forked from uav/ard-uav-server
blame | history | patch | commit | commitdiff | ignore whitespace
liusuyi
2025-12-08 3e64fc031eb42fb66f78104d0ff0f6cf797db0f0 
 ard-work/src/main/java/com/ard/work/component/netty/handler/MessageProtocolDecoder.java


@@ -1,6 +1,7 @@


package com.ard.work.component.netty.handler;// MessageProtocolDecoder.java




import com.ard.common.utils.ByteUtils;


import com.ard.work.component.netty.command.camera.*;


import com.ard.work.component.netty.command.manual.*;


import com.ard.work.component.netty.command.wayline.*;


import com.ard.work.domain.dto.converter.realdata.UavSignalInfoConverter;


@@ -10,13 +11,8 @@


import com.ard.work.domain.dto.state.UavState;


import com.ard.work.domain.dto.telemetry.TelemetryData;


import com.ard.work.component.netty.command.BaseCmd;


import com.ard.work.component.netty.command.camera.CameraModeReplyCmd;


import com.ard.work.component.netty.command.camera.CapturePicReplyCmd;


import com.ard.work.component.netty.command.camera.RecordStartReplyCmd;


import com.ard.work.component.netty.command.camera.RecordStopReplyCmd;


import com.ard.work.component.netty.command.notice.BoxPowerStatusReplyCmd;


import com.ard.work.component.netty.command.notice.FlyWayEndReplyCmd;


import com.ard.work.component.netty.command.camera.PicUploadCompletedReplyCmd;


import com.ard.work.component.netty.command.notice.UavReadyReplyCmd;


import com.ard.work.component.netty.command.real.SignalInfoCmd;


import com.ard.work.component.netty.command.real.UavStateCmd;


@@ -32,6 +28,7 @@


import io.netty.handler.codec.ByteToMessageDecoder;


import lombok.extern.slf4j.Slf4j;




import java.nio.charset.StandardCharsets;


import java.util.List;




@Slf4j


@@ -78,8 +75,9 @@


                in.readBytes(boxSn);// 读取boxSn


                byte[] pic = new byte[dataLength - 49];


                in.readBytes(pic);// 读取原图地址


                String picPath = new String(pic, StandardCharsets.UTF_8);


                baseCmd = new PicUploadCompletedReplyCmd(longitude, latitude, timestamp, picLength, boxSn, pic);


                log.debug("图片上传完成通知回复: 图片长度 {}", picLength);


                log.warn("图片上传完成通知回复: 图片 {}", picPath);


                break;


            case 0x0A:


                byte status = in.readByte();


@@ -176,6 +174,8 @@


                return new EmergencyBrakeReplyCmd(boxSn, result, errorCode);


            case 0x39:


                return new PointControlReachedReplyCmd(boxSn, result, errorCode);


            case 0x3B:


                return new FlyRoundReplyCmd(boxSn, result, errorCode);


            case 0x22:


                return new CameraModeReplyCmd(boxSn, result, errorCode);


            case 0x23:


@@ -188,6 +188,8 @@


                return new FlyWayEndReplyCmd(boxSn, result, errorCode);


            // Special cases


            case 0x3D:


            case 0x40:


                return new FormatSdCardReplyCmd(boxSn, result, errorCode);


            case 0x42:


                return processSpecialD1ReplyCmd(in, actionCode, boxSn);


            // Add other cases...