302 lines
9.4 KiB
Dart
302 lines
9.4 KiB
Dart
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import 'dart:async';
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import 'dart:convert';
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import 'dart:io';
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import 'dart:typed_data';
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import 'package:flutter_bluetooth_serial/flutter_bluetooth_serial.dart';
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import 'package:get/get.dart';
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import 'package:intl/intl.dart';
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import 'package:nmea/nmea.dart';
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import 'package:terepi_seged/eov/convert_coordinate.dart';
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import 'package:terepi_seged/eov/eov.dart';
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import 'package:terepi_seged/gnss_sentences/gngga.dart';
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import 'package:terepi_seged/gnss_sentences/gngst.dart';
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import 'package:terepi_seged/gnss_sentences/gnrmc.dart';
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class RtcmTestController extends GetxController {
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String gpsAddress = "E8:31:CD:14:8B:B2";
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String gpsName = "TiGNSS Rover-8BB2";
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Rx<bool> gpsIsConnected = false.obs;
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RxBool ntripIsConnected = false.obs;
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RxInt ntripDataPacketNumbers = 0.obs;
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String _messageBuffer = "";
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late BluetoothConnection connection;
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late Socket socket;
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late StreamSubscription socketStreamSubscription;
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RxInt gpsReceivedData = 0.obs;
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RxBool hasGpsValidData = false.obs;
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DateTime lastGpsRefreshTime = DateTime.now();
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String utcOfPositionFix = "";
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String utcDateOfPositionFix = "";
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RxInt ntripReceivedData = 0.obs;
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final NmeaDecoder nmeaDecoder = NmeaDecoder();
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NumberFormat formatEov = NumberFormat("##0,000.0", "hu-HU");
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NumberFormat formatWgs84Sec = NumberFormat('00.000', 'hu-HU');
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RxDouble gpsLatitude = 0.0.obs;
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RxString gpsLatitudeDirection = "".obs;
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RxDouble gpsLongitude = 0.0.obs;
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RxString gpsLongitudeDirection = "".obs;
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RxDouble gpsAltitude = 0.0.obs;
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RxInt gpsQuality = 0.obs;
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RxDouble gpsLatitudeError = 0.0.obs;
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RxDouble gpsLongitudeError = 0.0.obs;
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RxDouble gpsAltitudeError = 0.0.obs;
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Rx<DateTime> gpsDateTime = DateTime(2000).obs;
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Rx<Eov> eov = Eov(0, 0).obs;
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RxInt latDegree = 0.obs;
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RxInt latMin = 0.obs;
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RxDouble latSec = 0.0.obs;
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RxInt longDegree = 0.obs;
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RxInt longMin = 0.obs;
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RxDouble longSec = 0.0.obs;
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@override
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void onInit() {
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super.onInit();
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//Loading, Success, Error handle with 1 line of code
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nmeaDecoder
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..registerTalkerSentence("GGA", (line) => Gngga(raw: line))
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..registerTalkerSentence("RMC", (line) => Gnrmc(raw: line))
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..registerTalkerSentence("GST", (line) => Gngst(raw: line));
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}
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@override
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void onClose() {
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super.onClose();
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FlutterBluetoothSerial.instance.setPairingRequestHandler(null);
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if (gpsIsConnected.value) {
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connection.close();
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// connection = null;
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print("BluetoothTestController dispose ....");
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}
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}
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void connectToGps() {
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if (gpsIsConnected == false) {
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BluetoothConnection.toAddress(gpsAddress).then((value) {
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connection = value;
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gpsIsConnected.value = true;
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print("GPS is connected ...");
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connection.input!.listen(_onDataReceived);
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});
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}
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}
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void disconnectFromGps() {
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if (gpsIsConnected.value) {
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connection.close();
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gpsIsConnected.value = false;
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print("GPS is disconnected ....");
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}
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if (ntripIsConnected.value) {
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disconnectFromNtripServer();
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}
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}
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void connectToNtripServer() async {
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socket = await Socket.connect(InternetAddress('3.23.52.207'), 2101,
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timeout: const Duration(seconds: 5));
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socket.asBroadcastStream;
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ntripIsConnected.value = true;
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socket.encoding = ascii;
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print("Connected to ntrip server ....");
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String header = "GET /KOVARIK HTTP/1.1\r\n";
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header += "User-Agent: SharpGps iter.dk\r\n";
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header += "Accept: */*\r\nConnection: close\r\n";
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header += "Authorization: Basic ${_toBase64("info@mail.app-dev.hu:")}\r\n";
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header += "Host:rtk2go.com:2101\r\n";
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header += "Ntrip-Vesrsion:Ntrip/2.0\r\n";
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header += "\r\n";
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// listen for responses from the server
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socketStreamSubscription = socket.listen(
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// handle data from the server
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(Uint8List data) {
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// "ICY 200 OK" - first response
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final serverResponse = String.fromCharCodes(data);
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ntripReceivedData.value = data.length;
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ntripDataPacketNumbers.value++;
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if (gpsIsConnected.value) {
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if (data.length > 12) {
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connection.output.add(data);
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}
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}
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print('Server: $ntripReceivedData');
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},
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// handle errors
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onError: (error) {
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print(error);
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socket.destroy();
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},
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// handle server ending connection
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onDone: () async {
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print('Server left.');
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socketStreamSubscription.cancel();
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await socket.flush();
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ntripIsConnected.value = false;
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ntripReceivedData.value = 0;
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socket.destroy();
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},
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);
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socket.add(_convertStringToUint8List(header));
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}
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void disconnectFromNtripServer() async {
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socketStreamSubscription.cancel();
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await socket.flush();
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socket.close();
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socket.destroy();
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ntripReceivedData.value = 0;
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ntripIsConnected.value = false;
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print("Disconnect from ntrip server....");
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}
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void _onDataReceived(Uint8List data) {
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String sentence = "";
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print("Bluetooth received -> ${data.length} byte(s)");
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String dataString = String.fromCharCodes(data);
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int index = data.indexOf(13);
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if (~index != 0) {
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sentence = _messageBuffer + dataString.substring(0, index);
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_messageBuffer = dataString.substring(index);
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} else {
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_messageBuffer = _messageBuffer + dataString;
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}
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// print("Message ($count): $sentence");
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_processGnssMessage(sentence);
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}
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String _toBase64(String str) {
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final bytes = ascii.encode(str);
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final base64Str = base64.encode(bytes);
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return base64Str;
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}
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Uint8List _convertStringToUint8List(String str) {
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final List<int> codeUnits = str.codeUnits;
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final Uint8List unit8List = Uint8List.fromList(codeUnits);
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return unit8List;
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}
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void _processGnssMessage(String message) {
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LineSplitter lineSplitter = const LineSplitter();
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List<String> lines = lineSplitter.convert(message);
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if (lines.isEmpty) {
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return;
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}
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for (String line in lines) {
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if (line.trim().isEmpty) {
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continue;
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}
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if (line.startsWith("\$GNGGA")) {
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final sentence = nmeaDecoder.decode(line);
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if (sentence!.valid && sentence is Gngga) {
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hasGpsValidData.value = sentence.gpsQualityIndicator > 0;
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if (hasGpsValidData.value) {
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if (DateTime.now().difference(lastGpsRefreshTime).inSeconds >= 2) {
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lastGpsRefreshTime = DateTime.now();
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utcOfPositionFix = sentence.utcOfPositionFix;
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gpsLatitude.value = sentence.latitude;
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gpsLatitudeDirection.value = sentence.latitudeDirection;
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gpsLongitude.value = sentence.longitude;
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gpsLongitudeDirection.value = sentence.longitudeDirection;
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gpsAltitude.value = sentence.altitudeAboveMeanSeaLevel;
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gpsQuality.value = sentence.gpsQualityIndicator;
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eov.value = ConvertCoordinate.ConvertWgsToEov(
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gpsLatitude.value, gpsLongitude.value);
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latDegree.value = ConvertCoordinate.toDegree(gpsLatitude.value);
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latMin.value = ConvertCoordinate.toMinute(gpsLatitude.value);
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latSec.value = ConvertCoordinate.toSecond(gpsLatitude.value);
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longDegree.value = ConvertCoordinate.toDegree(gpsLongitude.value);
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longMin.value = ConvertCoordinate.toMinute(gpsLongitude.value);
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longSec.value = ConvertCoordinate.toSecond(gpsLongitude.value);
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}
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}
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}
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}
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if (line.startsWith("\$GNGST") && hasGpsValidData.value) {
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final sentence = nmeaDecoder.decode(line);
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if (sentence!.valid && sentence is Gngst) {
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gpsLatitudeError.value = sentence.latitudeError;
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gpsLongitudeError.value = sentence.longitudeError;
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gpsAltitudeError.value = sentence.heightError;
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}
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}
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if (line.startsWith("\$GNRMC") && hasGpsValidData.value) {
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final sentence = nmeaDecoder.decode(line);
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if (sentence!.valid && sentence is Gnrmc) {
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utcDateOfPositionFix = sentence.date;
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if (utcDateOfPositionFix.isNotEmpty && utcOfPositionFix.isNotEmpty) {
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gpsDateTime.value = DateTime(
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2000 +
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int.parse(
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"${utcDateOfPositionFix[4]}${utcDateOfPositionFix[5]}"),
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int.parse(
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"${utcDateOfPositionFix[2]}${utcDateOfPositionFix[3]}"),
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int.parse(
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"${utcDateOfPositionFix[0]}${utcDateOfPositionFix[1]}"),
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int.parse("${utcOfPositionFix[0]}${utcOfPositionFix[1]}"),
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int.parse("${utcOfPositionFix[2]}${utcOfPositionFix[3]}"),
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int.parse("${utcOfPositionFix[4]}${utcOfPositionFix[5]}"));
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}
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}
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}
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}
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}
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String getGpsQualityIndicator({required int quality}) {
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String qualityStr = "Invalid";
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switch (quality) {
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case 0:
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{
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qualityStr = "Invalid";
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}
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break;
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case 1:
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{
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qualityStr = "Standard GPS (2D/3D)";
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}
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break;
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case 2:
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{
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qualityStr = "Differential GPS";
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}
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break;
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case 4:
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{
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qualityStr = "RTK Fix";
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}
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break;
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case 5:
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{
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qualityStr = "RTK Float";
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}
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break;
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case 6:
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{
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qualityStr = "Estimated (DR) Fix";
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}
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break;
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default:
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{
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qualityStr = "Invalid (-1)";
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}
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}
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return qualityStr;
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}
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}
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