| | |
|---|
| | | if (dockOpt.isPresent() && (DockModeCodeEnum.IDLE == dockMode || DockModeCodeEnum.WORKING == dockMode)) { |
|---|
| | | Optional<OsdSubDeviceReceiver> deviceOsd = deviceRedisService.getDeviceOsd(dockOpt.get().getChildDeviceSn(), OsdSubDeviceReceiver.class); |
|---|
| | | if (deviceOsd.isEmpty() || deviceOsd.get().getElevation() <= 0) { |
|---|
| | | throw new RuntimeException("The drone is not in the sky and cannot enter command flight mode."); |
|---|
| | | throw new RuntimeException("无人机不在空中，不能进入指挥飞行模式。"); |
|---|
| | | } |
|---|
| | | } else { |
|---|
| | | throw new RuntimeException("The current state of the dock does not support entering command flight mode."); |
|---|
| | | throw new RuntimeException("当前状态不支持进入命令飞行模式。"); |
|---|
| | | } |
|---|
| | | |
|---|
| | | ResponseResult result = controlService.seizeAuthority(dockSn, DroneAuthorityEnum.FLIGHT, null); |
|---|
| | |
|---|
| | | .build()); |
|---|
| | | |
|---|
| | | if (ResponseResult.CODE_SUCCESS != reply.getResult()) { |
|---|
| | | throw new RuntimeException("SN: " + param.getDockSn() + "; Error Code:" + reply.getResult() + "; Failed to enter command flight control mode, please try again later!"); |
|---|
| | | throw new RuntimeException("SN: " + param.getDockSn() + "; Error Code:" + reply.getResult() + "; 进入命令飞行控制模式失败，请稍后再试!"); |
|---|
| | | } |
|---|
| | | |
|---|
| | | refreshAcl(param.getDockSn(), param.getClientId(), pubTopic, subTopic); |
|---|
