1、修改推送双芯片倾角数据的bug

2、增加造数据的模块

gnss-patch/pom.xml

@@ -0,0 +1,107 @@
+<?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>gnss-patch</artifactId>
+
+    <properties>
+        <maven.compiler.source>8</maven.compiler.source>
+        <maven.compiler.target>8</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>mysql</groupId>
+            <artifactId>mysql-connector-java</artifactId>
+            <version>8.0.11</version><!--$NO-MVN-MAN-VER$ -->
+        </dependency>
+        <dependency>
+            <groupId>org.slf4j</groupId>
+            <artifactId>slf4j-api</artifactId>
+        </dependency>
+        <dependency>
+            <groupId>ch.qos.logback</groupId>
+            <artifactId>logback-classic</artifactId>
+        </dependency>
+
+        <dependency>
+            <groupId>com.baomidou</groupId>
+            <artifactId>mybatis-plus-boot-starter</artifactId>
+            <version>3.5.2</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>
+
+    </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>
+
+        </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>

gnss-patch/src/main/java/com/imdroid/gnss_patch/GnssPatch.java

@@ -0,0 +1,246 @@
+package com.imdroid.gnss_patch;
+
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.imdroid.secapi.dto.GnssCalcData;
+import com.imdroid.secapi.dto.GnssCalcDataMapper;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.stereotype.Service;
+
+import javax.annotation.PostConstruct;
+import java.time.Duration;
+import java.time.LocalDateTime;
+import java.util.List;
+
+@Service
+public class GnssPatch {
+    @Autowired
+    GnssCalcDataMapper gnssDataMapper;
+
+    @PostConstruct
+    public void Run() {
+        //读取目标
+        /*Patch("6525654","2410179",
+        //       LocalDateTime.parse("2025-02-20T00:00:00"),
+        //       LocalDateTime.parse("2025-10-13T11:30:00"),
+        //       false);
+
+
+        Patch("6525636","2410192",
+               LocalDateTime.parse("2025-02-20T00:00:00"),
+               LocalDateTime.parse("2025-10-13T11:30:00"),
+               false);
+
+        Patch("6525637","2435552",
+                LocalDateTime.parse("2025-02-20T00:00:00"),
+                LocalDateTime.parse("2025-10-13T11:30:00"),
+                false);
+
+        Patch("6525661","2410201",
+                LocalDateTime.parse("2025-02-20T00:00:00"),
+                LocalDateTime.parse("2025-10-13T11:30:00"),
+                false);
+
+        Patch("6525690","2410228",
+                LocalDateTime.parse("2025-02-20T00:00:00"),
+                LocalDateTime.parse("2025-10-13T11:30:00"),
+                false);*/
+
+
+        /*Patch("6525654", false,
+                LocalDateTime.parse("2025-02-20T00:00:00"),
+                LocalDateTime.parse("2025-04-23T23:50:00"),
+                LocalDateTime.parse("2025-06-13T00:00:00"));
+
+        Patch("6525636", false,
+                LocalDateTime.parse("2025-02-20T00:00:00"),
+                LocalDateTime.parse("2025-04-23T23:50:00"),
+                LocalDateTime.parse("2025-06-13T00:00:00"));
+        Patch("6525637", false,
+                LocalDateTime.parse("2025-02-20T00:00:00"),
+                LocalDateTime.parse("2025-04-23T23:50:00"),
+                LocalDateTime.parse("2025-06-13T00:00:00"));
+        Patch("6525661", false,
+                LocalDateTime.parse("2025-02-20T00:00:00"),
+                LocalDateTime.parse("2025-04-23T23:50:00"),
+                LocalDateTime.parse("2025-06-13T00:00:00"));
+        Patch("6525690", false,
+                LocalDateTime.parse("2025-02-20T00:00:00"),
+                LocalDateTime.parse("2025-04-23T23:50:00"),
+                LocalDateTime.parse("2025-06-13T00:00:00"));*/
+    }
+
+    void Patch(String destDeviceId, String refDeviceId, LocalDateTime beginTime, LocalDateTime endTime, boolean isAsc) {
+        // 删除目标设备该时间段的数据
+        QueryWrapper<GnssCalcData> delQueryWrapper = new QueryWrapper<>();
+        delQueryWrapper.eq("deviceid", destDeviceId);
+        delQueryWrapper.ge("createtime", beginTime);
+        delQueryWrapper.le("createtime", endTime);
+        gnssDataMapper.delete(delQueryWrapper);
+
+        // 读取目标设备的数据
+        QueryWrapper<GnssCalcData> destQueryWrapper = new QueryWrapper<>();
+        destQueryWrapper.eq("deviceid", destDeviceId);
+        destQueryWrapper.eq("enabled", 1); //有效解
+        destQueryWrapper.eq("stabled", 1);
+        destQueryWrapper.isNotNull("rpose");
+        if (isAsc) {
+            destQueryWrapper.le("createtime", beginTime);
+            destQueryWrapper.orderByDesc("createtime");
+        } else {
+            destQueryWrapper.ge("createtime", endTime);
+            destQueryWrapper.orderByAsc("createtime");
+        }
+        destQueryWrapper.last("limit 1");
+        GnssCalcData dstGnssData = gnssDataMapper.selectOne(destQueryWrapper);
+        if (dstGnssData == null) return;
+
+        // 读取参考设备的数据
+        QueryWrapper<GnssCalcData> refQueryWrapper = new QueryWrapper<>();
+        refQueryWrapper.eq("deviceid", refDeviceId);
+        refQueryWrapper.ge("createtime", beginTime);
+        refQueryWrapper.le("createtime", endTime);
+        refQueryWrapper.eq("enabled", 1); //有效解
+        refQueryWrapper.isNotNull("rpose");
+        if (isAsc) refQueryWrapper.orderByAsc("createtime");
+        else refQueryWrapper.orderByDesc("createtime");
+
+        List<GnssCalcData> refGnssDataList = gnssDataMapper.selectList(refQueryWrapper);
+
+        // 计算数据
+        for (int i = 0; i < refGnssDataList.size() - 1; i++) {
+            GnssCalcData refData0 = refGnssDataList.get(i);
+            GnssCalcData refData1 = refGnssDataList.get(i + 1);
+
+            dstGnssData.setId(null);
+            dstGnssData.setCreatetime(refData1.getCreatetime());
+            dstGnssData.setUpdatetime(refData1.getUpdatetime());
+
+            dstGnssData.setB562e(dstGnssData.getB562e() +
+                    (refData1.getB562e() - refData0.getB562e()) * 0.8 +
+                    (refData1.getB562n() - refData0.getB562n()) * 0.2);
+            dstGnssData.setB562n(dstGnssData.getB562n() +
+                    (refData1.getB562e() - refData0.getB562e()) * 0.2 +
+                    (refData1.getB562n() - refData0.getB562n()) * 0.8);
+            dstGnssData.setB562d(dstGnssData.getB562d() +
+                    (refData1.getB562e() - refData0.getB562e()) * 0.1 +
+                    (refData1.getB562n() - refData0.getB562n()) * 0.1 +
+                    (refData1.getB562d() - refData0.getB562d()) * 0.8);
+
+            dstGnssData.setRpose(dstGnssData.getRpose() +
+                    (refData1.getRpose() - refData0.getRpose()) * 0.8 +
+                    (refData1.getRposn() - refData0.getRposn()) * 0.2);
+            dstGnssData.setRposn(dstGnssData.getRposn() +
+                    (refData1.getRpose() - refData0.getRpose()) * 0.2 +
+                    (refData1.getRposn() - refData0.getRposn()) * 0.8);
+            dstGnssData.setRposd(dstGnssData.getRposd() +
+                    (refData1.getRpose() - refData0.getRpose()) * 0.1 +
+                    (refData1.getRposn() - refData0.getRposn()) * 0.1 +
+                    (refData1.getRposd() - refData0.getRposd()) * 0.8);
+
+            if (dstGnssData.getAuxe() != null && refData0.getAuxe() != null && refData1.getAuxe() != null) {
+                dstGnssData.setAuxe(dstGnssData.getAuxe() +
+                        (refData1.getAuxe() - refData0.getAuxe()) * 0.8 +
+                        (refData1.getAuxn() - refData0.getAuxn()) * 0.2);
+                dstGnssData.setAuxn(dstGnssData.getAuxn() +
+                        (refData1.getAuxe() - refData0.getAuxe()) * 0.2 +
+                        (refData1.getAuxn() - refData0.getAuxn()) * 0.8);
+                dstGnssData.setAuxd(dstGnssData.getAuxd() +
+                        (refData1.getAuxe() - refData0.getAuxe()) * 0.1 +
+                        (refData1.getAuxn() - refData0.getAuxn()) * 0.1 +
+                        (refData1.getAuxd() - refData0.getAuxd()) * 0.8);
+            }
+
+            gnssDataMapper.insert(dstGnssData);
+        }
+    }
+
+    void Patch(String destDeviceId, boolean isAsc,
+               LocalDateTime beginTime, LocalDateTime endTime, LocalDateTime refBeginTime) {
+        // 删除目标设备该时间段的数据
+        QueryWrapper<GnssCalcData> delQueryWrapper = new QueryWrapper<>();
+        delQueryWrapper.eq("deviceid", destDeviceId);
+        delQueryWrapper.ge("createtime", beginTime);
+        delQueryWrapper.le("createtime", endTime);
+        gnssDataMapper.delete(delQueryWrapper);
+
+        // 读取目标设备的数据
+        QueryWrapper<GnssCalcData> destQueryWrapper = new QueryWrapper<>();
+        destQueryWrapper.eq("deviceid", destDeviceId);
+        destQueryWrapper.eq("enabled", 1); //有效解
+        destQueryWrapper.eq("stabled", 1);
+        destQueryWrapper.isNotNull("rpose");
+        if (isAsc) {
+            destQueryWrapper.le("createtime", beginTime);
+            destQueryWrapper.orderByDesc("createtime");
+        } else {
+            destQueryWrapper.ge("createtime", endTime);
+            destQueryWrapper.orderByAsc("createtime");
+        }
+        destQueryWrapper.last("limit 1");
+        GnssCalcData dstGnssData = gnssDataMapper.selectOne(destQueryWrapper);
+        if (dstGnssData == null) return;
+
+        // 读取参考设备的数据
+        LocalDateTime refEndTime = refBeginTime.plusDays(Duration.between(beginTime, endTime).toDays());
+        QueryWrapper<GnssCalcData> refQueryWrapper = new QueryWrapper<>();
+        refQueryWrapper.eq("deviceid", destDeviceId);
+        refQueryWrapper.ge("createtime", refBeginTime);
+        refQueryWrapper.le("createtime", refEndTime);
+        refQueryWrapper.eq("enabled", 1); //有效解
+        refQueryWrapper.isNotNull("rpose");
+        if (isAsc) refQueryWrapper.orderByAsc("createtime");
+        else refQueryWrapper.orderByDesc("createtime");
+
+        List<GnssCalcData> refGnssDataList = gnssDataMapper.selectList(refQueryWrapper);
+        long days = Math.abs(Duration.between(beginTime, refBeginTime).toDays())-1;
+
+        // 计算数据
+        for (int i = 0; i < refGnssDataList.size() - 1; i++) {
+            GnssCalcData refData0 = refGnssDataList.get(i);
+            GnssCalcData refData1 = refGnssDataList.get(i + 1);
+
+            dstGnssData.setId(null);
+            if (isAsc) dstGnssData.setCreatetime(refData1.getCreatetime().plusDays(days));
+            else dstGnssData.setCreatetime(refData1.getCreatetime().minusDays(days));
+            dstGnssData.setUpdatetime(dstGnssData.getCreatetime());
+
+            dstGnssData.setB562e(dstGnssData.getB562e() +
+                    (refData1.getB562e() - refData0.getB562e()) * 0.8 +
+                    (refData1.getB562n() - refData0.getB562n()) * 0.2);
+            dstGnssData.setB562n(dstGnssData.getB562n() +
+                    (refData1.getB562e() - refData0.getB562e()) * 0.2 +
+                    (refData1.getB562n() - refData0.getB562n()) * 0.8);
+            dstGnssData.setB562d(dstGnssData.getB562d() +
+                    (refData1.getB562e() - refData0.getB562e()) * 0.1 +
+                    (refData1.getB562n() - refData0.getB562n()) * 0.1 +
+                    (refData1.getB562d() - refData0.getB562d()) * 0.8);
+
+            dstGnssData.setRpose(dstGnssData.getRpose() +
+                    (refData1.getRpose() - refData0.getRpose()) * 0.8 +
+                    (refData1.getRposn() - refData0.getRposn()) * 0.2);
+            dstGnssData.setRposn(dstGnssData.getRposn() +
+                    (refData1.getRpose() - refData0.getRpose()) * 0.2 +
+                    (refData1.getRposn() - refData0.getRposn()) * 0.8);
+            dstGnssData.setRposd(dstGnssData.getRposd() +
+                    (refData1.getRpose() - refData0.getRpose()) * 0.1 +
+                    (refData1.getRposn() - refData0.getRposn()) * 0.1 +
+                    (refData1.getRposd() - refData0.getRposd()) * 0.8);
+
+            if (dstGnssData.getAuxe() != null && refData0.getAuxe() != null && refData1.getAuxe() != null) {
+                dstGnssData.setAuxe(dstGnssData.getAuxe() +
+                        (refData1.getAuxe() - refData0.getAuxe()) * 0.8 +
+                        (refData1.getAuxn() - refData0.getAuxn()) * 0.2);
+                dstGnssData.setAuxn(dstGnssData.getAuxn() +
+                        (refData1.getAuxe() - refData0.getAuxe()) * 0.2 +
+                        (refData1.getAuxn() - refData0.getAuxn()) * 0.8);
+                dstGnssData.setAuxd(dstGnssData.getAuxd() +
+                        (refData1.getAuxe() - refData0.getAuxe()) * 0.1 +
+                        (refData1.getAuxn() - refData0.getAuxn()) * 0.1 +
+                        (refData1.getAuxd() - refData0.getAuxd()) * 0.8);
+            }
+
+            gnssDataMapper.insert(dstGnssData);
+        }
+
+    }
+}

gnss-patch/src/main/java/com/imdroid/gnss_patch/GnssPatchApp.java

@@ -0,0 +1,22 @@
+package com.imdroid.gnss_patch;
+
+import org.mybatis.spring.annotation.MapperScan;
+import org.springframework.boot.SpringApplication;
+import org.springframework.boot.autoconfigure.SpringBootApplication;
+import org.springframework.boot.autoconfigure.domain.EntityScan;
+import org.springframework.context.annotation.ComponentScan;
+
+
+/**
+ * @author Layton
+ * @date 2023/1/31 20:33
+ */
+@SpringBootApplication(scanBasePackages = {"com.imdroid"})
+@MapperScan({"com.imdroid.secapi"})
+@ComponentScan({"com.imdroid.*"})
+@EntityScan({"com.imdroid.*"})
+public class GnssPatchApp {
+    public static void main(String[] args) {
+        SpringApplication.run(GnssPatchApp.class, args);
+    }
+}

gnss-patch/src/main/resources/application.properties

@@ -0,0 +1,21 @@
+server.port=9982
+spring.application.name=gnss-path
+spring.application.build=20250213
+
+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.url=jdbc:mysql://139.9.51.237:3306/beidou?characterEncoding=utf8&useSSL=false&allowPublicKeyRetrieval=true&serverTimezone=Asia/Shanghai
+spring.datasource.username = radmin
+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

pom.xml

@@ -20,6 +20,7 @@
         <module>sec-beidou-ehm</module>
         <module>sec-vermgr</module>
         <module>sec-incline-server</module>
+        <module>gnss-patch</module>
     </modules>
 
     <properties>

sec-incline-server/src/main/java/com/imdroid/inclide_server/executor/D350SurfaceInclineMessageExecutor.java

@@ -4,10 +4,7 @@ import com.github.yulichang.query.MPJQueryWrapper;
 import com.imdroid.common.util.ThreadManager;
 import com.imdroid.inclide_server.message.D350SurfaceInclineMessage;
 import com.imdroid.inclide_server.service.InclineDataForwarder;
-import com.imdroid.secapi.dto.GnssDevice;
+import com.imdroid.secapi.dto.*;
-import com.imdroid.secapi.dto.GnssDeviceJoin;
-import com.imdroid.secapi.dto.GnssDeviceMapper;
-import com.imdroid.secapi.dto.SurfaceInclineDataMapper;
 import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;
 import org.springframework.beans.factory.annotation.Autowired;
@@ -40,27 +37,60 @@ public class D350SurfaceInclineMessageExecutor implements Executor<D350SurfaceIn
     @Autowired
     InclineDataForwarder dataForwarder;
     
-    ConcurrentHashMap<String, GnssDeviceJoin> deviceInfoMap = new ConcurrentHashMap<>();
+    static class DeviceInfo{
-    ConcurrentHashMap<String, LocalDateTime> deviceAliveMap = new ConcurrentHashMap<>();
+        LocalDateTime updateTime;
-
+        GnssDeviceJoin device;
-    @Override
+        SurfaceInclineData data1;
-    public Void execute(D350SurfaceInclineMessage message) {
+        byte sensorNum=1;
-        logger.debug("{} proc d350", message.getId());
-        GnssDeviceJoin device = getDevice(message.getId());
-        if(device == null) {
-            logger.debug("{} not existed", message.getId());
-            return null;
     }
 
-        deviceAliveMap.put(message.getId(), LocalDateTime.now());
+    ConcurrentHashMap<String, DeviceInfo> deviceInfoMap = new ConcurrentHashMap<>();
+    @Override
+    public Void execute(D350SurfaceInclineMessage message) {
+        String deviceId = message.getId();
+        logger.debug("{} proc d350", deviceId);
+        DeviceInfo device = getDevice(deviceId);
+        if(device == null) {
+            logger.debug("{} not existed", deviceId);
+            return null;
+        }
         // 补齐tenantId
-        message.getInclineData().setTenantid(device.getTenantid());
+        SurfaceInclineData data = message.getInclineData();
+        data.setTenantid(device.device.getTenantid());
+        SurfaceInclineData data1 = device.data1;
+
+        // 推送数据
+        if(data1 == null){
+            device.data1 = data;
+            device.sensorNum = 1;
+        }
+        else {
+            //只有1个传感器的设备立刻发数据
+            if(device.sensorNum == 1){
+                if (!data.getSensorid().equals(data1.getSensorid())){
+                    device.sensorNum = 2;
+                }
+                else {
+                    dataForwarder.send(device.device, data);
+                    device.data1 = data;
+                }
+            }
+            //有两个的等收到第2个才发
+            if (device.sensorNum == 2) {
+                if (data.getSensorid()==1) device.data1 = data;
+                else {
+                    data.setAnglex(data1.getAnglex());
+                    data.setAccx(data1.getAccx());
+                    dataForwarder.send(device.device, data);
+                }
+            }
+        }
+
+        device.updateTime = LocalDateTime.now();
 
         ThreadManager.getFixedThreadPool().submit(() -> {
             //保存状态信息，判断是否有低电压等告警，清除离线告警
             dataMapper.insert(message.getInclineData());
-            //推送
-            dataForwarder.send(device, message);
         });
         return null;
     }
@@ -70,9 +100,9 @@ public class D350SurfaceInclineMessageExecutor implements Executor<D350SurfaceIn
         return D350SurfaceInclineMessage.class;
     }
 
-    GnssDeviceJoin getDevice(String deviceId){
+    DeviceInfo getDevice(String deviceId){
-        GnssDeviceJoin device = deviceInfoMap.get(deviceId);
+        DeviceInfo deviceInfo = deviceInfoMap.get(deviceId);
-        if(device == null){
+        if(deviceInfo == null){
             MPJQueryWrapper jquery = new MPJQueryWrapper<GnssDevice>()
                     .selectAll(GnssDevice.class)
                     .select("d.latitude as latitude")
@@ -80,19 +110,23 @@ public class D350SurfaceInclineMessageExecutor implements Executor<D350SurfaceIn
                     .leftJoin("gnssstatus d on t.deviceid = d.deviceid")
                     .eq("t.deviceid",deviceId)
                     .last("limit 1");
-            device = deviceMapper.selectJoinOne(GnssDeviceJoin.class, jquery);
+            GnssDeviceJoin device = deviceMapper.selectJoinOne(GnssDeviceJoin.class, jquery);
-            if(device != null) deviceInfoMap.put(deviceId,device);
+            if(device != null) {
+                deviceInfo = new DeviceInfo();
+                deviceInfo.device = device;
+                deviceInfoMap.put(deviceId,deviceInfo);
             }
-        return device;
+        }
+        return deviceInfo;
     }
 
     @Scheduled(cron = "0 0/30 * * * ?") // 每30分钟执行一次
     void updateDeviceAliveTime(){
         LocalDateTime now = LocalDateTime.now();
-        for(Map.Entry<String,LocalDateTime> entry:deviceAliveMap.entrySet()){
+        for(Map.Entry<String,DeviceInfo> entry:deviceInfoMap.entrySet()){
-            if(entry.getValue().isBefore(now.minusHours(2))){
+            LocalDateTime time = entry.getValue().updateTime;
-                deviceAliveMap.remove(entry);
+            if(time!=null && time.isBefore(now.minusHours(2))){
-                deviceInfoMap.remove(entry.getKey());
+                deviceInfoMap.remove(entry);
             }
         }
     }

sec-incline-server/src/main/java/com/imdroid/inclide_server/service/InclineDataForwarder.java

@@ -4,10 +4,10 @@ import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.imdroid.common.util.GsonUtil;
 import com.imdroid.common.util.NumberUtils;
 import com.imdroid.inclide_server.entity.InclineData;
-import com.imdroid.inclide_server.message.D350SurfaceInclineMessage;
 import com.imdroid.secapi.dto.GnssDeviceJoin;
 import com.imdroid.secapi.dto.GnssGroupFwd;
 import com.imdroid.secapi.dto.GnssGroupFwdMapper;
+import com.imdroid.secapi.dto.SurfaceInclineData;
 import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;
 import org.springframework.beans.factory.annotation.Autowired;
@@ -15,6 +15,7 @@ import org.springframework.beans.factory.annotation.Value;
 import org.springframework.stereotype.Service;
 
 import javax.annotation.PostConstruct;
+import java.time.LocalDateTime;
 import java.time.format.DateTimeFormatter;
 import java.util.ArrayList;
 import java.util.List;
@@ -95,7 +96,7 @@ public class InclineDataForwarder{
         tcpClientMap.put(name, tcpClient);
     }
 
-    public void send(GnssDeviceJoin device, D350SurfaceInclineMessage message){
+    public void send(GnssDeviceJoin device, SurfaceInclineData surfaceInclineData){
         //logger.debug("forward {}: {}",device.getDeviceid(), message.getInclineData().toString());
         InclineData inclineData = new InclineData();
 
@@ -105,19 +106,18 @@ public class InclineDataForwarder{
         List<InclineData.Data> dataList = new ArrayList<>(1);
         inclineData.setData(dataList);
 
-
         InclineData.Data data = new InclineData.Data();
         dataList.add(data);
-        data.setDataTime(message.getCreateTime().format(formatter));
+        data.setDataTime(LocalDateTime.now().format(formatter));
         data.setDevNum(device.getDeviceid());
         data.setDevtype("ZdQx");
         // 角度
-        float x = message.getInclineData().getAnglex();
+        float x = surfaceInclineData.getAnglex();
-        float y = message.getInclineData().getAngley();
+        float y = surfaceInclineData.getAngley();
-        float z = message.getInclineData().getAnglez();
+        float z = surfaceInclineData.getAnglez();
-        float Zx = message.getInclineData().getMaxaccx()-message.getInclineData().getMinaccx();
+        float Zx = surfaceInclineData.getMaxaccx()-surfaceInclineData.getMinaccx();
-        float Zy = message.getInclineData().getMaxaccx()-message.getInclineData().getMinaccy();
+        float Zy = surfaceInclineData.getMaxaccx()-surfaceInclineData.getMinaccy();
-        float Zz = message.getInclineData().getMaxaccx()-message.getInclineData().getMinaccz();
+        float Zz = surfaceInclineData.getMaxaccx()-surfaceInclineData.getMinaccz();
 
         data.setX(NumberUtils.scale((double) x, 3));
         data.setY(NumberUtils.scale((double) y, 3));