统一风格

rain

2024-06-14 8d9a2d656e4ae007590c622e5f7c228adacdca49

 src/main/java/com/dji/sample/control/service/IControlService.java

@@ -2,7 +2,12 @@

import com.dji.sample.common.model.ResponseResult;
import com.dji.sample.component.mqtt.model.CommonTopicReceiver;
import com.dji.sample.control.model.enums.DroneAuthorityEnum;
import com.dji.sample.control.model.param.*;
import com.dji.sample.wayline.model.param.PointPOJO;
import org.springframework.messaging.MessageHeaders;

import java.util.List;

/**
 * @author sean
@@ -11,8 +16,91 @@
 */
public interface IControlService {

    ResponseResult controlDock(String sn, String serviceIdentifier);
    /**
     * Remotely debug the dock via commands.
     * @param sn
     * @param serviceIdentifier
     * @param param
     * @return
     */
    ResponseResult controlDockDebug(String sn, String serviceIdentifier, RemoteDebugParam param);

    void handleControlProgress(CommonTopicReceiver receiver, MessageHeaders headers);
    /**
     * Make the drone fly to the target point.
     * @param sn
     * @param param
     * @return
     */
    ResponseResult flyToPoint(String sn, FlyToPointParam param);

    /**
     * End the mission of flying the drone to the target point.
     * @param sn
     * @return
     */
    ResponseResult flyToPointStop(String sn);

    /**
     * Handle progress result notifications for fly to target point.
     * @param receiver
     * @param headers
     * @return
     */
    CommonTopicReceiver handleFlyToPointProgress(CommonTopicReceiver receiver, MessageHeaders headers) throws Exception;

    /**
     * Control the drone to take off.
     * @param sn
     * @param param
     * @return
     */
    ResponseResult takeoffToPoint(String sn, TakeoffToPointParam param);

    /**
     * Handle progress result notifications for takeoff to target point.
     * @param receiver
     * @param headers
     * @return
     */
    CommonTopicReceiver handleTakeoffToPointProgress(CommonTopicReceiver receiver, MessageHeaders headers);

    /**
     * Seize the control authority of the drone or the payload control authority.
     * 抢占无人机控制权限或有效载荷控制权限
     * @param sn
     * @param authority
     * @param param
     * @return
     */
    ResponseResult seizeAuthority(String sn, DroneAuthorityEnum authority, DronePayloadParam param);

    /**
     * Control the payload of the drone.
     * @param param
     * @return
     */
    ResponseResult payloadCommands(PayloadCommandsParam param) throws Exception;

    ResponseResult requestsConfig(String sn,String method, RequestsParam param);

    /**
     * 拍照
     * @param sn
     * @param payloadIndex
     * @return
     * @throws Exception
     */
     ResponseResult takePhoto(String sn,String payloadIndex) throws Exception;

    /**
     * 飞向下一个目标点
     * @param targetList 目标点集合
     * @param curIndex 当前飞行点索引
     * @param sn
     * @param payloadIndex 负载
     * @return
     * @throws Exception
     */
     ResponseResult flyToNextPoint(List<PointPOJO> targetList, int curIndex, String sn, String payloadIndex) throws Exception;

}