修改环境配置,修改测试环境

pom.xml

@@ -135,6 +135,10 @@
             <artifactId>org.eclipse.paho.mqttv5.client</artifactId>
             <version>1.2.5</version>
         </dependency>
+        <dependency>
+            <groupId>com.ruoyi</groupId>
+            <artifactId>tuoheng-api-task</artifactId>
+        </dependency>
 
     </dependencies>
 

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

@@ -1,5 +1,6 @@
 package com.ruoyi.device.controller;
 
+import com.ruoyi.common.core.constant.SecurityConstants;
 import com.ruoyi.common.core.domain.R;
 import com.ruoyi.common.core.web.controller.BaseController;
 import com.ruoyi.device.api.domain.*;
@@ -8,6 +9,10 @@ import com.ruoyi.device.api.enums.DroneMissionStatusEnum;
 import com.ruoyi.device.domain.impl.machine.MachineCommandManager;
 import com.ruoyi.device.domain.impl.machine.command.CommandResult;
 import com.ruoyi.device.domain.impl.machine.command.CommandType;
+import com.ruoyi.device.domain.impl.machine.state.MachineStates;
+import com.ruoyi.device.service.FlightService;
+import com.ruoyi.task.api.RemoteTaskService;
+import com.ruoyi.task.api.domain.TaskDTO;
 import io.swagger.v3.oas.annotations.Operation;
 import io.swagger.v3.oas.annotations.Parameter;
 import io.swagger.v3.oas.annotations.tags.Tag;
@@ -15,6 +20,7 @@ import lombok.extern.slf4j.Slf4j;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.web.bind.annotation.*;
 
+import java.util.Date;
 import java.util.Objects;
 import java.util.UUID;
 import java.util.concurrent.CompletableFuture;
@@ -38,7 +44,8 @@ public class AircraftFlyController extends BaseController
     private com.ruoyi.device.domain.impl.machine.statemachine.MachineStateManager machineStateManager;
 
     @Autowired
-    private com.ruoyi.device.domain.impl.machine.mqtt.MqttClient mqttClient;
+    private FlightService flightService;
+
     /**
      * 无人机飞控命令
      *
@@ -229,6 +236,9 @@ public class AircraftFlyController extends BaseController
         return R.ok(vo);
     }
 
+    //从配置文件获取
+    private String airlineFileUrl = "";
+
     /**
      * 无人机一键起飞
      *
@@ -239,11 +249,16 @@ public class AircraftFlyController extends BaseController
     @PostMapping("/takeoff")
     public R<String> takeoff(@RequestBody DroneTakeoffRequest request)
     {
+
+        flightService.onClickTakeOff(request.getSn(),airlineFileUrl);
+
+
         log.info("收到无人机起飞请求: sn={}, messageID={}", request.getSn(), request.getMessageID());
 
         try {
             java.util.Map<String, Object> params = new java.util.HashMap<>();
             if(Objects.isNull(request.getMessageID())){
+
                 params.put("messageID", UUID.randomUUID().toString());
             }else {
                 params.put("messageID", request.getMessageID());
@@ -350,7 +365,7 @@ public class AircraftFlyController extends BaseController
 
         try {
             // 从 MachineStateManager 获取状态
-            com.ruoyi.device.domain.impl.machine.state.MachineStates states = machineStateManager.getStates(sn);
+            MachineStates states = machineStateManager.getStates(sn);
 
             // 转换为 VO 对象
             MachineStateVO vo = new MachineStateVO();

src/main/java/com/ruoyi/device/domain/impl/tuohengmqtt/service/TuohengMqttClientService.java

@@ -20,16 +20,28 @@ public class TuohengMqttClientService {
     private final TuohengMqttMessageHandler messageHandler;
     private MqttClient mqttClient;
 
-    public static final String AIRPORT_NEST_REALTIME_TOPIC = "/topic/v1/airportNest/+/realTime/data";
+//    public static final String AIRPORT_NEST_REALTIME_TOPIC = "/topic/v1/airportNest/+/realTime/data";
-    public static final String AIRPORT_NEST_BASIC_TOPIC = "/topic/v1/airportNest/+/realTime/basic";
+//    public static final String AIRPORT_NEST_BASIC_TOPIC = "/topic/v1/airportNest/+/realTime/basic";
-    public static final String AIRPORT_NEST_CONFIRM_TOPIC = "/topic/v1/airportNest/+/control/confirm";
+//    public static final String AIRPORT_NEST_CONFIRM_TOPIC = "/topic/v1/airportNest/+/control/confirm";
-    public static final String AIRPORT_DRONE_REALTIME_TOPIC = "/topic/v1/airportDrone/+/realTime/data";
+//    public static final String AIRPORT_DRONE_REALTIME_TOPIC = "/topic/v1/airportDrone/+/realTime/data";
-    public static final String AIRPORT_FLY_CONTROL_TOPIC = "/topic/v1/airportFly/+/control";
+//    public static final String AIRPORT_FLY_CONTROL_TOPIC = "/topic/v1/airportFly/+/control";
-    public static final String AIRPORT_FLY_DATA_TOPIC = "/topic/v1/airportFly/+/control/data";
+//    public static final String AIRPORT_FLY_DATA_TOPIC = "/topic/v1/airportFly/+/control/data";
-    public static final String AIRPORT_FLY_CONFIRM_TOPIC = "/topic/v1/airportFly/+/control/confirm";
+//    public static final String AIRPORT_FLY_CONFIRM_TOPIC = "/topic/v1/airportFly/+/control/confirm";
-    public static final String HEARTBEAT_MESSAGE_TOPIC = "/topic/v1/heartbeat/+/message";
+//    public static final String HEARTBEAT_MESSAGE_TOPIC = "/topic/v1/heartbeat/+/message";
-    public static final String PRODUCT_OSD_TOPIC = "thing/product/+/osd";
+//    public static final String PRODUCT_OSD_TOPIC = "thing/product/+/osd";
-    public static final String PRODUCT_EVENTS_TOPIC = "thing/product/+/events";
+//    public static final String PRODUCT_EVENTS_TOPIC = "thing/product/+/events";
+
+
+    public static final String AIRPORT_NEST_REALTIME_TOPIC = "/topic/v1/airportNest/THJSQ03A2302KSPYGJ2G/realTime/data";
+    public static final String AIRPORT_NEST_BASIC_TOPIC = "/topic/v1/airportNest/THJSQ03A2302KSPYGJ2G/realTime/basic";
+    public static final String AIRPORT_NEST_CONFIRM_TOPIC = "/topic/v1/airportNest/THJSQ03A2302KSPYGJ2G/control/confirm";
+    public static final String AIRPORT_DRONE_REALTIME_TOPIC = "/topic/v1/airportDrone/THJSQ03A2302KSPYGJ2G/realTime/data";
+    public static final String AIRPORT_FLY_CONTROL_TOPIC = "/topic/v1/airportFly/THJSQ03A2302KSPYGJ2G/control";
+    public static final String AIRPORT_FLY_DATA_TOPIC = "/topic/v1/airportFly/THJSQ03A2302KSPYGJ2G/control/data";
+    public static final String AIRPORT_FLY_CONFIRM_TOPIC = "/topic/v1/airportFly/THJSQ03A2302KSPYGJ2G/control/confirm";
+    public static final String HEARTBEAT_MESSAGE_TOPIC = "/topic/v1/heartbeat/THJSQ03A2302KSPYGJ2G/message";
+    public static final String PRODUCT_OSD_TOPIC = "thing/product/THJSQ03A2302KSPYGJ2G/osd";
+    public static final String PRODUCT_EVENTS_TOPIC = "thing/product/THJSQ03A2302KSPYGJ2G/events";
 
     public TuohengMqttClientService(TuohengMqttClientConfig config, TuohengMqttMessageHandler messageHandler) {
         this.config = config;

src/main/java/com/ruoyi/device/service/FlightService.java

@@ -13,6 +13,8 @@ import java.util.Map;
 public interface FlightService
 {
 
+    public Long onClickTakeOff(String sn,String url);
+
     /**
      * 获取或创建飞行记录（通过messageID匹配）
      * 如果存在相同messageID的飞行记录，返回该记录
@@ -24,23 +26,23 @@ public interface FlightService
      */
     FlightEntity getOrCreateFlightByMessageId(String deviceSn, String messageId);
 
-    /**
+//    /**
-     * 获取最新的飞行记录（包括已返航的）
+//     * 获取最新的飞行记录（包括已返航的）
-     * 用于WebSocket推送
+//     * 用于WebSocket推送
-     *
+//     *
-     * @param deviceSn 设备SN号
+//     * @param deviceSn 设备SN号
-     * @return 飞行记录
+//     * @return 飞行记录
-     */
+//     */
-    FlightEntity getLatestFlight(String deviceSn);
+//    FlightEntity getLatestFlight(String deviceSn);
 
 
-    /**
+//    /**
-     * 更新飞行ID（外部ID）
+//     * 更新飞行ID（外部ID）
-     *
+//     *
-     * @param flightId 飞行ID
+//     * @param flightId 飞行ID
-     * @param flightIdExternal 外部飞行ID
+//     * @param flightIdExternal 外部飞行ID
-     */
+//     */
-    void updateFlightIdExternal(Long flightId, String flightIdExternal);
+//    void updateFlightIdExternal(Long flightId, String flightIdExternal);
 
     /**
      * 更新飞行状态
@@ -50,12 +52,12 @@ public interface FlightService
      */
     void updateFlightStatus(Long flightId, String status);
 
-    /**
+//    /**
-     * 更新返航时间
+//     * 更新返航时间
-     *
+//     *
-     * @param flightId 飞行ID
+//     * @param flightId 飞行ID
-     */
+//     */
-    void updateReturnTime(Long flightId);
+//    void updateReturnTime(Long flightId);
 
     /**
      * 获取飞行记录和日志（用于WebSocket推送）

src/main/java/com/ruoyi/device/service/impl/FlightServiceImpl.java

@@ -1,5 +1,7 @@
 package com.ruoyi.device.service.impl;
 
+import com.ruoyi.common.core.constant.SecurityConstants;
+import com.ruoyi.common.core.domain.R;
 import com.ruoyi.device.mapper.FlightLogMapper;
 import com.ruoyi.device.mapper.FlightMapper;
 import com.ruoyi.device.mapper.PreCheckLogMapper;
@@ -7,16 +9,17 @@ import com.ruoyi.device.mapper.entity.FlightEntity;
 import com.ruoyi.device.mapper.entity.FlightLogEntity;
 import com.ruoyi.device.mapper.entity.PreCheckLogEntity;
 import com.ruoyi.device.service.FlightService;
+import com.ruoyi.task.api.RemoteTaskService;
+import com.ruoyi.task.api.domain.TaskDTO;
+import com.ruoyi.task.api.enums.ExecuteTypeEnum;
+import com.ruoyi.task.api.enums.StatusEnum;
+import com.ruoyi.task.api.enums.TaskCategoryEnum;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.stereotype.Service;
 import org.springframework.transaction.annotation.Transactional;
 
-import java.util.ArrayList;
+import java.util.*;
-import java.util.Date;
-import java.util.HashMap;
-import java.util.List;
-import java.util.Map;
 
 /**
  * 飞行服务实现类
@@ -37,7 +40,22 @@ public class FlightServiceImpl implements FlightService
     @Autowired
     private FlightLogMapper flightLogMapper;
 
+    @Autowired
+    private RemoteTaskService remoteTaskService;
 
+   public Long onClickTakeOff(String sn,String routeUrl){
+       TaskDTO taskDTO = new TaskDTO();
+       taskDTO.setActualStartTime(new Date());
+       taskDTO.setStartTime(new Date());
+       taskDTO.setExecuteType(ExecuteTypeEnum.ONCE);
+       taskDTO.setTaskCategory(TaskCategoryEnum.MANUAL_FLIGHT);
+       taskDTO.setRouteId(-1L);
+       taskDTO.setUavId(sn);
+       taskDTO.setStatus(StatusEnum.RUNNING);
+       taskDTO.setRouteUrl(routeUrl);
+       R<Long> taskId = remoteTaskService.createTaskWithoutPlan(taskDTO,SecurityConstants.INNER);
+       return taskId.getData();
+    }
 
     @Override
     @Transactional(rollbackFor = Exception.class)
@@ -65,21 +83,21 @@ public class FlightServiceImpl implements FlightService
         return flight;
     }
 
-    @Override
+//    @Override
-    public FlightEntity getLatestFlight(String deviceSn) {
+//    public FlightEntity getLatestFlight(String deviceSn) {
-        return flightMapper.selectLatestFlightByDeviceSn(deviceSn);
+//        return flightMapper.selectLatestFlightByDeviceSn(deviceSn);
-    }
+//    }
 
 
-
+//
-    @Override
+//    @Override
-    public void updateFlightIdExternal(Long flightId, String flightIdExternal) {
+//    public void updateFlightIdExternal(Long flightId, String flightIdExternal) {
-        FlightEntity flight = new FlightEntity();
+//        FlightEntity flight = new FlightEntity();
-        flight.setFlightId(flightId);
+//        flight.setFlightId(flightId);
-        flight.setFlightIdExternal(flightIdExternal);
+//        flight.setFlightIdExternal(flightIdExternal);
-        flightMapper.updateFlight(flight);
+//        flightMapper.updateFlight(flight);
-        log.info("更新飞行ID: flightId={}, flightIdExternal={}", flightId, flightIdExternal);
+//        log.info("更新飞行ID: flightId={}, flightIdExternal={}", flightId, flightIdExternal);
-    }
+//    }
 
     @Override
     public void updateFlightStatus(Long flightId, String status) {
@@ -92,10 +110,10 @@ public class FlightServiceImpl implements FlightService
         }
     }
 
-    @Override
+//    @Override
-    public void updateReturnTime(Long flightId) {
+//    public void updateReturnTime(Long flightId) {
-        flightMapper.updateReturnTime(flightId);
+//        flightMapper.updateReturnTime(flightId);
-    }
+//    }
 
     @Override
     public Map<String, Object> getLatestFlightWithLogs(String deviceSn) {