From 37aeda6f5a45a220955eafd55bf5154c71c2d705 Mon Sep 17 00:00:00 2001
From: liusuyi <1951119284@qq.com>
Date: Wed, 23 Oct 2024 10:06:09 +0800
Subject: [PATCH] 优化
---
ard-work/src/main/java/com/ard/tianyu/netty/handler/MessageProtocolDecoder.java | 49 +++++++++++++++++++++++++++++++++----------------
1 files changed, 33 insertions(+), 16 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 7b08b83..795bffb 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
@@ -2,6 +2,9 @@
import com.ard.tianyu.netty.command.BaseCommand;
import com.ard.tianyu.netty.command.HeartbeatReplyCommand;
+import com.ard.tianyu.netty.command.UavDataCommand;
+import com.ard.tianyu.netty.command.UavStateCommand;
+import com.ard.tianyu.netty.protobuf.TelemetryDataPB;
import io.netty.buffer.ByteBuf;
import io.netty.channel.ChannelHandlerContext;
import io.netty.handler.codec.ByteToMessageDecoder;
@@ -20,7 +23,7 @@
in.markReaderIndex(); // 标记当前读取位置
short dataHead = in.readShort();
- if(dataHead != 0x6A77){
+ if (dataHead != 0x6A77) {
return;
}
short dataLength = in.readShort();
@@ -30,22 +33,36 @@
return;
}
byte cmdCode = in.readByte();
- BaseCommand command = null;
-
- // 根据 cmdCode 创建相应消息对象
- if (cmdCode == 0x01) { // 注册回复消息
- byte success = in.readByte(); // 读取是否成功
- log.warn("注册回复: {}", success == 0x01 ? "成功" : "失败");
+ BaseCommand baseCommand = 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");
+ break;
+ case 0x02:
+ long timestamp = in.readLong(); // 读取时间戳
+ baseCommand = new HeartbeatReplyCommand(timestamp);
+ log.warn("心跳回复: 时间戳 {}", timestamp);
+ 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);
+ log.warn("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 UavDataCommand(telemetryData);
+ log.warn("无人机遥测数据： {}", telemetryData.getBoxSn());
+ break;
+ default:
+ log.warn("无法识别的命令码: {}", String.format("0x%02X", cmdCode & 0xFF));//String.format("0x%02X", cmdCode & 0xFF)
}
- if (cmdCode == 0x02) { // 注册回复消息
- long timestamp = in.readLong(); // 读取时间戳
- command = new HeartbeatReplyCommand(timestamp); // 创建心跳回复对象
- log.debug("心跳回复: 时间戳 {}", timestamp);
- }
- if (command != null) {
- out.add(command); // 添加解码的命令对象到输出列表
- } else {
- log.warn("无法识别的命令码: {}", cmdCode);//String.format("0x%02X", cmdCode & 0xFF)
+ if (baseCommand != null) {
+ out.add(baseCommand);
}
}
}
\ No newline at end of file
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