From 35ac0122ac2727673c8c96fcffbd298b02375b85 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?=E5=AD=99=E5=B0=8F=E4=BA=91?= <sunpengchina85@gmail.com>
Date: Sat, 14 Mar 2026 10:06:19 +0800
Subject: [PATCH] =?UTF-8?q?=E4=BF=AE=E6=94=B9=E7=8A=B6=E6=80=81=E5=88=A4?=
 =?UTF-8?q?=E6=96=AD?=
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---
 .../service/impl/TuohengBufferDeviceImpl.java | 33 +++++++++----------
 1 file changed, 15 insertions(+), 18 deletions(-)

diff --git a/src/main/java/com/ruoyi/device/service/impl/TuohengBufferDeviceImpl.java b/src/main/java/com/ruoyi/device/service/impl/TuohengBufferDeviceImpl.java
index b082b66..46d8bc5 100644
--- a/src/main/java/com/ruoyi/device/service/impl/TuohengBufferDeviceImpl.java
+++ b/src/main/java/com/ruoyi/device/service/impl/TuohengBufferDeviceImpl.java
@@ -328,31 +328,28 @@ public class TuohengBufferDeviceImpl implements IBufferDeviceService {
 
                             log.info("无人机MODE值: {}", mode);
 
-                            // 通过 MachineStateManager 获取舱门状态;只通过舱门状态判断是否作业
+                            // 通过 MachineStateManager 获取舱门状态
                             MachineStates machineStates =
                                 machineStateManager.getStates(dto.getSnNumber());
                             CoverState coverState =
                                 machineStates.getCoverState();
                             log.info("机场舱门状态(从MachineStateManager): {}", coverState);
 
-                            if(coverState == CoverState.OPENED){
-                                dockStatus = "WORKING"; //只通过舱门状态判断是否作业
-                                log.info("无人机处于auto模式且舱门打开，设置机场状态为 WORKING");
+                            // 先判断MODE是否为飞行模式
+                            boolean isFlyingMode = "auto".equalsIgnoreCase(mode) ||
+                                    "guided".equalsIgnoreCase(mode) ||
+                                    "loiter".equalsIgnoreCase(mode) ||
+                                    "rtl".equalsIgnoreCase(mode);
+
+                            if (isFlyingMode) {
+                                dockStatus = "WORKING";
+                                log.info("无人机处于{}模式，设置机场状态为 WORKING", mode);
+                            } else if (coverState == CoverState.OPENED) {
+                                dockStatus = "WORKING";
+                                log.info("舱门打开，设置机场状态为 WORKING");
+                            } else {
+                                log.info("无人机处于{}模式且舱门关闭，设置机场状态为 IDLE", mode);
                             }
-//
-//                            // WORKING状态需要同时满足：mode=="auto" 且舱门打开
-//                            if ("auto".equalsIgnoreCase(mode) &&
-//                                coverState == CoverState.OPENED) {
-//                                dockStatus = "WORKING"; // auto模式且舱门打开表示正在执行任务
-//                                log.info("无人机处于auto模式且舱门打开，设置机场状态为 WORKING");
-//                            } else {
-//                                if ("auto".equalsIgnoreCase(mode) &&
-//                                    coverState != CoverState.OPENED) {
-//                                    log.info("无人机处于auto模式但舱门未打开(coverState={}), 设置机场状态为 IDLE", coverState);
-//                                } else {
-//                                    log.info("无人机处于{}模式，设置机场状态为 IDLE", mode);
-//                                }
-//                            }
                         } catch (Exception e) {
                             log.warn("获取无人机mode或舱门状态失败，默认设置为IDLE: {}", e.getMessage());
                         }