优化

liusuyi

2025-03-20 a7e433a984402e47c5275901d7b59e3881280278

 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.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.domain.dto.converter.realdata.UavSignalInfoConverter;
import com.ard.tianyu.domain.dto.converter.realdata.UavStateConverter;
import com.ard.tianyu.domain.dto.converter.realdata.UavTelemetryDataConverter;
import com.ard.tianyu.domain.dto.signal.SignalInfo;
import com.ard.tianyu.domain.dto.state.UavState;
import com.ard.tianyu.domain.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;
@@ -15,23 +15,23 @@
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.camera.PicUploadCompletedReplyCmd;
import com.ard.tianyu.netty.command.notice.UavReadyReplyCmd;
import com.ard.tianyu.netty.command.real.SignalInfoCmd;
import com.ard.tianyu.netty.command.real.UavStateCmd;
import com.ard.tianyu.netty.command.real.UavTelemetryDataCmd;
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
@@ -68,11 +68,25 @@
                baseCmd = new HeartbeatReplyCmd(timestamp);
                log.debug("心跳回复: 时间戳 {}", timestamp);
                break;
            case 0x09:
                in.readByte();//加密标志
                double longitude = in.readDouble();
                double latitude = in.readDouble();
                timestamp = in.readLong(); // 读取时间戳
                long picLength = in.readLong(); // 读取原图大小
                byte[] boxSn = new byte[15];
                in.readBytes(boxSn);// 读取boxSn
                byte[] pic = new byte[dataLength - 49];
                in.readBytes(pic);// 读取原图地址
                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);
                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 {}", ByteUtils.byteToHex(status));
                break;

            case (byte) 0xA8:
                byte[] uavStatus = new byte[dataLength - 1];
                in.readBytes(uavStatus);  // 读取 ProtoBuf 数据
@@ -84,7 +98,8 @@
            case (byte) 0xA9:
                byte[] telemetryDataBytes = new byte[dataLength - 1];
                in.readBytes(telemetryDataBytes);
                TelemetryDataPB.TelemetryData telemetryDataPB = 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());
@@ -96,7 +111,7 @@
                signalInfoBytes = new byte[dataLength - 20];
                in.readBytes(signalInfoBytes);
                TelemetryDataPB.SignalInfo signalInfoPB = TelemetryDataPB.SignalInfo.parseFrom(signalInfoBytes);
                SignalInfo signalInfo =UavSignalInfoConverter.convertProtoToEntity(signalInfoPB);
                SignalInfo signalInfo = UavSignalInfoConverter.convertProtoToEntity(signalInfoPB);
                baseCmd = new SignalInfoCmd(signalInfo);
                log.debug("信道质量数据： {}", delayTime);
                break;
@@ -181,6 +196,7 @@
        }
        return null;
    }

    //处理D2指令回复
    private BaseCmd processD2ReplyCmd(ByteBuf in, byte actionCode) {
        byte result = in.readByte();
@@ -197,6 +213,7 @@
        }
        return null;
    }

    //处理特殊D1指令回复
    private BaseCmd processSpecialD1ReplyCmd(ByteBuf in, byte actionCode, String boxSn) {
        switch (actionCode) {
@@ -209,15 +226,15 @@
                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;
        }