From 0117e2ad826ee17788fc1512d17bb1ee4c7c9f9c Mon Sep 17 00:00:00 2001
From: sontolau <sonto.lau@gmail.com>
Date: Tue, 16 Jun 2026 10:54:12 +0800
Subject: [PATCH] in dev

---
 tools/uav_control.py    | 21 +++++++++++----------
 tools/uav_get_state.py  | 10 +++++-----
 tools/uav_self_check.py |  8 ++++----
 3 files changed, 20 insertions(+), 19 deletions(-)

diff --git a/tools/uav_control.py b/tools/uav_control.py
index fcd6253..1d24d0f 100644
--- a/tools/uav_control.py
+++ b/tools/uav_control.py
@@ -1,7 +1,7 @@
 from typing import List
 from agent.device import controller
 from agent.tools.base_tool import BaseTool, ToolResult
-
+from core.uas_control.command import CommandResult
 
 
 class Tool(BaseTool):
@@ -30,13 +30,14 @@ class Tool(BaseTool):
 
 
     def execute(self, command: str, params: dict={}, actions: List[object]=()) -> ToolResult:
-        if not controller.connect():
-            return ToolResult(success=False, output="连接无人机失败")
+        if not controller.is_connected:
+            if not controller.connect():
+                return ToolResult(success=False, output="连接无人机失败")
+        command_handler = getattr(controller, command)
         try:
-            command_handler = getattr(controller, command)
-            try:
-                return ToolResult(success=True, output=str(command_handler(**params)))
-            except Exception as e:
-                return ToolResult(success=False, output=str(e))
-        finally:
-            controller.disconnect()
\ No newline at end of file
+            result = command_handler(**params)
+            assert isinstance(result, CommandResult)
+
+            return ToolResult(success=result.success, output=result.message)
+        except Exception as e:
+            return ToolResult(success=False, output=str(e))
diff --git a/tools/uav_get_state.py b/tools/uav_get_state.py
index f5de66e..d5825ef 100644
--- a/tools/uav_get_state.py
+++ b/tools/uav_get_state.py
@@ -27,11 +27,11 @@ class Tool(BaseTool):
     }
 
     def execute(self) -> ToolResult:
-        if not controller.connect():
-            return ToolResult(success=False, output="连接无人机失败")
+        if not controller.is_connected:
+            if not controller.connect():
+                return ToolResult(success=False, output="连接无人机失败")
         try:
             telemetry = controller.get_telemetry()
             return ToolResult(success=True, output=json.dumps(telemetry.to_dict(), ensure_ascii=True))
-        finally:
-            controller.disconnect()
-
+        except Exception as e:
+            return ToolResult(success=False, output=str(e))
diff --git a/tools/uav_self_check.py b/tools/uav_self_check.py
index 1efd5eb..15706b2 100644
--- a/tools/uav_self_check.py
+++ b/tools/uav_self_check.py
@@ -17,8 +17,10 @@ class Tool(BaseTool):
         解决：Arming denied: Resolve system health failures first
         """
         # 等待健康数据
+        if not controller.is_connected:
+            if not controller.connect():
+                return ToolResult(success=False, output="连接设备失败")
 
-        assert controller.connect(), "连接应成功"
         try:
             connection = controller.adapter.get_connection()
             check_list = []
@@ -118,6 +120,4 @@ class Tool(BaseTool):
 
             return ToolResult(success=True, output="\n".join(check_list))
         except Exception as e:
-            return ToolResult(success=False, output=str(e))
-        finally:
-            controller.disconnect()
\ No newline at end of file
+            return ToolResult(success=False, output=str(e))
\ No newline at end of file