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@ -31,7 +31,7 @@ public class HaborClient981A extends HaborClient {
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private static final byte[] UPPER_DATA_3_4 = new byte[]{0x02, 0x01};
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/**常发数据内容，被填入ByteBuf初始内容，所有飞机共用, 禁止修改*/
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private static final byte C0 = 0x01; // 空白数据自定义特征字
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private static final byte C0 = 0x00; // 空白数据自定义特征字
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private static final byte[] COMMON_DATA_14_29 = new byte[]{
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0x21, C0, C0, C0, C0, // 14~29
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C0, C0, C0, C0, C0,
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@ -39,7 +39,7 @@ public class HaborClient981A extends HaborClient {
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};
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/**控制帧数据内容，被填入ByteBuf初始内容，*/
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private static final byte C1 = 0x02; // 空白数据自定义特征字
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private static final byte C1 = 0x00; // 空白数据自定义特征字
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private static final byte[] CONTROL_DATA_14_29 = new byte[]{
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0x21, C1, C1, C1, C1, // 14~29
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C1, C1, C1, C1, C1,
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@ -85,7 +85,7 @@ public class HaborClient981A extends HaborClient {
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uavId = HaborUavMap.getUavIdByHaborSn(haborSn);
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uavType = UavIdMap.getUavType(uavId);
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fkId = (byte) UavIdMap.getFkId(uavId);
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super.commonDataFreq = 1; // 发送频率, 每秒发送帧数
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super.commonDataFreq = 5; // 发送频率, 每秒发送帧数
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}
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@Override
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@ -184,26 +184,27 @@ public class HaborClient981A extends HaborClient {
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dataBufToSend.addSendCount();
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if (dataBufToSend instanceof CommonDataBuf) {
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log.debug("[cac] {} 发送常发帧: {}", shortInfo(), ByteBufUtil.hexDump(dataBufToSend.buf));
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// log.debug("[cac] {} 发送常发帧: {}", shortInfo(), ByteUtils.bytes2HexString(ByteBufUtil.getBytes()(dataBufToSend.buf)));
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}
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if (dataBufToSend instanceof ControlDataBuf) {
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log.info("[cac] {} 发送控制指令: {}", shortInfo(), ByteBufUtil.hexDump(dataBufToSend.buf));
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log.debug("[cac] {} 发送控制指令: {}", shortInfo(), ByteUtils.bytes2HexString(ByteBufUtil.getBytes(dataBufToSend.buf)));
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if (dataBufToSend.getSendCount() >= ((ControlDataBuf) dataBufToSend).needCount) {
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log.info("[cac] {} 控制指令发送完毕", shortInfo());
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log.info("[cac] {} 控制指令发送完毕, {}", shortInfo(), ByteUtils.bytes2HexString(ByteBufUtil.getBytes(dataBufToSend.buf)));
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//
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switchToCommonData();
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}
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}
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if (dataBufToSend instanceof QueryDataBuf) {
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log.info("[cac] {} 发送查询指令: {}", shortInfo(), ByteBufUtil.hexDump(dataBufToSend.buf));
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log.debug("[cac] {} 发送查询指令: {}", shortInfo(), ByteUtils.bytes2HexString(ByteBufUtil.getBytes(dataBufToSend.buf)));
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}
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if (dataBufToSend instanceof BindDataBuf) {
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log.info("[cac] {} 发送参数装订指令: {}", shortInfo(), ByteBufUtil.hexDump(dataBufToSend.buf));
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log.debug("[cac] {} 发送参数装订指令: {}", shortInfo(), ByteUtils.bytes2HexString(ByteBufUtil.getBytes(dataBufToSend.buf)));
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}
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if (dataBufToSend instanceof RouteDataBuf) {
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log.info("[cac] {} 发送航线装订指令: {}", shortInfo(), ByteBufUtil.hexDump(dataBufToSend.buf));
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log.debug("[cac] {} 发送航线装订指令: {}", shortInfo(), ByteUtils.bytes2HexString(ByteBufUtil.getBytes(dataBufToSend.buf)));
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}
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}
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@ -286,31 +287,31 @@ public class HaborClient981A extends HaborClient {
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writeRouteBindCommand0(commandCode, routeInfoList.get(0), controlUniId); //发送第一个节点
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}
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/**注入回报帧处理*/
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/**注入回报帧处理, 如果正常处理，返回true，否则返回false继续透传*/
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@Override
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protected void processInjectResponse(ByteBuf msg) {
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if (msg.getByte(0) != HEAD[0] && msg.getByte(1) != HEAD[1]) {
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return;
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}
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protected boolean processInjectResponse(ByteBuf msg) {
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// 只处理注入回报帧A0
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if (msg.getByte(2) != (byte) 0xA0) {
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return;
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if (msg.getByte(2) == (byte) 0xA0) {
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if (checkParamBindResponse(msg)) return true; // 检查参数装订回报
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if (checkParamQueryResponse(msg)) return true; // 检查参数查询回报
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if (checkRouteBindResponse(msg)) return true; // 检查航线装订回报
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}
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if (msg.getByte(2) == (byte) 0xA1) {
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if (checkControlResponse(msg)) return true; // 检查控制指令回报
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}
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if (checkControlResponse(msg)) return; // 检查控制指令回报
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if (checkParamBindResponse(msg)) return; // 检查参数装订回报
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if (checkParamQueryResponse(msg)) return; // 检查参数查询回报
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if (checkRouteBindResponse(msg)) return; // 检查航线装订回报
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return false;
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}
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/** 检查控制指令回报*/
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private boolean checkControlResponse(ByteBuf msg) {
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if (CommandRecord.WAITING_RESULT == previousControl.getState()) {
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log.debug("当前指令{}, uniId:{}, A1帧指令回报: {}", ByteUtils.byteToHex(previousControl.code), previousControl.commandUniId, ByteUtils.byteToHex(msg.getByte(29)));
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previousControl.addReceiveFrameCount();
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if (previousControl.commandMatch(msg.slice(13,16))) {
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if (msg.getByte(29) == previousControl.code) {
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try {
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// previousControl.notifyControlCommandResult();
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previousControl.notifyControlCommandResult(uavId, true);
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log.info("[cac] {} 控制指令成功结果回报...", shortInfo());
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previousControl.clearCommand();
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return true;
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@ -335,7 +336,7 @@ public class HaborClient981A extends HaborClient {
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previousParamBind.addReceiveFrameCount();
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if (previousParamBind.commandMatch(msg.slice(13,16))) {
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try {
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// previousParamBind.notifyParamBindCommandResult(true);
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previousParamBind.notifyParamBindCommandResult(uavId, uavType,true);
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log.info("[cac] {} 指令装订成功结果回报...", shortInfo());
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previousParamBind.clearCommand();
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return true;
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@ -358,10 +359,20 @@ public class HaborClient981A extends HaborClient {
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private boolean checkParamQueryResponse(ByteBuf msg) {
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if (CommandRecord.WAITING_RESULT == previousParamQuery.getState()) {
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previousParamQuery.addReceiveFrameCount();
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if (previousParamQuery.commandMatch(msg.slice(13,16))) {
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if (msg.getByte(13) == previousParamQuery.code) { // fixme 匹配的不是同样的内容
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try {
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UavTakeOffParamQueryResultParam981A uavTakeOffParamQueryResultParam = new UavTakeOffParamQueryResultParam981A(msg.slice(13,16));
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// previousParamQuery.notifyParamQueryCommandResult(true, uavTakeOffParamQueryResultParam);
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UavQueryResultParam uavQueryResultParam = null;
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switch (msg.getByte(13)) {
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case (byte) 0x41: // 起飞参数查询
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uavQueryResultParam = new UavTakeOffParamQueryResultParam981A(msg.slice(13, 16));
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break;
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case (byte) 0x33: // 重量查询
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uavQueryResultParam = new UavWeightQueryResultParam981A(msg.slice(13, 16));
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break;
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default:
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log.warn("[cac] {} 指令查询结果回报，未知的指令类型：{}", shortInfo(), ByteUtils.byteToHex(msg.getByte(13)));
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}
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previousParamQuery.notifyParamQueryCommandResult(uavId, uavType, true, uavQueryResultParam);
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log.info("[cac] {} 指令查询成功结果回报...", shortInfo());
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previousParamQuery.clearCommand();
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return true;
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@ -388,7 +399,7 @@ public class HaborClient981A extends HaborClient {
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if (previousRouteBind.commandMatch(msg.slice(13, 16))) {
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if (previousRouteBind.completeOrWaitNext()) { // 如果指令列表均已回报，则判定成功，向中心指控回报, 并恢复常发帧
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try {
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// previousRouteBind.notifyParamBindCommandResult(true);
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previousRouteBind.notifyParamBindCommandResult(uavId,uavType,true);
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log.info("[cac] {} 航线装订成功结果成功", shortInfo());
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previousRouteBind.clearCommand();
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return true;
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@ -422,12 +433,12 @@ public class HaborClient981A extends HaborClient {
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case (byte) 0xE3: // 开伞
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return 45;
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default:
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return 5;
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return 8;
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}
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}
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/** 查询指令回报结果参数类， 各型号分开定义*/
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/**Cac起飞参数查询查询回报，具体定义见各型号子类*/
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@Data
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private static class UavTakeOffParamQueryResultParam981A extends UavTakeOffParamQueryResultParam {
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/**
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@ -522,4 +533,28 @@ public class HaborClient981A extends HaborClient {
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return JSONUtils.obj2json(this);
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}
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}
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public static class UavWeightQueryResultParam981A extends UavWeightQueryResultParam{
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/**
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* 空机重量，单位kg，精确到整数位; 原数据分辨率 1
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*/
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private int uavWeight;
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/**
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* 货物重量，单位kg，精确到整数位; 原数据分辨率 1
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*/
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private int cargoWeight;
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public UavWeightQueryResultParam981A(ByteBuf dataBufSlice) {
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int idx = 1;
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uavWeight = dataBufSlice.getUnsignedShortLE(idx);
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idx += 2;
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cargoWeight = dataBufSlice.getUnsignedShortLE(idx);
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idx += 2;
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}
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public String toJsonStr() throws IOException {
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return JSONUtils.obj2json(this);
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}
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}
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}
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shiyi
2 months ago