forked from uav/ard-uav-server
| ard-work/src/main/java/com/ard/tianyu/netty/command/camera/PicUploadCompletedReplyCmd.java | ●●●●● patch | view | raw | blame | history | |
| ard-work/src/main/java/com/ard/tianyu/netty/handler/MessageProtocolDecoder.java | ●●●●● patch | view | raw | blame | history | |
| ard-work/src/main/java/com/ard/tianyu/service/impl/TyServiceImpl.java | ●●●●● patch | view | raw | blame | history |
ard-work/src/main/java/com/ard/tianyu/netty/command/camera/PicUploadCompletedReplyCmd.java
New file @@ -0,0 +1,42 @@ package com.ard.tianyu.netty.command.camera; import com.ard.tianyu.netty.command.BaseCmd; import io.netty.buffer.ByteBuf; import lombok.Data; import java.io.UnsupportedEncodingException; import java.nio.charset.StandardCharsets; /** * 图片上传完成通知回复指令 * * @author liusuyi * @date 2024年10月26日11:54 **/ @Data public class PicUploadCompletedReplyCmd extends BaseCmd { private final byte encryptFlag = 0x00; // 加密标志 private final byte actionCode = 0x3D; // 动作编号 private final double longitude; // 经度 private final double latitude; // 纬度 private final long timestamp; // 时间戳 private final long picLength; // 图片大小 private final String picUrl; // 原图地址 public PicUploadCompletedReplyCmd(double longitude, double latitude, long timestamp, long picLength, byte[] boxSn, byte[] pic) { setDataHeader((short) 0x6A77); // 设置帧头 setCmdCode((byte) 0x09); // 设置指令编号 //setDataLength((short) 39); // 数据长度 this.longitude = longitude; this.latitude = latitude; this.timestamp = timestamp; this.picLength = picLength; setBoxSn(boxSn); this.picUrl = new String(pic, StandardCharsets.UTF_8); // 指定编码为 UTF-8; } public void encode(ByteBuf out) { } } 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) { ard-work/src/main/java/com/ard/tianyu/service/impl/TyServiceImpl.java
@@ -242,7 +242,11 @@ */ @Override public Boolean capturePic(CapturePicDTO capturePicDto) { //设置相机模式为拍照模式 updateCameraMode(CameraModeDTO.builder().boxSn(capturePicDto.getBoxSn()).actionParam((byte) 0x01).build()); //设置拍照回传 photoReturnToggle(PhotoReturnToggleDTO.builder().boxSn(capturePicDto.getBoxSn()).actionParam((byte) 0x01).build()); CapturePicCmd capturePicCommand = new CapturePicCmd(capturePicDto); this.sendMessage(tyConfiguration.getIpPort(), capturePicCommand); return true; @@ -629,13 +633,18 @@ case 0x02: // 处理注册消息 HeartbeatReplyCmd heartbeatReplyCmd = (HeartbeatReplyCmd) tyCommand; logPrint("心跳消息", heartbeatReplyCmd.getTimestamp()); //logPrint("心跳消息", heartbeatReplyCmd.getTimestamp()); break; case 0x03: // 处理订阅消息 break; case 0x04: // 处理取消订阅消息 break; case 0x09: // 处理图片上传完成通知 PicUploadCompletedReplyCmd picUploadCompletedReplyCmd = (PicUploadCompletedReplyCmd) tyCommand; logPrint("图片上传完成", picUploadCompletedReplyCmd.getPicUrl()); break; case 0x0A: // 处理云盒开关机通知消息 @@ -646,14 +655,14 @@ // 处理无人机状态消息 UavStateCmd uavStateCmd = (UavStateCmd) tyCommand; UavStateCache.putUavState(uavStateCmd.getUavState()); logPrint("无人机状态", uavStateCmd.getUavState().getBoxSn()); // WebSocketUtil.sendMessageAll(uavStateCmd.getUavState()); //logPrint("无人机状态", uavStateCmd.getUavState().getBoxSn()); // WebSocketUtil.sendMessageAll(uavStateCmd.getUavState()); break; case (byte) 0xA9: // 处理无人机遥测消息 UavTelemetryDataCmd uavTelemetryDataCmd = (UavTelemetryDataCmd) tyCommand; UavTelemetryDataCache.putUavTelemetryData(uavTelemetryDataCmd.getTelemetryData()); logPrint("无人机遥测", uavTelemetryDataCmd.getTelemetryData().getBoxSn()); //logPrint("无人机遥测", uavTelemetryDataCmd.getTelemetryData().getBoxSn()); //WebSocketUtil.sendMessageAll(uavTelemetryDataCmd.getTelemetryData()); break; @@ -661,7 +670,7 @@ // 处理无人机信道质量数据 SignalInfoCmd signalInfoCmd = (SignalInfoCmd) tyCommand; UavSignalInfoCache.putUavSignalInfoCache(signalInfoCmd.getSignalInfo()); logPrint("无人机信道质量", signalInfoCmd.getSignalInfo().getBoxSn()); //logPrint("无人机信道质量", signalInfoCmd.getSignalInfo().getBoxSn()); break; case (byte) 0xD1: // 处理无人机 @@ -728,7 +737,8 @@ //到达指点飞行位置回复 if (tyCommand instanceof PointControlReachedReplyCmd) { PointControlReachedReplyCmd pointControlReachedReplyCmd = (PointControlReachedReplyCmd) tyCommand; logPrint("到达指点飞行位置", pointControlReachedReplyCmd.getResult(), pointControlReachedReplyCmd.getErrorCode()); logPrint("到达指点飞行位置", pointControlReachedReplyCmd.getResult(), pointControlReachedReplyCmd.getErrorCode()); } //紧急制动回复 if (tyCommand instanceof EmergencyBrakeReplyCmd) { @@ -763,19 +773,22 @@ //设置返航高度回复 if (tyCommand instanceof ReturnHeightSettingReplyCmd) { ReturnHeightSettingReplyCmd returnHeightSettingReplyCmd = (ReturnHeightSettingReplyCmd) tyCommand; logPrint("设置返航高度", returnHeightSettingReplyCmd.getResult(), returnHeightSettingReplyCmd.getErrorCode()); logPrint("设置返航高度", returnHeightSettingReplyCmd.getResult(), returnHeightSettingReplyCmd.getErrorCode()); } //设置返航点回复 if (tyCommand instanceof ReturnPointSettingReplyCmd) { ReturnPointSettingReplyCmd returnPointSettingReplyCmd = (ReturnPointSettingReplyCmd) tyCommand; logPrint("设置返航点", returnPointSettingReplyCmd.getResult(), returnPointSettingReplyCmd.getErrorCode()); logPrint("设置返航点", returnPointSettingReplyCmd.getResult(), returnPointSettingReplyCmd.getErrorCode()); } break; case (byte) 0xD2: //设置视频码流回复 if (tyCommand instanceof VideoStreamSettingReplyCmd) { VideoStreamSettingReplyCmd videoStreamSettingReplyCmd = (VideoStreamSettingReplyCmd) tyCommand; logPrint("设置视频码流", videoStreamSettingReplyCmd.getResult(), videoStreamSettingReplyCmd.getErrorCode()); logPrint("设置视频码流", videoStreamSettingReplyCmd.getResult(), videoStreamSettingReplyCmd.getErrorCode()); } break; default: @@ -786,7 +799,7 @@ //公共日志打印 private void logPrint(String message, Object obj) { log.debug("收到{}回复{}", message, obj); log.warn("收到{}回复{}", message, obj); } //公共日志打印
