[v0.0.1] 将哈勃原有逻辑和线上版本对齐（不处理地面站的在控无人机更新信息，直接转发数据）；哈勃客户端类管理；CacClient channel隐藏并暴露静态channel引用以供哈勃客户端转发数据
shiyi
2 months ago
parent
e1467baf2b
commit
46bf0a6363
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package com.platform.info.enums;
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/**
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* @Author : shiyi
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* @Date : 2024/1/2 13:46
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* @Description : 地面站帧类型枚举
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*/
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public enum GcsFrameEnum implements IClientFrameEnum {
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// 与地面站之间TCP传输的报文类型枚举
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LOGIN((byte) 0x00, "接入校验"),
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TELEMETRY_DATA_TRANSFER((byte) 0x02, "遥测数据透传"),
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HEART_BEAT((byte) 0x03, "心跳"),
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CONTROL_APPLY((byte) 0x04, "控制权申请，运管在控无人机更新"),
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CONTROL_FREE((byte) 0x0A, "控制权释放"),
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CONTROL_ISSUE((byte) 0x0B, "控制权下发"),
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CONTROL_RECEIVE((byte) 0x0C, "控制权接收"),
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ISSUED_COMMAND((byte) 0x05, "通知指令下发"),
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RECONNECT((byte) 0x06, "地面站重连"),
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SNAPSHOT((byte) 0x07, "发送地面站快照"),
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SIGN_IN((byte) 0x08, "连接中心指控"),
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SIGN_OUT((byte) 0x09, "断开中心指控"),
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COMMAND_NOTIFY((byte) 0x0D, "遥控指令回报"),
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UPDATE_UAV_CONTROL((byte) 0x0E, "中心指控在控无人机更新"),
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QUERY_COMMAND((byte) 0x20, "查询指令是否完成"),
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UAV_MASTER_CONTROL((byte) 0x21, "地面站主控通知"),
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UPDATE_REMOTE_CONTROL_STATE((byte) 0x22, "远程控制状态"),
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QUERY_REMOTE_CONTROL_STATE_REPLY((byte) 0x23, "查询远程控制状态"),
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STREAM_PUSH((byte) 0x32, "视频流推送"),
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;
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private final byte code;
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private final String info;
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GcsFrameEnum(byte code, String info) {
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this.code = code;
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this.info = info;
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}
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public byte getCode() {
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return code;
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}
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public String getInfo() {
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return info;
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}
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public static GcsFrameEnum getByCode(byte frameCode) {
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for (GcsFrameEnum enums : GcsFrameEnum.values()) {
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if (enums.code == frameCode) {
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return enums;
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}
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}
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return null;
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}
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@Override
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public ClientTypeEnum getClientEnum() {
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return ClientTypeEnum.GCS;
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}
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}
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@ -0,0 +1,34 @@
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package com.platform.service;
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import com.platform.info.enums.ClientTypeEnum;
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import com.platform.service.clientmanage.BaseClient;
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import com.platform.service.clientmanage.ClientManager;
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import com.platform.service.clientmanage.HaborClient;
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import io.netty.buffer.ByteBuf;
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import io.netty.buffer.ByteBufUtil;
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import io.netty.channel.ChannelHandler;
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import io.netty.channel.ChannelHandlerContext;
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import io.netty.channel.SimpleChannelInboundHandler;
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import lombok.extern.slf4j.Slf4j;
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import org.springframework.stereotype.Component;
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/**
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* @Author : shiyi
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* @Date : 2025/1/15 16:19
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* @Description : 向中心指控转发遥控遥测
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*/
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@ChannelHandler.Sharable @Component @Slf4j
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public class CacDataRouterHandler extends SimpleChannelInboundHandler<ByteBuf> {
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@Override
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protected void channelRead0(ChannelHandlerContext ctx, ByteBuf msg) throws Exception {
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BaseClient client = ClientManager.getClient(ctx.channel());
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if (client == null || client.getClientType() != ClientTypeEnum.HABOR) {
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return;
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}
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HaborClient haborClient = (HaborClient) client;
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haborClient.sendToCac(msg);
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log.info("数据({}bytes): {}", msg.readableBytes(), ByteBufUtil.hexDump(msg));
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// ctx.writeAndFlush(msg);
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}
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}
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package com.platform.service.clientmanage;
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import com.platform.info.enums.ClientTypeEnum;
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import io.netty.channel.Channel;
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import lombok.Getter;
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import lombok.extern.slf4j.Slf4j;
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import java.net.InetSocketAddress;
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import java.util.Objects;
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/**
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* @Author : shiyi
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* @Date : 2023/12/18 14:51
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* @Description : 客户端类
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*/
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@Slf4j @Getter
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public abstract class BaseClient {
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protected Channel channel;
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protected String sn; // 客户端唯一编号
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protected String ip;
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protected String port;
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protected String serverPort;
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// protected boolean online = false;
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public BaseClient(String sn, Channel channel) {
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this.sn = sn;
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this.channel = channel;
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InetSocketAddress remoteAddress = (InetSocketAddress) channel.remoteAddress();
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InetSocketAddress localAddress = (InetSocketAddress) channel.localAddress();
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ip = remoteAddress.getHostString();
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port = String.valueOf(remoteAddress.getPort());
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serverPort = String.valueOf(localAddress.getPort());
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}
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/**
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* 报告客户端上线
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*/
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public abstract boolean online();
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/**
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* 报告客户端下线
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*/
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public abstract boolean offline();
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// public ChannelFuture sendMessage(byte frameType, byte[] data) {
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// return ClientManager.send(getClientType(), channel, frameType, data);
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// }
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public abstract ClientTypeEnum getClientType();
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@Override
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public String toString() {
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return "BaseClient{" +
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"channel=" + channel.id() +
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", sn='" + sn + '\'' +
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", ip='" + ip + '\'' +
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", port=" + port +
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'}';
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}
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@Override
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public boolean equals(Object o) {
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if (this == o) {
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return true;
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}
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if (o == null || getClass() != o.getClass()) {
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return false;
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}
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BaseClient that = (BaseClient) o;
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return Objects.equals(sn, that.sn);
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}
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@Override
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public int hashCode() {
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return Objects.hash(sn);
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}
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}
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@ -0,0 +1,69 @@
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package com.platform.service.clientmanage;
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import com.platform.cac.CacHpApi;
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import com.platform.info.enums.ClientTypeEnum;
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import com.platform.info.enums.UavTypeEnum;
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import com.platform.model.DirectControlUavParam;
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import io.netty.buffer.ByteBuf;
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import io.netty.channel.Channel;
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import lombok.Getter;
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import lombok.extern.slf4j.Slf4j;
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import javax.annotation.PostConstruct;
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/**
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* @Author : shiyi
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* @Date : 2024/9/18 10:38
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* @Description : 飞控客户端
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*/
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@Slf4j @Getter
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public class HaborClient extends BaseClient{
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// static HashSet<String> fkSnSet = new HashSet<>();
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private UavTypeEnum uavType;
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private byte fkId;
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private String uavId;
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public HaborClient(String sn, Channel channel) {
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super(sn, channel);
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// channel绑定客户端
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channel.attr(ClientManager.CLIENT_ATTRIBUTE_KEY).setIfAbsent(this);
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}
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@Override
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public boolean online() {
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return CacHpApi.uavMasterControlNotify(uavId);
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}
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@Override
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public boolean offline() {
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return CacHpApi.uavPowerOff(uavId);
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}
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// @Override
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// public ChannelFuture sendMessage(byte frameType, byte[] data) {
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// return channel.writeAndFlush(Unpooled.wrappedBuffer(data));
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// }
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@Override
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public ClientTypeEnum getClientType() {
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return ClientTypeEnum.HABOR;
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}
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/**
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* 发送飞控数据到中心指控
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* @param srcBuf 原始ByteBuf
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*/
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public void sendToCac(ByteBuf srcBuf) {
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}
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private void buildFrameToCac(ByteBuf srcBuf, ByteBuf dstBuf) {
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// TODO: 2024/9/18: 构建飞控数据帧到中心指控
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}
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private void queryCacDirectControlUavInfo() {
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DirectControlUavParam directControlUavParam = CacHpApi.queryCacDirectControlUav(sn);
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}
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}
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