From f2c909e42b81bb7b589c956bfcf90dba3e16d0a8 Mon Sep 17 00:00:00 2001
From: zhaowenyu <35589726@qq.com>
Date: Wed, 26 Nov 2025 10:12:42 +0800
Subject: [PATCH] Merge remote-tracking branch 'origin/dev' into dev
---
ard-work/src/main/java/com/ard/work/component/websocket/handler/TyMessageHandler.java | 90 ++++++++++++++++++++++++++++++++------------
1 files changed, 65 insertions(+), 25 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 36a3023..6d9f21e 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 +17,7 @@
import org.springframework.web.socket.handler.TextWebSocketHandler;
import javax.annotation.Resource;
+import java.util.concurrent.CompletableFuture;
@Component
@@ -34,6 +38,8 @@
private UavControlManager uavControlManager;
@Resource
private UavAllManager uavAllManager;
+ @Resource
+ private TokenService tokenService;
@Override
public void handleTextMessage(WebSocketSession session, TextMessage message) {
@@ -46,6 +52,9 @@
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;
@@ -71,6 +80,19 @@
}
/**
+ * 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
@@ -80,10 +102,10 @@
*/
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> streamMessage = JSON.parseObject(payload,
+ BaseMessage<UavStreamMessage> baseMessage = JSON.parseObject(payload,
new TypeReference<BaseMessage<UavStreamMessage>>() {
});
- UavStreamMessage uavStreamMessage = streamMessage.getPayload();
+ UavStreamMessage uavStreamMessage = baseMessage.getPayload();
// 检查解析后的UavStreamMessage对象是否非空
if (uavStreamMessage != null) {
@@ -107,11 +129,11 @@
*/
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) {
@@ -138,11 +160,11 @@
*/
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) {
@@ -169,11 +191,11 @@
*/
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) {
@@ -192,19 +214,19 @@
}
/**
- * 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) {
@@ -224,18 +246,18 @@
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);
@@ -250,6 +272,9 @@
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);
WebSocketSessionManager.addSession(userId, session);
log.info("【cmd】size: {}", WebSocketSessionManager.getOnlineUserCount());
@@ -265,13 +290,28 @@
Long userId = Long.parseLong(userIdStr);
WebSocketSessionManager.removeSession(userId);
log.info("【cmd】size: {}", WebSocketSessionManager.getOnlineUserCount());
-
// 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(10_000); // 延迟10秒
+ } catch (InterruptedException ignored) {
+ }
+
+ 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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