开关机

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
      */

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());
     }
 }

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
+    }
+}

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")
+                .fieldPath("msg")
-                .expectedValue("DronePower")
+                .expectedValue("[综管]无人机开机指令接收成功")
-                .timeoutMs(10000)
+                .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")
+                .fieldPath("droneBattery.data.bPowerON")
-                .expectedValue("2")  // 2表示已开机
+                .expectedValue("1")  // 1表示已开机
-                .timeoutMs(60000)
+                .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
     }
 }