From 05ba868736725db54db1944ed5cf7a95d14efc37 Mon Sep 17 00:00:00 2001
From: liusuyi <1951119284@qq.com>
Date: Wed, 30 Oct 2024 17:07:51 +0800
Subject: [PATCH] 增加：手动飞行控制
---
ard-work/src/main/java/com/ard/tianyu/netty/handler/MessageProtocolDecoder.java | 75 +++++++++++++++++++++++++++++++++++++
1 files changed, 74 insertions(+), 1 deletions(-)
diff --git a/ard-work/src/main/java/com/ard/tianyu/netty/handler/MessageProtocolDecoder.java b/ard-work/src/main/java/com/ard/tianyu/netty/handler/MessageProtocolDecoder.java
index db9c7d1..27fe205 100644
--- a/ard-work/src/main/java/com/ard/tianyu/netty/handler/MessageProtocolDecoder.java
+++ b/ard-work/src/main/java/com/ard/tianyu/netty/handler/MessageProtocolDecoder.java
@@ -5,6 +5,7 @@
import com.ard.tianyu.netty.command.camera.CapturePicReplyCmd;
import com.ard.tianyu.netty.command.camera.RecordStartReplyCmd;
import com.ard.tianyu.netty.command.camera.RecordStopReplyCmd;
+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.notice.UavReadyReplyCmd;
@@ -92,12 +93,84 @@
byte encryptionFlag = in.readByte();
byte actionCode = in.readByte();
switch (actionCode) {
- case 0x22:
+ case 0x11:
byte result = in.readByte();
int errorCode = in.readInt();
uavData = new byte[15];
in.readBytes(uavData);
String boxSn = new String(uavData);
+ baseCmd = new TakeOffReplyCmd(boxSn, result, errorCode);
+ log.debug("起飞回复: {}", boxSn);
+ break;
+ case 0x12:
+ result = in.readByte();
+ errorCode = in.readInt();
+ uavData = new byte[15];
+ in.readBytes(uavData);
+ boxSn = new String(uavData);
+ baseCmd = new ReturnHomeReplyCmd(boxSn, result, errorCode);
+ log.debug("返航回复: {}", boxSn);
+ break;
+ case 0x13:
+ result = in.readByte();
+ errorCode = in.readInt();
+ uavData = new byte[15];
+ in.readBytes(uavData);
+ boxSn = new String(uavData);
+ baseCmd = new ReturnHomeCancelReplyCmd(boxSn, result, errorCode);
+ log.debug("取消返航回复: {}", boxSn);
+ break;
+ case 0x14:
+ result = in.readByte();
+ errorCode = in.readInt();
+ uavData = new byte[15];
+ in.readBytes(uavData);
+ boxSn = new String(uavData);
+ baseCmd = new LandReplyCmd(boxSn, result, errorCode);
+ log.debug("降落回复: {}", boxSn);
+ break;
+ case 0x15:
+ result = in.readByte();
+ errorCode = in.readInt();
+ uavData = new byte[15];
+ in.readBytes(uavData);
+ boxSn = new String(uavData);
+ baseCmd = new LandCancelReplyCmd(boxSn, result, errorCode);
+ log.debug("取消降落回复: {}", boxSn);
+ break;
+ case 0x29:
+ result = in.readByte();
+ errorCode = in.readInt();
+ uavData = new byte[15];
+ in.readBytes(uavData);
+ boxSn = new String(uavData);
+ baseCmd = new LandForcedReplyCmd(boxSn, result, errorCode);
+ log.debug("强制降落回复: {}", boxSn);
+ break;
+ case 0x32:
+ result = in.readByte();
+ errorCode = in.readInt();
+ uavData = new byte[15];
+ in.readBytes(uavData);
+ boxSn = new String(uavData);
+ baseCmd = new EmergencyBrakeReplyCmd(boxSn, result, errorCode);
+ log.debug("紧急制动回复: {}", boxSn);
+ break;
+ case 0x39:
+ result = in.readByte();
+ errorCode = in.readInt();
+ uavData = new byte[15];
+ in.readBytes(uavData);
+ boxSn = new String(uavData);
+ baseCmd = new PointControlReachedReplyCmd(boxSn, result, errorCode);
+ log.debug("到达指点飞行位置回复: {}", boxSn);
+ break;
+ case 0x22:
+ result = in.readByte();
+ errorCode = in.readInt();
+ uavData = new byte[15];
+ in.readBytes(uavData);
+ boxSn = new String(uavData);
baseCmd = new CameraModeReplyCmd(boxSn, result, errorCode);
log.debug("设置相机模式回复: {}", boxSn);
break;
--
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