package com.ard.work.component.netty.command.manual;
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import com.ard.work.component.netty.command.BaseCmd;
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import com.ard.work.domain.dto.manual.FlyPointControlDTO;
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import com.ard.work.domain.dto.manual.FlyRoundControlDTO;
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import io.netty.buffer.ByteBuf;
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/**
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* 环绕飞行控制指令
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*
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* @author liusuyi
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* @date 2024年10月26日15:43
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**/
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public class FlyRoundControlCmd extends BaseCmd {
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private final double longitude; // 兴趣点经度
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private final double latitude; // 兴趣点纬度
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private final float altitude; // 兴趣点高度
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private final float height; // 飞行高度
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private final float speed; // 环绕速度
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private final float radius; // 环绕半径
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private final byte flyMode; // 飞行模式
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public FlyRoundControlCmd(FlyRoundControlDTO flyRoundControlDTO) {
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setDataHeader((short) 0x7479);
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setDataLength((short) 51);
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setBoxSn(flyRoundControlDTO.getBoxSn().getBytes());
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setCmdCode((byte) 0xD1);
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this.longitude = flyRoundControlDTO.getLongitude();
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this.latitude = flyRoundControlDTO.getLatitude();
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this.altitude = flyRoundControlDTO.getAltitude();
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this.height=flyRoundControlDTO.getHeight();
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this.speed = flyRoundControlDTO.getSpeed();
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this.radius= flyRoundControlDTO.getRadius();
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this.flyMode = flyRoundControlDTO.getFlyMode();
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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(0x00); // 写入加密标志
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out.writeByte(0x3B); // 写入动作编号
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out.writeDouble(longitude); // 写入兴趣点经度
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out.writeDouble(latitude); // 写入兴趣点纬度
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out.writeFloat(altitude); // 写入兴趣点高度
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out.writeFloat(height); // 写入飞行高度
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out.writeFloat(speed); // 写入环绕速度
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out.writeFloat(radius); // 写入环绕半径
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out.writeByte(flyMode); // 写入飞行模式
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}
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}
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