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

@@ -519,33 +519,28 @@ public class D331RtcmMessageExecutor implements Executor<D331RtcmMessage, Void>
             }
 
             if (insertIndex != -1) {
-                // 检查基站是否有有效的ECEF坐标
+                ByteBuf newBuf = Unpooled.buffer();
+                newBuf.writeBytes(originalData, 0, insertIndex / 2);
+
+                // 使用f9p坐标生成1005消息
+                double[] ecef = new double[3];
+                // 修复：确保坐标值不为null，并正确处理Double类型
                 Double ecefX = deviceBs.getEcefx();
                 Double ecefY = deviceBs.getEcefy();
                 Double ecefZ = deviceBs.getEcefz();
 
-                // 验证坐标有效性
-                if (isValidEcefCoordinates(ecefX, ecefY, ecefZ)) {
-                    ByteBuf newBuf = Unpooled.buffer();
-                    newBuf.writeBytes(originalData, 0, insertIndex / 2);
+                ecef[0] = ecefX != null ? ecefX.doubleValue() : 0.0;
+                ecef[1] = ecefY != null ? ecefY.doubleValue() : 0.0;
+                ecef[2] = ecefZ != null ? ecefZ.doubleValue() : 0.0;
 
-                    double[] ecef = new double[3];
-                    ecef[0] = ecefX.doubleValue();
-                    ecef[1] = ecefY.doubleValue();
-                    ecef[2] = ecefZ.doubleValue();
-
-                    String rtcm1005 = Rtcm1005.generateRtcm1005Hex(ecef, 0);
-                    if (rtcm1005 != null && !rtcm1005.isEmpty()) {
-                        byte[] rtcm1005Bytes = ByteUtil.hexStringTobyte(rtcm1005);
-                        newBuf.writeBytes(rtcm1005Bytes);
-                    }
-
-                    newBuf.writeBytes(originalData, insertIndex / 2, originalData.length - insertIndex / 2);
-                    buf = newBuf;
-                } else {
-                    logger.warn("Base station {} has invalid ECEF coordinates, skipping RTCM 1005 generation for device {}",
-                            deviceBs.getDeviceId(), deviceId);
+                String rtcm1005 = Rtcm1005.generateRtcm1005Hex(ecef, 0);
+                if (rtcm1005 != null) {
+                    byte[] rtcm1005Bytes = ByteUtil.hexStringTobyte(rtcm1005);
+                    newBuf.writeBytes(rtcm1005Bytes);
                 }
+
+                newBuf.writeBytes(originalData, insertIndex / 2, originalData.length - insertIndex / 2);
+                buf = newBuf;
             }
 
             lastD300ForwardTimeMap.put(deviceId, currentTime);
@@ -793,21 +788,29 @@ public class D331RtcmMessageExecutor implements Executor<D331RtcmMessage, Void>
     }
 
     /**
-     * 验证ECEF坐标是否有效
+     * 打印当前基站和设备状态（用于调试）
      */
-    private boolean isValidEcefCoordinates(Double x, Double y, Double z) {
-        if (x == null || y == null || z == null) {
-            return false;
-        }
+    @Scheduled(fixedRate = 300000) // 5分钟执行一次
+    public void printStatusSummary() {
+        if (logger.isInfoEnabled() && !baseStationStatusMap.isEmpty()) {
+            StringBuilder summary = new StringBuilder();
+            summary.append("\n=== Base Station Status Summary ===\n");
 
-        // 检查是否为零坐标
-        if (x == 0.0 && y == 0.0 && z == 0.0) {
-            return false;
-        }
+            for (BaseStationStatus status : baseStationStatusMap.values()) {
+                summary.append(String.format("Base Station: %s, Status: %s, Last Active: %s, Serving Devices: %d\n",
+                        status.getBaseStationId(),
+                        status.getStatus(),
+                        status.getLastActiveTime(),
+                        status.getServingDevices().size()));
+            }
 
-        // 检查坐标是否在地球表面合理范围内（大致6.3M到6.4M米）
-        double distance = Math.sqrt(x * x + y * y + z * z);
-        return distance >= 6300000 && distance <= 6400000;
+            summary.append("=== Device Base Mapping ===\n");
+            for (Map.Entry<String, String> entry : deviceCurrentBaseMap.entrySet()) {
+                summary.append(String.format("Device: %s -> Base Station: %s\n",
+                        entry.getKey(), entry.getValue()));
+            }
+
+            logger.info(summary.toString());
+        }
     }
-
 }