feat: 新增 RTKRCV 自动配置

2、振动用第2个传感器数据

sec-api/src/main/java/com/imdroid/secapi/client/BeidouClient.java

@@ -47,4 +47,15 @@ public interface BeidouClient {
 
     @PostMapping("/upgrade_complete")
     String onUpgradeComplete();
+
+    @PostMapping("/rtkrcv_ack")
+    String onRtkrcvAck(@RequestParam(name = "deviceId") String deviceId,
+                       @RequestParam(name = "data") String data);
+
+    @PostMapping("/rtk_gngga")
+    String onRtkGngga(@RequestParam(name = "deviceId") String deviceId,
+                      @RequestParam(name = "lat") Double lat,
+                      @RequestParam(name = "lon") Double lon,
+                      @RequestParam(name = "alt") Double alt,
+                      @RequestParam(name = "geo") Double geoidSeparation);
 }

sec-api/src/main/java/com/imdroid/secapi/client/RtkrcvClient.java

@@ -0,0 +1,19 @@
+package com.imdroid.secapi.client;
+
+import org.springframework.cloud.openfeign.FeignClient;
+import org.springframework.web.bind.annotation.GetMapping;
+import org.springframework.web.bind.annotation.PostMapping;
+import org.springframework.web.bind.annotation.RequestParam;
+
+@FeignClient(name="RtkrcvClient", url = "http://localhost:9904/gnss")
+public interface RtkrcvClient {
+    @PostMapping("/rtk/start")
+    String start(@RequestParam("device_id") String deviceId,
+                 @RequestParam(value = "clear_log", required = false) boolean clearLog);
+
+    @PostMapping("/rtk/stop")
+    String stop(@RequestParam("device_id") String deviceId);
+
+    @GetMapping("/rtk/log_exists")
+    Boolean logExists(@RequestParam("device_id") String deviceId);
+}

sec-api/src/main/java/com/imdroid/secapi/dto/GnssDevice.java

@@ -3,7 +3,6 @@ package com.imdroid.secapi.dto;
 import com.baomidou.mybatisplus.annotation.IdType;
 import com.baomidou.mybatisplus.annotation.TableId;
 import com.baomidou.mybatisplus.annotation.TableName;
-import com.imdroid.common.util.ByteUtil;
 import com.imdroid.common.util.HexUtil;
 import lombok.Data;
 
@@ -103,10 +102,9 @@ public class GnssDevice {
         return cmdList;
     }
 
-    public boolean clearChangeFlag(String ack){
+    public boolean clearChangeFlag(byte[] ackBytes){
         boolean result = false;
         if(change_flag!=0) {
-            byte[] ackBytes = ByteUtil.hexStringTobyte(ack);
             if(ackBytes[ackBytes.length-1] == 1) {
                 if (ackBytes[8] == 0x55) {
                     change_flag &= ~PARA_MASK_HAS_BATTERY;

sec-api/src/main/java/com/imdroid/secapi/dto/GnssStatusJoin.java

@@ -16,6 +16,9 @@ public class GnssStatusJoin {
     @ExcelProperty("租户id")
     Integer tenantid;
 
+    @ExcelProperty("租户名")
+    String tenantname;
+
     @ExcelProperty("更新日期时间")
     LocalDateTime updatetime;
 

sec-api/src/main/java/com/imdroid/secapi/dto/GnssStatusMapper.java

@@ -22,23 +22,23 @@ public interface GnssStatusMapper extends MPJBaseMapper<GnssStatus> {
     @Select({"select s.*, d.devicetype, d.model, d.group_id, d.name, d.project_id,d.iccid from gnssstatus s ,gnssdevices d where s.deviceid=d.deviceid and s.state <> 0"})
     List<GnssStatusJoin> queryOnline();
 
-    @Select({"select s.*, d.devicetype, d.model, d.group_id, d.name, d.project_id,d.iccid from gnssstatus s ,gnssdevices d where " +
+    @Select({"select s.*, d.devicetype, d.model, d.group_id, d.name, d.project_id,d.iccid,d.tenantname from gnssstatus s ,gnssdevices d where " +
             "s.deviceid=d.deviceid and d.tenantid<>0 and d.opmode=0"})
     List<GnssStatusJoin> queryDeployed();
 
-    @Select({"select s.*, d.devicetype, d.model, d.group_id, d.name, d.project_id,d.iccid from gnssstatus s ,gnssdevices d where " +
+    @Select({"select s.*, d.devicetype, d.model, d.group_id, d.name, d.project_id,d.iccid,d.tenantname from gnssstatus s ,gnssdevices d where " +
             "s.deviceid=d.deviceid and d.tenantid = #{tenantid} and d.opmode=0"})
     List<GnssStatusJoin> queryDeployedByTenant(int tenantid);
 
     //多个入参要用Param注解
-    @Select({"select s.*, d.devicetype, d.model, d.group_id, d.name, d.project_id,d.iccid from gnssstatus s ,gnssdevices d where " +
+    @Select({"select s.*, d.devicetype, d.model, d.group_id, d.name, d.project_id,d.iccid,d.tenantname from gnssstatus s ,gnssdevices d where " +
             "s.deviceid=d.deviceid and d.tenantid = #{tenantid} and d.opmode=0 and d.project_id = #{projectName}"})
     List<GnssStatusJoin> queryDeployedByProject(@Param("tenantid") int tenantid, @Param("projectName") String projectName);
 
     // 需要关联设备类型
-    @Select({"select s.*, d.devicetype, d.model, d.group_id, d.name, d.project_id,d.iccid from gnssstatus s ,gnssdevices d where s.deviceid=d.deviceid and s.deviceid = #{deviceId}"})
+    @Select({"select s.*, d.devicetype, d.model, d.group_id, d.name, d.project_id,d.iccid,d.tenantname from gnssstatus s ,gnssdevices d where s.deviceid=d.deviceid and s.deviceid = #{deviceId}"})
     GnssStatusJoin queryByDeviceId(String deviceId);
 
-    @Select({"select s.*, d.devicetype, d.model, d.group_id, d.name, d.project_id,d.iccid from gnssstatus s ,gnssdevices d where s.deviceid=d.deviceid"})
+    @Select({"select s.*, d.devicetype, d.model, d.group_id, d.name, d.project_id,d.iccid,d.tenantname from gnssstatus s ,gnssdevices d where s.deviceid=d.deviceid"})
     GnssStatusJoin queryAll();
 }

sec-api/src/main/java/com/imdroid/secapi/dto/RtkGroup.java

@@ -0,0 +1,16 @@
+package com.imdroid.secapi.dto;
+
+import com.baomidou.mybatisplus.annotation.IdType;
+import com.baomidou.mybatisplus.annotation.TableId;
+import com.baomidou.mybatisplus.annotation.TableName;
+import lombok.Data;
+
+@Data
+@TableName(value = "rtkgroup")
+public class RtkGroup {
+    @TableId(value = "id", type = IdType.AUTO)
+    Integer id;
+    String name;
+    String inpstr2_path;
+    String inpstr3_path;
+}

sec-api/src/main/java/com/imdroid/secapi/dto/RtkGroupMapper.java

@@ -0,0 +1,7 @@
+package com.imdroid.secapi.dto;
+
+import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+
+public interface RtkGroupMapper extends BaseMapper<RtkGroup> {
+}
+

sec-api/src/main/java/com/imdroid/secapi/dto/RtkProfile.java

@@ -0,0 +1,21 @@
+package com.imdroid.secapi.dto;
+
+import com.baomidou.mybatisplus.annotation.IdType;
+import com.baomidou.mybatisplus.annotation.TableId;
+import com.baomidou.mybatisplus.annotation.TableName;
+import lombok.Data;
+
+@Data
+@TableName(value = "rtkprofile")
+public class RtkProfile {
+    @TableId(value = "id", type = IdType.AUTO)
+    Integer id;
+    Integer rtkgroup_id;
+    String device_id;
+    String pos1_posmode;
+    String inpstr1_type;
+    String inpstr1_path;
+    String outstr2_path;
+    String out_height;
+}
+

sec-api/src/main/java/com/imdroid/secapi/dto/RtkProfileMapper.java

@@ -0,0 +1,7 @@
+package com.imdroid.secapi.dto;
+
+import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+
+public interface RtkProfileMapper extends BaseMapper<RtkProfile> {
+}
+

sec-api/src/main/java/com/imdroid/secapi/dto/RtkSolution.java

@@ -0,0 +1,19 @@
+package com.imdroid.secapi.dto;
+
+import com.baomidou.mybatisplus.annotation.IdType;
+import com.baomidou.mybatisplus.annotation.TableId;
+import com.baomidou.mybatisplus.annotation.TableName;
+import lombok.Data;
+
+@Data
+@TableName(value = "rtksolution")
+public class RtkSolution {
+    @TableId(value = "id", type = IdType.AUTO)
+    Integer id;
+    String device_id;
+    Double latitude;
+    Double longitude;
+    Double altitude;
+    Short status;
+}
+

sec-api/src/main/java/com/imdroid/secapi/dto/RtkSolutionMapper.java

@@ -0,0 +1,7 @@
+package com.imdroid.secapi.dto;
+
+import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+
+public interface RtkSolutionMapper extends BaseMapper<RtkSolution> {
+}
+

sec-beidou-fwd/src/main/java/com/imdroid/beidou_fwd/task/Forwarder.java

@@ -15,10 +15,7 @@ import org.springframework.util.StringUtils;
 
 import java.time.LocalDateTime;
 import java.time.format.DateTimeFormatter;
-import java.util.ArrayList;
-import java.util.List;
-import java.util.Map;
-import java.util.concurrent.ConcurrentHashMap;
+import java.util.*;
 import java.util.concurrent.TimeUnit;
 
 public class Forwarder {
@@ -96,15 +93,10 @@ public class Forwarder {
 
     /***
      * 推送指定企业、设备ID、时间的GNSS记录，查找指定时间前cycle分钟的有效数据推送
-     * @param sendTime：要推送的记录的时间
+     * @param resendRecord：重推送信息
      */
 
-    private boolean forwardGnssRecords(LocalDateTime sendTime, ResendRecord resendRecord) {
-        String endTime = sendTime.format(formatter);
-        String beginTime = sendTime.minusMinutes(fwdCycleMinutes).format(formatter);
-
-        // 查找属于指定推送组的设备列表
-        List<GnssDeviceJoin> gnssDeviceList;
+    private List<GnssDeviceJoin> getFwdDeviceList(ResendRecord resendRecord){
         MPJQueryWrapper jquery = null;
 
         if(resendRecord!=null && StringUtils.hasText(resendRecord.getDeviceid())){
@@ -118,8 +110,9 @@ public class Forwarder {
                     .leftJoin("gnssstatus d on t.deviceid = d.deviceid")
                     .and(warpper->warpper.eq("fwd_group_id", fwdGroupId)
                             .or()
-                            .eq("fwd_group_id2", fwdGroupId)).
-                    eq("t.deviceid", resendRecord.getDeviceid());
+                            .eq("fwd_group_id2", fwdGroupId))
+                    .eq("t.deviceid", resendRecord.getDeviceid())
+                    .eq("opmode",GnssDevice.OP_MODE_USE);
         }
         else if(resendRecord!=null && resendRecord.getProjectid()!=null){
             jquery = new MPJQueryWrapper<GnssDevice> ()
@@ -135,7 +128,8 @@ public class Forwarder {
                             .eq("fwd_group_id2", fwdGroupId))
                     .and(warpper->warpper.eq("project_id",resendRecord.getProjectid())
                             .or()
-                            .eq("project2_id",resendRecord.getProjectid()));
+                            .eq("project2_id",resendRecord.getProjectid()))
+                    .eq("opmode",GnssDevice.OP_MODE_USE);
         }
         else{
             jquery = new MPJQueryWrapper<GnssDevice> ()
@@ -148,29 +142,58 @@ public class Forwarder {
                     .leftJoin("gnssstatus d on t.deviceid = d.deviceid")
                     .and(warpper->warpper.eq("fwd_group_id", fwdGroupId)
                             .or()
-                            .eq("fwd_group_id2", fwdGroupId));
+                            .eq("fwd_group_id2", fwdGroupId))
+                    .eq("opmode",GnssDevice.OP_MODE_USE);
         }
-        gnssDeviceList = deviceMapper.selectJoinList(GnssDeviceJoin.class, jquery);
-        logger.debug("candidate fwd devices {}", gnssDeviceList.size());
+        return deviceMapper.selectJoinList(GnssDeviceJoin.class, jquery);
+    }
 
-        // 查询最近半小时的GNSS记录
+    HashMap<String, GnssCalcData> getFwdGnssData(LocalDateTime sendTime,List<GnssDeviceJoin> gnssDeviceList, ResendRecord resendRecord){
+        String endTime = sendTime.format(formatter);
+        String beginTime = sendTime.minusMinutes(fwdCycleMinutes).format(formatter);
+
+        // 直接以设备列表作为查询条件，查询语句很大（一个单位可能有几千台设备）。
+        // 用设备列表关联的所有的tenantId来查询，然后再筛选，效率更高，但可能包含了非推送的设备列表
+        HashSet<Integer> tenantIdSet = new HashSet<>();
+        for(GnssDeviceJoin d:gnssDeviceList){
+            tenantIdSet.add(d.getTenantid());
+        }
+        logger.debug("candidate fwd tenants {}", tenantIdSet.size());
+
+        // 查询最近一个推送周期的GNSS记录
         QueryWrapper<GnssCalcData> gnssQueryWrapper = new QueryWrapper<>();
         gnssQueryWrapper.ge("createtime",beginTime);
         gnssQueryWrapper.le("createtime",endTime);
-        gnssQueryWrapper.orderByDesc("createtime");
         gnssQueryWrapper.eq("enabled",true);
         gnssQueryWrapper.eq("stabled",true);
         gnssQueryWrapper.isNotNull("rpose");
         if(resendRecord != null && StringUtils.hasText(resendRecord.getDeviceid())){
             gnssQueryWrapper.eq("deviceid", resendRecord.getDeviceid());
         }
+        else {
+            gnssQueryWrapper.and(wrapper -> {
+                int i=0;
+                for (Integer tenantId : tenantIdSet) {
+                    if(i==0) wrapper.eq("tenantid", tenantId);
+                    else wrapper.or().eq("tenantid", tenantId);
+                    i++;
+                }
+            });
+        }
+        gnssQueryWrapper.orderByDesc("createtime");
 
-        List<GnssCalcData> locationRecords = gnssDataMapper.selectList(gnssQueryWrapper);
-        logger.debug("candidate fwd records {}", locationRecords.size());
-        if(locationRecords.size() == 0) return false;
+        List<GnssCalcData> gnssDataList = gnssDataMapper.selectList(gnssQueryWrapper);
+        // 同一台设备只保留最近的记录
+        HashMap<String, GnssCalcData> gnssDataMap = new HashMap<>();
+        for(GnssCalcData data:gnssDataList){
+            gnssDataMap.put(data.getDeviceid(),data);
+        }
+        return gnssDataMap;
+    }
 
-        // 构造按项目id分类的GNSS记录
-        ConcurrentHashMap<String, List<GnssCalcData>> projects = new ConcurrentHashMap<>();
+    HashMap<String, List<GnssCalcData>> createFwdDataByProject(
+            List<GnssDeviceJoin> gnssDeviceList,HashMap<String, GnssCalcData> gnssDataMap,ResendRecord resendRecord){
+        HashMap<String, List<GnssCalcData>> projects = new HashMap<>();
         for(GnssDeviceJoin device:gnssDeviceList){
             if(device.getOpmode() != GnssDevice.OP_MODE_USE) continue;
             String projectId = device.getProject_id();
@@ -191,43 +214,57 @@ public class Forwarder {
                 recordsToSend = new ArrayList<>();
                 projects.put(projectId,recordsToSend);
             }
-            for(GnssCalcData record:locationRecords){
-                if(record.getDeviceid().equals(device.getDeviceid())) {
-                    // 替换成推送用的名字和数值
-                    if (device.getIpose() != null &&
-                            device.getIposn() != null &&
-                            device.getIposd() != null) {
-                        record.setRpose(record.getRpose() - device.getIpose());
-                        record.setRposn(record.getRposn() - device.getIposn());
-                        record.setRposd(record.getRposd() - device.getIposd());
-                    }
-                    if (fwdNameType == FWD_DEVICE_ALIAS_NAME || (device.getName()!=null&&device.getName().contains("替换"))) {
-                        if (StringUtils.hasText(device.getFwddeviceid())) {
-                            record.setDeviceid(device.getFwddeviceid());
-                        }
-                    }
-                    else if(fwdNameType == FWD_DEVICE_NAME){
-                        String devName = "";
-                        if(StringUtils.hasText(device.getProject_id())) devName = devName+device.getProject_id()+"-";
-                        if(StringUtils.hasText(device.getSector())) devName = devName+device.getSector()+"-";
-                        if(StringUtils.hasText(device.getName())) devName = devName+device.getName();
-                        if(StringUtils.hasText(devName)) {
-                            record.setDeviceid(devName);
-                        }
-                    }
-                    // 用r9250来传设备经纬度
-                    record.setR9250e(device.getLongitude());
-                    record.setR9250n(device.getLatitude());
-                    // 用aux来传xyz
-                    record.setAuxe(device.getRoll());
-                    record.setAuxn(device.getPitch());
-                    record.setAuxd(device.getYaw());
-
-                    recordsToSend.add(record);
-                    break;
+            GnssCalcData record=gnssDataMap.get(device.getDeviceid());
+            if(record!=null) {
+                // 替换成推送用的名字和数值
+                if (device.getIpose() != null &&
+                        device.getIposn() != null &&
+                        device.getIposd() != null) {
+                    record.setRpose(record.getRpose() - device.getIpose());
+                    record.setRposn(record.getRposn() - device.getIposn());
+                    record.setRposd(record.getRposd() - device.getIposd());
                 }
+                if (fwdNameType == FWD_DEVICE_ALIAS_NAME || (device.getName()!=null&&device.getName().contains("替换"))) {
+                    if (StringUtils.hasText(device.getFwddeviceid())) {
+                        record.setDeviceid(device.getFwddeviceid());
+                    }
+                }
+                else if(fwdNameType == FWD_DEVICE_NAME){
+                    String devName = "";
+                    if(StringUtils.hasText(device.getProject_id())) devName = devName+device.getProject_id()+"-";
+                    if(StringUtils.hasText(device.getSector())) devName = devName+device.getSector()+"-";
+                    if(StringUtils.hasText(device.getName())) devName = devName+device.getName();
+                    if(StringUtils.hasText(devName)) {
+                        record.setDeviceid(devName);
+                    }
+                }
+                // 用r9250来传设备经纬度
+                record.setR9250e(device.getLongitude());
+                record.setR9250n(device.getLatitude());
+                // 用aux来传xyz
+                record.setAuxe(device.getRoll());
+                record.setAuxn(device.getPitch());
+                record.setAuxd(device.getYaw());
+
+                recordsToSend.add(record);
             }
         }
+        return projects;
+    }
+    private boolean forwardGnssRecords(LocalDateTime sendTime, ResendRecord resendRecord) {
+        // 查找属于指定推送组fwdGroupId的设备列表，补推条件可能包含项目号或设备号
+        List<GnssDeviceJoin> gnssDeviceList = getFwdDeviceList(resendRecord);
+        logger.debug("candidate fwd devices {}", gnssDeviceList.size());
+        if(gnssDeviceList.size() == 0) return false;
+
+        //查找要推送的数据
+        HashMap<String, GnssCalcData> gnssDataMap = getFwdGnssData(sendTime, gnssDeviceList, resendRecord);
+        logger.debug("candidate fwd records {}", gnssDataMap.size());
+        if(gnssDataMap.size() == 0) return false;
+
+        // 构造按项目id分类的GNSS记录
+        HashMap<String, List<GnssCalcData>> projects =
+                createFwdDataByProject(gnssDeviceList,gnssDataMap,resendRecord);
 
         // 按项目打包推送
         totalSendNum = 0;

sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/bd/Gga.java

@@ -31,6 +31,11 @@ public class Gga {
      */
     private double altitude=0;
 
+    /**
+     * 大地水准面相对椭球面的高度
+     */
+    private double geoidSeparation = 0;
+
     /**
      * GPS状态，0初始化，1单点定位，2码差分，3无效PPS，4固定解，5浮点解，6正在估算7，人工输入固定值，8模拟模式，9WAAS差分
      */
@@ -94,8 +99,8 @@ public class Gga {
             }
         }
         if(ggaStr != null){
-            String[] params = ggaStr.split(",",11);
-            if(params.length == 11){
+            String[] params = ggaStr.split(",",14);
+            if(params.length >= 12){
                 Gga gga = new Gga();
                 try {
                     gga.setLatitude(transGGAPos(Double.parseDouble(params[2])));
@@ -103,6 +108,7 @@ public class Gga {
                     gga.setAltitude(Double.parseDouble(params[9]));
                     gga.setQuality(Integer.parseInt(params[6]));
                     gga.setSatellitesInUsed(Integer.parseInt(params[7]));
+                    gga.setGeoidSeparation(Double.parseDouble(params[11]));
                     return gga;
                 }
                 catch (Exception e){

sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/calc/GNSSCalcFilterService.java

@@ -169,7 +169,9 @@ public class GNSSCalcFilterService {
                     newRecord.setAuxn(NumberUtils.scaleTwo(msumN / minCount));
                     newRecord.setAuxd(NumberUtils.scaleTwo(msumD / minCount));
                     //滤波窗口里的时间跨度超过滤波时间的2/3才认为稳定
-                    newRecord.setStabled(lastRecordTime.isBefore(newRecordTime.minusHours(filterCycleHour * 1 / 2)));
+                    int stabledHours=filterCycleHour/2;
+                    if(stabledHours>12) stabledHours=12;
+                    newRecord.setStabled(lastRecordTime.isBefore(newRecordTime.minusHours(stabledHours)));
                     return true;
                 }
             }
@@ -249,7 +251,9 @@ public class GNSSCalcFilterService {
                     newRecord.setAuxn(NumberUtils.scaleTwo(msumN / minCount));
                     newRecord.setAuxd(NumberUtils.scaleTwo(msumD / minCount));
                     //滤波窗口里的时间跨度超过滤波时间的2/3才认为稳定
-                    newRecord.setStabled(lastRecordTime.isBefore(newRecordTime.minusHours(filterCycleHour * 1 / 2)));
+                    int stabledHours=filterCycleHour/2;
+                    if(stabledHours>12) stabledHours=12;
+                    newRecord.setStabled(lastRecordTime.isBefore(newRecordTime.minusHours(stabledHours)));
                     return true;
                 }
             }

sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/executor/D331RtcmMessageExecutor.java

@@ -7,6 +7,7 @@ import com.imdroid.secapi.dto.GnssDevice;
 import com.imdroid.common.util.ByteUtil;
 import com.imdroid.sideslope.bd.Gga;
 import com.imdroid.sideslope.bd.Rtcm1005;
+import com.imdroid.sideslope.bd.Tilt;
 import com.imdroid.sideslope.calc.GNSSDataCalcService;
 import com.imdroid.sideslope.message.D331RtcmMessage;
 import com.imdroid.sideslope.ntrip.UdpNtripServer;
@@ -117,6 +118,11 @@ public class D331RtcmMessageExecutor implements Executor<D331RtcmMessage, Void>
             deviceBs.setLongitude(gga.getLongitude());
             deviceBs.setAltitude(gga.getAltitude());
         }
+        // update angles
+        Tilt tilt = message.getTilt();
+        if(tilt!=null){
+            deviceBs.updateMinMaxAngle(tilt.getRoll(),tilt.getPitch());
+        }
 
         // 添加NTRIP处理
 

sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/executor/D341LocationMessageExecutor.java

@@ -5,6 +5,7 @@ import com.imdroid.common.util.ThreadManager;
 import com.imdroid.secapi.client.BeidouClient;
 import com.imdroid.secapi.dto.GnssDevice;
 import com.imdroid.sideslope.bd.Gga;
+import com.imdroid.sideslope.bd.Tilt;
 import com.imdroid.sideslope.calc.GNSSDataCalcService;
 import com.imdroid.sideslope.message.D341LocationMessage;
 import com.imdroid.sideslope.service.Device;
@@ -78,6 +79,10 @@ public class D341LocationMessageExecutor implements Executor<D341LocationMessage
             double[] pos = message.getB562_loc();
             device.updateCalcQuality((int) pos[3]);
         }
+        Tilt tilt = message.getTilt();
+        if(tilt!=null){
+            device.updateMinMaxAngle(tilt.getRoll(),tilt.getPitch());
+        }
 
         Gga gga = message.getGga();
         if(gga != null) {

sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/executor/D3F2StopIndicationMessageExecutor.java

@@ -60,6 +60,14 @@ public class D3F2StopIndicationMessageExecutor implements Executor<D3F2StopIndic
                 message.setOtherInfo(message.getOtherInfo() + ",valid calc:" + device.getLastValidCalcDataTime());
             }
         }
+        if(device.getMinAngleX()!=null){
+            message.setOtherInfo(String.format("%s,303(%.2f,%.2f,%.2f,%.2f)",
+                    message.getOtherInfo(),
+                    device.getMinAngleX(),
+                    device.getMaxAngleX(),
+                    device.getMinAngleY(),
+                    device.getMaxAngleY()));
+        }
         //更新统计
         device.updateRx(message.getHeader(), message.getLen(),1);
         GnssTrxMsg gnssTrxMsg = message.getTrxMsg();

sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/message/D331RtcmMessage.java

@@ -20,21 +20,22 @@ public class D331RtcmMessage extends BaseMessage {
     @Override
     public void decodeBody(ByteBuf src) {
         // get操作不会移动指针，这样可以确保整个全转发出去
+        int pos = 0;
         this.packetNum = 1;
         this.len = src.readableBytes();//this.len & 0x7FF;//有可能两个d331粘包
-        this.header = src.getUnsignedShort(0); // flag
-        int onePacketLen = src.getUnsignedShort(2); // length:11 bits
+        this.header = src.getUnsignedShort(pos); pos+=2;// flag
+        int onePacketLen = src.getUnsignedShort(pos); pos+=2;// length:11 bits
         this.seq = onePacketLen >> 11;
         onePacketLen = onePacketLen&0x7FF;
-        this.id = String.valueOf(src.getUnsignedInt(4)); //id
-        int pos = onePacketLen + 4;
-        while(pos < this.len){
-            if(src.getUnsignedShort(pos) == 0xd331){
-                onePacketLen = src.getUnsignedShort(pos+2)&0x7FF;
-                pos = pos+4+onePacketLen;
-                packetNum ++;
+        this.id = String.valueOf(src.getUnsignedInt(pos)); pos+=4;//id
+        if(onePacketLen + 4<this.len) {
+            while (pos < this.len) {
+                if (src.getUnsignedShort(pos) == 0xd331) {
+                    onePacketLen = src.getUnsignedShort(pos + 2) & 0x7FF;
+                    pos = pos + 4 + onePacketLen;
+                    packetNum++;
+                } else pos++;
             }
-            else pos++;
         }
         /*if (src.readableBytes() - 4 < this.len) {
             String msg = String.format("id[%s],长度字段值[%s]效益包的消息体长度[%s]", id, this.len, src.readableBytes() - 4);

sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/rtkrcv/RtkOutServer.java

@@ -0,0 +1,78 @@
+package com.imdroid.sideslope.rtkrcv;
+
+import com.imdroid.secapi.client.BeidouClient;
+
+import java.io.BufferedReader;
+import java.io.IOException;
+import java.io.InputStreamReader;
+import java.net.ServerSocket;
+import java.net.Socket;
+import java.nio.charset.StandardCharsets;
+
+public class RtkOutServer {
+    private final String deviceId;
+    private final int port;
+    private final BeidouClient beidouClient;
+    private volatile boolean running = false;
+    private ServerSocket serverSocket;
+
+    private java.io.BufferedWriter logWriter;
+
+    public RtkOutServer(String deviceId, int port, BeidouClient beidouClient){
+        this.deviceId = deviceId;
+        this.port = port;
+        this.beidouClient = beidouClient;
+    }
+
+    public void start() throws IOException {
+        if(running) return;
+        running = true;
+        serverSocket = new ServerSocket(port);
+        try {
+            java.nio.file.Path dir = java.nio.file.Paths.get("/opt/rtk/"+deviceId);
+            java.nio.file.Files.createDirectories(dir);
+            java.nio.file.Path log = dir.resolve("rtkrcv.log");
+            logWriter = java.nio.file.Files.newBufferedWriter(log, java.nio.charset.StandardCharsets.UTF_8,
+                    java.nio.file.StandardOpenOption.CREATE, java.nio.file.StandardOpenOption.APPEND);
+        } catch (Exception ignore) {}
+        Thread t = new Thread(this::acceptLoop, "rtk-out-server-"+deviceId+":"+port);
+        t.setDaemon(true);
+        t.start();
+    }
+
+    private void acceptLoop(){
+        while(running){
+            try {
+                Socket sock = serverSocket.accept();
+                handleClient(sock);
+            } catch (IOException e) {
+                if(running) { /* ignore transient errors */ }
+            }
+        }
+    }
+
+    private void handleClient(Socket sock){
+        Thread t = new Thread(() -> {
+            try (BufferedReader br = new BufferedReader(new InputStreamReader(sock.getInputStream(), StandardCharsets.UTF_8))){
+                String line;
+                while((line = br.readLine()) != null){
+                    try{ beidouClient.onRtkrcvAck(deviceId, line); } catch (Exception ignore) {}
+                    try{
+                        if(logWriter!=null){ synchronized (this){ logWriter.write(line); logWriter.write("\n"); logWriter.flush(); } }
+                    }catch(Exception ignore){}
+                }
+            } catch (IOException ignored) {
+            } finally {
+                try { sock.close(); } catch (Exception ignore) {}
+            }
+        }, "rtk-out-client-"+deviceId);
+        t.setDaemon(true);
+        t.start();
+    }
+
+    public void close(){
+        running = false;
+        try { if(serverSocket!=null) serverSocket.close(); } catch (Exception ignore) {}
+        try { if(logWriter!=null) logWriter.close(); } catch (Exception ignore) {}
+    }
+}

sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/rtkrcv/RtkrcvController.java

@@ -0,0 +1,29 @@
+package com.imdroid.sideslope.rtkrcv;
+
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.web.bind.annotation.*;
+
+@RestController
+@RequestMapping("/rtk")
+public class RtkrcvController {
+    @Autowired
+    RtkrcvManager manager;
+
+    @PostMapping("/start")
+    public String start(@RequestParam("device_id") String deviceId,
+                        @RequestParam(value = "clear_log", required = false) Boolean clearLog){
+        return manager.start(deviceId, clearLog!=null && clearLog);
+    }
+
+    @PostMapping("/stop")
+    public String stop(@RequestParam("device_id") String deviceId){
+        manager.stop(deviceId);
+        return "ok";
+    }
+
+    @GetMapping("/log_exists")
+    public boolean logExists(@RequestParam("device_id") String deviceId){
+        java.nio.file.Path p = java.nio.file.Paths.get("/opt/rtk/"+deviceId+"/rtkrcv.log");
+        return java.nio.file.Files.exists(p);
+    }
+}

sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/rtkrcv/RtkrcvManager.java

@@ -0,0 +1,206 @@
+package com.imdroid.sideslope.rtkrcv;
+
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.imdroid.secapi.client.BeidouClient;
+import com.imdroid.secapi.dto.RtkGroup;
+import com.imdroid.secapi.dto.RtkGroupMapper;
+import com.imdroid.secapi.dto.RtkProfile;
+import com.imdroid.secapi.dto.RtkProfileMapper;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.core.io.ClassPathResource;
+import org.springframework.stereotype.Service;
+
+import java.io.*;
+import java.net.ServerSocket;
+import java.nio.charset.StandardCharsets;
+import java.nio.file.Files;
+import java.nio.file.Path;
+import java.nio.file.Paths;
+import java.util.HashMap;
+import java.util.Map;
+
+@Service
+public class RtkrcvManager {
+    @Autowired
+    RtkProfileMapper profileMapper;
+    @Autowired
+    RtkGroupMapper groupMapper;
+    @Autowired
+    BeidouClient beidouClient;
+    @Autowired
+    com.imdroid.sideslope.service.DeviceService deviceService;
+
+    private final Map<String, Process> procMap = new HashMap<>();
+    private final Map<String, RtkOutServer> outServerMap = new HashMap<>();
+
+    public synchronized String start(String deviceId, boolean clearLog){
+        RtkProfile profile = getOrCreateProfile(deviceId);
+        if(profile.getRtkgroup_id()==null){
+            return "profile group id is null";
+        }
+        RtkGroup group = groupMapper.selectById(profile.getRtkgroup_id());
+        if(group == null){
+            return "group not found";
+        }
+        ensureDefaults(profile, deviceId);
+        String retHint = "ok";
+        try{
+            com.imdroid.sideslope.service.Device dev = deviceService.findByDeviceId(deviceId);
+            if(dev!=null){
+                Double lat = dev.getLatitude()==null?0.0:dev.getLatitude();
+                Double lon = dev.getLongitude()==null?0.0:dev.getLongitude();
+                Double alt = dev.getAltitude()==null?0.0:dev.getAltitude();
+                Double geo = dev.getGeoidSeparation()==null?0.0:dev.getGeoidSeparation();
+                try{ beidouClient.onRtkGngga(deviceId, lat, lon, alt, geo); }catch(Exception ignore){}
+                if(!(lat==0.0 && lon==0.0 && alt==0.0)){
+                    profile.setOut_height(geo==0.0?"ellipsoidal":"geodetic");
+                } else {
+                    retHint = "all_zero";
+                }
+            }
+        }catch(Exception ignore){}
+        profileMapper.updateById(profile);
+        try {
+            startOutServerIfNeeded(deviceId, profile.getOutstr2_path());
+            if(clearLog) clearLogFile(deviceId);
+            String confPath = generateConfig(deviceId, profile, group);
+            Process old = procMap.get(deviceId);
+            if(old!=null && old.isAlive()){
+                old.destroy();
+            }
+            ProcessBuilder pb = new ProcessBuilder("/opt/rtk/bin/rtkrcv","-nc","-o",confPath);
+            pb.redirectErrorStream(true);
+            Process p = pb.start();
+            procMap.put(deviceId, p);
+            new Thread(() -> pumpProcessOutput(deviceId, p)).start();
+            return retHint;
+        } catch (Exception e){
+            return "start failed: "+ e.getMessage();
+        }
+    }
+
+    public synchronized void stop(String deviceId){
+        Process p = procMap.get(deviceId);
+        if(p!=null){
+            p.destroy();
+            procMap.remove(deviceId);
+        }
+        RtkOutServer s = outServerMap.get(deviceId);
+        if(s!=null){
+            s.close();
+            outServerMap.remove(deviceId);
+        }
+    }
+
+    private void pumpProcessOutput(String deviceId, Process p){
+        try (BufferedReader br = new BufferedReader(new InputStreamReader(p.getInputStream(), StandardCharsets.UTF_8))){
+            String line;
+            while((line = br.readLine()) != null){
+                try{ beidouClient.onRtkrcvAck(deviceId, line); } catch (Exception ignore) {}
+            }
+        } catch (IOException ignored) {}
+    }
+
+    private RtkProfile getOrCreateProfile(String deviceId){
+        QueryWrapper<RtkProfile> q = new QueryWrapper<>();
+        q.eq("device_id", deviceId);
+        RtkProfile p = profileMapper.selectOne(q);
+        if(p==null){
+            p = new RtkProfile();
+            p.setDevice_id(deviceId);
+            p.setPos1_posmode("static");
+            p.setInpstr1_type("ntripcli");
+            p.setOut_height("geodetic");
+            profileMapper.insert(p);
+        }
+        return p;
+    }
+
+    private void ensureDefaults(RtkProfile p, String deviceId){
+        if(p.getInpstr1_type()==null || p.getInpstr1_type().isEmpty()) p.setInpstr1_type("ntripcli");
+        if(p.getPos1_posmode()==null || p.getPos1_posmode().isEmpty()) p.setPos1_posmode("static");
+        if(p.getOut_height()==null || p.getOut_height().isEmpty()) p.setOut_height("geodetic");
+        if((p.getInpstr1_path()==null || p.getInpstr1_path().isEmpty()) && "ntripcli".equalsIgnoreCase(p.getInpstr1_type())){
+            p.setInpstr1_path("beidou:29832611@8.134.185.53:8001/"+deviceId);
+        }
+        if(p.getOutstr2_path()==null || p.getOutstr2_path().isEmpty()){
+            int port = pickFreePort();
+            p.setOutstr2_path("127.0.0.1:"+port);
+        }
+    }
+
+    private int pickFreePort(){
+        try (ServerSocket socket = new ServerSocket(0)){
+            return socket.getLocalPort();
+        } catch (IOException e){
+            return 24001;
+        }
+    }
+
+    private String generateConfig(String deviceId, RtkProfile profile, RtkGroup group) throws IOException {
+        ClassPathResource res = new ClassPathResource("rtkrcv_default.conf");
+        String template;
+        try (InputStream is = res.getInputStream(); ByteArrayOutputStream bos = new ByteArrayOutputStream()){
+            byte[] buf = new byte[4096];
+            int n;
+            while((n = is.read(buf)) != -1){ bos.write(buf, 0, n); }
+            template = bos.toString(StandardCharsets.UTF_8.name());
+        }
+
+        template = replaceLine(template, "pos1-posmode", profile.getPos1_posmode());
+        template = replaceLine(template, "out-height", profile.getOut_height());
+        template = replaceLine(template, "inpstr1-type", profile.getInpstr1_type());
+        if(profile.getInpstr1_path()!=null) template = replaceLine(template, "inpstr1-path", profile.getInpstr1_path());
+        if(group.getInpstr2_path()!=null) template = replaceLine(template, "inpstr2-path", group.getInpstr2_path());
+        if(group.getInpstr3_path()!=null) template = replaceLine(template, "inpstr3-path", group.getInpstr3_path());
+        if(profile.getOutstr2_path()!=null) template = replaceLine(template, "outstr2-path", profile.getOutstr2_path());
+
+        Path dir = Paths.get("/opt/rtk/"+deviceId);
+        Files.createDirectories(dir);
+        Path conf = dir.resolve("rtkrcv.conf");
+        Files.write(conf, template.getBytes(StandardCharsets.UTF_8));
+        return conf.toAbsolutePath().toString();
+    }
+
+    private String replaceLine(String content, String key, String value){
+        String[] lines = content.split("\n");
+        StringBuilder sb = new StringBuilder();
+        String prefix = key + "       =";
+        for(String line : lines){
+            if(line.trim().startsWith(key+"        =") || line.trim().startsWith(key+"       =") || line.trim().startsWith(key+" =")){
+                sb.append(key).append("       =").append(value).append("\n");
+            }else{
+                sb.append(line).append("\n");
+            }
+        }
+        return sb.toString();
+    }
+
+    private void startOutServerIfNeeded(String deviceId, String outstr2Path){
+        if(outstr2Path == null || outstr2Path.isEmpty()) return;
+        if(outServerMap.containsKey(deviceId)) return;
+        try{
+            int port = parsePort(outstr2Path);
+            RtkOutServer server = new RtkOutServer(deviceId, port, beidouClient);
+            server.start();
+            outServerMap.put(deviceId, server);
+        }catch(Exception ignored){ }
+    }
+
+    private int parsePort(String hostPort){
+        int idx = hostPort.lastIndexOf(':');
+        if(idx>0){
+            return Integer.parseInt(hostPort.substring(idx+1));
+        }
+        return Integer.parseInt(hostPort);
+    }
+
+    private void clearLogFile(String deviceId){
+        Path dir = Paths.get("/opt/rtk/"+deviceId);
+        Path log = dir.resolve("rtkrcv.log");
+        try {
+            Files.createDirectories(dir);
+            Files.write(log, new byte[0]);
+        } catch (IOException ignored) {}
+    }
+}

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

@@ -62,6 +62,10 @@ public class Device {
     Double latitude;
     Double longitude;
     Double altitude;
+    // 大地水准面相对椭球面的高度差
+    // 博通 GGA 此处可能非零，影响 RTK 运算，故需通过此属性判断。
+    Double geoidSeparation = 0.0;
+
     Double ecefx;
     Double ecefy;
     Double ecefz;
@@ -93,6 +97,11 @@ public class Device {
     byte dataChannelType = CHANNEL_TYPE_UDP; // 0:TCP;1:DUP
     int lasQuality = 0;
 
+    Double minAngleX;
+    Double maxAngleX;
+    Double minAngleY;
+    Double maxAngleY;
+
     public void updateRx(int head, int bytes,int count){
         lastRxHead = head;
 
@@ -155,6 +164,11 @@ public class Device {
         fixedNum = 0;
         floatNum = 0;
         jumpCount = 0;
+
+        minAngleX=null;
+        minAngleY=null;
+        maxAngleX=null;
+        maxAngleY=null;
     }
 
     public void clearD342Stat(){
@@ -169,4 +183,24 @@ public class Device {
         abnormalD341Num = 0;
     }
 
+    public void updateMinMaxAngle(double x, double y){
+        if(minAngleX == null || maxAngleX == null){
+            minAngleX = x;
+            maxAngleX = x;
+        }
+        else{
+            if(x<minAngleX) minAngleX = x;
+            if(x>maxAngleX) maxAngleX = x;
+        }
+
+        if(minAngleY == null || maxAngleY == null){
+            minAngleY = y;
+            maxAngleY = y;
+        }
+        else{
+            if(y<minAngleY) minAngleY = y;
+            if(y>maxAngleY) maxAngleY = y;
+        }
+    }
+
 }

sec-beidou-rtcm/src/main/resources/application.properties

@@ -7,9 +7,9 @@ spring.application.build=20230924
 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.username = admin
-spring.datasource.password = DBMgr_2022
+spring.datasource.url = jdbc:mysql://8.134.185.53:3306/beidou?characterEncoding=utf8&useSSL=false&allowPublicKeyRetrieval=true&serverTimezone=Asia/Shanghai&useSSL=false
+spring.datasource.username=remote
+spring.datasource.password=root
 spring.datasource.driverClassName = com.mysql.cj.jdbc.Driver
 
 spring.jackson.dateFormat = yyyy-MM-dd HH:mm:ss

sec-beidou-rtcm/src/main/resources/rtkrcv_default.conf

@@ -0,0 +1,161 @@
+# RTKNAVI options (template)
+
+pos1-posmode       =static
+pos1-frequency     =l1+l2+l5
+pos1-soltype       =forward
+pos1-elmask        =10
+pos1-snrmask_r     =on
+pos1-snrmask_b     =on
+pos1-snrmask_L1    =0,0,0,0,0,0,0,0,0
+pos1-snrmask_L2    =0,0,0,0,0,0,0,0,0
+pos1-snrmask_L5    =0,0,0,0,0,0,0,0,0
+pos1-dynamics      =off
+pos1-tidecorr      =off
+pos1-ionoopt       =brdc
+pos1-tropopt       =saas
+pos1-sateph        =brdc+sbas
+pos1-posopt1       =off
+pos1-posopt2       =off
+pos1-posopt3       =off
+pos1-posopt4       =off
+pos1-posopt5       =off
+pos1-posopt6       =off
+pos1-exclsats      =
+pos1-navsys        =45
+pos2-armode        =continuous
+pos2-gloarmode     =fix-and-hold
+pos2-bdsarmode     =on
+pos2-arfilter      =on
+pos2-arthres       =3
+pos2-arthresmin    =2
+pos2-arthresmax    =2
+pos2-arthres1      =0.1
+pos2-arthres2      =0
+pos2-arthres3      =1e-09
+pos2-arthres4      =1e-05
+pos2-varholdamb    =0.1
+pos2-gainholdamb   =0.01
+pos2-arlockcnt     =5
+pos2-minfixsats    =4
+pos2-minholdsats   =5
+pos2-mindropsats   =10
+pos2-arelmask      =10
+pos2-arminfix      =20
+pos2-armaxiter     =1
+pos2-elmaskhold    =10
+pos2-aroutcnt      =20
+pos2-maxage        =30
+pos2-syncsol       =off
+pos2-slipthres     =0.05
+pos2-dopthres      =0
+pos2-rejionno      =5
+pos2-rejcode       =30
+pos2-niter         =1
+pos2-baselen       =0
+pos2-basesig       =0
+out-solformat      =llh
+out-outhead        =on
+out-outopt         =on
+out-outvel         =off
+out-timesys        =gpst
+out-timeform       =hms
+out-timendec       =3
+out-degform        =deg
+out-fieldsep       =
+out-outsingle      =off
+out-maxsolstd      =0
+out-height         =geodetic
+out-geoid          =internal
+out-solstatic      =all
+out-nmeaintv1      =0
+out-nmeaintv2      =0
+out-outstat        =residual
+stats-eratio1      =300
+stats-eratio2      =300
+stats-eratio5      =300
+stats-errphase     =0.003
+stats-errphaseel   =0.003
+stats-errphasebl   =0
+stats-errdoppler   =1
+stats-snrmax       =52
+stats-errsnr       =0
+stats-errrcv       =0
+stats-stdbias      =30
+stats-stdiono      =0.03
+stats-stdtrop      =0.3
+stats-prnaccelh    =3
+stats-prnaccelv    =1
+stats-prnbias      =0.0001
+stats-prniono      =0.001
+stats-prntrop      =0.0001
+stats-prnpos       =0
+stats-clkstab      =5e-12
+ant1-postype       =llh
+ant1-pos1          =90
+ant1-pos2          =0
+ant1-pos3          =-6335367.6285
+ant1-anttype       =
+ant1-antdele       =0
+ant1-antdeln       =0
+ant1-antdelu       =0
+ant2-postype       =rtcm
+ant2-pos1          =0
+ant2-pos2          =0
+ant2-pos3          =0
+ant2-anttype       =
+ant2-antdele       =0
+ant2-antdeln       =0
+ant2-antdelu       =0
+ant2-maxaveep      =1
+ant2-initrst       =on
+misc-timeinterp    =off
+misc-sbasatsel     =0
+misc-rnxopt1       =
+misc-rnxopt2       =
+misc-pppopt        =
+file-satantfile    =
+file-rcvantfile    =
+file-staposfile    =
+file-geoidfile     =
+file-ionofile      =
+file-dcbfile       =
+file-eopfile       =
+file-blqfile       =
+file-tempdir       =./RTKNAVI
+file-geexefile     =
+file-solstatfile   =
+file-tracefile     =
+
+inpstr1-type       =ntripcli
+inpstr2-type       =ntripcli
+inpstr3-type       =ntripcli
+inpstr1-path       =beidou:29832611@8.134.185.53:8001/6539837
+inpstr2-path       =ytcors14847:fyx25943@gnss.ytcors.cn:8003/RTCM33GRCEJpro
+inpstr3-path       =Ming:@Zhang12345@ntrip.data.gnss.ga.gov.au:2101/BCEP00BKG0
+inpstr1-format     =rtcm3
+inpstr2-format     =rtcm3
+inpstr3-format     =rtcm3
+inpstr2-nmeareq    =single
+inpstr2-nmealat    =
+inpstr2-nmealon    =
+outstr1-type       =off
+outstr2-type       =tcpcli
+outstr1-path       =127.0.0.1:60000
+outstr2-path       =127.0.0.1:24001
+outstr1-format     =xyz
+outstr2-format     =llh
+logstr1-type       =off
+logstr2-type       =off
+logstr3-type       =off
+logstr1-path       =
+logstr2-path       =
+logstr3-path       =
+misc-svrcycle      =10
+misc-timeout       =10000
+misc-reconnect     =10000
+misc-nmeacycle     =5000
+misc-buffsize      =32768
+misc-navmsgsel     =all
+misc-proxyaddr     =
+misc-fswapmargin   =30
+console-passwd     =

sec-beidou/src/main/java/com/imdroid/beidou/controller/APIController.java

@@ -36,6 +36,10 @@ public class APIController extends BasicController {
     WarningMsgMapper warningMsgMapper;
     @Autowired
     GnssStatusMapper gnssStatusMapper;
+    @Autowired
+    com.imdroid.secapi.dto.RtkSolutionMapper rtkSolutionMapper;
+    @Autowired
+    com.imdroid.beidou.service.RtkMonitorService rtkMonitorService;
 
     /****** config ack *******/
     @PostMapping(value = "/api/config_ack")
@@ -44,20 +48,24 @@ public class APIController extends BasicController {
         GnssDevice device = deviceMapper.queryByDeviceId(deviceId);
         if (device == null) return null;
 
-        int msgType = Integer.parseInt(configAck.substring(0, 4), 16);
+        byte[] hexValues = ByteUtil.hexStringTobyte(configAck);
+        // d3 12 00 12 00 81 e7 6f
+        if(hexValues.length < 9) return null;
+
+        int msgType = ByteUtil.getUnsignedShort(hexValues[0],hexValues[1]);
+        byte code = hexValues[8];
         // 配置是否成功
         if (msgType == 0xd311) {
             //最后一个字节为1表示配置成功，0表示配置失败
-            if (configAck.endsWith("01")) {
+            if (hexValues[hexValues.length-1] == 1) {
                 device.setSyn(true);
                 deviceMapper.updateById(device);
             }
-        } else if (msgType == 0xd312) {
+        } else if (msgType == 0xd312 || msgType == 0xd313) {
             // 工作周期一致性检查
-            checkWorkCycle(device, configAck);
-        } else if (msgType == 0xd313) {
-            if(device.getChange_flag()!=0) {
-                if(device.clearChangeFlag(configAck)){
+            if(msgType == 0xd312 && code == 1) checkWorkCycle(device, hexValues);
+            else if((code&0xF0) == 0x50 && device.getChange_flag()!=0){
+                if(device.clearChangeFlag(hexValues)){
                     deviceMapper.updateById(device);
                 }
             }
@@ -90,10 +98,9 @@ public class APIController extends BasicController {
         return null;
     }
 
-    void checkWorkCycle(GnssDevice device, String cfgData) {
+    void checkWorkCycle(GnssDevice device, byte[] hexValues) {
         // d3 12 00 12 00 81 e7 6f 01 0a09000001c2dd7ae1419ee148
         int pos = 9;
-        byte[] hexValues = ByteUtil.hexStringTobyte(cfgData);
         byte workCycle = hexValues[pos++];
         byte workDur = hexValues[pos++];
         byte workOffset = hexValues[pos++];
@@ -356,4 +363,74 @@ public class APIController extends BasicController {
         // 保存升级记录
         return null;
     }
+    @PostMapping(value = "/api/rtkrcv_ack")
+    @ResponseBody
+    public String onRtkRcvAck(String deviceId, String data) {
+        if(data == null) data = "";
+        String line = data.trim();
+        try {
+            String time = "";
+            double lat = 0, lon = 0, h = 0;
+            int q = -1, ns = -1;
+            String s = line;
+            if(s.startsWith("RTK ")){
+                String[] ps = s.split("\\s+");
+                // RTK dev yyyy/mm/dd hh:mm:ss ...
+                if(ps.length > 4) {
+                    s = s.substring(s.indexOf(ps[3]));
+                }
+            }
+            String[] tok = s.split("\\s+");
+            if(tok.length >= 7){
+                time = tok[0] + (tok[1].contains(":")? (" " + tok[1]) : "");
+                int base = tok[1].contains(":")? 2 : 1;
+                lat = Double.parseDouble(tok[base]);
+                lon = Double.parseDouble(tok[base+1]);
+                h = Double.parseDouble(tok[base+2]);
+                q = Integer.parseInt(tok[base+3]);
+                ns = Integer.parseInt(tok[base+4]);
+            }
+            com.alibaba.fastjson.JSONObject obj = new com.alibaba.fastjson.JSONObject();
+            obj.put("type","rtk");
+            obj.put("deviceId", deviceId);
+            obj.put("time", time);
+            obj.put("lat", lat);
+            obj.put("lon", lon);
+            obj.put("h", h);
+            obj.put("q", q);
+            obj.put("ns", ns);
+            obj.put("raw", line);
+            RtkrcvWebSocketServer.sendMessageToAll(obj.toJSONString());
+            if(q == 1){
+                com.imdroid.secapi.dto.RtkSolution sol = new com.imdroid.secapi.dto.RtkSolution();
+                sol.setDevice_id(deviceId);
+                sol.setLatitude(lat);
+                sol.setLongitude(lon);
+                sol.setAltitude(h);
+                sol.setStatus((short)1);
+                try{ rtkSolutionMapper.insert(sol);}catch(Exception ignore){}
+            }
+            if(q >= 0){
+                rtkMonitorService.onSolution(deviceId, q);
+            }
+        } catch (Exception e){
+            String msg = "RTK " + deviceId + " " + line;
+            RtkrcvWebSocketServer.sendMessageToAll(msg);
+        }
+        return "ok";
+    }
+
+    @PostMapping(value = "/api/rtk_gngga")
+    @ResponseBody
+    public String onRtkGngga(String deviceId, Double lat, Double lon, Double alt, Double geo) {
+        com.alibaba.fastjson.JSONObject obj = new com.alibaba.fastjson.JSONObject();
+        obj.put("type","rtk_gngga");
+        obj.put("deviceId", deviceId);
+        obj.put("lat", lat);
+        obj.put("lon", lon);
+        obj.put("alt", alt);
+        obj.put("geo", geo);
+        RtkrcvWebSocketServer.sendMessageToAll(obj.toJSONString());
+        return "ok";
+    }
 }

sec-beidou/src/main/java/com/imdroid/beidou/controller/DeviceSummaryController.java

@@ -48,6 +48,8 @@ public class DeviceSummaryController extends BasicController{
             jsonObject.put("satNum",gnssStatus.getSatelliteinuse()>=12?"多于12":gnssStatus.getSatelliteinuse());
             jsonObject.put("rxBytes",gnssStatus.getB562bytes()+gnssStatus.getD3xxbytes());
             jsonObject.put("rssi",gnssStatus.getRssi());
+            jsonObject.put("loc",NumberUtils.scale(gnssStatus.getLongitude(), 8)
+                    +","+NumberUtils.scale(gnssStatus.getLatitude(), 8));
         }
         return jsonObject;
     }

sec-beidou/src/main/java/com/imdroid/beidou/controller/GnssDeviceController.java

@@ -145,6 +145,11 @@ public class GnssDeviceController extends BasicController{
             if (StringUtils.hasText(deviceid)) {
                 queryWrapper.like("deviceid", deviceid);
             }
+            //型号
+            Integer model = search.getInteger("model");
+            if (model!=null) {
+                queryWrapper.eq("model", model);
+            }
             //父设备号
             String parentid = search.getString("parentid");
             if (StringUtils.hasText(parentid)) {
@@ -155,6 +160,11 @@ public class GnssDeviceController extends BasicController{
             if (StringUtils.hasText(project_id)) {
                 queryWrapper.like("project_id", project_id);
             }
+            //桩号
+            String sector = search.getString("sector");
+            if (StringUtils.hasText(sector)) {
+                queryWrapper.like("sector", sector);
+            }
             //所属组织
             String tenantname = search.getString("tenantname");
             if (StringUtils.hasText(tenantname)) {

sec-beidou/src/main/java/com/imdroid/beidou/controller/GnssStatusController.java

@@ -99,7 +99,7 @@ public class GnssStatusController extends BasicController implements CommonExcel
     public MPJQueryWrapper<GnssStatus> prepareQueryWrapper() {
         return new MPJQueryWrapper<GnssStatus>()
                 .selectAll(GnssStatus.class)
-                .select("d.devicetype as devicetype,d.remark as remark,d.iccid as iccid")
+                .select("d.devicetype as devicetype,d.remark as remark,d.iccid as iccid,d.tenantname as tenantname")
                 .leftJoin("gnssdevices d on t.deviceid = d.deviceid")
                 .orderByDesc("t.updatetime");
     }

sec-beidou/src/main/java/com/imdroid/beidou/controller/GroupRtkController.java

@@ -0,0 +1,41 @@
+package com.imdroid.beidou.controller;
+
+import com.imdroid.beidou.common.HttpResult;
+import com.imdroid.beidou.service.GroupRtkScheduler;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.web.bind.annotation.*;
+
+import java.util.HashMap;
+import java.util.List;
+import java.util.Map;
+
+@RestController
+public class GroupRtkController {
+    @Autowired
+    GroupRtkScheduler scheduler;
+
+    @PostMapping("/rtk/group/start")
+    public HttpResult start(@RequestParam("group_id") Integer groupId,
+                            @RequestParam(value = "clear_log", required = false) Boolean clearLog){
+        scheduler.startGroup(groupId, clearLog!=null && clearLog);
+        return HttpResult.success("ok");
+    }
+
+    @PostMapping("/rtk/group/stop")
+    public HttpResult stop(@RequestParam("group_id") Integer groupId){
+        scheduler.stopGroup(groupId);
+        return HttpResult.success("ok");
+    }
+
+    @GetMapping("/rtk/group/status")
+    public Map<String,Object> status(@RequestParam("group_id") Integer groupId){
+        List<Map<String,Object>> data = scheduler.getStatus(groupId);
+        Map<String,Object> r = new HashMap<>();
+        r.put("code",0);
+        r.put("data", data);
+        r.put("count", data.size());
+        r.put("msg","");
+        return r;
+    }
+}
+

sec-beidou/src/main/java/com/imdroid/beidou/controller/IndexController.java

@@ -14,6 +14,7 @@ import org.springframework.web.bind.annotation.RequestParam;
 import org.springframework.web.bind.annotation.ResponseBody;
 
 import javax.servlet.http.HttpSession;
+import java.time.LocalDateTime;
 import java.util.Iterator;
 import java.util.List;
 
@@ -39,15 +40,16 @@ public class IndexController extends BasicController{
     @RequestMapping("/page/device_overview")
     public String deviceOverview(Model m, HttpSession session) {
         initModel(m, session);
-        int deviceDeployedNum;
-        int deviceOfflineNum=0;
+        int deviceDeployedNum = 0;
+        int deviceOfflineNum = 0;
+        int deviceOfflineNumIn24h = 0;
         int warning1Num=0;//一般告警
         int warning2Num=0;//严重告警
         int noGGA = 0;
         int noFix = 0;
+        long deviceNoFwdNum=0;
 
         //未推送设备数（同时满足：非SAAS服务商、使用状态正常、fwd_group_id和fwd_group_id2都为"不推送"的设备）
-        Long deviceNoFwdNum;
         QueryWrapper<GnssDevice> noFwdQueryWrapper = new QueryWrapper<>();
         if (tenantId != Tenant.SAAS_PROVIDER_ID) {
             // 非SAAS服务商查询当前租户
@@ -63,7 +65,7 @@ public class IndexController extends BasicController{
         // fwd_group_id为"不推送"
         noFwdQueryWrapper.eq("fwd_group_id", GnssGroupFwd.FWD_TYPE_NONE);
         // fwd_group_id2为"不推送"或为null
-        noFwdQueryWrapper.and(wrapper -> wrapper.eq("fwd_group_id2", GnssGroupFwd.FWD_TYPE_NONE).or().isNull("fwd_group_id2"));
+        //noFwdQueryWrapper.and(wrapper -> wrapper.eq("fwd_group_id2", GnssGroupFwd.FWD_TYPE_NONE).or().isNull("fwd_group_id2"));
         deviceNoFwdNum = gnssDeviceMapper.selectCount(noFwdQueryWrapper);
 
         List<GnssStatusJoin> deviceList;
@@ -76,19 +78,26 @@ public class IndexController extends BasicController{
         deviceDeployedNum = deviceList.size();
 
         //for(GnssStatusJoin status:deviceList){遍历删除异常
+        LocalDateTime now = LocalDateTime.now();
         Iterator<GnssStatusJoin> iterator = deviceList.iterator();
         while(iterator.hasNext()){
             GnssStatusJoin status=iterator.next();
             if(status.getState() == GnssStatus.STATE_OFFLINE) {
                 deviceOfflineNum++;
+                if(status.getUpdatetime()!=null &&
+                        status.getUpdatetime().isAfter(now.minusHours(24))){
+                    deviceOfflineNumIn24h++;
+                    status.setWarning((short) 3);
+                }
+                else {
+                    status.setWarning((short) 2);
+                }
             }
             else if((status.getWarningcode()&WarningCfg.TYPE_CONT_INVALID_RESULT) != 0) {
                 noFix++;
+                status.setWarning((short) 4);
             }
 
-            if(status.getWarning() == WarningCfg.LEVEL_1) warning1Num++;
-            else if(status.getWarning() == WarningCfg.LEVEL_2) warning2Num++;
-
             // 剔除无经纬度的对象，不在地图上显示
             if(status.getLatitude()==null || status.getLongitude()==null){
                 noGGA++;
@@ -115,6 +124,7 @@ public class IndexController extends BasicController{
         m.addAttribute("deviceDeployedNum", deviceDeployedNum);
         m.addAttribute("deviceOnlineNum", deviceDeployedNum-deviceOfflineNum);
         m.addAttribute("deviceOfflineNum",  deviceOfflineNum);
+        m.addAttribute("deviceOfflineNumIn24h",  deviceOfflineNumIn24h);
         m.addAttribute("warning1Num", warning1Num);
         m.addAttribute("warning2Num", warning2Num);
         m.addAttribute("warningTotalNum", warning1Num+warning2Num);
@@ -144,7 +154,7 @@ public class IndexController extends BasicController{
         Integer tenantId = getTenantId(session);
         if(tenantId == Tenant.SAAS_PROVIDER_ID) {
             queryWrapper.selectAll(GnssStatus.class)
-                    .select("d.name as name", "d.devicetype as devicetype", "d.project_id as project_id")
+                    .select("d.name as name", "d.devicetype as devicetype", "d.tenantname as tenantname","d.project_id as project_id")
                     .leftJoin("gnssdevices d on t.deviceid = d.deviceid")
                     .ne("d.tenantid", Tenant.SAAS_PROVIDER_ID)
                     .eq("opmode", GnssDevice.OP_MODE_USE)
@@ -152,7 +162,7 @@ public class IndexController extends BasicController{
         }
         else{
             queryWrapper.selectAll(GnssStatus.class)
-                    .select("d.name as name", "d.devicetype as devicetype", "d.project_id as project_id")
+                    .select("d.name as name", "d.devicetype as devicetype", "d.tenantname as tenantname", "d.project_id as project_id")
                     .leftJoin("gnssdevices d on t.deviceid = d.deviceid")
                     .eq("d.tenantid", tenantId)
                     .eq("opmode", GnssDevice.OP_MODE_USE)
@@ -164,6 +174,10 @@ public class IndexController extends BasicController{
             if(query.equals("offline")){
                 queryWrapper.eq("state",GnssStatus.STATE_OFFLINE);
             }
+            else if(query.equals("offline_in24h")){
+                queryWrapper.eq("state",GnssStatus.STATE_OFFLINE);
+                queryWrapper.ge("t.updatetime",LocalDateTime.now().minusHours(24));
+            }
             else if(query.equals("nofixed")){
                 queryWrapper.eq("warningcode&"+WarningCfg.TYPE_CONT_INVALID_RESULT,WarningCfg.TYPE_CONT_INVALID_RESULT);
             }

sec-beidou/src/main/java/com/imdroid/beidou/controller/RtkGroupController.java

@@ -0,0 +1,209 @@
+package com.imdroid.beidou.controller;
+
+import com.alibaba.fastjson.JSONObject;
+import com.baomidou.mybatisplus.core.metadata.IPage;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.imdroid.beidou.common.HttpResult;
+import com.imdroid.secapi.dto.OpLogManager;
+import com.imdroid.secapi.dto.*;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.stereotype.Controller;
+import org.springframework.ui.Model;
+import org.springframework.web.bind.annotation.*;
+
+import javax.servlet.http.HttpSession;
+
+@Controller
+public class RtkGroupController extends BasicController {
+    @Autowired
+    RtkGroupMapper rtkGroupMapper;
+    @Autowired
+    RtkProfileMapper rtkProfileMapper;
+    @Autowired
+    GnssDeviceMapper gnssDeviceMapper;
+    @Autowired
+    OpLogManager opLogManager;
+
+    @RequestMapping("/page/table/rtk_group_edit")
+    public String rtkGroupEdit(Model m, HttpSession session) {
+        initModel(m, session);
+        return "/page/table/rtk_group_edit";
+    }
+
+    @RequestMapping("/page/table/rtk_profile_edit")
+    public String rtkProfileEdit(Model m, HttpSession session) {
+        initModel(m, session);
+        return "/page/table/rtk_profile_edit";
+    }
+
+    @RequestMapping("/rtk/group/list")
+    @ResponseBody
+    public JSONObject list(int page, int limit) {
+        Page<RtkGroup> pageable = new Page<>(page, limit);
+        IPage<RtkGroup> cs = rtkGroupMapper.selectPage(pageable, null);
+
+        JSONObject jsonObject = new JSONObject();
+        jsonObject.put("code", 0);
+        jsonObject.put("msg", "");
+        jsonObject.put("count", cs.getTotal());
+        jsonObject.put("data", cs.getRecords());
+        return jsonObject;
+    }
+
+    @RequestMapping("/rtk/profile/list")
+    @ResponseBody
+    public com.alibaba.fastjson.JSONObject listProfiles(@RequestParam int page,
+                                                        @RequestParam int limit,
+                                                        @RequestParam(value = "group_id", required = false) Integer groupId,
+                                                        @RequestParam(value = "device_id", required = false) String deviceId) {
+        com.baomidou.mybatisplus.extension.plugins.pagination.Page<RtkProfile> pageable = new com.baomidou.mybatisplus.extension.plugins.pagination.Page<>(page, limit);
+        QueryWrapper<RtkProfile> wrapper = new QueryWrapper<>();
+        if (groupId != null) wrapper.eq("rtkgroup_id", groupId);
+        if (deviceId != null && !deviceId.isEmpty()) wrapper.like("device_id", deviceId);
+        com.baomidou.mybatisplus.core.metadata.IPage<RtkProfile> cs = rtkProfileMapper.selectPage(pageable, wrapper);
+
+        com.alibaba.fastjson.JSONObject jsonObject = new com.alibaba.fastjson.JSONObject();
+        jsonObject.put("code", 0);
+        jsonObject.put("msg", "");
+        jsonObject.put("count", cs.getTotal());
+        jsonObject.put("data", cs.getRecords());
+        return jsonObject;
+    }
+
+    @PostMapping("/rtk/profile/update")
+    @ResponseBody
+    public HttpResult updateProfile(@RequestBody com.alibaba.fastjson.JSONObject object) {
+        RtkProfile profile = com.alibaba.fastjson.JSONObject.toJavaObject(object, RtkProfile.class);
+        if ((profile.getId() == null) && (profile.getDevice_id() == null || profile.getDevice_id().isEmpty())) {
+            return HttpResult.fail("device_id不能为空");
+        }
+        if (profile.getInpstr1_type() == null || profile.getInpstr1_type().isEmpty()) profile.setInpstr1_type("ntripcli");
+        if (profile.getPos1_posmode() == null || profile.getPos1_posmode().isEmpty()) profile.setPos1_posmode("static");
+        if (profile.getOut_height() == null || profile.getOut_height().isEmpty()) profile.setOut_height("geodetic");
+
+        RtkProfile exist = null;
+        if (profile.getId() != null) exist = rtkProfileMapper.selectById(profile.getId());
+        if (exist == null && profile.getDevice_id() != null) {
+            QueryWrapper<RtkProfile> q = new QueryWrapper<>();
+            q.eq("device_id", profile.getDevice_id());
+            exist = rtkProfileMapper.selectOne(q);
+        }
+        int num;
+        if (exist == null) {
+            num = rtkProfileMapper.insert(profile);
+        } else {
+            profile.setId(exist.getId());
+            num = rtkProfileMapper.updateById(profile);
+        }
+        if (num == 0) return HttpResult.fail("保存失败");
+        return HttpResult.success("ok");
+    }
+
+    @GetMapping("/rtk/transfer/options")
+    @ResponseBody
+    public HttpResult transferOptions(@RequestParam("group_id") Integer groupId) {
+        java.util.List<GnssDevice> all = gnssDeviceMapper.selectList(null);
+        java.util.List<java.util.Map<String, Object>> data = new java.util.ArrayList<>();
+        for (GnssDevice d : all) {
+            java.util.HashMap<String, Object> m = new java.util.HashMap<>();
+            m.put("value", d.getDeviceid());
+            String title = d.getDeviceid();
+            if (d.getName() != null && !d.getName().isEmpty()) title += " " + d.getName();
+            m.put("title", title);
+            data.add(m);
+        }
+        QueryWrapper<RtkProfile> qw = new QueryWrapper<>();
+        qw.eq("rtkgroup_id", groupId);
+        java.util.List<RtkProfile> profiles = rtkProfileMapper.selectList(qw);
+        java.util.List<String> selected = new java.util.ArrayList<>();
+        for (RtkProfile p : profiles) selected.add(p.getDevice_id());
+        java.util.HashMap<String, Object> resp = new java.util.HashMap<>();
+        resp.put("data", data);
+        resp.put("value", selected);
+        return HttpResult.success(resp);
+    }
+
+    @PostMapping("/rtk/profile/save_group_devices")
+    @ResponseBody
+    public HttpResult saveGroupDevices(@RequestBody JSONObject body) {
+        Integer groupId = body.getInteger("group_id");
+        java.util.List<String> deviceIds = body.getJSONArray("device_ids").toJavaList(String.class);
+        QueryWrapper<RtkProfile> qw = new QueryWrapper<>();
+        qw.eq("rtkgroup_id", groupId);
+        java.util.List<RtkProfile> current = rtkProfileMapper.selectList(qw);
+        java.util.HashSet<String> want = new java.util.HashSet<>(deviceIds);
+        java.util.HashSet<String> exists = new java.util.HashSet<>();
+        for (RtkProfile p : current) exists.add(p.getDevice_id());
+
+        for (String did : deviceIds) {
+            QueryWrapper<RtkProfile> q1 = new QueryWrapper<>();
+            q1.eq("device_id", did);
+            RtkProfile prof = rtkProfileMapper.selectOne(q1);
+            if (prof == null) {
+                RtkProfile np = new RtkProfile();
+                np.setDevice_id(did);
+                np.setRtkgroup_id(groupId);
+                np.setPos1_posmode("static");
+                np.setInpstr1_type("ntripcli");
+                np.setOut_height("geodetic");
+                np.setInpstr1_path("");
+                np.setOutstr2_path("");
+                rtkProfileMapper.insert(np);
+            } else if (prof.getRtkgroup_id() == null || !prof.getRtkgroup_id().equals(groupId)) {
+                prof.setRtkgroup_id(groupId);
+                rtkProfileMapper.updateById(prof);
+            }
+        }
+
+        for (RtkProfile p : current) {
+            if (!want.contains(p.getDevice_id())) {
+                p.setRtkgroup_id(0);
+                rtkProfileMapper.updateById(p);
+            }
+        }
+        return HttpResult.success("ok");
+    }
+
+    @PostMapping("/rtk/group/update")
+    @ResponseBody
+    public HttpResult update(HttpSession session, @RequestBody JSONObject object) {
+        int num;
+        RtkGroup group = JSONObject.toJavaObject(object, RtkGroup.class);
+        if (group.getName() == null || group.getName().trim().isEmpty()) {
+            return HttpResult.fail("名称不能为空");
+        }
+        if (group.getInpstr2_path() == null || group.getInpstr2_path().isEmpty()) {
+            group.setInpstr2_path("ytcors14847:fyx25943@gnss.ytcors.cn:8003/RTCM33GRCEJpro");
+        }
+        if (group.getInpstr3_path() == null || group.getInpstr3_path().isEmpty()) {
+            group.setInpstr3_path("Ming:@Zhang12345@ntrip.data.gnss.ga.gov.au:2101/BCEP00BKG0");
+        }
+
+        if (group.getId() != null) {
+            num = rtkGroupMapper.updateById(group);
+            opLogManager.addLog(getLoginUser(session), getTenantId(session),
+                    OpLogManager.OP_TYPE_UPDATE, OpLogManager.OP_OBJ_GROUP, group.getName());
+        } else {
+            num = rtkGroupMapper.insert(group);
+            opLogManager.addLog(getLoginUser(session), getTenantId(session),
+                    OpLogManager.OP_TYPE_ADD, OpLogManager.OP_OBJ_GROUP, group.getName());
+        }
+        if (num == 0) {
+            return HttpResult.fail("保存失败");
+        } else return HttpResult.success("ok");
+    }
+
+    @PostMapping("/rtk/group/delete")
+    @ResponseBody
+    public HttpResult delete(HttpSession session, @RequestParam int del_id) {
+        RtkGroup group = rtkGroupMapper.selectById(del_id);
+        if (group == null) return HttpResult.fail("记录不存在");
+        int num = rtkGroupMapper.deleteById(del_id);
+        opLogManager.addLog(getLoginUser(session), getTenantId(session),
+                OpLogManager.OP_TYPE_DEL, OpLogManager.OP_OBJ_GROUP, group.getName());
+        if (num == 0) {
+            return HttpResult.fail("删除失败");
+        } else return HttpResult.success("ok");
+    }
+}

sec-beidou/src/main/java/com/imdroid/beidou/controller/RtkrcvController.java

@@ -0,0 +1,17 @@
+package com.imdroid.beidou.controller;
+
+import org.springframework.stereotype.Controller;
+import org.springframework.ui.Model;
+import org.springframework.web.bind.annotation.RequestMapping;
+
+import javax.servlet.http.HttpSession;
+
+@Controller
+public class RtkrcvController extends BasicController {
+    @RequestMapping("/page/rtkrcv")
+    public String rtkrcv(Model m, HttpSession session) {
+        initModel(m, session);
+        return "/page/rtkrcv";
+    }
+}
+

sec-beidou/src/main/java/com/imdroid/beidou/controller/RtkrcvProxyController.java

@@ -0,0 +1,44 @@
+package com.imdroid.beidou.controller;
+
+import com.imdroid.beidou.common.HttpResult;
+import com.imdroid.secapi.client.RtkrcvClient;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.stereotype.Controller;
+import org.springframework.web.bind.annotation.PostMapping;
+import org.springframework.web.bind.annotation.GetMapping;
+import org.springframework.web.bind.annotation.RequestParam;
+import org.springframework.web.bind.annotation.ResponseBody;
+
+@Controller
+public class RtkrcvProxyController {
+    @Autowired
+    RtkrcvClient rtkrcvClient;
+    @Autowired
+    com.imdroid.beidou.service.RtkMonitorService rtkMonitorService;
+
+    @PostMapping("/rtk/start")
+    @ResponseBody
+    public HttpResult start(@RequestParam("device_id") String deviceId,
+                            @RequestParam(value = "clear_log", required = false) Boolean clearLog){
+        String res = rtkrcvClient.start(deviceId, clearLog!=null && clearLog);
+        rtkMonitorService.onStart(deviceId);
+        if(res==null) return HttpResult.fail("start failed");
+        return HttpResult.success(res);
+    }
+
+    @PostMapping("/rtk/stop")
+    @ResponseBody
+    public HttpResult stop(@RequestParam("device_id") String deviceId){
+        String res = rtkrcvClient.stop(deviceId);
+        rtkMonitorService.onStop(deviceId);
+        if(res==null) return HttpResult.fail("stop failed");
+        return HttpResult.success(res);
+    }
+
+    @GetMapping("/rtk/log_exists")
+    @ResponseBody
+    public Boolean logExists(@RequestParam("device_id") String deviceId){
+        Boolean exists = rtkrcvClient.logExists(deviceId);
+        return exists != null && exists;
+    }
+}

sec-beidou/src/main/java/com/imdroid/beidou/controller/RtkrcvWebSocketServer.java

@@ -0,0 +1,69 @@
+package com.imdroid.beidou.controller;
+
+import com.imdroid.beidou.config.WebSocketConfig;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+import javax.servlet.http.HttpSession;
+import javax.websocket.*;
+import javax.websocket.server.ServerEndpoint;
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
+@ServerEndpoint(value = "/websocket/rtkrcv", configurator = WebSocketConfig.class)
+@Component
+@Slf4j
+public class RtkrcvWebSocketServer {
+    private static final Map<String, Session> webSocketSet = new ConcurrentHashMap<>();
+
+    @OnOpen
+    public void onOpen(Session session){
+        HttpSession httpSession= (HttpSession) session.getUserProperties().get(HttpSession.class.getName());
+        if(httpSession!=null){
+            webSocketSet.put(httpSession.getId(), session);
+        }
+        log.info("rtkrcv websocket opened, total: {}", webSocketSet.size());
+    }
+
+    @OnClose
+    public void onClose(Session session){
+        HttpSession httpSession= (HttpSession) session.getUserProperties().get(HttpSession.class.getName());
+        if(httpSession!=null){
+            webSocketSet.remove(httpSession.getId());
+        }
+        log.info("rtkrcv websocket closed, total: {}", webSocketSet.size());
+    }
+
+    @OnMessage
+    public void onMessage(String msg, Session session){
+    }
+
+    @OnError
+    public void onError(Session session, Throwable error){
+        log.error("rtkrcv websocket error", error);
+    }
+
+    public static void sendMessageToAll(String msg){
+        try {
+            for (Session item : webSocketSet.values()) {
+                item.getBasicRemote().sendText(msg);
+            }
+        }
+        catch (Exception e){
+            log.error("rtkrcv websocket send msg error:", e);
+        }
+    }
+
+    public static void sendMessage(HttpSession httpSession, String msg) {
+        Session session = webSocketSet.get(httpSession.getId());
+        if(session != null){
+            try {
+                session.getBasicRemote().sendText(msg);
+            }
+            catch (Exception e){
+                log.error("rtkrcv websocket send msg error:", e);
+            }
+        }
+    }
+}
+

sec-beidou/src/main/java/com/imdroid/beidou/service/GroupRtkScheduler.java

@@ -0,0 +1,124 @@
+package com.imdroid.beidou.service;
+
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.imdroid.beidou.controller.RtkrcvWebSocketServer;
+import com.imdroid.secapi.client.RtkrcvClient;
+import com.imdroid.secapi.dto.RtkProfile;
+import com.imdroid.secapi.dto.RtkProfileMapper;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.scheduling.annotation.Scheduled;
+import org.springframework.stereotype.Component;
+
+import java.util.*;
+import java.util.concurrent.ConcurrentHashMap;
+
+@Component
+public class GroupRtkScheduler {
+    static final int MAX_RUN = 6;
+    @Autowired
+    RtkrcvClient rtkrcvClient;
+    @Autowired
+    RtkProfileMapper rtkProfileMapper;
+
+    static class GroupState {
+        Deque<String> queue = new ArrayDeque<>();
+        Set<String> running = new HashSet<>();
+        Set<String> done = new HashSet<>();
+        boolean active = false;
+        boolean clearLog = false;
+    }
+
+    private final Map<Integer, GroupState> groups = new ConcurrentHashMap<>();
+
+    public synchronized void startGroup(Integer groupId, boolean clearLog){
+        GroupState st = groups.computeIfAbsent(groupId, k -> new GroupState());
+        st.queue.clear();
+        st.running.clear();
+        st.done.clear();
+        st.active = true;
+        st.clearLog = clearLog;
+        QueryWrapper<RtkProfile> qw = new QueryWrapper<>();
+        qw.eq("rtkgroup_id", groupId);
+        List<RtkProfile> list = rtkProfileMapper.selectList(qw);
+        for(RtkProfile p:list){
+            st.queue.addLast(p.getDevice_id());
+            pushStatus(groupId, p.getDevice_id(), "QUEUED");
+        }
+    }
+
+    public synchronized void stopGroup(Integer groupId){
+        GroupState st = groups.get(groupId);
+        if(st==null) return;
+        for(String dev: new ArrayList<>(st.running)){
+            try{ rtkrcvClient.stop(dev);}catch(Exception ignored){}
+            pushStatus(groupId, dev, "DONE");
+        }
+        st.running.clear();
+        st.queue.clear();
+        st.active = false;
+    }
+
+    public synchronized List<Map<String,Object>> getStatus(Integer groupId){
+        GroupState st = groups.get(groupId);
+        List<Map<String,Object>> list = new ArrayList<>();
+        if(st==null) return list;
+        for(String d: st.running){ list.add(row(d, "RUNNING")); }
+        for(String d: st.queue){ list.add(row(d, "QUEUED")); }
+        for(String d: st.done){ list.add(row(d, "DONE")); }
+        return list;
+    }
+
+    private Map<String,Object> row(String dev, String status){
+        Map<String,Object> m = new HashMap<>();
+        m.put("device_id", dev);
+        m.put("status", status);
+        return m;
+    }
+
+    public synchronized void onDeviceAutoStop(String deviceId){
+        Integer gid = getGroupId(deviceId);
+        if(gid==null) return;
+        GroupState st = groups.get(gid);
+        if(st==null) return;
+        st.running.remove(deviceId);
+        st.done.add(deviceId);
+        pushStatus(gid, deviceId, "DONE");
+    }
+
+    private Integer getGroupId(String deviceId){
+        QueryWrapper<RtkProfile> qw = new QueryWrapper<>();
+        qw.eq("device_id", deviceId);
+        RtkProfile p = rtkProfileMapper.selectOne(qw);
+        return p!=null? p.getRtkgroup_id(): null;
+    }
+
+    @Scheduled(fixedRate = 1000)
+    public void tick(){
+        for(Map.Entry<Integer, GroupState> e: groups.entrySet()){
+            Integer gid = e.getKey();
+            GroupState st = e.getValue();
+            if(!st.active) continue;
+            while(st.running.size() < MAX_RUN && !st.queue.isEmpty()){
+                String dev = st.queue.pollFirst();
+                boolean started = false;
+                try{ rtkrcvClient.start(dev, st.clearLog); started = true; }catch(Exception ignored){}
+                if(started){
+                    st.running.add(dev);
+                    pushStatus(gid, dev, "RUNNING");
+                } else {
+                    pushStatus(gid, dev, "FAILED");
+                }
+            }
+        }
+    }
+
+    private void pushStatus(Integer gid, String dev, String status){
+        com.alibaba.fastjson.JSONObject obj = new com.alibaba.fastjson.JSONObject();
+        obj.put("type","rtk_group");
+        obj.put("groupId", gid);
+        obj.put("deviceId", dev);
+        obj.put("status", status);
+        RtkrcvWebSocketServer.sendMessageToAll(obj.toJSONString());
+    }
+}
+

sec-beidou/src/main/java/com/imdroid/beidou/service/RtkMonitorService.java

@@ -0,0 +1,58 @@
+package com.imdroid.beidou.service;
+
+import com.imdroid.secapi.client.RtkrcvClient;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.scheduling.annotation.Scheduled;
+import org.springframework.stereotype.Component;
+
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
+@Component
+public class RtkMonitorService {
+    private final Map<String, Integer> consecFix = new ConcurrentHashMap<>();
+    private final Map<String, Boolean> running = new ConcurrentHashMap<>();
+
+    @Autowired
+    RtkrcvClient rtkrcvClient;
+    @Autowired
+    GroupRtkScheduler groupRtkScheduler;
+
+    public void onStart(String deviceId){
+        running.put(deviceId, true);
+        consecFix.put(deviceId, 0);
+    }
+    public void onStop(String deviceId){
+        running.remove(deviceId);
+        consecFix.remove(deviceId);
+    }
+    public void onSolution(String deviceId, int q){
+        if(Boolean.TRUE.equals(running.get(deviceId))){
+            if(q == 1){
+                consecFix.merge(deviceId, 1, Integer::sum);
+            } else {
+                consecFix.put(deviceId, 0);
+            }
+        }
+    }
+
+    @Scheduled(fixedRate = 30000)
+    public void check(){
+        for(Map.Entry<String, Integer> e : consecFix.entrySet()){
+            String dev = e.getKey();
+            Integer cnt = e.getValue();
+            if(Boolean.TRUE.equals(running.get(dev)) && cnt != null && cnt >= 40){
+                try { rtkrcvClient.stop(dev); } catch (Exception ignore) {}
+                running.remove(dev);
+                try {
+                    com.alibaba.fastjson.JSONObject ctrl = new com.alibaba.fastjson.JSONObject();
+                    ctrl.put("type","rtk_ctrl");
+                    ctrl.put("action","auto_stop");
+                    ctrl.put("deviceId", dev);
+                    com.imdroid.beidou.controller.RtkrcvWebSocketServer.sendMessageToAll(ctrl.toJSONString());
+                } catch (Exception ignore) {}
+                try { groupRtkScheduler.onDeviceAutoStop(dev);} catch (Exception ignore) {}
+            }
+        }
+    }
+}

sec-beidou/src/main/resources/application.properties

@@ -2,10 +2,10 @@
 #spring.datasource.url=jdbc:mysql://192.168.101.54:3306/beidou?useUnicode=true&characterEncoding=utf-8&serverTimezone=Asia/Shanghai&useSSL=true
 #spring.datasource.username=beidou
 #spring.datasource.password=Passw0rd#123!
-spring.datasource.url=jdbc:mysql://127.0.0.1:3306/beidou?useUnicode=true&characterEncoding=utf-8&serverTimezone=Asia/Shanghai&useSSL=true
-#spring.datasource.url=jdbc:mysql://139.9.51.237:3306/beidou?useUnicode=true&characterEncoding=utf-8&serverTimezone=Asia/Shanghai&useSSL=true
-spring.datasource.username=admin
-spring.datasource.password=DBMgr_2022
+spring.datasource.url=jdbc:mysql://8.134.185.53:3306/beidou?useUnicode=true&characterEncoding=utf-8&serverTimezone=Asia/Shanghai&useSSL=true
+#spring.datasource.url=jdbc:mysql://139.9.51.237:3306/beidou?useUnicode=true&characterEncoding=utf-8&serverTimezone=Asia/Shanghai&useSSL=false
+spring.datasource.username=remote
+spring.datasource.password=root
 spring.datasource.driver-class-name=com.mysql.cj.jdbc.Driver
 spring.jpa.properties.hibernate.hbm2ddl.auto=update
 spring.jpa.properties.hibernate.dialect=org.hibernate.dialect.MYSQL5InnoDBDialect
@@ -52,3 +52,6 @@ warning.log.directory=./log
 sim.url = http://120.78.169.220:8089
 sim.username = gzyzdz
 sim.key = 632629d1269a202c9d49a574623e4e4c
+
+version.path = "./"
+ver_server.connect.cmd = ""

sec-beidou/src/main/resources/rtkrcv_default.conf

@@ -0,0 +1,162 @@
+# RTKNAVI options (2024/12/09 02:35:36, v.demo5 b34k)
+
+pos1-posmode       =static     # (0:single,1:dgps,2:kinematic,3:static,4:static-start,5:movingbase,6:fixed,7:ppp-kine,8:ppp-static,9:ppp-fixed)
+pos1-frequency     =l1+l2+l5   # (1:l1,2:l1+l2,3:l1+l2+l5,4:l1+l2+l5+l6)
+pos1-soltype       =forward    # (0:forward,1:backward,2:combined,3:combined-nophasereset)
+pos1-elmask        =10         # (deg)
+pos1-snrmask_r     =on         # (0:off,1:on)
+pos1-snrmask_b     =on         # (0:off,1:on)
+pos1-snrmask_L1    =0,0,0,0,0,0,0,0,0
+pos1-snrmask_L2    =0,0,0,0,0,0,0,0,0
+pos1-snrmask_L5    =0,0,0,0,0,0,0,0,0
+pos1-dynamics      =off        # (0:off,1:on)
+pos1-tidecorr      =off        # (0:off,1:on,2:otl)
+pos1-ionoopt       =brdc       # (0:off,1:brdc,2:sbas,3:dual-freq,4:est-stec,5:ionex-tec,6:qzs-brdc)
+pos1-tropopt       =saas       # (0:off,1:saas,2:sbas,3:est-ztd,4:est-ztdgrad)
+pos1-sateph        =brdc+sbas  # (0:brdc,1:precise,2:brdc+sbas,3:brdc+ssrapc,4:brdc+ssrcom)
+pos1-posopt1       =off        # (0:off,1:on)
+pos1-posopt2       =off        # (0:off,1:on)
+pos1-posopt3       =off        # (0:off,1:on,2:precise)
+pos1-posopt4       =off        # (0:off,1:on)
+pos1-posopt5       =off        # (0:off,1:on)
+pos1-posopt6       =off        # (0:off,1:on)
+pos1-exclsats      =           # (prn ...)
+pos1-navsys        =45         # (1:gps+2:sbas+4:glo+8:gal+16:qzs+32:bds+64:navic)
+pos2-armode        =continuous # (0:off,1:continuous,2:instantaneous,3:fix-and-hold)
+pos2-gloarmode     =fix-and-hold # (0:off,1:on,2:autocal,3:fix-and-hold)
+pos2-bdsarmode     =on         # (0:off,1:on)
+pos2-arfilter      =on         # (0:off,1:on)
+pos2-arthres       =3
+pos2-arthresmin    =2
+pos2-arthresmax    =2
+pos2-arthres1      =0.1
+pos2-arthres2      =0
+pos2-arthres3      =1e-09
+pos2-arthres4      =1e-05
+pos2-varholdamb    =0.1        # (cyc^2)
+pos2-gainholdamb   =0.01
+pos2-arlockcnt     =5
+pos2-minfixsats    =4
+pos2-minholdsats   =5
+pos2-mindropsats   =10
+pos2-arelmask      =10         # (deg)
+pos2-arminfix      =20
+pos2-armaxiter     =1
+pos2-elmaskhold    =10         # (deg)
+pos2-aroutcnt      =20
+pos2-maxage        =30         # (s)
+pos2-syncsol       =off        # (0:off,1:on)
+pos2-slipthres     =0.05       # (m)
+pos2-dopthres      =0          # (m)
+pos2-rejionno      =5          # (m)
+pos2-rejcode       =30         # (m)
+pos2-niter         =1
+pos2-baselen       =0          # (m)
+pos2-basesig       =0          # (m)
+out-solformat      =llh        # (0:llh,1:xyz,2:enu,3:nmea)
+out-outhead        =on         # (0:off,1:on)
+out-outopt         =on         # (0:off,1:on)
+out-outvel         =off        # (0:off,1:on)
+out-timesys        =gpst       # (0:gpst,1:utc,2:jst)
+out-timeform       =hms        # (0:tow,1:hms)
+out-timendec       =3
+out-degform        =deg        # (0:deg,1:dms)
+out-fieldsep       =
+out-outsingle      =off        # (0:off,1:on)
+out-maxsolstd      =0          # (m)
+out-height         =1   # (0:ellipsoidal,1:geodetic)
+out-geoid          =internal   # (0:internal,1:egm96,2:egm08_2.5,3:egm08_1,4:gsi2000)
+out-solstatic      =all        # (0:all,1:single)
+out-nmeaintv1      =0          # (s)
+out-nmeaintv2      =0          # (s)
+out-outstat        =residual   # (0:off,1:state,2:residual)
+stats-eratio1      =300
+stats-eratio2      =300
+stats-eratio5      =300
+stats-errphase     =0.003      # (m)
+stats-errphaseel   =0.003      # (m)
+stats-errphasebl   =0          # (m/10km)
+stats-errdoppler   =1          # (Hz)
+stats-snrmax       =52         # (dB.Hz)
+stats-errsnr       =0          # (m)
+stats-errrcv       =0          # ( )
+stats-stdbias      =30         # (m)
+stats-stdiono      =0.03       # (m)
+stats-stdtrop      =0.3        # (m)
+stats-prnaccelh    =3          # (m/s^2)
+stats-prnaccelv    =1          # (m/s^2)
+stats-prnbias      =0.0001     # (m)
+stats-prniono      =0.001      # (m)
+stats-prntrop      =0.0001     # (m)
+stats-prnpos       =0          # (m)
+stats-clkstab      =5e-12      # (s/s)
+ant1-postype       =llh        # (0:llh,1:xyz,2:single,3:posfile,4:rinexhead,5:rtcm,6:raw)
+ant1-pos1          =90         # (deg|m)
+ant1-pos2          =0          # (deg|m)
+ant1-pos3          =-6335367.6285 # (m|m)
+ant1-anttype       =
+ant1-antdele       =0          # (m)
+ant1-antdeln       =0          # (m)
+ant1-antdelu       =0          # (m)
+ant2-postype       =rtcm       # (0:llh,1:xyz,2:single,3:posfile,4:rinexhead,5:rtcm,6:raw)
+ant2-pos1          =0          # (deg|m)
+ant2-pos2          =0          # (deg|m)
+ant2-pos3          =0          # (m|m)
+ant2-anttype       =
+ant2-antdele       =0          # (m)
+ant2-antdeln       =0          # (m)
+ant2-antdelu       =0          # (m)
+ant2-maxaveep      =1
+ant2-initrst       =on         # (0:off,1:on)
+misc-timeinterp    =off        # (0:off,1:on)
+misc-sbasatsel     =0          # (0:all)
+misc-rnxopt1       =
+misc-rnxopt2       =
+misc-pppopt        =
+file-satantfile    =
+file-rcvantfile    =
+file-staposfile    =
+file-geoidfile     =
+file-ionofile      =
+file-dcbfile       =
+file-eopfile       =
+file-blqfile       =
+file-tempdir       =./RTKNAVI
+file-geexefile     =
+file-solstatfile   =
+file-tracefile     =
+#
+
+inpstr1-type       =ntripcli   # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,6:ntripcli,7:ftp,8:http)
+inpstr2-type       =ntripcli   # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,6:ntripcli,7:ftp,8:http)
+inpstr3-type       =ntripcli   # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,6:ntripcli,7:ftp,8:http)
+inpstr1-path       =beidou:29832611@8.134.185.53:8001/6539837
+inpstr2-path       =ytcors14847:fyx25943@gnss.ytcors.cn:8003/RTCM33GRCEJpro
+inpstr3-path       =Ming:@Zhang12345@ntrip.data.gnss.ga.gov.au:2101/BCEP00BKG0
+inpstr1-format     =rtcm3      # (0:rtcm2,1:rtcm3,2:oem4,4:ubx,5:swift,6:hemis,7:skytraq,8:javad,9:nvs,10:binex,11:rt17,12:sbf,15:sp3)
+inpstr2-format     =rtcm3      # (0:rtcm2,1:rtcm3,2:oem4,4:ubx,5:swift,6:hemis,7:skytraq,8:javad,9:nvs,10:binex,11:rt17,12:sbf,15:sp3)
+inpstr3-format     =rtcm3      # (0:rtcm2,1:rtcm3,2:oem4,4:ubx,5:swift,6:hemis,7:skytraq,8:javad,9:nvs,10:binex,11:rt17,12:sbf,15:sp3)
+inpstr2-nmeareq    =single     # (0:off,1:latlon,2:single)
+inpstr2-nmealat    =      # (deg)
+inpstr2-nmealon    = # (deg)
+outstr1-type       =off       # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,5:ntripsvr,9:ntripcas)
+outstr2-type       =tcpcli       # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,5:ntripsvr,9:ntripcas)
+outstr1-path       =127.0.0.1:60000
+outstr2-path       =127.0.0.1:24001
+outstr1-format     =xyz        # (0:llh,1:xyz,2:enu,3:nmea:4:stat)
+outstr2-format     =llh        # (0:llh,1:xyz,2:enu,3:nmea:4:stat)
+logstr1-type       =off        # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,5:ntripsvr,9:ntripcas)
+logstr2-type       =off        # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,5:ntripsvr,9:ntripcas)
+logstr3-type       =off        # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,5:ntripsvr,9:ntripcas)
+logstr1-path       =
+logstr2-path       =
+logstr3-path       =
+misc-svrcycle      =10         # (ms)
+misc-timeout       =10000      # (ms)
+misc-reconnect     =10000      # (ms)
+misc-nmeacycle     =5000       # (ms)
+misc-buffsize      =32768      # (bytes)
+misc-navmsgsel     =all        # (0:all,1:rover,2:base,3:corr)
+misc-proxyaddr     =
+misc-fswapmargin   =30         # (s)
+console-passwd     =

sec-beidou/src/main/resources/static/api/init_super_admin.json

@@ -82,6 +82,12 @@
               "href": "page/cmd_line",
               "icon": "fa fa-minus",
               "target": "_self"
+            },
+            {
+              "title": "定位管理",
+              "href": "page/rtkrcv",
+              "icon": "fa fa-minus",
+              "target": "_self"
             }
           ]
         },

sec-beidou/src/main/resources/static/js/device-overview-module/device-markers.js

@@ -1,9 +1,9 @@
 var DeviceMarkers = (function() {
     'use strict';
     
-    var greenFeatures = [];
-    var orangeFeatures = [];
-    var redFeatures = [];
+    var invalidDataFeatures = [];
+    var offlineIn24hFeatures = [];
+    var offlineFeatures = [];
     var allFeatures = [];
     var myLocationFeature = null;
     var myLocationInterval = null;
@@ -43,9 +43,9 @@ var DeviceMarkers = (function() {
         var scale = isHovered ? 0.85 : 0.7;
 
         // 根据告警级别选择图标
-        if (deviceInfo.warning == 2) {
+        if (deviceInfo.warning == 2||deviceInfo.warning == 3) {
             iconSrc = '../images/loc1_red.png';
-        } else if (deviceInfo.warning == 1) {
+        } else if (deviceInfo.warning == 4) {
             iconSrc = '../images/loc1_orange.png';
         } else {
             iconSrc = '../images/loc1_green.png';
@@ -85,9 +85,9 @@ var DeviceMarkers = (function() {
         var savedMyLocationFeature = myLocationFeature;
 
         vectorSource.clear();
-        greenFeatures = [];
-        orangeFeatures = [];
-        redFeatures = [];
+        invalidDataFeatures = [];
+        offlineIn24hFeatures = [];
+        offlineFeatures = [];
         allFeatures = [];
 
         for (var i = 0; i < deviceList.length; i++) {
@@ -106,11 +106,12 @@ var DeviceMarkers = (function() {
 
             // 按告警级别分类
             if (device.warning == 2) {
-                redFeatures.push(feature);
-            } else if (device.warning == 1) {
-                orangeFeatures.push(feature);
-            } else {
-                greenFeatures.push(feature);
+                offlineFeatures.push(feature);
+            } else if (device.warning == 3) {
+                offlineFeatures.push(feature);
+                offlineIn24hFeatures.push(feature);
+            } else if (device.warning == 4) {
+                invalidDataFeatures.push(feature);
             }
 
             allFeatures.push(feature);
@@ -149,9 +150,10 @@ var DeviceMarkers = (function() {
         }
     }
     
-    function showWarning1Devices() {
+    function showWarning4Devices() {
+        console.log("showWarning4Devices");
         if (!vectorSource) return;
-        
+        console.log("showWarning4Devices:",invalidDataFeatures.length);
         var savedMyLocationFeature = myLocationFeature;
         vectorSource.clear();
 
@@ -159,18 +161,18 @@ var DeviceMarkers = (function() {
             vectorSource.addFeature(savedMyLocationFeature);
         }
 
-        for (var i = 0; i < allFeatures.length; i++) {
-            vectorSource.addFeature(allFeatures[i]);
+        for (var i = 0; i < invalidDataFeatures.length; i++) {
+            vectorSource.addFeature(invalidDataFeatures[i]);
         }
 
-        hideGreenFeatures();
-        hideRedFeatures();
+        //hideofflineIn24hFeatures();
+        //hideofflineFeatures();
     }
     
 
     function showWarning2Devices() {
         if (!vectorSource) return;
-        
+        console.log("showWarning2Devices:",offlineFeatures.length);
         var savedMyLocationFeature = myLocationFeature;
         vectorSource.clear();
 
@@ -178,30 +180,31 @@ var DeviceMarkers = (function() {
             vectorSource.addFeature(savedMyLocationFeature);
         }
 
-        for (var i = 0; i < allFeatures.length; i++) {
-            vectorSource.addFeature(allFeatures[i]);
+        for (var i = 0; i < offlineFeatures.length; i++) {
+            vectorSource.addFeature(offlineFeatures[i]);
         }
 
-        hideGreenFeatures();
-        hideOrangeFeatures();
+        //hideinvalidDataFeatures();
+        //hideofflineIn24hFeatures();
     }
 
-    function hideGreenFeatures() {
-        for (var i = 0; i < greenFeatures.length; i++) {
-            vectorSource.removeFeature(greenFeatures[i]);
-        }
-    }
+    function showWarning3Devices() {
+        console.log("showWarning3Devices");
+        if (!vectorSource) return;
+        console.log("showWarning3Devices:",offlineIn24hFeatures.length);
+        var savedMyLocationFeature = myLocationFeature;
+        vectorSource.clear();
 
-    function hideOrangeFeatures() {
-        for (var i = 0; i < orangeFeatures.length; i++) {
-            vectorSource.removeFeature(orangeFeatures[i]);
+        if (savedMyLocationFeature) {
+            vectorSource.addFeature(savedMyLocationFeature);
         }
-    }
 
-    function hideRedFeatures() {
-        for (var i = 0; i < redFeatures.length; i++) {
-            vectorSource.removeFeature(redFeatures[i]);
+        for (var i = 0; i < offlineIn24hFeatures.length; i++) {
+            vectorSource.addFeature(offlineIn24hFeatures[i]);
         }
+
+        //hideinvalidDataFeatures();
+        //hideofflineFeatures();
     }
 
     function findDeviceById(deviceId) {
@@ -375,9 +378,9 @@ var DeviceMarkers = (function() {
     function getDeviceStats() {
         return {
             total: allFeatures.length,
-            green: greenFeatures.length,
-            orange: orangeFeatures.length,
-            red: redFeatures.length
+            green: invalidDataFeatures.length,
+            orange: offlineIn24hFeatures.length,
+            red: offlineFeatures.length
         };
     }
 
@@ -386,11 +389,9 @@ var DeviceMarkers = (function() {
         createDeviceStyle: createDeviceStyle,
         addDeviceMarkers: addDeviceMarkers,
         showAllDevices: showAllDevices,
-        showWarning1Devices: showWarning1Devices,
         showWarning2Devices: showWarning2Devices,
-        hideGreenFeatures: hideGreenFeatures,
-        hideOrangeFeatures: hideOrangeFeatures,
-        hideRedFeatures: hideRedFeatures,
+        showWarning3Devices: showWarning3Devices,
+        showWarning4Devices: showWarning4Devices,
         findDeviceById: findDeviceById,
         locateDevice: locateDevice,
         getMyLocation: getMyLocation,
@@ -402,9 +403,9 @@ var DeviceMarkers = (function() {
         getDeviceStats: getDeviceStats,
         
         getAllFeatures: function() { return allFeatures; },
-        getGreenFeatures: function() { return greenFeatures; },
-        getOrangeFeatures: function() { return orangeFeatures; },
-        getRedFeatures: function() { return redFeatures; },
+        getinvalidDataFeatures: function() { return invalidDataFeatures; },
+        getofflineIn24hFeatures: function() { return offlineIn24hFeatures; },
+        getofflineFeatures: function() { return offlineFeatures; },
         getMyLocationFeature: function() { return myLocationFeature; }
     };
 })(); 

sec-beidou/src/main/resources/static/js/device-overview-module/map-core.js

@@ -292,12 +292,16 @@ var MapCore = (function() {
     
     function onWarningFilterChange() {
         var filterValue = document.getElementById('warningFilter').value;
+        console.log("onWarningFilterChange: ",filterValue);
         switch(filterValue) {
             case 'all':
                 SearchFilter.showAllDevices();
                 break;
-            case 'warning1':
-                SearchFilter.showWarning1Devices();
+            case 'warning4':
+                SearchFilter.showWarning4Devices();
+                break;
+            case 'warning3':
+                SearchFilter.showWarning3Devices();
                 break;
             case 'warning2':
                 SearchFilter.showWarning2Devices();

sec-beidou/src/main/resources/static/js/device-overview-module/search-filter.js

@@ -187,10 +187,13 @@ var SearchFilter = (function() {
                 showAllDevices();
                 break;
             case 2:
-                showWarning1Devices();
+                showWarning2Devices();
                 break;
             case 3:
-                showWarning2Devices();
+                showWarning3Devices();
+                break;
+            case 4:
+                showWarning4Devices();
                 break;
         }
     }
@@ -203,20 +206,30 @@ var SearchFilter = (function() {
         updateFilterSelect('all');
     }
     
-    function showWarning1Devices() {
-        currentSearchedDevice = null;
-        clearSearchInput();
-        DeviceMarkers.showWarning1Devices();
-        markerState = 2;
-        updateFilterSelect('warning1');
-    }
     function showWarning2Devices() {
+        console.log("SearchFilter.showWarning2Devices");
         currentSearchedDevice = null;
         clearSearchInput();
         DeviceMarkers.showWarning2Devices();
-        markerState = 3;
+        markerState = 2;
         updateFilterSelect('warning2');
     }
+    function showWarning3Devices() {
+        console.log("SearchFilter.showWarning3Devices");
+        currentSearchedDevice = null;
+        clearSearchInput();
+        DeviceMarkers.showWarning3Devices();
+        markerState = 3;
+        updateFilterSelect('warning3');
+    }
+    function showWarning4Devices() {
+        console.log("SearchFilter.showWarning4Devices");
+        currentSearchedDevice = null;
+        clearSearchInput();
+        DeviceMarkers.showWarning4Devices();
+        markerState = 4;
+        updateFilterSelect('warning4');
+    }
     function clearSearchInput() {
         var searchInput = document.getElementById('deviceSearchNew');
         if (searchInput) {
@@ -233,13 +246,15 @@ var SearchFilter = (function() {
     
     function filterDevicesByStatus(statusType) {
         switch(statusType) {
-            case 'warning1':
-                showWarning1Devices();
-                break;
             case 'warning2':
                 showWarning2Devices();
                 break;
-            case 'offline':
+            case 'warning3':
+                showWarning3Devices();
+                break;
+            case 'warning4':
+                showWarning4Devices();
+                break;
             case 'no_fwd':
             case 'nofixed':
             case 'nogga':
@@ -311,8 +326,9 @@ var SearchFilter = (function() {
         searchDevice: searchDevice,
         clearSearch: clearSearch,
         showAllDevices: showAllDevices,
-        showWarning1Devices: showWarning1Devices,
         showWarning2Devices: showWarning2Devices,
+        showWarning3Devices: showWarning3Devices,
+        showWarning4Devices: showWarning4Devices,
         filterDevicesByStatus: filterDevicesByStatus,
         queryDevices: queryDevices,
         locateDeviceOnMap: locateDeviceOnMap,

sec-beidou/src/main/resources/templates/page/device_overview.html

@@ -836,6 +836,11 @@
                 <span>掉线数</span>
                 <span class="stat-number" th:text="${deviceOfflineNum}">22</span>
             </div>
+            <div class="stat-item" onclick="queryDevices('offline_in24h')" th:if="${deviceOfflineNumIn24h > 0}">
+                <span class="stat-dot dot-gray"></span>
+                <span>24小时掉线数</span>
+                <span class="stat-number" th:text="${deviceOfflineNumIn24h}">22</span>
+            </div>
             <div class="stat-item" onclick="queryDevices('no_fwd')" th:if="${deviceNoFwdNum > 0}">
                 <span class="stat-dot dot-orange"></span>
                 <span>未推送数</span>
@@ -846,16 +851,6 @@
                 <span>长期无效解</span>
                 <span class="stat-number" th:text="${noFix}">10</span>
             </div>
-            <div class="stat-item" onclick="queryDevices('warning2')" th:if="${warning2Num > 0}">
-                <span class="stat-dot dot-red"></span>
-                <span>严重告警</span>
-                <span class="stat-number" th:text="${warning2Num}">40</span>
-            </div>
-            <div class="stat-item" onclick="queryDevices('warning1')" th:if="${warning1Num > 0}">
-                <span class="stat-dot dot-orange"></span>
-                <span>一般告警</span>
-                <span class="stat-number" th:text="${warning1Num}">79</span>
-            </div>
             <div class="stat-item" onclick="queryDevices('nogga')" th:if="${noGGA > 0}">
                 <span class="stat-dot dot-gray"></span>
                 <span>无GGA告警</span>
@@ -925,8 +920,9 @@
                     <div class="toolbar-item">
                         <select id="warningFilter" class="toolbar-select" onchange="onWarningFilterChange()">
                             <option value="all">全部设备</option>
-                            <option value="warning1">一般告警</option>
-                            <option value="warning2" selected>严重告警</option>
+                            <option value="warning2">离线</option>
+                            <option value="warning3">24小时内离线</option>
+                            <option value="warning4">长期无效解</option>
                         </select>
                     </div>
 

sec-beidou/src/main/resources/templates/page/gnss_dev_cfg.html

@@ -24,6 +24,15 @@
                                 <input type="text" name="deviceid" autocomplete="off" class="layui-input">
                             </div>
                         </div>
+						<div class="layui-inline">
+							<label class="layui-form-label required">产品型号</label>
+							<div class="layui-input-inline">
+								<select name="model" id="model" lay-search="">
+									<option value="0">G505</option>
+									<option value="1">G510</option>
+								</select>
+							</div>
+						</div>
 						<div class="layui-inline">
 						    <label class="layui-form-label">关联基站号</label>
 						    <div class="layui-input-inline">
@@ -36,6 +45,12 @@
 								<input type="text" name="project_id" autocomplete="off" class="layui-input">
 							</div>
 						</div>
+						<div class="layui-inline">
+							<label class="layui-form-label">桩号</label>
+							<div class="layui-input-inline">
+								<input type="text" name="sector" autocomplete="off" class="layui-input">
+							</div>
+						</div>
 						<div class="layui-inline" th:if="${tenant_id==0}">
 							<label class="layui-form-label">所属部门</label>
 							<div class="layui-input-inline">

sec-beidou/src/main/resources/templates/page/gnss_dev_summary.html

@@ -65,6 +65,12 @@
 						<input type="text" name="rssi" id="rssi" class="layui-input">
 					</div>
 				</div>
+				<div class="layui-form-item">
+					<label class="layui-form-label">经纬度</label>
+					<div class="layui-input-inline">
+						<input type="text" name="loc" id="loc" class="layui-input">
+					</div>
+				</div>
 				<div class="layui-form-item">
 					<label class="layui-form-label">卫星</label>
 					<div class="layui-input-inline">
@@ -100,7 +106,6 @@
 				url:"/device_summary/query",
 				data: data.field,
 				success: function (result) {
-					console.log(result);
 					if(result.code == 0){
 						layer.alert(result.msg);
 					}
@@ -119,6 +124,7 @@
 						$('#rxBytes').val(result.rxBytes)
 						$('#deviceType').val(result.deviceType)
 						$('#rssi').val(result.rssi)
+						$('#loc').val(result.loc)
 						form.render();
 					}
 				},

sec-beidou/src/main/resources/templates/page/gnss_status.html

@@ -92,6 +92,7 @@
             table = layui.table;
         var cfg_cols = [
             {field: 'deviceid', title: '设备号', sort: true},
+            {field: 'tenantname', title: '部门', sort: true},
             {field: 'devicetype', title: '设备类型',templet: '#typeTrans'},
             {field: 'updatetime', title: '更新时间', templet: "<div>{{layui.util.toDateString(d.updatetime, 'yyyy-MM-dd HH:mm:ss')}}</div>"},
             {field: 'state', title: '状态',templet: '#stateTrans'},

sec-beidou/src/main/resources/templates/page/rtkrcv.html

@@ -0,0 +1,523 @@
+<!DOCTYPE html>
+<html>
+<head>
+    <meta charset="utf-8">
+    <title>定位管理</title>
+    <meta name="renderer" content="webkit">
+    <meta http-equiv="X-UA-Compatible" content="IE=edge,chrome=1">
+    <meta name="viewport" content="width=device-width, initial-scale=1, maximum-scale=1">
+    <link rel="stylesheet" href="../lib/layui-v2.6.3/css/layui.css" media="all">
+    <link rel="stylesheet" href="../css/public.css" media="all">
+    <style>
+        .layui-tab-content{padding: 1.2em;}
+        .transfer-wrap{display:flex;justify-content:center;align-items:flex-start;padding:1em 0}
+        .transfer-inner{min-width:720px}
+        #rtk-transfer .layui-transfer{display:flex;justify-content:center}
+        #rtk-transfer .layui-transfer .layui-transfer-box{width:50% !important;height:360px !important}
+        /* RTK panel ~80vh */
+        #rtk-panel{height:80vh;}
+        #rtk-info{max-height:calc(80vh - 120px);} /* leave room for header/badges */
+    </style>
+</head>
+<body>
+<div class="layuimini-container">
+    <div class="layuimini-main">
+        <div class="layui-tab layui-tab-card" lay-filter="rtk-tab">
+            <ul class="layui-tab-title">
+                <li class="layui-this">分组管理</li>
+                <li>设备管理</li>
+                <li>单设备定位</li>
+                <li>组设备定位</li>
+            </ul>
+            <div class="layui-tab-content">
+                <div class="layui-tab-item layui-show">
+                    <div class="layui-row">
+                        <div class="layui-col-md12">
+                            <div class="btn-bar">
+                                <button class="layui-btn" id="btn-group-add">新增分组</button>
+                                <button class="layui-btn layui-btn-normal" id="btn-group-edit">编辑分组</button>
+                                <button class="layui-btn layui-btn-danger" id="btn-group-del">删除分组</button>
+                                <button class="layui-btn layui-btn-warm" id="btn-transfer-save">保存设备分配</button>
+                            </div>
+                        </div>
+                    </div>
+                    <div style="margin-top:10px;">
+                        <table class="layui-hide" id="table-group" lay-filter="table-group-filter"></table>
+                    </div>
+                    <div class="transfer-wrap">
+                        <div class="transfer-inner">
+                            <div id="rtk-transfer"></div>
+                        </div>
+                    </div>
+                </div>
+
+                <div class="layui-tab-item">
+                    <div class="layui-row" style="margin:10px 0;">
+                        <div class="layui-col-md12">
+                            <div class="layui-form layui-form-pane">
+                                <div class="layui-form-item">
+                                    <div class="layui-inline">
+                                        <label class="layui-form-label">分组</label>
+                                        <div class="layui-input-inline">
+                                            <select id="sel-group" lay-search=""><option value="">全部</option></select>
+                                        </div>
+                                    </div>
+                                    <div class="layui-inline">
+                                        <label class="layui-form-label">设备号</label>
+                                        <div class="layui-input-inline">
+                                            <input type="text" id="q-deviceid" placeholder="设备号" autocomplete="off" class="layui-input" />
+                                        </div>
+                                    </div>
+                                    <div class="layui-inline">
+                                        <button class="layui-btn" id="btn-device-search">搜索</button>
+                                    </div>
+                                </div>
+                            </div>
+                        </div>
+                    </div>
+                    <div style="margin-top:10px;">
+                        <table class="layui-hide" id="table-device" lay-filter="table-device-filter"></table>
+                    </div>
+                </div>
+
+                <div class="layui-tab-item">
+                    <div class="layui-row">
+                        <div class="layui-col-md12">
+                            <form class="layui-form layui-form-pane" action="" id="rtk-form">
+                                <div class="layui-form-item">
+                                    <label class="layui-form-label">分组</label>
+                                    <div class="layui-input-block">
+                                        <select id="rtk-group" lay-search="" lay-filter="rtk-group"></select>
+                                    </div>
+                                </div>
+                                <div class="layui-form-item">
+                                    <label class="layui-form-label">设备</label>
+                                    <div class="layui-input-block">
+                                        <select id="rtk-device" lay-search="" lay-filter="rtk-device"></select>
+                                    </div>
+                                </div>
+                                <div class="layui-form-item">
+                                    <button class="layui-btn" id="btn-rtk-start" type="button">开始定位</button>
+                                </div>
+                            </form>
+                        </div>
+                    </div>
+                    <div class="layui-row" style="margin-top: 1em;">
+                        <div class="layui-col-md12">
+                            <div id="rtk-panel" style="border: 1px solid #e6e6e6;border-radius: 2px;padding: 1em;">
+                                <div style="display:flex;align-items:center;justify-content:space-between;gap:12px;">
+                                    <div class="layui-text">RTKRCV</div>
+                                    <div style="display:flex;align-items:center;gap:8px;flex-wrap:wrap;">
+                                        <span id="rtk-sol-badge" class="layui-badge layui-bg-gray">--</span>
+                                        <span id="rtk-sat-badge" class="layui-badge layui-bg-gray">--</span>
+                                        <span id="rtk-llh" class="layui-badge-rim">LLH: --</span>
+                                        <span id="rtk-gngga" class="layui-badge-rim">GNGGA: --</span>
+                                    </div>
+                                </div>
+                                <hr>
+                                <pre id="rtk-info" style="white-space: pre-wrap;word-break: break-all;overflow-y:auto;"></pre>
+                            </div>
+                        </div>
+                    </div>
+                </div>
+                <div class="layui-tab-item">
+                    <div class="layui-row">
+                        <div class="layui-col-md12">
+                            <form class="layui-form layui-form-pane" action="" id="rtk-group-form">
+                                <div class="layui-form-item">
+                                    <label class="layui-form-label">分组</label>
+                                    <div class="layui-input-block">
+                                        <select id="gr-group" lay-search="" lay-filter="gr-group"></select>
+                                    </div>
+                                </div>
+                                <div class="layui-form-item">
+                                    <button class="layui-btn" id="btn-gr-start" type="button">开始组定位</button>
+                                </div>
+                            </form>
+                        </div>
+                    </div>
+                    <div class="layui-row" style="margin-top: 1em;">
+                        <div class="layui-col-md12">
+                            <table class="layui-hide" id="group-table" lay-filter="group-table-filter"></table>
+                        </div>
+                    </div>
+                    <div class="layui-row" style="margin-top: 1em;">
+                        <div class="layui-col-md12">
+                            <div id="group-panel" style="border:1px solid #e6e6e6;border-radius:2px;padding:1em;height:60vh;">
+                                <div class="layui-text">组定位消息</div>
+                                <hr>
+                                <pre id="group-info" style="white-space: pre-wrap;word-break: break-all;overflow-y:auto;height:calc(60vh - 80px);"></pre>
+                            </div>
+                        </div>
+                    </div>
+                </div>
+            </div>
+        </div>
+    </div>
+    </div>
+</div>
+
+<script src="../lib/layui-v2.6.3/layui.js" charset="utf-8"></script>
+<script>
+layui.use(['form','table','element','layer','transfer'], function(){
+    var $ = layui.$,
+        form = layui.form,
+        table = layui.table,
+        element = layui.element,
+        layer = layui.layer,
+        transfer = layui.transfer;
+
+    form.render();
+
+    var selectedGroup = null;
+    var transferIns = null;
+    var groupTableIns = table.render({
+        elem: '#table-group',
+        url: '/rtk/group/list',
+        cols: [ [
+            {type:'radio', width:50},
+            {field:'id', title:'ID', width:90},
+            {field:'name', title:'分组名称', width:180},
+            {field:'inpstr2_path', title:'inpstr2-path'},
+            {field:'inpstr3_path', title:'inpstr3-path'}
+        ] ],
+        limits: [10,20,50,100],
+        limit: 10,
+        page: true
+    });
+
+    table.on('radio(table-group-filter)', function(obj){
+        selectedGroup = obj.data;
+        loadTransfer();
+    });
+
+    $('#btn-group-add').on('click', function(){
+        var index = layer.open({
+            title: '新增分组',
+            type: 2,
+            shade: 0.2,
+            maxmin:true,
+            shadeClose: true,
+            area: ['600px', '420px'],
+            content: '../page/table/rtk_group_edit'
+        });
+    });
+
+    $('#btn-group-edit').on('click', function(){
+        if(!selectedGroup){ layer.msg('请先选择一行'); return; }
+        var index = layer.open({
+            title: '编辑分组',
+            type: 2,
+            shade: 0.2,
+            maxmin:true,
+            shadeClose: true,
+            area: ['600px', '420px'],
+            content: '../page/table/rtk_group_edit',
+            success: function(layero, idx){
+                var iframeWin = window[layero.find('iframe')[0]['name']];
+                if(iframeWin && iframeWin.setParams){
+                    iframeWin.setParams(selectedGroup);
+                }
+            }
+        });
+    });
+
+    $('#btn-group-del').on('click', function(){
+        if(!selectedGroup){ layer.msg('请先选择一行'); return; }
+        layer.confirm('确认删除该分组？', function(i){
+            $.post('/rtk/group/delete', {del_id: selectedGroup.id}, function(res){
+                if(res === 'ok' || res.code === 0){
+                    onRtkGroupUpdated();
+                    layer.close(i);
+                } else {
+                    layer.alert(res.msg || '删除失败');
+                }
+            }).fail(function(){ layer.alert('请求失败'); });
+        });
+    });
+
+    window.onRtkGroupUpdated = function(){
+        selectedGroup = null;
+        groupTableIns.reload({page:{curr:1}});
+    }
+
+    function loadTransfer(){
+        if(!selectedGroup) return;
+        $.get('/rtk/transfer/options', {group_id: selectedGroup.id}, function(res){
+            if(res.code !== 0){ layer.alert(res.msg || '加载失败'); return; }
+            var opt = res.data;
+            if(transferIns){ $("#rtk-transfer").html(''); }
+            transferIns = transfer.render({
+                elem: '#rtk-transfer',
+                title: ['待加入设备','组内设备'],
+                data: opt.data,
+                value: opt.value,
+                id: 'rtk-transfer-id',
+                showSearch: true,
+                parseData: function(item){ return {value: item.value, title: item.title}; }
+            });
+            // 覆盖渲染后的内联尺寸
+            var boxes = $('#rtk-transfer .layui-transfer .layui-transfer-box');
+            if(boxes && boxes.length){ boxes.css({width:'50%', height:'360px'}); }
+        }).fail(function(){ layer.alert('请求失败'); });
+    }
+
+    $('#btn-transfer-save').on('click', function(){
+        if(!selectedGroup){ layer.msg('请先选择分组'); return; }
+        var vals = transfer.getData('rtk-transfer-id').map(function(it){ return it.value; });
+        $.ajax({
+            type: 'POST',
+            url: '/rtk/profile/save_group_devices',
+            contentType: 'application/json;charset=UTF-8',
+            data: JSON.stringify({group_id: selectedGroup.id, device_ids: vals}),
+            success: function(result){
+                if(result.code === 0){ layer.msg('已保存'); }
+                else { layer.alert(result.msg || '保存失败'); }
+            },
+            error: function(){ layer.alert('请求失败'); }
+        });
+    });
+
+    function loadGroupSelect(){
+        $.get('/rtk/group/list', {page:1, limit:1000}, function(res){
+            if(res.code===0){
+                var sel = $('#sel-group');
+                sel.empty(); sel.append('<option value="">全部</option>');
+                res.data.forEach(function(g){ sel.append('<option value="'+g.id+'">'+g.name+'</option>'); });
+                form.render('select');
+                var gr = $('#gr-group');
+                gr.empty(); gr.append('<option value="">请选择</option>');
+                res.data.forEach(function(g){ gr.append('<option value="'+g.id+'">'+g.name+'</option>'); });
+                form.render('select');
+            }
+        });
+    }
+    loadGroupSelect();
+
+    var deviceTableIns = table.render({
+        elem: '#table-device',
+        url: '/rtk/profile/list',
+        id: 'rtk-profile-table',
+        cols: [ [
+            {type:'numbers', title:'序号', width:70},
+            {field:'id', title:'ID', width:80},
+            {field:'device_id', title:'设备号', width:140},
+            {field:'rtkgroup_id', title:'分组ID', width:100},
+            {field:'pos1_posmode', title:'pos1-posmode', width:130},
+            {field:'inpstr1_type', title:'inpstr1-type', width:120},
+            {field:'inpstr1_path', title:'inpstr1-path'},
+            {field:'outstr2_path', title:'outstr2-path'},
+            {field:'out_height', title:'out-height', width:120},
+            {title: '操作', toolbar: '#rtkProfileBar', fixed: 'right', width: 100}
+        ] ],
+        limits: [10,20,50,100],
+        limit: 10,
+        page: true
+    });
+
+    $('#btn-device-search').on('click', function(){
+        var gid = $('#sel-group').val();
+        var did = $('#q-deviceid').val();
+        deviceTableIns.reload({where:{group_id: gid, device_id: did}, page:{curr:1}});
+    });
+
+    table.on('tool(table-device-filter)', function(obj){
+        var data = obj.data;
+        if(obj.event === 'edit'){
+            var index = layer.open({
+                title: '编辑设备配置',
+                type: 2,
+                shade: 0.2,
+                maxmin:true,
+                shadeClose: true,
+                area: ['700px', '520px'],
+                content: '../page/table/rtk_profile_edit',
+                success: function(layero){
+                    var iframeWin = window[layero.find('iframe')[0]['name']];
+                    if(iframeWin && iframeWin.setParams){ iframeWin.setParams(data); }
+                }
+            });
+        }
+    });
+
+    // toolbar template for device table
+    
+
+    var rtkWs = null;
+    var rtkSelectedDevice = '';
+    var rtkRunning = false;
+    function connectRtkWs(){
+        if(rtkWs && rtkWs.readyState === WebSocket.OPEN) return;
+        var curPath = window.document.location.href;
+        var pathName = window.document.location.pathname;
+        var pos = curPath.indexOf(pathName);
+        var basePath = curPath.substring(0, pos);
+        var wsUrl = (basePath+"/websocket/rtkrcv").replace("http","ws");
+        rtkWs = new WebSocket(wsUrl);
+        rtkWs.onopen = function(){ };
+        rtkWs.onerror = function(){ layer.msg('RTK WebSocket 连接失败'); };
+        rtkWs.onclose = function(){ };
+        rtkWs.onmessage = function (event) {
+            var msg = event.data || '';
+            var info = $('#rtk-info');
+            try {
+                var obj = JSON.parse(msg);
+                if(obj && obj.type==='rtk'){
+                    if(rtkSelectedDevice && obj.deviceId !== rtkSelectedDevice) return;
+                    var sol = (obj.q===1)?'固定解':((obj.q===2)?'浮点解':'--');
+                    var solCls = (obj.q===1)?'layui-bg-green':((obj.q===2)?'layui-bg-orange':'layui-bg-gray');
+                    $('#rtk-sol-badge').attr('class','layui-badge ' + solCls).text(sol);
+                    var ns = (obj.ns!=null? obj.ns : '--');
+                    $('#rtk-sat-badge').attr('class','layui-badge layui-bg-blue').text('卫星数: '+ns);
+                    var llh = (obj.lat && obj.lon && obj.h!=null)? (obj.lat.toFixed(9)+'  '+obj.lon.toFixed(9)+'  '+obj.h) : '--';
+                    $('#rtk-llh').text('LLH: ' + llh);
+                    info.text(info.text() + (obj.raw || msg) + "\n");
+                } else if(obj && obj.type==='rtk_gngga'){
+                    if(rtkSelectedDevice && obj.deviceId !== rtkSelectedDevice) return;
+                    var gtxt = 'lat='+ (obj.lat!=null?obj.lat:0) + ', lon='+(obj.lon!=null?obj.lon:0)+', alt='+(obj.alt!=null?obj.alt:0)+', geo='+(obj.geo!=null?obj.geo:0);
+                    $('#rtk-gngga').text('GNGGA: ' + gtxt);
+                } else if(obj && obj.type==='rtk_ctrl'){
+                    if(obj.action==='auto_stop' && (!rtkSelectedDevice || obj.deviceId === rtkSelectedDevice)){
+                        rtkRunning = false; updateToggleBtn();
+                        layer.msg('已自动停止: 连续固定解达阈值');
+                    }
+                    if(groupSelectedId){
+                        if(obj.deviceId){ groupStatus[obj.deviceId]='DONE'; renderGroupTable(); }
+                    }
+                } else if(obj && obj.type==='rtk_group'){
+                    if(groupSelectedId && obj.groupId==groupSelectedId){
+                        groupStatus[obj.deviceId]=obj.status; renderGroupTable();
+                    }
+                } else {
+                    info.text(info.text() + msg + "\n");
+                }
+            } catch(e){
+                var parts = msg.trim().split(/\s+/);
+                var ok = parts.length >= 3 && parts[0] === 'RTK';
+                if(ok){
+                    var did = parts[1];
+                    if(rtkSelectedDevice && did !== rtkSelectedDevice) return;
+                }
+                info.text(info.text() + msg + "\n");
+            }
+            var el = document.getElementById('rtk-info');
+            el.scrollTop = el.scrollHeight;
+            if(groupSelectedId){
+                try{ var o=JSON.parse(msg); if(o && o.type==='rtk' && groupDevices.has(o.deviceId)){ appendGroupLog(o.raw || msg); } }catch(ex){ var pp=msg.trim().split(/\s+/); if(pp[0]==='RTK' && groupDevices.has(pp[1])) appendGroupLog(msg); }
+            }
+        };
+    }
+    function closeRtkWs(){ if(rtkWs){ try{ rtkWs.close(); }catch(e){} rtkWs=null; } }
+
+    function loadRtkGroups(){
+        $.get('/rtk/group/list', {page:1,limit:1000}, function(res){
+            if(res.code===0){
+                var sel = $('#rtk-group'); sel.empty();
+                sel.append('<option value="">请选择</option>');
+                (res.data||[]).forEach(function(g){ sel.append('<option value="'+g.id+'">'+g.name+'</option>'); });
+                form.render('select');
+            }
+        });
+    }
+    function loadRtkDevices(gid){
+        var devSel = $('#rtk-device'); devSel.empty();
+        devSel.append('<option value="">请选择</option>');
+        if(!gid){ form.render('select'); return; }
+        $.get('/rtk/profile/list', {page:1,limit:1000, group_id: gid}, function(res){
+            if(res.code===0){
+                (res.data||[]).forEach(function(p){ devSel.append('<option value="'+p.device_id+'">'+p.device_id+'</option>'); });
+                form.render('select');
+            }
+        });
+    }
+    loadRtkGroups();
+
+    form.on('select(rtk-group)', function(data){
+        loadRtkDevices(data.value);
+    });
+    form.on('select(rtk-device)', function(data){ rtkSelectedDevice = data.value; });
+
+    function updateToggleBtn(){
+        var btn = $('#btn-rtk-start');
+        if(rtkRunning){
+            btn.text('停止定位');
+            btn.addClass('layui-btn-danger');
+        } else {
+            btn.text('开始定位');
+            btn.removeClass('layui-btn-danger');
+        }
+    }
+    updateToggleBtn();
+    
+    $('#btn-rtk-start').on('click', function(){
+        rtkSelectedDevice = $('#rtk-device').val();
+        if(!rtkSelectedDevice){ layer.msg('请选择设备'); return; }
+        if(!rtkRunning){
+            $.get('/rtk/log_exists', {device_id: rtkSelectedDevice}, function(exists){
+                function doStart(clear){
+                    $.post('/rtk/start', {device_id: rtkSelectedDevice, clear_log: clear}, function(res){
+                        if(res && res.code === 0){
+                            if(res.data === 'ok' || res.data === 'all_zero'){
+                                connectRtkWs(); rtkRunning = true; updateToggleBtn();
+                                if(res.data === 'all_zero'){ layer.msg('GNGGA全零，使用默认配置启动'); }
+                            } else {
+                                layer.msg(res.data||'已处理');
+                            }
+                        } else { layer.alert((res&&res.msg)||'启动失败'); }
+                    }).fail(function(){ layer.alert('启动请求失败'); });
+                }
+                if(exists){
+                    layer.confirm('检测到已有日志，是否清空后再开始？', {btn:['清空','追加','取消']}, function(idx){
+                        layer.close(idx); doStart(true);
+                    }, function(idx){
+                        layer.close(idx); doStart(false);
+                    });
+                } else {
+                    doStart(false);
+                }
+            }).fail(function(){ layer.alert('检查日志失败'); });
+        } else {
+            $.post('/rtk/stop', {device_id: rtkSelectedDevice}, function(){
+                rtkRunning = false; updateToggleBtn();
+                closeRtkWs();
+            });
+        }
+    });
+
+    var grRunning = false; function updateGrBtn(){ var b=$('#btn-gr-start'); if(grRunning){b.text('停止组定位').addClass('layui-btn-danger');} else {b.text('开始组定位').removeClass('layui-btn-danger');} }
+    updateGrBtn();
+    var groupSelectedId = null; var groupDevices = new Set(); var groupStatus = {};
+    form.on('select(gr-group)', function(data){ groupSelectedId = data.value; reloadGroupStatus(); loadGroupDevices(); });
+    function loadGroupDevices(){ groupDevices.clear(); if(!groupSelectedId)return; $.get('/rtk/profile/list',{page:1,limit:1000, group_id: groupSelectedId}, function(res){ if(res.code===0){ (res.data||[]).forEach(function(p){ groupDevices.add(p.device_id);}); renderGroupTable(); } }); }
+    function renderGroupTable(){
+        table.render({
+            elem: '#group-table',
+            data: Array.from(groupDevices).map(function(d){ return {device_id:d, status: (groupStatus[d]||'--')}; }),
+            cols: [ [
+                {field:'device_id', title:'设备号'},
+                {field:'status', title:'状态', templet: function(d){
+                    var s=d.status;
+                    var m={'RUNNING':'layui-bg-green','QUEUED':'','DONE':'layui-bg-blue','FAILED':'layui-bg-red'};
+                    var cls=m[s]||'';
+                    return '<span class="layui-badge '+cls+'">'+(s||'--')+'</span>';
+                }}
+            ] ],
+            page: true,
+            limit: 10,
+            limits: [10,20,50,100]
+        });
+    }
+    function reloadGroupStatus(){ if(!groupSelectedId) return; $.get('/rtk/group/status',{group_id: groupSelectedId}, function(res){ if(res.code===0){ (res.data||[]).forEach(function(r){ groupStatus[r.device_id]=r.status; }); renderGroupTable(); } }); }
+    $('#btn-gr-start').on('click', function(){ if(!groupSelectedId){ layer.msg('请选择分组'); return; } if(!grRunning){ layer.confirm('是否清空日志后开始？',{btn:['清空','追加','取消']}, function(idx){ layer.close(idx); $.post('/rtk/group/start',{group_id: groupSelectedId, clear_log:true}, function(){ grRunning=true; updateGrBtn(); connectRtkWs(); }); }, function(idx){ layer.close(idx); $.post('/rtk/group/start',{group_id: groupSelectedId, clear_log:false}, function(){ grRunning=true; updateGrBtn(); connectRtkWs(); }); }); } else { $.post('/rtk/group/stop',{group_id: groupSelectedId}, function(){ grRunning=false; updateGrBtn(); }); } });
+
+    function appendGroupLog(msg){ var gi=$('#group-info'); gi.text(gi.text()+msg+'\n'); var el=document.getElementById('group-info'); el.scrollTop=el.scrollHeight; }
+});
+</script>
+
+<script type="text/html" id="rtkProfileBar">
+    <a class="layui-btn layui-btn-normal layui-btn-xs" lay-event="edit">编辑</a>
+    
+</script>
+
+</body>
+</html>

sec-beidou/src/main/resources/templates/page/table/gnss_status_list.html

@@ -94,9 +94,10 @@
                 url: '/gnss/q_status/list',
                 cols: [[
                     {field: 'deviceid', title: '设备号', width: 120, templet: '#deviceIdTpl', align: 'center',sort: true},
-                    {field: 'devicetype', title: '设备类型', templet: '#typeTrans', width: 100},
+                    {field: 'devicetype', title: '设备类型', templet: '#typeTrans', width: 80},
+                    {field: 'tenantname', title: '部门', width: 100},
                     {field: 'project_id', title: '项目号', width: 100},
-                    {field: 'name', title: '工点', width: 150},
+                    {field: 'name', title: '工点', width: 100},
                     {field: 'updatetime', title: '更新时间', templet: "<div>{{layui.util.toDateString(d.updatetime, 'yyyy-MM-dd HH:mm:ss')}}</div>", width: 170},
                     {field: 'state', title: '状态', templet: '#stateTrans', width: 80, align: 'center'},
                     {field: 'warning', title: '告警', templet: '#warningTrans', width: 80, align: 'center'},

sec-beidou/src/main/resources/templates/page/table/rtk_group_edit.html

@@ -0,0 +1,101 @@
+<!DOCTYPE html>
+<html>
+<head>
+    <meta charset="utf-8">
+    <title>定位管理-分组</title>
+    <meta name="renderer" content="webkit">
+    <meta http-equiv="X-UA-Compatible" content="IE=edge,chrome=1">
+    <meta name="viewport" content="width=device-width, initial-scale=1, maximum-scale=1">
+    <link rel="stylesheet" href="../../lib/layui-v2.6.3/css/layui.css" media="all">
+    <link rel="stylesheet" href="../../css/public.css" media="all">
+    <style>
+        body { background-color: #ffffff; }
+    </style>
+    <script>
+        var default_inpstr2 = 'ytcors14847:fyx25943@gnss.ytcors.cn:8003/RTCM33GRCEJpro';
+        var default_inpstr3 = 'Ming:@Zhang12345@ntrip.data.gnss.ga.gov.au:2101/BCEP00BKG0';
+    </script>
+    
+</head>
+<body>
+<div class="layui-form layuimini-form">
+    <div class="layui-form-item">
+        <label class="layui-form-label">ID</label>
+        <div class="layui-input-block">
+            <input type="number" name="id" id="id" placeholder="留空自动生成" class="layui-input">
+        </div>
+    </div>
+    <div class="layui-form-item">
+        <label class="layui-form-label required">名称</label>
+        <div class="layui-input-block">
+            <input type="text" name="name" id="name" lay-verify="required" lay-reqtext="不能为空" class="layui-input">
+        </div>
+    </div>
+    <div class="layui-form-item">
+        <label class="layui-form-label required">inpstr2-path</label>
+        <div class="layui-input-block">
+            <input type="text" name="inpstr2_path" id="inpstr2_path" lay-verify="required" lay-reqtext="不能为空" class="layui-input">
+        </div>
+    </div>
+    <div class="layui-form-item">
+        <label class="layui-form-label required">inpstr3-path</label>
+        <div class="layui-input-block">
+            <input type="text" name="inpstr3_path" id="inpstr3_path" lay-verify="required" lay-reqtext="不能为空" class="layui-input">
+        </div>
+    </div>
+
+    <div class="layui-form-item">
+        <div class="layui-input-block">
+            <button class="layui-btn layui-btn-normal" lay-submit lay-filter="saveBtn">确认保存</button>
+        </div>
+    </div>
+</div>
+
+<script src="../../lib/layui-v2.6.3/layui.js" charset="utf-8"></script>
+<script>
+layui.use(['form'], function () {
+    var form = layui.form,
+        $ = layui.$;
+    var iframeIndex = parent.layer.getFrameIndex(window.name);
+
+    $(function(){
+        if(!$('#inpstr2_path').val()) $('#inpstr2_path').val(default_inpstr2);
+        if(!$('#inpstr3_path').val()) $('#inpstr3_path').val(default_inpstr3);
+    });
+
+    form.on('submit(saveBtn)', function (data) {
+        if(!data.field.id){ delete data.field.id; }
+        $.ajax({
+            type:"POST",
+            url:"/rtk/group/update",
+            contentType: "application/json;charset=UTF-8",
+            data: JSON.stringify(data.field),
+            success: function (result) {
+                if(result === 'ok' || result.code === 0){
+                    if(parent.onRtkGroupUpdated) parent.onRtkGroupUpdated();
+                    parent.layer.close(iframeIndex);
+                } else {
+                    layer.alert(result.msg || '保存失败');
+                }
+            },
+            error: function () {
+                parent.layer.close(iframeIndex);
+            }
+        });
+        return false;
+    });
+});
+
+function setParams(data){
+    var form = layui.form,
+        $ = layui.$;
+    $('#id').val(data.id).attr('readonly', true);
+    $('#name').val(data.name);
+    $('#inpstr2_path').val(data.inpstr2_path);
+    $('#inpstr3_path').val(data.inpstr3_path);
+    form.render();
+}
+</script>
+
+</body>
+</html>

sec-beidou/src/main/resources/templates/page/table/rtk_profile_edit.html

@@ -0,0 +1,118 @@
+<!DOCTYPE html>
+<html>
+<head>
+    <meta charset="utf-8">
+    <title>编辑设备配置</title>
+    <meta name="renderer" content="webkit">
+    <meta http-equiv="X-UA-Compatible" content="IE=edge,chrome=1">
+    <meta name="viewport" content="width=device-width, initial-scale=1, maximum-scale=1">
+    <link rel="stylesheet" href="../../lib/layui-v2.6.3/css/layui.css" media="all">
+    <link rel="stylesheet" href="../../css/public.css" media="all">
+    <style>body{background-color:#fff;}</style>
+</head>
+<body>
+<div class="layui-form layuimini-form">
+    <div class="layui-form-item">
+        <label class="layui-form-label">ID</label>
+        <div class="layui-input-block">
+            <input type="number" name="id" id="id" readonly class="layui-input">
+        </div>
+    </div>
+    <div class="layui-form-item">
+        <label class="layui-form-label required">设备号</label>
+        <div class="layui-input-block">
+            <input type="text" name="device_id" id="device_id" lay-verify="required" lay-reqtext="不能为空" class="layui-input">
+        </div>
+    </div>
+    <div class="layui-form-item">
+        <label class="layui-form-label">分组ID</label>
+        <div class="layui-input-block">
+            <input type="number" name="rtkgroup_id" id="rtkgroup_id" class="layui-input">
+        </div>
+    </div>
+    <div class="layui-form-item">
+        <label class="layui-form-label">pos1-posmode</label>
+        <div class="layui-input-inline">
+            <select name="pos1_posmode" id="pos1_posmode">
+                <option value="static">static</option>
+                <option value="kinematic">kinematic</option>
+            </select>
+        </div>
+    </div>
+    <div class="layui-form-item">
+        <label class="layui-form-label">inpstr1-type</label>
+        <div class="layui-input-inline">
+            <select name="inpstr1_type" id="inpstr1_type">
+                <option value="ntripcli">ntripcli</option>
+                <option value="tcpcli">tcpcli</option>
+            </select>
+        </div>
+    </div>
+    <div class="layui-form-item">
+        <label class="layui-form-label">inpstr1-path</label>
+        <div class="layui-input-block">
+            <input type="text" name="inpstr1_path" id="inpstr1_path" placeholder="可留空" class="layui-input">
+        </div>
+    </div>
+    <div class="layui-form-item">
+        <label class="layui-form-label">outstr2-path</label>
+        <div class="layui-input-block">
+            <input type="text" name="outstr2_path" id="outstr2_path" placeholder="可留空" class="layui-input">
+        </div>
+    </div>
+    <div class="layui-form-item">
+        <label class="layui-form-label">out-height</label>
+        <div class="layui-input-inline">
+            <select name="out_height" id="out_height">
+                <option value="ellipsoidal">ellipsoidal</option>
+                <option value="geodetic" selected>geodetic</option>
+            </select>
+        </div>
+    </div>
+    <div class="layui-form-item">
+        <div class="layui-input-block">
+            <button class="layui-btn layui-btn-normal" lay-submit lay-filter="saveBtn">保存</button>
+        </div>
+    </div>
+</div>
+
+<script src="../../lib/layui-v2.6.3/layui.js" charset="utf-8"></script>
+<script>
+layui.use(['form'], function(){
+    var form = layui.form, $ = layui.$;
+    var iframeIndex = parent.layer.getFrameIndex(window.name);
+
+    form.on('submit(saveBtn)', function(data){
+        $.ajax({
+            type: 'POST',
+            url: '/rtk/profile/update',
+            contentType: 'application/json;charset=UTF-8',
+            data: JSON.stringify(data.field),
+            success: function(res){
+                if(res.code === 0){
+                    parent.layui.table.reload('rtk-profile-table');
+                    parent.layer.close(iframeIndex);
+                } else { layer.alert(res.msg || '保存失败'); }
+            },
+            error: function(){ layer.alert('请求失败'); }
+        });
+        return false;
+    });
+});
+
+function setParams(d){
+    var form = layui.form, $ = layui.$;
+    if(d.id) $('#id').val(d.id);
+    if(d.device_id) $('#device_id').val(d.device_id);
+    if(d.rtkgroup_id!=null) $('#rtkgroup_id').val(d.rtkgroup_id);
+    $('#pos1_posmode').val(d.pos1_posmode||'static');
+    $('#inpstr1_type').val(d.inpstr1_type||'ntripcli');
+    $('#inpstr1_path').val(d.inpstr1_path||'');
+    $('#outstr2_path').val(d.outstr2_path||'');
+    $('#out_height').val(d.out_height||'geodetic');
+    form.render();
+}
+</script>
+
+</body>
+</html>

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

@@ -54,13 +54,12 @@ public class D350SurfaceInclineMessageExecutor implements Executor<D350SurfaceIn
             logger.debug("{} not existed", deviceId);
             return null;
         }
-        SurfaceInclineData data = message.getInclineData();
-        data.setTenantid(device.device.getTenantid());
-        forwardData(device, data);
 
         ThreadManager.getFixedThreadPool().submit(() -> {
+            SurfaceInclineData data = message.getInclineData();
+            data.setTenantid(device.device.getTenantid());
             dataMapper.insert(data);
-
+            forwardData(device, data);
         });
         return null;
     }
@@ -122,9 +121,11 @@ public class D350SurfaceInclineMessageExecutor implements Executor<D350SurfaceIn
             if (device.sensorNum == 2) {
                 if (data.getSensorid()==1) device.data1 = data;
                 else {
-                    data1.setAngley(data.getAnglex());
-                    data1.setAccy(data.getAccx());
-                    dataForwarder.send(device.device, data1);
+                    data.setAngley(data.getAnglex());
+                    data.setAnglex(data1.getAnglex());
+                    //data1.setAngley(data.getAnglex());
+                    //data1.setAccy(data.getAccx());
+                    dataForwarder.send(device.device, data);
                 }
             }
         }