Merge branch 'master' into feature/beidou

# Conflicts:
#	sec-beidou/src/main/resources/db/schema.sql

sec-api/src/main/java/com/imdroid/secapi/client/RtcmClient.java

@@ -9,6 +9,9 @@ public interface RtcmClient {
     @PostMapping("/config")
     HttpResp config(@RequestParam(name = "deviceId") String deviceId, @RequestParam(name = "configuration") String configData);
 
+    @PostMapping("/config_by_udp")
+    HttpResp configByUdp(@RequestParam(name = "deviceId") String deviceId, @RequestParam(name = "configuration") String configData);
+
     @PostMapping("/device_param_changed")
     HttpResp deviceParamChanged(@RequestParam(name = "deviceId") String deviceId,@RequestParam(name = "oldParentId") String oldParentId);
 

sec-beidou-fwd/pom.xml

@@ -114,15 +114,7 @@
                     </execution>
                 </executions>
             </plugin>
-            <plugin>
+
-                <groupId>org.apache.maven.plugins</groupId>
-                <artifactId>maven-compiler-plugin</artifactId>
-                <version>3.8.1</version><!-- 使用最新版本 -->
-                <configuration>
-                    <source>11</source>
-                    <target>11</target>
-                </configuration>
-            </plugin>
         </plugins>
     </build>
 

sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/bd/FocusCalculator7.java

@@ -2,13 +2,16 @@ package com.imdroid.sideslope.bd;
 
 import com.imdroid.sideslope.sal.Device;
 
+import static com.imdroid.sideslope.bd.GeoCoordConverterUtil.ECEF2ENU;
+import static com.imdroid.sideslope.bd.GeoCoordConverterUtil.LLA2ECEF;
+
 
 /**
  * 博通：用GGA绝对坐标代替相对位置
  */
 public class FocusCalculator7 extends FocusCalculator3{
 
-    final static long scale = 100000000L;//地球1°：111km，放大到mm乘以100,000,000
+    //final static long scale = 100000000L;//地球1°：111km，放大到mm乘以100,000,000
     final static int bad_change_mm = 500;//固定解跳变连续10次超过500mm，认为是周跳
     final static int bad_duration = 10;
 
@@ -18,7 +21,7 @@ public class FocusCalculator7 extends FocusCalculator3{
         super(bsDevice);
     }
 
-    @Override
+    /*@Override
     public void addGGA(Gga gga) {
         if(gga == null) return;
 
@@ -41,6 +44,55 @@ public class FocusCalculator7 extends FocusCalculator3{
         }
         else if(gga.getQuality() == 5) counterNoFixed++;
         else counterNoB562 ++;
+    }*/
+
+    @Override
+    public void addGGA(Gga gga) {
+        if(gga == null) return;
+        double[] end;
+
+        // 测站的GGA - 测站 LLA 数据
+        GeoCoordConverterUtil.LLA_Coordinate rover_lla = new GeoCoordConverterUtil.LLA_Coordinate(gga.getLatitude(),gga.getLongitude(),gga.getAltitude());
+        // 测站 LLA 坐标转 ECEF 坐标，单位米
+        GeoCoordConverterUtil.ECEF_Coordinate rover_ecef = LLA2ECEF(rover_lla);
+
+        if(bsDevice==null || bsDevice.getEcefx()==null){
+            end = new double[]{
+                    rover_ecef.getECEF_X()*1000,
+                    rover_ecef.getECEF_Y()*1000,
+                    rover_ecef.getECEF_Z()*1000,
+                    gga.getQuality()};
+        }
+        else {
+            // 查询测站的绑定的基站
+            GeoCoordConverterUtil.ECEF_Coordinate reference_ecef = new GeoCoordConverterUtil.ECEF_Coordinate(bsDevice.getEcefx(), bsDevice.getEcefy(), bsDevice.getEcefz());
+
+            // 以基站为站心的 ENU 坐标
+            GeoCoordConverterUtil.ENU_Coordinate difference_enu = ECEF2ENU(reference_ecef, rover_ecef);
+            end = new double[]{
+                    difference_enu.ENU_E*1000,
+                    difference_enu.ENU_N*1000,
+                    difference_enu.ENU_U*1000,
+                    gga.getQuality()};
+        }
+
+        if(gga.isFixed()) {
+            counterFixedResult++;
+            if(pointList.size()>0){
+                double[] lastXyz = pointList.get(pointList.size()-1);
+                if(Math.abs(end[0]-lastXyz[0])>bad_change_mm ||
+                        Math.abs(end[1]-lastXyz[1])>bad_change_mm ||
+                        Math.abs(end[2]-lastXyz[2])>bad_change_mm){
+                    bad_count++;
+                    return;
+                }
+            }
+            bad_count = 0;
+
+            pointList.add(end);
+        }
+        else if(gga.getQuality() == 5) counterNoFixed++;
+        else counterNoB562 ++;
     }
 
     @Override

sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/executor/D3F0SelfCheckMessageExecutor.java

@@ -49,6 +49,9 @@ public class D3F0SelfCheckMessageExecutor implements Executor<D3F0SelfCheckMessa
         Device device = deviceService.findByDeviceId(message.getId());
         if(device == null) return null;
 
+        //应答
+        sendD3F1Ack(device);
+
         // 检查是否需要对设备的F9P进行断电操作
         checkAndSendF9PPowerOffCommand(device);
         // 补齐tenantId
@@ -120,4 +123,14 @@ public class D3F0SelfCheckMessageExecutor implements Executor<D3F0SelfCheckMessa
         rtcmClient.config(device.getDeviceId(), sendCmd);
         saveMsg(device.getDeviceId(), device.getTenantId(),0xD313, sendCmd, true);
     }
+
+    void sendD3F1Ack(Device device){
+        int flag = 0xD3F1;
+        short len =   (short) (4);
+        String sendCmd = Integer.toHexString(flag)+
+                HexUtil.Short2HexString(len)+
+                HexUtil.Int2HexString(Integer.parseInt(device.getDeviceId()));
+
+        rtcmClient.config(device.getDeviceId(), sendCmd);
+    }
 }

sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/message/D3F0SelfCheckMessage.java

@@ -57,6 +57,40 @@ public class D3F0SelfCheckMessage extends BaseMessage {
                     " blVer:"+src.readUnsignedByte() +
                     " reboot:"+src.readUnsignedShort();
         }
+        if(src.readableBytes()>=8){
+            long lastActiveDate = src.readUnsignedInt();
+            long lastActiveTime = src.readUnsignedInt();
+            short year = (short) ((lastActiveDate>>16)&0xFF);
+            short month = (short) ((lastActiveDate>>8)&0xFF);
+            short day = (short) (lastActiveDate&0xFF);
+            byte hour = (byte) (lastActiveTime/3600);
+            byte munite = (byte) (lastActiveTime/60 - hour*60);
+            auxInfo = auxInfo + " last active time:"+
+                    year+"-"+month+"-"+day+" "+hour+":"+munite;
+        }
+        if(src.readableBytes()>=14){
+            int uart1Exception = src.readUnsignedShort();
+            int uart2Exception = src.readUnsignedShort();
+            int dtuException = src.readUnsignedShort();
+            long lastDtuErrDate = src.readUnsignedInt();
+            long lastDtuErrTime = src.readUnsignedInt();
+            if(uart1Exception>0) {
+                auxInfo = auxInfo + " uart1 err: "+uart1Exception;
+            }
+            if(uart2Exception>0) {
+                auxInfo = auxInfo + " uart2 err: "+uart2Exception;
+            }
+            if(lastDtuErrDate!=0){
+                auxInfo = auxInfo + " last dtu err state: "+dtuException;
+                short year = (short) ((lastDtuErrDate>>16)&0xFF);
+                short month = (short) ((lastDtuErrDate>>8)&0xFF);
+                short day = (short) (lastDtuErrDate&0xFF);
+                byte hour = (byte) (lastDtuErrTime/3600);
+                byte munite = (byte) (lastDtuErrTime/60 - hour*60);
+                auxInfo = auxInfo + " time: "+
+                        year+"-"+month+"-"+day+" "+hour+":"+munite;
+            }
+        }
 
         // read 会移动 bytebuf 的指针，所以保存原始码流需要将此指针挑拨回开始处
         src.readerIndex(0);

sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/server/udp/RtcmUdpHandler.java

@@ -32,11 +32,11 @@ public class RtcmUdpHandler extends ChannelInboundHandlerAdapter {
             if (packet.content() == null) {
                 return;
             }
-            if (logger.isDebugEnabled()) {
+            /*if (logger.isDebugEnabled()) {
                 byte[] data = new byte[packet.content().readableBytes()];
                 packet.content().getBytes(0, data);
                 logger.debug("receive message:" + DataTypeUtil.getHexString(data));
-            }
+            }*/
             // 消息解析
             BaseMessage message = MessageParser.instance.parse(packet.content());
             OnlineChannels.INSTANCE.updateDataChannel(message.getId(), ctx.channel(), packet.sender());

sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/web/ApiController.java

@@ -70,6 +70,33 @@ public class ApiController {
         return resp;
     }
 
+    @PostMapping(value = "/config_by_udp")
+    public HttpResp configByUdp(String deviceId, String configuration) {
+        Map<String, Object> status = new HashMap<>();
+        HttpResp resp = new HttpResp();
+        DeviceChannel deviceChannel = OnlineChannels.INSTANCE.getDataChannel(deviceId);
+
+        if(deviceChannel!=null){
+            status.put("status", "Online");
+            // send command
+            ByteBuf buf = Unpooled.buffer();
+            byte[] data = getBinaryData(ConfigDataTypeEnum.HEX, configuration);
+            logger.info("send command:{}", configuration);
+            buf.writeBytes(data);
+            deviceChannel.writeAndFlush(buf);
+        }
+
+        if (status.isEmpty()) {
+            status.put("status", "Offline");
+            resp.setCode(HttpResp.HTTP_RSP_FAILED);
+            resp.setResponseMessage("Offline.");
+        } else {
+            resp.setResponseMessage("Command sent.");
+        }
+        resp.setResponseObject(status);
+        return resp;
+    }
+
     @PostMapping("/device_param_changed")
     public HttpResp deviceParamChanged(String deviceId, String oldParentId) {
         // 更新设备缓存

sec-beidou-rtcm/src/main/resources/logback.xml

@@ -20,7 +20,7 @@
         </encoder>
     </appender>
 
-    <root level="debug">
+    <root level="info">
         <appender-ref ref="STDOUT" />
     </root>
     <logger name="org.springframework" level="warn" />

sec-beidou/pom.xml

@@ -155,7 +155,7 @@
                         </exclude>
                     </excludes>
                 </configuration>
-            </plugin><plugin><groupId>org.apache.maven.plugins</groupId><artifactId>maven-compiler-plugin</artifactId><configuration><source>11</source><target>11</target></configuration></plugin>
+            </plugin>
         </plugins>
     </build>
 

sec-beidou/src/main/java/com/imdroid/beidou/controller/CmdLineController.java

@@ -60,7 +60,8 @@ public class CmdLineController extends BasicController{
     public HttpResult configCmd(HttpSession session,
             @RequestParam("tx_win") String cmd,
                             @RequestParam("device_id") String deviceId,
-                            @RequestParam("cmd_type") int cmdType) {
+                            @RequestParam("cmd_type") int cmdType,
+                                @RequestParam("send_channel") int sendChannel) {
         String sendCmd = cmd.replaceAll(" +","");
         short len = 0;
         int msgType = 0xD310 + cmdType;
@@ -75,7 +76,10 @@ public class CmdLineController extends BasicController{
             sendCmd = Integer.toHexString(msgType) + HexUtil.Short2HexString(len)+
                     HexUtil.Int2HexString(Integer.parseInt(deviceId))+sendCmd;
         }
-        HttpResp<HashMap<String, Object>> rsp = rtcmClient.config(deviceId,sendCmd);
+        HttpResp<HashMap<String, Object>> rsp;
+        if(sendChannel == 0)
+            rsp = rtcmClient.config(deviceId,sendCmd);
+        else rsp = rtcmClient.configByUdp(deviceId,sendCmd);
 
         String txInfo = "TX "+ dateFormat.format(System.currentTimeMillis())+
                 " "+deviceId+" "+sendCmd;

sec-beidou/src/main/resources/db/schema.sql

@@ -321,17 +321,3 @@ CREATE TABLE IF NOT EXISTS `ApiKey` (
     `tenantname` varchar(100) DEFAULT NULL,
     PRIMARY KEY (`id`)
 ) ENGINE=InnoDB DEFAULT CHARSET=utf8;
-
-CREATE TABLE IF NOT EXISTS `gnssdevicesinglerecords` (
-   `id` bigint NOT NULL AUTO_INCREMENT COMMENT '主键ID',
-   `deviceid` varchar(64) NOT NULL COMMENT '设备ID',
-   `createtime` datetime(3) NOT NULL COMMENT '创建时间',
-   `model` smallint NOT NULL COMMENT '设备型号: 0-F9P(G505), 1-博通(G510)',
-   `x` double NOT NULL COMMENT 'GGA时是latitude, ECEF时是x',
-   `y` double NOT NULL COMMENT 'GGA时是longitude, ECEF时是y',
-   `z` double NOT NULL COMMENT 'GGA时是altitude, ECEF时是z',
-   `status` int NOT NULL DEFAULT '0' COMMENT 'GGA: 0初始化,1单点定位,2码差分,3无效PPS,4固定解,5浮点解,6估算,7人工固定,8模拟,9WAAS差分; ECEF: 0无B562,1浮点解,2固定解',
-   PRIMARY KEY (`id`),
-   KEY `idx_deviceid_createtime` (`deviceid`,`createtime`),
-   KEY `idx_createtime` (`createtime`)
-) ENGINE=InnoDB AUTO_INCREMENT=6 DEFAULT CHARSET=utf8mb4 COLLATE=utf8mb4_0900_ai_ci COMMENT='GNSS单次解算记录表';

sec-beidou/src/main/resources/templates/page/cmd_line.html

@@ -53,6 +53,15 @@
 								</select>
 							</div>
 						</div>
+						<div class="layui-inline">
+							<label class="layui-form-label">发送通道</label>
+							<div class="layui-input-inline">
+								<select name="send_channel" id="send_channel" lay-filter="send_channel">
+									<option value="0">管理通道</option>
+									<option value="1">数据通道</option>
+								</select>
+							</div>
+						</div>
 
 						<div class="layui-inline">
 							<div class="layui-input-block" style="float:right">

sec-beidou/src/main/resources/templates/page/gnss_dev_cfg.html

@@ -123,6 +123,9 @@
 		if([[${role}]] == "USER") {
 			cfg_cols[15].hide = true;
 		}
+		if([[${tenant_id}]] != 0) {
+			cfg_cols[10].hide = true;
+		}
 		/**
 		 * 初始化表单，要加上，不然刷新部分组件可能会不加载
 		 */

sec-beidou/src/main/resources/templates/page/operation_log.html

@@ -24,6 +24,12 @@
                                 <input type="text" name="sl_user_name" autocomplete="off" class="layui-input">
                             </div>
                         </div>
+                        <div class="layui-inline">
+                            <label class="layui-form-label">内容</label>
+                            <div class="layui-input-inline">
+                                <input type="text" name="sl_content" autocomplete="off" class="layui-input">
+                            </div>
+                        </div>
                         <div class="layui-inline">
                             <label class="layui-form-label">范围</label>
                             <div class="layui-input-inline">

sec-test-device/pom.xml

@@ -100,14 +100,7 @@
                     </execution>
                 </executions>
             </plugin>
-            <plugin>
+
-                <groupId>org.apache.maven.plugins</groupId>
-                <artifactId>maven-compiler-plugin</artifactId>
-                <configuration>
-                    <source>11</source>
-                    <target>11</target>
-                </configuration>
-            </plugin>
         </plugins>
     </build>
 

sec-test-device/src/main/resources/application.properties

@@ -20,3 +20,5 @@ app.format.time = HH:mm:ss
 app.format.datetime = yyyy-MM-dd HH:mm:ss
 
 mybatis-plus.configuration.map-underscore-to-camel-case=false
+
+netty.test.port = 9917