From a611a083a11bf575f2ec991b6ef8f1d42d36c065 Mon Sep 17 00:00:00 2001
From: feiyu02 <risaku@163.com>
Date: 星期三, 26 六月 2024 17:36:24 +0800
Subject: [PATCH] 1. 新增走航轨迹融合功能
---
src/main/kotlin/com/flightfeather/uav/socket/UAVByteDataDecoder.kt | 21 ++++++++++-----------
1 files changed, 10 insertions(+), 11 deletions(-)
diff --git a/src/main/kotlin/com/flightfeather/uav/socket/UAVByteDataDecoder.kt b/src/main/kotlin/com/flightfeather/uav/socket/UAVByteDataDecoder.kt
index 3a44958..9b22dbf 100644
--- a/src/main/kotlin/com/flightfeather/uav/socket/UAVByteDataDecoder.kt
+++ b/src/main/kotlin/com/flightfeather/uav/socket/UAVByteDataDecoder.kt
@@ -1,10 +1,9 @@
package com.flightfeather.uav.socket
-import com.flightfeather.uav.socket.decoder.impl.DataPackageDecoderImpl
+import com.flightfeather.uav.socket.decoder.DataPackageDecoder
import io.netty.buffer.ByteBuf
import io.netty.channel.ChannelHandlerContext
import io.netty.handler.codec.ByteToMessageDecoder
-import java.lang.StringBuilder
/**
* @author riku
@@ -14,13 +13,13 @@
class UAVByteDataDecoder : ByteToMessageDecoder() {
companion object {
- const val BASE_LENGTH = DataPackageDecoderImpl.HEAD_BYTES + DataPackageDecoderImpl.COMMAND_UNIT_BYTES +
- DataPackageDecoderImpl.DEVICE_CODE_BYTES + DataPackageDecoderImpl.DATA_LENGTH + DataPackageDecoderImpl.BCC_BYTES
+ const val BASE_LENGTH = DataPackageDecoder.HEAD_BYTES + DataPackageDecoder.COMMAND_UNIT_BYTES +
+ DataPackageDecoder.DEVICE_CODE_BYTES + DataPackageDecoder.DATA_LENGTH + DataPackageDecoder.BCC_BYTES
const val HEAD1 = 0x01.toByte()
- const val COMMAND_1 = 0x01.toByte()
- const val COMMAND_2 = 0x01.toByte()
- const val HEAD_LENGTH = DataPackageDecoderImpl.HEAD_BYTES + DataPackageDecoderImpl.COMMAND_UNIT_BYTES +
- DataPackageDecoderImpl.DEVICE_CODE_BYTES
+ const val COMMAND_1 = 0x04.toByte()
+ const val COMMAND_2 = 0x05.toByte()
+ const val HEAD_LENGTH = DataPackageDecoder.HEAD_BYTES + DataPackageDecoder.COMMAND_UNIT_BYTES +
+ DataPackageDecoder.DEVICE_CODE_BYTES
}
override fun decode(p0: ChannelHandlerContext?, p1: ByteBuf?, p2: MutableList<Any>?) {
@@ -47,7 +46,7 @@
val b = ByteArray(HEAD_LENGTH)
it.readBytes(b)
if (b[0] == HEAD1 &&
- (b[1] == COMMAND_1 || b[2] == COMMAND_2)) {
+ (b[1] == COMMAND_1 || b[1] == COMMAND_2)) {
b.forEach {b ->
dataList.add(b)
}
@@ -74,14 +73,14 @@
//鏁版嵁鍗曞厓鐨勯暱搴�
val length = getDataUnitLength(it, dataList)
// 鍒ゆ柇璇锋眰鏁版嵁鍗曞厓鏁版嵁鍙奫LENGTH_BYTES]涓瓧鑺傜殑鏍￠獙鐮佹槸鍚﹀埌榻�
- if (it.readableBytes() < length + DataPackageDecoderImpl.BCC_BYTES) {
+ if (it.readableBytes() < length + DataPackageDecoder.BCC_BYTES) {
// 杩樺師璇绘寚閽�
it.readerIndex(beginReader)
return
}
//璇诲彇鏁版嵁鍗曞厓鍜屾牎楠岀爜鏁版嵁
- ByteArray(length + DataPackageDecoderImpl.BCC_BYTES).apply {
+ ByteArray(length + DataPackageDecoder.BCC_BYTES).apply {
it.readBytes(this)
}.forEach {b ->
dataList.add(b)
--
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