diff --git a/src/main/java/com/tuoheng/ThingsboardClientApplication.java b/src/main/java/com/tuoheng/ThingsboardClientApplication.java
index 2ab3dfe..7a889b5 100644
--- a/src/main/java/com/tuoheng/ThingsboardClientApplication.java
+++ b/src/main/java/com/tuoheng/ThingsboardClientApplication.java
@@ -11,7 +11,7 @@ import org.springframework.boot.autoconfigure.SpringBootApplication;
  * - @EnableAutoConfiguration: 启用自动配置
  * - @ComponentScan: 自动扫描当前包及子包下的所有组件
  *
- * 放在 com.tuoheng 包下，可以自动扫描到 com.tuoheng.machine.* 下的所有组件
+ * 放在 com.tuoheng 包下，可以自动扫描到 com.tuoheng.old.* 下的所有组件
  */
 @SpringBootApplication
 public class ThingsboardClientApplication {
diff --git a/src/main/java/com/tuoheng/machine/MachineCommandManager.java b/src/main/java/com/tuoheng/machine/MachineCommandManager.java
new file mode 100644
index 0000000..dfc59c5
--- /dev/null
+++ b/src/main/java/com/tuoheng/machine/MachineCommandManager.java
@@ -0,0 +1,290 @@
+package com.tuoheng.machine;
+
+import com.tuoheng.machine.command.*;
+import com.tuoheng.machine.instruction.InstructionContext;
+import com.tuoheng.machine.state.MachineStates;
+import com.tuoheng.machine.statemachine.MachineStateManager;
+import com.tuoheng.machine.statemachine.StateChangeListener;
+import com.tuoheng.machine.vendor.VendorConfig;
+import com.tuoheng.machine.vendor.VendorRegistry;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+import java.util.List;
+import java.util.Map;
+import java.util.concurrent.CompletableFuture;
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * 设备命令管理器（框架使用者的主要入口）
+ */
+@Slf4j
+@Component
+public class MachineCommandManager {
+
+    private final VendorRegistry vendorRegistry;
+    private final MachineStateManager stateManager;
+    private final TransactionExecutor transactionExecutor;
+
+    /**
+     * SN -> 当前正在执行的命令
+     */
+    private final Map<String, CommandExecution> executingCommands = new ConcurrentHashMap<>();
+
+    /**
+     * 命令执行监听器
+     */
+    private final Map<String, CommandExecutionListener> commandListeners = new ConcurrentHashMap<>();
+
+    public MachineCommandManager(VendorRegistry vendorRegistry,
+                                  MachineStateManager stateManager,
+                                  TransactionExecutor transactionExecutor) {
+        this.vendorRegistry = vendorRegistry;
+        this.stateManager = stateManager;
+        this.transactionExecutor = transactionExecutor;
+    }
+
+    /**
+     * 绑定设备到厂家
+     *
+     * @param sn         设备SN号
+     * @param vendorType 厂家类型
+     */
+    public void bindMachine(String sn, String vendorType) {
+        vendorRegistry.bindSnToVendor(sn, vendorType);
+        log.info("绑定设备到厂家: sn=, vendorType={}", sn, vendorType);
+    }
+
+    /**
+     * 解绑设备
+     *
+     * @param sn 设备SN号
+     */
+    public void unbindMachine(String sn) {
+        vendorRegistry.unbindSn(sn);
+        executingCommands.remove(sn);
+        stateManager.removeStates(sn);
+        log.info("解绑设备: sn={}", sn);
+    }
+
+    /**
+     * 获取设备当前状态
+     *
+     * @param sn 设备SN号
+     * @return 设备状态
+     */
+    public MachineStates getMachineStates(String sn) {
+        return stateManager.getStates(sn);
+    }
+
+    /**
+     * 更新设备状态（通常在心跳中调用）
+     *
+     * @param sn        设备SN号
+     * @param newStates 新状态
+     */
+    public void updateMachineStates(String sn, MachineStates newStates) {
+        stateManager.updateStates(sn, newStates);
+    }
+
+    /**
+     * 判断设备是否正在执行命令
+     *
+     * @param sn 设备SN号
+     * @return 是否正在执行命令
+     */
+    public boolean isExecutingCommand(String sn) {
+        CommandExecution execution = executingCommands.get(sn);
+        return execution != null && !execution.getFuture().isDone();
+    }
+
+    /**
+     * 获取设备当前正在执行的命令类型
+     *
+     * @param sn 设备SN号
+     * @return 命令类型，如果没有正在执行的命令则返回null
+     */
+    public CommandType getExecutingCommandType(String sn) {
+        CommandExecution execution = executingCommands.get(sn);
+        if (execution != null && !execution.getFuture().isDone()) {
+            return execution.getCommandType();
+        }
+        return null;
+    }
+
+    /**
+     * 获取设备在当前状态下可以执行的命令列表
+     *
+     * @param sn 设备SN号
+     * @return 可执行的命令列表
+     */
+    public List<CommandType> getAvailableCommands(String sn) {
+        VendorConfig vendorConfig = vendorRegistry.getVendorConfig(sn);
+        if (vendorConfig == null) {
+            log.warn("设备未绑定厂家: sn={}", sn);
+            return List.of();
+        }
+
+        MachineStates currentStates = stateManager.getStates(sn);
+        return vendorConfig.getAvailableCommands(currentStates);
+    }
+
+    /**
+     * 执行命令
+     *
+     * @param sn          设备SN号
+     * @param commandType 命令类型
+     * @return 命令执行结果的Future
+     */
+    public CompletableFuture<CommandResult> executeCommand(String sn, CommandType commandType) {
+        return executeCommand(sn, commandType, Map.of());
+    }
+
+    /**
+     * 执行命令（带参数）
+     *
+     * @param sn          设备SN号
+     * @param commandType 命令类型
+     * @param params      命令参数
+     * @return 命令执行结果的Future
+     */
+    public CompletableFuture<CommandResult> executeCommand(String sn, CommandType commandType, Map<String, Object> params) {
+        log.info("收到命令执行请求: sn={}, commandType={}, params={}", sn, commandType, params);
+
+        // 1. 检查设备是否已绑定厂家
+        VendorConfig vendorConfig = vendorRegistry.getVendorConfig(sn);
+        if (vendorConfig == null) {
+            String error = "设备未绑定厂家";
+            log.error("{}: sn={}", error, sn);
+            return CompletableFuture.completedFuture(CommandResult.failure(commandType, error));
+        }
+
+        // 2. 检查是否正在执行其他命令
+        if (isExecutingCommand(sn)) {
+            String error = "设备正在执行其他命令: " + getExecutingCommandType(sn);
+            log.warn("{}: sn={}", error, sn);
+            return CompletableFuture.completedFuture(CommandResult.failure(commandType, error));
+        }
+
+        // 3. 检查当前状态是否可以执行该命令
+        MachineStates currentStates = stateManager.getStates(sn);
+        if (!vendorConfig.canExecuteCommand(currentStates, commandType)) {
+            String error = "当前状态不允许执行该命令";
+            log.warn("{}: sn={}, commandType={}, currentStates={}", error, sn, commandType, currentStates);
+            return CompletableFuture.completedFuture(CommandResult.failure(commandType, error));
+        }
+
+        // 4. 获取事务定义
+        Transaction transaction = vendorConfig.getTransaction(commandType);
+        if (transaction == null) {
+            String error = "厂家不支持该命令";
+            log.error("{}: sn={}, commandType={}, vendorType={}", error, sn, commandType, vendorConfig.getVendorType());
+            return CompletableFuture.completedFuture(CommandResult.failure(commandType, error));
+        }
+
+        // 5. 创建指令上下文
+        InstructionContext context = new InstructionContext(sn, vendorConfig.getVendorType());
+        params.forEach(context::putCommandParam);
+
+        // 6. 执行事务
+        CompletableFuture<CommandResult> future = transactionExecutor.executeTransaction(transaction, context);
+
+        // 7. 记录正在执行的命令
+        executingCommands.put(sn, new CommandExecution(commandType, future, System.currentTimeMillis()));
+
+        // 8. 添加完成回调
+        future.whenComplete((result, throwable) -> {
+            executingCommands.remove(sn);
+
+            if (throwable != null) {
+                log.error("命令执行异常: sn={}, commandType={}", sn, commandType, throwable);
+                notifyCommandComplete(sn, CommandResult.failure(commandType, "命令执行异常: " + throwable.getMessage()));
+            } else {
+                log.info("命令执行完成: sn={}, commandType={}, success={}", sn, commandType, result.isSuccess());
+                notifyCommandComplete(sn, result);
+            }
+        });
+
+        return future;
+    }
+
+    /**
+     * 注册命令执行监听器
+     *
+     * @param listenerId 监听器ID
+     * @param listener   监听器
+     */
+    public void registerCommandListener(String listenerId, CommandExecutionListener listener) {
+        commandListeners.put(listenerId, listener);
+        log.debug("注册命令执行监听器: listenerId={}", listenerId);
+    }
+
+    /**
+     * 取消注册命令执行监听器
+     *
+     * @param listenerId 监听器ID
+     */
+    public void unregisterCommandListener(String listenerId) {
+        commandListeners.remove(listenerId);
+        log.debug("取消注册命令执行监听器: listenerId={}", listenerId);
+    }
+
+    /**
+     * 注册状态变化监听器
+     *
+     * @param listenerId 监听器ID
+     * @param listener   监听器
+     */
+    public void registerStateChangeListener(String listenerId, StateChangeListener listener) {
+        stateManager.registerStateChangeListener(listenerId, listener);
+    }
+
+    /**
+     * 取消注册状态变化监听器
+     *
+     * @param listenerId 监听器ID
+     */
+    public void unregisterStateChangeListener(String listenerId) {
+        stateManager.unregisterStateChangeListener(listenerId);
+    }
+
+    /**
+     * 通知命令执行完成
+     */
+    private void notifyCommandComplete(String sn, CommandResult result) {
+        for (CommandExecutionListener listener : commandListeners.values()) {
+            try {
+                listener.onCommandComplete(sn, result);
+            } catch (Exception e) {
+                log.error("命令执行监听器执行失败: sn={}, commandType={}", sn, result.getCommandType(), e);
+            }
+        }
+    }
+
+    /**
+     * 命令执行信息
+     */
+    private static class CommandExecution {
+        private final CommandType commandType;
+        private final CompletableFuture<CommandResult> future;
+        private final long startTime;
+
+        public CommandExecution(CommandType commandType, CompletableFuture<CommandResult> future, long startTime) {
+            this.commandType = commandType;
+            this.future = future;
+            this.startTime = startTime;
+        }
+
+        public CommandType getCommandType() {
+            return commandType;
+        }
+
+        public CompletableFuture<CommandResult> getFuture() {
+            return future;
+        }
+
+        public long getStartTime() {
+            return startTime;
+        }
+    }
+}
diff --git a/src/main/java/com/tuoheng/machine/README.md b/src/main/java/com/tuoheng/machine/README.md
new file mode 100644
index 0000000..7cfc8e7
--- /dev/null
+++ b/src/main/java/com/tuoheng/machine/README.md
@@ -0,0 +1,414 @@
+# 设备命令执行框架
+
+## 概述
+
+这是一个通用的设备命令执行框架，用于管理无人机、机巢等设备的状态和命令执行。框架采用状态机模式，支持多厂家接入，提供了完整的指令执行、回调处理和状态管理功能。
+
+## 核心概念
+
+### 1. 四套大状态
+
+框架管理四套独立的状态系统：
+
+- **DroneState（无人机状态）**：准备中、飞行中、返航、急停、指点飞行等
+- **AirportState（机巢状态）**：在线、待机、调试模式、重启中等
+- **CoverState（舱门状态）**：关闭、打开中、已打开、关闭中等
+- **DrcState（飞行控制模式）**：未知、退出、进入中、已进入、退出中
+
+### 2. 命令（Command）
+
+命令是用户发起的操作请求，如起飞、降落、返航等。每个命令由一个或多个指令组成。
+
+### 3. 事务（Transaction）
+
+事务是命令的具体实现，包含一系列按顺序执行的指令。事务定义了：
+- 指令列表（按顺序执行）
+- 超时时间
+- 命令类型
+
+### 4. 指令（Instruction）
+
+指令是事务的最小执行单元，包含四个部分：
+
+**a. canExecute** - 判断是否可以执行该指令
+```java
+boolean canExecute(InstructionContext context)
+```
+
+**b. executeRemoteCall** - 执行远程调用（如MQTT发送）
+```java
+void executeRemoteCall(InstructionContext context)
+```
+
+**c. getMethodCallbackConfig** - 方法回调配置（等待方法执行结果）
+```java
+CallbackConfig getMethodCallbackConfig(InstructionContext context)
+```
+
+**d. getStateCallbackConfig** - 状态回调配置（等待状态变化）
+```java
+CallbackConfig getStateCallbackConfig(InstructionContext context)
+```
+
+### 5. 回调机制
+
+框架提供了基于MQTT的回调注册机制：
+- 指令执行后自动注册回调
+- 支持字段匹配和自定义判断逻辑
+- 支持超时处理
+- 支持短路（跳过某些回调）
+- 回调完成后自动取消注册
+
+## 架构设计
+
+```
+┌─────────────────────────────────────────────────────────────┐
+│                   MachineCommandManager                      │
+│                    (框架使用者入口)                           │
+└─────────────────────────────────────────────────────────────┘
+                              │
+                ┌─────────────┼─────────────┐
+                │             │             │
+                ▼             ▼             ▼
+    ┌──────────────┐  ┌──────────────┐  ┌──────────────┐
+    │ VendorRegistry│  │StateManager  │  │Transaction   │
+    │  (厂家注册)   │  │  (状态管理)  │  │  Executor    │
+    └──────────────┘  └──────────────┘  └──────────────┘
+            │                                    │
+            ▼                                    ▼
+    ┌──────────────┐                  ┌──────────────┐
+    │ VendorConfig │                  │ Instruction  │
+    │  (厂家配置)  │                  │   (指令)     │
+    └──────────────┘                  └──────────────┘
+            │                                    │
+            ▼                                    ▼
+    ┌──────────────┐                  ┌──────────────┐
+    │ Transaction  │                  │ Callback     │
+    │   (事务)     │                  │  Registry    │
+    └──────────────┘                  └──────────────┘
+```
+
+## 目录结构
+
+```
+com.tuoheng.machine/
+├── state/                          # 状态定义
+│   ├── DroneState.java            # 无人机状态
+│   ├── AirportState.java          # 机巢状态
+│   ├── CoverState.java            # 舱门状态
+│   ├── DrcState.java              # DRC状态
+│   └── MachineStates.java         # 状态容器
+│
+├── instruction/                    # 指令框架
+│   ├── Instruction.java           # 指令接口
+│   ├── AbstractInstruction.java   # 抽象指令基类
+│   ├── InstructionContext.java    # 指令上下文
+│   ├── InstructionResult.java     # 指令执行结果
+│   └── CallbackConfig.java        # 回调配置
+│
+├── command/                        # 命令框架
+│   ├── CommandType.java           # 命令类型枚举
+│   ├── CommandResult.java         # 命令执行结果
+│   ├── Transaction.java           # 事务定义
+│   ├── TransactionExecutor.java   # 事务执行器
+│   └── CommandExecutionListener.java  # 命令执行监听器
+│
+├── mqtt/                           # MQTT回调系统
+│   ├── MqttCallbackHandler.java   # 回调处理器
+│   └── MqttCallbackRegistry.java  # 回调注册中心
+│
+├── statemachine/                   # 状态机
+│   ├── MachineStateManager.java   # 状态管理器
+│   └── StateChangeListener.java   # 状态变化监听器
+│
+├── vendor/                         # 厂家配置
+│   ├── VendorConfig.java          # 厂家配置接口
+│   ├── VendorRegistry.java        # 厂家注册中心
+│   └── dji/                       # 大疆实现
+│       ├── DjiVendorConfig.java   # 大疆厂家配置
+│       └── instruction/           # 大疆指令实现
+│           ├── DjiTakeOffInstruction.java
+│           ├── DjiLandInstruction.java
+│           ├── DjiReturnHomeInstruction.java
+│           ├── DjiEmergencyStopInstruction.java
+│           ├── DjiResumeFlightInstruction.java
+│           ├── DjiPointFlyInstruction.java
+│           ├── DjiCancelPointInstruction.java
+│           ├── DjiStartMissionInstruction.java
+│           ├── DjiOpenCoverInstruction.java
+│           └── DjiCloseCoverInstruction.java
+│
+├── config/                         # 配置
+│   └── MachineFrameworkConfig.java
+│
+├── example/                        # 使用示例
+│   └── MachineFrameworkUsageExample.java
+│
+├── MachineCommandManager.java      # 主入口
+└── README.md                       # 本文档
+```
+
+## 使用指南
+
+### 1. 绑定设备到厂家
+
+```java
+@Autowired
+private MachineCommandManager commandManager;
+
+// 绑定设备
+String sn = "DJI-12345678";
+commandManager.bindMachine(sn, "DJI");
+```
+
+### 2. 更新设备状态（心跳中调用）
+
+```java
+// 创建新状态
+MachineStates newStates = new MachineStates();
+newStates.setDroneState(DroneState.PREPARING);
+newStates.setAirportState(AirportState.STANDBY);
+newStates.setCoverState(CoverState.OPENED);
+newStates.setDrcState(DrcState.EXITED);
+
+// 更新状态
+commandManager.updateMachineStates(sn, newStates);
+```
+
+### 3. 查询设备状态
+
+```java
+// 获取当前状态
+MachineStates currentStates = commandManager.getMachineStates(sn);
+
+// 检查是否正在执行命令
+boolean isExecuting = commandManager.isExecutingCommand(sn);
+
+// 获取可执行的命令列表
+List<CommandType> availableCommands = commandManager.getAvailableCommands(sn);
+```
+
+### 4. 执行命令
+
+```java
+// 执行简单命令
+commandManager.executeCommand(sn, CommandType.TAKE_OFF)
+    .thenAccept(result -> {
+        if (result.isSuccess()) {
+            log.info("起飞成功");
+        } else {
+            log.error("起飞失败: {}", result.getErrorMessage());
+        }
+    });
+
+// 执行带参数的命令
+Map<String, Object> params = new HashMap<>();
+params.put("latitude", 39.9042);
+params.put("longitude", 116.4074);
+params.put("altitude", 100.0);
+
+commandManager.executeCommand(sn, CommandType.POINT_FLY, params)
+    .thenAccept(result -> {
+        // 处理结果
+    });
+```
+
+### 5. 注册监听器
+
+```java
+// 注册命令执行监听器
+commandManager.registerCommandListener("my-listener", (sn, result) -> {
+    log.info("命令执行完成: sn={}, commandType={}, success={}",
+        sn, result.getCommandType(), result.isSuccess());
+    // 记录到数据库
+});
+
+// 注册状态变化监听器
+commandManager.registerStateChangeListener("state-listener", (sn, newStates) -> {
+    log.info("状态变化: sn={}, droneState={}",
+        sn, newStates.getDroneState());
+    // 记录到数据库
+});
+```
+
+### 6. 处理MQTT消息
+
+```java
+@Autowired
+private MqttCallbackRegistry mqttCallbackRegistry;
+
+// 在MQTT消费者中调用
+public void onMqttMessage(String topic, Object messageBody) {
+    // 分发给回调注册中心处理
+    mqttCallbackRegistry.handleMessage(topic, messageBody);
+
+    // 如果是状态消息，更新设备状态
+    if (topic.endsWith("/state")) {
+        String sn = extractSnFromTopic(topic);
+        MachineStates newStates = parseStatesFromMessage(messageBody);
+        commandManager.updateMachineStates(sn, newStates);
+    }
+}
+```
+
+## 接入新厂家
+
+### 1. 创建厂家配置类
+
+```java
+@Component
+public class MyVendorConfig implements VendorConfig {
+
+    @Override
+    public String getVendorType() {
+        return "MY_VENDOR";
+    }
+
+    @Override
+    public String getVendorName() {
+        return "我的厂家";
+    }
+
+    @Override
+    public Transaction getTransaction(CommandType commandType) {
+        // 返回命令对应的事务定义
+        return transactionMap.get(commandType);
+    }
+
+    @Override
+    public boolean canExecuteCommand(MachineStates currentStates, CommandType commandType) {
+        // 判断当前状态是否可以执行该命令
+        return true;
+    }
+
+    @Override
+    public List<CommandType> getAvailableCommands(MachineStates currentStates) {
+        // 返回当前状态下可执行的命令列表
+        return availableCommands;
+    }
+}
+```
+
+### 2. 实现指令
+
+```java
+@Slf4j
+public class MyTakeOffInstruction extends AbstractInstruction {
+
+    @Override
+    public String getName() {
+        return "MY_TAKE_OFF";
+    }
+
+    @Override
+    public void executeRemoteCall(InstructionContext context) throws Exception {
+        String sn = context.getSn();
+        // 发送MQTT消息
+        mqttClient.publish("my/" + sn + "/command", "{\"cmd\":\"takeoff\"}");
+    }
+
+    @Override
+    public CallbackConfig getMethodCallbackConfig(InstructionContext context) {
+        return CallbackConfig.builder()
+            .topic("my/" + context.getSn() + "/response")
+            .fieldPath("cmd")
+            .expectedValue("takeoff")
+            .canShortCircuit(false)
+            .timeoutMs(10000)
+            .build();
+    }
+
+    @Override
+    public CallbackConfig getStateCallbackConfig(InstructionContext context) {
+        return CallbackConfig.builder()
+            .topic("my/" + context.getSn() + "/state")
+            .fieldPath("droneState")
+            .expectedValue("FLYING")
+            .canShortCircuit(false)
+            .timeoutMs(60000)
+            .build();
+    }
+}
+```
+
+### 3. 注册厂家配置
+
+```java
+@Configuration
+public class MyVendorAutoConfig {
+
+    @Bean
+    public CommandLineRunner registerMyVendor(VendorRegistry vendorRegistry,
+                                               MyVendorConfig myVendorConfig) {
+        return args -> {
+            vendorRegistry.registerVendor(myVendorConfig);
+        };
+    }
+}
+```
+
+## 核心特性
+
+### 1. 状态驱动
+
+- 命令执行前自动检查状态是否允许
+- 状态变化自动通知监听器
+- 支持四套独立的状态系统
+
+### 2. 异步执行
+
+- 所有命令异步执行，返回CompletableFuture
+- 支持链式调用和组合
+- 不阻塞主线程
+
+### 3. 回调机制
+
+- 自动注册和取消MQTT回调
+- 支持超时处理
+- 支持自定义匹配逻辑
+
+### 4. 厂家隔离
+
+- 不同厂家的实现完全隔离
+- 框架使用者无需关心厂家差异
+- 通过SN自动路由到对应厂家
+
+### 5. 可扩展性
+
+- 易于添加新命令
+- 易于接入新厂家
+- 易于自定义指令逻辑
+
+### 6. 监控和日志
+
+- 完整的命令执行日志
+- 状态变化记录
+- 支持自定义监听器
+
+## 注意事项
+
+1. **MQTT发送逻辑**：当前DJI指令中的MQTT发送是示例代码，需要替换为实际的MQTT客户端调用
+
+2. **消息格式**：回调配置中的字段路径需要根据实际的MQTT消息格式调整
+
+3. **状态同步**：建议在心跳中定期调用`updateMachineStates`同步设备状态
+
+4. **并发控制**：框架自动确保同一设备同时只能执行一个命令
+
+5. **超时处理**：合理设置指令和事务的超时时间，避免长时间等待
+
+6. **错误处理**：建议注册命令执行监听器，记录失败的命令以便排查问题
+
+## 后续优化建议
+
+1. 添加命令队列功能，支持命令排队执行
+2. 添加命令取消功能
+3. 添加命令重试机制
+4. 添加更详细的执行进度回调
+5. 支持命令优先级
+6. 添加命令执行历史查询
+7. 添加性能监控和统计
+
+## 联系方式
+
+如有问题或建议，请联系开发团队。
diff --git a/src/main/java/com/tuoheng/machine/action/airport/OfflineAction.java b/src/main/java/com/tuoheng/machine/action/airport/OfflineAction.java
deleted file mode 100644
index 04d5134..0000000
--- a/src/main/java/com/tuoheng/machine/action/airport/OfflineAction.java
+++ /dev/null
@@ -1,12 +0,0 @@
-package com.tuoheng.machine.action.airport;
-
-import com.tuoheng.machine.events.AirportEvent;
-import com.tuoheng.machine.platform.strategy.PlatformAction;
-import com.tuoheng.machine.status.AirportState;
-
-/**
- * Base action for machine offline handling; platform implementations extend this.
- */
-public abstract class OfflineAction implements PlatformAction<AirportState, AirportEvent> {
-}
-
diff --git a/src/main/java/com/tuoheng/machine/action/airport/OnlineAction.java b/src/main/java/com/tuoheng/machine/action/airport/OnlineAction.java
deleted file mode 100644
index 356958c..0000000
--- a/src/main/java/com/tuoheng/machine/action/airport/OnlineAction.java
+++ /dev/null
@@ -1,12 +0,0 @@
-package com.tuoheng.machine.action.airport;
-
-import com.tuoheng.machine.events.AirportEvent;
-import com.tuoheng.machine.platform.strategy.PlatformAction;
-import com.tuoheng.machine.status.AirportState;
-
-/**
- * Base action for machine online handling; platform implementations extend this.
- */
-public abstract class OnlineAction implements PlatformAction<AirportState, AirportEvent> {
-}
-
diff --git a/src/main/java/com/tuoheng/machine/action/cover/CloseCoverAction.java b/src/main/java/com/tuoheng/machine/action/cover/CloseCoverAction.java
deleted file mode 100644
index 505a6eb..0000000
--- a/src/main/java/com/tuoheng/machine/action/cover/CloseCoverAction.java
+++ /dev/null
@@ -1,12 +0,0 @@
-package com.tuoheng.machine.action.cover;
-
-import com.tuoheng.machine.events.CoverEvent;
-import com.tuoheng.machine.platform.strategy.PlatformAction;
-import com.tuoheng.machine.status.CoverState;
-
-/**
- * Base action for closing the cover; platform implementations extend this.
- */
-public abstract class CloseCoverAction implements PlatformAction<CoverState, CoverEvent> {
-}
-
diff --git a/src/main/java/com/tuoheng/machine/action/cover/CoverClosedAction.java b/src/main/java/com/tuoheng/machine/action/cover/CoverClosedAction.java
deleted file mode 100644
index 2e37956..0000000
--- a/src/main/java/com/tuoheng/machine/action/cover/CoverClosedAction.java
+++ /dev/null
@@ -1,12 +0,0 @@
-package com.tuoheng.machine.action.cover;
-
-import com.tuoheng.machine.events.CoverEvent;
-import com.tuoheng.machine.platform.strategy.PlatformAction;
-import com.tuoheng.machine.status.CoverState;
-
-/**
- * Base action for cover-closed handling; platform implementations extend this.
- */
-public abstract class CoverClosedAction implements PlatformAction<CoverState, CoverEvent> {
-}
-
diff --git a/src/main/java/com/tuoheng/machine/action/cover/CoverOpenedAction.java b/src/main/java/com/tuoheng/machine/action/cover/CoverOpenedAction.java
deleted file mode 100644
index cc35fa9..0000000
--- a/src/main/java/com/tuoheng/machine/action/cover/CoverOpenedAction.java
+++ /dev/null
@@ -1,12 +0,0 @@
-package com.tuoheng.machine.action.cover;
-
-import com.tuoheng.machine.events.CoverEvent;
-import com.tuoheng.machine.platform.strategy.PlatformAction;
-import com.tuoheng.machine.status.CoverState;
-
-/**
- * Base action for cover-opened handling; platform implementations extend this.
- */
-public abstract class CoverOpenedAction implements PlatformAction<CoverState, CoverEvent> {
-}
-
diff --git a/src/main/java/com/tuoheng/machine/action/cover/OpenCoverAction.java b/src/main/java/com/tuoheng/machine/action/cover/OpenCoverAction.java
deleted file mode 100644
index 1c8eca0..0000000
--- a/src/main/java/com/tuoheng/machine/action/cover/OpenCoverAction.java
+++ /dev/null
@@ -1,12 +0,0 @@
-package com.tuoheng.machine.action.cover;
-
-import com.tuoheng.machine.events.CoverEvent;
-import com.tuoheng.machine.platform.strategy.PlatformAction;
-import com.tuoheng.machine.status.CoverState;
-
-/**
- * Base action for opening the cover; platform implementations extend this.
- */
-public abstract class OpenCoverAction implements PlatformAction<CoverState, CoverEvent> {
-}
-
diff --git a/src/main/java/com/tuoheng/machine/action/debug/CloseDebugModeAction.java b/src/main/java/com/tuoheng/machine/action/debug/CloseDebugModeAction.java
deleted file mode 100644
index 44c7699..0000000
--- a/src/main/java/com/tuoheng/machine/action/debug/CloseDebugModeAction.java
+++ /dev/null
@@ -1,12 +0,0 @@
-package com.tuoheng.machine.action.debug;
-
-import com.tuoheng.machine.events.AirportEvent;
-import com.tuoheng.machine.platform.strategy.PlatformAction;
-import com.tuoheng.machine.status.AirportState;
-
-/**
- * Base action for closing debug mode; platform implementations extend this.
- */
-public abstract class CloseDebugModeAction implements PlatformAction<AirportState, AirportEvent> {
-}
-
diff --git a/src/main/java/com/tuoheng/machine/action/debug/OpenDebugModeAction.java b/src/main/java/com/tuoheng/machine/action/debug/OpenDebugModeAction.java
deleted file mode 100644
index 930b413..0000000
--- a/src/main/java/com/tuoheng/machine/action/debug/OpenDebugModeAction.java
+++ /dev/null
@@ -1,12 +0,0 @@
-package com.tuoheng.machine.action.debug;
-
-import com.tuoheng.machine.events.AirportEvent;
-import com.tuoheng.machine.platform.strategy.PlatformAction;
-import com.tuoheng.machine.status.AirportState;
-
-/**
- * Base action for opening debug mode; platform implementations extend this.
- */
-public abstract class OpenDebugModeAction implements PlatformAction<AirportState, AirportEvent> {
-}
-
diff --git a/src/main/java/com/tuoheng/machine/action/drc/EnterAction.java b/src/main/java/com/tuoheng/machine/action/drc/EnterAction.java
deleted file mode 100644
index 3759b80..0000000
--- a/src/main/java/com/tuoheng/machine/action/drc/EnterAction.java
+++ /dev/null
@@ -1,11 +0,0 @@
-package com.tuoheng.machine.action.drc;
-
-import com.tuoheng.machine.events.DrcEvent;
-import com.tuoheng.machine.platform.strategy.PlatformAction;
-import com.tuoheng.machine.status.DrcState;
-
-/**
- * Base action for DRC enter handling; platform implementations extend this.
- */
-public abstract class EnterAction implements PlatformAction<DrcState, DrcEvent> {
-}
diff --git a/src/main/java/com/tuoheng/machine/action/drc/EnteredAction.java b/src/main/java/com/tuoheng/machine/action/drc/EnteredAction.java
deleted file mode 100644
index 17addff..0000000
--- a/src/main/java/com/tuoheng/machine/action/drc/EnteredAction.java
+++ /dev/null
@@ -1,11 +0,0 @@
-package com.tuoheng.machine.action.drc;
-
-import com.tuoheng.machine.events.DrcEvent;
-import com.tuoheng.machine.platform.strategy.PlatformAction;
-import com.tuoheng.machine.status.DrcState;
-
-/**
- * Base action for DRC entered handling; platform implementations extend this.
- */
-public abstract class EnteredAction implements PlatformAction<DrcState, DrcEvent> {
-}
diff --git a/src/main/java/com/tuoheng/machine/action/drc/ExitAction.java b/src/main/java/com/tuoheng/machine/action/drc/ExitAction.java
deleted file mode 100644
index 0bd8637..0000000
--- a/src/main/java/com/tuoheng/machine/action/drc/ExitAction.java
+++ /dev/null
@@ -1,11 +0,0 @@
-package com.tuoheng.machine.action.drc;
-
-import com.tuoheng.machine.events.DrcEvent;
-import com.tuoheng.machine.platform.strategy.PlatformAction;
-import com.tuoheng.machine.status.DrcState;
-
-/**
- * Base action for DRC exit handling; platform implementations extend this.
- */
-public abstract class ExitAction implements PlatformAction<DrcState, DrcEvent> {
-}
diff --git a/src/main/java/com/tuoheng/machine/action/drc/ExitedAction.java b/src/main/java/com/tuoheng/machine/action/drc/ExitedAction.java
deleted file mode 100644
index b2cea97..0000000
--- a/src/main/java/com/tuoheng/machine/action/drc/ExitedAction.java
+++ /dev/null
@@ -1,11 +0,0 @@
-package com.tuoheng.machine.action.drc;
-
-import com.tuoheng.machine.events.DrcEvent;
-import com.tuoheng.machine.platform.strategy.PlatformAction;
-import com.tuoheng.machine.status.DrcState;
-
-/**
- * Base action for DRC exited handling; platform implementations extend this.
- */
-public abstract class ExitedAction implements PlatformAction<DrcState, DrcEvent> {
-}
diff --git a/src/main/java/com/tuoheng/machine/action/drone/ArriveAction.java b/src/main/java/com/tuoheng/machine/action/drone/ArriveAction.java
deleted file mode 100644
index 8375364..0000000
--- a/src/main/java/com/tuoheng/machine/action/drone/ArriveAction.java
+++ /dev/null
@@ -1,11 +0,0 @@
-package com.tuoheng.machine.action.drone;
-
-import com.tuoheng.machine.events.DroneEvent;
-import com.tuoheng.machine.platform.strategy.PlatformAction;
-import com.tuoheng.machine.status.DroneState;
-
-/**
- * Base action for drone arrive at destination handling; platform implementations extend this.
- */
-public abstract class ArriveAction implements PlatformAction<DroneState, DroneEvent> {
-}
\ No newline at end of file
diff --git a/src/main/java/com/tuoheng/machine/action/drone/EmergencyStopAction.java b/src/main/java/com/tuoheng/machine/action/drone/EmergencyStopAction.java
deleted file mode 100644
index c63417d..0000000
--- a/src/main/java/com/tuoheng/machine/action/drone/EmergencyStopAction.java
+++ /dev/null
@@ -1,11 +0,0 @@
-package com.tuoheng.machine.action.drone;
-
-import com.tuoheng.machine.events.DroneEvent;
-import com.tuoheng.machine.platform.strategy.PlatformAction;
-import com.tuoheng.machine.status.DroneState;
-
-/**
- * Base action for drone emergency stop handling; platform implementations extend this.
- */
-public abstract class EmergencyStopAction implements PlatformAction<DroneState, DroneEvent> {
-}
\ No newline at end of file
diff --git a/src/main/java/com/tuoheng/machine/action/drone/OfflineAction.java b/src/main/java/com/tuoheng/machine/action/drone/OfflineAction.java
deleted file mode 100644
index 255c2ff..0000000
--- a/src/main/java/com/tuoheng/machine/action/drone/OfflineAction.java
+++ /dev/null
@@ -1,11 +0,0 @@
-package com.tuoheng.machine.action.drone;
-
-import com.tuoheng.machine.events.DroneEvent;
-import com.tuoheng.machine.platform.strategy.PlatformAction;
-import com.tuoheng.machine.status.DroneState;
-
-/**
- * Base action for drone offline handling; platform implementations extend this.
- */
-public abstract class OfflineAction implements PlatformAction<DroneState, DroneEvent> {
-}
\ No newline at end of file
diff --git a/src/main/java/com/tuoheng/machine/action/drone/PointToFlyingAction.java b/src/main/java/com/tuoheng/machine/action/drone/PointToFlyingAction.java
deleted file mode 100644
index 0b1a6e9..0000000
--- a/src/main/java/com/tuoheng/machine/action/drone/PointToFlyingAction.java
+++ /dev/null
@@ -1,11 +0,0 @@
-package com.tuoheng.machine.action.drone;
-
-import com.tuoheng.machine.events.DroneEvent;
-import com.tuoheng.machine.platform.strategy.PlatformAction;
-import com.tuoheng.machine.status.DroneState;
-
-/**
- * Base action for drone point to flying handling; platform implementations extend this.
- */
-public abstract class PointToFlyingAction implements PlatformAction<DroneState, DroneEvent> {
-}
\ No newline at end of file
diff --git a/src/main/java/com/tuoheng/machine/action/drone/PointToReturnAction.java b/src/main/java/com/tuoheng/machine/action/drone/PointToReturnAction.java
deleted file mode 100644
index d646033..0000000
--- a/src/main/java/com/tuoheng/machine/action/drone/PointToReturnAction.java
+++ /dev/null
@@ -1,11 +0,0 @@
-package com.tuoheng.machine.action.drone;
-
-import com.tuoheng.machine.events.DroneEvent;
-import com.tuoheng.machine.platform.strategy.PlatformAction;
-import com.tuoheng.machine.status.DroneState;
-
-/**
- * Base action for drone point to return handling; platform implementations extend this.
- */
-public abstract class PointToReturnAction implements PlatformAction<DroneState, DroneEvent> {
-}
\ No newline at end of file
diff --git a/src/main/java/com/tuoheng/machine/action/drone/ResumeFlyingAction.java b/src/main/java/com/tuoheng/machine/action/drone/ResumeFlyingAction.java
deleted file mode 100644
index d4faf5e..0000000
--- a/src/main/java/com/tuoheng/machine/action/drone/ResumeFlyingAction.java
+++ /dev/null
@@ -1,11 +0,0 @@
-package com.tuoheng.machine.action.drone;
-
-import com.tuoheng.machine.events.DroneEvent;
-import com.tuoheng.machine.platform.strategy.PlatformAction;
-import com.tuoheng.machine.status.DroneState;
-
-/**
- * Base action for drone resume flying handling; platform implementations extend this.
- */
-public abstract class ResumeFlyingAction implements PlatformAction<DroneState, DroneEvent> {
-}
\ No newline at end of file
diff --git a/src/main/java/com/tuoheng/machine/action/drone/ResumeReturnAction.java b/src/main/java/com/tuoheng/machine/action/drone/ResumeReturnAction.java
deleted file mode 100644
index 96604c5..0000000
--- a/src/main/java/com/tuoheng/machine/action/drone/ResumeReturnAction.java
+++ /dev/null
@@ -1,11 +0,0 @@
-package com.tuoheng.machine.action.drone;
-
-import com.tuoheng.machine.events.DroneEvent;
-import com.tuoheng.machine.platform.strategy.PlatformAction;
-import com.tuoheng.machine.status.DroneState;
-
-/**
- * Base action for drone resume return handling; platform implementations extend this.
- */
-public abstract class ResumeReturnAction implements PlatformAction<DroneState, DroneEvent> {
-}
\ No newline at end of file
diff --git a/src/main/java/com/tuoheng/machine/action/drone/StartFlyingAction.java b/src/main/java/com/tuoheng/machine/action/drone/StartFlyingAction.java
deleted file mode 100644
index 9e335ea..0000000
--- a/src/main/java/com/tuoheng/machine/action/drone/StartFlyingAction.java
+++ /dev/null
@@ -1,11 +0,0 @@
-package com.tuoheng.machine.action.drone;
-
-import com.tuoheng.machine.events.DroneEvent;
-import com.tuoheng.machine.platform.strategy.PlatformAction;
-import com.tuoheng.machine.status.DroneState;
-
-/**
- * Base action for drone start flying handling; platform implementations extend this.
- */
-public abstract class StartFlyingAction implements PlatformAction<DroneState, DroneEvent> {
-}
\ No newline at end of file
diff --git a/src/main/java/com/tuoheng/machine/action/drone/StartPrepareAction.java b/src/main/java/com/tuoheng/machine/action/drone/StartPrepareAction.java
deleted file mode 100644
index 3b075de..0000000
--- a/src/main/java/com/tuoheng/machine/action/drone/StartPrepareAction.java
+++ /dev/null
@@ -1,11 +0,0 @@
-package com.tuoheng.machine.action.drone;
-
-import com.tuoheng.machine.events.DroneEvent;
-import com.tuoheng.machine.platform.strategy.PlatformAction;
-import com.tuoheng.machine.status.DroneState;
-
-/**
- * Base action for drone start prepare handling; platform implementations extend this.
- */
-public abstract class StartPrepareAction implements PlatformAction<DroneState, DroneEvent> {
-}
\ No newline at end of file
diff --git a/src/main/java/com/tuoheng/machine/action/drone/StartReturnAction.java b/src/main/java/com/tuoheng/machine/action/drone/StartReturnAction.java
deleted file mode 100644
index 20d8d28..0000000
--- a/src/main/java/com/tuoheng/machine/action/drone/StartReturnAction.java
+++ /dev/null
@@ -1,11 +0,0 @@
-package com.tuoheng.machine.action.drone;
-
-import com.tuoheng.machine.events.DroneEvent;
-import com.tuoheng.machine.platform.strategy.PlatformAction;
-import com.tuoheng.machine.status.DroneState;
-
-/**
- * Base action for drone start return handling; platform implementations extend this.
- */
-public abstract class StartReturnAction implements PlatformAction<DroneState, DroneEvent> {
-}
\ No newline at end of file
diff --git a/src/main/java/com/tuoheng/machine/action/reboot/RebootAction.java b/src/main/java/com/tuoheng/machine/action/reboot/RebootAction.java
deleted file mode 100644
index 1881634..0000000
--- a/src/main/java/com/tuoheng/machine/action/reboot/RebootAction.java
+++ /dev/null
@@ -1,12 +0,0 @@
-package com.tuoheng.machine.action.reboot;
-
-import com.tuoheng.machine.events.AirportEvent;
-import com.tuoheng.machine.platform.strategy.PlatformAction;
-import com.tuoheng.machine.status.AirportState;
-
-/**
- * Base action for rebooting; platform implementations extend this.
- */
-public abstract class RebootAction implements PlatformAction<AirportState, AirportEvent> {
-}
-
diff --git a/src/main/java/com/tuoheng/machine/action/reboot/RebootCompletedAction.java b/src/main/java/com/tuoheng/machine/action/reboot/RebootCompletedAction.java
deleted file mode 100644
index 5d8fe4b..0000000
--- a/src/main/java/com/tuoheng/machine/action/reboot/RebootCompletedAction.java
+++ /dev/null
@@ -1,12 +0,0 @@
-package com.tuoheng.machine.action.reboot;
-
-import com.tuoheng.machine.events.AirportEvent;
-import com.tuoheng.machine.platform.strategy.PlatformAction;
-import com.tuoheng.machine.status.AirportState;
-
-/**
- * Base action for completing reboot; platform implementations extend this.
- */
-public abstract class RebootCompletedAction implements PlatformAction<AirportState, AirportEvent> {
-}
-
diff --git a/src/main/java/com/tuoheng/machine/command/CommandExecutionListener.java b/src/main/java/com/tuoheng/machine/command/CommandExecutionListener.java
new file mode 100644
index 0000000..2b0c01e
--- /dev/null
+++ b/src/main/java/com/tuoheng/machine/command/CommandExecutionListener.java
@@ -0,0 +1,15 @@
+package com.tuoheng.machine.command;
+
+/**
+ * 命令执行监听器
+ */
+@FunctionalInterface
+public interface CommandExecutionListener {
+    /**
+     * 命令执行完成回调
+     *
+     * @param sn     设备SN号
+     * @param result 命令执行结果
+     */
+    void onCommandComplete(String sn, CommandResult result);
+}
diff --git a/src/main/java/com/tuoheng/machine/command/CommandResult.java b/src/main/java/com/tuoheng/machine/command/CommandResult.java
new file mode 100644
index 0000000..7235a18
--- /dev/null
+++ b/src/main/java/com/tuoheng/machine/command/CommandResult.java
@@ -0,0 +1,58 @@
+package com.tuoheng.machine.command;
+
+import lombok.AllArgsConstructor;
+import lombok.Data;
+import lombok.NoArgsConstructor;
+
+/**
+ * 命令执行结果
+ */
+@Data
+@NoArgsConstructor
+@AllArgsConstructor
+public class CommandResult {
+    /**
+     * 命令类型
+     */
+    private CommandType commandType;
+
+    /**
+     * 是否成功
+     */
+    private boolean success;
+
+    /**
+     * 错误信息
+     */
+    private String errorMessage;
+
+    /**
+     * 失败的指令名称
+     */
+    private String failedInstructionName;
+
+    /**
+     * 结果数据
+     */
+    private Object data;
+
+    public static CommandResult success(CommandType commandType) {
+        return new CommandResult(commandType, true, null, null, null);
+    }
+
+    public static CommandResult success(CommandType commandType, Object data) {
+        return new CommandResult(commandType, true, null, null, data);
+    }
+
+    public static CommandResult failure(CommandType commandType, String errorMessage) {
+        return new CommandResult(commandType, false, errorMessage, null, null);
+    }
+
+    public static CommandResult failure(CommandType commandType, String errorMessage, String failedInstructionName) {
+        return new CommandResult(commandType, false, errorMessage, failedInstructionName, null);
+    }
+
+    public static CommandResult timeout(CommandType commandType) {
+        return new CommandResult(commandType, false, "命令执行超时", null, null);
+    }
+}
diff --git a/src/main/java/com/tuoheng/machine/command/CommandType.java b/src/main/java/com/tuoheng/machine/command/CommandType.java
new file mode 100644
index 0000000..dcda394
--- /dev/null
+++ b/src/main/java/com/tuoheng/machine/command/CommandType.java
@@ -0,0 +1,91 @@
+package com.tuoheng.machine.command;
+
+/**
+ * 命令类型枚举
+ */
+public enum CommandType {
+    /**
+     * 起飞
+     */
+    TAKE_OFF,
+
+    /**
+     * 降落
+     */
+    LAND,
+
+    /**
+     * 返航
+     */
+    RETURN_HOME,
+
+    /**
+     * 急停
+     */
+    EMERGENCY_STOP,
+
+    /**
+     * 继续飞行
+     */
+    RESUME_FLIGHT,
+
+    /**
+     * 指点飞行
+     */
+    POINT_FLY,
+
+    /**
+     * 取消指点
+     */
+    CANCEL_POINT,
+
+    /**
+     * 开始航线任务
+     */
+    START_MISSION,
+
+    /**
+     * 暂停航线任务
+     */
+    PAUSE_MISSION,
+
+    /**
+     * 恢复航线任务
+     */
+    RESUME_MISSION,
+
+    /**
+     * 打开舱门
+     */
+    OPEN_COVER,
+
+    /**
+     * 关闭舱门
+     */
+    CLOSE_COVER,
+
+    /**
+     * 进入调试模式
+     */
+    ENTER_DEBUG_MODE,
+
+    /**
+     * 退出调试模式
+     */
+    EXIT_DEBUG_MODE,
+
+    /**
+     * 进入DRC模式
+     */
+    ENTER_DRC_MODE,
+
+    /**
+     * 退出DRC模式
+     */
+    EXIT_DRC_MODE,
+
+    /**
+     * 重启机巢
+     */
+    REBOOT_AIRPORT
+}
diff --git a/src/main/java/com/tuoheng/machine/command/Transaction.java b/src/main/java/com/tuoheng/machine/command/Transaction.java
new file mode 100644
index 0000000..c0cfb6f
--- /dev/null
+++ b/src/main/java/com/tuoheng/machine/command/Transaction.java
@@ -0,0 +1,54 @@
+package com.tuoheng.machine.command;
+
+import com.tuoheng.machine.instruction.Instruction;
+import lombok.Data;
+
+import java.util.ArrayList;
+import java.util.List;
+
+/**
+ * 事务（由多个指令组成）
+ */
+@Data
+public class Transaction {
+    /**
+     * 事务名称
+     */
+    private String name;
+
+    /**
+     * 命令类型
+     */
+    private CommandType commandType;
+
+    /**
+     * 指令列表（按顺序执行）
+     */
+    private List<Instruction> instructions = new ArrayList<>();
+
+    /**
+     * 事务超时时间（毫秒）
+     */
+    private long timeoutMs = 120000; // 默认2分钟
+
+    public Transaction(String name, CommandType commandType) {
+        this.name = name;
+        this.commandType = commandType;
+    }
+
+    /**
+     * 添加指令
+     */
+    public Transaction addInstruction(Instruction instruction) {
+        this.instructions.add(instruction);
+        return this;
+    }
+
+    /**
+     * 设置超时时间
+     */
+    public Transaction setTimeout(long timeoutMs) {
+        this.timeoutMs = timeoutMs;
+        return this;
+    }
+}
diff --git a/src/main/java/com/tuoheng/machine/command/TransactionExecutor.java b/src/main/java/com/tuoheng/machine/command/TransactionExecutor.java
new file mode 100644
index 0000000..c138df9
--- /dev/null
+++ b/src/main/java/com/tuoheng/machine/command/TransactionExecutor.java
@@ -0,0 +1,166 @@
+package com.tuoheng.machine.command;
+
+import com.tuoheng.machine.instruction.*;
+import com.tuoheng.machine.mqtt.MqttCallbackRegistry;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+import java.util.concurrent.CompletableFuture;
+import java.util.concurrent.TimeUnit;
+import java.util.concurrent.atomic.AtomicBoolean;
+
+/**
+ * 事务执行器
+ */
+@Slf4j
+@Component
+public class TransactionExecutor {
+
+    private final MqttCallbackRegistry callbackRegistry;
+
+    public TransactionExecutor(MqttCallbackRegistry callbackRegistry) {
+        this.callbackRegistry = callbackRegistry;
+    }
+
+    /**
+     * 执行事务
+     */
+    public CompletableFuture<CommandResult> executeTransaction(Transaction transaction, InstructionContext context) {
+        log.info("开始执行事务: transaction={}, sn={}", transaction.getName(), context.getSn());
+
+        CompletableFuture<CommandResult> future = new CompletableFuture<>();
+        long startTime = System.currentTimeMillis();
+
+        // 在新线程中执行事务
+        CompletableFuture.runAsync(() -> {
+            try {
+                // 依次执行每个指令
+                for (Instruction instruction : transaction.getInstructions()) {
+                    // 检查事务是否超时
+                    if (System.currentTimeMillis() - startTime > transaction.getTimeoutMs()) {
+                        log.warn("事务执行超时: transaction={}, sn={}", transaction.getName(), context.getSn());
+                        future.complete(CommandResult.timeout(transaction.getCommandType()));
+                        return;
+                    }
+
+                    // 执行指令
+                    InstructionResult result = executeInstruction(instruction, context);
+
+                    // 如果指令失败，终止事务
+                    if (!result.isSuccess()) {
+                        log.error("指令执行失败: instruction={}, error={}", instruction.getName(), result.getErrorMessage());
+                        future.complete(CommandResult.failure(
+                                transaction.getCommandType(),
+                                result.getErrorMessage(),
+                                instruction.getName()
+                        ));
+                        return;
+                    }
+
+                    log.debug("指令执行成功: instruction={}", instruction.getName());
+                }
+
+                // 所有指令执行成功
+                log.info("事务执行成功: transaction={}, sn={}", transaction.getName(), context.getSn());
+                future.complete(CommandResult.success(transaction.getCommandType()));
+
+            } catch (Exception e) {
+                log.error("事务执行异常: transaction={}, sn={}", transaction.getName(), context.getSn(), e);
+                future.complete(CommandResult.failure(transaction.getCommandType(), "事务执行异常: " + e.getMessage()));
+            }
+        });
+
+        return future;
+    }
+
+    /**
+     * 执行单个指令
+     */
+    private InstructionResult executeInstruction(Instruction instruction, InstructionContext context) {
+        log.debug("开始执行指令: instruction={}, sn={}", instruction.getName(), context.getSn());
+
+        try {
+            // a. 判断是否可以执行
+            if (!instruction.canExecute(context)) {
+                String error = "指令不满足执行条件";
+                log.warn("指令不满足执行条件: instruction={}, sn={}", instruction.getName(), context.getSn());
+                InstructionResult result = InstructionResult.failure(error);
+                instruction.onComplete(context, result);
+                return result;
+            }
+
+            // b. 执行远程调用
+            instruction.executeRemoteCall(context);
+            log.debug("远程调用已发送: instruction={}", instruction.getName());
+
+            // c. 等待方法回调
+            CallbackConfig methodCallback = instruction.getMethodCallbackConfig(context);
+            if (methodCallback != null && !methodCallback.isCanShortCircuit()) {
+                InstructionResult methodResult = waitForCallback(methodCallback, context);
+                if (!methodResult.isSuccess()) {
+                    instruction.onComplete(context, methodResult);
+                    return methodResult;
+                }
+            }
+
+            // d. 等待状态回调
+            CallbackConfig stateCallback = instruction.getStateCallbackConfig(context);
+            if (stateCallback != null && !stateCallback.isCanShortCircuit()) {
+                InstructionResult stateResult = waitForCallback(stateCallback, context);
+                if (!stateResult.isSuccess()) {
+                    instruction.onComplete(context, stateResult);
+                    return stateResult;
+                }
+            }
+
+            // 指令执行成功
+            InstructionResult result = InstructionResult.success();
+            instruction.onComplete(context, result);
+            return result;
+
+        } catch (Exception e) {
+            log.error("指令执行异常: instruction={}, sn={}", instruction.getName(), context.getSn(), e);
+            InstructionResult result = InstructionResult.failure("指令执行异常: " + e.getMessage());
+            instruction.onComplete(context, result);
+            return result;
+        }
+    }
+
+    /**
+     * 等待回调
+     */
+    private InstructionResult waitForCallback(CallbackConfig callbackConfig, InstructionContext context) {
+        CompletableFuture<InstructionResult> future = new CompletableFuture<>();
+        AtomicBoolean callbackReceived = new AtomicBoolean(false);
+
+        // 注册回调
+        String callbackId = callbackRegistry.registerCallback(
+                callbackConfig.getTopic(),
+                messageBody -> {
+                    if (callbackReceived.get()) {
+                        return; // 已经收到回调，忽略后续消息
+                    }
+
+                    // 判断消息是否匹配
+                    if (callbackConfig.matches(messageBody)) {
+                        callbackReceived.set(true);
+                        future.complete(InstructionResult.success(messageBody));
+                        log.debug("收到匹配的回调消息: topic={}", callbackConfig.getTopic());
+                    }
+                },
+                callbackConfig.getTimeoutMs()
+        );
+
+        try {
+            // 等待回调或超时
+            InstructionResult result = future.get(callbackConfig.getTimeoutMs(), TimeUnit.MILLISECONDS);
+            return result;
+        } catch (Exception e) {
+            log.warn("等待回调超时: topic={}, timeout={}ms", callbackConfig.getTopic(), callbackConfig.getTimeoutMs());
+            return InstructionResult.timeout();
+        } finally {
+            // 取消注册回调
+            callbackRegistry.unregisterCallback(callbackId);
+        }
+    }
+}
diff --git a/src/main/java/com/tuoheng/machine/config/MachineFrameworkConfig.java b/src/main/java/com/tuoheng/machine/config/MachineFrameworkConfig.java
new file mode 100644
index 0000000..4f7b127
--- /dev/null
+++ b/src/main/java/com/tuoheng/machine/config/MachineFrameworkConfig.java
@@ -0,0 +1,28 @@
+package com.tuoheng.machine.config;
+
+import com.tuoheng.machine.vendor.VendorRegistry;
+import com.tuoheng.machine.vendor.dji.DjiVendorConfig;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.boot.CommandLineRunner;
+import org.springframework.context.annotation.Bean;
+import org.springframework.context.annotation.Configuration;
+
+/**
+ * 设备框架配置类
+ */
+@Slf4j
+@Configuration
+public class MachineFrameworkConfig {
+
+    /**
+     * 自动注册所有厂家配置
+     */
+    @Bean
+    public CommandLineRunner registerVendors(VendorRegistry vendorRegistry, DjiVendorConfig djiVendorConfig) {
+        return args -> {
+            // 注册大疆厂家配置
+            vendorRegistry.registerVendor(djiVendorConfig);
+            log.info("设备框架初始化完成，已注册厂家: {}", vendorRegistry.getAllVendorTypes());
+        };
+    }
+}
diff --git a/src/main/java/com/tuoheng/machine/example/MachineFrameworkUsageExample.java b/src/main/java/com/tuoheng/machine/example/MachineFrameworkUsageExample.java
new file mode 100644
index 0000000..fede3c7
--- /dev/null
+++ b/src/main/java/com/tuoheng/machine/example/MachineFrameworkUsageExample.java
@@ -0,0 +1,257 @@
+package com.tuoheng.machine.example;
+
+import com.tuoheng.machine.MachineCommandManager;
+import com.tuoheng.machine.command.CommandResult;
+import com.tuoheng.machine.command.CommandType;
+import com.tuoheng.machine.mqtt.MqttCallbackRegistry;
+import com.tuoheng.machine.state.*;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+import java.util.HashMap;
+import java.util.List;
+import java.util.Map;
+
+/**
+ * 设备框架使用示例
+ */
+@Slf4j
+@Component
+public class MachineFrameworkUsageExample {
+
+    private final MachineCommandManager commandManager;
+    private final MqttCallbackRegistry mqttCallbackRegistry;
+
+    public MachineFrameworkUsageExample(MachineCommandManager commandManager,
+                                         MqttCallbackRegistry mqttCallbackRegistry) {
+        this.commandManager = commandManager;
+        this.mqttCallbackRegistry = mqttCallbackRegistry;
+    }
+
+    /**
+     * 示例1：绑定设备到厂家
+     */
+    public void example1_bindMachine() {
+        String sn = "DJI-12345678";
+        String vendorType = "DJI";
+
+        // 绑定设备到大疆厂家
+        commandManager.bindMachine(sn, vendorType);
+        log.info("设备已绑定: sn={}, vendorType={}", sn, vendorType);
+    }
+
+    /**
+     * 示例2：更新设备状态（通常在心跳中调用）
+     */
+    public void example2_updateStates() {
+        String sn = "DJI-12345678";
+
+        // 创建新状态
+        MachineStates newStates = new MachineStates();
+        newStates.setDroneState(DroneState.PREPARING);
+        newStates.setAirportState(AirportState.STANDBY);
+        newStates.setCoverState(CoverState.OPENED);
+        newStates.setDrcState(DrcState.EXITED);
+
+        // 更新状态
+        commandManager.updateMachineStates(sn, newStates);
+        log.info("设备状态已更新: sn={}, states={}", sn, newStates);
+    }
+
+    /**
+     * 示例3：查询设备当前状态
+     */
+    public void example3_queryStates() {
+        String sn = "DJI-12345678";
+
+        // 获取当前状态
+        MachineStates currentStates = commandManager.getMachineStates(sn);
+        log.info("设备当前状态: sn={}, droneState={}, airportState={}, coverState={}, drcState={}",
+                sn,
+                currentStates.getDroneState(),
+                currentStates.getAirportState(),
+                currentStates.getCoverState(),
+                currentStates.getDrcState());
+    }
+
+    /**
+     * 示例4：查询设备可执行的命令
+     */
+    public void example4_queryAvailableCommands() {
+        String sn = "DJI-12345678";
+
+        // 获取可执行的命令列表
+        List<CommandType> availableCommands = commandManager.getAvailableCommands(sn);
+        log.info("设备可执行的命令: sn={}, commands={}", sn, availableCommands);
+    }
+
+    /**
+     * 示例5：检查设备是否正在执行命令
+     */
+    public void example5_checkExecutingCommand() {
+        String sn = "DJI-12345678";
+
+        // 检查是否正在执行命令
+        boolean isExecuting = commandManager.isExecutingCommand(sn);
+        CommandType executingCommand = commandManager.getExecutingCommandType(sn);
+
+        log.info("设备命令执行状态: sn={}, isExecuting={}, executingCommand=",
+                sn, isExecuting, executingCommand);
+    }
+
+    /**
+     * 示例6：执行简单命令（起飞）
+     */
+    public void example6_executeSimpleCommand() {
+        String sn = "DJI-12345678";
+
+        // 执行起飞命令
+        commandManager.executeCommand(sn, CommandType.TAKE_OFF)
+                .thenAccept(result -> {
+                    if (result.isSuccess()) {
+                        log.info("起飞命令执行成功: sn={}", sn);
+                    } else {
+                        log.error("起飞命令执行失败: sn={}, error={}", sn, result.getErrorMessage());
+                    }
+                });
+    }
+
+    /**
+     * 示例7：执行带参数的命令（指点飞行）
+     */
+    public void example7_executeCommandWithParams() {
+        String sn = "DJI-12345678";
+
+        // 准备命令参数
+        Map<String, Object> params = new HashMap<>();
+        params.put("latitude", 39.9042);
+        params.put("longitude", 116.4074);
+        params.put("altitude", 100.0);
+
+        // 执行指点飞行命令
+        commandManager.executeCommand(sn, CommandType.POINT_FLY, params)
+                .thenAccept(result -> {
+                    if (result.isSuccess()) {
+                        log.info("指点飞行命令执行成功: sn={}", sn);
+                    } else {
+                        log.error("指点飞行命令执行失败: sn={}, error={}, failedInstruction={}",
+                                sn, result.getErrorMessage(), result.getFailedInstructionName());
+                    }
+                });
+    }
+
+    /**
+     * 示例8：注册命令执行监听器
+     */
+    public void example8_registerCommandListener() {
+        String listenerId = "command-logger";
+
+        // 注册命令执行监听器
+        commandManager.registerCommandListener(listenerId, (sn, result) -> {
+            log.info("命令执行完成回调: sn={}, commandType={}, success={}, error={}",
+                    sn, result.getCommandType(), result.isSuccess(), result.getErrorMessage());
+
+            // 这里可以记录到数据库
+            // commandResultRepository.save(new CommandResultEntity(sn, result));
+        });
+    }
+
+    /**
+     * 示例9：注册状态变化监听器
+     */
+    public void example9_registerStateChangeListener() {
+        String listenerId = "state-logger";
+
+        // 注册状态变化监听器
+        commandManager.registerStateChangeListener(listenerId, (sn, newStates) -> {
+            log.info("设备状态变化回调: sn={}, droneState={}, airportState={}, coverState={}, drcState={}",
+                    sn,
+                    newStates.getDroneState(),
+                    newStates.getAirportState(),
+                    newStates.getCoverState(),
+                    newStates.getDrcState());
+
+            // 这里可以记录到数据库
+            // stateChangeRepository.save(new StateChangeEntity(sn, newStates));
+        });
+    }
+
+    /**
+     * 示例10：处理MQTT消息（在MQTT消费者中调用）
+     */
+    public void example10_handleMqttMessage(String topic, Object messageBody) {
+        // 当收到MQTT消息时，调用回调注册中心处理
+        mqttCallbackRegistry.handleMessage(topic, messageBody);
+
+        // 如果消息包含状态信息，更新设备状态
+        // 这里需要根据实际的消息格式解析
+        // 示例：
+        // if (topic.endsWith("/state")) {
+        //     String sn = extractSnFromTopic(topic);
+        //     MachineStates newStates = parseStatesFromMessage(messageBody);
+        //     commandManager.updateMachineStates(sn, newStates);
+        // }
+    }
+
+    /**
+     * 示例11：完整的业务流程
+     */
+    public void example11_completeWorkflow() {
+        String sn = "DJI-12345678";
+
+        // 1. 绑定设备
+        commandManager.bindMachine(sn, "DJI");
+
+        // 2. 设置初始状态
+        MachineStates initialStates = new MachineStates();
+        initialStates.setDroneState(DroneState.PREPARING);
+        initialStates.setAirportState(AirportState.STANDBY);
+        initialStates.setCoverState(CoverState.OPENED);
+        initialStates.setDrcState(DrcState.EXITED);
+        commandManager.updateMachineStates(sn, initialStates);
+
+        // 3. 检查是否可以起飞
+        if (!commandManager.isExecutingCommand(sn)) {
+            List<CommandType> availableCommands = commandManager.getAvailableCommands(sn);
+            if (availableCommands.contains(CommandType.TAKE_OFF)) {
+                // 4. 执行起飞命令
+                commandManager.executeCommand(sn, CommandType.TAKE_OFF)
+                        .thenAccept(result -> {
+                            if (result.isSuccess()) {
+                                log.info("起飞成功，开始执行任务");
+                                // 5. 起飞成功后，可以执行其他命令
+                                executeNextCommand(sn);
+                            } else {
+                                log.error("起飞失败: {}", result.getErrorMessage());
+                            }
+                        });
+            } else {
+                log.warn("当前状态不允许起飞");
+            }
+        } else {
+            log.warn("设备正在执行其他命令");
+        }
+    }
+
+    /**
+     * 执行下一个命令
+     */
+    private void executeNextCommand(String sn) {
+        // 等待一段时间后执行返航
+        try {
+            Thread.sleep(60000); // 等待60秒
+        } catch (InterruptedException e) {
+            Thread.currentThread().interrupt();
+        }
+
+        // 执行返航命令
+        commandManager.executeCommand(sn, CommandType.RETURN_HOME)
+                .thenAccept(result -> {
+                    if (result.isSuccess()) {
+                        log.info("返航成功");
+                    } else {
+                        log.error("返航失败: {}", result.getErrorMessage());
+                    }
+                });
+    }
+}
diff --git a/src/main/java/com/tuoheng/machine/guard/airport/CanOfflineGuard.java b/src/main/java/com/tuoheng/machine/guard/airport/CanOfflineGuard.java
deleted file mode 100644
index a142935..0000000
--- a/src/main/java/com/tuoheng/machine/guard/airport/CanOfflineGuard.java
+++ /dev/null
@@ -1,12 +0,0 @@
-package com.tuoheng.machine.guard.airport;
-
-import com.tuoheng.machine.events.AirportEvent;
-import com.tuoheng.machine.platform.strategy.PlatformGuard;
-import com.tuoheng.machine.status.AirportState;
-
-/**
- * Base guard for checking if an machine can go offline; platform implementations extend this.
- */
-public abstract class CanOfflineGuard implements PlatformGuard<AirportState, AirportEvent> {
-}
-
diff --git a/src/main/java/com/tuoheng/machine/guard/airport/CanOnlineGuard.java b/src/main/java/com/tuoheng/machine/guard/airport/CanOnlineGuard.java
deleted file mode 100644
index 822141e..0000000
--- a/src/main/java/com/tuoheng/machine/guard/airport/CanOnlineGuard.java
+++ /dev/null
@@ -1,12 +0,0 @@
-package com.tuoheng.machine.guard.airport;
-
-import com.tuoheng.machine.events.AirportEvent;
-import com.tuoheng.machine.platform.strategy.PlatformGuard;
-import com.tuoheng.machine.status.AirportState;
-
-/**
- * Base guard for checking if an machine can go online; platform implementations extend this.
- */
-public abstract class CanOnlineGuard implements PlatformGuard<AirportState, AirportEvent> {
-}
-
diff --git a/src/main/java/com/tuoheng/machine/guard/airport/IsAirportOnlineGuard.java b/src/main/java/com/tuoheng/machine/guard/airport/IsAirportOnlineGuard.java
deleted file mode 100644
index b2e660c..0000000
--- a/src/main/java/com/tuoheng/machine/guard/airport/IsAirportOnlineGuard.java
+++ /dev/null
@@ -1,12 +0,0 @@
-package com.tuoheng.machine.guard.airport;
-
-import com.tuoheng.machine.events.AirportEvent;
-import com.tuoheng.machine.platform.strategy.PlatformGuard;
-import com.tuoheng.machine.status.AirportState;
-
-/**
- * Base guard for checking machine online status; platform implementations extend this.
- */
-public abstract class IsAirportOnlineGuard implements PlatformGuard<AirportState, AirportEvent> {
-}
-
diff --git a/src/main/java/com/tuoheng/machine/guard/cover/CanCloseCoverGuard.java b/src/main/java/com/tuoheng/machine/guard/cover/CanCloseCoverGuard.java
deleted file mode 100644
index 620f97b..0000000
--- a/src/main/java/com/tuoheng/machine/guard/cover/CanCloseCoverGuard.java
+++ /dev/null
@@ -1,12 +0,0 @@
-package com.tuoheng.machine.guard.cover;
-
-import com.tuoheng.machine.events.CoverEvent;
-import com.tuoheng.machine.platform.strategy.PlatformGuard;
-import com.tuoheng.machine.status.CoverState;
-
-/**
- * Base guard for closing the cover; platform implementations extend this.
- */
-public abstract class CanCloseCoverGuard implements PlatformGuard<CoverState, CoverEvent> {
-}
-
diff --git a/src/main/java/com/tuoheng/machine/guard/cover/CanOpenCoverGuard.java b/src/main/java/com/tuoheng/machine/guard/cover/CanOpenCoverGuard.java
deleted file mode 100644
index 96a8b8f..0000000
--- a/src/main/java/com/tuoheng/machine/guard/cover/CanOpenCoverGuard.java
+++ /dev/null
@@ -1,12 +0,0 @@
-package com.tuoheng.machine.guard.cover;
-
-import com.tuoheng.machine.events.CoverEvent;
-import com.tuoheng.machine.platform.strategy.PlatformGuard;
-import com.tuoheng.machine.status.CoverState;
-
-/**
- * Base guard for opening the cover; platform implementations extend this.
- */
-public abstract class CanOpenCoverGuard implements PlatformGuard<CoverState, CoverEvent> {
-}
-
diff --git a/src/main/java/com/tuoheng/machine/guard/cover/IsCoverClosedGuard.java b/src/main/java/com/tuoheng/machine/guard/cover/IsCoverClosedGuard.java
deleted file mode 100644
index f8941cb..0000000
--- a/src/main/java/com/tuoheng/machine/guard/cover/IsCoverClosedGuard.java
+++ /dev/null
@@ -1,12 +0,0 @@
-package com.tuoheng.machine.guard.cover;
-
-import com.tuoheng.machine.events.CoverEvent;
-import com.tuoheng.machine.platform.strategy.PlatformGuard;
-import com.tuoheng.machine.status.CoverState;
-
-/**
- * Base guard for verifying the cover is closed; platform implementations extend this.
- */
-public abstract class IsCoverClosedGuard implements PlatformGuard<CoverState, CoverEvent> {
-}
-
diff --git a/src/main/java/com/tuoheng/machine/guard/cover/IsCoverOpenedGuard.java b/src/main/java/com/tuoheng/machine/guard/cover/IsCoverOpenedGuard.java
deleted file mode 100644
index d75d531..0000000
--- a/src/main/java/com/tuoheng/machine/guard/cover/IsCoverOpenedGuard.java
+++ /dev/null
@@ -1,12 +0,0 @@
-package com.tuoheng.machine.guard.cover;
-
-import com.tuoheng.machine.events.CoverEvent;
-import com.tuoheng.machine.platform.strategy.PlatformGuard;
-import com.tuoheng.machine.status.CoverState;
-
-/**
- * Base guard for verifying the cover is opened; platform implementations extend this.
- */
-public abstract class IsCoverOpenedGuard implements PlatformGuard<CoverState, CoverEvent> {
-}
-
diff --git a/src/main/java/com/tuoheng/machine/guard/debug/CanCloseDebugModeGuard.java b/src/main/java/com/tuoheng/machine/guard/debug/CanCloseDebugModeGuard.java
deleted file mode 100644
index b7a5573..0000000
--- a/src/main/java/com/tuoheng/machine/guard/debug/CanCloseDebugModeGuard.java
+++ /dev/null
@@ -1,12 +0,0 @@
-package com.tuoheng.machine.guard.debug;
-
-import com.tuoheng.machine.events.AirportEvent;
-import com.tuoheng.machine.platform.strategy.PlatformGuard;
-import com.tuoheng.machine.status.AirportState;
-
-/**
- * Base guard for closing debug mode; platform implementations extend this.
- */
-public abstract class CanCloseDebugModeGuard implements PlatformGuard<AirportState, AirportEvent> {
-}
-
diff --git a/src/main/java/com/tuoheng/machine/guard/debug/IsDebugModeGuard.java b/src/main/java/com/tuoheng/machine/guard/debug/IsDebugModeGuard.java
deleted file mode 100644
index 93054a0..0000000
--- a/src/main/java/com/tuoheng/machine/guard/debug/IsDebugModeGuard.java
+++ /dev/null
@@ -1,12 +0,0 @@
-package com.tuoheng.machine.guard.debug;
-
-import com.tuoheng.machine.events.AirportEvent;
-import com.tuoheng.machine.platform.strategy.PlatformGuard;
-import com.tuoheng.machine.status.AirportState;
-
-/**
- * Base guard for checking debug mode; platform implementations extend this.
- */
-public abstract class IsDebugModeGuard implements PlatformGuard<AirportState, AirportEvent> {
-}
-
diff --git a/src/main/java/com/tuoheng/machine/guard/debug/IsNotDebugModeGuard.java b/src/main/java/com/tuoheng/machine/guard/debug/IsNotDebugModeGuard.java
deleted file mode 100644
index 8bb1222..0000000
--- a/src/main/java/com/tuoheng/machine/guard/debug/IsNotDebugModeGuard.java
+++ /dev/null
@@ -1,12 +0,0 @@
-package com.tuoheng.machine.guard.debug;
-
-import com.tuoheng.machine.events.AirportEvent;
-import com.tuoheng.machine.platform.strategy.PlatformGuard;
-import com.tuoheng.machine.status.AirportState;
-
-/**
- * Base guard for checking non-debug mode; platform implementations extend this.
- */
-public abstract class IsNotDebugModeGuard implements PlatformGuard<AirportState, AirportEvent> {
-}
-
diff --git a/src/main/java/com/tuoheng/machine/guard/drc/CanEnterGuard.java b/src/main/java/com/tuoheng/machine/guard/drc/CanEnterGuard.java
deleted file mode 100644
index cbe6ca3..0000000
--- a/src/main/java/com/tuoheng/machine/guard/drc/CanEnterGuard.java
+++ /dev/null
@@ -1,11 +0,0 @@
-package com.tuoheng.machine.guard.drc;
-
-import com.tuoheng.machine.events.DrcEvent;
-import com.tuoheng.machine.platform.strategy.PlatformGuard;
-import com.tuoheng.machine.status.DrcState;
-
-/**
- * Base guard for checking if can enter DRC mode; platform implementations extend this.
- */
-public abstract class CanEnterGuard implements PlatformGuard<DrcState, DrcEvent> {
-}
diff --git a/src/main/java/com/tuoheng/machine/guard/drc/CanExitGuard.java b/src/main/java/com/tuoheng/machine/guard/drc/CanExitGuard.java
deleted file mode 100644
index a5ff8e5..0000000
--- a/src/main/java/com/tuoheng/machine/guard/drc/CanExitGuard.java
+++ /dev/null
@@ -1,11 +0,0 @@
-package com.tuoheng.machine.guard.drc;
-
-import com.tuoheng.machine.events.DrcEvent;
-import com.tuoheng.machine.platform.strategy.PlatformGuard;
-import com.tuoheng.machine.status.DrcState;
-
-/**
- * Base guard for checking if can exit DRC mode; platform implementations extend this.
- */
-public abstract class CanExitGuard implements PlatformGuard<DrcState, DrcEvent> {
-}
diff --git a/src/main/java/com/tuoheng/machine/instruction/AbstractInstruction.java b/src/main/java/com/tuoheng/machine/instruction/AbstractInstruction.java
new file mode 100644
index 0000000..1dae0f1
--- /dev/null
+++ b/src/main/java/com/tuoheng/machine/instruction/AbstractInstruction.java
@@ -0,0 +1,35 @@
+package com.tuoheng.machine.instruction;
+
+/**
+ * 抽象指令基类，提供默认实现
+ */
+public abstract class AbstractInstruction implements Instruction {
+
+    @Override
+    public boolean canExecute(InstructionContext context) {
+        // 默认可以执行
+        return true;
+    }
+
+    @Override
+    public CallbackConfig getMethodCallbackConfig(InstructionContext context) {
+        // 默认不需要方法回调
+        return null;
+    }
+
+    @Override
+    public CallbackConfig getStateCallbackConfig(InstructionContext context) {
+        // 默认不需要状态回调
+        return null;
+    }
+
+    @Override
+    public long getTimeoutMs() {
+        return 60000; // 默认60秒
+    }
+
+    @Override
+    public void onComplete(InstructionContext context, InstructionResult result) {
+        // 默认空实现
+    }
+}
diff --git a/src/main/java/com/tuoheng/machine/instruction/CallbackConfig.java b/src/main/java/com/tuoheng/machine/instruction/CallbackConfig.java
new file mode 100644
index 0000000..60ce6ae
--- /dev/null
+++ b/src/main/java/com/tuoheng/machine/instruction/CallbackConfig.java
@@ -0,0 +1,91 @@
+package com.tuoheng.machine.instruction;
+
+import lombok.AllArgsConstructor;
+import lombok.Builder;
+import lombok.Data;
+import lombok.NoArgsConstructor;
+
+import java.util.function.Predicate;
+
+/**
+ * 回调配置（用于方法回调和状态回调）
+ */
+@Data
+@Builder
+@NoArgsConstructor
+@AllArgsConstructor
+public class CallbackConfig {
+    /**
+     * 监听的MQTT主题
+     */
+    private String topic;
+
+    /**
+     * 字段路径（支持嵌套，如 "data.status"）
+     */
+    private String fieldPath;
+
+    /**
+     * 期望的字段值
+     */
+    private Object expectedValue;
+
+    /**
+     * 自定义判断逻辑（如果设置，则优先使用此逻辑）
+     */
+    private Predicate<Object> customPredicate;
+
+    /**
+     * 是否可以被短路（跳过此回调）
+     */
+    private boolean canShortCircuit;
+
+    /**
+     * 超时时间（毫秒）
+     */
+    private long timeoutMs = 30000;
+
+    /**
+     * 判断消息是否匹配
+     */
+    public boolean matches(Object messageBody) {
+        if (customPredicate != null) {
+            return customPredicate.test(messageBody);
+        }
+
+        Object fieldValue = extractFieldValue(messageBody, fieldPath);
+        return expectedValue == null || expectedValue.equals(fieldValue);
+    }
+
+    /**
+     * 从消息体中提取字段值
+     */
+    private Object extractFieldValue(Object messageBody, String path) {
+        if (messageBody == null || path == null) {
+            return null;
+        }
+
+        String[] parts = path.split("\\.");
+        Object current = messageBody;
+
+        for (String part : parts) {
+            if (current == null) {
+                return null;
+            }
+
+            if (current instanceof java.util.Map) {
+                current = ((java.util.Map<?, ?>) current).get(part);
+            } else {
+                try {
+                    java.lang.reflect.Field field = current.getClass().getDeclaredField(part);
+                    field.setAccessible(true);
+                    current = field.get(current);
+                } catch (Exception e) {
+                    return null;
+                }
+            }
+        }
+
+        return current;
+    }
+}
diff --git a/src/main/java/com/tuoheng/machine/instruction/Instruction.java b/src/main/java/com/tuoheng/machine/instruction/Instruction.java
new file mode 100644
index 0000000..f428426
--- /dev/null
+++ b/src/main/java/com/tuoheng/machine/instruction/Instruction.java
@@ -0,0 +1,52 @@
+package com.tuoheng.machine.instruction;
+
+/**
+ * 指令接口
+ * 一个指令包含四个部分：
+ * a. 判断是否可以执行该指令
+ * b. 执行远程调用（如MQTT发送）
+ * c. 等待方法回调，并判断该方法是否成功执行
+ * d. 等待状态回调，并判断结果是否OK
+ */
+public interface Instruction {
+    /**
+     * 获取指令名称
+     */
+    String getName();
+
+    /**
+     * a. 判断是否可以执行该指令
+     */
+    boolean canExecute(InstructionContext context);
+
+    /**
+     * b. 执行远程调用（如MQTT发送）
+     */
+    void executeRemoteCall(InstructionContext context) throws Exception;
+
+    /**
+     * c. 获取方法回调配置（可选）
+     * 返回null表示不需要方法回调
+     */
+    CallbackConfig getMethodCallbackConfig(InstructionContext context);
+
+    /**
+     * d. 获取状态回调配置（可选）
+     * 返回null表示不需要状态回调
+     */
+    CallbackConfig getStateCallbackConfig(InstructionContext context);
+
+    /**
+     * 获取指令超时时间（毫秒）
+     */
+    default long getTimeoutMs() {
+        return 60000; // 默认60秒
+    }
+
+    /**
+     * 指令执行完成回调（无论成功失败都会调用）
+     */
+    default void onComplete(InstructionContext context, InstructionResult result) {
+        // 默认空实现
+    }
+}
diff --git a/src/main/java/com/tuoheng/machine/instruction/InstructionContext.java b/src/main/java/com/tuoheng/machine/instruction/InstructionContext.java
new file mode 100644
index 0000000..fb16df4
--- /dev/null
+++ b/src/main/java/com/tuoheng/machine/instruction/InstructionContext.java
@@ -0,0 +1,53 @@
+package com.tuoheng.machine.instruction;
+
+import lombok.Data;
+
+import java.util.HashMap;
+import java.util.Map;
+
+/**
+ * 指令执行上下文
+ */
+@Data
+public class InstructionContext {
+    /**
+     * 设备SN号
+     */
+    private String sn;
+
+    /**
+     * 厂家类型
+     */
+    private String vendorType;
+
+    /**
+     * 上下文数据（用于在指令间传递数据）
+     */
+    private Map<String, Object> contextData = new HashMap<>();
+
+    /**
+     * 命令参数
+     */
+    private Map<String, Object> commandParams = new HashMap<>();
+
+    public InstructionContext(String sn, String vendorType) {
+        this.sn = sn;
+        this.vendorType = vendorType;
+    }
+
+    public void putContextData(String key, Object value) {
+        contextData.put(key, value);
+    }
+
+    public Object getContextData(String key) {
+        return contextData.get(key);
+    }
+
+    public void putCommandParam(String key, Object value) {
+        commandParams.put(key, value);
+    }
+
+    public Object getCommandParam(String key) {
+        return commandParams.get(key);
+    }
+}
diff --git a/src/main/java/com/tuoheng/machine/instruction/InstructionResult.java b/src/main/java/com/tuoheng/machine/instruction/InstructionResult.java
new file mode 100644
index 0000000..8cca0c0
--- /dev/null
+++ b/src/main/java/com/tuoheng/machine/instruction/InstructionResult.java
@@ -0,0 +1,44 @@
+package com.tuoheng.machine.instruction;
+
+import lombok.AllArgsConstructor;
+import lombok.Data;
+import lombok.NoArgsConstructor;
+
+/**
+ * 指令执行结果
+ */
+@Data
+@NoArgsConstructor
+@AllArgsConstructor
+public class InstructionResult {
+    /**
+     * 是否成功
+     */
+    private boolean success;
+
+    /**
+     * 错误信息
+     */
+    private String errorMessage;
+
+    /**
+     * 结果数据
+     */
+    private Object data;
+
+    public static InstructionResult success() {
+        return new InstructionResult(true, null, null);
+    }
+
+    public static InstructionResult success(Object data) {
+        return new InstructionResult(true, null, data);
+    }
+
+    public static InstructionResult failure(String errorMessage) {
+        return new InstructionResult(false, errorMessage, null);
+    }
+
+    public static InstructionResult timeout() {
+        return new InstructionResult(false, "指令执行超时", null);
+    }
+}
diff --git a/src/main/java/com/tuoheng/machine/mqtt/MqttCallbackHandler.java b/src/main/java/com/tuoheng/machine/mqtt/MqttCallbackHandler.java
new file mode 100644
index 0000000..3194d51
--- /dev/null
+++ b/src/main/java/com/tuoheng/machine/mqtt/MqttCallbackHandler.java
@@ -0,0 +1,45 @@
+package com.tuoheng.machine.mqtt;
+
+import lombok.AllArgsConstructor;
+import lombok.Data;
+
+import java.util.function.Consumer;
+
+/**
+ * MQTT回调处理器
+ */
+@Data
+@AllArgsConstructor
+public class MqttCallbackHandler {
+    /**
+     * 回调ID（用于取消注册）
+     */
+    private String callbackId;
+
+    /**
+     * 监听的主题
+     */
+    private String topic;
+
+    /**
+     * 消息处理器
+     */
+    private Consumer<Object> messageHandler;
+
+    /**
+     * 超时时间（毫秒）
+     */
+    private long timeoutMs;
+
+    /**
+     * 注册时间
+     */
+    private long registerTime;
+
+    /**
+     * 是否已超时
+     */
+    public boolean isTimeout() {
+        return System.currentTimeMillis() - registerTime > timeoutMs;
+    }
+}
diff --git a/src/main/java/com/tuoheng/machine/mqtt/MqttCallbackRegistry.java b/src/main/java/com/tuoheng/machine/mqtt/MqttCallbackRegistry.java
new file mode 100644
index 0000000..fd0f8f6
--- /dev/null
+++ b/src/main/java/com/tuoheng/machine/mqtt/MqttCallbackRegistry.java
@@ -0,0 +1,125 @@
+package com.tuoheng.machine.mqtt;
+
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+import java.util.Map;
+import java.util.UUID;
+import java.util.concurrent.ConcurrentHashMap;
+import java.util.concurrent.CopyOnWriteArrayList;
+import java.util.function.Consumer;
+
+/**
+ * MQTT回调注册中心
+ * 用于注册和管理MQTT消息的回调处理器
+ */
+@Slf4j
+@Component
+public class MqttCallbackRegistry {
+
+    /**
+     * 主题 -> 回调处理器列表
+     */
+    private final Map<String, CopyOnWriteArrayList<MqttCallbackHandler>> topicHandlers = new ConcurrentHashMap<>();
+
+    /**
+     * 回调ID -> 回调处理器
+     */
+    private final Map<String, MqttCallbackHandler> handlerMap = new ConcurrentHashMap<>();
+
+    /**
+     * 注册回调
+     *
+     * @param topic          监听的主题
+     * @param messageHandler 消息处理器
+     * @param timeoutMs      超时时间（毫秒）
+     * @return 回调ID（用于取消注册）
+     */
+    public String registerCallback(String topic, Consumer<Object> messageHandler, long timeoutMs) {
+        String callbackId = UUID.randomUUID().toString();
+        MqttCallbackHandler handler = new MqttCallbackHandler(
+                callbackId,
+                topic,
+                messageHandler,
+                timeoutMs,
+                System.currentTimeMillis()
+        );
+
+        topicHandlers.computeIfAbsent(topic, k -> new CopyOnWriteArrayList<>()).add(handler);
+        handlerMap.put(callbackId, handler);
+
+        log.debug("注册MQTT回调: callbackId={}, topic={}, timeoutMs={}", callbackId, topic, timeoutMs);
+        return callbackId;
+    }
+
+    /**
+     * 取消注册回调
+     *
+     * @param callbackId 回调ID
+     */
+    public void unregisterCallback(String callbackId) {
+        MqttCallbackHandler handler = handlerMap.remove(callbackId);
+        if (handler != null) {
+            CopyOnWriteArrayList<MqttCallbackHandler> handlers = topicHandlers.get(handler.getTopic());
+            if (handlers != null) {
+                handlers.remove(handler);
+                if (handlers.isEmpty()) {
+                    topicHandlers.remove(handler.getTopic());
+                }
+            }
+            log.debug("取消注册MQTT回调: callbackId={}, topic={}", callbackId, handler.getTopic());
+        }
+    }
+
+    /**
+     * 处理接收到的MQTT消息
+     *
+     * @param topic       主题
+     * @param messageBody 消息体
+     */
+    public void handleMessage(String topic, Object messageBody) {
+        CopyOnWriteArrayList<MqttCallbackHandler> handlers = topicHandlers.get(topic);
+        if (handlers == null || handlers.isEmpty()) {
+            return;
+        }
+
+        log.debug("处理MQTT消息: topic={}, handlerCount={}", topic, handlers.size());
+
+        for (MqttCallbackHandler handler : handlers) {
+            try {
+                // 检查是否超时
+                if (handler.isTimeout()) {
+                    log.warn("MQTT回调已超时: callbackId={}, topic={}", handler.getCallbackId(), topic);
+                    unregisterCallback(handler.getCallbackId());
+                    continue;
+                }
+
+                // 执行回调
+                handler.getMessageHandler().accept(messageBody);
+            } catch (Exception e) {
+                log.error("执行MQTT回调失败: callbackId={}, topic={}", handler.getCallbackId(), topic, e);
+            }
+        }
+    }
+
+    /**
+     * 清理超时的回调
+     */
+    public void cleanupTimeoutCallbacks() {
+        handlerMap.values().removeIf(handler -> {
+            if (handler.isTimeout()) {
+                log.warn("清理超时的MQTT回调: callbackId={}, topic={}", handler.getCallbackId(), handler.getTopic());
+                unregisterCallback(handler.getCallbackId());
+                return true;
+            }
+            return false;
+        });
+    }
+
+    /**
+     * 获取当前注册的回调数量
+     */
+    public int getCallbackCount() {
+        return handlerMap.size();
+    }
+}
diff --git a/src/main/java/com/tuoheng/machine/state/AirportState.java b/src/main/java/com/tuoheng/machine/state/AirportState.java
new file mode 100644
index 0000000..f85463c
--- /dev/null
+++ b/src/main/java/com/tuoheng/machine/state/AirportState.java
@@ -0,0 +1,46 @@
+package com.tuoheng.machine.state;
+
+/**
+ * 机巢状态枚举
+ */
+public enum AirportState {
+    /**
+     * 未知状态（服务器重启后的初始状态，等待第一次心跳同步）
+     */
+    UNKNOWN,
+
+    /**
+     * 离线
+     */
+    OFFLINE,
+
+    /**
+     * 在线（父状态）
+     */
+    ONLINE,
+
+    /**
+     * 待机
+     */
+    STANDBY,
+
+    /**
+     * 进入调试模式中
+     */
+    ENTERING_DEBUG_MODE,
+
+    /**
+     * 调试模式
+     */
+    DEBUG_MODE,
+
+    /**
+     * 退出调试模式中
+     */
+    EXITING_DEBUG_MODE,
+
+    /**
+     * 重启中
+     */
+    REBOOTING
+}
diff --git a/src/main/java/com/tuoheng/machine/status/CoverState.java b/src/main/java/com/tuoheng/machine/state/CoverState.java
similarity index 92%
rename from src/main/java/com/tuoheng/machine/status/CoverState.java
rename to src/main/java/com/tuoheng/machine/state/CoverState.java
index e9afe66..716a0f0 100644
--- a/src/main/java/com/tuoheng/machine/status/CoverState.java
+++ b/src/main/java/com/tuoheng/machine/state/CoverState.java
@@ -1,4 +1,4 @@
-package com.tuoheng.machine.status;
+package com.tuoheng.machine.state;
 
 /**
  * 舱门状态枚举
diff --git a/src/main/java/com/tuoheng/machine/state/DrcState.java b/src/main/java/com/tuoheng/machine/state/DrcState.java
new file mode 100644
index 0000000..4607a35
--- /dev/null
+++ b/src/main/java/com/tuoheng/machine/state/DrcState.java
@@ -0,0 +1,31 @@
+package com.tuoheng.machine.state;
+
+/**
+ * 飞行控制模式（DRC）状态枚举
+ */
+public enum DrcState {
+    /**
+     * 未知状态（服务器重启后的初始状态，等待第一次心跳同步）
+     */
+    UNKNOWN,
+
+    /**
+     * 退出状态（DRC模式已退出）
+     */
+    EXITED,
+
+    /**
+     * 进入中（正在进入DRC模式）
+     */
+    ENTERING,
+
+    /**
+     * 进入状态（已进入DRC模式）
+     */
+    ENTERED,
+
+    /**
+     * 退出中（正在退出DRC模式）
+     */
+    EXITING
+}
diff --git a/src/main/java/com/tuoheng/machine/state/DroneState.java b/src/main/java/com/tuoheng/machine/state/DroneState.java
new file mode 100644
index 0000000..ce84bf6
--- /dev/null
+++ b/src/main/java/com/tuoheng/machine/state/DroneState.java
@@ -0,0 +1,91 @@
+package com.tuoheng.machine.state;
+
+/**
+ * 无人机状态枚举
+ * 分为：准备中 -> 飞行中 -> 返航 三个大状态
+ */
+public enum DroneState {
+    /**
+     * 未知状态（服务器重启后的初始状态，等待第一次心跳同步）
+     */
+    UNKNOWN,
+
+    /**
+     * 离线
+     */
+    OFFLINE,
+
+    // ==================== 准备阶段 ====================
+    /**
+     * 准备中
+     */
+    PREPARING,
+
+    // ==================== 飞行阶段（父状态） ====================
+    /**
+     * 飞行中（父状态）
+     */
+    FLYING_PARENT,
+
+    /**
+     * 飞行中
+     */
+    FLYING,
+
+    /**
+     * 急停（飞行阶段）
+     */
+    EMERGENCY_STOP,
+
+    /**
+     * 到达目的地
+     */
+    ARRIVED,
+
+    // ==================== 返航阶段（父状态） ====================
+    /**
+     * 返航（父状态）
+     */
+    RETURNING_PARENT,
+
+    /**
+     * 返航中
+     */
+    RETURNING,
+
+    /**
+     * 急停（返航阶段）
+     */
+    RETURN_EMERGENCY_STOP,
+
+    /**
+     * 返航完成
+     */
+    RETURN_COMPLETED,
+
+    // ==================== 指点操作（可在飞行和返航阶段使用） ====================
+    /**
+     * 指点操作（父状态）
+     */
+    POINTING_PARENT,
+
+    /**
+     * 准备指点
+     */
+    POINT_PREPARING,
+
+    /**
+     * 指点飞行中
+     */
+    POINT_FLYING,
+
+    /**
+     * 指点完成
+     */
+    POINT_COMPLETED,
+
+    /**
+     * 指点被取消
+     */
+    POINT_CANCELLED
+}
diff --git a/src/main/java/com/tuoheng/machine/state/MachineStates.java b/src/main/java/com/tuoheng/machine/state/MachineStates.java
new file mode 100644
index 0000000..2399644
--- /dev/null
+++ b/src/main/java/com/tuoheng/machine/state/MachineStates.java
@@ -0,0 +1,40 @@
+package com.tuoheng.machine.state;
+
+import lombok.AllArgsConstructor;
+import lombok.Data;
+import lombok.NoArgsConstructor;
+
+/**
+ * 设备的四套大状态
+ */
+@Data
+@NoArgsConstructor
+@AllArgsConstructor
+public class MachineStates {
+    /**
+     * 无人机状态
+     */
+    private DroneState droneState = DroneState.UNKNOWN;
+
+    /**
+     * 机巢状态
+     */
+    private AirportState airportState = AirportState.UNKNOWN;
+
+    /**
+     * 舱门状态
+     */
+    private CoverState coverState = CoverState.UNKNOWN;
+
+    /**
+     * DRC状态
+     */
+    private DrcState drcState = DrcState.UNKNOWN;
+
+    /**
+     * 复制当前状态
+     */
+    public MachineStates copy() {
+        return new MachineStates(droneState, airportState, coverState, drcState);
+    }
+}
diff --git a/src/main/java/com/tuoheng/machine/statemachine/MachineStateManager.java b/src/main/java/com/tuoheng/machine/statemachine/MachineStateManager.java
new file mode 100644
index 0000000..97e3bb8
--- /dev/null
+++ b/src/main/java/com/tuoheng/machine/statemachine/MachineStateManager.java
@@ -0,0 +1,159 @@
+package com.tuoheng.machine.statemachine;
+
+import com.tuoheng.machine.state.*;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * 设备状态管理器
+ */
+@Slf4j
+@Component
+public class MachineStateManager {
+
+    /**
+     * SN -> 设备状态
+     */
+    private final Map<String, MachineStates> stateMap = new ConcurrentHashMap<>();
+
+    /**
+     * 状态变化监听器
+     */
+    private final Map<String, StateChangeListener> stateChangeListeners = new ConcurrentHashMap<>();
+
+    /**
+     * 获取设备状态
+     */
+    public MachineStates getStates(String sn) {
+        return stateMap.computeIfAbsent(sn, k -> new MachineStates());
+    }
+
+    /**
+     * 设置无人机状态
+     */
+    public void setDroneState(String sn, DroneState newState) {
+        MachineStates states = getStates(sn);
+        DroneState oldState = states.getDroneState();
+
+        if (oldState != newState) {
+            states.setDroneState(newState);
+            log.info("无人机状态变化: sn={}, {} -> {}", sn, oldState, newState);
+            notifyStateChange(sn, states.copy());
+        }
+    }
+
+    /**
+     * 设置机巢状态
+     */
+    public void setAirportState(String sn, AirportState newState) {
+        MachineStates states = getStates(sn);
+        AirportState oldState = states.getAirportState();
+
+        if (oldState != newState) {
+            states.setAirportState(newState);
+            log.info("机巢状态变化: sn={}, {} -> {}", sn, oldState, newState);
+            notifyStateChange(sn, states.copy());
+        }
+    }
+
+    /**
+     * 设置舱门状态
+     */
+    public void setCoverState(String sn, CoverState newState) {
+        MachineStates states = getStates(sn);
+        CoverState oldState = states.getCoverState();
+
+        if (oldState != newState) {
+            states.setCoverState(newState);
+            log.info("舱门状态变化: sn={}, {} -> {}", sn, oldState, newState);
+            notifyStateChange(sn, states.copy());
+        }
+    }
+
+    /**
+     * 设置DRC状态
+     */
+    public void setDrcState(String sn, DrcState newState) {
+        MachineStates states = getStates(sn);
+        DrcState oldState = states.getDrcState();
+
+        if (oldState != newState) {
+            states.setDrcState(newState);
+            log.info("DRC状态变化: sn={}, {} -> {}", sn, oldState, newState);
+            notifyStateChange(sn, states.copy());
+        }
+    }
+
+    /**
+     * 批量更新状态（用于心跳同步）
+     */
+    public void updateStates(String sn, MachineStates newStates) {
+        MachineStates currentStates = getStates(sn);
+        boolean changed = false;
+
+        if (currentStates.getDroneState() != newStates.getDroneState()) {
+            currentStates.setDroneState(newStates.getDroneState());
+            changed = true;
+        }
+
+        if (currentStates.getAirportState() != newStates.getAirportState()) {
+            currentStates.setAirportState(newStates.getAirportState());
+            changed = true;
+        }
+
+        if (currentStates.getCoverState() != newStates.getCoverState()) {
+            currentStates.setCoverState(newStates.getCoverState());
+            changed = true;
+        }
+
+        if (currentStates.getDrcState() != newStates.getDrcState()) {
+            currentStates.setDrcState(newStates.getDrcState());
+            changed = true;
+        }
+
+        if (changed) {
+            log.info("设备状态批量更新: sn={}, states={}", sn, currentStates);
+            notifyStateChange(sn, currentStates.copy());
+        }
+    }
+
+    /**
+     * 注册状态变化监听器
+     */
+    public void registerStateChangeListener(String listenerId, StateChangeListener listener) {
+        stateChangeListeners.put(listenerId, listener);
+        log.debug("注册状态变化监听器: listenerId={}", listenerId);
+    }
+
+    /**
+     * 取消注册状态变化监听器
+     */
+    public void unregisterStateChangeListener(String listenerId) {
+        stateChangeListeners.remove(listenerId);
+        log.debug("取消注册状态变化监听器: listenerId={}", listenerId);
+    }
+
+    /**
+     * 通知状态变化
+     */
+    private void notifyStateChange(String sn, MachineStates newStates) {
+        for (StateChangeListener listener : stateChangeListeners.values()) {
+            try {
+                listener.onStateChange(sn, newStates);
+            } catch (Exception e) {
+                log.error("状态变化监听器执行失败: sn={}", sn, e);
+            }
+        }
+    }
+
+    /**
+     * 移除设备状态（设备下线时调用）
+     */
+    public void removeStates(String sn) {
+        stateMap.remove(sn);
+        log.info("移除设备状态: sn={}", sn);
+    }
+}
diff --git a/src/main/java/com/tuoheng/machine/statemachine/StateChangeListener.java b/src/main/java/com/tuoheng/machine/statemachine/StateChangeListener.java
new file mode 100644
index 0000000..6575d1d
--- /dev/null
+++ b/src/main/java/com/tuoheng/machine/statemachine/StateChangeListener.java
@@ -0,0 +1,17 @@
+package com.tuoheng.machine.statemachine;
+
+import com.tuoheng.machine.state.MachineStates;
+
+/**
+ * 状态变化监听器
+ */
+@FunctionalInterface
+public interface StateChangeListener {
+    /**
+     * 状态变化回调
+     *
+     * @param sn        设备SN号
+     * @param newStates 新状态
+     */
+    void onStateChange(String sn, MachineStates newStates);
+}
diff --git a/src/main/java/com/tuoheng/machine/vendor/VendorConfig.java b/src/main/java/com/tuoheng/machine/vendor/VendorConfig.java
new file mode 100644
index 0000000..a00d0ad
--- /dev/null
+++ b/src/main/java/com/tuoheng/machine/vendor/VendorConfig.java
@@ -0,0 +1,49 @@
+package com.tuoheng.machine.vendor;
+
+import com.tuoheng.machine.command.CommandType;
+import com.tuoheng.machine.command.Transaction;
+import com.tuoheng.machine.state.MachineStates;
+
+import java.util.List;
+import java.util.Map;
+
+/**
+ * 厂家配置接口
+ * 每个厂家需要实现此接口，定义其支持的命令和状态转换规则
+ */
+public interface VendorConfig {
+    /**
+     * 获取厂家类型
+     */
+    String getVendorType();
+
+    /**
+     * 获取厂家名称
+     */
+    String getVendorName();
+
+    /**
+     * 获取指定命令的事务定义
+     *
+     * @param commandType 命令类型
+     * @return 事务定义，如果不支持该命令则返回null
+     */
+    Transaction getTransaction(CommandType commandType);
+
+    /**
+     * 判断在当前状态下是否可以执行指定命令
+     *
+     * @param currentStates 当前状态
+     * @param commandType   命令类型
+     * @return 是否可以执行
+     */
+    boolean canExecuteCommand(MachineStates currentStates, CommandType commandType);
+
+    /**
+     * 获取在当前状态下可以执行的命令列表
+     *
+     * @param currentStates 当前状态
+     * @return 可执行的命令列表
+     */
+    List<CommandType> getAvailableCommands(MachineStates currentStates);
+}
diff --git a/src/main/java/com/tuoheng/machine/vendor/VendorRegistry.java b/src/main/java/com/tuoheng/machine/vendor/VendorRegistry.java
new file mode 100644
index 0000000..be2ab45
--- /dev/null
+++ b/src/main/java/com/tuoheng/machine/vendor/VendorRegistry.java
@@ -0,0 +1,93 @@
+package com.tuoheng.machine.vendor;
+
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * 厂家注册中心
+ * 管理SN到厂家的映射关系
+ */
+@Slf4j
+@Component
+public class VendorRegistry {
+
+    /**
+     * 厂家类型 -> 厂家配置
+     */
+    private final Map<String, VendorConfig> vendorConfigs = new ConcurrentHashMap<>();
+
+    /**
+     * SN -> 厂家类型
+     */
+    private final Map<String, String> snToVendorMap = new ConcurrentHashMap<>();
+
+    /**
+     * 注册厂家配置
+     */
+    public void registerVendor(VendorConfig vendorConfig) {
+        vendorConfigs.put(vendorConfig.getVendorType(), vendorConfig);
+        log.info("注册厂家配置: vendorType={}, vendorName={}",
+                vendorConfig.getVendorType(), vendorConfig.getVendorName());
+    }
+
+    /**
+     * 绑定SN到厂家
+     */
+    public void bindSnToVendor(String sn, String vendorType) {
+        if (!vendorConfigs.containsKey(vendorType)) {
+            throw new IllegalArgumentException("未注册的厂家类型: " + vendorType);
+        }
+        snToVendorMap.put(sn, vendorType);
+        log.debug("绑定SN到厂家: sn={}, vendorType={}", sn, vendorType);
+    }
+
+    /**
+     * 解绑SN
+     */
+    public void unbindSn(String sn) {
+        snToVendorMap.remove(sn);
+        log.debug("解绑SN: sn={}", sn);
+    }
+
+    /**
+     * 获取SN对应的厂家类型
+     */
+    public String getVendorType(String sn) {
+        return snToVendorMap.get(sn);
+    }
+
+    /**
+     * 获取SN对应的厂家配置
+     */
+    public VendorConfig getVendorConfig(String sn) {
+        String vendorType = getVendorType(sn);
+        if (vendorType == null) {
+            return null;
+        }
+        return vendorConfigs.get(vendorType);
+    }
+
+    /**
+     * 根据厂家类型获取厂家配置
+     */
+    public VendorConfig getVendorConfigByType(String vendorType) {
+        return vendorConfigs.get(vendorType);
+    }
+
+    /**
+     * 判断SN是否已绑定厂家
+     */
+    public boolean isSnBound(String sn) {
+        return snToVendorMap.containsKey(sn);
+    }
+
+    /**
+     * 获取所有已注册的厂家类型
+     */
+    public java.util.Set<String> getAllVendorTypes() {
+        return vendorConfigs.keySet();
+    }
+}
diff --git a/src/main/java/com/tuoheng/machine/vendor/dji/DjiVendorConfig.java b/src/main/java/com/tuoheng/machine/vendor/dji/DjiVendorConfig.java
new file mode 100644
index 0000000..72103f5
--- /dev/null
+++ b/src/main/java/com/tuoheng/machine/vendor/dji/DjiVendorConfig.java
@@ -0,0 +1,198 @@
+package com.tuoheng.machine.vendor.dji;
+
+import com.tuoheng.machine.command.CommandType;
+import com.tuoheng.machine.command.Transaction;
+import com.tuoheng.machine.state.*;
+import com.tuoheng.machine.vendor.VendorConfig;
+import com.tuoheng.machine.vendor.dji.instruction.*;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+import java.util.ArrayList;
+import java.util.HashMap;
+import java.util.List;
+import java.util.Map;
+
+/**
+ * 大疆无人机厂家配置
+ */
+@Slf4j
+@Component
+public class DjiVendorConfig implements VendorConfig {
+
+    private final Map<CommandType, Transaction> transactionMap = new HashMap<>();
+
+    public DjiVendorConfig() {
+        initTransactions();
+    }
+
+    @Override
+    public String getVendorType() {
+        return "DJI";
+    }
+
+    @Override
+    public String getVendorName() {
+        return "大疆";
+    }
+
+    @Override
+    public Transaction getTransaction(CommandType commandType) {
+        return transactionMap.get(commandType);
+    }
+
+    @Override
+    public boolean canExecuteCommand(MachineStates currentStates, CommandType commandType) {
+        DroneState droneState = currentStates.getDroneState();
+        AirportState airportState = currentStates.getAirportState();
+        CoverState coverState = currentStates.getCoverState();
+
+        switch (commandType) {
+            case TAKE_OFF:
+                // 准备中状态可以起飞
+                return droneState == DroneState.PREPARING;
+
+            case LAND:
+                // 飞行中、到达目的地、急停状态可以降落
+                return droneState == DroneState.FLYING ||
+                        droneState == DroneState.ARRIVED ||
+                        droneState == DroneState.EMERGENCY_STOP;
+
+            case RETURN_HOME:
+                // 飞行中、到达目的地、急停、指点飞行中可以返航
+                return droneState == DroneState.FLYING ||
+                        droneState == DroneState.ARRIVED ||
+                        droneState == DroneState.EMERGENCY_STOP ||
+                        droneState == DroneState.POINT_FLYING;
+
+            case EMERGENCY_STOP:
+                // 飞行中、返航中、指点飞行中可以急停
+                return droneState == DroneState.FLYING ||
+                        droneState == DroneState.RETURNING ||
+                        droneState == DroneState.POINT_FLYING;
+
+            case RESUME_FLIGHT:
+                // 急停状态可以继续飞行
+                return droneState == DroneState.EMERGENCY_STOP ||
+                        droneState == DroneState.RETURN_EMERGENCY_STOP;
+
+            case POINT_FLY:
+                // 飞行中、到达目的地、返航中可以指点飞行
+                return droneState == DroneState.FLYING ||
+                        droneState == DroneState.ARRIVED ||
+                        droneState == DroneState.RETURNING;
+
+            case CANCEL_POINT:
+                // 指点飞行中可以取消指点
+                return droneState == DroneState.POINT_FLYING;
+
+            case START_MISSION:
+                // 准备中状态可以开始航线任务
+                return droneState == DroneState.PREPARING;
+
+            case OPEN_COVER:
+                // 舱门关闭状态可以打开
+                return coverState == CoverState.CLOSED;
+
+            case CLOSE_COVER:
+                // 舱门打开状态可以关闭
+                return coverState == CoverState.OPENED;
+
+            case ENTER_DEBUG_MODE:
+                // 待机状态可以进入调试模式
+                return airportState == AirportState.STANDBY;
+
+            case EXIT_DEBUG_MODE:
+                // 调试模式可以退出
+                return airportState == AirportState.DEBUG_MODE;
+
+            case REBOOT_AIRPORT:
+                // 在线状态可以重启
+                return airportState == AirportState.ONLINE ||
+                        airportState == AirportState.STANDBY;
+
+            default:
+                return false;
+        }
+    }
+
+    @Override
+    public List<CommandType> getAvailableCommands(MachineStates currentStates) {
+        List<CommandType> availableCommands = new ArrayList<>();
+
+        for (CommandType commandType : CommandType.values()) {
+            if (canExecuteCommand(currentStates, commandType)) {
+                availableCommands.add(commandType);
+            }
+        }
+
+        return availableCommands;
+    }
+
+    /**
+     * 初始化事务定义
+     */
+    private void initTransactions() {
+        // 起飞命令
+        Transaction takeOffTransaction = new Transaction("起飞", CommandType.TAKE_OFF)
+                .addInstruction(new DjiTakeOffInstruction())
+                .setTimeout(90000);
+        transactionMap.put(CommandType.TAKE_OFF, takeOffTransaction);
+
+        // 降落命令
+        Transaction landTransaction = new Transaction("降落", CommandType.LAND)
+                .addInstruction(new DjiLandInstruction())
+                .setTimeout(90000);
+        transactionMap.put(CommandType.LAND, landTransaction);
+
+        // 返航命令
+        Transaction returnHomeTransaction = new Transaction("返航", CommandType.RETURN_HOME)
+                .addInstruction(new DjiReturnHomeInstruction())
+                .setTimeout(120000);
+        transactionMap.put(CommandType.RETURN_HOME, returnHomeTransaction);
+
+        // 急停命令
+        Transaction emergencyStopTransaction = new Transaction("急停", CommandType.EMERGENCY_STOP)
+                .addInstruction(new DjiEmergencyStopInstruction())
+                .setTimeout(30000);
+        transactionMap.put(CommandType.EMERGENCY_STOP, emergencyStopTransaction);
+
+        // 继续飞行命令
+        Transaction resumeFlightTransaction = new Transaction("继续飞行", CommandType.RESUME_FLIGHT)
+                .addInstruction(new DjiResumeFlightInstruction())
+                .setTimeout(60000);
+        transactionMap.put(CommandType.RESUME_FLIGHT, resumeFlightTransaction);
+
+        // 指点飞行命令
+        Transaction pointFlyTransaction = new Transaction("指点飞行", CommandType.POINT_FLY)
+                .addInstruction(new DjiPointFlyInstruction())
+                .setTimeout(90000);
+        transactionMap.put(CommandType.POINT_FLY, pointFlyTransaction);
+
+        // 取消指点命令
+        Transaction cancelPointTransaction = new Transaction("取消指点", CommandType.CANCEL_POINT)
+                .addInstruction(new DjiCancelPointInstruction())
+                .setTimeout(30000);
+        transactionMap.put(CommandType.CANCEL_POINT, cancelPointTransaction);
+
+        // 开始航线任务命令
+        Transaction startMissionTransaction = new Transaction("开始航线任务", CommandType.START_MISSION)
+                .addInstruction(new DjiStartMissionInstruction())
+                .setTimeout(120000);
+        transactionMap.put(CommandType.START_MISSION, startMissionTransaction);
+
+        // 打开舱门命令
+        Transaction openCoverTransaction = new Transaction("打开舱门", CommandType.OPEN_COVER)
+                .addInstruction(new DjiOpenCoverInstruction())
+                .setTimeout(60000);
+        transactionMap.put(CommandType.OPEN_COVER, openCoverTransaction);
+
+        // 关闭舱门命令
+        Transaction closeCoverTransaction = new Transaction("关闭舱门", CommandType.CLOSE_COVER)
+                .addInstruction(new DjiCloseCoverInstruction())
+                .setTimeout(60000);
+        transactionMap.put(CommandType.CLOSE_COVER, closeCoverTransaction);
+
+        log.info("大疆厂家配置初始化完成，共配置{}个命令", transactionMap.size());
+    }
+}
diff --git a/src/main/java/com/tuoheng/machine/vendor/dji/instruction/DjiCancelPointInstruction.java b/src/main/java/com/tuoheng/machine/vendor/dji/instruction/DjiCancelPointInstruction.java
new file mode 100644
index 0000000..af9e7f3
--- /dev/null
+++ b/src/main/java/com/tuoheng/machine/vendor/dji/instruction/DjiCancelPointInstruction.java
@@ -0,0 +1,59 @@
+package com.tuoheng.machine.vendor.dji.instruction;
+
+import com.tuoheng.machine.instruction.AbstractInstruction;
+import com.tuoheng.machine.instruction.CallbackConfig;
+import com.tuoheng.machine.instruction.InstructionContext;
+import lombok.extern.slf4j.Slf4j;
+
+/**
+ * 大疆取消指点指令
+ */
+@Slf4j
+public class DjiCancelPointInstruction extends AbstractInstruction {
+
+    @Override
+    public String getName() {
+        return "DJI_CANCEL_POINT";
+    }
+
+    @Override
+    public void executeRemoteCall(InstructionContext context) throws Exception {
+        String sn = context.getSn();
+        log.info("发送大疆取消指点指令: sn={}", sn);
+
+        String topic = "dji/" + sn + "/command";
+        String payload = "{\"cmd\":\"cancelPoint\"}";
+        log.debug("MQTT发送: topic={}, payload={}", topic, payload);
+    }
+
+    @Override
+    public CallbackConfig getMethodCallbackConfig(InstructionContext context) {
+        String sn = context.getSn();
+
+        return CallbackConfig.builder()
+                .topic("dji/" + sn + "/response")
+                .fieldPath("cmd")
+                .expectedValue("cancelPoint")
+                .canShortCircuit(false)
+                .timeoutMs(10000)
+                .build();
+    }
+
+    @Override
+    public CallbackConfig getStateCallbackConfig(InstructionContext context) {
+        String sn = context.getSn();
+
+        return CallbackConfig.builder()
+                .topic("dji/" + sn + "/state")
+                .fieldPath("droneState")
+                .expectedValue("POINT_CANCELLED")
+                .canShortCircuit(false)
+                .timeoutMs(30000)
+                .build();
+    }
+
+    @Override
+    public long getTimeoutMs() {
+        return 30000;
+    }
+}
diff --git a/src/main/java/com/tuoheng/machine/vendor/dji/instruction/DjiCloseCoverInstruction.java b/src/main/java/com/tuoheng/machine/vendor/dji/instruction/DjiCloseCoverInstruction.java
new file mode 100644
index 0000000..b75f7c3
--- /dev/null
+++ b/src/main/java/com/tuoheng/machine/vendor/dji/instruction/DjiCloseCoverInstruction.java
@@ -0,0 +1,59 @@
+package com.tuoheng.machine.vendor.dji.instruction;
+
+import com.tuoheng.machine.instruction.AbstractInstruction;
+import com.tuoheng.machine.instruction.CallbackConfig;
+import com.tuoheng.machine.instruction.InstructionContext;
+import lombok.extern.slf4j.Slf4j;
+
+/**
+ * 大疆关闭舱门指令
+ */
+@Slf4j
+public class DjiCloseCoverInstruction extends AbstractInstruction {
+
+    @Override
+    public String getName() {
+        return "DJI_CLOSE_COVER";
+    }
+
+    @Override
+    public void executeRemoteCall(InstructionContext context) throws Exception {
+        String sn = context.getSn();
+        log.info("发送大疆关闭舱门指令: sn={}", sn);
+
+        String topic = "dji/" + sn + "/command";
+        String payload = "{\"cmd\":\"closeCover\"}";
+        log.debug("MQTT发送: topic={}, payload={}", topic, payload);
+    }
+
+    @Override
+    public CallbackConfig getMethodCallbackConfig(InstructionContext context) {
+        String sn = context.getSn();
+
+        return CallbackConfig.builder()
+                .topic("dji/" + sn + "/response")
+                .fieldPath("cmd")
+                .expectedValue("closeCover")
+                .canShortCircuit(false)
+                .timeoutMs(10000)
+                .build();
+    }
+
+    @Override
+    public CallbackConfig getStateCallbackConfig(InstructionContext context) {
+        String sn = context.getSn();
+
+        return CallbackConfig.builder()
+                .topic("dji/" + sn + "/state")
+                .fieldPath("coverState")
+                .expectedValue("CLOSED")
+                .canShortCircuit(false)
+                .timeoutMs(60000)
+                .build();
+    }
+
+    @Override
+    public long getTimeoutMs() {
+        return 60000;
+    }
+}
diff --git a/src/main/java/com/tuoheng/machine/vendor/dji/instruction/DjiEmergencyStopInstruction.java b/src/main/java/com/tuoheng/machine/vendor/dji/instruction/DjiEmergencyStopInstruction.java
new file mode 100644
index 0000000..c355acf
--- /dev/null
+++ b/src/main/java/com/tuoheng/machine/vendor/dji/instruction/DjiEmergencyStopInstruction.java
@@ -0,0 +1,62 @@
+package com.tuoheng.machine.vendor.dji.instruction;
+
+import com.tuoheng.machine.instruction.AbstractInstruction;
+import com.tuoheng.machine.instruction.CallbackConfig;
+import com.tuoheng.machine.instruction.InstructionContext;
+import lombok.extern.slf4j.Slf4j;
+
+/**
+ * 大疆急停指令
+ */
+@Slf4j
+public class DjiEmergencyStopInstruction extends AbstractInstruction {
+
+    @Override
+    public String getName() {
+        return "DJI_EMERGENCY_STOP";
+    }
+
+    @Override
+    public void executeRemoteCall(InstructionContext context) throws Exception {
+        String sn = context.getSn();
+        log.info("发送大疆急停指令: sn={}", sn);
+
+        String topic = "dji/" + sn + "/command";
+        String payload = "{\"cmd\":\"emergencyStop\"}";
+        log.debug("MQTT发送: topic={}, payload={}", topic, payload);
+    }
+
+    @Override
+    public CallbackConfig getMethodCallbackConfig(InstructionContext context) {
+        String sn = context.getSn();
+
+        return CallbackConfig.builder()
+                .topic("dji/" + sn + "/response")
+                .fieldPath("cmd")
+                .expectedValue("emergencyStop")
+                .canShortCircuit(false)
+                .timeoutMs(5000)
+                .build();
+    }
+
+    @Override
+    public CallbackConfig getStateCallbackConfig(InstructionContext context) {
+        String sn = context.getSn();
+
+        return CallbackConfig.builder()
+                .topic("dji/" + sn + "/state")
+                .fieldPath("droneState")
+                .customPredicate(state -> {
+                    // 急停状态可能是 EMERGENCY_STOP 或 RETURN_EMERGENCY_STOP
+                    return "EMERGENCY_STOP".equals(state) || "RETURN_EMERGENCY_STOP".equals(state);
+                })
+                .canShortCircuit(false)
+                .timeoutMs(30000)
+                .build();
+    }
+
+    @Override
+    public long getTimeoutMs() {
+        return 30000;
+    }
+}
diff --git a/src/main/java/com/tuoheng/machine/vendor/dji/instruction/DjiLandInstruction.java b/src/main/java/com/tuoheng/machine/vendor/dji/instruction/DjiLandInstruction.java
new file mode 100644
index 0000000..07ac132
--- /dev/null
+++ b/src/main/java/com/tuoheng/machine/vendor/dji/instruction/DjiLandInstruction.java
@@ -0,0 +1,60 @@
+package com.tuoheng.machine.vendor.dji.instruction;
+
+import com.tuoheng.machine.instruction.AbstractInstruction;
+import com.tuoheng.machine.instruction.CallbackConfig;
+import com.tuoheng.machine.instruction.InstructionContext;
+import lombok.extern.slf4j.Slf4j;
+
+/**
+ * 大疆降落指令
+ */
+@Slf4j
+public class DjiLandInstruction extends AbstractInstruction {
+
+    @Override
+    public String getName() {
+        return "DJI_LAND";
+    }
+
+    @Override
+    public void executeRemoteCall(InstructionContext context) throws Exception {
+        String sn = context.getSn();
+        log.info("发送大疆降落指令: sn={}", sn);
+
+        // TODO: 实际的MQTT发送逻辑
+        String topic = "dji/" + sn + "/command";
+        String payload = "{\"cmd\":\"land\"}";
+        log.debug("MQTT发送: topic={}, payload={}", topic, payload);
+    }
+
+    @Override
+    public CallbackConfig getMethodCallbackConfig(InstructionContext context) {
+        String sn = context.getSn();
+
+        return CallbackConfig.builder()
+                .topic("dji/" + sn + "/response")
+                .fieldPath("cmd")
+                .expectedValue("land")
+                .canShortCircuit(false)
+                .timeoutMs(10000)
+                .build();
+    }
+
+    @Override
+    public CallbackConfig getStateCallbackConfig(InstructionContext context) {
+        String sn = context.getSn();
+
+        return CallbackConfig.builder()
+                .topic("dji/" + sn + "/state")
+                .fieldPath("droneState")
+                .expectedValue("PREPARING")
+                .canShortCircuit(false)
+                .timeoutMs(60000)
+                .build();
+    }
+
+    @Override
+    public long getTimeoutMs() {
+        return 90000;
+    }
+}
diff --git a/src/main/java/com/tuoheng/machine/vendor/dji/instruction/DjiOpenCoverInstruction.java b/src/main/java/com/tuoheng/machine/vendor/dji/instruction/DjiOpenCoverInstruction.java
new file mode 100644
index 0000000..8c1be4e
--- /dev/null
+++ b/src/main/java/com/tuoheng/machine/vendor/dji/instruction/DjiOpenCoverInstruction.java
@@ -0,0 +1,59 @@
+package com.tuoheng.machine.vendor.dji.instruction;
+
+import com.tuoheng.machine.instruction.AbstractInstruction;
+import com.tuoheng.machine.instruction.CallbackConfig;
+import com.tuoheng.machine.instruction.InstructionContext;
+import lombok.extern.slf4j.Slf4j;
+
+/**
+ * 大疆打开舱门指令
+ */
+@Slf4j
+public class DjiOpenCoverInstruction extends AbstractInstruction {
+
+    @Override
+    public String getName() {
+        return "DJI_OPEN_COVER";
+    }
+
+    @Override
+    public void executeRemoteCall(InstructionContext context) throws Exception {
+        String sn = context.getSn();
+        log.info("发送大疆打开舱门指令: sn={}", sn);
+
+        String topic = "dji/" + sn + "/command";
+        String payload = "{\"cmd\":\"openCover\"}";
+        log.debug("MQTT发送: topic={}, payload={}", topic, payload);
+    }
+
+    @Override
+    public CallbackConfig getMethodCallbackConfig(InstructionContext context) {
+        String sn = context.getSn();
+
+        return CallbackConfig.builder()
+                .topic("dji/" + sn + "/response")
+                .fieldPath("cmd")
+                .expectedValue("openCover")
+                .canShortCircuit(false)
+                .timeoutMs(10000)
+                .build();
+    }
+
+    @Override
+    public CallbackConfig getStateCallbackConfig(InstructionContext context) {
+        String sn = context.getSn();
+
+        return CallbackConfig.builder()
+                .topic("dji/" + sn + "/state")
+                .fieldPath("coverState")
+                .expectedValue("OPENED")
+                .canShortCircuit(false)
+                .timeoutMs(60000)
+                .build();
+    }
+
+    @Override
+    public long getTimeoutMs() {
+        return 60000;
+    }
+}
diff --git a/src/main/java/com/tuoheng/machine/vendor/dji/instruction/DjiPointFlyInstruction.java b/src/main/java/com/tuoheng/machine/vendor/dji/instruction/DjiPointFlyInstruction.java
new file mode 100644
index 0000000..9485a6d
--- /dev/null
+++ b/src/main/java/com/tuoheng/machine/vendor/dji/instruction/DjiPointFlyInstruction.java
@@ -0,0 +1,64 @@
+package com.tuoheng.machine.vendor.dji.instruction;
+
+import com.tuoheng.machine.instruction.AbstractInstruction;
+import com.tuoheng.machine.instruction.CallbackConfig;
+import com.tuoheng.machine.instruction.InstructionContext;
+import lombok.extern.slf4j.Slf4j;
+
+/**
+ * 大疆指点飞行指令
+ */
+@Slf4j
+public class DjiPointFlyInstruction extends AbstractInstruction {
+
+    @Override
+    public String getName() {
+        return "DJI_POINT_FLY";
+    }
+
+    @Override
+    public void executeRemoteCall(InstructionContext context) throws Exception {
+        String sn = context.getSn();
+        Object latitude = context.getCommandParam("latitude");
+        Object longitude = context.getCommandParam("longitude");
+        Object altitude = context.getCommandParam("altitude");
+
+        log.info("发送大疆指点飞行指令: sn={}, lat={}, lon={}, alt={}", sn, latitude, longitude, altitude);
+
+        String topic = "dji/" + sn + "/command";
+        String payload = String.format("{\"cmd\":\"pointFly\",\"latitude\":%s,\"longitude\":%s,\"altitude\":%s}",
+                latitude, longitude, altitude);
+        log.debug("MQTT发送: topic={}, payload={}", topic, payload);
+    }
+
+    @Override
+    public CallbackConfig getMethodCallbackConfig(InstructionContext context) {
+        String sn = context.getSn();
+
+        return CallbackConfig.builder()
+                .topic("dji/" + sn + "/response")
+                .fieldPath("cmd")
+                .expectedValue("pointFly")
+                .canShortCircuit(false)
+                .timeoutMs(10000)
+                .build();
+    }
+
+    @Override
+    public CallbackConfig getStateCallbackConfig(InstructionContext context) {
+        String sn = context.getSn();
+
+        return CallbackConfig.builder()
+                .topic("dji/" + sn + "/state")
+                .fieldPath("droneState")
+                .expectedValue("POINT_FLYING")
+                .canShortCircuit(false)
+                .timeoutMs(30000)
+                .build();
+    }
+
+    @Override
+    public long getTimeoutMs() {
+        return 90000;
+    }
+}
diff --git a/src/main/java/com/tuoheng/machine/vendor/dji/instruction/DjiResumeFlightInstruction.java b/src/main/java/com/tuoheng/machine/vendor/dji/instruction/DjiResumeFlightInstruction.java
new file mode 100644
index 0000000..2a4386b
--- /dev/null
+++ b/src/main/java/com/tuoheng/machine/vendor/dji/instruction/DjiResumeFlightInstruction.java
@@ -0,0 +1,62 @@
+package com.tuoheng.machine.vendor.dji.instruction;
+
+import com.tuoheng.machine.instruction.AbstractInstruction;
+import com.tuoheng.machine.instruction.CallbackConfig;
+import com.tuoheng.machine.instruction.InstructionContext;
+import lombok.extern.slf4j.Slf4j;
+
+/**
+ * 大疆继续飞行指令
+ */
+@Slf4j
+public class DjiResumeFlightInstruction extends AbstractInstruction {
+
+    @Override
+    public String getName() {
+        return "DJI_RESUME_FLIGHT";
+    }
+
+    @Override
+    public void executeRemoteCall(InstructionContext context) throws Exception {
+        String sn = context.getSn();
+        log.info("发送大疆继续飞行指令: sn={}", sn);
+
+        String topic = "dji/" + sn + "/command";
+        String payload = "{\"cmd\":\"resumeFlight\"}";
+        log.debug("MQTT发送: topic={}, payload={}", topic, payload);
+    }
+
+    @Override
+    public CallbackConfig getMethodCallbackConfig(InstructionContext context) {
+        String sn = context.getSn();
+
+        return CallbackConfig.builder()
+                .topic("dji/" + sn + "/response")
+                .fieldPath("cmd")
+                .expectedValue("resumeFlight")
+                .canShortCircuit(false)
+                .timeoutMs(10000)
+                .build();
+    }
+
+    @Override
+    public CallbackConfig getStateCallbackConfig(InstructionContext context) {
+        String sn = context.getSn();
+
+        return CallbackConfig.builder()
+                .topic("dji/" + sn + "/state")
+                .fieldPath("droneState")
+                .customPredicate(state -> {
+                    // 继续飞行后可能变为 FLYING 或 RETURNING
+                    return "FLYING".equals(state) || "RETURNING".equals(state);
+                })
+                .canShortCircuit(false)
+                .timeoutMs(30000)
+                .build();
+    }
+
+    @Override
+    public long getTimeoutMs() {
+        return 60000;
+    }
+}
diff --git a/src/main/java/com/tuoheng/machine/vendor/dji/instruction/DjiReturnHomeInstruction.java b/src/main/java/com/tuoheng/machine/vendor/dji/instruction/DjiReturnHomeInstruction.java
new file mode 100644
index 0000000..ba682b2
--- /dev/null
+++ b/src/main/java/com/tuoheng/machine/vendor/dji/instruction/DjiReturnHomeInstruction.java
@@ -0,0 +1,59 @@
+package com.tuoheng.machine.vendor.dji.instruction;
+
+import com.tuoheng.machine.instruction.AbstractInstruction;
+import com.tuoheng.machine.instruction.CallbackConfig;
+import com.tuoheng.machine.instruction.InstructionContext;
+import lombok.extern.slf4j.Slf4j;
+
+/**
+ * 大疆返航指令
+ */
+@Slf4j
+public class DjiReturnHomeInstruction extends AbstractInstruction {
+
+    @Override
+    public String getName() {
+        return "DJI_RETURN_HOME";
+    }
+
+    @Override
+    public void executeRemoteCall(InstructionContext context) throws Exception {
+        String sn = context.getSn();
+        log.info("发送大疆返航指令: sn={}", sn);
+
+        String topic = "dji/" + sn + "/command";
+        String payload = "{\"cmd\":\"returnHome\"}";
+        log.debug("MQTT发送: topic={}, payload={}", topic, payload);
+    }
+
+    @Override
+    public CallbackConfig getMethodCallbackConfig(InstructionContext context) {
+        String sn = context.getSn();
+
+        return CallbackConfig.builder()
+                .topic("dji/" + sn + "/response")
+                .fieldPath("cmd")
+                .expectedValue("returnHome")
+                .canShortCircuit(false)
+                .timeoutMs(10000)
+                .build();
+    }
+
+    @Override
+    public CallbackConfig getStateCallbackConfig(InstructionContext context) {
+        String sn = context.getSn();
+
+        return CallbackConfig.builder()
+                .topic("dji/" + sn + "/state")
+                .fieldPath("droneState")
+                .expectedValue("RETURNING")
+                .canShortCircuit(false)
+                .timeoutMs(60000)
+                .build();
+    }
+
+    @Override
+    public long getTimeoutMs() {
+        return 120000;
+    }
+}
diff --git a/src/main/java/com/tuoheng/machine/vendor/dji/instruction/DjiStartMissionInstruction.java b/src/main/java/com/tuoheng/machine/vendor/dji/instruction/DjiStartMissionInstruction.java
new file mode 100644
index 0000000..85b9a45
--- /dev/null
+++ b/src/main/java/com/tuoheng/machine/vendor/dji/instruction/DjiStartMissionInstruction.java
@@ -0,0 +1,61 @@
+package com.tuoheng.machine.vendor.dji.instruction;
+
+import com.tuoheng.machine.instruction.AbstractInstruction;
+import com.tuoheng.machine.instruction.CallbackConfig;
+import com.tuoheng.machine.instruction.InstructionContext;
+import lombok.extern.slf4j.Slf4j;
+
+/**
+ * 大疆开始航线任务指令
+ */
+@Slf4j
+public class DjiStartMissionInstruction extends AbstractInstruction {
+
+    @Override
+    public String getName() {
+        return "DJI_START_MISSION";
+    }
+
+    @Override
+    public void executeRemoteCall(InstructionContext context) throws Exception {
+        String sn = context.getSn();
+        Object missionId = context.getCommandParam("missionId");
+
+        log.info("发送大疆开始航线任务指令: sn={}, missionId={}", sn, missionId);
+
+        String topic = "dji/" + sn + "/command";
+        String payload = String.format("{\"cmd\":\"startMission\",\"missionId\":\"%s\"}", missionId);
+        log.debug("MQTT发送: topic={}, payload={}", topic, payload);
+    }
+
+    @Override
+    public CallbackConfig getMethodCallbackConfig(InstructionContext context) {
+        String sn = context.getSn();
+
+        return CallbackConfig.builder()
+                .topic("dji/" + sn + "/response")
+                .fieldPath("cmd")
+                .expectedValue("startMission")
+                .canShortCircuit(false)
+                .timeoutMs(10000)
+                .build();
+    }
+
+    @Override
+    public CallbackConfig getStateCallbackConfig(InstructionContext context) {
+        String sn = context.getSn();
+
+        return CallbackConfig.builder()
+                .topic("dji/" + sn + "/state")
+                .fieldPath("droneState")
+                .expectedValue("FLYING")
+                .canShortCircuit(false)
+                .timeoutMs(60000)
+                .build();
+    }
+
+    @Override
+    public long getTimeoutMs() {
+        return 120000;
+    }
+}
diff --git a/src/main/java/com/tuoheng/machine/vendor/dji/instruction/DjiTakeOffInstruction.java b/src/main/java/com/tuoheng/machine/vendor/dji/instruction/DjiTakeOffInstruction.java
new file mode 100644
index 0000000..5697cdd
--- /dev/null
+++ b/src/main/java/com/tuoheng/machine/vendor/dji/instruction/DjiTakeOffInstruction.java
@@ -0,0 +1,65 @@
+package com.tuoheng.machine.vendor.dji.instruction;
+
+import com.tuoheng.machine.instruction.AbstractInstruction;
+import com.tuoheng.machine.instruction.CallbackConfig;
+import com.tuoheng.machine.instruction.InstructionContext;
+import lombok.extern.slf4j.Slf4j;
+
+/**
+ * 大疆起飞指令
+ */
+@Slf4j
+public class DjiTakeOffInstruction extends AbstractInstruction {
+
+    @Override
+    public String getName() {
+        return "DJI_TAKE_OFF";
+    }
+
+    @Override
+    public void executeRemoteCall(InstructionContext context) throws Exception {
+        String sn = context.getSn();
+        log.info("发送大疆起飞指令: sn={}", sn);
+
+        // TODO: 实际的MQTT发送逻辑
+        // 示例：mqttClient.publish("dji/" + sn + "/command", "{\"cmd\":\"takeoff\"}");
+
+        // 这里是示例代码，实际使用时需要替换为真实的MQTT发送逻辑
+        String topic = "dji/" + sn + "/command";
+        String payload = "{\"cmd\":\"takeoff\"}";
+        log.debug("MQTT发送: topic={}, payload={}", topic, payload);
+    }
+
+    @Override
+    public CallbackConfig getMethodCallbackConfig(InstructionContext context) {
+        String sn = context.getSn();
+
+        // 方法回调：等待起飞指令的ACK响应
+        return CallbackConfig.builder()
+                .topic("dji/" + sn + "/response")
+                .fieldPath("cmd")
+                .expectedValue("takeoff")
+                .canShortCircuit(false) // 不可短路，必须等待响应
+                .timeoutMs(10000) // 10秒超时
+                .build();
+    }
+
+    @Override
+    public CallbackConfig getStateCallbackConfig(InstructionContext context) {
+        String sn = context.getSn();
+
+        // 状态回调：等待无人机状态变为飞行中
+        return CallbackConfig.builder()
+                .topic("dji/" + sn + "/state")
+                .fieldPath("droneState")
+                .expectedValue("FLYING")
+                .canShortCircuit(false) // 不可短路，必须等待状态变化
+                .timeoutMs(60000) // 60秒超时
+                .build();
+    }
+
+    @Override
+    public long getTimeoutMs() {
+        return 90000; // 90秒总超时
+    }
+}
diff --git a/src/main/java/com/tuoheng/old/action/airport/OfflineAction.java b/src/main/java/com/tuoheng/old/action/airport/OfflineAction.java
new file mode 100644
index 0000000..cf27de9
--- /dev/null
+++ b/src/main/java/com/tuoheng/old/action/airport/OfflineAction.java
@@ -0,0 +1,12 @@
+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 offline handling; platform implementations extend this.
+ */
+public abstract class OfflineAction implements PlatformAction<AirportState, AirportEvent> {
+}
+
diff --git a/src/main/java/com/tuoheng/old/action/airport/OnlineAction.java b/src/main/java/com/tuoheng/old/action/airport/OnlineAction.java
new file mode 100644
index 0000000..9bade0f
--- /dev/null
+++ b/src/main/java/com/tuoheng/old/action/airport/OnlineAction.java
@@ -0,0 +1,12 @@
+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> {
+}
+
diff --git a/src/main/java/com/tuoheng/old/action/cover/CloseCoverAction.java b/src/main/java/com/tuoheng/old/action/cover/CloseCoverAction.java
new file mode 100644
index 0000000..a3e2243
--- /dev/null
+++ b/src/main/java/com/tuoheng/old/action/cover/CloseCoverAction.java
@@ -0,0 +1,12 @@
+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> {
+}
+
diff --git a/src/main/java/com/tuoheng/old/action/cover/CoverClosedAction.java b/src/main/java/com/tuoheng/old/action/cover/CoverClosedAction.java
new file mode 100644
index 0000000..c2a7163
--- /dev/null
+++ b/src/main/java/com/tuoheng/old/action/cover/CoverClosedAction.java
@@ -0,0 +1,12 @@
+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> {
+}
+
diff --git a/src/main/java/com/tuoheng/old/action/cover/CoverOpenedAction.java b/src/main/java/com/tuoheng/old/action/cover/CoverOpenedAction.java
new file mode 100644
index 0000000..7fe3efb
--- /dev/null
+++ b/src/main/java/com/tuoheng/old/action/cover/CoverOpenedAction.java
@@ -0,0 +1,12 @@
+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> {
+}
+
diff --git a/src/main/java/com/tuoheng/old/action/cover/OpenCoverAction.java b/src/main/java/com/tuoheng/old/action/cover/OpenCoverAction.java
new file mode 100644
index 0000000..de45d9d
--- /dev/null
+++ b/src/main/java/com/tuoheng/old/action/cover/OpenCoverAction.java
@@ -0,0 +1,12 @@
+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> {
+}
+
diff --git a/src/main/java/com/tuoheng/old/action/debug/CloseDebugModeAction.java b/src/main/java/com/tuoheng/old/action/debug/CloseDebugModeAction.java
new file mode 100644
index 0000000..c21ad0e
--- /dev/null
+++ b/src/main/java/com/tuoheng/old/action/debug/CloseDebugModeAction.java
@@ -0,0 +1,12 @@
+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> {
+}
+
diff --git a/src/main/java/com/tuoheng/old/action/debug/OpenDebugModeAction.java b/src/main/java/com/tuoheng/old/action/debug/OpenDebugModeAction.java
new file mode 100644
index 0000000..26bc88f
--- /dev/null
+++ b/src/main/java/com/tuoheng/old/action/debug/OpenDebugModeAction.java
@@ -0,0 +1,12 @@
+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> {
+}
+
diff --git a/src/main/java/com/tuoheng/old/action/drc/EnterAction.java b/src/main/java/com/tuoheng/old/action/drc/EnterAction.java
new file mode 100644
index 0000000..0f5f255
--- /dev/null
+++ b/src/main/java/com/tuoheng/old/action/drc/EnterAction.java
@@ -0,0 +1,11 @@
+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> {
+}
diff --git a/src/main/java/com/tuoheng/old/action/drc/EnteredAction.java b/src/main/java/com/tuoheng/old/action/drc/EnteredAction.java
new file mode 100644
index 0000000..7c58c3b
--- /dev/null
+++ b/src/main/java/com/tuoheng/old/action/drc/EnteredAction.java
@@ -0,0 +1,11 @@
+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> {
+}
diff --git a/src/main/java/com/tuoheng/old/action/drc/ExitAction.java b/src/main/java/com/tuoheng/old/action/drc/ExitAction.java
new file mode 100644
index 0000000..cb386c8
--- /dev/null
+++ b/src/main/java/com/tuoheng/old/action/drc/ExitAction.java
@@ -0,0 +1,11 @@
+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> {
+}
diff --git a/src/main/java/com/tuoheng/old/action/drc/ExitedAction.java b/src/main/java/com/tuoheng/old/action/drc/ExitedAction.java
new file mode 100644
index 0000000..c65499b
--- /dev/null
+++ b/src/main/java/com/tuoheng/old/action/drc/ExitedAction.java
@@ -0,0 +1,11 @@
+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> {
+}
diff --git a/src/main/java/com/tuoheng/old/action/drone/ArriveAction.java b/src/main/java/com/tuoheng/old/action/drone/ArriveAction.java
new file mode 100644
index 0000000..21da193
--- /dev/null
+++ b/src/main/java/com/tuoheng/old/action/drone/ArriveAction.java
@@ -0,0 +1,11 @@
+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> {
+}
\ No newline at end of file
diff --git a/src/main/java/com/tuoheng/machine/action/drone/CancelPointAction.java b/src/main/java/com/tuoheng/old/action/drone/CancelPointAction.java
similarity index 50%
rename from src/main/java/com/tuoheng/machine/action/drone/CancelPointAction.java
rename to src/main/java/com/tuoheng/old/action/drone/CancelPointAction.java
index 570c674..fb9cfae 100644
--- a/src/main/java/com/tuoheng/machine/action/drone/CancelPointAction.java
+++ b/src/main/java/com/tuoheng/old/action/drone/CancelPointAction.java
@@ -1,8 +1,8 @@
-package com.tuoheng.machine.action.drone;
+package com.tuoheng.old.action.drone;
 
-import com.tuoheng.machine.events.DroneEvent;
-import com.tuoheng.machine.platform.strategy.PlatformAction;
-import com.tuoheng.machine.status.DroneState;
+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.
diff --git a/src/main/java/com/tuoheng/old/action/drone/EmergencyStopAction.java b/src/main/java/com/tuoheng/old/action/drone/EmergencyStopAction.java
new file mode 100644
index 0000000..5ab8163
--- /dev/null
+++ b/src/main/java/com/tuoheng/old/action/drone/EmergencyStopAction.java
@@ -0,0 +1,11 @@
+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> {
+}
\ No newline at end of file
diff --git a/src/main/java/com/tuoheng/old/action/drone/OfflineAction.java b/src/main/java/com/tuoheng/old/action/drone/OfflineAction.java
new file mode 100644
index 0000000..db703f9
--- /dev/null
+++ b/src/main/java/com/tuoheng/old/action/drone/OfflineAction.java
@@ -0,0 +1,11 @@
+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> {
+}
\ No newline at end of file
diff --git a/src/main/java/com/tuoheng/machine/action/drone/PointFlyingCompletedAction.java b/src/main/java/com/tuoheng/old/action/drone/PointFlyingCompletedAction.java
similarity index 51%
rename from src/main/java/com/tuoheng/machine/action/drone/PointFlyingCompletedAction.java
rename to src/main/java/com/tuoheng/old/action/drone/PointFlyingCompletedAction.java
index 5515d7f..3c8fe0c 100644
--- a/src/main/java/com/tuoheng/machine/action/drone/PointFlyingCompletedAction.java
+++ b/src/main/java/com/tuoheng/old/action/drone/PointFlyingCompletedAction.java
@@ -1,8 +1,8 @@
-package com.tuoheng.machine.action.drone;
+package com.tuoheng.old.action.drone;
 
-import com.tuoheng.machine.events.DroneEvent;
-import com.tuoheng.machine.platform.strategy.PlatformAction;
-import com.tuoheng.machine.status.DroneState;
+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.
diff --git a/src/main/java/com/tuoheng/machine/action/drone/PointPrepareCompletedAction.java b/src/main/java/com/tuoheng/old/action/drone/PointPrepareCompletedAction.java
similarity index 51%
rename from src/main/java/com/tuoheng/machine/action/drone/PointPrepareCompletedAction.java
rename to src/main/java/com/tuoheng/old/action/drone/PointPrepareCompletedAction.java
index 106c066..5c6750d 100644
--- a/src/main/java/com/tuoheng/machine/action/drone/PointPrepareCompletedAction.java
+++ b/src/main/java/com/tuoheng/old/action/drone/PointPrepareCompletedAction.java
@@ -1,8 +1,8 @@
-package com.tuoheng.machine.action.drone;
+package com.tuoheng.old.action.drone;
 
-import com.tuoheng.machine.events.DroneEvent;
-import com.tuoheng.machine.platform.strategy.PlatformAction;
-import com.tuoheng.machine.status.DroneState;
+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.
diff --git a/src/main/java/com/tuoheng/old/action/drone/PointToFlyingAction.java b/src/main/java/com/tuoheng/old/action/drone/PointToFlyingAction.java
new file mode 100644
index 0000000..c3c1cd6
--- /dev/null
+++ b/src/main/java/com/tuoheng/old/action/drone/PointToFlyingAction.java
@@ -0,0 +1,11 @@
+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> {
+}
\ No newline at end of file
diff --git a/src/main/java/com/tuoheng/old/action/drone/PointToReturnAction.java b/src/main/java/com/tuoheng/old/action/drone/PointToReturnAction.java
new file mode 100644
index 0000000..6ee5325
--- /dev/null
+++ b/src/main/java/com/tuoheng/old/action/drone/PointToReturnAction.java
@@ -0,0 +1,11 @@
+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> {
+}
\ No newline at end of file
diff --git a/src/main/java/com/tuoheng/machine/action/drone/PrepareCompletedAction.java b/src/main/java/com/tuoheng/old/action/drone/PrepareCompletedAction.java
similarity index 50%
rename from src/main/java/com/tuoheng/machine/action/drone/PrepareCompletedAction.java
rename to src/main/java/com/tuoheng/old/action/drone/PrepareCompletedAction.java
index 3b1e8d4..791433a 100644
--- a/src/main/java/com/tuoheng/machine/action/drone/PrepareCompletedAction.java
+++ b/src/main/java/com/tuoheng/old/action/drone/PrepareCompletedAction.java
@@ -1,8 +1,8 @@
-package com.tuoheng.machine.action.drone;
+package com.tuoheng.old.action.drone;
 
-import com.tuoheng.machine.events.DroneEvent;
-import com.tuoheng.machine.platform.strategy.PlatformAction;
-import com.tuoheng.machine.status.DroneState;
+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.
diff --git a/src/main/java/com/tuoheng/old/action/drone/ResumeFlyingAction.java b/src/main/java/com/tuoheng/old/action/drone/ResumeFlyingAction.java
new file mode 100644
index 0000000..9f70fff
--- /dev/null
+++ b/src/main/java/com/tuoheng/old/action/drone/ResumeFlyingAction.java
@@ -0,0 +1,11 @@
+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> {
+}
\ No newline at end of file
diff --git a/src/main/java/com/tuoheng/old/action/drone/ResumeReturnAction.java b/src/main/java/com/tuoheng/old/action/drone/ResumeReturnAction.java
new file mode 100644
index 0000000..8956009
--- /dev/null
+++ b/src/main/java/com/tuoheng/old/action/drone/ResumeReturnAction.java
@@ -0,0 +1,11 @@
+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> {
+}
\ No newline at end of file
diff --git a/src/main/java/com/tuoheng/machine/action/drone/ReturnCompletedAction.java b/src/main/java/com/tuoheng/old/action/drone/ReturnCompletedAction.java
similarity index 50%
rename from src/main/java/com/tuoheng/machine/action/drone/ReturnCompletedAction.java
rename to src/main/java/com/tuoheng/old/action/drone/ReturnCompletedAction.java
index 11b15fa..6c1d2e6 100644
--- a/src/main/java/com/tuoheng/machine/action/drone/ReturnCompletedAction.java
+++ b/src/main/java/com/tuoheng/old/action/drone/ReturnCompletedAction.java
@@ -1,8 +1,8 @@
-package com.tuoheng.machine.action.drone;
+package com.tuoheng.old.action.drone;
 
-import com.tuoheng.machine.events.DroneEvent;
-import com.tuoheng.machine.platform.strategy.PlatformAction;
-import com.tuoheng.machine.status.DroneState;
+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.
diff --git a/src/main/java/com/tuoheng/machine/action/drone/ReturnEmergencyStopAction.java b/src/main/java/com/tuoheng/old/action/drone/ReturnEmergencyStopAction.java
similarity index 51%
rename from src/main/java/com/tuoheng/machine/action/drone/ReturnEmergencyStopAction.java
rename to src/main/java/com/tuoheng/old/action/drone/ReturnEmergencyStopAction.java
index 3547efc..d3667e5 100644
--- a/src/main/java/com/tuoheng/machine/action/drone/ReturnEmergencyStopAction.java
+++ b/src/main/java/com/tuoheng/old/action/drone/ReturnEmergencyStopAction.java
@@ -1,8 +1,8 @@
-package com.tuoheng.machine.action.drone;
+package com.tuoheng.old.action.drone;
 
-import com.tuoheng.machine.events.DroneEvent;
-import com.tuoheng.machine.platform.strategy.PlatformAction;
-import com.tuoheng.machine.status.DroneState;
+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.
diff --git a/src/main/java/com/tuoheng/old/action/drone/StartFlyingAction.java b/src/main/java/com/tuoheng/old/action/drone/StartFlyingAction.java
new file mode 100644
index 0000000..6a73c8f
--- /dev/null
+++ b/src/main/java/com/tuoheng/old/action/drone/StartFlyingAction.java
@@ -0,0 +1,11 @@
+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> {
+}
\ No newline at end of file
diff --git a/src/main/java/com/tuoheng/machine/action/drone/StartPointingAction.java b/src/main/java/com/tuoheng/old/action/drone/StartPointingAction.java
similarity index 50%
rename from src/main/java/com/tuoheng/machine/action/drone/StartPointingAction.java
rename to src/main/java/com/tuoheng/old/action/drone/StartPointingAction.java
index 51b0f5d..f30202f 100644
--- a/src/main/java/com/tuoheng/machine/action/drone/StartPointingAction.java
+++ b/src/main/java/com/tuoheng/old/action/drone/StartPointingAction.java
@@ -1,8 +1,8 @@
-package com.tuoheng.machine.action.drone;
+package com.tuoheng.old.action.drone;
 
-import com.tuoheng.machine.events.DroneEvent;
-import com.tuoheng.machine.platform.strategy.PlatformAction;
-import com.tuoheng.machine.status.DroneState;
+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.
diff --git a/src/main/java/com/tuoheng/old/action/drone/StartPrepareAction.java b/src/main/java/com/tuoheng/old/action/drone/StartPrepareAction.java
new file mode 100644
index 0000000..0fdf8ac
--- /dev/null
+++ b/src/main/java/com/tuoheng/old/action/drone/StartPrepareAction.java
@@ -0,0 +1,11 @@
+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> {
+}
\ No newline at end of file
diff --git a/src/main/java/com/tuoheng/old/action/drone/StartReturnAction.java b/src/main/java/com/tuoheng/old/action/drone/StartReturnAction.java
new file mode 100644
index 0000000..425660d
--- /dev/null
+++ b/src/main/java/com/tuoheng/old/action/drone/StartReturnAction.java
@@ -0,0 +1,11 @@
+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> {
+}
\ No newline at end of file
diff --git a/src/main/java/com/tuoheng/old/action/reboot/RebootAction.java b/src/main/java/com/tuoheng/old/action/reboot/RebootAction.java
new file mode 100644
index 0000000..acb405a
--- /dev/null
+++ b/src/main/java/com/tuoheng/old/action/reboot/RebootAction.java
@@ -0,0 +1,12 @@
+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> {
+}
+
diff --git a/src/main/java/com/tuoheng/old/action/reboot/RebootCompletedAction.java b/src/main/java/com/tuoheng/old/action/reboot/RebootCompletedAction.java
new file mode 100644
index 0000000..ab926b7
--- /dev/null
+++ b/src/main/java/com/tuoheng/old/action/reboot/RebootCompletedAction.java
@@ -0,0 +1,12 @@
+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> {
+}
+
diff --git a/src/main/java/com/tuoheng/machine/config/AirportMachineConfig.java b/src/main/java/com/tuoheng/old/config/AirportMachineConfig.java
similarity index 95%
rename from src/main/java/com/tuoheng/machine/config/AirportMachineConfig.java
rename to src/main/java/com/tuoheng/old/config/AirportMachineConfig.java
index 6613356..79b4a51 100644
--- a/src/main/java/com/tuoheng/machine/config/AirportMachineConfig.java
+++ b/src/main/java/com/tuoheng/old/config/AirportMachineConfig.java
@@ -1,16 +1,15 @@
-package com.tuoheng.machine.config;
+package com.tuoheng.old.config;
 
-import com.tuoheng.machine.events.AirportEvent;
-import com.tuoheng.machine.platform.factory.PlatformStrategyFactory;
-import com.tuoheng.machine.platform.strategy.AirportPlatformStrategy;
-import com.tuoheng.machine.status.AirportState;
+import 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 org.springframework.stereotype.Component;
 
 import java.util.EnumSet;
 import java.util.UUID;
@@ -49,7 +48,7 @@ public class AirportMachineConfig {
                     return stateMachine;
                 } catch (Exception e) {
                     log.error("创建AIRPORT机巢状态机失败 - 机器ID: {}", machineId, e);
-                    throw new RuntimeException("Failed to create state machine for: " + machineId, e);
+                    throw new RuntimeException("Failed to create state old for: " + machineId, e);
                 }
             }
 
diff --git a/src/main/java/com/tuoheng/machine/config/CoverMachineConfig.java b/src/main/java/com/tuoheng/old/config/CoverMachineConfig.java
similarity index 95%
rename from src/main/java/com/tuoheng/machine/config/CoverMachineConfig.java
rename to src/main/java/com/tuoheng/old/config/CoverMachineConfig.java
index be9d1f5..3e2d4a4 100644
--- a/src/main/java/com/tuoheng/machine/config/CoverMachineConfig.java
+++ b/src/main/java/com/tuoheng/old/config/CoverMachineConfig.java
@@ -1,9 +1,9 @@
-package com.tuoheng.machine.config;
+package com.tuoheng.old.config;
 
-import com.tuoheng.machine.events.CoverEvent;
-import com.tuoheng.machine.platform.factory.PlatformStrategyFactory;
-import com.tuoheng.machine.platform.strategy.CoverPlatformStrategy;
-import com.tuoheng.machine.status.CoverState;
+import 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;
@@ -47,7 +47,7 @@ public class CoverMachineConfig {
                     return stateMachine;
                 } catch (Exception e) {
                     log.error("创建COVER状态机失败 - 机器ID: {}", machineId, e);
-                    throw new RuntimeException("Failed to create cover state machine for: " + machineId, e);
+                    throw new RuntimeException("Failed to create cover state old for: " + machineId, e);
                 }
             }
 
diff --git a/src/main/java/com/tuoheng/machine/config/DrcMachineConfig.java b/src/main/java/com/tuoheng/old/config/DrcMachineConfig.java
similarity index 94%
rename from src/main/java/com/tuoheng/machine/config/DrcMachineConfig.java
rename to src/main/java/com/tuoheng/old/config/DrcMachineConfig.java
index 5eceaca..63947e2 100644
--- a/src/main/java/com/tuoheng/machine/config/DrcMachineConfig.java
+++ b/src/main/java/com/tuoheng/old/config/DrcMachineConfig.java
@@ -1,9 +1,9 @@
-package com.tuoheng.machine.config;
+package com.tuoheng.old.config;
 
-import com.tuoheng.machine.events.DrcEvent;
-import com.tuoheng.machine.platform.factory.PlatformStrategyFactory;
-import com.tuoheng.machine.platform.strategy.DrcPlatformStrategy;
-import com.tuoheng.machine.status.DrcState;
+import 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;
@@ -48,7 +48,7 @@ public class DrcMachineConfig {
                     return stateMachine;
                 } catch (Exception e) {
                     log.error("创建DRC状态机失败 - 机器ID: {}", machineId, e);
-                    throw new RuntimeException("Failed to create DRC state machine for: " + machineId, e);
+                    throw new RuntimeException("Failed to create DRC state old for: " + machineId, e);
                 }
             }
 
diff --git a/src/main/java/com/tuoheng/machine/config/DroneMachineConfig.java b/src/main/java/com/tuoheng/old/config/DroneMachineConfig.java
similarity index 98%
rename from src/main/java/com/tuoheng/machine/config/DroneMachineConfig.java
rename to src/main/java/com/tuoheng/old/config/DroneMachineConfig.java
index 0b0a5ad..0cb3c37 100644
--- a/src/main/java/com/tuoheng/machine/config/DroneMachineConfig.java
+++ b/src/main/java/com/tuoheng/old/config/DroneMachineConfig.java
@@ -1,9 +1,9 @@
-package com.tuoheng.machine.config;
+package com.tuoheng.old.config;
 
-import com.tuoheng.machine.events.DroneEvent;
-import com.tuoheng.machine.platform.factory.PlatformStrategyFactory;
-import com.tuoheng.machine.platform.strategy.DronePlatformStrategy;
-import com.tuoheng.machine.status.DroneState;
+import 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;
@@ -47,7 +47,7 @@ public class DroneMachineConfig {
                     return stateMachine;
                 } catch (Exception e) {
                     log.error("创建DRONE状态机失败 - 机器ID: {}", machineId, e);
-                    throw new RuntimeException("Failed to create drone state machine for: " + machineId, e);
+                    throw new RuntimeException("Failed to create drone state old for: " + machineId, e);
                 }
             }
 
diff --git a/src/main/java/com/tuoheng/machine/demo/MultiPlatformDemo.java b/src/main/java/com/tuoheng/old/demo/MultiPlatformDemo.java
similarity index 93%
rename from src/main/java/com/tuoheng/machine/demo/MultiPlatformDemo.java
rename to src/main/java/com/tuoheng/old/demo/MultiPlatformDemo.java
index 19ba90a..46a0a14 100644
--- a/src/main/java/com/tuoheng/machine/demo/MultiPlatformDemo.java
+++ b/src/main/java/com/tuoheng/old/demo/MultiPlatformDemo.java
@@ -1,8 +1,8 @@
-package com.tuoheng.machine.demo;
+package com.tuoheng.old.demo;
 
-import com.tuoheng.machine.manager.ISystemManager;
-import com.tuoheng.machine.manager.factory.AirportSystemManagerFactory;
-import com.tuoheng.machine.platform.factory.PlatformStrategyFactory;
+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;
 
 /**
@@ -16,7 +16,7 @@ public class MultiPlatformDemo {
         AnnotationConfigApplicationContext context = new AnnotationConfigApplicationContext();
 
         // 扫描所有组件
-        context.scan("com.tuoheng.machine");
+        context.scan("com.tuoheng.old");
         context.refresh();
 
         // 获取必要的Bean
diff --git a/src/main/java/com/tuoheng/machine/events/AirportEvent.java b/src/main/java/com/tuoheng/old/events/AirportEvent.java
similarity index 96%
rename from src/main/java/com/tuoheng/machine/events/AirportEvent.java
rename to src/main/java/com/tuoheng/old/events/AirportEvent.java
index 7985871..57c3686 100644
--- a/src/main/java/com/tuoheng/machine/events/AirportEvent.java
+++ b/src/main/java/com/tuoheng/old/events/AirportEvent.java
@@ -1,4 +1,4 @@
-package com.tuoheng.machine.events;
+package com.tuoheng.old.events;
 
 /**
  * 机巢事件枚举
diff --git a/src/main/java/com/tuoheng/machine/events/CoverEvent.java b/src/main/java/com/tuoheng/old/events/CoverEvent.java
similarity index 90%
rename from src/main/java/com/tuoheng/machine/events/CoverEvent.java
rename to src/main/java/com/tuoheng/old/events/CoverEvent.java
index 733308d..b5018ca 100644
--- a/src/main/java/com/tuoheng/machine/events/CoverEvent.java
+++ b/src/main/java/com/tuoheng/old/events/CoverEvent.java
@@ -1,4 +1,4 @@
-package com.tuoheng.machine.events;
+package com.tuoheng.old.events;
 
 /**
  * 舱门事件枚举
diff --git a/src/main/java/com/tuoheng/machine/events/DrcEvent.java b/src/main/java/com/tuoheng/old/events/DrcEvent.java
similarity index 93%
rename from src/main/java/com/tuoheng/machine/events/DrcEvent.java
rename to src/main/java/com/tuoheng/old/events/DrcEvent.java
index 4309a63..bb9ac55 100644
--- a/src/main/java/com/tuoheng/machine/events/DrcEvent.java
+++ b/src/main/java/com/tuoheng/old/events/DrcEvent.java
@@ -1,4 +1,4 @@
-package com.tuoheng.machine.events;
+package com.tuoheng.old.events;
 
 /**
  * DRC（飞行控制模式）事件枚举
diff --git a/src/main/java/com/tuoheng/machine/events/DroneEvent.java b/src/main/java/com/tuoheng/old/events/DroneEvent.java
similarity index 98%
rename from src/main/java/com/tuoheng/machine/events/DroneEvent.java
rename to src/main/java/com/tuoheng/old/events/DroneEvent.java
index 9e95118..73ef3a0 100644
--- a/src/main/java/com/tuoheng/machine/events/DroneEvent.java
+++ b/src/main/java/com/tuoheng/old/events/DroneEvent.java
@@ -1,4 +1,4 @@
-package com.tuoheng.machine.events;
+package com.tuoheng.old.events;
 
 /**
  * 无人机事件枚举
diff --git a/src/main/java/com/tuoheng/old/guard/airport/CanOfflineGuard.java b/src/main/java/com/tuoheng/old/guard/airport/CanOfflineGuard.java
new file mode 100644
index 0000000..5940710
--- /dev/null
+++ b/src/main/java/com/tuoheng/old/guard/airport/CanOfflineGuard.java
@@ -0,0 +1,12 @@
+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> {
+}
+
diff --git a/src/main/java/com/tuoheng/old/guard/airport/CanOnlineGuard.java b/src/main/java/com/tuoheng/old/guard/airport/CanOnlineGuard.java
new file mode 100644
index 0000000..bf74029
--- /dev/null
+++ b/src/main/java/com/tuoheng/old/guard/airport/CanOnlineGuard.java
@@ -0,0 +1,12 @@
+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> {
+}
+
diff --git a/src/main/java/com/tuoheng/old/guard/airport/IsAirportOnlineGuard.java b/src/main/java/com/tuoheng/old/guard/airport/IsAirportOnlineGuard.java
new file mode 100644
index 0000000..ecd1baf
--- /dev/null
+++ b/src/main/java/com/tuoheng/old/guard/airport/IsAirportOnlineGuard.java
@@ -0,0 +1,12 @@
+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> {
+}
+
diff --git a/src/main/java/com/tuoheng/old/guard/cover/CanCloseCoverGuard.java b/src/main/java/com/tuoheng/old/guard/cover/CanCloseCoverGuard.java
new file mode 100644
index 0000000..3a278e3
--- /dev/null
+++ b/src/main/java/com/tuoheng/old/guard/cover/CanCloseCoverGuard.java
@@ -0,0 +1,12 @@
+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> {
+}
+
diff --git a/src/main/java/com/tuoheng/old/guard/cover/CanOpenCoverGuard.java b/src/main/java/com/tuoheng/old/guard/cover/CanOpenCoverGuard.java
new file mode 100644
index 0000000..6b6e78d
--- /dev/null
+++ b/src/main/java/com/tuoheng/old/guard/cover/CanOpenCoverGuard.java
@@ -0,0 +1,12 @@
+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> {
+}
+
diff --git a/src/main/java/com/tuoheng/old/guard/cover/IsCoverClosedGuard.java b/src/main/java/com/tuoheng/old/guard/cover/IsCoverClosedGuard.java
new file mode 100644
index 0000000..c31689b
--- /dev/null
+++ b/src/main/java/com/tuoheng/old/guard/cover/IsCoverClosedGuard.java
@@ -0,0 +1,12 @@
+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> {
+}
+
diff --git a/src/main/java/com/tuoheng/old/guard/cover/IsCoverOpenedGuard.java b/src/main/java/com/tuoheng/old/guard/cover/IsCoverOpenedGuard.java
new file mode 100644
index 0000000..be01f0c
--- /dev/null
+++ b/src/main/java/com/tuoheng/old/guard/cover/IsCoverOpenedGuard.java
@@ -0,0 +1,12 @@
+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> {
+}
+
diff --git a/src/main/java/com/tuoheng/old/guard/debug/CanCloseDebugModeGuard.java b/src/main/java/com/tuoheng/old/guard/debug/CanCloseDebugModeGuard.java
new file mode 100644
index 0000000..0334733
--- /dev/null
+++ b/src/main/java/com/tuoheng/old/guard/debug/CanCloseDebugModeGuard.java
@@ -0,0 +1,12 @@
+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> {
+}
+
diff --git a/src/main/java/com/tuoheng/old/guard/debug/IsDebugModeGuard.java b/src/main/java/com/tuoheng/old/guard/debug/IsDebugModeGuard.java
new file mode 100644
index 0000000..c8938a0
--- /dev/null
+++ b/src/main/java/com/tuoheng/old/guard/debug/IsDebugModeGuard.java
@@ -0,0 +1,12 @@
+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> {
+}
+
diff --git a/src/main/java/com/tuoheng/old/guard/debug/IsNotDebugModeGuard.java b/src/main/java/com/tuoheng/old/guard/debug/IsNotDebugModeGuard.java
new file mode 100644
index 0000000..a1aee9b
--- /dev/null
+++ b/src/main/java/com/tuoheng/old/guard/debug/IsNotDebugModeGuard.java
@@ -0,0 +1,12 @@
+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> {
+}
+
diff --git a/src/main/java/com/tuoheng/old/guard/drc/CanEnterGuard.java b/src/main/java/com/tuoheng/old/guard/drc/CanEnterGuard.java
new file mode 100644
index 0000000..cbeef96
--- /dev/null
+++ b/src/main/java/com/tuoheng/old/guard/drc/CanEnterGuard.java
@@ -0,0 +1,11 @@
+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> {
+}
diff --git a/src/main/java/com/tuoheng/old/guard/drc/CanExitGuard.java b/src/main/java/com/tuoheng/old/guard/drc/CanExitGuard.java
new file mode 100644
index 0000000..499bef0
--- /dev/null
+++ b/src/main/java/com/tuoheng/old/guard/drc/CanExitGuard.java
@@ -0,0 +1,11 @@
+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> {
+}
diff --git a/src/main/java/com/tuoheng/machine/guard/drone/CanPointGuard.java b/src/main/java/com/tuoheng/old/guard/drone/CanPointGuard.java
similarity index 59%
rename from src/main/java/com/tuoheng/machine/guard/drone/CanPointGuard.java
rename to src/main/java/com/tuoheng/old/guard/drone/CanPointGuard.java
index e9b4e0f..f07fba1 100644
--- a/src/main/java/com/tuoheng/machine/guard/drone/CanPointGuard.java
+++ b/src/main/java/com/tuoheng/old/guard/drone/CanPointGuard.java
@@ -1,8 +1,8 @@
-package com.tuoheng.machine.guard.drone;
+package com.tuoheng.old.guard.drone;
 
-import com.tuoheng.machine.events.DroneEvent;
-import com.tuoheng.machine.platform.strategy.PlatformGuard;
-import com.tuoheng.machine.status.DroneState;
+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.
diff --git a/src/main/java/com/tuoheng/machine/guard/reboot/IsRebootCompletedGuard.java b/src/main/java/com/tuoheng/old/guard/reboot/IsRebootCompletedGuard.java
similarity index 50%
rename from src/main/java/com/tuoheng/machine/guard/reboot/IsRebootCompletedGuard.java
rename to src/main/java/com/tuoheng/old/guard/reboot/IsRebootCompletedGuard.java
index 8d79157..4d63719 100644
--- a/src/main/java/com/tuoheng/machine/guard/reboot/IsRebootCompletedGuard.java
+++ b/src/main/java/com/tuoheng/old/guard/reboot/IsRebootCompletedGuard.java
@@ -1,8 +1,8 @@
-package com.tuoheng.machine.guard.reboot;
+package com.tuoheng.old.guard.reboot;
 
-import com.tuoheng.machine.events.AirportEvent;
-import com.tuoheng.machine.platform.strategy.PlatformGuard;
-import com.tuoheng.machine.status.AirportState;
+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.
diff --git a/src/main/java/com/tuoheng/machine/impl/dji/DjiAirportPlatformStrategy.java b/src/main/java/com/tuoheng/old/impl/dji/DjiAirportPlatformStrategy.java
similarity index 83%
rename from src/main/java/com/tuoheng/machine/impl/dji/DjiAirportPlatformStrategy.java
rename to src/main/java/com/tuoheng/old/impl/dji/DjiAirportPlatformStrategy.java
index a1745b1..ed1ba20 100644
--- a/src/main/java/com/tuoheng/machine/impl/dji/DjiAirportPlatformStrategy.java
+++ b/src/main/java/com/tuoheng/old/impl/dji/DjiAirportPlatformStrategy.java
@@ -1,16 +1,16 @@
-package com.tuoheng.machine.impl.dji;
+package com.tuoheng.old.impl.dji;
 
 
-import com.tuoheng.machine.events.AirportEvent;
-import com.tuoheng.machine.impl.dji.action.airport.*;
-import com.tuoheng.machine.impl.dji.guard.airport.*;
-import com.tuoheng.machine.impl.dji.listener.DjiAirportListener;
-import com.tuoheng.machine.platform.PlatformType;
-import com.tuoheng.machine.platform.strategy.AirportPlatformStrategy;
-import com.tuoheng.machine.platform.strategy.PlatformAction;
-import com.tuoheng.machine.platform.strategy.PlatformGuard;
-import com.tuoheng.machine.platform.strategy.PlatformListener;
-import com.tuoheng.machine.status.AirportState;
+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;
 
diff --git a/src/main/java/com/tuoheng/machine/impl/dji/DjiAirportSystemManager.java b/src/main/java/com/tuoheng/old/impl/dji/DjiAirportSystemManager.java
similarity index 91%
rename from src/main/java/com/tuoheng/machine/impl/dji/DjiAirportSystemManager.java
rename to src/main/java/com/tuoheng/old/impl/dji/DjiAirportSystemManager.java
index f7ace75..b05b59b 100644
--- a/src/main/java/com/tuoheng/machine/impl/dji/DjiAirportSystemManager.java
+++ b/src/main/java/com/tuoheng/old/impl/dji/DjiAirportSystemManager.java
@@ -1,12 +1,12 @@
-package com.tuoheng.machine.impl.dji;
+package com.tuoheng.old.impl.dji;
 
-import com.tuoheng.machine.events.AirportEvent;
-import com.tuoheng.machine.events.CoverEvent;
+import com.tuoheng.old.events.AirportEvent;
+import com.tuoheng.old.events.CoverEvent;
 
-import com.tuoheng.machine.manager.AbsSystemManager;
-import com.tuoheng.machine.platform.PlatformType;
-import com.tuoheng.machine.status.AirportState;
-import com.tuoheng.machine.status.CoverState;
+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;
 
diff --git a/src/main/java/com/tuoheng/machine/impl/dji/DjiCoverPlatformStrategy.java b/src/main/java/com/tuoheng/old/impl/dji/DjiCoverPlatformStrategy.java
similarity index 75%
rename from src/main/java/com/tuoheng/machine/impl/dji/DjiCoverPlatformStrategy.java
rename to src/main/java/com/tuoheng/old/impl/dji/DjiCoverPlatformStrategy.java
index 6b2eed5..7b2c8c5 100644
--- a/src/main/java/com/tuoheng/machine/impl/dji/DjiCoverPlatformStrategy.java
+++ b/src/main/java/com/tuoheng/old/impl/dji/DjiCoverPlatformStrategy.java
@@ -1,19 +1,19 @@
-package com.tuoheng.machine.impl.dji;
+package com.tuoheng.old.impl.dji;
 
 
-import com.tuoheng.machine.events.CoverEvent;
-import com.tuoheng.machine.impl.dji.action.cover.*;
-import com.tuoheng.machine.impl.dji.guard.cover.DjiCanCloseCoverGuard;
-import com.tuoheng.machine.impl.dji.guard.cover.DjiCanOpenCoverGuard;
-import com.tuoheng.machine.impl.dji.guard.cover.DjiIsCoverClosedGuard;
-import com.tuoheng.machine.impl.dji.guard.cover.DjiIsCoverOpenedGuard;
-import com.tuoheng.machine.impl.dji.listener.DjiCoverListener;
-import com.tuoheng.machine.platform.PlatformType;
-import com.tuoheng.machine.platform.strategy.CoverPlatformStrategy;
-import com.tuoheng.machine.platform.strategy.PlatformAction;
-import com.tuoheng.machine.platform.strategy.PlatformGuard;
-import com.tuoheng.machine.platform.strategy.PlatformListener;
-import com.tuoheng.machine.status.CoverState;
+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;
 
diff --git a/src/main/java/com/tuoheng/machine/impl/dji/DjiDrcPlatformStrategy.java b/src/main/java/com/tuoheng/old/impl/dji/DjiDrcPlatformStrategy.java
similarity index 63%
rename from src/main/java/com/tuoheng/machine/impl/dji/DjiDrcPlatformStrategy.java
rename to src/main/java/com/tuoheng/old/impl/dji/DjiDrcPlatformStrategy.java
index 4b86fb7..8269be8 100644
--- a/src/main/java/com/tuoheng/machine/impl/dji/DjiDrcPlatformStrategy.java
+++ b/src/main/java/com/tuoheng/old/impl/dji/DjiDrcPlatformStrategy.java
@@ -1,19 +1,19 @@
-package com.tuoheng.machine.impl.dji;
+package com.tuoheng.old.impl.dji;
 
-import com.tuoheng.machine.events.DrcEvent;
-import com.tuoheng.machine.platform.PlatformType;
-import com.tuoheng.machine.impl.dji.action.drc.DjiEnterAction;
-import com.tuoheng.machine.impl.dji.action.drc.DjiEnteredAction;
-import com.tuoheng.machine.impl.dji.action.drc.DjiExitAction;
-import com.tuoheng.machine.impl.dji.action.drc.DjiExitedAction;
-import com.tuoheng.machine.impl.dji.guard.drc.DjiCanEnterGuard;
-import com.tuoheng.machine.impl.dji.guard.drc.DjiCanExitGuard;
-import com.tuoheng.machine.impl.dji.listener.DjiDrcListener;
-import com.tuoheng.machine.platform.strategy.DrcPlatformStrategy;
-import com.tuoheng.machine.platform.strategy.PlatformAction;
-import com.tuoheng.machine.platform.strategy.PlatformGuard;
-import com.tuoheng.machine.platform.strategy.PlatformListener;
-import com.tuoheng.machine.status.DrcState;
+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;
 
diff --git a/src/main/java/com/tuoheng/machine/impl/dji/DjiDronePlatformStrategy.java b/src/main/java/com/tuoheng/old/impl/dji/DjiDronePlatformStrategy.java
similarity index 87%
rename from src/main/java/com/tuoheng/machine/impl/dji/DjiDronePlatformStrategy.java
rename to src/main/java/com/tuoheng/old/impl/dji/DjiDronePlatformStrategy.java
index 194f899..e8d5b21 100644
--- a/src/main/java/com/tuoheng/machine/impl/dji/DjiDronePlatformStrategy.java
+++ b/src/main/java/com/tuoheng/old/impl/dji/DjiDronePlatformStrategy.java
@@ -1,16 +1,16 @@
-package com.tuoheng.machine.impl.dji;
+package com.tuoheng.old.impl.dji;
 
 
-import com.tuoheng.machine.events.DroneEvent;
-import com.tuoheng.machine.impl.dji.action.drone.*;
-import com.tuoheng.machine.platform.PlatformType;
-import com.tuoheng.machine.impl.dji.guard.drone.DjiCanPointGuard;
-import com.tuoheng.machine.impl.dji.listener.DjiDroneListener;
-import com.tuoheng.machine.platform.strategy.DronePlatformStrategy;
-import com.tuoheng.machine.platform.strategy.PlatformAction;
-import com.tuoheng.machine.platform.strategy.PlatformGuard;
-import com.tuoheng.machine.platform.strategy.PlatformListener;
-import com.tuoheng.machine.status.DroneState;
+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;
 
diff --git a/src/main/java/com/tuoheng/machine/impl/dji/action/airport/DjiCloseDebugModeAction.java b/src/main/java/com/tuoheng/old/impl/dji/action/airport/DjiCloseDebugModeAction.java
similarity index 73%
rename from src/main/java/com/tuoheng/machine/impl/dji/action/airport/DjiCloseDebugModeAction.java
rename to src/main/java/com/tuoheng/old/impl/dji/action/airport/DjiCloseDebugModeAction.java
index f971e78..e85e118 100644
--- a/src/main/java/com/tuoheng/machine/impl/dji/action/airport/DjiCloseDebugModeAction.java
+++ b/src/main/java/com/tuoheng/old/impl/dji/action/airport/DjiCloseDebugModeAction.java
@@ -1,10 +1,10 @@
-package com.tuoheng.machine.impl.dji.action.airport;
+package com.tuoheng.old.impl.dji.action.airport;
 
 import lombok.extern.slf4j.Slf4j;
 
-import com.tuoheng.machine.action.debug.CloseDebugModeAction;
-import com.tuoheng.machine.events.AirportEvent;
-import com.tuoheng.machine.status.AirportState;
+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;
 
diff --git a/src/main/java/com/tuoheng/machine/impl/dji/action/airport/DjiOfflineAction.java b/src/main/java/com/tuoheng/old/impl/dji/action/airport/DjiOfflineAction.java
similarity index 72%
rename from src/main/java/com/tuoheng/machine/impl/dji/action/airport/DjiOfflineAction.java
rename to src/main/java/com/tuoheng/old/impl/dji/action/airport/DjiOfflineAction.java
index 2a9f3c0..5d8f36a 100644
--- a/src/main/java/com/tuoheng/machine/impl/dji/action/airport/DjiOfflineAction.java
+++ b/src/main/java/com/tuoheng/old/impl/dji/action/airport/DjiOfflineAction.java
@@ -1,10 +1,10 @@
-package com.tuoheng.machine.impl.dji.action.airport;
+package com.tuoheng.old.impl.dji.action.airport;
 
 import lombok.extern.slf4j.Slf4j;
 
-import com.tuoheng.machine.action.airport.OfflineAction;
-import com.tuoheng.machine.events.AirportEvent;
-import com.tuoheng.machine.status.AirportState;
+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;
 
diff --git a/src/main/java/com/tuoheng/machine/impl/dji/action/airport/DjiOnlineAction.java b/src/main/java/com/tuoheng/old/impl/dji/action/airport/DjiOnlineAction.java
similarity index 75%
rename from src/main/java/com/tuoheng/machine/impl/dji/action/airport/DjiOnlineAction.java
rename to src/main/java/com/tuoheng/old/impl/dji/action/airport/DjiOnlineAction.java
index 0f32c0e..d45fbfb 100644
--- a/src/main/java/com/tuoheng/machine/impl/dji/action/airport/DjiOnlineAction.java
+++ b/src/main/java/com/tuoheng/old/impl/dji/action/airport/DjiOnlineAction.java
@@ -1,10 +1,10 @@
-package com.tuoheng.machine.impl.dji.action.airport;
+package com.tuoheng.old.impl.dji.action.airport;
 
 import lombok.extern.slf4j.Slf4j;
 
-import com.tuoheng.machine.action.airport.OnlineAction;
-import com.tuoheng.machine.events.AirportEvent;
-import com.tuoheng.machine.status.AirportState;
+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;
 
diff --git a/src/main/java/com/tuoheng/machine/impl/dji/action/airport/DjiOpenDebugModeAction.java b/src/main/java/com/tuoheng/old/impl/dji/action/airport/DjiOpenDebugModeAction.java
similarity index 73%
rename from src/main/java/com/tuoheng/machine/impl/dji/action/airport/DjiOpenDebugModeAction.java
rename to src/main/java/com/tuoheng/old/impl/dji/action/airport/DjiOpenDebugModeAction.java
index 7afc01b..cf25e01 100644
--- a/src/main/java/com/tuoheng/machine/impl/dji/action/airport/DjiOpenDebugModeAction.java
+++ b/src/main/java/com/tuoheng/old/impl/dji/action/airport/DjiOpenDebugModeAction.java
@@ -1,10 +1,10 @@
-package com.tuoheng.machine.impl.dji.action.airport;
+package com.tuoheng.old.impl.dji.action.airport;
 
 import lombok.extern.slf4j.Slf4j;
 
-import com.tuoheng.machine.action.debug.OpenDebugModeAction;
-import com.tuoheng.machine.events.AirportEvent;
-import com.tuoheng.machine.status.AirportState;
+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;
 
diff --git a/src/main/java/com/tuoheng/machine/impl/dji/action/airport/DjiRebootAction.java b/src/main/java/com/tuoheng/old/impl/dji/action/airport/DjiRebootAction.java
similarity index 72%
rename from src/main/java/com/tuoheng/machine/impl/dji/action/airport/DjiRebootAction.java
rename to src/main/java/com/tuoheng/old/impl/dji/action/airport/DjiRebootAction.java
index 6b94672..b885341 100644
--- a/src/main/java/com/tuoheng/machine/impl/dji/action/airport/DjiRebootAction.java
+++ b/src/main/java/com/tuoheng/old/impl/dji/action/airport/DjiRebootAction.java
@@ -1,10 +1,10 @@
-package com.tuoheng.machine.impl.dji.action.airport;
+package com.tuoheng.old.impl.dji.action.airport;
 
 import lombok.extern.slf4j.Slf4j;
 
-import com.tuoheng.machine.action.reboot.RebootAction;
-import com.tuoheng.machine.events.AirportEvent;
-import com.tuoheng.machine.status.AirportState;
+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;
 
diff --git a/src/main/java/com/tuoheng/machine/impl/dji/action/airport/DjiRebootCompletedAction.java b/src/main/java/com/tuoheng/old/impl/dji/action/airport/DjiRebootCompletedAction.java
similarity index 72%
rename from src/main/java/com/tuoheng/machine/impl/dji/action/airport/DjiRebootCompletedAction.java
rename to src/main/java/com/tuoheng/old/impl/dji/action/airport/DjiRebootCompletedAction.java
index 25efc77..0032cc8 100644
--- a/src/main/java/com/tuoheng/machine/impl/dji/action/airport/DjiRebootCompletedAction.java
+++ b/src/main/java/com/tuoheng/old/impl/dji/action/airport/DjiRebootCompletedAction.java
@@ -1,10 +1,10 @@
-package com.tuoheng.machine.impl.dji.action.airport;
+package com.tuoheng.old.impl.dji.action.airport;
 
 import lombok.extern.slf4j.Slf4j;
 
-import com.tuoheng.machine.action.reboot.RebootCompletedAction;
-import com.tuoheng.machine.events.AirportEvent;
-import com.tuoheng.machine.status.AirportState;
+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;
 
diff --git a/src/main/java/com/tuoheng/machine/impl/dji/action/cover/DjiCloseCoverAction.java b/src/main/java/com/tuoheng/old/impl/dji/action/cover/DjiCloseCoverAction.java
similarity index 73%
rename from src/main/java/com/tuoheng/machine/impl/dji/action/cover/DjiCloseCoverAction.java
rename to src/main/java/com/tuoheng/old/impl/dji/action/cover/DjiCloseCoverAction.java
index e507bd4..9840703 100644
--- a/src/main/java/com/tuoheng/machine/impl/dji/action/cover/DjiCloseCoverAction.java
+++ b/src/main/java/com/tuoheng/old/impl/dji/action/cover/DjiCloseCoverAction.java
@@ -1,10 +1,10 @@
-package com.tuoheng.machine.impl.dji.action.cover;
+package com.tuoheng.old.impl.dji.action.cover;
 
 import lombok.extern.slf4j.Slf4j;
 
-import com.tuoheng.machine.action.cover.CloseCoverAction;
-import com.tuoheng.machine.events.CoverEvent;
-import com.tuoheng.machine.status.CoverState;
+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;
 
diff --git a/src/main/java/com/tuoheng/machine/impl/dji/action/cover/DjiCoverClosedAction.java b/src/main/java/com/tuoheng/old/impl/dji/action/cover/DjiCoverClosedAction.java
similarity index 73%
rename from src/main/java/com/tuoheng/machine/impl/dji/action/cover/DjiCoverClosedAction.java
rename to src/main/java/com/tuoheng/old/impl/dji/action/cover/DjiCoverClosedAction.java
index 0b32b35..7fcc3b7 100644
--- a/src/main/java/com/tuoheng/machine/impl/dji/action/cover/DjiCoverClosedAction.java
+++ b/src/main/java/com/tuoheng/old/impl/dji/action/cover/DjiCoverClosedAction.java
@@ -1,10 +1,10 @@
-package com.tuoheng.machine.impl.dji.action.cover;
+package com.tuoheng.old.impl.dji.action.cover;
 
 import lombok.extern.slf4j.Slf4j;
 
-import com.tuoheng.machine.action.cover.CoverClosedAction;
-import com.tuoheng.machine.events.CoverEvent;
-import com.tuoheng.machine.status.CoverState;
+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;
 
diff --git a/src/main/java/com/tuoheng/machine/impl/dji/action/cover/DjiCoverErrorAction.java b/src/main/java/com/tuoheng/old/impl/dji/action/cover/DjiCoverErrorAction.java
similarity index 73%
rename from src/main/java/com/tuoheng/machine/impl/dji/action/cover/DjiCoverErrorAction.java
rename to src/main/java/com/tuoheng/old/impl/dji/action/cover/DjiCoverErrorAction.java
index 65d5ff8..b5a23db 100644
--- a/src/main/java/com/tuoheng/machine/impl/dji/action/cover/DjiCoverErrorAction.java
+++ b/src/main/java/com/tuoheng/old/impl/dji/action/cover/DjiCoverErrorAction.java
@@ -1,10 +1,10 @@
-package com.tuoheng.machine.impl.dji.action.cover;
+package com.tuoheng.old.impl.dji.action.cover;
 
 import lombok.extern.slf4j.Slf4j;
 
-import com.tuoheng.machine.events.CoverEvent;
-import com.tuoheng.machine.platform.strategy.PlatformAction;
-import com.tuoheng.machine.status.CoverState;
+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;
 
diff --git a/src/main/java/com/tuoheng/machine/impl/dji/action/cover/DjiCoverOpenedAction.java b/src/main/java/com/tuoheng/old/impl/dji/action/cover/DjiCoverOpenedAction.java
similarity index 73%
rename from src/main/java/com/tuoheng/machine/impl/dji/action/cover/DjiCoverOpenedAction.java
rename to src/main/java/com/tuoheng/old/impl/dji/action/cover/DjiCoverOpenedAction.java
index df6a1b7..e775a6e 100644
--- a/src/main/java/com/tuoheng/machine/impl/dji/action/cover/DjiCoverOpenedAction.java
+++ b/src/main/java/com/tuoheng/old/impl/dji/action/cover/DjiCoverOpenedAction.java
@@ -1,10 +1,10 @@
-package com.tuoheng.machine.impl.dji.action.cover;
+package com.tuoheng.old.impl.dji.action.cover;
 
 import lombok.extern.slf4j.Slf4j;
 
-import com.tuoheng.machine.action.cover.CoverOpenedAction;
-import com.tuoheng.machine.events.CoverEvent;
-import com.tuoheng.machine.status.CoverState;
+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;
 
diff --git a/src/main/java/com/tuoheng/machine/impl/dji/action/cover/DjiCoverResetAction.java b/src/main/java/com/tuoheng/old/impl/dji/action/cover/DjiCoverResetAction.java
similarity index 73%
rename from src/main/java/com/tuoheng/machine/impl/dji/action/cover/DjiCoverResetAction.java
rename to src/main/java/com/tuoheng/old/impl/dji/action/cover/DjiCoverResetAction.java
index aae0664..83f3031 100644
--- a/src/main/java/com/tuoheng/machine/impl/dji/action/cover/DjiCoverResetAction.java
+++ b/src/main/java/com/tuoheng/old/impl/dji/action/cover/DjiCoverResetAction.java
@@ -1,10 +1,10 @@
-package com.tuoheng.machine.impl.dji.action.cover;
+package com.tuoheng.old.impl.dji.action.cover;
 
 import lombok.extern.slf4j.Slf4j;
 
-import com.tuoheng.machine.events.CoverEvent;
-import com.tuoheng.machine.platform.strategy.PlatformAction;
-import com.tuoheng.machine.status.CoverState;
+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;
 
diff --git a/src/main/java/com/tuoheng/machine/impl/dji/action/cover/DjiOpenCoverAction.java b/src/main/java/com/tuoheng/old/impl/dji/action/cover/DjiOpenCoverAction.java
similarity index 74%
rename from src/main/java/com/tuoheng/machine/impl/dji/action/cover/DjiOpenCoverAction.java
rename to src/main/java/com/tuoheng/old/impl/dji/action/cover/DjiOpenCoverAction.java
index fbb0ef0..8f7765f 100644
--- a/src/main/java/com/tuoheng/machine/impl/dji/action/cover/DjiOpenCoverAction.java
+++ b/src/main/java/com/tuoheng/old/impl/dji/action/cover/DjiOpenCoverAction.java
@@ -1,10 +1,10 @@
-package com.tuoheng.machine.impl.dji.action.cover;
+package com.tuoheng.old.impl.dji.action.cover;
 
 import lombok.extern.slf4j.Slf4j;
 
-import com.tuoheng.machine.action.cover.OpenCoverAction;
-import com.tuoheng.machine.events.CoverEvent;
-import com.tuoheng.machine.status.CoverState;
+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;
 
diff --git a/src/main/java/com/tuoheng/machine/impl/dji/action/drc/DjiEnterAction.java b/src/main/java/com/tuoheng/old/impl/dji/action/drc/DjiEnterAction.java
similarity index 74%
rename from src/main/java/com/tuoheng/machine/impl/dji/action/drc/DjiEnterAction.java
rename to src/main/java/com/tuoheng/old/impl/dji/action/drc/DjiEnterAction.java
index 7837ab5..1b55345 100644
--- a/src/main/java/com/tuoheng/machine/impl/dji/action/drc/DjiEnterAction.java
+++ b/src/main/java/com/tuoheng/old/impl/dji/action/drc/DjiEnterAction.java
@@ -1,10 +1,10 @@
-package com.tuoheng.machine.impl.dji.action.drc;
+package com.tuoheng.old.impl.dji.action.drc;
 
 import lombok.extern.slf4j.Slf4j;
 
-import com.tuoheng.machine.action.drc.EnterAction;
-import com.tuoheng.machine.events.DrcEvent;
-import com.tuoheng.machine.status.DrcState;
+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;
 
diff --git a/src/main/java/com/tuoheng/machine/impl/dji/action/drc/DjiEnteredAction.java b/src/main/java/com/tuoheng/old/impl/dji/action/drc/DjiEnteredAction.java
similarity index 74%
rename from src/main/java/com/tuoheng/machine/impl/dji/action/drc/DjiEnteredAction.java
rename to src/main/java/com/tuoheng/old/impl/dji/action/drc/DjiEnteredAction.java
index e193646..0dc58ff 100644
--- a/src/main/java/com/tuoheng/machine/impl/dji/action/drc/DjiEnteredAction.java
+++ b/src/main/java/com/tuoheng/old/impl/dji/action/drc/DjiEnteredAction.java
@@ -1,10 +1,10 @@
-package com.tuoheng.machine.impl.dji.action.drc;
+package com.tuoheng.old.impl.dji.action.drc;
 
 import lombok.extern.slf4j.Slf4j;
 
-import com.tuoheng.machine.action.drc.EnteredAction;
-import com.tuoheng.machine.events.DrcEvent;
-import com.tuoheng.machine.status.DrcState;
+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;
 
diff --git a/src/main/java/com/tuoheng/machine/impl/dji/action/drc/DjiExitAction.java b/src/main/java/com/tuoheng/old/impl/dji/action/drc/DjiExitAction.java
similarity index 74%
rename from src/main/java/com/tuoheng/machine/impl/dji/action/drc/DjiExitAction.java
rename to src/main/java/com/tuoheng/old/impl/dji/action/drc/DjiExitAction.java
index 812cb48..09ecfd7 100644
--- a/src/main/java/com/tuoheng/machine/impl/dji/action/drc/DjiExitAction.java
+++ b/src/main/java/com/tuoheng/old/impl/dji/action/drc/DjiExitAction.java
@@ -1,15 +1,13 @@
-package com.tuoheng.machine.impl.dji.action.drc;
+package com.tuoheng.old.impl.dji.action.drc;
 
 import lombok.extern.slf4j.Slf4j;
 
-import com.tuoheng.machine.action.drc.ExitAction;
-import com.tuoheng.machine.events.DrcEvent;
-import com.tuoheng.machine.status.DrcState;
+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;
 
-import java.util.concurrent.CompletableFuture;
-
 @Slf4j
 @Component
 public class DjiExitAction extends ExitAction {
diff --git a/src/main/java/com/tuoheng/machine/impl/dji/action/drc/DjiExitedAction.java b/src/main/java/com/tuoheng/old/impl/dji/action/drc/DjiExitedAction.java
similarity index 74%
rename from src/main/java/com/tuoheng/machine/impl/dji/action/drc/DjiExitedAction.java
rename to src/main/java/com/tuoheng/old/impl/dji/action/drc/DjiExitedAction.java
index 4b98116..61ba535 100644
--- a/src/main/java/com/tuoheng/machine/impl/dji/action/drc/DjiExitedAction.java
+++ b/src/main/java/com/tuoheng/old/impl/dji/action/drc/DjiExitedAction.java
@@ -1,10 +1,10 @@
-package com.tuoheng.machine.impl.dji.action.drc;
+package com.tuoheng.old.impl.dji.action.drc;
 
 import lombok.extern.slf4j.Slf4j;
 
-import com.tuoheng.machine.action.drc.ExitedAction;
-import com.tuoheng.machine.events.DrcEvent;
-import com.tuoheng.machine.status.DrcState;
+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;
 
diff --git a/src/main/java/com/tuoheng/machine/impl/dji/action/drone/DjiArriveAction.java b/src/main/java/com/tuoheng/old/impl/dji/action/drone/DjiArriveAction.java
similarity index 73%
rename from src/main/java/com/tuoheng/machine/impl/dji/action/drone/DjiArriveAction.java
rename to src/main/java/com/tuoheng/old/impl/dji/action/drone/DjiArriveAction.java
index 99606e2..cbcdf10 100644
--- a/src/main/java/com/tuoheng/machine/impl/dji/action/drone/DjiArriveAction.java
+++ b/src/main/java/com/tuoheng/old/impl/dji/action/drone/DjiArriveAction.java
@@ -1,10 +1,10 @@
-package com.tuoheng.machine.impl.dji.action.drone;
+package com.tuoheng.old.impl.dji.action.drone;
 
 import lombok.extern.slf4j.Slf4j;
 
-import com.tuoheng.machine.action.drone.ArriveAction;
-import com.tuoheng.machine.events.DroneEvent;
-import com.tuoheng.machine.status.DroneState;
+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;
 
diff --git a/src/main/java/com/tuoheng/machine/impl/dji/action/drone/DjiCancelPointAction.java b/src/main/java/com/tuoheng/old/impl/dji/action/drone/DjiCancelPointAction.java
similarity index 73%
rename from src/main/java/com/tuoheng/machine/impl/dji/action/drone/DjiCancelPointAction.java
rename to src/main/java/com/tuoheng/old/impl/dji/action/drone/DjiCancelPointAction.java
index a2f1aad..461344a 100644
--- a/src/main/java/com/tuoheng/machine/impl/dji/action/drone/DjiCancelPointAction.java
+++ b/src/main/java/com/tuoheng/old/impl/dji/action/drone/DjiCancelPointAction.java
@@ -1,10 +1,10 @@
-package com.tuoheng.machine.impl.dji.action.drone;
+package com.tuoheng.old.impl.dji.action.drone;
 
 import lombok.extern.slf4j.Slf4j;
 
-import com.tuoheng.machine.action.drone.CancelPointAction;
-import com.tuoheng.machine.events.DroneEvent;
-import com.tuoheng.machine.status.DroneState;
+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;
 
diff --git a/src/main/java/com/tuoheng/machine/impl/dji/action/drone/DjiDroneOfflineAction.java b/src/main/java/com/tuoheng/old/impl/dji/action/drone/DjiDroneOfflineAction.java
similarity index 73%
rename from src/main/java/com/tuoheng/machine/impl/dji/action/drone/DjiDroneOfflineAction.java
rename to src/main/java/com/tuoheng/old/impl/dji/action/drone/DjiDroneOfflineAction.java
index accf0c4..76c9eb4 100644
--- a/src/main/java/com/tuoheng/machine/impl/dji/action/drone/DjiDroneOfflineAction.java
+++ b/src/main/java/com/tuoheng/old/impl/dji/action/drone/DjiDroneOfflineAction.java
@@ -1,10 +1,10 @@
-package com.tuoheng.machine.impl.dji.action.drone;
+package com.tuoheng.old.impl.dji.action.drone;
 
 import lombok.extern.slf4j.Slf4j;
 
-import com.tuoheng.machine.action.drone.OfflineAction;
-import com.tuoheng.machine.events.DroneEvent;
-import com.tuoheng.machine.status.DroneState;
+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;
 
diff --git a/src/main/java/com/tuoheng/machine/impl/dji/action/drone/DjiEmergencyStopAction.java b/src/main/java/com/tuoheng/old/impl/dji/action/drone/DjiEmergencyStopAction.java
similarity index 73%
rename from src/main/java/com/tuoheng/machine/impl/dji/action/drone/DjiEmergencyStopAction.java
rename to src/main/java/com/tuoheng/old/impl/dji/action/drone/DjiEmergencyStopAction.java
index 4f35c1f..add6271 100644
--- a/src/main/java/com/tuoheng/machine/impl/dji/action/drone/DjiEmergencyStopAction.java
+++ b/src/main/java/com/tuoheng/old/impl/dji/action/drone/DjiEmergencyStopAction.java
@@ -1,10 +1,10 @@
-package com.tuoheng.machine.impl.dji.action.drone;
+package com.tuoheng.old.impl.dji.action.drone;
 
 import lombok.extern.slf4j.Slf4j;
 
-import com.tuoheng.machine.action.drone.EmergencyStopAction;
-import com.tuoheng.machine.events.DroneEvent;
-import com.tuoheng.machine.status.DroneState;
+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;
 
diff --git a/src/main/java/com/tuoheng/machine/impl/dji/action/drone/DjiPointFlyingCompletedAction.java b/src/main/java/com/tuoheng/old/impl/dji/action/drone/DjiPointFlyingCompletedAction.java
similarity index 73%
rename from src/main/java/com/tuoheng/machine/impl/dji/action/drone/DjiPointFlyingCompletedAction.java
rename to src/main/java/com/tuoheng/old/impl/dji/action/drone/DjiPointFlyingCompletedAction.java
index 4d46703..ad12e2d 100644
--- a/src/main/java/com/tuoheng/machine/impl/dji/action/drone/DjiPointFlyingCompletedAction.java
+++ b/src/main/java/com/tuoheng/old/impl/dji/action/drone/DjiPointFlyingCompletedAction.java
@@ -1,10 +1,10 @@
-package com.tuoheng.machine.impl.dji.action.drone;
+package com.tuoheng.old.impl.dji.action.drone;
 
 import lombok.extern.slf4j.Slf4j;
 
-import com.tuoheng.machine.action.drone.PointFlyingCompletedAction;
-import com.tuoheng.machine.events.DroneEvent;
-import com.tuoheng.machine.status.DroneState;
+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;
 
diff --git a/src/main/java/com/tuoheng/machine/impl/dji/action/drone/DjiPointPrepareCompletedAction.java b/src/main/java/com/tuoheng/old/impl/dji/action/drone/DjiPointPrepareCompletedAction.java
similarity index 73%
rename from src/main/java/com/tuoheng/machine/impl/dji/action/drone/DjiPointPrepareCompletedAction.java
rename to src/main/java/com/tuoheng/old/impl/dji/action/drone/DjiPointPrepareCompletedAction.java
index 945007e..68b05f9 100644
--- a/src/main/java/com/tuoheng/machine/impl/dji/action/drone/DjiPointPrepareCompletedAction.java
+++ b/src/main/java/com/tuoheng/old/impl/dji/action/drone/DjiPointPrepareCompletedAction.java
@@ -1,10 +1,10 @@
-package com.tuoheng.machine.impl.dji.action.drone;
+package com.tuoheng.old.impl.dji.action.drone;
 
 import lombok.extern.slf4j.Slf4j;
 
-import com.tuoheng.machine.action.drone.PointPrepareCompletedAction;
-import com.tuoheng.machine.events.DroneEvent;
-import com.tuoheng.machine.status.DroneState;
+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;
 
diff --git a/src/main/java/com/tuoheng/machine/impl/dji/action/drone/DjiPointToFlyingAction.java b/src/main/java/com/tuoheng/old/impl/dji/action/drone/DjiPointToFlyingAction.java
similarity index 73%
rename from src/main/java/com/tuoheng/machine/impl/dji/action/drone/DjiPointToFlyingAction.java
rename to src/main/java/com/tuoheng/old/impl/dji/action/drone/DjiPointToFlyingAction.java
index b77f21e..fa109bb 100644
--- a/src/main/java/com/tuoheng/machine/impl/dji/action/drone/DjiPointToFlyingAction.java
+++ b/src/main/java/com/tuoheng/old/impl/dji/action/drone/DjiPointToFlyingAction.java
@@ -1,10 +1,10 @@
-package com.tuoheng.machine.impl.dji.action.drone;
+package com.tuoheng.old.impl.dji.action.drone;
 
 import lombok.extern.slf4j.Slf4j;
 
-import com.tuoheng.machine.action.drone.PointToFlyingAction;
-import com.tuoheng.machine.events.DroneEvent;
-import com.tuoheng.machine.status.DroneState;
+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;
 
diff --git a/src/main/java/com/tuoheng/machine/impl/dji/action/drone/DjiPointToReturnAction.java b/src/main/java/com/tuoheng/old/impl/dji/action/drone/DjiPointToReturnAction.java
similarity index 73%
rename from src/main/java/com/tuoheng/machine/impl/dji/action/drone/DjiPointToReturnAction.java
rename to src/main/java/com/tuoheng/old/impl/dji/action/drone/DjiPointToReturnAction.java
index 2e4f30c..c1848f1 100644
--- a/src/main/java/com/tuoheng/machine/impl/dji/action/drone/DjiPointToReturnAction.java
+++ b/src/main/java/com/tuoheng/old/impl/dji/action/drone/DjiPointToReturnAction.java
@@ -1,10 +1,10 @@
-package com.tuoheng.machine.impl.dji.action.drone;
+package com.tuoheng.old.impl.dji.action.drone;
 
 import lombok.extern.slf4j.Slf4j;
 
-import com.tuoheng.machine.action.drone.PointToReturnAction;
-import com.tuoheng.machine.events.DroneEvent;
-import com.tuoheng.machine.status.DroneState;
+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;
 
diff --git a/src/main/java/com/tuoheng/machine/impl/dji/action/drone/DjiPrepareCompletedAction.java b/src/main/java/com/tuoheng/old/impl/dji/action/drone/DjiPrepareCompletedAction.java
similarity index 73%
rename from src/main/java/com/tuoheng/machine/impl/dji/action/drone/DjiPrepareCompletedAction.java
rename to src/main/java/com/tuoheng/old/impl/dji/action/drone/DjiPrepareCompletedAction.java
index a4ce8f4..cebfd11 100644
--- a/src/main/java/com/tuoheng/machine/impl/dji/action/drone/DjiPrepareCompletedAction.java
+++ b/src/main/java/com/tuoheng/old/impl/dji/action/drone/DjiPrepareCompletedAction.java
@@ -1,10 +1,10 @@
-package com.tuoheng.machine.impl.dji.action.drone;
+package com.tuoheng.old.impl.dji.action.drone;
 
 import lombok.extern.slf4j.Slf4j;
 
-import com.tuoheng.machine.action.drone.PrepareCompletedAction;
-import com.tuoheng.machine.events.DroneEvent;
-import com.tuoheng.machine.status.DroneState;
+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;
 
diff --git a/src/main/java/com/tuoheng/machine/impl/dji/action/drone/DjiResumeFlyingAction.java b/src/main/java/com/tuoheng/old/impl/dji/action/drone/DjiResumeFlyingAction.java
similarity index 73%
rename from src/main/java/com/tuoheng/machine/impl/dji/action/drone/DjiResumeFlyingAction.java
rename to src/main/java/com/tuoheng/old/impl/dji/action/drone/DjiResumeFlyingAction.java
index 414e8a5..93e4355 100644
--- a/src/main/java/com/tuoheng/machine/impl/dji/action/drone/DjiResumeFlyingAction.java
+++ b/src/main/java/com/tuoheng/old/impl/dji/action/drone/DjiResumeFlyingAction.java
@@ -1,10 +1,10 @@
-package com.tuoheng.machine.impl.dji.action.drone;
+package com.tuoheng.old.impl.dji.action.drone;
 
 import lombok.extern.slf4j.Slf4j;
 
-import com.tuoheng.machine.action.drone.ResumeFlyingAction;
-import com.tuoheng.machine.events.DroneEvent;
-import com.tuoheng.machine.status.DroneState;
+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;
 
diff --git a/src/main/java/com/tuoheng/machine/impl/dji/action/drone/DjiResumeReturnAction.java b/src/main/java/com/tuoheng/old/impl/dji/action/drone/DjiResumeReturnAction.java
similarity index 73%
rename from src/main/java/com/tuoheng/machine/impl/dji/action/drone/DjiResumeReturnAction.java
rename to src/main/java/com/tuoheng/old/impl/dji/action/drone/DjiResumeReturnAction.java
index 7272eca..2595039 100644
--- a/src/main/java/com/tuoheng/machine/impl/dji/action/drone/DjiResumeReturnAction.java
+++ b/src/main/java/com/tuoheng/old/impl/dji/action/drone/DjiResumeReturnAction.java
@@ -1,10 +1,10 @@
-package com.tuoheng.machine.impl.dji.action.drone;
+package com.tuoheng.old.impl.dji.action.drone;
 
 import lombok.extern.slf4j.Slf4j;
 
-import com.tuoheng.machine.action.drone.ResumeReturnAction;
-import com.tuoheng.machine.events.DroneEvent;
-import com.tuoheng.machine.status.DroneState;
+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;
 
diff --git a/src/main/java/com/tuoheng/machine/impl/dji/action/drone/DjiReturnCompletedAction.java b/src/main/java/com/tuoheng/old/impl/dji/action/drone/DjiReturnCompletedAction.java
similarity index 73%
rename from src/main/java/com/tuoheng/machine/impl/dji/action/drone/DjiReturnCompletedAction.java
rename to src/main/java/com/tuoheng/old/impl/dji/action/drone/DjiReturnCompletedAction.java
index b1e153a..c568191 100644
--- a/src/main/java/com/tuoheng/machine/impl/dji/action/drone/DjiReturnCompletedAction.java
+++ b/src/main/java/com/tuoheng/old/impl/dji/action/drone/DjiReturnCompletedAction.java
@@ -1,10 +1,10 @@
-package com.tuoheng.machine.impl.dji.action.drone;
+package com.tuoheng.old.impl.dji.action.drone;
 
 import lombok.extern.slf4j.Slf4j;
 
-import com.tuoheng.machine.action.drone.ReturnCompletedAction;
-import com.tuoheng.machine.events.DroneEvent;
-import com.tuoheng.machine.status.DroneState;
+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;
 
diff --git a/src/main/java/com/tuoheng/machine/impl/dji/action/drone/DjiReturnEmergencyStopAction.java b/src/main/java/com/tuoheng/old/impl/dji/action/drone/DjiReturnEmergencyStopAction.java
similarity index 73%
rename from src/main/java/com/tuoheng/machine/impl/dji/action/drone/DjiReturnEmergencyStopAction.java
rename to src/main/java/com/tuoheng/old/impl/dji/action/drone/DjiReturnEmergencyStopAction.java
index a4dbb51..8990da3 100644
--- a/src/main/java/com/tuoheng/machine/impl/dji/action/drone/DjiReturnEmergencyStopAction.java
+++ b/src/main/java/com/tuoheng/old/impl/dji/action/drone/DjiReturnEmergencyStopAction.java
@@ -1,10 +1,10 @@
-package com.tuoheng.machine.impl.dji.action.drone;
+package com.tuoheng.old.impl.dji.action.drone;
 
 import lombok.extern.slf4j.Slf4j;
 
-import com.tuoheng.machine.action.drone.ReturnEmergencyStopAction;
-import com.tuoheng.machine.events.DroneEvent;
-import com.tuoheng.machine.status.DroneState;
+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;
 
diff --git a/src/main/java/com/tuoheng/machine/impl/dji/action/drone/DjiStartFlyingAction.java b/src/main/java/com/tuoheng/old/impl/dji/action/drone/DjiStartFlyingAction.java
similarity index 73%
rename from src/main/java/com/tuoheng/machine/impl/dji/action/drone/DjiStartFlyingAction.java
rename to src/main/java/com/tuoheng/old/impl/dji/action/drone/DjiStartFlyingAction.java
index c66dfad..3d51ec3 100644
--- a/src/main/java/com/tuoheng/machine/impl/dji/action/drone/DjiStartFlyingAction.java
+++ b/src/main/java/com/tuoheng/old/impl/dji/action/drone/DjiStartFlyingAction.java
@@ -1,10 +1,10 @@
-package com.tuoheng.machine.impl.dji.action.drone;
+package com.tuoheng.old.impl.dji.action.drone;
 
 import lombok.extern.slf4j.Slf4j;
 
-import com.tuoheng.machine.action.drone.StartFlyingAction;
-import com.tuoheng.machine.events.DroneEvent;
-import com.tuoheng.machine.status.DroneState;
+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;
 
diff --git a/src/main/java/com/tuoheng/machine/impl/dji/action/drone/DjiStartPointingAction.java b/src/main/java/com/tuoheng/old/impl/dji/action/drone/DjiStartPointingAction.java
similarity index 73%
rename from src/main/java/com/tuoheng/machine/impl/dji/action/drone/DjiStartPointingAction.java
rename to src/main/java/com/tuoheng/old/impl/dji/action/drone/DjiStartPointingAction.java
index a58d986..aab8211 100644
--- a/src/main/java/com/tuoheng/machine/impl/dji/action/drone/DjiStartPointingAction.java
+++ b/src/main/java/com/tuoheng/old/impl/dji/action/drone/DjiStartPointingAction.java
@@ -1,10 +1,10 @@
-package com.tuoheng.machine.impl.dji.action.drone;
+package com.tuoheng.old.impl.dji.action.drone;
 
 import lombok.extern.slf4j.Slf4j;
 
-import com.tuoheng.machine.action.drone.StartPointingAction;
-import com.tuoheng.machine.events.DroneEvent;
-import com.tuoheng.machine.status.DroneState;
+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;
 
diff --git a/src/main/java/com/tuoheng/machine/impl/dji/action/drone/DjiStartPrepareAction.java b/src/main/java/com/tuoheng/old/impl/dji/action/drone/DjiStartPrepareAction.java
similarity index 73%
rename from src/main/java/com/tuoheng/machine/impl/dji/action/drone/DjiStartPrepareAction.java
rename to src/main/java/com/tuoheng/old/impl/dji/action/drone/DjiStartPrepareAction.java
index 12be18a..0fb36bc 100644
--- a/src/main/java/com/tuoheng/machine/impl/dji/action/drone/DjiStartPrepareAction.java
+++ b/src/main/java/com/tuoheng/old/impl/dji/action/drone/DjiStartPrepareAction.java
@@ -1,10 +1,10 @@
-package com.tuoheng.machine.impl.dji.action.drone;
+package com.tuoheng.old.impl.dji.action.drone;
 
 import lombok.extern.slf4j.Slf4j;
 
-import com.tuoheng.machine.action.drone.StartPrepareAction;
-import com.tuoheng.machine.events.DroneEvent;
-import com.tuoheng.machine.status.DroneState;
+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;
 
diff --git a/src/main/java/com/tuoheng/machine/impl/dji/action/drone/DjiStartReturnAction.java b/src/main/java/com/tuoheng/old/impl/dji/action/drone/DjiStartReturnAction.java
similarity index 73%
rename from src/main/java/com/tuoheng/machine/impl/dji/action/drone/DjiStartReturnAction.java
rename to src/main/java/com/tuoheng/old/impl/dji/action/drone/DjiStartReturnAction.java
index 7fd75c2..f2d0be4 100644
--- a/src/main/java/com/tuoheng/machine/impl/dji/action/drone/DjiStartReturnAction.java
+++ b/src/main/java/com/tuoheng/old/impl/dji/action/drone/DjiStartReturnAction.java
@@ -1,10 +1,10 @@
-package com.tuoheng.machine.impl.dji.action.drone;
+package com.tuoheng.old.impl.dji.action.drone;
 
 import lombok.extern.slf4j.Slf4j;
 
-import com.tuoheng.machine.action.drone.StartReturnAction;
-import com.tuoheng.machine.events.DroneEvent;
-import com.tuoheng.machine.status.DroneState;
+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;
 
diff --git a/src/main/java/com/tuoheng/machine/impl/dji/guard/airport/DjiCanCloseDebugModeGuard.java b/src/main/java/com/tuoheng/old/impl/dji/guard/airport/DjiCanCloseDebugModeGuard.java
similarity index 70%
rename from src/main/java/com/tuoheng/machine/impl/dji/guard/airport/DjiCanCloseDebugModeGuard.java
rename to src/main/java/com/tuoheng/old/impl/dji/guard/airport/DjiCanCloseDebugModeGuard.java
index f1644d6..ff10d51 100644
--- a/src/main/java/com/tuoheng/machine/impl/dji/guard/airport/DjiCanCloseDebugModeGuard.java
+++ b/src/main/java/com/tuoheng/old/impl/dji/guard/airport/DjiCanCloseDebugModeGuard.java
@@ -1,10 +1,10 @@
-package com.tuoheng.machine.impl.dji.guard.airport;
+package com.tuoheng.old.impl.dji.guard.airport;
 
 import lombok.extern.slf4j.Slf4j;
 
-import com.tuoheng.machine.guard.debug.CanCloseDebugModeGuard;
-import com.tuoheng.machine.events.AirportEvent;
-import com.tuoheng.machine.status.AirportState;
+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;
 
diff --git a/src/main/java/com/tuoheng/machine/impl/dji/guard/airport/DjiCanOfflineGuard.java b/src/main/java/com/tuoheng/old/impl/dji/guard/airport/DjiCanOfflineGuard.java
similarity index 70%
rename from src/main/java/com/tuoheng/machine/impl/dji/guard/airport/DjiCanOfflineGuard.java
rename to src/main/java/com/tuoheng/old/impl/dji/guard/airport/DjiCanOfflineGuard.java
index 57025bc..bea40ac 100644
--- a/src/main/java/com/tuoheng/machine/impl/dji/guard/airport/DjiCanOfflineGuard.java
+++ b/src/main/java/com/tuoheng/old/impl/dji/guard/airport/DjiCanOfflineGuard.java
@@ -1,10 +1,10 @@
-package com.tuoheng.machine.impl.dji.guard.airport;
+package com.tuoheng.old.impl.dji.guard.airport;
 
 import lombok.extern.slf4j.Slf4j;
 
-import com.tuoheng.machine.guard.airport.CanOfflineGuard;
-import com.tuoheng.machine.events.AirportEvent;
-import com.tuoheng.machine.status.AirportState;
+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;
 
diff --git a/src/main/java/com/tuoheng/machine/impl/dji/guard/airport/DjiCanOnlineGuard.java b/src/main/java/com/tuoheng/old/impl/dji/guard/airport/DjiCanOnlineGuard.java
similarity index 78%
rename from src/main/java/com/tuoheng/machine/impl/dji/guard/airport/DjiCanOnlineGuard.java
rename to src/main/java/com/tuoheng/old/impl/dji/guard/airport/DjiCanOnlineGuard.java
index 5745ada..db83eb1 100644
--- a/src/main/java/com/tuoheng/machine/impl/dji/guard/airport/DjiCanOnlineGuard.java
+++ b/src/main/java/com/tuoheng/old/impl/dji/guard/airport/DjiCanOnlineGuard.java
@@ -1,10 +1,10 @@
-package com.tuoheng.machine.impl.dji.guard.airport;
+package com.tuoheng.old.impl.dji.guard.airport;
 
 import lombok.extern.slf4j.Slf4j;
 
-import com.tuoheng.machine.guard.airport.CanOnlineGuard;
-import com.tuoheng.machine.events.AirportEvent;
-import com.tuoheng.machine.status.AirportState;
+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;
 
diff --git a/src/main/java/com/tuoheng/machine/impl/dji/guard/airport/DjiIsDebugModeGuard.java b/src/main/java/com/tuoheng/old/impl/dji/guard/airport/DjiIsDebugModeGuard.java
similarity index 70%
rename from src/main/java/com/tuoheng/machine/impl/dji/guard/airport/DjiIsDebugModeGuard.java
rename to src/main/java/com/tuoheng/old/impl/dji/guard/airport/DjiIsDebugModeGuard.java
index 9cd87eb..95b974e 100644
--- a/src/main/java/com/tuoheng/machine/impl/dji/guard/airport/DjiIsDebugModeGuard.java
+++ b/src/main/java/com/tuoheng/old/impl/dji/guard/airport/DjiIsDebugModeGuard.java
@@ -1,10 +1,10 @@
-package com.tuoheng.machine.impl.dji.guard.airport;
+package com.tuoheng.old.impl.dji.guard.airport;
 
 import lombok.extern.slf4j.Slf4j;
 
-import com.tuoheng.machine.guard.debug.IsDebugModeGuard;
-import com.tuoheng.machine.events.AirportEvent;
-import com.tuoheng.machine.status.AirportState;
+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;
 
diff --git a/src/main/java/com/tuoheng/machine/impl/dji/guard/airport/DjiIsNotDebugModeGuard.java b/src/main/java/com/tuoheng/old/impl/dji/guard/airport/DjiIsNotDebugModeGuard.java
similarity index 70%
rename from src/main/java/com/tuoheng/machine/impl/dji/guard/airport/DjiIsNotDebugModeGuard.java
rename to src/main/java/com/tuoheng/old/impl/dji/guard/airport/DjiIsNotDebugModeGuard.java
index c7a51d1..8315f30 100644
--- a/src/main/java/com/tuoheng/machine/impl/dji/guard/airport/DjiIsNotDebugModeGuard.java
+++ b/src/main/java/com/tuoheng/old/impl/dji/guard/airport/DjiIsNotDebugModeGuard.java
@@ -1,10 +1,10 @@
-package com.tuoheng.machine.impl.dji.guard.airport;
+package com.tuoheng.old.impl.dji.guard.airport;
 
 import lombok.extern.slf4j.Slf4j;
 
-import com.tuoheng.machine.guard.debug.IsNotDebugModeGuard;
-import com.tuoheng.machine.events.AirportEvent;
-import com.tuoheng.machine.status.AirportState;
+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;
 
diff --git a/src/main/java/com/tuoheng/machine/impl/dji/guard/airport/DjiIsRebootCompletedGuard.java b/src/main/java/com/tuoheng/old/impl/dji/guard/airport/DjiIsRebootCompletedGuard.java
similarity index 70%
rename from src/main/java/com/tuoheng/machine/impl/dji/guard/airport/DjiIsRebootCompletedGuard.java
rename to src/main/java/com/tuoheng/old/impl/dji/guard/airport/DjiIsRebootCompletedGuard.java
index b310fac..274160f 100644
--- a/src/main/java/com/tuoheng/machine/impl/dji/guard/airport/DjiIsRebootCompletedGuard.java
+++ b/src/main/java/com/tuoheng/old/impl/dji/guard/airport/DjiIsRebootCompletedGuard.java
@@ -1,10 +1,10 @@
-package com.tuoheng.machine.impl.dji.guard.airport;
+package com.tuoheng.old.impl.dji.guard.airport;
 
 import lombok.extern.slf4j.Slf4j;
 
-import com.tuoheng.machine.guard.reboot.IsRebootCompletedGuard;
-import com.tuoheng.machine.events.AirportEvent;
-import com.tuoheng.machine.status.AirportState;
+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;
 
diff --git a/src/main/java/com/tuoheng/machine/impl/dji/guard/cover/DjiCanCloseCoverGuard.java b/src/main/java/com/tuoheng/old/impl/dji/guard/cover/DjiCanCloseCoverGuard.java
similarity index 70%
rename from src/main/java/com/tuoheng/machine/impl/dji/guard/cover/DjiCanCloseCoverGuard.java
rename to src/main/java/com/tuoheng/old/impl/dji/guard/cover/DjiCanCloseCoverGuard.java
index 2266227..16c0792 100644
--- a/src/main/java/com/tuoheng/machine/impl/dji/guard/cover/DjiCanCloseCoverGuard.java
+++ b/src/main/java/com/tuoheng/old/impl/dji/guard/cover/DjiCanCloseCoverGuard.java
@@ -1,10 +1,10 @@
-package com.tuoheng.machine.impl.dji.guard.cover;
+package com.tuoheng.old.impl.dji.guard.cover;
 
 import lombok.extern.slf4j.Slf4j;
 
-import com.tuoheng.machine.guard.cover.CanCloseCoverGuard;
-import com.tuoheng.machine.events.CoverEvent;
-import com.tuoheng.machine.status.CoverState;
+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;
 
diff --git a/src/main/java/com/tuoheng/machine/impl/dji/guard/cover/DjiCanOpenCoverGuard.java b/src/main/java/com/tuoheng/old/impl/dji/guard/cover/DjiCanOpenCoverGuard.java
similarity index 70%
rename from src/main/java/com/tuoheng/machine/impl/dji/guard/cover/DjiCanOpenCoverGuard.java
rename to src/main/java/com/tuoheng/old/impl/dji/guard/cover/DjiCanOpenCoverGuard.java
index 050c437..7646635 100644
--- a/src/main/java/com/tuoheng/machine/impl/dji/guard/cover/DjiCanOpenCoverGuard.java
+++ b/src/main/java/com/tuoheng/old/impl/dji/guard/cover/DjiCanOpenCoverGuard.java
@@ -1,10 +1,10 @@
-package com.tuoheng.machine.impl.dji.guard.cover;
+package com.tuoheng.old.impl.dji.guard.cover;
 
 import lombok.extern.slf4j.Slf4j;
 
-import com.tuoheng.machine.guard.cover.CanOpenCoverGuard;
-import com.tuoheng.machine.events.CoverEvent;
-import com.tuoheng.machine.status.CoverState;
+import com.tuoheng.old.guard.cover.CanOpenCoverGuard;
+import com.tuoheng.old.events.CoverEvent;
+import com.tuoheng.old.status.CoverState;
 import org.springframework.statemachine.StateContext;
 import org.springframework.stereotype.Component;
 
diff --git a/src/main/java/com/tuoheng/machine/impl/dji/guard/cover/DjiIsCoverClosedGuard.java b/src/main/java/com/tuoheng/old/impl/dji/guard/cover/DjiIsCoverClosedGuard.java
similarity index 70%
rename from src/main/java/com/tuoheng/machine/impl/dji/guard/cover/DjiIsCoverClosedGuard.java
rename to src/main/java/com/tuoheng/old/impl/dji/guard/cover/DjiIsCoverClosedGuard.java
index 5b00eab..ec0060d 100644
--- a/src/main/java/com/tuoheng/machine/impl/dji/guard/cover/DjiIsCoverClosedGuard.java
+++ b/src/main/java/com/tuoheng/old/impl/dji/guard/cover/DjiIsCoverClosedGuard.java
@@ -1,10 +1,10 @@
-package com.tuoheng.machine.impl.dji.guard.cover;
+package com.tuoheng.old.impl.dji.guard.cover;
 
 import lombok.extern.slf4j.Slf4j;
 
-import com.tuoheng.machine.guard.cover.IsCoverClosedGuard;
-import com.tuoheng.machine.events.CoverEvent;
-import com.tuoheng.machine.status.CoverState;
+import com.tuoheng.old.guard.cover.IsCoverClosedGuard;
+import com.tuoheng.old.events.CoverEvent;
+import com.tuoheng.old.status.CoverState;
 import org.springframework.statemachine.StateContext;
 import org.springframework.stereotype.Component;
 
diff --git a/src/main/java/com/tuoheng/machine/impl/dji/guard/cover/DjiIsCoverOpenedGuard.java b/src/main/java/com/tuoheng/old/impl/dji/guard/cover/DjiIsCoverOpenedGuard.java
similarity index 70%
rename from src/main/java/com/tuoheng/machine/impl/dji/guard/cover/DjiIsCoverOpenedGuard.java
rename to src/main/java/com/tuoheng/old/impl/dji/guard/cover/DjiIsCoverOpenedGuard.java
index 0ef103a..2f479f8 100644
--- a/src/main/java/com/tuoheng/machine/impl/dji/guard/cover/DjiIsCoverOpenedGuard.java
+++ b/src/main/java/com/tuoheng/old/impl/dji/guard/cover/DjiIsCoverOpenedGuard.java
@@ -1,10 +1,10 @@
-package com.tuoheng.machine.impl.dji.guard.cover;
+package com.tuoheng.old.impl.dji.guard.cover;
 
 import lombok.extern.slf4j.Slf4j;
 
-import com.tuoheng.machine.guard.cover.IsCoverOpenedGuard;
-import com.tuoheng.machine.events.CoverEvent;
-import com.tuoheng.machine.status.CoverState;
+import com.tuoheng.old.guard.cover.IsCoverOpenedGuard;
+import com.tuoheng.old.events.CoverEvent;
+import com.tuoheng.old.status.CoverState;
 import org.springframework.statemachine.StateContext;
 import org.springframework.stereotype.Component;
 
diff --git a/src/main/java/com/tuoheng/machine/impl/dji/guard/drc/DjiCanEnterGuard.java b/src/main/java/com/tuoheng/old/impl/dji/guard/drc/DjiCanEnterGuard.java
similarity index 73%
rename from src/main/java/com/tuoheng/machine/impl/dji/guard/drc/DjiCanEnterGuard.java
rename to src/main/java/com/tuoheng/old/impl/dji/guard/drc/DjiCanEnterGuard.java
index f1be2f3..74a0793 100644
--- a/src/main/java/com/tuoheng/machine/impl/dji/guard/drc/DjiCanEnterGuard.java
+++ b/src/main/java/com/tuoheng/old/impl/dji/guard/drc/DjiCanEnterGuard.java
@@ -1,10 +1,10 @@
-package com.tuoheng.machine.impl.dji.guard.drc;
+package com.tuoheng.old.impl.dji.guard.drc;
 
 import lombok.extern.slf4j.Slf4j;
 
-import com.tuoheng.machine.events.DrcEvent;
-import com.tuoheng.machine.guard.drc.CanEnterGuard;
-import com.tuoheng.machine.status.DrcState;
+import com.tuoheng.old.events.DrcEvent;
+import com.tuoheng.old.guard.drc.CanEnterGuard;
+import com.tuoheng.old.status.DrcState;
 import org.springframework.statemachine.StateContext;
 import org.springframework.stereotype.Component;
 
diff --git a/src/main/java/com/tuoheng/machine/impl/dji/guard/drc/DjiCanExitGuard.java b/src/main/java/com/tuoheng/old/impl/dji/guard/drc/DjiCanExitGuard.java
similarity index 79%
rename from src/main/java/com/tuoheng/machine/impl/dji/guard/drc/DjiCanExitGuard.java
rename to src/main/java/com/tuoheng/old/impl/dji/guard/drc/DjiCanExitGuard.java
index 4cce288..33c5963 100644
--- a/src/main/java/com/tuoheng/machine/impl/dji/guard/drc/DjiCanExitGuard.java
+++ b/src/main/java/com/tuoheng/old/impl/dji/guard/drc/DjiCanExitGuard.java
@@ -1,10 +1,10 @@
-package com.tuoheng.machine.impl.dji.guard.drc;
+package com.tuoheng.old.impl.dji.guard.drc;
 
 import lombok.extern.slf4j.Slf4j;
 
-import com.tuoheng.machine.events.DrcEvent;
-import com.tuoheng.machine.guard.drc.CanExitGuard;
-import com.tuoheng.machine.status.DrcState;
+import com.tuoheng.old.events.DrcEvent;
+import com.tuoheng.old.guard.drc.CanExitGuard;
+import com.tuoheng.old.status.DrcState;
 import org.springframework.statemachine.StateContext;
 import org.springframework.stereotype.Component;
 
diff --git a/src/main/java/com/tuoheng/machine/impl/dji/guard/drone/DjiCanPointGuard.java b/src/main/java/com/tuoheng/old/impl/dji/guard/drone/DjiCanPointGuard.java
similarity index 80%
rename from src/main/java/com/tuoheng/machine/impl/dji/guard/drone/DjiCanPointGuard.java
rename to src/main/java/com/tuoheng/old/impl/dji/guard/drone/DjiCanPointGuard.java
index 55cf1f4..81de2b9 100644
--- a/src/main/java/com/tuoheng/machine/impl/dji/guard/drone/DjiCanPointGuard.java
+++ b/src/main/java/com/tuoheng/old/impl/dji/guard/drone/DjiCanPointGuard.java
@@ -1,10 +1,10 @@
-package com.tuoheng.machine.impl.dji.guard.drone;
+package com.tuoheng.old.impl.dji.guard.drone;
 
 import lombok.extern.slf4j.Slf4j;
 
-import com.tuoheng.machine.events.DroneEvent;
-import com.tuoheng.machine.guard.drone.CanPointGuard;
-import com.tuoheng.machine.status.DroneState;
+import com.tuoheng.old.events.DroneEvent;
+import com.tuoheng.old.guard.drone.CanPointGuard;
+import com.tuoheng.old.status.DroneState;
 import org.springframework.statemachine.StateContext;
 import org.springframework.stereotype.Component;
 
diff --git a/src/main/java/com/tuoheng/machine/impl/dji/listener/DjiAirportListener.java b/src/main/java/com/tuoheng/old/impl/dji/listener/DjiAirportListener.java
similarity index 65%
rename from src/main/java/com/tuoheng/machine/impl/dji/listener/DjiAirportListener.java
rename to src/main/java/com/tuoheng/old/impl/dji/listener/DjiAirportListener.java
index e845da2..8bb0b42 100644
--- a/src/main/java/com/tuoheng/machine/impl/dji/listener/DjiAirportListener.java
+++ b/src/main/java/com/tuoheng/old/impl/dji/listener/DjiAirportListener.java
@@ -1,6 +1,6 @@
-package com.tuoheng.machine.impl.dji.listener;
+package com.tuoheng.old.impl.dji.listener;
 
-import com.tuoheng.machine.listener.DefaultAirportListener;
+import com.tuoheng.old.listener.DefaultAirportListener;
 import org.springframework.stereotype.Component;
 
 @Component
diff --git a/src/main/java/com/tuoheng/machine/impl/dji/listener/DjiCoverListener.java b/src/main/java/com/tuoheng/old/impl/dji/listener/DjiCoverListener.java
similarity index 66%
rename from src/main/java/com/tuoheng/machine/impl/dji/listener/DjiCoverListener.java
rename to src/main/java/com/tuoheng/old/impl/dji/listener/DjiCoverListener.java
index 4f56214..219bd41 100644
--- a/src/main/java/com/tuoheng/machine/impl/dji/listener/DjiCoverListener.java
+++ b/src/main/java/com/tuoheng/old/impl/dji/listener/DjiCoverListener.java
@@ -1,6 +1,6 @@
-package com.tuoheng.machine.impl.dji.listener;
+package com.tuoheng.old.impl.dji.listener;
 
-import com.tuoheng.machine.listener.DefaultCoverListener;
+import com.tuoheng.old.listener.DefaultCoverListener;
 import org.springframework.stereotype.Component;
 
 @Component
diff --git a/src/main/java/com/tuoheng/machine/impl/dji/listener/DjiDrcListener.java b/src/main/java/com/tuoheng/old/impl/dji/listener/DjiDrcListener.java
similarity index 87%
rename from src/main/java/com/tuoheng/machine/impl/dji/listener/DjiDrcListener.java
rename to src/main/java/com/tuoheng/old/impl/dji/listener/DjiDrcListener.java
index d1e33d1..a9bbf4d 100644
--- a/src/main/java/com/tuoheng/machine/impl/dji/listener/DjiDrcListener.java
+++ b/src/main/java/com/tuoheng/old/impl/dji/listener/DjiDrcListener.java
@@ -1,9 +1,9 @@
-package com.tuoheng.machine.impl.dji.listener;
+package com.tuoheng.old.impl.dji.listener;
 
-import com.tuoheng.machine.events.DrcEvent;
-import com.tuoheng.machine.listener.DefaultDrcListener;
-import com.tuoheng.machine.service.DrcMachineService;
-import com.tuoheng.machine.status.DrcState;
+import com.tuoheng.old.events.DrcEvent;
+import com.tuoheng.old.listener.DefaultDrcListener;
+import com.tuoheng.old.service.DrcMachineService;
+import com.tuoheng.old.status.DrcState;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.context.annotation.Lazy;
@@ -13,9 +13,6 @@ import org.springframework.statemachine.state.State;
 import org.springframework.statemachine.transition.Transition;
 import org.springframework.stereotype.Component;
 
-import java.util.Objects;
-import java.util.concurrent.CompletableFuture;
-
 /**
  * DJI平台DRC状态监听器
  */
diff --git a/src/main/java/com/tuoheng/machine/impl/dji/listener/DjiDroneListener.java b/src/main/java/com/tuoheng/old/impl/dji/listener/DjiDroneListener.java
similarity index 70%
rename from src/main/java/com/tuoheng/machine/impl/dji/listener/DjiDroneListener.java
rename to src/main/java/com/tuoheng/old/impl/dji/listener/DjiDroneListener.java
index 12eec26..5d4349e 100644
--- a/src/main/java/com/tuoheng/machine/impl/dji/listener/DjiDroneListener.java
+++ b/src/main/java/com/tuoheng/old/impl/dji/listener/DjiDroneListener.java
@@ -1,6 +1,6 @@
-package com.tuoheng.machine.impl.dji.listener;
+package com.tuoheng.old.impl.dji.listener;
 
-import com.tuoheng.machine.listener.DefaultDroneListener;
+import com.tuoheng.old.listener.DefaultDroneListener;
 import org.springframework.stereotype.Component;
 
 /**
diff --git a/src/main/java/com/tuoheng/machine/listener/DefaultAirportListener.java b/src/main/java/com/tuoheng/old/listener/DefaultAirportListener.java
similarity index 94%
rename from src/main/java/com/tuoheng/machine/listener/DefaultAirportListener.java
rename to src/main/java/com/tuoheng/old/listener/DefaultAirportListener.java
index 7563d50..fc2a973 100644
--- a/src/main/java/com/tuoheng/machine/listener/DefaultAirportListener.java
+++ b/src/main/java/com/tuoheng/old/listener/DefaultAirportListener.java
@@ -1,10 +1,10 @@
-package com.tuoheng.machine.listener;
+package com.tuoheng.old.listener;
 
 import lombok.extern.slf4j.Slf4j;
 
-import com.tuoheng.machine.events.AirportEvent;
-import com.tuoheng.machine.platform.strategy.PlatformListener;
-import com.tuoheng.machine.status.AirportState;
+import com.tuoheng.old.events.AirportEvent;
+import com.tuoheng.old.platform.strategy.PlatformListener;
+import com.tuoheng.old.status.AirportState;
 import org.springframework.messaging.Message;
 import org.springframework.statemachine.StateContext;
 import org.springframework.statemachine.StateMachine;
diff --git a/src/main/java/com/tuoheng/machine/listener/DefaultCoverListener.java b/src/main/java/com/tuoheng/old/listener/DefaultCoverListener.java
similarity index 94%
rename from src/main/java/com/tuoheng/machine/listener/DefaultCoverListener.java
rename to src/main/java/com/tuoheng/old/listener/DefaultCoverListener.java
index b14a6d8..99c0f6d 100644
--- a/src/main/java/com/tuoheng/machine/listener/DefaultCoverListener.java
+++ b/src/main/java/com/tuoheng/old/listener/DefaultCoverListener.java
@@ -1,10 +1,10 @@
-package com.tuoheng.machine.listener;
+package com.tuoheng.old.listener;
 
 import lombok.extern.slf4j.Slf4j;
 
-import com.tuoheng.machine.events.CoverEvent;
-import com.tuoheng.machine.platform.strategy.PlatformListener;
-import com.tuoheng.machine.status.CoverState;
+import com.tuoheng.old.events.CoverEvent;
+import com.tuoheng.old.platform.strategy.PlatformListener;
+import com.tuoheng.old.status.CoverState;
 import org.springframework.messaging.Message;
 import org.springframework.statemachine.StateContext;
 import org.springframework.statemachine.StateMachine;
diff --git a/src/main/java/com/tuoheng/machine/listener/DefaultDrcListener.java b/src/main/java/com/tuoheng/old/listener/DefaultDrcListener.java
similarity index 90%
rename from src/main/java/com/tuoheng/machine/listener/DefaultDrcListener.java
rename to src/main/java/com/tuoheng/old/listener/DefaultDrcListener.java
index 9dbe7fb..2535c2a 100644
--- a/src/main/java/com/tuoheng/machine/listener/DefaultDrcListener.java
+++ b/src/main/java/com/tuoheng/old/listener/DefaultDrcListener.java
@@ -1,20 +1,16 @@
-package com.tuoheng.machine.listener;
+package com.tuoheng.old.listener;
 
-import com.tuoheng.machine.events.AirportEvent;
-import com.tuoheng.machine.status.AirportState;
 import lombok.extern.slf4j.Slf4j;
 
-import com.tuoheng.machine.events.DrcEvent;
-import com.tuoheng.machine.platform.strategy.PlatformListener;
-import com.tuoheng.machine.status.DrcState;
+import com.tuoheng.old.events.DrcEvent;
+import com.tuoheng.old.platform.strategy.PlatformListener;
+import com.tuoheng.old.status.DrcState;
 import org.springframework.messaging.Message;
 import org.springframework.statemachine.StateContext;
 import org.springframework.statemachine.StateMachine;
 import org.springframework.statemachine.state.State;
 import org.springframework.statemachine.transition.Transition;
 
-import java.util.concurrent.CompletableFuture;
-
 /**
  * 默认DRC状态监听器
  * 提供基础的状态变化监听功能，各平台可以继承并定制
diff --git a/src/main/java/com/tuoheng/machine/listener/DefaultDroneListener.java b/src/main/java/com/tuoheng/old/listener/DefaultDroneListener.java
similarity index 92%
rename from src/main/java/com/tuoheng/machine/listener/DefaultDroneListener.java
rename to src/main/java/com/tuoheng/old/listener/DefaultDroneListener.java
index 675b3eb..49d5617 100644
--- a/src/main/java/com/tuoheng/machine/listener/DefaultDroneListener.java
+++ b/src/main/java/com/tuoheng/old/listener/DefaultDroneListener.java
@@ -1,12 +1,10 @@
-package com.tuoheng.machine.listener;
+package com.tuoheng.old.listener;
 
-import com.tuoheng.machine.events.DrcEvent;
-import com.tuoheng.machine.status.DrcState;
 import lombok.extern.slf4j.Slf4j;
 
-import com.tuoheng.machine.events.DroneEvent;
-import com.tuoheng.machine.platform.strategy.PlatformListener;
-import com.tuoheng.machine.status.DroneState;
+import com.tuoheng.old.events.DroneEvent;
+import com.tuoheng.old.platform.strategy.PlatformListener;
+import com.tuoheng.old.status.DroneState;
 import org.springframework.messaging.Message;
 import org.springframework.statemachine.StateContext;
 import org.springframework.statemachine.StateMachine;
diff --git a/src/main/java/com/tuoheng/machine/manager/AbsSystemManager.java b/src/main/java/com/tuoheng/old/manager/AbsSystemManager.java
similarity index 94%
rename from src/main/java/com/tuoheng/machine/manager/AbsSystemManager.java
rename to src/main/java/com/tuoheng/old/manager/AbsSystemManager.java
index 62dab6d..b672c3c 100644
--- a/src/main/java/com/tuoheng/machine/manager/AbsSystemManager.java
+++ b/src/main/java/com/tuoheng/old/manager/AbsSystemManager.java
@@ -1,20 +1,20 @@
-package com.tuoheng.machine.manager;
+package com.tuoheng.old.manager;
 
 import lombok.extern.slf4j.Slf4j;
 
-import com.tuoheng.machine.events.AirportEvent;
-import com.tuoheng.machine.events.CoverEvent;
-import com.tuoheng.machine.events.DroneEvent;
-import com.tuoheng.machine.events.DrcEvent;
-import com.tuoheng.machine.platform.PlatformType;
-import com.tuoheng.machine.service.AirportMachineService;
-import com.tuoheng.machine.service.CoverMachineService;
-import com.tuoheng.machine.service.DroneMachineService;
-import com.tuoheng.machine.service.DrcMachineService;
-import com.tuoheng.machine.status.AirportState;
-import com.tuoheng.machine.status.CoverState;
-import com.tuoheng.machine.status.DroneState;
-import com.tuoheng.machine.status.DrcState;
+import com.tuoheng.old.events.AirportEvent;
+import com.tuoheng.old.events.CoverEvent;
+import com.tuoheng.old.events.DroneEvent;
+import com.tuoheng.old.events.DrcEvent;
+import com.tuoheng.old.platform.PlatformType;
+import com.tuoheng.old.service.AirportMachineService;
+import com.tuoheng.old.service.CoverMachineService;
+import com.tuoheng.old.service.DroneMachineService;
+import com.tuoheng.old.service.DrcMachineService;
+import com.tuoheng.old.status.AirportState;
+import com.tuoheng.old.status.CoverState;
+import com.tuoheng.old.status.DroneState;
+import com.tuoheng.old.status.DrcState;
 import org.springframework.beans.factory.annotation.Autowired;
 
 /**
diff --git a/src/main/java/com/tuoheng/machine/manager/ISystemManager.java b/src/main/java/com/tuoheng/old/manager/ISystemManager.java
similarity index 76%
rename from src/main/java/com/tuoheng/machine/manager/ISystemManager.java
rename to src/main/java/com/tuoheng/old/manager/ISystemManager.java
index f24b532..78d5cc6 100644
--- a/src/main/java/com/tuoheng/machine/manager/ISystemManager.java
+++ b/src/main/java/com/tuoheng/old/manager/ISystemManager.java
@@ -1,14 +1,14 @@
-package com.tuoheng.machine.manager;
+package com.tuoheng.old.manager;
 
-import com.tuoheng.machine.events.AirportEvent;
-import com.tuoheng.machine.events.CoverEvent;
-import com.tuoheng.machine.events.DroneEvent;
-import com.tuoheng.machine.events.DrcEvent;
-import com.tuoheng.machine.platform.PlatformType;
-import com.tuoheng.machine.status.AirportState;
-import com.tuoheng.machine.status.CoverState;
-import com.tuoheng.machine.status.DroneState;
-import com.tuoheng.machine.status.DrcState;
+import com.tuoheng.old.events.AirportEvent;
+import com.tuoheng.old.events.CoverEvent;
+import com.tuoheng.old.events.DroneEvent;
+import com.tuoheng.old.events.DrcEvent;
+import com.tuoheng.old.platform.PlatformType;
+import com.tuoheng.old.status.AirportState;
+import com.tuoheng.old.status.CoverState;
+import com.tuoheng.old.status.DroneState;
+import com.tuoheng.old.status.DrcState;
 
 /**
  * 机巢系统管理器接口
diff --git a/src/main/java/com/tuoheng/machine/manager/factory/AirportSystemManagerFactory.java b/src/main/java/com/tuoheng/old/manager/factory/AirportSystemManagerFactory.java
similarity index 91%
rename from src/main/java/com/tuoheng/machine/manager/factory/AirportSystemManagerFactory.java
rename to src/main/java/com/tuoheng/old/manager/factory/AirportSystemManagerFactory.java
index 9764fd9..656bc87 100644
--- a/src/main/java/com/tuoheng/machine/manager/factory/AirportSystemManagerFactory.java
+++ b/src/main/java/com/tuoheng/old/manager/factory/AirportSystemManagerFactory.java
@@ -1,8 +1,8 @@
-package com.tuoheng.machine.manager.factory;
+package com.tuoheng.old.manager.factory;
 
-import com.tuoheng.machine.manager.ISystemManager;
-import com.tuoheng.machine.platform.PlatformType;
-import com.tuoheng.machine.repository.MachinePlatTypeRepository;
+import com.tuoheng.old.manager.ISystemManager;
+import com.tuoheng.old.platform.PlatformType;
+import com.tuoheng.old.repository.MachinePlatTypeRepository;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.stereotype.Component;
diff --git a/src/main/java/com/tuoheng/machine/platform/PlatformType.java b/src/main/java/com/tuoheng/old/platform/PlatformType.java
similarity index 95%
rename from src/main/java/com/tuoheng/machine/platform/PlatformType.java
rename to src/main/java/com/tuoheng/old/platform/PlatformType.java
index 948e154..660b66e 100644
--- a/src/main/java/com/tuoheng/machine/platform/PlatformType.java
+++ b/src/main/java/com/tuoheng/old/platform/PlatformType.java
@@ -1,4 +1,4 @@
-package com.tuoheng.machine.platform;
+package com.tuoheng.old.platform;
 
 /**
  * 无人机平台类型枚举
diff --git a/src/main/java/com/tuoheng/machine/platform/factory/PlatformStrategyFactory.java b/src/main/java/com/tuoheng/old/platform/factory/PlatformStrategyFactory.java
similarity index 95%
rename from src/main/java/com/tuoheng/machine/platform/factory/PlatformStrategyFactory.java
rename to src/main/java/com/tuoheng/old/platform/factory/PlatformStrategyFactory.java
index 1ea8914..505c2a7 100644
--- a/src/main/java/com/tuoheng/machine/platform/factory/PlatformStrategyFactory.java
+++ b/src/main/java/com/tuoheng/old/platform/factory/PlatformStrategyFactory.java
@@ -1,11 +1,11 @@
-package com.tuoheng.machine.platform.factory;
+package com.tuoheng.old.platform.factory;
 
-import com.tuoheng.machine.platform.PlatformType;
-import com.tuoheng.machine.repository.MachinePlatTypeRepository;
-import com.tuoheng.machine.platform.strategy.AirportPlatformStrategy;
-import com.tuoheng.machine.platform.strategy.CoverPlatformStrategy;
-import com.tuoheng.machine.platform.strategy.DronePlatformStrategy;
-import com.tuoheng.machine.platform.strategy.DrcPlatformStrategy;
+import com.tuoheng.old.platform.PlatformType;
+import com.tuoheng.old.repository.MachinePlatTypeRepository;
+import com.tuoheng.old.platform.strategy.AirportPlatformStrategy;
+import com.tuoheng.old.platform.strategy.CoverPlatformStrategy;
+import com.tuoheng.old.platform.strategy.DronePlatformStrategy;
+import com.tuoheng.old.platform.strategy.DrcPlatformStrategy;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.stereotype.Component;
diff --git a/src/main/java/com/tuoheng/machine/platform/strategy/AirportPlatformStrategy.java b/src/main/java/com/tuoheng/old/platform/strategy/AirportPlatformStrategy.java
similarity index 88%
rename from src/main/java/com/tuoheng/machine/platform/strategy/AirportPlatformStrategy.java
rename to src/main/java/com/tuoheng/old/platform/strategy/AirportPlatformStrategy.java
index c23f391..41407da 100644
--- a/src/main/java/com/tuoheng/machine/platform/strategy/AirportPlatformStrategy.java
+++ b/src/main/java/com/tuoheng/old/platform/strategy/AirportPlatformStrategy.java
@@ -1,8 +1,8 @@
-package com.tuoheng.machine.platform.strategy;
+package com.tuoheng.old.platform.strategy;
 
-import com.tuoheng.machine.events.AirportEvent;
-import com.tuoheng.machine.platform.PlatformType;
-import com.tuoheng.machine.status.AirportState;
+import com.tuoheng.old.events.AirportEvent;
+import com.tuoheng.old.platform.PlatformType;
+import com.tuoheng.old.status.AirportState;
 
 /**
  * 机巢平台策略接口
diff --git a/src/main/java/com/tuoheng/machine/platform/strategy/CoverPlatformStrategy.java b/src/main/java/com/tuoheng/old/platform/strategy/CoverPlatformStrategy.java
similarity index 86%
rename from src/main/java/com/tuoheng/machine/platform/strategy/CoverPlatformStrategy.java
rename to src/main/java/com/tuoheng/old/platform/strategy/CoverPlatformStrategy.java
index eee658a..fd70e56 100644
--- a/src/main/java/com/tuoheng/machine/platform/strategy/CoverPlatformStrategy.java
+++ b/src/main/java/com/tuoheng/old/platform/strategy/CoverPlatformStrategy.java
@@ -1,8 +1,8 @@
-package com.tuoheng.machine.platform.strategy;
+package com.tuoheng.old.platform.strategy;
 
-import com.tuoheng.machine.events.CoverEvent;
-import com.tuoheng.machine.platform.PlatformType;
-import com.tuoheng.machine.status.CoverState;
+import com.tuoheng.old.events.CoverEvent;
+import com.tuoheng.old.platform.PlatformType;
+import com.tuoheng.old.status.CoverState;
 
 /**
  * 舱门平台策略接口
diff --git a/src/main/java/com/tuoheng/machine/platform/strategy/DrcPlatformStrategy.java b/src/main/java/com/tuoheng/old/platform/strategy/DrcPlatformStrategy.java
similarity index 86%
rename from src/main/java/com/tuoheng/machine/platform/strategy/DrcPlatformStrategy.java
rename to src/main/java/com/tuoheng/old/platform/strategy/DrcPlatformStrategy.java
index 87e6af5..655de80 100644
--- a/src/main/java/com/tuoheng/machine/platform/strategy/DrcPlatformStrategy.java
+++ b/src/main/java/com/tuoheng/old/platform/strategy/DrcPlatformStrategy.java
@@ -1,8 +1,8 @@
-package com.tuoheng.machine.platform.strategy;
+package com.tuoheng.old.platform.strategy;
 
-import com.tuoheng.machine.events.DrcEvent;
-import com.tuoheng.machine.platform.PlatformType;
-import com.tuoheng.machine.status.DrcState;
+import com.tuoheng.old.events.DrcEvent;
+import com.tuoheng.old.platform.PlatformType;
+import com.tuoheng.old.status.DrcState;
 
 /**
  * DRC（飞行控制模式）平台策略接口
diff --git a/src/main/java/com/tuoheng/machine/platform/strategy/DronePlatformStrategy.java b/src/main/java/com/tuoheng/old/platform/strategy/DronePlatformStrategy.java
similarity index 91%
rename from src/main/java/com/tuoheng/machine/platform/strategy/DronePlatformStrategy.java
rename to src/main/java/com/tuoheng/old/platform/strategy/DronePlatformStrategy.java
index 69b07f9..b1c6a48 100644
--- a/src/main/java/com/tuoheng/machine/platform/strategy/DronePlatformStrategy.java
+++ b/src/main/java/com/tuoheng/old/platform/strategy/DronePlatformStrategy.java
@@ -1,8 +1,8 @@
-package com.tuoheng.machine.platform.strategy;
+package com.tuoheng.old.platform.strategy;
 
-import com.tuoheng.machine.events.DroneEvent;
-import com.tuoheng.machine.platform.PlatformType;
-import com.tuoheng.machine.status.DroneState;
+import com.tuoheng.old.events.DroneEvent;
+import com.tuoheng.old.platform.PlatformType;
+import com.tuoheng.old.status.DroneState;
 
 /**
  * 无人机平台策略接口
diff --git a/src/main/java/com/tuoheng/machine/platform/strategy/PlatformAction.java b/src/main/java/com/tuoheng/old/platform/strategy/PlatformAction.java
similarity index 89%
rename from src/main/java/com/tuoheng/machine/platform/strategy/PlatformAction.java
rename to src/main/java/com/tuoheng/old/platform/strategy/PlatformAction.java
index 5993206..2daf40b 100644
--- a/src/main/java/com/tuoheng/machine/platform/strategy/PlatformAction.java
+++ b/src/main/java/com/tuoheng/old/platform/strategy/PlatformAction.java
@@ -1,4 +1,4 @@
-package com.tuoheng.machine.platform.strategy;
+package com.tuoheng.old.platform.strategy;
 
 import org.springframework.statemachine.StateContext;
 import org.springframework.statemachine.action.Action;
diff --git a/src/main/java/com/tuoheng/machine/platform/strategy/PlatformGuard.java b/src/main/java/com/tuoheng/old/platform/strategy/PlatformGuard.java
similarity index 89%
rename from src/main/java/com/tuoheng/machine/platform/strategy/PlatformGuard.java
rename to src/main/java/com/tuoheng/old/platform/strategy/PlatformGuard.java
index 5a34fb6..9a32275 100644
--- a/src/main/java/com/tuoheng/machine/platform/strategy/PlatformGuard.java
+++ b/src/main/java/com/tuoheng/old/platform/strategy/PlatformGuard.java
@@ -1,4 +1,4 @@
-package com.tuoheng.machine.platform.strategy;
+package com.tuoheng.old.platform.strategy;
 
 import org.springframework.statemachine.StateContext;
 import org.springframework.statemachine.guard.Guard;
diff --git a/src/main/java/com/tuoheng/machine/platform/strategy/PlatformListener.java b/src/main/java/com/tuoheng/old/platform/strategy/PlatformListener.java
similarity index 86%
rename from src/main/java/com/tuoheng/machine/platform/strategy/PlatformListener.java
rename to src/main/java/com/tuoheng/old/platform/strategy/PlatformListener.java
index 8727769..3c6b79b 100644
--- a/src/main/java/com/tuoheng/machine/platform/strategy/PlatformListener.java
+++ b/src/main/java/com/tuoheng/old/platform/strategy/PlatformListener.java
@@ -1,4 +1,4 @@
-package com.tuoheng.machine.platform.strategy;
+package com.tuoheng.old.platform.strategy;
 
 import org.springframework.statemachine.listener.StateMachineListener;
 
diff --git a/src/main/java/com/tuoheng/machine/redis/RedisStateStore.java b/src/main/java/com/tuoheng/old/redis/RedisStateStore.java
similarity index 92%
rename from src/main/java/com/tuoheng/machine/redis/RedisStateStore.java
rename to src/main/java/com/tuoheng/old/redis/RedisStateStore.java
index 9730634..a7251fc 100644
--- a/src/main/java/com/tuoheng/machine/redis/RedisStateStore.java
+++ b/src/main/java/com/tuoheng/old/redis/RedisStateStore.java
@@ -1,9 +1,9 @@
-package com.tuoheng.machine.redis;
+package com.tuoheng.old.redis;
 
-import com.tuoheng.machine.status.AirportState;
-import com.tuoheng.machine.status.CoverState;
-import com.tuoheng.machine.status.DroneState;
-import com.tuoheng.machine.status.DrcState;
+import com.tuoheng.old.status.AirportState;
+import com.tuoheng.old.status.CoverState;
+import com.tuoheng.old.status.DroneState;
+import com.tuoheng.old.status.DrcState;
 import org.springframework.stereotype.Component;
 
 import java.util.Map;
diff --git a/src/main/java/com/tuoheng/machine/repository/MachinePlatTypeRepository.java b/src/main/java/com/tuoheng/old/repository/MachinePlatTypeRepository.java
similarity index 95%
rename from src/main/java/com/tuoheng/machine/repository/MachinePlatTypeRepository.java
rename to src/main/java/com/tuoheng/old/repository/MachinePlatTypeRepository.java
index 1f667e2..74eaa32 100644
--- a/src/main/java/com/tuoheng/machine/repository/MachinePlatTypeRepository.java
+++ b/src/main/java/com/tuoheng/old/repository/MachinePlatTypeRepository.java
@@ -1,6 +1,6 @@
-package com.tuoheng.machine.repository;
+package com.tuoheng.old.repository;
 
-import com.tuoheng.machine.platform.PlatformType;
+import com.tuoheng.old.platform.PlatformType;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Repository;
 
diff --git a/src/main/java/com/tuoheng/machine/service/AirportMachineService.java b/src/main/java/com/tuoheng/old/service/AirportMachineService.java
similarity index 97%
rename from src/main/java/com/tuoheng/machine/service/AirportMachineService.java
rename to src/main/java/com/tuoheng/old/service/AirportMachineService.java
index 5d700a9..84c9e97 100644
--- a/src/main/java/com/tuoheng/machine/service/AirportMachineService.java
+++ b/src/main/java/com/tuoheng/old/service/AirportMachineService.java
@@ -1,8 +1,8 @@
-package com.tuoheng.machine.service;
+package com.tuoheng.old.service;
 
-import com.tuoheng.machine.events.AirportEvent;
-import com.tuoheng.machine.redis.RedisStateStore;
-import com.tuoheng.machine.status.AirportState;
+import com.tuoheng.old.events.AirportEvent;
+import com.tuoheng.old.redis.RedisStateStore;
+import com.tuoheng.old.status.AirportState;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.statemachine.StateMachine;
diff --git a/src/main/java/com/tuoheng/machine/service/CoverMachineService.java b/src/main/java/com/tuoheng/old/service/CoverMachineService.java
similarity index 94%
rename from src/main/java/com/tuoheng/machine/service/CoverMachineService.java
rename to src/main/java/com/tuoheng/old/service/CoverMachineService.java
index e6ac9c7..0734d6e 100644
--- a/src/main/java/com/tuoheng/machine/service/CoverMachineService.java
+++ b/src/main/java/com/tuoheng/old/service/CoverMachineService.java
@@ -1,10 +1,10 @@
-package com.tuoheng.machine.service;
+package com.tuoheng.old.service;
 
 import lombok.extern.slf4j.Slf4j;
 
-import com.tuoheng.machine.events.CoverEvent;
-import com.tuoheng.machine.redis.RedisStateStore;
-import com.tuoheng.machine.status.CoverState;
+import com.tuoheng.old.events.CoverEvent;
+import com.tuoheng.old.redis.RedisStateStore;
+import com.tuoheng.old.status.CoverState;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.statemachine.StateMachine;
 import org.springframework.statemachine.config.StateMachineFactory;
diff --git a/src/main/java/com/tuoheng/machine/service/DrcMachineService.java b/src/main/java/com/tuoheng/old/service/DrcMachineService.java
similarity index 97%
rename from src/main/java/com/tuoheng/machine/service/DrcMachineService.java
rename to src/main/java/com/tuoheng/old/service/DrcMachineService.java
index ec5c336..23e5b98 100644
--- a/src/main/java/com/tuoheng/machine/service/DrcMachineService.java
+++ b/src/main/java/com/tuoheng/old/service/DrcMachineService.java
@@ -1,10 +1,10 @@
-package com.tuoheng.machine.service;
+package com.tuoheng.old.service;
 
 import lombok.extern.slf4j.Slf4j;
 
-import com.tuoheng.machine.events.DrcEvent;
-import com.tuoheng.machine.redis.RedisStateStore;
-import com.tuoheng.machine.status.DrcState;
+import com.tuoheng.old.events.DrcEvent;
+import com.tuoheng.old.redis.RedisStateStore;
+import com.tuoheng.old.status.DrcState;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.statemachine.StateMachine;
 import org.springframework.statemachine.config.StateMachineFactory;
diff --git a/src/main/java/com/tuoheng/machine/service/DroneMachineService.java b/src/main/java/com/tuoheng/old/service/DroneMachineService.java
similarity index 97%
rename from src/main/java/com/tuoheng/machine/service/DroneMachineService.java
rename to src/main/java/com/tuoheng/old/service/DroneMachineService.java
index 9ac2c1b..c31a404 100644
--- a/src/main/java/com/tuoheng/machine/service/DroneMachineService.java
+++ b/src/main/java/com/tuoheng/old/service/DroneMachineService.java
@@ -1,10 +1,10 @@
-package com.tuoheng.machine.service;
+package com.tuoheng.old.service;
 
 import lombok.extern.slf4j.Slf4j;
 
-import com.tuoheng.machine.events.DroneEvent;
-import com.tuoheng.machine.redis.RedisStateStore;
-import com.tuoheng.machine.status.DroneState;
+import com.tuoheng.old.events.DroneEvent;
+import com.tuoheng.old.redis.RedisStateStore;
+import com.tuoheng.old.status.DroneState;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.statemachine.StateMachine;
 import org.springframework.statemachine.config.StateMachineFactory;
diff --git a/src/main/java/com/tuoheng/machine/status/AirportState.java b/src/main/java/com/tuoheng/old/status/AirportState.java
similarity index 94%
rename from src/main/java/com/tuoheng/machine/status/AirportState.java
rename to src/main/java/com/tuoheng/old/status/AirportState.java
index e907e4d..a5137b0 100644
--- a/src/main/java/com/tuoheng/machine/status/AirportState.java
+++ b/src/main/java/com/tuoheng/old/status/AirportState.java
@@ -1,4 +1,4 @@
-package com.tuoheng.machine.status;
+package com.tuoheng.old.status;
 
 /**
  * 机巢状态枚举（简化版 - 舱门状态已分离）
diff --git a/src/main/java/com/tuoheng/old/status/CoverState.java b/src/main/java/com/tuoheng/old/status/CoverState.java
new file mode 100644
index 0000000..ded72ab
--- /dev/null
+++ b/src/main/java/com/tuoheng/old/status/CoverState.java
@@ -0,0 +1,36 @@
+package com.tuoheng.old.status;
+
+/**
+ * 舱门状态枚举
+ */
+public enum CoverState {
+    /**
+     * 未知状态（服务器重启后的初始状态，等待第一次心跳同步）
+     */
+    UNKNOWN,
+
+    /**
+     * 舱门已关闭
+     */
+    CLOSED,
+
+    /**
+     * 舱门打开中
+     */
+    OPENING,
+
+    /**
+     * 舱门已打开
+     */
+    OPENED,
+
+    /**
+     * 舱门关闭中
+     */
+    CLOSING,
+
+    /**
+     * 舱门状态异常
+     */
+    ERROR
+}
diff --git a/src/main/java/com/tuoheng/machine/status/DrcState.java b/src/main/java/com/tuoheng/old/status/DrcState.java
similarity index 93%
rename from src/main/java/com/tuoheng/machine/status/DrcState.java
rename to src/main/java/com/tuoheng/old/status/DrcState.java
index b81328d..efecde7 100644
--- a/src/main/java/com/tuoheng/machine/status/DrcState.java
+++ b/src/main/java/com/tuoheng/old/status/DrcState.java
@@ -1,4 +1,4 @@
-package com.tuoheng.machine.status;
+package com.tuoheng.old.status;
 
 /**
  * 飞行控制模式（DRC）
diff --git a/src/main/java/com/tuoheng/machine/status/DroneState.java b/src/main/java/com/tuoheng/old/status/DroneState.java
similarity index 98%
rename from src/main/java/com/tuoheng/machine/status/DroneState.java
rename to src/main/java/com/tuoheng/old/status/DroneState.java
index 2bdca6e..9bc04f8 100644
--- a/src/main/java/com/tuoheng/machine/status/DroneState.java
+++ b/src/main/java/com/tuoheng/old/status/DroneState.java
@@ -1,4 +1,4 @@
-package com.tuoheng.machine.status;
+package com.tuoheng.old.status;
 
 /**
  *              分为：准备中  -> 飞行中  ->   返航   三个大状态
diff --git a/src/test/java/com/tuoheng/machine/DrcStateMachineTest.java b/src/test/java/com/tuoheng/old/DrcStateMachineTest.java
similarity index 89%
rename from src/test/java/com/tuoheng/machine/DrcStateMachineTest.java
rename to src/test/java/com/tuoheng/old/DrcStateMachineTest.java
index e222440..93c68f2 100644
--- a/src/test/java/com/tuoheng/machine/DrcStateMachineTest.java
+++ b/src/test/java/com/tuoheng/old/DrcStateMachineTest.java
@@ -1,8 +1,8 @@
-package com.tuoheng.machine;
+package com.tuoheng.old;
 
-import com.tuoheng.machine.events.DrcEvent;
-import com.tuoheng.machine.service.DrcMachineService;
-import com.tuoheng.machine.status.DrcState;
+import com.tuoheng.old.events.DrcEvent;
+import com.tuoheng.old.service.DrcMachineService;
+import com.tuoheng.old.status.DrcState;
 import lombok.extern.slf4j.Slf4j;
 import org.junit.jupiter.api.Test;
 import org.springframework.beans.factory.annotation.Autowired;
@@ -65,7 +65,7 @@ public class DrcStateMachineTest {
         /**
          * 变成退出中;这个时候需要在
          * DjiCanExitGuard 判断是否可以执行
-         * 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
+         * DjiExitAction 执行远程方法,远程方法本身执行成功则不抛出异常,否则抛出异常
          */
         log.debug(String.valueOf(drcMachineService.sendEvent(sn,DrcEvent.EXITING)));