From c94cc1ffd7395efc127b10ed3436095fbfbd7c18 Mon Sep 17 00:00:00 2001
From: liusuyi <1951119284@qq.com>
Date: Tue, 25 Nov 2025 16:13:14 +0800
Subject: [PATCH] 增加环绕飞行控制飞行高度
---
ard-work/src/main/java/com/ard/work/component/netty/TyTcpClientManager.java | 157 ++++++++++++++++++++++++++++-----------------------
1 files changed, 86 insertions(+), 71 deletions(-)
diff --git a/ard-work/src/main/java/com/ard/work/component/netty/TyTcpClientManager.java b/ard-work/src/main/java/com/ard/work/component/netty/TyTcpClientManager.java
index fccf3db..42cd0a1 100644
--- a/ard-work/src/main/java/com/ard/work/component/netty/TyTcpClientManager.java
+++ b/ard-work/src/main/java/com/ard/work/component/netty/TyTcpClientManager.java
@@ -1,12 +1,13 @@
package com.ard.work.component.netty;
-import com.ard.work.component.netty.command.BaseCmd;
+import com.ard.work.component.netty.command.register.HeartbeatCmd;
import com.ard.work.component.netty.handler.ClientHandler;
import com.ard.work.component.netty.handler.MessageProtocolDecoder;
import com.ard.work.component.netty.handler.MessageProtocolEncoder;
-import com.ard.work.domain.cache.TyTcpServerCache;
+import com.ard.work.component.netty.cache.TyTcpServerCache;
import com.ard.work.domain.entity.ArdServerInfo;
-import com.ard.work.service.IArdServerService;
+import com.ard.work.service.IArdDroneInfoService;
+import com.ard.work.service.IArdServerInfoService;
import io.netty.bootstrap.Bootstrap;
import io.netty.channel.*;
import io.netty.channel.nio.NioEventLoopGroup;
@@ -15,26 +16,26 @@
import io.netty.handler.timeout.IdleStateHandler;
import io.netty.util.AttributeKey;
import lombok.extern.slf4j.Slf4j;
+import org.springframework.scheduling.annotation.Scheduled;
import org.springframework.stereotype.Component;
+
import javax.annotation.PostConstruct;
import javax.annotation.Resource;
-import java.net.InetSocketAddress;
-import java.util.Map;
-import java.util.concurrent.ConcurrentHashMap;
import java.util.concurrent.TimeUnit;
+
@Component
@Slf4j
public class TyTcpClientManager {
- /**
- * 以 serverId 作为唯一 key
- */
- public static final Map<String, TcpClientSession> channels = new ConcurrentHashMap<>();
+
private final EventLoopGroup eventLoopGroup = new NioEventLoopGroup();
@Resource
- private IArdServerService ardServerService; // ← 从数据库读取边缘服务器配置
+ private IArdServerInfoService ardServerService; // ← 从数据库读取边缘服务器配置
+
+ @Resource
+ private IArdDroneInfoService ardDroneService;
@Resource
private ClientHandler clientHandler;
@@ -52,7 +53,7 @@
@Override
protected void initChannel(SocketChannel socketChannel) {
ChannelPipeline pipeline = socketChannel.pipeline();
- pipeline.addLast("heart", new IdleStateHandler(0, 3, 0, TimeUnit.SECONDS));
+ pipeline.addLast("heart", new IdleStateHandler(0, 5, 0, TimeUnit.SECONDS));
pipeline.addLast("encoder", new MessageProtocolEncoder());
pipeline.addLast("decoder", new MessageProtocolDecoder());
pipeline.addLast("handler", clientHandler);
@@ -62,91 +63,75 @@
}
/**
- * 初始化与六合服务器的连接
+ * 新增或重连服务器
*/
- public void initConnection(String serverId, String host, Integer port) {
- String key = host + ":" + port;
- log.info("初始化连接边缘服务器 [{}] ({})", serverId, key);
+ public void connectServer(ArdServerInfo serverInfo) {
+ String serverId = serverInfo.getId();
+ String host = serverInfo.getHost();
+ Integer port = serverInfo.getTcpPort();
- // 如果存在旧连接则关闭
- if (channels.containsKey(serverId)) {
- TcpClientSession oldSession = channels.get(serverId);
- if (oldSession != null && oldSession.getChannelFuture() != null) {
- oldSession.getChannelFuture().channel().close();
- }
- }
+ // 如果已有旧连接，先断开
+ disconnectServer(serverId);
- // 异步连接 TCP 服务端
Bootstrap bootstrap = getBootstrap();
- ChannelFuture future = bootstrap.connect(host, port).addListener((ChannelFuture futureListener) -> {
- if (futureListener.isSuccess()) {
- log.info("✅ 边缘服务器 [{}] 连接成功 ({})", serverId, key);
- Channel channel = futureListener.channel();
- // 绑定 serverId 到 channel
+ bootstrap.connect(host, port).addListener((ChannelFuture f) -> {
+ if (f.isSuccess()) {
+ log.info("✅ 服务器 [{}] 连接成功", serverId);
+ Channel channel = f.channel();
channel.attr(AttributeKey.valueOf("serverId")).set(serverId);
- TyTcpServerCache.putTcpServerCache(key, true);
+ TyTcpServerCache.putTcpServerCache(serverId, true);
+ // 修改状态为： 1 - 在线
+ updateServerAndDroneStatus(serverId, "1");
+
+ // 成功后再加入 channels
+ TyTcpServerCache.putChannel(serverId, channel);
+
} else {
- log.warn("❌ 边缘服务器 [{}] 连接失败 ({})，10 秒后重试", serverId, key);
- TyTcpServerCache.putTcpServerCache(key, false);
- final EventLoop eventLoop = futureListener.channel().eventLoop();
- eventLoop.schedule(() -> initConnection(serverId, host, port), 10, TimeUnit.SECONDS);
+ log.warn("❌ 服务器 [{}] 连接失败", serverId);
+ TyTcpServerCache.putTcpServerCache(serverId, false);
+ // 断开服务器，修改状态为： 0 - 离线
+ updateServerAndDroneStatus(serverId, "0");
}
});
-
- // 存入连接缓存
- TcpClientSession session = TcpClientSession.builder()
- .ClientId("TY_" + serverId)
- .channelFuture(future)
- .isReConnect(true)
- .serverId(serverId)
- .host(host)
- .port(port)
- .build();
-
- channels.put(serverId, session);
}
/**
- * 向指定边缘服务器发送消息
+ * 断开服务器连接
*/
- public void sendMessage(Long serverId, BaseCmd msg) {
- try {
- TcpClientSession session = channels.get(serverId);
- if (session == null) {
- log.error("未找到六合服务器 [{}] 的连接", serverId);
- return;
- }
-
- ChannelFuture future = session.getChannelFuture();
- if (future == null || !future.channel().isActive()) {
- log.warn("六合服务器 [{}] 连接未激活，无法发送消息", serverId);
- return;
- }
-
- InetSocketAddress remote = (InetSocketAddress) future.channel().remoteAddress();
- future.channel().writeAndFlush(msg);
- log.debug("→ 向六合服务器 [{}] ({}:{}) 发送消息，命令码：0x{}",
- serverId, remote.getHostString(), remote.getPort(),
- String.format("%02X", msg.getCmdCode() & 0xFF));
- } catch (Exception e) {
- log.error("发送消息到六合服务器 [{}] 异常：{}", serverId, e.getMessage());
+ public void disconnectServer(String serverId) {
+ Channel channel = TyTcpServerCache.getChannel(serverId);
+ if (channel != null) {
+ channel.close();
+ log.info("断开服务器 [{}] 连接", serverId);
+ // 断开服务器，修改状态为： 0 - 离线
+ updateServerAndDroneStatus(serverId, "0");
+ TyTcpServerCache.removeChannel(serverId);
}
+ TyTcpServerCache.removeTcpServerCache(serverId);
+ }
+
+ /**
+ * 同步修改服务和无人机状态
+ */
+ private void updateServerAndDroneStatus(String serverId, String status) {
+ ardServerService.updateServerStatus(serverId, status);
+ ardDroneService.updateDroneStatus(serverId, status);
}
/**
* 启动时从数据库加载所有边缘服务器并建立 TCP 连接
*/
@PostConstruct
- public void createAllTyConnections() {
+ public void initConnectServers() {
try {
- var serverList = ardServerService.selectArdServerManagementList(new ArdServerInfo()); // ← 从数据库查询所有服务器配置
+ var serverList = ardServerService.selectArdServerInfoList(new ArdServerInfo() {{ setUseDataScope(false); }}); // ← 从数据库查询所有服务器配置
if (serverList == null || serverList.isEmpty()) {
log.warn("未在数据库中找到边缘服务器配置，跳过连接初始化");
return;
}
for (ArdServerInfo serverInfo : serverList) {
- initConnection(serverInfo.getId(), serverInfo.getHost(), serverInfo.getTcpPort());
+ connectServer(serverInfo);
}
log.info("共初始化 {} 个边缘服务器连接", serverList.size());
@@ -154,4 +139,34 @@
log.error("创建边缘服务器连接异常：{}", e.getMessage(), e);
}
}
+
+ @Scheduled(fixedDelay = 10000) // 每 10 秒检查一次
+ public void reconnectFailedServers() {
+ TyTcpServerCache.getTcpServerCacheMap().forEach((key, state) -> {
+ if (Boolean.FALSE.equals(state)) { // 连接失败的服务器
+ ArdServerInfo serverInfo = ardServerService.selectArdServerInfoById(key);
+ if (serverInfo != null) {
+ log.warn("服务器 [{}] 连接失败，尝试重连", key);
+ connectServer(serverInfo);
+ }
+ }
+ });
+ }
+
+ /**
+ * 定时向所有已连接的边缘服务器服务器发送心跳（写空闲已经发心跳了，这里暂时取消）
+ */
+ // @Scheduled(fixedRate = 5000) // 每5秒执行一次
+ public void sendHeartBeat() {
+ long timestamp = System.currentTimeMillis();
+ TyTcpServerCache.getChannels().stream()
+ // 过滤出仍然活跃的连接
+ .filter(channel -> channel != null && channel.isActive())
+ .forEach(channel -> {
+ String serverId = (String) channel.attr(AttributeKey.valueOf("serverId")).get();
+ HeartbeatCmd heartbeat = new HeartbeatCmd(timestamp);
+ channel.writeAndFlush(heartbeat);
+ log.info("❤\uFE0F 向边缘服务器 [{}]发送心跳，时间戳={}", serverId, timestamp);
+ });
+ }
}
--
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