package udpdell;
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import java.io.IOException;
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import java.net.DatagramPacket;
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import java.net.DatagramSocket;
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import java.net.SocketException;
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import java.util.concurrent.ExecutorService;
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import java.util.concurrent.Executors;
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import java.util.concurrent.atomic.AtomicInteger;
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import gecaoji.Device;
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import zhuye.Coordinate;
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import publicway.Gpstoxuzuobiao;
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public class UDPServer {
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private static final int PORT = 7000; // 默认UDP监听端口
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private static final int BUFFER_SIZE = 65507; // UDP最大包大小
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private static final int THREAD_POOL_SIZE = 100; // 线程池大小
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private static final AtomicInteger RECEIVED_PACKET_COUNTER = new AtomicInteger(0);
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private static volatile Thread serverThread;
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/**
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* 启动 UDP 服务端监听线程，线程会常驻运行直至进程结束或手动中断。
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*
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* @return 正在运行的监听线程
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*/
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public static synchronized Thread startAsync() {
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if (serverThread != null && serverThread.isAlive()) {
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return serverThread;
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}
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Thread thread = new Thread(UDPServer::runServerLoop, "UDPServer-Listener");
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thread.setDaemon(false); // 保持 JVM 持续存活
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thread.start();
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serverThread = thread;
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return thread;
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}
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/**
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* 在当前线程中直接运行 UDP 服务端监听。
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*/
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public static void startSync() {
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runServerLoop();
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}
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/**
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* 监听并处理 UDP 数据包。
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*/
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private static void runServerLoop() {
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ExecutorService executor = Executors.newFixedThreadPool(THREAD_POOL_SIZE);
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try (DatagramSocket socket = new DatagramSocket(PORT)) {
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System.out.println("UDPServer started on port " + PORT);
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while (!Thread.currentThread().isInterrupted()) {
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byte[] buffer = new byte[BUFFER_SIZE];
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DatagramPacket packet = new DatagramPacket(buffer, buffer.length);
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try {
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socket.receive(packet);
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executor.submit(new PacketProcessor(packet));
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} catch (IOException e) {
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if (!socket.isClosed()) {
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System.err.println("Error receiving packet: " + e.getMessage());
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}
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}
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}
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} catch (SocketException e) {
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System.err.println("Could not start server: " + e.getMessage());
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} finally {
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executor.shutdownNow();
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}
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}
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public static void processIncomingMessage(String message) {
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String[] fields = message.split(",");
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// 检查字段数量是否完整
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if (fields.length != 21) {
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System.err.println("Invalid message format, expected 21 fields but got " + fields.length);
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return;
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}
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// 检查包头是否正确
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if (!fields[0].equals("$GNGGA")) {
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System.err.println("Invalid message header: " + fields[0]);
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return;
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}
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int sequence = incrementReceivedPacketCounter();
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System.out.println("收到了差分数据(" + sequence + ")：" + message);
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// 使用Gpstoxuzuobiao处理并获取XY坐标
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double[] xy = Gpstoxuzuobiao.processGNGGAToXY(message);
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if (xy != null) {
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// 这里可以将XY坐标传递给其他方法使用
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// System.out.println("UDP GNGGA -> XY: " + xy[0] + ", " + xy[1]);
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}
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Coordinate.parseGNGGAToCoordinateList(message);
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int count = Coordinate.coordinates.size();
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System.out.println("savenum:" + count);
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Device.updateFromGNGGA(message, fields[15]);
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}
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/**处理串口接收到的数据*/
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public static void processSerialData(String message) {
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String[] fields = message.split(",");
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// 检查字段数量是否完整
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if (fields.length < 15) {
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System.err.println("Invalid serial GNGGA format, expected at least 15 fields but got " + fields.length);
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return;
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}
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// 检查包头是否正确
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if (!fields[0].equals("$GNGGA")) {
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System.err.println("Invalid message header: " + fields[0]);
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return;
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}
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int sequence = incrementReceivedPacketCounter();
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System.out.println("收到了串口数据(" + sequence + ")：" + message);
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// 使用Gpstoxuzuobiao处理并获取XY坐标
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double[] xy = Gpstoxuzuobiao.processGNGGAToXY(message);
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if (xy != null) {
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// 这里可以将XY坐标传递给其他方法使用
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// System.out.println("Serial GNGGA -> XY: " + xy[0] + ", " + xy[1]);
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}
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Coordinate.dellchuankougngga(message);
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int count = Coordinate.coordinates.size();
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System.out.println("savenum:" + count);
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Device.updateFromSerialGNGGA(message);
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}
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private static int incrementReceivedPacketCounter() {
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return RECEIVED_PACKET_COUNTER.updateAndGet(current -> {
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int next = current + 1;
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if (next > 10000 || next <= 0) {
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next = 1;
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}
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return next;
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});
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}
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public static int getReceivedPacketCount() {
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return RECEIVED_PACKET_COUNTER.get();
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}
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private static class PacketProcessor implements Runnable {
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private final DatagramPacket packet;
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public PacketProcessor(DatagramPacket packet) {
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this.packet = packet;
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}
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@Override
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public void run() {
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String receivedData = new String(packet.getData(), 0, packet.getLength());
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// 处理可能的连包情况
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String[] messages = receivedData.split("\\$");
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for (String message : messages) {
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if (message.isEmpty()) {
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continue;
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}
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// 重新添加$符号以便统一处理
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String fullMessage = "$" + message;
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processIncomingMessage(fullMessage);
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}
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}
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}
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}
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