Merge remote-tracking branch 'origin/main'

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

@@ -80,6 +80,27 @@ public class AircraftFlyController extends BaseController
                 params.put("lightMode", request.getLightMode());
             }
 
+            // 处理航线飞行、悬停、继续任务所需的参数
+            if (request.getAirlineFileUrl() != null) {
+                params.put("airlineFileUrl", request.getAirlineFileUrl());
+            }
+
+            if (request.getFlyBatteryMin() != null) {
+                params.put("flyBatteryMin", request.getFlyBatteryMin());
+            }
+
+            if (request.getIsMustFly() != null) {
+                params.put("isMustFly", request.getIsMustFly());
+            }
+
+            if (request.getTaskId() != null) {
+                params.put("taskId", request.getTaskId());
+            }
+
+            if (request.getZhilin() != null) {
+                params.put("zhilin", request.getZhilin());
+            }
+
             switch (request.getCommand()) {
                 case FORWARD:
                     commandType = CommandType.FORWARD;
@@ -132,6 +153,15 @@ public class AircraftFlyController extends BaseController
                 case GIMBAL_RESET:
                     commandType = CommandType.GIMBAL_RESET;
                     break;
+                case AIRLINE_FLIGHT:
+                    commandType = CommandType.AIRLINE_FLIGHT;
+                    break;
+                case HOVER:
+                    commandType = CommandType.HOVER;
+                    break;
+                case CONTINUE_TASK:
+                    commandType = CommandType.CONTINUE_TASK;
+                    break;
                 case EMERGENCY_STOP:
                     return R.fail("急停命令暂不支持");
                 default:

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

@@ -177,5 +177,20 @@ public enum CommandType {
     /**
      * 云台复位
      */
-    GIMBAL_RESET
+    GIMBAL_RESET,
+
+    /**
+     * 航线飞行
+     */
+    AIRLINE_FLIGHT,
+
+    /**
+     * 悬停
+     */
+    HOVER,
+
+    /**
+     * 继续任务
+     */
+    CONTINUE_TASK
 }

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

@@ -186,6 +186,21 @@ public class TuohengVendorConfig implements VendorConfig {
                 .root(new com.ruoyi.device.domain.impl.machine.vendor.tuoheng.instruction.TuohengGimbalResetInstruction())
                 .setTimeout(5000));
 
+        // 航线飞行命令
+        transactionMap.put(CommandType.AIRLINE_FLIGHT, new Transaction("航线飞行", CommandType.AIRLINE_FLIGHT)
+                .root(new com.ruoyi.device.domain.impl.machine.vendor.tuoheng.instruction.TuohengAirlineFlightInstruction())
+                .setTimeout(300000));
+
+        // 悬停命令
+        transactionMap.put(CommandType.HOVER, new Transaction("悬停", CommandType.HOVER)
+                .root(new com.ruoyi.device.domain.impl.machine.vendor.tuoheng.instruction.TuohengHoverInstruction())
+                .setTimeout(15000));
+
+        // 继续任务命令
+        transactionMap.put(CommandType.CONTINUE_TASK, new Transaction("继续任务", CommandType.CONTINUE_TASK)
+                .root(new com.ruoyi.device.domain.impl.machine.vendor.tuoheng.instruction.TuohengContinueTaskInstruction())
+                .setTimeout(15000));
+
         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/TuohengAirlineFlightInstruction.java

@@ -0,0 +1,78 @@
+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 TuohengAirlineFlightInstruction extends AbstractInstruction {
+
+    @Override
+    public String getName() {
+        return "TUOHENG_AIRLINE_FLIGHT";
+    }
+
+    @Override
+    public void executeRemoteCall(InstructionContext context) throws Exception {
+        String sn = context.getSn();
+        log.info("发送拓恒无人机航线飞行指令: sn={}", sn);
+
+        long timestamp = System.currentTimeMillis();
+
+        // 从上下文获取 messageID，如果没有则使用时间戳
+        Long messageID = context.getCommandParam("messageID", Long.class);
+        if (messageID == null) {
+            messageID = timestamp;
+        }
+
+        // 从上下文获取 airlineFileUrl，如果没有则使用默认值
+        String airlineFileUrl = context.getCommandParam("airlineFileUrl", String.class);
+        if (airlineFileUrl == null) {
+            throw new Exception("航线文件URL不能为空");
+        }
+
+        // 从上下文获取 flyBatteryMin，如果没有则使用默认值
+        Double flyBatteryMin = context.getCommandParam("flyBatteryMin", Double.class);
+        if (flyBatteryMin == null) {
+            flyBatteryMin = 0.3;
+        }
+
+        // 从上下文获取 isMustFly，如果没有则使用默认值
+        Integer isMustFly = context.getCommandParam("isMustFly", Integer.class);
+        if (isMustFly == null) {
+            isMustFly = 0;
+        }
+
+        JSONObject param = new JSONObject();
+        param.put("flyBatteryMin", flyBatteryMin);
+        param.put("isMustFly", isMustFly);
+        param.put("airlineFileUrl", airlineFileUrl);
+
+        JSONObject payload = new JSONObject();
+        payload.put("action", "airlineFlight");
+        payload.put("messageID", String.valueOf(messageID));
+        payload.put("param", param);
+        payload.put("timestamp", timestamp);
+
+        String topic = "/topic/v1/airportFly/" + sn + "/control";
+        context.getMqttClient().sendMessage(topic, payload.toJSONString());
+        log.info("拓恒航线飞行指令发送成功: 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 300000;
+    }
+}

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

@@ -0,0 +1,71 @@
+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 TuohengContinueTaskInstruction extends AbstractInstruction {
+
+    @Override
+    public String getName() {
+        return "TUOHENG_CONTINUE_TASK";
+    }
+
+    @Override
+    public void executeRemoteCall(InstructionContext context) throws Exception {
+        String sn = context.getSn();
+        log.info("发送拓恒无人机继续任务指令: sn={}", sn);
+
+        long timestamp = System.currentTimeMillis();
+
+        // 从上下文获取 messageID，如果没有则使用时间戳
+        Long messageID = context.getCommandParam("messageID", Long.class);
+        if (messageID == null) {
+            messageID = timestamp;
+        }
+
+        // 从上下文获取 taskId，如果没有则使用默认值
+//        Long taskId = context.getCommandParam("taskId", Long.class);
+//        if (taskId == null) {
+//            throw new Exception("任务ID不能为空");
+//        }
+
+        // 从上下文获取 zhilin，如果没有则使用默认值
+        String zhilin = context.getCommandParam("zhilin", String.class);
+        if (zhilin == null) {
+            zhilin = "04";
+        }
+
+        JSONObject param = new JSONObject();
+        param.put("zhilin", zhilin);
+        param.put("taskId", 0);
+
+        JSONObject payload = new JSONObject();
+        payload.put("param", param);
+        payload.put("messageID", messageID);
+        payload.put("action", "continueTask");
+        payload.put("timestamp", timestamp);
+
+        String topic = "/topic/v1/airportFly/" + sn + "/control";
+        context.getMqttClient().sendMessage(topic, payload.toJSONString());
+        log.info("拓恒继续任务指令发送成功: 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 15000;
+    }
+}

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

@@ -0,0 +1,71 @@
+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 TuohengHoverInstruction extends AbstractInstruction {
+
+    @Override
+    public String getName() {
+        return "TUOHENG_HOVER";
+    }
+
+    @Override
+    public void executeRemoteCall(InstructionContext context) throws Exception {
+        String sn = context.getSn();
+        log.info("发送拓恒无人机悬停指令: sn={}", sn);
+
+        long timestamp = System.currentTimeMillis();
+
+        // 从上下文获取 messageID，如果没有则使用时间戳
+        Long messageID = context.getCommandParam("messageID", Long.class);
+        if (messageID == null) {
+            messageID = timestamp;
+        }
+
+        // 从上下文获取 taskId，如果没有则使用默认值
+//        Long taskId = context.getCommandParam("taskId", Long.class);
+//        if (taskId == null) {
+//            throw new Exception("任务ID不能为空");
+//        }
+
+        // 从上下文获取 zhilin，如果没有则使用默认值
+        String zhilin = context.getCommandParam("zhilin", String.class);
+        if (zhilin == null) {
+            zhilin = "01";
+        }
+
+        JSONObject param = new JSONObject();
+        param.put("zhilin", zhilin);
+        param.put("taskId", 0);
+
+        JSONObject payload = new JSONObject();
+        payload.put("param", param);
+        payload.put("messageID", messageID);
+        payload.put("action", "hover");
+        payload.put("timestamp", timestamp);
+
+        String topic = "/topic/v1/airportFly/" + sn + "/control";
+        context.getMqttClient().sendMessage(topic, payload.toJSONString());
+        log.info("拓恒悬停指令发送成功: 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 15000;
+    }
+}