// UwbDataParser.java
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package publicsWay;
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import java.util.ArrayList;
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import java.util.List;
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public class UwbDataParser {
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private byte[] buffer = new byte[4096];
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private int bufferLength = 0;
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// Ìí¼ÓеÄparse·½·¨
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public String parse(byte[] data) {
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// Ìí¼ÓÊý¾Ýµ½»º³åÇø
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appendData(data, data.length);
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// ½âÎöÊý¾Ý°ü
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List<DataPacket> packets = parsePackets();
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if (packets.isEmpty()) {
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return "No complete packet found in data";
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}
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StringBuilder result = new StringBuilder();
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for (DataPacket packet : packets) {
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result.append(packet.toString()).append("\n");
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}
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return result.toString();
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}
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public void appendData(byte[] newData, int length) {
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if (bufferLength + length > buffer.length) {
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byte[] newBuffer = new byte[bufferLength + length];
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System.arraycopy(buffer, 0, newBuffer, 0, bufferLength);
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buffer = newBuffer;
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}
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System.arraycopy(newData, 0, buffer, bufferLength, length);
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bufferLength += length;
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}
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public void clearBuffer() {
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bufferLength = 0;
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}
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public List<DataPacket> parsePackets() {
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List<DataPacket> packets = new ArrayList<>();
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int index = 0;
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while (index <= bufferLength - 4) {
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if (buffer[index] == 0x55 && (buffer[index + 1] & 0xFF) == 0xAA) {
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int dataType = buffer[index + 2] & 0xFF;
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int dataLenField = buffer[index + 3] & 0xFF;
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int totalPacketLen = 4 + dataLenField;
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if (index + totalPacketLen > bufferLength) {
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break;
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}
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byte[] packetData = new byte[totalPacketLen];
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System.arraycopy(buffer, index, packetData, 0, totalPacketLen);
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if (verifyChecksum(packetData)) {
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DataPacket packet = parseSinglePacket(packetData);
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if (packet != null) {
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packets.add(packet);
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}
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index += totalPacketLen;
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} else {
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index++;
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}
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} else {
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index++;
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}
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}
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if (index > 0) {
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int remaining = bufferLength - index;
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System.arraycopy(buffer, index, buffer, 0, remaining);
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bufferLength = remaining;
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}
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return packets;
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}
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private boolean verifyChecksum(byte[] packet) {
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int len = packet.length;
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if (len < 4) return false;
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int sum = 0;
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for (int i = 2; i < len - 2; i++) {
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sum += packet[i] & 0xFF;
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}
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sum = ~sum & 0xFFFF;
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int receivedChecksum = ((packet[len - 1] & 0xFF) << 8) | (packet[len - 2] & 0xFF);
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return sum == receivedChecksum;
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}
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private DataPacket parseSinglePacket(byte[] packet) {
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int sequence = packet[4] & 0xFF;
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int tagId = ((packet[6] & 0xFF) << 8) | (packet[5] & 0xFF);
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int baseId = ((packet[8] & 0xFF) << 8) | (packet[7] & 0xFF);
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int distance = (packet[12] << 24) |
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((packet[11] & 0xFF) << 16) |
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((packet[10] & 0xFF) << 8) |
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(packet[9] & 0xFF);
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int battery = packet[13] & 0xFF;
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int buttonStatus = packet[14] & 0xFF;
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return new DataPacket(sequence,
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String.format("%04X", tagId),
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String.format("%04X", baseId),
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distance, battery, buttonStatus);
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}
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public static class DataPacket {
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private final int sequence;
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private final String tagId;
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private final String baseId;
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private final int distance;
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private final int battery;
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private final int buttonStatus;
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public DataPacket(int sequence, String tagId, String baseId,
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int distance, int battery, int buttonStatus) {
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this.sequence = sequence;
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this.tagId = tagId;
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this.baseId = baseId;
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this.distance = distance;
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this.battery = battery;
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this.buttonStatus = buttonStatus;
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}
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@Override
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public String toString() {
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return String.format("°üÐò: %d, ±êÇ©: %s, »ùÕ¾: %s, ¾àÀë: %d mm, µçÁ¿: %d%%, °´¼ü: %d",
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sequence, tagId, baseId, distance, battery, buttonStatus);
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}
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}
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}
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