From f5f485b1b1919e6d312ed72628ed7c01d2f57def Mon Sep 17 00:00:00 2001
From: liusuyi <1951119284@qq.com>
Date: Wed, 19 Mar 2025 16:57:48 +0800
Subject: [PATCH] 增加图片回传完成通知解析
---
ard-work/src/main/java/com/ard/tianyu/netty/handler/MessageProtocolDecoder.java | 37 +++++++++++++++++++++++++++----------
1 files changed, 27 insertions(+), 10 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 a9cea50..7ad74d6 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
@@ -1,12 +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.domain.dto.converter.realdata.UavSignalInfoConverter;
+import com.ard.tianyu.domain.dto.converter.realdata.UavStateConverter;
+import com.ard.tianyu.domain.dto.converter.realdata.UavTelemetryDataConverter;
+import com.ard.tianyu.domain.dto.signal.SignalInfo;
+import com.ard.tianyu.domain.dto.state.UavState;
+import com.ard.tianyu.domain.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;
@@ -15,23 +15,23 @@
import com.ard.tianyu.netty.command.manual.*;
import com.ard.tianyu.netty.command.notice.BoxPowerStatusReplyCmd;
import com.ard.tianyu.netty.command.notice.FlyWayEndReplyCmd;
+import com.ard.tianyu.netty.command.camera.PicUploadCompletedReplyCmd;
import com.ard.tianyu.netty.command.notice.UavReadyReplyCmd;
import com.ard.tianyu.netty.command.real.SignalInfoCmd;
import com.ard.tianyu.netty.command.real.UavStateCmd;
import com.ard.tianyu.netty.command.real.UavTelemetryDataCmd;
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;
import io.netty.channel.ChannelHandlerContext;
import io.netty.handler.codec.ByteToMessageDecoder;
import lombok.extern.slf4j.Slf4j;
+
import java.util.List;
@Slf4j
@@ -68,11 +68,25 @@
baseCmd = new HeartbeatReplyCmd(timestamp);
log.debug("心跳回复: 时间戳 {}", timestamp);
break;
+ case 0x09:
+ in.readByte();//加密标志
+ double longitude = in.readDouble();
+ double latitude = in.readDouble();
+ timestamp = in.readLong(); // 读取时间戳
+ long picLength = in.readLong(); // 读取原图大小
+ byte[] boxSn = new byte[15];
+ in.readBytes(boxSn);// 读取boxSn
+ byte[] pic = new byte[dataLength - 49];
+ in.readBytes(pic);// 读取原图地址
+ baseCmd = new PicUploadCompletedReplyCmd(longitude, latitude, timestamp, picLength, boxSn, pic);
+ log.debug("图片上传完成通知回复: 图片长度 {}", picLength);
+ break;
case 0x0A:
byte status = in.readByte();
baseCmd = new BoxPowerStatusReplyCmd(status);
log.debug("云盒开机/关机通知回复: 状态 {}", ByteUtils.byteToHex(status));
break;
+
case (byte) 0xA8:
byte[] uavStatus = new byte[dataLength - 1];
in.readBytes(uavStatus); // 读取 ProtoBuf 数据
@@ -84,7 +98,8 @@
case (byte) 0xA9:
byte[] telemetryDataBytes = new byte[dataLength - 1];
in.readBytes(telemetryDataBytes);
- TelemetryDataPB.TelemetryData telemetryDataPB = 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());
@@ -96,7 +111,7 @@
signalInfoBytes = new byte[dataLength - 20];
in.readBytes(signalInfoBytes);
TelemetryDataPB.SignalInfo signalInfoPB = TelemetryDataPB.SignalInfo.parseFrom(signalInfoBytes);
- SignalInfo signalInfo =UavSignalInfoConverter.convertProtoToEntity(signalInfoPB);
+ SignalInfo signalInfo = UavSignalInfoConverter.convertProtoToEntity(signalInfoPB);
baseCmd = new SignalInfoCmd(signalInfo);
log.debug("信道质量数据： {}", delayTime);
break;
@@ -181,6 +196,7 @@
}
return null;
}
+
//处理D2指令回复
private BaseCmd processD2ReplyCmd(ByteBuf in, byte actionCode) {
byte result = in.readByte();
@@ -197,6 +213,7 @@
}
return null;
}
+
//处理特殊D1指令回复
private BaseCmd processSpecialD1ReplyCmd(ByteBuf in, byte actionCode, String boxSn) {
switch (actionCode) {
--
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