将基站RTCM推入NtripCaster
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@ -5,6 +5,9 @@ import com.imdroid.common.util.ByteUtil;
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import com.imdroid.common.util.StringUtil;
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import java.math.BigDecimal;
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import java.util.ArrayList;
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import java.util.List;
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import java.util.stream.Collectors;
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import static java.lang.Math.*;
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@ -13,6 +16,110 @@ public class RtcmGgaUtil {
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//gga样本：*后面跟的是校验和，其中76代表校验和，对$和*之间的数据（不包括这两个字符）按字节进行异或运算（二进制）的结果
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private static final String ggaExample = "$GNGGA,020850.50,2258.10508,N,11317.67958,E,4,12,0.74,3.9,M,-5.4,M,1.3,0000*76";
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/**
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* 提取多条rtcm
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* 因为存在d331...rtcm...d331...rtcm..这样的数据
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* 还存在d331...rtcm rtcm rtcm...这样的数据
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* @param hex
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* @return
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*/
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public static List<String> getRtcms(String hex){
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return splitStartWith(hex,"d300","d301","d302").stream()
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.map(com.imdroid.sideslope.bd.RtcmGgaUtil::getRtcm)
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.filter(s -> s != null && !s.isEmpty())
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.collect(Collectors.toList());
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}
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/**
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* 提取一条rtcm
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* @param hex
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* @return
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*/
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public static String getRtcm(String hex){
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try {
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int index = getIndex(hex,"d300","d301","d302");
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if (index != -1 && index < hex.length()-6) {
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//d300数据长度
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int length = Integer.parseInt(hex.substring(index + 3, index + 6), 16);
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if(index + (3+length +3)*2 <= hex.length()){
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return hex.substring(index, index + (3 + length + 3) * 2);
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}
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}
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}catch (Exception e){
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e.printStackTrace();
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}
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return null;
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}
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private static int getIndex(String... regex){
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for (int i = 1; i < regex.length; i++) {
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if(regex[0].contains(regex[i])){
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return regex[0].indexOf(regex[i]);
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}
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}
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return -1;
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}
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/**
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* 按前缀切割分段
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* @param regex 第一个是要处理的数据，其他是要检测的前缀
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* @return
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*/
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public static List<String> splitStartWith(String... regex){
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ArrayList<String> list = new ArrayList<>();
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try{
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List<Integer> indexs = getIndexs(regex);
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int start = 0;
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for (int i = 0; i < indexs.size(); i++) {
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if(indexs.get(i) != 0){
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list.add(regex[0].substring(start,indexs.get(i)));
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start = indexs.get(i);
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}
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if(i == indexs.size() -1){
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list.add(regex[0].substring(indexs.get(i)));
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}
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}
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}catch (Exception e){
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e.printStackTrace();
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}
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return list;
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}
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/**
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* 按多个规则搜索索引
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* @param regex
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* @return
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*/
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public static List<Integer> getIndexs(String... regex){
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List<Integer> list =new ArrayList<>();
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for (int i = 1; i < regex.length; i++) {
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list.addAll(findAllIndex(regex[0],0,regex[i]));
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}
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list.sort((o1, o2) -> o1-o2);
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return list;
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}
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/**
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* 按规则搜索所有索引
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* @param string
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* @param index
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* @param findStr
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* @return
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*/
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public static List<Integer> findAllIndex(String string, int index, String findStr){
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List<Integer> list =new ArrayList<>();
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int num = string.indexOf(findStr,index);
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if(num != -1){
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list.add(num);
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//递归进行查找
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List myList = findAllIndex(string,num+1,findStr);
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list.addAll(myList);
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}
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return list;
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}
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/**
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* 获取rtcm数据类型
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* @param bytes
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@ -4,13 +4,17 @@ import com.imdroid.common.util.DataTypeUtil;
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import com.imdroid.common.util.ThreadManager;
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import com.imdroid.secapi.client.BeidouClient;
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import com.imdroid.secapi.dto.GnssDevice;
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import com.imdroid.common.util.ByteUtil;
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import com.imdroid.sideslope.bd.Gga;
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import com.imdroid.sideslope.message.D331RtcmMessage;
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import com.imdroid.sideslope.ntrip.UdpNtripServer;
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import com.imdroid.sideslope.sal.Device;
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import com.imdroid.sideslope.sal.DeviceService;
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import com.imdroid.sideslope.server.DeviceChannel;
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import com.imdroid.sideslope.server.OnlineChannels;
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import com.imdroid.sideslope.service.DataPersistService;
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import com.imdroid.sideslope.bd.RtcmGgaUtil;
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//import com.imdroid.common.util.RtcmGgaUtil;
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import io.netty.buffer.ByteBuf;
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import io.netty.buffer.Unpooled;
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import org.slf4j.Logger;
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@ -21,6 +25,8 @@ import org.springframework.stereotype.Component;
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import javax.annotation.Resource;
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import java.time.LocalDateTime;
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import java.util.List;
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import java.util.Optional;
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/**
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* @author Layton
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@ -37,13 +43,19 @@ public class D331RtcmMessageExecutor implements Executor<D331RtcmMessage, Void>
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private BeidouClient beidouClient;
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@Autowired
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private DataPersistService dataPersistService;
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@Override
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public Void execute(D331RtcmMessage message) {
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String id = message.getId();
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byte[] srcdata = message.getSrcData();
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String rtcm = ByteUtil.bytesToHexString(srcdata);
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// 补齐tenantId
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Device deviceBs = deviceService.findByDeviceId(id);
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if(deviceBs == null || deviceBs.getOpMode() == GnssDevice.OP_MODE_UNUSE) return null;
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// 添加NTRIP处理
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ntrip(id, rtcm);
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// 推送基站数据
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if(deviceBs.getOpMode() == GnssDevice.OP_MODE_USE) {
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byte[] forwardBytes = message.getSrcData();
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@ -115,11 +127,9 @@ public class D331RtcmMessageExecutor implements Executor<D331RtcmMessage, Void>
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Gga gga = message.getGga();
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if(gga != null) {
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deviceBs.updateSatelitesNum(gga.getSatellitesInUsed());
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//if(gga.isFixed()) { //基站的quality不会是4
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deviceBs.setLatitude(gga.getLatitude());
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deviceBs.setLongitude(gga.getLongitude());
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deviceBs.setAltitude(gga.getAltitude());
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//}
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}
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ThreadManager.getFixedThreadPool().submit(() -> {
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@ -133,8 +143,29 @@ public class D331RtcmMessageExecutor implements Executor<D331RtcmMessage, Void>
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return null;
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}
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private void ntrip(String mountpoint, String hexData) {
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try {
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// 将原始字节转换为16进制字符串用于RTCM提取
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//String hexData = ByteUtil.bytesToHexString(rawData);
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System.out.println(hexData);
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// 提取RTCM数据并发送到NtripServer,使用设备ID作为挂载点
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Optional.ofNullable(RtcmGgaUtil.getRtcms(hexData))
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.ifPresent(rtcm -> {
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System.out.println("挂载点: " + mountpoint);
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System.out.println("RTCM数据: " + rtcm);
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UdpNtripServer.send(mountpoint, rtcm);
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});
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} catch (Exception e) {
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logger.error("处理NTRIP数据失败, 挂载点: {}, 错误: {}", mountpoint, e.getMessage());
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}
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}
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@Override
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public Class<?> getMessageType() {
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return D331RtcmMessage.class;
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}
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}
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@ -0,0 +1,31 @@
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package com.imdroid.sideslope.ntrip;
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import com.imdroid.common.util.HttpUtils;
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import com.imdroid.common.util.ThreadManager;
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import org.slf4j.Logger;
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import org.slf4j.LoggerFactory;
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/**
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* @author likongyong
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* @date 2023/10/19 11:49
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*/
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public class HttpNtripServer {
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private static final Logger logger = LoggerFactory.getLogger(HttpNtripServer.class);
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/**
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* 修改挂载点获取xingyu差分的gga
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* @param mount
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* @param gga
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*/
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public static void sendGGA(String mount, String gga){
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ThreadManager.getSingleThreadPool(HttpNtripServer.class.getName()).execute(()->{
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try{
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String url = "http://localhost:11001/ntrip/sendGGA/" + mount + "/" + gga;
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String result = HttpUtils.getUrl(url);
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logger.debug("{} send gga {} {}",mount, gga, result);
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}catch (Exception e){
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logger.error(e.toString());
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}
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});
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}
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}
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@ -0,0 +1,69 @@
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package com.imdroid.sideslope.ntrip;
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import com.imdroid.common.util.ByteUtil;
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import com.imdroid.common.util.ThreadManager;
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import org.slf4j.Logger;
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import org.slf4j.LoggerFactory;
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import java.net.DatagramPacket;
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import java.net.DatagramSocket;
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import java.net.InetAddress;
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import java.util.List;
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/**
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* 本地udp发送差分数据到ntrip-forward-server项目
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*/
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public class UdpNtripServer {
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private static final Logger logger = LoggerFactory.getLogger(UdpNtripServer.class);
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private static DatagramSocket socket;
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private static DatagramPacket outPacket;
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/**
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* 向某挂载点提供差分信息
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* @param mount 挂载点名称
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* @param hexRtcm 差分信息16进制字符串
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*/
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public static void send(String mount, String hexRtcm){
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ThreadManager.getSingleThreadPool(UdpNtripServer.class.getName()).execute(()->{
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try{
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//随机端口
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if(socket == null) socket = new DatagramSocket();
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if(outPacket == null) outPacket = new DatagramPacket(new byte[0],0, InetAddress.getByName("localhost"),11100);
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outPacket.setData(encode(ByteUtil.addBytes(mount.getBytes(), ByteUtil.hexStringTobyte(hexRtcm))));
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socket.send(outPacket);
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}catch (Exception e){
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socket = null;
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outPacket = null;
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e.printStackTrace();
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}
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});
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}
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/**
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* 向某挂载点提供差分信息
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* @param mount 挂载点名称
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* @param hexRtcm 差分信息16进制字符串
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*/
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public static void send(String mount, List<String> hexRtcm){
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logger.debug(mount + ":" + hexRtcm.size());
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for (String s : hexRtcm) {
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send(mount,s);
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}
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}
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//加入校验位，用于校验数据是否完整
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private static byte[] encode(byte[] bytes) {
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byte[] bytes1 = new byte[bytes.length + 1];
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//校验位
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byte b = bytes[0];
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bytes1[0] = bytes[0];
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for (int i = 1; i < bytes.length; i++) {
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b ^= bytes[i];
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bytes1[i] = bytes[i];
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}
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bytes1[bytes1.length - 1] = b;
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return bytes1;
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}
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}
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