From f789cb13684b73ad38c7a6b1720e49500cfec822 Mon Sep 17 00:00:00 2001
From: liusuyi <1951119284@qq.com>
Date: Tue, 25 Nov 2025 16:33:21 +0800
Subject: [PATCH] websocket增加wayline航线信息
---
ard-work/src/main/java/com/ard/work/component/websocket/handler/TyMessageHandler.java | 53 ++++++++++++++++++++++++++++++++++++++++++++---------
1 files changed, 44 insertions(+), 9 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 b7e380a..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;
@@ -68,6 +77,19 @@
} 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);
}
/**
@@ -268,15 +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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