1、针对遮挡严重的场景做了优化

2、增加模拟终端子模块，便于算法验证

pom.xml

@@ -14,6 +14,7 @@
         <module>sec-beidou-rtcm</module>
         <module>sec-api</module>
         <module>sec-beidou-fwd</module>
+        <module>sec-test-device</module>
     </modules>
 
     <properties>

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

@@ -12,6 +12,9 @@ public interface RtcmClient {
     @PostMapping("/device_param_changed")
     HttpResp deviceParamChanged(@RequestParam(name = "deviceId") String deviceId);
 
+    @PostMapping("/group_param_changed")
+    HttpResp groupParamChanged();
+
     @PostMapping("/warning_param_changed")
     HttpResp warningParamChanged();
 }

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

@@ -3,6 +3,18 @@ package com.imdroid.sideslope.bd;
 public interface FocusCalculator {
     void reset();
     void addXyz(double[] xyz);
+    void addTilt(Tilt tilt);
+    void addDelayMs(int ms);
     int[] getB562Stat();
     double[] resultB562(double[] last);
+    double[] result9250();
+    double[] ekfResult(double[] b562Xyz, double[] tiltXyz);
+    Tilt avgTilt();
+    int getAvgDelayMs();
+    Tilt getTilt0();
+
+    double[] getPosition0();
+
+    double getR();
+    boolean isShocked();
 }

sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/bd/FocusCalculator1.java

@@ -1,5 +1,8 @@
 package com.imdroid.sideslope.bd;
 
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
+
 import java.util.*;
 
 /**
@@ -11,34 +14,38 @@ import java.util.*;
  * 6.。。。。。。
  */
 public class FocusCalculator1 implements FocusCalculator{
+    private final Logger logger = LoggerFactory.getLogger(FocusCalculator1.class);
 
-    private final List<double[]> list = Collections.synchronizedList(new ArrayList<>());
+    // b562算法相关：b562固定解的点、计算球心初始半径、迭代步长、最少点数
-    private final List<Tilt> tilts = Collections.synchronizedList(new ArrayList<>());
+    final List<double[]> pointList = Collections.synchronizedList(new ArrayList<>());
-    private Tilt tilt0;//初始状态
+    int gravityMinCount = 50;
-    private double[] position0;
+    int gravityMaxCount = 300;
-    private double r = 10;//杆的长度cm 20230718 测试改为10
+    double gravityInitR = 0.5;
-    //private boolean flag = false;  // 是否是第一次计算
+    double pointSelectedRate = 0.5;
-    private final List<Point> pointList = new ArrayList<>();
+    double iterStep = 0.1;
-    //public static double[] lastFocus = null;//
+    // 惯导算法相关
-    private int delay_ms = 0;
+    final List<Tilt> tilts = Collections.synchronizedList(new ArrayList<>());
-    private int counter = 0;
+    Tilt tilt0;//初始状态
-    private boolean isShock = false;
+    double[] position0;
-
+    double height = 200;
-    private final double shockThreshold = 1.5;
+    boolean isShock = false;
-
+    final double shockThreshold = 1.5;
-    private int counterNoB562 = 0;
-    private int counterNoFixed = 0;
-    private int counterFixedResult = 0;
 
+    //其他
+    int delay_ms = 0;
+    int delay_counter = 0;
+    int counterNoB562 = 0;
+    int counterNoFixed = 0;
+    int counterFixedResult = 0;
 
     /**
      * 构建计算器，如果tilt0和position0是null，那么计算过程将不考虑与tilts数据融合
-     * @param r 杆的长度，单位厘米
+     * @param height 杆的长度，单位厘米
      * @param tilt0 一个小时前的tilt平均值，用一小时的avgTilt计算得到，如果第一次，用null
      * @param position0 一个小时前的xyz三维坐标值，用一小时前的ekf计算得到的那个，如果第一次，用null
      */
-    public FocusCalculator1(double r, Tilt tilt0, double[] position0){
+    public FocusCalculator1(double height, Tilt tilt0, double[] position0){
-        this.r = r;
+        this.height = height;
         this.tilt0 = tilt0;
         this.position0 = position0;
         this.isShock = false;
@@ -53,15 +60,15 @@ public class FocusCalculator1 implements FocusCalculator{
 
     @Override
     public void reset(){
-        list.clear();
         pointList.clear();
+        tilts.clear();
         counterNoB562 = 0;
         counterNoFixed = 0;
         counterFixedResult = 0;
     }
 
     /**
-     * 加入list
+     * 加入pointList
      * @param xyz
      */
     @Override
@@ -71,10 +78,10 @@ public class FocusCalculator1 implements FocusCalculator{
         else {
             counterFixedResult ++;
             if (filter(xyz)) {
-                list.add(xyz);
+                pointList.add(xyz);
             }
-            if (list.size() > 300) {
+            if (pointList.size() > gravityMaxCount) {
-                list.remove(0);
+                pointList.remove(0);
             }
         }
     }
@@ -86,70 +93,68 @@ public class FocusCalculator1 implements FocusCalculator{
 
 
     /**
-     * 计算得到最终结果
+     * 计算本轮固定解的重心：
+     * 1、如果本轮固定解数少于50个，则直接计算均值
+     * 2、如果大于50个：
+     * a）找出离上次距离最近的50个点，计算初始重心
+     * b）以初始重心为球心，初始半径为0.5画球，找出所有在球内的点
+     * c）重新计算这个球的重心，半径增加0.1，再次找出所有在球内的点，直到筛选出不少于总数50%的点
+     * d）计算这些点的均值
      * @return
      */
     @Override
-    public double[] resultB562(double[] r9250Result){
+    public double[] resultB562(double[] lastResult){
-        int count = 50;
+        double r = gravityInitR;//初始球半径
-        double rate = 0.5;
         try {
-            double r = 0.5;//初始球半径
+            if(pointList.size() >= gravityMinCount){
-            if(list.size() >= count){
+                // 筛选出离上次解算结果最近的50个点计算初始球心
-                List<Point> results = new ArrayList<>();
+                // 如果没有上次位置，选最后50个点
-                if (r9250Result != null && r9250Result.length > 0){
+                // 为便于排序，使用Point对象
+                List<Point> selectPoints = new ArrayList<>();
+                if (lastResult != null && lastResult.length > 0){
                     // 计算所有点位与变量之间的距离，并存入集合
-                    pointList.clear();
+                    for (double[] point : pointList) {
-                    for (double[] point : list) {
+                        Point pointObj = new Point(point[0],point[1],point[2]);
-                        Point point1 = new Point(point[0],point[1],point[2]);
+                        pointObj.setXDistance(disXY(point,lastResult)); // 设置该点到变量的水平距离
-                        point1.setXDistance(disXY(point,r9250Result)); // 设置该点到变量的水平距离
+                        pointObj.setZDistance(Math.abs(point[2] - lastResult[2])); // 设置该点到变量的垂直距离
-                        point1.setZDistance(Math.abs(point[2] - r9250Result[2])); // 设置该点到变量的垂直距离
+                        selectPoints.add(pointObj); // 将点位加入集合
-                        results.add(point1); // 将点位加入集合
                     }
-                    Collections.sort(results, Comparator.comparing(Point::getXDistance));//排序
+                    Collections.sort(selectPoints, Comparator.comparing(Point::getXDistance));//排序
 
-                    results = results.subList(0, Math.min(50, results.size()));
+                    selectPoints = selectPoints.subList(0, Math.min(50, selectPoints.size()));
 
                 }else {
-                    for (int i = list.size()-count; i < list.size(); i++) {
+                    for (int i = pointList.size()-gravityMinCount; i < pointList.size(); i++) {
-                        results.add(new Point(list.get(i)[0],list.get(i)[1],list.get(i)[2]));
+                        selectPoints.add(new Point(pointList.get(i)[0],pointList.get(i)[1],pointList.get(i)[2]));
                     }
                     //flag = true;
                 }
 
                 // 求初始重心
-                double[] focus = focusPoint(results);
+                double[] focus = focusPointObj(selectPoints);
 
-                //重心
+                // 迭代计算重心，直到选出50%的点
                 int iterNum = 0;
-                if(globeProportion(focus,r) < rate){
+                List<double[]> pointList;
+                if(globeProportion(focus,r) < pointSelectedRate){
                     do{
                         iterNum++;
-                        r += 0.1;
+                        r += iterStep;
                         //球附近点集个数有可能为0，继续计算会导致focus结果出现NaN
-                        List<double[]> doubles1 = globeFilter(focus, r);
+                        pointList = globeFilter(focus, r);
-                        if(doubles1.size() == 0){
+                        if(pointList.size() == 0) continue;
-                            continue;
+                        focus = focusPoint(pointList);
-                        }
+                    }while (globeProportion(focus,r) < pointSelectedRate);
-                        focus = focus(doubles1);
+                    logger.info("calc focus iter num:{}, point num:{}",iterNum,pointList.size());
-                    }while (globeProportion(focus,r) < rate);
-                    System.out.println("calc focus iter num:"+iterNum);
-//                    if (flag){
-//                    lastFocus = new double[3];
-//                    lastFocus = focus;
-//                    }
                     return focus;
                 }else{
-//                    if (flag){
+                    logger.info("calc focus iter num:0, point num:{}",selectPoints.size());
-//                        lastFocus = new double[3];
-//                        lastFocus = focus;
-//                    }
                     return focus;
                 }
 
             }
         }catch (Exception e){
-            //如果计算过程中修改list，可能引发异常
+            //如果计算过程中修改pointList，可能引发异常
             e.printStackTrace();
         }
         return resultB562Sub();
@@ -159,10 +164,10 @@ public class FocusCalculator1 implements FocusCalculator{
      * resultB562替补方法，尽量不返回空
      * @return x,y,z,有效点数
      */
-    private double[] resultB562Sub(){
+    double[] resultB562Sub(){
-        if(list.size() > 0){
+        if(pointList.size() > 0){
             //重心
-            return focus(list);
+            return focusPoint(pointList);
         }
         return null;
     }
@@ -172,7 +177,7 @@ public class FocusCalculator1 implements FocusCalculator{
      * @param xyz
      * @return true表示数据正常
      */
-    private boolean filter(double[] xyz){
+    boolean filter(double[] xyz){
         double a = xyz[0]*xyz[1]*xyz[2];
         if(a == 0 || Double.isInfinite(a) || Double.isNaN(a)){
             return false;
@@ -185,7 +190,7 @@ public class FocusCalculator1 implements FocusCalculator{
      * @param list
      * @return
      */
-    private double[] focus(List<double[]> list){
+    double[] focusPoint(List<double[]> list){
         double sumX = 0;
         double sumY = 0;
         double sumZ = 0;
@@ -198,7 +203,7 @@ public class FocusCalculator1 implements FocusCalculator{
         return new double[]{sumX/count,sumY/count,sumZ/count};
     }
 
-    private double[] focusPoint(List<Point> list){
+    double[] focusPointObj(List<Point> list){
         double sumX = 0;
         double sumY = 0;
         double sumZ = 0;
@@ -231,15 +236,15 @@ public class FocusCalculator1 implements FocusCalculator{
      * @param r
      * @return
      */
-    private double globeProportion(double[] focus, double r){
+    double globeProportion(double[] focus, double r){
         int in = 0;//在球内的个数
-        for (double[] doubles : list) {
+        for (double[] doubles : pointList) {
             double dis = dis(doubles, focus);
             if(dis < r){
                 in += 1;
             }
         }
-        double proportion = 1.00*in/list.size();
+        double proportion = 1.00*in/pointList.size();
         return proportion;
     }
 
@@ -249,9 +254,9 @@ public class FocusCalculator1 implements FocusCalculator{
      * @param r
      * @return
      */
-    private List<double[]> globeFilter(double[] focus, double r){
+    List<double[]> globeFilter(double[] focus, double r){
         ArrayList<double[]> arrayList = new ArrayList<>();
-        for (double[] doubles1 : list) {
+        for (double[] doubles1 : pointList) {
             if(dis(doubles1,focus) < r){
                 arrayList.add(doubles1);
             }
@@ -266,6 +271,7 @@ public class FocusCalculator1 implements FocusCalculator{
      * 3.可用点数无，用9250
      * @return
      */
+    @Override
     public double[] ekfResult(double[] b562Xyz, double[] tiltXyz){
         if(tiltXyz == null){
             return b562Xyz;
@@ -275,15 +281,15 @@ public class FocusCalculator1 implements FocusCalculator{
         }
         double b562Variance;
         double tiltVariance = 5; //Sherlock 230802 2-》5， 减小惯导的长周期影响 
-        if(list.size() >= 50){
+        if(pointList.size() >= 50){
             b562Variance = 1;
-        }else if(list.size() >= 40){
+        }else if(pointList.size() >= 40){
             b562Variance = 3;
-        }else if(list.size() >= 30){
+        }else if(pointList.size() >= 30){
             b562Variance = 9;
-        }else if(list.size() >= 20){
+        }else if(pointList.size() >= 20){
             b562Variance = 30;
-        }else if(list.size() >= 10){
+        }else if(pointList.size() >= 10){
             b562Variance = 60;
         }else{
             b562Variance = 90;
@@ -303,77 +309,72 @@ public class FocusCalculator1 implements FocusCalculator{
      * 加入tilts
      * @param tilt
      */
+    @Override
     public void addTilt(Tilt tilt){
         tilts.add(tilt);
         if(tilt.getShock() > shockThreshold) isShock = true;
 
-        if(tilts.size() > 300){
+        if(tilts.size() > gravityMaxCount){
             tilts.remove(0);
         }
     }
 
+    @Override
     public boolean isShocked() {
         return isShock;
     }
 
-    /**
+        @Override
-     * 取平均
-     * @return
-     */
     public Tilt avgTilt() {
         if (tilts.size() == 0) {
             return null;
         }
-        try {
         Iterator<Tilt> iterator = tilts.iterator();
-            int size = tilts.size();
+        double roll = 0;
-            double sumP = 0;
+        double pitch = 0;
-            double sumR = 0;
+        double yaw = 0;
-            double sumY = 0;
         while (iterator.hasNext()) {
             Tilt tilt = iterator.next();
-                sumP += Math.sin(tilt.getPitch()*Math.PI/180);
+            roll += tilt.getRoll();
-                sumR += Math.sin(tilt.getRoll()*Math.PI/180);
+            pitch += tilt.getPitch();
-                sumY += Math.sin(tilt.getYaw()*Math.PI/180);
+            yaw += tilt.getYaw();
         }
-            double pitch = (Math.asin(sumP/size) * 180/Math.PI + 360)%360;
-            double roll = (Math.asin(sumR/size) * 180/Math.PI + 360)%360;
-            double yaw = (Math.asin(sumY/size) * 180/Math.PI + 360)%360;
-
         return new Tilt(pitch,roll,yaw);
-        }catch (Exception e){
-            e.printStackTrace();
-        }
-        return null;
     }
 
+    @Override
     public double[] result9250(){
         Tilt avg = avgTilt();
-        if(tilt0 == null || position0 == null || r == 0 || avg == null){
+        if(tilt0 == null || position0 == null || height == 0 || avg == null){
             return null;
         }
-        return TiltUtil.toPosition(avg,tilt0,position0,r);
+        return TiltUtil.toPosition(avg,tilt0,position0,height);
     }
 
+    @Override
     public Tilt getTilt0(){
         return tilt0;
     }
 
+    @Override
     public double[] getPosition0(){
         return position0;
     }
 
+    @Override
     public double getR(){
-        return r;
+        return height;
     }
 
+    @Override
     public void addDelayMs(int ms){
         delay_ms += ms;
-        counter ++;
+        delay_counter ++;
     }
 
+    @Override
     public int getAvgDelayMs(){
-        return delay_ms/counter;
+        return delay_ms/delay_counter;
     }
 
 }

sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/bd/FocusCalculator2.java

@@ -1,5 +1,6 @@
 package com.imdroid.sideslope.bd;
 
+import java.time.LocalDateTime;
 import java.util.*;
 
 /**
@@ -10,243 +11,79 @@ import java.util.*;
  * 5.否则，扩大半径0.01再求重心，包容百分之68，此重心为所求
  * 6.。。。。。。
  */
-public class FocusCalculator2 implements FocusCalculator{
+public class FocusCalculator2 extends FocusCalculator1{
+    final static int MAX_B562_NUM = 3600;
+    final static int B562_EXPIRED_HOUR = 2;
+    final List<LocalDateTime> pointTimeList = Collections.synchronizedList(new ArrayList<>());
 
-    private final List<double[]> list = Collections.synchronizedList(new ArrayList<>());
+/**
+     * 构建计算器，如果tilt0和position0是null，那么计算过程将不考虑与tilts数据融合
+     * @param height 杆的长度，单位厘米
+     * @param tilt0 一个小时前的tilt平均值，用一小时的avgTilt计算得到，如果第一次，用null
+     * @param position0 一个小时前的xyz三维坐标值，用一小时前的ekf计算得到的那个，如果第一次，用null
+     */
+    public FocusCalculator2(double height, Tilt tilt0, double[] position0){
+        super(height,tilt0,position0);
+        iterStep = 0.2;
+        gravityMaxCount = MAX_B562_NUM;
+    }
 
-    private final List<Point> pointList = new ArrayList<>();
+    public FocusCalculator2(){
-    private int counterNoB562 = 0;
-    private int counterNoFixed = 0;
-    private int counterFixedResult = 0;
 
+    }
     
     @Override
     public void reset(){
-        list.clear();
+        //pointList.clear();
-        pointList.clear();
         counterNoB562 = 0;
         counterNoFixed = 0;
         counterFixedResult = 0;
     }
 
     /**
-     * 加入list
+     * 加入pointList
      * @param xyz
      */
     @Override
     public void addXyz(double[] xyz){
+        LocalDateTime now = LocalDateTime.now();
+        Iterator<LocalDateTime> iterPointTime = pointTimeList.iterator();
+        Iterator<double[]> iterPoint = pointList.iterator();
+        while(iterPointTime.hasNext() && iterPoint.hasNext()){
+            LocalDateTime pointTime = iterPointTime.next();
+            if(now.isAfter(pointTime.plusHours(B562_EXPIRED_HOUR))){
+                iterPointTime.remove();
+                iterPoint.remove();
+            }
+            else{
+                break;
+            }
+        }
+
         if((int)xyz[3] == UBXUtil.NO_B562) counterNoB562++;
         else if((int)xyz[3] == UBXUtil.NO_FIX_RESULT) counterNoFixed++;
         else {
             counterFixedResult ++;
             if (filter(xyz)) {
-                list.add(xyz);
+                pointList.add(xyz);
+                pointTimeList.add(now);
             }
-            if (list.size() > 300) {
+            if (pointList.size() > gravityMaxCount) {
-                list.remove(0);
+                pointList.remove(0);
+                pointTimeList.remove(0);
             }
         }
     }
 
-    private boolean filter(double[] xyz){
+    public double[] resultB562(double[] lastResult){
-        double a = xyz[0]*xyz[1]*xyz[2];
+        if(counterFixedResult<30) return null;
-        if(a == 0 || Double.isInfinite(a) || Double.isNaN(a)){
+        else return super.resultB562(lastResult);
-            return false;
-        }
-        return true;
     }
 
     @Override
     public int[] getB562Stat(){
-        return new int[]{counterFixedResult,counterNoFixed,counterNoB562};
+        int[] b562Stat = new int[]{counterFixedResult,counterNoFixed,counterNoB562};
-    }
+        reset();
-
+        return b562Stat;
-
-    /**
-     * 计算得到最终结果
-     * @return
-     */
-    public double[] resultB562_2() {
-        // 求全体样本的重心
-        double e = 0;
-        double n = 0;
-        double d = 0;
-        for(double[] point: list){
-            e += point[0];
-            n += point[1];
-            d += point[2];
-        }
-        e /= list.size();
-        n /= list.size();
-        d /= list.size();
-
-        double g = 0;
-        int iterNum = 0;
-        while(Math.abs(g-e)>0.2){
-            g = e;
-            e = gravity(g, 0.3, 0);
-            iterNum ++;
-            if(iterNum>=10) break;
-        }
-        //System.out.println("e iter num: "+iterNum);
-
-        g = 0;
-        iterNum = 0;
-        while(Math.abs(g-n)>0.2){
-            g = n;
-            n = gravity(g, 0.26, 0);
-            iterNum ++;
-            if(iterNum>=10) break;
-        }
-        //System.out.println("n iter num: "+iterNum);
-
-        g = 0;
-        iterNum = 0;
-        while(Math.abs(g-d)>0.4){
-            g = d;
-            d = gravity(g, 0.87, 0);
-            iterNum ++;
-            if(iterNum>=10) break;
-        }
-        //System.out.println("e iter num: "+iterNum);
-
-        return new double[]{e,n,d};
-    }
-
-    double gravity(double g, double r, int index){
-        //筛选出半径为r=0.144的圆内的点
-        double newG = 0;
-        List<Double> list2 = new ArrayList<>();
-        for(double[] point: list){
-            if(Math.abs(point[index]-g)<=r){
-                list2.add(point[index]);
-                newG += point[index];
-            }
-        }
-        System.out.println("sub set: " + list2.size());
-        if(list2.size()>0) newG /= list2.size();
-        return newG;
-    }
-
-    @Override
-    public double[] resultB562(double[] last) {
-        double[] g = {0, 0, 0};
-        if(last != null) g=last;
-        else {
-            for (double[] xyz : list) {
-                g[0] += xyz[0];
-                g[1] += xyz[1];
-                g[2] += xyz[2];
-            }
-            g[0] /= list.size();
-            g[1] /= list.size();
-            g[2] /= list.size();
-        }
-
-        double[] g2 = {0,0,0};
-        int iterNum = 0;
-        while(isLarge(g,g2,2, 4)){
-            g2 = g;
-            g = gravity3(g);
-            iterNum ++;
-            if(iterNum>=10) break;
-        }
-        System.out.println("e iter num: "+iterNum);
-
-        return g;
-    }
-
-    boolean isLarge(double[] p1, double[] p2, double xy, double z){
-        //return true;
-        return (Math.sqrt((p1[0]-p2[0])*(p1[0]-p2[0])+(p1[1]-p2[1])*(p1[1]-p2[1]))>xy ||
-                Math.abs(p1[2]-p2[2])>z);
-    }
-
-    double[] gravity2(double[] g){
-        //筛选出半径为r=0.144的圆内的点
-        List<Point> points = new ArrayList<>();
-        for(double[] xyz: list){
-            Point point = new Point(xyz[0], xyz[1], xyz[2]);
-            point.setXDistance(Math.sqrt((xyz[0]-g[0])*(xyz[0]-g[0])+(xyz[1]-g[1])*(xyz[1]-g[1])));
-            point.setZDistance(Math.abs(xyz[2]-g[2]));
-            points.add(point);
-        }
-
-        double[] newG = {0,0,0};
-        int i=0;
-        int calcNum = points.size()*5/10;
-        Collections.sort(points, Comparator.comparing(Point::getXDistance));//升序排序
-        for(Point point:points){
-            newG[0] += point.getX();
-            newG[1] += point.getY();
-            i++;
-            if(i>=calcNum) {
-                newG[0] /= calcNum;
-                newG[1] /= calcNum;
-                break;
-            }
-        }
-
-        Collections.sort(points, Comparator.comparing(Point::getZDistance));//升序排序
-        i=0;
-        for(Point point:points){
-            newG[2] += point.getZ();
-            i++;
-            if(i>=calcNum) {
-                newG[2] /= calcNum;
-                break;
-            }
-        }
-
-        return newG;
-    }
-
-    double[] gravity3(double[] g){
-        //筛选出半径为r=0.144的圆内的点
-        List<Point> points = new ArrayList<>();
-        for(double[] xyz: list){
-            Point point = new Point(xyz[0], xyz[1], xyz[2]);
-            point.setXDistance(Math.abs(xyz[0]-g[0]));
-            point.setYDistance(Math.abs(xyz[1]-g[1]));
-            point.setZDistance(Math.abs(xyz[2]-g[2]));
-            points.add(point);
-        }
-
-        double[] newG = {0,0,0};
-        int i=0;
-        int calcNum = points.size()*5/10;
-        Collections.sort(points, Comparator.comparing(Point::getXDistance));//升序排序
-        for(Point point:points){
-            newG[0] += point.getX();
-            i++;
-            if(i>=calcNum) {
-                newG[0] /= calcNum;
-                break;
-            }
-        }
-
-        Collections.sort(points, Comparator.comparing(Point::getYDistance));//升序排序
-        i=0;
-        for(Point point:points){
-            newG[1] += point.getY();
-            i++;
-            if(i>=calcNum) {
-                newG[1] /= calcNum;
-                break;
-            }
-        }
-
-        Collections.sort(points, Comparator.comparing(Point::getZDistance));//升序排序
-        i=0;
-        for(Point point:points){
-            newG[2] += point.getZ();
-            i++;
-            if(i>=calcNum) {
-                newG[2] /= calcNum;
-                break;
-            }
-        }
-
-        return newG;
     }
 }

sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/calc/GNSSCalcFilterService.java

@@ -20,8 +20,6 @@ import java.util.concurrent.ConcurrentHashMap;
 public class GNSSCalcFilterService {
     private final Logger logger = LoggerFactory.getLogger(GNSSCalcFilterService.class);
 
-    @Resource(name = "local")
-    DeviceService gnssDeviceRepository;
     @Autowired
     private GnssGroupCalcMapper groupCalcMapper;
     @Autowired
@@ -44,18 +42,13 @@ public class GNSSCalcFilterService {
 
     final DateTimeFormatter dateFormatter = DateTimeFormatter.ofPattern("yyyy-MM-dd HH:mm:ss");
 
-    public void calc(GnssCalcData locationRecord, boolean isExceed)  {
+    public void calc(Device gnssDevice, GnssGroupCalc groupCalc, GnssCalcData locationRecord, boolean isExceed)  {
         String deviceId = locationRecord.getDeviceid();
-        Device gnssDevice = gnssDeviceRepository.findByDeviceId(deviceId);
-        if(gnssDevice == null) return;
 
         //补充解算记录的设备信息
         locationRecord.setTenantid(gnssDevice.getTenantId());
         locationRecord.setEnabled(true);
 
-        // 获取平滑参数
-        GnssGroupCalc groupCalc = getCalcParams(gnssDevice.getCalcGroupId());
-
         // 计算平滑周期
         int filterCycle = groupCalc.getFilter_hour();
         VaryFilterCycle varyCycle = autoCycleDevices.get(deviceId);
@@ -76,20 +69,6 @@ public class GNSSCalcFilterService {
 
     }
 
-    GnssGroupCalc getCalcParams(int calcGroupId){
-        GnssGroupCalc calcParam = groupCalcMapper.selectById(calcGroupId);
-        if(calcParam == null){
-            calcParam = new GnssGroupCalc();
-            calcParam.setAuto_filter(false);
-            calcParam.setFilter_hour(FILTER_DEFAULT_CYCLE_HOUR);
-            calcParam.setFilter_min_hour(FILTER_MIN_CYCLE_HOUR);
-            calcParam.setXy_threshold(XY_THRESHOLD);
-            calcParam.setZ_threshold(Z_THRESHOLD);
-            calcParam.setAuto_threshold(AUTO_THRESHOLD);
-        }
-        return calcParam;
-    }
-
     /**
      * 计算东北天的最近融合数据的加权平均, 刘畅20230725 copy 自 avgEND; id>20, 滤波参数6h 或 25h
      */
@@ -223,12 +202,8 @@ public class GNSSCalcFilterService {
         }
     }
 
-    public LocalDateTime updateRpos(String deviceId, LocalDateTime afterTime){
+    public LocalDateTime updateRpos(Device gnssDevice, GnssGroupCalc groupCalc,LocalDateTime afterTime){
-        // 获取平滑参数
+        String deviceId=gnssDevice.getDeviceId();
-        Device gnssDevice = gnssDeviceRepository.findByDeviceId(deviceId);
-        if(gnssDevice == null) return afterTime;
-        GnssGroupCalc groupCalc = getCalcParams(gnssDevice.getCalcGroupId());
-
         // 平滑处理
         LocalDateTime beforTime = afterTime.plusHours(groupCalc.getFilter_hour());
         QueryWrapper<GnssCalcData> query = new QueryWrapper<>();

sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/calc/GNSSDataCalcService.java

@@ -1,7 +1,8 @@
 package com.imdroid.sideslope.calc;
 
-import com.imdroid.sideslope.bd.Tilt;
+import com.imdroid.secapi.dto.GnssGroupCalc;
 import com.imdroid.sideslope.message.D341LocationMessage;
+import com.imdroid.sideslope.sal.Device;
 
 import java.time.LocalDateTime;
 
@@ -18,19 +19,6 @@ public interface GNSSDataCalcService {
     /**
      * 单轮解算结束，计算平滑值
      */
-    void calSingleDone(String deviceId, Integer tenantId, LocalDateTime resultTime);
+    void calSingleDone(Device device, GnssGroupCalc groupCalc, LocalDateTime resultTime);
-    /**
-     * 根据GNSS数据的中间结果，计算出最终结果
-     *
-     * @param deviceId 设备id
-     * @return x,y,z三轴数据
-     */
-    //double[] calcResult(String deviceId,double[] b562Xyz, double[] tiltXyz);
 
-    /**
-     * 根据GNSS数据的中间结果，计算Tilt的平均值
-     * @param deviceid 设备id
-     * @return Tilt
-     */
-    Tilt calcAvgTilt(String deviceid);
 }

sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/calc/MultiLineGNSSCalcService.java

@@ -5,13 +5,17 @@ import com.imdroid.secapi.dto.*;
 import com.imdroid.sideslope.message.BaseMessage;
 import com.imdroid.sideslope.message.D341LocationMessage;
 import com.imdroid.sideslope.message.D342LocationMessage;
+import com.imdroid.sideslope.sal.Device;
+import com.imdroid.sideslope.sal.DeviceService;
 import com.imdroid.sideslope.service.DataPersistService;
 import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.stereotype.Service;
 
+import javax.annotation.Resource;
 import java.time.LocalDateTime;
+import java.util.List;
 import java.util.Map;
 import java.util.concurrent.ConcurrentHashMap;
 
@@ -22,7 +26,7 @@ public class MultiLineGNSSCalcService {
         LocalDateTime createTime;
         LocalDateTime uploadTime;
     }
-    private static final Logger logger = LoggerFactory.getLogger(SingleLineGNSSCalcService.class);
+    private static final Logger logger = LoggerFactory.getLogger(MultiLineGNSSCalcService.class);
     private static final Map<String, D342Time> deviceMap = new ConcurrentHashMap<>();
     private static final Map<String, ResendRecord> fwdRecordMap = new ConcurrentHashMap<>();
 
@@ -36,6 +40,24 @@ public class MultiLineGNSSCalcService {
     private BeidouClient beidouClient;
     @Autowired
     DataPersistService dataPersistService;
+    @Resource(name = "local")
+    private DeviceService deviceService;
+
+    @Autowired
+    GnssGroupCalcMapper groupCalcMapper;
+    List<GnssGroupCalc> groupCalcList;
+
+    GnssGroupCalc getGroupCalc(int groupId){
+        if(groupCalcList == null){
+            groupCalcList = groupCalcMapper.selectList(null);
+        }
+        if(groupCalcList != null){
+            for(GnssGroupCalc groupCalc:groupCalcList){
+                if(groupCalc.getId() == groupId) return groupCalc;
+            }
+        }
+        return null;
+    }
 
     public void calc(D342LocationMessage d342Message){
         // 如果时间跨度大于1分钟，或者不含d341，则计算平滑值
@@ -56,7 +78,9 @@ public class MultiLineGNSSCalcService {
                 if (msgTime.isAfter(lastD342Time.createTime.plusMinutes(4))) {
                     logger.info(deviceId + " d341 cycle done!");
                     // 计算上轮结果
-                    calcService.calSingleDone(deviceId, d342Message.getTenantId(), lastD342Time.createTime);
+                    Device device = deviceService.findByDeviceId(deviceId);
+                    GnssGroupCalc groupCalc = getGroupCalc(device.getCalcGroupId());
+                    calcService.calSingleDone(device, groupCalc, lastD342Time.createTime);
                 }
             }
             else{
@@ -105,9 +129,11 @@ public class MultiLineGNSSCalcService {
 
         }
         // 计算上轮结果
-        calcService.calSingleDone(deviceId, tenantId, lastDate);
+        Device device = deviceService.findByDeviceId(deviceId);
+        GnssGroupCalc groupCalc = getGroupCalc(device.getCalcGroupId());
+        calcService.calSingleDone(device, groupCalc, lastDate);
         // 重算最近的
-        lastDate = gnssCalcFilterService.updateRpos(deviceId,lastDate);
+        lastDate = gnssCalcFilterService.updateRpos(device,groupCalc,lastDate);
         // 记录转发表更新为upload done
         ResendRecord fwdRecord = fwdRecordMap.get(deviceId);
         if(fwdRecord != null){
@@ -159,4 +185,9 @@ public class MultiLineGNSSCalcService {
         }
         else return null;
     }
+
+    public void refreshGroupCalc(){
+        groupCalcList = groupCalcMapper.selectList(null);
+        logger.info("group paras changed");
+    }
 }

sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/calc/SingleLineGNSSCalcService.java

@@ -2,6 +2,8 @@ package com.imdroid.sideslope.calc;
 
 import com.imdroid.common.util.ThreadManager;
 import com.imdroid.secapi.dto.GnssCalcData;
+import com.imdroid.secapi.dto.GnssGroupCalc;
+import com.imdroid.secapi.dto.GnssGroupCalcMapper;
 import com.imdroid.sideslope.bd.*;
 import com.imdroid.sideslope.message.D341LocationMessage;
 import com.imdroid.sideslope.sal.Device;
@@ -15,6 +17,7 @@ import org.springframework.stereotype.Service;
 import javax.annotation.Resource;
 import java.time.LocalDateTime;
 import java.util.Arrays;
+import java.util.List;
 import java.util.Map;
 import java.util.concurrent.*;
 /**
@@ -26,7 +29,7 @@ public class SingleLineGNSSCalcService implements GNSSDataCalcService {
 
     private static final Logger logger = LoggerFactory.getLogger(SingleLineGNSSCalcService.class);
 
-    private static final Map<String, FocusCalculator1> calculatorMap = new ConcurrentHashMap<>();
+    private static final Map<String, FocusCalculator> calculatorMap = new ConcurrentHashMap<>();
 
     private static final Map<String, ScheduledFuture<?>> timerMap = new ConcurrentHashMap<>();
 
@@ -36,8 +39,6 @@ public class SingleLineGNSSCalcService implements GNSSDataCalcService {
 
     private static final Map<String, Boolean> cleanTiltStatusMap = new ConcurrentHashMap<>();
 
-    private static final Map<String, Boolean> cleanPositionStatusMap = new ConcurrentHashMap<>();
-
     @Autowired
     WarningService warningService;
 
@@ -47,26 +48,53 @@ public class SingleLineGNSSCalcService implements GNSSDataCalcService {
     @Resource(name = "local")
     private DeviceService deviceService;
 
+    @Autowired
+    GnssGroupCalcMapper groupCalcMapper;
+    List<GnssGroupCalc> groupCalcList;
+
+    GnssGroupCalc getGroupCalc(int groupId){
+        if(groupCalcList == null){
+            groupCalcList = groupCalcMapper.selectList(null);
+        }
+        if(groupCalcList != null){
+            for(GnssGroupCalc groupCalc:groupCalcList){
+                if(groupCalc.getId() == groupId) return groupCalc;
+            }
+        }
+        return null;
+    }
+
     @Override
     public double[] calcSingle(D341LocationMessage message, boolean completeWhenIdle) {
         String deviceId = message.getId();
-        if(completeWhenIdle) resultOutputTimer(deviceId, message.getTenantId(), message.getCreateTime());
+        Device device = deviceService.findByDeviceId(deviceId);
+        if(device == null) return null;
+        GnssGroupCalc groupCalc = getGroupCalc(device.getCalcGroupId());
+
+        if(completeWhenIdle) resultOutputTimer(device, groupCalc, message.getCreateTime());
 
         //todo 创建FocusCalculator对象需获取该测站的杆长度，上一小时的Tilt平均值，上一小时的测站相对坐标融合值ekfResult
-        FocusCalculator1 focusCalculator = calculatorMap.computeIfAbsent(deviceId, s -> new FocusCalculator1(150,tiltMap.get(deviceId),
+        FocusCalculator focusCalculator;
-                positionMap.get(deviceId)));
+        /*if(groupCalc!=null && groupCalc.getVer() == 2){
+            focusCalculator = calculatorMap.computeIfAbsent(deviceId,
+                    s -> new FocusCalculator2(200,tiltMap.get(deviceId),positionMap.get(deviceId)));
+        }
+        else {*/
+            focusCalculator = calculatorMap.computeIfAbsent(deviceId,
+                    s -> new FocusCalculator1(200, tiltMap.get(deviceId),positionMap.get(deviceId)));
+        //}
+
         // 读取惯导
         Tilt tilt = message.getTilt();
-
         focusCalculator.addTilt(tilt);
         if (logger.isDebugEnabled()) {
-            logger.debug("测站" + deviceId + "的9250单次解析结果:{}", tilt + "," + Arrays.toString(TiltUtil.toPosition(tilt, focusCalculator.getTilt0(), focusCalculator.getPosition0(), focusCalculator.getR())));
+            logger.debug("测站" + deviceId + "惯导单次解析结果:{}", tilt);
         }
 
-        // 计算延迟
+        // 延迟
         focusCalculator.addDelayMs(message.getPps());
 
-        //计算到单次相对位置xyz并记录
+        // 单次b562
         double[] doubles = message.getB562_loc();
         focusCalculator.addXyz(doubles);
         if (logger.isDebugEnabled()) {
@@ -76,10 +104,10 @@ public class SingleLineGNSSCalcService implements GNSSDataCalcService {
     }
 
     @Override
-    public void calSingleDone(String deviceId, Integer tenantId, LocalDateTime resultTime) {
+    public void calSingleDone(Device device, GnssGroupCalc groupCalc, LocalDateTime resultTime) {
         ThreadManager.getScheduledThreadPool().schedule(() -> {
             try {
-                calCycleResult(deviceId, tenantId, resultTime);
+                calCycleResult(device, groupCalc, resultTime);
             } catch (Exception e) {
                 logger.error(e.toString());
             }
@@ -87,9 +115,9 @@ public class SingleLineGNSSCalcService implements GNSSDataCalcService {
 
     }
 
-    private void resultOutputTimer(String deviceId, Integer tenantId, LocalDateTime date){
+    private void resultOutputTimer(Device device, GnssGroupCalc groupCalc,LocalDateTime date){
         //40秒没数据后输出结果
-        ScheduledFuture<?> future = timerMap.get(deviceId);
+        ScheduledFuture<?> future = timerMap.get(device.getDeviceId());
         if (future != null && !future.isDone()) {
             future.cancel(true);
             future = null;
@@ -97,41 +125,37 @@ public class SingleLineGNSSCalcService implements GNSSDataCalcService {
 
         future = ThreadManager.getScheduledThreadPool().schedule(() -> {
             try {
-                calCycleResult(deviceId, tenantId, date);
+                calCycleResult(device, groupCalc,date);
                 // 清除统计
-                Device device = deviceService.findByDeviceId(deviceId);
+                device.clearStat();
-                if(device != null) device.clearStat();
             } catch (Exception e) {
                 logger.error(e.toString());
             }
-        },40, TimeUnit.SECONDS);
+        },20, TimeUnit.SECONDS);
-        timerMap.put(deviceId, future);
+        timerMap.put(device.getDeviceId(), future);
     }
 
-    private void calCycleResult(String deviceId, Integer tenantId, LocalDateTime resultTime) {
+    private void calCycleResult(Device device, GnssGroupCalc groupCalc, LocalDateTime resultTime) {
-        FocusCalculator1 focusCalculator = calculatorMap.get(deviceId);
+        String deviceId = device.getDeviceId();
+        Integer tenantId = device.getTenantId();
+        FocusCalculator focusCalculator = calculatorMap.get(deviceId);
         if(focusCalculator == null) return;
-        // 1.检查b562有效数，如果过少，产生告警
-        warningService.checkB562Num(deviceId, tenantId,
-                focusCalculator.getB562Stat());
 
-        // 2.数据处理：参考上次的位置，计算b562重心
+        // 数据处理：参考上次的位置，计算b562重心
-        double[] lastEfk = null;
+        double[] lastEfk = positionMap.get(deviceId);
-        if(positionMap.containsKey(deviceId)){
-            lastEfk = positionMap.get(deviceId);
-        }
         double[] b562Result = focusCalculator.resultB562(lastEfk);
-        double[] r9250Result = null;
+        double[] r9250Result = null; // 倾角转换成杆顶到杆底的位移
-        //判断 取到的b562  和上次融合坐标做判断，如果距离>100mm  不计算9250
+        double[] mergeResult = null;
-        if (lastEfk != null && b562Result!=null && FocusCalculator1.disXY(b562Result,lastEfk)<100){
+        //判断 取到的b562  和上次融合坐标做判断，如果距离>200mm  不计算融合值
+        if (lastEfk != null && b562Result!=null && FocusCalculator1.disXY(b562Result,lastEfk)<200){
             r9250Result = focusCalculator.result9250();
+            mergeResult = focusCalculator.ekfResult(b562Result,r9250Result);//融合位置
         }
-        double[] result = focusCalculator.ekfResult(b562Result,r9250Result);
+        Tilt tilt = focusCalculator.avgTilt();
-        Tilt tilt = calcAvgTilt(deviceId);
 
         logger.info("测站 {} 的b562相对坐标重心:{}", deviceId, Arrays.toString(b562Result));
-        logger.info("测站 {} 的9250相对坐标:{}", deviceId, Arrays.toString(r9250Result));
+        logger.info("测站 {} 的惯导相对坐标:{}", deviceId, Arrays.toString(r9250Result));
-        logger.info("测站 {} 的相对坐标融合值:{}", deviceId, Arrays.toString(result));
+        logger.info("测站 {} 的相对坐标融合值:{}", deviceId, Arrays.toString(mergeResult));
         logger.info("测站 {} 的Tilt平均值:{}", deviceId, tilt);
         logger.info("测站 {} 的平均延迟:{}ms", deviceId, focusCalculator.getAvgDelayMs());
 
@@ -143,30 +167,25 @@ public class SingleLineGNSSCalcService implements GNSSDataCalcService {
             } else {
                 tiltMap.put(deviceId, tilt);
             }
-        }
+        }/*
-        if (result != null && b562Result != null) {
+        if (mergeResult != null && b562Result != null) {
             //这里检查一下result，过滤1千米外非正常数据
-            if(focusCalculator.dis(result,b562Result) < 1000_00) {
+            if(focusCalculator.dis(mergeResult,b562Result) < 1000_00) {
                 if (Boolean.TRUE.equals(cleanPositionStatusMap.get(deviceId))) {
                     // 置为false，下一次计算时就可以正常设置值到positionMap了
                     cleanPositionStatusMap.put(deviceId, Boolean.FALSE);
                     logger.info("置为false，下一次计算时就可以正常设置值到positionMap了");
                 } else {
-                    positionMap.put(deviceId, result);
+                    positionMap.put(deviceId, mergeResult);
                 }
-                postLocationRecord(deviceId, b562Result, r9250Result, result, resultTime,
+                postLocationRecord(deviceId, b562Result, r9250Result, mergeResult, resultTime,
                         focusCalculator.getAvgDelayMs(), focusCalculator.isShocked());
             }else{
                 logger.error("融合值异常");
             }
-        }
+        }*/
-        focusCalculator.reset();
+        if (b562Result != null) {
-        calculatorMap.remove(deviceId);
+            positionMap.put(deviceId, b562Result);
-
-    }
-
-    private void postLocationRecord(String deviceId, double[] b562Result, double[] r9250Result, double[] result,
-                                    LocalDateTime resultTime, int delay, boolean isShocked) {
             GnssCalcData locationRecord = new GnssCalcData();
             locationRecord.setCreatetime(resultTime);
             locationRecord.setUpdatetime(LocalDateTime.now()); //通过这里可以区分补传记录
@@ -182,29 +201,28 @@ public class SingleLineGNSSCalcService implements GNSSDataCalcService {
                 locationRecord.setR9250n(r9250Result[1]);
                 locationRecord.setR9250d(r9250Result[2]);
             }
-
+/*
-        locationRecord.setPps(delay);
+            if(mergeResult!=null){
-        gnssCalcFilterService.calc(locationRecord, isShocked);
+                locationRecord.setMpose(mergeResult[0]);
+                locationRecord.setMposn(mergeResult[1]);
+                locationRecord.setMposd(mergeResult[2]);
+            }
+*/
+            locationRecord.setPps(focusCalculator.getAvgDelayMs());
+            gnssCalcFilterService.calc(device, groupCalc, locationRecord, focusCalculator.isShocked());
         }
 
-    @Override
+        // 检查b562有效数，如果过少，产生告警
-    public Tilt calcAvgTilt(String deviceId) {
+        warningService.checkB562Num(deviceId, tenantId,
-        FocusCalculator1 focusCalculator = calculatorMap.get(deviceId);
+                focusCalculator.getB562Stat());
-        if (focusCalculator != null) {
+
-            return focusCalculator.avgTilt();
+        focusCalculator.reset();
-        }
+        //calculatorMap.remove(deviceId);
-        return null;
+
     }
 
-    /***
+    public void refreshGroupCalc(){
-     * 清零：不需要，滤波窗口是按时间来选取历史数据的，只要超过4小时或一天，即使中间没有数据，也不会用
+        groupCalcList = groupCalcMapper.selectList(null);
-     * 超过filterCycle的数据
+        logger.info("group paras changed");
-
+    }
-    public void cleanTiltByDeviceId(String deviceId) {
-        logger.info("清零[{}]", deviceId);
-        tiltMap.remove(deviceId);
-        positionMap.remove(deviceId);
-        cleanTiltStatusMap.put(deviceId, Boolean.TRUE);
-        cleanPositionStatusMap.put(deviceId, Boolean.TRUE);
-    }*/
 }

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

@@ -1,6 +1,8 @@
 package com.imdroid.sideslope.web;
 
 import com.imdroid.secapi.client.HttpResp;
+import com.imdroid.sideslope.calc.MultiLineGNSSCalcService;
+import com.imdroid.sideslope.calc.SingleLineGNSSCalcService;
 import com.imdroid.sideslope.sal.LocalDeviceServiceImpl;
 import com.imdroid.sideslope.server.DeviceChannel;
 import com.imdroid.sideslope.server.OnlineChannels;
@@ -33,6 +35,10 @@ public class ApiController {
 
     @Autowired
     WarningService warningService;
+    @Autowired
+    SingleLineGNSSCalcService calcService;
+    @Autowired
+    MultiLineGNSSCalcService multiCalcService;
 
     @PostMapping(value = "/config")
     public HttpResp config(String deviceId, String configuration) {
@@ -74,6 +80,16 @@ public class ApiController {
         return resp;
     }
 
+    @PostMapping("/group_param_changed")
+    public HttpResp groupParamChanged(){
+        calcService.refreshGroupCalc();
+        multiCalcService.refreshGroupCalc();
+        HttpResp resp = new HttpResp();
+        resp.setResponseMessage("succeed");
+        return resp;
+    }
+
+
     @PostMapping("/warning_param_changed")
     public HttpResp warningParamChanged(){
         warningService.refreshCfg();

sec-beidou-rtcm/src/test/java/FocusCalculator3.java

@@ -1,188 +0,0 @@
-import com.imdroid.sideslope.bd.FocusCalculator;
-import com.imdroid.sideslope.bd.Point;
-import org.ejml.simple.SimpleMatrix;
-
-import java.util.ArrayList;
-import java.util.Collections;
-import java.util.Comparator;
-import java.util.List;
-
-public class FocusCalculator3 implements FocusCalculator {
-
-    private final List<double[]> list = Collections.synchronizedList(new ArrayList<>());
-
-    private final List<Double> listE = Collections.synchronizedList(new ArrayList<>());
-
-    private final List<Double> listN = Collections.synchronizedList(new ArrayList<>());
-
-    private final List<Double> listD = Collections.synchronizedList(new ArrayList<>());
-
-    private final List<Point> pointList = new ArrayList<>();
-
-
-    @Override
-    public void reset(){
-        list.removeAll(list);
-        pointList.removeAll(pointList);
-        listE.removeAll(listE);
-        listD.removeAll(listD);
-        listN.removeAll(listN);
-    }
-
-    /**
-     * 加入list
-     * @param xyz
-     */
-    @Override
-    public void addXyz(double[] xyz){
-        if(filter(xyz)){
-            list.add(xyz);
-        }
-        if(list.size() > 300){
-            list.remove(0);
-        }
-    }
-
-    private boolean filter(double[] xyz){
-        double a = xyz[0]*xyz[1]*xyz[2];
-        if(a == 0 || Double.isInfinite(a) || Double.isNaN(a)){
-            return false;
-        }
-        return true;
-    }
-
-    @Override
-    public int[] getB562Stat(){
-        return new int[]{0,0,0};
-    }
-
-    @Override
-    public double[] resultB562(double[] last) {
-        double[] g = {0, 0, 0};
-        if(last != null) g=last;
-        else {
-            for (double[] xyz : list) {
-                g[0] += xyz[0];
-                g[1] += xyz[1];
-                g[2] += xyz[2];
-            }
-            g[0] /= list.size();
-            g[1] /= list.size();
-            g[2] /= list.size();
-        }
-
-        makeMatrixList(g);
-
-        double[] l = listE.stream().mapToDouble(Double::doubleValue).toArray();
-        double e = igg3(l);
-        l = listN.stream().mapToDouble(Double::doubleValue).toArray();
-        double n = igg3(l);
-        l = listD.stream().mapToDouble(Double::doubleValue).toArray();
-        double d = igg3(l);
-
-        return new double[]{e,n,d};
-    }
-
-    void makeMatrixList(double[] g){
-        //筛选出半径为r=0.144的圆内的点
-        List<Point> points = new ArrayList<>();
-        for(double[] xyz: list){
-            Point point = new Point(xyz[0], xyz[1], xyz[2]);
-            point.setXDistance(Math.abs(xyz[0]-g[0]));
-            point.setYDistance(Math.abs(xyz[1]-g[1]));
-            point.setZDistance(Math.abs(xyz[2]-g[2]));
-            points.add(point);
-        }
-
-        int calcNum = points.size()*5/10;
-        Collections.sort(points, Comparator.comparing(Point::getXDistance));//升序排序
-        for(Point point:points){
-            listE.add(point.getX());
-            if(listE.size()>=calcNum) {
-                break;
-            }
-        }
-
-        Collections.sort(points, Comparator.comparing(Point::getYDistance));//升序排序
-        for(Point point:points){
-            listN.add(point.getY());
-            if(listN.size()>=calcNum) {
-                break;
-            }
-        }
-
-        Collections.sort(points, Comparator.comparing(Point::getZDistance));//升序排序
-        for(Point point:points){
-            listD.add(point.getZ());
-            if(listD.size()>=calcNum) {
-                break;
-            }
-        }
-    }
-
-    public static double igg3(double[] l)  {
-        SimpleMatrix L = new SimpleMatrix(l.length,1,false,l);
-        SimpleMatrix B = new SimpleMatrix(l.length,1);
-        B.fill(1);
-        SimpleMatrix P = new SimpleMatrix(l.length, l.length);
-        for(int i=0; i<l.length;i++){
-            //P.set(i,i,1/l[i]);
-            P.set(i,i,1);
-        }
-        double x_prev=0;
-        double x0=0;
-        for(int i=0;i<l.length;i++){
-            x0 += l[i];
-        }
-        x0 /= l.length;
-
-        L = L.minus(x0);
-        SimpleMatrix W,N,X,V,Q,Qvv;
-        SimpleMatrix sigma0;
-        double s0;
-        double k0=1.0, k1=5, k=1.0;
-        int iterNum = 0;
-
-        while(iterNum<10){
-            W = B.transpose().mult(P).mult(L);  //W=B'*P*l;
-            N = B.transpose().mult(P).mult(B);  //N=B'*P*B;
-            X = N.invert().mult(W);             //x=inv(N)*W;% 待估参数向量
-            V = B.mult(X).minus(L);             //v=B*x-l;% 残差向量
-
-            sigma0 = V.transpose().mult(P).mult(V).divide((l.length-1));
-            s0 = Math.sqrt(sigma0.get(0,0));//sigma0=sqrt(v'*P*v/(10-1));% 单位权中误差
-            //System.out.println(X);
-            //System.out.println(s0);
-            Q = P.invert();//Q=inv(P);
-            Qvv = Q.minus(B.mult(N.invert().mult(B.transpose())));//Qvv=Q-B*inv(N)*B';
-
-            for(int i=0; i<l.length; i++){
-                double v = V.get(i)/(s0*Math.sqrt(Qvv.get(i,i))); //v_=v(i)/(sigma0*sqrt(Qvv(i,i)));
-                if(Math.abs(v) < k0){
-                    k = 1.0;
-                }
-                else if(Math.abs(v) > k1){
-                    k = 1e-8;
-                }
-                else{
-                    k=(k1-Math.abs(v))/(k1-k0);
-                    k=k*k*(k0/Math.abs(v));
-                }
-                P.set(i,i,P.get(i,i)*k); //P(i,i)=P(i,i)*k;
-            }
-
-            if(x_prev==0) {
-                x_prev = X.get(0);
-            }
-            else if(Math.abs(x_prev-X.get(0))<0.1) {
-                break;
-            }
-            x_prev = X.get(0);
-            iterNum++;
-        }
-
-        //x=x0+x_prev;%求出的最后长度 初值+改正数
-        return (x0+x_prev);
-    }
-
-}

sec-beidou-rtcm/src/test/java/FocusCalculatorTest.java

@@ -22,8 +22,7 @@ import java.util.ListIterator;
         classes = {
                 FocusCalculatorTest.class,
                 FocusCalculator1.class,
-                FocusCalculator2.class,
+                FocusCalculator2.class
-                FocusCalculator3.class
         }
 )
 

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

@@ -4,6 +4,7 @@ import com.alibaba.fastjson.JSONObject;
 import com.baomidou.mybatisplus.core.metadata.IPage;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.imdroid.beidou.common.HttpResult;
+import com.imdroid.secapi.client.RtcmClient;
 import com.imdroid.secapi.dto.*;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.stereotype.Controller;
@@ -18,9 +19,10 @@ public class GnssGroupController extends BasicController {
     GnssGroupMapper gnssGroupMapper;
     @Autowired
     GnssGroupCalcMapper gnssGroupCalcMapper;
-
     @Autowired
     GnssDeviceMapper deviceMapper;
+    @Autowired
+    RtcmClient rtcmClient;
 
     /********* 推送页面 *********/
     @RequestMapping("/page/table/gnss_add_group")
@@ -125,7 +127,10 @@ public class GnssGroupController extends BasicController {
         }
         if (num == 0) {
             return HttpResult.failed();
-        } else return HttpResult.ok();
+        } else{
+            rtcmClient.groupParamChanged();
+            return HttpResult.ok();
+        }
     }
 
     @PostMapping("/gnss/group/delete_calc")
@@ -141,7 +146,10 @@ public class GnssGroupController extends BasicController {
         int num = gnssGroupCalcMapper.deleteById(del_id);
         if (num == 0) {
             return HttpResult.failed();
-        } else return HttpResult.ok();
+        } else{
+            rtcmClient.groupParamChanged();
+            return HttpResult.ok();
+        }
     }
 
 }

sec-beidou/src/main/java/com/imdroid/beidou/task/DatasetCleaner.java

@@ -76,7 +76,7 @@ public class DatasetCleaner {
 
     void checkFwdDataset(){
         long before = System.currentTimeMillis() -
-                (long)365 * 24 * 3600 * 1000;
+                (long)180 * 24 * 3600 * 1000;
         Timestamp t = new Timestamp(before);
         int count = fwdRecordMapper.deleteTimeBefore(t);
         log.info("clean fwd dataset num: "+count);

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

@@ -92,9 +92,9 @@
             {field: 'rpose', title: '相对东', templet: "<div>{{d.rpose==null?'':d.rpose.toFixed(2)}}</div>"},
             {field: 'rposn', title: '相对北', templet: "<div>{{d.rposn==null?'':d.rposn.toFixed(2)}}</div>"},
             {field: 'rposd', title: '相对天', templet: "<div>{{d.rposd==null?'':d.rposd.toFixed(2)}}</div>"},
-            {field: 'auxe', title: '辅助东', templet: "<div>{{d.auxe==null?'':d.auxe.toFixed(2)}}</div>"},
+            //{field: 'auxe', title: '辅助东', templet: "<div>{{d.auxe==null?'':d.auxe.toFixed(2)}}</div>"},
-            {field: 'auxn', title: '辅助北', templet: "<div>{{d.auxn==null?'':d.auxn.toFixed(2)}}</div>"},
+            //{field: 'auxn', title: '辅助北', templet: "<div>{{d.auxn==null?'':d.auxn.toFixed(2)}}</div>"},
-            {field: 'auxd', title: '辅助天', templet: "<div>{{d.auxd==null?'':d.auxd.toFixed(2)}}</div>"},
+            //{field: 'auxd', title: '辅助天', templet: "<div>{{d.auxd==null?'':d.auxd.toFixed(2)}}</div>"},
             {field: 'enabled', title: '有效',templet: '#enabledTrans'},
             {field: 'pps', title: '平均延迟'}
         ];

sec-test-device/pom.xml

@@ -0,0 +1,128 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project xmlns="http://maven.apache.org/POM/4.0.0"
+         xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
+         xsi:schemaLocation="http://maven.apache.org/POM/4.0.0 http://maven.apache.org/xsd/maven-4.0.0.xsd">
+    <modelVersion>4.0.0</modelVersion>
+    <parent>
+        <groupId>com.imdroid</groupId>
+        <artifactId>security-monitor</artifactId>
+        <version>1.0-SNAPSHOT</version>
+    </parent>
+
+    <artifactId>sec-test-device</artifactId>
+
+    <properties>
+        <maven.compiler.source>11</maven.compiler.source>
+        <maven.compiler.target>11</maven.compiler.target>
+        <project.build.sourceEncoding>UTF-8</project.build.sourceEncoding>
+    </properties>
+
+    <dependencies>
+        <dependency>
+            <groupId>org.springframework.boot</groupId>
+            <artifactId>spring-boot-starter-web</artifactId>
+        </dependency>
+        <dependency>
+            <groupId>org.springframework.boot</groupId>
+            <artifactId>spring-boot-starter-test</artifactId>
+            <scope>test</scope>
+        </dependency>
+        <dependency>
+            <groupId>org.springframework.boot</groupId>
+            <artifactId>spring-boot-devtools</artifactId>
+            <optional>true</optional>
+        </dependency>
+
+        <dependency>
+            <groupId>org.slf4j</groupId>
+            <artifactId>slf4j-api</artifactId>
+        </dependency>
+        <dependency>
+            <groupId>ch.qos.logback</groupId>
+            <artifactId>logback-classic</artifactId>
+        </dependency>
+        <dependency>
+            <groupId>io.netty</groupId>
+            <artifactId>netty-all</artifactId>
+            <version>4.1.78.Final</version>
+        </dependency>
+        <dependency>
+            <groupId>com.google.code.gson</groupId>
+            <artifactId>gson</artifactId>
+            <version>2.9.1</version>
+        </dependency>
+        <dependency>
+            <groupId>org.apache.httpcomponents</groupId>
+            <artifactId>httpclient</artifactId>
+            <version>4.5.13</version>
+        </dependency>
+
+        <dependency>
+            <groupId>com.imdroid</groupId>
+            <artifactId>sec-api</artifactId>
+            <version>1.0-SNAPSHOT</version>
+        </dependency>
+        <dependency>
+            <groupId>com.imdroid</groupId>
+            <artifactId>sec-common</artifactId>
+            <version>1.0-SNAPSHOT</version>
+        </dependency>
+
+        <dependency>
+            <groupId>org.projectlombok</groupId>
+            <artifactId>lombok</artifactId>
+            <optional>true</optional>
+        </dependency>
+        <dependency>
+            <groupId>com.alibaba</groupId>
+            <artifactId>fastjson</artifactId>
+            <version>1.2.76</version>
+        </dependency>
+        <!--mqtt相关依赖-->
+        <dependency>
+            <groupId>org.eclipse.paho</groupId>
+            <artifactId>org.eclipse.paho.client.mqttv3</artifactId>
+            <version>1.2.5</version>
+        </dependency>
+    </dependencies>
+
+    <build>
+        <finalName>${project.artifactId}</finalName>
+        <plugins>
+            <plugin>
+                <groupId>org.springframework.boot</groupId>
+                <artifactId>spring-boot-maven-plugin</artifactId>
+                <executions>
+                    <execution>
+                        <goals>
+                            <goal>repackage</goal>
+                        </goals>
+                    </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>
+
+    <repositories>
+        <repository>
+            <id>central</id>
+            <name>ali-mirror</name>
+            <url>https://maven.aliyun.com/repository/central</url>
+            <releases>
+                <enabled>true</enabled>
+            </releases>
+            <snapshots>
+                <enabled>true</enabled>
+            </snapshots>
+        </repository>
+    </repositories>
+
+</project>

sec-test-device/src/main/java/com/imdroid/beidou/test_device/BeidouTestApp.java

@@ -0,0 +1,24 @@
+package com.imdroid.beidou.test_device;
+
+import com.imdroid.beidou.test_device.task.BeidouDevice;
+import org.springframework.boot.SpringApplication;
+import org.springframework.boot.autoconfigure.SpringBootApplication;
+import org.springframework.context.annotation.ComponentScan;
+
+
+/**
+ * @author Layton
+ * @date 2023/1/31 20:33
+ */
+@SpringBootApplication(scanBasePackages = {"com.imdroid"})
+@ComponentScan({"com.imdroid.*"})
+public class BeidouTestApp {
+
+    public static void main(String[] args) {
+
+        SpringApplication.run(BeidouTestApp.class, args);
+        BeidouDevice beidouDevice = new BeidouDevice();
+        beidouDevice.connectServer();
+        beidouDevice.run();
+    }
+}

sec-test-device/src/main/java/com/imdroid/beidou/test_device/service/TCPClient.java

@@ -0,0 +1,127 @@
+package com.imdroid.beidou.test_device.service;
+
+import com.imdroid.common.util.ThreadManager;
+import io.netty.bootstrap.Bootstrap;
+import io.netty.buffer.ByteBuf;
+import io.netty.buffer.Unpooled;
+import io.netty.channel.*;
+import io.netty.channel.nio.NioEventLoopGroup;
+import io.netty.channel.socket.SocketChannel;
+import io.netty.channel.socket.nio.NioSocketChannel;
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
+
+import java.nio.charset.StandardCharsets;
+import java.time.LocalDateTime;
+import java.util.concurrent.TimeUnit;
+
+public class TCPClient {
+    private final Logger logger = LoggerFactory.getLogger(this.getClass());
+
+    private String host;
+
+    private int port;
+
+    private Bootstrap bootstrap;
+    private EventLoopGroup group;
+    private Channel channel;
+    LocalDateTime connectTime = LocalDateTime.now();
+    TCPListener listener;
+
+    public void start() {
+        new Thread(this::connect, "forwarder tcp-client").start();
+    }
+
+    public void init(String dest_addr, int dest_port, TCPListener listener) {
+        this.host = dest_addr;
+        this.port = dest_port;
+        this.listener = listener;
+
+        //客户端需要一个事件循环组
+        group = new NioEventLoopGroup();
+        //创建客户端启动对象
+        // bootstrap 可重用, 只需在NettyClient实例化的时候初始化即可.
+        bootstrap = new Bootstrap();
+        bootstrap.group(group)
+                .channel(NioSocketChannel.class)
+                .handler(new ChannelInitializer<SocketChannel>() {
+                    @Override
+                    protected void initChannel(SocketChannel ch) throws Exception {
+                        //加入处理器
+                        ch.pipeline().addLast(new TcpMessageHandler(TCPClient.this));
+                    }
+                });
+    }
+
+    public void connect() {
+        logger.info("netty client starting");
+        //启动客户端去连接服务器端
+        try {
+            ChannelFuture cf = bootstrap.connect(host, port);
+            cf.addListener(new ChannelFutureListener() {
+                @Override
+                public void operationComplete(ChannelFuture future) throws Exception {
+                    if (!future.isSuccess()) {
+                        //重连交给后端线程执行
+                        future.channel().eventLoop().schedule(() -> {
+                            logger.info("tcp client reconnect");
+                            try {
+                                connect();
+                            } catch (Exception e) {
+                                e.printStackTrace();
+                            }
+                        }, 5000, TimeUnit.MILLISECONDS);
+                    } else {
+                        logger.info("tcp client start success!");
+                    }
+                }
+            });
+            //对通道关闭进行监听
+            this.channel = cf.channel();
+            this.channel.closeFuture().sync();
+        } catch (Exception e) {
+            logger.error("netty client error:", e);
+        }
+    }
+
+    public void writeAndFlush(String json) {
+        ByteBuf sendBuffer = Unpooled.buffer();
+        sendBuffer.writeBytes(json.getBytes(StandardCharsets.UTF_8));
+        channel.writeAndFlush(sendBuffer).addListener(future -> {
+            if (future.isSuccess()) {
+                logger.info("send to tcp:"+host+" succeed.");
+            } else {
+                logger.info("send to tcp:"+host+" failed.");
+                if(listener!=null){
+                    listener.onMessage("failed");
+                }
+            }
+        });
+    }
+
+    public void onConnected(){
+        connectTime = LocalDateTime.now();
+    }
+
+    public void onDisconnect(){
+        if(connectTime.isBefore(LocalDateTime.now().minusMinutes(1))) {
+            connect();
+        }
+        else{
+            ThreadManager.getScheduledThreadPool().schedule(() -> {
+                try {
+                    connect();
+                } catch (Exception e) {
+                    logger.error(e.toString());
+                }
+            },60, TimeUnit.SECONDS);
+        }
+    }
+
+    public void onMessage(String msg){
+        if(listener!=null){
+            listener.onMessage(msg);
+        }
+    }
+
+}

sec-test-device/src/main/java/com/imdroid/beidou/test_device/service/TCPListener.java

@@ -0,0 +1,7 @@
+package com.imdroid.beidou.test_device.service;
+
+public interface TCPListener {
+    void onConnected();
+    void onDisconnect();
+    void onMessage(String msg);
+}

sec-test-device/src/main/java/com/imdroid/beidou/test_device/service/TcpMessageHandler.java

@@ -0,0 +1,52 @@
+package com.imdroid.beidou.test_device.service;
+
+import io.netty.buffer.ByteBuf;
+import io.netty.channel.ChannelHandlerContext;
+import io.netty.channel.SimpleChannelInboundHandler;
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
+
+import java.nio.charset.Charset;
+
+/**
+ * @author Layton
+ * @date 2023/2/18 20:36
+ */
+public class TcpMessageHandler extends SimpleChannelInboundHandler<ByteBuf> {
+
+    private final Logger logger = LoggerFactory.getLogger(this.getClass());
+
+    private final TCPClient tcpClient;
+
+    public TcpMessageHandler(TCPClient tcpClient) {
+        this.tcpClient = tcpClient;
+    }
+
+    @Override
+    protected void channelRead0(ChannelHandlerContext channelHandlerContext, ByteBuf buf) throws Exception {
+        String msg = buf.toString(Charset.defaultCharset());
+        tcpClient.onMessage(msg);
+        if (logger.isDebugEnabled()) {
+            logger.debug("receive server message:" + msg);
+        }
+    }
+
+    @Override
+    public void channelActive(ChannelHandlerContext ctx) throws Exception {
+        logger.info("tcp channel active");
+        tcpClient.onConnected();
+    }
+
+    @Override
+    public void channelInactive(ChannelHandlerContext ctx) throws Exception {
+        logger.info("tcp channel inactive");
+        tcpClient.onDisconnect();
+    }
+
+    @Override
+    public void exceptionCaught(ChannelHandlerContext ctx, Throwable cause) throws Exception {
+        logger.error("TcpMessageHandler error: {}", cause.toString());
+        ctx.close();
+    }
+
+}

sec-test-device/src/main/java/com/imdroid/beidou/test_device/service/UDPClient.java

@@ -0,0 +1,41 @@
+package com.imdroid.beidou.test_device.service;
+
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
+
+import java.net.DatagramPacket;
+import java.net.DatagramSocket;
+import java.net.InetAddress;
+
+public class UDPClient {
+    private final Logger logger = LoggerFactory.getLogger(this.getClass());
+
+    private DatagramSocket socket;
+
+    private InetAddress inetAddress;
+
+    private String host;
+
+    private int port;
+
+    public void init(String host, int port) {
+        this.host = host;
+        this.port = port;
+        try {
+            logger.info("UDP client init "+host + ":" + port);
+            this.socket = new DatagramSocket();
+            this.inetAddress = InetAddress.getByName(host);
+        } catch (Exception e) {
+            logger.error("初始化udp客户端失败：", e);
+        }
+    }
+
+    public void sendData(byte[] data) {
+        try {
+            DatagramPacket packet = new DatagramPacket(data, data.length, inetAddress, port);
+            socket.send(packet);
+        } catch (Exception e) {
+            logger.error("udp推送gnss数据异常:", e);
+        }
+    }
+}

sec-test-device/src/main/java/com/imdroid/beidou/test_device/task/BeidouDevice.java

@@ -0,0 +1,87 @@
+package com.imdroid.beidou.test_device.task;
+
+import com.imdroid.beidou.test_device.service.UDPClient;
+import com.imdroid.common.util.ByteUtil;
+
+import java.io.BufferedReader;
+import java.io.FileReader;
+import java.io.IOException;
+import java.text.SimpleDateFormat;
+import java.util.Date;
+
+public class BeidouDevice {
+    private String host="127.0.0.1";
+
+    private int port=9903;
+
+    UDPClient udpClient;
+    public void connectServer(){
+        udpClient = new UDPClient();
+        udpClient.init(host, port);
+    }
+
+    public void run(){
+        try{
+            //execute("C:\\Users\\wd\\Desktop\\log\\b562_2412270_1xx.log");
+            //execute("C:\\Users\\wd\\Desktop\\log\\b562_2412270_2xx.log");
+            //execute("C:\\Users\\wd\\Desktop\\log\\b562_2412254_1xx.log");
+            //execute("C:\\Users\\wd\\Desktop\\log\\b562_2412254_2xx.log");
+            //execute("C:\\Users\\wd\\Desktop\\log\\b562_2412254_3xx.log");
+            //execute("C:\\Users\\wd\\Desktop\\log\\b562_2412254_4xx.log");
+            //execute("C:\\Users\\wd\\Desktop\\log\\b562_2412254_5xx.log");
+            //execute("C:\\Users\\wd\\Desktop\\log\\b562_2412254_6xx.log");
+
+            execute("C:\\Users\\wd\\Desktop\\log\\b562_2412254_0416_1.log");
+            execute("C:\\Users\\wd\\Desktop\\log\\b562_2412254_0416_2.log");
+            execute("C:\\Users\\wd\\Desktop\\log\\b562_2412254_0416_1xx.log");
+            execute("C:\\Users\\wd\\Desktop\\log\\b562_2412254_0416_2xx.log");
+            execute("C:\\Users\\wd\\Desktop\\log\\b562_2412254_0416_3xx.log");
+            execute("C:\\Users\\wd\\Desktop\\log\\b562_2412254_0416_4xx.log");
+            execute("C:\\Users\\wd\\Desktop\\log\\b562_2412254_0416_5xx.log");
+            execute("C:\\Users\\wd\\Desktop\\log\\b562_2412254_0416_6xx.log");
+        }
+        catch (Exception e){
+
+        }
+        System.out.println("finish!");
+    }
+
+    public void execute(String dataFileName) throws IOException {
+        FileReader fr=null;
+        BufferedReader br=null;
+        try {
+            fr = new FileReader(dataFileName);
+            br = new BufferedReader(fr);
+            String line = "";
+            String[] arrs = null;
+            SimpleDateFormat sdf = new SimpleDateFormat("yyyy-MM-dd HH:mm:ss.SSS");
+
+            long lastTime = 0;
+            int b562Count = 0;
+            int cycleCount = 0;
+
+            while ((line = br.readLine()) != null) {
+                arrs = line.split(" ");
+                if(arrs.length != 3) continue;
+                Date time = sdf.parse(arrs[0] + " " + arrs[1]);
+
+                if (lastTime!=0 && Math.abs(time.getTime() - lastTime) > 60 * 1000) {//超过1分钟为一个周期
+                    Thread.sleep(30 * 1000);
+                    cycleCount++;
+                    System.out.println(time+" cycle "+cycleCount+", b562 num "+b562Count);
+                }
+                udpClient.sendData(ByteUtil.hexStringTobyte(arrs[2]));
+                b562Count++;
+                lastTime = time.getTime();
+                Thread.sleep(100);
+            }
+            br.close();
+            fr.close();
+        }
+        catch (Exception e){
+            e.printStackTrace();
+            if(br!=null) br.close();
+            if(fr!=null) fr.close();
+        }
+    }
+}

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

@@ -0,0 +1,22 @@
+server.port=9916
+server.servlet.context-path=/gnss
+
+spring.application.name=test-gnss
+spring.application.build=20240106
+
+spring.jpa.show-sql = true
+spring.jpa.hibernate.ddl-auto = none
+spring.jpa.database-platform = org.hibernate.dialect.MySQLDialect
+spring.datasource.url = jdbc:mysql://localhost:3306/beidou?characterEncoding=utf8&useSSL=false&allowPublicKeyRetrieval=true&serverTimezone=Asia/Shanghai
+spring.datasource.username = admin
+spring.datasource.password = DBMgr_2022
+spring.datasource.driverClassName = com.mysql.cj.jdbc.Driver
+
+spring.jackson.dateFormat = yyyy-MM-dd HH:mm:ss
+spring.jackson.time-zone = GMT+8
+
+app.format.date = yyyy-MM-dd
+app.format.time = HH:mm:ss
+app.format.datetime = yyyy-MM-dd HH:mm:ss
+
+mybatis-plus.configuration.map-underscore-to-camel-case=false