增加：无人机设置接口

liusuyi

2024-11-02 87cba28b3dc8389e1df61f3ba7d986b09fd89db0

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

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

import com.ard.tianyu.netty.command.*;
import com.ard.common.utils.ByteUtils;
import com.ard.tianyu.netty.command.BaseCmd;
import com.ard.tianyu.netty.command.camera.CameraModeReplyCmd;
import com.ard.tianyu.netty.command.camera.CapturePicReplyCmd;
import com.ard.tianyu.netty.command.camera.RecordStartReplyCmd;
import com.ard.tianyu.netty.command.camera.RecordStopReplyCmd;
import com.ard.tianyu.netty.command.manual.ReturnHomeReplyCmd;
import com.ard.tianyu.netty.command.manual.TakeOffReplyCmd;
import com.ard.tianyu.netty.command.manual.*;
import com.ard.tianyu.netty.command.notice.BoxPowerStatusReplyCmd;
import com.ard.tianyu.netty.command.notice.FlyWayEndReplyCmd;
import com.ard.tianyu.netty.command.notice.UavReadyReplyCmd;
@@ -16,12 +16,16 @@
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;
import lombok.extern.slf4j.Slf4j;

import java.util.List;

@Slf4j
@@ -46,6 +50,7 @@
        }
        byte cmdCode = in.readByte();
        BaseCmd baseCmd = null;
        byte actionCode;
        switch (cmdCode) {
            case 0x01:
                byte success = in.readByte(); // 读取是否成功
@@ -57,13 +62,10 @@
                baseCmd = new HeartbeatReplyCmd(timestamp);
                log.debug("心跳回复: 时间戳 {}", timestamp);
                break;
            case 0x03:
            case 0x04:
                break;
            case 0x0A:
                byte status = in.readByte();
                baseCmd = new BoxPowerStatusReplyCmd(status);
                log.debug("云盒开机/关机通知回复: 状态 {}", String.format("0x%02X", status & 0xFF));
                log.debug("云盒开机/关机通知回复: 状态 {}", ByteUtils.byteToHex(status));
                break;
            case (byte) 0xA8:
                byte[] uavStatus = new byte[dataLength - 1];
@@ -73,127 +75,143 @@
                log.debug("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);
                byte[] telemetryDataBytes = new byte[dataLength - 1];
                in.readBytes(telemetryDataBytes);
                TelemetryDataPB.TelemetryData telemetryData = TelemetryDataPB.TelemetryData.parseFrom(telemetryDataBytes);
                baseCmd = new UavTelemetryDataCmd(telemetryData);
                log.debug("遥测数据： {}", telemetryData.getBoxSn());
                break;
            case (byte) 0x0C:
                int delayTime = in.readInt();
                uavData = new byte[15];
                in.readBytes(uavData);
                //  String boxSn12 = new String(uavData);
                uavData = new byte[dataLength - 20];
                in.readBytes(uavData);
                TelemetryDataPB.SignalInfo signalInfo = TelemetryDataPB.SignalInfo.parseFrom(uavData);
                byte[] signalInfoBytes = new byte[15];
                in.readBytes(signalInfoBytes);
                signalInfoBytes = new byte[dataLength - 20];
                in.readBytes(signalInfoBytes);
                TelemetryDataPB.SignalInfo signalInfo = TelemetryDataPB.SignalInfo.parseFrom(signalInfoBytes);
                baseCmd = new SignalInfoCmd(signalInfo);
                log.debug("信道质量数据： {}", delayTime);
                break;
            case (byte) 0xD1:
                byte encryptionFlag = in.readByte();
                byte actionCode = in.readByte();
                switch (actionCode) {
                    case 0x11:
                        byte result = in.readByte();
                        int errorCode = in.readInt();
                        uavData = new byte[15];
                        in.readBytes(uavData);
                        String boxSn = new String(uavData);
                        baseCmd = new TakeOffReplyCmd(boxSn, result, errorCode);
                        log.debug("起飞回复: {}", boxSn);
                        break;
                    case 0x12:
                        result = in.readByte();
                        errorCode = in.readInt();
                        uavData = new byte[15];
                        in.readBytes(uavData);
                        boxSn = new String(uavData);
                        baseCmd = new ReturnHomeReplyCmd(boxSn, result, errorCode);
                        log.debug("返航回复: {}", boxSn);
                        break;
                    case 0x22:
                        result = in.readByte();
                        errorCode = in.readInt();
                        uavData = new byte[15];
                        in.readBytes(uavData);
                        boxSn = new String(uavData);
                        baseCmd = new CameraModeReplyCmd(boxSn, result, errorCode);
                        log.debug("设置相机模式回复: {}", boxSn);
                        break;
                    case 0x23:
                        result = in.readByte();
                        errorCode = in.readInt();
                        uavData = new byte[15];
                        in.readBytes(uavData);
                        boxSn = new String(uavData);
                        baseCmd = new CapturePicReplyCmd(boxSn, result, errorCode);
                        log.debug("拍照回复: {}", boxSn);
                        break;
                    case 0x24:
                        result = in.readByte();
                        errorCode = in.readInt();
                        uavData = new byte[15];
                        in.readBytes(uavData);
                        boxSn = new String(uavData);
                        baseCmd = new RecordStartReplyCmd(boxSn, result, errorCode);
                        log.debug("开始录像回复: {}", boxSn);
                        break;
                    case 0x25:
                        result = in.readByte();
                        errorCode = in.readInt();
                        uavData = new byte[15];
                        in.readBytes(uavData);
                        boxSn = new String(uavData);
                        baseCmd = new RecordStopReplyCmd(boxSn, result, errorCode);
                        log.debug("停止录像回复: {}", boxSn);
                        break;
                    case 0x2E:
                        result = in.readByte();
                        errorCode = in.readInt();
                        uavData = new byte[15];
                        in.readBytes(uavData);
                        boxSn = new String(uavData);
                        baseCmd = new FlyWayEndReplyCmd(boxSn, result, errorCode);
                        log.debug("航线结束通知回复: {}", boxSn);
                        break;
                    case 0x3D:
                        byte batteryPower = in.readByte();
                        double longitude = in.readDouble();
                        double latitude = in.readDouble();
                        int altitude = in.readInt();
                        uavData = new byte[dataLength - 24];
                        in.readBytes(uavData);
                        boxSn = new String(uavData);
                        baseCmd = new UavReadyReplyCmd(boxSn, batteryPower, longitude, latitude, altitude);
                        log.debug("无人机准备完成通知回复: 电池电量 {}", String.format("0x%02X", batteryPower & 0xFF));
                        break;
                    case 0x42:
                        byte[] uavData1 = new byte[dataLength - 18];
                        in.readBytes(uavData1);
                        byte[] uavData2 = new byte[15];
                        in.readBytes(uavData2);
                        boxSn = new String(uavData2);
                        TelemetryDataPB.UavInitInfo uavInitInfo = TelemetryDataPB.UavInitInfo.parseFrom(uavData1);
                        baseCmd = new UavInitReplyCmd(boxSn, uavInitInfo);
                        log.debug("无人机初始化数据： {}", boxSn);
                        break;
                    default:
                        log.warn("无法识别的命令码动作编号：{}", String.format("0x%02X", actionCode & 0xFF));
                        break;
                }
                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:
                encryptionFlag = in.readByte();
                in.readByte();//加密标志
                actionCode = in.readByte();
                log.warn("无法识别的命令码: {},加密标志：{},动作编号：{}",
                        String.format("0x%02X", cmdCode & 0xFF),
                        String.format("0x%02X", encryptionFlag & 0xFF),
                        String.format("0x%02X", actionCode & 0xFF));//String.format("0x%02X", cmdCode & 0xFF)

                log.warn("无法识别的命令码: {},动作编号：{}",
                        ByteUtils.byteToHex(cmdCode),
                        ByteUtils.byteToHex(actionCode)
                );
        }
        if (baseCmd != null) {
            out.add(baseCmd);
        }
    }

    //处理D1指令回复
    private BaseCmd processD1ReplyCmd(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 0x10:
                return new WayLineUploadReplyCmd(boxSn, result, errorCode);
            case 0x11:
                return new TakeOffReplyCmd(boxSn, result, errorCode);
            case 0x12:
                return new ReturnHomeReplyCmd(boxSn, result, errorCode);
            case 0x13:
                return new ReturnHomeCancelReplyCmd(boxSn, result, errorCode);
            case 0x14:
                return new LandReplyCmd(boxSn, result, errorCode);
            case 0x15:
                return new LandCancelReplyCmd(boxSn, result, errorCode);
            case 0x17:
                return new WayLineBeginReplyCmd(boxSn, result, errorCode);
            case 0x18:
                return new WayLinePauseReplyCmd(boxSn, result, errorCode);
            case 0x19:
                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:
                return new PointControlReachedReplyCmd(boxSn, result, errorCode);
            case 0x22:
                return new CameraModeReplyCmd(boxSn, result, errorCode);
            case 0x23:
                return new CapturePicReplyCmd(boxSn, result, errorCode);
            case 0x24:
                return new RecordStartReplyCmd(boxSn, result, errorCode);
            case 0x25:
                return new RecordStopReplyCmd(boxSn, result, errorCode);
            case 0x2E:
                return new FlyWayEndReplyCmd(boxSn, result, errorCode);
            // Special cases
            case 0x3D:
            case 0x42:
                return processSpecialD1ReplyCmd(in, actionCode, boxSn);
            // Add other cases...
            default:
                log.warn("无法识别D1的动作编号：{}", ByteUtils.byteToHex(actionCode));
        }
        return null;
    }
    //处理D1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) {
            //无人机准备完成通知回复
            case 0x3D:
                byte batteryPower = in.readByte();
                double longitude = in.readDouble();
                double latitude = in.readDouble();
                int altitude = in.readInt();
                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);
            default:
                return null;
        }
    }

}