504-Software-Development-Group
/
HaborServer
3
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

[v0.0.2] 1. InMessageHandler1代码方法抽取；2. TelemetryDecoder空buf释放；3. CacUavParamBindHandler和 CacUavParamQueryHandler向飞控传递数据内容错误修复

Browse Source
master
shiyi 1 month ago
parent 1fd2d6196e
commit decf340f97
8 changed files with 138 additions and 114 deletions
Show Stats Download Patch File Download Diff File

2
pom.xml
Unescape Escape View File

@ -10,7 +10,7 @@
</parent>
<groupId>com.platform</groupId>
<artifactId>pass-through</artifactId>
<version>1.0.0</version>
<version>1.0.2</version>
<name>pass-through</name>
<description>Demo project for Spring Boot</description>

2
src/main/java/com/platform/cac/tcp/message/handler/CacUavParamBindHandler.java
Unescape Escape View File

@ -54,7 +54,7 @@ public class CacUavParamBindHandler implements IRemoteMessageHandler {
}
String uavControlUniId = uavCommand.getUavControlUniId();
log.info("[cac] 中心指控下发参数装订指令...{}", uavCommand);
client.writeParamBindCommand(commandCode, commandContent, uavControlUniId);
client.writeParamBindCommand(commandCode, command14_29, uavControlUniId);
} else {
log.warn("[cac] 当前服务未连接中心指控无法下发参数装订指令");
}

2
src/main/java/com/platform/cac/tcp/message/handler/CacUavParamQueryHandler.java
Unescape Escape View File

@ -54,7 +54,7 @@ public class CacUavParamQueryHandler implements IRemoteMessageHandler {
String uavControlUniId = uavCommand.getUavControlUniId();
log.info("[cac] 中心指控下发参数查询指令...{}", uavCommand);
client.writeParamQueryCommand(commandCode, commandContent, uavControlUniId);
client.writeParamQueryCommand(commandCode, command14_29, uavControlUniId);
} else {
log.warn("[cac] 当前服务未连接中心指控无法下发参数查询指令");
}

2
src/main/java/com/platform/service/CacDataRouterHandler.java
Unescape Escape View File

@ -25,7 +25,7 @@ public class CacDataRouterHandler extends SimpleChannelInboundHandler<ByteBuf> {
if (client == null || client.getClientType() != ClientTypeEnum.HABOR) {
return;
}
log.debug("[cac] {} 收到数据({}bytes): {}", ((HaborClient) client).shortInfo(), msg.readableBytes(), ByteBufUtil.hexDump(msg));
// log.debug("[cac] {} 收到数据({}bytes): {}", ((HaborClient) client).shortInfo(), msg.readableBytes(), ByteBufUtil.hexDump(msg));
HaborClient haborClient = (HaborClient) client;
haborClient.process(msg);
}

220
src/main/java/com/platform/service/InMessageHandler1.java
Unescape Escape View File

@ -13,7 +13,6 @@ import com.platform.service.clientmanage.ClientManager;
import com.platform.service.clientmanage.HaborClient;
import com.platform.util.*;
import io.netty.buffer.ByteBuf;
import io.netty.buffer.ByteBufUtil;
import io.netty.buffer.Unpooled;
import io.netty.channel.*;
import io.netty.handler.timeout.IdleState;
@ -120,115 +119,22 @@ public class InMessageHandler1 extends ChannelInboundHandlerAdapter {
@Override
public void channelRead(ChannelHandlerContext ctx, Object msg0) throws Exception {
String address = getAddress(ctx);
final ByteBuf msgBuf = (ByteBuf) msg0;
// 上线握手阶段
if (!sessionCache.addToSnMap.containsKey(address)) { // 判断连接是否已经建立，如未建立则先握手
try {
// if (msgBuf.getByte(0) != (byte) 0xAA || msgBuf.getByte(1) != (byte) 0x44) {
// return;
// }
byte[] msg = new byte[msgBuf.readableBytes()];
msgBuf.readBytes(msg);
log.info("【接收握手原数据】 " + ByteUtils.bytes2HexString(msg));
// 握手数据不满足协议长度，立即返回
// String d = stringUtil.bytesToHexString(msg);
// byte[] crc = CRC.crc16(msg, 2, 16);
// if (crc[0] != msg[18] || crc[1] != msg[19]){
// log.warn("握手数据crc校验错误，期望crc " + stringTool.bytesToHexString(crc) + ", 实际收到 " + d);
// protocolAck(ctx,(byte) 0);
// return;
// }
// 数据类型 1为地面站 2为终端设备
String type = new String(msg, 5, 1, Charset.defaultCharset());
// deviceCode 终端设备取后六位
String deviceCode;
String typeName;
if (type.equals("1")) {
// 首先读取deviceCode， 哈勃deviceCode是后6个byte
typeName = "地面站";
deviceCode = new String(msg, 6, 12, Charset.defaultCharset()).toUpperCase(); // 地面站
protocolAck(ctx, (byte) 1);
} else if (type.equals("2")) {
typeName = "哈勃终端";
deviceCode = new String(msg, 12, 6, Charset.defaultCharset()).toUpperCase(); // 哈勃上线
protocolAck(ctx, (byte) 1);
haborSignIntoCac(deviceCode, ctx.channel());
} else {
protocolAck(ctx, (byte) 0); // 握手失败
return;
}
log.info("【读取握手数据】======> deviceCode = " + deviceCode + " type = " + typeName);
// 删除旧的连接。如果存在异常断开的时候，旧连接并未清除。这里在上线的时候检查并清除
String addr0 = sessionCache.snToAddMap.get(deviceCode);
if (Objects.nonNull(addr0)) {
sessionCache.tcpSession.remove(addr0);
sessionCache.addToSnMap.remove(addr0);
log.info("【握手删除旧连接】====> " + addr0 + "(" + deviceCode + ")删除");
}
// 添加新连接
sessionCache.addToSnMap.put(address, deviceCode); // ip-mac
sessionCache.snToAddMap.put(deviceCode, address); // mac- ip
sessionCache.tcpSession.put(address, ctx.channel()); // ip - channel
return; // 握手结束立即返回
} finally {
try {
// 上线握手阶段
if (!sessionCache.addToSnMap.containsKey(address)) { // 判断连接是否已经建立，如未建立则先握手
handshake(ctx, msgBuf, address);
msgBuf.release();
return; // 握手结束立即返回
}
}
// 已经建立连接且非地面站控制信息，则进行数据转发
else {
final ByteBuf bufToTransfer = msgBuf.duplicate(); // 转发，保留原始索引
String sn = sessionCache.addToSnMap.get(address); // sn =mac
// 监控相关
if (!sessionCache.snToMonitorMap.isEmpty()) {
Optional<Channel> sendChannelOpt = sessionCache.findMonitorChannel(address);
if (sendChannelOpt.isPresent()) {
Channel sendChannel = sendChannelOpt.get();
log.info("(监控)out channel: " + sendChannel.remoteAddress() + "(" + sessionCache.addToSnMap.get(sendChannel.remoteAddress().toString().replace("/", ""))
+ ") 即将发送 --- " + "in channel: " + ctx.channel().remoteAddress() + "(" + sn + ")发来的TCP消息");
sendChannel.writeAndFlush(bufToTransfer.retain()).addListener(
future -> {
// TODO 2025/1/17: 需优化
if (!future.isSuccess()) {
bufToTransfer.release();
}
}
);
}
}
if (!sessionCache.mappingListMap.isEmpty() && sessionCache.mappingListMap.get(sn) != null) {
if (debug) {
// log.info("【转发数据】======> " + ByteBufUtil.hexDump(msgBuf));
}
List<Channel> sendChannelOpt = sessionCache.findMappingTargetChannel(sn); // 设备编号对应的通道
// log.info("send channel count of {} = {}", sn, sendChannelOpt.size());
sendChannelOpt.forEach(sendChannel -> {
// log.info("out channel: " + sendChannel.remoteAddress() + "(" + sessionCache.addToSnMap.get(sendChannel.remoteAddress().toString().replace("/", "")) + ")即将发送 --- " + "in channel: " + ctx.channel().remoteAddress() + "(" + sn + ")发来的TCP消息");
// TODO 2025/1/17: 大量打印日志消耗性能，需要优化，用更合理的方式显示通信对象状态
// log.debug("out channel: {} ({})即将发送 --- from channel: {} ({})", sendChannel.remoteAddress(), sessionCache.addToSnMap.get(sendChannel.remoteAddress().toString().replace("/", "")), ctx.channel().remoteAddress(), sn);
// 如果需要发送，则增加一次计数引用，便于中心指控继续使用buffer
sendChannel.writeAndFlush(bufToTransfer.retain()).addListener(
future -> {
// TODO 2025/1/17: 需优化
if (!future.isSuccess()) {
bufToTransfer.release();
} else {
// log.info("发送成功: {}, {} ", sendChannel.remoteAddress(), ByteBufUtil.hexDump(bufToTransfer));
}
}
);
});
else {
// 已经建立连接且非地面站控制信息，则进行数据转发
transfer(ctx, msgBuf, address);
}
} catch (RuntimeException e) {
ReferenceCountUtil.safeRelease(msgBuf);
return;
}
BaseClient client = ClientManager.getClient(ctx.channel());
@ -243,6 +149,110 @@ public class InMessageHandler1 extends ChannelInboundHandlerAdapter {
}
}
/**处理哈勃、地面站的握手信息*/
private boolean handshake(ChannelHandlerContext ctx, ByteBuf msgBuf, String address) {
if (msgBuf.getByte(0) != (byte) 0xAA || msgBuf.getByte(1) != (byte) 0x44) {
return false;
}
byte[] msg = new byte[msgBuf.readableBytes()];
msgBuf.readBytes(msg);
log.info("【接收握手原数据】 " + ByteUtils.bytes2HexString(msg));
// 握手数据不满足协议长度，立即返回
// String d = stringUtil.bytesToHexString(msg);
// byte[] crc = CRC.crc16(msg, 2, 16);
// if (crc[0] != msg[18] || crc[1] != msg[19]){
// log.warn("握手数据crc校验错误，期望crc " + stringTool.bytesToHexString(crc) + ", 实际收到 " + d);
// protocolAck(ctx,(byte) 0);
// return;
// }
// 数据类型 1为地面站 2为终端设备
String type = new String(msg, 5, 1, Charset.defaultCharset());
// deviceCode 终端设备取后六位
String deviceCode;
String typeName;
if (type.equals("1")) {
// 首先读取deviceCode， 哈勃deviceCode是后6个byte
typeName = "地面站";
deviceCode = new String(msg, 6, 12, Charset.defaultCharset()).toUpperCase(); // 地面站
protocolAck(ctx, (byte) 1);
log.info("{} {} 握手成功: {}", typeName, deviceCode, ByteUtils.bytes2HexString(msg));
} else if (type.equals("2")) {
typeName = "哈勃终端";
deviceCode = new String(msg, 12, 6, Charset.defaultCharset()).toUpperCase(); // 哈勃上线
protocolAck(ctx, (byte) 1);
log.info("{} {} 握手成功: {}", typeName, deviceCode, ByteUtils.bytes2HexString(msg));
haborSignIntoCac(deviceCode, ctx.channel());
} else {
protocolAck(ctx, (byte) 0); // 握手失败
log.info("握手失败: {}", ByteUtils.bytes2HexString(msg));
return false;
}
// 删除旧的连接。如果存在异常断开的时候，旧连接并未清除。这里在上线的时候检查并清除
String addr0 = sessionCache.snToAddMap.get(deviceCode);
if (Objects.nonNull(addr0)) {
sessionCache.tcpSession.remove(addr0);
sessionCache.addToSnMap.remove(addr0);
log.info("【握手删除旧连接】====> " + addr0 + "(" + deviceCode + ")删除");
}
// 添加新连接
sessionCache.addToSnMap.put(address, deviceCode); // ip-mac
sessionCache.snToAddMap.put(deviceCode, address); // mac- ip
sessionCache.tcpSession.put(address, ctx.channel()); // ip - channel
return true;
}
/**地面站和哈勃之间的数据转发（原哈勃服务功能）*/
private void transfer(ChannelHandlerContext ctx, ByteBuf msgBuf, String address) throws RuntimeException {
final ByteBuf bufToTransfer = msgBuf.duplicate(); // 转发，保留原始索引
String sn = sessionCache.addToSnMap.get(address); // sn =mac
// 监控相关
if (!sessionCache.snToMonitorMap.isEmpty()) {
Optional<Channel> sendChannelOpt = sessionCache.findMonitorChannel(address);
if (sendChannelOpt.isPresent()) {
Channel sendChannel = sendChannelOpt.get();
log.info("(监控)out channel: " + sendChannel.remoteAddress() + "(" + sessionCache.addToSnMap.get(sendChannel.remoteAddress().toString().replace("/", ""))
+ ") 即将发送 --- " + "in channel: " + ctx.channel().remoteAddress() + "(" + sn + ")发来的TCP消息");
sendChannel.writeAndFlush(bufToTransfer.retain()).addListener(
future -> {
// TODO 2025/1/17: 需优化
if (!future.isSuccess()) {
bufToTransfer.release();
}
}
);
}
}
if (!sessionCache.mappingListMap.isEmpty() && sessionCache.mappingListMap.get(sn) != null) {
if (debug) {
// log.info("【转发数据】======> " + ByteBufUtil.hexDump(msgBuf));
}
List<Channel> sendChannelOpt = sessionCache.findMappingTargetChannel(sn); // 设备编号对应的通道
// log.info("send channel count of {} = {}", sn, sendChannelOpt.size());
sendChannelOpt.forEach(sendChannel -> {
// log.info("out channel: " + sendChannel.remoteAddress() + "(" + sessionCache.addToSnMap.get(sendChannel.remoteAddress().toString().replace("/", "")) + ")即将发送 --- " + "in channel: " + ctx.channel().remoteAddress() + "(" + sn + ")发来的TCP消息");
// TODO 2025/1/17: 大量打印日志消耗性能，需要优化，用更合理的方式显示通信对象状态
// log.debug("out channel: {} ({})即将发送 --- from channel: {} ({})", sendChannel.remoteAddress(), sessionCache.addToSnMap.get(sendChannel.remoteAddress().toString().replace("/", "")), ctx.channel().remoteAddress(), sn);
// 如果需要发送，则增加一次计数引用，便于中心指控继续使用buffer
sendChannel.writeAndFlush(bufToTransfer.retain()).addListener(
future -> {
// TODO 2025/1/17: 需优化
if (!future.isSuccess()) {
bufToTransfer.release();
}
}
);
});
}
}
/**
* 接入中心指控系统, 上线
*/

17
src/main/java/com/platform/service/TelemetryDecoder.java
Unescape Escape View File

@ -27,10 +27,19 @@ public class TelemetryDecoder extends DelimiterBasedFrameDecoder {
@Override
protected Object decode(ChannelHandlerContext ctx, ByteBuf buffer) throws Exception {
ByteBuf decodeBuf = (ByteBuf) super.decode(ctx, buffer);
if (decodeBuf == null || decodeBuf.readableBytes()==0) {
return null; // 如果 decodeBuf 为 null，直接返回 null
if (decodeBuf == null) {
return null;
} else if (decodeBuf.readableBytes()==0){
decodeBuf.release(); // 释放空buffer
return null;
}
try {
// 创建组合buffer，注意HEAD需要复制因为它是静态共享的
return Unpooled.wrappedBuffer(HEAD.retainedDuplicate(), decodeBuf);
} catch (Exception e) {
decodeBuf.release();
return null; // Add return statement in catch block
}
return Unpooled.wrappedBuffer(HEAD.retain(), decodeBuf); // 只有在 decodeBuf 不为 null 时，才补上帧头
// return decodeBuf;
}
}

5
src/main/java/com/platform/service/clientmanage/HaborClient981A.java
Unescape Escape View File

@ -241,6 +241,11 @@ public class HaborClient981A extends HaborClient {
@Override
public void writeParamBindCommand(byte commandCode, byte[] commandContent, String controlUniId) {
// try {
// byte[] test = {
// (byte) 0x39, (byte) 0x32, (byte) 0x00, (byte) 0x36, (byte) 0x32, (byte) 0x14, (byte) 0xF6, (byte) 0x00, (byte) 0x00, (byte) 0x28, (byte) 0x05, (byte) 0x05, (byte) 0x00, (byte) 0x00, (byte) 0x04, (byte) 0x00
// };
// 39 32 00 36 32 14 F6 00 00 28 05 05 00 00 04 00
// 39 32 00 36 32 14 F6 00 00 28 05 05 00 05 00 03
bindDataBuf.buf.setBytes(13, commandContent);
setCurrentSendData(bindDataBuf); // 设置当前发送的数据类型
previousParamBind.recordCommand(commandCode, controlUniId, bindDataBuf.buf.slice(13,16)); // 记录参数装订指令

2
src/main/resources/application.yml
Unescape Escape View File

@ -1,6 +1,6 @@
spring:
profiles:
active: pre
active: dev
app:
debug: true
Write Preview
Loading…
Cancel
Save