From 42e6643b52f62acfdd7c002bbe3b7e809179c861 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=E5=AD=99=E5=B0=8F=E4=BA=91?= Date: Wed, 11 Feb 2026 09:03:44 +0800 Subject: [PATCH] =?UTF-8?q?=E5=BC=80=E5=85=B3=E6=9C=BA?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../impl/machine/command/CommandType.java | 5 ++ .../vendor/tuoheng/TuohengVendorConfig.java | 13 +++- .../TuohengPowerOffInstruction.java | 68 +++++++++++++++++++ .../TuohengPowerOnInstruction.java | 14 ++-- 4 files changed, 92 insertions(+), 8 deletions(-) create mode 100644 src/main/java/com/ruoyi/device/domain/impl/machine/vendor/tuoheng/instruction/TuohengPowerOffInstruction.java diff --git a/src/main/java/com/ruoyi/device/domain/impl/machine/command/CommandType.java b/src/main/java/com/ruoyi/device/domain/impl/machine/command/CommandType.java index 30dd8d1..c552725 100644 --- a/src/main/java/com/ruoyi/device/domain/impl/machine/command/CommandType.java +++ b/src/main/java/com/ruoyi/device/domain/impl/machine/command/CommandType.java @@ -9,6 +9,11 @@ public enum CommandType { */ POWER_ON, + /** + * 关机 + */ + POWER_OFF, + /** * 起飞 */ diff --git a/src/main/java/com/ruoyi/device/domain/impl/machine/vendor/tuoheng/TuohengVendorConfig.java b/src/main/java/com/ruoyi/device/domain/impl/machine/vendor/tuoheng/TuohengVendorConfig.java index fbd6ea9..1607341 100644 --- a/src/main/java/com/ruoyi/device/domain/impl/machine/vendor/tuoheng/TuohengVendorConfig.java +++ b/src/main/java/com/ruoyi/device/domain/impl/machine/vendor/tuoheng/TuohengVendorConfig.java @@ -53,6 +53,11 @@ public class TuohengVendorConfig implements VendorConfig { return airportState == AirportState.ONLINE && droneState == DroneState.POWER_OFF; + case POWER_OFF: + // 关机前置条件：机场在线、无人机在线（未飞行） + return airportState == AirportState.ONLINE + && droneState == DroneState.ONLINE; + case TAKE_OFF: // 起飞前置条件：无人机已开机、机场在线 return droneState == DroneState.ONLINE @@ -87,9 +92,15 @@ public class TuohengVendorConfig implements VendorConfig { // 开机命令 Transaction powerOnTransaction = new Transaction("开机", CommandType.POWER_ON) .root(new com.ruoyi.device.domain.impl.machine.vendor.tuoheng.instruction.TuohengPowerOnInstruction()) - .setTimeout(60000); + .setTimeout(240000); transactionMap.put(powerOnTransaction.getCommandType(), powerOnTransaction); + // 关机命令 + Transaction powerOffTransaction = new Transaction("关机", CommandType.POWER_OFF) + .root(new com.ruoyi.device.domain.impl.machine.vendor.tuoheng.instruction.TuohengPowerOffInstruction()) + .setTimeout(240000); + transactionMap.put(powerOffTransaction.getCommandType(), powerOffTransaction); + log.info("拓恒厂家配置初始化完成，共配置{}个命令", transactionMap.size()); } } \ No newline at end of file diff --git a/src/main/java/com/ruoyi/device/domain/impl/machine/vendor/tuoheng/instruction/TuohengPowerOffInstruction.java b/src/main/java/com/ruoyi/device/domain/impl/machine/vendor/tuoheng/instruction/TuohengPowerOffInstruction.java new file mode 100644 index 0000000..7f975eb --- /dev/null +++ b/src/main/java/com/ruoyi/device/domain/impl/machine/vendor/tuoheng/instruction/TuohengPowerOffInstruction.java @@ -0,0 +1,68 @@ +package com.ruoyi.device.domain.impl.machine.vendor.tuoheng.instruction; + +import com.alibaba.fastjson.JSONObject; +import com.ruoyi.device.domain.impl.machine.instruction.AbstractInstruction; +import com.ruoyi.device.domain.impl.machine.instruction.CallbackConfig; +import com.ruoyi.device.domain.impl.machine.instruction.InstructionContext; +import lombok.extern.slf4j.Slf4j; + +/** + * 拓恒无人机关机指令 + */ +@Slf4j +public class TuohengPowerOffInstruction extends AbstractInstruction { + + @Override + public String getName() { + return "TUOHENG_POWER_OFF"; + } + + @Override + public void executeRemoteCall(InstructionContext context) throws Exception { + String sn = context.getSn(); + log.info("发送拓恒无人机关机指令: sn={}", sn); + // 构建MQTT消息 + JSONObject payload = new JSONObject(); + payload.put("messageID", System.currentTimeMillis()); + payload.put("timestamp", System.currentTimeMillis()); + payload.put("code", "DronePower"); + payload.put("value", "2"); // 1=开机, 2=关机 + payload.put("channel", 1); + + String topic = "/topic/v1/airportNest/" + sn + "/control"; + + context.getMqttClient().sendMessage(topic, payload.toJSONString()); + log.info("拓恒关机指令发送成功: topic={}, payload={}", topic, payload.toJSONString()); + } + + @Override + public CallbackConfig getMethodCallbackConfig(InstructionContext context) { + String sn = context.getSn(); + + // 监听机场确认消息 + return CallbackConfig.builder() + .topic("/topic/v1/airportNest/" + sn + "/control/confirm") + .fieldPath("msg") + .expectedValue("[综管]无人机关机指令接收成功") + .timeoutMs(60000) + .build(); + } + + @Override + public CallbackConfig getStateCallbackConfig(InstructionContext context) { + String sn = context.getSn(); + + // 监听无人机关机状态变化 + return CallbackConfig.builder() + .topic("/topic/v1/airportNest/" + sn + "/realTime/data") + .fieldPath("droneBattery.data.bPowerON") + .expectedValue("2") // 2表示已关机 + .timeoutMs(180000) + .build(); + } + + @Override + public long getTimeoutMs() { + return 240000; // 总超时时间60秒 + } +} \ No newline at end of file diff --git a/src/main/java/com/ruoyi/device/domain/impl/machine/vendor/tuoheng/instruction/TuohengPowerOnInstruction.java b/src/main/java/com/ruoyi/device/domain/impl/machine/vendor/tuoheng/instruction/TuohengPowerOnInstruction.java index ea2d9ac..f735311 100644 --- a/src/main/java/com/ruoyi/device/domain/impl/machine/vendor/tuoheng/instruction/TuohengPowerOnInstruction.java +++ b/src/main/java/com/ruoyi/device/domain/impl/machine/vendor/tuoheng/instruction/TuohengPowerOnInstruction.java @@ -41,9 +41,9 @@ public class TuohengPowerOnInstruction extends AbstractInstruction { // 监听机场确认消息 return CallbackConfig.builder() .topic("/topic/v1/airportNest/" + sn + "/control/confirm") - .fieldPath("code") - .expectedValue("DronePower") - .timeoutMs(10000) + .fieldPath("msg") + .expectedValue("[综管]无人机开机指令接收成功") + .timeoutMs(60000) .build(); } @@ -54,14 +54,14 @@ public class TuohengPowerOnInstruction extends AbstractInstruction { // 监听无人机开机状态变化 return CallbackConfig.builder() .topic("/topic/v1/airportNest/" + sn + "/realTime/data") - .fieldPath("droneBattery.bPowerON") - .expectedValue("2") // 2表示已开机 - .timeoutMs(60000) + .fieldPath("droneBattery.data.bPowerON") + .expectedValue("1") // 1表示已开机 + .timeoutMs(180000) .build(); } @Override public long getTimeoutMs() { - return 60000; // 总超时时间60秒 + return 240000; // 总超时时间60秒 } } \ No newline at end of file