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1、gga处理优化，支持d300和b562混合的情况

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This commit is contained in:
weidong 2024-05-17 09:32:06 +08:00
parent cf1fe75183
commit 63a3499444
1 changed files with 10 additions and 33 deletions
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43
sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/bd/Gga.java
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@ -38,19 +38,11 @@ public class Gga {
public Gga() {
}
static public Gga getFrom(ByteBuf data){
public static Gga getFrom(ByteBuf data){
int msgFlag = data.getUnsignedShort(0);
if(msgFlag == 0xD341){
return getFromD341(data);
if(msgFlag != 0xD341 && msgFlag != 0xD331){
return null;
}
else if(msgFlag == 0xD331){
return getFromD331(data);
}
else return null;
}
static Gga getFromD331(ByteBuf data){
int pos = 26; // 从惯导之后开始
boolean found = false;
while(pos<data.readableBytes()){
@ -65,29 +57,14 @@ public class Gga {
pos += 26;
}
else {
pos++;
pos += data.getUnsignedShort(pos) + 5;//length+payload+crc
}
}
else{
break;
}
}
if(found){
return getFromGGAString(data, pos);
}
else return null;
}
// +----------+----------+----------+
// | d3 | 6bit | 10bits |
// +----------+----------+----------+
// d3 xx payload len(10bits)
static Gga getFromD341(ByteBuf data){
int pos = 26; // 从惯导之后开始
boolean found = false;
while(pos<data.readableBytes()){
byte d0 = data.getByte(pos);
byte d1 = data.getByte(pos+1);
if(GGA_FLAG[0] == d0 && GGA_FLAG[1] == d1){
found = true;
break;
pos++;
pos += ((data.getUnsignedShort(pos)&0x03FF) + 5);//length(2byte)+payload+crc(3byte)
}
}
else if(b562_flag[0] == d0 && b562_flag[1] == d1){
pos += 4; // type, class id