From b097f7539a7429a85cdda7959c9ecb83a37a2918 Mon Sep 17 00:00:00 2001
From: liusuyi <1951119284@qq.com>
Date: Thu, 11 Jun 2026 14:49:28 +0800
Subject: [PATCH] 架次关联航线
---
ard-work/src/main/java/com/ard/work/component/websocket/handler/TyMessageHandler.java | 181 +++++++++++++++++++++++++++++++++++++--------
1 files changed, 149 insertions(+), 32 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 f8c2d81..74b6b36 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
@@ -2,7 +2,10 @@
import com.alibaba.fastjson2.JSON;
import com.alibaba.fastjson2.TypeReference;
+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 +17,10 @@
import org.springframework.web.socket.handler.TextWebSocketHandler;
import javax.annotation.Resource;
+import java.util.Map;
+import java.util.Objects;
+import java.util.concurrent.CompletableFuture;
+import java.util.concurrent.ConcurrentHashMap;
@Component
@@ -22,6 +29,8 @@
@Resource
private UavControlService uavControlService;
+ @Resource
+ private UavStreamManager uavStreamManager;
@Resource
private UavStateManager uavStateManager;
@Resource
@@ -32,6 +41,11 @@
private UavControlManager uavControlManager;
@Resource
private UavAllManager uavAllManager;
+ @Resource
+ private NoFlyDistanceManager noFlyDistanceManager;
+ @Resource
+ private TokenService tokenService;
+ private final Map<Long, Long> lastDisconnectTime = new ConcurrentHashMap<>();
@Override
public void handleTextMessage(WebSocketSession session, TextMessage message) {
@@ -39,13 +53,16 @@
String userIdStr = (String) session.getAttributes().get("userId");
Long userId = Long.parseLong(userIdStr);
String payload = message.getPayload();
- log.info("【cmd】Received message: {}", payload);
- log.info("【cmd】size: {}", WebSocketSessionManager.getOnlineUserCount());
+ log.info("【ws】【{}】Received message: {}, size: {}", userId, payload,
+ WebSocketSessionManager.getOnlineUserCount());
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;
case STATE:
handleStateMessage(payload, userId);
@@ -59,12 +76,56 @@
case CONTROLLER:
handleControlMessage(payload, userId);
break;
+ case NO_FLY_DISTANCE:
+ handleNoFlyDistanceMessage(payload, userId);
+ break;
case ALL:
handleAllMessage(payload, userId);
break;
}
} 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, payload);
+ }
+
+ /**
+ * 处理流消息
+ * <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 handleStreamMessage(String payload, Long userId) {
+ // 解析JSON负载数据为BaseMessage对象，包含UavStreamMessage类型的有效载荷
+ BaseMessage<UavStreamMessage> baseMessage = JSON.parseObject(payload,
+ new TypeReference<BaseMessage<UavStreamMessage>>() {
+ });
+ UavStreamMessage uavStreamMessage = baseMessage.getPayload();
+
+ // 检查解析后的UavStreamMessage对象是否非空
+ if (uavStreamMessage != null) {
+ String boxSn = uavStreamMessage.getBoxSn();
+
+ // 根据Subscribe决定操作类型：true表示开始拉流，false表示停止拉流
+ if (uavStreamMessage.getSubscribe()) {
+ uavStreamManager.subscribe(boxSn, userId);
+ } else {
+ uavStreamManager.unsubscribe(boxSn, userId);
+ }
}
}
@@ -77,11 +138,11 @@
*/
private void handleStateMessage(String payload, Long userId) {
// 解析接收到的JSON消息，将其转换为BaseMessage对象
- BaseMessage<UavStateMessage> stateMessage = JSON.parseObject(payload,
+ BaseMessage<UavStateMessage> baseMessage = JSON.parseObject(payload,
new TypeReference<BaseMessage<UavStateMessage>>() {
});
// 获取消息的有效载荷部分
- UavStateMessage uavStateMessage = stateMessage.getPayload();
+ UavStateMessage uavStateMessage = baseMessage.getPayload();
// 检查有效载荷是否存在
if (uavStateMessage != null) {
@@ -108,11 +169,11 @@
*/
private void handleTelemetryMessage(String payload, Long userId) {
// 解析接收到的JSON消息，将其转换为BaseMessage对象
- BaseMessage<UavTelemetryMessage> telemetryMessage = JSON.parseObject(payload,
+ BaseMessage<UavTelemetryMessage> baseMessage = JSON.parseObject(payload,
new TypeReference<BaseMessage<UavTelemetryMessage>>() {
});
// 获取消息的有效载荷部分
- UavTelemetryMessage uavTelemetryMessage = telemetryMessage.getPayload();
+ UavTelemetryMessage uavTelemetryMessage = baseMessage.getPayload();
// 检查有效载荷是否存在
if (uavTelemetryMessage != null) {
@@ -139,11 +200,11 @@
*/
private void handleSignalMessage(String payload, Long userId) {
// 解析接收到的JSON消息，将其转换为BaseMessage对象
- BaseMessage<UavSignalMessage> signalMessage = JSON.parseObject(payload,
+ BaseMessage<UavSignalMessage> baseMessage = JSON.parseObject(payload,
new TypeReference<BaseMessage<UavSignalMessage>>() {
});
// 获取消息的有效载荷部分
- UavSignalMessage uavSignalMessage = signalMessage.getPayload();
+ UavSignalMessage uavSignalMessage = baseMessage.getPayload();
// 检查有效载荷是否存在
if (uavSignalMessage != null) {
@@ -162,19 +223,19 @@
}
/**
- * 处理无人机控制
- * 根据接收到的消息内容，决定无人机控制信息的订阅或退订
+ * 处理无人机控制者
+ * 根据接收到的消息内容，决定无人机控制者信息的订阅或退订
*
* @param payload 消息负载，包含控制信息
* @param userId 用户ID，用于标识用户
*/
private void handleControlMessage(String payload, Long userId) {
// 解析接收到的JSON消息，将其转换为BaseMessage对象
- BaseMessage<UavControlMessage> controlMessage = JSON.parseObject(payload,
+ BaseMessage<UavControlMessage> baseMessage = JSON.parseObject(payload,
new TypeReference<BaseMessage<UavControlMessage>>() {
});
// 获取消息的有效载荷部分
- UavControlMessage uavControlMessage = controlMessage.getPayload();
+ UavControlMessage uavControlMessage = baseMessage.getPayload();
// 检查有效载荷是否存在
if (uavControlMessage != null) {
@@ -194,18 +255,18 @@
private void handleAllMessage(String payload, Long userId) {
// 解析接收到的JSON消息，将其转换为BaseMessage对象
- BaseMessage<UavControlMessage> controlMessage = JSON.parseObject(payload,
- new TypeReference<BaseMessage<UavControlMessage>>() {
+ BaseMessage<UavAllMessage> baseMessage = JSON.parseObject(payload,
+ new TypeReference<BaseMessage<UavAllMessage>>() {
});
// 获取消息的有效载荷部分
- UavControlMessage uavControlMessage = controlMessage.getPayload();
+ UavAllMessage uavAllMessage = baseMessage.getPayload();
// 检查有效载荷是否存在
- if (uavControlMessage != null) {
+ if (uavAllMessage != null) {
// 获取无人机盒子的序列号
- String boxSn = uavControlMessage.getBoxSn();
+ String boxSn = uavAllMessage.getBoxSn();
// 根据消息中的订阅标志，决定是订阅还是退订无人机状态
- Boolean subscribe = uavControlMessage.getSubscribe();
+ Boolean subscribe = uavAllMessage.getSubscribe();
if (subscribe) {
// 执行订阅操作
uavAllManager.subscribe(boxSn, userId, 1);
@@ -216,31 +277,87 @@
}
}
+ /**
+ * 处理禁飞区距离
+ *
+ * @param payload 消息负载，包含订阅信息
+ * @param userId 用户ID，用于标识用户
+ */
+ private void handleNoFlyDistanceMessage(String payload, Long userId) {
+ // 解析接收到的JSON消息，将其转换为BaseMessage对象
+ BaseMessage<NoFlyDistanceMessage> baseMessage = JSON.parseObject(payload,
+ new TypeReference<BaseMessage<NoFlyDistanceMessage>>() {
+ });
+ // 获取消息的有效载荷部分
+ NoFlyDistanceMessage noFlyDistanceMessage = baseMessage.getPayload();
+
+ // 检查有效载荷是否存在
+ if (noFlyDistanceMessage != null) {
+ // 获取无人机盒子的序列号
+ String boxSn = noFlyDistanceMessage.getBoxSn();
+ // 根据消息中的订阅标志，决定是订阅还是退订无人机状态
+ Boolean subscribe = noFlyDistanceMessage.getSubscribe();
+ if (subscribe) {
+ // 执行订阅操作
+ noFlyDistanceManager.subscribe(boxSn, userId, 1);
+ } else {
+ // 执行退订操作
+ noFlyDistanceManager.unsubscribe(boxSn, userId);
+ }
+ }
+ }
+
+
@Override
public void afterConnectionEstablished(WebSocketSession session) {
- log.info("【cmd】Connected: {}", session.getId());
String userIdStr = (String) session.getAttributes().get("userId");
+ if (userIdStr == null || userIdStr.isBlank()) {
+ return;
+ }
Long userId = Long.parseLong(userIdStr);
+ lastDisconnectTime.remove(userId); // 清除断开标记
WebSocketSessionManager.addSession(userId, session);
- log.info("【cmd】size: {}", WebSocketSessionManager.getOnlineUserCount());
+ log.info("【ws】【{}】Connected,size: {}", userId, WebSocketSessionManager.getOnlineUserCount());
}
@Override
public void afterConnectionClosed(WebSocketSession session, CloseStatus status) {
- log.info("【cmd】Disconnected: {}", session.getId());
+
String userIdStr = (String) session.getAttributes().get("userId");
+ if (userIdStr == null || userIdStr.isBlank()) {
+ return;
+ }
Long userId = Long.parseLong(userIdStr);
WebSocketSessionManager.removeSession(userId);
- log.info("【cmd】size: {}", WebSocketSessionManager.getOnlineUserCount());
+ log.info("【ws】【{}】Disconnected,size: {}", userId, WebSocketSessionManager.getOnlineUserCount());
+ long version = System.currentTimeMillis();
+ lastDisconnectTime.put(userId, version);
+ // 释放该用户所有 UAV 控制权
- if (userId != null) {
- // 释放该用户所有 UAV 控制权
- uavControlService.releaseAllControls(userId);
- }
-
- uavStateManager.removeSubscribe(userId);
- uavTelemetryManager.removeSubscribe(userId);
- uavSignalManager.removeSubscribe(userId);
- uavControlManager.removeSubscribe(userId);
+ // 延迟10秒删除token（若期间没重连）
+ CompletableFuture.runAsync(() -> {
+ try {
+ 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
+ if (!Objects.equals(lastDisconnectTime.get(userId), version)) {
+ return;
+ }
+ if (!WebSocketSessionManager.containsUser(userId)) {
+ uavControlService.releaseAllControls(userId);
+ uavStreamManager.stopAllPullStreamByUser(userId);
+ uavStateManager.removeSubscribe(userId);
+ uavTelemetryManager.removeSubscribe(userId);
+ uavSignalManager.removeSubscribe(userId);
+ uavControlManager.removeSubscribe(userId);
+ LoginUser loginUser = tokenService.getLoginUserByUserId(userId);
+ // 只移除本平台用户token，挂接用户token不移除
+ if (loginUser != null && "0".equals(loginUser.getUser().getPlatform())) {
+ tokenService.delLoginUser(loginUser.getToken(), userId);
+ log.info("【cmd】用户 [{}] 超时未重连，已删除 token", userId);
+ }
+ }
+ });
}
}
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