package com.ard.work.component.netty.handler;// MessageProtocolDecoder.java
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import com.ard.common.utils.ByteUtils;
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import com.ard.work.component.netty.command.camera.*;
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import com.ard.work.component.netty.command.manual.*;
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import com.ard.work.component.netty.command.wayline.*;
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import com.ard.work.domain.dto.converter.realdata.UavSignalInfoConverter;
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import com.ard.work.domain.dto.converter.realdata.UavStateConverter;
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import com.ard.work.domain.dto.converter.realdata.UavTelemetryDataConverter;
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import com.ard.work.domain.dto.signal.SignalInfo;
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import com.ard.work.domain.dto.state.UavState;
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import com.ard.work.domain.dto.telemetry.TelemetryData;
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import com.ard.work.component.netty.command.BaseCmd;
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import com.ard.work.component.netty.command.notice.BoxPowerStatusReplyCmd;
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import com.ard.work.component.netty.command.notice.WayLineFinishedReplyCmd;
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import com.ard.work.component.netty.command.notice.UavReadyReplyCmd;
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import com.ard.work.component.netty.command.real.SignalInfoCmd;
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import com.ard.work.component.netty.command.real.UavStateCmd;
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import com.ard.work.component.netty.command.real.UavTelemetryDataCmd;
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import com.ard.work.component.netty.command.register.HeartbeatReplyCmd;
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import com.ard.work.component.netty.command.register.RegisterReplyCmd;
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import com.ard.work.component.netty.command.settings.ReturnHeightSettingReplyCmd;
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import com.ard.work.component.netty.command.settings.ReturnPointSettingReplyCmd;
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import com.ard.work.component.netty.command.settings.VideoStreamSettingReplyCmd;
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import com.ard.work.component.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.nio.charset.StandardCharsets;
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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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byte actionCode;
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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 0x09:
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in.readByte();//加密标志
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double longitude = in.readDouble();
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double latitude = in.readDouble();
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timestamp = in.readLong(); // 读取时间戳
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long picLength = in.readLong(); // 读取原图大小
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byte[] boxSn = new byte[15];
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in.readBytes(boxSn);// 读取boxSn
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byte[] pic = new byte[dataLength - 49];
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in.readBytes(pic);// 读取原图地址
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String picPath = new String(pic, StandardCharsets.UTF_8);
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baseCmd = new PicUploadCompletedReplyCmd(longitude, latitude, timestamp, picLength, boxSn, pic);
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log.warn("图片上传完成通知回复: 图片 {}", picPath);
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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 {}", ByteUtils.byteToHex(status));
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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 uavStatePB = TelemetryDataPB.UavState.parseFrom(uavStatus);
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UavState uavState = UavStateConverter.convertProtoToEntity(uavStatePB);
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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[] telemetryDataBytes = new byte[dataLength - 1];
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in.readBytes(telemetryDataBytes);
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TelemetryDataPB.TelemetryData telemetryDataPB =
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TelemetryDataPB.TelemetryData.parseFrom(telemetryDataBytes);
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TelemetryData telemetryData = UavTelemetryDataConverter.convertProtoToEntity(telemetryDataPB);
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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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byte[] signalInfoBytes = new byte[15];
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in.readBytes(signalInfoBytes);
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signalInfoBytes = new byte[dataLength - 20];
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in.readBytes(signalInfoBytes);
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TelemetryDataPB.SignalInfo signalInfoPB = TelemetryDataPB.SignalInfo.parseFrom(signalInfoBytes);
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SignalInfo signalInfo = UavSignalInfoConverter.convertProtoToEntity(signalInfoPB);
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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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in.readByte();//加密标志
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actionCode = in.readByte();//动作编号
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baseCmd = processD1ReplyCmd(in, actionCode);
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break;
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case (byte) 0xD2:
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in.readByte();//加密标志
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actionCode = in.readByte();//动作编号
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baseCmd = processD2ReplyCmd(in, actionCode);
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break;
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default:
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in.readByte();//加密标志
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actionCode = in.readByte();
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log.warn("无法识别的命令码: {},动作编号：{}",
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ByteUtils.byteToHex(cmdCode),
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ByteUtils.byteToHex(actionCode)
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);
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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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//处理D1指令回复
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private BaseCmd processD1ReplyCmd(ByteBuf in, byte actionCode) {
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byte result = in.readByte();
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int errorCode = in.readInt();
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byte[] uavData = new byte[15];
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in.readBytes(uavData);
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String boxSn = new String(uavData);
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switch (actionCode) {
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case 0x10:
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return new WayLineUploadReplyCmd(boxSn, result, errorCode);
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case 0x11:
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return new TakeOffReplyCmd(boxSn, result, errorCode);
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case 0x12:
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return new ReturnHomeReplyCmd(boxSn, result, errorCode);
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case 0x13:
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return new ReturnHomeCancelReplyCmd(boxSn, result, errorCode);
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case 0x14:
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return new LandReplyCmd(boxSn, result, errorCode);
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case 0x15:
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return new LandCancelReplyCmd(boxSn, result, errorCode);
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case 0x17:
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return new WayLineBeginReplyCmd(boxSn, result, errorCode);
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case 0x18:
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return new WayLinePauseReplyCmd(boxSn, result, errorCode);
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case 0x19:
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return new WayLineResumeReplyCmd(boxSn, result, errorCode);
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case 0x20:
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return new WayLineEndReplyCmd(boxSn, result, errorCode);
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case 0x21:
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return new ReturnHeightSettingReplyCmd(boxSn, result, errorCode);
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case 0x29:
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return new LandForcedReplyCmd(boxSn, result, errorCode);
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case 0x31:
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return new ReturnPointSettingReplyCmd(boxSn, result, errorCode);
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case 0x32:
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return new EmergencyBrakeReplyCmd(boxSn, result, errorCode);
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case 0x39:
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return new PointControlReachedReplyCmd(boxSn, result, errorCode);
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case 0x3B:
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return new FlyRoundReplyCmd(boxSn, result, errorCode);
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case 0x22:
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return new CameraModeReplyCmd(boxSn, result, errorCode);
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case 0x23:
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return new CapturePicReplyCmd(boxSn, result, errorCode);
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case 0x24:
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return new RecordStartReplyCmd(boxSn, result, errorCode);
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case 0x25:
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return new RecordStopReplyCmd(boxSn, result, errorCode);
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case 0x2E:
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return new WayLineFinishedReplyCmd(boxSn, result, errorCode);
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// Special cases
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case 0x3D:
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case 0x40:
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return new FormatSdCardReplyCmd(boxSn, result, errorCode);
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case 0x42:
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return processSpecialD1ReplyCmd(in, actionCode, boxSn);
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// Add other cases...
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default:
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log.warn("无法识别D1的动作编号：{}", ByteUtils.byteToHex(actionCode));
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}
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return null;
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}
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//处理D2指令回复
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private BaseCmd processD2ReplyCmd(ByteBuf in, byte actionCode) {
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byte result = in.readByte();
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int errorCode = in.readInt();
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byte[] uavData = new byte[15];
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in.readBytes(uavData);
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String boxSn = new String(uavData);
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switch (actionCode) {
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case 0x05:
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return new VideoStreamSettingReplyCmd(boxSn, result, errorCode);
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// Add other cases...
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default:
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log.warn("无法识别D2的动作编号：{}", ByteUtils.byteToHex(actionCode));
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}
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return null;
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}
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//处理特殊D1指令回复
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private BaseCmd processSpecialD1ReplyCmd(ByteBuf in, byte actionCode, String boxSn) {
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switch (actionCode) {
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//无人机准备完成通知回复
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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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return new UavReadyReplyCmd(boxSn, batteryPower, longitude, latitude, altitude);
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//无人机初始化信息回复
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case 0x42:
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// byte[] uavData1 = new byte[in.readableBytes() - 15];
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// in.readBytes(uavData1);
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// TelemetryDataPB.UavInitInfo uavInitInfo;
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// try {
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// uavInitInfo = TelemetryDataPB.UavInitInfo.parseFrom(uavData1);
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// } catch (InvalidProtocolBufferException e) {
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// throw new RuntimeException(e);
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// }
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// return new UavInitReplyCmd(boxSn, uavInitInfo);
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default:
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return null;
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}
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}
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}
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