From b821735241678a21ddc033aba04ebaf7ce65a3d2 Mon Sep 17 00:00:00 2001
From: liusuyi <1951119284@qq.com>
Date: Thu, 31 Oct 2024 09:49:33 +0800
Subject: [PATCH] 优化结构
---
ard-work/src/main/java/com/ard/tianyu/service/ITyService.java | 52 ++++++++++++++++++++++++++++++++++++++++++++++++----
1 files changed, 48 insertions(+), 4 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 b304b82..c4f9e4c 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
@@ -7,8 +7,7 @@
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.SwitchUavControlDTO;
-import com.ard.tianyu.model.dto.manual.TakeOffDTO;
+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;
@@ -134,6 +133,51 @@
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
*/
UavState getUavState(String boxSn);
@@ -149,7 +193,7 @@
SignalInfo getSignalInfo(String boxSn);
/**
- * 解析天宇服务端发来的消息
+ * 处理回复消息
*/
- void processMessage(String key, BaseCmd tyMessage);
+ void processReplyMessage(String key, BaseCmd tyMessage);
}
--
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