49 lines
1.8 KiB
Python
49 lines
1.8 KiB
Python
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from __future__ import annotations
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from uas.uas_control.base_controller import BaseUASController
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from uas.uas_control.command import Command, CommandResult, CommandType, Commands
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# ═════════════════════════════════════════════════════════════════
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# 扩展示例：自定义无人船控制器（演示扩展性）
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# ═════════════════════════════════════════════════════════════════
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class USVController(BaseUASController):
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"""
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无人水面艇（USV）控制器 — 扩展示例
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演示如何通过继承 BaseUASController 快速接入新设备类型。
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只需实现 device_type 和设备专有 API，
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底层协议由 Adapter 屏蔽（可复用 MAVLink / ROS / 自定义 SDK）。
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"""
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@property
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def device_type(self) -> str:
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return "usv"
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def set_throttle(self, left: float, right: float) -> CommandResult:
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"""差速推进（左/右推进器油门，-1.0~1.0）"""
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return self.send(Commands.custom(
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self.device_id, "set_throttle",
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left=left, right=right,
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))
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def anchor(self) -> CommandResult:
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"""抛锚（原地保持）"""
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return self.send(Commands.custom(
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self.device_id, "anchor"
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))
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def patrol(self, waypoints: list) -> CommandResult:
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"""水面巡逻"""
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return self.send(Command(
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command_type = CommandType.FOLLOW_ROUTE,
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target_id = self.device_id,
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params = {"waypoints": waypoints, "mode": "patrol"},
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))
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@property
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def device_type(self) -> str:
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return "usv"
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