Merge remote-tracking branch 'origin/feature/beidou' into feature/beidou

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

@@ -5,6 +5,9 @@ import com.imdroid.common.util.ByteUtil;
 import com.imdroid.common.util.StringUtil;
 
 import java.math.BigDecimal;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.stream.Collectors;
 
 import static java.lang.Math.*;
 
@@ -13,6 +16,110 @@ public class RtcmGgaUtil {
     //gga样本：*后面跟的是校验和，其中76代表校验和，对$和*之间的数据（不包括这两个字符）按字节进行异或运算（二进制）的结果
     private static final String ggaExample = "$GNGGA,020850.50,2258.10508,N,11317.67958,E,4,12,0.74,3.9,M,-5.4,M,1.3,0000*76";
 
+
+
+    /**
+     * 提取多条rtcm
+     * 因为存在d331...rtcm...d331...rtcm..这样的数据
+     * 还存在d331...rtcm rtcm rtcm...这样的数据
+     * @param hex
+     * @return
+     */
+    public static List<String> getRtcms(String hex){
+        return splitStartWith(hex,"d300","d301","d302").stream()
+                .map(com.imdroid.sideslope.bd.RtcmGgaUtil::getRtcm)
+                .filter(s -> s != null && !s.isEmpty())
+                .collect(Collectors.toList());
+    }
+
+    /**
+     * 提取一条rtcm
+     * @param hex
+     * @return
+     */
+    public static String getRtcm(String hex){
+        try {
+            int index = getIndex(hex,"d300","d301","d302");
+            if (index != -1 && index < hex.length()-6) {
+                //d300数据长度
+                int length = Integer.parseInt(hex.substring(index + 3, index + 6), 16);
+                if(index + (3+length +3)*2 <= hex.length()){
+                    return hex.substring(index, index + (3 + length + 3) * 2);
+                }
+            }
+        }catch (Exception e){
+            e.printStackTrace();
+        }
+        return null;
+    }
+
+    private static int getIndex(String... regex){
+        for (int i = 1; i < regex.length; i++) {
+            if(regex[0].contains(regex[i])){
+                return regex[0].indexOf(regex[i]);
+            }
+        }
+        return -1;
+    }
+
+    /**
+     * 按前缀切割分段
+     * @param regex 第一个是要处理的数据，其他是要检测的前缀
+     * @return
+     */
+    public static List<String> splitStartWith(String... regex){
+        ArrayList<String> list = new ArrayList<>();
+        try{
+            List<Integer> indexs = getIndexs(regex);
+            int start = 0;
+            for (int i = 0; i < indexs.size(); i++) {
+                if(indexs.get(i) != 0){
+                    list.add(regex[0].substring(start,indexs.get(i)));
+                    start = indexs.get(i);
+                }
+                if(i == indexs.size() -1){
+                    list.add(regex[0].substring(indexs.get(i)));
+                }
+            }
+        }catch (Exception e){
+            e.printStackTrace();
+        }
+        return list;
+    }
+
+    /**
+     * 按多个规则搜索索引
+     * @param regex
+     * @return
+     */
+    public static List<Integer> getIndexs(String... regex){
+        List<Integer> list =new ArrayList<>();
+        for (int i = 1; i < regex.length; i++) {
+            list.addAll(findAllIndex(regex[0],0,regex[i]));
+        }
+        list.sort((o1, o2) -> o1-o2);
+        return list;
+    }
+
+    /**
+     * 按规则搜索所有索引
+     * @param string
+     * @param index
+     * @param findStr
+     * @return
+     */
+    public static List<Integer> findAllIndex(String string, int index, String findStr){
+        List<Integer> list =new ArrayList<>();
+        int num = string.indexOf(findStr,index);
+        if(num != -1){
+            list.add(num);
+            //递归进行查找
+            List myList = findAllIndex(string,num+1,findStr);
+            list.addAll(myList);
+        }
+        return list;
+    }
+
     /**
      * 获取rtcm数据类型
      * @param bytes

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

@@ -4,13 +4,17 @@ import com.imdroid.common.util.DataTypeUtil;
 import com.imdroid.common.util.ThreadManager;
 import com.imdroid.secapi.client.BeidouClient;
 import com.imdroid.secapi.dto.GnssDevice;
+import com.imdroid.common.util.ByteUtil;
 import com.imdroid.sideslope.bd.Gga;
 import com.imdroid.sideslope.message.D331RtcmMessage;
+import com.imdroid.sideslope.ntrip.UdpNtripServer;
 import com.imdroid.sideslope.sal.Device;
 import com.imdroid.sideslope.sal.DeviceService;
 import com.imdroid.sideslope.server.DeviceChannel;
 import com.imdroid.sideslope.server.OnlineChannels;
 import com.imdroid.sideslope.service.DataPersistService;
+import com.imdroid.sideslope.bd.RtcmGgaUtil;
+//import com.imdroid.common.util.RtcmGgaUtil;
 import io.netty.buffer.ByteBuf;
 import io.netty.buffer.Unpooled;
 import org.slf4j.Logger;
@@ -21,6 +25,8 @@ import org.springframework.stereotype.Component;
 import javax.annotation.Resource;
 import java.time.LocalDateTime;
 import java.util.List;
+import java.util.Optional;
+
 
 /**
  * @author Layton
@@ -37,13 +43,19 @@ public class D331RtcmMessageExecutor implements Executor<D331RtcmMessage, Void>
     private BeidouClient beidouClient;
     @Autowired
     private DataPersistService dataPersistService;
+
     @Override
     public Void execute(D331RtcmMessage message) {
         String id = message.getId();
+        byte[] srcdata = message.getSrcData();
+        String rtcm = ByteUtil.bytesToHexString(srcdata);
         // 补齐tenantId
         Device deviceBs = deviceService.findByDeviceId(id);
         if(deviceBs == null || deviceBs.getOpMode() == GnssDevice.OP_MODE_UNUSE) return null;
 
+        // 添加NTRIP处理
+        ntrip(id, rtcm);
+
         // 推送基站数据
         if(deviceBs.getOpMode() == GnssDevice.OP_MODE_USE) {
             byte[] forwardBytes = message.getSrcData();
@@ -79,8 +91,8 @@ public class D331RtcmMessageExecutor implements Executor<D331RtcmMessage, Void>
         if(deviceBs.getD3xxbytes()>0){
             LocalDateTime now = LocalDateTime.now();
             if(deviceBs.getLastRxTime().isBefore(now.minusMinutes(1)) &&
-                (deviceBs.getLastD3f2Time() == null ||
+                    (deviceBs.getLastD3f2Time() == null ||
-                    deviceBs.getLastD3f2Time().isBefore(now.minusMinutes(30)))) {
+                            deviceBs.getLastD3f2Time().isBefore(now.minusMinutes(30)))) {
                 // new cycle
                 logger.info("device {} rx {} d331 in a cycle while not d3f0f2",deviceBs.getDeviceId(),deviceBs.getD3xxCount());
 
@@ -115,11 +127,9 @@ public class D331RtcmMessageExecutor implements Executor<D331RtcmMessage, Void>
         Gga gga = message.getGga();
         if(gga != null) {
             deviceBs.updateSatelitesNum(gga.getSatellitesInUsed());
-            //if(gga.isFixed()) { //基站的quality不会是4
+            deviceBs.setLatitude(gga.getLatitude());
-                deviceBs.setLatitude(gga.getLatitude());
+            deviceBs.setLongitude(gga.getLongitude());
-                deviceBs.setLongitude(gga.getLongitude());
+            deviceBs.setAltitude(gga.getAltitude());
-                deviceBs.setAltitude(gga.getAltitude());
-            //}
         }
 
         ThreadManager.getFixedThreadPool().submit(() -> {
@@ -133,8 +143,29 @@ public class D331RtcmMessageExecutor implements Executor<D331RtcmMessage, Void>
         return null;
     }
 
+    private void ntrip(String mountpoint, String hexData) {
+        try {
+
+            // 将原始字节转换为16进制字符串用于RTCM提取
+            //String hexData = ByteUtil.bytesToHexString(rawData);
+            System.out.println(hexData);
+
+            // 提取RTCM数据并发送到NtripServer,使用设备ID作为挂载点
+            Optional.ofNullable(RtcmGgaUtil.getRtcms(hexData))
+                    .ifPresent(rtcm -> {
+                        System.out.println("挂载点: " + mountpoint);
+                        System.out.println("RTCM数据: " + rtcm);
+                        UdpNtripServer.send(mountpoint, rtcm);
+                    });
+        } catch (Exception e) {
+            logger.error("处理NTRIP数据失败, 挂载点: {}, 错误: {}", mountpoint, e.getMessage());
+        }
+    }
+
     @Override
     public Class<?> getMessageType() {
         return D331RtcmMessage.class;
     }
+
+
 }

sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/ntrip/HttpNtripServer.java

@@ -0,0 +1,31 @@
+package com.imdroid.sideslope.ntrip;
+
+import com.imdroid.common.util.HttpUtils;
+import com.imdroid.common.util.ThreadManager;
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
+/**
+ * @author likongyong
+ * @date 2023/10/19 11:49
+ */
+public class HttpNtripServer {
+
+    private static final Logger logger = LoggerFactory.getLogger(HttpNtripServer.class);
+
+    /**
+     * 修改挂载点获取xingyu差分的gga
+     * @param mount
+     * @param gga
+     */
+    public static void sendGGA(String mount, String gga){
+        ThreadManager.getSingleThreadPool(HttpNtripServer.class.getName()).execute(()->{
+            try{
+                String url = "http://localhost:11001/ntrip/sendGGA/" + mount + "/" + gga;
+                String result = HttpUtils.getUrl(url);
+                logger.debug("{} send gga {} {}",mount, gga, result);
+            }catch (Exception e){
+                logger.error(e.toString());
+            }
+        });
+    }
+}

sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/ntrip/UdpNtripServer.java

@@ -0,0 +1,69 @@
+package com.imdroid.sideslope.ntrip;
+
+import com.imdroid.common.util.ByteUtil;
+import com.imdroid.common.util.ThreadManager;
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
+
+import java.net.DatagramPacket;
+import java.net.DatagramSocket;
+import java.net.InetAddress;
+import java.util.List;
+
+/**
+ * 本地udp发送差分数据到ntrip-forward-server项目
+ */
+public class UdpNtripServer {
+
+    private static final Logger logger = LoggerFactory.getLogger(UdpNtripServer.class);
+
+    private static DatagramSocket socket;
+    private static DatagramPacket outPacket;
+
+    /**
+     * 向某挂载点提供差分信息
+     * @param mount 挂载点名称
+     * @param hexRtcm 差分信息16进制字符串
+     */
+    public static void send(String mount, String hexRtcm){
+        ThreadManager.getSingleThreadPool(UdpNtripServer.class.getName()).execute(()->{
+            try{
+                //随机端口
+                if(socket == null) socket = new DatagramSocket();
+                if(outPacket == null) outPacket = new DatagramPacket(new byte[0],0, InetAddress.getByName("localhost"),11100);
+                outPacket.setData(encode(ByteUtil.addBytes(mount.getBytes(), ByteUtil.hexStringTobyte(hexRtcm))));
+                socket.send(outPacket);
+            }catch (Exception e){
+                socket = null;
+                outPacket = null;
+                e.printStackTrace();
+            }
+        });
+    }
+
+    /**
+     * 向某挂载点提供差分信息
+     * @param mount 挂载点名称
+     * @param hexRtcm 差分信息16进制字符串
+     */
+    public static void send(String mount, List<String> hexRtcm){
+        logger.debug(mount + ":" + hexRtcm.size());
+        for (String s : hexRtcm) {
+            send(mount,s);
+        }
+    }
+
+    //加入校验位，用于校验数据是否完整
+    private static byte[] encode(byte[] bytes) {
+        byte[] bytes1 = new byte[bytes.length + 1];
+        //校验位
+        byte b = bytes[0];
+        bytes1[0] = bytes[0];
+        for (int i = 1; i < bytes.length; i++) {
+            b ^= bytes[i];
+            bytes1[i] = bytes[i];
+        }
+        bytes1[bytes1.length - 1] = b;
+        return bytes1;
+    }
+}