修改测试用例

src/main/java/com/tuoheng/machine/impl/dji/action/drc/DjiExitAction.java

@@ -22,10 +22,10 @@ public class DjiExitAction extends ExitAction {
     @Override
     public void execute(StateContext<DrcState, DrcEvent> context) {
         String machineId = (String) context.getExtendedState().getVariables().get("machineId");
-        log.info("[DJI] {} 退出DRC模式: %s 判断外部命令是否成功", machineId);
+        log.info("[DJI] {} 退出DRC模式: %s 外部命令执行", machineId);
         /**
-         * 发生命令的结果是失败，或者超时了，这边需要抛出异常
+         * DjiExitAction 执行远程方法,远程方法执行成功则不抛出异常,否则抛出异常
          */
-        throw  new RuntimeException("");
+
     }
 }

src/main/java/com/tuoheng/machine/impl/dji/guard/drc/DjiCanExitGuard.java

@@ -23,8 +23,8 @@ public class DjiCanExitGuard extends CanExitGuard {
     @Override
     public boolean evaluate(StateContext<DrcState, DrcEvent> context) {
         String machineId = (String) context.getExtendedState().getVariables().get("machineId");
-        log.info("[DJI] {} 退出DRC模式: %s 执行外部命令", machineId);
-        // 外部命令执行成功返回true,执行失败返回false
+        log.info("[DJI] {} 退出DRC模式: %s 判断是否具备执行条件", machineId);
+        //具备执行添加返回true,不具备执行条件返回false
         return true;
     }
 }

src/main/java/com/tuoheng/machine/impl/dji/listener/DjiDrcListener.java

@@ -2,11 +2,20 @@ package com.tuoheng.machine.impl.dji.listener;
 
 import com.tuoheng.machine.events.DrcEvent;
 import com.tuoheng.machine.listener.DefaultDrcListener;
+import com.tuoheng.machine.service.DrcMachineService;
 import com.tuoheng.machine.status.DrcState;
 import lombok.extern.slf4j.Slf4j;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.context.annotation.Lazy;
+import org.springframework.statemachine.StateContext;
+import org.springframework.statemachine.StateMachine;
 import org.springframework.statemachine.state.State;
+import org.springframework.statemachine.transition.Transition;
 import org.springframework.stereotype.Component;
 
+import java.util.Objects;
+import java.util.concurrent.CompletableFuture;
+
 /**
  * DJI平台DRC状态监听器
  */
@@ -14,6 +23,11 @@ import org.springframework.stereotype.Component;
 @Slf4j
 public class DjiDrcListener extends DefaultDrcListener {
 
+
+    @Autowired
+    @Lazy
+    DrcMachineService drcMachineService;
+
     @Override
     public String getName() {
         return "DJI-DRC";
@@ -24,4 +38,35 @@ public class DjiDrcListener extends DefaultDrcListener {
         log.debug("[{}] 大疆进入状态: {}", getName(), state.getId());
 
     }
+
+    public void transitionEnded(Transition<DrcState, DrcEvent> transition) {
+        if (transition.getSource() != null && transition.getTarget() != null) {
+            log.debug("[{}] 转换结束: {} -> {}",
+                    getName(), transition.getSource().getId(), transition.getTarget().getId());
+        }
+        // 获取状态机
+    }
+
+    @Override
+    public void stateContext(StateContext<DrcState, DrcEvent> stateContext) {
+        // 默认不处理
+        // 只处理状态进入阶段
+        if (stateContext.getStage() == StateContext.Stage.STATE_ENTRY) {
+            DrcState currentState = stateContext.getTarget() != null ?
+                    stateContext.getTarget().getId() : null;
+            // 当进入 EXITING 状态时，自动发送 EXITED 事件
+            if (currentState == DrcState.EXITING) {
+                StateMachine<DrcState, DrcEvent> stateMachine = stateContext.getStateMachine();
+                String machineId = (String) stateMachine.getExtendedState()
+                        .getVariables().get("machineId");
+
+                log.info("[{}] 进入 EXITING 状态，准备自动转换到 EXITED, 机巢ID: {}",
+                        getName(), machineId);
+                /**
+                 * 这个地方可以直接调用 drcMachineService 转换状态
+                 */
+                drcMachineService.sendEvent(machineId, DrcEvent.EXITED);
+            }
+        }
+    }
 }

src/test/java/com/tuoheng/machine/DrcStateMachineTest.java

@@ -63,16 +63,20 @@ public class DrcStateMachineTest {
         log.debug(drcMachineService.getCurrentStates("airport-001"));
 
         /**
-         * 变成退出中;这个时候需要在 DjiCanExitGuard 中编写退出的代码（调用三方接口）
-         * DjiExitAction 里面判断状态是否真的变化了
+         * 变成退出中;这个时候需要在
+         * DjiCanExitGuard 判断是否可以执行
+         * DjiExitAction 执行远程方法,远程方法执行成功则不抛出异常,否则抛出异常
          */
         log.debug(String.valueOf(drcMachineService.sendEvent(sn,DrcEvent.EXITING)));
 
         /**
          * 打印一下当前的状态
+         * 修改 stateContext 里面的实现,就可以跳过某些状态
          */
         log.debug(drcMachineService.getCurrentStates("airport-001"));
 
+;
+
 //        log.debug(String.valueOf(drcMachineService.sendEvent(sn,DrcEvent.EXITED)));
 //
 //        log.debug(drcMachineService.getCurrentStates("airport-001"));