From d7fef91a4cbb702988dc820bcde82c166253ceec Mon Sep 17 00:00:00 2001
From: zhaowenyu <35589726@qq.com>
Date: Sat, 07 Mar 2026 10:17:29 +0800
Subject: [PATCH] Merge remote-tracking branch 'origin/dev' into dev
---
ard-work/src/main/java/com/ard/work/component/websocket/handler/TyMessageHandler.java | 57 +++++++++++++++++++++++++++++++++++++++++++++++----------
1 files changed, 47 insertions(+), 10 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 2d376d4..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
@@ -42,6 +42,8 @@
@Resource
private UavAllManager uavAllManager;
@Resource
+ private NoFlyDistanceManager noFlyDistanceManager;
+ @Resource
private TokenService tokenService;
private final Map<Long, Long> lastDisconnectTime = new ConcurrentHashMap<>();
@@ -73,6 +75,9 @@
break;
case CONTROLLER:
handleControlMessage(payload, userId);
+ break;
+ case NO_FLY_DISTANCE:
+ handleNoFlyDistanceMessage(payload, userId);
break;
case ALL:
handleAllMessage(payload, userId);
@@ -272,6 +277,37 @@
}
}
+ /**
+ * 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) {
String userIdStr = (String) session.getAttributes().get("userId");
@@ -281,7 +317,7 @@
Long userId = Long.parseLong(userIdStr);
lastDisconnectTime.remove(userId); // 清除断开标记
WebSocketSessionManager.addSession(userId, session);
- log.info("【ws】【{}】Connected,size: {}",userId, WebSocketSessionManager.getOnlineUserCount());
+ log.info("【ws】【{}】Connected,size: {}", userId, WebSocketSessionManager.getOnlineUserCount());
}
@Override
@@ -293,7 +329,7 @@
}
Long userId = Long.parseLong(userIdStr);
WebSocketSessionManager.removeSession(userId);
- log.info("【ws】【{}】Disconnected,size: {}",userId, 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
@@ -301,7 +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
@@ -309,14 +345,15 @@
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);
- if (loginUser != null) {
- uavControlService.releaseAllControls(userId);
- uavStreamManager.stopAllPullStreamByUser(userId);
- uavStateManager.removeSubscribe(userId);
- uavTelemetryManager.removeSubscribe(userId);
- uavSignalManager.removeSubscribe(userId);
- uavControlManager.removeSubscribe(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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