From e7d77b8936ac5c55a27d32fad685bf59fddefaab Mon Sep 17 00:00:00 2001
From: fengyarnom <fengyarnom@gmail.com>
Date: Mon, 25 Nov 2024 11:04:33 +0800
Subject: [PATCH] =?UTF-8?q?=E6=96=B0=E5=A2=9E=E6=A3=80=E6=9F=A5=E8=AE=BE?=
 =?UTF-8?q?=E5=A4=87=E6=98=AF=E5=90=A6=E9=9C=80=E8=A6=81=E5=86=B7=E5=90=AF?=
 =?UTF-8?q?=E5=8A=A8=E7=9A=84=E4=BB=A3=E7=A0=81=20-=20=E6=96=B0=E5=A2=9E?=
 =?UTF-8?q?=20checkAndSendF9PColdStartCommand=20-=20=E6=96=B0=E5=A2=9E=20s?=
 =?UTF-8?q?endF9PColdStartCommand?=
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---
 .../D3F0SelfCheckMessageExecutor.java         | 27 +++++++++++++++++--
 1 file changed, 25 insertions(+), 2 deletions(-)

diff --git a/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/executor/D3F0SelfCheckMessageExecutor.java b/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/executor/D3F0SelfCheckMessageExecutor.java
index aad86465..35de5f6b 100644
--- a/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/executor/D3F0SelfCheckMessageExecutor.java
+++ b/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/executor/D3F0SelfCheckMessageExecutor.java
@@ -4,6 +4,7 @@ import com.imdroid.common.util.DataTypeUtil;
 import com.imdroid.common.util.HexUtil;
 import com.imdroid.common.util.ThreadManager;
 import com.imdroid.secapi.client.BeidouClient;
+import com.imdroid.secapi.dto.GnssDevice;
 import com.imdroid.secapi.dto.GnssMsg;
 import com.imdroid.secapi.dto.GnssMsgMapper;
 import com.imdroid.secapi.dto.GnssStatus;
@@ -52,8 +53,8 @@ public class D3F0SelfCheckMessageExecutor implements Executor<D3F0SelfCheckMessa
         //应答
         sendD3F1Ack(device);
 
-        // 检查是否需要对设备的F9P进行断电操作
-        checkAndSendF9PPowerOffCommand(device);
+        // 检查是否需要对设备的F9P进行冷启动操作
+        checkAndSendF9PColdStartCommand(device);
         // 补齐tenantId
         message.setTenantId(device.getTenantId());
         device.updateRx(message.getHeader(),message.getLen(),1);
@@ -94,6 +95,17 @@ public class D3F0SelfCheckMessageExecutor implements Executor<D3F0SelfCheckMessa
         }
     }
 
+    private void checkAndSendF9PColdStartCommand(Device device){
+        if(device.getModel() == GnssDevice.MODEL_G505){
+            // 连续6个周期无解，则发送 F9P 冷启动指令
+            if(device.getNoFixedAndFloatResult() >= 6){
+                sendF9PColdStartCommand(device);
+                logger.debug("{}: 连续{}次无固定解和浮点解，发送 F9P 冷启动指令",device.getDeviceId(), device.getNoFixedAndFloatResult());
+                device.clearNoResultStat();
+            }
+        }
+    }
+
     void saveMsg(String deviceId, int tenantId, int msgType, String content,boolean isTx){
         GnssMsg gnssMsg = new GnssMsg();
         gnssMsg.setCreatetime(LocalDateTime.now());
@@ -124,6 +136,17 @@ public class D3F0SelfCheckMessageExecutor implements Executor<D3F0SelfCheckMessa
         saveMsg(device.getDeviceId(), device.getTenantId(),0xD313, sendCmd, true);
     }
 
+    void sendF9PColdStartCommand(Device device){
+        int msgType = 0xD310;
+        // F9P 冷启动 b5 62 06 04 04 00 00 00 02 00 10 68
+        String sendCmd = "b56206040400000002001068";
+        short len = (short) (sendCmd.length()/2+4);
+        sendCmd = Integer.toHexString(msgType) + HexUtil.Short2HexString(len)+
+                HexUtil.Int2HexString(Integer.parseInt(device.getDeviceId()))+sendCmd;
+        rtcmClient.config(device.getDeviceId(), sendCmd);
+        saveMsg(device.getDeviceId(), device.getTenantId(),0xD310, sendCmd, true);
+    }
+
     void sendD3F1Ack(Device device){
         int flag = 0xD3F1;
         short len =   (short) (4);