forked from uav/ard-uav-server
ard-work/src/main/java/com/ard/tianyu/netty/handler/MessageProtocolDecoder.java
@@ -1,7 +1,22 @@ package com.ard.tianyu.netty.handler;// MessageProtocolDecoder.java import com.ard.tianyu.netty.command.BaseCommand; import com.ard.tianyu.netty.command.HeartbeatReplyCommand; import com.ard.tianyu.netty.command.*; 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.notice.BoxPowerStatusReplyCmd; import com.ard.tianyu.netty.command.notice.FlyWayEndReplyCmd; 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.protobuf.TelemetryDataPB; import io.netty.buffer.ByteBuf; import io.netty.channel.ChannelHandlerContext; import io.netty.handler.codec.ByteToMessageDecoder; @@ -20,7 +35,7 @@ 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 +45,155 @@ return; } byte cmdCode = in.readByte(); BaseCommand command = null; BaseCmd baseCmd = 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"); baseCmd = new RegisterReplyCmd(success); break; case 0x02: long timestamp = in.readLong(); // 读取时间戳 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)); 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); baseCmd = new UavStateCmd(uavState); 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); 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); 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; } break; default: 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) // 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"); } 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 (baseCmd != null) { out.add(baseCmd); } } }
