增加图片回传完成通知解析

liusuyi

2025-03-19 f5f485b1b1919e6d312ed72628ed7c01d2f57def

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

@@ -15,6 +15,7 @@
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;
@@ -30,6 +31,7 @@
import io.netty.channel.ChannelHandlerContext;
import io.netty.handler.codec.ByteToMessageDecoder;
import lombok.extern.slf4j.Slf4j;

import java.util.List;

@Slf4j
@@ -66,11 +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
@@ -82,7 +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());
@@ -94,7 +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;
@@ -179,6 +196,7 @@
        }
        return null;
    }

    //处理D2指令回复
    private BaseCmd processD2ReplyCmd(ByteBuf in, byte actionCode) {
        byte result = in.readByte();
@@ -195,6 +213,7 @@
        }
        return null;
    }

    //处理特殊D1指令回复
    private BaseCmd processSpecialD1ReplyCmd(ByteBuf in, byte actionCode, String boxSn) {
        switch (actionCode) {