package com.netsdk.demo.customize;
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import java.io.File;
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import java.util.Scanner;
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import com.netsdk.demo.util.CaseMenu;
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import com.netsdk.lib.NetSDKLib;
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import com.netsdk.lib.NetSDKLib.CAPTURE_SIZE;
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import com.netsdk.lib.NetSDKLib.EM_LOAD_CONTROL_TYPE;
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import com.netsdk.lib.NetSDKLib.ENUM_UAVCMD_TYPE;
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import com.netsdk.lib.NetSDKLib.ENUM_UAVMISSION_TYPE;
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import com.netsdk.lib.NetSDKLib.ENUM_UAV_MODE;
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import com.netsdk.lib.NetSDKLib.ENUM_UAV_ROI_MODE;
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import com.netsdk.lib.NetSDKLib.NET_IN_ATTACH_UAVMISSION_STATE;
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import com.netsdk.lib.NetSDKLib.NET_IN_READ_UAVMISSION;
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import com.netsdk.lib.NetSDKLib.NET_IN_UAVMISSION_COUNT;
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import com.netsdk.lib.NetSDKLib.NET_IN_WRITE_UAVMISSION;
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import com.netsdk.lib.NetSDKLib.NET_LOAD_CONTROL_AUDIO;
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import com.netsdk.lib.NetSDKLib.NET_LOAD_CONTROL_COMMON;
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import com.netsdk.lib.NetSDKLib.NET_LOAD_CONTROL_DISTANCE;
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import com.netsdk.lib.NetSDKLib.NET_LOAD_CONTROL_LIGHT;
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import com.netsdk.lib.NetSDKLib.NET_LOAD_CONTROL_PHOTO;
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import com.netsdk.lib.NetSDKLib.NET_LOAD_CONTROL_RELAY;
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import com.netsdk.lib.NetSDKLib.NET_LOAD_CONTROL_TIMING;
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import com.netsdk.lib.NetSDKLib.NET_LOAD_CONTROL_VIDEO;
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import com.netsdk.lib.NetSDKLib.NET_OUT_ATTACH_UAVMISSION_STATE;
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import com.netsdk.lib.NetSDKLib.NET_OUT_READ_UAVMISSION;
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import com.netsdk.lib.NetSDKLib.NET_OUT_UAVMISSION_COUNT;
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import com.netsdk.lib.NetSDKLib.NET_OUT_WRITE_UAVMISSION;
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import com.netsdk.lib.NetSDKLib.NET_UAVCMD_CHANGE_SPEED;
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import com.netsdk.lib.NetSDKLib.NET_UAVCMD_COMPONENT_ARM_DISARM;
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import com.netsdk.lib.NetSDKLib.NET_UAVCMD_CONDITION_DELAY;
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import com.netsdk.lib.NetSDKLib.NET_UAVCMD_CONDITION_DISTANCE;
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import com.netsdk.lib.NetSDKLib.NET_UAVCMD_CONDITION_YAW;
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import com.netsdk.lib.NetSDKLib.NET_UAVCMD_DO_DIGICAM_CONTROL;
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import com.netsdk.lib.NetSDKLib.NET_UAVCMD_DO_GUIDED_LIMITS;
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import com.netsdk.lib.NetSDKLib.NET_UAVCMD_DO_JUMP;
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import com.netsdk.lib.NetSDKLib.NET_UAVCMD_DO_MOUNT_CONTROL;
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import com.netsdk.lib.NetSDKLib.NET_UAVCMD_DO_SET_CAM_TRIGG_DIST;
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import com.netsdk.lib.NetSDKLib.NET_UAVCMD_DO_SET_ROI;
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import com.netsdk.lib.NetSDKLib.NET_UAVCMD_FENCE_ENABLE;
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import com.netsdk.lib.NetSDKLib.NET_UAVCMD_FLIGHT_TERMINATION;
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import com.netsdk.lib.NetSDKLib.NET_UAVCMD_GET_HOME_POSITION;
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import com.netsdk.lib.NetSDKLib.NET_UAVCMD_HEART_BEAT;
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import com.netsdk.lib.NetSDKLib.NET_UAVCMD_IMAGE_START_CAPTURE;
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import com.netsdk.lib.NetSDKLib.NET_UAVCMD_IMAGE_STOP_CAPTURE;
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import com.netsdk.lib.NetSDKLib.NET_UAVCMD_LAND;
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import com.netsdk.lib.NetSDKLib.NET_UAVCMD_LOAD_CONTROL;
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import com.netsdk.lib.NetSDKLib.NET_UAVCMD_LOITER_UNLIMITED;
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import com.netsdk.lib.NetSDKLib.NET_UAVCMD_MISSION_PAUSE;
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import com.netsdk.lib.NetSDKLib.NET_UAVCMD_MISSION_START;
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import com.netsdk.lib.NetSDKLib.NET_UAVCMD_MISSION_STOP;
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import com.netsdk.lib.NetSDKLib.NET_UAVCMD_MOUNT_CONFIGURE;
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import com.netsdk.lib.NetSDKLib.NET_UAVCMD_NAV_GUIDED;
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import com.netsdk.lib.NetSDKLib.NET_UAVCMD_NAV_GUIDED_ENABLE;
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import com.netsdk.lib.NetSDKLib.NET_UAVCMD_NAV_LOITER_TIME;
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import com.netsdk.lib.NetSDKLib.NET_UAVCMD_NAV_LOITER_TURNS;
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import com.netsdk.lib.NetSDKLib.NET_UAVCMD_NAV_SPLINE_WAYPOINT;
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import com.netsdk.lib.NetSDKLib.NET_UAVCMD_NAV_WAYPOINT;
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import com.netsdk.lib.NetSDKLib.NET_UAVCMD_RC_CHANNELS_OVERRIDE;
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import com.netsdk.lib.NetSDKLib.NET_UAVCMD_REBOOT_SHUTDOWN;
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import com.netsdk.lib.NetSDKLib.NET_UAVCMD_REPEAT_RELAY;
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import com.netsdk.lib.NetSDKLib.NET_UAVCMD_RETURN_TO_LAUNCH;
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import com.netsdk.lib.NetSDKLib.NET_UAVCMD_SET_HOME;
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import com.netsdk.lib.NetSDKLib.NET_UAVCMD_SET_MODE;
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import com.netsdk.lib.NetSDKLib.NET_UAVCMD_SET_RELAY;
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import com.netsdk.lib.NetSDKLib.NET_UAVCMD_TAKEOFF;
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import com.netsdk.lib.NetSDKLib.NET_UAVCMD_VIDEO_START_CAPTURE;
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import com.netsdk.lib.NetSDKLib.NET_UAVCMD_VIDEO_STOP_CAPTURE;
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import com.netsdk.lib.NetSDKLib.NET_UAVMISSION_ITEM;
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import com.netsdk.lib.NetSDKLib.NET_UAVMISSION_STATE;
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import com.netsdk.lib.ToolKits;
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import com.netsdk.lib.NetSDKLib.LLong;
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import com.netsdk.lib.NetSDKLib.NET_DEVICEINFO_Ex;
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import com.sun.jna.Memory;
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import com.sun.jna.Pointer;
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import com.sun.jna.ptr.IntByReference;
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public class UAVDemo {
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public static final NetSDKLib netSdk = NetSDKLib.NETSDK_INSTANCE;
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// 登陆句柄
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private static LLong loginHandle = new LLong(0);
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// 订阅UAV任务句柄
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private LLong lAttachHandle = new LLong(0);
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// 设备信息扩展
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private NET_DEVICEINFO_Ex deviceInfo = new NET_DEVICEINFO_Ex();
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public void InitTest(){
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// 初始化SDK库
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netSdk.CLIENT_Init(DisConnectCallBack.getInstance(), null);
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// 设置断线重连成功回调函数
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netSdk.CLIENT_SetAutoReconnect(HaveReConnectCallBack.getInstance(), null);
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//打开日志，可选
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NetSDKLib.LOG_SET_PRINT_INFO setLog = new NetSDKLib.LOG_SET_PRINT_INFO();
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String logPath = new File(".").getAbsoluteFile().getParent() + File.separator + "sdk_log" + File.separator + "sdk.log";
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setLog.bSetFilePath = 1;
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System.arraycopy(logPath.getBytes(), 0, setLog.szLogFilePath, 0, logPath.getBytes().length);
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setLog.bSetPrintStrategy = 1;
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setLog.nPrintStrategy = 0;
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if (!netSdk.CLIENT_LogOpen(setLog)){
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System.err.println("Open SDK Log Failed!!!");
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}
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Login();
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}
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public void Login(){
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// 登陆设备
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int nSpecCap = NetSDKLib.EM_LOGIN_SPAC_CAP_TYPE.EM_LOGIN_SPEC_CAP_TCP; // TCP登入
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IntByReference nError = new IntByReference(0);
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loginHandle = netSdk.CLIENT_LoginEx2(m_strIp, m_nPort, m_strUser,
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m_strPassword ,nSpecCap, null, deviceInfo, nError);
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if (loginHandle.longValue() != 0) {
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System.out.printf("Login Device[%s] Success!\n", m_strIp);
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}
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else {
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System.err.printf("Login Device[%s] Fail.Error[%s]\n", m_strIp, ToolKits.getErrorCode());
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LoginOut();
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}
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}
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public void LoginOut(){
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System.out.println("End Test");
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if( loginHandle.longValue() != 0)
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{
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netSdk.CLIENT_Logout(loginHandle);
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}
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System.out.println("See You...");
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netSdk.CLIENT_Cleanup();
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System.exit(0);
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}
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////////////////////////////////////////////////////////////////
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private String m_strIp = "10.35.16.196"/*"172.32.100.188"*/;
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private int m_nPort = 37777;
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private String m_strUser = "admin";
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private String m_strPassword = "admin";
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////////////////////////////////////////////////////////////////
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/*
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* 订阅UAV航点任务
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*
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*/
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public void AttachUAVMissonState(){
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//入参
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NET_IN_ATTACH_UAVMISSION_STATE pstuInParam=new NET_IN_ATTACH_UAVMISSION_STATE();
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pstuInParam.cbNotify=MissionStateCallBack.getInstance();
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//出参
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NET_OUT_ATTACH_UAVMISSION_STATE pstuOutParam=new NET_OUT_ATTACH_UAVMISSION_STATE();
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lAttachHandle=netSdk.CLIENT_AttachUAVMissonState(loginHandle, pstuInParam, pstuOutParam, 3000);
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if(lAttachHandle.longValue()!=0){
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System.out.println("AttachUAVMissonState success");
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}else{
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System.err.println("AttachUAVMissonState false");
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}
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}
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/*
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* 退订UAV航点任务
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*
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*/
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public void DettachUAVMissonState(){
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if(lAttachHandle.longValue()==0){
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return;
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}
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boolean ret=netSdk.CLIENT_DettachUAVMissonState(lAttachHandle);
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if(ret){
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System.out.println("AttachUAVMissonState success");
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}else{
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System.err.println("AttachUAVMissonState false");
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}
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}
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/*
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* 无人机航点信息设置
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* 设置单个航点信息
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* 可根据修改参数stInparam.nItemCount修改多个
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*/
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public void WriteUAVMissions(){
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Scanner command=new Scanner(System.in);
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int offset=0;
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NET_IN_WRITE_UAVMISSION pstuInParam=new NET_IN_WRITE_UAVMISSION();
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NET_OUT_WRITE_UAVMISSION pstuOutParam=new NET_OUT_WRITE_UAVMISSION();
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int maxCount=pstuInParam.nItemCount=5;//单独设置，1个命令
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Pointer param=null;
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Pointer nParam=null;
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boolean result=false;
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NET_UAVMISSION_ITEM[] items=new NET_UAVMISSION_ITEM[maxCount];
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for(int i=0 ;i<items.length ;i++){
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items[i]=new NET_UAVMISSION_ITEM();
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System.out.println("请输入航点指令");
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items[i].emCommand=command.nextInt();
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switch(items[i].emCommand){
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case 0:
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NET_UAVCMD_TAKEOFF info = new NET_UAVCMD_TAKEOFF();
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//Modify and Set
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info.fAltitude = 100;
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info.fMinimumPitch = 10;
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param=new Memory(info.size());
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ToolKits.SetStructDataToPointer(info, param, 0);
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ToolKits.GetPointerData(param, items[i].stuCmdParam);
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nParam=new Memory(items[i].size()*maxCount);
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pstuInParam.pstuItems=nParam;
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ToolKits.SetStructDataToPointer(items[i], pstuInParam.pstuItems, offset);
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result = netSdk.CLIENT_WriteUAVMissions(loginHandle, pstuInParam, pstuOutParam, 3000);
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if(result){
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System.out.println("set NET_UAVCMD_TAKEOFF success");
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}else{
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System.out.println("set NET_UAVCMD_TAKEOFF false");
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}
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break;
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case 1:
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NET_UAVCMD_LOITER_UNLIMITED info1 = new NET_UAVCMD_LOITER_UNLIMITED();
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//Modify and Set
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info1.fAltitude = 100;
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info1.fRadius = 10; //Modify
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param=new Memory(info1.size());
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ToolKits.SetStructDataToPointer(info1, param, 0);
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ToolKits.GetPointerData(param, items[i].stuCmdParam);
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nParam=new Memory(items[i].size()*maxCount);
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pstuInParam.pstuItems=nParam;
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ToolKits.SetStructDataToPointer(items[i], pstuInParam.pstuItems, offset);
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result = netSdk.CLIENT_WriteUAVMissions(loginHandle, pstuInParam, pstuOutParam, 3000);
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if(result){
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System.out.println("set NET_UAVCMD_TAKEOFF success");
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}else{
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System.out.println("set NET_UAVCMD_TAKEOFF false");
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}
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break;
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case 2:
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NET_UAVCMD_RETURN_TO_LAUNCH info2 = new NET_UAVCMD_RETURN_TO_LAUNCH();
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//Modify and Set
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param=new Memory(info2.size());
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ToolKits.SetStructDataToPointer(info2, param, 0);
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ToolKits.GetPointerData(param, items[i].stuCmdParam);
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nParam=new Memory(items[i].size()*maxCount);
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pstuInParam.pstuItems=nParam;
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ToolKits.SetStructDataToPointer(items[i], pstuInParam.pstuItems, offset);
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result = netSdk.CLIENT_WriteUAVMissions(loginHandle, pstuInParam, pstuOutParam, 3000);
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if(result){
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System.out.println("set NET_UAVCMD_TAKEOFF success");
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}else{
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System.out.println("set NET_UAVCMD_TAKEOFF false");
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}
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break;
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case 3:
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NET_UAVCMD_LAND info3 = new NET_UAVCMD_LAND();
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//Modify and Set
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info3.fYawAngle = 10;
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param=new Memory(info3.size());
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ToolKits.SetStructDataToPointer(info3, param, 0);
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ToolKits.GetPointerData(param, items[i].stuCmdParam);
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nParam=new Memory(items[i].size()*maxCount);
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pstuInParam.pstuItems=nParam;
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ToolKits.SetStructDataToPointer(items[i], pstuInParam.pstuItems, offset);
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result = netSdk.CLIENT_WriteUAVMissions(loginHandle, pstuInParam, pstuOutParam, 3000);
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if(result){
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System.out.println("set NET_UAVCMD_TAKEOFF success");
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}else{
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System.out.println("set NET_UAVCMD_TAKEOFF false");
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}
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break;
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case 4:
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NET_UAVCMD_CONDITION_YAW info4 = new NET_UAVCMD_CONDITION_YAW();
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//Modify and Set
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info4.fDirection = 1;
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info4.fTargetAngle = 60;
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param=new Memory(info4.size());
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ToolKits.SetStructDataToPointer(info4, param, 0);
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ToolKits.GetPointerData(param, items[i].stuCmdParam);
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nParam=new Memory(items[i].size()*maxCount);
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pstuInParam.pstuItems=nParam;
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ToolKits.SetStructDataToPointer(items[i], pstuInParam.pstuItems, offset);
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result = netSdk.CLIENT_WriteUAVMissions(loginHandle, pstuInParam, pstuOutParam, 3000);
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if(result){
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System.out.println("set NET_UAVCMD_TAKEOFF success");
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}else{
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System.out.println("set NET_UAVCMD_TAKEOFF false");
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}
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break;
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case 5:
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NET_UAVCMD_CHANGE_SPEED info5 = new NET_UAVCMD_CHANGE_SPEED();
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//Modify and Set
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info5.fSpeedType = 0;
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info5.fSpeed = -1;
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param=new Memory(info5.size());
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ToolKits.SetStructDataToPointer(info5, param, 0);
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ToolKits.GetPointerData(param, items[i].stuCmdParam);
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nParam=new Memory(items[i].size()*maxCount);
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pstuInParam.pstuItems=nParam;
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ToolKits.SetStructDataToPointer(items[i], pstuInParam.pstuItems, offset);
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result = netSdk.CLIENT_WriteUAVMissions(loginHandle, pstuInParam, pstuOutParam, 3000);
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if(result){
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System.out.println("set NET_UAVCMD_TAKEOFF success");
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}else{
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System.out.println("set NET_UAVCMD_TAKEOFF false");
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}
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break;
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case 6:
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NET_UAVCMD_SET_HOME info6 = new NET_UAVCMD_SET_HOME();
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//Modify and Set
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info6.nLocation = 1;
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info6.fLatitude =50;
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param=new Memory(info6.size());
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ToolKits.SetStructDataToPointer(info6, param, 0);
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ToolKits.GetPointerData(param, items[i].stuCmdParam);
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nParam=new Memory(items[i].size()*maxCount);
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pstuInParam.pstuItems=nParam;
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ToolKits.SetStructDataToPointer(items[i], pstuInParam.pstuItems, offset);
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result = netSdk.CLIENT_WriteUAVMissions(loginHandle, pstuInParam, pstuOutParam, 3000);
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if(result){
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System.out.println("set NET_UAVCMD_TAKEOFF success");
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}else{
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System.out.println("set NET_UAVCMD_TAKEOFF false");
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}
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break;
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case 7:
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NET_UAVCMD_FLIGHT_TERMINATION info7 = new NET_UAVCMD_FLIGHT_TERMINATION();
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//Modify and Set
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info7.fActivated = 0.5f;
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param=new Memory(info7.size());
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ToolKits.SetStructDataToPointer(info7, param, 0);
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ToolKits.GetPointerData(param, items[i].stuCmdParam);
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nParam=new Memory(items[i].size()*maxCount);
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pstuInParam.pstuItems=nParam;
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ToolKits.SetStructDataToPointer(items[i], pstuInParam.pstuItems, offset);
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result = netSdk.CLIENT_WriteUAVMissions(loginHandle, pstuInParam, pstuOutParam, 3000);
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if(result){
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System.out.println("set NET_UAVCMD_TAKEOFF success");
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}else{
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System.out.println("set NET_UAVCMD_TAKEOFF false");
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}
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break;
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case 8:
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NET_UAVCMD_MISSION_START info8 = new NET_UAVCMD_MISSION_START();
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//Modify and Set
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info8.nFirstItem = 1;
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info8.nLastItem = 2;
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param=new Memory(info8.size());
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ToolKits.SetStructDataToPointer(info8, param, 0);
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ToolKits.GetPointerData(param, items[i].stuCmdParam);
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nParam=new Memory(items[i].size()*maxCount);
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pstuInParam.pstuItems=nParam;
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ToolKits.SetStructDataToPointer(items[i], pstuInParam.pstuItems, offset);
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result = netSdk.CLIENT_WriteUAVMissions(loginHandle, pstuInParam, pstuOutParam, 3000);
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if(result){
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System.out.println("set NET_UAVCMD_TAKEOFF success");
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}else{
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System.out.println("set NET_UAVCMD_TAKEOFF false");
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}
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break;
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case 9:
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NET_UAVCMD_COMPONENT_ARM_DISARM info9 = new NET_UAVCMD_COMPONENT_ARM_DISARM();
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//Modify and Set
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info9.bArm = 1;
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param=new Memory(info9.size());
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ToolKits.SetStructDataToPointer(info9, param, 0);
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ToolKits.GetPointerData(param, items[i].stuCmdParam);
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nParam=new Memory(items[i].size()*maxCount);
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pstuInParam.pstuItems=nParam;
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ToolKits.SetStructDataToPointer(items[i], pstuInParam.pstuItems,offset);
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result = netSdk.CLIENT_WriteUAVMissions(loginHandle, pstuInParam, pstuOutParam, 3000);
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if(result){
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System.out.println("set NET_UAVCMD_TAKEOFF success");
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}else{
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System.out.println("set NET_UAVCMD_TAKEOFF false");
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}
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break;
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case 10:
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NET_UAVCMD_REBOOT_SHUTDOWN info10 = new NET_UAVCMD_REBOOT_SHUTDOWN();
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//Modify and Set
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info10.nCtrlAutopilot = 0;
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info10.nCtrlOnboardComputer = 0;
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param=new Memory(info10.size());
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ToolKits.SetStructDataToPointer(info10, param, 0);
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ToolKits.GetPointerData(param, items[i].stuCmdParam);
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nParam=new Memory(items[i].size()*maxCount);
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pstuInParam.pstuItems=nParam;
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ToolKits.SetStructDataToPointer(items[i], pstuInParam.pstuItems, offset);
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result = netSdk.CLIENT_WriteUAVMissions(loginHandle, pstuInParam, pstuOutParam, 3000);
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if(result){
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System.out.println("set NET_UAVCMD_TAKEOFF success");
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}else{
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System.out.println("set NET_UAVCMD_TAKEOFF false");
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}
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break;
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case 11:
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NET_UAVCMD_SET_RELAY info11 = new NET_UAVCMD_SET_RELAY();
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//Modify and Set
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info11.nRelayNumber = 0;
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info11.nCtrlRelay = 0;
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param=new Memory(info11.size());
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ToolKits.SetStructDataToPointer(info11, param, 0);
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ToolKits.GetPointerData(param, items[i].stuCmdParam);
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nParam=new Memory(items[i].size()*maxCount);
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pstuInParam.pstuItems=nParam;
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ToolKits.SetStructDataToPointer(items[i], pstuInParam.pstuItems, offset);
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result = netSdk.CLIENT_WriteUAVMissions(loginHandle, pstuInParam, pstuOutParam, 3000);
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if(result){
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System.out.println("set NET_UAVCMD_TAKEOFF success");
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}else{
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System.out.println("set NET_UAVCMD_TAKEOFF false");
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}
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break;
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case 12:
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NET_UAVCMD_REPEAT_RELAY info12 = new NET_UAVCMD_REPEAT_RELAY();
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//Modify and Set
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info12.nRelayNumber = 0;
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info12.nCycleCount = 1;
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info12.nCycleTime = 10;
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param=new Memory(info12.size());
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ToolKits.SetStructDataToPointer(info12, param, 0);
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ToolKits.GetPointerData(param, items[i].stuCmdParam);
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nParam=new Memory(items[i].size()*maxCount);
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pstuInParam.pstuItems=nParam;
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ToolKits.SetStructDataToPointer(items[i], pstuInParam.pstuItems, offset);
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result = netSdk.CLIENT_WriteUAVMissions(loginHandle, pstuInParam, pstuOutParam, 3000);
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if(result){
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System.out.println("set NET_UAVCMD_TAKEOFF success");
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}else{
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System.out.println("set NET_UAVCMD_TAKEOFF false");
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}
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break;
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case 13:
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NET_UAVCMD_FENCE_ENABLE info13 = new NET_UAVCMD_FENCE_ENABLE();
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//Modify and Set
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info13.nEnableState = 0;
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param=new Memory(info13.size());
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ToolKits.SetStructDataToPointer(info13, param, 0);
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ToolKits.GetPointerData(param, items[i].stuCmdParam);
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nParam=new Memory(items[i].size()*maxCount);
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pstuInParam.pstuItems=nParam;
|
ToolKits.SetStructDataToPointer(items[i], pstuInParam.pstuItems, offset);
|
result = netSdk.CLIENT_WriteUAVMissions(loginHandle, pstuInParam, pstuOutParam, 3000);
|
if(result){
|
System.out.println("set NET_UAVCMD_TAKEOFF success");
|
}else{
|
System.out.println("set NET_UAVCMD_TAKEOFF false");
|
}
|
break;
|
case 14:
|
NET_UAVCMD_MOUNT_CONFIGURE info14 = new NET_UAVCMD_MOUNT_CONFIGURE();
|
//Modify and Set
|
info14.nMountMode = 0;
|
param=new Memory(info14.size());
|
ToolKits.SetStructDataToPointer(info14, param, 0);
|
ToolKits.GetPointerData(param, items[i].stuCmdParam);
|
nParam=new Memory(items[i].size()*maxCount);
|
pstuInParam.pstuItems=nParam;
|
ToolKits.SetStructDataToPointer(items[i], pstuInParam.pstuItems, offset);
|
result = netSdk.CLIENT_WriteUAVMissions(loginHandle, pstuInParam, pstuOutParam, 3000);
|
if(result){
|
System.out.println("set NET_UAVCMD_TAKEOFF success");
|
}else{
|
System.out.println("set NET_UAVCMD_TAKEOFF false");
|
}
|
break;
|
case 15:
|
NET_UAVCMD_GET_HOME_POSITION info15 = new NET_UAVCMD_GET_HOME_POSITION();
|
//Modify and Set
|
param=new Memory(info15.size());
|
ToolKits.SetStructDataToPointer(info15, param, 0);
|
ToolKits.GetPointerData(param, items[i].stuCmdParam);
|
nParam=new Memory(items[i].size()*maxCount);
|
pstuInParam.pstuItems=nParam;
|
ToolKits.SetStructDataToPointer(items[i], pstuInParam.pstuItems, offset);
|
result = netSdk.CLIENT_WriteUAVMissions(loginHandle, pstuInParam, pstuOutParam, 3000);
|
if(result){
|
System.out.println("set NET_UAVCMD_TAKEOFF success");
|
}else{
|
System.out.println("set NET_UAVCMD_TAKEOFF false");
|
}
|
break;
|
case 16:
|
NET_UAVCMD_IMAGE_START_CAPTURE info16 = new NET_UAVCMD_IMAGE_START_CAPTURE();
|
//Modify and Set
|
//请根据需要设置相应的参数
|
param=new Memory(info16.size());
|
ToolKits.SetStructDataToPointer(info16, param, 0);
|
ToolKits.GetPointerData(param, items[i].stuCmdParam);
|
nParam=new Memory(items[i].size()*maxCount);
|
pstuInParam.pstuItems=nParam;
|
ToolKits.SetStructDataToPointer(items[i], pstuInParam.pstuItems, offset);
|
result = netSdk.CLIENT_WriteUAVMissions(loginHandle, pstuInParam, pstuOutParam, 3000);
|
if(result){
|
System.out.println("set NET_UAVCMD_TAKEOFF success");
|
}else{
|
System.out.println("set NET_UAVCMD_TAKEOFF false");
|
}
|
break;
|
case 17:
|
NET_UAVCMD_IMAGE_STOP_CAPTURE info17 = new NET_UAVCMD_IMAGE_STOP_CAPTURE();
|
//Modify and Set
|
//请根据需要设置相应的参数
|
param=new Memory(info17.size());
|
ToolKits.SetStructDataToPointer(info17, param, 0);
|
ToolKits.GetPointerData(param, items[i].stuCmdParam);
|
nParam=new Memory(items[i].size()*maxCount);
|
pstuInParam.pstuItems=nParam;
|
ToolKits.SetStructDataToPointer(items[i], pstuInParam.pstuItems, offset);
|
result = netSdk.CLIENT_WriteUAVMissions(loginHandle, pstuInParam, pstuOutParam, 3000);
|
if(result){
|
System.out.println("set NET_UAVCMD_TAKEOFF success");
|
}else{
|
System.out.println("set NET_UAVCMD_TAKEOFF false");
|
}
|
break;
|
case 18:
|
NET_UAVCMD_VIDEO_START_CAPTURE info18 = new NET_UAVCMD_VIDEO_START_CAPTURE();
|
//Modify and Set
|
//请根据需要设置相应的参数
|
param=new Memory(info18.size());
|
ToolKits.SetStructDataToPointer(info18, param, 0);
|
ToolKits.GetPointerData(param, items[i].stuCmdParam);
|
nParam=new Memory(items[i].size()*maxCount);
|
pstuInParam.pstuItems=nParam;
|
ToolKits.SetStructDataToPointer(items[i], pstuInParam.pstuItems, offset);
|
result = netSdk.CLIENT_WriteUAVMissions(loginHandle, pstuInParam, pstuOutParam, 3000);
|
if(result){
|
System.out.println("set NET_UAVCMD_TAKEOFF success");
|
}else{
|
System.out.println("set NET_UAVCMD_TAKEOFF false");
|
}
|
break;
|
case 19:
|
NET_UAVCMD_VIDEO_STOP_CAPTURE info19 = new NET_UAVCMD_VIDEO_STOP_CAPTURE();
|
//Modify and Set
|
//请根据需要设置相应的参数
|
param=new Memory(info19.size());
|
ToolKits.SetStructDataToPointer(info19, param, 0);
|
ToolKits.GetPointerData(param, items[i].stuCmdParam);
|
nParam=new Memory(items[i].size()*maxCount);
|
pstuInParam.pstuItems=nParam;
|
ToolKits.SetStructDataToPointer(items[i], pstuInParam.pstuItems, offset);
|
result = netSdk.CLIENT_WriteUAVMissions(loginHandle, pstuInParam, pstuOutParam, 3000);
|
if(result){
|
System.out.println("set NET_UAVCMD_TAKEOFF success");
|
}else{
|
System.out.println("set NET_UAVCMD_TAKEOFF false");
|
}
|
break;
|
case 20:
|
NET_UAVCMD_NAV_WAYPOINT info20 = new NET_UAVCMD_NAV_WAYPOINT();
|
//Modify and Set
|
//请根据需要设置相应的参数
|
param=new Memory(info20.size());
|
ToolKits.SetStructDataToPointer(info20, param, 0);
|
ToolKits.GetPointerData(param, items[i].stuCmdParam);
|
nParam=new Memory(items[i].size()*maxCount);
|
pstuInParam.pstuItems=nParam;
|
ToolKits.SetStructDataToPointer(items[i], pstuInParam.pstuItems, offset);
|
result = netSdk.CLIENT_WriteUAVMissions(loginHandle, pstuInParam, pstuOutParam, 3000);
|
if(result){
|
System.out.println("set NET_UAVCMD_TAKEOFF success");
|
}else{
|
System.out.println("set NET_UAVCMD_TAKEOFF false");
|
}
|
break;
|
case 21:
|
NET_UAVCMD_NAV_LOITER_TURNS info21 = new NET_UAVCMD_NAV_LOITER_TURNS();
|
//Modify and Set
|
//请根据需要设置相应的参数
|
param=new Memory(info21.size());
|
ToolKits.SetStructDataToPointer(info21, param, 0);
|
ToolKits.GetPointerData(param, items[i].stuCmdParam);
|
nParam=new Memory(items[i].size()*maxCount);
|
pstuInParam.pstuItems=nParam;
|
ToolKits.SetStructDataToPointer(items[i], pstuInParam.pstuItems, offset);
|
result = netSdk.CLIENT_WriteUAVMissions(loginHandle, pstuInParam, pstuOutParam, 3000);
|
if(result){
|
System.out.println("set NET_UAVCMD_TAKEOFF success");
|
}else{
|
System.out.println("set NET_UAVCMD_TAKEOFF false");
|
}
|
break;
|
case 22:
|
NET_UAVCMD_NAV_LOITER_TIME info22 = new NET_UAVCMD_NAV_LOITER_TIME();
|
//Modify and Set
|
//请根据需要设置相应的参数
|
param=new Memory(info22.size());
|
ToolKits.SetStructDataToPointer(info22, param, 0);
|
ToolKits.GetPointerData(param, items[i].stuCmdParam);
|
nParam=new Memory(items[i].size()*maxCount);
|
pstuInParam.pstuItems=nParam;
|
ToolKits.SetStructDataToPointer(items[i], pstuInParam.pstuItems, offset);
|
result = netSdk.CLIENT_WriteUAVMissions(loginHandle, pstuInParam, pstuOutParam, 3000);
|
if(result){
|
System.out.println("set NET_UAVCMD_TAKEOFF success");
|
}else{
|
System.out.println("set NET_UAVCMD_TAKEOFF false");
|
}
|
break;
|
case 23:
|
NET_UAVCMD_NAV_SPLINE_WAYPOINT info23 = new NET_UAVCMD_NAV_SPLINE_WAYPOINT();
|
//Modify and Set
|
//请根据需要设置相应的参数
|
param=new Memory(info23.size());
|
ToolKits.SetStructDataToPointer(info23, param, 0);
|
ToolKits.GetPointerData(param, items[i].stuCmdParam);
|
nParam=new Memory(items[i].size()*maxCount);
|
pstuInParam.pstuItems=nParam;
|
ToolKits.SetStructDataToPointer(items[i], pstuInParam.pstuItems, offset);
|
result = netSdk.CLIENT_WriteUAVMissions(loginHandle, pstuInParam, pstuOutParam, 3000);
|
if(result){
|
System.out.println("set NET_UAVCMD_TAKEOFF success");
|
}else{
|
System.out.println("set NET_UAVCMD_TAKEOFF false");
|
}
|
break;
|
case 24:
|
NET_UAVCMD_NAV_GUIDED_ENABLE info24 = new NET_UAVCMD_NAV_GUIDED_ENABLE();
|
//Modify and Set
|
//请根据需要设置相应的参数
|
param=new Memory(info24.size());
|
ToolKits.SetStructDataToPointer(info24, param, 0);
|
ToolKits.GetPointerData(param, items[i].stuCmdParam);
|
nParam=new Memory(items[i].size()*maxCount);
|
pstuInParam.pstuItems=nParam;
|
ToolKits.SetStructDataToPointer(items[i], pstuInParam.pstuItems, offset);
|
result = netSdk.CLIENT_WriteUAVMissions(loginHandle, pstuInParam, pstuOutParam, 3000);
|
if(result){
|
System.out.println("set NET_UAVCMD_TAKEOFF success");
|
}else{
|
System.out.println("set NET_UAVCMD_TAKEOFF false");
|
}
|
break;
|
case 25:
|
NET_UAVCMD_DO_JUMP info25 = new NET_UAVCMD_DO_JUMP();
|
//Modify and Set
|
//请根据需要设置相应的参数
|
param=new Memory(info25.size());
|
ToolKits.SetStructDataToPointer(info25, param, 0);
|
ToolKits.GetPointerData(param, items[i].stuCmdParam);
|
nParam=new Memory(items[i].size()*maxCount);
|
pstuInParam.pstuItems=nParam;
|
ToolKits.SetStructDataToPointer(items[i], pstuInParam.pstuItems, offset);
|
result = netSdk.CLIENT_WriteUAVMissions(loginHandle, pstuInParam, pstuOutParam, 3000);
|
if(result){
|
System.out.println("set NET_UAVCMD_TAKEOFF success");
|
}else{
|
System.out.println("set NET_UAVCMD_TAKEOFF false");
|
}
|
break;
|
case 26:
|
NET_UAVCMD_DO_GUIDED_LIMITS info26 = new NET_UAVCMD_DO_GUIDED_LIMITS();
|
//Modify and Set
|
//请根据需要设置相应的参数
|
param=new Memory(info26.size());
|
ToolKits.SetStructDataToPointer(info26, param, 0);
|
ToolKits.GetPointerData(param, items[i].stuCmdParam);
|
nParam=new Memory(items[i].size()*maxCount);
|
pstuInParam.pstuItems=nParam;
|
ToolKits.SetStructDataToPointer(items[i], pstuInParam.pstuItems, offset);
|
result = netSdk.CLIENT_WriteUAVMissions(loginHandle, pstuInParam, pstuOutParam, 3000);
|
if(result){
|
System.out.println("set NET_UAVCMD_TAKEOFF success");
|
}else{
|
System.out.println("set NET_UAVCMD_TAKEOFF false");
|
}
|
break;
|
case 27:
|
NET_UAVCMD_CONDITION_DELAY info27 = new NET_UAVCMD_CONDITION_DELAY();
|
//Modify and Set
|
//请根据需要设置相应的参数
|
param=new Memory(info27.size());
|
ToolKits.SetStructDataToPointer(info27, param, 0);
|
ToolKits.GetPointerData(param, items[i].stuCmdParam);
|
nParam=new Memory(items[i].size()*maxCount);
|
pstuInParam.pstuItems=nParam;
|
ToolKits.SetStructDataToPointer(items[i], pstuInParam.pstuItems, offset);
|
result = netSdk.CLIENT_WriteUAVMissions(loginHandle, pstuInParam, pstuOutParam, 3000);
|
if(result){
|
System.out.println("set NET_UAVCMD_TAKEOFF success");
|
}else{
|
System.out.println("set NET_UAVCMD_TAKEOFF false");
|
}
|
break;
|
case 28:
|
NET_UAVCMD_CONDITION_DISTANCE info28 = new NET_UAVCMD_CONDITION_DISTANCE();
|
//Modify and Set
|
//请根据需要设置相应的参数
|
param=new Memory(info28.size());
|
ToolKits.SetStructDataToPointer(info28, param, 0);
|
ToolKits.GetPointerData(param, items[i].stuCmdParam);
|
nParam=new Memory(items[i].size()*maxCount);
|
pstuInParam.pstuItems=nParam;
|
ToolKits.SetStructDataToPointer(items[i], pstuInParam.pstuItems, offset);
|
result = netSdk.CLIENT_WriteUAVMissions(loginHandle, pstuInParam, pstuOutParam, 3000);
|
if(result){
|
System.out.println("set NET_UAVCMD_TAKEOFF success");
|
}else{
|
System.out.println("set NET_UAVCMD_TAKEOFF false");
|
}
|
break;
|
case 29:
|
NET_UAVCMD_DO_SET_ROI info29 = new NET_UAVCMD_DO_SET_ROI();
|
//Modify and Set
|
//请根据需要设置相应的参数
|
param=new Memory(info29.size());
|
ToolKits.SetStructDataToPointer(info29, param, 0);
|
ToolKits.GetPointerData(param, items[i].stuCmdParam);
|
nParam=new Memory(items[i].size()*maxCount);
|
pstuInParam.pstuItems=nParam;
|
ToolKits.SetStructDataToPointer(items[i], pstuInParam.pstuItems, offset);
|
result = netSdk.CLIENT_WriteUAVMissions(loginHandle, pstuInParam, pstuOutParam, 3000);
|
if(result){
|
System.out.println("set NET_UAVCMD_TAKEOFF success");
|
}else{
|
System.out.println("set NET_UAVCMD_TAKEOFF false");
|
}
|
break;
|
case 30:
|
NET_UAVCMD_DO_DIGICAM_CONTROL info30 = new NET_UAVCMD_DO_DIGICAM_CONTROL();
|
//Modify and Set
|
//请根据需要设置相应的参数
|
param=new Memory(info30.size());
|
ToolKits.SetStructDataToPointer(info30, param, 0);
|
ToolKits.GetPointerData(param, items[i].stuCmdParam);
|
nParam=new Memory(items[i].size()*maxCount);
|
pstuInParam.pstuItems=nParam;
|
ToolKits.SetStructDataToPointer(items[i], pstuInParam.pstuItems, offset);
|
result = netSdk.CLIENT_WriteUAVMissions(loginHandle, pstuInParam, pstuOutParam, 3000);
|
if(result){
|
System.out.println("set NET_UAVCMD_TAKEOFF success");
|
}else{
|
System.out.println("set NET_UAVCMD_TAKEOFF false");
|
}
|
break;
|
case 31:
|
NET_UAVCMD_DO_MOUNT_CONTROL info31 = new NET_UAVCMD_DO_MOUNT_CONTROL();
|
//Modify and Set
|
//请根据需要设置相应的参数
|
param=new Memory(info31.size());
|
ToolKits.SetStructDataToPointer(info31, param, 0);
|
ToolKits.GetPointerData(param, items[i].stuCmdParam);
|
nParam=new Memory(items[i].size()*maxCount);
|
pstuInParam.pstuItems=nParam;
|
ToolKits.SetStructDataToPointer(items[i], pstuInParam.pstuItems, offset);
|
result = netSdk.CLIENT_WriteUAVMissions(loginHandle, pstuInParam, pstuOutParam, 3000);
|
if(result){
|
System.out.println("set NET_UAVCMD_TAKEOFF success");
|
}else{
|
System.out.println("set NET_UAVCMD_TAKEOFF false");
|
}
|
break;
|
case 32:
|
NET_UAVCMD_DO_SET_CAM_TRIGG_DIST info32 = new NET_UAVCMD_DO_SET_CAM_TRIGG_DIST();
|
//Modify and Set
|
//请根据需要设置相应的参数
|
param=new Memory(info32.size());
|
ToolKits.SetStructDataToPointer(info32, param, 0);
|
ToolKits.GetPointerData(param, items[i].stuCmdParam);
|
nParam=new Memory(items[i].size()*maxCount);
|
pstuInParam.pstuItems=nParam;
|
ToolKits.SetStructDataToPointer(items[i], pstuInParam.pstuItems,offset);
|
result = netSdk.CLIENT_WriteUAVMissions(loginHandle, pstuInParam, pstuOutParam, 3000);
|
if(result){
|
System.out.println("set NET_UAVCMD_TAKEOFF success");
|
}else{
|
System.out.println("set NET_UAVCMD_TAKEOFF false");
|
}
|
break;
|
case 33:
|
NET_UAVCMD_SET_MODE info33 = new NET_UAVCMD_SET_MODE();
|
//Modify and Set
|
//请根据需要设置相应的参数
|
param=new Memory(info33.size());
|
ToolKits.SetStructDataToPointer(info33, param, 0);
|
ToolKits.GetPointerData(param, items[i].stuCmdParam);
|
nParam=new Memory(items[i].size()*maxCount);
|
pstuInParam.pstuItems=nParam;
|
ToolKits.SetStructDataToPointer(items[i], pstuInParam.pstuItems, offset);
|
result = netSdk.CLIENT_WriteUAVMissions(loginHandle, pstuInParam, pstuOutParam, 3000);
|
if(result){
|
System.out.println("set NET_UAVCMD_TAKEOFF success");
|
}else{
|
System.out.println("set NET_UAVCMD_TAKEOFF false");
|
}
|
break;
|
case 34:
|
NET_UAVCMD_NAV_GUIDED info34 = new NET_UAVCMD_NAV_GUIDED();
|
//Modify and Set
|
//请根据需要设置相应的参数
|
param=new Memory(info34.size());
|
ToolKits.SetStructDataToPointer(info34, param, 0);
|
ToolKits.GetPointerData(param, items[i].stuCmdParam);
|
nParam=new Memory(items[i].size()*maxCount);
|
pstuInParam.pstuItems=nParam;
|
ToolKits.SetStructDataToPointer(items[i], pstuInParam.pstuItems, offset);
|
result = netSdk.CLIENT_WriteUAVMissions(loginHandle, pstuInParam, pstuOutParam, 3000);
|
if(result){
|
System.out.println("set NET_UAVCMD_TAKEOFF success");
|
}else{
|
System.out.println("set NET_UAVCMD_TAKEOFF false");
|
}
|
break;
|
case 35:
|
NET_UAVCMD_MISSION_PAUSE info35 = new NET_UAVCMD_MISSION_PAUSE();
|
//Modify and Set
|
//请根据需要设置相应的参数
|
param=new Memory(info35.size());
|
ToolKits.SetStructDataToPointer(info35, param, 0);
|
ToolKits.GetPointerData(param, items[i].stuCmdParam);
|
nParam=new Memory(items[i].size()*maxCount);
|
pstuInParam.pstuItems=nParam;
|
ToolKits.SetStructDataToPointer(items[i], pstuInParam.pstuItems, offset);
|
result = netSdk.CLIENT_WriteUAVMissions(loginHandle, pstuInParam, pstuOutParam, 3000);
|
if(result){
|
System.out.println("set NET_UAVCMD_TAKEOFF success");
|
}else{
|
System.out.println("set NET_UAVCMD_TAKEOFF false");
|
}
|
break;
|
case 36:
|
NET_UAVCMD_MISSION_STOP info36 = new NET_UAVCMD_MISSION_STOP();
|
//Modify and Set
|
//请根据需要设置相应的参数
|
param=new Memory(info36.size());
|
ToolKits.SetStructDataToPointer(info36, param, 0);
|
ToolKits.GetPointerData(param, items[i].stuCmdParam);
|
nParam=new Memory(items[i].size()*maxCount);
|
pstuInParam.pstuItems=nParam;
|
ToolKits.SetStructDataToPointer(items[i], pstuInParam.pstuItems, offset);
|
result = netSdk.CLIENT_WriteUAVMissions(loginHandle, pstuInParam, pstuOutParam, 3000);
|
if(result){
|
System.out.println("set NET_UAVCMD_TAKEOFF success");
|
}else{
|
System.out.println("set NET_UAVCMD_TAKEOFF false");
|
}
|
break;
|
case 37:
|
NET_UAVCMD_LOAD_CONTROL info37 = new NET_UAVCMD_LOAD_CONTROL();
|
//Modify and Set
|
//用户根据自己的选择类型，进行相关的设置，
|
Scanner loadType=new Scanner(System.in);
|
System.out.println("请输入指令类型");
|
info37.emLoadType = loadType.nextInt();
|
NET_LOAD_CONTROL_COMMON msg=new NET_LOAD_CONTROL_COMMON();
|
Pointer point=new Memory(msg.size());
|
switch(info37.emLoadType){
|
case EM_LOAD_CONTROL_TYPE.EM_LOAD_CONTROL_COMMON:
|
{
|
NET_LOAD_CONTROL_COMMON stuControlInfo = new NET_LOAD_CONTROL_COMMON();
|
ToolKits.SetStructDataToPointer(stuControlInfo, point, 0);
|
break;
|
}
|
case EM_LOAD_CONTROL_TYPE.EM_LOAD_CONTROL_PHOTO:
|
{
|
NET_LOAD_CONTROL_PHOTO stuControlInfo = new NET_LOAD_CONTROL_PHOTO();
|
stuControlInfo.fCycle = 10;
|
ToolKits.SetStructDataToPointer(stuControlInfo, point, 0);
|
break;
|
}
|
case EM_LOAD_CONTROL_TYPE.EM_LOAD_CONTROL_VIDEO:
|
{
|
NET_LOAD_CONTROL_VIDEO stuControlInfo = new NET_LOAD_CONTROL_VIDEO();
|
stuControlInfo.nSwitch = 10;
|
ToolKits.SetStructDataToPointer(stuControlInfo, point, 0);
|
break;
|
}
|
case EM_LOAD_CONTROL_TYPE.EM_LOAD_CONTROL_AUDIO:
|
{
|
NET_LOAD_CONTROL_AUDIO stuControlInfo = new NET_LOAD_CONTROL_AUDIO();
|
ToolKits.SetStructDataToPointer(stuControlInfo, point, 0);
|
break;
|
}
|
case EM_LOAD_CONTROL_TYPE.EM_LOAD_CONTROL_LIGHT:
|
{
|
NET_LOAD_CONTROL_LIGHT stuControlInfo = new NET_LOAD_CONTROL_LIGHT();
|
stuControlInfo.nSwitch = 10;
|
ToolKits.SetStructDataToPointer(stuControlInfo, point, 0);
|
break;
|
}
|
case EM_LOAD_CONTROL_TYPE.EM_LOAD_CONTROL_RELAY:
|
{
|
NET_LOAD_CONTROL_RELAY stuControlInfo = new NET_LOAD_CONTROL_RELAY();
|
stuControlInfo.nSwitch = 10;
|
ToolKits.SetStructDataToPointer(stuControlInfo, point, 0);
|
break;
|
}
|
case EM_LOAD_CONTROL_TYPE.EM_LOAD_CONTROL_TIMING:
|
{
|
NET_LOAD_CONTROL_TIMING stuControlInfo = new NET_LOAD_CONTROL_TIMING();
|
stuControlInfo.nInterval = 30;
|
stuControlInfo.nSwitch = 10;
|
ToolKits.SetStructDataToPointer(stuControlInfo, point, 0);
|
break;
|
}
|
case EM_LOAD_CONTROL_TYPE.EM_LOAD_CONTROL_DISTANCE:
|
{
|
NET_LOAD_CONTROL_DISTANCE stuControlInfo = new NET_LOAD_CONTROL_DISTANCE();
|
stuControlInfo.nInterval = 30;
|
stuControlInfo.nSwitch = 10;
|
ToolKits.SetStructDataToPointer(stuControlInfo, point, 0);
|
break;
|
}
|
}
|
ToolKits.SetStructDataToPointer(msg, point, 0);
|
info37.stuLoadInfo=msg;
|
param=new Memory(info37.size());
|
ToolKits.SetStructDataToPointer(info37, param, 0);
|
ToolKits.GetPointerData(param, items[i].stuCmdParam);
|
nParam=new Memory(items[i].size()*maxCount);
|
pstuInParam.pstuItems=nParam;
|
ToolKits.SetStructDataToPointer(items[i], pstuInParam.pstuItems, offset);
|
result = netSdk.CLIENT_WriteUAVMissions(loginHandle, pstuInParam, pstuOutParam, 3000);
|
if(result){
|
System.out.println("set NET_UAVCMD_TAKEOFF success");
|
loadType.close();
|
}else{
|
System.out.println("set NET_UAVCMD_TAKEOFF false");
|
}
|
break;
|
case 38:
|
NET_UAVCMD_RC_CHANNELS_OVERRIDE info38 = new NET_UAVCMD_RC_CHANNELS_OVERRIDE();
|
//Modify and Set
|
//请根据需要设置相应的参数
|
param=new Memory(info38.size());
|
ToolKits.SetStructDataToPointer(info38, param, 0);
|
ToolKits.GetPointerData(param, items[i].stuCmdParam);
|
nParam=new Memory(items[i].size()*maxCount);
|
pstuInParam.pstuItems=nParam;
|
ToolKits.SetStructDataToPointer(items[i], pstuInParam.pstuItems, offset);
|
result = netSdk.CLIENT_WriteUAVMissions(loginHandle, pstuInParam, pstuOutParam, 3000);
|
if(result){
|
System.out.println("set NET_UAVCMD_TAKEOFF success");
|
}else{
|
System.out.println("set NET_UAVCMD_TAKEOFF false");
|
}
|
break;
|
case 39:
|
NET_UAVCMD_HEART_BEAT info39 = new NET_UAVCMD_HEART_BEAT();
|
//Modify and Set
|
//请根据需要设置相应的参数
|
param=new Memory(info39.size());
|
ToolKits.SetStructDataToPointer(info39, param, 0);
|
ToolKits.GetPointerData(param, items[i].stuCmdParam);
|
nParam=new Memory(items[i].size()*maxCount);
|
pstuInParam.pstuItems=nParam;
|
ToolKits.SetStructDataToPointer(items[i], pstuInParam.pstuItems, offset);
|
result = netSdk.CLIENT_WriteUAVMissions(loginHandle, pstuInParam, pstuOutParam, 3000);
|
if(result){
|
System.out.println("set NET_UAVCMD_TAKEOFF success");
|
}else{
|
System.out.println("set NET_UAVCMD_TAKEOFF false");
|
}
|
break;
|
}
|
offset+=items[i].size();
|
}
|
command.close();
|
}
|
/*
|
* 无人机航点信息获取
|
*/
|
public void GetUAVMisson(){
|
Pointer nparam=null;
|
//入参
|
NET_IN_READ_UAVMISSION pstuInParam=new NET_IN_READ_UAVMISSION();
|
|
//出参
|
NET_OUT_READ_UAVMISSION pstuOutParam=new NET_OUT_READ_UAVMISSION();
|
pstuOutParam.nItemCount=GetUAVMissonCount();
|
NET_UAVMISSION_ITEM param=new NET_UAVMISSION_ITEM();
|
if(pstuOutParam.nItemCount==0){
|
System.out.println("不存在无人机航点");
|
return;
|
}
|
pstuOutParam.pstuItems=new Memory(param.size()*pstuOutParam.nItemCount);
|
boolean ret =netSdk.CLIENT_ReadUAVMissions(loginHandle, pstuInParam, pstuOutParam, 3000);
|
if(!ret){
|
System.err.println("GetUAVMisson false");
|
return;
|
}
|
System.out.println();
|
int maxCount=pstuOutParam.nItemCount;
|
|
NET_UAVMISSION_ITEM[] msg=new NET_UAVMISSION_ITEM[maxCount];
|
int offset=0;
|
for(int i=0 ;i<maxCount ;i++){
|
msg[i]=new NET_UAVMISSION_ITEM();
|
ToolKits.GetPointerDataToStruct(pstuOutParam.pstuItems, offset,msg[i]);
|
System.out.println("使能状态 "+msg[i].nCurrentMode);
|
System.out.println("航点序号 "+msg[i].nSequence);
|
System.out.println("航点指令 "+msg[i].emCommand);
|
switch (msg[i].emCommand)
|
{
|
case ENUM_UAVCMD_TYPE.ENUM_UAVCMD_NAV_TAKEOFF:
|
{
|
NET_UAVCMD_TAKEOFF TAKEOFF=new NET_UAVCMD_TAKEOFF();
|
nparam=new Memory(TAKEOFF.size());
|
ToolKits.SetStructDataToPointer(msg[i].stuCmdParam, nparam, 0);
|
ToolKits.GetPointerData(nparam, TAKEOFF);
|
System.out.println("地面起飞或手抛起飞");
|
System.out.println("目标系统"+TAKEOFF.stuCommon.nTargetSystem);
|
System.out.println("目标部件"+TAKEOFF.stuCommon.nTargetComponent);
|
System.out.println("确认次数"+TAKEOFF.stuCommon.nConfirmation);
|
System.out.println("最小爬升率"+TAKEOFF.fMinimumPitch);
|
System.out.println("指向设定"+TAKEOFF.fYawAngle);
|
System.out.println("纬度"+TAKEOFF.fLatitude);
|
System.out.println("经度"+TAKEOFF.fLongitude);
|
System.out.println("高度"+TAKEOFF.fAltitude);
|
break;
|
}
|
case ENUM_UAVCMD_TYPE.ENUM_UAVCMD_NAV_LOITER_UNLIM:
|
{
|
NET_UAVCMD_LOITER_UNLIMITED UNLIM=new NET_UAVCMD_LOITER_UNLIMITED();
|
nparam=new Memory(UNLIM.size());
|
ToolKits.SetStructDataToPointer(msg[i].stuCmdParam, nparam, 0);
|
ToolKits.GetPointerData(nparam, UNLIM);
|
System.out.println("悬停");
|
System.out.println("目标系统"+UNLIM.stuCommon.nTargetSystem);
|
System.out.println("目标部件"+UNLIM.stuCommon.nTargetComponent);
|
System.out.println("确认次数"+UNLIM.stuCommon.nConfirmation);
|
System.out.println("盘旋半径"+UNLIM.fRadius);
|
System.out.println("指向设定"+UNLIM.fYawAngle);
|
System.out.println("纬度"+UNLIM.fLatitude);
|
System.out.println("经度"+UNLIM.fLongitude);
|
System.out.println("高度"+UNLIM.fAltitude);
|
break;
|
}
|
case ENUM_UAVCMD_TYPE.ENUM_UAVCMD_NAV_RETURN_TO_LAUNCH:
|
{
|
NET_UAVCMD_RETURN_TO_LAUNCH LAUNCH=new NET_UAVCMD_RETURN_TO_LAUNCH();
|
nparam=new Memory(LAUNCH.size());
|
ToolKits.SetStructDataToPointer(msg[i].stuCmdParam, nparam, 0);
|
ToolKits.GetPointerData(nparam, LAUNCH);
|
System.out.println("返航降落");
|
System.out.println("目标系统"+LAUNCH.stuCommon.nTargetSystem);
|
System.out.println("目标部件"+LAUNCH.stuCommon.nTargetComponent);
|
System.out.println("确认次数"+LAUNCH.stuCommon.nConfirmation);
|
break;
|
}
|
case ENUM_UAVCMD_TYPE.ENUM_UAVCMD_NAV_LAND:
|
{
|
NET_UAVCMD_LAND LAND=new NET_UAVCMD_LAND();
|
nparam=new Memory(LAND.size());
|
ToolKits.SetStructDataToPointer(msg[i].stuCmdParam, nparam, 0);
|
ToolKits.GetPointerData(nparam, LAND);
|
System.out.println("设定点着陆");
|
System.out.println("目标系统"+LAND.stuCommon.nTargetSystem);
|
System.out.println("目标部件"+LAND.stuCommon.nTargetComponent);
|
System.out.println("确认次数"+LAND.stuCommon.nConfirmation);
|
System.out.println("指向设定"+LAND.fYawAngle);
|
System.out.println("纬度"+LAND.fLatitude);
|
System.out.println("经度"+LAND.fLongitude);
|
System.out.println("高度"+LAND.fAltitude);
|
break;
|
}
|
case ENUM_UAVCMD_TYPE.ENUM_UAVCMD_CONDITION_YAW:
|
{
|
NET_UAVCMD_CONDITION_YAW YAW=new NET_UAVCMD_CONDITION_YAW();
|
nparam=new Memory(YAW.size());
|
ToolKits.SetStructDataToPointer(msg[i].stuCmdParam, nparam, 0);
|
ToolKits.GetPointerData(nparam, YAW);
|
System.out.println("变换航向");
|
System.out.println("目标系统"+YAW.stuCommon.nTargetSystem);
|
System.out.println("目标部件"+YAW.stuCommon.nTargetComponent);
|
System.out.println("确认次数"+YAW.stuCommon.nConfirmation);
|
System.out.println("目标角度"+YAW.fTargetAngle);
|
System.out.println("转向速率"+YAW.fSpeed);
|
System.out.println("指向"+YAW.fDirection);
|
System.out.println("相对偏置或绝对角"+YAW.fRelativeOffset);
|
break;
|
}
|
case ENUM_UAVCMD_TYPE.ENUM_UAVCMD_DO_CHANGE_SPEED:
|
{
|
NET_UAVCMD_CHANGE_SPEED SPEED=new NET_UAVCMD_CHANGE_SPEED();
|
nparam=new Memory(SPEED.size());
|
ToolKits.SetStructDataToPointer(msg[i].stuCmdParam, nparam, 0);
|
ToolKits.GetPointerData(nparam, SPEED);
|
System.out.println("改变速度");
|
System.out.println("目标系统"+SPEED.stuCommon.nTargetSystem);
|
System.out.println("目标部件"+SPEED.stuCommon.nTargetComponent);
|
System.out.println("确认次数"+SPEED.stuCommon.nConfirmation);
|
System.out.println("速度类型"+SPEED.fSpeedType);
|
System.out.println("速度"+SPEED.fSpeed);
|
System.out.println("油门开度"+SPEED.fThrottle);
|
break;
|
}
|
case ENUM_UAVCMD_TYPE.ENUM_UAVCMD_DO_SET_HOME:
|
{
|
NET_UAVCMD_SET_HOME HOME=new NET_UAVCMD_SET_HOME();
|
nparam=new Memory(HOME.size());
|
ToolKits.SetStructDataToPointer(msg[i].stuCmdParam, nparam, 0);
|
ToolKits.GetPointerData(nparam, HOME);
|
System.out.println("设置返航点");
|
System.out.println("目标系统"+HOME.stuCommon.nTargetSystem);
|
System.out.println("目标部件"+HOME.stuCommon.nTargetComponent);
|
System.out.println("确认次数"+HOME.stuCommon.nConfirmation);
|
System.out.println("返航点"+HOME.nLocation);
|
System.out.println("纬度"+HOME.fLatitude);
|
System.out.println("经度"+HOME.fLongitude);
|
System.out.println("高度"+HOME.fAltitude);
|
break;
|
}
|
case ENUM_UAVCMD_TYPE.ENUM_UAVCMD_DO_FLIGHTTERMINATION:
|
{
|
NET_UAVCMD_FLIGHT_TERMINATION FLIGHTTERMINATION=new NET_UAVCMD_FLIGHT_TERMINATION();
|
nparam=new Memory(FLIGHTTERMINATION.size());
|
ToolKits.SetStructDataToPointer(msg[i].stuCmdParam, nparam, 0);
|
ToolKits.GetPointerData(nparam, FLIGHTTERMINATION);
|
System.out.println("立即停转电机");
|
System.out.println("目标系统"+FLIGHTTERMINATION.stuCommon.nTargetSystem);
|
System.out.println("目标部件"+FLIGHTTERMINATION.stuCommon.nTargetComponent);
|
System.out.println("确认次数"+FLIGHTTERMINATION.stuCommon.nConfirmation);
|
System.out.println("触发值"+FLIGHTTERMINATION.fActivated);
|
break;
|
}
|
case ENUM_UAVCMD_TYPE.ENUM_UAVCMD_MISSION_START:
|
{
|
NET_UAVCMD_MISSION_START START=new NET_UAVCMD_MISSION_START();
|
nparam=new Memory(START.size());
|
ToolKits.SetStructDataToPointer(msg[i].stuCmdParam, nparam, 0);
|
ToolKits.GetPointerData(nparam, START);
|
System.out.println("开始航点任务");
|
System.out.println("目标系统"+START.stuCommon.nTargetSystem);
|
System.out.println("目标部件"+START.stuCommon.nTargetComponent);
|
System.out.println("确认次数"+START.stuCommon.nConfirmation);
|
System.out.println("第一项 n"+START.nFirstItem);
|
System.out.println("最后一项 m"+START.nLastItem);
|
break;
|
}
|
case ENUM_UAVCMD_TYPE.ENUM_UAVCMD_COMPONENT_ARM_DISARM:
|
{
|
NET_UAVCMD_COMPONENT_ARM_DISARM DISARM=new NET_UAVCMD_COMPONENT_ARM_DISARM();
|
nparam=new Memory(DISARM.size());
|
ToolKits.SetStructDataToPointer(msg[i].stuCmdParam, nparam, 0);
|
ToolKits.GetPointerData(nparam, DISARM);
|
System.out.println("电调解锁, 电调锁定");
|
System.out.println("目标系统"+DISARM.stuCommon.nTargetSystem);
|
System.out.println("目标部件"+DISARM.stuCommon.nTargetComponent);
|
System.out.println("确认次数"+DISARM.stuCommon.nConfirmation);
|
System.out.println("电调解锁/锁定"+DISARM.bArm);
|
break;
|
}
|
case ENUM_UAVCMD_TYPE.ENUM_UAVCMD_PREFLIGHT_REBOOT_SHUTDOWN:
|
{
|
NET_UAVCMD_REBOOT_SHUTDOWN SHUTDOWN=new NET_UAVCMD_REBOOT_SHUTDOWN();
|
nparam=new Memory(SHUTDOWN.size());
|
ToolKits.SetStructDataToPointer(msg[i].stuCmdParam, nparam, 0);
|
ToolKits.GetPointerData(nparam, SHUTDOWN);
|
System.out.println("重启飞行器");
|
System.out.println("目标系统"+SHUTDOWN.stuCommon.nTargetSystem);
|
System.out.println("目标部件"+SHUTDOWN.stuCommon.nTargetComponent);
|
System.out.println("确认次数"+SHUTDOWN.stuCommon.nConfirmation);
|
System.out.println("控制飞控"+SHUTDOWN.nCtrlAutopilot);
|
System.out.println("控制机载计算机"+SHUTDOWN.nCtrlOnboardComputer);
|
break;
|
}
|
case ENUM_UAVCMD_TYPE.ENUM_UAVCMD_DO_SET_RELAY:
|
{
|
NET_UAVCMD_SET_RELAY RELAY=new NET_UAVCMD_SET_RELAY();
|
nparam=new Memory(RELAY.size());
|
ToolKits.SetStructDataToPointer(msg[i].stuCmdParam, nparam, 0);
|
ToolKits.GetPointerData(nparam, RELAY);
|
System.out.println("继电器控制");
|
System.out.println("目标系统"+RELAY.stuCommon.nTargetSystem);
|
System.out.println("目标部件"+RELAY.stuCommon.nTargetComponent);
|
System.out.println("确认次数"+RELAY.stuCommon.nConfirmation);
|
System.out.println("继电器号"+RELAY.nRelayNumber);
|
System.out.println("继电器状态"+RELAY.nCtrlRelay);
|
break;
|
}
|
case ENUM_UAVCMD_TYPE.ENUM_UAVCMD_DO_REPEAT_RELAY:
|
{
|
NET_UAVCMD_REPEAT_RELAY REPEAT_RELAY=new NET_UAVCMD_REPEAT_RELAY();
|
nparam=new Memory(REPEAT_RELAY.size());
|
ToolKits.SetStructDataToPointer(msg[i].stuCmdParam, nparam, 0);
|
ToolKits.GetPointerData(nparam, REPEAT_RELAY);
|
System.out.println("继电器循环控制");
|
System.out.println("目标系统"+REPEAT_RELAY.stuCommon.nTargetSystem);
|
System.out.println("目标部件"+REPEAT_RELAY.stuCommon.nTargetComponent);
|
System.out.println("确认次数"+REPEAT_RELAY.stuCommon.nConfirmation);
|
System.out.println("继电器号"+REPEAT_RELAY.nRelayNumber);
|
System.out.println("循环次数"+REPEAT_RELAY.nCycleCount);
|
System.out.println("周期"+REPEAT_RELAY.nCycleTime);
|
break;
|
}
|
case ENUM_UAVCMD_TYPE.ENUM_UAVCMD_DO_FENCE_ENABLE:
|
{
|
NET_UAVCMD_FENCE_ENABLE ENABLE=new NET_UAVCMD_FENCE_ENABLE();
|
nparam=new Memory(ENABLE.size());
|
ToolKits.SetStructDataToPointer(msg[i].stuCmdParam, nparam, 0);
|
ToolKits.GetPointerData(nparam, ENABLE);
|
System.out.println("电子围栏启用禁用 ");
|
System.out.println("目标系统"+ENABLE.stuCommon.nTargetSystem);
|
System.out.println("目标部件"+ENABLE.stuCommon.nTargetComponent);
|
System.out.println("确认次数"+ENABLE.stuCommon.nConfirmation);
|
System.out.println("电子围栏z状态"+ENABLE.nEnableState);
|
break;
|
}
|
case ENUM_UAVCMD_TYPE.ENUM_UAVCMD_MOUNT_CONFIGURE:
|
{
|
NET_UAVCMD_MOUNT_CONFIGURE CONFIGURE=new NET_UAVCMD_MOUNT_CONFIGURE();
|
nparam=new Memory(CONFIGURE.size());
|
ToolKits.SetStructDataToPointer(msg[i].stuCmdParam, nparam, 0);
|
ToolKits.GetPointerData(nparam, CONFIGURE);
|
System.out.println("云台模式配置");
|
System.out.println("目标系统"+CONFIGURE.stuCommon.nTargetSystem);
|
System.out.println("目标部件"+CONFIGURE.stuCommon.nTargetComponent);
|
System.out.println("确认次数"+CONFIGURE.stuCommon.nConfirmation);
|
System.out.println("云台模式"+CONFIGURE.nMountMode);
|
break;
|
}
|
case ENUM_UAVCMD_TYPE.ENUM_UAVCMD_GET_HOME_POSITION:
|
{
|
NET_UAVCMD_GET_HOME_POSITION POSITION=new NET_UAVCMD_GET_HOME_POSITION();
|
nparam=new Memory(POSITION.size());
|
ToolKits.SetStructDataToPointer(msg[i].stuCmdParam, nparam, 0);
|
ToolKits.GetPointerData(nparam, POSITION);
|
System.out.println("异步获取Home点位置");
|
System.out.println("目标系统"+POSITION.stuCommon.nTargetSystem);
|
System.out.println("目标部件"+POSITION.stuCommon.nTargetComponent);
|
System.out.println("确认次数"+POSITION.stuCommon.nConfirmation);
|
break;
|
}
|
case ENUM_UAVCMD_TYPE.ENUM_UAVCMD_IMAGE_START_CAPTURE:
|
{
|
NET_UAVCMD_IMAGE_START_CAPTURE CAPTURE=new NET_UAVCMD_IMAGE_START_CAPTURE();
|
nparam=new Memory(CAPTURE.size());
|
ToolKits.SetStructDataToPointer(msg[i].stuCmdParam, nparam, 0);
|
ToolKits.GetPointerData(nparam, CAPTURE);
|
System.out.println("开始抓拍");
|
System.out.println("目标系统"+CAPTURE.stuCommon.nTargetSystem);
|
System.out.println("目标部件"+CAPTURE.stuCommon.nTargetComponent);
|
System.out.println("确认次数"+CAPTURE.stuCommon.nConfirmation);
|
System.out.println("连拍持续时间"+CAPTURE.nDurationTime);
|
System.out.println("抓拍数量"+CAPTURE.nTatolNumber);
|
System.out.println("分辨率"+CAPTURE.emResolution);
|
System.out.println("自定义水平分辨率"+CAPTURE.nCustomWidth);
|
System.out.println("自定义垂直分辨率"+CAPTURE.nCustomHeight);
|
System.out.println("相机ID"+CAPTURE.nCameraID);
|
break;
|
}
|
case ENUM_UAVCMD_TYPE.ENUM_UAVCMD_IMAGE_STOP_CAPTURE:
|
{
|
NET_UAVCMD_IMAGE_STOP_CAPTURE STOP_CAPTURE=new NET_UAVCMD_IMAGE_STOP_CAPTURE();
|
nparam=new Memory(STOP_CAPTURE.size());
|
ToolKits.SetStructDataToPointer(msg[i].stuCmdParam, nparam, 0);
|
ToolKits.GetPointerData(nparam, STOP_CAPTURE);
|
System.out.println("停止抓拍");
|
System.out.println("目标系统"+STOP_CAPTURE.stuCommon.nTargetSystem);
|
System.out.println("目标部件"+STOP_CAPTURE.stuCommon.nTargetComponent);
|
System.out.println("确认次数"+STOP_CAPTURE.stuCommon.nConfirmation);
|
System.out.println("相机ID"+STOP_CAPTURE.nCameraID);
|
break;
|
}
|
case ENUM_UAVCMD_TYPE.ENUM_UAVCMD_VIDEO_START_CAPTURE:
|
{
|
NET_UAVCMD_VIDEO_START_CAPTURE VIDEO=new NET_UAVCMD_VIDEO_START_CAPTURE();
|
nparam=new Memory(VIDEO.size());
|
ToolKits.SetStructDataToPointer(msg[i].stuCmdParam, nparam, 0);
|
ToolKits.GetPointerData(nparam, VIDEO);
|
System.out.println("开始录像 ");
|
System.out.println("目标系统"+VIDEO.stuCommon.nTargetSystem);
|
System.out.println("目标部件"+VIDEO.stuCommon.nTargetComponent);
|
System.out.println("确认次数"+VIDEO.stuCommon.nConfirmation);
|
System.out.println("自定义垂直分辨率"+VIDEO.nCustomHeight);
|
System.out.println("自定义水平分辨率"+VIDEO.nCustomWidth);
|
System.out.println("分辨率"+VIDEO.emResolution);
|
System.out.println("帧率 "+VIDEO.nFrameSpeed);
|
System.out.println("相机ID"+VIDEO.nCameraID);
|
break;
|
}
|
case ENUM_UAVCMD_TYPE.ENUM_UAVCMD_VIDEO_STOP_CAPTURE:
|
{
|
NET_UAVCMD_VIDEO_STOP_CAPTURE VIDEO_STOP=new NET_UAVCMD_VIDEO_STOP_CAPTURE();
|
nparam=new Memory(VIDEO_STOP.size());
|
ToolKits.SetStructDataToPointer(msg[i].stuCmdParam, nparam, 0);
|
ToolKits.GetPointerData(nparam, VIDEO_STOP);
|
System.out.println("停止录像 ");
|
System.out.println("目标系统"+VIDEO_STOP.stuCommon.nTargetSystem);
|
System.out.println("目标部件"+VIDEO_STOP.stuCommon.nTargetComponent);
|
System.out.println("确认次数"+VIDEO_STOP.stuCommon.nConfirmation);
|
System.out.println("相机ID"+VIDEO_STOP.nCameraID);
|
break;
|
}
|
case ENUM_UAVCMD_TYPE.ENUM_UAVCMD_NAV_WAYPOINT:
|
{
|
NET_UAVCMD_NAV_WAYPOINT WAYPOINT=new NET_UAVCMD_NAV_WAYPOINT();
|
nparam=new Memory(WAYPOINT.size());
|
ToolKits.SetStructDataToPointer(msg[i].stuCmdParam, nparam, 0);
|
ToolKits.GetPointerData(nparam, WAYPOINT);
|
System.out.println("航点 ");
|
System.out.println("目标系统"+WAYPOINT.stuCommon.nTargetSystem);
|
System.out.println("目标部件"+WAYPOINT.stuCommon.nTargetComponent);
|
System.out.println("确认次数"+WAYPOINT.stuCommon.nConfirmation);
|
System.out.println("纬度"+WAYPOINT.fLatitude);
|
System.out.println("经度"+WAYPOINT.fLongitude);
|
System.out.println("高度"+WAYPOINT.fAltitude);
|
System.out.println("触发半径"+WAYPOINT.fAcceptanceRadius);
|
System.out.println("驻留时间"+WAYPOINT.nHoldTime);
|
break;
|
}
|
case ENUM_UAVCMD_TYPE.ENUM_UAVCMD_NAV_LOITER_TURNS:
|
{
|
NET_UAVCMD_NAV_LOITER_TURNS TURNS=new NET_UAVCMD_NAV_LOITER_TURNS();
|
nparam=new Memory(TURNS.size());
|
ToolKits.SetStructDataToPointer(msg[i].stuCmdParam, nparam, 0);
|
ToolKits.GetPointerData(nparam, TURNS);
|
System.out.println("循环绕圈");
|
System.out.println("目标系统"+TURNS.stuCommon.nTargetSystem);
|
System.out.println("目标部件"+TURNS.stuCommon.nTargetComponent);
|
System.out.println("确认次数"+TURNS.stuCommon.nConfirmation);
|
System.out.println("纬度"+TURNS.fLatitude);
|
System.out.println("经度"+TURNS.fLongitude);
|
System.out.println("高度"+TURNS.fAltitude);
|
System.out.println("圈数"+TURNS.nTurnNumber);
|
System.out.println("盘旋半径"+TURNS.fRadius);
|
break;
|
}
|
case ENUM_UAVCMD_TYPE.ENUM_UAVCMD_NAV_LOITER_TIME:
|
{
|
NET_UAVCMD_NAV_LOITER_TIME TIME=new NET_UAVCMD_NAV_LOITER_TIME();
|
nparam=new Memory(TIME.size());
|
ToolKits.SetStructDataToPointer(msg[i].stuCmdParam, nparam, 0);
|
ToolKits.GetPointerData(nparam, TIME);
|
System.out.println("固定时间等待航点");
|
System.out.println("目标系统"+TIME.stuCommon.nTargetSystem);
|
System.out.println("目标部件"+TIME.stuCommon.nTargetComponent);
|
System.out.println("确认次数"+TIME.stuCommon.nConfirmation);
|
System.out.println("纬度"+TIME.fLatitude);
|
System.out.println("经度"+TIME.fLongitude);
|
System.out.println("高度"+TIME.fAltitude);
|
System.out.println("时间"+TIME.nTime);
|
System.out.println("盘旋半径"+TIME.fRadius);
|
break;
|
}
|
case ENUM_UAVCMD_TYPE.ENUM_UAVCMD_NAV_SPLINE_WAYPOINT:
|
{
|
NET_UAVCMD_NAV_SPLINE_WAYPOINT WAYPOINT=new NET_UAVCMD_NAV_SPLINE_WAYPOINT();
|
nparam=new Memory(WAYPOINT.size());
|
ToolKits.SetStructDataToPointer(msg[i].stuCmdParam, nparam, 0);
|
ToolKits.GetPointerData(nparam, WAYPOINT);
|
System.out.println("曲线航点 ");
|
System.out.println("目标系统"+WAYPOINT.stuCommon.nTargetSystem);
|
System.out.println("目标部件"+WAYPOINT.stuCommon.nTargetComponent);
|
System.out.println("确认次数"+WAYPOINT.stuCommon.nConfirmation);
|
System.out.println("纬度"+WAYPOINT.fLatitude);
|
System.out.println("经度"+WAYPOINT.fLongitude);
|
System.out.println("高度"+WAYPOINT.fAltitude);
|
System.out.println("驻留时间"+WAYPOINT.nHoldTime);
|
break;
|
}
|
case ENUM_UAVCMD_TYPE.ENUM_UAVCMD_NAV_GUIDED_ENABLE:
|
{
|
NET_UAVCMD_NAV_GUIDED_ENABLE ENABLE=new NET_UAVCMD_NAV_GUIDED_ENABLE();
|
nparam=new Memory(ENABLE.size());
|
ToolKits.SetStructDataToPointer(msg[i].stuCmdParam, nparam, 0);
|
ToolKits.GetPointerData(nparam, ENABLE);
|
System.out.println("引导模式开关");
|
System.out.println("目标系统"+ENABLE.stuCommon.nTargetSystem);
|
System.out.println("目标部件"+ENABLE.stuCommon.nTargetComponent);
|
System.out.println("确认次数"+ENABLE.stuCommon.nConfirmation);
|
System.out.println("使能"+ENABLE.bEnable);
|
break;
|
}
|
case ENUM_UAVCMD_TYPE.ENUM_UAVCMD_DO_JUMP:
|
{
|
NET_UAVCMD_DO_JUMP JUMP=new NET_UAVCMD_DO_JUMP();
|
nparam=new Memory(JUMP.size());
|
ToolKits.SetStructDataToPointer(msg[i].stuCmdParam, nparam, 0);
|
ToolKits.GetPointerData(nparam, JUMP);
|
System.out.println("跳转到任务单某个位置.");
|
System.out.println("目标系统"+JUMP.stuCommon.nTargetSystem);
|
System.out.println("目标部件"+JUMP.stuCommon.nTargetComponent);
|
System.out.println("确认次数"+JUMP.stuCommon.nConfirmation);
|
System.out.println("任务序号"+JUMP.nSequenceNumber);
|
System.out.println("重复次数"+JUMP.nRepeatCount);
|
break;
|
}
|
case ENUM_UAVCMD_TYPE.ENUM_UAVCMD_DO_GUIDED_LIMITS:
|
{
|
NET_UAVCMD_DO_GUIDED_LIMITS LIMITS=new NET_UAVCMD_DO_GUIDED_LIMITS();
|
nparam=new Memory(LIMITS.size());
|
ToolKits.SetStructDataToPointer(msg[i].stuCmdParam, nparam, 0);
|
ToolKits.GetPointerData(nparam, LIMITS);
|
System.out.println("引导模式执行控制限制");
|
System.out.println("目标系统"+LIMITS.stuCommon.nTargetSystem);
|
System.out.println("目标部件"+LIMITS.stuCommon.nTargetComponent);
|
System.out.println("确认次数"+LIMITS.stuCommon.nConfirmation);
|
System.out.println("最大时间"+LIMITS.nMaxTime);
|
System.out.println("最低限制高度"+LIMITS.fMinAltitude);
|
System.out.println("最大限制高度"+LIMITS.fMaxAltitude);
|
System.out.println("水平限制距离"+LIMITS.fHorizontalDistance);
|
break;
|
}
|
case ENUM_UAVCMD_TYPE.ENUM_UAVCMD_CONDITION_DELAY:
|
{
|
NET_UAVCMD_CONDITION_DELAY DELAY=new NET_UAVCMD_CONDITION_DELAY();
|
nparam=new Memory(DELAY.size());
|
ToolKits.SetStructDataToPointer(msg[i].stuCmdParam, nparam, 0);
|
ToolKits.GetPointerData(nparam, DELAY);
|
System.out.println("动作延时");
|
System.out.println("目标系统"+DELAY.stuCommon.nTargetSystem);
|
System.out.println("目标部件"+DELAY.stuCommon.nTargetComponent);
|
System.out.println("确认次数"+DELAY.stuCommon.nConfirmation);
|
System.out.println("延迟时间"+DELAY.nDelay);
|
break;
|
}
|
case ENUM_UAVCMD_TYPE.ENUM_UAVCMD_CONDITION_DISTANCE:
|
{
|
NET_UAVCMD_CONDITION_DISTANCE DISTANCE=new NET_UAVCMD_CONDITION_DISTANCE();
|
nparam=new Memory(DISTANCE.size());
|
ToolKits.SetStructDataToPointer(msg[i].stuCmdParam, nparam, 0);
|
ToolKits.GetPointerData(nparam, DISTANCE);
|
System.out.println("动作距离. 前往设定距离(到下一航点)");
|
System.out.println("目标系统"+DISTANCE.stuCommon.nTargetSystem);
|
System.out.println("目标部件"+DISTANCE.stuCommon.nTargetComponent);
|
System.out.println("确认次数"+DISTANCE.stuCommon.nConfirmation);
|
System.out.println("距离"+DISTANCE.fDistance);
|
break;
|
}
|
case ENUM_UAVCMD_TYPE.ENUM_UAVCMD_DO_SET_ROI:
|
{
|
NET_UAVCMD_DO_SET_ROI ROI=new NET_UAVCMD_DO_SET_ROI();
|
nparam=new Memory(ROI.size());
|
ToolKits.SetStructDataToPointer(msg[i].stuCmdParam, nparam, 0);
|
ToolKits.GetPointerData(nparam, ROI);
|
System.out.println("相机兴趣点");
|
System.out.println("目标系统"+ROI.stuCommon.nTargetSystem);
|
System.out.println("目标部件"+ROI.stuCommon.nTargetComponent);
|
System.out.println("确认次数"+ROI.stuCommon.nConfirmation);
|
System.out.println("兴趣点模式"+ROI.emROIMode);
|
System.out.println("指定航点或编号"+ROI.nId);
|
System.out.println("ROI 编号"+ROI.nROIIndex);
|
break;
|
}
|
case ENUM_UAVCMD_TYPE.ENUM_UAVCMD_DO_DIGICAM_CONTROL:
|
{
|
NET_UAVCMD_DO_DIGICAM_CONTROL CONTROL=new NET_UAVCMD_DO_DIGICAM_CONTROL();
|
nparam=new Memory(CONTROL.size());
|
ToolKits.SetStructDataToPointer(msg[i].stuCmdParam, nparam, 0);
|
ToolKits.GetPointerData(nparam, CONTROL);
|
System.out.println("相机控制");
|
System.out.println("目标系统"+CONTROL.stuCommon.nTargetSystem);
|
System.out.println("目标部件"+CONTROL.stuCommon.nTargetComponent);
|
System.out.println("确认次数"+CONTROL.stuCommon.nConfirmation);
|
break;
|
}
|
case ENUM_UAVCMD_TYPE.ENUM_UAVCMD_DO_MOUNT_CONTROL:
|
{
|
NET_UAVCMD_DO_MOUNT_CONTROL CONTROL=new NET_UAVCMD_DO_MOUNT_CONTROL();
|
nparam=new Memory(CONTROL.size());
|
ToolKits.SetStructDataToPointer(msg[i].stuCmdParam, nparam, 0);
|
ToolKits.GetPointerData(nparam, CONTROL);
|
System.out.println("云台角度控制");
|
System.out.println("目标系统"+CONTROL.stuCommon.nTargetSystem);
|
System.out.println("目标部件"+CONTROL.stuCommon.nTargetComponent);
|
System.out.println("确认次数"+CONTROL.stuCommon.nConfirmation);
|
System.out.println("俯仰角"+CONTROL.fPitchAngle);
|
System.out.println("航向角"+CONTROL.fYawAngle);
|
break;
|
}
|
case ENUM_UAVCMD_TYPE.ENUM_UAVCMD_DO_SET_CAM_TRIGG_DIST:
|
{
|
NET_UAVCMD_DO_SET_CAM_TRIGG_DIST DIST=new NET_UAVCMD_DO_SET_CAM_TRIGG_DIST();
|
nparam=new Memory(DIST.size());
|
ToolKits.SetStructDataToPointer(msg[i].stuCmdParam, nparam, 0);
|
ToolKits.GetPointerData(nparam, DIST);
|
System.out.println("聚焦距离");
|
System.out.println("目标系统"+DIST.stuCommon.nTargetSystem);
|
System.out.println("目标部件"+DIST.stuCommon.nTargetComponent);
|
System.out.println("确认次数"+DIST.stuCommon.nConfirmation);
|
System.out.println("聚焦距离"+DIST.fDistance);
|
break;
|
}
|
case ENUM_UAVCMD_TYPE.ENUM_UAVCMD_SET_MODE:
|
{
|
NET_UAVCMD_SET_MODE MODE=new NET_UAVCMD_SET_MODE();
|
nparam=new Memory(MODE.size());
|
ToolKits.SetStructDataToPointer(msg[i].stuCmdParam, nparam, 0);
|
ToolKits.GetPointerData(nparam, MODE);
|
System.out.println("设置模式");
|
System.out.println("目标系统"+MODE.stuCommon.nTargetSystem);
|
System.out.println("目标部件"+MODE.stuCommon.nTargetComponent);
|
System.out.println("确认次数"+MODE.stuCommon.nConfirmation);
|
System.out.println("飞行模式"+MODE.emUAVMode);
|
break;
|
}
|
case ENUM_UAVCMD_TYPE.ENUM_UAVCMD_NAV_GUIDED:
|
{
|
NET_UAVCMD_NAV_GUIDED GUIDED=new NET_UAVCMD_NAV_GUIDED();
|
nparam=new Memory(GUIDED.size());
|
ToolKits.SetStructDataToPointer(msg[i].stuCmdParam, nparam, 0);
|
ToolKits.GetPointerData(nparam, GUIDED);
|
System.out.println("设定引导点");
|
System.out.println("目标系统"+GUIDED.stuCommon.nTargetSystem);
|
System.out.println("目标部件"+GUIDED.stuCommon.nTargetComponent);
|
System.out.println("确认次数"+GUIDED.stuCommon.nConfirmation);
|
System.out.println("纬度"+GUIDED.fLatitude);
|
System.out.println("经度"+GUIDED.fLongitude);
|
System.out.println("高度"+GUIDED.fAltitude);
|
break;
|
}
|
case ENUM_UAVCMD_TYPE.ENUM_UAVCMD_MISSION_PAUSE:
|
{
|
NET_UAVCMD_MISSION_PAUSE PAUSE=new NET_UAVCMD_MISSION_PAUSE();
|
nparam=new Memory(PAUSE.size());
|
ToolKits.SetStructDataToPointer(msg[i].stuCmdParam, nparam, 0);
|
ToolKits.GetPointerData(nparam, PAUSE);
|
System.out.println("飞行任务暂停");
|
System.out.println("目标系统"+PAUSE.stuCommon.nTargetSystem);
|
System.out.println("目标部件"+PAUSE.stuCommon.nTargetComponent);
|
System.out.println("确认次数"+PAUSE.stuCommon.nConfirmation);
|
break;
|
}
|
case ENUM_UAVCMD_TYPE.ENUM_UAVCMD_MISSION_STOP:
|
{
|
NET_UAVCMD_MISSION_STOP STOP=new NET_UAVCMD_MISSION_STOP();
|
nparam=new Memory(STOP.size());
|
ToolKits.SetStructDataToPointer(msg[i].stuCmdParam, nparam, 0);
|
ToolKits.GetPointerData(nparam, STOP);
|
System.out.println("飞行任务停止");
|
System.out.println("目标系统"+STOP.stuCommon.nTargetSystem);
|
System.out.println("目标部件"+STOP.stuCommon.nTargetComponent);
|
System.out.println("确认次数"+STOP.stuCommon.nConfirmation);
|
break;
|
}
|
case ENUM_UAVCMD_TYPE.ENUM_UAVCMD_LOAD_CONTROL:
|
{
|
NET_UAVCMD_LOAD_CONTROL CONTROL=new NET_UAVCMD_LOAD_CONTROL();
|
nparam=new Memory(CONTROL.size());
|
ToolKits.SetStructDataToPointer(msg[i].stuCmdParam, nparam, 0);
|
ToolKits.GetPointerData(nparam, CONTROL);
|
System.out.println("负载控制");
|
System.out.println("目标系统"+CONTROL.stuCommon.nTargetSystem);
|
System.out.println("目标部件"+CONTROL.stuCommon.nTargetComponent);
|
System.out.println("确认次数"+CONTROL.stuCommon.nConfirmation);
|
Pointer point=new Memory(CONTROL.stuLoadInfo.size());
|
ToolKits.SetStructDataToPointer(CONTROL.stuLoadInfo, point, 0);
|
switch (CONTROL.emLoadType)
|
{
|
case EM_LOAD_CONTROL_TYPE.EM_LOAD_CONTROL_COMMON:
|
{
|
NET_LOAD_CONTROL_COMMON stuLoadControl = new NET_LOAD_CONTROL_COMMON();
|
ToolKits.GetPointerData(point, stuLoadControl);
|
// Console.WriteLine("Get Info:{0}", stuLoadControl.byReserved);
|
break;
|
}
|
case EM_LOAD_CONTROL_TYPE.EM_LOAD_CONTROL_PHOTO:
|
{
|
NET_LOAD_CONTROL_PHOTO stuLoadControl = new NET_LOAD_CONTROL_PHOTO();
|
ToolKits.GetPointerData(point, stuLoadControl);
|
System.out.println("拍照周期"+stuLoadControl.fCycle);
|
break;
|
}
|
case EM_LOAD_CONTROL_TYPE.EM_LOAD_CONTROL_VIDEO:
|
{
|
NET_LOAD_CONTROL_VIDEO stuLoadControl = new NET_LOAD_CONTROL_VIDEO();
|
ToolKits.GetPointerData(point, stuLoadControl);
|
System.out.println("视频设备状态"+stuLoadControl.nSwitch);
|
break;
|
}
|
case EM_LOAD_CONTROL_TYPE.EM_LOAD_CONTROL_AUDIO:
|
{
|
NET_LOAD_CONTROL_AUDIO stuLoadControl = new NET_LOAD_CONTROL_AUDIO();
|
ToolKits.GetPointerData(point, stuLoadControl);
|
break;
|
}
|
case EM_LOAD_CONTROL_TYPE.EM_LOAD_CONTROL_LIGHT:
|
{
|
NET_LOAD_CONTROL_LIGHT stuLoadControl = new NET_LOAD_CONTROL_LIGHT();
|
ToolKits.GetPointerData(point, stuLoadControl);
|
System.out.println("灯光设备状态"+stuLoadControl.nSwitch);
|
break;
|
}
|
case EM_LOAD_CONTROL_TYPE.EM_LOAD_CONTROL_RELAY:
|
{
|
NET_LOAD_CONTROL_RELAY stuLoadControl = new NET_LOAD_CONTROL_RELAY();
|
ToolKits.GetPointerData(point, stuLoadControl);
|
System.out.println("继电器设备状态"+stuLoadControl.nSwitch);
|
break;
|
}
|
case EM_LOAD_CONTROL_TYPE.EM_LOAD_CONTROL_TIMING:
|
{
|
NET_LOAD_CONTROL_TIMING stuLoadControl = new NET_LOAD_CONTROL_TIMING();
|
ToolKits.GetPointerData(point, stuLoadControl);
|
System.out.println("拍照时间间隔"+stuLoadControl.nInterval);
|
System.out.println("定时拍照设备状态"+stuLoadControl.nSwitch);
|
break;
|
}
|
case EM_LOAD_CONTROL_TYPE.EM_LOAD_CONTROL_DISTANCE:
|
{
|
NET_LOAD_CONTROL_DISTANCE stuLoadControl = new NET_LOAD_CONTROL_DISTANCE();
|
System.out.println("拍照时间间隔"+stuLoadControl.nInterval);
|
System.out.println("定距拍照设备状态"+stuLoadControl.nSwitch);
|
break;
|
}
|
}
|
break;
|
}
|
case ENUM_UAVCMD_TYPE.ENUM_UAVCMD_RC_CHANNELS_OVERRIDE:
|
{
|
NET_UAVCMD_RC_CHANNELS_OVERRIDE OVERRIDE=new NET_UAVCMD_RC_CHANNELS_OVERRIDE();
|
nparam=new Memory(OVERRIDE.size());
|
ToolKits.SetStructDataToPointer(msg[i].stuCmdParam, nparam, 0);
|
ToolKits.GetPointerData(nparam, OVERRIDE);
|
System.out.println("模拟摇杆");
|
System.out.println("滚转角"+OVERRIDE.nChan1);
|
System.out.println("俯仰角"+OVERRIDE.nChan2);
|
System.out.println("油门"+OVERRIDE.nChan3);
|
System.out.println("偏航角"+OVERRIDE.nChan4);
|
System.out.println("模式切换"+OVERRIDE.nChan5);
|
System.out.println("云台航向"+OVERRIDE.nChan6);
|
System.out.println("云台俯仰"+OVERRIDE.nChan7);
|
System.out.println("起落架"+OVERRIDE.nChan8);
|
System.out.println("云台模式"+OVERRIDE.nChan9);
|
System.out.println("一键返航"+OVERRIDE.nChan10);
|
System.out.println("一键起降"+OVERRIDE.nChan11);
|
System.out.println("目标系统"+OVERRIDE.nTargetSystem);
|
System.out.println("目标部件"+OVERRIDE.nTargetComponent);
|
break;
|
}
|
case ENUM_UAVCMD_TYPE.ENUM_UAVCMD_HEART_BEAT:
|
{
|
NET_UAVCMD_HEART_BEAT BEAT=new NET_UAVCMD_HEART_BEAT();
|
nparam=new Memory(BEAT.size());
|
ToolKits.SetStructDataToPointer(msg[i].stuCmdParam, nparam, 0);
|
ToolKits.GetPointerData(nparam, BEAT);
|
System.out.println("心跳");
|
System.out.println("自动驾驶仪"+BEAT.nCustomMode);
|
System.out.println("MAV 类型"+BEAT.nType);
|
System.out.println("自动驾驶仪类型"+BEAT.nAutoPilot);
|
System.out.println("系统模式"+BEAT.nBaseMode);
|
System.out.println("系统状态值"+BEAT.nSystemStatus);
|
System.out.println("MAVLink 版本信息"+BEAT.nMavlinkVersion);
|
break;
|
}
|
}
|
|
offset=offset += msg[i].size();
|
}
|
}
|
|
/*
|
* 无人机航点总数获取
|
*/
|
public int GetUAVMissonCount(){
|
//入参
|
NET_IN_UAVMISSION_COUNT stuInMissionCount = new NET_IN_UAVMISSION_COUNT();
|
|
//出参
|
NET_OUT_UAVMISSION_COUNT stuOutMissionCount = new NET_OUT_UAVMISSION_COUNT();
|
boolean ret=netSdk.CLIENT_GetUAVMissonCount(loginHandle, stuInMissionCount, stuOutMissionCount, 3000);
|
if(ret){
|
System.out.println("GetUAVMissonCount success"+"航点总数："+stuOutMissionCount.nCount);
|
return stuOutMissionCount.nCount;
|
}else{
|
System.err.println("GetUAVMissonCount false");
|
return 0;
|
}
|
}
|
|
|
/*
|
* 无人机通用设置
|
*/
|
public void SendCommandToUAV(){
|
Pointer pParam=null;
|
boolean ret;
|
int emCmdType=-1;
|
Scanner send=new Scanner(System.in);
|
do{
|
System.out.println("请输入无人机通用设置命令类型");
|
emCmdType=send.nextInt();
|
switch(emCmdType){
|
case 0://起飞
|
// 地面起飞命令
|
NET_UAVCMD_TAKEOFF msg=new NET_UAVCMD_TAKEOFF();
|
msg.stuCommon.nConfirmation = 0;
|
msg.stuCommon.nTargetSystem = 0;
|
msg.stuCommon.nTargetComponent = 0;
|
|
msg.fAltitude = 10; // 最小爬升率
|
msg.fYawAngle = 10; // 指向设定
|
msg.fLatitude = 10; // 纬度
|
msg.fLongitude = 10; // 经度
|
msg.fAltitude = 10; // 高度 单位m
|
pParam=new Memory(msg.size());
|
ToolKits.SetStructDataToPointer(msg, pParam, 0);
|
ret=netSdk.CLIENT_SendCommandToUAV(loginHandle, emCmdType, pParam, 3000);
|
if(ret){
|
System.out.println("SendCommandToUAV success");
|
}else{
|
System.err.println("SendCommandToUAV false");
|
}
|
break;
|
case 1:// 悬停
|
// 悬停
|
NET_UAVCMD_LOITER_UNLIMITED msg1 = new NET_UAVCMD_LOITER_UNLIMITED();
|
msg1.stuCommon.nConfirmation = 0;
|
msg1.stuCommon.nTargetSystem = 0;
|
msg1.stuCommon.nTargetComponent = 0;
|
|
msg1.fRadius = 10; // 盘旋半径(m), 正值顺时针, 负值逆时针.
|
msg1.fYawAngle = 10; // 指向设定 仅适用可悬停机型
|
msg1.fLatitude = 10; // 纬度
|
msg1.fLongitude = 10; // 经度
|
msg1.fAltitude = 10; // 高度 单位m
|
pParam=new Memory(msg1.size());
|
ToolKits.SetStructDataToPointer(msg1, pParam, 0);
|
ret=netSdk.CLIENT_SendCommandToUAV(loginHandle, emCmdType, pParam, 3000);
|
if(ret){
|
System.out.println("SendCommandToUAV success");
|
}else{
|
System.err.println("SendCommandToUAV false");
|
}
|
break;
|
case 2:
|
// 返航降落
|
NET_UAVCMD_RETURN_TO_LAUNCH msg2 = new NET_UAVCMD_RETURN_TO_LAUNCH();
|
msg2.stuCommon.nConfirmation = 0;
|
msg2.stuCommon.nTargetSystem = 0;
|
msg2.stuCommon.nTargetComponent = 0;
|
pParam=new Memory(msg2.size());
|
ToolKits.SetStructDataToPointer(msg2, pParam, 0);
|
ret=netSdk.CLIENT_SendCommandToUAV(loginHandle, emCmdType, pParam, 3000);
|
if(ret){
|
System.out.println("SendCommandToUAV success");
|
}else{
|
System.err.println("SendCommandToUAV false");
|
}
|
break;
|
case 3:
|
// 设定点着陆
|
NET_UAVCMD_LAND msg3 = new NET_UAVCMD_LAND();
|
msg3.stuCommon.nConfirmation = 0;
|
msg3.stuCommon.nTargetSystem = 0;
|
msg3.stuCommon.nTargetComponent = 0;
|
msg3.fYawAngle = 10; // 指向设定 仅适用可悬停机型
|
msg3.fLatitude = 10; // 纬度
|
msg3.fLongitude = 10; // 经度
|
msg3.fAltitude = 10; // 高度 单位m
|
pParam=new Memory(msg3.size());
|
ToolKits.SetStructDataToPointer(msg3, pParam, 0);
|
ret=netSdk.CLIENT_SendCommandToUAV(loginHandle, emCmdType, pParam, 3000);
|
if(ret){
|
System.out.println("SendCommandToUAV success");
|
}else{
|
System.err.println("SendCommandToUAV false");
|
}
|
break;
|
case 4:
|
// 变换航向
|
NET_UAVCMD_CONDITION_YAW msg4 = new NET_UAVCMD_CONDITION_YAW();
|
msg4.stuCommon.nConfirmation = 0;
|
msg4.stuCommon.nTargetSystem = 0;
|
msg4.stuCommon.nTargetComponent = 0;
|
msg4.fTargetAngle = 10; // 目标角度: [0-360], 0为北
|
msg4.fSpeed = 10; // 转向速率: [度/秒]
|
msg4.fDirection = 10; // 指向: 负值逆时针, 正值顺时针
|
msg4.fRelativeOffset = 1; // 相对偏置或绝对角[1,0]
|
pParam=new Memory(msg4.size());
|
ToolKits.SetStructDataToPointer(msg4, pParam, 0);
|
ret=netSdk.CLIENT_SendCommandToUAV(loginHandle, emCmdType, pParam, 3000);
|
if(ret){
|
System.out.println("SendCommandToUAV success");
|
}else{
|
System.err.println("SendCommandToUAV false");
|
}
|
break;
|
case 5:
|
// 改变速度
|
NET_UAVCMD_CHANGE_SPEED msg5 = new NET_UAVCMD_CHANGE_SPEED();
|
msg5.stuCommon.nConfirmation = 0;
|
msg5.stuCommon.nTargetSystem = 0;
|
msg5.stuCommon.nTargetComponent = 0;
|
msg5.fSpeedType = 0; // 速度类型（0=空速, 1=地速）
|
msg5.fSpeed = 10; // 速度（米/秒, -1表示维持原来速度不变）
|
msg5.fThrottle = 10; // 指油门开度, 百分比数据，-1表示维持原来数值不变
|
pParam=new Memory(msg5.size());
|
ToolKits.SetStructDataToPointer(msg5, pParam, 0);
|
ret=netSdk.CLIENT_SendCommandToUAV(loginHandle, emCmdType, pParam, 3000);
|
if(ret){
|
System.out.println("SendCommandToUAV success");
|
}else{
|
System.err.println("SendCommandToUAV false");
|
}
|
break;
|
case 6:
|
// 设置返航点
|
NET_UAVCMD_SET_HOME msg6 = new NET_UAVCMD_SET_HOME();
|
msg6.stuCommon.nConfirmation = 0;
|
msg6.stuCommon.nTargetSystem = 0;
|
msg6.stuCommon.nTargetComponent = 0;
|
msg6.nLocation = 0; // 返航点: 1 = 使用当前点, 0 - 设定点
|
msg6.fLatitude = 10; // 纬度
|
msg6.fLongitude = 10; // 经度
|
msg6.fAltitude = 10; // 高度 单位m
|
pParam=new Memory(msg6.size());
|
ToolKits.SetStructDataToPointer(msg6, pParam, 0);
|
ret=netSdk.CLIENT_SendCommandToUAV(loginHandle, emCmdType, pParam, 3000);
|
if(ret){
|
System.out.println("SendCommandToUAV success");
|
}else{
|
System.err.println("SendCommandToUAV false");
|
}
|
break;
|
case 7:
|
// 立即停转电机
|
NET_UAVCMD_FLIGHT_TERMINATION msg7 = new NET_UAVCMD_FLIGHT_TERMINATION();
|
msg7.stuCommon.nConfirmation = 0;
|
msg7.stuCommon.nTargetSystem = 0;
|
msg7.stuCommon.nTargetComponent = 0;
|
msg7.fActivated = 0.5f; // 触发值: 大于0.5 被触发
|
pParam=new Memory(msg7.size());
|
ToolKits.SetStructDataToPointer(msg7, pParam, 0);
|
ret=netSdk.CLIENT_SendCommandToUAV(loginHandle, emCmdType, pParam, 3000);
|
if(ret){
|
System.out.println("SendCommandToUAV success");
|
}else{
|
System.err.println("SendCommandToUAV false");
|
}
|
break;
|
case 8:
|
// 开始航点任务
|
NET_UAVCMD_MISSION_START msg8 = new NET_UAVCMD_MISSION_START();
|
msg8.stuCommon.nConfirmation = 0;
|
msg8.stuCommon.nTargetSystem = 0;
|
msg8.stuCommon.nTargetComponent = 0;
|
msg8.nFirstItem = 1; // 第一项 n, 起始点的任务号
|
msg8.nLastItem = 5; // 最后一项 m, 终点的任务号
|
pParam=new Memory(msg8.size());
|
ToolKits.SetStructDataToPointer(msg8, pParam, 0);
|
ret=netSdk.CLIENT_SendCommandToUAV(loginHandle, emCmdType, pParam, 3000);
|
if(ret){
|
System.out.println("SendCommandToUAV success");
|
}else{
|
System.err.println("SendCommandToUAV false");
|
}
|
break;
|
case 9:
|
// 电调解锁, 电调锁定
|
NET_UAVCMD_COMPONENT_ARM_DISARM msg9 = new NET_UAVCMD_COMPONENT_ARM_DISARM();
|
msg9.stuCommon.nConfirmation = 0;
|
msg9.stuCommon.nTargetSystem = 0;
|
msg9.stuCommon.nTargetComponent = 0;
|
msg9.bArm =1; // true - 解锁, false - 锁定
|
pParam=new Memory(msg9.size());
|
ToolKits.SetStructDataToPointer(msg9, pParam, 0);
|
ret=netSdk.CLIENT_SendCommandToUAV(loginHandle, emCmdType, pParam, 3000);
|
if(ret){
|
System.out.println("SendCommandToUAV success");
|
}else{
|
System.err.println("SendCommandToUAV false");
|
}
|
break;
|
case 10:
|
// 重启飞行器
|
NET_UAVCMD_REBOOT_SHUTDOWN msg10 = new NET_UAVCMD_REBOOT_SHUTDOWN();
|
msg10.stuCommon.nConfirmation = 0;
|
msg10.stuCommon.nTargetSystem = 0;
|
msg10.stuCommon.nTargetComponent = 0;
|
msg10.nCtrlAutopilot = 0; // 控制飞控 0 - 空 1 - 重启 2 - 关机
|
msg10.nCtrlOnboardComputer = 0; // 控制机载计算机 0 - 空 1 - 机载计算机重启 2 - 机载计算机关机
|
pParam=new Memory(msg10.size());
|
ToolKits.SetStructDataToPointer(msg10, pParam, 0);
|
ret=netSdk.CLIENT_SendCommandToUAV(loginHandle, emCmdType, pParam, 3000);
|
if(ret){
|
System.out.println("SendCommandToUAV success");
|
}else{
|
System.err.println("SendCommandToUAV false");
|
}
|
break;
|
case 11:
|
// 继电器控制
|
NET_UAVCMD_SET_RELAY msg11 = new NET_UAVCMD_SET_RELAY();
|
msg11.stuCommon.nConfirmation = 0;
|
msg11.stuCommon.nTargetSystem = 0;
|
msg11.stuCommon.nTargetComponent = 0;
|
msg11.nRelayNumber = 1; // 继电器号
|
msg11.nCtrlRelay = 0; // 0=关，1=开。
|
pParam=new Memory(msg11.size());
|
ToolKits.SetStructDataToPointer(msg11, pParam, 0);
|
ret=netSdk.CLIENT_SendCommandToUAV(loginHandle, emCmdType, pParam, 3000);
|
if(ret){
|
System.out.println("SendCommandToUAV success");
|
}else{
|
System.err.println("SendCommandToUAV false");
|
}
|
break;
|
case 12:
|
// 继电器循环控制
|
NET_UAVCMD_REPEAT_RELAY msg12 = new NET_UAVCMD_REPEAT_RELAY();
|
msg12.stuCommon.nConfirmation = 0;
|
msg12.stuCommon.nTargetSystem = 0;
|
msg12.stuCommon.nTargetComponent = 0;
|
msg12.nRelayNumber = 1; // 继电器号
|
msg12.nCycleCount = 1; // 循环次数
|
msg12.nCycleTime = 10; // 周期（十进制，秒）
|
pParam=new Memory(msg12.size());
|
ToolKits.SetStructDataToPointer(msg12, pParam, 0);
|
ret=netSdk.CLIENT_SendCommandToUAV(loginHandle, emCmdType, pParam, 3000);
|
if(ret){
|
System.out.println("SendCommandToUAV success");
|
}else{
|
System.err.println("SendCommandToUAV false");
|
}
|
break;
|
case 13:
|
// 电子围栏启用禁用
|
NET_UAVCMD_FENCE_ENABLE msg13 = new NET_UAVCMD_FENCE_ENABLE();
|
msg13.stuCommon.nConfirmation = 0;
|
msg13.stuCommon.nTargetSystem = 0;
|
msg13.stuCommon.nTargetComponent = 0;
|
msg13.nEnableState = 2; // 启用状态 0 - 禁用 1 - 启用 2 - 仅地面禁用
|
pParam=new Memory(msg13.size());
|
ToolKits.SetStructDataToPointer(msg13, pParam, 0);
|
ret=netSdk.CLIENT_SendCommandToUAV(loginHandle, emCmdType, pParam, 3000);
|
if(ret){
|
System.out.println("SendCommandToUAV success");
|
}else{
|
System.err.println("SendCommandToUAV false");
|
}
|
break;
|
case 14:
|
// 云台模式配置
|
NET_UAVCMD_MOUNT_CONFIGURE msg14 = new NET_UAVCMD_MOUNT_CONFIGURE();
|
msg14.stuCommon.nConfirmation = 0;
|
msg14.stuCommon.nTargetSystem = 0;
|
msg14.stuCommon.nTargetComponent = 0;
|
msg14.nMountMode = 2; // 云台模式
|
// 0 - 预留; 1 - 水平模式, RC 不可控; 2 - UAV模式, RC 不可控 ;
|
// 3 - 航向锁定模式, RC可控; 4 - 预留; 5-垂直90度模式, RC不可控 6 - 航向跟随模式, RC可控
|
pParam=new Memory(msg14.size());
|
ToolKits.SetStructDataToPointer(msg14, pParam, 0);
|
ret=netSdk.CLIENT_SendCommandToUAV(loginHandle, emCmdType, pParam, 3000);
|
if(ret){
|
System.out.println("SendCommandToUAV success");
|
}else{
|
System.err.println("SendCommandToUAV false");
|
}
|
break;
|
case 15:
|
// 异步获取Home点位置, 实时数据回调中返回
|
NET_UAVCMD_GET_HOME_POSITION msg15 = new NET_UAVCMD_GET_HOME_POSITION();
|
msg15.stuCommon.nConfirmation = 0;
|
msg15.stuCommon.nTargetSystem = 0;
|
msg15.stuCommon.nTargetComponent = 0;
|
pParam=new Memory(msg15.size());
|
ToolKits.SetStructDataToPointer(msg15, pParam, 0);
|
ret=netSdk.CLIENT_SendCommandToUAV(loginHandle, emCmdType, pParam, 3000);
|
if(ret){
|
System.out.println("SendCommandToUAV success");
|
}else{
|
System.err.println("SendCommandToUAV false");
|
}
|
break;
|
case 16:
|
// 开始抓拍
|
NET_UAVCMD_IMAGE_START_CAPTURE msg16 = new NET_UAVCMD_IMAGE_START_CAPTURE();
|
msg16.stuCommon.nConfirmation = 0;
|
msg16.stuCommon.nTargetSystem = 0;
|
msg16.stuCommon.nTargetComponent = 0;
|
msg16.nDurationTime = 5; // 连拍持续时间
|
msg16.nTatolNumber = 1; // 抓拍数量 0 - 表示无限制
|
msg16.emResolution = CAPTURE_SIZE.CAPTURE_SIZE_VGA; // 分辨率为 CAPTURE_SIZE_NR时, 表示自定义。目前仅支持 CAPTURE_SIZE_VGA 和 CAPTURE_SIZE_720
|
msg16.nCustomWidth = 0; // 自定义水平分辨率 单位: 像素 pixel
|
msg16.nCustomHeight = 0; // 自定义垂直分辨率 单位: 像素 pixel
|
msg16.nCameraID = 0; // 相机ID
|
pParam=new Memory(msg16.size());
|
ToolKits.SetStructDataToPointer(msg16, pParam, 0);
|
ret=netSdk.CLIENT_SendCommandToUAV(loginHandle, emCmdType, pParam, 3000);
|
if(ret){
|
System.out.println("SendCommandToUAV success");
|
}else{
|
System.err.println("SendCommandToUAV false");
|
}
|
break;
|
case 17:
|
// 停止抓拍
|
NET_UAVCMD_IMAGE_STOP_CAPTURE msg17 = new NET_UAVCMD_IMAGE_STOP_CAPTURE();
|
msg17.stuCommon.nConfirmation = 0;
|
msg17.stuCommon.nTargetSystem = 0;
|
msg17.stuCommon.nTargetComponent = 0;
|
msg17.nCameraID = 0; // 相机ID
|
pParam=new Memory(msg17.size());
|
ToolKits.SetStructDataToPointer(msg17, pParam, 0);
|
ret=netSdk.CLIENT_SendCommandToUAV(loginHandle, emCmdType, pParam, 3000);
|
if(ret){
|
System.out.println("SendCommandToUAV success");
|
}else{
|
System.err.println("SendCommandToUAV false");
|
}
|
break;
|
case 18:
|
// 开始录像
|
NET_UAVCMD_VIDEO_START_CAPTURE msg18 = new NET_UAVCMD_VIDEO_START_CAPTURE();
|
msg18.stuCommon.nConfirmation = 0;
|
msg18.stuCommon.nTargetSystem = 0;
|
msg18.stuCommon.nTargetComponent = 0;
|
msg18.nCameraID = 0; // 相机ID
|
msg18.nFrameSpeed = -1; // 帧率 单位: 秒 -1 表示: 最高帧率
|
msg18.emResolution = CAPTURE_SIZE.CAPTURE_SIZE_720; // 分辨率 为 CAPTURE_SIZE_NR时, 表示自定义。目前仅支持 CAPTURE_SIZE_VGA 和 CAPTURE_SIZE_720
|
msg18.nCustomWidth = 0; // 自定义水平分辨率 单位: 像素 pixel
|
msg18.nCustomHeight = 0; // 自定义垂直分辨率 单位: 像素 pixel
|
pParam=new Memory(msg18.size());
|
ToolKits.SetStructDataToPointer(msg18, pParam, 0);
|
ret=netSdk.CLIENT_SendCommandToUAV(loginHandle, emCmdType, pParam, 3000);
|
if(ret){
|
System.out.println("SendCommandToUAV success");
|
}else{
|
System.err.println("SendCommandToUAV false");
|
}
|
break;
|
case 19:
|
// 停止录像
|
NET_UAVCMD_VIDEO_STOP_CAPTURE msg19 = new NET_UAVCMD_VIDEO_STOP_CAPTURE();
|
msg19.stuCommon.nConfirmation = 0;
|
msg19.stuCommon.nTargetSystem = 0;
|
msg19.stuCommon.nTargetComponent = 0;
|
msg19.nCameraID = 0; // 相机ID
|
pParam=new Memory(msg19.size());
|
ToolKits.SetStructDataToPointer(msg19, pParam, 0);
|
ret=netSdk.CLIENT_SendCommandToUAV(loginHandle, emCmdType, pParam, 3000);
|
if(ret){
|
System.out.println("SendCommandToUAV success");
|
}else{
|
System.err.println("SendCommandToUAV false");
|
}
|
break;
|
case 20:
|
// 航点
|
NET_UAVCMD_NAV_WAYPOINT msg20 = new NET_UAVCMD_NAV_WAYPOINT();
|
msg20.stuCommon.nConfirmation = 0;
|
msg20.stuCommon.nTargetSystem = 0;
|
msg20.stuCommon.nTargetComponent = 0;
|
msg20.nHoldTime = 5; // 驻留时间. 单位: 秒
|
msg20.fAcceptanceRadius = 10; // 触发半径. 单位: 米. 进入此半径, 认为该航点结束.
|
msg20.fLatitude = 0; // 纬度
|
msg20.fLongitude = 0; // 经度
|
msg20.fAltitude = 0; // 高度
|
pParam=new Memory(msg20.size());
|
ToolKits.SetStructDataToPointer(msg20, pParam, 0);
|
ret=netSdk.CLIENT_SendCommandToUAV(loginHandle, emCmdType, pParam, 3000);
|
if(ret){
|
System.out.println("SendCommandToUAV success");
|
}else{
|
System.err.println("SendCommandToUAV false");
|
}
|
break;
|
case 21:
|
// 循环绕圈
|
NET_UAVCMD_NAV_LOITER_TURNS msg21 = new NET_UAVCMD_NAV_LOITER_TURNS();
|
msg21.stuCommon.nConfirmation = 0;
|
msg21.stuCommon.nTargetSystem = 0;
|
msg21.stuCommon.nTargetComponent = 0;
|
msg21.nTurnNumber = 5; // 圈数.
|
msg21.fRadius = 10; // 盘旋半径(m), 正值顺时针, 负值逆时针.
|
msg21.fLatitude = 0; // 纬度
|
msg21.fLongitude = 0; // 经度
|
msg21.fAltitude = 0; // 高度
|
pParam=new Memory(msg21.size());
|
ToolKits.SetStructDataToPointer(msg21, pParam, 0);
|
ret=netSdk.CLIENT_SendCommandToUAV(loginHandle, emCmdType, pParam, 3000);
|
if(ret){
|
System.out.println("SendCommandToUAV success");
|
}else{
|
System.err.println("SendCommandToUAV false");
|
}
|
break;
|
case 22:
|
// 固定时间等待航点
|
NET_UAVCMD_NAV_LOITER_TIME msg22 = new NET_UAVCMD_NAV_LOITER_TIME();
|
msg22.stuCommon.nConfirmation = 0;
|
msg22.stuCommon.nTargetSystem = 0;
|
msg22.stuCommon.nTargetComponent = 0;
|
msg22.nTime = 5; //时间. 单位: 秒
|
msg22.fRadius = 10; // 盘旋半径(m), 正值顺时针, 负值逆时针.
|
msg22.fLatitude = 0; // 纬度
|
msg22.fLongitude = 0; // 经度
|
msg22.fAltitude = 0; // 高度
|
pParam=new Memory(msg22.size());
|
ToolKits.SetStructDataToPointer(msg22, pParam, 0);
|
ret=netSdk.CLIENT_SendCommandToUAV(loginHandle, emCmdType, pParam, 3000);
|
if(ret){
|
System.out.println("SendCommandToUAV success");
|
}else{
|
System.err.println("SendCommandToUAV false");
|
}
|
break;
|
case 23:
|
// 曲线航点
|
NET_UAVCMD_NAV_SPLINE_WAYPOINT msg23 = new NET_UAVCMD_NAV_SPLINE_WAYPOINT();
|
msg23.stuCommon.nConfirmation = 0;
|
msg23.stuCommon.nTargetSystem = 0;
|
msg23.stuCommon.nTargetComponent = 0;
|
msg23.nHoldTime = 10; // 驻留时间 Hold time in decimal seconds.
|
msg23.fLatitude = 0; // 纬度
|
msg23.fLongitude = 0; // 经度
|
msg23.fAltitude = 0; // 高度
|
pParam=new Memory(msg23.size());
|
ToolKits.SetStructDataToPointer(msg23, pParam, 0);
|
ret=netSdk.CLIENT_SendCommandToUAV(loginHandle, emCmdType, pParam, 3000);
|
if(ret){
|
System.out.println("SendCommandToUAV success");
|
}else{
|
System.err.println("SendCommandToUAV false");
|
}
|
break;
|
case 24:
|
// 引导模式开关
|
NET_UAVCMD_NAV_GUIDED_ENABLE msg24 = new NET_UAVCMD_NAV_GUIDED_ENABLE();
|
msg24.stuCommon.nConfirmation = 0;
|
msg24.stuCommon.nTargetSystem = 0;
|
msg24.stuCommon.nTargetComponent = 0;
|
msg24.bEnable = 0; // 使能
|
pParam=new Memory(msg24.size());
|
ToolKits.SetStructDataToPointer(msg24, pParam, 0);
|
ret=netSdk.CLIENT_SendCommandToUAV(loginHandle, emCmdType, pParam, 3000);
|
if(ret){
|
System.out.println("SendCommandToUAV success");
|
}else{
|
System.err.println("SendCommandToUAV false");
|
}
|
break;
|
case 25:
|
// 跳转到任务单某个位置. 并执行N次
|
NET_UAVCMD_DO_JUMP msg25 = new NET_UAVCMD_DO_JUMP();
|
msg25.stuCommon.nConfirmation = 0;
|
msg25.stuCommon.nTargetSystem = 0;
|
msg25.stuCommon.nTargetComponent = 0;
|
msg25.nSequenceNumber = 1; // 任务序号
|
msg25.nRepeatCount = 1; // 重复次数
|
pParam=new Memory(msg25.size());
|
ToolKits.SetStructDataToPointer(msg25, pParam, 0);
|
ret=netSdk.CLIENT_SendCommandToUAV(loginHandle, emCmdType, pParam, 3000);
|
if(ret){
|
System.out.println("SendCommandToUAV success");
|
}else{
|
System.err.println("SendCommandToUAV false");
|
}
|
break;
|
case 26:
|
// 引导模式执行控制限制
|
NET_UAVCMD_DO_GUIDED_LIMITS msg26 = new NET_UAVCMD_DO_GUIDED_LIMITS();
|
msg26.stuCommon.nConfirmation = 0;
|
msg26.stuCommon.nTargetSystem = 0;
|
msg26.stuCommon.nTargetComponent = 0;
|
msg26.nMaxTime = 10; // 最大时间. 单位: 秒
|
msg26.fMinAltitude = 10; // 最低限制高度. 单位: 米
|
msg26.fMaxAltitude = 100; // 最大限制高度. 单位: 米
|
msg26.fHorizontalDistance = 10; // 水平限制距离. 单位: 米
|
pParam=new Memory(msg26.size());
|
ToolKits.SetStructDataToPointer(msg26, pParam, 0);
|
ret=netSdk.CLIENT_SendCommandToUAV(loginHandle, emCmdType, pParam, 3000);
|
if(ret){
|
System.out.println("SendCommandToUAV success");
|
}else{
|
System.err.println("SendCommandToUAV false");
|
}
|
break;
|
case 27:
|
// 动作延时
|
NET_UAVCMD_CONDITION_DELAY msg27 = new NET_UAVCMD_CONDITION_DELAY();
|
msg27.stuCommon.nConfirmation = 0;
|
msg27.stuCommon.nTargetSystem = 0;
|
msg27.stuCommon.nTargetComponent = 0;
|
msg27.nDelay = 1; // 延迟时间. 单位: 秒
|
pParam=new Memory(msg27.size());
|
ToolKits.SetStructDataToPointer(msg27, pParam, 0);
|
ret=netSdk.CLIENT_SendCommandToUAV(loginHandle, emCmdType, pParam, 3000);
|
if(ret){
|
System.out.println("SendCommandToUAV success");
|
}else{
|
System.err.println("SendCommandToUAV false");
|
}
|
break;
|
case 28:
|
// 动作距离. 前往设定距离(到下一航点),然后继续
|
NET_UAVCMD_CONDITION_DISTANCE msg28 = new NET_UAVCMD_CONDITION_DISTANCE();
|
msg28.stuCommon.nConfirmation = 0;
|
msg28.stuCommon.nTargetSystem = 0;
|
msg28.stuCommon.nTargetComponent = 0;
|
msg28.fDistance = 1; //距离. 单位: 米
|
pParam=new Memory(msg28.size());
|
ToolKits.SetStructDataToPointer(msg28, pParam, 0);
|
ret=netSdk.CLIENT_SendCommandToUAV(loginHandle, emCmdType, pParam, 3000);
|
if(ret){
|
System.out.println("SendCommandToUAV success");
|
}else{
|
System.err.println("SendCommandToUAV false");
|
}
|
break;
|
case 29:
|
// 相机兴趣点
|
NET_UAVCMD_DO_SET_ROI msg29 = new NET_UAVCMD_DO_SET_ROI();
|
msg29.stuCommon.nConfirmation = 0;
|
msg29.stuCommon.nTargetSystem = 0;
|
msg29.stuCommon.nTargetComponent = 0;
|
msg29.emROIMode = ENUM_UAV_ROI_MODE.ENUM_UAV_ROI_MODE_NONE; // 兴趣点模式,根据枚举值传入所需
|
msg29.nId = 1; // 定航点或编号, 根据emROIMode而定
|
msg29.nROIIndex = 1; // ROI 编号
|
pParam=new Memory(msg29.size());
|
ToolKits.SetStructDataToPointer(msg29, pParam, 0);
|
ret=netSdk.CLIENT_SendCommandToUAV(loginHandle, emCmdType, pParam, 3000);
|
if(ret){
|
System.out.println("SendCommandToUAV success");
|
}else{
|
System.err.println("SendCommandToUAV false");
|
}
|
break;
|
case 30:
|
// 相机控制
|
NET_UAVCMD_DO_DIGICAM_CONTROL msg30 = new NET_UAVCMD_DO_DIGICAM_CONTROL();
|
msg30.stuCommon.nConfirmation = 0;
|
msg30.stuCommon.nTargetSystem = 0;
|
msg30.stuCommon.nTargetComponent = 0;
|
pParam=new Memory(msg30.size());
|
ToolKits.SetStructDataToPointer(msg30, pParam, 0);
|
ret=netSdk.CLIENT_SendCommandToUAV(loginHandle, emCmdType, pParam, 3000);
|
if(ret){
|
System.out.println("SendCommandToUAV success");
|
}else{
|
System.err.println("SendCommandToUAV false");
|
}
|
break;
|
case 31:
|
// 云台角度控制
|
NET_UAVCMD_DO_MOUNT_CONTROL msg31 = new NET_UAVCMD_DO_MOUNT_CONTROL();
|
msg31.stuCommon.nConfirmation = 0;
|
msg31.stuCommon.nTargetSystem = 0;
|
msg31.stuCommon.nTargetComponent = 0;
|
msg31.fPitchAngle = 0; // 俯仰角, 单位: 度. 0: 一键回中, -90 : 一键置90度
|
msg31.fYawAngle = 0; // 航向角, 单位: 度. 0: 一键回中, -90 : 一键置90度
|
pParam=new Memory(msg31.size());
|
ToolKits.SetStructDataToPointer(msg31, pParam, 0);
|
ret=netSdk.CLIENT_SendCommandToUAV(loginHandle, emCmdType, pParam, 3000);
|
if(ret){
|
System.out.println("SendCommandToUAV success");
|
}else{
|
System.err.println("SendCommandToUAV false");
|
}
|
break;
|
case 32:
|
// 聚焦距离
|
NET_UAVCMD_DO_SET_CAM_TRIGG_DIST msg32 = new NET_UAVCMD_DO_SET_CAM_TRIGG_DIST();
|
msg32.stuCommon.nConfirmation = 0;
|
msg32.stuCommon.nTargetSystem = 0;
|
msg32.stuCommon.nTargetComponent = 0;
|
msg32.fDistance = 1; // 聚焦距离
|
pParam=new Memory(msg32.size());
|
ToolKits.SetStructDataToPointer(msg32, pParam, 0);
|
ret=netSdk.CLIENT_SendCommandToUAV(loginHandle, emCmdType, pParam, 3000);
|
if(ret){
|
System.out.println("SendCommandToUAV success");
|
}else{
|
System.err.println("SendCommandToUAV false");
|
}
|
break;
|
case 33:
|
// 设置模式
|
NET_UAVCMD_SET_MODE msg33 = new NET_UAVCMD_SET_MODE();
|
msg33.stuCommon.nConfirmation = 0;
|
msg33.stuCommon.nTargetSystem = 0;
|
msg33.stuCommon.nTargetComponent = 0;
|
msg33.emUAVMode = ENUM_UAV_MODE.ENUM_UAV_MODE_QUADROTOR_STABILIZE; // 飞行模式, 目前仅支持四轴
|
pParam=new Memory(msg33.size());
|
ToolKits.SetStructDataToPointer(msg33, pParam, 0);
|
ret=netSdk.CLIENT_SendCommandToUAV(loginHandle, emCmdType, pParam, 3000);
|
if(ret){
|
System.out.println("SendCommandToUAV success");
|
}else{
|
System.err.println("SendCommandToUAV false");
|
}
|
break;
|
case 34:
|
// 设定引导点
|
NET_UAVCMD_NAV_GUIDED msg34 = new NET_UAVCMD_NAV_GUIDED();
|
msg34.stuCommon.nConfirmation = 0;
|
msg34.stuCommon.nTargetSystem = 0;
|
msg34.stuCommon.nTargetComponent = 0;
|
msg34.fLatitude = 0; // 纬度
|
msg34.fLongitude = 0; // 经度
|
msg34.fAltitude = 0; // 高度
|
pParam=new Memory(msg34.size());
|
ToolKits.SetStructDataToPointer(msg34, pParam, 0);
|
ret=netSdk.CLIENT_SendCommandToUAV(loginHandle, emCmdType, pParam, 3000);
|
if(ret){
|
System.out.println("SendCommandToUAV success");
|
}else{
|
System.err.println("SendCommandToUAV false");
|
}
|
break;
|
case 35:
|
// 飞行任务暂停
|
NET_UAVCMD_MISSION_PAUSE msg35 = new NET_UAVCMD_MISSION_PAUSE();
|
msg35.stuCommon.nConfirmation = 0;
|
msg35.stuCommon.nTargetSystem = 0;
|
msg35.stuCommon.nTargetComponent = 0;
|
pParam=new Memory(msg35.size());
|
ToolKits.SetStructDataToPointer(msg35, pParam, 0);
|
ret=netSdk.CLIENT_SendCommandToUAV(loginHandle, emCmdType, pParam, 3000);
|
if(ret){
|
System.out.println("SendCommandToUAV success");
|
}else{
|
System.err.println("SendCommandToUAV false");
|
}
|
break;
|
case 36:
|
// 飞行任务停止
|
NET_UAVCMD_MISSION_STOP msg36 = new NET_UAVCMD_MISSION_STOP();
|
msg36.stuCommon.nConfirmation = 0;
|
msg36.stuCommon.nTargetSystem = 0;
|
msg36.stuCommon.nTargetComponent = 0;
|
pParam=new Memory(msg36.size());
|
ToolKits.SetStructDataToPointer(msg36, pParam, 0);
|
ret=netSdk.CLIENT_SendCommandToUAV(loginHandle, emCmdType, pParam, 3000);
|
if(ret){
|
System.out.println("SendCommandToUAV success");
|
}else{
|
System.err.println("SendCommandToUAV false");
|
}
|
break;
|
case 37:
|
Pointer param=null;
|
int LoadType=-1;
|
NET_UAVCMD_LOAD_CONTROL SendCmdInfo = new NET_UAVCMD_LOAD_CONTROL();
|
NET_LOAD_CONTROL_COMMON stuInparmaInfo=new NET_LOAD_CONTROL_COMMON();
|
do{
|
System.out.println("请输入负载类型");
|
LoadType=send.nextInt();
|
switch(LoadType){
|
case 0://通用设备
|
// 负载控制
|
SendCmdInfo.stuCommon.nConfirmation = 0;
|
SendCmdInfo.stuCommon.nTargetSystem = 0;
|
SendCmdInfo.stuCommon.nTargetComponent = 0;
|
SendCmdInfo.emLoadType = EM_LOAD_CONTROL_TYPE.EM_LOAD_CONTROL_COMMON;
|
|
SendCmdInfo.stuLoadInfo = stuInparmaInfo;
|
pParam=new Memory(SendCmdInfo.size());
|
ToolKits.SetStructDataToPointer(SendCmdInfo, pParam, 0);
|
ret=netSdk.CLIENT_SendCommandToUAV(loginHandle, emCmdType, pParam, 3000);
|
if(ret){
|
System.out.println("SendCommandToUAV success");
|
}else{
|
System.err.println("SendCommandToUAV false");
|
}
|
break;
|
case 1:// 拍照设备
|
// 负载控制
|
SendCmdInfo.stuCommon.nConfirmation = 0;
|
SendCmdInfo.stuCommon.nTargetSystem = 0;
|
SendCmdInfo.stuCommon.nTargetComponent = 0;
|
SendCmdInfo.emLoadType = EM_LOAD_CONTROL_TYPE.EM_LOAD_CONTROL_PHOTO;
|
|
NET_LOAD_CONTROL_PHOTO stuTypeInfo1 = new NET_LOAD_CONTROL_PHOTO();
|
stuTypeInfo1.fCycle = 10;// 拍照周期 单位s
|
param=new Memory(stuTypeInfo1.size());
|
ToolKits.SetStructDataToPointer(stuTypeInfo1, param, 0);
|
ToolKits.GetPointerData(param, stuInparmaInfo);
|
SendCmdInfo.stuLoadInfo = stuInparmaInfo;
|
|
pParam=new Memory(SendCmdInfo.size());
|
ToolKits.SetStructDataToPointer(SendCmdInfo, pParam, 0);
|
ret=netSdk.CLIENT_SendCommandToUAV(loginHandle, emCmdType, pParam, 3000);
|
if(ret){
|
System.out.println("SendCommandToUAV success");
|
}else{
|
System.err.println("SendCommandToUAV false");
|
}
|
break;
|
case 2: // 视频设备
|
// 负载控制
|
SendCmdInfo.stuCommon.nConfirmation = 0;
|
SendCmdInfo.stuCommon.nTargetSystem = 0;
|
SendCmdInfo.stuCommon.nTargetComponent = 0;
|
SendCmdInfo.emLoadType = EM_LOAD_CONTROL_TYPE.EM_LOAD_CONTROL_VIDEO;
|
|
NET_LOAD_CONTROL_VIDEO stuTypeInfo2 = new NET_LOAD_CONTROL_VIDEO();
|
stuTypeInfo2.nSwitch = 0;// 开关 0-结束录像 1-开始录像
|
param=new Memory(stuTypeInfo2.size());
|
ToolKits.SetStructDataToPointer(stuTypeInfo2, param, 0);
|
ToolKits.GetPointerData(param, stuInparmaInfo);
|
SendCmdInfo.stuLoadInfo = stuInparmaInfo;
|
|
pParam=new Memory(SendCmdInfo.size());
|
ToolKits.SetStructDataToPointer(SendCmdInfo, pParam, 0);
|
ret=netSdk.CLIENT_SendCommandToUAV(loginHandle, emCmdType, pParam, 3000);
|
if(ret){
|
System.out.println("SendCommandToUAV success");
|
}else{
|
System.err.println("SendCommandToUAV false");
|
}
|
break;
|
case 3:// 音频设备
|
// 负载控制
|
SendCmdInfo.stuCommon.nConfirmation = 0;
|
SendCmdInfo.stuCommon.nTargetSystem = 0;
|
SendCmdInfo.stuCommon.nTargetComponent = 0;
|
SendCmdInfo.emLoadType = EM_LOAD_CONTROL_TYPE.EM_LOAD_CONTROL_AUDIO;
|
|
NET_LOAD_CONTROL_AUDIO stuTypeInfo3 = new NET_LOAD_CONTROL_AUDIO();
|
param=new Memory(stuTypeInfo3.size());
|
ToolKits.SetStructDataToPointer(stuTypeInfo3, param, 0);
|
ToolKits.GetPointerData(param, stuInparmaInfo);
|
SendCmdInfo.stuLoadInfo = stuInparmaInfo;
|
|
pParam=new Memory(SendCmdInfo.size());
|
ToolKits.SetStructDataToPointer(SendCmdInfo, pParam, 0);
|
ret=netSdk.CLIENT_SendCommandToUAV(loginHandle, emCmdType, pParam, 3000);
|
if(ret){
|
System.out.println("SendCommandToUAV success");
|
}else{
|
System.err.println("SendCommandToUAV false");
|
}
|
break;
|
case 4:// 灯光设备
|
// 负载控制
|
SendCmdInfo.stuCommon.nConfirmation = 0;
|
SendCmdInfo.stuCommon.nTargetSystem = 0;
|
SendCmdInfo.stuCommon.nTargetComponent = 0;
|
SendCmdInfo.emLoadType = EM_LOAD_CONTROL_TYPE.EM_LOAD_CONTROL_LIGHT;
|
|
NET_LOAD_CONTROL_LIGHT stuTypeInfo4 = new NET_LOAD_CONTROL_LIGHT();
|
stuTypeInfo4.nSwitch = 0;// 开关 0-关闭 1-打开
|
param=new Memory(stuTypeInfo4.size());
|
ToolKits.SetStructDataToPointer(stuTypeInfo4, param, 0);
|
ToolKits.GetPointerData(param, stuInparmaInfo);
|
SendCmdInfo.stuLoadInfo = stuInparmaInfo;
|
|
pParam=new Memory(SendCmdInfo.size());
|
ToolKits.SetStructDataToPointer(SendCmdInfo, pParam, 0);
|
ret=netSdk.CLIENT_SendCommandToUAV(loginHandle, emCmdType, pParam, 3000);
|
if(ret){
|
System.out.println("SendCommandToUAV success");
|
}else{
|
System.err.println("SendCommandToUAV false");
|
}
|
break;
|
case 5:// 继电器设备
|
// 负载控制
|
SendCmdInfo.stuCommon.nConfirmation = 0;
|
SendCmdInfo.stuCommon.nTargetSystem = 0;
|
SendCmdInfo.stuCommon.nTargetComponent = 0;
|
SendCmdInfo.emLoadType = EM_LOAD_CONTROL_TYPE.EM_LOAD_CONTROL_RELAY;
|
|
NET_LOAD_CONTROL_RELAY stuTypeInfo5 = new NET_LOAD_CONTROL_RELAY();
|
stuTypeInfo5.nSwitch = 0;// 开关 0-关闭 1-打开
|
param=new Memory(stuTypeInfo5.size());
|
ToolKits.SetStructDataToPointer(stuTypeInfo5, param, 0);
|
ToolKits.GetPointerData(param, stuInparmaInfo);
|
SendCmdInfo.stuLoadInfo = stuInparmaInfo;
|
|
pParam=new Memory(SendCmdInfo.size());
|
ToolKits.SetStructDataToPointer(SendCmdInfo, pParam, 0);
|
ret=netSdk.CLIENT_SendCommandToUAV(loginHandle, emCmdType, pParam, 3000);
|
if(ret){
|
System.out.println("SendCommandToUAV success");
|
}else{
|
System.err.println("SendCommandToUAV false");
|
}
|
break;
|
case 6:// 定时拍照设备
|
// 负载控制
|
SendCmdInfo.stuCommon.nConfirmation = 0;
|
SendCmdInfo.stuCommon.nTargetSystem = 0;
|
SendCmdInfo.stuCommon.nTargetComponent = 0;
|
SendCmdInfo.emLoadType = EM_LOAD_CONTROL_TYPE.EM_LOAD_CONTROL_TIMING;
|
|
NET_LOAD_CONTROL_TIMING stuTypeInfo6 = new NET_LOAD_CONTROL_TIMING();
|
stuTypeInfo6.nInterval = 10;// 拍照时间间隔 单位:s
|
stuTypeInfo6.nSwitch = 0;// 起停控制 0-停止 1-启用
|
param=new Memory(stuTypeInfo6.size());
|
ToolKits.SetStructDataToPointer(stuTypeInfo6, param, 0);
|
ToolKits.GetPointerData(param, stuInparmaInfo);
|
SendCmdInfo.stuLoadInfo = stuInparmaInfo;
|
|
pParam=new Memory(SendCmdInfo.size());
|
ToolKits.SetStructDataToPointer(SendCmdInfo, pParam, 0);
|
ret=netSdk.CLIENT_SendCommandToUAV(loginHandle, emCmdType, pParam, 3000);
|
if(ret){
|
System.out.println("SendCommandToUAV success");
|
}else{
|
System.err.println("SendCommandToUAV false");
|
}
|
break;
|
case 7:// 定距拍照设备
|
// 负载控制
|
SendCmdInfo.stuCommon.nConfirmation = 0;
|
SendCmdInfo.stuCommon.nTargetSystem = 0;
|
SendCmdInfo.stuCommon.nTargetComponent = 0;
|
SendCmdInfo.emLoadType = EM_LOAD_CONTROL_TYPE.EM_LOAD_CONTROL_DISTANCE;
|
|
NET_LOAD_CONTROL_DISTANCE stuTypeInfo7 = new NET_LOAD_CONTROL_DISTANCE();
|
stuTypeInfo7.nInterval = 10;// 拍照时间间隔 单位:s
|
stuTypeInfo7.nSwitch = 0;// 起停控制 0-停止 1-启用
|
param=new Memory(stuTypeInfo7.size());
|
ToolKits.SetStructDataToPointer(stuTypeInfo7, param, 0);
|
ToolKits.GetPointerData(param, stuInparmaInfo);
|
SendCmdInfo.stuLoadInfo = stuInparmaInfo;
|
|
pParam=new Memory(SendCmdInfo.size());
|
ToolKits.SetStructDataToPointer(SendCmdInfo, pParam, 0);
|
ret=netSdk.CLIENT_SendCommandToUAV(loginHandle, emCmdType, pParam, 3000);
|
if(ret){
|
System.out.println("SendCommandToUAV success");
|
}else{
|
System.err.println("SendCommandToUAV false");
|
}
|
break;
|
}
|
}while(LoadType!=-1);
|
|
break;
|
case 38:
|
// 摇杆模拟
|
NET_UAVCMD_RC_CHANNELS_OVERRIDE msg38 = new NET_UAVCMD_RC_CHANNELS_OVERRIDE();
|
|
pParam=new Memory(msg38.size());
|
ToolKits.SetStructDataToPointer(msg38, pParam, 0);
|
ret=netSdk.CLIENT_SendCommandToUAV(loginHandle, emCmdType, pParam, 3000);
|
if(ret){
|
System.out.println("SendCommandToUAV success");
|
}else{
|
System.err.println("SendCommandToUAV false");
|
}
|
break;
|
case 39:
|
// 心跳结构体
|
NET_UAVCMD_HEART_BEAT msg39 = new NET_UAVCMD_HEART_BEAT();
|
|
pParam=new Memory(msg39.size());
|
ToolKits.SetStructDataToPointer(msg39, pParam, 0);
|
ret=netSdk.CLIENT_SendCommandToUAV(loginHandle, emCmdType, pParam, 3000);
|
if(ret){
|
System.out.println("SendCommandToUAV success");
|
}else{
|
System.err.println("SendCommandToUAV false");
|
}
|
break;
|
}
|
}while(emCmdType!=-1);
|
send.close();
|
}
|
|
/**
|
* 设备断线回调
|
*/
|
private static class DisConnectCallBack implements NetSDKLib.fDisConnect {
|
|
private DisConnectCallBack() {
|
}
|
|
private static class CallBackHolder {
|
private static DisConnectCallBack instance = new DisConnectCallBack();
|
}
|
|
public static DisConnectCallBack getInstance() {
|
return CallBackHolder.instance;
|
}
|
|
public void invoke(NetSDKLib.LLong lLoginID, String pchDVRIP, int nDVRPort, Pointer dwUser) {
|
System.out.printf("Device[%s] Port[%d] DisConnect!\n", pchDVRIP, nDVRPort);
|
}
|
}
|
|
/**
|
* 设备重连回调
|
*/
|
private static class HaveReConnectCallBack implements NetSDKLib.fHaveReConnect {
|
private HaveReConnectCallBack() {
|
}
|
|
private static class CallBackHolder {
|
private static HaveReConnectCallBack instance = new HaveReConnectCallBack();
|
}
|
|
public static HaveReConnectCallBack getInstance() {
|
return CallBackHolder.instance;
|
}
|
|
public void invoke(NetSDKLib.LLong m_hLoginHandle, String pchDVRIP, int nDVRPort, Pointer dwUser) {
|
System.out.printf("ReConnect Device[%s] Port[%d]\n", pchDVRIP, nDVRPort);
|
|
}
|
}
|
|
/**
|
* 无人机任务状态回调
|
*/
|
private static class MissionStateCallBack implements NetSDKLib.fUAVMissionStateCallBack {
|
private MissionStateCallBack() {
|
}
|
|
private static class CallBackHolder {
|
private static MissionStateCallBack instance = new MissionStateCallBack();
|
}
|
|
public static MissionStateCallBack getInstance() {
|
return CallBackHolder.instance;
|
}
|
|
@Override
|
public void invoke(LLong lAttachHandle, NET_UAVMISSION_STATE pstuState,
|
int dwStateInfoSize, Pointer dwUser) {
|
// TODO Auto-generated method stub
|
//打印的字段有些类型，
|
switch (pstuState.emType)
|
{
|
case ENUM_UAVMISSION_TYPE.ENUM_UAVMISSION_TYPE_WP_UPLOAD: // 航点上传
|
{
|
System.out.println("航点上传状态："+pstuState.emState);
|
}
|
break;
|
case ENUM_UAVMISSION_TYPE.ENUM_UAVMISSION_TYPE_WP_DOWNLOAD: // 航点下载
|
{
|
System.out.println("航点状态："+pstuState.emState);
|
}
|
break;
|
}
|
}
|
}
|
public void RunTest(){
|
CaseMenu menu=new CaseMenu();
|
menu.addItem((new CaseMenu.Item(this , "无人机通用设置" , "SendCommandToUAV")));
|
menu.addItem((new CaseMenu.Item(this , "获取航点总数 " , "GetUAVMissonCount")));
|
menu.addItem((new CaseMenu.Item(this , "获取UAV航点信息" , "GetUAVMisson")));
|
menu.addItem((new CaseMenu.Item(this , "设置UAV航点信息 " , "WriteUAVMissions")));
|
menu.addItem((new CaseMenu.Item(this , "订阅UAV航点任务" , "AttachUAVMissonState")));
|
menu.addItem((new CaseMenu.Item(this , "退订UAV航点任务" , "DettachUAVMissonState")));
|
menu.run();
|
}
|
|
|
public static void main(String []args){
|
UAVDemo XM=new UAVDemo();
|
XM.InitTest();
|
XM.RunTest();
|
XM.LoginOut();
|
}
|
}
|
