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thingsboard-client-demo
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This commit is contained in:
孙小云 2025-12-18 08:29:03 +08:00
parent d18b4cd7b8
commit 419230fa7e
2 changed files with 5 additions and 20 deletions
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5
src/main/java/com/tuoheng/machine/command/CommandType.java
View File

@ -9,10 +9,7 @@ public enum CommandType {
*/ */
TAKE_OFF, TAKE_OFF,
/**
* 降落
*/
LAND,
/** /**
* 返航 * 返航

20
src/main/java/com/tuoheng/machine/vendor/dji/DjiVendorConfig.java vendored
View File

@ -50,20 +50,12 @@ public class DjiVendorConfig implements VendorConfig {
StopState stopState = currentStates.getStopState(); StopState stopState = currentStates.getStopState();
switch (commandType) { switch (commandType) {
case TAKE_OFF:
// 未知状态或离线状态且未急停时可以起飞
return (droneState == DroneState.UNKNOWN || droneState == DroneState.ONLINE) &&
stopState != StopState.ENTERED;
case LAND: case TAKE_OFF:
// 飞行中、到达目的地状态可以降落（急停状态不能降落） return droneState == DroneState.ONLINE ;
return (droneState == DroneState.FLYING || droneState == DroneState.ARRIVED) &&
stopState != StopState.ENTERED;
case RETURN_HOME: case RETURN_HOME:
// 飞行中、到达目的地可以返航（急停状态不能返航） return droneState == DroneState.FLYING ;
return (droneState == DroneState.FLYING || droneState == DroneState.ARRIVED) &&
stopState != StopState.ENTERED;
case EMERGENCY_STOP: case EMERGENCY_STOP:
// 飞行中、返航中可以急停（未处于急停状态） // 飞行中、返航中可以急停（未处于急停状态）
@ -139,11 +131,7 @@ public class DjiVendorConfig implements VendorConfig {
.setTimeout(90000); .setTimeout(90000);
transactionMap.put(CommandType.TAKE_OFF, takeOffTransaction); transactionMap.put(CommandType.TAKE_OFF, takeOffTransaction);
// 降落命令
Transaction landTransaction = new Transaction("降落", CommandType.LAND)
.addInstruction(new DjiLandInstruction())
.setTimeout(90000);
transactionMap.put(CommandType.LAND, landTransaction);
// 返航命令 // 返航命令
Transaction returnHomeTransaction = new Transaction("返航", CommandType.RETURN_HOME) Transaction returnHomeTransaction = new Transaction("返航", CommandType.RETURN_HOME)