添加无人机状态

src/main/java/com/tuoheng/status/machine/action/drone/ArriveAction.java

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+package com.tuoheng.status.machine.action.drone;
+
+import com.tuoheng.status.machine.events.DroneEvent;
+import com.tuoheng.status.machine.platform.strategy.PlatformAction;
+import com.tuoheng.status.machine.status.DroneState;
+
+/**
+ * Base action for drone arrive at destination handling; platform implementations extend this.
+ */
+public abstract class ArriveAction implements PlatformAction<DroneState, DroneEvent> {
+}

src/main/java/com/tuoheng/status/machine/action/drone/CancelPointAction.java

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+package com.tuoheng.status.machine.action.drone;
+
+import com.tuoheng.status.machine.events.DroneEvent;
+import com.tuoheng.status.machine.platform.strategy.PlatformAction;
+import com.tuoheng.status.machine.status.DroneState;
+
+/**
+ * Base action for drone cancel point operation handling; platform implementations extend this.
+ */
+public abstract class CancelPointAction implements PlatformAction<DroneState, DroneEvent> {
+}

src/main/java/com/tuoheng/status/machine/action/drone/EmergencyStopAction.java

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+package com.tuoheng.status.machine.action.drone;
+
+import com.tuoheng.status.machine.events.DroneEvent;
+import com.tuoheng.status.machine.platform.strategy.PlatformAction;
+import com.tuoheng.status.machine.status.DroneState;
+
+/**
+ * Base action for drone emergency stop handling; platform implementations extend this.
+ */
+public abstract class EmergencyStopAction implements PlatformAction<DroneState, DroneEvent> {
+}

src/main/java/com/tuoheng/status/machine/action/drone/OfflineAction.java

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+package com.tuoheng.status.machine.action.drone;
+
+import com.tuoheng.status.machine.events.DroneEvent;
+import com.tuoheng.status.machine.platform.strategy.PlatformAction;
+import com.tuoheng.status.machine.status.DroneState;
+
+/**
+ * Base action for drone offline handling; platform implementations extend this.
+ */
+public abstract class OfflineAction implements PlatformAction<DroneState, DroneEvent> {
+}

src/main/java/com/tuoheng/status/machine/action/drone/PointFlyingCompletedAction.java

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+package com.tuoheng.status.machine.action.drone;
+
+import com.tuoheng.status.machine.events.DroneEvent;
+import com.tuoheng.status.machine.platform.strategy.PlatformAction;
+import com.tuoheng.status.machine.status.DroneState;
+
+/**
+ * Base action for drone point flying completed handling; platform implementations extend this.
+ */
+public abstract class PointFlyingCompletedAction implements PlatformAction<DroneState, DroneEvent> {
+}

src/main/java/com/tuoheng/status/machine/action/drone/PointPrepareCompletedAction.java

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+package com.tuoheng.status.machine.action.drone;
+
+import com.tuoheng.status.machine.events.DroneEvent;
+import com.tuoheng.status.machine.platform.strategy.PlatformAction;
+import com.tuoheng.status.machine.status.DroneState;
+
+/**
+ * Base action for drone point prepare completed handling; platform implementations extend this.
+ */
+public abstract class PointPrepareCompletedAction implements PlatformAction<DroneState, DroneEvent> {
+}

src/main/java/com/tuoheng/status/machine/action/drone/PointToFlyingAction.java

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+package com.tuoheng.status.machine.action.drone;
+
+import com.tuoheng.status.machine.events.DroneEvent;
+import com.tuoheng.status.machine.platform.strategy.PlatformAction;
+import com.tuoheng.status.machine.status.DroneState;
+
+/**
+ * Base action for drone point to flying handling; platform implementations extend this.
+ */
+public abstract class PointToFlyingAction implements PlatformAction<DroneState, DroneEvent> {
+}

src/main/java/com/tuoheng/status/machine/action/drone/PointToReturnAction.java

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+package com.tuoheng.status.machine.action.drone;
+
+import com.tuoheng.status.machine.events.DroneEvent;
+import com.tuoheng.status.machine.platform.strategy.PlatformAction;
+import com.tuoheng.status.machine.status.DroneState;
+
+/**
+ * Base action for drone point to return handling; platform implementations extend this.
+ */
+public abstract class PointToReturnAction implements PlatformAction<DroneState, DroneEvent> {
+}

src/main/java/com/tuoheng/status/machine/action/drone/PrepareCompletedAction.java

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+package com.tuoheng.status.machine.action.drone;
+
+import com.tuoheng.status.machine.events.DroneEvent;
+import com.tuoheng.status.machine.platform.strategy.PlatformAction;
+import com.tuoheng.status.machine.status.DroneState;
+
+/**
+ * Base action for drone prepare completed handling; platform implementations extend this.
+ */
+public abstract class PrepareCompletedAction implements PlatformAction<DroneState, DroneEvent> {
+}

src/main/java/com/tuoheng/status/machine/action/drone/ResumeFlyingAction.java

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+package com.tuoheng.status.machine.action.drone;
+
+import com.tuoheng.status.machine.events.DroneEvent;
+import com.tuoheng.status.machine.platform.strategy.PlatformAction;
+import com.tuoheng.status.machine.status.DroneState;
+
+/**
+ * Base action for drone resume flying handling; platform implementations extend this.
+ */
+public abstract class ResumeFlyingAction implements PlatformAction<DroneState, DroneEvent> {
+}

src/main/java/com/tuoheng/status/machine/action/drone/ResumeReturnAction.java

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+package com.tuoheng.status.machine.action.drone;
+
+import com.tuoheng.status.machine.events.DroneEvent;
+import com.tuoheng.status.machine.platform.strategy.PlatformAction;
+import com.tuoheng.status.machine.status.DroneState;
+
+/**
+ * Base action for drone resume return handling; platform implementations extend this.
+ */
+public abstract class ResumeReturnAction implements PlatformAction<DroneState, DroneEvent> {
+}

src/main/java/com/tuoheng/status/machine/action/drone/ReturnCompletedAction.java

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+package com.tuoheng.status.machine.action.drone;
+
+import com.tuoheng.status.machine.events.DroneEvent;
+import com.tuoheng.status.machine.platform.strategy.PlatformAction;
+import com.tuoheng.status.machine.status.DroneState;
+
+/**
+ * Base action for drone return completed handling; platform implementations extend this.
+ */
+public abstract class ReturnCompletedAction implements PlatformAction<DroneState, DroneEvent> {
+}

src/main/java/com/tuoheng/status/machine/action/drone/ReturnEmergencyStopAction.java

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+package com.tuoheng.status.machine.action.drone;
+
+import com.tuoheng.status.machine.events.DroneEvent;
+import com.tuoheng.status.machine.platform.strategy.PlatformAction;
+import com.tuoheng.status.machine.status.DroneState;
+
+/**
+ * Base action for drone return emergency stop handling; platform implementations extend this.
+ */
+public abstract class ReturnEmergencyStopAction implements PlatformAction<DroneState, DroneEvent> {
+}

src/main/java/com/tuoheng/status/machine/action/drone/StartFlyingAction.java

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+package com.tuoheng.status.machine.action.drone;
+
+import com.tuoheng.status.machine.events.DroneEvent;
+import com.tuoheng.status.machine.platform.strategy.PlatformAction;
+import com.tuoheng.status.machine.status.DroneState;
+
+/**
+ * Base action for drone start flying handling; platform implementations extend this.
+ */
+public abstract class StartFlyingAction implements PlatformAction<DroneState, DroneEvent> {
+}

src/main/java/com/tuoheng/status/machine/action/drone/StartPointingAction.java

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+package com.tuoheng.status.machine.action.drone;
+
+import com.tuoheng.status.machine.events.DroneEvent;
+import com.tuoheng.status.machine.platform.strategy.PlatformAction;
+import com.tuoheng.status.machine.status.DroneState;
+
+/**
+ * Base action for drone start pointing operation handling; platform implementations extend this.
+ */
+public abstract class StartPointingAction implements PlatformAction<DroneState, DroneEvent> {
+}

src/main/java/com/tuoheng/status/machine/action/drone/StartPrepareAction.java

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+package com.tuoheng.status.machine.action.drone;
+
+import com.tuoheng.status.machine.events.DroneEvent;
+import com.tuoheng.status.machine.platform.strategy.PlatformAction;
+import com.tuoheng.status.machine.status.DroneState;
+
+/**
+ * Base action for drone start prepare handling; platform implementations extend this.
+ */
+public abstract class StartPrepareAction implements PlatformAction<DroneState, DroneEvent> {
+}

src/main/java/com/tuoheng/status/machine/action/drone/StartReturnAction.java

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+package com.tuoheng.status.machine.action.drone;
+
+import com.tuoheng.status.machine.events.DroneEvent;
+import com.tuoheng.status.machine.platform.strategy.PlatformAction;
+import com.tuoheng.status.machine.status.DroneState;
+
+/**
+ * Base action for drone start return handling; platform implementations extend this.
+ */
+public abstract class StartReturnAction implements PlatformAction<DroneState, DroneEvent> {
+}

src/main/java/com/tuoheng/status/machine/config/DroneMachineConfig.java

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+package com.tuoheng.status.machine.config;
+
+import com.tuoheng.status.machine.events.DroneEvent;
+import com.tuoheng.status.machine.platform.factory.PlatformStrategyFactory;
+import com.tuoheng.status.machine.platform.strategy.DronePlatformStrategy;
+import com.tuoheng.status.machine.status.DroneState;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.context.annotation.Bean;
+import org.springframework.context.annotation.Configuration;
+import org.springframework.statemachine.StateMachine;
+import org.springframework.statemachine.config.StateMachineBuilder;
+import org.springframework.statemachine.config.StateMachineFactory;
+
+import java.util.EnumSet;
+import java.util.UUID;
+
+/**
+ * 无人机状态机配置（多平台支持版本）
+ * 通过PlatformStrategyFactory动态获取平台特定的Guard、Action和Listener
+ */
+@Configuration
+public class DroneMachineConfig {
+
+    @Autowired
+    private PlatformStrategyFactory platformStrategyFactory;
+
+    @Bean(name = "droneStateMachineFactory")
+    public StateMachineFactory<DroneState, DroneEvent> droneStateMachineFactory() throws Exception {
+        return new StateMachineFactory<DroneState, DroneEvent>() {
+            @Override
+            public StateMachine<DroneState, DroneEvent> getStateMachine() {
+                return null;
+            }
+
+            @Override
+            public StateMachine<DroneState, DroneEvent> getStateMachine(String machineId) {
+                try {
+                    // 根据无人机SN获取平台策略
+                    DronePlatformStrategy strategy = platformStrategyFactory.getDroneStrategy(machineId);
+
+                    StateMachineBuilder.Builder<DroneState, DroneEvent> builder = StateMachineBuilder.builder();
+                    configureStateMachine(builder, strategy);
+                    configureStates(builder);
+                    configureTransitions(builder, strategy);
+
+                    StateMachine<DroneState, DroneEvent> stateMachine = builder.build();
+                    stateMachine.getExtendedState().getVariables().put("machineId", machineId);
+                    return stateMachine;
+                } catch (Exception e) {
+                    throw new RuntimeException("Failed to create drone state machine for: " + machineId, e);
+                }
+            }
+
+            @Override
+            public StateMachine<DroneState, DroneEvent> getStateMachine(UUID uuid) {
+                return null;
+            }
+        };
+    }
+
+    private void configureStateMachine(
+            StateMachineBuilder.Builder<DroneState, DroneEvent> builder,
+            DronePlatformStrategy strategy) throws Exception {
+        builder.configureConfiguration()
+                .withConfiguration()
+                .autoStartup(true)
+                .listener(strategy.getListener());
+    }
+
+    private void configureStates(StateMachineBuilder.Builder<DroneState, DroneEvent> builder) throws Exception {
+        builder.configureStates()
+                .withStates()
+                .initial(DroneState.UNKNOWN)
+                .states(EnumSet.of(
+                        DroneState.UNKNOWN,
+                        DroneState.OFFLINE,
+                        DroneState.PREPARING,
+                        DroneState.FLYING_PARENT,
+                        DroneState.RETURNING_PARENT,
+                        DroneState.POINTING_PARENT
+                ))
+                // 飞行阶段子状态
+                .and()
+                .withStates()
+                .parent(DroneState.FLYING_PARENT)
+                .initial(DroneState.FLYING)
+                .states(EnumSet.of(
+                        DroneState.FLYING,
+                        DroneState.EMERGENCY_STOP,
+                        DroneState.ARRIVED
+                ))
+                // 返航阶段子状态
+                .and()
+                .withStates()
+                .parent(DroneState.RETURNING_PARENT)
+                .initial(DroneState.RETURNING)
+                .states(EnumSet.of(
+                        DroneState.RETURNING,
+                        DroneState.RETURN_EMERGENCY_STOP,
+                        DroneState.RETURN_COMPLETED
+                ))
+                // 指点操作子状态
+                .and()
+                .withStates()
+                .parent(DroneState.POINTING_PARENT)
+                .initial(DroneState.POINT_PREPARING)
+                .states(EnumSet.of(
+                        DroneState.POINT_PREPARING,
+                        DroneState.POINT_FLYING,
+                        DroneState.POINT_COMPLETED,
+                        DroneState.POINT_CANCELLED
+                ));
+    }
+
+    private void configureTransitions(
+            StateMachineBuilder.Builder<DroneState, DroneEvent> builder,
+            DronePlatformStrategy strategy) throws Exception {
+        builder.configureTransitions()
+                // ========== 从 UNKNOWN 到所有状态的转换（服务器重启后状态同步） ==========
+                // UNKNOWN -> OFFLINE
+                .withExternal()
+                .source(DroneState.UNKNOWN)
+                .target(DroneState.OFFLINE)
+                .event(DroneEvent.DRONE_OFFLINE)
+                .and()
+
+                // UNKNOWN -> PREPARING
+                .withExternal()
+                .source(DroneState.UNKNOWN)
+                .target(DroneState.PREPARING)
+                .event(DroneEvent.START_PREPARE)
+                .and()
+
+                // UNKNOWN -> FLYING_PARENT
+                .withExternal()
+                .source(DroneState.UNKNOWN)
+                .target(DroneState.FLYING_PARENT)
+                .event(DroneEvent.START_FLYING)
+                .and()
+
+                // UNKNOWN -> RETURNING_PARENT
+                .withExternal()
+                .source(DroneState.UNKNOWN)
+                .target(DroneState.RETURNING_PARENT)
+                .event(DroneEvent.START_RETURN)
+                .and()
+
+                // ========== 基本状态转换 ==========
+                // OFFLINE -> PREPARING
+                .withExternal()
+                .source(DroneState.OFFLINE)
+                .target(DroneState.PREPARING)
+                .event(DroneEvent.START_PREPARE)
+                .action(strategy.getStartPrepareAction())
+                .and()
+
+                // PREPARING -> FLYING_PARENT
+                .withExternal()
+                .source(DroneState.PREPARING)
+                .target(DroneState.FLYING_PARENT)
+                .event(DroneEvent.PREPARE_COMPLETED)
+                .action(strategy.getPrepareCompletedAction())
+                .and()
+
+                // ========== 飞行阶段内部转换 ==========
+                // FLYING -> EMERGENCY_STOP
+                .withExternal()
+                .source(DroneState.FLYING)
+                .target(DroneState.EMERGENCY_STOP)
+                .event(DroneEvent.EMERGENCY_STOP)
+                .action(strategy.getEmergencyStopAction())
+                .and()
+
+                // EMERGENCY_STOP -> FLYING (恢复飞行)
+                .withExternal()
+                .source(DroneState.EMERGENCY_STOP)
+                .target(DroneState.FLYING)
+                .event(DroneEvent.RESUME_FLYING)
+                .action(strategy.getResumeFlyingAction())
+                .and()
+
+                // FLYING -> ARRIVED
+                .withExternal()
+                .source(DroneState.FLYING)
+                .target(DroneState.ARRIVED)
+                .event(DroneEvent.ARRIVE)
+                .action(strategy.getArriveAction())
+                .and()
+
+                // 注意：EMERGENCY_STOP 不能直接到 ARRIVED（根据注释限制）
+
+                // ========== 飞行阶段 -> 指点操作 ==========
+                // FLYING -> POINTING_PARENT
+                .withExternal()
+                .source(DroneState.FLYING)
+                .target(DroneState.POINTING_PARENT)
+                .event(DroneEvent.START_POINTING)
+                .action(strategy.getStartPointingAction())
+                .guard(strategy.getCanPointGuard())
+                .and()
+
+                // EMERGENCY_STOP -> POINTING_PARENT
+                .withExternal()
+                .source(DroneState.EMERGENCY_STOP)
+                .target(DroneState.POINTING_PARENT)
+                .event(DroneEvent.START_POINTING)
+                .action(strategy.getStartPointingAction())
+                .guard(strategy.getCanPointGuard())
+                .and()
+
+                // ARRIVED -> POINTING_PARENT
+                .withExternal()
+                .source(DroneState.ARRIVED)
+                .target(DroneState.POINTING_PARENT)
+                .event(DroneEvent.START_POINTING)
+                .action(strategy.getStartPointingAction())
+                .guard(strategy.getCanPointGuard())
+                .and()
+
+                // ========== 飞行阶段 -> 返航 ==========
+                // FLYING -> RETURNING_PARENT
+                .withExternal()
+                .source(DroneState.FLYING)
+                .target(DroneState.RETURNING_PARENT)
+                .event(DroneEvent.START_RETURN)
+                .action(strategy.getStartReturnAction())
+                .and()
+
+                // EMERGENCY_STOP -> RETURNING_PARENT
+                .withExternal()
+                .source(DroneState.EMERGENCY_STOP)
+                .target(DroneState.RETURNING_PARENT)
+                .event(DroneEvent.START_RETURN)
+                .action(strategy.getStartReturnAction())
+                .and()
+
+                // ARRIVED -> RETURNING_PARENT
+                .withExternal()
+                .source(DroneState.ARRIVED)
+                .target(DroneState.RETURNING_PARENT)
+                .event(DroneEvent.START_RETURN)
+                .action(strategy.getStartReturnAction())
+                .and()
+
+                // ========== 返航阶段内部转换 ==========
+                // RETURNING -> RETURN_EMERGENCY_STOP
+                .withExternal()
+                .source(DroneState.RETURNING)
+                .target(DroneState.RETURN_EMERGENCY_STOP)
+                .event(DroneEvent.RETURN_EMERGENCY_STOP)
+                .action(strategy.getReturnEmergencyStopAction())
+                .and()
+
+                // RETURN_EMERGENCY_STOP -> RETURNING (恢复返航)
+                .withExternal()
+                .source(DroneState.RETURN_EMERGENCY_STOP)
+                .target(DroneState.RETURNING)
+                .event(DroneEvent.RESUME_RETURN)
+                .action(strategy.getResumeReturnAction())
+                .and()
+
+                // RETURNING -> RETURN_COMPLETED
+                .withExternal()
+                .source(DroneState.RETURNING)
+                .target(DroneState.RETURN_COMPLETED)
+                .event(DroneEvent.RETURN_COMPLETED)
+                .action(strategy.getReturnCompletedAction())
+                .and()
+
+                // 注意：返航中不能指点（根据注释限制）
+                // 注意：RETURN_COMPLETED 不能回退到 RETURNING 或 RETURN_EMERGENCY_STOP（根据注释限制）
+
+                // ========== 返航急停 -> 指点操作 ==========
+                // RETURN_EMERGENCY_STOP -> POINTING_PARENT (一键起飞和航线飞行都可以指点)
+                .withExternal()
+                .source(DroneState.RETURN_EMERGENCY_STOP)
+                .target(DroneState.POINTING_PARENT)
+                .event(DroneEvent.START_POINTING)
+                .action(strategy.getStartPointingAction())
+                .guard(strategy.getCanPointGuard())
+                .and()
+
+                // ========== 指点操作内部转换 ==========
+                // POINT_PREPARING -> POINT_FLYING
+                .withExternal()
+                .source(DroneState.POINT_PREPARING)
+                .target(DroneState.POINT_FLYING)
+                .event(DroneEvent.POINT_PREPARE_COMPLETED)
+                .action(strategy.getPointPrepareCompletedAction())
+                .and()
+
+                // POINT_FLYING -> POINT_COMPLETED
+                .withExternal()
+                .source(DroneState.POINT_FLYING)
+                .target(DroneState.POINT_COMPLETED)
+                .event(DroneEvent.POINT_FLYING_COMPLETED)
+                .action(strategy.getPointFlyingCompletedAction())
+                .and()
+
+                // 任何指点阶段 -> POINT_CANCELLED
+                .withExternal()
+                .source(DroneState.POINT_PREPARING)
+                .target(DroneState.POINT_CANCELLED)
+                .event(DroneEvent.CANCEL_POINT)
+                .action(strategy.getCancelPointAction())
+                .and()
+
+                .withExternal()
+                .source(DroneState.POINT_FLYING)
+                .target(DroneState.POINT_CANCELLED)
+                .event(DroneEvent.CANCEL_POINT)
+                .action(strategy.getCancelPointAction())
+                .and()
+
+                .withExternal()
+                .source(DroneState.POINT_COMPLETED)
+                .target(DroneState.POINT_CANCELLED)
+                .event(DroneEvent.CANCEL_POINT)
+                .action(strategy.getCancelPointAction())
+                .and()
+
+                // ========== 指点操作 -> 飞行/返航 ==========
+                // POINT_COMPLETED -> FLYING
+                .withExternal()
+                .source(DroneState.POINT_COMPLETED)
+                .target(DroneState.FLYING)
+                .event(DroneEvent.POINT_TO_FLYING)
+                .action(strategy.getPointToFlyingAction())
+                .and()
+
+                // POINT_CANCELLED -> FLYING
+                .withExternal()
+                .source(DroneState.POINT_CANCELLED)
+                .target(DroneState.FLYING)
+                .event(DroneEvent.POINT_TO_FLYING)
+                .action(strategy.getPointToFlyingAction())
+                .and()
+
+                // POINT_COMPLETED -> RETURNING_PARENT
+                .withExternal()
+                .source(DroneState.POINT_COMPLETED)
+                .target(DroneState.RETURNING_PARENT)
+                .event(DroneEvent.POINT_TO_RETURN)
+                .action(strategy.getPointToReturnAction())
+                .and()
+
+                // POINT_CANCELLED -> RETURNING_PARENT
+                .withExternal()
+                .source(DroneState.POINT_CANCELLED)
+                .target(DroneState.RETURNING_PARENT)
+                .event(DroneEvent.POINT_TO_RETURN)
+                .action(strategy.getPointToReturnAction())
+                .and()
+
+                // POINT_COMPLETED -> RETURN_EMERGENCY_STOP
+                .withExternal()
+                .source(DroneState.POINT_COMPLETED)
+                .target(DroneState.RETURN_EMERGENCY_STOP)
+                .event(DroneEvent.RETURN_EMERGENCY_STOP)
+                .action(strategy.getReturnEmergencyStopAction())
+                .and()
+
+                // POINT_COMPLETED -> RETURN_COMPLETED
+                .withExternal()
+                .source(DroneState.POINT_COMPLETED)
+                .target(DroneState.RETURN_COMPLETED)
+                .event(DroneEvent.RETURN_COMPLETED)
+                .action(strategy.getReturnCompletedAction())
+                .and()
+
+                // ========== 离线处理 ==========
+                // 任何状态 -> OFFLINE
+                .withExternal()
+                .source(DroneState.FLYING_PARENT)
+                .target(DroneState.OFFLINE)
+                .event(DroneEvent.DRONE_OFFLINE)
+                .action(strategy.getOfflineAction())
+                .and()
+
+                .withExternal()
+                .source(DroneState.RETURNING_PARENT)
+                .target(DroneState.OFFLINE)
+                .event(DroneEvent.DRONE_OFFLINE)
+                .action(strategy.getOfflineAction())
+                .and()
+
+                .withExternal()
+                .source(DroneState.POINTING_PARENT)
+                .target(DroneState.OFFLINE)
+                .event(DroneEvent.DRONE_OFFLINE)
+                .action(strategy.getOfflineAction());
+    }
+}

src/main/java/com/tuoheng/status/machine/events/DroneEvent.java

@@ -0,0 +1,121 @@
+package com.tuoheng.status.machine.events;
+
+/**
+ * 无人机事件枚举
+ * 定义无人机状态机中的所有事件
+ */
+public enum DroneEvent {
+
+    // ==================== 无人机基本事件 ====================
+    /**
+     * 无人机上线事件
+     * 触发源: OSD心跳
+     */
+    DRONE_ONLINE,
+
+    /**
+     * 无人机离线事件
+     * 触发源: OSD心跳
+     */
+    DRONE_OFFLINE,
+
+    // ==================== 准备阶段事件 ====================
+    /**
+     * 开始准备
+     * 触发源: 用户指令
+     */
+    START_PREPARE,
+
+    /**
+     * 准备完成
+     * 触发源: Events事件
+     */
+    PREPARE_COMPLETED,
+
+    // ==================== 飞行阶段事件 ====================
+    /**
+     * 开始飞行
+     * 触发源: 用户指令
+     */
+    START_FLYING,
+
+    /**
+     * 急停（飞行阶段）
+     * 触发源: 用户指令/自动
+     */
+    EMERGENCY_STOP,
+
+    /**
+     * 恢复飞行（从急停恢复）
+     * 触发源: 用户指令
+     */
+    RESUME_FLYING,
+
+    /**
+     * 到达目的地
+     * 触发源: Events事件
+     */
+    ARRIVE,
+
+    // ==================== 返航阶段事件 ====================
+    /**
+     * 开始返航
+     * 触发源: 用户指令/自动
+     */
+    START_RETURN,
+
+    /**
+     * 急停（返航阶段）
+     * 触发源: 用户指令/自动
+     */
+    RETURN_EMERGENCY_STOP,
+
+    /**
+     * 恢复返航（从返航急停恢复）
+     * 触发源: 用户指令
+     */
+    RESUME_RETURN,
+
+    /**
+     * 返航完成
+     * 触发源: Events事件
+     */
+    RETURN_COMPLETED,
+
+    // ==================== 指点操作事件 ====================
+    /**
+     * 开始指点操作
+     * 触发源: 用户指令
+     */
+    START_POINTING,
+
+    /**
+     * 指点准备完成
+     * 触发源: Events事件
+     */
+    POINT_PREPARE_COMPLETED,
+
+    /**
+     * 指点飞行完成
+     * 触发源: Events事件
+     */
+    POINT_FLYING_COMPLETED,
+
+    /**
+     * 取消指点
+     * 触发源: 用户指令
+     */
+    CANCEL_POINT,
+
+    /**
+     * 指点完成后返回飞行
+     * 触发源: 自动/用户指令
+     */
+    POINT_TO_FLYING,
+
+    /**
+     * 指点完成后返航
+     * 触发源: 用户指令
+     */
+    POINT_TO_RETURN
+}

src/main/java/com/tuoheng/status/machine/guard/drone/CanPointGuard.java

@@ -0,0 +1,13 @@
+package com.tuoheng.status.machine.guard.drone;
+
+import com.tuoheng.status.machine.events.DroneEvent;
+import com.tuoheng.status.machine.platform.strategy.PlatformGuard;
+import com.tuoheng.status.machine.status.DroneState;
+
+/**
+ * Base guard for checking if drone can start pointing operation; platform implementations extend this.
+ * 检查无人机是否可以进行指点操作
+ * 注意：返航中不可以指点
+ */
+public abstract class CanPointGuard implements PlatformGuard<DroneState, DroneEvent> {
+}

src/main/java/com/tuoheng/status/machine/listener/DefaultDroneListener.java

@@ -0,0 +1,90 @@
+package com.tuoheng.status.machine.listener;
+
+import com.tuoheng.status.machine.events.DroneEvent;
+import com.tuoheng.status.machine.platform.strategy.PlatformListener;
+import com.tuoheng.status.machine.status.DroneState;
+import org.springframework.messaging.Message;
+import org.springframework.statemachine.StateContext;
+import org.springframework.statemachine.StateMachine;
+import org.springframework.statemachine.state.State;
+import org.springframework.statemachine.transition.Transition;
+
+/**
+ * 默认无人机状态监听器
+ * 提供基础的状态变化监听功能，各平台可以继承并定制
+ */
+public abstract class DefaultDroneListener implements PlatformListener<DroneState, DroneEvent> {
+
+    @Override
+    public void stateChanged(State<DroneState, DroneEvent> from, State<DroneState, DroneEvent> to) {
+        if (from != null && to != null) {
+            System.out.println(String.format("[%s] 状态变化: %s -> %s",
+                getName(), from.getId(), to.getId()));
+        }
+    }
+
+    @Override
+    public void stateEntered(State<DroneState, DroneEvent> state) {
+        System.out.println(String.format("[%s] 进入状态: %s", getName(), state.getId()));
+    }
+
+    @Override
+    public void stateExited(State<DroneState, DroneEvent> state) {
+        System.out.println(String.format("[%s] 退出状态: %s", getName(), state.getId()));
+    }
+
+    @Override
+    public void eventNotAccepted(Message<DroneEvent> event) {
+        System.out.println(String.format("[%s] 事件未被接受: %s", getName(), event.getPayload()));
+    }
+
+    @Override
+    public void transition(Transition<DroneState, DroneEvent> transition) {
+        // 默认不处理
+    }
+
+    @Override
+    public void transitionStarted(Transition<DroneState, DroneEvent> transition) {
+        if (transition.getSource() != null && transition.getTarget() != null) {
+            System.out.println(String.format("[%s] 转换开始: %s -> %s",
+                getName(), transition.getSource().getId(), transition.getTarget().getId()));
+        }
+    }
+
+    @Override
+    public void transitionEnded(Transition<DroneState, DroneEvent> transition) {
+        if (transition.getSource() != null && transition.getTarget() != null) {
+            System.out.println(String.format("[%s] 转换结束: %s -> %s",
+                getName(), transition.getSource().getId(), transition.getTarget().getId()));
+        }
+    }
+
+    @Override
+    public void stateMachineStarted(StateMachine<DroneState, DroneEvent> stateMachine) {
+        String machineId = (String) stateMachine.getExtendedState().getVariables().get("machineId");
+        System.out.println(String.format("[%s] 状态机启动: %s", getName(), machineId));
+    }
+
+    @Override
+    public void stateMachineStopped(StateMachine<DroneState, DroneEvent> stateMachine) {
+        String machineId = (String) stateMachine.getExtendedState().getVariables().get("machineId");
+        System.out.println(String.format("[%s] 状态机停止: %s", getName(), machineId));
+    }
+
+    @Override
+    public void stateMachineError(StateMachine<DroneState, DroneEvent> stateMachine, Exception exception) {
+        String machineId = (String) stateMachine.getExtendedState().getVariables().get("machineId");
+        System.err.println(String.format("[%s] 状态机错误: %s, 异常: %s",
+            getName(), machineId, exception.getMessage()));
+    }
+
+    @Override
+    public void extendedStateChanged(Object key, Object value) {
+        System.out.println(String.format("[%s] 扩展状态变化: %s = %s", getName(), key, value));
+    }
+
+    @Override
+    public void stateContext(StateContext<DroneState, DroneEvent> stateContext) {
+        // 默认不处理
+    }
+}

src/main/java/com/tuoheng/status/machine/platform/factory/PlatformStrategyFactory.java

@@ -5,6 +5,7 @@ import com.tuoheng.status.machine.platform.PlatformType;
 import com.tuoheng.status.machine.repository.AirportPlatformRepository;
 import com.tuoheng.status.machine.platform.strategy.AirportPlatformStrategy;
 import com.tuoheng.status.machine.platform.strategy.CoverPlatformStrategy;
+import com.tuoheng.status.machine.platform.strategy.DronePlatformStrategy;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.stereotype.Component;
 
@@ -14,7 +15,7 @@ import java.util.concurrent.ConcurrentHashMap;
 
 /**
  * 平台策略工厂
- * 根据机巢SN从数据库查询平台类型，返回对应的平台策略
+ * 根据机巢/无人机SN从数据库查询平台类型，返回对应的平台策略
  */
 @Component
 public class PlatformStrategyFactory {
@@ -36,6 +37,13 @@ public class PlatformStrategyFactory {
      */
     private final Map<PlatformType, CoverPlatformStrategy> coverStrategyMap = new ConcurrentHashMap<>();
 
+    /**
+     * 存储所有无人机平台策略实现
+     * Key: PlatformType
+     * Value: DronePlatformStrategy实现
+     */
+    private final Map<PlatformType, DronePlatformStrategy> droneStrategyMap = new ConcurrentHashMap<>();
+
     /**
      * 存储各平台对应的系统管理器实现
      * Key: PlatformType
@@ -45,12 +53,13 @@ public class PlatformStrategyFactory {
 
     /**
      * 注册所有平台策略
-     * Spring会自动注入所有实现了AirportPlatformStrategy和CoverPlatformStrategy的Bean
+     * Spring会自动注入所有实现了AirportPlatformStrategy、CoverPlatformStrategy和DronePlatformStrategy的Bean
      */
     @Autowired
     public void registerStrategies(
             List<AirportPlatformStrategy> airportStrategies,
             List<CoverPlatformStrategy> coverStrategies,
+            List<DronePlatformStrategy> droneStrategies,
             List<AirportSystemManager> systemManagers) {
 
         // 注册机巢策略
@@ -67,6 +76,13 @@ public class PlatformStrategyFactory {
                 strategy.getPlatformType().getName(), strategy.getClass().getSimpleName()));
         }
 
+        // 注册无人机策略
+        for (DronePlatformStrategy strategy : droneStrategies) {
+            droneStrategyMap.put(strategy.getPlatformType(), strategy);
+            System.out.println(String.format("注册无人机平台策略: %s -> %s",
+                strategy.getPlatformType().getName(), strategy.getClass().getSimpleName()));
+        }
+
         // 注册系统管理器
         for (AirportSystemManager manager : systemManagers) {
             managerMap.put(manager.getPlatformType(), manager);
@@ -171,6 +187,42 @@ public class PlatformStrategyFactory {
         return coverStrategyMap.get(platformType);
     }
 
+    /**
+     * 根据无人机SN获取无人机平台策略
+     *
+     * @param droneSn 无人机序列号
+     * @return 无人机平台策略
+     * @throws IllegalArgumentException 如果无人机未注册或平台策略不存在
+     */
+    public DronePlatformStrategy getDroneStrategy(String droneSn) {
+        // 从数据库查询平台类型
+        PlatformType platformType = airportPlatformRepository.getPlatformType(droneSn);
+
+        if (platformType == null) {
+            throw new IllegalArgumentException(
+                String.format("无人机未注册或平台类型未配置: %s", droneSn));
+        }
+
+        DronePlatformStrategy strategy = droneStrategyMap.get(platformType);
+
+        if (strategy == null) {
+            throw new IllegalArgumentException(
+                String.format("未找到平台策略: %s (无人机: %s)", platformType.getName(), droneSn));
+        }
+
+        return strategy;
+    }
+
+    /**
+     * 根据平台类型获取无人机平台策略
+     *
+     * @param platformType 平台类型
+     * @return 无人机平台策略
+     */
+    public DronePlatformStrategy getDroneStrategyByType(PlatformType platformType) {
+        return droneStrategyMap.get(platformType);
+    }
+
     /**
      * 获取机巢的平台类型
      *

src/main/java/com/tuoheng/status/machine/platform/impl/dji/DjiDronePlatformStrategy.java

@@ -0,0 +1,178 @@
+package com.tuoheng.status.machine.platform.impl.dji;
+
+import com.tuoheng.status.machine.events.DroneEvent;
+import com.tuoheng.status.machine.platform.PlatformType;
+import com.tuoheng.status.machine.platform.impl.dji.action.drone.*;
+import com.tuoheng.status.machine.platform.impl.dji.guard.drone.*;
+import com.tuoheng.status.machine.platform.impl.dji.listener.DjiDroneListener;
+import com.tuoheng.status.machine.platform.strategy.DronePlatformStrategy;
+import com.tuoheng.status.machine.platform.strategy.PlatformAction;
+import com.tuoheng.status.machine.platform.strategy.PlatformGuard;
+import com.tuoheng.status.machine.platform.strategy.PlatformListener;
+import com.tuoheng.status.machine.status.DroneState;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.stereotype.Component;
+
+/**
+ * DJI平台无人机策略实现
+ */
+@Component
+public class DjiDronePlatformStrategy implements DronePlatformStrategy {
+
+    @Autowired
+    private DjiCanPointGuard canPointGuard;
+
+    @Autowired
+    private DjiStartPrepareAction startPrepareAction;
+
+    @Autowired
+    private DjiPrepareCompletedAction prepareCompletedAction;
+
+    @Autowired
+    private DjiStartFlyingAction startFlyingAction;
+
+    @Autowired
+    private DjiEmergencyStopAction emergencyStopAction;
+
+    @Autowired
+    private DjiResumeFlyingAction resumeFlyingAction;
+
+    @Autowired
+    private DjiArriveAction arriveAction;
+
+    @Autowired
+    private DjiStartReturnAction startReturnAction;
+
+    @Autowired
+    private DjiReturnEmergencyStopAction returnEmergencyStopAction;
+
+    @Autowired
+    private DjiResumeReturnAction resumeReturnAction;
+
+    @Autowired
+    private DjiReturnCompletedAction returnCompletedAction;
+
+    @Autowired
+    private DjiStartPointingAction startPointingAction;
+
+    @Autowired
+    private DjiPointPrepareCompletedAction pointPrepareCompletedAction;
+
+    @Autowired
+    private DjiPointFlyingCompletedAction pointFlyingCompletedAction;
+
+    @Autowired
+    private DjiCancelPointAction cancelPointAction;
+
+    @Autowired
+    private DjiPointToFlyingAction pointToFlyingAction;
+
+    @Autowired
+    private DjiPointToReturnAction pointToReturnAction;
+
+    @Autowired
+    private DjiDroneOfflineAction offlineAction;
+
+    @Autowired
+    private DjiDroneListener djiDroneListener;
+
+    @Override
+    public PlatformType getPlatformType() {
+        return PlatformType.DJI;
+    }
+
+    @Override
+    public PlatformGuard<DroneState, DroneEvent> getCanPointGuard() {
+        return canPointGuard;
+    }
+
+    @Override
+    public PlatformAction<DroneState, DroneEvent> getStartPrepareAction() {
+        return startPrepareAction;
+    }
+
+    @Override
+    public PlatformAction<DroneState, DroneEvent> getPrepareCompletedAction() {
+        return prepareCompletedAction;
+    }
+
+    @Override
+    public PlatformAction<DroneState, DroneEvent> getStartFlyingAction() {
+        return startFlyingAction;
+    }
+
+    @Override
+    public PlatformAction<DroneState, DroneEvent> getEmergencyStopAction() {
+        return emergencyStopAction;
+    }
+
+    @Override
+    public PlatformAction<DroneState, DroneEvent> getResumeFlyingAction() {
+        return resumeFlyingAction;
+    }
+
+    @Override
+    public PlatformAction<DroneState, DroneEvent> getArriveAction() {
+        return arriveAction;
+    }
+
+    @Override
+    public PlatformAction<DroneState, DroneEvent> getStartReturnAction() {
+        return startReturnAction;
+    }
+
+    @Override
+    public PlatformAction<DroneState, DroneEvent> getReturnEmergencyStopAction() {
+        return returnEmergencyStopAction;
+    }
+
+    @Override
+    public PlatformAction<DroneState, DroneEvent> getResumeReturnAction() {
+        return resumeReturnAction;
+    }
+
+    @Override
+    public PlatformAction<DroneState, DroneEvent> getReturnCompletedAction() {
+        return returnCompletedAction;
+    }
+
+    @Override
+    public PlatformAction<DroneState, DroneEvent> getStartPointingAction() {
+        return startPointingAction;
+    }
+
+    @Override
+    public PlatformAction<DroneState, DroneEvent> getPointPrepareCompletedAction() {
+        return pointPrepareCompletedAction;
+    }
+
+    @Override
+    public PlatformAction<DroneState, DroneEvent> getPointFlyingCompletedAction() {
+        return pointFlyingCompletedAction;
+    }
+
+    @Override
+    public PlatformAction<DroneState, DroneEvent> getCancelPointAction() {
+        return cancelPointAction;
+    }
+
+    @Override
+    public PlatformAction<DroneState, DroneEvent> getPointToFlyingAction() {
+        return pointToFlyingAction;
+    }
+
+    @Override
+    public PlatformAction<DroneState, DroneEvent> getPointToReturnAction() {
+        return pointToReturnAction;
+    }
+
+    @Override
+    public PlatformAction<DroneState, DroneEvent> getOfflineAction() {
+        return offlineAction;
+    }
+
+    @Override
+    public PlatformListener<DroneState, DroneEvent> getListener() {
+        return djiDroneListener;
+    }
+}

src/main/java/com/tuoheng/status/machine/platform/impl/dji/action/drone/DjiArriveAction.java

@@ -0,0 +1,22 @@
+package com.tuoheng.status.machine.platform.impl.dji.action.drone;
+
+import com.tuoheng.status.machine.action.drone.ArriveAction;
+import com.tuoheng.status.machine.events.DroneEvent;
+import com.tuoheng.status.machine.status.DroneState;
+import org.springframework.statemachine.StateContext;
+import org.springframework.stereotype.Component;
+
+@Component
+public class DjiArriveAction extends ArriveAction {
+
+    @Override
+    public String getName() {
+        return "DjiArriveAction";
+    }
+
+    @Override
+    public void execute(StateContext<DroneState, DroneEvent> context) {
+        String machineId = (String) context.getExtendedState().getVariables().get("machineId");
+        System.out.println(String.format("[DJI] 无人机到达目的地: %s", machineId));
+    }
+}

src/main/java/com/tuoheng/status/machine/platform/impl/dji/action/drone/DjiCancelPointAction.java

@@ -0,0 +1,22 @@
+package com.tuoheng.status.machine.platform.impl.dji.action.drone;
+
+import com.tuoheng.status.machine.action.drone.CancelPointAction;
+import com.tuoheng.status.machine.events.DroneEvent;
+import com.tuoheng.status.machine.status.DroneState;
+import org.springframework.statemachine.StateContext;
+import org.springframework.stereotype.Component;
+
+@Component
+public class DjiCancelPointAction extends CancelPointAction {
+
+    @Override
+    public String getName() {
+        return "DjiCancelPointAction";
+    }
+
+    @Override
+    public void execute(StateContext<DroneState, DroneEvent> context) {
+        String machineId = (String) context.getExtendedState().getVariables().get("machineId");
+        System.out.println(String.format("[DJI] 无人机取消指点: %s", machineId));
+    }
+}

src/main/java/com/tuoheng/status/machine/platform/impl/dji/action/drone/DjiDroneOfflineAction.java

@@ -0,0 +1,22 @@
+package com.tuoheng.status.machine.platform.impl.dji.action.drone;
+
+import com.tuoheng.status.machine.action.drone.OfflineAction;
+import com.tuoheng.status.machine.events.DroneEvent;
+import com.tuoheng.status.machine.status.DroneState;
+import org.springframework.statemachine.StateContext;
+import org.springframework.stereotype.Component;
+
+@Component
+public class DjiDroneOfflineAction extends OfflineAction {
+
+    @Override
+    public String getName() {
+        return "DjiDroneOfflineAction";
+    }
+
+    @Override
+    public void execute(StateContext<DroneState, DroneEvent> context) {
+        String machineId = (String) context.getExtendedState().getVariables().get("machineId");
+        System.out.println(String.format("[DJI] 无人机离线: %s", machineId));
+    }
+}

src/main/java/com/tuoheng/status/machine/platform/impl/dji/action/drone/DjiEmergencyStopAction.java

@@ -0,0 +1,22 @@
+package com.tuoheng.status.machine.platform.impl.dji.action.drone;
+
+import com.tuoheng.status.machine.action.drone.EmergencyStopAction;
+import com.tuoheng.status.machine.events.DroneEvent;
+import com.tuoheng.status.machine.status.DroneState;
+import org.springframework.statemachine.StateContext;
+import org.springframework.stereotype.Component;
+
+@Component
+public class DjiEmergencyStopAction extends EmergencyStopAction {
+
+    @Override
+    public String getName() {
+        return "DjiEmergencyStopAction";
+    }
+
+    @Override
+    public void execute(StateContext<DroneState, DroneEvent> context) {
+        String machineId = (String) context.getExtendedState().getVariables().get("machineId");
+        System.out.println(String.format("[DJI] 无人机急停: %s", machineId));
+    }
+}

src/main/java/com/tuoheng/status/machine/platform/impl/dji/action/drone/DjiPointFlyingCompletedAction.java

@@ -0,0 +1,22 @@
+package com.tuoheng.status.machine.platform.impl.dji.action.drone;
+
+import com.tuoheng.status.machine.action.drone.PointFlyingCompletedAction;
+import com.tuoheng.status.machine.events.DroneEvent;
+import com.tuoheng.status.machine.status.DroneState;
+import org.springframework.statemachine.StateContext;
+import org.springframework.stereotype.Component;
+
+@Component
+public class DjiPointFlyingCompletedAction extends PointFlyingCompletedAction {
+
+    @Override
+    public String getName() {
+        return "DjiPointFlyingCompletedAction";
+    }
+
+    @Override
+    public void execute(StateContext<DroneState, DroneEvent> context) {
+        String machineId = (String) context.getExtendedState().getVariables().get("machineId");
+        System.out.println(String.format("[DJI] 无人机指点飞行完成: %s", machineId));
+    }
+}

src/main/java/com/tuoheng/status/machine/platform/impl/dji/action/drone/DjiPointPrepareCompletedAction.java

@@ -0,0 +1,22 @@
+package com.tuoheng.status.machine.platform.impl.dji.action.drone;
+
+import com.tuoheng.status.machine.action.drone.PointPrepareCompletedAction;
+import com.tuoheng.status.machine.events.DroneEvent;
+import com.tuoheng.status.machine.status.DroneState;
+import org.springframework.statemachine.StateContext;
+import org.springframework.stereotype.Component;
+
+@Component
+public class DjiPointPrepareCompletedAction extends PointPrepareCompletedAction {
+
+    @Override
+    public String getName() {
+        return "DjiPointPrepareCompletedAction";
+    }
+
+    @Override
+    public void execute(StateContext<DroneState, DroneEvent> context) {
+        String machineId = (String) context.getExtendedState().getVariables().get("machineId");
+        System.out.println(String.format("[DJI] 无人机指点准备完成: %s", machineId));
+    }
+}

src/main/java/com/tuoheng/status/machine/platform/impl/dji/action/drone/DjiPointToFlyingAction.java

@@ -0,0 +1,22 @@
+package com.tuoheng.status.machine.platform.impl.dji.action.drone;
+
+import com.tuoheng.status.machine.action.drone.PointToFlyingAction;
+import com.tuoheng.status.machine.events.DroneEvent;
+import com.tuoheng.status.machine.status.DroneState;
+import org.springframework.statemachine.StateContext;
+import org.springframework.stereotype.Component;
+
+@Component
+public class DjiPointToFlyingAction extends PointToFlyingAction {
+
+    @Override
+    public String getName() {
+        return "DjiPointToFlyingAction";
+    }
+
+    @Override
+    public void execute(StateContext<DroneState, DroneEvent> context) {
+        String machineId = (String) context.getExtendedState().getVariables().get("machineId");
+        System.out.println(String.format("[DJI] 无人机从指点返回飞行: %s", machineId));
+    }
+}

src/main/java/com/tuoheng/status/machine/platform/impl/dji/action/drone/DjiPointToReturnAction.java

@@ -0,0 +1,22 @@
+package com.tuoheng.status.machine.platform.impl.dji.action.drone;
+
+import com.tuoheng.status.machine.action.drone.PointToReturnAction;
+import com.tuoheng.status.machine.events.DroneEvent;
+import com.tuoheng.status.machine.status.DroneState;
+import org.springframework.statemachine.StateContext;
+import org.springframework.stereotype.Component;
+
+@Component
+public class DjiPointToReturnAction extends PointToReturnAction {
+
+    @Override
+    public String getName() {
+        return "DjiPointToReturnAction";
+    }
+
+    @Override
+    public void execute(StateContext<DroneState, DroneEvent> context) {
+        String machineId = (String) context.getExtendedState().getVariables().get("machineId");
+        System.out.println(String.format("[DJI] 无人机从指点开始返航: %s", machineId));
+    }
+}

src/main/java/com/tuoheng/status/machine/platform/impl/dji/action/drone/DjiPrepareCompletedAction.java

@@ -0,0 +1,22 @@
+package com.tuoheng.status.machine.platform.impl.dji.action.drone;
+
+import com.tuoheng.status.machine.action.drone.PrepareCompletedAction;
+import com.tuoheng.status.machine.events.DroneEvent;
+import com.tuoheng.status.machine.status.DroneState;
+import org.springframework.statemachine.StateContext;
+import org.springframework.stereotype.Component;
+
+@Component
+public class DjiPrepareCompletedAction extends PrepareCompletedAction {
+
+    @Override
+    public String getName() {
+        return "DjiPrepareCompletedAction";
+    }
+
+    @Override
+    public void execute(StateContext<DroneState, DroneEvent> context) {
+        String machineId = (String) context.getExtendedState().getVariables().get("machineId");
+        System.out.println(String.format("[DJI] 无人机准备完成: %s", machineId));
+    }
+}

src/main/java/com/tuoheng/status/machine/platform/impl/dji/action/drone/DjiResumeFlyingAction.java

@@ -0,0 +1,22 @@
+package com.tuoheng.status.machine.platform.impl.dji.action.drone;
+
+import com.tuoheng.status.machine.action.drone.ResumeFlyingAction;
+import com.tuoheng.status.machine.events.DroneEvent;
+import com.tuoheng.status.machine.status.DroneState;
+import org.springframework.statemachine.StateContext;
+import org.springframework.stereotype.Component;
+
+@Component
+public class DjiResumeFlyingAction extends ResumeFlyingAction {
+
+    @Override
+    public String getName() {
+        return "DjiResumeFlyingAction";
+    }
+
+    @Override
+    public void execute(StateContext<DroneState, DroneEvent> context) {
+        String machineId = (String) context.getExtendedState().getVariables().get("machineId");
+        System.out.println(String.format("[DJI] 无人机恢复飞行: %s", machineId));
+    }
+}

src/main/java/com/tuoheng/status/machine/platform/impl/dji/action/drone/DjiResumeReturnAction.java

@@ -0,0 +1,22 @@
+package com.tuoheng.status.machine.platform.impl.dji.action.drone;
+
+import com.tuoheng.status.machine.action.drone.ResumeReturnAction;
+import com.tuoheng.status.machine.events.DroneEvent;
+import com.tuoheng.status.machine.status.DroneState;
+import org.springframework.statemachine.StateContext;
+import org.springframework.stereotype.Component;
+
+@Component
+public class DjiResumeReturnAction extends ResumeReturnAction {
+
+    @Override
+    public String getName() {
+        return "DjiResumeReturnAction";
+    }
+
+    @Override
+    public void execute(StateContext<DroneState, DroneEvent> context) {
+        String machineId = (String) context.getExtendedState().getVariables().get("machineId");
+        System.out.println(String.format("[DJI] 无人机恢复返航: %s", machineId));
+    }
+}

src/main/java/com/tuoheng/status/machine/platform/impl/dji/action/drone/DjiReturnCompletedAction.java

@@ -0,0 +1,22 @@
+package com.tuoheng.status.machine.platform.impl.dji.action.drone;
+
+import com.tuoheng.status.machine.action.drone.ReturnCompletedAction;
+import com.tuoheng.status.machine.events.DroneEvent;
+import com.tuoheng.status.machine.status.DroneState;
+import org.springframework.statemachine.StateContext;
+import org.springframework.stereotype.Component;
+
+@Component
+public class DjiReturnCompletedAction extends ReturnCompletedAction {
+
+    @Override
+    public String getName() {
+        return "DjiReturnCompletedAction";
+    }
+
+    @Override
+    public void execute(StateContext<DroneState, DroneEvent> context) {
+        String machineId = (String) context.getExtendedState().getVariables().get("machineId");
+        System.out.println(String.format("[DJI] 无人机返航完成: %s", machineId));
+    }
+}

src/main/java/com/tuoheng/status/machine/platform/impl/dji/action/drone/DjiReturnEmergencyStopAction.java

@@ -0,0 +1,22 @@
+package com.tuoheng.status.machine.platform.impl.dji.action.drone;
+
+import com.tuoheng.status.machine.action.drone.ReturnEmergencyStopAction;
+import com.tuoheng.status.machine.events.DroneEvent;
+import com.tuoheng.status.machine.status.DroneState;
+import org.springframework.statemachine.StateContext;
+import org.springframework.stereotype.Component;
+
+@Component
+public class DjiReturnEmergencyStopAction extends ReturnEmergencyStopAction {
+
+    @Override
+    public String getName() {
+        return "DjiReturnEmergencyStopAction";
+    }
+
+    @Override
+    public void execute(StateContext<DroneState, DroneEvent> context) {
+        String machineId = (String) context.getExtendedState().getVariables().get("machineId");
+        System.out.println(String.format("[DJI] 无人机返航急停: %s", machineId));
+    }
+}

src/main/java/com/tuoheng/status/machine/platform/impl/dji/action/drone/DjiStartFlyingAction.java

@@ -0,0 +1,22 @@
+package com.tuoheng.status.machine.platform.impl.dji.action.drone;
+
+import com.tuoheng.status.machine.action.drone.StartFlyingAction;
+import com.tuoheng.status.machine.events.DroneEvent;
+import com.tuoheng.status.machine.status.DroneState;
+import org.springframework.statemachine.StateContext;
+import org.springframework.stereotype.Component;
+
+@Component
+public class DjiStartFlyingAction extends StartFlyingAction {
+
+    @Override
+    public String getName() {
+        return "DjiStartFlyingAction";
+    }
+
+    @Override
+    public void execute(StateContext<DroneState, DroneEvent> context) {
+        String machineId = (String) context.getExtendedState().getVariables().get("machineId");
+        System.out.println(String.format("[DJI] 无人机开始飞行: %s", machineId));
+    }
+}

src/main/java/com/tuoheng/status/machine/platform/impl/dji/action/drone/DjiStartPointingAction.java

@@ -0,0 +1,22 @@
+package com.tuoheng.status.machine.platform.impl.dji.action.drone;
+
+import com.tuoheng.status.machine.action.drone.StartPointingAction;
+import com.tuoheng.status.machine.events.DroneEvent;
+import com.tuoheng.status.machine.status.DroneState;
+import org.springframework.statemachine.StateContext;
+import org.springframework.stereotype.Component;
+
+@Component
+public class DjiStartPointingAction extends StartPointingAction {
+
+    @Override
+    public String getName() {
+        return "DjiStartPointingAction";
+    }
+
+    @Override
+    public void execute(StateContext<DroneState, DroneEvent> context) {
+        String machineId = (String) context.getExtendedState().getVariables().get("machineId");
+        System.out.println(String.format("[DJI] 无人机开始指点操作: %s", machineId));
+    }
+}

src/main/java/com/tuoheng/status/machine/platform/impl/dji/action/drone/DjiStartPrepareAction.java

@@ -0,0 +1,22 @@
+package com.tuoheng.status.machine.platform.impl.dji.action.drone;
+
+import com.tuoheng.status.machine.action.drone.StartPrepareAction;
+import com.tuoheng.status.machine.events.DroneEvent;
+import com.tuoheng.status.machine.status.DroneState;
+import org.springframework.statemachine.StateContext;
+import org.springframework.stereotype.Component;
+
+@Component
+public class DjiStartPrepareAction extends StartPrepareAction {
+
+    @Override
+    public String getName() {
+        return "DjiStartPrepareAction";
+    }
+
+    @Override
+    public void execute(StateContext<DroneState, DroneEvent> context) {
+        String machineId = (String) context.getExtendedState().getVariables().get("machineId");
+        System.out.println(String.format("[DJI] 无人机开始准备: %s", machineId));
+    }
+}

src/main/java/com/tuoheng/status/machine/platform/impl/dji/action/drone/DjiStartReturnAction.java

@@ -0,0 +1,22 @@
+package com.tuoheng.status.machine.platform.impl.dji.action.drone;
+
+import com.tuoheng.status.machine.action.drone.StartReturnAction;
+import com.tuoheng.status.machine.events.DroneEvent;
+import com.tuoheng.status.machine.status.DroneState;
+import org.springframework.statemachine.StateContext;
+import org.springframework.stereotype.Component;
+
+@Component
+public class DjiStartReturnAction extends StartReturnAction {
+
+    @Override
+    public String getName() {
+        return "DjiStartReturnAction";
+    }
+
+    @Override
+    public void execute(StateContext<DroneState, DroneEvent> context) {
+        String machineId = (String) context.getExtendedState().getVariables().get("machineId");
+        System.out.println(String.format("[DJI] 无人机开始返航: %s", machineId));
+    }
+}

src/main/java/com/tuoheng/status/machine/platform/impl/dji/guard/drone/DjiCanPointGuard.java

@@ -0,0 +1,33 @@
+package com.tuoheng.status.machine.platform.impl.dji.guard.drone;
+
+import com.tuoheng.status.machine.events.DroneEvent;
+import com.tuoheng.status.machine.guard.drone.CanPointGuard;
+import com.tuoheng.status.machine.status.DroneState;
+import org.springframework.statemachine.StateContext;
+import org.springframework.stereotype.Component;
+
+/**
+ * DJI平台：检查无人机是否可以进行指点操作
+ * 注意：返航中不可以指点
+ */
+@Component
+public class DjiCanPointGuard extends CanPointGuard {
+
+    @Override
+    public String getName() {
+        return "DjiCanPointGuard";
+    }
+
+    @Override
+    public boolean evaluate(StateContext<DroneState, DroneEvent> context) {
+        DroneState currentState = context.getStateMachine().getState().getId();
+
+        // 返航中不能指点
+        if (currentState == DroneState.RETURNING) {
+            System.out.println("[DJI] 返航中不能进行指点操作");
+            return false;
+        }
+
+        return true;
+    }
+}

src/main/java/com/tuoheng/status/machine/platform/impl/dji/listener/DjiDroneListener.java

@@ -0,0 +1,18 @@
+package com.tuoheng.status.machine.platform.impl.dji.listener;
+
+import com.tuoheng.status.machine.events.DroneEvent;
+import com.tuoheng.status.machine.listener.DefaultDroneListener;
+import com.tuoheng.status.machine.status.DroneState;
+import org.springframework.stereotype.Component;
+
+/**
+ * DJI平台无人机状态监听器
+ */
+@Component
+public class DjiDroneListener extends DefaultDroneListener {
+
+    @Override
+    public String getName() {
+        return "DJI-Drone";
+    }
+}

src/main/java/com/tuoheng/status/machine/platform/strategy/DronePlatformStrategy.java

@@ -0,0 +1,73 @@
+package com.tuoheng.status.machine.platform.strategy;
+
+import com.tuoheng.status.machine.events.DroneEvent;
+import com.tuoheng.status.machine.platform.PlatformType;
+import com.tuoheng.status.machine.status.DroneState;
+
+/**
+ * 无人机平台策略接口
+ * 定义各平台需要实现的Guard、Action和Listener
+ */
+public interface DronePlatformStrategy {
+
+    /**
+     * 获取平台类型
+     */
+    PlatformType getPlatformType();
+
+    // ==================== Guards ====================
+
+    /**
+     * 是否可以指点
+     */
+    PlatformGuard<DroneState, DroneEvent> getCanPointGuard();
+
+    // ==================== Actions ====================
+
+    // 准备阶段
+    PlatformAction<DroneState, DroneEvent> getStartPrepareAction();
+
+    PlatformAction<DroneState, DroneEvent> getPrepareCompletedAction();
+
+    // 飞行阶段
+    PlatformAction<DroneState, DroneEvent> getStartFlyingAction();
+
+    PlatformAction<DroneState, DroneEvent> getEmergencyStopAction();
+
+    PlatformAction<DroneState, DroneEvent> getResumeFlyingAction();
+
+    PlatformAction<DroneState, DroneEvent> getArriveAction();
+
+    // 返航阶段
+    PlatformAction<DroneState, DroneEvent> getStartReturnAction();
+
+    PlatformAction<DroneState, DroneEvent> getReturnEmergencyStopAction();
+
+    PlatformAction<DroneState, DroneEvent> getResumeReturnAction();
+
+    PlatformAction<DroneState, DroneEvent> getReturnCompletedAction();
+
+    // 指点操作
+    PlatformAction<DroneState, DroneEvent> getStartPointingAction();
+
+    PlatformAction<DroneState, DroneEvent> getPointPrepareCompletedAction();
+
+    PlatformAction<DroneState, DroneEvent> getPointFlyingCompletedAction();
+
+    PlatformAction<DroneState, DroneEvent> getCancelPointAction();
+
+    PlatformAction<DroneState, DroneEvent> getPointToFlyingAction();
+
+    PlatformAction<DroneState, DroneEvent> getPointToReturnAction();
+
+    // 离线
+    PlatformAction<DroneState, DroneEvent> getOfflineAction();
+
+    // ==================== Listener ====================
+
+    /**
+     * 获取平台Listener
+     * 每个平台有一个Listener实例，所有该平台的无人机共享
+     */
+    PlatformListener<DroneState, DroneEvent> getListener();
+}

src/main/java/com/tuoheng/status/machine/redis/RedisStateStore.java

@@ -2,6 +2,7 @@ package com.tuoheng.status.machine.redis;
 
 import com.tuoheng.status.machine.status.AirportState;
 import com.tuoheng.status.machine.status.CoverState;
+import com.tuoheng.status.machine.status.DroneState;
 import org.springframework.stereotype.Component;
 
 import java.util.Map;
@@ -10,7 +11,7 @@ import java.util.Set;
 import java.util.concurrent.ConcurrentHashMap;
 
 /**
- * 使用 Redis 记录和恢复机巢/舱门状态的存储组件。
+ * 使用 Redis 记录和恢复机巢/舱门/无人机状态的存储组件。
  *
  * 当前实现采用内存 Map 占位，便于无 Redis 环境下直接运行。
  * 如果接入真正的 Redis，只需将存取逻辑替换为 RedisTemplate 等实现。
@@ -20,6 +21,7 @@ public class RedisStateStore {
 
     private final Map<String, AirportState> airportStateMap = new ConcurrentHashMap<>();
     private final Map<String, CoverState> coverStateMap = new ConcurrentHashMap<>();
+    private final Map<String, DroneState> droneStateMap = new ConcurrentHashMap<>();
 
     public void saveAirportState(String airportSn, AirportState state) {
         if (airportSn != null && state != null) {
@@ -33,6 +35,12 @@ public class RedisStateStore {
         }
     }
 
+    public void saveDroneState(String droneSn, DroneState state) {
+        if (droneSn != null && state != null) {
+            droneStateMap.put(droneSn, state);
+        }
+    }
+
     public Optional<AirportState> loadAirportState(String airportSn) {
         return Optional.ofNullable(airportStateMap.get(airportSn));
     }
@@ -41,6 +49,10 @@ public class RedisStateStore {
         return Optional.ofNullable(coverStateMap.get(airportSn));
     }
 
+    public Optional<DroneState> loadDroneState(String droneSn) {
+        return Optional.ofNullable(droneStateMap.get(droneSn));
+    }
+
     public Set<String> allAirportIds() {
         // 合并两张表的 key，防止有只存机场或只存舱门的情况
         Set<String> ids = ConcurrentHashMap.newKeySet();
@@ -48,5 +60,9 @@ public class RedisStateStore {
         ids.addAll(coverStateMap.keySet());
         return ids;
     }
+
+    public Set<String> allDroneIds() {
+        return droneStateMap.keySet();
+    }
 }
 

src/main/java/com/tuoheng/status/machine/service/DroneMachineService.java

@@ -0,0 +1,191 @@
+package com.tuoheng.status.machine.service;
+
+import com.tuoheng.status.machine.events.DroneEvent;
+import com.tuoheng.status.machine.redis.RedisStateStore;
+import com.tuoheng.status.machine.status.DroneState;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.statemachine.StateMachine;
+import org.springframework.statemachine.config.StateMachineFactory;
+import org.springframework.stereotype.Component;
+
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * 无人机状态机管理器
+ * 负责管理多个无人机的状态机实例
+ */
+@Component
+public class DroneMachineService {
+
+    @Autowired
+    StateMachineFactory<DroneState, DroneEvent> droneStateMachineFactory;
+
+    @Autowired
+    private RedisStateStore redisStateStore;
+
+    /**
+     * 存储所有无人机的状态机实例
+     * Key: 无人机ID (droneSn)
+     * Value: 状态机实例
+     */
+    private final Map<String, StateMachine<DroneState, DroneEvent>> stateMachineMap = new ConcurrentHashMap<>();
+
+    /**
+     * 获取或创建状态机
+     * 如果状态机不存在，则创建新的状态机实例
+     *
+     * @param droneSn 无人机序列号
+     * @return 状态机实例
+     */
+    public StateMachine<DroneState, DroneEvent> getOrCreateStateMachine(String droneSn) {
+        return stateMachineMap.computeIfAbsent(droneSn, id -> {
+            StateMachine<DroneState, DroneEvent> stateMachine = droneStateMachineFactory.getStateMachine(id);
+            // 服务器重启后，状态机初始化为 UNKNOWN 状态
+            // 不从 Redis 恢复旧状态，等待第一次心跳同步真实状态
+            // 这样可以避免服务器重启期间丢失心跳导致的状态不一致问题
+            stateMachine.start();
+            System.out.println(String.format("创建并启动状态机: %s, 初始状态: UNKNOWN (等待心跳同步)", id));
+            return stateMachine;
+        });
+    }
+
+    /**
+     * 获取状态机（不创建）
+     *
+     * @param droneSn 无人机序列号
+     * @return 状态机实例，如果不存在返回null
+     */
+    public StateMachine<DroneState, DroneEvent> getStateMachine(String droneSn) {
+        return stateMachineMap.get(droneSn);
+    }
+
+    /**
+     * 获取状态机的当前状态
+     *
+     * @param droneSn 无人机序列号
+     * @return 当前状态，如果状态机不存在返回null
+     */
+    public DroneState getCurrentState(String droneSn) {
+        StateMachine<DroneState, DroneEvent> stateMachine = stateMachineMap.get(droneSn);
+        if (stateMachine == null) {
+            System.out.println("状态机不存在: " + droneSn);
+            return null;
+        }
+        return stateMachine.getState().getId();
+    }
+
+    /**
+     * 获取状态机的所有当前状态（包括子状态）
+     *
+     * @param droneSn 无人机序列号
+     * @return 当前状态集合的字符串表示
+     */
+    public String getCurrentStates(String droneSn) {
+        StateMachine<DroneState, DroneEvent> stateMachine = stateMachineMap.get(droneSn);
+        if (stateMachine == null) {
+            return "状态机不存在";
+        }
+
+        StringBuilder states = new StringBuilder();
+        stateMachine.getState().getIds().forEach(state -> {
+            if (states.length() > 0) {
+                states.append(" -> ");
+            }
+            states.append(state);
+        });
+
+        return states.toString();
+    }
+
+    /**
+     * 发送事件到状态机
+     *
+     * @param droneSn 无人机序列号
+     * @param event 事件
+     * @return 是否发送成功
+     */
+    public boolean sendEvent(String droneSn, DroneEvent event) {
+        StateMachine<DroneState, DroneEvent> stateMachine = getOrCreateStateMachine(droneSn);
+        boolean result = stateMachine.sendEvent(event);
+
+        if (result) {
+            // 持久化最新状态
+            redisStateStore.saveDroneState(droneSn, stateMachine.getState().getId());
+            System.out.println(String.format("事件发送成功 - 无人机: %s, 事件: %s, 当前状态: %s",
+                droneSn, event, getCurrentStates(droneSn)));
+        } else {
+            System.out.println(String.format("事件发送失败 - 无人机: %s, 事件: %s, 当前状态: %s",
+                droneSn, event, getCurrentStates(droneSn)));
+        }
+
+        return result;
+    }
+
+    /**
+     * 移除状态机
+     *
+     * @param droneSn 无人机序列号
+     */
+    public void removeStateMachine(String droneSn) {
+        StateMachine<DroneState, DroneEvent> stateMachine = stateMachineMap.remove(droneSn);
+        if (stateMachine != null) {
+            stateMachine.stop();
+            System.out.println("停止并移除状态机: " + droneSn);
+        }
+    }
+
+    /**
+     * 检查状态机是否存在
+     *
+     * @param droneSn 无人机序列号
+     * @return 是否存在
+     */
+    public boolean hasStateMachine(String droneSn) {
+        return stateMachineMap.containsKey(droneSn);
+    }
+
+    /**
+     * 获取所有状态机的数量
+     *
+     * @return 状态机数量
+     */
+    public int getStateMachineCount() {
+        return stateMachineMap.size();
+    }
+
+    /**
+     * 获取所有无人机ID
+     *
+     * @return 无人机ID集合
+     */
+    public java.util.Set<String> getAllDroneIds() {
+        return stateMachineMap.keySet();
+    }
+
+    /**
+     * 检查状态机是否处于指定状态
+     *
+     * @param droneSn 无人机序列号
+     * @param state 要检查的状态
+     * @return 是否处于指定状态
+     */
+    public boolean isInState(String droneSn, DroneState state) {
+        StateMachine<DroneState, DroneEvent> stateMachine = stateMachineMap.get(droneSn);
+        if (stateMachine == null) {
+            return false;
+        }
+        return stateMachine.getState().getIds().contains(state);
+    }
+
+    /**
+     * 重启状态机
+     *
+     * @param droneSn 无人机序列号
+     */
+    public void restartStateMachine(String droneSn) {
+        removeStateMachine(droneSn);
+        getOrCreateStateMachine(droneSn);
+        System.out.println("重启状态机: " + droneSn);
+    }
+}

src/main/java/com/tuoheng/status/machine/status/DrcState.java

@@ -0,0 +1,9 @@
+package com.tuoheng.status.machine.status;
+
+/**
+ * 飞行控制模式（DRC）
+ * 	未知状态  退出状态  进入中  进入状态  退出中
+ */
+public enum DrcState {
+
+}

src/main/java/com/tuoheng/status/machine/status/DroneState.java

@@ -1,4 +1,104 @@
 package com.tuoheng.status.machine.status;
 
+/**
+ *              分为：准备中  -> 飞行中  ->   返航   三个大状态
+ *
+ * 			    飞行中
+ * 					飞行中 （可以变到指点）
+ * 					指点操作  （可以返航，指点 和 飞行中）
+ * 					急停 （可以返航，指点，飞行中）
+ * 					到达目的地 (可以指点和返航)
+ *
+ * 			    返航
+ * 			       返航中 （不可以指点）
+ * 				   急停 （一键起飞和航线飞行都可以指点）
+ * 				   指点操作  （可以返航中，急停，返航完成）
+ * 				   返航完成   (不可往回变为返航中和急停)
+ *
+ *  指点操作细分为：准备指点 指点飞行中 指点完成 指点被取消
+ */
 public enum DroneState {
+    /**
+     * 未知状态（服务器重启后的初始状态，等待第一次心跳同步）
+     */
+    UNKNOWN,
+
+    /**
+     * 离线
+     */
+    OFFLINE,
+
+    // ==================== 准备阶段 ====================
+    /**
+     * 准备中
+     */
+    PREPARING,
+
+    // ==================== 飞行阶段（父状态） ====================
+    /**
+     * 飞行中（父状态）
+     */
+    FLYING_PARENT,
+
+    /**
+     * 飞行中
+     */
+    FLYING,
+
+    /**
+     * 急停（飞行阶段）
+     */
+    EMERGENCY_STOP,
+
+    /**
+     * 到达目的地
+     */
+    ARRIVED,
+
+    // ==================== 返航阶段（父状态） ====================
+    /**
+     * 返航（父状态）
+     */
+    RETURNING_PARENT,
+
+    /**
+     * 返航中
+     */
+    RETURNING,
+
+    /**
+     * 急停（返航阶段）
+     */
+    RETURN_EMERGENCY_STOP,
+
+    /**
+     * 返航完成
+     */
+    RETURN_COMPLETED,
+
+    // ==================== 指点操作（可在飞行和返航阶段使用） ====================
+    /**
+     * 指点操作（父状态）
+     */
+    POINTING_PARENT,
+
+    /**
+     * 准备指点
+     */
+    POINT_PREPARING,
+
+    /**
+     * 指点飞行中
+     */
+    POINT_FLYING,
+
+    /**
+     * 指点完成
+     */
+    POINT_COMPLETED,
+
+    /**
+     * 指点被取消
+     */
+    POINT_CANCELLED
 }

src/main/java/com/tuoheng/status/statemachine/README.md

@@ -1,506 +0,0 @@
-# Spring StateMachine 使用文档
-
-本文档详细介绍了如何在项目中使用 Spring StateMachine Core 来构建状态机，包括子状态、Action、Guard、事件监听器等核心功能。
-
-## 目录
-
-- [项目结构](#项目结构)
-- [核心概念](#核心概念)
-- [状态机配置](#状态机配置)
-- [使用示例](#使用示例)
-- [运行演示](#运行演示)
-- [常见问题](#常见问题)
-
-## 项目结构
-
-```
-com.tuoheng.status.statemachine/
-├── status/
-│   └── Status.java              # 状态枚举（包含主状态和子状态）
-├── events/
-│   └── Event.java               # 事件枚举
-├── action/
-│   └── TaskAction.java          # Action 实现类
-├── guard/
-│   └── TaskGuard.java           # Guard 实现类
-├── listener/
-│   └── TaskStateMachineListener.java  # 状态机事件监听器
-├── config/
-│   └── TaskStateMachineConfig.java    # 状态机配置类
-├── service/
-│   └── TaskStateMachineService.java   # 服务类（使用示例）
-└── demo/
-    └── StateMachineDemo.java    # 演示主类
-```
-
-## 核心概念
-
-### 1. 状态（State）
-
-状态定义了状态机可能处于的各种情况。本示例包含：
-
-**主状态：**
-- `IDLE` - 空闲状态（初始状态）
-- `PROCESSING` - 处理中（父状态，包含子状态）
-- `COMPLETED` - 已完成
-- `FAILED` - 失败
-
-**子状态（PROCESSING 的子状态）：**
-- `PREPARING` - 准备中
-- `EXECUTING` - 执行中
-- `VALIDATING` - 验证中
-
-### 2. 事件（Event）
-
-事件是触发状态转换的触发器：
-
-- `START` - 开始处理
-- `PREPARE` - 准备就绪
-- `EXECUTE` - 执行
-- `VALIDATE` - 验证
-- `COMPLETE` - 完成
-- `FAIL` - 失败
-- `RETRY` - 重试
-- `RESET` - 重置
-
-### 3. Action（动作）
-
-Action 在状态转换时执行，用于执行业务逻辑。Action 在转换**过程中**执行。
-
-**示例：**
-```java
-public static class StartAction implements Action<Status, Event> {
-    @Override
-    public void execute(StateContext<Status, Event> context) {
-        // 执行业务逻辑
-        logger.info("开始处理任务");
-        Object taskId = context.getExtendedState().getVariables().get("taskId");
-        // ...
-    }
-}
-```
-
-### 4. Guard（守卫）
-
-Guard 用于条件判断，决定是否允许状态转换。Guard 在转换**之前**执行，如果返回 `false`，转换将被阻止。
-
-**示例：**
-```java
-public static class CanStartGuard implements Guard<Status, Event> {
-    @Override
-    public boolean evaluate(StateContext<Status, Event> context) {
-        // 检查条件
-        Object taskId = context.getExtendedState().getVariables().get("taskId");
-        return taskId != null;  // 只有 taskId 存在时才允许转换
-    }
-}
-```
-
-### 5. 事件监听器（Listener）
-
-监听器用于监听状态机的各种事件，如状态变化、转换等。
-
-**监听的事件类型：**
-- 状态机启动/停止
-- 状态进入/退出
-- 状态改变
-- 转换开始/结束
-- 事件未接受
-- 扩展状态改变
-
-## 状态机配置
-
-### 状态转换流程
-
-```
-IDLE 
-  └─[START]─> PREPARING (子状态)
-      └─[PREPARE]─> EXECUTING (子状态)
-          └─[EXECUTE]─> VALIDATING (子状态)
-              └─[VALIDATE]─> COMPLETED
-                  └─[RESET]─> IDLE
-
-PREPARING/EXECUTING/VALIDATING
-  └─[FAIL]─> FAILED
-      └─[RETRY]─> PREPARING (重试)
-      └─[RESET]─> IDLE (重置)
-```
-
-### 配置类说明
-
-`TaskStateMachineConfig` 类负责配置状态机：
-
-1. **配置状态和子状态：**
-```java
-builder.configureStates()
-    .withStates()
-        .initial(Status.IDLE)  // 初始状态
-        .states(EnumSet.of(Status.IDLE, Status.COMPLETED, Status.FAILED))
-        .and()
-    .withStates()
-        .parent(Status.PROCESSING)  // 设置父状态
-        .initial(Status.PREPARING)   // 子状态的初始状态
-        .states(EnumSet.of(Status.PREPARING, Status.EXECUTING, Status.VALIDATING));
-```
-
-2. **配置转换：**
-```java
-builder.configureTransitions()
-    .withExternal()
-        .source(Status.IDLE)
-        .target(Status.PREPARING)
-        .event(Event.START)
-        .action(new TaskAction.StartAction())      // 添加 Action
-        .guard(new TaskGuard.CanStartGuard())      // 添加 Guard
-        .and()
-    // ... 更多转换配置
-```
-
-## 状态机管理器
-
-当需要管理多个状态机实例时，可以使用 `StateMachineManager` 来统一管理。
-
-### 核心功能
-
-- **通过ID获取状态机**：`getStateMachine(machineId)`
-- **查询当前状态**：`getCurrentStatus(machineId)`
-- **获取详细信息**：`getStateMachineInfo(machineId)`
-- **创建/获取状态机**：`getOrCreateStateMachine(machineId)`
-- **移除状态机**：`removeStateMachine(machineId)`
-
-### 使用示例
-
-```java
-@Autowired
-private StateMachineManager stateMachineManager;
-
-// 1. 创建或获取状态机
-StateMachine<Status, Event> stateMachine = 
-    stateMachineManager.getOrCreateStateMachine("machine-001");
-
-// 2. 通过ID获取状态机
-StateMachine<Status, Event> sm = 
-    stateMachineManager.getStateMachine("machine-001");
-
-// 3. 查询当前状态
-Status currentStatus = stateMachineManager.getCurrentStatus("machine-001");
-System.out.println("当前状态: " + currentStatus);
-
-// 4. 获取详细信息
-StateMachineManager.StateMachineInfo info = 
-    stateMachineManager.getStateMachineInfo("machine-001");
-System.out.println("状态机ID: " + info.getMachineId());
-System.out.println("当前状态: " + info.getCurrentStatus());
-System.out.println("是否运行中: " + info.isRunning());
-System.out.println("扩展状态: " + info.getExtendedState());
-
-// 5. 发送事件
-stateMachine.sendEvent(Event.START);
-
-// 6. 移除状态机
-stateMachineManager.removeStateMachine("machine-001");
-```
-
-### 使用服务类（推荐）
-
-`StateMachineManagerService` 提供了更便捷的方法：
-
-```java
-@Autowired
-private StateMachineManagerService stateMachineManagerService;
-
-// 启动任务（自动创建状态机）
-stateMachineManagerService.startTask("machine-001", "task-001");
-
-// 发送事件
-stateMachineManagerService.sendEvent("machine-001", Event.PREPARE);
-
-// 查询状态
-Status status = stateMachineManagerService.getCurrentStatus("machine-001");
-
-// 获取详细信息
-StateMachineManager.StateMachineInfo info = 
-    stateMachineManagerService.getStateMachineInfo("machine-001");
-
-// 打印状态机信息（调试用）
-stateMachineManagerService.printStateMachineInfo("machine-001");
-
-// 获取所有状态机ID
-Set<String> allIds = stateMachineManagerService.getAllMachineIds();
-```
-
-### 管理多个状态机
-
-```java
-// 创建多个状态机
-stateMachineManager.getOrCreateStateMachine("machine-001");
-stateMachineManager.getOrCreateStateMachine("machine-002");
-stateMachineManager.getOrCreateStateMachine("machine-003");
-
-// 获取所有状态机ID
-Set<String> allIds = stateMachineManager.getAllMachineIds();
-System.out.println("管理的状态机数量: " + allIds.size());
-
-// 为不同状态机设置不同状态
-stateMachineManager.getStateMachine("machine-001")
-    .getExtendedState().getVariables().put("taskId", "task-001");
-stateMachineManagerService.sendEvent("machine-001", Event.START);
-
-// 查询不同状态机的状态
-Status status1 = stateMachineManager.getCurrentStatus("machine-001");
-Status status2 = stateMachineManager.getCurrentStatus("machine-002");
-```
-
-## 使用示例
-
-### 1. 基本使用
-
-```java
-@Autowired
-private StateMachineFactory<Status, Event> stateMachineFactory;
-
-public void processTask(String taskId) {
-    // 创建状态机实例
-    StateMachine<Status, Event> stateMachine = stateMachineFactory.getStateMachine();
-    
-    try {
-        // 设置扩展状态变量
-        stateMachine.getExtendedState().getVariables().put("taskId", taskId);
-        
-        // 启动状态机
-        stateMachine.start();
-        
-        // 发送事件触发转换
-        stateMachine.sendEvent(Event.START);
-        
-        // 继续处理...
-        stateMachine.getExtendedState().getVariables().put("prepared", true);
-        stateMachine.sendEvent(Event.PREPARE);
-        
-    } finally {
-        // 停止状态机
-        stateMachine.stop();
-    }
-}
-```
-
-### 2. 使用 Guard 控制转换
-
-```java
-// Guard 会在转换前检查条件
-public static class CanStartGuard implements Guard<Status, Event> {
-    @Override
-    public boolean evaluate(StateContext<Status, Event> context) {
-        Object taskId = context.getExtendedState().getVariables().get("taskId");
-        return taskId != null;  // 只有满足条件才允许转换
-    }
-}
-
-// 使用：如果 taskId 不存在，START 事件将被拒绝
-stateMachine.sendEvent(Event.START);  // Guard 检查失败，转换不会发生
-```
-
-### 3. 使用 Action 执行业务逻辑
-
-```java
-// Action 在转换时执行
-public static class ExecuteAction implements Action<Status, Event> {
-    @Override
-    public void execute(StateContext<Status, Event> context) {
-        // 执行业务逻辑
-        logger.info("执行任务");
-        // 可以访问和修改扩展状态
-        context.getExtendedState().getVariables().put("executionResult", "success");
-    }
-}
-```
-
-### 4. 监听状态机事件
-
-监听器会自动监听所有状态机事件：
-
-```java
-// 监听器会自动记录：
-// - 状态机启动/停止
-// - 状态进入/退出
-// - 状态改变
-// - 转换开始/结束
-// - 事件未接受
-```
-
-## 运行演示
-
-### 方式一：运行演示主类
-
-直接运行 `StateMachineDemo` 类的 `main` 方法：
-
-```bash
-# 在 IDE 中运行
-com.tuoheng.status.statemachine.demo.StateMachineDemo
-
-# 或使用 Maven
-mvn exec:java -Dexec.mainClass="com.tuoheng.status.statemachine.demo.StateMachineDemo"
-```
-
-演示内容包括：
-1. **正常流程**：IDLE → PREPARING → EXECUTING → VALIDATING → COMPLETED
-2. **失败和重试**：演示失败后的重试机制
-3. **Guard 条件不满足**：演示 Guard 如何阻止转换
-4. **重置流程**：演示如何重置状态机
-
-### 方式二：运行测试类
-
-运行 `TaskStateMachineTest` 测试类：
-
-```bash
-mvn test -Dtest=TaskStateMachineTest
-```
-
-### 方式三：在服务中使用
-
-```java
-@Service
-public class YourService {
-    @Autowired
-    private TaskStateMachineService taskStateMachineService;
-    
-    public void handleTask(String taskId) {
-        // 使用预定义的服务方法
-        taskStateMachineService.startTask(taskId);
-    }
-}
-```
-
-## 扩展状态（Extended State）
-
-扩展状态用于存储状态机相关的变量，可以在 Action、Guard 和监听器中访问：
-
-```java
-// 设置变量
-stateMachine.getExtendedState().getVariables().put("taskId", "task-001");
-stateMachine.getExtendedState().getVariables().put("retryCount", 0);
-
-// 在 Action 或 Guard 中访问
-Object taskId = context.getExtendedState().getVariables().get("taskId");
-Integer retryCount = (Integer) context.getExtendedState().getVariables().getOrDefault("retryCount", 0);
-```
-
-## 常见问题
-
-### 1. Guard 返回 false，转换不执行
-
-**原因：** Guard 在转换前检查条件，如果返回 `false`，转换将被阻止。
-
-**解决：** 确保在发送事件前，扩展状态中的变量已正确设置。
-
-```java
-// 错误示例：Guard 检查失败
-stateMachine.sendEvent(Event.START);  // taskId 未设置，Guard 返回 false
-
-// 正确示例：先设置变量
-stateMachine.getExtendedState().getVariables().put("taskId", "task-001");
-stateMachine.sendEvent(Event.START);  // Guard 检查通过
-```
-
-### 2. 事件未接受
-
-**原因：** 当前状态不支持该事件，或没有匹配的转换配置。
-
-**解决：** 
-- 检查状态机当前状态
-- 确认配置中是否有对应的转换
-- 检查 Guard 条件是否满足
-
-```java
-// 检查事件是否被接受
-boolean accepted = stateMachine.sendEvent(Event.START);
-if (!accepted) {
-    logger.warning("事件未被接受，当前状态: " + stateMachine.getState().getId());
-}
-```
-
-### 3. 子状态的使用
-
-子状态是父状态的内部状态，当进入父状态时，会自动进入子状态的初始状态。
-
-```java
-// 从 IDLE 转换到 PREPARING（PROCESSING 的子状态）
-stateMachine.sendEvent(Event.START);
-// 状态机现在处于 PROCESSING 父状态，具体是 PREPARING 子状态
-```
-
-### 4. 状态机实例管理
-
-每次调用 `getStateMachine()` 都会创建新的状态机实例。如果需要复用实例，需要自己管理：
-
-```java
-// 方式一：每次创建新实例（推荐用于独立任务）
-StateMachine<Status, Event> sm1 = stateMachineFactory.getStateMachine();
-StateMachine<Status, Event> sm2 = stateMachineFactory.getStateMachine();
-
-// 方式二：复用实例（需要自己管理生命周期）
-StateMachine<Status, Event> sm = stateMachineFactory.getStateMachine();
-// ... 使用 sm
-sm.stop();  // 使用完后停止
-```
-
-### 5. 监听器中的空指针异常
-
-某些转换（如初始转换）可能没有 trigger，需要检查 null：
-
-```java
-@Override
-public void transitionStarted(Transition<Status, Event> transition) {
-    if (transition.getTrigger() != null) {
-        logger.info("事件: " + transition.getTrigger().getEvent());
-    } else {
-        logger.info("事件: null (可能是初始转换)");
-    }
-}
-```
-
-### 6. 通过ID获取状态机
-
-使用 `StateMachineManager` 可以方便地管理多个状态机：
-
-```java
-@Autowired
-private StateMachineManager stateMachineManager;
-
-// 获取状态机
-StateMachine<Status, Event> sm = stateMachineManager.getStateMachine("machine-id");
-
-// 如果不存在，创建新实例
-StateMachine<Status, Event> sm = stateMachineManager.getOrCreateStateMachine("machine-id");
-
-// 查询当前状态
-Status status = stateMachineManager.getCurrentStatus("machine-id");
-
-// 获取详细信息
-StateMachineManager.StateMachineInfo info = 
-    stateMachineManager.getStateMachineInfo("machine-id");
-```
-
-## 最佳实践
-
-1. **使用 Guard 进行条件检查**：在转换前验证条件，避免无效转换
-2. **使用 Action 执行业务逻辑**：将业务逻辑放在 Action 中，保持代码清晰
-3. **合理使用扩展状态**：存储任务相关的变量，便于在 Action 和 Guard 中使用
-4. **添加监听器**：监听状态机事件，便于调试和监控
-5. **管理状态机生命周期**：及时启动和停止状态机，避免资源泄漏
-6. **处理异常情况**：在 Guard 中检查条件，在 Action 中处理异常
-
-## 参考资源
-
-- [Spring StateMachine 官方文档](https://docs.spring.io/spring-statemachine/docs/current/reference/)
-- [Spring StateMachine API 文档](https://docs.spring.io/spring-statemachine/docs/current/api/)
-
-## 示例代码位置
-
-- **配置类**：`com.tuoheng.status.statemachine.config.TaskStateMachineConfig`
-- **状态机管理器**：`com.tuoheng.status.statemachine.manager.StateMachineManager`
-- **管理器服务类**：`com.tuoheng.status.statemachine.service.StateMachineManagerService`
-- **服务类**：`com.tuoheng.status.statemachine.service.TaskStateMachineService`
-- **演示类**：`com.tuoheng.status.statemachine.demo.StateMachineDemo`
-- **测试类**：`com.tuoheng.status.statemachine.TaskStateMachineTest`
-- **管理器测试类**：`com.tuoheng.status.statemachine.StateMachineManagerTest`

src/main/java/com/tuoheng/status/statemachine/action/TaskAction.java

@@ -1,142 +0,0 @@
-package com.tuoheng.status.statemachine.action;
-
-import com.tuoheng.status.statemachine.events.Event;
-import com.tuoheng.status.statemachine.status.Status;
-import org.springframework.statemachine.StateContext;
-import org.springframework.statemachine.action.Action;
-
-import java.util.logging.Logger;
-
-/**
- * 任务 Action 示例
- * Action 在状态转换时执行，用于执行业务逻辑
- */
-public class TaskAction {
-
-    private static final Logger logger = Logger.getLogger(TaskAction.class.getName());
-
-    /**
-     * 开始处理 Action
-     */
-    public static class StartAction implements Action<Status, Event> {
-        @Override
-        public void execute(StateContext<Status, Event> context) {
-            logger.info("=== Action: 开始处理任务 ===");
-            logger.info("从状态: " + context.getSource().getId());
-            logger.info("到状态: " + context.getTarget().getId());
-            logger.info("事件: " + context.getEvent());
-            
-            // 可以在这里执行业务逻辑，比如初始化任务数据
-            Object taskId = context.getExtendedState().getVariables().get("taskId");
-            logger.info("任务ID: " + taskId);
-        }
-    }
-
-    /**
-     * 准备 Action
-     */
-    public static class PrepareAction implements Action<Status, Event> {
-        @Override
-        public void execute(StateContext<Status, Event> context) {
-            logger.info("=== Action: 准备任务资源 ===");
-            logger.info("当前状态: " + context.getStateMachine().getState().getId());
-            
-            // 模拟准备资源
-            try {
-                Thread.sleep(100); // 模拟耗时操作
-                logger.info("资源准备完成");
-            } catch (InterruptedException e) {
-                Thread.currentThread().interrupt();
-            }
-        }
-    }
-
-    /**
-     * 执行 Action
-     */
-    public static class ExecuteAction implements Action<Status, Event> {
-        @Override
-        public void execute(StateContext<Status, Event> context) {
-            logger.info("=== Action: 执行任务 ===");
-            logger.info("当前状态: " + context.getStateMachine().getState().getId());
-            
-            // 模拟执行任务
-            try {
-                Thread.sleep(200); // 模拟耗时操作
-                logger.info("任务执行完成");
-                
-                // 可以在扩展状态中存储执行结果
-                context.getExtendedState().getVariables().put("executionResult", "success");
-            } catch (InterruptedException e) {
-                Thread.currentThread().interrupt();
-            }
-        }
-    }
-
-    /**
-     * 验证 Action
-     */
-    public static class ValidateAction implements Action<Status, Event> {
-        @Override
-        public void execute(StateContext<Status, Event> context) {
-            logger.info("=== Action: 验证任务结果 ===");
-            logger.info("当前状态: " + context.getStateMachine().getState().getId());
-            
-            // 获取执行结果
-            Object result = context.getExtendedState().getVariables().get("executionResult");
-            logger.info("执行结果: " + result);
-            
-            // 模拟验证
-            boolean isValid = result != null && "success".equals(result);
-            context.getExtendedState().getVariables().put("validationResult", isValid);
-            logger.info("验证结果: " + isValid);
-        }
-    }
-
-    /**
-     * 完成 Action
-     */
-    public static class CompleteAction implements Action<Status, Event> {
-        @Override
-        public void execute(StateContext<Status, Event> context) {
-            logger.info("=== Action: 任务完成 ===");
-            logger.info("从状态: " + context.getSource().getId());
-            logger.info("到状态: " + context.getTarget().getId());
-            
-            // 清理资源或执行完成后的操作
-            logger.info("清理资源...");
-        }
-    }
-
-    /**
-     * 失败 Action
-     */
-    public static class FailAction implements Action<Status, Event> {
-        @Override
-        public void execute(StateContext<Status, Event> context) {
-            logger.warning("=== Action: 任务失败 ===");
-            logger.warning("从状态: " + context.getSource().getId());
-            logger.warning("到状态: " + context.getTarget().getId());
-            
-            // 记录失败信息
-            Exception exception = context.getException();
-            if (exception != null) {
-                logger.warning("失败原因: " + exception.getMessage());
-            }
-        }
-    }
-
-    /**
-     * 重置 Action
-     */
-    public static class ResetAction implements Action<Status, Event> {
-        @Override
-        public void execute(StateContext<Status, Event> context) {
-            logger.info("=== Action: 重置状态机 ===");
-            
-            // 清理扩展状态中的变量
-            context.getExtendedState().getVariables().clear();
-            logger.info("状态机已重置");
-        }
-    }
-}

src/main/java/com/tuoheng/status/statemachine/config/TaskStateMachineConfig.java

@@ -1,182 +0,0 @@
-package com.tuoheng.status.statemachine.config;
-
-import com.tuoheng.status.statemachine.action.TaskAction;
-import com.tuoheng.status.statemachine.events.Event;
-import com.tuoheng.status.statemachine.guard.TaskGuard;
-import com.tuoheng.status.statemachine.listener.TaskStateMachineListener;
-import com.tuoheng.status.statemachine.status.Status;
-import org.springframework.context.annotation.Bean;
-import org.springframework.context.annotation.Configuration;
-import org.springframework.statemachine.StateMachine;
-import org.springframework.statemachine.config.StateMachineBuilder;
-import org.springframework.statemachine.config.StateMachineFactory;
-import org.springframework.statemachine.config.builders.StateMachineConfigurationConfigurer;
-import org.springframework.statemachine.config.builders.StateMachineStateConfigurer;
-import org.springframework.statemachine.config.builders.StateMachineTransitionConfigurer;
-
-import java.util.EnumSet;
-import java.util.UUID;
-import java.util.logging.Logger;
-
-/**
- * 状态机配置类
- * 配置状态、子状态、转换、Action、Guard 等
- */
-@Configuration
-public class TaskStateMachineConfig {
-
-    private static final Logger logger = Logger.getLogger(TaskStateMachineConfig.class.getName());
-
-    /**
-     * 构建状态机工厂
-     * 使用工厂模式可以为每个任务创建独立的状态机实例
-     */
-    @Bean
-    public StateMachineFactory<Status, Event> stateMachineFactory() throws Exception {
-
-        // 返回一个简单的 StateMachineFactory 实现
-        return new StateMachineFactory<Status, Event>() {
-            @Override
-            public StateMachine<Status, Event> getStateMachine() {
-                return getStateMachine(UUID.randomUUID().toString());
-            }
-
-            @Override
-            public StateMachine<Status, Event> getStateMachine(String machineId) {
-                try {
-                    // 为每个请求创建新的状态机实例
-                    StateMachineBuilder.Builder<Status, Event> newBuilder = StateMachineBuilder.builder();
-                    configureStateMachine(newBuilder);
-                    configureStates(newBuilder);
-                    configureTransitions(newBuilder);
-                    StateMachine<Status, Event> stateMachine = newBuilder.build();
-                    stateMachine.getExtendedState().getVariables().put("machineId", machineId);
-                    return stateMachine;
-                } catch (Exception e) {
-                    throw new RuntimeException("Failed to create state machine", e);
-                }
-            }
-
-            @Override
-            public StateMachine<Status, Event> getStateMachine(UUID uuid) {
-                return getStateMachine(uuid.toString());
-            }
-        };
-    }
-
-    /**
-     * 配置状态机基本设置
-     */
-    private void configureStateMachine(StateMachineBuilder.Builder<Status, Event> builder) throws Exception {
-        builder.configureConfiguration()
-            .withConfiguration()
-                .autoStartup(true)  // 自动启动
-                .listener(new TaskStateMachineListener());  // 添加监听器
-    }
-
-    /**
-     * 配置状态和子状态
-     */
-    private void configureStates(StateMachineBuilder.Builder<Status, Event> builder) throws Exception {
-        builder.configureStates()
-            .withStates()
-                // 初始状态
-                .initial(Status.IDLE)
-                
-                // 定义主状态
-                .states(EnumSet.of(Status.IDLE, Status.COMPLETED, Status.FAILED))
-                
-                // PROCESSING 是父状态，包含子状态
-                .and()
-                .withStates()
-                    .parent(Status.PROCESSING)  // 设置 PROCESSING 为父状态
-                    .initial(Status.PREPARING)   // 子状态的初始状态是 PREPARING
-                    .states(EnumSet.of(Status.PREPARING, Status.EXECUTING, Status.VALIDATING));
-    }
-
-    /**
-     * 配置状态转换
-     */
-    private void configureTransitions(StateMachineBuilder.Builder<Status, Event> builder) throws Exception {
-        builder.configureTransitions()
-            // IDLE -> PROCESSING (PREPARING)
-            .withExternal()
-                .source(Status.IDLE)
-                .target(Status.PREPARING)
-                .event(Event.START)
-                .action(new TaskAction.StartAction())
-                .guard(new TaskGuard.CanStartGuard())
-                .and()
-            
-            // PREPARING -> EXECUTING
-            .withExternal()
-                .source(Status.PREPARING)
-                .target(Status.EXECUTING)
-                .event(Event.PREPARE)
-                .action(new TaskAction.PrepareAction())
-                .guard(new TaskGuard.PrepareCompleteGuard())
-                .and()
-            
-            // EXECUTING -> VALIDATING
-            .withExternal()
-                .source(Status.EXECUTING)
-                .target(Status.VALIDATING)
-                .event(Event.EXECUTE)
-                .action(new TaskAction.ExecuteAction())
-                .guard(new TaskGuard.ExecutionSuccessGuard())
-                .and()
-            
-            // VALIDATING -> COMPLETED (从子状态退出到主状态)
-            .withExternal()
-                .source(Status.VALIDATING)
-                .target(Status.COMPLETED)
-                .event(Event.VALIDATE)
-                .action(new TaskAction.ValidateAction())
-                .guard(new TaskGuard.ValidationPassGuard())
-                .and()
-            
-            // 任何 PROCESSING 子状态 -> FAILED
-            .withExternal()
-                .source(Status.PREPARING)
-                .target(Status.FAILED)
-                .event(Event.FAIL)
-                .action(new TaskAction.FailAction())
-                .and()
-            .withExternal()
-                .source(Status.EXECUTING)
-                .target(Status.FAILED)
-                .event(Event.FAIL)
-                .action(new TaskAction.FailAction())
-                .and()
-            .withExternal()
-                .source(Status.VALIDATING)
-                .target(Status.FAILED)
-                .event(Event.FAIL)
-                .action(new TaskAction.FailAction())
-                .and()
-            
-            // FAILED -> PREPARING (重试)
-            .withExternal()
-                .source(Status.FAILED)
-                .target(Status.PREPARING)
-                .event(Event.RETRY)
-                .action(new TaskAction.StartAction())
-                .guard(new TaskGuard.CanRetryGuard())
-                .and()
-            
-            // COMPLETED -> IDLE (重置)
-            .withExternal()
-                .source(Status.COMPLETED)
-                .target(Status.IDLE)
-                .event(Event.RESET)
-                .action(new TaskAction.ResetAction())
-                .and()
-            
-            // FAILED -> IDLE (重置)
-            .withExternal()
-                .source(Status.FAILED)
-                .target(Status.IDLE)
-                .event(Event.RESET)
-                .action(new TaskAction.ResetAction());
-    }
-}

src/main/java/com/tuoheng/status/statemachine/demo/StateMachineDemo.java

@@ -1,94 +0,0 @@
-package com.tuoheng.status.statemachine.demo;
-
-import com.tuoheng.status.statemachine.service.TaskStateMachineService;
-import org.springframework.context.annotation.AnnotationConfigApplicationContext;
-
-/**
- * 状态机演示主类
- * 可以直接运行此类的 main 方法来查看状态机的运行效果
- */
-public class StateMachineDemo {
-
-    public static void main(String[] args) {
-        // 创建 Spring 上下文
-        AnnotationConfigApplicationContext context = new AnnotationConfigApplicationContext();
-        
-        // 扫描配置类和服务类
-        context.scan(
-            "com.tuoheng.status.statemachine.config",
-            "com.tuoheng.status.statemachine.service"
-        );
-        context.refresh();
-
-        // 获取服务实例
-        TaskStateMachineService service = context.getBean(TaskStateMachineService.class);
-
-        System.out.println("\n\n");
-        System.out.println("╔════════════════════════════════════════════════════════════╗");
-        System.out.println("║   Spring StateMachine 完整示例演示                      ║");
-        System.out.println("║   包含：子状态、Action、Guard、事件监听器                ║");
-        System.out.println("╚════════════════════════════════════════════════════════════╝");
-        System.out.println("\n");
-
-        // 演示1: 正常流程
-        System.out.println("═══════════════════════════════════════════════════════════════");
-        System.out.println("演示1: 正常流程");
-        System.out.println("流程: IDLE -> PREPARING -> EXECUTING -> VALIDATING -> COMPLETED");
-        System.out.println("═══════════════════════════════════════════════════════════════");
-        service.startTask("demo-task-001");
-
-        // 等待一下
-        try {
-            Thread.sleep(500);
-        } catch (InterruptedException e) {
-            Thread.currentThread().interrupt();
-        }
-
-        // 演示2: 失败和重试
-        System.out.println("\n");
-        System.out.println("═══════════════════════════════════════════════════════════════");
-        System.out.println("演示2: 失败和重试流程");
-        System.out.println("流程: IDLE -> PREPARING -> FAILED -> PREPARING (重试)");
-        System.out.println("═══════════════════════════════════════════════════════════════");
-        service.demonstrateFailureAndRetry("demo-task-002");
-
-        // 等待一下
-        try {
-            Thread.sleep(500);
-        } catch (InterruptedException e) {
-            Thread.currentThread().interrupt();
-        }
-
-        // 演示3: Guard 条件不满足
-        System.out.println("\n");
-        System.out.println("═══════════════════════════════════════════════════════════════");
-        System.out.println("演示3: Guard 条件不满足");
-        System.out.println("说明: 不设置 taskId，Guard 会阻止状态转换");
-        System.out.println("═══════════════════════════════════════════════════════════════");
-        service.demonstrateGuardFailure("demo-task-003");
-
-        // 等待一下
-        try {
-            Thread.sleep(500);
-        } catch (InterruptedException e) {
-            Thread.currentThread().interrupt();
-        }
-
-        // 演示4: 重置流程
-        System.out.println("\n");
-        System.out.println("═══════════════════════════════════════════════════════════════");
-        System.out.println("演示4: 重置流程");
-        System.out.println("流程: COMPLETED -> IDLE (重置)");
-        System.out.println("═══════════════════════════════════════════════════════════════");
-        service.demonstrateReset("demo-task-004");
-
-        System.out.println("\n\n");
-        System.out.println("╔════════════════════════════════════════════════════════════╗");
-        System.out.println("║   所有演示完成！                                            ║");
-        System.out.println("╚════════════════════════════════════════════════════════════╝");
-        System.out.println("\n");
-
-        // 关闭上下文
-        context.close();
-    }
-}

src/main/java/com/tuoheng/status/statemachine/demo/StateMachineManagerDemo.java

@@ -1,161 +0,0 @@
-package com.tuoheng.status.statemachine.demo;
-
-import com.tuoheng.status.statemachine.events.Event;
-import com.tuoheng.status.statemachine.manager.StateMachineManager;
-import com.tuoheng.status.statemachine.service.StateMachineManagerService;
-import com.tuoheng.status.statemachine.status.Status;
-import org.springframework.context.annotation.AnnotationConfigApplicationContext;
-
-import java.util.Set;
-
-/**
- * 状态机管理器演示类
- * 演示如何通过ID管理多个状态机实例
- */
-public class StateMachineManagerDemo {
-
-    public static void main(String[] args) {
-        // 创建 Spring 上下文
-        AnnotationConfigApplicationContext context = new AnnotationConfigApplicationContext();
-        context.scan(
-            "com.tuoheng.status.statemachine.config",
-            "com.tuoheng.status.statemachine.manager",
-            "com.tuoheng.status.statemachine.service"
-        );
-        context.refresh();
-
-        // 获取服务实例
-        StateMachineManagerService service = context.getBean(StateMachineManagerService.class);
-        StateMachineManager manager = context.getBean(StateMachineManager.class);
-
-        System.out.println("\n\n");
-        System.out.println("╔════════════════════════════════════════════════════════════╗");
-        System.out.println("║   Spring StateMachine 管理器演示                        ║");
-        System.out.println("║   演示如何通过ID管理多个状态机实例                      ║");
-        System.out.println("╚════════════════════════════════════════════════════════════╝");
-        System.out.println("\n");
-
-        // 演示1: 创建多个状态机
-        System.out.println("═══════════════════════════════════════════════════════════════");
-        System.out.println("演示1: 创建多个状态机实例");
-        System.out.println("═══════════════════════════════════════════════════════════════");
-        
-        String machineId1 = "machine-001";
-        String machineId2 = "machine-002";
-        String machineId3 = "machine-003";
-
-        // 创建状态机
-        service.startTask(machineId1, "task-001");
-        service.startTask(machineId2, "task-002");
-        service.startTask(machineId3, "task-003");
-
-        System.out.println("创建了3个状态机:");
-        System.out.println("  - " + machineId1);
-        System.out.println("  - " + machineId2);
-        System.out.println("  - " + machineId3);
-        System.out.println("管理的状态机数量: " + manager.getStateMachineCount());
-
-        // 等待状态转换
-        try {
-            Thread.sleep(200);
-        } catch (InterruptedException e) {
-            Thread.currentThread().interrupt();
-        }
-
-        // 演示2: 查询不同状态机的状态
-        System.out.println("\n");
-        System.out.println("═══════════════════════════════════════════════════════════════");
-        System.out.println("演示2: 查询不同状态机的当前状态");
-        System.out.println("═══════════════════════════════════════════════════════════════");
-
-        Status status1 = service.getCurrentStatus(machineId1);
-        Status status2 = service.getCurrentStatus(machineId2);
-        Status status3 = service.getCurrentStatus(machineId3);
-
-        System.out.println("状态机 " + machineId1 + " 当前状态: " + status1);
-        System.out.println("状态机 " + machineId2 + " 当前状态: " + status2);
-        System.out.println("状态机 " + machineId3 + " 当前状态: " + status3);
-
-        // 演示3: 获取状态机详细信息
-        System.out.println("\n");
-        System.out.println("═══════════════════════════════════════════════════════════════");
-        System.out.println("演示3: 获取状态机详细信息");
-        System.out.println("═══════════════════════════════════════════════════════════════");
-
-        StateMachineManager.StateMachineInfo info1 = service.getStateMachineInfo(machineId1);
-        System.out.println("状态机1详细信息:");
-        System.out.println("  ID: " + info1.getMachineId());
-        System.out.println("  当前状态: " + info1.getCurrentStatus());
-        System.out.println("  是否子状态: " + info1.isSubState());
-        System.out.println("  是否运行中: " + info1.isRunning());
-        System.out.println("  扩展状态: " + info1.getExtendedState());
-
-        // 演示4: 为不同状态机发送不同事件
-        System.out.println("\n");
-        System.out.println("═══════════════════════════════════════════════════════════════");
-        System.out.println("演示4: 为不同状态机发送不同事件");
-        System.out.println("═══════════════════════════════════════════════════════════════");
-
-        // 为 machine-001 继续处理
-        manager.getStateMachine(machineId1)
-            .getExtendedState().getVariables().put("prepared", true);
-        service.sendEvent(machineId1, Event.PREPARE);
-
-        // 为 machine-002 发送失败事件
-        service.sendEvent(machineId2, Event.FAIL);
-
-        try {
-            Thread.sleep(200);
-        } catch (InterruptedException e) {
-            Thread.currentThread().interrupt();
-        }
-
-        System.out.println("machine-001 发送 PREPARE 事件后状态: " + service.getCurrentStatus(machineId1));
-        System.out.println("machine-002 发送 FAIL 事件后状态: " + service.getCurrentStatus(machineId2));
-        System.out.println("machine-003 状态保持不变: " + service.getCurrentStatus(machineId3));
-
-        // 演示5: 获取所有状态机ID
-        System.out.println("\n");
-        System.out.println("═══════════════════════════════════════════════════════════════");
-        System.out.println("演示5: 获取所有状态机ID");
-        System.out.println("═══════════════════════════════════════════════════════════════");
-
-        Set<String> allIds = service.getAllMachineIds();
-        System.out.println("所有状态机ID: " + allIds);
-        System.out.println("状态机数量: " + allIds.size());
-
-        // 演示6: 通过ID直接获取状态机并操作
-        System.out.println("\n");
-        System.out.println("═══════════════════════════════════════════════════════════════");
-        System.out.println("演示6: 通过ID直接获取状态机并操作");
-        System.out.println("═══════════════════════════════════════════════════════════════");
-
-        var stateMachine = manager.getStateMachine(machineId1);
-        if (stateMachine != null) {
-            System.out.println("成功获取状态机: " + machineId1);
-            System.out.println("当前状态: " + stateMachine.getState().getId());
-            System.out.println("扩展状态中的 taskId: " + 
-                stateMachine.getExtendedState().getVariables().get("taskId"));
-        }
-
-        // 演示7: 移除状态机
-        System.out.println("\n");
-        System.out.println("═══════════════════════════════════════════════════════════════");
-        System.out.println("演示7: 移除状态机");
-        System.out.println("═══════════════════════════════════════════════════════════════");
-
-        boolean removed = service.removeStateMachine(machineId3);
-        System.out.println("移除状态机 " + machineId3 + ": " + (removed ? "成功" : "失败"));
-        System.out.println("移除后管理的状态机数量: " + manager.getStateMachineCount());
-        System.out.println("状态机 " + machineId3 + " 是否存在: " + service.exists(machineId3));
-
-        System.out.println("\n\n");
-        System.out.println("╔════════════════════════════════════════════════════════════╗");
-        System.out.println("║   所有演示完成！                                            ║");
-        System.out.println("╚════════════════════════════════════════════════════════════╝");
-        System.out.println("\n");
-
-        // 关闭上下文
-        context.close();
-    }
-}

src/main/java/com/tuoheng/status/statemachine/events/Event.java

@@ -1,15 +0,0 @@
-package com.tuoheng.status.statemachine.events;
-
-/**
- * 事件枚举
- */
-public enum Event {
-    START,          // 开始处理
-    PREPARE,        // 准备就绪
-    EXECUTE,        // 执行
-    VALIDATE,       // 验证
-    COMPLETE,       // 完成
-    FAIL,           // 失败
-    RETRY,          // 重试
-    RESET           // 重置
-}

src/main/java/com/tuoheng/status/statemachine/guard/TaskGuard.java

@@ -1,112 +0,0 @@
-package com.tuoheng.status.statemachine.guard;
-
-import com.tuoheng.status.statemachine.events.Event;
-import com.tuoheng.status.statemachine.status.Status;
-import org.springframework.statemachine.StateContext;
-import org.springframework.statemachine.guard.Guard;
-
-import java.util.logging.Logger;
-
-/**
- * 任务 Guard 示例
- * Guard 用于条件判断，决定是否允许状态转换
- */
-public class TaskGuard {
-
-    private static final Logger logger = Logger.getLogger(TaskGuard.class.getName());
-
-    /**
-     * 检查是否可以开始处理
-     */
-    public static class CanStartGuard implements Guard<Status, Event> {
-        @Override
-        public boolean evaluate(StateContext<Status, Event> context) {
-            logger.info("=== Guard: 检查是否可以开始处理 ===");
-            
-            // 检查是否有任务ID
-            Object taskId = context.getExtendedState().getVariables().get("taskId");
-            boolean canStart = taskId != null;
-            
-            logger.info("任务ID存在: " + canStart);
-            return canStart;
-        }
-    }
-
-    /**
-     * 检查准备是否完成
-     */
-    public static class PrepareCompleteGuard implements Guard<Status, Event> {
-        @Override
-        public boolean evaluate(StateContext<Status, Event> context) {
-            logger.info("=== Guard: 检查准备是否完成 ===");
-            
-            // 检查准备状态
-            Object prepared = context.getExtendedState().getVariables().get("prepared");
-            boolean isPrepared = prepared != null && Boolean.TRUE.equals(prepared);
-            
-            logger.info("准备完成: " + isPrepared);
-            return isPrepared;
-        }
-    }
-
-    /**
-     * 检查执行是否成功
-     */
-    public static class ExecutionSuccessGuard implements Guard<Status, Event> {
-        @Override
-        public boolean evaluate(StateContext<Status, Event> context) {
-            logger.info("=== Guard: 检查执行是否成功 ===");
-            
-            // 检查执行结果
-            Object result = context.getExtendedState().getVariables().get("executionResult");
-            boolean isSuccess = result != null && "success".equals(result);
-            
-            logger.info("执行成功: " + isSuccess);
-            return isSuccess;
-        }
-    }
-
-    /**
-     * 检查验证是否通过
-     */
-    public static class ValidationPassGuard implements Guard<Status, Event> {
-        @Override
-        public boolean evaluate(StateContext<Status, Event> context) {
-            logger.info("=== Guard: 检查验证是否通过 ===");
-            
-            // 检查验证结果
-            Object validationResult = context.getExtendedState().getVariables().get("validationResult");
-            boolean isValid = validationResult != null && Boolean.TRUE.equals(validationResult);
-            
-            logger.info("验证通过: " + isValid);
-            return isValid;
-        }
-    }
-
-    /**
-     * 检查是否可以重试
-     */
-    public static class CanRetryGuard implements Guard<Status, Event> {
-        @Override
-        public boolean evaluate(StateContext<Status, Event> context) {
-            logger.info("=== Guard: 检查是否可以重试 ===");
-            
-            // 检查重试次数
-            Integer retryCount = (Integer) context.getExtendedState().getVariables().getOrDefault("retryCount", 0);
-            boolean canRetry = retryCount < 3; // 最多重试3次
-            
-            logger.info("当前重试次数: " + retryCount + ", 可以重试: " + canRetry);
-            return canRetry;
-        }
-    }
-
-    /**
-     * 总是返回 true 的 Guard（用于无条件转换）
-     */
-    public static class AlwaysTrueGuard implements Guard<Status, Event> {
-        @Override
-        public boolean evaluate(StateContext<Status, Event> context) {
-            return true;
-        }
-    }
-}

src/main/java/com/tuoheng/status/statemachine/listener/TaskStateMachineListener.java

@@ -1,157 +0,0 @@
-package com.tuoheng.status.statemachine.listener;
-
-import com.tuoheng.status.statemachine.events.Event;
-import com.tuoheng.status.statemachine.status.Status;
-import org.springframework.statemachine.StateContext;
-import org.springframework.statemachine.StateMachine;
-import org.springframework.statemachine.listener.StateMachineListener;
-import org.springframework.statemachine.state.State;
-import org.springframework.statemachine.transition.Transition;
-
-import java.util.logging.Logger;
-
-/**
- * 状态机事件监听器
- * 监听状态机的各种事件，如状态变化、转换等
- */
-public class TaskStateMachineListener implements StateMachineListener<Status, Event> {
-
-    private static final Logger logger = Logger.getLogger(TaskStateMachineListener.class.getName());
-
-    /**
-     * 状态机启动时调用
-     */
-    @Override
-    public void stateMachineStarted(StateMachine<Status, Event> stateMachine) {
-        logger.info("========== 状态机启动 ==========");
-        if (stateMachine.getInitialState() != null) {
-            logger.info("初始状态: " + stateMachine.getInitialState().getId());
-        } else {
-            logger.info("初始状态: null");
-        }
-    }
-
-    /**
-     * 状态机停止时调用
-     */
-    @Override
-    public void stateMachineStopped(StateMachine<Status, Event> stateMachine) {
-        logger.info("========== 状态机停止 ==========");
-        if (stateMachine.getState() != null) {
-            logger.info("最终状态: " + stateMachine.getState().getId());
-        } else {
-            logger.info("最终状态: null");
-        }
-    }
-
-    /**
-     * 状态机错误时调用
-     */
-    @Override
-    public void stateMachineError(StateMachine<Status, Event> stateMachine, Exception exception) {
-        logger.severe("========== 状态机错误 ==========");
-        logger.severe("错误信息: " + exception.getMessage());
-        exception.printStackTrace();
-    }
-
-    /**
-     * 状态进入时调用
-     */
-    @Override
-    public void stateEntered(State<Status, Event> state) {
-        logger.info("========== 进入状态: " + state.getId() + " ==========");
-    }
-
-    /**
-     * 状态退出时调用
-     */
-    @Override
-    public void stateExited(State<Status, Event> state) {
-        logger.info("========== 退出状态: " + state.getId() + " ==========");
-    }
-
-    /**
-     * 状态改变时调用
-     */
-    @Override
-    public void stateChanged(State<Status, Event> from, State<Status, Event> to) {
-        logger.info("========== 状态改变 ==========");
-        logger.info("从: " + (from != null ? from.getId() : "null"));
-        logger.info("到: " + (to != null ? to.getId() : "null"));
-    }
-
-    /**
-     * 转换开始时调用
-     */
-    @Override
-    public void transitionStarted(Transition<Status, Event> transition) {
-        logger.info("========== 转换开始 ==========");
-        logger.info("从: " + (transition.getSource() != null ? transition.getSource().getId() : "null"));
-        logger.info("到: " + (transition.getTarget() != null ? transition.getTarget().getId() : "null"));
-        // 检查 trigger 是否为 null（某些转换可能没有 trigger，比如初始转换）
-        if (transition.getTrigger() != null) {
-            logger.info("事件: " + transition.getTrigger().getEvent());
-        } else {
-            logger.info("事件: null (可能是初始转换或内部转换)");
-        }
-    }
-
-    /**
-     * 转换结束时调用
-     */
-    @Override
-    public void transitionEnded(Transition<Status, Event> transition) {
-        logger.info("========== 转换结束 ==========");
-        logger.info("从: " + (transition.getSource() != null ? transition.getSource().getId() : "null"));
-        logger.info("到: " + (transition.getTarget() != null ? transition.getTarget().getId() : "null"));
-        // 检查 trigger 是否为 null
-        if (transition.getTrigger() != null) {
-            logger.info("事件: " + transition.getTrigger().getEvent());
-        } else {
-            logger.info("事件: null (可能是初始转换或内部转换)");
-        }
-    }
-
-    /**
-     * 转换选择时调用
-     */
-    @Override
-    public void transition(Transition<Status, Event> transition) {
-        logger.info("========== 转换选择 ==========");
-        logger.info("从: " + (transition.getSource() != null ? transition.getSource().getId() : "null"));
-        logger.info("到: " + (transition.getTarget() != null ? transition.getTarget().getId() : "null"));
-        // 检查 trigger 是否为 null
-        if (transition.getTrigger() != null) {
-            logger.info("事件: " + transition.getTrigger().getEvent());
-        } else {
-            logger.info("事件: null (可能是初始转换或内部转换)");
-        }
-    }
-
-    /**
-     * 事件未接受时调用（没有匹配的转换）
-     */
-    @Override
-    public void eventNotAccepted(org.springframework.messaging.Message<Event> event) {
-        logger.warning("========== 事件未接受 ==========");
-        logger.warning("事件: " + event.getPayload());
-        logger.warning("当前状态可能不支持此事件");
-    }
-
-    /**
-     * 扩展状态改变时调用
-     */
-    @Override
-    public void extendedStateChanged(Object key, Object value) {
-        logger.info("========== 扩展状态改变 ==========");
-        logger.info("键: " + key + ", 值: " + value);
-    }
-
-    /**
-     * 状态上下文入口时调用
-     */
-    @Override
-    public void stateContext(StateContext<Status, Event> stateContext) {
-        // 可以在这里记录状态上下文信息
-    }
-}

src/main/java/com/tuoheng/status/statemachine/manager/StateMachineManager.java

@@ -1,262 +0,0 @@
-package com.tuoheng.status.statemachine.manager;
-
-import com.tuoheng.status.statemachine.events.Event;
-import com.tuoheng.status.statemachine.status.Status;
-import org.springframework.beans.factory.annotation.Autowired;
-import org.springframework.statemachine.StateMachine;
-import org.springframework.statemachine.config.StateMachineFactory;
-import org.springframework.statemachine.state.State;
-import org.springframework.stereotype.Component;
-
-import java.util.Map;
-import java.util.concurrent.ConcurrentHashMap;
-import java.util.logging.Logger;
-
-/**
- * 状态机管理器
- * 用于管理多个状态机实例，通过ID获取和查询状态机
- */
-@Component
-public class StateMachineManager {
-
-    private static final Logger logger = Logger.getLogger(StateMachineManager.class.getName());
-
-    @Autowired
-    private StateMachineFactory<Status, Event> stateMachineFactory;
-
-    // 存储状态机实例的Map，key为状态机ID
-    private final Map<String, StateMachine<Status, Event>> stateMachineMap = new ConcurrentHashMap<>();
-
-    /**
-     * 创建或获取状态机实例
-     * 如果ID对应的状态机不存在，则创建新实例；如果存在，则返回现有实例
-     *
-     * @param machineId 状态机ID
-     * @return 状态机实例
-     */
-    public StateMachine<Status, Event> getOrCreateStateMachine(String machineId) {
-        return stateMachineMap.computeIfAbsent(machineId, id -> {
-            logger.info("创建新状态机实例，ID: " + id);
-            StateMachine<Status, Event> stateMachine = stateMachineFactory.getStateMachine(id);
-            // 将machineId存储到扩展状态中
-            stateMachine.getExtendedState().getVariables().put("machineId", id);
-            // 启动状态机
-            stateMachine.start();
-            return stateMachine;
-        });
-    }
-
-    /**
-     * 获取状态机实例（如果不存在则返回null）
-     *
-     * @param machineId 状态机ID
-     * @return 状态机实例，如果不存在则返回null
-     */
-    public StateMachine<Status, Event> getStateMachine(String machineId) {
-        return stateMachineMap.get(machineId);
-    }
-
-    /**
-     * 创建新的状态机实例（如果已存在则先停止并移除旧的）
-     *
-     * @param machineId 状态机ID
-     * @return 新创建的状态机实例
-     */
-    public StateMachine<Status, Event> createStateMachine(String machineId) {
-        // 如果已存在，先停止并移除
-        StateMachine<Status, Event> existing = stateMachineMap.remove(machineId);
-        if (existing != null) {
-            logger.info("停止并移除已存在的状态机，ID: " + machineId);
-            try {
-                existing.stop();
-            } catch (Exception e) {
-                logger.warning("停止状态机时发生错误: " + e.getMessage());
-            }
-        }
-
-        // 创建新实例
-        logger.info("创建新状态机实例，ID: " + machineId);
-        StateMachine<Status, Event> stateMachine = stateMachineFactory.getStateMachine(machineId);
-        stateMachine.getExtendedState().getVariables().put("machineId", machineId);
-        stateMachine.start();
-        stateMachineMap.put(machineId, stateMachine);
-        return stateMachine;
-    }
-
-    /**
-     * 获取状态机的当前状态
-     *
-     * @param machineId 状态机ID
-     * @return 当前状态，如果状态机不存在则返回null
-     */
-    public Status getCurrentStatus(String machineId) {
-        StateMachine<Status, Event> stateMachine = stateMachineMap.get(machineId);
-        if (stateMachine == null) {
-            logger.warning("状态机不存在，ID: " + machineId);
-            return null;
-        }
-        
-        State<Status, Event> state = stateMachine.getState();
-        if (state == null) {
-            return null;
-        }
-        
-        return state.getId();
-    }
-
-    /**
-     * 获取状态机的详细信息（包括当前状态和扩展状态）
-     *
-     * @param machineId 状态机ID
-     * @return 状态机信息，如果状态机不存在则返回null
-     */
-    public StateMachineInfo getStateMachineInfo(String machineId) {
-        StateMachine<Status, Event> stateMachine = stateMachineMap.get(machineId);
-        if (stateMachine == null) {
-            return null;
-        }
-
-        StateMachineInfo info = new StateMachineInfo();
-        info.setMachineId(machineId);
-        
-        State<Status, Event> state = stateMachine.getState();
-        if (state != null) {
-            info.setCurrentStatus(state.getId());
-            info.setIsSubState(state.isSubmachineState());
-        }
-        
-        info.setExtendedState(stateMachine.getExtendedState().getVariables());
-        // 通过检查状态机是否有状态来判断是否在运行
-        // Spring StateMachine 3.2.0 没有 isRunning() 方法，使用状态判断
-        info.setIsRunning(state != null);
-        
-        return info;
-    }
-
-    /**
-     * 移除状态机实例
-     *
-     * @param machineId 状态机ID
-     * @return 是否成功移除
-     */
-    public boolean removeStateMachine(String machineId) {
-        StateMachine<Status, Event> stateMachine = stateMachineMap.remove(machineId);
-        if (stateMachine != null) {
-            logger.info("移除状态机实例，ID: " + machineId);
-            try {
-                stateMachine.stop();
-                return true;
-            } catch (Exception e) {
-                logger.warning("停止状态机时发生错误: " + e.getMessage());
-                return false;
-            }
-        }
-        return false;
-    }
-
-    /**
-     * 检查状态机是否存在
-     *
-     * @param machineId 状态机ID
-     * @return 是否存在
-     */
-    public boolean exists(String machineId) {
-        return stateMachineMap.containsKey(machineId);
-    }
-
-    /**
-     * 获取所有状态机的ID列表
-     *
-     * @return 状态机ID集合
-     */
-    public java.util.Set<String> getAllMachineIds() {
-        return stateMachineMap.keySet();
-    }
-
-    /**
-     * 获取当前管理的状态机数量
-     *
-     * @return 状态机数量
-     */
-    public int getStateMachineCount() {
-        return stateMachineMap.size();
-    }
-
-    /**
-     * 清空所有状态机实例
-     */
-    public void clearAll() {
-        logger.info("清空所有状态机实例，数量: " + stateMachineMap.size());
-        for (Map.Entry<String, StateMachine<Status, Event>> entry : stateMachineMap.entrySet()) {
-            try {
-                entry.getValue().stop();
-            } catch (Exception e) {
-                logger.warning("停止状态机时发生错误，ID: " + entry.getKey() + ", 错误: " + e.getMessage());
-            }
-        }
-        stateMachineMap.clear();
-    }
-
-    /**
-     * 状态机信息类
-     */
-    public static class StateMachineInfo {
-        private String machineId;
-        private Status currentStatus;
-        private boolean isSubState;
-        private boolean isRunning;
-        private Map<Object, Object> extendedState;
-
-        // Getters and Setters
-        public String getMachineId() {
-            return machineId;
-        }
-
-        public void setMachineId(String machineId) {
-            this.machineId = machineId;
-        }
-
-        public Status getCurrentStatus() {
-            return currentStatus;
-        }
-
-        public void setCurrentStatus(Status currentStatus) {
-            this.currentStatus = currentStatus;
-        }
-
-        public boolean isSubState() {
-            return isSubState;
-        }
-
-        public void setIsSubState(boolean subState) {
-            isSubState = subState;
-        }
-
-        public boolean isRunning() {
-            return isRunning;
-        }
-
-        public void setIsRunning(boolean running) {
-            isRunning = running;
-        }
-
-        public Map<Object, Object> getExtendedState() {
-            return extendedState;
-        }
-
-        public void setExtendedState(Map<Object, Object> extendedState) {
-            this.extendedState = extendedState;
-        }
-
-        @Override
-        public String toString() {
-            return "StateMachineInfo{" +
-                    "machineId='" + machineId + '\'' +
-                    ", currentStatus=" + currentStatus +
-                    ", isSubState=" + isSubState +
-                    ", isRunning=" + isRunning +
-                    ", extendedState=" + extendedState +
-                    '}';
-        }
-    }
-}

src/main/java/com/tuoheng/status/statemachine/service/StateMachineManagerService.java

@@ -1,128 +0,0 @@
-package com.tuoheng.status.statemachine.service;
-
-import com.tuoheng.status.statemachine.events.Event;
-import com.tuoheng.status.statemachine.manager.StateMachineManager;
-import com.tuoheng.status.statemachine.status.Status;
-import org.springframework.beans.factory.annotation.Autowired;
-import org.springframework.statemachine.StateMachine;
-import org.springframework.stereotype.Service;
-
-import java.util.Set;
-import java.util.logging.Logger;
-
-/**
- * 状态机管理器服务类
- * 提供便捷的方法来使用状态机管理器
- */
-@Service
-public class StateMachineManagerService {
-
-    private static final Logger logger = Logger.getLogger(StateMachineManagerService.class.getName());
-
-    @Autowired
-    private StateMachineManager stateMachineManager;
-
-    /**
-     * 通过ID获取状态机并发送事件
-     *
-     * @param machineId 状态机ID
-     * @param event     事件
-     * @return 事件是否被接受
-     */
-    public boolean sendEvent(String machineId, Event event) {
-        StateMachine<Status, Event> stateMachine = stateMachineManager.getStateMachine(machineId);
-        if (stateMachine == null) {
-            logger.warning("状态机不存在，ID: " + machineId);
-            return false;
-        }
-        return stateMachine.sendEvent(event);
-    }
-
-    /**
-     * 通过ID获取状态机的当前状态
-     *
-     * @param machineId 状态机ID
-     * @return 当前状态
-     */
-    public Status getCurrentStatus(String machineId) {
-        return stateMachineManager.getCurrentStatus(machineId);
-    }
-
-    /**
-     * 通过ID获取状态机的详细信息
-     *
-     * @param machineId 状态机ID
-     * @return 状态机信息
-     */
-    public StateMachineManager.StateMachineInfo getStateMachineInfo(String machineId) {
-        return stateMachineManager.getStateMachineInfo(machineId);
-    }
-
-    /**
-     * 创建或获取状态机，并发送START事件
-     *
-     * @param machineId 状态机ID
-     * @param taskId    任务ID（可选）
-     * @return 是否成功
-     */
-    public boolean startTask(String machineId, String taskId) {
-        StateMachine<Status, Event> stateMachine = stateMachineManager.getOrCreateStateMachine(machineId);
-        
-        // 设置任务ID到扩展状态
-        if (taskId != null) {
-            stateMachine.getExtendedState().getVariables().put("taskId", taskId);
-        }
-        
-        return stateMachine.sendEvent(Event.START);
-    }
-
-    /**
-     * 获取所有状态机的ID列表
-     *
-     * @return 状态机ID集合
-     */
-    public Set<String> getAllMachineIds() {
-        return stateMachineManager.getAllMachineIds();
-    }
-
-    /**
-     * 移除状态机
-     *
-     * @param machineId 状态机ID
-     * @return 是否成功移除
-     */
-    public boolean removeStateMachine(String machineId) {
-        return stateMachineManager.removeStateMachine(machineId);
-    }
-
-    /**
-     * 检查状态机是否存在
-     *
-     * @param machineId 状态机ID
-     * @return 是否存在
-     */
-    public boolean exists(String machineId) {
-        return stateMachineManager.exists(machineId);
-    }
-
-    /**
-     * 打印状态机信息（用于调试）
-     *
-     * @param machineId 状态机ID
-     */
-    public void printStateMachineInfo(String machineId) {
-        StateMachineManager.StateMachineInfo info = stateMachineManager.getStateMachineInfo(machineId);
-        if (info == null) {
-            logger.warning("状态机不存在，ID: " + machineId);
-            return;
-        }
-
-        logger.info("========== 状态机信息 ==========");
-        logger.info("ID: " + info.getMachineId());
-        logger.info("当前状态: " + info.getCurrentStatus());
-        logger.info("是否子状态: " + info.isSubState());
-        logger.info("是否运行中: " + info.isRunning());
-        logger.info("扩展状态: " + info.getExtendedState());
-        logger.info("================================");
-    }
-}

src/main/java/com/tuoheng/status/statemachine/service/TaskStateMachineService.java

@@ -1,194 +0,0 @@
-package com.tuoheng.status.statemachine.service;
-
-import com.tuoheng.status.statemachine.events.Event;
-import com.tuoheng.status.statemachine.status.Status;
-import org.springframework.beans.factory.annotation.Autowired;
-import org.springframework.statemachine.StateMachine;
-import org.springframework.statemachine.config.StateMachineFactory;
-import org.springframework.stereotype.Service;
-
-import java.util.logging.Logger;
-
-/**
- * 任务状态机服务示例
- * 演示如何使用状态机
- */
-@Service
-public class TaskStateMachineService {
-
-    private static final Logger logger = Logger.getLogger(TaskStateMachineService.class.getName());
-
-    @Autowired
-    private StateMachineFactory<Status, Event> stateMachineFactory;
-
-    /**
-     * 启动任务处理流程
-     */
-    public void startTask(String taskId) {
-        logger.info("\n========== 开始任务处理流程 ==========");
-        
-        StateMachine<Status, Event> stateMachine = stateMachineFactory.getStateMachine();
-        
-        try {
-            // 设置任务ID到扩展状态
-            stateMachine.getExtendedState().getVariables().put("taskId", taskId);
-            stateMachine.getExtendedState().getVariables().put("retryCount", 0);
-            
-            // 启动状态机
-            stateMachine.start();
-            logger.info("状态机已启动，当前状态: " + stateMachine.getState().getId());
-            
-            // 发送 START 事件
-            logger.info("\n--- 发送 START 事件 ---");
-            stateMachine.sendEvent(Event.START);
-            logger.info("当前状态: " + stateMachine.getState().getId());
-            
-            // 模拟准备完成
-            Thread.sleep(100);
-            stateMachine.getExtendedState().getVariables().put("prepared", true);
-            logger.info("\n--- 发送 PREPARE 事件 ---");
-            stateMachine.sendEvent(Event.PREPARE);
-            logger.info("当前状态: " + stateMachine.getState().getId());
-            
-            // 模拟执行完成（在发送事件之前设置结果，以便 Guard 可以检查）
-            Thread.sleep(200);
-            stateMachine.getExtendedState().getVariables().put("executionResult", "success");
-            logger.info("\n--- 发送 EXECUTE 事件 ---");
-            stateMachine.sendEvent(Event.EXECUTE);
-            logger.info("当前状态: " + stateMachine.getState().getId());
-            
-            // 模拟验证完成（在发送事件之前设置验证结果，以便 Guard 可以检查）
-            Thread.sleep(100);
-            stateMachine.getExtendedState().getVariables().put("validationResult", true);
-            logger.info("\n--- 发送 VALIDATE 事件 ---");
-            stateMachine.sendEvent(Event.VALIDATE);
-            logger.info("当前状态: " + stateMachine.getState().getId());
-            
-            logger.info("\n========== 任务处理流程完成 ==========\n");
-            
-        } catch (Exception e) {
-            logger.severe("处理任务时发生错误: " + e.getMessage());
-            e.printStackTrace();
-        } finally {
-            // 停止状态机
-            stateMachine.stop();
-        }
-    }
-
-    /**
-     * 演示失败和重试流程
-     */
-    public void demonstrateFailureAndRetry(String taskId) {
-        logger.info("\n========== 演示失败和重试流程 ==========");
-        
-        StateMachine<Status, Event> stateMachine = stateMachineFactory.getStateMachine();
-        
-        try {
-            // 设置任务ID
-            stateMachine.getExtendedState().getVariables().put("taskId", taskId);
-            stateMachine.getExtendedState().getVariables().put("retryCount", 0);
-            
-            // 启动状态机
-            stateMachine.start();
-            logger.info("状态机已启动，当前状态: " + stateMachine.getState().getId());
-            
-            // 发送 START 事件
-            logger.info("\n--- 发送 START 事件 ---");
-            stateMachine.sendEvent(Event.START);
-            logger.info("当前状态: " + stateMachine.getState().getId());
-            
-            // 模拟失败
-            logger.info("\n--- 发送 FAIL 事件（模拟失败）---");
-            stateMachine.sendEvent(Event.FAIL);
-            logger.info("当前状态: " + stateMachine.getState().getId());
-            
-            // 增加重试次数
-            Integer retryCount = (Integer) stateMachine.getExtendedState().getVariables().getOrDefault("retryCount", 0);
-            stateMachine.getExtendedState().getVariables().put("retryCount", retryCount + 1);
-            
-            // 重试
-            logger.info("\n--- 发送 RETRY 事件 ---");
-            stateMachine.sendEvent(Event.RETRY);
-            logger.info("当前状态: " + stateMachine.getState().getId());
-            
-            logger.info("\n========== 失败和重试流程演示完成 ==========\n");
-            
-        } catch (Exception e) {
-            logger.severe("演示失败和重试流程时发生错误: " + e.getMessage());
-            e.printStackTrace();
-        } finally {
-            stateMachine.stop();
-        }
-    }
-
-    /**
-     * 演示 Guard 条件不满足的情况
-     */
-    public void demonstrateGuardFailure(String taskId) {
-        logger.info("\n========== 演示 Guard 条件不满足 ==========");
-        
-        StateMachine<Status, Event> stateMachine = stateMachineFactory.getStateMachine();
-        
-        try {
-            // 不设置 taskId，导致 CanStartGuard 失败
-            // stateMachine.getExtendedState().getVariables().put("taskId", taskId);
-            
-            // 启动状态机
-            stateMachine.start();
-            logger.info("状态机已启动，当前状态: " + stateMachine.getState().getId());
-            
-            // 发送 START 事件（应该失败，因为 Guard 条件不满足）
-            logger.info("\n--- 发送 START 事件（没有 taskId，Guard 应该失败）---");
-            boolean accepted = stateMachine.sendEvent(Event.START);
-            logger.info("事件是否被接受: " + accepted);
-            logger.info("当前状态: " + stateMachine.getState().getId());
-            
-            logger.info("\n========== Guard 条件不满足演示完成 ==========\n");
-            
-        } catch (Exception e) {
-            logger.severe("演示 Guard 失败时发生错误: " + e.getMessage());
-            e.printStackTrace();
-        } finally {
-            stateMachine.stop();
-        }
-    }
-
-    /**
-     * 演示重置流程
-     */
-    public void demonstrateReset(String taskId) {
-        logger.info("\n========== 演示重置流程 ==========");
-        
-        StateMachine<Status, Event> stateMachine = stateMachineFactory.getStateMachine();
-        
-        try {
-            // 设置任务ID
-            stateMachine.getExtendedState().getVariables().put("taskId", taskId);
-            
-            // 启动状态机并完成流程
-            stateMachine.start();
-            stateMachine.sendEvent(Event.START);
-            stateMachine.getExtendedState().getVariables().put("prepared", true);
-            stateMachine.sendEvent(Event.PREPARE);
-            stateMachine.getExtendedState().getVariables().put("executionResult", "success");
-            stateMachine.sendEvent(Event.EXECUTE);
-            stateMachine.getExtendedState().getVariables().put("validationResult", true);
-            stateMachine.sendEvent(Event.VALIDATE);
-            
-            logger.info("当前状态: " + stateMachine.getState().getId());
-            
-            // 重置
-            logger.info("\n--- 发送 RESET 事件 ---");
-            stateMachine.sendEvent(Event.RESET);
-            logger.info("当前状态: " + stateMachine.getState().getId());
-            
-            logger.info("\n========== 重置流程演示完成 ==========\n");
-            
-        } catch (Exception e) {
-            logger.severe("演示重置流程时发生错误: " + e.getMessage());
-            e.printStackTrace();
-        } finally {
-            stateMachine.stop();
-        }
-    }
-}

src/main/java/com/tuoheng/status/statemachine/status/Status.java

@@ -1,19 +0,0 @@
-package com.tuoheng.status.statemachine.status;
-
-/**
- * 状态枚举
- * 主状态：IDLE, PROCESSING, COMPLETED, FAILED
- * PROCESSING 包含子状态：PREPARING, EXECUTING, VALIDATING
- */
-public enum Status {
-    // 主状态
-    IDLE,                    // 空闲状态
-    PROCESSING,              // 处理中（父状态，包含子状态）
-    COMPLETED,               // 已完成
-    FAILED,                  // 失败
-    
-    // PROCESSING 的子状态
-    PREPARING,               // 准备中（PROCESSING 的子状态）
-    EXECUTING,               // 执行中（PROCESSING 的子状态）
-    VALIDATING               // 验证中（PROCESSING 的子状态）
-}

src/main/java/com/tuoheng/status/statemachine/无人机控制状态机设计文档.md

@@ -1,765 +0,0 @@
-# 大疆无人机巢状态机设计文档
-
-## 一、概述
-
-本文档基于大疆无人机巢功能统计清单，设计了一套完整的状态机模型，用于管理无人机和机巢的各种状态转换，确保操作的安全性和正确性。
-
-### 1.1 设计目标
-
-- **状态管理**：清晰定义无人机和机巢的所有可能状态
-- **状态转换**：明确状态之间的转换条件和规则
-- **业务规则**：将业务限制条件转化为状态机 Guard 和 Action
-- **安全控制**：通过状态机确保操作的安全执行顺序
-
-### 1.2 状态机层次结构
-
-状态机采用**分层设计**，包含以下层次：
-
-1. **顶层状态机**：机巢整体状态
-2. **机巢子状态机**：机巢设备状态（舱门、电源等）
-3. **无人机子状态机**：无人机状态（电源、飞行、任务等）
-4. **模式状态机**：DRC模式、调试模式等
-
-## 二、状态定义
-
-### 2.1 机巢状态（AirportState）
-
-#### 主状态
-
-| 状态 | 枚举值 | 说明 |
-|------|--------|------|
-| 离线 | `OFFLINE` | 机巢设备离线，无法通信 |
-| 在线 | `ONLINE` | 机巢设备在线，可接收指令 |
-| 重启中 | `REBOOTING` | 机巢正在重启 |
-
-#### 子状态（ONLINE 的子状态）
-
-| 状态 | 枚举值 | 说明 |
-|------|--------|------|
-| 待机 | `STANDBY` | 机巢待机状态（初始子状态） |
-| 调试模式 | `DEBUG_MODE` | 调试模式开启中 |
-| 操作中 | `OPERATING` | 正在执行操作（开舱、关舱等） |
-
-#### 舱门状态（OPERATING 的子状态）
-
-| 状态 | 枚举值 | 说明 |
-|------|--------|------|
-| 已关闭 | `COVER_CLOSED` | 舱门已关闭 |
-| 已打开 | `COVER_OPENED` | 舱门已打开 |
-| 半开 | `COVER_HALF_OPEN` | 舱门半开 |
-| 状态异常 | `COVER_ERROR` | 舱门状态异常 |
-| 开舱中 | `COVER_OPENING` | 正在打开舱门 |
-| 关舱中 | `COVER_CLOSING` | 正在关闭舱门 |
-
-### 2.2 无人机状态（DroneState）
-
-#### 主状态
-
-| 状态 | 枚举值 | 说明 |
-|------|--------|------|
-| 关机 | `POWER_OFF` | 无人机电源关闭（初始状态） |
-| 开机 | `POWER_ON` | 无人机电源已开启 |
-| 飞行中 | `FLYING` | 无人机正在飞行（父状态） |
-| 返航中 | `RETURNING_HOME` | 无人机正在返航 |
-| 降落中 | `LANDING` | 无人机正在降落 |
-| 已降落 | `LANDED` | 无人机已降落 |
-
-#### 飞行子状态（FLYING 的子状态）
-
-| 状态 | 枚举值 | 说明 |
-|------|--------|------|
-| 待飞 | `READY_TO_FLY` | 准备起飞（初始子状态） |
-| 一键起飞模式 | `ONE_KEY_TAKEOFF_MODE` | 一键起飞飞行模式（父状态） |
-| 航线飞行模式 | `WAYLINE_FLIGHT_MODE` | 航线飞行模式（父状态） |
-
-#### 一键起飞子状态（ONE_KEY_TAKEOFF_MODE 的子状态）
-
-| 状态 | 枚举值 | 说明 |
-|------|--------|------|
-| 起飞准备 | `TAKEOFF_PREPARING` | 一键起飞准备中（初始子状态） |
-| 起飞飞行中 | `TAKEOFF_FLYING` | 正常起飞飞行中 |
-| 起飞指点飞行 | `TAKEOFF_POINT_FLYING` | 起飞过程中的指点飞行（子状态） |
-| 起飞急停 | `TAKEOFF_EMERGENCY_STOP` | 起飞过程中的急停（子状态） |
-| 起飞完成 | `TAKEOFF_COMPLETED` | 一键起飞完成 |
-| 起飞失败 | `TAKEOFF_FAILED` | 一键起飞失败 |
-
-#### 航线飞行子状态（WAYLINE_FLIGHT_MODE 的子状态）
-
-| 状态 | 枚举值 | 说明 |
-|------|--------|------|
-| 航线准备 | `WAYLINE_PREPARING` | 航线任务准备中（初始子状态） |
-| 航线飞行中 | `WAYLINE_FLYING` | 正常航线飞行中 |
-| 航线指点飞行 | `WAYLINE_POINT_FLYING` | 航线过程中的指点飞行（子状态） |
-| 航线急停 | `WAYLINE_EMERGENCY_STOP` | 航线过程中的急停（子状态） |
-| 航线悬停 | `WAYLINE_HOVER` | 航线飞行中的悬停状态 |
-| 航线完成 | `WAYLINE_COMPLETED` | 航线任务完成 |
-| 航线失败 | `WAYLINE_FAILED` | 航线任务失败 |
-
-##### 指点飞行子状态（WAYLINE_POINT_FLYING 的子状态）
-
-| 状态 | 枚举值 | 说明 |
-|------|--------|------|
-| 指点飞行中 | `POINT_FLYING` | 正在飞向指定目标点（初始子状态） |
-| 到达目的地 | `POINT_ARRIVED` | 已到达指定目标点 |
-| 指点急停 | `POINT_EMERGENCY_STOP` | 指点飞行过程中的急停 |
-
-> 说明：
-> - **一键起飞**和**航线飞行**是两种不同的飞行模式，作为FLYING的并列子状态
-> - **指点飞行**在两种模式中都作为子状态存在：
->   - 起飞指点飞行（TAKEOFF_POINT_FLYING）：在一键起飞过程中插入的指点飞行
->   - 航线指点飞行（WAYLINE_POINT_FLYING）：在航线飞行过程中插入的指点飞行
-> - **悬停状态**（WAYLINE_HOVER）：
->   - 仅存在于航线飞行模式中
->   - 急停或暂停后进入悬停状态
->   - 悬停后可以恢复继续执行航线
-> - **急停**有三个层级：
->   - FLYING层级的急停（FLYING_EMERGENCY_STOP）：可以在任何飞行状态下触发
->   - 起飞急停（TAKEOFF_EMERGENCY_STOP）：一键起飞模式内的急停子状态
->   - 航线急停（WAYLINE_EMERGENCY_STOP）：航线飞行模式内的急停子状态，急停后进入WAYLINE_HOVER
-> - **航线暂停**（WAYLINE_PAUSED）与急停不同，暂停后也会进入WAYLINE_HOVER悬停状态
-
-### 2.3 模式状态（ModeState）
-
-#### DRC模式状态
-
-| 状态 | 枚举值 | 说明 |
-|------|--------|------|
-| DRC未激活 | `DRC_INACTIVE` | DRC模式未激活（初始状态） |
-| DRC激活中 | `DRC_ENTERING` | 正在进入DRC模式 |
-| DRC已激活 | `DRC_ACTIVE` | DRC模式已激活 |
-| DRC退出中 | `DRC_EXITING` | 正在退出DRC模式 |
-
-#### 调试模式状态
-
-| 状态 | 枚举值 | 说明 |
-|------|--------|------|
-| 调试模式关闭 | `DEBUG_OFF` | 调试模式关闭（初始状态） |
-| 调试模式开启中 | `DEBUG_OPENING` | 正在开启调试模式 |
-| 调试模式已开启 | `DEBUG_ON` | 调试模式已开启 |
-| 调试模式关闭中 | `DEBUG_CLOSING` | 正在关闭调试模式 |
-
-#### 控制权状态
-
-| 状态 | 枚举值 | 说明 |
-|------|--------|------|
-| 未获取 | `AUTHORITY_NONE` | 未获取控制权（初始状态） |
-| 飞行控制权已获取 | `FLIGHT_AUTHORITY` | 已获取飞行控制权 |
-| 负载控制权已获取 | `PAYLOAD_AUTHORITY` | 已获取负载控制权 |
-| 全部控制权已获取 | `ALL_AUTHORITY` | 已获取飞行和负载控制权 |
-
-## 三、事件定义
-
-### 3.1 机巢事件（AirportEvent）
-
-| 事件 | 枚举值 | 说明 | 触发源 |
-|------|--------|------|---------|
-| 机巢上线 | `AIRPORT_ONLINE` | 机巢设备上线 | OSD心跳 |
-| 机巢离线 | `AIRPORT_OFFLINE` | 机巢设备离线 | OSD心跳 |
-| 开启调试模式 | `DEBUG_MODE_OPEN` | 开启调试模式 | 用户指令 |
-| 关闭调试模式 | `DEBUG_MODE_CLOSE` | 关闭调试模式 | 用户指令/自动 |
-| 开舱指令 | `COVER_OPEN` | 开舱指令 | 用户指令 |
-| 关舱指令 | `COVER_CLOSE` | 关舱指令 | 用户指令 |
-| 开舱完成 | `COVER_OPENED` | 舱门已打开 | OSD状态 |
-| 关舱完成 | `COVER_CLOSED` | 舱门已关闭 | OSD状态 |
-| 机巢重启 | `AIRPORT_REBOOT` | 机巢重启指令 | 用户指令 |
-| 重启完成 | `REBOOT_COMPLETED` | 重启完成 | Events事件 |
-
-### 3.2 无人机事件（DroneEvent）
-
-| 事件 | 枚举值 | 说明 | 触发源 |
-|------|--------|------|---------|
-| 无人机开机 | `DRONE_POWER_ON` | 无人机开机指令 | 用户指令 |
-| 无人机关机 | `DRONE_POWER_OFF` | 无人机关机指令 | 用户指令 |
-| 开机完成 | `POWER_ON_COMPLETED` | 开机完成 | OSD状态 |
-| 关机完成 | `POWER_OFF_COMPLETED` | 关机完成 | OSD状态 |
-| 获取飞行控制权 | `GRAB_FLIGHT_AUTHORITY` | 获取飞行控制权 | 自动/用户指令 |
-| 获取负载控制权 | `GRAB_PAYLOAD_AUTHORITY` | 获取负载控制权 | 自动/用户指令 |
-| 控制权获取完成 | `AUTHORITY_GRABBED` | 控制权获取完成 | Services回复 |
-
-### 3.3 飞行事件（FlightEvent）
-
-| 事件 | 枚举值 | 说明 | 触发源 |
-|------|--------|------|---------|
-| 准备起飞 | `READY_TO_TAKEOFF` | 准备起飞 | 任务准备完成 |
-| 开始飞行 | `START_FLIGHT` | 开始飞行 | 用户指令/自动 |
-| 进入手动模式 | `ENTER_MANUAL_MODE` | 进入手动飞行模式 | DRC模式激活 |
-| 进入自动模式 | `ENTER_AUTO_MODE` | 进入自动飞行模式 | 任务开始 |
-| 急停指令 | `EMERGENCY_STOP` | 急停指令 | 用户指令 |
-| 取消急停 | `CANCEL_EMERGENCY_STOP` | 取消急停 | 用户指令/自动 |
-| 返航指令 | `RETURN_HOME` | 返航指令 | 用户指令/自动 |
-| 返航完成 | `RETURN_HOME_COMPLETED` | 返航完成 | OSD状态 |
-| 开始降落 | `START_LANDING` | 开始降落 | 自动/用户指令 |
-| 降落完成 | `LANDING_COMPLETED` | 降落完成 | OSD状态 |
-
-### 3.4 任务事件（TaskEvent）
-
-| 事件 | 枚举值 | 说明 | 触发源 |
-|------|--------|------|---------|
-| 准备航线任务 | `PREPARE_WAYLINE` | 准备航线任务 | 用户指令 |
-| 执行航线任务 | `EXECUTE_WAYLINE` | 执行航线任务 | 用户指令 |
-| 准备完成 | `PREPARE_COMPLETED` | 任务准备完成 | Services回复 |
-| 任务开始 | `TASK_STARTED` | 任务开始执行 | Events事件 |
-| 任务暂停 | `TASK_PAUSE` | 暂停任务 | 用户指令 |
-| 任务恢复 | `TASK_RECOVERY` | 恢复任务 | 用户指令 |
-| 任务完成 | `TASK_COMPLETED` | 任务完成 | Events事件 |
-| 任务失败 | `TASK_FAILED` | 任务失败 | Events事件 |
-| 指点飞行 | `FLY_TO_POINT` | 指点飞行指令 | 用户指令 |
-| 更新指点目标 | `UPDATE_FLY_TO_POINT` | 更新指点飞行目标 | 用户指令 |
-| 一键起飞 | `TAKEOFF_TO_POINT` | 一键起飞指令 | 用户指令 |
-
-### 3.5 DRC模式事件（DRCEvent）
-
-| 事件 | 枚举值 | 说明 | 触发源 |
-|------|--------|------|---------|
-| 进入DRC模式 | `ENTER_DRC_MODE` | 进入DRC模式指令 | 用户指令/自动 |
-| 退出DRC模式 | `EXIT_DRC_MODE` | 退出DRC模式指令 | 用户指令/自动 |
-| DRC模式已激活 | `DRC_ACTIVATED` | DRC模式已激活 | Services回复 |
-| DRC模式已退出 | `DRC_DEACTIVATED` | DRC模式已退出 | Services回复 |
-
-## 四、状态转换规则
-
-### 4.1 机巢状态转换
-
-```
-OFFLINE
-  └─[AIRPORT_ONLINE]─> ONLINE(STANDBY)
-      └─[DEBUG_MODE_OPEN]─> ONLINE(DEBUG_MODE)
-          └─[COVER_OPEN]─> ONLINE(OPERATING(COVER_OPENING))
-              └─[COVER_OPENED]─> ONLINE(OPERATING(COVER_OPENED))
-                  └─[DEBUG_MODE_CLOSE]─> ONLINE(STANDBY)
-      
-      └─[AIRPORT_REBOOT]─> REBOOTING
-          └─[REBOOT_COMPLETED]─> ONLINE(STANDBY)
-
-ONLINE
-  └─[AIRPORT_OFFLINE]─> OFFLINE
-```
-
-**Guard 规则：**
-- `COVER_OPEN`：检查当前舱门状态不是已打开
-- `COVER_CLOSE`：检查当前舱门状态不是已关闭
-- `DEBUG_MODE_OPEN`：检查当前不是调试模式
-- `AIRPORT_REBOOT`：检查当前是调试模式
-
-### 4.2 无人机电源状态转换
-
-```
-POWER_OFF (初始状态)
-  └─[DRONE_POWER_ON]─> POWER_ON
-      └─[POWER_ON_COMPLETED]─> POWER_ON(READY_TO_FLY)
-
-POWER_ON
-  └─[DRONE_POWER_OFF]─> POWER_OFF
-      └─[POWER_OFF_COMPLETED]─> POWER_OFF
-```
-
-**Guard 规则：**
-- `DRONE_POWER_ON`：检查机巢在线且处于调试模式
-- `DRONE_POWER_OFF`：检查机巢在线且处于调试模式
-
-### 4.3 飞行状态转换
-
-```
-READY_TO_FLY
-  └─[START_FLIGHT]─> FLYING
-      ├─[ENTER_MANUAL_MODE]─> FLYING(MANUAL_FLIGHT)
-      │   └─[EMERGENCY_STOP]─> FLYING(EMERGENCY_STOP)
-      │       └─[CANCEL_EMERGENCY_STOP]─> FLYING(MANUAL_FLIGHT)
-      │
-      └─[ENTER_AUTO_MODE]─> FLYING(AUTO_FLIGHT(TASK_PREPARING))
-          └─[TASK_STARTED]─> FLYING(AUTO_FLIGHT(TASK_EXECUTING))
-              ├─[TASK_PAUSE]─> FLYING(AUTO_FLIGHT(TASK_PAUSED))
-              │   └─[TASK_RECOVERY]─> FLYING(AUTO_FLIGHT(TASK_EXECUTING))
-              ├─[TASK_COMPLETED]─> FLYING(AUTO_FLIGHT(TASK_COMPLETED))
-              └─[TASK_FAILED]─> FLYING(AUTO_FLIGHT(TASK_FAILED))
-
-FLYING
-  └─[RETURN_HOME]─> RETURNING_HOME
-      └─[RETURN_HOME_COMPLETED]─> RETURNING_HOME
-          └─[START_LANDING]─> LANDING
-              └─[LANDING_COMPLETED]─> LANDED
-                  └─[DRONE_POWER_OFF]─> POWER_OFF
-```
-
-**Guard 规则：**
-- `START_FLIGHT`：检查无人机已开机且机巢在线
-- `ENTER_MANUAL_MODE`：检查DRC模式已激活
-- `ENTER_AUTO_MODE`：检查任务准备完成
-- `RETURN_HOME`：检查不在指点飞行中（如果是指点飞行，需要先停止）
-- `EMERGENCY_STOP`：检查DRC模式已激活且电量充足
-
-### 4.4 DRC模式状态转换
-
-```
-DRC_INACTIVE (初始状态)
-  └─[ENTER_DRC_MODE]─> DRC_ENTERING
-      └─[DRC_ACTIVATED]─> DRC_ACTIVE
-          └─[EXIT_DRC_MODE]─> DRC_EXITING
-              └─[DRC_DEACTIVATED]─> DRC_INACTIVE
-```
-
-**自动转换规则（Action）：**
-- 指点飞行中：自动退出DRC模式
-- 一键起飞中：自动退出DRC模式
-- 返航中：自动退出DRC模式
-- 降落中：自动退出DRC模式
-- 指点飞行停止后：自动进入DRC模式
-- 一键起飞停止后：自动进入DRC模式
-- 急停操作：自动进入DRC模式
-- 摇杆控制：自动进入DRC模式
-
-### 4.5 调试模式状态转换
-
-```
-DEBUG_OFF (初始状态)
-  └─[DEBUG_MODE_OPEN]─> DEBUG_OPENING
-      └─[DEBUG_OPENED]─> DEBUG_ON
-          └─[DEBUG_MODE_CLOSE]─> DEBUG_CLOSING
-              └─[DEBUG_CLOSED]─> DEBUG_OFF
-```
-
-**自动转换规则（Action）：**
-- 开舱/关舱操作：自动开启调试模式 → 执行操作 → 2秒后自动关闭
-- 无人机开机/关机：自动开启调试模式 → 执行操作 → 2秒后自动关闭
-- 机巢重启：自动开启调试模式 → 执行操作 → 2秒后自动关闭
-
-### 4.6 控制权状态转换
-
-```
-AUTHORITY_NONE (初始状态)
-  └─[GRAB_FLIGHT_AUTHORITY]─> FLIGHT_AUTHORITY
-      └─[GRAB_PAYLOAD_AUTHORITY]─> ALL_AUTHORITY
-```
-
-**自动转换规则（Action）：**
-- 无人机起飞准备时：自动获取飞行控制权和负载控制权
-
-## 五、Guard（守卫）设计
-
-### 5.1 机巢操作 Guard
-
-| Guard名称 | 检查条件 | 失败原因 |
-|-----------|----------|----------|
-| `CanOpenCover` | 舱门状态不是已打开 | 舱门已经打开 |
-| `CanCloseCover` | 舱门状态不是已关闭 | 舱门已经关闭 |
-| `IsDebugMode` | 当前处于调试模式 | 未开启调试模式 |
-| `IsNotDebugMode` | 当前不处于调试模式 | 处于调试模式中 |
-| `IsAirportOnline` | 机巢在线 | 机巢离线 |
-
-### 5.2 无人机操作 Guard
-
-| Guard名称 | 检查条件 | 失败原因 |
-|-----------|----------|----------|
-| `IsDronePowerOn` | 无人机已开机 | 无人机未开机 |
-| `IsDronePowerOff` | 无人机已关机 | 无人机未关机 |
-| `IsNotFlying` | 无人机不在飞行中 | 无人机正在飞行 |
-| `IsNotReturningHome` | 无人机不在返航中 | 无人机正在返航 |
-| `IsNotLanding` | 无人机不在降落中 | 无人机正在降落 |
-| `CanFlyToPoint` | 不在返航且不在降落 | 返航中或降落中 |
-| `HasEnoughBattery` | 电量充足（不低于返航电量） | 电量不足 |
-| `IsDRCActive` | DRC模式已激活 | DRC模式未激活 |
-| `IsNotDRCActive` | DRC模式未激活 | DRC模式已激活 |
-
-### 5.3 任务操作 Guard
-
-| Guard名称 | 检查条件 | 失败原因 |
-|-----------|----------|----------|
-| `IsValidReturnHeight` | 返航高度≥30米 | 返航高度不足30米 |
-| `IsTaskPrepared` | 任务已准备完成 | 任务未准备 |
-| `IsTaskExecuting` | 任务执行中 | 任务未执行 |
-| `IsTaskPaused` | 任务已暂停 | 任务未暂停 |
-| `HasFlightAuthority` | 已获取飞行控制权 | 未获取飞行控制权 |
-| `HasPayloadAuthority` | 已获取负载控制权 | 未获取负载控制权 |
-
-## 六、Action（动作）设计
-
-### 6.1 机巢操作 Action
-
-| Action名称 | 执行内容 | 说明 |
-|------------|----------|------|
-| `OpenDebugModeAction` | 发送 `debug_mode_open` 指令 | 开启调试模式 |
-| `CloseDebugModeAction` | 发送 `debug_mode_close` 指令 | 关闭调试模式 |
-| `OpenCoverAction` | 发送 `cover_open` 指令 | 开舱操作 |
-| `CloseCoverAction` | 发送 `cover_close` 指令 | 关舱操作 |
-| `RebootAirportAction` | 发送 `device_reboot` 指令 | 重启机巢 |
-| `AutoCloseDebugModeAction` | 等待2秒后关闭调试模式 | 自动关闭调试模式 |
-
-### 6.2 无人机操作 Action
-
-| Action名称 | 执行内容 | 说明 |
-|------------|----------|------|
-| `PowerOnDroneAction` | 发送 `drone_open` 指令 | 无人机开机 |
-| `PowerOffDroneAction` | 发送 `drone_close` 指令 | 无人机关机 |
-| `GrabFlightAuthorityAction` | 发送 `flight_authority_grab` 指令 | 获取飞行控制权 |
-| `GrabPayloadAuthorityAction` | 发送 `payload_authority_grab` 指令 | 获取负载控制权 |
-| `ClearLiveStreamCacheAction` | 清除直播相关缓存 | 清除缓存 |
-
-### 6.3 飞行操作 Action
-
-| Action名称 | 执行内容 | 说明 |
-|------------|----------|------|
-| `EnterDRCModeAction` | 发送 `drc_mode_enter` 指令 | 进入DRC模式 |
-| `ExitDRCModeAction` | 发送 `drc_mode_exit` 指令 | 退出DRC模式 |
-| `EmergencyStopAction` | 发送 `drone_emergency_stop` 属性设置 | 急停操作 |
-| `ReturnHomeAction` | 发送 `return_home` 指令 | 返航操作 |
-| `StartLiveStreamAction` | 发送 `live_start_push` 指令 | 开启直播推流 |
-| `StopLiveStreamAction` | 发送 `live_stop_push` 指令 | 关闭直播推流 |
-
-### 6.4 任务操作 Action
-
-| Action名称 | 执行内容 | 说明 |
-|------------|----------|------|
-| `PrepareWaylineTaskAction` | 发送 `flighttask_prepare` 指令 | 准备航线任务 |
-| `ExecuteWaylineTaskAction` | 等待1秒 → 开启机巢推流 → 发送 `flighttask_execute` 指令 | 执行航线任务 |
-| `PauseTaskAction` | 发送 `flighttask_pause` 指令 | 暂停任务 |
-| `RecoveryTaskAction` | 发送 `flighttask_recovery` 指令 | 恢复任务 |
-| `FlyToPointAction` | 检查是否在指点飞行中 → 发送 `fly_to_point` 或 `fly_to_point_update` 指令 | 指点飞行 |
-| `TakeoffToPointAction` | 发送 `takeoff_to_point` 指令 | 一键起飞 |
-| `AdjustReturnHeightAction` | 检查返航高度，<100米调整为100米 | 调整返航高度 |
-
-### 6.5 自动管理 Action
-
-| Action名称 | 执行内容 | 说明 |
-|------------|----------|------|
-| `AutoEnterDRCModeAction` | 自动进入DRC模式 | 指点飞行停止后、一键起飞停止后 |
-| `AutoExitDRCModeAction` | 自动退出DRC模式 | 指点飞行中、一键起飞中、返航中、降落中 |
-| `AutoGrabAuthorityAction` | 自动获取控制权 | 无人机起飞准备时 |
-| `UpdateFlightStatusAction` | 更新飞行状态 | 根据OSD数据更新状态（急停状态下不更新） |
-
-## 七、状态机监听器设计
-
-### 7.1 OSD心跳监听器
-
-监听 `thing/product/{airportSn}/osd` Topic，处理：
-
-- **机巢状态更新**：`device_online_status` → 触发 `AIRPORT_ONLINE`/`AIRPORT_OFFLINE`
-- **舱门状态更新**：`cover_state` → 触发 `COVER_OPENED`/`COVER_CLOSED`
-- **无人机电源状态**：`device_online_status` → 触发 `POWER_ON_COMPLETED`/`POWER_OFF_COMPLETED`
-- **飞行模式**：`drone_mode_code` → 更新飞行状态
-- **返航状态**：`mode_code = "9"` → 触发 `RETURN_HOME`
-- **降落状态**：`mode_code = "LAND"` → 触发 `START_LANDING`
-
-### 7.2 Events事件监听器
-
-监听 `thing/product/{airportSn}/events` Topic，处理：
-
-- **任务进度**：`flighttask_progress` → 触发任务状态事件
-- **指点飞行进度**：`fly_to_point_progress` → 触发指点飞行状态事件
-- **一键起飞进度**：`takeoff_to_point_progress` → 触发一键起飞状态事件
-- **设备重启**：`device_reboot` → 触发重启状态事件
-- **文件上传**：`file_upload_callback` → 处理拍照文件上传
-
-### 7.3 Services回复监听器
-
-监听 `thing/product/{airportSn}/services_reply` Topic，处理：
-
-- **指令接受确认**：`result=0` → 确认指令已接受
-- **DRC模式状态**：`drc_mode_enter`/`drc_mode_exit` 回复 → 触发DRC模式状态事件
-- **控制权获取**：`flight_authority_grab`/`payload_authority_grab` 回复 → 触发控制权状态事件
-
-### 7.4 Set回复监听器
-
-监听 `thing/product/{airportSn}/set_reply` Topic，处理：
-
-- **属性设置确认**：急停、调色盘等属性设置的确认
-
-## 八、业务规则实现
-
-### 8.1 调试模式规则
-
-**规则：** 开舱、关舱、无人机开机、无人机关机、机巢重启需要先开启调试模式
-
-**实现：**
-```
-Action: OpenDebugModeAction (Guard: IsNotDebugMode)
-  → 执行操作 (Guard: IsDebugMode)
-  → AutoCloseDebugModeAction (等待2秒后关闭)
-```
-
-### 8.2 飞行状态限制规则
-
-**规则：**
-- 返航中或降落中不可执行指点飞行
-- 一键起飞与航线飞行过程中允许插入指点飞行（实时更新目标）
-- 航线/一键起飞的“非悬停”状态下均可急停，急停后进入悬停（Hover）
-
-**实现：**
-```
-Guard: CanFlyToPoint
-  - 检查状态不是 RETURNING_HOME
-  - 检查状态不是 LANDING
-  - 允许在 TAKEOFF_TO_POINT / WAYLINE_TASK 中触发 FLY_TO_POINT 或 UPDATE_FLY_TO_POINT
-
-Guard: CanEmergencyStop
-  - 当前飞行状态非悬停即可触发急停
-Action: EmergencyStopAction
-  - 发送急停指令，进入 EMERGENCY_STOP→HOVER
-```
-
-### 8.3 航线任务规则
-
-**规则：** 返航高度必须≥30米，<100米时自动调整为100米
-
-**实现：**
-```
-Guard: IsValidReturnHeight (检查≥30米)
-Action: AdjustReturnHeightAction (检查<100米时调整为100米)
-```
-
-### 8.4 DRC模式规则
-
-**规则：** 急停、摇杆控制依赖 DRC 模式；指点飞行中、一键起飞中、返航中、降落中自动退出 DRC 模式
-
-**实现：**
-```
-自动退出DRC模式：
-  - 指点飞行中：Action监听任务状态，自动发送 EXIT_DRC_MODE
-  - 一键起飞中：Action监听任务状态，自动发送 EXIT_DRC_MODE
-  - 返航中：Action监听返航状态，自动发送 EXIT_DRC_MODE
-  - 降落中：Action监听降落状态，自动发送 EXIT_DRC_MODE
-
-自动进入DRC模式：
-  - 指点飞行停止后：Action监听任务完成，自动发送 ENTER_DRC_MODE
-  - 一键起飞停止后：Action监听任务完成，自动发送 ENTER_DRC_MODE
-  - 急停操作：Action自动发送 ENTER_DRC_MODE（急停前确保 DRC 已激活）
-  - 摇杆控制：Action自动发送 ENTER_DRC_MODE
-```
-
-### 8.5 控制权规则
-
-**规则：** 无人机起飞准备时自动获取飞行控制权和负载控制权
-
-**实现：**
-```
-Action: AutoGrabAuthorityAction
-  - 监听任务准备完成事件
-  - 自动发送 GRAB_FLIGHT_AUTHORITY
-  - 自动发送 GRAB_PAYLOAD_AUTHORITY
-```
-
-### 8.6 急停规则
-
-**规则：**
-- 急停依赖 DRC 模式；飞行中（非悬停）都可急停，急停后进入悬停
-- 航线飞行的“非指点、非悬停”阶段可暂停，暂停后进入悬停（与急停后的悬停一致，但语义不同）
-- 急停状态下不更新飞行状态，保持急停/悬停
-
-**实现：**
-```
-Guard: CanEmergencyStop
-  - 检查 DRC_ACTIVE
-  - 检查当前飞行状态非悬停即可触发
-Action: EmergencyStopAction
-  - 发送 drone_emergency_stop → 状态切换至 EMERGENCY_STOP → HOVER
-
-Guard: CanPauseWayline
-  - 当前在 WAYLINE_TASK 且非指点、非悬停
-Action: PauseTaskAction
-  - 发送 flighttask_pause → 状态切换至 TASK_PAUSED → HOVER
-
-Guard: UpdateFlightStatusGuard
-  - 检查当前状态不是 EMERGENCY_STOP
-  - 如果是急停/悬停，阻止飞行状态更新
-```
-
-## 九、状态机配置示例
-
-### 9.1 状态定义示例
-
-```java
-public enum AirportState {
-    // 主状态
-    OFFLINE,
-    ONLINE,              // 父状态
-    REBOOTING,
-    
-    // ONLINE 的子状态
-    STANDBY,             // 初始子状态
-    DEBUG_MODE,
-    OPERATING,           // 父状态
-    
-    // OPERATING 的子状态（舱门状态）
-    COVER_CLOSED,
-    COVER_OPENED,
-    COVER_HALF_OPEN,
-    COVER_ERROR,
-    COVER_OPENING,
-    COVER_CLOSING
-}
-
-public enum DroneState {
-    // 主状态
-    POWER_OFF,           // 初始状态
-    POWER_ON,
-    FLYING,              // 父状态
-    RETURNING_HOME,
-    LANDING,
-    LANDED,
-    
-    // FLYING 的子状态
-    READY_TO_FLY,        // 初始子状态
-    MANUAL_FLIGHT,
-    AUTO_FLIGHT,         // 父状态
-    EMERGENCY_STOP,
-    
-    // AUTO_FLIGHT 的子状态
-    TASK_PREPARING,      // 初始子状态
-    TASK_EXECUTING,      // 父状态
-    TASK_PAUSED,
-    TASK_COMPLETED,
-    TASK_FAILED,
-    
-    // TASK_EXECUTING 的子状态
-    WAYLINE_TASK,
-    FLY_TO_POINT,
-    TAKEOFF_TO_POINT
-}
-```
-
-### 9.2 转换配置示例
-
-```java
-// 机巢状态转换
-.withExternal()
-    .source(AirportState.OFFLINE)
-    .target(AirportState.STANDBY)
-    .event(AirportEvent.AIRPORT_ONLINE)
-    .guard(new IsAirportOnlineGuard())
-    .and()
-
-// 开舱操作（需要调试模式）
-.withExternal()
-    .source(AirportState.STANDBY)
-    .target(AirportState.DEBUG_MODE)
-    .event(AirportEvent.DEBUG_MODE_OPEN)
-    .action(new OpenDebugModeAction())
-    .guard(new IsNotDebugModeGuard())
-    .and()
-.withExternal()
-    .source(AirportState.DEBUG_MODE)
-    .target(AirportState.COVER_OPENING)
-    .event(AirportEvent.COVER_OPEN)
-    .action(new OpenCoverAction())
-    .guard(new CanOpenCoverGuard())
-    .and()
-
-// 无人机开机（需要调试模式）
-.withExternal()
-    .source(DroneState.POWER_OFF)
-    .target(DroneState.POWER_ON)
-    .event(DroneEvent.DRONE_POWER_ON)
-    .action(new PowerOnDroneAction())
-    .guard(new IsDebugModeGuard())
-    .and()
-
-// 进入DRC模式
-.withExternal()
-    .source(ModeState.DRC_INACTIVE)
-    .target(ModeState.DRC_ENTERING)
-    .event(DRCEvent.ENTER_DRC_MODE)
-    .action(new EnterDRCModeAction())
-    .and()
-```
-
-## 十、使用场景示例
-
-### 10.1 开舱场景
-
-```
-1. 用户点击开舱
-2. 检查当前舱门状态（Guard: CanOpenCover）
-3. 检查是否在调试模式（Guard: IsNotDebugMode）
-4. 开启调试模式（Action: OpenDebugModeAction）
-5. 发送开舱指令（Action: OpenCoverAction）
-6. 监听OSD状态，等待舱门打开
-7. 2秒后自动关闭调试模式（Action: AutoCloseDebugModeAction）
-```
-
-### 10.2 航线任务场景
-
-```
-1. 用户下发航线任务
-2. 检查返航高度≥30米（Guard: IsValidReturnHeight）
-3. 调整返航高度<100米为100米（Action: AdjustReturnHeightAction）
-4. 准备任务（Action: PrepareWaylineTaskAction）
-5. 等待准备完成（监听services_reply）
-6. 等待1秒 → 开启机巢推流 → 执行任务（Action: ExecuteWaylineTaskAction）
-7. 监听任务进度（events: flighttask_progress）
-8. 任务完成/失败后更新状态
-```
-
-### 10.3 指点飞行场景
-
-```
-1. 用户点击指点飞行
-2. 检查不在返航中且不在降落中（Guard: CanFlyToPoint）
-3. 检查是否已在指点飞行中（判断events中的status）
-4. 如果在指点飞行中：发送更新指令（fly_to_point_update）
-5. 如果不在指点飞行中：发送新指令（fly_to_point）
-6. 自动退出DRC模式（Action: AutoExitDRCModeAction）
-7. 监听飞行进度（events: fly_to_point_progress）
-8. 飞行停止后自动进入DRC模式（Action: AutoEnterDRCModeAction）
-```
-
-### 10.4 急停场景
-
-```
-1. 用户点击急停
-2. 检查无人机已开机（Guard: IsDronePowerOn）
-3. 检查电量充足（Guard: HasEnoughBattery）
-4. 检查是否在DRC模式（Guard: IsNotDRCActive）
-5. 如果不在DRC模式：先进入DRC模式（Action: EnterDRCModeAction）
-6. 等待DRC模式激活（监听services_reply）
-7. 发送急停指令（Action: EmergencyStopAction）
-8. 进入急停状态，阻止状态更新（Guard: UpdateFlightStatusGuard）
-```
-
-## 十一、状态机管理
-
-### 11.1 多状态机实例管理
-
-每个机巢（airportSn）对应一个状态机实例：
-
-```java
-StateMachineManager manager = new StateMachineManager();
-
-// 获取或创建状态机
-StateMachine stateMachine = manager.getOrCreateStateMachine(airportSn);
-
-// 发送事件
-stateMachine.sendEvent(AirportEvent.COVER_OPEN);
-
-// 查询状态
-AirportState currentState = manager.getCurrentState(airportSn);
-```
-
-### 11.2 状态持久化
-
-状态机状态可以持久化到数据库或Redis：
-
-- **状态快照**：定期保存状态机状态
-- **事件日志**：记录所有状态转换事件
-- **恢复机制**：系统重启后恢复状态机状态
-
-## 十二、总结
-
-### 12.1 设计特点
-
-1. **分层设计**：主状态、子状态、子子状态，清晰表达复杂状态关系
-2. **业务规则**：通过Guard和Action实现业务限制条件
-3. **自动管理**：DRC模式、控制权等自动管理，减少人工干预
-4. **安全控制**：通过状态机确保操作的安全执行顺序
-5. **事件驱动**：基于MQTT事件驱动状态转换
-
-### 12.2 扩展性
-
-- **新增功能**：通过添加新状态、事件、转换即可扩展
-- **业务规则变更**：修改Guard和Action即可适应规则变化
-- **多设备支持**：每个机巢独立的状态机实例
-
-### 12.3 注意事项
-
-1. **状态同步**：确保MQTT事件与状态机状态同步
-2. **异常处理**：处理网络异常、设备异常等情况
-3. **超时处理**：操作超时后的状态恢复机制
-4. **并发控制**：同一状态机的并发操作控制

src/test/java/com/tuoheng/status/statemachine/StateMachineManagerTest.java

@@ -1,209 +0,0 @@
-package com.tuoheng.status.statemachine;
-
-import com.tuoheng.status.statemachine.events.Event;
-import com.tuoheng.status.statemachine.manager.StateMachineManager;
-import com.tuoheng.status.statemachine.service.StateMachineManagerService;
-import com.tuoheng.status.statemachine.status.Status;
-import org.springframework.beans.factory.annotation.Autowired;
-import org.springframework.test.context.ContextConfiguration;
-import org.springframework.test.context.testng.AbstractTestNGSpringContextTests;
-import org.testng.annotations.Test;
-
-import static org.testng.Assert.*;
-
-/**
- * 状态机管理器测试类
- */
-@ContextConfiguration(classes = {
-    com.tuoheng.status.statemachine.config.TaskStateMachineConfig.class,
-    com.tuoheng.status.statemachine.manager.StateMachineManager.class,
-    StateMachineManagerService.class
-})
-public class StateMachineManagerTest extends AbstractTestNGSpringContextTests {
-
-    @Autowired
-    private StateMachineManager stateMachineManager;
-
-    @Autowired
-    private StateMachineManagerService stateMachineManagerService;
-
-    @Test
-    public void testCreateAndGetStateMachine() {
-        System.out.println("\n\n========================================");
-        System.out.println("测试1: 创建和获取状态机");
-        System.out.println("========================================\n");
-
-        String machineId = "test-machine-001";
-
-        // 创建状态机
-        assertFalse(stateMachineManager.exists(machineId), "状态机应该不存在");
-        
-        Status status = stateMachineManager.getCurrentStatus(machineId);
-        assertNull(status, "不存在的状态机应该返回null");
-
-        // 创建状态机
-        stateMachineManager.getOrCreateStateMachine(machineId);
-        assertTrue(stateMachineManager.exists(machineId), "状态机应该存在");
-
-        // 获取状态
-        status = stateMachineManager.getCurrentStatus(machineId);
-        assertNotNull(status, "状态机状态不应该为null");
-        assertEquals(status, Status.IDLE, "初始状态应该是IDLE");
-
-        System.out.println("状态机ID: " + machineId);
-        System.out.println("当前状态: " + status);
-    }
-
-    @Test
-    public void testGetStateMachineInfo() {
-        System.out.println("\n\n========================================");
-        System.out.println("测试2: 获取状态机详细信息");
-        System.out.println("========================================\n");
-
-        String machineId = "test-machine-002";
-        stateMachineManager.getOrCreateStateMachine(machineId);
-
-        StateMachineManager.StateMachineInfo info = stateMachineManager.getStateMachineInfo(machineId);
-        assertNotNull(info, "状态机信息不应该为null");
-        assertEquals(info.getMachineId(), machineId);
-        assertEquals(info.getCurrentStatus(), Status.IDLE);
-        assertTrue(info.isRunning(), "状态机应该正在运行");
-
-        System.out.println("状态机信息: " + info);
-    }
-
-    @Test
-    public void testSendEventAndCheckStatus() {
-        System.out.println("\n\n========================================");
-        System.out.println("测试3: 发送事件并检查状态变化");
-        System.out.println("========================================\n");
-
-        String machineId = "test-machine-003";
-        
-        // 创建状态机并设置taskId
-        stateMachineManager.getOrCreateStateMachine(machineId);
-        stateMachineManager.getStateMachine(machineId)
-            .getExtendedState().getVariables().put("taskId", "task-001");
-
-        // 初始状态应该是IDLE
-        Status status = stateMachineManager.getCurrentStatus(machineId);
-        assertEquals(status, Status.IDLE);
-
-        // 发送START事件
-        boolean accepted = stateMachineManagerService.sendEvent(machineId, Event.START);
-        assertTrue(accepted, "START事件应该被接受");
-
-        // 等待状态转换
-        try {
-            Thread.sleep(100);
-        } catch (InterruptedException e) {
-            Thread.currentThread().interrupt();
-        }
-
-        // 检查状态应该变为PREPARING
-        status = stateMachineManager.getCurrentStatus(machineId);
-        assertEquals(status, Status.PREPARING, "状态应该变为PREPARING");
-
-        System.out.println("状态机ID: " + machineId);
-        System.out.println("发送事件: START");
-        System.out.println("当前状态: " + status);
-    }
-
-    @Test
-    public void testMultipleStateMachines() {
-        System.out.println("\n\n========================================");
-        System.out.println("测试4: 管理多个状态机");
-        System.out.println("========================================\n");
-
-        String machineId1 = "test-machine-004-1";
-        String machineId2 = "test-machine-004-2";
-        String machineId3 = "test-machine-004-3";
-
-        // 创建多个状态机
-        stateMachineManager.getOrCreateStateMachine(machineId1);
-        stateMachineManager.getOrCreateStateMachine(machineId2);
-        stateMachineManager.getOrCreateStateMachine(machineId3);
-
-        // 验证所有状态机都存在
-        assertTrue(stateMachineManager.exists(machineId1));
-        assertTrue(stateMachineManager.exists(machineId2));
-        assertTrue(stateMachineManager.exists(machineId3));
-
-        // 获取所有状态机ID
-        java.util.Set<String> allIds = stateMachineManager.getAllMachineIds();
-        assertTrue(allIds.contains(machineId1));
-        assertTrue(allIds.contains(machineId2));
-        assertTrue(allIds.contains(machineId3));
-        assertEquals(stateMachineManager.getStateMachineCount(), 3);
-
-        System.out.println("管理的状态机数量: " + stateMachineManager.getStateMachineCount());
-        System.out.println("所有状态机ID: " + allIds);
-
-        // 为不同的状态机设置不同的状态
-        stateMachineManager.getStateMachine(machineId1)
-            .getExtendedState().getVariables().put("taskId", "task-001");
-        stateMachineManagerService.sendEvent(machineId1, Event.START);
-
-        try {
-            Thread.sleep(100);
-        } catch (InterruptedException e) {
-            Thread.currentThread().interrupt();
-        }
-
-        Status status1 = stateMachineManager.getCurrentStatus(machineId1);
-        Status status2 = stateMachineManager.getCurrentStatus(machineId2);
-        Status status3 = stateMachineManager.getCurrentStatus(machineId3);
-
-        System.out.println("状态机1 (" + machineId1 + ") 状态: " + status1);
-        System.out.println("状态机2 (" + machineId2 + ") 状态: " + status2);
-        System.out.println("状态机3 (" + machineId3 + ") 状态: " + status3);
-
-        assertNotEquals(status1, status2, "不同状态机应该有不同状态");
-    }
-
-    @Test
-    public void testRemoveStateMachine() {
-        System.out.println("\n\n========================================");
-        System.out.println("测试5: 移除状态机");
-        System.out.println("========================================\n");
-
-        String machineId = "test-machine-005";
-        
-        // 创建状态机
-        stateMachineManager.getOrCreateStateMachine(machineId);
-        assertTrue(stateMachineManager.exists(machineId));
-
-        // 移除状态机
-        boolean removed = stateMachineManager.removeStateMachine(machineId);
-        assertTrue(removed, "应该成功移除状态机");
-        assertFalse(stateMachineManager.exists(machineId), "状态机应该不存在了");
-
-        System.out.println("状态机已移除: " + machineId);
-    }
-
-    @Test
-    public void testStateMachineService() {
-        System.out.println("\n\n========================================");
-        System.out.println("测试6: 使用StateMachineManagerService");
-        System.out.println("========================================\n");
-
-        String machineId = "test-machine-006";
-        String taskId = "task-006";
-
-        // 使用服务类启动任务
-        boolean started = stateMachineManagerService.startTask(machineId, taskId);
-        assertTrue(started, "任务应该成功启动");
-
-        // 检查状态
-        Status status = stateMachineManagerService.getCurrentStatus(machineId);
-        assertEquals(status, Status.PREPARING, "状态应该是PREPARING");
-
-        // 获取详细信息
-        StateMachineManager.StateMachineInfo info = stateMachineManagerService.getStateMachineInfo(machineId);
-        assertNotNull(info);
-        assertEquals(info.getCurrentStatus(), Status.PREPARING);
-
-        // 打印信息
-        stateMachineManagerService.printStateMachineInfo(machineId);
-    }
-}

src/test/java/com/tuoheng/status/statemachine/TaskStateMachineTest.java

@@ -1,65 +0,0 @@
-package com.tuoheng.status.statemachine;
-
-import com.tuoheng.status.statemachine.service.TaskStateMachineService;
-import org.springframework.beans.factory.annotation.Autowired;
-import org.springframework.test.context.ContextConfiguration;
-import org.springframework.test.context.testng.AbstractTestNGSpringContextTests;
-import org.testng.annotations.Test;
-
-/**
- * 状态机测试类
- * 演示 spring-statemachine-core 的各种功能
- */
-@ContextConfiguration(classes = {
-    com.tuoheng.status.statemachine.config.TaskStateMachineConfig.class,
-    TaskStateMachineService.class
-})
-public class TaskStateMachineTest extends AbstractTestNGSpringContextTests {
-
-    @Autowired
-    private TaskStateMachineService taskStateMachineService;
-
-    /**
-     * 测试正常流程：IDLE -> PREPARING -> EXECUTING -> VALIDATING -> COMPLETED
-     */
-    @Test
-    public void testNormalFlow() {
-        System.out.println("\n\n========================================");
-        System.out.println("测试1: 正常流程");
-        System.out.println("========================================\n");
-        taskStateMachineService.startTask("task-001");
-    }
-
-    /**
-     * 测试失败和重试流程
-     */
-    @Test
-    public void testFailureAndRetry() {
-        System.out.println("\n\n========================================");
-        System.out.println("测试2: 失败和重试流程");
-        System.out.println("========================================\n");
-        taskStateMachineService.demonstrateFailureAndRetry("task-002");
-    }
-
-    /**
-     * 测试 Guard 条件不满足的情况
-     */
-    @Test
-    public void testGuardFailure() {
-        System.out.println("\n\n========================================");
-        System.out.println("测试3: Guard 条件不满足");
-        System.out.println("========================================\n");
-        taskStateMachineService.demonstrateGuardFailure("task-003");
-    }
-
-    /**
-     * 测试重置流程
-     */
-    @Test
-    public void testReset() {
-        System.out.println("\n\n========================================");
-        System.out.println("测试4: 重置流程");
-        System.out.println("========================================\n");
-        taskStateMachineService.demonstrateReset("task-004");
-    }
-}