From c8678bc0a05f68447eabf2b32a384104d7adb230 Mon Sep 17 00:00:00 2001
From: fengyarnom <fengyarnom@gmail.com>
Date: Wed, 9 Jul 2025 15:31:25 +0800
Subject: [PATCH] =?UTF-8?q?fix:=20=E5=88=A0=E9=99=A4=E8=B0=83=E8=AF=95?=
 =?UTF-8?q?=E6=97=A5=E5=BF=97=EF=BC=8C=E4=BF=AE=E5=A4=8Df9p=E7=94=9F?=
 =?UTF-8?q?=E4=BA=A71005=E7=9A=84=E9=94=99=E8=AF=AF?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .../executor/D331RtcmMessageExecutor.java     | 73 +++++++++----------
 1 file changed, 35 insertions(+), 38 deletions(-)

diff --git a/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/executor/D331RtcmMessageExecutor.java b/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/executor/D331RtcmMessageExecutor.java
index bbf9a1ab..50cf172a 100644
--- a/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/executor/D331RtcmMessageExecutor.java
+++ b/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/executor/D331RtcmMessageExecutor.java
@@ -518,28 +518,33 @@ public class D331RtcmMessageExecutor implements Executor<D331RtcmMessage, Void>
             }
 
             if (insertIndex != -1) {
-                ByteBuf newBuf = Unpooled.buffer();
-                newBuf.writeBytes(originalData, 0, insertIndex / 2);
-
-                // 使用f9p坐标生成1005消息
-                double[] ecef = new double[3];
-                // 修复：确保坐标值不为null，并正确处理Double类型
+                // 检查基站是否有有效的ECEF坐标
                 Double ecefX = deviceBs.getEcefx();
                 Double ecefY = deviceBs.getEcefy();
                 Double ecefZ = deviceBs.getEcefz();
 
-                ecef[0] = ecefX != null ? ecefX.doubleValue() : 0.0;
-                ecef[1] = ecefY != null ? ecefY.doubleValue() : 0.0;
-                ecef[2] = ecefZ != null ? ecefZ.doubleValue() : 0.0;
+                // 验证坐标有效性
+                if (isValidEcefCoordinates(ecefX, ecefY, ecefZ)) {
+                    ByteBuf newBuf = Unpooled.buffer();
+                    newBuf.writeBytes(originalData, 0, insertIndex / 2);
 
-                String rtcm1005 = Rtcm1005.generateRtcm1005Hex(ecef, 0);
-                if (rtcm1005 != null) {
-                    byte[] rtcm1005Bytes = ByteUtil.hexStringTobyte(rtcm1005);
-                    newBuf.writeBytes(rtcm1005Bytes);
+                    double[] ecef = new double[3];
+                    ecef[0] = ecefX.doubleValue();
+                    ecef[1] = ecefY.doubleValue();
+                    ecef[2] = ecefZ.doubleValue();
+
+                    String rtcm1005 = Rtcm1005.generateRtcm1005Hex(ecef, 0);
+                    if (rtcm1005 != null && !rtcm1005.isEmpty()) {
+                        byte[] rtcm1005Bytes = ByteUtil.hexStringTobyte(rtcm1005);
+                        newBuf.writeBytes(rtcm1005Bytes);
+                    }
+
+                    newBuf.writeBytes(originalData, insertIndex / 2, originalData.length - insertIndex / 2);
+                    buf = newBuf;
+                } else {
+                    logger.warn("Base station {} has invalid ECEF coordinates, skipping RTCM 1005 generation for device {}",
+                            deviceBs.getDeviceId(), deviceId);
                 }
-
-                newBuf.writeBytes(originalData, insertIndex / 2, originalData.length - insertIndex / 2);
-                buf = newBuf;
             }
 
             lastD300ForwardTimeMap.put(deviceId, currentTime);
@@ -787,29 +792,21 @@ public class D331RtcmMessageExecutor implements Executor<D331RtcmMessage, Void>
     }
 
     /**
-     * 打印当前基站和设备状态（用于调试）
+     * 验证ECEF坐标是否有效
      */
-    @Scheduled(fixedRate = 300000) // 5分钟执行一次
-    public void printStatusSummary() {
-        if (logger.isInfoEnabled() && !baseStationStatusMap.isEmpty()) {
-            StringBuilder summary = new StringBuilder();
-            summary.append("\n=== Base Station Status Summary ===\n");
-
-            for (BaseStationStatus status : baseStationStatusMap.values()) {
-                summary.append(String.format("Base Station: %s, Status: %s, Last Active: %s, Serving Devices: %d\n",
-                        status.getBaseStationId(),
-                        status.getStatus(),
-                        status.getLastActiveTime(),
-                        status.getServingDevices().size()));
-            }
-
-            summary.append("=== Device Base Mapping ===\n");
-            for (Map.Entry<String, String> entry : deviceCurrentBaseMap.entrySet()) {
-                summary.append(String.format("Device: %s -> Base Station: %s\n",
-                        entry.getKey(), entry.getValue()));
-            }
-
-            logger.info(summary.toString());
+    private boolean isValidEcefCoordinates(Double x, Double y, Double z) {
+        if (x == null || y == null || z == null) {
+            return false;
         }
+
+        // 检查是否为零坐标
+        if (x == 0.0 && y == 0.0 && z == 0.0) {
+            return false;
+        }
+
+        // 检查坐标是否在地球表面合理范围内（大致6.3M到6.4M米）
+        double distance = Math.sqrt(x * x + y * y + z * z);
+        return distance >= 6300000 && distance <= 6400000;
     }
+
 }
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