From eed05660ab8e2aa136eb77f31f5eecc241e879c5 Mon Sep 17 00:00:00 2001
From: weidong <weidong@im-droid.com>
Date: Wed, 25 Jun 2025 10:04:43 +0800
Subject: [PATCH] =?UTF-8?q?1=E3=80=81=E5=A6=82=E6=9E=9C=E5=8D=9A=E9=80=9A?=
 =?UTF-8?q?=E5=9F=BA=E7=AB=99D341=E7=BB=9F=E8=AE=A1=E4=B8=BA0=EF=BC=8C?=
 =?UTF-8?q?=E5=88=99=E6=96=AD=E7=94=B5=E9=87=8D=E5=90=AFGNSS=E6=A8=A1?=
 =?UTF-8?q?=E5=9D=97?=
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---
 .../D3F0SelfCheckMessageExecutor.java         | 33 +++++++++++++++++--
 1 file changed, 31 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 6ee5dc24..d74774ea 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
@@ -33,8 +33,8 @@ public class D3F0SelfCheckMessageExecutor implements Executor<D3F0SelfCheckMessa
     private final Logger logger = LoggerFactory.getLogger(this.getClass());
 
     final String F9PInitCmd = "f9";
-    final String F9PPowerOff = "25 00";
-    final String F9PPowerOn = "25 01";
+    final String GNSSPowerOff = "25 00";
+    final String GNSSPowerOn = "25 01";
     final String F9PColdStartCmd = "b56206040400000002001068";
     final String BTCloseMneaCmd = "424be8e1020a00040000ffff";
     final String BTOpenGGACmd = "424b852c0208000400000001";
@@ -84,6 +84,11 @@ public class D3F0SelfCheckMessageExecutor implements Executor<D3F0SelfCheckMessa
                     checkAndResetBTGnss(device);
                 }
             }
+            else{
+                if(device.getModel() == GnssDevice.MODEL_G510){
+                    checkAndResetBTBsGnss(device);
+                }
+            }
             // 通知beidou服务设备上线，这里会触发参数同步
             GnssStatus lastGnssStatus = dataPersistService.getDeviceState(message.getId());
             try {
@@ -208,6 +213,12 @@ public class D3F0SelfCheckMessageExecutor implements Executor<D3F0SelfCheckMessa
         }
     }
 
+    private void checkAndResetBTBsGnss(Device device){
+        if(device.getD341Count() < 50){
+            startBTBsResetTask(device);
+        }
+    }
+
     void startF9PColdStartTask(Device device){
         Timer timer = new Timer();
         for(int delay=1; delay<=10; delay++) {
@@ -230,6 +241,22 @@ public class D3F0SelfCheckMessageExecutor implements Executor<D3F0SelfCheckMessa
         },1000);
     }
 
+    void startBTBsResetTask(Device device){
+        Timer timer = new Timer();
+        timer.schedule(new TimerTask() {
+            @Override
+            public void run() {
+                sendGnssCommand(device, GNSSPowerOff);
+            }
+        },1000);
+        timer.schedule(new TimerTask() {
+            @Override
+            public void run() {
+                sendGnssCommand(device, GNSSPowerOn);
+            }
+        },11000);
+    }
+
     void startBTResetTask(Device device){
         Timer timer = new Timer();
         timer.schedule(new TimerTask() {
@@ -269,4 +296,6 @@ public class D3F0SelfCheckMessageExecutor implements Executor<D3F0SelfCheckMessa
             }
         },16000);
     }
+
+
 }