package com.ard.web.controller.work;

import com.ard.common.core.domain.AjaxResult;
import com.ard.work.domain.dto.control.AbsAngleControlDTO;
import com.ard.work.domain.dto.control.AngleControlDTO;
import com.ard.work.domain.dto.control.SpeedControlDTO;
import com.ard.work.service.ITyService;
import com.ard.work.service.impl.GimbalSpeedService;
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;

/**
 * UavGimbalController
 *
 * @author liusuyi
 * @date 2024年10月21日13:52
 **/
@Api(tags = "无人机云台控制接口")
@RequestMapping("/uav/gimbal")
@RestController
public class UavGimbalController {

    @Resource
    private ITyService tyService;
    @Resource
    private GimbalSpeedService gimbalSpeedService;


    @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 \r\n rotationAngle值：取值范围:0~255【云台实际转动角度= 转动角度/100+2.5 单位：度】")
    @ApiOperationSupport(order = 1)
    @PostMapping("/angleControl")
    public AjaxResult angleControl(@RequestBody AngleControlDTO angleControlDto) {
        tyService.angleControl(angleControlDto);
        return AjaxResult.success();
    }

    @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(value = "云台速度控制(开始/停止统一接口)")
    @ApiOperationSupport(order = 4)
    @PostMapping("/speedControlSimple")
    public AjaxResult speedControlSimple(@RequestBody @Validated SpeedControlDTO speedControlDto) {
        if (speedControlDto.isStart()) {
            gimbalSpeedService.startControl(speedControlDto);
        } else {
            gimbalSpeedService.stopControl(speedControlDto.getBoxSn());
        }
        return AjaxResult.success();
    }
}