修改框架内容

src/main/java/com/tuoheng/machine/MachineCommandManager.java

@@ -52,7 +52,7 @@ public class MachineCommandManager {
      */
     public void bindMachine(String sn, String vendorType) {
         vendorRegistry.bindSnToVendor(sn, vendorType);
-        log.info("绑定设备到厂家: sn=, vendorType={}", sn, vendorType);
+        log.info("绑定设备到厂家: sn={}, vendorType={}", sn, vendorType);
     }
 
     /**

src/main/java/com/tuoheng/machine/command/CommandType.java

@@ -9,8 +9,6 @@ public enum CommandType {
      */
     TAKE_OFF,
 
-
-
     /**
      * 返航
      */

src/main/java/com/tuoheng/machine/command/Transaction.java

@@ -26,7 +26,7 @@ public class Transaction {
     /**
      * 事务超时时间（毫秒）
      */
-    private long timeoutMs = 120000; // 默认2分钟
+    private long timeoutMs = 10000; // 默认10秒
 
     public Transaction(String name, CommandType commandType) {
         this.name = name;

src/main/java/com/tuoheng/machine/instruction/CallbackConfig.java

@@ -1,5 +1,6 @@
 package com.tuoheng.machine.instruction;
 
+import com.fasterxml.jackson.databind.ObjectMapper;
 import lombok.AllArgsConstructor;
 import lombok.Builder;
 import lombok.Data;
@@ -38,7 +39,7 @@ public class CallbackConfig {
     /**
      * 超时时间（毫秒）
      */
-    private long timeoutMs = 30000;
+    private long timeoutMs = 3000;
 
     /**
      * 判断消息是否匹配
@@ -60,8 +61,19 @@ public class CallbackConfig {
             return null;
         }
 
-        String[] parts = path.split("\\.");
+        // 如果 messageBody 是字符串，尝试解析为 JSON
         Object current = messageBody;
+        if (messageBody instanceof String) {
+            try {
+                ObjectMapper objectMapper = new ObjectMapper();
+                current = objectMapper.readValue((String) messageBody, Object.class);
+            } catch (Exception e) {
+                // 解析失败，返回 null
+                return null;
+            }
+        }
+
+        String[] parts = path.split("\\.");
 
         for (String part : parts) {
             if (current == null) {

src/main/java/com/tuoheng/machine/state/AirportState.java

@@ -9,7 +9,6 @@ public enum AirportState {
      */
     UNKNOWN,
 
-
     /**
      * 在线
      */

src/main/java/com/tuoheng/machine/vendor/dji/DjiVendorConfig.java

@@ -52,59 +52,13 @@ public class DjiVendorConfig implements VendorConfig {
         switch (commandType) {
 
             case TAKE_OFF:
-                return droneState == DroneState.ONLINE ;
+                return droneState == DroneState.ONLINE && airportState == AirportState.ONLINE;
 
             case RETURN_HOME:
-                return droneState == DroneState.FLYING ;
+                return droneState == DroneState.FLYING ||  droneState ==  DroneState.ARRIVED;
-
-            case EMERGENCY_STOP:
-                // 飞行中、返航中可以急停（未处于急停状态）
-                return (droneState == DroneState.FLYING || droneState == DroneState.RETURNING) &&
-                        stopState != StopState.ENTERED;
-
-            case RESUME_FLIGHT:
-                // 急停状态可以继续飞行
-                return stopState == StopState.ENTERED;
-
-            case POINT_FLY:
-                // 飞行中、到达目的地、返航中可以指点飞行（未急停）
-                return (droneState == DroneState.FLYING ||
-                        droneState == DroneState.ARRIVED ||
-                        droneState == DroneState.RETURNING) &&
-                        stopState != StopState.ENTERED;
-
-            case CANCEL_POINT:
-                // 飞行中可以取消指点
-                return droneState == DroneState.FLYING;
-
-            case START_MISSION:
-                // 未知状态或离线状态且未急停时可以开始航线任务
-                return (droneState == DroneState.UNKNOWN || droneState == DroneState.ONLINE) &&
-                        stopState != StopState.ENTERED;
-
-            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:
-                // 在线状态且未处于调试模式时可以进入调试模式
-                return airportState == AirportState.ONLINE &&
-                        debugModeState == DebugModeState.UNKNOWN;
-
-            case EXIT_DEBUG_MODE:
-                // 调试模式可以退出
-                return debugModeState == DebugModeState.ENTERED;
-
-            case REBOOT_AIRPORT:
-                // 在线状态可以重启
-                return airportState == AirportState.ONLINE;
 
             default:
-                return false;
+                return true;
         }
     }
 
@@ -117,7 +71,6 @@ public class DjiVendorConfig implements VendorConfig {
                 availableCommands.add(commandType);
             }
         }
-
         return availableCommands;
     }
 
@@ -128,56 +81,9 @@ public class DjiVendorConfig implements VendorConfig {
         // 起飞命令
         Transaction takeOffTransaction = new Transaction("起飞", CommandType.TAKE_OFF)
                 .root(new DjiTakeOffInstruction())
-                .setTimeout(90000);
+                .setTimeout(10000);
         transactionMap.put(CommandType.TAKE_OFF, takeOffTransaction);
 
-        // 返航命令
-        Transaction returnHomeTransaction = new Transaction("返航", CommandType.RETURN_HOME)
-                .root(new DjiReturnHomeInstruction())
-                .setTimeout(120000);
-        transactionMap.put(CommandType.RETURN_HOME, returnHomeTransaction);
-
-        // 急停命令
-        Transaction emergencyStopTransaction = new Transaction("急停", CommandType.EMERGENCY_STOP)
-                .root(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)
-                .root(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)
-                .root(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)
-                .root(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)
-                .root(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)
-                .root(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)
-                .root(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());
     }

src/main/java/com/tuoheng/machine/vendor/dji/instruction/DjiCancelPointInstruction.java

@@ -34,7 +34,6 @@ public class DjiCancelPointInstruction extends AbstractInstruction {
                 .topic("dji/" + sn + "/response")
                 .fieldPath("cmd")
                 .expectedValue("cancelPoint")
-                .canShortCircuit(false)
                 .timeoutMs(10000)
                 .build();
     }
@@ -47,7 +46,6 @@ public class DjiCancelPointInstruction extends AbstractInstruction {
                 .topic("dji/" + sn + "/state")
                 .fieldPath("droneState")
                 .expectedValue("POINT_CANCELLED")
-                .canShortCircuit(false)
                 .timeoutMs(30000)
                 .build();
     }

src/main/java/com/tuoheng/machine/vendor/dji/instruction/DjiCloseCoverInstruction.java

@@ -34,7 +34,6 @@ public class DjiCloseCoverInstruction extends AbstractInstruction {
                 .topic("dji/" + sn + "/response")
                 .fieldPath("cmd")
                 .expectedValue("closeCover")
-                .canShortCircuit(false)
                 .timeoutMs(10000)
                 .build();
     }
@@ -47,7 +46,6 @@ public class DjiCloseCoverInstruction extends AbstractInstruction {
                 .topic("dji/" + sn + "/state")
                 .fieldPath("coverState")
                 .expectedValue("CLOSED")
-                .canShortCircuit(false)
                 .timeoutMs(60000)
                 .build();
     }

src/main/java/com/tuoheng/machine/vendor/dji/instruction/DjiEmergencyStopInstruction.java

@@ -34,7 +34,6 @@ public class DjiEmergencyStopInstruction extends AbstractInstruction {
                 .topic("dji/" + sn + "/response")
                 .fieldPath("cmd")
                 .expectedValue("emergencyStop")
-                .canShortCircuit(false)
                 .timeoutMs(5000)
                 .build();
     }
@@ -50,7 +49,6 @@ public class DjiEmergencyStopInstruction extends AbstractInstruction {
                     // 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();
     }

src/main/java/com/tuoheng/machine/vendor/dji/instruction/DjiLandInstruction.java

@@ -35,7 +35,6 @@ public class DjiLandInstruction extends AbstractInstruction {
                 .topic("dji/" + sn + "/response")
                 .fieldPath("cmd")
                 .expectedValue("land")
-                .canShortCircuit(false)
                 .timeoutMs(10000)
                 .build();
     }
@@ -48,7 +47,6 @@ public class DjiLandInstruction extends AbstractInstruction {
                 .topic("dji/" + sn + "/state")
                 .fieldPath("droneState")
                 .expectedValue("PREPARING")
-                .canShortCircuit(false)
                 .timeoutMs(60000)
                 .build();
     }

src/main/java/com/tuoheng/machine/vendor/dji/instruction/DjiOpenCoverInstruction.java

@@ -34,7 +34,6 @@ public class DjiOpenCoverInstruction extends AbstractInstruction {
                 .topic("dji/" + sn + "/response")
                 .fieldPath("cmd")
                 .expectedValue("openCover")
-                .canShortCircuit(false)
                 .timeoutMs(10000)
                 .build();
     }
@@ -47,7 +46,6 @@ public class DjiOpenCoverInstruction extends AbstractInstruction {
                 .topic("dji/" + sn + "/state")
                 .fieldPath("coverState")
                 .expectedValue("OPENED")
-                .canShortCircuit(false)
                 .timeoutMs(60000)
                 .build();
     }

src/main/java/com/tuoheng/machine/vendor/dji/instruction/DjiPointFlyInstruction.java

@@ -39,7 +39,6 @@ public class DjiPointFlyInstruction extends AbstractInstruction {
                 .topic("dji/" + sn + "/response")
                 .fieldPath("cmd")
                 .expectedValue("pointFly")
-                .canShortCircuit(false)
                 .timeoutMs(10000)
                 .build();
     }
@@ -52,7 +51,6 @@ public class DjiPointFlyInstruction extends AbstractInstruction {
                 .topic("dji/" + sn + "/state")
                 .fieldPath("droneState")
                 .expectedValue("POINT_FLYING")
-                .canShortCircuit(false)
                 .timeoutMs(30000)
                 .build();
     }

src/main/java/com/tuoheng/machine/vendor/dji/instruction/DjiResumeFlightInstruction.java

@@ -34,7 +34,6 @@ public class DjiResumeFlightInstruction extends AbstractInstruction {
                 .topic("dji/" + sn + "/response")
                 .fieldPath("cmd")
                 .expectedValue("resumeFlight")
-                .canShortCircuit(false)
                 .timeoutMs(10000)
                 .build();
     }
@@ -50,7 +49,6 @@ public class DjiResumeFlightInstruction extends AbstractInstruction {
                     // 继续飞行后可能变为 FLYING 或 RETURNING
                     return "FLYING".equals(state) || "RETURNING".equals(state);
                 })
-                .canShortCircuit(false)
                 .timeoutMs(30000)
                 .build();
     }

src/main/java/com/tuoheng/machine/vendor/dji/instruction/DjiReturnHomeInstruction.java

@@ -34,7 +34,6 @@ public class DjiReturnHomeInstruction extends AbstractInstruction {
                 .topic("dji/" + sn + "/response")
                 .fieldPath("cmd")
                 .expectedValue("returnHome")
-                .canShortCircuit(false)
                 .timeoutMs(10000)
                 .build();
     }
@@ -47,7 +46,6 @@ public class DjiReturnHomeInstruction extends AbstractInstruction {
                 .topic("dji/" + sn + "/state")
                 .fieldPath("droneState")
                 .expectedValue("RETURNING")
-                .canShortCircuit(false)
                 .timeoutMs(60000)
                 .build();
     }

src/main/java/com/tuoheng/machine/vendor/dji/instruction/DjiStartMissionInstruction.java

@@ -36,7 +36,6 @@ public class DjiStartMissionInstruction extends AbstractInstruction {
                 .topic("dji/" + sn + "/response")
                 .fieldPath("cmd")
                 .expectedValue("startMission")
-                .canShortCircuit(false)
                 .timeoutMs(10000)
                 .build();
     }
@@ -49,7 +48,6 @@ public class DjiStartMissionInstruction extends AbstractInstruction {
                 .topic("dji/" + sn + "/state")
                 .fieldPath("droneState")
                 .expectedValue("FLYING")
-                .canShortCircuit(false)
                 .timeoutMs(60000)
                 .build();
     }

src/main/java/com/tuoheng/machine/vendor/dji/instruction/DjiTakeOffInstruction.java

@@ -32,20 +32,21 @@ public class DjiTakeOffInstruction extends AbstractInstruction {
 
     @Override
     public CallbackConfig getMethodCallbackConfig(InstructionContext context) {
+//        return null;
         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")
+                .fieldPath("data.result")
                 .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) {
+//        return null;
         String sn = context.getSn();
 
         // 状态回调：等待无人机状态变为飞行中
@@ -53,13 +54,12 @@ public class DjiTakeOffInstruction extends AbstractInstruction {
                 .topic("dji/" + sn + "/state")
                 .fieldPath("droneState")
                 .expectedValue("FLYING")
-                .canShortCircuit(false) // 不可短路，必须等待状态变化
+                .timeoutMs(10000) // 10秒超时
-                .timeoutMs(60000) // 60秒超时
                 .build();
     }
 
     @Override
     public long getTimeoutMs() {
-        return 90000; // 90秒总超时
+        return 10000; // 10秒总超时
     }
 }

src/test/java/com/tuoheng/old/DrcStateMachineTest.java

@@ -1,13 +1,25 @@
 package com.tuoheng.old;
 
-import com.tuoheng.old.events.DrcEvent;
+import com.tuoheng.machine.MachineCommandManager;
-import com.tuoheng.old.service.DrcMachineService;
+import com.tuoheng.machine.command.CommandResult;
-import com.tuoheng.old.status.DrcState;
+import com.tuoheng.machine.command.CommandType;
+import com.tuoheng.machine.mqtt.MqttCallbackRegistry;
+import com.tuoheng.machine.state.*;
 import lombok.extern.slf4j.Slf4j;
+import org.junit.jupiter.api.BeforeEach;
+import org.junit.jupiter.api.MethodOrderer;
 import org.junit.jupiter.api.Test;
+import org.junit.jupiter.api.TestMethodOrder;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.boot.test.context.SpringBootTest;
-import org.springframework.statemachine.StateMachine;
+import org.junit.jupiter.api.*;
+import org.springframework.util.Assert;
+
+import java.util.HashMap;
+import java.util.concurrent.*;
+
+import static org.junit.jupiter.api.Assertions.*;
+
 
 /**
  * DRC状态机测试
@@ -15,71 +27,165 @@ import org.springframework.statemachine.StateMachine;
  */
 @SpringBootTest
 @Slf4j
+@TestMethodOrder(MethodOrderer.OrderAnnotation.class)
 public class DrcStateMachineTest {
 
 
     @Autowired
-    DrcMachineService drcMachineService;
+    MachineCommandManager machineCommandManager;
 
-    @Test
+    @Autowired
-    public void testDrcMachineService(){
+    MqttCallbackRegistry mqttCallbackRegistry;
 
-        String sn = "airport-001";
+    private static final ScheduledExecutorService scheduler =
-        /**
+            Executors.newScheduledThreadPool(2);
-         * 不存在的会报错,需要在 MachinePlatTypeRepository 里面定义有这个机场编号
-         */
-        try {
-            StateMachine<DrcState, DrcEvent> stateMachine =
-                    drcMachineService.getOrCreateStateMachine("airport-001--2");
-        }catch (RuntimeException runtimeException){}
 
-        StateMachine<DrcState, DrcEvent> stateMachine =  drcMachineService.getStateMachine("airport-001");
-        drcMachineService.getOrCreateStateMachine("airport-001");
-        stateMachine =  drcMachineService.getStateMachine("airport-001");
 
-        /**
+    private Boolean initState = false;
-         * 打印一下当前的状态
-         */
-        log.debug(drcMachineService.getCurrentStates("airport-001"));
 
-        /**
+    private static final String SN = "SN9527";
-         * 从UnKnown状态可以走到任意状态
-         */
-        drcMachineService.sendEvent(sn,DrcEvent.ENTERED);
 
-        /**
+    @BeforeEach
-         * ENTERED无法进入ENTERING DrcMachineConfig 里面配置的
+    public void init(){
-         */
+        if(initState){
-        log.debug(String.valueOf(drcMachineService.sendEvent(sn,DrcEvent.ENTERING)));
+            return;
-
+        }
-        /**
+        initState = true;
-         * 现在是 ENTERED,但是你还想进入ENTERED ,这个是不可以的
+        machineCommandManager.bindMachine(SN,"DJI");
-         */
-        log.debug(String.valueOf(drcMachineService.sendEvent(sn,DrcEvent.ENTERED)));
-
-        /**
-         * 打印一下当前的状态
-         */
-        log.debug(drcMachineService.getCurrentStates("airport-001"));
-
-        /**
-         * 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)));
-
-        /**
-         * 打印一下当前的状态
-         * 修改 stateContext 里面的实现,就可以跳过某些状态
-         */
-        log.debug(drcMachineService.getCurrentStates("airport-001"));
-
-;
-
-//        log.debug(String.valueOf(drcMachineService.sendEvent(sn,DrcEvent.EXITED)));
-//
-//        log.debug(drcMachineService.getCurrentStates("airport-001"));
     }
 
+    @Test
+    @Order(1)
+    public void checkInitState(){
+        MachineStates machineStates = machineCommandManager.getMachineStates(SN);
+        assertNotNull(machineStates);
+        assertEquals(AirportState.UNKNOWN, machineStates.getAirportState());
+        assertEquals(DrcState.UNKNOWN, machineStates.getDrcState());
+        assertEquals(CoverState.UNKNOWN, machineStates.getCoverState());
+        assertEquals(DroneState.UNKNOWN, machineStates.getDroneState());
+        assertEquals(StopState.UNKNOWN, machineStates.getStopState());
+    }
+
+    /**
+     * 非在线状态下不可起飞
+     * @throws ExecutionException
+     * @throws InterruptedException
+     */
+    @Test
+    @Order(2)
+    public void checkTakeOffCommand() throws ExecutionException, InterruptedException {
+        CompletableFuture<CommandResult> future =
+                machineCommandManager.executeCommand(SN, CommandType.TAKE_OFF,new HashMap<>());
+        assertFalse(future.get().isSuccess());
+    }
+
+    @Test
+    @Order(3)
+    public void setState()  {
+
+        MachineStates machineStates = new MachineStates();
+        machineStates.setAirportState(AirportState.ONLINE);
+        machineStates.setDroneState(DroneState.ONLINE);
+        machineCommandManager.updateMachineStates(SN, machineStates);
+
+        machineStates = machineCommandManager.getMachineStates(SN);
+        assertNotNull(machineStates);
+        assertEquals(AirportState.ONLINE, machineStates.getAirportState());
+        assertEquals(DroneState.ONLINE, machineStates.getDroneState());
+        assertEquals(DrcState.UNKNOWN, machineStates.getDrcState());
+        assertEquals(CoverState.UNKNOWN, machineStates.getCoverState());
+        assertEquals(StopState.UNKNOWN, machineStates.getStopState());
+
+    }
+
+//    @Test
+//    @Order(4)
+//    public void checkTakeOffOverTime1() throws ExecutionException, InterruptedException, TimeoutException {
+//        /**
+//         * 指令执行超时;因为缺乏指令成功的回调
+//         */
+//        CompletableFuture<CommandResult> future =
+//                machineCommandManager.executeCommand(SN, CommandType.TAKE_OFF,new HashMap<>());
+//        assertFalse(future.get().isSuccess());
+//
+//    }
+
+    /**
+     * 指令执行成功,因为mqttCallbackRegistry模拟了发送回调
+     * 需要将 DjiTakeOffInstruction 的 getStateCallbackConfig 中直接返回null
+     */
+//    @Test
+//    @Order(5)
+//    public void checkTakeOffOverTime2() throws ExecutionException, InterruptedException, TimeoutException {
+//
+//        CompletableFuture<CommandResult> future =
+//                machineCommandManager.executeCommand(SN, CommandType.TAKE_OFF,new HashMap<>());
+//
+//        scheduler.schedule(new Runnable() {
+//            @Override
+//            public void run() {
+//                String response = "{\"data\":{\"result\":\"takeoff\"}}";
+//                mqttCallbackRegistry.handleMessage("dji/SN9527/response",response);
+//            }
+//        },100,TimeUnit.MILLISECONDS);
+//
+//        assertTrue(future.get().isSuccess());
+//
+//    }
+
+    /**
+     * 指令执行失败
+     * 需要将 DjiTakeOffInstruction 的 getStateCallbackConfig 中的注释放开
+     */
+//    @Test
+//    @Order(5)
+//    public void checkTakeOffOverTime2() throws ExecutionException, InterruptedException, TimeoutException {
+//
+//        CompletableFuture<CommandResult> future =
+//                machineCommandManager.executeCommand(SN, CommandType.TAKE_OFF,new HashMap<>());
+//
+//        scheduler.schedule(new Runnable() {
+//            @Override
+//            public void run() {
+//                String response = "{\"data\":{\"result\":\"takeoff\"}}";
+//                mqttCallbackRegistry.handleMessage("dji/SN9527/response",response);
+//            }
+//        },100,TimeUnit.MILLISECONDS);
+//
+//        assertFalse(future.get().isSuccess());
+//    }
+
+    /**
+     * 需要将 DjiTakeOffInstruction 的 getStateCallbackConfig 中的注释放开
+     * @throws ExecutionException
+     * @throws InterruptedException
+     * @throws TimeoutException
+     */
+    @Test
+    @Order(5)
+    public void checkTakeOffOverTime2() throws ExecutionException, InterruptedException, TimeoutException {
+
+        CompletableFuture<CommandResult> future =
+                machineCommandManager.executeCommand(SN, CommandType.TAKE_OFF,new HashMap<>());
+
+        scheduler.schedule(new Runnable() {
+            @Override
+            public void run() {
+                String response = "{\"data\":{\"result\":\"takeoff\"}}";
+                mqttCallbackRegistry.handleMessage("dji/SN9527/response",response);
+
+                // 添加延迟，等待状态回调监听器注册
+                try {
+                    Thread.sleep(50); // 等待50ms
+                } catch (InterruptedException e) {
+                    e.printStackTrace();
+                }
+
+                response = "{\"droneState\":\"FLYING\"}";
+                mqttCallbackRegistry.handleMessage("dji/SN9527/state",response);
+            }
+        },100,TimeUnit.MILLISECONDS);
+
+        assertTrue(future.get().isSuccess());
+    }
 }