1、算法3增加对基站的GGA的处理

sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/bd/FocusCalculator3.java

@@ -36,7 +36,7 @@ public class FocusCalculator3 extends FocusCalculator1{
 
         double[] xyz = new double[]{gga.getLongitude()*scale, gga.getLatitude()*scale, gga.getAltitude()*1000, gga.getQuality()};
 
-        if(gga.getQuality() == 4) {
+        if(gga.isFixed()) {
             counterFixedResult++;
             pointList.add(xyz);
         }

sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/bd/Gga.java

@@ -17,23 +17,23 @@ public class Gga {
     /**
      * 纬度
      */
-    private double latitude;
+    private double latitude=0;
 
     /**
      * 经度
      */
-    private double longitude;
+    private double longitude=0;
 
     /**
      * 海拔
      */
-    private double altitude;
+    private double altitude=0;
 
     /**
      * GPS状态，0初始化，1单点定位，2码差分，3无效PPS，4固定解，5浮点解，6正在估算7，人工输入固定值，8模拟模式，9WAAS差分
      */
-    private int quality;
+    private int quality=0;
-    private int satellitesInUsed;
+    private int satellitesInUsed=0;
 
     public Gga() {
     }
@@ -152,4 +152,9 @@ public class Gga {
         this.quality = status;
     }
 
+    public boolean isFixed(){
+        //Possible values for quality: 0 = No fix, 1 = autonomous GNSS fix, 2 = differential GNSS fix, 4 = RTK fixed, 5 = RTK float, 6 =
+        //estimated/dead reckoning fix
+        return (quality==1 || quality==2 || quality==4);
+    }
 }

sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/calc/SingleLineGNSSCalcService.java

@@ -89,9 +89,11 @@ public class SingleLineGNSSCalcService implements GNSSDataCalcService {
 
         // 读取惯导
         Tilt tilt = message.getTilt();
-        focusCalculator.addTilt(tilt);
+        if(tilt != null) {
-        if (logger.isDebugEnabled()) {
+            focusCalculator.addTilt(tilt);
-            logger.debug("测站" + deviceId + "惯导单次解析结果:{}", tilt);
+            if (logger.isDebugEnabled()) {
+                logger.debug("测站" + deviceId + "惯导单次解析结果:{}", tilt);
+            }
         }
 
         // 延迟
@@ -99,9 +101,11 @@ public class SingleLineGNSSCalcService implements GNSSDataCalcService {
 
         // 单次b562
         double[] doubles = message.getB562_loc();//unit: mm
-        focusCalculator.addXyz(doubles,message.getCreateTime());
+        if(doubles !=null) {
-        if (logger.isDebugEnabled()) {
+            focusCalculator.addXyz(doubles, message.getCreateTime());
-            logger.debug("测站" + deviceId + "的b562单次解析结果:{}", Arrays.toString(doubles));
+            if (logger.isDebugEnabled()) {
+                logger.debug("测站" + deviceId + "的b562单次解析结果:{}", Arrays.toString(doubles));
+            }
         }
 
         // 单次GGA
@@ -256,4 +260,9 @@ public class SingleLineGNSSCalcService implements GNSSDataCalcService {
         calculatorMap.clear();
         logger.info("group paras changed");
     }
+
+    public void refreshGroupCalc(String deviceId){
+        calculatorMap.remove(deviceId);
+        logger.info("device paras changed");
+    }
 }

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

@@ -1,9 +1,12 @@
 package com.imdroid.sideslope.executor;
 
+import com.imdroid.common.util.ThreadManager;
 import com.imdroid.secapi.client.BeidouClient;
 import com.imdroid.secapi.dto.GnssDevice;
 import com.imdroid.sideslope.bd.Gga;
+import com.imdroid.sideslope.calc.GNSSDataCalcService;
 import com.imdroid.sideslope.message.D331RtcmMessage;
+import com.imdroid.sideslope.message.D341LocationMessage;
 import com.imdroid.sideslope.sal.Device;
 import com.imdroid.sideslope.sal.DeviceService;
 import com.imdroid.sideslope.server.DeviceChannel;
@@ -31,6 +34,8 @@ public class D331RtcmMessageExecutor implements Executor<D331RtcmMessage, Void>
     private DeviceService deviceService;
     @Autowired
     private BeidouClient beidouClient;
+    @Autowired
+    private GNSSDataCalcService gnssCalcService;
 
     @Override
     public Void execute(D331RtcmMessage message) {
@@ -68,17 +73,22 @@ public class D331RtcmMessageExecutor implements Executor<D331RtcmMessage, Void>
         Gga gga = message.getGga();
         if(gga != null) {
             device1.updateSatelitesNum(gga.getSatellitesInUsed());
-            if(gga.getQuality()>0 && gga.getQuality()<6) {
+            if(gga.isFixed()) {
                 device1.setLatitude(gga.getLatitude());
                 device1.setLongitude(gga.getLongitude());
                 device1.setAltitude(gga.getAltitude());
             }
-            /*logger.info(message.getId()+
+            // 借D341做GGA的统计分析
-                    " lat: "+gga.getLatitude()+
+            D341LocationMessage d341Message = new D341LocationMessage();
-                    " lon:"+gga.getLongitude()+
+            d341Message.setGga(gga);
-                    " alt: "+gga.getAltitude()+
+            d341Message.setId(message.getId());
-                    " sat: "+gga.getSatellitesInUsed()+
+            d341Message.setTenantId(message.getTenantId());
-                    " quality: "+gga.getQuality());*/
+            d341Message.setPps(message.getPps());
+            d341Message.setTilt(message.getTilt());
+            d341Message.setB562_loc(null);
+            ThreadManager.getFixedThreadPool().submit(() -> {
+                gnssCalcService.calcSingle(d341Message,true);
+            });
         }
 
         // 收到第一个数据包，如果控制通道没连接，也通知上线

sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/executor/D341LocationMessageExecutor.java

@@ -47,7 +47,7 @@ public class D341LocationMessageExecutor implements Executor<D341LocationMessage
         Gga gga = message.getGga();
         if(gga != null) {
             device.updateSatelitesNum(gga.getSatellitesInUsed());
-            if(gga.getQuality()>0 && gga.getQuality()<6) {
+            if(gga.isFixed()) {
                 device.setLatitude(gga.getLatitude());
                 device.setLongitude(gga.getLongitude());
                 device.setAltitude(gga.getAltitude());

sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/message/D331RtcmMessage.java

@@ -1,6 +1,7 @@
 package com.imdroid.sideslope.message;
 
 import com.imdroid.sideslope.bd.Gga;
+import com.imdroid.sideslope.bd.Tilt;
 import io.netty.buffer.ByteBuf;
 import lombok.Data;
 import lombok.EqualsAndHashCode;
@@ -12,6 +13,7 @@ import lombok.EqualsAndHashCode;
 @Data
 @EqualsAndHashCode(callSuper=true)
 public class D331RtcmMessage extends BaseMessage {
+    Tilt tilt;
     Gga gga;
     int packetNum;
 
@@ -38,6 +40,8 @@ public class D331RtcmMessage extends BaseMessage {
             String msg = String.format("id[%s],长度字段值[%s]效益包的消息体长度[%s]", id, this.len, src.readableBytes() - 4);
             WrongMessageRecorder.INSTANCE.append("receive wrong message," + msg);
         }*/
+        this.pps = src.getUnsignedShort(pos);pos+=2;
+        tilt = new Tilt(src.getFloat(pos), src.getFloat(pos+4),src.getFloat(pos+8),src.getFloat(pos+12));
         gga = Gga.getFrom(src);
         this.srcData = new byte[src.readableBytes()];
         src.readBytes(this.srcData);

sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/web/ApiController.java

@@ -74,6 +74,7 @@ public class ApiController {
     public HttpResp deviceParamChanged(String deviceId) {
         // 更新设备缓存
         localDeviceService.refresh(deviceId);
+        calcService.refreshGroupCalc(deviceId);
 
         HttpResp resp = new HttpResp();
         resp.setResponseMessage("succeed");