fix: 尝试修复断联问题

sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/executor/D331RtcmMessageExecutor.java

@@ -122,14 +122,21 @@ public class D331RtcmMessageExecutor implements Executor<D331RtcmMessage, Void>
             deviceBs.setGeoidSeparation(gga.getGeoidSeparation());
         }
 
-        // 添加NTRIP处理
+        // 添加NTRIP处理 + rtkCluster 推送
         if(deviceBs.getForwardToNtrip()) {
             byte[] srcdata = message.getSrcData();
-            String rtcm = ByteUtil.bytesToHexString(srcdata);
+            String hex = ByteUtil.bytesToHexString(srcdata);
-            sendToNtrip(id, rtcm);
+            // 1) NTRIP：发送提取后的 RTCM 帧
+            sendToNtrip(id, hex);
 
+            // 2) rtkCluster：优先发送干净的 RTCM 帧（去除任何封装），退化时发送原始数据
             try {
-                rtkClusterService.sendRtcm(id, rtcm);
+                String rtcmsHex = RtcmGgaUtil.getRtcms(hex).toString();
+                if (rtcmsHex != null && !rtcmsHex.isEmpty()) {
+                    rtkClusterService.sendRtcmBytes(id, ByteUtil.hexStringTobyte(rtcmsHex));
+                } else {
+                    rtkClusterService.sendRtcmBytes(id, srcdata);
+                }
             } catch (Exception e) {
                 logger.debug("send to rtkCluster failed for {}: {}", id, e.getMessage());
             }

sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/ntrip/RtkrcvConfigService.java

@@ -55,6 +55,13 @@ public class RtkrcvConfigService {
             replaced = replaceValueLine(replaced, "inpstr2-path", nz(profile.getInpstr2Path()));
             replaced = replaceValueLine(replaced, "inpstr3-path", nz(profile.getInpstr3Path()));
             replaced = replaceValueLine(replaced, "outstr1-path", nz(profile.getOutstr1Path()));
+            // If local tcp endpoints are used (e.g., 127.0.0.1:port), force type to tcpcli
+            if (looksLikeTcpEndpoint(profile.getInpstr1Path())) {
+                replaced = replaceValueLine(replaced, "inpstr1-type", "tcpcli");
+            }
+            if (looksLikeTcpEndpoint(profile.getOutstr1Path())) {
+                replaced = replaceValueLine(replaced, "outstr1-type", "tcpcli");
+            }
             Integer outHeight = profile.getOutHeight();
             int heightValue = (outHeight == null) ? 1 : (outHeight == 0 ? 0 : 1);
             replaced = replaceValueLine(replaced, "out-height", String.valueOf(heightValue));
@@ -94,6 +101,13 @@ public class RtkrcvConfigService {
         return s == null ? "" : s;
     }
 
+    private boolean looksLikeTcpEndpoint(String path) {
+        if (path == null) return false;
+        String p = path.trim();
+        // Plain host:port without '@' credentials or path '/' considered tcp endpoint
+        return p.contains(":") && !p.contains("@") && !p.contains("/");
+    }
+
     /**
      * Replace the value of a line like: "key = value   # comment" while preserving spacing and comment.
      */

sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/rtkcluster/RtkClusterService.java

@@ -156,6 +156,13 @@ public class RtkClusterService implements ApplicationRunner {
         ep.enqueueRtcm(data);
     }
 
+    public void sendRtcmBytes(String deviceId, byte[] data) {
+        if (data == null || data.length == 0) return;
+        DeviceEndpoint ep = endpoints.get(deviceId);
+        if (ep == null) return;
+        ep.enqueueRtcm(data);
+    }
+
     static class DeviceEndpoint {
         private final int port;
         private final ExecutorService exec;
@@ -215,12 +222,16 @@ public class RtkClusterService implements ApplicationRunner {
                     if (n > 0 && isLikelyText(probe, n)) {
                         // OUT connection (NMEA etc.)
                         closeQuietly(outConn);
+                        s.setTcpNoDelay(true);
+                        s.setKeepAlive(true);
                         outConn = s;
                         LOGGER.debug("Endpoint {} OUT connected", port);
                         pumpOut(outConn, probe, n);
                     } else {
                         // IN connection (RTCM sink)
                         closeQuietly(inConn);
+                        s.setTcpNoDelay(true);
+                        s.setKeepAlive(true);
                         inConn = s;
                         LOGGER.debug("Endpoint {} IN connected", port);
                     }