优化

liusuyi

2024-10-25 91f6e60919b92b7f99a41f2ddeb42df17cd0c487

 ard-work/src/main/java/com/ard/tianyu/service/impl/TyServiceImpl.java

@@ -18,8 +18,6 @@
import com.ard.tianyu.netty.command.*;
import com.ard.tianyu.netty.TyNettyTcpClient;
import com.ard.tianyu.service.ITyService;
import io.netty.buffer.ByteBuf;
import io.netty.buffer.Unpooled;
import io.netty.channel.Channel;
import io.netty.channel.ChannelFuture;
import lombok.extern.slf4j.Slf4j;
@@ -153,9 +151,14 @@
     * 云台控制基于角度
     */
    @Override
    public void controlAngle(String boxSn, Integer actionId, Integer rotationAngle) {
    public void angleControl(String boxSn, Integer actionId, Integer rotationAngle) {
        ControlAngleCommand controlAngleCommand = new ControlAngleCommand(boxSn, actionId.byteValue(), rotationAngle.byteValue());
        this.sendMessage(tyConfiguration.getIpPort(), controlAngleCommand);
    }

    @Override
    public void absAngleControl(String boxSn, Integer actionId, float pitch, float yaw, float roll) {

    }

    /**
@@ -230,9 +233,9 @@
                break;
            case (byte) 0xD1:
                // 处理无人机
                DroneReadyNotificationCommand droneReadyNotificationCommand = (DroneReadyNotificationCommand) tyCommand;
                UavReadyNotificationCommand droneReadyNotificationCommand = (UavReadyNotificationCommand) tyCommand;
                if (droneReadyNotificationCommand.getActionCode() == (byte) 0x42) {
                    UavInitInfoCommand uavInitCommand = new UavInitInfoCommand(new String(droneReadyNotificationCommand.getBoxSn()), (byte) 0x42);
                    UavInitInfoCommand uavInitCommand = new UavInitInfoCommand(droneReadyNotificationCommand.getBoxSn());
                    this.sendMessage(tyConfiguration.getIpPort(), uavInitCommand);
                    log.info("收到无人机初始化详情-回复防止再次发送");
                }