package com.ard.tianyu.netty.command.control;
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import com.ard.tianyu.model.dto.control.SpeedControlDTO;
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import com.ard.tianyu.netty.command.BaseCommand;
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import io.netty.buffer.ByteBuf;
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import lombok.Data;
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/**
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* 云台绝对值控制(基于角度)命令
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*
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* @author 刘苏义
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* @date 2024/10/22 16:36
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*/
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@Data
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public class SpeedControlCommand extends BaseCommand {
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private final byte encryptFlag = 0x00; // 加密标志
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private final byte actionCode = (byte) 0xF4; // 动作编号
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private final float pitchSpeed; // 俯仰转速
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private final float yawSpeed; // 平移转速
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private final float rollSpeed; // 横滚转速
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private final short execTime = 200; // 执行时间
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public SpeedControlCommand(SpeedControlDTO speedControlDto) {
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setDataHeader((short) 0x7479);
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setDataLength((short) 32);
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setBoxSn(speedControlDto.getBoxSn().getBytes());
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setCmdCode((byte) 0xD1);
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this.pitchSpeed = speedControlDto.getPitchSpeed();
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this.yawSpeed = speedControlDto.getYawSpeed();
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this.rollSpeed = speedControlDto.getRollSpeed();
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}
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public void encode(ByteBuf out) {
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out.writeShort(getDataHeader()); // 写入数据头
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out.writeShort(getDataLength()); // 写入数据长度
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out.writeBytes(getBoxSn()); // 写入盒子SN
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out.writeByte(getCmdCode()); // 写入命令码
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out.writeByte(encryptFlag); // 写入加密标志
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out.writeByte(actionCode); // 写入动作编号
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out.writeFloat(pitchSpeed); // 写入转动角度
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out.writeFloat(yawSpeed); // 写入转动角度
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out.writeFloat(rollSpeed); // 写入转动角度
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out.writeShort(execTime); // 写入执行时间
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}
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}
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