package home;
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import java.util.Arrays;
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public class TagDell55AA03Parser {
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// Ô¤ÆÚ±¨ÎÄÍ·
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private static final String EXPECTED_HEADER = "55AA03";
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// ×îС³¤¶È£¨¸ù¾ÝÎĵµ£¬ÖÁÉÙÓ¦ÓÐ40¸ö×ֶΣ¬Ã¿¸ö×Ö¶Î2×Ö½Ú£¬¼ÓÉÏ°üÍ·ºÍÀàÐ͹²4×Ö½Ú£©
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private static final int MIN_LENGTH = 84; // (4 + 40*2) * 2×Ö·û = 168×Ö·û£¬µ«Êµ¼Ê¿ÉÄܸü¶à
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private static final ThreadLocal<ParseResult> RESULT_CACHE =
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ThreadLocal.withInitial(ParseResult::new);
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// ½âÎö½á¹ûÀà
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public static class ParseResult {
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public String header; // Êý¾Ý°üÍ·(55AA)
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public int dataType; // Êý¾ÝÀàÐÍ(03)
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public int dataLength; // Êý¾Ý³¤¶È
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public String version; // °æ±¾ºÅ(XX.XX¸ñʽ)
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public int deviceId; // É豸±àºÅ(С¶ËÐò)
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public int commFrequency; // ͨÐÅƵÂÊ(ºÁÃë)
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public int maxAnchors; // µ¥´ÎͨÐÅ»ùÕ¾Êý
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public int minAnchors; // С×é±àºÅ/×îÉÙ»ùÕ¾Êý
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public int distanceCalibration;// ¾àÀëУ׼ֵ
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public int deviceType; // É豸ÀàÐÍ(0:»ùÕ¾, 1:±êÇ©)
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public int anchorActiveRanging;// »ùÕ¾Ö÷¶¯²â¾à
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public int alarmDevice; // ±¨¾¯É豸
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public int imuIdleTime; // IMU¾²Ö¹Ê±¼ä
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public int pressureAnchorId; // Æøѹ»ùÕ¾±àºÅ
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public int peripheralControl; // ÍâÉè¿ØÖÆ(1:´ò¿ªRTK, 2:¹Ø±ÕRTK)
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public int pairingId; // Åä¶Ô±àºÅ
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public int uwbStatus; // UWB¿ª¹Ø״̬(0:¹Ø±Õ)
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public int modbusMode; // MODBUSģʽ
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public int vibrationDuration; // Õð¶¯Ê±³¤(Ãë)
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public int[] neighborAnchorIds = new int[10]; // ÁÙ½ü»ùÕ¾ID(10¸ö)
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public int power; // ¹¦ÂÊ
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public int accelerometerThreshold; // ¼ÓËÙ¼ÆãÐÖµ
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public int idleSleepTime; // ¾²Ö¹ÐÝÃßʱ¼ä
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public int vibrationEnable; // Õð¶¯Ê¹ÄÜ
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public int accelerometerEnable;// ¼ÓËÙ¼ÆʹÄÜ
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public int configStatus; // ±êÇ©Ï·¢ÅäÖÃ״̬
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public int accelerometerDuration; // ¼ÓËÙ¼Æʱ³¤
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public int activationStatus; // É豸¼¤»î״̬λ(0:δ¼¤»î, 1:¼¤»î)
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public int syncAnchorType; // ͬ²½»ùÕ¾ÀàÐÍ(0:²»·¢Í¬²½, 1:Ö÷»ùÕ¾, 2:´Ó»ùÕ¾)
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public int speedFilterLimit; // ËÙ¶ÈÂ˲¨ÏÞÖµ
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public int pressureCalibration;// Æøѹ¸ß¶ÈУ׼ֵ
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public void reset() {
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header = "";
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dataType = 0;
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dataLength = 0;
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version = "";
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deviceId = 0;
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commFrequency = 0;
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maxAnchors = 0;
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minAnchors = 0;
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distanceCalibration = 0;
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deviceType = 0;
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anchorActiveRanging = 0;
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alarmDevice = 0;
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imuIdleTime = 0;
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pressureAnchorId = 0;
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peripheralControl = 0;
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pairingId = 0;
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uwbStatus = 0;
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modbusMode = 0;
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vibrationDuration = 0;
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Arrays.fill(neighborAnchorIds, 0);
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power = 0;
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accelerometerThreshold = 0;
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idleSleepTime = 0;
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vibrationEnable = 0;
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accelerometerEnable = 0;
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configStatus = 0;
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accelerometerDuration = 0;
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activationStatus = 0;
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syncAnchorType = 0;
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speedFilterLimit = 0;
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pressureCalibration = 0;
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}
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}
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/**
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* ½âÎö55AA03ÐÒ鱨ÎÄ
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* @param message ½ÓÊÕµ½µÄÊ®Áù½øÖÆ×Ö·û´®
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* @return ½âÎö½á¹û(½âÎöʧ°Ü·µ»Ønull)
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*/
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public static ParseResult parse(String message, String ip, int port) {
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if (message == null || message.isEmpty()) {
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return null;
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}
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// ÇåÀíÏûÏ¢£ºÖ»±£ÁôÊý×ÖºÍA-F×Ö·û
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char[] cleanedMessage = cleanMessage(message);
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// ¼ì²é×îС³¤¶È
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if (cleanedMessage == null || cleanedMessage.length < MIN_LENGTH) {
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return null;
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}
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// ¼ì²é±¨ÎÄÍ· (55AA03)
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if (!new String(cleanedMessage, 0, 6).equals(EXPECTED_HEADER)) {
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return null;
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}
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ParseResult result = RESULT_CACHE.get();
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result.reset();
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try {
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// ÉèÖðüÍ·ºÍÊý¾ÝÀàÐÍ
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result.header = new String(cleanedMessage, 0, 4);
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result.dataType = HexUtils.fastHexToByte(cleanedMessage[4], cleanedMessage[5]);
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// ½âÎöÊý¾Ý³¤¶È (λÖÃ6-7)
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result.dataLength = HexUtils.fastHexToByte(cleanedMessage[6], cleanedMessage[7]);
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// ½âÎö°æ±¾ºÅ (λÖÃ8-11, ÐÎÈçXX.XX)
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int versionPart1 = HexUtils.fastHexToByte(cleanedMessage[8], cleanedMessage[9]);
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int versionPart2 = HexUtils.fastHexToByte(cleanedMessage[10], cleanedMessage[11]);
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result.version = String.format("%d.%02d", versionPart1, versionPart2);
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// ½âÎöÉ豸±àºÅ (λÖÃ12-15, µÍλÔÚÇ°)
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result.deviceId = parseLittleEndian(cleanedMessage, 12);
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// ½âÎöͨÐÅƵÂÊ (λÖÃ16-19)
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result.commFrequency = parseLittleEndian(cleanedMessage, 16);
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// ½âÎöµ¥´ÎͨÐÅ»ùÕ¾Êý (λÖÃ20-23)
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result.maxAnchors = parseLittleEndian(cleanedMessage, 20);
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// ½âÎöС×é±àºÅ/×îÉÙ»ùÕ¾Êý (λÖÃ24-27)
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result.minAnchors = parseLittleEndian(cleanedMessage, 24);
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// ½âÎö¾àÀëУ׼ֵ (λÖÃ28-31)
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result.distanceCalibration = parseLittleEndian(cleanedMessage, 28);
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// ½âÎöÉ豸ÀàÐÍ (λÖÃ32-35, 0:»ùÕ¾, 1:±êÇ©)
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result.deviceType = parseLittleEndian(cleanedMessage, 32);
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// ½âÎö»ùÕ¾Ö÷¶¯²â¾à (λÖÃ36-39)
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result.anchorActiveRanging = parseLittleEndian(cleanedMessage, 36);
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// ½âÎö±¨¾¯É豸 (λÖÃ40-43)
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result.alarmDevice = parseLittleEndian(cleanedMessage, 40);
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// ½âÎöIMU¾²Ö¹Ê±¼ä (λÖÃ44-47)
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result.imuIdleTime = parseLittleEndian(cleanedMessage, 44);
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// ½âÎöÆøѹ»ùÕ¾±àºÅ (λÖÃ48-51)
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result.pressureAnchorId = parseLittleEndian(cleanedMessage, 48);
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// ½âÎöÍâÉè¿ØÖÆ (λÖÃ52-55, 1:´ò¿ªRTK, 2:¹Ø±ÕRTK)
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result.peripheralControl = parseLittleEndian(cleanedMessage, 52);
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// ½âÎöÅä¶Ô±àºÅ (λÖÃ56-59)
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result.pairingId = parseLittleEndian(cleanedMessage, 56);
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// ½âÎöUWB¿ª¹Ø״̬ (λÖÃ60-63, 0:¹Ø±Õ)
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result.uwbStatus = parseLittleEndian(cleanedMessage, 60);
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// ½âÎöMODBUSģʽ (λÖÃ64-67)
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result.modbusMode = parseLittleEndian(cleanedMessage, 64);
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// ½âÎöÕð¶¯Ê±³¤ (λÖÃ68-71, µ¥Î»Ãë)
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result.vibrationDuration = parseLittleEndian(cleanedMessage, 68);
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// ½âÎöÁÙ½ü»ùÕ¾ID (λÖÃ72-111, 10¸ö»ùÕ¾)
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for (int i = 0; i < 10; i++) {
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result.neighborAnchorIds[i] = parseLittleEndian(cleanedMessage, 72 + i * 4);
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}
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// ½âÎö¹¦ÂÊ (λÖÃ112-115)
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result.power = parseLittleEndian(cleanedMessage, 112);
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// ½âÎö¼ÓËÙ¼ÆãÐÖµ (λÖÃ116-119)
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result.accelerometerThreshold = parseLittleEndian(cleanedMessage, 116);
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// ½âÎö¾²Ö¹ÐÝÃßʱ¼ä (λÖÃ120-123)
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result.idleSleepTime = parseLittleEndian(cleanedMessage, 120);
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// ½âÎöÕð¶¯Ê¹ÄÜ (λÖÃ124-127)
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result.vibrationEnable = parseLittleEndian(cleanedMessage, 124);
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// ½âÎö¼ÓËÙ¼ÆʹÄÜ (λÖÃ128-131)
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result.accelerometerEnable = parseLittleEndian(cleanedMessage, 128);
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// ½âÎö±êÇ©Ï·¢ÅäÖÃ״̬ (λÖÃ132-135)
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result.configStatus = parseLittleEndian(cleanedMessage, 132);
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// ½âÎö¼ÓËÙ¼Æʱ³¤ (λÖÃ136-139)
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result.accelerometerDuration = parseLittleEndian(cleanedMessage, 136);
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// ½âÎöÉ豸¼¤»î״̬λ (λÖÃ140-143, 0:δ¼¤»î, 1:¼¤»î)
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result.activationStatus = parseLittleEndian(cleanedMessage, 140);
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// ½âÎöͬ²½»ùÕ¾ÀàÐÍ (λÖÃ144-147, 0:²»·¢Í¬²½, 1:Ö÷»ùÕ¾, 2:´Ó»ùÕ¾)
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result.syncAnchorType = parseLittleEndian(cleanedMessage, 144);
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// ½âÎöËÙ¶ÈÂ˲¨ÏÞÖµ (λÖÃ148-151)
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result.speedFilterLimit = parseLittleEndian(cleanedMessage, 148);
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// ½âÎöÆøѹ¸ß¶ÈУ׼ֵ (λÖÃ152-155)
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result.pressureCalibration = parseLittleEndian(cleanedMessage, 152);
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} catch (IndexOutOfBoundsException | NumberFormatException e) {
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System.err.println("Parsing error in packet from " + ip + ":" + port);
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return null;
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}
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return result;
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}
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/**
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* ½âÎöС¶ËÐòµÄ16λÕûÊý(4¸ö×Ö·û)
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*/
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private static int parseLittleEndian(char[] message, int startIndex) {
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int lowByte = HexUtils.fastHexToByte(message[startIndex], message[startIndex + 1]);
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int highByte = HexUtils.fastHexToByte(message[startIndex + 2], message[startIndex + 3]);
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return (highByte << 8) | lowByte;
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}
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/**
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* ÇåÀíÏûÏ¢£¬Ö»±£ÁôÊ®Áù½øÖÆ×Ö·û
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*/
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private static char[] cleanMessage(String message) {
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char[] cleaned = new char[message.length()];
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int j = 0;
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for (char c : message.toCharArray()) {
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if (Character.isDigit(c) || (c >= 'A' && c <= 'F') || (c >= 'a' && c <= 'f')) {
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cleaned[j++] = Character.toUpperCase(c);
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}
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}
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if (j == 0) return null;
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return Arrays.copyOf(cleaned, j);
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}
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}
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