fix: 修复一些npe问题

src/main/java/com/dji/sdk/cloudapi/device/DockLiveErrorStatus.java

@@ -40,11 +40,14 @@ public class DockLiveErrorStatus {
     }
 
     public String getMessage() {
+        if(success){ return "success";}
         return errorCode.getMessage();
     }
 
     @JsonValue
     public Integer getCode() {
+        //witcom: errorCode.getCode() will cause npe 2023.10.30
+        if(success){ return 0; }
         return source.getSource() * MOD + errorCode.getCode();
     }
 

src/main/java/com/dji/sdk/cloudapi/device/DroneModeCodeEnum.java

@@ -45,7 +45,10 @@ public enum DroneModeCodeEnum {
 
     APAS(15),
 
-    VIRTUAL_JOYSTICK(16);
+    VIRTUAL_JOYSTICK(16),
+
+    //witcom: 飞机报这个号上来报异常
+    UNKNOWN_1(17);
 
     private final int code;
 

src/main/java/com/dji/sdk/cloudapi/device/api/AbstractDeviceService.java

@@ -169,7 +169,9 @@ public class AbstractDeviceService {
      * @param request  data
      * @param headers   The headers for a {@link Message}.
      */
-    @ServiceActivator(inputChannel = ChannelName.INBOUND_STATE_DOCK_WPMZ_VERSION)
+    //witcom: wrong ChannelName. is INBOUND_STATE_DOCK_PAYLOAD??
+//    @ServiceActivator(inputChannel = ChannelName.INBOUND_STATE_DOCK_WPMZ_VERSION)
+    @ServiceActivator(inputChannel = ChannelName.INBOUND_STATE_DOCK_PAYLOAD)
     public void dockPayload(TopicStateRequest<DockPayload> request, MessageHeaders headers) {
         throw new UnsupportedOperationException("dockPayload not implemented");
     }

src/main/java/com/dji/sdk/cloudapi/wayline/ExecutionStepEnum.java

@@ -52,15 +52,16 @@ public enum ExecutionStepEnum {
         return msg;
     }
 
+    //witcom: 这个函数跑不进来,跑了下面的函数,导致FlightTaskProgress报不上来
     @JsonCreator
     public static ExecutionStepEnum find(int step) {
         return Arrays.stream(values()).filter(stepEnum -> stepEnum.min <= step && stepEnum.max >= step).findAny()
                 .orElseThrow(() -> new CloudSDKException(ExecutionStepEnum.class, step));
     }
 
-    @JsonCreator
-    public static ExecutionStepEnum find(String msg) {
-        return Arrays.stream(values()).filter(stepEnum -> stepEnum.msg.equals(msg)).findAny()
-                .orElseThrow(() -> new CloudSDKException(ExecutionStepEnum.class, msg));
-    }
+//    @JsonCreator
+//    public static ExecutionStepEnum find(String msg) {
+//        return Arrays.stream(values()).filter(stepEnum -> stepEnum.msg.equals(msg)).findAny()
+//                .orElseThrow(() -> new CloudSDKException(ExecutionStepEnum.class, msg));
+//    }
 }

src/main/java/com/dji/sdk/mqtt/state/DockStateDataKeyEnum.java

@@ -6,6 +6,7 @@ import com.dji.sdk.exception.CloudSDKException;
 
 import java.util.Arrays;
 import java.util.Collections;
+import java.util.Optional;
 import java.util.Set;
 
 /**
@@ -47,9 +48,10 @@ public enum DockStateDataKeyEnum {
         return keys;
     }
 
-    public static DockStateDataKeyEnum find(Set<String> keys) {
-        return Arrays.stream(values()).filter(keyEnum -> !Collections.disjoint(keys, keyEnum.keys)).findAny()
-                .orElseThrow(() -> new CloudSDKException(DockStateDataKeyEnum.class, keys));
+    public static Optional<DockStateDataKeyEnum> find(Set<String> keys) {
+        // com.dji.sdk.mqtt.state.DockStateDataKeyEnum has unknown data: [[mode_code_reason]]
+        return Arrays.stream(values()).filter(keyEnum -> !Collections.disjoint(keys, keyEnum.keys)).findAny();
+               // .orElseThrow(() -> new CloudSDKException(DockStateDataKeyEnum.class, keys));
     }
 
 }

src/main/java/com/dji/sdk/mqtt/state/RcStateDataKeyEnum.java

@@ -6,6 +6,7 @@ import com.dji.sdk.exception.CloudSDKException;
 
 import java.util.Arrays;
 import java.util.Collections;
+import java.util.Optional;
 import java.util.Set;
 
 /**
@@ -45,9 +46,9 @@ public enum RcStateDataKeyEnum {
         return keys;
     }
 
-    public static RcStateDataKeyEnum find(Set<String> keys) {
-        return Arrays.stream(values()).filter(keyEnum -> !Collections.disjoint(keys, keyEnum.keys)).findAny()
-                .orElseThrow(() -> new CloudSDKException(RcStateDataKeyEnum.class, keys));
+    public static Optional<RcStateDataKeyEnum> find(Set<String> keys) {
+        return Arrays.stream(values()).filter(keyEnum -> !Collections.disjoint(keys, keyEnum.keys)).findAny();
+                //.orElseThrow(() -> new CloudSDKException(RcStateDataKeyEnum.class, keys));
     }
 
 }

src/main/java/com/dji/sdk/mqtt/state/StateRouter.java

@@ -80,13 +80,13 @@ public class StateRouter {
         //fix: 捕捉数据流发现在注册前设备可能会推送state主题导致产生大量日志 witcom@2023.10.08
         //GatewayTypeEnum type = sdkManager.getDeviceSDK(gatewaySn).getType();
         return sdkManager.findDeviceSDK(gatewaySn)
-                .map(gw -> {
+                .flatMap(gw -> {
                     GatewayTypeEnum type = gw.getType();
                     switch (type) {
                         case RC:
-                            return RcStateDataKeyEnum.find(keys).getClassType();
+                            return RcStateDataKeyEnum.find(keys).map(v->v.getClassType());
                         case DOCK:
-                            return DockStateDataKeyEnum.find(keys).getClassType();
+                            return DockStateDataKeyEnum.find(keys).map(v->v.getClassType());
                         default:
                             throw new CloudSDKException(CloudSDKErrorEnum.WRONG_DATA, "Unexpected value: " + type);
                     }