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bug fixed: D342消息处理，已在本地做过单元测试

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This commit is contained in:
weidong 2023-12-09 23:17:12 +08:00
parent ee9cd377f1
commit b4d0f27cc7
6 changed files with 26 additions and 13 deletions
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4
sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/calc/MultiLineGNSSCalcService.java
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@ -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);
}
}

4
sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/message/BaseMessage.java
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@ -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;

2
sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/message/D31xConfigAckMessage.java
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@ -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;

2
sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/message/D331RtcmMessage.java
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@ -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;

21
sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/message/D342LocationMessage.java
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@ -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);
msgLen = msgLen&0x07FF;
msgLen = msgLen + 4;
if(msgLen > totalLen) break; //error
int flag = src.getUnsignedShort(begin);
// 有时候两个d341会多一些字节，原因未明
if(flag != 0xD341){
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;
}
}

6
sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/server/DeviceChannel.java
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@ -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;
else if(header == (short)0xd341) b562bytes += bytes;
if(header == 0xd331) d3xxbytes += bytes;
else if(header == 0xd341) b562bytes += bytes;
}
}