From b3412109ca8026c063a723eb2ca50218d0e9a945 Mon Sep 17 00:00:00 2001
From: chenlu <Chenlu@123>
Date: Tue, 23 Sep 2025 11:15:44 +0800
Subject: [PATCH] =?UTF-8?q?=E5=A4=A7=E7=96=86demo=E6=8F=90=E4=BA=A42?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .idea/workspace.xml                           | 265 +++++-
 .../math/constants/CommonConstants.java       |  41 +
 .../math/constants/DJICommonConstants.java    |  83 ++
 .../math/constants/DJIMethonConstants.java    | 230 ++++-
 .../math/controller/OperateController.java    | 532 +++++++++--
 .../math/enums/TakeOffToPointEnum.java        |  38 +
 .../com/example/math/mqtt/MqttConfig.java     |  15 +-
 .../mqtt/consumer/MqttConsumerCallBack.java   | 896 ++++++++++++++----
 .../java/com/example/math/task/FirstTask.java | 119 ++-
 .../java/com/example/math/utils/DJIUtils.java | 222 +++++
 src/main/resources/application.yml            |  20 +-
 target/classes/application.yml                |  20 +-
 .../math/constants/CommonConstants.class      | Bin 400 -> 833 bytes
 .../math/constants/DJIMethonConstants.class   | Bin 2172 -> 4177 bytes
 .../math/controller/OperateController.class   | Bin 29234 -> 40272 bytes
 .../com/example/math/mqtt/MqttConfig.class    | Bin 4258 -> 4258 bytes
 .../mqtt/consumer/MqttConsumerCallBack.class  | Bin 11974 -> 15269 bytes
 .../com/example/math/task/FirstTask.class     | Bin 2300 -> 4412 bytes
 18 files changed, 2182 insertions(+), 299 deletions(-)
 create mode 100644 src/main/java/com/example/math/constants/DJICommonConstants.java
 create mode 100644 src/main/java/com/example/math/enums/TakeOffToPointEnum.java
 create mode 100644 src/main/java/com/example/math/utils/DJIUtils.java

diff --git a/.idea/workspace.xml b/.idea/workspace.xml
index e7a8fa7..31d28d2 100644
--- a/.idea/workspace.xml
+++ b/.idea/workspace.xml
@@ -4,7 +4,26 @@
     <option name="autoReloadType" value="SELECTIVE" />
   </component>
   <component name="ChangeListManager">
-    <list default="true" id="7517474b-10e4-4adc-97fc-a0206ac0798a" name="Changes" comment="大疆demo提交" />
+    <list default="true" id="7517474b-10e4-4adc-97fc-a0206ac0798a" name="Changes" comment="大疆demo提交">
+      <change afterPath="$PROJECT_DIR$/src/main/java/com/example/math/constants/DJICommonConstants.java" afterDir="false" />
+      <change afterPath="$PROJECT_DIR$/src/main/java/com/example/math/enums/TakeOffToPointEnum.java" afterDir="false" />
+      <change afterPath="$PROJECT_DIR$/src/main/java/com/example/math/utils/DJIUtils.java" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/.idea/workspace.xml" beforeDir="false" afterPath="$PROJECT_DIR$/.idea/workspace.xml" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/src/main/java/com/example/math/constants/CommonConstants.java" beforeDir="false" afterPath="$PROJECT_DIR$/src/main/java/com/example/math/constants/CommonConstants.java" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/src/main/java/com/example/math/constants/DJIMethonConstants.java" beforeDir="false" afterPath="$PROJECT_DIR$/src/main/java/com/example/math/constants/DJIMethonConstants.java" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/src/main/java/com/example/math/controller/OperateController.java" beforeDir="false" afterPath="$PROJECT_DIR$/src/main/java/com/example/math/controller/OperateController.java" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/src/main/java/com/example/math/mqtt/MqttConfig.java" beforeDir="false" afterPath="$PROJECT_DIR$/src/main/java/com/example/math/mqtt/MqttConfig.java" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/src/main/java/com/example/math/mqtt/consumer/MqttConsumerCallBack.java" beforeDir="false" afterPath="$PROJECT_DIR$/src/main/java/com/example/math/mqtt/consumer/MqttConsumerCallBack.java" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/src/main/java/com/example/math/task/FirstTask.java" beforeDir="false" afterPath="$PROJECT_DIR$/src/main/java/com/example/math/task/FirstTask.java" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/src/main/resources/application.yml" beforeDir="false" afterPath="$PROJECT_DIR$/src/main/resources/application.yml" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/target/classes/application.yml" beforeDir="false" afterPath="$PROJECT_DIR$/target/classes/application.yml" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/target/classes/com/example/math/constants/CommonConstants.class" beforeDir="false" afterPath="$PROJECT_DIR$/target/classes/com/example/math/constants/CommonConstants.class" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/target/classes/com/example/math/constants/DJIMethonConstants.class" beforeDir="false" afterPath="$PROJECT_DIR$/target/classes/com/example/math/constants/DJIMethonConstants.class" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/target/classes/com/example/math/controller/OperateController.class" beforeDir="false" afterPath="$PROJECT_DIR$/target/classes/com/example/math/controller/OperateController.class" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/target/classes/com/example/math/mqtt/MqttConfig.class" beforeDir="false" afterPath="$PROJECT_DIR$/target/classes/com/example/math/mqtt/MqttConfig.class" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/target/classes/com/example/math/mqtt/consumer/MqttConsumerCallBack.class" beforeDir="false" afterPath="$PROJECT_DIR$/target/classes/com/example/math/mqtt/consumer/MqttConsumerCallBack.class" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/target/classes/com/example/math/task/FirstTask.class" beforeDir="false" afterPath="$PROJECT_DIR$/target/classes/com/example/math/task/FirstTask.class" afterDir="false" />
+    </list>
     <option name="SHOW_DIALOG" value="false" />
     <option name="HIGHLIGHT_CONFLICTS" value="true" />
     <option name="HIGHLIGHT_NON_ACTIVE_CHANGELIST" value="false" />
@@ -23,28 +42,30 @@
     </option>
   </component>
   <component name="ProjectId" id="2w9dTkbds1SLHxtWq1eBVM0rJkj" />
+  <component name="ProjectLevelVcsManager" settingsEditedManually="true" />
   <component name="ProjectViewState">
     <option name="hideEmptyMiddlePackages" value="true" />
     <option name="showLibraryContents" value="true" />
   </component>
-  <component name="PropertiesComponent"><![CDATA[{
-  "keyToString": {
-    "RequestMappingsPanelOrder0": "0",
-    "RequestMappingsPanelOrder1": "1",
-    "RequestMappingsPanelWidth0": "75",
-    "RequestMappingsPanelWidth1": "75",
-    "RunOnceActivity.OpenProjectViewOnStart": "true",
-    "RunOnceActivity.ShowReadmeOnStart": "true",
-    "WebServerToolWindowFactoryState": "false",
-    "last_opened_file_path": "D:/newCode/dji_demo",
-    "node.js.detected.package.eslint": "true",
-    "node.js.detected.package.tslint": "true",
-    "node.js.selected.package.eslint": "(autodetect)",
-    "node.js.selected.package.tslint": "(autodetect)",
-    "settings.editor.selected.configurable": "vcs.Git",
-    "vue.rearranger.settings.migration": "true"
+  <component name="PropertiesComponent">{
+  &quot;keyToString&quot;: {
+    &quot;RequestMappingsPanelOrder0&quot;: &quot;0&quot;,
+    &quot;RequestMappingsPanelOrder1&quot;: &quot;1&quot;,
+    &quot;RequestMappingsPanelWidth0&quot;: &quot;75&quot;,
+    &quot;RequestMappingsPanelWidth1&quot;: &quot;75&quot;,
+    &quot;RunOnceActivity.OpenProjectViewOnStart&quot;: &quot;true&quot;,
+    &quot;RunOnceActivity.ShowReadmeOnStart&quot;: &quot;true&quot;,
+    &quot;WebServerToolWindowFactoryState&quot;: &quot;false&quot;,
+    &quot;last_opened_file_path&quot;: &quot;D:/code/dji_demo&quot;,
+    &quot;node.js.detected.package.eslint&quot;: &quot;true&quot;,
+    &quot;node.js.detected.package.tslint&quot;: &quot;true&quot;,
+    &quot;node.js.selected.package.eslint&quot;: &quot;(autodetect)&quot;,
+    &quot;node.js.selected.package.tslint&quot;: &quot;(autodetect)&quot;,
+    &quot;settings.editor.selected.configurable&quot;: &quot;MavenSettings&quot;,
+    &quot;spring.configuration.checksum&quot;: &quot;4f45992762eb36378bf6bd0fb0b9c291&quot;,
+    &quot;vue.rearranger.settings.migration&quot;: &quot;true&quot;
   }
-}]]></component>
+}</component>
   <component name="ReactorSettings">
     <option name="notificationShown" value="true" />
   </component>
@@ -52,8 +73,26 @@
     <key name="CopyFile.RECENT_KEYS">
       <recent name="D:\newCode\dji_demo" />
     </key>
+    <key name="CopyClassDialog.RECENTS_KEY">
+      <recent name="com.example.math.enums" />
+      <recent name="com.example.math.constants" />
+      <recent name="com.example.math.utils" />
+    </key>
   </component>
-  <component name="RunManager">
+  <component name="RunManager" selected="Spring Boot.DemoAirportApplication">
+    <configuration name="OperateController" type="Application" factoryName="Application" temporary="true" nameIsGenerated="true">
+      <option name="MAIN_CLASS_NAME" value="com.example.math.controller.OperateController" />
+      <module name="demo-airport" />
+      <extension name="coverage">
+        <pattern>
+          <option name="PATTERN" value="com.example.math.controller.*" />
+          <option name="ENABLED" value="true" />
+        </pattern>
+      </extension>
+      <method v="2">
+        <option name="Make" enabled="true" />
+      </method>
+    </configuration>
     <configuration default="true" type="JetRunConfigurationType">
       <module name="dji_demo" />
       <method v="2">
@@ -74,6 +113,11 @@
         <option name="Make" enabled="true" />
       </method>
     </configuration>
+    <recent_temporary>
+      <list>
+        <item itemvalue="Application.OperateController" />
+      </list>
+    </recent_temporary>
   </component>
   <component name="SpellCheckerSettings" RuntimeDictionaries="0" Folders="0" CustomDictionaries="0" DefaultDictionary="application-level" UseSingleDictionary="true" transferred="true" />
   <component name="TaskManager">
@@ -84,6 +128,82 @@
       <option name="presentableId" value="Default" />
       <updated>1745457734060</updated>
       <workItem from="1745457735996" duration="626000" />
+      <workItem from="1745573734834" duration="12172000" />
+      <workItem from="1745804092531" duration="622000" />
+      <workItem from="1745811131652" duration="1880000" />
+      <workItem from="1745849444771" duration="17349000" />
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+      <workItem from="1747304258767" duration="597000" />
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+      <workItem from="1749171541978" duration="11161000" />
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+      <workItem from="1750466103423" duration="1208000" />
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+      <workItem from="1750647615339" duration="1198000" />
+      <workItem from="1750725600556" duration="2446000" />
+      <workItem from="1750848630017" duration="596000" />
+      <workItem from="1751101718275" duration="1488000" />
+      <workItem from="1751269862330" duration="3147000" />
+      <workItem from="1751333593584" duration="280000" />
+      <workItem from="1751340546230" duration="516000" />
+      <workItem from="1751361561706" duration="11425000" />
+      <workItem from="1751531672871" duration="675000" />
+      <workItem from="1751539018383" duration="6833000" />
+      <workItem from="1752111996657" duration="958000" />
+      <workItem from="1752297676928" duration="610000" />
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+      <workItem from="1752721948690" duration="5477000" />
+      <workItem from="1752897079985" duration="1312000" />
+      <workItem from="1752913418893" duration="3495000" />
+      <workItem from="1753145776971" duration="1532000" />
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+      <workItem from="1753166679112" duration="652000" />
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+      <workItem from="1753521115040" duration="790000" />
+      <workItem from="1753532572293" duration="24000" />
+      <workItem from="1753770664163" duration="9144000" />
+      <workItem from="1753880392335" duration="155000" />
+      <workItem from="1753923445734" duration="9798000" />
+      <workItem from="1754028330798" duration="597000" />
+      <workItem from="1754278770125" duration="7458000" />
+      <workItem from="1754294920049" duration="3215000" />
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+      <workItem from="1754710156315" duration="2094000" />
+      <workItem from="1754872583621" duration="112000" />
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+      <workItem from="1755255229544" duration="3080000" />
+      <workItem from="1755563698990" duration="4383000" />
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+      <workItem from="1755737721064" duration="1192000" />
+      <workItem from="1756452369056" duration="3989000" />
+      <workItem from="1756545800079" duration="592000" />
+      <workItem from="1758182413279" duration="2381000" />
+      <workItem from="1758594169567" duration="2118000" />
     </task>
     <task id="LOCAL-00001" summary="大疆demo提交">
       <option name="closed" value="true" />
@@ -99,8 +219,115 @@
   <component name="TypeScriptGeneratedFilesManager">
     <option name="version" value="3" />
   </component>
+  <component name="Vcs.Log.Tabs.Properties">
+    <option name="TAB_STATES">
+      <map>
+        <entry key="MAIN">
+          <value>
+            <State />
+          </value>
+        </entry>
+      </map>
+    </option>
+  </component>
   <component name="VcsManagerConfiguration">
     <MESSAGE value="大疆demo提交" />
     <option name="LAST_COMMIT_MESSAGE" value="大疆demo提交" />
   </component>
+  <component name="XDebuggerManager">
+    <breakpoint-manager>
+      <breakpoints>
+        <line-breakpoint enabled="true" type="java-line">
+          <url>file://$PROJECT_DIR$/src/main/java/com/example/math/controller/OperateController.java</url>
+          <line>1199</line>
+          <option name="timeStamp" value="1" />
+        </line-breakpoint>
+        <line-breakpoint enabled="true" type="java-line">
+          <url>file://$PROJECT_DIR$/src/main/java/com/example/math/controller/OperateController.java</url>
+          <line>1213</line>
+          <option name="timeStamp" value="2" />
+        </line-breakpoint>
+        <line-breakpoint enabled="true" type="java-line">
+          <url>file://$PROJECT_DIR$/src/main/java/com/example/math/mqtt/consumer/MqttConsumerCallBack.java</url>
+          <line>344</line>
+          <option name="timeStamp" value="20" />
+        </line-breakpoint>
+        <line-breakpoint enabled="true" type="java-line">
+          <url>file://$PROJECT_DIR$/src/main/java/com/example/math/mqtt/consumer/MqttConsumerCallBack.java</url>
+          <line>352</line>
+          <option name="timeStamp" value="21" />
+        </line-breakpoint>
+        <line-breakpoint enabled="true" type="java-line">
+          <url>file://$PROJECT_DIR$/src/main/java/com/example/math/mqtt/consumer/MqttConsumerCallBack.java</url>
+          <line>220</line>
+          <option name="timeStamp" value="26" />
+        </line-breakpoint>
+        <line-breakpoint enabled="true" type="java-line">
+          <url>file://$PROJECT_DIR$/src/main/java/com/example/math/mqtt/consumer/MqttConsumerCallBack.java</url>
+          <line>225</line>
+          <option name="timeStamp" value="27" />
+        </line-breakpoint>
+        <line-breakpoint enabled="true" type="java-line">
+          <url>file://$PROJECT_DIR$/src/main/java/com/example/math/mqtt/consumer/MqttConsumerCallBack.java</url>
+          <line>222</line>
+          <option name="timeStamp" value="28" />
+        </line-breakpoint>
+        <line-breakpoint enabled="true" type="java-line">
+          <url>file://$PROJECT_DIR$/src/main/java/com/example/math/controller/OperateController.java</url>
+          <line>1625</line>
+          <option name="timeStamp" value="30" />
+        </line-breakpoint>
+        <line-breakpoint enabled="true" type="java-line">
+          <url>file://$PROJECT_DIR$/src/main/java/com/example/math/controller/OperateController.java</url>
+          <line>1553</line>
+          <option name="timeStamp" value="31" />
+        </line-breakpoint>
+        <line-breakpoint enabled="true" type="java-line">
+          <url>file://$PROJECT_DIR$/src/main/java/com/example/math/controller/OperateController.java</url>
+          <line>1627</line>
+          <option name="timeStamp" value="32" />
+        </line-breakpoint>
+        <line-breakpoint enabled="true" type="java-line">
+          <url>file://$PROJECT_DIR$/src/main/java/com/example/math/controller/OperateController.java</url>
+          <line>1515</line>
+          <option name="timeStamp" value="35" />
+        </line-breakpoint>
+        <line-breakpoint enabled="true" type="java-line">
+          <url>file://$PROJECT_DIR$/src/main/java/com/example/math/controller/OperateController.java</url>
+          <line>1539</line>
+          <option name="timeStamp" value="36" />
+        </line-breakpoint>
+        <line-breakpoint enabled="true" type="java-line">
+          <url>file://$PROJECT_DIR$/src/main/java/com/example/math/controller/OperateController.java</url>
+          <line>1730</line>
+          <option name="timeStamp" value="37" />
+        </line-breakpoint>
+        <line-breakpoint enabled="true" type="java-line">
+          <url>file://$PROJECT_DIR$/src/main/java/com/example/math/controller/OperateController.java</url>
+          <line>1733</line>
+          <option name="timeStamp" value="38" />
+        </line-breakpoint>
+        <line-breakpoint enabled="true" type="java-line">
+          <url>file://$PROJECT_DIR$/src/main/java/com/example/math/mqtt/consumer/MqttConsumerCallBack.java</url>
+          <line>244</line>
+          <option name="timeStamp" value="46" />
+        </line-breakpoint>
+        <line-breakpoint enabled="true" type="java-line">
+          <url>file://$PROJECT_DIR$/src/main/java/com/example/math/mqtt/consumer/MqttConsumerCallBack.java</url>
+          <line>1284</line>
+          <option name="timeStamp" value="59" />
+        </line-breakpoint>
+        <line-breakpoint enabled="true" type="java-line">
+          <url>file://$PROJECT_DIR$/src/main/java/com/example/math/mqtt/consumer/MqttConsumerCallBack.java</url>
+          <line>241</line>
+          <option name="timeStamp" value="60" />
+        </line-breakpoint>
+        <line-breakpoint enabled="true" type="java-line">
+          <url>file://$PROJECT_DIR$/src/main/java/com/example/math/mqtt/consumer/MqttConsumerCallBack.java</url>
+          <line>273</line>
+          <option name="timeStamp" value="62" />
+        </line-breakpoint>
+      </breakpoints>
+    </breakpoint-manager>
+  </component>
 </project>
\ No newline at end of file
diff --git a/src/main/java/com/example/math/constants/CommonConstants.java b/src/main/java/com/example/math/constants/CommonConstants.java
index 7815df1..5a98c32 100644
--- a/src/main/java/com/example/math/constants/CommonConstants.java
+++ b/src/main/java/com/example/math/constants/CommonConstants.java
@@ -11,4 +11,45 @@ public class CommonConstants {
      * 无人机异步飞行
      */
     public static final String ASYNFLY = "asynFly";
+
+    /**
+     * 喊话次数（对应租户 唯一）
+     */
+    public static final String SHOUT_NUM = "shoutNum";
+
+    /**
+     * 喊话标识，1代表喊话中，null代表无喊话（实时）
+     */
+    public static final String SHOUT_FLAG = "shoutFlag";
+
+    /**
+     * 最近一次某个喊话器的喊话类型 1:停止  2:暂停  3：恢复
+     */
+    public static final String SHOUT_TYPE = "shoutType";
+
+    /**
+     * 喊话，点击暂停时间戳
+     */
+    public static final String SHOUT_PAUSE_TIME = "shoutPauseTime";
+
+    /**
+     * 喊话，点击恢复时间戳
+     */
+    public static final String SHOUT_RESUME_TIME = "shoutResumeTime";
+
+    /**
+     * 喊话，某一次喊话开始时间戳
+     */
+    public static final String SHOUT_START_TIME = "shoutStartTime";
+
+    /**
+     * 一键起飞事件通知  redis的key值
+     */
+    public static final String TAKE_OFF_TO_POINT_PROGRESS = "takeoffToPointProgress";
+
+    /**
+     * flyto 执行结果事件通知  redis的key值
+     */
+    public static final String FLY_TOPOINT_PROGRESS = "flyToPointProgress";
+
 }
diff --git a/src/main/java/com/example/math/constants/DJICommonConstants.java b/src/main/java/com/example/math/constants/DJICommonConstants.java
new file mode 100644
index 0000000..ca3d726
--- /dev/null
+++ b/src/main/java/com/example/math/constants/DJICommonConstants.java
@@ -0,0 +1,83 @@
+package com.example.math.constants;
+
+/**
+ * @Author: 吴彬
+ * @CreateTime: 2023-08-07  16:11
+ * @Description: 公共常量
+ * @Version: 1.0
+ */
+public class DJICommonConstants {
+
+    /**
+     * 直播方法
+     */
+    public static final String NTP_SERVER_HOST = "Google.mzr.me";
+
+    /**
+     * events 飞行任务时间
+     */
+    public static final String APP_ID = "148774";
+
+    /**
+     * 大疆机场关于 组织 设备绑定码校验回复
+     */
+    public static final String APP_KEY = "a3ba3e9934f43b82bd52428b26e695b";
+
+    /**
+     * 大疆机场关于 组织 设备绑定码校验回复 二次握手？？
+     */
+    public static final String APP_LICENSE = "Cm+BDccW/auc1L5Fixy59JrudnnXxguksAfGNPRjaDDqf3ESlHJt4JYaYBlXJ/rkkSPREF/MIg5FZV3MSwPVcXQ2ioOahFH0OEHx0fhxLnrS2uUVXaXcDkDxLRfDuOTvkmojS3KFZIgPOjt6hdF9Madi/WC+EsnZzpA5RvTD/u4=";
+
+    /**
+     * 下发任务后的二次航线获取
+     */
+    public static final Integer EXPIRE = 3600;
+
+    /**
+     * 下发任务后的二次航线获取
+     */
+    public static final String BUCKET = "dji-dev";
+
+    /**
+     * 下发任务后的二次航线获取
+     */
+    public static final String ENDPOINT = "https://oss-cn-shanghai.aliyuncs.com";
+
+    /**
+     * 下发任务后的二次航线获取
+     */
+    public static final String OBJECT_KEY_PREFIX = "hyslj";
+
+    /**
+     * 下发任务后的二次航线获取
+     */
+    public static final String PROVIDER = "ali";
+
+    /**
+     * 下发任务后的二次航线获取
+     */
+    public static final String REGION = "sh";
+
+    /**
+     * 是设备绑定组织
+     */
+    public static final Boolean IS_DEVICE_BIND_ORGANIZATION = true;
+
+    /**
+     * 大疆组织id 和机器输入的一致
+     */
+    public static final String ORGANIZATION_ID = "w";
+
+    /**
+     * 默认即可
+     */
+    public static final String ORGANIZATION_NAME = "Test Group One";
+
+
+    /**
+     * DJI 大疆前缀
+     */
+    public static final String DJI = "DJI";
+
+
+}
diff --git a/src/main/java/com/example/math/constants/DJIMethonConstants.java b/src/main/java/com/example/math/constants/DJIMethonConstants.java
index 333365e..5bce786 100644
--- a/src/main/java/com/example/math/constants/DJIMethonConstants.java
+++ b/src/main/java/com/example/math/constants/DJIMethonConstants.java
@@ -8,16 +8,81 @@ package com.example.math.constants;
  */
 public class DJIMethonConstants {
 
+    /**
+     * 开启调试模式
+     */
+    public static final String DEBUG_MODE_OPEN = "debug_mode_open";
+
+    /**
+     * 关闭调试模式
+     */
+    public static final String DEBUG_MODE_CLOSE = "debug_mode_close";
+
+    /**
+     * 开机
+     */
+    public static final String DRONE_OPEN = "drone_open";
+
+    /**
+     * 关机
+     */
+    public static final String DRONE_CLOSE = "drone_close";
+
+    /**
+     * 机场重启
+     */
+    public static final String DEVICE_REBOOT = "device_reboot";
+
+    /**
+     * 空调模式切换
+     */
+    public static final String AIR_CONDITIONER_MODE_SWITCH = "air_conditioner_mode_switch";
+
+    /**
+     * 镜头点击转动
+     */
+    public static final String CAMERA_AIM = "camera_aim";
+
+    /**
+     * 开舱
+     */
+    public static final String COVER_OPEN = "cover_open";
+
+    /**
+     * 强制关舱盖
+     */
+    public static final String COVER_FORCE_CLOSE = "cover_force_close";
+
+    /**
+     * 回舱
+     */
+    public static final String COVER_CLOSE = "cover_close";
+
     /**
      * 直播方法
      */
     public static final String LIVE_START_PUSH = "live_start_push";
 
     /**
-     * events 飞行任务时间
+     * 关闭直播
+     */
+    public static final String LIVE_STOP_PUSH = "live_stop_push";
+
+    /**
+     * events 飞行任务
      */
     public static final String FLIGHTTASK_PROGRESS = "flighttask_progress";
 
+    /**
+     * events 告警事件
+     */
+    public static final String HMS = "hms";
+
+    /**
+     * events 飞行任务时间
+     */
+    public static final String drc_status_notify = "drc_status_notify";
+
     /**
      * 大疆机场关于 组织 设备绑定码校验回复
      */
@@ -29,13 +94,19 @@ public class DJIMethonConstants {
     public static final String AIRPORT_ORGANIZATION_GET = "airport_organization_get";
 
     /**
-     * 机场建立连接？？？
+     * 设备绑定到组织？？？？？？？？
      */
     public static final String AIRPORT_ORGANIZATION_BIND = "airport_organization_bind";
 
     /**
      * 与阿里云建立连接
      */
+    public static final String CONFIG = "config";
+
+
+    /**
+     * 与阿里云建立连接 ？？？？？？？？？
+     */
     public static final String STORAGE_CONFIG_GET = "storage_config_get";
 
     /**
@@ -44,29 +115,9 @@ public class DJIMethonConstants {
     public static final String FLIGHTTASK_RESOURCE_GET = "flighttask_resource_get";
 
     /**
-     * 一键起飞
+     * 设备拓扑更新 请求设备上线
      */
-    public static final String TAKEOFF_TO_POINT = "takeoff_to_point";
-
-    /**
-     * 飞行控制权抢夺
-     */
-    public static final String FLIGHT_AUTHORITY_GRAB = "flight_authority_grab";
-
-    /**
-     * 负载控制权抢夺
-     */
-    public static final String PAYLOAD_AUTHORITY_GRAB = "payload_authority_grab";
-
-    /**
-     * 进入指令飞行控制模式
-     */
-    public static final String DRC_MODE_ENTER = "drc_mode_enter";
-
-    /**
-     * 退出指令飞行控制模式
-     */
-    public static final String DRC_MODE_EXIT = "drc_mode_exit";
+    public static final String UPDATE_TODO = "update_topo";
 
     /**
      * 负载控制—切换相机模式
@@ -108,11 +159,25 @@ public class DJIMethonConstants {
      */
     public static final String DRONE_EMERGENCY_STOP = "drone_emergency_stop";
 
+    /**
+     * DRC-杆量控制
+     */
+    public static final String STICK_CONTROL = "stick_control";
+
     /**
      * DRC-飞行控制
      */
     public static final String DRONE_CONTROL = "drone_control";
 
+    /**
+     * 下发任务
+     */
+    public static final String FLIGHTTASK_PREPARE = "flighttask_prepare";
+
+    /**
+     * 执行任务
+     */
+    public static final String FLIGHTTASK_EXECUTE = "flighttask_execute";
 
     /**
      * 航线暂停
@@ -134,21 +199,36 @@ public class DJIMethonConstants {
      */
     public static final String LIVE_LENS_CHANGE = "live_lens_change";
 
+    /**
+     * 仓内外镜头切换
+     */
+    public static final String LIVE_CAMERA_CHANGE = "live_camera_change";
+
     /**
      * 一键返航
      */
     public static final String RETURN_HOME = "return_home";
 
     /**
-     * 取消任务
+     * 一键起飞
      */
-    public static final String FLIGHTTASK_UNDO = "flighttask_undo";
+    public static final String TAKEOFF_TO_POINT = "takeoff_to_point";
 
     /**
      * 指点飞行
      */
     public static final String FLY_TO_POINT = "fly_to_point";
 
+    /**
+     * 指点飞行结果
+     */
+    public static final String FLY_TO_POINT_PROGRESS = "fly_to_point_progress";
+
+    /**
+     * 一键起飞结果事件通知
+     */
+    public static final String TAKEOFF_TO_POINT_PROGRESS = "takeoff_to_point_progress";
+
     /**
      * 结束 flyto 飞向目标点任务
      */
@@ -159,4 +239,102 @@ public class DJIMethonConstants {
      */
     public static final String FLY_TO_POINT_UPDATE = "fly_to_point_update";
 
+
+    /**
+     * 取消任务
+     */
+    public static final String FLIGHTTASK_UNDO = "flighttask_undo";
+
+
+
+    /**
+     * 开启补光灯
+     */
+    public static final String SUPPLEMENT_LIGHT_OPEN = "supplement_light_open";
+
+    /**
+     * 关闭补光灯
+     */
+    public static final String SUPPLEMENT_LIGHT_CLOSE = "supplement_light_close";
+
+    /**
+     * 浮窗文本推送
+     */
+    public static final String PSDK_FLOATING_WINDOW_TEXT = "psdk_floating_window_text";
+
+    /**
+     * 发送文本框内容
+     */
+    public static final String PSDK_INPUT_BOX_TEXT_SET = "psdk_input_box_text_set";
+
+    /**
+     * 设置单元控件
+     */
+    public static final String PSDK_WIDGET_VALUE_SET = "psdk_widget_value_set";
+
+    /**
+     * 设置单元控件
+     */
+    public static final String SPEAKER_PLAY_STOP = "speaker_play_stop";
+
+    /**
+     * 设置播放模式
+     */
+    public static final String SPEAKER_PLAY_MODE_SET = "speaker_play_mode_set";
+
+    /**
+     * 设置播放音量
+     */
+    public static final String SPEAKER_PLAY_VOLUME_SET = "speaker_play_volume_set";
+
+    /**
+     * tts文本播放
+     */
+    public static final String SPEAKER_TTS_PLAY_START = "speaker_tts_play_start";
+
+    /**
+     * 音频播放
+     */
+    public static final String SPEAKER_AUDIO_PLAY_START = "speaker_audio_play_start";
+
+    /**
+     * 飞行控制权抢夺
+     */
+    public static final String FLIGHT_AUTHORITY_GRAB = "flight_authority_grab";
+
+    /**
+     * 负载控制权抢夺
+     */
+    public static final String PAYLOAD_AUTHORITY_GRAB = "payload_authority_grab";
+
+    /**
+     * 进入指令飞行控制模式
+     */
+    public static final String DRC_MODE_ENTER = "drc_mode_enter";
+
+    /**
+     * 指令飞行控制模式 状态
+     */
+    public static final String DRC_STATUS = "drc_status";
+
+    /**
+     * DRC心跳包
+     */
+    public static final String HEART_BEAT = "heart_beat";
+
+    /**
+     * 退出指令飞行控制模式
+     */
+    public static final String DRC_MODE_EXIT = "drc_mode_exit";
+
+    /**
+     * events 返航信息
+     */
+    public static final String RETURN_HOME_INFO = "return_home_info";
+
+    /**
+     * 切换直播清晰度
+     */
+    public static final String LIVE_SET_QUALITY = "live_set_quality";
+
 }
diff --git a/src/main/java/com/example/math/controller/OperateController.java b/src/main/java/com/example/math/controller/OperateController.java
index f94617f..a7298fd 100644
--- a/src/main/java/com/example/math/controller/OperateController.java
+++ b/src/main/java/com/example/math/controller/OperateController.java
@@ -3,6 +3,12 @@ package com.example.math.controller;
 
 
 import com.alibaba.fastjson2.JSONObject;
+import com.aliyun.sts20150401.Client;
+import com.aliyun.sts20150401.models.AssumeRoleRequest;
+import com.aliyun.sts20150401.models.AssumeRoleResponse;
+import com.aliyun.tea.TeaException;
+import com.aliyun.teautil.models.RuntimeOptions;
+import com.example.math.constants.DJICommonConstants;
 import com.example.math.constants.DJIMethonConstants;
 import com.example.math.entity.dto.BreakPoint;
 import com.example.math.entity.dto.ExecutableConditions;
@@ -13,20 +19,22 @@ import com.example.math.entity.dto.SimulateMission;
 import com.example.math.mqtt.MqttConfig;
 import com.example.math.mqtt.SpringUtil;
 //import com.example.math.task.FirstTask;
+import com.example.math.mqtt.consumer.MqttConsumerCallBack;
+import com.example.math.task.FirstTask;
 import com.example.math.utils.RedisUtils;
 import com.example.math.utils.SslUtils;
+import lombok.extern.slf4j.Slf4j;
 import org.apache.commons.compress.archivers.ArchiveEntry;
 import org.apache.commons.compress.archivers.ArchiveInputStream;
 import org.apache.commons.compress.archivers.zip.ZipArchiveInputStream;
+import org.apache.commons.lang3.ThreadUtils;
 import org.eclipse.paho.client.mqttv3.MqttDeliveryToken;
+import org.eclipse.paho.client.mqttv3.MqttException;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.beans.factory.annotation.Value;
 import org.springframework.stereotype.Controller;
 import org.springframework.util.CollectionUtils;
-import org.springframework.web.bind.annotation.GetMapping;
-import org.springframework.web.bind.annotation.RequestMapping;
-import org.springframework.web.bind.annotation.RequestParam;
-import org.springframework.web.bind.annotation.ResponseBody;
+import org.springframework.web.bind.annotation.*;
 import org.springframework.web.multipart.MultipartFile;
 
 import java.io.BufferedReader;
@@ -41,12 +49,11 @@ import java.net.MalformedURLException;
 import java.net.URL;
 import java.net.URLConnection;
 import java.sql.Date;
-import java.util.ArrayList;
-import java.util.HashMap;
-import java.util.List;
-import java.util.Map;
-import java.util.Objects;
-import java.util.UUID;
+import java.time.Instant;
+import java.time.LocalDateTime;
+import java.time.ZoneId;
+import java.time.format.DateTimeFormatter;
+import java.util.*;
 
 
 /**
@@ -75,10 +82,25 @@ import java.util.UUID;
  *
  * live_stop_push
  * http://localhost:9999/operate/live_stop_push?one=7CTDM7H00B5EM1&two=165-0-7&three=normal-0
+ *
  * http://localhost:9999/operate/live_stop_push?one=1581F6Q8D248900G5PYE&two=81-0-0&three=normal-0
  *
  * http://localhost:9999/operate/live_lens_change?video_type=normal
  *
+ * 控制模式
+ * http://localhost:9999/operate/flightAuthorityGrab
+ *
+ * http://localhost:9999/operate/payloadAuthorityGrab
+ *
+ * http://localhost:9999/operate/drcModeEnter
+ *
+ * http://localhost:9999/operate/droneEmergencyStop
+ *
+ * http://localhost:9999/operate/stickControl?roll=1024&pitch=1024&throttle=1024&yaw=1024&gimbal_pitch=1024
+ *Integer roll, Integer pitch, Integer throttle, Integer yaw, Integer gimbal_pitch
+ *
+ *
+ *
  *
  *      * @param airPortSn 机场sn号
  *      * @param airPortSn 速度 String maxsSpeed
@@ -98,6 +120,7 @@ import java.util.UUID;
  */
 @RequestMapping(path="/operate")
 @Controller
+@Slf4j
 public class OperateController {
 
 
@@ -112,7 +135,7 @@ public class OperateController {
                 qos = 2;
             }
             if(retained == null){
-                retained = true;
+                retained = false;
             }
             if(topic == null){
                 topic = "firsttest";
@@ -145,7 +168,7 @@ public class OperateController {
                 qos = 2;
             }
             if(retained == null){
-                retained = true;
+                retained = false;
             }
             if(topic == null){
                 topic = "thing/product/7CTDM7H00B5EM1/services";
@@ -187,7 +210,7 @@ public class OperateController {
                 qos = 2;
             }
             if(retained == null){
-                retained = true;
+                retained = false;
             }
             if(topic == null){
                 topic = "thing/product/7CTDM7H00B5EM1/services";
@@ -230,7 +253,7 @@ public class OperateController {
                 qos = 2;
             }
             if(retained == null){
-                retained = true;
+                retained = false;
             }
             if(topic == null){
                 topic = "thing/product/7CTDM7H00B5EM1/services";
@@ -272,7 +295,7 @@ public class OperateController {
                 qos = 2;
             }
             if(retained == null){
-                retained = true;
+                retained = false;
             }
             if(topic == null){
                 topic = "thing/product/7CTDM7H00B5EM1/services";
@@ -315,7 +338,7 @@ public class OperateController {
                 qos = 2;
             }
             if(retained == null){
-                retained = true;
+                retained = false;
             }
             if(topic == null){
                 topic = "thing/product/7CTDM7H00B5EM1/services";
@@ -359,7 +382,7 @@ public class OperateController {
                 qos = 2;
             }
             if(retained == null){
-                retained = true;
+                retained = false;
             }
             if(topic == null){
                 topic = "thing/product/7CTDM7H00B5EM1/services";
@@ -395,7 +418,7 @@ public class OperateController {
                 qos = 2;
             }
             if(retained == null){
-                retained = true;
+                retained = false;
             }
             if(topic == null){
                 topic = "thing/product/7CTDM7H00BXZD1/services";
@@ -437,7 +460,7 @@ public class OperateController {
                 qos = 2;
             }
             if(retained == null){
-                retained = true;
+                retained = false;
             }
             if(topic == null){
                 topic = "thing/product/7CTDM7H00B5EM1/services";
@@ -531,7 +554,7 @@ public class OperateController {
                 qos = 2;
             }
             if(retained == null){
-                retained = true;
+                retained = false;
             }
             if(topic == null){
                 topic = "thing/product/7CTDM7H00B5EM1/services";
@@ -582,7 +605,7 @@ public class OperateController {
                 qos = 2;
             }
             if(retained == null){
-                retained = true;
+                retained = false;
             }
             if(topic == null){
                 topic = "thing/product/7CTDM7H00B5EM1/services";
@@ -621,7 +644,7 @@ public class OperateController {
                 qos = 2;
             }
             if(retained == null){
-                retained = true;
+                retained = false;
             }
             if(topic == null){
                 topic = "thing/product/7CTXM9Q00B02H2/services";
@@ -660,7 +683,7 @@ public class OperateController {
                 qos = 2;
             }
             if(retained == null){
-                retained = true;
+                retained = false;
             }
             if(topic == null){
                 topic = "thing/product/7CTDM7H00B5EM1/services";
@@ -704,7 +727,7 @@ public class OperateController {
                 qos = 2;
             }
             if(retained == null){
-                retained = true;
+                retained = false;
             }
             if(topic == null){
                 topic = "thing/product/7CTDM7H00B5EM1/services";
@@ -748,7 +771,7 @@ public class OperateController {
                 qos = 2;
             }
             if(retained == null){
-                retained = true;
+                retained = false;
             }
             if(topic == null){
                 topic = "thing/product/7CTDM7H00B5EM1/services";
@@ -788,7 +811,7 @@ public class OperateController {
                 qos = 2;
             }
             if(retained == null){
-                retained = true;
+                retained = false;
             }
             if(topic == null){
                 topic = "thing/product/7CTDM7H00B5EM1/services";
@@ -831,7 +854,7 @@ public class OperateController {
                 qos = 2;
             }
             if(retained == null){
-                retained = true;
+                retained = false;
             }
             if(topic == null){
                 topic = "thing/product/7CTDM7H00B5EM1/services";
@@ -875,7 +898,7 @@ public class OperateController {
                 qos = 2;
             }
             if(retained == null){
-                retained = true;
+                retained = false;
             }
             if(topic == null){
                 topic = "thing/product/7CTDM7H00B5EM1/services";
@@ -923,7 +946,7 @@ public class OperateController {
         }
         try {
             Integer qos = 2;
-            Boolean retained = true;
+            Boolean retained = false;
             //topic主题 sn是机场sn号  thing/product/%s/services
             String topic = String.format(someTopic, airPortSn);
             //封装数据
@@ -971,7 +994,7 @@ public class OperateController {
     }
 
     @Autowired
-    private static String airPortSn = "7CTXMC900B054P";
+    private static String airPortSn = "7CTDM7H00BXZD1";
 
     /**
      * 飞行控制权抢夺 /flightAuthorityGrab
@@ -983,7 +1006,7 @@ public class OperateController {
     public String flightAuthorityGrab(){
         try {
             Integer qos = 2;
-            Boolean retained = true;
+            Boolean retained = false;
             //topic主题 sn是机场sn号  thing/product/%s/services
             //TODO 此处用的是无人的SN号 待测试
             String topic = String.format(someTopic, airPortSn);
@@ -1014,7 +1037,7 @@ public class OperateController {
     public String payloadAuthorityGrab(String cameraIndex){
         try {
             Integer qos = 2;
-            Boolean retained = true;
+            Boolean retained = false;
             //topic主题 sn是机场sn号  thing/product/%s/services
             //TODO 此处用的是无人的SN号 待测试
             String topic = String.format(someTopic, airPortSn);
@@ -1054,9 +1077,37 @@ public class OperateController {
     @Value("${spring.mqtt.client.id}")
     private String clientId;
 
+
+
+    /**
+     * DRC心跳
+     * @return JsonResult
+     */
+
+    private static Integer seq = 0;
+
+    @ResponseBody
+    @RequestMapping("/drcOsd")
+    public String drcOsd() throws InterruptedException{
+        if (true){
+            Map<String,Object> content = new HashMap<>();
+            HashMap<String, Long> data = new HashMap<>();
+            data.put("timestamp", System.currentTimeMillis());
+            seq++;
+            content.put("method", "heart_beat");
+            content.put("data", data);
+            content.put("seq", 0);
+            String message = com.alibaba.fastjson.JSONObject.toJSONString(content);
+            Thread.sleep(2000L);
+            MqttDeliveryToken publish = providerClient.publish(1, false, "thing/product/8UUXN3500A02BE/drc/down", message);
+        }
+        return "发送成功";
+    }
+
+
+
     /**
      * 进入指令飞行控制模式
-     * @param airPortSn 机场sn号
      * @return JsonResult
      */
     @ResponseBody
@@ -1065,7 +1116,7 @@ public class OperateController {
         try {
 
             Integer qos = 1;
-            Boolean retained = true;
+            Boolean retained = false;
             //topic主题 sn是机场sn号  thing/product/%s/services
             //TODO 此处用的是无人的SN号 待测试
             String topic = String.format(someTopic, airPortSn);
@@ -1073,7 +1124,7 @@ public class OperateController {
             Map<String,Object> content = new HashMap<>();
             Map<String,Object> data = new HashMap<>();
             //负载枚举值 镜头负载
-            data.put("hsi_frequency", 20);
+            data.put("hsi_frequency", 1);
 
             //Broker 连接信息
             Map<String,Object> mqttBroker = new HashMap<>();
@@ -1091,7 +1142,7 @@ public class OperateController {
             mqttBroker.put("username", username);
             data.put("mqtt_broker", mqttBroker);
             //设置 OSD 上报频率  {"max":30,"min":1,"unit_name":"赫兹 / Hz"}
-            data.put("osd_frequency", 20);
+            data.put("osd_frequency", 1);
 
             content.put("tid", UUID.randomUUID().toString());
             content.put("bid", UUID.randomUUID().toString());
@@ -1099,6 +1150,40 @@ public class OperateController {
             content.put("method", DJIMethonConstants.DRC_MODE_ENTER);
             content.put("data", data);
             String message = com.alibaba.fastjson.JSONObject.toJSONString(content);
+            System.out.println(topic);
+            System.out.println(message);
+            MqttDeliveryToken publish = providerClient.publish(qos, retained, topic, message);
+            return "发送成功";
+        } catch (Exception e) {
+            e.printStackTrace();
+            return "发送失败";
+        }
+    }
+
+
+    /**
+     * 退出指令飞行控制模式
+     * @return JsonResult
+     */
+    @ResponseBody
+    @RequestMapping("/drcModeExit")
+    public String drcModeExit(){
+        try {
+            Integer qos = 1;
+            Boolean retained = false;
+            //topic主题 sn是机场sn号  thing/product/%s/services
+            //TODO 此处用的是无人的SN号 待测试
+            String topic = String.format(someTopic, airPortSn);
+            //封装数据
+            Map<String,Object> content = new HashMap<>();
+            Map<String,Object> data = new HashMap<>();
+            content.put("tid", UUID.randomUUID().toString());
+            content.put("bid", UUID.randomUUID().toString());
+            content.put("timestamp",System.currentTimeMillis());
+            content.put("method", DJIMethonConstants.DRC_MODE_EXIT);
+            content.put("data", data);
+            String message = com.alibaba.fastjson.JSONObject.toJSONString(content);
+            System.out.println(topic);
             System.out.println(message);
             MqttDeliveryToken publish = providerClient.publish(qos, retained, topic, message);
             return "发送成功";
@@ -1110,10 +1195,10 @@ public class OperateController {
 
 
     @RequestMapping("/droneEmergencyStop")
-    public String droneEmergencyStop(String airPortSn){
+    public String droneEmergencyStop(){
         try {
             Integer qos = 2;
-            Boolean retained = true;
+            Boolean retained = false;
             //topic主题 sn是机场sn号  thing/product/%s/services
             //TODO 此处用的是无人的SN号 待测试
             String topic = String.format("thing/product/%s/drc/down", airPortSn);
@@ -1123,6 +1208,7 @@ public class OperateController {
             content.put("method", DJIMethonConstants.DRONE_EMERGENCY_STOP);
             content.put("data", data);
             String message = com.alibaba.fastjson.JSONObject.toJSONString(content);
+            System.out.println(topic);
             System.out.println(message);
             MqttDeliveryToken publish = providerClient.publish(qos, retained, topic, message);
             return "发送成功";
@@ -1133,6 +1219,53 @@ public class OperateController {
     }
 
 
+
+
+    @RequestMapping("/stickControl")
+    public String stickControl(Integer roll, Integer pitch, Integer throttle, Integer yaw, Integer gimbal_pitch){
+        Integer seq = 1;
+//        for (int i = 0; i < 10; i++) {
+            if (!roll.equals(0)){
+                roll += 20;
+            }
+            if (!pitch.equals(0)){
+                pitch += 20;
+            }
+            if (!throttle.equals(0)){
+                throttle += 20;
+            }
+            if (!yaw.equals(0)){
+                yaw += 20;
+            }
+            if (!gimbal_pitch.equals(0)){
+                gimbal_pitch += 20;
+            }
+            seq = seq + 1;
+            Integer qos = 2;
+            Boolean retained = false;
+            //topic主题 sn是机场sn号
+            //TODO 此处用的是无人的SN号 待测试
+            String topic = String.format("thing/product/%s/drc/down", airPortSn);
+            //封装数据
+            Map<String,Object> content = new HashMap<>();
+            Map<String,Object> data = new HashMap<>();
+            data.put("roll", roll);
+            data.put("pitch", pitch);
+            data.put("throttle", throttle);
+            data.put("yaw", yaw);
+            data.put("gimbal_pitch", gimbal_pitch);
+            content.put("method", "stick_control");
+            content.put("seq", seq);
+            content.put("data", data);
+            String message = com.alibaba.fastjson.JSONObject.toJSONString(content);
+            System.out.println(message);
+            MqttDeliveryToken publish = providerClient.publish(qos, retained, topic, message);
+
+//        }
+        return "";
+    }
+
+
     /**
      * @param sn 机场sn号
      * @param flightId 任务id
@@ -1144,7 +1277,7 @@ public class OperateController {
         try {
             //sn = "7CTDM7H00B5EM1";
             Integer qos = 2;
-            Boolean retained = true;
+            Boolean retained = false;
             //topic主题 sn是机场sn号  thing/product/%s/services
             String topic = String.format("thing/product/%s/services", sn);
             //参数封装
@@ -1183,7 +1316,7 @@ public class OperateController {
     public String flyToPoint(String airPortSn, Integer maxsSpeed, Integer height, Double latitude, Double longitude){
         try {
             Integer qos = 2;
-            Boolean retained = true;
+            Boolean retained = false;
             //topic主题 sn是机场sn号  thing/product/%s/services
             String topic = String.format(someTopic, airPortSn);
             Map<String,Object> content = new HashMap<>();
@@ -1230,7 +1363,7 @@ public class OperateController {
     public String flyToPointStop(String airPortSn){
         try {
             Integer qos = 2;
-            Boolean retained = true;
+            Boolean retained = false;
             //topic主题 sn是机场sn号  thing/product/%s/services
             String topic = String.format(someTopic, airPortSn);
             Map<String,Object> content = new HashMap<>();
@@ -1265,7 +1398,7 @@ public class OperateController {
     public String flyToPointUpdate(String airPortSn, String maxsSpeed, String height, String latitude, String longitude){
         try {
             Integer qos = 2;
-            Boolean retained = true;
+            Boolean retained = false;
             //topic主题 sn是机场sn号  thing/product/%s/services
             String topic = String.format(someTopic, airPortSn);
             Map<String,Object> content = new HashMap<>();
@@ -1370,26 +1503,317 @@ public class OperateController {
     }
 
 
-    public static void main(String[] args) {
-        String capacityPercent = "32767.00";
-        if(Objects.nonNull(capacityPercent)){
-            double v = Double.parseDouble(capacityPercent.toString());
-            if (v > 100){
-                System.out.printf("++++++"+ capacityPercent);
-            }
+    /**
+     * 查询日志列表
+     * @return
+     */
+    @RequestMapping("/fileuploadList")
+    public String fileuploadList(String airPortSn, String module) {
+        try {
+            // 从请求中获取参数，如果没有提供则使用默认值或生成
+
+            // 构建消息内容
+            Map<String, Object> content = new HashMap<>();
+            Map<String, Object> data = new HashMap<>();
+
+            // 构建module_list
+            List<String> moduleList = new ArrayList<>();
+//            moduleList.add("0");
+//            moduleList.add("3");
+            moduleList.add(module);
+            data.put("module_list", moduleList);
+
+            content.put("bid", UUID.randomUUID().toString());
+            content.put("tid", UUID.randomUUID().toString());
+            content.put("timestamp", System.currentTimeMillis());
+            content.put("method", "fileupload_list");
+            content.put("data", data);
+
+            // 转换为JSON字符串
+            String message = JSONObject.toJSONString(content);
+            System.out.println("发送的消息: " + message);
+
+            // 发布消息
+            String topic = String.format(someTopic, airPortSn);
+            int qos = 1;
+            boolean retained = false;
+            MqttDeliveryToken publish = providerClient.publish(qos, retained, topic, message);
+
+            return "发送成功: " + publish.isComplete();
+        } catch (Exception e) {
+            e.printStackTrace();
+            return "发送失败: " + e.getMessage();
         }
     }
 
 
+    @ResponseBody
+    @RequestMapping("/fileuploadStart")
+    public String fileuploadStart(String airPortSn, String type, Integer[] bootIndices, String module) {
+        try {
+            Integer qos = 1;
+            Boolean retained = false;
+            String topic = String.format(someTopic, airPortSn);
+
+            Map<String, Object> content = new HashMap<>();
+            Map<String, Object> data = new HashMap<>();
+            Map<String, Object> credentials = new HashMap<>();
+            Map<String, Object> params = new HashMap<>();
+            List<Map<String, Object>> files = new ArrayList<>();
+            Map<String, Object> fileEntry = new HashMap<>();
+            List<Map<String, Object>> list = new ArrayList<>();
+
+
+            //获取阿里云 OSS对应文件夹的token
+            Map<String, String> ossMap = ossToken();
+            if (!CollectionUtils.isEmpty(ossMap)) {
+                credentials.put("access_key_id", ossMap.get("access_key_id"));
+                credentials.put("access_key_secret", ossMap.get("access_key_secret"));
+                credentials.put("expire", DJICommonConstants.EXPIRE);
+                credentials.put("security_token", ossMap.get("security_token"));
+                log.info("获取阿里云上传凭证成功");
+            } else {
+                log.info("获取阿里云上传凭证失败");
+            }
+//            Map<String, Object> outputItem = new HashMap<>();
+//            outputItem.put("bucket", DJICommonConstants.BUCKET);
+//            outputItem.put("endpoint", DJICommonConstants.ENDPOINT);
+//            //outputItem.put("object_key_prefix" , DJICommonConstants.OBJECT_KEY_PREFIX);
+//            outputItem.put("object_key_prefix", DJICommonConstants.DJI + airPortSn);
+//            outputItem.put("provider", DJICommonConstants.PROVIDER);
+//            outputItem.put("region", DJICommonConstants.REGION);
+//            outputItem.put("credentials", credentials);
+
+
+            // 构建 list 数组
+            for (Integer bootIndex : bootIndices) {
+                Map<String, Object> item = new HashMap<>();
+                item.put("boot_index", bootIndex);
+                list.add(item);
+            }
+
+
+
+            // 构建 fileEntry 对象
+            fileEntry.put("list", list);
+            fileEntry.put("module", module);
+            fileEntry.put("object_key", "7CTDM7H00BXZD1-A");
+
+            // 构建 files 数组
+            files.add(fileEntry);
+
+            // 构建 params 对象
+            params.put("files", files);
+
+            // 构建 data 对象
+            data.put("bucket", DJICommonConstants.BUCKET);
+            data.put("credentials", credentials);
+            data.put("endpoint", DJICommonConstants.ENDPOINT);
+            data.put("params", params);
+            data.put("provider", DJICommonConstants.PROVIDER);
+            data.put("region", DJICommonConstants.REGION);
+
+            // 构建 content 对象
+            content.put("bid", UUID.randomUUID().toString());
+            content.put("data", data);
+            content.put("tid", UUID.randomUUID().toString());
+            content.put("timestamp", System.currentTimeMillis());
+            content.put("method", "fileupload_start");
+
+            String message = JSONObject.toJSONString(content);
+            System.out.println("Sending message: " + message);
+
+            MqttDeliveryToken publish = providerClient.publish(qos, retained, topic, message);
+
+            return "发送成功";
+        } catch (Exception e) {
+            e.printStackTrace();
+            return "发送失败: " + e.getMessage();
+        }
+    }
+
+
+
+    //http://localhost:9999/operate/otaCreate?airPortSn=7CTXN1E00B06ZR&fileName=DOCK2_10.01.16.12_pro.zip&fileSize=485800158&fileUrl=https://dji-dev.oss-cn-shanghai.aliyuncs.com/firmware/DOCK2_10.01.16.12_pro.zip&firmwareUpgradeType=1&md5=&productVersion=1612&sn=drone_sn&dockFirmwareUpgradeType=3&dockProductVersion=1612&dockSn=dock_sn
+
+
+    @ResponseBody
+    @RequestMapping("/otaCreate")
+    public String otaCreate(String airPortSn,
+                            String fileName,
+                            Long fileSize,
+                            String fileUrl,
+                            Integer firmwareUpgradeType,
+                            String md5,
+                            String productVersion,
+                            String sn,
+                            Integer dockFirmwareUpgradeType,
+                            String dockProductVersion,
+                            String dockSn) {
+        try {
+            Integer qos = 1;
+            Boolean retained = false;
+            String topic = String.format(someTopic, airPortSn);
+
+            Map<String, Object> content = new HashMap<>();
+            Map<String, Object> data = new HashMap<>();
+            List<Map<String, Object>> devices = new ArrayList<>();
+
+            // 构建无人机设备信息
+            Map<String, Object> droneDevice = new HashMap<>();
+            droneDevice.put("file_name", fileName);
+            droneDevice.put("file_size", fileSize);
+            droneDevice.put("file_url", fileUrl);
+            droneDevice.put("firmware_upgrade_type", firmwareUpgradeType);
+            droneDevice.put("md5", md5);
+            droneDevice.put("product_version", productVersion);
+            droneDevice.put("sn", sn);
+            devices.add(droneDevice);
+
+            // 构建机场设备信息
+            Map<String, Object> dockDevice = new HashMap<>();
+            dockDevice.put("firmware_upgrade_type", dockFirmwareUpgradeType);
+            dockDevice.put("product_version", dockProductVersion);
+            dockDevice.put("sn", dockSn);
+            devices.add(dockDevice);
+
+            // 构建 data 对象
+            data.put("devices", devices);
+
+            // 构建 content 对象
+            content.put("bid", UUID.randomUUID().toString());
+            content.put("data", data);
+            content.put("tid", UUID.randomUUID().toString());
+            content.put("timestamp", System.currentTimeMillis());
+            content.put("method", "ota_create");
+
+            String message = JSONObject.toJSONString(content);
+            System.out.println("Sending ota_create message: " + message);
+
+            MqttDeliveryToken publish = providerClient.publish(qos, retained, topic, message);
+
+            return "发送成功";
+        } catch (Exception e) {
+            e.printStackTrace();
+            return "发送失败: " + e.getMessage();
+        }
+    }
+
+
+
+
+
+    /**
+     * 获取
+     */
+    private Map<String, String> ossToken() {
+        Map<String, String> ossMap = new HashMap<>();
+        String policy = "{\n" +
+                "    \"Version\": \"1\", \n" +
+                "    \"Statement\": [\n" +
+                "        {\n" +
+                "            \"Action\": [\n" +
+                "                \"oss:PutObject\"\n" +
+                "            ], \n" +
+                "            \"Resource\": [\n" +
+                "                \"acs:oss:*:*:dji-dev/*\" \n" +
+                "            ], \n" +
+                "            \"Effect\": \"Allow\"\n" +
+                "        }\n" +
+                "    ]\n" +
+                "}";
+
+//        String roleARN = "acs:ram::1399733914954856:role/ramosstest";
+        String roleARN = "acs:ram::1399733914954856:role/oss-role";
+        String sessionName = "SessionTest";
+        java.util.List<String> args = Arrays.asList();
+        Client client = null;
+        try {
+            client = MqttConsumerCallBack.createClient();
+        } catch (Exception e) {
+            log.info("获取阿里云token失败");
+        }
+        AssumeRoleRequest assumeRoleRequest = new com.aliyun.sts20150401.models.AssumeRoleRequest()
+                .setDurationSeconds(3600L)
+                .setPolicy(policy)
+                .setRoleArn(roleARN)
+                .setRoleSessionName(sessionName);
+        try {
+            // 复制代码运行请自行打印 API 的返回值
+            AssumeRoleResponse assumeRoleResponse = client.assumeRoleWithOptions(assumeRoleRequest, new RuntimeOptions());
+            String arn = assumeRoleResponse.getBody().getAssumedRoleUser().getArn();
+            String assumedRoleId = assumeRoleResponse.getBody().getAssumedRoleUser().getAssumedRoleId();
+            String accessKeyId = assumeRoleResponse.getBody().getCredentials().getAccessKeyId();
+            String accessKeySecret = assumeRoleResponse.getBody().getCredentials().getAccessKeySecret();
+            String securityToken = assumeRoleResponse.getBody().getCredentials().getSecurityToken();
+            String expiration = assumeRoleResponse.getBody().getCredentials().getExpiration();
+            log.info(arn);
+            log.info(assumedRoleId);
+            log.info(accessKeyId);
+            log.info(accessKeySecret);
+            log.info(securityToken);
+            log.info(expiration);
+            log.info("a");
+
+            ossMap.put("access_key_id", accessKeyId);
+            ossMap.put("access_key_secret", accessKeySecret);
+            ossMap.put("security_token", securityToken);
+            return ossMap;
+        } catch (TeaException error) {
+            // 此处仅做打印展示，请谨慎对待异常处理，在工程项目中切勿直接忽略异常。
+            // 错误 message
+            log.info(error.getMessage());
+            // 诊断地址
+            log.info(error.getData().get("Recommend") + "");
+            com.aliyun.teautil.Common.assertAsString(error.message);
+        } catch (Exception _error) {
+            TeaException error = new TeaException(_error.getMessage(), _error);
+            // 此处仅做打印展示，请谨慎对待异常处理，在工程项目中切勿直接忽略异常。
+            // 错误 message
+            log.info(error.getMessage());
+            // 诊断地址
+            log.info(error.getData().get("Recommend") + "");
+            com.aliyun.teautil.Common.assertAsString(error.message);
+        }
+        return ossMap;
+    }
+
+
+
+//    public static void main(String[] args) {
+//        String capacityPercent = "32767.00";
+//        if(Objects.nonNull(capacityPercent)){
+//            double v = Double.parseDouble(capacityPercent.toString());
+//            if (v > 100){
+//                System.out.printf("++++++"+ capacityPercent);
+//            }
+//        }
+//    }
+
+
+    public static void main(String[] args) {
+        // 示例：当前时间戳（秒）
+        long timestampInSeconds = System.currentTimeMillis() / 1000;
+        timestampInSeconds = 1749403384;
+        // 转换为北京时间
+        String beijingTime = convertTimestampToBeijingTime(timestampInSeconds);
+
+        // 输出结果
+        System.out.println("北京时间: " + beijingTime);
+    }
+
+    public static String convertTimestampToBeijingTime(long timestamp) {
+        ZoneId beijingZone = ZoneId.of("Asia/Shanghai");
+        Instant instant = Instant.ofEpochSecond(timestamp);  // 使用 ofEpochSecond
+        DateTimeFormatter formatter = DateTimeFormatter.ofPattern("yyyy-MM-dd HH:mm:ss").withZone(beijingZone);
+        return formatter.format(instant);
+    }
+
+
 
 
 
 
 
 
-
-
-
-
-
 }
\ No newline at end of file
diff --git a/src/main/java/com/example/math/enums/TakeOffToPointEnum.java b/src/main/java/com/example/math/enums/TakeOffToPointEnum.java
new file mode 100644
index 0000000..6ef5a39
--- /dev/null
+++ b/src/main/java/com/example/math/enums/TakeOffToPointEnum.java
@@ -0,0 +1,38 @@
+package com.example.math.enums;
+
+import lombok.Getter;
+
+/**
+ * @Author: 陈璐
+ * @CreateTime: 2024-08-12 15:24
+ * @Description: 一键起飞结果实践通知 通用雨flyto事件
+ * @Version: 1.0
+ */
+public enum TakeOffToPointEnum {
+
+    TASK_FINISH("task_finish","一键起飞任务完成"),
+
+    TASK_READY("task_ready","准备起飞" ),
+
+    WAYLINE_CANCEL("wayline_cancel","取消飞向目标点" ),
+
+    WAYLINE_FAILED("wayline_failed","执行失败" ),
+
+    WAYLINE_OK("wayline_ok","执行成功，已飞向目标点" ),
+
+    WAYLINE_PROGRESS("wayline_progress","执行中" ),
+
+    ;
+
+    TakeOffToPointEnum(String code, String value){
+        this.code = code;
+        this.value = value;
+    }
+
+    @Getter
+    private String code;
+
+    @Getter
+    private String value;
+
+}
diff --git a/src/main/java/com/example/math/mqtt/MqttConfig.java b/src/main/java/com/example/math/mqtt/MqttConfig.java
index aa96aa8..6ab96a3 100644
--- a/src/main/java/com/example/math/mqtt/MqttConfig.java
+++ b/src/main/java/com/example/math/mqtt/MqttConfig.java
@@ -73,13 +73,14 @@ public class MqttConfig {
             //订阅主题
             //消息等级，和主题数组一一对应，服务端将按照指定等级给订阅了主题的客户端推送消息
             //订阅主题
-//            client.subscribe("thing/product/+/requests",1);
-//            client.subscribe("thing/product/+/requests_reply",1);
-//            client.subscribe("thing/product/+/services",1);
-//            client.subscribe("thing/product/+/services_reply",1);
-//            client.subscribe("sys/product/+/status",1);
-//            client.subscribe("thing/product/+/osd",1);
-//            client.subscribe("thing/product/8UUXN2T00A01RU/events",1);
+//            client.subscribe("thing/product/8UUXN3500A02BE/requests",1);
+//            client.subscribe("thing/product/8UUXN3500A02BE/requests_reply",1);
+//            client.subscribe("thing/product/8UUXN3500A02BE/services",1);
+//            client.subscribe("thing/product/8UUXN3500A02BE/services_reply",1);
+//            client.subscribe("sys/product/8UUXN3500A02BE/status",1);
+//            client.subscribe("thing/product/7CTXMC900B054P/osd",1);
+//            client.subscribe("thing/product/8UUXN3500A02BE/events",1);
+//            client.subscribe("thing/product/1581F6Q83254100BD0UV/osd",1);
 
         } catch(MqttException e){
             e.printStackTrace();
diff --git a/src/main/java/com/example/math/mqtt/consumer/MqttConsumerCallBack.java b/src/main/java/com/example/math/mqtt/consumer/MqttConsumerCallBack.java
index 10524a7..e4ddb5c 100644
--- a/src/main/java/com/example/math/mqtt/consumer/MqttConsumerCallBack.java
+++ b/src/main/java/com/example/math/mqtt/consumer/MqttConsumerCallBack.java
@@ -2,18 +2,23 @@ package com.example.math.mqtt.consumer;
 
 
 
+import com.alibaba.fastjson.JSONArray;
 import com.alibaba.fastjson2.JSONObject;
 import com.aliyun.sts20150401.Client;
 import com.aliyun.sts20150401.models.AssumeRoleRequest;
 import com.aliyun.sts20150401.models.AssumeRoleResponse;
 import com.aliyun.tea.TeaException;
 import com.aliyun.teautil.models.RuntimeOptions;
+import com.example.math.constants.CommonConstants;
 import com.example.math.constants.DJIMethonConstants;
+import com.example.math.controller.OperateController;
+import com.example.math.enums.TakeOffToPointEnum;
 import com.example.math.mqtt.MqttConfig;
 import com.example.math.mqtt.SendMsg;
 import com.example.math.mqtt.SpringUtil;
 //import com.example.math.task.FirstTask;
 import com.example.math.mqtt.SpringUtils;
+//import com.example.math.utils.DJIUtils;
 import com.example.math.utils.RedisUtils;
 import lombok.extern.slf4j.Slf4j;
 import org.eclipse.paho.client.mqttv3.IMqttDeliveryToken;
@@ -25,6 +30,8 @@ import org.springframework.beans.factory.annotation.Value;
 import org.springframework.stereotype.Component;
 import org.springframework.util.CollectionUtils;
 
+import java.math.BigDecimal;
+import java.time.LocalDateTime;
 import java.util.ArrayList;
 import java.util.Arrays;
 import java.util.HashMap;
@@ -73,7 +80,7 @@ public class MqttConsumerCallBack implements MqttCallback {
     private static String someTopic = "thing/product/%s/services";
 
     //机场sn号
-    private static String airPortSn = "7CTDM7H00BXZD1";
+    private static String airPortSn = "8UUXN3500A02BE";
 
     /**
      * 客户端断开连接的回调
@@ -93,8 +100,8 @@ public class MqttConsumerCallBack implements MqttCallback {
     private static int qos = 2;
     private static boolean retained = true;
 
-    @Autowired
-    private MqttConfig providerClient;
+//    @Autowired
+//    private MqttConfig providerClient;
 
     private static final String DJIAIRPORT_SN = "7CTDM7H00BXZD1";
 
@@ -144,29 +151,230 @@ public class MqttConsumerCallBack implements MqttCallback {
         Object timestamp = jsonObject.getLong("timestamp");
         Object method = jsonObject.getString("method");
         Object gateway = jsonObject.getString("gateway");
-        //
+
+
+        //获取设备可上传的文件列表
+        if (topic.contains("7CTDM7H00BXZD1/services_reply") && method.equals("fileupload_list")){
+
+        }
+
+
+        //获取设备可上传的文件列表
+        if (topic.contains("7CTDM7H00BXZD1/events") && method.equals("fileupload_progress")){
+
+
+
+            System.out.println();
+            System.out.println();
+        }
+
+        //获取设备可上传的文件列表
+        if (topic.contains("/events") && method.equals("fileupload_list")){
+
+        }
+
+
+        if (topic.contains("/events") && method.equals("ota_progress")){
+
+        }
+
+
+
+
+        //媒体文件上报的处理
+        RedisUtils redisUtils = SpringUtils.getBean(RedisUtils.class);
+        if (Objects.nonNull(method) && method.equals("fly_to_point_progress")){
+            String airPprtSn = "8UUXN3500A02BE";
+            String data = jsonObject.getString("data");
+            String string = com.alibaba.fastjson.JSONObject.parseObject(data).getString("status");
+            //查询是否处于飞行控制模式
+
+            Object o = redisUtils.get(airPprtSn + DJIMethonConstants.DRC_STATUS);
+
+            if (TakeOffToPointEnum.WAYLINE_CANCEL.getCode().equals(string)){
+                System.out.println("++++++++++++++++++ 指点失败了！！！！");
+            }
+
+
+            if (TakeOffToPointEnum.WAYLINE_PROGRESS.getCode().equals(string)){
+                redisUtils.hset(CommonConstants.FLY_TOPOINT_PROGRESS, airPprtSn, TakeOffToPointEnum.WAYLINE_PROGRESS.getCode(), 5);
+
+                if (Objects.nonNull(o) && o.equals(true)){
+                    log.info("指点飞行退出控制模式 is {}", airPprtSn);
+                    drcModeExit();
+                    redisUtils.set(airPprtSn + DJIMethonConstants.DRC_STATUS, false);
+                }
+            }else if (TakeOffToPointEnum.WAYLINE_OK.getCode().equals(string) || TakeOffToPointEnum.WAYLINE_CANCEL.getCode().equals(string) || TakeOffToPointEnum.WAYLINE_FAILED.getCode().equals(string)){
+                redisUtils.hset(CommonConstants.FLY_TOPOINT_PROGRESS, airPprtSn, TakeOffToPointEnum.WAYLINE_OK.getCode(), 2);
+                //不处于
+                if (Objects.nonNull(o) && (Boolean)o.equals(false)){
+                    log.info("指点飞行进入控制模式 msg is {}", jsonObject);
+//                    Thread.sleep(1000);
+                    drcModeEnter();
+                    redisUtils.set(airPprtSn + DJIMethonConstants.DRC_STATUS, true);
+                }
+            }
+        }
+
+
+
+
+
+
+//        String string = jsonObject.getString("data");
+//        com.alibaba.fastjson.JSONObject data = com.alibaba.fastjson.JSONObject.parseObject(string);
+//        Map map = new HashMap();
+//        if (Objects.nonNull(data.getString("longitude"))) {
+//            //空调模式
+//            JSONObject airConditioner =  JSONObject.parseObject(data.getString("air_conditioner"));
+//            //获取空调模式 air_conditioner_state {"0":"空闲模式(无制冷、制热、除湿等)","1":"制冷模式","2":"制热模式","3":"除湿模式","4":"制冷退出模式","5":"制热退出模式","6":"除湿退出模式","7":"制冷准备模式","8":"制热准备模式","9":"除湿准备模式"10":"风冷准备中"11":"风冷中"12":"风冷退出中"13":"除雾准备中"14":"除雾中"15":"除雾退出中"}
+//            String airConditionerState = airConditioner.getString("air_conditioner_state");
+//            map.put("airConditionerState", airConditionerState);
+//            System.out.println(LocalDateTime.now() + "    " +  "airConditionerState is " + airConditionerState + "              ");
+//            //获取空调模式可切换时间 为0时才可切换其他空调模式 单位为秒
+//            String switchTime = airConditioner.getString("switch_time");
+//            map.put("switchTime", switchTime);
+//            System.out.println(LocalDateTime.now() + "    " +  "switchTime is " + switchTime);
+//        }
+
+
         String data = jsonObject.getString("data");
 
 
+        if (topic.equals("thing/product/1581F6Q83254100BD0UV/osd")){
+            String string = jsonObject.getString("data");
+            JSONObject newJson = JSONObject.parseObject(string);
+//            String modeCode = newJson.getString("mode_code");
+//            if (Objects.nonNull(modeCode)){
+//                System.out.printf("+++++" + modeCode + "       ");
+//            }
+//            redisUtils.set("8UUXN3500A02BE" + DJIMethonConstants.DRC_STATUS, false);
 
-        if (!topic.equals("thing/product/8UUXN2T00A01RU/events")){
-            return;
-        }
-        //DRC-飞行控制无效原因通知
-        if (method.equals("joystick_invalid_notify")){
-            JSONObject dataJson = JSONObject.parseObject(data);
-            String reason = dataJson.getString("reason");
-            System.out.printf("joystick_invalid_notify is {}, is {} " + reason);
+//            if (modeCode.equals("1")){
+//                log.info("drone msg is {}", jsonObject.getString("modeCode"));
+//                //先获取飞行控制权
+//                Object flightAuthority = redisUtils.get("8UUXN3500A02BE" + DJIMethonConstants.FLIGHT_AUTHORITY_GRAB);
+//                if (Objects.isNull(flightAuthority)){
+//                    flightAuthorityGrab("8UUXN3500A02BE");
+//                    redisUtils.set("8UUXN3500A02BE" + DJIMethonConstants.FLIGHT_AUTHORITY_GRAB, 1);
+//                }
+//                //再获取负载控制权
+//                Object payloadAuthority = redisUtils.get("8UUXN3500A02BE" + DJIMethonConstants.PAYLOAD_AUTHORITY_GRAB);
+//                if (Objects.isNull(payloadAuthority)){
+//                    payloadAuthorityGrab("99-0-0", "8UUXN3500A02BE");
+//                    redisUtils.set("8UUXN3500A02BE" + DJIMethonConstants.PAYLOAD_AUTHORITY_GRAB, 1);
+//                }
+//                //如果是返航或者降落 退出飞行控制模式 并停止心跳发送
+//                if (modeCode.equals("9") || modeCode.equals("10")){
+//                    drcModeExit();
+//                }
+//            }
+
+
+            String positionState = newJson.getString("position_state");
+            if (Objects.nonNull(positionState)){
+                String gpsNumber = com.alibaba.fastjson.JSONObject.parseObject(positionState).getString("gps_number");
+                System.out.printf("gpsNumber is " + gpsNumber + System.getProperty("line.separator"));
+
+                String quality = com.alibaba.fastjson.JSONObject.parseObject(positionState).getString("quality");
+                System.out.printf("quality is " + quality + System.getProperty("line.separator"));
+
+                String rtk_number = com.alibaba.fastjson.JSONObject.parseObject(positionState).getString("rtk_number");
+                System.out.printf("rtk_number is " + rtk_number + System.getProperty("line.separator"));
+            }
 
         }
-        //DRC 链路状态通知
-        if (method.equals("drc_status_notify")){
-            JSONObject dataJson = JSONObject.parseObject(data);
-            String drcState = dataJson.getString("drc_state");
-            String result = dataJson.getString("result");
-            System.out.printf("drc_status_notify is {}, is {} " + drcState  + "result" + result);
+
+
+//        if (!topic.equals("thing/product/8UUXN2T00A01RU/events")){
+//            return;
+//        }
+
+
+        if(topic.equals("thing/product/7CTXMC900B054P/osd")){
+            JSONObject newJson = JSONObject.parseObject(data);
+//            String drcState = newJson.getString("drc_state");
+//            if (Objects.nonNull(drcState)){
+//                System.out.printf("网络状态 is " + drcState + System.getProperty("line.separator") );
+//            }
+
+
+            String network_state = newJson.getString("network_state");
+            if (Objects.nonNull(network_state)){
+                System.out.printf("网络状态 is " + network_state + System.getProperty("line.separator") );
+            }
+
+            Object o = newJson.get("wireless_link");
+            if (Objects.nonNull(o)){
+                JSONObject wireless_link = (JSONObject) o;
+                String sdr_quality = wireless_link.getString("sdr_quality");
+                System.out.printf("图传信号 " + sdr_quality + System.getProperty("line.separator") );
+            }
+
+
+//            String modeCode = jsonObject.getString("modeCode");
+//            log.info("drone msg is {}", modeCode);
+//            if (Objects.nonNull(modeCode)){
+//                //先获取飞行控制权
+//                String airportSn = "8UUXN2T00A01R1";
+//                RedisUtils redisUtils = SpringUtils.getBean(RedisUtils.class);
+//                DJIUtils djiUtils = SpringUtils.getBean(DJIUtils.class);
+//                Object flightAuthority = redisUtils.get(airportSn + DJIMethonConstants.FLIGHT_AUTHORITY_GRAB);
+//                if (Objects.isNull(flightAuthority)){
+//                    djiUtils.flightAuthorityGrab(airportSn);
+//                    redisUtils.set(airportSn + DJIMethonConstants.FLIGHT_AUTHORITY_GRAB, 1);
+//                }
+//                //再获取负载控制权
+//                Object payloadAuthority = redisUtils.get(airportSn + DJIMethonConstants.PAYLOAD_AUTHORITY_GRAB);
+//                if (Objects.isNull(payloadAuthority)){
+//                    djiUtils.payloadAuthorityGrab("99-0-0", airportSn);
+//                    redisUtils.set(airportSn + DJIMethonConstants.PAYLOAD_AUTHORITY_GRAB, 1);
+//                }
+//            }
         }
 
+//        if (method.equals("fly_to_point_progress")){
+//            takeoffToPointProgress(oldJsonObject, data, sn);
+//        }
+
+
+//
+//        if (Objects.isNull(method)){
+//            return;
+//        }
+//
+//
+//        //DRC-飞行控制无效原因通知
+//        if (method.equals("joystick_invalid_notify")){
+//            JSONObject dataJson = JSONObject.parseObject(data);
+//            String reason = dataJson.getString("reason");
+//            log.info("joystick_invalid_notify is {}" ,reason);
+//
+//        }
+//        //DRC 链路状态通知
+//        if (method.equals("drc_status_notify")){
+//            JSONObject dataJson = JSONObject.parseObject(data);
+//            String drcState = dataJson.getString("drc_state");
+//            String result = dataJson.getString("result");
+//            log.info("drc_status_notify is {}, is {} ", drcState  , result);
+//        }
+
+
+//        if(Objects.nonNull(method) && method.equals("fileupload_progress")){
+//            Map<String,Object> content = new HashMap<>();
+//            content.put("tid",tid);
+//            content.put("bid",bid);
+//            content.put("gateway", gateway);
+//            content.put("timestamp",System.currentTimeMillis());
+//            content.put("method",method);
+//            Map<String,Object> data1 = new HashMap<>();
+//            data1.put("result", 0);
+//            content.put("data",data1);
+//            String msg = com.alibaba.fastjson.JSONObject.toJSONString(content);
+//            topic += "_reply";
+//            MqttConfig providerClient = SpringUtil.getBean(MqttConfig.class);
+//            MqttDeliveryToken publish = providerClient.publish(1, false, topic, msg);
+//        }
 
 
 //
@@ -196,7 +404,6 @@ public class MqttConsumerCallBack implements MqttCallback {
 //        }
 
 
-
 //        if ("file_upload_callback".equals(method)){
 //            System.out.printf("媒体文件上传结果上报" + topic);
 //            System.out.printf("媒体文件上传结果上报2" + method);
@@ -323,24 +530,26 @@ public class MqttConsumerCallBack implements MqttCallback {
 //        }
 //
 //
-//        if(topic.equals("thing/product/7CTDM7H00BXZD1/requests")){
+//        if (topic.equals("thing/product/8UUXN2T00A01QB/requests")) {
 //            System.out.println("enter...............");
-//            if(method.equals("config")){
+//            if (method.equals("config")) {
 //                System.out.println("enter config..........");
 //                //需要回复
 //
-//                Map<String,Object> data = new HashMap<>();
-//                data.put("ntp_server_host","Google.mzr.me");
-//                data.put("app_id","148774");
-//                data.put("app_key","a3ba3e9934f43b82bd52428b26e695b");
-//                data.put("app_license","Cm+BDccW/auc1L5Fixy59JrudnnXxguksAfGNPRjaDDqf3ESlHJt4JYaYBlXJ/rkkSPREF/MIg5FZV3MSwPVcXQ2ioOahFH0OEHx0fhxLnrS2uUVXaXcDkDxLRfDuOTvkmojS3KFZIgPOjt6hdF9Madi/WC+EsnZzpA5RvTD/u4=");
+//                Map<String, Object> data = new HashMap<>();
+//                data.put("ntp_server_host", "172.16.251.26");
+//                data.put("app_id", "148774");
+//                data.put("app_key", "a3ba3e9934f43b82bd52428b26e695b");
+//                data.put("app_license", "Cm+BDccW/auc1L5Fixy59JrudnnXxguksAfGNPRjaDDqf3ESlHJt4JYaYBlXJ/rkkSPREF/MIg5FZV3MSwPVcXQ2ioOahFH0OEHx0fhxLnrS2uUVXaXcDkDxLRfDuOTvkmojS3KFZIgPOjt6hdF9Madi/WC+EsnZzpA5RvTD/u4=");
+//                data.put("ntp_server_port", "172.16.251.26");
 //
-//                Map<String,Object> content = new HashMap<>();
-//                content.put("tid",tid);
-//                content.put("bid",bid);
-//                content.put("timestamp",System.currentTimeMillis());
-//                content.put("method","config");
-//                content.put("data",data);
+//
+//                Map<String, Object> content = new HashMap<>();
+//                content.put("tid", tid);
+//                content.put("bid", bid);
+//                content.put("timestamp", System.currentTimeMillis());
+//                content.put("method", "config");
+//                content.put("data", data);
 //
 //                String msg = JSONObject.toJSONString(content);
 ////                log.info("will send msg is {}" ,msg);
@@ -355,14 +564,16 @@ public class MqttConsumerCallBack implements MqttCallback {
 //                sendList.add(sendMsg);
 //
 //
-//
-////                if (Objects.isNull(providerClient)){
-////                    providerClient = SpringUtil.getBean(MqttProducerConfig.class);
-////                }
-////                providerClient.publish(qos, retained, topic, msg);
+//                if (Objects.isNull(providerClient)){
+//                    providerClient = SpringUtil.getBean(MqttConfig.class);
+//                }
+//                providerClient.publish(qos, retained, topic, msg);
 //                return;
-//            }else if(method.equals("airport_bind_status")){
-////            }else if(method.equals("storage_config_get")){
+//            }
+//
+//            else if(method.equals("airport_bind_status")){
+////            }else
+// if(method.equals("storage_config_get")){
 //                System.out.println("enter airport_bind_status..........");
 //                //需要回复
 //
@@ -402,14 +613,16 @@ public class MqttConsumerCallBack implements MqttCallback {
 //                sendMsg.setTopic(topic);
 //                sendMsg.setMessage(msg);
 //
-//                sendList.add(sendMsg);
-////                if (Objects.isNull(providerClient)){
-////                    providerClient = SpringUtil.getBean(MqttConfig.class);
-////                }
-////                providerClient.publish(qos, retained, topic, msg);
-//                return;
-//            }else if(method.equals("airport_organization_get")){
-////            }else if(method.equals("storage_config_get")){
+//                if (Objects.isNull(providerClient)){
+//                    providerClient = SpringUtil.getBean(MqttConfig.class);
+//                }
+//                providerClient.publish(qos, retained, topic, msg);
+//            }
+
+
+// else if(method.equals("airport_organization_get")){
+////            }else
+// if(method.equals("storage_config_get")){
 //                System.out.println("enter airport_organization_get..........");
 //                //需要回复
 //
@@ -443,7 +656,10 @@ public class MqttConsumerCallBack implements MqttCallback {
 ////                }
 ////                providerClient.publish(qos, retained, topic, msg);
 //                return;
-//            }else if(method.equals("airport_organization_bind")){
+//            }
+//
+//
+//            else if(method.equals("airport_organization_bind")){
 ////            }else if(method.equals("storage_config_get")){
 //                System.out.println("enter airport_organization_get..........");
 //                //需要回复
@@ -486,7 +702,10 @@ public class MqttConsumerCallBack implements MqttCallback {
 ////                }
 ////                providerClient.publish(qos, retained, topic, msg);
 //                return;
-//            }else if(method.equals("storage_config_get")){
+//            }else
+//
+//
+//            if(method.equals("storage_config_get")){
 //                System.out.println("enter storage_config_get..........");
 //                //需要回复
 //                System.out.printf("jsonObject" + jsonObject);
@@ -532,13 +751,16 @@ public class MqttConsumerCallBack implements MqttCallback {
 //                sendMsg.setMessage(msg);
 //
 //                sendList.add(sendMsg);
-////                //消息回复
-////                if (Objects.isNull(providerClient)){
-////                    providerClient = SpringUtil.getBean(MqttConfig.class);
-////                }
-////                providerClient.publish(qos, retained, topic, msg);
+//                //消息回复
+//                if (Objects.isNull(providerClient)){
+//                    providerClient = SpringUtil.getBean(MqttConfig.class);
+//                }
+//                providerClient.publish(qos, retained, topic, msg);
 //                return;
-//            }else if(method.equals("flighttask_resource_get")){
+//            }
+//
+//
+//            else if(method.equals("flighttask_resource_get")){
 //
 ////                System.out.println("enter flighttask_resource_get..........");
 ////                //需要回复
@@ -584,124 +806,220 @@ public class MqttConsumerCallBack implements MqttCallback {
 //
 //        System.out.println("finish...");
 
-    }
-
-    /**
-     * 消息发布成功的回调
-     */
-    @Override
-    public void deliveryComplete(IMqttDeliveryToken iMqttDeliveryToken) {
-
-    }
-
-
-
-    /**
-     * 气温 状态等数据
-     * @param oldjsonObject
-     */
-    private void droneStatus(JSONObject oldjsonObject, String sn , Object tid, Object bid) {
-        Map map = new HashMap();
-        //发送的坐标信息
-        String string = oldjsonObject.getString("data");
-        com.alibaba.fastjson.JSONObject jsonObject = com.alibaba.fastjson.JSONObject.parseObject(string);
-        //当前位置经度 longitude
-        String longitude = jsonObject.getString("longitude");
-        map.put("longitude", longitude);
-        //当前位置纬度 latitude
-        String latitude = jsonObject.getString("latitude");
-        map.put("latitude", latitude);
-        //飞行器状态
-        String modeCode = jsonObject.getString("mode_code");
-        map.put("modeCode", modeCode);
-        //相对起飞点高度 elevation
-        String elevation = jsonObject.getString("elevation");
-        map.put("elevation", elevation);
-        //风速 wind_speed
-        String windSpeed = jsonObject.getString("wind_speed");
-        map.put("windSpeed", windSpeed);
-        //当前风向 wind_direction
-        String windDirection = jsonObject.getString("wind_direction");
-        map.put("windDirection", windDirection);
-        //低电量告警 low_battery_warning_threshold
-        String lowBatteryWarningThreshold = jsonObject.getString("low_battery_warning_threshold");
-        map.put("lowBatteryWarningThreshold", lowBatteryWarningThreshold);
-        //飞行器电池信息 battery  {
-        // capacity_percent电池的总剩余电量  remain_flight_time剩余飞行时间  return_home_power返航所需电量百分比 landing_power强制降落电量百分比capacity_percent电池剩余电量
-        // voltage电压  temperature温度  wind_direction风向   }
-        String battery = jsonObject.getString("battery");
-        map.put("battery", battery);
-        RedisUtils redisUtils = SpringUtil.getBean(RedisUtils.class);
-        redisUtils.hmset("DJIDrone" + sn, map, 300);
-
-        Map<String,Object> content = new HashMap<>();
-        content.put("longitude",longitude);
-        content.put("latitude",latitude);
-        String msg = com.alibaba.fastjson.JSONObject.toJSONString(content);
-    }
-
-
-    /**
-     * 无人机气温 状态等数据
-     * @param oldjsonObject
-     */
-    private void airportStatus(JSONObject oldjsonObject, String sn, Object tid, Object bid) {
-        Map map = new HashMap();
-        //发送的坐标信息
-        String string = oldjsonObject.getString("data");
-        com.alibaba.fastjson.JSONObject jsonObject = com.alibaba.fastjson.JSONObject.parseObject(string);
-        //当前位置经度 longitude
-        String longitude = jsonObject.getString("longitude");
-        if (Objects.isNull(longitude)){
-            return;
         }
-        map.put("longitude", longitude);
-        //当前位置纬度 latitude
-        String latitude = jsonObject.getString("latitude");
-        map.put("latitude", latitude);
-        //工作电流 working_current
-        String workingCurrent = jsonObject.getString("working_current");
-        map.put("workingCurrent", workingCurrent);
-        //工作电压 working_voltage
-        String workingVoltage = jsonObject.getString("working_voltage");
-        map.put("workingVoltage", workingVoltage);
-        //舱内湿度 humidity
-        String humidity = jsonObject.getString("humidity");
-        map.put("humidity", humidity);
-        //舱内温度 temperature
-        String temperature = jsonObject.getString("temperature");
-        map.put("temperature", temperature);
-        //environment_temperature	环境温度
-        String environmentTemperature = jsonObject.getString("environment_temperature");
-        map.put("environmentTemperature", environmentTemperature);
-        //wind_speed	风速
-        String windSpeed = jsonObject.getString("wind_speed");
-        map.put("windSpeed", windSpeed);
-        //rainfall	降雨量
-        String rainfall = jsonObject.getString("rainfall");
-        map.put("rainfall", rainfall);
-        //drone_in_dock	飞行器是否在舱{"0":"舱外","1":"舱内"}
-        String droneInDock = jsonObject.getString("drone_in_dock");
-        map.put("droneInDock", droneInDock);
-        //cover_state	舱盖状态"0":"关闭","1":"打开","2":"半开","3":"舱盖状态异常"
-        String coverState = jsonObject.getString("cover_state");
-        map.put("coverState", coverState);
-        //flighttask_step_code  机场任务状态"0":"作业准备中","1":"飞行作业中","2":"作业后状态恢复","3":"自定义飞行区更新中","4":"地形障碍物更新中","5":"任务空闲","255":"飞行器异常","256":"未知状态"
-        String flighttaskStepCode = jsonObject.getString("flighttask_step_code");
-        map.put("flighttaskStepCode", flighttaskStepCode);
-        //mode_code	机场状态
-        String modeCode = jsonObject.getString("mode_code");
-        map.put("modeCode", modeCode);
-        //当前位置经度 longitude
-        String airPortLongitude = jsonObject.getString("longitude");
-        map.put("airPortLongitude", airPortLongitude);
-        //当前位置纬度 latitude
-        String airPortLatitude = jsonObject.getString("latitude");
-        map.put("airPortLatitude", airPortLatitude);
-        RedisUtils redisUtils = SpringUtil.getBean(RedisUtils.class);
-        redisUtils.hmset("DJIAirport"+ sn, map, 30);
-    }
 
+//    /**
+//     * 消息发布成功的回调
+//     */
+//    @Override
+//    public void deliveryComplete(IMqttDeliveryToken iMqttDeliveryToken) {
+//
+//    }
+
+
+//    /**
+//     * 气温 状态等数据
+//     * @param oldjsonObject
+//     */
+//    private void droneStatus(JSONObject oldjsonObject, String sn , Object tid, Object bid) {
+//        Map map = new HashMap();
+//        //发送的坐标信息
+//        String string = oldjsonObject.getString("data");
+//        com.alibaba.fastjson.JSONObject jsonObject = com.alibaba.fastjson.JSONObject.parseObject(string);
+//        //当前位置经度 longitude
+//        String longitude = jsonObject.getString("longitude");
+//        map.put("longitude", longitude);
+//        //当前位置纬度 latitude
+//        String latitude = jsonObject.getString("latitude");
+//        map.put("latitude", latitude);
+//        //飞行器状态
+//        String modeCode = jsonObject.getString("mode_code");
+//        map.put("modeCode", modeCode);
+//        //相对起飞点高度 elevation
+//        String elevation = jsonObject.getString("elevation");
+//        map.put("elevation", elevation);
+//        //风速 wind_speed
+//        String windSpeed = jsonObject.getString("wind_speed");
+//        map.put("windSpeed", windSpeed);
+//        //当前风向 wind_direction
+//        String windDirection = jsonObject.getString("wind_direction");
+//        map.put("windDirection", windDirection);
+//        //低电量告警 low_battery_warning_threshold
+//        String lowBatteryWarningThreshold = jsonObject.getString("low_battery_warning_threshold");
+//        map.put("lowBatteryWarningThreshold", lowBatteryWarningThreshold);
+//        //飞行器电池信息 battery  {
+//        // capacity_percent电池的总剩余电量  remain_flight_time剩余飞行时间  return_home_power返航所需电量百分比 landing_power强制降落电量百分比capacity_percent电池剩余电量
+//        // voltage电压  temperature温度  wind_direction风向   }
+//        String battery = jsonObject.getString("battery");
+//        map.put("battery", battery);
+//        RedisUtils redisUtils = SpringUtil.getBean(RedisUtils.class);
+//        redisUtils.hmset("DJIDrone" + sn, map, 300);
+//
+//        Map<String,Object> content = new HashMap<>();
+//        content.put("longitude",longitude);
+//        content.put("latitude",latitude);
+//        String msg = com.alibaba.fastjson.JSONObject.toJSONString(content);
+//    }
+//
+//
+//    /**
+//     * 无人机气温 状态等数据
+//     * @param oldjsonObject
+//     */
+//    private void airportStatus(JSONObject oldjsonObject, String sn, Object tid, Object bid) {
+//        Map map = new HashMap();
+//        //发送的坐标信息
+//        String string = oldjsonObject.getString("data");
+//        com.alibaba.fastjson.JSONObject jsonObject = com.alibaba.fastjson.JSONObject.parseObject(string);
+//        //当前位置经度 longitude
+//        String longitude = jsonObject.getString("longitude");
+//        if (Objects.isNull(longitude)){
+//            return;
+//        }
+//        map.put("longitude", longitude);
+//        //当前位置纬度 latitude
+//        String latitude = jsonObject.getString("latitude");
+//        map.put("latitude", latitude);
+//        //工作电流 working_current
+//        String workingCurrent = jsonObject.getString("working_current");
+//        map.put("workingCurrent", workingCurrent);
+//        //工作电压 working_voltage
+//        String workingVoltage = jsonObject.getString("working_voltage");
+//        map.put("workingVoltage", workingVoltage);
+//        //舱内湿度 humidity
+//        String humidity = jsonObject.getString("humidity");
+//        map.put("humidity", humidity);
+//        //舱内温度 temperature
+//        String temperature = jsonObject.getString("temperature");
+//        map.put("temperature", temperature);
+//        //environment_temperature	环境温度
+//        String environmentTemperature = jsonObject.getString("environment_temperature");
+//        map.put("environmentTemperature", environmentTemperature);
+//        //wind_speed	风速
+//        String windSpeed = jsonObject.getString("wind_speed");
+//        map.put("windSpeed", windSpeed);
+//        //rainfall	降雨量
+//        String rainfall = jsonObject.getString("rainfall");
+//        map.put("rainfall", rainfall);
+//        //drone_in_dock	飞行器是否在舱{"0":"舱外","1":"舱内"}
+//        String droneInDock = jsonObject.getString("drone_in_dock");
+//        map.put("droneInDock", droneInDock);
+//        //cover_state	舱盖状态"0":"关闭","1":"打开","2":"半开","3":"舱盖状态异常"
+//        String coverState = jsonObject.getString("cover_state");
+//        map.put("coverState", coverState);
+//        //flighttask_step_code  机场任务状态"0":"作业准备中","1":"飞行作业中","2":"作业后状态恢复","3":"自定义飞行区更新中","4":"地形障碍物更新中","5":"任务空闲","255":"飞行器异常","256":"未知状态"
+//        String flighttaskStepCode = jsonObject.getString("flighttask_step_code");
+//        map.put("flighttaskStepCode", flighttaskStepCode);
+//        //mode_code	机场状态
+//        String modeCode = jsonObject.getString("mode_code");
+//        map.put("modeCode", modeCode);
+//        //当前位置经度 longitude
+//        String airPortLongitude = jsonObject.getString("longitude");
+//        map.put("airPortLongitude", airPortLongitude);
+//        //当前位置纬度 latitude
+//        String airPortLatitude = jsonObject.getString("latitude");
+//        map.put("airPortLatitude", airPortLatitude);
+//        RedisUtils redisUtils = SpringUtil.getBean(RedisUtils.class);
+//        redisUtils.hmset("DJIAirport"+ sn, map, 30);
+//    }
+//
+//
+//
+//    /**
+//     * 获取
+//     */
+//    private Map<String, String> ossToken() {
+//        Map<String, String> ossMap = new HashMap<>();
+//        String policy = "{\n" +
+//                "    \"Version\": \"1\", \n" +
+//                "    \"Statement\": [\n" +
+//                "        {\n" +
+//                "            \"Action\": [\n" +
+//                "                \"oss:PutObject\"\n" +
+//                "            ], \n" +
+//                "            \"Resource\": [\n" +
+//                "                \"acs:oss:*:*:dji-dev/*\" \n" +
+//                "            ], \n" +
+//                "            \"Effect\": \"Allow\"\n" +
+//                "        }\n" +
+//                "    ]\n" +
+//                "}";
+//
+//        String roleARN = "acs:ram::1399733914954856:role/ramosstest";
+//        String sessionName = "SessionTest";
+//        java.util.List<String> args = Arrays.asList();
+//        Client client = null;
+//        try {
+//            client = MqttConsumerCallBack.createClient();
+//        } catch (Exception e) {
+//            log.info("获取阿里云token失败");
+//        }
+//        AssumeRoleRequest assumeRoleRequest = new com.aliyun.sts20150401.models.AssumeRoleRequest()
+//                .setDurationSeconds(3600L)
+//                .setPolicy(policy)
+//                .setRoleArn(roleARN)
+//                .setRoleSessionName(sessionName);
+//        try {
+//            // 复制代码运行请自行打印 API 的返回值
+//            AssumeRoleResponse assumeRoleResponse = client.assumeRoleWithOptions(assumeRoleRequest, new RuntimeOptions());
+//            String arn = assumeRoleResponse.getBody().getAssumedRoleUser().getArn();
+//            String assumedRoleId = assumeRoleResponse.getBody().getAssumedRoleUser().getAssumedRoleId();
+//            String accessKeyId = assumeRoleResponse.getBody().getCredentials().getAccessKeyId();
+//            String accessKeySecret = assumeRoleResponse.getBody().getCredentials().getAccessKeySecret();
+//            String securityToken = assumeRoleResponse.getBody().getCredentials().getSecurityToken();
+//            String expiration = assumeRoleResponse.getBody().getCredentials().getExpiration();
+//            log.info(arn);
+//            log.info(assumedRoleId);
+//            log.info(accessKeyId);
+//            log.info(accessKeySecret);
+//            log.info(securityToken);
+//            log.info(expiration);
+//            log.info("a");
+//
+//            ossMap.put("access_key_id", accessKeyId);
+//            ossMap.put("access_key_secret", accessKeySecret);
+//            ossMap.put("security_token", securityToken);
+//            return ossMap;
+//        } catch (TeaException error) {
+//            // 此处仅做打印展示，请谨慎对待异常处理，在工程项目中切勿直接忽略异常。
+//            // 错误 message
+//            log.info(error.getMessage());
+//            // 诊断地址
+//            log.info(error.getData().get("Recommend")+"");
+//            com.aliyun.teautil.Common.assertAsString(error.message);
+//        } catch (Exception _error) {
+//            TeaException error = new TeaException(_error.getMessage(), _error);
+//            // 此处仅做打印展示，请谨慎对待异常处理，在工程项目中切勿直接忽略异常。
+//            // 错误 message
+//            log.info(error.getMessage());
+//            // 诊断地址
+//            log.info(error.getData().get("Recommend")+"");
+//            com.aliyun.teautil.Common.assertAsString(error.message);
+//        }
+//        return ossMap;
+//    }
+//
+//    /**
+//     * <b>description</b> :
+//     * <p>使用AK&amp;SK初始化账号Client</p>
+//     * @return Client
+//     *
+//     * @throws Exception
+//     */
+//    public static Client createClient() throws Exception {
+//        // 工程代码泄露可能会导致 AccessKey 泄露，并威胁账号下所有资源的安全性。以下代码示例仅供参考。
+//        // 建议使用更安全的 STS 方式，更多鉴权访问方式请参见：https://help.aliyun.com/document_detail/378657.html。
+//        com.aliyun.teaopenapi.models.Config config = new com.aliyun.teaopenapi.models.Config()
+//                // 必填，请确保代码运行环境设置了环境变量 ALIBABA_CLOUD_ACCESS_KEY_ID。
+//                .setAccessKeyId("LTAI5tFmaJHU7ywvBH2j12Gp")
+//                // 必填，请确保代码运行环境设置了环境变量 ALIBABA_CLOUD_ACCESS_KEY_SECRET。
+//                .setAccessKeySecret("mX6rS1xYTgZgFAgpOrQHyc6jLXv0AV");
+//        // Endpoint 请参考 https://api.aliyun.com/product/Sts
+//        config.endpoint = "sts.cn-shanghai.aliyuncs.com";
+//        return new Client(config);
+//    }
+
+//    }
 
 
     /**
@@ -724,7 +1042,8 @@ public class MqttConsumerCallBack implements MqttCallback {
                 "    ]\n" +
                 "}";
 
-        String roleARN = "acs:ram::1399733914954856:role/ramosstest";
+//        String roleARN = "acs:ram::1399733914954856:role/ramosstest";
+        String roleARN = "acs:ram::1399733914954856:role/oss-role";
         String sessionName = "SessionTest";
         java.util.List<String> args = Arrays.asList();
         Client client = null;
@@ -764,7 +1083,7 @@ public class MqttConsumerCallBack implements MqttCallback {
             // 错误 message
             log.info(error.getMessage());
             // 诊断地址
-            log.info(error.getData().get("Recommend")+"");
+            log.info(error.getData().get("Recommend") + "");
             com.aliyun.teautil.Common.assertAsString(error.message);
         } catch (Exception _error) {
             TeaException error = new TeaException(_error.getMessage(), _error);
@@ -772,7 +1091,7 @@ public class MqttConsumerCallBack implements MqttCallback {
             // 错误 message
             log.info(error.getMessage());
             // 诊断地址
-            log.info(error.getData().get("Recommend")+"");
+            log.info(error.getData().get("Recommend") + "");
             com.aliyun.teautil.Common.assertAsString(error.message);
         }
         return ossMap;
@@ -781,8 +1100,8 @@ public class MqttConsumerCallBack implements MqttCallback {
     /**
      * <b>description</b> :
      * <p>使用AK&amp;SK初始化账号Client</p>
-     * @return Client
      *
+     * @return Client
      * @throws Exception
      */
     public static Client createClient() throws Exception {
@@ -798,8 +1117,235 @@ public class MqttConsumerCallBack implements MqttCallback {
         return new Client(config);
     }
 
+    @Override
+    public void deliveryComplete(IMqttDeliveryToken iMqttDeliveryToken) {
+
+    }
+
+
+    /**
+     * flyto 执行结果事件通知
+     * @param
+     * @param data
+     */
+//    private void flyToPointProgress(String data, String airPprtSn) {
+//        RedisUtils redisUtils = SpringUtils.getBean(RedisUtils.class);
+//        DJIUtils djiUtils = SpringUtils.getBean(DJIUtils.class);
+//        String string = com.alibaba.fastjson.JSONObject.parseObject(data).getString("status");
+//        //查询是否处于飞行控制模式
+//        Object o = redisUtils.get(airPprtSn + DJIMethonConstants.DRC_STATUS);
+//        if (TakeOffToPointEnum.WAYLINE_PROGRESS.getCode().equals(string)){
+//            redisUtils.hset(CommonConstants.FLY_TOPOINT_PROGRESS, airPprtSn, TakeOffToPointEnum.WAYLINE_PROGRESS.getCode(), 5);
+//
+//            if (Objects.nonNull(o) && o.equals(true)){
+//                log.info("指点飞行退出控制模式 is {}", airPprtSn);
+////                dJIUtils.drcModeExit(airPprtSn);
+//                redisUtils.set(airPprtSn + DJIMethonConstants.DRC_STATUS, false);
+//            }
+//        }else if (TakeOffToPointEnum.WAYLINE_OK.getCode().equals(string) || TakeOffToPointEnum.WAYLINE_CANCEL.getCode().equals(string) || TakeOffToPointEnum.WAYLINE_FAILED.getCode().equals(string)){
+//            redisUtils.hset(CommonConstants.FLY_TOPOINT_PROGRESS, airPprtSn, TakeOffToPointEnum.WAYLINE_OK.getCode(), 2);
+//            //不处于
+//            if (Objects.nonNull(o) && (Boolean)o.equals(false)){
+//                log.info("指点飞行进入控制模式");
+//                djiUtils.drcModeEnter(airPprtSn);
+//                redisUtils.set(airPprtSn + DJIMethonConstants.DRC_STATUS, true);
+//            }
+//        }
+//    }
+
+    private static String bid = "1";
+
+    private static String tid = "2";
+
+    public String drcModeExit(){
+        try {
+            MqttConfig providerClient = SpringUtil.getBean(MqttConfig.class);
+//            try {
+//                Integer qos = 1;
+//                Boolean retained = false;
+//                //topic主题 sn是机场sn号  thing/product/%s/services
+//                //TODO 此处用的是无人的SN号 待测试
+//                String topic = String.format(someTopic, airPortSn);
+//                //封装数据
+//                Map<String,Object> content = new HashMap<>();
+//                Map<String,Object> data = new HashMap<>();
+//                content.put("tid", UUID.randomUUID().toString());
+//                content.put("bid", UUID.randomUUID().toString());
+//                content.put("timestamp",System.currentTimeMillis());
+//                content.put("method", DJIMethonConstants.FLIGHT_AUTHORITY_GRAB);
+//                content.put("data", data);
+//                String message = com.alibaba.fastjson.JSONObject.toJSONString(content);
+//                System.out.println(message);
+//                MqttDeliveryToken publish = providerClient.publish(qos, retained, topic, message);
+//            } catch (Exception e) {
+//                e.printStackTrace();
+//            }
+//            Thread.sleep(4000);
 
 
 
 
+            Integer qos = 1;
+            Boolean retained = false;
+            //topic主题 sn是机场sn号  thing/product/%s/services
+            //TODO 此处用的是无人的SN号 待测试
+            String topic = String.format(someTopic, airPortSn);
+            //封装数据
+            Map<String,Object> content = new HashMap<>();
+            Map<String,Object> data = new HashMap<>();
+//            tid = UUID.randomUUID().toString();
+            content.put("tid",tid );
+//            bid = UUID.randomUUID().toString();
+            content.put("bid", bid);
+            content.put("timestamp", System.currentTimeMillis());
+            content.put("method", DJIMethonConstants.DRC_MODE_EXIT);
+            content.put("data", data);
+            String message = com.alibaba.fastjson.JSONObject.toJSONString(content);
+            System.out.println(message);
+            MqttDeliveryToken publish = providerClient.publish(qos, retained, topic, message);
+            return "发送成功";
+        } catch (Exception e) {
+            e.printStackTrace();
+            return "发送失败";
+        }
+    }
+
+
+    public String drcModeEnter(){
+        try {
+            MqttConfig providerClient = SpringUtil.getBean(MqttConfig.class);
+
+//            try {
+//                Integer qos = 1;
+//                Boolean retained = false;
+//                //topic主题 sn是机场sn号  thing/product/%s/services
+//                //TODO 此处用的是无人的SN号 待测试
+//                String topic = String.format(someTopic, airPortSn);
+//                //封装数据
+//                Map<String,Object> content = new HashMap<>();
+//                Map<String,Object> data = new HashMap<>();
+//                content.put("tid", UUID.randomUUID().toString());
+//                content.put("bid", UUID.randomUUID().toString());
+//                content.put("timestamp",System.currentTimeMillis());
+//                content.put("method", DJIMethonConstants.FLIGHT_AUTHORITY_GRAB);
+//                content.put("data", data);
+//                String message = com.alibaba.fastjson.JSONObject.toJSONString(content);
+//                System.out.println(message);
+//                MqttDeliveryToken publish = providerClient.publish(qos, retained, topic, message);
+//            } catch (Exception e) {
+//                e.printStackTrace();
+//            }
+//            Thread.sleep(4000);
+
+
+            Integer qos = 1;
+            Boolean retained = false;
+            //topic主题 sn是机场sn号  thing/product/%s/services
+            //TODO 此处用的是无人的SN号 待测试
+            String topic = String.format(someTopic, airPortSn);
+            //封装数据
+            Map<String,Object> content = new HashMap<>();
+            Map<String,Object> data = new HashMap<>();
+            //负载枚举值 镜头负载
+            data.put("hsi_frequency", 1);
+
+            //Broker 连接信息
+            Map<String,Object> mqttBroker = new HashMap<>();
+            //服务器连接地址
+            mqttBroker.put("address", "58.213.148.44:1883");
+            //客户端ID
+            mqttBroker.put("client_id", "DRC-8UUXN3500A02BE");
+            //enable_tls
+            mqttBroker.put("enable_tls", false);
+            //expire_time 当前时间+3000秒
+            mqttBroker.put("expire_time", System.currentTimeMillis()/1000 + 3600);
+            //密码
+            mqttBroker.put("password", "admin##123");
+            //用户名
+            mqttBroker.put("username", "admin");
+            data.put("mqtt_broker", mqttBroker);
+            //设置 OSD 上报频率  {"max":30,"min":1,"unit_name":"赫兹 / Hz"}
+            data.put("osd_frequency", 1);
+
+//            tid = UUID.randomUUID().toString();
+            content.put("tid", tid);
+//            bid = UUID.randomUUID().toString();
+            content.put("bid", bid);
+            content.put("timestamp",System.currentTimeMillis());
+            content.put("method", DJIMethonConstants.DRC_MODE_ENTER);
+            content.put("data", data);
+            String message = com.alibaba.fastjson.JSONObject.toJSONString(content);
+            System.out.println(message);
+            MqttDeliveryToken publish = providerClient.publish(qos, retained, topic, message);
+            return "发送成功";
+        } catch (Exception e) {
+            e.printStackTrace();
+            return "发送失败";
+        }
+    }
+
+
+    public String flightAuthorityGrab(String airPortSn){
+        MqttConfig providerClient = SpringUtil.getBean(MqttConfig.class);
+        try {
+            log.info("飞行控制权抢夺 flight_authority_grab is start");
+            Integer qos = 1;
+            Boolean retained = false;
+            //topic主题 sn是机场sn号  thing/product/%s/services
+            //TODO 此处用的是无人的SN号 待测试
+            String topic = String.format(someTopic, airPortSn);
+            //封装数据
+            Map<String,Object> content = new HashMap<>();
+            Map<String,Object> data = new HashMap<>();
+            String tid = UUID.randomUUID().toString();
+            content.put("tid", tid);
+            content.put("bid", UUID.randomUUID().toString());
+            content.put("timestamp",System.currentTimeMillis());
+            content.put("method", DJIMethonConstants.FLIGHT_AUTHORITY_GRAB);
+            content.put("data", data);
+            String message = com.alibaba.fastjson.JSONObject.toJSONString(content);
+            System.out.println(message);
+            MqttDeliveryToken publish = providerClient.publish(qos, retained, topic, message);
+            log.info("飞行控制权抢夺 flight_authority_grab is end topic is {}, message is {}, token is {} ", topic, message, publish);
+            return "发送成功";
+        } catch (Exception e) {
+            e.printStackTrace();
+            return "发送失败";
+        }
+    }
+
+    /**
+     * 负载控制权抢夺 /payloadAuthorityGrab
+     * @param airPortSn 机场sn号
+     * @param cameraIndex 镜头参数
+     * @return JsonResult
+     */
+    public String payloadAuthorityGrab(String cameraIndex, String airPortSn){
+        MqttConfig providerClient = SpringUtil.getBean(MqttConfig.class);
+        try {
+            Integer qos = 2;
+            Boolean retained = false;
+            //topic主题 sn是机场sn号  thing/product/%s/services
+            //TODO 此处用的是无人的SN号 待测试
+            String topic = String.format(someTopic, airPortSn);
+            //封装数据
+            Map<String,Object> content = new HashMap<>();
+            Map<String,Object> data = new HashMap<>();
+            //负载枚举值 镜头负载
+            data.put("payload_index", cameraIndex);
+            content.put("tid", UUID.randomUUID().toString());
+            content.put("bid", UUID.randomUUID().toString());
+            content.put("timestamp",System.currentTimeMillis());
+            content.put("method", DJIMethonConstants.PAYLOAD_AUTHORITY_GRAB);
+            content.put("data", data);
+            String message = com.alibaba.fastjson.JSONObject.toJSONString(content);
+            System.out.println(message);
+            MqttDeliveryToken publish = providerClient.publish(qos, retained, topic, message);
+            return "发送成功";
+        } catch (Exception e) {
+            e.printStackTrace();
+            return "发送失败";
+        }
+    }
+
 }
\ No newline at end of file
diff --git a/src/main/java/com/example/math/task/FirstTask.java b/src/main/java/com/example/math/task/FirstTask.java
index 6466c5a..d9c6b57 100644
--- a/src/main/java/com/example/math/task/FirstTask.java
+++ b/src/main/java/com/example/math/task/FirstTask.java
@@ -1,5 +1,6 @@
 package com.example.math.task;
 
+import com.alibaba.fastjson.JSONObject;
 import com.example.math.constants.DJIMethonConstants;
 import com.example.math.mqtt.MqttConfig;
 import com.example.math.mqtt.SendMsg;
@@ -14,6 +15,7 @@ import org.springframework.scheduling.annotation.Scheduled;
 import java.util.HashMap;
 import java.util.List;
 import java.util.Map;
+import java.util.UUID;
 
 @Slf4j
 @Configuration      //1.主要用于标记配置类，兼备Component的效果。
@@ -22,6 +24,8 @@ public class FirstTask {
 
     private static Integer seq = 0;
 
+    private static Boolean aBoolean = false;
+
     @Autowired
     private MqttConfig providerClient;
 
@@ -37,28 +41,111 @@ public class FirstTask {
 //        while(sendList.size()>0) {
 //            SendMsg sendMsg = sendList.remove(0);
 //            log.info("sendmsg qos is {},retained is {}, topic is {}, msg is {}",
-//                    sendMsg.getQos(),sendMsg.isRetained(),sendMsg.getTopic(),sendMsg.getMessage());
+//                    sendMsg.retained = false;Qos(),sendMsg.isRetained(),sendMsg.getTopic(),sendMsg.getMessage());
 //            providerClient.publish(sendMsg.getQos(),sendMsg.isRetained(),sendMsg.getTopic(),sendMsg.getMessage());
 //
 //        }
 //    }
 
 
-    @Scheduled(cron = "0/5 * * * * ?")
-    //或直接指定时间间隔，例如：5秒
-    //@Scheduled(fixedRate=5000)
+    @Scheduled(cron = "0/2 * * * * ?")
     private void aaaa() {
-
-        Map<String,Object> content = new HashMap<>();
-        HashMap<String, Long> data
-                = new HashMap<>();
-        data.put("timestamp", System.currentTimeMillis());
-        seq++;
-        content.put("method", "heart_beat");
-        content.put("data", data);
-        content.put("seq", seq);
-        String message = com.alibaba.fastjson.JSONObject.toJSONString(content);
-        System.out.println(message);
-        MqttDeliveryToken publish = providerClient.publish(1, false, "thing/product/7CTDM7H00BXZD1/drc/down", message);
+        if (true){
+            Map<String,Object> content = new HashMap<>();
+            HashMap<String, Long> data
+                    = new HashMap<>();
+            data.put("timestamp", System.currentTimeMillis());
+            seq++;
+            content.put("method", "heart_beat");
+            content.put("data", data);
+            content.put("seq", 0);
+            String message = com.alibaba.fastjson.JSONObject.toJSONString(content);
+//            System.out.println(message);
+            MqttDeliveryToken publish = providerClient.publish(1, false, "thing/product/8UUXN3500A02BE/drc/down", message);
+        }
     }
+
+
+
+//    @Scheduled(cron = "0/1 * * * * ?")
+//    //或直接指定时间间隔，例如：5秒
+//    //@Scheduled(fixedRate=5000)
+//    private void configureTasks() {
+//
+//        flightAuthorityGrab("7CTXMC500B052Q");
+//
+//        payloadAuthorityGrab("81-0-0", "7CTXMC500B052Q");
+//    }
+
+
+    private static String someTopic = "thing/product/%s/services";
+
+    /**
+     * 飞行控制权抢夺 /flightAuthorityGrab
+     * @param airPortSn 机场sn号
+     * @return JsonResult
+     */
+    public String flightAuthorityGrab(String airPortSn){
+        try {
+            log.info("飞行控制权抢夺 flight_authority_grab is start");
+            Integer qos = 1;
+            Boolean retained = false;
+            //topic主题 sn是机场sn号  thing/product/%s/services
+            //TODO 此处用的是无人的SN号 待测试
+            String topic = String.format(someTopic, airPortSn);
+            //封装数据
+            Map<String,Object> content = new HashMap<>();
+            Map<String,Object> data = new HashMap<>();
+            String tid = UUID.randomUUID().toString();
+            content.put("tid", tid);
+            content.put("bid", UUID.randomUUID().toString());
+            content.put("timestamp",System.currentTimeMillis());
+            content.put("method", DJIMethonConstants.FLIGHT_AUTHORITY_GRAB);
+            content.put("data", data);
+            String message = JSONObject.toJSONString(content);
+            System.out.println(message);
+            MqttDeliveryToken publish = providerClient.publish(qos, retained, topic, message);
+            log.info("飞行控制权抢夺 flight_authority_grab is end topic is {}, message is {}, token is {} ", topic, message, publish);
+            return "发送成功";
+        } catch (Exception e) {
+            e.printStackTrace();
+            return "发送失败";
+        }
+    }
+
+    /**
+     * 负载控制权抢夺 /payloadAuthorityGrab
+     * @param airPortSn 机场sn号
+     * @param cameraIndex 镜头参数
+     * @return JsonResult
+     */
+    public String payloadAuthorityGrab(String cameraIndex, String airPortSn){
+        try {
+            Integer qos = 2;
+            Boolean retained = false;
+            //topic主题 sn是机场sn号  thing/product/%s/services
+            //TODO 此处用的是无人的SN号 待测试
+            String topic = String.format(someTopic, airPortSn);
+            //封装数据
+            Map<String,Object> content = new HashMap<>();
+            Map<String,Object> data = new HashMap<>();
+            //负载枚举值 镜头负载
+            data.put("payload_index", cameraIndex);
+            content.put("tid", UUID.randomUUID().toString());
+            content.put("bid", UUID.randomUUID().toString());
+            content.put("timestamp",System.currentTimeMillis());
+            content.put("method", DJIMethonConstants.PAYLOAD_AUTHORITY_GRAB);
+            content.put("data", data);
+            String message = com.alibaba.fastjson.JSONObject.toJSONString(content);
+            System.out.println(message);
+            MqttDeliveryToken publish = providerClient.publish(qos, retained, topic, message);
+            return "发送成功";
+        } catch (Exception e) {
+            e.printStackTrace();
+            return "发送失败";
+        }
+    }
+
+
+
 }
diff --git a/src/main/java/com/example/math/utils/DJIUtils.java b/src/main/java/com/example/math/utils/DJIUtils.java
new file mode 100644
index 0000000..c50c51c
--- /dev/null
+++ b/src/main/java/com/example/math/utils/DJIUtils.java
@@ -0,0 +1,222 @@
+//package com.example.math.utils;
+//
+//import com.alibaba.fastjson.JSONObject;
+//import com.example.math.constants.DJIMethonConstants;
+//import com.example.math.mqtt.MqttConfig;
+//import lombok.extern.slf4j.Slf4j;
+//import org.eclipse.paho.client.mqttv3.MqttDeliveryToken;
+//import org.springframework.beans.factory.annotation.Autowired;
+//import org.springframework.beans.factory.annotation.Value;
+//import org.springframework.stereotype.Component;
+//import org.springframework.web.bind.annotation.ResponseBody;
+//
+//import javax.annotation.Resource;
+//import java.util.HashMap;
+//import java.util.Map;
+//import java.util.UUID;
+//
+///**
+// * 远程大疆的工具类
+// */
+//@Component
+//@Slf4j
+//public class DJIUtils {
+//
+//    @Resource
+//    private MqttConfig providerClient;
+//
+//    @Value("${spring.newMqtt.username}")
+//    private String username;
+//
+//    @Value("${spring.newMqtt.password}")
+//    private String password;
+//
+//    @Value("${spring.newMqtt.url}")
+//    private String address;
+//
+//    @Value("${spring.newMqtt.newUrl}")
+//    private String newAddress;
+//
+//    @Value("${spring.newMqtt.client.id}")
+//    private String clientId;
+//
+//    @Autowired
+//    private RedisUtils redisUtils;
+//
+//    public static String filePath = "";
+//    public static String fileMd5 = "";
+//
+//    //topic固定参数
+//    private static String someTopic = "thing/product/%s/services";
+//
+//
+//    //topic固定参数
+//    private static String propertySet = "thing/product/%s/property/set";
+//
+//
+//    //机场 无人机 镜头清晰度
+//    private static String camera = "normal-0";
+//
+//
+//
+//
+//    public static int seq = 0;
+//
+//    /**
+//     * 飞行控制权抢夺 /flightAuthorityGrab
+//     * @param airPortSn 机场sn号
+//     * @return JsonResult
+//     */
+//    public String flightAuthorityGrab(String airPortSn){
+//        try {
+//            log.info("飞行控制权抢夺 flight_authority_grab is start");
+//            Integer qos = 1;
+//            Boolean retained = false;
+//            //topic主题 sn是机场sn号  thing/product/%s/services
+//            //TODO 此处用的是无人的SN号 待测试
+//            String topic = String.format(someTopic, airPortSn);
+//            //封装数据
+//            Map<String,Object> content = new HashMap<>();
+//            Map<String,Object> data = new HashMap<>();
+//            String tid = UUID.randomUUID().toString();
+//            content.put("tid", tid);
+//            content.put("bid", UUID.randomUUID().toString());
+//            content.put("timestamp",System.currentTimeMillis());
+//            content.put("method", "flight_authority_grab");
+//            content.put("data", data);
+//            String message = JSONObject.toJSONString(content);
+//            System.out.println(message);
+//            MqttDeliveryToken publish = providerClient.publish(qos, retained, topic, message);
+//            log.info("飞行控制权抢夺 flight_authority_grab is end topic is {}, message is {}, token is {} ", topic, message, publish);
+//            return "发送成功";
+//        } catch (Exception e) {
+//            e.printStackTrace();
+//            return "发送成功";
+//        }
+//    }
+//
+//    /**
+//     * 负载控制权抢夺 /payloadAuthorityGrab
+//     * @param airPortSn 机场sn号
+//     * @param cameraIndex 镜头参数
+//     * @return JsonResult
+//     */
+//    public String payloadAuthorityGrab(String cameraIndex, String airPortSn){
+//        try {
+//            Integer qos = 2;
+//            Boolean retained = false;
+//            //topic主题 sn是机场sn号  thing/product/%s/services
+//            //TODO 此处用的是无人的SN号 待测试
+//            String topic = String.format(someTopic, airPortSn);
+//            //封装数据
+//            Map<String,Object> content = new HashMap<>();
+//            Map<String,Object> data = new HashMap<>();
+//            //负载枚举值 镜头负载
+//            data.put("payload_index", cameraIndex);
+//            content.put("tid", UUID.randomUUID().toString());
+//            content.put("bid", UUID.randomUUID().toString());
+//            content.put("timestamp",System.currentTimeMillis());
+//            content.put("method", "payload_authority_grab");
+//            content.put("data", data);
+//            String message = JSONObject.toJSONString(content);
+//            System.out.println(message);
+//            MqttDeliveryToken publish = providerClient.publish(qos, retained, topic, message);
+//            return "发送成功";
+//        } catch (Exception e) {
+//            e.printStackTrace();
+//            return "发送失败";
+//        }
+//    }
+//
+//
+//    /**
+//     * 进入指令飞行控制模式
+//     * @return JsonResult
+//     */
+//    public String drcModeEnter(String airPortSn){
+//        try {
+//            seq = 0;
+//            Integer qos = 1;
+//            Boolean retained = false;
+//            //topic主题 sn是机场sn号  thing/product/%s/services
+//            //TODO 此处用的是无人的SN号 待测试
+//            String topic = String.format(someTopic, airPortSn);
+//            //封装数据
+//            Map<String,Object> content = new HashMap<>();
+//            Map<String,Object> data = new HashMap<>();
+//            //负载枚举值 镜头负载
+//            data.put("hsi_frequency", 1);
+//
+//            //Broker 连接信息
+//            Map<String,Object> mqttBroker = new HashMap<>();
+//            //服务器连接地址
+//            mqttBroker.put("address", newAddress);
+//            //客户端ID
+//            mqttBroker.put("client_id", "DRC" + "-" + airPortSn);
+//            //enable_tls
+//            mqttBroker.put("enable_tls", false);
+//            //expire_time 当前时间+3000秒
+//            mqttBroker.put("expire_time", System.currentTimeMillis()/1000 + 36000);
+//            //密码
+//            mqttBroker.put("password", password);
+//            //用户名
+//            mqttBroker.put("username", username);
+//            data.put("mqtt_broker", mqttBroker);
+//            //设置 OSD 上报频率  {"max":30,"min":1,"unit_name":"赫兹 / Hz"}
+//            data.put("osd_frequency", 1);
+//
+//            content.put("tid", UUID.randomUUID().toString());
+//            content.put("bid", UUID.randomUUID().toString());
+//            content.put("timestamp",System.currentTimeMillis());
+//            content.put("method", DJIMethonConstants.DRC_MODE_ENTER);
+//            content.put("data", data);
+//            String message = com.alibaba.fastjson.JSONObject.toJSONString(content);
+//            System.out.println(message);
+//            MqttDeliveryToken publish = providerClient.publish(qos, retained, topic, message);
+//            return "发送成功";
+//        } catch (Exception e) {
+//            e.printStackTrace();
+//            return "发送失败";
+//        }
+//    }
+//
+//
+//
+//    /**
+//     * 退出指令飞行控制模式
+//     * @param airPortSn 机场sn号
+//     * @return JsonResult
+//     */
+//    @ResponseBody
+//    public String drcModeExit(String airPortSn){
+//        try {
+//            log.info("退出指令飞行控制模式 drc_mode_exit is start");
+//            Integer qos = 1;
+//            Boolean retained = false;
+//            //topic主题 sn是机场sn号  thing/product/%s/services
+//            //TODO 此处用的是无人的SN号 待测试
+//            String topic = String.format(someTopic, airPortSn);
+//            //封装数据
+//            Map<String,Object> content = new HashMap<>();
+//            Map<String,Object> data = new HashMap<>();
+//            content.put("tid", UUID.randomUUID().toString());
+//            content.put("bid", UUID.randomUUID().toString());
+//            content.put("timestamp",System.currentTimeMillis());
+//            content.put("method", DJIMethonConstants.DRC_MODE_EXIT);
+//            content.put("data", data);
+//            String message = JSONObject.toJSONString(content);
+//            System.out.println(message);
+//            MqttDeliveryToken publish = providerClient.publish(qos, retained, topic, message);
+////            log.info("退出指令飞行控制模式 drc_mode_exit is end topic is {}, message is {}, token is {} ", topic, message, publish);
+//            return "发送成功";
+//        } catch (Exception e) {
+//            e.printStackTrace();
+//            return "发送失败";
+//        }
+//    }
+//
+//
+//
+//
+//}
+//
diff --git a/src/main/resources/application.yml b/src/main/resources/application.yml
index 36a19ef..c7b6f81 100644
--- a/src/main/resources/application.yml
+++ b/src/main/resources/application.yml
@@ -21,7 +21,25 @@ spring:
     default:
       topic: topic
     newUrl: 58.213.148.44:1883
-#    djiClientId: airport_dji_mqtt
+
+#  mqtt:
+#    #MQTT服务地址，端口号默认11883，如果有多个，用逗号隔开
+#    onlineUrl: https://mqtt.t-aaron.com
+#    #MQTT服务地址，端口号默认11883，如果有多个，用逗号隔开
+#    url: tcp://mqtt.t-aaron.com:10883
+#    #用户名
+#    username: admin
+#    #密码
+#    password: admin##123
+#    #客户端id(不能重复)
+#    client:
+#      id: provider-id
+#    #MQTT默认的消息推送主题，实际可在调用接口是指定
+#    default:
+#      topic: topic
+#    newUrl: mqtt.t-aaron.com:10883
+
+  #    djiClientId: airport_dji_mqtt
 #  mqtt:
 #    onlineUrl: http://101.133.163.127:18083
 #    #MQTT服务地址，端口号默认11883，如果有多个，用逗号隔开
diff --git a/target/classes/application.yml b/target/classes/application.yml
index 36a19ef..c7b6f81 100644
--- a/target/classes/application.yml
+++ b/target/classes/application.yml
@@ -21,7 +21,25 @@ spring:
     default:
       topic: topic
     newUrl: 58.213.148.44:1883
-#    djiClientId: airport_dji_mqtt
+
+#  mqtt:
+#    #MQTT服务地址，端口号默认11883，如果有多个，用逗号隔开
+#    onlineUrl: https://mqtt.t-aaron.com
+#    #MQTT服务地址，端口号默认11883，如果有多个，用逗号隔开
+#    url: tcp://mqtt.t-aaron.com:10883
+#    #用户名
+#    username: admin
+#    #密码
+#    password: admin##123
+#    #客户端id(不能重复)
+#    client:
+#      id: provider-id
+#    #MQTT默认的消息推送主题，实际可在调用接口是指定
+#    default:
+#      topic: topic
+#    newUrl: mqtt.t-aaron.com:10883
+
+  #    djiClientId: airport_dji_mqtt
 #  mqtt:
 #    onlineUrl: http://101.133.163.127:18083
 #    #MQTT服务地址，端口号默认11883，如果有多个，用逗号隔开
diff --git a/target/classes/com/example/math/constants/CommonConstants.class b/target/classes/com/example/math/constants/CommonConstants.class
index 1190e54207bc47b214dce81557cd55424d1a8350..b6b8398bfb5bfced8e2648a61aec93cdfb06fbc7 100644
GIT binary patch
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delta 142
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diff --git a/target/classes/com/example/math/constants/DJIMethonConstants.class b/target/classes/com/example/math/constants/DJIMethonConstants.class
index f499b562c27ab7b3120010d439e10d8dafbb50df..40af9b0965fe6c77c631bd9810587894166cc53a 100644
GIT binary patch
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diff --git a/target/classes/com/example/math/controller/OperateController.class b/target/classes/com/example/math/controller/OperateController.class
index a69c0af08cad58ff8b7f4fb08d56f0e35b6dfd5e..d7d088c6d9a7cd1f91c6d23d7b5c09aee37f1522 100644
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diff --git a/target/classes/com/example/math/mqtt/MqttConfig.class b/target/classes/com/example/math/mqtt/MqttConfig.class
index 11a0a21e609aadc6343df316540468d33d390440..6091c8ac19824be958a36f799a63b20b8c106088 100644
GIT binary patch
delta 101
zcmZ3axJYq>0UvKT!)At1hAj+X3_BPiC)@IE){SQ1WQbwlXNYAGWr$;tXGmbsWJqSv
zVMu2%WyoN#V#sE&WyoZ(XUJl3VaS;*%l|{Pkb#Avm_eGMj6sf}1gN8wL7Aa^vX(#v
E09=U_f&c&j

delta 101
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zVMt>zWk_eRV#s2!WyoN#XUJr5VaT2=%l|{PfPsafh(Vg6ltGT67^tI!L7Aa!vX(#v
E09aQPYybcN

diff --git a/target/classes/com/example/math/mqtt/consumer/MqttConsumerCallBack.class b/target/classes/com/example/math/mqtt/consumer/MqttConsumerCallBack.class
index 13200919582c33c5842430232c16f4501f39d93f..1f22b416f737ed05e79decf3ba8f5af4157fbc95 100644
GIT binary patch
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diff --git a/target/classes/com/example/math/task/FirstTask.class b/target/classes/com/example/math/task/FirstTask.class
index e1580d8dd511cac072b72a7db43c962709b45f0d..b2e08ed73e4be66646ee190cc29d6de4b6a54a0a 100644
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