删除旧的方案
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孙小云
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# 条件分支执行指南
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## 概述
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框架现在支持基于状态回调结果的条件分支执行。指令自己维护下游节点关系，形成树状结构，可以根据执行结果（成功/失败）动态决定下一步执行哪个指令。
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## 核心概念
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### 1. Instruction 自维护下游节点
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每个指令可以配置三种类型的下游指令：
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```java
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CheckDeviceInstruction checkInstruction = new CheckDeviceInstruction()
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.onSuccess(new TakeOffInstruction()) // 成功时执行
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.onFailure(new RepairDeviceInstruction()) // 失败时执行
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.then(new LogInstruction()); // 无论成功失败都执行
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```
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**优先级**：`then` (always) > `onSuccess/onFailure`
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### 2. Transaction 持有根指令
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Transaction 只需要持有根指令，指令树由指令自己维护：
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```java
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Transaction transaction = new Transaction("条件分支起飞", CommandType.TAKE_OFF)
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.root(checkInstruction)
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.setTimeout(120000);
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```
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### 3. 条件分支触发条件
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只有当指令**配置了 `StateCallbackConfig`** 时，才会根据状态回调结果执行下游节点：
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```java
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@Override
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public CallbackConfig getStateCallbackConfig(InstructionContext context) {
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return CallbackConfig.builder()
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.topic("device/" + context.getSn() + "/state")
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.fieldPath("droneState")
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.expectedValue("FLYING")
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.timeoutMs(60000)
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.build();
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}
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```
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**核心规则**：
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- **配置了 StateCallbackConfig** → 必须等待状态回调，下游节点的执行依赖于回调结果
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- **没有配置 StateCallbackConfig** → 当前指令的结果即为事务结果，不会执行下游节点
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### 4. 分支决策逻辑
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当指令配置了状态回调时：
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1. **状态回调成功** → 执行 `then` 或 `onSuccess` 配置的指令
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2. **状态回调失败/超时** → 执行 `then` 或 `onFailure` 配置的指令
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3. **如果找不到对应的下游指令** → 将状态回调结果作为事务结果返回
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## 使用场景
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### 场景1：简单的成功/失败分支
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```java
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// 创建指令
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TakeOffInstruction takeoffInstruction = new TakeOffInstruction();
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RepairDeviceInstruction repairInstruction = new RepairDeviceInstruction();
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// 配置指令树
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CheckDeviceInstruction checkInstruction = new CheckDeviceInstruction()
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.onSuccess(takeoffInstruction) // 状态正常 -> 起飞
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.onFailure(repairInstruction // 状态异常 -> 修复
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.then(takeoffInstruction)); // 修复后 -> 起飞
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// 创建事务
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Transaction transaction = new Transaction("条件分支起飞", CommandType.TAKE_OFF)
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.root(checkInstruction);
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```
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**执行流程**：
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```
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check (检查设备)
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├─ 成功 → takeoff (起飞) → 结束
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└─ 失败 → repair (修复) → takeoff (起飞) → 结束
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```
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### 场景2：重试机制
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```java
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// 创建指令
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StartMissionInstruction startMissionInstruction = new StartMissionInstruction();
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EmergencyLandInstruction emergencyLandInstruction = new EmergencyLandInstruction();
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// 重试起飞指令
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RetryTakeOffInstruction retryInstruction = new RetryTakeOffInstruction()
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.onSuccess(startMissionInstruction) // 重试成功 -> 开始任务
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.onFailure(emergencyLandInstruction); // 重试失败 -> 紧急降落
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// 起飞指令（带状态回调）
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TakeOffWithStateCallbackInstruction takeoffInstruction = new TakeOffWithStateCallbackInstruction()
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.onSuccess(startMissionInstruction) // 起飞成功 -> 开始任务
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.onFailure(retryInstruction); // 起飞失败 -> 重试
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// 创建事务
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Transaction transaction = new Transaction("智能起飞", CommandType.TAKE_OFF)
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.root(takeoffInstruction);
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```
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**执行流程**：
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```
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takeoff (起飞)
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├─ 成功 → start_mission (开始任务) → 结束
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└─ 失败 → retry_takeoff (重试)
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├─ 成功 → start_mission (开始任务) → 结束
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└─ 失败 → emergency_land (紧急降落) → 结束
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```
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### 场景3：状态回调结果直接作为事务结果
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```java
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// 只有一个指令，没有配置下游
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TakeOffWithStateCallbackInstruction takeoffInstruction = new TakeOffWithStateCallbackInstruction();
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// 注意：没有配置 onSuccess 或 onFailure
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Transaction transaction = new Transaction("简单起飞", CommandType.TAKE_OFF)
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.root(takeoffInstruction);
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```
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**执行流程**：
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```
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takeoff (起飞，等待状态回调)
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├─ 状态回调成功 → 事务成功（没有下游指令）
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└─ 状态回调失败 → 事务失败（没有下游指令）
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```
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### 场景4：复杂的多分支流程
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```java
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// 创建所有指令
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OpenCoverInstruction openCoverInstruction = new OpenCoverInstruction();
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CheckWeatherInstruction checkWeatherInstruction = new CheckWeatherInstruction();
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TakeOffInstruction takeoffInstruction = new TakeOffInstruction();
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ExecuteMissionInstruction executeMissionInstruction = new ExecuteMissionInstruction();
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HandleBadWeatherInstruction handleBadWeatherInstruction = new HandleBadWeatherInstruction();
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WaitInstruction waitInstruction = new WaitInstruction();
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CloseCoverInstruction closeCoverInstruction = new CloseCoverInstruction();
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// 配置指令树（从叶子节点开始构建）
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waitInstruction.then(checkWeatherInstruction); // 等待后 -> 重新检查天气
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handleBadWeatherInstruction
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.onSuccess(waitInstruction) // 可以等待 -> 等待后重试
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.onFailure(closeCoverInstruction); // 天气极差 -> 关闭舱门
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takeoffInstruction
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.onSuccess(executeMissionInstruction) // 起飞成功 -> 执行任务
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.onFailure(closeCoverInstruction); // 起飞失败 -> 关闭舱门
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checkWeatherInstruction
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.onSuccess(takeoffInstruction) // 天气好 -> 起飞
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.onFailure(handleBadWeatherInstruction); // 天气差 -> 处理
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openCoverInstruction.then(checkWeatherInstruction); // 打开舱门 -> 检查天气
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// 创建事务
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Transaction transaction = new Transaction("智能任务执行", CommandType.START_MISSION)
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.root(openCoverInstruction)
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.setTimeout(300000);
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```
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**执行流程**：
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```
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open_cover (打开舱门)
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→ check_weather (检查天气)
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├─ 天气好 → takeoff (起飞)
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│ ├─ 成功 → execute_mission (执行任务) → 结束
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│ └─ 失败 → close_cover (关闭舱门) → 结束
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└─ 天气差 → handle_bad_weather (处理恶劣天气)
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├─ 可等待 → wait_and_retry (等待) → check_weather (重新检查)
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└─ 极差 → close_cover (关闭舱门) → 结束
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```
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## 指令实现要点
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### 1. 继承 AbstractInstruction
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所有指令都应该继承 `AbstractInstruction`，它提供了下游节点管理功能：
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```java
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public class MyInstruction extends AbstractInstruction {
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@Override
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public String getName() {
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return "MY_INSTRUCTION";
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}
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@Override
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public void executeRemoteCall(InstructionContext context) throws Exception {
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// 发送MQTT指令
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String sn = context.getSn();
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mqttClient.publish("device/" + sn + "/command", "{\"cmd\":\"myCommand\"}");
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}
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@Override
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public CallbackConfig getMethodCallbackConfig(InstructionContext context) {
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// 方法回调：等待指令ACK
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return CallbackConfig.builder()
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.topic("device/" + context.getSn() + "/response")
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.fieldPath("cmd")
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.expectedValue("myCommand")
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.timeoutMs(10000)
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.build();
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}
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@Override
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public CallbackConfig getStateCallbackConfig(InstructionContext context) {
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// 状态回调：等待状态变化
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// 配置了状态回调，则必须等待回调结果，下游节点的执行依赖于此
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return CallbackConfig.builder()
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.topic("device/" + context.getSn() + "/state")
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.fieldPath("status")
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.expectedValue("SUCCESS")
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.timeoutMs(60000)
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.build();
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}
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}
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```
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### 2. 使用自定义判断逻辑
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```java
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@Override
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public CallbackConfig getStateCallbackConfig(InstructionContext context) {
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return CallbackConfig.builder()
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.topic("device/" + context.getSn() + "/state")
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.customPredicate(messageBody -> {
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// 自定义判断逻辑
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Map<String, Object> data = (Map<String, Object>) messageBody;
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String status = (String) data.get("status");
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Integer errorCode = (Integer) data.get("errorCode");
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// 只有状态为SUCCESS且错误码为0才算成功
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return "SUCCESS".equals(status) && errorCode == 0;
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})
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.timeoutMs(60000)
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.build();
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}
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```
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### 3. 链式配置下游指令
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```java
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// 方式1：直接链式配置
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CheckDeviceInstruction checkInstruction = new CheckDeviceInstruction()
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.onSuccess(new TakeOffInstruction())
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.onFailure(new RepairDeviceInstruction());
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// 方式2：先创建再配置（适合复杂场景）
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TakeOffInstruction takeoffInstruction = new TakeOffInstruction();
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RepairDeviceInstruction repairInstruction = new RepairDeviceInstruction();
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CheckDeviceInstruction checkInstruction = new CheckDeviceInstruction();
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checkInstruction.onSuccess(takeoffInstruction);
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checkInstruction.onFailure(repairInstruction);
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// 方式3：指令复用（同一个指令实例可以被多个上游引用）
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TakeOffInstruction takeoffInstruction = new TakeOffInstruction();
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CheckDeviceInstruction checkInstruction = new CheckDeviceInstruction()
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.onSuccess(takeoffInstruction);
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RepairDeviceInstruction repairInstruction = new RepairDeviceInstruction()
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.then(takeoffInstruction); // 复用同一个 takeoff 实例
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```
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## 关键规则总结
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1. **下游节点执行的前提**：
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- **必须配置 `StateCallbackConfig`** - 下游节点的执行强依赖状态回调
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- **没有配置 `StateCallbackConfig`** - 当前指令的结果即为事务结果，不会执行下游节点
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2. **分支优先级**：
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- `then` (always) > `onSuccess/onFailure`
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- 如果配置了 `then`，则无论成功失败都执行该指令
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3. **找不到下游指令时**：
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- 如果指令配置了状态回调
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- 但找不到对应的下游指令（`onSuccess` 或 `onFailure`）
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- 则状态回调的结果直接作为事务结果返回
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4. **指令执行失败**：
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- `canExecute()` 返回 false → 事务失败
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- `executeRemoteCall()` 抛异常 → 事务失败
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- `MethodCallbackConfig` 失败 → 事务失败
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5. **超时处理**：
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- 方法回调超时 → 事务失败
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- 状态回调超时 → 视为失败，执行 `onFailure` 或 `then` 配置的指令
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- 如果没有配置失败分支，则事务失败
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6. **循环检测**：
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- 框架不会自动检测循环
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- 请确保事务超时时间足够长
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- 避免无限循环（如 A → B → A）
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7. **指令复用**：
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- 同一个指令实例可以被多个上游指令引用
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- 适用于多个分支最终汇聚到同一个指令的场景
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## 调试技巧
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1. **查看执行日志**：
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```
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执行指令: instruction=CHECK_DEVICE
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根据状态回调结果选择下一个指令: success=true, nextInstruction=TAKE_OFF
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执行指令: instruction=TAKE_OFF
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状态回调完成，无下一步指令，事务结束: success=true, instruction=TAKE_OFF
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```
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2. **使用 `onComplete` 回调记录指令执行结果**：
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```java
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@Override
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public void onComplete(InstructionContext context, InstructionResult result) {
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log.info("指令执行完成: instruction={}, success={}, error={}",
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getName(), result.isSuccess(), result.getErrorMessage());
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}
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```
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3. **注册命令执行监听器**：
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```java
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commandManager.registerCommandListener("debug-listener", (sn, result) -> {
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log.info("命令执行完成: sn={}, commandType={}, success={}, failedInstruction={}",
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sn, result.getCommandType(), result.isSuccess(), result.getFailedInstructionName());
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});
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```
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## 最佳实践
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1. **合理设置超时时间**：
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- 指令超时 < 事务超时
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- 考虑重试次数和等待时间
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2. **避免过深的分支嵌套**：
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- 建议分支深度不超过3层
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- 复杂流程可以拆分为多个事务
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3. **提供失败分支**：
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- 关键指令应该配置 `onFailure` 分支
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- 避免因为一个指令失败导致整个事务失败
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4. **合理复用指令实例**：
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- 多个分支汇聚到同一个指令时，复用同一个实例
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- 减少对象创建，提高性能
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5. **记录状态变化**：
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- 在指令的 `onComplete` 中记录执行结果
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- 便于排查问题和优化流程
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6. **从叶子节点开始构建**：
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- 复杂的指令树建议从叶子节点开始构建
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- 先创建所有指令实例，再配置它们之间的关系
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- 这样更容易理解和维护
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## 架构优势
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1. **职责清晰**：指令自己管理下游关系，符合单一职责原则
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2. **结构简单**：Transaction 只是一个容器，不需要维护复杂的节点映射
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3. **易于理解**：指令树的关系直接体现在指令对象上
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4. **灵活复用**：同一个指令实例可以被多个上游指令引用
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5. **面向对象**：指令成为了真正的"自包含"实体
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## 完整示例代码
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```java
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// 示例：带重试的智能起飞
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public Transaction createSmartTakeoffTransaction() {
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// 1. 创建所有指令实例
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TakeOffInstruction takeoffInstruction = new TakeOffInstruction();
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StartMissionInstruction startMissionInstruction = new StartMissionInstruction();
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EmergencyLandInstruction emergencyLandInstruction = new EmergencyLandInstruction();
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// 2. 配置重试逻辑
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RetryTakeOffInstruction retryInstruction = new RetryTakeOffInstruction()
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.onSuccess(startMissionInstruction)
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.onFailure(emergencyLandInstruction);
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// 3. 配置主起飞逻辑
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CheckDeviceInstruction checkInstruction = new CheckDeviceInstruction()
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.onSuccess(takeoffInstruction
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.onSuccess(startMissionInstruction)
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.onFailure(retryInstruction))
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.onFailure(new RepairDeviceInstruction()
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.then(takeoffInstruction));
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// 4. 创建事务
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return new Transaction("智能起飞", CommandType.TAKE_OFF)
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.root(checkInstruction)
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.setTimeout(180000);
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}
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```
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@ -1,12 +0,0 @@
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package com.tuoheng.old.action.airport;
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import com.tuoheng.old.events.AirportEvent;
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import com.tuoheng.old.platform.strategy.PlatformAction;
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||||
import com.tuoheng.old.status.AirportState;
|
||||
|
||||
/**
|
||||
* Base action for old offline handling; platform implementations extend this.
|
||||
*/
|
||||
public abstract class OfflineAction implements PlatformAction<AirportState, AirportEvent> {
|
||||
}
|
||||
|
||||
|
|
@ -1,12 +0,0 @@
|
|||
package com.tuoheng.old.action.airport;
|
||||
|
||||
import com.tuoheng.old.events.AirportEvent;
|
||||
import com.tuoheng.old.platform.strategy.PlatformAction;
|
||||
import com.tuoheng.old.status.AirportState;
|
||||
|
||||
/**
|
||||
* Base action for old online handling; platform implementations extend this.
|
||||
*/
|
||||
public abstract class OnlineAction implements PlatformAction<AirportState, AirportEvent> {
|
||||
}
|
||||
|
||||
|
|
@ -1,12 +0,0 @@
|
|||
package com.tuoheng.old.action.cover;
|
||||
|
||||
import com.tuoheng.old.events.CoverEvent;
|
||||
import com.tuoheng.old.platform.strategy.PlatformAction;
|
||||
import com.tuoheng.old.status.CoverState;
|
||||
|
||||
/**
|
||||
* Base action for closing the cover; platform implementations extend this.
|
||||
*/
|
||||
public abstract class CloseCoverAction implements PlatformAction<CoverState, CoverEvent> {
|
||||
}
|
||||
|
||||
|
|
@ -1,12 +0,0 @@
|
|||
package com.tuoheng.old.action.cover;
|
||||
|
||||
import com.tuoheng.old.events.CoverEvent;
|
||||
import com.tuoheng.old.platform.strategy.PlatformAction;
|
||||
import com.tuoheng.old.status.CoverState;
|
||||
|
||||
/**
|
||||
* Base action for cover-closed handling; platform implementations extend this.
|
||||
*/
|
||||
public abstract class CoverClosedAction implements PlatformAction<CoverState, CoverEvent> {
|
||||
}
|
||||
|
||||
|
|
@ -1,12 +0,0 @@
|
|||
package com.tuoheng.old.action.cover;
|
||||
|
||||
import com.tuoheng.old.events.CoverEvent;
|
||||
import com.tuoheng.old.platform.strategy.PlatformAction;
|
||||
import com.tuoheng.old.status.CoverState;
|
||||
|
||||
/**
|
||||
* Base action for cover-opened handling; platform implementations extend this.
|
||||
*/
|
||||
public abstract class CoverOpenedAction implements PlatformAction<CoverState, CoverEvent> {
|
||||
}
|
||||
|
||||
|
|
@ -1,12 +0,0 @@
|
|||
package com.tuoheng.old.action.cover;
|
||||
|
||||
import com.tuoheng.old.events.CoverEvent;
|
||||
import com.tuoheng.old.platform.strategy.PlatformAction;
|
||||
import com.tuoheng.old.status.CoverState;
|
||||
|
||||
/**
|
||||
* Base action for opening the cover; platform implementations extend this.
|
||||
*/
|
||||
public abstract class OpenCoverAction implements PlatformAction<CoverState, CoverEvent> {
|
||||
}
|
||||
|
||||
|
|
@ -1,12 +0,0 @@
|
|||
package com.tuoheng.old.action.debug;
|
||||
|
||||
import com.tuoheng.old.events.AirportEvent;
|
||||
import com.tuoheng.old.platform.strategy.PlatformAction;
|
||||
import com.tuoheng.old.status.AirportState;
|
||||
|
||||
/**
|
||||
* Base action for closing debug mode; platform implementations extend this.
|
||||
*/
|
||||
public abstract class CloseDebugModeAction implements PlatformAction<AirportState, AirportEvent> {
|
||||
}
|
||||
|
||||
|
|
@ -1,12 +0,0 @@
|
|||
package com.tuoheng.old.action.debug;
|
||||
|
||||
import com.tuoheng.old.events.AirportEvent;
|
||||
import com.tuoheng.old.platform.strategy.PlatformAction;
|
||||
import com.tuoheng.old.status.AirportState;
|
||||
|
||||
/**
|
||||
* Base action for opening debug mode; platform implementations extend this.
|
||||
*/
|
||||
public abstract class OpenDebugModeAction implements PlatformAction<AirportState, AirportEvent> {
|
||||
}
|
||||
|
||||
|
|
@ -1,11 +0,0 @@
|
|||
package com.tuoheng.old.action.drc;
|
||||
|
||||
import com.tuoheng.old.events.DrcEvent;
|
||||
import com.tuoheng.old.platform.strategy.PlatformAction;
|
||||
import com.tuoheng.old.status.DrcState;
|
||||
|
||||
/**
|
||||
* Base action for DRC enter handling; platform implementations extend this.
|
||||
*/
|
||||
public abstract class EnterAction implements PlatformAction<DrcState, DrcEvent> {
|
||||
}
|
||||
|
|
@ -1,11 +0,0 @@
|
|||
package com.tuoheng.old.action.drc;
|
||||
|
||||
import com.tuoheng.old.events.DrcEvent;
|
||||
import com.tuoheng.old.platform.strategy.PlatformAction;
|
||||
import com.tuoheng.old.status.DrcState;
|
||||
|
||||
/**
|
||||
* Base action for DRC entered handling; platform implementations extend this.
|
||||
*/
|
||||
public abstract class EnteredAction implements PlatformAction<DrcState, DrcEvent> {
|
||||
}
|
||||
|
|
@ -1,11 +0,0 @@
|
|||
package com.tuoheng.old.action.drc;
|
||||
|
||||
import com.tuoheng.old.events.DrcEvent;
|
||||
import com.tuoheng.old.platform.strategy.PlatformAction;
|
||||
import com.tuoheng.old.status.DrcState;
|
||||
|
||||
/**
|
||||
* Base action for DRC exit handling; platform implementations extend this.
|
||||
*/
|
||||
public abstract class ExitAction implements PlatformAction<DrcState, DrcEvent> {
|
||||
}
|
||||
|
|
@ -1,11 +0,0 @@
|
|||
package com.tuoheng.old.action.drc;
|
||||
|
||||
import com.tuoheng.old.events.DrcEvent;
|
||||
import com.tuoheng.old.platform.strategy.PlatformAction;
|
||||
import com.tuoheng.old.status.DrcState;
|
||||
|
||||
/**
|
||||
* Base action for DRC exited handling; platform implementations extend this.
|
||||
*/
|
||||
public abstract class ExitedAction implements PlatformAction<DrcState, DrcEvent> {
|
||||
}
|
||||
|
|
@ -1,11 +0,0 @@
|
|||
package com.tuoheng.old.action.drone;
|
||||
|
||||
import com.tuoheng.old.events.DroneEvent;
|
||||
import com.tuoheng.old.platform.strategy.PlatformAction;
|
||||
import com.tuoheng.old.status.DroneState;
|
||||
|
||||
/**
|
||||
* Base action for drone arrive at destination handling; platform implementations extend this.
|
||||
*/
|
||||
public abstract class ArriveAction implements PlatformAction<DroneState, DroneEvent> {
|
||||
}
|
||||
|
|
@ -1,11 +0,0 @@
|
|||
package com.tuoheng.old.action.drone;
|
||||
|
||||
import com.tuoheng.old.events.DroneEvent;
|
||||
import com.tuoheng.old.platform.strategy.PlatformAction;
|
||||
import com.tuoheng.old.status.DroneState;
|
||||
|
||||
/**
|
||||
* Base action for drone cancel point operation handling; platform implementations extend this.
|
||||
*/
|
||||
public abstract class CancelPointAction implements PlatformAction<DroneState, DroneEvent> {
|
||||
}
|
||||
|
|
@ -1,11 +0,0 @@
|
|||
package com.tuoheng.old.action.drone;
|
||||
|
||||
import com.tuoheng.old.events.DroneEvent;
|
||||
import com.tuoheng.old.platform.strategy.PlatformAction;
|
||||
import com.tuoheng.old.status.DroneState;
|
||||
|
||||
/**
|
||||
* Base action for drone emergency stop handling; platform implementations extend this.
|
||||
*/
|
||||
public abstract class EmergencyStopAction implements PlatformAction<DroneState, DroneEvent> {
|
||||
}
|
||||
|
|
@ -1,11 +0,0 @@
|
|||
package com.tuoheng.old.action.drone;
|
||||
|
||||
import com.tuoheng.old.events.DroneEvent;
|
||||
import com.tuoheng.old.platform.strategy.PlatformAction;
|
||||
import com.tuoheng.old.status.DroneState;
|
||||
|
||||
/**
|
||||
* Base action for drone offline handling; platform implementations extend this.
|
||||
*/
|
||||
public abstract class OfflineAction implements PlatformAction<DroneState, DroneEvent> {
|
||||
}
|
||||
|
|
@ -1,11 +0,0 @@
|
|||
package com.tuoheng.old.action.drone;
|
||||
|
||||
import com.tuoheng.old.events.DroneEvent;
|
||||
import com.tuoheng.old.platform.strategy.PlatformAction;
|
||||
import com.tuoheng.old.status.DroneState;
|
||||
|
||||
/**
|
||||
* Base action for drone point flying completed handling; platform implementations extend this.
|
||||
*/
|
||||
public abstract class PointFlyingCompletedAction implements PlatformAction<DroneState, DroneEvent> {
|
||||
}
|
||||
|
|
@ -1,11 +0,0 @@
|
|||
package com.tuoheng.old.action.drone;
|
||||
|
||||
import com.tuoheng.old.events.DroneEvent;
|
||||
import com.tuoheng.old.platform.strategy.PlatformAction;
|
||||
import com.tuoheng.old.status.DroneState;
|
||||
|
||||
/**
|
||||
* Base action for drone point prepare completed handling; platform implementations extend this.
|
||||
*/
|
||||
public abstract class PointPrepareCompletedAction implements PlatformAction<DroneState, DroneEvent> {
|
||||
}
|
||||
|
|
@ -1,11 +0,0 @@
|
|||
package com.tuoheng.old.action.drone;
|
||||
|
||||
import com.tuoheng.old.events.DroneEvent;
|
||||
import com.tuoheng.old.platform.strategy.PlatformAction;
|
||||
import com.tuoheng.old.status.DroneState;
|
||||
|
||||
/**
|
||||
* Base action for drone point to flying handling; platform implementations extend this.
|
||||
*/
|
||||
public abstract class PointToFlyingAction implements PlatformAction<DroneState, DroneEvent> {
|
||||
}
|
||||
|
|
@ -1,11 +0,0 @@
|
|||
package com.tuoheng.old.action.drone;
|
||||
|
||||
import com.tuoheng.old.events.DroneEvent;
|
||||
import com.tuoheng.old.platform.strategy.PlatformAction;
|
||||
import com.tuoheng.old.status.DroneState;
|
||||
|
||||
/**
|
||||
* Base action for drone point to return handling; platform implementations extend this.
|
||||
*/
|
||||
public abstract class PointToReturnAction implements PlatformAction<DroneState, DroneEvent> {
|
||||
}
|
||||
|
|
@ -1,11 +0,0 @@
|
|||
package com.tuoheng.old.action.drone;
|
||||
|
||||
import com.tuoheng.old.events.DroneEvent;
|
||||
import com.tuoheng.old.platform.strategy.PlatformAction;
|
||||
import com.tuoheng.old.status.DroneState;
|
||||
|
||||
/**
|
||||
* Base action for drone prepare completed handling; platform implementations extend this.
|
||||
*/
|
||||
public abstract class PrepareCompletedAction implements PlatformAction<DroneState, DroneEvent> {
|
||||
}
|
||||
|
|
@ -1,11 +0,0 @@
|
|||
package com.tuoheng.old.action.drone;
|
||||
|
||||
import com.tuoheng.old.events.DroneEvent;
|
||||
import com.tuoheng.old.platform.strategy.PlatformAction;
|
||||
import com.tuoheng.old.status.DroneState;
|
||||
|
||||
/**
|
||||
* Base action for drone resume flying handling; platform implementations extend this.
|
||||
*/
|
||||
public abstract class ResumeFlyingAction implements PlatformAction<DroneState, DroneEvent> {
|
||||
}
|
||||
|
|
@ -1,11 +0,0 @@
|
|||
package com.tuoheng.old.action.drone;
|
||||
|
||||
import com.tuoheng.old.events.DroneEvent;
|
||||
import com.tuoheng.old.platform.strategy.PlatformAction;
|
||||
import com.tuoheng.old.status.DroneState;
|
||||
|
||||
/**
|
||||
* Base action for drone resume return handling; platform implementations extend this.
|
||||
*/
|
||||
public abstract class ResumeReturnAction implements PlatformAction<DroneState, DroneEvent> {
|
||||
}
|
||||
|
|
@ -1,11 +0,0 @@
|
|||
package com.tuoheng.old.action.drone;
|
||||
|
||||
import com.tuoheng.old.events.DroneEvent;
|
||||
import com.tuoheng.old.platform.strategy.PlatformAction;
|
||||
import com.tuoheng.old.status.DroneState;
|
||||
|
||||
/**
|
||||
* Base action for drone return completed handling; platform implementations extend this.
|
||||
*/
|
||||
public abstract class ReturnCompletedAction implements PlatformAction<DroneState, DroneEvent> {
|
||||
}
|
||||
|
|
@ -1,11 +0,0 @@
|
|||
package com.tuoheng.old.action.drone;
|
||||
|
||||
import com.tuoheng.old.events.DroneEvent;
|
||||
import com.tuoheng.old.platform.strategy.PlatformAction;
|
||||
import com.tuoheng.old.status.DroneState;
|
||||
|
||||
/**
|
||||
* Base action for drone return emergency stop handling; platform implementations extend this.
|
||||
*/
|
||||
public abstract class ReturnEmergencyStopAction implements PlatformAction<DroneState, DroneEvent> {
|
||||
}
|
||||
|
|
@ -1,11 +0,0 @@
|
|||
package com.tuoheng.old.action.drone;
|
||||
|
||||
import com.tuoheng.old.events.DroneEvent;
|
||||
import com.tuoheng.old.platform.strategy.PlatformAction;
|
||||
import com.tuoheng.old.status.DroneState;
|
||||
|
||||
/**
|
||||
* Base action for drone start flying handling; platform implementations extend this.
|
||||
*/
|
||||
public abstract class StartFlyingAction implements PlatformAction<DroneState, DroneEvent> {
|
||||
}
|
||||
|
|
@ -1,11 +0,0 @@
|
|||
package com.tuoheng.old.action.drone;
|
||||
|
||||
import com.tuoheng.old.events.DroneEvent;
|
||||
import com.tuoheng.old.platform.strategy.PlatformAction;
|
||||
import com.tuoheng.old.status.DroneState;
|
||||
|
||||
/**
|
||||
* Base action for drone start pointing operation handling; platform implementations extend this.
|
||||
*/
|
||||
public abstract class StartPointingAction implements PlatformAction<DroneState, DroneEvent> {
|
||||
}
|
||||
|
|
@ -1,11 +0,0 @@
|
|||
package com.tuoheng.old.action.drone;
|
||||
|
||||
import com.tuoheng.old.events.DroneEvent;
|
||||
import com.tuoheng.old.platform.strategy.PlatformAction;
|
||||
import com.tuoheng.old.status.DroneState;
|
||||
|
||||
/**
|
||||
* Base action for drone start prepare handling; platform implementations extend this.
|
||||
*/
|
||||
public abstract class StartPrepareAction implements PlatformAction<DroneState, DroneEvent> {
|
||||
}
|
||||
|
|
@ -1,11 +0,0 @@
|
|||
package com.tuoheng.old.action.drone;
|
||||
|
||||
import com.tuoheng.old.events.DroneEvent;
|
||||
import com.tuoheng.old.platform.strategy.PlatformAction;
|
||||
import com.tuoheng.old.status.DroneState;
|
||||
|
||||
/**
|
||||
* Base action for drone start return handling; platform implementations extend this.
|
||||
*/
|
||||
public abstract class StartReturnAction implements PlatformAction<DroneState, DroneEvent> {
|
||||
}
|
||||
|
|
@ -1,12 +0,0 @@
|
|||
package com.tuoheng.old.action.reboot;
|
||||
|
||||
import com.tuoheng.old.events.AirportEvent;
|
||||
import com.tuoheng.old.platform.strategy.PlatformAction;
|
||||
import com.tuoheng.old.status.AirportState;
|
||||
|
||||
/**
|
||||
* Base action for rebooting; platform implementations extend this.
|
||||
*/
|
||||
public abstract class RebootAction implements PlatformAction<AirportState, AirportEvent> {
|
||||
}
|
||||
|
||||
|
|
@ -1,12 +0,0 @@
|
|||
package com.tuoheng.old.action.reboot;
|
||||
|
||||
import com.tuoheng.old.events.AirportEvent;
|
||||
import com.tuoheng.old.platform.strategy.PlatformAction;
|
||||
import com.tuoheng.old.status.AirportState;
|
||||
|
||||
/**
|
||||
* Base action for completing reboot; platform implementations extend this.
|
||||
*/
|
||||
public abstract class RebootCompletedAction implements PlatformAction<AirportState, AirportEvent> {
|
||||
}
|
||||
|
||||
|
|
@ -1,215 +0,0 @@
|
|||
package com.tuoheng.old.config;
|
||||
|
||||
import com.tuoheng.old.events.AirportEvent;
|
||||
import com.tuoheng.old.platform.factory.PlatformStrategyFactory;
|
||||
import com.tuoheng.old.platform.strategy.AirportPlatformStrategy;
|
||||
import com.tuoheng.old.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 java.util.EnumSet;
|
||||
import java.util.UUID;
|
||||
|
||||
/**
|
||||
* 机巢状态机配置（多平台支持版本）
|
||||
* 通过PlatformStrategyFactory动态获取平台特定的Guard、Action和Listener
|
||||
*/
|
||||
@Configuration
|
||||
@Slf4j
|
||||
public class AirportMachineConfig {
|
||||
|
||||
@Bean(name = "airportStateMachineFactory")
|
||||
public StateMachineFactory<AirportState, AirportEvent> stateMachineFactory(
|
||||
PlatformStrategyFactory platformStrategyFactory) throws Exception {
|
||||
|
||||
return new StateMachineFactory<AirportState, AirportEvent>() {
|
||||
@Override
|
||||
public StateMachine<AirportState, AirportEvent> getStateMachine() {
|
||||
return null;
|
||||
}
|
||||
|
||||
@Override
|
||||
public StateMachine<AirportState, AirportEvent> getStateMachine(String machineId) {
|
||||
try {
|
||||
// 根据机巢SN获取平台策略
|
||||
AirportPlatformStrategy strategy = platformStrategyFactory.getAirportStrategy(machineId);
|
||||
|
||||
StateMachineBuilder.Builder<AirportState, AirportEvent> builder = StateMachineBuilder.builder();
|
||||
configureStateMachine(builder, strategy);
|
||||
configureStates(builder);
|
||||
configureTransitions(builder, strategy);
|
||||
|
||||
StateMachine<AirportState, AirportEvent> stateMachine = builder.build();
|
||||
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 old for: " + machineId, e);
|
||||
}
|
||||
}
|
||||
|
||||
@Override
|
||||
public StateMachine<AirportState, AirportEvent> getStateMachine(UUID uuid) {
|
||||
return null;
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
private void configureStateMachine(
|
||||
StateMachineBuilder.Builder<AirportState, AirportEvent> builder,
|
||||
AirportPlatformStrategy strategy) throws Exception {
|
||||
builder.configureConfiguration()
|
||||
.withConfiguration()
|
||||
.autoStartup(true)
|
||||
.listener(strategy.getListener());
|
||||
}
|
||||
|
||||
private void configureStates(StateMachineBuilder.Builder<AirportState, AirportEvent> builder) throws Exception {
|
||||
builder.configureStates()
|
||||
.withStates()
|
||||
.initial(AirportState.UNKNOWN)
|
||||
.states(EnumSet.of(
|
||||
AirportState.UNKNOWN,
|
||||
AirportState.OFFLINE,
|
||||
AirportState.ONLINE,
|
||||
AirportState.REBOOTING
|
||||
))
|
||||
.and()
|
||||
.withStates()
|
||||
.parent(AirportState.ONLINE)
|
||||
.initial(AirportState.STANDBY)
|
||||
.states(EnumSet.of(
|
||||
AirportState.STANDBY,
|
||||
AirportState.ENTERING_DEBUG_MODE,
|
||||
AirportState.DEBUG_MODE,
|
||||
AirportState.EXITING_DEBUG_MODE
|
||||
));
|
||||
}
|
||||
|
||||
private void configureTransitions(
|
||||
StateMachineBuilder.Builder<AirportState, AirportEvent> builder,
|
||||
AirportPlatformStrategy 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 -> OFFLINE
|
||||
.withExternal()
|
||||
.source(AirportState.UNKNOWN)
|
||||
.target(AirportState.OFFLINE)
|
||||
.event(AirportEvent.AIRPORT_OFFLINE)
|
||||
.and()
|
||||
|
||||
// UNKNOWN -> ONLINE(STANDBY)
|
||||
.withExternal()
|
||||
.source(AirportState.UNKNOWN)
|
||||
.target(AirportState.ONLINE)
|
||||
.event(AirportEvent.AIRPORT_ONLINE)
|
||||
.and()
|
||||
|
||||
// UNKNOWN -> STANDBY
|
||||
.withExternal()
|
||||
.source(AirportState.UNKNOWN)
|
||||
.target(AirportState.STANDBY)
|
||||
.event(AirportEvent.AIRPORT_ONLINE)
|
||||
.and()
|
||||
|
||||
// UNKNOWN -> ENTERING_DEBUG_MODE
|
||||
.withExternal()
|
||||
.source(AirportState.UNKNOWN)
|
||||
.target(AirportState.ENTERING_DEBUG_MODE)
|
||||
.event(AirportEvent.DEBUG_MODE_OPEN)
|
||||
.and()
|
||||
|
||||
// UNKNOWN -> DEBUG_MODE
|
||||
.withExternal()
|
||||
.source(AirportState.UNKNOWN)
|
||||
.target(AirportState.DEBUG_MODE)
|
||||
.event(AirportEvent.DEBUG_MODE_ENTERED)
|
||||
.and()
|
||||
|
||||
// UNKNOWN -> EXITING_DEBUG_MODE
|
||||
.withExternal()
|
||||
.source(AirportState.UNKNOWN)
|
||||
.target(AirportState.EXITING_DEBUG_MODE)
|
||||
.event(AirportEvent.DEBUG_MODE_CLOSE)
|
||||
.and()
|
||||
|
||||
// UNKNOWN -> REBOOTING
|
||||
.withExternal()
|
||||
.source(AirportState.UNKNOWN)
|
||||
.target(AirportState.REBOOTING)
|
||||
.event(AirportEvent.AIRPORT_REBOOT)
|
||||
.and()
|
||||
|
||||
// ========== 正常状态转换（带 Guard 和 Action） ==========
|
||||
// OFFLINE -> ONLINE(STANDBY)
|
||||
.withExternal()
|
||||
.source(AirportState.OFFLINE)
|
||||
.target(AirportState.ONLINE)
|
||||
.event(AirportEvent.AIRPORT_ONLINE)
|
||||
.action(strategy.getOnlineAction())
|
||||
.guard(strategy.getCanOnlineGuard())
|
||||
.and()
|
||||
|
||||
// ONLINE -> OFFLINE
|
||||
.withExternal()
|
||||
.source(AirportState.ONLINE)
|
||||
.target(AirportState.OFFLINE)
|
||||
.event(AirportEvent.AIRPORT_OFFLINE)
|
||||
.action(strategy.getOfflineAction())
|
||||
.guard(strategy.getCanOfflineGuard())
|
||||
.and()
|
||||
|
||||
// STANDBY -> ENTERING_DEBUG_MODE
|
||||
.withExternal()
|
||||
.source(AirportState.STANDBY)
|
||||
.target(AirportState.ENTERING_DEBUG_MODE)
|
||||
.event(AirportEvent.DEBUG_MODE_OPEN)
|
||||
.action(strategy.getOpenDebugModeAction())
|
||||
.guard(strategy.getIsNotDebugModeGuard())
|
||||
.and()
|
||||
|
||||
// ENTERING_DEBUG_MODE -> DEBUG_MODE
|
||||
.withExternal()
|
||||
.source(AirportState.ENTERING_DEBUG_MODE)
|
||||
.target(AirportState.DEBUG_MODE)
|
||||
.event(AirportEvent.DEBUG_MODE_ENTERED)
|
||||
.and()
|
||||
|
||||
// DEBUG_MODE -> EXITING_DEBUG_MODE
|
||||
.withExternal()
|
||||
.source(AirportState.DEBUG_MODE)
|
||||
.target(AirportState.EXITING_DEBUG_MODE)
|
||||
.event(AirportEvent.DEBUG_MODE_CLOSE)
|
||||
.action(strategy.getCloseDebugModeAction())
|
||||
.guard(strategy.getCanCloseDebugModeGuard())
|
||||
.and()
|
||||
|
||||
// EXITING_DEBUG_MODE -> STANDBY
|
||||
.withExternal()
|
||||
.source(AirportState.EXITING_DEBUG_MODE)
|
||||
.target(AirportState.STANDBY)
|
||||
.event(AirportEvent.DEBUG_MODE_EXITED)
|
||||
.and()
|
||||
|
||||
// DEBUG_MODE -> REBOOTING
|
||||
.withExternal()
|
||||
.source(AirportState.DEBUG_MODE)
|
||||
.target(AirportState.REBOOTING)
|
||||
.event(AirportEvent.AIRPORT_REBOOT)
|
||||
.action(strategy.getRebootAction())
|
||||
.guard(strategy.getIsDebugModeGuard())
|
||||
.and()
|
||||
|
||||
// REBOOTING -> ONLINE(STANDBY)
|
||||
.withExternal()
|
||||
.source(AirportState.REBOOTING)
|
||||
.target(AirportState.ONLINE)
|
||||
.event(AirportEvent.REBOOT_COMPLETED)
|
||||
.action(strategy.getRebootCompletedAction())
|
||||
.guard(strategy.getIsRebootCompletedGuard());
|
||||
}
|
||||
}
|
||||
|
|
@ -1,178 +0,0 @@
|
|||
package com.tuoheng.old.config;
|
||||
|
||||
import com.tuoheng.old.events.CoverEvent;
|
||||
import com.tuoheng.old.platform.factory.PlatformStrategyFactory;
|
||||
import com.tuoheng.old.platform.strategy.CoverPlatformStrategy;
|
||||
import com.tuoheng.old.status.CoverState;
|
||||
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 java.util.EnumSet;
|
||||
import java.util.UUID;
|
||||
|
||||
/**
|
||||
* 舱门状态机配置（多平台支持版本）
|
||||
* 通过PlatformStrategyFactory动态获取平台特定的Guard、Action和Listener
|
||||
*/
|
||||
@Configuration
|
||||
@Slf4j
|
||||
public class CoverMachineConfig {
|
||||
|
||||
@Bean
|
||||
public StateMachineFactory<CoverState, CoverEvent> coverStateMachineFactory(
|
||||
PlatformStrategyFactory platformStrategyFactory) throws Exception {
|
||||
return new StateMachineFactory<CoverState, CoverEvent>() {
|
||||
@Override
|
||||
public StateMachine<CoverState, CoverEvent> getStateMachine() {
|
||||
return null;
|
||||
}
|
||||
|
||||
@Override
|
||||
public StateMachine<CoverState, CoverEvent> getStateMachine(String machineId) {
|
||||
try {
|
||||
// 根据机巢SN获取平台策略
|
||||
CoverPlatformStrategy strategy = platformStrategyFactory.getCoverStrategy(machineId);
|
||||
|
||||
StateMachineBuilder.Builder<CoverState, CoverEvent> builder = StateMachineBuilder.builder();
|
||||
configureCoverStateMachine(builder, strategy);
|
||||
configureCoverStates(builder);
|
||||
configureCoverTransitions(builder, strategy);
|
||||
|
||||
StateMachine<CoverState, CoverEvent> stateMachine = builder.build();
|
||||
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 old for: " + machineId, e);
|
||||
}
|
||||
}
|
||||
|
||||
@Override
|
||||
public StateMachine<CoverState, CoverEvent> getStateMachine(UUID uuid) {
|
||||
return null;
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
private void configureCoverStateMachine(
|
||||
StateMachineBuilder.Builder<CoverState, CoverEvent> builder,
|
||||
CoverPlatformStrategy strategy) throws Exception {
|
||||
builder.configureConfiguration()
|
||||
.withConfiguration()
|
||||
.autoStartup(true)
|
||||
.listener(strategy.getListener());
|
||||
}
|
||||
|
||||
private void configureCoverStates(StateMachineBuilder.Builder<CoverState, CoverEvent> builder) throws Exception {
|
||||
builder.configureStates()
|
||||
.withStates()
|
||||
.initial(CoverState.UNKNOWN)
|
||||
.states(EnumSet.allOf(CoverState.class));
|
||||
}
|
||||
|
||||
private void configureCoverTransitions(
|
||||
StateMachineBuilder.Builder<CoverState, CoverEvent> builder,
|
||||
CoverPlatformStrategy 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 -> CLOSED
|
||||
.withExternal()
|
||||
.source(CoverState.UNKNOWN)
|
||||
.target(CoverState.CLOSED)
|
||||
.event(CoverEvent.CLOSED)
|
||||
.and()
|
||||
|
||||
// UNKNOWN -> OPENING
|
||||
.withExternal()
|
||||
.source(CoverState.UNKNOWN)
|
||||
.target(CoverState.OPENING)
|
||||
.event(CoverEvent.OPEN)
|
||||
.and()
|
||||
|
||||
// UNKNOWN -> OPENED
|
||||
.withExternal()
|
||||
.source(CoverState.UNKNOWN)
|
||||
.target(CoverState.OPENED)
|
||||
.event(CoverEvent.OPENED)
|
||||
.and()
|
||||
|
||||
// UNKNOWN -> CLOSING
|
||||
.withExternal()
|
||||
.source(CoverState.UNKNOWN)
|
||||
.target(CoverState.CLOSING)
|
||||
.event(CoverEvent.CLOSE)
|
||||
.and()
|
||||
|
||||
|
||||
|
||||
// UNKNOWN -> ERROR
|
||||
.withExternal()
|
||||
.source(CoverState.UNKNOWN)
|
||||
.target(CoverState.ERROR)
|
||||
.event(CoverEvent.ERROR)
|
||||
.and()
|
||||
|
||||
// ========== 正常状态转换（带 Guard 和 Action） ==========
|
||||
// CLOSED -> OPENING
|
||||
.withExternal()
|
||||
.source(CoverState.CLOSED)
|
||||
.target(CoverState.OPENING)
|
||||
.event(CoverEvent.OPEN)
|
||||
.action(strategy.getOpenAction())
|
||||
.guard(strategy.getCanOpenGuard())
|
||||
.and()
|
||||
|
||||
// OPENING -> OPENED
|
||||
.withExternal()
|
||||
.source(CoverState.OPENING)
|
||||
.target(CoverState.OPENED)
|
||||
.event(CoverEvent.OPENED)
|
||||
.action(strategy.getOpenedAction())
|
||||
.guard(strategy.getIsOpenedGuard())
|
||||
.and()
|
||||
|
||||
// OPENED -> CLOSING
|
||||
.withExternal()
|
||||
.source(CoverState.OPENED)
|
||||
.target(CoverState.CLOSING)
|
||||
.event(CoverEvent.CLOSE)
|
||||
.action(strategy.getCloseAction())
|
||||
.guard(strategy.getCanCloseGuard())
|
||||
.and()
|
||||
|
||||
// CLOSING -> CLOSED
|
||||
.withExternal()
|
||||
.source(CoverState.CLOSING)
|
||||
.target(CoverState.CLOSED)
|
||||
.event(CoverEvent.CLOSED)
|
||||
.action(strategy.getClosedAction())
|
||||
.guard(strategy.getIsClosedGuard())
|
||||
.and()
|
||||
|
||||
// ERROR handling
|
||||
.withExternal()
|
||||
.source(CoverState.OPENING)
|
||||
.target(CoverState.ERROR)
|
||||
.event(CoverEvent.ERROR)
|
||||
.action(strategy.getErrorAction())
|
||||
.and()
|
||||
|
||||
.withExternal()
|
||||
.source(CoverState.CLOSING)
|
||||
.target(CoverState.ERROR)
|
||||
.event(CoverEvent.ERROR)
|
||||
.action(strategy.getErrorAction())
|
||||
.and()
|
||||
|
||||
// RESET from ERROR
|
||||
.withExternal()
|
||||
.source(CoverState.ERROR)
|
||||
.target(CoverState.CLOSED)
|
||||
.event(CoverEvent.RESET)
|
||||
.action(strategy.getResetAction());
|
||||
}
|
||||
}
|
||||
|
|
@ -1,145 +0,0 @@
|
|||
package com.tuoheng.old.config;
|
||||
|
||||
import com.tuoheng.old.events.DrcEvent;
|
||||
import com.tuoheng.old.platform.factory.PlatformStrategyFactory;
|
||||
import com.tuoheng.old.platform.strategy.DrcPlatformStrategy;
|
||||
import com.tuoheng.old.status.DrcState;
|
||||
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 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
|
||||
@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() {
|
||||
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) {
|
||||
log.error("创建DRC状态机失败 - 机器ID: {}", machineId, e);
|
||||
throw new RuntimeException("Failed to create DRC state old 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.ENTERING)
|
||||
.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.EXITING)
|
||||
.and()
|
||||
|
||||
// ========== 正常状态转换（带 Guard 和 Action） ==========
|
||||
// EXITED -> ENTERING
|
||||
.withExternal()
|
||||
.source(DrcState.EXITED)
|
||||
.target(DrcState.ENTERING)
|
||||
.event(DrcEvent.ENTERING)
|
||||
.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.EXITING)
|
||||
.action(strategy.getExitAction())
|
||||
.guard(strategy.getCanExitGuard())
|
||||
.and()
|
||||
|
||||
// EXITING -> EXITED
|
||||
.withExternal()
|
||||
.source(DrcState.EXITING)
|
||||
.target(DrcState.EXITED)
|
||||
.event(DrcEvent.EXITED)
|
||||
.action(strategy.getExitedAction());
|
||||
}
|
||||
}
|
||||
|
|
@ -1,393 +0,0 @@
|
|||
package com.tuoheng.old.config;
|
||||
|
||||
import com.tuoheng.old.events.DroneEvent;
|
||||
import com.tuoheng.old.platform.factory.PlatformStrategyFactory;
|
||||
import com.tuoheng.old.platform.strategy.DronePlatformStrategy;
|
||||
import com.tuoheng.old.status.DroneState;
|
||||
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 java.util.EnumSet;
|
||||
import java.util.UUID;
|
||||
|
||||
/**
|
||||
* 无人机状态机配置（多平台支持版本）
|
||||
* 通过PlatformStrategyFactory动态获取平台特定的Guard、Action和Listener
|
||||
*/
|
||||
@Configuration
|
||||
@Slf4j
|
||||
public class DroneMachineConfig {
|
||||
|
||||
@Bean(name = "droneStateMachineFactory")
|
||||
public StateMachineFactory<DroneState, DroneEvent> droneStateMachineFactory(
|
||||
PlatformStrategyFactory platformStrategyFactory) throws Exception {
|
||||
return new StateMachineFactory<DroneState, DroneEvent>() {
|
||||
@Override
|
||||
public StateMachine<DroneState, DroneEvent> getStateMachine() {
|
||||
return null;
|
||||
}
|
||||
|
||||
@Override
|
||||
public StateMachine<DroneState, DroneEvent> getStateMachine(String machineId) {
|
||||
try {
|
||||
// 根据无人机SN获取平台策略
|
||||
DronePlatformStrategy strategy = platformStrategyFactory.getDroneStrategy(machineId);
|
||||
|
||||
StateMachineBuilder.Builder<DroneState, DroneEvent> builder = StateMachineBuilder.builder();
|
||||
configureStateMachine(builder, strategy);
|
||||
configureStates(builder);
|
||||
configureTransitions(builder, strategy);
|
||||
|
||||
StateMachine<DroneState, DroneEvent> stateMachine = builder.build();
|
||||
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 old for: " + machineId, e);
|
||||
}
|
||||
}
|
||||
|
||||
@Override
|
||||
public StateMachine<DroneState, DroneEvent> getStateMachine(UUID uuid) {
|
||||
return null;
|
||||
}
|
||||
};
|
||||
}
|
||||
|
||||
private void configureStateMachine(
|
||||
StateMachineBuilder.Builder<DroneState, DroneEvent> builder,
|
||||
DronePlatformStrategy strategy) throws Exception {
|
||||
builder.configureConfiguration()
|
||||
.withConfiguration()
|
||||
.autoStartup(true)
|
||||
.listener(strategy.getListener());
|
||||
}
|
||||
|
||||
private void configureStates(StateMachineBuilder.Builder<DroneState, DroneEvent> builder) throws Exception {
|
||||
builder.configureStates()
|
||||
.withStates()
|
||||
.initial(DroneState.UNKNOWN)
|
||||
.states(EnumSet.of(
|
||||
DroneState.UNKNOWN,
|
||||
DroneState.OFFLINE,
|
||||
DroneState.PREPARING,
|
||||
DroneState.FLYING_PARENT,
|
||||
DroneState.RETURNING_PARENT,
|
||||
DroneState.POINTING_PARENT
|
||||
))
|
||||
// 飞行阶段子状态
|
||||
.and()
|
||||
.withStates()
|
||||
.parent(DroneState.FLYING_PARENT)
|
||||
.initial(DroneState.FLYING)
|
||||
.states(EnumSet.of(
|
||||
DroneState.FLYING,
|
||||
DroneState.EMERGENCY_STOP,
|
||||
DroneState.ARRIVED
|
||||
))
|
||||
// 返航阶段子状态
|
||||
.and()
|
||||
.withStates()
|
||||
.parent(DroneState.RETURNING_PARENT)
|
||||
.initial(DroneState.RETURNING)
|
||||
.states(EnumSet.of(
|
||||
DroneState.RETURNING,
|
||||
DroneState.RETURN_EMERGENCY_STOP,
|
||||
DroneState.RETURN_COMPLETED
|
||||
))
|
||||
// 指点操作子状态
|
||||
.and()
|
||||
.withStates()
|
||||
.parent(DroneState.POINTING_PARENT)
|
||||
.initial(DroneState.POINT_PREPARING)
|
||||
.states(EnumSet.of(
|
||||
DroneState.POINT_PREPARING,
|
||||
DroneState.POINT_FLYING,
|
||||
DroneState.POINT_COMPLETED,
|
||||
DroneState.POINT_CANCELLED
|
||||
));
|
||||
}
|
||||
|
||||
private void configureTransitions(
|
||||
StateMachineBuilder.Builder<DroneState, DroneEvent> builder,
|
||||
DronePlatformStrategy 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 -> OFFLINE
|
||||
.withExternal()
|
||||
.source(DroneState.UNKNOWN)
|
||||
.target(DroneState.OFFLINE)
|
||||
.event(DroneEvent.DRONE_OFFLINE)
|
||||
.and()
|
||||
|
||||
// UNKNOWN -> PREPARING
|
||||
.withExternal()
|
||||
.source(DroneState.UNKNOWN)
|
||||
.target(DroneState.PREPARING)
|
||||
.event(DroneEvent.START_PREPARE)
|
||||
.and()
|
||||
|
||||
// UNKNOWN -> FLYING_PARENT
|
||||
.withExternal()
|
||||
.source(DroneState.UNKNOWN)
|
||||
.target(DroneState.FLYING_PARENT)
|
||||
.event(DroneEvent.START_FLYING)
|
||||
.and()
|
||||
|
||||
// UNKNOWN -> RETURNING_PARENT
|
||||
.withExternal()
|
||||
.source(DroneState.UNKNOWN)
|
||||
.target(DroneState.RETURNING_PARENT)
|
||||
.event(DroneEvent.START_RETURN)
|
||||
.and()
|
||||
|
||||
// ========== 基本状态转换 ==========
|
||||
// OFFLINE -> PREPARING
|
||||
.withExternal()
|
||||
.source(DroneState.OFFLINE)
|
||||
.target(DroneState.PREPARING)
|
||||
.event(DroneEvent.START_PREPARE)
|
||||
.action(strategy.getStartPrepareAction())
|
||||
.and()
|
||||
|
||||
// PREPARING -> FLYING_PARENT
|
||||
.withExternal()
|
||||
.source(DroneState.PREPARING)
|
||||
.target(DroneState.FLYING_PARENT)
|
||||
.event(DroneEvent.PREPARE_COMPLETED)
|
||||
.action(strategy.getPrepareCompletedAction())
|
||||
.and()
|
||||
|
||||
// ========== 飞行阶段内部转换 ==========
|
||||
// FLYING -> EMERGENCY_STOP
|
||||
.withExternal()
|
||||
.source(DroneState.FLYING)
|
||||
.target(DroneState.EMERGENCY_STOP)
|
||||
.event(DroneEvent.EMERGENCY_STOP)
|
||||
.action(strategy.getEmergencyStopAction())
|
||||
.and()
|
||||
|
||||
// EMERGENCY_STOP -> FLYING (恢复飞行)
|
||||
.withExternal()
|
||||
.source(DroneState.EMERGENCY_STOP)
|
||||
.target(DroneState.FLYING)
|
||||
.event(DroneEvent.RESUME_FLYING)
|
||||
.action(strategy.getResumeFlyingAction())
|
||||
.and()
|
||||
|
||||
// FLYING -> ARRIVED
|
||||
.withExternal()
|
||||
.source(DroneState.FLYING)
|
||||
.target(DroneState.ARRIVED)
|
||||
.event(DroneEvent.ARRIVE)
|
||||
.action(strategy.getArriveAction())
|
||||
.and()
|
||||
|
||||
// 注意：EMERGENCY_STOP 不能直接到 ARRIVED（根据注释限制）
|
||||
|
||||
// ========== 飞行阶段 -> 指点操作 ==========
|
||||
// FLYING -> POINTING_PARENT
|
||||
.withExternal()
|
||||
.source(DroneState.FLYING)
|
||||
.target(DroneState.POINTING_PARENT)
|
||||
.event(DroneEvent.START_POINTING)
|
||||
.action(strategy.getStartPointingAction())
|
||||
.guard(strategy.getCanPointGuard())
|
||||
.and()
|
||||
|
||||
// EMERGENCY_STOP -> POINTING_PARENT
|
||||
.withExternal()
|
||||
.source(DroneState.EMERGENCY_STOP)
|
||||
.target(DroneState.POINTING_PARENT)
|
||||
.event(DroneEvent.START_POINTING)
|
||||
.action(strategy.getStartPointingAction())
|
||||
.guard(strategy.getCanPointGuard())
|
||||
.and()
|
||||
|
||||
// ARRIVED -> POINTING_PARENT
|
||||
.withExternal()
|
||||
.source(DroneState.ARRIVED)
|
||||
.target(DroneState.POINTING_PARENT)
|
||||
.event(DroneEvent.START_POINTING)
|
||||
.action(strategy.getStartPointingAction())
|
||||
.guard(strategy.getCanPointGuard())
|
||||
.and()
|
||||
|
||||
// ========== 飞行阶段 -> 返航 ==========
|
||||
// FLYING -> RETURNING_PARENT
|
||||
.withExternal()
|
||||
.source(DroneState.FLYING)
|
||||
.target(DroneState.RETURNING_PARENT)
|
||||
.event(DroneEvent.START_RETURN)
|
||||
.action(strategy.getStartReturnAction())
|
||||
.and()
|
||||
|
||||
// EMERGENCY_STOP -> RETURNING_PARENT
|
||||
.withExternal()
|
||||
.source(DroneState.EMERGENCY_STOP)
|
||||
.target(DroneState.RETURNING_PARENT)
|
||||
.event(DroneEvent.START_RETURN)
|
||||
.action(strategy.getStartReturnAction())
|
||||
.and()
|
||||
|
||||
// ARRIVED -> RETURNING_PARENT
|
||||
.withExternal()
|
||||
.source(DroneState.ARRIVED)
|
||||
.target(DroneState.RETURNING_PARENT)
|
||||
.event(DroneEvent.START_RETURN)
|
||||
.action(strategy.getStartReturnAction())
|
||||
.and()
|
||||
|
||||
// ========== 返航阶段内部转换 ==========
|
||||
// RETURNING -> RETURN_EMERGENCY_STOP
|
||||
.withExternal()
|
||||
.source(DroneState.RETURNING)
|
||||
.target(DroneState.RETURN_EMERGENCY_STOP)
|
||||
.event(DroneEvent.RETURN_EMERGENCY_STOP)
|
||||
.action(strategy.getReturnEmergencyStopAction())
|
||||
.and()
|
||||
|
||||
// RETURN_EMERGENCY_STOP -> RETURNING (恢复返航)
|
||||
.withExternal()
|
||||
.source(DroneState.RETURN_EMERGENCY_STOP)
|
||||
.target(DroneState.RETURNING)
|
||||
.event(DroneEvent.RESUME_RETURN)
|
||||
.action(strategy.getResumeReturnAction())
|
||||
.and()
|
||||
|
||||
// RETURNING -> RETURN_COMPLETED
|
||||
.withExternal()
|
||||
.source(DroneState.RETURNING)
|
||||
.target(DroneState.RETURN_COMPLETED)
|
||||
.event(DroneEvent.RETURN_COMPLETED)
|
||||
.action(strategy.getReturnCompletedAction())
|
||||
.and()
|
||||
|
||||
// 注意：返航中不能指点（根据注释限制）
|
||||
// 注意：RETURN_COMPLETED 不能回退到 RETURNING 或 RETURN_EMERGENCY_STOP（根据注释限制）
|
||||
|
||||
// ========== 返航急停 -> 指点操作 ==========
|
||||
// RETURN_EMERGENCY_STOP -> POINTING_PARENT (一键起飞和航线飞行都可以指点)
|
||||
.withExternal()
|
||||
.source(DroneState.RETURN_EMERGENCY_STOP)
|
||||
.target(DroneState.POINTING_PARENT)
|
||||
.event(DroneEvent.START_POINTING)
|
||||
.action(strategy.getStartPointingAction())
|
||||
.guard(strategy.getCanPointGuard())
|
||||
.and()
|
||||
|
||||
// ========== 指点操作内部转换 ==========
|
||||
// POINT_PREPARING -> POINT_FLYING
|
||||
.withExternal()
|
||||
.source(DroneState.POINT_PREPARING)
|
||||
.target(DroneState.POINT_FLYING)
|
||||
.event(DroneEvent.POINT_PREPARE_COMPLETED)
|
||||
.action(strategy.getPointPrepareCompletedAction())
|
||||
.and()
|
||||
|
||||
// POINT_FLYING -> POINT_COMPLETED
|
||||
.withExternal()
|
||||
.source(DroneState.POINT_FLYING)
|
||||
.target(DroneState.POINT_COMPLETED)
|
||||
.event(DroneEvent.POINT_FLYING_COMPLETED)
|
||||
.action(strategy.getPointFlyingCompletedAction())
|
||||
.and()
|
||||
|
||||
// 任何指点阶段 -> POINT_CANCELLED
|
||||
.withExternal()
|
||||
.source(DroneState.POINT_PREPARING)
|
||||
.target(DroneState.POINT_CANCELLED)
|
||||
.event(DroneEvent.CANCEL_POINT)
|
||||
.action(strategy.getCancelPointAction())
|
||||
.and()
|
||||
|
||||
.withExternal()
|
||||
.source(DroneState.POINT_FLYING)
|
||||
.target(DroneState.POINT_CANCELLED)
|
||||
.event(DroneEvent.CANCEL_POINT)
|
||||
.action(strategy.getCancelPointAction())
|
||||
.and()
|
||||
|
||||
.withExternal()
|
||||
.source(DroneState.POINT_COMPLETED)
|
||||
.target(DroneState.POINT_CANCELLED)
|
||||
.event(DroneEvent.CANCEL_POINT)
|
||||
.action(strategy.getCancelPointAction())
|
||||
.and()
|
||||
|
||||
// ========== 指点操作 -> 飞行/返航 ==========
|
||||
// POINT_COMPLETED -> FLYING
|
||||
.withExternal()
|
||||
.source(DroneState.POINT_COMPLETED)
|
||||
.target(DroneState.FLYING)
|
||||
.event(DroneEvent.POINT_TO_FLYING)
|
||||
.action(strategy.getPointToFlyingAction())
|
||||
.and()
|
||||
|
||||
// POINT_CANCELLED -> FLYING
|
||||
.withExternal()
|
||||
.source(DroneState.POINT_CANCELLED)
|
||||
.target(DroneState.FLYING)
|
||||
.event(DroneEvent.POINT_TO_FLYING)
|
||||
.action(strategy.getPointToFlyingAction())
|
||||
.and()
|
||||
|
||||
// POINT_COMPLETED -> RETURNING_PARENT
|
||||
.withExternal()
|
||||
.source(DroneState.POINT_COMPLETED)
|
||||
.target(DroneState.RETURNING_PARENT)
|
||||
.event(DroneEvent.POINT_TO_RETURN)
|
||||
.action(strategy.getPointToReturnAction())
|
||||
.and()
|
||||
|
||||
// POINT_CANCELLED -> RETURNING_PARENT
|
||||
.withExternal()
|
||||
.source(DroneState.POINT_CANCELLED)
|
||||
.target(DroneState.RETURNING_PARENT)
|
||||
.event(DroneEvent.POINT_TO_RETURN)
|
||||
.action(strategy.getPointToReturnAction())
|
||||
.and()
|
||||
|
||||
// POINT_COMPLETED -> RETURN_EMERGENCY_STOP
|
||||
.withExternal()
|
||||
.source(DroneState.POINT_COMPLETED)
|
||||
.target(DroneState.RETURN_EMERGENCY_STOP)
|
||||
.event(DroneEvent.RETURN_EMERGENCY_STOP)
|
||||
.action(strategy.getReturnEmergencyStopAction())
|
||||
.and()
|
||||
|
||||
// POINT_COMPLETED -> RETURN_COMPLETED
|
||||
.withExternal()
|
||||
.source(DroneState.POINT_COMPLETED)
|
||||
.target(DroneState.RETURN_COMPLETED)
|
||||
.event(DroneEvent.RETURN_COMPLETED)
|
||||
.action(strategy.getReturnCompletedAction())
|
||||
.and()
|
||||
|
||||
// ========== 离线处理 ==========
|
||||
// 任何状态 -> OFFLINE
|
||||
.withExternal()
|
||||
.source(DroneState.FLYING_PARENT)
|
||||
.target(DroneState.OFFLINE)
|
||||
.event(DroneEvent.DRONE_OFFLINE)
|
||||
.action(strategy.getOfflineAction())
|
||||
.and()
|
||||
|
||||
.withExternal()
|
||||
.source(DroneState.RETURNING_PARENT)
|
||||
.target(DroneState.OFFLINE)
|
||||
.event(DroneEvent.DRONE_OFFLINE)
|
||||
.action(strategy.getOfflineAction())
|
||||
.and()
|
||||
|
||||
.withExternal()
|
||||
.source(DroneState.POINTING_PARENT)
|
||||
.target(DroneState.OFFLINE)
|
||||
.event(DroneEvent.DRONE_OFFLINE)
|
||||
.action(strategy.getOfflineAction());
|
||||
}
|
||||
}
|
||||
|
|
@ -1,96 +0,0 @@
|
|||
package com.tuoheng.old.demo;
|
||||
|
||||
import com.tuoheng.old.manager.ISystemManager;
|
||||
import com.tuoheng.old.manager.factory.AirportSystemManagerFactory;
|
||||
import com.tuoheng.old.platform.factory.PlatformStrategyFactory;
|
||||
import org.springframework.context.annotation.AnnotationConfigApplicationContext;
|
||||
|
||||
/**
|
||||
* 演示程序（当前仅接入 DJI 平台）
|
||||
*/
|
||||
public class MultiPlatformDemo {
|
||||
|
||||
public static void main(String[] args) throws InterruptedException {
|
||||
|
||||
// 创建 Spring 上下文
|
||||
AnnotationConfigApplicationContext context = new AnnotationConfigApplicationContext();
|
||||
|
||||
// 扫描所有组件
|
||||
context.scan("com.tuoheng.old");
|
||||
context.refresh();
|
||||
|
||||
// 获取必要的Bean
|
||||
PlatformStrategyFactory strategyFactory = context.getBean(PlatformStrategyFactory.class);
|
||||
AirportSystemManagerFactory managerFactory = context.getBean(AirportSystemManagerFactory.class);
|
||||
|
||||
|
||||
System.out.println("\n========== DJI 机巢系统演示开始 ==========\n");
|
||||
|
||||
// ==================== 场景1: DJI 机巢上线 ====================
|
||||
System.out.println("【场景1】DJI 机巢上线");
|
||||
System.out.println("----------------------------------------");
|
||||
|
||||
String djiAirport = "airport-001"; // DJI平台
|
||||
|
||||
System.out.println("1. DJI机巢上线: " + djiAirport);
|
||||
System.out.println(" 平台类型: " + strategyFactory.getPlatformType(djiAirport).getName());
|
||||
ISystemManager djiManager = managerFactory.getManager(djiAirport);
|
||||
djiManager.airportOnline(djiAirport);
|
||||
System.out.println(" " + djiManager.getFullStatus(djiAirport));
|
||||
System.out.println();
|
||||
Thread.sleep(500);
|
||||
|
||||
// ==================== 场景2: DJI 开舱流程 ====================
|
||||
System.out.println("【场景2】DJI 开舱流程");
|
||||
System.out.println("----------------------------------------");
|
||||
|
||||
System.out.println("2. 开启调试模式: " + djiAirport);
|
||||
djiManager.openDebugMode(djiAirport);
|
||||
System.out.println(" " + djiManager.getFullStatus(djiAirport));
|
||||
System.out.println();
|
||||
Thread.sleep(500);
|
||||
|
||||
System.out.println("3. 开舱: " + djiAirport);
|
||||
djiManager.openCover(djiAirport);
|
||||
System.out.println(" " + djiManager.getFullStatus(djiAirport));
|
||||
System.out.println();
|
||||
Thread.sleep(500);
|
||||
|
||||
System.out.println("4. 舱门打开完成: " + djiAirport);
|
||||
djiManager.coverOpened(djiAirport);
|
||||
System.out.println(" " + djiManager.getFullStatus(djiAirport));
|
||||
System.out.println();
|
||||
Thread.sleep(500);
|
||||
|
||||
// ==================== 场景3: DJI 关舱流程 ====================
|
||||
System.out.println("【场景3】DJI 关舱流程");
|
||||
System.out.println("----------------------------------------");
|
||||
|
||||
System.out.println("5. 关舱: " + djiAirport);
|
||||
djiManager.closeCover(djiAirport);
|
||||
System.out.println(" " + djiManager.getFullStatus(djiAirport));
|
||||
System.out.println();
|
||||
Thread.sleep(500);
|
||||
|
||||
System.out.println("6. 舱门关闭完成: " + djiAirport);
|
||||
djiManager.coverClosed(djiAirport);
|
||||
System.out.println(" " + djiManager.getFullStatus(djiAirport));
|
||||
System.out.println();
|
||||
Thread.sleep(500);
|
||||
|
||||
// ==================== 场景4: 当前状态汇总 ====================
|
||||
System.out.println("【场景4】当前状态汇总");
|
||||
System.out.println("----------------------------------------");
|
||||
System.out.println(String.format("%-20s %-15s %s", "机巢SN", "平台类型", "状态"));
|
||||
System.out.println("------------------------------------------------------------");
|
||||
System.out.println(String.format("%-20s %-15s %s",
|
||||
djiAirport,
|
||||
strategyFactory.getPlatformType(djiAirport).getName(),
|
||||
djiManager.getFullStatus(djiAirport)));
|
||||
System.out.println();
|
||||
|
||||
System.out.println("\n========== DJI 机巢系统演示结束 ==========\n");
|
||||
|
||||
context.close();
|
||||
}
|
||||
}
|
||||
|
|
@ -1,59 +0,0 @@
|
|||
package com.tuoheng.old.events;
|
||||
|
||||
/**
|
||||
* 机巢事件枚举
|
||||
* 定义机巢状态机中的所有事件
|
||||
*/
|
||||
public enum AirportEvent {
|
||||
|
||||
// ==================== 机巢基本事件 ====================
|
||||
/**
|
||||
* 机巢上线事件
|
||||
* 触发源: OSD心跳
|
||||
*/
|
||||
AIRPORT_ONLINE,
|
||||
|
||||
/**
|
||||
* 机巢离线事件
|
||||
* 触发源: OSD心跳
|
||||
*/
|
||||
AIRPORT_OFFLINE,
|
||||
|
||||
// ==================== 调试模式事件 ====================
|
||||
/**
|
||||
* 开启调试模式
|
||||
* 触发源: 用户指令
|
||||
*/
|
||||
DEBUG_MODE_OPEN,
|
||||
|
||||
/**
|
||||
* 进入调试模式完成
|
||||
* 触发源: Events事件
|
||||
*/
|
||||
DEBUG_MODE_ENTERED,
|
||||
|
||||
/**
|
||||
* 关闭调试模式
|
||||
* 触发源: 用户指令/自动
|
||||
*/
|
||||
DEBUG_MODE_CLOSE,
|
||||
|
||||
/**
|
||||
* 退出调试模式完成
|
||||
* 触发源: Events事件
|
||||
*/
|
||||
DEBUG_MODE_EXITED,
|
||||
|
||||
// ==================== 机巢重启事件 ====================
|
||||
/**
|
||||
* 机巢重启指令
|
||||
* 触发源: 用户指令
|
||||
*/
|
||||
AIRPORT_REBOOT,
|
||||
|
||||
/**
|
||||
* 重启完成
|
||||
* 触发源: Events事件
|
||||
*/
|
||||
REBOOT_COMPLETED
|
||||
}
|
||||
|
|
@ -1,36 +0,0 @@
|
|||
package com.tuoheng.old.events;
|
||||
|
||||
/**
|
||||
* 舱门事件枚举
|
||||
*/
|
||||
public enum CoverEvent {
|
||||
/**
|
||||
* 开舱指令
|
||||
*/
|
||||
OPEN,
|
||||
|
||||
/**
|
||||
* 开舱完成
|
||||
*/
|
||||
OPENED,
|
||||
|
||||
/**
|
||||
* 关舱指令
|
||||
*/
|
||||
CLOSE,
|
||||
|
||||
/**
|
||||
* 关舱完成
|
||||
*/
|
||||
CLOSED,
|
||||
|
||||
/**
|
||||
* 舱门异常
|
||||
*/
|
||||
ERROR,
|
||||
|
||||
/**
|
||||
* 重置舱门状态
|
||||
*/
|
||||
RESET
|
||||
}
|
||||
|
|
@ -1,31 +0,0 @@
|
|||
package com.tuoheng.old.events;
|
||||
|
||||
/**
|
||||
* DRC（飞行控制模式）事件枚举
|
||||
* 定义DRC状态机中的所有事件
|
||||
*/
|
||||
public enum DrcEvent {
|
||||
/**
|
||||
* 进入DRC模式指令
|
||||
* 触发源: 用户指令
|
||||
*/
|
||||
ENTERING,
|
||||
|
||||
/**
|
||||
* 进入DRC模式完成
|
||||
* 触发源: Events事件
|
||||
*/
|
||||
ENTERED,
|
||||
|
||||
/**
|
||||
* 退出DRC模式指令
|
||||
* 触发源: 用户指令/自动
|
||||
*/
|
||||
EXITING,
|
||||
|
||||
/**
|
||||
* 退出DRC模式完成
|
||||
* 触发源: Events事件
|
||||
*/
|
||||
EXITED
|
||||
}
|
||||
|
|
@ -1,121 +0,0 @@
|
|||
package com.tuoheng.old.events;
|
||||
|
||||
/**
|
||||
* 无人机事件枚举
|
||||
* 定义无人机状态机中的所有事件
|
||||
*/
|
||||
public enum DroneEvent {
|
||||
|
||||
// ==================== 无人机基本事件 ====================
|
||||
/**
|
||||
* 无人机上线事件
|
||||
* 触发源: OSD心跳
|
||||
*/
|
||||
DRONE_ONLINE,
|
||||
|
||||
/**
|
||||
* 无人机离线事件
|
||||
* 触发源: OSD心跳
|
||||
*/
|
||||
DRONE_OFFLINE,
|
||||
|
||||
// ==================== 准备阶段事件 ====================
|
||||
/**
|
||||
* 开始准备
|
||||
* 触发源: 用户指令
|
||||
*/
|
||||
START_PREPARE,
|
||||
|
||||
/**
|
||||
* 准备完成
|
||||
* 触发源: Events事件
|
||||
*/
|
||||
PREPARE_COMPLETED,
|
||||
|
||||
// ==================== 飞行阶段事件 ====================
|
||||
/**
|
||||
* 开始飞行
|
||||
* 触发源: 用户指令
|
||||
*/
|
||||
START_FLYING,
|
||||
|
||||
/**
|
||||
* 急停（飞行阶段）
|
||||
* 触发源: 用户指令/自动
|
||||
*/
|
||||
EMERGENCY_STOP,
|
||||
|
||||
/**
|
||||
* 恢复飞行（从急停恢复）
|
||||
* 触发源: 用户指令
|
||||
*/
|
||||
RESUME_FLYING,
|
||||
|
||||
/**
|
||||
* 到达目的地
|
||||
* 触发源: Events事件
|
||||
*/
|
||||
ARRIVE,
|
||||
|
||||
// ==================== 返航阶段事件 ====================
|
||||
/**
|
||||
* 开始返航
|
||||
* 触发源: 用户指令/自动
|
||||
*/
|
||||
START_RETURN,
|
||||
|
||||
/**
|
||||
* 急停（返航阶段）
|
||||
* 触发源: 用户指令/自动
|
||||
*/
|
||||
RETURN_EMERGENCY_STOP,
|
||||
|
||||
/**
|
||||
* 恢复返航（从返航急停恢复）
|
||||
* 触发源: 用户指令
|
||||
*/
|
||||
RESUME_RETURN,
|
||||
|
||||
/**
|
||||
* 返航完成
|
||||
* 触发源: Events事件
|
||||
*/
|
||||
RETURN_COMPLETED,
|
||||
|
||||
// ==================== 指点操作事件 ====================
|
||||
/**
|
||||
* 开始指点操作
|
||||
* 触发源: 用户指令
|
||||
*/
|
||||
START_POINTING,
|
||||
|
||||
/**
|
||||
* 指点准备完成
|
||||
* 触发源: Events事件
|
||||
*/
|
||||
POINT_PREPARE_COMPLETED,
|
||||
|
||||
/**
|
||||
* 指点飞行完成
|
||||
* 触发源: Events事件
|
||||
*/
|
||||
POINT_FLYING_COMPLETED,
|
||||
|
||||
/**
|
||||
* 取消指点
|
||||
* 触发源: 用户指令
|
||||
*/
|
||||
CANCEL_POINT,
|
||||
|
||||
/**
|
||||
* 指点完成后返回飞行
|
||||
* 触发源: 自动/用户指令
|
||||
*/
|
||||
POINT_TO_FLYING,
|
||||
|
||||
/**
|
||||
* 指点完成后返航
|
||||
* 触发源: 用户指令
|
||||
*/
|
||||
POINT_TO_RETURN
|
||||
}
|
||||
|
|
@ -1,12 +0,0 @@
|
|||
package com.tuoheng.old.guard.airport;
|
||||
|
||||
import com.tuoheng.old.events.AirportEvent;
|
||||
import com.tuoheng.old.platform.strategy.PlatformGuard;
|
||||
import com.tuoheng.old.status.AirportState;
|
||||
|
||||
/**
|
||||
* Base guard for checking if an old can go offline; platform implementations extend this.
|
||||
*/
|
||||
public abstract class CanOfflineGuard implements PlatformGuard<AirportState, AirportEvent> {
|
||||
}
|
||||
|
||||
|
|
@ -1,12 +0,0 @@
|
|||
package com.tuoheng.old.guard.airport;
|
||||
|
||||
import com.tuoheng.old.events.AirportEvent;
|
||||
import com.tuoheng.old.platform.strategy.PlatformGuard;
|
||||
import com.tuoheng.old.status.AirportState;
|
||||
|
||||
/**
|
||||
* Base guard for checking if an old can go online; platform implementations extend this.
|
||||
*/
|
||||
public abstract class CanOnlineGuard implements PlatformGuard<AirportState, AirportEvent> {
|
||||
}
|
||||
|
||||
|
|
@ -1,12 +0,0 @@
|
|||
package com.tuoheng.old.guard.airport;
|
||||
|
||||
import com.tuoheng.old.events.AirportEvent;
|
||||
import com.tuoheng.old.platform.strategy.PlatformGuard;
|
||||
import com.tuoheng.old.status.AirportState;
|
||||
|
||||
/**
|
||||
* Base guard for checking old online status; platform implementations extend this.
|
||||
*/
|
||||
public abstract class IsAirportOnlineGuard implements PlatformGuard<AirportState, AirportEvent> {
|
||||
}
|
||||
|
||||
|
|
@ -1,12 +0,0 @@
|
|||
package com.tuoheng.old.guard.cover;
|
||||
|
||||
import com.tuoheng.old.events.CoverEvent;
|
||||
import com.tuoheng.old.platform.strategy.PlatformGuard;
|
||||
import com.tuoheng.old.status.CoverState;
|
||||
|
||||
/**
|
||||
* Base guard for closing the cover; platform implementations extend this.
|
||||
*/
|
||||
public abstract class CanCloseCoverGuard implements PlatformGuard<CoverState, CoverEvent> {
|
||||
}
|
||||
|
||||
|
|
@ -1,12 +0,0 @@
|
|||
package com.tuoheng.old.guard.cover;
|
||||
|
||||
import com.tuoheng.old.events.CoverEvent;
|
||||
import com.tuoheng.old.platform.strategy.PlatformGuard;
|
||||
import com.tuoheng.old.status.CoverState;
|
||||
|
||||
/**
|
||||
* Base guard for opening the cover; platform implementations extend this.
|
||||
*/
|
||||
public abstract class CanOpenCoverGuard implements PlatformGuard<CoverState, CoverEvent> {
|
||||
}
|
||||
|
||||
|
|
@ -1,12 +0,0 @@
|
|||
package com.tuoheng.old.guard.cover;
|
||||
|
||||
import com.tuoheng.old.events.CoverEvent;
|
||||
import com.tuoheng.old.platform.strategy.PlatformGuard;
|
||||
import com.tuoheng.old.status.CoverState;
|
||||
|
||||
/**
|
||||
* Base guard for verifying the cover is closed; platform implementations extend this.
|
||||
*/
|
||||
public abstract class IsCoverClosedGuard implements PlatformGuard<CoverState, CoverEvent> {
|
||||
}
|
||||
|
||||
|
|
@ -1,12 +0,0 @@
|
|||
package com.tuoheng.old.guard.cover;
|
||||
|
||||
import com.tuoheng.old.events.CoverEvent;
|
||||
import com.tuoheng.old.platform.strategy.PlatformGuard;
|
||||
import com.tuoheng.old.status.CoverState;
|
||||
|
||||
/**
|
||||
* Base guard for verifying the cover is opened; platform implementations extend this.
|
||||
*/
|
||||
public abstract class IsCoverOpenedGuard implements PlatformGuard<CoverState, CoverEvent> {
|
||||
}
|
||||
|
||||
|
|
@ -1,12 +0,0 @@
|
|||
package com.tuoheng.old.guard.debug;
|
||||
|
||||
import com.tuoheng.old.events.AirportEvent;
|
||||
import com.tuoheng.old.platform.strategy.PlatformGuard;
|
||||
import com.tuoheng.old.status.AirportState;
|
||||
|
||||
/**
|
||||
* Base guard for closing debug mode; platform implementations extend this.
|
||||
*/
|
||||
public abstract class CanCloseDebugModeGuard implements PlatformGuard<AirportState, AirportEvent> {
|
||||
}
|
||||
|
||||
|
|
@ -1,12 +0,0 @@
|
|||
package com.tuoheng.old.guard.debug;
|
||||
|
||||
import com.tuoheng.old.events.AirportEvent;
|
||||
import com.tuoheng.old.platform.strategy.PlatformGuard;
|
||||
import com.tuoheng.old.status.AirportState;
|
||||
|
||||
/**
|
||||
* Base guard for checking debug mode; platform implementations extend this.
|
||||
*/
|
||||
public abstract class IsDebugModeGuard implements PlatformGuard<AirportState, AirportEvent> {
|
||||
}
|
||||
|
||||
|
|
@ -1,12 +0,0 @@
|
|||
package com.tuoheng.old.guard.debug;
|
||||
|
||||
import com.tuoheng.old.events.AirportEvent;
|
||||
import com.tuoheng.old.platform.strategy.PlatformGuard;
|
||||
import com.tuoheng.old.status.AirportState;
|
||||
|
||||
/**
|
||||
* Base guard for checking non-debug mode; platform implementations extend this.
|
||||
*/
|
||||
public abstract class IsNotDebugModeGuard implements PlatformGuard<AirportState, AirportEvent> {
|
||||
}
|
||||
|
||||
|
|
@ -1,11 +0,0 @@
|
|||
package com.tuoheng.old.guard.drc;
|
||||
|
||||
import com.tuoheng.old.events.DrcEvent;
|
||||
import com.tuoheng.old.platform.strategy.PlatformGuard;
|
||||
import com.tuoheng.old.status.DrcState;
|
||||
|
||||
/**
|
||||
* Base guard for checking if can enter DRC mode; platform implementations extend this.
|
||||
*/
|
||||
public abstract class CanEnterGuard implements PlatformGuard<DrcState, DrcEvent> {
|
||||
}
|
||||
|
|
@ -1,11 +0,0 @@
|
|||
package com.tuoheng.old.guard.drc;
|
||||
|
||||
import com.tuoheng.old.events.DrcEvent;
|
||||
import com.tuoheng.old.platform.strategy.PlatformGuard;
|
||||
import com.tuoheng.old.status.DrcState;
|
||||
|
||||
/**
|
||||
* Base guard for checking if can exit DRC mode; platform implementations extend this.
|
||||
*/
|
||||
public abstract class CanExitGuard implements PlatformGuard<DrcState, DrcEvent> {
|
||||
}
|
||||
|
|
@ -1,13 +0,0 @@
|
|||
package com.tuoheng.old.guard.drone;
|
||||
|
||||
import com.tuoheng.old.events.DroneEvent;
|
||||
import com.tuoheng.old.platform.strategy.PlatformGuard;
|
||||
import com.tuoheng.old.status.DroneState;
|
||||
|
||||
/**
|
||||
* Base guard for checking if drone can start pointing operation; platform implementations extend this.
|
||||
* 检查无人机是否可以进行指点操作
|
||||
* 注意：返航中不可以指点
|
||||
*/
|
||||
public abstract class CanPointGuard implements PlatformGuard<DroneState, DroneEvent> {
|
||||
}
|
||||
|
|
@ -1,12 +0,0 @@
|
|||
package com.tuoheng.old.guard.reboot;
|
||||
|
||||
import com.tuoheng.old.events.AirportEvent;
|
||||
import com.tuoheng.old.platform.strategy.PlatformGuard;
|
||||
import com.tuoheng.old.status.AirportState;
|
||||
|
||||
/**
|
||||
* Base guard for verifying reboot completion; platform implementations extend this.
|
||||
*/
|
||||
public abstract class IsRebootCompletedGuard implements PlatformGuard<AirportState, AirportEvent> {
|
||||
}
|
||||
|
||||
|
|
@ -1,135 +0,0 @@
|
|||
package com.tuoheng.old.impl.dji;
|
||||
|
||||
|
||||
import com.tuoheng.old.events.AirportEvent;
|
||||
import com.tuoheng.old.impl.dji.action.airport.*;
|
||||
import com.tuoheng.old.impl.dji.guard.airport.*;
|
||||
import com.tuoheng.old.impl.dji.listener.DjiAirportListener;
|
||||
import com.tuoheng.old.platform.PlatformType;
|
||||
import com.tuoheng.old.platform.strategy.AirportPlatformStrategy;
|
||||
import com.tuoheng.old.platform.strategy.PlatformAction;
|
||||
import com.tuoheng.old.platform.strategy.PlatformGuard;
|
||||
import com.tuoheng.old.platform.strategy.PlatformListener;
|
||||
import com.tuoheng.old.status.AirportState;
|
||||
import org.springframework.beans.factory.annotation.Autowired;
|
||||
import org.springframework.stereotype.Component;
|
||||
|
||||
/**
|
||||
* DJI平台机巢策略实现
|
||||
*/
|
||||
@Component
|
||||
public class DjiAirportPlatformStrategy implements AirportPlatformStrategy {
|
||||
|
||||
@Autowired
|
||||
private DjiCanOnlineGuard canOnlineGuard;
|
||||
|
||||
@Autowired
|
||||
private DjiCanOfflineGuard canOfflineGuard;
|
||||
|
||||
@Autowired
|
||||
private DjiIsDebugModeGuard isDebugModeGuard;
|
||||
|
||||
@Autowired
|
||||
private DjiIsNotDebugModeGuard isNotDebugModeGuard;
|
||||
|
||||
@Autowired
|
||||
private DjiCanCloseDebugModeGuard canCloseDebugModeGuard;
|
||||
|
||||
@Autowired
|
||||
private DjiIsRebootCompletedGuard isRebootCompletedGuard;
|
||||
|
||||
@Autowired
|
||||
private DjiOnlineAction onlineAction;
|
||||
|
||||
@Autowired
|
||||
private DjiOfflineAction offlineAction;
|
||||
|
||||
@Autowired
|
||||
private DjiOpenDebugModeAction openDebugModeAction;
|
||||
|
||||
@Autowired
|
||||
private DjiCloseDebugModeAction closeDebugModeAction;
|
||||
|
||||
@Autowired
|
||||
private DjiRebootAction rebootAction;
|
||||
|
||||
@Autowired
|
||||
private DjiRebootCompletedAction rebootCompletedAction;
|
||||
/**
|
||||
* DJI平台的Listener实例（单例，所有DJI机巢共享）
|
||||
*/
|
||||
@Autowired
|
||||
private DjiAirportListener djiListener;
|
||||
|
||||
@Override
|
||||
public PlatformType getPlatformType() {
|
||||
return PlatformType.DJI;
|
||||
}
|
||||
|
||||
@Override
|
||||
public PlatformGuard<AirportState, AirportEvent> getCanOnlineGuard() {
|
||||
return canOnlineGuard;
|
||||
}
|
||||
|
||||
@Override
|
||||
public PlatformGuard<AirportState, AirportEvent> getCanOfflineGuard() {
|
||||
return canOfflineGuard;
|
||||
}
|
||||
|
||||
@Override
|
||||
public PlatformGuard<AirportState, AirportEvent> getIsDebugModeGuard() {
|
||||
return isDebugModeGuard;
|
||||
}
|
||||
|
||||
@Override
|
||||
public PlatformGuard<AirportState, AirportEvent> getIsNotDebugModeGuard() {
|
||||
return isNotDebugModeGuard;
|
||||
}
|
||||
|
||||
@Override
|
||||
public PlatformGuard<AirportState, AirportEvent> getCanCloseDebugModeGuard() {
|
||||
return canCloseDebugModeGuard;
|
||||
}
|
||||
|
||||
@Override
|
||||
public PlatformGuard<AirportState, AirportEvent> getIsRebootCompletedGuard() {
|
||||
return isRebootCompletedGuard;
|
||||
}
|
||||
|
||||
@Override
|
||||
public PlatformAction<AirportState, AirportEvent> getOnlineAction() {
|
||||
return onlineAction;
|
||||
}
|
||||
|
||||
@Override
|
||||
public PlatformAction<AirportState, AirportEvent> getOfflineAction() {
|
||||
return offlineAction;
|
||||
}
|
||||
|
||||
@Override
|
||||
public PlatformAction<AirportState, AirportEvent> getOpenDebugModeAction() {
|
||||
return openDebugModeAction;
|
||||
}
|
||||
|
||||
@Override
|
||||
public PlatformAction<AirportState, AirportEvent> getCloseDebugModeAction() {
|
||||
return closeDebugModeAction;
|
||||
}
|
||||
|
||||
@Override
|
||||
public PlatformAction<AirportState, AirportEvent> getRebootAction() {
|
||||
return rebootAction;
|
||||
}
|
||||
|
||||
@Override
|
||||
public PlatformAction<AirportState, AirportEvent> getRebootCompletedAction() {
|
||||
return rebootCompletedAction;
|
||||
}
|
||||
|
||||
@Override
|
||||
public PlatformListener<AirportState, AirportEvent> getListener() {
|
||||
// 返回DJI平台的Listener单例
|
||||
// 所有DJI机巢共享这个Listener实例
|
||||
return djiListener;
|
||||
}
|
||||
}
|
||||
|
|
@ -1,127 +0,0 @@
|
|||
package com.tuoheng.old.impl.dji;
|
||||
|
||||
import com.tuoheng.old.events.AirportEvent;
|
||||
import com.tuoheng.old.events.CoverEvent;
|
||||
|
||||
import com.tuoheng.old.manager.AbsSystemManager;
|
||||
import com.tuoheng.old.platform.PlatformType;
|
||||
import com.tuoheng.old.status.AirportState;
|
||||
import com.tuoheng.old.status.CoverState;
|
||||
import lombok.extern.slf4j.Slf4j;
|
||||
import org.springframework.stereotype.Component;
|
||||
|
||||
/**
|
||||
* 大疆平台机巢系统管理器实现
|
||||
*/
|
||||
@Component
|
||||
@Slf4j
|
||||
public class DjiAirportSystemManager extends AbsSystemManager {
|
||||
|
||||
@Override
|
||||
public PlatformType getPlatformType() {
|
||||
return PlatformType.DJI;
|
||||
}
|
||||
|
||||
/**
|
||||
* @param airportSn
|
||||
* @return
|
||||
*/
|
||||
@Override
|
||||
public boolean airportOnline(String airportSn) {
|
||||
return airportService.sendEvent(airportSn, AirportEvent.AIRPORT_ONLINE);
|
||||
}
|
||||
|
||||
/**
|
||||
* @param airportSn
|
||||
* @return
|
||||
*/
|
||||
@Override
|
||||
public boolean airportOffline(String airportSn) {
|
||||
return airportService.sendEvent(airportSn, AirportEvent.AIRPORT_OFFLINE);
|
||||
}
|
||||
|
||||
@Override
|
||||
public boolean openDebugMode(String airportSn) {
|
||||
if (!airportService.isInState(airportSn, AirportState.ONLINE)) {
|
||||
log.warn("机巢未在线，无法开启调试模式");
|
||||
return false;
|
||||
}
|
||||
return airportService.sendEvent(airportSn, AirportEvent.DEBUG_MODE_OPEN);
|
||||
}
|
||||
|
||||
@Override
|
||||
public boolean closeDebugMode(String airportSn) {
|
||||
return airportService.sendEvent(airportSn, AirportEvent.DEBUG_MODE_CLOSE);
|
||||
}
|
||||
|
||||
@Override
|
||||
public boolean openCover(String airportSn) {
|
||||
if (!airportService.isInState(airportSn, AirportState.DEBUG_MODE)) {
|
||||
log.warn("机巢: {} 必须在调试模式下才能开舱", airportSn);
|
||||
return false;
|
||||
}
|
||||
if (coverService.isInState(airportSn, CoverState.OPENED)) {
|
||||
log.info("舱门已经打开");
|
||||
return false;
|
||||
}
|
||||
return coverService.sendEvent(airportSn, CoverEvent.OPEN);
|
||||
}
|
||||
|
||||
@Override
|
||||
public boolean coverOpened(String airportSn) {
|
||||
return coverService.sendEvent(airportSn, CoverEvent.OPENED);
|
||||
}
|
||||
|
||||
@Override
|
||||
public boolean closeCover(String airportSn) {
|
||||
if (!airportService.isInState(airportSn, AirportState.DEBUG_MODE)) {
|
||||
log.warn("必须在调试模式下才能关舱");
|
||||
return false;
|
||||
}
|
||||
if (coverService.isInState(airportSn, CoverState.CLOSED)) {
|
||||
log.info("机巢: {} 舱门已经关闭", airportSn);
|
||||
return false;
|
||||
}
|
||||
return coverService.sendEvent(airportSn, CoverEvent.CLOSE);
|
||||
}
|
||||
|
||||
@Override
|
||||
public boolean coverClosed(String airportSn) {
|
||||
return coverService.sendEvent(airportSn, CoverEvent.CLOSED);
|
||||
}
|
||||
|
||||
@Override
|
||||
public boolean rebootAirport(String airportSn) {
|
||||
if (!airportService.isInState(airportSn, AirportState.DEBUG_MODE)) {
|
||||
log.warn("必须在调试模式下才能重启");
|
||||
return false;
|
||||
}
|
||||
return airportService.sendEvent(airportSn, AirportEvent.AIRPORT_REBOOT);
|
||||
}
|
||||
|
||||
@Override
|
||||
public boolean rebootCompleted(String airportSn) {
|
||||
return airportService.sendEvent(airportSn, AirportEvent.REBOOT_COMPLETED);
|
||||
}
|
||||
|
||||
@Override
|
||||
public AirportState getAirportState(String airportSn) {
|
||||
return airportService.getCurrentState(airportSn);
|
||||
}
|
||||
|
||||
@Override
|
||||
public CoverState getCoverState(String airportSn) {
|
||||
return coverService.getCurrentState(airportSn);
|
||||
}
|
||||
|
||||
@Override
|
||||
public String getFullStatus(String airportSn) {
|
||||
AirportState airportState = getAirportState(airportSn);
|
||||
CoverState coverState = getCoverState(airportSn);
|
||||
return String.format("机巢状态: %s, 舱门状态: %s",
|
||||
airportState != null ? airportState : "未知",
|
||||
coverState != null ? coverState : "未知");
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
|
@ -1,123 +0,0 @@
|
|||
package com.tuoheng.old.impl.dji;
|
||||
|
||||
|
||||
import com.tuoheng.old.events.CoverEvent;
|
||||
import com.tuoheng.old.impl.dji.action.cover.*;
|
||||
import com.tuoheng.old.impl.dji.guard.cover.DjiCanCloseCoverGuard;
|
||||
import com.tuoheng.old.impl.dji.guard.cover.DjiCanOpenCoverGuard;
|
||||
import com.tuoheng.old.impl.dji.guard.cover.DjiIsCoverClosedGuard;
|
||||
import com.tuoheng.old.impl.dji.guard.cover.DjiIsCoverOpenedGuard;
|
||||
import com.tuoheng.old.impl.dji.listener.DjiCoverListener;
|
||||
import com.tuoheng.old.platform.PlatformType;
|
||||
import com.tuoheng.old.platform.strategy.CoverPlatformStrategy;
|
||||
import com.tuoheng.old.platform.strategy.PlatformAction;
|
||||
import com.tuoheng.old.platform.strategy.PlatformGuard;
|
||||
import com.tuoheng.old.platform.strategy.PlatformListener;
|
||||
import com.tuoheng.old.status.CoverState;
|
||||
import org.springframework.beans.factory.annotation.Autowired;
|
||||
import org.springframework.stereotype.Component;
|
||||
|
||||
/**
|
||||
* DJI平台舱门策略实现
|
||||
*/
|
||||
@Component
|
||||
public class DjiCoverPlatformStrategy implements CoverPlatformStrategy {
|
||||
|
||||
@Autowired
|
||||
private DjiCanOpenCoverGuard canOpenGuard;
|
||||
|
||||
@Autowired
|
||||
private DjiCanCloseCoverGuard canCloseGuard;
|
||||
|
||||
@Autowired
|
||||
private DjiIsCoverOpenedGuard isOpenedGuard;
|
||||
|
||||
@Autowired
|
||||
private DjiIsCoverClosedGuard isClosedGuard;
|
||||
|
||||
@Autowired
|
||||
private DjiOpenCoverAction openAction;
|
||||
|
||||
@Autowired
|
||||
private DjiCoverOpenedAction openedAction;
|
||||
|
||||
@Autowired
|
||||
private DjiCloseCoverAction closeAction;
|
||||
|
||||
@Autowired
|
||||
private DjiCoverClosedAction closedAction;
|
||||
|
||||
@Autowired
|
||||
private DjiCoverErrorAction errorAction;
|
||||
|
||||
@Autowired
|
||||
private DjiCoverResetAction resetAction;
|
||||
|
||||
/**
|
||||
* DJI平台的舱门Listener实例（单例，所有DJI机巢共享）
|
||||
*/
|
||||
@Autowired
|
||||
private DjiCoverListener djiCoverListener ;
|
||||
|
||||
@Override
|
||||
public PlatformType getPlatformType() {
|
||||
return PlatformType.DJI;
|
||||
}
|
||||
|
||||
@Override
|
||||
public PlatformGuard<CoverState, CoverEvent> getCanOpenGuard() {
|
||||
return canOpenGuard;
|
||||
}
|
||||
|
||||
@Override
|
||||
public PlatformGuard<CoverState, CoverEvent> getCanCloseGuard() {
|
||||
return canCloseGuard;
|
||||
}
|
||||
|
||||
@Override
|
||||
public PlatformGuard<CoverState, CoverEvent> getIsOpenedGuard() {
|
||||
return isOpenedGuard;
|
||||
}
|
||||
|
||||
@Override
|
||||
public PlatformGuard<CoverState, CoverEvent> getIsClosedGuard() {
|
||||
return isClosedGuard;
|
||||
}
|
||||
|
||||
@Override
|
||||
public PlatformAction<CoverState, CoverEvent> getOpenAction() {
|
||||
return openAction;
|
||||
}
|
||||
|
||||
@Override
|
||||
public PlatformAction<CoverState, CoverEvent> getOpenedAction() {
|
||||
return openedAction;
|
||||
}
|
||||
|
||||
@Override
|
||||
public PlatformAction<CoverState, CoverEvent> getCloseAction() {
|
||||
return closeAction;
|
||||
}
|
||||
|
||||
@Override
|
||||
public PlatformAction<CoverState, CoverEvent> getClosedAction() {
|
||||
return closedAction;
|
||||
}
|
||||
|
||||
@Override
|
||||
public PlatformAction<CoverState, CoverEvent> getErrorAction() {
|
||||
return errorAction;
|
||||
}
|
||||
|
||||
@Override
|
||||
public PlatformAction<CoverState, CoverEvent> getResetAction() {
|
||||
return resetAction;
|
||||
}
|
||||
|
||||
@Override
|
||||
public PlatformListener<CoverState, CoverEvent> getListener() {
|
||||
// 返回DJI平台的舱门Listener单例
|
||||
// 所有DJI机巢共享这个Listener实例
|
||||
return djiCoverListener;
|
||||
}
|
||||
}
|
||||
|
|
@ -1,86 +0,0 @@
|
|||
package com.tuoheng.old.impl.dji;
|
||||
|
||||
import com.tuoheng.old.events.DrcEvent;
|
||||
import com.tuoheng.old.platform.PlatformType;
|
||||
import com.tuoheng.old.impl.dji.action.drc.DjiEnterAction;
|
||||
import com.tuoheng.old.impl.dji.action.drc.DjiEnteredAction;
|
||||
import com.tuoheng.old.impl.dji.action.drc.DjiExitAction;
|
||||
import com.tuoheng.old.impl.dji.action.drc.DjiExitedAction;
|
||||
import com.tuoheng.old.impl.dji.guard.drc.DjiCanEnterGuard;
|
||||
import com.tuoheng.old.impl.dji.guard.drc.DjiCanExitGuard;
|
||||
import com.tuoheng.old.impl.dji.listener.DjiDrcListener;
|
||||
import com.tuoheng.old.platform.strategy.DrcPlatformStrategy;
|
||||
import com.tuoheng.old.platform.strategy.PlatformAction;
|
||||
import com.tuoheng.old.platform.strategy.PlatformGuard;
|
||||
import com.tuoheng.old.platform.strategy.PlatformListener;
|
||||
import com.tuoheng.old.status.DrcState;
|
||||
import org.springframework.beans.factory.annotation.Autowired;
|
||||
import org.springframework.stereotype.Component;
|
||||
|
||||
/**
|
||||
* DJI平台DRC策略实现
|
||||
*/
|
||||
@Component
|
||||
public class DjiDrcPlatformStrategy implements DrcPlatformStrategy {
|
||||
|
||||
@Autowired
|
||||
private DjiCanEnterGuard canEnterGuard;
|
||||
|
||||
@Autowired
|
||||
private DjiCanExitGuard canExitGuard;
|
||||
|
||||
@Autowired
|
||||
private DjiEnterAction enterAction;
|
||||
|
||||
@Autowired
|
||||
private DjiEnteredAction enteredAction;
|
||||
|
||||
@Autowired
|
||||
private DjiExitAction exitAction;
|
||||
|
||||
@Autowired
|
||||
private DjiExitedAction exitedAction;
|
||||
|
||||
@Autowired
|
||||
private DjiDrcListener djiDrcListener;
|
||||
|
||||
@Override
|
||||
public PlatformType getPlatformType() {
|
||||
return PlatformType.DJI;
|
||||
}
|
||||
|
||||
@Override
|
||||
public PlatformGuard<DrcState, DrcEvent> getCanEnterGuard() {
|
||||
return canEnterGuard;
|
||||
}
|
||||
|
||||
@Override
|
||||
public PlatformGuard<DrcState, DrcEvent> getCanExitGuard() {
|
||||
return canExitGuard;
|
||||
}
|
||||
|
||||
@Override
|
||||
public PlatformAction<DrcState, DrcEvent> getEnterAction() {
|
||||
return enterAction;
|
||||
}
|
||||
|
||||
@Override
|
||||
public PlatformAction<DrcState, DrcEvent> getEnteredAction() {
|
||||
return enteredAction;
|
||||
}
|
||||
|
||||
@Override
|
||||
public PlatformAction<DrcState, DrcEvent> getExitAction() {
|
||||
return exitAction;
|
||||
}
|
||||
|
||||
@Override
|
||||
public PlatformAction<DrcState, DrcEvent> getExitedAction() {
|
||||
return exitedAction;
|
||||
}
|
||||
|
||||
@Override
|
||||
public PlatformListener<DrcState, DrcEvent> getListener() {
|
||||
return djiDrcListener;
|
||||
}
|
||||
}
|
||||
|
|
@ -1,179 +0,0 @@
|
|||
package com.tuoheng.old.impl.dji;
|
||||
|
||||
|
||||
import com.tuoheng.old.events.DroneEvent;
|
||||
import com.tuoheng.old.impl.dji.action.drone.*;
|
||||
import com.tuoheng.old.platform.PlatformType;
|
||||
import com.tuoheng.old.impl.dji.guard.drone.DjiCanPointGuard;
|
||||
import com.tuoheng.old.impl.dji.listener.DjiDroneListener;
|
||||
import com.tuoheng.old.platform.strategy.DronePlatformStrategy;
|
||||
import com.tuoheng.old.platform.strategy.PlatformAction;
|
||||
import com.tuoheng.old.platform.strategy.PlatformGuard;
|
||||
import com.tuoheng.old.platform.strategy.PlatformListener;
|
||||
import com.tuoheng.old.status.DroneState;
|
||||
import org.springframework.beans.factory.annotation.Autowired;
|
||||
import org.springframework.stereotype.Component;
|
||||
|
||||
/**
|
||||
* DJI平台无人机策略实现
|
||||
*/
|
||||
@Component
|
||||
public class DjiDronePlatformStrategy implements DronePlatformStrategy {
|
||||
|
||||
@Autowired
|
||||
private DjiCanPointGuard canPointGuard;
|
||||
|
||||
@Autowired
|
||||
private DjiStartPrepareAction startPrepareAction;
|
||||
|
||||
@Autowired
|
||||
private DjiPrepareCompletedAction prepareCompletedAction;
|
||||
|
||||
@Autowired
|
||||
private DjiStartFlyingAction startFlyingAction;
|
||||
|
||||
@Autowired
|
||||
private DjiEmergencyStopAction emergencyStopAction;
|
||||
|
||||
@Autowired
|
||||
private DjiResumeFlyingAction resumeFlyingAction;
|
||||
|
||||
@Autowired
|
||||
private DjiArriveAction arriveAction;
|
||||
|
||||
@Autowired
|
||||
private DjiStartReturnAction startReturnAction;
|
||||
|
||||
@Autowired
|
||||
private DjiReturnEmergencyStopAction returnEmergencyStopAction;
|
||||
|
||||
@Autowired
|
||||
private DjiResumeReturnAction resumeReturnAction;
|
||||
|
||||
@Autowired
|
||||
private DjiReturnCompletedAction returnCompletedAction;
|
||||
|
||||
@Autowired
|
||||
private DjiStartPointingAction startPointingAction;
|
||||
|
||||
@Autowired
|
||||
private DjiPointPrepareCompletedAction pointPrepareCompletedAction;
|
||||
|
||||
@Autowired
|
||||
private DjiPointFlyingCompletedAction pointFlyingCompletedAction;
|
||||
|
||||
@Autowired
|
||||
private DjiCancelPointAction cancelPointAction;
|
||||
|
||||
@Autowired
|
||||
private DjiPointToFlyingAction pointToFlyingAction;
|
||||
|
||||
@Autowired
|
||||
private DjiPointToReturnAction pointToReturnAction;
|
||||
|
||||
@Autowired
|
||||
private DjiDroneOfflineAction offlineAction;
|
||||
|
||||
@Autowired
|
||||
private DjiDroneListener djiDroneListener;
|
||||
|
||||
@Override
|
||||
public PlatformType getPlatformType() {
|
||||
return PlatformType.DJI;
|
||||
}
|
||||
|
||||
@Override
|
||||
public PlatformGuard<DroneState, DroneEvent> getCanPointGuard() {
|
||||
return canPointGuard;
|
||||
}
|
||||
|
||||
@Override
|
||||
public PlatformAction<DroneState, DroneEvent> getStartPrepareAction() {
|
||||
return startPrepareAction;
|
||||
}
|
||||
|
||||
@Override
|
||||
public PlatformAction<DroneState, DroneEvent> getPrepareCompletedAction() {
|
||||
return prepareCompletedAction;
|
||||
}
|
||||
|
||||
@Override
|
||||
public PlatformAction<DroneState, DroneEvent> getStartFlyingAction() {
|
||||
return startFlyingAction;
|
||||
}
|
||||
|
||||
@Override
|
||||
public PlatformAction<DroneState, DroneEvent> getEmergencyStopAction() {
|
||||
return emergencyStopAction;
|
||||
}
|
||||
|
||||
@Override
|
||||
public PlatformAction<DroneState, DroneEvent> getResumeFlyingAction() {
|
||||
return resumeFlyingAction;
|
||||
}
|
||||
|
||||
@Override
|
||||
public PlatformAction<DroneState, DroneEvent> getArriveAction() {
|
||||
return arriveAction;
|
||||
}
|
||||
|
||||
@Override
|
||||
public PlatformAction<DroneState, DroneEvent> getStartReturnAction() {
|
||||
return startReturnAction;
|
||||
}
|
||||
|
||||
@Override
|
||||
public PlatformAction<DroneState, DroneEvent> getReturnEmergencyStopAction() {
|
||||
return returnEmergencyStopAction;
|
||||
}
|
||||
|
||||
@Override
|
||||
public PlatformAction<DroneState, DroneEvent> getResumeReturnAction() {
|
||||
return resumeReturnAction;
|
||||
}
|
||||
|
||||
@Override
|
||||
public PlatformAction<DroneState, DroneEvent> getReturnCompletedAction() {
|
||||
return returnCompletedAction;
|
||||
}
|
||||
|
||||
@Override
|
||||
public PlatformAction<DroneState, DroneEvent> getStartPointingAction() {
|
||||
return startPointingAction;
|
||||
}
|
||||
|
||||
@Override
|
||||
public PlatformAction<DroneState, DroneEvent> getPointPrepareCompletedAction() {
|
||||
return pointPrepareCompletedAction;
|
||||
}
|
||||
|
||||
@Override
|
||||
public PlatformAction<DroneState, DroneEvent> getPointFlyingCompletedAction() {
|
||||
return pointFlyingCompletedAction;
|
||||
}
|
||||
|
||||
@Override
|
||||
public PlatformAction<DroneState, DroneEvent> getCancelPointAction() {
|
||||
return cancelPointAction;
|
||||
}
|
||||
|
||||
@Override
|
||||
public PlatformAction<DroneState, DroneEvent> getPointToFlyingAction() {
|
||||
return pointToFlyingAction;
|
||||
}
|
||||
|
||||
@Override
|
||||
public PlatformAction<DroneState, DroneEvent> getPointToReturnAction() {
|
||||
return pointToReturnAction;
|
||||
}
|
||||
|
||||
@Override
|
||||
public PlatformAction<DroneState, DroneEvent> getOfflineAction() {
|
||||
return offlineAction;
|
||||
}
|
||||
|
||||
@Override
|
||||
public PlatformListener<DroneState, DroneEvent> getListener() {
|
||||
return djiDroneListener;
|
||||
}
|
||||
}
|
||||
|
|
@ -1,25 +0,0 @@
|
|||
package com.tuoheng.old.impl.dji.action.airport;
|
||||
|
||||
import lombok.extern.slf4j.Slf4j;
|
||||
|
||||
import com.tuoheng.old.action.debug.CloseDebugModeAction;
|
||||
import com.tuoheng.old.events.AirportEvent;
|
||||
import com.tuoheng.old.status.AirportState;
|
||||
import org.springframework.statemachine.StateContext;
|
||||
import org.springframework.stereotype.Component;
|
||||
|
||||
@Slf4j
|
||||
@Component
|
||||
public class DjiCloseDebugModeAction extends CloseDebugModeAction {
|
||||
|
||||
@Override
|
||||
public String getName() {
|
||||
return "DjiCloseDebugModeAction";
|
||||
}
|
||||
|
||||
@Override
|
||||
public void execute(StateContext<AirportState, AirportEvent> context) {
|
||||
String machineId = (String) context.getExtendedState().getVariables().get("machineId");
|
||||
log.info("[DJI] 关闭调试模式: %s", machineId);
|
||||
}
|
||||
}
|
||||
|
|
@ -1,25 +0,0 @@
|
|||
package com.tuoheng.old.impl.dji.action.airport;
|
||||
|
||||
import lombok.extern.slf4j.Slf4j;
|
||||
|
||||
import com.tuoheng.old.action.airport.OfflineAction;
|
||||
import com.tuoheng.old.events.AirportEvent;
|
||||
import com.tuoheng.old.status.AirportState;
|
||||
import org.springframework.statemachine.StateContext;
|
||||
import org.springframework.stereotype.Component;
|
||||
|
||||
@Slf4j
|
||||
@Component
|
||||
public class DjiOfflineAction extends OfflineAction {
|
||||
|
||||
@Override
|
||||
public String getName() {
|
||||
return "DjiOfflineAction";
|
||||
}
|
||||
|
||||
@Override
|
||||
public void execute(StateContext<AirportState, AirportEvent> context) {
|
||||
String machineId = (String) context.getExtendedState().getVariables().get("machineId");
|
||||
log.info("[DJI] 机巢离线: %s", machineId);
|
||||
}
|
||||
}
|
||||
|
|
@ -1,27 +0,0 @@
|
|||
package com.tuoheng.old.impl.dji.action.airport;
|
||||
|
||||
import lombok.extern.slf4j.Slf4j;
|
||||
|
||||
import com.tuoheng.old.action.airport.OnlineAction;
|
||||
import com.tuoheng.old.events.AirportEvent;
|
||||
import com.tuoheng.old.status.AirportState;
|
||||
import org.springframework.statemachine.StateContext;
|
||||
import org.springframework.stereotype.Component;
|
||||
|
||||
@Slf4j
|
||||
@Component
|
||||
public class DjiOnlineAction extends OnlineAction {
|
||||
|
||||
@Override
|
||||
public String getName() {
|
||||
return "DjiOnlineAction";
|
||||
}
|
||||
|
||||
@Override
|
||||
public void execute(StateContext<AirportState, AirportEvent> context) {
|
||||
String machineId = (String) context.getExtendedState().getVariables().get("machineId");
|
||||
log.info("[DJI] 机巢上线: %s", machineId);
|
||||
// DJI平台特定的上线逻辑
|
||||
// 例如：初始化DJI SDK连接、注册设备等
|
||||
}
|
||||
}
|
||||
|
|
@ -1,25 +0,0 @@
|
|||
package com.tuoheng.old.impl.dji.action.airport;
|
||||
|
||||
import lombok.extern.slf4j.Slf4j;
|
||||
|
||||
import com.tuoheng.old.action.debug.OpenDebugModeAction;
|
||||
import com.tuoheng.old.events.AirportEvent;
|
||||
import com.tuoheng.old.status.AirportState;
|
||||
import org.springframework.statemachine.StateContext;
|
||||
import org.springframework.stereotype.Component;
|
||||
|
||||
@Slf4j
|
||||
@Component
|
||||
public class DjiOpenDebugModeAction extends OpenDebugModeAction {
|
||||
|
||||
@Override
|
||||
public String getName() {
|
||||
return "DjiOpenDebugModeAction";
|
||||
}
|
||||
|
||||
@Override
|
||||
public void execute(StateContext<AirportState, AirportEvent> context) {
|
||||
String machineId = (String) context.getExtendedState().getVariables().get("machineId");
|
||||
log.info("[DJI] 开启调试模式: %s", machineId);
|
||||
}
|
||||
}
|
||||
|
|
@ -1,25 +0,0 @@
|
|||
package com.tuoheng.old.impl.dji.action.airport;
|
||||
|
||||
import lombok.extern.slf4j.Slf4j;
|
||||
|
||||
import com.tuoheng.old.action.reboot.RebootAction;
|
||||
import com.tuoheng.old.events.AirportEvent;
|
||||
import com.tuoheng.old.status.AirportState;
|
||||
import org.springframework.statemachine.StateContext;
|
||||
import org.springframework.stereotype.Component;
|
||||
|
||||
@Slf4j
|
||||
@Component
|
||||
public class DjiRebootAction extends RebootAction {
|
||||
|
||||
@Override
|
||||
public String getName() {
|
||||
return "DjiRebootAction";
|
||||
}
|
||||
|
||||
@Override
|
||||
public void execute(StateContext<AirportState, AirportEvent> context) {
|
||||
String machineId = (String) context.getExtendedState().getVariables().get("machineId");
|
||||
log.info("[DJI] 机巢重启: %s", machineId);
|
||||
}
|
||||
}
|
||||
|
|
@ -1,25 +0,0 @@
|
|||
package com.tuoheng.old.impl.dji.action.airport;
|
||||
|
||||
import lombok.extern.slf4j.Slf4j;
|
||||
|
||||
import com.tuoheng.old.action.reboot.RebootCompletedAction;
|
||||
import com.tuoheng.old.events.AirportEvent;
|
||||
import com.tuoheng.old.status.AirportState;
|
||||
import org.springframework.statemachine.StateContext;
|
||||
import org.springframework.stereotype.Component;
|
||||
|
||||
@Slf4j
|
||||
@Component
|
||||
public class DjiRebootCompletedAction extends RebootCompletedAction {
|
||||
|
||||
@Override
|
||||
public String getName() {
|
||||
return "DjiRebootCompletedAction";
|
||||
}
|
||||
|
||||
@Override
|
||||
public void execute(StateContext<AirportState, AirportEvent> context) {
|
||||
String machineId = (String) context.getExtendedState().getVariables().get("machineId");
|
||||
log.info("[DJI] 重启完成: %s", machineId);
|
||||
}
|
||||
}
|
||||
|
|
@ -1,25 +0,0 @@
|
|||
package com.tuoheng.old.impl.dji.action.cover;
|
||||
|
||||
import lombok.extern.slf4j.Slf4j;
|
||||
|
||||
import com.tuoheng.old.action.cover.CloseCoverAction;
|
||||
import com.tuoheng.old.events.CoverEvent;
|
||||
import com.tuoheng.old.status.CoverState;
|
||||
import org.springframework.statemachine.StateContext;
|
||||
import org.springframework.stereotype.Component;
|
||||
|
||||
@Slf4j
|
||||
@Component
|
||||
public class DjiCloseCoverAction extends CloseCoverAction {
|
||||
|
||||
@Override
|
||||
public String getName() {
|
||||
return "DjiCloseCoverAction";
|
||||
}
|
||||
|
||||
@Override
|
||||
public void execute(StateContext<CoverState, CoverEvent> context) {
|
||||
String machineId = (String) context.getExtendedState().getVariables().get("machineId");
|
||||
log.info("[DJI] 开始关舱: %s", machineId);
|
||||
}
|
||||
}
|
||||
|
|
@ -1,25 +0,0 @@
|
|||
package com.tuoheng.old.impl.dji.action.cover;
|
||||
|
||||
import lombok.extern.slf4j.Slf4j;
|
||||
|
||||
import com.tuoheng.old.action.cover.CoverClosedAction;
|
||||
import com.tuoheng.old.events.CoverEvent;
|
||||
import com.tuoheng.old.status.CoverState;
|
||||
import org.springframework.statemachine.StateContext;
|
||||
import org.springframework.stereotype.Component;
|
||||
|
||||
@Slf4j
|
||||
@Component
|
||||
public class DjiCoverClosedAction extends CoverClosedAction {
|
||||
|
||||
@Override
|
||||
public String getName() {
|
||||
return "DjiCoverClosedAction";
|
||||
}
|
||||
|
||||
@Override
|
||||
public void execute(StateContext<CoverState, CoverEvent> context) {
|
||||
String machineId = (String) context.getExtendedState().getVariables().get("machineId");
|
||||
log.info("[DJI] 舱门已关闭: %s", machineId);
|
||||
}
|
||||
}
|
||||
|
|
@ -1,25 +0,0 @@
|
|||
package com.tuoheng.old.impl.dji.action.cover;
|
||||
|
||||
import lombok.extern.slf4j.Slf4j;
|
||||
|
||||
import com.tuoheng.old.events.CoverEvent;
|
||||
import com.tuoheng.old.platform.strategy.PlatformAction;
|
||||
import com.tuoheng.old.status.CoverState;
|
||||
import org.springframework.statemachine.StateContext;
|
||||
import org.springframework.stereotype.Component;
|
||||
|
||||
@Slf4j
|
||||
@Component
|
||||
public class DjiCoverErrorAction implements PlatformAction<CoverState, CoverEvent> {
|
||||
|
||||
@Override
|
||||
public String getName() {
|
||||
return "DjiCoverErrorAction";
|
||||
}
|
||||
|
||||
@Override
|
||||
public void execute(StateContext<CoverState, CoverEvent> context) {
|
||||
String machineId = (String) context.getExtendedState().getVariables().get("machineId");
|
||||
log.info("[DJI] 舱门错误: %s", machineId);
|
||||
}
|
||||
}
|
||||
|
|
@ -1,25 +0,0 @@
|
|||
package com.tuoheng.old.impl.dji.action.cover;
|
||||
|
||||
import lombok.extern.slf4j.Slf4j;
|
||||
|
||||
import com.tuoheng.old.action.cover.CoverOpenedAction;
|
||||
import com.tuoheng.old.events.CoverEvent;
|
||||
import com.tuoheng.old.status.CoverState;
|
||||
import org.springframework.statemachine.StateContext;
|
||||
import org.springframework.stereotype.Component;
|
||||
|
||||
@Slf4j
|
||||
@Component
|
||||
public class DjiCoverOpenedAction extends CoverOpenedAction {
|
||||
|
||||
@Override
|
||||
public String getName() {
|
||||
return "DjiCoverOpenedAction";
|
||||
}
|
||||
|
||||
@Override
|
||||
public void execute(StateContext<CoverState, CoverEvent> context) {
|
||||
String machineId = (String) context.getExtendedState().getVariables().get("machineId");
|
||||
log.info("[DJI] 舱门已打开: %s", machineId);
|
||||
}
|
||||
}
|
||||
|
|
@ -1,25 +0,0 @@
|
|||
package com.tuoheng.old.impl.dji.action.cover;
|
||||
|
||||
import lombok.extern.slf4j.Slf4j;
|
||||
|
||||
import com.tuoheng.old.events.CoverEvent;
|
||||
import com.tuoheng.old.platform.strategy.PlatformAction;
|
||||
import com.tuoheng.old.status.CoverState;
|
||||
import org.springframework.statemachine.StateContext;
|
||||
import org.springframework.stereotype.Component;
|
||||
|
||||
@Slf4j
|
||||
@Component
|
||||
public class DjiCoverResetAction implements PlatformAction<CoverState, CoverEvent> {
|
||||
|
||||
@Override
|
||||
public String getName() {
|
||||
return "DjiCoverResetAction";
|
||||
}
|
||||
|
||||
@Override
|
||||
public void execute(StateContext<CoverState, CoverEvent> context) {
|
||||
String machineId = (String) context.getExtendedState().getVariables().get("machineId");
|
||||
log.info("[DJI] 舱门重置: %s", machineId);
|
||||
}
|
||||
}
|
||||
|
|
@ -1,26 +0,0 @@
|
|||
package com.tuoheng.old.impl.dji.action.cover;
|
||||
|
||||
import lombok.extern.slf4j.Slf4j;
|
||||
|
||||
import com.tuoheng.old.action.cover.OpenCoverAction;
|
||||
import com.tuoheng.old.events.CoverEvent;
|
||||
import com.tuoheng.old.status.CoverState;
|
||||
import org.springframework.statemachine.StateContext;
|
||||
import org.springframework.stereotype.Component;
|
||||
|
||||
@Slf4j
|
||||
@Component
|
||||
public class DjiOpenCoverAction extends OpenCoverAction {
|
||||
|
||||
@Override
|
||||
public String getName() {
|
||||
return "DjiOpenCoverAction";
|
||||
}
|
||||
|
||||
@Override
|
||||
public void execute(StateContext<CoverState, CoverEvent> context) {
|
||||
String machineId = (String) context.getExtendedState().getVariables().get("machineId");
|
||||
log.info("[DJI] 开始开舱: %s", machineId);
|
||||
// DJI平台特定的开舱逻辑
|
||||
}
|
||||
}
|
||||
|
|
@ -1,25 +0,0 @@
|
|||
package com.tuoheng.old.impl.dji.action.drc;
|
||||
|
||||
import lombok.extern.slf4j.Slf4j;
|
||||
|
||||
import com.tuoheng.old.action.drc.EnterAction;
|
||||
import com.tuoheng.old.events.DrcEvent;
|
||||
import com.tuoheng.old.status.DrcState;
|
||||
import org.springframework.statemachine.StateContext;
|
||||
import org.springframework.stereotype.Component;
|
||||
|
||||
@Slf4j
|
||||
@Component
|
||||
public class DjiEnterAction extends EnterAction {
|
||||
|
||||
@Override
|
||||
public String getName() {
|
||||
return "DjiEnterAction";
|
||||
}
|
||||
|
||||
@Override
|
||||
public void execute(StateContext<DrcState, DrcEvent> context) {
|
||||
String machineId = (String) context.getExtendedState().getVariables().get("machineId");
|
||||
log.info("[DJI] 进入DRC模式: %s", machineId);
|
||||
}
|
||||
}
|
||||
|
|
@ -1,25 +0,0 @@
|
|||
package com.tuoheng.old.impl.dji.action.drc;
|
||||
|
||||
import lombok.extern.slf4j.Slf4j;
|
||||
|
||||
import com.tuoheng.old.action.drc.EnteredAction;
|
||||
import com.tuoheng.old.events.DrcEvent;
|
||||
import com.tuoheng.old.status.DrcState;
|
||||
import org.springframework.statemachine.StateContext;
|
||||
import org.springframework.stereotype.Component;
|
||||
|
||||
@Slf4j
|
||||
@Component
|
||||
public class DjiEnteredAction extends EnteredAction {
|
||||
|
||||
@Override
|
||||
public String getName() {
|
||||
return "DjiEnteredAction";
|
||||
}
|
||||
|
||||
@Override
|
||||
public void execute(StateContext<DrcState, DrcEvent> context) {
|
||||
String machineId = (String) context.getExtendedState().getVariables().get("machineId");
|
||||
log.info("[DJI] 已进入DRC模式: %s", machineId);
|
||||
}
|
||||
}
|
||||
|
|
@ -1,29 +0,0 @@
|
|||
package com.tuoheng.old.impl.dji.action.drc;
|
||||
|
||||
import lombok.extern.slf4j.Slf4j;
|
||||
|
||||
import com.tuoheng.old.action.drc.ExitAction;
|
||||
import com.tuoheng.old.events.DrcEvent;
|
||||
import com.tuoheng.old.status.DrcState;
|
||||
import org.springframework.statemachine.StateContext;
|
||||
import org.springframework.stereotype.Component;
|
||||
|
||||
@Slf4j
|
||||
@Component
|
||||
public class DjiExitAction extends ExitAction {
|
||||
|
||||
@Override
|
||||
public String getName() {
|
||||
return "DjiExitAction";
|
||||
}
|
||||
|
||||
@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 外部命令执行", machineId);
|
||||
/**
|
||||
* DjiExitAction 执行远程方法,远程方法执行成功则不抛出异常,否则抛出异常
|
||||
*/
|
||||
|
||||
}
|
||||
}
|
||||
|
|
@ -1,25 +0,0 @@
|
|||
package com.tuoheng.old.impl.dji.action.drc;
|
||||
|
||||
import lombok.extern.slf4j.Slf4j;
|
||||
|
||||
import com.tuoheng.old.action.drc.ExitedAction;
|
||||
import com.tuoheng.old.events.DrcEvent;
|
||||
import com.tuoheng.old.status.DrcState;
|
||||
import org.springframework.statemachine.StateContext;
|
||||
import org.springframework.stereotype.Component;
|
||||
|
||||
@Slf4j
|
||||
@Component
|
||||
public class DjiExitedAction extends ExitedAction {
|
||||
|
||||
@Override
|
||||
public String getName() {
|
||||
return "DjiExitedAction";
|
||||
}
|
||||
|
||||
@Override
|
||||
public void execute(StateContext<DrcState, DrcEvent> context) {
|
||||
String machineId = (String) context.getExtendedState().getVariables().get("machineId");
|
||||
log.info("[DJI] 已退出DRC模式: %s", machineId);
|
||||
}
|
||||
}
|
||||
|
|
@ -1,25 +0,0 @@
|
|||
package com.tuoheng.old.impl.dji.action.drone;
|
||||
|
||||
import lombok.extern.slf4j.Slf4j;
|
||||
|
||||
import com.tuoheng.old.action.drone.ArriveAction;
|
||||
import com.tuoheng.old.events.DroneEvent;
|
||||
import com.tuoheng.old.status.DroneState;
|
||||
import org.springframework.statemachine.StateContext;
|
||||
import org.springframework.stereotype.Component;
|
||||
|
||||
@Slf4j
|
||||
@Component
|
||||
public class DjiArriveAction extends ArriveAction {
|
||||
|
||||
@Override
|
||||
public String getName() {
|
||||
return "DjiArriveAction";
|
||||
}
|
||||
|
||||
@Override
|
||||
public void execute(StateContext<DroneState, DroneEvent> context) {
|
||||
String machineId = (String) context.getExtendedState().getVariables().get("machineId");
|
||||
log.info("[DJI] 无人机到达目的地: %s", machineId);
|
||||
}
|
||||
}
|
||||
|
|
@ -1,25 +0,0 @@
|
|||
package com.tuoheng.old.impl.dji.action.drone;
|
||||
|
||||
import lombok.extern.slf4j.Slf4j;
|
||||
|
||||
import com.tuoheng.old.action.drone.CancelPointAction;
|
||||
import com.tuoheng.old.events.DroneEvent;
|
||||
import com.tuoheng.old.status.DroneState;
|
||||
import org.springframework.statemachine.StateContext;
|
||||
import org.springframework.stereotype.Component;
|
||||
|
||||
@Slf4j
|
||||
@Component
|
||||
public class DjiCancelPointAction extends CancelPointAction {
|
||||
|
||||
@Override
|
||||
public String getName() {
|
||||
return "DjiCancelPointAction";
|
||||
}
|
||||
|
||||
@Override
|
||||
public void execute(StateContext<DroneState, DroneEvent> context) {
|
||||
String machineId = (String) context.getExtendedState().getVariables().get("machineId");
|
||||
log.info("[DJI] 无人机取消指点: %s", machineId);
|
||||
}
|
||||
}
|
||||
|
|
@ -1,25 +0,0 @@
|
|||
package com.tuoheng.old.impl.dji.action.drone;
|
||||
|
||||
import lombok.extern.slf4j.Slf4j;
|
||||
|
||||
import com.tuoheng.old.action.drone.OfflineAction;
|
||||
import com.tuoheng.old.events.DroneEvent;
|
||||
import com.tuoheng.old.status.DroneState;
|
||||
import org.springframework.statemachine.StateContext;
|
||||
import org.springframework.stereotype.Component;
|
||||
|
||||
@Slf4j
|
||||
@Component
|
||||
public class DjiDroneOfflineAction extends OfflineAction {
|
||||
|
||||
@Override
|
||||
public String getName() {
|
||||
return "DjiDroneOfflineAction";
|
||||
}
|
||||
|
||||
@Override
|
||||
public void execute(StateContext<DroneState, DroneEvent> context) {
|
||||
String machineId = (String) context.getExtendedState().getVariables().get("machineId");
|
||||
log.info("[DJI] 无人机离线: %s", machineId);
|
||||
}
|
||||
}
|
||||
|
|
@ -1,25 +0,0 @@
|
|||
package com.tuoheng.old.impl.dji.action.drone;
|
||||
|
||||
import lombok.extern.slf4j.Slf4j;
|
||||
|
||||
import com.tuoheng.old.action.drone.EmergencyStopAction;
|
||||
import com.tuoheng.old.events.DroneEvent;
|
||||
import com.tuoheng.old.status.DroneState;
|
||||
import org.springframework.statemachine.StateContext;
|
||||
import org.springframework.stereotype.Component;
|
||||
|
||||
@Slf4j
|
||||
@Component
|
||||
public class DjiEmergencyStopAction extends EmergencyStopAction {
|
||||
|
||||
@Override
|
||||
public String getName() {
|
||||
return "DjiEmergencyStopAction";
|
||||
}
|
||||
|
||||
@Override
|
||||
public void execute(StateContext<DroneState, DroneEvent> context) {
|
||||
String machineId = (String) context.getExtendedState().getVariables().get("machineId");
|
||||
log.info("[DJI] 无人机急停: %s", machineId);
|
||||
}
|
||||
}
|
||||
|
|
@ -1,25 +0,0 @@
|
|||
package com.tuoheng.old.impl.dji.action.drone;
|
||||
|
||||
import lombok.extern.slf4j.Slf4j;
|
||||
|
||||
import com.tuoheng.old.action.drone.PointFlyingCompletedAction;
|
||||
import com.tuoheng.old.events.DroneEvent;
|
||||
import com.tuoheng.old.status.DroneState;
|
||||
import org.springframework.statemachine.StateContext;
|
||||
import org.springframework.stereotype.Component;
|
||||
|
||||
@Slf4j
|
||||
@Component
|
||||
public class DjiPointFlyingCompletedAction extends PointFlyingCompletedAction {
|
||||
|
||||
@Override
|
||||
public String getName() {
|
||||
return "DjiPointFlyingCompletedAction";
|
||||
}
|
||||
|
||||
@Override
|
||||
public void execute(StateContext<DroneState, DroneEvent> context) {
|
||||
String machineId = (String) context.getExtendedState().getVariables().get("machineId");
|
||||
log.info("[DJI] 无人机指点飞行完成: %s", machineId);
|
||||
}
|
||||
}
|
||||
|
|
@ -1,25 +0,0 @@
|
|||
package com.tuoheng.old.impl.dji.action.drone;
|
||||
|
||||
import lombok.extern.slf4j.Slf4j;
|
||||
|
||||
import com.tuoheng.old.action.drone.PointPrepareCompletedAction;
|
||||
import com.tuoheng.old.events.DroneEvent;
|
||||
import com.tuoheng.old.status.DroneState;
|
||||
import org.springframework.statemachine.StateContext;
|
||||
import org.springframework.stereotype.Component;
|
||||
|
||||
@Slf4j
|
||||
@Component
|
||||
public class DjiPointPrepareCompletedAction extends PointPrepareCompletedAction {
|
||||
|
||||
@Override
|
||||
public String getName() {
|
||||
return "DjiPointPrepareCompletedAction";
|
||||
}
|
||||
|
||||
@Override
|
||||
public void execute(StateContext<DroneState, DroneEvent> context) {
|
||||
String machineId = (String) context.getExtendedState().getVariables().get("machineId");
|
||||
log.info("[DJI] 无人机指点准备完成: %s", machineId);
|
||||
}
|
||||
}
|
||||
|
|
@ -1,25 +0,0 @@
|
|||
package com.tuoheng.old.impl.dji.action.drone;
|
||||
|
||||
import lombok.extern.slf4j.Slf4j;
|
||||
|
||||
import com.tuoheng.old.action.drone.PointToFlyingAction;
|
||||
import com.tuoheng.old.events.DroneEvent;
|
||||
import com.tuoheng.old.status.DroneState;
|
||||
import org.springframework.statemachine.StateContext;
|
||||
import org.springframework.stereotype.Component;
|
||||
|
||||
@Slf4j
|
||||
@Component
|
||||
public class DjiPointToFlyingAction extends PointToFlyingAction {
|
||||
|
||||
@Override
|
||||
public String getName() {
|
||||
return "DjiPointToFlyingAction";
|
||||
}
|
||||
|
||||
@Override
|
||||
public void execute(StateContext<DroneState, DroneEvent> context) {
|
||||
String machineId = (String) context.getExtendedState().getVariables().get("machineId");
|
||||
log.info("[DJI] 无人机从指点返回飞行: %s", machineId);
|
||||
}
|
||||
}
|
||||
|
|
@ -1,25 +0,0 @@
|
|||
package com.tuoheng.old.impl.dji.action.drone;
|
||||
|
||||
import lombok.extern.slf4j.Slf4j;
|
||||
|
||||
import com.tuoheng.old.action.drone.PointToReturnAction;
|
||||
import com.tuoheng.old.events.DroneEvent;
|
||||
import com.tuoheng.old.status.DroneState;
|
||||
import org.springframework.statemachine.StateContext;
|
||||
import org.springframework.stereotype.Component;
|
||||
|
||||
@Slf4j
|
||||
@Component
|
||||
public class DjiPointToReturnAction extends PointToReturnAction {
|
||||
|
||||
@Override
|
||||
public String getName() {
|
||||
return "DjiPointToReturnAction";
|
||||
}
|
||||
|
||||
@Override
|
||||
public void execute(StateContext<DroneState, DroneEvent> context) {
|
||||
String machineId = (String) context.getExtendedState().getVariables().get("machineId");
|
||||
log.info("[DJI] 无人机从指点开始返航: %s", machineId);
|
||||
}
|
||||
}
|
||||
|
|
@ -1,25 +0,0 @@
|
|||
package com.tuoheng.old.impl.dji.action.drone;
|
||||
|
||||
import lombok.extern.slf4j.Slf4j;
|
||||
|
||||
import com.tuoheng.old.action.drone.PrepareCompletedAction;
|
||||
import com.tuoheng.old.events.DroneEvent;
|
||||
import com.tuoheng.old.status.DroneState;
|
||||
import org.springframework.statemachine.StateContext;
|
||||
import org.springframework.stereotype.Component;
|
||||
|
||||
@Slf4j
|
||||
@Component
|
||||
public class DjiPrepareCompletedAction extends PrepareCompletedAction {
|
||||
|
||||
@Override
|
||||
public String getName() {
|
||||
return "DjiPrepareCompletedAction";
|
||||
}
|
||||
|
||||
@Override
|
||||
public void execute(StateContext<DroneState, DroneEvent> context) {
|
||||
String machineId = (String) context.getExtendedState().getVariables().get("machineId");
|
||||
log.info("[DJI] 无人机准备完成: %s", machineId);
|
||||
}
|
||||
}
|
||||
|
|
@ -1,25 +0,0 @@
|
|||
package com.tuoheng.old.impl.dji.action.drone;
|
||||
|
||||
import lombok.extern.slf4j.Slf4j;
|
||||
|
||||
import com.tuoheng.old.action.drone.ResumeFlyingAction;
|
||||
import com.tuoheng.old.events.DroneEvent;
|
||||
import com.tuoheng.old.status.DroneState;
|
||||
import org.springframework.statemachine.StateContext;
|
||||
import org.springframework.stereotype.Component;
|
||||
|
||||
@Slf4j
|
||||
@Component
|
||||
public class DjiResumeFlyingAction extends ResumeFlyingAction {
|
||||
|
||||
@Override
|
||||
public String getName() {
|
||||
return "DjiResumeFlyingAction";
|
||||
}
|
||||
|
||||
@Override
|
||||
public void execute(StateContext<DroneState, DroneEvent> context) {
|
||||
String machineId = (String) context.getExtendedState().getVariables().get("machineId");
|
||||
log.info("[DJI] 无人机恢复飞行: %s", machineId);
|
||||
}
|
||||
}
|
||||
|
|
@ -1,25 +0,0 @@
|
|||
package com.tuoheng.old.impl.dji.action.drone;
|
||||
|
||||
import lombok.extern.slf4j.Slf4j;
|
||||
|
||||
import com.tuoheng.old.action.drone.ResumeReturnAction;
|
||||
import com.tuoheng.old.events.DroneEvent;
|
||||
import com.tuoheng.old.status.DroneState;
|
||||
import org.springframework.statemachine.StateContext;
|
||||
import org.springframework.stereotype.Component;
|
||||
|
||||
@Slf4j
|
||||
@Component
|
||||
public class DjiResumeReturnAction extends ResumeReturnAction {
|
||||
|
||||
@Override
|
||||
public String getName() {
|
||||
return "DjiResumeReturnAction";
|
||||
}
|
||||
|
||||
@Override
|
||||
public void execute(StateContext<DroneState, DroneEvent> context) {
|
||||
String machineId = (String) context.getExtendedState().getVariables().get("machineId");
|
||||
log.info("[DJI] 无人机恢复返航: %s", machineId);
|
||||
}
|
||||
}
|
||||
|
|
@ -1,25 +0,0 @@
|
|||
package com.tuoheng.old.impl.dji.action.drone;
|
||||
|
||||
import lombok.extern.slf4j.Slf4j;
|
||||
|
||||
import com.tuoheng.old.action.drone.ReturnCompletedAction;
|
||||
import com.tuoheng.old.events.DroneEvent;
|
||||
import com.tuoheng.old.status.DroneState;
|
||||
import org.springframework.statemachine.StateContext;
|
||||
import org.springframework.stereotype.Component;
|
||||
|
||||
@Slf4j
|
||||
@Component
|
||||
public class DjiReturnCompletedAction extends ReturnCompletedAction {
|
||||
|
||||
@Override
|
||||
public String getName() {
|
||||
return "DjiReturnCompletedAction";
|
||||
}
|
||||
|
||||
@Override
|
||||
public void execute(StateContext<DroneState, DroneEvent> context) {
|
||||
String machineId = (String) context.getExtendedState().getVariables().get("machineId");
|
||||
log.info("[DJI] 无人机返航完成: %s", machineId);
|
||||
}
|
||||
}
|
||||
|
|
@ -1,25 +0,0 @@
|
|||
package com.tuoheng.old.impl.dji.action.drone;
|
||||
|
||||
import lombok.extern.slf4j.Slf4j;
|
||||
|
||||
import com.tuoheng.old.action.drone.ReturnEmergencyStopAction;
|
||||
import com.tuoheng.old.events.DroneEvent;
|
||||
import com.tuoheng.old.status.DroneState;
|
||||
import org.springframework.statemachine.StateContext;
|
||||
import org.springframework.stereotype.Component;
|
||||
|
||||
@Slf4j
|
||||
@Component
|
||||
public class DjiReturnEmergencyStopAction extends ReturnEmergencyStopAction {
|
||||
|
||||
@Override
|
||||
public String getName() {
|
||||
return "DjiReturnEmergencyStopAction";
|
||||
}
|
||||
|
||||
@Override
|
||||
public void execute(StateContext<DroneState, DroneEvent> context) {
|
||||
String machineId = (String) context.getExtendedState().getVariables().get("machineId");
|
||||
log.info("[DJI] 无人机返航急停: %s", machineId);
|
||||
}
|
||||
}
|
||||
|
|
@ -1,25 +0,0 @@
|
|||
package com.tuoheng.old.impl.dji.action.drone;
|
||||
|
||||
import lombok.extern.slf4j.Slf4j;
|
||||
|
||||
import com.tuoheng.old.action.drone.StartFlyingAction;
|
||||
import com.tuoheng.old.events.DroneEvent;
|
||||
import com.tuoheng.old.status.DroneState;
|
||||
import org.springframework.statemachine.StateContext;
|
||||
import org.springframework.stereotype.Component;
|
||||
|
||||
@Slf4j
|
||||
@Component
|
||||
public class DjiStartFlyingAction extends StartFlyingAction {
|
||||
|
||||
@Override
|
||||
public String getName() {
|
||||
return "DjiStartFlyingAction";
|
||||
}
|
||||
|
||||
@Override
|
||||
public void execute(StateContext<DroneState, DroneEvent> context) {
|
||||
String machineId = (String) context.getExtendedState().getVariables().get("machineId");
|
||||
log.info("[DJI] 无人机开始飞行: %s", machineId);
|
||||
}
|
||||
}
|
||||
|
|
@ -1,25 +0,0 @@
|
|||
package com.tuoheng.old.impl.dji.action.drone;
|
||||
|
||||
import lombok.extern.slf4j.Slf4j;
|
||||
|
||||
import com.tuoheng.old.action.drone.StartPointingAction;
|
||||
import com.tuoheng.old.events.DroneEvent;
|
||||
import com.tuoheng.old.status.DroneState;
|
||||
import org.springframework.statemachine.StateContext;
|
||||
import org.springframework.stereotype.Component;
|
||||
|
||||
@Slf4j
|
||||
@Component
|
||||
public class DjiStartPointingAction extends StartPointingAction {
|
||||
|
||||
@Override
|
||||
public String getName() {
|
||||
return "DjiStartPointingAction";
|
||||
}
|
||||
|
||||
@Override
|
||||
public void execute(StateContext<DroneState, DroneEvent> context) {
|
||||
String machineId = (String) context.getExtendedState().getVariables().get("machineId");
|
||||
log.info("[DJI] 无人机开始指点操作: %s", machineId);
|
||||
}
|
||||
}
|
||||
|
|
@ -1,25 +0,0 @@
|
|||
package com.tuoheng.old.impl.dji.action.drone;
|
||||
|
||||
import lombok.extern.slf4j.Slf4j;
|
||||
|
||||
import com.tuoheng.old.action.drone.StartPrepareAction;
|
||||
import com.tuoheng.old.events.DroneEvent;
|
||||
import com.tuoheng.old.status.DroneState;
|
||||
import org.springframework.statemachine.StateContext;
|
||||
import org.springframework.stereotype.Component;
|
||||
|
||||
@Slf4j
|
||||
@Component
|
||||
public class DjiStartPrepareAction extends StartPrepareAction {
|
||||
|
||||
@Override
|
||||
public String getName() {
|
||||
return "DjiStartPrepareAction";
|
||||
}
|
||||
|
||||
@Override
|
||||
public void execute(StateContext<DroneState, DroneEvent> context) {
|
||||
String machineId = (String) context.getExtendedState().getVariables().get("machineId");
|
||||
log.info("[DJI] 无人机开始准备: %s", machineId);
|
||||
}
|
||||
}
|
||||
|
|
@ -1,25 +0,0 @@
|
|||
package com.tuoheng.old.impl.dji.action.drone;
|
||||
|
||||
import lombok.extern.slf4j.Slf4j;
|
||||
|
||||
import com.tuoheng.old.action.drone.StartReturnAction;
|
||||
import com.tuoheng.old.events.DroneEvent;
|
||||
import com.tuoheng.old.status.DroneState;
|
||||
import org.springframework.statemachine.StateContext;
|
||||
import org.springframework.stereotype.Component;
|
||||
|
||||
@Slf4j
|
||||
@Component
|
||||
public class DjiStartReturnAction extends StartReturnAction {
|
||||
|
||||
@Override
|
||||
public String getName() {
|
||||
return "DjiStartReturnAction";
|
||||
}
|
||||
|
||||
@Override
|
||||
public void execute(StateContext<DroneState, DroneEvent> context) {
|
||||
String machineId = (String) context.getExtendedState().getVariables().get("machineId");
|
||||
log.info("[DJI] 无人机开始返航: %s", machineId);
|
||||
}
|
||||
}
|
||||
|
|
@ -1,25 +0,0 @@
|
|||
package com.tuoheng.old.impl.dji.guard.airport;
|
||||
|
||||
import lombok.extern.slf4j.Slf4j;
|
||||
|
||||
import com.tuoheng.old.guard.debug.CanCloseDebugModeGuard;
|
||||
import com.tuoheng.old.events.AirportEvent;
|
||||
import com.tuoheng.old.status.AirportState;
|
||||
import org.springframework.statemachine.StateContext;
|
||||
import org.springframework.stereotype.Component;
|
||||
|
||||
@Slf4j
|
||||
@Component
|
||||
public class DjiCanCloseDebugModeGuard extends CanCloseDebugModeGuard {
|
||||
|
||||
@Override
|
||||
public String getName() {
|
||||
return "DjiCanCloseDebugModeGuard";
|
||||
}
|
||||
|
||||
@Override
|
||||
public boolean evaluate(StateContext<AirportState, AirportEvent> context) {
|
||||
log.info("[DJI] 检查是否可以关闭调试模式");
|
||||
return true;
|
||||
}
|
||||
}
|
||||
|
|
@ -1,25 +0,0 @@
|
|||
package com.tuoheng.old.impl.dji.guard.airport;
|
||||
|
||||
import lombok.extern.slf4j.Slf4j;
|
||||
|
||||
import com.tuoheng.old.guard.airport.CanOfflineGuard;
|
||||
import com.tuoheng.old.events.AirportEvent;
|
||||
import com.tuoheng.old.status.AirportState;
|
||||
import org.springframework.statemachine.StateContext;
|
||||
import org.springframework.stereotype.Component;
|
||||
|
||||
@Slf4j
|
||||
@Component
|
||||
public class DjiCanOfflineGuard extends CanOfflineGuard {
|
||||
|
||||
@Override
|
||||
public String getName() {
|
||||
return "DjiCanOfflineGuard";
|
||||
}
|
||||
|
||||
@Override
|
||||
public boolean evaluate(StateContext<AirportState, AirportEvent> context) {
|
||||
log.info("[DJI] 检查机巢是否可以离线");
|
||||
return true;
|
||||
}
|
||||
}
|
||||
|
|
@ -1,33 +0,0 @@
|
|||
package com.tuoheng.old.impl.dji.guard.airport;
|
||||
|
||||
import lombok.extern.slf4j.Slf4j;
|
||||
|
||||
import com.tuoheng.old.guard.airport.CanOnlineGuard;
|
||||
import com.tuoheng.old.events.AirportEvent;
|
||||
import com.tuoheng.old.status.AirportState;
|
||||
import org.springframework.statemachine.StateContext;
|
||||
import org.springframework.stereotype.Component;
|
||||
|
||||
/**
|
||||
* DJI平台 - 机巢上线Guard
|
||||
*/
|
||||
@Slf4j
|
||||
@Component
|
||||
public class DjiCanOnlineGuard extends CanOnlineGuard {
|
||||
|
||||
@Override
|
||||
public String getName() {
|
||||
return "DjiCanOnlineGuard";
|
||||
}
|
||||
|
||||
@Override
|
||||
public boolean evaluate(StateContext<AirportState, AirportEvent> context) {
|
||||
// DJI平台特定的上线检查逻辑
|
||||
log.info("[DJI] 检查机巢是否可以上线");
|
||||
// 这里可以添加DJI平台特定的检查逻辑，例如：
|
||||
// - 检查DJI设备连接状态
|
||||
// - 检查DJI固件版本
|
||||
// - 检查DJI授权状态
|
||||
return true;
|
||||
}
|
||||
}
|
||||
|
|
@ -1,25 +0,0 @@
|
|||
package com.tuoheng.old.impl.dji.guard.airport;
|
||||
|
||||
import lombok.extern.slf4j.Slf4j;
|
||||
|
||||
import com.tuoheng.old.guard.debug.IsDebugModeGuard;
|
||||
import com.tuoheng.old.events.AirportEvent;
|
||||
import com.tuoheng.old.status.AirportState;
|
||||
import org.springframework.statemachine.StateContext;
|
||||
import org.springframework.stereotype.Component;
|
||||
|
||||
@Slf4j
|
||||
@Component
|
||||
public class DjiIsDebugModeGuard extends IsDebugModeGuard {
|
||||
|
||||
@Override
|
||||
public String getName() {
|
||||
return "DjiIsDebugModeGuard";
|
||||
}
|
||||
|
||||
@Override
|
||||
public boolean evaluate(StateContext<AirportState, AirportEvent> context) {
|
||||
log.info("[DJI] 检查是否处于调试模式");
|
||||
return true;
|
||||
}
|
||||
}
|
||||
|
|
@ -1,25 +0,0 @@
|
|||
package com.tuoheng.old.impl.dji.guard.airport;
|
||||
|
||||
import lombok.extern.slf4j.Slf4j;
|
||||
|
||||
import com.tuoheng.old.guard.debug.IsNotDebugModeGuard;
|
||||
import com.tuoheng.old.events.AirportEvent;
|
||||
import com.tuoheng.old.status.AirportState;
|
||||
import org.springframework.statemachine.StateContext;
|
||||
import org.springframework.stereotype.Component;
|
||||
|
||||
@Slf4j
|
||||
@Component
|
||||
public class DjiIsNotDebugModeGuard extends IsNotDebugModeGuard {
|
||||
|
||||
@Override
|
||||
public String getName() {
|
||||
return "DjiIsNotDebugModeGuard";
|
||||
}
|
||||
|
||||
@Override
|
||||
public boolean evaluate(StateContext<AirportState, AirportEvent> context) {
|
||||
log.info("[DJI] 检查是否不在调试模式");
|
||||
return true;
|
||||
}
|
||||
}
|
||||
|
|
@ -1,25 +0,0 @@
|
|||
package com.tuoheng.old.impl.dji.guard.airport;
|
||||
|
||||
import lombok.extern.slf4j.Slf4j;
|
||||
|
||||
import com.tuoheng.old.guard.reboot.IsRebootCompletedGuard;
|
||||
import com.tuoheng.old.events.AirportEvent;
|
||||
import com.tuoheng.old.status.AirportState;
|
||||
import org.springframework.statemachine.StateContext;
|
||||
import org.springframework.stereotype.Component;
|
||||
|
||||
@Slf4j
|
||||
@Component
|
||||
public class DjiIsRebootCompletedGuard extends IsRebootCompletedGuard {
|
||||
|
||||
@Override
|
||||
public String getName() {
|
||||
return "DjiIsRebootCompletedGuard";
|
||||
}
|
||||
|
||||
@Override
|
||||
public boolean evaluate(StateContext<AirportState, AirportEvent> context) {
|
||||
log.info("[DJI] 检查重启是否完成");
|
||||
return true;
|
||||
}
|
||||
}
|
||||
|
|
@ -1,25 +0,0 @@
|
|||
package com.tuoheng.old.impl.dji.guard.cover;
|
||||
|
||||
import lombok.extern.slf4j.Slf4j;
|
||||
|
||||
import com.tuoheng.old.guard.cover.CanCloseCoverGuard;
|
||||
import com.tuoheng.old.events.CoverEvent;
|
||||
import com.tuoheng.old.status.CoverState;
|
||||
import org.springframework.statemachine.StateContext;
|
||||
import org.springframework.stereotype.Component;
|
||||
|
||||
@Slf4j
|
||||
@Component
|
||||
public class DjiCanCloseCoverGuard extends CanCloseCoverGuard {
|
||||
|
||||
@Override
|
||||
public String getName() {
|
||||
return "DjiCanCloseCoverGuard";
|
||||
}
|
||||
|
||||
@Override
|
||||
public boolean evaluate(StateContext<CoverState, CoverEvent> context) {
|
||||
log.info("[DJI] 检查舱门是否可以关闭");
|
||||
return true;
|
||||
}
|
||||
}
|
||||
Some files were not shown because too many files have changed in this diff Show More
Loading…
Reference in New Issue