添加taskId作为调用后台数据

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

@@ -12,6 +12,7 @@ import com.ruoyi.device.domain.impl.machine.command.CommandResult;
 import com.ruoyi.device.domain.impl.machine.command.CommandType;
 import com.ruoyi.device.domain.impl.machine.state.MachineStates;
 import com.ruoyi.device.service.FlightService;
+import com.ruoyi.task.api.domain.TaskResultVO;
 import com.ruoyi.task.api.enums.StatusEnum;
 import io.swagger.v3.oas.annotations.Operation;
 import io.swagger.v3.oas.annotations.Parameter;
@@ -66,12 +67,16 @@ public class AircraftFlyController extends BaseController
             CommandType commandType;
             java.util.Map<String, Object> params = new java.util.HashMap<>();
 
-            // 处理消息ID
+            Long currentTaskId = flightService.currentRunningTask(sn);
+            if (currentTaskId != null) {
+                params.put("messageID", currentTaskId);
+            } else {
                 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) {
@@ -202,6 +207,7 @@ public class AircraftFlyController extends BaseController
             @Parameter(description = "任务ID", required = true, example = "1")
             @PathVariable("taskId") Long taskId)
     {
+
         // TODO: 实现获取实时信息逻辑
         DroneRealtimeInfoVO vo = new DroneRealtimeInfoVO();
         vo.setClimbSpeed(0);
@@ -273,17 +279,19 @@ public class AircraftFlyController extends BaseController
             CommandResult result = future.get();
 
             if (result.isSuccess()) {
-                log.info("无人机起飞命令发送成功: sn={}", request.getSn());
+                log.info("无人机起飞命令发送成功 executeCommand: sn={}", request.getSn());
-                flightService.updateFlightStatus(request.getTaskId(), StatusEnum.CHECKING);
+                flightService.updateFlightStatus(request.getTaskId(), TaskResultVO.Checking("无人机起飞命令发送成功"));
                 return R.ok("无人机起飞命令发送成功");
             } else {
-                log.error("无人机起飞命令发送失败: sn={}, reason={}", request.getSn(), result.getErrorMessage());
+                log.error("无人机起飞失败 无人机起飞命令发送失败: sn={}, reason={}", request.getSn(), result.getErrorMessage());
-                flightService.updateFlightStatus(request.getTaskId(), StatusEnum.FAILED);
+                flightService.updateFlightStatus(request.getTaskId(),
+                        TaskResultVO.Error("人机起飞命令发送失败 executeCommand"+ result.getErrorMessage()));
                 return R.fail("无人机起飞命令发送失败: " + result.getErrorMessage());
             }
         } catch (Exception e) {
-            log.error("无人机起飞命令发送失败: sn={}", request.getSn(), e);
+            log.error("无人机起飞失败 无人机起飞命令发送失败: sn={}", request.getSn(), e);
-            flightService.updateFlightStatus(request.getTaskId(), StatusEnum.FAILED);
+            flightService.updateFlightStatus(request.getTaskId(),
+                    TaskResultVO.Error("人机起飞命令发送失败 executeCommand E" + e.getMessage()));
             return R.fail("无人机起飞命令发送失败: " + e.getMessage());
         }
     }
@@ -475,10 +483,10 @@ public class AircraftFlyController extends BaseController
 
             Long currentTaskId = flightService.currentRunningTask(request.getSn());
             java.util.Map<String, Object> params = new java.util.HashMap<>();
-            if(Objects.isNull(currentTaskId)){
+            if (currentTaskId != null) {
-                params.put("messageID", UUID.randomUUID().toString());
-            }else {
                 params.put("messageID", currentTaskId);
+            } else {
+                params.put("messageID", System.currentTimeMillis());
             }
             params.put("taskId", 9074);
             params.put("zhilin", "03");

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

@@ -139,9 +139,9 @@ public class GroupController extends BaseController
                         DockDetailDTO dockDetailDTO = bufferDeviceService.getDockDetailById(dock.getDockId());
                         if (dockDetailDTO != null) {
                             dockDetailDTO.setLastActiveTime(dock.getLastActiveTime());
-                            dockDetailDTO.setCabinVideoUrl(dock.getCabinVideoUrl());
+//                            dockDetailDTO.setCabinVideoUrl(dock.getCabinVideoUrl());
-                            dockDetailDTO.setOutsideVideoUrl(dock.getOutsideVideoUrl());
+//                            dockDetailDTO.setOutsideVideoUrl(dock.getOutsideVideoUrl());
-                            dockDetailDTO.setLiveVideoUrl(dock.getLiveVideoUrl());
+//                            dockDetailDTO.setLiveVideoUrl(dock.getLiveVideoUrl());
                             dtoList.add(dockDetailDTO);
                         }
                     }

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

@@ -1,6 +1,7 @@
 package com.ruoyi.device.service;
 
 import com.ruoyi.device.mapper.entity.FlightEntity;
+import com.ruoyi.task.api.domain.TaskResultVO;
 import com.ruoyi.task.api.enums.StatusEnum;
 
 import java.util.Map;
@@ -53,7 +54,7 @@ public interface FlightService
      * @param flightId 飞行ID
      * @param status 状态：自检中、飞行中、已返航
      */
-    void updateFlightStatus(Long flightId, StatusEnum status);
+    void updateFlightStatus(Long flightId, TaskResultVO status);
 
 //    /**
 //     * 更新返航时间

src/main/java/com/ruoyi/device/service/config/TuohengMqttProperties.java

@@ -4,6 +4,8 @@ import lombok.Data;
 import org.springframework.boot.context.properties.ConfigurationProperties;
 import org.springframework.stereotype.Component;
 
+import java.util.UUID;
+
 /**
  * DJI MQTT配置属性
  *
@@ -32,7 +34,7 @@ public class TuohengMqttProperties {
     /**
      * 客户端ID
      */
-    private String clientId = "ThingsBoard_gateway";
+    private String clientId = "ThingsBoard_gateway_" + UUID.randomUUID().toString().substring(0, 8);
 
     /**
      * 用户名

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

@@ -65,7 +65,7 @@ public class DjiService {
         DjiMqttClientConfig config = DjiMqttClientConfig.builder()
                 .host(mqttProperties.getHost())
                 .port(mqttProperties.getPort())
-                .clientId(mqttProperties.getClientId())
+                .clientId(mqttProperties.getClientId() + "_" + System.currentTimeMillis())
                 .username(mqttProperties.getUsername())
                 .password(mqttProperties.getPassword())
                 .connectionTimeout(mqttProperties.getConnectionTimeout())
@@ -73,7 +73,7 @@ public class DjiService {
                 .autoReconnect(mqttProperties.getAutoReconnect())
                 .cleanSession(mqttProperties.getCleanSession())
                 .useSharedSubscription(true)
-                .sharedGroupName("dji-group")
+                .sharedGroupName("dji-server-group")
                 .build();
 
         // 创建客户端

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

@@ -1,5 +1,6 @@
 package com.ruoyi.device.service.impl;
 
+import com.alibaba.fastjson2.JSON;
 import com.alibaba.fastjson2.JSONObject;
 import com.ruoyi.device.domain.impl.tuohengmqtt.callback.IAirportFlyControlCallback;
 import com.ruoyi.device.domain.impl.tuohengmqtt.callback.IAirportFlyControlDataCallback;
@@ -7,6 +8,7 @@ import com.ruoyi.device.mapper.entity.FlightEntity;
 import com.ruoyi.device.mapper.entity.FlightLogEntity;
 import com.ruoyi.device.mapper.entity.PreCheckLogEntity;
 import com.ruoyi.device.service.FlightService;
+import com.ruoyi.task.api.domain.TaskResultVO;
 import com.ruoyi.task.api.enums.StatusEnum;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.beans.factory.annotation.Autowired;
@@ -109,7 +111,7 @@ public class FlightEventCallback implements IAirportFlyControlCallback, IAirport
             handleFlightLog(deviceSn, msg, taskId);
             // 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, taskId);
-            flightService.updateFlightStatus(taskId, StatusEnum.RUNNING);
+            flightService.updateFlightStatus(taskId, TaskResultVO.Running());
             return;
         }
 
@@ -124,9 +126,17 @@ public class FlightEventCallback implements IAirportFlyControlCallback, IAirport
             // 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, taskId);
+                log.info("【FlightEventCallback】检测到 [地面站]任务飞行完成 ，更新状态为HOME: deviceSn={}, flightId={}", deviceSn, taskId);
-                flightService.updateFlightStatus(taskId, StatusEnum.COMPLETED);
+                flightService.updateFlightStatus(taskId, TaskResultVO.Completed("检测到 [地面站]任务飞行完成 ，更新状态为HOME"));
             }
+
+            if ("[机巢]无人机关机成功".equals(dataContent)) {
+                log.info("【FlightEventCallback】检测到  [机巢]无人机关机成功 ，更新状态为HOME: deviceSn={}, flightId={}", deviceSn, taskId);
+                flightService.updateFlightStatus(taskId, TaskResultVO.Completed("[机巢]无人机关机成功 ，更新状态为HOME"));
+            }
+
+
+
         } else {
             // 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, taskId, msg, code);
@@ -134,8 +144,9 @@ public class FlightEventCallback implements IAirportFlyControlCallback, IAirport
 
             // 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, taskId);
+                log.info("无人机起飞失败【FlightEventCallback】检测到自检失败(code=1)，更新状态为ERROR: deviceSn={}, flightId={} msg {}",
-                flightService.updateFlightStatus(taskId, StatusEnum.FAILED);
+                        deviceSn, taskId, JSON.toJSONString(data));
+                flightService.updateFlightStatus(taskId, TaskResultVO.Error("handleControlDataMessage 检测到自检失败(code=1)"));
             }
         }
     }

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

@@ -9,6 +9,7 @@ import com.ruoyi.device.mapper.entity.FlightEntity;
 import com.ruoyi.device.mapper.entity.FlightLogEntity;
 import com.ruoyi.device.mapper.entity.PreCheckLogEntity;
 import com.ruoyi.device.service.FlightService;
+import com.ruoyi.task.api.domain.TaskResultVO;
 import com.ruoyi.task.api.enums.StatusEnum;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.beans.factory.annotation.Autowired;
@@ -104,7 +105,9 @@ public class FlightLogCallback implements IDroneRealTimeCallback {
                 String logContent = check + " " + value + " " + statusText;
 
                 if(Boolean.FALSE.equals(result)){
-                    flightService.updateFlightStatus(taskId, StatusEnum.FAILED);
+                    log.info("无人机起飞失败: sn={}", deviceSn);
+                    flightService.updateFlightStatus(taskId, TaskResultVO.Error("无人机起飞失败 " +
+                            "handlePreCheckLog 自检失败" + deviceSn));
                 }
 
                 logEntity.setLogContent(logContent);

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

@@ -10,6 +10,7 @@ import com.ruoyi.device.mapper.entity.FlightLogEntity;
 import com.ruoyi.device.mapper.entity.PreCheckLogEntity;
 import com.ruoyi.device.service.FlightService;
 import com.ruoyi.task.api.RemoteTaskService;
+import com.ruoyi.task.api.domain.TaskResultVO;
 import com.ruoyi.task.api.domain.TaskVO;
 import com.ruoyi.task.api.enums.ExecuteTypeEnum;
 import com.ruoyi.task.api.enums.StatusEnum;
@@ -113,7 +114,7 @@ public class FlightServiceImpl implements FlightService
 //    }
 
     @Override
-    public void updateFlightStatus(Long flightId,StatusEnum status) {
+    public void updateFlightStatus(Long flightId, TaskResultVO status) {
 
         remoteTaskService.updateTaskStatus(flightId,status,SecurityConstants.INNER);
 

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

@@ -69,6 +69,9 @@ public class TuohengBufferDeviceImpl implements IBufferDeviceService {
             return null;
         }
 
+        log.info("Dock对象详细信息: dockId={}, cabinVideoUrl={}, outsideVideoUrl={}, liveVideoUrl={}",
+            dock.getDockId(), dock.getCabinVideoUrl(), dock.getOutsideVideoUrl(), dock.getLiveVideoUrl());
+
         // 查询设备信息
         Device device = deviceDomain.selectDeviceByDeviceId(dock.getDeviceId());
         if (device == null) {
@@ -91,6 +94,9 @@ public class TuohengBufferDeviceImpl implements IBufferDeviceService {
         dto.setInternalCamera(dock.getCabinVideoUrl());
         dto.setExternalCamera(dock.getOutsideVideoUrl());
         dto.setLiveCamera(dock.getLiveVideoUrl());
+
+        log.info("设置DTO视频地址: internalCamera={}, externalCamera={}, liveCamera={}",
+            dto.getInternalCamera(), dto.getExternalCamera(), dto.getLiveCamera());
         dto.setDockIotId(device.getIotDeviceId());
         dto.setSnNumber(device.getDeviceSn());
         dto.setBindTime(device.getCreateTime().getTime());
@@ -338,20 +344,21 @@ public class TuohengBufferDeviceImpl implements IBufferDeviceService {
                                 machineStates.getCoverState();
                             log.info("机场舱门状态(从MachineStateManager): {}", coverState);
 
-                            // 先判断MODE是否为飞行模式
+                            // 通过MODE判断飞行模式（暂时注释掉，数据不准确）
-                            boolean isFlyingMode = "auto".equalsIgnoreCase(mode) ||
+//                            boolean isFlyingMode = "auto".equalsIgnoreCase(mode) ||
-                                    "guided".equalsIgnoreCase(mode) ||
+//                                    "guided".equalsIgnoreCase(mode) ||
-                                    "loiter".equalsIgnoreCase(mode) ||
+//                                    "loiter".equalsIgnoreCase(mode) ||
-                                    "rtl".equalsIgnoreCase(mode);
+//                                    "rtl".equalsIgnoreCase(mode);
 
-                            if (isFlyingMode) {
+//                            if (isFlyingMode) {
-                                dockStatus = "WORKING";
+//                                dockStatus = "WORKING";
-                                log.info("无人机处于{}模式，设置机场状态为 WORKING", mode);
+//                                log.info("无人机处于{}模式，设置机场状态为 WORKING", mode);
-                            } else if (coverState == CoverState.OPENED) {
+//                            } else if (coverState == CoverState.OPENED) {
+                            if (coverState == CoverState.OPENED) {
                                 dockStatus = "WORKING";
                                 log.info("舱门打开，设置机场状态为 WORKING");
                             } else {
-                                log.info("无人机处于{}模式且舱门关闭，设置机场状态为 IDLE", mode);
+                                log.info("舱门关闭，设置机场状态为 IDLE");
                             }
                         } catch (Exception e) {
                             log.warn("获取无人机mode或舱门状态失败，默认设置为IDLE: {}", e.getMessage());

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

@@ -89,7 +89,7 @@ public class TuohengService {
         TuohengMqttClientConfig config = TuohengMqttClientConfig.builder()
                 .host(mqttProperties.getHost())
                 .port(mqttProperties.getPort())
-                .clientId(mqttProperties.getClientId())
+                .clientId(mqttProperties.getClientId() + "_" + System.currentTimeMillis())
                 .username(mqttProperties.getUsername())
                 .password(mqttProperties.getPassword())
                 .connectionTimeout(mqttProperties.getConnectionTimeout())
@@ -97,7 +97,7 @@ public class TuohengService {
                 .autoReconnect(mqttProperties.getAutoReconnect())
                 .cleanSession(mqttProperties.getCleanSession())
                 .useSharedSubscription(true)
-                .sharedGroupName("tuoheng-group")
+                .sharedGroupName("tuoheng-server-group")
                 .build();
 
         clientManager.initClient(config);

src/main/java/com/ruoyi/device/websocket/PreCheckLogWebSocket.java

@@ -101,9 +101,9 @@ public class PreCheckLogWebSocket {
 
             if(Objects.nonNull(taskVOR) && Objects.nonNull(taskVOR.getData())){
                 TaskVO taskVO = taskVOR.getData();
-                if(Objects.equals(true,taskVO.getRecovery())){
+//                if(Objects.equals(true,taskVO.getRecovery())){
-                    continue;
+//                    continue;
-                }
+//                }
 
                 if(taskVO.getStatus() == StatusEnum.PENDING || taskVO.getStatus() == StatusEnum.CANCELED
                         || taskVO.getStatus() == StatusEnum.COMPLETED){
@@ -116,6 +116,7 @@ public class PreCheckLogWebSocket {
             if (flightData == null) {
                 continue;
             }
+            flightData.put("recovery", taskVOR.getData().getRecovery());
 
             ws.sendMessage(JSON.toJSONString(flightData));
         }