From b9f46001860bf194601b4bdf848545bfc72eefa5 Mon Sep 17 00:00:00 2001
From: liusuyi <1951119284@qq.com>
Date: Sat, 26 Oct 2024 16:59:35 +0800
Subject: [PATCH] 增加：返航
---
ard-work/src/main/java/com/ard/tianyu/service/impl/TyServiceImpl.java | 19 ++++++++++++++++---
1 files changed, 16 insertions(+), 3 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 1a3c1cd..1525c4d 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
@@ -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
--
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