修改方法

src/main/java/com/tuoheng/machine/config/AirportMachineConfig.java

@@ -4,11 +4,13 @@ import com.tuoheng.machine.events.AirportEvent;
 import com.tuoheng.machine.platform.factory.PlatformStrategyFactory;
 import com.tuoheng.machine.platform.strategy.AirportPlatformStrategy;
 import com.tuoheng.machine.status.AirportState;
+import lombok.extern.slf4j.Slf4j;
 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 org.springframework.stereotype.Component;
 
 import java.util.EnumSet;
 import java.util.UUID;
@@ -18,6 +20,7 @@ import java.util.UUID;
  * 通过PlatformStrategyFactory动态获取平台特定的Guard、Action和Listener
  */
 @Configuration
+@Slf4j
 public class AirportMachineConfig {
 
     @Bean(name = "airportStateMachineFactory")
@@ -45,6 +48,7 @@ public class AirportMachineConfig {
                     stateMachine.getExtendedState().getVariables().put("machineId", machineId);
                     return stateMachine;
                 } catch (Exception e) {
+                    log.error("创建AIRPORT机巢状态机失败 - 机器ID: {}", machineId, e);
                     throw new RuntimeException("Failed to create state machine for: " + machineId, e);
                 }
             }

src/main/java/com/tuoheng/machine/config/CoverMachineConfig.java

@@ -4,6 +4,7 @@ import com.tuoheng.machine.events.CoverEvent;
 import com.tuoheng.machine.platform.factory.PlatformStrategyFactory;
 import com.tuoheng.machine.platform.strategy.CoverPlatformStrategy;
 import com.tuoheng.machine.status.CoverState;
+import lombok.extern.slf4j.Slf4j;
 import org.springframework.context.annotation.Bean;
 import org.springframework.context.annotation.Configuration;
 import org.springframework.statemachine.StateMachine;
@@ -18,6 +19,7 @@ import java.util.UUID;
  * 通过PlatformStrategyFactory动态获取平台特定的Guard、Action和Listener
  */
 @Configuration
+@Slf4j
 public class CoverMachineConfig {
 
     @Bean
@@ -44,6 +46,7 @@ public class CoverMachineConfig {
                     stateMachine.getExtendedState().getVariables().put("machineId", machineId);
                     return stateMachine;
                 } catch (Exception e) {
+                    log.error("创建COVER状态机失败 - 机器ID: {}", machineId, e);
                     throw new RuntimeException("Failed to create cover state machine for: " + machineId, e);
                 }
             }

src/main/java/com/tuoheng/machine/config/DrcMachineConfig.java

@@ -4,6 +4,7 @@ import com.tuoheng.machine.events.DrcEvent;
 import com.tuoheng.machine.platform.factory.PlatformStrategyFactory;
 import com.tuoheng.machine.platform.strategy.DrcPlatformStrategy;
 import com.tuoheng.machine.status.DrcState;
+import lombok.extern.slf4j.Slf4j;
 import org.springframework.context.annotation.Bean;
 import org.springframework.context.annotation.Configuration;
 import org.springframework.statemachine.StateMachine;
@@ -18,11 +19,13 @@ import java.util.UUID;
  * 通过PlatformStrategyFactory动态获取平台特定的Guard、Action和Listener
  */
 @Configuration
+@Slf4j
 public class DrcMachineConfig {
 
     @Bean(name = "drcStateMachineFactory")
     public StateMachineFactory<DrcState, DrcEvent> drcStateMachineFactory(
             PlatformStrategyFactory platformStrategyFactory) throws Exception {
+
         return new StateMachineFactory<DrcState, DrcEvent>() {
             @Override
             public StateMachine<DrcState, DrcEvent> getStateMachine() {
@@ -44,6 +47,7 @@ public class DrcMachineConfig {
                     stateMachine.getExtendedState().getVariables().put("machineId", machineId);
                     return stateMachine;
                 } catch (Exception e) {
+                    log.error("创建DRC状态机失败 - 机器ID: {}", machineId, e);
                     throw new RuntimeException("Failed to create DRC state machine for: " + machineId, e);
                 }
             }
@@ -87,7 +91,7 @@ public class DrcMachineConfig {
                 .withExternal()
                 .source(DrcState.UNKNOWN)
                 .target(DrcState.ENTERING)
-                .event(DrcEvent.ENTER)
+                .event(DrcEvent.ENTERING)
                 .and()
 
                 // UNKNOWN -> ENTERED
@@ -101,7 +105,7 @@ public class DrcMachineConfig {
                 .withExternal()
                 .source(DrcState.UNKNOWN)
                 .target(DrcState.EXITING)
-                .event(DrcEvent.EXIT)
+                .event(DrcEvent.EXITING)
                 .and()
 
                 // ========== 正常状态转换（带 Guard 和 Action） ==========
@@ -109,7 +113,7 @@ public class DrcMachineConfig {
                 .withExternal()
                 .source(DrcState.EXITED)
                 .target(DrcState.ENTERING)
-                .event(DrcEvent.ENTER)
+                .event(DrcEvent.ENTERING)
                 .action(strategy.getEnterAction())
                 .guard(strategy.getCanEnterGuard())
                 .and()
@@ -126,7 +130,7 @@ public class DrcMachineConfig {
                 .withExternal()
                 .source(DrcState.ENTERED)
                 .target(DrcState.EXITING)
-                .event(DrcEvent.EXIT)
+                .event(DrcEvent.EXITING)
                 .action(strategy.getExitAction())
                 .guard(strategy.getCanExitGuard())
                 .and()

src/main/java/com/tuoheng/machine/config/DroneMachineConfig.java

@@ -4,6 +4,7 @@ import com.tuoheng.machine.events.DroneEvent;
 import com.tuoheng.machine.platform.factory.PlatformStrategyFactory;
 import com.tuoheng.machine.platform.strategy.DronePlatformStrategy;
 import com.tuoheng.machine.status.DroneState;
+import lombok.extern.slf4j.Slf4j;
 import org.springframework.context.annotation.Bean;
 import org.springframework.context.annotation.Configuration;
 import org.springframework.statemachine.StateMachine;
@@ -18,6 +19,7 @@ import java.util.UUID;
  * 通过PlatformStrategyFactory动态获取平台特定的Guard、Action和Listener
  */
 @Configuration
+@Slf4j
 public class DroneMachineConfig {
 
     @Bean(name = "droneStateMachineFactory")
@@ -44,6 +46,7 @@ public class DroneMachineConfig {
                     stateMachine.getExtendedState().getVariables().put("machineId", machineId);
                     return stateMachine;
                 } catch (Exception e) {
+                    log.error("创建DRONE状态机失败 - 机器ID: {}", machineId, e);
                     throw new RuntimeException("Failed to create drone state machine for: " + machineId, e);
                 }
             }

src/main/java/com/tuoheng/machine/events/DrcEvent.java

@@ -9,7 +9,7 @@ public enum DrcEvent {
      * 进入DRC模式指令
      * 触发源: 用户指令
      */
-    ENTER,
+    ENTERING,
 
     /**
      * 进入DRC模式完成
@@ -21,7 +21,7 @@ public enum DrcEvent {
      * 退出DRC模式指令
      * 触发源: 用户指令/自动
      */
-    EXIT,
+    EXITING,
 
     /**
      * 退出DRC模式完成

src/main/java/com/tuoheng/machine/impl/dji/action/drc/DjiExitAction.java

@@ -8,6 +8,8 @@ import com.tuoheng.machine.status.DrcState;
 import org.springframework.statemachine.StateContext;
 import org.springframework.stereotype.Component;
 
+import java.util.concurrent.CompletableFuture;
+
 @Slf4j
 @Component
 public class DjiExitAction extends ExitAction {
@@ -20,6 +22,10 @@ public class DjiExitAction extends ExitAction {
     @Override
     public void execute(StateContext<DrcState, DrcEvent> context) {
         String machineId = (String) context.getExtendedState().getVariables().get("machineId");
-        log.info("[DJI] 退出DRC模式: %s", machineId);
+        log.info("[DJI] {} 退出DRC模式: %s 判断外部命令是否成功", machineId);
+        /**
+         * 发生命令的结果是失败，或者超时了，这边需要抛出异常
+         */
+        throw  new RuntimeException("");
     }
 }

src/main/java/com/tuoheng/machine/impl/dji/guard/drc/DjiCanExitGuard.java

@@ -22,7 +22,9 @@ public class DjiCanExitGuard extends CanExitGuard {
 
     @Override
     public boolean evaluate(StateContext<DrcState, DrcEvent> context) {
-        // DJI平台特定的退出DRC模式检查逻辑
+        String machineId = (String) context.getExtendedState().getVariables().get("machineId");
+        log.info("[DJI] {} 退出DRC模式: %s 执行外部命令", machineId);
+        // 外部命令执行成功返回true,执行失败返回false
         return true;
     }
 }

src/main/java/com/tuoheng/machine/impl/dji/listener/DjiDrcListener.java

@@ -1,16 +1,27 @@
 package com.tuoheng.machine.impl.dji.listener;
 
+import com.tuoheng.machine.events.DrcEvent;
 import com.tuoheng.machine.listener.DefaultDrcListener;
+import com.tuoheng.machine.status.DrcState;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.statemachine.state.State;
 import org.springframework.stereotype.Component;
 
 /**
  * DJI平台DRC状态监听器
  */
 @Component
+@Slf4j
 public class DjiDrcListener extends DefaultDrcListener {
 
     @Override
     public String getName() {
         return "DJI-DRC";
     }
+
+    @Override
+    public void stateEntered(State<DrcState, DrcEvent> state) {
+        log.debug("[{}] 大疆进入状态: {}", getName(), state.getId());
+
+    }
 }

src/main/java/com/tuoheng/machine/listener/DefaultDrcListener.java

@@ -13,6 +13,8 @@ import org.springframework.statemachine.StateMachine;
 import org.springframework.statemachine.state.State;
 import org.springframework.statemachine.transition.Transition;
 
+import java.util.concurrent.CompletableFuture;
+
 /**
  * 默认DRC状态监听器
  * 提供基础的状态变化监听功能，各平台可以继承并定制
@@ -31,6 +33,7 @@ public abstract class DefaultDrcListener implements PlatformListener<DrcState, D
     @Override
     public void stateEntered(State<DrcState, DrcEvent> state) {
         log.debug("[{}] 进入状态: {}", getName(), state.getId());
+
     }
 
     @Override
@@ -91,5 +94,6 @@ public abstract class DefaultDrcListener implements PlatformListener<DrcState, D
     @Override
     public void stateContext(StateContext<DrcState, DrcEvent> stateContext) {
         // 默认不处理
+
     }
 }

src/main/java/com/tuoheng/machine/manager/AbsSystemManager.java

@@ -315,11 +315,11 @@ public abstract class AbsSystemManager implements ISystemManager {
             case EXITED:
                 return DrcEvent.EXITED;
             case ENTERING:
-                return DrcEvent.ENTER;
+                return DrcEvent.ENTERING;
             case ENTERED:
                 return DrcEvent.ENTERED;
             case EXITING:
-                return DrcEvent.EXIT;
+                return DrcEvent.EXITING;
             default:
                 return null;
         }

src/main/resources/application.yml

@@ -0,0 +1,12 @@
+spring:
+  application:
+    name: thingsboard-client-demo
+
+logging:
+  level:
+    root: DEBUG
+    com.tuoheng: DEBUG
+    org.springframework: ERROR
+    org.springframework.web: ERROR
+    java.lang: ERROR
+    reactor.util: INFO

src/test/java/com/tuoheng/machine/DrcStateMachineTest.java

@@ -1,18 +1,13 @@
 package com.tuoheng.machine;
 
-import com.tuoheng.machine.platform.PlatformType;
+import com.tuoheng.machine.events.DrcEvent;
-import com.tuoheng.machine.platform.factory.PlatformStrategyFactory;
-import com.tuoheng.machine.repository.MachinePlatTypeRepository;
 import com.tuoheng.machine.service.DrcMachineService;
+import com.tuoheng.machine.status.DrcState;
 import lombok.extern.slf4j.Slf4j;
 import org.junit.jupiter.api.Test;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.boot.test.context.SpringBootTest;
-import org.springframework.boot.test.mock.mockito.MockBean;
+import org.springframework.statemachine.StateMachine;
-
-import static org.junit.jupiter.api.Assertions.*;
-import static org.mockito.ArgumentMatchers.anyString;
-import static org.mockito.Mockito.when;
 
 /**
  * DRC状态机测试
@@ -22,31 +17,65 @@ import static org.mockito.Mockito.when;
 @Slf4j
 public class DrcStateMachineTest {
 
-    @Autowired
-    private DrcMachineService drcMachineService;
 
     @Autowired
-    private PlatformStrategyFactory platformStrategyFactory;
+    DrcMachineService drcMachineService;
 
-    @MockBean
+    @Test
-    private MachinePlatTypeRepository machinePlatTypeRepository;
+    public void testDrcMachineService(){
 
-    private static final String TEST_AIRPORT_SN = "test-airport-001";
+        String sn = "airport-001";
+        /**
+         * 不存在的会报错,需要在 MachinePlatTypeRepository 里面定义有这个机场编号
+         */
+        try {
+            StateMachine<DrcState, DrcEvent> stateMachine =
+                    drcMachineService.getOrCreateStateMachine("airport-001--2");
+        }catch (RuntimeException runtimeException){}
+
+        StateMachine<DrcState, DrcEvent> stateMachine =  drcMachineService.getStateMachine("airport-001");
+        drcMachineService.getOrCreateStateMachine("airport-001");
+        stateMachine =  drcMachineService.getStateMachine("airport-001");
 
         /**
-     * 测试 Spring Boot 依赖注入是否正常工作
+         * 打印一下当前的状态
          */
-    @Test
+        log.debug(drcMachineService.getCurrentStates("airport-001"));
-    public void testAutowiredInjection() {
 
-        // 验证 PlatformStrategyFactory 是否成功注入
+        /**
-        assertNotNull(platformStrategyFactory, "PlatformStrategyFactory 应该被成功注入");
+         * 从UnKnown状态可以走到任意状态
-        // 验证 DrcMachineService 是否成功注入
+         */
-        assertNotNull(drcMachineService, "DrcMachineService 应该被成功注入");
+        drcMachineService.sendEvent(sn,DrcEvent.ENTERED);
-        // 验证 AirportPlatformRepository Mock 是否成功
-        assertNotNull(machinePlatTypeRepository, "AirportPlatformRepository Mock 应该被成功创建");
 
+        /**
+         * ENTERED无法进入ENTERING DrcMachineConfig 里面配置的
+         */
+        log.debug(String.valueOf(drcMachineService.sendEvent(sn,DrcEvent.ENTERING)));
 
+        /**
+         * 现在是 ENTERED,但是你还想进入ENTERED ,这个是不可以的
+         */
+        log.debug(String.valueOf(drcMachineService.sendEvent(sn,DrcEvent.ENTERED)));
+
+        /**
+         * 打印一下当前的状态
+         */
+        log.debug(drcMachineService.getCurrentStates("airport-001"));
+
+        /**
+         * 变成退出中;这个时候需要在 DjiCanExitGuard 中编写退出的代码（调用三方接口）
+         * DjiExitAction 里面判断状态是否真的变化了
+         */
+        log.debug(String.valueOf(drcMachineService.sendEvent(sn,DrcEvent.EXITING)));
+
+        /**
+         * 打印一下当前的状态
+         */
+        log.debug(drcMachineService.getCurrentStates("airport-001"));
+
+//        log.debug(String.valueOf(drcMachineService.sendEvent(sn,DrcEvent.EXITED)));
+//
+//        log.debug(drcMachineService.getCurrentStates("airport-001"));
     }
 
 }