From 41dc2ca8393e40e9efb8a6bf05f2ab1400d80215 Mon Sep 17 00:00:00 2001
From: xieb <vip_xiaobin810@163.com>
Date: Thu, 25 Apr 2024 17:25:58 +0800
Subject: [PATCH] 取消返航
---
src/main/java/com/dji/sample/control/service/IControlService.java | 26 +++++++++++++++++++++++++-
1 files changed, 25 insertions(+), 1 deletions(-)
diff --git a/src/main/java/com/dji/sample/control/service/IControlService.java b/src/main/java/com/dji/sample/control/service/IControlService.java
index ac49f0e..1c7485d 100644
--- a/src/main/java/com/dji/sample/control/service/IControlService.java
+++ b/src/main/java/com/dji/sample/control/service/IControlService.java
@@ -4,7 +4,10 @@
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
@@ -43,7 +46,7 @@
* @param headers
* @return
*/
- CommonTopicReceiver handleFlyToPointProgress(CommonTopicReceiver receiver, MessageHeaders headers);
+ CommonTopicReceiver handleFlyToPointProgress(CommonTopicReceiver receiver, MessageHeaders headers) throws Exception;
/**
* Control the drone to take off.
@@ -63,6 +66,7 @@
/**
* 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
@@ -79,4 +83,24 @@
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;
+
}
--
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