diff --git a/pom.xml b/pom.xml
index 205bf5b..6499180 100644
--- a/pom.xml
+++ b/pom.xml
@@ -135,6 +135,10 @@
org.eclipse.paho.mqttv5.client
1.2.5
+
+ com.ruoyi
+ tuoheng-api-task
+
diff --git a/src/main/java/com/ruoyi/device/controller/AircraftFlyController.java b/src/main/java/com/ruoyi/device/controller/AircraftFlyController.java
index 9e2eaa4..03369e3 100644
--- a/src/main/java/com/ruoyi/device/controller/AircraftFlyController.java
+++ b/src/main/java/com/ruoyi/device/controller/AircraftFlyController.java
@@ -1,5 +1,6 @@
package com.ruoyi.device.controller;
+import com.ruoyi.common.core.constant.SecurityConstants;
import com.ruoyi.common.core.domain.R;
import com.ruoyi.common.core.web.controller.BaseController;
import com.ruoyi.device.api.domain.*;
@@ -8,6 +9,10 @@ import com.ruoyi.device.api.enums.DroneMissionStatusEnum;
import com.ruoyi.device.domain.impl.machine.MachineCommandManager;
import com.ruoyi.device.domain.impl.machine.command.CommandResult;
import com.ruoyi.device.domain.impl.machine.command.CommandType;
+import com.ruoyi.device.domain.impl.machine.state.MachineStates;
+import com.ruoyi.device.service.FlightService;
+import com.ruoyi.task.api.RemoteTaskService;
+import com.ruoyi.task.api.domain.TaskDTO;
import io.swagger.v3.oas.annotations.Operation;
import io.swagger.v3.oas.annotations.Parameter;
import io.swagger.v3.oas.annotations.tags.Tag;
@@ -15,6 +20,7 @@ import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.web.bind.annotation.*;
+import java.util.Date;
import java.util.Objects;
import java.util.UUID;
import java.util.concurrent.CompletableFuture;
@@ -38,7 +44,8 @@ public class AircraftFlyController extends BaseController
private com.ruoyi.device.domain.impl.machine.statemachine.MachineStateManager machineStateManager;
@Autowired
- private com.ruoyi.device.domain.impl.machine.mqtt.MqttClient mqttClient;
+ private FlightService flightService;
+
/**
* 无人机飞控命令
*
@@ -229,6 +236,9 @@ public class AircraftFlyController extends BaseController
return R.ok(vo);
}
+ //从配置文件获取
+ private String airlineFileUrl = "";
+
/**
* 无人机一键起飞
*
@@ -239,11 +249,16 @@ public class AircraftFlyController extends BaseController
@PostMapping("/takeoff")
public R takeoff(@RequestBody DroneTakeoffRequest request)
{
+
+ flightService.onClickTakeOff(request.getSn(),airlineFileUrl);
+
+
log.info("收到无人机起飞请求: sn={}, messageID={}", request.getSn(), request.getMessageID());
try {
java.util.Map params = new java.util.HashMap<>();
if(Objects.isNull(request.getMessageID())){
+
params.put("messageID", UUID.randomUUID().toString());
}else {
params.put("messageID", request.getMessageID());
@@ -350,7 +365,7 @@ public class AircraftFlyController extends BaseController
try {
// 从 MachineStateManager 获取状态
- com.ruoyi.device.domain.impl.machine.state.MachineStates states = machineStateManager.getStates(sn);
+ MachineStates states = machineStateManager.getStates(sn);
// 转换为 VO 对象
MachineStateVO vo = new MachineStateVO();
diff --git a/src/main/java/com/ruoyi/device/domain/impl/tuohengmqtt/service/TuohengMqttClientService.java b/src/main/java/com/ruoyi/device/domain/impl/tuohengmqtt/service/TuohengMqttClientService.java
index e2adbec..91f638a 100644
--- a/src/main/java/com/ruoyi/device/domain/impl/tuohengmqtt/service/TuohengMqttClientService.java
+++ b/src/main/java/com/ruoyi/device/domain/impl/tuohengmqtt/service/TuohengMqttClientService.java
@@ -20,16 +20,28 @@ public class TuohengMqttClientService {
private final TuohengMqttMessageHandler messageHandler;
private MqttClient mqttClient;
- public static final String AIRPORT_NEST_REALTIME_TOPIC = "/topic/v1/airportNest/+/realTime/data";
- public static final String AIRPORT_NEST_BASIC_TOPIC = "/topic/v1/airportNest/+/realTime/basic";
- public static final String AIRPORT_NEST_CONFIRM_TOPIC = "/topic/v1/airportNest/+/control/confirm";
- public static final String AIRPORT_DRONE_REALTIME_TOPIC = "/topic/v1/airportDrone/+/realTime/data";
- public static final String AIRPORT_FLY_CONTROL_TOPIC = "/topic/v1/airportFly/+/control";
- public static final String AIRPORT_FLY_DATA_TOPIC = "/topic/v1/airportFly/+/control/data";
- public static final String AIRPORT_FLY_CONFIRM_TOPIC = "/topic/v1/airportFly/+/control/confirm";
- public static final String HEARTBEAT_MESSAGE_TOPIC = "/topic/v1/heartbeat/+/message";
- public static final String PRODUCT_OSD_TOPIC = "thing/product/+/osd";
- public static final String PRODUCT_EVENTS_TOPIC = "thing/product/+/events";
+// public static final String AIRPORT_NEST_REALTIME_TOPIC = "/topic/v1/airportNest/+/realTime/data";
+// public static final String AIRPORT_NEST_BASIC_TOPIC = "/topic/v1/airportNest/+/realTime/basic";
+// public static final String AIRPORT_NEST_CONFIRM_TOPIC = "/topic/v1/airportNest/+/control/confirm";
+// public static final String AIRPORT_DRONE_REALTIME_TOPIC = "/topic/v1/airportDrone/+/realTime/data";
+// public static final String AIRPORT_FLY_CONTROL_TOPIC = "/topic/v1/airportFly/+/control";
+// public static final String AIRPORT_FLY_DATA_TOPIC = "/topic/v1/airportFly/+/control/data";
+// public static final String AIRPORT_FLY_CONFIRM_TOPIC = "/topic/v1/airportFly/+/control/confirm";
+// public static final String HEARTBEAT_MESSAGE_TOPIC = "/topic/v1/heartbeat/+/message";
+// public static final String PRODUCT_OSD_TOPIC = "thing/product/+/osd";
+// public static final String PRODUCT_EVENTS_TOPIC = "thing/product/+/events";
+
+
+ public static final String AIRPORT_NEST_REALTIME_TOPIC = "/topic/v1/airportNest/THJSQ03A2302KSPYGJ2G/realTime/data";
+ public static final String AIRPORT_NEST_BASIC_TOPIC = "/topic/v1/airportNest/THJSQ03A2302KSPYGJ2G/realTime/basic";
+ public static final String AIRPORT_NEST_CONFIRM_TOPIC = "/topic/v1/airportNest/THJSQ03A2302KSPYGJ2G/control/confirm";
+ public static final String AIRPORT_DRONE_REALTIME_TOPIC = "/topic/v1/airportDrone/THJSQ03A2302KSPYGJ2G/realTime/data";
+ public static final String AIRPORT_FLY_CONTROL_TOPIC = "/topic/v1/airportFly/THJSQ03A2302KSPYGJ2G/control";
+ public static final String AIRPORT_FLY_DATA_TOPIC = "/topic/v1/airportFly/THJSQ03A2302KSPYGJ2G/control/data";
+ public static final String AIRPORT_FLY_CONFIRM_TOPIC = "/topic/v1/airportFly/THJSQ03A2302KSPYGJ2G/control/confirm";
+ public static final String HEARTBEAT_MESSAGE_TOPIC = "/topic/v1/heartbeat/THJSQ03A2302KSPYGJ2G/message";
+ public static final String PRODUCT_OSD_TOPIC = "thing/product/THJSQ03A2302KSPYGJ2G/osd";
+ public static final String PRODUCT_EVENTS_TOPIC = "thing/product/THJSQ03A2302KSPYGJ2G/events";
public TuohengMqttClientService(TuohengMqttClientConfig config, TuohengMqttMessageHandler messageHandler) {
this.config = config;
diff --git a/src/main/java/com/ruoyi/device/service/FlightService.java b/src/main/java/com/ruoyi/device/service/FlightService.java
index b5127fc..93fc1c1 100644
--- a/src/main/java/com/ruoyi/device/service/FlightService.java
+++ b/src/main/java/com/ruoyi/device/service/FlightService.java
@@ -13,6 +13,8 @@ import java.util.Map;
public interface FlightService
{
+ public Long onClickTakeOff(String sn,String url);
+
/**
* 获取或创建飞行记录（通过messageID匹配）
* 如果存在相同messageID的飞行记录，返回该记录
@@ -24,23 +26,23 @@ public interface FlightService
*/
FlightEntity getOrCreateFlightByMessageId(String deviceSn, String messageId);
- /**
- * 获取最新的飞行记录（包括已返航的）
- * 用于WebSocket推送
- *
- * @param deviceSn 设备SN号
- * @return 飞行记录
- */
- FlightEntity getLatestFlight(String deviceSn);
+// /**
+// * 获取最新的飞行记录（包括已返航的）
+// * 用于WebSocket推送
+// *
+// * @param deviceSn 设备SN号
+// * @return 飞行记录
+// */
+// FlightEntity getLatestFlight(String deviceSn);
- /**
- * 更新飞行ID（外部ID）
- *
- * @param flightId 飞行ID
- * @param flightIdExternal 外部飞行ID
- */
- void updateFlightIdExternal(Long flightId, String flightIdExternal);
+// /**
+// * 更新飞行ID（外部ID）
+// *
+// * @param flightId 飞行ID
+// * @param flightIdExternal 外部飞行ID
+// */
+// void updateFlightIdExternal(Long flightId, String flightIdExternal);
/**
* 更新飞行状态
@@ -50,12 +52,12 @@ public interface FlightService
*/
void updateFlightStatus(Long flightId, String status);
- /**
- * 更新返航时间
- *
- * @param flightId 飞行ID
- */
- void updateReturnTime(Long flightId);
+// /**
+// * 更新返航时间
+// *
+// * @param flightId 飞行ID
+// */
+// void updateReturnTime(Long flightId);
/**
* 获取飞行记录和日志（用于WebSocket推送）
diff --git a/src/main/java/com/ruoyi/device/service/impl/FlightServiceImpl.java b/src/main/java/com/ruoyi/device/service/impl/FlightServiceImpl.java
index 8f90d22..f4fe236 100644
--- a/src/main/java/com/ruoyi/device/service/impl/FlightServiceImpl.java
+++ b/src/main/java/com/ruoyi/device/service/impl/FlightServiceImpl.java
@@ -1,5 +1,7 @@
package com.ruoyi.device.service.impl;
+import com.ruoyi.common.core.constant.SecurityConstants;
+import com.ruoyi.common.core.domain.R;
import com.ruoyi.device.mapper.FlightLogMapper;
import com.ruoyi.device.mapper.FlightMapper;
import com.ruoyi.device.mapper.PreCheckLogMapper;
@@ -7,16 +9,17 @@ import com.ruoyi.device.mapper.entity.FlightEntity;
import com.ruoyi.device.mapper.entity.FlightLogEntity;
import com.ruoyi.device.mapper.entity.PreCheckLogEntity;
import com.ruoyi.device.service.FlightService;
+import com.ruoyi.task.api.RemoteTaskService;
+import com.ruoyi.task.api.domain.TaskDTO;
+import com.ruoyi.task.api.enums.ExecuteTypeEnum;
+import com.ruoyi.task.api.enums.StatusEnum;
+import com.ruoyi.task.api.enums.TaskCategoryEnum;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
import org.springframework.transaction.annotation.Transactional;
-import java.util.ArrayList;
-import java.util.Date;
-import java.util.HashMap;
-import java.util.List;
-import java.util.Map;
+import java.util.*;
/**
* 飞行服务实现类
@@ -37,7 +40,22 @@ public class FlightServiceImpl implements FlightService
@Autowired
private FlightLogMapper flightLogMapper;
+ @Autowired
+ private RemoteTaskService remoteTaskService;
+ public Long onClickTakeOff(String sn,String routeUrl){
+ TaskDTO taskDTO = new TaskDTO();
+ taskDTO.setActualStartTime(new Date());
+ taskDTO.setStartTime(new Date());
+ taskDTO.setExecuteType(ExecuteTypeEnum.ONCE);
+ taskDTO.setTaskCategory(TaskCategoryEnum.MANUAL_FLIGHT);
+ taskDTO.setRouteId(-1L);
+ taskDTO.setUavId(sn);
+ taskDTO.setStatus(StatusEnum.RUNNING);
+ taskDTO.setRouteUrl(routeUrl);
+ R taskId = remoteTaskService.createTaskWithoutPlan(taskDTO,SecurityConstants.INNER);
+ return taskId.getData();
+ }
@Override
@Transactional(rollbackFor = Exception.class)
@@ -65,21 +83,21 @@ public class FlightServiceImpl implements FlightService
return flight;
}
- @Override
- public FlightEntity getLatestFlight(String deviceSn) {
- return flightMapper.selectLatestFlightByDeviceSn(deviceSn);
- }
+// @Override
+// public FlightEntity getLatestFlight(String deviceSn) {
+// return flightMapper.selectLatestFlightByDeviceSn(deviceSn);
+// }
-
- @Override
- public void updateFlightIdExternal(Long flightId, String flightIdExternal) {
- FlightEntity flight = new FlightEntity();
- flight.setFlightId(flightId);
- flight.setFlightIdExternal(flightIdExternal);
- flightMapper.updateFlight(flight);
- log.info("更新飞行ID: flightId={}, flightIdExternal={}", flightId, flightIdExternal);
- }
+//
+// @Override
+// public void updateFlightIdExternal(Long flightId, String flightIdExternal) {
+// FlightEntity flight = new FlightEntity();
+// flight.setFlightId(flightId);
+// flight.setFlightIdExternal(flightIdExternal);
+// flightMapper.updateFlight(flight);
+// log.info("更新飞行ID: flightId={}, flightIdExternal={}", flightId, flightIdExternal);
+// }
@Override
public void updateFlightStatus(Long flightId, String status) {
@@ -92,10 +110,10 @@ public class FlightServiceImpl implements FlightService
}
}
- @Override
- public void updateReturnTime(Long flightId) {
- flightMapper.updateReturnTime(flightId);
- }
+// @Override
+// public void updateReturnTime(Long flightId) {
+// flightMapper.updateReturnTime(flightId);
+// }
@Override
public Map getLatestFlightWithLogs(String deviceSn) {