修改测试用例

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

@@ -61,6 +61,8 @@ public class DjiVendorConfig implements VendorConfig {
             case RETURN_HOME:
                 return droneState == DroneState.FLYING ||  droneState ==  DroneState.ARRIVED;
 
+
+
             default:
                 return true;
         }
@@ -88,7 +90,35 @@ public class DjiVendorConfig implements VendorConfig {
                 .setTimeout(10000);
         transactionMap.put(takeOffTransaction.getCommandType(), takeOffTransaction);
 
+        /**
+         * 开仓命令 Transaction
+         * 流程说明：
+         * 1. root: 检查是否已在调试模式
+         *    - 成功：直接执行开仓命令
+         *    - 失败：先开启调试模式，再执行开仓命令
+         */
+        // 创建检查调试模式的指令（root）
+        DjiCheckDebugModeInstruction checkDebugMode = new DjiCheckDebugModeInstruction();
 
+        // 创建开仓指令（成功分支）
+        DjiOpenCoverInstruction openCoverAfterCheck = new DjiOpenCoverInstruction();
+
+        // 创建开启调试模式的指令（失败分支）
+        DjiEnableDebugModeInstruction enableDebugMode = new DjiEnableDebugModeInstruction();
+
+        // 创建开仓指令（失败分支的子指令）
+        DjiOpenCoverInstruction openCoverAfterEnable = new DjiOpenCoverInstruction();
+
+        // 构建指令树
+        checkDebugMode
+                .onSuccess(openCoverAfterCheck)  // 如果已在调试模式，直接开仓
+                .onFailure(enableDebugMode       // 如果不在调试模式，先开启调试模式
+                        .onSuccess(openCoverAfterEnable));  // 开启调试模式成功后，再开仓
+
+        Transaction openCoverTransaction = new Transaction("开仓", CommandType.OPEN_COVER)
+                .root(checkDebugMode)
+                .setTimeout(80000);  // 总超时时间80秒
+        transactionMap.put(openCoverTransaction.getCommandType(), openCoverTransaction);
 
         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/DjiCheckDebugModeInstruction.java

@@ -0,0 +1,50 @@
+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;
+
+/**
+ * 大疆检查调试模式指令
+ * 用于判断设备是否已经进入调试模式
+ */
+@Slf4j
+public class DjiCheckDebugModeInstruction extends AbstractInstruction {
+
+    @Override
+    public String getName() {
+        return "DJI_CHECK_DEBUG_MODE";
+    }
+
+    @Override
+    public void executeRemoteCall(InstructionContext context) throws Exception {
+        String sn = context.getSn();
+        log.info("检查大疆设备调试模式状态: sn={}", sn);
+        // 不需要发送命令，只需要等待状态回调
+    }
+
+    @Override
+    public CallbackConfig getMethodCallbackConfig(InstructionContext context) {
+        // 不需要方法回调
+        return null;
+    }
+
+    @Override
+    public CallbackConfig getStateCallbackConfig(InstructionContext context) {
+        String sn = context.getSn();
+
+        // 等待设备状态回调，判断是否在调试模式
+        return CallbackConfig.builder()
+                .topic("dji/" + sn + "/state")
+                .fieldPath("debugMode")
+                .expectedValue("ENABLED")
+                .timeoutMs(3000) // 3秒超时，如果没有收到说明不在调试模式
+                .build();
+    }
+
+    @Override
+    public long getTimeoutMs() {
+        return 3000;
+    }
+}

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

@@ -0,0 +1,54 @@
+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;
+
+/**
+ * 大疆开启调试模式指令
+ */
+@Slf4j
+public class DjiEnableDebugModeInstruction extends AbstractInstruction {
+
+    @Override
+    public String getName() {
+        return "DJI_ENABLE_DEBUG_MODE";
+    }
+
+    @Override
+    public void executeRemoteCall(InstructionContext context) throws Exception {
+        String sn = context.getSn();
+        log.info("发送大疆开启调试模式指令: sn={}", sn);
+
+        String topic = "dji/" + sn + "/command";
+        String payload = "{\"cmd\":\"enableDebugMode\"}";
+
+        context.getMqttClient().sendMessage(topic, payload);
+        log.debug("MQTT发送成功: topic={}, payload={}", topic, payload);
+    }
+
+    @Override
+    public CallbackConfig getMethodCallbackConfig(InstructionContext context) {
+        String sn = context.getSn();
+
+        // 等待开启调试模式命令的ACK响应
+        return CallbackConfig.builder()
+                .topic("dji/" + sn + "/response")
+                .fieldPath("cmd")
+                .expectedValue("enableDebugMode")
+                .timeoutMs(10000)
+                .build();
+    }
+
+    @Override
+    public CallbackConfig getStateCallbackConfig(InstructionContext context) {
+        // 不需要状态回调，只要收到ACK就认为命令发送成功
+        return null;
+    }
+
+    @Override
+    public long getTimeoutMs() {
+        return 10000;
+    }
+}

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

@@ -23,7 +23,9 @@ public class DjiOpenCoverInstruction extends AbstractInstruction {
 
         String topic = "dji/" + sn + "/command";
         String payload = "{\"cmd\":\"openCover\"}";
-        log.debug("MQTT发送: topic={}, payload={}", topic, payload);
+
+        context.getMqttClient().sendMessage(topic, payload);
+        log.debug("MQTT发送成功: topic={}, payload={}", topic, payload);
     }
 
     @Override

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

@@ -188,4 +188,104 @@ public class DrcStateMachineTest {
 
         assertTrue(future.get().isSuccess());
     }
+
+    /**
+     * 测试开仓命令 - 场景1：设备已在调试模式，直接开仓成功
+     * 流程：
+     * 1. 检查调试模式（成功）
+     * 2. 执行开仓命令
+     * 3. 收到开仓命令ACK
+     * 4. 收到舱门状态变为OPENED
+     */
+    @Test
+    @Order(6)
+    public void testOpenCoverWithDebugModeEnabled() throws ExecutionException, InterruptedException {
+        log.info("=== 测试开仓命令 - 场景1：设备已在调试模式 ===");
+
+        CompletableFuture<CommandResult> future =
+                machineCommandManager.executeCommand(SN, CommandType.OPEN_COVER, new HashMap<>());
+
+        scheduler.schedule(() -> {
+            try {
+                // 1. 模拟设备已在调试模式的状态回调（100ms后）
+                String response = "{\"debugMode\":\"ENABLED\"}";
+                mqttCallbackRegistry.handleMessage("dji/SN9527/state", response);
+                log.info("发送调试模式状态: {}", response);
+
+                Thread.sleep(50);
+
+                // 2. 模拟开仓命令的ACK响应
+                response = "{\"cmd\":\"openCover\"}";
+                mqttCallbackRegistry.handleMessage("dji/SN9527/response", response);
+                log.info("发送开仓命令ACK: {}", response);
+
+                Thread.sleep(50);
+
+                // 3. 模拟舱门状态变为OPENED
+                response = "{\"coverState\":\"OPENED\"}";
+                mqttCallbackRegistry.handleMessage("dji/SN9527/state", response);
+                log.info("发送舱门状态: {}", response);
+
+            } catch (InterruptedException e) {
+                e.printStackTrace();
+            }
+        }, 100, TimeUnit.MILLISECONDS);
+
+        CommandResult result = future.get();
+        assertTrue(result.isSuccess(), "开仓命令应该执行成功");
+        log.info("=== 测试通过：设备已在调试模式，开仓成功 ===");
+    }
+
+    /**
+     * 测试开仓命令 - 场景2：设备不在调试模式，先开启调试模式再开仓
+     * 流程：
+     * 1. 检查调试模式（失败/超时）
+     * 2. 开启调试模式
+     * 3. 收到开启调试模式ACK
+     * 4. 执行开仓命令
+     * 5. 收到开仓命令ACK
+     * 6. 收到舱门状态变为OPENED
+     */
+    @Test
+    @Order(7)
+    public void testOpenCoverWithDebugModeDisabled() throws ExecutionException, InterruptedException {
+        log.info("=== 测试开仓命令 - 场景2：设备不在调试模式 ===");
+
+        CompletableFuture<CommandResult> future =
+                machineCommandManager.executeCommand(SN, CommandType.OPEN_COVER, new HashMap<>());
+
+        scheduler.schedule(() -> {
+            try {
+                // 1. 不发送调试模式状态，让检查调试模式超时（等待3秒超时）
+                log.info("等待检查调试模式超时...");
+                Thread.sleep(3500); // 等待超过3秒，让检查调试模式超时
+
+                // 2. 模拟开启调试模式命令的ACK响应
+                String response = "{\"cmd\":\"enableDebugMode\"}";
+                mqttCallbackRegistry.handleMessage("dji/SN9527/response", response);
+                log.info("发送开启调试模式ACK: {}", response);
+
+                Thread.sleep(50);
+
+                // 3. 模拟开仓命令的ACK响应
+                response = "{\"cmd\":\"openCover\"}";
+                mqttCallbackRegistry.handleMessage("dji/SN9527/response", response);
+                log.info("发送开仓命令ACK: {}", response);
+
+                Thread.sleep(50);
+
+                // 4. 模拟舱门状态变为OPENED
+                response = "{\"coverState\":\"OPENED\"}";
+                mqttCallbackRegistry.handleMessage("dji/SN9527/state", response);
+                log.info("发送舱门状态: {}", response);
+
+            } catch (InterruptedException e) {
+                e.printStackTrace();
+            }
+        }, 100, TimeUnit.MILLISECONDS);
+
+        CommandResult result = future.get();
+        assertTrue(result.isSuccess(), "开仓命令应该执行成功（先开启调试模式再开仓）");
+        log.info("=== 测试通过：设备不在调试模式，先开启调试模式再开仓成功 ===");
+    }
 }