添加无人机控制权申请、处理、释放

liusuyi

2025-02-20 35f1a08b31531d971169403978cddf3328accb26

 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.model.dto.converter.realdata.UavSignalInfoConverter;
import com.ard.tianyu.model.dto.converter.realdata.UavStateConverter;
import com.ard.tianyu.model.dto.converter.realdata.UavTelemetryDataConverter;
import com.ard.tianyu.model.dto.signal.SignalInfo;
import com.ard.tianyu.model.dto.state.UavState;
import com.ard.tianyu.model.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;
@@ -16,6 +22,9 @@
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;
@@ -67,14 +76,16 @@
            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;
@@ -84,7 +95,8 @@
                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;
@@ -92,6 +104,11 @@
                in.readByte();//加密标志
                actionCode = in.readByte();//动作编号
                baseCmd = processD1ReplyCmd(in, actionCode);
                break;
            case (byte) 0xD2:
                in.readByte();//加密标志
                actionCode = in.readByte();//动作编号
                baseCmd = processD2ReplyCmd(in, actionCode);
                break;
            default:
                in.readByte();//加密标志
@@ -134,8 +151,12 @@
                return new WayLineResumeReplyCmd(boxSn, result, errorCode);
            case 0x20:
                return new WayLineEndReplyCmd(boxSn, result, errorCode);
            case 0x21:
                return new ReturnHeightSettingReplyCmd(boxSn, result, errorCode);
            case 0x29:
                return new LandForcedReplyCmd(boxSn, result, errorCode);
            case 0x31:
                return new ReturnPointSettingReplyCmd(boxSn, result, errorCode);
            case 0x32:
                return new EmergencyBrakeReplyCmd(boxSn, result, errorCode);
            case 0x39:
@@ -156,11 +177,26 @@
                return processSpecialD1ReplyCmd(in, actionCode, boxSn);
            // Add other cases...
            default:
                log.warn("无法识别的动作编号：{}", ByteUtils.byteToHex(actionCode));
                log.warn("无法识别D1的动作编号：{}", ByteUtils.byteToHex(actionCode));
        }
        return null;
    }

    //处理D2指令回复
    private BaseCmd processD2ReplyCmd(ByteBuf in, byte actionCode) {
        byte result = in.readByte();
        int errorCode = in.readInt();
        byte[] uavData = new byte[15];
        in.readBytes(uavData);
        String boxSn = new String(uavData);
        switch (actionCode) {
            case 0x05:
                return new VideoStreamSettingReplyCmd(boxSn, result, errorCode);
            // Add other cases...
            default:
                log.warn("无法识别D2的动作编号：{}", ByteUtils.byteToHex(actionCode));
        }
        return null;
    }
    //处理特殊D1指令回复
    private BaseCmd processSpecialD1ReplyCmd(ByteBuf in, byte actionCode, String boxSn) {
        switch (actionCode) {
@@ -173,15 +209,15 @@
                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;
        }