forked from uav/ard-uav-server
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; }
