From 8c94d8fb9b374cec4626ec01440fa077e62fa67e Mon Sep 17 00:00:00 2001
From: liusuyi <1951119284@qq.com>
Date: Mon, 22 Dec 2025 09:18:39 +0800
Subject: [PATCH] 优化
---
ard-work/src/main/java/com/ard/work/component/websocket/handler/TyMessageHandler.java | 2 +-
ard-work/src/main/java/com/ard/work/service/impl/TyServiceImpl.java | 1 +
ard-work/src/main/java/com/ard/work/service/impl/ArdFlightTaskPartServiceImpl.java | 12 ++++++++++--
3 files changed, 12 insertions(+), 3 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 c8873a4..f55bb2a 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
@@ -337,7 +337,7 @@
// 延迟10秒删除token（若期间没重连）
CompletableFuture.runAsync(() -> {
try {
- Thread.sleep(3_000); // 延迟3秒
+ Thread.sleep(5_000); // 延迟5秒
} catch (InterruptedException ignored) {
}
// 如果版本号不一致，说明用户曾重连 → 不执行删除
diff --git a/ard-work/src/main/java/com/ard/work/service/impl/ArdFlightTaskPartServiceImpl.java b/ard-work/src/main/java/com/ard/work/service/impl/ArdFlightTaskPartServiceImpl.java
index 4f20a52..7ffe8ce 100644
--- a/ard-work/src/main/java/com/ard/work/service/impl/ArdFlightTaskPartServiceImpl.java
+++ b/ard-work/src/main/java/com/ard/work/service/impl/ArdFlightTaskPartServiceImpl.java
@@ -44,14 +44,22 @@
*/
@Scheduled(fixedRate = 1000)
public void readTelemetryTask() {
+ long now = System.currentTimeMillis();
UavTelemetryDataCache.forEach((boxSn, telemetryData) -> {
- // 从状态缓存里取当前状态
+ // 1️⃣ 从状态缓存里取当前状态
UavState uavState = UavStateCache.get(boxSn);
if (uavState == null) {
return; // 状态不存在，不记录
}
+ // 2️⃣ 使用遥测自身时间戳判断是否还活着
+ long dataTs = telemetryData.getTimestamp(); // 设备时间 / 服务器接收时间
+ if (now - dataTs > 3000) {
+ return; // 超过 3 秒没有新遥测 → 认为已离线或冻结，不记录
+ }
+
+ // 3️⃣ 飞行状态必须是飞行中
if(uavState.getFlightControllerState().getFlightStatus()!=2)
{
return; // 飞行状态不是飞行中，不记录
@@ -60,7 +68,7 @@
UavFlightStateDTO dto = new UavFlightStateDTO(
uavState,
telemetryData,
- System.currentTimeMillis()
+ dataTs
);
addTelemetryData(dto);
});
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 3d134e3..a2eba51 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
@@ -957,6 +957,7 @@
// 处理无人机遥测消息
UavTelemetryDataCmd uavTelemetryDataCmd = (UavTelemetryDataCmd) tyCommand;
TelemetryData telemetryData = uavTelemetryDataCmd.getTelemetryData();
+ telemetryData.setTimestamp(System.currentTimeMillis());//由于六合提供的状态时间戳不准，先以接收状态作为时间戳
UavTelemetryDataCache.put(telemetryData);
//logPrint("无人机遥测", uavTelemetryDataCmd.getTelemetryData().getBoxSn());
//WebSocketUtil.sendMessageAll(uavTelemetryDataCmd.getTelemetryData());
--
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