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

@@ -58,28 +58,6 @@ 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;
@@ -108,40 +86,13 @@ 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, params);
+            CompletableFuture<CommandResult> future = machineCommandManager.executeCommand(sn, commandType);
             CommandResult result = future.get();
 
             if (result.isSuccess()) {

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

@@ -132,50 +132,5 @@ 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

@@ -149,43 +149,6 @@ 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

@@ -1,94 +0,0 @@
-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

@@ -1,78 +0,0 @@
-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

@@ -1,78 +0,0 @@
-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

@@ -1,64 +0,0 @@
-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

@@ -1,64 +0,0 @@
-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

@@ -1,48 +0,0 @@
-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

@@ -1,50 +0,0 @@
-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

@@ -1,48 +0,0 @@
-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

@@ -1,48 +0,0 @@
-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

@@ -1,48 +0,0 @@
-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;
-    }
-}