websocket连接成功，定时发送心跳正常，但是每过60秒就报一个超时错误，有碰到过类似问题的帮忙看看？好几天了

java.util.concurrent.ExecutionException: java.lang.AbstractMethodError: Method org/apache/tomcat/websocket/server/WsHttpUpgradeHandler.timeoutAsync(J)V is abstract
at java.util.concurrent.FutureTask.report(FutureTask.java:122)
at java.util.concurrent.FutureTask.get(FutureTask.java:192)
at org.apache.coyote.AbstractProtocol.startAsyncTimeout(AbstractProtocol.java:615)
at org.apache.coyote.AbstractProtocol$1.run(AbstractProtocol.java:598)
at java.util.concurrent.Executors$RunnableAdapter.call(Executors.java:511)
at java.util.concurrent.FutureTask.runAndReset(FutureTask.java:308)
at java.util.concurrent.ScheduledThreadPoolExecutor$ScheduledFutureTask.access$301(ScheduledThreadPoolExecutor.java:180)
at java.util.concurrent.ScheduledThreadPoolExecutor$ScheduledFutureTask.run(ScheduledThreadPoolExecutor.java:294)
at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
at org.apache.tomcat.util.threads.TaskThread$WrappingRunnable.run(TaskThread.java:61)
at java.lang.Thread.run(Thread.java:748)
Caused by: java.lang.AbstractMethodError: Method org/apache/tomcat/websocket/server/WsHttpUpgradeHandler.timeoutAsync(J)V is abstract
at org.apache.tomcat.websocket.server.WsHttpUpgradeHandler.timeoutAsync(WsHttpUpgradeHandler.java)
at org.apache.coyote.http11.upgrade.UpgradeProcessorInternal.timeoutAsync(UpgradeProcessorInternal.java:78)
at org.apache.coyote.AbstractProtocol$2.run(AbstractProtocol.java:626)
... 8 common frames omitted