From 4acf06226c8414c7218769995660dee97271a57b Mon Sep 17 00:00:00 2001
From: liusuyi <1951119284@qq.com>
Date: Sat, 02 Nov 2024 11:48:50 +0800
Subject: [PATCH] 优化
---
ard-work/src/main/java/com/ard/tianyu/netty/handler/MessageProtocolDecoder.java | 43 +++++++++++++++++++++++++++++++++++++++++--
1 files changed, 41 insertions(+), 2 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 2b811f9..d14dbd5 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
@@ -16,6 +16,10 @@
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;
@@ -66,6 +70,7 @@
case (byte) 0xA8:
byte[] uavStatus = new byte[dataLength - 1];
in.readBytes(uavStatus); // 读取 ProtoBuf 数据
+
TelemetryDataPB.UavState uavState = TelemetryDataPB.UavState.parseFrom(uavStatus);
baseCmd = new UavStateCmd(uavState);
log.debug("无人机状态数据： {}", uavState.getBoxSn());
@@ -92,6 +97,11 @@
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
actionCode = in.readByte();
@@ -113,6 +123,8 @@
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:
@@ -123,8 +135,20 @@
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:
@@ -145,11 +169,26 @@
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) {
--
Gitblit v1.9.3