1、修改f9p重启指令发送的时机，如果连续6个周期无固定解则重启

2、增加ping指令，用于终端测试服务器是否正常

sec-beidou-fwd/src/test/java/DataTest.java

@@ -1,7 +1,5 @@
 import com.imdroid.beidou_fwd.entity.KingMaData;
 import com.imdroid.common.util.GsonUtil;
-import com.imdroid.secapi.dto.GnssCalcData;
-import com.imdroid.secapi.utils.HexUtil;
 
 import java.time.LocalDateTime;
 import java.time.format.DateTimeFormatter;

sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/executor/D314PingMessageExecutor.java

@@ -0,0 +1,34 @@
+package com.imdroid.sideslope.executor;
+
+import com.imdroid.sideslope.message.D314PingMessage;
+import com.imdroid.sideslope.server.OnlineChannels;
+import io.netty.buffer.ByteBuf;
+import io.netty.buffer.Unpooled;
+import org.springframework.stereotype.Component;
+
+/**
+ * @author Layton
+ * @date 2023/2/2 20:49
+ */
+@Component
+public class D314PingMessageExecutor implements Executor<D314PingMessage, Void> {
+
+    @Override
+    public Void execute(D314PingMessage message) {
+        String deviceId = message.getId();
+        byte[] forwardBytes = message.getSrcData();
+        OnlineChannels.INSTANCE.get(deviceId).ifPresent(deviceChannel -> {
+            forwardBytes[12] = (byte) 1;//ping ack
+            ByteBuf buf = Unpooled.buffer();
+            buf.writeBytes(forwardBytes);
+            deviceChannel.writeAndFlush(buf);
+        });
+
+        return null;
+    }
+
+    @Override
+    public Class<?> getMessageType() {
+        return D314PingMessage.class;
+    }
+}

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

@@ -2,13 +2,13 @@ package com.imdroid.sideslope.executor;
 
 import com.imdroid.common.util.HexUtil;
 import com.imdroid.secapi.client.BeidouClient;
-import com.imdroid.secapi.client.RtcmClient;
 import com.imdroid.secapi.dto.*;
 import com.imdroid.sideslope.message.D3F0SelfCheckMessage;
 import com.imdroid.sideslope.sal.DeviceService;
 import com.imdroid.sideslope.sal.Device;
 import com.imdroid.sideslope.service.DataPersistService;
 import com.imdroid.common.util.ThreadManager;
+import com.imdroid.sideslope.web.ApiController;
 import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;
 import org.springframework.beans.factory.annotation.Autowired;
@@ -37,7 +37,7 @@ public class D3F0SelfCheckMessageExecutor implements Executor<D3F0SelfCheckMessa
     @Resource(name = "local")
     private DeviceService deviceService;
     @Autowired
-    RtcmClient rtcmClient;
+    ApiController rtcmClient;
 
     @Override
     public Void execute(D3F0SelfCheckMessage message) {
@@ -74,33 +74,18 @@ public class D3F0SelfCheckMessageExecutor implements Executor<D3F0SelfCheckMessa
         return null;
     }
 
-
     @Override
     public Class<?> getMessageType() {
         return D3F0SelfCheckMessage.class;
     }
 
     private void checkAndSendF9PPowerOffCommand(Device device){
-        LocalDateTime now = LocalDateTime.now();
+        if(device.getDeviceId().startsWith("2419") && device.getDeviceType() == Device.DEVICE_ROVER){
-        // 针对 2419 编号开头的测站设备，检查其 F9P 运行的时间，每隔48小时需要使其断电
+            // 连续6个周期无解，则立即发送F9P断电指令
-        // 断电时间记录保存于缓存之中，不必查询数据库
+            if(device.getNoFixedAndFloatResult() >= 6){
-        // 平台重启会清除缓存，所以每次重启后收到该设备的第一条D3F0自检消息后，让其 F9P 断电，以保证F9P断电时间小于等于 48 小时
-        if(device.getDeviceId().startsWith("2419") && device.getDeviceType() == 0){
-            // 缓存中若没有 F9P 最近一次断电时间的记录，则立即发送F9P断电指令
-            if(device.getLastF9PPowerOffTime() == null){
                 sendF9PPowerOffCommand(device);
-                // 初始化 F9P 断电时间
+                logger.debug("{}: 连续{}次无固定解和浮点解，重启F9P",device.getDeviceId(), device.getNoFixedAndFloatResult());
-                device.setLastF9PPowerOffTime(now);
+                device.clearNoResultStat();
-                logger.debug("设备" + device.getDeviceId() + ": F9P 最近一次断电时间初始化为 " + device.getLastF9PPowerOffTime());
-            }
-            // 检查 F9P 最近一次断电时间是否超过 48 小时 ，若是，则发送断电指令
-            else if(device.getLastF9PPowerOffTime().isBefore(now.minusHours(24))){
-                logger.debug("设备 "+device.getDeviceId()+" 的 F9P 距离上一次断电已超过48小时，发送F9P断电指令");
-                sendF9PPowerOffCommand(device);
-                // 更新F9P断电时间，用于下一个48小时周期后的判断
-                device.setLastF9PPowerOffTime(now);
-            }else{
-                logger.debug("设备 "+device.getDeviceId()+" 的 F9P 距离上一次断电时间为："+device.getLastF9PPowerOffTime());
             }
         }
     }

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

@@ -37,6 +37,7 @@ public class MessageParser {
         types.put((short)0xd31B, D31xConfigAckMessage.class);//LORA配置应答
         types.put((short)0xd320, D31xConfigAckMessage.class);//v3.2 DTU配置应答
         types.put((short)0xd350, D350TestMessage.class);//ACC上报
+        types.put((short)0xd314, D314PingMessage.class);//ping
     }
 
 

sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/message/D314PingMessage.java

@@ -0,0 +1,27 @@
+package com.imdroid.sideslope.message;
+
+import io.netty.buffer.ByteBuf;
+
+/**
+ * @author Layton
+ * @date 2023/2/2 20:47
+ */
+public class D314PingMessage extends BaseMessage {
+
+    @Override
+    public void decodeBody(ByteBuf src) {
+        //srcData需要完整的消息，所以解析头用get方法
+        this.header = src.getUnsignedShort(0); // flag
+        this.len = src.getUnsignedShort(2); // length:11bit
+        this.seq = 0;
+        this.id = String.valueOf(src.getUnsignedInt(4)); //id
+
+        this.srcData = new byte[src.readableBytes()];
+        src.readBytes(this.srcData);
+    }
+
+    @Override
+    public boolean shouldDecodeHeader() {
+        return false;
+    }
+}

sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/sal/Device.java

@@ -61,7 +61,7 @@ public class Device {
 
     LocalDateTime lastRxTime;
     LocalDateTime lastD3f0f2Time;
-    LocalDateTime lastF9PPowerOffTime;
+    short noFixedAndFloatResult=0;
 
     int lastRxHead = 0;
 
@@ -108,6 +108,9 @@ public class Device {
     }
 
     public void clearStat(){
+        if(fixedNum+floatNum == 0) noFixedAndFloatResult++;
+        else noFixedAndFloatResult = 0;
+
         d3xxCount = 0;
         d3xxbytes = 0;
         d341Count = 0;
@@ -123,4 +126,9 @@ public class Device {
         d342Bytes = 0;
         d341In42Count = 0;
     }
+
+    public void clearNoResultStat(){
+        noFixedAndFloatResult = 0;
+    }
+
 }

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

@@ -112,7 +112,7 @@ public class DeviceStatusChecker {
         LocalDateTime now = LocalDateTime.now();
         LocalDateTime beginTime = now.minusHours(warningCfg.getValue());
         QueryWrapper<GnssCalcData> calcDataQueryWrapper = new QueryWrapper<>();
-        calcDataQueryWrapper.ge("createtime",beginTime.format(formatter));
+        calcDataQueryWrapper.ge("createtime",beginTime);
         List<GnssCalcData> calcDataList = dataMapper.selectList(calcDataQueryWrapper);
 
         MPJQueryWrapper<GnssStatus> queryWrapper =