package com.ard.tianyu.netty.handler;// MessageProtocolDecoder.java
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import com.ard.tianyu.netty.command.*;
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import com.ard.tianyu.netty.command.camera.CameraModeReplyCmd;
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import com.ard.tianyu.netty.command.camera.CapturePicReplyCmd;
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import com.ard.tianyu.netty.command.camera.RecordStartReplyCmd;
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import com.ard.tianyu.netty.command.camera.RecordStopReplyCmd;
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import com.ard.tianyu.netty.command.manual.*;
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import com.ard.tianyu.netty.command.notice.BoxPowerStatusReplyCmd;
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import com.ard.tianyu.netty.command.notice.FlyWayEndReplyCmd;
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import com.ard.tianyu.netty.command.notice.UavReadyReplyCmd;
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import com.ard.tianyu.netty.command.real.SignalInfoCmd;
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import com.ard.tianyu.netty.command.real.UavStateCmd;
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import com.ard.tianyu.netty.command.real.UavTelemetryDataCmd;
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import com.ard.tianyu.netty.command.register.HeartbeatReplyCmd;
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import com.ard.tianyu.netty.command.register.RegisterReplyCmd;
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import com.ard.tianyu.netty.command.register.UavInitReplyCmd;
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import com.ard.tianyu.netty.protobuf.TelemetryDataPB;
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import io.netty.buffer.ByteBuf;
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import io.netty.channel.ChannelHandlerContext;
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import io.netty.handler.codec.ByteToMessageDecoder;
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import lombok.extern.slf4j.Slf4j;
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import java.util.List;
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@Slf4j
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public class MessageProtocolDecoder extends ByteToMessageDecoder {
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@Override
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protected void decode(ChannelHandlerContext ctx, ByteBuf in, List<Object> out) throws Exception {
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// 检查可读字节数是否足够
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if (in.readableBytes() < 4) {
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return; // 不足以读取头部
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}
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in.markReaderIndex(); // 标记当前读取位置
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short dataHead = in.readShort();
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if (dataHead != 0x6A77) {
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return;
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}
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short dataLength = in.readShort();
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if (in.readableBytes() < dataLength) {
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in.resetReaderIndex(); // 如果不足，重置读取位置
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return;
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}
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byte cmdCode = in.readByte();
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BaseCmd baseCmd = null;
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switch (cmdCode) {
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case 0x01:
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byte success = in.readByte(); // 读取是否成功
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log.warn("注册回复: {}", success == 0x01 ? "成功" : "失败");
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baseCmd = new RegisterReplyCmd(success);
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break;
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case 0x02:
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long timestamp = in.readLong(); // 读取时间戳
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baseCmd = new HeartbeatReplyCmd(timestamp);
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log.debug("心跳回复: 时间戳 {}", timestamp);
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break;
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case 0x03:
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case 0x04:
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break;
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case 0x0A:
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byte status = in.readByte();
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baseCmd = new BoxPowerStatusReplyCmd(status);
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log.debug("云盒开机/关机通知回复: 状态 {}", String.format("0x%02X", status & 0xFF));
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break;
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case (byte) 0xA8:
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byte[] uavStatus = new byte[dataLength - 1];
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in.readBytes(uavStatus); // 读取 ProtoBuf 数据
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TelemetryDataPB.UavState uavState = TelemetryDataPB.UavState.parseFrom(uavStatus);
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baseCmd = new UavStateCmd(uavState);
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log.debug("无人机状态数据： {}", uavState.getBoxSn());
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break;
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case (byte) 0xA9:
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byte[] uavData = new byte[dataLength - 1];
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in.readBytes(uavData);
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TelemetryDataPB.TelemetryData telemetryData = TelemetryDataPB.TelemetryData.parseFrom(uavData);
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baseCmd = new UavTelemetryDataCmd(telemetryData);
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log.debug("遥测数据： {}", telemetryData.getBoxSn());
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break;
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case (byte) 0x0C:
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int delayTime = in.readInt();
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uavData = new byte[15];
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in.readBytes(uavData);
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// String boxSn12 = new String(uavData);
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uavData = new byte[dataLength - 20];
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in.readBytes(uavData);
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TelemetryDataPB.SignalInfo signalInfo = TelemetryDataPB.SignalInfo.parseFrom(uavData);
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baseCmd = new SignalInfoCmd(signalInfo);
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log.debug("信道质量数据： {}", delayTime);
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break;
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case (byte) 0xD1:
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byte encryptionFlag = in.readByte();
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byte actionCode = in.readByte();
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switch (actionCode) {
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case 0x11:
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byte result = in.readByte();
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int errorCode = in.readInt();
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uavData = new byte[15];
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in.readBytes(uavData);
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String boxSn = new String(uavData);
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baseCmd = new TakeOffReplyCmd(boxSn, result, errorCode);
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log.debug("起飞回复: {}", boxSn);
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break;
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case 0x12:
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result = in.readByte();
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errorCode = in.readInt();
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uavData = new byte[15];
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in.readBytes(uavData);
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boxSn = new String(uavData);
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baseCmd = new ReturnHomeReplyCmd(boxSn, result, errorCode);
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log.debug("返航回复: {}", boxSn);
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break;
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case 0x13:
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result = in.readByte();
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errorCode = in.readInt();
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uavData = new byte[15];
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in.readBytes(uavData);
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boxSn = new String(uavData);
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baseCmd = new ReturnHomeCancelReplyCmd(boxSn, result, errorCode);
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log.debug("取消返航回复: {}", boxSn);
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break;
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case 0x14:
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result = in.readByte();
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errorCode = in.readInt();
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uavData = new byte[15];
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in.readBytes(uavData);
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boxSn = new String(uavData);
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baseCmd = new LandReplyCmd(boxSn, result, errorCode);
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log.debug("降落回复: {}", boxSn);
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break;
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case 0x15:
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result = in.readByte();
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errorCode = in.readInt();
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uavData = new byte[15];
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in.readBytes(uavData);
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boxSn = new String(uavData);
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baseCmd = new LandCancelReplyCmd(boxSn, result, errorCode);
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log.debug("取消降落回复: {}", boxSn);
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break;
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case 0x29:
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result = in.readByte();
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errorCode = in.readInt();
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uavData = new byte[15];
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in.readBytes(uavData);
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boxSn = new String(uavData);
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baseCmd = new LandForcedReplyCmd(boxSn, result, errorCode);
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log.debug("强制降落回复: {}", boxSn);
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break;
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case 0x32:
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result = in.readByte();
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errorCode = in.readInt();
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uavData = new byte[15];
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in.readBytes(uavData);
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boxSn = new String(uavData);
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baseCmd = new EmergencyBrakeReplyCmd(boxSn, result, errorCode);
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log.debug("紧急制动回复: {}", boxSn);
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break;
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case 0x39:
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result = in.readByte();
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errorCode = in.readInt();
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uavData = new byte[15];
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in.readBytes(uavData);
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boxSn = new String(uavData);
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baseCmd = new PointControlReachedReplyCmd(boxSn, result, errorCode);
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log.debug("到达指点飞行位置回复: {}", boxSn);
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break;
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case 0x22:
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result = in.readByte();
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errorCode = in.readInt();
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uavData = new byte[15];
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in.readBytes(uavData);
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boxSn = new String(uavData);
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baseCmd = new CameraModeReplyCmd(boxSn, result, errorCode);
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log.debug("设置相机模式回复: {}", boxSn);
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break;
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case 0x23:
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result = in.readByte();
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errorCode = in.readInt();
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uavData = new byte[15];
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in.readBytes(uavData);
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boxSn = new String(uavData);
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baseCmd = new CapturePicReplyCmd(boxSn, result, errorCode);
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log.debug("拍照回复: {}", boxSn);
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break;
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case 0x24:
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result = in.readByte();
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errorCode = in.readInt();
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uavData = new byte[15];
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in.readBytes(uavData);
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boxSn = new String(uavData);
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baseCmd = new RecordStartReplyCmd(boxSn, result, errorCode);
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log.debug("开始录像回复: {}", boxSn);
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break;
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case 0x25:
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result = in.readByte();
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errorCode = in.readInt();
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uavData = new byte[15];
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in.readBytes(uavData);
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boxSn = new String(uavData);
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baseCmd = new RecordStopReplyCmd(boxSn, result, errorCode);
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log.debug("停止录像回复: {}", boxSn);
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break;
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case 0x2E:
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result = in.readByte();
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errorCode = in.readInt();
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uavData = new byte[15];
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in.readBytes(uavData);
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boxSn = new String(uavData);
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baseCmd = new FlyWayEndReplyCmd(boxSn, result, errorCode);
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log.debug("航线结束通知回复: {}", boxSn);
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break;
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case 0x3D:
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byte batteryPower = in.readByte();
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double longitude = in.readDouble();
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double latitude = in.readDouble();
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int altitude = in.readInt();
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uavData = new byte[dataLength - 24];
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in.readBytes(uavData);
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boxSn = new String(uavData);
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baseCmd = new UavReadyReplyCmd(boxSn, batteryPower, longitude, latitude, altitude);
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log.debug("无人机准备完成通知回复: 电池电量 {}", String.format("0x%02X", batteryPower & 0xFF));
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break;
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case 0x42:
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byte[] uavData1 = new byte[dataLength - 18];
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in.readBytes(uavData1);
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byte[] uavData2 = new byte[15];
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in.readBytes(uavData2);
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boxSn = new String(uavData2);
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TelemetryDataPB.UavInitInfo uavInitInfo = TelemetryDataPB.UavInitInfo.parseFrom(uavData1);
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baseCmd = new UavInitReplyCmd(boxSn, uavInitInfo);
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log.debug("无人机初始化数据： {}", boxSn);
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break;
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default:
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log.warn("无法识别的命令码动作编号：{}", String.format("0x%02X", actionCode & 0xFF));
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break;
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}
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break;
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default:
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encryptionFlag = in.readByte();
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actionCode = in.readByte();
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log.warn("无法识别的命令码: {},加密标志：{},动作编号：{}",
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String.format("0x%02X", cmdCode & 0xFF),
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String.format("0x%02X", encryptionFlag & 0xFF),
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String.format("0x%02X", actionCode & 0xFF));//String.format("0x%02X", cmdCode & 0xFF)
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}
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if (baseCmd != null) {
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out.add(baseCmd);
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}
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}
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}
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