package com.ard.tianyu.netty.command.control;

import com.ard.tianyu.model.dto.control.AbsAngleControlDTO;
import com.ard.tianyu.netty.command.BaseCmd;
import io.netty.buffer.ByteBuf;
import lombok.Data;

/**
 * 云台绝对值控制(基于角度)命令
 *
 * @author 刘苏义
 * @date 2024/10/22 16:36
 */

@Data
public class AbsAngleControlCmd extends BaseCmd {
    private final byte encryptFlag = 0x00; // 加密标志
    private final byte actionCode = 0x09;  // 动作编号
    private final float pitch;             // 俯仰
    private final float yaw;               // 平移
    private final float roll;              // 横滚

    public AbsAngleControlCmd(AbsAngleControlDTO absAngleControlDto) {
        setDataHeader((short) 0x7479);
        setDataLength((short) 30);
        setBoxSn(absAngleControlDto.getBoxSn().getBytes());
        setCmdCode((byte) 0xD1);
        this.pitch = absAngleControlDto.getPitch();
        this.yaw = absAngleControlDto.getYaw();
        this.roll = absAngleControlDto.getRoll();

    }

    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(encryptFlag);         // 写入加密标志
        out.writeByte(actionCode);          // 写入动作编号
        out.writeFloat(pitch);              // 写入转动角度
        out.writeFloat(yaw);                // 写入转动角度
        out.writeFloat(roll);               // 写入转动角度
    }
}