添加DRC控制

src/main/java/com/tuoheng/status/machine/action/drc/EnterAction.java

@@ -0,0 +1,11 @@
+package com.tuoheng.status.machine.action.drc;
+
+import com.tuoheng.status.machine.events.DrcEvent;
+import com.tuoheng.status.machine.platform.strategy.PlatformAction;
+import com.tuoheng.status.machine.status.DrcState;
+
+/**
+ * Base action for DRC enter handling; platform implementations extend this.
+ */
+public abstract class EnterAction implements PlatformAction<DrcState, DrcEvent> {
+}

src/main/java/com/tuoheng/status/machine/action/drc/EnteredAction.java

@@ -0,0 +1,11 @@
+package com.tuoheng.status.machine.action.drc;
+
+import com.tuoheng.status.machine.events.DrcEvent;
+import com.tuoheng.status.machine.platform.strategy.PlatformAction;
+import com.tuoheng.status.machine.status.DrcState;
+
+/**
+ * Base action for DRC entered handling; platform implementations extend this.
+ */
+public abstract class EnteredAction implements PlatformAction<DrcState, DrcEvent> {
+}

src/main/java/com/tuoheng/status/machine/action/drc/ExitAction.java

@@ -0,0 +1,11 @@
+package com.tuoheng.status.machine.action.drc;
+
+import com.tuoheng.status.machine.events.DrcEvent;
+import com.tuoheng.status.machine.platform.strategy.PlatformAction;
+import com.tuoheng.status.machine.status.DrcState;
+
+/**
+ * Base action for DRC exit handling; platform implementations extend this.
+ */
+public abstract class ExitAction implements PlatformAction<DrcState, DrcEvent> {
+}

src/main/java/com/tuoheng/status/machine/action/drc/ExitedAction.java

@@ -0,0 +1,11 @@
+package com.tuoheng.status.machine.action.drc;
+
+import com.tuoheng.status.machine.events.DrcEvent;
+import com.tuoheng.status.machine.platform.strategy.PlatformAction;
+import com.tuoheng.status.machine.status.DrcState;
+
+/**
+ * Base action for DRC exited handling; platform implementations extend this.
+ */
+public abstract class ExitedAction implements PlatformAction<DrcState, DrcEvent> {
+}

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

@@ -0,0 +1,144 @@
+package com.tuoheng.status.machine.config;
+
+import com.tuoheng.status.machine.events.DrcEvent;
+import com.tuoheng.status.machine.platform.factory.PlatformStrategyFactory;
+import com.tuoheng.status.machine.platform.strategy.DrcPlatformStrategy;
+import com.tuoheng.status.machine.status.DrcState;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.context.annotation.Bean;
+import org.springframework.context.annotation.Configuration;
+import org.springframework.statemachine.StateMachine;
+import org.springframework.statemachine.config.StateMachineBuilder;
+import org.springframework.statemachine.config.StateMachineFactory;
+
+import java.util.EnumSet;
+import java.util.UUID;
+
+/**
+ * DRC（飞行控制模式）状态机配置（多平台支持版本）
+ * 通过PlatformStrategyFactory动态获取平台特定的Guard、Action和Listener
+ */
+@Configuration
+public class DrcMachineConfig {
+
+    @Autowired
+    private PlatformStrategyFactory platformStrategyFactory;
+
+    @Bean(name = "drcStateMachineFactory")
+    public StateMachineFactory<DrcState, DrcEvent> drcStateMachineFactory() throws Exception {
+        return new StateMachineFactory<DrcState, DrcEvent>() {
+            @Override
+            public StateMachine<DrcState, DrcEvent> getStateMachine() {
+                return null;
+            }
+
+            @Override
+            public StateMachine<DrcState, DrcEvent> getStateMachine(String machineId) {
+                try {
+                    // 根据机巢SN获取平台策略
+                    DrcPlatformStrategy strategy = platformStrategyFactory.getDrcStrategy(machineId);
+
+                    StateMachineBuilder.Builder<DrcState, DrcEvent> builder = StateMachineBuilder.builder();
+                    configureDrcStateMachine(builder, strategy);
+                    configureDrcStates(builder);
+                    configureDrcTransitions(builder, strategy);
+
+                    StateMachine<DrcState, DrcEvent> stateMachine = builder.build();
+                    stateMachine.getExtendedState().getVariables().put("machineId", machineId);
+                    return stateMachine;
+                } catch (Exception e) {
+                    throw new RuntimeException("Failed to create DRC state machine for: " + machineId, e);
+                }
+            }
+
+            @Override
+            public StateMachine<DrcState, DrcEvent> getStateMachine(UUID uuid) {
+                return null;
+            }
+        };
+    }
+
+    private void configureDrcStateMachine(
+            StateMachineBuilder.Builder<DrcState, DrcEvent> builder,
+            DrcPlatformStrategy strategy) throws Exception {
+        builder.configureConfiguration()
+                .withConfiguration()
+                .autoStartup(true)
+                .listener(strategy.getListener());
+    }
+
+    private void configureDrcStates(StateMachineBuilder.Builder<DrcState, DrcEvent> builder) throws Exception {
+        builder.configureStates()
+                .withStates()
+                .initial(DrcState.UNKNOWN)
+                .states(EnumSet.allOf(DrcState.class));
+    }
+
+    private void configureDrcTransitions(
+            StateMachineBuilder.Builder<DrcState, DrcEvent> builder,
+            DrcPlatformStrategy strategy) throws Exception {
+        builder.configureTransitions()
+                // ========== 从 UNKNOWN 到所有状态的转换（服务器重启后状态同步） ==========
+                // UNKNOWN -> EXITED
+                .withExternal()
+                .source(DrcState.UNKNOWN)
+                .target(DrcState.EXITED)
+                .event(DrcEvent.EXITED)
+                .and()
+
+                // UNKNOWN -> ENTERING
+                .withExternal()
+                .source(DrcState.UNKNOWN)
+                .target(DrcState.ENTERING)
+                .event(DrcEvent.ENTER)
+                .and()
+
+                // UNKNOWN -> ENTERED
+                .withExternal()
+                .source(DrcState.UNKNOWN)
+                .target(DrcState.ENTERED)
+                .event(DrcEvent.ENTERED)
+                .and()
+
+                // UNKNOWN -> EXITING
+                .withExternal()
+                .source(DrcState.UNKNOWN)
+                .target(DrcState.EXITING)
+                .event(DrcEvent.EXIT)
+                .and()
+
+                // ========== 正常状态转换（带 Guard 和 Action） ==========
+                // EXITED -> ENTERING
+                .withExternal()
+                .source(DrcState.EXITED)
+                .target(DrcState.ENTERING)
+                .event(DrcEvent.ENTER)
+                .action(strategy.getEnterAction())
+                .guard(strategy.getCanEnterGuard())
+                .and()
+
+                // ENTERING -> ENTERED
+                .withExternal()
+                .source(DrcState.ENTERING)
+                .target(DrcState.ENTERED)
+                .event(DrcEvent.ENTERED)
+                .action(strategy.getEnteredAction())
+                .and()
+
+                // ENTERED -> EXITING
+                .withExternal()
+                .source(DrcState.ENTERED)
+                .target(DrcState.EXITING)
+                .event(DrcEvent.EXIT)
+                .action(strategy.getExitAction())
+                .guard(strategy.getCanExitGuard())
+                .and()
+
+                // EXITING -> EXITED
+                .withExternal()
+                .source(DrcState.EXITING)
+                .target(DrcState.EXITED)
+                .event(DrcEvent.EXITED)
+                .action(strategy.getExitedAction());
+    }
+}

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

@@ -0,0 +1,31 @@
+package com.tuoheng.status.machine.events;
+
+/**
+ * DRC（飞行控制模式）事件枚举
+ * 定义DRC状态机中的所有事件
+ */
+public enum DrcEvent {
+    /**
+     * 进入DRC模式指令
+     * 触发源: 用户指令
+     */
+    ENTER,
+
+    /**
+     * 进入DRC模式完成
+     * 触发源: Events事件
+     */
+    ENTERED,
+
+    /**
+     * 退出DRC模式指令
+     * 触发源: 用户指令/自动
+     */
+    EXIT,
+
+    /**
+     * 退出DRC模式完成
+     * 触发源: Events事件
+     */
+    EXITED
+}

src/main/java/com/tuoheng/status/machine/guard/drc/CanEnterGuard.java

@@ -0,0 +1,11 @@
+package com.tuoheng.status.machine.guard.drc;
+
+import com.tuoheng.status.machine.events.DrcEvent;
+import com.tuoheng.status.machine.platform.strategy.PlatformGuard;
+import com.tuoheng.status.machine.status.DrcState;
+
+/**
+ * Base guard for checking if can enter DRC mode; platform implementations extend this.
+ */
+public abstract class CanEnterGuard implements PlatformGuard<DrcState, DrcEvent> {
+}

src/main/java/com/tuoheng/status/machine/guard/drc/CanExitGuard.java

@@ -0,0 +1,11 @@
+package com.tuoheng.status.machine.guard.drc;
+
+import com.tuoheng.status.machine.events.DrcEvent;
+import com.tuoheng.status.machine.platform.strategy.PlatformGuard;
+import com.tuoheng.status.machine.status.DrcState;
+
+/**
+ * Base guard for checking if can exit DRC mode; platform implementations extend this.
+ */
+public abstract class CanExitGuard implements PlatformGuard<DrcState, DrcEvent> {
+}

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

@@ -0,0 +1,90 @@
+package com.tuoheng.status.machine.listener;
+
+import com.tuoheng.status.machine.events.DrcEvent;
+import com.tuoheng.status.machine.platform.strategy.PlatformListener;
+import com.tuoheng.status.machine.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;
+
+/**
+ * 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
+ */
+public abstract class DefaultDrcListener implements PlatformListener<DrcState, DrcEvent> {
+
+    @Override
+    public void stateChanged(State<DrcState, DrcEvent> from, State<DrcState, DrcEvent> to) {
+        if (from != null && to != null) {
+            System.out.println(String.format("[%s] 状态变化: %s -> %s",
+                getName(), from.getId(), to.getId()));
+        }
+    }
+
+    @Override
+    public void stateEntered(State<DrcState, DrcEvent> state) {
+        System.out.println(String.format("[%s] 进入状态: %s", getName(), state.getId()));
+    }
+
+    @Override
+    public void stateExited(State<DrcState, DrcEvent> state) {
+        System.out.println(String.format("[%s] 退出状态: %s", getName(), state.getId()));
+    }
+
+    @Override
+    public void eventNotAccepted(Message<DrcEvent> event) {
+        System.out.println(String.format("[%s] 事件未被接受: %s", getName(), event.getPayload()));
+    }
+
+    @Override
+    public void transition(Transition<DrcState, DrcEvent> transition) {
+        // 默认不处理
+    }
+
+    @Override
+    public void transitionStarted(Transition<DrcState, DrcEvent> transition) {
+        if (transition.getSource() != null && transition.getTarget() != null) {
+            System.out.println(String.format("[%s] 转换开始: %s -> %s",
+                getName(), transition.getSource().getId(), transition.getTarget().getId()));
+        }
+    }
+
+    @Override
+    public void transitionEnded(Transition<DrcState, DrcEvent> transition) {
+        if (transition.getSource() != null && transition.getTarget() != null) {
+            System.out.println(String.format("[%s] 转换结束: %s -> %s",
+                getName(), transition.getSource().getId(), transition.getTarget().getId()));
+        }
+    }
+
+    @Override
+    public void stateMachineStarted(StateMachine<DrcState, DrcEvent> stateMachine) {
+        String machineId = (String) stateMachine.getExtendedState().getVariables().get("machineId");
+        System.out.println(String.format("[%s] 状态机启动: %s", getName(), machineId));
+    }
+
+    @Override
+    public void stateMachineStopped(StateMachine<DrcState, DrcEvent> stateMachine) {
+        String machineId = (String) stateMachine.getExtendedState().getVariables().get("machineId");
+        System.out.println(String.format("[%s] 状态机停止: %s", getName(), machineId));
+    }
+
+    @Override
+    public void stateMachineError(StateMachine<DrcState, DrcEvent> stateMachine, Exception exception) {
+        String machineId = (String) stateMachine.getExtendedState().getVariables().get("machineId");
+        System.err.println(String.format("[%s] 状态机错误: %s, 异常: %s",
+            getName(), machineId, exception.getMessage()));
+    }
+
+    @Override
+    public void extendedStateChanged(Object key, Object value) {
+        System.out.println(String.format("[%s] 扩展状态变化: %s = %s", getName(), key, value));
+    }
+
+    @Override
+    public void stateContext(StateContext<DrcState, DrcEvent> stateContext) {
+        // 默认不处理
+    }
+}

src/main/java/com/tuoheng/status/machine/platform/factory/PlatformStrategyFactory.java

@@ -6,6 +6,7 @@ import com.tuoheng.status.machine.repository.AirportPlatformRepository;
 import com.tuoheng.status.machine.platform.strategy.AirportPlatformStrategy;
 import com.tuoheng.status.machine.platform.strategy.CoverPlatformStrategy;
 import com.tuoheng.status.machine.platform.strategy.DronePlatformStrategy;
+import com.tuoheng.status.machine.platform.strategy.DrcPlatformStrategy;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.stereotype.Component;
 
@@ -44,6 +45,13 @@ public class PlatformStrategyFactory {
      */
     private final Map<PlatformType, DronePlatformStrategy> droneStrategyMap = new ConcurrentHashMap<>();
 
+    /**
+     * 存储所有DRC平台策略实现
+     * Key: PlatformType
+     * Value: DrcPlatformStrategy实现
+     */
+    private final Map<PlatformType, DrcPlatformStrategy> drcStrategyMap = new ConcurrentHashMap<>();
+
     /**
      * 存储各平台对应的系统管理器实现
      * Key: PlatformType
@@ -53,13 +61,14 @@ public class PlatformStrategyFactory {
 
     /**
      * 注册所有平台策略
-     * Spring会自动注入所有实现了AirportPlatformStrategy、CoverPlatformStrategy和DronePlatformStrategy的Bean
+     * Spring会自动注入所有实现了AirportPlatformStrategy、CoverPlatformStrategy、DronePlatformStrategy和DrcPlatformStrategy的Bean
      */
     @Autowired
     public void registerStrategies(
             List<AirportPlatformStrategy> airportStrategies,
             List<CoverPlatformStrategy> coverStrategies,
             List<DronePlatformStrategy> droneStrategies,
+            List<DrcPlatformStrategy> drcStrategies,
             List<AirportSystemManager> systemManagers) {
 
         // 注册机巢策略
@@ -83,6 +92,13 @@ public class PlatformStrategyFactory {
                 strategy.getPlatformType().getName(), strategy.getClass().getSimpleName()));
         }
 
+        // 注册DRC策略
+        for (DrcPlatformStrategy strategy : drcStrategies) {
+            drcStrategyMap.put(strategy.getPlatformType(), strategy);
+            System.out.println(String.format("注册DRC平台策略: %s -> %s",
+                strategy.getPlatformType().getName(), strategy.getClass().getSimpleName()));
+        }
+
         // 注册系统管理器
         for (AirportSystemManager manager : systemManagers) {
             managerMap.put(manager.getPlatformType(), manager);
@@ -223,6 +239,42 @@ public class PlatformStrategyFactory {
         return droneStrategyMap.get(platformType);
     }
 
+    /**
+     * 根据机巢SN获取DRC平台策略
+     *
+     * @param airportSn 机巢序列号
+     * @return DRC平台策略
+     * @throws IllegalArgumentException 如果机巢未注册或平台策略不存在
+     */
+    public DrcPlatformStrategy getDrcStrategy(String airportSn) {
+        // 从数据库查询平台类型
+        PlatformType platformType = airportPlatformRepository.getPlatformType(airportSn);
+
+        if (platformType == null) {
+            throw new IllegalArgumentException(
+                String.format("机巢未注册或平台类型未配置: %s", airportSn));
+        }
+
+        DrcPlatformStrategy strategy = drcStrategyMap.get(platformType);
+
+        if (strategy == null) {
+            throw new IllegalArgumentException(
+                String.format("未找到DRC平台策略: %s (机巢: %s)", platformType.getName(), airportSn));
+        }
+
+        return strategy;
+    }
+
+    /**
+     * 根据平台类型获取DRC平台策略
+     *
+     * @param platformType 平台类型
+     * @return DRC平台策略
+     */
+    public DrcPlatformStrategy getDrcStrategyByType(PlatformType platformType) {
+        return drcStrategyMap.get(platformType);
+    }
+
     /**
      * 获取机巢的平台类型
      *

src/main/java/com/tuoheng/status/machine/platform/impl/dji/DjiDrcPlatformStrategy.java

@@ -0,0 +1,82 @@
+package com.tuoheng.status.machine.platform.impl.dji;
+
+import com.tuoheng.status.machine.events.DrcEvent;
+import com.tuoheng.status.machine.platform.PlatformType;
+import com.tuoheng.status.machine.platform.impl.dji.action.drc.*;
+import com.tuoheng.status.machine.platform.impl.dji.guard.drc.*;
+import com.tuoheng.status.machine.platform.impl.dji.listener.DjiDrcListener;
+import com.tuoheng.status.machine.platform.strategy.DrcPlatformStrategy;
+import com.tuoheng.status.machine.platform.strategy.PlatformAction;
+import com.tuoheng.status.machine.platform.strategy.PlatformGuard;
+import com.tuoheng.status.machine.platform.strategy.PlatformListener;
+import com.tuoheng.status.machine.status.DrcState;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.stereotype.Component;
+
+/**
+ * DJI平台DRC策略实现
+ */
+@Component
+public class DjiDrcPlatformStrategy implements DrcPlatformStrategy {
+
+    @Autowired
+    private DjiCanEnterGuard canEnterGuard;
+
+    @Autowired
+    private DjiCanExitGuard canExitGuard;
+
+    @Autowired
+    private DjiEnterAction enterAction;
+
+    @Autowired
+    private DjiEnteredAction enteredAction;
+
+    @Autowired
+    private DjiExitAction exitAction;
+
+    @Autowired
+    private DjiExitedAction exitedAction;
+
+    @Autowired
+    private DjiDrcListener djiDrcListener;
+
+    @Override
+    public PlatformType getPlatformType() {
+        return PlatformType.DJI;
+    }
+
+    @Override
+    public PlatformGuard<DrcState, DrcEvent> getCanEnterGuard() {
+        return canEnterGuard;
+    }
+
+    @Override
+    public PlatformGuard<DrcState, DrcEvent> getCanExitGuard() {
+        return canExitGuard;
+    }
+
+    @Override
+    public PlatformAction<DrcState, DrcEvent> getEnterAction() {
+        return enterAction;
+    }
+
+    @Override
+    public PlatformAction<DrcState, DrcEvent> getEnteredAction() {
+        return enteredAction;
+    }
+
+    @Override
+    public PlatformAction<DrcState, DrcEvent> getExitAction() {
+        return exitAction;
+    }
+
+    @Override
+    public PlatformAction<DrcState, DrcEvent> getExitedAction() {
+        return exitedAction;
+    }
+
+    @Override
+    public PlatformListener<DrcState, DrcEvent> getListener() {
+        return djiDrcListener;
+    }
+}

src/main/java/com/tuoheng/status/machine/platform/impl/dji/action/drc/DjiEnterAction.java

@@ -0,0 +1,22 @@
+package com.tuoheng.status.machine.platform.impl.dji.action.drc;
+
+import com.tuoheng.status.machine.action.drc.EnterAction;
+import com.tuoheng.status.machine.events.DrcEvent;
+import com.tuoheng.status.machine.status.DrcState;
+import org.springframework.statemachine.StateContext;
+import org.springframework.stereotype.Component;
+
+@Component
+public class DjiEnterAction extends EnterAction {
+
+    @Override
+    public String getName() {
+        return "DjiEnterAction";
+    }
+
+    @Override
+    public void execute(StateContext<DrcState, DrcEvent> context) {
+        String machineId = (String) context.getExtendedState().getVariables().get("machineId");
+        System.out.println(String.format("[DJI] 进入DRC模式: %s", machineId));
+    }
+}

src/main/java/com/tuoheng/status/machine/platform/impl/dji/action/drc/DjiEnteredAction.java

@@ -0,0 +1,22 @@
+package com.tuoheng.status.machine.platform.impl.dji.action.drc;
+
+import com.tuoheng.status.machine.action.drc.EnteredAction;
+import com.tuoheng.status.machine.events.DrcEvent;
+import com.tuoheng.status.machine.status.DrcState;
+import org.springframework.statemachine.StateContext;
+import org.springframework.stereotype.Component;
+
+@Component
+public class DjiEnteredAction extends EnteredAction {
+
+    @Override
+    public String getName() {
+        return "DjiEnteredAction";
+    }
+
+    @Override
+    public void execute(StateContext<DrcState, DrcEvent> context) {
+        String machineId = (String) context.getExtendedState().getVariables().get("machineId");
+        System.out.println(String.format("[DJI] 已进入DRC模式: %s", machineId));
+    }
+}

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

@@ -0,0 +1,22 @@
+package com.tuoheng.status.machine.platform.impl.dji.action.drc;
+
+import com.tuoheng.status.machine.action.drc.ExitAction;
+import com.tuoheng.status.machine.events.DrcEvent;
+import com.tuoheng.status.machine.status.DrcState;
+import org.springframework.statemachine.StateContext;
+import org.springframework.stereotype.Component;
+
+@Component
+public class DjiExitAction extends ExitAction {
+
+    @Override
+    public String getName() {
+        return "DjiExitAction";
+    }
+
+    @Override
+    public void execute(StateContext<DrcState, DrcEvent> context) {
+        String machineId = (String) context.getExtendedState().getVariables().get("machineId");
+        System.out.println(String.format("[DJI] 退出DRC模式: %s", machineId));
+    }
+}

src/main/java/com/tuoheng/status/machine/platform/impl/dji/action/drc/DjiExitedAction.java

@@ -0,0 +1,22 @@
+package com.tuoheng.status.machine.platform.impl.dji.action.drc;
+
+import com.tuoheng.status.machine.action.drc.ExitedAction;
+import com.tuoheng.status.machine.events.DrcEvent;
+import com.tuoheng.status.machine.status.DrcState;
+import org.springframework.statemachine.StateContext;
+import org.springframework.stereotype.Component;
+
+@Component
+public class DjiExitedAction extends ExitedAction {
+
+    @Override
+    public String getName() {
+        return "DjiExitedAction";
+    }
+
+    @Override
+    public void execute(StateContext<DrcState, DrcEvent> context) {
+        String machineId = (String) context.getExtendedState().getVariables().get("machineId");
+        System.out.println(String.format("[DJI] 已退出DRC模式: %s", machineId));
+    }
+}

src/main/java/com/tuoheng/status/machine/platform/impl/dji/guard/drc/DjiCanEnterGuard.java

@@ -0,0 +1,25 @@
+package com.tuoheng.status.machine.platform.impl.dji.guard.drc;
+
+import com.tuoheng.status.machine.events.DrcEvent;
+import com.tuoheng.status.machine.guard.drc.CanEnterGuard;
+import com.tuoheng.status.machine.status.DrcState;
+import org.springframework.statemachine.StateContext;
+import org.springframework.stereotype.Component;
+
+/**
+ * DJI平台：检查是否可以进入DRC模式
+ */
+@Component
+public class DjiCanEnterGuard extends CanEnterGuard {
+
+    @Override
+    public String getName() {
+        return "DjiCanEnterGuard";
+    }
+
+    @Override
+    public boolean evaluate(StateContext<DrcState, DrcEvent> context) {
+        // DJI平台特定的进入DRC模式检查逻辑
+        return true;
+    }
+}

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

@@ -0,0 +1,25 @@
+package com.tuoheng.status.machine.platform.impl.dji.guard.drc;
+
+import com.tuoheng.status.machine.events.DrcEvent;
+import com.tuoheng.status.machine.guard.drc.CanExitGuard;
+import com.tuoheng.status.machine.status.DrcState;
+import org.springframework.statemachine.StateContext;
+import org.springframework.stereotype.Component;
+
+/**
+ * DJI平台：检查是否可以退出DRC模式
+ */
+@Component
+public class DjiCanExitGuard extends CanExitGuard {
+
+    @Override
+    public String getName() {
+        return "DjiCanExitGuard";
+    }
+
+    @Override
+    public boolean evaluate(StateContext<DrcState, DrcEvent> context) {
+        // DJI平台特定的退出DRC模式检查逻辑
+        return true;
+    }
+}

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

@@ -0,0 +1,18 @@
+package com.tuoheng.status.machine.platform.impl.dji.listener;
+
+import com.tuoheng.status.machine.events.DrcEvent;
+import com.tuoheng.status.machine.listener.DefaultDrcListener;
+import com.tuoheng.status.machine.status.DrcState;
+import org.springframework.stereotype.Component;
+
+/**
+ * DJI平台DRC状态监听器
+ */
+@Component
+public class DjiDrcListener extends DefaultDrcListener {
+
+    @Override
+    public String getName() {
+        return "DJI-DRC";
+    }
+}

src/main/java/com/tuoheng/status/machine/platform/strategy/DrcPlatformStrategy.java

@@ -0,0 +1,59 @@
+package com.tuoheng.status.machine.platform.strategy;
+
+import com.tuoheng.status.machine.events.DrcEvent;
+import com.tuoheng.status.machine.platform.PlatformType;
+import com.tuoheng.status.machine.status.DrcState;
+
+/**
+ * DRC（飞行控制模式）平台策略接口
+ * 定义各平台需要实现的Guard、Action和Listener
+ */
+public interface DrcPlatformStrategy {
+
+    /**
+     * 获取平台类型
+     */
+    PlatformType getPlatformType();
+
+    // ==================== Guards ====================
+
+    /**
+     * 是否可以进入DRC模式
+     */
+    PlatformGuard<DrcState, DrcEvent> getCanEnterGuard();
+
+    /**
+     * 是否可以退出DRC模式
+     */
+    PlatformGuard<DrcState, DrcEvent> getCanExitGuard();
+
+    // ==================== Actions ====================
+
+    /**
+     * 进入DRC模式动作
+     */
+    PlatformAction<DrcState, DrcEvent> getEnterAction();
+
+    /**
+     * 进入DRC模式完成动作
+     */
+    PlatformAction<DrcState, DrcEvent> getEnteredAction();
+
+    /**
+     * 退出DRC模式动作
+     */
+    PlatformAction<DrcState, DrcEvent> getExitAction();
+
+    /**
+     * 退出DRC模式完成动作
+     */
+    PlatformAction<DrcState, DrcEvent> getExitedAction();
+
+    // ==================== Listener ====================
+
+    /**
+     * 获取平台Listener
+     * 每个平台有一个Listener实例，所有该平台的DRC共享
+     */
+    PlatformListener<DrcState, DrcEvent> getListener();
+}

src/main/java/com/tuoheng/status/machine/redis/RedisStateStore.java

@@ -3,6 +3,7 @@ package com.tuoheng.status.machine.redis;
 import com.tuoheng.status.machine.status.AirportState;
 import com.tuoheng.status.machine.status.CoverState;
 import com.tuoheng.status.machine.status.DroneState;
+import com.tuoheng.status.machine.status.DrcState;
 import org.springframework.stereotype.Component;
 
 import java.util.Map;
@@ -11,7 +12,7 @@ import java.util.Set;
 import java.util.concurrent.ConcurrentHashMap;
 
 /**
- * 使用 Redis 记录和恢复机巢/舱门/无人机状态的存储组件。
+ * 使用 Redis 记录和恢复机巢/舱门/无人机/DRC状态的存储组件。
  *
  * 当前实现采用内存 Map 占位，便于无 Redis 环境下直接运行。
  * 如果接入真正的 Redis，只需将存取逻辑替换为 RedisTemplate 等实现。
@@ -22,6 +23,7 @@ public class RedisStateStore {
     private final Map<String, AirportState> airportStateMap = new ConcurrentHashMap<>();
     private final Map<String, CoverState> coverStateMap = new ConcurrentHashMap<>();
     private final Map<String, DroneState> droneStateMap = new ConcurrentHashMap<>();
+    private final Map<String, DrcState> drcStateMap = new ConcurrentHashMap<>();
 
     public void saveAirportState(String airportSn, AirportState state) {
         if (airportSn != null && state != null) {
@@ -41,6 +43,12 @@ public class RedisStateStore {
         }
     }
 
+    public void saveDrcState(String airportSn, DrcState state) {
+        if (airportSn != null && state != null) {
+            drcStateMap.put(airportSn, state);
+        }
+    }
+
     public Optional<AirportState> loadAirportState(String airportSn) {
         return Optional.ofNullable(airportStateMap.get(airportSn));
     }
@@ -53,6 +61,10 @@ public class RedisStateStore {
         return Optional.ofNullable(droneStateMap.get(droneSn));
     }
 
+    public Optional<DrcState> loadDrcState(String airportSn) {
+        return Optional.ofNullable(drcStateMap.get(airportSn));
+    }
+
     public Set<String> allAirportIds() {
         // 合并两张表的 key，防止有只存机场或只存舱门的情况
         Set<String> ids = ConcurrentHashMap.newKeySet();
@@ -64,5 +76,9 @@ public class RedisStateStore {
     public Set<String> allDroneIds() {
         return droneStateMap.keySet();
     }
+
+    public Set<String> allDrcIds() {
+        return drcStateMap.keySet();
+    }
 }
 

src/main/java/com/tuoheng/status/machine/service/DrcMachineService.java

@@ -0,0 +1,191 @@
+package com.tuoheng.status.machine.service;
+
+import com.tuoheng.status.machine.events.DrcEvent;
+import com.tuoheng.status.machine.redis.RedisStateStore;
+import com.tuoheng.status.machine.status.DrcState;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.statemachine.StateMachine;
+import org.springframework.statemachine.config.StateMachineFactory;
+import org.springframework.stereotype.Component;
+
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * DRC状态机管理器
+ * 负责管理多个机巢的DRC状态机实例
+ */
+@Component
+public class DrcMachineService {
+
+    @Autowired
+    StateMachineFactory<DrcState, DrcEvent> drcStateMachineFactory;
+
+    @Autowired
+    private RedisStateStore redisStateStore;
+
+    /**
+     * 存储所有机巢的DRC状态机实例
+     * Key: 机巢ID (airportSn)
+     * Value: 状态机实例
+     */
+    private final Map<String, StateMachine<DrcState, DrcEvent>> stateMachineMap = new ConcurrentHashMap<>();
+
+    /**
+     * 获取或创建状态机
+     * 如果状态机不存在，则创建新的状态机实例
+     *
+     * @param airportSn 机巢序列号
+     * @return 状态机实例
+     */
+    public StateMachine<DrcState, DrcEvent> getOrCreateStateMachine(String airportSn) {
+        return stateMachineMap.computeIfAbsent(airportSn, id -> {
+            StateMachine<DrcState, DrcEvent> stateMachine = drcStateMachineFactory.getStateMachine(id);
+            // 服务器重启后，状态机初始化为 UNKNOWN 状态
+            // 不从 Redis 恢复旧状态，等待第一次心跳同步真实状态
+            // 这样可以避免服务器重启期间丢失心跳导致的状态不一致问题
+            stateMachine.start();
+            System.out.println(String.format("创建并启动DRC状态机: %s, 初始状态: UNKNOWN (等待心跳同步)", id));
+            return stateMachine;
+        });
+    }
+
+    /**
+     * 获取状态机（不创建）
+     *
+     * @param airportSn 机巢序列号
+     * @return 状态机实例，如果不存在返回null
+     */
+    public StateMachine<DrcState, DrcEvent> getStateMachine(String airportSn) {
+        return stateMachineMap.get(airportSn);
+    }
+
+    /**
+     * 获取状态机的当前状态
+     *
+     * @param airportSn 机巢序列号
+     * @return 当前状态，如果状态机不存在返回null
+     */
+    public DrcState getCurrentState(String airportSn) {
+        StateMachine<DrcState, DrcEvent> stateMachine = stateMachineMap.get(airportSn);
+        if (stateMachine == null) {
+            System.out.println("DRC状态机不存在: " + airportSn);
+            return null;
+        }
+        return stateMachine.getState().getId();
+    }
+
+    /**
+     * 获取状态机的所有当前状态（包括子状态）
+     *
+     * @param airportSn 机巢序列号
+     * @return 当前状态集合的字符串表示
+     */
+    public String getCurrentStates(String airportSn) {
+        StateMachine<DrcState, DrcEvent> stateMachine = stateMachineMap.get(airportSn);
+        if (stateMachine == null) {
+            return "状态机不存在";
+        }
+
+        StringBuilder states = new StringBuilder();
+        stateMachine.getState().getIds().forEach(state -> {
+            if (states.length() > 0) {
+                states.append(" -> ");
+            }
+            states.append(state);
+        });
+
+        return states.toString();
+    }
+
+    /**
+     * 发送事件到状态机
+     *
+     * @param airportSn 机巢序列号
+     * @param event 事件
+     * @return 是否发送成功
+     */
+    public boolean sendEvent(String airportSn, DrcEvent event) {
+        StateMachine<DrcState, DrcEvent> stateMachine = getOrCreateStateMachine(airportSn);
+        boolean result = stateMachine.sendEvent(event);
+
+        if (result) {
+            // 持久化最新状态
+            redisStateStore.saveDrcState(airportSn, stateMachine.getState().getId());
+            System.out.println(String.format("DRC事件发送成功 - 机巢: %s, 事件: %s, 当前状态: %s",
+                airportSn, event, getCurrentStates(airportSn)));
+        } else {
+            System.out.println(String.format("DRC事件发送失败 - 机巢: %s, 事件: %s, 当前状态: %s",
+                airportSn, event, getCurrentStates(airportSn)));
+        }
+
+        return result;
+    }
+
+    /**
+     * 移除状态机
+     *
+     * @param airportSn 机巢序列号
+     */
+    public void removeStateMachine(String airportSn) {
+        StateMachine<DrcState, DrcEvent> stateMachine = stateMachineMap.remove(airportSn);
+        if (stateMachine != null) {
+            stateMachine.stop();
+            System.out.println("停止并移除DRC状态机: " + airportSn);
+        }
+    }
+
+    /**
+     * 检查状态机是否存在
+     *
+     * @param airportSn 机巢序列号
+     * @return 是否存在
+     */
+    public boolean hasStateMachine(String airportSn) {
+        return stateMachineMap.containsKey(airportSn);
+    }
+
+    /**
+     * 获取所有状态机的数量
+     *
+     * @return 状态机数量
+     */
+    public int getStateMachineCount() {
+        return stateMachineMap.size();
+    }
+
+    /**
+     * 获取所有机巢ID
+     *
+     * @return 机巢ID集合
+     */
+    public java.util.Set<String> getAllAirportIds() {
+        return stateMachineMap.keySet();
+    }
+
+    /**
+     * 检查状态机是否处于指定状态
+     *
+     * @param airportSn 机巢序列号
+     * @param state 要检查的状态
+     * @return 是否处于指定状态
+     */
+    public boolean isInState(String airportSn, DrcState state) {
+        StateMachine<DrcState, DrcEvent> stateMachine = stateMachineMap.get(airportSn);
+        if (stateMachine == null) {
+            return false;
+        }
+        return stateMachine.getState().getIds().contains(state);
+    }
+
+    /**
+     * 重启状态机
+     *
+     * @param airportSn 机巢序列号
+     */
+    public void restartStateMachine(String airportSn) {
+        removeStateMachine(airportSn);
+        getOrCreateStateMachine(airportSn);
+        System.out.println("重启DRC状态机: " + airportSn);
+    }
+}

src/main/java/com/tuoheng/status/machine/status/DrcState.java

@@ -5,5 +5,28 @@ package com.tuoheng.status.machine.status;
  * 	未知状态  退出状态  进入中  进入状态  退出中
  */
 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
 }