增加：返航

liusuyi

2024-10-26 b9f46001860bf194601b4bdf848545bfc72eefa5

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

@@ -15,6 +15,7 @@
import com.ard.tianyu.model.dto.converter.UavSignalInfoConverter;
import com.ard.tianyu.model.dto.converter.UavStateConverter;
import com.ard.tianyu.model.dto.converter.UavTelemetryDataConverter;
import com.ard.tianyu.model.dto.manual.ReturnHomeDTO;
import com.ard.tianyu.model.dto.manual.SwitchUavControlDTO;
import com.ard.tianyu.model.dto.manual.TakeOffDTO;
import com.ard.tianyu.model.dto.signal.SignalInfo;
@@ -27,9 +28,7 @@
import com.ard.tianyu.netty.command.control.AbsAngleControlCmd;
import com.ard.tianyu.netty.command.control.AngleControlCmd;
import com.ard.tianyu.netty.command.control.SpeedControlCmd;
import com.ard.tianyu.netty.command.manual.SwitchUavControlCmd;
import com.ard.tianyu.netty.command.manual.TakeOffCmd;
import com.ard.tianyu.netty.command.manual.TakeOffReplyCmd;
import com.ard.tianyu.netty.command.manual.*;
import com.ard.tianyu.netty.command.notice.BoxPowerStatusReplyCmd;
import com.ard.tianyu.netty.command.notice.FlyWayEndReplyCmd;
import com.ard.tianyu.netty.command.notice.UavReadyReplyCmd;
@@ -291,6 +290,15 @@
    }

    /**
     * 返航
     */
    @Override
    public void returnHome(ReturnHomeDTO returnHomeDTO) {
        ReturnHomeCmd returnHomeCmd=new ReturnHomeCmd(returnHomeDTO);
        this.sendMessage(tyConfiguration.getIpPort(), returnHomeCmd);
    }

    /**
     * 获取无人机状态
     */
    @Override
@@ -405,6 +413,11 @@
                    TakeOffReplyCmd takeOffReplyCommand = (TakeOffReplyCmd) tyCommand;
                    log.info("收到无人机起飞回复:{} 错误码：{}", String.format("0x%02X", takeOffReplyCommand.getResult() & 0xFF), takeOffReplyCommand.getErrorCode());
                }
                //返航回复
                if (tyCommand instanceof ReturnHomeReplyCmd) {
                    ReturnHomeReplyCmd returnHomeReplyCmd = (ReturnHomeReplyCmd) tyCommand;
                    log.info("收到无人机返航回复:{} 错误码：{}", String.format("0x%02X", returnHomeReplyCmd.getResult() & 0xFF), returnHomeReplyCmd.getErrorCode());
                }
                break;
            default:
                // 处理其他消息