From ab55c60112c72fcfe7836a91a278f316cddd7c00 Mon Sep 17 00:00:00 2001
From: liusuyi <1951119284@qq.com>
Date: Thu, 20 Feb 2025 16:58:07 +0800
Subject: [PATCH] 添加无人机控制权申请、处理、释放
---
ard-work/src/main/java/com/ard/tianyu/netty/handler/MessageProtocolDecoder.java | 35 ++++++++++++++++++++++-------------
1 files changed, 22 insertions(+), 13 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 0675b91..a9cea50 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
@@ -1,6 +1,12 @@
package com.ard.tianyu.netty.handler;// MessageProtocolDecoder.java
import com.ard.common.utils.ByteUtils;
+import com.ard.tianyu.model.dto.converter.realdata.UavSignalInfoConverter;
+import com.ard.tianyu.model.dto.converter.realdata.UavStateConverter;
+import com.ard.tianyu.model.dto.converter.realdata.UavTelemetryDataConverter;
+import com.ard.tianyu.model.dto.signal.SignalInfo;
+import com.ard.tianyu.model.dto.state.UavState;
+import com.ard.tianyu.model.dto.telemetry.TelemetryData;
import com.ard.tianyu.netty.command.BaseCmd;
import com.ard.tianyu.netty.command.camera.CameraModeReplyCmd;
import com.ard.tianyu.netty.command.camera.CapturePicReplyCmd;
@@ -70,14 +76,16 @@
case (byte) 0xA8:
byte[] uavStatus = new byte[dataLength - 1];
in.readBytes(uavStatus); // 读取 ProtoBuf 数据
- TelemetryDataPB.UavState uavState = TelemetryDataPB.UavState.parseFrom(uavStatus);
+ TelemetryDataPB.UavState uavStatePB = TelemetryDataPB.UavState.parseFrom(uavStatus);
+ UavState uavState = UavStateConverter.convertProtoToEntity(uavStatePB);
baseCmd = new UavStateCmd(uavState);
log.debug("无人机状态数据： {}", uavState.getBoxSn());
break;
case (byte) 0xA9:
byte[] telemetryDataBytes = new byte[dataLength - 1];
in.readBytes(telemetryDataBytes);
- TelemetryDataPB.TelemetryData telemetryData = TelemetryDataPB.TelemetryData.parseFrom(telemetryDataBytes);
+ TelemetryDataPB.TelemetryData telemetryDataPB = TelemetryDataPB.TelemetryData.parseFrom(telemetryDataBytes);
+ TelemetryData telemetryData = UavTelemetryDataConverter.convertProtoToEntity(telemetryDataPB);
baseCmd = new UavTelemetryDataCmd(telemetryData);
log.debug("遥测数据： {}", telemetryData.getBoxSn());
break;
@@ -87,7 +95,8 @@
in.readBytes(signalInfoBytes);
signalInfoBytes = new byte[dataLength - 20];
in.readBytes(signalInfoBytes);
- TelemetryDataPB.SignalInfo signalInfo = TelemetryDataPB.SignalInfo.parseFrom(signalInfoBytes);
+ TelemetryDataPB.SignalInfo signalInfoPB = TelemetryDataPB.SignalInfo.parseFrom(signalInfoBytes);
+ SignalInfo signalInfo =UavSignalInfoConverter.convertProtoToEntity(signalInfoPB);
baseCmd = new SignalInfoCmd(signalInfo);
log.debug("信道质量数据： {}", delayTime);
break;
@@ -172,7 +181,7 @@
}
return null;
}
- //处理D1指令回复
+ //处理D2指令回复
private BaseCmd processD2ReplyCmd(ByteBuf in, byte actionCode) {
byte result = in.readByte();
int errorCode = in.readInt();
@@ -200,15 +209,15 @@
return new UavReadyReplyCmd(boxSn, batteryPower, longitude, latitude, altitude);
//无人机初始化信息回复
case 0x42:
- byte[] uavData1 = new byte[in.readableBytes() - 15];
- in.readBytes(uavData1);
- TelemetryDataPB.UavInitInfo uavInitInfo;
- try {
- uavInitInfo = TelemetryDataPB.UavInitInfo.parseFrom(uavData1);
- } catch (InvalidProtocolBufferException e) {
- throw new RuntimeException(e);
- }
- return new UavInitReplyCmd(boxSn, uavInitInfo);
+// byte[] uavData1 = new byte[in.readableBytes() - 15];
+// in.readBytes(uavData1);
+// TelemetryDataPB.UavInitInfo uavInitInfo;
+// try {
+// uavInitInfo = TelemetryDataPB.UavInitInfo.parseFrom(uavData1);
+// } catch (InvalidProtocolBufferException e) {
+// throw new RuntimeException(e);
+// }
+// return new UavInitReplyCmd(boxSn, uavInitInfo);
default:
return null;
}
--
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