处理机场飞行控制数据

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

@@ -58,6 +58,28 @@ public class AircraftFlyController extends BaseController
 
         try {
             CommandType commandType;
+            java.util.Map<String, Object> params = new java.util.HashMap<>();
+            
+            // 处理消息ID
+            if (request.getMessageID() != null) {
+                params.put("messageID", request.getMessageID());
+            } else {
+                params.put("messageID", System.currentTimeMillis());
+            }
+
+            // 处理扩展参数
+            if (request.getEvalue() != null) {
+                params.put("evalue", request.getEvalue());
+            }
+
+            if (request.getValue() != null) {
+                params.put("value", request.getValue());
+            }
+
+            if (request.getLightMode() != null) {
+                params.put("lightMode", request.getLightMode());
+            }
+
             switch (request.getCommand()) {
                 case RETURN_HOME:
                     commandType = CommandType.RETURN_HOME;
@@ -86,13 +108,40 @@ public class AircraftFlyController extends BaseController
                 case DOWN:
                     commandType = CommandType.DOWN;
                     break;
+                case SWITCH_VISIBLE_LIGHT:
+                    commandType = CommandType.SWITCH_VISIBLE_LIGHT;
+                    break;
+                case GIMBAL_ZOOM:
+                    commandType = CommandType.GIMBAL_ZOOM;
+                    break;
+                case SWITCH_IR:
+                    commandType = CommandType.SWITCH_IR;
+                    break;
+                case SWITCH_WIDE_ANGLE:
+                    commandType = CommandType.SWITCH_WIDE_ANGLE;
+                    break;
+                case GIMBAL_MOVE_RIGHT:
+                    commandType = CommandType.GIMBAL_MOVE_RIGHT;
+                    break;
+                case GIMBAL_MOVE_LEFT:
+                    commandType = CommandType.GIMBAL_MOVE_LEFT;
+                    break;
+                case GIMBAL_PITCH_UP:
+                    commandType = CommandType.GIMBAL_PITCH_UP;
+                    break;
+                case GIMBAL_PITCH_DOWN:
+                    commandType = CommandType.GIMBAL_PITCH_DOWN;
+                    break;
+                case GIMBAL_RESET:
+                    commandType = CommandType.GIMBAL_RESET;
+                    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);
+            CompletableFuture<CommandResult> future = machineCommandManager.executeCommand(sn, commandType, params);
             CommandResult result = future.get();
 
             if (result.isSuccess()) {

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

@@ -132,5 +132,50 @@ public enum CommandType {
     /**
      * 下降
      */
-    DOWN
+    DOWN,
+
+    /**
+     * 切换可见光
+     */
+    SWITCH_VISIBLE_LIGHT,
+
+    /**
+     * 云台变焦
+     */
+    GIMBAL_ZOOM,
+
+    /**
+     * 切换红外
+     */
+    SWITCH_IR,
+
+    /**
+     * 切换广角
+     */
+    SWITCH_WIDE_ANGLE,
+
+    /**
+     * 云台右移
+     */
+    GIMBAL_MOVE_RIGHT,
+
+    /**
+     * 云台左移
+     */
+    GIMBAL_MOVE_LEFT,
+
+    /**
+     * 云台俯仰（上）
+     */
+    GIMBAL_PITCH_UP,
+
+    /**
+     * 云台俯仰（下）
+     */
+    GIMBAL_PITCH_DOWN,
+
+    /**
+     * 云台复位
+     */
+    GIMBAL_RESET
 }

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

@@ -149,6 +149,43 @@ public class TuohengVendorConfig implements VendorConfig {
                 .root(new com.ruoyi.device.domain.impl.machine.vendor.tuoheng.instruction.TuohengDroneControlInstruction("09", "下降"))
                 .setTimeout(5000));
 
+        // 云台控制命令
+        transactionMap.put(CommandType.SWITCH_VISIBLE_LIGHT, new Transaction("切换可见光", CommandType.SWITCH_VISIBLE_LIGHT)
+                .root(new com.ruoyi.device.domain.impl.machine.vendor.tuoheng.instruction.TuohengSwitchVisibleLightInstruction())
+                .setTimeout(5000));
+
+        transactionMap.put(CommandType.GIMBAL_ZOOM, new Transaction("云台变焦", CommandType.GIMBAL_ZOOM)
+                .root(new com.ruoyi.device.domain.impl.machine.vendor.tuoheng.instruction.TuohengGimbalZoomInstruction())
+                .setTimeout(5000));
+
+        transactionMap.put(CommandType.SWITCH_IR, new Transaction("切换红外", CommandType.SWITCH_IR)
+                .root(new com.ruoyi.device.domain.impl.machine.vendor.tuoheng.instruction.TuohengSwitchIRInstruction())
+                .setTimeout(5000));
+
+        transactionMap.put(CommandType.SWITCH_WIDE_ANGLE, new Transaction("切换广角", CommandType.SWITCH_WIDE_ANGLE)
+                .root(new com.ruoyi.device.domain.impl.machine.vendor.tuoheng.instruction.TuohengSwitchWideAngleInstruction())
+                .setTimeout(5000));
+
+        transactionMap.put(CommandType.GIMBAL_MOVE_RIGHT, new Transaction("云台右移", CommandType.GIMBAL_MOVE_RIGHT)
+                .root(new com.ruoyi.device.domain.impl.machine.vendor.tuoheng.instruction.TuohengGimbalMoveRightInstruction())
+                .setTimeout(5000));
+
+        transactionMap.put(CommandType.GIMBAL_MOVE_LEFT, new Transaction("云台左移", CommandType.GIMBAL_MOVE_LEFT)
+                .root(new com.ruoyi.device.domain.impl.machine.vendor.tuoheng.instruction.TuohengGimbalMoveLeftInstruction())
+                .setTimeout(5000));
+
+        transactionMap.put(CommandType.GIMBAL_PITCH_UP, new Transaction("云台俯仰（上）", CommandType.GIMBAL_PITCH_UP)
+                .root(new com.ruoyi.device.domain.impl.machine.vendor.tuoheng.instruction.TuohengGimbalPitchUpInstruction())
+                .setTimeout(5000));
+
+        transactionMap.put(CommandType.GIMBAL_PITCH_DOWN, new Transaction("云台俯仰（下）", CommandType.GIMBAL_PITCH_DOWN)
+                .root(new com.ruoyi.device.domain.impl.machine.vendor.tuoheng.instruction.TuohengGimbalPitchDownInstruction())
+                .setTimeout(5000));
+
+        transactionMap.put(CommandType.GIMBAL_RESET, new Transaction("云台复位", CommandType.GIMBAL_RESET)
+                .root(new com.ruoyi.device.domain.impl.machine.vendor.tuoheng.instruction.TuohengGimbalResetInstruction())
+                .setTimeout(5000));
+
         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/TuohengGimbalControlInstruction.java

@@ -0,0 +1,94 @@
+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;
+
+import java.util.Map;
+
+@Slf4j
+public class TuohengGimbalControlInstruction extends AbstractInstruction {
+
+    private final String commandValue;
+    private final String description;
+    private final String evalue;
+    private final String lightMode;
+
+    public TuohengGimbalControlInstruction(String commandValue, String description) {
+        this(commandValue, description, null, null);
+    }
+
+    public TuohengGimbalControlInstruction(String commandValue, String description, String evalue) {
+        this(commandValue, description, evalue, null);
+    }
+
+    public TuohengGimbalControlInstruction(String commandValue, String description, String evalue, String lightMode) {
+        this.commandValue = commandValue;
+        this.description = description;
+        this.evalue = evalue;
+        this.lightMode = lightMode;
+    }
+
+    @Override
+    public String getName() {
+        return "TUOHENG_GIMBAL_CONTROL_" + commandValue;
+    }
+
+    @Override
+    public void executeRemoteCall(InstructionContext context) throws Exception {
+        String sn = context.getSn();
+        log.info("发送拓恒云台控制指令: sn={}, command={}, desc={}", sn, commandValue, description);
+
+        JSONObject payload = new JSONObject();
+        payload.put("code", "yuntai");
+        payload.put("value", commandValue);
+        payload.put("messageID", System.currentTimeMillis());
+        payload.put("timestamp", System.currentTimeMillis());
+        payload.put("desc", description);
+
+        // 添加可选参数
+        if (evalue != null) {
+            payload.put("evalue", evalue);
+        }
+
+        if (lightMode != null) {
+            payload.put("lightMode", lightMode);
+        }
+
+        // 从上下文获取额外参数
+        if (context.getCommandParam("evalue") != null) {
+            payload.put("evalue", context.getCommandParam("evalue"));
+        }
+        if (context.getCommandParam("value") != null) {
+            payload.put("value", context.getCommandParam("value"));
+        }
+        if (context.getCommandParam("messageID") != null) {
+            payload.put("messageID", context.getCommandParam("messageID"));
+        }
+        //专门用于云台变焦命令的，用于指定相机的灯光模式。
+        if (context.getCommandParam("lightMode") != null) {
+            payload.put("lightMode", context.getCommandParam("lightMode"));
+        }
+
+        String topic = "/topic/v1/airportDrone/" + sn + "/control";
+        context.getMqttClient().sendMessage(topic, payload.toJSONString());
+        log.info("云台控制指令发送成功: 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;
+    }
+}

src/main/java/com/ruoyi/device/domain/impl/machine/vendor/tuoheng/instruction/TuohengGimbalMoveLeftInstruction.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 TuohengGimbalMoveLeftInstruction extends AbstractInstruction {
+
+    @Override
+    public String getName() {
+        return "TUOHENG_GIMBAL_MOVE_LEFT";
+    }
+
+    @Override
+    public void executeRemoteCall(InstructionContext context) throws Exception {
+        String sn = context.getSn();
+        long messageID = context.getCommandParam("messageID", Long.class) != null ? (Long) context.getCommandParam("messageID") : System.currentTimeMillis();
+        log.info("发送拓恒云台左移指令序列: sn={}, messageID={}", sn, messageID);
+
+        String topic = "/topic/v1/airportDrone/" + sn + "/control";
+
+        // 1. 发送云台转速设置命令
+        JSONObject speedPayload = new JSONObject();
+        speedPayload.put("code", "yuntai");
+        speedPayload.put("messageID", messageID);
+        speedPayload.put("evalue", context.getCommandParam("evalue") != null ? context.getCommandParam("evalue") : 90);
+        speedPayload.put("value", "31");
+        speedPayload.put("timestamp", System.currentTimeMillis());
+        speedPayload.put("desc", "云台转速");
+        context.getMqttClient().sendMessage(topic, speedPayload.toJSONString());
+        log.info("云台转速设置指令发送成功: topic={}, payload={}", topic, speedPayload.toJSONString());
+
+        // 短暂延迟，确保命令按顺序执行
+        Thread.sleep(100);
+
+        // 2. 发送云台左移命令
+        JSONObject movePayload = new JSONObject();
+        movePayload.put("code", "yuntai");
+        movePayload.put("messageID", messageID);
+        movePayload.put("evalue", context.getCommandParam("evalue") != null ? context.getCommandParam("evalue") : 90);
+        movePayload.put("value", "03");
+        movePayload.put("timestamp", System.currentTimeMillis());
+        movePayload.put("desc", "云台左移");
+        context.getMqttClient().sendMessage(topic, movePayload.toJSONString());
+        log.info("云台左移指令发送成功: topic={}, payload={}", topic, movePayload.toJSONString());
+
+        // 短暂延迟，确保命令按顺序执行
+        Thread.sleep(500);
+
+        // 3. 发送云台停止命令
+        JSONObject stopPayload = new JSONObject();
+        stopPayload.put("code", "yuntai");
+        stopPayload.put("messageID", messageID);
+        stopPayload.put("value", "09");
+        stopPayload.put("timestamp", System.currentTimeMillis());
+        stopPayload.put("desc", "云台停止");
+        context.getMqttClient().sendMessage(topic, stopPayload.toJSONString());
+        log.info("云台停止指令发送成功: topic={}, payload={}", topic, stopPayload.toJSONString());
+    }
+
+    @Override
+    public CallbackConfig getMethodCallbackConfig(InstructionContext context) {
+        return null;
+    }
+
+    @Override
+    public CallbackConfig getStateCallbackConfig(InstructionContext context) {
+        return null;
+    }
+
+    @Override
+    public long getTimeoutMs() {
+        return 3000;
+    }
+}

src/main/java/com/ruoyi/device/domain/impl/machine/vendor/tuoheng/instruction/TuohengGimbalMoveRightInstruction.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 TuohengGimbalMoveRightInstruction extends AbstractInstruction {
+
+    @Override
+    public String getName() {
+        return "TUOHENG_GIMBAL_MOVE_RIGHT";
+    }
+
+    @Override
+    public void executeRemoteCall(InstructionContext context) throws Exception {
+        String sn = context.getSn();
+        long messageID = context.getCommandParam("messageID", Long.class) != null ? (Long) context.getCommandParam("messageID") : System.currentTimeMillis();
+        log.info("发送拓恒云台右移指令序列: sn={}, messageID={}", sn, messageID);
+
+        String topic = "/topic/v1/airportDrone/" + sn + "/control";
+
+        // 1. 发送云台转速设置命令
+        JSONObject speedPayload = new JSONObject();
+        speedPayload.put("code", "yuntai");
+        speedPayload.put("messageID", messageID);
+        speedPayload.put("evalue", context.getCommandParam("evalue") != null ? context.getCommandParam("evalue") : 90);
+        speedPayload.put("value", "31");
+        speedPayload.put("timestamp", System.currentTimeMillis());
+        speedPayload.put("desc", "云台转速");
+        context.getMqttClient().sendMessage(topic, speedPayload.toJSONString());
+        log.info("云台转速设置指令发送成功: topic={}, payload={}", topic, speedPayload.toJSONString());
+
+        // 短暂延迟，确保命令按顺序执行
+        Thread.sleep(100);
+
+        // 2. 发送云台右移命令
+        JSONObject movePayload = new JSONObject();
+        movePayload.put("code", "yuntai");
+        movePayload.put("messageID", messageID);
+        movePayload.put("evalue", context.getCommandParam("evalue") != null ? context.getCommandParam("evalue") : 90);
+        movePayload.put("value", "04");
+        movePayload.put("timestamp", System.currentTimeMillis());
+        movePayload.put("desc", "云台右移");
+        context.getMqttClient().sendMessage(topic, movePayload.toJSONString());
+        log.info("云台右移指令发送成功: topic={}, payload={}", topic, movePayload.toJSONString());
+
+        // 短暂延迟，确保命令按顺序执行
+        Thread.sleep(500);
+
+        // 3. 发送云台停止命令
+        JSONObject stopPayload = new JSONObject();
+        stopPayload.put("code", "yuntai");
+        stopPayload.put("messageID", messageID);
+        stopPayload.put("value", "09");
+        stopPayload.put("timestamp", System.currentTimeMillis());
+        stopPayload.put("desc", "云台停止");
+        context.getMqttClient().sendMessage(topic, stopPayload.toJSONString());
+        log.info("云台停止指令发送成功: topic={}, payload={}", topic, stopPayload.toJSONString());
+    }
+
+    @Override
+    public CallbackConfig getMethodCallbackConfig(InstructionContext context) {
+        return null;
+    }
+
+    @Override
+    public CallbackConfig getStateCallbackConfig(InstructionContext context) {
+        return null;
+    }
+
+    @Override
+    public long getTimeoutMs() {
+        return 3000;
+    }
+}

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

@@ -0,0 +1,64 @@
+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 TuohengGimbalPitchDownInstruction extends AbstractInstruction {
+
+    @Override
+    public String getName() {
+        return "TUOHENG_GIMBAL_PITCH_DOWN";
+    }
+
+    @Override
+    public void executeRemoteCall(InstructionContext context) throws Exception {
+        String sn = context.getSn();
+        long messageID = context.getCommandParam("messageID", Long.class) != null ? (Long) context.getCommandParam("messageID") : System.currentTimeMillis();
+        log.info("发送拓恒云台俯仰（下）指令序列: sn={}, messageID={}", sn, messageID);
+
+        String topic = "/topic/v1/airportDrone/" + sn + "/control";
+
+        // 1. 发送云台俯仰（下）命令
+        JSONObject pitchPayload = new JSONObject();
+        pitchPayload.put("code", "yuntai");
+        pitchPayload.put("messageID", messageID);
+        pitchPayload.put("evalue", context.getCommandParam("evalue") != null ? context.getCommandParam("evalue") : 90);
+        pitchPayload.put("value", "02");
+        pitchPayload.put("timestamp", System.currentTimeMillis());
+        pitchPayload.put("desc", "云台俯仰（下）");
+        context.getMqttClient().sendMessage(topic, pitchPayload.toJSONString());
+        log.info("云台俯仰（下）指令发送成功: topic={}, payload={}", topic, pitchPayload.toJSONString());
+
+        // 短暂延迟，确保命令按顺序执行
+        Thread.sleep(500);
+
+        // 2. 发送云台停止命令
+        JSONObject stopPayload = new JSONObject();
+        stopPayload.put("code", "yuntai");
+        stopPayload.put("messageID", messageID);
+        stopPayload.put("value", "09");
+        stopPayload.put("timestamp", System.currentTimeMillis());
+        stopPayload.put("desc", "云台停止");
+        context.getMqttClient().sendMessage(topic, stopPayload.toJSONString());
+        log.info("云台停止指令发送成功: topic={}, payload={}", topic, stopPayload.toJSONString());
+    }
+
+    @Override
+    public CallbackConfig getMethodCallbackConfig(InstructionContext context) {
+        return null;
+    }
+
+    @Override
+    public CallbackConfig getStateCallbackConfig(InstructionContext context) {
+        return null;
+    }
+
+    @Override
+    public long getTimeoutMs() {
+        return 3000;
+    }
+}

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

@@ -0,0 +1,64 @@
+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 TuohengGimbalPitchUpInstruction extends AbstractInstruction {
+
+    @Override
+    public String getName() {
+        return "TUOHENG_GIMBAL_PITCH_UP";
+    }
+
+    @Override
+    public void executeRemoteCall(InstructionContext context) throws Exception {
+        String sn = context.getSn();
+        long messageID = context.getCommandParam("messageID", Long.class) != null ? (Long) context.getCommandParam("messageID") : System.currentTimeMillis();
+        log.info("发送拓恒云台俯仰（上）指令序列: sn={}, messageID={}", sn, messageID);
+
+        String topic = "/topic/v1/airportDrone/" + sn + "/control";
+
+        // 1. 发送云台俯仰（上）命令
+        JSONObject pitchPayload = new JSONObject();
+        pitchPayload.put("code", "yuntai");
+        pitchPayload.put("messageID", messageID);
+        pitchPayload.put("evalue", context.getCommandParam("evalue") != null ? context.getCommandParam("evalue") : 90);
+        pitchPayload.put("value", "01");
+        pitchPayload.put("timestamp", System.currentTimeMillis());
+        pitchPayload.put("desc", "云台俯仰（上）");
+        context.getMqttClient().sendMessage(topic, pitchPayload.toJSONString());
+        log.info("云台俯仰（上）指令发送成功: topic={}, payload={}", topic, pitchPayload.toJSONString());
+
+        // 短暂延迟，确保命令按顺序执行
+        Thread.sleep(500);
+
+        // 2. 发送云台停止命令
+        JSONObject stopPayload = new JSONObject();
+        stopPayload.put("code", "yuntai");
+        stopPayload.put("messageID", messageID);
+        stopPayload.put("value", "09");
+        stopPayload.put("timestamp", System.currentTimeMillis());
+        stopPayload.put("desc", "云台停止");
+        context.getMqttClient().sendMessage(topic, stopPayload.toJSONString());
+        log.info("云台停止指令发送成功: topic={}, payload={}", topic, stopPayload.toJSONString());
+    }
+
+    @Override
+    public CallbackConfig getMethodCallbackConfig(InstructionContext context) {
+        return null;
+    }
+
+    @Override
+    public CallbackConfig getStateCallbackConfig(InstructionContext context) {
+        return null;
+    }
+
+    @Override
+    public long getTimeoutMs() {
+        return 3000;
+    }
+}

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

@@ -0,0 +1,48 @@
+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 TuohengGimbalResetInstruction extends AbstractInstruction {
+
+    @Override
+    public String getName() {
+        return "TUOHENG_GIMBAL_RESET";
+    }
+
+    @Override
+    public void executeRemoteCall(InstructionContext context) throws Exception {
+        String sn = context.getSn();
+        log.info("发送拓恒云台复位指令: sn={}", sn);
+
+        JSONObject payload = new JSONObject();
+        payload.put("code", "yuntai");
+        payload.put("value", "10");
+        payload.put("messageID", context.getCommandParam("messageID", Long.class) != null ? context.getCommandParam("messageID") : System.currentTimeMillis());
+        payload.put("timestamp", System.currentTimeMillis());
+        payload.put("desc", "云台复位");
+
+        String topic = "/topic/v1/airportDrone/" + sn + "/control";
+        context.getMqttClient().sendMessage(topic, payload.toJSONString());
+        log.info("云台复位指令发送成功: 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;
+    }
+}

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

@@ -0,0 +1,50 @@
+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 TuohengGimbalZoomInstruction extends AbstractInstruction {
+
+    @Override
+    public String getName() {
+        return "TUOHENG_GIMBAL_ZOOM";
+    }
+
+    @Override
+    public void executeRemoteCall(InstructionContext context) throws Exception {
+        String sn = context.getSn();
+        log.info("发送拓恒云台变焦指令: sn={}", sn);
+
+        JSONObject payload = new JSONObject();
+        payload.put("lightMode", "visibleLight");
+        payload.put("code", "yuntai");
+        payload.put("messageID", context.getCommandParam("messageID", Long.class) != null ? context.getCommandParam("messageID") : System.currentTimeMillis());
+        payload.put("evalue", context.getCommandParam("evalue") != null ? context.getCommandParam("evalue") : "3");
+        payload.put("value", context.getCommandParam("value") != null ? context.getCommandParam("value") : "30");
+        payload.put("timestamp", System.currentTimeMillis());
+        payload.put("desc", "云台变焦");
+
+        String topic = "/topic/v1/airportDrone/" + sn + "/control";
+        context.getMqttClient().sendMessage(topic, payload.toJSONString());
+        log.info("云台变焦指令发送成功: 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;
+    }
+}

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

@@ -0,0 +1,48 @@
+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 TuohengSwitchIRInstruction extends AbstractInstruction {
+
+    @Override
+    public String getName() {
+        return "TUOHENG_SWITCH_IR";
+    }
+
+    @Override
+    public void executeRemoteCall(InstructionContext context) throws Exception {
+        String sn = context.getSn();
+        log.info("发送拓恒切换红外指令: sn={}", sn);
+
+        JSONObject payload = new JSONObject();
+        payload.put("code", "yuntai");
+        payload.put("value", "22");
+        payload.put("messageID", context.getCommandParam("messageID", Long.class) != null ? context.getCommandParam("messageID") : System.currentTimeMillis());
+        payload.put("timestamp", System.currentTimeMillis());
+        payload.put("desc", "红外");
+
+        String topic = "/topic/v1/airportDrone/" + sn + "/control";
+        context.getMqttClient().sendMessage(topic, payload.toJSONString());
+        log.info("切换红外指令发送成功: 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;
+    }
+}

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

@@ -0,0 +1,48 @@
+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 TuohengSwitchVisibleLightInstruction extends AbstractInstruction {
+
+    @Override
+    public String getName() {
+        return "TUOHENG_SWITCH_VISIBLE_LIGHT";
+    }
+
+    @Override
+    public void executeRemoteCall(InstructionContext context) throws Exception {
+        String sn = context.getSn();
+        log.info("发送拓恒切换可见光指令: sn={}", sn);
+
+        JSONObject payload = new JSONObject();
+        payload.put("code", "yuntai");
+        payload.put("value", "21");
+        payload.put("messageID", context.getCommandParam("messageID", Long.class) != null ? context.getCommandParam("messageID") : System.currentTimeMillis());
+        payload.put("timestamp", System.currentTimeMillis());
+        payload.put("desc", "可见光");
+
+        String topic = "/topic/v1/airportDrone/" + sn + "/control";
+        context.getMqttClient().sendMessage(topic, payload.toJSONString());
+        log.info("切换可见光指令发送成功: 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;
+    }
+}

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

@@ -0,0 +1,48 @@
+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 TuohengSwitchWideAngleInstruction extends AbstractInstruction {
+
+    @Override
+    public String getName() {
+        return "TUOHENG_SWITCH_WIDE_ANGLE";
+    }
+
+    @Override
+    public void executeRemoteCall(InstructionContext context) throws Exception {
+        String sn = context.getSn();
+        log.info("发送拓恒切换广角指令: sn={}", sn);
+
+        JSONObject payload = new JSONObject();
+        payload.put("code", "yuntai");
+        payload.put("value", "23");
+        payload.put("messageID", context.getCommandParam("messageID", Long.class) != null ? context.getCommandParam("messageID") : System.currentTimeMillis());
+        payload.put("timestamp", System.currentTimeMillis());
+        payload.put("desc", "广角");
+
+        String topic = "/topic/v1/airportDrone/" + sn + "/control";
+        context.getMqttClient().sendMessage(topic, payload.toJSONString());
+        log.info("切换广角指令发送成功: 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;
+    }
+}