优化包结构、增加载荷飞控权限

liusuyi

2025-03-04 16fd4235f692777cfd9cceff5090e5450e2173b3

 ard-work/src/main/java/com/ard/tianyu/netty/handler/MessageProtocolDecoder.java

@@ -1,6 +1,12 @@
package com.ard.tianyu.netty.handler;// MessageProtocolDecoder.java

import com.ard.common.utils.ByteUtils;
import com.ard.tianyu.domain.dto.converter.realdata.UavSignalInfoConverter;
import com.ard.tianyu.domain.dto.converter.realdata.UavStateConverter;
import com.ard.tianyu.domain.dto.converter.realdata.UavTelemetryDataConverter;
import com.ard.tianyu.domain.dto.signal.SignalInfo;
import com.ard.tianyu.domain.dto.state.UavState;
import com.ard.tianyu.domain.dto.telemetry.TelemetryData;
import com.ard.tianyu.netty.command.BaseCmd;
import com.ard.tianyu.netty.command.camera.CameraModeReplyCmd;
import com.ard.tianyu.netty.command.camera.CapturePicReplyCmd;
@@ -15,13 +21,11 @@
import com.ard.tianyu.netty.command.real.UavTelemetryDataCmd;
import com.ard.tianyu.netty.command.register.HeartbeatReplyCmd;
import com.ard.tianyu.netty.command.register.RegisterReplyCmd;
import com.ard.tianyu.netty.command.register.UavInitReplyCmd;
import com.ard.tianyu.netty.command.settings.ReturnHeightSettingReplyCmd;
import com.ard.tianyu.netty.command.settings.ReturnPointSettingReplyCmd;
import com.ard.tianyu.netty.command.settings.VideoStreamSettingReplyCmd;
import com.ard.tianyu.netty.command.wayline.*;
import com.ard.tianyu.netty.protobuf.TelemetryDataPB;
import com.google.protobuf.InvalidProtocolBufferException;
import io.netty.buffer.ByteBuf;
import io.netty.channel.ChannelHandlerContext;
import io.netty.handler.codec.ByteToMessageDecoder;
@@ -70,15 +74,16 @@
            case (byte) 0xA8:
                byte[] uavStatus = new byte[dataLength - 1];
                in.readBytes(uavStatus);  // 读取 ProtoBuf 数据

                TelemetryDataPB.UavState uavState = TelemetryDataPB.UavState.parseFrom(uavStatus);
                TelemetryDataPB.UavState uavStatePB = TelemetryDataPB.UavState.parseFrom(uavStatus);
                UavState uavState = UavStateConverter.convertProtoToEntity(uavStatePB);
                baseCmd = new UavStateCmd(uavState);
                log.debug("无人机状态数据： {}", uavState.getBoxSn());
                break;
            case (byte) 0xA9:
                byte[] telemetryDataBytes = new byte[dataLength - 1];
                in.readBytes(telemetryDataBytes);
                TelemetryDataPB.TelemetryData telemetryData = TelemetryDataPB.TelemetryData.parseFrom(telemetryDataBytes);
                TelemetryDataPB.TelemetryData telemetryDataPB = TelemetryDataPB.TelemetryData.parseFrom(telemetryDataBytes);
                TelemetryData telemetryData = UavTelemetryDataConverter.convertProtoToEntity(telemetryDataPB);
                baseCmd = new UavTelemetryDataCmd(telemetryData);
                log.debug("遥测数据： {}", telemetryData.getBoxSn());
                break;
@@ -88,7 +93,8 @@
                in.readBytes(signalInfoBytes);
                signalInfoBytes = new byte[dataLength - 20];
                in.readBytes(signalInfoBytes);
                TelemetryDataPB.SignalInfo signalInfo = TelemetryDataPB.SignalInfo.parseFrom(signalInfoBytes);
                TelemetryDataPB.SignalInfo signalInfoPB = TelemetryDataPB.SignalInfo.parseFrom(signalInfoBytes);
                SignalInfo signalInfo =UavSignalInfoConverter.convertProtoToEntity(signalInfoPB);
                baseCmd = new SignalInfoCmd(signalInfo);
                log.debug("信道质量数据： {}", delayTime);
                break;
@@ -201,15 +207,15 @@
                return new UavReadyReplyCmd(boxSn, batteryPower, longitude, latitude, altitude);
            //无人机初始化信息回复
            case 0x42:
                byte[] uavData1 = new byte[in.readableBytes() - 15];
                in.readBytes(uavData1);
                TelemetryDataPB.UavInitInfo uavInitInfo;
                try {
                    uavInitInfo = TelemetryDataPB.UavInitInfo.parseFrom(uavData1);
                } catch (InvalidProtocolBufferException e) {
                    throw new RuntimeException(e);
                }
                return new UavInitReplyCmd(boxSn, uavInitInfo);
//                byte[] uavData1 = new byte[in.readableBytes() - 15];
//                in.readBytes(uavData1);
//                TelemetryDataPB.UavInitInfo uavInitInfo;
//                try {
//                    uavInitInfo = TelemetryDataPB.UavInitInfo.parseFrom(uavData1);
//                } catch (InvalidProtocolBufferException e) {
//                    throw new RuntimeException(e);
//                }
//                return new UavInitReplyCmd(boxSn, uavInitInfo);
            default:
                return null;
        }