From 91f6e60919b92b7f99a41f2ddeb42df17cd0c487 Mon Sep 17 00:00:00 2001
From: liusuyi <1951119284@qq.com>
Date: Fri, 25 Oct 2024 10:48:26 +0800
Subject: [PATCH] 优化
---
ard-work/src/main/java/com/ard/tianyu/netty/handler/ClientHandler.java | 1
ard-work/src/main/java/com/ard/tianyu/netty/handler/MessageProtocolDecoder.java | 4 +-
ard-work/src/main/java/com/ard/tianyu/service/impl/TyServiceImpl.java | 13 ++++--
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/UavReadyNotificationCommand.java | 4 +-
ard-work/src/main/java/com/ard/tianyu/netty/command/UavInitInfoCommand.java | 20 ++++++----
ard-work/src/main/java/com/ard/tianyu/netty/command/HeartbeatCommand.java | 3 +
ard-work/src/main/java/com/ard/tianyu/netty/command/RegisterCommand.java | 3 +
ard-work/src/main/java/com/ard/tianyu/controller/UavController.java | 2
ard-work/src/main/java/com/ard/tianyu/netty/command/BaseCommand.java | 1
ard-work/src/main/java/com/ard/tianyu/netty/handler/MessageProtocolEncoder.java | 8 +---
ard-work/src/main/java/com/ard/tianyu/netty/command/PointFlyCommand.java | 4 +
ard-work/src/main/java/com/ard/tianyu/netty/command/HeartbeatReplyCommand.java | 3 +
ard-work/src/main/java/com/ard/tianyu/netty/command/ControlAngleCommand.java | 4 ++
15 files changed, 51 insertions(+), 27 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 5ec8b27..3f620f7 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
@@ -77,7 +77,7 @@
@ApiOperation("云台转动(基于角度)")
@GetMapping("/controlAngle")
public AjaxResult controlAngle(String boxSn,Integer actionId,Integer rotationAngle) {
- tyService.controlAngle(boxSn,actionId,rotationAngle);
+ tyService.angleControl(boxSn,actionId,rotationAngle);
return AjaxResult.success();
}
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 9e3fe46..5061ed9 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
@@ -12,4 +12,5 @@
// 编码方法，子类需要实现
public abstract void encode(ByteBuf out);
+
}
\ No newline at end of file
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 4e77ae1..694e9f4 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
@@ -28,6 +28,10 @@
}
public void encode(ByteBuf out) {
+ out.writeShort(getDataHeader()); // 写入数据头
+ out.writeShort(getDataLength()); // 写入数据长度
+ out.writeBytes(getBoxSn()); // 写入盒子SN
+ out.writeByte(getCmdCode()); // 写入命令码
out.writeByte(encryptFlag); // 写入加密标志
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/HeartbeatCommand.java b/ard-work/src/main/java/com/ard/tianyu/netty/command/HeartbeatCommand.java
index 2b5bfba..10d61a3 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
@@ -19,6 +19,9 @@
this.timestamp = timestamp;
}
public void encode(ByteBuf out) {
+ out.writeShort(getDataHeader()); // 写入数据头
+ out.writeShort(getDataLength()); // 写入数据长度
+ out.writeByte(getCmdCode()); // 写入命令码
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 8685e8d..bbb9b6f 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
@@ -24,6 +24,9 @@
}
public void encode(ByteBuf out) {
+ out.writeShort(getDataHeader()); // 写入数据头
+ out.writeShort(getDataLength()); // 写入数据长度
+ out.writeByte(getCmdCode()); // 写入命令码
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 1009e54..1509fd5 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
@@ -19,7 +19,9 @@
@Override
public void encode(ByteBuf out) {
-
+ out.writeShort(getDataHeader()); // 写入数据头
+ out.writeShort(getDataLength()); // 写入数据长度
+ out.writeByte(getCmdCode()); // 写入命令码
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 e7e2719..2de1337 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
@@ -22,6 +22,9 @@
@Override
public void encode(ByteBuf out) {
+ out.writeShort(getDataHeader()); // 写入数据头
+ out.writeShort(getDataLength()); // 写入数据长度
+ out.writeByte(getCmdCode()); // 写入命令码
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 2445d51..0eff2c3 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
@@ -22,6 +22,9 @@
@Override
public void encode(ByteBuf out) {
+ out.writeShort(getDataHeader()); // 写入数据头
+ out.writeShort(getDataLength()); // 写入数据长度
+ out.writeByte(getCmdCode()); // 写入命令码
out.writeByte(success); // 写入用户编号
}
}
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 44ebc13..9944dd5 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
@@ -11,25 +11,29 @@
*/
@Data
-public class UavInitInfoCommand extends BaseCommand{
+public class UavInitInfoCommand extends BaseCommand {
private final byte encryptFlag; // 加密标志
private final byte actionCode; // 动作编号
private final byte result; // 执行结果
- public UavInitInfoCommand(String boxSn, byte actionCode) {
- setDataHeader((short)0x7479);
- setDataLength((short) 18);
- setBoxSn(boxSn.getBytes());
- setCmdCode((byte)0xD1);
+ public UavInitInfoCommand(byte[] boxSn) {
+ setDataHeader((short) 0x7479);
+ setDataLength((short) 19);
+ setCmdCode((byte) 0xD1);
this.encryptFlag = 0x00;
- this.actionCode = actionCode;
+ this.actionCode = 0x42;
this.result = 0x01;
+ setBoxSn(boxSn);
}
public void encode(ByteBuf out) {
+ out.writeShort(getDataHeader()); // 写入数据头
+ out.writeShort(getDataLength()); // 写入数据长度
+ out.writeByte(getCmdCode()); // 写入命令码
out.writeByte(encryptFlag); // 写入加密标志
out.writeByte(actionCode); // 写入动作编号
out.writeByte(result); // 写入执行结果
+ out.writeBytes(getBoxSn()); // 写入云盒编号
}
-}
+}
\ No newline at end of file
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/UavReadyNotificationCommand.java
similarity index 79%
rename from ard-work/src/main/java/com/ard/tianyu/netty/command/DroneReadyNotificationCommand.java
rename to ard-work/src/main/java/com/ard/tianyu/netty/command/UavReadyNotificationCommand.java
index 95814c4..338e530 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/UavReadyNotificationCommand.java
@@ -11,12 +11,12 @@
* @date 2024/10/24 17:18
*/
@Data
-public class DroneReadyNotificationCommand extends BaseCommand {
+public class UavReadyNotificationCommand extends BaseCommand {
private byte actionCode;
private TelemetryDataPB.UavInitInfo uavInitInfo;
- public DroneReadyNotificationCommand(String boxSn,TelemetryDataPB.UavInitInfo uavInitInfo, byte actionCode) {
+ public UavReadyNotificationCommand(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());
diff --git a/ard-work/src/main/java/com/ard/tianyu/netty/handler/ClientHandler.java b/ard-work/src/main/java/com/ard/tianyu/netty/handler/ClientHandler.java
index a84e551..f4b544a 100644
--- a/ard-work/src/main/java/com/ard/tianyu/netty/handler/ClientHandler.java
+++ b/ard-work/src/main/java/com/ard/tianyu/netty/handler/ClientHandler.java
@@ -2,7 +2,6 @@
import com.ard.tianyu.netty.TyNettyTcpClient;
import com.ard.tianyu.netty.command.BaseCommand;
-import com.ard.tianyu.netty.command.HeartbeatCommand;
import com.ard.tianyu.service.ITyService;
import io.netty.channel.ChannelHandler;
import io.netty.channel.ChannelHandlerContext;
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 eafc7b5..ac924b9 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
@@ -81,8 +81,8 @@
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());
+ baseCommand = new UavReadyNotificationCommand(boxSn, uavInitInfo, actionCode);
+ 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));
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 2e86ed3..e75d256 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
@@ -12,18 +12,14 @@
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);
}
}
+ // 打印编码后的字节数组
private void printHex(ByteBuf out)
{
// 打印编码后的字节数组
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 c3b3a7a..b5cd2e8 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
@@ -65,7 +65,9 @@
/**
* 云台转动(基于角度)
*/
- void controlAngle(String boxSn,Integer actionId,Integer rotationAngle) ;
+ void angleControl(String boxSn, Integer actionId, Integer rotationAngle);
+
+ void absAngleControl(String boxSn, Integer actionId, float pitch, float yaw, float roll);
/**
* 获取无人机状态
@@ -81,6 +83,7 @@
* 获取信道质量遥测
*/
SignalInfo getSignalInfo(String boxSn);
+
/**
* 解析天宇服务端发来的消息
*/
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 278e324..b9f8059 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
@@ -18,8 +18,6 @@
import com.ard.tianyu.netty.command.*;
import com.ard.tianyu.netty.TyNettyTcpClient;
import com.ard.tianyu.service.ITyService;
-import io.netty.buffer.ByteBuf;
-import io.netty.buffer.Unpooled;
import io.netty.channel.Channel;
import io.netty.channel.ChannelFuture;
import lombok.extern.slf4j.Slf4j;
@@ -153,9 +151,14 @@
* 云台控制基于角度
*/
@Override
- public void controlAngle(String boxSn, Integer actionId, Integer rotationAngle) {
+ public void angleControl(String boxSn, Integer actionId, Integer rotationAngle) {
ControlAngleCommand controlAngleCommand = new ControlAngleCommand(boxSn, actionId.byteValue(), rotationAngle.byteValue());
this.sendMessage(tyConfiguration.getIpPort(), controlAngleCommand);
+ }
+
+ @Override
+ public void absAngleControl(String boxSn, Integer actionId, float pitch, float yaw, float roll) {
+
}
/**
@@ -230,9 +233,9 @@
break;
case (byte) 0xD1:
// 处理无人机
- DroneReadyNotificationCommand droneReadyNotificationCommand = (DroneReadyNotificationCommand) tyCommand;
+ UavReadyNotificationCommand droneReadyNotificationCommand = (UavReadyNotificationCommand) tyCommand;
if (droneReadyNotificationCommand.getActionCode() == (byte) 0x42) {
- UavInitInfoCommand uavInitCommand = new UavInitInfoCommand(new String(droneReadyNotificationCommand.getBoxSn()), (byte) 0x42);
+ UavInitInfoCommand uavInitCommand = new UavInitInfoCommand(droneReadyNotificationCommand.getBoxSn());
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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