处理机场飞行控制数据

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

@@ -2,11 +2,7 @@ package com.ruoyi.device.controller;
 
 import com.ruoyi.common.core.domain.R;
 import com.ruoyi.common.core.web.controller.BaseController;
-import com.ruoyi.device.api.domain.DroneCurrentStatusVO;
-import com.ruoyi.device.api.domain.DroneFlightControlRequest;
-import com.ruoyi.device.api.domain.DroneRealtimeInfoVO;
-import com.ruoyi.device.api.domain.DroneTakeoffResponseVO;
-import com.ruoyi.device.api.domain.MachineStateVO;
+import com.ruoyi.device.api.domain.*;
 import com.ruoyi.device.api.enums.DroneCurrentStatusEnum;
 import com.ruoyi.device.api.enums.DroneMissionStatusEnum;
 import com.ruoyi.device.domain.impl.machine.MachineCommandManager;
@@ -19,6 +15,8 @@ import lombok.extern.slf4j.Slf4j;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.web.bind.annotation.*;
 
+import java.util.Objects;
+import java.util.UUID;
 import java.util.concurrent.CompletableFuture;
 
 /**
@@ -156,32 +154,38 @@ public class AircraftFlyController extends BaseController
     }
 
     /**
-     * 无人机起飞接口
+     * 无人机一键起飞
      *
-     * @param sn 机场SN号
+     * @param request 起飞请求对象
      * @return 起飞响应
      */
-    @Operation(summary = "无人机起飞", description = "控制指定机场的无人机执行起飞操作")
-    @PostMapping("/takeoff/{sn}")
-    public R<String> takeoff(
-            @Parameter(description = "机场SN号", required = true, example = "THJSQ03B2309DN7VQN43")
-            @PathVariable("sn") String sn)
+    @Operation(summary = "无人机一键起飞", description = "控制指定机场的无人机执行起飞操作")
+    @PostMapping("/takeoff")
+    public R<String> takeoff(@RequestBody DroneTakeoffRequest request)
     {
-        log.info("收到无人机起飞请求: sn={}", sn);
+        log.info("收到无人机起飞请求: sn={}, messageID={}", request.getSn(), request.getMessageID());
 
         try {
-            CompletableFuture<CommandResult> future = machineCommandManager.executeCommand(sn, CommandType.TAKE_OFF);
+            java.util.Map<String, Object> params = new java.util.HashMap<>();
+            if(Objects.isNull(request.getMessageID())){
+                params.put("messageID", UUID.randomUUID().toString());
+            }else {
+                params.put("messageID", request.getMessageID());
+            }
+            params.put("airlineFileUrl", request.getAirlineFileUrl());
+            params.put("flyBatteryMin", request.getFlyBatteryMin());
+            CompletableFuture<CommandResult> future = machineCommandManager.executeCommand(request.getSn(), CommandType.TAKE_OFF, params);
             CommandResult result = future.get();
 
             if (result.isSuccess()) {
-                log.info("无人机起飞成功: sn={}", sn);
+                log.info("无人机起飞成功: sn={}", request.getSn());
                 return R.ok("起飞命令执行成功");
             } else {
-                log.error("无人机起飞失败: sn={}, reason={}", sn, result.getErrorMessage());
+                log.error("无人机起飞失败: sn={}, reason={}", request.getSn(), result.getErrorMessage());
                 return R.fail("起飞命令执行失败: " + result.getErrorMessage());
             }
         } catch (Exception e) {
-            log.error("无人机起飞异常: sn={}", sn, e);
+            log.error("无人机起飞异常: sn={}", request.getSn(), e);
             return R.fail("起飞命令执行异常: " + e.getMessage());
         }
     }
@@ -360,30 +364,36 @@ public class AircraftFlyController extends BaseController
     /**
      * 无人机返航接口
      *
-     * @param sn 机场SN号
+     * @param request 返航请求对象
      * @return 返航响应
      */
     @Operation(summary = "无人机返航", description = "控制指定机场的无人机执行返航操作")
-    @PostMapping("/return-home/{sn}")
-    public R<String> returnHome(
-            @Parameter(description = "机场SN号", required = true, example = "THJSQ03B2309DN7VQN43")
-            @PathVariable("sn") String sn)
+    @PostMapping("/return-home")
+    public R<String> returnHome(@RequestBody DroneReturnHomeRequest request)
     {
-        log.info("收到无人机返航请求: sn={}", sn);
+        log.info("收到无人机返航请求: sn={}, messageID={}, taskId={}", request.getSn(), request.getMessageID(), request.getTaskId());
 
         try {
-            CompletableFuture<CommandResult> future = machineCommandManager.executeCommand(sn, CommandType.RETURN_HOME);
+            java.util.Map<String, Object> params = new java.util.HashMap<>();
+            if(Objects.isNull(request.getMessageID())){
+                params.put("messageID", UUID.randomUUID().toString());
+            }else {
+                params.put("messageID", request.getMessageID());
+            }
+            params.put("taskId", 9074);
+            params.put("zhilin", request.getZhilin());
+            CompletableFuture<CommandResult> future = machineCommandManager.executeCommand(request.getSn(), CommandType.RETURN_HOME, params);
             CommandResult result = future.get();
 
             if (result.isSuccess()) {
-                log.info("无人机返航成功: sn={}", sn);
+                log.info("无人机返航成功: sn={}", request.getSn());
                 return R.ok("返航命令执行成功");
             } else {
-                log.error("无人机返航失败: sn={}, reason={}", sn, result.getErrorMessage());
+                log.error("无人机返航失败: sn={}, reason={}", request.getSn(), result.getErrorMessage());
                 return R.fail("返航命令执行失败: " + result.getErrorMessage());
             }
         } catch (Exception e) {
-            log.error("无人机返航异常: sn={}", sn, e);
+            log.error("无人机返航异常: sn={}", request.getSn(), e);
             return R.fail("返航命令执行异常: " + e.getMessage());
         }
     }

src/main/java/com/ruoyi/device/domain/impl/machine/instruction/InstructionContext.java

@@ -82,4 +82,23 @@ public class InstructionContext {
     public Object getCommandParam(String key) {
         return commandParams.get(key);
     }
+
+    /**
+     * 获取命令参数并转换为指定类型
+     * @param key 参数键
+     * @param type 目标类型
+     * @param <T> 泛型类型
+     * @return 转换后的参数值，如果不存在或类型不匹配则返回null
+     */
+    @SuppressWarnings("unchecked")
+    public <T> T getCommandParam(String key, Class<T> type) {
+        Object value = commandParams.get(key);
+        if (value == null) {
+            return null;
+        }
+        if (type.isInstance(value)) {
+            return (T) value;
+        }
+        return null;
+    }
 }

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

@@ -59,9 +59,8 @@ public class TuohengVendorConfig implements VendorConfig {
                     && droneState == DroneState.ONLINE;
 
             case TAKE_OFF:
-                // 起飞前置条件：无人机已开机、机场在线
-                return droneState == DroneState.ONLINE
-                    && airportState == AirportState.ONLINE;
+                // 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

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

@@ -19,10 +19,35 @@ public class TuohengReturnHomeInstruction extends AbstractInstruction {
         String sn = context.getSn();
         log.info("发送拓恒无人机返航指令: sn={}", sn);
 
+        long timestamp = System.currentTimeMillis();
+
+        // 从上下文获取 messageID，如果没有则使用时间戳
+        Long messageID = context.getCommandParam("messageID", Long.class);
+        if (messageID == null) {
+            messageID = timestamp;
+        }
+
+        // 从上下文获取 taskId，如果没有则使用默认值
+        Long taskId = context.getCommandParam("taskId", Long.class);
+        if (taskId == null) {
+            taskId = 9074L;
+        }
+
+        // 从上下文获取 zhilin，如果没有则使用默认值
+        String zhilin = context.getCommandParam("zhilin", String.class);
+        if (zhilin == null) {
+            zhilin = "03";
+        }
+
+        JSONObject param = new JSONObject();
+        param.put("zhilin", zhilin);
+        param.put("taskId", taskId);
+
         JSONObject payload = new JSONObject();
-        payload.put("messageID", System.currentTimeMillis());
-        payload.put("timestamp", System.currentTimeMillis());
-        payload.put("zhilin", "03");
+        payload.put("param", param);
+        payload.put("messageID", messageID);
+        payload.put("action", "immediateReturn");
+        payload.put("timestamp", timestamp);
 
         String topic = "/topic/v1/airportFly/" + sn + "/control";
         context.getMqttClient().sendMessage(topic, payload.toJSONString());
@@ -31,13 +56,7 @@ public class TuohengReturnHomeInstruction extends AbstractInstruction {
 
     @Override
     public CallbackConfig getMethodCallbackConfig(InstructionContext context) {
-        String sn = context.getSn();
-        return CallbackConfig.builder()
-                .topic("/topic/v1/airportFly/" + sn + "/control/confirm")
-                .fieldPath("msg")
-                .expectedValue("[综管]立即返航指令接收成功")
-                .timeoutMs(10000)
-                .build();
+        return null;  // 移除方法回调，避免回调不匹配问题
     }
 
     @Override

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

@@ -21,16 +21,33 @@ public class TuohengTakeOffInstruction extends AbstractInstruction {
 
         long timestamp = System.currentTimeMillis();
 
+        // 从上下文获取 messageID，如果没有则使用时间戳
+        Long messageID = context.getCommandParam("messageID", Long.class);
+        if (messageID == null) {
+            messageID = timestamp;
+        }
+
+        // 从上下文获取 airlineFileUrl，如果没有则使用默认值
+        String airlineFileUrl = context.getCommandParam("airlineFileUrl", String.class);
+        if (airlineFileUrl == null) {
+            airlineFileUrl = "https://minio-jndsj.t-aaron.com:2443/th-airport/testFile/13912c62-b96f-4df5-ab65-813c8c4b04eb.waypoints";
+        }
+
+        // 从上下文获取 flyBatteryMin，如果没有则使用默认值
+        Double flyBatteryMin = context.getCommandParam("flyBatteryMin", Double.class);
+        if (flyBatteryMin == null) {
+            flyBatteryMin = 0.3;
+        }
+
         JSONObject param = new JSONObject();
-        param.put("airlineFileUrl", "http://45.120.103.238:8899/waypoint/default.waypoints");
-        param.put("flyBatteryMin", 0.3);
-        param.put("isMustFly", 1);
+        param.put("flyBatteryMin", flyBatteryMin);
+        param.put("airlineFileUrl", airlineFileUrl);
 
         JSONObject payload = new JSONObject();
-        payload.put("messageID", String.valueOf(timestamp));
-        payload.put("timestamp", timestamp);
         payload.put("action", "airlineFlight");
+        payload.put("messageID", String.valueOf(messageID));
         payload.put("param", param);
+        payload.put("timestamp", timestamp);
 
         String topic = "/topic/v1/airportFly/" + sn + "/control";
         context.getMqttClient().sendMessage(topic, payload.toJSONString());

src/main/java/com/ruoyi/device/domain/impl/tuohengmqtt/callback/IAirportFlyControlCallback.java

@@ -0,0 +1,15 @@
+package com.ruoyi.device.domain.impl.tuohengmqtt.callback;
+
+/**
+ * 机场飞行控制回调接口
+ * 处理 /topic/v1/airportFly/+/control 主题消息
+ */
+public interface IAirportFlyControlCallback {
+    /**
+     * 处理机场飞行控制消息
+     * @param deviceSn 设备SN
+     * @param payload 消息内容
+     * @param topic 主题
+     */
+    void onAirportFlyControl(String deviceSn, String payload, String topic);
+}

src/main/java/com/ruoyi/device/domain/impl/tuohengmqtt/handler/TuohengMqttMessageHandler.java

@@ -2,6 +2,7 @@ package com.ruoyi.device.domain.impl.tuohengmqtt.handler;
 
 import com.fasterxml.jackson.databind.ObjectMapper;
 import com.ruoyi.device.domain.impl.machine.mqtt.MqttCallbackRegistry;
+import com.ruoyi.device.domain.impl.tuohengmqtt.callback.IAirportFlyControlCallback;
 import com.ruoyi.device.domain.impl.tuohengmqtt.callback.IDroneRealTimeCallback;
 import com.ruoyi.device.domain.impl.tuohengmqtt.callback.IHeartbeatMessageCallback;
 import com.ruoyi.device.domain.impl.tuohengmqtt.callback.IRealTimeBasicCallback;
@@ -37,6 +38,7 @@ public class TuohengMqttMessageHandler {
     private final List<IRealTimeBasicCallback> realTimeBasicCallbacks = new ArrayList<>();
     private final List<IDroneRealTimeCallback> droneRealTimeCallbacks = new ArrayList<>();
     private final List<IHeartbeatMessageCallback> heartbeatMessageCallbacks = new ArrayList<>();
+    private final List<IAirportFlyControlCallback> airportFlyControlCallbacks = new ArrayList<>();
     private final List<IAirportFlyControlDataCallback> airportFlyControlDataCallbacks = new ArrayList<>();
 
     private static final Pattern TUOHENG_SN_PATTERN = Pattern.compile("^TH[0-9A-Z]+");
@@ -92,6 +94,13 @@ public class TuohengMqttMessageHandler {
         }
     }
 
+    public void registerAirportFlyControlCallback(IAirportFlyControlCallback callback) {
+        if (callback != null && !airportFlyControlCallbacks.contains(callback)) {
+            airportFlyControlCallbacks.add(callback);
+            log.info("注册机场飞行控制回调: {}", callback.getClass().getSimpleName());
+        }
+    }
+
     public void registerAirportFlyControlDataCallback(IAirportFlyControlDataCallback callback) {
         if (callback != null && !airportFlyControlDataCallbacks.contains(callback)) {
             airportFlyControlDataCallbacks.add(callback);
@@ -137,6 +146,8 @@ public class TuohengMqttMessageHandler {
                 log.debug("机场控制确认消息 - SN: {}", deviceSn);
             } else if (matchTopic(topic, AIRPORT_DRONE_REALTIME_TOPIC)) {
                 handleAirportDroneRealTimeData(deviceSn, payload);
+            } else if (matchTopic(topic, AIRPORT_FLY_CONTROL_TOPIC)) {
+                handleAirportFlyControl(deviceSn, payload, topic);
             } else if (matchTopic(topic, AIRPORT_FLY_DATA_TOPIC)) {
                 handleAirportFlyControlData(deviceSn, payload, topic);
             } else if (matchTopic(topic, AIRPORT_FLY_CONFIRM_TOPIC)) {
@@ -257,6 +268,22 @@ public class TuohengMqttMessageHandler {
         }
     }
 
+    private void handleAirportFlyControl(String deviceSn, String payload, String topic) {
+        try {
+            log.info("处理机场飞行控制 - 设备SN: {}, Topic: {}", deviceSn, topic);
+
+            for (IAirportFlyControlCallback callback : airportFlyControlCallbacks) {
+                try {
+                    callback.onAirportFlyControl(deviceSn, payload, topic);
+                } catch (Exception e) {
+                    log.error("机场飞行控制回调执行失败: {}", e.getMessage(), e);
+                }
+            }
+        } catch (Exception e) {
+            log.error("处理机场飞行控制失败 - SN: {}, Error: {}", deviceSn, e.getMessage(), e);
+        }
+    }
+
     private void handleAirportFlyControlData(String deviceSn, String payload, String topic) {
         try {
             log.info("处理机场飞行控制数据 - 设备SN: {}, Topic: {}", deviceSn, topic);

src/main/java/com/ruoyi/device/domain/impl/tuohengmqtt/service/TuohengMqttClientService.java

@@ -24,6 +24,7 @@ public class TuohengMqttClientService {
     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";
@@ -126,6 +127,7 @@ public class TuohengMqttClientService {
                 AIRPORT_NEST_BASIC_TOPIC,
                 AIRPORT_NEST_CONFIRM_TOPIC,
                 AIRPORT_DRONE_REALTIME_TOPIC,
+                AIRPORT_FLY_CONTROL_TOPIC,
                 AIRPORT_FLY_DATA_TOPIC,
                 AIRPORT_FLY_CONFIRM_TOPIC,
                 HEARTBEAT_MESSAGE_TOPIC,

src/main/java/com/ruoyi/device/mapper/FlightLogMapper.java

@@ -30,6 +30,14 @@ public interface FlightLogMapper
      */
     List<FlightLogEntity> selectFlightLogListByFlightId(Long flightId);
 
+    /**
+     * 统计飞行日志数量
+     *
+     * @param flightId 飞行ID
+     * @return 日志数量
+     */
+    int countFlightLogByFlightId(Long flightId);
+
     /**
      * 新增飞行日志
      *

src/main/java/com/ruoyi/device/mapper/FlightMapper.java

@@ -38,6 +38,15 @@ public interface FlightMapper
      */
     FlightEntity selectFlightByDeviceSnAndStatus(@Param("deviceSn") String deviceSn, @Param("status") String status);
 
+    /**
+     * 根据设备SN和外部飞行ID查询飞行记录
+     *
+     * @param deviceSn 设备SN号
+     * @param flightIdExternal 外部飞行ID
+     * @return 飞行信息
+     */
+    FlightEntity selectFlightByDeviceSnAndFlightIdExternal(@Param("deviceSn") String deviceSn, @Param("flightIdExternal") String flightIdExternal);
+
     /**
      * 新增飞行记录
      *

src/main/java/com/ruoyi/device/service/FlightService.java

@@ -93,4 +93,12 @@ public interface FlightService
      * @param logEntity 飞行日志实体
      */
     void insertFlightLog(com.ruoyi.device.mapper.entity.FlightLogEntity logEntity);
+
+    /**
+     * 检查飞行记录是否有飞行日志
+     *
+     * @param flightId 飞行ID
+     * @return true=有飞行日志（已起飞），false=无飞行日志（未起飞）
+     */
+    boolean hasFlightLog(Long flightId);
 }

src/main/java/com/ruoyi/device/service/impl/FlightEventCallback.java

@@ -1,6 +1,7 @@
 package com.ruoyi.device.service.impl;
 
 import com.alibaba.fastjson2.JSONObject;
+import com.ruoyi.device.domain.impl.tuohengmqtt.callback.IAirportFlyControlCallback;
 import com.ruoyi.device.domain.impl.tuohengmqtt.callback.IAirportFlyControlDataCallback;
 import com.ruoyi.device.mapper.entity.FlightEntity;
 import com.ruoyi.device.mapper.entity.FlightLogEntity;
@@ -10,16 +11,19 @@ import lombok.extern.slf4j.Slf4j;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.stereotype.Component;
 
+import java.util.Arrays;
+import java.util.List;
+
 @Slf4j
 @Component
-public class FlightEventCallback implements IAirportFlyControlDataCallback {
+public class FlightEventCallback implements IAirportFlyControlCallback, IAirportFlyControlDataCallback {
 
     @Autowired
     private FlightService flightService;
 
     @Override
-    public void onAirportFlyControlData(String deviceSn, String payload, String topic) {
-        log.info("【FlightEventCallback】收到飞行事件: deviceSn={}, topic={}, payload={}", deviceSn, topic, payload);
+    public void onAirportFlyControl(String deviceSn, String payload, String topic) {
+        log.info("【FlightEventCallback】收到飞行控制消息: deviceSn={}, topic={}, payload={}", deviceSn, topic, payload);
 
         try {
             JSONObject data = JSONObject.parseObject(payload);
@@ -28,61 +32,146 @@ public class FlightEventCallback implements IAirportFlyControlDataCallback {
                 return;
             }
 
-            String msg = data.getString("msg");
-            String messageID = data.getString("messageID");
-            String action = data.getString("action");
+            handleControlMessage(deviceSn, data);
+        } catch (Exception e) {
+            log.error("【FlightEventCallback】处理飞行控制消息失败: deviceSn={}, topic={}, error={}", deviceSn, topic, e.getMessage(), e);
+        }
+    }
 
-            log.info("【FlightEventCallback】解析飞行事件数据: deviceSn={}, messageID={}, msg=, action={}", deviceSn, messageID, msg, action);
+    @Override
+    public void onAirportFlyControlData(String deviceSn, String payload, String topic) {
+        log.info("【FlightEventCallback】收到飞行控制数据消息: deviceSn={}, topic={}, payload={}", deviceSn, topic, payload);
 
-            if (action == null || action.isEmpty()) {
-                JSONObject dataObj = data.getJSONObject("data");
-                if (dataObj != null) {
-                    action = dataObj.getString("action");
-                    log.info("【FlightEventCallback】从data对象中获取action: deviceSn={}, action={}", deviceSn, action);
-                }
-            }
-
-            FlightEntity flight;
-            if (messageID != null && !messageID.isEmpty()) {
-                log.info("【FlightEventCallback】通过messageID获取飞行记录: deviceSn={}, messageID={}", deviceSn, messageID);
-                flight = handleFlightIdExternal(deviceSn, messageID);
-            } else {
-                log.info("【FlightEventCallback】获取当前飞行记录: deviceSn={}", deviceSn);
-                flight = flightService.getOrCreateCurrentFlight(deviceSn);
-            }
-
-            if (flight == null) {
-                log.error("【FlightEventCallback】获取飞行记录失败: deviceSn={}, messageID={}", deviceSn, messageID);
+        try {
+            JSONObject data = JSONObject.parseObject(payload);
+            if (data == null) {
+                log.warn("【FlightEventCallback】解析payload失败: deviceSn={}, topic={}, payload={}", deviceSn, topic, payload);
                 return;
             }
 
-            log.info("【FlightEventCallback】获取到飞行记录: deviceSn={}, flightId={}, status={}", deviceSn, flight.getFlightId(), flight.getStatus());
-
-            if (msg != null && !msg.isEmpty()) {
-                if (msg.contains("自检")) {
-                    log.info("【FlightEventCallback】检测到自检消息: deviceSn={}, msg={}", deviceSn, msg);
-                    handlePreCheckLog(deviceSn, msg, data, flight);
-                } else {
-                    log.info("【FlightEventCallback】检测到飞行日志消息: deviceSn={}, msg={}", deviceSn, msg);
-                    handleFlightLog(deviceSn, msg, flight);
-                }
-                handleFlightStatus(deviceSn, action, data, flight);
-            } else {
-                log.warn("【FlightEventCallback】消息内容为空: deviceSn={}, messageID={}", deviceSn, messageID);
-            }
+            handleControlDataMessage(deviceSn, data);
         } catch (Exception e) {
-            log.error("【FlightEventCallback】处理飞行事件失败: deviceSn={}, topic={}, error={}", deviceSn, topic, e.getMessage(), e);
+            log.error("【FlightEventCallback】处理飞行控制数据消息失败: deviceSn={}, topic={}, error={}", deviceSn, topic, e.getMessage(), e);
         }
     }
 
-    private FlightEntity handleFlightIdExternal(String deviceSn, String messageId) {
-        if (messageId != null && !messageId.isEmpty()) {
-            return flightService.getOrCreateFlightByMessageId(deviceSn, messageId);
+    /**
+     * 处理 /control 主题消息
+     * 收到 airlineFlight 动作时创建飞行记录
+     */
+    private void handleControlMessage(String deviceSn, JSONObject data) {
+        String action = data.getString("action");
+        String messageID = data.getString("messageID");
+
+        log.info("【FlightEventCallback】处理control消息: deviceSn={}, action={}, messageID={}", deviceSn, action, messageID);
+
+        if ("airlineFlight".equals(action) && messageID != null && !messageID.isEmpty()) {
+            // 创建飞行记录（如果不存在）
+            flightService.getOrCreateFlightByMessageId(deviceSn, messageID);
+            log.info("【FlightEventCallback】创建/获取飞行记录: deviceSn={}, messageID={}", deviceSn, messageID);
+        } else if ("immediateReturn".equals(action) && messageID != null && !messageID.isEmpty()) {
+            FlightEntity flight = flightService.getOrCreateFlightByMessageId(deviceSn, messageID);
+            flightService.updateFlightStatus(flight.getFlightId(), "RETURNING");
+            log.info("【FlightEventCallback】更新飞行状态为RETURNING: deviceSn={}, flightId={}", deviceSn, flight.getFlightId());
+        }
+    }
+
+    /**
+     * 处理 /control/data 主题消息
+     * 根据消息内容写入自检日志或飞行日志，并更新飞行状态
+     */
+    private void handleControlDataMessage(String deviceSn, JSONObject data) {
+        String msg = data.getString("msg");
+        String messageID = data.getString("messageID");
+        Integer code = data.getInteger("code");
+
+        if (messageID == null || messageID.isEmpty()) {
+            log.warn("【FlightEventCallback】消息缺少messageID: deviceSn={}, msg={}", deviceSn, msg);
+            return;
+        }
+
+        // 通过 messageID 获取飞行记录
+        FlightEntity flight = flightService.getOrCreateFlightByMessageId(deviceSn, messageID);
+        if (flight == null) {
+            log.error("【FlightEventCallback】获取飞行记录失败: deviceSn={}, messageID={}", deviceSn, messageID);
+            return;
+        }
+
+        log.info("【FlightEventCallback】处理control/data消息: deviceSn={}, flightId={}, messageID={}, msg={}, code={}",
+            deviceSn, flight.getFlightId(), messageID, msg, code);
+
+        // 判断是否为 [地面站]无人机起飞成功
+        if (msg != null && msg.contains("[地面站]无人机起飞成功")) {
+            // 起飞成功，存到 device_flight_log
+            handleFlightLog(deviceSn, msg, flight);
+            // 更新状态为 FLYING
+            log.info("【FlightEventCallback】检测到起飞成功，更新状态为FLYING: deviceSn={}, flightId={}", deviceSn, flight.getFlightId());
+            flightService.updateFlightStatus(flight.getFlightId(), "FLYING");
+            return;
+        }
+
+        // 检查 device_flight_log 是否有数据，判断是否已起飞
+        boolean hasTakenOff = flightService.hasFlightLog(flight.getFlightId());
+
+        if (hasTakenOff) {
+            // 已起飞，所有消息存到 device_flight_log
+            log.info("【FlightEventCallback】已起飞，存入飞行日志: deviceSn={}, flightId={}, msg={}", deviceSn, flight.getFlightId(), msg);
+            handleFlightLog(deviceSn, msg, flight);
+
+            // 检查是否任务完成
+            String dataContent = data.getString("data");
+            if ("操作成功".equals(msg) && "[地面站]任务飞行完成".equals(dataContent)) {
+                log.info("【FlightEventCallback】检测到任务完成，更新状态为HOME: deviceSn={}, flightId={}", deviceSn, flight.getFlightId());
+                flightService.updateFlightStatus(flight.getFlightId(), "HOME");
+            }
         } else {
-            return flightService.getOrCreateCurrentFlight(deviceSn);
+            // 未起飞，所有消息存到 device_pre_check_log
+            log.info("【FlightEventCallback】未起飞，存入自检日志: deviceSn={}, flightId={}, msg={}, code={}", deviceSn, flight.getFlightId(), msg, code);
+            handlePreCheckLog(deviceSn, msg, code, flight);
+
+            // 检查是否自检失败（code=1 表示失败）
+            if (code != null && (code == 1 || code == -1)) {
+                log.info("【FlightEventCallback】检测到自检失败(code=1)，更新状态为ERROR: deviceSn={}, flightId={}", deviceSn, flight.getFlightId());
+                flightService.updateFlightStatus(flight.getFlightId(), "ERROR");
+            }
         }
     }
 
+    /**
+     * 保存自检日志
+     * @param code 0=成功，1=失败
+     */
+    private void handlePreCheckLog(String deviceSn, String msg, Integer code, FlightEntity flight) {
+        if (flight == null) {
+            log.error("【FlightEventCallback】飞行记录为空，无法保存自检日志: deviceSn={}, msg={}", deviceSn, msg);
+            return;
+        }
+
+        log.info("【FlightEventCallback】准备保存自检日志: deviceSn={}, flightId={}, msg={}, code={}",
+            deviceSn, flight.getFlightId(), msg, code);
+
+        try {
+            // code=0 表示成功，code=1 表示失败
+            Boolean success = (code != null && code == 0);
+
+            PreCheckLogEntity logEntity = new PreCheckLogEntity();
+            logEntity.setFlightId(flight.getFlightId());
+            logEntity.setLogContent(msg);
+            logEntity.setSuccess(success);
+
+            flightService.insertPreCheckLog(logEntity);
+
+            log.info("【FlightEventCallback】成功保存自检日志: deviceSn={}, flightId={}, logId={}, msg={}, code={}, success={}",
+                deviceSn, flight.getFlightId(), logEntity.getLogId(), msg, code, success);
+        } catch (Exception e) {
+            log.error("【FlightEventCallback】保存自检日志失败: deviceSn={}, flightId={}, msg={}, error={}",
+                deviceSn, flight.getFlightId(), msg, e.getMessage(), e);
+        }
+    }
+
+    /**
+     * 保存飞行日志
+     */
     private void handleFlightLog(String deviceSn, String message, FlightEntity flight) {
         if (flight == null) {
             log.error("【FlightEventCallback】飞行记录为空，无法保存飞行日志: deviceSn={}, message={}", deviceSn, message);
@@ -105,60 +194,4 @@ public class FlightEventCallback implements IAirportFlyControlDataCallback {
                 deviceSn, flight.getFlightId(), message, e.getMessage(), e);
         }
     }
-
-    private void handlePreCheckLog(String deviceSn, String msg, JSONObject data, FlightEntity flight) {
-        if (flight == null) {
-            log.error("【FlightEventCallback】飞行记录为空，无法保存自检日志: deviceSn={}, msg={}", deviceSn, msg);
-            return;
-        }
-
-        log.info("【FlightEventCallback】准备保存自检日志: deviceSn={}, flightId={}, msg={}", deviceSn, flight.getFlightId(), msg);
-
-        try {
-            Boolean success = msg.contains("通过") || msg.contains("成功");
-
-            PreCheckLogEntity logEntity = new PreCheckLogEntity();
-            logEntity.setFlightId(flight.getFlightId());
-            logEntity.setLogContent(msg);
-            logEntity.setSuccess(success);
-
-            flightService.insertPreCheckLog(logEntity);
-
-            log.info("【FlightEventCallback】成功保存自检日志: deviceSn={}, flightId={}, logId={}, msg={}, success={}",
-                deviceSn, flight.getFlightId(), logEntity.getLogId(), msg, success);
-        } catch (Exception e) {
-            log.error("【FlightEventCallback】保存自检日志失败: deviceSn={}, flightId={}, msg={}, error={}",
-                deviceSn, flight.getFlightId(), msg, e.getMessage(), e);
-        }
-    }
-
-    private void handleFlightStatus(String deviceSn, String action, JSONObject data, FlightEntity flight) {
-        if (flight == null) {
-            log.error("【FlightEventCallback】飞行记录为空，无法更新状态: deviceSn={}, action={}", deviceSn, action);
-            return;
-        }
-
-        log.debug("【FlightEventCallback】检查是否需要更新飞行状态: deviceSn={}, flightId={}, action={}", deviceSn, flight.getFlightId(), action);
-
-        try {
-            String msg = data.getString("msg");
-            String dataContent = data.getString("data");
-
-            if ((msg != null && msg.contains("起飞成功")) || (dataContent != null && dataContent.contains("起飞成功"))) {
-                log.info("【FlightEventCallback】检测到起飞成功，更新状态为飞行中: deviceSn={}, flightId={}", deviceSn, flight.getFlightId());
-                flightService.updateFlightStatus(flight.getFlightId(), "飞行中");
-                log.info("【FlightEventCallback】飞行状态更新成功: deviceSn={}, flightId={}, status=飞行中", deviceSn, flight.getFlightId());
-            } else if ((msg != null && msg.contains("返航成功")) || (dataContent != null && dataContent.contains("返航成功")) ||
-                       (dataContent != null && dataContent.contains("任务飞行完成"))) {
-                log.info("【FlightEventCallback】检测到返航成功，更新状态为已返航: deviceSn={}, flightId={}", deviceSn, flight.getFlightId());
-                flightService.updateFlightStatus(flight.getFlightId(), "已返航");
-                log.info("【FlightEventCallback】飞行状态更新成功: deviceSn={}, flightId={}, status=已返航", deviceSn, flight.getFlightId());
-            } else {
-                log.debug("【FlightEventCallback】无需更新飞行状态: deviceSn={}, flightId={}, msg={}", deviceSn, flight.getFlightId(), msg);
-            }
-        } catch (Exception e) {
-            log.error("【FlightEventCallback】更新飞行状态失败: deviceSn={}, flightId={}, action={}, error={}",
-                deviceSn, flight.getFlightId(), action, e.getMessage(), e);
-        }
-    }
 }

src/main/java/com/ruoyi/device/service/impl/FlightLogCallback.java

@@ -32,89 +32,91 @@ public class FlightLogCallback implements IDroneRealTimeCallback {
     @Override
     public void onDroneRealTimeData(String deviceSn, DroneRealTimeData data) {
 
-        if (data == null) {
-            log.warn("【FlightLogCallback】收到空数据: deviceSn={}", deviceSn);
-            return;
-        }
+         return;
 
-        if (data.getData() == null) {
-            log.warn("【FlightLogCallback】收到空数据体: deviceSn={}, messageId={}", deviceSn, data.getMessageID());
-            return;
-        }
-
-        log.info("【FlightLogCallback】处理实时消息: deviceSn={}, messageId={}, data={}", deviceSn, data.getMessageID(), JSON.toJSONString(data.getData()));
-
-        DroneRealTimeData.DroneInfo droneInfo = data.getData();
-
-        try {
-            if (droneInfo.getJiancha() != null && !droneInfo.getJiancha().isEmpty()) {
-                log.info("【FlightLogCallback】检测到自检数据: deviceSn={}, messageId={}, checkBody={}", deviceSn, data.getMessageID(), data.getData().getJiancha());
-                handlePreCheckLog(deviceSn, data.getMessageID(), droneInfo.getJiancha());
-            } else {
-                log.debug("【FlightLogCallback】实时消息中无自检数据: deviceSn={}, messageId={}", deviceSn, data.getMessageID());
-            }
-        } catch (Exception e) {
-            log.error("【FlightLogCallback】处理自检日志失败: deviceSn={}, messageId={}, error={}", deviceSn, data.getMessageID(), e.getMessage(), e);
-        }
+//        if (data == null) {
+//            log.warn("【FlightLogCallback】收到空数据: deviceSn={}", deviceSn);
+//            return;
+//        }
+//
+//        if (data.getData() == null) {
+//            log.warn("【FlightLogCallback】收到空数据体: deviceSn={}, messageId={}", deviceSn, data.getMessageID());
+//            return;
+//        }
+//
+//        log.info("【FlightLogCallback】处理实时消息: deviceSn={}, messageId={}, data={}", deviceSn, data.getMessageID(), JSON.toJSONString(data.getData()));
+//
+//        DroneRealTimeData.DroneInfo droneInfo = data.getData();
+//
+//        try {
+//            if (droneInfo.getJiancha() != null && !droneInfo.getJiancha().isEmpty()) {
+//                log.info("【FlightLogCallback】检测到自检数据: deviceSn={}, messageId={}, checkBody={}", deviceSn, data.getMessageID(), data.getData().getJiancha());
+//                handlePreCheckLog(deviceSn, data.getMessageID(), droneInfo.getJiancha());
+//            } else {
+//                log.debug("【FlightLogCallback】实时消息中无自检数据: deviceSn={}, messageId={}", deviceSn, data.getMessageID());
+//            }
+//        } catch (Exception e) {
+//            log.error("【FlightLogCallback】处理自检日志失败: deviceSn={}, messageId={}, error={}", deviceSn, data.getMessageID(), e.getMessage(), e);
+//        }
     }
 
     private void handlePreCheckLog(String deviceSn, String messageID, String jianchaJson) {
-        log.info("【FlightLogCallback】开始处理自检日志: deviceSn={}, messageId={}, jianchaJson={}", deviceSn, messageID, jianchaJson);
-
-        try {
-            FlightEntity flight;
-
-            if (messageID != null && !messageID.isEmpty()) {
-                log.info("【FlightLogCallback】通过messageId获取飞行记录: deviceSn={}, messageId={}", deviceSn, messageID);
-                flight = flightService.getOrCreateFlightByMessageId(deviceSn, messageID);
-            } else {
-                log.info("【FlightLogCallback】获取当前飞行记录: deviceSn={}", deviceSn);
-                flight = flightService.getOrCreateCurrentFlight(deviceSn);
-            }
-
-            if (flight == null) {
-                log.error("【FlightLogCallback】获取飞行记录失败，无法保存自检日志: deviceSn={}, messageId={}", deviceSn, messageID);
-                return;
-            }
-
-            log.info("【FlightLogCallback】获取到飞行记录: deviceSn={}, flightId={}, status={}", deviceSn, flight.getFlightId(), flight.getStatus());
-
-            JSONArray checkItems = JSON.parseArray(jianchaJson);
-            if (checkItems == null || checkItems.isEmpty()) {
-                log.warn("【FlightLogCallback】自检数据为空或解析失败: deviceSn={}, jianchaJson={}", deviceSn, jianchaJson);
-                return;
-            }
-
-            log.info("【FlightLogCallback】解析到{}个自检项: deviceSn={}, flightId={}", checkItems.size(), deviceSn, flight.getFlightId());
-
-            for (int i = 0; i < checkItems.size(); i++) {
-                JSONObject item = checkItems.getJSONObject(i);
-                PreCheckLogEntity logEntity = new PreCheckLogEntity();
-                logEntity.setFlightId(flight.getFlightId());
-
-                String check = item.getString("check");
-                String value = item.getString("value");
-                Boolean result = item.getBoolean("result");
-
-                String statusText = result != null && result ? "自检成功" : "自检失败";
-                String logContent = check + " " + value + " " + statusText;
-
-                logEntity.setLogContent(logContent);
-                logEntity.setSuccess(result != null ? result : false);
-
-                log.info("【FlightLogCallback】准备插入自检日志[{}/{}]: deviceSn={}, flightId={}, check={}, value={}, result={}",
-                    i + 1, checkItems.size(), deviceSn, flight.getFlightId(), check, value, result);
-
-                flightService.insertPreCheckLog(logEntity);
-
-                log.info("【FlightLogCallback】成功插入自检日志[{}/{}]: deviceSn={}, flightId={}, logId={}",
-                    i + 1, checkItems.size(), deviceSn, flight.getFlightId(), logEntity.getLogId());
-            }
-            log.info("【FlightLogCallback】完成保存自检日志: deviceSn={}, flightId={}, 检查项数量={}",
-                deviceSn, flight.getFlightId(), checkItems.size());
-        } catch (Exception e) {
-            log.error("【FlightLogCallback】保存自检日志失败: deviceSn={}, messageId={}, jiancha={}, error={}",
-                deviceSn, messageID, jianchaJson, e.getMessage(), e);
-        }
+//        log.info("【FlightLogCallback】开始处理自检日志: deviceSn={}, messageId={}, jianchaJson={}", deviceSn, messageID, jianchaJson);
+//
+//        try {
+//            FlightEntity flight;
+//
+//            if (messageID != null && !messageID.isEmpty()) {
+//                log.info("【FlightLogCallback】通过messageId获取飞行记录: deviceSn={}, messageId={}", deviceSn, messageID);
+//                flight = flightService.getOrCreateFlightByMessageId(deviceSn, messageID);
+//            } else {
+//                log.info("【FlightLogCallback】获取当前飞行记录: deviceSn={}", deviceSn);
+//                flight = flightService.getOrCreateCurrentFlight(deviceSn);
+//            }
+//
+//            if (flight == null) {
+//                log.error("【FlightLogCallback】获取飞行记录失败，无法保存自检日志: deviceSn={}, messageId={}", deviceSn, messageID);
+//                return;
+//            }
+//
+//            log.info("【FlightLogCallback】获取到飞行记录: deviceSn={}, flightId={}, status={}", deviceSn, flight.getFlightId(), flight.getStatus());
+//
+//            JSONArray checkItems = JSON.parseArray(jianchaJson);
+//            if (checkItems == null || checkItems.isEmpty()) {
+//                log.warn("【FlightLogCallback】自检数据为空或解析失败: deviceSn={}, jianchaJson={}", deviceSn, jianchaJson);
+//                return;
+//            }
+//
+//            log.info("【FlightLogCallback】解析到{}个自检项: deviceSn={}, flightId={}", checkItems.size(), deviceSn, flight.getFlightId());
+//
+//            for (int i = 0; i < checkItems.size(); i++) {
+//                JSONObject item = checkItems.getJSONObject(i);
+//                PreCheckLogEntity logEntity = new PreCheckLogEntity();
+//                logEntity.setFlightId(flight.getFlightId());
+//
+//                String check = item.getString("check");
+//                String value = item.getString("value");
+//                Boolean result = item.getBoolean("result");
+//
+//                String statusText = result != null && result ? "自检成功" : "自检失败";
+//                String logContent = check + " " + value + " " + statusText;
+//
+//                logEntity.setLogContent(logContent);
+//                logEntity.setSuccess(result != null ? result : false);
+//
+//                log.info("【FlightLogCallback】准备插入自检日志[{}/{}]: deviceSn={}, flightId={}, check={}, value={}, result={}",
+//                    i + 1, checkItems.size(), deviceSn, flight.getFlightId(), check, value, result);
+//
+//                flightService.insertPreCheckLog(logEntity);
+//
+//                log.info("【FlightLogCallback】成功插入自检日志[{}/{}]: deviceSn={}, flightId={}, logId={}",
+//                    i + 1, checkItems.size(), deviceSn, flight.getFlightId(), logEntity.getLogId());
+//            }
+//            log.info("【FlightLogCallback】完成保存自检日志: deviceSn={}, flightId={}, 检查项数量={}",
+//                deviceSn, flight.getFlightId(), checkItems.size());
+//        } catch (Exception e) {
+//            log.error("【FlightLogCallback】保存自检日志失败: deviceSn={}, messageId={}, jiancha={}, error={}",
+//                deviceSn, messageID, jianchaJson, e.getMessage(), e);
+//        }
     }
 }

src/main/java/com/ruoyi/device/service/impl/FlightServiceImpl.java

@@ -50,34 +50,26 @@ public class FlightServiceImpl implements FlightService
     @Override
     @Transactional(rollbackFor = Exception.class)
     public FlightEntity getOrCreateFlightByMessageId(String deviceSn, String messageId) {
-        FlightEntity flight = flightMapper.selectLatestFlightByDeviceSn(deviceSn);
+        // 先查询是否存在相同 deviceSn 和 flight_id_extern 的记录
+        FlightEntity flight = flightMapper.selectFlightByDeviceSnAndFlightIdExternal(deviceSn, messageId);
 
-        if (flight == null) {
-            flight = createFlight(deviceSn);
-            if (messageId != null && !messageId.isEmpty()) {
-                updateFlightIdExternal(flight.getFlightId(), messageId);
-            }
+        if (flight != null) {
+            // 如果存在，直接返回
+            log.info("找到已存在的飞行记录: deviceSn={}, messageId={}, flightId={}",
+                deviceSn, messageId, flight.getFlightId());
             return flight;
         }
 
-        String existingFlightIdExternal = flight.getFlightIdExternal();
-        if (existingFlightIdExternal == null || existingFlightIdExternal.isEmpty()) {
-            if (messageId != null && !messageId.isEmpty()) {
-                updateFlightIdExternal(flight.getFlightId(), messageId);
-            }
-            return flight;
-        }
+        // 如果不存在，创建新的飞行记录
+        flight = new FlightEntity();
+        flight.setDeviceSn(deviceSn);
+        flight.setFlightIdExternal(messageId);
+        flight.setStatus("CHECKING");
+        flightMapper.insertFlight(flight);
 
-        if (existingFlightIdExternal.equals(messageId)) {
-            return flight;
-        }
+        log.info("创建新的飞行记录: deviceSn={}, messageId={}, flightId={}, status=CHECKING",
+            deviceSn, messageId, flight.getFlightId());
 
-        flight = createFlight(deviceSn);
-        if (messageId != null && !messageId.isEmpty()) {
-            updateFlightIdExternal(flight.getFlightId(), messageId);
-        }
-        log.info("messageId不同，创建新飞行 - deviceSn={}, flightId={}, oldMessageId={}, newMessageId={}",
-            deviceSn, flight.getFlightId(), existingFlightIdExternal, messageId);
         return flight;
     }
 
@@ -177,4 +169,10 @@ public class FlightServiceImpl implements FlightService
                 logEntity.getFlightId(), logEntity.getLogContent());
         }
     }
+
+    @Override
+    public boolean hasFlightLog(Long flightId) {
+        int count = flightLogMapper.countFlightLogByFlightId(flightId);
+        return count > 0;
+    }
 }

src/main/resources/mapper/device/FlightLogMapper.xml

@@ -32,6 +32,10 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
         order by create_time desc
     </select>
 
+    <select id="countFlightLogByFlightId" parameterType="Long" resultType="int">
+        select count(*) from device_flight_log where flight_id = #{flightId}
+    </select>
+
     <insert id="insertFlightLog" parameterType="com.ruoyi.device.mapper.entity.FlightLogEntity" useGeneratedKeys="true" keyProperty="logId" keyColumn="log_id">
         insert into device_flight_log
         <trim prefix="(" suffix=")" suffixOverrides=",">

src/main/resources/mapper/device/FlightMapper.xml

@@ -43,6 +43,13 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
         limit 1
     </select>
 
+    <select id="selectFlightByDeviceSnAndFlightIdExternal" resultMap="FlightResult">
+        <include refid="selectFlightVo"/>
+        where device_sn = #{deviceSn}
+        and flight_id_external = #{flightIdExternal}
+        limit 1
+    </select>
+
     <insert id="insertFlight" parameterType="com.ruoyi.device.mapper.entity.FlightEntity" useGeneratedKeys="true" keyProperty="flightId" keyColumn="flight_id">
         insert into device_flight
         <trim prefix="(" suffix=")" suffixOverrides=",">