package com.ard.work.component.netty.command.manual;

import com.ard.work.component.netty.command.BaseCmd;
import com.ard.work.domain.dto.manual.FlyPointControlDTO;
import com.ard.work.domain.dto.manual.FlyRoundControlDTO;
import io.netty.buffer.ByteBuf;

/**
 * 环绕飞行控制指令
 *
 * @author liusuyi
 * @date 2024年10月26日15:43
 **/
public class FlyRoundControlCmd extends BaseCmd {
    private final double longitude;                  // 兴趣点经度
    private final double latitude;                   // 兴趣点纬度
    private final float altitude;                    // 兴趣点高度
    private final float height;                      // 飞行高度
    private final float speed;                       // 环绕速度
    private final float radius;                      // 环绕半径
    private final byte flyMode;                      // 飞行模式

    public FlyRoundControlCmd(FlyRoundControlDTO flyRoundControlDTO) {
        setDataHeader((short) 0x7479);
        setDataLength((short) 51);
        setBoxSn(flyRoundControlDTO.getBoxSn().getBytes());
        setCmdCode((byte) 0xD1);
        this.longitude = flyRoundControlDTO.getLongitude();
        this.latitude = flyRoundControlDTO.getLatitude();
        this.altitude = flyRoundControlDTO.getAltitude();
        this.height=flyRoundControlDTO.getHeight();
        this.speed = flyRoundControlDTO.getSpeed();
        this.radius= flyRoundControlDTO.getRadius();
        this.flyMode = flyRoundControlDTO.getFlyMode();
    }


    public void encode(ByteBuf out) {
        out.writeShort(getDataHeader());    // 写入数据头
        out.writeShort(getDataLength());    // 写入数据长度
        out.writeBytes(getBoxSn());         // 写入盒子SN
        out.writeByte(getCmdCode());        // 写入命令码
        out.writeByte(0x00);          // 写入加密标志
        out.writeByte(0x3B);          // 写入动作编号
        out.writeDouble(longitude);         // 写入兴趣点经度
        out.writeDouble(latitude);          // 写入兴趣点纬度
        out.writeFloat(altitude);           // 写入兴趣点高度
        out.writeFloat(height);             // 写入飞行高度
        out.writeFloat(speed);              // 写入环绕速度
        out.writeFloat(radius);             // 写入环绕半径
        out.writeByte(flyMode);             // 写入飞行模式
    }
}