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liusuyi

2024-10-25 91f6e60919b92b7f99a41f2ddeb42df17cd0c487

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

@@ -44,27 +44,59 @@
                break;
            case 0x03:
            case 0x04:
                byte[] boxSn = new byte[dataLength - 1];
                in.readBytes(boxSn);
                SubscribeReplyCommand subscribeReply = new SubscribeReplyCommand(new String(boxSn));
                log.debug("订阅回复: {}", subscribeReply.getBoxSn());
                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());
                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);
                baseCommand = new UavDataCommand(telemetryData);
                log.warn("无人机遥测数据： {}", telemetryData.getBoxSn());
                baseCommand = new UavTelemetryDataCommand(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);
                baseCommand = new SignalInfoCommand(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 0x42:
                        byte[] uavData1 = new byte[dataLength - 18];
                        in.readBytes(uavData1);
                        byte[] uavData2 = new byte[15];
                        in.readBytes(uavData2);
                        String boxSn = new String(uavData2);
                        TelemetryDataPB.UavInitInfo uavInitInfo = TelemetryDataPB.UavInitInfo.parseFrom(uavData1);
                        baseCommand = new UavReadyNotificationCommand(boxSn, uavInitInfo, actionCode);
                        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;
                }
                break;
            default:
                log.warn("无法识别的命令码: {}", String.format("0x%02X", cmdCode & 0xFF));//String.format("0x%02X", cmdCode & 0xFF)
                encryptionFlag = in.readByte();
                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)

        }
        if (baseCommand != null) {
            out.add(baseCommand);