优化

liusuyi

2024-10-23 37aeda6f5a45a220955eafd55bf5154c71c2d705

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

@@ -2,6 +2,9 @@

import com.ard.tianyu.netty.command.BaseCommand;
import com.ard.tianyu.netty.command.HeartbeatReplyCommand;
import com.ard.tianyu.netty.command.UavDataCommand;
import com.ard.tianyu.netty.command.UavStateCommand;
import com.ard.tianyu.netty.protobuf.TelemetryDataPB;
import io.netty.buffer.ByteBuf;
import io.netty.channel.ChannelHandlerContext;
import io.netty.handler.codec.ByteToMessageDecoder;
@@ -20,7 +23,7 @@

        in.markReaderIndex(); // 标记当前读取位置
        short dataHead = in.readShort();
        if(dataHead != 0x6A77){
        if (dataHead != 0x6A77) {
            return;
        }
        short dataLength = in.readShort();
@@ -30,22 +33,36 @@
            return;
        }
        byte cmdCode = in.readByte();
        BaseCommand command = null;

        // 根据 cmdCode 创建相应消息对象
        if (cmdCode == 0x01) { // 注册回复消息
            byte success = in.readByte(); // 读取是否成功
            log.warn("注册回复: {}", success == 0x01 ? "成功" : "失败");
        BaseCommand baseCommand = null;
        switch (cmdCode) {
            case 0x01:
                byte success = in.readByte(); // 读取是否成功
                log.warn("注册回复: {}", success == 0x01 ? "成功" : "失败");
                break;
            case 0x02:
                long timestamp = in.readLong(); // 读取时间戳
                baseCommand = new HeartbeatReplyCommand(timestamp);
                log.warn("心跳回复: 时间戳 {}", timestamp);
                break;
            case (byte) 0xA8:
                byte[] uavStatus = new byte[dataLength - 1];
                in.readBytes(uavStatus);  // 读取 ProtoBuf 数据
                TelemetryDataPB.UavState uavState = TelemetryDataPB.UavState.parseFrom(uavStatus);
                baseCommand = new UavStateCommand(uavState);
                log.warn("无人机状态数据： {}", uavState.getBoxSn());
                break;
            case (byte) 0xA9:
                byte[] uavData = new byte[dataLength - 1];
                in.readBytes(uavData);
                TelemetryDataPB.TelemetryData telemetryData = TelemetryDataPB.TelemetryData.parseFrom(uavData);
                baseCommand = new UavDataCommand(telemetryData);
                log.warn("无人机遥测数据： {}", telemetryData.getBoxSn());
                break;
            default:
                log.warn("无法识别的命令码: {}", String.format("0x%02X", cmdCode & 0xFF));//String.format("0x%02X", cmdCode & 0xFF)
        }
        if (cmdCode == 0x02) { // 注册回复消息
            long timestamp = in.readLong(); // 读取时间戳
            command = new HeartbeatReplyCommand(timestamp); // 创建心跳回复对象
            log.debug("心跳回复: 时间戳 {}", timestamp);
        }
        if (command != null) {
            out.add(command); // 添加解码的命令对象到输出列表
        } else {
            log.warn("无法识别的命令码: {}", cmdCode);//String.format("0x%02X", cmdCode & 0xFF)
        if (baseCommand != null) {
            out.add(baseCommand);
        }
    }
}