From da3e63a308e4b209d53b049074d47f0c04b0bb30 Mon Sep 17 00:00:00 2001
From: zhaowenyu <35589726@qq.com>
Date: Tue, 09 Dec 2025 11:22:10 +0800
Subject: [PATCH] Merge remote-tracking branch 'origin/dev' into dev
---
ard-work/src/main/java/com/ard/work/component/websocket/handler/TyMessageHandler.java | 72 +++++++++++++++++++++++++++++-------
1 files changed, 58 insertions(+), 14 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 ca41681..93e7bc4 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
@@ -34,18 +41,23 @@
private UavControlManager uavControlManager;
@Resource
private UavAllManager uavAllManager;
-
+ @Resource
+ private TokenService tokenService;
+ private final Map<Long, Long> lastDisconnectTime = new ConcurrentHashMap<>();
@Override
public void handleTextMessage(WebSocketSession session, TextMessage message) {
try {
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("【cmd】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;
@@ -68,6 +80,19 @@
} 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);
}
/**
@@ -192,8 +217,8 @@
}
/**
- * 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
@@ -254,6 +279,7 @@
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());
}
@@ -268,15 +294,33 @@
Long userId = Long.parseLong(userIdStr);
WebSocketSessionManager.removeSession(userId);
log.info("【cmd】size: {}", WebSocketSessionManager.getOnlineUserCount());
-
+ long version = System.currentTimeMillis();
+ lastDisconnectTime.put(userId, version);
// 释放该用户所有 UAV 控制权
- uavControlService.releaseAllControls(userId);
- uavStreamManager.stopAllPullStreamByUser(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(3_000); // 延迟3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)) {
+ 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);
+ tokenService.delLoginUser(loginUser.getToken(), userId);
+ log.info("【cmd】用户 [{}] 超时未重连，已删除 token", userId);
+ }
+ }
+ });
}
-
-
}
--
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