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添加飞控指令

This commit is contained in:
孙小云 2026-03-02 16:07:11 +08:00
parent 67f465b364
commit 4a9f55a1b1
8 changed files with 315 additions and 8 deletions
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12
src/main/java/com/ruoyi/device/domain/impl/machine/vendor/tuoheng/TuohengVendorConfig.java vendored
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@ -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"))

11
src/main/java/com/ruoyi/device/domain/impl/machine/vendor/tuoheng/instruction/TuohengDroneControlInstruction.java vendored
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@ -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";

50
src/main/java/com/ruoyi/device/domain/impl/machine/vendor/tuoheng/instruction/TuohengMoveBackwardInstruction.java vendored Normal file
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@ -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;
}
}

50
src/main/java/com/ruoyi/device/domain/impl/machine/vendor/tuoheng/instruction/TuohengMoveForwardInstruction.java vendored Normal file
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@ -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;
}
}

50
src/main/java/com/ruoyi/device/domain/impl/machine/vendor/tuoheng/instruction/TuohengMoveLeftInstruction.java vendored Normal file
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@ -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;
}
}

50
src/main/java/com/ruoyi/device/domain/impl/machine/vendor/tuoheng/instruction/TuohengMoveRightInstruction.java vendored Normal file
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@ -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;
}
}

50
src/main/java/com/ruoyi/device/domain/impl/machine/vendor/tuoheng/instruction/TuohengRotateLeftInstruction.java vendored Normal file
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@ -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;
}
}

50
src/main/java/com/ruoyi/device/domain/impl/machine/vendor/tuoheng/instruction/TuohengRotateRightInstruction.java vendored Normal file
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@ -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;
}
}