处理机场飞行控制数据

src/main/java/com/ruoyi/device/controller/AircraftFlyController.java

@@ -58,6 +58,28 @@ public class AircraftFlyController extends BaseController
 
         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());
+            }
+
             switch (request.getCommand()) {
                 case RETURN_HOME:
                     commandType = CommandType.RETURN_HOME;
@@ -86,13 +108,40 @@ public class AircraftFlyController extends BaseController
                 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 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);
+            CompletableFuture<CommandResult> future = machineCommandManager.executeCommand(sn, commandType, params);
             CommandResult result = future.get();
 
             if (result.isSuccess()) {

src/main/java/com/ruoyi/device/domain/impl/machine/command/CommandType.java

@@ -132,5 +132,50 @@ public enum CommandType {
     /**
      * 下降
      */
-    DOWN
+    DOWN,
+
+    /**
+     * 切换可见光
+     */
+    SWITCH_VISIBLE_LIGHT,
+
+    /**
+     * 云台变焦
+     */
+    GIMBAL_ZOOM,
+
+    /**
+     * 切换红外
+     */
+    SWITCH_IR,
+
+    /**
+     * 切换广角
+     */
+    SWITCH_WIDE_ANGLE,
+
+    /**
+     * 云台右移
+     */
+    GIMBAL_MOVE_RIGHT,
+
+    /**
+     * 云台左移
+     */
+    GIMBAL_MOVE_LEFT,
+
+    /**
+     * 云台俯仰（上）
+     */
+    GIMBAL_PITCH_UP,
+
+    /**
+     * 云台俯仰（下）
+     */
+    GIMBAL_PITCH_DOWN,
+
+    /**
+     * 云台复位
+     */
+    GIMBAL_RESET
 }

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

@@ -149,6 +149,43 @@ public class TuohengVendorConfig implements VendorConfig {
                 .root(new com.ruoyi.device.domain.impl.machine.vendor.tuoheng.instruction.TuohengDroneControlInstruction("09", "下降"))
                 .setTimeout(5000));
 
+        // 云台控制命令
+        transactionMap.put(CommandType.SWITCH_VISIBLE_LIGHT, new Transaction("切换可见光", CommandType.SWITCH_VISIBLE_LIGHT)
+                .root(new com.ruoyi.device.domain.impl.machine.vendor.tuoheng.instruction.TuohengSwitchVisibleLightInstruction())
+                .setTimeout(5000));
+
+        transactionMap.put(CommandType.GIMBAL_ZOOM, new Transaction("云台变焦", CommandType.GIMBAL_ZOOM)
+                .root(new com.ruoyi.device.domain.impl.machine.vendor.tuoheng.instruction.TuohengGimbalZoomInstruction())
+                .setTimeout(5000));
+
+        transactionMap.put(CommandType.SWITCH_IR, new Transaction("切换红外", CommandType.SWITCH_IR)
+                .root(new com.ruoyi.device.domain.impl.machine.vendor.tuoheng.instruction.TuohengSwitchIRInstruction())
+                .setTimeout(5000));
+
+        transactionMap.put(CommandType.SWITCH_WIDE_ANGLE, new Transaction("切换广角", CommandType.SWITCH_WIDE_ANGLE)
+                .root(new com.ruoyi.device.domain.impl.machine.vendor.tuoheng.instruction.TuohengSwitchWideAngleInstruction())
+                .setTimeout(5000));
+
+        transactionMap.put(CommandType.GIMBAL_MOVE_RIGHT, new Transaction("云台右移", CommandType.GIMBAL_MOVE_RIGHT)
+                .root(new com.ruoyi.device.domain.impl.machine.vendor.tuoheng.instruction.TuohengGimbalMoveRightInstruction())
+                .setTimeout(5000));
+
+        transactionMap.put(CommandType.GIMBAL_MOVE_LEFT, new Transaction("云台左移", CommandType.GIMBAL_MOVE_LEFT)
+                .root(new com.ruoyi.device.domain.impl.machine.vendor.tuoheng.instruction.TuohengGimbalMoveLeftInstruction())
+                .setTimeout(5000));
+
+        transactionMap.put(CommandType.GIMBAL_PITCH_UP, new Transaction("云台俯仰（上）", CommandType.GIMBAL_PITCH_UP)
+                .root(new com.ruoyi.device.domain.impl.machine.vendor.tuoheng.instruction.TuohengGimbalPitchUpInstruction())
+                .setTimeout(5000));
+
+        transactionMap.put(CommandType.GIMBAL_PITCH_DOWN, new Transaction("云台俯仰（下）", CommandType.GIMBAL_PITCH_DOWN)
+                .root(new com.ruoyi.device.domain.impl.machine.vendor.tuoheng.instruction.TuohengGimbalPitchDownInstruction())
+                .setTimeout(5000));
+
+        transactionMap.put(CommandType.GIMBAL_RESET, new Transaction("云台复位", CommandType.GIMBAL_RESET)
+                .root(new com.ruoyi.device.domain.impl.machine.vendor.tuoheng.instruction.TuohengGimbalResetInstruction())
+                .setTimeout(5000));
+
         log.info("拓恒厂家配置初始化完成，共配置{}个命令", transactionMap.size());
     }
 }