优化

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;
@@ -44,10 +53,6 @@
                break;
            case 0x03:
            case 0x04:
                byte[] boxSn = new byte[dataLength - 1];
                in.readBytes(boxSn);
                SubscribeReplyCommand subscribeReply = new SubscribeReplyCommand(new String(boxSn));
                log.debug("订阅回复: {}", subscribeReply.getBoxSn());
                break;
            case (byte) 0xA8:
                byte[] uavStatus = new byte[dataLength - 1];
@@ -78,14 +83,42 @@
                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);
                        boxSn = new String(uavData2);
                        TelemetryDataPB.UavInitInfo uavInitInfo = TelemetryDataPB.UavInitInfo.parseFrom(uavData1);
                        baseCommand = new DroneReadyNotificationCommand(uavInitInfo, actionCode);
                        log.info("无人机初始化数据： {}", uavInitInfo.getUavModel());
                        baseCommand = new UavReadyNotificationCommand(boxSn, uavInitInfo, actionCode);
                        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));