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 | 90 ++++++++++++++++++++++++++++++++++++---------
1 files changed, 72 insertions(+), 18 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 5c27bd5..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
@@ -1,7 +1,7 @@
package com.ard.tianyu.netty.handler;// MessageProtocolDecoder.java
-import com.ard.tianyu.netty.command.BaseCommand;
-import com.ard.tianyu.netty.command.HeartbeatReplyCommand;
+import com.ard.tianyu.netty.command.*;
+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 +20,7 @@
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 +30,76 @@
return;
}
byte cmdCode = in.readByte();
- BaseCommand command = null;
+ 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");
+ baseCommand = new RegisterReplyCommand(success);
+ break;
+ case 0x02:
+ long timestamp = in.readLong(); // 读取时间戳
+ baseCommand = new HeartbeatReplyCommand(timestamp);
+ log.debug("心跳回复: 时间戳 {}", timestamp);
+ break;
+ case 0x03:
+ case 0x04:
+ 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.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);
+ baseCommand = new UavTelemetryDataCommand(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);
+ baseCommand = new SignalInfoCommand(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 0x42:
+ byte[] uavData1 = new byte[dataLength - 18];
+ 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(boxSn, uavInitInfo, actionCode);
+ log.info("无人机初始化数据： {}", uavInitInfo.getUavModel());
+ break;
+ default:
+ log.warn("无法识别的命令码动作编号：{}", String.format("0x%02X", actionCode & 0xFF));
+ break;
+ }
+ break;
+ default:
+ encryptionFlag = in.readByte();
+ 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)
- // 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.info("注册回复: {}", success == 0x01 ? "成功" : "失败");
}
- 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.info("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);
+ if (baseCommand != null) {
+ out.add(baseCommand);
}
}
-}
+}
\ No newline at end of file
--
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