From 75902fb9d5b27a440d14308ccca3c3cff32167bb Mon Sep 17 00:00:00 2001
From: liusuyi <1951119284@qq.com>
Date: Fri, 25 Oct 2024 09:51:19 +0800
Subject: [PATCH] 优化
---
ard-work/src/main/java/com/ard/tianyu/netty/handler/MessageProtocolDecoder.java | 7 -
ard-work/src/main/java/com/ard/tianyu/service/impl/TyServiceImpl.java | 20 +-----
ard-work/src/main/java/com/ard/tianyu/service/ITyService.java | 5 -
ard-work/src/main/java/com/ard/tianyu/netty/command/RegisterReplyCommand.java | 3 -
ard-work/src/main/java/com/ard/tianyu/netty/command/UavInitInfoCommand.java | 18 ++---
ard-work/src/main/java/com/ard/tianyu/netty/command/DroneReadyNotificationCommand.java | 4 +
ard-work/src/main/java/com/ard/tianyu/netty/command/HeartbeatCommand.java | 3 -
/dev/null | 26 --------
ard-work/src/main/java/com/ard/tianyu/netty/command/RegisterCommand.java | 3 -
ard-work/src/main/java/com/ard/tianyu/controller/UavController.java | 7 --
ard-work/src/main/java/com/ard/tianyu/netty/command/BaseCommand.java | 3
ard-work/src/main/java/com/ard/tianyu/netty/handler/MessageProtocolEncoder.java | 25 ++++++++
ard-work/src/main/java/com/ard/tianyu/netty/command/PointFlyCommand.java | 4 -
ard-work/src/main/java/com/ard/tianyu/netty/protobuf/TelemetryDataBuf.proto | 0
ard-work/src/main/java/com/ard/tianyu/netty/command/HeartbeatReplyCommand.java | 5 -
ard-work/src/main/java/com/ard/tianyu/netty/command/ControlAngleCommand.java | 34 +++-------
16 files changed, 56 insertions(+), 111 deletions(-)
diff --git a/ard-work/src/main/java/com/ard/tianyu/controller/UavController.java b/ard-work/src/main/java/com/ard/tianyu/controller/UavController.java
index 1111798..5ec8b27 100644
--- a/ard-work/src/main/java/com/ard/tianyu/controller/UavController.java
+++ b/ard-work/src/main/java/com/ard/tianyu/controller/UavController.java
@@ -74,13 +74,6 @@
return AjaxResult.success(state);
}
- @ApiOperation("无人机控制订阅")
- @GetMapping("/uavControlSubscribe")
- public AjaxResult uavControlSubscribe(String boxSn) {
- tyService.uavControlSubscribe(boxSn);
- return AjaxResult.success();
- }
-
@ApiOperation("云台转动(基于角度)")
@GetMapping("/controlAngle")
public AjaxResult controlAngle(String boxSn,Integer actionId,Integer rotationAngle) {
diff --git a/ard-work/src/main/java/com/ard/tianyu/netty/command/BaseCommand.java b/ard-work/src/main/java/com/ard/tianyu/netty/command/BaseCommand.java
index 9254917..9e3fe46 100644
--- a/ard-work/src/main/java/com/ard/tianyu/netty/command/BaseCommand.java
+++ b/ard-work/src/main/java/com/ard/tianyu/netty/command/BaseCommand.java
@@ -7,7 +7,8 @@
public abstract class BaseCommand {
private short dataHeader; // 帧头
private short dataLength; // 数据长度
- private byte cmdCode; // 指令编号
+ private byte[] boxSn; // 云盒编号
+ private byte cmdCode; // 指令编号
// 编码方法，子类需要实现
public abstract void encode(ByteBuf out);
diff --git a/ard-work/src/main/java/com/ard/tianyu/netty/command/ControlAngleCommand.java b/ard-work/src/main/java/com/ard/tianyu/netty/command/ControlAngleCommand.java
index ea110e3..4e77ae1 100644
--- a/ard-work/src/main/java/com/ard/tianyu/netty/command/ControlAngleCommand.java
+++ b/ard-work/src/main/java/com/ard/tianyu/netty/command/ControlAngleCommand.java
@@ -11,37 +11,25 @@
*/
@Data
-public class ControlAngleCommand extends BaseCommand{
- private final byte[] boxSn; // 云盒编号
+public class ControlAngleCommand extends BaseCommand {
private final byte encryptFlag; // 加密标志
- private final byte actionId; // 动作编号
+ private final byte actionCode; // 动作编号
private final byte rotationAngle; // 转动角度
- public ControlAngleCommand(byte[] boxSn, byte encryptFlag, byte actionId, byte rotationAngle) {
- if (boxSn.length != 15) {
- throw new IllegalArgumentException("云盒编号长度必须为15字节");
- }
- setDataHeader((short)0x7479);
- setDataLength(getDataLength());
- setCmdCode((byte)0xD1);
- this.boxSn = boxSn;
- this.encryptFlag = encryptFlag;
- this.actionId = actionId;
+ public ControlAngleCommand(String boxSn, byte actionCode, byte rotationAngle) {
+ setDataHeader((short) 0x7479);
+ setDataLength((short)19);
+ setBoxSn(boxSn.getBytes());
+ setCmdCode((byte) 0xD1);
+
+ this.encryptFlag = 0x00;
+ this.actionCode = actionCode;
this.rotationAngle = rotationAngle;
}
- public short getDataLength() {
- // 计算数据长度: 云盒编号 + 指令编号 + 加密标志 + 动作编号 + 转动角度
- return (short) (1 + 15 + 1 + 1 + 1); // 帧头 + 数据内容
- }
-
public void encode(ByteBuf out) {
- out.writeShort(getDataHeader()); // 写入帧头
- out.writeShort(getDataLength()); // 写入数据长度
- out.writeBytes(boxSn); // 写入云盒编号
- out.writeByte(getCmdCode()); // 写入指令编号
out.writeByte(encryptFlag); // 写入加密标志
- out.writeByte(actionId); // 写入动作编号
+ out.writeByte(actionCode); // 写入动作编号
out.writeByte(rotationAngle); // 写入转动角度
}
}
diff --git a/ard-work/src/main/java/com/ard/tianyu/netty/command/DroneReadyNotificationCommand.java b/ard-work/src/main/java/com/ard/tianyu/netty/command/DroneReadyNotificationCommand.java
index 9f2dc29..95814c4 100644
--- a/ard-work/src/main/java/com/ard/tianyu/netty/command/DroneReadyNotificationCommand.java
+++ b/ard-work/src/main/java/com/ard/tianyu/netty/command/DroneReadyNotificationCommand.java
@@ -16,10 +16,12 @@
private byte actionCode;
private TelemetryDataPB.UavInitInfo uavInitInfo;
- public DroneReadyNotificationCommand(TelemetryDataPB.UavInitInfo uavInitInfo, byte actionCode) {
+ public DroneReadyNotificationCommand(String boxSn,TelemetryDataPB.UavInitInfo uavInitInfo, byte actionCode) {
setDataHeader((short) 0x6A77); // 设置帧头
// setDataLength((short) (1 + uavState.toByteArray().length)); // 数据长度
+ setBoxSn(boxSn.getBytes());
setCmdCode((byte) 0xD1); // 设置命令编号
+
this.uavInitInfo = uavInitInfo;
this.actionCode = actionCode;
}
diff --git a/ard-work/src/main/java/com/ard/tianyu/netty/command/HeartbeatCommand.java b/ard-work/src/main/java/com/ard/tianyu/netty/command/HeartbeatCommand.java
index a9ca971..2b5bfba 100644
--- a/ard-work/src/main/java/com/ard/tianyu/netty/command/HeartbeatCommand.java
+++ b/ard-work/src/main/java/com/ard/tianyu/netty/command/HeartbeatCommand.java
@@ -19,9 +19,6 @@
this.timestamp = timestamp;
}
public void encode(ByteBuf out) {
- out.writeShort(getDataHeader());
- out.writeShort(getDataLength());
- out.writeByte(getCmdCode());
out.writeLong(timestamp); // 写入时间戳
}
}
\ No newline at end of file
diff --git a/ard-work/src/main/java/com/ard/tianyu/netty/command/HeartbeatReplyCommand.java b/ard-work/src/main/java/com/ard/tianyu/netty/command/HeartbeatReplyCommand.java
index 6b98c89..8685e8d 100644
--- a/ard-work/src/main/java/com/ard/tianyu/netty/command/HeartbeatReplyCommand.java
+++ b/ard-work/src/main/java/com/ard/tianyu/netty/command/HeartbeatReplyCommand.java
@@ -17,16 +17,13 @@
private long timestamp; // 时间戳
public HeartbeatReplyCommand(long timestamp) {
- this.timestamp = timestamp;
setDataHeader((short) 0x6A77); // 设置帧头
setCmdCode((byte) 0x02); // 设置指令编号
setDataLength((short) (13)); // 数据长度 (指令编号 + 时间戳)
+ this.timestamp = timestamp;
}
public void encode(ByteBuf out) {
- out.writeShort(getDataHeader());
- out.writeShort(getDataLength());
- out.writeByte(getCmdCode());
out.writeLong(timestamp); // 写入时间戳
}
}
\ No newline at end of file
diff --git a/ard-work/src/main/java/com/ard/tianyu/netty/command/PointFlyCommand.java b/ard-work/src/main/java/com/ard/tianyu/netty/command/PointFlyCommand.java
index 109bdc5..1009e54 100644
--- a/ard-work/src/main/java/com/ard/tianyu/netty/command/PointFlyCommand.java
+++ b/ard-work/src/main/java/com/ard/tianyu/netty/command/PointFlyCommand.java
@@ -19,9 +19,7 @@
@Override
public void encode(ByteBuf out) {
- out.writeShort(getDataHeader()); // 写入帧头
- out.writeShort(getDataLength()); // 写入数据长度
- out.writeByte(getCmdCode()); // 写入指令编号
+
out.writeDouble(longitude); // 写入经度
out.writeDouble(latitude); // 写入纬度
out.writeFloat(height); // 写入高度
diff --git a/ard-work/src/main/java/com/ard/tianyu/netty/command/RegisterCommand.java b/ard-work/src/main/java/com/ard/tianyu/netty/command/RegisterCommand.java
index 89d3dd6..e7e2719 100644
--- a/ard-work/src/main/java/com/ard/tianyu/netty/command/RegisterCommand.java
+++ b/ard-work/src/main/java/com/ard/tianyu/netty/command/RegisterCommand.java
@@ -22,9 +22,6 @@
@Override
public void encode(ByteBuf out) {
- out.writeShort(getDataHeader()); // 写入帧头
- out.writeShort(getDataLength()); // 写入数据长度
- out.writeByte(getCmdCode()); // 写入指令编号
out.writeInt(userId); // 写入用户编号
out.writeBytes(accessToken); // 写入访问令牌
}
diff --git a/ard-work/src/main/java/com/ard/tianyu/netty/command/RegisterReplyCommand.java b/ard-work/src/main/java/com/ard/tianyu/netty/command/RegisterReplyCommand.java
index 93fa4ee..2445d51 100644
--- a/ard-work/src/main/java/com/ard/tianyu/netty/command/RegisterReplyCommand.java
+++ b/ard-work/src/main/java/com/ard/tianyu/netty/command/RegisterReplyCommand.java
@@ -22,9 +22,6 @@
@Override
public void encode(ByteBuf out) {
- out.writeShort(getDataHeader()); // 写入帧头
- out.writeShort(getDataLength()); // 写入数据长度
- out.writeByte(getCmdCode()); // 写入指令编号
out.writeByte(success); // 写入用户编号
}
}
diff --git a/ard-work/src/main/java/com/ard/tianyu/netty/command/SubscribeCommand.java b/ard-work/src/main/java/com/ard/tianyu/netty/command/SubscribeCommand.java
deleted file mode 100644
index 962e88a..0000000
--- a/ard-work/src/main/java/com/ard/tianyu/netty/command/SubscribeCommand.java
+++ /dev/null
@@ -1,26 +0,0 @@
-package com.ard.tianyu.netty.command;
-
-import io.netty.buffer.ByteBuf;
-import lombok.Data;
-
-@Data
-public class SubscribeCommand extends BaseCommand {
-
- //云盒SN号
- private String BoxSn;
-
- public SubscribeCommand(String BoxSn) {
- setDataHeader((short) 0x7479); // 设置帧头
- setDataLength((short) (6 + BoxSn.getBytes().length)); // 数据长度
- setCmdCode((byte) 0x03); // 设置命令编号
- this.BoxSn = BoxSn;
- }
-
- @Override
- public void encode(ByteBuf out) {
- out.writeShort(getDataHeader()); // 写入帧头
- out.writeShort(getDataLength()); // 写入数据长度
- out.writeByte(getCmdCode()); // 写入指令编号
- out.writeBytes(BoxSn.getBytes()); // 写入云盒SN号
- }
-}
\ No newline at end of file
diff --git a/ard-work/src/main/java/com/ard/tianyu/netty/command/SubscribeReplyCommand.java b/ard-work/src/main/java/com/ard/tianyu/netty/command/SubscribeReplyCommand.java
deleted file mode 100644
index 62cb5c7..0000000
--- a/ard-work/src/main/java/com/ard/tianyu/netty/command/SubscribeReplyCommand.java
+++ /dev/null
@@ -1,26 +0,0 @@
-package com.ard.tianyu.netty.command;
-
-import io.netty.buffer.ByteBuf;
-import lombok.Data;
-
-@Data
-public class SubscribeReplyCommand extends BaseCommand {
-
- //云盒SN号
- private String BoxSn;
-
- public SubscribeReplyCommand(String BoxSn) {
- setDataHeader((short) 0x6A77); // 设置帧头
- setDataLength((short) (6 + BoxSn.getBytes().length)); // 数据长度
- setCmdCode((byte) 0x03); // 设置命令编号
- this.BoxSn = BoxSn;
- }
-
- @Override
- public void encode(ByteBuf out) {
- out.writeShort(getDataHeader()); // 写入帧头
- out.writeShort(getDataLength()); // 写入数据长度
- out.writeByte(getCmdCode()); // 写入指令编号
- out.writeBytes(BoxSn.getBytes()); // 写入云盒SN号
- }
-}
\ No newline at end of file
diff --git a/ard-work/src/main/java/com/ard/tianyu/netty/command/UavInitInfoCommand.java b/ard-work/src/main/java/com/ard/tianyu/netty/command/UavInitInfoCommand.java
index 81b56ca..44ebc13 100644
--- a/ard-work/src/main/java/com/ard/tianyu/netty/command/UavInitInfoCommand.java
+++ b/ard-work/src/main/java/com/ard/tianyu/netty/command/UavInitInfoCommand.java
@@ -14,24 +14,22 @@
public class UavInitInfoCommand extends BaseCommand{
private final byte encryptFlag; // 加密标志
- private final byte actionId; // 动作编号
+ private final byte actionCode; // 动作编号
private final byte result; // 执行结果
- public UavInitInfoCommand(byte encryptFlag, byte actionId, byte result) {
+ public UavInitInfoCommand(String boxSn, byte actionCode) {
setDataHeader((short)0x7479);
- setDataLength((short) 3);
+ setDataLength((short) 18);
+ setBoxSn(boxSn.getBytes());
setCmdCode((byte)0xD1);
- this.encryptFlag = encryptFlag;
- this.actionId = actionId;
- this.result = result;
+ this.encryptFlag = 0x00;
+ this.actionCode = actionCode;
+ this.result = 0x01;
}
public void encode(ByteBuf out) {
- out.writeShort(getDataHeader()); // 写入帧头
- out.writeShort(getDataLength()); // 写入数据长度
- out.writeByte(getCmdCode()); // 写入指令编号
out.writeByte(encryptFlag); // 写入加密标志
- out.writeByte(actionId); // 写入动作编号
+ out.writeByte(actionCode); // 写入动作编号
out.writeByte(result); // 写入执行结果
}
}
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 d08699c..eafc7b5 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
@@ -44,10 +44,6 @@
break;
case 0x03:
case 0x04:
- byte[] boxSn = new byte[dataLength - 1];
- in.readBytes(boxSn);
- SubscribeReplyCommand subscribeReply = new SubscribeReplyCommand(new String(boxSn));
- log.debug("订阅回复: {}", subscribeReply.getBoxSn());
break;
case (byte) 0xA8:
byte[] uavStatus = new byte[dataLength - 1];
@@ -83,8 +79,9 @@
in.readBytes(uavData1);
byte[] uavData2 = new byte[15];
in.readBytes(uavData2);
+ String boxSn = new String(uavData2);
TelemetryDataPB.UavInitInfo uavInitInfo = TelemetryDataPB.UavInitInfo.parseFrom(uavData1);
- baseCommand = new DroneReadyNotificationCommand(uavInitInfo, actionCode);
+ baseCommand = new DroneReadyNotificationCommand(boxSn, uavInitInfo, actionCode);
log.info("无人机初始化数据： {}", uavInitInfo.getUavModel());
break;
default:
diff --git a/ard-work/src/main/java/com/ard/tianyu/netty/handler/MessageProtocolEncoder.java b/ard-work/src/main/java/com/ard/tianyu/netty/handler/MessageProtocolEncoder.java
index 8ed5690..2e86ed3 100644
--- a/ard-work/src/main/java/com/ard/tianyu/netty/handler/MessageProtocolEncoder.java
+++ b/ard-work/src/main/java/com/ard/tianyu/netty/handler/MessageProtocolEncoder.java
@@ -4,13 +4,38 @@
import io.netty.buffer.ByteBuf;
import io.netty.channel.ChannelHandlerContext;
import io.netty.handler.codec.MessageToByteEncoder;
+import lombok.extern.slf4j.Slf4j;
+import java.util.Arrays;
+
+@Slf4j
public class MessageProtocolEncoder extends MessageToByteEncoder<BaseCommand> {
@Override
protected void encode(ChannelHandlerContext ctx, BaseCommand command, ByteBuf out) throws Exception {
out.writeShort(command.getDataHeader()); // 写入帧头
out.writeShort(command.getDataLength()); // 写入数据长度
+ if(command.getBoxSn() != null) {
+ out.writeBytes(command.getBoxSn());
+ }// 写入指令编号
out.writeByte(command.getCmdCode()); // 写入指令编号
command.encode(out); // 编码具体负载
+ // 打印
+ if(command.getCmdCode()!=0x02) {
+ printHex(out);
+ }
+ }
+ private void printHex(ByteBuf out)
+ {
+ // 打印编码后的字节数组
+ byte[] encodedBytes = new byte[out.readableBytes()]; // 创建字节数组，大小为可读字节数
+ out.getBytes(out.readerIndex(), encodedBytes); // 读取ByteBuf中的字节到字节数组中
+ // log.warn("Encoded message bytes: {}", Arrays.toString(encodedBytes));
+ // 将字节数组转换为十六进制格式
+ StringBuilder hexString = new StringBuilder();
+ for (byte b : encodedBytes) {
+ hexString.append(String.format("%02X ", b)); // 将每个字节转换为两位十六进制并加上空格
+ }
+
+ log.warn("Encoded message in hex: {}", hexString.toString().trim());
}
}
diff --git a/ard-work/src/main/java/com/ard/tianyu/netty/protobuf/TelemetryDataBuf-new.proto b/ard-work/src/main/java/com/ard/tianyu/netty/protobuf/TelemetryDataBuf.proto
similarity index 100%
rename from ard-work/src/main/java/com/ard/tianyu/netty/protobuf/TelemetryDataBuf-new.proto
rename to ard-work/src/main/java/com/ard/tianyu/netty/protobuf/TelemetryDataBuf.proto
diff --git a/ard-work/src/main/java/com/ard/tianyu/service/ITyService.java b/ard-work/src/main/java/com/ard/tianyu/service/ITyService.java
index 4fe28ac..c3b3a7a 100644
--- a/ard-work/src/main/java/com/ard/tianyu/service/ITyService.java
+++ b/ard-work/src/main/java/com/ard/tianyu/service/ITyService.java
@@ -63,11 +63,6 @@
void registerMessage();
/**
- * 无人机控制订阅
- */
- void uavControlSubscribe(String boxSn);
-
- /**
* 云台转动(基于角度)
*/
void controlAngle(String boxSn,Integer actionId,Integer rotationAngle) ;
diff --git a/ard-work/src/main/java/com/ard/tianyu/service/impl/TyServiceImpl.java b/ard-work/src/main/java/com/ard/tianyu/service/impl/TyServiceImpl.java
index e51eee5..278e324 100644
--- a/ard-work/src/main/java/com/ard/tianyu/service/impl/TyServiceImpl.java
+++ b/ard-work/src/main/java/com/ard/tianyu/service/impl/TyServiceImpl.java
@@ -127,13 +127,6 @@
this.sendMessage(tyConfiguration.getIpPort(), registerMessage);
}
- /**
- * 无人机控制订阅
- */
- public void uavControlSubscribe(String boxSn) {
- SubscribeCommand subscribeCommand = new SubscribeCommand(boxSn);
- this.sendMessage(tyConfiguration.getIpPort(), subscribeCommand);
- }
/**
* 发送消息
@@ -146,10 +139,7 @@
InetSocketAddress ipSocket = (InetSocketAddress) channel.remoteAddress();
String host = ipSocket.getHostString();
int port = ipSocket.getPort();
- // 创建 ByteBuf 并编码消息
- ByteBuf buffer = Unpooled.buffer();
- msg.encode(buffer); // 确保对消息进行编码
- channel.writeAndFlush(buffer); // 发送编码后的数据
+ channel.writeAndFlush(msg); // 发送编码后的数据
log.debug("向天宇服务器【{}:{}】发送数据，命令码：{}", host, port, String.format("0x%02X", msg.getCmdCode() & 0xFF));
} else {
log.error("与天宇服务器链接断开，无法发送数据！");
@@ -164,7 +154,7 @@
*/
@Override
public void controlAngle(String boxSn, Integer actionId, Integer rotationAngle) {
- ControlAngleCommand controlAngleCommand = new ControlAngleCommand(boxSn.getBytes(), (byte) 0x00, actionId.byteValue(), rotationAngle.byteValue());
+ ControlAngleCommand controlAngleCommand = new ControlAngleCommand(boxSn, actionId.byteValue(), rotationAngle.byteValue());
this.sendMessage(tyConfiguration.getIpPort(), controlAngleCommand);
}
@@ -213,13 +203,9 @@
break;
case 0x03:
// 处理订阅消息
- SubscribeCommand subscribeCommand = (SubscribeCommand) tyCommand;
- log.info("收到订阅消息-->处理订阅消息{}", subscribeCommand.getBoxSn());
break;
case 0x04:
// 处理取消订阅消息
- subscribeCommand = (SubscribeCommand) tyCommand;
- log.info("收到取消订阅消息-->处理取消订阅消息{}", subscribeCommand.getBoxSn());
break;
case (byte) 0xA8:
// 处理无人机状态消息
@@ -246,7 +232,7 @@
// 处理无人机
DroneReadyNotificationCommand droneReadyNotificationCommand = (DroneReadyNotificationCommand) tyCommand;
if (droneReadyNotificationCommand.getActionCode() == (byte) 0x42) {
- UavInitInfoCommand uavInitCommand = new UavInitInfoCommand((byte) 0x00, (byte) 0x42, (byte) 0x01);
+ UavInitInfoCommand uavInitCommand = new UavInitInfoCommand(new String(droneReadyNotificationCommand.getBoxSn()), (byte) 0x42);
this.sendMessage(tyConfiguration.getIpPort(), uavInitCommand);
log.info("收到无人机初始化详情-回复防止再次发送");
}
--
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