381 lines
10 KiB
Dart
381 lines
10 KiB
Dart
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library gnss;
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import 'dart:developer';
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import 'dart:io';
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import 'dart:typed_data';
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import 'dart:async';
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import "package:libserialport/libserialport.dart";
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import "nmea/sentence.dart";
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import 'nmea/gga.dart';
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import 'nmea/rmc.dart';
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import 'nmea/vtg.dart';
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import 'nmea/gsa.dart';
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import 'nmea/gsv.dart';
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import 'nmea/heading.dart';
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import 'nmea/bestpos.dart';
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import "rtk_base.dart";
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class LocationData {
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double latitude = 0; //纬度
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double longitude = 0; //经度
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double speed = 0; //速度
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double baseLength = 0; //基线长度(两天线距离)
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double heading = 0; //
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double pitch = 0; //俯仰角
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double altitude = 0; //海拔
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double adop = 0; //高程定位精度
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double hdop = 0; //水平定位精度
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double vdop = 0; //垂直定位精度
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double course = 0; //航向
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double diffAge = 0; //差分数据年龄
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int numberSv = 0; //可见卫星数
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int numberSa = 0; //使用卫星数
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String fixQuality = ""; //定位质量(字符串)
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int quality = 0; //定位质量(数字)
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@override
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String toString() {
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return "LocationData{latitude=$latitude,longitude=$longitude,speed=$speed,baseLength=$baseLength,heading=$heading,pitch=$pitch,altitude=$altitude,adop=$adop,hdop=$hdop,vdop=$vdop,course=$course,diffAge=$diffAge,numberSv=$numberSv,numberSa=$numberSa,fixQuality=$fixQuality,quality=$quality}";
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}
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}
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const um982Init = [
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"version\r\n",
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"UNLOGALL\r\n",
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"GPRMC 1\r\n", //0.2
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"GPGGA 1\r\n",
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"GPVTG 1\r\n",
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"LOG HEADINGA ONTIME 0.2\r\n",
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"LOG BESTPOSA ONTIME 0.2\r\n",
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"GPGSV 1\r\n",
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"GPGSA 1\r\n",
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"SAVECONFIG\r\n"
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];
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class SignalGPS {
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int prn;
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double elevation;
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double azimuth;
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int snrL1;
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int snrL2;
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int snrL5;
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SignalGPS(
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{required this.prn,
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required this.elevation,
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required this.azimuth,
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required this.snrL1,
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required this.snrL2,
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required this.snrL5});
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}
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class SignalBDS {
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int prn;
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double elevation;
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double azimuth;
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int snrB1I;
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int snrB2I;
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int snrB1C;
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int snrB2a;
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int snrB3I;
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SignalBDS(
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{required this.prn,
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required this.elevation,
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required this.azimuth,
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required this.snrB1I,
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required this.snrB2I,
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required this.snrB1C,
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required this.snrB2a,
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required this.snrB3I});
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}
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class SignalGLO {
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int prn;
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double elevation;
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double azimuth;
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int snrR1;
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int snrR2;
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SignalGLO(
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{required this.prn,
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required this.elevation,
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required this.azimuth,
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required this.snrR1,
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required this.snrR2});
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}
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class SignalGAL {
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int prn;
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double elevation;
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double azimuth;
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int snrE1;
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int snrE5a;
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int snrE5b;
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SignalGAL(
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{required this.prn,
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required this.elevation,
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required this.azimuth,
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required this.snrE1,
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required this.snrE5a,
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required this.snrE5b});
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}
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class SignalData {
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List<SignalGPS> signalsGPS = [];
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List<SignalBDS> signalsBDS = [];
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List<SignalGLO> signalsGLO = [];
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List<SignalGAL> signalsALS = [];
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}
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class Gnss {
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SerialPort? _serialPort;
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SerialPortReader? _serialPortReader;
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Socket? _socket; // tcp
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RtkBase? rtkBase;
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LineSplitter lineSplitter = LineSplitter();
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SentenceParser sentence = SentenceParser({}, null, null, null);
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var locationStreamController = StreamController<LocationData>.broadcast();
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var signalStreamController = StreamController<SignalData>.broadcast();
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Stream<LocationData> get locationStream => locationStreamController.stream;
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Stream<SignalData> get signalStream => signalStreamController.stream;
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final LocationData _locationData = LocationData();
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final SignalData _signalData = SignalData();
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SignalData get signalData => _signalData;
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bool locationUpdate = false;
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bool signalUpdate = false;
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bool _isTCP = false;
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String _port = "";
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int _baudrate = 0;
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String _host = "";
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int _portTcp = 0;
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Gnss({port = "", baudrate = 115200, host = "", portTCP = 0, isTCP = false}) {
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_port = port;
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_baudrate = baudrate;
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_host = host;
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_portTcp = portTCP;
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_isTCP = isTCP;
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}
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start() {
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if (_isTCP) {
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_connectTcp();
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} else {
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_connectSerialPort();
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}
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rtkBase ??= RtkBase();
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rtkBase!.connect();
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rtkBase!.rtcmStream.listen((rtcmData) {
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if (_serialPort != null) {
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_serialPort!.write(Uint8List.fromList(rtcmData));
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}
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});
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}
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void dispose() {
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if (_isTCP) {
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if (_socket != null) {
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_socket!.close();
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_socket = null;
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}
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} else {
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if (_serialPort != null) {
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_serialPortReader?.close();
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_serialPort!.close();
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_serialPort = null;
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}
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}
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}
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_connectSerialPort() {
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_serialPort = SerialPort(_port);
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if (!_serialPort!.openReadWrite()) {
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throw Exception(SerialPort.lastError);
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}
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var config = _serialPort!.config;
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config.baudRate = _baudrate;
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config.bits = 8;
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config.parity = 0;
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config.stopBits = 1;
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config.setFlowControl(0);
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_serialPort!.config = config;
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_serialPortReader = SerialPortReader(_serialPort!);
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_serialPortReader!.stream.listen(_onData);
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if (_serialPort != null) {
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int i = 0;
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_serialPort!.write(Uint8List.fromList(um982Init[i].codeUnits));
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Timer.periodic(const Duration(milliseconds: 100), (timer) {
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if (_serialPort != null) {
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_serialPort!.write(Uint8List.fromList(um982Init[i].codeUnits));
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}
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i++;
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if (i == um982Init.length - 1) {
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timer.cancel();
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}
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});
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}
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}
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void _connectTcp() {
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if (_host == "" || _portTcp == 0) {
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return;
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}
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log("尝试连接$_host:$_port");
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Socket.connect(_host, _portTcp).then((socket) {
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_socket = socket;
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log("连接成功");
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socket.listen(_onData);
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socket.handleError((error) {
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log("error=$error");
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});
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socket.timeout(const Duration(seconds: 15), onTimeout: (sink) {
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log("timeout");
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socket.destroy();
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_reconnect();
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});
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}).onError((error, stackTrace) {
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log("error=$error");
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_socket = null;
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_reconnect();
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});
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}
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void _reconnect() {
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log("尝试重新连接...");
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Future.delayed(const Duration(seconds: 5), () {
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_connectTcp();
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});
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}
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_onData(Uint8List data) {
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var lines = lineSplitter.pushData(data);
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for (int i = 0; i < lines.length; i++) {
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try {
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var s = sentence.parse(lines[i]);
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switch (s.type) {
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case TypeBESTPOSA:
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var bestpos = BESTPOSA.newBESTPOSA(s);
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// log("bestposa=${bestposa.lat},${bestposa.lon}");
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_locationData.latitude = bestpos.lat;
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_locationData.longitude = bestpos.lon;
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_locationData.altitude = bestpos.hgt;
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_locationData.adop = bestpos.adop;
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_locationData.hdop = bestpos.hdop;
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_locationData.vdop = bestpos.vdop;
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_locationData.diffAge = bestpos.diffAge;
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_locationData.fixQuality = bestpos.fixQuality;
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// _locationData.pdop = bestpos.pdop;
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break;
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case TypeHEADINGA:
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var h = HEADINGA.newHEADINGA(s);
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// log("heading=${h.heading}");
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_locationData.baseLength = h.length;
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_locationData.heading = h.heading;
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_locationData.pitch = h.pitch;
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_locationData.numberSv = h.numberSv;
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_locationData.numberSa = h.numberSa;
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locationUpdate = true;
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break;
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case TypeRMC:
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var rmc = RMC.newRMC(s);
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_locationData.course = rmc.course;
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// log("rmc=${rmc.latitude},${rmc.longitude},${rmc.speed}");
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break;
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case TypeGGA:
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var gga = GGA.newGGA(s);
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if (rtkBase != null) {
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rtkBase!.sendGGA(s.raw);
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}
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// log("gga=${gga.latitude},${gga.longitude}");
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_locationData.quality = gga.quality;
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break;
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case TypeVTG:
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// 速度
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var vtg = VTG.newVTG(s);
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// log("vtg=${vtg.groundSpeedKnots}");
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_locationData.speed = vtg.groundSpeedKnots;
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break;
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case TypeGSA:
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// 已使用
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var gsa = GSA.newGSA(s);
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// log("gsa=${gsa.pdop}");
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// SV 可用
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break;
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case TypeGSV:
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// 可见
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var gsv = GSV.newGSV(s);
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// log("gsv=${gsv.numberSVsInView}");
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signalUpdate = true;
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break;
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default:
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log('Unhandled sentence type: ${s.type}');
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}
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} catch (e) {
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log("error=$e");
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}
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}
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if (locationUpdate) {
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locationStreamController.add(_locationData);
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locationUpdate = false;
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}
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if (signalUpdate) {
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signalStreamController.add(_signalData);
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signalUpdate = false;
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}
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}
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}
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class LineSplitter {
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pushData(Uint8List data) {
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List<String> sentences = [];
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if (endIndex + data.length > dataBuf.length) {
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endIndex = 0;
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sentenceStart = -1;
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}
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dataBuf.setAll(endIndex, data);
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endIndex = endIndex += data.length;
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int index = 0;
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while (index < endIndex) {
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if (sentenceStart < 0) {
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if (startDelimiter.contains(dataBuf[index]) == false) {
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index++;
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} else {
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sentenceStart = index;
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seekIndex = index + 1;
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}
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} else {
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for (; seekIndex < endIndex; seekIndex++) {
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if (dataBuf[seekIndex] == 0x0a) {
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sentences
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.add(String.fromCharCodes(dataBuf, sentenceStart, seekIndex));
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sentenceStart = -1;
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index = seekIndex + 1;
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break;
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}
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}
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if (seekIndex == endIndex) {
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break;
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}
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}
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}
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// log("index=$index,endIndex=$endIndex, data.length=${data.length}");
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if (index == endIndex) {
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endIndex = 0;
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} else if (index > 0) {
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dataBuf.setAll(0, dataBuf.sublist(index, endIndex));
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sentenceStart = -1;
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endIndex -= index;
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}
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return sentences;
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}
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int endIndex = 0;
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int seekIndex = 0;
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int sentenceStart = -1;
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Uint8List dataBuf = Uint8List(4096);
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static const startDelimiter = [0x24, 0x23]; //$23 #23
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}
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