feat: 添加心跳服务器

heartbeat.py

@@ -0,0 +1,83 @@
+import asyncio
+import threading
+
+import websockets
+from websockets.exceptions import ConnectionClosed
+
+
+class HeartbeatServer:
+    def __init__(self, host="0.0.0.0", port=12301, path="/api/v1/heartbeat", close_func=None):
+        self.host = host
+        self.port = port
+        self.path = path
+        self._server = None
+        self._connection = None
+        self._loop = None
+        self._thread = None
+        self._connection_close_func = close_func
+
+    async def _handler(self, websocket, path):
+        # 检查路径
+        if path != self.path:
+            await websocket.close(code=1008, reason="Invalid path")
+            return
+
+        # 已有连接时拒绝新连接
+        if self._connection and not self._connection.closed:
+            await websocket.close(code=1013, reason="Server already has a connection")
+            print(f"拒绝来自 {websocket.remote_address} 的新连接（已有活跃连接）")
+            return
+
+        # 接受连接
+        self._connection = websocket
+        client = websocket.remote_address
+        print(f"客户端 {client} 已连接")
+
+        try:
+            async for message in websocket:
+                print(f"收到来自 {client} 的消息: {message}")
+        except ConnectionClosed:
+            pass
+        finally:
+            if callable(self._connection_close_func):
+                self._connection_close_func()
+            print(f"客户端 {client} 已断开连接")
+            self._connection = None
+
+    async def _start_server(self):
+        self._server = await websockets.serve(self._handler, self.host, self.port)
+        print(f"HeartbeatServer 启动，监听 ws://{self.host}:{self.port}{self.path}")
+        await self._server.wait_closed()
+
+    def start(self):
+        """同步启动服务器"""
+        def run_loop():
+            self._loop = asyncio.new_event_loop()
+            asyncio.set_event_loop(self._loop)
+            self._loop.run_until_complete(self._start_server())
+
+        self._thread = threading.Thread(target=run_loop, daemon=True)
+        self._thread.start()
+
+    def stop(self):
+        """同步关闭服务器"""
+        if self._server and self._loop:
+            def shutdown():
+                self._server.close()
+            asyncio.run_coroutine_threadsafe(shutdown(), self._loop)
+            print("HeartbeatServer 已关闭")
+
+    def set_connection_close_func(self, func):
+        self._connection_close_func = func
+
+
+if __name__ == "__main__":
+    def ff():
+        print(111)
+    server = HeartbeatServer(close_func=ff)
+    server.start()
+    try:
+        while True:
+            pass  # 你的主线程逻辑
+    except KeyboardInterrupt:
+        server.stop()

http_server.py

@@ -10,6 +10,7 @@ import werkzeug.serving
 from flask import jsonify, request
 
 import gazebo_ctrl
+from heartbeat import HeartbeatServer
 from model_mgr.manager import ModelManager
 from scene_mgr.manager import SceneManager
 
@@ -82,9 +83,11 @@ class GazeboSimHttpServer(HttpRPCServer):
 
     def __init__(self):
         super().__init__()
+        # 模块与数据
         self.rlock = threading.RLock()
         self.scene_mgr = SceneManager()
         self.model_mgr = ModelManager()
+        self.heartbeat_server = HeartbeatServer()
         # 启动roscore
         self.roscore_proc = subprocess.Popen(
             ['roscore'], stdout=subprocess.DEVNULL, stderr=subprocess.DEVNULL)