package com.ard.web.controller.work;
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import com.ard.common.core.domain.AjaxResult;
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import com.ard.work.domain.dto.manual.*;
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import com.ard.work.service.ITyService;
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import com.github.xiaoymin.knife4j.annotations.ApiOperationSupport;
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import io.swagger.annotations.Api;
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import io.swagger.annotations.ApiOperation;
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import org.springframework.web.bind.annotation.*;
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import javax.annotation.Resource;
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/**
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* UavManualFlyController
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*
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* @author liusuyi
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* @date 2024年10月21日13:52
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**/
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@Api(tags = "无人机手动飞行接口")
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@RequestMapping("/uav/manualFly")
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@RestController
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public class UavManualFlyController {
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@Resource
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private ITyService tyService;
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@ApiOperation(value = "切换无人机控制权", notes = "actionParam值：0-云盒获取控制权, 1-云盒释放控制权")
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@ApiOperationSupport(order = 1)
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@PostMapping("/switchUavControl")
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public AjaxResult switchUavControl(@RequestBody SwitchUavControlDTO switchUavControlDTO) {
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tyService.switchUavControl(switchUavControlDTO);
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return AjaxResult.success();
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}
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@ApiOperation(value = "起飞", notes = "起飞高度height取值范围:1.2~100,误差：+-0.4米")
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@ApiOperationSupport(order = 2)
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@PostMapping("/takeOff")
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public AjaxResult takeOff(@RequestBody TakeOffDTO takeOffDTO) {
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tyService.takeOff(takeOffDTO);
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return AjaxResult.success();
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}
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@ApiOperation("返航")
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@ApiOperationSupport(order = 3)
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@PostMapping("/returnHome")
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public AjaxResult returnHome(@RequestBody ReturnHomeDTO returnHomeDTO) {
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tyService.returnHome(returnHomeDTO);
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return AjaxResult.success();
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}
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@ApiOperation("取消返航")
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@ApiOperationSupport(order = 4)
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@PostMapping("/returnHomeCancel")
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public AjaxResult returnHomeCancel(@RequestBody ReturnHomeCancelDTO returnHomeCancelDTO) {
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tyService.returnHomeCancel(returnHomeCancelDTO);
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return AjaxResult.success();
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}
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@ApiOperation("降落")
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@ApiOperationSupport(order = 5)
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@PostMapping("/land")
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public AjaxResult land(@RequestBody LandDTO landDTO) {
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tyService.land(landDTO);
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return AjaxResult.success();
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}
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@ApiOperation("取消降落")
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@ApiOperationSupport(order = 6)
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@PostMapping("/landCancel")
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public AjaxResult landCancel(@RequestBody LandCancelDTO landCancelDTO) {
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tyService.landCancel(landCancelDTO);
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return AjaxResult.success();
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}
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@ApiOperation(value = "强制降落",notes = "强制无人机在当前位置降落，不理会蔽障信息，调用此指令时需人工确定降落地点安全")
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@ApiOperationSupport(order = 7)
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@PostMapping("/landForced")
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public AjaxResult landForced(@RequestBody LandForcedDTO landForcedDTO) {
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tyService.landForced(landForcedDTO);
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return AjaxResult.success();
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}
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@ApiOperation(value = "方向控制", notes = "前后速度frSpeed:【前0至30 后0至-30】单位m/s " +
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"左右速度lrSpeed:【右0至30 左0至-30】单位m/s " +
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"上下速度udSpeed:【上0至5 后0至-5 】单位m/s 偏航角yaw：-150~150 deg/s")
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@ApiOperationSupport(order = 8)
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@PostMapping("/flyControl")
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public AjaxResult flyControl(@RequestBody FlyControlDTO flyControlDTO) {
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tyService.flyControl(flyControlDTO);
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return AjaxResult.success();
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}
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@ApiOperation(value = "开始指点飞行", notes = "速度speed:0~20 单位m/s " +
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"飞行模式flyMode：0-节能模式【飞机直线飞到目标点，需飞机在空中】，" +
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"1-安全模式【飞机飞行至目标点高度再平飞到目标点，飞机可以在地面或空中】 默认为节能模式")
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@ApiOperationSupport(order = 9)
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@PostMapping("/flyPointControl")
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public AjaxResult flyPointControl(@RequestBody FlyPointControlDTO flyPointControlDTO) {
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tyService.flyPointControl(flyPointControlDTO);
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return AjaxResult.success();
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}
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@ApiOperation("停止指点飞行")
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@ApiOperationSupport(order = 10)
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@PostMapping("/flyPointControlCancel")
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public AjaxResult flyPointControlCancel(@RequestBody FlyPointControlCancelDTO flyPointControlCancelDTO) {
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tyService.flyPointControlCancel(flyPointControlCancelDTO);
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return AjaxResult.success();
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}
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@ApiOperation(value = "开始环绕飞行", notes = "速度speed:0~20 单位m/s " +
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"环绕半径radius：单位m，"+
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"飞行模式flyMode：0-节能模式【飞机直线飞到目标点，需飞机在空中】，" +
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"1-安全模式【飞机飞行至目标点高度再平飞到目标点，飞机可以在地面或空中】 默认为节能模式")
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@ApiOperationSupport(order = 9)
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@PostMapping("/flyRoundControl")
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public AjaxResult flyRoundControl(@RequestBody FlyRoundControlDTO flyRoundControlDTO) {
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tyService.FlyRoundControl(flyRoundControlDTO);
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return AjaxResult.success();
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}
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@ApiOperation("停止环绕飞行")
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@ApiOperationSupport(order = 10)
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@PostMapping("/flyRoundControlCancel")
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public AjaxResult flyRoundControlCancel(@RequestBody FlyRoundControlCancelDTO flyRoundControlCancelDTO) {
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tyService.FlyRoundControlCancel(flyRoundControlCancelDTO);
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return AjaxResult.success();
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}
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@ApiOperation(value = "紧急制动", notes = "动作参数actionParam： 0-解除紧急制动 1-紧急制动")
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@ApiOperationSupport(order = 11)
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@PostMapping("/emeragencyBrake")
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public AjaxResult emeragencyBrake(@RequestBody EmeragencyBrakeDTO emeragencyBrakeDTO) {
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tyService.emeragencyBrake(emeragencyBrakeDTO);
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return AjaxResult.success();
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}
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}
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