Autel Cloud API SDK

String method = MessageCodec.extractMethod(payload);
switch (method) {
    case "fly_to_point" -> {
        var msg = MessageCodec.parse(payload, FlyToPointRequest.class);
        msg.data().flyToId();          // 编译期类型安全，无需 cast
        String reply = MessageCodec.toJson(new NoOutputReply());
        sendReply(msg.tid(), reply);   // 发到 thing/product/{sn}/services_reply
    }
    default -> log.warn("未处理: {}", method);
}

var msg = MessageCodec.parse(payload, FlighttaskProgressData.class);
msg.data().output().status();          // 编译期类型安全
sendEventReply(msg.tid(), 0);           // tid 与原始 event 一致

// 绑定流程：airport_bind_status → airport_organization_get → airport_organization_bind
case "airport_bind_status" -> {
    var msg = MessageCodec.parse(payload, AirportBindStatusRequest.class);
    sendReply(msg.tid(), MessageCodec.toJson(new AirportBindStatusReply(0, 1)));
}
case "airport_organization_get" -> {
    var msg = MessageCodec.parse(payload, AirportOrganizationGetRequest.class);
    sendReply(msg.tid(), MessageCodec.toJson(new AirportOrganizationGetReply(0, ...)));
}
case "airport_organization_bind" -> {
    var msg = MessageCodec.parse(payload, AirportOrganizationBindRequest.class);
    sendReply(msg.tid(), MessageCodec.toJson(new AirportOrganizationBindReply(0)));
}

// 上线拓扑：设备主动上报 update_topo（status 通道）
var topo = MessageCodec.parse(payload, UpdateTopoData.class);
topo.data().subDevice();  // 子设备列表（含 domain/type/sub_type）

case "flighttask_prepare" -> {
    var msg = MessageCodec.parse(payload, FlighttaskPrepareRequest.class);
    msg.data().flightId();              // 航线 ID
    sendReply(msg.tid(), MessageCodec.toJson(new FlighttaskPrepareReply(0)));
}
case "flighttask_execute" -> {
    var msg = MessageCodec.parse(payload, FlighttaskExecuteRequest.class);
    sendReply(msg.tid(), MessageCodec.toJson(new FlighttaskExecuteReply(0)));
}
case "flighttask_undo" -> {
    var msg = MessageCodec.parse(payload, FlighttaskUndoRequest.class);
    sendReply(msg.tid(), MessageCodec.toJson(new NoOutputReply()));
}
// flighttask_pause / flighttask_recovery / return_home / return_home_cancel
// 这 4 个无参数方法复用 NoParameterRequest：
case "flighttask_pause" -> {
    var msg = MessageCodec.parse(payload, NoParameterRequest.class);
    sendReply(msg.tid(), MessageCodec.toJson(new NoOutputReply()));
}

// 航线进度事件（events 通道）
case "flighttask_progress" -> {
    var msg = MessageCodec.parse(payload, FlighttaskProgressData.class);
    msg.data().output().status();       // executing / success / failed
    sendEventReply(msg.tid(), 0);
}

case "fly_to_point" -> {
    var msg = MessageCodec.parse(payload, FlyToPointRequest.class);
    msg.data().flyToId();
    msg.data().height();               // 相对起飞点高度
    sendReply(msg.tid(), MessageCodec.toJson(new NoOutputReply()));
}
case "takeoff_to_point" -> {
    var msg = MessageCodec.parse(payload, TakeoffToPointRequest.class);
    sendReply(msg.tid(), MessageCodec.toJson(new NoOutputReply()));
}
case "payload_authority_grab" -> {
    var msg = MessageCodec.parse(payload, PayloadAuthorityGrabRequest.class);
    sendReply(msg.tid(), MessageCodec.toJson(new NoOutputReply()));
}
// fly_to_point_stop / flight_authority_grab / drc_mode_exit
// 这 3 个无参数方法复用 NoParameterRequest

// 飞行进度事件
case "fly_to_point_progress" -> {
    var msg = MessageCodec.parse(payload, FlyToPointProgressData.class);
    msg.data().status();                // in_progress / success / failed
    sendEventReply(msg.tid(), 0);
}
case "takeoff_to_point_progress" -> {
    var msg = MessageCodec.parse(payload, TakeoffToPointProgressData.class);
    msg.data().status();
    sendEventReply(msg.tid(), 0);
}

// 进入 DRC 模式（services 通道）
case "drc_mode_enter" -> {
    var msg = MessageCodec.parse(payload, DrcModeEnterRequest.class);
    sendReply(msg.tid(), MessageCodec.toJson(new NoOutputReply()));
}

// DRC 通道消息（topic: thing/product/{sn}/drc/down）
case "drone_control" -> {
    var msg = MessageCodec.parse(payload, DroneControlRequest.class);
    msg.data().joyStickX();      // 横滚 x
    msg.data().joyStickY();      // 俯仰 y
    msg.data().joyStickH();      // 高度 h
    msg.data().joyStickW();      // 偏航 w
    msg.data().seq();            // 序列号
}

case "camera_photo_take" -> {
    var msg = MessageCodec.parse(payload, CameraPhotoTakeRequest.class);
    msg.data().payloadIndex();          // 负载索引
    sendReply(msg.tid(), MessageCodec.toJson(new NoOutputReply()));
}
case "camera_recording_start" -> {
    var msg = MessageCodec.parse(payload, CameraRecordingStartRequest.class);
    sendReply(msg.tid(), MessageCodec.toJson(new NoOutputReply()));
}
case "camera_recording_stop" -> {
    var msg = MessageCodec.parse(payload, CameraRecordingStopRequest.class);
    sendReply(msg.tid(), MessageCodec.toJson(new NoOutputReply()));
}

case "live_start_push" -> {
    var msg = MessageCodec.parse(payload, LiveStartPushRequest.class);
    msg.data().url();                  // RTMP/RTSP 推流地址
    msg.data().videoIndex();           // 视频流索引
    sendReply(msg.tid(), MessageCodec.toJson(new NoOutputReply()));
}
case "live_stop_push" -> {
    var msg = MessageCodec.parse(payload, LiveStopPushRequest.class);
    sendReply(msg.tid(), MessageCodec.toJson(new NoOutputReply()));
}
case "live_set_quality" -> {
    var msg = MessageCodec.parse(payload, LiveSetQualityRequest.class);
    msg.data().quality();              // 清晰度
    sendReply(msg.tid(), MessageCodec.toJson(new NoOutputReply()));
}
case "live_lens_change" -> {
    var msg = MessageCodec.parse(payload, LiveLensChangeRequest.class);
    msg.data().lens();                 // 镜头类型
    sendReply(msg.tid(), MessageCodec.toJson(new NoOutputReply()));
}

// 获取 STS 临时凭证（requests 通道）
case "storage_config_get" -> {
    var msg = MessageCodec.parse(payload, StorageConfigGetRequest.class);
    var reply = new StorageConfigGetReply(0, new StorageConfigGetReply.Output(
        "bucket", "endpoint", "object-key-prefix/", credentials));
    sendReply(msg.tid(), MessageCodec.toJson(reply));
}

// 媒体上传回调（events 通道）
case "file_upload_callback" -> {
    var msg = MessageCodec.parse(payload, FileUploadCallbackData.class);
    msg.data().file().objectKey();     // 对象存储键
    sendEventReply(msg.tid(), 0);
}

case "ota_create" -> {
    var msg = MessageCodec.parse(payload, OtaCreateRequest.class);
    sendReply(msg.tid(), MessageCodec.toJson(new OtaCreateReply(0)));
}

// 固件升级进度（events 通道）
case "ota_progress" -> {
    var msg = MessageCodec.parse(payload, OtaProgressData.class);
    msg.data().progress();            // 0-100
    sendEventReply(msg.tid(), 0);
}

// 远程日志（services 通道）
case "fileupload_list" -> {
    var msg = MessageCodec.parse(payload, FileUploadListRequest.class);
    sendReply(msg.tid(), MessageCodec.toJson(new FileUploadListReply(0, List.of())));
}
case "fileupload_start" -> {
    var msg = MessageCodec.parse(payload, FileUploadStartRequest.class);
    sendReply(msg.tid(), MessageCodec.toJson(new NoOutputReply()));
}
case "fileupload_update" -> {
    var msg = MessageCodec.parse(payload, FileUploadUpdateRequest.class);
    sendReply(msg.tid(), MessageCodec.toJson(new NoOutputReply()));
}

// 日志上传进度（events 通道）
case "fileupload_progress" -> {
    var msg = MessageCodec.parse(payload, FileuploadProgressData.class);
    msg.data().progress();
    sendEventReply(msg.tid(), 0);
}

// 11 个无参数远程调试指令复用 NoParameterRequest：
case "drone_open", "drone_close", "device_reboot",
     "cover_open", "cover_close",
     "charge_open", "charge_close",
     "putter_open", "putter_close",
     "drone_format", "device_format" -> {
    var msg = MessageCodec.parse(payload, NoParameterRequest.class);
    sendReply(msg.tid(), MessageCodec.toJson(new NoOutputReply()));
}

// 远程调试进度上报（events 通道，与指令同名）
case "drone_open" -> {
    var msg = MessageCodec.parse(payload, DebugProgressData.class);
    msg.data().status();
    sendEventReply(msg.tid(), 0);
}

case "target_detect_open" -> {
    var msg = MessageCodec.parse(payload, TargetDetectOpenRequest.class);
    sendReply(msg.tid(), MessageCodec.toJson(new NoOutputReply()));
}
// target_detect_close / target_tracking_close 复用 NoParameterRequest
case "target_detect_close" -> {
    var msg = MessageCodec.parse(payload, NoParameterRequest.class);
    sendReply(msg.tid(), MessageCodec.toJson(new NoOutputReply()));
}
case "select_tracking_target" -> {
    var msg = MessageCodec.parse(payload, SelectTrackingTargetRequest.class);
    sendReply(msg.tid(), MessageCodec.toJson(new NoOutputReply()));
}

// AI 事件（events 通道）
case "ai_detect_shoot_notify" -> {
    var msg = MessageCodec.parse(payload, AiDetectShootNotifyData.class);
    msg.data().targets();
    sendEventReply(msg.tid(), 0);
}

// 机场 OSD（topic: thing/product/{sn}/osd）
DockOsd dockOsd = MessageCodec.fromJson(payload, DockOsd.class);
dockOsd.modeCode();      // 机巢模式码
dockOsd.networkState();   // 网络状态

// 飞行器 OSD
DroneOsd droneOsd = MessageCodec.fromJson(payload, DroneOsd.class);
droneOsd.modeCode();      // 飞行器模式码
droneOsd.latitude();      // 纬度
droneOsd.height();        // 高度（相对起飞点）

case "hms" -> {
    var msg = MessageCodec.parse(payload, HmsData.class);
    msg.data().list().forEach(hms -> {
        hms.code();        // HMS 错误码（参见 AutelErrorCode）
        hms.level();       // 告警级别
    });
    sendEventReply(msg.tid(), 0);
}

// 属性设置请求（扁平 map 结构，无 properties 包裹）
var request = PropertySetRequest.of(Map.of(
    "distance_limit_status", Map.of("state", 1),
    "takeoff_and_rth_altitude", Map.of("rth_altitude", 100, "takeoff_altitude", 50)
));
String payload = MessageCodec.toJson(request);
// 发到 thing/product/{sn}/property/set

// 属性设置回复（扁平 map 结构）
case "property/set" -> {
    var msg = MessageCodec.parse(payload, PropertySetRequest.class);
    var reply = PropertySetReply.of(Map.of(
        "distance_limit_status", 0    // 0=成功
    ));
    sendReply(msg.tid(), MessageCodec.toJson(reply));
}

// 获取 STS 临时凭证
String path = HttpApiPath.STS.replace("{workspace_id}", workspaceId);
HttpResponse resp = httpClient.post(server + path, body);
var envelope = HttpResponseEnvelope.parse(resp.body(), StorageConfigGetReply.Output.class);
if (envelope.code() == 0) {
    envelope.data().bucket();           // 对象存储桶名
    envelope.data().objectKeyPrefix();  // 上传 key 前缀
} else {
    log.error("STS 获取失败: {} - {}", envelope.code(), envelope.message());
}

void onWsMessage(String payload) {
    String bizCode = WsPushMessage.extractBizCode(payload);
    switch (WsBizCode.fromCode(bizCode).orElse(null)) {
        case DEVICE_OSD -> {
            var msg = WsPushMessage.parse(payload, DeviceOsdPushData.class);
            msg.data().host().latitude();   // 类型安全，无 cast
        }
        case DEVICE_ONLINE, DEVICE_OFFLINE, DEVICE_UPDATE_TOPO -> {
            var msg = WsPushMessage.parse(payload, WsEmptyData.class);
            // 触发 HTTP 拓扑刷新
            String path = HttpApiPath.DEVICES_TOPOLOGIES.replace("{workspace_id}", workspaceId);
            httpClient.get(server + path);
        }
        case MAP_ELEMENT_CREATE, MAP_ELEMENT_UPDATE, MAP_ELEMENT_DELETE -> {
            var msg = WsPushMessage.parse(payload, MapElementPushData.class);
            // 类型安全访问地图元素
        }
        case MAP_GROUP_REFRESH -> {
            var msg = WsPushMessage.parse(payload, MapGroupRefreshData.class);
            // msg.data().ids() → 按 group_id 调 HTTP 拉取元素列表
        }
        case null -> log.warn("未知 biz_code: {}", bizCode);
    }
}

String kml = WaypointTemplate.builder()
    .author("John")
    .createTime(System.currentTimeMillis())
    .finishAction(FinishAction.GO_HOME)
    .takeOffSecurityHeight(20)
    .globalTransitionalSpeed(8)
    .globalRTHHeight(100)
    .droneInfo(DroneModel.EVO_MAX_4T)       // EVO Max 4T
    .payloadInfo(CameraModel.FUSION_4T)     // Fusion 4T 相机
    .templateId(0)
    .coordinateMode(CoordinateMode.WGS84)
    .heightMode(HeightMode.EGM96)
    .autoFlightSpeed(7)
    .globalHeight(100)
    .globalWaypointTurnMode(WaypointTurnMode.TO_POINT_AND_STOP_WITH_DISCONTINUITY_CURVATURE)
    .addWaypoint(w -> w.longitude(113.98057).latitude(22.987663).height(100)
        .addActionGroup(ag -> ag
            .actionGroupId(0)
            .actionGroupStartIndex(0)
            .actionGroupEndIndex(0)
            .actionTriggerType(ActionTriggerType.REACH_POINT)
            .addAction(a -> a.actionId(0)
                .actionActuatorFunc(ActionActuatorFunc.TAKE_PHOTO)
                .actionActuatorFuncParam(new TakePhotoParam(0, "point1", "wide", 1)))))
    .addWaypoint(w -> w.longitude(113.99000).latitude(22.987663).height(100))
    .toXml();

// 打包为 .kmz
byte[] kmz = WaypointTemplate.builder()
    /* ... 同上 ... */
    .toKmz();

// 1. 打包：XML 字符串 → KMZ 字节流
byte[] kmz = WpmlCodec.toKmz(kml, wpml);

// 2. 解包：KMZ 字节流 → 原始 XML 字符串
KmzContent content = WpmlCodec.fromKmz(kmz);
String kml = content.templateKml();
String wpml = content.waylinesWpml();

// 3. 解析：XML 字符串 → POJO
Kml<Folder> template = WpmlCodec.parseTemplateKml(kml);
Kml<ExecuteFolder> waylines = WpmlCodec.parseWaylinesWpml(wpml);

// 4. 一站式：KMZ 字节流 → POJO 容器
ParsedKmz parsed = WpmlCodec.parseKmz(kmz);
Kml<Folder> t = parsed.template();
Kml<ExecuteFolder> w = parsed.waylines();

// services_reply 返回 result=314001，查表获取官方描述
var msg = MessageCodec.parse(payload, FlighttaskPrepareReply.class);
int result = msg.data().result();

AutelErrorCode.describe(result).ifPresentOrElse(
    info -> log.error("任务失败: {} ({})", info.description(), info.code()),
    () -> log.error("未知错误码: {}", result)
);
// 输出: 任务失败: 飞行任务下发失败，请稍后重试 (314001)

void onMessage(String topic, String payload) {
    TopicInfo info = TopicResolver.resolve(topic);
    String method = MessageCodec.extractMethod(payload);  // 独立维度，单独提取

    log.info("[{}] {} {} → {}",
        info.direction(),   // DOWN（云→设备）/ UP（设备→云）
        info.channel(),     // SERVICES / EVENTS / DRC_UP / ...
        info.deviceSn(),    // 设备 SN
        method);            // fly_to_point

    switch (info.channel()) {
        case SERVICES -> handleServices(info.deviceSn(), method, payload);
        case EVENTS   -> handleEvents(info.deviceSn(), method, payload);
        case DRC_UP   -> handleDrcUp(info.deviceSn(), method, payload);
        case null     -> log.warn("未知通道: {}", topic);
    }
}

// 校验 EVO Nest + EVO Max 4T 是否兼容（true）
boolean ok = DeviceCompatibility.isCompatible(DockModel.EVO_NEST, DroneModel.EVO_MAX_4T);

// 校验 Autel Dragonfish Nest + EVO Max 4T 是否兼容（false，Dragonfish Nest 配套 Dragonfish 飞行器）
boolean ok = DeviceCompatibility.isCompatible(DockModel.AUTEL_DRAGONFISH_NEST, DroneModel.EVO_MAX_4T);
if (!ok) {
    log.warn("Dragonfish Nest 不支持 EVO Max 系列");
}

// 检查某个 POJO 的验证状态
var clazz = FlighttaskPrepareRequest.class;
boolean verified = clazz.isAnnotationPresent(Verified.class);
boolean inferred = clazz.isAnnotationPresent(Inferred.class);

if (verified) {
    String basis = clazz.getAnnotation(Verified.class).basis();
    log.info("{} 已验证: {}", clazz.getSimpleName(), basis);
}
if (inferred) {
    String reason = clazz.getAnnotation(Inferred.class).reason();
    String verifyPoint = clazz.getAnnotation(Inferred.class).verifyPoint();
    log.warn("{} 推断项: {} (待验证: {})", clazz.getSimpleName(), reason, verifyPoint);
}

// 获取 Autel 文档链接
if (clazz.isAnnotationPresent(DocUrl.class)) {
    String url = clazz.getAnnotation(DocUrl.class).value();
    log.info("文档: {}", url);
}