添加指令

src/main/java/com/ruoyi/device/controller/AircraftFlyController.java

@@ -38,6 +38,9 @@ public class AircraftFlyController extends BaseController
 
     @Autowired
     private com.ruoyi.device.domain.impl.machine.statemachine.MachineStateManager machineStateManager;
+
+    @Autowired
+    private com.ruoyi.device.domain.impl.machine.mqtt.MqttClient mqttClient;
     /**
      * 无人机飞控命令
      *
@@ -48,8 +51,63 @@ public class AircraftFlyController extends BaseController
     @PostMapping("/flight-control")
     public R<Void> flightControl(@RequestBody DroneFlightControlRequest request)
     {
-        // TODO: 实现飞控命令逻辑
+        if (request.getCommand() == null || request.getSn() == null) {
-        return R.ok();
+            return R.fail("飞控命令和机场SN号不能为空");
+        }
+
+        String sn = request.getSn();
+        log.info("收到飞控命令: sn={}, command={}", sn, request.getCommand());
+
+        try {
+            CommandType commandType;
+            switch (request.getCommand()) {
+                case RETURN_HOME:
+                    commandType = CommandType.RETURN_HOME;
+                    break;
+                case FORWARD:
+                    commandType = CommandType.FORWARD;
+                    break;
+                case BACKWARD:
+                    commandType = CommandType.BACKWARD;
+                    break;
+                case LEFT:
+                    commandType = CommandType.LEFT;
+                    break;
+                case RIGHT:
+                    commandType = CommandType.RIGHT;
+                    break;
+                case ROTATE_LEFT:
+                    commandType = CommandType.ROTATE_LEFT;
+                    break;
+                case ROTATE_RIGHT:
+                    commandType = CommandType.ROTATE_RIGHT;
+                    break;
+                case UP:
+                    commandType = CommandType.UP;
+                    break;
+                case DOWN:
+                    commandType = CommandType.DOWN;
+                    break;
+                case EMERGENCY_STOP:
+                    return R.fail("急停命令暂不支持");
+                default:
+                    return R.fail("不支持的飞控命令");
+            }
+
+            CompletableFuture<CommandResult> future = machineCommandManager.executeCommand(sn, commandType);
+            CommandResult result = future.get();
+
+            if (result.isSuccess()) {
+                log.info("飞控命令执行成功: sn={}, command={}", sn, request.getCommand());
+                return R.ok();
+            } else {
+                log.error("飞控命令执行失败: sn={}, command={}, reason={}", sn, request.getCommand(), result.getErrorMessage());
+                return R.fail("飞控命令执行失败: " + result.getErrorMessage());
+            }
+        } catch (Exception e) {
+            log.error("飞控命令执行异常: sn={}, command={}", sn, request.getCommand(), e);
+            return R.fail("飞控命令执行异常: " + e.getMessage());
+        }
     }
 
     /**

src/main/java/com/ruoyi/device/domain/impl/machine/command/CommandType.java

@@ -92,5 +92,45 @@ public enum CommandType {
     /**
      * 重启机巢
      */
-    REBOOT_AIRPORT
+    REBOOT_AIRPORT,
+
+    /**
+     * 前进
+     */
+    FORWARD,
+
+    /**
+     * 后退
+     */
+    BACKWARD,
+
+    /**
+     * 左移
+     */
+    LEFT,
+
+    /**
+     * 右移
+     */
+    RIGHT,
+
+    /**
+     * 左旋
+     */
+    ROTATE_LEFT,
+
+    /**
+     * 右旋
+     */
+    ROTATE_RIGHT,
+
+    /**
+     * 上升
+     */
+    UP,
+
+    /**
+     * 下降
+     */
+    DOWN
 }

src/main/java/com/ruoyi/device/domain/impl/machine/vendor/tuoheng/TuohengVendorConfig.java

@@ -124,6 +124,32 @@ public class TuohengVendorConfig implements VendorConfig {
                 .setTimeout(300000);
         transactionMap.put(takeOffTransaction.getCommandType(), takeOffTransaction);
 
+        // 遥感控制命令
+        transactionMap.put(CommandType.FORWARD, new Transaction("前进", CommandType.FORWARD)
+                .root(new com.ruoyi.device.domain.impl.machine.vendor.tuoheng.instruction.TuohengDroneControlInstruction("06", "前进"))
+                .setTimeout(5000));
+        transactionMap.put(CommandType.BACKWARD, new Transaction("后退", CommandType.BACKWARD)
+                .root(new com.ruoyi.device.domain.impl.machine.vendor.tuoheng.instruction.TuohengDroneControlInstruction("07", "后退"))
+                .setTimeout(5000));
+        transactionMap.put(CommandType.LEFT, new Transaction("左移", CommandType.LEFT)
+                .root(new com.ruoyi.device.domain.impl.machine.vendor.tuoheng.instruction.TuohengDroneControlInstruction("04", "左移"))
+                .setTimeout(5000));
+        transactionMap.put(CommandType.RIGHT, new Transaction("右移", CommandType.RIGHT)
+                .root(new com.ruoyi.device.domain.impl.machine.vendor.tuoheng.instruction.TuohengDroneControlInstruction("05", "右移"))
+                .setTimeout(5000));
+        transactionMap.put(CommandType.ROTATE_LEFT, new Transaction("左旋", CommandType.ROTATE_LEFT)
+                .root(new com.ruoyi.device.domain.impl.machine.vendor.tuoheng.instruction.TuohengDroneControlInstruction("10", "左旋"))
+                .setTimeout(5000));
+        transactionMap.put(CommandType.ROTATE_RIGHT, new Transaction("右旋", CommandType.ROTATE_RIGHT)
+                .root(new com.ruoyi.device.domain.impl.machine.vendor.tuoheng.instruction.TuohengDroneControlInstruction("11", "右旋"))
+                .setTimeout(5000));
+        transactionMap.put(CommandType.UP, new Transaction("上升", CommandType.UP)
+                .root(new com.ruoyi.device.domain.impl.machine.vendor.tuoheng.instruction.TuohengDroneControlInstruction("08", "上升"))
+                .setTimeout(5000));
+        transactionMap.put(CommandType.DOWN, new Transaction("下降", CommandType.DOWN)
+                .root(new com.ruoyi.device.domain.impl.machine.vendor.tuoheng.instruction.TuohengDroneControlInstruction("09", "下降"))
+                .setTimeout(5000));
+
         log.info("拓恒厂家配置初始化完成，共配置{}个命令", transactionMap.size());
     }
 }

src/main/java/com/ruoyi/device/domain/impl/machine/vendor/tuoheng/instruction/TuohengDroneControlInstruction.java

@@ -0,0 +1,58 @@
+package com.ruoyi.device.domain.impl.machine.vendor.tuoheng.instruction;
+
+import com.alibaba.fastjson.JSONObject;
+import com.ruoyi.device.domain.impl.machine.instruction.AbstractInstruction;
+import com.ruoyi.device.domain.impl.machine.instruction.CallbackConfig;
+import com.ruoyi.device.domain.impl.machine.instruction.InstructionContext;
+import lombok.extern.slf4j.Slf4j;
+
+@Slf4j
+public class TuohengDroneControlInstruction extends AbstractInstruction {
+
+    private final String commandValue;
+    private final String description;
+
+    public TuohengDroneControlInstruction(String commandValue, String description) {
+        this.commandValue = commandValue;
+        this.description = description;
+    }
+
+    @Override
+    public String getName() {
+        return "TUOHENG_DRONE_CONTROL_" + commandValue;
+    }
+
+    @Override
+    public void executeRemoteCall(InstructionContext context) throws Exception {
+        String sn = context.getSn();
+        log.info("发送拓恒无人机遥感控制指令: sn={}, command={}, desc={}", sn, commandValue, description);
+
+        JSONObject payload = new JSONObject();
+        payload.put("code", "yaogan");
+        payload.put("yaogan", commandValue);
+        payload.put("value", commandValue);
+        payload.put("messageID", System.currentTimeMillis());
+        payload.put("timestamp", System.currentTimeMillis());
+        payload.put("PWM", 35);
+        payload.put("desc", description);
+
+        String topic = "/topic/v1/airportDrone/" + sn + "/control";
+        context.getMqttClient().sendMessage(topic, payload.toJSONString());
+        log.info("遥感控制指令发送成功: topic={}, payload={}", topic, payload.toJSONString());
+    }
+
+    @Override
+    public CallbackConfig getMethodCallbackConfig(InstructionContext context) {
+        return null;
+    }
+
+    @Override
+    public CallbackConfig getStateCallbackConfig(InstructionContext context) {
+        return null;
+    }
+
+    @Override
+    public long getTimeoutMs() {
+        return 5000;
+    }
+}