[v0.0.1] 下发指令、常发帧控制

src/main/java/com/platform/cac/CacHpApi.java

@@ -203,10 +203,12 @@ public class CacHpApi {
         return null;
     }
 
-    public static DirectControlUavParam queryCacDirectControlUav(String body) {
+    public static DirectControlUavParam queryCacDirectControlUav(String haborSn) {
         final String gcsSignApi = HTFP_PATH + "/queryCacDirectControlUav";
+        Map<String, String> body = new HashMap<>();
+        body.put("haborSn", haborSn);
         try {
-            Result result = postRequestAndGetResult(gcsSignApi, body);
+            Result result = postRequestAndGetResult(gcsSignApi, JSONUtils.obj2json(body));
             if (result == null || !result.isSuccess()){
                 log.error("查询单个无人机映射关系失败，body={}, result={}", body, result);
                 return null;

src/main/java/com/platform/cac/GcsService.java

@@ -14,7 +14,6 @@ import org.apache.commons.lang3.StringUtils;
 import org.springframework.stereotype.Component;
 
 import javax.annotation.Resource;
-import java.util.concurrent.TimeUnit;
 
 /**
  * @Author : shiyi
@@ -96,7 +95,8 @@ public class GcsService {
         if (GlobalData.GCS_SIGNIN) {
             return true;
         } else {
-            log.warn("地面站未上线！");
+            log.warn("地面站未上线！正在重新上线...");
+            gcsSignInRequest(); // 自动上线
             return false;
         }
     }
@@ -143,7 +143,7 @@ public class GcsService {
             tcpGcsAuthCacRequest.setReadableDataBytes(null);
 
             if (CacClient.channelIsActive()) {
-                sendFuture = CacClient.sendMsgToCac(tcpGcsAuthCacRequest).sync();
+                sendFuture = CacClient.write(tcpGcsAuthCacRequest).sync();
                 if (sendFuture.isSuccess()){
                     log.info("[tcpAuth] 认证请求已成功发送发送，认证码：{}", GlobalData.AUTHORIZATION);
                     return true;

src/main/java/com/platform/cac/RemoteService.java

@@ -53,7 +53,7 @@ public class RemoteService {
             bufToRemote.writeInt(0);
             bufToRemote.writeByte(0x00);
             // cacClient.channel.writeAndFlush(bufToRemote);
-            CacClient.sendMsgToCac(bufToRemote);
+            CacClient.write(bufToRemote);
             return true;
         } catch (Exception e) {
             log.error("运管报文回复失败", e);
@@ -65,12 +65,13 @@ public class RemoteService {
      * 根据哈勃序列号，查询映射关系，并更新缓存映射关系
      * @return haborSn
      */
-    public void queryCacDirectControlUavInfo(String haborSn) {
+    public DirectControlUavParam queryCacDirectControlUavInfo(String haborSn) {
         DirectControlUavParam info = CacHpApi.queryCacDirectControlUav(haborSn);
         if (info == null) {
-            return;
+            return null;
         }
         UavIdMap.addMap(UavTypeEnum.getByRemoteCode(info.getUavType()), Integer.parseInt(info.getFlightControlSn()), info.getUavId());
+        return info;
     }
 
     /**
@@ -82,9 +83,7 @@ public class RemoteService {
         log.debug("查询全量无人机映射关系，request body: {}", body);
         try {
             List<DirectControlUavParam> directControlUavParamList= CacHpApi.queryAllCacDirectControlUavList(body.toString());
-            if (CollectionUtils.isEmpty(directControlUavParamList)) {
+            if (!CollectionUtils.isEmpty(directControlUavParamList)) {
-                log.error("查询全量无人机映射关系失败");
-            } else {
                 UavIdMap.clear();
                 HaborUavMap.clear();
                 directControlUavParamList.forEach(mapping -> {

src/main/java/com/platform/cac/tcp/CacClient.java

@@ -107,7 +107,7 @@ public class CacClient {
         });
     }
 
-    public static ChannelFuture sendMsgToCac(Object msg) {
+    public static ChannelFuture write(Object msg) {
         if (channelIsActive()){
             return CacClient.channel.writeAndFlush(msg);
         }

src/main/java/com/platform/cac/tcp/message/handler/CacUavCommandIssuedHandler.java

@@ -4,10 +4,11 @@ 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 com.platform.info.mapping.HaborUavMap;
-import io.netty.buffer.Unpooled;
+import com.platform.service.clientmanage.ClientManager;
+import com.platform.service.clientmanage.HaborClient;
+import com.platform.util.ByteUtils;
 import io.netty.channel.Channel;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Component;
@@ -28,29 +29,25 @@ public class CacUavCommandIssuedHandler implements IRemoteMessageHandler {
     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);
+            String uavId = uavCommand.getUavId();
-            // GcsService.commandUniId = uavCommand.getUavControlUniId();
+            String haborSn = HaborUavMap.getHaborSnByUavId(uavId);
-            // log.debug("commandUniId Info: {}", GcsService.commandUniId);
+            if (haborSn == null){
-            // issuedUavCommandToGcs(uavCommand);
+                log.error("[cac] 中心指控指令下发失败，未找到UavId={}对应的哈勃编号", uavId);
+                return;
+            }
+            byte[] uavCommandCodeId = uavCommand.getUavCommandCodeId();
+            if (uavCommandCodeId.length!=1) {
+                log.error("[cac] 中心指控指令下发失败，指令码长度错误：{}", ByteUtils.bytes2HexString(uavCommandCodeId));
+                return;
+            }
+            String uavControlUniId = uavCommand.getUavControlUniId();
+            log.info("[cac] 中心指控下发指令...{}", uavCommand);
+            HaborClient client = (HaborClient) ClientManager.getClient(haborSn);
+            client.writeControlCommand(uavControlUniId, uavCommandCodeId[0]);
         } else {
-            log.warn("无法下发指令");
+            log.warn("[cac] 当前服务未连接中心指控无法下发指令");
         }
     }
-    /**
-     * 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;

src/main/java/com/platform/cac/tcp/message/handler/CacUavCommandResultHandler.java

@@ -4,10 +4,7 @@ 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;

src/main/java/com/platform/cac/tcp/message/handler/CacUavControlApplyHandler.java

@@ -1,60 +0,0 @@
-package com.platform.cac.tcp.message.handler;
-
-
-import com.platform.cac.tcp.message.dataframe.RemoteTcpBaseDataFrame;
-import com.platform.cac.tcp.message.dataframe.receive.CacUavControlApplyMessage;
-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 10:28
- * @Description : 收到远程的控制权申请请求，并转发给地面站
- */
-@Component @Slf4j
-public class CacUavControlApplyHandler implements IRemoteMessageHandler {
-    // @Resource
-    // GcsService gcsService;
-
-    @Override
-    public void execute(Channel channel, RemoteTcpBaseDataFrame remoteTcpBaseDataFrame) {
-        CacUavControlApplyMessage cacUavControlApplyMessage = new CacUavControlApplyMessage(remoteTcpBaseDataFrame);
-        applyUavControlToGcs(cacUavControlApplyMessage);
-    }
-
-
-    /**
-     * 收到指控传来的控制权申请，并向地面站申请释放控制权。
-     * 地面站的回复: {@link com.htfp.gcsplugin.netty.server.messagehandler.handler.GcsUavControlReply}
-     *
-     * @param cacUavControlApplyMessage
-     */
-    private void applyUavControlToGcs(CacUavControlApplyMessage cacUavControlApplyMessage) {
-        // byte reason = (byte) Integer.parseInt(cacUavControlApplyMessage.getUavControlApplyReason());
-        // String uavId = cacUavControlApplyMessage.getUavId();
-        // int fkUavId = UavIdMap.getFkId(uavId);
-        // byte applyGcsId = (byte) Integer.parseInt(cacUavControlApplyMessage.getApplyGcsId());
-        // String applyId = cacUavControlApplyMessage.getUavControlApplyId();
-        // GcsService.applyIdToProcess.push(applyGcsId +"-" + uavId, applyId);
-        // log.info("收到来自地面站 {} 的对无人机 {} 控制请求, 请求原因: {}, applyId: {}", applyGcsId, fkUavId, reason, applyId);
-        // log.debug("applyId info: {}", GcsService.applyIdToProcess.toString());
-        //
-        // // 回复地面站
-        // ByteBuf bufToGcs = Unpooled.buffer();
-        // bufToGcs.writeByte(applyGcsId);
-        // bufToGcs.writeByte((byte) fkUavId);
-        // bufToGcs.writeByte(reason);
-        // gcsService.sendToGcs(GcsFrameEnum.CONTROL_FREE.getCode(), bufToGcs);
-    }
-    @Override
-    public RemoteFrameEnum getFrameType() {
-        return RemoteFrameEnum.UAV_CONTROL_APPLY;
-    }
-}

src/main/java/com/platform/cac/tcp/message/handler/GcsAuthResponseHandler.java

@@ -1,7 +1,6 @@
 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;
@@ -24,8 +23,6 @@ public class GcsAuthResponseHandler implements IRemoteMessageHandler {
 
     @Resource
     RemoteService remoteService;
-    @Resource
-    GcsService gcsService;
     @Override
     public void execute(Channel channel, RemoteTcpBaseDataFrame remoteTcpBaseDataFrame) {
         TcpRemoteAuthorization authResponse = new TcpRemoteAuthorization(remoteTcpBaseDataFrame);

src/main/java/com/platform/info/mapping/HaborUavMap.java

@@ -30,10 +30,10 @@ public class HaborUavMap {
         return "haboroSn→uavId: " + habor2uavId;
     }
 
-    public static String getHaborSnByUavId(@NotNull String uavId){
+    public static String getHaborSnByUavId(@NotNull String uavId) throws NullPointerException{
         return uavId2habor.get(uavId);
     }
-    public static String getUavIdByHaborSn(@NotNull String haborSn){
+    public static String getUavIdByHaborSn(@NotNull String haborSn) throws NullPointerException{
         return habor2uavId.get(haborSn);
     }
 

src/main/java/com/platform/info/mapping/UavIdMap.java

@@ -16,7 +16,8 @@ import java.util.concurrent.ConcurrentHashMap;
 
 public class UavIdMap {
     // 所有型号，uavId到fkId的映射
-    private static final ConcurrentHashMap<String, Integer> globalMapId = new ConcurrentHashMap<>();
+    private static final ConcurrentHashMap<String, Integer> globalMapId = new ConcurrentHashMap<>(); // uavId -> fkId
+    private static final ConcurrentHashMap<String, UavTypeEnum> uavIdType = new ConcurrentHashMap<>(); // uavId -> uavType
 
     // 各个型号，fkId到uavId的映射
     private static final ConcurrentHashMap<Integer, String> uavMapId981A = new ConcurrentHashMap<>();
@@ -48,6 +49,7 @@ public class UavIdMap {
         globalMapId.put(uavId, fkId);
         if (uavType != null && uavTypeMapId.containsKey(uavType)) {
             uavTypeMapId.get(uavType).put(fkId, uavId);
+            uavIdType.put(uavId, uavType);
         }
     }
 
@@ -109,5 +111,11 @@ public class UavIdMap {
     }
     public static void clear() {
         uavTypeMapId.forEach((uavType, uavIdMap) -> uavIdMap.clear());
+        uavIdType.clear();
+
+    }
+
+    public static UavTypeEnum getUavType(String uavId) {
+        return uavIdType.get(uavId);
     }
 }

src/main/java/com/platform/service/CacDataRouterHandler.java

@@ -25,7 +25,9 @@ public class CacDataRouterHandler extends SimpleChannelInboundHandler<ByteBuf> {
         if (client == null || client.getClientType() != ClientTypeEnum.HABOR) {
             return;
         }
+
         HaborClient haborClient = (HaborClient) client;
+        haborClient.process(msg);
         haborClient.sendToCac(msg);
 
         log.info("数据({}bytes): {}", msg.readableBytes(), ByteBufUtil.hexDump(msg));

src/main/java/com/platform/service/InMessageHandler.java

@@ -3,7 +3,10 @@ package com.platform.service;
 
 import com.platform.cac.RemoteService;
 import com.platform.config.ServiceConfig;
+import com.platform.info.enums.UavTypeEnum;
 import com.platform.info.mapping.HaborUavMap;
+import com.platform.info.mapping.UavIdMap;
+import com.platform.model.DirectControlUavParam;
 import com.platform.service.clientmanage.BaseClient;
 import com.platform.service.clientmanage.ClientManager;
 import com.platform.service.clientmanage.HaborClient;
@@ -251,20 +254,27 @@ public class InMessageHandler extends ChannelInboundHandlerAdapter {
 
     /**接入中心指控系统, 上线*/
     private void haborSignIntoCac(String haborSn, Channel channel) {
-        if (!HaborUavMap.haborIsControllable(haborSn)) {
+        UavTypeEnum uavType = UavTypeEnum.FP981A;
-            remoteService.queryCacDirectControlUavInfo(haborSn); // 缓存没查到就向中心指控查一遍，查不到就直接退出
+        UavIdMap.addMap(uavType, 1, "1");
-            if (!HaborUavMap.haborIsControllable(haborSn)) {
+        HaborUavMap.addMap("1", "23293F");
-                log.info("[cac] 中心指控没有哈勃终端-{}的信息，跳过上线", haborSn);
+        // if (!HaborUavMap.haborIsControllable(haborSn)) {
-                return;
+        //     DirectControlUavParam info = remoteService.queryCacDirectControlUavInfo(haborSn);// 缓存没查到就向中心指控查一遍，查不到就直接退出
-            }
+        //     if (info == null) {
-        }
+        //         log.info("[cac] 未查询到哈勃终端-{}的信息，跳过上线", haborSn);
-        if (ClientManager.getClient(channel) != null) {
+        //         return;
-            return;
+        //     }
-        }
+        // }
+        // if (ClientManager.getClient(channel) != null) {
+        //     // TODO 2025/1/17: 重复上线的如何处理
+        //     return;
+        // }
         // 新建哈勃客户端并加入管理
-        ClientManager.addAndOnline(new HaborClient(haborSn, channel));
-        // channel.pipeline().addAfter(); // 上线后添加相关处理器
 
+        HaborClient client = HaborClient.createClient(uavType, haborSn, channel);
+        if (client != null){
+            ClientManager.addAndOnline(client);
+            // channel.pipeline().addAfter(); // 上线后添加相关处理器
+        }
     }
     /**哈勃下线*/
     private void haborSignOutOfCac(Channel channel) {

src/main/java/com/platform/service/clientmanage/ClientManager.java

@@ -7,6 +7,7 @@ import io.netty.channel.ChannelFuture;
 import io.netty.util.AttributeKey;
 import lombok.extern.slf4j.Slf4j;
 
+import javax.validation.constraints.NotNull;
 import java.util.ArrayList;
 import java.util.Map;
 import java.util.concurrent.ConcurrentHashMap;
@@ -83,7 +84,7 @@ public class ClientManager{
     /**
      * 根据编号获取一个客户端对象, 编号不可为null
      */
-    public static BaseClient getClient(String clientSn) throws NullPointerException{
+    public static BaseClient getClient(@NotNull String clientSn) throws NullPointerException{
         return CLIENT_MAP.get(clientSn);
     }
 

src/main/java/com/platform/service/clientmanage/HaborClient.java

@@ -1,16 +1,28 @@
 package com.platform.service.clientmanage;
 
 
+import com.google.common.primitives.Bytes;
 import com.platform.cac.CacHpApi;
+import com.platform.cac.tcp.CacClient;
+import com.platform.info.GlobalData;
 import com.platform.info.enums.ClientTypeEnum;
 import com.platform.info.enums.UavTypeEnum;
-import com.platform.model.DirectControlUavParam;
+import com.platform.util.AtomicByte;
+import com.platform.util.CRCUtil;
+import com.platform.util.JSONUtils;
 import io.netty.buffer.ByteBuf;
+import io.netty.buffer.PooledByteBufAllocator;
+import io.netty.buffer.Unpooled;
 import io.netty.channel.Channel;
+import io.netty.util.concurrent.ScheduledFuture;
 import lombok.Getter;
 import lombok.extern.slf4j.Slf4j;
 
-import javax.annotation.PostConstruct;
+import java.io.IOException;
+import java.util.HashMap;
+import java.util.Map;
+import java.util.concurrent.TimeUnit;
+import java.util.concurrent.atomic.AtomicBoolean;
 
 /**
  * @Author : shiyi
@@ -20,9 +32,25 @@ import javax.annotation.PostConstruct;
 @Slf4j @Getter
 public class HaborClient extends BaseClient {
     // static HashSet<String> fkSnSet = new HashSet<>();
-    private UavTypeEnum uavType;
+    protected UavTypeEnum uavType;
-    private byte fkId;
+    protected byte fkId;
-    private String uavId;
+    protected String uavId;
+
+    // 数据交换控制
+    protected final AtomicBoolean needToSendCommonData = new AtomicBoolean(false); // 是否发送常发帧
+    protected int commonDataFreq = 1; // 默认发送频率, 每秒发送帧数, 以各型号子类为准
+    protected ScheduledFuture scheduledFuture;
+
+
+    // 数据帧内容
+    protected AtomicByte frameIdx = new AtomicByte(); // 包序号
+    protected ByteBuf commonDataBuf; // 常发数据帧, 复用
+    protected ByteBuf controlDataBuf; // 开关指令数据帧， 复用
+    protected static final int FRAME_SIZE = 32;
+    protected static final byte[] HEAD = new byte[]{(byte) 0xeb, (byte) 0x90};
+
+
+
 
     public HaborClient(String sn, Channel channel) {
         super(sn, channel);
@@ -30,40 +58,131 @@ public class HaborClient extends BaseClient{
         channel.attr(ClientManager.CLIENT_ATTRIBUTE_KEY).setIfAbsent(this);
     }
 
+    public static HaborClient createClient(UavTypeEnum uavType, String haborSn, Channel channel) {
+        switch (uavType) {
+            case FP981A:
+                return new HaborClient981A(haborSn, channel);
+            default:
+                break;
+        }
+        return null;
+    }
+
+
     @Override
     public boolean online() {
-        return CacHpApi.uavMasterControlNotify(uavId);
+        boolean online = CacHpApi.uavMasterControlNotify(uavId);
+        if (online) {
+            afterOnline();
+        }
+        return online;
     }
 
     @Override
     public boolean offline() {
+        beforeOffline();
         return CacHpApi.uavPowerOff(uavId);
     }
-    // @Override
-    // public ChannelFuture sendMessage(byte frameType, byte[] data) {
-    //     return channel.writeAndFlush(Unpooled.wrappedBuffer(data));
-    // }
 
     @Override
     public ClientTypeEnum getClientType() {
         return ClientTypeEnum.HABOR;
     }
 
+    /**被管理时初始化*/
+    protected void afterOnline() {
+        commonDataBuf = PooledByteBufAllocator.DEFAULT.buffer(FRAME_SIZE); // 常发数据帧
+        controlDataBuf = PooledByteBufAllocator.DEFAULT.buffer(FRAME_SIZE); // 常发数据帧
+    }
+
+    /**被移除管理时*/
+    protected void beforeOffline() {
+        try {
+            if (commonDataBuf.refCnt() > 0) {
+                commonDataBuf.release(commonDataBuf.refCnt());
+            }
+            if (controlDataBuf.refCnt() > 0) {
+                controlDataBuf.release(controlDataBuf.refCnt());
+            }
+        } catch (Exception e) {
+            log.info("[cac-haborClient] {}-释放资源失败", sn, e);
+        }
+    }
+
+    public void process(ByteBuf msg) {
+        // TODO: 2024/9/18: 处理飞控数据
+    }
+    /**发送常发帧*/
+    protected void writeCommonData() {}
+
+
+    /**向飞控发送控制指令*/
+    public void writeControlCommand(String uavControlUniId, byte controlCommand) {}
+
+    // 启动定时任务常发数据帧
+    protected void startSendCommonData() {
+        int period = 1000 / commonDataFreq; // 每帧间隔ms
+        scheduledFuture = channel.eventLoop().scheduleAtFixedRate(
+                this::writeCommonData, 0, period, TimeUnit.MILLISECONDS);
+        // 检查任务是否成功启动
+        if (scheduledFuture != null && !scheduledFuture.isCancelled()) {
+            log.info("[cac] 开始向哈勃终端({})发送常发帧", sn);
+            needToSendCommonData.compareAndSet(false, true);
+        } else {
+            log.info("[cac] 哈勃终端({})发送常发帧启动失败", sn);
+        }
+    }
+
+    // 停止定时任务常发数据帧
+    protected void stopSendCommonData() {
+        if (scheduledFuture != null && !scheduledFuture.isCancelled()) {
+            scheduledFuture.cancel(true);  // 取消任务并尝试中断
+            needToSendCommonData.compareAndSet(true, false);
+            log.info("[cac] 停止向哈勃终端({})发送常发帧", sn);
+        }
+    }
+
+    protected boolean isNeedToSendCommonData() {
+        return needToSendCommonData.get();
+    }
+
+    /**暂停发送常发帧*/
+    protected void pauseSendCommonData() {
+        needToSendCommonData.set(false);
+        log.info("[cac] 暂停向哈勃终端({})发送常发帧", sn);
+    }
+
+    /**恢复发送常发帧*/
+    protected void resumeSendCommonData() {
+        needToSendCommonData.set(true);
+        log.info("[cac] 恢复向哈勃终端({})发送常发帧", sn);
+    }
+
 
     /**
      * 发送飞控数据到中心指控
+     *
      * @param srcBuf 原始ByteBuf
      */
     public void sendToCac(ByteBuf srcBuf) {
-
+        CacClient.write(srcBuf);
     }
 
+    public void write(ByteBuf buf) {
+
+    }
     private void buildFrameToCac(ByteBuf srcBuf, ByteBuf dstBuf) {
         // TODO: 2024/9/18: 构建飞控数据帧到中心指控
     }
 
-    private void queryCacDirectControlUavInfo() {
+    /**给数据添加CRC16校验*/
-        DirectControlUavParam directControlUavParam = CacHpApi.queryCacDirectControlUav(sn);
+    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);
+        dataBuf.writeBytes(CRCUtil.getCRCfromGcsTelemetryData(slice, 0, 28));
     }
+
+
 }
+
+

src/main/java/com/platform/service/clientmanage/HaborClient981A.java

@@ -0,0 +1,140 @@
+package com.platform.service.clientmanage;
+
+
+import com.platform.info.enums.UavTypeEnum;
+import com.platform.util.ByteUtils;
+import io.netty.buffer.ByteBuf;
+import io.netty.buffer.ByteBufUtil;
+import io.netty.channel.Channel;
+import lombok.Getter;
+import lombok.extern.slf4j.Slf4j;
+
+/**
+ * @Author : shiyi
+ * @Date : 2024/9/18 10:38
+ * @Description : 飞控客户端-981A
+ */
+@Slf4j @Getter
+public class HaborClient981A extends HaborClient {
+
+    private static final byte[] UPPER_DATA_3_4 = new byte[]{0x02, 0x01};
+    /**常发数据内容*/
+    private static final byte C0 = 0x00; // 常发数据自定义特征字
+    private static final byte[] COMMON_DATA_7_30 = new byte[]{
+            0x00, 0x00, 0x00, // 飞行开关指令7~9, 初始化或无指令3个0x00
+            0x00, 0x00, 0x00, 0x00, // 飞行连续指令，中心指控不管，10~13
+            0x21, C0, C0, C0, C0, // 14~29
+            C0, C0, C0, C0, C0,
+            C0, C0, C0, C0, C0, C0,
+            0x00 // 30
+    };
+    /**控制帧数据内容*/
+    private static final byte C1 = 0x01; // 常发数据自定义特征字
+    private static final byte[] CONTROL_DATA_7_30 = new byte[]{
+            0x00, 0x00, 0x00, // 飞行开关指令7~9, 初始化或无指令3个0x00
+            0x00, 0x00, 0x00, 0x00, // 飞行连续指令，中心指控不管，10~13
+            0x21, C1, C1, C1, C1, // 14~29
+            C1, C1, C1, C1, C1,
+            C1, C1, C1, C1, C1, C1,
+            0x00 // 30
+    };
+    /**控制指令帧*/
+
+    public HaborClient981A(String sn, Channel channel) {
+        super(sn, channel);
+        uavType = UavTypeEnum.FP981A;
+        // uavId = HaborUavMap.getUavIdByHaborSn(haborSn);
+        // uavType = UavIdMap.getUavType(uavId);
+        uavId = "1";
+        fkId = 2;
+        super.commonDataFreq =  1; // 发送频率, 每秒发送帧数
+    }
+
+    @Override
+    protected void afterOnline() {
+        super.afterOnline();
+        // 常发数据帧初始化
+        commonDataBuf.writeBytes(HaborClient.HEAD);
+        commonDataBuf.writeBytes(UPPER_DATA_3_4);
+        commonDataBuf.writeByte(fkId);
+        commonDataBuf.writeByte(0);
+        commonDataBuf.writeBytes(COMMON_DATA_7_30);
+
+        // 开关指令数据帧初始化
+        controlDataBuf.writeBytes(HaborClient.HEAD);
+        controlDataBuf.writeBytes(UPPER_DATA_3_4);
+        controlDataBuf.writeByte(fkId);
+        controlDataBuf.writeByte(0);
+        controlDataBuf.writeBytes(CONTROL_DATA_7_30);
+    }
+
+    @Override
+    public boolean online() {
+        boolean online = super.online();
+        if (online) {
+            startSendCommonData();
+        }
+        return online;
+    }
+    @Override
+    public boolean offline() {
+        boolean offline = super.offline();
+        if (offline) {
+            stopSendCommonData();
+        }
+        return offline;
+    }
+
+    /**发送常发帧*/
+    @Override
+    protected void writeCommonData() {
+        if (!isNeedToSendCommonData()) {
+            // 如果当前处于暂停状态，则不发送数据
+            return;
+        }
+
+        commonDataBuf.setByte(5, frameIdx.getAndIncrement()); // 帧序号
+        addCRC16(commonDataBuf);
+        channel.writeAndFlush(commonDataBuf.retain());
+        log.debug("{}-{}发送常发帧: {}", sn, uavType, ByteBufUtil.hexDump(commonDataBuf));
+    }
+
+    /**下发控制指令*/
+    @Override
+    public void writeControlCommand(String controlUniId, byte controlCommand) {
+        pauseSendCommonData();
+
+        try {
+            controlDataBuf.setByte(6, controlCommand); // 控制指令
+            controlDataBuf.setByte(7, controlCommand); // 控制指令
+            controlDataBuf.setByte(8, controlCommand); // 控制指令
+            addCRC16(controlDataBuf);
+            for (int i = 0; i < commandNumber(controlCommand); i++) {
+                controlDataBuf.setByte(5, frameIdx.getAndIncrement()); // 帧序号
+                channel.writeAndFlush(controlDataBuf.retain());
+                log.debug("{}-{}发送控制指令帧({}): {}", sn, uavType, ByteUtils.byteToHex(controlCommand), ByteBufUtil.hexDump(controlDataBuf));
+            }
+
+        } catch (Exception e) {
+            log.error("{}-{}发送控制指令帧({})异常: {}", sn, uavType, ByteUtils.byteToHex(controlCommand), e.getMessage());
+        } finally {
+            resumeSendCommonData();
+        }
+
+    }
+
+
+
+    private int commandNumber(byte controlCommand) {
+        switch (controlCommand) {
+            case (byte) 0xA7: // 解锁
+                return 45;
+            case (byte) 0xE2: // 一键上锁
+                return 45;
+            case (byte) 0xE3: // 开伞
+                return 45;
+            default:
+                return 5;
+        }
+    }
+}

src/main/java/com/platform/util/AtomicByte.java

@@ -0,0 +1,41 @@
+package com.platform.util;
+
+import java.util.concurrent.atomic.AtomicInteger;
+
+public class AtomicByte {
+    private final AtomicInteger value;
+
+    // 构造方法初始化为 0
+    public AtomicByte() {
+        value = new AtomicInteger(0);
+    }
+
+    // 获取当前值
+    public byte get() {
+        return (byte) value.get();  // 获取并转换为byte类型返回
+    }
+
+
+    // 获取当前的值并进行自增，达到255后归零
+    public byte getAndIncrement() {
+        while (true) {
+            int current = value.get();  // 获取当前值
+            int next = (current == 255) ? 0 : current + 1;  // 自增至255后归零
+            // 如果当前值等于 current，则更新为 next，并返回旧值
+            if (value.compareAndSet(current, next)) {
+                return (byte) current;  // 返回自增前的值
+            }
+        }
+    }
+
+    public byte incrementAndGet() {
+        while (true) {
+            int current = value.get();
+            int next = (current == 255) ? 0 : current + 1;
+            if (value.compareAndSet(current, next)) {
+                return (byte) next;
+            }
+        }
+    }
+
+}

src/main/java/com/platform/util/CRCUtil.java

@@ -1,5 +1,8 @@
 package com.platform.util;
 
+import io.netty.buffer.ByteBuf;
+import io.netty.buffer.Unpooled;
+
 public class CRCUtil {
     /**
      * 一个字节包含位的数量 8
@@ -57,46 +60,267 @@ public class CRCUtil {
         return b;
     }
 
-    private static final int b0 = 0xAA;
+    private static final int[] MODBUS_TABLE = generateModbusTable();
-    private static final int b1 = 0x44;
+    private static final int[] CRC16_TABLE = {
-    private static final int b2 = 0x51;
+            0x0000, 0x1021, 0x2042, 0x3063, 0x4084, 0x50a5, 0x60c6, 0x70e7,
-    private static final int b3 = 0x15;
+            0x8108, 0x9129, 0xa14a, 0xb16b, 0xc18c, 0xd1ad, 0xe1ce, 0xf1ef,
-    private static final int b4 = 0x00;
+            0x1231, 0x0210, 0x3273, 0x2252, 0x52b5, 0x4294, 0x72f7, 0x62d6,
-    private static final int b5 = 0x31;
+            0x9339, 0x8318, 0xb37b, 0xa35a, 0xd3bd, 0xc39c, 0xf3ff, 0xe3de,
-    private static final int b6 = 0x30;
+            0x2462, 0x3443, 0x0420, 0x1401, 0x64e6, 0x74c7, 0x44a4, 0x5485,
-    private static final int b7 = 0x30;
+            0xa56a, 0xb54b, 0x8528, 0x9509, 0xe5ee, 0xf5cf, 0xc5ac, 0xd58d,
-    private static final int b8 = 0x30;
+            0x3653, 0x2672, 0x1611, 0x0630, 0x76d7, 0x66f6, 0x5695, 0x46b4,
-    private static final int b9 = 0x31;
+            0xb75b, 0xa77a, 0x9719, 0x8738, 0xf7df, 0xe7fe, 0xd79d, 0xc7bc,
-    private static final int b10 = 0x37;
+            0x48c4, 0x58e5, 0x6886, 0x78a7, 0x0840, 0x1861, 0x2802, 0x3823,
-    private static final int b11 = 0x62;
+            0xc9cc, 0xd9ed, 0xe98e, 0xf9af, 0x8948, 0x9969, 0xa90a, 0xb92b,
-    private static final int b12 = 0x64;
+            0x5af5, 0x4ad4, 0x7ab7, 0x6a96, 0x1a71, 0x0a50, 0x3a33, 0x2a12,
-    private static final int b13 = 0x34;
+            0xdbfd, 0xcbdc, 0xfbbf, 0xeb9e, 0x9b79, 0x8b58, 0xbb3b, 0xab1a,
-    private static final int b14 = 0x32;
+            0x6ca6, 0x7c87, 0x4ce4, 0x5cc5, 0x2c22, 0x3c03, 0x0c60, 0x1c41,
-    private static final int b15 = 0x65;
+            0xedae, 0xfd8f, 0xcdec, 0xddcd, 0xad2a, 0xbd0b, 0x8d68, 0x9d49,
-    private static final int b16 = 0x36;
+            0x7e97, 0x6eb6, 0x5ed5, 0x4ef4, 0x3e13, 0x2e32, 0x1e51, 0x0e70,
-    private static final int b17 = 0x32;
+            0xff9f, 0xefbe, 0xdfdd, 0xcffc, 0xbf1b, 0xaf3a, 0x9f59, 0x8f78,
+            0x9188, 0x81a9, 0xb1ca, 0xa1eb, 0xd10c, 0xc12d, 0xf14e, 0xe16f,
+            0x1080, 0x00a1, 0x30c2, 0x20e3, 0x5004, 0x4025, 0x7046, 0x6067,
+            0x83b9, 0x9398, 0xa3fb, 0xb3da, 0xc33d, 0xd31c, 0xe37f, 0xf35e,
+            0x02b1, 0x1290, 0x22f3, 0x32d2, 0x4235, 0x5214, 0x6277, 0x7256,
+            0xb5ea, 0xa5cb, 0x95a8, 0x8589, 0xf56e, 0xe54f, 0xd52c, 0xc50d,
+            0x34e2, 0x24c3, 0x14a0, 0x0481, 0x7466, 0x6447, 0x5424, 0x4405,
+            0xa7db, 0xb7fa, 0x8799, 0x97b8, 0xe75f, 0xf77e, 0xc71d, 0xd73c,
+            0x26d3, 0x36f2, 0x0691, 0x16b0, 0x6657, 0x7676, 0x4615, 0x5634,
+            0xd94c, 0xc96d, 0xf90e, 0xe92f, 0x99c8, 0x89e9, 0xb98a, 0xa9ab,
+            0x5844, 0x4865, 0x7806, 0x6827, 0x18c0, 0x08e1, 0x3882, 0x28a3,
+            0xcb7d, 0xdb5c, 0xeb3f, 0xfb1e, 0x8bf9, 0x9bd8, 0xabbb, 0xbb9a,
+            0x4a75, 0x5a54, 0x6a37, 0x7a16, 0x0af1, 0x1ad0, 0x2ab3, 0x3a92,
+            0xfd2e, 0xed0f, 0xdd6c, 0xcd4d, 0xbdaa, 0xad8b, 0x9de8, 0x8dc9,
+            0x7c26, 0x6c07, 0x5c64, 0x4c45, 0x3ca2, 0x2c83, 0x1ce0, 0x0cc1,
+            0xef1f, 0xff3e, 0xcf5d, 0xdf7c, 0xaf9b, 0xbfba, 0x8fd9, 0x9ff8,
+            0x6e17, 0x7e36, 0x4e55, 0x5e74, 0x2e93, 0x3eb2, 0x0ed1, 0x1ef0
+    };
+
+    private static final int[] CRCLIST= {
+            0x0,0x0,0x89,0x11,0x12,0x23,0x9b,0x32,0x24,0x46,0xad,0x57,0x36,0x65,0xbf,0x74,
+            0x48,0x8c,0xc1,0x9d,0x5a,0xaf,0xd3,0xbe,0x6c,0xca,0xe5,0xdb,0x7e,0xe9,0xf7,0xf8,
+            0x81,0x10,0x8,0x1,0x93,0x33,0x1a,0x22,0xa5,0x56,0x2c,0x47,0xb7,0x75,0x3e,0x64,
+            0xc9,0x9c,0x40,0x8d,0xdb,0xbf,0x52,0xae,0xed,0xda,0x64,0xcb,0xff,0xf9,0x76,0xe8,
+            0x2,0x21,0x8b,0x30,0x10,0x2,0x99,0x13,0x26,0x67,0xaf,0x76,0x34,0x44,0xbd,0x55,
+            0x4a,0xad,0xc3,0xbc,0x58,0x8e,0xd1,0x9f,0x6e,0xeb,0xe7,0xfa,0x7c,0xc8,0xf5,0xd9,
+            0x83,0x31,0xa,0x20,0x91,0x12,0x18,0x3,0xa7,0x77,0x2e,0x66,0xb5,0x54,0x3c,0x45,
+            0xcb,0xbd,0x42,0xac,0xd9,0x9e,0x50,0x8f,0xef,0xfb,0x66,0xea,0xfd,0xd8,0x74,0xc9,
+            0x4,0x42,0x8d,0x53,0x16,0x61,0x9f,0x70,0x20,0x4,0xa9,0x15,0x32,0x27,0xbb,0x36,
+            0x4c,0xce,0xc5,0xdf,0x5e,0xed,0xd7,0xfc,0x68,0x88,0xe1,0x99,0x7a,0xab,0xf3,0xba,
+            0x85,0x52,0xc,0x43,0x97,0x71,0x1e,0x60,0xa1,0x14,0x28,0x5,0xb3,0x37,0x3a,0x26,
+            0xcd,0xde,0x44,0xcf,0xdf,0xfd,0x56,0xec,0xe9,0x98,0x60,0x89,0xfb,0xbb,0x72,0xaa,
+            0x6,0x63,0x8f,0x72,0x14,0x40,0x9d,0x51,0x22,0x25,0xab,0x34,0x30,0x6,0xb9,0x17,
+            0x4e,0xef,0xc7,0xfe,0x5c,0xcc,0xd5,0xdd,0x6a,0xa9,0xe3,0xb8,0x78,0x8a,0xf1,0x9b,
+            0x87,0x73,0xe,0x62,0x95,0x50,0x1c,0x41,0xa3,0x35,0x2a,0x24,0xb1,0x16,0x38,0x7,
+            0xcf,0xff,0x46,0xee,0xdd,0xdc,0x54,0xcd,0xeb,0xb9,0x62,0xa8,0xf9,0x9a,0x70,0x8b,
+            0x8,0x84,0x81,0x95,0x1a,0xa7,0x93,0xb6,0x2c,0xc2,0xa5,0xd3,0x3e,0xe1,0xb7,0xf0,
+            0x40,0x8,0xc9,0x19,0x52,0x2b,0xdb,0x3a,0x64,0x4e,0xed,0x5f,0x76,0x6d,0xff,0x7c,
+            0x89,0x94,0x0,0x85,0x9b,0xb7,0x12,0xa6,0xad,0xd2,0x24,0xc3,0xbf,0xf1,0x36,0xe0,
+            0xc1,0x18,0x48,0x9,0xd3,0x3b,0x5a,0x2a,0xe5,0x5e,0x6c,0x4f,0xf7,0x7d,0x7e,0x6c,
+            0xa,0xa5,0x83,0xb4,0x18,0x86,0x91,0x97,0x2e,0xe3,0xa7,0xf2,0x3c,0xc0,0xb5,0xd1,
+            0x42,0x29,0xcb,0x38,0x50,0xa,0xd9,0x1b,0x66,0x6f,0xef,0x7e,0x74,0x4c,0xfd,0x5d,
+            0x8b,0xb5,0x2,0xa4,0x99,0x96,0x10,0x87,0xaf,0xf3,0x26,0xe2,0xbd,0xd0,0x34,0xc1,
+            0xc3,0x39,0x4a,0x28,0xd1,0x1a,0x58,0xb,0xe7,0x7f,0x6e,0x6e,0xf5,0x5c,0x7c,0x4d,
+            0xc,0xc6,0x85,0xd7,0x1e,0xe5,0x97,0xf4,0x28,0x80,0xa1,0x91,0x3a,0xa3,0xb3,0xb2,
+            0x44,0x4a,0xcd,0x5b,0x56,0x69,0xdf,0x78,0x60,0xc,0xe9,0x1d,0x72,0x2f,0xfb,0x3e,
+            0x8d,0xd6,0x4,0xc7,0x9f,0xf5,0x16,0xe4,0xa9,0x90,0x20,0x81,0xbb,0xb3,0x32,0xa2,
+            0xc5,0x5a,0x4c,0x4b,0xd7,0x79,0x5e,0x68,0xe1,0x1c,0x68,0xd,0xf3,0x3f,0x7a,0x2e,
+            0xe,0xe7,0x87,0xf6,0x1c,0xc4,0x95,0xd5,0x2a,0xa1,0xa3,0xb0,0x38,0x82,0xb1,0x93,
+            0x46,0x6b,0xcf,0x7a,0x54,0x48,0xdd,0x59,0x62,0x2d,0xeb,0x3c,0x70,0xe,0xf9,0x1f,
+            0x8f,0xf7,0x6,0xe6,0x9d,0xd4,0x14,0xc5,0xab,0xb1,0x22,0xa0,0xb9,0x92,0x30,0x83,
+            0xc7,0x7b,0x4e,0x6a,0xd5,0x58,0x5c,0x49,0xe3,0x3d,0x6a,0x2c,0xf1,0x1e,0x78,0xf
+    };
+    /** <a href="http://www.ip33.com/crc.html">CRC校验在线</a>
+     * CRC-16 (CCITT) 查表获取
+     * polynomial = 0x1021
+     * 输入输出均不反转
+     * 初始值为0xffff
+     */
+    private static short getCRC16(byte[] bytes, int initialCrc, int xorValue) {
+        // 初始化 CRC16 余数为 0xffff
+        int crc = initialCrc;
+        // 遍历每个字节
+        for (byte b : bytes) {
+            // 将字节转换为无符号整数
+            int bint = b & 0xFF;
+            // 从查表中取出对应的余数，并与当前的 CRC16 余数进行异或运算
+            crc = (crc << 8) ^ CRC16_TABLE[(crc >>> 8) ^ bint];
+            // 将 CRC16 余数限制在 16 位范围内
+            crc = crc & 0xFFFF;
+        }
+        // 将最终的 CRC16 余数与结果异或值进行异或运算
+        crc = crc ^ xorValue;
+        return (short) crc;
+    }
+
+    public static byte[] getCRC16CCITTFalse(byte[] bytes){
+        // 初始化 CRC16 余数为 0xffff
+        short crc16 = getCRC16(bytes, 0xffff, 0x0000);
+        return ByteUtils.shortToLittleEndianByteArray(crc16);
+    }
+    public static byte[] getCRCXMODEM(byte[] bytes){
+        // 初始化 CRC16 余数为 0xffff
+        short crc16 = getCRC16(bytes, 0x0000, 0x0000);
+        return ByteUtils.shortToLittleEndianByteArray(crc16);
+    }
+    /**
+     * 和地面站的校验一致，参考{@link ByteUtils#getCRC(int[])}
+     * @param bytes
+     * @return
+     */
+    public static byte[] getCRC16WithGcs(byte[] bytes) {
+        return getCRCXMODEM(bytes);
+    }
+
+    /**
+     * 获取验证码byte数组，基于Modbus CRC16的校验算法
+     */
+    public static byte[] getModbusCRC16(byte[] bytes) {
+        // modbus的多项式为0x8005, 但是输入输出均需要反转，等价使用0xa001多项式 （0X8005和0XA001高低位互反）
+        final int polynomial =0xA001;
+        // 预置16 位CRC寄存器寄存器为十六进制0xFFFF
+        int crc = 0xFFFF;
+        for (byte b : bytes) {
+            // 把第一个 8 位二进制数据 与 16 位的 CRC寄存器的低 8 位相异或, 把结果放于 CRC寄存器
+            crc = ((crc & 0xFF00) | (crc & 0x00FF) ^ (b & 0xFF));
+            for (int j = 0; j < Byte.SIZE; j++) {
+                // 把 CRC 寄存器的内容右移一位( 朝低位)用 0 填补最高位, 并检查右移后的移出位
+                if ((crc & 0x0001) > 0) {
+                    // 如果移出位为 1, CRC寄存器与多项式A001进行异或
+                    crc = crc >> 1;
+                    crc = crc ^ polynomial;
+                } else {
+                    // 如果移出位为 0,再次右移一位
+                    crc = crc >> 1;
+                }
+            }
+        }
+        // 返回 CRC16 校验码, 大端序，高位在前低位在后
+        return ByteUtils.shortToBigEndianByteArray((short) crc);
+    }
+
+    public static byte[] getModbusCRC16ByteTable(byte[] data) {
+        // 初始化 CRC16 余数为 0xFFFF
+        int crc = 0xFFFF;
+        // 遍历每个字节
+        for (byte b : data) {
+            // 将字节转换为无符号整数
+            int bint = b & 0xFF;
+            // 从查表中取出对应的余数，并与当前的 CRC16 余数进行异或运算
+            crc = (crc >>> 8) ^ MODBUS_TABLE[(crc & 0xFF) ^ bint];
+        }
+        // 返回 CRC16 校验码, 大端序，高位在前低位在后
+        return ByteUtils.shortToBigEndianByteArray((short) crc);
+    }
+
+    /**生成 MODBUS CRC16 表
+     */
+    private static int[] generateModbusTable() {
+        int[] modbusTable = new int[256];
+        // 遍历每个可能的 8 位数据
+        for (int i = 0; i < 256; i++) {
+            int remainder = i;
+            for (int bit = 0; bit < 8; bit++) {
+                // 如果最低位为 1，那么余数右移一位，并与多项式异或
+                if ((remainder & 1) == 1) {
+                    remainder = (remainder >>> 1) ^  0xA001;
+                } else {
+                    remainder = remainder >>> 1;
+                }
+            }
+            modbusTable[i] = remainder;
+        }
+        return modbusTable;
+    }
+
+
+    public static byte[] getCRCfromGcsTelemetryData(ByteBuf data, int start, int len) {
+        byte[] rtn = new byte[2];
+        short count = 0;
+        int C0 = 0, C1 = 0, Y0 = 0, Y1 = 0, Z0 = 0, Z1 = 0;
+
+        while (count < len) {
+            Y0 = (CRCLIST[2 * (data.getByte(start + count) & 0xFF)] ^ C1) & 0xFF;
+            Y1 = (CRCLIST[2 * (data.getByte(start + count) & 0xFF) + 1]) & 0xFF;
+            Z0 = (CRCLIST[2 * C0] & 0xFF);
+            Z1 = (CRCLIST[2 * C0 + 1] & 0xFF);
+            C0 = ((Y0 ^ Z0) & 0xFF);
+            C1 = ((Y1 ^ Z1) & 0xFF);
+            count++;
+        }
+
+        rtn[1] = (byte) C1;
+        rtn[0] = (byte) C0;
+        return rtn;
+    }
+
+    public static byte[] getCRCfromGcsTelemetryData(byte[] data, int start, int len) {
+        byte[] rtn = new byte[2];
+        short count = 0;
+        int C0 = 0, C1 = 0, Y0 = 0, Y1 = 0, Z0 = 0, Z1 = 0;
+
+        while (count < len) {
+            Y0 = (CRCLIST[2 * (data[start + count] & 0xFF)] ^ C1) & 0xFF;
+            Y1 = (CRCLIST[2 * (data[start + count] & 0xFF) + 1]) & 0xFF;
+            Z0 = (CRCLIST[2 * C0] & 0xFF);
+            Z1 = (CRCLIST[2 * C0 + 1] & 0xFF);
+            C0 = ((Y0 ^ Z0) & 0xFF);
+            C1 = ((Y1 ^ Z1) & 0xFF);
+            count++;
+        }
+
+        rtn[1] = (byte) C1;
+        rtn[0] = (byte) C0;
+        return rtn;
+    }
+    //
+    // private static final int b0 = 0xAA;
+    // private static final int b1 = 0x44;
+    // private static final int b2 = 0x51;
+    // private static final int b3 = 0x15;
+    // private static final int b4 = 0x00;
+    // private static final int b5 = 0x31;
+    // private static final int b6 = 0x30;
+    // private static final int b7 = 0x30;
+    // private static final int b8 = 0x30;
+    // private static final int b9 = 0x31;
+    // private static final int b10 = 0x37;
+    // private static final int b11 = 0x62;
+    // private static final int b12 = 0x64;
+    // private static final int b13 = 0x34;
+    // private static final int b14 = 0x32;
+    // private static final int b15 = 0x65;
+    // private static final int b16 = 0x36;
+    // private static final int b17 = 0x32;
+    // public static void main(String[] args) {
+    //     byte[] ack = new byte[18];
+    //     ack[0] = (byte)b0;
+    //     ack[1] = (byte)b1;
+    //     ack[2] = (byte)b2;
+    //     ack[3] = (byte)b3;
+    //     ack[4] = (byte)b4;
+    //     ack[5] = (byte)b5;
+    //     ack[6] = (byte)b6;
+    //     ack[7] = (byte)b7;
+    //     ack[8] = (byte)b8;
+    //     ack[9] = (byte)b9;
+    //     ack[10] = (byte)b10;
+    //     ack[11] = (byte)b11;
+    //     ack[12] = (byte)b12;
+    //     ack[13] = (byte)b13;
+    //     ack[14] = (byte)b14;
+    //     ack[15] = (byte)b15;
+    //     ack[16] = (byte)b16;
+    //     ack[17] = (byte)b17;
+    //     byte[] b = crc16(ack, 2, 16);
+    //     StringUtil tool = new StringUtil();
+    //     System.out.println(tool.bytesToHexString(b));
+    // }
     public static void main(String[] args) {
-        byte[] ack = new byte[18];
+        // EB 90 02 01 02 5C 00 00 00 00 00 00 80 21 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 43 BA
-        ack[0] = (byte)b0;
+        byte[] data = {(byte) 0xEB, (byte) 0x90, (byte) 0x02, (byte) 0x01, (byte) 0x02, (byte) 0x5C, (byte) 0x00, (byte) 0x00, (byte) 0x00, (byte) 0x00, (byte) 0x00, (byte) 0x00, (byte) 0x80, (byte) 0x21, (byte) 0x00, (byte) 0x00, (byte) 0x00, (byte) 0x00, (byte) 0x00, (byte) 0x00, (byte) 0x00, (byte) 0x00, (byte) 0x00, (byte) 0x00, (byte) 0x00, (byte) 0x00, (byte) 0x00, (byte) 0x00, (byte) 0x00, (byte) 0x00};
-        ack[1] = (byte)b1;
+        ByteBuf buf = Unpooled.wrappedBuffer(data);
-        ack[2] = (byte)b2;
+        System.out.println("getCRC16WithGcs : " +  ByteUtils.bytes2HexString(getCRCfromGcsTelemetryData(data, 2, 28)));
-        ack[3] = (byte)b3;
+        System.out.println("getCRC16WithGcs : " +  ByteUtils.bytes2HexString(getCRCfromGcsTelemetryData(buf.slice(2, 28), 0,28)));
-        ack[4] = (byte)b4;
-        ack[5] = (byte)b5;
-        ack[6] = (byte)b6;
-        ack[7] = (byte)b7;
-        ack[8] = (byte)b8;
-        ack[9] = (byte)b9;
-        ack[10] = (byte)b10;
-        ack[11] = (byte)b11;
-        ack[12] = (byte)b12;
-        ack[13] = (byte)b13;
-        ack[14] = (byte)b14;
-        ack[15] = (byte)b15;
-        ack[16] = (byte)b16;
-        ack[17] = (byte)b17;
-        byte[] b = crc16(ack, 2, 16);
-        StringUtil tool = new StringUtil();
-        System.out.println(tool.bytesToHexString(b));
     }
 }

src/main/resources/application-dev.yml

@@ -2,9 +2,6 @@ server:
   port: 11727
 service:
   port: 11728
-app:
-  debug: false
-
 
 
 # 中心指控系统 tcp udp 配置
@@ -26,7 +23,7 @@ cac_gcs:
 
 logging:
   level:
-    com.com.platform: debug
+    com.platform: debug
 management:
   endpoints:
     web:

src/main/resources/application.yml

@@ -1,3 +1,6 @@
 spring:
   profiles:
     active: dev
+
+app:
+  debug: true

src/main/resources/logback.xml

@@ -0,0 +1,47 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<configuration debug="false">
+    <!-- 控制台日志输出-->
+    <appender name="console" class="ch.qos.logback.core.ConsoleAppender">
+        <encoder>
+            <pattern>%highlight(%-5level) %d{HH:mm:ss.SSS} %magenta([%thread]) %cyan(%logger{36}) - %msg%n</pattern>
+            <!-- <pattern>${log.pattern}</pattern> -->
+        </encoder>
+        <filter class="ch.qos.logback.classic.filter.ThresholdFilter">
+            <level>debug</level>
+        </filter>
+    </appender>
+    
+    <!-- 按照每天生成日志文件 -->
+    <appender name="FILE" class="ch.qos.logback.core.rolling.RollingFileAppender">
+        <rollingPolicy class="ch.qos.logback.core.rolling.SizeAndTimeBasedRollingPolicy">
+            <!--日志文件输出的目录及文件名-->
+            <FileNamePattern>./log/%d{yyyy-MM-dd}.%i.log</FileNamePattern>
+            <!--日志文件保留天数-->
+            <MaxHistory>30</MaxHistory>
+            <MaxFileSize>10MB</MaxFileSize>
+        </rollingPolicy>
+        <encoder class="ch.qos.logback.classic.encoder.PatternLayoutEncoder">
+            <!--格式化输出：%d表示日期，%thread表示线程名，%-5level：级别从左显示5个字符宽度%msg：日志消息，%n是换行符-->
+            <pattern>%highlight(%-5level) %d{HH:mm:ss.SSS} %magenta([%thread]) %cyan(%logger{36}) - %msg%n</pattern>
+            <pattern>%-5level %d{yyyy-MM-dd HH:mm:ss.SSS} [%thread]  %logger{50} - %msg%n</pattern>
+            <charset>UTF-8</charset>
+        </encoder>
+    </appender>
+    
+    <root level="info">
+        <appender-ref ref="console"/>
+        <appender-ref ref="FILE"/>
+    </root>
+    <!-- 定义某个包的日志级别 -->
+    <logger name="com.htfp.gcsplugin" level="debug" additivity="false"> <!-- 添加控制台输出 -->
+        <appender-ref ref="console"/>
+        <appender-ref ref="FILE"/>
+    </logger>
+    <logger name="io.netty.util.ResourceLeakDetector" level="debug" additivity="false"> <!-- 添加控制台输出 -->
+        <appender-ref ref="console"/>
+        <appender-ref ref="FILE"/>
+    </logger>
+    
+</configuration>
+
+