a-tuoheng-device/src/main/java/com/ruoyi/device/controller/AircraftFlyController.java

package com.ruoyi.device.controller;

import com.alibaba.fastjson.JSON;
import com.ruoyi.common.core.domain.R;
import com.ruoyi.common.core.utils.StringUtils;
import com.ruoyi.common.core.web.controller.BaseController;
import com.ruoyi.device.api.domain.*;
import com.ruoyi.device.api.enums.DroneCurrentStatusEnum;
import com.ruoyi.device.api.enums.DroneMissionStatusEnum;
import com.ruoyi.device.domain.impl.machine.MachineCommandManager;
import com.ruoyi.device.domain.impl.machine.command.CommandResult;
import com.ruoyi.device.domain.impl.machine.command.CommandType;
import com.ruoyi.device.domain.impl.machine.state.MachineStates;
import com.ruoyi.device.service.FlightService;
import com.ruoyi.task.api.enums.StatusEnum;
import io.swagger.v3.oas.annotations.Operation;
import io.swagger.v3.oas.annotations.Parameter;
import io.swagger.v3.oas.annotations.tags.Tag;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.web.bind.annotation.*;

import java.util.Objects;
import java.util.UUID;
import java.util.concurrent.CompletableFuture;

/**
 * 无人机飞控Controller
 *
 * @author ruoyi
 * @date 2026-02-04
 */
@Slf4j
@Tag(name = "无人机飞控管理", description = "无人机飞控相关接口")
@RestController
@RequestMapping("/drone")
public class AircraftFlyController extends BaseController
{
    @Autowired
    private MachineCommandManager machineCommandManager;

    @Autowired
    private com.ruoyi.device.domain.impl.machine.statemachine.MachineStateManager machineStateManager;

    @Autowired
    private FlightService flightService;

    /**
     * 无人机飞控命令
     *
     * @param request 飞控命令请求
     * @return 结果
     */
    @Operation(summary = "无人机飞控命令", description = "发送飞控指令")
    @PostMapping("/flight-control")
    public R<Void> flightControl(@RequestBody DroneFlightControlRequest request)
    {
        if (request.getCommand() == null || request.getSn() == null) {
            return R.fail("飞控命令和机场SN号不能为空");
        }

        String sn = request.getSn();
        log.info("收到飞控命令: sn={}, command={}", sn, request.getCommand());

        try {
            CommandType commandType;
            java.util.Map<String, Object> params = new java.util.HashMap<>();
            
            // 处理消息ID
            if (request.getMessageID() != null) {
                params.put("messageID", request.getMessageID());
            } else {
                params.put("messageID", System.currentTimeMillis());
            }

            // 处理扩展参数
            if (request.getEvalue() != null) {
                params.put("evalue", request.getEvalue());
            }

            if (request.getValue() != null) {
                params.put("value", request.getValue());
            }

            if (request.getLightMode() != null) {
                params.put("lightMode", request.getLightMode());
            }

            // 处理航线飞行、悬停、继续任务所需的参数
            if (request.getAirlineFileUrl() != null) {
                params.put("airlineFileUrl", request.getAirlineFileUrl());
            }

            if (request.getFlyBatteryMin() != null) {
                params.put("flyBatteryMin", request.getFlyBatteryMin());
            }

            if (request.getIsMustFly() != null) {
                params.put("isMustFly", request.getIsMustFly());
            }

            if (request.getTaskId() != null) {
                params.put("taskId", request.getTaskId());
            }

            if (request.getZhilin() != null) {
                params.put("zhilin", request.getZhilin());
            }

            switch (request.getCommand()) {
                case FORWARD:
                    commandType = CommandType.FORWARD;
                    break;
                case BACKWARD:
                    commandType = CommandType.BACKWARD;
                    break;
                case LEFT:
                    commandType = CommandType.LEFT;
                    break;
                case RIGHT:
                    commandType = CommandType.RIGHT;
                    break;
                case ROTATE_LEFT:
                    commandType = CommandType.ROTATE_LEFT;
                    break;
                case ROTATE_RIGHT:
                    commandType = CommandType.ROTATE_RIGHT;
                    break;
                case UP:
                    commandType = CommandType.UP;
                    break;
                case DOWN:
                    commandType = CommandType.DOWN;
                    break;
                case SWITCH_VISIBLE_LIGHT:
                    commandType = CommandType.SWITCH_VISIBLE_LIGHT;
                    break;
                case GIMBAL_ZOOM:
                    commandType = CommandType.GIMBAL_ZOOM;
                    break;
                case SWITCH_IR:
                    commandType = CommandType.SWITCH_IR;
                    break;
                case SWITCH_WIDE_ANGLE:
                    commandType = CommandType.SWITCH_WIDE_ANGLE;
                    break;
                case GIMBAL_MOVE_RIGHT:
                    commandType = CommandType.GIMBAL_MOVE_RIGHT;
                    break;
                case GIMBAL_MOVE_LEFT:
                    commandType = CommandType.GIMBAL_MOVE_LEFT;
                    break;
                case GIMBAL_PITCH_UP:
                    commandType = CommandType.GIMBAL_PITCH_UP;
                    break;
                case GIMBAL_PITCH_DOWN:
                    commandType = CommandType.GIMBAL_PITCH_DOWN;
                    break;
                case GIMBAL_RESET:
                    commandType = CommandType.GIMBAL_RESET;
                    break;
                case AIRLINE_FLIGHT:
                    commandType = CommandType.AIRLINE_FLIGHT;
                    break;
                case HOVER:
                    commandType = CommandType.HOVER;
                    break;
                case CONTINUE_TASK:
                    commandType = CommandType.CONTINUE_TASK;
                    break;
                case EMERGENCY_STOP:
                    return R.fail("急停命令暂不支持");
                default:
                    return R.fail("不支持的飞控命令");
            }

            CompletableFuture<CommandResult> future = machineCommandManager.executeCommand(sn, commandType, params);
            CommandResult result = future.get();

            if (result.isSuccess()) {
                log.info("飞控命令执行成功: sn={}, command={}", sn, request.getCommand());
                return R.ok();
            } else {
                log.error("飞控命令执行失败: sn={}, command={}, reason={}", sn, request.getCommand(), result.getErrorMessage());
                return R.fail("飞控命令执行失败: " + result.getErrorMessage());
            }
        } catch (Exception e) {
            log.error("飞控命令执行异常: sn={}, command={}", sn, request.getCommand(), e);
            return R.fail("飞控命令执行异常: " + e.getMessage());
        }
    }

    /**
     * 无人机实时信息展示
     *
     * @param taskId 任务ID
     * @return 实时信息
     */
    @Operation(summary = "无人机实时信息展示", description = "根据任务ID获取无人机的实时飞行信息，包括速度、高度、姿态角等")
    @GetMapping("/realtime-info/{taskId}")
    public R<DroneRealtimeInfoVO> getRealtimeInfo(
            @Parameter(description = "任务ID", required = true, example = "1")
            @PathVariable("taskId") Long taskId)
    {
        // TODO: 实现获取实时信息逻辑
        DroneRealtimeInfoVO vo = new DroneRealtimeInfoVO();
        vo.setClimbSpeed(0);
        vo.setCruiseSpeed(0);
        vo.setDistanceToAirport(0);
        vo.setAltitude(0);
        vo.setPitch(0);
        vo.setYaw(0);
        vo.setGimbalPitch(0);
        vo.setGimbalYaw(0);
        vo.setMissionStatus(DroneMissionStatusEnum.IDLE);
        return R.ok(vo);
    }

    /**
     * 无人机当前状态查询
     *
     * @param dockId 机场ID
     * @return 当前状态
     */
    @Operation(summary = "无人机当前状态查询", description = "根据机场ID查询无人机的当前飞行状态")
    @GetMapping("/current-status/{dockId}")
    public R<DroneCurrentStatusVO> getCurrentStatus(
            @Parameter(description = "机场ID", required = true, example = "1")
            @PathVariable("dockId") Long dockId)
    {
        // TODO: 实现查询当前状态逻辑
        DroneCurrentStatusVO vo = new DroneCurrentStatusVO();
        vo.setDockId(dockId);
        vo.setCurrentStatus(DroneCurrentStatusEnum.HOVERING);
        return R.ok(vo);
    }

    //从配置文件获取
    private final static String airlineFileUrl = "https://minio-dx.t-aaron.com:2443/th-airport/testFile/191ec54c-062c-4828-aab6-cefc901add78.waypoints";

    /**
     * 无人机一键起飞
     *
     * @param request 起飞请求对象
     * @return 起飞响应
     */
    @Operation(summary = "无人机航线任务（一键起飞用的也是该接口）", description = "控制指定机场的无人机执行起飞操作")
    @PostMapping("/takeoff")
    public R<String> takeoff(@RequestBody DroneTakeoffRequest request)
    {

//        Long taskId = flightService.createClickTakeOffTask(request.getSn(),airlineFileUrl);
        log.info("无人机航线任务（一键起飞用的也是该接口） {} ", JSON.toJSONString(request));

//        if(true){
//            return R.ok("无人机起飞命令发送失败: ");
//        }

        try {
            java.util.Map<String, Object> params = new java.util.HashMap<>();
            if(StringUtils.isEmpty(request.getAirlineFileUrl())){
                params.put("airlineFileUrl", airlineFileUrl);
            }else {
                params.put("airlineFileUrl", request.getAirlineFileUrl());
            }
            if(Objects.nonNull(request.getFlyBatteryMin())){
                params.put("flyBatteryMin", request.getFlyBatteryMin());
            }else {
                params.put("flyBatteryMin", 0.3);
            }
            params.put("messageID", request.getTaskId());
            CompletableFuture<CommandResult> future = machineCommandManager.executeCommand(request.getSn(), CommandType.TAKE_OFF, params);
            CommandResult result = future.get();

            if (result.isSuccess()) {
                log.info("无人机起飞命令发送成功: sn={}", request.getSn());
                flightService.updateFlightStatus(request.getTaskId(), StatusEnum.CHECKING);
                return R.ok("无人机起飞命令发送成功");
            } else {
                log.error("无人机起飞命令发送失败: sn={}, reason={}", request.getSn(), result.getErrorMessage());
                flightService.updateFlightStatus(request.getTaskId(), StatusEnum.FAILED);
                return R.fail("无人机起飞命令发送失败: " + result.getErrorMessage());
            }
        } catch (Exception e) {
            log.error("无人机起飞命令发送失败: sn={}", request.getSn(), e);
            flightService.updateFlightStatus(request.getTaskId(), StatusEnum.FAILED);
            return R.fail("无人机起飞命令发送失败: " + e.getMessage());
        }
    }

    /**
     * 无人机开机接口
     *
     * @param sn 机场SN号
     * @return 开机响应
     */
    @Operation(summary = "无人机开机", description = "控制指定机场的无人机执行开机操作")
    @PostMapping("/power-on/{sn}")
    public R<String> powerOn(
            @Parameter(description = "机场SN号", required = true, example = "THJSQ03B2309DN7VQN43")
            @PathVariable("sn") String sn)
    {
        log.info("收到无人机开机请求: sn={}", sn);

        try {
            // 调用机器命令管理器执行开机命令
            CompletableFuture<CommandResult> future = machineCommandManager.executeCommand(sn, CommandType.POWER_ON);

            // 等待命令执行完成
            CommandResult result = future.get();

            if (result.isSuccess()) {
                log.info("无人机开机成功: sn={}", sn);
                return R.ok("开机命令执行成功");
            } else {
                log.error("无人机开机失败: sn={}, reason={}", sn, result.getErrorMessage());
                return R.fail("开机命令执行失败: " + result.getErrorMessage());
            }
        } catch (Exception e) {
            log.error("无人机开机异常: sn={}", sn, e);
            return R.fail("开机命令执行异常: " + e.getMessage());
        }
    }

    /**
     * 无人机关机接口
     *
     * @param sn 机场SN号
     * @return 关机响应
     */
    @Operation(summary = "无人机关机", description = "控制指定机场的无人机执行关机操作")
    @PostMapping("/power-off/{sn}")
    public R<String> powerOff(
            @Parameter(description = "机场SN号", required = true, example = "THJSQ03B2309DN7VQN43")
            @PathVariable("sn") String sn)
    {
        log.info("收到无人机关机请求: sn={}", sn);

        try {
            // 调用机器命令管理器执行关机命令
            CompletableFuture<CommandResult> future = machineCommandManager.executeCommand(sn, CommandType.POWER_OFF);

            // 等待命令执行完成
            CommandResult result = future.get();

            if (result.isSuccess()) {
                log.info("无人机关机成功: sn={}", sn);
                return R.ok("关机命令执行成功");
            } else {
                log.error("无人机关机失败: sn={}, reason={}", sn, result.getErrorMessage());
                return R.fail("关机命令执行失败: " + result.getErrorMessage());
            }
        } catch (Exception e) {
            log.error("无人机关机异常: sn={}", sn, e);
            return R.fail("关机命令执行异常: " + e.getMessage());
        }
    }

    /**
     * 查询无人机状态
     *
     * @param sn 设备SN号
     * @return 状态信息
     */
    @Operation(summary = "查询无人机状态", description = "根据设备SN号查询无人机的实时状态信息")
    @GetMapping("/machine-state/{sn}")
    public R<MachineStateVO> getMachineState(
            @Parameter(description = "设备SN号", required = true, example = "TH001")
            @PathVariable("sn") String sn)
    {
        log.info("查询无人机状态: sn={}", sn);

        try {
            // 从 MachineStateManager 获取状态
            MachineStates states = machineStateManager.getStates(sn);

            // 转换为 VO 对象
            MachineStateVO vo = new MachineStateVO();
            vo.setSn(sn);
            vo.setDroneState(states.getDroneState().name());
            vo.setAirportState(states.getAirportState().name());
            vo.setCoverState(states.getCoverState().name());
            vo.setDrcState(states.getDrcState().name());
            vo.setDebugModeState(states.getDebugModeState().name());

            log.info("查询到状态: sn={}, vo={}", sn, vo);
            return R.ok(vo);
        } catch (Exception e) {
            log.error("查询无人机状态异常: sn={}", sn, e);
            return R.fail("查询状态失败: " + e.getMessage());
        }
    }

    /**
     * 出舱接口
     *
     * @param sn 机场SN号
     * @return 出舱响应
     */
    @Operation(summary = "出舱", description = "控制指定机场执行出舱操作")
    @PostMapping("/cover-open/{sn}")
    public R<String> coverOpen(
            @Parameter(description = "机场SN号", required = true, example = "THJSQ03B2309DN7VQN43")
            @PathVariable("sn") String sn)
    {
        log.info("收到出舱请求: sn={}", sn);

        try {
            // 调用机器命令管理器执行出舱命令
            CompletableFuture<CommandResult> future = machineCommandManager.executeCommand(sn, CommandType.OPEN_COVER);

            // 等待命令执行完成
            CommandResult result = future.get();

            if (result.isSuccess()) {
                log.info("出舱成功: sn={}", sn);
                return R.ok("出舱命令执行成功");
            } else {
                log.error("出舱失败: sn={}, reason={}", sn, result.getErrorMessage());
                return R.fail("出舱命令执行失败: " + result.getErrorMessage());
            }
        } catch (Exception e) {
            log.error("出舱异常: sn={}", sn, e);
            return R.fail("出舱命令执行异常: " + e.getMessage());
        }
    }

    /**
     * 回舱接口
     *
     * @param sn 机场SN号
     * @return 回舱响应
     */
    @Operation(summary = "回舱", description = "控制指定机场执行回舱操作")
    @PostMapping("/cover-close/{sn}")
    public R<String> coverClose(
            @Parameter(description = "机场SN号", required = true, example = "THJSQ03B2309DN7VQN43")
            @PathVariable("sn") String sn)
    {
        log.info("收到回舱请求: sn={}", sn);

        try {
            // 调用机器命令管理器执行回舱命令
            CompletableFuture<CommandResult> future = machineCommandManager.executeCommand(sn, CommandType.CLOSE_COVER);

            // 等待命令执行完成
            CommandResult result = future.get();

            if (result.isSuccess()) {
                log.info("回舱成功: sn={}", sn);
                return R.ok("回舱命令执行成功");
            } else {
                log.error("回舱失败: sn={}, reason={}", sn, result.getErrorMessage());
                return R.fail("回舱命令执行失败: " + result.getErrorMessage());
            }
        } catch (Exception e) {
            log.error("回舱异常: sn={}", sn, e);
            return R.fail("回舱命令执行异常: " + e.getMessage());
        }
    }

    /**
     * 无人机返航接口
     *
     * @param request 返航请求对象
     * @return 返航响应
     */
    @Operation(summary = "无人机返航", description = "控制指定机场的无人机执行返航操作")
    @PostMapping("/return-home")
    public R<String> returnHome(@RequestBody DroneReturnHomeRequest request)
    {
        log.info("收到无人机返航请求: sn={} ", request.getSn());

        try {

            Long currentTaskId =  flightService.currentRunningTask(request.getSn());
            java.util.Map<String, Object> params = new java.util.HashMap<>();
            if(Objects.isNull(currentTaskId)){
                params.put("messageID", UUID.randomUUID().toString());
            }else {
                params.put("messageID",currentTaskId);
            }
            params.put("taskId", 9074);
            params.put("zhilin", "03");
            CompletableFuture<CommandResult> future = machineCommandManager.executeCommand(request.getSn(), CommandType.RETURN_HOME, params);
            CommandResult result = future.get();

            if (result.isSuccess()) {
                log.info("无人机返航成功: sn={}", request.getSn());
                return R.ok("返航命令执行成功");
            } else {
                log.error("无人机返航失败: sn={}, reason={}", request.getSn(), result.getErrorMessage());
                return R.fail("返航命令执行失败: " + result.getErrorMessage());
            }
        } catch (Exception e) {
            log.error("无人机返航异常: sn={}", request.getSn(), e);
            return R.fail("返航命令执行异常: " + e.getMessage());
        }
    }
}