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@ -10,7 +10,8 @@ import io.netty.buffer.ByteBuf;
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import io.netty.buffer.PooledByteBufAllocator;
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import io.netty.buffer.Unpooled;
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import io.netty.channel.Channel;
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import io.netty.util.concurrent.ScheduledFuture;
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import io.netty.channel.ChannelFuture;
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import io.netty.util.concurrent.Future;
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import lombok.Getter;
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import lombok.extern.slf4j.Slf4j;
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@ -25,8 +26,9 @@ import java.util.concurrent.atomic.AtomicInteger;
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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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@Slf4j
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@Getter
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public abstract class HaborClient extends BaseClient {
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// static HashSet<String> fkSnSet = new HashSet<>();
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protected UavTypeEnum uavType;
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protected byte fkId;
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@ -34,12 +36,15 @@ public class HaborClient extends BaseClient {
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// 数据交换控制
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protected final AtomicBoolean needToSendCommonData = new AtomicBoolean(false); // 是否发送常发帧
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protected int commonDataFreq = 1; // 默认发送频率, 每秒发送帧数, 以各型号子类为准
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protected ScheduledFuture scheduledFuture;
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protected int commonDataFreq; // 默认发送频率, 每秒发送帧数, 以各型号子类为准
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protected volatile int targetPeriod;
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protected Future scheduledFuture;
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protected static final int MIN_SCHEDULE_DELAY = 1; // 最小调度延迟，避免过于频繁的调度
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protected static final int DEFAULT_COMMON_DATA_FREQ = 5; // 默认常发帧发送频率，每秒发送帧数
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// 数据帧内容
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protected AtomicUByte frameIdx = new AtomicUByte(); // 飞控包序号
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protected boolean resourceAllocated;
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protected DataByteBuf dataBufToSend; // 默认发送常发数据帧 ; // 实际数据发送定时任务发送的数据内容，发送时将引用以下dataBuf
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protected CommonDataBuf commonDataBuf; // 常发数据帧, 复用
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protected ControlDataBuf controlDataBuf; // 开关指令数据帧， 复用
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@ -49,7 +54,6 @@ public class HaborClient extends BaseClient {
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protected static final int FRAME_SIZE = 32; // 如果各型号不一样，该字段取消final，并在子类中初始化
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protected static final byte[] HEAD = new byte[]{(byte) 0xeb, (byte) 0x90};
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// 控制指令回报判断， 指令队列目前只允许一个指令，前一个指令回报或过期后才能发送下一个指令
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protected CommandRecord previousControl;
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// 装订指令回报判断
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@ -63,15 +67,27 @@ public class HaborClient extends BaseClient {
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protected ByteBuf telemetryBufHeadToCac;
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protected int cacHeadLength; // 中心指控协议头长度, 见协议序号1-10
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protected AtomicUShort cacFrameIdx = new AtomicUShort(); // cac包序号
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protected long lastSendTime = 0;
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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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public static HaborClient createClient(UavTypeEnum uavType, String haborSn, Channel channel) {
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switch (uavType) {
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case FP981A:
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return new HaborClient981A(haborSn, channel);
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default:
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break;
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}
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return null;
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}
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@Override
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public String toString() {
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return getClass().getSimpleName()+ "{" +
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return getClass().getSimpleName() + "{" +
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"channel=" + channel.id() +
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", sn='" + sn + '\'' +
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", ip='" + ip + '\'' +
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@ -89,15 +105,6 @@ public class HaborClient extends BaseClient {
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", uavType=" + uavType.getInfo() +
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']';
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}
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public static HaborClient createClient(UavTypeEnum uavType, String haborSn, Channel channel) {
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switch (uavType) {
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case FP981A:
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return new HaborClient981A(haborSn, channel);
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default:
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break;
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}
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return null;
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}
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@Override
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@ -120,14 +127,25 @@ public class HaborClient extends BaseClient {
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return ClientTypeEnum.HABOR;
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}
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/**被管理时初始化*/
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protected void resourceAllocate() {}
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/**
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* 被管理时初始化
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*/
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protected abstract void resourceAllocate();
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/**被移除管理时, 释放相关资源*/
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/**
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* 被移除管理时, 释放相关资源
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*/
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protected void resourceRelease() {
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commonDataBuf.release();
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controlDataBuf.release();
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if (telemetryBufHeadToCac.refCnt() > 0) {
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// FIXME 2025/2/8: 安全释放资源
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if (!resourceAllocated){
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return;
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}
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commonDataBuf.end();
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controlDataBuf.end();
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bindDataBuf.end();
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queryDataBuf.end();
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routeDataBuf.end();
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if (telemetryBufHeadToCac!= null && telemetryBufHeadToCac.refCnt() > 0) {
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telemetryBufHeadToCac.release(telemetryBufHeadToCac.refCnt());
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}
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previousControl.end();
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@ -136,100 +154,203 @@ public class HaborClient extends BaseClient {
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previousRouteBind.end();
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}
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/**只通过get读数，不改变readerIndex和writerIndex, 也不可更改refCnt*/
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/**
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* 只通过get读数，不改变readerIndex和writerIndex, 也不可更改refCnt
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*/
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public void process(ByteBuf msg) {
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if (msg.getByte(0) != HEAD[0] && msg.getByte(1) != HEAD[1]) {
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return; // 帧头错误，抛弃
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}
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if (!processInjectResponse(msg)) {
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// 如果消息未处理，则发送给中心指控
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sendToCac(msg.retain()); // 外面SimpleChannelInboundHandler会自动release msg, 所以这里需要retain一次
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}
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}
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/**注入回报帧处理*/
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protected boolean processInjectResponse(ByteBuf msg) {
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return false;
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/**
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* 注入回报帧处理
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*/
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protected abstract boolean processInjectResponse(ByteBuf msg);
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/**
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* 发送常发帧
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*/
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protected abstract void writeCommonData();
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/**
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* 向飞控发送控制指令
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*/
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public abstract void writeControlCommand(byte commandCode, String uavControlUniId);
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/**
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* 向飞控发送参数装订指令
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*/
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public abstract void writeParamBindCommand(byte commandCode, byte[] commandContent, String controlUniId);
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/**
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* 向飞控发送参数查询指令
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*/
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public abstract void writeParamQueryCommand(byte commandCode, byte[] commandContent, String controlUniId);
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/**
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* 向飞控发送航线装订指令
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*/
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public abstract void writeRouteBindCommand(byte commandCode, List<byte[]> routeInfoList, String controlUniId);
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// 启动定时任务常发数据帧
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protected void startSendCommonData() {
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// scheduledFuture = channel.eventLoop().scheduleAtFixedRate(
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// this::writeCommonData, 0, targetPeriod, TimeUnit.MILLISECONDS);
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// // 检查任务是否成功启动
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// if (scheduledFuture != null && !scheduledFuture.isCancelled()) {
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// log.info("[cac] 开始向哈勃终端({})发送常发帧", shortInfo());
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// needToSendCommonData.compareAndSet(false, true);
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// } else {
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// log.info("[cac] 哈勃终端({})发送常发帧启动失败", shortInfo());
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// }
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needToSendCommonData.set(true);
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lastSendTime = System.currentTimeMillis();
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scheduledFuture = channel.eventLoop().submit(new Runnable() {
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@Override
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public void run() {
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try {
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if (!needToSendCommonData.get() || !channel.isActive()) {
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return;
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}
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/**发送常发帧*/
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protected void writeCommonData() {}
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long currentTime = System.currentTimeMillis();
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long elapsed = currentTime - lastSendTime;
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if (elapsed >= targetPeriod) {
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/**向飞控发送控制指令*/
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public void writeControlCommand(byte commandCode, String uavControlUniId) {}
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// 批量发送逻辑，如果延迟太大，可以考虑补发
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int missedFrames = (int) (elapsed / targetPeriod);
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if (missedFrames > 2) { // 限制补发帧数
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log.warn("常发帧延迟: {}ms", elapsed - targetPeriod);
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}
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writeCommonData();
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lastSendTime = currentTime;
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/**向飞控发送参数装订指令*/
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public void writeParamBindCommand(byte commandCode, byte[] commandContent, String controlUniId) {}
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// 使用schedule而不是立即execute，给其他任务执行的机会
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channel.eventLoop().schedule(this,
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Math.max(MIN_SCHEDULE_DELAY, targetPeriod / 2),
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TimeUnit.MILLISECONDS);
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} else {
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// 延迟剩余时间后再次调度
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channel.eventLoop().schedule(this,
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Math.max(MIN_SCHEDULE_DELAY, targetPeriod - elapsed),
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TimeUnit.MILLISECONDS);
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}
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} catch (Exception e) {
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log.error("[cac] {} 常发帧调度异常: {}", shortInfo(), e.getMessage());
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// 发生异常时，延迟一段时间后重试
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if (needToSendCommonData.get() && channel.isActive()) {
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channel.eventLoop().schedule(this, 500, TimeUnit.MILLISECONDS);
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}
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}
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}
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});
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/**向飞控发送参数查询指令*/
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public void writeParamQueryCommand(byte commandCode, byte[] commandContent, String controlUniId) {}
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log.info("[cac] 开始向哈勃终端({})发送常发帧, 频率:{}帧/秒", shortInfo(), commonDataFreq);
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}
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/**向飞控发送航线装订指令*/
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public void writeRouteBindCommand(byte commandCode, List<byte[]> routeInfoList, String controlUniId) {}
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/**设置当前发送数据*/
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protected void setCurrentSendData(DataByteBuf dataByteBuf) {
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setCurrentSendData(dataByteBuf, DEFAULT_COMMON_DATA_FREQ);
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}
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/**
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* 设置当前发送数据
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*/
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protected void setCurrentSendData(DataByteBuf dataByteBuf, int freq) {
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dataByteBuf.resetSendCount();
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dataBufToSend = dataByteBuf;
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if (freq != commonDataFreq) {
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adjustSendFrequency(freq);
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}
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}
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// 调整常发帧发送频率
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protected void adjustSendFrequency(int newFreq) {
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if (newFreq <= 0) {
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throw new IllegalArgumentException("频率必须大于0");
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}
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/**恢复常发帧数据*/
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commonDataFreq = newFreq;
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targetPeriod = 1000 / newFreq;
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log.info("[cac] {} 调整发送频率为 {} 帧/秒", shortInfo(), newFreq);
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}
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/**
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* 恢复常发帧数据
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*/
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protected void switchToCommonData() {
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setCurrentSendData(commonDataBuf);
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setCurrentSendData(commonDataBuf, DEFAULT_COMMON_DATA_FREQ);
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dataBufToSend.resetSendCount();
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log.info("[cac] {} 设置当前发送数据为常发数据帧", shortInfo());
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}
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// 启动定时任务常发数据帧
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protected void startSendCommonData() {
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int period = 1000 / commonDataFreq; // 每帧间隔ms
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scheduledFuture = channel.eventLoop().scheduleAtFixedRate(
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this::writeCommonData, 0, period, TimeUnit.MILLISECONDS);
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// 检查任务是否成功启动
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if (scheduledFuture != null && !scheduledFuture.isCancelled()) {
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log.info("[cac] 开始向哈勃终端({})发送常发帧", shortInfo());
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needToSendCommonData.compareAndSet(false, true);
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} else {
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log.info("[cac] 哈勃终端({})发送常发帧启动失败", shortInfo());
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|
}
|
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|
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}
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// 停止定时任务常发数据帧
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|
|
protected void stopSendCommonData() {
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|
needToSendCommonData.set(false);
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|
|
if (scheduledFuture != null && !scheduledFuture.isCancelled()) {
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scheduledFuture.cancel(true); // 取消任务并尝试中断
|
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|
|
needToSendCommonData.compareAndSet(true, false);
|
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|
|
log.info("[cac] 停止向哈勃终端({})发送常发帧", shortInfo());
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scheduledFuture = null;
|
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}
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log.info("[cac] 停止向哈勃终端({})发送常发帧", shortInfo());
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|
}
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protected boolean isNeedToSendCommonData() {
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return needToSendCommonData.get();
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}
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|
/**暂停发送常发帧*/
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/**
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|
* 暂停发送常发帧
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*/
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|
|
protected void pauseSendCommonData() {
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// needToSendCommonData.set(false);
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needToSendCommonData.set(false);
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log.info("[cac] 暂停向哈勃终端({})发送常发帧", shortInfo());
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|
|
}
|
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|
/**恢复发送常发帧*/
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/**
|
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* 恢复发送常发帧
|
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|
|
*/
|
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|
|
protected void resumeSendCommonData() {
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|
|
// needToSendCommonData.set(true);
|
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|
|
needToSendCommonData.set(true);
|
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|
|
log.info("[cac] 恢复向哈勃终端({})发送常发帧", shortInfo());
|
|
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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 原始遥测ByteBuf
|
|
|
|
|
*/
|
|
|
|
|
public void sendToCac(ByteBuf srcBuf) {
|
|
|
|
|
telemetryBufHeadToCac.writerIndex(cacHeadLength-6);
|
|
|
|
|
telemetryBufHeadToCac.writerIndex(cacHeadLength - 6);
|
|
|
|
|
telemetryBufHeadToCac.writeShort(cacFrameIdx.getAndIncrement());
|
|
|
|
|
telemetryBufHeadToCac.writeInt(srcBuf.readableBytes());
|
|
|
|
|
ByteBuf telemetryBufToCac = Unpooled.wrappedBuffer(telemetryBufHeadToCac.retain(), srcBuf); // 遥测数据组合
|
|
|
|
|
CacClient.write(telemetryBufToCac);
|
|
|
|
|
ChannelFuture future = CacClient.write(telemetryBufToCac);
|
|
|
|
|
if (future != null) {
|
|
|
|
|
// future.addListener((ChannelFuture f) -> {
|
|
|
|
|
// if (!f.isSuccess()) {
|
|
|
|
|
// telemetryBufToCac.release();
|
|
|
|
|
// }
|
|
|
|
|
// });
|
|
|
|
|
} else {
|
|
|
|
|
telemetryBufToCac.release();
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
/**给数据添加CRC16校验*/
|
|
|
|
|
|
|
|
|
|
/**
|
|
|
|
|
* 给数据添加CRC16校验
|
|
|
|
|
*/
|
|
|
|
|
protected void addCRC16(ByteBuf dataBuf) {
|
|
|
|
|
ByteBuf slice = dataBuf.slice(2, 28);// 校验第3-30位，共28个字节
|
|
|
|
|
dataBuf.writerIndex(30);
|
|
|
|
|
@ -237,56 +358,98 @@ public class HaborClient extends BaseClient {
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
/**
|
|
|
|
|
* 装订查询回报对象
|
|
|
|
|
*/
|
|
|
|
|
public static abstract class UavQueryResultParam {
|
|
|
|
|
public abstract String toJsonStr() throws IOException;
|
|
|
|
|
}
|
|
|
|
|
/**Cac起飞参数查询查询回报，具体定义见各型号子类*/
|
|
|
|
|
public static abstract class UavTakeOffParamQueryResultParam extends UavQueryResultParam {}
|
|
|
|
|
/**Cac重量查询回报，具体定义见各型号子类*/
|
|
|
|
|
public static abstract class UavWeightQueryResultParam extends UavQueryResultParam {}
|
|
|
|
|
protected static class DataByteBuf{
|
|
|
|
|
|
|
|
|
|
/**
|
|
|
|
|
* Cac起飞参数查询查询回报，具体定义见各型号子类
|
|
|
|
|
*/
|
|
|
|
|
public static abstract class UavTakeOffParamQueryResultParam extends UavQueryResultParam {
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
/**
|
|
|
|
|
* Cac重量查询回报，具体定义见各型号子类
|
|
|
|
|
*/
|
|
|
|
|
public static abstract class UavWeightQueryResultParam extends UavQueryResultParam {
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
/**
|
|
|
|
|
* 数据发送对象
|
|
|
|
|
*/
|
|
|
|
|
protected static class DataByteBuf {
|
|
|
|
|
protected ByteBuf buf;
|
|
|
|
|
private AtomicInteger sendCount = new AtomicInteger(0);
|
|
|
|
|
public DataByteBuf(int frameSize) {buf = PooledByteBufAllocator.DEFAULT.buffer(frameSize);}
|
|
|
|
|
public void release() {
|
|
|
|
|
|
|
|
|
|
public DataByteBuf(int frameSize) {
|
|
|
|
|
buf = PooledByteBufAllocator.DEFAULT.buffer(frameSize);
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
public void end() {
|
|
|
|
|
if (buf.refCnt() > 0) {
|
|
|
|
|
buf.release(buf.refCnt());
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
public void resetSendCount() {
|
|
|
|
|
sendCount.set(0);
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
public int addSendCount() {
|
|
|
|
|
return sendCount.incrementAndGet();
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
public int getSendCount() {
|
|
|
|
|
return sendCount.get();
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
protected static class CommonDataBuf extends DataByteBuf{
|
|
|
|
|
/**
|
|
|
|
|
* 常发帧
|
|
|
|
|
*/
|
|
|
|
|
protected static class CommonDataBuf extends DataByteBuf {
|
|
|
|
|
public CommonDataBuf(int frameSize) {
|
|
|
|
|
super(frameSize);
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
protected static class ControlDataBuf extends DataByteBuf{
|
|
|
|
|
|
|
|
|
|
/**
|
|
|
|
|
* 控制指令帧
|
|
|
|
|
*/
|
|
|
|
|
protected static class ControlDataBuf extends DataByteBuf {
|
|
|
|
|
public int needCount = 10; // 默认帧数
|
|
|
|
|
|
|
|
|
|
public ControlDataBuf(int frameSize) {
|
|
|
|
|
super(frameSize);
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
protected static class BindDataBuf extends DataByteBuf{
|
|
|
|
|
|
|
|
|
|
/**
|
|
|
|
|
* 数据装订帧
|
|
|
|
|
*/
|
|
|
|
|
protected static class BindDataBuf extends DataByteBuf {
|
|
|
|
|
public BindDataBuf(int frameSize) {
|
|
|
|
|
super(frameSize);
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
protected static class QueryDataBuf extends DataByteBuf{
|
|
|
|
|
|
|
|
|
|
/**
|
|
|
|
|
* 数据查询帧
|
|
|
|
|
*/
|
|
|
|
|
protected static class QueryDataBuf extends DataByteBuf {
|
|
|
|
|
public QueryDataBuf(int frameSize) {
|
|
|
|
|
super(frameSize);
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
protected static class RouteDataBuf extends DataByteBuf{
|
|
|
|
|
|
|
|
|
|
/**
|
|
|
|
|
* 航线数据帧
|
|
|
|
|
*/
|
|
|
|
|
protected static class RouteDataBuf extends DataByteBuf {
|
|
|
|
|
public RouteDataBuf(int frameSize) {
|
|
|
|
|
super(frameSize);
|
|
|
|
|
}
|
|
|
|
|
|
shiyi
1 month ago