From 91f6e60919b92b7f99a41f2ddeb42df17cd0c487 Mon Sep 17 00:00:00 2001
From: liusuyi <1951119284@qq.com>
Date: Fri, 25 Oct 2024 10:48:26 +0800
Subject: [PATCH] 优化
---
ard-work/src/main/java/com/ard/tianyu/service/impl/TyServiceImpl.java | 13 ++++++++-----
1 files changed, 8 insertions(+), 5 deletions(-)
diff --git a/ard-work/src/main/java/com/ard/tianyu/service/impl/TyServiceImpl.java b/ard-work/src/main/java/com/ard/tianyu/service/impl/TyServiceImpl.java
index 278e324..b9f8059 100644
--- a/ard-work/src/main/java/com/ard/tianyu/service/impl/TyServiceImpl.java
+++ b/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");
}
--
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