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a-tuoheng-device
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添加指令

This commit is contained in:
孙小云 2026-02-24 11:08:58 +08:00
parent 9b9febab9c
commit 37e5837223
4 changed files with 185 additions and 3 deletions
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60
src/main/java/com/ruoyi/device/controller/AircraftFlyController.java
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@ -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.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());
}
}
/**

42
src/main/java/com/ruoyi/device/domain/impl/machine/command/CommandType.java
View File

@ -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
}

26
src/main/java/com/ruoyi/device/domain/impl/machine/vendor/tuoheng/TuohengVendorConfig.java vendored
View File

@ -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());
}
}

58
src/main/java/com/ruoyi/device/domain/impl/machine/vendor/tuoheng/instruction/TuohengDroneControlInstruction.java vendored Normal file
View File

@ -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;
}
}