What's new?

1. Added support for new Dock model: DJI Dock2
        2. Fixed some issues.

README.md

@@ -14,7 +14,7 @@ For more documentation, please visit the [DJI Developer Documentation](https://d
 
 ## Latest Release
 
-Cloud API 1.1.0 was released on 22 July 2022. For more information, please visit the [Release Note](https://developer.dji.com/doc/cloud-api-tutorial/cn/).
+Cloud API 1.8.0 was released on 11 Dec 2023. For more information, please visit the [Release Note](https://developer.dji.com/doc/cloud-api-tutorial/cn/).
 
 ## License
 

pom.xml

@@ -11,7 +11,7 @@
 
     <groupId>com.dji</groupId>
     <artifactId>cloud-api-sample</artifactId>
-    <version>1.7.0</version>
+    <version>1.8.0</version>
     <name>cloud-api-sample</name>
 
     <properties>
@@ -180,6 +180,11 @@
             <artifactId>spring-boot-starter-validation</artifactId>
         </dependency>
 
+        <!--		<dependency>-->
+        <!--			<groupId>io.springfox</groupId>-->
+        <!--			<artifactId>springfox-boot-starter</artifactId>-->
+        <!--			<version>3.0.0</version>-->
+        <!--		</dependency>-->
         <!-- https://mvnrepository.com/artifact/org.springdoc/springdoc-openapi-ui -->
         <dependency>
             <groupId>org.springdoc</groupId>

sql/cloud_sample.sql

@@ -110,32 +110,38 @@ LOCK TABLES `manage_device_dictionary` WRITE;
 
 INSERT INTO `manage_device_dictionary` (`id`, `domain`, `device_type`, `sub_type`, `device_name`, `device_desc`)
 VALUES
-	(1,0,60,0,'Matrice 300 RTK',NULL),
-	(2,0,67,0,'Matrice 30',NULL),
-	(3,0,67,1,'Matrice 30T',NULL),
-	(4,1,20,0,'Z30',NULL),
-	(5,1,26,0,'XT2',NULL),
-	(6,1,39,0,'FPV',NULL),
-	(7,1,41,0,'XTS',NULL),
-	(8,1,42,0,'H20',NULL),
-	(9,1,43,0,'H20T',NULL),
-	(10,1,50,65535,'P1','include 24 and 35 and 50mm'),
-	(11,1,52,0,'M30 Camera',NULL),
-	(12,1,53,0,'M30T Camera',NULL),
-	(13,1,61,0,'H20N',NULL),
-	(14,1,165,0,'DJI Dock Camera',NULL),
-	(15,1,90742,0,'L1',NULL),
-	(16,2,56,0,'DJI Smart Controller','Remote control for M300'),
-	(17,2,119,0,'DJI RC Plus','Remote control for M30'),
-	(18,3,1,0,'DJI Dock',''),
-	(19,0,77,0,'Mavic 3E',NULL),
-	(20,0,77,1,'Mavic 3T',NULL),
-	(21,1,66,0,'Mavic 3E Camera',NULL),
-	(22,1,67,0,'Mavic 3T Camera',NULL),
-	(23,2,144,0,'DJI RC Pro','Remote control for Mavic 3E/T and Mavic 3M'),
-	(24,0,77,2,'Mavic 3M',NULL),
-	(25,1,68,0,'Mavic 3M Camera',NULL),
-	(26,0,89,0,'Matrice 350 RTK',NULL);
+	(1, 0, 60, 0, 'Matrice 300 RTK', NULL),
+	(2, 0, 67, 0, 'Matrice 30', NULL),
+	(3, 0, 67, 1, 'Matrice 30T', NULL),
+	(4, 1, 20, 0, 'Z30', NULL),
+	(5, 1, 26, 0, 'XT2', NULL),
+	(6, 1, 39, 0, 'FPV', NULL),
+	(7, 1, 41, 0, 'XTS', NULL),
+	(8, 1, 42, 0, 'H20', NULL),
+	(9, 1, 43, 0, 'H20T', NULL),
+	(10, 1, 50, 65535, 'P1', 'include 24 and 35 and 50mm'),
+	(11, 1, 52, 0, 'M30 Camera', NULL),
+	(12, 1, 53, 0, 'M30T Camera', NULL),
+	(13, 1, 61, 0, 'H20N', NULL),
+	(14, 1, 165, 0, 'DJI Dock Camera', NULL),
+	(15, 1, 90742, 0, 'L1', NULL),
+	(16, 2, 56, 0, 'DJI Smart Controller', 'Remote control for M300'),
+	(17, 2, 119, 0, 'DJI RC Plus', 'Remote control for M30'),
+	(18, 3, 1, 0, 'DJI Dock', ''),
+	(19, 0, 77, 0, 'Mavic 3E', NULL),
+	(20, 0, 77, 1, 'Mavic 3T', NULL),
+	(21, 1, 66, 0, 'Mavic 3E Camera', NULL),
+	(22, 1, 67, 0, 'Mavic 3T Camera', NULL),
+	(23, 2, 144, 0, 'DJI RC Pro', 'Remote control for Mavic 3E/T and Mavic 3M'),
+	(24, 0, 77, 2, 'Mavic 3M', NULL),
+	(25, 1, 68, 0, 'Mavic 3M Camera', NULL),
+	(26, 0, 89, 0, 'Matrice 350 RTK', NULL),
+	(27, 3, 2, 0, 'DJI Dock2', NULL),
+	(28, 0, 91, 0, 'M3D', NULL),
+	(29, 0, 91, 1, 'M3TD', NULL),
+	(30, 1, 80, 0, 'M3D Camera', NULL),
+	(31, 1, 81, 0, 'M3TD Camera', NULL);
+
 
 /*!40000 ALTER TABLE `manage_device_dictionary` ENABLE KEYS */;
 UNLOCK TABLES;

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

@@ -9,7 +9,7 @@ import com.dji.sdk.cloudapi.device.ControlSourceEnum;
 import com.dji.sdk.cloudapi.device.DeviceOsdHost;
 import com.dji.sdk.cloudapi.device.DockModeCodeEnum;
 import com.dji.sdk.cloudapi.device.DroneModeCodeEnum;
-import com.dji.sdk.common.GatewayManager;
+import com.dji.sdk.config.version.GatewayManager;
 import com.dji.sdk.common.HttpResultResponse;
 import com.dji.sdk.common.PaginationData;
 import com.fasterxml.jackson.databind.JsonNode;

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

@@ -24,6 +24,7 @@ import com.dji.sdk.cloudapi.property.api.AbstractPropertyService;
 import com.dji.sdk.cloudapi.tsa.DeviceIconUrl;
 import com.dji.sdk.cloudapi.tsa.TopologyDeviceModel;
 import com.dji.sdk.common.*;
+import com.dji.sdk.config.version.GatewayManager;
 import com.dji.sdk.exception.CloudSDKException;
 import com.dji.sdk.mqtt.IMqttTopicService;
 import com.dji.sdk.mqtt.MqttGatewayPublish;

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

@@ -14,7 +14,7 @@ import com.dji.sdk.cloudapi.device.*;
 import com.dji.sdk.cloudapi.device.api.AbstractDeviceService;
 import com.dji.sdk.cloudapi.tsa.DeviceIconUrl;
 import com.dji.sdk.cloudapi.tsa.IconUrlEnum;
-import com.dji.sdk.common.GatewayManager;
+import com.dji.sdk.config.version.GatewayManager;
 import com.dji.sdk.common.SDKManager;
 import com.dji.sdk.mqtt.MqttReply;
 import com.dji.sdk.mqtt.osd.TopicOsdRequest;
@@ -99,7 +99,6 @@ public class SDKDeviceService extends AbstractDeviceService {
         // Subscribe to topic related to drone devices.
         deviceService.subDeviceOnlineSubscribeTopic(gatewayManager);
         deviceService.pushDeviceOnlineTopo(gateway.getWorkspaceId(), gateway.getDeviceSn(), subDevice.getDeviceSn());
-        deviceRedisService.setDeviceOnline(subDevice);
 
         log.debug("{} online.", subDevice.getDeviceSn());
         return new TopicStatusResponse<MqttReply>().setData(MqttReply.success());
@@ -143,14 +142,16 @@ public class SDKDeviceService extends AbstractDeviceService {
                 log.error("Please restart the drone.");
                 return;
             }
-
-            if (!StringUtils.hasText(deviceOpt.get().getWorkspaceId())) {
-                log.error("Please bind the dock first.");
-                return;
-            }
         }
 
         DeviceDTO device = deviceOpt.get();
+        if (!StringUtils.hasText(device.getWorkspaceId())) {
+            log.error("Please bind the dock first.");
+        }
+        if (StringUtils.hasText(device.getChildDeviceSn())) {
+            deviceRedisService.getDeviceOnline(device.getChildDeviceSn()).ifPresent(device::setChildren);
+        }
+
         deviceRedisService.setDeviceOnline(device);
         fillDockOsd(from, request.getData());
 
@@ -193,6 +194,9 @@ public class SDKDeviceService extends AbstractDeviceService {
             }
         }
         DeviceDTO device = deviceOpt.get();
+        if (StringUtils.hasText(device.getChildDeviceSn())) {
+            deviceRedisService.getDeviceOnline(device.getChildDeviceSn()).ifPresent(device::setChildren);
+        }
         deviceRedisService.setDeviceOnline(device);
 
         OsdRemoteControl data = request.getData();
@@ -216,14 +220,13 @@ public class SDKDeviceService extends AbstractDeviceService {
                 return;
             }
         }
-        if (!StringUtils.hasText(deviceOpt.get().getWorkspaceId())) {
+        DeviceDTO device = deviceOpt.get();
+        deviceRedisService.setDeviceOnline(device);
+        if (!StringUtils.hasText(device.getWorkspaceId())) {
             log.error("Please bind the drone first.");
             return;
         }
 
-        DeviceDTO device = deviceOpt.get();
-        deviceRedisService.setDeviceOnline(device);
-
         OsdRcDrone data = request.getData();
         deviceService.pushOsdDataToPilot(device.getWorkspaceId(), from,
                 new DeviceOsdHost()
@@ -349,9 +352,10 @@ public class SDKDeviceService extends AbstractDeviceService {
         }
         if (!Objects.requireNonNullElse(subDevice.getBoundStatus(), false)) {
             // Directly bind the drone of the dock to the same workspace as the dock.
-            deviceService.bindDevice(DeviceDTO.builder().deviceSn(subDevice.getChildDeviceSn()).workspaceId(gateway.getWorkspaceId()).build());
+            deviceService.bindDevice(DeviceDTO.builder().deviceSn(subDevice.getDeviceSn()).workspaceId(gateway.getWorkspaceId()).build());
             subDevice.setWorkspaceId(gateway.getWorkspaceId());
         }
+        deviceRedisService.setDeviceOnline(subDevice);
     }
 
     private void changeSubDeviceParent(String deviceSn, String gatewaySn) {

src/main/java/com/dji/sample/wayline/service/impl/WaylineFileServiceImpl.java

@@ -12,6 +12,8 @@ import com.dji.sample.wayline.model.entity.WaylineFileEntity;
 import com.dji.sample.wayline.service.IWaylineFileService;
 import com.dji.sdk.cloudapi.device.DeviceDomainEnum;
 import com.dji.sdk.cloudapi.device.DeviceEnum;
+import com.dji.sdk.cloudapi.device.DeviceSubTypeEnum;
+import com.dji.sdk.cloudapi.device.DeviceTypeEnum;
 import com.dji.sdk.cloudapi.wayline.GetWaylineListRequest;
 import com.dji.sdk.cloudapi.wayline.GetWaylineListResponse;
 import com.dji.sdk.cloudapi.wayline.WaylineTypeEnum;
@@ -206,21 +208,15 @@ public class WaylineFileServiceImpl implements IWaylineFileService {
                     throw new RuntimeException("The file format is incorrect.");
                 }
 
-                String type = droneNode.valueOf(KmzFileProperties.TAG_WPML_PREFIX + KmzFileProperties.TAG_DRONE_ENUM_VALUE);
-                String subType = droneNode.valueOf(KmzFileProperties.TAG_WPML_PREFIX + KmzFileProperties.TAG_DRONE_SUB_ENUM_VALUE);
-                String payloadType = payloadNode.valueOf(KmzFileProperties.TAG_WPML_PREFIX + KmzFileProperties.TAG_PAYLOAD_ENUM_VALUE);
-                String payloadSubType = payloadNode.valueOf(KmzFileProperties.TAG_WPML_PREFIX + KmzFileProperties.TAG_PAYLOAD_SUB_ENUM_VALUE);
+                DeviceTypeEnum type = DeviceTypeEnum.find(Integer.parseInt(droneNode.valueOf(KmzFileProperties.TAG_WPML_PREFIX + KmzFileProperties.TAG_DRONE_ENUM_VALUE)));
+                DeviceSubTypeEnum subType = DeviceSubTypeEnum.find(Integer.parseInt(droneNode.valueOf(KmzFileProperties.TAG_WPML_PREFIX + KmzFileProperties.TAG_DRONE_SUB_ENUM_VALUE)));
+                DeviceTypeEnum payloadType = DeviceTypeEnum.find(Integer.parseInt(payloadNode.valueOf(KmzFileProperties.TAG_WPML_PREFIX + KmzFileProperties.TAG_PAYLOAD_ENUM_VALUE)));
+                DeviceSubTypeEnum payloadSubType = DeviceSubTypeEnum.find(Integer.parseInt(payloadNode.valueOf(KmzFileProperties.TAG_WPML_PREFIX + KmzFileProperties.TAG_PAYLOAD_SUB_ENUM_VALUE)));
                 String templateType = document.valueOf("//" + KmzFileProperties.TAG_WPML_PREFIX + KmzFileProperties.TAG_TEMPLATE_TYPE);
 
-                if (!StringUtils.hasText(type) || !StringUtils.hasText(subType) ||
-                        !StringUtils.hasText(payloadSubType) || !StringUtils.hasText(payloadType) ||
-                        !StringUtils.hasText(templateType)) {
-                    throw new RuntimeException("The file format is incorrect.");
-                }
-
                 return Optional.of(WaylineFileDTO.builder()
-                        .droneModelKey(String.format("%s-%s-%s", DeviceDomainEnum.DRONE.getDomain(), type, subType))
-                        .payloadModelKeys(List.of(String.format("%s-%s-%s",DeviceDomainEnum.PAYLOAD.getDomain(), payloadType, payloadSubType)))
+                        .droneModelKey(DeviceEnum.find(DeviceDomainEnum.DRONE, type, subType).getDevice())
+                        .payloadModelKeys(List.of(DeviceEnum.find(DeviceDomainEnum.PAYLOAD, payloadType, payloadSubType).getDevice()))
                         .objectKey(OssConfiguration.objectDirPrefix + File.separator + filename)
                         .name(filename.substring(0, filename.lastIndexOf(WAYLINE_FILE_SUFFIX)))
                         .sign(DigestUtils.md5DigestAsHex(file.getInputStream()))

src/main/java/com/dji/sdk/annotations/CloudSDKVersion.java

@@ -1,7 +1,7 @@
 package com.dji.sdk.annotations;
 
-import com.dji.sdk.common.CloudSDKVersionEnum;
-import com.dji.sdk.common.GatewayTypeEnum;
+import com.dji.sdk.config.version.CloudSDKVersionEnum;
+import com.dji.sdk.config.version.GatewayTypeEnum;
 
 import java.lang.annotation.*;
 

src/main/java/com/dji/sdk/cloudapi/control/TakeoffToPointRequest.java

@@ -5,7 +5,7 @@ import com.dji.sdk.cloudapi.device.ExitWaylineWhenRcLostEnum;
 import com.dji.sdk.cloudapi.device.RcLostActionEnum;
 import com.dji.sdk.cloudapi.wayline.RthModeEnum;
 import com.dji.sdk.common.BaseModel;
-import com.dji.sdk.common.CloudSDKVersionEnum;
+import com.dji.sdk.config.version.CloudSDKVersionEnum;
 
 import javax.validation.constraints.Max;
 import javax.validation.constraints.Min;

src/main/java/com/dji/sdk/cloudapi/control/api/AbstractControlService.java

@@ -4,9 +4,9 @@ import com.dji.sdk.annotations.CloudSDKVersion;
 import com.dji.sdk.cloudapi.control.*;
 import com.dji.sdk.common.BaseModel;
 import com.dji.sdk.common.Common;
-import com.dji.sdk.common.GatewayManager;
-import com.dji.sdk.common.GatewayTypeEnum;
-import com.dji.sdk.exception.CloudSDKErrorEnum;
+import com.dji.sdk.common.SpringBeanUtils;
+import com.dji.sdk.config.version.GatewayManager;
+import com.dji.sdk.config.version.GatewayTypeEnum;
 import com.dji.sdk.exception.CloudSDKException;
 import com.dji.sdk.mqtt.ChannelName;
 import com.dji.sdk.mqtt.MqttReply;
@@ -23,7 +23,8 @@ import org.springframework.messaging.Message;
 import org.springframework.messaging.MessageHeaders;
 
 import javax.annotation.Resource;
-import java.util.Objects;
+import java.lang.reflect.InvocationTargetException;
+import java.lang.reflect.Method;
 
 /**
  * @author sean
@@ -278,16 +279,17 @@ public abstract class AbstractControlService {
      * @param request   data
      * @return  services_reply
      */
-    @CloudSDKVersion(exclude = GatewayTypeEnum.RC)
     public TopicServicesResponse<ServicesReplyData> payloadControl(GatewayManager gateway, PayloadControlMethodEnum methodEnum, BaseModel request) {
-        if (Objects.isNull(request) || request.getClass() != methodEnum.getClazz()) {
-            throw new CloudSDKException(CloudSDKErrorEnum.INVALID_PARAMETER);
+        try {
+            AbstractControlService abstractControlService = SpringBeanUtils.getBean(this.getClass());
+            Method method = abstractControlService.getClass().getDeclaredMethod(
+                    Common.convertSnake(methodEnum.getPayloadMethod().getMethod()),GatewayManager.class, methodEnum.getClazz());
+            return (TopicServicesResponse<ServicesReplyData>) method.invoke(abstractControlService, gateway, request);
+        } catch (NoSuchMethodException | IllegalAccessException e) {
+            throw new CloudSDKException(e);
+        } catch (InvocationTargetException e) {
+            throw new CloudSDKException(e.getTargetException());
         }
-        Common.validateModel(request);
-        return servicesPublish.publish(
-                gateway.getGatewaySn(),
-                methodEnum.getPayloadMethod().getMethod(),
-                request);
     }
 
 

src/main/java/com/dji/sdk/cloudapi/debug/api/AbstractDebugService.java

@@ -4,9 +4,9 @@ import com.dji.sdk.annotations.CloudSDKVersion;
 import com.dji.sdk.cloudapi.debug.*;
 import com.dji.sdk.common.BaseModel;
 import com.dji.sdk.common.Common;
-import com.dji.sdk.common.GatewayManager;
-import com.dji.sdk.common.GatewayTypeEnum;
-import com.dji.sdk.exception.CloudSDKErrorEnum;
+import com.dji.sdk.common.SpringBeanUtils;
+import com.dji.sdk.config.version.GatewayManager;
+import com.dji.sdk.config.version.GatewayTypeEnum;
 import com.dji.sdk.exception.CloudSDKException;
 import com.dji.sdk.mqtt.ChannelName;
 import com.dji.sdk.mqtt.MqttReply;
@@ -22,6 +22,10 @@ import org.springframework.messaging.Message;
 import org.springframework.messaging.MessageHeaders;
 
 import javax.annotation.Resource;
+import java.lang.reflect.InvocationTargetException;
+import java.lang.reflect.Method;
+import java.util.ArrayList;
+import java.util.List;
 import java.util.Objects;
 
 /**
@@ -242,7 +246,7 @@ public abstract class AbstractDebugService {
      * @param gateway
      * @return  services_reply
      */
-    @CloudSDKVersion(exclude = GatewayTypeEnum.RC)
+    @CloudSDKVersion(exclude = {GatewayTypeEnum.RC, GatewayTypeEnum.DOCK2})
     public TopicServicesResponse<ServicesReplyData<RemoteDebugResponse>> putterOpen(GatewayManager gateway) {
         return servicesPublish.publish(
                 new TypeReference<RemoteDebugResponse>() {},
@@ -255,7 +259,7 @@ public abstract class AbstractDebugService {
      * @param gateway
      * @return  services_reply
      */
-    @CloudSDKVersion(exclude = GatewayTypeEnum.RC)
+    @CloudSDKVersion(exclude = {GatewayTypeEnum.RC, GatewayTypeEnum.DOCK2})
     public TopicServicesResponse<ServicesReplyData<RemoteDebugResponse>> putterClose(GatewayManager gateway) {
         return servicesPublish.publish(
                 new TypeReference<RemoteDebugResponse>() {},
@@ -311,19 +315,24 @@ public abstract class AbstractDebugService {
      * @param request   data
      * @return  services_reply
      */
-    @CloudSDKVersion(exclude = GatewayTypeEnum.RC)
     public TopicServicesResponse<ServicesReplyData<RemoteDebugResponse>> remoteDebug(GatewayManager gateway, DebugMethodEnum methodEnum, BaseModel request) {
-        if (Objects.nonNull(methodEnum.getClazz())) {
-            if (methodEnum.getClazz() != request.getClass()) {
-                throw new CloudSDKException(CloudSDKErrorEnum.INVALID_PARAMETER);
+        try {
+            List<Class> clazz = new ArrayList<>();
+            List<Object> args = new ArrayList<>();
+            clazz.add(GatewayManager.class);
+            args.add(gateway);
+            if (Objects.nonNull(request)) {
+                clazz.add(request.getClass());
+                args.add(request);
             }
-            Common.validateModel(request);
+            AbstractDebugService abstractDebugService = SpringBeanUtils.getBean(this.getClass());
+            Method method = abstractDebugService.getClass().getDeclaredMethod(Common.convertSnake(methodEnum.getMethod()), clazz.toArray(Class[]::new));
+            return (TopicServicesResponse<ServicesReplyData<RemoteDebugResponse>>) method.invoke(abstractDebugService, args.toArray());
+        } catch (NoSuchMethodException | IllegalAccessException e) {
+            throw new CloudSDKException(e);
+        } catch (InvocationTargetException e) {
+            throw new CloudSDKException(e.getTargetException());
         }
-        return servicesPublish.publish(
-                new TypeReference<RemoteDebugResponse>() {},
-                gateway.getGatewaySn(),
-                methodEnum.getMethod(),
-                request);
     }
 
     /**

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

@@ -22,7 +22,9 @@ public enum DeviceDomainEnum {
 
     REMOTER_CONTROL(2),
 
-    DOCK (3);
+    DOCK (3),
+
+    ;
 
     private final int domain;
 

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

@@ -19,9 +19,9 @@ public enum DeviceEnum {
 
     M300(DeviceDomainEnum.DRONE, DeviceTypeEnum.M300, DeviceSubTypeEnum.ZERO),
 
-    M30(DeviceDomainEnum.DRONE, DeviceTypeEnum.M30, DeviceSubTypeEnum.ZERO),
+    M30(DeviceDomainEnum.DRONE, DeviceTypeEnum.M30_OR_M3T_CAMERA, DeviceSubTypeEnum.ZERO),
 
-    M30T(DeviceDomainEnum.DRONE, DeviceTypeEnum.M30, DeviceSubTypeEnum.ONE),
+    M30T(DeviceDomainEnum.DRONE, DeviceTypeEnum.M30_OR_M3T_CAMERA, DeviceSubTypeEnum.ONE),
 
     M3E(DeviceDomainEnum.DRONE, DeviceTypeEnum.M3E, DeviceSubTypeEnum.ZERO),
 
@@ -55,7 +55,7 @@ public enum DeviceEnum {
 
     M3E_CAMERA(DeviceDomainEnum.PAYLOAD, DeviceTypeEnum.M3E_CAMERA, DeviceSubTypeEnum.ZERO),
 
-    M3T_CAMERA(DeviceDomainEnum.PAYLOAD, DeviceTypeEnum.M3T_CAMERA, DeviceSubTypeEnum.ZERO),
+    M3T_CAMERA(DeviceDomainEnum.PAYLOAD, DeviceTypeEnum.M30_OR_M3T_CAMERA, DeviceSubTypeEnum.ZERO),
 
     M3M_CAMERA(DeviceDomainEnum.PAYLOAD, DeviceTypeEnum.M3M_CAMERA, DeviceSubTypeEnum.ZERO),
 
@@ -66,6 +66,16 @@ public enum DeviceEnum {
     RC_PRO(DeviceDomainEnum.REMOTER_CONTROL, DeviceTypeEnum.RC_PRO, DeviceSubTypeEnum.ZERO),
 
     DOCK(DeviceDomainEnum.DOCK, DeviceTypeEnum.DOCK, DeviceSubTypeEnum.ZERO),
+
+    DOCK2(DeviceDomainEnum.DOCK, DeviceTypeEnum.DOCK2, DeviceSubTypeEnum.ZERO),
+
+    M3D(DeviceDomainEnum.DRONE, DeviceTypeEnum.M3D, DeviceSubTypeEnum.ZERO),
+
+    M3TD(DeviceDomainEnum.DRONE, DeviceTypeEnum.M3D, DeviceSubTypeEnum.ONE),
+
+    M3D_CAMERA(DeviceDomainEnum.PAYLOAD, DeviceTypeEnum.M3D_CAMERA, DeviceSubTypeEnum.ZERO),
+
+    M3TD_CAMERA(DeviceDomainEnum.PAYLOAD, DeviceTypeEnum.M3TD_CAMERA, DeviceSubTypeEnum.ZERO),
     ;
 
     @Schema(enumAsRef = true)
@@ -101,9 +111,7 @@ public enum DeviceEnum {
     }
 
     public static DeviceEnum find(DeviceDomainEnum domain, DeviceTypeEnum type, DeviceSubTypeEnum subType) {
-        return Arrays.stream(values()).filter(device -> device.domain == domain && device.type == type && device.subType == subType)
-                .findAny().orElseThrow(() -> new CloudSDKException(DeviceEnum.class,
-                        String.format("%s-%s-%s", domain.getDomain(), type.getType(), subType.getSubType())));
+        return DeviceEnum.find(domain.getDomain(), type.getType(), subType.getSubType());
     }
 
     public static DeviceEnum find(int domain, int type, int subType) {

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

@@ -19,7 +19,7 @@ public enum DeviceTypeEnum {
 
     M300(60),
 
-    M30(67),
+    M30_OR_M3T_CAMERA(67),
 
     M3E(77),
 
@@ -49,8 +49,6 @@ public enum DeviceTypeEnum {
 
     M3E_CAMERA(66),
 
-    M3T_CAMERA(67),
-
     M3M_CAMERA(68),
 
     RC(56),
@@ -59,7 +57,15 @@ public enum DeviceTypeEnum {
 
     RC_PRO(144),
 
-    DOCK(1)
+    DOCK(1),
+
+    DOCK2(2),
+
+    M3D(91),
+
+    M3D_CAMERA(80),
+
+    M3TD_CAMERA(81),
     ;
 
     private final int type;

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

@@ -31,10 +31,7 @@ public class DockLiveErrorStatus {
 
     @JsonCreator
     public DockLiveErrorStatus(int code) {
-        if (MqttReply.CODE_SUCCESS == code) {
-            this.success = true;
-            return;
-        }
+        this.success = MqttReply.CODE_SUCCESS == code;
         this.source = ErrorCodeSourceEnum.find(code / MOD);
         this.errorCode = LiveErrorCodeEnum.find(code % MOD);
     }

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

@@ -39,7 +39,7 @@ public class DockPositionState {
     }
 
     public DockPositionState setCalibration(Boolean calibration) {
-        calibration = calibration;
+        this.calibration = calibration;
         return this;
     }
 

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

@@ -13,11 +13,17 @@ import java.util.Arrays;
  */
 public enum NetworkStateQualityEnum {
 
-    BAD(0),
+    NO_SIGNAL(0),
 
-    MODERATE(1),
+    BAD(1),
 
-    GOOD(2),
+    POOR(2),
+
+    FAIR(3),
+
+    GOOD(4),
+
+    EXCELLENT(5),
     ;
 
     private final int quality;

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

@@ -49,7 +49,7 @@ public class OsdDockDrone {
 
     private DronePositionState positionState;
 
-    @JsonProperty(PayloadModelEnum.PAYLOAD_KEY)
+    @JsonProperty(PayloadModelConst.PAYLOAD_KEY)
     private List<DockDronePayload> payloads;
 
     private Storage storage;

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

@@ -49,7 +49,7 @@ public class OsdRcDrone {
 
     private DronePositionState positionState;
 
-    @JsonProperty(PayloadModelEnum.PAYLOAD_KEY)
+    @JsonProperty(PayloadModelConst.PAYLOAD_KEY)
     private List<RcDronePayload> payloads;
 
     private Storage storage;

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

@@ -0,0 +1,38 @@
+package com.dji.sdk.cloudapi.device;
+
+import java.util.Arrays;
+import java.util.Set;
+import java.util.function.Function;
+import java.util.stream.Collectors;
+
+/**
+ * @author sean
+ * @version 1.0
+ * @date 2022/4/29
+ */
+public class PayloadModelConst {
+
+    private PayloadModelConst() {
+    }
+
+    public static final String PAYLOAD_KEY = "payload";
+
+    public static Set<String> getAllModelWithPosition() {
+        Set<String> position = Arrays.stream(PayloadPositionEnum.values()).map(PayloadPositionEnum::getPosition)
+                .map(String::valueOf).collect(Collectors.toSet());
+        return Arrays.stream(DeviceEnum.values()).filter(device -> DeviceDomainEnum.PAYLOAD == device.getDomain())
+                .map(Enum::name).map(name -> name.replace("_CAMERA", ""))
+                .map(m -> position.stream().map(p -> m.concat("-").concat(p)))
+                .flatMap(Function.identity()).collect(Collectors.toSet());
+    }
+
+    public static Set<String> getAllIndexWithPosition() {
+        Set<String> position = Arrays.stream(PayloadPositionEnum.values()).map(PayloadPositionEnum::getPosition)
+                .map(String::valueOf).collect(Collectors.toSet());
+        return Arrays.stream(DeviceEnum.values()).filter(device -> DeviceDomainEnum.PAYLOAD == device.getDomain())
+                .map(device -> String.format("%d-%d", device.getType().getType(), device.getSubType().getSubType()))
+                .map(m -> position.stream().map(p -> m.concat("-").concat(p)))
+                .flatMap(Function.identity()).collect(Collectors.toSet());
+    }
+
+}

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

@@ -1,77 +0,0 @@
-package com.dji.sdk.cloudapi.device;
-
-import com.dji.sdk.exception.CloudSDKException;
-
-import java.util.Arrays;
-import java.util.Set;
-import java.util.function.Function;
-import java.util.stream.Collectors;
-
-/**
- * @author sean
- * @version 1.0
- * @date 2022/4/29
- */
-public enum PayloadModelEnum {
-
-    Z30("Z30", "20-0"),
-
-    XT2("XT2", "26-0"),
-
-    XTS("XTS", "41-0"),
-
-    H20("H20", "42-0"),
-
-    H20T("H20T", "43-0"),
-
-    P1("P1", "50-65535"),
-
-    M30("M30", "52-0"),
-
-    M30T("M30T", "53-0"),
-
-    H20N("H20N", "61-0"),
-
-    DOCK("DOCK", "165-0"),
-
-    L1("L1", "90742-0");
-
-    public static final String PAYLOAD_KEY = "payload";
-
-    private final String model;
-
-    private final String index;
-
-    PayloadModelEnum(String model, String index) {
-        this.model = model;
-        this.index = index;
-    }
-
-    public String getModel() {
-        return model;
-    }
-
-    public String getIndex() {
-        return index;
-    }
-
-    public static Set<String> getAllModelWithPosition() {
-        Set<String> position = Arrays.stream(PayloadPositionEnum.values()).map(PayloadPositionEnum::getPosition)
-                .map(String::valueOf).collect(Collectors.toSet());
-        return Arrays.stream(values()).map(PayloadModelEnum::getModel).map(m -> position.stream().map(p -> m.concat("-").concat(p)))
-                .flatMap(Function.identity()).collect(Collectors.toSet());
-    }
-
-    public static Set<String> getAllIndexWithPosition() {
-        Set<String> position = Arrays.stream(PayloadPositionEnum.values()).map(PayloadPositionEnum::getPosition)
-                .map(String::valueOf).collect(Collectors.toSet());
-        return Arrays.stream(values()).map(PayloadModelEnum::getIndex).map(m -> position.stream().map(p -> m.concat("-").concat(p)))
-                .flatMap(Function.identity()).collect(Collectors.toSet());
-    }
-
-    public static PayloadModelEnum find(String model) {
-        return Arrays.stream(values()).filter(modelEnum -> modelEnum.model.equals(model)).findAny()
-            .orElseThrow(() -> new CloudSDKException(PayloadModelEnum.class, model));
-    }
-
-}

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

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

src/main/java/com/dji/sdk/cloudapi/firmware/api/AbstractFirmwareService.java

@@ -4,7 +4,7 @@ import com.dji.sdk.cloudapi.firmware.FirmwareMethodEnum;
 import com.dji.sdk.cloudapi.firmware.OtaCreateRequest;
 import com.dji.sdk.cloudapi.firmware.OtaCreateResponse;
 import com.dji.sdk.cloudapi.firmware.OtaProgress;
-import com.dji.sdk.common.GatewayManager;
+import com.dji.sdk.config.version.GatewayManager;
 import com.dji.sdk.mqtt.ChannelName;
 import com.dji.sdk.mqtt.MqttReply;
 import com.dji.sdk.mqtt.events.EventsDataRequest;

src/main/java/com/dji/sdk/cloudapi/livestream/LiveErrorCodeEnum.java

@@ -12,6 +12,8 @@ import java.util.Arrays;
  */
 public enum LiveErrorCodeEnum implements IServicesErrorCode, IErrorInfo {
 
+    SUCCESS(0, "Success"),
+
     NO_AIRCRAFT(13001, "No aircraft."),
 
     NO_CAMERA(13002, "No camera."),

src/main/java/com/dji/sdk/cloudapi/livestream/api/AbstractLivestreamService.java

@@ -1,7 +1,7 @@
 package com.dji.sdk.cloudapi.livestream.api;
 
 import com.dji.sdk.cloudapi.livestream.*;
-import com.dji.sdk.common.GatewayManager;
+import com.dji.sdk.config.version.GatewayManager;
 import com.dji.sdk.mqtt.ChannelName;
 import com.dji.sdk.mqtt.services.ServicesPublish;
 import com.dji.sdk.mqtt.services.ServicesReplyData;
@@ -24,6 +24,8 @@ public abstract class AbstractLivestreamService {
     @Resource
     private ServicesPublish servicesPublish;
 
+    private static final long DEFAULT_TIMEOUT = 20_000;
+
     /**
      * Livestream ability update for remote control
      * @param request  data
@@ -55,7 +57,8 @@ public abstract class AbstractLivestreamService {
                 new TypeReference<String>() {},
                 gateway.getGatewaySn(),
                 LiveStreamMethodEnum.LIVE_START_PUSH.getMethod(),
-                request);
+                request,
+                DEFAULT_TIMEOUT);
     }
 
     /**
@@ -68,7 +71,8 @@ public abstract class AbstractLivestreamService {
         return servicesPublish.publish(
                 gateway.getGatewaySn(),
                 LiveStreamMethodEnum.LIVE_STOP_PUSH.getMethod(),
-                request);
+                request,
+                DEFAULT_TIMEOUT);
     }
 
     /**
@@ -81,7 +85,8 @@ public abstract class AbstractLivestreamService {
         return servicesPublish.publish(
                 gateway.getGatewaySn(),
                 LiveStreamMethodEnum.LIVE_SET_QUALITY.getMethod(),
-                request);
+                request,
+                DEFAULT_TIMEOUT);
     }
 
     /**
@@ -94,7 +99,8 @@ public abstract class AbstractLivestreamService {
         return servicesPublish.publish(
                 gateway.getGatewaySn(),
                 LiveStreamMethodEnum.LIVE_LENS_CHANGE.getMethod(),
-                request);
+                request,
+                DEFAULT_TIMEOUT);
     }
 
 

src/main/java/com/dji/sdk/cloudapi/log/api/AbstractLogService.java

@@ -1,7 +1,7 @@
 package com.dji.sdk.cloudapi.log.api;
 
 import com.dji.sdk.cloudapi.log.*;
-import com.dji.sdk.common.GatewayManager;
+import com.dji.sdk.config.version.GatewayManager;
 import com.dji.sdk.mqtt.ChannelName;
 import com.dji.sdk.mqtt.MqttReply;
 import com.dji.sdk.mqtt.events.EventsDataRequest;

src/main/java/com/dji/sdk/cloudapi/media/api/AbstractMediaService.java

@@ -3,8 +3,8 @@ package com.dji.sdk.cloudapi.media.api;
 import com.dji.sdk.annotations.CloudSDKVersion;
 import com.dji.sdk.cloudapi.media.*;
 import com.dji.sdk.cloudapi.storage.StsCredentialsResponse;
-import com.dji.sdk.common.GatewayManager;
-import com.dji.sdk.common.GatewayTypeEnum;
+import com.dji.sdk.config.version.GatewayManager;
+import com.dji.sdk.config.version.GatewayTypeEnum;
 import com.dji.sdk.mqtt.ChannelName;
 import com.dji.sdk.mqtt.MqttReply;
 import com.dji.sdk.mqtt.events.TopicEventsRequest;

src/main/java/com/dji/sdk/cloudapi/property/api/AbstractPropertyService.java

@@ -4,8 +4,8 @@ import com.dji.sdk.annotations.CloudSDKVersion;
 import com.dji.sdk.cloudapi.property.PropertySetEnum;
 import com.dji.sdk.common.BaseModel;
 import com.dji.sdk.common.Common;
-import com.dji.sdk.common.GatewayManager;
-import com.dji.sdk.common.GatewayTypeEnum;
+import com.dji.sdk.config.version.GatewayManager;
+import com.dji.sdk.config.version.GatewayTypeEnum;
 import com.dji.sdk.exception.CloudSDKErrorEnum;
 import com.dji.sdk.exception.CloudSDKException;
 import com.dji.sdk.mqtt.property.PropertySetPublish;

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

@@ -35,33 +35,8 @@ public class FlighttaskBreakPoint {
     /**
      * Wayline ID
      */
-    private Integer waylineID;
-
-    /**
-     * Break reason
-     */
-    private FlighttaskBreakReasonEnum breakReason;
-
-    /**
-     * Breakpoint latitude
-     */
-    private Float latitude;
-
-    /**
-     * Breakpoint longitude
-     */
-    private Float longitude;
-
-    /**
-     * Breakpoint altitude relative to the Earth's ellipsoid surface
-     *
-     */
-    private Float height;
-
-    /**
-     * Yaw angle relative to true north (meridian), with positive values from 0 to 6 o'clock direction and negative values from 6 to 12 o'clock direction
-     */
-    private Integer attitudeHead;
+    @NotNull
+    private Integer waylineId;
 
     public FlighttaskBreakPoint() {}
 
@@ -71,12 +46,7 @@ public class FlighttaskBreakPoint {
                 "index=" + index +
                 ", state=" + state +
                 ", progress=" + progress +
-                ", waylineID=" + waylineID +
-                ", breakReason=" + breakReason +
-                ", latitude=" + latitude +
-                ", longitude=" + longitude +
-                ", height=" + height +
-                ", attitudeHead=" + attitudeHead +
+                ", waylineId=" + waylineId +
                 '}';
     }
 
@@ -107,57 +77,12 @@ public class FlighttaskBreakPoint {
         return this;
     }
 
-    public Integer getWaylineID() {
-        return waylineID;
-    }
-
-    public FlighttaskBreakPoint setWaylineID(Integer waylineID) {
-        this.waylineID = waylineID;
-        return this;
-    }
-
-    public FlighttaskBreakReasonEnum getBreakReason() {
-        return breakReason;
-    }
-
-    public FlighttaskBreakPoint setBreakReason(FlighttaskBreakReasonEnum breakReason) {
-        this.breakReason = breakReason;
-        return this;
-    }
-
-    public Float getLatitude() {
-        return latitude;
-    }
-
-    public FlighttaskBreakPoint setLatitude(Float latitude) {
-        this.latitude = latitude;
-        return this;
-    }
-
-    public Float getLongitude() {
-        return longitude;
-    }
-
-    public FlighttaskBreakPoint setLongitude(Float longitude) {
-        this.longitude = longitude;
-        return this;
-    }
-
-    public Float getHeight() {
-        return height;
-    }
-
-    public FlighttaskBreakPoint setHeight(Float height) {
-        this.height = height;
-        return this;
-    }
-
-    public Integer getAttitudeHead() {
-        return attitudeHead;
+    public Integer getWaylineId() {
+        return waylineId;
     }
 
-    public FlighttaskBreakPoint setAttitudeHead(Integer attitudeHead) {
-        this.attitudeHead = attitudeHead;
+    public FlighttaskBreakPoint setWaylineId(Integer waylineId) {
+        this.waylineId = waylineId;
         return this;
     }
 }

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

@@ -1,5 +1,11 @@
 package com.dji.sdk.cloudapi.wayline;
 
+import com.dji.sdk.exception.CloudSDKException;
+import com.fasterxml.jackson.annotation.JsonCreator;
+import com.fasterxml.jackson.annotation.JsonValue;
+
+import java.util.Arrays;
+
 /**
  * @author sean
  * @version 1.7
@@ -7,5 +13,189 @@ package com.dji.sdk.cloudapi.wayline;
  */
 public enum FlighttaskBreakReasonEnum {
 
-    // TODO 增加枚举值
+    NORMAL(0, "No abnormalities"),
+
+    NOT_ID(1, "Mission ID does not exist. The wayline mission has not been executed."),
+
+    UNCOMMON_ERROR(2, "Uncommon error, please contact technical support."),
+
+    ERROR_LOADING_FILE(4, "Error loading wayline file when requesting to start/resume the wayline mission, please try uploading the file again or contact technical support."),
+
+    ERROR_BREAKPOINT_FILE(5, "Failed to query breakpoint file when requesting breakpoint information. Failed to parse breakpoint type when requesting to resume the wayline mission."),
+
+    INCORRECT_PARAMETER(6, "Incorrect cmd parameter when requesting to start/end the wayline mission, incorrect protocol command in the request. Failed to parse breakpoint type when requesting to resume the wayline mission."),
+
+    PARSING_FILE_TIMEOUT(7, "Timeout parsing the WPMZ file when requesting to start/resume the wayline mission, please retry."),
+
+    ALREADY_STARTED(257, "Wayline has already started, cannot start again."),
+
+    UNABLE_TO_INTERRUPT_WAYLINE(258, "Unable to interrupt the wayline in this state, only allowed to pause the wayline in the executing state."),
+
+    NOT_STARTED(259, "Wayline has not started, cannot end the wayline."),
+
+    FLIGHT_MISSION_CONFLICT(261, "Flight mission conflict, unable to obtain control of the aircraft, not allowed to start the wayline during landing and return."),
+
+    UNABLE_TO_RESUME_WAYLINE(262, "Unable to resume wayline in this state, only allowed when the wayline is paused."),
+
+    MAXIMUM_ALTITUDE_LIMIT(513, "Aircraft exceeded the maximum altitude limit."),
+
+    MAXIMUM_DISTANCE_LIMIT(514, "Aircraft exceeded the maximum distance limit."),
+
+    TOO_LOW_HEIGHT(516, "The height of the drone is too low."),
+
+    OBSTACLE_AVOIDANCE(517, "Aircraft triggered obstacle sensing."),
+
+    POOR_RTK(518, "Poor RTK signal"),
+
+    BOUNDARY_OF_RESTRICTED_ZONE(519, "Approaching the boundary of Restricted Zone."),
+
+    GEO_ALTITUDE_LIMIT(521, "Exceeded the dock's GEO zone altitude limit."),
+
+    TAKEOFF_REQUEST_FAILED(522, "Failed to request takeoff for the wayline."),
+
+    TAKEOFF_EXECUTION_FAILED(523, "Takeoff mission execution failed."),
+
+    WAYLINE_MISSION_REQUEST_FAILED(524, "Failed to request wayline mission."),
+
+    RTK_FIXING_REQUEST_FAILED(526, "Failed to request wayline RTK fixing mission."),
+
+    RTK_FIXING_EXECUTION_FAILED(527, "Wayline RTK fixing mission failed to run."),
+
+    WEAK_GPS(769, "Weak GPS signal."),
+
+    ERROR_RC_MODE(770, "Remote controller not in N mode, unable to start the task."),
+
+    HOME_POINT_NOT_REFRESHED(771, "Home point not refreshed."),
+
+    LOW_BATTERY(772, "Unable to start the mission due to low current battery level."),
+
+    LOW_BATTERY_RTH(773, "Wayline interrupted due to low battery causing return to home."),
+
+    RC_DISCONNECTION(775, "Disconnection between the remote controller and the aircraft."),
+
+    ON_THE_GROUND(778, "Aircraft is on the ground with propellers spinning, not allowed to start the wayline."),
+
+    ABNORMAL_VISUAL_STATUS(779, "Abnormal visual status (for example, too bright, too dark, inconsistent brightness on both sides) during real-time terrain follow."),
+
+    INVALID_ALTITUDE(780, "Real-time terrain-following altitude set by the user is invalid (greater than 200m or less than 30m)."),
+
+    CALCULATION_ERROR(781, "Global map calculation error during real-time terrain follow."),
+
+    STRONG_WINDS_RTH(784, "Wayline interrupted due to strong winds causing return to home."),
+
+    USER_EXIT(1281, "User exit."),
+
+    USER_INTERRUPTION(1282, "User interruption."),
+
+    USER_TRIGGERED_RTH(1283, "User triggered return to home."),
+
+    INCORRECT_START_INFORMATION(1539, "Incorrect start information (waypoint index or progress)."),
+
+    UNSUPPORTED_COORDINATE_SYSTEM(1540, "Using an unsupported coordinate system."),
+
+    UNSUPPORTED_ALTITUDE_MODE(1541, "Using an unsupported altitude mode."),
+
+    UNSUPPORTED_TRANSITIONAL_WAYLINE_MODE(1542, "Using an unsupported transitional wayline mode."),
+
+    UNSUPPORTED_YAW_MODE(1543, "Using an unsupported yaw mode."),
+
+    UNSUPPORTED_YAW_DIRECTION_REVERSAL_MODE(1544, "Using an unsupported yaw direction reversal mode."),
+
+    UNSUPPORTED_WAYPOINT_TYPE(1545, "Using an unsupported waypoint type."),
+
+    INVALID_COORDINATED_TURNING_TYPE(1546, "Coordinated turning type cannot be used for the start and end points."),
+
+    INVALID_GLOBAL_SPEED(1547, "Wayline global speed exceeds a reasonable range."),
+
+    WAYPOINT_NUMBER_ABNORMAL(1548, "Waypoint number abnormal."),
+
+    INVALID_LATITUDE_AND_LONGITUDE(1549, "Abnormal latitude and longitude data."),
+
+    ABNORMAL_TURNING_INTERCEPT(1550, "Abnormal turning intercept."),
+
+    INVALID_SEGMENT_MAXIMUM_SPEED(1551, "Maximum speed of wayline segment exceeds a reasonable range."),
+
+    INVALID_TARGET_SPEED(1552, "Wayline segment target speed exceeds a reasonable range."),
+
+    INVALID_YAW_ANGLE(1553, "Waypoint yaw angle exceeds a reasonable range."),
+
+    BREAKPOINT_INVALID_MISSION_ID(1555, "Input mission_id of resuming from breakpoint is wrong."),
+
+    BREAKPOINT_INVALID_PROGRESS_INFORMATION(1556, "Progress information of resuming from breakpoint input error."),
+
+    BREAKPOINT_ERROR_MISSION_STATE(1557, "Mission state of resuming from breakpoint is abnormal."),
+
+    BREAKPOINT_INVALID_INDEX_INFORMATION(1558, "Wapoint index information of resuming from breakpoint input error."),
+
+    BREAKPOINT_INCORRECT_LATITUDE_AND_LONGITUDE(1559, "Incorrect latitude and longitude information for resuming from breakpoint."),
+
+    BREAKPOINT_INVALID_YAW(1560, "Yaw input error for waypoints during resuming from breakpoint."),
+
+    BREAKPOINT_INCORRECT_FLAG_SETTING(1561, "Incorrect flag setting for resuming from breakpoint."),
+
+    WAYLINE_GENERATION_FAILED(1563, "Wayline generation failed."),
+
+    WAYLINE_EXECUTION_FAILED(1564, "Wayline execution failed."),
+
+    WAYLINE_OBSTACLE_SENSING(1565, "Emergency stop due to wayline obstacle sensing."),
+
+    UNRECOGNIZED_ACTION_TYPE(1588, "Unrecognized action type."),
+
+    DUPLICATE_ACTION_ID(1595, "Action ID of same action group can not be the same."),
+
+    ACTION_ID_NOT_65535(1598, "Action ID value cannot be 65535."),
+
+    INVALID_NUMBER_OF_ACTION_GROUPS(1602, "Number of action groups exceeds a reasonable range."),
+
+    ERROR_EFFECTIVE_RANGE(1603, "Error in action group effective range."),
+
+    BREAKPOINT_INVALID_ACTION_INDEX(1606, "Action index exceeds a reasonable range during resuming from breakpoint."),
+
+    BREAKPOINT_TRIGGER_RUNNING_ABNORMAL(1608, "Trigger running result of breakpoint information is abnormal."),
+
+    BREAKPOINT_DUPLICATE_ACTION_GROUP_ID(1609, "Action group ID information can not be duplicated during resume from breakpoint."),
+
+    BREAKPOINT_DUPLICATE_ACTION_GROUP_POSITION(1610, "Action group positions cannot be repeated during resuming from breakpoint."),
+
+    BREAKPOINT_INVALID_ACTION_GROUP_POSITION(1611, "Action group positions exceed a reasonable range during resuming from breakpoint."),
+
+    BREAKPOINT_INVALID_ACTION_ID(1612, "Action ID is not in the breakpoint information during resuming."),
+
+    BREAKPOINT_UNABLE_TO_INTERRUPT(1613, "Cannot modify the action state to interrupt during resuming."),
+
+    INCORRECT_BREAKPOINT_INFORMATION(1614, "Resume failure due to incorrect breakpoint information."),
+
+    BREAKPOINT_UNRECOGNIZED_ACTION_TYPE(1634, "Unrecognized action type."),
+
+    BREAKPOINT_UNRECOGNIZED_TRIGGER_TYPE(1649, "Unrecognized trigger type."),
+
+    UNKNOWN_ERROR_1(65534, "Unknown error."),
+
+    UNKNOWN_ERROR_2(65535, "Unknown error."),
+
+    ;
+
+    private final int reason;
+
+    private final String msg;
+
+    FlighttaskBreakReasonEnum(int reason, String msg) {
+        this.reason = reason;
+        this.msg = msg;
+    }
+
+    public int getReason() {
+        return reason;
+    }
+
+    @JsonValue
+    public String getMsg() {
+        return msg;
+    }
+
+    @JsonCreator
+    public static FlighttaskBreakReasonEnum find(int reason) {
+        return Arrays.stream(values()).filter(reasonEnum -> reasonEnum.reason == reason).findAny()
+                .orElseThrow(() -> new CloudSDKException(FlighttaskBreakReasonEnum.class, reason));
+    }
 }

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

@@ -3,7 +3,7 @@ package com.dji.sdk.cloudapi.wayline;
 import com.dji.sdk.annotations.CloudSDKVersion;
 import com.dji.sdk.cloudapi.device.ExitWaylineWhenRcLostEnum;
 import com.dji.sdk.common.BaseModel;
-import com.dji.sdk.common.CloudSDKVersionEnum;
+import com.dji.sdk.config.version.CloudSDKVersionEnum;
 
 import javax.validation.Valid;
 import javax.validation.constraints.Max;
@@ -59,16 +59,19 @@ public class FlighttaskPrepareRequest extends BaseModel {
     /**
      * Task readiness condition
      */
+    @Valid
     private ReadyConditions readyConditions;
 
     /**
      * Task executable condition
      */
+    @Valid
     private ExecutableConditions executableConditions;
 
     /**
      * Wayline breakpoint information
      */
+    @Valid
     private FlighttaskBreakPoint breakPoint;
 
     /**

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

@@ -15,7 +15,7 @@ public class FlighttaskProgressExt {
 
     private String trackId;
 
-    private FlighttaskBreakPoint breakPoint;
+    private ProgressExtBreakPoint breakPoint;
 
     public FlighttaskProgressExt() {
     }
@@ -67,11 +67,11 @@ public class FlighttaskProgressExt {
         return this;
     }
 
-    public FlighttaskBreakPoint getBreakPoint() {
+    public ProgressExtBreakPoint getBreakPoint() {
         return breakPoint;
     }
 
-    public FlighttaskProgressExt setBreakPoint(FlighttaskBreakPoint breakPoint) {
+    public FlighttaskProgressExt setBreakPoint(ProgressExtBreakPoint breakPoint) {
         this.breakPoint = breakPoint;
         return this;
     }

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

@@ -0,0 +1,153 @@
+package com.dji.sdk.cloudapi.wayline;
+
+/**
+ * @author sean
+ * @version 1.7
+ * @date 2023/6/6
+ */
+public class ProgressExtBreakPoint {
+
+    /**
+     * Breakpoint index
+     */
+    private Integer index;
+
+    /**
+     * Breakpoint state
+     */
+    private BreakpointStateEnum state;
+
+    /**
+     * Current wayline segment process
+     */
+    private Float progress;
+
+    /**
+     * Wayline ID
+     */
+    private Integer waylineId;
+
+    /**
+     * Break reason
+     */
+    private FlighttaskBreakReasonEnum breakReason;
+
+    /**
+     * Breakpoint latitude
+     */
+    private Float latitude;
+
+    /**
+     * Breakpoint longitude
+     */
+    private Float longitude;
+
+    /**
+     * Breakpoint altitude relative to the Earth's ellipsoid surface
+     *
+     */
+    private Float height;
+
+    /**
+     * Yaw angle relative to true north (meridian), with positive values from 0 to 6 o'clock direction and negative values from 6 to 12 o'clock direction
+     */
+    private Integer attitudeHead;
+
+    public ProgressExtBreakPoint() {}
+
+    @Override
+    public String toString() {
+        return "FlighttaskBreakPoint{" +
+                "index=" + index +
+                ", state=" + state +
+                ", progress=" + progress +
+                ", waylineId=" + waylineId +
+                ", breakReason=" + breakReason +
+                ", latitude=" + latitude +
+                ", longitude=" + longitude +
+                ", height=" + height +
+                ", attitudeHead=" + attitudeHead +
+                '}';
+    }
+
+    public Integer getIndex() {
+        return index;
+    }
+
+    public ProgressExtBreakPoint setIndex(Integer index) {
+        this.index = index;
+        return this;
+    }
+
+    public BreakpointStateEnum getState() {
+        return state;
+    }
+
+    public ProgressExtBreakPoint setState(BreakpointStateEnum state) {
+        this.state = state;
+        return this;
+    }
+
+    public Float getProgress() {
+        return progress;
+    }
+
+    public ProgressExtBreakPoint setProgress(Float progress) {
+        this.progress = progress;
+        return this;
+    }
+
+    public Integer getWaylineId() {
+        return waylineId;
+    }
+
+    public ProgressExtBreakPoint setWaylineId(Integer waylineId) {
+        this.waylineId = waylineId;
+        return this;
+    }
+
+    public FlighttaskBreakReasonEnum getBreakReason() {
+        return breakReason;
+    }
+
+    public ProgressExtBreakPoint setBreakReason(FlighttaskBreakReasonEnum breakReason) {
+        this.breakReason = breakReason;
+        return this;
+    }
+
+    public Float getLatitude() {
+        return latitude;
+    }
+
+    public ProgressExtBreakPoint setLatitude(Float latitude) {
+        this.latitude = latitude;
+        return this;
+    }
+
+    public Float getLongitude() {
+        return longitude;
+    }
+
+    public ProgressExtBreakPoint setLongitude(Float longitude) {
+        this.longitude = longitude;
+        return this;
+    }
+
+    public Float getHeight() {
+        return height;
+    }
+
+    public ProgressExtBreakPoint setHeight(Float height) {
+        this.height = height;
+        return this;
+    }
+
+    public Integer getAttitudeHead() {
+        return attitudeHead;
+    }
+
+    public ProgressExtBreakPoint setAttitudeHead(Integer attitudeHead) {
+        this.attitudeHead = attitudeHead;
+        return this;
+    }
+}

src/main/java/com/dji/sdk/cloudapi/wayline/api/AbstractWaylineService.java

@@ -2,10 +2,10 @@ package com.dji.sdk.cloudapi.wayline.api;
 
 import com.dji.sdk.annotations.CloudSDKVersion;
 import com.dji.sdk.cloudapi.wayline.*;
-import com.dji.sdk.common.CloudSDKVersionEnum;
+import com.dji.sdk.config.version.CloudSDKVersionEnum;
 import com.dji.sdk.common.Common;
-import com.dji.sdk.common.GatewayManager;
-import com.dji.sdk.common.GatewayTypeEnum;
+import com.dji.sdk.config.version.GatewayManager;
+import com.dji.sdk.config.version.GatewayTypeEnum;
 import com.dji.sdk.exception.CloudSDKErrorEnum;
 import com.dji.sdk.exception.CloudSDKException;
 import com.dji.sdk.mqtt.ChannelName;

src/main/java/com/dji/sdk/common/BaseModel.java

@@ -1,6 +1,7 @@
 package com.dji.sdk.common;
 
 import com.dji.sdk.annotations.CloudSDKVersion;
+import com.dji.sdk.config.version.GatewayManager;
 import com.dji.sdk.exception.CloudSDKErrorEnum;
 import com.dji.sdk.exception.CloudSDKException;
 import org.springframework.util.CollectionUtils;

src/main/java/com/dji/sdk/common/Common.java

@@ -1,5 +1,6 @@
 package com.dji.sdk.common;
 
+import com.dji.sdk.config.version.GatewayManager;
 import com.dji.sdk.exception.CloudSDKErrorEnum;
 import com.dji.sdk.exception.CloudSDKException;
 import com.fasterxml.jackson.annotation.JsonInclude;
@@ -57,4 +58,22 @@ public class Common {
     public static ObjectMapper getObjectMapper() {
         return MAPPER_BUILDER.build();
     }
+
+    public static String convertSnake(String key) {
+        StringBuilder sb = new StringBuilder();
+        boolean isChange = false;
+        for (char c : key.toCharArray()) {
+            if (c == '_') {
+                isChange = true;
+                continue;
+            }
+            if (isChange) {
+                sb.append((char)(c - 32));
+                isChange = false;
+                continue;
+            }
+            sb.append(c);
+        }
+        return sb.toString();
+    }
 }

src/main/java/com/dji/sdk/common/CommonErrorEnum.java

@@ -13,6 +13,8 @@ import java.util.Arrays;
  */
 public enum CommonErrorEnum implements IServicesErrorCode, IEventsErrorCode, IErrorInfo {
 
+    SUCCESS(0, "Success"),
+
     STATUS_NOT_SUPPORTED(314000, "The device is either uploading logs or executing a flight mission. Please try again later."),
 
     WRONG_PARAMETER(325001, "Cloud command parameter error. Dock unable to execute command."),

src/main/java/com/dji/sdk/common/GatewayThingVersion.java

@@ -1,48 +0,0 @@
-package com.dji.sdk.common;
-
-import java.util.Objects;
-
-/**
- * @author sean
- * @version 1.7
- * @date 2023/5/19
- */
-public class GatewayThingVersion {
-
-    private DockThingVersionEnum dockThingVersion;
-
-    private RcThingVersionEnum rcThingVersion;
-
-    public GatewayThingVersion(DockThingVersionEnum dockThingVersion) {
-        this.dockThingVersion = dockThingVersion;
-    }
-
-    public GatewayThingVersion(RcThingVersionEnum rcThingVersion) {
-        this.rcThingVersion = rcThingVersion;
-    }
-
-    public GatewayThingVersion(GatewayTypeEnum type, String thingVersion) {
-        switch (type) {
-            case DOCK:
-                this.dockThingVersion = DockThingVersionEnum.find(thingVersion);
-                return;
-            case RC:
-                this.rcThingVersion = RcThingVersionEnum.find(thingVersion);
-                return;
-        }
-    }
-
-    public String getThingVersion() {
-        if (Objects.nonNull(dockThingVersion)) {
-            return dockThingVersion.getThingVersion();
-        }
-        return rcThingVersion.getThingVersion();
-    }
-
-    public CloudSDKVersionEnum getCloudSDKVersion() {
-        if (Objects.nonNull(dockThingVersion)) {
-            return dockThingVersion.getCloudSDKVersion();
-        }
-        return rcThingVersion.getCloudSDKVersion();
-    }
-}

src/main/java/com/dji/sdk/common/SDKManager.java

@@ -4,6 +4,8 @@ import com.dji.sdk.cloudapi.device.DeviceDomainEnum;
 import com.dji.sdk.cloudapi.device.DeviceEnum;
 import com.dji.sdk.cloudapi.device.DeviceSubTypeEnum;
 import com.dji.sdk.cloudapi.device.DeviceTypeEnum;
+import com.dji.sdk.config.version.GatewayManager;
+import com.dji.sdk.config.version.GatewayTypeEnum;
 import com.dji.sdk.exception.CloudSDKErrorEnum;
 import com.dji.sdk.exception.CloudSDKException;
 

src/main/java/com/dji/sdk/config/CloudSDKHandler.java

@@ -2,6 +2,7 @@ package com.dji.sdk.config;
 
 import com.dji.sdk.annotations.CloudSDKVersion;
 import com.dji.sdk.common.*;
+import com.dji.sdk.config.version.GatewayManager;
 import com.dji.sdk.exception.CloudSDKErrorEnum;
 import com.dji.sdk.exception.CloudSDKException;
 import org.aspectj.lang.JoinPoint;
@@ -25,7 +26,7 @@ import java.util.Objects;
 @Component
 public class CloudSDKHandler {
 
-    @Before("execution(public * com.dji.sdk.cloudapi.*.api.*.*(com.dji.sdk.common.GatewayManager, ..))")
+    @Before("execution(public * com.dji.sdk.cloudapi.*.api.*.*(com.dji.sdk.config.version.GatewayManager, ..))")
     public void checkCloudSDK(JoinPoint point) {
         GatewayManager deviceSDK = (GatewayManager) point.getArgs()[0];
         CloudSDKVersion since = ((MethodSignature) point.getSignature()).getMethod().getDeclaredAnnotation(CloudSDKVersion.class);
@@ -40,7 +41,7 @@ public class CloudSDKHandler {
         }
     }
 
-    @Before("execution(public * com.dji.sdk.cloudapi.*.api.*.*(com.dji.sdk.common.GatewayManager, com.dji.sdk.common.BaseModel+))")
+    @Before("execution(public * com.dji.sdk.cloudapi.*.api.*.*(com.dji.sdk.config.version.GatewayManager, com.dji.sdk.common.BaseModel+))")
     public void checkRequest(JoinPoint point) {
         Common.validateModel((BaseModel) point.getArgs()[1], (GatewayManager) point.getArgs()[0]);
     }

src/main/java/com/dji/sdk/config/version/CloudSDKVersionEnum.java

@@ -1,4 +1,4 @@
-package com.dji.sdk.common;
+package com.dji.sdk.config.version;
 
 /**
  * @author sean
@@ -11,7 +11,9 @@ public enum CloudSDKVersionEnum {
 
     V1_0_0("1.0.0"),
 
-    DEFAULT("1.0.0"),
+    V1_0_1("1.0.1"),
+
+    DEFAULT("1.0.1"),
 
     V99("99");
 

src/main/java/com/dji/sdk/config/version/Dock2ThingVersionEnum.java

@@ -0,0 +1,41 @@
+package com.dji.sdk.config.version;
+
+import com.dji.sdk.exception.CloudSDKVersionException;
+import com.fasterxml.jackson.annotation.JsonValue;
+
+import java.util.Arrays;
+
+/**
+ * @author sean
+ * @version 1.7
+ * @date 2023/9/7
+ */
+public enum Dock2ThingVersionEnum implements IThingVersion {
+
+    V1_1_2("1.1.2", CloudSDKVersionEnum.V1_0_1),
+
+    ;
+
+    private final String thingVersion;
+
+    private final CloudSDKVersionEnum cloudSDKVersion;
+
+    Dock2ThingVersionEnum(String thingVersion, CloudSDKVersionEnum cloudSDKVersion) {
+        this.thingVersion = thingVersion;
+        this.cloudSDKVersion = cloudSDKVersion;
+    }
+
+    @JsonValue
+    public String getThingVersion() {
+        return thingVersion;
+    }
+
+    public CloudSDKVersionEnum getCloudSDKVersion() {
+        return cloudSDKVersion;
+    }
+
+    public static Dock2ThingVersionEnum find(String thingVersion) {
+        return Arrays.stream(values()).filter(thingVersionEnum -> thingVersionEnum.thingVersion.equals(thingVersion))
+                .findAny().orElseThrow(() -> new CloudSDKVersionException(thingVersion));
+    }
+}

src/main/java/com/dji/sdk/config/version/DockThingVersionEnum.java

@@ -1,26 +1,23 @@
-package com.dji.sdk.common;
+package com.dji.sdk.config.version;
 
 import com.dji.sdk.exception.CloudSDKVersionException;
 import com.fasterxml.jackson.annotation.JsonValue;
 
 import java.util.Arrays;
-import java.util.Optional;
 
 /**
  * @author sean
  * @version 1.7
  * @date 2023/5/19
  */
-public enum DockThingVersionEnum {
+public enum DockThingVersionEnum implements IThingVersion {
 
     V1_0_0("1.0.0", CloudSDKVersionEnum.V0_0_1),
 
-    V1_1_0("1.1.0", CloudSDKVersionEnum.V1_0_0),
+    V1_1_0("1.1.0", CloudSDKVersionEnum.V0_0_1),
 
     V1_1_2("1.1.2", CloudSDKVersionEnum.V1_0_0),
 
-    V1_2_0("1.2.0", CloudSDKVersionEnum.V1_0_0),
-
     ;
 
     private final String thingVersion;
@@ -42,11 +39,7 @@ public enum DockThingVersionEnum {
     }
 
     public static DockThingVersionEnum find(String thingVersion) {
-        Optional<DockThingVersionEnum> opt = Arrays.stream(values())
-                .filter(thingVersionEnum -> thingVersionEnum.thingVersion.equals(thingVersion)).findAny();
-        if (opt.isPresent()) {
-            return opt.get();
-        }
-        throw new CloudSDKVersionException(thingVersion);
+        return Arrays.stream(values()).filter(thingVersionEnum -> thingVersionEnum.thingVersion.equals(thingVersion))
+                .findAny().orElseThrow(() -> new CloudSDKVersionException(thingVersion));
     }
 }

src/main/java/com/dji/sdk/config/version/DroneThingVersionEnum.java

@@ -1,4 +1,4 @@
-package com.dji.sdk.common;
+package com.dji.sdk.config.version;
 
 import com.dji.sdk.exception.CloudSDKVersionException;
 import com.fasterxml.jackson.annotation.JsonValue;
@@ -13,7 +13,7 @@ import java.util.Optional;
  * @version 1.7
  * @date 2023/5/19
  */
-public enum DroneThingVersionEnum {
+public enum DroneThingVersionEnum implements IThingVersion {
 
     V1_0_0("1.0.0", CloudSDKVersionEnum.V0_0_1),
 
@@ -21,8 +21,6 @@ public enum DroneThingVersionEnum {
 
     V1_1_2("1.1.2", CloudSDKVersionEnum.V1_0_0),
 
-    V1_2_0("1.2.0", CloudSDKVersionEnum.V1_0_0),
-
     ;
 
     private static final Logger log = LoggerFactory.getLogger(DroneThingVersionEnum.class);

src/main/java/com/dji/sdk/config/version/GatewayManager.java

@@ -1,4 +1,4 @@
-package com.dji.sdk.common;
+package com.dji.sdk.config.version;
 
 import com.dji.sdk.annotations.CloudSDKVersion;
 
@@ -30,10 +30,10 @@ public class GatewayManager {
         this(gatewaySn, droneSn, gatewayType);
         this.gatewayThingVersion = new GatewayThingVersion(gatewayType, gatewayThingVersion);
         if (GatewayTypeEnum.RC == gatewayType) {
-            this.sdkVersion = CloudSDKVersionEnum.DEFAULT;
+            this.sdkVersion = CloudSDKVersionEnum.V0_0_1;
             return;
         }
-        if (Objects.isNull(this.droneThingVersion)) {
+        if (Objects.isNull(droneThingVersion)) {
             this.sdkVersion = this.gatewayThingVersion.getCloudSDKVersion();
             return;
         }

src/main/java/com/dji/sdk/config/version/GatewayThingVersion.java

@@ -0,0 +1,37 @@
+package com.dji.sdk.config.version;
+
+/**
+ * @author sean
+ * @version 1.7
+ * @date 2023/5/19
+ */
+public class GatewayThingVersion {
+
+    private IThingVersion thingVersion;
+
+    public GatewayThingVersion(IThingVersion thingVersion) {
+        this.thingVersion = thingVersion;
+    }
+
+    public GatewayThingVersion(GatewayTypeEnum type, String thingVersion) {
+        switch (type) {
+            case DOCK:
+                this.thingVersion = DockThingVersionEnum.find(thingVersion);
+                return;
+            case DOCK2:
+                this.thingVersion = Dock2ThingVersionEnum.find(thingVersion);
+                return;
+            case RC:
+                this.thingVersion = RcThingVersionEnum.find(thingVersion);
+                return;
+        }
+    }
+
+    public String getThingVersion() {
+        return thingVersion.getThingVersion();
+    }
+
+    public CloudSDKVersionEnum getCloudSDKVersion() {
+        return thingVersion.getCloudSDKVersion();
+    }
+}

src/main/java/com/dji/sdk/config/version/GatewayTypeEnum.java

@@ -1,4 +1,4 @@
-package com.dji.sdk.common;
+package com.dji.sdk.config.version;
 
 import com.dji.sdk.cloudapi.device.DeviceEnum;
 import com.dji.sdk.exception.CloudSDKException;
@@ -14,7 +14,10 @@ public enum GatewayTypeEnum {
 
     RC(DeviceEnum.RC, DeviceEnum.RC_PLUS, DeviceEnum.RC_PRO),
 
-    DOCK(DeviceEnum.DOCK);
+    DOCK(DeviceEnum.DOCK),
+
+    DOCK2(DeviceEnum.DOCK2),
+    ;
 
     private final DeviceEnum[] gateway;
 

src/main/java/com/dji/sdk/config/version/IThingVersion.java

@@ -0,0 +1,13 @@
+package com.dji.sdk.config.version;
+
+/**
+ * @author sean
+ * @version 1.7
+ * @date 2023/9/7
+ */
+public interface IThingVersion {
+
+    String getThingVersion();
+
+    CloudSDKVersionEnum getCloudSDKVersion();
+}

src/main/java/com/dji/sdk/config/version/RcThingVersionEnum.java

@@ -1,4 +1,4 @@
-package com.dji.sdk.common;
+package com.dji.sdk.config.version;
 
 import com.fasterxml.jackson.annotation.JsonValue;
 
@@ -7,7 +7,7 @@ import com.fasterxml.jackson.annotation.JsonValue;
  * @version 1.7
  * @date 2023/5/19
  */
-public enum RcThingVersionEnum {
+public enum RcThingVersionEnum implements IThingVersion {
 
     V1_0_0("1.0.0", CloudSDKVersionEnum.V0_0_1);
 

src/main/java/com/dji/sdk/exception/CloudSDKVersionException.java

@@ -1,6 +1,6 @@
 package com.dji.sdk.exception;
 
-import com.dji.sdk.common.CloudSDKVersionEnum;
+import com.dji.sdk.config.version.CloudSDKVersionEnum;
 
 /**
  * @author sean

src/main/java/com/dji/sdk/mqtt/drc/DrcUpSubscribe.java

@@ -1,6 +1,6 @@
 package com.dji.sdk.mqtt.drc;
 
-import com.dji.sdk.common.GatewayManager;
+import com.dji.sdk.config.version.GatewayManager;
 import com.dji.sdk.mqtt.IMqttTopicService;
 import com.dji.sdk.mqtt.TopicConst;
 import org.springframework.stereotype.Component;

src/main/java/com/dji/sdk/mqtt/events/EventsErrorCode.java

@@ -42,6 +42,7 @@ public class EventsErrorCode implements IErrorInfo {
         this.sourceCode = code;
         if (MqttReply.CODE_SUCCESS == code) {
             this.success = true;
+            this.errorCode = CommonErrorEnum.SUCCESS;
             return;
         }
         this.source = ErrorCodeSourceEnum.find(code / MOD);

src/main/java/com/dji/sdk/mqtt/events/EventsSubscribe.java

@@ -1,6 +1,6 @@
 package com.dji.sdk.mqtt.events;
 
-import com.dji.sdk.common.GatewayManager;
+import com.dji.sdk.config.version.GatewayManager;
 import com.dji.sdk.mqtt.IMqttTopicService;
 import com.dji.sdk.mqtt.TopicConst;
 import org.springframework.stereotype.Component;

src/main/java/com/dji/sdk/mqtt/osd/OsdDeviceTypeEnum.java

@@ -4,11 +4,14 @@ import com.dji.sdk.cloudapi.device.OsdDock;
 import com.dji.sdk.cloudapi.device.OsdDockDrone;
 import com.dji.sdk.cloudapi.device.OsdRcDrone;
 import com.dji.sdk.cloudapi.device.OsdRemoteControl;
-import com.dji.sdk.common.GatewayTypeEnum;
+import com.dji.sdk.config.version.GatewayTypeEnum;
 import com.dji.sdk.exception.CloudSDKException;
 import com.dji.sdk.mqtt.ChannelName;
 
 import java.util.Arrays;
+import java.util.Collections;
+import java.util.HashSet;
+import java.util.Set;
 
 /**
  * @author sean
@@ -17,30 +20,30 @@ import java.util.Arrays;
  */
 public enum OsdDeviceTypeEnum {
 
-    RC(true, GatewayTypeEnum.RC, OsdRemoteControl.class, ChannelName.INBOUND_OSD_RC),
+    RC(true, OsdRemoteControl.class, ChannelName.INBOUND_OSD_RC, GatewayTypeEnum.RC),
 
-    DOCK(true, GatewayTypeEnum.DOCK, OsdDock.class, ChannelName.INBOUND_OSD_DOCK),
+    DOCK(true, OsdDock.class, ChannelName.INBOUND_OSD_DOCK, GatewayTypeEnum.DOCK, GatewayTypeEnum.DOCK2),
 
-    RC_DRONE(false, GatewayTypeEnum.RC, OsdRcDrone.class, ChannelName.INBOUND_OSD_RC_DRONE),
+    RC_DRONE(false, OsdRcDrone.class, ChannelName.INBOUND_OSD_RC_DRONE, GatewayTypeEnum.RC),
 
-    DOCK_DRONE(false, GatewayTypeEnum.DOCK, OsdDockDrone.class, ChannelName.INBOUND_OSD_DOCK_DRONE);
+    DOCK_DRONE(false, OsdDockDrone.class, ChannelName.INBOUND_OSD_DOCK_DRONE, GatewayTypeEnum.DOCK, GatewayTypeEnum.DOCK2);
 
     private final boolean gateway;
 
-    private final GatewayTypeEnum gatewayType;
+    private final Set<GatewayTypeEnum> gatewayType = new HashSet<>();
 
     private final Class classType;
 
     private final String channelName;
 
-    OsdDeviceTypeEnum(boolean gateway, GatewayTypeEnum gatewayType, Class classType, String channelName) {
+    OsdDeviceTypeEnum(boolean gateway, Class classType, String channelName, GatewayTypeEnum... gatewayType) {
         this.gateway = gateway;
-        this.gatewayType = gatewayType;
         this.classType = classType;
         this.channelName = channelName;
+        Collections.addAll(this.gatewayType, gatewayType);
     }
 
-    public GatewayTypeEnum getGatewayType() {
+    public Set<GatewayTypeEnum> getGatewayType() {
         return gatewayType;
     }
 
@@ -57,7 +60,7 @@ public enum OsdDeviceTypeEnum {
     }
 
     public static OsdDeviceTypeEnum find(GatewayTypeEnum gatewayType, boolean isGateway) {
-        return Arrays.stream(values()).filter(osdEnum -> osdEnum.gatewayType == gatewayType && osdEnum.gateway == isGateway).findAny()
+        return Arrays.stream(values()).filter(osdEnum -> osdEnum.gatewayType.contains(gatewayType) && osdEnum.gateway == isGateway).findAny()
             .orElseThrow(() -> new CloudSDKException(OsdDeviceTypeEnum.class, gatewayType, isGateway));
     }
 

src/main/java/com/dji/sdk/mqtt/osd/OsdRouter.java

@@ -1,8 +1,8 @@
 package com.dji.sdk.mqtt.osd;
 
-import com.dji.sdk.cloudapi.device.PayloadModelEnum;
+import com.dji.sdk.cloudapi.device.PayloadModelConst;
 import com.dji.sdk.common.Common;
-import com.dji.sdk.common.GatewayManager;
+import com.dji.sdk.config.version.GatewayManager;
 import com.dji.sdk.common.SDKManager;
 import com.dji.sdk.exception.CloudSDKException;
 import com.dji.sdk.mqtt.ChannelName;
@@ -49,10 +49,10 @@ public class OsdRouter {
                     OsdDeviceTypeEnum typeEnum = OsdDeviceTypeEnum.find(gateway.getType(), response.getFrom().equals(response.getGateway()));
                     Map<String, Object> data = (Map<String, Object>) response.getData();
                     if (!typeEnum.isGateway()) {
-                        List payloadData = (List) data.getOrDefault(PayloadModelEnum.PAYLOAD_KEY, new ArrayList<>());
-                        PayloadModelEnum.getAllIndexWithPosition().stream().filter(data::containsKey)
+                        List payloadData = (List) data.getOrDefault(PayloadModelConst.PAYLOAD_KEY, new ArrayList<>());
+                        PayloadModelConst.getAllIndexWithPosition().stream().filter(data::containsKey)
                                 .map(data::get).forEach(payloadData::add);
-                        data.put(PayloadModelEnum.PAYLOAD_KEY, payloadData);
+                        data.put(PayloadModelConst.PAYLOAD_KEY, payloadData);
                     }
                     return response.setData(Common.getObjectMapper().convertValue(data, typeEnum.getClassType()));
                 })

src/main/java/com/dji/sdk/mqtt/osd/OsdSubscribe.java

@@ -1,6 +1,6 @@
 package com.dji.sdk.mqtt.osd;
 
-import com.dji.sdk.common.GatewayManager;
+import com.dji.sdk.config.version.GatewayManager;
 import com.dji.sdk.common.SDKManager;
 import com.dji.sdk.mqtt.IMqttTopicService;
 import com.dji.sdk.mqtt.TopicConst;

src/main/java/com/dji/sdk/mqtt/property/PropertySetSubscribe.java

@@ -1,6 +1,6 @@
 package com.dji.sdk.mqtt.property;
 
-import com.dji.sdk.common.GatewayManager;
+import com.dji.sdk.config.version.GatewayManager;
 import com.dji.sdk.mqtt.IMqttTopicService;
 import com.dji.sdk.mqtt.TopicConst;
 import org.springframework.stereotype.Component;

src/main/java/com/dji/sdk/mqtt/requests/RequestsSubscribe.java

@@ -1,6 +1,6 @@
 package com.dji.sdk.mqtt.requests;
 
-import com.dji.sdk.common.GatewayManager;
+import com.dji.sdk.config.version.GatewayManager;
 import com.dji.sdk.mqtt.IMqttTopicService;
 import com.dji.sdk.mqtt.TopicConst;
 import org.springframework.stereotype.Component;

src/main/java/com/dji/sdk/mqtt/services/ServicesErrorCode.java

@@ -43,6 +43,7 @@ public class ServicesErrorCode implements IErrorInfo {
         this.sourceCode = code;
         if (MqttReply.CODE_SUCCESS == code) {
             this.success = true;
+            this.errorCode = CommonErrorEnum.SUCCESS;
             return;
         }
         this.source = ErrorCodeSourceEnum.find(code / MOD);

src/main/java/com/dji/sdk/mqtt/services/ServicesPublish.java

@@ -34,6 +34,10 @@ public class ServicesPublish {
         return this.publish(clazz, sn, method, data, retryCount, MqttGatewayPublish.DEFAULT_RETRY_TIMEOUT);
     }
 
+    public <T> TopicServicesResponse<ServicesReplyData<T>>  publish(TypeReference<T> clazz, String sn, String method, Object data, long timeout) {
+        return this.publish(clazz, sn, method, data, MqttGatewayPublish.DEFAULT_RETRY_COUNT, timeout);
+    }
+
     public <T> TopicServicesResponse<ServicesReplyData<T>>  publish(TypeReference<T> clazz, String sn, String method, Object data, int retryCount, long timeout) {
         return this.publish(clazz, sn, method, data, null, retryCount, timeout);
     }
@@ -46,6 +50,18 @@ public class ServicesPublish {
         return this.publish(sn, method, data, null);
     }
 
+    public TopicServicesResponse<ServicesReplyData> publish(String sn, String method, Object data, int retryCount) {
+        return this.publish(sn, method, data, null, retryCount);
+    }
+
+    public TopicServicesResponse<ServicesReplyData> publish(String sn, String method, Object data, long timeout) {
+        return this.publish(sn, method, data, null, timeout);
+    }
+
+    public TopicServicesResponse<ServicesReplyData> publish(String sn, String method, Object data, int retryCount, long timeout) {
+        return this.publish(sn, method, data, null, retryCount, timeout);
+    }
+
     public TopicServicesResponse<ServicesReplyData> publish(String sn, String method, Object data, String bid) {
         return this.publish(sn, method, data, bid, MqttGatewayPublish.DEFAULT_RETRY_COUNT);
     }
@@ -54,6 +70,10 @@ public class ServicesPublish {
         return this.publish(sn, method, data, bid, retryCount, MqttGatewayPublish.DEFAULT_RETRY_TIMEOUT);
     }
 
+    public TopicServicesResponse<ServicesReplyData> publish(String sn, String method, Object data, String bid, long timeout) {
+        return this.publish(sn, method, data, bid, MqttGatewayPublish.DEFAULT_RETRY_COUNT, timeout);
+    }
+
     public TopicServicesResponse<ServicesReplyData> publish(String sn, String method, Object data, String bid, int retryCount, long timeout) {
         return (TopicServicesResponse) this.publish(null, sn, method, data, bid, retryCount, timeout);
     }

src/main/java/com/dji/sdk/mqtt/services/ServicesSubscribe.java

@@ -1,6 +1,6 @@
 package com.dji.sdk.mqtt.services;
 
-import com.dji.sdk.common.GatewayManager;
+import com.dji.sdk.config.version.GatewayManager;
 import com.dji.sdk.mqtt.IMqttTopicService;
 import com.dji.sdk.mqtt.TopicConst;
 import org.springframework.stereotype.Component;

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

@@ -26,7 +26,7 @@ public enum DockStateDataKeyEnum {
 
     WPMZ_VERSION(Set.of("wpmz_version"), DockWpmzVersion.class),
 
-    PAYLOAD(PayloadModelEnum.getAllIndexWithPosition(), DockPayload.class)
+    PAYLOAD(PayloadModelConst.getAllIndexWithPosition(), DockPayload.class)
     ;
 
     private final Set<String> keys;

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

@@ -24,7 +24,7 @@ public enum RcStateDataKeyEnum {
 
     LIVE_STATUS(Set.of("live_status"), RcLiveStatus.class),
 
-    PAYLOAD_FIRMWARE(PayloadModelEnum.getAllModelWithPosition(), PayloadFirmwareVersion.class),
+    PAYLOAD_FIRMWARE(PayloadModelConst.getAllModelWithPosition(), PayloadFirmwareVersion.class),
     ;
 
     private final Set<String> keys;

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

@@ -55,6 +55,7 @@ public class StateRouter {
             case RC:
                 return RcStateDataKeyEnum.find(keys).getClassType();
             case DOCK:
+            case DOCK2:
                 return DockStateDataKeyEnum.find(keys).getClassType();
             default:
                 throw new CloudSDKException(CloudSDKErrorEnum.WRONG_DATA, "Unexpected value: " + SDKManager.getDeviceSDK(gatewaySn).getType());

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

@@ -1,6 +1,6 @@
 package com.dji.sdk.mqtt.state;
 
-import com.dji.sdk.common.GatewayManager;
+import com.dji.sdk.config.version.GatewayManager;
 import com.dji.sdk.common.SDKManager;
 import com.dji.sdk.mqtt.IMqttTopicService;
 import com.dji.sdk.mqtt.TopicConst;

src/main/java/com/dji/sdk/mqtt/status/StatusSubscribe.java

@@ -1,6 +1,6 @@
 package com.dji.sdk.mqtt.status;
 
-import com.dji.sdk.common.GatewayManager;
+import com.dji.sdk.config.version.GatewayManager;
 import com.dji.sdk.common.SDKManager;
 import com.dji.sdk.mqtt.IMqttTopicService;
 import com.dji.sdk.mqtt.TopicConst;