From 073239cedaab68465e109b1957144f5fca17958d Mon Sep 17 00:00:00 2001
From: liusuyi <1951119284@qq.com>
Date: Thu, 18 Dec 2025 12:22:18 +0800
Subject: [PATCH] 增加航线状态机
---
ard-work/pom.xml | 5
ard-work/src/main/java/com/ard/work/component/netty/command/notice/WayLineFinishedReplyCmd.java | 4
ard-work/src/main/java/com/ard/work/component/netty/handler/MessageProtocolDecoder.java | 4
ard-admin/src/main/java/com/ard/web/controller/route/RouteController.java | 65 +++++++++
ard-work/src/main/java/com/ard/work/service/impl/TyServiceImpl.java | 42 +++++
ard-work/src/main/java/com/ard/work/config/RouteStateMachineConfig.java | 108 +++++++++++++++
ard-work/src/main/java/com/ard/work/domain/enums/RouteEvent.java | 10 +
ard-work/src/main/java/com/ard/work/config/RouteStateMachineListener.java | 35 +++++
ard-work/src/main/java/com/ard/work/config/RouteStateMachineService.java | 115 ++++++++++++++++
ard-work/src/main/java/com/ard/work/domain/enums/RouteState.java | 9 +
10 files changed, 387 insertions(+), 10 deletions(-)
diff --git a/ard-admin/src/main/java/com/ard/web/controller/route/RouteController.java b/ard-admin/src/main/java/com/ard/web/controller/route/RouteController.java
new file mode 100644
index 0000000..82d7a8a
--- /dev/null
+++ b/ard-admin/src/main/java/com/ard/web/controller/route/RouteController.java
@@ -0,0 +1,65 @@
+package com.ard.web.controller.route;
+
+import com.ard.common.core.domain.AjaxResult;
+import com.ard.work.config.RouteStateMachineService;
+import com.ard.work.domain.enums.RouteEvent;
+import com.ard.work.domain.enums.RouteState;
+import io.swagger.annotations.Api;
+import io.swagger.annotations.ApiImplicitParam;
+import io.swagger.annotations.ApiImplicitParams;
+import io.swagger.annotations.ApiOperation;
+import lombok.RequiredArgsConstructor;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.web.bind.annotation.*;
+
+@Api(tags = "航线状态机")
+@RestController
+@RequestMapping("/api/route")
+@RequiredArgsConstructor
+public class RouteController {
+
+ @Autowired
+ private RouteStateMachineService stateMachineService;
+
+ /**
+ * 发送航线事件
+ */
+ @ApiOperation("航线状态测试")
+ @ApiImplicitParams({
+ @ApiImplicitParam(name = "boxSn", value = "设备编号", required = true, dataType = "String", paramType = "path"),
+ @ApiImplicitParam(name = "event", value = "事件", required = true, dataType = "RouteEvent", paramType = "query")
+ })
+ @PostMapping("/{boxSn}/event")
+ public AjaxResult sendRouteEvent(
+ @PathVariable String boxSn,
+ @RequestParam RouteEvent event) {
+ boolean success = stateMachineService.sendEvent(boxSn, event);
+ if (success) {
+ RouteState currentState = stateMachineService.getCurrentState(boxSn);
+ return AjaxResult.success("事件执行成功，设备" + boxSn + "当前状态：" + currentState);
+ } else {
+ return AjaxResult.error("事件执行失败（状态流转不允许），设备" + boxSn + "当前状态：" +
+ stateMachineService.getCurrentState(boxSn));
+ }
+
+ }
+
+ /**
+ * 获取设备当前航线状态
+ */
+ @ApiOperation("获取设备当前航线状态")
+ @GetMapping("/{boxSn}/state")
+ public RouteState getRouteState(@PathVariable String boxSn) {
+ return stateMachineService.getCurrentState(boxSn);
+ }
+
+ /**
+ * 重置设备航线状态
+ */
+ @ApiOperation("重置设备航线状态")
+ @PostMapping("/{boxSn}/reset")
+ public String resetRouteState(@PathVariable String boxSn) {
+ stateMachineService.resetStateMachine(boxSn);
+ return "设备" + boxSn + "航线状态已重置为：" + RouteState.IDLE;
+ }
+}
\ No newline at end of file
diff --git a/ard-work/pom.xml b/ard-work/pom.xml
index ef3f0a4..974b23f 100644
--- a/ard-work/pom.xml
+++ b/ard-work/pom.xml
@@ -113,6 +113,11 @@
<groupId>com.ard</groupId>
<artifactId>ard-oss</artifactId>
</dependency>
+ <dependency>
+ <groupId>org.springframework.statemachine</groupId>
+ <artifactId>spring-statemachine-starter</artifactId>
+ <version>2.3.0</version>
+ </dependency>
</dependencies>
<repositories>
<repository>
diff --git a/ard-work/src/main/java/com/ard/work/component/netty/command/notice/FlyWayEndReplyCmd.java b/ard-work/src/main/java/com/ard/work/component/netty/command/notice/WayLineFinishedReplyCmd.java
similarity index 87%
rename from ard-work/src/main/java/com/ard/work/component/netty/command/notice/FlyWayEndReplyCmd.java
rename to ard-work/src/main/java/com/ard/work/component/netty/command/notice/WayLineFinishedReplyCmd.java
index 1231cfe..2f0ddc7 100644
--- a/ard-work/src/main/java/com/ard/work/component/netty/command/notice/FlyWayEndReplyCmd.java
+++ b/ard-work/src/main/java/com/ard/work/component/netty/command/notice/WayLineFinishedReplyCmd.java
@@ -13,13 +13,13 @@
**/
@Data
@EqualsAndHashCode(callSuper = false)
-public class FlyWayEndReplyCmd extends BaseCmd {
+public class WayLineFinishedReplyCmd extends BaseCmd {
private final byte encryptFlag = 0x00; // 加密标志
private final byte actionCode = 0x2E; // 动作编号
private final byte result; // 执行结果
private final int errorCode; // 错误码
- public FlyWayEndReplyCmd(String boxSn, byte result, int errorCode) {
+ public WayLineFinishedReplyCmd(String boxSn, byte result, int errorCode) {
setDataHeader((short) 0x6A77); // 设置帧头
setCmdCode((byte) 0x3D); // 设置指令编号
setDataLength((short) 23); // 数据长度
diff --git a/ard-work/src/main/java/com/ard/work/component/netty/handler/MessageProtocolDecoder.java b/ard-work/src/main/java/com/ard/work/component/netty/handler/MessageProtocolDecoder.java
index 337ed0c..e60cf12 100644
--- a/ard-work/src/main/java/com/ard/work/component/netty/handler/MessageProtocolDecoder.java
+++ b/ard-work/src/main/java/com/ard/work/component/netty/handler/MessageProtocolDecoder.java
@@ -12,7 +12,7 @@
import com.ard.work.domain.dto.telemetry.TelemetryData;
import com.ard.work.component.netty.command.BaseCmd;
import com.ard.work.component.netty.command.notice.BoxPowerStatusReplyCmd;
-import com.ard.work.component.netty.command.notice.FlyWayEndReplyCmd;
+import com.ard.work.component.netty.command.notice.WayLineFinishedReplyCmd;
import com.ard.work.component.netty.command.notice.UavReadyReplyCmd;
import com.ard.work.component.netty.command.real.SignalInfoCmd;
import com.ard.work.component.netty.command.real.UavStateCmd;
@@ -185,7 +185,7 @@
case 0x25:
return new RecordStopReplyCmd(boxSn, result, errorCode);
case 0x2E:
- return new FlyWayEndReplyCmd(boxSn, result, errorCode);
+ return new WayLineFinishedReplyCmd(boxSn, result, errorCode);
// Special cases
case 0x3D:
case 0x40:
diff --git a/ard-work/src/main/java/com/ard/work/config/RouteStateMachineConfig.java b/ard-work/src/main/java/com/ard/work/config/RouteStateMachineConfig.java
new file mode 100644
index 0000000..f4d88f6
--- /dev/null
+++ b/ard-work/src/main/java/com/ard/work/config/RouteStateMachineConfig.java
@@ -0,0 +1,108 @@
+package com.ard.work.config;
+
+import com.ard.work.domain.enums.RouteEvent;
+import com.ard.work.domain.enums.RouteState;
+import org.springframework.context.annotation.Bean;
+import org.springframework.context.annotation.Configuration;
+import org.springframework.statemachine.config.EnableStateMachineFactory;
+import org.springframework.statemachine.config.StateMachineConfigurerAdapter;
+import org.springframework.statemachine.config.builders.StateMachineStateConfigurer;
+import org.springframework.statemachine.config.builders.StateMachineTransitionConfigurer;
+import org.springframework.statemachine.guard.Guard;
+import org.springframework.statemachine.service.DefaultStateMachineService;
+import org.springframework.statemachine.service.StateMachineService;
+
+import java.util.EnumSet;
+
+@Configuration
+@EnableStateMachineFactory
+public class RouteStateMachineConfig extends StateMachineConfigurerAdapter<RouteState, RouteEvent> {
+
+ /**
+ * 配置状态机的状态集
+ */
+ @Override
+ public void configure(StateMachineStateConfigurer<RouteState, RouteEvent> states) throws Exception {
+ states
+ .withStates()
+ .initial(RouteState.IDLE) // 初始状态
+ .states(EnumSet.allOf(RouteState.class)); // 注册所有状态
+ }
+
+ /**
+ * 配置状态流转规则
+ */
+ @Override
+ public void configure(StateMachineTransitionConfigurer<RouteState, RouteEvent> transitions)
+ throws Exception {
+
+ transitions
+ // IDLE → UPLOADED
+ .withExternal()
+ .source(RouteState.IDLE)
+ .target(RouteState.UPLOADED)
+ .event(RouteEvent.UPLOAD_SUCCESS)
+ .and()
+
+ // UPLOADED → RUNNING
+ .withExternal()
+ .source(RouteState.UPLOADED)
+ .target(RouteState.RUNNING)
+ .event(RouteEvent.START_SUCCESS)
+ .and()
+
+ // RUNNING → PAUSED
+ .withExternal()
+ .source(RouteState.RUNNING)
+ .target(RouteState.PAUSED)
+ .event(RouteEvent.PAUSE_SUCCESS)
+ .and()
+
+ // PAUSED → RUNNING
+ .withExternal()
+ .source(RouteState.PAUSED)
+ .target(RouteState.RUNNING)
+ .event(RouteEvent.RESUME_SUCCESS)
+ .and()
+
+ // RUNNING / PAUSED → STOPPED
+ .withExternal()
+ .source(RouteState.RUNNING)
+ .target(RouteState.STOPPED)
+ .event(RouteEvent.STOP_SUCCESS)
+ .and()
+ .withExternal()
+ .source(RouteState.PAUSED)
+ .target(RouteState.STOPPED)
+ .event(RouteEvent.STOP_SUCCESS)
+ .and()
+
+ // ⭐ STOPPED → IDLE（为下一条航线做准备）
+ .withExternal()
+ .source(RouteState.STOPPED)
+ .target(RouteState.IDLE)
+ .event(RouteEvent.RESET_ROUTE);
+ }
+
+
+ /**
+ * 可选：守卫器 - 校验boxSn合法性（示例）
+ */
+ @Bean
+ public Guard<RouteState, RouteEvent> validBoxSnGuard() {
+ return context -> {
+ // 从扩展变量中获取boxSn并校验
+ String boxSn = (String) context.getMessageHeader("boxSn");
+ return boxSn != null && !boxSn.isEmpty();
+ };
+ }
+
+ /**
+ * 状态机服务（用于管理多实例）
+ */
+ @Bean
+ public StateMachineService<RouteState, RouteEvent> stateMachineService(
+ org.springframework.statemachine.config.StateMachineFactory<RouteState, RouteEvent> factory) {
+ return new DefaultStateMachineService<>(factory);
+ }
+}
\ No newline at end of file
diff --git a/ard-work/src/main/java/com/ard/work/config/RouteStateMachineListener.java b/ard-work/src/main/java/com/ard/work/config/RouteStateMachineListener.java
new file mode 100644
index 0000000..1f44591
--- /dev/null
+++ b/ard-work/src/main/java/com/ard/work/config/RouteStateMachineListener.java
@@ -0,0 +1,35 @@
+package com.ard.work.config;
+
+import com.ard.work.domain.enums.RouteEvent;
+import com.ard.work.domain.enums.RouteState;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.statemachine.StateContext;
+import org.springframework.statemachine.listener.StateMachineListenerAdapter;
+import org.springframework.stereotype.Component;
+
+@Component
+@Slf4j
+public class RouteStateMachineListener
+ extends StateMachineListenerAdapter<RouteState, RouteEvent> {
+
+ @Override
+ public void stateContext(StateContext<RouteState, RouteEvent> context) {
+
+ if (context.getStage() != StateContext.Stage.STATE_ENTRY) {
+ return; // 避免多次触发
+ }
+
+ RouteState target = context.getTarget() != null
+ ? context.getTarget().getId()
+ : null;
+
+ String boxSn = (String) context.getMessageHeaders().get("boxSn");
+
+ if (boxSn == null || target == null) {
+ return;
+ }
+
+ log.info("boxSn={} 状态变更为 {}", boxSn, target);
+ }
+
+}
diff --git a/ard-work/src/main/java/com/ard/work/config/RouteStateMachineService.java b/ard-work/src/main/java/com/ard/work/config/RouteStateMachineService.java
new file mode 100644
index 0000000..a1e1f07
--- /dev/null
+++ b/ard-work/src/main/java/com/ard/work/config/RouteStateMachineService.java
@@ -0,0 +1,115 @@
+package com.ard.work.config;
+
+import com.ard.work.domain.enums.RouteEvent;
+import com.ard.work.domain.enums.RouteState;
+import lombok.RequiredArgsConstructor;
+import org.springframework.messaging.Message;
+import org.springframework.messaging.support.MessageBuilder;
+import org.springframework.statemachine.StateMachine;
+import org.springframework.statemachine.service.StateMachineService;
+import org.springframework.statemachine.support.DefaultExtendedState;
+import org.springframework.statemachine.support.DefaultStateMachineContext;
+import org.springframework.stereotype.Service;
+
+import java.util.concurrent.ConcurrentHashMap;
+
+@Service
+@RequiredArgsConstructor
+public class RouteStateMachineService {
+
+ private final StateMachineService<RouteState, RouteEvent> stateMachineService;
+ private final RouteStateMachineListener listener;
+ private final ConcurrentHashMap<String, Boolean> listenerRegisteredMap = new ConcurrentHashMap<>();
+
+ private StateMachine<RouteState, RouteEvent> getStateMachine(String boxSn) {
+ StateMachine<RouteState, RouteEvent> stateMachine =
+ stateMachineService.acquireStateMachine(boxSn);
+
+ // 使用原子操作确保 listener 只添加一次
+ listenerRegisteredMap.computeIfAbsent(boxSn, k -> {
+ stateMachine.addStateListener(listener);
+ return true;
+ });
+ stateMachine.start();
+ return stateMachine;
+ }
+
+ /**
+ * 发送事件到指定boxSn的状态机
+ */
+ public boolean sendEvent(String boxSn, RouteEvent event) {
+ try {
+ // 获取/创建指定boxSn的状态机实例
+ StateMachine<RouteState, RouteEvent> stateMachine = getStateMachine(boxSn);
+
+ // 构建事件消息（携带boxSn作为头信息）
+ Message<RouteEvent> message = MessageBuilder
+ .withPayload(event)
+ .setHeader("boxSn", boxSn)
+ .build();
+
+ // 发送事件并返回执行结果
+ return stateMachine.sendEvent(message);
+ } catch (Exception e) {
+ // 异常处理：日志记录、状态机重置等
+ throw new RuntimeException("发送航线状态事件失败，boxSn=" + boxSn + ", event=" + event, e);
+ }
+ }
+
+ /**
+ * 获取指定boxSn的当前状态
+ */
+ public RouteState getCurrentState(String boxSn) {
+ try {
+ StateMachine<RouteState, RouteEvent> stateMachine =
+ stateMachineService.acquireStateMachine(boxSn);
+ return stateMachine.getState().getId();
+ } catch (Exception e) {
+ // 未找到状态机实例时返回初始状态
+ return RouteState.IDLE;
+ }
+ }
+
+ /**
+ * 释放指定boxSn的状态机实例（可选，节省资源）
+ */
+ public void releaseStateMachine(String boxSn) {
+ stateMachineService.releaseStateMachine(boxSn);
+ }
+
+ /**
+ * 重置指定boxSn的状态机（恢复到初始状态）
+ */
+ public void resetStateMachine(String boxSn) {
+ try {
+ StateMachine<RouteState, RouteEvent> stateMachine =
+ stateMachineService.acquireStateMachine(boxSn);
+
+ // 1️⃣ 停止状态机
+ stateMachine.stop();
+
+ // 2️⃣ 构造 ExtendedState（可选，但强烈推荐）
+ DefaultExtendedState extendedState = new DefaultExtendedState();
+ extendedState.getVariables().put("boxSn", boxSn);
+
+ // 3️⃣ 重置状态机到 IDLE
+ stateMachine.getStateMachineAccessor()
+ .doWithAllRegions(accessor -> {
+ accessor.resetStateMachine(
+ new DefaultStateMachineContext<>(
+ RouteState.IDLE, // 初始状态
+ null, // event
+ null, // event headers
+ extendedState // 扩展状态
+ )
+ );
+ });
+
+ // 4️⃣ 重新启动
+ stateMachine.start();
+
+ } catch (Exception e) {
+ throw new RuntimeException("重置航线状态机失败，boxSn=" + boxSn, e);
+ }
+ }
+}
\ No newline at end of file
diff --git a/ard-work/src/main/java/com/ard/work/domain/enums/RouteEvent.java b/ard-work/src/main/java/com/ard/work/domain/enums/RouteEvent.java
new file mode 100644
index 0000000..22c685b
--- /dev/null
+++ b/ard-work/src/main/java/com/ard/work/domain/enums/RouteEvent.java
@@ -0,0 +1,10 @@
+package com.ard.work.domain.enums;
+
+public enum RouteEvent {
+ UPLOAD_SUCCESS,
+ START_SUCCESS,
+ PAUSE_SUCCESS,
+ RESUME_SUCCESS,
+ STOP_SUCCESS,
+ RESET_ROUTE
+}
diff --git a/ard-work/src/main/java/com/ard/work/domain/enums/RouteState.java b/ard-work/src/main/java/com/ard/work/domain/enums/RouteState.java
new file mode 100644
index 0000000..807dac1
--- /dev/null
+++ b/ard-work/src/main/java/com/ard/work/domain/enums/RouteState.java
@@ -0,0 +1,9 @@
+package com.ard.work.domain.enums;
+
+public enum RouteState {
+ IDLE, // 空闲（未上传）
+ UPLOADED, // 航线上传完成
+ RUNNING, // 执行中
+ PAUSED, // 已暂停
+ STOPPED // 已停止
+}
diff --git a/ard-work/src/main/java/com/ard/work/service/impl/TyServiceImpl.java b/ard-work/src/main/java/com/ard/work/service/impl/TyServiceImpl.java
index 84dfaab..949e296 100644
--- a/ard-work/src/main/java/com/ard/work/service/impl/TyServiceImpl.java
+++ b/ard-work/src/main/java/com/ard/work/service/impl/TyServiceImpl.java
@@ -14,7 +14,7 @@
import com.ard.work.component.netty.command.control.SpeedControlCmd;
import com.ard.work.component.netty.command.manual.*;
import com.ard.work.component.netty.command.notice.BoxPowerStatusReplyCmd;
-import com.ard.work.component.netty.command.notice.FlyWayEndReplyCmd;
+import com.ard.work.component.netty.command.notice.WayLineFinishedReplyCmd;
import com.ard.work.component.netty.command.notice.UavReadyReplyCmd;
import com.ard.work.component.netty.command.real.SignalInfoCmd;
import com.ard.work.component.netty.command.real.UavStateCmd;
@@ -26,10 +26,10 @@
import com.ard.work.component.netty.handler.ErrorCodeEnum;
import com.ard.work.component.netty.protobuf.TelemetryDataPB;
import com.ard.work.component.websocket.utils.WebSocketUtil;
+import com.ard.work.config.RouteStateMachineService;
import com.ard.work.domain.cache.UavSignalInfoCache;
import com.ard.work.domain.cache.UavStateCache;
import com.ard.work.domain.cache.UavTelemetryDataCache;
-import com.ard.work.domain.cache.UavWaylineCache;
import com.ard.work.domain.dto.BoxHistoryDTO;
import com.ard.work.domain.dto.BoxPhotosDTO;
import com.ard.work.domain.dto.BoxSettingsDTO;
@@ -49,6 +49,7 @@
import com.ard.work.domain.dto.wayline.*;
import com.ard.work.domain.entity.ArdDroneInfo;
import com.ard.work.domain.entity.ArdServerInfo;
+import com.ard.work.domain.enums.RouteEvent;
import com.ard.work.domain.message.ServerReplyMessage;
import com.ard.work.domain.message.UavControlType;
import com.ard.work.domain.receiver.*;
@@ -56,6 +57,7 @@
import com.ard.work.service.IArdServerInfoService;
import com.ard.work.service.ITyService;
import lombok.extern.slf4j.Slf4j;
+import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
import javax.annotation.Resource;
@@ -78,6 +80,8 @@
private IArdDroneInfoService ardDroneService;
@Resource
private TyClient tyClient;
+ @Autowired
+ private RouteStateMachineService stateMachineService;
/**
* 获取边缘服务器token信息
@@ -975,10 +979,6 @@
CameraModeReplyCmd cameraModeReplyCommand = (CameraModeReplyCmd) tyCommand;
logPrint("无人机设置相机模式", cameraModeReplyCommand.getResult(), cameraModeReplyCommand.getErrorCode());
}
- if (tyCommand instanceof FlyWayEndReplyCmd) {
- FlyWayEndReplyCmd flyWayEndReplyCmd = (FlyWayEndReplyCmd) tyCommand;
- logPrint("无人机飞行结束", flyWayEndReplyCmd.getResult(), flyWayEndReplyCmd.getErrorCode());
- }
//格式化存储卡
if (tyCommand instanceof FormatSdCardReplyCmd) {
FormatSdCardReplyCmd formatSdCardReplyCmd = (FormatSdCardReplyCmd) tyCommand;
@@ -1044,23 +1044,53 @@
}
//开始航线回复
if (tyCommand instanceof WayLineBeginReplyCmd) {
+
WayLineBeginReplyCmd wayLineBeginReplyCmd = (WayLineBeginReplyCmd) tyCommand;
logPrint("开始航线", wayLineBeginReplyCmd.getResult(), wayLineBeginReplyCmd.getErrorCode());
+ if (wayLineBeginReplyCmd.getResult() == 0) {
+ byte[] boxSnBytes = tyCommand.getBoxSn();
+ String boxSn = new String(boxSnBytes);
+ stateMachineService.sendEvent(boxSn, RouteEvent.START_SUCCESS);
+ }
}
//暂停航线回复
if (tyCommand instanceof WayLinePauseReplyCmd) {
WayLinePauseReplyCmd wayLinePauseReplyCmd = (WayLinePauseReplyCmd) tyCommand;
logPrint("暂停航线", wayLinePauseReplyCmd.getResult(), wayLinePauseReplyCmd.getErrorCode());
+ if (wayLinePauseReplyCmd.getResult() == 0) {
+ byte[] boxSnBytes = tyCommand.getBoxSn();
+ String boxSn = new String(boxSnBytes);
+ stateMachineService.sendEvent(boxSn, RouteEvent.PAUSE_SUCCESS);
+ }
}
//恢复航线回复
if (tyCommand instanceof WayLineResumeReplyCmd) {
WayLineResumeReplyCmd wayLineResumeReplyCmd = (WayLineResumeReplyCmd) tyCommand;
logPrint("恢复航线", wayLineResumeReplyCmd.getResult(), wayLineResumeReplyCmd.getErrorCode());
+ if (wayLineResumeReplyCmd.getResult() == 0) {
+ byte[] boxSnBytes = tyCommand.getBoxSn();
+ String boxSn = new String(boxSnBytes);
+ stateMachineService.sendEvent(boxSn, RouteEvent.RESUME_SUCCESS);
+ }
}
//结束航线回复
if (tyCommand instanceof WayLineEndReplyCmd) {
WayLineEndReplyCmd wayLineEndReplyCmd = (WayLineEndReplyCmd) tyCommand;
logPrint("结束航线", wayLineEndReplyCmd.getResult(), wayLineEndReplyCmd.getErrorCode());
+ if (wayLineEndReplyCmd.getResult() == 0) {
+ byte[] boxSnBytes = tyCommand.getBoxSn();
+ String boxSn = new String(boxSnBytes);
+ stateMachineService.sendEvent(boxSn, RouteEvent.STOP_SUCCESS);
+ }
+ }
+ if (tyCommand instanceof WayLineFinishedReplyCmd) {
+ WayLineFinishedReplyCmd wayLineFinishedReplyCmd = (WayLineFinishedReplyCmd) tyCommand;
+ logPrint("航线执行完成", wayLineFinishedReplyCmd.getResult(), wayLineFinishedReplyCmd.getErrorCode());
+ if (wayLineFinishedReplyCmd.getResult() == 0) {
+ byte[] boxSnBytes = tyCommand.getBoxSn();
+ String boxSn = new String(boxSnBytes);
+ stateMachineService.sendEvent(boxSn, RouteEvent.RESET_ROUTE);
+ }
}
//设置返航高度回复
if (tyCommand instanceof ReturnHeightSettingReplyCmd) {
--
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