diff --git a/pom.xml b/pom.xml
index ea47435..f22b25b 100644
--- a/pom.xml
+++ b/pom.xml
@@ -105,6 +105,19 @@
provided
+
+
+ org.springframework.integration
+ spring-integration-mqtt
+
+
+
+
+ org.eclipse.paho
+ org.eclipse.paho.mqttv5.client
+ 1.2.5
+
+
diff --git a/src/main/java/com/ruoyi/device/domain/impl/djimqtt/README.md b/src/main/java/com/ruoyi/device/domain/impl/djimqtt/README.md
new file mode 100644
index 0000000..1798220
--- /dev/null
+++ b/src/main/java/com/ruoyi/device/domain/impl/djimqtt/README.md
@@ -0,0 +1,202 @@
+# DJI MQTT 模块使用说明（支持多客户端）
+
+## 概述
+
+本模块实现了大疆MQTT消息的接收和处理功能，支持动态创建多个MQTT客户端，每个客户端可以连接到不同的服务器。
+
+## 核心特性
+
+✅ **多客户端支持** - 可以同时创建多个MQTT客户端
+✅ **动态配置** - 每个客户端可以独立配置IP、端口、用户名等
+✅ **独立消息处理** - 每个客户端有独立的消息处理器
+✅ **共享订阅可选** - 支持开启/关闭共享订阅
+✅ **完整数据模型** - 包含所有无人机和机场字段
+✅ **自动区分设备** - 自动识别无人机和机场数据
+
+## 架构设计
+
+```
+DjiMqttClientManager (管理器)
+ ↓
+DjiMqttClientService (客户端实例)
+ ↓
+DjiMqttMessageHandler (消息处理器)
+ ↓
+IDroneDataCallback / IDockDataCallback (回调接口)
+```
+
+## 快速开始
+
+### 1. 注入管理器
+
+```java
+@Autowired
+private DjiMqttClientManager clientManager;
+```
+
+### 2. 创建客户端
+
+```java
+// 构建配置
+DjiMqttClientConfig config = DjiMqttClientConfig.builder()
+ .host("mqtt.t-aaron.com") // MQTT服务器地址
+ .port(10883) // 端口
+ .clientId("my_client_1") // 客户端ID（必须唯一）
+ .username("admin") // 用户名
+ .password("admin") // 密码
+ .useSharedSubscription(true) // 是否使用共享订阅
+ .sharedGroupName("dji-group") // 共享订阅组名
+ .build();
+
+// 创建并连接客户端
+String clientId = clientManager.createClient(config);
+```
+
+### 3. 注册回调
+
+```java
+// 获取消息处理器
+DjiMqttMessageHandler handler = clientManager.getHandler(clientId);
+
+// 注册无人机数据回调
+handler.registerDroneDataCallback(droneData -> {
+ System.out.println("无人机SN: " + droneData.getDeviceSn());
+ System.out.println("位置: " + droneData.getLatitude() + ", " + droneData.getLongitude());
+});
+
+// 注册机场数据回调
+handler.registerDockDataCallback(dockData -> {
+ System.out.println("机场SN: " + dockData.getDeviceSn());
+ System.out.println("温度: " + dockData.getTemperature());
+});
+```
+
+## 多客户端示例
+
+### 场景：同时连接多个MQTT服务器
+
+```java
+@Component
+public class MyMqttService {
+
+ @Autowired
+ private DjiMqttClientManager clientManager;
+
+ public void init() {
+ // 客户端1：连接到服务器A
+ DjiMqttClientConfig config1 = DjiMqttClientConfig.builder()
+ .host("mqtt.server-a.com")
+ .port(10883)
+ .clientId("client_a")
+ .username("admin")
+ .password("admin")
+ .useSharedSubscription(true)
+ .build();
+
+ String clientId1 = clientManager.createClient(config1);
+ DjiMqttMessageHandler handler1 = clientManager.getHandler(clientId1);
+ handler1.registerDroneDataCallback(data -> processServerA(data));
+
+ // 客户端2：连接到服务器B
+ DjiMqttClientConfig config2 = DjiMqttClientConfig.builder()
+ .host("mqtt.server-b.com")
+ .port(1883)
+ .clientId("client_b")
+ .username("user2")
+ .password("pass2")
+ .useSharedSubscription(false)
+ .build();
+
+ String clientId2 = clientManager.createClient(config2);
+ DjiMqttMessageHandler handler2 = clientManager.getHandler(clientId2);
+ handler2.registerDroneDataCallback(data -> processServerB(data));
+ }
+}
+```
+
+## 管理器API
+
+### 创建客户端
+```java
+String clientId = clientManager.createClient(config);
+```
+
+### 获取消息处理器
+```java
+DjiMqttMessageHandler handler = clientManager.getHandler(clientId);
+```
+
+### 获取客户端
+```java
+DjiMqttClientService client = clientManager.getClient(clientId);
+boolean isConnected = client.isConnected();
+```
+
+### 移除客户端
+```java
+clientManager.removeClient(clientId);
+```
+
+### 断开所有客户端
+```java
+clientManager.disconnectAll();
+```
+
+### 获取所有客户端ID
+```java
+Set clientIds = clientManager.getAllClientIds();
+```
+
+## 配置参数说明
+
+| 参数 | 类型 | 必填 | 默认值 | 说明 |
+|------|------|------|--------|------|
+| host | String | 是 | - | MQTT服务器地址 |
+| port | Integer | 是 | - | MQTT服务器端口 |
+| clientId | String | 是 | - | 客户端ID（必须唯一） |
+| username | String | 是 | - | 用户名 |
+| password | String | 是 | - | 密码 |
+| connectionTimeout | Integer | 否 | 30 | 连接超时时间（秒） |
+| keepAliveInterval | Integer | 否 | 60 | 保持连接时间（秒） |
+| autoReconnect | Boolean | 否 | true | 自动重连 |
+| cleanSession | Boolean | 否 | false | 清除会话 |
+| useSharedSubscription | Boolean | 否 | true | 是否使用共享订阅 |
+| sharedGroupName | String | 否 | dji-group | 共享订阅组名 |
+
+## 数据模型
+
+### DroneData（无人机数据）
+
+包含100+字段，主要分类：
+- **基础信息**：固件版本、飞行器状态、档位等
+- **位置信息**：经纬度、高度、Home点等
+- **姿态信息**：偏航角、横滚角、俯仰角
+- **速度信息**：水平速度、垂直速度、风速
+- **电池信息**：电量、剩余飞行时间、电池详情
+- **相机信息**：拍照录像状态、变焦、红外测温等
+- **避障信息**：水平/上视/下视避障状态
+- **保养信息**：保养状态、累计飞行时间/架次
+
+### DockData（机场数据）
+
+包含60+字段，主要分类：
+- **基础信息**：固件版本、机场状态、任务状态
+- **位置信息**：经纬度、高度、朝向角
+- **环境信息**：温度、湿度、风速、降雨量
+- **设备状态**：舱盖状态、飞行器在舱状态、补光灯等
+- **电池信息**：充电状态、备用电池、电池保养
+- **网络信息**：网络类型、质量、速率
+- **图传信息**：4G/SDR链路状态、信号质量
+
+## 注意事项
+
+1. **clientId必须唯一**：每个MQTT客户端的clientId必须全局唯一
+2. **部分字段推送**：每次MQTT消息可能只包含部分字段，使用时需要判空
+3. **原始数据访问**：所有字段都保存在`rawData`中，可以通过Map访问
+4. **共享订阅**：多实例部署时建议开启共享订阅，避免重复消费
+5. **独立处理器**：每个客户端有独立的消息处理器，互不影响
+6. **自动重连**：连接断开后会自动重连（可配置）
+
+## 完整示例
+
+参考 `DjiMqttUsageExample.java` 获取完整示例代码。
diff --git a/src/main/java/com/ruoyi/device/domain/impl/djimqtt/callback/IDockDataCallback.java b/src/main/java/com/ruoyi/device/domain/impl/djimqtt/callback/IDockDataCallback.java
new file mode 100644
index 0000000..9fb14d6
--- /dev/null
+++ b/src/main/java/com/ruoyi/device/domain/impl/djimqtt/callback/IDockDataCallback.java
@@ -0,0 +1,18 @@
+package com.ruoyi.device.domain.impl.djimqtt.callback;
+
+import com.ruoyi.device.domain.impl.djimqtt.model.DockData;
+
+/**
+ * 机场数据回调接口
+ *
+ * @author ruoyi
+ */
+public interface IDockDataCallback {
+
+ /**
+ * 处理机场数据
+ *
+ * @param dockData 机场数据
+ */
+ void onDockData(DockData dockData);
+}
diff --git a/src/main/java/com/ruoyi/device/domain/impl/djimqtt/callback/IDroneDataCallback.java b/src/main/java/com/ruoyi/device/domain/impl/djimqtt/callback/IDroneDataCallback.java
new file mode 100644
index 0000000..4bb7f74
--- /dev/null
+++ b/src/main/java/com/ruoyi/device/domain/impl/djimqtt/callback/IDroneDataCallback.java
@@ -0,0 +1,18 @@
+package com.ruoyi.device.domain.impl.djimqtt.callback;
+
+import com.ruoyi.device.domain.impl.djimqtt.model.DroneData;
+
+/**
+ * 无人机数据回调接口
+ *
+ * @author ruoyi
+ */
+public interface IDroneDataCallback {
+
+ /**
+ * 处理无人机数据
+ *
+ * @param droneData 无人机数据
+ */
+ void onDroneData(DroneData droneData);
+}
diff --git a/src/main/java/com/ruoyi/device/domain/impl/djimqtt/config/DjiMqttClientConfig.java b/src/main/java/com/ruoyi/device/domain/impl/djimqtt/config/DjiMqttClientConfig.java
new file mode 100644
index 0000000..94b395f
--- /dev/null
+++ b/src/main/java/com/ruoyi/device/domain/impl/djimqtt/config/DjiMqttClientConfig.java
@@ -0,0 +1,76 @@
+package com.ruoyi.device.domain.impl.djimqtt.config;
+
+import lombok.Builder;
+import lombok.Data;
+
+/**
+ * DJI MQTT客户端配置
+ * 用于动态创建MQTT客户端
+ *
+ * @author ruoyi
+ */
+@Data
+@Builder
+public class DjiMqttClientConfig {
+
+ /**
+ * MQTT服务器地址
+ */
+ private String host;
+
+ /**
+ * MQTT服务器端口
+ */
+ private Integer port;
+
+ /**
+ * 客户端ID（必须唯一）
+ */
+ private String clientId;
+
+ /**
+ * 用户名
+ */
+ private String username;
+
+ /**
+ * 密码
+ */
+ private String password;
+
+ /**
+ * 连接超时时间（秒）
+ */
+ @Builder.Default
+ private Integer connectionTimeout = 30;
+
+ /**
+ * 保持连接时间（秒）
+ */
+ @Builder.Default
+ private Integer keepAliveInterval = 60;
+
+ /**
+ * 自动重连
+ */
+ @Builder.Default
+ private Boolean autoReconnect = true;
+
+ /**
+ * 清除会话
+ */
+ @Builder.Default
+ private Boolean cleanSession = false;
+
+ /**
+ * 是否使用共享订阅
+ */
+ @Builder.Default
+ private Boolean useSharedSubscription = true;
+
+ /**
+ * 共享订阅组名
+ */
+ @Builder.Default
+ private String sharedGroupName = "dji-group";
+}
diff --git a/src/main/java/com/ruoyi/device/domain/impl/djimqtt/example/DjiMqttUsageExample.java b/src/main/java/com/ruoyi/device/domain/impl/djimqtt/example/DjiMqttUsageExample.java
new file mode 100644
index 0000000..9b34bde
--- /dev/null
+++ b/src/main/java/com/ruoyi/device/domain/impl/djimqtt/example/DjiMqttUsageExample.java
@@ -0,0 +1,153 @@
+package com.ruoyi.device.domain.impl.djimqtt.example;
+
+import com.ruoyi.device.domain.impl.djimqtt.callback.IDockDataCallback;
+import com.ruoyi.device.domain.impl.djimqtt.callback.IDroneDataCallback;
+import com.ruoyi.device.domain.impl.djimqtt.config.DjiMqttClientConfig;
+import com.ruoyi.device.domain.impl.djimqtt.handler.DjiMqttMessageHandler;
+import com.ruoyi.device.domain.impl.djimqtt.manager.DjiMqttClientManager;
+import com.ruoyi.device.domain.impl.djimqtt.model.DockData;
+import com.ruoyi.device.domain.impl.djimqtt.model.DroneData;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.boot.context.event.ApplicationReadyEvent;
+import org.springframework.context.event.EventListener;
+import org.springframework.stereotype.Component;
+
+/**
+ * DJI MQTT使用示例（支持多客户端）
+ *
+ * 使用说明：
+ * 1. 注入 DjiMqttClientManager
+ * 2. 使用 DjiMqttClientConfig.builder() 创建配置
+ * 3. 调用 manager.createClient(config) 创建客户端
+ * 4. 通过 manager.getHandler(clientId) 获取消息处理器
+ * 5. 注册回调处理数据
+ *
+ * @author ruoyi
+ */
+@Slf4j
+@Component
+public class DjiMqttUsageExample {
+
+// @Autowired
+// private DjiMqttClientManager clientManager;
+//
+// /**
+// * 应用启动后创建MQTT客户端
+// */
+// @EventListener(ApplicationReadyEvent.class)
+// public void onApplicationReady() {
+// // 示例1：创建第一个MQTT客户端
+// createClient1();
+//
+// // 示例2：创建第二个MQTT客户端（不同的服务器）
+// createClient2();
+// }
+//
+// /**
+// * 创建第一个MQTT客户端
+// */
+// private void createClient1() {
+// // 构建配置
+// DjiMqttClientConfig config = DjiMqttClientConfig.builder()
+// .host("mqtt.t-aaron.com")
+// .port(10883)
+// .clientId("client_1")
+// .username("admin")
+// .password("admin")
+// .useSharedSubscription(true)
+// .sharedGroupName("dji-group-1")
+// .build();
+//
+// // 创建客户端
+// String clientId = clientManager.createClient(config);
+//
+// // 获取消息处理器
+// DjiMqttMessageHandler handler = clientManager.getHandler(clientId);
+//
+// // 注册无人机数据回调
+// handler.registerDroneDataCallback(new IDroneDataCallback() {
+// @Override
+// public void onDroneData(DroneData droneData) {
+// handleDroneDataForClient1(droneData);
+// }
+// });
+//
+// // 注册机场数据回调
+// handler.registerDockDataCallback(new IDockDataCallback() {
+// @Override
+// public void onDockData(DockData dockData) {
+// handleDockDataForClient1(dockData);
+// }
+// });
+//
+// log.info("客户端1已创建并注册回调");
+// }
+//
+// /**
+// * 创建第二个MQTT客户端（连接到不同的服务器）
+// */
+// private void createClient2() {
+// // 构建配置
+// DjiMqttClientConfig config = DjiMqttClientConfig.builder()
+// .host("mqtt.another-server.com")
+// .port(1883)
+// .clientId("client_2")
+// .username("user2")
+// .password("pass2")
+// .useSharedSubscription(false) // 不使用共享订阅
+// .build();
+//
+// // 创建客户端
+// String clientId = clientManager.createClient(config);
+//
+// // 获取消息处理器
+// DjiMqttMessageHandler handler = clientManager.getHandler(clientId);
+//
+// // 注册回调
+// handler.registerDroneDataCallback(droneData -> handleDroneDataForClient2(droneData));
+// handler.registerDockDataCallback(dockData -> handleDockDataForClient2(dockData));
+//
+// log.info("客户端2已创建并注册回调");
+// }
+//
+// /**
+// * 处理客户端1的无人机数据
+// */
+// private void handleDroneDataForClient1(DroneData droneData) {
+// log.info("[客户端1] 收到无人机数据 - SN: {}, Type: {}",
+// droneData.getDeviceSn(),
+// droneData.getMessageType());
+//
+// // 处理位置信息
+// if (droneData.getLatitude() != null && droneData.getLongitude() != null) {
+// log.info("[客户端1] 无人机位置 - 纬度: {}, 经度: {}, 高度: {}",
+// droneData.getLatitude(),
+// droneData.getLongitude(),
+// droneData.getElevation());
+// }
+// }
+//
+// /**
+// * 处理客户端1的机场数据
+// */
+// private void handleDockDataForClient1(DockData dockData) {
+// log.info("[客户端1] 收到机场数据 - SN: {}, Type: {}",
+// dockData.getDeviceSn(),
+// dockData.getMessageType());
+// }
+//
+// /**
+// * 处理客户端2的无人机数据
+// */
+// private void handleDroneDataForClient2(DroneData droneData) {
+// log.info("[客户端2] 收到无人机数据 - SN: {}", droneData.getDeviceSn());
+// }
+//
+// /**
+// * 处理客户端2的机场数据
+// */
+// private void handleDockDataForClient2(DockData dockData) {
+// log.info("[客户端2] 收到机场数据 - SN: {}", dockData.getDeviceSn());
+// }
+}
diff --git a/src/main/java/com/ruoyi/device/domain/impl/djimqtt/handler/DjiMqttMessageHandler.java b/src/main/java/com/ruoyi/device/domain/impl/djimqtt/handler/DjiMqttMessageHandler.java
new file mode 100644
index 0000000..e6489c6
--- /dev/null
+++ b/src/main/java/com/ruoyi/device/domain/impl/djimqtt/handler/DjiMqttMessageHandler.java
@@ -0,0 +1,216 @@
+package com.ruoyi.device.domain.impl.djimqtt.handler;
+
+import com.fasterxml.jackson.databind.ObjectMapper;
+import com.ruoyi.device.domain.impl.djimqtt.callback.IDockDataCallback;
+import com.ruoyi.device.domain.impl.djimqtt.callback.IDroneDataCallback;
+import com.ruoyi.device.domain.impl.djimqtt.model.DjiMqttMessage;
+import com.ruoyi.device.domain.impl.djimqtt.model.DockData;
+import com.ruoyi.device.domain.impl.djimqtt.model.DroneData;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+import java.util.ArrayList;
+import java.util.List;
+import java.util.Map;
+import java.util.regex.Matcher;
+import java.util.regex.Pattern;
+
+/**
+ * DJI MQTT消息处理器
+ *
+ * @author ruoyi
+ */
+@Slf4j
+@Component
+public class DjiMqttMessageHandler {
+
+ private final ObjectMapper objectMapper = new ObjectMapper();
+
+ /**
+ * 无人机数据回调列表
+ */
+ private final List droneDataCallbacks = new ArrayList<>();
+
+ /**
+ * 机场数据回调列表
+ */
+ private final List dockDataCallbacks = new ArrayList<>();
+
+ /**
+ * 无人机SN正则表达式（根据文档示例：1581F6Q8X251C00G04H8）
+ */
+ private static final Pattern DRONE_SN_PATTERN = Pattern.compile("^[0-9A-Z]{20}$");
+
+ /**
+ * 机场SN正则表达式（根据文档示例：7CTXN5K00B0AXM）
+ */
+ private static final Pattern DOCK_SN_PATTERN = Pattern.compile("^[0-9A-Z]{14}$");
+
+ /**
+ * 注册无人机数据回调
+ *
+ * @param callback 回调接口
+ */
+ public void registerDroneDataCallback(IDroneDataCallback callback) {
+ if (callback != null && !droneDataCallbacks.contains(callback)) {
+ droneDataCallbacks.add(callback);
+ log.info("注册无人机数据回调: {}", callback.getClass().getSimpleName());
+ }
+ }
+
+ /**
+ * 注册机场数据回调
+ *
+ * @param callback 回调接口
+ */
+ public void registerDockDataCallback(IDockDataCallback callback) {
+ if (callback != null && !dockDataCallbacks.contains(callback)) {
+ dockDataCallbacks.add(callback);
+ log.info("注册机场数据回调: {}", callback.getClass().getSimpleName());
+ }
+ }
+
+ /**
+ * 处理MQTT消息
+ *
+ * @param topic 主题
+ * @param payload 消息内容
+ */
+ public void handleMessage(String topic, String payload) {
+ try {
+ log.debug("收到MQTT消息 - Topic: {}, Payload: {}", topic, payload);
+
+ // 解析设备SN和消息类型
+ String deviceSn = extractDeviceSnFromTopic(topic);
+ String messageType = extractMessageTypeFromTopic(topic);
+
+ if (deviceSn == null || messageType == null) {
+ log.warn("无法从Topic解析设备SN或消息类型: {}", topic);
+ return;
+ }
+
+ // 解析JSON消息
+ @SuppressWarnings("unchecked")
+ DjiMqttMessage> message = objectMapper.readValue(
+ payload,
+ objectMapper.getTypeFactory().constructParametricType(
+ DjiMqttMessage.class,
+ Map.class
+ )
+ );
+
+ // 判断是无人机还是机场
+ if (isDroneSn(deviceSn)) {
+ handleDroneMessage(deviceSn, messageType, message);
+ } else if (isDockSn(deviceSn)) {
+ handleDockMessage(deviceSn, messageType, message);
+ } else {
+ log.warn("未知的设备SN格式: {}", deviceSn);
+ }
+
+ } catch (Exception e) {
+ log.error("处理MQTT消息失败 - Topic: {}, Error: {}", topic, e.getMessage(), e);
+ }
+ }
+
+ /**
+ * 处理无人机消息
+ */
+ private void handleDroneMessage(String deviceSn, String messageType, DjiMqttMessage> message) {
+ try {
+ DroneData droneData = objectMapper.convertValue(message.getData(), DroneData.class);
+ droneData.setDeviceSn(deviceSn);
+ droneData.setMessageType(messageType);
+ droneData.setRawData(message.getData());
+
+ log.debug("处理无人机数据 - SN: {}, Type: {}", deviceSn, messageType);
+
+ // 通知所有回调
+ for (IDroneDataCallback callback : droneDataCallbacks) {
+ try {
+ callback.onDroneData(droneData);
+ } catch (Exception e) {
+ log.error("无人机数据回调执行失败: {}", e.getMessage(), e);
+ }
+ }
+ } catch (Exception e) {
+ log.error("处理无人机消息失败 - SN: {}, Error: {}", deviceSn, e.getMessage(), e);
+ }
+ }
+
+ /**
+ * 处理机场消息
+ */
+ private void handleDockMessage(String deviceSn, String messageType, DjiMqttMessage> message) {
+ try {
+ DockData dockData = objectMapper.convertValue(message.getData(), DockData.class);
+ dockData.setDeviceSn(deviceSn);
+ dockData.setMessageType(messageType);
+ dockData.setRawData(message.getData());
+
+ log.debug("处理机场数据 - SN: {}, Type: {}", deviceSn, messageType);
+
+ // 通知所有回调
+ for (IDockDataCallback callback : dockDataCallbacks) {
+ try {
+ callback.onDockData(dockData);
+ } catch (Exception e) {
+ log.error("机场数据回调执行失败: {}", e.getMessage(), e);
+ }
+ }
+ } catch (Exception e) {
+ log.error("处理机场消息失败 - SN: {}, Error: {}", deviceSn, e.getMessage(), e);
+ }
+ }
+
+ /**
+ * 从Topic中提取设备SN
+ * Topic格式: thing/product/{deviceSn}/osd 或 thing/product/{deviceSn}/state
+ */
+ private String extractDeviceSnFromTopic(String topic) {
+ if (topic == null) {
+ return null;
+ }
+ String[] parts = topic.split("/");
+ if (parts.length >= 3) {
+ return parts[2];
+ }
+ return null;
+ }
+
+ /**
+ * 从Topic中提取消息类型
+ */
+ private String extractMessageTypeFromTopic(String topic) {
+ if (topic == null) {
+ return null;
+ }
+ String[] parts = topic.split("/");
+ if (parts.length >= 4) {
+ return parts[3]; // osd 或 state
+ }
+ return null;
+ }
+
+ /**
+ * 判断是否为无人机SN
+ */
+ private boolean isDroneSn(String sn) {
+ if (sn == null) {
+ return false;
+ }
+ Matcher matcher = DRONE_SN_PATTERN.matcher(sn);
+ return matcher.matches();
+ }
+
+ /**
+ * 判断是否为机场SN
+ */
+ private boolean isDockSn(String sn) {
+ if (sn == null) {
+ return false;
+ }
+ Matcher matcher = DOCK_SN_PATTERN.matcher(sn);
+ return matcher.matches();
+ }
+}
diff --git a/src/main/java/com/ruoyi/device/domain/impl/djimqtt/manager/DjiMqttClientManager.java b/src/main/java/com/ruoyi/device/domain/impl/djimqtt/manager/DjiMqttClientManager.java
new file mode 100644
index 0000000..200e633
--- /dev/null
+++ b/src/main/java/com/ruoyi/device/domain/impl/djimqtt/manager/DjiMqttClientManager.java
@@ -0,0 +1,125 @@
+package com.ruoyi.device.domain.impl.djimqtt.manager;
+
+import com.ruoyi.device.domain.impl.djimqtt.config.DjiMqttClientConfig;
+import com.ruoyi.device.domain.impl.djimqtt.handler.DjiMqttMessageHandler;
+import com.ruoyi.device.domain.impl.djimqtt.service.DjiMqttClientService;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * DJI MQTT客户端管理器
+ * 管理多个MQTT客户端实例
+ *
+ * @author ruoyi
+ */
+@Slf4j
+@Component
+public class DjiMqttClientManager {
+
+ /**
+ * 客户端映射表 clientId -> DjiMqttClientService
+ */
+ private final Map clients = new ConcurrentHashMap<>();
+
+ /**
+ * 消息处理器映射表 clientId -> DjiMqttMessageHandler
+ */
+ private final Map handlers = new ConcurrentHashMap<>();
+
+ /**
+ * 创建并连接MQTT客户端
+ *
+ * @param config 客户端配置
+ * @return 客户端ID
+ */
+ public String createClient(DjiMqttClientConfig config) {
+ String clientId = config.getClientId();
+
+ if (clients.containsKey(clientId)) {
+ log.warn("MQTT客户端[{}]已存在", clientId);
+ return clientId;
+ }
+
+ // 为每个客户端创建独立的消息处理器
+ DjiMqttMessageHandler handler = new DjiMqttMessageHandler();
+ handlers.put(clientId, handler);
+
+ // 创建客户端
+ DjiMqttClientService client = new DjiMqttClientService(config, handler);
+ clients.put(clientId, client);
+
+ // 连接
+ client.connect();
+
+ log.info("成功创建MQTT客户端[{}]", clientId);
+ return clientId;
+ }
+
+ /**
+ * 获取消息处理器
+ *
+ * @param clientId 客户端ID
+ * @return 消息处理器
+ */
+ public DjiMqttMessageHandler getHandler(String clientId) {
+ return handlers.get(clientId);
+ }
+
+ /**
+ * 获取客户端
+ *
+ * @param clientId 客户端ID
+ * @return 客户端服务
+ */
+ public DjiMqttClientService getClient(String clientId) {
+ return clients.get(clientId);
+ }
+
+ /**
+ * 断开并移除客户端
+ *
+ * @param clientId 客户端ID
+ */
+ public void removeClient(String clientId) {
+ DjiMqttClientService client = clients.remove(clientId);
+ if (client != null) {
+ client.disconnect();
+ log.info("已移除MQTT客户端[{}]", clientId);
+ }
+
+ handlers.remove(clientId);
+ }
+
+ /**
+ * 断开所有客户端
+ */
+ public void disconnectAll() {
+ clients.forEach((clientId, client) -> {
+ try {
+ client.disconnect();
+ log.info("已断开MQTT客户端[{}]", clientId);
+ } catch (Exception e) {
+ log.error("断开MQTT客户端[{}]失败: {}", clientId, e.getMessage(), e);
+ }
+ });
+ clients.clear();
+ handlers.clear();
+ }
+
+ /**
+ * 获取所有客户端ID
+ */
+ public java.util.Set getAllClientIds() {
+ return clients.keySet();
+ }
+
+ /**
+ * 检查客户端是否存在
+ */
+ public boolean hasClient(String clientId) {
+ return clients.containsKey(clientId);
+ }
+}
diff --git a/src/main/java/com/ruoyi/device/domain/impl/djimqtt/model/DjiMqttMessage.java b/src/main/java/com/ruoyi/device/domain/impl/djimqtt/model/DjiMqttMessage.java
new file mode 100644
index 0000000..58b791f
--- /dev/null
+++ b/src/main/java/com/ruoyi/device/domain/impl/djimqtt/model/DjiMqttMessage.java
@@ -0,0 +1,55 @@
+package com.ruoyi.device.domain.impl.djimqtt.model;
+
+import com.fasterxml.jackson.annotation.JsonProperty;
+import lombok.Data;
+
+/**
+ * DJI MQTT消息基础结构
+ *
+ * @author ruoyi
+ */
+@Data
+public class DjiMqttMessage {
+
+ /**
+ * 事务ID
+ */
+ @JsonProperty("tid")
+ private String tid;
+
+ /**
+ * 业务ID
+ */
+ @JsonProperty("bid")
+ private String bid;
+
+ /**
+ * 时间戳
+ */
+ @JsonProperty("timestamp")
+ private Long timestamp;
+
+ /**
+ * 数据内容
+ */
+ @JsonProperty("data")
+ private T data;
+
+ /**
+ * 网关设备SN
+ */
+ @JsonProperty("gateway")
+ private String gateway;
+
+ /**
+ * 消息来源
+ */
+ @JsonProperty("source")
+ private String source;
+
+ /**
+ * 是否需要回复
+ */
+ @JsonProperty("need_reply")
+ private Integer needReply;
+}
diff --git a/src/main/java/com/ruoyi/device/domain/impl/djimqtt/model/DockData.java b/src/main/java/com/ruoyi/device/domain/impl/djimqtt/model/DockData.java
new file mode 100644
index 0000000..665131e
--- /dev/null
+++ b/src/main/java/com/ruoyi/device/domain/impl/djimqtt/model/DockData.java
@@ -0,0 +1,291 @@
+package com.ruoyi.device.domain.impl.djimqtt.model;
+
+import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
+import com.fasterxml.jackson.annotation.JsonProperty;
+import com.ruoyi.device.domain.impl.djimqtt.model.dock.*;
+import com.ruoyi.device.domain.impl.djimqtt.model.drone.MaintainStatus;
+import com.ruoyi.device.domain.impl.djimqtt.model.drone.PositionState;
+import com.ruoyi.device.domain.impl.djimqtt.model.drone.StorageInfo;
+import lombok.Data;
+
+import java.util.Map;
+
+/**
+ * 机场完整数据（从osd和state主题接收）
+ * 注意：每次推送可能只包含部分字段
+ *
+ * @author ruoyi
+ */
+@Data
+@JsonIgnoreProperties(ignoreUnknown = true)
+public class DockData {
+
+ // ========== 元数据 ==========
+
+ /**
+ * 设备SN（从topic中解析）
+ */
+ private String deviceSn;
+
+ /**
+ * 消息类型（osd或state）
+ */
+ private String messageType;
+
+ /**
+ * 原始数据（用于存储所有字段）
+ */
+ private Map rawData;
+
+ // ========== 基础信息 ==========
+
+ /**
+ * Home 点有效性：0-无效，1-有效
+ */
+ @JsonProperty("home_position_is_valid")
+ private Integer homePositionIsValid;
+
+ /**
+ * 机场朝向角
+ */
+ @JsonProperty("heading")
+ private Double heading;
+
+ /**
+ * 固件版本
+ */
+ @JsonProperty("firmware_version")
+ private String firmwareVersion;
+
+ /**
+ * 机场状态
+ */
+ @JsonProperty("mode_code")
+ private Integer modeCode;
+
+ /**
+ * 机场任务状态
+ */
+ @JsonProperty("flighttask_step_code")
+ private Integer flighttaskStepCode;
+
+ // ========== 位置信息 ==========
+
+ /**
+ * 纬度
+ */
+ @JsonProperty("latitude")
+ private Double latitude;
+
+ /**
+ * 经度
+ */
+ @JsonProperty("longitude")
+ private Double longitude;
+
+ /**
+ * 椭球高度（米）
+ */
+ @JsonProperty("height")
+ private Double height;
+
+ // ========== 环境信息 ==========
+
+ /**
+ * 舱内温度（摄氏度）
+ */
+ @JsonProperty("temperature")
+ private Float temperature;
+
+ /**
+ * 舱内湿度（%RH）
+ */
+ @JsonProperty("humidity")
+ private Float humidity;
+
+ /**
+ * 环境温度（摄氏度）
+ */
+ @JsonProperty("environment_temperature")
+ private Float environmentTemperature;
+
+ /**
+ * 风速（米/秒）
+ */
+ @JsonProperty("wind_speed")
+ private Float windSpeed;
+
+ /**
+ * 降雨量：0-无雨，1-小雨，2-中雨，3-大雨
+ */
+ @JsonProperty("rainfall")
+ private Integer rainfall;
+
+ // ========== 设备状态 ==========
+
+ /**
+ * 舱盖状态：0-关闭，1-打开，2-半开，3-舱盖状态异常
+ */
+ @JsonProperty("cover_state")
+ private Integer coverState;
+
+ /**
+ * 飞行器是否在舱：0-舱外，1-舱内
+ */
+ @JsonProperty("drone_in_dock")
+ private Integer droneInDock;
+
+ /**
+ * DRC链路状态：0-未连接，1-连接中，2-已连接
+ */
+ @JsonProperty("drc_state")
+ private Integer drcState;
+
+ /**
+ * 紧急停止按钮状态：0-关闭，1-开启
+ */
+ @JsonProperty("emergency_stop_state")
+ private Integer emergencyStopState;
+
+ /**
+ * 补光灯状态：0-关闭，1-打开
+ */
+ @JsonProperty("supplement_light_state")
+ private Integer supplementLightState;
+
+ /**
+ * 机场声光报警状态：0-关闭，1-开启
+ */
+ @JsonProperty("alarm_state")
+ private Integer alarmState;
+
+ // ========== 电池和电源 ==========
+
+ /**
+ * 飞行器电池保养信息
+ */
+ @JsonProperty("drone_battery_maintenance_info")
+ private DroneBatteryMaintenanceInfo droneBatteryMaintenanceInfo;
+
+ /**
+ * 飞行器充电状态
+ */
+ @JsonProperty("drone_charge_state")
+ private DroneChargeState droneChargeState;
+
+ /**
+ * 机场备用电池信息
+ */
+ @JsonProperty("backup_battery")
+ private BackupBattery backupBattery;
+
+ /**
+ * 电池运行模式：1-计划模式，2-待命模式
+ */
+ @JsonProperty("battery_store_mode")
+ private Integer batteryStoreMode;
+
+ /**
+ * 工作电流（毫安）
+ */
+ @JsonProperty("working_current")
+ private Float workingCurrent;
+
+ /**
+ * 工作电压（毫伏）
+ */
+ @JsonProperty("working_voltage")
+ private Integer workingVoltage;
+
+ // ========== 网络和存储 ==========
+
+ /**
+ * 网络状态
+ */
+ @JsonProperty("network_state")
+ private NetworkState networkState;
+
+ /**
+ * 图传链路
+ */
+ @JsonProperty("wireless_link")
+ private WirelessLink wirelessLink;
+
+ /**
+ * 存储容量
+ */
+ @JsonProperty("storage")
+ private StorageInfo storage;
+
+ // ========== 空调和配置 ==========
+
+ /**
+ * 机场空调工作状态信息
+ */
+ @JsonProperty("air_conditioner")
+ private AirConditioner airConditioner;
+
+ /**
+ * 空中回传：false-关闭，true-开启
+ */
+ @JsonProperty("air_transfer_enable")
+ private Boolean airTransferEnable;
+
+ /**
+ * 机场静音模式：0-非静音模式，1-静音模式
+ */
+ @JsonProperty("silent_mode")
+ private Integer silentMode;
+
+ // ========== 保养和固件 ==========
+
+ /**
+ * 保养信息
+ */
+ @JsonProperty("maintain_status")
+ private MaintainStatus maintainStatus;
+
+ /**
+ * 搜星状态
+ */
+ @JsonProperty("position_state")
+ private PositionState positionState;
+
+ /**
+ * 机场激活时间(unix 时间戳)
+ */
+ @JsonProperty("activation_time")
+ private Long activationTime;
+
+ /**
+ * 固件升级状态：0-未升级，1-升级中
+ */
+ @JsonProperty("firmware_upgrade_status")
+ private Integer firmwareUpgradeStatus;
+
+ /**
+ * 固件一致性：0-不需要一致性升级，1-需要一致性升级
+ */
+ @JsonProperty("compatible_status")
+ private Integer compatibleStatus;
+
+ // ========== 统计信息 ==========
+
+ /**
+ * 机场累计运行时长（秒）
+ */
+ @JsonProperty("acc_time")
+ private Integer accTime;
+
+ /**
+ * 机场累计作业次数
+ */
+ @JsonProperty("job_number")
+ private Integer jobNumber;
+
+ /**
+ * 首次上电时间（毫秒）
+ */
+ @JsonProperty("first_power_on")
+ private Long firstPowerOn;
+}
diff --git a/src/main/java/com/ruoyi/device/domain/impl/djimqtt/model/DroneData.java b/src/main/java/com/ruoyi/device/domain/impl/djimqtt/model/DroneData.java
new file mode 100644
index 0000000..bacdd29
--- /dev/null
+++ b/src/main/java/com/ruoyi/device/domain/impl/djimqtt/model/DroneData.java
@@ -0,0 +1,329 @@
+package com.ruoyi.device.domain.impl.djimqtt.model;
+
+import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
+import com.fasterxml.jackson.annotation.JsonProperty;
+import com.ruoyi.device.domain.impl.djimqtt.model.drone.*;
+import lombok.Data;
+
+import java.util.List;
+import java.util.Map;
+
+/**
+ * 无人机完整数据（从osd和state主题接收）
+ * 注意：每次推送可能只包含部分字段
+ *
+ * @author ruoyi
+ */
+@Data
+@JsonIgnoreProperties(ignoreUnknown = true)
+public class DroneData {
+
+ // ========== 元数据 ==========
+
+ /**
+ * 设备SN（从topic中解析）
+ */
+ private String deviceSn;
+
+ /**
+ * 消息类型（osd或state）
+ */
+ private String messageType;
+
+ /**
+ * 原始数据（用于存储所有字段）
+ */
+ private Map rawData;
+
+ // ========== 基础信息 ==========
+
+ /**
+ * 飞行器图传连接质量最好的网关SN
+ */
+ @JsonProperty("best_link_gateway")
+ private String bestLinkGateway;
+
+ /**
+ * 图传连接拓扑
+ */
+ @JsonProperty("wireless_link_topo")
+ private WirelessLinkTopo wirelessLinkTopo;
+
+ /**
+ * 飞行器相机信息
+ */
+ @JsonProperty("cameras")
+ private List cameras;
+
+ /**
+ * 飞行安全数据库版本
+ */
+ @JsonProperty("flysafe_database_version")
+ private String flysafeDatabaseVersion;
+
+ /**
+ * 离线地图开关：false-关闭，true-开启
+ */
+ @JsonProperty("offline_map_enable")
+ private Boolean offlineMapEnable;
+
+ // ========== 返航和限制 ==========
+
+ /**
+ * 返航高度模式当前值：0-智能高度，1-设定高度
+ */
+ @JsonProperty("current_rth_mode")
+ private Integer currentRthMode;
+
+ /**
+ * 返航高度模式设置值：0-智能高度，1-设定高度
+ */
+ @JsonProperty("rth_mode")
+ private Integer rthMode;
+
+ /**
+ * 飞行器避障状态
+ */
+ @JsonProperty("obstacle_avoidance")
+ private ObstacleAvoidance obstacleAvoidance;
+
+ /**
+ * 是否接近限飞区：0-未达到，1-接近
+ */
+ @JsonProperty("is_near_area_limit")
+ private Integer isNearAreaLimit;
+
+ /**
+ * 是否接近设定的限制高度：0-未达到，1-接近
+ */
+ @JsonProperty("is_near_height_limit")
+ private Integer isNearHeightLimit;
+
+ /**
+ * 飞行器限高（米）
+ */
+ @JsonProperty("height_limit")
+ private Integer heightLimit;
+
+ /**
+ * 飞行器限远状态
+ */
+ @JsonProperty("distance_limit_status")
+ private DistanceLimitStatus distanceLimitStatus;
+
+ // ========== 设备状态 ==========
+
+ /**
+ * 飞行器夜航灯状态：0-关闭，1-打开
+ */
+ @JsonProperty("night_lights_state")
+ private Integer nightLightsState;
+
+ /**
+ * 飞行器激活时间(unix 时间戳)
+ */
+ @JsonProperty("activation_time")
+ private Long activationTime;
+
+ /**
+ * 保养信息
+ */
+ @JsonProperty("maintain_status")
+ private MaintainStatus maintainStatus;
+
+ /**
+ * 飞行器累计飞行总架次
+ */
+ @JsonProperty("total_flight_sorties")
+ private Integer totalFlightSorties;
+
+ /**
+ * 飞行器累计飞行总里程（米）
+ */
+ @JsonProperty("total_flight_distance")
+ private Float totalFlightDistance;
+
+ /**
+ * 飞行器累计飞行航时（秒）
+ */
+ @JsonProperty("total_flight_time")
+ private Float totalFlightTime;
+
+ // ========== 位置信息 ==========
+
+ /**
+ * 搜星状态
+ */
+ @JsonProperty("position_state")
+ private PositionState positionState;
+
+ /**
+ * 存储容量
+ */
+ @JsonProperty("storage")
+ private StorageInfo storage;
+
+ /**
+ * 当前位置纬度
+ */
+ @JsonProperty("latitude")
+ private Double latitude;
+
+ /**
+ * 当前位置经度
+ */
+ @JsonProperty("longitude")
+ private Double longitude;
+
+ /**
+ * 相对起飞点高度（米）
+ */
+ @JsonProperty("elevation")
+ private Float elevation;
+
+ /**
+ * 绝对高度（米）
+ */
+ @JsonProperty("height")
+ private Double height;
+
+ /**
+ * Home点纬度
+ */
+ @JsonProperty("home_latitude")
+ private Double homeLatitude;
+
+ /**
+ * Home点经度
+ */
+ @JsonProperty("home_longitude")
+ private Double homeLongitude;
+
+ /**
+ * 距离Home点的距离（米）
+ */
+ @JsonProperty("home_distance")
+ private Float homeDistance;
+
+ // ========== 姿态信息 ==========
+
+ /**
+ * 偏航轴角度
+ */
+ @JsonProperty("attitude_head")
+ private Integer attitudeHead;
+
+ /**
+ * 横滚轴角度
+ */
+ @JsonProperty("attitude_roll")
+ private Float attitudeRoll;
+
+ /**
+ * 俯仰轴角度
+ */
+ @JsonProperty("attitude_pitch")
+ private Float attitudePitch;
+
+ // ========== 速度和风速 ==========
+
+ /**
+ * 水平速度（米/秒）
+ */
+ @JsonProperty("horizontal_speed")
+ private Float horizontalSpeed;
+
+ /**
+ * 垂直速度（米/秒）
+ */
+ @JsonProperty("vertical_speed")
+ private Float verticalSpeed;
+
+ /**
+ * 当前风向
+ */
+ @JsonProperty("wind_direction")
+ private Integer windDirection;
+
+ /**
+ * 风速（米/秒）
+ */
+ @JsonProperty("wind_speed")
+ private Float windSpeed;
+
+ // ========== 电池信息 ==========
+
+ /**
+ * 飞行器电池信息
+ */
+ @JsonProperty("battery")
+ private DroneBatteryInfo battery;
+
+ /**
+ * 严重低电量告警百分比
+ */
+ @JsonProperty("serious_low_battery_warning_threshold")
+ private Integer seriousLowBatteryWarningThreshold;
+
+ /**
+ * 低电量告警百分比
+ */
+ @JsonProperty("low_battery_warning_threshold")
+ private Integer lowBatteryWarningThreshold;
+
+ /**
+ * 返航预留电量百分比
+ */
+ @JsonProperty("remaining_power_for_return_home")
+ private Integer remainingPowerForReturnHome;
+
+ // ========== 控制和状态 ==========
+
+ /**
+ * 当前控制源
+ */
+ @JsonProperty("control_source")
+ private String controlSource;
+
+ /**
+ * 固件升级状态：0-未升级，1-升级中
+ */
+ @JsonProperty("firmware_upgrade_status")
+ private Integer firmwareUpgradeStatus;
+
+ /**
+ * 固件一致性：0-不需要一致性升级，1-需要一致性升级
+ */
+ @JsonProperty("compatible_status")
+ private Integer compatibleStatus;
+
+ /**
+ * 固件版本
+ */
+ @JsonProperty("firmware_version")
+ private String firmwareVersion;
+
+ /**
+ * 档位
+ */
+ @JsonProperty("gear")
+ private Integer gear;
+
+ /**
+ * 飞行器状态
+ */
+ @JsonProperty("mode_code")
+ private Integer modeCode;
+
+ /**
+ * 飞行器进入当前状态的原因
+ */
+ @JsonProperty("mode_code_reason")
+ private Integer modeCodeReason;
+
+ /**
+ * 航迹ID
+ */
+ @JsonProperty("track_id")
+ private String trackId;
+}
diff --git a/src/main/java/com/ruoyi/device/domain/impl/djimqtt/model/dock/AirConditioner.java b/src/main/java/com/ruoyi/device/domain/impl/djimqtt/model/dock/AirConditioner.java
new file mode 100644
index 0000000..09ba8ce
--- /dev/null
+++ b/src/main/java/com/ruoyi/device/domain/impl/djimqtt/model/dock/AirConditioner.java
@@ -0,0 +1,27 @@
+package com.ruoyi.device.domain.impl.djimqtt.model.dock;
+
+import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
+import com.fasterxml.jackson.annotation.JsonProperty;
+import lombok.Data;
+
+/**
+ * 机场空调工作状态信息
+ *
+ * @author ruoyi
+ */
+@Data
+@JsonIgnoreProperties(ignoreUnknown = true)
+public class AirConditioner {
+
+ /**
+ * 机场空调状态
+ */
+ @JsonProperty("air_conditioner_state")
+ private Integer airConditionerState;
+
+ /**
+ * 剩余等待可切换时间（秒）
+ */
+ @JsonProperty("switch_time")
+ private Integer switchTime;
+}
diff --git a/src/main/java/com/ruoyi/device/domain/impl/djimqtt/model/dock/BackupBattery.java b/src/main/java/com/ruoyi/device/domain/impl/djimqtt/model/dock/BackupBattery.java
new file mode 100644
index 0000000..e703140
--- /dev/null
+++ b/src/main/java/com/ruoyi/device/domain/impl/djimqtt/model/dock/BackupBattery.java
@@ -0,0 +1,33 @@
+package com.ruoyi.device.domain.impl.djimqtt.model.dock;
+
+import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
+import com.fasterxml.jackson.annotation.JsonProperty;
+import lombok.Data;
+
+/**
+ * 机场备用电池信息
+ *
+ * @author ruoyi
+ */
+@Data
+@JsonIgnoreProperties(ignoreUnknown = true)
+public class BackupBattery {
+
+ /**
+ * 备用电池开关：0-关闭，1-开启
+ */
+ @JsonProperty("switch")
+ private Integer switchState;
+
+ /**
+ * 备用电池电压（毫伏）
+ */
+ @JsonProperty("voltage")
+ private Integer voltage;
+
+ /**
+ * 备用电池温度（摄氏度）
+ */
+ @JsonProperty("temperature")
+ private Float temperature;
+}
diff --git a/src/main/java/com/ruoyi/device/domain/impl/djimqtt/model/dock/DockBatteryDetail.java b/src/main/java/com/ruoyi/device/domain/impl/djimqtt/model/dock/DockBatteryDetail.java
new file mode 100644
index 0000000..3b271e3
--- /dev/null
+++ b/src/main/java/com/ruoyi/device/domain/impl/djimqtt/model/dock/DockBatteryDetail.java
@@ -0,0 +1,39 @@
+package com.ruoyi.device.domain.impl.djimqtt.model.dock;
+
+import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
+import com.fasterxml.jackson.annotation.JsonProperty;
+import lombok.Data;
+
+/**
+ * 机场电池详细信息
+ *
+ * @author ruoyi
+ */
+@Data
+@JsonIgnoreProperties(ignoreUnknown = true)
+public class DockBatteryDetail {
+
+ /**
+ * 电池剩余电量
+ */
+ @JsonProperty("capacity_percent")
+ private Integer capacityPercent;
+
+ /**
+ * 电池序号：0-左电池，1-右电池
+ */
+ @JsonProperty("index")
+ private Integer index;
+
+ /**
+ * 电压（毫伏）
+ */
+ @JsonProperty("voltage")
+ private Integer voltage;
+
+ /**
+ * 温度（摄氏度）
+ */
+ @JsonProperty("temperature")
+ private Float temperature;
+}
diff --git a/src/main/java/com/ruoyi/device/domain/impl/djimqtt/model/dock/DroneBatteryMaintenanceInfo.java b/src/main/java/com/ruoyi/device/domain/impl/djimqtt/model/dock/DroneBatteryMaintenanceInfo.java
new file mode 100644
index 0000000..f7992b3
--- /dev/null
+++ b/src/main/java/com/ruoyi/device/domain/impl/djimqtt/model/dock/DroneBatteryMaintenanceInfo.java
@@ -0,0 +1,41 @@
+package com.ruoyi.device.domain.impl.djimqtt.model.dock;
+
+import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
+import com.fasterxml.jackson.annotation.JsonProperty;
+import lombok.Data;
+
+import java.util.List;
+
+/**
+ * 飞行器电池保养信息
+ *
+ * @author ruoyi
+ */
+@Data
+@JsonIgnoreProperties(ignoreUnknown = true)
+public class DroneBatteryMaintenanceInfo {
+
+ /**
+ * 保养状态：0-无需保养，1-待保养，2-正在保养
+ */
+ @JsonProperty("maintenance_state")
+ private Integer maintenanceState;
+
+ /**
+ * 电池保养剩余时间（小时）
+ */
+ @JsonProperty("maintenance_time_left")
+ private Integer maintenanceTimeLeft;
+
+ /**
+ * 电池加热保温状态：0-未开启，1-加热中，2-保温中
+ */
+ @JsonProperty("heat_state")
+ private Integer heatState;
+
+ /**
+ * 电池详细信息
+ */
+ @JsonProperty("batteries")
+ private List batteries;
+}
diff --git a/src/main/java/com/ruoyi/device/domain/impl/djimqtt/model/dock/DroneChargeState.java b/src/main/java/com/ruoyi/device/domain/impl/djimqtt/model/dock/DroneChargeState.java
new file mode 100644
index 0000000..683de78
--- /dev/null
+++ b/src/main/java/com/ruoyi/device/domain/impl/djimqtt/model/dock/DroneChargeState.java
@@ -0,0 +1,27 @@
+package com.ruoyi.device.domain.impl.djimqtt.model.dock;
+
+import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
+import com.fasterxml.jackson.annotation.JsonProperty;
+import lombok.Data;
+
+/**
+ * 飞行器充电状态
+ *
+ * @author ruoyi
+ */
+@Data
+@JsonIgnoreProperties(ignoreUnknown = true)
+public class DroneChargeState {
+
+ /**
+ * 电量百分比
+ */
+ @JsonProperty("capacity_percent")
+ private Integer capacityPercent;
+
+ /**
+ * 充电状态：0-空闲，1-充电中
+ */
+ @JsonProperty("state")
+ private Integer state;
+}
diff --git a/src/main/java/com/ruoyi/device/domain/impl/djimqtt/model/dock/NetworkState.java b/src/main/java/com/ruoyi/device/domain/impl/djimqtt/model/dock/NetworkState.java
new file mode 100644
index 0000000..1a74135
--- /dev/null
+++ b/src/main/java/com/ruoyi/device/domain/impl/djimqtt/model/dock/NetworkState.java
@@ -0,0 +1,33 @@
+package com.ruoyi.device.domain.impl.djimqtt.model.dock;
+
+import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
+import com.fasterxml.jackson.annotation.JsonProperty;
+import lombok.Data;
+
+/**
+ * 网络状态
+ *
+ * @author ruoyi
+ */
+@Data
+@JsonIgnoreProperties(ignoreUnknown = true)
+public class NetworkState {
+
+ /**
+ * 网络类型：1-4G，2-以太网
+ */
+ @JsonProperty("type")
+ private Integer type;
+
+ /**
+ * 网络质量：0-无信号，1-差，2-较差，3-一般，4-较好，5-好
+ */
+ @JsonProperty("quality")
+ private Integer quality;
+
+ /**
+ * 网络速率（KB/s）
+ */
+ @JsonProperty("rate")
+ private Float rate;
+}
diff --git a/src/main/java/com/ruoyi/device/domain/impl/djimqtt/model/dock/WirelessLink.java b/src/main/java/com/ruoyi/device/domain/impl/djimqtt/model/dock/WirelessLink.java
new file mode 100644
index 0000000..b285fd1
--- /dev/null
+++ b/src/main/java/com/ruoyi/device/domain/impl/djimqtt/model/dock/WirelessLink.java
@@ -0,0 +1,75 @@
+package com.ruoyi.device.domain.impl.djimqtt.model.dock;
+
+import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
+import com.fasterxml.jackson.annotation.JsonProperty;
+import lombok.Data;
+
+/**
+ * 图传链路
+ *
+ * @author ruoyi
+ */
+@Data
+@JsonIgnoreProperties(ignoreUnknown = true)
+public class WirelessLink {
+
+ /**
+ * 飞行器上 Dongle 数量
+ */
+ @JsonProperty("dongle_number")
+ private Integer dongleNumber;
+
+ /**
+ * 4G 链路连接状态：0-断开，1-连接
+ */
+ @JsonProperty("4g_link_state")
+ private Integer fourGLinkState;
+
+ /**
+ * SDR 链路连接状态：0-断开，1-连接
+ */
+ @JsonProperty("sdr_link_state")
+ private Integer sdrLinkState;
+
+ /**
+ * 机场的图传链路模式：0-SDR 模式，1-4G 融合模式
+ */
+ @JsonProperty("link_workmode")
+ private Integer linkWorkmode;
+
+ /**
+ * SDR 信号质量（0-5）
+ */
+ @JsonProperty("sdr_quality")
+ private Integer sdrQuality;
+
+ /**
+ * 总体 4G 信号质量（0-5）
+ */
+ @JsonProperty("4g_quality")
+ private Integer fourGQuality;
+
+ /**
+ * 天端 4G 信号质量（0-5）
+ */
+ @JsonProperty("4g_uav_quality")
+ private Integer fourGUavQuality;
+
+ /**
+ * 地端 4G 信号质量（0-5）
+ */
+ @JsonProperty("4g_gnd_quality")
+ private Integer fourGGndQuality;
+
+ /**
+ * SDR 频段
+ */
+ @JsonProperty("sdr_freq_band")
+ private Float sdrFreqBand;
+
+ /**
+ * 4G 频段
+ */
+ @JsonProperty("4g_freq_band")
+ private Float fourGFreqBand;
+}
diff --git a/src/main/java/com/ruoyi/device/domain/impl/djimqtt/model/drone/BatteryDetail.java b/src/main/java/com/ruoyi/device/domain/impl/djimqtt/model/drone/BatteryDetail.java
new file mode 100644
index 0000000..4bce2c6
--- /dev/null
+++ b/src/main/java/com/ruoyi/device/domain/impl/djimqtt/model/drone/BatteryDetail.java
@@ -0,0 +1,75 @@
+package com.ruoyi.device.domain.impl.djimqtt.model.drone;
+
+import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
+import com.fasterxml.jackson.annotation.JsonProperty;
+import lombok.Data;
+
+/**
+ * 电池详细信息
+ *
+ * @author ruoyi
+ */
+@Data
+@JsonIgnoreProperties(ignoreUnknown = true)
+public class BatteryDetail {
+
+ /**
+ * 电池剩余电量
+ */
+ @JsonProperty("capacity_percent")
+ private Integer capacityPercent;
+
+ /**
+ * 电池序号
+ */
+ @JsonProperty("index")
+ private Integer index;
+
+ /**
+ * 电池序列号（SN）
+ */
+ @JsonProperty("sn")
+ private String sn;
+
+ /**
+ * 电池类型
+ */
+ @JsonProperty("type")
+ private Integer type;
+
+ /**
+ * 电池子类型
+ */
+ @JsonProperty("sub_type")
+ private Integer subType;
+
+ /**
+ * 固件版本
+ */
+ @JsonProperty("firmware_version")
+ private String firmwareVersion;
+
+ /**
+ * 电池循环次数
+ */
+ @JsonProperty("loop_times")
+ private Integer loopTimes;
+
+ /**
+ * 电压（毫伏）
+ */
+ @JsonProperty("voltage")
+ private Integer voltage;
+
+ /**
+ * 温度（摄氏度）
+ */
+ @JsonProperty("temperature")
+ private Float temperature;
+
+ /**
+ * 高电压存储天数
+ */
+ @JsonProperty("high_voltage_storage_days")
+ private Integer highVoltageStorageDays;
+}
diff --git a/src/main/java/com/ruoyi/device/domain/impl/djimqtt/model/drone/CameraInfo.java b/src/main/java/com/ruoyi/device/domain/impl/djimqtt/model/drone/CameraInfo.java
new file mode 100644
index 0000000..58d8779
--- /dev/null
+++ b/src/main/java/com/ruoyi/device/domain/impl/djimqtt/model/drone/CameraInfo.java
@@ -0,0 +1,167 @@
+package com.ruoyi.device.domain.impl.djimqtt.model.drone;
+
+import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
+import com.fasterxml.jackson.annotation.JsonProperty;
+import lombok.Data;
+
+import java.util.List;
+
+/**
+ * 飞行器相机信息
+ *
+ * @author ruoyi
+ */
+@Data
+@JsonIgnoreProperties(ignoreUnknown = true)
+public class CameraInfo {
+
+ /**
+ * 剩余拍照张数
+ */
+ @JsonProperty("remain_photo_num")
+ private Integer remainPhotoNum;
+
+ /**
+ * 剩余录像时间（秒）
+ */
+ @JsonProperty("remain_record_duration")
+ private Integer remainRecordDuration;
+
+ /**
+ * 视频录制时长（秒）
+ */
+ @JsonProperty("record_time")
+ private Integer recordTime;
+
+ /**
+ * 负载编号
+ */
+ @JsonProperty("payload_index")
+ private String payloadIndex;
+
+ /**
+ * 相机模式：0-拍照，1-录像，2-智能低光，3-全景拍照
+ */
+ @JsonProperty("camera_mode")
+ private Integer cameraMode;
+
+ /**
+ * 拍照状态：0-空闲，1-拍照中
+ */
+ @JsonProperty("photo_state")
+ private Integer photoState;
+
+ /**
+ * 录像状态：0-空闲，1-录像中
+ */
+ @JsonProperty("recording_state")
+ private Integer recordingState;
+
+ /**
+ * 变焦倍数
+ */
+ @JsonProperty("zoom_factor")
+ private Float zoomFactor;
+
+ /**
+ * 红外变焦倍数
+ */
+ @JsonProperty("ir_zoom_factor")
+ private Float irZoomFactor;
+
+ /**
+ * 视场角（FOV）在 liveview 中的区域
+ */
+ @JsonProperty("liveview_world_region")
+ private LiveviewWorldRegion liveviewWorldRegion;
+
+ /**
+ * 照片存储设置集合
+ */
+ @JsonProperty("photo_storage_settings")
+ private List photoStorageSettings;
+
+ /**
+ * 视频存储设置集合
+ */
+ @JsonProperty("video_storage_settings")
+ private List videoStorageSettings;
+
+ /**
+ * 广角镜头曝光模式
+ */
+ @JsonProperty("wide_exposure_mode")
+ private Integer wideExposureMode;
+
+ /**
+ * 广角镜头感光度
+ */
+ @JsonProperty("wide_iso")
+ private Integer wideIso;
+
+ /**
+ * 广角镜头快门速度
+ */
+ @JsonProperty("wide_shutter_speed")
+ private Integer wideShutterSpeed;
+
+ /**
+ * 广角镜头曝光值
+ */
+ @JsonProperty("wide_exposure_value")
+ private Integer wideExposureValue;
+
+ /**
+ * 变焦镜头曝光模式
+ */
+ @JsonProperty("zoom_exposure_mode")
+ private Integer zoomExposureMode;
+
+ /**
+ * 变焦镜头感光度
+ */
+ @JsonProperty("zoom_iso")
+ private Integer zoomIso;
+
+ /**
+ * 变焦镜头快门速度
+ */
+ @JsonProperty("zoom_shutter_speed")
+ private Integer zoomShutterSpeed;
+
+ /**
+ * 变焦镜头曝光值
+ */
+ @JsonProperty("zoom_exposure_value")
+ private Integer zoomExposureValue;
+
+ /**
+ * 变焦镜头对焦模式
+ */
+ @JsonProperty("zoom_focus_mode")
+ private Integer zoomFocusMode;
+
+ /**
+ * 变焦镜头对焦值
+ */
+ @JsonProperty("zoom_focus_value")
+ private Integer zoomFocusValue;
+
+ /**
+ * 红外测温模式
+ */
+ @JsonProperty("ir_metering_mode")
+ private Integer irMeteringMode;
+
+ /**
+ * 红外测温点
+ */
+ @JsonProperty("ir_metering_point")
+ private IrMeteringPoint irMeteringPoint;
+
+ /**
+ * 红外测温区域
+ */
+ @JsonProperty("ir_metering_area")
+ private IrMeteringArea irMeteringArea;
+}
diff --git a/src/main/java/com/ruoyi/device/domain/impl/djimqtt/model/drone/CenterNode.java b/src/main/java/com/ruoyi/device/domain/impl/djimqtt/model/drone/CenterNode.java
new file mode 100644
index 0000000..4ef0532
--- /dev/null
+++ b/src/main/java/com/ruoyi/device/domain/impl/djimqtt/model/drone/CenterNode.java
@@ -0,0 +1,27 @@
+package com.ruoyi.device.domain.impl.djimqtt.model.drone;
+
+import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
+import com.fasterxml.jackson.annotation.JsonProperty;
+import lombok.Data;
+
+/**
+ * 飞行器对频信息（中心节点）
+ *
+ * @author ruoyi
+ */
+@Data
+@JsonIgnoreProperties(ignoreUnknown = true)
+public class CenterNode {
+
+ /**
+ * 扰码信息
+ */
+ @JsonProperty("sdr_id")
+ private Integer sdrId;
+
+ /**
+ * 设备sn
+ */
+ @JsonProperty("sn")
+ private String sn;
+}
diff --git a/src/main/java/com/ruoyi/device/domain/impl/djimqtt/model/drone/DistanceLimitStatus.java b/src/main/java/com/ruoyi/device/domain/impl/djimqtt/model/drone/DistanceLimitStatus.java
new file mode 100644
index 0000000..8a02845
--- /dev/null
+++ b/src/main/java/com/ruoyi/device/domain/impl/djimqtt/model/drone/DistanceLimitStatus.java
@@ -0,0 +1,33 @@
+package com.ruoyi.device.domain.impl.djimqtt.model.drone;
+
+import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
+import com.fasterxml.jackson.annotation.JsonProperty;
+import lombok.Data;
+
+/**
+ * 飞行器限远状态
+ *
+ * @author ruoyi
+ */
+@Data
+@JsonIgnoreProperties(ignoreUnknown = true)
+public class DistanceLimitStatus {
+
+ /**
+ * 是否开启限远：0-未设置，1-已设置
+ */
+ @JsonProperty("state")
+ private Integer state;
+
+ /**
+ * 限远距离（米）
+ */
+ @JsonProperty("distance_limit")
+ private Integer distanceLimit;
+
+ /**
+ * 是否接近设定的限制距离：0-未达到，1-接近
+ */
+ @JsonProperty("is_near_distance_limit")
+ private Integer isNearDistanceLimit;
+}
diff --git a/src/main/java/com/ruoyi/device/domain/impl/djimqtt/model/drone/DroneBatteryInfo.java b/src/main/java/com/ruoyi/device/domain/impl/djimqtt/model/drone/DroneBatteryInfo.java
new file mode 100644
index 0000000..4d08752
--- /dev/null
+++ b/src/main/java/com/ruoyi/device/domain/impl/djimqtt/model/drone/DroneBatteryInfo.java
@@ -0,0 +1,47 @@
+package com.ruoyi.device.domain.impl.djimqtt.model.drone;
+
+import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
+import com.fasterxml.jackson.annotation.JsonProperty;
+import lombok.Data;
+
+import java.util.List;
+
+/**
+ * 飞行器电池信息
+ *
+ * @author ruoyi
+ */
+@Data
+@JsonIgnoreProperties(ignoreUnknown = true)
+public class DroneBatteryInfo {
+
+ /**
+ * 电池的总剩余电量
+ */
+ @JsonProperty("capacity_percent")
+ private Integer capacityPercent;
+
+ /**
+ * 剩余飞行时间（秒）
+ */
+ @JsonProperty("remain_flight_time")
+ private Integer remainFlightTime;
+
+ /**
+ * 返航所需电量百分比
+ */
+ @JsonProperty("return_home_power")
+ private Integer returnHomePower;
+
+ /**
+ * 强制降落电量百分比
+ */
+ @JsonProperty("landing_power")
+ private Integer landingPower;
+
+ /**
+ * 电池详细信息
+ */
+ @JsonProperty("batteries")
+ private List batteries;
+}
diff --git a/src/main/java/com/ruoyi/device/domain/impl/djimqtt/model/drone/IrMeteringArea.java b/src/main/java/com/ruoyi/device/domain/impl/djimqtt/model/drone/IrMeteringArea.java
new file mode 100644
index 0000000..f330556
--- /dev/null
+++ b/src/main/java/com/ruoyi/device/domain/impl/djimqtt/model/drone/IrMeteringArea.java
@@ -0,0 +1,57 @@
+package com.ruoyi.device.domain.impl.djimqtt.model.drone;
+
+import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
+import com.fasterxml.jackson.annotation.JsonProperty;
+import lombok.Data;
+
+/**
+ * 红外测温区域
+ *
+ * @author ruoyi
+ */
+@Data
+@JsonIgnoreProperties(ignoreUnknown = true)
+public class IrMeteringArea {
+
+ /**
+ * 测温区域左上角点坐标 x
+ */
+ @JsonProperty("x")
+ private Double x;
+
+ /**
+ * 测温区域左上角点坐标 y
+ */
+ @JsonProperty("y")
+ private Double y;
+
+ /**
+ * 测温区域宽度
+ */
+ @JsonProperty("width")
+ private Double width;
+
+ /**
+ * 测温区域高度
+ */
+ @JsonProperty("height")
+ private Double height;
+
+ /**
+ * 测温区域平均温度
+ */
+ @JsonProperty("aver_temperature")
+ private Double averTemperature;
+
+ /**
+ * 测温区域最低温度点
+ */
+ @JsonProperty("min_temperature_point")
+ private TemperaturePoint minTemperaturePoint;
+
+ /**
+ * 测温区域最高温度点
+ */
+ @JsonProperty("max_temperature_point")
+ private TemperaturePoint maxTemperaturePoint;
+}
diff --git a/src/main/java/com/ruoyi/device/domain/impl/djimqtt/model/drone/IrMeteringPoint.java b/src/main/java/com/ruoyi/device/domain/impl/djimqtt/model/drone/IrMeteringPoint.java
new file mode 100644
index 0000000..b111799
--- /dev/null
+++ b/src/main/java/com/ruoyi/device/domain/impl/djimqtt/model/drone/IrMeteringPoint.java
@@ -0,0 +1,33 @@
+package com.ruoyi.device.domain.impl.djimqtt.model.drone;
+
+import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
+import com.fasterxml.jackson.annotation.JsonProperty;
+import lombok.Data;
+
+/**
+ * 红外测温点
+ *
+ * @author ruoyi
+ */
+@Data
+@JsonIgnoreProperties(ignoreUnknown = true)
+public class IrMeteringPoint {
+
+ /**
+ * 测温点坐标 x
+ */
+ @JsonProperty("x")
+ private Double x;
+
+ /**
+ * 测温点坐标 y
+ */
+ @JsonProperty("y")
+ private Double y;
+
+ /**
+ * 测温点的温度
+ */
+ @JsonProperty("temperature")
+ private Double temperature;
+}
diff --git a/src/main/java/com/ruoyi/device/domain/impl/djimqtt/model/drone/LeafNode.java b/src/main/java/com/ruoyi/device/domain/impl/djimqtt/model/drone/LeafNode.java
new file mode 100644
index 0000000..fd0a8f6
--- /dev/null
+++ b/src/main/java/com/ruoyi/device/domain/impl/djimqtt/model/drone/LeafNode.java
@@ -0,0 +1,33 @@
+package com.ruoyi.device.domain.impl.djimqtt.model.drone;
+
+import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
+import com.fasterxml.jackson.annotation.JsonProperty;
+import lombok.Data;
+
+/**
+ * 机场或遥控器对频信息（叶子节点）
+ *
+ * @author ruoyi
+ */
+@Data
+@JsonIgnoreProperties(ignoreUnknown = true)
+public class LeafNode {
+
+ /**
+ * 扰码信息
+ */
+ @JsonProperty("sdr_id")
+ private Integer sdrId;
+
+ /**
+ * 设备sn
+ */
+ @JsonProperty("sn")
+ private String sn;
+
+ /**
+ * 控制源序号
+ */
+ @JsonProperty("control_source_index")
+ private Integer controlSourceIndex;
+}
diff --git a/src/main/java/com/ruoyi/device/domain/impl/djimqtt/model/drone/LiveviewWorldRegion.java b/src/main/java/com/ruoyi/device/domain/impl/djimqtt/model/drone/LiveviewWorldRegion.java
new file mode 100644
index 0000000..0aaa130
--- /dev/null
+++ b/src/main/java/com/ruoyi/device/domain/impl/djimqtt/model/drone/LiveviewWorldRegion.java
@@ -0,0 +1,39 @@
+package com.ruoyi.device.domain.impl.djimqtt.model.drone;
+
+import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
+import com.fasterxml.jackson.annotation.JsonProperty;
+import lombok.Data;
+
+/**
+ * 视场角（FOV）在 liveview 中的区域
+ *
+ * @author ruoyi
+ */
+@Data
+@JsonIgnoreProperties(ignoreUnknown = true)
+public class LiveviewWorldRegion {
+
+ /**
+ * 左上角的 x 轴起始点
+ */
+ @JsonProperty("left")
+ private Float left;
+
+ /**
+ * 左上角的 y 轴起始点
+ */
+ @JsonProperty("top")
+ private Float top;
+
+ /**
+ * 右下角的 x 轴起始点
+ */
+ @JsonProperty("right")
+ private Float right;
+
+ /**
+ * 右下角的 y 轴起始点
+ */
+ @JsonProperty("bottom")
+ private Float bottom;
+}
diff --git a/src/main/java/com/ruoyi/device/domain/impl/djimqtt/model/drone/MaintainStatus.java b/src/main/java/com/ruoyi/device/domain/impl/djimqtt/model/drone/MaintainStatus.java
new file mode 100644
index 0000000..21962a3
--- /dev/null
+++ b/src/main/java/com/ruoyi/device/domain/impl/djimqtt/model/drone/MaintainStatus.java
@@ -0,0 +1,23 @@
+package com.ruoyi.device.domain.impl.djimqtt.model.drone;
+
+import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
+import com.fasterxml.jackson.annotation.JsonProperty;
+import lombok.Data;
+
+import java.util.List;
+
+/**
+ * 保养信息
+ *
+ * @author ruoyi
+ */
+@Data
+@JsonIgnoreProperties(ignoreUnknown = true)
+public class MaintainStatus {
+
+ /**
+ * 保养信息数组
+ */
+ @JsonProperty("maintain_status_array")
+ private List maintainStatusArray;
+}
diff --git a/src/main/java/com/ruoyi/device/domain/impl/djimqtt/model/drone/MaintainStatusItem.java b/src/main/java/com/ruoyi/device/domain/impl/djimqtt/model/drone/MaintainStatusItem.java
new file mode 100644
index 0000000..cf5afe3
--- /dev/null
+++ b/src/main/java/com/ruoyi/device/domain/impl/djimqtt/model/drone/MaintainStatusItem.java
@@ -0,0 +1,45 @@
+package com.ruoyi.device.domain.impl.djimqtt.model.drone;
+
+import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
+import com.fasterxml.jackson.annotation.JsonProperty;
+import lombok.Data;
+
+/**
+ * 保养信息项
+ *
+ * @author ruoyi
+ */
+@Data
+@JsonIgnoreProperties(ignoreUnknown = true)
+public class MaintainStatusItem {
+
+ /**
+ * 保养状态：0-无保养，1-有保养
+ */
+ @JsonProperty("state")
+ private Integer state;
+
+ /**
+ * 上一次保养类型：1-飞行器基础保养，2-飞行器常规保养，3-飞行器深度保养
+ */
+ @JsonProperty("last_maintain_type")
+ private Integer lastMaintainType;
+
+ /**
+ * 上一次保养时间
+ */
+ @JsonProperty("last_maintain_time")
+ private Long lastMaintainTime;
+
+ /**
+ * 上一次保养时飞行航时（小时）
+ */
+ @JsonProperty("last_maintain_flight_time")
+ private Integer lastMaintainFlightTime;
+
+ /**
+ * 上一次保养时飞行架次
+ */
+ @JsonProperty("last_maintain_flight_sorties")
+ private Integer lastMaintainFlightSorties;
+}
diff --git a/src/main/java/com/ruoyi/device/domain/impl/djimqtt/model/drone/ObstacleAvoidance.java b/src/main/java/com/ruoyi/device/domain/impl/djimqtt/model/drone/ObstacleAvoidance.java
new file mode 100644
index 0000000..20aff06
--- /dev/null
+++ b/src/main/java/com/ruoyi/device/domain/impl/djimqtt/model/drone/ObstacleAvoidance.java
@@ -0,0 +1,33 @@
+package com.ruoyi.device.domain.impl.djimqtt.model.drone;
+
+import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
+import com.fasterxml.jackson.annotation.JsonProperty;
+import lombok.Data;
+
+/**
+ * 飞行器避障状态
+ *
+ * @author ruoyi
+ */
+@Data
+@JsonIgnoreProperties(ignoreUnknown = true)
+public class ObstacleAvoidance {
+
+ /**
+ * 水平避障状态：0-关闭，1-开启
+ */
+ @JsonProperty("horizon")
+ private Integer horizon;
+
+ /**
+ * 上视避障状态：0-关闭，1-开启
+ */
+ @JsonProperty("upside")
+ private Integer upside;
+
+ /**
+ * 下视避障状态：0-关闭，1-开启
+ */
+ @JsonProperty("downside")
+ private Integer downside;
+}
diff --git a/src/main/java/com/ruoyi/device/domain/impl/djimqtt/model/drone/PositionState.java b/src/main/java/com/ruoyi/device/domain/impl/djimqtt/model/drone/PositionState.java
new file mode 100644
index 0000000..24cca01
--- /dev/null
+++ b/src/main/java/com/ruoyi/device/domain/impl/djimqtt/model/drone/PositionState.java
@@ -0,0 +1,39 @@
+package com.ruoyi.device.domain.impl.djimqtt.model.drone;
+
+import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
+import com.fasterxml.jackson.annotation.JsonProperty;
+import lombok.Data;
+
+/**
+ * 搜星状态
+ *
+ * @author ruoyi
+ */
+@Data
+@JsonIgnoreProperties(ignoreUnknown = true)
+public class PositionState {
+
+ /**
+ * 是否收敛：0-未开始，1-收敛中，2-收敛成功，3-收敛失败
+ */
+ @JsonProperty("is_fixed")
+ private Integer isFixed;
+
+ /**
+ * 搜星档位：1-1档，2-2档，3-3档，4-4档，5-5档，10-RTK fixed
+ */
+ @JsonProperty("quality")
+ private Integer quality;
+
+ /**
+ * GPS 搜星数量
+ */
+ @JsonProperty("gps_number")
+ private Integer gpsNumber;
+
+ /**
+ * RTK 搜星数量
+ */
+ @JsonProperty("rtk_number")
+ private Integer rtkNumber;
+}
diff --git a/src/main/java/com/ruoyi/device/domain/impl/djimqtt/model/drone/StorageInfo.java b/src/main/java/com/ruoyi/device/domain/impl/djimqtt/model/drone/StorageInfo.java
new file mode 100644
index 0000000..9b86afc
--- /dev/null
+++ b/src/main/java/com/ruoyi/device/domain/impl/djimqtt/model/drone/StorageInfo.java
@@ -0,0 +1,27 @@
+package com.ruoyi.device.domain.impl.djimqtt.model.drone;
+
+import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
+import com.fasterxml.jackson.annotation.JsonProperty;
+import lombok.Data;
+
+/**
+ * 存储容量
+ *
+ * @author ruoyi
+ */
+@Data
+@JsonIgnoreProperties(ignoreUnknown = true)
+public class StorageInfo {
+
+ /**
+ * 总容量（KB）
+ */
+ @JsonProperty("total")
+ private Integer total;
+
+ /**
+ * 已使用容量（KB）
+ */
+ @JsonProperty("used")
+ private Integer used;
+}
diff --git a/src/main/java/com/ruoyi/device/domain/impl/djimqtt/model/drone/TemperaturePoint.java b/src/main/java/com/ruoyi/device/domain/impl/djimqtt/model/drone/TemperaturePoint.java
new file mode 100644
index 0000000..fcf557b
--- /dev/null
+++ b/src/main/java/com/ruoyi/device/domain/impl/djimqtt/model/drone/TemperaturePoint.java
@@ -0,0 +1,33 @@
+package com.ruoyi.device.domain.impl.djimqtt.model.drone;
+
+import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
+import com.fasterxml.jackson.annotation.JsonProperty;
+import lombok.Data;
+
+/**
+ * 温度点
+ *
+ * @author ruoyi
+ */
+@Data
+@JsonIgnoreProperties(ignoreUnknown = true)
+public class TemperaturePoint {
+
+ /**
+ * 温度点坐标 x
+ */
+ @JsonProperty("x")
+ private Double x;
+
+ /**
+ * 温度点坐标 y
+ */
+ @JsonProperty("y")
+ private Double y;
+
+ /**
+ * 温度点的温度
+ */
+ @JsonProperty("temperature")
+ private Double temperature;
+}
diff --git a/src/main/java/com/ruoyi/device/domain/impl/djimqtt/model/drone/WirelessLinkTopo.java b/src/main/java/com/ruoyi/device/domain/impl/djimqtt/model/drone/WirelessLinkTopo.java
new file mode 100644
index 0000000..675f20d
--- /dev/null
+++ b/src/main/java/com/ruoyi/device/domain/impl/djimqtt/model/drone/WirelessLinkTopo.java
@@ -0,0 +1,35 @@
+package com.ruoyi.device.domain.impl.djimqtt.model.drone;
+
+import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
+import com.fasterxml.jackson.annotation.JsonProperty;
+import lombok.Data;
+
+import java.util.List;
+
+/**
+ * 图传连接拓扑
+ *
+ * @author ruoyi
+ */
+@Data
+@JsonIgnoreProperties(ignoreUnknown = true)
+public class WirelessLinkTopo {
+
+ /**
+ * 加密编码
+ */
+ @JsonProperty("secret_code")
+ private List secretCode;
+
+ /**
+ * 飞行器对频信息
+ */
+ @JsonProperty("center_node")
+ private CenterNode centerNode;
+
+ /**
+ * 当前连接的机场或遥控器对频信息
+ */
+ @JsonProperty("leaf_nodes")
+ private List leafNodes;
+}
diff --git a/src/main/java/com/ruoyi/device/domain/impl/djimqtt/service/DjiMqttClientService.java b/src/main/java/com/ruoyi/device/domain/impl/djimqtt/service/DjiMqttClientService.java
new file mode 100644
index 0000000..c158eae
--- /dev/null
+++ b/src/main/java/com/ruoyi/device/domain/impl/djimqtt/service/DjiMqttClientService.java
@@ -0,0 +1,190 @@
+package com.ruoyi.device.domain.impl.djimqtt.service;
+
+import com.ruoyi.device.domain.impl.djimqtt.config.DjiMqttClientConfig;
+import com.ruoyi.device.domain.impl.djimqtt.handler.DjiMqttMessageHandler;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.mqttv5.client.IMqttToken;
+import org.eclipse.paho.mqttv5.client.MqttCallback;
+import org.eclipse.paho.mqttv5.client.MqttClient;
+import org.eclipse.paho.mqttv5.client.MqttConnectionOptions;
+import org.eclipse.paho.mqttv5.client.MqttDisconnectResponse;
+import org.eclipse.paho.mqttv5.client.persist.MemoryPersistence;
+import org.eclipse.paho.mqttv5.common.MqttException;
+import org.eclipse.paho.mqttv5.common.MqttMessage;
+import org.eclipse.paho.mqttv5.common.packet.MqttProperties;
+
+/**
+ * DJI MQTT客户端服务（基于Eclipse Paho MQTT v5）
+ * 支持MQTT 5.0协议，动态创建多个客户端
+ *
+ * @author ruoyi
+ */
+@Slf4j
+public class DjiMqttClientService {
+
+ private final DjiMqttClientConfig config;
+ private final DjiMqttMessageHandler messageHandler;
+ private MqttClient mqttClient;
+
+ /**
+ * 无人机OSD主题
+ */
+ private static final String DRONE_OSD_TOPIC = "thing/product/+/osd";
+
+ /**
+ * 无人机State主题
+ */
+ private static final String DRONE_STATE_TOPIC = "thing/product/+/state";
+
+ /**
+ * 构造函数
+ *
+ * @param config 客户端配置
+ * @param messageHandler 消息处理器
+ */
+ public DjiMqttClientService(DjiMqttClientConfig config, DjiMqttMessageHandler messageHandler) {
+ this.config = config;
+ this.messageHandler = messageHandler;
+ }
+
+ /**
+ * 连接到MQTT服务器
+ */
+ public void connect() {
+ try {
+ if (mqttClient != null && mqttClient.isConnected()) {
+ log.info("MQTT客户端[{}]已连接，无需重复连接", config.getClientId());
+ return;
+ }
+
+ String broker = String.format("tcp://%s:%d", config.getHost(), config.getPort());
+ log.info("开始连接DJI MQTT服务器[{}]: {}", config.getClientId(), broker);
+
+ mqttClient = new MqttClient(broker, config.getClientId(), new MemoryPersistence());
+
+ MqttConnectionOptions options = new MqttConnectionOptions();
+ options.setUserName(config.getUsername());
+ options.setPassword(config.getPassword().getBytes());
+ options.setConnectionTimeout(config.getConnectionTimeout());
+ options.setKeepAliveInterval(config.getKeepAliveInterval());
+ options.setAutomaticReconnect(config.getAutoReconnect());
+ options.setCleanStart(config.getCleanSession());
+
+ mqttClient.setCallback(new MqttCallback() {
+ @Override
+ public void disconnected(MqttDisconnectResponse disconnectResponse) {
+ log.error("MQTT客户端[{}]连接丢失: {}", config.getClientId(),
+ disconnectResponse.getReasonString());
+
+ if (config.getAutoReconnect()) {
+ log.info("MQTT客户端[{}]将自动重连...", config.getClientId());
+ }
+ }
+
+ @Override
+ public void mqttErrorOccurred(MqttException exception) {
+ log.error("MQTT客户端[{}]发生错误: {}", config.getClientId(),
+ exception.getMessage(), exception);
+ }
+
+ @Override
+ public void messageArrived(String topic, MqttMessage message) {
+ try {
+ String payload = new String(message.getPayload());
+ messageHandler.handleMessage(topic, payload);
+ } catch (Exception e) {
+ log.error("MQTT客户端[{}]处理消息失败: {}", config.getClientId(),
+ e.getMessage(), e);
+ }
+ }
+
+ @Override
+ public void deliveryComplete(IMqttToken token) {
+ // 不需要处理
+ }
+
+ @Override
+ public void connectComplete(boolean reconnect, String serverURI) {
+ if (reconnect) {
+ log.info("MQTT客户端[{}]重连成功: {}", config.getClientId(), serverURI);
+ // 重连后重新订阅
+ subscribe();
+ } else {
+ log.info("MQTT客户端[{}]首次连接成功: {}", config.getClientId(), serverURI);
+ }
+ }
+
+ @Override
+ public void authPacketArrived(int reasonCode, MqttProperties properties) {
+ // 不需要处理
+ }
+ });
+
+ mqttClient.connect(options);
+ log.info("MQTT客户端[{}]成功连接到服务器", config.getClientId());
+
+ subscribe();
+
+ } catch (Exception e) {
+ log.error("MQTT客户端[{}]连接失败: {}", config.getClientId(), e.getMessage(), e);
+ }
+ }
+
+ /**
+ * 订阅主题
+ */
+ private void subscribe() {
+ try {
+ if (mqttClient == null || !mqttClient.isConnected()) {
+ log.warn("MQTT客户端[{}]未连接，无法订阅主题", config.getClientId());
+ return;
+ }
+
+ String osdTopic = config.getUseSharedSubscription()
+ ? String.format("$share/%s/%s", config.getSharedGroupName(), DRONE_OSD_TOPIC)
+ : DRONE_OSD_TOPIC;
+
+ String stateTopic = config.getUseSharedSubscription()
+ ? String.format("$share/%s/%s", config.getSharedGroupName(), DRONE_STATE_TOPIC)
+ : DRONE_STATE_TOPIC;
+
+ mqttClient.subscribe(osdTopic, 1);
+ log.info("MQTT客户端[{}]成功订阅主题: {}", config.getClientId(), osdTopic);
+
+ mqttClient.subscribe(stateTopic, 1);
+ log.info("MQTT客户端[{}]成功订阅主题: {}", config.getClientId(), stateTopic);
+
+ } catch (Exception e) {
+ log.error("MQTT客户端[{}]订阅主题失败: {}", config.getClientId(), e.getMessage(), e);
+ }
+ }
+
+ /**
+ * 断开连接
+ */
+ public void disconnect() {
+ try {
+ if (mqttClient != null && mqttClient.isConnected()) {
+ mqttClient.disconnect();
+ mqttClient.close();
+ log.info("MQTT客户端[{}]已断开连接", config.getClientId());
+ }
+ } catch (Exception e) {
+ log.error("MQTT客户端[{}]断开连接失败: {}", config.getClientId(), e.getMessage(), e);
+ }
+ }
+
+ /**
+ * 检查连接状态
+ */
+ public boolean isConnected() {
+ return mqttClient != null && mqttClient.isConnected();
+ }
+
+ /**
+ * 获取客户端ID
+ */
+ public String getClientId() {
+ return config.getClientId();
+ }
+}
diff --git a/src/main/java/com/ruoyi/device/domain/impl/machine/MachineCommandManager.java b/src/main/java/com/ruoyi/device/domain/impl/machine/MachineCommandManager.java
new file mode 100644
index 0000000..a065b4b
--- /dev/null
+++ b/src/main/java/com/ruoyi/device/domain/impl/machine/MachineCommandManager.java
@@ -0,0 +1,272 @@
+package com.ruoyi.device.domain.impl.machine;
+
+
+import com.ruoyi.device.domain.impl.machine.command.*;
+import com.ruoyi.device.domain.impl.machine.instruction.InstructionContext;
+import com.ruoyi.device.domain.impl.machine.mqtt.MqttClient;
+import com.ruoyi.device.domain.impl.machine.state.MachineStates;
+import com.ruoyi.device.domain.impl.machine.statemachine.MachineStateManager;
+import com.ruoyi.device.domain.impl.machine.statemachine.StateChangeListener;
+import com.ruoyi.device.domain.impl.machine.vendor.VendorConfig;
+import com.ruoyi.device.domain.impl.machine.vendor.VendorRegistry;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+import java.util.List;
+import java.util.Map;
+import java.util.concurrent.CompletableFuture;
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * 设备命令管理器（框架使用者的主要入口）
+ */
+@Slf4j
+@Component
+public class MachineCommandManager {
+
+ private final VendorRegistry vendorRegistry;
+ private final MachineStateManager stateManager;
+ private final TransactionExecutor transactionExecutor;
+ private final MqttClient mqttClient;
+
+ /**
+ * SN -> 当前正在执行的命令
+ */
+ private final Map executingCommands = new ConcurrentHashMap<>();
+
+ /**
+ * 命令执行监听器
+ */
+ private final Map commandListeners = new ConcurrentHashMap<>();
+
+ public MachineCommandManager(VendorRegistry vendorRegistry,
+ MachineStateManager stateManager,
+ TransactionExecutor transactionExecutor,
+ MqttClient mqttClient) {
+ this.vendorRegistry = vendorRegistry;
+ this.stateManager = stateManager;
+ this.transactionExecutor = transactionExecutor;
+ this.mqttClient = mqttClient;
+ }
+
+ /**
+ * 获取设备当前状态
+ *
+ * @param sn 设备SN号
+ * @return 设备状态
+ */
+ public MachineStates getMachineStates(String sn) {
+ return stateManager.getStates(sn);
+ }
+
+ /**
+ * 更新设备状态（通常在心跳中调用）
+ *
+ * @param sn 设备SN号
+ * @param newStates 新状态
+ */
+ public void updateMachineStates(String sn, MachineStates newStates,Boolean force) {
+ stateManager.updateStates(sn, newStates,force);
+ }
+
+ /**
+ * 判断设备是否正在执行命令
+ *
+ * @param sn 设备SN号
+ * @return 是否正在执行命令
+ */
+ public boolean isExecutingCommand(String sn) {
+ CommandExecution execution = executingCommands.get(sn);
+ return execution != null && !execution.getFuture().isDone();
+ }
+
+ /**
+ * 获取设备当前正在执行的命令类型
+ *
+ * @param sn 设备SN号
+ * @return 命令类型，如果没有正在执行的命令则返回null
+ */
+ public CommandType getExecutingCommandType(String sn) {
+ CommandExecution execution = executingCommands.get(sn);
+ if (execution != null && !execution.getFuture().isDone()) {
+ return execution.getCommandType();
+ }
+ return null;
+ }
+
+ /**
+ * 获取设备在当前状态下可以执行的命令列表
+ *
+ * @param sn 设备SN号
+ * @return 可执行的命令列表
+ */
+ public List getAvailableCommands(String sn) {
+ VendorConfig vendorConfig = vendorRegistry.getVendorConfig(sn);
+ if (vendorConfig == null) {
+ log.warn("设备未绑定厂家: sn={}", sn);
+ return List.of();
+ }
+
+ MachineStates currentStates = stateManager.getStates(sn);
+ return vendorConfig.getAvailableCommands(currentStates);
+ }
+
+ /**
+ * 执行命令
+ *
+ * @param sn 设备SN号
+ * @param commandType 命令类型
+ * @return 命令执行结果的Future
+ */
+ public CompletableFuture executeCommand(String sn, CommandType commandType) {
+ return executeCommand(sn, commandType, Map.of());
+ }
+
+ /**
+ * 执行命令（带参数）
+ *
+ * @param sn 设备SN号
+ * @param commandType 命令类型
+ * @param params 命令参数
+ * @return 命令执行结果的Future
+ */
+ public CompletableFuture executeCommand(String sn, CommandType commandType, Map params) {
+ log.info("收到命令执行请求: sn={}, commandType={}, params={}", sn, commandType, params);
+
+ // 1. 检查设备是否已绑定厂家
+ VendorConfig vendorConfig = vendorRegistry.getVendorConfig(sn);
+ if (vendorConfig == null) {
+ String error = "设备未绑定厂家";
+ log.error("{}: sn={}", error, sn);
+ return CompletableFuture.completedFuture(CommandResult.failure(commandType, error));
+ }
+
+ // 2. 检查是否正在执行其他命令
+ if (isExecutingCommand(sn)) {
+ String error = "设备正在执行其他命令: " + getExecutingCommandType(sn);
+ log.warn("{}: sn={}", error, sn);
+ return CompletableFuture.completedFuture(CommandResult.failure(commandType, error));
+ }
+
+ // 3. 检查当前状态是否可以执行该命令
+ MachineStates currentStates = stateManager.getStates(sn);
+ if (!vendorConfig.canExecuteCommand(currentStates, commandType)) {
+ String error = "当前状态不允许执行该命令";
+ log.warn("{}: sn={}, commandType={}, currentStates={}", error, sn, commandType, currentStates);
+ return CompletableFuture.completedFuture(CommandResult.failure(commandType, error));
+ }
+
+ // 4. 获取事务定义
+ Transaction transaction = vendorConfig.getTransaction(commandType);
+ if (transaction == null) {
+ String error = "厂家不支持该命令";
+ log.error("{}: sn={}, commandType={}, vendorType={}", error, sn, commandType, vendorConfig.getVendorType());
+ return CompletableFuture.completedFuture(CommandResult.failure(commandType, error));
+ }
+
+ // 5. 创建指令上下文
+ InstructionContext context = new InstructionContext(sn, vendorConfig.getVendorType(), mqttClient);
+ params.forEach(context::putCommandParam);
+
+ // 6. 执行事务
+ CompletableFuture future = transactionExecutor.executeTransaction(transaction, context);
+
+ // 7. 记录正在执行的命令
+ executingCommands.put(sn, new CommandExecution(commandType, future, System.currentTimeMillis()));
+
+ // 8. 添加完成回调
+ future.whenComplete((result, throwable) -> {
+ executingCommands.remove(sn);
+
+ if (throwable != null) {
+ log.error("命令执行异常: sn={}, commandType={}", sn, commandType, throwable);
+ notifyCommandComplete(sn, CommandResult.failure(commandType, "命令执行异常: " + throwable.getMessage()));
+ } else {
+ log.info("命令执行完成: sn={}, commandType={}, success={}", sn, commandType, result.isSuccess());
+ notifyCommandComplete(sn, result);
+ }
+ });
+
+ return future;
+ }
+
+ /**
+ * 注册命令执行监听器
+ *
+ * @param listenerId 监听器ID
+ * @param listener 监听器
+ */
+ public void registerCommandListener(String listenerId, CommandExecutionListener listener) {
+ commandListeners.put(listenerId, listener);
+ log.debug("注册命令执行监听器: listenerId={}", listenerId);
+ }
+
+ /**
+ * 取消注册命令执行监听器
+ *
+ * @param listenerId 监听器ID
+ */
+ public void unregisterCommandListener(String listenerId) {
+ commandListeners.remove(listenerId);
+ log.debug("取消注册命令执行监听器: listenerId={}", listenerId);
+ }
+
+ /**
+ * 注册状态变化监听器
+ *
+ * @param listenerId 监听器ID
+ * @param listener 监听器
+ */
+ public void registerStateChangeListener(String listenerId, StateChangeListener listener) {
+ stateManager.registerStateChangeListener(listenerId, listener);
+ }
+
+ /**
+ * 取消注册状态变化监听器
+ *
+ * @param listenerId 监听器ID
+ */
+ public void unregisterStateChangeListener(String listenerId) {
+ stateManager.unregisterStateChangeListener(listenerId);
+ }
+
+ /**
+ * 通知命令执行完成
+ */
+ private void notifyCommandComplete(String sn, CommandResult result) {
+ for (CommandExecutionListener listener : commandListeners.values()) {
+ try {
+ listener.onCommandComplete(sn, result);
+ } catch (Exception e) {
+ log.error("命令执行监听器执行失败: sn={}, commandType={}", sn, result.getCommandType(), e);
+ }
+ }
+ }
+
+ /**
+ * 命令执行信息
+ */
+ private static class CommandExecution {
+ private final CommandType commandType;
+ private final CompletableFuture future;
+ private final long startTime;
+
+ public CommandExecution(CommandType commandType, CompletableFuture future, long startTime) {
+ this.commandType = commandType;
+ this.future = future;
+ this.startTime = startTime;
+ }
+
+ public CommandType getCommandType() {
+ return commandType;
+ }
+
+ public CompletableFuture getFuture() {
+ return future;
+ }
+
+ public long getStartTime() {
+ return startTime;
+ }
+ }
+}
diff --git a/src/main/java/com/ruoyi/device/domain/impl/machine/command/CommandExecutionListener.java b/src/main/java/com/ruoyi/device/domain/impl/machine/command/CommandExecutionListener.java
new file mode 100644
index 0000000..281fbfc
--- /dev/null
+++ b/src/main/java/com/ruoyi/device/domain/impl/machine/command/CommandExecutionListener.java
@@ -0,0 +1,15 @@
+package com.ruoyi.device.domain.impl.machine.command;
+
+/**
+ * 命令执行监听器
+ */
+@FunctionalInterface
+public interface CommandExecutionListener {
+ /**
+ * 命令执行完成回调
+ *
+ * @param sn 设备SN号
+ * @param result 命令执行结果
+ */
+ void onCommandComplete(String sn, CommandResult result);
+}
diff --git a/src/main/java/com/ruoyi/device/domain/impl/machine/command/CommandResult.java b/src/main/java/com/ruoyi/device/domain/impl/machine/command/CommandResult.java
new file mode 100644
index 0000000..4af9663
--- /dev/null
+++ b/src/main/java/com/ruoyi/device/domain/impl/machine/command/CommandResult.java
@@ -0,0 +1,58 @@
+package com.ruoyi.device.domain.impl.machine.command;
+
+import lombok.AllArgsConstructor;
+import lombok.Data;
+import lombok.NoArgsConstructor;
+
+/**
+ * 命令执行结果
+ */
+@Data
+@NoArgsConstructor
+@AllArgsConstructor
+public class CommandResult {
+ /**
+ * 命令类型
+ */
+ private CommandType commandType;
+
+ /**
+ * 是否成功
+ */
+ private boolean success;
+
+ /**
+ * 错误信息
+ */
+ private String errorMessage;
+
+ /**
+ * 失败的指令名称
+ */
+ private String failedInstructionName;
+
+ /**
+ * 结果数据
+ */
+ private Object data;
+
+ public static CommandResult success(CommandType commandType) {
+ return new CommandResult(commandType, true, null, null, null);
+ }
+
+ public static CommandResult success(CommandType commandType, Object data) {
+ return new CommandResult(commandType, true, null, null, data);
+ }
+
+ public static CommandResult failure(CommandType commandType, String errorMessage) {
+ return new CommandResult(commandType, false, errorMessage, null, null);
+ }
+
+ public static CommandResult failure(CommandType commandType, String errorMessage, String failedInstructionName) {
+ return new CommandResult(commandType, false, errorMessage, failedInstructionName, null);
+ }
+
+ public static CommandResult timeout(CommandType commandType) {
+ return new CommandResult(commandType, false, "命令执行超时", null, null);
+ }
+}
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
new file mode 100644
index 0000000..8d67570
--- /dev/null
+++ b/src/main/java/com/ruoyi/device/domain/impl/machine/command/CommandType.java
@@ -0,0 +1,86 @@
+package com.ruoyi.device.domain.impl.machine.command;
+
+/**
+ * 命令类型枚举
+ */
+public enum CommandType {
+ /**
+ * 起飞
+ */
+ TAKE_OFF,
+
+ /**
+ * 返航
+ */
+ RETURN_HOME,
+
+ /**
+ * 急停
+ */
+ EMERGENCY_STOP,
+
+ /**
+ * 继续飞行
+ */
+ RESUME_FLIGHT,
+
+ /**
+ * 指点飞行
+ */
+ POINT_FLY,
+
+ /**
+ * 取消指点
+ */
+ CANCEL_POINT,
+
+ /**
+ * 开始航线任务
+ */
+ START_MISSION,
+
+ /**
+ * 暂停航线任务
+ */
+ PAUSE_MISSION,
+
+ /**
+ * 恢复航线任务
+ */
+ RESUME_MISSION,
+
+ /**
+ * 打开舱门
+ */
+ OPEN_COVER,
+
+ /**
+ * 关闭舱门
+ */
+ CLOSE_COVER,
+
+ /**
+ * 进入调试模式
+ */
+ ENTER_DEBUG_MODE,
+
+ /**
+ * 退出调试模式
+ */
+ EXIT_DEBUG_MODE,
+
+ /**
+ * 进入DRC模式
+ */
+ ENTER_DRC_MODE,
+
+ /**
+ * 退出DRC模式
+ */
+ EXIT_DRC_MODE,
+
+ /**
+ * 重启机巢
+ */
+ REBOOT_AIRPORT
+}
diff --git a/src/main/java/com/ruoyi/device/domain/impl/machine/command/Transaction.java b/src/main/java/com/ruoyi/device/domain/impl/machine/command/Transaction.java
new file mode 100644
index 0000000..e3a4e45
--- /dev/null
+++ b/src/main/java/com/ruoyi/device/domain/impl/machine/command/Transaction.java
@@ -0,0 +1,62 @@
+package com.ruoyi.device.domain.impl.machine.command;
+
+
+import com.ruoyi.device.domain.impl.machine.instruction.Instruction;
+import lombok.Data;
+
+/**
+ * 事务（由多个指令组成的树状结构，支持条件分支）
+ */
+@Data
+public class Transaction {
+ /**
+ * 事务名称
+ */
+ private String name;
+
+ /**
+ * 命令类型
+ */
+ private CommandType commandType;
+
+ /**
+ * 根指令（事务的起始指令）
+ */
+ private Instruction rootInstruction;
+
+ /**
+ * 事务超时时间（毫秒）
+ */
+ private long timeoutMs = 20000; // 默认10秒
+
+ public Transaction(String name, CommandType commandType) {
+ this.name = name;
+ this.commandType = commandType;
+ }
+
+ /**
+ * 设置根指令
+ *
+ * @param instruction 根指令
+ * @return Transaction 支持链式调用
+ */
+ public Transaction root(Instruction instruction) {
+ this.rootInstruction = instruction;
+ return this;
+ }
+
+ /**
+ * 获取根指令
+ */
+ public Instruction getRootInstruction() {
+ return rootInstruction;
+ }
+
+ /**
+ * 设置超时时间
+ */
+ public Transaction setTimeout(long timeoutMs) {
+ this.timeoutMs = timeoutMs;
+ return this;
+ }
+}
diff --git a/src/main/java/com/ruoyi/device/domain/impl/machine/command/TransactionExecutor.java b/src/main/java/com/ruoyi/device/domain/impl/machine/command/TransactionExecutor.java
new file mode 100644
index 0000000..5b5112c
--- /dev/null
+++ b/src/main/java/com/ruoyi/device/domain/impl/machine/command/TransactionExecutor.java
@@ -0,0 +1,313 @@
+package com.ruoyi.device.domain.impl.machine.command;
+
+
+import com.ruoyi.device.domain.impl.machine.instruction.CallbackConfig;
+import com.ruoyi.device.domain.impl.machine.instruction.Instruction;
+import com.ruoyi.device.domain.impl.machine.instruction.InstructionContext;
+import com.ruoyi.device.domain.impl.machine.instruction.InstructionResult;
+import com.ruoyi.device.domain.impl.machine.mqtt.MqttCallbackRegistry;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.beans.factory.annotation.Qualifier;
+import org.springframework.stereotype.Component;
+
+import java.util.concurrent.CompletableFuture;
+import java.util.concurrent.Executor;
+import java.util.concurrent.ScheduledExecutorService;
+import java.util.concurrent.ScheduledThreadPoolExecutor;
+import java.util.concurrent.TimeUnit;
+import java.util.concurrent.atomic.AtomicBoolean;
+
+/**
+ * 事务执行器（完全异步化版本）
+ *
+ * 设计说明：
+ * 1. 完全异步：不阻塞任何线程，所有操作都通过 CompletableFuture 链式调用
+ * 2. 高并发：可以同时处理数万个命令，不会创建大量线程
+ * 3. 资源高效：线程只在真正需要执行任务时才使用，不会浪费在等待上
+ *
+ * 性能优势：
+ * - 传统方式：10万个命令 = 10万个阻塞线程 = 系统崩溃
+ * - 异步方式：10万个命令 = 200个工作线程 + 10万个 CompletableFuture = 正常运行
+ */
+@Slf4j
+@Component
+public class TransactionExecutor {
+
+ private final MqttCallbackRegistry callbackRegistry;
+ private final Executor commandExecutor;
+ private final ScheduledExecutorService timeoutScheduler;
+
+ public TransactionExecutor(
+ MqttCallbackRegistry callbackRegistry,
+ @Qualifier("commandExecutor") Executor commandExecutor) {
+ this.callbackRegistry = callbackRegistry;
+ this.commandExecutor = commandExecutor;
+
+ // 创建一个专门用于超时检查的调度器（核心线程数较小）
+ this.timeoutScheduler = new ScheduledThreadPoolExecutor(
+ 2,
+ r -> {
+ Thread t = new Thread(r, "timeout-scheduler");
+ t.setDaemon(true);
+ return t;
+ }
+ );
+
+ log.info("事务执行器初始化完成（完全异步模式）");
+ }
+
+ /**
+ * 执行事务（完全异步）
+ *
+ * @param transaction 事务定义
+ * @param context 执行上下文
+ * @return CompletableFuture，不会阻塞调用线程
+ */
+ public CompletableFuture executeTransaction(Transaction transaction, InstructionContext context) {
+ log.info("开始执行事务: transaction={}, sn={}", transaction.getName(), context.getSn());
+
+ long startTime = System.currentTimeMillis();
+
+ // 直接返回异步执行的结果，不创建新线程
+ return executeInstructionTreeAsync(transaction, context, startTime, transaction.getRootInstruction());
+ }
+
+ /**
+ * 异步执行指令树
+ *
+ * @param transaction 事务定义
+ * @param context 执行上下文
+ * @param startTime 事务开始时间
+ * @param currentInstruction 当前要执行的指令
+ * @return CompletableFuture
+ */
+ private CompletableFuture executeInstructionTreeAsync(
+ Transaction transaction,
+ InstructionContext context,
+ long startTime,
+ Instruction currentInstruction) {
+
+ // 检查根指令
+ if (currentInstruction == null) {
+ log.error("事务没有根指令: transaction={}", transaction.getName());
+ return CompletableFuture.completedFuture(
+ CommandResult.failure(transaction.getCommandType(), "事务没有根指令")
+ );
+ }
+
+ // 检查事务是否超时
+ if (System.currentTimeMillis() - startTime > transaction.getTimeoutMs()) {
+ log.warn("事务执行超时: transaction={}, sn={}", transaction.getName(), context.getSn());
+ return CompletableFuture.completedFuture(
+ CommandResult.timeout(transaction.getCommandType())
+ );
+ }
+
+ log.debug("执行指令: instruction={}", currentInstruction.getName());
+
+ // 异步执行当前指令
+ Instruction finalCurrentInstruction = currentInstruction;
+ return executeInstructionAsync(currentInstruction, context)
+ .thenCompose(result -> {
+ // 根据执行结果获取下游指令
+ Instruction nextInstruction = finalCurrentInstruction.getNextInstruction(result.isSuccess());
+
+ if (nextInstruction != null) {
+ // 有下游指令，递归执行
+ log.debug("根据执行结果选择下游指令: success={}, nextInstruction={}",
+ result.isSuccess(), nextInstruction.getName());
+ return executeInstructionTreeAsync(transaction, context, startTime, nextInstruction);
+ } else {
+ // 没有下游指令，当前指令的结果就是事务的结果
+ if (!result.isSuccess()) {
+ log.error("指令执行失败（无下游指令）: instruction={}, error={}",
+ finalCurrentInstruction.getName(), result.getErrorMessage());
+ return CompletableFuture.completedFuture(
+ CommandResult.failure(
+ transaction.getCommandType(),
+ result.getErrorMessage(),
+ finalCurrentInstruction.getName()
+ )
+ );
+ } else {
+ log.info("指令执行成功（无下游指令），事务完成: instruction={}, sn={}",
+ finalCurrentInstruction.getName(), context.getSn());
+ return CompletableFuture.completedFuture(
+ CommandResult.success(transaction.getCommandType())
+ );
+ }
+ }
+ });
+ }
+
+ /**
+ * 异步执行单个指令
+ *
+ * @param instruction 指令
+ * @param context 执行上下文
+ * @return CompletableFuture
+ */
+ private CompletableFuture executeInstructionAsync(
+ Instruction instruction,
+ InstructionContext context) {
+
+ log.debug("开始执行指令: instruction={}, sn={}", instruction.getName(), context.getSn());
+
+ // a. 判断是否可以执行
+ if (!instruction.canExecute(context)) {
+ String error = "指令被拒绝";
+ log.warn("指令不满足执行条件: instruction={}, sn={}", instruction.getName(), context.getSn());
+ InstructionResult result = InstructionResult.failure(error);
+ instruction.onComplete(context, result);
+ return CompletableFuture.completedFuture(result);
+ }
+
+ // b. 在线程池中执行远程调用（避免阻塞当前线程）
+ return CompletableFuture.supplyAsync(() -> {
+ try {
+ instruction.executeRemoteCall(context);
+ log.debug("远程调用已发送: instruction={}", instruction.getName());
+ return true;
+ } catch (Exception e) {
+ log.error("远程调用失败: instruction={}, sn={}", instruction.getName(), context.getSn(), e);
+ return false;
+ }
+ }, commandExecutor).thenCompose(remoteCallSuccess -> {
+ if (!remoteCallSuccess) {
+ InstructionResult result = InstructionResult.failure("远程调用失败");
+ instruction.onComplete(context, result);
+ return CompletableFuture.completedFuture(result);
+ }
+
+ // c. 等待方法回调（异步）
+ CallbackConfig methodCallback = instruction.getMethodCallbackConfig(context);
+ if (methodCallback != null) {
+ // 自动设置为方法回调类型
+ methodCallback.setCallbackType(CallbackConfig.CallbackType.METHOD);
+
+ return waitForCallbackAsync(methodCallback, context)
+ .thenCompose(methodResult -> {
+ if (!methodResult.isSuccess()) {
+ instruction.onComplete(context, methodResult);
+ return CompletableFuture.completedFuture(methodResult);
+ }
+
+ // d. 等待状态回调（异步）
+ CallbackConfig stateCallback = instruction.getStateCallbackConfig(context);
+ if (stateCallback != null) {
+ // 自动设置为状态回调类型
+ stateCallback.setCallbackType(CallbackConfig.CallbackType.STATE);
+
+ return waitForCallbackAsync(stateCallback, context)
+ .thenApply(stateResult -> {
+ instruction.onComplete(context, stateResult);
+ return stateResult;
+ });
+ }
+
+ // 没有状态回调，直接成功
+ InstructionResult result = InstructionResult.success();
+ instruction.onComplete(context, result);
+ return CompletableFuture.completedFuture(result);
+ });
+ }
+
+ // 没有方法回调，检查是否有状态回调
+ CallbackConfig stateCallback = instruction.getStateCallbackConfig(context);
+ if (stateCallback != null) {
+ // 自动设置为状态回调类型
+ stateCallback.setCallbackType(CallbackConfig.CallbackType.STATE);
+
+ return waitForCallbackAsync(stateCallback, context)
+ .thenApply(stateResult -> {
+ instruction.onComplete(context, stateResult);
+ return stateResult;
+ });
+ }
+
+ // 没有任何回调，直接成功
+ InstructionResult result = InstructionResult.success();
+ instruction.onComplete(context, result);
+ return CompletableFuture.completedFuture(result);
+ });
+ }
+
+ /**
+ * 异步等待回调（不阻塞线程）
+ *
+ * 关键改进：
+ * 1. 不使用 future.get() 阻塞线程
+ * 2. 使用 ScheduledExecutorService 实现超时
+ * 3. 完全基于回调机制
+ *
+ * @param callbackConfig 回调配置
+ * @param context 执行上下文
+ * @return CompletableFuture
+ */
+ private CompletableFuture waitForCallbackAsync(
+ CallbackConfig callbackConfig,
+ InstructionContext context) {
+
+ CompletableFuture future = new CompletableFuture<>();
+ AtomicBoolean callbackReceived = new AtomicBoolean(false);
+
+ // 注册回调（包含 tid/bid 过滤）
+ String callbackId = callbackRegistry.registerCallback(
+ callbackConfig.getTopic(),
+ messageBody -> {
+ // 判断消息是否匹配
+ boolean matches = callbackConfig.matches(messageBody);
+ if (matches) {
+ // 匹配成功
+ if (callbackReceived.compareAndSet(false, true)) {
+ future.complete(InstructionResult.success(messageBody));
+ log.debug("收到匹配的回调消息: topic={}, type={}",
+ callbackConfig.getTopic(), callbackConfig.getCallbackType());
+ }
+ } else {
+ // 不匹配：根据回调类型决定行为
+ if (callbackConfig.getCallbackType() == CallbackConfig.CallbackType.METHOD) {
+ // 方法回调：不匹配就失败
+ if (callbackReceived.compareAndSet(false, true)) {
+ future.complete(InstructionResult.failure("方法回调不匹配"));
+ log.warn("方法回调不匹配，指令失败: topic={}, expected={}, actual={}",
+ callbackConfig.getTopic(),
+ callbackConfig.getExpectedValue(),
+ messageBody);
+ }
+ } else {
+ // 状态回调：不匹配继续等待
+ // 使用 CAS 确保只处理一次，然后重置状态
+ if (callbackReceived.compareAndSet(false, true)) {
+ callbackReceived.set(false); // 重置状态，继续等待下一条消息
+ log.debug("状态回调不匹配，继续等待: topic={}, expected={}, actual={}",
+ callbackConfig.getTopic(),
+ callbackConfig.getExpectedValue(),
+ messageBody);
+ }
+ }
+ }
+ },
+ callbackConfig.getTimeoutMs(),
+ callbackConfig.getTidFieldPath(),
+ callbackConfig.getExpectedTid(),
+ callbackConfig.getBidFieldPath(),
+ callbackConfig.getExpectedBid()
+ );
+
+ // 设置超时（不阻塞线程）
+ timeoutScheduler.schedule(() -> {
+ // 使用 CAS 确保只处理一次
+ if (callbackReceived.compareAndSet(false, true)) {
+ future.complete(InstructionResult.timeout());
+ log.warn("等待回调超时: topic={}, timeout={}ms",
+ callbackConfig.getTopic(), callbackConfig.getTimeoutMs());
+ }
+ }, callbackConfig.getTimeoutMs(), TimeUnit.MILLISECONDS);
+
+ // 清理回调（无论成功还是超时）
+ return future.whenComplete((result, throwable) -> {
+ callbackRegistry.unregisterCallback(callbackId);
+ });
+ }
+}
diff --git a/src/main/java/com/ruoyi/device/domain/impl/machine/config/ExecutorConfig.java b/src/main/java/com/ruoyi/device/domain/impl/machine/config/ExecutorConfig.java
new file mode 100644
index 0000000..3651b3c
--- /dev/null
+++ b/src/main/java/com/ruoyi/device/domain/impl/machine/config/ExecutorConfig.java
@@ -0,0 +1,72 @@
+package com.ruoyi.device.domain.impl.machine.config;
+
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.context.annotation.Bean;
+import org.springframework.context.annotation.Configuration;
+import org.springframework.scheduling.concurrent.ThreadPoolTaskExecutor;
+
+import java.util.concurrent.Executor;
+import java.util.concurrent.ThreadPoolExecutor;
+
+/**
+ * 线程池配置
+ * 用于命令执行的异步任务
+ */
+@Slf4j
+@Configuration
+public class ExecutorConfig {
+
+ /**
+ * 命令执行线程池
+ *
+ * 设计说明：
+ * 1. 核心线程数：CPU 核心数 * 2（适合 I/O 密集型任务）
+ * 2. 最大线程数：200（控制最大并发，防止线程爆炸）
+ * 3. 队列容量：10000（缓冲等待执行的任务）
+ * 4. 拒绝策略：CallerRunsPolicy（背压机制，让调用者线程执行）
+ *
+ * 性能预估：
+ * - 假设每个命令平均执行 10 秒
+ * - 200 个线程可以同时处理 200 个命令
+ * - 队列可以缓冲 10000 个命令
+ * - 总容量：10200 个并发命令
+ * - 吞吐量：200 / 10 = 20 个命令/秒
+ */
+ @Bean(name = "commandExecutor")
+ public Executor commandExecutor() {
+ ThreadPoolTaskExecutor executor = new ThreadPoolTaskExecutor();
+
+ // 核心线程数：根据 CPU 核心数设置
+ int corePoolSize = Runtime.getRuntime().availableProcessors() * 2;
+ executor.setCorePoolSize(corePoolSize);
+ log.info("命令执行线程池核心线程数: {}", corePoolSize);
+
+ // 最大线程数：限制最大并发，防止线程爆炸
+ executor.setMaxPoolSize(200);
+
+ // 队列容量：缓冲等待执行的任务
+ executor.setQueueCapacity(10000);
+
+ // 拒绝策略：队列满时，调用者线程执行（背压机制）
+ // 这样可以防止任务丢失，同时给系统施加背压
+ executor.setRejectedExecutionHandler(new ThreadPoolExecutor.CallerRunsPolicy());
+
+ // 线程名称前缀（方便日志追踪）
+ executor.setThreadNamePrefix("cmd-exec-");
+
+ // 等待任务完成后再关闭（优雅关闭）
+ executor.setWaitForTasksToCompleteOnShutdown(true);
+ executor.setAwaitTerminationSeconds(60);
+
+ // 允许核心线程超时（节省资源）
+ executor.setAllowCoreThreadTimeOut(true);
+ executor.setKeepAliveSeconds(60);
+
+ executor.initialize();
+
+ log.info("命令执行线程池初始化完成: corePoolSize={}, maxPoolSize={}, queueCapacity={}",
+ corePoolSize, 200, 10000);
+
+ return executor;
+ }
+}
\ No newline at end of file
diff --git a/src/main/java/com/ruoyi/device/domain/impl/machine/config/MachineFrameworkConfig.java b/src/main/java/com/ruoyi/device/domain/impl/machine/config/MachineFrameworkConfig.java
new file mode 100644
index 0000000..3817587
--- /dev/null
+++ b/src/main/java/com/ruoyi/device/domain/impl/machine/config/MachineFrameworkConfig.java
@@ -0,0 +1,29 @@
+package com.ruoyi.device.domain.impl.machine.config;
+
+
+import com.ruoyi.device.domain.impl.machine.vendor.VendorRegistry;
+import com.ruoyi.device.domain.impl.machine.vendor.dji.DjiVendorConfig;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.boot.CommandLineRunner;
+import org.springframework.context.annotation.Bean;
+import org.springframework.context.annotation.Configuration;
+
+/**
+ * 设备框架配置类
+ */
+@Slf4j
+@Configuration
+public class MachineFrameworkConfig {
+
+ /**
+ * 自动注册所有厂家配置
+ */
+ @Bean
+ public CommandLineRunner registerVendors(VendorRegistry vendorRegistry, DjiVendorConfig djiVendorConfig) {
+ return args -> {
+ // 注册大疆厂家配置
+ vendorRegistry.registerVendor(djiVendorConfig);
+ log.info("设备框架初始化完成，已注册厂家: {}", vendorRegistry.getAllVendorTypes());
+ };
+ }
+}
diff --git a/src/main/java/com/ruoyi/device/domain/impl/machine/config/RedisConfig.java b/src/main/java/com/ruoyi/device/domain/impl/machine/config/RedisConfig.java
new file mode 100644
index 0000000..6d945d8
--- /dev/null
+++ b/src/main/java/com/ruoyi/device/domain/impl/machine/config/RedisConfig.java
@@ -0,0 +1,30 @@
+package com.ruoyi.device.domain.impl.machine.config;
+
+import org.springframework.boot.autoconfigure.condition.ConditionalOnProperty;
+import org.springframework.context.annotation.Bean;
+import org.springframework.context.annotation.Configuration;
+import org.springframework.data.redis.connection.RedisConnectionFactory;
+import org.springframework.data.redis.listener.RedisMessageListenerContainer;
+
+/**
+ * Redis 配置类
+ * 用于配置 Redis Pub/Sub 相关的 Bean
+ */
+@Configuration
+@ConditionalOnProperty(name = "machine.state.store.type", havingValue = "redis")
+public class RedisConfig {
+
+ /**
+ * 创建 Redis 消息监听容器（专用于机器框架的 MQTT 回调）
+ * 用于 Redis Pub/Sub 功能
+ *
+ * 注意：使用特定的 Bean 名称避免与其他模块冲突
+ */
+ @Bean(name = "machineFrameworkRedisMessageListenerContainer")
+ public RedisMessageListenerContainer machineFrameworkRedisMessageListenerContainer(
+ RedisConnectionFactory connectionFactory) {
+ RedisMessageListenerContainer container = new RedisMessageListenerContainer();
+ container.setConnectionFactory(connectionFactory);
+ return container;
+ }
+}
\ No newline at end of file
diff --git a/src/main/java/com/ruoyi/device/domain/impl/machine/instruction/AbstractInstruction.java b/src/main/java/com/ruoyi/device/domain/impl/machine/instruction/AbstractInstruction.java
new file mode 100644
index 0000000..2776ab0
--- /dev/null
+++ b/src/main/java/com/ruoyi/device/domain/impl/machine/instruction/AbstractInstruction.java
@@ -0,0 +1,57 @@
+package com.ruoyi.device.domain.impl.machine.instruction;
+
+/**
+ * 抽象指令基类，提供默认实现和下游节点管理
+ */
+public abstract class AbstractInstruction implements Instruction {
+
+ /**
+ * 成功后执行的下一个指令
+ */
+ private Instruction onSuccessInstruction;
+
+ /**
+ * 失败后执行的下一个指令
+ */
+ private Instruction onFailureInstruction;
+
+
+
+
+ @Override
+ public Instruction getOnSuccessInstruction() {
+ return onSuccessInstruction;
+ }
+
+ @Override
+ public Instruction getOnFailureInstruction() {
+ return onFailureInstruction;
+ }
+
+
+
+ /**
+ * 设置成功后执行的指令（支持链式调用）
+ */
+ public T onSuccess(Instruction instruction) {
+ this.onSuccessInstruction = instruction;
+ return (T) this;
+ }
+
+ /**
+ * 设置失败后执行的指令（支持链式调用）
+ */
+ public T onFailure(Instruction instruction) {
+ this.onFailureInstruction = instruction;
+ return (T) this;
+ }
+
+ /**
+ * 设置无论成功失败都执行的指令（支持链式调用）
+ */
+ public T then(Instruction instruction) {
+ this.onFailureInstruction = instruction;
+ this.onSuccessInstruction = instruction;
+ return (T) this;
+ }
+}
diff --git a/src/main/java/com/ruoyi/device/domain/impl/machine/instruction/CallbackConfig.java b/src/main/java/com/ruoyi/device/domain/impl/machine/instruction/CallbackConfig.java
new file mode 100644
index 0000000..e3c870b
--- /dev/null
+++ b/src/main/java/com/ruoyi/device/domain/impl/machine/instruction/CallbackConfig.java
@@ -0,0 +1,150 @@
+package com.ruoyi.device.domain.impl.machine.instruction;
+
+import com.fasterxml.jackson.databind.ObjectMapper;
+import lombok.AllArgsConstructor;
+import lombok.Builder;
+import lombok.Data;
+import lombok.NoArgsConstructor;
+
+import java.util.function.Predicate;
+
+/**
+ * 回调配置（用于方法回调和状态回调）
+ */
+@Data
+@Builder
+@NoArgsConstructor
+@AllArgsConstructor
+public class CallbackConfig {
+
+ /**
+ * 回调类型枚举
+ */
+ public enum CallbackType {
+ /**
+ * 方法回调：设备对指令的直接响应
+ * - 收到匹配的响应 → 成功
+ * - 收到不匹配的响应 → 失败（立即）
+ * - 超时 → 失败
+ */
+ METHOD,
+
+ /**
+ * 状态回调：等待设备状态变化
+ * - 收到匹配的状态 → 成功
+ * - 收到不匹配的状态 → 继续等待
+ * - 超时 → 失败
+ */
+ STATE
+ }
+
+ /**
+ * 监听的MQTT主题
+ */
+ private String topic;
+
+ /**
+ * 字段路径（支持嵌套，如 "data.status"）
+ */
+ private String fieldPath;
+
+ /**
+ * 期望的字段值
+ */
+ private Object expectedValue;
+
+ /**
+ * 自定义判断逻辑（如果设置，则优先使用此逻辑）
+ */
+ private Predicate