393 lines
16 KiB
Java
393 lines
16 KiB
Java
package com.tuoheng.machine.config;
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import com.tuoheng.machine.events.DroneEvent;
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import com.tuoheng.machine.platform.factory.PlatformStrategyFactory;
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import com.tuoheng.machine.platform.strategy.DronePlatformStrategy;
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import com.tuoheng.machine.status.DroneState;
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import lombok.extern.slf4j.Slf4j;
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import org.springframework.context.annotation.Bean;
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import org.springframework.context.annotation.Configuration;
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import org.springframework.statemachine.StateMachine;
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import org.springframework.statemachine.config.StateMachineBuilder;
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import org.springframework.statemachine.config.StateMachineFactory;
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import java.util.EnumSet;
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import java.util.UUID;
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/**
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* 无人机状态机配置（多平台支持版本）
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* 通过PlatformStrategyFactory动态获取平台特定的Guard、Action和Listener
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*/
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@Configuration
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@Slf4j
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public class DroneMachineConfig {
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@Bean(name = "droneStateMachineFactory")
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public StateMachineFactory<DroneState, DroneEvent> droneStateMachineFactory(
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PlatformStrategyFactory platformStrategyFactory) throws Exception {
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return new StateMachineFactory<DroneState, DroneEvent>() {
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@Override
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public StateMachine<DroneState, DroneEvent> getStateMachine() {
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return null;
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}
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@Override
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public StateMachine<DroneState, DroneEvent> getStateMachine(String machineId) {
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try {
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// 根据无人机SN获取平台策略
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DronePlatformStrategy strategy = platformStrategyFactory.getDroneStrategy(machineId);
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StateMachineBuilder.Builder<DroneState, DroneEvent> builder = StateMachineBuilder.builder();
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configureStateMachine(builder, strategy);
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configureStates(builder);
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configureTransitions(builder, strategy);
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StateMachine<DroneState, DroneEvent> stateMachine = builder.build();
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stateMachine.getExtendedState().getVariables().put("machineId", machineId);
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return stateMachine;
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} catch (Exception e) {
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log.error("创建DRONE状态机失败 - 机器ID: {}", machineId, e);
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throw new RuntimeException("Failed to create drone state machine for: " + machineId, e);
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}
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}
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@Override
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public StateMachine<DroneState, DroneEvent> getStateMachine(UUID uuid) {
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return null;
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}
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};
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}
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private void configureStateMachine(
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StateMachineBuilder.Builder<DroneState, DroneEvent> builder,
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DronePlatformStrategy strategy) throws Exception {
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builder.configureConfiguration()
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.withConfiguration()
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.autoStartup(true)
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.listener(strategy.getListener());
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}
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private void configureStates(StateMachineBuilder.Builder<DroneState, DroneEvent> builder) throws Exception {
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builder.configureStates()
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.withStates()
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.initial(DroneState.UNKNOWN)
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.states(EnumSet.of(
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DroneState.UNKNOWN,
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DroneState.OFFLINE,
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DroneState.PREPARING,
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DroneState.FLYING_PARENT,
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DroneState.RETURNING_PARENT,
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DroneState.POINTING_PARENT
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))
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// 飞行阶段子状态
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.and()
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.withStates()
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.parent(DroneState.FLYING_PARENT)
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.initial(DroneState.FLYING)
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.states(EnumSet.of(
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DroneState.FLYING,
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DroneState.EMERGENCY_STOP,
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DroneState.ARRIVED
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))
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// 返航阶段子状态
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.and()
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.withStates()
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.parent(DroneState.RETURNING_PARENT)
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.initial(DroneState.RETURNING)
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.states(EnumSet.of(
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DroneState.RETURNING,
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DroneState.RETURN_EMERGENCY_STOP,
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DroneState.RETURN_COMPLETED
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))
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// 指点操作子状态
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.and()
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.withStates()
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.parent(DroneState.POINTING_PARENT)
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.initial(DroneState.POINT_PREPARING)
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.states(EnumSet.of(
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DroneState.POINT_PREPARING,
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DroneState.POINT_FLYING,
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DroneState.POINT_COMPLETED,
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DroneState.POINT_CANCELLED
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));
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}
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private void configureTransitions(
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StateMachineBuilder.Builder<DroneState, DroneEvent> builder,
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DronePlatformStrategy strategy) throws Exception {
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builder.configureTransitions()
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// ========== 从 UNKNOWN 到所有状态的转换（服务器重启后状态同步） ==========
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// UNKNOWN -> OFFLINE
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.withExternal()
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.source(DroneState.UNKNOWN)
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.target(DroneState.OFFLINE)
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.event(DroneEvent.DRONE_OFFLINE)
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.and()
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// UNKNOWN -> PREPARING
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.withExternal()
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.source(DroneState.UNKNOWN)
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.target(DroneState.PREPARING)
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.event(DroneEvent.START_PREPARE)
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.and()
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// UNKNOWN -> FLYING_PARENT
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.withExternal()
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.source(DroneState.UNKNOWN)
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.target(DroneState.FLYING_PARENT)
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.event(DroneEvent.START_FLYING)
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.and()
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// UNKNOWN -> RETURNING_PARENT
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.withExternal()
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.source(DroneState.UNKNOWN)
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.target(DroneState.RETURNING_PARENT)
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.event(DroneEvent.START_RETURN)
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.and()
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// ========== 基本状态转换 ==========
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// OFFLINE -> PREPARING
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.withExternal()
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.source(DroneState.OFFLINE)
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.target(DroneState.PREPARING)
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.event(DroneEvent.START_PREPARE)
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.action(strategy.getStartPrepareAction())
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.and()
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// PREPARING -> FLYING_PARENT
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.withExternal()
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.source(DroneState.PREPARING)
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.target(DroneState.FLYING_PARENT)
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.event(DroneEvent.PREPARE_COMPLETED)
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.action(strategy.getPrepareCompletedAction())
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.and()
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// ========== 飞行阶段内部转换 ==========
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// FLYING -> EMERGENCY_STOP
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.withExternal()
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.source(DroneState.FLYING)
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.target(DroneState.EMERGENCY_STOP)
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.event(DroneEvent.EMERGENCY_STOP)
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.action(strategy.getEmergencyStopAction())
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.and()
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// EMERGENCY_STOP -> FLYING (恢复飞行)
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.withExternal()
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.source(DroneState.EMERGENCY_STOP)
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.target(DroneState.FLYING)
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.event(DroneEvent.RESUME_FLYING)
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.action(strategy.getResumeFlyingAction())
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.and()
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// FLYING -> ARRIVED
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.withExternal()
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.source(DroneState.FLYING)
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.target(DroneState.ARRIVED)
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.event(DroneEvent.ARRIVE)
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.action(strategy.getArriveAction())
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.and()
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// 注意：EMERGENCY_STOP 不能直接到 ARRIVED（根据注释限制）
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// ========== 飞行阶段 -> 指点操作 ==========
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// FLYING -> POINTING_PARENT
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.withExternal()
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.source(DroneState.FLYING)
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.target(DroneState.POINTING_PARENT)
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.event(DroneEvent.START_POINTING)
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.action(strategy.getStartPointingAction())
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.guard(strategy.getCanPointGuard())
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.and()
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// EMERGENCY_STOP -> POINTING_PARENT
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.withExternal()
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.source(DroneState.EMERGENCY_STOP)
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.target(DroneState.POINTING_PARENT)
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.event(DroneEvent.START_POINTING)
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.action(strategy.getStartPointingAction())
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.guard(strategy.getCanPointGuard())
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.and()
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// ARRIVED -> POINTING_PARENT
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.withExternal()
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.source(DroneState.ARRIVED)
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.target(DroneState.POINTING_PARENT)
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.event(DroneEvent.START_POINTING)
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.action(strategy.getStartPointingAction())
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.guard(strategy.getCanPointGuard())
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.and()
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// ========== 飞行阶段 -> 返航 ==========
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// FLYING -> RETURNING_PARENT
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.withExternal()
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.source(DroneState.FLYING)
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.target(DroneState.RETURNING_PARENT)
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.event(DroneEvent.START_RETURN)
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.action(strategy.getStartReturnAction())
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.and()
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// EMERGENCY_STOP -> RETURNING_PARENT
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.withExternal()
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.source(DroneState.EMERGENCY_STOP)
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.target(DroneState.RETURNING_PARENT)
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.event(DroneEvent.START_RETURN)
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.action(strategy.getStartReturnAction())
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.and()
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// ARRIVED -> RETURNING_PARENT
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.withExternal()
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.source(DroneState.ARRIVED)
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.target(DroneState.RETURNING_PARENT)
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.event(DroneEvent.START_RETURN)
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.action(strategy.getStartReturnAction())
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.and()
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// ========== 返航阶段内部转换 ==========
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// RETURNING -> RETURN_EMERGENCY_STOP
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.withExternal()
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.source(DroneState.RETURNING)
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.target(DroneState.RETURN_EMERGENCY_STOP)
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.event(DroneEvent.RETURN_EMERGENCY_STOP)
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.action(strategy.getReturnEmergencyStopAction())
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.and()
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// RETURN_EMERGENCY_STOP -> RETURNING (恢复返航)
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.withExternal()
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.source(DroneState.RETURN_EMERGENCY_STOP)
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.target(DroneState.RETURNING)
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.event(DroneEvent.RESUME_RETURN)
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.action(strategy.getResumeReturnAction())
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.and()
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// RETURNING -> RETURN_COMPLETED
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.withExternal()
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.source(DroneState.RETURNING)
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.target(DroneState.RETURN_COMPLETED)
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.event(DroneEvent.RETURN_COMPLETED)
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.action(strategy.getReturnCompletedAction())
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.and()
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// 注意：返航中不能指点（根据注释限制）
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// 注意：RETURN_COMPLETED 不能回退到 RETURNING 或 RETURN_EMERGENCY_STOP（根据注释限制）
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// ========== 返航急停 -> 指点操作 ==========
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// RETURN_EMERGENCY_STOP -> POINTING_PARENT (一键起飞和航线飞行都可以指点)
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.withExternal()
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.source(DroneState.RETURN_EMERGENCY_STOP)
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.target(DroneState.POINTING_PARENT)
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.event(DroneEvent.START_POINTING)
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.action(strategy.getStartPointingAction())
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.guard(strategy.getCanPointGuard())
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.and()
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// ========== 指点操作内部转换 ==========
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// POINT_PREPARING -> POINT_FLYING
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.withExternal()
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.source(DroneState.POINT_PREPARING)
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.target(DroneState.POINT_FLYING)
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.event(DroneEvent.POINT_PREPARE_COMPLETED)
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.action(strategy.getPointPrepareCompletedAction())
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.and()
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// POINT_FLYING -> POINT_COMPLETED
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.withExternal()
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.source(DroneState.POINT_FLYING)
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.target(DroneState.POINT_COMPLETED)
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.event(DroneEvent.POINT_FLYING_COMPLETED)
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.action(strategy.getPointFlyingCompletedAction())
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.and()
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// 任何指点阶段 -> POINT_CANCELLED
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.withExternal()
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.source(DroneState.POINT_PREPARING)
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.target(DroneState.POINT_CANCELLED)
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.event(DroneEvent.CANCEL_POINT)
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.action(strategy.getCancelPointAction())
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.and()
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.withExternal()
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.source(DroneState.POINT_FLYING)
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.target(DroneState.POINT_CANCELLED)
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.event(DroneEvent.CANCEL_POINT)
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.action(strategy.getCancelPointAction())
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.and()
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.withExternal()
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.source(DroneState.POINT_COMPLETED)
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.target(DroneState.POINT_CANCELLED)
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.event(DroneEvent.CANCEL_POINT)
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.action(strategy.getCancelPointAction())
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.and()
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// ========== 指点操作 -> 飞行/返航 ==========
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// POINT_COMPLETED -> FLYING
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.withExternal()
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.source(DroneState.POINT_COMPLETED)
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.target(DroneState.FLYING)
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.event(DroneEvent.POINT_TO_FLYING)
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.action(strategy.getPointToFlyingAction())
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.and()
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// POINT_CANCELLED -> FLYING
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.withExternal()
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.source(DroneState.POINT_CANCELLED)
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.target(DroneState.FLYING)
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.event(DroneEvent.POINT_TO_FLYING)
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.action(strategy.getPointToFlyingAction())
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.and()
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// POINT_COMPLETED -> RETURNING_PARENT
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.withExternal()
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.source(DroneState.POINT_COMPLETED)
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.target(DroneState.RETURNING_PARENT)
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.event(DroneEvent.POINT_TO_RETURN)
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.action(strategy.getPointToReturnAction())
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.and()
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// POINT_CANCELLED -> RETURNING_PARENT
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.withExternal()
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.source(DroneState.POINT_CANCELLED)
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.target(DroneState.RETURNING_PARENT)
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.event(DroneEvent.POINT_TO_RETURN)
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.action(strategy.getPointToReturnAction())
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.and()
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// POINT_COMPLETED -> RETURN_EMERGENCY_STOP
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.withExternal()
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.source(DroneState.POINT_COMPLETED)
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.target(DroneState.RETURN_EMERGENCY_STOP)
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.event(DroneEvent.RETURN_EMERGENCY_STOP)
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.action(strategy.getReturnEmergencyStopAction())
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.and()
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// POINT_COMPLETED -> RETURN_COMPLETED
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.withExternal()
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.source(DroneState.POINT_COMPLETED)
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.target(DroneState.RETURN_COMPLETED)
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.event(DroneEvent.RETURN_COMPLETED)
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.action(strategy.getReturnCompletedAction())
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.and()
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// ========== 离线处理 ==========
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// 任何状态 -> OFFLINE
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.withExternal()
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.source(DroneState.FLYING_PARENT)
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.target(DroneState.OFFLINE)
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.event(DroneEvent.DRONE_OFFLINE)
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.action(strategy.getOfflineAction())
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.and()
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.withExternal()
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.source(DroneState.RETURNING_PARENT)
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.target(DroneState.OFFLINE)
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.event(DroneEvent.DRONE_OFFLINE)
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.action(strategy.getOfflineAction())
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.and()
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.withExternal()
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.source(DroneState.POINTING_PARENT)
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.target(DroneState.OFFLINE)
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.event(DroneEvent.DRONE_OFFLINE)
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.action(strategy.getOfflineAction());
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}
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} |