From bf148084bffc6fff50553880adf9deabf10c7dc3 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=E5=AD=99=E5=B0=8F=E4=BA=91?= Date: Tue, 16 Dec 2025 14:02:46 +0800 Subject: [PATCH] =?UTF-8?q?=E6=B7=BB=E5=8A=A0AirportSystemManager?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../manager/AbstractAirportSystemManager.java | 159 ++++++++++++++++++ .../machine/manager/AirportSystemManager.java | 12 ++ 2 files changed, 171 insertions(+) diff --git a/src/main/java/com/tuoheng/status/machine/manager/AbstractAirportSystemManager.java b/src/main/java/com/tuoheng/status/machine/manager/AbstractAirportSystemManager.java index 7f368fc..2204eaf 100644 --- a/src/main/java/com/tuoheng/status/machine/manager/AbstractAirportSystemManager.java +++ b/src/main/java/com/tuoheng/status/machine/manager/AbstractAirportSystemManager.java @@ -2,11 +2,17 @@ package com.tuoheng.status.machine.manager; import com.tuoheng.status.machine.events.AirportEvent; import com.tuoheng.status.machine.events.CoverEvent; +import com.tuoheng.status.machine.events.DroneEvent; +import com.tuoheng.status.machine.events.DrcEvent; import com.tuoheng.status.machine.platform.PlatformType; import com.tuoheng.status.machine.service.AirportMachineService; import com.tuoheng.status.machine.service.CoverMachineService; +import com.tuoheng.status.machine.service.DroneMachineService; +import com.tuoheng.status.machine.service.DrcMachineService; 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.beans.factory.annotation.Autowired; /** @@ -27,6 +33,12 @@ public abstract class AbstractAirportSystemManager implements AirportSystemManag @Autowired protected CoverMachineService coverService; + @Autowired + protected DroneMachineService droneService; + + @Autowired + protected DrcMachineService drcService; + public boolean sendEvent(String airportSn, AirportEvent event) { return airportService.sendEvent(airportSn, event); @@ -36,6 +48,14 @@ public abstract class AbstractAirportSystemManager implements AirportSystemManag return coverService.sendEvent(airportSn, event); } + public boolean sendEvent(String droneSn, DroneEvent event) { + return droneService.sendEvent(droneSn, event); + } + + public boolean sendEvent(String airportSn, DrcEvent event) { + return drcService.sendEvent(airportSn, event); + } + /** * 同步机巢状态 * 仅在当前状态为 UNKNOWN 时才同步到目标状态 @@ -162,5 +182,144 @@ public abstract class AbstractAirportSystemManager implements AirportSystemManag return null; } } + + /** + * 同步无人机状态 + * 仅在当前状态为 UNKNOWN 时才同步到目标状态 + * + * @param droneSn 无人机序列号 + * @param targetState 目标状态 + * @return 是否同步成功 + */ + public boolean syncDroneState(String droneSn, DroneState targetState) { + DroneState currentState = droneService.getCurrentState(droneSn); + + if (currentState == null) { + System.out.println(String.format("同步无人机状态失败 - 无人机: %s, 状态机不存在", droneSn)); + return false; + } + + if (currentState != DroneState.UNKNOWN) { + System.out.println(String.format("同步无人机状态跳过 - 无人机: %s, 当前状态: %s (非UNKNOWN状态，无需同步)", + droneSn, currentState)); + return false; + } + + // 根据目标状态发送相应的事件 + DroneEvent event = getDroneEventForState(targetState); + if (event == null) { + System.out.println(String.format("同步无人机状态失败 - 无人机: %s, 无法为目标状态 %s 找到对应事件", + droneSn, targetState)); + return false; + } + + boolean result = droneService.sendEvent(droneSn, event); + if (result) { + System.out.println(String.format("同步无人机状态成功 - 无人机: %s, 从 UNKNOWN 同步到 %s", + droneSn, targetState)); + } + return result; + } + + /** + * 同步DRC状态 + * 仅在当前状态为 UNKNOWN 时才同步到目标状态 + * + * @param airportSn 机巢序列号 + * @param targetState 目标状态 + * @return 是否同步成功 + */ + public boolean syncDrcState(String airportSn, DrcState targetState) { + DrcState currentState = drcService.getCurrentState(airportSn); + + if (currentState == null) { + System.out.println(String.format("同步DRC状态失败 - 机巢: %s, 状态机不存在", airportSn)); + return false; + } + + if (currentState != DrcState.UNKNOWN) { + System.out.println(String.format("同步DRC状态跳过 - 机巢: %s, 当前状态: %s (非UNKNOWN状态，无需同步)", + airportSn, currentState)); + return false; + } + + // 根据目标状态发送相应的事件 + DrcEvent event = getDrcEventForState(targetState); + if (event == null) { + System.out.println(String.format("同步DRC状态失败 - 机巢: %s, 无法为目标状态 %s 找到对应事件", + airportSn, targetState)); + return false; + } + + boolean result = drcService.sendEvent(airportSn, event); + if (result) { + System.out.println(String.format("同步DRC状态成功 - 机巢: %s, 从 UNKNOWN 同步到 %s", + airportSn, targetState)); + } + return result; + } + + /** + * 根据目标状态获取对应的无人机事件 + * 子类可以重写此方法以提供自定义的状态到事件的映射 + * + * @param targetState 目标状态 + * @return 对应的事件，如果没有对应事件则返回null + */ + protected DroneEvent getDroneEventForState(DroneState targetState) { + switch (targetState) { + case OFFLINE: + return DroneEvent.DRONE_OFFLINE; + case PREPARING: + return DroneEvent.START_PREPARE; + case FLYING_PARENT: + case FLYING: + return DroneEvent.START_FLYING; + case EMERGENCY_STOP: + return DroneEvent.EMERGENCY_STOP; + case ARRIVED: + return DroneEvent.ARRIVE; + case RETURNING_PARENT: + case RETURNING: + return DroneEvent.START_RETURN; + case RETURN_EMERGENCY_STOP: + return DroneEvent.RETURN_EMERGENCY_STOP; + case RETURN_COMPLETED: + return DroneEvent.RETURN_COMPLETED; + case POINTING_PARENT: + case POINT_PREPARING: + return DroneEvent.START_POINTING; + case POINT_FLYING: + return DroneEvent.POINT_PREPARE_COMPLETED; + case POINT_COMPLETED: + return DroneEvent.POINT_FLYING_COMPLETED; + case POINT_CANCELLED: + return DroneEvent.CANCEL_POINT; + default: + return null; + } + } + + /** + * 根据目标状态获取对应的DRC事件 + * 子类可以重写此方法以提供自定义的状态到事件的映射 + * + * @param targetState 目标状态 + * @return 对应的事件，如果没有对应事件则返回null + */ + protected DrcEvent getDrcEventForState(DrcState targetState) { + switch (targetState) { + case EXITED: + return DrcEvent.EXITED; + case ENTERING: + return DrcEvent.ENTER; + case ENTERED: + return DrcEvent.ENTERED; + case EXITING: + return DrcEvent.EXIT; + default: + return null; + } + } } diff --git a/src/main/java/com/tuoheng/status/machine/manager/AirportSystemManager.java b/src/main/java/com/tuoheng/status/machine/manager/AirportSystemManager.java index 5d11c63..05b1fbf 100644 --- a/src/main/java/com/tuoheng/status/machine/manager/AirportSystemManager.java +++ b/src/main/java/com/tuoheng/status/machine/manager/AirportSystemManager.java @@ -2,9 +2,13 @@ package com.tuoheng.status.machine.manager; import com.tuoheng.status.machine.events.AirportEvent; import com.tuoheng.status.machine.events.CoverEvent; +import com.tuoheng.status.machine.events.DroneEvent; +import com.tuoheng.status.machine.events.DrcEvent; import com.tuoheng.status.machine.platform.PlatformType; 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; /** * 机巢系统管理器接口 @@ -21,9 +25,17 @@ public interface AirportSystemManager { public boolean sendEvent(String airportSn, CoverEvent event); + public boolean sendEvent(String droneSn, DroneEvent event); + + public boolean sendEvent(String airportSn, DrcEvent event); + public boolean syncAirportState(String airportSn, AirportState targetState); public boolean syncCoverState(String airportSn, CoverState targetState); + + public boolean syncDroneState(String droneSn, DroneState targetState); + + public boolean syncDrcState(String airportSn, DrcState targetState); /** * 有心跳的时候调用 * @param airportSn