From ecb005c68df7058b3c09135f8e4c7f86d07ab7c4 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?=E5=AD=99=E5=B0=8F=E4=BA=91?= <sunpengchina85@gmail.com>
Date: Fri, 20 Mar 2026 09:52:18 +0800
Subject: [PATCH] =?UTF-8?q?=E5=85=B3=E6=9C=BA=EF=BC=8C=E4=B8=94=E6=9C=BA?=
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---
 .../vendor/tuoheng/TuohengVendorConfig.java   | 54 +++++++++----------
 1 file changed, 27 insertions(+), 27 deletions(-)

diff --git a/src/main/java/com/ruoyi/device/domain/impl/machine/vendor/tuoheng/TuohengVendorConfig.java b/src/main/java/com/ruoyi/device/domain/impl/machine/vendor/tuoheng/TuohengVendorConfig.java
index 4e9ce2a..525ef8f 100644
--- a/src/main/java/com/ruoyi/device/domain/impl/machine/vendor/tuoheng/TuohengVendorConfig.java
+++ b/src/main/java/com/ruoyi/device/domain/impl/machine/vendor/tuoheng/TuohengVendorConfig.java
@@ -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