package com.ard.tianyu.controller;
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import com.ard.common.core.domain.AjaxResult;
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import com.ard.tianyu.model.dto.BoxHistoryDTO;
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import com.ard.tianyu.model.dto.BoxPhotosDTO;
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import com.ard.tianyu.model.dto.BoxSettingsDTO;
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import com.ard.tianyu.model.dto.camera.*;
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import com.ard.tianyu.model.dto.control.AbsAngleControlDTO;
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import com.ard.tianyu.model.dto.control.AngleControlDTO;
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import com.ard.tianyu.model.dto.control.SpeedControlDTO;
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import com.ard.tianyu.model.dto.manual.SwitchUavControlDTO;
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import com.ard.tianyu.model.dto.signal.SignalInfo;
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import com.ard.tianyu.model.dto.state.UavState;
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import com.ard.tianyu.model.dto.telemetry.TelemetryData;
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import com.ard.tianyu.model.receiver.BoxHistoryReceiver;
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import com.ard.tianyu.model.receiver.BoxInfoReceiver;
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import com.ard.tianyu.model.receiver.BoxPhotosReceiver;
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import com.ard.tianyu.model.receiver.BoxStreamUrlReceiver;
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import com.ard.tianyu.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.validation.annotation.Validated;
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import org.springframework.web.bind.annotation.*;
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import javax.annotation.Resource;
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import java.util.List;
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/**
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* UavGimbalController
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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 = "无人机云台控制接口")
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@RequestMapping("/uav/gimbal")
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@RestController
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public class UavGimbalController {
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@Resource
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private ITyService tyService;
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@ApiOperation(value = "云台转动(基于角度)", notes = "actionCode值：0-回中,1-上,2-右上,3-右,4-右下,5-下,6-左下,7-左,8-左上,254-停止 \r\n rotationAngle值：取值范围:0~255【云台实际转动角度= 转动角度/100+2.5 单位：度】")
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@ApiOperationSupport(order = 1)
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@PostMapping("/angleControl")
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public AjaxResult angleControl(@RequestBody AngleControlDTO angleControlDto) {
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tyService.angleControl(angleControlDto);
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return AjaxResult.success();
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}
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@ApiOperation(value = "云台绝对值控制(基于角度)", notes = "俯仰pitch范围：[-120°至+30°] 平移yaw范围：[-180°至+180°] 横滚roll范围：[-90°至+60°]")
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@ApiOperationSupport(order = 2)
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@PostMapping("/absAngleControl")
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public AjaxResult absAngleControl(@RequestBody @Validated AbsAngleControlDTO angleControlDto) {
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tyService.absAngleControl(angleControlDto);
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return AjaxResult.success();
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}
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@ApiOperation(value = "云台转动(基于速度)", notes = "俯仰转动速度：上正下负 平移转动速度：右正左负 横滚转动速度：顺时针正，逆时针负")
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@ApiOperationSupport(order = 3)
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@PostMapping("/speedControl")
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public AjaxResult speedControl(@RequestBody @Validated SpeedControlDTO speedControlDto) {
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tyService.speedControl(speedControlDto);
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return AjaxResult.success();
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}
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}
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