@@ -477,8 +525,9 @@
      */
     @Override
     public void textSpeak(TextSpeakDTO textSpeakDTO) {
+        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(textSpeakDTO.getBoxSn());
         TextSpeakCmd textSpeakCmd = new TextSpeakCmd(textSpeakDTO);
-        this.sendMessage(tyConfiguration.getIpPort(), textSpeakCmd);
+        this.sendMessage(ardDroneInfo.getServerInfoId(), textSpeakCmd);
     }
 
     /**
@@ -486,8 +535,9 @@
      */
     @Override
     public void realSpeak(RealSpeakDTO realSpeakDTO) {
+        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(realSpeakDTO.getBoxSn());
         RealSpeakCmd realSpeakCmd = new RealSpeakCmd(realSpeakDTO);
-        this.sendMessage(tyConfiguration.getIpPort(), realSpeakCmd);
+        this.sendMessage(ardDroneInfo.getServerInfoId(), realSpeakCmd);
     }
 
     /**
@@ -495,8 +545,9 @@
      */
     @Override
     public void recordSpeak(RecordSpeakDTO recordSpeakDTO) {
+        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(recordSpeakDTO.getBoxSn());
         RecordSpeakCmd recordSpeakCmd = new RecordSpeakCmd(recordSpeakDTO);
-        this.sendMessage(tyConfiguration.getIpPort(), recordSpeakCmd);
+        this.sendMessage(ardDroneInfo.getServerInfoId(), recordSpeakCmd);
     }
 
     /**
@@ -504,8 +555,9 @@
      */
     @Override
     public void volumeSetting(VolumeSettingDTO volumeSettingDTO) {
+        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(volumeSettingDTO.getBoxSn());
         VolumeSettingCmd volumeSettingCmd = new VolumeSettingCmd(volumeSettingDTO);
-        this.sendMessage(tyConfiguration.getIpPort(), volumeSettingCmd);
+        this.sendMessage(ardDroneInfo.getServerInfoId(), volumeSettingCmd);
     }
 
     /**
@@ -513,8 +565,9 @@
      */
     @Override
     public void loopSetting(LoopSettingDTO loopSettingDTO) {
+        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(loopSettingDTO.getBoxSn());
         LoopSettingCmd loopSettingCmd = new LoopSettingCmd(loopSettingDTO);
-        this.sendMessage(tyConfiguration.getIpPort(), loopSettingCmd);
+        this.sendMessage(ardDroneInfo.getServerInfoId(), loopSettingCmd);
     }
 
     /**
@@ -522,8 +575,9 @@
      */
     @Override
     public void stopSpeak(StopSpeakDTO stopSpeakDTO) {
+        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(stopSpeakDTO.getBoxSn());
         StopSpeakCmd stopSpeakCmd = new StopSpeakCmd(stopSpeakDTO);
-        this.sendMessage(tyConfiguration.getIpPort(), stopSpeakCmd);
+        this.sendMessage(ardDroneInfo.getServerInfoId(), stopSpeakCmd);
     }
 
     /**
@@ -531,9 +585,10 @@
      */
     @Override
     public void wayLineUpload(WayLineUploadDTO wayLineUploadDTO) {
+        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(wayLineUploadDTO.getBoxSn());
         wayLineUploadDTO.setWayLineData(this.CreatePlanLineData());//设置航线数据
         WayLineUploadCmd wayLineUploadCmd = new WayLineUploadCmd(wayLineUploadDTO);
-        this.sendMessage(tyConfiguration.getIpPort(), wayLineUploadCmd);
+        this.sendMessage(ardDroneInfo.getServerInfoId(), wayLineUploadCmd);
     }
 
     //创建航线
@@ -576,8 +631,9 @@
     @CheckControlRight(UavControlType.FLY)
     @Override
     public void wayLineBegin(WayLineBeginDTO wayLineBeginDTO) {
+        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(wayLineBeginDTO.getBoxSn());
         WayLineBeginCmd wayLineBeginCmd = new WayLineBeginCmd(wayLineBeginDTO);
-        this.sendMessage(tyConfiguration.getIpPort(), wayLineBeginCmd);
+        this.sendMessage(ardDroneInfo.getServerInfoId(), wayLineBeginCmd);
     }
 
     /**
@@ -586,8 +642,9 @@
     @CheckControlRight(UavControlType.FLY)
     @Override
     public void wayLinePause(WayLinePauseDTO wayLinePauseDTO) {
+        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(wayLinePauseDTO.getBoxSn());
         WayLinePauseCmd wayLinePauseCmd = new WayLinePauseCmd(wayLinePauseDTO);
-        this.sendMessage(tyConfiguration.getIpPort(), wayLinePauseCmd);
+        this.sendMessage(ardDroneInfo.getServerInfoId(), wayLinePauseCmd);
     }
 
     /**
@@ -596,8 +653,9 @@
     @CheckControlRight(UavControlType.FLY)
     @Override
     public void wayLineResume(WayLineResumeDTO wayLineResumeDTO) {
+        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(wayLineResumeDTO.getBoxSn());
         WayLineResumeCmd wayLineResumeCmd = new WayLineResumeCmd(wayLineResumeDTO);
-        this.sendMessage(tyConfiguration.getIpPort(), wayLineResumeCmd);
+        this.sendMessage(ardDroneInfo.getServerInfoId(), wayLineResumeCmd);
     }
 
     /**
@@ -606,8 +664,9 @@
     @CheckControlRight(UavControlType.FLY)
     @Override
     public void wayLineEnd(WayLineEndDTO wayLineEndDTO) {
+        ArdDroneInfo ardDroneInfo = ardDroneService.selectArdDroneByboxSn(wayLineEndDTO.getBoxSn());
         WayLineEndCmd wayLineEndCmd = new WayLineEndCmd(wayLineEndDTO);
-        this.sendMessage(tyConfiguration.getIpPort(), wayLineEndCmd);
+        this.sendMessage(ardDroneInfo.getServerInfoId(), wayLineEndCmd);
     }
 
     /**
@@ -624,7 +683,7 @@
                 if (registerReplyCommand.getSuccess() != 1) {
                     // 注册失败，重新注册
                     log.info("注册失败，重新注册");
-                    registerMessage();
+                    registerMessage(key);
                 }
                 break;
             case 0x02:
@@ -674,7 +733,7 @@
                 if (tyCommand instanceof UavInitReplyCmd) {
                     UavInitReplyCmd uavInitReplyCmd = (UavInitReplyCmd) tyCommand;
                     UavInitInfoCmd uavInitCommand = new UavInitInfoCmd(uavInitReplyCmd.getBoxSn());
-                    this.sendMessage(tyConfiguration.getIpPort(), uavInitCommand);
+                    this.sendMessage(key, uavInitCommand);
                     logPrint("无人机初始化详情", uavInitCommand.getBoxSn());
                 }
                 if (tyCommand instanceof UavReadyReplyCmd) {
@@ -808,26 +867,34 @@
                 ErrorCodeEnum.getDescByCode(errorCode));
     }
 
-    /**
-     * 定时3秒发送心跳指令
-     */
-    @Scheduled(fixedRate = 3000)
-    public void sendHeartBeat() {
-        if (!TyTcpServerCache.getTcpServerCache(tyConfiguration.getTcpserver() + ":" + tyConfiguration.getTcpport())) {
-            return;
-        }
-        long timestamp = System.currentTimeMillis();
-        log.debug("定时向六合发送⼼跳,时间戳{}", timestamp);
-        HeartbeatCmd heartbeatMessage = new HeartbeatCmd(timestamp);
-        this.sendMessage(tyConfiguration.getIpPort(), heartbeatMessage);
-    }
 
+    /**
+     * 定时向所有已连接的天宇服务器发送心跳
+     */
+    @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
      */
     private void sendMessage(String key, BaseCmd msg) {
         try {
-            ChannelFuture future = NettyTcpClient.channels.get(key).getChannelFuture();
+            ChannelFuture future = channels.get(key).getChannelFuture();
             Channel channel = future.channel();
             if (channel.isActive()) {
                 InetSocketAddress ipSocket = (InetSocketAddress) channel.remoteAddress();

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