From a6ae930598317223ab2774bedac7b5f09852780e Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?=E5=AD=99=E5=B0=8F=E4=BA=91?= <sunpengchina85@gmail.com>
Date: Thu, 18 Dec 2025 13:47:41 +0800
Subject: [PATCH] =?UTF-8?q?=E4=BF=AE=E6=94=B9=E7=B1=BB=E7=BB=93=E6=9E=84?=
MIME-Version: 1.0
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---
 .../instruction/AbstractInstruction.java      | 27 -------------------
 .../machine/instruction/Instruction.java      |  7 +++--
 .../machine/vendor/dji/DjiVendorConfig.java   |  7 ++++-
 3 files changed, 11 insertions(+), 30 deletions(-)

diff --git a/src/main/java/com/tuoheng/machine/instruction/AbstractInstruction.java b/src/main/java/com/tuoheng/machine/instruction/AbstractInstruction.java
index 19ae8cc..a48c0f2 100644
--- a/src/main/java/com/tuoheng/machine/instruction/AbstractInstruction.java
+++ b/src/main/java/com/tuoheng/machine/instruction/AbstractInstruction.java
@@ -20,33 +20,6 @@ public abstract class AbstractInstruction implements Instruction {
      */
     private Instruction alwaysNextInstruction;
 
-    @Override
-    public boolean canExecute(InstructionContext context) {
-        // 默认可以执行
-        return true;
-    }
-
-    @Override
-    public CallbackConfig getMethodCallbackConfig(InstructionContext context) {
-        // 默认不需要方法回调
-        return null;
-    }
-
-    @Override
-    public CallbackConfig getStateCallbackConfig(InstructionContext context) {
-        // 默认不需要状态回调
-        return null;
-    }
-
-    @Override
-    public long getTimeoutMs() {
-        return 60000; // 默认60秒
-    }
-
-    @Override
-    public void onComplete(InstructionContext context, InstructionResult result) {
-        // 默认空实现
-    }
 
     @Override
     public Instruction getOnSuccessInstruction() {
diff --git a/src/main/java/com/tuoheng/machine/instruction/Instruction.java b/src/main/java/com/tuoheng/machine/instruction/Instruction.java
index 8f63aee..fc85060 100644
--- a/src/main/java/com/tuoheng/machine/instruction/Instruction.java
+++ b/src/main/java/com/tuoheng/machine/instruction/Instruction.java
@@ -17,12 +17,15 @@ public interface Instruction {
     /**
      * a. 判断是否可以执行该指令
      */
-    boolean canExecute(InstructionContext context);
+    default boolean canExecute(InstructionContext context){
+        return true;
+    }
 
     /**
      * b. 执行远程调用（如MQTT发送）
      */
-    void executeRemoteCall(InstructionContext context) throws Exception;
+    default void executeRemoteCall(InstructionContext context) throws Exception{
+    }
 
     /**
      * c. 获取方法回调配置（可选）
diff --git a/src/main/java/com/tuoheng/machine/vendor/dji/DjiVendorConfig.java b/src/main/java/com/tuoheng/machine/vendor/dji/DjiVendorConfig.java
index ca0023e..becabf6 100644
--- a/src/main/java/com/tuoheng/machine/vendor/dji/DjiVendorConfig.java
+++ b/src/main/java/com/tuoheng/machine/vendor/dji/DjiVendorConfig.java
@@ -2,6 +2,10 @@ package com.tuoheng.machine.vendor.dji;
 
 import com.tuoheng.machine.command.CommandType;
 import com.tuoheng.machine.command.Transaction;
+import com.tuoheng.machine.instruction.AbstractInstruction;
+import com.tuoheng.machine.instruction.CallbackConfig;
+import com.tuoheng.machine.instruction.Instruction;
+import com.tuoheng.machine.instruction.InstructionContext;
 import com.tuoheng.machine.state.*;
 import com.tuoheng.machine.vendor.VendorConfig;
 import com.tuoheng.machine.vendor.dji.instruction.*;
@@ -82,7 +86,8 @@ public class DjiVendorConfig implements VendorConfig {
         Transaction takeOffTransaction = new Transaction("起飞", CommandType.TAKE_OFF)
                 .root(new DjiTakeOffInstruction())
                 .setTimeout(10000);
-        transactionMap.put(CommandType.TAKE_OFF, takeOffTransaction);
+        transactionMap.put(takeOffTransaction.getCommandType(), takeOffTransaction);
+
 
 
         log.info("大疆厂家配置初始化完成，共配置{}个命令", transactionMap.size());