sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/executor/D331RtcmMessageExecutor.java

@@ -187,11 +187,17 @@ public class D331RtcmMessageExecutor implements Executor<D331RtcmMessage, Void>
             buf.writeBytes(forwardBytes);
 
             //推送策略：F9P基站（505）兼容博通（510）推送 添加指定基站ID的推送
-            if ((deviceBs.getModel()==null || deviceBs.getModel() == GnssDevice.MODEL_G505) &&
+            // 避免修改共享的 forwardBytes，针对 2307 机型仅修改本次缓冲区
-                    (device.getModel()!=null && device.getModel()==GnssDevice.MODEL_G510)||
+            if (deviceId.startsWith("2307") && buf.readableBytes() > 2) {
-                    TARGET_BASE_STATION_ID_FOR_1005.equals(deviceBs.getDeviceId())){
+                buf.setByte(2, (byte) (buf.getByte(2) & 0x07));
+            }
+            if (((deviceBs.getModel()==null || deviceBs.getModel() == GnssDevice.MODEL_G505) &&
+                    (device.getModel()!=null && device.getModel()==GnssDevice.MODEL_G510))
+                    || TARGET_BASE_STATION_ID_FOR_1005.equals(deviceBs.getDeviceId())){
                 buf = insert1005(deviceBs, deviceId, buf);
             }
+            // 实际发送到设备通道
+            deviceChannel.writeAndFlush(buf);
         }
     }
 
@@ -206,8 +212,11 @@ public class D331RtcmMessageExecutor implements Executor<D331RtcmMessage, Void>
             //logger.info("Adding D300 string for device: {}", deviceId);
 
             // 获取当前buf中的数据
-            byte[] originalData = buf.array();
+            int readerIndex = buf.readerIndex();
-            String originalHex = ByteUtil.bytesToHexString(originalData);
+            int readable = buf.readableBytes();
+            byte[] originalData = new byte[readable];
+            buf.getBytes(readerIndex, originalData);
+            String originalHex = ByteUtil.bytesToHexString(originalData).toLowerCase(java.util.Locale.ROOT);
 
             // 找到D300和D301的位置
             int d300Index = originalHex.indexOf("d300");
@@ -230,7 +239,7 @@ public class D331RtcmMessageExecutor implements Executor<D331RtcmMessage, Void>
 
             if (insertIndex != -1) {
                 // 创建新的buf
-                buf1005 = Unpooled.buffer();
+                buf1005 = Unpooled.buffer(originalData.length + 64);
                 // 写入D300/D301之前的数据
                 buf1005.writeBytes(originalData, 0, insertIndex / 2);
 
@@ -252,14 +261,14 @@ public class D331RtcmMessageExecutor implements Executor<D331RtcmMessage, Void>
                 // 写入剩余的数据
                 buf1005.writeBytes(originalData, insertIndex / 2, originalData.length - insertIndex / 2);
 
-                // 添加日志，记录插入位置和完整数据
+                // 更新最后转发时间（仅在成功插入时）
-                                    logger.info("Inserted RTCM 1005 message before position {}, complete data: {}",
+                lastD300ForwardTimeMap.put(deviceId, currentTime);
-                                           insertIndex,
-                                            ByteUtil.bytesToHexString(buf.array()));
-            }
 
-            // 更新最后转发时间
+                // 添加日志，记录插入位置和完整数据
-            lastD300ForwardTimeMap.put(deviceId, currentTime);
+                //                    logger.info("Inserted RTCM 1005 message before position {}, complete data: {}",
+                //                           insertIndex,
+                //                            ByteUtil.bytesToHexString(buf.array()));
+            }
 
             // 添加日志，记录测站转发的完整数据
             //logger.info("Forward data to device: {}, time: {}, complete data: {}",