package com.ard.work.component.netty.command.control;
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import com.ard.work.domain.dto.control.AngleControlDTO;
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import com.ard.work.component.netty.command.BaseCmd;
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import io.netty.buffer.ByteBuf;
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import lombok.Data;
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/**
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* 云台转动(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 AngleControlCmd extends BaseCmd {
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private final byte encryptFlag = 0x00; // 加密标志
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private final byte actionCode; // 动作编号
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private final byte rotationAngle; // 转动角度
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public AngleControlCmd(AngleControlDTO angleControlDto) {
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setDataHeader((short) 0x7479);
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setDataLength((short) 19);
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setBoxSn(angleControlDto.getBoxSn().getBytes());
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setCmdCode((byte) 0xD1);
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this.actionCode = angleControlDto.getActionCode();
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this.rotationAngle = angleControlDto.getRotationAngle();
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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.writeByte(rotationAngle); // 写入转动角度
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}
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}
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