修改数据

- 无人机和机场state消息触发时统一清除机场和所有关联无人机的ThingsBoard缓存
- 添加WebSocket广播机场ID功能
- 优化缓存失效策略，确保数据实时性

pom.xml

@@ -28,6 +28,12 @@
             <artifactId>tuoheng-api-device</artifactId>
         </dependency>
 
+        <!-- RuoYi System API -->
+        <dependency>
+            <groupId>com.ruoyi</groupId>
+            <artifactId>ruoyi-api-system</artifactId>
+        </dependency>
+
         <!-- RuoYi Common Core -->
         <dependency>
             <groupId>com.ruoyi</groupId>
@@ -105,6 +111,35 @@
             <scope>provided</scope>
         </dependency>
 
+        <!-- Caffeine Cache -->
+        <dependency>
+            <groupId>com.github.ben-manes.caffeine</groupId>
+            <artifactId>caffeine</artifactId>
+        </dependency>
+
+        <!-- WebSocket -->
+        <dependency>
+            <groupId>org.springframework.boot</groupId>
+            <artifactId>spring-boot-starter-websocket</artifactId>
+        </dependency>
+
+        <!-- Spring Integration MQTT -->
+        <dependency>
+            <groupId>org.springframework.integration</groupId>
+            <artifactId>spring-integration-mqtt</artifactId>
+        </dependency>
+
+        <!-- Eclipse Paho MQTT v5 Client (支持MQTT 5.0) -->
+        <dependency>
+            <groupId>org.eclipse.paho</groupId>
+            <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>
 
     <build>

readme.md

@@ -1 +1,2 @@
-ddddddddddddddeeedddddddd
+
+iddddddddddddddddddddddddddddddddddddddddddddddddD堆堆ddddddddddddddddddddeeedddddddd

src/main/java/com/ruoyi/device/TuohengDeviceApplication.java

@@ -2,6 +2,7 @@ package com.ruoyi.device;
 
 import org.springframework.boot.SpringApplication;
 import org.springframework.boot.autoconfigure.SpringBootApplication;
+import org.springframework.context.annotation.ComponentScan;
 import org.springframework.scheduling.annotation.EnableScheduling;
 import com.ruoyi.common.security.annotation.EnableCustomConfig;
 import com.ruoyi.common.security.annotation.EnableRyFeignClients;
@@ -17,8 +18,11 @@ import com.ruoyi.common.security.annotation.EnableRyFeignClients;
 @SpringBootApplication
 public class TuohengDeviceApplication
 {
+
+
     public static void main(String[] args)
     {
+
         SpringApplication.run(TuohengDeviceApplication.class, args);
         System.out.println("(♥◠‿◠)ﾉﾞ  设备模块启动成功   ლ(´ڡ`ლ)ﾞ  \n" +
                 " .-------.       ____     __        \n" +

src/main/java/com/ruoyi/device/config/DeviceCacheConfig.java

@@ -0,0 +1,89 @@
+package com.ruoyi.device.config;
+
+import org.springframework.cache.CacheManager;
+import org.springframework.cache.annotation.EnableCaching;
+import org.springframework.context.annotation.Bean;
+import org.springframework.context.annotation.Configuration;
+import org.springframework.data.redis.cache.RedisCacheConfiguration;
+import org.springframework.data.redis.cache.RedisCacheManager;
+import org.springframework.data.redis.connection.RedisConnectionFactory;
+import org.springframework.data.redis.serializer.GenericJackson2JsonRedisSerializer;
+import org.springframework.data.redis.serializer.RedisSerializationContext;
+import org.springframework.data.redis.serializer.StringRedisSerializer;
+
+import java.time.Duration;
+import java.util.HashMap;
+import java.util.Map;
+
+/**
+ * Device模块缓存配置
+ * 为Domain层提供分布式缓存支持
+ *
+ * @author ruoyi
+ * @date 2026-01-30
+ */
+@Configuration
+@EnableCaching
+public class DeviceCacheConfig {
+
+    /**
+     * 缓存名称常量
+     */
+    public static final String DEVICE_CACHE = "device";
+    public static final String DOCK_CACHE = "dock";
+    public static final String AIRCRAFT_CACHE = "aircraft";
+    public static final String PAYLOAD_CACHE = "payload";
+    public static final String DOCK_AIRCRAFT_CACHE = "dockAircraft";
+    public static final String AIRCRAFT_PAYLOAD_CACHE = "aircraftPayload";
+    public static final String THINGSBOARD_ATTRIBUTES_CACHE = "thingsboardAttributes";
+    public static final String THINGSBOARD_TELEMETRY_CACHE = "thingsboardTelemetry";
+    public static final String WEATHER_CACHE = "weather";
+
+    /**
+     * 配置缓存管理器
+     * 为不同的实体配置不同的过期时间
+     */
+    @Bean
+    public CacheManager deviceCacheManager(RedisConnectionFactory connectionFactory) {
+        // 默认缓存配置：30分钟过期
+        RedisCacheConfiguration defaultConfig = RedisCacheConfiguration.defaultCacheConfig()
+                .entryTtl(Duration.ofMinutes(30))
+                .serializeKeysWith(RedisSerializationContext.SerializationPair.fromSerializer(new StringRedisSerializer()))
+                .serializeValuesWith(RedisSerializationContext.SerializationPair.fromSerializer(new GenericJackson2JsonRedisSerializer()))
+                .disableCachingNullValues();
+
+        // 为不同实体配置不同的过期时间
+        Map<String, RedisCacheConfiguration> cacheConfigurations = new HashMap<>();
+
+        // 设备信息：30分钟（基础数据，变化较少）
+        cacheConfigurations.put(DEVICE_CACHE, defaultConfig.entryTtl(Duration.ofMinutes(30)));
+
+        // 机场信息：30分钟（基础数据，变化较少）
+        cacheConfigurations.put(DOCK_CACHE, defaultConfig.entryTtl(Duration.ofMinutes(30)));
+
+        // 无人机信息：30分钟（基础数据，变化较少）
+        cacheConfigurations.put(AIRCRAFT_CACHE, defaultConfig.entryTtl(Duration.ofMinutes(30)));
+
+        // 挂载信息：30分钟（基础数据，变化较少）
+        cacheConfigurations.put(PAYLOAD_CACHE, defaultConfig.entryTtl(Duration.ofMinutes(30)));
+
+        // 关联关系：15分钟（关联关系可能变化）
+        cacheConfigurations.put(DOCK_AIRCRAFT_CACHE, defaultConfig.entryTtl(Duration.ofMinutes(15)));
+        cacheConfigurations.put(AIRCRAFT_PAYLOAD_CACHE, defaultConfig.entryTtl(Duration.ofMinutes(15)));
+
+        // ThingsBoard 设备属性：90秒（属性数据，变化较少）
+        cacheConfigurations.put(THINGSBOARD_ATTRIBUTES_CACHE, defaultConfig.entryTtl(Duration.ofSeconds(90)));
+
+        // ThingsBoard 设备遥测：15秒（遥测数据，实时性要求高）
+        cacheConfigurations.put(THINGSBOARD_TELEMETRY_CACHE, defaultConfig.entryTtl(Duration.ofSeconds(15)));
+
+        // 天气信息：5分钟（天气数据，变化较慢）
+        cacheConfigurations.put(WEATHER_CACHE, defaultConfig.entryTtl(Duration.ofMinutes(5)));
+
+        return RedisCacheManager.builder(connectionFactory)
+                .cacheDefaults(defaultConfig)
+                .withInitialCacheConfigurations(cacheConfigurations)
+                .transactionAware()
+                .build();
+    }
+}

src/main/java/com/ruoyi/device/config/WebSocketConfig.java

@@ -0,0 +1,14 @@
+package com.ruoyi.device.config;
+
+import org.springframework.context.annotation.Bean;
+import org.springframework.context.annotation.Configuration;
+import org.springframework.web.socket.server.standard.ServerEndpointExporter;
+
+@Configuration
+public class WebSocketConfig {
+
+    @Bean
+    public ServerEndpointExporter serverEndpointExporter() {
+        return new ServerEndpointExporter();
+    }
+}

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

@@ -5,14 +5,18 @@ import com.ruoyi.common.core.web.controller.BaseController;
 import com.ruoyi.common.security.annotation.InnerAuth;
 import com.ruoyi.device.api.domain.AircraftDetailVO;
 import com.ruoyi.device.api.domain.AircraftUpdateRequest;
+import com.ruoyi.device.api.domain.DockAircraftVO;
 import com.ruoyi.device.controller.convert.AircraftDetailVOConvert;
+import com.ruoyi.device.mapper.DockAircraftMapper;
 import com.ruoyi.device.service.api.IAircraftService;
-import com.ruoyi.device.service.api.IBufferDeviceService;
+import com.ruoyi.device.service.impl.DefaultBufferDeviceImpl;
 import com.ruoyi.device.service.dto.AircraftDetailDTO;
 import com.ruoyi.device.service.dto.AircraftDTO;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.web.bind.annotation.*;
 
+import java.util.List;
+
 /**
  * 无人机Controller
  *
@@ -27,7 +31,10 @@ public class AircraftController extends BaseController
     private IAircraftService aircraftService;
 
     @Autowired
-    private IBufferDeviceService bufferDeviceService;
+    private DefaultBufferDeviceImpl bufferDeviceService;
+
+    @Autowired
+    private DockAircraftMapper dockAircraftMapper;
 
     /**
      * 查看无人机详情
@@ -60,4 +67,16 @@ public class AircraftController extends BaseController
         aircraftService.updateAircraft(dto);
         return R.ok();
     }
+
+    /**
+     * 获取所有机场和机场的无人机
+     *
+     * @return 机场无人机列表
+     */
+    @GetMapping("/dock-aircraft-list")
+    public R<List<DockAircraftVO>> getDockAircraftList()
+    {
+        List<DockAircraftVO> list = dockAircraftMapper.selectDockAircraftWithDetails();
+        return R.ok(list);
+    }
 }

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

@@ -0,0 +1,486 @@
+package com.ruoyi.device.controller;
+
+import com.alibaba.fastjson.JSON;
+import com.ruoyi.common.core.domain.R;
+import com.ruoyi.common.core.web.controller.BaseController;
+import com.ruoyi.device.api.domain.*;
+import com.ruoyi.device.api.enums.DroneCurrentStatusEnum;
+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.enums.StatusEnum;
+import io.swagger.v3.oas.annotations.Operation;
+import io.swagger.v3.oas.annotations.Parameter;
+import io.swagger.v3.oas.annotations.tags.Tag;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.web.bind.annotation.*;
+
+import java.util.Objects;
+import java.util.UUID;
+import java.util.concurrent.CompletableFuture;
+
+/**
+ * 无人机飞控Controller
+ *
+ * @author ruoyi
+ * @date 2026-02-04
+ */
+@Slf4j
+@Tag(name = "无人机飞控管理", description = "无人机飞控相关接口")
+@RestController
+@RequestMapping("/drone")
+public class AircraftFlyController extends BaseController
+{
+    @Autowired
+    private MachineCommandManager machineCommandManager;
+
+    @Autowired
+    private com.ruoyi.device.domain.impl.machine.statemachine.MachineStateManager machineStateManager;
+
+    @Autowired
+    private FlightService flightService;
+
+    /**
+     * 无人机飞控命令
+     *
+     * @param request 飞控命令请求
+     * @return 结果
+     */
+    @Operation(summary = "无人机飞控命令", description = "发送飞控指令")
+    @PostMapping("/flight-control")
+    public R<Void> flightControl(@RequestBody DroneFlightControlRequest request)
+    {
+        if (request.getCommand() == null || request.getSn() == null) {
+            return R.fail("飞控命令和机场SN号不能为空");
+        }
+
+        String sn = request.getSn();
+        log.info("收到飞控命令: sn={}, command={}", sn, request.getCommand());
+
+        try {
+            CommandType commandType;
+            java.util.Map<String, Object> params = new java.util.HashMap<>();
+            
+            // 处理消息ID
+            if (request.getMessageID() != null) {
+                params.put("messageID", request.getMessageID());
+            } else {
+                params.put("messageID", System.currentTimeMillis());
+            }
+
+            // 处理扩展参数
+            if (request.getEvalue() != null) {
+                params.put("evalue", request.getEvalue());
+            }
+
+            if (request.getValue() != null) {
+                params.put("value", request.getValue());
+            }
+
+            if (request.getLightMode() != null) {
+                params.put("lightMode", request.getLightMode());
+            }
+
+            // 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;
+                    break;
+                case BACKWARD:
+                    commandType = CommandType.BACKWARD;
+                    break;
+                case LEFT:
+                    commandType = CommandType.LEFT;
+                    break;
+                case RIGHT:
+                    commandType = CommandType.RIGHT;
+                    break;
+                case ROTATE_LEFT:
+                    commandType = CommandType.ROTATE_LEFT;
+                    break;
+                case ROTATE_RIGHT:
+                    commandType = CommandType.ROTATE_RIGHT;
+                    break;
+                case UP:
+                    commandType = CommandType.UP;
+                    break;
+                case DOWN:
+                    commandType = CommandType.DOWN;
+                    break;
+                case SWITCH_VISIBLE_LIGHT:
+                    commandType = CommandType.SWITCH_VISIBLE_LIGHT;
+                    break;
+                case GIMBAL_ZOOM:
+                    commandType = CommandType.GIMBAL_ZOOM;
+                    break;
+                case SWITCH_IR:
+                    commandType = CommandType.SWITCH_IR;
+                    break;
+                case SWITCH_WIDE_ANGLE:
+                    commandType = CommandType.SWITCH_WIDE_ANGLE;
+                    break;
+                case GIMBAL_MOVE_RIGHT:
+                    commandType = CommandType.GIMBAL_MOVE_RIGHT;
+                    break;
+                case GIMBAL_MOVE_LEFT:
+                    commandType = CommandType.GIMBAL_MOVE_LEFT;
+                    break;
+                case GIMBAL_PITCH_UP:
+                    commandType = CommandType.GIMBAL_PITCH_UP;
+                    break;
+                case GIMBAL_PITCH_DOWN:
+                    commandType = CommandType.GIMBAL_PITCH_DOWN;
+                    break;
+                case GIMBAL_RESET:
+                    commandType = CommandType.GIMBAL_RESET;
+                    break;
+                case 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:
+                    return R.fail("不支持的飞控命令");
+            }
+
+            CompletableFuture<CommandResult> future = machineCommandManager.executeCommand(sn, commandType, params);
+            CommandResult result = future.get();
+
+            if (result.isSuccess()) {
+                log.info("飞控命令执行成功: sn={}, command={}", sn, request.getCommand());
+                return R.ok();
+            } else {
+                log.error("飞控命令执行失败: sn={}, command={}, reason={}", sn, request.getCommand(), result.getErrorMessage());
+                return R.fail("飞控命令执行失败: " + result.getErrorMessage());
+            }
+        } catch (Exception e) {
+            log.error("飞控命令执行异常: sn={}, command={}", sn, request.getCommand(), e);
+            return R.fail("飞控命令执行异常: " + e.getMessage());
+        }
+    }
+
+    /**
+     * 无人机实时信息展示
+     *
+     * @param taskId 任务ID
+     * @return 实时信息
+     */
+    @Operation(summary = "无人机实时信息展示", description = "根据任务ID获取无人机的实时飞行信息，包括速度、高度、姿态角等")
+    @GetMapping("/realtime-info/{taskId}")
+    public R<DroneRealtimeInfoVO> getRealtimeInfo(
+            @Parameter(description = "任务ID", required = true, example = "1")
+            @PathVariable("taskId") Long taskId)
+    {
+        // TODO: 实现获取实时信息逻辑
+        DroneRealtimeInfoVO vo = new DroneRealtimeInfoVO();
+        vo.setClimbSpeed(0);
+        vo.setCruiseSpeed(0);
+        vo.setDistanceToAirport(0);
+        vo.setAltitude(0);
+        vo.setPitch(0);
+        vo.setYaw(0);
+        vo.setGimbalPitch(0);
+        vo.setGimbalYaw(0);
+        vo.setMissionStatus(DroneMissionStatusEnum.IDLE);
+        return R.ok(vo);
+    }
+
+    /**
+     * 无人机当前状态查询
+     *
+     * @param dockId 机场ID
+     * @return 当前状态
+     */
+    @Operation(summary = "无人机当前状态查询", description = "根据机场ID查询无人机的当前飞行状态")
+    @GetMapping("/current-status/{dockId}")
+    public R<DroneCurrentStatusVO> getCurrentStatus(
+            @Parameter(description = "机场ID", required = true, example = "1")
+            @PathVariable("dockId") Long dockId)
+    {
+        // TODO: 实现查询当前状态逻辑
+        DroneCurrentStatusVO vo = new DroneCurrentStatusVO();
+        vo.setDockId(dockId);
+        vo.setCurrentStatus(DroneCurrentStatusEnum.HOVERING);
+        return R.ok(vo);
+    }
+
+    //从配置文件获取
+    private final static String airlineFileUrl = "https://minio-dx.t-aaron.com:2443/th-airport/testFile/191ec54c-062c-4828-aab6-cefc901add78.waypoints";
+
+    /**
+     * 无人机一键起飞
+     *
+     * @param request 起飞请求对象
+     * @return 起飞响应
+     */
+    @Operation(summary = "无人机一键起飞", description = "控制指定机场的无人机执行起飞操作")
+    @PostMapping("/takeoff")
+    public R<String> takeoff(@RequestBody DroneTakeoffRequest request)
+    {
+
+//        Long taskId = flightService.createClickTakeOffTask(request.getSn(),airlineFileUrl);
+        log.info("一键起飞,生成一键起飞任务 {} ", JSON.toJSONString(request));
+        try {
+            java.util.Map<String, Object> params = new java.util.HashMap<>();
+            params.put("airlineFileUrl", airlineFileUrl);
+            params.put("flyBatteryMin", request.getFlyBatteryMin());
+            params.put("messageID", request.getTaskId());
+            CompletableFuture<CommandResult> future = machineCommandManager.executeCommand(request.getSn(), CommandType.TAKE_OFF, params);
+            CommandResult result = future.get();
+
+            if (result.isSuccess()) {
+                log.info("无人机起飞命令发送成功: sn={}", request.getSn());
+                flightService.updateFlightStatus(request.getTaskId(), StatusEnum.CHECKING);
+                return R.ok("无人机起飞命令发送成功");
+            } else {
+                log.error("无人机起飞命令发送失败: sn={}, reason={}", request.getSn(), result.getErrorMessage());
+                flightService.updateFlightStatus(request.getTaskId(), StatusEnum.FAILED);
+                return R.fail("无人机起飞命令发送失败: " + result.getErrorMessage());
+            }
+        } catch (Exception e) {
+            log.error("无人机起飞命令发送失败: sn={}", request.getSn(), e);
+            flightService.updateFlightStatus(request.getTaskId(), StatusEnum.FAILED);
+            return R.fail("无人机起飞命令发送失败: " + e.getMessage());
+        }
+    }
+
+    /**
+     * 无人机开机接口
+     *
+     * @param sn 机场SN号
+     * @return 开机响应
+     */
+    @Operation(summary = "无人机开机", description = "控制指定机场的无人机执行开机操作")
+    @PostMapping("/power-on/{sn}")
+    public R<String> powerOn(
+            @Parameter(description = "机场SN号", required = true, example = "THJSQ03B2309DN7VQN43")
+            @PathVariable("sn") String sn)
+    {
+        log.info("收到无人机开机请求: sn={}", sn);
+
+        try {
+            // 调用机器命令管理器执行开机命令
+            CompletableFuture<CommandResult> future = machineCommandManager.executeCommand(sn, CommandType.POWER_ON);
+
+            // 等待命令执行完成
+            CommandResult result = future.get();
+
+            if (result.isSuccess()) {
+                log.info("无人机开机成功: sn={}", sn);
+                return R.ok("开机命令执行成功");
+            } else {
+                log.error("无人机开机失败: sn={}, reason={}", sn, result.getErrorMessage());
+                return R.fail("开机命令执行失败: " + result.getErrorMessage());
+            }
+        } catch (Exception e) {
+            log.error("无人机开机异常: sn={}", sn, e);
+            return R.fail("开机命令执行异常: " + e.getMessage());
+        }
+    }
+
+    /**
+     * 无人机关机接口
+     *
+     * @param sn 机场SN号
+     * @return 关机响应
+     */
+    @Operation(summary = "无人机关机", description = "控制指定机场的无人机执行关机操作")
+    @PostMapping("/power-off/{sn}")
+    public R<String> powerOff(
+            @Parameter(description = "机场SN号", required = true, example = "THJSQ03B2309DN7VQN43")
+            @PathVariable("sn") String sn)
+    {
+        log.info("收到无人机关机请求: sn={}", sn);
+
+        try {
+            // 调用机器命令管理器执行关机命令
+            CompletableFuture<CommandResult> future = machineCommandManager.executeCommand(sn, CommandType.POWER_OFF);
+
+            // 等待命令执行完成
+            CommandResult result = future.get();
+
+            if (result.isSuccess()) {
+                log.info("无人机关机成功: sn={}", sn);
+                return R.ok("关机命令执行成功");
+            } else {
+                log.error("无人机关机失败: sn={}, reason={}", sn, result.getErrorMessage());
+                return R.fail("关机命令执行失败: " + result.getErrorMessage());
+            }
+        } catch (Exception e) {
+            log.error("无人机关机异常: sn={}", sn, e);
+            return R.fail("关机命令执行异常: " + e.getMessage());
+        }
+    }
+
+    /**
+     * 查询无人机状态
+     *
+     * @param sn 设备SN号
+     * @return 状态信息
+     */
+    @Operation(summary = "查询无人机状态", description = "根据设备SN号查询无人机的实时状态信息")
+    @GetMapping("/machine-state/{sn}")
+    public R<MachineStateVO> getMachineState(
+            @Parameter(description = "设备SN号", required = true, example = "TH001")
+            @PathVariable("sn") String sn)
+    {
+        log.info("查询无人机状态: sn={}", sn);
+
+        try {
+            // 从 MachineStateManager 获取状态
+            MachineStates states = machineStateManager.getStates(sn);
+
+            // 转换为 VO 对象
+            MachineStateVO vo = new MachineStateVO();
+            vo.setSn(sn);
+            vo.setDroneState(states.getDroneState().name());
+            vo.setAirportState(states.getAirportState().name());
+            vo.setCoverState(states.getCoverState().name());
+            vo.setDrcState(states.getDrcState().name());
+            vo.setDebugModeState(states.getDebugModeState().name());
+
+            log.info("查询到状态: sn={}, vo={}", sn, vo);
+            return R.ok(vo);
+        } catch (Exception e) {
+            log.error("查询无人机状态异常: sn={}", sn, e);
+            return R.fail("查询状态失败: " + e.getMessage());
+        }
+    }
+
+    /**
+     * 出舱接口
+     *
+     * @param sn 机场SN号
+     * @return 出舱响应
+     */
+    @Operation(summary = "出舱", description = "控制指定机场执行出舱操作")
+    @PostMapping("/cover-open/{sn}")
+    public R<String> coverOpen(
+            @Parameter(description = "机场SN号", required = true, example = "THJSQ03B2309DN7VQN43")
+            @PathVariable("sn") String sn)
+    {
+        log.info("收到出舱请求: sn={}", sn);
+
+        try {
+            // 调用机器命令管理器执行出舱命令
+            CompletableFuture<CommandResult> future = machineCommandManager.executeCommand(sn, CommandType.OPEN_COVER);
+
+            // 等待命令执行完成
+            CommandResult result = future.get();
+
+            if (result.isSuccess()) {
+                log.info("出舱成功: sn={}", sn);
+                return R.ok("出舱命令执行成功");
+            } else {
+                log.error("出舱失败: sn={}, reason={}", sn, result.getErrorMessage());
+                return R.fail("出舱命令执行失败: " + result.getErrorMessage());
+            }
+        } catch (Exception e) {
+            log.error("出舱异常: sn={}", sn, e);
+            return R.fail("出舱命令执行异常: " + e.getMessage());
+        }
+    }
+
+    /**
+     * 回舱接口
+     *
+     * @param sn 机场SN号
+     * @return 回舱响应
+     */
+    @Operation(summary = "回舱", description = "控制指定机场执行回舱操作")
+    @PostMapping("/cover-close/{sn}")
+    public R<String> coverClose(
+            @Parameter(description = "机场SN号", required = true, example = "THJSQ03B2309DN7VQN43")
+            @PathVariable("sn") String sn)
+    {
+        log.info("收到回舱请求: sn={}", sn);
+
+        try {
+            // 调用机器命令管理器执行回舱命令
+            CompletableFuture<CommandResult> future = machineCommandManager.executeCommand(sn, CommandType.CLOSE_COVER);
+
+            // 等待命令执行完成
+            CommandResult result = future.get();
+
+            if (result.isSuccess()) {
+                log.info("回舱成功: sn={}", sn);
+                return R.ok("回舱命令执行成功");
+            } else {
+                log.error("回舱失败: sn={}, reason={}", sn, result.getErrorMessage());
+                return R.fail("回舱命令执行失败: " + result.getErrorMessage());
+            }
+        } catch (Exception e) {
+            log.error("回舱异常: sn={}", sn, e);
+            return R.fail("回舱命令执行异常: " + e.getMessage());
+        }
+    }
+
+    /**
+     * 无人机返航接口
+     *
+     * @param request 返航请求对象
+     * @return 返航响应
+     */
+    @Operation(summary = "无人机返航", description = "控制指定机场的无人机执行返航操作")
+    @PostMapping("/return-home")
+    public R<String> returnHome(@RequestBody DroneReturnHomeRequest request)
+    {
+        log.info("收到无人机返航请求: sn={} ", request.getSn());
+
+        try {
+
+            Long currentTaskId =  flightService.currentRunningTask(request.getSn());
+            java.util.Map<String, Object> params = new java.util.HashMap<>();
+            if(Objects.isNull(currentTaskId)){
+                params.put("messageID", UUID.randomUUID().toString());
+            }else {
+                params.put("messageID",currentTaskId);
+            }
+            params.put("taskId", 9074);
+            params.put("zhilin", "03");
+            CompletableFuture<CommandResult> future = machineCommandManager.executeCommand(request.getSn(), CommandType.RETURN_HOME, params);
+            CommandResult result = future.get();
+
+            if (result.isSuccess()) {
+                log.info("无人机返航成功: sn={}", request.getSn());
+                return R.ok("返航命令执行成功");
+            } else {
+                log.error("无人机返航失败: sn={}, reason={}", request.getSn(), result.getErrorMessage());
+                return R.fail("返航命令执行失败: " + result.getErrorMessage());
+            }
+        } catch (Exception e) {
+            log.error("无人机返航异常: sn={}", request.getSn(), e);
+            return R.fail("返航命令执行异常: " + e.getMessage());
+        }
+    }
+}

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

@@ -0,0 +1,169 @@
+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.AirTypeCategoryGroupVO;
+import com.ruoyi.device.api.domain.AirTypeGeneralEnumVO;
+import com.ruoyi.device.api.domain.AirTypeVendorGroupVO;
+import com.ruoyi.device.controller.convert.DeviceAirTypeGeneralEnumVOConvert;
+import com.ruoyi.device.service.api.IDeviceAirTypeGeneralEnumService;
+import com.ruoyi.device.service.dto.DeviceAirTypeGeneralEnumDTO;
+import com.ruoyi.system.api.RemoteDictService;
+import com.ruoyi.system.api.domain.SysDictData;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.web.bind.annotation.GetMapping;
+import org.springframework.web.bind.annotation.RequestMapping;
+import org.springframework.web.bind.annotation.RestController;
+
+import java.util.ArrayList;
+import java.util.HashMap;
+import java.util.List;
+import java.util.Map;
+
+/**
+ * 无人机类型通用枚举Controller
+ *
+ * @author 拓恒
+ * @date 2026-01-28
+ */
+@RestController
+@RequestMapping("/airType/generalEnum")
+public class DeviceAirTypeGeneralEnumController extends BaseController
+{
+    @Autowired
+    private IDeviceAirTypeGeneralEnumService airTypeGeneralEnumService;
+
+    @Autowired
+    private RemoteDictService remoteDictService;
+
+    /**
+     * 查询无人机类型通用枚举列表
+     *
+     * @param vo 无人机类型通用枚举VO
+     * @return 无人机类型通用枚举列表
+     */
+    @GetMapping("/list")
+    public R<List<AirTypeGeneralEnumVO>> selectAirTypeGeneralEnumList(AirTypeGeneralEnumVO vo)
+    {
+        DeviceAirTypeGeneralEnumDTO dto = DeviceAirTypeGeneralEnumVOConvert.to(vo);
+        List<DeviceAirTypeGeneralEnumDTO> list = airTypeGeneralEnumService.selectAirTypeGeneralEnumList(dto);
+        List<AirTypeGeneralEnumVO> voList = DeviceAirTypeGeneralEnumVOConvert.fromList(list);
+        return R.ok(voList);
+    }
+    /**
+     * 按厂商分组查询无人机类型
+     *
+     * @param vo 无人机类型通用枚举VO
+     * @return 按厂商分组的无人机类型列表
+     */
+    @GetMapping("/vendorGroup")
+    public R<List<AirTypeVendorGroupVO>> selectAirTypeGeneralEnumGroupByVendor(AirTypeGeneralEnumVO vo)
+    {
+        // 从数据字典获取无人机厂商类型
+        R<List<SysDictData>> dictResult = remoteDictService.getDictDataByType("air_vendor_type", SecurityConstants.INNER);
+        List<AirTypeVendorGroupVO> vendorGroupList = new ArrayList<>();
+
+        if (dictResult.getData() != null)
+        {
+            // 获取所有无人机类型数据
+            DeviceAirTypeGeneralEnumDTO dto = DeviceAirTypeGeneralEnumVOConvert.to(vo);
+            List<DeviceAirTypeGeneralEnumDTO> allList = airTypeGeneralEnumService.selectAirTypeGeneralEnumList(dto);
+            List<AirTypeGeneralEnumVO> allVoList = DeviceAirTypeGeneralEnumVOConvert.fromList(allList);
+
+            // 为每个字典项创建分组
+            for (SysDictData dictData : dictResult.getData())
+            {
+                AirTypeVendorGroupVO groupVO = new AirTypeVendorGroupVO();
+                groupVO.setLabel(dictData.getDictLabel());
+                groupVO.setValue(dictData.getDictValue());
+
+                // 筛选属于当前厂商的无人机类型
+                List<AirTypeGeneralEnumVO> vendorAirTypes = new ArrayList<>();
+                for (AirTypeGeneralEnumVO airTypeGeneralEnumVO : allVoList)
+                {
+                    if (dictData.getDictValue().equals(airTypeGeneralEnumVO.getVendorId().toString()))
+                    {
+                        airTypeGeneralEnumVO.generateTypeCode();
+                        vendorAirTypes.add(airTypeGeneralEnumVO);
+                    }
+                }
+
+                groupVO.setAirTypeList(vendorAirTypes);
+                vendorGroupList.add(groupVO);
+            }
+        }
+
+        return R.ok(vendorGroupList);
+    }
+    /**
+     * 按厂商分组查询无人机类型（厂商 -> 分类 -> 设备类型）
+     *
+     * @param vo 无人机类型通用枚举VO
+     * @return 按厂商分组的无人机类型列表
+     */
+    @GetMapping("/vendorGroupNew")
+    public R<List<AirTypeVendorGroupVO>> selectAirTypeGeneralEnumGroupByVendorNew(AirTypeGeneralEnumVO vo)
+    {
+        // 从数据字典获取无人机厂商类型
+        R<List<SysDictData>> dictResult = remoteDictService.getDictDataByType("air_vendor_type", SecurityConstants.INNER);
+        List<AirTypeVendorGroupVO> vendorGroupList = new ArrayList<>();
+        
+        if (dictResult.getData() != null)
+        {
+            // 获取所有无人机类型数据（包括生效和失效的）
+            DeviceAirTypeGeneralEnumDTO dto = DeviceAirTypeGeneralEnumVOConvert.to(vo);
+            List<DeviceAirTypeGeneralEnumDTO> allList = airTypeGeneralEnumService.selectAirTypeGeneralEnumList(dto);
+            List<AirTypeGeneralEnumVO> allVoList = DeviceAirTypeGeneralEnumVOConvert.fromList(allList);
+            
+            // 为每个字典项创建分组
+            for (SysDictData dictData : dictResult.getData())
+            {
+                AirTypeVendorGroupVO groupVO = new AirTypeVendorGroupVO();
+                groupVO.setLabel(dictData.getDictLabel());
+                groupVO.setValue(dictData.getDictValue());
+                
+                // 筛选属于当前厂商的无人机类型
+                List<AirTypeGeneralEnumVO> vendorAirTypes = new ArrayList<>();
+                for (AirTypeGeneralEnumVO airTypeGeneralEnumVO : allVoList)
+                {
+                    if (dictData.getDictValue().equals(airTypeGeneralEnumVO.getVendorId().toString()))
+                    {
+                        airTypeGeneralEnumVO.generateTypeCode();
+                        vendorAirTypes.add(airTypeGeneralEnumVO);
+                    }
+                }
+                
+                // 按分类分组
+                Map<String, List<AirTypeGeneralEnumVO>> categoryMap = new HashMap<>();
+                for (AirTypeGeneralEnumVO airTypeGeneralEnumVO : vendorAirTypes)
+                {
+                    String category = airTypeGeneralEnumVO.getCategory();
+                    if (category == null || category.isEmpty()) {
+                        category = "其他";
+                    }
+                    if (!categoryMap.containsKey(category)) {
+                        categoryMap.put(category, new ArrayList<>());
+                    }
+                    categoryMap.get(category).add(airTypeGeneralEnumVO);
+                }
+                
+                // 构建分类分组列表
+                List<AirTypeCategoryGroupVO> categoryGroups = new ArrayList<>();
+                for (Map.Entry<String, List<AirTypeGeneralEnumVO>> entry : categoryMap.entrySet()) {
+                    AirTypeCategoryGroupVO categoryGroup = new AirTypeCategoryGroupVO();
+                    categoryGroup.setCategory(entry.getKey());
+                    categoryGroup.setAirTypeList(entry.getValue());
+                    categoryGroups.add(categoryGroup);
+                }
+                
+                groupVO.setCategoryGroups(categoryGroups);
+                vendorGroupList.add(groupVO);
+            }
+        }
+
+        return R.ok(vendorGroupList);
+    }
+ 
+
+}

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

@@ -9,7 +9,7 @@ import com.ruoyi.device.api.domain.DockVO;
 import com.ruoyi.device.api.domain.DockWithGPSVO;
 import com.ruoyi.device.controller.convert.DockWithGPSVOConvert;
 import com.ruoyi.device.service.api.IDockService;
-import com.ruoyi.device.service.api.IBufferDeviceService;
+import com.ruoyi.device.service.impl.DefaultBufferDeviceImpl;
 import com.ruoyi.device.service.dto.DockDetailDTO;
 import com.ruoyi.device.service.dto.DockDTO;
 import com.ruoyi.device.controller.convert.DockVOConvert;
@@ -34,7 +34,7 @@ public class DockController extends BaseController
     private IDockService dockService;
 
     @Autowired
-    private IBufferDeviceService bufferDeviceService;
+    private DefaultBufferDeviceImpl bufferDeviceService;
 
     /**
      * 搜索机场
@@ -62,8 +62,11 @@ public class DockController extends BaseController
     @GetMapping("/detail/{dockId}")
     public R<DockDetailVO> getDockDetail(@PathVariable("dockId") Long dockId)
     {
-
         DockDetailDTO dockDetailDTO = bufferDeviceService.getDockDetailById(dockId);
+        if (dockDetailDTO == null) {
+            return R.fail("机场不存在: dockId=" + dockId);
+        }
+
         DockDetailVO result = new DockDetailVO();
         BeanUtils.copyProperties(dockDetailDTO, result);
         return R.ok(result);
@@ -100,7 +103,9 @@ public class DockController extends BaseController
         List<DockDetailDTO> dtoList = new ArrayList<>();
         for (DockDTO dockDTO : dockDTOs) {
             DockDetailDTO dockDetailDTO = bufferDeviceService.getDockDetailById(dockDTO.getDockId());
-            dtoList.add(dockDetailDTO);
+            if (dockDetailDTO != null) {
+                dtoList.add(dockDetailDTO);
+            }
         }
         return R.ok(DockWithGPSVOConvert.fromList(dtoList));
     }

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

@@ -6,16 +6,18 @@ import com.ruoyi.device.api.domain.*;
 import com.ruoyi.device.controller.convert.DockVOConvert;
 import com.ruoyi.device.controller.convert.DockWithGPSVOConvert;
 import com.ruoyi.device.controller.convert.GroupVOConvert;
-import com.ruoyi.device.service.api.IBufferDeviceService;
+import com.ruoyi.device.domain.api.IDockDomain;
+import com.ruoyi.device.domain.model.Dock;
+import com.ruoyi.device.service.impl.DefaultBufferDeviceImpl;
 import com.ruoyi.device.service.api.IGroupService;
 import com.ruoyi.device.service.dto.DockDetailDTO;
 import com.ruoyi.device.service.dto.DockGroupDTO;
 import com.ruoyi.device.service.dto.GroupDTO;
 import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.util.CollectionUtils;
 import org.springframework.web.bind.annotation.*;
 
-import java.util.ArrayList;
+import java.util.*;
-import java.util.List;
 
 /**
  * 分组Controller
@@ -31,7 +33,10 @@ public class GroupController extends BaseController
     private IGroupService groupService;
 
     @Autowired
-    private IBufferDeviceService bufferDeviceService;
+    private DefaultBufferDeviceImpl bufferDeviceService;
+
+    @Autowired
+    private IDockDomain dockDomain;
     /**
      * 创建分组
      *
@@ -42,10 +47,17 @@ public class GroupController extends BaseController
     @PostMapping("/create")
     public R<Long> createGroup(@RequestBody GroupCreateRequest request)
     {
-        GroupDTO dto = new GroupDTO();
+        try
-        dto.setGroupName(request.getGroupName());
+        {
-        Long groupId = groupService.createGroup(dto);
+            GroupDTO dto = new GroupDTO();
-        return R.ok(groupId);
+            dto.setGroupName(request.getGroupName());
+            Long groupId = groupService.createGroup(dto);
+            return R.ok(groupId);
+        }
+        catch (RuntimeException e)
+        {
+            return R.fail("新增分组'" + request.getGroupName() + "'失败，分组名称已存在");
+        }
     }
     /**
      * 删除分组
@@ -71,11 +83,18 @@ public class GroupController extends BaseController
     @PostMapping("/update")
     public R<Void> updateGroup(@RequestBody GroupUpdateRequest request)
     {
-        GroupDTO dto = new GroupDTO();
+        try
-        dto.setGroupId(request.getGroupId());
+        {
-        dto.setGroupName(request.getGroupName());
+            GroupDTO dto = new GroupDTO();
-        groupService.updateGroup(dto);
+            dto.setGroupId(request.getGroupId());
-        return R.ok();
+            dto.setGroupName(request.getGroupName());
+            groupService.updateGroup(dto);
+            return R.ok();
+        }
+        catch (RuntimeException e)
+        {
+            return R.fail("修改分组'" + request.getGroupName() + "'失败，分组名称已存在");
+        }
     }
 
     /**
@@ -87,7 +106,12 @@ public class GroupController extends BaseController
     @PostMapping("/switch")
     public R<Void> switchDockGroup(@RequestBody SwitchDockGroupRequest request)
     {
-        groupService.switchDockGroup(request.getDockId(), request.getGroupId());
+
+        if(!CollectionUtils.isEmpty(request.getDockIds())){
+            for (Long dockId : request.getDockIds()) {
+                groupService.switchDockGroup(dockId, request.getGroupId());
+            }
+        }
         return R.ok();
     }
 
@@ -102,14 +126,43 @@ public class GroupController extends BaseController
     public R<List<DockWithGPSVO>> getDocksByGroupId(@PathVariable("groupId") Long groupId)
     {
         logger.info("getDocksByGroupId {}", groupId);
-        List<DockGroupDTO> groupDTOS = groupService.getDocksByGroupId(groupId);
+
-        List<DockDetailDTO> dtoList = new ArrayList<>();
+        if(Objects.equals(groupId, -1L)){
-        for (DockGroupDTO dockGroupDTO : groupDTOS) {
+//            List<DockGroupDTO> groupDTOS = groupService.getDocksByGroupId(groupId);
-            DockDetailDTO dockDetailDTO =  bufferDeviceService.getDockDetailById(dockGroupDTO.getDockId());
+            List<DockDetailDTO> dtoList = new ArrayList<>();
-            dtoList.add(dockDetailDTO);
+            Dock queryDock = new Dock();
+            List<Dock> allDocks = dockDomain.selectDockList(queryDock);
+
+            if (allDocks != null) {
+                for (Dock dock : allDocks) {
+                    if (dock.getLastActiveTime() != null) {
+                        DockDetailDTO dockDetailDTO = bufferDeviceService.getDockDetailById(dock.getDockId());
+                        if (dockDetailDTO != null) {
+                            dockDetailDTO.setLastActiveTime(dock.getLastActiveTime());
+                            dockDetailDTO.setCabinVideoUrl(dock.getCabinVideoUrl());
+                            dockDetailDTO.setOutsideVideoUrl(dock.getOutsideVideoUrl());
+                            dockDetailDTO.setLiveVideoUrl(dock.getLiveVideoUrl());
+                            dtoList.add(dockDetailDTO);
+                        }
+                    }
+                }
+            }
+            dtoList.sort(Comparator.comparing(DockDetailDTO::getLastActiveTime).reversed());
+
+            return R.ok(DockWithGPSVOConvert.fromList(dtoList));
+        }else {
+            List<DockGroupDTO> groupDTOS = groupService.getDocksByGroupId(groupId);
+            List<DockDetailDTO> dtoList = new ArrayList<>();
+            for (DockGroupDTO dockGroupDTO : groupDTOS) {
+                DockDetailDTO dockDetailDTO = bufferDeviceService.getDockDetailById(dockGroupDTO.getDockId());
+                if (dockDetailDTO != null) {
+                    dtoList.add(dockDetailDTO);
+                }
+            }
+
+            return R.ok(DockWithGPSVOConvert.fromList(dtoList));
         }
 
-        return R.ok(DockWithGPSVOConvert.fromList(dtoList));
     }
 
     /**
@@ -122,10 +175,29 @@ public class GroupController extends BaseController
     public R<List<GroupVO>> getAllGroupIds()
     {
         List<GroupDTO> groupDTOs = groupService.getAllGroupIds();
-        // Calculate aircraft count for each group
-
         List<GroupVO> groupVOS = new ArrayList<>();
 
+        // 添加虚拟的"最近使用"分组（groupId = -1）
+        // 统计 last_active_time 不为空的机场数量
+        Dock queryDock = new Dock();
+        List<Dock> allDocks = dockDomain.selectDockList(queryDock);
+        int recentlyUsedCount = 0;
+        if (allDocks != null) {
+            for (Dock dock : allDocks) {
+                if (dock.getLastActiveTime() != null) {
+                    recentlyUsedCount++;
+                }
+            }
+        }
+
+        // 创建"最近使用"虚拟分组
+        GroupVO recentlyUsedGroup = new GroupVO();
+        recentlyUsedGroup.setGroupId(-1L);
+        recentlyUsedGroup.setGroupName("最近使用");
+        recentlyUsedGroup.setDockCount(recentlyUsedCount);
+        groupVOS.add(recentlyUsedGroup);
+
+        // 添加其他真实分组
         for(GroupDTO groupDTO : groupDTOs){
             GroupVO groupVO = GroupVOConvert.from(groupDTO);
             List<DockGroupDTO> dockGroupDTOs = groupService.getDocksByGroupId(groupDTO.getGroupId());

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

@@ -7,20 +7,27 @@ import com.ruoyi.device.api.enums.AircraftStatusEnum;
 import com.ruoyi.device.api.enums.DockStatusEnum;
 import com.ruoyi.device.api.enums.PayloadStatusEnum;
 import com.ruoyi.device.service.api.IAircraftService;
-import com.ruoyi.device.service.api.IBufferDeviceService;
+import com.ruoyi.device.service.impl.DaJiangBufferDeviceImpl;
+import com.ruoyi.device.service.impl.TuohengBufferDeviceImpl;
 import com.ruoyi.device.service.api.IDockService;
+import com.ruoyi.device.domain.api.IDeviceDomain;
+import com.ruoyi.device.domain.model.Device;
 import com.ruoyi.device.service.api.IPayloadService;
 import com.ruoyi.device.service.dto.AircraftDTO;
 import com.ruoyi.device.service.dto.AircraftDetailDTO;
 import com.ruoyi.device.service.dto.DockDTO;
 import com.ruoyi.device.service.dto.DockDetailDTO;
 import com.ruoyi.device.service.dto.PayloadDTO;
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.web.bind.annotation.GetMapping;
 import org.springframework.web.bind.annotation.RequestMapping;
 import org.springframework.web.bind.annotation.RestController;
 
 import java.util.List;
+import java.util.Map;
+import java.util.stream.Collectors;
 
 /**
  * 统计Controller
@@ -32,6 +39,8 @@ import java.util.List;
 @RequestMapping("/statistics")
 public class StaticsController extends BaseController
 {
+    private static final Logger log = LoggerFactory.getLogger(StaticsController.class);
+
     @Autowired
     private IDockService dockService;
 
@@ -42,209 +51,392 @@ public class StaticsController extends BaseController
     private IPayloadService payloadService;
 
     @Autowired
-    private IBufferDeviceService bufferDeviceService;
+    private DaJiangBufferDeviceImpl daJiangBufferDeviceService;
+
+    @Autowired
+    private TuohengBufferDeviceImpl tuohengBufferDeviceService;
+
+    @Autowired
+    private IDeviceDomain deviceDomain;
 
     /**
-     * 获取系统统计信息
+     * 获取系统统计信息（合并大疆和拓恒）
      *
      * @return 统计信息
      */
     @GetMapping
     public R<StatisticsVO> getStatistics()
     {
-        StatisticsVO vo = new StatisticsVO();
+        log.info("========== 开始统计所有设备信息（大疆+拓恒） ==========");
 
-        // 获取所有机场
+        // 获取大疆统计
-        List<DockDTO> docks = dockService.selectDockList(new DockDTO());
+        StatisticsVO djiStats = buildDjiStatisticsVO();
-        vo.setDockCount(docks != null ? docks.size() : 0);
 
-        // 统计各状态机场数量
+        // 获取拓恒统计
-        int idleCount = 0;
+        StatisticsVO thStats = buildThStatisticsVO();
-        int workingCount = 0;
-        int debuggingCount = 0;
-        int offlineCount = 0;
 
-        if (docks != null) {
+        // 合并统计结果
-            for (DockDTO dock : docks) {
+        StatisticsVO totalStats = new StatisticsVO();
-                DockDetailDTO dockDetail = bufferDeviceService.getDockDetailById(dock.getDockId());
-                if (dockDetail != null && dockDetail.getDockStatus() != null) {
-                    String status = dockDetail.getDockStatus();
-                    if (DockStatusEnum.IDLE.getCode().equals(status)) {
-                        idleCount++;
-                    } else if (DockStatusEnum.WORKING.getCode().equals(status)) {
-                        workingCount++;
-                    } else if (DockStatusEnum.Debugging.getCode().equals(status)) {
-                        debuggingCount++;
-                    } else {
-                        offlineCount++;
-                    }
-                }
-            }
-        }
 
-        vo.setIdleDockCount(idleCount);
+        // 机场统计
-        vo.setWorkingDockCount(workingCount);
+        totalStats.setDockCount(djiStats.getDockCount() + thStats.getDockCount());
-        vo.setDebuggingDockCount(debuggingCount);
+        totalStats.setIdleDockCount(djiStats.getIdleDockCount() + thStats.getIdleDockCount());
-        vo.setOfflineDockCount(offlineCount);
+        totalStats.setWorkingDockCount(djiStats.getWorkingDockCount() + thStats.getWorkingDockCount());
+        totalStats.setDebuggingDockCount(djiStats.getDebuggingDockCount() + thStats.getDebuggingDockCount());
+        totalStats.setOfflineDockCount(djiStats.getOfflineDockCount() + thStats.getOfflineDockCount());
 
-        // 获取所有无人机
+        // 无人机统计
-        List<AircraftDTO> aircrafts = aircraftService.selectAircraftList(new AircraftDTO());
+        totalStats.setAircraftCount(djiStats.getAircraftCount() + thStats.getAircraftCount());
-        vo.setAircraftCount(aircrafts != null ? aircrafts.size() : 0);
+        totalStats.setPowerOnInCabinCount(djiStats.getPowerOnInCabinCount() + thStats.getPowerOnInCabinCount());
+        totalStats.setPowerOffInCabinCount(djiStats.getPowerOffInCabinCount() + thStats.getPowerOffInCabinCount());
+        totalStats.setInMissionCount(djiStats.getInMissionCount() + thStats.getInMissionCount());
+        totalStats.setDebuggingAircraftCount(djiStats.getDebuggingAircraftCount() + thStats.getDebuggingAircraftCount());
+        totalStats.setOfflineAircraftCount(djiStats.getOfflineAircraftCount() + thStats.getOfflineAircraftCount());
 
-        // 统计各状态无人机数量
+        // 挂载统计
-        int powerOnInCabinCount = 0;
+        totalStats.setPayloadCount(djiStats.getPayloadCount() + thStats.getPayloadCount());
-        int powerOffInCabinCount = 0;
+        totalStats.setOfflinePayloadCount(djiStats.getOfflinePayloadCount() + thStats.getOfflinePayloadCount());
-        int inMissionCount = 0;
-        int debuggingAircraftCount = 0;
-        int offlineAircraftCount = 0;
 
-        if (aircrafts != null) {
+        log.info("========== 所有设备统计完成 ==========");
-            for (AircraftDTO aircraft : aircrafts) {
+        log.info("总计: 机场={}, 任务中机场={}, 无人机={}, 任务中无人机={}",
-                AircraftDetailDTO aircraftDetail = bufferDeviceService.getAircraftDetailById(aircraft.getAircraftId());
+                totalStats.getDockCount(), totalStats.getWorkingDockCount(),
-                if (aircraftDetail != null && aircraftDetail.getAircraftStatus() != null) {
+                totalStats.getAircraftCount(), totalStats.getInMissionCount());
-                    String status = aircraftDetail.getAircraftStatus();
-                    if (AircraftStatusEnum.POWER_ON_IN_CABIN.getCode().equals(status)) {
-                        powerOnInCabinCount++;
-                    } else if (AircraftStatusEnum.POWER_OFF_IN_CABIN.getCode().equals(status)) {
-                        powerOffInCabinCount++;
-                    } else if (AircraftStatusEnum.IN_MISSION.getCode().equals(status)) {
-                        inMissionCount++;
-                    } else if (AircraftStatusEnum.DEBUGGING.getCode().equals(status)) {
-                        debuggingAircraftCount++;
-                    } else if (AircraftStatusEnum.OFFLINE.getCode().equals(status)) {
-                        offlineAircraftCount++;
-                    }
-                }
-            }
-        }
 
-        vo.setPowerOnInCabinCount(powerOnInCabinCount);
+        return R.ok(totalStats);
-        vo.setPowerOffInCabinCount(powerOffInCabinCount);
-        vo.setInMissionCount(inMissionCount);
-        vo.setDebuggingAircraftCount(debuggingAircraftCount);
-        vo.setOfflineAircraftCount(offlineAircraftCount);
-
-        // 获取所有挂载
-        List<PayloadDTO> payloads = payloadService.selectPayloadList(new PayloadDTO());
-        vo.setPayloadCount(payloads != null ? payloads.size() : 0);
-
-        // 统计离线挂载数量（暂时设置为0，因为挂载状态需要从实时数据获取）
-        vo.setOfflinePayloadCount(0);
-
-        return R.ok(vo);
     }
 
 
+
+
+
     @GetMapping("/dji")
     public R<StatisticsVO> getDjiStatistics()
     {
-        StatisticsVO vo = new StatisticsVO();
+        return R.ok(buildDjiStatisticsVO());
-
-        // 获取所有机场
-        List<DockDTO> docks = dockService.selectDockList(new DockDTO());
-        vo.setDockCount(docks != null ? docks.size() : 0);
-
-        // 统计各状态机场数量
-        int idleCount = 0;
-        int workingCount = 0;
-        int debuggingCount = 0;
-        int offlineCount = 0;
-
-        if (docks != null) {
-            for (DockDTO dock : docks) {
-                DockDetailDTO dockDetail = bufferDeviceService.getDockDetailById(dock.getDockId());
-                if (dockDetail != null && dockDetail.getDockStatus() != null) {
-                    String status = dockDetail.getDockStatus();
-                    if (DockStatusEnum.IDLE.getCode().equals(status)) {
-                        idleCount++;
-                    } else if (DockStatusEnum.WORKING.getCode().equals(status)) {
-                        workingCount++;
-                    } else if (DockStatusEnum.Debugging.getCode().equals(status)) {
-                        debuggingCount++;
-                    } else {
-                        offlineCount++;
-                    }
-                }
-            }
-        }
-
-        vo.setIdleDockCount(idleCount);
-        vo.setWorkingDockCount(workingCount);
-        vo.setDebuggingDockCount(debuggingCount);
-        vo.setOfflineDockCount(offlineCount);
-
-        // 获取所有无人机
-        List<AircraftDTO> aircrafts = aircraftService.selectAircraftList(new AircraftDTO());
-        vo.setAircraftCount(aircrafts != null ? aircrafts.size() : 0);
-
-        // 统计各状态无人机数量
-        int powerOnInCabinCount = 0;
-        int powerOffInCabinCount = 0;
-        int inMissionCount = 0;
-        int debuggingAircraftCount = 0;
-        int offlineAircraftCount = 0;
-
-        if (aircrafts != null) {
-            for (AircraftDTO aircraft : aircrafts) {
-                AircraftDetailDTO aircraftDetail = bufferDeviceService.getAircraftDetailById(aircraft.getAircraftId());
-                if (aircraftDetail != null && aircraftDetail.getAircraftStatus() != null) {
-                    String status = aircraftDetail.getAircraftStatus();
-                    if (AircraftStatusEnum.POWER_ON_IN_CABIN.getCode().equals(status)) {
-                        powerOnInCabinCount++;
-                    } else if (AircraftStatusEnum.POWER_OFF_IN_CABIN.getCode().equals(status)) {
-                        powerOffInCabinCount++;
-                    } else if (AircraftStatusEnum.IN_MISSION.getCode().equals(status)) {
-                        inMissionCount++;
-                    } else if (AircraftStatusEnum.DEBUGGING.getCode().equals(status)) {
-                        debuggingAircraftCount++;
-                    } else if (AircraftStatusEnum.OFFLINE.getCode().equals(status)) {
-                        offlineAircraftCount++;
-                    }
-                }
-            }
-        }
-
-        vo.setPowerOnInCabinCount(powerOnInCabinCount);
-        vo.setPowerOffInCabinCount(powerOffInCabinCount);
-        vo.setInMissionCount(inMissionCount);
-        vo.setDebuggingAircraftCount(debuggingAircraftCount);
-        vo.setOfflineAircraftCount(offlineAircraftCount);
-
-        // 获取所有挂载
-        List<PayloadDTO> payloads = payloadService.selectPayloadList(new PayloadDTO());
-        vo.setPayloadCount(payloads != null ? payloads.size() : 0);
-
-        // 统计离线挂载数量（暂时设置为0，因为挂载状态需要从实时数据获取）
-        vo.setOfflinePayloadCount(0);
-
-        return R.ok(vo);
     }
 
 
     @GetMapping("/th")
     public R<StatisticsVO> getThStatistics()
     {
+        return R.ok(buildThStatisticsVO());
+    }
+
+    private StatisticsVO buildDjiStatisticsVO (){
+        log.info("========== 开始统计DJI设备信息 ==========");
         StatisticsVO vo = new StatisticsVO();
 
-        // 机场统计
+        // 获取所有机场
-        vo.setDockCount(0);
+        List<DockDTO> allDocks = dockService.selectDockList(new DockDTO());
-        vo.setIdleDockCount(0);
-        vo.setWorkingDockCount(0);
-        vo.setDebuggingDockCount(0);
-        vo.setOfflineDockCount(0);
 
-        // 无人机统计
+        // 过滤出大疆机场
-        vo.setAircraftCount(0);
+        List<DockDTO> docks = filterDocksByManufacturer(allDocks, "dajiang");
-        vo.setPowerOnInCabinCount(0);
+        vo.setDockCount(docks.size());
-        vo.setPowerOffInCabinCount(0);
+        log.info("大疆机场总数: {}", vo.getDockCount());
-        vo.setInMissionCount(0);
-        vo.setDebuggingAircraftCount(0);
-        vo.setOfflineAircraftCount(0);
 
-        // 挂载统计
+        // 批量获取机场详情 - 优化：从N次查询减少到1次批量查询
+        Map<Long, DockDetailDTO> dockDetailsMap = null;
+        if (!docks.isEmpty()) {
+            List<Long> dockIds = docks.stream()
+                    .map(DockDTO::getDockId)
+                    .collect(Collectors.toList());
+            dockDetailsMap = daJiangBufferDeviceService.getDockDetailsByIds(dockIds);
+        }
+
+        // 统计各状态机场数量
+        int idleCount = 0;
+        int workingCount = 0;
+        int debuggingCount = 0;
+        int offlineCount = 0;
+
+        if (docks != null && dockDetailsMap != null) {
+            log.info("---------- 开始统计机场状态 ----------");
+            for (DockDTO dock : docks) {
+                DockDetailDTO dockDetail = dockDetailsMap.get(dock.getDockId());
+                if (dockDetail != null && dockDetail.getDockStatus() != null) {
+                    String status = dockDetail.getDockStatus();
+                    log.info("机场[ID:{}, Name:{}] 状态: {}", dock.getDockId(), dock.getDockName(), status);
+                    if (DockStatusEnum.IDLE.getCode().equalsIgnoreCase(status)) {
+                        idleCount++;
+                        log.debug("  -> 匹配到IDLE状态");
+                    } else if (DockStatusEnum.WORKING.getCode().equalsIgnoreCase(status)) {
+                        workingCount++;
+                        log.info("  -> 匹配到WORKING状态 (任务中)");
+                    } else if (DockStatusEnum.Debugging.getCode().equalsIgnoreCase(status)) {
+                        debuggingCount++;
+                        log.debug("  -> 匹配到Debugging状态");
+                    } else {
+                        offlineCount++;
+                        log.debug("  -> 其他状态，归类为离线");
+                    }
+                }
+            }
+        }
+
+        vo.setIdleDockCount(idleCount);
+        vo.setWorkingDockCount(workingCount);
+        vo.setDebuggingDockCount(debuggingCount);
+        vo.setOfflineDockCount(offlineCount);
+
+        log.info("机场状态统计结果 -> 空闲:{}, 任务中:{}, 调试:{}, 离线:{}", idleCount, workingCount, debuggingCount, offlineCount);
+
+        // 获取所有无人机
+        List<AircraftDTO> allAircrafts = aircraftService.selectAircraftList(new AircraftDTO());
+
+        // 过滤出大疆无人机
+        List<AircraftDTO> aircrafts = filterAircraftsByManufacturer(allAircrafts, "dajiang");
+        vo.setAircraftCount(aircrafts.size());
+        log.info("大疆无人机总数: {}", vo.getAircraftCount());
+
+        // 批量获取无人机详情 - 优化：从N次查询减少到1次批量查询
+        Map<Long, AircraftDetailDTO> aircraftDetailsMap = null;
+        if (!aircrafts.isEmpty()) {
+            List<Long> aircraftIds = aircrafts.stream()
+                    .map(AircraftDTO::getAircraftId)
+                    .collect(Collectors.toList());
+            aircraftDetailsMap = daJiangBufferDeviceService.getAircraftDetailsByIds(aircraftIds);
+        }
+
+        // 统计各状态无人机数量
+        int powerOnInCabinCount = 0;
+        int powerOffInCabinCount = 0;
+        int inMissionCount = 0;
+        int debuggingAircraftCount = 0;
+        int offlineAircraftCount = 0;
+
+        if (aircrafts != null && aircraftDetailsMap != null) {
+            log.info("---------- 开始统计大疆无人机状态 ----------");
+            for (AircraftDTO aircraft : aircrafts) {
+                AircraftDetailDTO aircraftDetail = aircraftDetailsMap.get(aircraft.getAircraftId());
+                if (aircraftDetail != null && aircraftDetail.getAircraftStatus() != null) {
+                    String status = aircraftDetail.getAircraftStatus();
+                    log.info("大疆无人机[ID:{}, Name:{}] 状态: {}", aircraft.getAircraftId(), aircraft.getAircraftName(), status);
+                    if (AircraftStatusEnum.POWER_ON_IN_CABIN.getCode().equalsIgnoreCase(status)) {
+                        powerOnInCabinCount++;
+                        log.info("  -> 匹配到舱内开机状态");
+                    } else if (AircraftStatusEnum.POWER_OFF_IN_CABIN.getCode().equalsIgnoreCase(status)) {
+                        powerOffInCabinCount++;
+                        log.info("  -> 匹配到舱内关机状态");
+                    } else if (AircraftStatusEnum.POWER_ON_OUT_CABIN.getCode().equalsIgnoreCase(status)) {
+                        // 舱外开机归类到舱内开机
+                        powerOnInCabinCount++;
+                        log.info("  -> 匹配到舱外开机状态，归类到舱内开机");
+                    } else if (AircraftStatusEnum.POWER_OFF_OUT_CABIN.getCode().equalsIgnoreCase(status)) {
+                        // 舱外关机归类到舱内关机
+                        powerOffInCabinCount++;
+                        log.info("  -> 匹配到舱外关机状态，归类到舱内关机");
+                    } else if (AircraftStatusEnum.IN_MISSION.getCode().equalsIgnoreCase(status)) {
+                        inMissionCount++;
+                        log.info("  -> 匹配到IN_MISSION状态 (任务中)");
+                    } else if (AircraftStatusEnum.DEBUGGING.getCode().equalsIgnoreCase(status)) {
+                        debuggingAircraftCount++;
+                        log.info("  -> 匹配到调试状态");
+                    } else if (AircraftStatusEnum.OFFLINE.getCode().equalsIgnoreCase(status)) {
+                        offlineAircraftCount++;
+                        log.info("  -> 匹配到离线状态");
+                    } else {
+                        offlineAircraftCount++;
+                        log.info("  -> 未知状态[{}]，归类为离线", status);
+                    }
+                } else {
+                    log.warn("大疆无人机[ID:{}, Name:{}] 无法获取详情或状态为空",
+                            aircraft.getAircraftId(), aircraft.getAircraftName());
+                }
+            }
+        }
+
+        vo.setPowerOnInCabinCount(powerOnInCabinCount);
+        vo.setPowerOffInCabinCount(powerOffInCabinCount);
+        vo.setInMissionCount(inMissionCount);
+        vo.setDebuggingAircraftCount(debuggingAircraftCount);
+        vo.setOfflineAircraftCount(offlineAircraftCount);
+
+        log.info("无人机状态统计结果 -> 舱内开机:{}, 舱内关机:{}, 任务中:{}, 调试:{}, 离线:{}",
+                powerOnInCabinCount, powerOffInCabinCount, inMissionCount, debuggingAircraftCount, offlineAircraftCount);
+
+        // 获取所有挂载
+        List<PayloadDTO> payloads = payloadService.selectPayloadList(new PayloadDTO());
+        vo.setPayloadCount(payloads != null ? payloads.size() : 0);
+
+        // 统计离线挂载数量（暂时设置为0，因为挂载状态需要从实时数据获取）
+        vo.setOfflinePayloadCount(0);
+
+        log.info("========== DJI设备统计完成 ==========");
+        log.info("最终统计结果: 机场总数={}, 任务中机场={}, 无人机总数={}, 任务中无人机={}",
+                vo.getDockCount(), vo.getWorkingDockCount(), vo.getAircraftCount(), vo.getInMissionCount());
+
+        return vo;
+    }
+
+    /**
+     * 构建拓恒设备统计信息
+     */
+    private StatisticsVO buildThStatisticsVO() {
+        log.info("========== 开始统计拓恒设备信息 ==========");
+        StatisticsVO vo = new StatisticsVO();
+
+        // 获取所有机场
+        List<DockDTO> allDocks = dockService.selectDockList(new DockDTO());
+
+        // 过滤出拓恒机场
+        List<DockDTO> thDocks = filterDocksByManufacturer(allDocks, "tuoheng");
+        vo.setDockCount(thDocks.size());
+        log.info("拓恒机场总数: {}", vo.getDockCount());
+
+        // 批量获取拓恒机场详情
+        Map<Long, DockDetailDTO> dockDetailsMap = null;
+        if (!thDocks.isEmpty()) {
+            List<Long> dockIds = thDocks.stream()
+                    .map(DockDTO::getDockId)
+                    .collect(Collectors.toList());
+            dockDetailsMap = tuohengBufferDeviceService.getDockDetailsByIds(dockIds);
+        }
+
+        // 统计各状态机场数量
+        int idleCount = 0;
+        int workingCount = 0;
+        int debuggingCount = 0;
+        int offlineCount = 0;
+
+        if (dockDetailsMap != null) {
+            log.info("---------- 开始统计拓恒机场状态 ----------");
+            for (DockDTO dock : thDocks) {
+                DockDetailDTO dockDetail = dockDetailsMap.get(dock.getDockId());
+                if (dockDetail != null && dockDetail.getDockStatus() != null) {
+                    String status = dockDetail.getDockStatus();
+                    log.info("拓恒机场[ID:{}, Name:{}] 状态: {}", dock.getDockId(), dock.getDockName(), status);
+                    if (DockStatusEnum.IDLE.getCode().equalsIgnoreCase(status)) {
+                        idleCount++;
+                    } else if (DockStatusEnum.WORKING.getCode().equalsIgnoreCase(status)) {
+                        workingCount++;
+                    } else if (DockStatusEnum.Debugging.getCode().equalsIgnoreCase(status)) {
+                        debuggingCount++;
+                    } else {
+                        offlineCount++;
+                    }
+                }
+            }
+        }
+
+        vo.setIdleDockCount(idleCount);
+        vo.setWorkingDockCount(workingCount);
+        vo.setDebuggingDockCount(debuggingCount);
+        vo.setOfflineDockCount(offlineCount);
+
+        log.info("拓恒机场状态统计 -> 空闲:{}, 任务中:{}, 调试:{}, 离线:{}",
+                idleCount, workingCount, debuggingCount, offlineCount);
+
+        // 获取所有无人机
+        List<AircraftDTO> allAircrafts = aircraftService.selectAircraftList(new AircraftDTO());
+
+        // 过滤出拓恒无人机
+        List<AircraftDTO> thAircrafts = filterAircraftsByManufacturer(allAircrafts, "tuoheng");
+        vo.setAircraftCount(thAircrafts.size());
+        log.info("拓恒无人机总数: {}", vo.getAircraftCount());
+
+        // 批量获取拓恒无人机详情
+        Map<Long, AircraftDetailDTO> aircraftDetailsMap = null;
+        if (!thAircrafts.isEmpty()) {
+            List<Long> aircraftIds = thAircrafts.stream()
+                    .map(AircraftDTO::getAircraftId)
+                    .collect(Collectors.toList());
+            aircraftDetailsMap = tuohengBufferDeviceService.getAircraftDetailsByIds(aircraftIds);
+        }
+
+        // 统计各状态无人机数量
+        int powerOnInCabinCount = 0;
+        int powerOffInCabinCount = 0;
+        int inMissionCount = 0;
+        int debuggingAircraftCount = 0;
+        int offlineAircraftCount = 0;
+
+        if (aircraftDetailsMap != null) {
+            log.info("---------- 开始统计拓恒无人机状态 ----------");
+            for (AircraftDTO aircraft : thAircrafts) {
+                AircraftDetailDTO aircraftDetail = aircraftDetailsMap.get(aircraft.getAircraftId());
+                if (aircraftDetail != null && aircraftDetail.getAircraftStatus() != null) {
+                    String status = aircraftDetail.getAircraftStatus();
+                    log.info("拓恒无人机[ID:{}, Name:{}] 状态: {}",
+                            aircraft.getAircraftId(), aircraft.getAircraftName(), status);
+                    if (AircraftStatusEnum.POWER_ON_IN_CABIN.getCode().equalsIgnoreCase(status)) {
+                        powerOnInCabinCount++;
+                        log.info("  -> 匹配到舱内开机状态");
+                    } else if (AircraftStatusEnum.POWER_OFF_IN_CABIN.getCode().equalsIgnoreCase(status)) {
+                        powerOffInCabinCount++;
+                        log.info("  -> 匹配到舱内关机状态");
+                    } else if (AircraftStatusEnum.POWER_ON_OUT_CABIN.getCode().equalsIgnoreCase(status)) {
+                        // 舱外开机归类到舱内开机
+                        powerOnInCabinCount++;
+                        log.info("  -> 匹配到舱外开机状态，归类到舱内开机");
+                    } else if (AircraftStatusEnum.POWER_OFF_OUT_CABIN.getCode().equalsIgnoreCase(status)) {
+                        // 舱外关机归类到舱内关机
+                        powerOffInCabinCount++;
+                        log.info("  -> 匹配到舱外关机状态，归类到舱内关机");
+                    } else if (AircraftStatusEnum.IN_MISSION.getCode().equalsIgnoreCase(status)) {
+                        inMissionCount++;
+                        log.info("  -> 匹配到IN_MISSION状态 (任务中)");
+                    } else if (AircraftStatusEnum.DEBUGGING.getCode().equalsIgnoreCase(status)) {
+                        debuggingAircraftCount++;
+                        log.info("  -> 匹配到调试状态");
+                    } else if (AircraftStatusEnum.OFFLINE.getCode().equalsIgnoreCase(status)) {
+                        offlineAircraftCount++;
+                        log.info("  -> 匹配到离线状态");
+                    } else {
+                        offlineAircraftCount++;
+                        log.info("  -> 未知状态[{}]，归类为离线", status);
+                    }
+                } else {
+                    log.warn("拓恒无人机[ID:{}, Name:{}] 无法获取详情或状态为空",
+                            aircraft.getAircraftId(), aircraft.getAircraftName());
+                }
+            }
+        }
+
+        vo.setPowerOnInCabinCount(powerOnInCabinCount);
+        vo.setPowerOffInCabinCount(powerOffInCabinCount);
+        vo.setInMissionCount(inMissionCount);
+        vo.setDebuggingAircraftCount(debuggingAircraftCount);
+        vo.setOfflineAircraftCount(offlineAircraftCount);
+
+        log.info("拓恒无人机状态统计 -> 舱内开机:{}, 舱内关机:{}, 任务中:{}, 调试:{}, 离线:{}",
+                powerOnInCabinCount, powerOffInCabinCount, inMissionCount,
+                debuggingAircraftCount, offlineAircraftCount);
+
+        // 挂载统计（拓恒设备暂时设置为0）
         vo.setPayloadCount(0);
         vo.setOfflinePayloadCount(0);
 
-        return R.ok(vo);
+        log.info("========== 拓恒设备统计完成 ==========");
+        return vo;
+    }
+
+    /**
+     * 根据厂商过滤机场列表
+     */
+    private List<DockDTO> filterDocksByManufacturer(List<DockDTO> docks, String manufacturer) {
+        if (docks == null || docks.isEmpty()) {
+            return List.of();
+        }
+        return docks.stream()
+                .filter(dock -> {
+                    Device device = deviceDomain.selectDeviceByDeviceId(dock.getDeviceId());
+                    return device != null && manufacturer.equals(device.getDeviceManufacturer());
+                })
+                .collect(Collectors.toList());
+    }
+
+    /**
+     * 根据厂商过滤无人机列表
+     */
+    private List<AircraftDTO> filterAircraftsByManufacturer(List<AircraftDTO> aircrafts, String manufacturer) {
+        if (aircrafts == null || aircrafts.isEmpty()) {
+            return List.of();
+        }
+        return aircrafts.stream()
+                .filter(aircraft -> {
+                    Device device = deviceDomain.selectDeviceByDeviceId(aircraft.getDeviceId());
+                    return device != null && manufacturer.equals(device.getDeviceManufacturer());
+                })
+                .collect(Collectors.toList());
     }
 }

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

@@ -0,0 +1,86 @@
+package com.ruoyi.device.controller;
+
+import com.ruoyi.common.core.domain.R;
+import com.ruoyi.common.core.web.controller.BaseController;
+import com.ruoyi.device.domain.api.IThingsBoardDomain;
+import io.swagger.v3.oas.annotations.Operation;
+import io.swagger.v3.oas.annotations.Parameter;
+import io.swagger.v3.oas.annotations.tags.Tag;
+import lombok.Data;
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.web.bind.annotation.*;
+
+/**
+ * ThingsBoard设备属性管理Controller
+ *
+ * @author ruoyi
+ * @date 2026-02-06
+ */
+@RestController
+@RequestMapping("/thingsboard")
+@Tag(name = "ThingsBoard设备属性管理", description = "提供设备属性的读写操作")
+public class ThingsBoardController extends BaseController {
+
+    private static final Logger log = LoggerFactory.getLogger(ThingsBoardController.class);
+
+    @Autowired
+    private IThingsBoardDomain thingsBoardDomain;
+
+    /**
+     * 设置设备属性
+     *
+     * @param request 设置属性请求
+     * @return 操作结果
+     */
+    @PostMapping("/attribute")
+    @Operation(summary = "设置设备属性", description = "设置ThingsBoard设备的属性值")
+    public R<Void> setDeviceAttribute(@RequestBody SetAttributeRequest request) {
+        log.info("收到设置设备属性请求: deviceIotId={}, key={}, value={}",
+                request.getDeviceIotId(), request.getKey(), request.getValue());
+
+        // 参数校验
+        if (request.getDeviceIotId() == null || request.getDeviceIotId().trim().isEmpty()) {
+            return R.fail("设备IOT ID不能为空");
+        }
+        if (request.getKey() == null || request.getKey().trim().isEmpty()) {
+            return R.fail("属性键不能为空");
+        }
+        if (request.getValue() == null) {
+            return R.fail("属性值不能为空");
+        }
+
+        // 调用Domain层设置属性
+        boolean success = thingsBoardDomain.setDeviceAttribute(
+                request.getDeviceIotId(),
+                request.getKey(),
+                request.getValue()
+        );
+
+        if (success) {
+            log.info("设备属性设置成功: deviceIotId={}, key={}",
+                    request.getDeviceIotId(), request.getKey());
+            return R.ok();
+        } else {
+            log.error("设备属性设置失败: deviceIotId={}, key={}",
+                    request.getDeviceIotId(), request.getKey());
+            return R.fail("设备属性设置失败");
+        }
+    }
+
+    /**
+     * 设置属性请求对象
+     */
+    @Data
+    public static class SetAttributeRequest {
+        @Parameter(description = "设备IOT ID（ThingsBoard设备ID）", required = true)
+        private String deviceIotId;
+
+        @Parameter(description = "属性键", required = true)
+        private String key;
+
+        @Parameter(description = "属性值", required = true)
+        private Object value;
+    }
+}

src/main/java/com/ruoyi/device/controller/convert/DeviceAirTypeGeneralEnumVOConvert.java

@@ -0,0 +1,73 @@
+package com.ruoyi.device.controller.convert;
+
+import com.ruoyi.common.core.utils.BaseConvert;
+import com.ruoyi.device.api.domain.AirLoadTypeVO;
+import com.ruoyi.device.api.domain.AirTypeGeneralEnumVO;
+import com.ruoyi.device.service.dto.DeviceAirLoadTypeDTO;
+import com.ruoyi.device.service.dto.DeviceAirTypeGeneralEnumDTO;
+
+import java.util.ArrayList;
+import java.util.HashMap;
+import java.util.List;
+import java.util.Map;
+
+/**
+ * 无人机类型通用枚举Controller转换器
+ *
+ * @author 拓恒
+ * @date 2026-01-20
+ */
+public class DeviceAirTypeGeneralEnumVOConvert extends BaseConvert<DeviceAirTypeGeneralEnumDTO, AirTypeGeneralEnumVO>
+{
+
+    private static final DeviceAirTypeGeneralEnumVOConvert INSTANCE = new DeviceAirTypeGeneralEnumVOConvert();
+
+    private DeviceAirTypeGeneralEnumVOConvert() {
+        super(DeviceAirTypeGeneralEnumDTO.class, AirTypeGeneralEnumVO.class);
+    }
+
+    public static AirTypeGeneralEnumVO from(DeviceAirTypeGeneralEnumDTO dto)
+    {
+       AirTypeGeneralEnumVO vo = INSTANCE.innerFrom(dto);
+       // 手动转换负载列表（按系列分组）
+       if (dto.getLoadList() != null) {
+           Map<String, List<AirLoadTypeVO>> loadVOMap = new HashMap<>();
+           for (Map.Entry<String, List<DeviceAirLoadTypeDTO>> entry : dto.getLoadList().entrySet()) {
+               String series = entry.getKey();
+               List<DeviceAirLoadTypeDTO> loadDTOList = entry.getValue();
+               List<AirLoadTypeVO> loadVOList = new ArrayList<>();
+               for (DeviceAirLoadTypeDTO loadDTO : loadDTOList) {
+                   AirLoadTypeVO loadVO = new AirLoadTypeVO();
+                   loadVO.setLoadName(loadDTO.getLoadName());
+                   loadVO.setLoadSeries(loadDTO.getLoadSeries());
+                   loadVO.setLoadCategory(loadDTO.getLoadCategory());
+                   loadVO.setSlot(loadDTO.getSlot());
+                   loadVOList.add(loadVO);
+               }
+               loadVOMap.put(series, loadVOList);
+           }
+           vo.setLoadList(loadVOMap);
+       }
+       return vo;
+    }
+
+    public static DeviceAirTypeGeneralEnumDTO to(AirTypeGeneralEnumVO vo)
+    {
+        return INSTANCE.innerTo(vo);
+    }
+
+    public static List<AirTypeGeneralEnumVO> fromList(List<DeviceAirTypeGeneralEnumDTO> dtoList)
+    {
+        List<AirTypeGeneralEnumVO> voList = new ArrayList<>();
+        for (DeviceAirTypeGeneralEnumDTO dto : dtoList) {
+            voList.add(from(dto));
+        }
+        return voList;
+    }
+
+    public static List<DeviceAirTypeGeneralEnumDTO> toList(List<AirTypeGeneralEnumVO> voList)
+    {
+        return INSTANCE.innerToList(voList);
+    }
+
+}

src/main/java/com/ruoyi/device/domain/DeviceAirLoadSlot.java

@@ -0,0 +1,38 @@
+package com.ruoyi.device.domain;
+
+import com.ruoyi.common.core.web.domain.BaseEntity;
+import lombok.Data;
+import lombok.EqualsAndHashCode;
+
+/**
+ * 无人机负载槽位实体
+ *
+ * @author 拓恒
+ * @date 2026-03-04
+ */
+@EqualsAndHashCode(callSuper = true)
+@Data
+public class DeviceAirLoadSlot extends BaseEntity {
+    private static final long serialVersionUID = 1L;
+
+    /** 主键 */
+    private Long id;
+
+    /** 无人机厂商ID */
+    private Long vendorId;
+
+    /** 无人机主类型 */
+    private Long type;
+
+    /** 无人机子类型 */
+    private Long subType;
+
+    /** 槽位数 */
+    private Integer slotCount;
+
+    /** 负载数量限制 */
+    private Integer loadLimit;
+
+    /** 配件限制数量 */
+    private Integer accessoryLimit;
+}

src/main/java/com/ruoyi/device/domain/DeviceAirLoadType.java

@@ -0,0 +1,41 @@
+package com.ruoyi.device.domain;
+
+import com.ruoyi.common.core.web.domain.BaseEntity;
+import lombok.Data;
+import lombok.EqualsAndHashCode;
+
+/**
+ * 无人机负载类型实体
+ *
+ * @author 拓恒
+ * @date 2026-03-04
+ */
+@EqualsAndHashCode(callSuper = true)
+@Data
+public class DeviceAirLoadType extends BaseEntity {
+    private static final long serialVersionUID = 1L;
+
+    /** 主键 */
+    private Long id;
+
+    /** 无人机厂商ID */
+    private Long vendorId;
+
+    /** 无人机主类型 */
+    private Long type;
+
+    /** 无人机子类型 */
+    private Long subType;
+
+    /** 负载名称 */
+    private String loadName;
+
+    /** 负载系列 */
+    private String loadSeries;
+
+    /** 负载分类：0-负载，1-配件 */
+    private Integer loadCategory;
+
+    /** 槽：1、2 或者-1（-1代表全部槽位可用） */
+    private Integer slot;
+}

src/main/java/com/ruoyi/device/domain/api/IDeviceAirLoadSlotDomain.java

@@ -0,0 +1,21 @@
+package com.ruoyi.device.domain.api;
+
+import com.ruoyi.device.domain.DeviceAirLoadSlot;
+
+import java.util.List;
+
+/**
+ * 无人机负载槽位领域接口
+ *
+ * @author 拓恒
+ * @date 2026-03-04
+ */
+public interface IDeviceAirLoadSlotDomain {
+
+    /**
+     * 根据厂商ID、主类型、子类型查询负载槽位
+     *
+     * @return 负载槽位信息
+     */
+    DeviceAirLoadSlot selectDeviceAirLoadSlotByVendorAndType(DeviceAirLoadSlot deviceAirLoadSlot);
+}

src/main/java/com/ruoyi/device/domain/api/IDeviceAirLoadTypeDomain.java

@@ -0,0 +1,23 @@
+package com.ruoyi.device.domain.api;
+
+import com.ruoyi.device.domain.DeviceAirLoadType;
+import java.util.List;
+import java.util.Map;
+
+/**
+ * 无人机负载类型领域接口
+ *
+ * @author 拓恒
+ * @date 2026-03-04
+ */
+public interface IDeviceAirLoadTypeDomain {
+    /**
+     * 查询无人机负载类型列表
+     *
+     * @param deviceAirLoadType 无人机负载类型
+     * @return 无人机负载类型集合
+     */
+    List<DeviceAirLoadType> selectDeviceAirLoadTypeList(DeviceAirLoadType deviceAirLoadType);
+
+
+}

src/main/java/com/ruoyi/device/domain/api/IDeviceAirTypeGeneralEnumDomain.java

@@ -0,0 +1,61 @@
+package com.ruoyi.device.domain.api;
+
+import com.ruoyi.device.domain.model.DeviceAirTypeGeneralEnum;
+import java.util.List;
+
+/**
+ * 无人机类型通用枚举Domain接口
+ *
+ * @author ruoyi
+ * @date 2026-01-28
+ */
+public interface IDeviceAirTypeGeneralEnumDomain
+{
+    /**
+     * 查询无人机类型通用枚举列表
+     *
+     * @param airTypeGeneralEnum 无人机类型通用枚举
+     * @return 无人机类型通用枚举集合
+     */
+    List<DeviceAirTypeGeneralEnum> selectAirTypeGeneralEnumList(DeviceAirTypeGeneralEnum airTypeGeneralEnum);
+
+    /**
+     * 根据主键查询无人机类型通用枚举
+     *
+     * @param id 主键
+     * @return 无人机类型通用枚举
+     */
+    DeviceAirTypeGeneralEnum selectAirTypeGeneralEnumById(Long id);
+
+    /**
+     * 新增无人机类型通用枚举
+     *
+     * @param airTypeGeneralEnum 无人机类型通用枚举
+     * @return 结果
+     */
+    int insertAirTypeGeneralEnum(DeviceAirTypeGeneralEnum airTypeGeneralEnum);
+
+    /**
+     * 修改无人机类型通用枚举
+     *
+     * @param airTypeGeneralEnum 无人机类型通用枚举
+     * @return 结果
+     */
+    int updateAirTypeGeneralEnum(DeviceAirTypeGeneralEnum airTypeGeneralEnum);
+
+    /**
+     * 删除无人机类型通用枚举
+     *
+     * @param id 主键
+     * @return 结果
+     */
+    int deleteAirTypeGeneralEnumById(Long id);
+
+    /**
+     * 批量删除无人机类型通用枚举
+     *
+     * @param ids 需要删除的主键集合
+     * @return 影响行数
+     */
+    int deleteAirTypeGeneralEnumByIds(Long[] ids);
+}

src/main/java/com/ruoyi/device/domain/api/IDeviceDomain.java

@@ -35,6 +35,14 @@ public interface IDeviceDomain
      */
     Device selectDeviceByIotDeviceId(String iotDeviceId);
 
+    /**
+     * 根据设备SN号查询设备
+     *
+     * @param deviceSn 设备SN号
+     * @return 设备
+     */
+    Device selectDeviceByDeviceSn(String deviceSn);
+
     /**
      * 新增设备
      *

src/main/java/com/ruoyi/device/domain/api/IGroupDomain.java

@@ -58,4 +58,12 @@ public interface IGroupDomain
      * @return 结果
      */
     int deleteGroupByGroupIds(Long[] groupIds);
+
+    /**
+     * 根据分组名称查询分组
+     *
+     * @param groupName 分组名称
+     * @return 分组
+     */
+    Group selectGroupByGroupName(String groupName);
 }

src/main/java/com/ruoyi/device/domain/api/IThingsBoardDomain.java

@@ -91,4 +91,67 @@ public interface IThingsBoardDomain {
      * @return 子设备ID列表，如果网关没有子设备则返回空列表
      */
     List<String> getGatewayChildDevices(String gatewayDeviceId);
+
+    /**
+     * 清除设备属性缓存
+     * 使 getDeviceAttributes 方法的缓存失效
+     *
+     * @param deviceId 设备ID
+     */
+    void evictDeviceAttributesCache(String deviceId);
+
+    /**
+     * 清除设备遥测数据缓存
+     * 使 getDeviceTelemetry 方法的缓存失效
+     *
+     * @param deviceId 设备ID
+     */
+    void evictDeviceTelemetryCache(String deviceId);
+
+    /**
+     * 根据设备ID获取拓恒设备的所有属性
+     * 只返回已注册的属性键对应的数据，未注册的键会被忽略
+     *
+     * @param deviceId 设备ID
+     * @return 类型安全的属性映射
+     */
+    AttributeMap getTuohengDeviceAttributes(String deviceId);
+
+    /**
+     * 根据设备ID获取拓恒设备的所有遥测数据
+     * 只返回已注册的遥测键对应的数据，未注册的键会被忽略
+     *
+     * @param deviceId 设备ID
+     * @return 类型安全的遥测数据映射
+     */
+    TelemetryMap getTuohengDeviceTelemetry(String deviceId);
+
+    /**
+     * 根据设备ID获取拓恒设备的预定义属性
+     * 只返回在 TuohengDeviceAttributes 中预定义的属性
+     *
+     * @param deviceId 设备ID
+     * @return 类型安全的属性映射，只包含预定义的属性
+     */
+    AttributeMap getPredefinedTuohengDeviceAttributes(String deviceId);
+
+    /**
+     * 根据设备ID获取拓恒设备的预定义遥测数据
+     * 只返回在 TuohengDeviceTelemetry 中预定义的遥测数据
+     *
+     * @param deviceId 设备ID
+     * @return 类型安全的遥测数据映射，只包含预定义的遥测数据
+     */
+    TelemetryMap getPredefinedTuohengDeviceTelemetry(String deviceId);
+
+    /**
+     * 设置设备属性
+     * 将指定的属性键值对保存到 ThingsBoard 设备的 SERVER_SCOPE 属性中
+     *
+     * @param deviceId 设备ID（ThingsBoard 的 iotDeviceId）
+     * @param key 属性键
+     * @param value 属性值
+     * @return 是否设置成功
+     */
+    boolean setDeviceAttribute(String deviceId, String key, Object value);
 }

src/main/java/com/ruoyi/device/domain/api/IWeatherDomain.java

@@ -0,0 +1,7 @@
+package com.ruoyi.device.domain.api;
+
+import com.ruoyi.device.domain.model.weather.Weather;
+
+public interface IWeatherDomain {
+     Weather weatherInfo(String lat, String lon,String dockerDeviceIotId);
+}

src/main/java/com/ruoyi/device/domain/config/WeatherProperties.java

@@ -0,0 +1,36 @@
+package com.ruoyi.device.domain.config;
+
+import lombok.Data;
+import org.springframework.boot.context.properties.ConfigurationProperties;
+import org.springframework.stereotype.Component;
+
+/**
+ * 天气API配置属性
+ *
+ * @author ruoyi
+ */
+@Data
+@Component
+@ConfigurationProperties(prefix = "weather.api")
+public class WeatherProperties {
+
+    /**
+     * 天气API AppCode
+     */
+    private String appcode = "6a152d74a3c249bfa6db6e664f2541f0";
+
+    /**
+     * 天气API Host
+     */
+    private String host = "https://aliv8.data.moji.com";
+
+    /**
+     * 天气API Path
+     */
+    private String path = "/whapi/json/aliweather/condition";
+
+    /**
+     * 天气API Token
+     */
+    private String token = "ff826c205f8f4a59701e64e9e64e01c4";
+}

src/main/java/com/ruoyi/device/domain/convert/DeviceAirLoadSlotConvert.java

@@ -0,0 +1,57 @@
+package com.ruoyi.device.domain.convert;
+
+import com.ruoyi.common.core.utils.BaseConvert;
+import com.ruoyi.device.domain.DeviceAirLoadSlot;
+import com.ruoyi.device.mapper.entity.DeviceAirLoadSlotEntity;
+
+import java.util.List;
+
+/**
+ * 无人机负载槽位领域层转换器
+ * Domain Entity ↔ Mapper Entity
+ *
+ * @author 拓恒
+ * @date 2026-03-04
+ */
+public class DeviceAirLoadSlotConvert extends BaseConvert<DeviceAirLoadSlotEntity, DeviceAirLoadSlot>
+{
+
+    private static final DeviceAirLoadSlotConvert INSTANCE = new DeviceAirLoadSlotConvert();
+
+    private DeviceAirLoadSlotConvert() {
+        super(DeviceAirLoadSlotEntity.class, DeviceAirLoadSlot.class);
+    }
+
+    /**
+     * Entity 转 Domain
+     */
+    public static DeviceAirLoadSlot from(DeviceAirLoadSlotEntity entity)
+    {
+        return INSTANCE.innerFrom(entity);
+    }
+
+    /**
+     * Domain 转 Entity
+     */
+    public static DeviceAirLoadSlotEntity to(DeviceAirLoadSlot domain)
+    {
+        return INSTANCE.innerTo(domain);
+    }
+
+    /**
+     * Entity List 转 Domain List
+     */
+    public static List<DeviceAirLoadSlot> fromList(List<DeviceAirLoadSlotEntity> entityList)
+    {
+        return INSTANCE.innerFromList(entityList);
+    }
+
+    /**
+     * Domain List 转 Entity List
+     */
+    public static List<DeviceAirLoadSlotEntity> toList(List<DeviceAirLoadSlot> domainList)
+    {
+        return INSTANCE.innerToList(domainList);
+    }
+
+}

src/main/java/com/ruoyi/device/domain/convert/DeviceAirLoadTypeConvert.java

@@ -0,0 +1,57 @@
+package com.ruoyi.device.domain.convert;
+
+import com.ruoyi.common.core.utils.BaseConvert;
+import com.ruoyi.device.domain.DeviceAirLoadType;
+import com.ruoyi.device.mapper.entity.DeviceAirLoadTypeEntity;
+
+import java.util.List;
+
+/**
+ * 无人机负载类型领域层转换器
+ * Domain Entity ↔ Mapper Entity
+ *
+ * @author 拓恒
+ * @date 2026-03-04
+ */
+public class DeviceAirLoadTypeConvert extends BaseConvert<DeviceAirLoadTypeEntity, DeviceAirLoadType>
+{
+
+    private static final DeviceAirLoadTypeConvert INSTANCE = new DeviceAirLoadTypeConvert();
+
+    private DeviceAirLoadTypeConvert() {
+        super(DeviceAirLoadTypeEntity.class, DeviceAirLoadType.class);
+    }
+
+    /**
+     * Entity 转 Domain
+     */
+    public static DeviceAirLoadType from(DeviceAirLoadTypeEntity entity)
+    {
+        return INSTANCE.innerFrom(entity);
+    }
+
+    /**
+     * Domain 转 Entity
+     */
+    public static DeviceAirLoadTypeEntity to(DeviceAirLoadType domain)
+    {
+        return INSTANCE.innerTo(domain);
+    }
+
+    /**
+     * Entity List 转 Domain List
+     */
+    public static List<DeviceAirLoadType> fromList(List<DeviceAirLoadTypeEntity> entityList)
+    {
+        return INSTANCE.innerFromList(entityList);
+    }
+
+    /**
+     * Domain List 转 Entity List
+     */
+    public static List<DeviceAirLoadTypeEntity> toList(List<DeviceAirLoadType> domainList)
+    {
+        return INSTANCE.innerToList(domainList);
+    }
+
+}

src/main/java/com/ruoyi/device/domain/convert/DeviceAirTypeGeneralEnumConvert.java

@@ -0,0 +1,57 @@
+package com.ruoyi.device.domain.convert;
+
+import com.ruoyi.common.core.utils.BaseConvert;
+import com.ruoyi.device.domain.model.DeviceAirTypeGeneralEnum;
+import com.ruoyi.device.mapper.entity.DeviceAirTypeGeneralEnumEntity;
+
+import java.util.List;
+
+/**
+ * 无人机类型通用枚举领域层转换器
+ * Domain Model ↔ Mapper Entity
+ *
+ * @author ruoyi
+ * @date 2026-01-28
+ */
+public class DeviceAirTypeGeneralEnumConvert extends BaseConvert<DeviceAirTypeGeneralEnum, DeviceAirTypeGeneralEnumEntity>
+{
+
+    private static final DeviceAirTypeGeneralEnumConvert INSTANCE = new DeviceAirTypeGeneralEnumConvert();
+
+    private DeviceAirTypeGeneralEnumConvert() {
+        super(DeviceAirTypeGeneralEnum.class, DeviceAirTypeGeneralEnumEntity.class);
+    }
+
+    /**
+     * Model 转 Entity
+     */
+    public static DeviceAirTypeGeneralEnumEntity from(DeviceAirTypeGeneralEnum model)
+    {
+        return INSTANCE.innerFrom(model);
+    }
+
+    /**
+     * Entity 转 Model
+     */
+    public static DeviceAirTypeGeneralEnum to(DeviceAirTypeGeneralEnumEntity entity)
+    {
+        return INSTANCE.innerTo(entity);
+    }
+
+    /**
+     * Model List 转 Entity List
+     */
+    public static List<DeviceAirTypeGeneralEnumEntity> fromList(List<DeviceAirTypeGeneralEnum> modelList)
+    {
+        return INSTANCE.innerFromList(modelList);
+    }
+
+    /**
+     * Entity List 转 Model List
+     */
+    public static List<DeviceAirTypeGeneralEnum> toList(List<DeviceAirTypeGeneralEnumEntity> entityList)
+    {
+        return INSTANCE.innerToList(entityList);
+    }
+
+}

src/main/java/com/ruoyi/device/domain/impl/AircraftDomainImpl.java

@@ -1,10 +1,14 @@
 package com.ruoyi.device.domain.impl;
 
+import com.ruoyi.device.config.DeviceCacheConfig;
 import com.ruoyi.device.domain.api.IAircraftDomain;
 import com.ruoyi.device.domain.convert.AircraftConvert;
 import com.ruoyi.device.domain.model.Aircraft;
 import com.ruoyi.device.mapper.AircraftMapper;
 import com.ruoyi.device.mapper.entity.AircraftEntity;
+import org.springframework.cache.annotation.CacheEvict;
+import org.springframework.cache.annotation.Cacheable;
+import org.springframework.cache.annotation.Caching;
 import org.springframework.stereotype.Component;
 
 import java.util.List;
@@ -34,6 +38,7 @@ public class AircraftDomainImpl implements IAircraftDomain
     }
 
     @Override
+    @Cacheable(value = DeviceCacheConfig.AIRCRAFT_CACHE, key = "'id:' + #aircraftId", unless = "#result == null")
     public Aircraft selectAircraftByAircraftId(Long aircraftId)
     {
         AircraftEntity entity = aircraftMapper.selectAircraftByAircraftId(aircraftId);
@@ -41,6 +46,7 @@ public class AircraftDomainImpl implements IAircraftDomain
     }
 
     @Override
+    @Cacheable(value = DeviceCacheConfig.AIRCRAFT_CACHE, key = "'deviceId:' + #deviceId", unless = "#result == null")
     public Aircraft selectAircraftByDeviceId(Long deviceId)
     {
         AircraftEntity entity = aircraftMapper.selectAircraftByDeviceId(deviceId);
@@ -48,6 +54,7 @@ public class AircraftDomainImpl implements IAircraftDomain
     }
 
     @Override
+    @CacheEvict(value = DeviceCacheConfig.AIRCRAFT_CACHE, allEntries = true)
     public int insertAircraft(Aircraft aircraft)
     {
         AircraftEntity entity = AircraftConvert.to(aircraft);
@@ -58,6 +65,10 @@ public class AircraftDomainImpl implements IAircraftDomain
     }
 
     @Override
+    @Caching(evict = {
+        @CacheEvict(value = DeviceCacheConfig.AIRCRAFT_CACHE, key = "'id:' + #aircraft.aircraftId"),
+        @CacheEvict(value = DeviceCacheConfig.AIRCRAFT_CACHE, key = "'deviceId:' + #aircraft.deviceId")
+    })
     public int updateAircraft(Aircraft aircraft)
     {
         AircraftEntity entity = AircraftConvert.to(aircraft);
@@ -65,12 +76,14 @@ public class AircraftDomainImpl implements IAircraftDomain
     }
 
     @Override
+    @CacheEvict(value = DeviceCacheConfig.AIRCRAFT_CACHE, allEntries = true)
     public int deleteAircraftByAircraftId(Long aircraftId)
     {
         return aircraftMapper.deleteAircraftByAircraftId(aircraftId);
     }
 
     @Override
+    @CacheEvict(value = DeviceCacheConfig.AIRCRAFT_CACHE, allEntries = true)
     public int deleteAircraftByAircraftIds(Long[] aircraftIds)
     {
         return aircraftMapper.deleteAircraftByAircraftIds(aircraftIds);

src/main/java/com/ruoyi/device/domain/impl/AircraftPayloadDomainImpl.java

@@ -1,10 +1,14 @@
 package com.ruoyi.device.domain.impl;
 
+import com.ruoyi.device.config.DeviceCacheConfig;
 import com.ruoyi.device.domain.api.IAircraftPayloadDomain;
 import com.ruoyi.device.domain.convert.AircraftPayloadConvert;
 import com.ruoyi.device.domain.model.AircraftPayload;
 import com.ruoyi.device.mapper.AircraftPayloadMapper;
 import com.ruoyi.device.mapper.entity.AircraftPayloadEntity;
+import org.springframework.cache.annotation.CacheEvict;
+import org.springframework.cache.annotation.Cacheable;
+import org.springframework.cache.annotation.Caching;
 import org.springframework.stereotype.Component;
 
 import java.util.List;
@@ -34,6 +38,7 @@ public class AircraftPayloadDomainImpl implements IAircraftPayloadDomain
     }
 
     @Override
+    @Cacheable(value = DeviceCacheConfig.AIRCRAFT_PAYLOAD_CACHE, key = "'id:' + #id", unless = "#result == null")
     public AircraftPayload selectAircraftPayloadById(Long id)
     {
         AircraftPayloadEntity entity = aircraftPayloadMapper.selectAircraftPayloadById(id);
@@ -41,6 +46,7 @@ public class AircraftPayloadDomainImpl implements IAircraftPayloadDomain
     }
 
     @Override
+    @Cacheable(value = DeviceCacheConfig.AIRCRAFT_PAYLOAD_CACHE, key = "'aircraftId:' + #aircraftId", unless = "#result == null")
     public List<AircraftPayload> selectAircraftPayloadByAircraftId(Long aircraftId)
     {
         List<AircraftPayloadEntity> entityList = aircraftPayloadMapper.selectAircraftPayloadListByAircraftId(aircraftId);
@@ -48,6 +54,7 @@ public class AircraftPayloadDomainImpl implements IAircraftPayloadDomain
     }
 
     @Override
+    @Cacheable(value = DeviceCacheConfig.AIRCRAFT_PAYLOAD_CACHE, key = "'payloadId:' + #payloadId", unless = "#result == null")
     public List<AircraftPayload> selectAircraftPayloadByPayloadId(Long payloadId)
     {
         List<AircraftPayloadEntity> entityList = aircraftPayloadMapper.selectAircraftPayloadListByPayloadId(payloadId);
@@ -55,6 +62,7 @@ public class AircraftPayloadDomainImpl implements IAircraftPayloadDomain
     }
 
     @Override
+    @Cacheable(value = DeviceCacheConfig.AIRCRAFT_PAYLOAD_CACHE, key = "'dockId:' + #dockId", unless = "#result == null")
     public List<AircraftPayload> selectAircraftPayloadByDockId(Long dockId)
     {
         List<AircraftPayloadEntity> entityList = aircraftPayloadMapper.selectAircraftPayloadListByDockId(dockId);
@@ -62,6 +70,7 @@ public class AircraftPayloadDomainImpl implements IAircraftPayloadDomain
     }
 
     @Override
+    @CacheEvict(value = DeviceCacheConfig.AIRCRAFT_PAYLOAD_CACHE, allEntries = true)
     public int insertAircraftPayload(AircraftPayload aircraftPayload)
     {
         AircraftPayloadEntity entity = AircraftPayloadConvert.to(aircraftPayload);
@@ -72,6 +81,7 @@ public class AircraftPayloadDomainImpl implements IAircraftPayloadDomain
     }
 
     @Override
+    @CacheEvict(value = DeviceCacheConfig.AIRCRAFT_PAYLOAD_CACHE, allEntries = true)
     public int updateAircraftPayload(AircraftPayload aircraftPayload)
     {
         AircraftPayloadEntity entity = AircraftPayloadConvert.to(aircraftPayload);
@@ -79,12 +89,14 @@ public class AircraftPayloadDomainImpl implements IAircraftPayloadDomain
     }
 
     @Override
+    @CacheEvict(value = DeviceCacheConfig.AIRCRAFT_PAYLOAD_CACHE, allEntries = true)
     public int deleteAircraftPayloadById(Long id)
     {
         return aircraftPayloadMapper.deleteAircraftPayloadById(id);
     }
 
     @Override
+    @CacheEvict(value = DeviceCacheConfig.AIRCRAFT_PAYLOAD_CACHE, allEntries = true)
     public int deleteAircraftPayloadByIds(Long[] ids)
     {
         return aircraftPayloadMapper.deleteAircraftPayloadByIds(ids);

src/main/java/com/ruoyi/device/domain/impl/DeviceAirLoadSlotDomainImpl.java

@@ -0,0 +1,41 @@
+package com.ruoyi.device.domain.impl;
+
+import com.ruoyi.device.domain.DeviceAirLoadSlot;
+import com.ruoyi.device.domain.api.IDeviceAirLoadSlotDomain;
+import com.ruoyi.device.domain.convert.DeviceAirLoadSlotConvert;
+import com.ruoyi.device.domain.convert.DeviceAirLoadTypeConvert;
+import com.ruoyi.device.mapper.DeviceAirLoadSlotMapper;
+import com.ruoyi.device.mapper.entity.DeviceAirLoadSlotEntity;
+import com.ruoyi.device.mapper.entity.DeviceAirLoadTypeEntity;
+import com.ruoyi.device.service.dto.DeviceAirLoadSlotDTO;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.stereotype.Repository;
+
+import java.util.List;
+
+/**
+ * 无人机负载槽位Domain实现类
+ *
+ * @author 拓恒
+ * @date 2026-03-04
+ */
+@Repository
+public class DeviceAirLoadSlotDomainImpl implements IDeviceAirLoadSlotDomain {
+
+    @Autowired
+    private DeviceAirLoadSlotMapper deviceAirLoadSlotMapper;
+
+    @Override
+    public DeviceAirLoadSlot selectDeviceAirLoadSlotByVendorAndType(DeviceAirLoadSlot deviceAirLoadSlot) {
+        DeviceAirLoadSlotEntity entity = DeviceAirLoadSlotConvert.to(deviceAirLoadSlot);
+        DeviceAirLoadSlotEntity result = deviceAirLoadSlotMapper.selectDeviceAirLoadSlotByVendorAndType(entity);
+        if (result == null) {
+            // 设置默认值
+            result = new DeviceAirLoadSlotEntity();
+            result.setSlotCount(0);
+            result.setLoadLimit(0);
+            result.setAccessoryLimit(0);
+        }
+        return DeviceAirLoadSlotConvert.from(result);
+    }
+}

src/main/java/com/ruoyi/device/domain/impl/DeviceAirLoadTypeDomainImpl.java

@@ -0,0 +1,35 @@
+package com.ruoyi.device.domain.impl;
+
+import com.ruoyi.device.domain.DeviceAirLoadType;
+import com.ruoyi.device.domain.api.IDeviceAirLoadTypeDomain;
+import com.ruoyi.device.domain.convert.DeviceAirLoadTypeConvert;
+import com.ruoyi.device.mapper.DeviceAirLoadTypeMapper;
+import com.ruoyi.device.mapper.entity.DeviceAirLoadTypeEntity;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.stereotype.Repository;
+
+import java.util.ArrayList;
+import java.util.HashMap;
+import java.util.List;
+import java.util.Map;
+
+/**
+ * 无人机负载类型Domain实现类
+ *
+ * @author 拓恒
+ * @date 2026-03-04
+ */
+@Repository
+public class DeviceAirLoadTypeDomainImpl implements IDeviceAirLoadTypeDomain {
+
+    @Autowired
+    private DeviceAirLoadTypeMapper deviceAirLoadTypeMapper;
+
+    @Override
+    public List<DeviceAirLoadType> selectDeviceAirLoadTypeList(DeviceAirLoadType deviceAirLoadType) {
+        DeviceAirLoadTypeEntity entity = DeviceAirLoadTypeConvert.to(deviceAirLoadType);
+        List<DeviceAirLoadTypeEntity> entityList = deviceAirLoadTypeMapper.selectDeviceAirLoadTypeList(entity);
+        return DeviceAirLoadTypeConvert.fromList(entityList);
+    }
+
+}

src/main/java/com/ruoyi/device/domain/impl/DeviceAirTypeGeneralEnumDomainImpl.java

@@ -0,0 +1,65 @@
+package com.ruoyi.device.domain.impl;
+
+import com.ruoyi.device.domain.api.IDeviceAirTypeGeneralEnumDomain;
+import com.ruoyi.device.domain.convert.DeviceAirTypeGeneralEnumConvert;
+import com.ruoyi.device.domain.model.DeviceAirTypeGeneralEnum;
+import com.ruoyi.device.mapper.DeviceAirTypeGeneralEnumMapper;
+import com.ruoyi.device.mapper.entity.DeviceAirTypeGeneralEnumEntity;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.stereotype.Repository;
+
+import java.util.List;
+
+/**
+ * 无人机类型通用枚举Domain实现类
+ *
+ * @author ruoyi
+ * @date 2026-01-28
+ */
+@Repository
+public class DeviceAirTypeGeneralEnumDomainImpl implements IDeviceAirTypeGeneralEnumDomain
+{
+    @Autowired
+    private DeviceAirTypeGeneralEnumMapper airTypeGeneralEnumMapper;
+
+    @Override
+    public List<DeviceAirTypeGeneralEnum> selectAirTypeGeneralEnumList(DeviceAirTypeGeneralEnum airTypeGeneralEnum)
+    {
+        DeviceAirTypeGeneralEnumEntity entity = DeviceAirTypeGeneralEnumConvert.from(airTypeGeneralEnum);
+        List<DeviceAirTypeGeneralEnumEntity> entityList = airTypeGeneralEnumMapper.selectAirTypeGeneralEnumList(entity);
+        return DeviceAirTypeGeneralEnumConvert.toList(entityList);
+    }
+
+    @Override
+    public DeviceAirTypeGeneralEnum selectAirTypeGeneralEnumById(Long id)
+    {
+        DeviceAirTypeGeneralEnumEntity entity = airTypeGeneralEnumMapper.selectAirTypeGeneralEnumById(id);
+        return DeviceAirTypeGeneralEnumConvert.to(entity);
+    }
+
+    @Override
+    public int insertAirTypeGeneralEnum(DeviceAirTypeGeneralEnum airTypeGeneralEnum)
+    {
+        DeviceAirTypeGeneralEnumEntity entity = DeviceAirTypeGeneralEnumConvert.from(airTypeGeneralEnum);
+        return airTypeGeneralEnumMapper.insertAirTypeGeneralEnum(entity);
+    }
+
+    @Override
+    public int updateAirTypeGeneralEnum(DeviceAirTypeGeneralEnum airTypeGeneralEnum)
+    {
+        DeviceAirTypeGeneralEnumEntity entity = DeviceAirTypeGeneralEnumConvert.from(airTypeGeneralEnum);
+        return airTypeGeneralEnumMapper.updateAirTypeGeneralEnum(entity);
+    }
+
+    @Override
+    public int deleteAirTypeGeneralEnumById(Long id)
+    {
+        return airTypeGeneralEnumMapper.deleteAirTypeGeneralEnumById(id);
+    }
+
+    @Override
+    public int deleteAirTypeGeneralEnumByIds(Long[] ids)
+    {
+        return airTypeGeneralEnumMapper.deleteAirTypeGeneralEnumByIds(ids);
+    }
+}

src/main/java/com/ruoyi/device/domain/impl/DeviceDomainImpl.java

@@ -1,10 +1,15 @@
 package com.ruoyi.device.domain.impl;
 
+import com.ruoyi.device.config.DeviceCacheConfig;
 import com.ruoyi.device.domain.api.IDeviceDomain;
 import com.ruoyi.device.domain.convert.DeviceConvert;
 import com.ruoyi.device.domain.model.Device;
 import com.ruoyi.device.mapper.DeviceMapper;
 import com.ruoyi.device.mapper.entity.DeviceEntity;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.cache.annotation.CacheEvict;
+import org.springframework.cache.annotation.Cacheable;
+import org.springframework.cache.annotation.Caching;
 import org.springframework.stereotype.Component;
 
 import java.util.List;
@@ -15,6 +20,7 @@ import java.util.List;
  * @author ruoyi
  * @date 2026-01-16
  */
+@Slf4j
 @Component
 public class DeviceDomainImpl implements IDeviceDomain
 {
@@ -34,6 +40,7 @@ public class DeviceDomainImpl implements IDeviceDomain
     }
 
     @Override
+    @Cacheable(value = DeviceCacheConfig.DEVICE_CACHE, key = "'id:' + #deviceId", unless = "#result == null")
     public Device selectDeviceByDeviceId(Long deviceId)
     {
         DeviceEntity entity = deviceMapper.selectDeviceByDeviceId(deviceId);
@@ -41,6 +48,7 @@ public class DeviceDomainImpl implements IDeviceDomain
     }
 
     @Override
+    @Cacheable(value = DeviceCacheConfig.DEVICE_CACHE, key = "'iotId:' + #iotDeviceId", unless = "#result == null")
     public Device selectDeviceByIotDeviceId(String iotDeviceId)
     {
         DeviceEntity entity = deviceMapper.selectDeviceByIotDeviceId(iotDeviceId);
@@ -48,6 +56,18 @@ public class DeviceDomainImpl implements IDeviceDomain
     }
 
     @Override
+    @Cacheable(value = DeviceCacheConfig.DEVICE_CACHE, key = "'sn:' + #deviceSn", unless = "#result == null")
+    public Device selectDeviceByDeviceSn(String deviceSn)
+    {
+        log.info("查询设备 by device_sn: {}", deviceSn);
+        DeviceEntity entity = deviceMapper.selectDeviceByDeviceSn(deviceSn);
+        Device result = DeviceConvert.from(entity);
+        log.info("查询设备结果: device_sn={}, result={}", deviceSn, result != null ? result.getDeviceId() : "null");
+        return result;
+    }
+
+    @Override
+    @CacheEvict(value = DeviceCacheConfig.DEVICE_CACHE, allEntries = true)
     public int insertDevice(Device device)
     {
         DeviceEntity entity = DeviceConvert.to(device);
@@ -58,6 +78,11 @@ public class DeviceDomainImpl implements IDeviceDomain
     }
 
     @Override
+    @Caching(evict = {
+        @CacheEvict(value = DeviceCacheConfig.DEVICE_CACHE, key = "'id:' + #device.deviceId"),
+        @CacheEvict(value = DeviceCacheConfig.DEVICE_CACHE, key = "'iotId:' + #device.iotDeviceId"),
+        @CacheEvict(value = DeviceCacheConfig.DEVICE_CACHE, key = "'sn:' + #device.deviceSn")
+    })
     public int updateDevice(Device device)
     {
         DeviceEntity entity = DeviceConvert.to(device);
@@ -65,12 +90,14 @@ public class DeviceDomainImpl implements IDeviceDomain
     }
 
     @Override
+    @CacheEvict(value = DeviceCacheConfig.DEVICE_CACHE, allEntries = true)
     public int deleteDeviceByDeviceId(Long deviceId)
     {
         return deviceMapper.deleteDeviceByDeviceId(deviceId);
     }
 
     @Override
+    @CacheEvict(value = DeviceCacheConfig.DEVICE_CACHE, allEntries = true)
     public int deleteDeviceByDeviceIds(Long[] deviceIds)
     {
         return deviceMapper.deleteDeviceByDeviceIds(deviceIds);

src/main/java/com/ruoyi/device/domain/impl/DockAircraftDomainImpl.java

@@ -1,10 +1,14 @@
 package com.ruoyi.device.domain.impl;
 
+import com.ruoyi.device.config.DeviceCacheConfig;
 import com.ruoyi.device.domain.api.IDockAircraftDomain;
 import com.ruoyi.device.domain.convert.DockAircraftConvert;
 import com.ruoyi.device.domain.model.DockAircraft;
 import com.ruoyi.device.mapper.DockAircraftMapper;
 import com.ruoyi.device.mapper.entity.DockAircraftEntity;
+import org.springframework.cache.annotation.CacheEvict;
+import org.springframework.cache.annotation.Cacheable;
+import org.springframework.cache.annotation.Caching;
 import org.springframework.stereotype.Component;
 
 import java.util.List;
@@ -34,6 +38,7 @@ public class DockAircraftDomainImpl implements IDockAircraftDomain
     }
 
     @Override
+    @Cacheable(value = DeviceCacheConfig.DOCK_AIRCRAFT_CACHE, key = "'id:' + #id", unless = "#result == null")
     public DockAircraft selectDockAircraftById(Long id)
     {
         DockAircraftEntity entity = dockAircraftMapper.selectDockAircraftById(id);
@@ -41,6 +46,7 @@ public class DockAircraftDomainImpl implements IDockAircraftDomain
     }
 
     @Override
+    @Cacheable(value = DeviceCacheConfig.DOCK_AIRCRAFT_CACHE, key = "'dockId:' + #dockId", unless = "#result == null")
     public List<DockAircraft> selectDockAircraftByDockId(Long dockId)
     {
         List<DockAircraftEntity> entityList = dockAircraftMapper.selectDockAircraftListByDockId(dockId);
@@ -48,6 +54,7 @@ public class DockAircraftDomainImpl implements IDockAircraftDomain
     }
 
     @Override
+    @Cacheable(value = DeviceCacheConfig.DOCK_AIRCRAFT_CACHE, key = "'aircraftId:' + #aircraftId", unless = "#result == null")
     public List<DockAircraft> selectDockAircraftByAircraftId(Long aircraftId)
     {
         List<DockAircraftEntity> entityList = dockAircraftMapper.selectDockAircraftListByAircraftId(aircraftId);
@@ -55,6 +62,7 @@ public class DockAircraftDomainImpl implements IDockAircraftDomain
     }
 
     @Override
+    @CacheEvict(value = DeviceCacheConfig.DOCK_AIRCRAFT_CACHE, allEntries = true)
     public int insertDockAircraft(DockAircraft dockAircraft)
     {
         DockAircraftEntity entity = DockAircraftConvert.to(dockAircraft);
@@ -65,6 +73,11 @@ public class DockAircraftDomainImpl implements IDockAircraftDomain
     }
 
     @Override
+    @Caching(evict = {
+        @CacheEvict(value = DeviceCacheConfig.DOCK_AIRCRAFT_CACHE, key = "'id:' + #dockAircraft.id"),
+        @CacheEvict(value = DeviceCacheConfig.DOCK_AIRCRAFT_CACHE, key = "'dockId:' + #dockAircraft.dockId"),
+        @CacheEvict(value = DeviceCacheConfig.DOCK_AIRCRAFT_CACHE, key = "'aircraftId:' + #dockAircraft.aircraftId")
+    })
     public int updateDockAircraft(DockAircraft dockAircraft)
     {
         DockAircraftEntity entity = DockAircraftConvert.to(dockAircraft);
@@ -72,12 +85,14 @@ public class DockAircraftDomainImpl implements IDockAircraftDomain
     }
 
     @Override
+    @CacheEvict(value = DeviceCacheConfig.DOCK_AIRCRAFT_CACHE, allEntries = true)
     public int deleteDockAircraftById(Long id)
     {
         return dockAircraftMapper.deleteDockAircraftById(id);
     }
 
     @Override
+    @CacheEvict(value = DeviceCacheConfig.DOCK_AIRCRAFT_CACHE, allEntries = true)
     public int deleteDockAircraftByIds(Long[] ids)
     {
         return dockAircraftMapper.deleteDockAircraftByIds(ids);

src/main/java/com/ruoyi/device/domain/impl/DockDomainImpl.java

@@ -1,10 +1,14 @@
 package com.ruoyi.device.domain.impl;
 
+import com.ruoyi.device.config.DeviceCacheConfig;
 import com.ruoyi.device.domain.api.IDockDomain;
 import com.ruoyi.device.domain.convert.DockConvert;
 import com.ruoyi.device.domain.model.Dock;
 import com.ruoyi.device.mapper.DockMapper;
 import com.ruoyi.device.mapper.entity.DockEntity;
+import org.springframework.cache.annotation.CacheEvict;
+import org.springframework.cache.annotation.Cacheable;
+import org.springframework.cache.annotation.Caching;
 import org.springframework.stereotype.Component;
 
 import java.util.List;
@@ -34,6 +38,7 @@ public class DockDomainImpl implements IDockDomain
     }
 
     @Override
+    @Cacheable(value = DeviceCacheConfig.DOCK_CACHE, key = "'id:' + #dockId", unless = "#result == null")
     public Dock selectDockByDockId(Long dockId)
     {
         DockEntity entity = dockMapper.selectDockByDockId(dockId);
@@ -41,6 +46,7 @@ public class DockDomainImpl implements IDockDomain
     }
 
     @Override
+    @Cacheable(value = DeviceCacheConfig.DOCK_CACHE, key = "'deviceId:' + #deviceId", unless = "#result == null")
     public Dock selectDockByDeviceId(Long deviceId)
     {
         DockEntity entity = dockMapper.selectDockByDeviceId(deviceId);
@@ -48,6 +54,7 @@ public class DockDomainImpl implements IDockDomain
     }
 
     @Override
+    @CacheEvict(value = DeviceCacheConfig.DOCK_CACHE, allEntries = true)
     public int insertDock(Dock dock)
     {
         DockEntity entity = DockConvert.to(dock);
@@ -58,6 +65,10 @@ public class DockDomainImpl implements IDockDomain
     }
 
     @Override
+    @Caching(evict = {
+        @CacheEvict(value = DeviceCacheConfig.DOCK_CACHE, key = "'id:' + #dock.dockId"),
+        @CacheEvict(value = DeviceCacheConfig.DOCK_CACHE, key = "'deviceId:' + #dock.deviceId")
+    })
     public int updateDock(Dock dock)
     {
         DockEntity entity = DockConvert.to(dock);
@@ -65,12 +76,14 @@ public class DockDomainImpl implements IDockDomain
     }
 
     @Override
+    @CacheEvict(value = DeviceCacheConfig.DOCK_CACHE, allEntries = true)
     public int deleteDockByDockId(Long dockId)
     {
         return dockMapper.deleteDockByDockId(dockId);
     }
 
     @Override
+    @CacheEvict(value = DeviceCacheConfig.DOCK_CACHE, allEntries = true)
     public int deleteDockByDockIds(Long[] dockIds)
     {
         return dockMapper.deleteDockByDockIds(dockIds);

src/main/java/com/ruoyi/device/domain/impl/GroupDomainImpl.java

@@ -68,4 +68,11 @@ public class GroupDomainImpl implements IGroupDomain
     {
         return groupMapper.deleteGroupByGroupIds(groupIds);
     }
+
+    @Override
+    public Group selectGroupByGroupName(String groupName)
+    {
+        GroupEntity entity = groupMapper.selectGroupByGroupName(groupName);
+        return GroupConvert.from(entity);
+    }
 }

src/main/java/com/ruoyi/device/domain/impl/PayloadDomainImpl.java

@@ -1,10 +1,13 @@
 package com.ruoyi.device.domain.impl;
 
+import com.ruoyi.device.config.DeviceCacheConfig;
 import com.ruoyi.device.domain.api.IPayloadDomain;
 import com.ruoyi.device.domain.convert.PayloadConvert;
 import com.ruoyi.device.domain.model.Payload;
 import com.ruoyi.device.mapper.PayloadMapper;
 import com.ruoyi.device.mapper.entity.PayloadEntity;
+import org.springframework.cache.annotation.CacheEvict;
+import org.springframework.cache.annotation.Cacheable;
 import org.springframework.stereotype.Component;
 
 import java.util.List;
@@ -34,6 +37,7 @@ public class PayloadDomainImpl implements IPayloadDomain
     }
 
     @Override
+    @Cacheable(value = DeviceCacheConfig.PAYLOAD_CACHE, key = "'id:' + #payloadId", unless = "#result == null")
     public Payload selectPayloadByPayloadId(Long payloadId)
     {
         PayloadEntity entity = payloadMapper.selectPayloadByPayloadId(payloadId);
@@ -41,6 +45,7 @@ public class PayloadDomainImpl implements IPayloadDomain
     }
 
     @Override
+    @CacheEvict(value = DeviceCacheConfig.PAYLOAD_CACHE, allEntries = true)
     public int insertPayload(Payload payload)
     {
         PayloadEntity entity = PayloadConvert.to(payload);
@@ -51,6 +56,7 @@ public class PayloadDomainImpl implements IPayloadDomain
     }
 
     @Override
+    @CacheEvict(value = DeviceCacheConfig.PAYLOAD_CACHE, key = "'id:' + #payload.payloadId")
     public int updatePayload(Payload payload)
     {
         PayloadEntity entity = PayloadConvert.to(payload);
@@ -58,12 +64,14 @@ public class PayloadDomainImpl implements IPayloadDomain
     }
 
     @Override
+    @CacheEvict(value = DeviceCacheConfig.PAYLOAD_CACHE, allEntries = true)
     public int deletePayloadByPayloadId(Long payloadId)
     {
         return payloadMapper.deletePayloadByPayloadId(payloadId);
     }
 
     @Override
+    @CacheEvict(value = DeviceCacheConfig.PAYLOAD_CACHE, allEntries = true)
     public int deletePayloadByPayloadIds(Long[] payloadIds)
     {
         return payloadMapper.deletePayloadByPayloadIds(payloadIds);

src/main/java/com/ruoyi/device/domain/impl/ThingsBoardDomainImpl.java

@@ -1,13 +1,18 @@
 package com.ruoyi.device.domain.impl;
 
 
+import com.ruoyi.device.config.DeviceCacheConfig;
 import com.ruoyi.device.domain.api.IThingsBoardDomain;
 import com.ruoyi.device.domain.model.thingsboard.*;
 import com.ruoyi.device.domain.model.thingsboard.constants.DeviceAttributes;
 import com.ruoyi.device.domain.model.thingsboard.constants.DeviceTelemetry;
+import com.ruoyi.device.domain.model.thingsboard.tuoheng.constants.TuohengDeviceAttributes;
+import com.ruoyi.device.domain.model.thingsboard.tuoheng.constants.TuohengDeviceTelemetry;
 import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;
 import org.springframework.beans.factory.annotation.Value;
+import org.springframework.cache.annotation.CacheEvict;
+import org.springframework.cache.annotation.Cacheable;
 import org.springframework.scheduling.annotation.Scheduled;
 import org.springframework.stereotype.Component;
 import org.thingsboard.rest.client.RestClient;
@@ -87,27 +92,25 @@ public class ThingsBoardDomainImpl implements IThingsBoardDomain {
     }
 
     @Override
+    @Cacheable(value = DeviceCacheConfig.THINGSBOARD_ATTRIBUTES_CACHE, key = "#deviceId", unless = "#result == null || #result.isEmpty()")
     public AttributeMap getDeviceAttributes(String deviceId) {
         AttributeMap attributeMap = new AttributeMap();
 
         try {
-            DeviceId id = new DeviceId(UUID.fromString(deviceId));
+            DeviceId deviceIdObj = new DeviceId(UUID.fromString(deviceId));
 
-            // 获取所有属性键
+            List<String> attributeKeys = client.getAttributeKeys(deviceIdObj);
-            List<String> attributeKeys = client.getAttributeKeys(id);
             if (attributeKeys == null || attributeKeys.isEmpty()) {
                 log.debug("设备 {} 没有属性", deviceId);
                 return attributeMap;
             }
 
-            // 获取属性值
+            List<AttributeKvEntry> attributeKvEntries = client.getAttributeKvEntries(deviceIdObj, attributeKeys);
-            List<AttributeKvEntry> attributeKvEntries = client.getAttributeKvEntries(id, attributeKeys);
             if (attributeKvEntries == null || attributeKvEntries.isEmpty()) {
                 log.debug("设备 {} 的属性值为空", deviceId);
                 return attributeMap;
             }
 
-            // 解析并填充到AttributeMap
             for (AttributeKvEntry entry : attributeKvEntries) {
                 parseAndPutAttribute(attributeMap, entry);
             }
@@ -120,27 +123,25 @@ public class ThingsBoardDomainImpl implements IThingsBoardDomain {
     }
 
     @Override
+    @Cacheable(value = DeviceCacheConfig.THINGSBOARD_TELEMETRY_CACHE, key = "#deviceId", unless = "#result == null || #result.isEmpty()")
     public TelemetryMap getDeviceTelemetry(String deviceId) {
         TelemetryMap telemetryMap = new TelemetryMap();
 
         try {
-            DeviceId id = new DeviceId(UUID.fromString(deviceId));
+            DeviceId deviceIdObj = new DeviceId(UUID.fromString(deviceId));
 
-            // 获取所有遥测键
+            List<String> timeseriesKeys = client.getTimeseriesKeys(deviceIdObj);
-            List<String> timeseriesKeys = client.getTimeseriesKeys(id);
             if (timeseriesKeys == null || timeseriesKeys.isEmpty()) {
                 log.debug("设备 {} 没有遥测数据", deviceId);
                 return telemetryMap;
             }
 
-            // 获取最新的遥测数据
+            List<TsKvEntry> latestTimeseries = client.getLatestTimeseries(deviceIdObj, timeseriesKeys);
-            List<TsKvEntry> latestTimeseries = client.getLatestTimeseries(id, timeseriesKeys);
             if (latestTimeseries == null || latestTimeseries.isEmpty()) {
                 log.debug("设备 {} 的遥测数据为空", deviceId);
                 return telemetryMap;
             }
 
-            // 解析并填充到TelemetryMap
             for (TsKvEntry entry : latestTimeseries) {
                 parseAndPutTelemetry(telemetryMap, entry);
             }
@@ -330,5 +331,179 @@ public class ThingsBoardDomainImpl implements IThingsBoardDomain {
         }
     }
 
+    @Override
+    @CacheEvict(value = DeviceCacheConfig.THINGSBOARD_ATTRIBUTES_CACHE, key = "#deviceId")
+    public void evictDeviceAttributesCache(String deviceId) {
+        // 空实现，仅用于清除缓存
+    }
 
+    @Override
+    @CacheEvict(value = DeviceCacheConfig.THINGSBOARD_TELEMETRY_CACHE, key = "#deviceId")
+    public void evictDeviceTelemetryCache(String deviceId) {
+        // 空实现，仅用于清除缓存
+    }
+
+    @Override
+    @Cacheable(value = DeviceCacheConfig.THINGSBOARD_ATTRIBUTES_CACHE, key = "#deviceId", unless = "#result == null || #result.isEmpty()")
+    public AttributeMap getTuohengDeviceAttributes(String deviceId) {
+        AttributeMap attributeMap = new AttributeMap();
+
+        try {
+            DeviceId deviceIdObj = new DeviceId(UUID.fromString(deviceId));
+
+            List<String> attributeKeys = client.getAttributeKeys(deviceIdObj);
+            if (attributeKeys == null || attributeKeys.isEmpty()) {
+                log.debug("拓恒设备 {} 没有属性", deviceId);
+                return attributeMap;
+            }
+
+            List<AttributeKvEntry> attributeKvEntries = client.getAttributeKvEntries(deviceIdObj, attributeKeys);
+            if (attributeKvEntries == null || attributeKvEntries.isEmpty()) {
+                log.debug("拓恒设备 {} 的属性值为空", deviceId);
+                return attributeMap;
+            }
+
+            for (AttributeKvEntry entry : attributeKvEntries) {
+                parseAndPutAttribute(attributeMap, entry);
+            }
+
+        } catch (Exception e) {
+            log.error("获取拓恒设备属性失败: deviceId={}, error={}", deviceId, e.getMessage(), e);
+        }
+
+        return attributeMap;
+    }
+
+    @Override
+    @Cacheable(value = DeviceCacheConfig.THINGSBOARD_TELEMETRY_CACHE, key = "#deviceId", unless = "#result == null || #result.isEmpty()")
+    public TelemetryMap getTuohengDeviceTelemetry(String deviceId) {
+        TelemetryMap telemetryMap = new TelemetryMap();
+
+        try {
+            DeviceId deviceIdObj = new DeviceId(UUID.fromString(deviceId));
+
+            List<String> timeseriesKeys = client.getTimeseriesKeys(deviceIdObj);
+            if (timeseriesKeys == null || timeseriesKeys.isEmpty()) {
+                log.debug("拓恒设备 {} 没有遥测数据", deviceId);
+                return telemetryMap;
+            }
+
+            List<TsKvEntry> latestTimeseries = client.getLatestTimeseries(deviceIdObj, timeseriesKeys);
+            if (latestTimeseries == null || latestTimeseries.isEmpty()) {
+                log.debug("拓恒设备 {} 的遥测数据为空", deviceId);
+                return telemetryMap;
+            }
+
+            for (TsKvEntry entry : latestTimeseries) {
+                parseAndPutTelemetry(telemetryMap, entry);
+            }
+
+        } catch (Exception e) {
+            log.error("获取拓恒设备遥测数据失败: deviceId={}, error={}", deviceId, e.getMessage(), e);
+        }
+
+        return telemetryMap;
+    }
+
+    @Override
+    public AttributeMap getPredefinedTuohengDeviceAttributes(String deviceId) {
+        // 先获取所有属性（已经处理了异常情况）
+        AttributeMap allAttributes = getTuohengDeviceAttributes(deviceId);
+
+        // 创建新的 AttributeMap 只包含预定义的键
+        AttributeMap predefinedAttributes = new AttributeMap();
+
+        // 获取预定义的键名称集合
+        List<String> predefinedKeyNames = TuohengDeviceAttributes.getPredefinedKeys()
+                .stream()
+                .map(AttributeKey::getName)
+                .toList();
+
+        // 过滤：只保留预定义的键
+        for (AttributeKey<?> key : allAttributes.keySet()) {
+            if (predefinedKeyNames.contains(key.getName())) {
+                // 复制到新的 map
+                allAttributes.get(key).ifPresent(value -> {
+                    @SuppressWarnings("unchecked")
+                    AttributeKey<Object> objKey = (AttributeKey<Object>) key;
+                    predefinedAttributes.put(objKey, value);
+                });
+            }
+        }
+
+        return predefinedAttributes;
+    }
+
+    @Override
+    public TelemetryMap getPredefinedTuohengDeviceTelemetry(String deviceId) {
+        // 先获取所有遥测数据（已经处理了 null 值问题）
+        TelemetryMap allTelemetry = getTuohengDeviceTelemetry(deviceId);
+
+        // 创建新的 TelemetryMap 只包含预定义的键
+        TelemetryMap predefinedTelemetry = new TelemetryMap();
+
+        // 获取预定义的键名称集合
+        List<String> predefinedKeyNames = TuohengDeviceTelemetry.getPredefinedKeys()
+                .stream()
+                .map(TelemetryKey::getName)
+                .toList();
+
+        // 过滤：只保留预定义的键
+        for (TelemetryKey<?> key : allTelemetry.keySet()) {
+            if (predefinedKeyNames.contains(key.getName())) {
+                // 复制到新的 map
+                allTelemetry.get(key).ifPresent(telemetryValue -> {
+                    @SuppressWarnings("unchecked")
+                    TelemetryKey<Object> objKey = (TelemetryKey<Object>) key;
+                    predefinedTelemetry.put(objKey, telemetryValue.getValue(), telemetryValue.getTimestamp());
+                });
+            }
+        }
+
+        return predefinedTelemetry;
+    }
+
+    @Override
+    @CacheEvict(value = DeviceCacheConfig.THINGSBOARD_ATTRIBUTES_CACHE,
+                allEntries = false,
+                key = "#deviceId")
+    public boolean setDeviceAttribute(String deviceId, String key, Object value) {
+        try {
+            log.info("设置设备属性: deviceId={}, key={}, value={}", deviceId, key, value);
+
+            // 将 deviceId 字符串转换为 DeviceId 对象
+            DeviceId deviceIdObj = new DeviceId(UUID.fromString(deviceId));
+
+            // 构建 JsonNode 对象
+            com.fasterxml.jackson.databind.ObjectMapper mapper = new com.fasterxml.jackson.databind.ObjectMapper();
+            com.fasterxml.jackson.databind.node.ObjectNode jsonNode = mapper.createObjectNode();
+
+            // 根据值的类型设置到 JsonNode
+            if (value instanceof String) {
+                jsonNode.put(key, (String) value);
+            } else if (value instanceof Integer) {
+                jsonNode.put(key, (Integer) value);
+            } else if (value instanceof Long) {
+                jsonNode.put(key, (Long) value);
+            } else if (value instanceof Double) {
+                jsonNode.put(key, (Double) value);
+            } else if (value instanceof Boolean) {
+                jsonNode.put(key, (Boolean) value);
+            } else {
+                jsonNode.put(key, value.toString());
+            }
+
+            // 调用 ThingsBoard REST API 保存属性
+            // saveDeviceAttributes 方法会将属性保存到 SERVER_SCOPE
+            client.saveDeviceAttributes(deviceIdObj, "SERVER_SCOPE", jsonNode);
+
+            log.info("设备属性设置成功: deviceId={}, key={}", deviceId, key);
+
+            return true;
+        } catch (Exception e) {
+            log.error("设置设备属性失败: deviceId=, key={}, error={}",
+                deviceId, key, e.getMessage(), e);
+            return false;
+        }
+    }
 }

src/main/java/com/ruoyi/device/domain/impl/WeatherDomainImpl.java

@@ -0,0 +1,209 @@
+package com.ruoyi.device.domain.impl;
+
+import com.alibaba.fastjson2.JSON;
+import com.ruoyi.device.config.DeviceCacheConfig;
+import com.ruoyi.device.domain.api.IWeatherDomain;
+import com.ruoyi.device.domain.impl.weather.HttpUtils;
+import com.ruoyi.device.domain.model.weather.Weather;
+import com.ruoyi.device.domain.model.weather.WeatherResponse;
+import com.ruoyi.device.domain.config.WeatherProperties;
+import lombok.extern.slf4j.Slf4j;
+import org.apache.http.HttpResponse;
+import org.apache.http.util.EntityUtils;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.cache.annotation.Cacheable;
+import org.springframework.stereotype.Component;
+
+import java.util.HashMap;
+import java.util.Map;
+
+@Component
+@Slf4j
+public class WeatherDomainImpl implements IWeatherDomain {
+
+    @Autowired
+    private WeatherProperties weatherProperties;
+
+    @Override
+    @Cacheable(value = DeviceCacheConfig.WEATHER_CACHE, key = "#dockerDeviceIotId", unless = "#result == null")
+    public Weather weatherInfo(String lat, String lon, String dockerDeviceIotId) {
+        log.info("开始获取天气信息 - lat: {}, lon: {}", lat, lon);
+
+        String host = weatherProperties.getHost();
+        String path = weatherProperties.getPath();
+        String method = "POST";
+        Map<String, String> headers = new HashMap<>();
+        headers.put("Authorization", "APPCODE " + weatherProperties.getAppcode());
+        headers.put("Content-Type", "application/x-www-form-urlencoded; charset=UTF-8");
+        Map<String, String> querys = new HashMap<>();
+        Map<String, String> bodys = new HashMap<>();
+        bodys.put("lat", lat);
+        bodys.put("lon", lon);
+        bodys.put("token", weatherProperties.getToken());
+
+        log.info("天气API配置 - host: {}, path: {}, token: {}", host, path, weatherProperties.getToken());
+
+        Weather weather = new Weather();
+        try {
+            HttpResponse response = HttpUtils.doPost(host, path, method, headers, querys, bodys);
+            String json = EntityUtils.toString(response.getEntity());
+            log.info("天气API原始响应 - json: {}", json);
+
+            WeatherResponse weatherResponse = JSON.parseObject(json, WeatherResponse.class);
+            log.info("天气API解析结果 - weatherResponse: {}, code: {}",
+                    weatherResponse != null ? "not null" : "null",
+                    weatherResponse != null ? weatherResponse.getCode() : "N/A");
+
+            if (weatherResponse != null && weatherResponse.getCode() == 0) {
+                String windLevel = weatherResponse.getData().getCondition().getWindLevel();
+                weather.setWindSpeed(convertWindLevelToSpeed(windLevel));
+                weather.setEnvironmentTemperature(Double.valueOf(weatherResponse.getData().getCondition().getTemp()));
+                weather.setEnvironmentHumidity(Double.valueOf(weatherResponse.getData().getCondition().getHumidity()));
+                String conditionId = weatherResponse.getData().getCondition().getConditionId();
+                weather.setRainfall(convertConditionIdToRainfall(conditionId));
+                log.info("天气数据解析成功 - windSpeed: {}, temp: {}, humidity: {}, rainfall: {}",
+                        weather.getWindSpeed(), weather.getEnvironmentTemperature(),
+                        weather.getEnvironmentHumidity(), weather.getRainfall());
+            } else {
+                log.warn("天气API返回异常 - weatherResponse: {}, code: {}",
+                        JSON.toJSONString(weatherResponse),
+                        weatherResponse != null ? weatherResponse.getCode() : "null");
+            }
+            log.info("lat {} log {} weather {}", lat, lon, JSON.toJSONString(weather));
+            return weather;
+
+        } catch (Exception e) {
+            log.error("获取天气信息异常 - lat: {}, lon: {}", lat, lon, e);
+            return null;
+        }
+    }
+
+    /**
+     * 根据天气状况ID转换为降雨量等级
+     * @param conditionId 天气状况ID
+     * @return 降雨量等级：0-无雨，1-小雨/小雪，2-中雨/中雪，3-大雨/大雪
+     */
+    private static Double convertConditionIdToRainfall(String conditionId) {
+        if (conditionId == null || conditionId.isEmpty()) {
+            return 0.0; // 默认无雨
+        }
+
+        try {
+            int id = Integer.parseInt(conditionId);
+
+            // 小雨相关：阵雨、小阵雨、局部阵雨、小雨、小雨夹雪、小到中雨
+            if (id == 15 || id == 16 || id == 17 || id == 18 || id == 19 ||
+                id == 20 || id == 21 || id == 22 ||
+                id == 51 || id == 52 || id == 66 ||
+                id == 86 || id == 91) {
+                return 1.0; // 小雨
+            }
+
+            // 小雪相关：阵雪、小阵雪、小雪、小到中雪
+            if (id == 24 || id == 25 ||
+                id == 58 || id == 59 || id == 71 || id == 72 || id == 73 ||
+                id == 94) {
+                return 1.0; // 小雪
+            }
+
+            // 中雨相关：中雨、中到大雨
+            if (id == 53 || id == 67 || id == 92) {
+                return 2.0; // 中雨
+            }
+
+            // 中雪相关：中雪
+            if (id == 60 || id == 61) {
+                return 2.0; // 中雪
+            }
+
+            // 大雨相关：强阵雨、大雨、暴雨、大暴雨、特大暴雨、大到暴雨
+            if (id == 23 || id == 54 || id == 55 || id == 56 || id == 57 ||
+                id == 68 || id == 69 || id == 70 || id == 93) {
+                return 3.0; // 大雨
+            }
+
+            // 大雪相关：大雪、暴雪
+            if (id == 62 || id == 63 || id == 74 || id == 75 || id == 76) {
+                return 3.0; // 大雪
+            }
+
+            // 雷雨相关：雷阵雨、雷电、雷暴、雷阵雨伴有冰雹
+            if (id == 37 || id == 38 || id == 39 || id == 40 || id == 41 ||
+                id == 42 || id == 43 || id == 44 || id == 45 ||
+                id == 87 || id == 88 || id == 89 || id == 90 || id == 599) {
+                return 1.0; // 雷阵雨按小雨处理
+            }
+
+            // 雨夹雪、冻雨
+            if (id == 49 || id == 50 || id == 64 || id == 65) {
+                return 1.0; // 雨夹雪按小雨处理
+            }
+
+            // 冰雹、冰针、冰粒
+            if (id == 46 || id == 47 || id == 48) {
+                return 1.0; // 冰雹按小雨处理
+            }
+
+            // 雨（通用）、雪（通用）
+            if (id == 78 || id == 77) {
+                return 1.0; // 通用雨/雪按小雨处理
+            }
+
+            // 其他情况（晴天、多云、阴天、雾、霾、沙尘等）
+            return 0.0; // 无雨
+
+        } catch (NumberFormatException e) {
+            return 0.0; // 解析失败，默认无雨
+        }
+    }
+
+    /**
+     * 根据风力等级转换为风速中间值（单位：m/s）
+     * @param windLevel 风力等级
+     * @return 风速中间值
+     */
+    private static Double convertWindLevelToSpeed(String windLevel) {
+        if (windLevel == null || windLevel.isEmpty()) {
+            return 0.1; // 默认无风的中间值
+        }
+
+        try {
+            int level = Integer.parseInt(windLevel);
+
+            switch (level) {
+                case 0:  // 0-0.2 m/s
+                    return 0.1;
+                case 1:  // 0.3-1.5 m/s
+                    return 0.9;
+                case 2:  // 1.6-3.3 m/s
+                    return 2.45;
+                case 3:  // 3.4-5.4 m/s
+                    return 4.4;
+                case 4:  // 5.5-7.9 m/s
+                    return 6.7;
+                case 5:  // 8-10.7 m/s
+                    return 9.35;
+                case 6:  // 10.8-13.8 m/s
+                    return 12.3;
+                case 7:  // 13.9-17.1 m/s
+                    return 15.5;
+                case 8:  // 17.2-20.7 m/s
+                    return 18.95;
+                case 9:  // 20.8-24.4 m/s
+                    return 22.6;
+                case 10: // 24.5-28.4 m/s
+                    return 26.45;
+                case 11: // 28.5-32.6 m/s
+                    return 30.55;
+                case 12: // 32.6-999.9 m/s (飓风)
+                    return 516.25; // (32.6 + 999.9) / 2
+                default:
+                    return 0.1; // 未知等级，默认无风
+            }
+
+        } catch (NumberFormatException e) {
+            return 0.1; // 解析失败，默认无风
+        }
+    }
+
+}

src/main/java/com/ruoyi/device/domain/impl/djimqtt/README.md

@@ -0,0 +1,211 @@
+# 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。
+
+## 设备分类
+
+| SN 前缀 | 设备类型 |
+|---------|---------|
+| `7C` 开头 | 大疆设备 |
+| `158` 开头 | 大疆设备 |
+
+**注意：本模块只处理大疆设备（7C、158开头），会自动过滤拓恒设备（TH开头，包括THJS）。**
+
+## 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<String> 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。

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);
+}

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);
+}

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";
+}

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());
+//    }
+}

src/main/java/com/ruoyi/device/domain/impl/djimqtt/handler/DjiMqttMessageHandler.java

@@ -0,0 +1,243 @@
+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
+ * 订阅 thing/product/+ 格式的topic
+ * 只处理大疆设备：7C、158 开头的SN
+ * 过滤拓恒设备：TH 开头的SN（包括THJS）
+ *
+ * @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<IDroneDataCallback> droneDataCallbacks = new ArrayList<>();
+
+    /**
+     * 机场数据回调列表
+     */
+    private final List<IDockDataCallback> dockDataCallbacks = new ArrayList<>();
+
+    /**
+     * 无人机SN正则表达式（只匹配大疆7C、158开头的SN）
+     * 示例：7CXXXXXXXXXX, 158XXXXXXXXXX
+     */
+    private static final Pattern DRONE_SN_PATTERN = Pattern.compile("^(7C|158)[0-9A-Z]+");
+
+    /**
+     * 机场SN正则表达式（只匹配大疆7C、158开头的SN）
+     * 示例：7CXXXXXXXXXX, 158XXXXXXXXXX
+     */
+    private static final Pattern DOCK_SN_PATTERN = Pattern.compile("^(7C|158)[0-9A-Z]+");
+
+    /**
+     * 拓恒设备SN前缀（需要过滤）
+     * TH开头的设备是拓恒设备，需要跳过
+     */
+    private static final Pattern TUOHENG_SN_PATTERN = Pattern.compile("^TH[0-9A-Z]+");
+
+    /**
+     * 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;
+            }
+
+            if (isTuohengSn(deviceSn)) {
+                log.debug("跳过拓恒设备消息 - SN: {}", deviceSn);
+                return;
+            }
+
+            // 解析JSON消息
+            @SuppressWarnings("unchecked")
+            DjiMqttMessage<Map<String, Object>> 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<Map<String, Object>> 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<Map<String, Object>> 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();
+    }
+
+    /**
+     * 判断是否为拓恒设备SN
+     */
+    private boolean isTuohengSn(String sn) {
+        if (sn == null) {
+            return false;
+        }
+        Matcher matcher = TUOHENG_SN_PATTERN.matcher(sn);
+        return matcher.matches();
+    }
+}

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<String, DjiMqttClientService> clients = new ConcurrentHashMap<>();
+
+    /**
+     * 消息处理器映射表 clientId -> DjiMqttMessageHandler
+     */
+    private final Map<String, DjiMqttMessageHandler> 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<String> getAllClientIds() {
+        return clients.keySet();
+    }
+
+    /**
+     * 检查客户端是否存在
+     */
+    public boolean hasClient(String clientId) {
+        return clients.containsKey(clientId);
+    }
+}

src/main/java/com/ruoyi/device/domain/impl/djimqtt/model/DjiMqttMessage.java

@@ -0,0 +1,57 @@
+package com.ruoyi.device.domain.impl.djimqtt.model;
+
+import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
+import com.fasterxml.jackson.annotation.JsonProperty;
+import lombok.Data;
+
+/**
+ * DJI MQTT消息基础结构
+ *
+ * @author ruoyi
+ */
+@Data
+@JsonIgnoreProperties(ignoreUnknown = true)
+public class DjiMqttMessage<T> {
+
+    /**
+     * 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;
+}

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<String, Object> 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;
+}

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<String, Object> 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<CameraInfo> 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;
+}

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;
+}

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;
+}

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;
+}

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<DockBatteryDetail> batteries;
+}

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;
+}

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;
+}

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;
+}

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;
+}

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<String> photoStorageSettings;
+
+    /**
+     * 视频存储设置集合
+     */
+    @JsonProperty("video_storage_settings")
+    private List<String> 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;
+}

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;
+}

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;
+}

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<BatteryDetail> batteries;
+}

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;
+}

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;
+}

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;
+}

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;
+}

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<MaintainStatusItem> maintainStatusArray;
+}

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;
+}

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;
+}

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;
+}

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;
+}

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;
+}

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<Integer> 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<LeafNode> leafNodes;
+}

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();
+    }
+}

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<String, CommandExecution> executingCommands = new ConcurrentHashMap<>();
+
+    /**
+     * 命令执行监听器
+     */
+    private final Map<String, CommandExecutionListener> 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<CommandType> 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<CommandResult> 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<CommandResult> executeCommand(String sn, CommandType commandType, Map<String, Object> 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<CommandResult> 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<CommandResult> future;
+        private final long startTime;
+
+        public CommandExecution(CommandType commandType, CompletableFuture<CommandResult> future, long startTime) {
+            this.commandType = commandType;
+            this.future = future;
+            this.startTime = startTime;
+        }
+
+        public CommandType getCommandType() {
+            return commandType;
+        }
+
+        public CompletableFuture<CommandResult> getFuture() {
+            return future;
+        }
+
+        public long getStartTime() {
+            return startTime;
+        }
+    }
+}

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);
+}

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);
+    }
+}

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

@@ -0,0 +1,196 @@
+package com.ruoyi.device.domain.impl.machine.command;
+
+/**
+ * 命令类型枚举
+ */
+public enum CommandType {
+    /**
+     * 开机
+     */
+    POWER_ON,
+
+    /**
+     * 关机
+     */
+    POWER_OFF,
+
+    /**
+     * 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,
+
+    /**
+     * 前进
+     */
+    FORWARD,
+
+    /**
+     * 后退
+     */
+    BACKWARD,
+
+    /**
+     * 左移
+     */
+    LEFT,
+
+    /**
+     * 右移
+     */
+    RIGHT,
+
+    /**
+     * 左旋
+     */
+    ROTATE_LEFT,
+
+    /**
+     * 右旋
+     */
+    ROTATE_RIGHT,
+
+    /**
+     * 上升
+     */
+    UP,
+
+    /**
+     * 下降
+     */
+    DOWN,
+
+    /**
+     * 切换可见光
+     */
+    SWITCH_VISIBLE_LIGHT,
+
+    /**
+     * 云台变焦
+     */
+    GIMBAL_ZOOM,
+
+    /**
+     * 切换红外
+     */
+    SWITCH_IR,
+
+    /**
+     * 切换广角
+     */
+    SWITCH_WIDE_ANGLE,
+
+    /**
+     * 云台右移
+     */
+    GIMBAL_MOVE_RIGHT,
+
+    /**
+     * 云台左移
+     */
+    GIMBAL_MOVE_LEFT,
+
+    /**
+     * 云台俯仰（上）
+     */
+    GIMBAL_PITCH_UP,
+
+    /**
+     * 云台俯仰（下）
+     */
+    GIMBAL_PITCH_DOWN,
+
+    /**
+     * 云台复位
+     */
+    GIMBAL_RESET,
+
+    /**
+     * 航线飞行
+     */
+    AIRLINE_FLIGHT,
+
+    /**
+     * 悬停
+     */
+    HOVER,
+
+    /**
+     * 继续任务
+     */
+    CONTINUE_TASK
+}

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;
+    }
+}

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

@@ -0,0 +1,337 @@
+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<CommandResult> 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<CommandResult> 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<InstructionResult>
+     */
+    private CompletableFuture<InstructionResult> 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. 预先获取回调配置（在发送命令前）
+        CallbackConfig methodCallback = instruction.getMethodCallbackConfig(context);
+        CallbackConfig stateCallback = instruction.getStateCallbackConfig(context);
+
+        // 设置回调类型
+        if (methodCallback != null) {
+            methodCallback.setCallbackType(CallbackConfig.CallbackType.METHOD);
+        }
+        if (stateCallback != null) {
+            stateCallback.setCallbackType(CallbackConfig.CallbackType.STATE);
+        }
+
+        // c. 预先注册回调（在发送命令前，避免竞态条件）
+        CompletableFuture<InstructionResult> methodFuture = null;
+        CompletableFuture<InstructionResult> stateFuture = null;
+
+        if (methodCallback != null) {
+            log.info("【预注册方法回调】instruction={}, topic={}",
+                instruction.getName(), methodCallback.getTopic());
+            methodFuture = waitForCallbackAsync(methodCallback, context);
+        }
+        if (stateCallback != null) {
+            log.info("【预注册状态回调】instruction={}, topic={}",
+                instruction.getName(), stateCallback.getTopic());
+            stateFuture = waitForCallbackAsync(stateCallback, context);
+        }
+
+        // d. 在线程池中执行远程调用（回调已经注册好了）
+        CompletableFuture<InstructionResult> finalMethodFuture = methodFuture;
+        CompletableFuture<InstructionResult> finalStateFuture = stateFuture;
+
+        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) {
+                // 命令发送失败，取消已注册的回调（避免资源泄漏）
+                if (finalMethodFuture != null) {
+                    log.warn("命令发送失败，取消方法回调");
+                    finalMethodFuture.cancel(true);
+                }
+                if (finalStateFuture != null) {
+                    log.warn("命令发送失败，取消状态回调");
+                    finalStateFuture.cancel(true);
+                }
+                InstructionResult result = InstructionResult.failure("远程调用失败");
+                instruction.onComplete(context, result);
+                return CompletableFuture.completedFuture(result);
+            }
+
+            // e. 等待方法回调（已经预注册）
+            if (finalMethodFuture != null) {
+                return finalMethodFuture.thenCompose(methodResult -> {
+                    if (!methodResult.isSuccess()) {
+                        instruction.onComplete(context, methodResult);
+                        return CompletableFuture.completedFuture(methodResult);
+                    }
+
+                    // f. 等待状态回调（已经预注册）
+                    if (finalStateFuture != null) {
+                        return finalStateFuture.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
+            if (finalStateFuture != null) {
+                return finalStateFuture.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<InstructionResult>
+     */
+    private CompletableFuture<InstructionResult> waitForCallbackAsync(
+            CallbackConfig callbackConfig,
+            InstructionContext context) {
+
+        CompletableFuture<InstructionResult> 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);
+        });
+    }
+}

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;
+    }
+}

src/main/java/com/ruoyi/device/domain/impl/machine/config/MachineFrameworkConfig.java

@@ -0,0 +1,36 @@
+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 com.ruoyi.device.domain.impl.machine.vendor.tuoheng.TuohengVendorConfig;
+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,
+                                            TuohengVendorConfig tuohengVendorConfig) {
+        return args -> {
+            // 注册大疆厂家配置
+            vendorRegistry.registerVendor(djiVendorConfig);
+
+            // 注册拓恒厂家配置
+            vendorRegistry.registerVendor(tuohengVendorConfig);
+
+            log.info("设备框架初始化完成，已注册厂家: {}", vendorRegistry.getAllVendorTypes());
+        };
+    }
+}

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;
+    }
+}

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 extends AbstractInstruction> 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 extends AbstractInstruction> 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 extends AbstractInstruction> T then(Instruction instruction) {
+        this.onFailureInstruction = instruction;
+        this.onSuccessInstruction = instruction;
+        return (T) this;
+    }
+}

src/main/java/com/ruoyi/device/domain/impl/machine/instruction/CallbackConfig.java

@@ -0,0 +1,174 @@
+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<Object> customPredicate;
+
+    /**
+     * 超时时间（毫秒）
+     */
+    @Builder.Default
+    private long timeoutMs = 10000;
+
+    /**
+     * 事务ID字段路径（用于匹配回调消息，如 "tid"）
+     */
+    private String tidFieldPath;
+
+    /**
+     * 业务ID字段路径（用于匹配回调消息，如 "bid"）
+     */
+    private String bidFieldPath;
+
+    /**
+     * 期望的事务ID值（从InstructionContext中获取）
+     */
+    private String expectedTid;
+
+    /**
+     * 期望的业务ID值（从InstructionContext中获取）
+     */
+    private String expectedBid;
+
+    /**
+     * 回调类型（由框架自动设置，不需要手动指定）
+     * - getMethodCallbackConfig() 返回的配置会被设置为 METHOD
+     * - getStateCallbackConfig() 返回的配置会被设置为 STATE
+     */
+    private CallbackType callbackType;
+
+    /**
+     * 判断消息是否匹配
+     * 注意：tid/bid 的匹配已经在 MqttCallbackRegistry 注册层完成，这里只检查业务字段
+     */
+    public boolean matches(Object messageBody) {
+        if (customPredicate != null) {
+            return customPredicate.test(messageBody);
+        }
+
+        // 检查业务字段是否匹配
+        Object fieldValue = extractFieldValue(messageBody, fieldPath);
+        return expectedValue == null || flexibleEquals(expectedValue, fieldValue);
+    }
+
+    /**
+     * 灵活的相等性比较，支持字符串和数字之间的自动转换
+     * 例如：flexibleEquals("2", 2) 返回 true
+     */
+    private boolean flexibleEquals(Object expected, Object actual) {
+        if (expected == null && actual == null) {
+            return true;
+        }
+        if (expected == null || actual == null) {
+            return false;
+        }
+
+        // 如果类型相同，直接比较
+        if (expected.equals(actual)) {
+            return true;
+        }
+
+        // 尝试将两者都转换为字符串进行比较
+        String expectedStr = String.valueOf(expected);
+        String actualStr = String.valueOf(actual);
+
+        return expectedStr.equals(actualStr);
+    }
+
+    /**
+     * 从消息体中提取字段值
+     */
+    private Object extractFieldValue(Object messageBody, String path) {
+        if (messageBody == null || path == null) {
+            return null;
+        }
+
+        // 如果 messageBody 是字符串，尝试解析为 JSON
+        Object current = messageBody;
+        if (messageBody instanceof String) {
+            try {
+                ObjectMapper objectMapper = new ObjectMapper();
+                current = objectMapper.readValue((String) messageBody, Object.class);
+            } catch (Exception e) {
+                // 解析失败，返回 null
+                return null;
+            }
+        }
+
+        String[] parts = path.split("\\.");
+
+        for (String part : parts) {
+            if (current == null) {
+                return null;
+            }
+
+            if (current instanceof java.util.Map) {
+                current = ((java.util.Map<?, ?>) current).get(part);
+            } else {
+                try {
+                    java.lang.reflect.Field field = current.getClass().getDeclaredField(part);
+                    field.setAccessible(true);
+                    current = field.get(current);
+                } catch (Exception e) {
+                    return null;
+                }
+            }
+        }
+
+        return current;
+    }
+}

src/main/java/com/ruoyi/device/domain/impl/machine/instruction/Instruction.java

@@ -0,0 +1,87 @@
+package com.ruoyi.device.domain.impl.machine.instruction;
+
+/**
+ * 指令接口
+ * 一个指令包含四个部分：
+ * a. 判断是否可以执行该指令
+ * b. 执行远程调用（如MQTT发送）
+ * c. 等待方法回调，并判断该方法是否成功执行
+ * d. 等待状态回调，并判断结果是否OK
+ */
+public interface Instruction {
+    /**
+     * 获取指令名称
+     */
+    String getName();
+
+    /**
+     * a. 判断是否可以执行该指令
+     */
+    default boolean canExecute(InstructionContext context){
+        return true;
+    }
+
+    /**
+     * b. 执行远程调用（如MQTT发送）
+     */
+    default void executeRemoteCall(InstructionContext context) throws Exception{
+    }
+
+    /**
+     * c. 获取方法回调配置（可选）
+     * 返回null表示不需要方法回调
+     */
+    CallbackConfig getMethodCallbackConfig(InstructionContext context);
+
+    /**
+     * d. 获取状态回调配置（可选）
+     * 返回null表示不需要状态回调
+     */
+    CallbackConfig getStateCallbackConfig(InstructionContext context);
+
+    /**
+     * 获取指令超时时间（毫秒）
+     */
+    default long getTimeoutMs() {
+        return 1000; // 默认10秒
+    }
+
+    /**
+     * 指令执行完成回调（无论成功失败都会调用）
+     */
+    default void onComplete(InstructionContext context, InstructionResult result) {
+        // 默认空实现
+    }
+
+    /**
+     * 获取成功后执行的下一个指令
+     */
+    default Instruction getOnSuccessInstruction() {
+        return null;
+    }
+
+    /**
+     * 获取失败后执行的下一个指令
+     */
+    default Instruction getOnFailureInstruction() {
+        return null;
+    }
+
+
+
+    /**
+     * 根据执行结果获取下一个指令
+     *
+     * @param success 是否成功
+     * @return 下一个指令，如果没有则返回null
+     */
+    default Instruction getNextInstruction(boolean success) {
+
+        // 根据成功失败返回对应的指令
+        if (success) {
+            return getOnSuccessInstruction();
+        } else {
+            return getOnFailureInstruction();
+        }
+    }
+}

src/main/java/com/ruoyi/device/domain/impl/machine/instruction/InstructionContext.java

@@ -0,0 +1,104 @@
+package com.ruoyi.device.domain.impl.machine.instruction;
+
+
+import com.ruoyi.device.domain.impl.machine.mqtt.MqttClient;
+import lombok.Data;
+
+import java.util.HashMap;
+import java.util.Map;
+import java.util.UUID;
+
+/**
+ * 指令执行上下文
+ */
+@Data
+public class InstructionContext {
+    /**
+     * 设备SN号
+     */
+    private String sn;
+
+    /**
+     * 厂家类型
+     */
+    private String vendorType;
+
+    /**
+     * MQTT客户端（用于发送MQTT消息）
+     */
+    private MqttClient mqttClient;
+
+    /**
+     * 上下文数据（用于在指令间传递数据）
+     */
+    private Map<String, Object> contextData = new HashMap<>();
+
+    /**
+     * 命令参数
+     */
+    private Map<String, Object> commandParams = new HashMap<>();
+
+    /**
+     * 事务ID（Transaction ID）- 用于匹配回调消息
+     * 在命令执行阶段生成，用于标识本次指令执行
+     */
+    private String tid;
+
+    /**
+     * 业务ID（Business ID）- 用于匹配回调消息
+     * 在命令执行阶段生成，用于标识本次业务操作
+     */
+    private String bid;
+
+    public InstructionContext(String sn, String vendorType) {
+        this.sn = sn;
+        this.vendorType = vendorType;
+        // 自动生成 tid 和 bid
+        this.tid = UUID.randomUUID().toString();
+        this.bid = UUID.randomUUID().toString();
+    }
+
+    public InstructionContext(String sn, String vendorType, MqttClient mqttClient) {
+        this.sn = sn;
+        this.vendorType = vendorType;
+        this.mqttClient = mqttClient;
+        // 自动生成 tid 和 bid
+        this.tid = UUID.randomUUID().toString();
+        this.bid = UUID.randomUUID().toString();
+    }
+
+    public void putContextData(String key, Object value) {
+        contextData.put(key, value);
+    }
+
+    public Object getContextData(String key) {
+        return contextData.get(key);
+    }
+
+    public void putCommandParam(String key, Object value) {
+        commandParams.put(key, value);
+    }
+
+    public Object getCommandParam(String key) {
+        return commandParams.get(key);
+    }
+
+    /**
+     * 获取命令参数并转换为指定类型
+     * @param key 参数键
+     * @param type 目标类型
+     * @param <T> 泛型类型
+     * @return 转换后的参数值，如果不存在或类型不匹配则返回null
+     */
+    @SuppressWarnings("unchecked")
+    public <T> T getCommandParam(String key, Class<T> type) {
+        Object value = commandParams.get(key);
+        if (value == null) {
+            return null;
+        }
+        if (type.isInstance(value)) {
+            return (T) value;
+        }
+        return null;
+    }
+}

src/main/java/com/ruoyi/device/domain/impl/machine/instruction/InstructionResult.java

@@ -0,0 +1,44 @@
+package com.ruoyi.device.domain.impl.machine.instruction;
+
+import lombok.AllArgsConstructor;
+import lombok.Data;
+import lombok.NoArgsConstructor;
+
+/**
+ * 指令执行结果
+ */
+@Data
+@NoArgsConstructor
+@AllArgsConstructor
+public class InstructionResult {
+    /**
+     * 是否成功
+     */
+    private boolean success;
+
+    /**
+     * 错误信息
+     */
+    private String errorMessage;
+
+    /**
+     * 结果数据
+     */
+    private Object data;
+
+    public static InstructionResult success() {
+        return new InstructionResult(true, null, null);
+    }
+
+    public static InstructionResult success(Object data) {
+        return new InstructionResult(true, null, data);
+    }
+
+    public static InstructionResult failure(String errorMessage) {
+        return new InstructionResult(false, errorMessage, null);
+    }
+
+    public static InstructionResult timeout() {
+        return new InstructionResult(false, "指令执行超时", null);
+    }
+}

src/main/java/com/ruoyi/device/domain/impl/machine/mqtt/MqttCallbackHandler.java

@@ -0,0 +1,45 @@
+package com.ruoyi.device.domain.impl.machine.mqtt;
+
+import lombok.AllArgsConstructor;
+import lombok.Data;
+
+import java.util.function.Consumer;
+
+/**
+ * MQTT回调处理器
+ */
+@Data
+@AllArgsConstructor
+public class MqttCallbackHandler {
+    /**
+     * 回调ID（用于取消注册）
+     */
+    private String callbackId;
+
+    /**
+     * 监听的主题
+     */
+    private String topic;
+
+    /**
+     * 消息处理器
+     */
+    private Consumer<Object> messageHandler;
+
+    /**
+     * 超时时间（毫秒）
+     */
+    private long timeoutMs;
+
+    /**
+     * 注册时间
+     */
+    private long registerTime;
+
+    /**
+     * 是否已超时
+     */
+    public boolean isTimeout() {
+        return System.currentTimeMillis() - registerTime > timeoutMs;
+    }
+}

src/main/java/com/ruoyi/device/domain/impl/machine/mqtt/MqttCallbackRegistry.java

@@ -0,0 +1,371 @@
+package com.ruoyi.device.domain.impl.machine.mqtt;
+
+import com.fasterxml.jackson.databind.ObjectMapper;
+
+import com.ruoyi.device.domain.impl.machine.mqtt.store.MqttCallbackInfo;
+import com.ruoyi.device.domain.impl.machine.mqtt.store.MqttCallbackStore;
+import jakarta.annotation.PostConstruct;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.beans.factory.annotation.Value;
+import org.springframework.stereotype.Component;
+
+
+import java.net.InetAddress;
+import java.util.List;
+import java.util.Map;
+import java.util.UUID;
+import java.util.concurrent.ConcurrentHashMap;
+import java.util.function.Consumer;
+
+/**
+ * MQTT回调注册中心
+ * 用于注册和管理MQTT消息的回调处理器,他的 handleMessage 需要被真实的MQTT回调去调用
+ *
+ * 架构说明：
+ * - 回调元数据存储在 MqttCallbackStore 中（支持内存/Redis）
+ * - Consumer<Object> 回调函数存储在本地内存中（无法序列化）
+ * - 多节点部署时，通过 Redis Pub/Sub 在节点间传递消息
+ */
+@Slf4j
+@Component
+public class MqttCallbackRegistry {
+
+    /**
+     * 回调存储层（支持内存、Redis等多种实现）
+     */
+    private final MqttCallbackStore callbackStore;
+
+    /**
+     * 回调ID -> 本地消息处理器（Consumer 无法序列化，只能存储在本地）
+     */
+    private final Map<String, Consumer<Object>> localHandlers = new ConcurrentHashMap<>();
+
+    /**
+     * 当前节点ID（用于 Redis Pub/Sub 路由）
+     */
+    private String nodeId;
+
+    /**
+     * ObjectMapper 用于序列化消息
+     */
+    private final ObjectMapper objectMapper = new ObjectMapper();
+
+    @Value("${machine.node.id:#{null}}")
+    private String configuredNodeId;
+
+    public MqttCallbackRegistry(MqttCallbackStore callbackStore) {
+        this.callbackStore = callbackStore;
+    }
+
+    @PostConstruct
+    public void init() {
+        // 初始化节点ID
+        if (configuredNodeId != null && !configuredNodeId.isEmpty()) {
+            nodeId = configuredNodeId;
+        } else {
+            // 自动生成节点ID：主机名 + UUID
+            try {
+                String hostname = InetAddress.getLocalHost().getHostName();
+                nodeId = hostname + "-" + UUID.randomUUID().toString().substring(0, 8);
+            } catch (Exception e) {
+                nodeId = "node-" + UUID.randomUUID().toString().substring(0, 8);
+            }
+        }
+
+        // 订阅当前节点的消息（用于 Redis Pub/Sub）
+        callbackStore.subscribeNodeMessages(nodeId, this::handleNodeMessage);
+
+        log.info("MQTT回调注册中心初始化完成，节点ID: {}, 存储实现: {}",
+                nodeId, callbackStore.getClass().getSimpleName());
+    }
+
+    /**
+     * 注册回调
+     *
+     * @param topic          监听的主题
+     * @param messageHandler 消息处理器
+     * @param timeoutMs      超时时间（毫秒）
+     * @return 回调ID（用于取消注册）
+     */
+    public String registerCallback(String topic, Consumer<Object> messageHandler, long timeoutMs) {
+        return registerCallback(topic, messageHandler, timeoutMs, null, null, null, null);
+    }
+
+    /**
+     * 注册回调（支持 tid/bid 过滤）
+     *
+     * @param topic          监听的主题
+     * @param messageHandler 消息处理器
+     * @param timeoutMs      超时时间（毫秒）
+     * @param tidFieldPath   tid 字段路径（如 "tid"）
+     * @param expectedTid    期望的 tid 值
+     * @param bidFieldPath   bid 字段路径（如 "bid"）
+     * @param expectedBid    期望的 bid 值
+     * @return 回调ID（用于取消注册）
+     */
+    public String registerCallback(String topic, Consumer<Object> messageHandler, long timeoutMs,
+                                    String tidFieldPath, String expectedTid,
+                                    String bidFieldPath, String expectedBid) {
+        String callbackId = UUID.randomUUID().toString();
+
+        // 1. 创建回调信息并存储到存储层
+        MqttCallbackInfo callbackInfo = MqttCallbackInfo.builder()
+                .callbackId(callbackId)
+                .topic(topic)
+                .timeoutMs(timeoutMs)
+                .registerTime(System.currentTimeMillis())
+                .nodeId(nodeId)
+                .tidFieldPath(tidFieldPath)
+                .expectedTid(expectedTid)
+                .bidFieldPath(bidFieldPath)
+                .expectedBid(expectedBid)
+                .build();
+
+        callbackStore.registerCallback(callbackInfo);
+
+        // 2. 将 Consumer 存储到本地内存
+        localHandlers.put(callbackId, messageHandler);
+
+        log.debug("注册MQTT回调: callbackId={}, topic={}, timeoutMs={}, nodeId={}, tid={}, bid={}",
+                callbackId, topic, timeoutMs, nodeId, expectedTid, expectedBid);
+        return callbackId;
+    }
+
+    /**
+     * 取消注册回调
+     *
+     * @param callbackId 回调ID
+     */
+    public void unregisterCallback(String callbackId) {
+        // 1. 从存储层删除回调信息
+        callbackStore.unregisterCallback(callbackId);
+
+        // 2. 从本地内存删除 Consumer
+        localHandlers.remove(callbackId);
+
+        log.debug("取消注册MQTT回调: callbackId={}", callbackId);
+    }
+
+    /**
+     * 处理接收到的MQTT消息（由真实的 MQTT 客户端调用）
+     *
+     * @param topic       主题
+     * @param messageBody 消息体
+     */
+    public void handleMessage(String topic, Object messageBody) {
+        // 1. 从存储层获取所有等待该 topic 的回调信息
+        List<MqttCallbackInfo> callbacks = callbackStore.getCallbacksByTopic(topic);
+
+        // 如果是 confirm 或 realTime/data 消息，打印详细日志
+        if (topic.contains("/control/confirm") || topic.contains("/realTime/data")) {
+            log.info("【Machine MqttCallbackRegistry】处理消息: topic={}, callbackCount={}, messageBody={}",
+                topic, callbacks.size(), messageBody);
+        }
+
+        if (callbacks.isEmpty()) {
+            if (topic.contains("/control/confirm") || topic.contains("/realTime/data")) {
+                log.debug("【Machine MqttCallbackRegistry】没有找到匹配的回调: topic={}", topic);
+            }
+            return;
+        }
+
+        log.debug("处理MQTT消息: topic={}, callbackCount={}", topic, callbacks.size());
+
+        // 2. 序列化消息体（用于跨节点传递）
+        String messageBodyJson;
+        try {
+            messageBodyJson = objectMapper.writeValueAsString(messageBody);
+        } catch (Exception e) {
+            log.error("序列化消息体失败: topic={}", topic, e);
+            return;
+        }
+
+        // 3. 处理每个回调
+        for (MqttCallbackInfo callbackInfo : callbacks) {
+            try {
+                // 检查是否超时
+                if (callbackInfo.isTimeout()) {
+                    log.warn("MQTT回调已超时: callbackId={}, topic={}",
+                            callbackInfo.getCallbackId(), topic);
+                    unregisterCallback(callbackInfo.getCallbackId());
+                    continue;
+                }
+
+                // 检查 tid/bid 是否匹配（如果配置了）
+                if (!matchesTidBid(callbackInfo, messageBody)) {
+                    log.debug("MQTT消息 tid/bid 不匹配，跳过回调: callbackId={}, topic={}",
+                            callbackInfo.getCallbackId(), topic);
+                    continue;
+                }
+
+                // 判断回调是在本节点还是其他节点
+                if (nodeId.equals(callbackInfo.getNodeId())) {
+                    // 本节点的回调，直接执行
+                    executeLocalCallback(callbackInfo.getCallbackId(), messageBody);
+                } else {
+                    // 其他节点的回调，通过 Redis Pub/Sub 转发
+                    callbackStore.publishMessageToNode(
+                            callbackInfo.getNodeId(),
+                            callbackInfo.getCallbackId(),
+                            messageBodyJson
+                    );
+                    log.debug("转发消息到节点: nodeId={}, callbackId={}",
+                            callbackInfo.getNodeId(), callbackInfo.getCallbackId());
+                }
+            } catch (Exception e) {
+                log.error("处理MQTT回调失败: callbackId={}, topic={}",
+                        callbackInfo.getCallbackId(), topic, e);
+            }
+        }
+    }
+
+    /**
+     * 检查消息的 tid/bid 是否匹配
+     *
+     * @param callbackInfo 回调信息
+     * @param messageBody  消息体
+     * @return true 如果匹配或未配置 tid/bid，false 如果不匹配
+     */
+    private boolean matchesTidBid(MqttCallbackInfo callbackInfo, Object messageBody) {
+        // 1. 检查 tid 是否匹配（如果配置了）
+        if (callbackInfo.getTidFieldPath() != null && callbackInfo.getExpectedTid() != null) {
+            Object tidValue = extractFieldValue(messageBody, callbackInfo.getTidFieldPath());
+            if (!callbackInfo.getExpectedTid().equals(tidValue)) {
+                log.debug("tid 不匹配: expected={}, actual={}", callbackInfo.getExpectedTid(), tidValue);
+                return false; // tid 不匹配
+            }
+        }
+
+        // 2. 检查 bid 是否匹配（如果配置了）
+        if (callbackInfo.getBidFieldPath() != null && callbackInfo.getExpectedBid() != null) {
+            Object bidValue = extractFieldValue(messageBody, callbackInfo.getBidFieldPath());
+            if (!callbackInfo.getExpectedBid().equals(bidValue)) {
+                log.debug("bid 不匹配: expected={}, actual={}", callbackInfo.getExpectedBid(), bidValue);
+                return false; // bid 不匹配
+            }
+        }
+
+        // 3. tid/bid 都匹配或未配置
+        return true;
+    }
+
+    /**
+     * 从消息体中提取字段值
+     *
+     * @param messageBody 消息体
+     * @param fieldPath   字段路径（支持嵌套，如 "data.status"）
+     * @return 字段值
+     */
+    private Object extractFieldValue(Object messageBody, String fieldPath) {
+        if (messageBody == null || fieldPath == null) {
+            return null;
+        }
+
+        // 如果 messageBody 是字符串，尝试解析为 JSON
+        Object current = messageBody;
+        if (messageBody instanceof String) {
+            try {
+                current = objectMapper.readValue((String) messageBody, Object.class);
+            } catch (Exception e) {
+                log.warn("解析消息体失败: {}", messageBody);
+                return null;
+            }
+        }
+
+        String[] parts = fieldPath.split("\\.");
+
+        for (String part : parts) {
+            if (current == null) {
+                return null;
+            }
+
+            if (current instanceof Map) {
+                current = ((Map<?, ?>) current).get(part);
+            } else {
+                try {
+                    java.lang.reflect.Field field = current.getClass().getDeclaredField(part);
+                    field.setAccessible(true);
+                    current = field.get(current);
+                } catch (Exception e) {
+                    log.debug("提取字段失败: fieldPath={}, part={}", fieldPath, part);
+                    return null;
+                }
+            }
+        }
+
+        return current;
+    }
+
+    /**
+     * 执行本地回调
+     *
+     * @param callbackId 回调ID
+     * @param messageBody 消息体
+     */
+    private void executeLocalCallback(String callbackId, Object messageBody) {
+        Consumer<Object> handler = localHandlers.get(callbackId);
+        if (handler != null) {
+            try {
+                handler.accept(messageBody);
+                log.debug("执行本地回调成功: callbackId={}", callbackId);
+            } catch (Exception e) {
+                log.error("执行本地回调失败: callbackId={}", callbackId, e);
+            }
+        } else {
+            log.warn("本地回调处理器不存在: callbackId={}", callbackId);
+        }
+    }
+
+    /**
+     * 处理从 Redis Pub/Sub 接收到的节点消息
+     *
+     * @param callbackId 回调ID
+     * @param messageBodyJson 消息体（JSON 字符串）
+     */
+    private void handleNodeMessage(String callbackId, String messageBodyJson) {
+        try {
+            // 反序列化消息体
+            Object messageBody = objectMapper.readValue(messageBodyJson, Object.class);
+
+            // 执行本地回调
+            executeLocalCallback(callbackId, messageBody);
+        } catch (Exception e) {
+            log.error("处理节点消息失败: callbackId={}", callbackId, e);
+        }
+    }
+
+    /**
+     * 清理超时的回调
+     */
+    public void cleanupTimeoutCallbacks() {
+        List<MqttCallbackInfo> allCallbacks = callbackStore.getAllCallbacks();
+        for (MqttCallbackInfo callbackInfo : allCallbacks) {
+            if (callbackInfo.isTimeout()) {
+                log.warn("清理超时的MQTT回调: callbackId={}, topic={}",
+                        callbackInfo.getCallbackId(), callbackInfo.getTopic());
+                unregisterCallback(callbackInfo.getCallbackId());
+            }
+        }
+    }
+
+    /**
+     * 获取当前注册的回调数量
+     */
+    public int getCallbackCount() {
+        return localHandlers.size();
+    }
+
+    /**
+     * 清理所有回调（仅用于测试环境）
+     * 警告：此方法会清理所有回调，包括未超时的，仅应在测试环境中使用
+     */
+    public void cleanupAllCallbacks() {
+        List<MqttCallbackInfo> allCallbacks = callbackStore.getAllCallbacks();
+        for (MqttCallbackInfo callbackInfo : allCallbacks) {
+            log.debug("清理MQTT回调: callbackId={}, topic={}",
+                    callbackInfo.getCallbackId(), callbackInfo.getTopic());
+            unregisterCallback(callbackInfo.getCallbackId());
+        }
+        log.info("已清理所有MQTT回调，共{}个", allCallbacks.size());
+    }
+}

src/main/java/com/ruoyi/device/domain/impl/machine/mqtt/MqttClient.java

@@ -0,0 +1,35 @@
+package com.ruoyi.device.domain.impl.machine.mqtt;
+
+import com.ruoyi.device.domain.impl.tuohengmqtt.manager.TuohengMqttClientManager;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.stereotype.Component;
+
+/**
+ * MQTT客户端
+ */
+@Slf4j
+@Component
+public class MqttClient {
+
+    @Autowired
+    private TuohengMqttClientManager tuohengMqttClientManager;
+
+    public void sendMessage(String topic, String message) {
+        try {
+            log.info("发送MQTT消息: topic={}, message={}", topic, message);
+
+            // 使用拓恒MQTT客户端发送消息
+            if (tuohengMqttClientManager != null && tuohengMqttClientManager.isConnected()) {
+                tuohengMqttClientManager.getClient().publish(topic, message);
+                log.info("MQTT消息发送成功");
+            } else {
+                log.error("MQTT客户端未连接，无法发送消息");
+                throw new RuntimeException("MQTT客户端未连接");
+            }
+        } catch (Exception e) {
+            log.error("发送MQTT消息失败: topic={}, message={}", topic, message, e);
+            throw new RuntimeException("发送MQTT消息失败: " + e.getMessage(), e);
+        }
+    }
+}

src/main/java/com/ruoyi/device/domain/impl/machine/mqtt/store/InMemoryMqttCallbackStore.java

@@ -0,0 +1,85 @@
+package com.ruoyi.device.domain.impl.machine.mqtt.store;
+
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.boot.autoconfigure.condition.ConditionalOnProperty;
+import org.springframework.stereotype.Component;
+
+import java.util.ArrayList;
+import java.util.List;
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+import java.util.concurrent.CopyOnWriteArrayList;
+import java.util.stream.Collectors;
+
+/**
+ * 基于内存的 MQTT 回调存储实现
+ * 适用于单节点部署或开发测试环境
+ */
+@Slf4j
+@Component
+@ConditionalOnProperty(name = "machine.state.store.type", havingValue = "memory", matchIfMissing = true)
+public class InMemoryMqttCallbackStore implements MqttCallbackStore {
+
+    /**
+     * 主题 -> 回调信息列表
+     */
+    private final Map<String, CopyOnWriteArrayList<MqttCallbackInfo>> topicCallbacks = new ConcurrentHashMap<>();
+
+    /**
+     * 回调ID -> 回调信息
+     */
+    private final Map<String, MqttCallbackInfo> callbackMap = new ConcurrentHashMap<>();
+
+    @Override
+    public void registerCallback(MqttCallbackInfo callbackInfo) {
+        topicCallbacks.computeIfAbsent(callbackInfo.getTopic(), k -> new CopyOnWriteArrayList<>())
+                .add(callbackInfo);
+        callbackMap.put(callbackInfo.getCallbackId(), callbackInfo);
+        log.debug("注册MQTT回调到内存: callbackId={}, topic={}",
+                callbackInfo.getCallbackId(), callbackInfo.getTopic());
+    }
+
+    @Override
+    public void unregisterCallback(String callbackId) {
+        MqttCallbackInfo callbackInfo = callbackMap.remove(callbackId);
+        if (callbackInfo != null) {
+            CopyOnWriteArrayList<MqttCallbackInfo> callbacks = topicCallbacks.get(callbackInfo.getTopic());
+            if (callbacks != null) {
+                callbacks.remove(callbackInfo);
+                if (callbacks.isEmpty()) {
+                    topicCallbacks.remove(callbackInfo.getTopic());
+                }
+            }
+            log.debug("从内存中取消注册MQTT回调: callbackId={}, topic={}",
+                    callbackId, callbackInfo.getTopic());
+        }
+    }
+
+    @Override
+    public List<MqttCallbackInfo> getCallbacksByTopic(String topic) {
+        CopyOnWriteArrayList<MqttCallbackInfo> callbacks = topicCallbacks.get(topic);
+        return callbacks != null ? new ArrayList<>(callbacks) : new ArrayList<>();
+    }
+
+    @Override
+    public MqttCallbackInfo getCallbackById(String callbackId) {
+        return callbackMap.get(callbackId);
+    }
+
+    @Override
+    public List<MqttCallbackInfo> getAllCallbacks() {
+        return new ArrayList<>(callbackMap.values());
+    }
+
+    @Override
+    public void publishMessageToNode(String nodeId, String callbackId, String messageBody) {
+        // 内存实现中，不需要跨节点通信，此方法为空操作
+        log.trace("内存实现不需要发布消息到节点: nodeId={}, callbackId={}", nodeId, callbackId);
+    }
+
+    @Override
+    public void subscribeNodeMessages(String nodeId, NodeMessageListener messageListener) {
+        // 内存实现中，不需要订阅节点消息，此方法为空操作
+        log.trace("内存实现不需要订阅节点消息: nodeId={}", nodeId);
+    }
+}

src/main/java/com/ruoyi/device/domain/impl/machine/mqtt/store/MqttCallbackInfo.java

@@ -0,0 +1,72 @@
+package com.ruoyi.device.domain.impl.machine.mqtt.store;
+
+import lombok.AllArgsConstructor;
+import lombok.Builder;
+import lombok.Data;
+import lombok.NoArgsConstructor;
+
+import java.io.Serializable;
+
+/**
+ * MQTT 回调信息（可序列化到 Redis）
+ * 不包含 Consumer，只包含回调的元数据
+ */
+@Data
+@Builder
+@NoArgsConstructor
+@AllArgsConstructor
+public class MqttCallbackInfo implements Serializable {
+    private static final long serialVersionUID = 1L;
+
+    /**
+     * 回调ID（用于取消注册）
+     */
+    private String callbackId;
+
+    /**
+     * 监听的主题
+     */
+    private String topic;
+
+    /**
+     * 超时时间（毫秒）
+     */
+    private long timeoutMs;
+
+    /**
+     * 注册时间
+     */
+    private long registerTime;
+
+    /**
+     * 注册该回调的节点ID（用于 Redis Pub/Sub 路由）
+     */
+    private String nodeId;
+
+    /**
+     * 事务ID字段路径（用于匹配回调消息，如 "tid"）
+     */
+    private String tidFieldPath;
+
+    /**
+     * 期望的事务ID值
+     */
+    private String expectedTid;
+
+    /**
+     * 业务ID字段路径（用于匹配回调消息，如 "bid"）
+     */
+    private String bidFieldPath;
+
+    /**
+     * 期望的业务ID值
+     */
+    private String expectedBid;
+
+    /**
+     * 是否已超时
+     */
+    public boolean isTimeout() {
+        return System.currentTimeMillis() - registerTime > timeoutMs;
+    }
+}

src/main/java/com/ruoyi/device/domain/impl/machine/mqtt/store/MqttCallbackStore.java

@@ -0,0 +1,79 @@
+package com.ruoyi.device.domain.impl.machine.mqtt.store;
+
+import java.util.List;
+
+/**
+ * MQTT 回调存储接口
+ * 提供回调信息的存储和获取抽象，支持多种实现（内存、Redis等）
+ */
+public interface MqttCallbackStore {
+
+    /**
+     * 注册回调信息
+     *
+     * @param callbackInfo 回调信息
+     */
+    void registerCallback(MqttCallbackInfo callbackInfo);
+
+    /**
+     * 取消注册回调
+     *
+     * @param callbackId 回调ID
+     */
+    void unregisterCallback(String callbackId);
+
+    /**
+     * 根据 topic 获取所有等待该 topic 的回调信息
+     *
+     * @param topic MQTT 主题
+     * @return 回调信息列表
+     */
+    List<MqttCallbackInfo> getCallbacksByTopic(String topic);
+
+    /**
+     * 根据 callbackId 获取回调信息
+     *
+     * @param callbackId 回调ID
+     * @return 回调信息，如果不存在返回 null
+     */
+    MqttCallbackInfo getCallbackById(String callbackId);
+
+    /**
+     * 获取所有回调信息（用于清理超时回调）
+     *
+     * @return 所有回调信息列表
+     */
+    List<MqttCallbackInfo> getAllCallbacks();
+
+    /**
+     * 发布消息到指定节点（用于 Redis Pub/Sub）
+     * 在内存实现中，此方法为空操作
+     *
+     * @param nodeId 节点ID
+     * @param callbackId 回调ID
+     * @param messageBody 消息体（JSON 字符串）
+     */
+    void publishMessageToNode(String nodeId, String callbackId, String messageBody);
+
+    /**
+     * 订阅当前节点的消息（用于 Redis Pub/Sub）
+     * 在内存实现中，此方法为空操作
+     *
+     * @param nodeId 当前节点ID
+     * @param messageListener 消息监听器
+     */
+    void subscribeNodeMessages(String nodeId, NodeMessageListener messageListener);
+
+    /**
+     * 节点消息监听器
+     */
+    interface NodeMessageListener {
+        /**
+         * 处理接收到的消息
+         *
+         * @param callbackId 回调ID
+         * @param messageBody 消息体（JSON 字符串）
+         */
+        void onMessage(String callbackId, String messageBody);
+    }
+}

src/main/java/com/ruoyi/device/domain/impl/machine/mqtt/store/RedisMqttCallbackStore.java

@@ -0,0 +1,267 @@
+package com.ruoyi.device.domain.impl.machine.mqtt.store;
+
+import com.fasterxml.jackson.core.JsonProcessingException;
+import com.fasterxml.jackson.core.type.TypeReference;
+import com.fasterxml.jackson.databind.ObjectMapper;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.beans.factory.annotation.Qualifier;
+import org.springframework.boot.autoconfigure.condition.ConditionalOnProperty;
+import org.springframework.data.redis.connection.MessageListener;
+import org.springframework.data.redis.core.RedisTemplate;
+import org.springframework.data.redis.core.StringRedisTemplate;
+import org.springframework.data.redis.core.script.DefaultRedisScript;
+import org.springframework.data.redis.listener.ChannelTopic;
+import org.springframework.data.redis.listener.RedisMessageListenerContainer;
+import org.springframework.stereotype.Component;
+
+import java.util.*;
+import java.util.concurrent.TimeUnit;
+
+/**
+ * 基于 Redis 的 MQTT 回调存储实现
+ * 适用于多节点部署的生产环境
+ *
+ * 架构说明：
+ * 1. 回调信息存储在 Redis Hash 中：mqtt:callback:{callbackId} -> MqttCallbackInfo (JSON)
+ * 2. Topic 索引存储在 Redis Set 中：mqtt:topic:{topic} -> Set<callbackId>
+ * 3. 使用 Redis Pub/Sub 在节点间传递 MQTT 消息：mqtt:node:{nodeId} -> {callbackId, messageBody}
+ *
+ * 工作流程：
+ * - 节点A 注册回调 -> 存储到 Redis
+ * - 节点B 收到 MQTT 消息 -> 从 Redis 查询等待该 topic 的回调 -> 通过 Pub/Sub 发送到对应节点
+ * - 节点A 收到 Pub/Sub 消息 -> 执行本地的 Consumer 回调
+ *
+ * 使用方式：
+ * 1. 在 application.properties 中配置：machine.state.store.type=redis
+ * 2. 配置 Redis 连接信息
+ * 3. 实现 Redis 相关的序列化和 Pub/Sub 逻辑
+ */
+@Slf4j
+@Component
+@ConditionalOnProperty(name = "machine.state.store.type", havingValue = "redis")
+public class RedisMqttCallbackStore implements MqttCallbackStore {
+
+    private final StringRedisTemplate stringRedisTemplate;
+    private final RedisMessageListenerContainer redisMessageListenerContainer;
+    private final ObjectMapper objectMapper;
+
+    // Redis key 前缀
+    private static final String CALLBACK_KEY_PREFIX = "mqtt:callback:";
+    private static final String TOPIC_INDEX_PREFIX = "mqtt:topic:";
+    private static final String NODE_CHANNEL_PREFIX = "mqtt:node:";
+
+    // 配置回调信息的过期时间
+    private static final long EXPIRE_SECONDS = 3600; // 1小时
+
+    /**
+     * Lua 脚本：注册 MQTT 回调
+     * 使用 Lua 脚本保证原子性，避免竞态条件
+     *
+     * KEYS[1]: Topic 索引 key (mqtt:topic:{topic})
+     * KEYS[2]: 回调信息 key (mqtt:callback:{callbackId})
+     * ARGV[1]: callbackId
+     * ARGV[2]: 过期时间（秒）
+     * ARGV[3]: 回调信息 JSON
+     *
+     * 返回值: 1 表示成功
+     */
+    private static final String REGISTER_CALLBACK_SCRIPT =
+            "redis.call('SADD', KEYS[1], ARGV[1]) " +
+            "redis.call('EXPIRE', KEYS[1], ARGV[2]) " +
+            "redis.call('SETEX', KEYS[2], ARGV[2], ARGV[3]) " +
+            "return 1";
+
+    /**
+     * Lua 脚本：取消注册 MQTT 回调
+     * 使用 Lua 脚本保证原子性
+     *
+     * KEYS[1]: Topic 索引 key (mqtt:topic:{topic})
+     * KEYS[2]: 回调信息 key (mqtt:callback:{callbackId})
+     * ARGV[1]: callbackId
+     *
+     * 返回值: 1 表示成功
+     */
+    private static final String UNREGISTER_CALLBACK_SCRIPT =
+            "redis.call('SREM', KEYS[1], ARGV[1]) " +
+            "redis.call('DEL', KEYS[2]) " +
+            "return 1";
+
+    public RedisMqttCallbackStore(
+            StringRedisTemplate stringRedisTemplate,
+            @Qualifier("machineFrameworkRedisMessageListenerContainer") RedisMessageListenerContainer redisMessageListenerContainer,
+            ObjectMapper objectMapper) {
+        this.stringRedisTemplate = stringRedisTemplate;
+        this.redisMessageListenerContainer = redisMessageListenerContainer;
+        this.objectMapper = objectMapper;
+        log.info("使用 Redis MQTT 回调存储实现");
+    }
+
+    @Override
+    public void registerCallback(MqttCallbackInfo callbackInfo) {
+        try {
+            // 1. 序列化回调信息为 JSON
+            String json = objectMapper.writeValueAsString(callbackInfo);
+
+            // 2. 准备 Redis key
+            String topicKey = TOPIC_INDEX_PREFIX + callbackInfo.getTopic();
+            String callbackKey = CALLBACK_KEY_PREFIX + callbackInfo.getCallbackId();
+
+            // 3. 使用 Lua 脚本原子性地注册回调
+            // 先添加到 Topic 索引，再存储回调信息，避免竞态条件
+            stringRedisTemplate.execute(
+                    new DefaultRedisScript<>(REGISTER_CALLBACK_SCRIPT, Long.class),
+                    Arrays.asList(topicKey, callbackKey),
+                    callbackInfo.getCallbackId(),
+                    String.valueOf(EXPIRE_SECONDS),
+                    json
+            );
+
+            log.debug("注册MQTT回调到Redis: callbackId={}, topic={}",
+                    callbackInfo.getCallbackId(), callbackInfo.getTopic());
+
+        } catch (JsonProcessingException e) {
+            log.error("序列化回调信息失败: callbackId={}, topic={}",
+                    callbackInfo.getCallbackId(), callbackInfo.getTopic(), e);
+            throw new RuntimeException("注册MQTT回调失败: 序列化错误", e);
+        } catch (Exception e) {
+            log.error("注册MQTT回调到Redis失败: callbackId={}, topic={}",
+                    callbackInfo.getCallbackId(), callbackInfo.getTopic(), e);
+            // 不抛出异常，让上层通过超时机制处理
+            // 这样可以避免因为 Redis 临时故障导致整个命令执行失败
+        }
+    }
+
+    @Override
+    public void unregisterCallback(String callbackId) {
+        try {
+            // 1. 获取回调信息（需要知道 topic 才能删除索引）
+            MqttCallbackInfo callbackInfo = getCallbackById(callbackId);
+            if (callbackInfo == null) {
+                log.debug("回调信息不存在，无需取消注册: callbackId={}", callbackId);
+                return;
+            }
+
+            // 2. 准备 Redis key
+            String topicKey = TOPIC_INDEX_PREFIX + callbackInfo.getTopic();
+            String callbackKey = CALLBACK_KEY_PREFIX + callbackId;
+
+            // 3. 使用 Lua 脚本原子性地取消注册回调
+            stringRedisTemplate.execute(
+                    new DefaultRedisScript<>(UNREGISTER_CALLBACK_SCRIPT, Long.class),
+                    Arrays.asList(topicKey, callbackKey),
+                    callbackId
+            );
+
+            log.debug("从Redis中取消注册MQTT回调: callbackId={}, topic={}",
+                    callbackId, callbackInfo.getTopic());
+
+        } catch (Exception e) {
+            log.error("从Redis中取消注册MQTT回调失败: callbackId={}", callbackId, e);
+            // 不抛出异常，取消注册失败不影响主流程
+            // 回调会因为 TTL 自动过期
+        }
+    }
+
+    @Override
+    public List<MqttCallbackInfo> getCallbacksByTopic(String topic) {
+        // 1. 从 Topic 索引获取所有 callbackId
+        String topicKey = TOPIC_INDEX_PREFIX + topic;
+        Set<String> callbackIds = stringRedisTemplate.opsForSet().members(topicKey);
+        if (callbackIds == null || callbackIds.isEmpty()) {
+            return new ArrayList<>();
+        }
+
+        // 2. 批量获取回调信息
+        List<MqttCallbackInfo> callbacks = new ArrayList<>();
+        for (String callbackId : callbackIds) {
+            MqttCallbackInfo callbackInfo = getCallbackById(callbackId);
+            if (callbackInfo != null) {
+                callbacks.add(callbackInfo);
+            }
+        }
+        return callbacks;
+    }
+
+    @Override
+    public MqttCallbackInfo getCallbackById(String callbackId) {
+        String callbackKey = CALLBACK_KEY_PREFIX + callbackId;
+        String json = stringRedisTemplate.opsForValue().get(callbackKey);
+        if (json == null) {
+            return null;
+        }
+
+        try {
+            return objectMapper.readValue(json, MqttCallbackInfo.class);
+        } catch (JsonProcessingException e) {
+            log.error("反序列化回调信息失败: callbackId={}", callbackId, e);
+            return null;
+        }
+    }
+
+    @Override
+    public List<MqttCallbackInfo> getAllCallbacks() {
+        // 1. 扫描所有 mqtt:callback:* 的 key
+        Set<String> keys = stringRedisTemplate.keys(CALLBACK_KEY_PREFIX + "*");
+        if (keys == null || keys.isEmpty()) {
+            return new ArrayList<>();
+        }
+
+        // 2. 批量获取回调信息
+        List<MqttCallbackInfo> callbacks = new ArrayList<>();
+        for (String key : keys) {
+            String callbackId = key.substring(CALLBACK_KEY_PREFIX.length());
+            MqttCallbackInfo callbackInfo = getCallbackById(callbackId);
+            if (callbackInfo != null) {
+                callbacks.add(callbackInfo);
+            }
+        }
+        return callbacks;
+    }
+
+    @Override
+    public void publishMessageToNode(String nodeId, String callbackId, String messageBody) {
+        try {
+            // 1. 构造消息体
+            Map<String, String> message = new HashMap<>();
+            message.put("callbackId", callbackId);
+            message.put("messageBody", messageBody);
+
+            // 2. 序列化消息
+            String json = objectMapper.writeValueAsString(message);
+
+            // 3. 发布到节点频道
+            String channel = NODE_CHANNEL_PREFIX + nodeId;
+            stringRedisTemplate.convertAndSend(channel, json);
+
+            log.debug("发布消息到节点: nodeId={}, callbackId={}, channel={}",
+                    nodeId, callbackId, channel);
+        } catch (JsonProcessingException e) {
+            log.error("序列化节点消息失败: nodeId={}, callbackId={}", nodeId, callbackId, e);
+        }
+    }
+
+    @Override
+    public void subscribeNodeMessages(String nodeId, NodeMessageListener messageListener) {
+        // 1. 创建消息监听器
+        MessageListener redisMessageListener = (message, pattern) -> {
+            try {
+                String json = new String(message.getBody());
+                Map<String, String> data = objectMapper.readValue(json,
+                        new TypeReference<Map<String, String>>() {});
+
+                String callbackId = data.get("callbackId");
+                String messageBody = data.get("messageBody");
+
+                messageListener.onMessage(callbackId, messageBody);
+            } catch (Exception e) {
+                log.error("处理Redis Pub/Sub消息失败", e);
+            }
+        };
+
+        // 2. 订阅节点频道
+        String channel = NODE_CHANNEL_PREFIX + nodeId;
+        redisMessageListenerContainer.addMessageListener(redisMessageListener, new ChannelTopic(channel));
+
+        log.info("订阅节点消息: nodeId={}, channel={}", nodeId, channel);
+    }
+}

src/main/java/com/ruoyi/device/domain/impl/machine/readme.txt

@@ -0,0 +1,218 @@
+  生产需要实现
+  MysqlSnVendorMappingRepository 这个类
+  MQTT回调的地方需要转发到：MqttCallbackRegistry 这个类
+  需要实现 MqttClient 这边消息发送的逻辑
+  需要配置 sn.repository.type=mysql
+
+
+  单节点部署（默认）
+
+  # 使用内存存储（默认配置）
+  machine.state.store.type=memory
+
+  # 以下配置生产需要修改为mysql，同时实现 MysqlSnVendorMappingRepository 这个类
+  sn.repository.type=memory
+
+
+  多节点部署
+  # 切换到 Redis 存储
+  machine.state.store.type=redis
+  # 配置节点ID（可选，不配置会自动生成）
+  machine.node.id=node-1
+  #本地启动redis
+  #docker run --name some-redis -d -p 6379:6379 redi
+  # Redis 配置
+  spring.redis.host=localhost
+  spring.redis.port=6379
+  spring.redis.password=your-password
+
+
+┌─────────────────────────────────────────────────────────────────┐
+  │ 步骤1: 节点A 执行命令并注册回调                                    │
+  └─────────────────────────────────────────────────────────────────┘
+  节点A: executeCommand(TAKE_OFF)
+    ↓
+  节点A: registerCallback(topic="dji/SN9527/response", ...)
+    ↓
+  节点A: MqttCallbackStore.registerCallback()
+    ↓
+  Redis: 存储回调信息（使用两个 Key 的原因：性能优化）
+
+    【Key 1】回调详细信息（Hash 结构）
+    - Key: mqtt:callback:{callbackId}
+    - Value: {callbackId, topic, nodeId="nodeA", timeoutMs, registerTime, ...}
+    - 作用: 存储单个回调的完整信息
+    - 查询: O(1) 时间复杂度，通过 callbackId 直接获取
+
+    【Key 2】Topic 索引（Set 结构）
+    - Key: mqtt:topic:dji/SN9527/response
+    - Value: Set<callbackId>  // 例如: ["abc-123", "def-456", "ghi-789"]
+    - 作用: 快速查询等待某个 topic 的所有回调
+    - 查询: O(1) 时间复杂度，直接获取 callbackId 列表
+
+    【为什么需要两个 Key？】
+    如果只用一个 Key 存储所有回调，查询时需要遍历所有回调并过滤 topic，
+    时间复杂度为 O(n)。使用 Topic 索引后，可以直接获取目标回调列表，
+    时间复杂度降为 O(1)，大幅提升性能。
+
+    【示例】
+    假设有 3 个回调：
+    - callbackId="abc-123", topic="dji/SN9527/response", nodeId="nodeA"
+    - callbackId="def-456", topic="dji/SN9527/state", nodeId="nodeB"
+    - callbackId="ghi-789", topic="dji/SN9527/response", nodeId="nodeA"
+
+    Redis 存储结构：
+    mqtt:callback:abc-123 → {callbackId:"abc-123", topic:"dji/SN9527/response", nodeId:"nodeA"}
+    mqtt:callback:def-456 → {callbackId:"def-456", topic:"dji/SN9527/state", nodeId:"nodeB"}
+    mqtt:callback:ghi-789 → {callbackId:"ghi-789", topic:"dji/SN9527/response", nodeId:"nodeA"}
+    mqtt:topic:dji/SN9527/response → ["abc-123", "ghi-789"]
+    mqtt:topic:dji/SN9527/state → ["def-456"]
+
+    查询 topic="dji/SN9527/response" 的回调：
+    1. 从索引获取: SMEMBERS mqtt:topic:dji/SN9527/response → ["abc-123", "ghi-789"]
+    2. 批量获取详情: MGET mqtt:callback:abc-123 mqtt:callback:ghi-789
+    3. 总耗时: O(1) + O(k)，k 是该 topic 的回调数量（通常很小）
+
+    【Redis 数据清理时机】
+    Redis 中的回调数据有两种清理机制：
+
+    ┌─────────────────────────────────────────────────────────────┐
+    │ 1️⃣ 主动清理（业务逻辑触发）                                  │
+    └─────────────────────────────────────────────────────────────┘
+    触发时机：
+    ✅ 回调成功执行后（TransactionExecutor 的 finally 块）
+    ✅ 回调超时后（TransactionExecutor 的 finally 块）
+    ✅ handleMessage 检测到超时（转发前检查）
+
+    清理操作：
+    unregisterCallback(callbackId)
+      ↓
+    1. 获取回调信息: GET mqtt:callback:{callbackId}
+    2. 删除回调信息: DEL mqtt:callback:{callbackId}
+    3. 从索引中移除: SREM mqtt:topic:{topic} {callbackId}
+
+    示例：
+    T0:  注册回调，超时时间 10 秒
+    T5:  收到 MQTT 响应，回调执行成功
+    T5:  立即清理 Redis 数据 ✅
+         - DEL mqtt:callback:abc-123
+         - SREM mqtt:topic:dji/SN9527/response abc-123
+
+    ┌─────────────────────────────────────────────────────────────┐
+    │ 2️⃣ 被动清理（Redis TTL 自动过期）                            │
+    └─────────────────────────────────────────────────────────────┘
+    作用：兜底机制，防止异常情况下的数据残留
+
+    设置方式：
+    // 注册回调时设置 TTL
+    SET mqtt:callback:{callbackId} {json} EX 3600  // 1小时后自动过期
+    EXPIRE mqtt:topic:{topic} 3600                 // 1小时后自动过期
+
+    触发时机：
+    ⚠️  应用异常崩溃，主动清理未执行
+    ⚠️  网络分区，无法删除 Redis 数据
+    ⚠️  代码 Bug，主动清理失败
+
+    示例：
+    T0:     注册回调，TTL=3600秒（1小时）
+    T5:     应用崩溃，主动清理未执行 ❌
+    T3600:  Redis 自动删除过期数据 ✅
+            - mqtt:callback:abc-123 自动过期删除
+            - mqtt:topic:dji/SN9527/response 自动过期删除
+
+    【推荐配置】
+    TTL 应该设置为回调超时时间的 2-3 倍，例如：
+    - 回调超时: 10 秒
+    - Redis TTL: 30 秒（10秒 × 3）
+
+    这样可以确保：
+    ✅ 正常情况下，主动清理会在 10 秒内完成
+    ✅ 异常情况下，Redis 会在 30 秒后自动清理
+    ✅ 避免设置过长的 TTL 导致内存浪费
+
+    【注意事项】
+    ⚠️  Topic 索引的 TTL 问题：
+    如果同一个 topic 有多个回调，每次添加新回调时都会刷新 TTL。
+    这可能导致索引的 TTL 比单个回调的 TTL 更长。
+
+    解决方案：
+    方案1: 不为 Topic 索引设置 TTL，只在删除最后一个 callbackId 时删除索引
+    方案2: 每次查询时过滤掉已过期的 callbackId（推荐）
+    ↓
+  节点A: 本地内存存储 Consumer<Object>
+    - localHandlers.put(callbackId, consumer)
+    ↓
+  节点A: 订阅 Redis Pub/Sub 频道
+    - Channel: mqtt:node:nodeA
+
+  ┌─────────────────────────────────────────────────────────────────┐
+  │ 步骤2: MQTT Broker 将响应路由到节点B（不是节点A）                  │
+  └─────────────────────────────────────────────────────────────────┘
+  MQTT Broker: 收到设备响应
+    ↓
+  MQTT Broker: 将消息路由到节点B（随机/轮询）
+    ↓
+  节点B: MqttCallbackRegistry.handleMessage(topic, messageBody)
+
+  ┌─────────────────────────────────────────────────────────────────┐
+  │ 步骤3: 节点B 从 Redis 查询等待该 topic 的回调                      │
+  └─────────────────────────────────────────────────────────────────┘
+  节点B: callbackStore.getCallbacksByTopic("dji/SN9527/response")
+    ↓
+  Redis: 查询 mqtt:topic:dji/SN9527/response
+    ↓
+  Redis: 返回 Set<callbackId>
+    ↓
+  Redis: 批量获取回调信息
+    - mqtt:callback:{callbackId1} → {nodeId="nodeA", ...}
+    - mqtt:callback:{callbackId2} → {nodeId="nodeA", ...}
+    ↓
+  节点B: 获得回调列表 List<MqttCallbackInfo>
+
+  ┌─────────────────────────────────────────────────────────────────┐
+  │ 步骤4: 节点B 判断回调属于哪个节点                                  │
+  └─────────────────────────────────────────────────────────────────┘
+  节点B: for (MqttCallbackInfo callback : callbacks) {
+    if (nodeId.equals(callback.getNodeId())) {
+      // 本节点的回调，直接执行
+      executeLocalCallback(...)
+    } else {
+      // 其他节点的回调，转发到目标节点
+      callbackStore.publishMessageToNode(...)
+    }
+  }
+
+  ┌─────────────────────────────────────────────────────────────────┐
+  │ 步骤5: 节点B 通过 Redis Pub/Sub 转发消息到节点A                    │
+  └─────────────────────────────────┘
+  节点B: callbackStore.publishMessageToNode(
+    nodeId="nodeA",
+    callbackId="xxx",
+    messageBody="{...}"  // JSON 字符串
+  )
+    ↓
+  Redis Pub/Sub: PUBLISH mqtt:node:nodeA
+    {
+      "callbackId": "xxx",
+      "messageBody": "{...}"
+    }
+
+  ┌─────────────────────────────────────────────────────────────────┐
+  │ 步骤6: 节点A 收到 Redis Pub/Sub 消息                │
+  └─────────────────────────────────────────────────────────────────┘
+  节点A: Redis Pub/Sub Listener 收到消息
+    ↓
+  节点A: handleNodeMessage(callbackId, messageBodyJson)
+    ↓
+  节点A: 反序列化消息体
+    - Object messageBody = objectMapper.readValue(messageBodyJson)
+    ↓
+  节点A: executeLocalCallback(callbackId, messageBody)
+    ↓
+  节点A: 从本地内存获取 Consumer
+    - Consumer<Object> handler = localHandlers.get(callbackId)
+    ↓
+  节点A: 执行回调
+    - handler.accept(messageBody)
+    ↓
+  ✅ 命令执行成功！

src/main/java/com/ruoyi/device/domain/impl/machine/state/AirportState.java

@@ -0,0 +1,20 @@
+package com.ruoyi.device.domain.impl.machine.state;
+/**
+ * 机巢状态枚举
+ */
+public enum AirportState {
+    /**
+     * 未知状态（服务器重启后的初始状态，等待第一次心跳同步）
+     */
+    UNKNOWN,
+
+    /**
+     * 在线
+     */
+    ONLINE,
+
+    /**
+     * 离线（心跳超时）
+     */
+    OFFLINE
+}

src/main/java/com/ruoyi/device/domain/impl/machine/state/CoverState.java

@@ -0,0 +1,22 @@
+package com.ruoyi.device.domain.impl.machine.state;
+
+/**
+ * 舱门状态枚举
+ */
+public enum CoverState {
+    /**
+     * 未知状态（服务器重启后的初始状态，等待第一次心跳同步）
+     */
+    UNKNOWN,
+
+    /**
+     * 舱门已关闭
+     */
+    CLOSED,
+
+    /**
+     * 舱门已打开
+     */
+    OPENED,
+
+}

src/main/java/com/ruoyi/device/domain/impl/machine/state/DebugModeState.java

@@ -0,0 +1,21 @@
+package com.ruoyi.device.domain.impl.machine.state;
+
+/**
+ * 调试模式状态枚举
+ */
+public enum DebugModeState {
+    /**
+     * 未知状态
+     */
+    UNKNOWN,
+
+    /**
+     * 调试模式
+     */
+    ENTERED,
+
+    /**
+     * 退出调试模式
+     */
+    EXITED
+}

src/main/java/com/ruoyi/device/domain/impl/machine/state/DrcState.java

@@ -0,0 +1,23 @@
+package com.ruoyi.device.domain.impl.machine.state;
+
+/**
+ * 飞行控制模式（DRC）状态枚举
+ */
+public enum DrcState {
+    /**
+     * 未知状态（服务器重启后的初始状态，等待第一次心跳同步）
+     */
+    UNKNOWN,
+
+    /**
+     * 退出状态（DRC模式已退出）
+     */
+    EXITED,
+
+    /**
+     * 进入状态（已进入DRC模式）
+     */
+    ENTERED,
+
+
+}

src/main/java/com/ruoyi/device/domain/impl/machine/state/DroneState.java

@@ -0,0 +1,38 @@
+package com.ruoyi.device.domain.impl.machine.state;
+
+/**
+ * 无人机状态枚举
+ * 分为：准备中 -> 飞行中 -> 返航 三个大状态
+ */
+public enum DroneState {
+    /**
+     * 未知状态（服务器重启后的初始状态，等待第一次心跳同步）
+     */
+    UNKNOWN,
+
+    /**
+     * 关机状态
+     */
+    POWER_OFF,
+
+    /**
+     * 在线（已开机）
+     */
+    ONLINE,
+
+    /**
+     * 飞行中
+     */
+    FLYING,
+
+    /**
+     * 到达目的地
+     */
+    ARRIVED,
+
+    /**
+     * 返航中
+     */
+    RETURNING,
+
+}

src/main/java/com/ruoyi/device/domain/impl/machine/state/MachineStates.java

@@ -0,0 +1,50 @@
+package com.ruoyi.device.domain.impl.machine.state;
+
+import lombok.AllArgsConstructor;
+import lombok.Data;
+import lombok.NoArgsConstructor;
+
+/**
+ * 设备的六套大状态
+ */
+@Data
+@NoArgsConstructor
+@AllArgsConstructor
+public class MachineStates {
+    /**
+     * 无人机状态
+     */
+    private DroneState droneState = DroneState.UNKNOWN;
+
+    /**
+     * 机巢状态
+     */
+    private AirportState airportState = AirportState.UNKNOWN;
+
+    /**
+     * 舱门状态
+     */
+    private CoverState coverState = CoverState.UNKNOWN;
+
+    /**
+     * DRC状态
+     */
+    private DrcState drcState = DrcState.UNKNOWN;
+
+    /**
+     * 调试模式状态
+     */
+    private DebugModeState debugModeState = DebugModeState.UNKNOWN;
+
+    /**
+     * 急停状态
+     */
+    private StopState stopState = StopState.UNKNOWN;
+
+    /**
+     * 复制当前状态
+     */
+    public MachineStates copy() {
+        return new MachineStates(droneState, airportState, coverState, drcState, debugModeState, stopState);
+    }
+}