From 35f1a08b31531d971169403978cddf3328accb26 Mon Sep 17 00:00:00 2001
From: liusuyi <1951119284@qq.com>
Date: Thu, 20 Feb 2025 16:01:06 +0800
Subject: [PATCH] 添加无人机控制权申请、处理、释放
---
ard-work/src/main/java/com/ard/tianyu/netty/handler/MessageProtocolDecoder.java | 237 +++++++++++++++++++++++++++++++++++-----------------------
1 files changed, 142 insertions(+), 95 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..a9cea50 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
@@ -1,10 +1,18 @@
package com.ard.tianyu.netty.handler;// MessageProtocolDecoder.java
-import com.ard.tianyu.netty.command.*;
+import com.ard.common.utils.ByteUtils;
+import com.ard.tianyu.model.dto.converter.realdata.UavSignalInfoConverter;
+import com.ard.tianyu.model.dto.converter.realdata.UavStateConverter;
+import com.ard.tianyu.model.dto.converter.realdata.UavTelemetryDataConverter;
+import com.ard.tianyu.model.dto.signal.SignalInfo;
+import com.ard.tianyu.model.dto.state.UavState;
+import com.ard.tianyu.model.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;
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;
@@ -14,12 +22,16 @@
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.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;
import lombok.extern.slf4j.Slf4j;
-
import java.util.List;
@Slf4j
@@ -44,6 +56,7 @@
}
byte cmdCode = in.readByte();
BaseCmd baseCmd = null;
+ byte actionCode;
switch (cmdCode) {
case 0x01:
byte success = in.readByte(); // 读取是否成功
@@ -55,125 +68,159 @@
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));
+ 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
- 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[] uavData = new byte[dataLength - 1];
- in.readBytes(uavData);
- TelemetryDataPB.TelemetryData telemetryData = TelemetryDataPB.TelemetryData.parseFrom(uavData);
+ byte[] telemetryDataBytes = new byte[dataLength - 1];
+ in.readBytes(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;
case (byte) 0x0C:
int delayTime = in.readInt();
- uavData = new byte[15];
- in.readBytes(uavData);
- // String boxSn12 = new String(uavData);
- uavData = new byte[dataLength - 20];
- in.readBytes(uavData);
- TelemetryDataPB.SignalInfo signalInfo = TelemetryDataPB.SignalInfo.parseFrom(uavData);
+ byte[] signalInfoBytes = new byte[15];
+ in.readBytes(signalInfoBytes);
+ signalInfoBytes = new byte[dataLength - 20];
+ in.readBytes(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;
case (byte) 0xD1:
- byte encryptionFlag = in.readByte();
- byte actionCode = in.readByte();
- switch (actionCode) {
- case 0x22:
- byte result = in.readByte();
- int errorCode = in.readInt();
- uavData = new byte[15];
- in.readBytes(uavData);
- String 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();
- uavData = new byte[15];
- in.readBytes(uavData);
- boxSn = new String(uavData);
- baseCmd = new RecordStartReplyCmd(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);
- 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];
- in.readBytes(uavData1);
- byte[] uavData2 = new byte[15];
- in.readBytes(uavData2);
- boxSn = new String(uavData2);
- TelemetryDataPB.UavInitInfo uavInitInfo = TelemetryDataPB.UavInitInfo.parseFrom(uavData1);
- baseCmd = new UavInitReplyCmd(boxSn, uavInitInfo);
- 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));
- break;
- }
+ 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:
- encryptionFlag = in.readByte();
+ in.readByte();//加密标志
actionCode = in.readByte();
- log.warn("无法识别的命令码: {},加密标志：{},动作编号：{}",
- String.format("0x%02X", cmdCode & 0xFF),
- String.format("0x%02X", encryptionFlag & 0xFF),
- String.format("0x%02X", actionCode & 0xFF));//String.format("0x%02X", cmdCode & 0xFF)
-
+ log.warn("无法识别的命令码: {},动作编号：{}",
+ ByteUtils.byteToHex(cmdCode),
+ ByteUtils.byteToHex(actionCode)
+ );
}
if (baseCmd != null) {
out.add(baseCmd);
}
}
+
+ //处理D1指令回复
+ private BaseCmd processD1ReplyCmd(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 0x10:
+ return new WayLineUploadReplyCmd(boxSn, result, errorCode);
+ case 0x11:
+ return new TakeOffReplyCmd(boxSn, result, errorCode);
+ case 0x12:
+ return new ReturnHomeReplyCmd(boxSn, result, errorCode);
+ case 0x13:
+ return new ReturnHomeCancelReplyCmd(boxSn, result, errorCode);
+ case 0x14:
+ 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:
+ return new PointControlReachedReplyCmd(boxSn, result, errorCode);
+ case 0x22:
+ return new CameraModeReplyCmd(boxSn, result, errorCode);
+ case 0x23:
+ return new CapturePicReplyCmd(boxSn, result, errorCode);
+ case 0x24:
+ return new RecordStartReplyCmd(boxSn, result, errorCode);
+ case 0x25:
+ return new RecordStopReplyCmd(boxSn, result, errorCode);
+ case 0x2E:
+ return new FlyWayEndReplyCmd(boxSn, result, errorCode);
+ // Special cases
+ case 0x3D:
+ case 0x42:
+ return processSpecialD1ReplyCmd(in, actionCode, boxSn);
+ // Add other cases...
+ default:
+ 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) {
+ //无人机准备完成通知回复
+ case 0x3D:
+ byte batteryPower = in.readByte();
+ double longitude = in.readDouble();
+ double latitude = in.readDouble();
+ int altitude = in.readInt();
+ 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);
+ default:
+ return null;
+ }
+ }
+
}
\ No newline at end of file
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