package com.dji.sample.control.service;
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import com.dji.sample.common.model.ResponseResult;
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import com.dji.sample.component.mqtt.model.CommonTopicReceiver;
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import com.dji.sample.control.model.enums.DroneAuthorityEnum;
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import com.dji.sample.control.model.param.*;
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import com.dji.sample.wayline.model.param.PointPOJO;
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import org.springframework.messaging.MessageHeaders;
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import java.util.List;
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/**
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* @author sean
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* @version 1.2
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* @date 2022/7/29
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*/
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public interface IControlService {
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/**
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* Remotely debug the dock via commands.
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* @param sn
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* @param serviceIdentifier
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* @param param
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* @return
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*/
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ResponseResult controlDockDebug(String sn, String serviceIdentifier, RemoteDebugParam param);
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/**
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* Make the drone fly to the target point.
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* @param sn
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* @param param
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* @return
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*/
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ResponseResult flyToPoint(String sn, FlyToPointParam param);
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/**
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* End the mission of flying the drone to the target point.
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* @param sn
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* @return
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*/
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ResponseResult flyToPointStop(String sn);
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/**
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* Handle progress result notifications for fly to target point.
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* @param receiver
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* @param headers
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* @return
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*/
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CommonTopicReceiver handleFlyToPointProgress(CommonTopicReceiver receiver, MessageHeaders headers) throws Exception;
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/**
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* Control the drone to take off.
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* @param sn
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* @param param
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* @return
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*/
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ResponseResult takeoffToPoint(String sn, TakeoffToPointParam param);
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/**
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* Handle progress result notifications for takeoff to target point.
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* @param receiver
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* @param headers
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* @return
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*/
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CommonTopicReceiver handleTakeoffToPointProgress(CommonTopicReceiver receiver, MessageHeaders headers);
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/**
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* Seize the control authority of the drone or the payload control authority.
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* 抢占无人机控制权限或有效载荷控制权限
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* @param sn
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* @param authority
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* @param param
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* @return
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*/
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ResponseResult seizeAuthority(String sn, DroneAuthorityEnum authority, DronePayloadParam param);
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/**
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* Control the payload of the drone.
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* @param param
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* @return
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*/
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ResponseResult payloadCommands(PayloadCommandsParam param) throws Exception;
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ResponseResult requestsConfig(String sn,String method, RequestsParam param);
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/**
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* 拍照
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* @param sn
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* @param payloadIndex
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* @return
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* @throws Exception
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*/
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ResponseResult takePhoto(String sn,String payloadIndex) throws Exception;
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/**
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* 飞向下一个目标点
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* @param targetList 目标点集合
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* @param curIndex 当前飞行点索引
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* @param sn
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* @param payloadIndex 负载
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* @return
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* @throws Exception
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*/
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ResponseResult flyToNextPoint(List<PointPOJO> targetList, int curIndex, String sn, String payloadIndex) throws Exception;
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}
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