[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

pom.xml

@@ -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>
 

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

@@ -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");
         }

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

@@ -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");
         }

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

@@ -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);
     }

src/main/java/com/platform/service/InMessageHandler1.java

@@ -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;
@@ -120,15 +119,41 @@ public class InMessageHandler1 extends ChannelInboundHandlerAdapter {
     @Override
     public void channelRead(ChannelHandlerContext ctx, Object msg0) throws Exception {
         String address = getAddress(ctx);
-
         final ByteBuf msgBuf = (ByteBuf) msg0;
+
+        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
-            try {
+                handshake(ctx, msgBuf, address);
+                msgBuf.release();
+                return; // 握手结束立即返回
+            }
+            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;
+        }
 
-                // if (msgBuf.getByte(0) != (byte) 0xAA || msgBuf.getByte(1) != (byte) 0x44) {
-                //     return;
-                // }
+        BaseClient client = ClientManager.getClient(ctx.channel());
+        if (client == null || client.getClientType() != ClientTypeEnum.HABOR) {
+            if (msgBuf != null) {
+                msgBuf.release();
+            }
+            return;
+        } else {
+            // 直接传递当前引用，不需要增加引用计数
+            ctx.fireChannelRead(msgBuf);
+        }
+    }
+
+    /**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));
@@ -151,17 +176,19 @@ public class InMessageHandler1 extends ChannelInboundHandlerAdapter {
             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
-                    return;
+            log.info("握手失败: {}", ByteUtils.bytes2HexString(msg));
+            return false;
         }
 
-                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);
@@ -175,16 +202,14 @@ public class InMessageHandler1 extends ChannelInboundHandlerAdapter {
         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 {
-                msgBuf.release();
-            }
+        return true;
     }
-        // 已经建立连接且非地面站控制信息，则进行数据转发
-        else {
+
+    /**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);
@@ -204,7 +229,6 @@ public class InMessageHandler1 extends ChannelInboundHandlerAdapter {
 
         }
 
-
         if (!sessionCache.mappingListMap.isEmpty() && sessionCache.mappingListMap.get(sn) != null) {
             if (debug) {
                 // log.info("【转发数据】======> " + ByteBufUtil.hexDump(msgBuf));
@@ -222,8 +246,6 @@ public class InMessageHandler1 extends ChannelInboundHandlerAdapter {
                             // TODO 2025/1/17: 需优化
                             if (!future.isSuccess()) {
                                 bufToTransfer.release();
-                                } else {
-                                    // log.info("发送成功: {}, {} ", sendChannel.remoteAddress(), ByteBufUtil.hexDump(bufToTransfer));
                             }
                         }
                 );
@@ -231,18 +253,6 @@ public class InMessageHandler1 extends ChannelInboundHandlerAdapter {
         }
     }
 
-        BaseClient client = ClientManager.getClient(ctx.channel());
-        if (client == null || client.getClientType() != ClientTypeEnum.HABOR) {
-            if (msgBuf != null) {
-                msgBuf.release();
-            }
-            return;
-        } else {
-            // 直接传递当前引用，不需要增加引用计数
-            ctx.fireChannelRead(msgBuf);
-        }
-    }
-
     /**
      * 接入中心指控系统, 上线
      */

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

@@ -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;
     }
 }

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

@@ -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

src/main/resources/application.yml

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