504 lines
20 KiB
Java
504 lines
20 KiB
Java
package com.ruoyi.device.controller;
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import com.alibaba.fastjson.JSON;
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import com.ruoyi.common.core.domain.R;
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import com.ruoyi.common.core.utils.StringUtils;
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import com.ruoyi.common.core.web.controller.BaseController;
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import com.ruoyi.device.api.domain.*;
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import com.ruoyi.device.api.enums.DroneCurrentStatusEnum;
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import com.ruoyi.device.api.enums.DroneMissionStatusEnum;
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import com.ruoyi.device.domain.impl.machine.MachineCommandManager;
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import com.ruoyi.device.domain.impl.machine.command.CommandResult;
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import com.ruoyi.device.domain.impl.machine.command.CommandType;
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import com.ruoyi.device.domain.impl.machine.state.MachineStates;
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import com.ruoyi.device.service.FlightService;
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import com.ruoyi.task.api.domain.TaskResultVO;
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import com.ruoyi.task.api.enums.StatusEnum;
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import io.swagger.v3.oas.annotations.Operation;
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import io.swagger.v3.oas.annotations.Parameter;
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import io.swagger.v3.oas.annotations.tags.Tag;
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import lombok.extern.slf4j.Slf4j;
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import org.springframework.beans.factory.annotation.Autowired;
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import org.springframework.web.bind.annotation.*;
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import java.util.Objects;
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import java.util.UUID;
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import java.util.concurrent.CompletableFuture;
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/**
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* 无人机飞控Controller
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*
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* @author ruoyi
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* @date 2026-02-04
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*/
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@Slf4j
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@Tag(name = "无人机飞控管理", description = "无人机飞控相关接口")
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@RestController
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@RequestMapping("/drone")
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public class AircraftFlyController extends BaseController
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{
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@Autowired
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private MachineCommandManager machineCommandManager;
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@Autowired
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private com.ruoyi.device.domain.impl.machine.statemachine.MachineStateManager machineStateManager;
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@Autowired
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private FlightService flightService;
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/**
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* 无人机飞控命令
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*
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* @param request 飞控命令请求
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* @return 结果
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*/
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@Operation(summary = "无人机飞控命令", description = "发送飞控指令")
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@PostMapping("/flight-control")
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public R<Void> flightControl(@RequestBody DroneFlightControlRequest request)
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{
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if (request.getCommand() == null || request.getSn() == null) {
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return R.fail("飞控命令和机场SN号不能为空");
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}
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String sn = request.getSn();
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log.info("收到飞控命令: sn={}, command={}", sn, request.getCommand());
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try {
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CommandType commandType;
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java.util.Map<String, Object> params = new java.util.HashMap<>();
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// 处理消息ID
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if (request.getMessageID() != null) {
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params.put("messageID", request.getMessageID());
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} else {
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params.put("messageID", System.currentTimeMillis());
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}
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// 处理扩展参数
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if (request.getEvalue() != null) {
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params.put("evalue", request.getEvalue());
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}
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if (request.getValue() != null) {
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params.put("value", request.getValue());
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}
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if (request.getLightMode() != null) {
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params.put("lightMode", request.getLightMode());
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}
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// 处理航线飞行、悬停、继续任务所需的参数
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if (request.getAirlineFileUrl() != null) {
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params.put("airlineFileUrl", request.getAirlineFileUrl());
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}
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if (request.getFlyBatteryMin() != null) {
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params.put("flyBatteryMin", request.getFlyBatteryMin());
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}
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if (request.getIsMustFly() != null) {
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params.put("isMustFly", request.getIsMustFly());
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}
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if (request.getTaskId() != null) {
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params.put("taskId", request.getTaskId());
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}
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if (request.getZhilin() != null) {
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params.put("zhilin", request.getZhilin());
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}
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switch (request.getCommand()) {
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case FORWARD:
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commandType = CommandType.FORWARD;
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break;
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case BACKWARD:
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commandType = CommandType.BACKWARD;
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break;
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case LEFT:
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commandType = CommandType.LEFT;
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break;
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case RIGHT:
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commandType = CommandType.RIGHT;
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break;
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case ROTATE_LEFT:
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commandType = CommandType.ROTATE_LEFT;
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break;
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case ROTATE_RIGHT:
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commandType = CommandType.ROTATE_RIGHT;
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break;
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case UP:
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commandType = CommandType.UP;
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break;
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case DOWN:
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commandType = CommandType.DOWN;
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break;
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case SWITCH_VISIBLE_LIGHT:
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commandType = CommandType.SWITCH_VISIBLE_LIGHT;
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break;
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case GIMBAL_ZOOM:
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commandType = CommandType.GIMBAL_ZOOM;
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break;
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case SWITCH_IR:
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commandType = CommandType.SWITCH_IR;
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break;
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case SWITCH_WIDE_ANGLE:
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commandType = CommandType.SWITCH_WIDE_ANGLE;
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break;
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case GIMBAL_MOVE_RIGHT:
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commandType = CommandType.GIMBAL_MOVE_RIGHT;
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break;
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case GIMBAL_MOVE_LEFT:
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commandType = CommandType.GIMBAL_MOVE_LEFT;
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break;
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case GIMBAL_PITCH_UP:
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commandType = CommandType.GIMBAL_PITCH_UP;
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break;
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case GIMBAL_PITCH_DOWN:
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commandType = CommandType.GIMBAL_PITCH_DOWN;
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break;
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case GIMBAL_RESET:
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commandType = CommandType.GIMBAL_RESET;
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break;
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case AIRLINE_FLIGHT:
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commandType = CommandType.AIRLINE_FLIGHT;
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break;
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case HOVER:
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commandType = CommandType.HOVER;
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break;
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case CONTINUE_TASK:
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commandType = CommandType.CONTINUE_TASK;
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break;
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case EMERGENCY_STOP:
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return R.fail("急停命令暂不支持");
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default:
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return R.fail("不支持的飞控命令");
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}
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CompletableFuture<CommandResult> future = machineCommandManager.executeCommand(sn, commandType, params);
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CommandResult result = future.get();
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if (result.isSuccess()) {
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log.info("飞控命令执行成功: sn={}, command={}", sn, request.getCommand());
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return R.ok();
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} else {
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log.error("飞控命令执行失败: sn={}, command={}, reason={}", sn, request.getCommand(), result.getErrorMessage());
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return R.fail("飞控命令执行失败: " + result.getErrorMessage());
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}
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} catch (Exception e) {
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log.error("飞控命令执行异常: sn={}, command={}", sn, request.getCommand(), e);
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return R.fail("飞控命令执行异常: " + e.getMessage());
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}
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}
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/**
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* 无人机实时信息展示
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*
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* @param taskId 任务ID
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* @return 实时信息
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*/
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@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")
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@GetMapping("/realtime-info/{taskId}")
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public R<DroneRealtimeInfoVO> getRealtimeInfo(
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@Parameter(description = "任务ID", required = true, example = "1")
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@PathVariable("taskId") Long taskId)
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{
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// TODO: 实现获取实时信息逻辑
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DroneRealtimeInfoVO vo = new DroneRealtimeInfoVO();
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vo.setClimbSpeed(0);
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vo.setCruiseSpeed(0);
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vo.setDistanceToAirport(0);
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vo.setAltitude(0);
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vo.setPitch(0);
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vo.setYaw(0);
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vo.setGimbalPitch(0);
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vo.setGimbalYaw(0);
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vo.setMissionStatus(DroneMissionStatusEnum.IDLE);
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return R.ok(vo);
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}
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/**
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* 无人机当前状态查询
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*
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* @param dockId 机场ID
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* @return 当前状态
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*/
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@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")
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@GetMapping("/current-status/{dockId}")
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public R<DroneCurrentStatusVO> getCurrentStatus(
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@Parameter(description = "机场ID", required = true, example = "1")
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@PathVariable("dockId") Long dockId)
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{
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// TODO: 实现查询当前状态逻辑
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DroneCurrentStatusVO vo = new DroneCurrentStatusVO();
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vo.setDockId(dockId);
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vo.setCurrentStatus(DroneCurrentStatusEnum.HOVERING);
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return R.ok(vo);
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}
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//从配置文件获取
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private final static String airlineFileUrl = "https://minio-dx.t-aaron.com:2443/th-airport/testFile/191ec54c-062c-4828-aab6-cefc901add78.waypoints";
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/**
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* 无人机一键起飞
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*
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* @param request 起飞请求对象
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* @return 起飞响应
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*/
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@Operation(summary = "无人机航线任务（一键起飞用的也是该接口）", description = "控制指定机场的无人机执行起飞操作")
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@PostMapping("/takeoff")
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public R<String> takeoff(@RequestBody DroneTakeoffRequest request)
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{
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// Long taskId = flightService.createClickTakeOffTask(request.getSn(),airlineFileUrl);
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log.info("无人机航线任务（一键起飞用的也是该接口） {} ", JSON.toJSONString(request));
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// if(true){
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// return R.ok("无人机起飞命令发送失败: ");
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// }
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try {
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java.util.Map<String, Object> params = new java.util.HashMap<>();
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if(StringUtils.isEmpty(request.getAirlineFileUrl())){
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params.put("airlineFileUrl", airlineFileUrl);
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}else {
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params.put("airlineFileUrl", request.getAirlineFileUrl());
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}
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if(Objects.nonNull(request.getFlyBatteryMin())){
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params.put("flyBatteryMin", request.getFlyBatteryMin());
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}else {
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params.put("flyBatteryMin", 0.3);
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}
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params.put("messageID", request.getTaskId());
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CompletableFuture<CommandResult> future = machineCommandManager.executeCommand(request.getSn(), CommandType.TAKE_OFF, params);
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CommandResult result = future.get();
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if (result.isSuccess()) {
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log.info("无人机起飞命令发送成功 executeCommand: sn={}", request.getSn());
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flightService.updateFlightStatus(request.getTaskId(), TaskResultVO.Checking("无人机起飞命令发送成功"));
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return R.ok("无人机起飞命令发送成功");
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} else {
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log.error("无人机起飞失败 无人机起飞命令发送失败: sn={}, reason={}", request.getSn(), result.getErrorMessage());
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flightService.updateFlightStatus(request.getTaskId(),
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TaskResultVO.Error("人机起飞命令发送失败 executeCommand"+ result.getErrorMessage()));
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return R.fail("无人机起飞命令发送失败: " + result.getErrorMessage());
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}
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} catch (Exception e) {
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log.error("无人机起飞失败 无人机起飞命令发送失败: sn={}", request.getSn(), e);
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flightService.updateFlightStatus(request.getTaskId(),
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TaskResultVO.Error("人机起飞命令发送失败 executeCommand E" + e.getMessage()));
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return R.fail("无人机起飞命令发送失败: " + e.getMessage());
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}
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}
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/**
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* 无人机开机接口
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*
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* @param sn 机场SN号
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* @return 开机响应
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*/
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@Operation(summary = "无人机开机", description = "控制指定机场的无人机执行开机操作")
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@PostMapping("/power-on/{sn}")
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public R<String> powerOn(
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@Parameter(description = "机场SN号", required = true, example = "THJSQ03B2309DN7VQN43")
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@PathVariable("sn") String sn)
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{
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log.info("收到无人机开机请求: sn={}", sn);
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try {
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// 调用机器命令管理器执行开机命令
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CompletableFuture<CommandResult> future = machineCommandManager.executeCommand(sn, CommandType.POWER_ON);
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// 等待命令执行完成
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CommandResult result = future.get();
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if (result.isSuccess()) {
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log.info("无人机开机成功: sn={}", sn);
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return R.ok("开机命令执行成功");
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} else {
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log.error("无人机开机失败: sn={}, reason={}", sn, result.getErrorMessage());
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return R.fail("开机命令执行失败: " + result.getErrorMessage());
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}
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} catch (Exception e) {
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log.error("无人机开机异常: sn={}", sn, e);
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return R.fail("开机命令执行异常: " + e.getMessage());
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}
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}
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/**
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* 无人机关机接口
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*
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* @param sn 机场SN号
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* @return 关机响应
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*/
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@Operation(summary = "无人机关机", description = "控制指定机场的无人机执行关机操作")
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@PostMapping("/power-off/{sn}")
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public R<String> powerOff(
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@Parameter(description = "机场SN号", required = true, example = "THJSQ03B2309DN7VQN43")
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@PathVariable("sn") String sn)
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{
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log.info("收到无人机关机请求: sn={}", sn);
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try {
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// 调用机器命令管理器执行关机命令
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CompletableFuture<CommandResult> future = machineCommandManager.executeCommand(sn, CommandType.POWER_OFF);
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// 等待命令执行完成
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CommandResult result = future.get();
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if (result.isSuccess()) {
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log.info("无人机关机成功: sn={}", sn);
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return R.ok("关机命令执行成功");
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} else {
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log.error("无人机关机失败: sn={}, reason={}", sn, result.getErrorMessage());
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return R.fail("关机命令执行失败: " + result.getErrorMessage());
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}
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} catch (Exception e) {
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log.error("无人机关机异常: sn={}", sn, e);
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return R.fail("关机命令执行异常: " + e.getMessage());
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}
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}
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/**
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* 查询无人机状态
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*
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* @param sn 设备SN号
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* @return 状态信息
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*/
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@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")
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@GetMapping("/machine-state/{sn}")
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public R<MachineStateVO> getMachineState(
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@Parameter(description = "设备SN号", required = true, example = "TH001")
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@PathVariable("sn") String sn)
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{
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log.info("查询无人机状态: sn={}", sn);
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try {
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// 从 MachineStateManager 获取状态
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MachineStates states = machineStateManager.getStates(sn);
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// 转换为 VO 对象
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MachineStateVO vo = new MachineStateVO();
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vo.setSn(sn);
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vo.setDroneState(states.getDroneState().name());
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vo.setAirportState(states.getAirportState().name());
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vo.setCoverState(states.getCoverState().name());
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vo.setDrcState(states.getDrcState().name());
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vo.setDebugModeState(states.getDebugModeState().name());
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log.info("查询到状态: sn={}, vo={}", sn, vo);
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return R.ok(vo);
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} catch (Exception e) {
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log.error("查询无人机状态异常: sn={}", sn, e);
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return R.fail("查询状态失败: " + e.getMessage());
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}
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}
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/**
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* 出舱接口
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*
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* @param sn 机场SN号
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* @return 出舱响应
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*/
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@Operation(summary = "出舱", description = "控制指定机场执行出舱操作")
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@PostMapping("/cover-open/{sn}")
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public R<String> coverOpen(
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@Parameter(description = "机场SN号", required = true, example = "THJSQ03B2309DN7VQN43")
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@PathVariable("sn") String sn)
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{
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log.info("收到出舱请求: sn={}", sn);
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try {
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// 调用机器命令管理器执行出舱命令
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CompletableFuture<CommandResult> future = machineCommandManager.executeCommand(sn, CommandType.OPEN_COVER);
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// 等待命令执行完成
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CommandResult result = future.get();
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if (result.isSuccess()) {
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log.info("出舱成功: sn={}", sn);
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return R.ok("出舱命令执行成功");
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} else {
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log.error("出舱失败: sn={}, reason={}", sn, result.getErrorMessage());
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return R.fail("出舱命令执行失败: " + result.getErrorMessage());
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}
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} catch (Exception e) {
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log.error("出舱异常: sn={}", sn, e);
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return R.fail("出舱命令执行异常: " + e.getMessage());
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}
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}
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/**
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* 回舱接口
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*
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* @param sn 机场SN号
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* @return 回舱响应
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*/
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@Operation(summary = "回舱", description = "控制指定机场执行回舱操作")
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@PostMapping("/cover-close/{sn}")
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public R<String> coverClose(
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@Parameter(description = "机场SN号", required = true, example = "THJSQ03B2309DN7VQN43")
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@PathVariable("sn") String sn)
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{
|
||
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());
|
||
}
|
||
}
|
||
} |