forked from uav/ard-uav-server
blame | history | patch | commit | commitdiff | ignore whitespace
liusuyi
2024-10-25 fddccbf217223e7287d6861c3020d9ba5cc15e55 
 ard-work/src/main/java/com/ard/tianyu/netty/handler/MessageProtocolDecoder.java


@@ -1,6 +1,15 @@


package com.ard.tianyu.netty.handler;// MessageProtocolDecoder.java




import com.ard.tianyu.netty.command.*;


import com.ard.tianyu.netty.command.camera.CapturePicReplyCommand;


import com.ard.tianyu.netty.command.camera.RecordStartReplyCommand;


import com.ard.tianyu.netty.command.camera.RecordStopReplyCommand;


import com.ard.tianyu.netty.command.real.SignalInfoCommand;


import com.ard.tianyu.netty.command.real.UavStateCommand;


import com.ard.tianyu.netty.command.real.UavTelemetryDataCommand;


import com.ard.tianyu.netty.command.register.HeartbeatReplyCommand;


import com.ard.tianyu.netty.command.register.RegisterReplyCommand;


import com.ard.tianyu.netty.command.register.UavReadyNotificationCommand;


import com.ard.tianyu.netty.protobuf.TelemetryDataPB;


import io.netty.buffer.ByteBuf;


import io.netty.channel.ChannelHandlerContext;


@@ -74,12 +83,39 @@


                byte encryptionFlag = in.readByte();


                byte actionCode = in.readByte();


                switch (actionCode) {


                    case 0x23:


                        byte result = in.readByte();


                        int errorCode = in.readInt();


                        uavData = new byte[15];


                        in.readBytes(uavData);


                        String boxSn = new String(uavData);


                        baseCommand = new CapturePicReplyCommand(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);


                        baseCommand = new RecordStartReplyCommand(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);


                        baseCommand = new RecordStopReplyCommand(boxSn, result, errorCode);


                        log.debug("停止录像回复: {}", boxSn);


                        break;


                    case 0x42:


                        byte[] uavData1 = new byte[dataLength - 18];


                        in.readBytes(uavData1);


                        byte[] uavData2 = new byte[15];


                        in.readBytes(uavData2);


                        String boxSn = new String(uavData2);


                        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);