[v0.0.1] 移植插件的上线、认证、重连功能；增加uavId,fkId,哈勃sn的映射管理；增加HTTP\JSON工具类处理
shiyi
2 months ago
parent
f016e02e75
commit
e1467baf2b
@ -1,2 +1,3 @@
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/target/
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/.idea/
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/.idea/
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/log/
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@ -0,0 +1,107 @@
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package com.platform.cac.tcp;
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import com.platform.cac.GcsService;
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import com.platform.cac.tcp.message.dataframe.send.TcpHeartBeatRequest;
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import com.platform.info.GlobalData;
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import com.platform.info.enums.GcsTypeEnum;
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import com.platform.info.enums.RemoteFrameEnum;
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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.ChannelInboundHandlerAdapter;
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import io.netty.handler.timeout.IdleState;
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import io.netty.handler.timeout.IdleStateEvent;
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import lombok.extern.slf4j.Slf4j;
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import org.springframework.beans.factory.annotation.Value;
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import org.springframework.stereotype.Component;
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import javax.annotation.Resource;
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import java.net.InetSocketAddress;
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import java.nio.ByteBuffer;
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import java.util.concurrent.TimeUnit;
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/**
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* @Author : shiyi
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* @Date : 2024/1/3 14:14
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* @Description : 处理连接、断联、重连等逻辑
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*/
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@Slf4j
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@Component
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@ChannelHandler.Sharable
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public class CacConnectionHandler extends ChannelInboundHandlerAdapter {
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@Resource
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CacClient cacClient;
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@Resource
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GcsService gcsService;
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@Value("${airport.enable:#{false}}")
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boolean isAirport = false;
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/**
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* 建立连接时
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*/
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@Override
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public void channelActive(ChannelHandlerContext ctx) throws Exception {
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InetSocketAddress ipSocket = (InetSocketAddress) ctx.channel().remoteAddress();
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int port = ipSocket.getPort();
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String host = ipSocket.getHostString();
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log.info("与中心指控{}:{}建立tcp连接!", host, port);
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cacClient.channel = ctx.channel();
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log.info("地面站发送上线请求");
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if (gcsService.gcsSignInRequest()) {
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gcsService.gcsAuthRequestToCtrl();
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}
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log.debug("connect-channel: {}", ctx.channel());
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ctx.fireChannelActive();
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}
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/**
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* 关闭连接时
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*/
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@Override
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public void channelInactive(ChannelHandlerContext ctx) throws Exception {
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InetSocketAddress ipSocket = (InetSocketAddress) ctx.channel().remoteAddress();
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int port = ipSocket.getPort();
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String host = ipSocket.getHostString();
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log.error("与中心指控{}:{}连接断开!", host, port);
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log.info("断线重连......");
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cacClient.connect();
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}
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/**
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* 心跳机制
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*/
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@Override
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public void userEventTriggered(ChannelHandlerContext ctx, Object evt) throws Exception {
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if (evt instanceof IdleStateEvent) {
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IdleState state = ((IdleStateEvent) evt).state();
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if (IdleState.WRITER_IDLE.equals(state)) {
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//心跳
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TcpHeartBeatRequest tcpHeartBeatRequest = buildHeatBeatRequest();
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ctx.channel().writeAndFlush(tcpHeartBeatRequest);
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}
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}
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}
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private TcpHeartBeatRequest buildHeatBeatRequest(){
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TcpHeartBeatRequest tcpHeartBeatRequest = new TcpHeartBeatRequest();
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tcpHeartBeatRequest.setMagicCode(GlobalData.REMOTE_HEAD);
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tcpHeartBeatRequest.setVersion(GlobalData.REMOTE_VERSION2);
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tcpHeartBeatRequest.setSerializationAlgorithm(GlobalData.REMOTE_SER_ALG);
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tcpHeartBeatRequest.setType(RemoteFrameEnum.HEART_BEAT_REQUEST.getCode());
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tcpHeartBeatRequest.setGcsIdLength((byte) GlobalData.GCS_ID.getBytes().length);
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tcpHeartBeatRequest.setGcsId(GlobalData.GCS_ID);
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tcpHeartBeatRequest.setGcsAuthLength((byte) GlobalData.GCS_TOKEN.getBytes().length);
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tcpHeartBeatRequest.setGcsAuth(GlobalData.GCS_TOKEN);
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tcpHeartBeatRequest.setUavIdLength((byte) 0);
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tcpHeartBeatRequest.setCurrentTime(System.currentTimeMillis());
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byte[] readableDataBytes = ByteBuffer.allocate(Long.SIZE / Byte.SIZE).putLong(tcpHeartBeatRequest.getCurrentTime()).array();
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tcpHeartBeatRequest.setReadableDataBytesLength(Long.SIZE / Byte.SIZE);
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tcpHeartBeatRequest.setReadableDataBytes(readableDataBytes);
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return tcpHeartBeatRequest;
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}
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}
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package com.platform.cac.tcp.codec;
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import com.platform.cac.tcp.message.dataframe.RemoteTcpBaseDataFrame;
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import io.netty.buffer.ByteBuf;
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import io.netty.channel.ChannelHandlerContext;
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import io.netty.handler.codec.MessageToByteEncoder;
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import lombok.extern.slf4j.Slf4j;
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@Slf4j
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public class RemoteTcpBaseDataEncoder extends MessageToByteEncoder<RemoteTcpBaseDataFrame> {
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@Override
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protected void encode(ChannelHandlerContext ctx, RemoteTcpBaseDataFrame dataFrame, ByteBuf buf) {
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if (dataFrame != null) {
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buf.writeShort(dataFrame.getMagicCode());
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buf.writeByte(dataFrame.getVersion());
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buf.writeByte(dataFrame.getSerializationAlgorithm());
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buf.writeByte(dataFrame.getType());
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buf.writeByte(dataFrame.getGcsIdLength());
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if (dataFrame.getGcsIdLength() > 0) {
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buf.writeBytes(dataFrame.getGcsId().getBytes(), 0, dataFrame.getGcsIdLength());
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}
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buf.writeByte(dataFrame.getGcsAuthLength());
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if (dataFrame.getGcsAuthLength() > 0) {
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buf.writeBytes(dataFrame.getGcsAuth().getBytes(), 0, dataFrame.getGcsAuthLength());
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}
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buf.writeByte(dataFrame.getUavIdLength());
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if (dataFrame.getUavIdLength() > 0) {
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buf.writeBytes(dataFrame.getUavId().getBytes(), 0, dataFrame.getUavIdLength());
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}
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if (dataFrame.getReadableDataBytesLength() > 0) {
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buf.writeBytes(dataFrame.getReadableDataBytes(), 0, dataFrame.getReadableDataBytesLength());
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}
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// TODO: 2023/6/13 测试之后记得删除此log
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// log.debug("[encode]连接({}) 编码了一条消息: {}", ctx.channel().id(), ByteUtils.bytes2HexString(ByteBufUtil.getBytes(buf)));
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}
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}
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}
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package com.platform.cac.tcp.message;
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import com.platform.cac.tcp.message.handler.IRemoteMessageHandler;
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import com.platform.info.enums.RemoteFrameEnum;
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import lombok.extern.slf4j.Slf4j;
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import org.springframework.beans.factory.InitializingBean;
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import org.springframework.beans.factory.annotation.Autowired;
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import org.springframework.context.ApplicationContext;
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import org.springframework.stereotype.Component;
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import java.util.HashMap;
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import java.util.Map;
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/**
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* @Author sunjipeng
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* @Date 2023/6/14
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* @Description 描述
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*/
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@Slf4j
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@Component
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public class RemoteMessageHandlerContainer implements InitializingBean {
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/**
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* 消息类型与 IGcsMessageHandler 的映射
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*/
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private final Map<RemoteFrameEnum, IRemoteMessageHandler> handlers = new HashMap<>();
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@Autowired
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private ApplicationContext applicationContext;
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@Override
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public void afterPropertiesSet() throws Exception {
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// 通过 ApplicationContext 获得所有 MessageHandler Bean
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applicationContext.getBeansOfType(IRemoteMessageHandler.class).values()
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.forEach(messageHandler -> handlers.put(messageHandler.getFrameType(), messageHandler));
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log.info("[afterPropertiesSet] IRemoteMessageHandler 数量：{}", handlers.size());
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}
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/**
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* 获得类型对应的 IMessageHandler
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*/
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public IRemoteMessageHandler getMessageHandler(RemoteFrameEnum remoteFrameEnum) {
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return handlers.get(remoteFrameEnum);
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}
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}
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package com.platform.cac.tcp.message.dataframe;
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import lombok.Data;
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@Data
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public class RemoteTcpBaseDataFrame {
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private short magicCode;
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private byte version;
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private byte serializationAlgorithm;
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private byte type;
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private byte gcsIdLength;
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private String gcsId;
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private byte gcsAuthLength;
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private String gcsAuth;
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private byte uavIdLength;
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private String uavId;
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private int readableDataBytesLength;
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private byte[] readableDataBytes;
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public RemoteTcpBaseDataFrame() {
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}
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/**
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* 属性复制
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*/
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public RemoteTcpBaseDataFrame(RemoteTcpBaseDataFrame data) {
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// 将data的基础属性复制过来
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this.magicCode = data.getMagicCode();
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this.version = data.getVersion();
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this.serializationAlgorithm = data.getSerializationAlgorithm();
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this.type = data.getType();
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this.gcsIdLength = data.getGcsIdLength();
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this.gcsId = data.getGcsId();
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this.gcsAuthLength = data.getGcsAuthLength();
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this.gcsAuth = data.getGcsAuth();
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this.uavIdLength = data.getUavIdLength();
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this.uavId = data.getUavId();
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}
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}
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package com.platform.cac.tcp.message.dataframe.receive;
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import com.platform.cac.tcp.message.dataframe.RemoteTcpBaseDataFrame;
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import com.platform.util.ByteUtils;
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import lombok.Getter;
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import lombok.ToString;
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import lombok.extern.slf4j.Slf4j;
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import java.nio.ByteBuffer;
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@Getter
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@ToString
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@Slf4j
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public class CacReceiveUavControlMessage extends RemoteTcpBaseDataFrame {
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private byte receiveGcsIdLength;
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private String receiveGcsId;
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private byte uavControlAccept;
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private byte uavControlAppplyIdLength;
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private String uavControlApplyId;
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public CacReceiveUavControlMessage(RemoteTcpBaseDataFrame data) {
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super(data);
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ByteBuffer buffer = ByteBuffer.allocate(data.getReadableDataBytesLength()).put(data.getReadableDataBytes());
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buffer.flip();
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try {
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receiveGcsIdLength = buffer.get();
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receiveGcsId = ByteUtils.getString(buffer, receiveGcsIdLength);
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uavControlAccept = buffer.get();
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uavControlAppplyIdLength = buffer.get();
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uavControlApplyId = ByteUtils.getString(buffer, uavControlAppplyIdLength);
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} catch (Exception e){
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log.error("中心指控-控制权接收数据解析异常");
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e.printStackTrace();
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}
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}
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}
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package com.platform.cac.tcp.message.dataframe.receive;
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import com.platform.cac.tcp.message.dataframe.RemoteTcpBaseDataFrame;
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import com.platform.util.ByteUtils;
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import lombok.Getter;
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import lombok.ToString;
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import lombok.extern.slf4j.Slf4j;
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import java.nio.ByteBuffer;
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@Getter
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@ToString
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@Slf4j
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public class CacReplyUavControlMessage extends RemoteTcpBaseDataFrame {
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private byte replyGcsIdLength;
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private String replyGcsId;
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private byte uavControlApprove;
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private byte uavControlApplyIdLength;
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private String uavControlApplyId;
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public CacReplyUavControlMessage(RemoteTcpBaseDataFrame data) {
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super(data);
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ByteBuffer buffer = ByteBuffer.allocate(data.getReadableDataBytesLength()).put(data.getReadableDataBytes());
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buffer.flip();
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try {
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replyGcsIdLength = buffer.get();
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replyGcsId = ByteUtils.getString(buffer, replyGcsIdLength);
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uavControlApprove = buffer.get();
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uavControlApplyIdLength = buffer.get();
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uavControlApplyId = ByteUtils.getString(buffer, uavControlApplyIdLength);
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} catch (Exception e) {
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log.error("中心指控-控制权回复数据解析异常");
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e.printStackTrace();
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}
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}
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}
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package com.platform.cac.tcp.message.dataframe.receive;
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import com.platform.cac.tcp.message.dataframe.RemoteTcpBaseDataFrame;
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import com.platform.util.ByteUtils;
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import lombok.Getter;
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import lombok.ToString;
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import lombok.extern.slf4j.Slf4j;
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import java.nio.ByteBuffer;
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@Slf4j
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@Getter
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@ToString
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public class CacUavCommandMessage extends RemoteTcpBaseDataFrame {
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private byte uavCommandCodeIdLength;
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private byte[] uavCommandCodeId;
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private byte uavControlUniIdLength;
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private String uavControlUniId;
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public CacUavCommandMessage(RemoteTcpBaseDataFrame data){
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super(data);
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ByteBuffer buffer = ByteBuffer.allocate(data.getReadableDataBytesLength()).put(data.getReadableDataBytes());
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buffer.flip();
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try {
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uavCommandCodeIdLength = buffer.get();
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uavCommandCodeId = new byte[uavCommandCodeIdLength];
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buffer.get(uavCommandCodeId);
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uavControlUniIdLength=buffer.get();
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uavControlUniId = ByteUtils.getString(buffer, uavControlUniIdLength);
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} catch (Exception e) {
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log.error("中心指控-指令数据解析异常");
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e.printStackTrace();
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}
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}
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}
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package com.platform.cac.tcp.message.dataframe.receive;
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import com.platform.cac.tcp.message.dataframe.RemoteTcpBaseDataFrame;
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import com.platform.util.ByteUtils;
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import lombok.Getter;
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import lombok.extern.slf4j.Slf4j;
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import java.nio.ByteBuffer;
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@Getter
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@Slf4j
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public class CacUavControlApplyMessage extends RemoteTcpBaseDataFrame {
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private byte applyGcsIdLength;
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private String applyGcsId;
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private byte uavControlApplyReasonLength;
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private String uavControlApplyReason;
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private byte uavControlApplyIdLength;
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private String uavControlApplyId;
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public CacUavControlApplyMessage(RemoteTcpBaseDataFrame data){
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super(data);
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ByteBuffer buffer = ByteBuffer.allocate(data.getReadableDataBytesLength()).put(data.getReadableDataBytes());
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buffer.flip();
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try {
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applyGcsIdLength = buffer.get();
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applyGcsId = ByteUtils.getString(buffer, applyGcsIdLength);
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uavControlApplyReasonLength = buffer.get();
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uavControlApplyReason = ByteUtils.getString(buffer, uavControlApplyReasonLength);
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uavControlApplyIdLength = buffer.get();
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uavControlApplyId = ByteUtils.getString(buffer, uavControlApplyIdLength);
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} catch (Exception e){
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log.error("中心指控-控制权申请数据解析异常");
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e.printStackTrace();
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}
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}
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}
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package com.platform.cac.tcp.message.dataframe.receive;
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import com.platform.cac.tcp.message.dataframe.RemoteTcpBaseDataFrame;
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import com.platform.util.ByteUtils;
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import lombok.Data;
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import lombok.extern.slf4j.Slf4j;
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import java.nio.ByteBuffer;
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@Data
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@Slf4j
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public class TcpRemoteAuthorization extends RemoteTcpBaseDataFrame {
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private byte success;
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private int code;
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private byte messageLength;
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private String message;
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public TcpRemoteAuthorization(RemoteTcpBaseDataFrame data) {
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super(data);
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ByteBuffer buffer = ByteBuffer.allocate(data.getReadableDataBytesLength()).put(data.getReadableDataBytes());
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buffer.flip();
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try {
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success = buffer.get();
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code = buffer.getInt();
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messageLength = buffer.get();
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message = ByteUtils.getString(buffer, messageLength);
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} catch (Exception e) {
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log.error("中心指控-地面站认证数据解析异常");
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e.printStackTrace();
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}
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}
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}
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@ -0,0 +1,21 @@
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package com.platform.cac.tcp.message.dataframe.send;
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import com.platform.cac.tcp.message.dataframe.RemoteTcpBaseDataFrame;
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import lombok.Data;
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/**
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* @Author sunjipeng
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* @Date 2023/6/14
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* @Description 描述
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*/
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@Data
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public class TcpFlightPlanReplyRequest extends RemoteTcpBaseDataFrame {
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private byte applyFlightPlanIdLength;
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private String applyFlightPlanId;
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private byte replyFlightPlanIdLength;
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private String replyFlightPlanId;
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private byte flightPlanPass;
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||||
|
||||
}
|
||||
@ -0,0 +1,20 @@
|
||||
package com.platform.cac.tcp.message.dataframe.send;
|
||||
|
||||
|
||||
import com.platform.cac.tcp.message.dataframe.RemoteTcpBaseDataFrame;
|
||||
import lombok.Data;
|
||||
|
||||
/**
|
||||
* @Author sunjipeng
|
||||
* @Date 2023/6/28
|
||||
* @Description 描述
|
||||
*/
|
||||
@Data
|
||||
public class TcpFlightPlanRevokeRequest extends RemoteTcpBaseDataFrame {
|
||||
|
||||
private byte applyFlightPlanIdLength;
|
||||
private String applyFlightPlanId;
|
||||
private byte revokeReasonLength;
|
||||
private String revokeReason;
|
||||
|
||||
}
|
||||
@ -0,0 +1,21 @@
|
||||
package com.platform.cac.tcp.message.dataframe.send;
|
||||
|
||||
|
||||
import com.platform.cac.tcp.message.dataframe.RemoteTcpBaseDataFrame;
|
||||
import lombok.Data;
|
||||
|
||||
/**
|
||||
* @Author sunjipeng
|
||||
* @Date 2023/6/14
|
||||
* @Description 描述
|
||||
*/
|
||||
@Data
|
||||
public class TcpFlyReplyRequest extends RemoteTcpBaseDataFrame {
|
||||
|
||||
private byte applyFlyIdLength;
|
||||
private String applyFlyId;
|
||||
private byte replyFlyIdLength;
|
||||
private String replyFlyId;
|
||||
private byte flyPass;
|
||||
|
||||
}
|
||||
@ -0,0 +1,17 @@
|
||||
package com.platform.cac.tcp.message.dataframe.send;
|
||||
|
||||
|
||||
|
||||
import com.platform.cac.tcp.message.dataframe.RemoteTcpBaseDataFrame;
|
||||
import lombok.Data;
|
||||
|
||||
/**
|
||||
* @Author sunjipeng
|
||||
* @Date 2023/6/14
|
||||
* @Description 描述
|
||||
*/
|
||||
@Data
|
||||
public class TcpHeartBeatRequest extends RemoteTcpBaseDataFrame {
|
||||
|
||||
long currentTime;
|
||||
}
|
||||
@ -0,0 +1,19 @@
|
||||
package com.platform.cac.tcp.message.dataframe.send;
|
||||
|
||||
|
||||
import com.platform.cac.tcp.message.dataframe.RemoteTcpBaseDataFrame;
|
||||
import lombok.Data;
|
||||
|
||||
/**
|
||||
* @Author sunjipeng
|
||||
* @Date 2023/6/14
|
||||
* @Description 描述
|
||||
*/
|
||||
@Data
|
||||
public class TcpReceiveAlarmRequest extends RemoteTcpBaseDataFrame {
|
||||
|
||||
private int alarmLevel;
|
||||
private byte contentLength;
|
||||
private String content;
|
||||
private long effectTime;
|
||||
}
|
||||
@ -0,0 +1,18 @@
|
||||
package com.platform.cac.tcp.message.dataframe.send;
|
||||
|
||||
|
||||
import com.platform.cac.tcp.message.dataframe.RemoteTcpBaseDataFrame;
|
||||
import lombok.Data;
|
||||
|
||||
/**
|
||||
* @Author sunjipeng
|
||||
* @Date 2023/6/14
|
||||
* @Description 描述
|
||||
*/
|
||||
@Data
|
||||
public class TcpReceiveAtcRequest extends RemoteTcpBaseDataFrame {
|
||||
|
||||
private int atcType;
|
||||
private long effectTime;
|
||||
|
||||
}
|
||||
@ -0,0 +1,14 @@
|
||||
package com.platform.cac.tcp.message.dataframe.send;
|
||||
|
||||
|
||||
import com.platform.cac.tcp.message.dataframe.RemoteTcpBaseDataFrame;
|
||||
import lombok.Data;
|
||||
|
||||
/**
|
||||
* @Author sunjipeng
|
||||
* @Date 2023/6/14
|
||||
* @Description 描述
|
||||
*/
|
||||
@Data
|
||||
public class TcpRemoteAuthCacRequest extends RemoteTcpBaseDataFrame {
|
||||
}
|
||||
@ -0,0 +1,58 @@
|
||||
package com.platform.cac.tcp.message.handler;
|
||||
|
||||
|
||||
import com.platform.cac.GcsService;
|
||||
import com.platform.cac.tcp.message.dataframe.RemoteTcpBaseDataFrame;
|
||||
import com.platform.cac.tcp.message.dataframe.receive.CacUavCommandMessage;
|
||||
import com.platform.info.enums.GcsFrameEnum;
|
||||
import com.platform.info.enums.RemoteFrameEnum;
|
||||
import io.netty.buffer.ByteBuf;
|
||||
import io.netty.buffer.Unpooled;
|
||||
import io.netty.channel.Channel;
|
||||
import lombok.extern.slf4j.Slf4j;
|
||||
import org.springframework.stereotype.Component;
|
||||
|
||||
import javax.annotation.Resource;
|
||||
|
||||
/**
|
||||
* @Author : shiyi
|
||||
* @Date : 2024/1/9 11:28
|
||||
* @Description : 远程中心指控指令下发
|
||||
*/
|
||||
@Component @Slf4j
|
||||
public class CacUavCommandIssuedHandler implements IRemoteMessageHandler {
|
||||
@Resource
|
||||
GcsService gcsService;
|
||||
|
||||
@Override
|
||||
public void execute(Channel channel, RemoteTcpBaseDataFrame remoteTcpBaseDataFrame) {
|
||||
if (gcsService.isSignIn()){
|
||||
CacUavCommandMessage uavCommand = new CacUavCommandMessage(remoteTcpBaseDataFrame);
|
||||
log.info("对地面站下发指令...{}", uavCommand);
|
||||
// GcsService.commandUniId = uavCommand.getUavControlUniId();
|
||||
// log.debug("commandUniId Info: {}", GcsService.commandUniId);
|
||||
// issuedUavCommandToGcs(uavCommand);
|
||||
} else {
|
||||
log.warn("无法下发指令");
|
||||
}
|
||||
}
|
||||
/**
|
||||
* 下发指令到地面站
|
||||
* @param uavCommand
|
||||
*/
|
||||
// private void issuedUavCommandToGcs(CacUavCommandMessage uavCommand) {
|
||||
// String uavId = uavCommand.getUavId();
|
||||
// int fkUavId = UavIdMap.getFkId(uavId);
|
||||
//
|
||||
// ByteBuf bufToGcs = Unpooled.buffer();
|
||||
// bufToGcs.writeByte((byte) fkUavId);
|
||||
// bufToGcs.writeByte(uavCommand.getUavCommandCodeIdLength());
|
||||
// bufToGcs.writeBytes(uavCommand.getUavCommandCodeId());
|
||||
// gcsService.sendToGcs(GcsFrameEnum.ISSUED_COMMAND.getCode(), bufToGcs);
|
||||
// }
|
||||
|
||||
@Override
|
||||
public RemoteFrameEnum getFrameType() {
|
||||
return RemoteFrameEnum.UAV_COMMAND_ISSUED;
|
||||
}
|
||||
}
|
||||
@ -0,0 +1,57 @@
|
||||
package com.platform.cac.tcp.message.handler;
|
||||
|
||||
|
||||
import com.platform.cac.GcsService;
|
||||
import com.platform.cac.tcp.message.dataframe.RemoteTcpBaseDataFrame;
|
||||
import com.platform.cac.tcp.message.dataframe.receive.CacUavCommandMessage;
|
||||
import com.platform.info.enums.GcsFrameEnum;
|
||||
import com.platform.info.enums.RemoteFrameEnum;
|
||||
import io.netty.buffer.ByteBuf;
|
||||
import io.netty.buffer.Unpooled;
|
||||
import io.netty.channel.Channel;
|
||||
import lombok.extern.slf4j.Slf4j;
|
||||
import org.springframework.stereotype.Component;
|
||||
|
||||
import javax.annotation.Resource;
|
||||
|
||||
/**
|
||||
* @Author : shiyi
|
||||
* @Date : 2024/1/24 17:38
|
||||
* @Description : 查询指令是否完成
|
||||
*/
|
||||
@Component
|
||||
@Slf4j
|
||||
public class CacUavCommandResultHandler implements IRemoteMessageHandler {
|
||||
@Resource
|
||||
GcsService gcsService;
|
||||
@Override
|
||||
public void execute(Channel channel, RemoteTcpBaseDataFrame remoteTcpBaseDataFrame) {
|
||||
if (gcsService.isSignIn()){
|
||||
CacUavCommandMessage uavCommand = new CacUavCommandMessage(remoteTcpBaseDataFrame);
|
||||
log.debug("向地面站查询指令...{}", uavCommand);
|
||||
|
||||
// GcsService.queryCommandUniId= uavCommand.getUavControlUniId();
|
||||
// log.debug("queryCommandUniId Info: {}", GcsService.queryCommandUniId);
|
||||
queryUavCommandResult(uavCommand);
|
||||
} else {
|
||||
log.warn("无法查询指令");
|
||||
}
|
||||
}
|
||||
/**
|
||||
* 向地面站查询指令
|
||||
* @param uavCommand
|
||||
*/
|
||||
private void queryUavCommandResult(CacUavCommandMessage uavCommand) {
|
||||
// String uavId = uavCommand.getUavId();
|
||||
// int fkUavId = UavIdMap.getFkId(uavId);
|
||||
// ByteBuf bufToGcs = Unpooled.buffer();
|
||||
// bufToGcs.writeByte((byte) fkUavId);
|
||||
// bufToGcs.writeByte(uavCommand.getUavCommandCodeIdLength());
|
||||
// bufToGcs.writeBytes(uavCommand.getUavCommandCodeId());
|
||||
// gcsService.sendToGcs(GcsFrameEnum.QUERY_COMMAND.getCode(), bufToGcs);
|
||||
}
|
||||
@Override
|
||||
public RemoteFrameEnum getFrameType() {
|
||||
return RemoteFrameEnum.UAV_COMMAND_QUERY;
|
||||
}
|
||||
}
|
||||
@ -0,0 +1,46 @@
|
||||
package com.platform.cac.tcp.message.handler;
|
||||
|
||||
|
||||
import com.platform.cac.GcsService;
|
||||
import com.platform.cac.RemoteService;
|
||||
import com.platform.cac.tcp.message.dataframe.RemoteTcpBaseDataFrame;
|
||||
import com.platform.cac.tcp.message.dataframe.receive.TcpRemoteAuthorization;
|
||||
import com.platform.info.GlobalData;
|
||||
import com.platform.info.enums.RemoteFrameEnum;
|
||||
import io.netty.channel.Channel;
|
||||
import lombok.extern.slf4j.Slf4j;
|
||||
import org.springframework.stereotype.Component;
|
||||
|
||||
import javax.annotation.Resource;
|
||||
|
||||
|
||||
/**
|
||||
* @Author : shiyi
|
||||
* @Date : 2024/1/3 14:11
|
||||
* @Description : 地面站接入校验的回复
|
||||
*/
|
||||
@Component @Slf4j
|
||||
public class GcsAuthResponseHandler implements IRemoteMessageHandler {
|
||||
|
||||
@Resource
|
||||
RemoteService remoteService;
|
||||
@Resource
|
||||
GcsService gcsService;
|
||||
@Override
|
||||
public void execute(Channel channel, RemoteTcpBaseDataFrame remoteTcpBaseDataFrame) {
|
||||
TcpRemoteAuthorization authResponse = new TcpRemoteAuthorization(remoteTcpBaseDataFrame);
|
||||
|
||||
GlobalData.GCS_SIGNIN = (0x01==authResponse.getSuccess());
|
||||
if (GlobalData.GCS_SIGNIN){
|
||||
remoteService.queryCacDirectControlMapping(); // 同步操作
|
||||
// List<Integer> controlFkUavList = remoteService.queryGcsControlUav();
|
||||
// log.info("当前在控无人机: {}", remoteService.queryGcsControlUav());
|
||||
}
|
||||
log.info("[tcp auth]认证上线{}, code={}, message: {}", GlobalData.GCS_SIGNIN ? "成功":"失败",authResponse.getCode(), authResponse.getMessage());
|
||||
}
|
||||
|
||||
@Override
|
||||
public RemoteFrameEnum getFrameType() {
|
||||
return RemoteFrameEnum.GCS_AUTH_CAC_RESPONSE;
|
||||
}
|
||||
}
|
||||
@ -0,0 +1,25 @@
|
||||
package com.platform.cac.tcp.message.handler;
|
||||
|
||||
|
||||
|
||||
import com.platform.cac.tcp.message.dataframe.RemoteTcpBaseDataFrame;
|
||||
import com.platform.info.enums.RemoteFrameEnum;
|
||||
import io.netty.channel.Channel;
|
||||
|
||||
|
||||
public interface IRemoteMessageHandler {
|
||||
/**
|
||||
* 执行处理消息
|
||||
*
|
||||
* @param channel 通道
|
||||
* @param gcsTcpBaseDataFrame 消息
|
||||
*/
|
||||
void execute(Channel channel, RemoteTcpBaseDataFrame remoteTcpBaseDataFrame);
|
||||
|
||||
/**
|
||||
* @return 消息类型
|
||||
*/
|
||||
RemoteFrameEnum getFrameType();
|
||||
|
||||
|
||||
}
|
||||
@ -0,0 +1,15 @@
|
||||
package com.platform.config;
|
||||
|
||||
import lombok.Data;
|
||||
import org.springframework.boot.context.properties.ConfigurationProperties;
|
||||
import org.springframework.context.annotation.Configuration;
|
||||
|
||||
@Data
|
||||
@Configuration
|
||||
@ConfigurationProperties(prefix = "remote-cac")
|
||||
public class CacRemoteConfig {
|
||||
public String ip;
|
||||
public int remoteTcpPort;
|
||||
public String udpIp;
|
||||
public int remoteUdpPort;
|
||||
}
|
||||
@ -0,0 +1,37 @@
|
||||
package com.platform.info.enums;
|
||||
|
||||
import lombok.Getter;
|
||||
|
||||
/**
|
||||
* @Author : shiyi
|
||||
* @Date : 2024/1/3 9:28
|
||||
* @Description : 帧头枚举
|
||||
*/
|
||||
@Getter
|
||||
public enum ClientTypeEnum {
|
||||
//
|
||||
GCS((short) 0xCC06, (short) 0xCC06,"地面站"),
|
||||
AUTO_AIRPORT((short) 0xCC07, (short) 0xCC07,"自动化机场"),
|
||||
;
|
||||
private final short readHead;
|
||||
private final short writeHead;
|
||||
private final String info;
|
||||
|
||||
ClientTypeEnum(short readHead, short writeHead, String info) {
|
||||
|
||||
this.readHead = readHead;
|
||||
this.writeHead = writeHead;
|
||||
this.info = info;
|
||||
}
|
||||
|
||||
|
||||
public static ClientTypeEnum getByHead(int head) {
|
||||
for (ClientTypeEnum clientTypeEnum : ClientTypeEnum.values()) {
|
||||
if (clientTypeEnum.getReadHead() == head) {
|
||||
return clientTypeEnum;
|
||||
}
|
||||
}
|
||||
return null;
|
||||
}
|
||||
|
||||
}
|
||||
@ -0,0 +1,65 @@
|
||||
package com.platform.info.enums;
|
||||
|
||||
/**
|
||||
* @Author : shiyi
|
||||
* @Date : 2024/1/2 13:46
|
||||
* @Description : 地面站帧类型枚举
|
||||
*/
|
||||
|
||||
|
||||
public enum GcsFrameEnum implements IClientFrameEnum {
|
||||
// 与地面站之间TCP传输的报文类型枚举
|
||||
|
||||
LOGIN((byte) 0x00, "接入校验"),
|
||||
TELEMETRY_DATA_TRANSFER((byte) 0x02, "遥测数据透传"),
|
||||
HEART_BEAT((byte) 0x03, "心跳"),
|
||||
CONTROL_APPLY((byte) 0x04, "控制权申请，运管在控无人机更新"),
|
||||
CONTROL_FREE((byte) 0x0A, "控制权释放"),
|
||||
CONTROL_ISSUE((byte) 0x0B, "控制权下发"),
|
||||
CONTROL_RECEIVE((byte) 0x0C, "控制权接收"),
|
||||
ISSUED_COMMAND((byte) 0x05, "通知指令下发"),
|
||||
RECONNECT((byte) 0x06, "地面站重连"),
|
||||
SNAPSHOT((byte) 0x07, "发送地面站快照"),
|
||||
SIGN_IN((byte) 0x08, "连接中心指控"),
|
||||
SIGN_OUT((byte) 0x09, "断开中心指控"),
|
||||
COMMAND_NOTIFY((byte) 0x0D, "遥控指令回报"),
|
||||
UPDATE_UAV_CONTROL((byte) 0x0E, "中心指控在控无人机更新"),
|
||||
QUERY_COMMAND((byte) 0x20, "查询指令是否完成"),
|
||||
UAV_MASTER_CONTROL((byte) 0x21, "地面站主控通知"),
|
||||
UPDATE_REMOTE_CONTROL_STATE((byte) 0x22, "远程控制状态"),
|
||||
QUERY_REMOTE_CONTROL_STATE_REPLY((byte) 0x23, "查询远程控制状态"),
|
||||
STREAM_PUSH((byte) 0x32, "视频流推送"),
|
||||
;
|
||||
|
||||
private final byte code;
|
||||
private final String info;
|
||||
|
||||
GcsFrameEnum(byte code, String info) {
|
||||
this.code = code;
|
||||
this.info = info;
|
||||
}
|
||||
|
||||
public byte getCode() {
|
||||
return code;
|
||||
}
|
||||
|
||||
public String getInfo() {
|
||||
return info;
|
||||
}
|
||||
|
||||
public static GcsFrameEnum getByCode(byte frameCode) {
|
||||
for (GcsFrameEnum enums : GcsFrameEnum.values()) {
|
||||
if (enums.code == frameCode) {
|
||||
return enums;
|
||||
}
|
||||
}
|
||||
return null;
|
||||
}
|
||||
|
||||
@Override
|
||||
public ClientTypeEnum getClientEnum() {
|
||||
return ClientTypeEnum.GCS;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
@ -0,0 +1,41 @@
|
||||
package com.platform.info.enums;
|
||||
|
||||
/**
|
||||
* @Author : shiyi
|
||||
* @Date : 2024/2/17 16:36
|
||||
* @Description : 地面站类型枚举
|
||||
*/
|
||||
public enum GcsTypeEnum {
|
||||
// 地面站类型枚举
|
||||
REMOTE_GCS(0, "远程地面站"),
|
||||
BOX_GCS(1, "箱式地面站"),
|
||||
HANDHELD_GCS(2, "手持地面站"),
|
||||
CARBIN_GCS(3, "方舱地面站"),
|
||||
AIRPORT_GCS(4,"机场型地面站"),
|
||||
;
|
||||
|
||||
private final int code;
|
||||
private final String info;
|
||||
|
||||
GcsTypeEnum(int code, String info) {
|
||||
this.code = code;
|
||||
this.info = info;
|
||||
}
|
||||
|
||||
public int getCode() {
|
||||
return code;
|
||||
}
|
||||
|
||||
public String getInfo() {
|
||||
return info;
|
||||
}
|
||||
|
||||
public static GcsTypeEnum getTypeByCode(Integer code) {
|
||||
for (GcsTypeEnum enums : GcsTypeEnum.values()) {
|
||||
if (enums.getCode() == code) {
|
||||
return enums;
|
||||
}
|
||||
}
|
||||
return null;
|
||||
}
|
||||
}
|
||||
@ -0,0 +1,10 @@
|
||||
package com.platform.info.enums;
|
||||
|
||||
/**
|
||||
* @Author : shiyi
|
||||
* @Date : 2023/12/28 12:02
|
||||
* @Description :
|
||||
*/
|
||||
public interface IClientFrameEnum {
|
||||
public ClientTypeEnum getClientEnum();
|
||||
}
|
||||
@ -0,0 +1,71 @@
|
||||
package com.platform.info.enums;
|
||||
|
||||
/**
|
||||
* @Author : shiyi
|
||||
* @Date : 2024/1/2 13:46
|
||||
* @Description : 运管和中心指控帧类型枚举
|
||||
*/
|
||||
|
||||
public enum RemoteFrameEnum {
|
||||
// 运管
|
||||
GCS_AUTH_CAC_REQUEST((byte) 0x01, "地面站接入数据路由认证请求"),
|
||||
GCS_AUTH_CAC_RESPONSE((byte)0x02, "地面站接入数据路由认证响应"),
|
||||
HEART_BEAT_REQUEST((byte) 0x03, "心跳请求"),
|
||||
HEART_BEAT_RESPONSE((byte) 0x04, "心跳响应"),
|
||||
FLIGHT_PLAN_REPLY_REQUEST((byte) 0x05, "飞行计划审批结果通知"),
|
||||
FLIGHT_PLAN_REPLY_RESPONSE((byte) 0x06, "飞行计划审批结果响应"),
|
||||
FLY_REPLY_REQUEST((byte) 0x07, "放飞申请结果通知"),
|
||||
FLY_REPLY_RESPONSE((byte) 0x08, "放飞申请结果响应"),
|
||||
RECEIVE_ALARM_REQUEST((byte) 0x09, "告警信息"),
|
||||
RECEIVE_ALARM_RESPONSE((byte) 0x0A, "告警信息接收响应"),
|
||||
RECEIVE_ATC_REQUEST( (byte) 0x0B, "管制指令通知"),
|
||||
RECEIVE_ATC_RESPONSE((byte) 0x0C, "管制指令接收响应"),
|
||||
FLIGHT_PLAN_REVOKE_REQUEST((byte) 0x0D, "飞行计划撤销通知"),
|
||||
FLIGHT_PLAN_REVOKE_RESPONSE((byte) 0x0E, "飞行计划撤销响应"),
|
||||
UAV_TELEMETRY_DATA_TRANSFER((byte) 0x0F, "无人机遥测数据透传"),
|
||||
AIRSPACE_REPLY_REQUEST((byte) 0x1A, "空域申请结果通知"),
|
||||
AIRSPACE_REPLY_RESPONSE((byte) 0x1B, "空域申请结果收到响应"),
|
||||
// 中心指控
|
||||
UAV_CONTROL_APPLY((byte) 0x10, "申请无人机控制权"),
|
||||
UAV_CONTROL_REPLY((byte) 0x11, "回复无人机控制权"),
|
||||
UAV_CONTROL_RECEIVE((byte) 0x12, "接收无人机控制权"),
|
||||
UAV_COMMAND_ISSUED((byte) 0x13, "无人机控制指令下发"),
|
||||
UAV_COMMAND_QUERY((byte) 0x14, "无人机控制指令查询"),
|
||||
|
||||
// 自动化机场
|
||||
AIRPORT_COMMAND_ISSUED((byte) 0x15, "机场指令下发"),
|
||||
AIRPORT_COMMAND_QUERY((byte) 0x16, "机场指令查询"),
|
||||
AIRPORT_STATUS_QUERY((byte) 0x17, "机场状态查询"),
|
||||
AIRPORT_STATE_OF_CHARGE_QUERY((byte)0x18, "电格电量查询"),
|
||||
AIRPORT_CONTAINER_STATUS_QUERY((byte)0x19, "货格状态查询"),
|
||||
|
||||
// 推流地址
|
||||
STREAM_PUSH((byte) 0x21, "推流地址");
|
||||
|
||||
;
|
||||
private final byte code;
|
||||
private final String info;
|
||||
public byte getCode() {
|
||||
return code;
|
||||
}
|
||||
|
||||
public String getInfo() {
|
||||
return info;
|
||||
}
|
||||
|
||||
|
||||
RemoteFrameEnum(byte code, String info) {
|
||||
this.code = code;
|
||||
this.info = info;
|
||||
}
|
||||
|
||||
public static RemoteFrameEnum getByCode(byte frameCode) {
|
||||
for (RemoteFrameEnum enums : RemoteFrameEnum.values()) {
|
||||
if (enums.code == frameCode) {
|
||||
return enums;
|
||||
}
|
||||
}
|
||||
return null;
|
||||
}
|
||||
|
||||
}
|
||||
@ -0,0 +1,67 @@
|
||||
package com.platform.info.enums;
|
||||
|
||||
import lombok.Getter;
|
||||
|
||||
/**
|
||||
* @Author : shiyi
|
||||
* @Date : 2024/1/9 9:27
|
||||
* @Description : 无人机类型枚举
|
||||
*/
|
||||
@Getter
|
||||
public enum UavTypeEnum {
|
||||
//
|
||||
FP981A (0x01, 1,"981A", false),
|
||||
FP981C (0x02, 2,"981C", false),
|
||||
FP98 (0x04, 4,"98", true),
|
||||
FP985 (0x08, 8,"985", true),
|
||||
FP981CS (0x10, 16,"981CS", true),
|
||||
FH981CH (0x20, 32,"981CH", true),
|
||||
// 此后的编码和中心指控编码区分开
|
||||
FH981CH_HYBRID (0x21, 64,"981CH-二代机混动", false),
|
||||
FH981CH_ELECTRIC (0x22, 128,"981CH-二代机电动", false),
|
||||
;
|
||||
private final int gcsCode;
|
||||
private final int remoteCode;
|
||||
private final String info;
|
||||
private final boolean onlyMonitor; // 仅具有监视功能，但不控制
|
||||
|
||||
UavTypeEnum(int code, int remoteCode, String info, boolean onlyMonitor) {
|
||||
this.gcsCode = code;
|
||||
this.remoteCode = remoteCode;
|
||||
this.info = info;
|
||||
this.onlyMonitor = onlyMonitor;
|
||||
}
|
||||
|
||||
public int getGcsCode() {
|
||||
return gcsCode;
|
||||
}
|
||||
public int getRemoteCode() {
|
||||
return remoteCode;
|
||||
}
|
||||
public String getInfo() {
|
||||
return info;
|
||||
}
|
||||
public boolean isOnlyMonitor() {
|
||||
return onlyMonitor;
|
||||
}
|
||||
|
||||
public String toString() {
|
||||
return this.info;
|
||||
}
|
||||
public static UavTypeEnum getByGcsCode(int code) {
|
||||
for (UavTypeEnum typeEnum : UavTypeEnum.values()) {
|
||||
if (typeEnum.getGcsCode() == code) {
|
||||
return typeEnum;
|
||||
}
|
||||
}
|
||||
return null;
|
||||
}
|
||||
public static UavTypeEnum getByRemoteCode(int code) {
|
||||
for (UavTypeEnum typeEnum : UavTypeEnum.values()) {
|
||||
if (typeEnum.getRemoteCode() == code) {
|
||||
return typeEnum;
|
||||
}
|
||||
}
|
||||
return null;
|
||||
}
|
||||
}
|
||||
@ -0,0 +1,11 @@
|
||||
package com.platform.model;
|
||||
|
||||
import lombok.Data;
|
||||
|
||||
@Data
|
||||
public class DirectControlUavParam {
|
||||
String harborSn;
|
||||
String flightControlSn;
|
||||
String uavId;
|
||||
Integer uavType;
|
||||
}
|
||||
@ -0,0 +1,17 @@
|
||||
package com.platform.model;
|
||||
|
||||
import lombok.Data;
|
||||
import lombok.ToString;
|
||||
|
||||
/**
|
||||
* @Author : shiyi
|
||||
* @Date : 2024/2/18 9:16
|
||||
* @Description : HTTP统一响应结果
|
||||
*/
|
||||
@Data
|
||||
public class Result<T> {
|
||||
boolean success;
|
||||
String message;
|
||||
Integer code;
|
||||
T data;
|
||||
}
|
||||
@ -0,0 +1,50 @@
|
||||
package com.platform.util;
|
||||
|
||||
import org.apache.tomcat.util.codec.binary.Base64;
|
||||
|
||||
import javax.crypto.Mac;
|
||||
import javax.crypto.spec.SecretKeySpec;
|
||||
import java.security.InvalidKeyException;
|
||||
import java.security.NoSuchAlgorithmException;
|
||||
import java.text.SimpleDateFormat;
|
||||
import java.util.Date;
|
||||
import java.util.Locale;
|
||||
import java.util.Map;
|
||||
import java.util.TimeZone;
|
||||
|
||||
public class BaseAuthorizationUtils {
|
||||
|
||||
public static void generateAuthAndDateHeader(Map<String, String> header, String method, String gcsId, String token, String uri) {
|
||||
Date sysdate = new Date();
|
||||
SimpleDateFormat df = new SimpleDateFormat("EEE\', \'dd\' \'MMM\' \'yyyy\' \'HH:mm:ss\' \'z", Locale.US);
|
||||
df.setTimeZone(TimeZone.getTimeZone("GMT"));
|
||||
String date = df.format(sysdate);
|
||||
header.put("authorization", generateAuth(method, date, gcsId, token, uri));
|
||||
header.put("gcsId", gcsId);
|
||||
header.put("date", date);
|
||||
}
|
||||
|
||||
public static String generateAuth(String method, String date, String gcsId, String token, String uri){
|
||||
String string_to_sign = method.toUpperCase() + " " + uri + "\n" + date;
|
||||
String sig = token;
|
||||
String encoding = "";
|
||||
|
||||
try {
|
||||
byte[] signature = getSignature(string_to_sign.getBytes(), sig.getBytes());
|
||||
encoding = new String(Base64.encodeBase64(signature));
|
||||
} catch (Exception var10) {
|
||||
return null;
|
||||
}
|
||||
|
||||
return gcsId + ":" + encoding;
|
||||
}
|
||||
|
||||
public static byte[] getSignature(byte[] data, byte[] key) throws NoSuchAlgorithmException, InvalidKeyException {
|
||||
SecretKeySpec signingKey = new SecretKeySpec(key, "HmacSHA1");
|
||||
Mac mac = Mac.getInstance("HmacSHA1");
|
||||
mac.init(signingKey);
|
||||
byte[] rawHmac = mac.doFinal(data);
|
||||
return rawHmac;
|
||||
}
|
||||
|
||||
}
|
||||
Loading…
Reference in New Issue