1、优化解算结果曲线显示

2、增加ntrip proxy服务

pom.xml

@@ -15,6 +15,7 @@
         <module>sec-api</module>
         <module>sec-beidou-fwd</module>
         <module>sec-test-device</module>
+        <module>sec-ntrip-proxy</module>
     </modules>
 
     <properties>

sec-beidou-fwd/src/main/resources/application.properties

@@ -26,6 +26,9 @@ mybatis-plus.configuration.map-underscore-to-camel-case=false
 xfz.server.host = 115.236.153.174
 xfz.server.port = 31035
 
+gxlj.server.host = 222.216.2.131
+gxlj.server.port = 895
+
 #gzy.server.host = 8.134.84.223
 #gzy.server.port = 8088
 gzy.server.host = 127.0.0.1
@@ -41,3 +44,6 @@ kingma.server.login_user = ceshi
 kingma.server.login_pwd = ceshi!123
 kingma.server.login_host = https://www.everiaction.com/IOT-ADAPTER-CUSTOM/auth/anon/login
 kingma.server.data_host = https://www.everiaction.com/IOT-DATA-GATHER/receive/data/formula
+
+zny.server.host = http://119.3.203.174:8080/cs-detection-1.2/bsn/xyz/addDefo
+zny.server.host2 = http://119.3.203.174:8080/cs-detection-2.0/bsn/xyz/addDefo

sec-beidou/src/main/java/com/imdroid/beidou/auth/AuthInterceptor.java

@@ -20,7 +20,7 @@ public class AuthInterceptor implements HandlerInterceptor {
     @Override
     public boolean preHandle(HttpServletRequest request, HttpServletResponse response, Object handler) throws Exception {
         String username = SessionUtils.getCurrentUser(request);
-        if (!StringUtils.isEmpty(username)) {
+        if (StringUtils.hasText(username)) {
             return true;
         }
         String clientType = request.getHeader("x-imdroid-type");

sec-beidou/src/main/java/com/imdroid/beidou/controller/GnssCalcDataController.java

@@ -14,6 +14,7 @@ import org.springframework.stereotype.Controller;
 import org.springframework.ui.Model;
 import org.springframework.web.bind.annotation.RequestMapping;
 import org.springframework.web.bind.annotation.ResponseBody;
+import org.springframework.util.StringUtils;
 
 import javax.servlet.http.HttpServletRequest;
 import javax.servlet.http.HttpServletResponse;
@@ -139,7 +140,7 @@ public class GnssCalcDataController extends BasicController implements CommonExc
     public void checkSearchParams(JSONObject search){
         if(search != null) {
             String parentId = search.getString("sl_d.parentid");
-            isJoinQuery = (parentId != null && !parentId.isEmpty());
+            isJoinQuery = (parentId != null && StringUtils.hasText(parentId));
         }
         else isJoinQuery=false;
     }

sec-beidou/src/main/java/com/imdroid/beidou/controller/GnssDeviceController.java

@@ -106,22 +106,22 @@ public class GnssDeviceController extends BasicController{
             JSONObject search = (JSONObject) JSONObject.parse(searchParams);
             //设备号
             String deviceid = search.getString("deviceid");
-            if (!StringUtils.isEmpty(deviceid)) {
+            if (StringUtils.hasText(deviceid)) {
                 queryWrapper.like("deviceid", deviceid);
             }
             //父设备号
             String parentid = search.getString("parentid");
-            if (!StringUtils.isEmpty(parentid)) {
+            if (StringUtils.hasText(parentid)) {
                 queryWrapper.like("parentid", parentid);
             }
             //项目号
             String project_id = search.getString("project_id");
-            if (!StringUtils.isEmpty(project_id)) {
+            if (StringUtils.hasText(project_id)) {
                 queryWrapper.like("project_id", project_id);
             }
             //所属组织
             String tenantname = search.getString("tenantname");
-            if (!StringUtils.isEmpty(tenantname)) {
+            if (StringUtils.hasText(tenantname)) {
                 queryWrapper.like("tenantname", tenantname);
             }
             //设备类型
@@ -337,12 +337,12 @@ public class GnssDeviceController extends BasicController{
             JSONObject search = (JSONObject) JSONObject.parse(searchParams);
             //设备号
             String deviceid = search.getString("deviceid");
-            if (!StringUtils.isEmpty(deviceid)) {
+            if (StringUtils.hasText(deviceid)) {
                 queryWrapper.like("deviceid", deviceid);
             }
             //父设备号
             String parentid = search.getString("parentid");
-            if (!StringUtils.isEmpty(parentid)) {
+            if (StringUtils.hasText(parentid)) {
                 queryWrapper.like("parentid", parentid);
             }
             //设备类型

sec-beidou/src/main/java/com/imdroid/beidou/controller/OssFileController.java

@@ -54,7 +54,7 @@ public class OssFileController {
     @RequestMapping("/upload-device-image")
     public HttpResult upload(@RequestParam("file") MultipartFile multipartFile, String deviceId) throws Exception {
         System.out.println("upload device image:" + multipartFile.getOriginalFilename());
-        if (StringUtils.isEmpty(deviceId)) {
+        if (!StringUtils.hasText(deviceId)) {
             return HttpResult.fail("设备编号不能为空");
         }
 

sec-beidou/src/main/java/com/imdroid/beidou/service/CommonExcelService.java

@@ -47,7 +47,7 @@ public interface CommonExcelService<T, R> {
      */
     default AbstractWrapper prepareQueryWrapper() {
         QueryWrapper<T> queryWrapper = new QueryWrapper<>();
-        if (!StringUtils.isEmpty(getOrderByColumn())) {
+        if (StringUtils.hasText(getOrderByColumn())) {
             if ("desc".equals(getOrder())) {
                 queryWrapper.orderByDesc(getOrderByColumn());
             } else {
@@ -192,19 +192,19 @@ public interface CommonExcelService<T, R> {
      */
     default void setQueryWrapper(AbstractWrapper queryWrapper, String paraName, Object paraValue) {
         // String
-        if (paraName.startsWith("s") && !StringUtils.isEmpty(paraValue)) {
+        if (paraName.startsWith("s") && StringUtils.hasText((String)paraValue)) {
             addStringQueryWrapper(queryWrapper, paraName, paraValue);
         }
         // Number
-        else if (paraName.startsWith("n") && !StringUtils.isEmpty(paraValue)) {
+        else if (paraName.startsWith("n") && StringUtils.hasText((String)paraValue)) {
             addNumberQueryWrapper(queryWrapper, paraName, paraValue);
         }
         // Date & Time
-        else if (paraName.startsWith("d") && !StringUtils.isEmpty(paraValue)) {
+        else if (paraName.startsWith("d") && StringUtils.hasText((String)paraValue)) {
             addDateQueryWrapper(queryWrapper, paraName, paraValue);
         }
         // Boolean
-        else if (paraName.startsWith("b") && !StringUtils.isEmpty(paraValue)) {
+        else if (paraName.startsWith("b") && StringUtils.hasText((String)paraValue)) {
             addBooleanQueryWrapper(queryWrapper, paraName, paraValue);
         }
     }
@@ -216,7 +216,7 @@ public interface CommonExcelService<T, R> {
     default void addStringQueryWrapper(AbstractWrapper queryWrapper, String paraName, Object paraValue) {
         String column = getColumn(paraName);
         String value = paraValue.toString();
-        if (StringUtils.isEmpty(value)) {
+        if (!StringUtils.hasText(value)) {
             return;
         }
         if (paraName.startsWith("s_")) {

sec-beidou/src/main/resources/application.properties

@@ -1,6 +1,10 @@
 # Attention: serverTimezone=Asia/Shanghai !!!
-spring.datasource.url=jdbc:mysql://127.0.0.1:3306/beidou?useUnicode=true&characterEncoding=utf-8&serverTimezone=Asia/Shanghai&useSSL=true
+#spring.datasource.url=jdbc:mysql://192.168.101.54:3306/beidou?useUnicode=true&characterEncoding=utf-8&serverTimezone=Asia/Shanghai&useSSL=true
-spring.datasource.username=admin
+#spring.datasource.username=beidou
+#spring.datasource.password=Passw0rd#123!
+#spring.datasource.url=jdbc:mysql://127.0.0.1:3306/beidou?useUnicode=true&characterEncoding=utf-8&serverTimezone=Asia/Shanghai&useSSL=true
+spring.datasource.url=jdbc:mysql://139.9.51.237:3306/beidou?useUnicode=true&characterEncoding=utf-8&serverTimezone=Asia/Shanghai&useSSL=true
+spring.datasource.username=radmin
 spring.datasource.password=DBMgr_2022
 spring.datasource.driver-class-name=com.mysql.cj.jdbc.Driver
 spring.jpa.properties.hibernate.hbm2ddl.auto=update
@@ -9,7 +13,7 @@ spring.jpa.show-sql=true
 
 spring.sql.init.mode=always
 #spring.datasource.initialize=true
-spring.sql.init.schema-locations=classpath:db/schema.sql
+#spring.sql.init.schema-locations=classpath:db/schema.sql
 
 #thymeleaf
 spring.thymeleaf.cache=false

sec-beidou/src/main/resources/templates/page/gnss_data_calc.html

@@ -171,8 +171,8 @@
         // 监听搜索操作
         form.on('submit(data-search-btn)', function (data) {
             var result = JSON.stringify(data.field);
-            var deviceId = $('#deviceid').val();
+            var deviceId = $('#input_deviceid').val();
-            searchDeviceId = !isNaN(parseFloat(deviceId));
+            searchDeviceId = !isNaN(deviceId);
             //执行搜索重载
             table.reload('currentTableId', {
                 page: {

sec-ntrip-proxy/pom.xml

@@ -0,0 +1,106 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project xmlns="http://maven.apache.org/POM/4.0.0"
+         xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
+         xsi:schemaLocation="http://maven.apache.org/POM/4.0.0 http://maven.apache.org/xsd/maven-4.0.0.xsd">
+    <modelVersion>4.0.0</modelVersion>
+    <parent>
+        <groupId>com.imdroid</groupId>
+        <artifactId>security-monitor</artifactId>
+        <version>1.0-SNAPSHOT</version>
+    </parent>
+
+    <artifactId>sec-ntrip-proxy</artifactId>
+
+    <properties>
+        <maven.compiler.source>8</maven.compiler.source>
+        <maven.compiler.target>8</maven.compiler.target>
+        <project.build.sourceEncoding>UTF-8</project.build.sourceEncoding>
+
+    </properties>
+
+    <dependencies>
+        <dependency>
+            <groupId>org.springframework.boot</groupId>
+            <artifactId>spring-boot-starter-web</artifactId>
+        </dependency>
+        <dependency>
+            <groupId>org.springframework.boot</groupId>
+            <artifactId>spring-boot-starter-test</artifactId>
+            <scope>test</scope>
+        </dependency>
+        <dependency>
+            <groupId>org.springframework.boot</groupId>
+            <artifactId>spring-boot-devtools</artifactId>
+            <optional>true</optional>
+        </dependency>
+
+        <dependency>
+            <groupId>org.slf4j</groupId>
+            <artifactId>slf4j-api</artifactId>
+        </dependency>
+        <dependency>
+            <groupId>ch.qos.logback</groupId>
+            <artifactId>logback-classic</artifactId>
+        </dependency>
+        <dependency>
+            <groupId>io.netty</groupId>
+            <artifactId>netty-all</artifactId>
+            <version>4.1.78.Final</version>
+        </dependency>
+
+        <dependency>
+            <groupId>com.imdroid</groupId>
+            <artifactId>sec-api</artifactId>
+            <version>1.0-SNAPSHOT</version>
+        </dependency>
+        <dependency>
+            <groupId>com.imdroid</groupId>
+            <artifactId>sec-common</artifactId>
+            <version>1.0-SNAPSHOT</version>
+        </dependency>
+
+        <dependency>
+            <groupId>org.projectlombok</groupId>
+            <artifactId>lombok</artifactId>
+            <optional>true</optional>
+        </dependency>
+        <!-- 矩阵工具 -->
+        <dependency>
+            <groupId>org.ejml</groupId>
+            <artifactId>ejml-all</artifactId>
+            <version>0.41</version>
+        </dependency>
+    </dependencies>
+
+    <build>
+        <finalName>${project.artifactId}</finalName>
+        <plugins>
+            <plugin>
+                <groupId>org.springframework.boot</groupId>
+                <artifactId>spring-boot-maven-plugin</artifactId>
+                <executions>
+                    <execution>
+                        <goals>
+                            <goal>repackage</goal>
+                        </goals>
+                    </execution>
+                </executions>
+            </plugin>
+        </plugins>
+    </build>
+
+    <repositories>
+        <repository>
+            <id>central</id>
+            <name>ali-mirror</name>
+            <url>https://maven.aliyun.com/repository/central</url>
+            <releases>
+                <enabled>true</enabled>
+            </releases>
+            <snapshots>
+                <enabled>true</enabled>
+            </snapshots>
+        </repository>
+    </repositories>
+
+</project>

sec-ntrip-proxy/src/main/java/com/imdroid/ntripproxy/NtripProxyApp.java

@@ -0,0 +1,24 @@
+package com.imdroid.ntripproxy;
+
+import org.springframework.boot.SpringApplication;
+import org.springframework.boot.autoconfigure.SpringBootApplication;
+import org.springframework.boot.autoconfigure.jdbc.DataSourceAutoConfiguration;
+import org.springframework.boot.autoconfigure.jdbc.DataSourceTransactionManagerAutoConfiguration;
+import org.springframework.boot.autoconfigure.orm.jpa.HibernateJpaAutoConfiguration;
+import org.springframework.context.annotation.ComponentScan;
+
+
+/**
+ * @author Layton
+ * @date 2023/1/31 20:33
+ */
+@ComponentScan({"com.imdroid.*"})
+@SpringBootApplication(exclude = {
+        DataSourceAutoConfiguration.class,
+        DataSourceTransactionManagerAutoConfiguration.class,
+        HibernateJpaAutoConfiguration.class})
+public class NtripProxyApp {
+    public static void main(String[] args) {
+        SpringApplication.run(NtripProxyApp.class, args);
+    }
+}

sec-ntrip-proxy/src/main/java/com/imdroid/ntripproxy/executor/BizExecutors.java

@@ -0,0 +1,28 @@
+package com.imdroid.ntripproxy.executor;
+
+import org.springframework.stereotype.Component;
+
+import java.util.HashMap;
+import java.util.List;
+
+@Component
+public class BizExecutors {
+
+    private static HashMap<Class<?>, Object> executors = new HashMap<>();
+
+    private static List<Executor<?, ?>> executorList;
+
+    public BizExecutors(List<Executor<?, ?>> executorList) {
+        this.executorList = executorList;
+        for (Executor<?, ?> executor : this.executorList) {
+            System.out.println("executor type:" + executor.getMessageType().getName());
+            executors.put(executor.getMessageType(), executor);
+        }
+    }
+
+
+    public static <Q, R> R execute(Q query) {
+        Executor<Q, R> executor = (Executor<Q, R>)(executors.get(query.getClass()));
+        return executor.execute(query);
+    }
+}

sec-ntrip-proxy/src/main/java/com/imdroid/ntripproxy/executor/D333RtcmMessageExecutor.java

@@ -0,0 +1,38 @@
+package com.imdroid.ntripproxy.executor;
+
+import com.imdroid.ntripproxy.message.D333RtcmMessage;
+import com.imdroid.ntripproxy.service.OnlineChannels;
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
+import org.springframework.stereotype.Component;
+
+
+/**
+ * @author Layton
+ * @date 2023/2/2 20:49
+ */
+@Component
+public class D333RtcmMessageExecutor implements Executor<D333RtcmMessage, Void> {
+
+    private final Logger logger = LoggerFactory.getLogger(this.getClass());
+
+    @Override
+    public Void execute(D333RtcmMessage message) {
+        String id = message.getId();
+        // 补齐tenantId
+        if (logger.isDebugEnabled()) {
+            logger.debug("receive d333 message of device: "+id+", seq:"+message.getSeq()+", len:"+message.getLen());
+        }
+        // 推送基站数据
+        OnlineChannels.INSTANCE.get(id).ifPresent(deviceChannel -> {
+            deviceChannel.writeAndFlush(message.getTransBuf());
+        });
+
+        return null;
+    }
+
+    @Override
+    public Class<?> getMessageType() {
+        return D333RtcmMessage.class;
+    }
+}

sec-ntrip-proxy/src/main/java/com/imdroid/ntripproxy/executor/D341GgaMessageExecutor.java

@@ -0,0 +1,42 @@
+package com.imdroid.ntripproxy.executor;
+
+import com.imdroid.common.util.ThreadManager;
+import com.imdroid.ntripproxy.message.D341GgaMessage;
+import com.imdroid.ntripproxy.service.UDPClient;
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.stereotype.Component;
+
+
+/**
+ * @author Layton
+ * @date 2023/2/2 20:50
+ */
+@Component
+public class D341GgaMessageExecutor implements Executor<D341GgaMessage, Void> {
+
+    private final Logger logger = LoggerFactory.getLogger(this.getClass());
+
+    @Autowired
+    UDPClient udpClient;
+    @Override
+    public Void execute(D341GgaMessage message) {
+        if (logger.isDebugEnabled()) {
+            logger.debug("receive d341 message of device: "+message.getId()+", seq:"+message.getSeq()+", len:"+message.getLen());
+        }
+        // 发给ntrip server
+        ThreadManager.getFixedThreadPool().submit(() -> {
+            byte[] data = new byte[message.getTransBuf().readableBytes()];
+            message.getTransBuf().getBytes(0,data);
+            udpClient.sendMessage(data);
+        });
+
+        return null;
+    }
+
+    @Override
+    public Class<?> getMessageType() {
+        return D341GgaMessage.class;
+    }
+}

sec-ntrip-proxy/src/main/java/com/imdroid/ntripproxy/executor/Executor.java

@@ -0,0 +1,12 @@
+package com.imdroid.ntripproxy.executor;
+
+/**
+ * @author Layton
+ * @date 2022/4/8 22:32
+ */
+public interface Executor<Q, R> {
+
+    R execute(Q message);
+
+    Class<?> getMessageType();
+}

sec-ntrip-proxy/src/main/java/com/imdroid/ntripproxy/executor/MessageParser.java

@@ -0,0 +1,39 @@
+package com.imdroid.ntripproxy.executor;
+
+import com.imdroid.ntripproxy.message.*;
+import io.netty.buffer.ByteBuf;
+
+import java.util.HashMap;
+import java.util.Map;
+
+/**
+ * @author Layton
+ * @date 2023/2/2 20:41
+ */
+public class MessageParser {
+
+    private static final Map<Short, Class<? extends NtripMessage>> types = new HashMap<>();
+
+    public static final MessageParser instance = new MessageParser();
+
+    private MessageParser() {
+
+    }
+
+    static {
+        types.put((short)0xd333, D333RtcmMessage.class);
+        types.put((short)0xd341, D341GgaMessage.class);
+    }
+
+
+    public NtripMessage parse(ByteBuf src) throws Exception {
+        short flag = src.getShort(0); // msg flag
+        Class<? extends NtripMessage> clz = types.get(flag);
+        if (clz == null) {
+            throw new UnSupportedMessageException();
+        }
+        NtripMessage message = clz.newInstance();
+        message.decode(src);
+        return message;
+    }
+}

sec-ntrip-proxy/src/main/java/com/imdroid/ntripproxy/message/D333RtcmMessage.java

@@ -0,0 +1,31 @@
+package com.imdroid.ntripproxy.message;
+
+import io.netty.buffer.ByteBuf;
+import io.netty.buffer.Unpooled;
+import lombok.Data;
+import lombok.EqualsAndHashCode;
+
+/**
+ * @author Layton
+ * @date 2023/2/2 20:50
+ */
+@Data
+@EqualsAndHashCode(callSuper=true)
+public class D333RtcmMessage extends NtripMessage {
+    @Override
+    public void decodeBody(ByteBuf src) {
+        fromDevice = false;
+        // d3 42 length(2048+6) device_id(4bytes) seq(2bytes) data
+        int transMsgLen = src.readableBytes() + NON_NTRIP_HEAD_LEN-DEVICE_ID_OFFSET;
+        byte[] padding = new byte[NON_NTRIP_HEAD_LEN];
+
+        // 修改d341为d332
+        transBuf = Unpooled.buffer();
+        transBuf.writeShort(0xd331);//head
+        transBuf.writeShort(transMsgLen);//length
+        transBuf.writeBytes(src,DEVICE_ID_OFFSET,4);//id
+        transBuf.writeBytes(padding);
+        transBuf.writeBytes(src,DEVICE_ID_OFFSET+4,src.readableBytes()-(DEVICE_ID_OFFSET+4));
+    }
+
+}

sec-ntrip-proxy/src/main/java/com/imdroid/ntripproxy/message/D341GgaMessage.java

@@ -0,0 +1,29 @@
+package com.imdroid.ntripproxy.message;
+
+import io.netty.buffer.ByteBuf;
+import io.netty.buffer.Unpooled;
+import lombok.Data;
+import lombok.EqualsAndHashCode;
+
+/**
+ * @author Layton
+ * @date 2023/2/2 20:50
+ */
+@Data
+@EqualsAndHashCode(callSuper=true)
+public class D341GgaMessage extends NtripMessage {
+    @Override
+    public void decodeBody(ByteBuf src) {
+        fromDevice = true;
+        // length, excluding pps,pitch,roll,yaw,shock
+        int transMsgLen = src.readableBytes() - NON_NTRIP_HEAD_LEN-DEVICE_ID_OFFSET;
+
+        // 修改d341为d332
+        transBuf = Unpooled.buffer();
+        transBuf.writeShort(0xd332);//head
+        transBuf.writeShort(transMsgLen);//length
+        transBuf.writeBytes(src,DEVICE_ID_OFFSET,4);//id
+        transBuf.writeBytes(src,GGA_OFFSET,src.readableBytes()-GGA_OFFSET);
+    }
+
+}

sec-ntrip-proxy/src/main/java/com/imdroid/ntripproxy/message/NtripMessage.java

@@ -0,0 +1,46 @@
+package com.imdroid.ntripproxy.message;
+
+import io.netty.buffer.ByteBuf;
+import lombok.Data;
+
+/**
+ * @author Layton
+ * @date 2023/2/2 20:32
+ */
+@Data
+public abstract class NtripMessage {
+    // D3XX(2B)	Seq/len(2B)	ID	PPS(2B)	PITCH	ROLL	YAW	 Shock
+    final int DEVICE_ID_OFFSET = 4;
+    final int GGA_OFFSET = 26;
+    final int NON_NTRIP_HEAD_LEN = 18;
+
+    protected int header;
+    protected String id;
+    protected int len;
+    protected int seq;
+
+    boolean fromDevice = false;
+
+    ByteBuf transBuf;
+
+    public void decode(ByteBuf src) {
+        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();
+            int pos = 0;
+            this.header = src.getUnsignedShort(pos);pos+=2;
+            this.len = src.getUnsignedShort(pos);pos+=2;
+            this.seq = this.len >> 11;
+            this.len = this.len & 0x7FF;
+            this.id = String.valueOf(src.getUnsignedInt(pos));
+
+        }
+        decodeBody(src);
+    }
+
+    public abstract void decodeBody(ByteBuf src);
+
+    public boolean shouldDecodeHeader() {
+        return true;
+    }
+}

sec-ntrip-proxy/src/main/java/com/imdroid/ntripproxy/message/UnSupportedMessageException.java

@@ -0,0 +1,8 @@
+package com.imdroid.ntripproxy.message;
+
+/**
+ * @author Layton
+ * @date 2023/2/2 20:43
+ */
+public class UnSupportedMessageException extends RuntimeException {
+}

sec-ntrip-proxy/src/main/java/com/imdroid/ntripproxy/service/DeviceChannel.java

@@ -0,0 +1,50 @@
+package com.imdroid.ntripproxy.service;
+
+import io.netty.buffer.ByteBuf;
+import io.netty.channel.Channel;
+import io.netty.channel.socket.DatagramPacket;
+import lombok.Data;
+
+import java.net.InetSocketAddress;
+
+/**
+ * @author Layton
+ * @date 2023/2/2 21:00
+ */
+@Data
+public class DeviceChannel {
+    private String deviceId;
+    private String imei;
+
+    private Channel channel;
+
+    private InetSocketAddress address;
+
+    private long lastTime;
+
+    private boolean tcp;
+
+    public DeviceChannel(String deviceId, Channel channel, InetSocketAddress address) {
+        this.deviceId = deviceId;
+        this.channel = channel;
+        this.address = address;
+        lastTime = System.currentTimeMillis();
+        this.tcp = (address == null);
+    }
+
+    public boolean isOnline() {
+        if (tcp) {
+            return channel.isActive();
+        }
+//        return (System.currentTimeMillis() - lastTime) < 28 * 1000L;
+        return true;
+    }
+
+    public void writeAndFlush(ByteBuf buf) {
+        if (tcp) {
+            channel.writeAndFlush(buf);
+        } else {
+            channel.writeAndFlush(new DatagramPacket(buf, address));
+        }
+    }
+}

sec-ntrip-proxy/src/main/java/com/imdroid/ntripproxy/service/OnlineChannels.java

@@ -0,0 +1,45 @@
+package com.imdroid.ntripproxy.service;
+
+import io.netty.channel.Channel;
+
+import java.net.InetSocketAddress;
+import java.util.List;
+import java.util.Map;
+import java.util.Objects;
+import java.util.Optional;
+import java.util.concurrent.ConcurrentHashMap;
+import java.util.stream.Collectors;
+
+/**
+ * @author Layton
+ * @date 2023/2/2 21:00
+ * 提供两种获取channel的方法：通过deviceId；通过imei。imei是DTU连接服务器最先上报的消息
+ * 利用imei-ipaddr-deviceId，可以发现imei和deviceId的绑定关系
+ */
+public class OnlineChannels {
+
+    public static final OnlineChannels INSTANCE = new OnlineChannels();
+
+    // 设备已连接，deviceId已上报
+    private final Map<String, DeviceChannel> dataChannels = new ConcurrentHashMap<>();
+    private OnlineChannels() {}
+
+    public DeviceChannel updateDataChannel(String deviceId, Channel channel, InetSocketAddress address) {
+        DeviceChannel deviceChannel = dataChannels.get(deviceId);
+        if(deviceChannel == null){
+            deviceChannel = new DeviceChannel(deviceId, channel, address);
+            dataChannels.put(deviceId, deviceChannel);
+        }
+        else {
+            deviceChannel.setChannel(channel);
+            deviceChannel.setAddress(address);
+        }
+
+        return deviceChannel;
+    }
+
+    public Optional<DeviceChannel> get(String deviceId) {
+        return Optional.ofNullable(dataChannels.get(deviceId));
+    }
+
+}

sec-ntrip-proxy/src/main/java/com/imdroid/ntripproxy/service/UDPClient.java

@@ -0,0 +1,50 @@
+package com.imdroid.ntripproxy.service;
+
+import com.imdroid.common.util.DataTypeUtil;
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
+import org.springframework.beans.factory.annotation.Value;
+import org.springframework.stereotype.Service;
+
+import javax.annotation.PostConstruct;
+import java.net.DatagramPacket;
+import java.net.DatagramSocket;
+import java.net.InetAddress;
+
+@Service
+public class UDPClient {
+    private final Logger logger = LoggerFactory.getLogger(this.getClass());
+
+    private DatagramSocket socket;
+
+    private InetAddress inetAddress;
+
+    @Value("${ntrip.server.host}")
+    private String host;
+
+    @Value("${ntrip.server.port}")
+    private int port;
+
+    @PostConstruct
+    public void init() {
+        try {
+            logger.info("UDP client init "+host + ":" + port);
+            this.socket = new DatagramSocket();
+            this.inetAddress = InetAddress.getByName(host);
+        } catch (Exception e) {
+            logger.error("初始化udp客户端失败：", e);
+        }
+    }
+
+    public void sendMessage(byte[] data) {
+        try {
+            if (logger.isDebugEnabled()) {
+                logger.debug("推送gga到NTRIP Server:{}", DataTypeUtil.getHexString(data));
+            }
+            DatagramPacket packet = new DatagramPacket(data, data.length, inetAddress, port);
+            socket.send(packet);
+        } catch (Exception e) {
+            logger.error("推送ntrip异常:", e);
+        }
+    }
+}

sec-ntrip-proxy/src/main/java/com/imdroid/ntripproxy/service/UdpHandler.java

@@ -0,0 +1,60 @@
+package com.imdroid.ntripproxy.service;
+
+import com.imdroid.common.util.DataTypeUtil;
+import com.imdroid.ntripproxy.executor.BizExecutors;
+import com.imdroid.ntripproxy.executor.MessageParser;
+import com.imdroid.ntripproxy.message.NtripMessage;
+import com.imdroid.ntripproxy.message.UnSupportedMessageException;
+import io.netty.channel.ChannelHandler;
+import io.netty.channel.ChannelHandlerContext;
+import io.netty.channel.ChannelInboundHandlerAdapter;
+import io.netty.channel.socket.DatagramPacket;
+import io.netty.util.ReferenceCountUtil;
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
+import org.springframework.stereotype.Component;
+
+/**
+ * @author Layton
+ * @date 2023/2/13 11:47
+ */
+@ChannelHandler.Sharable
+@Component
+public class UdpHandler extends ChannelInboundHandlerAdapter {
+
+    private static final Logger logger = LoggerFactory.getLogger(UdpHandler.class);
+
+    @Override
+    public void channelRead(ChannelHandlerContext ctx, Object msg) throws Exception {
+        DatagramPacket packet = (DatagramPacket) msg;
+        try {
+            if (packet.content() == null) {
+                return;
+            }
+            if (logger.isDebugEnabled()) {
+                byte[] data = new byte[packet.content().readableBytes()];
+                packet.content().getBytes(0, data);
+                logger.debug("receive message:" + DataTypeUtil.getHexString(data));
+            }
+            // 消息解析
+            NtripMessage message = MessageParser.instance.parse(packet.content());
+            if(message.isFromDevice()) {
+                OnlineChannels.INSTANCE.updateDataChannel(message.getId(), ctx.channel(), packet.sender());
+            }
+            BizExecutors.execute(message);
+        } catch (UnSupportedMessageException e) {
+            logger.warn("receive un supported message: {}", e.getMessage());
+        } catch (Exception e) {
+            logger.error("channel read error: {}", e.toString());
+        } finally {
+            ReferenceCountUtil.release(msg);
+        }
+    }
+
+    @Override
+    public void exceptionCaught(ChannelHandlerContext ctx, Throwable cause) throws Exception {
+        super.exceptionCaught(ctx, cause);
+        logger.error("Exception caught: {}", cause.toString());
+    }
+
+}

sec-ntrip-proxy/src/main/java/com/imdroid/ntripproxy/service/UdpServer.java

@@ -0,0 +1,60 @@
+package com.imdroid.ntripproxy.service;
+
+import io.netty.bootstrap.Bootstrap;
+import io.netty.channel.ChannelFuture;
+import io.netty.channel.ChannelOption;
+import io.netty.channel.EventLoopGroup;
+import io.netty.channel.nio.NioEventLoopGroup;
+import io.netty.channel.socket.nio.NioDatagramChannel;
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.beans.factory.annotation.Value;
+import org.springframework.boot.ApplicationArguments;
+import org.springframework.boot.ApplicationRunner;
+import org.springframework.stereotype.Component;
+
+/**
+ * @author Layton
+ * @date 2023/2/13 11:47
+ */
+@Component
+public class UdpServer implements ApplicationRunner {
+
+    private final Logger logger = LoggerFactory.getLogger(UdpServer.class);
+
+    @Value("${ntrip.proxy.port}")
+    private Integer port;
+
+    @Autowired
+    private UdpHandler udpHandler;
+
+    public UdpServer() {
+
+    }
+
+    @Override
+    public void run(ApplicationArguments args) throws Exception {
+        new Thread(this::start0, "ntrip-proxy").start();
+    }
+
+
+    private void start0() {
+        EventLoopGroup group = new NioEventLoopGroup();
+        Bootstrap bootstrap = new Bootstrap();
+        bootstrap.group(group)
+                .channel(NioDatagramChannel.class)
+                .option(ChannelOption.SO_SNDBUF, 1024*1024) //1M缓存，考虑1000个基站同时转发
+                .option(ChannelOption.SO_RCVBUF, 1024*1024)//1M缓存，断点续传要大带宽
+                .handler(udpHandler);
+        try {
+            ChannelFuture future = bootstrap.bind(port).sync().channel().closeFuture();
+            logger.info("ntrip proxy start at port {}", port);
+            future.await();
+        } catch (Exception e) {
+            logger.error("Error starting Imdroid protocol at port {}", port, e);
+        } finally {
+            group.shutdownGracefully();
+        }
+    }
+}

sec-ntrip-proxy/src/main/resources/application.properties

@@ -0,0 +1,16 @@
+server.port=9910
+server.servlet.context-path=/gnss
+
+spring.application.name=ntrip-proxy
+spring.application.build=20240606
+
+spring.jackson.dateFormat = yyyy-MM-dd HH:mm:ss
+spring.jackson.time-zone = GMT+8
+
+app.format.date = yyyy-MM-dd
+app.format.time = HH:mm:ss
+app.format.datetime = yyyy-MM-dd HH:mm:ss
+
+ntrip.server.host = 127.0.0.1
+ntrip.server.port = 11003
+ntrip.proxy.port = 11001

sec-ntrip-proxy/src/main/resources/logback.xml

@@ -0,0 +1,27 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<configuration scan="true" scanPeriod="30 seconds">
+    <property name="LOG_HOME" value="/opt/log"/>
+    <property name="LOG_PATTERN" value="%d{yyyy-MM-dd HH:mm:ss.SSS} [%thread] %-5level %logger{50} - %msg%n"/>
+    <appender name="STDOUT" class="ch.qos.logback.core.ConsoleAppender">
+        <encoder class="ch.qos.logback.classic.encoder.PatternLayoutEncoder">
+            <pattern>${LOG_PATTERN}</pattern>
+        </encoder>
+    </appender>
+    <appender name="FILE" class="ch.qos.logback.core.rolling.RollingFileAppender">
+        <file>${LOG_HOME}/sideslopertcm.log</file>
+        <rollingPolicy class="ch.qos.logback.core.rolling.SizeAndTimeBasedRollingPolicy">
+            <fileNamePattern>${LOG_HOME}/sideslopertcm.%d{yyyy-MM-dd}.%i.log</fileNamePattern>
+            <maxFileSize>10MB</maxFileSize>
+            <maxHistory>20</maxHistory>
+        </rollingPolicy>
+
+        <encoder class="ch.qos.logback.classic.encoder.PatternLayoutEncoder">
+            <pattern>${LOG_PATTERN}</pattern>
+        </encoder>
+    </appender>
+
+    <root level="debug">
+        <appender-ref ref="STDOUT" />
+    </root>
+    <logger name="org.springframework" level="warn" />
+</configuration>