What's new?

1. Wayline management: added `pause wayline task` and `recover wayline task`.
2. Added command flight function.
3. Fixed some issues.

api/Cloud API Demo.postman_collection.json

@@ -887,7 +887,7 @@
 				"apikey": [
 					{
 						"key": "value",
-						"value": "eyJ0eXAiOiJKV1QiLCJhbGciOiJIUzI1NiJ9.eyJ3b3Jrc3BhY2VfaWQiOiJlM2RlYTBmNS0zN2YyLTRkNzktYWU1OC00OTBhZjMyMjgwNjkiLCJzdWIiOiJDbG91ZEFwaVNhbXBsZSIsInVzZXJfdHlwZSI6IjEiLCJuYmYiOjE2NzAzMTU2MDEsImxvZyI6IkxvZ2dlcltjb20uZGppLnNhbXBsZS5jb21tb24ubW9kZWwuQ3VzdG9tQ2xhaW1dIiwiaXNzIjoiREpJIiwiaWQiOiJhMTU1OWU3Yy04ZGQ4LTQ3ODAtYjk1Mi0xMDBjYzQ3OTdkYTIiLCJleHAiOjE2NzA0MDIwMDEsImlhdCI6MTY3MDMxNTYwMSwidXNlcm5hbWUiOiJhZG1pblBDIn0.yh8SkHZVsoIXo_vtlTGNB-ZX92XayalGe_q7mNRVcdI",
+						"value": "eyJ0eXAiOiJKV1QiLCJhbGciOiJIUzI1NiJ9.eyJ3b3Jrc3BhY2VfaWQiOiJlM2RlYTBmNS0zN2YyLTRkNzktYWU1OC00OTBhZjMyMjgwNjkiLCJzdWIiOiJDbG91ZEFwaVNhbXBsZSIsInVzZXJfdHlwZSI6IjEiLCJuYmYiOjE2ODIyMzI5MDYsImxvZyI6IkxvZ2dlcltjb20uZGppLnNhbXBsZS5jb21tb24ubW9kZWwuQ3VzdG9tQ2xhaW1dIiwiaXNzIjoiREpJIiwiaWQiOiJhMTU1OWU3Yy04ZGQ4LTQ3ODAtYjk1Mi0xMDBjYzQ3OTdkYTIiLCJleHAiOjE3Njg2MzI5MDYsImlhdCI6MTY4MjIzMjkwNiwidXNlcm5hbWUiOiJhZG1pblBDIn0.ilO-3PcvWAX9r8z3AR4VAw3kVhavYjiTx_187ACBc1M",
 						"type": "string"
 					},
 					{
@@ -1537,7 +1537,7 @@
 				"apikey": [
 					{
 						"key": "value",
-						"value": "eyJ0eXAiOiJKV1QiLCJhbGciOiJIUzI1NiJ9.eyJ3b3Jrc3BhY2VfaWQiOiJlM2RlYTBmNS0zN2YyLTRkNzktYWU1OC00OTBhZjMyMjgwNjkiLCJzdWIiOiJDbG91ZEFwaVNhbXBsZSIsInVzZXJfdHlwZSI6IjEiLCJuYmYiOjE2Njg2NTk4MjYsImxvZyI6IkxvZ2dlcltjb20uZGppLnNhbXBsZS5jb21tb24ubW9kZWwuQ3VzdG9tQ2xhaW1dIiwiaXNzIjoiREpJIiwiaWQiOiJhMTU1OWU3Yy04ZGQ4LTQ3ODAtYjk1Mi0xMDBjYzQ3OTdkYTIiLCJleHAiOjE2Njg3NDYyMjYsImlhdCI6MTY2ODY1OTgyNiwidXNlcm5hbWUiOiJhZG1pblBDIn0.ykCpfJcReeb3etUzmNMQk1n0vaoDT6dl47J_aHRoTbU",
+						"value": "eyJ0eXAiOiJKV1QiLCJhbGciOiJIUzI1NiJ9.eyJ3b3Jrc3BhY2VfaWQiOiJlM2RlYTBmNS0zN2YyLTRkNzktYWU1OC00OTBhZjMyMjgwNjkiLCJzdWIiOiJDbG91ZEFwaVNhbXBsZSIsInVzZXJfdHlwZSI6IjEiLCJuYmYiOjE2ODAyNjAxNTYsImxvZyI6IkxvZ2dlcltjb20uZGppLnNhbXBsZS5jb21tb24ubW9kZWwuQ3VzdG9tQ2xhaW1dIiwiaXNzIjoiREpJIiwiaWQiOiJhMTU1OWU3Yy04ZGQ4LTQ3ODAtYjk1Mi0xMDBjYzQ3OTdkYTIiLCJleHAiOjE3NjY2NjAxNTYsImlhdCI6MTY4MDI2MDE1NiwidXNlcm5hbWUiOiJhZG1pblBDIn0._QhvfhBxxfQN7xpFqZma1rCYbBtouo2pErtm8737L_8",
 						"type": "string"
 					},
 					{
@@ -1578,7 +1578,7 @@
 						"header": [],
 						"body": {
 							"mode": "raw",
-							"raw": "{\r\n    \"name\": \"\",\r\n    \"file_id\": \"\",\r\n    \"dock_sn\": \"\",\r\n    \"wayline_type\": 0,\r\n    \"task_type\": 0,\r\n    \"execute_time\": 123456789123,\r\n    \"rth_altitude\": 20,\r\n    \"out_of_control_action\": 1\r\n}",
+							"raw": "{\r\n    \"name\": \"\",\r\n    \"file_id\": \"\",\r\n    \"dock_sn\": \"\",\r\n    \"wayline_type\": 0,\r\n    \"task_type\": 0,\r\n    \"task_days\": [1676029468],\r\n    \"task_periods\": [[1676029468]],\r\n    \"rth_altitude\": 20,\r\n    \"out_of_control_action\": 1\r\n}",
 							"options": {
 								"raw": {
 									"language": "json"
@@ -1679,6 +1679,64 @@
 						}
 					},
 					"response": []
+				},
+				{
+					"name": "Pause Job",
+					"request": {
+						"method": "PUT",
+						"header": [],
+						"body": {
+							"mode": "raw",
+							"raw": "{\r\n    \"status\": 0\r\n}",
+							"options": {
+								"raw": {
+									"language": "json"
+								}
+							}
+						},
+						"url": {
+							"raw": "{{base_url}}{{wayline_version}}/workspaces/{{workspace_id}}/jobs/{{job_id}}",
+							"host": [
+								"{{base_url}}{{wayline_version}}"
+							],
+							"path": [
+								"workspaces",
+								"{{workspace_id}}",
+								"jobs",
+								"{{job_id}}"
+							]
+						}
+					},
+					"response": []
+				},
+				{
+					"name": "Resume Job",
+					"request": {
+						"method": "PUT",
+						"header": [],
+						"body": {
+							"mode": "raw",
+							"raw": "{\r\n    \"status\": 1\r\n}",
+							"options": {
+								"raw": {
+									"language": "json"
+								}
+							}
+						},
+						"url": {
+							"raw": "{{base_url}}{{wayline_version}}/workspaces/{{workspace_id}}/jobs/{{job_id}}",
+							"host": [
+								"{{base_url}}{{wayline_version}}"
+							],
+							"path": [
+								"workspaces",
+								"{{workspace_id}}",
+								"jobs",
+								"{{job_id}}"
+							]
+						}
+					},
+					"response": []
 				}
 			],
 			"auth": {
@@ -1686,7 +1744,7 @@
 				"apikey": [
 					{
 						"key": "value",
-						"value": "eyJ0eXAiOiJKV1QiLCJhbGciOiJIUzI1NiJ9.eyJ3b3Jrc3BhY2VfaWQiOiJlM2RlYTBmNS0zN2YyLTRkNzktYWU1OC00OTBhZjMyMjgwNjkiLCJzdWIiOiJDbG91ZEFwaVNhbXBsZSIsInVzZXJfdHlwZSI6IjEiLCJuYmYiOjE2Njg2NTk4MjYsImxvZyI6IkxvZ2dlcltjb20uZGppLnNhbXBsZS5jb21tb24ubW9kZWwuQ3VzdG9tQ2xhaW1dIiwiaXNzIjoiREpJIiwiaWQiOiJhMTU1OWU3Yy04ZGQ4LTQ3ODAtYjk1Mi0xMDBjYzQ3OTdkYTIiLCJleHAiOjE2Njg3NDYyMjYsImlhdCI6MTY2ODY1OTgyNiwidXNlcm5hbWUiOiJhZG1pblBDIn0.ykCpfJcReeb3etUzmNMQk1n0vaoDT6dl47J_aHRoTbU",
+						"value": "eyJ0eXAiOiJKV1QiLCJhbGciOiJIUzI1NiJ9.eyJ3b3Jrc3BhY2VfaWQiOiJlM2RlYTBmNS0zN2YyLTRkNzktYWU1OC00OTBhZjMyMjgwNjkiLCJzdWIiOiJDbG91ZEFwaVNhbXBsZSIsInVzZXJfdHlwZSI6IjEiLCJuYmYiOjE2Nzg4NjM0NzMsImxvZyI6IkxvZ2dlcltjb20uZGppLnNhbXBsZS5jb21tb24ubW9kZWwuQ3VzdG9tQ2xhaW1dIiwiaXNzIjoiREpJIiwiaWQiOiJhMTU1OWU3Yy04ZGQ4LTQ3ODAtYjk1Mi0xMDBjYzQ3OTdkYTIiLCJleHAiOjE3NjUyNjM0NzMsImlhdCI6MTY3ODg2MzQ3MywidXNlcm5hbWUiOiJhZG1pblBDIn0.r3ODgJtAHxrBCzDnCwTDCdUq8hLyfIUiDYzasYAIUII",
 						"type": "string"
 					},
 					{
@@ -1727,7 +1785,7 @@
 						"header": [],
 						"body": {
 							"mode": "raw",
-							"raw": "{\r\n    \"action\": 0\r\n}",
+							"raw": "",
 							"options": {
 								"raw": {
 									"language": "json"
@@ -1735,7 +1793,7 @@
 							}
 						},
 						"url": {
-							"raw": "{{base_url}}{{control_version}}/devices/{{device_sn}}/jobs/alarm_state_switch",
+							"raw": "{{base_url}}{{control_version}}/devices/{{device_sn}}/jobs/return_home",
 							"host": [
 								"{{base_url}}{{control_version}}"
 							],
@@ -1743,7 +1801,250 @@
 								"devices",
 								"{{device_sn}}",
 								"jobs",
-								"alarm_state_switch"
+								"return_home"
+							]
+						}
+					},
+					"response": []
+				},
+				{
+					"name": "Web Drc Connect",
+					"request": {
+						"method": "POST",
+						"header": [],
+						"body": {
+							"mode": "raw",
+							"raw": "{\r\n    \"client_id\": \"xxx\",\r\n    \"expire_sec\": 1800\r\n}",
+							"options": {
+								"raw": {
+									"language": "json"
+								}
+							}
+						},
+						"url": {
+							"raw": "{{base_url}}{{control_version}}/workspaces/{{workspace_id}}/drc/connect",
+							"host": [
+								"{{base_url}}{{control_version}}"
+							],
+							"path": [
+								"workspaces",
+								"{{workspace_id}}",
+								"drc",
+								"connect"
+							]
+						}
+					},
+					"response": []
+				},
+				{
+					"name": "Enter Drc Mode",
+					"request": {
+						"method": "POST",
+						"header": [],
+						"body": {
+							"mode": "raw",
+							"raw": "{\r\n    \"client_id\": \"\",\r\n    \"dock_sn\": \"\"\r\n}",
+							"options": {
+								"raw": {
+									"language": "json"
+								}
+							}
+						},
+						"url": {
+							"raw": "{{base_url}}{{control_version}}/workspaces/{{workspace_id}}/drc/enter",
+							"host": [
+								"{{base_url}}{{control_version}}"
+							],
+							"path": [
+								"workspaces",
+								"{{workspace_id}}",
+								"drc",
+								"enter"
+							]
+						}
+					},
+					"response": []
+				},
+				{
+					"name": "Drc Mode Exit",
+					"request": {
+						"method": "POST",
+						"header": [],
+						"body": {
+							"mode": "raw",
+							"raw": "{\r\n    \"client_id\": \"\",\r\n    \"dock_sn\": \"\"\r\n}",
+							"options": {
+								"raw": {
+									"language": "json"
+								}
+							}
+						},
+						"url": {
+							"raw": "{{base_url}}{{control_version}}/workspaces/{{workspace_id}}/drc/exit",
+							"host": [
+								"{{base_url}}{{control_version}}"
+							],
+							"path": [
+								"workspaces",
+								"{{workspace_id}}",
+								"drc",
+								"exit"
+							]
+						}
+					},
+					"response": []
+				},
+				{
+					"name": "Fly to Point",
+					"request": {
+						"method": "POST",
+						"header": [],
+						"body": {
+							"mode": "raw",
+							"raw": "{\r\n    \"max_speed\": 15,\r\n    \"points\":[\r\n        {\r\n            \"latitude\": 22.5818,\r\n            \"longitude\": 113.9394,\r\n            \"height\": 20\r\n        }\r\n    ]\r\n}",
+							"options": {
+								"raw": {
+									"language": "json"
+								}
+							}
+						},
+						"url": {
+							"raw": "{{base_url}}{{control_version}}/devices/{{device_sn}}/jobs/fly-to-point",
+							"host": [
+								"{{base_url}}{{control_version}}"
+							],
+							"path": [
+								"devices",
+								"{{device_sn}}",
+								"jobs",
+								"fly-to-point"
+							]
+						}
+					},
+					"response": []
+				},
+				{
+					"name": "Stop Flying to Point",
+					"request": {
+						"method": "DELETE",
+						"header": [],
+						"url": {
+							"raw": "{{base_url}}{{control_version}}/devices/{{device_sn}}/jobs/fly-to-point",
+							"host": [
+								"{{base_url}}{{control_version}}"
+							],
+							"path": [
+								"devices",
+								"{{device_sn}}",
+								"jobs",
+								"fly-to-point"
+							]
+						}
+					},
+					"response": []
+				},
+				{
+					"name": "Take off to Point",
+					"request": {
+						"method": "POST",
+						"header": [],
+						"body": {
+							"mode": "raw",
+							"raw": "{\r\n    \"target_latitude\": 22.579,\r\n    \"target_longitude\": 113.9392,\r\n    \"target_height\": 20,\r\n    \"security_takeoff_height\": 20,\r\n    \"rth_altitude\": 20,\r\n    \"rc_lost_action\": 0,\r\n    \"exit_wayline_when_rc_lost\": 0,\r\n    \"max_speed\": 12\r\n}",
+							"options": {
+								"raw": {
+									"language": "json"
+								}
+							}
+						},
+						"url": {
+							"raw": "{{base_url}}{{control_version}}/devices/{{device_sn}}/jobs/takeoff-to-point",
+							"host": [
+								"{{base_url}}{{control_version}}"
+							],
+							"path": [
+								"devices",
+								"{{device_sn}}",
+								"jobs",
+								"takeoff-to-point"
+							]
+						}
+					},
+					"response": []
+				},
+				{
+					"name": "Payload Commands",
+					"request": {
+						"method": "POST",
+						"header": [],
+						"body": {
+							"mode": "raw",
+							"raw": "{\r\n    \"cmd\":\"camera_mode_switch\",\r\n    \"data\":{\r\n        \"payload_index\":\"53-0-0\",\r\n        \"camera_mode\": 1\r\n    }\r\n}",
+							"options": {
+								"raw": {
+									"language": "json"
+								}
+							}
+						},
+						"url": {
+							"raw": "{{base_url}}{{control_version}}/devices/{{device_sn}}/payload/commands",
+							"host": [
+								"{{base_url}}{{control_version}}"
+							],
+							"path": [
+								"devices",
+								"{{device_sn}}",
+								"payload",
+								"commands"
+							]
+						}
+					},
+					"response": []
+				},
+				{
+					"name": "Flight Authority Grab",
+					"request": {
+						"method": "POST",
+						"header": [],
+						"url": {
+							"raw": "{{base_url}}{{control_version}}/devices/{{device_sn}}/authority/flight",
+							"host": [
+								"{{base_url}}{{control_version}}"
+							],
+							"path": [
+								"devices",
+								"{{device_sn}}",
+								"authority",
+								"flight"
+							]
+						}
+					},
+					"response": []
+				},
+				{
+					"name": "Payload Authority Grab",
+					"request": {
+						"method": "POST",
+						"header": [],
+						"body": {
+							"mode": "raw",
+							"raw": "{\r\n    \"payload_index\":\"53-0-0\"\r\n}",
+							"options": {
+								"raw": {
+									"language": "json"
+								}
+							}
+						},
+						"url": {
+							"raw": "{{base_url}}{{control_version}}/devices/{{device_sn}}/authority/payload",
+							"host": [
+								"{{base_url}}{{control_version}}"
+							],
+							"path": [
+								"devices",
+								"{{device_sn}}",
+								"authority",
+								"payload"
 							]
 						}
 					},
@@ -1755,7 +2056,7 @@
 				"apikey": [
 					{
 						"key": "value",
-						"value": "eyJ0eXAiOiJKV1QiLCJhbGciOiJIUzI1NiJ9.eyJ3b3Jrc3BhY2VfaWQiOiJlM2RlYTBmNS0zN2YyLTRkNzktYWU1OC00OTBhZjMyMjgwNjkiLCJzdWIiOiJDbG91ZEFwaVNhbXBsZSIsInVzZXJfdHlwZSI6IjEiLCJuYmYiOjE2Njk2MzMzMzQsImxvZyI6IkxvZ2dlcltjb20uZGppLnNhbXBsZS5jb21tb24ubW9kZWwuQ3VzdG9tQ2xhaW1dIiwiaXNzIjoiREpJIiwiaWQiOiJhMTU1OWU3Yy04ZGQ4LTQ3ODAtYjk1Mi0xMDBjYzQ3OTdkYTIiLCJleHAiOjE2Njk3MTk3MzQsImlhdCI6MTY2OTYzMzMzNCwidXNlcm5hbWUiOiJhZG1pblBDIn0.OoIfdpyI5eL6bFm8akq8_stzClQU41YpIJkx6_kxVHU",
+						"value": "eyJ0eXAiOiJKV1QiLCJhbGciOiJIUzI1NiJ9.eyJ3b3Jrc3BhY2VfaWQiOiJlM2RlYTBmNS0zN2YyLTRkNzktYWU1OC00OTBhZjMyMjgwNjkiLCJzdWIiOiJDbG91ZEFwaVNhbXBsZSIsInVzZXJfdHlwZSI6IjEiLCJuYmYiOjE2ODIyMzI5MDYsImxvZyI6IkxvZ2dlcltjb20uZGppLnNhbXBsZS5jb21tb24ubW9kZWwuQ3VzdG9tQ2xhaW1dIiwiaXNzIjoiREpJIiwiaWQiOiJhMTU1OWU3Yy04ZGQ4LTQ3ODAtYjk1Mi0xMDBjYzQ3OTdkYTIiLCJleHAiOjE3Njg2MzI5MDYsImlhdCI6MTY4MjIzMjkwNiwidXNlcm5hbWUiOiJhZG1pblBDIn0.ilO-3PcvWAX9r8z3AR4VAw3kVhavYjiTx_187ACBc1M",
 						"type": "string"
 					},
 					{

pom.xml

@@ -11,7 +11,7 @@
 
 	<groupId>com.dji</groupId>
 	<artifactId>cloud-api-sample</artifactId>
-	<version>1.3.1</version>
+	<version>1.4.0</version>
 	<name>cloud-api-sample</name>
 
 	<properties>

sql/cloud_sample.sql

@@ -66,7 +66,7 @@ CREATE TABLE `manage_device` (
   `device_sn` varchar(32) CHARACTER SET utf8 COLLATE utf8_general_ci NOT NULL DEFAULT '' COMMENT 'dock, drone, remote control',
   `device_name` varchar(64) CHARACTER SET utf8 COLLATE utf8_general_ci NOT NULL DEFAULT 'undefined' COMMENT 'model of the device. This parameter corresponds to the device name in the device dictionary table.',
   `user_id` varchar(64) CHARACTER SET utf8 COLLATE utf8_general_ci DEFAULT '' COMMENT 'The account used when the device was bound.',
-  `nickname` varchar(64) CHARACTER SET utf8 COLLATE utf8_general_ci DEFAULT '' COMMENT 'custom name of the device',
+  `nickname` varchar(64) CHARACTER SET utf8 COLLATE utf8_general_ci NOT NULL COMMENT 'custom name of the device',
   `workspace_id` varchar(64) CHARACTER SET utf8 COLLATE utf8_general_ci DEFAULT '' COMMENT 'The workspace to which the current device belongs.',
   `device_type` int NOT NULL DEFAULT '-1' COMMENT 'This parameter corresponds to the device type in the device dictionary table.',
   `sub_type` int NOT NULL DEFAULT '-1' COMMENT 'This parameter corresponds to the sub type in the device dictionary table.',
@@ -226,6 +226,7 @@ CREATE TABLE `manage_device_payload` (
   `payload_index` smallint NOT NULL COMMENT 'The location of the payload on the device.',
   `device_sn` varchar(32) CHARACTER SET utf8 COLLATE utf8_general_ci NOT NULL DEFAULT '' COMMENT 'Which device the current payload belongs to.',
   `payload_desc` varchar(100) CHARACTER SET utf8 COLLATE utf8_general_ci DEFAULT NULL,
+  `control_source` varchar(1) CHARACTER SET utf8 COLLATE utf8_general_ci DEFAULT NULL,
   `create_time` bigint NOT NULL,
   `update_time` bigint NOT NULL,
   PRIMARY KEY (`id`),
@@ -452,7 +453,7 @@ CREATE TABLE `wayline_job` (
   `completed_time` bigint DEFAULT NULL COMMENT 'actual end time',
   `username` varchar(64) CHARACTER SET utf8 COLLATE utf8_general_ci NOT NULL DEFAULT '' COMMENT 'The name of the creator.',
   `begin_time` bigint NOT NULL COMMENT 'planned begin time',
-  `end_time` bigint NOT NULL COMMENT 'planned end time',
+  `end_time` bigint DEFAULT NULL COMMENT 'planned end time',
   `error_code` int DEFAULT NULL,
   `status` int NOT NULL COMMENT '1: pending; 2: in progress; 3: success; 4: cancel; 5: failed',
   `rth_altitude` int NOT NULL COMMENT 'return to home altitude. min: 20m; max: 500m',

src/main/java/com/dji/sample/component/GlobalExceptionHandler.java

@@ -36,7 +36,7 @@ public class GlobalExceptionHandler {
     @ExceptionHandler({MethodArgumentNotValidException.class, BindException.class})
     public ResponseResult methodArgumentNotValidExceptionHandler(BindException e) {
         e.printStackTrace();
-        return ResponseResult.error(e.getBindingResult().getAllErrors().get(0).getDefaultMessage());
+        return ResponseResult.error(e.getFieldError().getField() + e.getFieldError().getDefaultMessage());
     }
 
 }

src/main/java/com/dji/sample/component/GlobalScheduleService.java

@@ -7,6 +7,7 @@ import com.dji.sample.manage.model.dto.DeviceDTO;
 import com.dji.sample.manage.model.enums.DeviceDomainEnum;
 import com.dji.sample.manage.service.IDeviceService;
 import com.dji.sample.wayline.service.IWaylineJobService;
+import com.fasterxml.jackson.databind.ObjectMapper;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.scheduling.annotation.Scheduled;
@@ -32,11 +33,12 @@ public class GlobalScheduleService {
 
     @Autowired
     private IWaylineJobService waylineJobService;
-
+    @Autowired
+    private ObjectMapper mapper;
     /**
      * Check the status of the devices every 30 seconds. It is recommended to use cache.
      */
-    @Scheduled(initialDelay = 30, fixedRate = 30, timeUnit = TimeUnit.SECONDS)
+    @Scheduled(initialDelay = 10, fixedRate = 30, timeUnit = TimeUnit.SECONDS)
     private void deviceStatusListen() {
         int start = RedisConst.DEVICE_ONLINE_PREFIX.length();
 
@@ -49,8 +51,9 @@ public class GlobalScheduleService {
                 } else {
                     deviceService.unsubscribeTopicOffline(key.substring(start));
                     deviceService.pushDeviceOfflineTopo(device.getWorkspaceId(), device.getDeviceSn());
-                    RedisOpsUtils.hashDel(RedisConst.LIVE_CAPACITY, new String[]{key});
-                    RedisOpsUtils.del(RedisConst.HMS_PREFIX + key);
+                    RedisOpsUtils.hashDel(RedisConst.LIVE_CAPACITY, new String[]{device.getDeviceSn()});
+                    RedisOpsUtils.del(RedisConst.HMS_PREFIX + device.getDeviceSn());
+                    RedisOpsUtils.del(RedisConst.OSD_PREFIX + device.getDeviceSn());
                 }
                 RedisOpsUtils.del(key);
             }

src/main/java/com/dji/sample/component/mqtt/config/MqttConfiguration.java

@@ -5,6 +5,7 @@ import com.dji.sample.common.util.JwtUtil;
 import com.dji.sample.component.mqtt.model.MqttClientOptions;
 import com.dji.sample.component.mqtt.model.MqttProtocolEnum;
 import com.dji.sample.component.mqtt.model.MqttUseEnum;
+import com.dji.sample.control.model.dto.MqttBrokerDTO;
 import lombok.Data;
 import org.eclipse.paho.client.mqttv3.MqttConnectOptions;
 import org.springframework.boot.context.properties.ConfigurationProperties;
@@ -70,6 +71,32 @@ public class MqttConfiguration {
         return addr.toString();
     }
 
+    /**
+     * Get the connection parameters of the mqtt client of the drc link.
+     * @param clientId
+     * @param username
+     * @param age   The validity period of the token. unit: s
+     * @param map   Custom data added in token.
+     * @return
+     */
+    public static MqttBrokerDTO getMqttBrokerWithDrc(String clientId, String username, Long age, Map<String, ?> map) {
+        if (!mqtt.containsKey(MqttUseEnum.DRC)) {
+            throw new RuntimeException("Please configure the drc link parameters of mqtt in the backend configuration file first.");
+        }
+        Algorithm algorithm = JwtUtil.algorithm;
+
+        String token = JwtUtil.createToken(map, age, algorithm, null, null);
+
+        return MqttBrokerDTO.builder()
+                .address(getMqttAddress(mqtt.get(MqttUseEnum.DRC)))
+                .username(username)
+                .clientId(clientId)
+                .expireTime(System.currentTimeMillis() / 1000 + age)
+                .password(token)
+                .build();
+    }
+
+
     @Bean
     public MqttConnectOptions mqttConnectOptions() {
         MqttClientOptions customizeOptions = getBasicClientOptions();

src/main/java/com/dji/sample/component/mqtt/config/MqttMessageChannel.java

@@ -107,6 +107,11 @@ public class MqttMessageChannel {
         return new DirectChannel();
     }
 
+    @Bean(name = ChannelName.OUTBOUND_EVENTS)
+    public MessageChannel eventsOutboundChannel() {
+        return new DirectChannel();
+    }
+
     @Bean(name = ChannelName.INBOUND_EVENTS_FLIGHT_TASK_PROGRESS)
     public MessageChannel eventsFlightTaskProgressChannel() {
         return new DirectChannel();
@@ -172,4 +177,28 @@ public class MqttMessageChannel {
         return new DirectChannel();
     }
 
+    @Bean(name = ChannelName.INBOUND_EVENTS_FLIGHT_TASK_READY)
+    public MessageChannel eventsEventsFlightTaskReady() {
+        return new DirectChannel();
+    }
+
+    @Bean(name = ChannelName.INBOUND_EVENTS_FLY_TO_POINT_PROGRESS)
+    public MessageChannel eventsFlyToPointProgress() {
+        return new DirectChannel();
+    }
+
+    @Bean(name = ChannelName.INBOUND_EVENTS_TAKE_OFF_TO_POINT_PROGRESS)
+    public MessageChannel eventsTakeoffToPointProgress() {
+        return new DirectChannel();
+    }
+
+    @Bean(name = ChannelName.INBOUND_EVENTS_DRC_STATUS_NOTIFY)
+    public MessageChannel eventsDrcStatusNotify() {
+        return new DirectChannel();
+    }
+
+    @Bean(name = ChannelName.INBOUND_EVENTS_DRC_MODE_EXIT_NOTIFY)
+    public MessageChannel eventsDrcModeExitNotify() {
+        return new DirectChannel();
+    }
 }

src/main/java/com/dji/sample/component/mqtt/handler/EventsRouter.java

@@ -1,17 +1,20 @@
 package com.dji.sample.component.mqtt.handler;
 
-import com.dji.sample.component.mqtt.model.ChannelName;
-import com.dji.sample.component.mqtt.model.CommonTopicReceiver;
-import com.dji.sample.component.mqtt.model.EventsMethodEnum;
+import com.dji.sample.component.mqtt.model.*;
+import com.dji.sample.component.mqtt.service.IMessageSenderService;
 import com.fasterxml.jackson.databind.ObjectMapper;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.context.annotation.Bean;
 import org.springframework.context.annotation.Configuration;
+import org.springframework.integration.annotation.ServiceActivator;
 import org.springframework.integration.dsl.IntegrationFlow;
 import org.springframework.integration.dsl.IntegrationFlows;
+import org.springframework.integration.mqtt.support.MqttHeaders;
+import org.springframework.messaging.MessageHeaders;
 
 import java.io.IOException;
 import java.util.Arrays;
+import java.util.Optional;
 
 /**
  * @author sean
@@ -24,6 +27,9 @@ public class EventsRouter {
     @Autowired
     private ObjectMapper mapper;
 
+    @Autowired
+    private IMessageSenderService messageSenderService;
+
     @Bean
     public IntegrationFlow eventsMethodRouterFlow() {
         return IntegrationFlows
@@ -42,4 +48,21 @@ public class EventsRouter {
                                 methodEnum -> mapping.channelMapping(methodEnum, methodEnum.getChannelName())))
                 .get();
     }
+
+    @ServiceActivator(inputChannel = ChannelName.OUTBOUND_EVENTS, outputChannel = ChannelName.OUTBOUND)
+    public void replyEventsOutbound(CommonTopicReceiver receiver, MessageHeaders headers) {
+        if (Optional.ofNullable(receiver).map(CommonTopicReceiver::getNeedReply).flatMap(val -> Optional.of(1 != val)).orElse(true)) {
+            return;
+        }
+        messageSenderService.publish(headers.get(MqttHeaders.RECEIVED_TOPIC) + TopicConst._REPLY_SUF,
+                CommonTopicResponse.builder()
+                        .tid(receiver.getTid())
+                        .bid(receiver.getBid())
+                        .method(receiver.getMethod())
+                        .timestamp(System.currentTimeMillis())
+                        .data(RequestsReply.success())
+                        .build());
+
+    }
+
 }

src/main/java/com/dji/sample/component/mqtt/handler/ServicesReplyHandler.java

@@ -36,13 +36,16 @@ public class ServicesReplyHandler {
         byte[] payload = (byte[])message.getPayload();
 
         CommonTopicReceiver receiver = mapper.readValue(payload, new TypeReference<CommonTopicReceiver>() {});
+        ServiceReply reply;
         if (LogsFileMethodEnum.FILE_UPLOAD_LIST.getMethod().equals(receiver.getMethod())) {
             LogsFileUploadList list = mapper.convertValue(receiver.getData(), new TypeReference<LogsFileUploadList>() {});
-            receiver.setData(list);
+            reply = new ServiceReply();
+            reply.setResult(list.getResult());
+            reply.setOutput(list.getFiles());
         } else {
-            ServiceReply reply = mapper.convertValue(receiver.getData(), new TypeReference<ServiceReply>() {});
-            receiver.setData(reply);
+            reply = mapper.convertValue(receiver.getData(), new TypeReference<ServiceReply>() {});
         }
+        receiver.setData(reply);
         Chan<CommonTopicReceiver<?>> chan = Chan.getInstance();
         // Put the message to the chan object.
         chan.put(receiver);

src/main/java/com/dji/sample/component/mqtt/model/ChannelName.java

@@ -51,6 +51,8 @@ public class ChannelName {
 
     public static final String INBOUND_EVENTS = "inboundEvents";
 
+    public static final String OUTBOUND_EVENTS = "outboundEvents";
+
     public static final String INBOUND_EVENTS_FLIGHT_TASK_PROGRESS = "inboundEventsFlightTaskProgress";
 
     public static final String INBOUND_EVENTS_FILE_UPLOAD_CALLBACK = "inboundEventsFileUploadCallback";
@@ -76,4 +78,14 @@ public class ChannelName {
     public static final String INBOUND_REQUESTS_CONFIG = "inboundRequestsConfig";
 
     public static final String INBOUND_EVENTS_HIGHEST_PRIORITY_UPLOAD_FLIGHT_TASK_MEDIA = "inboundEventsHighestPriorityUploadFlightTaskMedia";
+
+    public static final String INBOUND_EVENTS_FLIGHT_TASK_READY = "inboundEventsFlightTaskReady";
+
+    public static final String INBOUND_EVENTS_FLY_TO_POINT_PROGRESS = "inboundFlyToPointProgress";
+
+    public static final String INBOUND_EVENTS_TAKE_OFF_TO_POINT_PROGRESS = "inboundTakeoffToPointProgress";
+
+    public static final String INBOUND_EVENTS_DRC_STATUS_NOTIFY = "inboundDrcStatusNotify";
+
+    public static final String INBOUND_EVENTS_DRC_MODE_EXIT_NOTIFY = "inboundDrcModeExitNotify";
 }

src/main/java/com/dji/sample/component/mqtt/model/EventsMethodEnum.java

@@ -45,6 +45,16 @@ public enum EventsMethodEnum {
 
     HIGHEST_PRIORITY_UPLOAD_FLIGHT_TASK_MEDIA("highest_priority_upload_flighttask_media", ChannelName.INBOUND_EVENTS_HIGHEST_PRIORITY_UPLOAD_FLIGHT_TASK_MEDIA),
 
+    FLIGHT_TASK_READY("flighttask_ready", ChannelName.INBOUND_EVENTS_FLIGHT_TASK_READY),
+
+    FLY_TO_POINT_PROGRESS("fly_to_point_progress", ChannelName.INBOUND_EVENTS_FLY_TO_POINT_PROGRESS),
+
+    TAKE_OFF_TO_POINT_PROGRESS("takeoff_to_point_progress", ChannelName.INBOUND_EVENTS_TAKE_OFF_TO_POINT_PROGRESS),
+
+    DRC_STATUS_NOTIFY("drc_status_notify", ChannelName.INBOUND_EVENTS_DRC_STATUS_NOTIFY),
+
+    JOYSTICK_INVALID_NOTIFY("joystick_invalid_notify", ChannelName.INBOUND_EVENTS_DRC_MODE_EXIT_NOTIFY),
+
     UNKNOWN("Unknown", ChannelName.DEFAULT);
 
     private String method;

src/main/java/com/dji/sample/component/mqtt/model/EventsOutputProgressReceiver.java

@@ -8,9 +8,11 @@ import lombok.Data;
  * @date 2022/7/29
  */
 @Data
-public class EventsOutputReceiver {
+public class EventsOutputProgressReceiver<T> {
 
     private String status;
 
     private OutputProgressReceiver progress;
+
+    private T ext;
 }

src/main/java/com/dji/sample/component/mqtt/model/TopicConst.java

@@ -34,4 +34,9 @@ public class TopicConst {
 
     public static final String REGEX_SN = "[A-Za-z0-9]+";
 
+    public static final String DRC = "/drc";
+
+    public static final String UP = "/up";
+
+    public static final String DOWN = "/down";
 }

src/main/java/com/dji/sample/component/mqtt/service/IMessageSenderService.java

@@ -2,6 +2,7 @@ package com.dji.sample.component.mqtt.service;
 
 import com.dji.sample.component.mqtt.model.CommonTopicResponse;
 import com.dji.sample.component.mqtt.model.ServiceReply;
+import com.fasterxml.jackson.core.type.TypeReference;
 
 /**
  * @author sean.zhou
@@ -26,15 +27,16 @@ public interface IMessageSenderService {
     void publish(String topic, int qos, CommonTopicResponse response);
 
     /**
-     * Send live streaming start message and receive a response at the same time.
+     * Send message and receive a response at the same time.
+     * @param clazz
      * @param topic
      * @param response  notification of whether the start is successful.
      * @return
      */
-    ServiceReply publishWithReply(String topic, CommonTopicResponse response);
+    <T> T publishWithReply(Class<T> clazz, String topic, CommonTopicResponse response);
 
     /**
-     * Send live streaming start message and receive a response at the same time.
+     * Send message and receive a response at the same time.
      * @param clazz
      * @param topic
      * @param response
@@ -43,4 +45,46 @@ public interface IMessageSenderService {
      * @return
      */
     <T> T publishWithReply(Class<T> clazz, String topic, CommonTopicResponse response, int retryTime);
+
+    /**
+     * Used exclusively for sending messages for services.
+     * @param clazz The generic class for ServiceReply.
+     * @param sn
+     * @param method
+     * @param data
+     * @param bid
+     * @param <T>
+     * @return
+     */
+    <T> ServiceReply<T> publishServicesTopic(TypeReference<T> clazz, String sn, String method, Object data, String bid);
+
+    /**
+     * Used exclusively for sending messages for services, and does not set the received subtype.
+     * @param sn
+     * @param method
+     * @param data
+     * @param bid
+     * @return
+     */
+    ServiceReply publishServicesTopic(String sn, String method, Object data, String bid);
+
+    /**
+     * Used exclusively for sending messages for services.
+     * @param clazz The generic class for ServiceReply.
+     * @param sn
+     * @param method
+     * @param data
+     * @param <T>
+     * @return
+     */
+    <T> ServiceReply<T> publishServicesTopic(TypeReference<T> clazz, String sn, String method, Object data);
+
+    /**
+     * Used exclusively for sending messages for services, and does not set the received subtype.
+     * @param sn
+     * @param method
+     * @param data
+     * @return
+     */
+    ServiceReply publishServicesTopic(String sn, String method, Object data);
 }

src/main/java/com/dji/sample/component/mqtt/service/impl/MessageSenderServiceImpl.java

@@ -1,17 +1,19 @@
 package com.dji.sample.component.mqtt.service.impl;
 
-import com.dji.sample.component.mqtt.model.Chan;
-import com.dji.sample.component.mqtt.model.CommonTopicReceiver;
-import com.dji.sample.component.mqtt.model.CommonTopicResponse;
-import com.dji.sample.component.mqtt.model.ServiceReply;
+import com.dji.sample.component.mqtt.model.*;
 import com.dji.sample.component.mqtt.service.IMessageSenderService;
 import com.dji.sample.component.mqtt.service.IMqttMessageGateway;
 import com.fasterxml.jackson.core.JsonProcessingException;
+import com.fasterxml.jackson.core.type.TypeReference;
 import com.fasterxml.jackson.databind.ObjectMapper;
 import lombok.extern.slf4j.Slf4j;
+import org.springframework.beans.TypeMismatchException;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.stereotype.Service;
+import org.springframework.util.StringUtils;
 
+import java.util.Objects;
+import java.util.UUID;
 import java.util.concurrent.atomic.AtomicInteger;
 
 /**
@@ -30,17 +32,12 @@ public class MessageSenderServiceImpl implements IMessageSenderService {
     private ObjectMapper mapper;
 
     public void publish(String topic, CommonTopicResponse response) {
-        try {
-            log.info("send topic: {}, payload: {}", topic, response.toString());
-            messageGateway.publish(topic, mapper.writeValueAsBytes(response));
-        } catch (JsonProcessingException e) {
-            log.info("Failed to publish the message. {}", response.toString());
-            e.printStackTrace();
-        }
+        this.publish(topic, 1, response);
     }
 
     public void publish(String topic, int qos, CommonTopicResponse response) {
         try {
+            log.info("send topic: {}, payload: {}", topic, response.toString());
             messageGateway.publish(topic, mapper.writeValueAsBytes(response), qos);
         } catch (JsonProcessingException e) {
             log.info("Failed to publish the message. {}", response.toString());
@@ -48,12 +45,11 @@ public class MessageSenderServiceImpl implements IMessageSenderService {
         }
     }
 
-    public ServiceReply publishWithReply(String topic, CommonTopicResponse response) {
-        return this.publishWithReply(ServiceReply.class, topic, response, 2);
+    public <T> T publishWithReply(Class<T> clazz, String topic, CommonTopicResponse response) {
+        return this.publishWithReply(clazz, topic, response, 2);
     }
 
     public <T> T publishWithReply(Class<T> clazz, String topic, CommonTopicResponse response, int retryTime) {
-        log.info("send topic: {}, payload: {}", topic, response.toString());
         AtomicInteger time = new AtomicInteger(0);
         // Retry three times
         while (time.getAndIncrement() <= retryTime) {
@@ -62,15 +58,59 @@ public class MessageSenderServiceImpl implements IMessageSenderService {
             Chan<CommonTopicReceiver<T>> chan = Chan.getInstance();
             // If the message is not received in 0.5 seconds then resend it again.
             CommonTopicReceiver<T> receiver = chan.get(response.getTid());
-            if (receiver == null) {
-                continue;
-            }
+
             // Need to match tid and bid.
-            if (receiver.getTid().equals(response.getTid()) &&
+            if (Objects.nonNull(receiver) && receiver.getTid().equals(response.getTid()) &&
                     receiver.getBid().equals(response.getBid())) {
-                return receiver.getData();
+                if (clazz.isAssignableFrom(receiver.getData().getClass())) {
+                    return receiver.getData();
+                }
+                throw new TypeMismatchException(receiver.getData(), clazz);
             }
+            // It must be guaranteed that the tid and bid of each message are different.
+            response.setBid(UUID.randomUUID().toString());
+            response.setTid(UUID.randomUUID().toString());
         }
         throw new RuntimeException("No message reply received.");
     }
+
+    @Override
+    public <T> ServiceReply<T> publishServicesTopic(TypeReference<T> clazz, String sn, String method, Object data, String bid) {
+        String topic = TopicConst.THING_MODEL_PRE + TopicConst.PRODUCT + sn + TopicConst.SERVICES_SUF;
+        ServiceReply reply = this.publishWithReply(ServiceReply.class, topic,
+                CommonTopicResponse.builder()
+                        .tid(UUID.randomUUID().toString())
+                        .bid(StringUtils.hasText(bid) ? bid : UUID.randomUUID().toString())
+                        .timestamp(System.currentTimeMillis())
+                        .method(method)
+                        .data(Objects.requireNonNullElse(data, ""))
+                        .build());
+        if (Objects.isNull(clazz)) {
+            return reply;
+        }
+        // put together in "output"
+        if (Objects.nonNull(reply.getInfo())) {
+            reply.setOutput(mapper.convertValue(reply.getInfo(), clazz));
+        }
+        if (Objects.nonNull(reply.getOutput())) {
+            reply.setOutput(mapper.convertValue(reply.getOutput(), clazz));
+        }
+        return reply;
+    }
+
+    @Override
+    public ServiceReply publishServicesTopic(String sn, String method, Object data, String bid) {
+        return this.publishServicesTopic(null, sn, method, data, bid);
+    }
+
+    @Override
+    public <T> ServiceReply<T> publishServicesTopic(TypeReference<T> clazz, String sn, String method, Object data) {
+        return this.publishServicesTopic(clazz, sn, method, data, null);
+    }
+
+    @Override
+    public ServiceReply publishServicesTopic(String sn, String method, Object data) {
+        return this.publishServicesTopic(null, sn, method, data, null);
+    }
+
 }

src/main/java/com/dji/sample/component/redis/RedisConst.java

@@ -39,6 +39,10 @@ public final class RedisConst {
 
     public static final String WAYLINE_JOB_TIMED_EXECUTE = "wayline_job_timed_execute";
 
+    public static final String WAYLINE_JOB_CONDITION_PREPARE = "wayline_job_condition_prepare";
+
+    public static final String WAYLINE_JOB_CONDITION_PREFIX = WAYLINE_JOB_CONDITION_PREPARE + DELIMITER;
+
     public static final String WAYLINE_JOB_BLOCK_PREFIX = "wayline_job_block" + DELIMITER;
 
     public static final String WAYLINE_JOB_RUNNING_PREFIX = "wayline_job_running" + DELIMITER;
@@ -53,7 +57,13 @@ public final class RedisConst {
 
     public static final String LIVE_CAPACITY = "live_capacity";
 
+    public static final String DRC_PREFIX = "drc" + DELIMITER;
+
+    public static final Integer DRC_MODE_ALIVE_SECOND = 3600;
+
     public static final String MQTT_ACL_PREFIX = "mqtt_acl" + DELIMITER;
 
     public static final String FILE_UPLOADING_PREFIX = "file_uploading" + DELIMITER;
-}
+
+    public static final String DRONE_CONTROL_PREFiX = "control_source" + DELIMITER;
+}

src/main/java/com/dji/sample/component/websocket/model/BizCodeEnum.java

@@ -57,7 +57,22 @@ public enum BizCodeEnum {
 
     FILE_UPLOAD_CALLBACK("file_upload_callback"),
 
-    HIGHEST_PRIORITY_UPLOAD_FLIGHT_TASK_MEDIA("HIGHEST_PRIORITY_UPLOAD_FLIGHTTASK_MEDIA");
+    FILE_UPLOAD_PROGRESS("fileupload_progress"),
+
+    OTA_PROGRESS("ota_progress"),
+
+    HIGHEST_PRIORITY_UPLOAD_FLIGHT_TASK_MEDIA("highest_priority_upload_flighttask_media"),
+
+    CONTROL_SOURCE_CHANGE("control_source_change"),
+
+    FLY_TO_POINT_PROGRESS("fly_to_point_progress"),
+
+    TAKE_OFF_TO_POINT_PROGRESS("takeoff_to_point_progress"),
+
+    DRC_STATUS_NOTIFY("drc_status_notify"),
+
+    JOYSTICK_INVALID_NOTIFY("joystick_invalid_notify")
+    ;
 
     private String code;
 

src/main/java/com/dji/sample/component/websocket/service/ISendMessageService.java

@@ -25,4 +25,8 @@ public interface ISendMessageService {
      * @param message   message
      */
     void sendBatch(Collection<ConcurrentWebSocketSession> sessions, CustomWebSocketMessage message);
+
+    void sendBatch(String workspaceId, Integer userType, String bizCode, Object data);
+
+    void sendBatch(String workspaceId, String bizCode, Object data);
 }

src/main/java/com/dji/sample/component/websocket/service/impl/SendMessageServiceImpl.java

@@ -3,14 +3,17 @@ package com.dji.sample.component.websocket.service.impl;
 import com.dji.sample.component.websocket.config.ConcurrentWebSocketSession;
 import com.dji.sample.component.websocket.model.CustomWebSocketMessage;
 import com.dji.sample.component.websocket.service.ISendMessageService;
+import com.dji.sample.component.websocket.service.IWebSocketManageService;
 import com.fasterxml.jackson.databind.ObjectMapper;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.stereotype.Service;
+import org.springframework.util.StringUtils;
 import org.springframework.web.socket.TextMessage;
 
 import java.io.IOException;
 import java.util.Collection;
+import java.util.Objects;
 
 /**
  * @author sean.zhou
@@ -24,6 +27,9 @@ public class SendMessageServiceImpl implements ISendMessageService {
     @Autowired
     private ObjectMapper mapper;
 
+    @Autowired
+    private IWebSocketManageService webSocketManageService;
+
     @Override
     public void sendMessage(ConcurrentWebSocketSession session, CustomWebSocketMessage message) {
         if (session == null) {
@@ -70,4 +76,25 @@ public class SendMessageServiceImpl implements ISendMessageService {
             e.printStackTrace();
         }
     }
+
+    @Override
+    public void sendBatch(String workspaceId, Integer userType, String bizCode, Object data) {
+        if (!StringUtils.hasText(workspaceId)) {
+            throw new RuntimeException("Workspace ID does not exist.");
+        }
+        Collection<ConcurrentWebSocketSession> sessions = Objects.isNull(userType) ?
+                webSocketManageService.getValueWithWorkspace(workspaceId) :
+                webSocketManageService.getValueWithWorkspaceAndUserType(workspaceId, userType);
+
+        this.sendBatch(sessions, CustomWebSocketMessage.builder()
+                        .data(data)
+                        .timestamp(System.currentTimeMillis())
+                        .bizCode(bizCode)
+                        .build());
+    }
+
+    @Override
+    public void sendBatch(String workspaceId, String bizCode, Object data) {
+        this.sendBatch(workspaceId, null, bizCode, data);
+    }
 }

src/main/java/com/dji/sample/control/controller/DockController.java

@@ -1,12 +1,15 @@
 package com.dji.sample.control.controller;
 
 import com.dji.sample.common.model.ResponseResult;
-import com.dji.sample.control.model.param.RemoteDebugParam;
+import com.dji.sample.control.model.enums.DroneAuthorityEnum;
+import com.dji.sample.control.model.param.*;
 import com.dji.sample.control.service.IControlService;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.web.bind.annotation.*;
 
+import javax.validation.Valid;
+
 /**
  * @author sean
  * @version 1.2
@@ -24,6 +27,39 @@ public class DockController {
     public ResponseResult createControlJob(@PathVariable String sn,
                                            @PathVariable("service_identifier") String serviceIdentifier,
                                            @RequestBody(required = false) RemoteDebugParam param) {
-        return controlService.controlDock(sn, serviceIdentifier, param);
+        return controlService.controlDockDebug(sn, serviceIdentifier, param);
+    }
+
+    @PostMapping("/{sn}/jobs/fly-to-point")
+    public ResponseResult flyToPoint(@PathVariable String sn, @Valid @RequestBody FlyToPointParam param) {
+        return controlService.flyToPoint(sn, param);
+    }
+
+    @DeleteMapping("/{sn}/jobs/fly-to-point")
+    public ResponseResult flyToPointStop(@PathVariable String sn) {
+        return controlService.flyToPointStop(sn);
+    }
+
+    @PostMapping("/{sn}/jobs/takeoff-to-point")
+    public ResponseResult takeoffToPoint(@PathVariable String sn, @Valid @RequestBody TakeoffToPointParam param) {
+        return controlService.takeoffToPoint(sn, param);
     }
+
+    @PostMapping("/{sn}/authority/flight")
+    public ResponseResult seizeFlightAuthority(@PathVariable String sn) {
+        return controlService.seizeAuthority(sn, DroneAuthorityEnum.FLIGHT, null);
+    }
+
+    @PostMapping("/{sn}/authority/payload")
+    public ResponseResult seizePayloadAuthority(@PathVariable String sn, @Valid @RequestBody DronePayloadParam param) {
+        return controlService.seizeAuthority(sn, DroneAuthorityEnum.PAYLOAD, param);
+    }
+
+    @PostMapping("/{sn}/payload/commands")
+    public ResponseResult payloadCommands(@PathVariable String sn, @Valid @RequestBody PayloadCommandsParam param) throws Exception {
+        param.setSn(sn);
+        return controlService.payloadCommands(param);
+    }
+
+
 }

src/main/java/com/dji/sample/control/controller/DrcController.java

@@ -0,0 +1,55 @@
+package com.dji.sample.control.controller;
+
+import com.dji.sample.common.model.CustomClaim;
+import com.dji.sample.common.model.ResponseResult;
+import com.dji.sample.control.model.dto.JwtAclDTO;
+import com.dji.sample.control.model.dto.MqttBrokerDTO;
+import com.dji.sample.control.model.param.DrcConnectParam;
+import com.dji.sample.control.model.param.DrcModeParam;
+import com.dji.sample.control.service.IDrcService;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.web.bind.annotation.*;
+
+import javax.servlet.http.HttpServletRequest;
+import javax.validation.Valid;
+
+import static com.dji.sample.component.AuthInterceptor.TOKEN_CLAIM;
+
+/**
+ * @author sean
+ * @version 1.3
+ * @date 2023/1/11
+ */
+@RestController
+@Slf4j
+@RequestMapping("${url.control.prefix}${url.control.version}")
+public class DrcController {
+
+    @Autowired
+    private IDrcService drcService;
+
+    @PostMapping("/workspaces/{workspace_id}/drc/connect")
+    public ResponseResult drcConnect(@PathVariable("workspace_id") String workspaceId, HttpServletRequest request, @Valid @RequestBody DrcConnectParam param) {
+        CustomClaim claims = (CustomClaim) request.getAttribute(TOKEN_CLAIM);
+
+        MqttBrokerDTO brokerDTO = drcService.userDrcAuth(workspaceId, claims.getId(), claims.getUsername(), param);
+        return ResponseResult.success(brokerDTO);
+    }
+
+    @PostMapping("/workspaces/{workspace_id}/drc/enter")
+    public ResponseResult drcEnter(@PathVariable("workspace_id") String workspaceId, @Valid @RequestBody DrcModeParam param) {
+        JwtAclDTO acl = drcService.deviceDrcEnter(workspaceId, param);
+
+        return ResponseResult.success(acl);
+    }
+
+    @PostMapping("/workspaces/{workspace_id}/drc/exit")
+    public ResponseResult drcExit(@PathVariable("workspace_id") String workspaceId, @Valid @RequestBody DrcModeParam param) {
+        drcService.deviceDrcExit(workspaceId, param);
+
+        return ResponseResult.success();
+    }
+
+
+}

src/main/java/com/dji/sample/control/model/dto/AlarmState.java

@@ -1,7 +1,7 @@
 package com.dji.sample.control.model.dto;
 
+import com.dji.sample.control.service.impl.RemoteDebugHandler;
 import com.dji.sample.manage.model.enums.StateSwitchEnum;
-import com.dji.sample.manage.model.receiver.BasicDeviceProperty;
 import lombok.AllArgsConstructor;
 import lombok.Data;
 import lombok.EqualsAndHashCode;
@@ -18,7 +18,7 @@ import java.util.Objects;
 @Data
 @AllArgsConstructor
 @NoArgsConstructor
-public class AlarmState extends BasicDeviceProperty {
+public class AlarmState extends RemoteDebugHandler {
 
     private Integer action;
 

src/main/java/com/dji/sample/control/model/dto/BatteryStoreMode.java

@@ -1,7 +1,7 @@
 package com.dji.sample.control.model.dto;
 
 import com.dji.sample.control.model.enums.BatteryStoreModeEnum;
-import com.dji.sample.manage.model.receiver.BasicDeviceProperty;
+import com.dji.sample.control.service.impl.RemoteDebugHandler;
 import lombok.AllArgsConstructor;
 import lombok.Data;
 import lombok.EqualsAndHashCode;
@@ -18,7 +18,7 @@ import java.util.Objects;
 @Data
 @AllArgsConstructor
 @NoArgsConstructor
-public class BatteryStoreMode extends BasicDeviceProperty {
+public class BatteryStoreMode extends RemoteDebugHandler {
 
     private Integer action;
 

src/main/java/com/dji/sample/control/model/dto/DrcModeDTO.java

@@ -0,0 +1,32 @@
+package com.dji.sample.control.model.dto;
+
+import lombok.AllArgsConstructor;
+import lombok.Builder;
+import lombok.Data;
+import lombok.NoArgsConstructor;
+
+/**
+ * @author sean
+ * @version 1.3
+ * @date 2023/1/12
+ */
+@Data
+@Builder
+@AllArgsConstructor
+@NoArgsConstructor
+public class DrcModeDTO {
+
+    private MqttBrokerDTO mqttBroker;
+
+    /**
+     * range: 1 - 30
+     */
+    @Builder.Default
+    private Integer osdFrequency = 10;
+
+    /**
+     * range: 1 - 30
+     */
+    @Builder.Default
+    private Integer hsiFrequency = 1;
+}

src/main/java/com/dji/sample/control/model/dto/DrcModeReasonReceiver.java

@@ -0,0 +1,15 @@
+package com.dji.sample.control.model.dto;
+
+import com.dji.sample.control.model.enums.DrcModeReasonEnum;
+import lombok.Data;
+
+/**
+ * @author sean
+ * @version 1.4
+ * @date 2023/3/14
+ */
+@Data
+public class DrcModeReasonReceiver {
+
+    private DrcModeReasonEnum reason;
+}

src/main/java/com/dji/sample/control/model/dto/DrcStatusNotifyReceiver.java

@@ -0,0 +1,18 @@
+package com.dji.sample.control.model.dto;
+
+import com.dji.sample.control.model.enums.DrcStatusErrorEnum;
+import com.dji.sample.manage.model.enums.DockDrcStateEnum;
+import lombok.Data;
+
+/**
+ * @author sean
+ * @version 1.4
+ * @date 2023/3/17
+ */
+@Data
+public class DrcStatusNotifyReceiver {
+
+    private DrcStatusErrorEnum result;
+
+    private DockDrcStateEnum drcState;
+}

src/main/java/com/dji/sample/control/model/dto/FlyToProgressReceiver.java

@@ -0,0 +1,22 @@
+package com.dji.sample.control.model.dto;
+
+import com.dji.sample.control.model.enums.FlyToStatusEnum;
+import com.dji.sample.wayline.model.enums.WaylineErrorCodeEnum;
+import lombok.Data;
+
+/**
+ * @author sean
+ * @version 1.4
+ * @date 2023/3/14
+ */
+@Data
+public class FlyToProgressReceiver {
+
+    private WaylineErrorCodeEnum result;
+
+    private FlyToStatusEnum status;
+
+    private String flyToId;
+
+    private Integer wayPointIndex;
+}

src/main/java/com/dji/sample/control/model/dto/JwtAclDTO.java

@@ -0,0 +1,26 @@
+package com.dji.sample.control.model.dto;
+
+import lombok.AllArgsConstructor;
+import lombok.Builder;
+import lombok.Data;
+import lombok.NoArgsConstructor;
+
+import java.util.List;
+
+/**
+ * @author sean
+ * @version 1.3
+ * @date 2023/1/12
+ */
+@Data
+@Builder
+@AllArgsConstructor
+@NoArgsConstructor
+public class JwtAclDTO {
+
+    private List<String> sub;
+
+    private List<String> pub;
+
+    private List<String> all;
+}

src/main/java/com/dji/sample/control/model/dto/LinkWorkMode.java

@@ -1,7 +1,7 @@
 package com.dji.sample.control.model.dto;
 
 import com.dji.sample.control.model.enums.LinkWorkModeEnum;
-import com.dji.sample.manage.model.receiver.BasicDeviceProperty;
+import com.dji.sample.control.service.impl.RemoteDebugHandler;
 import com.fasterxml.jackson.annotation.JsonProperty;
 import lombok.AllArgsConstructor;
 import lombok.Data;
@@ -19,7 +19,7 @@ import java.util.Objects;
 @Data
 @AllArgsConstructor
 @NoArgsConstructor
-public class LinkWorkMode extends BasicDeviceProperty {
+public class LinkWorkMode extends RemoteDebugHandler {
 
     @JsonProperty("link_workmode")
     private Integer linkWorkMode;

src/main/java/com/dji/sample/control/model/dto/MqttBrokerDTO.java

@@ -0,0 +1,31 @@
+package com.dji.sample.control.model.dto;
+
+import lombok.AllArgsConstructor;
+import lombok.Builder;
+import lombok.Data;
+import lombok.NoArgsConstructor;
+
+/**
+ * @author sean
+ * @version 1.3
+ * @date 2023/1/11
+ */
+@Data
+@Builder
+@AllArgsConstructor
+@NoArgsConstructor
+public class MqttBrokerDTO {
+
+    private String address;
+
+    private String username;
+
+    private String password;
+
+    private String clientId;
+
+    private Long expireTime;
+
+    @Builder.Default
+    private Boolean enableTls = false;
+}

src/main/java/com/dji/sample/control/model/dto/PointDTO.java

@@ -0,0 +1,31 @@
+package com.dji.sample.control.model.dto;
+
+import lombok.Data;
+import org.hibernate.validator.constraints.Range;
+
+import javax.validation.constraints.NotNull;
+
+/**
+ * @author sean
+ * @version 1.3
+ * @date 2023/2/14
+ */
+@Data
+public class PointDTO {
+
+    @Range(min = -90, max = 90)
+    @NotNull
+    private Double latitude;
+
+    @NotNull
+    @Range(min = -180, max = 180)
+    private Double longitude;
+
+    /**
+     * WGS84
+     * The M30 series are ellipsoidal heights.
+     */
+    @NotNull
+    @Range(min = 2, max = 1500)
+    private Double height;
+}

src/main/java/com/dji/sample/control/model/dto/RemoteDebugOpenState.java

@@ -0,0 +1,25 @@
+package com.dji.sample.control.model.dto;
+
+import com.dji.sample.common.util.SpringBeanUtils;
+import com.dji.sample.control.service.impl.RemoteDebugHandler;
+import com.dji.sample.manage.model.enums.DockModeCodeEnum;
+import com.dji.sample.manage.service.IDeviceService;
+import lombok.Data;
+import lombok.EqualsAndHashCode;
+
+/**
+ * @author sean
+ * @version 1.4
+ * @date 2023/4/14
+ */
+@EqualsAndHashCode(callSuper = true)
+@Data
+public class RemoteDebugOpenState extends RemoteDebugHandler {
+
+    @Override
+    public boolean canPublish(String sn) {
+        IDeviceService deviceService = SpringBeanUtils.getBean(IDeviceService.class);
+        DockModeCodeEnum dockMode = deviceService.getDockMode(sn);
+        return DockModeCodeEnum.IDLE == dockMode;
+    }
+}

src/main/java/com/dji/sample/control/model/dto/ResultNotifyDTO.java

@@ -0,0 +1,24 @@
+package com.dji.sample.control.model.dto;
+
+import lombok.AllArgsConstructor;
+import lombok.Builder;
+import lombok.Data;
+import lombok.NoArgsConstructor;
+
+/**
+ * @author sean
+ * @version 1.4
+ * @date 2023/3/1
+ */
+@Data
+@Builder
+@AllArgsConstructor
+@NoArgsConstructor
+public class ResultNotifyDTO {
+
+    private Integer result;
+
+    private String message;
+
+    private String sn;
+}

src/main/java/com/dji/sample/control/model/dto/ReturnHomeState.java

@@ -0,0 +1,27 @@
+package com.dji.sample.control.model.dto;
+
+import com.dji.sample.common.util.SpringBeanUtils;
+import com.dji.sample.control.service.impl.RemoteDebugHandler;
+import com.dji.sample.manage.model.dto.DeviceDTO;
+import com.dji.sample.manage.model.receiver.OsdSubDeviceReceiver;
+import com.dji.sample.manage.service.IDeviceRedisService;
+
+/**
+ * @author sean
+ * @version 1.4
+ * @date 2023/4/19
+ */
+
+public class ReturnHomeState extends RemoteDebugHandler {
+
+    @Override
+    public boolean canPublish(String sn) {
+        IDeviceRedisService deviceRedisService = SpringBeanUtils.getBean(IDeviceRedisService.class);
+        return deviceRedisService.getDeviceOnline(sn)
+                .map(DeviceDTO::getChildDeviceSn)
+                .flatMap(deviceSn -> deviceRedisService.getDeviceOsd(deviceSn, OsdSubDeviceReceiver.class))
+                .map(OsdSubDeviceReceiver::getElevation)
+                .map(elevation -> elevation > 0)
+                .orElse(false);
+    }
+}

src/main/java/com/dji/sample/control/model/dto/TakeoffProgressReceiver.java

@@ -0,0 +1,25 @@
+package com.dji.sample.control.model.dto;
+
+import com.dji.sample.control.model.enums.TakeoffStatusEnum;
+import com.dji.sample.wayline.model.enums.WaylineErrorCodeEnum;
+import lombok.Data;
+
+/**
+ * @author sean
+ * @version 1.4
+ * @date 2023/3/14
+ */
+@Data
+public class TakeoffProgressReceiver {
+
+    private WaylineErrorCodeEnum result;
+
+    private TakeoffStatusEnum status;
+
+    private String flightId;
+
+    private String trackId;
+
+    private Integer wayPointIndex;
+
+}

src/main/java/com/dji/sample/control/model/enums/CameraModeEnum.java

@@ -0,0 +1,26 @@
+package com.dji.sample.control.model.enums;
+
+import com.fasterxml.jackson.annotation.JsonCreator;
+import com.fasterxml.jackson.annotation.JsonValue;
+
+import java.util.Arrays;
+
+/**
+ * @author sean
+ * @version 1.4
+ * @date 2023/3/3
+ */
+public enum CameraModeEnum {
+
+    PHOTO, VIDEO;
+
+    @JsonValue
+    public int getVal() {
+        return ordinal();
+    }
+
+    @JsonCreator
+    public static CameraModeEnum find(int val) {
+        return Arrays.stream(values()).filter(modeEnum -> modeEnum.ordinal() == val).findAny().get();
+    }
+}

src/main/java/com/dji/sample/control/model/enums/CameraStateEnum.java

@@ -0,0 +1,26 @@
+package com.dji.sample.control.model.enums;
+
+import com.fasterxml.jackson.annotation.JsonCreator;
+import com.fasterxml.jackson.annotation.JsonValue;
+
+import java.util.Arrays;
+
+/**
+ * @author sean
+ * @version 1.4
+ * @date 2023/4/23
+ */
+public enum CameraStateEnum {
+
+    IDLE, WORKING;
+
+    @JsonValue
+    public int getVal() {
+        return ordinal();
+    }
+
+    @JsonCreator
+    public static CameraStateEnum find(int val) {
+        return Arrays.stream(values()).filter(stateEnum -> stateEnum.ordinal() == val).findAny().get();
+    }
+}

src/main/java/com/dji/sample/control/model/enums/CameraTypeEnum.java

@@ -0,0 +1,38 @@
+package com.dji.sample.control.model.enums;
+
+import com.fasterxml.jackson.annotation.JsonCreator;
+import com.fasterxml.jackson.annotation.JsonValue;
+import lombok.Getter;
+
+import java.util.Arrays;
+
+/**
+ * @author sean
+ * @version 1.4
+ * @date 2023/3/3
+ */
+@Getter
+public enum CameraTypeEnum {
+
+    ZOOM("zoom"),
+
+    WIDE("wide"),
+
+    IR("ir");
+
+    String type;
+
+    CameraTypeEnum(String type) {
+        this.type = type;
+    }
+
+    @JsonValue
+    public String getType() {
+        return type;
+    }
+
+    @JsonCreator
+    public static CameraTypeEnum find(String cameraType) {
+        return Arrays.stream(CameraTypeEnum.values()).filter(typeEnum -> typeEnum.type.equals(cameraType)).findAny().get();
+    }
+}

src/main/java/com/dji/sample/control/model/enums/DrcMethodEnum.java

@@ -0,0 +1,22 @@
+package com.dji.sample.control.model.enums;
+
+import lombok.Getter;
+
+/**
+ * @author sean
+ * @version 1.3
+ * @date 2023/1/11
+ */
+@Getter
+public enum DrcMethodEnum {
+
+    DRC_MODE_ENTER("drc_mode_enter"),
+
+    DRC_MODE_EXIT("drc_mode_exit");
+
+    String method;
+
+    DrcMethodEnum(String method) {
+        this.method = method;
+    }
+}

src/main/java/com/dji/sample/control/model/enums/DrcModeReasonEnum.java

@@ -0,0 +1,47 @@
+package com.dji.sample.control.model.enums;
+
+import com.fasterxml.jackson.annotation.JsonCreator;
+
+import java.util.Arrays;
+
+/**
+ * @author sean
+ * @version 1.4
+ * @date 2023/3/14
+ */
+public enum DrcModeReasonEnum {
+
+    UNKNOWN(-1, "unknown"),
+
+    RC_LOST(0, "The remote controller is lost."),
+
+    BATTERY_LOW_GO_HOME(1, "Due to low battery, the drone automatically returned home."),
+
+    BATTERY_SUPER_LOW_LANDING(2, "Due to the serious low battery, the drone landed automatically."),
+
+    NEAR_BOUNDARY(3, "The drone is near a not-fly zone."),
+
+    RC_AUTHORITY(4, "The remote controller grabs control authority.");
+
+    int val;
+
+    String message;
+
+    DrcModeReasonEnum(int val, String message) {
+        this.val = val;
+        this.message = message;
+    }
+
+    public int getVal() {
+        return val;
+    }
+
+    public String getMessage() {
+        return message;
+    }
+
+    @JsonCreator(mode = JsonCreator.Mode.DELEGATING)
+    public static DrcModeReasonEnum find(int val) {
+        return Arrays.stream(values()).filter(reasonEnum -> reasonEnum.val == val).findAny().orElse(UNKNOWN);
+    }
+}

src/main/java/com/dji/sample/control/model/enums/DrcStatusErrorEnum.java

@@ -0,0 +1,52 @@
+package com.dji.sample.control.model.enums;
+
+import com.dji.sample.common.error.IErrorInfo;
+import com.fasterxml.jackson.annotation.JsonCreator;
+
+import java.util.Arrays;
+
+/**
+ * @author sean
+ * @version 1.4
+ * @date 2023/3/17
+ */
+public enum DrcStatusErrorEnum implements IErrorInfo {
+
+    SUCCESS(0, "success"),
+
+    MQTT_ERR(514300, "The mqtt connection error."),
+
+    HEARTBEAT_TIMEOUT(514301, "The heartbeat times out and the dock disconnects."),
+
+    MQTT_CERTIFICATE_ERR(514302, "The mqtt certificate is abnormal and the connection fails."),
+
+    MQTT_LOST(514303, "The dock network is abnormal and the mqtt connection is lost."),
+
+    MQTT_REFUSE(514304, "The dock connection to mqtt server was refused."),
+
+    UNKNOWN(-1, "Unknown");
+
+    String msg;
+
+    int code;
+
+    DrcStatusErrorEnum(int code, String msg) {
+        this.code = code;
+        this.msg = msg;
+    }
+
+    @Override
+    public String getErrorMsg() {
+        return msg;
+    }
+
+    @Override
+    public Integer getErrorCode() {
+        return code;
+    }
+
+    @JsonCreator(mode = JsonCreator.Mode.DELEGATING)
+    public static DrcStatusErrorEnum find(int code) {
+        return Arrays.stream(values()).filter(error -> error.code == code).findAny().orElse(UNKNOWN);
+    }
+}

src/main/java/com/dji/sample/control/model/enums/DroneAuthorityEnum.java

@@ -0,0 +1,25 @@
+package com.dji.sample.control.model.enums;
+
+import com.fasterxml.jackson.annotation.JsonValue;
+
+/**
+ * @author sean
+ * @version 1.4
+ * @date 2023/3/1
+ */
+public enum DroneAuthorityEnum {
+
+    FLIGHT(1), PAYLOAD(2);
+
+    int val;
+
+    DroneAuthorityEnum(int val) {
+        this.val = val;
+    }
+
+    @JsonValue
+    public int getVal() {
+        return val;
+    }
+
+}

src/main/java/com/dji/sample/control/model/enums/DroneControlMethodEnum.java

@@ -0,0 +1,28 @@
+package com.dji.sample.control.model.enums;
+
+import lombok.Getter;
+
+/**
+ * @author sean
+ * @version 1.3
+ * @date 2023/2/21
+ */
+@Getter
+public enum DroneControlMethodEnum {
+
+    FLIGHT_AUTHORITY_GRAB("flight_authority_grab"),
+
+    PAYLOAD_AUTHORITY_GRAB("payload_authority_grab"),
+
+    FLY_TO_POINT("fly_to_point"),
+
+    FLY_TO_POINT_STOP("fly_to_point_stop"),
+
+    TAKE_OFF_TO_POINT("takeoff_to_point");
+
+    String method;
+
+    DroneControlMethodEnum(String method) {
+        this.method = method;
+    }
+}

src/main/java/com/dji/sample/control/model/enums/FlyToStatusEnum.java

@@ -0,0 +1,39 @@
+package com.dji.sample.control.model.enums;
+
+import com.fasterxml.jackson.annotation.JsonCreator;
+
+import java.util.Arrays;
+
+/**
+ * @author sean
+ * @version 1.4
+ * @date 2023/3/14
+ */
+public enum FlyToStatusEnum {
+
+    WAYLINE_PROGRESS("wayline_progress", "The FlyTo job is in progress."),
+
+    WAYLINE_FAILED("wayline_failed", "The Fly To task execution failed."),
+
+    WAYLINE_OK("wayline_ok", "The FlyTo job executed successfully."),
+
+    WAYLINE_CANCEL("wayline_cancel", "The FlyTo job is closed.");
+
+    String status;
+
+    String message;
+
+    FlyToStatusEnum(String status, String message) {
+        this.status = status;
+        this.message = message;
+    }
+
+    public String getMessage() {
+        return message;
+    }
+
+    @JsonCreator(mode = JsonCreator.Mode.DELEGATING)
+    public static FlyToStatusEnum find(String status) {
+        return Arrays.stream(values()).filter(statusEnum -> statusEnum.status.equals(status)).findAny().get();
+    }
+}

src/main/java/com/dji/sample/control/model/enums/GimbalResetModeEnum.java

@@ -0,0 +1,26 @@
+package com.dji.sample.control.model.enums;
+
+import com.fasterxml.jackson.annotation.JsonCreator;
+import com.fasterxml.jackson.annotation.JsonValue;
+
+import java.util.Arrays;
+
+/**
+ * @author sean
+ * @version 1.4
+ * @date 2023/3/13
+ */
+public enum GimbalResetModeEnum {
+
+    RECENTER, DOWN, RECENTER_PAN, PITCH_DOWN;
+
+    @JsonValue
+    public int getVal() {
+        return ordinal();
+    }
+
+    @JsonCreator
+    public static GimbalResetModeEnum find(int value) {
+        return Arrays.stream(values()).filter(resetModeEnum -> resetModeEnum.ordinal() == value).findAny().get();
+    }
+}

src/main/java/com/dji/sample/control/model/enums/MqttAclAccessEnum.java

@@ -0,0 +1,24 @@
+package com.dji.sample.control.model.enums;
+
+import lombok.Getter;
+
+/**
+ * @author sean
+ * @version 1.3
+ * @date 2023/1/13
+ */
+@Getter
+public enum MqttAclAccessEnum {
+
+    SUB(1),
+
+    PUB(2),
+
+    ALL(3);
+
+    int value;
+
+    MqttAclAccessEnum(int value) {
+        this.value = value;
+    }
+}

src/main/java/com/dji/sample/control/model/enums/PayloadCommandsEnum.java

@@ -0,0 +1,52 @@
+package com.dji.sample.control.model.enums;
+
+import com.dji.sample.control.service.impl.*;
+import com.fasterxml.jackson.annotation.JsonCreator;
+import com.fasterxml.jackson.annotation.JsonValue;
+
+import java.util.Arrays;
+
+/**
+ * @author sean
+ * @version 1.4
+ * @date 2023/3/2
+ */
+public enum PayloadCommandsEnum {
+
+    CAMERA_MODE_SWitCH("camera_mode_switch", CameraModeSwitchImpl.class),
+
+    CAMERA_PHOTO_TAKE("camera_photo_take", CameraPhotoTakeImpl.class),
+
+    CAMERA_RECORDING_START("camera_recording_start", CameraRecordingStartImpl.class),
+
+    CAMERA_RECORDING_STOP("camera_recording_stop", CameraRecordingStopImpl.class),
+
+    CAMERA_AIM("camera_aim", CameraAimImpl.class),
+
+    CAMERA_FOCAL_LENGTH_SET("camera_focal_length_set", CameraFocalLengthSetImpl.class),
+
+    GIMBAL_RESET("gimbal_reset", GimbalResetImpl.class);
+
+    String cmd;
+
+    Class<? extends PayloadCommandsHandler> clazz;
+
+    PayloadCommandsEnum(String cmd, Class<? extends PayloadCommandsHandler> clazz) {
+        this.cmd = cmd;
+        this.clazz = clazz;
+    }
+
+    @JsonValue
+    public String getCmd() {
+        return cmd;
+    }
+
+    public Class<? extends PayloadCommandsHandler> getClazz() {
+        return clazz;
+    }
+
+    @JsonCreator(mode = JsonCreator.Mode.DELEGATING)
+    public static PayloadCommandsEnum find(String cmd) {
+        return Arrays.stream(values()).filter(cmdEnum -> cmdEnum.cmd.equals(cmd)).findAny().get();
+    }
+}

src/main/java/com/dji/sample/control/model/enums/RemoteDebugMethodEnum.java

@@ -1,9 +1,7 @@
 package com.dji.sample.control.model.enums;
 
-import com.dji.sample.control.model.dto.AlarmState;
-import com.dji.sample.control.model.dto.BatteryStoreMode;
-import com.dji.sample.control.model.dto.LinkWorkMode;
-import com.dji.sample.manage.model.receiver.BasicDeviceProperty;
+import com.dji.sample.control.model.dto.*;
+import com.dji.sample.control.service.impl.RemoteDebugHandler;
 import lombok.Getter;
 
 import java.util.Arrays;
@@ -14,9 +12,9 @@ import java.util.Arrays;
  * @date 2022/11/14
  */
 @Getter
-public enum RemoteControlMethodEnum {
+public enum RemoteDebugMethodEnum {
 
-    DEBUG_MODE_OPEN("debug_mode_open", false, null),
+    DEBUG_MODE_OPEN("debug_mode_open", false, RemoteDebugOpenState.class),
 
     DEBUG_MODE_CLOSE("debug_mode_close", false, null),
 
@@ -24,7 +22,7 @@ public enum RemoteControlMethodEnum {
 
     SUPPLEMENT_LIGHT_CLOSE("supplement_light_close", false, null),
 
-    RETURN_HOME("return_home", false, null),
+    RETURN_HOME("return_home", false, ReturnHomeState.class),
 
     DEVICE_REBOOT("device_reboot", true, null),
 
@@ -64,16 +62,16 @@ public enum RemoteControlMethodEnum {
 
     private Boolean progress;
     
-    private Class<? extends BasicDeviceProperty> clazz;
+    private Class<? extends RemoteDebugHandler> clazz;
 
-    RemoteControlMethodEnum(String method, Boolean progress, Class<? extends BasicDeviceProperty> clazz) {
+    RemoteDebugMethodEnum(String method, Boolean progress, Class<? extends RemoteDebugHandler> clazz) {
         this.method = method;
         this.progress = progress;
         this.clazz = clazz;
     }
 
-    public static RemoteControlMethodEnum find(String method) {
-        return Arrays.stream(RemoteControlMethodEnum.values())
+    public static RemoteDebugMethodEnum find(String method) {
+        return Arrays.stream(RemoteDebugMethodEnum.values())
                 .filter(methodEnum -> methodEnum.method.equals(method))
                 .findAny()
                 .orElse(UNKNOWN);

src/main/java/com/dji/sample/control/model/enums/TakeoffStatusEnum.java

@@ -0,0 +1,47 @@
+package com.dji.sample.control.model.enums;
+
+import com.fasterxml.jackson.annotation.JsonCreator;
+
+import java.util.Arrays;
+
+/**
+ * @author sean
+ * @version 1.4
+ * @date 2023/3/17
+ */
+public enum TakeoffStatusEnum {
+
+    TASK_READY("task_ready", "The drone is preparing to take off."),
+
+    WAYLINE_PROGRESS("wayline_progress", "The drone is taking off."),
+
+    WAYLINE_FAILED("wayline_failed", "The drone failed to take off."),
+
+    WAYLINE_OK("wayline_ok", "The drone took off successfully."),
+
+    WAYLINE_CANCEL("wayline_cancel", "The drone takeoff job has been cancelled."),
+
+    TASK_FINISH("task_finish", "The drone takeoff job is completed.");
+
+    String status;
+
+    String message;
+
+    TakeoffStatusEnum(String status, String message) {
+        this.status = status;
+        this.message = message;
+    }
+
+    public String getStatus() {
+        return status;
+    }
+
+    public String getMessage() {
+        return message;
+    }
+
+    @JsonCreator(mode = JsonCreator.Mode.DELEGATING)
+    public static TakeoffStatusEnum find(String status) {
+        return Arrays.stream(values()).filter(statusEnum -> statusEnum.status.equals(status)).findAny().get();
+    }
+}

src/main/java/com/dji/sample/control/model/param/DeviceDrcInfoParam.java

@@ -0,0 +1,19 @@
+package com.dji.sample.control.model.param;
+
+import lombok.Data;
+import org.hibernate.validator.constraints.Range;
+
+/**
+ * @author sean
+ * @version 1.3
+ * @date 2023/2/2
+ */
+@Data
+public class DeviceDrcInfoParam {
+
+    @Range(min = 1, max = 30)
+    private Integer osdFrequency = 10;
+
+    @Range(min = 1, max = 30)
+    private Integer hsiFrequency = 1;
+}

src/main/java/com/dji/sample/control/model/param/DrcConnectParam.java

@@ -0,0 +1,19 @@
+package com.dji.sample.control.model.param;
+
+import com.dji.sample.component.redis.RedisConst;
+import lombok.Data;
+import org.hibernate.validator.constraints.Range;
+
+/**
+ * @author sean
+ * @version 1.3
+ * @date 2023/1/11
+ */
+@Data
+public class DrcConnectParam {
+
+    private String clientId;
+
+    @Range(min = 1800, max = 86400)
+    private long expireSec = RedisConst.DRC_MODE_ALIVE_SECOND;
+}

src/main/java/com/dji/sample/control/model/param/DrcModeParam.java

@@ -0,0 +1,35 @@
+package com.dji.sample.control.model.param;
+
+import com.dji.sample.component.redis.RedisConst;
+import lombok.AllArgsConstructor;
+import lombok.Builder;
+import lombok.Data;
+import lombok.NoArgsConstructor;
+import org.hibernate.validator.constraints.Range;
+
+import javax.validation.Valid;
+import javax.validation.constraints.NotBlank;
+
+/**
+ * @author sean
+ * @version 1.3
+ * @date 2023/1/11
+ */
+@Data
+@Builder
+@NoArgsConstructor
+@AllArgsConstructor
+public class DrcModeParam {
+
+    @NotBlank
+    private String clientId;
+
+    @NotBlank
+    private String dockSn;
+
+    @Range(min = 1800, max = 86400)
+    private long expireSec = RedisConst.DRC_MODE_ALIVE_SECOND;
+
+    @Valid
+    private DeviceDrcInfoParam deviceInfo = new DeviceDrcInfoParam();
+}

src/main/java/com/dji/sample/control/model/param/DronePayloadParam.java

@@ -0,0 +1,54 @@
+package com.dji.sample.control.model.param;
+
+import com.dji.sample.control.model.enums.CameraModeEnum;
+import com.dji.sample.control.model.enums.CameraTypeEnum;
+import com.dji.sample.control.model.enums.GimbalResetModeEnum;
+import lombok.Data;
+import org.hibernate.validator.constraints.Range;
+
+import javax.validation.constraints.NotNull;
+import javax.validation.constraints.Pattern;
+
+/**
+ * @author sean
+ * @version 1.4
+ * @date 2023/3/1
+ */
+@Data
+public class DronePayloadParam {
+
+    @Pattern(regexp = "\\d+-\\d+-\\d+")
+    @NotNull
+    private String payloadIndex;
+
+    private CameraTypeEnum cameraType;
+
+    @Range(min = 2, max = 200)
+    private Float zoomFactor;
+
+    private CameraModeEnum cameraMode;
+
+    /**
+     * true: Lock the gimbal, the gimbal and the drone rotate together.
+     * false: Only the gimbal rotates, but the drone does not.
+     */
+    private Boolean locked;
+
+    private Double pitchSpeed;
+
+    /**
+     * Only valid when locked is false.
+     */
+    private Double yawSpeed;
+
+    /**
+     * upper left corner as center point
+     */
+    @Range(min = 0, max = 1)
+    private Double x;
+
+    @Range(min = 0, max = 1)
+    private Double y;
+
+    private GimbalResetModeEnum resetMode;
+}

src/main/java/com/dji/sample/control/model/param/FlyToPointParam.java

@@ -0,0 +1,37 @@
+package com.dji.sample.control.model.param;
+
+import com.dji.sample.control.model.dto.PointDTO;
+import lombok.AllArgsConstructor;
+import lombok.Data;
+import lombok.NoArgsConstructor;
+import org.hibernate.validator.constraints.Range;
+
+import javax.validation.Valid;
+import javax.validation.constraints.NotNull;
+import javax.validation.constraints.Size;
+import java.util.List;
+
+/**
+ * @author sean
+ * @version 1.3
+ * @date 2023/2/14
+ */
+@Data
+@AllArgsConstructor
+@NoArgsConstructor
+public class FlyToPointParam {
+
+    private String flyToId;
+
+    @Range(min = 1, max = 15)
+    @NotNull
+    private Integer maxSpeed;
+
+    /**
+     * The M30 series only support one point.
+     */
+    @Size(min = 1)
+    @Valid
+    @NotNull
+    private List<PointDTO> points;
+}

src/main/java/com/dji/sample/control/model/param/PayloadCommandsParam.java

@@ -0,0 +1,27 @@
+package com.dji.sample.control.model.param;
+
+import com.dji.sample.control.model.enums.PayloadCommandsEnum;
+import lombok.Data;
+
+import javax.validation.Valid;
+import javax.validation.constraints.NotNull;
+
+/**
+ * @author sean
+ * @version 1.4
+ * @date 2023/3/2
+ */
+@Data
+public class PayloadCommandsParam {
+
+    private String sn;
+
+    @NotNull
+    @Valid
+    private PayloadCommandsEnum cmd;
+
+    @Valid
+    @NotNull
+    private DronePayloadParam data;
+
+}

src/main/java/com/dji/sample/control/model/param/TakeoffToPointParam.java

@@ -0,0 +1,49 @@
+package com.dji.sample.control.model.param;
+
+import com.dji.sample.manage.model.enums.DroneRcLostActionEnum;
+import com.dji.sample.manage.model.enums.WaylineRcLostActionEnum;
+import lombok.Data;
+import org.hibernate.validator.constraints.Range;
+
+import javax.validation.constraints.NotNull;
+
+/**
+ * @author sean
+ * @version 1.4
+ * @date 2023/3/1
+ */
+@Data
+public class TakeoffToPointParam {
+
+    private String flightId;
+
+    @Range(min = -180, max = 180)
+    @NotNull
+    private Double targetLongitude;
+
+    @Range(min = -90, max = 90)
+    @NotNull
+    private Double targetLatitude;
+
+    @Range(min = 2, max = 1500)
+    @NotNull
+    private Double targetHeight;
+
+    @Range(min = 2, max = 1500)
+    @NotNull
+    private Double securityTakeoffHeight;
+
+    @Range(min = 2, max = 1500)
+    @NotNull
+    private Double rthAltitude;
+
+    @NotNull
+    private DroneRcLostActionEnum rcLostAction;
+
+    @NotNull
+    private WaylineRcLostActionEnum exitWaylineWhenRcLost;
+
+    @Range(min = 1, max = 15)
+    @NotNull
+    private Double maxSpeed;
+}

src/main/java/com/dji/sample/control/service/IControlService.java

@@ -2,7 +2,8 @@ package com.dji.sample.control.service;
 
 import com.dji.sample.common.model.ResponseResult;
 import com.dji.sample.component.mqtt.model.CommonTopicReceiver;
-import com.dji.sample.control.model.param.RemoteDebugParam;
+import com.dji.sample.control.model.enums.DroneAuthorityEnum;
+import com.dji.sample.control.model.param.*;
 import org.springframework.messaging.MessageHeaders;
 
 /**
@@ -19,13 +20,60 @@ public interface IControlService {
      * @param param
      * @return
      */
-    ResponseResult controlDock(String sn, String serviceIdentifier, RemoteDebugParam param);
+    ResponseResult controlDockDebug(String sn, String serviceIdentifier, RemoteDebugParam param);
 
     /**
-     * Handles multi-state command progress information.
+     * Make the drone fly to the target point.
+     * @param sn
+     * @param param
+     * @return
+     */
+    ResponseResult flyToPoint(String sn, FlyToPointParam param);
+
+    /**
+     * End the mission of flying the drone to the target point.
+     * @param sn
+     * @return
+     */
+    ResponseResult flyToPointStop(String sn);
+
+    /**
+     * Handle progress result notifications for fly to target point.
+     * @param receiver
+     * @param headers
+     * @return
+     */
+    CommonTopicReceiver handleFlyToPointProgress(CommonTopicReceiver receiver, MessageHeaders headers);
+
+    /**
+     * Control the drone to take off.
+     * @param sn
+     * @param param
+     * @return
+     */
+    ResponseResult takeoffToPoint(String sn, TakeoffToPointParam param);
+
+    /**
+     * Handle progress result notifications for takeoff to target point.
      * @param receiver
      * @param headers
+     * @return
      */
-    void handleControlProgress(CommonTopicReceiver receiver, MessageHeaders headers);
+    CommonTopicReceiver handleTakeoffToPointProgress(CommonTopicReceiver receiver, MessageHeaders headers);
 
+    /**
+     * Seize the control authority of the drone or the payload control authority.
+     * @param sn
+     * @param authority
+     * @param param
+     * @return
+     */
+    ResponseResult seizeAuthority(String sn, DroneAuthorityEnum authority, DronePayloadParam param);
+
+    /**
+     * Control the payload of the drone.
+     * @param param
+     * @return
+     */
+    ResponseResult payloadCommands(PayloadCommandsParam param) throws Exception;
 }

src/main/java/com/dji/sample/control/service/IDrcService.java

@@ -0,0 +1,60 @@
+package com.dji.sample.control.service;
+
+import com.dji.sample.control.model.dto.JwtAclDTO;
+import com.dji.sample.control.model.dto.MqttBrokerDTO;
+import com.dji.sample.control.model.param.DrcConnectParam;
+import com.dji.sample.control.model.param.DrcModeParam;
+
+/**
+ * @author sean
+ * @version 1.3
+ * @date 2023/1/11
+ */
+public interface IDrcService {
+
+    /**
+     * Save the drc mode of dock in redis.
+     * @param dockSn
+     * @param clientId
+     */
+    void setDrcModeInRedis(String dockSn, String clientId);
+
+    /**
+     * Query the client that is controlling the dock.
+     * @param dockSn
+     * @return clientId
+     */
+    String getDrcModeInRedis(String dockSn);
+
+    /**
+     * Delete the drc mode of dock in redis.
+     * @param dockSn
+     * @return
+     */
+    Boolean delDrcModeInRedis(String dockSn);
+
+    /**
+     * Provide mqtt options for the control terminal.
+     * @param workspaceId
+     * @param userId
+     * @param username
+     * @param param
+     * @return
+     */
+    MqttBrokerDTO userDrcAuth(String workspaceId, String userId, String username, DrcConnectParam param);
+
+    /**
+     * Make the dock enter drc mode. And grant relevant permissions.
+     * @param workspaceId
+     * @param param
+     * @return
+     */
+    JwtAclDTO deviceDrcEnter(String workspaceId, DrcModeParam param);
+
+    /**
+     * Make the dock exit drc mode.
+     * @param workspaceId
+     * @param param
+     */
+    void deviceDrcExit(String workspaceId, DrcModeParam param);
+}

src/main/java/com/dji/sample/control/service/impl/CameraAimImpl.java

@@ -0,0 +1,24 @@
+package com.dji.sample.control.service.impl;
+
+import com.dji.sample.control.model.param.DronePayloadParam;
+
+import java.util.Objects;
+
+/**
+ * @author sean
+ * @version 1.4
+ * @date 2023/4/23
+ */
+public class CameraAimImpl extends PayloadCommandsHandler {
+
+    public CameraAimImpl(DronePayloadParam param) {
+        super(param);
+    }
+
+    @Override
+    public boolean valid() {
+        return Objects.nonNull(param.getX()) && Objects.nonNull(param.getY())
+                && Objects.nonNull(param.getLocked()) && Objects.nonNull(param.getCameraType());
+    }
+
+}

src/main/java/com/dji/sample/control/service/impl/CameraFocalLengthSetImpl.java

@@ -0,0 +1,41 @@
+package com.dji.sample.control.service.impl;
+
+import com.dji.sample.control.model.enums.CameraStateEnum;
+import com.dji.sample.control.model.enums.CameraTypeEnum;
+import com.dji.sample.control.model.param.DronePayloadParam;
+
+import java.util.Objects;
+
+/**
+ * @author sean
+ * @version 1.4
+ * @date 2023/4/23
+ */
+public class CameraFocalLengthSetImpl extends PayloadCommandsHandler {
+
+    public CameraFocalLengthSetImpl(DronePayloadParam param) {
+        super(param);
+    }
+
+    @Override
+    public boolean valid() {
+        return Objects.nonNull(param.getCameraType()) && Objects.nonNull(param.getZoomFactor())
+                && (CameraTypeEnum.ZOOM == param.getCameraType()
+                || CameraTypeEnum.IR == param.getCameraType());
+    }
+
+    @Override
+    public boolean canPublish(String deviceSn) {
+        super.canPublish(deviceSn);
+        if (CameraStateEnum.WORKING == osdCamera.getPhotoState()) {
+            return false;
+        }
+        switch (param.getCameraType()) {
+            case IR:
+                return param.getZoomFactor().intValue() != osdCamera.getIrZoomFactor();
+            case ZOOM:
+                return param.getZoomFactor().intValue() != osdCamera.getZoomFactor();
+        }
+        return false;
+    }
+}

src/main/java/com/dji/sample/control/service/impl/CameraModeSwitchImpl.java

@@ -0,0 +1,31 @@
+package com.dji.sample.control.service.impl;
+
+import com.dji.sample.control.model.enums.CameraStateEnum;
+import com.dji.sample.control.model.param.DronePayloadParam;
+
+import java.util.Objects;
+
+/**
+ * @author sean
+ * @version 1.4
+ * @date 2023/4/23
+ */
+public class CameraModeSwitchImpl extends PayloadCommandsHandler {
+
+    public CameraModeSwitchImpl(DronePayloadParam param) {
+        super(param);
+    }
+
+    @Override
+    public boolean valid() {
+        return Objects.nonNull(param.getCameraMode());
+    }
+
+    @Override
+    public boolean canPublish(String deviceSn) {
+        super.canPublish(deviceSn);
+        return param.getCameraMode() != osdCamera.getCameraMode()
+                && CameraStateEnum.IDLE == osdCamera.getPhotoState()
+                && CameraStateEnum.IDLE == osdCamera.getRecordingState();
+    }
+}

src/main/java/com/dji/sample/control/service/impl/CameraPhotoTakeImpl.java

@@ -0,0 +1,22 @@
+package com.dji.sample.control.service.impl;
+
+import com.dji.sample.control.model.enums.CameraStateEnum;
+import com.dji.sample.control.model.param.DronePayloadParam;
+
+/**
+ * @author sean
+ * @version 1.4
+ * @date 2023/4/23
+ */
+public class CameraPhotoTakeImpl extends PayloadCommandsHandler {
+
+    public CameraPhotoTakeImpl(DronePayloadParam param) {
+        super(param);
+    }
+
+    @Override
+    public boolean canPublish(String deviceSn) {
+        super.canPublish(deviceSn);
+        return CameraStateEnum.WORKING != osdCamera.getPhotoState() && osdCamera.getRemainPhotoNum() > 0;
+    }
+}

src/main/java/com/dji/sample/control/service/impl/CameraRecordingStartImpl.java

@@ -0,0 +1,25 @@
+package com.dji.sample.control.service.impl;
+
+import com.dji.sample.control.model.enums.CameraModeEnum;
+import com.dji.sample.control.model.enums.CameraStateEnum;
+import com.dji.sample.control.model.param.DronePayloadParam;
+
+/**
+ * @author sean
+ * @version 1.4
+ * @date 2023/4/23
+ */
+public class CameraRecordingStartImpl extends PayloadCommandsHandler {
+
+    public CameraRecordingStartImpl(DronePayloadParam param) {
+        super(param);
+    }
+
+    @Override
+    public boolean canPublish(String deviceSn) {
+        super.canPublish(deviceSn);
+        return CameraModeEnum.VIDEO == osdCamera.getCameraMode()
+                && CameraStateEnum.IDLE == osdCamera.getRecordingState()
+                && osdCamera.getRemainRecordDuration() > 0;
+    }
+}

src/main/java/com/dji/sample/control/service/impl/CameraRecordingStopImpl.java

@@ -0,0 +1,22 @@
+package com.dji.sample.control.service.impl;
+
+import com.dji.sample.control.model.enums.CameraStateEnum;
+import com.dji.sample.control.model.param.DronePayloadParam;
+
+/**
+ * @author sean
+ * @version 1.4
+ * @date 2023/4/23
+ */
+public class CameraRecordingStopImpl extends PayloadCommandsHandler {
+
+    public CameraRecordingStopImpl(DronePayloadParam param) {
+        super(param);
+    }
+
+    @Override
+    public boolean canPublish(String deviceSn) {
+        super.canPublish(deviceSn);
+        return CameraStateEnum.WORKING == osdCamera.getRecordingState();
+    }
+}

src/main/java/com/dji/sample/control/service/impl/ControlServiceImpl.java

@@ -6,26 +6,34 @@ import com.dji.sample.component.mqtt.model.*;
 import com.dji.sample.component.mqtt.service.IMessageSenderService;
 import com.dji.sample.component.redis.RedisConst;
 import com.dji.sample.component.redis.RedisOpsUtils;
-import com.dji.sample.component.websocket.model.CustomWebSocketMessage;
+import com.dji.sample.component.websocket.model.BizCodeEnum;
 import com.dji.sample.component.websocket.service.ISendMessageService;
-import com.dji.sample.component.websocket.service.IWebSocketManageService;
-import com.dji.sample.control.model.enums.RemoteControlMethodEnum;
-import com.dji.sample.control.model.param.RemoteDebugParam;
+import com.dji.sample.control.model.dto.FlyToProgressReceiver;
+import com.dji.sample.control.model.dto.ResultNotifyDTO;
+import com.dji.sample.control.model.dto.TakeoffProgressReceiver;
+import com.dji.sample.control.model.enums.DroneAuthorityEnum;
+import com.dji.sample.control.model.enums.DroneControlMethodEnum;
+import com.dji.sample.control.model.enums.RemoteDebugMethodEnum;
+import com.dji.sample.control.model.param.*;
 import com.dji.sample.control.service.IControlService;
 import com.dji.sample.manage.model.dto.DeviceDTO;
+import com.dji.sample.manage.model.enums.DeviceModeCodeEnum;
+import com.dji.sample.manage.model.enums.DockModeCodeEnum;
 import com.dji.sample.manage.model.enums.UserTypeEnum;
-import com.dji.sample.manage.model.receiver.BasicDeviceProperty;
+import com.dji.sample.manage.service.IDevicePayloadService;
+import com.dji.sample.manage.service.IDeviceRedisService;
 import com.dji.sample.manage.service.IDeviceService;
+import com.dji.sample.wayline.model.enums.WaylineErrorCodeEnum;
 import com.fasterxml.jackson.core.type.TypeReference;
 import com.fasterxml.jackson.databind.ObjectMapper;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.integration.annotation.ServiceActivator;
-import org.springframework.integration.mqtt.support.MqttHeaders;
 import org.springframework.messaging.MessageHeaders;
 import org.springframework.stereotype.Service;
 
 import java.util.Objects;
+import java.util.Optional;
 import java.util.UUID;
 
 /**
@@ -44,55 +52,49 @@ public class ControlServiceImpl implements IControlService {
     private ISendMessageService webSocketMessageService;
 
     @Autowired
-    private IWebSocketManageService webSocketManageService;
+    private IDeviceService deviceService;
 
     @Autowired
-    private IDeviceService deviceService;
+    private IDeviceRedisService deviceRedisService;
 
     @Autowired
     private ObjectMapper mapper;
 
+    @Autowired
+    private IDevicePayloadService devicePayloadService;
+
+    private RemoteDebugHandler checkDebugCondition(String sn, RemoteDebugParam param, RemoteDebugMethodEnum controlMethodEnum) {
+        RemoteDebugHandler handler = Objects.nonNull(controlMethodEnum.getClazz()) ?
+                mapper.convertValue(Objects.nonNull(param) ? param : new Object(), controlMethodEnum.getClazz())
+                : new RemoteDebugHandler();
+        if (!handler.canPublish(sn)) {
+            throw new RuntimeException("The current state of the dock does not support this function.");
+        }
+        if (Objects.nonNull(param) && !handler.valid()) {
+            throw new RuntimeException(CommonErrorEnum.ILLEGAL_ARGUMENT.getErrorMsg());
+        }
+        return handler;
+    }
+
     @Override
-    public ResponseResult controlDock(String sn, String serviceIdentifier, RemoteDebugParam param) {
-        RemoteControlMethodEnum controlMethodEnum = RemoteControlMethodEnum.find(serviceIdentifier);
-        if (RemoteControlMethodEnum.UNKNOWN == controlMethodEnum) {
+    public ResponseResult controlDockDebug(String sn, String serviceIdentifier, RemoteDebugParam param) {
+        RemoteDebugMethodEnum controlMethodEnum = RemoteDebugMethodEnum.find(serviceIdentifier);
+        if (RemoteDebugMethodEnum.UNKNOWN == controlMethodEnum) {
             return ResponseResult.error("The " + serviceIdentifier + " method does not exist.");
         }
 
-        Object data = "";
-        // Add parameter validation.
-        if (Objects.nonNull(controlMethodEnum.getClazz())) {
-            if (Objects.isNull(param)) {
-                return ResponseResult.error(CommonErrorEnum.ILLEGAL_ARGUMENT);
-            }
-            BasicDeviceProperty basicDeviceProperty = mapper.convertValue(param.getAction(), controlMethodEnum.getClazz());
-            if (!basicDeviceProperty.valid()) {
-                return ResponseResult.error(CommonErrorEnum.ILLEGAL_ARGUMENT);
-            }
-            data = basicDeviceProperty;
-        }
+        RemoteDebugHandler data = checkDebugCondition(sn, param, controlMethodEnum);
 
-        boolean isExist = deviceService.checkDeviceOnline(sn);
+        boolean isExist = deviceRedisService.checkDeviceOnline(sn);
         if (!isExist) {
             return ResponseResult.error("The dock is offline.");
         }
-        String topic = TopicConst.THING_MODEL_PRE + TopicConst.PRODUCT + sn + TopicConst.SERVICES_SUF;
         String bid = UUID.randomUUID().toString();
-        ServiceReply serviceReplyOpt = messageSenderService.publishWithReply(
-                topic, CommonTopicResponse.builder()
-                        .tid(UUID.randomUUID().toString())
-                        .bid(bid)
-                        .method(serviceIdentifier)
-                        .timestamp(System.currentTimeMillis())
-                        .data(data)
-                        .build());
+        ServiceReply serviceReply = messageSenderService.publishServicesTopic(sn, serviceIdentifier, data, bid);
 
-        ServiceReply<EventsOutputReceiver> serviceReply = mapper.convertValue(
-                serviceReplyOpt, new TypeReference<ServiceReply<EventsOutputReceiver>>() {});
         if (ResponseResult.CODE_SUCCESS != serviceReply.getResult()) {
             return ResponseResult.error(serviceReply.getResult(),
-                    Objects.nonNull(serviceReply.getOutput()) ? serviceReply.getOutput().getStatus()
-                            : "error: " + serviceIdentifier + serviceReply.getResult());
+                    "error: " + serviceIdentifier + serviceReply.getResult());
         }
         if (controlMethodEnum.getProgress()) {
             RedisOpsUtils.setWithExpire(serviceIdentifier + RedisConst.DELIMITER +  bid, sn,
@@ -101,17 +103,22 @@ public class ControlServiceImpl implements IControlService {
         return ResponseResult.success();
     }
 
-    @Override
-    @ServiceActivator(inputChannel = ChannelName.INBOUND_EVENTS_CONTROL_PROGRESS, outputChannel = ChannelName.OUTBOUND)
-    public void handleControlProgress(CommonTopicReceiver receiver, MessageHeaders headers) {
+    /**
+     * Handles multi-state command progress information.
+     * @param receiver
+     * @param headers
+     * @return
+     */
+    @ServiceActivator(inputChannel = ChannelName.INBOUND_EVENTS_CONTROL_PROGRESS, outputChannel = ChannelName.OUTBOUND_EVENTS)
+    public CommonTopicReceiver handleControlProgress(CommonTopicReceiver receiver, MessageHeaders headers) {
         String key = receiver.getMethod() + RedisConst.DELIMITER + receiver.getBid();
         if (RedisOpsUtils.getExpire(key) <= 0) {
-            return;
+            return receiver;
         }
         String sn = RedisOpsUtils.get(key).toString();
 
-        EventsReceiver<EventsOutputReceiver> eventsReceiver = mapper.convertValue(receiver.getData(),
-                new TypeReference<EventsReceiver<EventsOutputReceiver>>(){});
+        EventsReceiver<EventsOutputProgressReceiver> eventsReceiver = mapper.convertValue(receiver.getData(),
+                new TypeReference<EventsReceiver<EventsOutputProgressReceiver>>(){});
         eventsReceiver.setBid(receiver.getBid());
         eventsReceiver.setSn(sn);
 
@@ -127,26 +134,168 @@ public class ControlServiceImpl implements IControlService {
             RedisOpsUtils.del(key);
         }
 
-        DeviceDTO device = (DeviceDTO) RedisOpsUtils.get(RedisConst.DEVICE_ONLINE_PREFIX + sn);
-        webSocketMessageService.sendBatch(
-                webSocketManageService.getValueWithWorkspaceAndUserType(
-                        device.getWorkspaceId(), UserTypeEnum.WEB.getVal()),
-                CustomWebSocketMessage.builder()
-                        .data(eventsReceiver)
-                        .timestamp(System.currentTimeMillis())
-                        .bizCode(receiver.getMethod())
+        Optional<DeviceDTO> deviceOpt = deviceRedisService.getDeviceOnline(sn);
+
+        if (deviceOpt.isEmpty()) {
+            throw new RuntimeException("The device is offline.");
+        }
+
+        DeviceDTO device = deviceOpt.get();
+        webSocketMessageService.sendBatch(device.getWorkspaceId(), UserTypeEnum.WEB.getVal(),
+                receiver.getMethod(), eventsReceiver);
+
+        return receiver;
+    }
+
+    private void checkFlyToCondition(String dockSn) {
+        // TODO 设备固件版本不兼容情况
+        Optional<DeviceDTO> dockOpt = deviceRedisService.getDeviceOnline(dockSn);
+        if (dockOpt.isEmpty()) {
+            throw new RuntimeException("The dock is offline, please restart the dock.");
+        }
+
+        DeviceModeCodeEnum deviceMode = deviceService.getDeviceMode(dockOpt.get().getChildDeviceSn());
+        if (DeviceModeCodeEnum.MANUAL != deviceMode) {
+            throw new RuntimeException("The current state of the drone does not support this function, please try again later.");
+        }
+
+        ResponseResult result = seizeAuthority(dockSn, DroneAuthorityEnum.FLIGHT, null);
+        if (ResponseResult.CODE_SUCCESS != result.getCode()) {
+            throw new IllegalArgumentException(result.getMessage());
+        }
+    }
+
+    @Override
+    public ResponseResult flyToPoint(String sn, FlyToPointParam param) {
+        checkFlyToCondition(sn);
+
+        param.setFlyToId(UUID.randomUUID().toString());
+        ServiceReply reply = messageSenderService.publishServicesTopic(sn, DroneControlMethodEnum.FLY_TO_POINT.getMethod(), param, param.getFlyToId());
+        return ResponseResult.CODE_SUCCESS != reply.getResult() ?
+                ResponseResult.error("Flying to the target point failed." + reply.getResult())
+                : ResponseResult.success();
+    }
+
+    @Override
+    public ResponseResult flyToPointStop(String sn) {
+        ServiceReply reply = messageSenderService.publishServicesTopic(sn, DroneControlMethodEnum.FLY_TO_POINT_STOP.getMethod(), null);
+        return ResponseResult.CODE_SUCCESS != reply.getResult() ?
+                ResponseResult.error("The drone flying to the target point failed to stop. " + reply.getResult())
+                : ResponseResult.success();
+    }
+
+    @ServiceActivator(inputChannel = ChannelName.INBOUND_EVENTS_FLY_TO_POINT_PROGRESS, outputChannel = ChannelName.OUTBOUND_EVENTS)
+    public CommonTopicReceiver handleFlyToPointProgress(CommonTopicReceiver receiver, MessageHeaders headers) {
+        String dockSn  = receiver.getGateway();
+
+        Optional<DeviceDTO> deviceOpt = deviceRedisService.getDeviceOnline(dockSn);
+        if (deviceOpt.isEmpty()) {
+            log.error("The dock is offline.");
+            return null;
+        }
+
+        FlyToProgressReceiver eventsReceiver = mapper.convertValue(receiver.getData(), new TypeReference<FlyToProgressReceiver>(){});
+        webSocketMessageService.sendBatch(deviceOpt.get().getWorkspaceId(), UserTypeEnum.WEB.getVal(),
+                BizCodeEnum.FLY_TO_POINT_PROGRESS.getCode(),
+                ResultNotifyDTO.builder().sn(dockSn)
+                        .message(WaylineErrorCodeEnum.SUCCESS == eventsReceiver.getResult() ?
+                                eventsReceiver.getStatus().getMessage() : eventsReceiver.getResult().getErrorMsg())
+                        .result(eventsReceiver.getResult().getErrorCode())
+                        .build());
+        return receiver;
+    }
+
+    private void checkTakeoffCondition(String dockSn) {
+        Optional<DeviceDTO> dockOpt = deviceRedisService.getDeviceOnline(dockSn);
+        if (dockOpt.isEmpty() || DockModeCodeEnum.IDLE != deviceService.getDockMode(dockSn)) {
+            throw new RuntimeException("The current state does not support takeoff.");
+        }
+
+        ResponseResult result = seizeAuthority(dockSn, DroneAuthorityEnum.FLIGHT, null);
+        if (ResponseResult.CODE_SUCCESS != result.getCode()) {
+            throw new IllegalArgumentException(result.getMessage());
+        }
+
+    }
+
+    @Override
+    public ResponseResult takeoffToPoint(String sn, TakeoffToPointParam param) {
+        checkTakeoffCondition(sn);
+
+        param.setFlightId(UUID.randomUUID().toString());
+        ServiceReply reply = messageSenderService.publishServicesTopic(sn, DroneControlMethodEnum.TAKE_OFF_TO_POINT.getMethod(), param, param.getFlightId());
+        return ResponseResult.CODE_SUCCESS != reply.getResult() ?
+                ResponseResult.error("The drone failed to take off. " + reply.getResult())
+                : ResponseResult.success();
+    }
+
+    @ServiceActivator(inputChannel = ChannelName.INBOUND_EVENTS_TAKE_OFF_TO_POINT_PROGRESS, outputChannel = ChannelName.OUTBOUND_EVENTS)
+    public CommonTopicReceiver handleTakeoffToPointProgress(CommonTopicReceiver receiver, MessageHeaders headers) {
+        String dockSn  = receiver.getGateway();
+
+        Optional<DeviceDTO> deviceOpt = deviceRedisService.getDeviceOnline(dockSn);
+        if (deviceOpt.isEmpty()) {
+            log.error("The dock is offline.");
+            return null;
+        }
+        TakeoffProgressReceiver eventsReceiver = mapper.convertValue(receiver.getData(), new TypeReference<TakeoffProgressReceiver>(){});
+
+        webSocketMessageService.sendBatch(deviceOpt.get().getWorkspaceId(), UserTypeEnum.WEB.getVal(),
+                BizCodeEnum.TAKE_OFF_TO_POINT_PROGRESS.getCode(),
+                ResultNotifyDTO.builder().sn(dockSn)
+                        .message(WaylineErrorCodeEnum.SUCCESS == eventsReceiver.getResult() ?
+                                eventsReceiver.getStatus().getMessage() : eventsReceiver.getResult().getErrorMsg())
+                        .result(eventsReceiver.getResult().getErrorCode())
                         .build());
 
-        if (receiver.getNeedReply() != null && receiver.getNeedReply() == 1) {
-            String topic = headers.get(MqttHeaders.RECEIVED_TOPIC) + TopicConst._REPLY_SUF;
-            messageSenderService.publish(topic,
-                    CommonTopicResponse.builder()
-                            .tid(receiver.getTid())
-                            .bid(receiver.getBid())
-                            .method(receiver.getMethod())
-                            .timestamp(System.currentTimeMillis())
-                            .data(RequestsReply.success())
-                            .build());
+        return receiver;
+    }
+
+    @Override
+    public ResponseResult seizeAuthority(String sn, DroneAuthorityEnum authority, DronePayloadParam param) {
+        String method;
+        switch (authority) {
+            case FLIGHT:
+                if (deviceService.checkAuthorityFlight(sn)) {
+                    return ResponseResult.success();
+                }
+                method = DroneControlMethodEnum.FLIGHT_AUTHORITY_GRAB.getMethod();
+                break;
+            case PAYLOAD:
+                if (checkPayloadAuthority(sn, param.getPayloadIndex())) {
+                    return ResponseResult.success();
+                }
+                method = DroneControlMethodEnum.PAYLOAD_AUTHORITY_GRAB.getMethod();
+                break;
+            default:
+                return ResponseResult.error(CommonErrorEnum.ILLEGAL_ARGUMENT);
+        }
+        ServiceReply serviceReply = messageSenderService.publishServicesTopic(sn, method, param);
+        return ResponseResult.CODE_SUCCESS != serviceReply.getResult() ?
+                ResponseResult.error(serviceReply.getResult(), "Method: " + method + " Error Code:" + serviceReply.getResult())
+                : ResponseResult.success();
+    }
+
+    private Boolean checkPayloadAuthority(String sn, String payloadIndex) {
+        Optional<DeviceDTO> dockOpt = deviceRedisService.getDeviceOnline(sn);
+        if (dockOpt.isEmpty()) {
+            throw new RuntimeException("The dock is offline, please restart the dock.");
         }
+        return devicePayloadService.checkAuthorityPayload(dockOpt.get().getChildDeviceSn(), payloadIndex);
+    }
+
+
+    @Override
+    public ResponseResult payloadCommands(PayloadCommandsParam param) throws Exception {
+        param.getCmd().getClazz()
+                .getDeclaredConstructor(DronePayloadParam.class)
+                .newInstance(param.getData())
+                .checkCondition(param.getSn());
+
+        ServiceReply serviceReply = messageSenderService.publishServicesTopic(param.getSn(), param.getCmd().getCmd(), param.getData());
+        return ResponseResult.CODE_SUCCESS != serviceReply.getResult() ?
+                ResponseResult.error(serviceReply.getResult(), " Error Code:" + serviceReply.getResult())
+                : ResponseResult.success();
     }
+
 }

src/main/java/com/dji/sample/control/service/impl/DrcServiceImpl.java

@@ -0,0 +1,249 @@
+package com.dji.sample.control.service.impl;
+
+import com.dji.sample.common.model.ResponseResult;
+import com.dji.sample.component.mqtt.config.MqttConfiguration;
+import com.dji.sample.component.mqtt.model.*;
+import com.dji.sample.component.mqtt.service.IMessageSenderService;
+import com.dji.sample.component.redis.RedisConst;
+import com.dji.sample.component.redis.RedisOpsUtils;
+import com.dji.sample.component.websocket.model.BizCodeEnum;
+import com.dji.sample.component.websocket.service.ISendMessageService;
+import com.dji.sample.control.model.dto.*;
+import com.dji.sample.control.model.enums.DrcMethodEnum;
+import com.dji.sample.control.model.enums.DrcStatusErrorEnum;
+import com.dji.sample.control.model.enums.DroneAuthorityEnum;
+import com.dji.sample.control.model.enums.MqttAclAccessEnum;
+import com.dji.sample.control.model.param.DrcConnectParam;
+import com.dji.sample.control.model.param.DrcModeParam;
+import com.dji.sample.control.service.IControlService;
+import com.dji.sample.control.service.IDrcService;
+import com.dji.sample.manage.model.dto.DeviceDTO;
+import com.dji.sample.manage.model.enums.DockModeCodeEnum;
+import com.dji.sample.manage.model.enums.UserTypeEnum;
+import com.dji.sample.manage.model.receiver.OsdSubDeviceReceiver;
+import com.dji.sample.manage.service.IDeviceRedisService;
+import com.dji.sample.manage.service.IDeviceService;
+import com.dji.sample.wayline.model.dto.WaylineTaskProgressReceiver;
+import com.dji.sample.wayline.model.enums.WaylineJobStatusEnum;
+import com.dji.sample.wayline.model.enums.WaylineTaskStatusEnum;
+import com.dji.sample.wayline.model.param.UpdateJobParam;
+import com.dji.sample.wayline.service.IWaylineJobService;
+import com.dji.sample.wayline.service.IWaylineRedisService;
+import com.fasterxml.jackson.core.type.TypeReference;
+import com.fasterxml.jackson.databind.ObjectMapper;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.integration.annotation.ServiceActivator;
+import org.springframework.messaging.MessageHeaders;
+import org.springframework.stereotype.Service;
+import org.springframework.util.StringUtils;
+
+import java.util.Collections;
+import java.util.List;
+import java.util.Map;
+import java.util.Optional;
+
+/**
+ * @author sean
+ * @version 1.3
+ * @date 2023/1/11
+ */
+@Service
+@Slf4j
+public class DrcServiceImpl implements IDrcService {
+
+    @Autowired
+    private IMessageSenderService messageSenderService;
+
+    @Autowired
+    private ObjectMapper objectMapper;
+
+    @Autowired
+    private IWaylineJobService waylineJobService;
+
+    @Autowired
+    private IDeviceService deviceService;
+    
+    @Autowired
+    private ObjectMapper mapper;
+    
+    @Autowired
+    private ISendMessageService webSocketMessageService;
+
+    @Autowired
+    private IControlService controlService;
+
+    @Autowired
+    private IDeviceRedisService deviceRedisService;
+
+    @Autowired
+    private IWaylineRedisService waylineRedisService;
+
+    @Override
+    public void setDrcModeInRedis(String dockSn, String clientId) {
+        RedisOpsUtils.setWithExpire(RedisConst.DRC_PREFIX + dockSn, clientId, RedisConst.DRC_MODE_ALIVE_SECOND);
+    }
+
+    @Override
+    public String getDrcModeInRedis(String dockSn) {
+        return (String) RedisOpsUtils.get(RedisConst.DRC_PREFIX + dockSn);
+    }
+
+    @Override
+    public Boolean delDrcModeInRedis(String dockSn) {
+        return RedisOpsUtils.del(RedisConst.DRC_PREFIX + dockSn);
+    }
+
+    @Override
+    public MqttBrokerDTO userDrcAuth(String workspaceId, String userId, String username, DrcConnectParam param) {
+
+        // refresh token
+        String clientId = param.getClientId();
+        // first time
+        if (!StringUtils.hasText(clientId) || !RedisOpsUtils.checkExist(RedisConst.MQTT_ACL_PREFIX + clientId)) {
+            clientId = userId + "-" + System.currentTimeMillis();
+            RedisOpsUtils.hashSet(RedisConst.MQTT_ACL_PREFIX + clientId, "", MqttAclAccessEnum.ALL.getValue());
+        }
+
+        String key = RedisConst.MQTT_ACL_PREFIX + clientId;
+
+        try {
+            RedisOpsUtils.expireKey(key, RedisConst.DRC_MODE_ALIVE_SECOND);
+
+            return MqttConfiguration.getMqttBrokerWithDrc(
+                    clientId, username, param.getExpireSec(), Collections.emptyMap());
+        } catch (RuntimeException e) {
+            RedisOpsUtils.del(key);
+            throw e;
+        }
+    }
+
+    private void checkDrcModeCondition(String workspaceId, String dockSn) {
+        Optional<EventsReceiver<WaylineTaskProgressReceiver>> runningOpt = waylineRedisService.getRunningWaylineJob(dockSn);
+        if (runningOpt.isPresent() && WaylineJobStatusEnum.IN_PROGRESS == waylineJobService.getWaylineState(dockSn)) {
+            waylineJobService.updateJobStatus(workspaceId, runningOpt.get().getBid(),
+                    UpdateJobParam.builder().status(WaylineTaskStatusEnum.PAUSE).build());
+        }
+
+        DockModeCodeEnum dockMode = deviceService.getDockMode(dockSn);
+        Optional<DeviceDTO> dockOpt = deviceRedisService.getDeviceOnline(dockSn);
+        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.");
+            }
+        } else {
+            throw new RuntimeException("The current state of the dock does not support entering command flight mode.");
+        }
+
+        ResponseResult result = controlService.seizeAuthority(dockSn, DroneAuthorityEnum.FLIGHT, null);
+        if (ResponseResult.CODE_SUCCESS != result.getCode()) {
+            throw new IllegalArgumentException(result.getMessage());
+        }
+
+    }
+
+    @Override
+    public JwtAclDTO deviceDrcEnter(String workspaceId, DrcModeParam param) {
+        String topic = TopicConst.THING_MODEL_PRE + TopicConst.PRODUCT + param.getDockSn() + TopicConst.DRC;
+        String pubTopic = topic + TopicConst.DOWN;
+        String subTopic = topic + TopicConst.UP;
+
+        // If the dock is in drc mode, refresh the permissions directly.
+        if (deviceService.checkDockDrcMode(param.getDockSn())
+                && param.getClientId().equals(this.getDrcModeInRedis(param.getDockSn()))) {
+            refreshAcl(param.getDockSn(), param.getClientId(), topic, subTopic);
+            return JwtAclDTO.builder().sub(List.of(subTopic)).pub(List.of(pubTopic)).build();
+        }
+
+        checkDrcModeCondition(workspaceId, param.getDockSn());
+
+        ServiceReply reply = messageSenderService.publishServicesTopic(
+                param.getDockSn(), DrcMethodEnum.DRC_MODE_ENTER.getMethod(),
+                DrcModeDTO.builder()
+                    .mqttBroker(MqttConfiguration.getMqttBrokerWithDrc(param.getDockSn() + "-" + System.currentTimeMillis(), param.getDockSn(),
+                            RedisConst.DRC_MODE_ALIVE_SECOND.longValue(),
+                            Map.of(MapKeyConst.ACL, objectMapper.convertValue(JwtAclDTO.builder()
+                                    .pub(List.of(subTopic))
+                                    .sub(List.of(pubTopic))
+                                    .build(), new TypeReference<Map<String, ?>>() {}))))
+                    .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!");
+        }
+
+        refreshAcl(param.getDockSn(), param.getClientId(), pubTopic, subTopic);
+        return JwtAclDTO.builder().sub(List.of(subTopic)).pub(List.of(pubTopic)).build();
+    }
+
+    private void refreshAcl(String dockSn, String clientId, String pubTopic, String subTopic) {
+        this.setDrcModeInRedis(dockSn, clientId);
+
+        // assign acl，Match by clientId. https://www.emqx.io/docs/zh/v4.4/advanced/acl-redis.html
+        // scheme: HSET mqtt_acl:[clientid] [topic] [access]
+        String key = RedisConst.MQTT_ACL_PREFIX + clientId;
+        RedisOpsUtils.hashSet(key, pubTopic, MqttAclAccessEnum.PUB.getValue());
+        RedisOpsUtils.hashSet(key, subTopic, MqttAclAccessEnum.SUB.getValue());
+    }
+
+    @Override
+    public void deviceDrcExit(String workspaceId, DrcModeParam param) {
+        if (!deviceService.checkDockDrcMode(param.getDockSn())) {
+            throw new RuntimeException("The dock is not in flight control mode.");
+        }
+        ServiceReply reply = messageSenderService.publishServicesTopic(
+                param.getDockSn(), DrcMethodEnum.DRC_MODE_EXIT.getMethod(), "");
+        if (ResponseResult.CODE_SUCCESS != reply.getResult()) {
+            throw new RuntimeException("SN: " + param.getDockSn() + "; Error Code:" +
+                    reply.getResult() + "; Failed to exit command flight control mode, please try again later!");
+        }
+
+        String jobId = waylineRedisService.getPausedWaylineJobId(param.getDockSn());
+        if (StringUtils.hasText(jobId)) {
+            waylineJobService.updateJobStatus(workspaceId, jobId, UpdateJobParam.builder().status(WaylineTaskStatusEnum.RESUME).build());
+        }
+
+        this.delDrcModeInRedis(param.getDockSn());
+        RedisOpsUtils.del(RedisConst.MQTT_ACL_PREFIX + param.getClientId());
+    }
+
+    @ServiceActivator(inputChannel = ChannelName.INBOUND_EVENTS_DRC_STATUS_NOTIFY, outputChannel = ChannelName.OUTBOUND_EVENTS)
+    public CommonTopicReceiver handleDrcStatusNotify(CommonTopicReceiver receiver, MessageHeaders headers) {
+        String dockSn  = receiver.getGateway();
+
+        Optional<DeviceDTO> deviceOpt = deviceRedisService.getDeviceOnline(dockSn);
+        if (deviceOpt.isEmpty()) {
+            return null;
+        }
+
+        DrcStatusNotifyReceiver eventsReceiver = mapper.convertValue(receiver.getData(), new TypeReference<DrcStatusNotifyReceiver>(){});
+        if (DrcStatusErrorEnum.SUCCESS != eventsReceiver.getResult()) {
+            webSocketMessageService.sendBatch(
+                    deviceOpt.get().getWorkspaceId(), UserTypeEnum.WEB.getVal(), BizCodeEnum.DRC_STATUS_NOTIFY.getCode(),
+                    ResultNotifyDTO.builder().sn(dockSn)
+                            .message(eventsReceiver.getResult().getErrorMsg())
+                            .result(eventsReceiver.getResult().getErrorCode()).build());
+        }
+        return receiver;
+    }
+
+    @ServiceActivator(inputChannel = ChannelName.INBOUND_EVENTS_DRC_MODE_EXIT_NOTIFY, outputChannel = ChannelName.OUTBOUND_EVENTS)
+    public CommonTopicReceiver handleDrcModeExitNotify(CommonTopicReceiver receiver, MessageHeaders headers) {
+        String dockSn  = receiver.getGateway();
+
+        Optional<DeviceDTO> deviceOpt = deviceRedisService.getDeviceOnline(dockSn);
+        if (deviceOpt.isEmpty()) {
+            return null;
+        }
+
+        DrcModeReasonReceiver eventsReceiver = mapper.convertValue(receiver.getData(), new TypeReference<DrcModeReasonReceiver>(){});
+        webSocketMessageService.sendBatch(
+                deviceOpt.get().getWorkspaceId(), UserTypeEnum.WEB.getVal(), BizCodeEnum.JOYSTICK_INVALID_NOTIFY.getCode(),
+                        ResultNotifyDTO.builder().sn(dockSn)
+                                .message(eventsReceiver.getReason().getMessage())
+                                .result(eventsReceiver.getReason().getVal()).build());
+        return receiver;
+    }
+
+}

src/main/java/com/dji/sample/control/service/impl/GimbalResetImpl.java

@@ -0,0 +1,22 @@
+package com.dji.sample.control.service.impl;
+
+import com.dji.sample.control.model.param.DronePayloadParam;
+
+import java.util.Objects;
+
+/**
+ * @author sean
+ * @version 1.4
+ * @date 2023/4/23
+ */
+public class GimbalResetImpl extends PayloadCommandsHandler {
+    public GimbalResetImpl(DronePayloadParam param) {
+        super(param);
+    }
+
+    @Override
+    public boolean valid() {
+        return Objects.nonNull(param.getResetMode());
+    }
+
+}

src/main/java/com/dji/sample/control/service/impl/PayloadCommandsHandler.java

@@ -0,0 +1,82 @@
+package com.dji.sample.control.service.impl;
+
+import com.dji.sample.common.util.SpringBeanUtils;
+import com.dji.sample.control.model.param.DronePayloadParam;
+import com.dji.sample.manage.model.dto.DeviceDTO;
+import com.dji.sample.manage.model.receiver.OsdCameraReceiver;
+import com.dji.sample.manage.model.receiver.OsdSubDeviceReceiver;
+import com.dji.sample.manage.service.IDevicePayloadService;
+import com.dji.sample.manage.service.IDeviceRedisService;
+
+import java.util.Optional;
+
+/**
+ * @author sean
+ * @version 1.4
+ * @date 2023/4/23
+ */
+public abstract class PayloadCommandsHandler {
+
+    DronePayloadParam param;
+
+    OsdCameraReceiver osdCamera;
+
+    PayloadCommandsHandler(DronePayloadParam param) {
+        this.param = param;
+    }
+
+    public boolean valid() {
+        return true;
+    }
+
+    public boolean canPublish(String deviceSn) {
+        Optional<OsdSubDeviceReceiver> deviceOpt = SpringBeanUtils.getBean(IDeviceRedisService.class)
+                .getDeviceOsd(deviceSn, OsdSubDeviceReceiver.class);
+        if (deviceOpt.isEmpty()) {
+            throw new RuntimeException("The device is offline.");
+        }
+        osdCamera = deviceOpt.get().getCameras().stream()
+                .filter(osdCamera -> param.getPayloadIndex().equals(osdCamera.getPayloadIndex()))
+                .findAny()
+                .orElseThrow(() -> new RuntimeException("Did not receive osd information about the camera, please check the cache data."));
+        return true;
+    }
+
+    private String checkDockOnline(String dockSn) {
+        Optional<DeviceDTO> deviceOpt = SpringBeanUtils.getBean(IDeviceRedisService.class).getDeviceOnline(dockSn);
+        if (deviceOpt.isEmpty()) {
+            throw new RuntimeException("The dock is offline.");
+        }
+        return deviceOpt.get().getChildDeviceSn();
+    }
+
+    private void checkDeviceOnline(String deviceSn) {
+        boolean isOnline = SpringBeanUtils.getBean(IDeviceRedisService.class).checkDeviceOnline(deviceSn);
+        if (!isOnline) {
+            throw new RuntimeException("The device is offline.");
+        }
+    }
+
+    private void checkAuthority(String deviceSn) {
+        boolean hasAuthority = SpringBeanUtils.getBean(IDevicePayloadService.class)
+                .checkAuthorityPayload(deviceSn, param.getPayloadIndex());
+        if (!hasAuthority) {
+            throw new RuntimeException("The device does not have payload control authority.");
+        }
+    }
+
+    public final void checkCondition(String dockSn) {
+        if (!valid()) {
+            throw new RuntimeException("illegal argument");
+        }
+
+        String deviceSn = checkDockOnline(dockSn);
+        checkDeviceOnline(deviceSn);
+        checkAuthority(deviceSn);
+
+        if (!canPublish(deviceSn)) {
+            throw new RuntimeException("The current state of the drone does not support this function, please try again later.");
+        }
+    }
+
+}

src/main/java/com/dji/sample/control/service/impl/RemoteDebugHandler.java

@@ -0,0 +1,23 @@
+package com.dji.sample.control.service.impl;
+
+import com.dji.sample.common.util.SpringBeanUtils;
+import com.dji.sample.manage.model.enums.DockModeCodeEnum;
+import com.dji.sample.manage.service.IDeviceService;
+
+/**
+ * @author sean
+ * @version 1.3
+ * @date 2022/10/27
+ */
+public class RemoteDebugHandler {
+
+    public boolean valid() {
+        return false;
+    }
+
+    public boolean canPublish(String sn) {
+        IDeviceService deviceService = SpringBeanUtils.getBean(IDeviceService.class);
+        DockModeCodeEnum dockMode = deviceService.getDockMode(sn);
+        return DockModeCodeEnum.REMOTE_DEBUGGING == dockMode;
+    }
+}

src/main/java/com/dji/sample/manage/controller/DevicePayloadController.java

@@ -1,35 +0,0 @@
-package com.dji.sample.manage.controller;
-
-import com.dji.sample.component.mqtt.model.ChannelName;
-import com.dji.sample.manage.model.receiver.DeviceBasicReceiver;
-import com.dji.sample.manage.service.IDevicePayloadService;
-import org.springframework.beans.factory.annotation.Autowired;
-import org.springframework.integration.annotation.ServiceActivator;
-import org.springframework.messaging.MessageHeaders;
-import org.springframework.web.bind.annotation.RestController;
-
-/**
- * @author sean.zhou
- * @date 2021/11/19
- * @version 0.1
- */
-@RestController
-public class DevicePayloadController {
-
-    @Autowired
-    private IDevicePayloadService devicePayloadService;
-
-    /**
-     * Handles messages in the state topic about basic drone data.
-     *
-     * Note: Only the data of the drone payload is handled here. You can handle other data from the drone
-     * according to your business needs.
-     * @param deviceBasic   basic drone data
-     * @param headers
-     */
-    @ServiceActivator(inputChannel = ChannelName.INBOUND_STATE_BASIC)
-    public void stateBasic(DeviceBasicReceiver deviceBasic, MessageHeaders headers) {
-
-        devicePayloadService.saveDeviceBasicPayload(deviceBasic.getPayloads(), headers.getTimestamp());
-    }
-}

src/main/java/com/dji/sample/manage/model/dto/DeviceAuthorityDTO.java

@@ -0,0 +1,26 @@
+package com.dji.sample.manage.model.dto;
+
+import com.dji.sample.control.model.enums.DroneAuthorityEnum;
+import lombok.AllArgsConstructor;
+import lombok.Builder;
+import lombok.Data;
+import lombok.NoArgsConstructor;
+
+/**
+ * @author sean
+ * @version 1.4
+ * @date 2023/3/2
+ */
+@Data
+@Builder
+@AllArgsConstructor
+@NoArgsConstructor
+public class DeviceAuthorityDTO {
+
+    private String sn;
+
+    private DroneAuthorityEnum type;
+
+    private String controlSource;
+
+}

src/main/java/com/dji/sample/manage/model/dto/DeviceDTO.java

@@ -25,7 +25,7 @@ public class DeviceDTO {
 
     private String workspaceId;
 
-    private String deviceIndex;
+    private String controlSource;
 
     private String deviceDesc;
 
@@ -62,4 +62,6 @@ public class DeviceDTO {
     private Integer firmwareStatus;
 
     private Integer firmwareProgress;
+
+    private String parentSn;
 }

src/main/java/com/dji/sample/manage/model/dto/DevicePayloadDTO.java

@@ -23,7 +23,11 @@ public class DevicePayloadDTO {
 
     private String payloadName;
 
-    private Integer payloadIndex;
+    private Integer index;
 
     private String payloadDesc;
+
+    private String controlSource;
+
+    private String payloadIndex;
 }

src/main/java/com/dji/sample/manage/model/entity/DevicePayloadEntity.java

@@ -53,4 +53,7 @@ public class DevicePayloadEntity implements Serializable {
     @TableField(value = "payload_desc")
     private String payloadDesc;
 
+    @TableField(value = "control_source")
+    private String controlSource;
+
 }

src/main/java/com/dji/sample/manage/model/enums/ControlSourceEnum.java

@@ -0,0 +1,26 @@
+package com.dji.sample.manage.model.enums;
+
+import com.fasterxml.jackson.annotation.JsonCreator;
+import com.fasterxml.jackson.annotation.JsonValue;
+
+import java.util.Arrays;
+
+/**
+ * @author sean
+ * @version 1.4
+ * @date 2023/3/16
+ */
+public enum ControlSourceEnum {
+
+    A, B;
+
+    @JsonValue
+    public String getControlSource() {
+        return name();
+    }
+
+    @JsonCreator
+    public static ControlSourceEnum find(String controlSource) {
+        return Arrays.stream(values()).filter(controlSourceEnum -> controlSourceEnum.name().equals(controlSource)).findAny().get();
+    }
+}

src/main/java/com/dji/sample/manage/model/enums/DeviceDomainEnum.java

@@ -2,6 +2,8 @@ package com.dji.sample.manage.model.enums;
 
 import lombok.Getter;
 
+import java.util.Arrays;
+
 /**
  *
  * @author sean.zhou
@@ -17,11 +19,17 @@ public enum DeviceDomainEnum {
 
     PAYLOAD(1),
 
-    DOCK (3);
+    DOCK (3),
+
+    UNKNOWN(-1);
 
     int val;
 
     DeviceDomainEnum(int val) {
         this.val = val;
     }
+
+    public static DeviceDomainEnum find(int val) {
+        return Arrays.stream(values()).filter(domainEnum -> domainEnum.val == val).findAny().orElse(UNKNOWN);
+    }
 }

src/main/java/com/dji/sample/manage/model/enums/DeviceModeCodeEnum.java

@@ -0,0 +1,64 @@
+package com.dji.sample.manage.model.enums;
+
+import com.fasterxml.jackson.annotation.JsonCreator;
+import com.fasterxml.jackson.annotation.JsonValue;
+
+import java.util.Arrays;
+
+/**
+ * @author sean
+ * @version 1.4
+ * @date 2023/3/9
+ */
+public enum DeviceModeCodeEnum {
+
+    IDLE(0),
+
+    TAKEOFF_PREPARE(1),
+
+    TAKEOFF_FINISHED(2),
+
+    MANUAL(3),
+
+    TAKEOFF_AUTO(4),
+
+    WAYLINE(5),
+
+    PANORAMIC_SHOT(6),
+
+    ACTIVE_TRACK(7),
+
+    ADS_B_AVOIDANCE(8),
+
+    RETURN_AUTO(9),
+
+    LANDING_AUTO(10),
+
+    LANDING_FORCED(11),
+
+    LANDING_THREE_PROPELLER(12),
+
+    UPGRADING(13),
+
+    DISCONNECTED(14),
+
+    APAS(15),
+
+    VIRTUAL_JOYSTICK(16);
+
+    int val;
+
+    DeviceModeCodeEnum(int val) {
+        this.val = val;
+    }
+
+    @JsonValue
+    public int getVal() {
+        return val;
+    }
+
+    @JsonCreator
+    public static DeviceModeCodeEnum find(int value) {
+        return Arrays.stream(values()).filter(modeCodeEnum -> modeCodeEnum.ordinal() == value).findAny().orElse(DISCONNECTED);
+    }
+}

src/main/java/com/dji/sample/manage/model/enums/DeviceSetPropertyEnum.java

@@ -20,8 +20,11 @@ public enum DeviceSetPropertyEnum {
 
     DISTANCE_LIMIT_STATUS("distance_limit_status", DistanceLimitStatusReceiver.class),
 
-    OBSTACLE_AVOIDANCE("obstacle_avoidance", ObstacleAvoidanceReceiver.class);
+    OBSTACLE_AVOIDANCE("obstacle_avoidance", ObstacleAvoidanceReceiver.class),
 
+    RTH_ALTITUDE("rth_altitude", RthAltitudeReceiver.class),
+
+    OUT_OF_CONTROL_ACTION("out_of_control_action", OutOfControlActionReceiver.class);
 
     String property;
 

src/main/java/com/dji/sample/manage/model/enums/DockDrcStateEnum.java

@@ -0,0 +1,36 @@
+package com.dji.sample.manage.model.enums;
+
+import com.fasterxml.jackson.annotation.JsonCreator;
+import com.fasterxml.jackson.annotation.JsonValue;
+
+import java.util.Arrays;
+
+/**
+ * @author sean
+ * @version 1.4
+ * @date 2023/2/28
+ */
+public enum DockDrcStateEnum {
+
+    DISCONNECTED(0),
+
+    CONNECTING(1),
+
+    CONNECTED(2);
+
+    int val;
+
+    DockDrcStateEnum(int val) {
+        this.val = val;
+    }
+
+    @JsonValue
+    public int getVal() {
+        return val;
+    }
+
+    @JsonCreator
+    public static DockDrcStateEnum find(int val) {
+        return Arrays.stream(values()).filter(drcState -> drcState.getVal() == val).findAny().orElse(DISCONNECTED);
+    }
+}

src/main/java/com/dji/sample/manage/model/enums/DockModeCodeEnum.java

@@ -0,0 +1,42 @@
+package com.dji.sample.manage.model.enums;
+
+import com.fasterxml.jackson.annotation.JsonCreator;
+import com.fasterxml.jackson.annotation.JsonValue;
+
+import java.util.Arrays;
+
+/**
+ * @author sean
+ * @version 1.4
+ * @date 2023/2/28
+ */
+public enum DockModeCodeEnum {
+
+    IDLE(0),
+
+    DEBUGGING(1),
+
+    REMOTE_DEBUGGING(2),
+
+    UPGRADING(3),
+
+    WORKING(4),
+
+    DISCONNECTED(-1);
+
+    int val;
+
+    DockModeCodeEnum(int val) {
+        this.val = val;
+    }
+
+    @JsonValue
+    public int getVal() {
+        return val;
+    }
+
+    @JsonCreator
+    public static DockModeCodeEnum find(int val) {
+        return Arrays.stream(values()).filter(modeCode -> modeCode.getVal() == val).findAny().orElse(DISCONNECTED);
+    }
+}

src/main/java/com/dji/sample/manage/model/enums/DroneRcLostActionEnum.java

@@ -0,0 +1,26 @@
+package com.dji.sample.manage.model.enums;
+
+import com.fasterxml.jackson.annotation.JsonCreator;
+import com.fasterxml.jackson.annotation.JsonValue;
+
+import java.util.Arrays;
+
+/**
+ * @author sean
+ * @version 1.4
+ * @date 2023/3/1
+ */
+public enum DroneRcLostActionEnum {
+
+    HOVER, LAND, RETURN_HOME;
+
+    @JsonValue
+    public int getVal() {
+        return ordinal();
+    }
+
+    @JsonCreator
+    public static DroneRcLostActionEnum find(int val) {
+        return Arrays.stream(values()).filter(controlActionEnum -> controlActionEnum.ordinal() == val).findAny().get();
+    }
+}

src/main/java/com/dji/sample/manage/model/enums/HmsEnum.java

@@ -37,20 +37,6 @@ public enum HmsEnum {
         }
     }
 
-    @Getter
-    public enum DomainType {
-        DRONE_NEST("drone_nest"),
-
-        DRONE("drone");
-
-        private String domain;
-
-        DomainType(String domain) {
-            this.domain = domain;
-        }
-
-    }
-
     @Getter
     public enum HmsFaqIdEnum {
 

src/main/java/com/dji/sample/manage/model/enums/WaylineRcLostActionEnum.java

@@ -0,0 +1,26 @@
+package com.dji.sample.manage.model.enums;
+
+import com.fasterxml.jackson.annotation.JsonCreator;
+import com.fasterxml.jackson.annotation.JsonValue;
+
+import java.util.Arrays;
+
+/**
+ * @author sean
+ * @version 1.4
+ * @date 2023/3/15
+ */
+public enum WaylineRcLostActionEnum {
+
+    CONTINUE_WAYLINE, EXECUTE_RC_LOST_ACTION;
+
+    @JsonValue
+    public int getVal() {
+        return ordinal();
+    }
+
+    @JsonCreator
+    public static WaylineRcLostActionEnum find(int val) {
+        return Arrays.stream(values()).filter(lostActionEnum -> lostActionEnum.ordinal() == val).findAny().get();
+    }
+}

src/main/java/com/dji/sample/manage/model/receiver/BasicDeviceProperty.java

@@ -1,14 +1,11 @@
 package com.dji.sample.manage.model.receiver;
 
-import lombok.Data;
-
 /**
  * @author sean
  * @version 1.3
  * @date 2022/10/27
  */
-@Data
-public class BasicDeviceProperty {
+public abstract class BasicDeviceProperty {
 
     public boolean valid() {
         return false;

src/main/java/com/dji/sample/manage/model/receiver/DeviceHmsReceiver.java

@@ -14,8 +14,6 @@ public class DeviceHmsReceiver {
 
     private String deviceType;
 
-    private String domainType;
-
     private Integer imminent;
 
     private Integer inTheSky;

src/main/java/com/dji/sample/manage/model/receiver/FirmwareProgressExtReceiver.java

@@ -0,0 +1,14 @@
+package com.dji.sample.manage.model.receiver;
+
+import lombok.Data;
+
+/**
+ * @author sean
+ * @version 1.4
+ * @date 2023/3/30
+ */
+@Data
+public class FirmwareProgressExtReceiver {
+
+    private Long rate;
+}

src/main/java/com/dji/sample/manage/model/receiver/LiveviewWorldRegionReceiver.java

@@ -0,0 +1,20 @@
+package com.dji.sample.manage.model.receiver;
+
+import lombok.Data;
+
+/**
+ * @author sean
+ * @version 1.4
+ * @date 2023/3/8
+ */
+@Data
+public class LiveviewWorldRegionReceiver {
+
+    private Double bottom;
+
+    private Double left;
+
+    private Double right;
+
+    private Double top;
+}

src/main/java/com/dji/sample/manage/model/receiver/OsdCameraReceiver.java

@@ -0,0 +1,34 @@
+package com.dji.sample.manage.model.receiver;
+
+import com.dji.sample.control.model.enums.CameraModeEnum;
+import com.dji.sample.control.model.enums.CameraStateEnum;
+import lombok.Data;
+
+/**
+ * @author sean
+ * @version 1.4
+ * @date 2023/3/8
+ */
+@Data
+public class OsdCameraReceiver {
+
+    private CameraModeEnum cameraMode;
+
+    private LiveviewWorldRegionReceiver liveviewWorldRegion;
+
+    private String payloadIndex;
+
+    private CameraStateEnum photoState;
+
+    private Integer recordTime;
+
+    private CameraStateEnum recordingState;
+
+    private Long remainPhotoNum;
+
+    private Long remainRecordDuration;
+
+    private Float zoomFactor;
+
+    private Float irZoomFactor;
+}

src/main/java/com/dji/sample/manage/model/receiver/OsdDockReceiver.java

@@ -1,5 +1,7 @@
 package com.dji.sample.manage.model.receiver;
 
+import com.dji.sample.manage.model.enums.DockDrcStateEnum;
+import com.dji.sample.manage.model.enums.DockModeCodeEnum;
 import lombok.Data;
 
 /**
@@ -40,13 +42,13 @@ public class OsdDockReceiver {
 
     private StorageReceiver storage;
 
-    private Integer modeCode;
+    private DockModeCodeEnum modeCode;
 
     private Integer coverState;
 
     private Integer supplementLightState;
 
-    private Integer emergencyStopState;
+    private Boolean emergencyStopState;
 
     private Integer airConditionerMode;
 
@@ -85,4 +87,6 @@ public class OsdDockReceiver {
     private DockSdrReceiver sdr;
 
     private DockWirelessLinkReceiver wirelessLink;
+
+    private DockDrcStateEnum drcState;
 }

src/main/java/com/dji/sample/manage/model/receiver/OsdSubDeviceReceiver.java

@@ -1,5 +1,8 @@
 package com.dji.sample.manage.model.receiver;
 
+import com.dji.sample.manage.model.enums.DeviceModeCodeEnum;
+import com.dji.sample.manage.model.enums.DroneRcLostActionEnum;
+import com.dji.sample.manage.model.enums.WaylineRcLostActionEnum;
 import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
 import com.fasterxml.jackson.databind.PropertyNamingStrategy;
 import com.fasterxml.jackson.databind.annotation.JsonNaming;
@@ -41,7 +44,7 @@ public class OsdSubDeviceReceiver {
 
     private Double longitude;
 
-    private Integer modeCode;
+    private DeviceModeCodeEnum modeCode;
 
     private Double totalFlightDistance;
 
@@ -67,4 +70,15 @@ public class OsdSubDeviceReceiver {
 
     private ObstacleAvoidanceReceiver obstacleAvoidance;
 
+    private Long activationTime;
+
+    private List<OsdCameraReceiver> cameras;
+
+    private DroneRcLostActionEnum rcLostAction;
+
+    private Integer rthAltitude;
+
+    private Integer totalFlightSorties;
+
+    private WaylineRcLostActionEnum exitWaylineWhenRcLost;
 }

src/main/java/com/dji/sample/manage/model/receiver/OutOfControlActionReceiver.java

@@ -0,0 +1,29 @@
+package com.dji.sample.manage.model.receiver;
+
+import com.dji.sample.manage.model.enums.DroneRcLostActionEnum;
+import lombok.AllArgsConstructor;
+import lombok.Data;
+import lombok.EqualsAndHashCode;
+import lombok.NoArgsConstructor;
+
+import java.util.Objects;
+
+/**
+ * @author sean
+ * @version 1.4
+ * @date 2023/3/3
+ */
+@EqualsAndHashCode(callSuper = true)
+@Data
+@AllArgsConstructor
+@NoArgsConstructor
+public class OutOfControlActionReceiver extends BasicDeviceProperty {
+
+    private Integer value;
+
+    @Override
+    public boolean valid() {
+        return Objects.nonNull(value) && value >= 0 && value < DroneRcLostActionEnum.values().length;
+    }
+
+}

src/main/java/com/dji/sample/manage/model/receiver/RthAltitudeReceiver.java

@@ -0,0 +1,32 @@
+package com.dji.sample.manage.model.receiver;
+
+import lombok.AllArgsConstructor;
+import lombok.Data;
+import lombok.EqualsAndHashCode;
+import lombok.NoArgsConstructor;
+
+import java.util.Objects;
+
+/**
+ * @author sean
+ * @version 1.4
+ * @date 2023/3/3
+ */
+@EqualsAndHashCode(callSuper = true)
+@Data
+@AllArgsConstructor
+@NoArgsConstructor
+public class RthAltitudeReceiver extends BasicDeviceProperty {
+
+    private Integer value;
+
+    private static final int RTH_ALTITUDE_MAX = 500;
+
+    private static final int RTH_ALTITUDE_MIN = 20;
+
+    @Override
+    public boolean valid() {
+        return  Objects.nonNull(this.value) && this.value >= RTH_ALTITUDE_MIN && this.value <= RTH_ALTITUDE_MAX;
+    }
+
+}

src/main/java/com/dji/sample/manage/service/IDeviceFirmwareService.java

@@ -1,14 +1,12 @@
 package com.dji.sample.manage.service;
 
 import com.dji.sample.common.model.PaginationData;
-import com.dji.sample.component.mqtt.model.CommonTopicReceiver;
 import com.dji.sample.manage.model.dto.DeviceFirmwareDTO;
 import com.dji.sample.manage.model.dto.DeviceFirmwareNoteDTO;
 import com.dji.sample.manage.model.dto.DeviceFirmwareUpgradeDTO;
 import com.dji.sample.manage.model.param.DeviceFirmwareQueryParam;
 import com.dji.sample.manage.model.param.DeviceFirmwareUploadParam;
 import com.dji.sample.manage.model.param.DeviceOtaCreateParam;
-import org.springframework.messaging.MessageHeaders;
 import org.springframework.web.multipart.MultipartFile;
 
 import java.util.List;
@@ -47,13 +45,6 @@ public interface IDeviceFirmwareService {
      */
     List<DeviceOtaCreateParam> getDeviceOtaFirmware(String workspaceId, List<DeviceFirmwareUpgradeDTO> upgradeDTOS);
 
-    /**
-     * Interface to handle device firmware update progress.
-     * @param receiver
-     * @param headers
-     */
-    void handleOtaProgress(CommonTopicReceiver receiver, MessageHeaders headers);
-
     /**
      * Query firmware version information by page.
      *

src/main/java/com/dji/sample/manage/service/IDeviceLogsService.java

@@ -74,8 +74,9 @@ public interface IDeviceLogsService {
      * Handle logs file upload progress.
      * @param receiver
      * @param headers
+     * @return
      */
-    void handleFileUploadProgress(CommonTopicReceiver receiver, MessageHeaders headers);
+    CommonTopicReceiver handleFileUploadProgress(CommonTopicReceiver receiver, MessageHeaders headers);
 
     /**
      * Update status, which is updated when the logs upload succeeds or fails.

src/main/java/com/dji/sample/manage/service/IDevicePayloadService.java

@@ -54,16 +54,17 @@ public interface IDevicePayloadService {
      */
     void updateFirmwareVersion(FirmwareVersionReceiver receiver);
 
-    /**
-     * Handle the topic that contains the payloads field in the state, and save the payloads data.
-     * @param payloadReceiverList
-     * @param timestamp
-     */
-    void saveDeviceBasicPayload(List<DevicePayloadReceiver> payloadReceiverList, Long timestamp);
-
     /**
      * Delete payload data based on payload sn.
      * @param payloadSns
      */
     void deletePayloadsByPayloadsSn(Collection<String> payloadSns);
+
+    /**
+     * Check if the device has payload control.
+     * @param deviceSn
+     * @param payloadIndex
+     * @return
+     */
+    Boolean checkAuthorityPayload(String deviceSn, String payloadIndex);
 }

src/main/java/com/dji/sample/manage/service/IDeviceRedisService.java

@@ -0,0 +1,95 @@
+package com.dji.sample.manage.service;
+
+import com.dji.sample.component.mqtt.model.EventsOutputProgressReceiver;
+import com.dji.sample.component.mqtt.model.EventsReceiver;
+import com.dji.sample.manage.model.dto.DeviceDTO;
+import com.dji.sample.manage.model.receiver.FirmwareProgressExtReceiver;
+
+import java.util.Optional;
+import java.util.Set;
+
+/**
+ * @author sean
+ * @version 1.4
+ * @date 2023/3/21
+ */
+public interface IDeviceRedisService {
+
+    /**
+     * Determine if the device is online.
+     * @param sn
+     * @return
+     */
+    Boolean checkDeviceOnline(String sn);
+
+    /**
+     * Query the basic information of the device in redis.
+     * @param sn
+     * @return
+     */
+    Optional<DeviceDTO> getDeviceOnline(String sn);
+
+    /**
+     * Save the basic information of the device in redis.
+     * @param device
+     */
+    void setDeviceOnline(DeviceDTO device);
+
+    /**
+     * Delete the basic device information saved in redis.
+     * @param sn
+     * @return
+     */
+    Boolean delDeviceOnline(String sn);
+
+    /**
+     * Get the device's osd real-time data.
+     * @param sn
+     * @param clazz
+     * @param <T>
+     * @return
+     */
+    <T> Optional<T> getDeviceOsd(String sn, Class<T> clazz);
+
+    /**
+     * Save the firmware update progress of the device in redis.
+     * @param sn
+     * @param events
+     */
+    void setFirmwareUpgrading(String sn, EventsReceiver<EventsOutputProgressReceiver<FirmwareProgressExtReceiver>> events);
+
+    /**
+     * Query the firmware update progress of the device in redis.
+     * @param sn
+     * @return
+     */
+    Optional<EventsReceiver<EventsOutputProgressReceiver<FirmwareProgressExtReceiver>>> getFirmwareUpgradingProgress(String sn);
+
+    /**
+     * Delete the firmware update progress of the device in redis.
+     * @param sn
+     * @return
+     */
+    Boolean delFirmwareUpgrading(String sn);
+
+    /**
+     * Save the hms key of the device in redis.
+     * @param sn
+     * @param keys
+     */
+    void addEndHmsKeys(String sn, String... keys);
+
+    /**
+     * Query all hms keys of the device in redis.
+     * @param sn
+     * @return
+     */
+    Set<String> getAllHmsKeys(String sn);
+
+    /**
+     * Delete all hms keys of the device in redis.
+     * @param sn
+     * @return
+     */
+    Boolean delHmsKeysBySn(String sn);
+}

src/main/java/com/dji/sample/manage/service/IDeviceService.java

@@ -2,19 +2,18 @@ package com.dji.sample.manage.service;
 
 import com.dji.sample.common.model.PaginationData;
 import com.dji.sample.common.model.ResponseResult;
-import com.dji.sample.component.mqtt.model.CommonTopicReceiver;
 import com.dji.sample.component.mqtt.model.CommonTopicResponse;
 import com.dji.sample.component.websocket.config.ConcurrentWebSocketSession;
 import com.dji.sample.manage.model.dto.DeviceDTO;
 import com.dji.sample.manage.model.dto.DeviceFirmwareUpgradeDTO;
 import com.dji.sample.manage.model.dto.TopologyDeviceDTO;
+import com.dji.sample.manage.model.enums.DeviceModeCodeEnum;
 import com.dji.sample.manage.model.enums.DeviceSetPropertyEnum;
+import com.dji.sample.manage.model.enums.DockModeCodeEnum;
 import com.dji.sample.manage.model.param.DeviceQueryParam;
-import com.dji.sample.manage.model.receiver.FirmwareVersionReceiver;
 import com.dji.sample.manage.model.receiver.StatusGatewayReceiver;
 import com.fasterxml.jackson.databind.JsonNode;
 import org.springframework.messaging.Message;
-import org.springframework.messaging.MessageHeaders;
 
 import java.util.Collection;
 import java.util.List;
@@ -154,24 +153,6 @@ public interface IDeviceService {
      */
     Boolean bindDevice(DeviceDTO device);
 
-    /**
-     * Handle dock binding status requests.
-     * Note: If your business does not need to bind the dock to the organization,
-     *       you can directly reply to the successful message without implementing business logic.
-     * @param receiver
-     * @param headers
-     */
-    void bindStatus(CommonTopicReceiver receiver, MessageHeaders headers);
-
-    /**
-     * Handle dock binding requests.
-     * Note: If your business does not need to bind the dock to the organization,
-     *       you can directly reply to the successful message without implementing business logic.
-     * @param receiver
-     * @param headers
-     */
-    void bindDevice(CommonTopicReceiver receiver, MessageHeaders headers);
-
     /**
      * Get the binding devices list in one workspace.
      * @param workspaceId
@@ -195,12 +176,6 @@ public interface IDeviceService {
      */
     Optional<DeviceDTO> getDeviceBySn(String sn);
 
-    /**
-     * Update the firmware version information of the device or payload.
-     * @param receiver
-     */
-    void updateFirmwareVersion(FirmwareVersionReceiver receiver);
-
     /**
      * Create job for device firmware updates.
      * @param workspaceId
@@ -227,9 +202,31 @@ public interface IDeviceService {
     void deviceOnePropertySet(String topic, DeviceSetPropertyEnum propertyEnum, Map.Entry<String, Object> value);
 
     /**
-     * Determine if the device is online.
-     * @param sn
+     * Check the working status of the dock.
+     * @param dockSn
      * @return
      */
-    Boolean checkDeviceOnline(String sn);
+    DockModeCodeEnum getDockMode(String dockSn);
+
+    /**
+     * Query the working status of the aircraft.
+     * @param deviceSn
+     * @return
+     */
+    DeviceModeCodeEnum getDeviceMode(String deviceSn);
+
+    /**
+     * Check if the dock is in drc mode.
+     * @param dockSn
+     * @return
+     */
+    Boolean checkDockDrcMode(String dockSn);
+
+    /**
+     * Check if the device has flight control.
+     * @param gatewaySn
+     * @return
+     */
+    Boolean checkAuthorityFlight(String gatewaySn);
+
 }

src/main/java/com/dji/sample/manage/service/IWorkspaceService.java

@@ -25,8 +25,6 @@ public interface IWorkspaceService {
 
     /**
      * Handle the request for obtaining the organization information corresponding to the device binding.
-     * Note: If your business does not need to bind the dock to the organization,
-     *       you can directly reply to the successful message without implementing business logic.
      * @param receiver
      */
     void replyOrganizationGet(CommonTopicReceiver receiver, MessageHeaders headers);

src/main/java/com/dji/sample/manage/service/impl/CapacityCameraServiceImpl.java

@@ -1,6 +1,5 @@
 package com.dji.sample.manage.service.impl;
 
-import com.dji.sample.component.mqtt.model.StateDataEnum;
 import com.dji.sample.component.redis.RedisConst;
 import com.dji.sample.component.redis.RedisOpsUtils;
 import com.dji.sample.manage.model.dto.CapacityCameraDTO;
@@ -36,20 +35,19 @@ public class CapacityCameraServiceImpl implements ICapacityCameraService {
 
     @Override
     public List<CapacityCameraDTO> getCapacityCameraByDeviceSn(String deviceSn) {
-        return (List<CapacityCameraDTO>) RedisOpsUtils.hashGet(StateDataEnum.LIVE_CAPACITY.getDesc(), deviceSn);
+        return (List<CapacityCameraDTO>) RedisOpsUtils.hashGet(RedisConst.LIVE_CAPACITY, deviceSn);
     }
 
     @Override
     public Boolean deleteCapacityCameraByDeviceSn(String deviceSn) {
-        return RedisOpsUtils.hashDel(StateDataEnum.LIVE_CAPACITY.getDesc(), new String[]{deviceSn});
+        return RedisOpsUtils.hashDel(RedisConst.LIVE_CAPACITY, new String[]{deviceSn});
     }
 
     @Override
     public void saveCapacityCameraReceiverList(List<CapacityCameraReceiver> capacityCameraReceivers, String deviceSn, Long timestamp) {
         List<CapacityCameraDTO> capacity = capacityCameraReceivers.stream()
                 .map(this::receiver2Dto).collect(Collectors.toList());
-        RedisOpsUtils.hashSet(StateDataEnum.LIVE_CAPACITY.getDesc(), deviceSn, capacity);
-        RedisOpsUtils.setWithExpire(StateDataEnum.LIVE_CAPACITY + RedisConst.DELIMITER + deviceSn, timestamp, RedisConst.DEVICE_ALIVE_SECOND);
+        RedisOpsUtils.hashSet(RedisConst.LIVE_CAPACITY, deviceSn, capacity);
     }
 
     @Override

src/main/java/com/dji/sample/manage/service/impl/DeviceFirmwareServiceImpl.java

@@ -13,8 +13,7 @@ import com.dji.sample.component.oss.model.OssConfiguration;
 import com.dji.sample.component.oss.service.impl.OssServiceContext;
 import com.dji.sample.component.redis.RedisConst;
 import com.dji.sample.component.redis.RedisOpsUtils;
-import com.dji.sample.component.websocket.config.ConcurrentWebSocketSession;
-import com.dji.sample.component.websocket.model.CustomWebSocketMessage;
+import com.dji.sample.component.websocket.model.BizCodeEnum;
 import com.dji.sample.component.websocket.service.IWebSocketManageService;
 import com.dji.sample.component.websocket.service.impl.SendMessageServiceImpl;
 import com.dji.sample.manage.dao.IDeviceFirmwareMapper;
@@ -24,15 +23,15 @@ import com.dji.sample.manage.model.enums.UserTypeEnum;
 import com.dji.sample.manage.model.param.DeviceFirmwareQueryParam;
 import com.dji.sample.manage.model.param.DeviceFirmwareUploadParam;
 import com.dji.sample.manage.model.param.DeviceOtaCreateParam;
+import com.dji.sample.manage.model.receiver.FirmwareProgressExtReceiver;
 import com.dji.sample.manage.service.IDeviceFirmwareService;
-import com.dji.sample.manage.service.IDeviceService;
+import com.dji.sample.manage.service.IDeviceRedisService;
 import com.dji.sample.manage.service.IFirmwareModelService;
 import com.fasterxml.jackson.core.type.TypeReference;
 import com.fasterxml.jackson.databind.ObjectMapper;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.integration.annotation.ServiceActivator;
-import org.springframework.integration.mqtt.support.MqttHeaders;
 import org.springframework.messaging.MessageHeaders;
 import org.springframework.stereotype.Service;
 import org.springframework.util.DigestUtils;
@@ -76,15 +75,15 @@ public class DeviceFirmwareServiceImpl implements IDeviceFirmwareService {
     @Autowired
     private IWebSocketManageService webSocketManageService;
 
-    @Autowired
-    private IDeviceService deviceService;
-
     @Autowired
     private OssServiceContext ossServiceContext;
 
     @Autowired
     private IFirmwareModelService firmwareModelService;
 
+    @Autowired
+    private IDeviceRedisService deviceRedisService;
+
     @Override
     public Optional<DeviceFirmwareDTO> getFirmware(String workspaceId, String deviceName, String version) {
         return Optional.ofNullable(entity2Dto(mapper.selectOne(
@@ -108,7 +107,7 @@ public class DeviceFirmwareServiceImpl implements IDeviceFirmwareService {
     public List<DeviceOtaCreateParam> getDeviceOtaFirmware(String workspaceId, List<DeviceFirmwareUpgradeDTO> upgradeDTOS) {
         List<DeviceOtaCreateParam> deviceOtaList = new ArrayList<>();
         upgradeDTOS.forEach(upgradeDevice -> {
-            boolean exist = deviceService.checkDeviceOnline(upgradeDevice.getSn());
+            boolean exist = deviceRedisService.checkDeviceOnline(upgradeDevice.getSn());
             if (!exist) {
                 throw new IllegalArgumentException("Device is offline.");
             }
@@ -125,18 +124,15 @@ public class DeviceFirmwareServiceImpl implements IDeviceFirmwareService {
         return deviceOtaList;
     }
 
-    @Override
-    @ServiceActivator(inputChannel = ChannelName.INBOUND_EVENTS_OTA_PROGRESS, outputChannel = ChannelName.OUTBOUND)
-    public void handleOtaProgress(CommonTopicReceiver receiver, MessageHeaders headers) {
-        String topic = headers.get(MqttHeaders.RECEIVED_TOPIC).toString();
-        String sn  = topic.substring((TopicConst.THING_MODEL_PRE + TopicConst.PRODUCT).length(),
-                topic.indexOf(TopicConst.EVENTS_SUF));
-
-        EventsReceiver<EventsOutputReceiver> eventsReceiver = objectMapper.convertValue(receiver.getData(),
-                new TypeReference<EventsReceiver<EventsOutputReceiver>>(){});
+    @ServiceActivator(inputChannel = ChannelName.INBOUND_EVENTS_OTA_PROGRESS, outputChannel = ChannelName.OUTBOUND_EVENTS)
+    public CommonTopicReceiver handleOtaProgress(CommonTopicReceiver receiver, MessageHeaders headers) {
+        String sn  = receiver.getGateway();
+
+        EventsReceiver<EventsOutputProgressReceiver<FirmwareProgressExtReceiver>> eventsReceiver = objectMapper.convertValue(receiver.getData(),
+                new TypeReference<EventsReceiver<EventsOutputProgressReceiver<FirmwareProgressExtReceiver>>>(){});
         eventsReceiver.setBid(receiver.getBid());
 
-        EventsOutputReceiver output = eventsReceiver.getOutput();
+        EventsOutputProgressReceiver<FirmwareProgressExtReceiver> output = eventsReceiver.getOutput();
         log.info("SN: {}, {} ===> Upgrading progress: {}",
                 sn, receiver.getMethod(), output.getProgress().toString());
 
@@ -144,59 +140,34 @@ public class DeviceFirmwareServiceImpl implements IDeviceFirmwareService {
             log.error("SN: {}, {} ===> Error code: {}", sn, receiver.getMethod(), eventsReceiver.getResult());
         }
 
-        DeviceDTO device = (DeviceDTO) RedisOpsUtils.get(RedisConst.DEVICE_ONLINE_PREFIX + sn);
-        String childDeviceSn = device.getChildDeviceSn();
-        boolean upgrade = RedisOpsUtils.getExpire(RedisConst.FIRMWARE_UPGRADING_PREFIX + sn) > 0;
-        boolean childUpgrade = RedisOpsUtils.getExpire(RedisConst.FIRMWARE_UPGRADING_PREFIX + childDeviceSn) > 0;
+        Optional<DeviceDTO> deviceOpt = deviceRedisService.getDeviceOnline(sn);
+        if (deviceOpt.isEmpty()) {
+            return null;
+        }
 
-        // Determine whether it is the ending state, delete the update state key in redis after the job ends.
         EventsResultStatusEnum statusEnum = EventsResultStatusEnum.find(output.getStatus());
-        Collection<ConcurrentWebSocketSession> sessions = webSocketManageService.getValueWithWorkspaceAndUserType(
-                device.getWorkspaceId(), UserTypeEnum.WEB.getVal());
-        CustomWebSocketMessage<Object> build = CustomWebSocketMessage.builder()
-                .data(eventsReceiver)
-                .timestamp(System.currentTimeMillis())
-                .bizCode(receiver.getMethod())
-                .build();
-        if (upgrade) {
-            if (statusEnum.getEnd()) {
-                // Delete the cache after the update is complete.
-                RedisOpsUtils.del(RedisConst.FIRMWARE_UPGRADING_PREFIX + sn);
-            } else {
-                // Update the update progress of the dock in redis.
-                RedisOpsUtils.setWithExpire(
-                        RedisConst.FIRMWARE_UPGRADING_PREFIX + sn, output.getProgress().getPercent(),
-                        RedisConst.DEVICE_ALIVE_SECOND * RedisConst.DEVICE_ALIVE_SECOND);
-            }
-            eventsReceiver.setSn(sn);
-            webSocketMessageService.sendBatch(sessions, build);
-        }
-        if (childUpgrade) {
-            if (!StringUtils.hasText(eventsReceiver.getSn())) {
-                eventsReceiver.setSn(childDeviceSn);
-                webSocketMessageService.sendBatch(sessions, build);
-            }
-            if (statusEnum.getEnd()) {
-                RedisOpsUtils.del(RedisConst.FIRMWARE_UPGRADING_PREFIX + childDeviceSn);
-            } else {
-                // Update the update progress of the drone in redis.
-                RedisOpsUtils.setWithExpire(
-                        RedisConst.FIRMWARE_UPGRADING_PREFIX + childDeviceSn, output.getProgress().getPercent(),
-                        RedisConst.DEVICE_ALIVE_SECOND * RedisConst.DEVICE_ALIVE_SECOND);
-            }
-        }
+        DeviceDTO device = deviceOpt.get();
+        handleProgress(device.getWorkspaceId(), sn, eventsReceiver, statusEnum.getEnd());
+        handleProgress(device.getWorkspaceId(), device.getChildDeviceSn(), eventsReceiver, statusEnum.getEnd());
 
-        if (receiver.getNeedReply() != null && receiver.getNeedReply() == 1) {
-            String replyTopic = headers.get(MqttHeaders.RECEIVED_TOPIC) + TopicConst._REPLY_SUF;
-            messageSenderService.publish(replyTopic,
-                    CommonTopicResponse.builder()
-                            .tid(receiver.getTid())
-                            .bid(receiver.getBid())
-                            .method(receiver.getMethod())
-                            .timestamp(System.currentTimeMillis())
-                            .data(RequestsReply.success())
-                            .build());
+        return receiver;
+    }
+
+    private void handleProgress(String workspaceId, String sn,
+                    EventsReceiver<EventsOutputProgressReceiver<FirmwareProgressExtReceiver>> events, boolean isEnd) {
+        boolean upgrade = deviceRedisService.getFirmwareUpgradingProgress(sn).isPresent();
+        if (!upgrade) {
+            return;
+        }
+        if (isEnd) {
+            // Delete the cache after the update is complete.
+            deviceRedisService.delFirmwareUpgrading(sn);
+        } else {
+            // Update the update progress of the dock in redis.
+            deviceRedisService.setFirmwareUpgrading(sn, events);
         }
+        events.setSn(sn);
+        webSocketMessageService.sendBatch(workspaceId, UserTypeEnum.WEB.getVal(), BizCodeEnum.OTA_PROGRESS.getCode(), events);
     }
 
     @Override