添加AirportSystemManager
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孙小云
parent
a377485b23
commit
bf148084bf
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@ -2,11 +2,17 @@ package com.tuoheng.status.machine.manager;
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import com.tuoheng.status.machine.events.AirportEvent;
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import com.tuoheng.status.machine.events.CoverEvent;
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import com.tuoheng.status.machine.events.DroneEvent;
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import com.tuoheng.status.machine.events.DrcEvent;
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import com.tuoheng.status.machine.platform.PlatformType;
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import com.tuoheng.status.machine.service.AirportMachineService;
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import com.tuoheng.status.machine.service.CoverMachineService;
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import com.tuoheng.status.machine.service.DroneMachineService;
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import com.tuoheng.status.machine.service.DrcMachineService;
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import com.tuoheng.status.machine.status.AirportState;
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import com.tuoheng.status.machine.status.CoverState;
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import com.tuoheng.status.machine.status.DroneState;
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import com.tuoheng.status.machine.status.DrcState;
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import org.springframework.beans.factory.annotation.Autowired;
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/**
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@ -27,6 +33,12 @@ public abstract class AbstractAirportSystemManager implements AirportSystemManag
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@Autowired
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protected CoverMachineService coverService;
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@Autowired
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protected DroneMachineService droneService;
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@Autowired
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protected DrcMachineService drcService;
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public boolean sendEvent(String airportSn, AirportEvent event) {
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return airportService.sendEvent(airportSn, event);
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@ -36,6 +48,14 @@ public abstract class AbstractAirportSystemManager implements AirportSystemManag
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return coverService.sendEvent(airportSn, event);
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}
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public boolean sendEvent(String droneSn, DroneEvent event) {
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return droneService.sendEvent(droneSn, event);
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}
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public boolean sendEvent(String airportSn, DrcEvent event) {
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return drcService.sendEvent(airportSn, event);
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}
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/**
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* 同步机巢状态
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* 仅在当前状态为 UNKNOWN 时才同步到目标状态
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@ -162,5 +182,144 @@ public abstract class AbstractAirportSystemManager implements AirportSystemManag
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return null;
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}
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}
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/**
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* 同步无人机状态
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* 仅在当前状态为 UNKNOWN 时才同步到目标状态
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*
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* @param droneSn 无人机序列号
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* @param targetState 目标状态
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* @return 是否同步成功
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*/
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public boolean syncDroneState(String droneSn, DroneState targetState) {
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DroneState currentState = droneService.getCurrentState(droneSn);
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if (currentState == null) {
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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));
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return false;
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}
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if (currentState != DroneState.UNKNOWN) {
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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)",
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droneSn, currentState));
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return false;
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}
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// 根据目标状态发送相应的事件
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DroneEvent event = getDroneEventForState(targetState);
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if (event == null) {
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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",
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droneSn, targetState));
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return false;
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}
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boolean result = droneService.sendEvent(droneSn, event);
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if (result) {
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System.out.println(String.format("同步无人机状态成功 - 无人机: %s, 从 UNKNOWN 同步到 %s",
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droneSn, targetState));
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}
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return result;
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}
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/**
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* 同步DRC状态
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* 仅在当前状态为 UNKNOWN 时才同步到目标状态
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*
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* @param airportSn 机巢序列号
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* @param targetState 目标状态
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* @return 是否同步成功
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*/
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public boolean syncDrcState(String airportSn, DrcState targetState) {
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DrcState currentState = drcService.getCurrentState(airportSn);
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if (currentState == null) {
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System.out.println(String.format("同步DRC状态失败 - 机巢: %s, 状态机不存在", airportSn));
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return false;
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}
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if (currentState != DrcState.UNKNOWN) {
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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)",
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airportSn, currentState));
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return false;
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}
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// 根据目标状态发送相应的事件
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DrcEvent event = getDrcEventForState(targetState);
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if (event == null) {
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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",
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airportSn, targetState));
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return false;
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}
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boolean result = drcService.sendEvent(airportSn, event);
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if (result) {
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System.out.println(String.format("同步DRC状态成功 - 机巢: %s, 从 UNKNOWN 同步到 %s",
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airportSn, targetState));
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}
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return result;
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}
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/**
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* 根据目标状态获取对应的无人机事件
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* 子类可以重写此方法以提供自定义的状态到事件的映射
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*
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* @param targetState 目标状态
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* @return 对应的事件，如果没有对应事件则返回null
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*/
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protected DroneEvent getDroneEventForState(DroneState targetState) {
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switch (targetState) {
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case OFFLINE:
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return DroneEvent.DRONE_OFFLINE;
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case PREPARING:
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return DroneEvent.START_PREPARE;
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case FLYING_PARENT:
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case FLYING:
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return DroneEvent.START_FLYING;
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case EMERGENCY_STOP:
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return DroneEvent.EMERGENCY_STOP;
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case ARRIVED:
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return DroneEvent.ARRIVE;
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case RETURNING_PARENT:
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case RETURNING:
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return DroneEvent.START_RETURN;
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case RETURN_EMERGENCY_STOP:
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return DroneEvent.RETURN_EMERGENCY_STOP;
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case RETURN_COMPLETED:
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return DroneEvent.RETURN_COMPLETED;
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case POINTING_PARENT:
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case POINT_PREPARING:
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return DroneEvent.START_POINTING;
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case POINT_FLYING:
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return DroneEvent.POINT_PREPARE_COMPLETED;
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case POINT_COMPLETED:
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return DroneEvent.POINT_FLYING_COMPLETED;
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case POINT_CANCELLED:
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return DroneEvent.CANCEL_POINT;
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default:
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return null;
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}
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}
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/**
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* 根据目标状态获取对应的DRC事件
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* 子类可以重写此方法以提供自定义的状态到事件的映射
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*
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* @param targetState 目标状态
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* @return 对应的事件，如果没有对应事件则返回null
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*/
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protected DrcEvent getDrcEventForState(DrcState targetState) {
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switch (targetState) {
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case EXITED:
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return DrcEvent.EXITED;
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case ENTERING:
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return DrcEvent.ENTER;
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case ENTERED:
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return DrcEvent.ENTERED;
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case EXITING:
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return DrcEvent.EXIT;
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default:
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return null;
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}
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}
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}
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@ -2,9 +2,13 @@ package com.tuoheng.status.machine.manager;
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import com.tuoheng.status.machine.events.AirportEvent;
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import com.tuoheng.status.machine.events.CoverEvent;
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import com.tuoheng.status.machine.events.DroneEvent;
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import com.tuoheng.status.machine.events.DrcEvent;
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import com.tuoheng.status.machine.platform.PlatformType;
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import com.tuoheng.status.machine.status.AirportState;
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import com.tuoheng.status.machine.status.CoverState;
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import com.tuoheng.status.machine.status.DroneState;
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import com.tuoheng.status.machine.status.DrcState;
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/**
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* 机巢系统管理器接口
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@ -21,9 +25,17 @@ public interface AirportSystemManager {
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public boolean sendEvent(String airportSn, CoverEvent event);
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public boolean sendEvent(String droneSn, DroneEvent event);
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public boolean sendEvent(String airportSn, DrcEvent event);
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public boolean syncAirportState(String airportSn, AirportState targetState);
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public boolean syncCoverState(String airportSn, CoverState targetState);
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public boolean syncDroneState(String droneSn, DroneState targetState);
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public boolean syncDrcState(String airportSn, DrcState targetState);
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/**
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* 有心跳的时候调用
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* @param airportSn
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