package yaokong;
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import java.io.IOException;
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import java.io.InputStream;
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import java.io.OutputStream;
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import java.nio.ByteBuffer;
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import java.nio.ByteOrder;
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import java.util.List;
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public class PathCommandSender extends WaitForAck {
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public PathCommandSender(InputStream inputStream, OutputStream outputStream) {
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super(inputStream, outputStream);
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}
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// 发送多点路径数据给设备端执行
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public boolean sendPathCommand(List<Point> points) throws IOException {
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if (points == null || points.isEmpty() || points.size() > 255) {
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return false;
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}
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int pointCount = points.size();
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int dataLength = 1 + pointCount * 16; // 1字节点数 + 每个点16字节
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ByteBuffer buffer = ByteBuffer.allocate(2 + 1 + 2 + 2 + dataLength + 2 + 1);
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buffer.order(ByteOrder.LITTLE_ENDIAN);
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// 帧头
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buffer.put(BluetoothProtocol.FRAME_HEADER);
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// 指令类型
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buffer.put(BluetoothProtocol.CMD_PATH);
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// 数据长度
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buffer.putShort((short) dataLength);
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// 序列号
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buffer.putShort((short) BluetoothProtocol.getNextSequence());
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// 路径点数量
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buffer.put((byte) pointCount);
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// 路径点数据
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for (Point point : points) {
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buffer.putDouble(point.x);
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buffer.putDouble(point.y);
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}
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// 计算CRC16（从指令类型到数据内容结束）
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byte[] dataForCRC = new byte[1 + 2 + 2 + dataLength];
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System.arraycopy(buffer.array(), 2, dataForCRC, 0, dataForCRC.length);
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int crc = CRC16.calculateCRC16(dataForCRC, 0, dataForCRC.length);
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buffer.putShort((short) crc);
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// 帧尾
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buffer.put(BluetoothProtocol.FRAME_FOOTER);
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// 发送数据
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outputStream.write(buffer.array());
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outputStream.flush();
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return waitForAck(BluetoothProtocol.CMD_PATH);
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}
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public static class Point {
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public double x;
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public double y;
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// 使用指定坐标构造路径点
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public Point(double x, double y) {
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this.x = x;
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this.y = y;
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}
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}
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}
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