thingsboard-client-demo/src/main/java/com/tuoheng/status/machine/config/DrcMachineConfig.java

package com.tuoheng.status.machine.config;

import com.tuoheng.status.machine.events.DrcEvent;
import com.tuoheng.status.machine.platform.factory.PlatformStrategyFactory;
import com.tuoheng.status.machine.platform.strategy.DrcPlatformStrategy;
import com.tuoheng.status.machine.status.DrcState;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.context.annotation.Bean;
import org.springframework.context.annotation.Configuration;
import org.springframework.statemachine.StateMachine;
import org.springframework.statemachine.config.StateMachineBuilder;
import org.springframework.statemachine.config.StateMachineFactory;

import java.util.EnumSet;
import java.util.UUID;

/**
 * DRC（飞行控制模式）状态机配置（多平台支持版本）
 * 通过PlatformStrategyFactory动态获取平台特定的Guard、Action和Listener
 */
@Configuration
public class DrcMachineConfig {

    @Autowired
    private PlatformStrategyFactory platformStrategyFactory;

    @Bean(name = "drcStateMachineFactory")
    public StateMachineFactory<DrcState, DrcEvent> drcStateMachineFactory() throws Exception {
        return new StateMachineFactory<DrcState, DrcEvent>() {
            @Override
            public StateMachine<DrcState, DrcEvent> getStateMachine() {
                return null;
            }

            @Override
            public StateMachine<DrcState, DrcEvent> getStateMachine(String machineId) {
                try {
                    // 根据机巢SN获取平台策略
                    DrcPlatformStrategy strategy = platformStrategyFactory.getDrcStrategy(machineId);

                    StateMachineBuilder.Builder<DrcState, DrcEvent> builder = StateMachineBuilder.builder();
                    configureDrcStateMachine(builder, strategy);
                    configureDrcStates(builder);
                    configureDrcTransitions(builder, strategy);

                    StateMachine<DrcState, DrcEvent> stateMachine = builder.build();
                    stateMachine.getExtendedState().getVariables().put("machineId", machineId);
                    return stateMachine;
                } catch (Exception e) {
                    throw new RuntimeException("Failed to create DRC state machine for: " + machineId, e);
                }
            }

            @Override
            public StateMachine<DrcState, DrcEvent> getStateMachine(UUID uuid) {
                return null;
            }
        };
    }

    private void configureDrcStateMachine(
            StateMachineBuilder.Builder<DrcState, DrcEvent> builder,
            DrcPlatformStrategy strategy) throws Exception {
        builder.configureConfiguration()
                .withConfiguration()
                .autoStartup(true)
                .listener(strategy.getListener());
    }

    private void configureDrcStates(StateMachineBuilder.Builder<DrcState, DrcEvent> builder) throws Exception {
        builder.configureStates()
                .withStates()
                .initial(DrcState.UNKNOWN)
                .states(EnumSet.allOf(DrcState.class));
    }

    private void configureDrcTransitions(
            StateMachineBuilder.Builder<DrcState, DrcEvent> builder,
            DrcPlatformStrategy strategy) throws Exception {
        builder.configureTransitions()
                // ========== 从 UNKNOWN 到所有状态的转换（服务器重启后状态同步） ==========
                // UNKNOWN -> EXITED
                .withExternal()
                .source(DrcState.UNKNOWN)
                .target(DrcState.EXITED)
                .event(DrcEvent.EXITED)
                .and()

                // UNKNOWN -> ENTERING
                .withExternal()
                .source(DrcState.UNKNOWN)
                .target(DrcState.ENTERING)
                .event(DrcEvent.ENTER)
                .and()

                // UNKNOWN -> ENTERED
                .withExternal()
                .source(DrcState.UNKNOWN)
                .target(DrcState.ENTERED)
                .event(DrcEvent.ENTERED)
                .and()

                // UNKNOWN -> EXITING
                .withExternal()
                .source(DrcState.UNKNOWN)
                .target(DrcState.EXITING)
                .event(DrcEvent.EXIT)
                .and()

                // ========== 正常状态转换（带 Guard 和 Action） ==========
                // EXITED -> ENTERING
                .withExternal()
                .source(DrcState.EXITED)
                .target(DrcState.ENTERING)
                .event(DrcEvent.ENTER)
                .action(strategy.getEnterAction())
                .guard(strategy.getCanEnterGuard())
                .and()

                // ENTERING -> ENTERED
                .withExternal()
                .source(DrcState.ENTERING)
                .target(DrcState.ENTERED)
                .event(DrcEvent.ENTERED)
                .action(strategy.getEnteredAction())
                .and()

                // ENTERED -> EXITING
                .withExternal()
                .source(DrcState.ENTERED)
                .target(DrcState.EXITING)
                .event(DrcEvent.EXIT)
                .action(strategy.getExitAction())
                .guard(strategy.getCanExitGuard())
                .and()

                // EXITING -> EXITED
                .withExternal()
                .source(DrcState.EXITING)
                .target(DrcState.EXITED)
                .event(DrcEvent.EXITED)
                .action(strategy.getExitedAction());
    }
}