import org.droidplanner.core.gcs.follow.Follow; //导入依赖的package包/类
private FollowState getFollowState() {
    final Follow followMe = this.droneMgr.getFollowMe();
    final double radius = followMe.getRadius().valueInMeters();

    final int state;
    switch (followMe.getState()) {

        default:
        case FOLLOW_INVALID_STATE:
            state = FollowState.STATE_INVALID;
            break;

        case FOLLOW_DRONE_NOT_ARMED:
            state = FollowState.STATE_DRONE_NOT_ARMED;
            break;

        case FOLLOW_DRONE_DISCONNECTED:
            state = FollowState.STATE_DRONE_DISCONNECTED;
            break;

        case FOLLOW_START:
            state = FollowState.STATE_START;
            break;

        case FOLLOW_RUNNING:
            state = FollowState.STATE_RUNNING;
            break;

        case FOLLOW_END:
            state = FollowState.STATE_END;
            break;
    }

    return new FollowState(state, radius, followModeToType(followMe.getType()));
}
 

import org.droidplanner.core.gcs.follow.Follow; //导入依赖的package包/类
public Follow getFollowMe() {
    return followMe;
}
 

import org.droidplanner.core.gcs.follow.Follow; //导入依赖的package包/类
@Override
public void enableFollowMe(FollowType followType) throws RemoteException {
    final FollowAlgorithm.FollowModes selectedMode;
    switch (followType) {
        case ABOVE:
            selectedMode = FollowAlgorithm.FollowModes.ABOVE;
            break;

        case LEAD:
            selectedMode = FollowAlgorithm.FollowModes.LEAD;
            break;

        case LEASH:
            selectedMode = FollowAlgorithm.FollowModes.LEASH;
            break;

        case CIRCLE:
            selectedMode = FollowAlgorithm.FollowModes.CIRCLE;
            break;

        case LEFT:
            selectedMode = FollowAlgorithm.FollowModes.LEFT;
            break;

        case RIGHT:
            selectedMode = FollowAlgorithm.FollowModes.RIGHT;
            break;

        default:
            selectedMode = null;
            break;
    }

    if (selectedMode != null) {
        final Follow followMe = this.droneMgr.getFollowMe();
        if (!followMe.isEnabled())
            followMe.toggleFollowMeState();

        followMe.setType(selectedMode);
    }
}
 

import org.droidplanner.core.gcs.follow.Follow; //导入依赖的package包/类
@Override
public void disableFollowMe() throws RemoteException {
    Follow follow = this.droneMgr.getFollowMe();
    if (follow.isEnabled())
        follow.toggleFollowMeState();
}
 

import org.droidplanner.core.gcs.follow.Follow; //导入依赖的package包/类
public Logic() {
	Handler handler = new org.droidplanner.desktop.logic.Handler();
	drone = new DroneImpl(link, new Clock(), handler,FakeFactory.fakePreferences());
	mavlinkHandler = new MavLinkMsgHandler(drone);
	follow = new Follow(drone, handler, new FakeLocation());
}
 

import org.droidplanner.core.gcs.follow.Follow; //导入依赖的package包/类
public Follow getFollowMe(){
    return followMe;
}