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关机，且机场在线的情况下才可以飞

This commit is contained in:
孙小云 2026-03-20 09:52:18 +08:00
parent 7f4135a191
commit ecb005c68d
1 changed files with 27 additions and 27 deletions
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54
src/main/java/com/ruoyi/device/domain/impl/machine/vendor/tuoheng/TuohengVendorConfig.java vendored
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@ -42,34 +42,34 @@ public class TuohengVendorConfig implements VendorConfig {
@Override
public boolean canExecuteCommand(MachineStates currentStates, CommandType commandType) {
return true;
// DroneState droneState = currentStates.getDroneState();
// AirportState airportState = currentStates.getAirportState();
// DebugModeState debugModeState = currentStates.getDebugModeState();
// return true;
DroneState droneState = currentStates.getDroneState();
AirportState airportState = currentStates.getAirportState();
DebugModeState debugModeState = currentStates.getDebugModeState();
// switch (commandType) {
// case POWER_ON:
// // 开机前置条件：机场在线、无人机关机
// // 注：拓恒无人机没有调试模式概念
// return airportState == AirportState.ONLINE
// && droneState == DroneState.POWER_OFF;
//
// case POWER_OFF:
// // 关机前置条件：机场在线、无人机在线（未飞行）
// return airportState == AirportState.ONLINE
// && droneState == DroneState.ONLINE;
//
// case TAKE_OFF:
// // 起飞前置条件：机场在线
// return airportState == AirportState.ONLINE;
//
// case RETURN_HOME:
// // 返航前置条件：无人机飞行中
// return true;
//
// default:
// return true;
// }
switch (commandType) {
case POWER_ON:
// 开机前置条件：机场在线、无人机关机
// 注：拓恒无人机没有调试模式概念
return airportState == AirportState.ONLINE
&& droneState == DroneState.POWER_OFF;
case POWER_OFF:
// 关机前置条件：机场在线、无人机在线（未飞行）
return airportState == AirportState.ONLINE
&& droneState == DroneState.ONLINE;
case TAKE_OFF:
// DroneState.POWER_OFF 需要关机; AirportState.ONLINE 判断来自于 /topic/v1/heartbeat/{sn}/message
return droneState == DroneState.POWER_OFF && airportState == AirportState.ONLINE;
case RETURN_HOME:
// 返航前置条件：无人机飞行中
return true;
default:
return true;
}
}
@Override