From 05ba868736725db54db1944ed5cf7a95d14efc37 Mon Sep 17 00:00:00 2001
From: liusuyi <1951119284@qq.com>
Date: Wed, 30 Oct 2024 17:07:51 +0800
Subject: [PATCH] 增加：手动飞行控制
---
ard-work/src/main/java/com/ard/tianyu/service/ITyService.java | 122 ++++++++++++++++++++++++++++++++++++++--
1 files changed, 114 insertions(+), 8 deletions(-)
diff --git a/ard-work/src/main/java/com/ard/tianyu/service/ITyService.java b/ard-work/src/main/java/com/ard/tianyu/service/ITyService.java
index 4fe28ac..612fcb2 100644
--- a/ard-work/src/main/java/com/ard/tianyu/service/ITyService.java
+++ b/ard-work/src/main/java/com/ard/tianyu/service/ITyService.java
@@ -3,11 +3,16 @@
import com.ard.tianyu.model.dto.BoxHistoryDTO;
import com.ard.tianyu.model.dto.BoxPhotosDTO;
import com.ard.tianyu.model.dto.BoxSettingsDTO;
+import com.ard.tianyu.model.dto.camera.*;
+import com.ard.tianyu.model.dto.control.AbsAngleControlDTO;
+import com.ard.tianyu.model.dto.control.AngleControlDTO;
+import com.ard.tianyu.model.dto.control.SpeedControlDTO;
+import com.ard.tianyu.model.dto.manual.*;
import com.ard.tianyu.model.dto.signal.SignalInfo;
import com.ard.tianyu.model.dto.state.UavState;
import com.ard.tianyu.model.dto.telemetry.TelemetryData;
import com.ard.tianyu.model.receiver.*;
-import com.ard.tianyu.netty.command.BaseCommand;
+import com.ard.tianyu.netty.command.BaseCmd;
import com.dtflys.forest.annotation.Var;
import java.util.List;
@@ -63,14 +68,114 @@
void registerMessage();
/**
- * 无人机控制订阅
- */
- void uavControlSubscribe(String boxSn);
-
- /**
* 云台转动(基于角度)
*/
- void controlAngle(String boxSn,Integer actionId,Integer rotationAngle) ;
+ void angleControl(AngleControlDTO angleControlDto);
+
+ /**
+ * 云台绝对值控制(基于角度)
+ */
+ void absAngleControl(AbsAngleControlDTO absAngleControlDto);
+
+ /**
+ * 云台转动(基于速度)
+ */
+ void speedControl(SpeedControlDTO speedControlDto);
+
+ /**
+ * 设置相机模式
+ */
+ void updateCameraMode(CameraModeDTO cameraModeDTO);
+
+ /**
+ * 拍照
+ */
+ void capturePic(CapturePicDTO capturePicDto);
+
+ /**
+ * 录像
+ */
+ void record(RecordDTO recordDto);
+
+ /**
+ * 变倍
+ */
+ void zoom(ZoomDTO zoomDTO);
+
+ /**
+ * 变倍到指定倍数
+ */
+ void zoomToLevel(ZoomToLevelDTO zoomToLevelDTO);
+
+ /**
+ * 切换摄像头
+ */
+ void switchCamera(SwitchCameraDTO switchCameraDTO);
+
+ /**
+ * 切换视频源
+ */
+ void switchSource(SwitchSourceDTO switchSourceDTO);
+
+ /**
+ * 打开或关闭照片回传
+ */
+ void photoReturnToggle(PhotoReturnToggleDTO photoReturnToggleDTO);
+
+ /**
+ * 切换无人机控制权
+ */
+ void switchUavControl(SwitchUavControlDTO switchUavControlDTO);
+
+ /**
+ * 起飞
+ */
+ void takeOff(TakeOffDTO takeOffDTO);
+
+ /**
+ * 返航
+ */
+ void returnHome(ReturnHomeDTO returnHomeDTO);
+
+ /**
+ * 取消返航
+ */
+ void returnHomeCancel(ReturnHomeCancelDTO returnHomeCancelDTO);
+
+ /**
+ * 降落
+ */
+ void land(LandDTO landDTO);
+
+ /**
+ * 取消降落
+ */
+ void landCancel(LandCancelDTO landCancelDTO);
+
+ /**
+ * 强制降落
+ */
+ void landForced(LandForcedDTO landForcedDTO);
+
+ /**
+ * 方向控制
+ */
+ void flyControl(FlyControlDTO flyControlDTO);
+
+ /**
+ * 指点飞行控制
+ */
+ void flyPointControl(FlyPointControlDTO flyPointControlDTO);
+
+ /**
+ * 停止指点飞行控制
+ */
+ void flyPointControlCancel(FlyPointControlCancelDTO flyPointControlCancelDTO);
+
+ /**
+ * 紧急制动
+ */
+ void emeragencyBrake(EmeragencyBrakeDTO emeragencyBrakeDTO);
/**
* 获取无人机状态
@@ -86,8 +191,9 @@
* 获取信道质量遥测
*/
SignalInfo getSignalInfo(String boxSn);
+
/**
* 解析天宇服务端发来的消息
*/
- void processMessage(String key, BaseCommand tyMessage);
+ void processMessage(String key, BaseCmd tyMessage);
}
--
Gitblit v1.9.3