From 16fd4235f692777cfd9cceff5090e5450e2173b3 Mon Sep 17 00:00:00 2001
From: liusuyi <1951119284@qq.com>
Date: Tue, 04 Mar 2025 13:59:05 +0800
Subject: [PATCH] 优化包结构、增加载荷飞控权限
---
ard-work/src/main/java/com/ard/tianyu/netty/handler/MessageProtocolDecoder.java | 76 +++++++++++++++++++++++++++++--------
1 files changed, 59 insertions(+), 17 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 c761e56..dc3490c 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
@@ -1,6 +1,12 @@
package com.ard.tianyu.netty.handler;// MessageProtocolDecoder.java
import com.ard.common.utils.ByteUtils;
+import com.ard.tianyu.domain.dto.converter.realdata.UavSignalInfoConverter;
+import com.ard.tianyu.domain.dto.converter.realdata.UavStateConverter;
+import com.ard.tianyu.domain.dto.converter.realdata.UavTelemetryDataConverter;
+import com.ard.tianyu.domain.dto.signal.SignalInfo;
+import com.ard.tianyu.domain.dto.state.UavState;
+import com.ard.tianyu.domain.dto.telemetry.TelemetryData;
import com.ard.tianyu.netty.command.BaseCmd;
import com.ard.tianyu.netty.command.camera.CameraModeReplyCmd;
import com.ard.tianyu.netty.command.camera.CapturePicReplyCmd;
@@ -15,10 +21,11 @@
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.command.wayline.WayLineUploadReplyCmd;
+import com.ard.tianyu.netty.command.settings.ReturnHeightSettingReplyCmd;
+import com.ard.tianyu.netty.command.settings.ReturnPointSettingReplyCmd;
+import com.ard.tianyu.netty.command.settings.VideoStreamSettingReplyCmd;
+import com.ard.tianyu.netty.command.wayline.*;
import com.ard.tianyu.netty.protobuf.TelemetryDataPB;
-import com.google.protobuf.InvalidProtocolBufferException;
import io.netty.buffer.ByteBuf;
import io.netty.channel.ChannelHandlerContext;
import io.netty.handler.codec.ByteToMessageDecoder;
@@ -67,14 +74,16 @@
case (byte) 0xA8:
byte[] uavStatus = new byte[dataLength - 1];
in.readBytes(uavStatus); // 读取 ProtoBuf 数据
- TelemetryDataPB.UavState uavState = TelemetryDataPB.UavState.parseFrom(uavStatus);
+ TelemetryDataPB.UavState uavStatePB = TelemetryDataPB.UavState.parseFrom(uavStatus);
+ UavState uavState = UavStateConverter.convertProtoToEntity(uavStatePB);
baseCmd = new UavStateCmd(uavState);
log.debug("无人机状态数据： {}", uavState.getBoxSn());
break;
case (byte) 0xA9:
byte[] telemetryDataBytes = new byte[dataLength - 1];
in.readBytes(telemetryDataBytes);
- TelemetryDataPB.TelemetryData telemetryData = 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());
break;
@@ -84,7 +93,8 @@
in.readBytes(signalInfoBytes);
signalInfoBytes = new byte[dataLength - 20];
in.readBytes(signalInfoBytes);
- TelemetryDataPB.SignalInfo signalInfo = TelemetryDataPB.SignalInfo.parseFrom(signalInfoBytes);
+ TelemetryDataPB.SignalInfo signalInfoPB = TelemetryDataPB.SignalInfo.parseFrom(signalInfoBytes);
+ SignalInfo signalInfo =UavSignalInfoConverter.convertProtoToEntity(signalInfoPB);
baseCmd = new SignalInfoCmd(signalInfo);
log.debug("信道质量数据： {}", delayTime);
break;
@@ -92,6 +102,11 @@
in.readByte();//加密标志
actionCode = in.readByte();//动作编号
baseCmd = processD1ReplyCmd(in, actionCode);
+ break;
+ case (byte) 0xD2:
+ in.readByte();//加密标志
+ actionCode = in.readByte();//动作编号
+ baseCmd = processD2ReplyCmd(in, actionCode);
break;
default:
in.readByte();//加密标志
@@ -126,8 +141,20 @@
return new LandReplyCmd(boxSn, result, errorCode);
case 0x15:
return new LandCancelReplyCmd(boxSn, result, errorCode);
+ case 0x17:
+ return new WayLineBeginReplyCmd(boxSn, result, errorCode);
+ case 0x18:
+ return new WayLinePauseReplyCmd(boxSn, result, errorCode);
+ case 0x19:
+ return new WayLineResumeReplyCmd(boxSn, result, errorCode);
+ case 0x20:
+ return new WayLineEndReplyCmd(boxSn, result, errorCode);
+ case 0x21:
+ return new ReturnHeightSettingReplyCmd(boxSn, result, errorCode);
case 0x29:
return new LandForcedReplyCmd(boxSn, result, errorCode);
+ case 0x31:
+ return new ReturnPointSettingReplyCmd(boxSn, result, errorCode);
case 0x32:
return new EmergencyBrakeReplyCmd(boxSn, result, errorCode);
case 0x39:
@@ -148,11 +175,26 @@
return processSpecialD1ReplyCmd(in, actionCode, boxSn);
// Add other cases...
default:
- log.warn("无法识别的动作编号：{}", ByteUtils.byteToHex(actionCode));
+ log.warn("无法识别D1的动作编号：{}", ByteUtils.byteToHex(actionCode));
}
return null;
}
-
+ //处理D2指令回复
+ private BaseCmd processD2ReplyCmd(ByteBuf in, byte actionCode) {
+ byte result = in.readByte();
+ int errorCode = in.readInt();
+ byte[] uavData = new byte[15];
+ in.readBytes(uavData);
+ String boxSn = new String(uavData);
+ switch (actionCode) {
+ case 0x05:
+ return new VideoStreamSettingReplyCmd(boxSn, result, errorCode);
+ // Add other cases...
+ default:
+ log.warn("无法识别D2的动作编号：{}", ByteUtils.byteToHex(actionCode));
+ }
+ return null;
+ }
//处理特殊D1指令回复
private BaseCmd processSpecialD1ReplyCmd(ByteBuf in, byte actionCode, String boxSn) {
switch (actionCode) {
@@ -165,15 +207,15 @@
return new UavReadyReplyCmd(boxSn, batteryPower, longitude, latitude, altitude);
//无人机初始化信息回复
case 0x42:
- byte[] uavData1 = new byte[in.readableBytes() - 15];
- in.readBytes(uavData1);
- TelemetryDataPB.UavInitInfo uavInitInfo;
- try {
- uavInitInfo = TelemetryDataPB.UavInitInfo.parseFrom(uavData1);
- } catch (InvalidProtocolBufferException e) {
- throw new RuntimeException(e);
- }
- return new UavInitReplyCmd(boxSn, uavInitInfo);
+// byte[] uavData1 = new byte[in.readableBytes() - 15];
+// in.readBytes(uavData1);
+// TelemetryDataPB.UavInitInfo uavInitInfo;
+// try {
+// uavInitInfo = TelemetryDataPB.UavInitInfo.parseFrom(uavData1);
+// } catch (InvalidProtocolBufferException e) {
+// throw new RuntimeException(e);
+// }
+// return new UavInitReplyCmd(boxSn, uavInitInfo);
default:
return null;
}
--
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