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修改 航线起飞 悬停 继续任务指令

This commit is contained in:
孙小云 2026-03-04 15:04:21 +08:00
parent 8f86e92fcc
commit c5b490be17
6 changed files with 281 additions and 1 deletions
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30
src/main/java/com/ruoyi/device/controller/AircraftFlyController.java
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@ -80,6 +80,27 @@ public class AircraftFlyController extends BaseController
params.put("lightMode", request.getLightMode());
}
// 处理航线飞行、悬停、继续任务所需的参数
if (request.getAirlineFileUrl() != null) {
params.put("airlineFileUrl", request.getAirlineFileUrl());
}
if (request.getFlyBatteryMin() != null) {
params.put("flyBatteryMin", request.getFlyBatteryMin());
}
if (request.getIsMustFly() != null) {
params.put("isMustFly", request.getIsMustFly());
}
if (request.getTaskId() != null) {
params.put("taskId", request.getTaskId());
}
if (request.getZhilin() != null) {
params.put("zhilin", request.getZhilin());
}
switch (request.getCommand()) {
case FORWARD:
commandType = CommandType.FORWARD;
@ -132,6 +153,15 @@ public class AircraftFlyController extends BaseController
case GIMBAL_RESET:
commandType = CommandType.GIMBAL_RESET;
break;
case AIRLINE_FLIGHT:
commandType = CommandType.AIRLINE_FLIGHT;
break;
case HOVER:
commandType = CommandType.HOVER;
break;
case CONTINUE_TASK:
commandType = CommandType.CONTINUE_TASK;
break;
case EMERGENCY_STOP:
return R.fail("急停命令暂不支持");
default:

17
src/main/java/com/ruoyi/device/domain/impl/machine/command/CommandType.java
View File

@ -177,5 +177,20 @@ public enum CommandType {
/**
* 云台复位
*/
GIMBAL_RESET
GIMBAL_RESET,
/**
* 航线飞行
*/
AIRLINE_FLIGHT,
/**
* 悬停
*/
HOVER,
/**
* 继续任务
*/
CONTINUE_TASK
}

15
src/main/java/com/ruoyi/device/domain/impl/machine/vendor/tuoheng/TuohengVendorConfig.java vendored
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@ -186,6 +186,21 @@ public class TuohengVendorConfig implements VendorConfig {
.root(new com.ruoyi.device.domain.impl.machine.vendor.tuoheng.instruction.TuohengGimbalResetInstruction())
.setTimeout(5000));
// 航线飞行命令
transactionMap.put(CommandType.AIRLINE_FLIGHT, new Transaction("航线飞行", CommandType.AIRLINE_FLIGHT)
.root(new com.ruoyi.device.domain.impl.machine.vendor.tuoheng.instruction.TuohengAirlineFlightInstruction())
.setTimeout(300000));
// 悬停命令
transactionMap.put(CommandType.HOVER, new Transaction("悬停", CommandType.HOVER)
.root(new com.ruoyi.device.domain.impl.machine.vendor.tuoheng.instruction.TuohengHoverInstruction())
.setTimeout(15000));
// 继续任务命令
transactionMap.put(CommandType.CONTINUE_TASK, new Transaction("继续任务", CommandType.CONTINUE_TASK)
.root(new com.ruoyi.device.domain.impl.machine.vendor.tuoheng.instruction.TuohengContinueTaskInstruction())
.setTimeout(15000));
log.info("拓恒厂家配置初始化完成，共配置{}个命令", transactionMap.size());
}
}

78
src/main/java/com/ruoyi/device/domain/impl/machine/vendor/tuoheng/instruction/TuohengAirlineFlightInstruction.java vendored Normal file
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@ -0,0 +1,78 @@
package com.ruoyi.device.domain.impl.machine.vendor.tuoheng.instruction;
import com.alibaba.fastjson.JSONObject;
import com.ruoyi.device.domain.impl.machine.instruction.AbstractInstruction;
import com.ruoyi.device.domain.impl.machine.instruction.CallbackConfig;
import com.ruoyi.device.domain.impl.machine.instruction.InstructionContext;
import lombok.extern.slf4j.Slf4j;
@Slf4j
public class TuohengAirlineFlightInstruction extends AbstractInstruction {
@Override
public String getName() {
return "TUOHENG_AIRLINE_FLIGHT";
}
@Override
public void executeRemoteCall(InstructionContext context) throws Exception {
String sn = context.getSn();
log.info("发送拓恒无人机航线飞行指令: sn={}", sn);
long timestamp = System.currentTimeMillis();
// 从上下文获取 messageID，如果没有则使用时间戳
Long messageID = context.getCommandParam("messageID", Long.class);
if (messageID == null) {
messageID = timestamp;
}
// 从上下文获取 airlineFileUrl，如果没有则使用默认值
String airlineFileUrl = context.getCommandParam("airlineFileUrl", String.class);
if (airlineFileUrl == null) {
throw new Exception("航线文件URL不能为空");
}
// 从上下文获取 flyBatteryMin，如果没有则使用默认值
Double flyBatteryMin = context.getCommandParam("flyBatteryMin", Double.class);
if (flyBatteryMin == null) {
flyBatteryMin = 0.3;
}
// 从上下文获取 isMustFly，如果没有则使用默认值
Integer isMustFly = context.getCommandParam("isMustFly", Integer.class);
if (isMustFly == null) {
isMustFly = 0;
}
JSONObject param = new JSONObject();
param.put("flyBatteryMin", flyBatteryMin);
param.put("isMustFly", isMustFly);
param.put("airlineFileUrl", airlineFileUrl);
JSONObject payload = new JSONObject();
payload.put("action", "airlineFlight");
payload.put("messageID", String.valueOf(messageID));
payload.put("param", param);
payload.put("timestamp", timestamp);
String topic = "/topic/v1/airportFly/" + sn + "/control";
context.getMqttClient().sendMessage(topic, payload.toJSONString());
log.info("拓恒航线飞行指令发送成功: topic={}, payload={}", topic, payload.toJSONString());
}
@Override
public CallbackConfig getMethodCallbackConfig(InstructionContext context) {
return null;
}
@Override
public CallbackConfig getStateCallbackConfig(InstructionContext context) {
return null;
}
@Override
public long getTimeoutMs() {
return 300000;
}
}

71
src/main/java/com/ruoyi/device/domain/impl/machine/vendor/tuoheng/instruction/TuohengContinueTaskInstruction.java vendored Normal file
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@ -0,0 +1,71 @@
package com.ruoyi.device.domain.impl.machine.vendor.tuoheng.instruction;
import com.alibaba.fastjson.JSONObject;
import com.ruoyi.device.domain.impl.machine.instruction.AbstractInstruction;
import com.ruoyi.device.domain.impl.machine.instruction.CallbackConfig;
import com.ruoyi.device.domain.impl.machine.instruction.InstructionContext;
import lombok.extern.slf4j.Slf4j;
@Slf4j
public class TuohengContinueTaskInstruction extends AbstractInstruction {
@Override
public String getName() {
return "TUOHENG_CONTINUE_TASK";
}
@Override
public void executeRemoteCall(InstructionContext context) throws Exception {
String sn = context.getSn();
log.info("发送拓恒无人机继续任务指令: sn={}", sn);
long timestamp = System.currentTimeMillis();
// 从上下文获取 messageID，如果没有则使用时间戳
Long messageID = context.getCommandParam("messageID", Long.class);
if (messageID == null) {
messageID = timestamp;
}
// 从上下文获取 taskId，如果没有则使用默认值
// Long taskId = context.getCommandParam("taskId", Long.class);
// if (taskId == null) {
// throw new Exception("任务ID不能为空");
// }
// 从上下文获取 zhilin，如果没有则使用默认值
String zhilin = context.getCommandParam("zhilin", String.class);
if (zhilin == null) {
zhilin = "04";
}
JSONObject param = new JSONObject();
param.put("zhilin", zhilin);
param.put("taskId", 0);
JSONObject payload = new JSONObject();
payload.put("param", param);
payload.put("messageID", messageID);
payload.put("action", "continueTask");
payload.put("timestamp", timestamp);
String topic = "/topic/v1/airportFly/" + sn + "/control";
context.getMqttClient().sendMessage(topic, payload.toJSONString());
log.info("拓恒继续任务指令发送成功: topic={}, payload={}", topic, payload.toJSONString());
}
@Override
public CallbackConfig getMethodCallbackConfig(InstructionContext context) {
return null;
}
@Override
public CallbackConfig getStateCallbackConfig(InstructionContext context) {
return null;
}
@Override
public long getTimeoutMs() {
return 15000;
}
}

71
src/main/java/com/ruoyi/device/domain/impl/machine/vendor/tuoheng/instruction/TuohengHoverInstruction.java vendored Normal file
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@ -0,0 +1,71 @@
package com.ruoyi.device.domain.impl.machine.vendor.tuoheng.instruction;
import com.alibaba.fastjson.JSONObject;
import com.ruoyi.device.domain.impl.machine.instruction.AbstractInstruction;
import com.ruoyi.device.domain.impl.machine.instruction.CallbackConfig;
import com.ruoyi.device.domain.impl.machine.instruction.InstructionContext;
import lombok.extern.slf4j.Slf4j;
@Slf4j
public class TuohengHoverInstruction extends AbstractInstruction {
@Override
public String getName() {
return "TUOHENG_HOVER";
}
@Override
public void executeRemoteCall(InstructionContext context) throws Exception {
String sn = context.getSn();
log.info("发送拓恒无人机悬停指令: sn={}", sn);
long timestamp = System.currentTimeMillis();
// 从上下文获取 messageID，如果没有则使用时间戳
Long messageID = context.getCommandParam("messageID", Long.class);
if (messageID == null) {
messageID = timestamp;
}
// 从上下文获取 taskId，如果没有则使用默认值
// Long taskId = context.getCommandParam("taskId", Long.class);
// if (taskId == null) {
// throw new Exception("任务ID不能为空");
// }
// 从上下文获取 zhilin，如果没有则使用默认值
String zhilin = context.getCommandParam("zhilin", String.class);
if (zhilin == null) {
zhilin = "01";
}
JSONObject param = new JSONObject();
param.put("zhilin", zhilin);
param.put("taskId", 0);
JSONObject payload = new JSONObject();
payload.put("param", param);
payload.put("messageID", messageID);
payload.put("action", "hover");
payload.put("timestamp", timestamp);
String topic = "/topic/v1/airportFly/" + sn + "/control";
context.getMqttClient().sendMessage(topic, payload.toJSONString());
log.info("拓恒悬停指令发送成功: topic={}, payload={}", topic, payload.toJSONString());
}
@Override
public CallbackConfig getMethodCallbackConfig(InstructionContext context) {
return null;
}
@Override
public CallbackConfig getStateCallbackConfig(InstructionContext context) {
return null;
}
@Override
public long getTimeoutMs() {
return 15000;
}
}