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 | 161 +++++++++++++++++++++++++++++++++++++++++++++--------
1 files changed, 136 insertions(+), 25 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 4f88354..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
@@ -1,15 +1,20 @@
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.command.camera.CameraModeReplyCmd;
+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;
+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.protobuf.TelemetryDataPB;
import io.netty.buffer.ByteBuf;
import io.netty.channel.ChannelHandlerContext;
@@ -39,33 +44,38 @@
return;
}
byte cmdCode = in.readByte();
- BaseCommand baseCommand = null;
+ BaseCmd baseCmd = null;
switch (cmdCode) {
case 0x01:
byte success = in.readByte(); // 读取是否成功
log.warn("注册回复: {}", success == 0x01 ? "成功" : "失败");
- baseCommand = new RegisterReplyCommand(success);
+ baseCmd = new RegisterReplyCmd(success);
break;
case 0x02:
long timestamp = in.readLong(); // 读取时间戳
- baseCommand = new HeartbeatReplyCommand(timestamp);
+ baseCmd = new HeartbeatReplyCmd(timestamp);
log.debug("心跳回复: 时间戳 {}", timestamp);
break;
case 0x03:
case 0x04:
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 {}", String.format("0x%02X", status & 0xFF));
+ break;
case (byte) 0xA8:
byte[] uavStatus = new byte[dataLength - 1];
in.readBytes(uavStatus); // 读取 ProtoBuf 数据
TelemetryDataPB.UavState uavState = TelemetryDataPB.UavState.parseFrom(uavStatus);
- baseCommand = new UavStateCommand(uavState);
+ baseCmd = new UavStateCmd(uavState);
log.debug("无人机状态数据： {}", uavState.getBoxSn());
break;
case (byte) 0xA9:
byte[] uavData = new byte[dataLength - 1];
in.readBytes(uavData);
TelemetryDataPB.TelemetryData telemetryData = TelemetryDataPB.TelemetryData.parseFrom(uavData);
- baseCommand = new UavTelemetryDataCommand(telemetryData);
+ baseCmd = new UavTelemetryDataCmd(telemetryData);
log.debug("遥测数据： {}", telemetryData.getBoxSn());
break;
case (byte) 0x0C:
@@ -76,29 +86,110 @@
uavData = new byte[dataLength - 20];
in.readBytes(uavData);
TelemetryDataPB.SignalInfo signalInfo = TelemetryDataPB.SignalInfo.parseFrom(uavData);
- baseCommand = new SignalInfoCommand(signalInfo);
+ baseCmd = new SignalInfoCmd(signalInfo);
log.debug("信道质量数据： {}", delayTime);
break;
case (byte) 0xD1:
byte encryptionFlag = in.readByte();
byte actionCode = in.readByte();
switch (actionCode) {
- case 0x23:
+ case 0x11:
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);
+ 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;
+ case 0x23:
+ result = in.readByte();
+ errorCode = in.readInt();
+ uavData = new byte[15];
+ in.readBytes(uavData);
+ boxSn = new String(uavData);
+ baseCmd = new CapturePicReplyCmd(boxSn, result, errorCode);
log.debug("拍照回复: {}", boxSn);
break;
case 0x24:
- result = in.readByte();
- errorCode = in.readInt();
+ result = in.readByte();
+ errorCode = in.readInt();
uavData = new byte[15];
in.readBytes(uavData);
- boxSn = new String(uavData);
- baseCommand = new RecordStartReplyCommand(boxSn, result, errorCode);
+ boxSn = new String(uavData);
+ baseCmd = new RecordStartReplyCmd(boxSn, result, errorCode);
log.debug("开始录像回复: {}", boxSn);
break;
case 0x25:
@@ -107,8 +198,28 @@
uavData = new byte[15];
in.readBytes(uavData);
boxSn = new String(uavData);
- baseCommand = new RecordStopReplyCommand(boxSn, result, errorCode);
+ baseCmd = new RecordStopReplyCmd(boxSn, result, errorCode);
log.debug("停止录像回复: {}", boxSn);
+ break;
+ case 0x2E:
+ result = in.readByte();
+ errorCode = in.readInt();
+ uavData = new byte[15];
+ in.readBytes(uavData);
+ boxSn = new String(uavData);
+ baseCmd = new FlyWayEndReplyCmd(boxSn, result, errorCode);
+ log.debug("航线结束通知回复: {}", boxSn);
+ break;
+ case 0x3D:
+ byte batteryPower = in.readByte();
+ double longitude = in.readDouble();
+ double latitude = in.readDouble();
+ int altitude = in.readInt();
+ uavData = new byte[dataLength - 24];
+ in.readBytes(uavData);
+ boxSn = new String(uavData);
+ baseCmd = new UavReadyReplyCmd(boxSn, batteryPower, longitude, latitude, altitude);
+ log.debug("无人机准备完成通知回复: 电池电量 {}", String.format("0x%02X", batteryPower & 0xFF));
break;
case 0x42:
byte[] uavData1 = new byte[dataLength - 18];
@@ -117,7 +228,7 @@
in.readBytes(uavData2);
boxSn = new String(uavData2);
TelemetryDataPB.UavInitInfo uavInitInfo = TelemetryDataPB.UavInitInfo.parseFrom(uavData1);
- baseCommand = new UavReadyNotificationCommand(boxSn, uavInitInfo, actionCode);
+ baseCmd = new UavInitReplyCmd(boxSn, uavInitInfo);
log.debug("无人机初始化数据： {}", boxSn);
break;
default:
@@ -134,8 +245,8 @@
String.format("0x%02X", actionCode & 0xFF));//String.format("0x%02X", cmdCode & 0xFF)
}
- if (baseCommand != null) {
- out.add(baseCommand);
+ if (baseCmd != null) {
+ out.add(baseCmd);
}
}
}
\ No newline at end of file
--
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