From fddccbf217223e7287d6861c3020d9ba5cc15e55 Mon Sep 17 00:00:00 2001
From: liusuyi <1951119284@qq.com>
Date: Fri, 25 Oct 2024 15:42:19 +0800
Subject: [PATCH] 优化
---
ard-work/src/main/java/com/ard/tianyu/controller/UavController.java | 78 +++++++++++++++++++++++++++++++++++----
1 files changed, 70 insertions(+), 8 deletions(-)
diff --git a/ard-work/src/main/java/com/ard/tianyu/controller/UavController.java b/ard-work/src/main/java/com/ard/tianyu/controller/UavController.java
index aa35cba..27bbf9f 100644
--- a/ard-work/src/main/java/com/ard/tianyu/controller/UavController.java
+++ b/ard-work/src/main/java/com/ard/tianyu/controller/UavController.java
@@ -4,16 +4,28 @@
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.CapturePicDto;
+import com.ard.tianyu.model.dto.camera.RecordDto;
+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.signal.SignalInfo;
+import com.ard.tianyu.model.dto.state.UavState;
+import com.ard.tianyu.model.dto.telemetry.TelemetryData;
import com.ard.tianyu.model.receiver.BoxHistoryReceiver;
import com.ard.tianyu.model.receiver.BoxPhotosReceiver;
import com.ard.tianyu.model.receiver.BoxInfoReceiver;
import com.ard.tianyu.model.receiver.BoxStreamUrlReceiver;
import com.ard.tianyu.service.ITyService;
+import com.github.xiaoymin.knife4j.annotations.ApiOperationSupport;
import io.swagger.annotations.Api;
import io.swagger.annotations.ApiOperation;
+import org.springframework.validation.annotation.Validated;
import org.springframework.web.bind.annotation.*;
import javax.annotation.Resource;
+import javax.validation.constraints.Max;
+import javax.validation.constraints.Min;
import java.util.List;
/**
@@ -63,22 +75,72 @@
List<BoxPhotosReceiver> boxPhotos = tyService.getBoxPhotos(boxPhotosDTO);
return AjaxResult.success(boxPhotos);
}
+
@ApiOperation("修改云盒设置")
@PostMapping("/updateBoxSettings")
public AjaxResult updateBoxSettings(@RequestBody BoxSettingsDTO boxSettingsDTO) {
Boolean state = tyService.updateBoxSettings(boxSettingsDTO);
return AjaxResult.success(state);
}
- @ApiOperation("无人机控制订阅")
- @GetMapping("/uavControlSubscribe")
- public AjaxResult uavControlSubscribe(String boxSn) {
- tyService.uavControlSubscribe(boxSn);
+
+ @ApiOperation(value = "云台转动(基于角度)", notes = "actionCode值：0-回中,1-上,2-右上,3-右,4-右下,5-下,6-左下,7-左,8-左上,254-停止")
+ @ApiOperationSupport(order = 1)
+ @PostMapping("/angleControl")
+ public AjaxResult angleControl(@RequestBody AngleControlDto angleControlDto) {
+ tyService.angleControl(angleControlDto);
return AjaxResult.success();
}
- @ApiOperation("云台转动(基于角度)")
- @GetMapping("/controlAngle")
- public AjaxResult controlAngle(String boxSn) {
- tyService.controlAngle(boxSn);
+
+ @ApiOperation(value = "云台绝对值控制(基于角度)", notes = "俯仰pitch范围：[-120°至+30°] 平移yaw范围：[-180°至+180°] 横滚roll范围：[-90°至+60°]")
+ @ApiOperationSupport(order = 2)
+ @PostMapping("/absAngleControl")
+ public AjaxResult absAngleControl(@RequestBody @Validated AbsAngleControlDto angleControlDto) {
+ tyService.absAngleControl(angleControlDto);
return AjaxResult.success();
}
+
+ @ApiOperation(value = "云台转动(基于速度)", notes = "俯仰转动速度：上正下负 平移转动速度：右正左负 横滚转动速度：顺时针正，逆时针负")
+ @ApiOperationSupport(order = 3)
+ @PostMapping("/speedControl")
+ public AjaxResult speedControl(@RequestBody @Validated SpeedControlDto speedControlDto) {
+ tyService.speedControl(speedControlDto);
+ return AjaxResult.success();
+ }
+
+ @ApiOperation("拍照")
+ @ApiOperationSupport(order = 4)
+ @PostMapping("/capturePicDto")
+ public AjaxResult capturePic(@RequestBody CapturePicDto capturePicDto) {
+ tyService.capturePic(capturePicDto);
+ return AjaxResult.success();
+ }
+
+ @ApiOperation("录像")
+ @ApiOperationSupport(order = 5)
+ @PostMapping("/record")
+ public AjaxResult record(@RequestBody RecordDto recordDto) {
+ tyService.record(recordDto);
+ return AjaxResult.success();
+ }
+
+ @ApiOperation("获取无人机状态")
+ @GetMapping("/getUavState")
+ public AjaxResult getUavState(String boxSn) {
+ UavState uavState = tyService.getUavState(boxSn);
+ return AjaxResult.success(uavState);
+ }
+
+ @ApiOperation("获取无人机遥测数据")
+ @GetMapping("/getUavTelemetryData")
+ public AjaxResult getUavTelemetryData(String boxSn) {
+ TelemetryData telemetryData = tyService.getUavTelemetryData(boxSn);
+ return AjaxResult.success(telemetryData);
+ }
+
+ @ApiOperation("获取无人机信道质量数据")
+ @GetMapping("/getSignalInfo")
+ public AjaxResult getSignalInfo(String boxSn) {
+ SignalInfo signalInfo = tyService.getSignalInfo(boxSn);
+ return AjaxResult.success(signalInfo);
+ }
}
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