添加飞控指令

src/main/java/com/ruoyi/device/domain/impl/machine/vendor/tuoheng/TuohengVendorConfig.java

@@ -125,22 +125,22 @@ public class TuohengVendorConfig implements VendorConfig {
 
         // 遥感控制命令
         transactionMap.put(CommandType.FORWARD, new Transaction("前进", CommandType.FORWARD)
-                .root(new com.ruoyi.device.domain.impl.machine.vendor.tuoheng.instruction.TuohengDroneControlInstruction("06", "前进"))
+                .root(new com.ruoyi.device.domain.impl.machine.vendor.tuoheng.instruction.TuohengMoveForwardInstruction())
                 .setTimeout(5000));
         transactionMap.put(CommandType.BACKWARD, new Transaction("后退", CommandType.BACKWARD)
-                .root(new com.ruoyi.device.domain.impl.machine.vendor.tuoheng.instruction.TuohengDroneControlInstruction("07", "后退"))
+                .root(new com.ruoyi.device.domain.impl.machine.vendor.tuoheng.instruction.TuohengMoveBackwardInstruction())
                 .setTimeout(5000));
         transactionMap.put(CommandType.LEFT, new Transaction("左移", CommandType.LEFT)
-                .root(new com.ruoyi.device.domain.impl.machine.vendor.tuoheng.instruction.TuohengDroneControlInstruction("04", "左移"))
+                .root(new com.ruoyi.device.domain.impl.machine.vendor.tuoheng.instruction.TuohengMoveLeftInstruction())
                 .setTimeout(5000));
         transactionMap.put(CommandType.RIGHT, new Transaction("右移", CommandType.RIGHT)
-                .root(new com.ruoyi.device.domain.impl.machine.vendor.tuoheng.instruction.TuohengDroneControlInstruction("05", "右移"))
+                .root(new com.ruoyi.device.domain.impl.machine.vendor.tuoheng.instruction.TuohengMoveRightInstruction())
                 .setTimeout(5000));
         transactionMap.put(CommandType.ROTATE_LEFT, new Transaction("左旋", CommandType.ROTATE_LEFT)
-                .root(new com.ruoyi.device.domain.impl.machine.vendor.tuoheng.instruction.TuohengDroneControlInstruction("10", "左旋"))
+                .root(new com.ruoyi.device.domain.impl.machine.vendor.tuoheng.instruction.TuohengRotateLeftInstruction())
                 .setTimeout(5000));
         transactionMap.put(CommandType.ROTATE_RIGHT, new Transaction("右旋", CommandType.ROTATE_RIGHT)
-                .root(new com.ruoyi.device.domain.impl.machine.vendor.tuoheng.instruction.TuohengDroneControlInstruction("11", "右旋"))
+                .root(new com.ruoyi.device.domain.impl.machine.vendor.tuoheng.instruction.TuohengRotateRightInstruction())
                 .setTimeout(5000));
         transactionMap.put(CommandType.UP, new Transaction("上升", CommandType.UP)
                 .root(new com.ruoyi.device.domain.impl.machine.vendor.tuoheng.instruction.TuohengDroneControlInstruction("08", "上升"))

src/main/java/com/ruoyi/device/domain/impl/machine/vendor/tuoheng/instruction/TuohengDroneControlInstruction.java

@@ -31,9 +31,16 @@ public class TuohengDroneControlInstruction extends AbstractInstruction {
         payload.put("code", "yaogan");
         payload.put("yaogan", commandValue);
         payload.put("value", commandValue);
-        payload.put("messageID", System.currentTimeMillis());
+        payload.put("messageID", context.getCommandParam("messageID", Long.class) != null ? context.getCommandParam("messageID") : System.currentTimeMillis());
         payload.put("timestamp", System.currentTimeMillis());
-        payload.put("PWM", 35);
+        
+        // 根据命令类型设置不同的 PWM 值
+        int pwmValue = 35; // 默认值
+        if ("04".equals(commandValue) || "05".equals(commandValue) || "06".equals(commandValue) || "07".equals(commandValue)) {
+            pwmValue = 150; // 左移、右移、向前、向后
+        }
+        payload.put("PWM", pwmValue);
+        
         payload.put("desc", description);
 
         String topic = "/topic/v1/airportDrone/" + sn + "/control";

src/main/java/com/ruoyi/device/domain/impl/machine/vendor/tuoheng/instruction/TuohengMoveBackwardInstruction.java

@@ -0,0 +1,50 @@
+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;
+
+@Slf4j
+public class TuohengMoveBackwardInstruction extends AbstractInstruction {
+
+    @Override
+    public String getName() {
+        return "TUOHENG_MOVE_BACKWARD";
+    }
+
+    @Override
+    public void executeRemoteCall(InstructionContext context) throws Exception {
+        String sn = context.getSn();
+        log.info("发送拓恒无人机向后指令: sn={}", sn);
+
+        JSONObject payload = new JSONObject();
+        payload.put("code", "yaogan");
+        payload.put("PWM", 150);
+        payload.put("yaogan", "07");
+        payload.put("messageID", context.getCommandParam("messageID", Long.class) != null ? context.getCommandParam("messageID") : System.currentTimeMillis());
+        payload.put("value", "07");
+        payload.put("timestamp", System.currentTimeMillis());
+        payload.put("desc", "无人机向后");
+
+        String topic = "/topic/v1/airportDrone/" + sn + "/control";
+        context.getMqttClient().sendMessage(topic, payload.toJSONString());
+        log.info("向后指令发送成功: topic={}, payload={}", topic, payload.toJSONString());
+    }
+
+    @Override
+    public CallbackConfig getMethodCallbackConfig(InstructionContext context) {
+        return null;
+    }
+
+    @Override
+    public CallbackConfig getStateCallbackConfig(InstructionContext context) {
+        return null;
+    }
+
+    @Override
+    public long getTimeoutMs() {
+        return 5000;
+    }
+}

src/main/java/com/ruoyi/device/domain/impl/machine/vendor/tuoheng/instruction/TuohengMoveForwardInstruction.java

@@ -0,0 +1,50 @@
+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;
+
+@Slf4j
+public class TuohengMoveForwardInstruction extends AbstractInstruction {
+
+    @Override
+    public String getName() {
+        return "TUOHENG_MOVE_FORWARD";
+    }
+
+    @Override
+    public void executeRemoteCall(InstructionContext context) throws Exception {
+        String sn = context.getSn();
+        log.info("发送拓恒无人机向前指令: sn={}", sn);
+
+        JSONObject payload = new JSONObject();
+        payload.put("code", "yaogan");
+        payload.put("PWM", 150);
+        payload.put("yaogan", "06");
+        payload.put("messageID", context.getCommandParam("messageID", Long.class) != null ? context.getCommandParam("messageID") : System.currentTimeMillis());
+        payload.put("value", "06");
+        payload.put("timestamp", System.currentTimeMillis());
+        payload.put("desc", "无人机向前");
+
+        String topic = "/topic/v1/airportDrone/" + sn + "/control";
+        context.getMqttClient().sendMessage(topic, payload.toJSONString());
+        log.info("向前指令发送成功: topic={}, payload={}", topic, payload.toJSONString());
+    }
+
+    @Override
+    public CallbackConfig getMethodCallbackConfig(InstructionContext context) {
+        return null;
+    }
+
+    @Override
+    public CallbackConfig getStateCallbackConfig(InstructionContext context) {
+        return null;
+    }
+
+    @Override
+    public long getTimeoutMs() {
+        return 5000;
+    }
+}

src/main/java/com/ruoyi/device/domain/impl/machine/vendor/tuoheng/instruction/TuohengMoveLeftInstruction.java

@@ -0,0 +1,50 @@
+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;
+
+@Slf4j
+public class TuohengMoveLeftInstruction extends AbstractInstruction {
+
+    @Override
+    public String getName() {
+        return "TUOHENG_MOVE_LEFT";
+    }
+
+    @Override
+    public void executeRemoteCall(InstructionContext context) throws Exception {
+        String sn = context.getSn();
+        log.info("发送拓恒无人机左移指令: sn={}", sn);
+
+        JSONObject payload = new JSONObject();
+        payload.put("code", "yaogan");
+        payload.put("PWM", 150);
+        payload.put("yaogan", "04");
+        payload.put("messageID", context.getCommandParam("messageID", Long.class) != null ? context.getCommandParam("messageID") : System.currentTimeMillis());
+        payload.put("value", "04");
+        payload.put("timestamp", System.currentTimeMillis());
+        payload.put("desc", "无人机左移");
+
+        String topic = "/topic/v1/airportDrone/" + sn + "/control";
+        context.getMqttClient().sendMessage(topic, payload.toJSONString());
+        log.info("左移指令发送成功: topic={}, payload={}", topic, payload.toJSONString());
+    }
+
+    @Override
+    public CallbackConfig getMethodCallbackConfig(InstructionContext context) {
+        return null;
+    }
+
+    @Override
+    public CallbackConfig getStateCallbackConfig(InstructionContext context) {
+        return null;
+    }
+
+    @Override
+    public long getTimeoutMs() {
+        return 5000;
+    }
+}

src/main/java/com/ruoyi/device/domain/impl/machine/vendor/tuoheng/instruction/TuohengMoveRightInstruction.java

@@ -0,0 +1,50 @@
+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;
+
+@Slf4j
+public class TuohengMoveRightInstruction extends AbstractInstruction {
+
+    @Override
+    public String getName() {
+        return "TUOHENG_MOVE_RIGHT";
+    }
+
+    @Override
+    public void executeRemoteCall(InstructionContext context) throws Exception {
+        String sn = context.getSn();
+        log.info("发送拓恒无人机右移指令: sn={}", sn);
+
+        JSONObject payload = new JSONObject();
+        payload.put("code", "yaogan");
+        payload.put("PWM", 150);
+        payload.put("yaogan", "05");
+        payload.put("messageID", context.getCommandParam("messageID", Long.class) != null ? context.getCommandParam("messageID") : System.currentTimeMillis());
+        payload.put("value", "05");
+        payload.put("timestamp", System.currentTimeMillis());
+        payload.put("desc", "无人机右移");
+
+        String topic = "/topic/v1/airportDrone/" + sn + "/control";
+        context.getMqttClient().sendMessage(topic, payload.toJSONString());
+        log.info("右移指令发送成功: topic={}, payload={}", topic, payload.toJSONString());
+    }
+
+    @Override
+    public CallbackConfig getMethodCallbackConfig(InstructionContext context) {
+        return null;
+    }
+
+    @Override
+    public CallbackConfig getStateCallbackConfig(InstructionContext context) {
+        return null;
+    }
+
+    @Override
+    public long getTimeoutMs() {
+        return 5000;
+    }
+}

src/main/java/com/ruoyi/device/domain/impl/machine/vendor/tuoheng/instruction/TuohengRotateLeftInstruction.java

@@ -0,0 +1,50 @@
+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;
+
+@Slf4j
+public class TuohengRotateLeftInstruction extends AbstractInstruction {
+
+    @Override
+    public String getName() {
+        return "TUOHENG_ROTATE_LEFT";
+    }
+
+    @Override
+    public void executeRemoteCall(InstructionContext context) throws Exception {
+        String sn = context.getSn();
+        log.info("发送拓恒无人机左旋指令: sn={}", sn);
+
+        JSONObject payload = new JSONObject();
+        payload.put("code", "yaogan");
+        payload.put("PWM", 35);
+        payload.put("yaogan", "10");
+        payload.put("messageID", context.getCommandParam("messageID", Long.class) != null ? context.getCommandParam("messageID") : System.currentTimeMillis());
+        payload.put("value", "10");
+        payload.put("timestamp", System.currentTimeMillis());
+        payload.put("desc", "无人机左滚");
+
+        String topic = "/topic/v1/airportDrone/" + sn + "/control";
+        context.getMqttClient().sendMessage(topic, payload.toJSONString());
+        log.info("左旋指令发送成功: topic={}, payload={}", topic, payload.toJSONString());
+    }
+
+    @Override
+    public CallbackConfig getMethodCallbackConfig(InstructionContext context) {
+        return null;
+    }
+
+    @Override
+    public CallbackConfig getStateCallbackConfig(InstructionContext context) {
+        return null;
+    }
+
+    @Override
+    public long getTimeoutMs() {
+        return 5000;
+    }
+}

src/main/java/com/ruoyi/device/domain/impl/machine/vendor/tuoheng/instruction/TuohengRotateRightInstruction.java

@@ -0,0 +1,50 @@
+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;
+
+@Slf4j
+public class TuohengRotateRightInstruction extends AbstractInstruction {
+
+    @Override
+    public String getName() {
+        return "TUOHENG_ROTATE_RIGHT";
+    }
+
+    @Override
+    public void executeRemoteCall(InstructionContext context) throws Exception {
+        String sn = context.getSn();
+        log.info("发送拓恒无人机右旋指令: sn={}", sn);
+
+        JSONObject payload = new JSONObject();
+        payload.put("code", "yaogan");
+        payload.put("PWM", 35);
+        payload.put("yaogan", "11");
+        payload.put("messageID", context.getCommandParam("messageID", Long.class) != null ? context.getCommandParam("messageID") : System.currentTimeMillis());
+        payload.put("value", "11");
+        payload.put("timestamp", System.currentTimeMillis());
+        payload.put("desc", "无人机右滚");
+
+        String topic = "/topic/v1/airportDrone/" + sn + "/control";
+        context.getMqttClient().sendMessage(topic, payload.toJSONString());
+        log.info("右旋指令发送成功: topic={}, payload={}", topic, payload.toJSONString());
+    }
+
+    @Override
+    public CallbackConfig getMethodCallbackConfig(InstructionContext context) {
+        return null;
+    }
+
+    @Override
+    public CallbackConfig getStateCallbackConfig(InstructionContext context) {
+        return null;
+    }
+
+    @Override
+    public long getTimeoutMs() {
+        return 5000;
+    }
+}