bug fixed: D342消息处理，已在本地做过单元测试

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

@@ -3,6 +3,7 @@ package com.imdroid.sideslope.calc;
 import com.imdroid.sideslope.message.BaseMessage;
 import com.imdroid.sideslope.message.D341LocationMessage;
 import com.imdroid.sideslope.message.D342LocationMessage;
+import com.imdroid.sideslope.service.GNSSDeviceLocationRecordService;
 import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;
 import org.springframework.beans.factory.annotation.Autowired;
@@ -18,6 +19,8 @@ public class MultiLineGNSSCalcService {
     private static final Map<String, LocalDateTime> deviceMap = new ConcurrentHashMap<>();
     @Autowired
     SingleLineGNSSCalcService calcService;
+    @Autowired
+    private GNSSDeviceLocationRecordService dataPersistService;
 
     public void calc(D342LocationMessage d342Message){
         // 如果时间跨度大于1分钟，或者不含d341，则计算平滑值
@@ -38,6 +41,7 @@ public class MultiLineGNSSCalcService {
         for(BaseMessage message: d342Message.getMessageList()){
             D341LocationMessage d341Message = (D341LocationMessage)message;
             calcService.calcSingle(d341Message, false);
+            dataPersistService.saveRawData(d341Message);
         }
 
     }

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

@@ -12,7 +12,7 @@ import java.time.LocalDateTime;
  */
 @Data
 public abstract class BaseMessage {
-    protected short header;
+    protected int header;
     protected String id;
     protected int len;
     protected int seq;
@@ -28,7 +28,7 @@ public abstract class BaseMessage {
         if (shouldDecodeHeader()) {
             // read操作会移动ByteBuf内部指针，除D331外，其他都用read来读
             int packetLen = src.readableBytes();
-            this.header = src.readShort();
+            this.header = src.readUnsignedShort();
 
             this.len = src.readUnsignedShort();
             this.seq = this.len >> 11;

sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/message/D31xConfigAckMessage.java

@@ -12,7 +12,7 @@ public class D31xConfigAckMessage extends BaseMessage {
     @Override
     public void decodeBody(ByteBuf src) {
         //srcData需要完整的消息，所以解析头用get方法
-        this.header = src.getShort(0); // flag
+        this.header = src.getUnsignedShort(0); // flag
         this.len = src.getUnsignedShort(2); // length:11bit
         this.seq = this.len >> 11;
         this.len = this.len & 0x7FF;

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

@@ -12,7 +12,7 @@ public class D331RtcmMessage extends BaseMessage {
     @Override
     public void decodeBody(ByteBuf src) {
         // get操作不会移动指针，这样可以确保整个全转发出去
-        this.header = src.getShort(0); // flag
+        this.header = src.getUnsignedShort(0); // flag
         this.len = src.getUnsignedShort(2); // length:11 bits
         this.seq = this.len >> 11;
         this.len = this.len & 0x7FF;

sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/message/D342LocationMessage.java

@@ -20,7 +20,7 @@ public class D342LocationMessage extends BaseMessage {
     @Override
     public void decodeBody(ByteBuf src) {
         // d3 51 length(2048+6) device_id(4bytes) seq(2bytes) data
-        this.header = src.readShort(); // flag
+        this.header = src.readUnsignedShort(); // flag
         this.len = src.readUnsignedShort();
         this.id = String.valueOf(src.readUnsignedInt()); //id
         this.seq = src.readUnsignedShort();
@@ -37,12 +37,22 @@ public class D342LocationMessage extends BaseMessage {
         // 拆分D341，指针已移动到d341了
         int totalLen = src.readableBytes();
         int begin = 15; // d341 head: 10, date: 5
+        if(totalLen + begin - 4 > this.len) totalLen = this.len + 4 - begin;
 
+        int msgLen = 0;
         while(begin+2 < totalLen){
-            int msgLen = src.getUnsignedShort(begin+2);
+            int flag = src.getUnsignedShort(begin);
-            msgLen = msgLen&0x07FF;
+            // 有时候两个d341会多一些字节，原因未明
-            msgLen = msgLen + 4;
+            if(flag != 0xD341){
-            if(msgLen > totalLen) break; //error
+                if(begin+msgLen > totalLen) break;
+                else {
+                    begin++;
+                    continue;
+                }
+            }
+            msgLen = src.getUnsignedShort(begin+2);
+            msgLen = (msgLen&0x07FF) + 4;
+            if(begin+msgLen > totalLen) break; //error
 
             ByteBuf msgBuf = src.slice(begin,msgLen);
             BaseMessage message = new D341LocationMessage();
@@ -51,7 +61,6 @@ public class D342LocationMessage extends BaseMessage {
             messageList.add(message);
 
             // next data
-            totalLen -= msgLen;
             begin += msgLen;
         }
     }

sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/server/DeviceChannel.java

@@ -53,9 +53,9 @@ public class DeviceChannel {
         }
     }
 
-    public void updateRxBytes(int bytes, short header){
+    public void updateRxBytes(int bytes, int header){
         rxbytes += bytes;
-        if(header == (short) 0xd331) d3xxbytes += bytes;
+        if(header ==  0xd331) d3xxbytes += bytes;
-        else if(header == (short)0xd341) b562bytes += bytes;
+        else if(header == 0xd341) b562bytes += bytes;
     }
 }