feat: rtksrv v1

# Conflicts:
#	sec-ntrip-proxy/src/main/java/com/imdroid/ntripproxy/service/Ntrip2Channels.java

pom.xml

@@ -18,6 +18,7 @@
         <module>sec-ntrip-proxy</module>
         <module>sec-exapi</module>
         <module>sec-beidou-ehm</module>
+        <module>sec-vermgr</module>
     </modules>
 
     <properties>

readme.txt

@@ -28,6 +28,7 @@ beidou-fwd      9906                            解算结果推送
 ntrip-proxy     9910        11001(外)            ntrip服务器代理
 beidou-exapi    9908(外)                         API
 beidou-ehm      9912                            健康检查、SIM卡检查
+vermgr          9914        9916(外)             版本管理服务
 
 2024-9
 算法：
@@ -55,6 +56,17 @@ beidou-ehm      9912                            健康检查、SIM卡检查
 2）健康检查增加连续无有效解的时长之和统计
 
 3）批量升级：
-a）在设备页面增加勾选框和“准备升级”、“完成升级”按钮
+a）在系统管理里增加一页固件升级页面，包括固件列表和设备列表
-b）点击“准备升级”，把模式改为“待升级”，同时发连接版本服务器指令
+   1）固件列表：固件名、固件大小、创建时间。每次升级只能单选一个固件
-c）点击“完成升级”，把模式改为“正常”
+   2）设备列表：所属组织、设备号、项目、桩号、版本号、使用状态（正常、维护、停用）、当前状态（工作、休眠、离线）、最近一次版本升级时间
+   3）设备可多选，筛选条件：所属组织、设备号、项目、桩号、版本号
+b）升级过程：
+   1）WEB服务：选择固件->筛选设备->勾选设备
+   2）WEB服务：点击“升级”，系统检查所勾选的设备批次与所选固件是否一致，如果有不一致，弹出“固件不匹配”提示窗口，结束升级
+   3）WEB服务：向版本服务发升级命令UpgradeCmd(deviceList)，版本服务如果应答UpgradeAck，则把待升级的设备改为“维护”状态，发连接服务器指令，升级按钮变灰；否则提示“版本服务未启动”的提示，结束升级
+   4）版本服务：当收到WEB服务发来的升级命令UpgradeCmd(deviceList)，回应答UpgradeAck，为每个待升级设备启动30s升级定时器
+   5）版本服务：当收到TCP连接响应，则向对端发版本查询指令，开始版本传输流程，升级过程向WEB服务发送进度指示UpgradeInd(deviceid,progress)，每次收到ACK则刷新定时器。
+   6）版本服务：当设备升级完毕，或升级定时器超时，结束升级流程，向WEB服务发升级完成指示UpgradeCompleteInd(deviceid,result)。当所有设备升级结束，再给WEB发一个全部升级完成的指示UpgradeCompleteInd(all)
+   7）WEB服务：当收到全部升级结束指示，按钮变正常，升级设备状态改为正常
+   8）WEB服务：保存升级记录
+c）增加一页固件升级记录表，包括所属组织、设备号、项目、桩号、升级时间、升级固件、是否成功

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

@@ -41,4 +41,10 @@ public interface BeidouClient {
                                 @RequestParam(name = "tenantId") Integer tenantId,
                                 @RequestParam(name = "uploadTime") LocalDateTime uploadTime);
 
+    @PostMapping("/upgrade_progress")
+    String onUpgradeProgress(@RequestParam(name = "deviceId") String deviceId,
+                                @RequestParam(name = "msg") String msg);
+
+    @PostMapping("/upgrade_complete")
+    String onUpgradeComplete();
 }

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

@@ -17,7 +17,7 @@ public interface RtcmClient {
     @GetMapping(value = "/get_device_info")
     public HttpResp getDeviceInfo(@RequestParam(name = "deviceId") String deviceId, @RequestParam(name = "cmd") String cmd);
     @PostMapping("/device_param_changed")
-    HttpResp deviceParamChanged(@RequestParam(name = "deviceId") String deviceId,@RequestParam(name = "oldParentId") String oldParentId);
+    HttpResp deviceParamChanged(@RequestParam(name = "deviceId") String deviceId,@RequestParam(name = "oldParentId") String oldParentId,@RequestParam(name = "oldParentId1") String oldParentId1);
 
     @PostMapping("/group_param_changed")
     HttpResp groupParamChanged();

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

@@ -0,0 +1,11 @@
+package com.imdroid.secapi.client;
+
+import org.springframework.cloud.openfeign.FeignClient;
+import org.springframework.web.bind.annotation.PostMapping;
+import org.springframework.web.bind.annotation.RequestParam;
+
+@FeignClient(name="VersionClient",url = "http://localhost:9916/ver_mgr")
+public interface VersionClient {
+    @PostMapping("/upgrade_cmd")
+    HttpResp upgrade(@RequestParam(name = "deviceList") String deviceList, @RequestParam(name = "verFile") String verFile);
+}

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

@@ -3,9 +3,13 @@ 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;
 
 import java.time.LocalDateTime;
+import java.util.ArrayList;
+import java.util.List;
 
 /**
  * GNSS设备配置数据
@@ -21,6 +25,7 @@ public class GnssDevice {
     public static final short OP_MODE_USE = 0;
     public static final short OP_MODE_CHECK = 1;
     public static final short OP_MODE_UNUSE = 2;
+    public static final short OP_MODE_UPGRADING = 3;
 
     public static final short MODEL_G505 = 0; //F9P
     public static final short MODEL_G510 = 1; //博通
@@ -28,6 +33,9 @@ public class GnssDevice {
     public static final short LOGGING_MODE_SIMPLE = 0; // 精简模式（ 仅D3F0和D3F2 ）
     public static final short LOGGING_MODE_FULL = 1;   // 完整模式
 
+    public static final int PARA_MASK_HAS_BATTERY = 0x01;
+    public static final int PARA_MASK_VOLTAGE_FACTOR = 0x02;
+
     @TableId(value = "id", type = IdType.AUTO)
     private Long id;
     private Integer tenantid;
@@ -48,6 +56,8 @@ public class GnssDevice {
     private Integer calc_group_id = 1;
     private String fwd_group_id;
     private String fwd_group_id2;
+    private Boolean has_battery;
+    private Byte voltage_factor; //电压测量分压比
     private Boolean syn;    //组参数是否同步
     private String pictures;
     private Double ipose; //初始位置
@@ -68,4 +78,46 @@ public class GnssDevice {
     private String remark;
     private String iccid;
 
+    // 参数改变
+    private Integer change_flag = 0;
+
+    private String parentid1;
+
+    private String getBatteryConfigCmd(){
+        return "d3130006"+ HexUtil.Int2HexString(Integer.parseInt(deviceid))+
+                "55"+(has_battery?"01":"00");
+    }
+
+    private String getVoltageFactorConfigCmd(){
+        return "d3130006"+ HexUtil.Int2HexString(Integer.parseInt(deviceid))+
+                "52"+HexUtil.Byte2HexString(voltage_factor);
+    }
+    public List<String> getConfigCmd(){
+        List<String> cmdList = new ArrayList<>();
+        if((change_flag&PARA_MASK_HAS_BATTERY) !=0 ){
+            cmdList.add(getBatteryConfigCmd());
+        }
+        if((change_flag&PARA_MASK_VOLTAGE_FACTOR) !=0 ){
+            cmdList.add(getVoltageFactorConfigCmd());
+        }
+        return cmdList;
+    }
+
+    public boolean clearChangeFlag(String ack){
+        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;
+                    result = true;
+                } else if (ackBytes[8] == 0x52) {
+                    change_flag &= ~PARA_MASK_VOLTAGE_FACTOR;
+                    result = true;
+                }
+            }
+        }
+        return result;
+    }
+
 }

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

@@ -28,7 +28,7 @@ public class GnssGroup implements Serializable {
     Short gnss_sample_s;
 
     public String getConfigCmd(GnssDevice device){
-        String cmd = "D3110009";
+        String cmd = "D311000a";
         cmd += HexUtil.Int2HexString(Integer.parseInt(device.getDeviceid()))
                 +HexUtil.Byte2HexString((byte) work_cycle.intValue())
                 +HexUtil.Byte2HexString((byte) active_time.intValue())

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

@@ -0,0 +1,15 @@
+package com.imdroid.secapi.dto;
+
+import lombok.Data;
+
+@Data
+public class UpgradeState {
+    static final public byte STATE_DISCONNECTED = 0;
+    static final public byte STATE_INFO_ACQUIRING = 1;
+    static final public byte STATE_UPGRADING = 2;
+    static final public byte STATE_UPGRADED = 3;
+    String deviceId;
+    byte progress=0;
+    byte state=STATE_DISCONNECTED; //0:未连接；1：获取信息；2:升级中；3:升级完成
+    byte code=0;
+}

sec-beidou-fwd/src/main/java/com/imdroid/beidou_fwd/entity/ZNYMQTTData.java

@@ -0,0 +1,19 @@
+package com.imdroid.beidou_fwd.entity;
+
+
+import lombok.Data;
+
+
+/**
+ * MQTT数据推送 api
+ *
+ * @author LiGang
+ */
+@Data
+public class ZNYMQTTData {
+    private String timestamp;
+    // gnss数据
+    private double rpose;
+    private double rposn;
+    private double rposu;
+}

sec-beidou-fwd/src/main/java/com/imdroid/beidou_fwd/service/MQTTClient.java

@@ -41,6 +41,10 @@ public class MQTTClient {
         client.connect(options);
     }
 
+    public boolean isConnected(){
+        return client.isConnected();
+    }
+
     public boolean publish(String topic, String message) {
         if(!client.isConnected()){
             logger.info("mqtt disconnected");

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

@@ -62,7 +62,7 @@ public class Forwarder {
      * @param fwdNameType，推送设备名：deviceid或fwdid或projectid-sector-name
      * @param cycle，发送周期
      */
-    void init(String fwdGroupId, String desc, Integer tenantId, byte fwdNameType, int cycle){
+    public void init(String fwdGroupId, String desc, Integer tenantId, byte fwdNameType, int cycle){
         this.fwdGroupId = fwdGroupId;
         this.description = desc;
         this.tenantId = tenantId;
@@ -90,10 +90,18 @@ public class Forwarder {
         }
     }
 
+    public void forwardCurrentGnss() {
+        if(forwardGnssRecords(LocalDateTime.now(), null)){
+            // 推送失败记录、补发记录
+            ThreadManager.getScheduledThreadPool().schedule(() -> {
+                this.forwardHistoryGnss();
+            },100, TimeUnit.SECONDS);
+        }
+    }
+
     /***
      * 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：重发记录
      */
 
     private boolean forwardGnssRecords(LocalDateTime sendTime, ResendRecord resendRecord) {
@@ -101,24 +109,45 @@ public class Forwarder {
         String beginTime = sendTime.minusMinutes(fwdCycleMinutes).format(formatter);
 
         // 查找属于指定推送组的设备列表
-/*        QueryWrapper<GnssDevice> queryWrapper = new QueryWrapper<>();
+        List<GnssDeviceJoin> gnssDeviceList;
-        if(deviceId != null){
+        MPJQueryWrapper jquery = null;
-            queryWrapper.eq("deviceid", deviceId);
+
-        }
+        if(resendRecord!=null && resendRecord.getDeviceid()!=null){
-        queryWrapper.eq("fwd_group_id", fwdGroupId)
+            jquery = new MPJQueryWrapper<GnssDevice> ()
-                .or()
-                .eq("fwd_group_id2", fwdGroupId);
-        List<GnssDevice> gnssDeviceList = deviceMapper.selectList(queryWrapper);
-*/
-        MPJQueryWrapper jquery = new MPJQueryWrapper<GnssDevice> ()
                     .selectAll(GnssDevice.class)
                     .select("d.latitude as latitude")
                     .select("d.longitude as longitude")
                     .leftJoin("gnssstatus d on t.deviceid = d.deviceid")
-                .eq("fwd_group_id", fwdGroupId)
+                    .and(warpper->warpper.eq("fwd_group_id", fwdGroupId)
                             .or()
-                .eq("fwd_group_id2", fwdGroupId);
+                            .eq("fwd_group_id2", fwdGroupId)).
-        List<GnssDeviceJoin> gnssDeviceList = deviceMapper.selectJoinList(GnssDeviceJoin.class, jquery);
+                    eq("deviceid", resendRecord.getDeviceid());
+        }
+        else if(resendRecord!=null && resendRecord.getProjectid()!=null){
+            jquery = new MPJQueryWrapper<GnssDevice> ()
+                    .selectAll(GnssDevice.class)
+                    .select("d.latitude as latitude")
+                    .select("d.longitude as longitude")
+                    .leftJoin("gnssstatus d on t.deviceid = d.deviceid")
+                    .and(warpper->warpper.eq("fwd_group_id", fwdGroupId)
+                            .or()
+                            .eq("fwd_group_id2", fwdGroupId))
+                    .and(warpper->warpper.eq("project_id",resendRecord.getProjectid())
+                            .or()
+                            .eq("project2_id",resendRecord.getProjectid()));
+        }
+        else{
+            jquery = new MPJQueryWrapper<GnssDevice> ()
+                    .selectAll(GnssDevice.class)
+                    .select("d.latitude as latitude")
+                    .select("d.longitude as longitude")
+                    .leftJoin("gnssstatus d on t.deviceid = d.deviceid")
+                    .and(warpper->warpper.eq("fwd_group_id", fwdGroupId)
+                            .or()
+                            .eq("fwd_group_id2", fwdGroupId));
+        }
+        gnssDeviceList = deviceMapper.selectJoinList(GnssDeviceJoin.class, jquery);
+        logger.debug("candidate fwd devices {}", gnssDeviceList.size());
 
         // 查询最近半小时的GNSS记录
         QueryWrapper<GnssCalcData> gnssQueryWrapper = new QueryWrapper<>();
@@ -131,7 +160,9 @@ public class Forwarder {
         if(resendRecord != null && resendRecord.getDeviceid()!=null){
             gnssQueryWrapper.eq("deviceid", resendRecord.getDeviceid());
         }
+
         List<GnssCalcData> locationRecords = gnssDataMapper.selectList(gnssQueryWrapper);
+        logger.debug("candidate fwd records {}", locationRecords.size());
         if(locationRecords.size() == 0) return false;
 
         // 构造按项目id分类的GNSS记录
@@ -216,15 +247,15 @@ public class Forwarder {
                     fwdResult = false;
                     fwdRecord.setResult(FwdRecord.RESULT_FAILED);
                     // 新增重发记录
-                    resendRecord = new ResendRecord();
+                    ResendRecord resendRecord1 = new ResendRecord();
-                    resendRecord.setProjectid(projectId);
+                    resendRecord1.setProjectid(projectId);
-                    resendRecord.setTenantid(tenantId);
+                    resendRecord1.setTenantid(tenantId);
-                    resendRecord.setCreatetime(LocalDateTime.now());
+                    resendRecord1.setCreatetime(LocalDateTime.now());
-                    resendRecord.setStarttime(sendTime);
+                    resendRecord1.setStarttime(sendTime);
-                    resendRecord.setEndtime(sendTime);
+                    resendRecord1.setEndtime(sendTime);
-                    resendRecord.setFwd_group_id(fwdGroupId);
+                    resendRecord1.setFwd_group_id(fwdGroupId);
-                    resendRecord.setState(ResendRecord.STATE_FWD_FAILED);
+                    resendRecord1.setState(ResendRecord.STATE_FWD_FAILED);
-                    resendRecordMapper.insert(resendRecord);
+                    resendRecordMapper.insert(resendRecord1);
                 }
                 fwdRecordsMapper.insert(fwdRecord);
             }
@@ -239,14 +270,6 @@ public class Forwarder {
         return fwdResult;
     }
 
-    void forwardCurrentGnss() {
-        if(forwardGnssRecords(LocalDateTime.now(),null)) {
-            // 推送失败记录、补发记录
-            ThreadManager.getScheduledThreadPool().schedule(() -> {
-                this.forwardHistoryGnss();
-            },100, TimeUnit.SECONDS);
-        }
-    }
 
     void forwardHistoryGnss() {
         // 1.从转发记录表里检索待补传记录时间表，含设备Id，时间段
@@ -257,7 +280,7 @@ public class Forwarder {
         queryWrapper.ge("createtime", LocalDateTime.now().minusDays(30));
         List<ResendRecord> resendRecordsList = resendRecordMapper.selectList(queryWrapper);
 
-        if(resendRecordsList!=null){
+        if(resendRecordsList!=null && resendRecordsList.size()>0){
             //修改状态
             UpdateWrapper<ResendRecord> updateWrapper = new UpdateWrapper<>();
             updateWrapper.eq("fwd_group_id",fwdGroupId);
@@ -266,11 +289,11 @@ public class Forwarder {
             updateWrapper.ge("createtime", LocalDateTime.now().minusDays(30));
             updateWrapper.set("state",ResendRecord.STATE_FWDING);
             int updateNum = resendRecordMapper.update(null, updateWrapper);
-            logger.info("{} forward history records: {}, update {}",fwdGroupId, resendRecordsList.size(),updateNum);
+            logger.debug("{} forward history records: {}, update {}",fwdGroupId, resendRecordsList.size(),updateNum);
             // 2.检索这个这个时间段的解算结果，如果有数据则单个终端转发，标志记录为已补传
             for(ResendRecord record:resendRecordsList){
                 if(record.getProjectid()!=null)
-                    logger.info("{} forward history {}",fwdGroupId, record.getProjectid());
+                    logger.debug("{} forward history {}",fwdGroupId, record.getProjectid());
                 forwardBatchGnssRecords(record);
             }
         }
@@ -404,7 +427,7 @@ public class Forwarder {
             tranData.setDeviceType(2);
             tranData.setDeviceSn(locationRecord.getDeviceid());
             String json = GsonUtil.toJson(tranData);
-            logger.info("forward to GZY mqtt: {}",json);
+            logger.debug("forward to GZY mqtt: {}",json);
 
             sendNum++;
         }

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

@@ -38,16 +38,29 @@ public class GXJKForwarder extends Forwarder {
     void registerMe() throws MqttException {
         init(FORWARDER_NAME, "MQTT "+brokerUrl,7,FWD_DEVICE_NAME,10);
         mqttClient = new MQTTClient(brokerUrl, username, password,clientid);
+        try{
             mqttClient.connect();
         }
+        catch (Exception e){
+            logger.error("gxjk mqtt connect failed: {}",e.toString());
+        }
+    }
 
     /**
      * 每半小时转发GNSS解算结果
      */
     @Scheduled(cron = "0 0/10 * * * ?") // 每30分钟执行一次
     private void forwardGnss() {
-        logger.info("gxjk forwardGnss");
+        logger.debug("gxjk forwardGnss");
-        forwardCurrentGnss();
+        if(mqttClient.isConnected()) forwardCurrentGnss();
+        else{
+            try{
+                mqttClient.connect();
+            }
+            catch (Exception e){
+                logger.error("gxjk mqtt connect failed: {}",e.toString());
+            }
+        }
     }
 
     @Override
@@ -76,8 +89,8 @@ public class GXJKForwarder extends Forwarder {
             sendNum++;
         }
         String json = "#" + GsonUtil.toJson(sendData) + "!";
-        logger.info("project " + projectId + ": push calculation result to GXJK");
+        logger.debug("project " + projectId + ": push calculation result to GXJK");
-        logger.info(json);
+        logger.debug(json);
         // /slope/项目号-all/gnss/all/publish
         String topic = "/slope/"+projectId+"-all/gnss/all/publish";
         try {

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

@@ -21,7 +21,7 @@ import java.util.List;
 @Configuration
 @EnableScheduling
 public class GXXfzForwarder extends Forwarder{
-    private String FORWARDER_NAME = "广西新发展";
+    private final String FORWARDER_NAME = "广西新发展";
     @Value("${xfz.server.host}")
     private String host;
 
@@ -69,13 +69,13 @@ public class GXXfzForwarder extends Forwarder{
      */
     @Scheduled(cron = "0 0/30 * * * ?") // 每30分钟执行一次
     private void forwardGnss() {
-        logger.info("xfz forwardGnss");
+        logger.debug("xfz forwardGnss");
         forwardCurrentGnss();
     }
 /*
     @Scheduled(cron = "0 0/10 * * * ?") // 每30分钟执行一次
     private void checkDevice() {
-        //logger.info("zny checkDevice");
+        //logger.debug("zny checkDevice");
         checkOfflineDevice("2345053","2350106","2350124");
     }*/
 
@@ -107,8 +107,8 @@ public class GXXfzForwarder extends Forwarder{
             sendNum++;
         }
         String json = "#" + GsonUtil.toJson(xfzTcpMessage) + "!";
-        logger.info("project " + projectId + ": push calculation result to XFZ");
+        logger.debug("project " + projectId + ": push calculation result to XFZ");
-        logger.info(json);
+        logger.debug(json);
         try {
             listener.clear();
             xfzTcpClient.writeAndFlush(json);

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

@@ -40,7 +40,7 @@ public class GZYForwarder extends Forwarder{
     @Scheduled(cron = "0 0 0/1 * * ?") // 每小时执行一次
     // @Scheduled(cron = "0 0/30 * * * ?") // 每30分钟执行一次
     private void forwardGnss() {
-        logger.info("gzy UDP forwardGnss");
+        logger.debug("gzy UDP forwardGnss");
         forwardCurrentGnss();
     }
 
@@ -62,8 +62,8 @@ public class GZYForwarder extends Forwarder{
             tranData.setZ(d);
             gzyData.setTranData(tranData);
             String msg = "JGKJ" + GsonUtil.toJson(gzyData) + "#!";
-            logger.info("forward to GZY");
+            logger.debug("forward to GZY");
-            logger.info(msg);
+            logger.debug(msg);
             udpClient.sendMessage(msg);
             sendNum++;
         }

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

@@ -47,8 +47,13 @@ public class GZYMQTTForwarder extends Forwarder {
     void registerMe() throws MqttException {
         init(FORWARDER_NAME, "MQTT "+brokerUrl,2,FWD_DEVICE_ALIAS_NAME,30);
         mqttClient = new MQTTClient(brokerUrl, username, password,clientid);
+        try{
             mqttClient.connect();
         }
+        catch (Exception e){
+            logger.error("gzy mqtt connect failed: {}",e.toString());
+        }
+    }
 
     /**
      * 每半小时转发GNSS解算结果
@@ -56,10 +61,20 @@ public class GZYMQTTForwarder extends Forwarder {
     @Scheduled(cron = "0 0 0/1 * * ?") // 每小时执行一次
     //@Scheduled(cron = "0 0/5 * * * ?") // 每30分钟执行一次
     private void forwardGnss() {
-        logger.info("gzy mqtt forwardGnss");
+        logger.debug("gzy mqtt forwardGnss");
+        if(mqttClient.isConnected()) {
             forwardCurrentGnss();
             //forwardAngleData();
         }
+        else{
+            try{
+                mqttClient.connect();
+            }
+            catch (Exception e){
+                logger.error("gzy mqtt connect failed: {}",e.toString());
+            }
+        }
+    }
 
     @Override
     int send(String projectId, List<GnssCalcData> records, LocalDateTime sentTime) {
@@ -77,7 +92,7 @@ public class GZYMQTTForwarder extends Forwarder {
             tranData.setDeviceType(2);
             tranData.setDeviceSn(locationRecord.getDeviceid());
             String json = GsonUtil.toJson(tranData);
-            logger.info("forward to GZY mqtt: {}",json);
+            logger.debug("forward to GZY mqtt: {}",json);
             try {
                 if(!mqttClient.publish(topic, json)) break;
                 Thread.sleep(50);
@@ -116,7 +131,7 @@ public class GZYMQTTForwarder extends Forwarder {
             tranData.setAngleAz(NumberUtils.scale((double) az,2));
 
             String json = GsonUtil.toJson(tranData);
-            logger.info("forward to GZY mqtt angles: {}",json);
+            logger.debug("forward to GZY mqtt angles: {}",json);
             try {
                 if(!mqttClient.publish(topic, json)) break;
                 Thread.sleep(10);
@@ -125,7 +140,7 @@ public class GZYMQTTForwarder extends Forwarder {
             }
             sendNum++;
         }
-        logger.info("total number of angles sent to GZY: {}",sendNum);
+        logger.debug("total number of angles sent to GZY: {}",sendNum);
 
     }
 

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

@@ -55,7 +55,7 @@ public class KingMaForwarder extends Forwarder{
     @Scheduled(cron = "0 0 0/1 * * ?") // 每小时执行一次
     //@Scheduled(cron = "0 0/5 * * * ?") // 每30分钟执行一次
     private void forwardGnss() {
-        logger.info("kingma forwardGnss");
+        logger.debug("kingma forwardGnss");
         forwardCurrentGnss();
     }
 
@@ -88,12 +88,12 @@ public class KingMaForwarder extends Forwarder{
         if(header == null || nowTime.isAfter(lastTokenTime.plusMinutes(59))){
             try {
                 if (!updateToken()) {
-                    logger.info("update token failed!");
+                    logger.debug("update token failed!");
                     return 0;
                 }
             }
             catch (Exception e){
-                logger.info("update token failed!");
+                logger.debug("update token failed!");
                 return 0;
             }
             lastTokenTime = nowTime;
@@ -135,10 +135,10 @@ public class KingMaForwarder extends Forwarder{
             sendNum++;
         }
         String json = GsonUtil.toJson(dataList);
-        logger.info(json);
+        logger.debug(json);
         String result = HttpUtils.postJson(data_host,header,json);
-        logger.info("project " + projectId + ": push calculation result to Kingma");
+        logger.debug("project " + projectId + ": push calculation result to Kingma");
-        logger.info("result: "+result);
+        logger.debug("result: "+result);
         JSONObject obj = (JSONObject) JSONObject.parse(result);
         String msg = obj.getString("message");
         if(msg.equals("Success")) return sendNum;

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

@@ -75,7 +75,7 @@ public class SaasForwarder extends Forwarder{
     @Scheduled(cron = "0 20,50 * * * ?") // 每30分钟执行一次
     private void forwardGnss() {
         if(enabled) {
-            logger.info("saas forwardGnss");
+            logger.debug("saas forwardGnss");
             forwardCurrentGnss();
         }
     }
@@ -107,8 +107,8 @@ public class SaasForwarder extends Forwarder{
             sendNum++;
         }
         String json = "#" + GsonUtil.toJson(tcpMessage) + "!";
-        logger.info("project " + projectId + ": push calculation result to SAAS");
+        logger.debug("project " + projectId + ": push calculation result to SAAS");
-        logger.info(json);
+        logger.debug(json);
         try {
             listener.clear();
             tcpClient.writeAndFlush(json);

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

@@ -34,14 +34,14 @@ public class ZNYForwarder extends Forwarder{
      */
     @Scheduled(cron = "0 0/10 * * * ?") // 每30分钟执行一次
     private void checkDevice() {
-        //logger.info("zny checkDevice");
+        //logger.debug("zny checkDevice");
         //checkNoDataDevice("2345078","2345065","2345073");
         //checkNoDataDevice("2345085","2345068","2345075");
     }
 
     @Scheduled(cron = "0 0/30 * * * ?") // 每30分钟执行一次
     private void forwardGnss() {
-        logger.info("zny forwardGnss");
+        logger.debug("zny forwardGnss");
         forwardCurrentGnss();
     }
 
@@ -60,12 +60,12 @@ public class ZNYForwarder extends Forwarder{
             sendNum++;
         }
         String json = GsonUtil.toJson(defoData);
-        logger.info("发送数据到武汉中南设计院平台：{}", json);
+        logger.debug("发送数据到武汉中南设计院平台：{}", json);
         //return sendNum;
 
         try {
             String result = HttpUtils.postJson(data_host, json);
-            logger.info("发送数据到武汉中南设计院平台返回结果：{}", result);
+            logger.debug("发送数据到武汉中南设计院平台返回结果：{}", result);
             JSONObject obj = (JSONObject) JSONObject.parse(result);
             String msg = obj.getString("msg");
             if (msg.contains("成功")) return sendNum;

sec-beidou-fwd/src/main/java/com/imdroid/beidou_fwd/task/ZNYForwarder2.java

@@ -34,12 +34,12 @@ public class ZNYForwarder2 extends Forwarder{
      */
     @Scheduled(cron = "0 0/30 * * * ?") // 每30分钟执行一次
     private void forwardGnss() {
-        logger.info("zny2 forwardGnss");
+        logger.debug("zny2 forwardGnss");
         forwardCurrentGnss();
     }
     @Scheduled(cron = "0 0/10 * * * ?") // 每30分钟执行一次
     private void checkDevice() {
-        //logger.info("zny checkDevice");
+        //logger.debug("zny checkDevice");
         //checkOfflineDevice("2419374","2410188","2410194");
         //checkOfflineDevice("2419350","2410232","2410232");
         //checkOfflineDevice("2345074","2345065","2345089");
@@ -59,12 +59,12 @@ public class ZNYForwarder2 extends Forwarder{
             sendNum++;
         }
         String json = GsonUtil.toJson(defoData);
-        logger.info("发送数据到武汉中南设计院2.0平台：{}", json);
+        logger.debug("发送数据到武汉中南设计院2.0平台：{}", json);
         //return sendNum;
 
         try {
             String result = HttpUtils.postJson(data_host, json);
-            logger.info("武汉中南设计院2.0平台返回结果：{}", result);
+            logger.debug("武汉中南设计院2.0平台返回结果：{}", result);
             JSONObject obj = (JSONObject) JSONObject.parse(result);
             String msg = obj.getString("msg");
             if (msg.contains("成功")) return sendNum;

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

@@ -0,0 +1,108 @@
+package com.imdroid.beidou_fwd.task;
+
+
+import com.imdroid.beidou_fwd.entity.ZNYMQTTData;
+import com.imdroid.beidou_fwd.service.MQTTClient;
+import com.imdroid.common.util.Des3Utils;
+import com.imdroid.common.util.GsonUtil;
+import com.imdroid.common.util.NumberUtils;
+import com.imdroid.secapi.dto.GnssCalcData;
+import com.imdroid.secapi.dto.GnssStatusMsgMapper;
+import org.eclipse.paho.client.mqttv3.MqttException;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.beans.factory.annotation.Value;
+import org.springframework.context.annotation.Configuration;
+import org.springframework.scheduling.annotation.EnableScheduling;
+import org.springframework.scheduling.annotation.Scheduled;
+import org.springframework.stereotype.Component;
+
+import javax.annotation.PostConstruct;
+import java.time.LocalDateTime;
+import java.time.format.DateTimeFormatter;
+import java.util.List;
+
+@Component
+@Configuration
+@EnableScheduling
+public class ZNYMQTTForwarder extends Forwarder {
+    static final String FORWARDER_NAME = "中南院MQTT";
+    final DateTimeFormatter formatterMs = DateTimeFormatter.ofPattern("yyyy-MM-dd'T'HH:mm:ss.SSS'Z'");
+
+    static byte[] key = new byte[] { (byte) 0x8c, (byte) 0xc7, 0x2b, 0x05, 0x70, 0x5d, 0x5c, 0x46, (byte) 0xf4, 0x12, (byte) 0xaf, (byte) 0x8c, (byte) 0xbe,
+            (byte) 0xd5, 0x5a, (byte) 0xad, (byte) 0x8c, (byte) 0xc7, 0x2b, 0x05, 0x70, 0x5d, 0x5c, 0x46 };
+    static byte[] iv = new byte[] { 0x66, 0x7b, 0x02, (byte) 0xa8, 0x5c, 0x61, (byte) 0xc7, (byte) 0x86 };
+
+    @Value("${zny.mqtt.brokerUrl}")
+    private String brokerUrl;
+    @Value("${zny.mqtt.username}")
+    private String username;
+    @Value("${zny.mqtt.password}")
+    private String password;
+    @Value("${zny.mqtt.clientid}")
+    private String clientid;
+
+    @Autowired
+    GnssStatusMsgMapper statusMsgMapper;
+    MQTTClient mqttClient;
+
+    @PostConstruct
+    void registerMe() throws MqttException {
+        init(FORWARDER_NAME, "MQTT "+brokerUrl,4,FWD_DEVICE_ALIAS_NAME,30);
+        mqttClient = new MQTTClient(brokerUrl, username, password,clientid);
+        try{
+            mqttClient.connect();
+        }
+        catch (Exception e){
+            logger.error("zny mqtt connect failed: {}",e.toString());
+        }
+    }
+
+    /**
+     * 每半小时转发GNSS解算结果
+     */
+    //@Scheduled(cron = "0 0 0/1 * * ?") // 每小时执行一次
+    @Scheduled(cron = "0 0/30 * * * ?") // 每30分钟执行一次
+    private void forwardGnss() {
+        logger.debug("zny mqtt forwardGnss");
+        if(mqttClient.isConnected()) forwardCurrentGnss();
+        else{
+            try{
+                mqttClient.connect();
+            }
+            catch (Exception e){
+                logger.error("zny mqtt connect failed: {}",e.toString());
+            }
+        }
+    }
+
+    @Override
+    int send(String projectId, List<GnssCalcData> records, LocalDateTime sentTime) {
+        int sendNum = 0;
+
+        for (GnssCalcData locationRecord : records) {
+            ZNYMQTTData tranData = new ZNYMQTTData();
+            tranData.setTimestamp(locationRecord.getCreatetime().format(formatterMs));
+            double n = NumberUtils.scale(locationRecord.getRposn(), 2);
+            double e = NumberUtils.scale(locationRecord.getRpose(), 2);
+            double d = NumberUtils.scale(locationRecord.getRposd(), 2);
+            tranData.setRposn(n);
+            tranData.setRpose(e);
+            tranData.setRposu(d);
+            String json = GsonUtil.toJson(tranData);
+            String cryptJson = Des3Utils.encrypt(json,key,iv);
+            logger.info("forward to ZNY mqtt: {}, {}",json, cryptJson);
+            String topic = "/GnssData/"+locationRecord.getDeviceid()+"/Increment";
+            try {
+                if(!mqttClient.publish(topic, cryptJson)) break;
+                Thread.sleep(20);
+            } catch (Exception e1) {
+                e1.printStackTrace();
+            }
+            sendNum++;
+        }
+
+        return sendNum;
+    }
+
+
+}

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

@@ -60,3 +60,9 @@ gxjk.mqtt.server.clientid = GXJK_client
 sass.server.host = 127.0.0.1
 sass.server.port = 9933
 sass.server.enabled = false
+
+zny.mqtt.brokerUrl=tcp://42.194.196.91:51883
+zny.mqtt.username=testuser
+zny.mqtt.password=Test@20b39#
+zny.mqtt.clientid = ZNY_client
+zny.mqtt.topic = /GnssData/testgnss/Increment

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

@@ -21,13 +21,13 @@ import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.stereotype.Component;
+import org.springframework.scheduling.annotation.Scheduled;
+import javax.annotation.PostConstruct;
 import java.time.LocalDateTime;
-import java.util.List;
+import java.time.Duration;
-import java.util.Map;
+import java.util.*;
-import java.util.Optional;
 import java.util.concurrent.ConcurrentHashMap;
 
-
 /**
  * @author Layton
  * @date 2023/2/2 20:49
@@ -37,6 +37,15 @@ public class D331RtcmMessageExecutor implements Executor<D331RtcmMessage, Void>
 
     private final Logger logger = LoggerFactory.getLogger(this.getClass());
 
+    // 基站状态管理
+    private static final Map<String, BaseStationStatus> baseStationStatusMap = new ConcurrentHashMap<>();
+
+    // 测站当前使用的基站映射
+    private static final Map<String, String> deviceCurrentBaseMap = new ConcurrentHashMap<>();
+
+    // 基站切换监听器列表
+    private static final List<BaseStationSwitchListener> switchListeners = new ArrayList<>();
+
     @Autowired
     private DeviceService deviceService;
     @Autowired
@@ -48,30 +57,159 @@ public class D331RtcmMessageExecutor implements Executor<D331RtcmMessage, Void>
 
     // 添加一个成员变量用于追踪每个测站最后一次转发D300数据的时间
     private final Map<String, Long> lastD300ForwardTimeMap = new ConcurrentHashMap<>();
-    private static final long D300_FORWARD_INTERVAL = 10000; // 10秒，单位毫秒
+    private static final long D300_FORWARD_INTERVAL = 5000; // 5秒，单位毫秒
+
+    private static final Map<String, Long> deviceLastTime = new ConcurrentHashMap<>();
+    private static final long LOG_INTERVAL = 10 * 60 * 1000L;
+
+    // 基站在线检查间隔 - 修改为秒
+    private static final long BASE_STATION_CHECK_INTERVAL = 30; // 30秒
+    private static final long BASE_STATION_OFFLINE_TIMEOUT = 5 * 60; // 5分钟，单位：秒
+
+    /**
+     * 基站状态枚举
+     */
+    public enum BaseStationStatusEnum {
+        ONLINE,
+        OFFLINE,
+        SWITCHING
+    }
+
+    /**
+     * 基站状态信息
+     */
+    public static class BaseStationStatus {
+        private String baseStationId;
+        private BaseStationStatusEnum status;
+        private LocalDateTime lastActiveTime;
+        private LocalDateTime statusChangeTime;
+        private Set<String> servingDevices; // 当前服务的测站列表
+
+        public BaseStationStatus(String baseStationId) {
+            this.baseStationId = baseStationId;
+            this.status = BaseStationStatusEnum.OFFLINE;
+            this.lastActiveTime = LocalDateTime.now();
+            this.statusChangeTime = LocalDateTime.now();
+            this.servingDevices = ConcurrentHashMap.newKeySet();
+        }
+
+        // Getters and Setters
+        public String getBaseStationId() { return baseStationId; }
+        public BaseStationStatusEnum getStatus() { return status; }
+        public void setStatus(BaseStationStatusEnum status) {
+            if (this.status != status) {
+                this.status = status;
+                this.statusChangeTime = LocalDateTime.now();
+            }
+        }
+        public LocalDateTime getLastActiveTime() { return lastActiveTime; }
+        public void setLastActiveTime(LocalDateTime lastActiveTime) { this.lastActiveTime = lastActiveTime; }
+        public LocalDateTime getStatusChangeTime() { return statusChangeTime; }
+        public Set<String> getServingDevices() { return servingDevices; }
+    }
+
+    /**
+     * 基站切换监听器接口
+     */
+    public interface BaseStationSwitchListener {
+        void onBaseStationSwitch(String deviceId, String fromBaseId, String toBaseId, String reason);
+        void onBaseStationStatusChange(String baseStationId, BaseStationStatusEnum oldStatus, BaseStationStatusEnum newStatus);
+    }
+
+    /**
+     * 默认的基站切换监听器实现
+     */
+    private class DefaultBaseStationSwitchListener implements BaseStationSwitchListener {
+        @Override
+        public void onBaseStationSwitch(String deviceId, String fromBaseId, String toBaseId, String reason) {
+            logger.info("Base station switch - Device: {}, From: {} To: {}, Reason: {}",
+                    deviceId, fromBaseId, toBaseId, reason);
+
+            ThreadManager.getFixedThreadPool().submit(() -> {
+                try {
+                    notifyBaseStationSwitch(deviceId, fromBaseId, toBaseId, reason);
+                } catch (Exception e) {
+                    logger.error("Failed to send base station switch notification", e);
+                }
+            });
+        }
+
+        @Override
+        public void onBaseStationStatusChange(String baseStationId, BaseStationStatusEnum oldStatus, BaseStationStatusEnum newStatus) {
+            logger.info("Base station status change - BaseStation: {}, From: {} To: {}",
+                    baseStationId, oldStatus, newStatus);
+
+            ThreadManager.getFixedThreadPool().submit(() -> {
+                try {
+                    notifyBaseStationStatusChange(baseStationId, oldStatus, newStatus);
+                } catch (Exception e) {
+                    logger.error("Failed to send base station status notification", e);
+                }
+            });
+        }
+    }
+
+    // 初始化默认监听器
+    @PostConstruct
+    public void init() {
+        switchListeners.add(new DefaultBaseStationSwitchListener());
+        logger.info("D331RtcmMessageExecutor initialized");
+    }
 
     @Override
     public Void execute(D331RtcmMessage message) {
         String id = message.getId();
+
+        // 更新基站状态
+        updateBaseStationStatus(id);
+
         // 补齐tenantId
         Device deviceBs = deviceService.findByDeviceId(id);
-        if(deviceBs == null || deviceBs.getOpMode() == GnssDevice.OP_MODE_UNUSE) return null;
+        if(deviceBs == null || deviceBs.getOpMode() == GnssDevice.OP_MODE_UNUSE || deviceBs.getOpMode() == GnssDevice.OP_MODE_CHECK) {
+            return null;
+        }
 
         // 推送基站数据
         if(deviceBs.getOpMode() == GnssDevice.OP_MODE_USE) {
             byte[] forwardBytes = message.getSrcData();
-            // 要求快速转发，因此用缓存，不要每次都查数据库
+
-            List<Device> deviceList = deviceService.findByParentId(id);
+            // 获取使用该基站(包括作为主基站和备选基站)的所有测站
-            //logger.debug("base station {} has {} rovers: ", message.getId(),deviceList.size());
+            List<Device> primaryDevices = deviceService.findByParentId(id);
+            List<Device> backupDevices = deviceService.findByParentId1(id);
+
+            // 合并两个列表
+            List<Device> allDevices = new ArrayList<>();
+            allDevices.addAll(primaryDevices);
+            allDevices.addAll(backupDevices);
+
             DeviceChannel deviceChannel = null;
-            for (Device device : deviceList) {
+            for (Device device : allDevices) {
                 if (device.getOpMode() != GnssDevice.OP_MODE_USE) continue;
-                if (device.getFixedNum()>0 && device.getGnssSampleRate()>1
+                if ((device.getModel()==GnssDevice.MODEL_G510) &&
+                        (device.getFixedNum()>100) && (device.getGnssSampleRate()>1)
                         && (deviceBs.getD3xxCount()%device.getGnssSampleRate()) != 0) {
                     //if(!UBXUtil.has1005(forwardBytes)) continue; //1005必推
                     continue;
                 }
                 String deviceId = device.getDeviceId();
+
+                // 智能基站选择和切换
+                String selectedBaseId = selectOptimalBaseStation(device);
+
+                if (selectedBaseId == null || !selectedBaseId.equals(id)) {
+                    continue; // 当前基站不是该设备的最优选择
+                }
+
+                // 验证兼容性（双重检查）
+                if (!isBaseStationCompatibleWithDevice(selectedBaseId, device)) {
+                    logger.warn("Base station {} selected but not compatible with device {}, skipping",
+                            selectedBaseId, deviceId);
+                    continue;
+                }
+
+                // 获取要转发的数据（可能需要修改基站ID）
+                byte[] deviceForwardBytes = prepareForwardData(forwardBytes, device, selectedBaseId);
+
                 // 获取设备通道并发送数据
                 if(device.getDataChannelType() == Device.CHANNEL_TYPE_UDP) {
                     deviceChannel = OnlineChannels.INSTANCE.getDataChannel(deviceId);
@@ -79,149 +217,389 @@ public class D331RtcmMessageExecutor implements Executor<D331RtcmMessage, Void>
                     deviceChannel = OnlineChannels.INSTANCE.getConfigChannel(deviceId);
                 }
 
-                // 读取数据库中model字段，判断基站类型
+                // 根据基站和设备类型处理数据转发
-                Short baseStationModel = deviceBs.getModel();
+                if (shouldForwardData(deviceBs, device)) {
-                // 如果model为null，使用默认值0
+                    forwardDataToDevice(deviceChannel, deviceForwardBytes, device, deviceBs, id, deviceId);
+                }
+            }
+        }
+
+        // 处理设备状态和统计信息
+        processDeviceStatistics(deviceBs, message);
+
+        // 添加NTRIP处理
+        byte[] srcdata = message.getSrcData();
+        String rtcm = ByteUtil.bytesToHexString(srcdata);
+        sendToNtrip(id, rtcm);
+
+        // 日志记录
+        logMessageIfNeeded(deviceBs, message);
+
+        return null;
+    }
+
+    /**
+     * 更新基站状态
+     */
+    private void updateBaseStationStatus(String baseStationId) {
+        BaseStationStatus status = baseStationStatusMap.computeIfAbsent(baseStationId,
+                k -> new BaseStationStatus(baseStationId));
+
+        BaseStationStatusEnum oldStatus = status.getStatus();
+        status.setLastActiveTime(LocalDateTime.now());
+
+        if (oldStatus == BaseStationStatusEnum.OFFLINE) {
+            status.setStatus(BaseStationStatusEnum.ONLINE);
+            logger.info("Base station {} changed status from {} to {}", baseStationId, oldStatus, BaseStationStatusEnum.ONLINE);
+            notifyStatusChange(baseStationId, oldStatus, BaseStationStatusEnum.ONLINE);
+
+            // 检查是否有设备需要切换回主基站
+            checkAndSwitchBackToPrimary(baseStationId);
+        }
+    }
+
+    /**
+     * 检查并切换回主基站
+     */
+    private void checkAndSwitchBackToPrimary(String primaryBaseId) {
+        ThreadManager.getFixedThreadPool().submit(() -> {
+            try {
+                List<Device> devicesUsingPrimary = deviceService.findByParentId(primaryBaseId);
+
+                for (Device device : devicesUsingPrimary) {
+                    String currentBase = deviceCurrentBaseMap.get(device.getDeviceId());
+
+                    if (currentBase != null && !currentBase.equals(primaryBaseId)) {
+                        // 设备当前使用备用基站，需要切换回主基站
+                        logger.info("Switching device {} back to primary base station {} from {}",
+                                device.getDeviceId(), primaryBaseId, currentBase);
+                        switchDeviceToBaseStation(device.getDeviceId(), primaryBaseId,
+                                "Primary base station back online");
+                    }
+                }
+            } catch (Exception e) {
+                logger.error("Error checking devices for primary base station switch back", e);
+            }
+        });
+    }
+
+    /**
+     * 智能选择最优基站
+     */
+    private String selectOptimalBaseStation(Device device) {
+        String primaryBaseId = device.getParentId();
+        String backupBaseId = device.getParentId1();
+        String deviceId = device.getDeviceId();
+
+        // 获取当前使用的基站
+        String currentBaseId = deviceCurrentBaseMap.get(deviceId);
+
+        // 获取所有候选基站，按优先级排序
+        List<String> candidateBases = getCandidateBaseStations(device);
+
+        for (String baseId : candidateBases) {
+            // 检查基站是否在线
+            boolean isOnline = isBaseStationOnline(baseId);
+
+            if (!isOnline) {
+                continue;
+            }
+
+            // 检查基站与设备的兼容性
+            if (!isBaseStationCompatibleWithDevice(baseId, device)) {
+                continue;
+            }
+
+            // 如果当前基站发生变化，记录切换
+            if (currentBaseId != null && !currentBaseId.equals(baseId)) {
+                switchDeviceToBaseStation(deviceId, baseId,
+                        String.format("Switch from %s to %s (priority/availability)", currentBaseId, baseId));
+            } else if (currentBaseId == null) {
+                // 首次连接
+                deviceCurrentBaseMap.put(deviceId, baseId);
+                BaseStationStatus status = baseStationStatusMap.get(baseId);
+                if (status != null) {
+                    status.getServingDevices().add(deviceId);
+                }
+            }
+            return baseId;
+        }
+
+        logger.warn("No compatible and available base station found for device: {}", deviceId);
+        return null;
+    }
+
+    /**
+     * 检查基站与设备的兼容性
+     */
+    private boolean isBaseStationCompatibleWithDevice(String baseStationId, Device device) {
+        // 获取基站设备信息
+        Device baseStation = deviceService.findByDeviceId(baseStationId);
+        if (baseStation == null) {
+            logger.warn("Base station {} not found", baseStationId);
+            return false;
+        }
+
+        // 检查基站是否处于可用状态
+        if (baseStation.getOpMode() != GnssDevice.OP_MODE_USE) {
+            return false;
+        }
+
+        // 使用已有的兼容性判断逻辑
+        return shouldForwardData(baseStation, device);
+    }
+
+    /**
+     * 获取候选基站列表（按优先级排序）
+     */
+    private List<String> getCandidateBaseStations(Device device) {
+        List<String> candidates = new ArrayList<>();
+
+        // 主基站优先级最高
+        if (device.getParentId() != null) {
+            candidates.add(device.getParentId());
+        }
+
+        // 备用基站
+        if (device.getParentId1() != null) {
+            candidates.add(device.getParentId1());
+        }
+
+        return candidates;
+    }
+
+    /**
+     * 切换设备到指定基站
+     */
+    private void switchDeviceToBaseStation(String deviceId, String newBaseId, String reason) {
+        String oldBaseId = deviceCurrentBaseMap.get(deviceId);
+
+        logger.info("Executing base station switch for device {}: {} -> {}, Reason: {}",
+                deviceId, oldBaseId, newBaseId, reason);
+
+        // 更新映射
+        deviceCurrentBaseMap.put(deviceId, newBaseId);
+
+        // 更新基站服务列表
+        if (oldBaseId != null) {
+            BaseStationStatus oldStatus = baseStationStatusMap.get(oldBaseId);
+            if (oldStatus != null) {
+                oldStatus.getServingDevices().remove(deviceId);
+            }
+        }
+
+        BaseStationStatus newStatus = baseStationStatusMap.get(newBaseId);
+        if (newStatus != null) {
+            newStatus.getServingDevices().add(deviceId);
+        }
+
+        // 通知监听器
+        for (BaseStationSwitchListener listener : switchListeners) {
+            try {
+                listener.onBaseStationSwitch(deviceId, oldBaseId, newBaseId, reason);
+            } catch (Exception e) {
+                logger.error("Error notifying base station switch listener", e);
+            }
+        }
+    }
+
+    /**
+     * 准备转发数据（可能需要修改基站ID）
+     */
+    private byte[] prepareForwardData(byte[] originalData, Device device, String selectedBaseId) {
+        String primaryBaseId = device.getParentId();
+
+        // 如果选择的基站不是主基站，需要修改RTCM数据中的基站ID
+        if (primaryBaseId != null && !selectedBaseId.equals(primaryBaseId)) {
+            try {
+                byte[] modifyData = originalData.clone();
+                // 修复：使用Long.parseLong而不是Integer.parseInt，因为基站ID可能很大
+                long primaryBaseIdLong = Long.parseLong(primaryBaseId);
+                String hexPrimaryBase = String.format("%06x", primaryBaseIdLong);
+
+                if (hexPrimaryBase.length() >= 6) {
+                    modifyData[5] = (byte) Integer.parseInt(hexPrimaryBase.substring(0, 2), 16);
+                    modifyData[6] = (byte) Integer.parseInt(hexPrimaryBase.substring(2, 4), 16);
+                    modifyData[7] = (byte) Integer.parseInt(hexPrimaryBase.substring(4, 6), 16);
+                }
+
+                return modifyData;
+            } catch (NumberFormatException e) {
+                logger.error("Error parsing base station ID: {}", primaryBaseId, e);
+                return originalData;
+            }
+        }
+
+        return originalData;
+    }
+
+    /**
+     * 判断是否应该转发数据
+     * 基站类型说明：
+     * - model = 1: f9p基站，所有设备都可以接收
+     * - model = 0: 博通基站，只有博通设备(model=0)和兼容设备(model=1)可以接收
+     */
+    private boolean shouldForwardData(Device baseStation, Device device) {
+        Short baseStationModel = baseStation.getModel();
         if (baseStationModel == null) {
             baseStationModel = 0;
-                    logger.warn("Base station model is null for device: {}, using default value 0", id);
+        }
+
+        Short deviceModel = device.getModel();
+        if (deviceModel == null) {
+            deviceModel = 0;
         }
 
         if (baseStationModel == 1) {
-                    // 基站类型为1，正常执行
+            // f9p基站，所有设备都可以接收
-                    if(deviceChannel != null && deviceChannel.isOnline()) {
+            return true;
-                        if (logger.isDebugEnabled()) {
-                            logger.debug("forward d331 rtcm from {} to device {}", id, deviceId);
-                        }
-                        ByteBuf buf = Unpooled.buffer();
-                        buf.writeBytes(forwardBytes);
-                        deviceChannel.writeAndFlush(buf);
-                    }
         } else if (baseStationModel == 0) {
-                    //logger.info("Base station model is 0 for device: {}", deviceId);
+            // 博通基站，只支持特定设备
+            return (deviceModel == 0 || deviceModel == 1);
+        }
+
+        return false;
+    }
+
+    /**
+     * 转发数据到设备
+     */
+    private void forwardDataToDevice(DeviceChannel deviceChannel, byte[] forwardBytes,
+                                     Device device, Device deviceBs, String baseStationId, String deviceId) {
+        if (deviceChannel == null || !deviceChannel.isOnline()) {
+            return;
+        }
 
         Short deviceModel = device.getModel();
-                    // 如果model为null，使用默认值0
         if (deviceModel == null) {
             deviceModel = 0;
-                        //logger.warn("Device model is null for device: {}, using default value 0", deviceId);
         }
 
-                    if(deviceModel == 0){
-                        // 测站类型为0，正常执行
-                        if(deviceId.startsWith("2307")){
-                            // 处理2307型号的测站
-                            forwardBytes[2] = (byte) (forwardBytes[2] & 0x07);//兼容不带序号的测站
-                        }
-                        // 对所有测站类型为0的设备执行转发
-                        if(deviceChannel != null && deviceChannel.isOnline()) {
         if (logger.isDebugEnabled()) {
-                                logger.debug("forward d331 rtcm from {} to device {}", id, deviceId);
+            logger.debug("forward d331 rtcm from {} to device {}", baseStationId, deviceId);
         }
+
         ByteBuf buf = Unpooled.buffer();
         buf.writeBytes(forwardBytes);
+
+        // 特殊处理设备类型
+        if (deviceModel == 0 && deviceId.startsWith("2307")) {
+            // 处理2307型号的测站
+            byte[] modifiedData = buf.array();
+            modifiedData[2] = (byte) (modifiedData[2] & 0x07); // 兼容不带序号的测站
+        } else if (deviceModel == 1) {
+            // 处理类型1的设备，可能需要添加D300数据
+            buf = handleDeviceType1(buf, device, deviceBs, deviceId);
+        }
+
         deviceChannel.writeAndFlush(buf);
     }
-                    }
-                    else if(deviceModel == 1){
-                        //logger.info("Device model is 1 for device: {}", deviceId);
 
-                        if(deviceChannel != null && deviceChannel.isOnline()) {
+    /**
-                            //logger.info("Device channel is online for device: {}", deviceId);
+     * 处理设备类型1的特殊逻辑
-
+     */
-                            ByteBuf buf = Unpooled.buffer();
+    private ByteBuf handleDeviceType1(ByteBuf buf, Device device, Device deviceBs, String deviceId) {
-                            buf.writeBytes(forwardBytes);
-
-                            // 检查是否满足10秒转发间隔，只有满足条件时才添加D300字符串
         long currentTime = System.currentTimeMillis();
         Long lastForwardTime = lastD300ForwardTimeMap.getOrDefault(deviceId, 0L);
 
         if (currentTime - lastForwardTime >= D300_FORWARD_INTERVAL) {
-                                //logger.info("Adding D300 string for device: {}", deviceId);
-
-                                // 获取当前buf中的数据
             byte[] originalData = buf.array();
             String originalHex = ByteUtil.bytesToHexString(originalData);
 
-                                // 找到D300和D301的位置
             int d300Index = originalHex.indexOf("d300");
             int d301Index = originalHex.indexOf("d301");
 
-                                // 确定插入位置：如果两个都存在，取位置靠前的；如果只存在一个，就用那个位置
             int insertIndex = -1;
             if (d300Index != -1 && d301Index != -1) {
-                                    // 两个都存在，取位置靠前的
+                insertIndex = Math.min(d300Index, d301Index);
-                                    insertIndex = (d300Index < d301Index) ? d300Index : d301Index;
-                                    //logger.info("Found both D300 and D301, D300 at {}, D301 at {}, will insert before position {}",
-                                     ///       d300Index, d301Index, insertIndex);
             } else if (d300Index != -1) {
                 insertIndex = d300Index;
-                                    //logger.info("Found D300 at position {}", d300Index);
             } else if (d301Index != -1) {
                 insertIndex = d301Index;
-                                    //logger.info("Found D301 at position {}", d301Index);
             }
 
-
             if (insertIndex != -1) {
-                                    // 创建新的buf
+                // 检查基站是否有有效的ECEF坐标
+                Double ecefX = deviceBs.getEcefx();
+                Double ecefY = deviceBs.getEcefy();
+                Double ecefZ = deviceBs.getEcefz();
+
+                // 验证坐标有效性
+                if (isValidEcefCoordinates(ecefX, ecefY, ecefZ)) {
                     ByteBuf newBuf = Unpooled.buffer();
-                                    // 写入D300/D301之前的数据
                     newBuf.writeBytes(originalData, 0, insertIndex / 2);
 
-                                    // 使用f9p坐标生成1005消息，并插入
                     double[] ecef = new double[3];
-                                    ecef[0] = deviceBs.getEcefx();
+                    ecef[0] = ecefX.doubleValue();
-                                    ecef[1] = deviceBs.getEcefy();
+                    ecef[1] = ecefY.doubleValue();
-                                    ecef[2] = deviceBs.getEcefz();
+                    ecef[2] = ecefZ.doubleValue();
+
                     String rtcm1005 = Rtcm1005.generateRtcm1005Hex(ecef, 0);
-                                    if (rtcm1005 != null) {
+                    if (rtcm1005 != null && !rtcm1005.isEmpty()) {
-                                        // 写入RTCM 1005消息
                         byte[] rtcm1005Bytes = ByteUtil.hexStringTobyte(rtcm1005);
                         newBuf.writeBytes(rtcm1005Bytes);
-                                        logger.info("Generated RTCM 1005 message for base station {}: {}", deviceBs.getDeviceId(), rtcm1005);
-                                    } else {
-                                        //logger.warn("Failed to generate RTCM 1005 message for base station: {}", deviceBs.getDeviceId());
                     }
 
-                                    // 写入剩余的数据
                     newBuf.writeBytes(originalData, insertIndex / 2, originalData.length - insertIndex / 2);
-
-                                    // 更新buf
                     buf = newBuf;
-
+                } else {
-                                    // 添加日志，记录插入位置和完整数据
+                    logger.warn("Base station {} has invalid ECEF coordinates, skipping RTCM 1005 generation for device {}",
-//                                    logger.info("Inserted RTCM 1005 message before position {}, complete data: {}",
+                            deviceBs.getDeviceId(), deviceId);
-//                                            insertIndex,
+                }
-//                                            ByteUtil.bytesToHexString(buf.array()));
             }
 
-                                // 更新最后转发时间
             lastD300ForwardTimeMap.put(deviceId, currentTime);
-
-                                // 添加日志，记录测站转发的完整数据
-                                //logger.info("Forward data to device: {}, time: {}, complete data: {}",
-                                //       deviceId,
-                                //        LocalDateTime.now(),
-                                //        ByteUtil.bytesToHexString(buf.array()));
         }
 
-                            deviceChannel.writeAndFlush(buf);
+        return buf;
-                        }
-                    }
-                }
-            }
     }
 
-        // 如果30分钟内收到不到d3f0和d3f2，则根据UDP最后一个报文触发状态更新和统计
+    /**
+     * 处理设备统计信息
+     */
+    private void processDeviceStatistics(Device deviceBs, D331RtcmMessage message) {
         if (deviceBs.getD3xxbytes() > 0) {
             LocalDateTime now = LocalDateTime.now();
-            if(deviceBs.getLastRxTime().isBefore(now.minusMinutes(1)) &&
+            if (deviceBs.getLastRxTime() != null &&
+                    deviceBs.getLastRxTime().isBefore(now.minusMinutes(1)) &&
                     (deviceBs.getLastD3f2Time() == null ||
                             deviceBs.getLastD3f2Time().isBefore(now.minusMinutes(30)))) {
-                // new cycle
-                logger.info("device {} rx {} d331 in a cycle while not d3f0f2",deviceBs.getDeviceId(),deviceBs.getD3xxCount());
 
+                logger.info("device {} rx {} d331 in a cycle while not d3f0f2",
+                        deviceBs.getDeviceId(), deviceBs.getD3xxCount());
+
+                Device lastCycleDevice = createLastCycleDevice(deviceBs);
+                deviceBs.clearStat();
+
+                ThreadManager.getFixedThreadPool().submit(() -> {
+                    try {
+                        beidouClient.onDeviceActive(deviceBs.getDeviceId(), deviceBs.getTenantId());
+                    } catch (Exception e) {
+                        logger.error("Error notifying device active", e);
+                    }
+                    dataPersistService.updateDeviceState(lastCycleDevice);
+                });
+            }
+        }
+
+        // update trx
+        deviceBs.updateRx(message.getHeader(), message.getLen(), message.getPacketNum());
+
+        // update gga
+        Gga gga = message.getGga();
+        if (gga != null) {
+            deviceBs.updateSatelitesNum(gga.getSatellitesInUsed());
+            // 修复：正确处理Double类型的坐标
+            deviceBs.setLatitude(gga.getLatitude());
+            deviceBs.setLongitude(gga.getLongitude());
+            deviceBs.setAltitude(gga.getAltitude());
+        }
+    }
+
+    /**
+     * 创建上一周期设备信息
+     */
+    private Device createLastCycleDevice(Device deviceBs) {
         Device lastCycleDevice = new Device();
         lastCycleDevice.setDeviceId(deviceBs.getDeviceId());
         lastCycleDevice.setDeviceType(deviceBs.getDeviceType());
@@ -234,67 +612,202 @@ public class D331RtcmMessageExecutor implements Executor<D331RtcmMessage, Void>
         lastCycleDevice.setLastRxTime(deviceBs.getLastRxTime());
         lastCycleDevice.setLastValidCalcDataTime(deviceBs.getLastValidCalcDataTime());
         lastCycleDevice.setSatelitesInUse(deviceBs.getSatelitesInUse());
-                deviceBs.clearStat();
+        return lastCycleDevice;
+    }
+
+    /**
+     * 记录日志（如果需要）
+     */
+    private void logMessageIfNeeded(Device deviceBs, D331RtcmMessage message) {
         ThreadManager.getFixedThreadPool().submit(() -> {
-                    // 通知上线
+            if (deviceBs.getLoggingmode() != null && deviceBs.getLoggingmode() == GnssDevice.LOGGING_MODE_FULL) {
-                    try {
+                logger.info("receive {} d331 message: {}", message.getId(),
-                        beidouClient.onDeviceActive(deviceBs.getDeviceId(), deviceBs.getTenantId());
+                        DataTypeUtil.getHexString(message.getSrcData()));
-                    } catch (Exception e) {
-                        logger.error(e.toString());
-                    }
-                    dataPersistService.updateDeviceState(lastCycleDevice);
-                });
-            }
-        }
-
-        // update trx
-        deviceBs.updateRx(message.getHeader(),message.getLen(),message.getPacketNum());
-        // update gga
-        Gga gga = message.getGga();
-        if(gga != null) {
-            deviceBs.updateSatelitesNum(gga.getSatellitesInUsed());
-            deviceBs.setLatitude(gga.getLatitude());
-            deviceBs.setLongitude(gga.getLongitude());
-            deviceBs.setAltitude(gga.getAltitude());
-        }
-
-        // 添加NTRIP处理
-        byte[] srcdata = message.getSrcData();
-        String rtcm = ByteUtil.bytesToHexString(srcdata);
-        sendToNtrip(id, rtcm);
-
-        ThreadManager.getFixedThreadPool().submit(() -> {
-            // 原始码流输出到日志文件 -- INFO 级别
-            // 只有测站开了日志记录，或者消息来自基站，才将原码记录到日志文件
-            if(deviceBs.getLoggingmode() == GnssDevice.LOGGING_MODE_FULL){
-                logger.info("receive {} d331 message: {}", message.getId(), DataTypeUtil.getHexString(message.getSrcData()));
             }
         });
-
-        return null;
-    }
-
-    private void sendToNtrip(String mountpoint, String hexData) {
-        try {
-
-            // 将原始字节转换为16进制字符串用于RTCM提取
-            //String hexData = ByteUtil.bytesToHexString(rawData);
-            //System.out.println(hexData);
-
-            // 提取RTCM数据并发送到NtripServer,使用设备ID作为挂载点
-            Optional.ofNullable(RtcmGgaUtil.getRtcms(hexData))
-                    .ifPresent(rtcm -> {
-                        //System.out.println("挂载点: " + mountpoint);
-                        //System.out.println("RTCM数据: " + rtcm);
-                        ntripServer.send(mountpoint, rtcm);
-                    });
-        } catch (Exception e) {
-            logger.error("处理NTRIP数据失败, 挂载点: {}, 错误: {}", mountpoint, e.getMessage());
-        }
     }
 
     @Override
     public Class<?> getMessageType() {
         return D331RtcmMessage.class;
     }
+
+    /**
+     * 发送数据到NTRIP
+     */
+    private void sendToNtrip(String mountpoint, String hexData) {
+        try {
+            Optional.ofNullable(RtcmGgaUtil.getRtcms(hexData))
+                    .ifPresent(rtcm -> ntripServer.send(mountpoint, rtcm));
+        } catch (Exception e) {
+            logger.error("处理NTRIP数据失败, 挂载点: {}, 错误: {}", mountpoint, e.getMessage());
+        }
+    }
+
+    /**
+     * 判断基站是否在线
+     */
+    private boolean isBaseStationOnline(String baseStationId) {
+        if (baseStationId == null) return false;
+
+        BaseStationStatus status = baseStationStatusMap.get(baseStationId);
+        if (status == null) {
+            return false;
+        }
+
+        LocalDateTime now = LocalDateTime.now();
+        return status.getLastActiveTime() != null &&
+                status.getLastActiveTime().isAfter(now.minusSeconds(BASE_STATION_OFFLINE_TIMEOUT));
+    }
+
+    /**
+     * 判断基站设备是否在线（兼容原有方法）
+     */
+    private boolean isBaseStationOnline(Device baseStation) {
+        if (baseStation == null) return false;
+
+        LocalDateTime now = LocalDateTime.now();
+        return baseStation.getLastRxTime() != null &&
+                baseStation.getLastRxTime().isAfter(now.minusMinutes(5));
+    }
+
+    /**
+     * 通知状态变化
+     */
+    private void notifyStatusChange(String baseStationId, BaseStationStatusEnum oldStatus, BaseStationStatusEnum newStatus) {
+        for (BaseStationSwitchListener listener : switchListeners) {
+            try {
+                listener.onBaseStationStatusChange(baseStationId, oldStatus, newStatus);
+            } catch (Exception e) {
+                logger.error("Error notifying base station status change listener", e);
+            }
+        }
+    }
+
+    /**
+     * 通知基站切换（可扩展为调用外部服务）
+     */
+    private void notifyBaseStationSwitch(String deviceId, String fromBaseId, String toBaseId, String reason) {
+        logger.info("Sending external notification for base station switch: Device={}, From={}, To={}, Reason={}",
+                deviceId, fromBaseId, toBaseId, reason);
+    }
+
+    /**
+     * 通知基站状态变化（可扩展为调用外部服务）
+     */
+    private void notifyBaseStationStatusChange(String baseStationId, BaseStationStatusEnum oldStatus, BaseStationStatusEnum newStatus) {
+        logger.info("Sending external notification for base station status change: BaseStation={}, From={}, To={}",
+                baseStationId, oldStatus, newStatus);
+    }
+
+    /**
+     * 定期检查基站状态
+     */
+    @Scheduled(fixedRate = 30000) // 30秒执行一次
+    public void checkBaseStationStatus() {
+        LocalDateTime now = LocalDateTime.now();
+
+        for (BaseStationStatus status : baseStationStatusMap.values()) {
+            if (status.getStatus() == BaseStationStatusEnum.ONLINE) {
+                // 检查是否超时离线
+                if (status.getLastActiveTime().isBefore(now.minusSeconds(BASE_STATION_OFFLINE_TIMEOUT))) {
+                    BaseStationStatusEnum oldStatus = status.getStatus();
+                    status.setStatus(BaseStationStatusEnum.OFFLINE);
+
+                    logger.warn("Base station {} went offline (timeout). Last active: {}",
+                            status.getBaseStationId(), status.getLastActiveTime());
+
+                    notifyStatusChange(status.getBaseStationId(), oldStatus, BaseStationStatusEnum.OFFLINE);
+
+                    // 触发设备切换到备用基站
+                    triggerDeviceSwitchToBackup(status.getBaseStationId());
+                }
+            }
+        }
+    }
+
+    /**
+     * 触发设备切换到备用基站
+     */
+    private void triggerDeviceSwitchToBackup(String offlineBaseId) {
+        ThreadManager.getFixedThreadPool().submit(() -> {
+            try {
+                BaseStationStatus status = baseStationStatusMap.get(offlineBaseId);
+                if (status != null) {
+                    Set<String> affectedDevices = new HashSet<>(status.getServingDevices());
+
+                    for (String deviceId : affectedDevices) {
+                        // 查找设备信息并触发切换
+                        Device device = deviceService.findByDeviceId(deviceId);
+                        if (device != null) {
+                            String newBaseId = selectOptimalBaseStation(device);
+                            if (newBaseId != null && !newBaseId.equals(offlineBaseId)) {
+                                switchDeviceToBaseStation(deviceId, newBaseId,
+                                        "Primary base station offline: " + offlineBaseId);
+                            } else {
+                                logger.warn("No suitable backup base station found for device {} (was using {})",
+                                        deviceId, offlineBaseId);
+                            }
+                        }
+                    }
+                }
+            } catch (Exception e) {
+                logger.error("Error triggering device switch to backup base station", e);
+            }
+        });
+    }
+
+    /**
+     * 添加基站切换监听器
+     */
+    public static void addBaseStationSwitchListener(BaseStationSwitchListener listener) {
+        switchListeners.add(listener);
+    }
+
+    /**
+     * 移除基站切换监听器
+     */
+    public static void removeBaseStationSwitchListener(BaseStationSwitchListener listener) {
+        switchListeners.remove(listener);
+    }
+
+    /**
+     * 获取基站状态信息
+     */
+    public static BaseStationStatus getBaseStationStatus(String baseStationId) {
+        return baseStationStatusMap.get(baseStationId);
+    }
+
+    /**
+     * 获取所有基站状态
+     */
+    public static Map<String, BaseStationStatus> getAllBaseStationStatus() {
+        return new HashMap<>(baseStationStatusMap);
+    }
+
+    /**
+     * 获取设备当前使用的基站
+     */
+    public static String getDeviceCurrentBase(String deviceId) {
+        return deviceCurrentBaseMap.get(deviceId);
+    }
+
+    /**
+     * 验证ECEF坐标是否有效
+     */
+    private boolean isValidEcefCoordinates(Double x, Double y, Double z) {
+        if (x == null || y == null || z == null) {
+            return false;
+        }
+
+        // 检查是否为零坐标
+        if (x == 0.0 && y == 0.0 && z == 0.0) {
+            return false;
+        }
+
+        // 检查坐标是否在地球表面合理范围内（大致6.3M到6.4M米）
+        double distance = Math.sqrt(x * x + y * y + z * z);
+        return distance >= 6300000 && distance <= 6400000;
+    }
+
 }

sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/executor/D3F0SelfCheckMessageExecutor.java

@@ -32,6 +32,9 @@ import java.util.TimerTask;
 public class D3F0SelfCheckMessageExecutor implements Executor<D3F0SelfCheckMessage, Void> {
     private final Logger logger = LoggerFactory.getLogger(this.getClass());
 
+    final String F9PInitCmd = "f9";
+    final String GNSSPowerOff = "25 00";
+    final String GNSSPowerOn = "25 01";
     final String F9PColdStartCmd = "b56206040400000002001068";
     final String BTCloseMneaCmd = "424be8e1020a00040000ffff";
     final String BTOpenGGACmd = "424b852c0208000400000001";
@@ -81,6 +84,11 @@ public class D3F0SelfCheckMessageExecutor implements Executor<D3F0SelfCheckMessa
                     checkAndResetBTGnss(device);
                 }
             }
+            else{
+                if(device.getModel() == GnssDevice.MODEL_G510){
+                    checkAndResetBTBsGnss(device);
+                }
+            }
             // 通知beidou服务设备上线，这里会触发参数同步
             GnssStatus lastGnssStatus = dataPersistService.getDeviceState(message.getId());
             try {
@@ -172,9 +180,18 @@ public class D3F0SelfCheckMessageExecutor implements Executor<D3F0SelfCheckMessa
         String sendCmd = Integer.toHexString(msgType) + HexUtil.Short2HexString(len)+
                 HexUtil.Int2HexString(Integer.parseInt(device.getDeviceId()))+gnssCmd;
         rtcmClient.config(device.getDeviceId(), sendCmd);
-        saveMsg(device.getDeviceId(), device.getTenantId(),0xD310, sendCmd, true);
+        saveMsg(device.getDeviceId(), device.getTenantId(),msgType, sendCmd, true);
     }
 
+    //example: d31300050080F2B3f9
+    void sendDebugCommand(Device device, String cmd){
+        int msgType = 0xD313;
+        short len = (short) (cmd.length()/2+4);
+        String sendCmd = Integer.toHexString(msgType) + HexUtil.Short2HexString(len)+
+                HexUtil.Int2HexString(Integer.parseInt(device.getDeviceId()))+cmd;
+        rtcmClient.config(device.getDeviceId(), sendCmd);
+        saveMsg(device.getDeviceId(), device.getTenantId(),msgType, sendCmd, true);
+    }
     void sendD3F1Ack(Device device){
         int flag = 0xD3F1;
         short len =   (short) (4);
@@ -196,14 +213,22 @@ public class D3F0SelfCheckMessageExecutor implements Executor<D3F0SelfCheckMessa
         }
     }
 
+    private void checkAndResetBTBsGnss(Device device){
+        if(device.getD341Count() < 50){
+            startBTBsResetTask(device);
+        }
+    }
+
     void startF9PColdStartTask(Device device){
         Timer timer = new Timer();
+        for(int delay=1; delay<=10; delay++) {
             timer.schedule(new TimerTask() {
                 @Override
                 public void run() {
                     sendGnssCommand(device, F9PColdStartCmd);
                 }
-        },1000);
+            }, delay*1500);
+        }
     }
 
     void startBTHotStartTask(Device device){
@@ -216,6 +241,22 @@ public class D3F0SelfCheckMessageExecutor implements Executor<D3F0SelfCheckMessa
         },1000);
     }
 
+    void startBTBsResetTask(Device device){
+        Timer timer = new Timer();
+        timer.schedule(new TimerTask() {
+            @Override
+            public void run() {
+                sendGnssCommand(device, GNSSPowerOff);
+            }
+        },1000);
+        timer.schedule(new TimerTask() {
+            @Override
+            public void run() {
+                sendGnssCommand(device, GNSSPowerOn);
+            }
+        },11000);
+    }
+
     void startBTResetTask(Device device){
         Timer timer = new Timer();
         timer.schedule(new TimerTask() {
@@ -255,4 +296,6 @@ public class D3F0SelfCheckMessageExecutor implements Executor<D3F0SelfCheckMessa
             }
         },16000);
     }
+
+
 }

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

@@ -90,6 +90,8 @@ public class Device {
     byte cfgChannelType = CHANNEL_TYPE_TCP; // 0:TCP;1:DUP
     byte dataChannelType = CHANNEL_TYPE_UDP; // 0:TCP;1:DUP
 
+    private String parentId1;
+
     public void updateRx(int head, int bytes,int count){
         lastRxHead = head;
 

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

@@ -11,4 +11,6 @@ public interface DeviceService {
     Device findByDeviceId(String deviceId);
 
     List<Device> findByParentId(String parentId);
+
+    List<Device> findByParentId1(String parentId1);
 }

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

@@ -51,6 +51,7 @@ public class LocalDeviceServiceImpl implements DeviceService {
         device.setEcefy(gnssDevice.getEcefy());
         device.setEcefz(gnssDevice.getEcefz());
         device.setLoggingmode(gnssDevice.getLoggingmode());
+        device.setParentId1(gnssDevice.getParentid1());
         return device;
     }
 
@@ -65,6 +66,19 @@ public class LocalDeviceServiceImpl implements DeviceService {
         }
         return deviceList;
     }
+
+    public List<Device> getDeviceListFromDBByParentId1(String parentId1) {
+        QueryWrapper<GnssDevice> query = new QueryWrapper();
+        query.eq("parentid1", parentId1);
+        List<GnssDevice> gnssDeviceList = gnssDeviceMapper.selectList(query);
+        List<Device> deviceList = new ArrayList<>(gnssDeviceList.size());
+        for (GnssDevice gnssDevice : gnssDeviceList) {
+            Device device = findByDeviceId(gnssDevice.getDeviceid());
+            if(device!=null) deviceList.add(device);
+        }
+        return deviceList;
+    }
+
     @Override
     public Device findByDeviceId(String deviceId) {
         Device device = deviceCache.getIfPresent(deviceId);
@@ -79,23 +93,43 @@ public class LocalDeviceServiceImpl implements DeviceService {
 
     @Override
     public List<Device> findByParentId(String parentId) {
-        List<Device> devices = subDeviceCache.getIfPresent(parentId);
+        String cacheKey = "PARENTID_" + parentId;
+        List<Device> devices = subDeviceCache.getIfPresent(cacheKey);
         if (devices == null) {
             devices = getDeviceListFromDBByParentId(parentId);
             if (devices != null) {
-                subDeviceCache.put(parentId, devices);
+                subDeviceCache.put(cacheKey, devices);
             }
         }
         return devices;
     }
 
-    public void refresh(String deviceId, String oldParentId){
+    @Override
+    public List<Device> findByParentId1(String parentId1) {
+        String cacheKey = "PARENTID1_" + parentId1;
+        List<Device> devices = subDeviceCache.getIfPresent(cacheKey);
+        if (devices == null) {
+            devices = getDeviceListFromDBByParentId1(parentId1);
+            if (devices != null) {
+                subDeviceCache.put(cacheKey, devices);
+            }
+        }
+        return devices;
+    }
+
+    public void refresh(String deviceId, String oldParentId, String oldParentId1){
         Device device = deviceCache.getIfPresent(deviceId);
         if (device != null) {
             if(device.getParentId()!=null) {
-                subDeviceCache.invalidate(device.getParentId());
+                subDeviceCache.invalidate("PARENTID_" + device.getParentId());
                 if(oldParentId!=null && !oldParentId.equals(device.getParentId())){
-                    subDeviceCache.invalidate(oldParentId);
+                    subDeviceCache.invalidate("PARENTID_" + oldParentId);
+                }
+            }
+            if(device.getParentId1()!=null) {
+                subDeviceCache.invalidate("PARENTID1_" + device.getParentId1());
+                if(oldParentId1!=null && !oldParentId1.equals(device.getParentId1())){
+                    subDeviceCache.invalidate("PARENTID1_" + oldParentId1);
                 }
             }
             deviceCache.invalidate(deviceId);

sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/web/ApiController.java

@@ -154,9 +154,9 @@ public class ApiController {
     }
 
     @PostMapping("/device_param_changed")
-    public HttpResp deviceParamChanged(String deviceId, String oldParentId) {
+    public HttpResp deviceParamChanged(String deviceId, String oldParentId, String oldParentId1) {
         // 更新设备缓存
-        localDeviceService.refresh(deviceId, oldParentId);
+        localDeviceService.refresh(deviceId, oldParentId, oldParentId1);
         calcService.refreshDeviceCalc(deviceId);
 
         HttpResp resp = new HttpResp();

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

@@ -12,10 +12,12 @@ import org.springframework.web.bind.annotation.ResponseBody;
 
 import java.text.SimpleDateFormat;
 import java.time.LocalDateTime;
+import java.util.List;
 
 @Controller
 public class APIController extends BasicController {
     SimpleDateFormat dateFormat = new SimpleDateFormat("yy-MM-dd HH:mm:ss");
+    final String verServerConnectCmd = "AT+QIOPEN=1,2,\"TCP\",\"iot.im-droid.com\",7665,0,1";
     @Autowired
     RtcmClient rtcmClient;
     @Autowired
@@ -48,10 +50,15 @@ public class APIController extends BasicController{
                 device.setSyn(true);
                 deviceMapper.updateById(device);
             }
-        }
+        } else if (msgType == 0xd312) {
-        else if(msgType == 0xd312){
             // 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)){
+                    deviceMapper.updateById(device);
+                }
+            }
         }
 
         // 保存, debug 01 02上来的原始数据不保存
@@ -69,17 +76,15 @@ public class APIController extends BasicController{
 
             // 检查是否需要更新 ICCID
             updateICCID(device, dtuAck);
-        }
+        } else if (msgType == 0xd313 && configAck.length() >= 90) {
-        else if(msgType == 0xd313&&configAck.length()>=90){
             //转成字符串
             String dtuAck = configAck.substring(26 * 2);
             rxInfo += configAck + "(" + HexUtil.HexString2String(dtuAck) + ")";
-        }
+        } else {
-        else{
             rxInfo += configAck;
         }
 
-        WebSocketServer.sendMessageToAll(rxInfo);
+        CmdLineWebSocketServer.sendMessageToAll(rxInfo);
         return null;
     }
 
@@ -153,7 +158,6 @@ public class APIController extends BasicController{
         // 保存
         saveMsg(deviceId, tenantId, 0xD312, uploadCmd, true);
 
-
         return null;
     }
 
@@ -177,6 +181,13 @@ public class APIController extends BasicController{
                 }
             }
         }
+        List<String> deviceCmds = device.getConfigCmd();
+        for(String deviceCmd:deviceCmds){
+            rtcmClient.config(deviceId, deviceCmd);
+            // 保存
+            saveMsg(deviceId, tenantId, 0xd312, deviceCmd, true);
+
+        }
 
         // 检查有没有待发送的指令
         QueryWrapper<DeviceCacheCmd> queryWrapper = new QueryWrapper<>();
@@ -192,8 +203,10 @@ public class APIController extends BasicController{
             // 保存
             saveMsg(deviceId, tenantId, cacheCmd.getMsgtype(), cacheCmd.getCmd(), true);
         }
-        // 设备上线后，检查是否需要重新查询更新 ICCID
+
+        // 检查iccid
         checkAndAskICCID(device);
+
         return null;
     }
 
@@ -280,4 +293,39 @@ public class APIController extends BasicController{
             deviceMapper.updateById(device);
         }
     }
+
+    /****** upgrade operations *******/
+    @PostMapping(value = "/api/upgrade_ack")
+    @ResponseBody
+    public String onUpgradeAck() {
+        //发连接服务器指令
+        QueryWrapper<GnssDevice> queryWrapper = new QueryWrapper<>();
+        queryWrapper.eq("opmode", GnssDevice.OP_MODE_UPGRADING);
+        List<GnssDevice> gnssDeviceList = deviceMapper.selectList(queryWrapper);
+        for (GnssDevice device : gnssDeviceList) {
+            short len = (short) (verServerConnectCmd.length() + 5);
+            String sendCmd = "d31a" + HexUtil.Short2HexString(len) +
+                    HexUtil.Int2HexString(Integer.parseInt(device.getDeviceid())) +
+                    "01" + HexUtil.String2HexString(verServerConnectCmd);
+            rtcmClient.config(device.getDeviceid(), sendCmd);
+        }
+        //界面的升级按钮变灰
+        UpgradeWebSocketServer.sendMessageToAll("on upgrade ack");
+        return null;
+    }
+
+    @PostMapping(value = "/api/upgrading_ind")
+    @ResponseBody
+    public String onUpgradingInd(String deviceId, Byte progress) {
+        UpgradeWebSocketServer.sendMessageToAll("on upgrade ind " + deviceId + "," + progress);
+        return null;
+    }
+
+    @PostMapping(value = "/api/upgrade_complete_ind")
+    @ResponseBody
+    public String onUpgradeCompleteInd(String deviceId, Byte code) {
+        UpgradeWebSocketServer.sendMessageToAll("on upgrade complete ind " + deviceId + "," + code);
+        // 保存升级记录
+        return null;
+    }
 }

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

@@ -12,13 +12,13 @@ import java.util.concurrent.ConcurrentHashMap;
 
 //单例
 
-@ServerEndpoint(value = "/websocket",configurator = WebSocketConfig.class)
+@ServerEndpoint(value = "/websocket/cmdline",configurator = WebSocketConfig.class)
 @Component
 @Slf4j
-public class WebSocketServer {
+public class CmdLineWebSocketServer {
     // thread safety counter
     // thread safety set to hold websocket objects
-    private static Map<String,Session> webSocketSet = new ConcurrentHashMap<>();
+    private static final Map<String,Session> webSocketSet = new ConcurrentHashMap<>();
 
     @OnOpen
     public void onOpen(Session session){

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

@@ -109,6 +109,13 @@ public class GnssDeviceController extends BasicController{
             tenants = tenantMapper.selectList(queryWrapper);
         }
         GnssDevice device = gnssDeviceMapper.selectById(id);
+        if(device.getDeviceid().startsWith("6") || device.getDeviceid().startsWith("7")){
+            if(!device.getHas_battery()){
+                device.setHas_battery(true);
+                device.setChange_flag(GnssDevice.PARA_MASK_HAS_BATTERY);
+                gnssDeviceMapper.updateById(device);
+            }
+        }
         m.addAttribute("tenant_list", tenants);
         m.addAttribute("gnss_group_list", gnssGroups);
         m.addAttribute("gnss_group_calc_list", gnssGroupCalcs);
@@ -180,6 +187,17 @@ public class GnssDeviceController extends BasicController{
             if (opmode != null && opmode != QUERY_ALL) {
                 queryWrapper.eq("opmode", opmode);
             }
+            Integer hasBattery = search.getInteger("has_battery");
+            if(hasBattery != null && hasBattery != QUERY_ALL){
+                if(hasBattery == 1) {
+                    queryWrapper.and(wrapper -> wrapper.eq("has_battery", 1)
+                            .or().likeRight("deviceid","6")
+                            .or().likeRight("deviceid","7"));
+                }
+                else{
+                    queryWrapper.eq("has_battery", 0);
+                }
+            }
             //推送状
             Integer fwd = search.getInteger("fwd_group_id");
             if (fwd != null && fwd != QUERY_ALL) {
@@ -245,6 +263,12 @@ public class GnssDeviceController extends BasicController{
                 if(!old_device.getGroup_id().equals(device.getGroup_id())){
                     device.setSyn(false);
                 }
+                if(diff.contains("has_battery")){
+                    device.setChange_flag(GnssDevice.PARA_MASK_HAS_BATTERY);
+                }
+                if(diff.contains("voltage_factor")){
+                    device.setChange_flag(GnssDevice.PARA_MASK_VOLTAGE_FACTOR);
+                }
                 num = gnssDeviceMapper.updateById(device);
             }
         }
@@ -263,7 +287,7 @@ public class GnssDeviceController extends BasicController{
         } else {
             // 更新组参数的关联个数
             updateBasicGroupAssociatedNum(device,old_device);
-            rtcmClient.deviceParamChanged(device.getDeviceid(), device.getParentid());
+            rtcmClient.deviceParamChanged(device.getDeviceid(), old_device != null ? old_device.getParentid() : null, old_device != null ? old_device.getParentid1() : null);
             return HttpResult.ok();
         }
     }
@@ -385,7 +409,7 @@ public class GnssDeviceController extends BasicController{
         if (num == 0) {
             return HttpResult.failed();
         } else{
-            rtcmClient.deviceParamChanged(del_id, null);
+            rtcmClient.deviceParamChanged(del_id, null, null);
             return HttpResult.ok();
         }
     }

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

@@ -63,9 +63,13 @@ public class GnssGroupController extends BasicController {
 
     @PostMapping("/gnss/group/update")
     @ResponseBody
-    public String update(HttpSession session, @RequestBody JSONObject object) throws Exception {
+    public HttpResult update(HttpSession session, @RequestBody JSONObject object) throws Exception {
         int num = 0;
         GnssGroup group = JSONObject.toJavaObject(object,GnssGroup.class);
+        if(group.getActive_time()+ group.getActive_offset()>= group.getWork_cycle()){
+            return HttpResult.fail("参数组合错误！");
+        }
+
         GnssGroup oldGroup = gnssGroupMapper.selectById(group.getId());
 
         // no changed
@@ -90,12 +94,12 @@ public class GnssGroupController extends BasicController {
                     group.getName());
         }
         if (num == 0) {
-            return HttpResult.failed();
+            return HttpResult.fail("更新数据失败");
         } else{
             // 更新所有的device同步标志
             deviceMapper.setSynFlagByGroupId(group.getId());
             rtcmClient.groupParamChanged();
-            return HttpResult.ok();
+            return HttpResult.success("更新成功");
         }
     }
 

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

@@ -1,6 +1,7 @@
 package com.imdroid.beidou.controller;
 
 import com.alibaba.fastjson.JSONObject;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.core.mapper.BaseMapper;
 import com.imdroid.beidou.service.CommonExcelService;
 import com.imdroid.secapi.dto.GnssStatusMsg;
@@ -11,11 +12,13 @@ import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.stereotype.Controller;
 import org.springframework.ui.Model;
 import org.springframework.web.bind.annotation.RequestMapping;
+import org.springframework.web.bind.annotation.RequestParam;
 import org.springframework.web.bind.annotation.ResponseBody;
 
 import javax.servlet.http.HttpServletRequest;
 import javax.servlet.http.HttpServletResponse;
 import javax.servlet.http.HttpSession;
+import java.util.*;
 
 /**
  * 状态消息 控制器
@@ -31,6 +34,10 @@ public class GnssMsgStatusController extends BasicController implements CommonEx
     GnssStatusMsgMapper statusMsgMapper;
     @Autowired
     OpLogManager opLogManager;
+    
+    // 滑动窗口大小
+    private static final int WINDOW_SIZE = 5;
+    
     @RequestMapping("/page/gnss_msg_status")
     public String gnssStatusMsg(Model m, HttpSession session) {
         initModel(m, session);
@@ -40,7 +47,129 @@ public class GnssMsgStatusController extends BasicController implements CommonEx
     @RequestMapping("/gnss/msg/status/list")
     @ResponseBody
     public JSONObject listStatusMsg(HttpSession session, Integer page, Integer limit, String searchParams) {
-        return this.pageList(session, page, limit, searchParams);
+        JSONObject obj = this.pageList(session, page, limit, searchParams);
+        List<GnssStatusMsg> msgList = (List<GnssStatusMsg>) obj.get("data");
+        for(GnssStatusMsg msg:msgList){
+            if(msg.getChargecurrency()!=null && msg.getSolarvoltage()!=null){
+                if(msg.getVoltage()>msg.getSolarvoltage()+3000){
+                    msg.setChargecurrency(0);
+                    msg.setChargewatt(0.0F);
+                }
+            }
+        }
+        return obj;
+    }
+    
+    /**
+     * 获取特定设备的数据，并应用滑动平均
+     * 
+     * @param deviceId 设备ID
+     * @param limit 获取条数，默认150条
+     * @return 处理后的数据
+     */
+    @RequestMapping("/gnss/msg/status/device_data")
+    @ResponseBody
+    public JSONObject getDeviceData(@RequestParam String deviceId, 
+                                   @RequestParam(required = false, defaultValue = "150") Integer limit) {
+        // 查询指定设备的最近数据
+        QueryWrapper<GnssStatusMsg> queryWrapper = new QueryWrapper<>();
+        queryWrapper.eq("deviceid", deviceId)
+                   .orderByDesc("createtime")
+                   .last("limit " + limit);
+        
+        List<GnssStatusMsg> dataList = statusMsgMapper.selectList(queryWrapper);
+        // 反转列表，使其按时间升序排列
+        Collections.reverse(dataList);
+        
+        // 应用滑动平均
+        List<GnssStatusMsg> smoothedData = applyMovingAverage(dataList, WINDOW_SIZE);
+        
+        JSONObject result = new JSONObject();
+        result.put("code", 0);
+        result.put("msg", "");
+        result.put("count", smoothedData.size());
+        result.put("data", smoothedData);
+        result.put("originalData", dataList);
+        return result;
+    }
+    
+    /**
+     * 应用滑动平均算法
+     * 
+     * @param dataList 原始数据列表
+     * @param windowSize 窗口大小
+     * @return 处理后的数据列表
+     */
+    private List<GnssStatusMsg> applyMovingAverage(List<GnssStatusMsg> dataList, int windowSize) {
+        if (dataList.size() <= 1) {
+            return new ArrayList<>(dataList);
+        }
+        
+        List<GnssStatusMsg> result = new ArrayList<>(dataList.size());
+        
+        // 初始窗口
+        Deque<Float> rollWindow = new LinkedList<>();
+        Deque<Float> pitchWindow = new LinkedList<>();
+        Deque<Float> yawWindow = new LinkedList<>();
+        
+        for (int i = 0; i < dataList.size(); i++) {
+            GnssStatusMsg currentMsg = dataList.get(i);
+            GnssStatusMsg smoothedMsg = new GnssStatusMsg();
+            
+            // 复制基本属性
+            smoothedMsg.setId(currentMsg.getId());
+            smoothedMsg.setDeviceid(currentMsg.getDeviceid());
+            smoothedMsg.setCreatetime(currentMsg.getCreatetime());
+            smoothedMsg.setDevicetime(currentMsg.getDevicetime());
+            smoothedMsg.setTenantid(currentMsg.getTenantid());
+            smoothedMsg.setDtustate(currentMsg.getDtustate());
+            smoothedMsg.setRssi(currentMsg.getRssi());
+            smoothedMsg.setVoltage(currentMsg.getVoltage());
+            smoothedMsg.setSolarvoltage(currentMsg.getSolarvoltage());
+            smoothedMsg.setChargecurrency(currentMsg.getChargecurrency());
+            smoothedMsg.setChargewatt(currentMsg.getChargewatt());
+            smoothedMsg.setTemperature(currentMsg.getTemperature());
+            smoothedMsg.setHumidity(currentMsg.getHumidity());
+            
+            // 添加当前值到窗口
+            if (currentMsg.getRoll() != null) rollWindow.addLast(currentMsg.getRoll());
+            if (currentMsg.getPitch() != null) pitchWindow.addLast(currentMsg.getPitch());
+            if (currentMsg.getYaw() != null) yawWindow.addLast(currentMsg.getYaw());
+            
+            // 保持窗口大小
+            if (rollWindow.size() > windowSize) rollWindow.removeFirst();
+            if (pitchWindow.size() > windowSize) pitchWindow.removeFirst();
+            if (yawWindow.size() > windowSize) yawWindow.removeFirst();
+            
+            // 计算平均值
+            if (!rollWindow.isEmpty()) {
+                float rollSum = 0;
+                for (Float val : rollWindow) rollSum += val;
+                smoothedMsg.setRoll(rollSum / rollWindow.size());
+            } else {
+                smoothedMsg.setRoll(currentMsg.getRoll());
+            }
+            
+            if (!pitchWindow.isEmpty()) {
+                float pitchSum = 0;
+                for (Float val : pitchWindow) pitchSum += val;
+                smoothedMsg.setPitch(pitchSum / pitchWindow.size());
+            } else {
+                smoothedMsg.setPitch(currentMsg.getPitch());
+            }
+            
+            if (!yawWindow.isEmpty()) {
+                float yawSum = 0;
+                for (Float val : yawWindow) yawSum += val;
+                smoothedMsg.setYaw(yawSum / yawWindow.size());
+            } else {
+                smoothedMsg.setYaw(currentMsg.getYaw());
+            }
+            
+            result.add(smoothedMsg);
+        }
+        
+        return result;
     }
 
     /**

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

@@ -0,0 +1,71 @@
+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;
+
+//单例
+
+@ServerEndpoint(value = "/websocket/upgrade",configurator = WebSocketConfig.class)
+@Component
+@Slf4j
+public class UpgradeWebSocketServer{
+    // thread safety counter
+    // thread safety set to hold websocket objects
+    private static final Map<String, Session> webSocketSet = new ConcurrentHashMap<>();
+
+    @OnOpen
+    public void onOpen(Session session){
+        HttpSession httpSession= (HttpSession) session.getUserProperties().get(HttpSession.class.getName());
+        webSocketSet.put(httpSession.getId(), session);
+        log.info("new websocket opened, total socket num: "+ 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("websocket closed, total socket num: "+ webSocketSet.size());
+    }
+
+    @OnMessage
+    public void onMessage(String msg, Session session){
+        //log.info("websocket: "+msg);
+    }
+
+    @OnError
+    public void onError(Session session, Throwable error){
+        error.printStackTrace();
+    }
+
+    public static void sendMessageToAll(String msg){
+        try {
+            for (Session item : webSocketSet.values()) {
+                item.getBasicRemote().sendText(msg);
+            }
+        }
+        catch (Exception e){
+            log.error("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("websocket send msg error:", e);
+            }
+        }
+    }
+}

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

@@ -0,0 +1,267 @@
+package com.imdroid.beidou.controller;
+
+import com.alibaba.fastjson.JSONObject;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.core.conditions.update.UpdateWrapper;
+import com.baomidou.mybatisplus.core.metadata.IPage;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.imdroid.beidou.common.HttpResult;
+import com.imdroid.common.util.HexUtil;
+import com.imdroid.secapi.client.HttpResp;
+import com.imdroid.secapi.client.RtcmClient;
+import com.imdroid.secapi.client.VersionClient;
+import com.imdroid.secapi.dto.*;
+import lombok.Data;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.beans.factory.annotation.Value;
+import org.springframework.stereotype.Controller;
+import org.springframework.ui.Model;
+import org.springframework.util.StringUtils;
+import org.springframework.web.bind.annotation.*;
+
+import javax.annotation.PostConstruct;
+import javax.servlet.http.HttpSession;
+import java.io.File;
+import java.util.*;
+import java.util.concurrent.ConcurrentHashMap;
+
+@Controller
+public class VersionController extends BasicController{
+    @Value("${version.path}")
+    private String version_path;
+    @Autowired
+    GnssDeviceMapper gnssDeviceMapper;
+    @Autowired
+    private GnssStatusMapper gnssStatusMapper;
+
+    @Autowired
+    RtcmClient rtcmClient;
+    @Autowired
+    OpLogManager opLogManager;
+    @Autowired
+    TenantMapper tenantMapper;
+    @Autowired
+    VersionClient versionClient;
+    @Value("${ver_server.connect.cmd}")
+    String verServerConnectCmd;
+
+    @Data
+    public class FirmwareInfo{
+        String name;
+        long length;
+        long create_time;
+
+        public FirmwareInfo(String n, long l, long t){
+            name = n;
+            length = l;
+            create_time = t;
+        }
+    }
+
+    // 正在升级的设备map，deviceId <-> UpgradeInfo(高字节：升级结果；低字节：进度)
+    final Map<String, Short> upgradingDeviceList = new ConcurrentHashMap<>();
+    final Map<String, String> deviceSNtoFirmwareMap=new HashMap<>();
+
+    @PostConstruct
+    public void init(){
+        deviceSNtoFirmwareMap.put("2353","2353");
+        deviceSNtoFirmwareMap.put("2410","2410");
+        deviceSNtoFirmwareMap.put("2412","2410");
+        deviceSNtoFirmwareMap.put("2415","2415");
+        deviceSNtoFirmwareMap.put("2419","2415");
+        deviceSNtoFirmwareMap.put("2421","2421");
+        deviceSNtoFirmwareMap.put("2435","2421");
+        deviceSNtoFirmwareMap.put("2439","2439");
+        deviceSNtoFirmwareMap.put("2445","2439");
+        deviceSNtoFirmwareMap.put("8450","8450");
+        deviceSNtoFirmwareMap.put("8507","8450");
+        deviceSNtoFirmwareMap.put("8512","8450");
+        deviceSNtoFirmwareMap.put("8513","8450");
+        deviceSNtoFirmwareMap.put("8516","8515");
+        deviceSNtoFirmwareMap.put("8522","8515");
+        deviceSNtoFirmwareMap.put("9450","9450");
+        deviceSNtoFirmwareMap.put("9513","9450");
+        deviceSNtoFirmwareMap.put("9522","9515");
+        deviceSNtoFirmwareMap.put("6516","6515");
+        deviceSNtoFirmwareMap.put("6521","6515");
+        deviceSNtoFirmwareMap.put("6522","6515");
+    }
+    /**** 推送页面  *****/
+    @RequestMapping("/sys/ver_mgr")
+    public String gnssDevCfg(Model m, HttpSession session) {
+        initModel(m, session);
+        List<Tenant> tenants = tenantMapper.selectList(null);
+        m.addAttribute("tenant_list", tenants);
+
+        return "/page/gnss_ver_mgr";
+    }
+
+    /**** 推送数据  *****/
+    @RequestMapping("/sys/ver_mgr/firmware_list")
+    @ResponseBody
+    public JSONObject listFirmware(int page, int limit) {
+        List<FirmwareInfo> firmwareInfoList = new ArrayList();
+        int total = getFirmwareList(page, limit,firmwareInfoList);
+        //用PageInfo对结果进行包装,传入连续显示的页数
+        JSONObject jsonObject = new JSONObject();
+        jsonObject.put("code", 0);
+        jsonObject.put("msg", "");
+        jsonObject.put("count", total);
+        jsonObject.put("data", firmwareInfoList);
+        return jsonObject;
+    }
+
+    @RequestMapping("/sys/ver_mgr/gnss_device_list")
+    @ResponseBody
+    public JSONObject list(HttpSession session, int page, int limit, String searchParams) {
+        Page<GnssDevice> pageable = new Page<>(page, limit);
+        QueryWrapper<GnssDevice> queryWrapper = new QueryWrapper<>();
+        queryWrapper.orderByAsc("deviceid");
+
+        // 条件查询
+        if(searchParams != null) {
+            JSONObject search = (JSONObject) JSONObject.parse(searchParams);
+            //设备号
+            String deviceid = search.getString("deviceid");
+            if (StringUtils.hasText(deviceid)) {
+                queryWrapper.like("deviceid", deviceid);
+            }
+            //项目号
+            String project_id = search.getString("project_id");
+            if (StringUtils.hasText(project_id)) {
+                queryWrapper.like("project_id", project_id);
+            }
+            //所属组织
+            String tenantname = search.getString("tenantname");
+            if (StringUtils.hasText(tenantname)) {
+                if(tenantname.startsWith("非SAAS"))
+                    queryWrapper.ne("tenantname",Tenant.SAAS_PROVIDER_NAME);
+                else queryWrapper.like("tenantname", tenantname);
+            }
+            //桩号
+            String sector = search.getString("sector");
+            if (StringUtils.hasText(sector)) {
+                queryWrapper.like("sector", sector);
+            }
+            //设备类型
+            Integer devicetype = search.getInteger("devicetype");
+            if (devicetype != null && devicetype != QUERY_ALL) {
+                queryWrapper.eq("devicetype", devicetype);
+            }
+            //版本
+            String appver = search.getString("appver");
+            if (StringUtils.hasText(appver)) {
+                queryWrapper.like("appver", appver);
+            }
+            //备注
+            String remark = search.getString("remark");
+            if (StringUtils.hasText(remark)) {
+                queryWrapper.like("remark", remark);
+            }
+            //使用状态
+            Integer opmode = search.getInteger("opmode");
+            if (opmode != null && opmode != QUERY_ALL) {
+                queryWrapper.eq("opmode", opmode);
+            }
+        }
+
+        IPage<GnssDevice> cs = gnssDeviceMapper.selectPage(pageable, queryWrapper);
+
+        JSONObject jsonObject = new JSONObject();
+        jsonObject.put("code", 0);
+        jsonObject.put("msg", "");
+        jsonObject.put("count", cs.getTotal());
+        jsonObject.put("data", cs.getRecords());
+        return jsonObject;
+    }
+
+    @PostMapping("/sys/ver_mgr/upgrade")
+    @ResponseBody
+    public HttpResult upgradeApp(@RequestParam String firmware, @RequestParam String id_list) throws Exception {
+        HttpResp rsp;
+        if(firmware!=null && !firmware.equals("undefined")) {
+            String[] deviceList = id_list.split(";");
+            //请求版本服务升级
+            try {
+                String invalidId = checkUpgradeList(deviceList, firmware);
+                if(invalidId==null) {
+                    rsp = versionClient.upgrade(id_list, firmware);
+                }
+                else return HttpResult.fail("设备型号和固件不匹配:"+invalidId);
+                //System.out.println(id_list);
+            }
+            catch (Exception e){
+                return HttpResult.fail("版本服务未启动");
+            }
+            if(rsp.getCode() == HttpResp.HTTP_RSP_OK){
+                //设置设备的使用状态为升级，下发连接版本服务器指令
+                startUpgrade(deviceList);
+                return HttpResult.success("开始升级");
+            }
+            else{
+                return HttpResult.fail(rsp.getResponseMessage());
+            }
+        }
+
+        return HttpResult.fail("非法固件");
+    }
+
+    int getFirmwareList(int page, int limit, List firmwareInfo){
+        File folder = new File(version_path);
+        File[] files = folder.listFiles((file) -> file.getName().endsWith(".bin"));
+        if(files==null) return 0;
+
+        Arrays.sort(files, new Comparator<File>() {
+            public int compare(File f1, File f2) {
+                long diff = f1.lastModified() - f2.lastModified();
+                if (diff > 0)
+                    return -1;
+                else if (diff == 0)
+                    return 0;
+                else
+                    return 1;//如果 if 中修改为 返回-1 同时此处修改为返回 1  排序就会是递减
+            }
+
+            public boolean equals(Object obj) {
+                return true;
+            }
+
+        });
+
+        int count = 0;
+        for(File file:files){
+            if((int)count/limit+1 == page) {
+                firmwareInfo.add(new FirmwareInfo(file.getName(), file.length(), file.lastModified()));
+            }
+            count++;
+        }
+
+        return files.length;
+    }
+
+    String checkUpgradeList(String[] deviceList, String firmware){
+        for(String deviceId:deviceList){
+            String snHigh = deviceId.substring(0,4);
+            if(!firmware.contains(deviceSNtoFirmwareMap.get(snHigh))){
+                return deviceId;
+            }
+        }
+        return null;
+    }
+    void startUpgrade(String[] deviceList){
+        for(String deviceId:deviceList){
+            UpdateWrapper<GnssDevice> updateWrapper = new UpdateWrapper<>();
+            updateWrapper.eq("deviceid",deviceId).set("opmode",GnssDevice.OP_MODE_UPGRADING);
+            gnssDeviceMapper.update(null, updateWrapper);
+            rtcmClient.config(deviceId,getConnectVerServerCmd(deviceId));
+        }
+    }
+
+    String getConnectVerServerCmd(String deviceId){
+        short len = (short) (verServerConnectCmd.length() + 5);
+        return "d31a" + HexUtil.Short2HexString(len)+
+                HexUtil.Int2HexString(Integer.parseInt(deviceId))+
+                "01"+HexUtil.String2HexString(verServerConnectCmd);
+    }
+
+}

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

@@ -199,8 +199,12 @@ public interface CommonExcelService<T, R> {
      * @param paraValue 查询参数值
      */
     default void setQueryWrapper(AbstractWrapper queryWrapper, String paraName, Object paraValue) {
+        // null
+        if (paraName.startsWith("NULL") && StringUtils.hasText((String)paraValue)) {
+            addNullQueryWrapper(queryWrapper, paraName, paraValue);
+        }
         // String
-        if (paraName.startsWith("s") && StringUtils.hasText((String)paraValue)) {
+        else if (paraName.startsWith("s") && StringUtils.hasText((String)paraValue)) {
             addStringQueryWrapper(queryWrapper, paraName, paraValue);
         }
         // Number,-1表示全部
@@ -221,6 +225,17 @@ public interface CommonExcelService<T, R> {
         return paraName.substring(paraName.indexOf("_") + 1);
     }
 
+    default void addNullQueryWrapper(AbstractWrapper queryWrapper, String paraName, Object paraValue) {
+        String column = getColumn(paraName);
+        String value = paraValue.toString();
+        if (value.equals("0")) {
+            queryWrapper.isNull(column);
+        }
+        else if(value.equals("1")){
+            queryWrapper.isNotNull(column);
+        }
+    }
+
     default void addStringQueryWrapper(AbstractWrapper queryWrapper, String paraName, Object paraValue) {
         String column = getColumn(paraName);
         String value = paraValue.toString();

sec-beidou/src/main/resources/db/schema.sql

@@ -69,6 +69,9 @@ CREATE TABLE IF NOT EXISTS `gnssdevices` (
     `model` smallint DEFAULT 0,
     `loggingmode` smallint DEFAULT 0 COMMENT '日志模式: 0-精简模式(仅D3F0和D3F2), 1-完整模式',
     `iccid` VARCHAR(36) DEFAULT NULL COMMENT 'ICCID号，唯一',
+    `has_battery` bit(1) DEFAULT 0 COMMENT '是否内置电池',
+    `change_flag` int DEFAULT 0 COMMENT '参数改变标识',
+    `voltage_factor` tinyint DEFAULT NULL COMMENT '分压比',
     PRIMARY KEY (`id`)
 ) ENGINE=InnoDB DEFAULT CHARSET=utf8mb4;
 

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

@@ -24,7 +24,7 @@
         {
           "title": "健康检查报告",
           "href": "page/gnss_ehm",
-          "icon": "fa fa-tachometer",
+          "icon": "fa fa-heartbeat",
           "target": "_self"
         },
         {
@@ -212,6 +212,12 @@
           "href": "sys/apikey",
           "icon": "fa fa-key",
           "target": "_self"
+        },
+        {
+          "title": "版本管理",
+          "href": "sys/ver_mgr",
+          "icon": "fa fa-file-code-o",
+          "target": "_self"
         }
       ]
     }

sec-beidou/src/main/resources/static/css/ol.css

@@ -0,0 +1,354 @@
+:root,
+:host {
+    --ol-background-color: white;
+    --ol-accent-background-color: #F5F5F5;
+    --ol-subtle-background-color: rgba(128, 128, 128, 0.25);
+    --ol-partial-background-color: rgba(255, 255, 255, 0.75);
+    --ol-foreground-color: #333333;
+    --ol-subtle-foreground-color: #666666;
+    --ol-brand-color: #00AAFF;
+}
+
+.ol-box {
+    box-sizing: border-box;
+    border-radius: 2px;
+    border: 1.5px solid var(--ol-background-color);
+    background-color: var(--ol-partial-background-color);
+}
+
+.ol-mouse-position {
+    top: 8px;
+    right: 8px;
+    position: absolute;
+}
+
+.ol-scale-line {
+    background: var(--ol-partial-background-color);
+    border-radius: 4px;
+    bottom: 8px;
+    left: 8px;
+    padding: 2px;
+    position: absolute;
+}
+
+.ol-scale-line-inner {
+    border: 1px solid var(--ol-subtle-foreground-color);
+    border-top: none;
+    color: var(--ol-foreground-color);
+    font-size: 10px;
+    text-align: center;
+    margin: 1px;
+    will-change: contents, width;
+    transition: all 0.25s;
+}
+
+.ol-scale-bar {
+    position: absolute;
+    bottom: 8px;
+    left: 8px;
+}
+
+.ol-scale-bar-inner {
+    display: flex;
+}
+
+.ol-scale-step-marker {
+    width: 1px;
+    height: 15px;
+    background-color: var(--ol-foreground-color);
+    float: right;
+    z-index: 10;
+}
+
+.ol-scale-step-text {
+    position: absolute;
+    bottom: -5px;
+    font-size: 10px;
+    z-index: 11;
+    color: var(--ol-foreground-color);
+    text-shadow: -1.5px 0 var(--ol-partial-background-color), 0 1.5px var(--ol-partial-background-color), 1.5px 0 var(--ol-partial-background-color), 0 -1.5px var(--ol-partial-background-color);
+}
+
+.ol-scale-text {
+    position: absolute;
+    font-size: 12px;
+    text-align: center;
+    bottom: 25px;
+    color: var(--ol-foreground-color);
+    text-shadow: -1.5px 0 var(--ol-partial-background-color), 0 1.5px var(--ol-partial-background-color), 1.5px 0 var(--ol-partial-background-color), 0 -1.5px var(--ol-partial-background-color);
+}
+
+.ol-scale-singlebar {
+    position: relative;
+    height: 10px;
+    z-index: 9;
+    box-sizing: border-box;
+    border: 1px solid var(--ol-foreground-color);
+}
+
+.ol-scale-singlebar-even {
+    background-color: var(--ol-subtle-foreground-color);
+}
+
+.ol-scale-singlebar-odd {
+    background-color: var(--ol-background-color);
+}
+
+.ol-unsupported {
+    display: none;
+}
+
+.ol-viewport,
+.ol-unselectable {
+    -webkit-touch-callout: none;
+    -webkit-user-select: none;
+    -moz-user-select: none;
+    user-select: none;
+    -webkit-tap-highlight-color: transparent;
+}
+
+.ol-viewport canvas {
+    all: unset;
+    overflow: hidden;
+}
+
+.ol-viewport {
+    touch-action: pan-x pan-y;
+}
+
+.ol-selectable {
+    -webkit-touch-callout: default;
+    -webkit-user-select: text;
+    -moz-user-select: text;
+    user-select: text;
+}
+
+.ol-grabbing {
+    cursor: -webkit-grabbing;
+    cursor: -moz-grabbing;
+    cursor: grabbing;
+}
+
+.ol-grab {
+    cursor: move;
+    cursor: -webkit-grab;
+    cursor: -moz-grab;
+    cursor: grab;
+}
+
+.ol-control {
+    position: absolute;
+    background-color: var(--ol-subtle-background-color);
+    border-radius: 4px;
+}
+
+.ol-zoom {
+    top: .5em;
+    left: .5em;
+}
+
+.ol-rotate {
+    top: .5em;
+    right: .5em;
+    transition: opacity .25s linear, visibility 0s linear;
+}
+
+.ol-rotate.ol-hidden {
+    opacity: 0;
+    visibility: hidden;
+    transition: opacity .25s linear, visibility 0s linear .25s;
+}
+
+.ol-zoom-extent {
+    top: 4.643em;
+    left: .5em;
+}
+
+.ol-full-screen {
+    right: .5em;
+    top: .5em;
+}
+
+.ol-control button {
+    display: block;
+    margin: 1px;
+    padding: 0;
+    color: var(--ol-subtle-foreground-color);
+    font-weight: bold;
+    text-decoration: none;
+    font-size: inherit;
+    text-align: center;
+    height: 1.375em;
+    width: 1.375em;
+    line-height: .4em;
+    background-color: var(--ol-background-color);
+    border: none;
+    border-radius: 2px;
+}
+
+.ol-control button::-moz-focus-inner {
+    border: none;
+    padding: 0;
+}
+
+.ol-zoom-extent button {
+    line-height: 1.4em;
+}
+
+.ol-compass {
+    display: block;
+    font-weight: normal;
+    will-change: transform;
+}
+
+.ol-touch .ol-control button {
+    font-size: 1.5em;
+}
+
+.ol-touch .ol-zoom-extent {
+    top: 5.5em;
+}
+
+.ol-control button:hover,
+.ol-control button:focus {
+    text-decoration: none;
+    outline: 1px solid var(--ol-subtle-foreground-color);
+    color: var(--ol-foreground-color);
+}
+
+.ol-zoom .ol-zoom-in {
+    border-radius: 2px 2px 0 0;
+}
+
+.ol-zoom .ol-zoom-out {
+    border-radius: 0 0 2px 2px;
+}
+
+.ol-attribution {
+    text-align: right;
+    bottom: .5em;
+    right: .5em;
+    max-width: calc(100% - 1.3em);
+    display: flex;
+    flex-flow: row-reverse;
+    align-items: center;
+}
+
+.ol-attribution a {
+    color: var(--ol-subtle-foreground-color);
+    text-decoration: none;
+}
+
+.ol-attribution ul {
+    margin: 0;
+    padding: 1px .5em;
+    color: var(--ol-foreground-color);
+    text-shadow: 0 0 2px var(--ol-background-color);
+    font-size: 12px;
+}
+
+.ol-attribution li {
+    display: inline;
+    list-style: none;
+}
+
+.ol-attribution li:not(:last-child):after {
+    content: " ";
+}
+
+.ol-attribution img {
+    max-height: 2em;
+    max-width: inherit;
+    vertical-align: middle;
+}
+
+.ol-attribution button {
+    flex-shrink: 0;
+}
+
+.ol-attribution.ol-collapsed ul {
+    display: none;
+}
+
+.ol-attribution:not(.ol-collapsed) {
+    background: var(--ol-partial-background-color);
+}
+
+.ol-attribution.ol-uncollapsible {
+    bottom: 0;
+    right: 0;
+    border-radius: 4px 0 0;
+}
+
+.ol-attribution.ol-uncollapsible img {
+    margin-top: -.2em;
+    max-height: 1.6em;
+}
+
+.ol-attribution.ol-uncollapsible button {
+    display: none;
+}
+
+.ol-zoomslider {
+    top: 4.5em;
+    left: .5em;
+    height: 200px;
+}
+
+.ol-zoomslider button {
+    position: relative;
+    height: 10px;
+}
+
+.ol-touch .ol-zoomslider {
+    top: 5.5em;
+}
+
+.ol-overviewmap {
+    left: 0.5em;
+    bottom: 0.5em;
+}
+
+.ol-overviewmap.ol-uncollapsible {
+    bottom: 0;
+    left: 0;
+    border-radius: 0 4px 0 0;
+}
+
+.ol-overviewmap .ol-overviewmap-map,
+.ol-overviewmap button {
+    display: block;
+}
+
+.ol-overviewmap .ol-overviewmap-map {
+    border: 1px solid var(--ol-subtle-foreground-color);
+    height: 150px;
+    width: 150px;
+}
+
+.ol-overviewmap:not(.ol-collapsed) button {
+    bottom: 0;
+    left: 0;
+    position: absolute;
+}
+
+.ol-overviewmap.ol-collapsed .ol-overviewmap-map,
+.ol-overviewmap.ol-uncollapsible button {
+    display: none;
+}
+
+.ol-overviewmap:not(.ol-collapsed) {
+    background: var(--ol-subtle-background-color);
+}
+
+.ol-overviewmap-box {
+    border: 1.5px dotted var(--ol-subtle-foreground-color);
+}
+
+.ol-overviewmap .ol-overviewmap-box:hover {
+    cursor: move;
+}
+
+.ol-overviewmap .ol-viewport:hover {
+    cursor: pointer;
+}

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

@@ -0,0 +1,83 @@
+/**
+ * 坐标转换工具模块
+ * 提供WGS84和GCJ-02坐标系之间的转换功能
+ */
+var CoordinateUtils = (function() {
+    'use strict';
+    
+    var pi = 3.14159265358979324;
+    var a = 6378245.0;
+    var ee = 0.00669342162296594323;
+
+    /**
+     * 判断是否在国内，不在国内则不做偏移
+     */
+    function outOfChina(lon, lat) {
+        if ((lon < 72.004 || lon > 137.8347) && (lat < 0.8293 || lat > 55.8271)) {
+            return true;
+        } else {
+            return false;
+        }
+    }
+    
+    function transformLat(x, y) {
+        var ret = -100.0 + 2.0 * x + 3.0 * y + 0.2 * y * y + 0.1 * x * y + 0.2 * Math.sqrt(Math.abs(x));
+        ret += (20.0 * Math.sin(6.0 * x * pi) + 20.0 * Math.sin(2.0 * x * pi)) * 2.0 / 3.0;
+        ret += (20.0 * Math.sin(y * pi) + 40.0 * Math.sin(y / 3.0 * pi)) * 2.0 / 3.0;
+        ret += (160.0 * Math.sin(y / 12.0 * pi) + 320 * Math.sin(y * pi / 30.0)) * 2.0 / 3.0;
+        return ret;
+    }
+
+    function transformLon(x, y) {
+        var ret = 300.0 + x + 2.0 * y + 0.1 * x * x + 0.1 * x * y + 0.1 * Math.sqrt(Math.abs(x));
+        ret += (20.0 * Math.sin(6.0 * x * pi) + 20.0 * Math.sin(2.0 * x * pi)) * 2.0 / 3.0;
+        ret += (20.0 * Math.sin(x * pi) + 40.0 * Math.sin(x / 3.0 * pi)) * 2.0 / 3.0;
+        ret += (150.0 * Math.sin(x / 12.0 * pi) + 300.0 * Math.sin(x / 30.0 * pi)) * 2.0 / 3.0;
+        return ret;
+    }
+
+
+    function transform(wgLat, wgLon) {
+        var mars_point = {lon: 0, lat: 0};
+        if (outOfChina(wgLon, wgLat)) {
+            mars_point.lat = wgLat;
+            mars_point.lon = wgLon;
+            return mars_point;
+        }
+        var dLat = transformLat(wgLon - 105.0, wgLat - 35.0);
+        var dLon = transformLon(wgLon - 105.0, wgLat - 35.0);
+        var radLat = wgLat / 180.0 * pi;
+        var magic = Math.sin(radLat);
+        magic = 1 - ee * magic * magic;
+        var sqrtMagic = Math.sqrt(magic);
+        dLat = (dLat * 180.0) / ((a * (1 - ee)) / (magic * sqrtMagic) * pi);
+        dLon = (dLon * 180.0) / (a / sqrtMagic * Math.cos(radLat) * pi);
+        mars_point.lat = wgLat + dLat;
+        mars_point.lon = wgLon + dLon;
+        return mars_point;
+    }
+
+
+    function getMapCoordinates(lat, lon, mapType) {
+        var coordinates;
+        if (mapType === 'amap' || mapType === 'amap_satellite') {
+            // 高德地图 WGS84 转换为 GCJ-02
+            var gcjCoord = transform(lat, lon);
+            coordinates = ol.proj.fromLonLat([gcjCoord.lon, gcjCoord.lat]);
+        } else if (mapType.startsWith('google_')) {
+            // Google地图使用WGS84坐标系
+            coordinates = ol.proj.fromLonLat([lon, lat]);
+        } else {
+            // 天地图 CGCS2000，与WGS84实质一样
+            coordinates = ol.proj.fromLonLat([lon, lat]);
+        }
+        return coordinates;
+    }
+
+
+    return {
+        transform: transform,
+        getMapCoordinates: getMapCoordinates,
+        outOfChina: outOfChina
+    };
+})(); 

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

@@ -0,0 +1,369 @@
+/**
+ * 设备标记管理模块
+ * 负责设备标记的创建、分类和显示管理
+ */
+var DeviceMarkers = (function() {
+    'use strict';
+    
+    var greenFeatures = [];
+    var orangeFeatures = [];
+    var redFeatures = [];
+    var allFeatures = [];
+    var myLocationFeature = null;
+    var myLocationInterval = null;
+    var showDeviceId = true;
+    var minZoomForLabels = 4;
+    
+
+    var map = null;
+    var vectorSource = null;
+    var vectorLayer = null;
+    
+
+    function init(mapInstance, vectorSourceInstance, vectorLayerInstance) {
+        map = mapInstance;
+        vectorSource = vectorSourceInstance;
+        vectorLayer = vectorLayerInstance;
+    }
+    
+
+    function createDeviceStyle(feature) {
+        if (feature.get('isMyLocation')) {
+            return new ol.style.Style({
+                image: new ol.style.Icon({
+                    anchor: [0.5, 1],
+                    src: '../images/loc_blue.png',
+                    scale: 0.7
+                })
+            });
+        }
+        
+        var deviceInfo = feature.get('deviceInfo');
+        if (!deviceInfo) return null;
+        
+        var iconSrc;
+        var color = '#000';
+        var isHovered = feature.get('hovered') === true;
+        var scale = isHovered ? 0.85 : 0.7;
+
+        // 根据告警级别选择图标
+        if (deviceInfo.warning == 2) {
+            iconSrc = '../images/loc1_red.png';
+        } else if (deviceInfo.warning == 1) {
+            iconSrc = '../images/loc1_orange.png';
+        } else {
+            iconSrc = '../images/loc1_green.png';
+        }
+
+        var style = new ol.style.Style({
+            image: new ol.style.Icon({
+                anchor: [0.5, 1],
+                src: iconSrc,
+                scale: scale
+            })
+        });
+
+        // 根据缩放级别和设置决定是否显示设备ID
+        if (showDeviceId && map && map.getView().getZoom() >= minZoomForLabels) {
+            style.setText(new ol.style.Text({
+                text: deviceInfo.deviceid,
+                offsetY: -30,
+                fill: new ol.style.Fill({ 
+                    color: isHovered ? '#1aa094' : color 
+                }),
+                stroke: new ol.style.Stroke({ 
+                    color: '#fff', 
+                    width: isHovered ? 3 : 2 
+                }),
+                font: isHovered ? 'bold 12px Arial' : '12px Arial'
+            }));
+        }
+
+        return style;
+    }
+    
+
+    function addDeviceMarkers(deviceList) {
+        if (!vectorSource || !deviceList) return;
+        
+        var savedMyLocationFeature = myLocationFeature;
+
+        vectorSource.clear();
+        greenFeatures = [];
+        orangeFeatures = [];
+        redFeatures = [];
+        allFeatures = [];
+
+        for (var i = 0; i < deviceList.length; i++) {
+            var device = deviceList[i];
+            var currentMapType = getCurrentMapType();
+            var mapCoordinates = CoordinateUtils.getMapCoordinates(
+                device.latitude, 
+                device.longitude, 
+                currentMapType
+            );
+
+            var feature = new ol.Feature({
+                geometry: new ol.geom.Point(mapCoordinates),
+                deviceInfo: device
+            });
+
+            // 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);
+            }
+
+            allFeatures.push(feature);
+            vectorSource.addFeature(feature);
+        }
+
+        if (savedMyLocationFeature) {
+            vectorSource.addFeature(savedMyLocationFeature);
+        }
+
+        // 强制更新样式
+        if (vectorLayer) {
+            vectorLayer.changed();
+        }
+    }
+    
+
+    function getCurrentMapType() {
+        var mapTypeSelect = document.getElementById('mapTypeSelectNew');
+        return mapTypeSelect ? mapTypeSelect.value : 'tianditu_satellite';
+    }
+    
+
+    function showAllDevices() {
+        if (!vectorSource) return;
+        
+        var savedMyLocationFeature = myLocationFeature;
+        vectorSource.clear();
+
+        if (savedMyLocationFeature) {
+            vectorSource.addFeature(savedMyLocationFeature);
+        }
+
+        for (var i = 0; i < allFeatures.length; i++) {
+            vectorSource.addFeature(allFeatures[i]);
+        }
+    }
+    
+    function showWarning1Devices() {
+        if (!vectorSource) return;
+        
+        var savedMyLocationFeature = myLocationFeature;
+        vectorSource.clear();
+
+        if (savedMyLocationFeature) {
+            vectorSource.addFeature(savedMyLocationFeature);
+        }
+
+        for (var i = 0; i < allFeatures.length; i++) {
+            vectorSource.addFeature(allFeatures[i]);
+        }
+
+        hideGreenFeatures();
+        hideRedFeatures();
+    }
+    
+
+    function showWarning2Devices() {
+        if (!vectorSource) return;
+        
+        var savedMyLocationFeature = myLocationFeature;
+        vectorSource.clear();
+
+        if (savedMyLocationFeature) {
+            vectorSource.addFeature(savedMyLocationFeature);
+        }
+
+        for (var i = 0; i < allFeatures.length; i++) {
+            vectorSource.addFeature(allFeatures[i]);
+        }
+
+        hideGreenFeatures();
+        hideOrangeFeatures();
+    }
+    
+    function hideGreenFeatures() {
+        for (var i = 0; i < greenFeatures.length; i++) {
+            vectorSource.removeFeature(greenFeatures[i]);
+        }
+    }
+
+    function hideOrangeFeatures() {
+        for (var i = 0; i < orangeFeatures.length; i++) {
+            vectorSource.removeFeature(orangeFeatures[i]);
+        }
+    }
+    
+    function hideRedFeatures() {
+        for (var i = 0; i < redFeatures.length; i++) {
+            vectorSource.removeFeature(redFeatures[i]);
+        }
+    }
+    
+    function findDeviceById(deviceId) {
+        // console.log('搜索设备:', deviceId, '(类型:', typeof deviceId, ')');
+        // console.log('当前设备总数:', allFeatures.length);
+        
+        var searchTerm = String(deviceId).trim();
+        
+        for (var i = 0; i < allFeatures.length; i++) {
+            var feature = allFeatures[i];
+            var deviceInfo = feature.get('deviceInfo');
+            if (deviceInfo) {
+                var currentDeviceId = String(deviceInfo.deviceid);
+                // console.log('检查设备:', currentDeviceId, '(类型:', typeof deviceInfo.deviceid, ')');
+                
+                if (currentDeviceId === searchTerm) {
+                    // console.log('精确匹配找到设备:', currentDeviceId);
+                    return feature;
+                }
+                
+                if (currentDeviceId.indexOf(searchTerm) !== -1) {
+                    // console.log('部分匹配找到设备:', currentDeviceId);
+                    return feature;
+                }
+                
+                if (currentDeviceId.replace(/\s+/g, '') === searchTerm.replace(/\s+/g, '')) {
+                    // console.log('去除空格后匹配找到设备:', currentDeviceId);
+                    return feature;
+                }
+            }
+        }
+        console.log('未找到设备:', deviceId);
+        return null;
+    }
+
+    function locateDevice(deviceId) {
+        var feature = findDeviceById(deviceId);
+        if (feature && map) {
+            var geometry = feature.getGeometry();
+            var coordinates = geometry.getCoordinates();
+            
+            map.getView().animate({
+                center: coordinates,
+                zoom: Math.max(map.getView().getZoom(), 15),
+                duration: 1000
+            });
+            return true;
+        }
+        return false;
+    }
+    
+    /**
+     * 获取我的位置
+     */
+    function getMyLocation() {
+        if (navigator.geolocation) {
+            navigator.geolocation.getCurrentPosition(
+                function(position) {
+                    var lat = position.coords.latitude;
+                    var lon = position.coords.longitude;
+                    
+                    var currentMapType = getCurrentMapType();
+                    var coordinates = CoordinateUtils.getMapCoordinates(lat, lon, currentMapType);
+                    
+                    if (myLocationFeature) {
+                        vectorSource.removeFeature(myLocationFeature);
+                    }
+                    
+                    myLocationFeature = new ol.Feature({
+                        geometry: new ol.geom.Point(coordinates),
+                        isMyLocation: true
+                    });
+                    
+                    vectorSource.addFeature(myLocationFeature);
+                    
+                    map.getView().animate({
+                        center: coordinates,
+                        zoom: 15,
+                        duration: 1000
+                    });
+                },
+                function(error) {
+                    console.error('获取位置失败:', error);
+                }
+            );
+        }
+    }
+    
+
+    function startLocationUpdates() {
+        if (navigator.geolocation) {
+            myLocationInterval = setInterval(function() {
+                getMyLocation();
+            }, 30000);
+        }
+    }
+    
+
+    function stopLocationUpdates() {
+        if (myLocationInterval) {
+            clearInterval(myLocationInterval);
+            myLocationInterval = null;
+        }
+    }
+    
+
+    function updateMyLocationForMapType(mapType) {
+        if (myLocationFeature) {
+            var geometry = myLocationFeature.getGeometry();
+            var coordinates = geometry.getCoordinates();
+            var lonLat = ol.proj.toLonLat(coordinates);
+            
+            var newCoordinates = CoordinateUtils.getMapCoordinates(lonLat[1], lonLat[0], mapType);
+            
+            myLocationFeature.setGeometry(new ol.geom.Point(newCoordinates));
+        }
+    }
+
+    function setShowDeviceId(show) {
+        showDeviceId = show;
+        if (vectorLayer) {
+            vectorLayer.changed();
+        }
+    }
+    
+
+    function getDeviceStats() {
+        return {
+            total: allFeatures.length,
+            green: greenFeatures.length,
+            orange: orangeFeatures.length,
+            red: redFeatures.length
+        };
+    }
+
+    return {
+        init: init,
+        createDeviceStyle: createDeviceStyle,
+        addDeviceMarkers: addDeviceMarkers,
+        showAllDevices: showAllDevices,
+        showWarning1Devices: showWarning1Devices,
+        showWarning2Devices: showWarning2Devices,
+        hideGreenFeatures: hideGreenFeatures,
+        hideOrangeFeatures: hideOrangeFeatures,
+        hideRedFeatures: hideRedFeatures,
+        findDeviceById: findDeviceById,
+        locateDevice: locateDevice,
+        getMyLocation: getMyLocation,
+        startLocationUpdates: startLocationUpdates,
+        stopLocationUpdates: stopLocationUpdates,
+        updateMyLocationForMapType: updateMyLocationForMapType,
+        setShowDeviceId: setShowDeviceId,
+        getDeviceStats: getDeviceStats,
+        
+        getAllFeatures: function() { return allFeatures; },
+        getGreenFeatures: function() { return greenFeatures; },
+        getOrangeFeatures: function() { return orangeFeatures; },
+        getRedFeatures: function() { return redFeatures; },
+        getMyLocationFeature: function() { return myLocationFeature; }
+    };
+})(); 

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

@@ -0,0 +1,218 @@
+/**
+ * 设备总览主入口文件
+ * 负责整个设备总览模块的初始化和全局函数暴露
+ */
+var DeviceOverview = (function() {
+    'use strict';
+    
+    // 全局变量（从原HTML中提取）
+    var deviceList = [];
+    
+    /**
+     * 初始化设备总览模块
+     * @param {Array} devices - 设备列表数据
+     * @param {Object} options - 配置选项
+     */
+    function init(devices, options) {
+        deviceList = devices || [];
+        
+        // 设置全局变量供其他模块使用
+        window.deviceList = deviceList;
+        window.userRole = options && options.role ? options.role : 'USER';
+        
+        // 等待layui加载完成后初始化
+        layui.use(['form'], function(){
+            var form = layui.form;
+
+            // 绑定表单事件
+            form.on('select(mapTypeNew)', function(data){
+                MapCore.switchMapType(data.value);
+            });
+
+            // 初始化地图核心
+            MapCore.initialize(deviceList);
+            
+            // 默认显示所有设备
+            document.getElementById('warningFilter').value = 'all';
+            SearchFilter.showAllDevices();
+        });
+    }
+    
+    // 暴露给HTML使用的全局函数
+    
+    /**
+     * 地图类型变化处理
+     */
+    function onMapTypeChange() {
+        return MapCore.onMapTypeChange();
+    }
+    
+    /**
+     * 搜索设备
+     */
+    function searchDeviceNew() {
+        return MapCore.searchDeviceNew();
+    }
+    
+    /**
+     * 告警过滤变化处理
+     */
+    function onWarningFilterChange() {
+        return MapCore.onWarningFilterChange();
+    }
+    
+    /**
+     * 切换地图功能菜单
+     */
+    function toggleMapFunctionsMenu() {
+        return MapCore.toggleMapFunctionsMenu();
+    }
+    
+    /**
+     * 切换设备ID显示
+     */
+    function toggleDeviceId() {
+        return MapCore.toggleDeviceId();
+    }
+    
+    /**
+     * 切换集群显示
+     */
+    function toggleCluster() {
+        return MapCore.toggleCluster();
+    }
+    
+    /**
+     * 切换测距功能
+     */
+    function toggleMeasureDistance() {
+        return MeasureTools.toggleMeasureDistance();
+    }
+    
+    /**
+     * 完成测量
+     */
+    function finishMeasuring() {
+        return MeasureTools.finishMeasuring();
+    }
+    
+    /**
+     * 清除测距
+     */
+    function clearMeasure() {
+        return MeasureTools.clearMeasure();
+    }
+    
+    /**
+     * 切换天气预报功能
+     */
+    function toggleWeatherForecast() {
+        return WeatherForecast.toggleWeatherForecast();
+    }
+    
+    /**
+     * 关闭天气卡片
+     */
+    function closeWeatherCard() {
+        return WeatherForecast.closeWeatherCard();
+    }
+    
+    /**
+     * 显示上一个天气预报
+     */
+    function showPrevForecast() {
+        return WeatherForecast.showPrevForecast();
+    }
+    
+    /**
+     * 显示下一个天气预报
+     */
+    function showNextForecast() {
+        return WeatherForecast.showNextForecast();
+    }
+    
+    /**
+     * 查询设备
+     * @param {string} statusType - 状态类型
+     */
+    function queryDevices(statusType) {
+        return SearchFilter.queryDevices(statusType);
+    }
+    
+    /**
+     * 定位设备到地图
+     * @param {string} deviceId - 设备ID
+     * @param {number} latitude - 纬度
+     * @param {number} longitude - 经度
+     */
+    function locateDeviceOnMap(deviceId, latitude, longitude) {
+        return SearchFilter.locateDeviceOnMap(deviceId, latitude, longitude);
+    }
+    
+    /**
+     * 直接定位设备
+     * @param {string} deviceId - 设备ID
+     */
+    function locateDeviceDirectly(deviceId) {
+        return SearchFilter.locateDeviceDirectly(deviceId);
+    }
+    
+    /**
+     * 切换地图类型
+     * @param {string} mapType - 地图类型
+     */
+    function switchMapType(mapType) {
+        return MapCore.switchMapType(mapType);
+    }
+    
+    // 公开API
+    return {
+        init: init,
+        
+        // 地图相关
+        onMapTypeChange: onMapTypeChange,
+        switchMapType: switchMapType,
+        
+        // 搜索和过滤
+        searchDeviceNew: searchDeviceNew,
+        onWarningFilterChange: onWarningFilterChange,
+        queryDevices: queryDevices,
+        locateDeviceOnMap: locateDeviceOnMap,
+        locateDeviceDirectly: locateDeviceDirectly,
+        
+        // 地图功能
+        toggleMapFunctionsMenu: toggleMapFunctionsMenu,
+        toggleDeviceId: toggleDeviceId,
+        toggleCluster: toggleCluster,
+        
+        // 测距工具
+        toggleMeasureDistance: toggleMeasureDistance,
+        finishMeasuring: finishMeasuring,
+        clearMeasure: clearMeasure,
+        
+        // 天气预报
+        toggleWeatherForecast: toggleWeatherForecast,
+        closeWeatherCard: closeWeatherCard,
+        showPrevForecast: showPrevForecast,
+        showNextForecast: showNextForecast
+    };
+})();
+
+// 将主要函数暴露到全局作用域，供HTML中的onclick等使用
+window.DeviceOverview = DeviceOverview;
+window.onMapTypeChange = DeviceOverview.onMapTypeChange;
+window.searchDeviceNew = DeviceOverview.searchDeviceNew;
+window.onWarningFilterChange = DeviceOverview.onWarningFilterChange;
+window.toggleMapFunctionsMenu = DeviceOverview.toggleMapFunctionsMenu;
+window.toggleDeviceId = DeviceOverview.toggleDeviceId;
+window.toggleCluster = DeviceOverview.toggleCluster;
+window.toggleMeasureDistance = DeviceOverview.toggleMeasureDistance;
+window.finishMeasuring = DeviceOverview.finishMeasuring;
+window.clearMeasure = DeviceOverview.clearMeasure;
+window.toggleWeatherForecast = DeviceOverview.toggleWeatherForecast;
+window.closeWeatherCard = DeviceOverview.closeWeatherCard;
+window.showPrevForecast = DeviceOverview.showPrevForecast;
+window.showNextForecast = DeviceOverview.showNextForecast;
+window.queryDevices = DeviceOverview.queryDevices;
+window.locateDeviceOnMap = DeviceOverview.locateDeviceOnMap;
+window.locateDeviceDirectly = DeviceOverview.locateDeviceDirectly; 

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

@@ -0,0 +1,360 @@
+/**
+ * 地图核心模块
+ * 负责地图初始化、事件处理和核心功能管理
+ */
+var MapCore = (function() {
+    'use strict';
+    
+    var map = null;
+    var vectorSource = null;
+    var vectorLayer = null;
+    var clusterSource = null;
+    var clusterLayer = null;
+    var currentBaseLayer = null;
+    var showDeviceId = true;
+    var showCluster = true;
+    var minZoomForLabels = 4;
+    var maxZoomForClustering = 8;
+    var hoveredFeature = null;
+    
+
+    function initialize(deviceList) {
+        // 创建矢量数据源和图层
+        vectorSource = new ol.source.Vector();
+        vectorLayer = new ol.layer.Vector({
+            source: vectorSource,
+            style: function(feature) {
+                return DeviceMarkers.createDeviceStyle(feature);
+            }
+        });
+
+        // 创建集群数据源和图层
+        clusterSource = new ol.source.Cluster({
+            distance: 40,
+            source: vectorSource
+        });
+
+        clusterLayer = new ol.layer.Vector({
+            source: clusterSource,
+            style: function(feature) {
+                var size = feature.get('features').length;
+                var style = new ol.style.Style({
+                    image: new ol.style.Circle({
+                        radius: 15,
+                        fill: new ol.style.Fill({
+                            color: '#3399CC'
+                        })
+                    }),
+                    text: new ol.style.Text({
+                        text: size.toString(),
+                        fill: new ol.style.Fill({
+                            color: '#fff'
+                        })
+                    })
+                });
+                return style;
+            }
+        });
+
+        var initialMapType = document.getElementById('mapTypeSelectNew').value || 'tianditu_satellite';
+        currentBaseLayer = MapLayers.getLayer(initialMapType);
+
+        map = new ol.Map({
+            target: 'map-container',
+            layers: [
+                currentBaseLayer,
+                clusterLayer,
+                vectorLayer
+            ],
+            view: new ol.View({
+                center: ol.proj.fromLonLat([116.404, 39.915]),
+                zoom: 7
+            })
+        });
+
+        DeviceMarkers.init(map, vectorSource, vectorLayer);
+        MeasureTools.init(map);
+        WeatherForecast.init();
+
+        var scaleLineControl = new ol.control.ScaleLine();
+        map.addControl(scaleLineControl);
+
+        var initialZoom = map.getView().getZoom();
+        updateLayerVisibility(initialZoom);
+
+        map.getView().on('change:resolution', function() {
+            var zoom = map.getView().getZoom();
+            updateLayerVisibility(zoom);
+            vectorLayer.changed();
+        });
+
+        bindMouseEvents();
+
+        if (deviceList && deviceList.length > 0) {
+            setCenterFromDevices(deviceList);
+        }
+
+        DeviceMarkers.addDeviceMarkers(deviceList);
+        
+        DeviceMarkers.getMyLocation();
+        DeviceMarkers.startLocationUpdates();
+        
+        document.getElementById('showDeviceIdSwitch').checked = showDeviceId;
+        document.getElementById('showClusterSwitch').checked = showCluster;
+    }
+    
+    function updateLayerVisibility(zoom) {
+        if (showCluster) {
+            if (zoom >= maxZoomForClustering) {
+                clusterLayer.setVisible(false);
+                vectorLayer.setVisible(true);
+            } else {
+                clusterLayer.setVisible(true);
+                vectorLayer.setVisible(false);
+            }
+        } else {
+            clusterLayer.setVisible(false);
+            vectorLayer.setVisible(true);
+        }
+    }
+    
+    function bindMouseEvents() {
+        map.on('pointermove', function(evt) {
+            if (evt.dragging) {
+                return;
+            }
+            
+            var pixel = map.getEventPixel(evt.originalEvent);
+            var hit = map.hasFeatureAtPixel(pixel);
+            
+            map.getTargetElement().style.cursor = hit ? 'pointer' : '';
+            
+            var feature = map.forEachFeatureAtPixel(pixel, function(feature) {
+                return feature;
+            });
+            
+            if (hoveredFeature && hoveredFeature !== feature) {
+                hoveredFeature.set('hovered', false);
+            }
+            
+            if (feature) {
+                // 处理集群
+                var features = feature.get('features');
+                if (features && features.length === 1) {
+                    features[0].set('hovered', true);
+                    hoveredFeature = features[0];
+                } else if (!features && feature.get('deviceInfo')) {
+                    feature.set('hovered', true);
+                    hoveredFeature = feature;
+                }
+            }
+            
+            vectorLayer.changed();
+        });
+        
+        map.on('click', function(evt) {
+            var feature = map.forEachFeatureAtPixel(evt.pixel, function(feature) {
+                return feature;
+            });
+
+            if (feature) {
+                var features = feature.get('features');
+                if (features && features.length > 1) {
+                    // 集群点击，扩展视图
+                    var extent = vectorSource.getExtent();
+                    map.getView().fit(extent, {
+                        padding: [50, 50, 50, 50],
+                        duration: 1000
+                    });
+                } else if (features && features.length === 1) {
+                    // 单个设备点击
+                    var deviceInfo = features[0].get('deviceInfo');
+                    if (deviceInfo) {
+                        showDeviceInfo(deviceInfo);
+                        // 如果天气预测开启，显示天气卡片
+                        if (WeatherForecast.isEnabled()) {
+                            WeatherForecast.showWeatherForecast(deviceInfo);
+                        }
+                    }
+                } else if (feature.get('deviceInfo')) {
+                    var deviceInfo = feature.get('deviceInfo');
+                    showDeviceInfo(deviceInfo);
+                    // 如果天气预测开启，显示天气卡片
+                    if (WeatherForecast.isEnabled()) {
+                        WeatherForecast.showWeatherForecast(deviceInfo);
+                    }
+                }
+            }
+        });
+    }
+    
+
+    function showDeviceInfo(deviceInfo) {
+        var statusText = '';
+        
+        if (deviceInfo.warning === 2) {
+            statusText = '严重告警';
+        } else if (deviceInfo.warning === 1) {
+            statusText = '一般告警';
+        } else {
+            statusText = '正常';
+        }
+        
+        var infoMsg = ' 设备: ' + deviceInfo.deviceid + 
+                      ' | 状态: ' + statusText + 
+                      ' | 坐标: ' + deviceInfo.latitude.toFixed(4) + ', ' + deviceInfo.longitude.toFixed(4);
+        
+        if (window.layer && typeof window.layer.msg === 'function') {
+            window.layer.msg(infoMsg, {
+                time: 3000,
+                area: ['auto', 'auto'],
+                offset: 'auto'
+            });
+        }
+    }
+    
+    function setCenterFromDevices(deviceList) {
+        if (!deviceList || deviceList.length === 0) return;
+        
+        var minLat = deviceList[0].latitude;
+        var maxLat = deviceList[0].latitude;
+        var minLon = deviceList[0].longitude;
+        var maxLon = deviceList[0].longitude;
+        
+        for (var i = 1; i < deviceList.length; i++) {
+            var device = deviceList[i];
+            minLat = Math.min(minLat, device.latitude);
+            maxLat = Math.max(maxLat, device.latitude);
+            minLon = Math.min(minLon, device.longitude);
+            maxLon = Math.max(maxLon, device.longitude);
+        }
+        
+        var centerLat = (minLat + maxLat) / 2;
+        var centerLon = (minLon + maxLon) / 2;
+        
+        map.getView().setCenter(ol.proj.fromLonLat([centerLon, centerLat]));
+    }
+
+    function switchMapType(mapType) {
+        if (!MapLayers.hasLayer(mapType)) {
+            console.error('未知的地图类型:', mapType);
+            return;
+        }
+        
+        map.removeLayer(currentBaseLayer);
+        currentBaseLayer = MapLayers.getLayer(mapType);
+        map.getLayers().insertAt(0, currentBaseLayer);
+
+        DeviceMarkers.updateMyLocationForMapType(mapType);
+        
+        // 重新获取设备列表并添加标记
+        var deviceList = window.deviceList || [];
+        DeviceMarkers.addDeviceMarkers(deviceList);
+    }
+    
+    function toggleDeviceId() {
+        showDeviceId = document.getElementById('showDeviceIdSwitch').checked;
+        DeviceMarkers.setShowDeviceId(showDeviceId);
+        
+        if (window.layer && typeof window.layer.msg === 'function') {
+            window.layer.msg(showDeviceId ? '已显示设备信息' : '已隐藏设备信息');
+        }
+    }
+    
+    function toggleCluster() {
+        showCluster = document.getElementById('showClusterSwitch').checked;
+        var zoom = map.getView().getZoom();
+        updateLayerVisibility(zoom);
+        
+        if (window.layer && typeof window.layer.msg === 'function') {
+            window.layer.msg(showCluster ? '已启用集群显示' : '已禁用集群显示');
+        }
+    }
+    
+    function toggleMapFunctionsMenu() {
+        var menu = document.getElementById('mapFunctionsMenu');
+        if (menu) {
+            menu.classList.toggle('show');
+            if (menu.classList.contains('show')) {
+                document.addEventListener('click', closeMapFunctionsMenu);
+            }
+        }
+    }
+    
+    /**
+     * 关闭地图功能菜单
+     * @param {Event} event - 点击事件
+     */
+    function closeMapFunctionsMenu(event) {
+        var dropdown = document.getElementById('mapFunctionsMenu');
+        var toggleBtn = document.querySelector('.dropdown-toggle');
+        
+        if (dropdown && !dropdown.contains(event.target) && !toggleBtn.contains(event.target)) {
+            dropdown.classList.remove('show');
+            document.removeEventListener('click', closeMapFunctionsMenu);
+        }
+    }
+    
+    /**
+     * 地图类型变化处理
+     */
+    function onMapTypeChange() {
+        var mapType = document.getElementById('mapTypeSelectNew').value;
+        switchMapType(mapType);
+    }
+    
+    function onWarningFilterChange() {
+        var filterValue = document.getElementById('warningFilter').value;
+        switch(filterValue) {
+            case 'all':
+                SearchFilter.showAllDevices();
+                break;
+            case 'warning1':
+                SearchFilter.showWarning1Devices();
+                break;
+            case 'warning2':
+                SearchFilter.showWarning2Devices();
+                break;
+        }
+    }
+    
+    function searchDeviceNew() {
+        var searchInput = document.getElementById('deviceSearchNew');
+        if (searchInput) {
+            var deviceId = searchInput.value.trim();
+            if (deviceId) {
+                SearchFilter.searchDevice(deviceId);
+            } else {
+                if (window.layer && typeof window.layer.msg === 'function') {
+                    window.layer.msg('请输入设备编号');
+                }
+            }
+        }
+    }
+    
+    function getMap() {
+        return map;
+    }
+
+    function getVectorSource() {
+        return vectorSource;
+    }
+    
+    function getVectorLayer() {
+        return vectorLayer;
+    }
+    
+    return {
+        initialize: initialize,
+        switchMapType: switchMapType,
+        toggleDeviceId: toggleDeviceId,
+        toggleCluster: toggleCluster,
+        toggleMapFunctionsMenu: toggleMapFunctionsMenu,
+        onMapTypeChange: onMapTypeChange,
+        onWarningFilterChange: onWarningFilterChange,
+        searchDeviceNew: searchDeviceNew,
+        getMap: getMap,
+        getVectorSource: getVectorSource,
+        getVectorLayer: getVectorLayer
+    };
+})(); 

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

@@ -0,0 +1,179 @@
+/**
+ * 地图图层管理模块
+ * 管理不同类型的地图图层（天地图、高德、谷歌等）
+ */
+var MapLayers = (function() {
+    'use strict';
+    
+    // 天地图 API 密钥 （fengyarnom@gmail.com）
+    var TIANDITU_KEY = '0c260b8a094a4e0bc507808812cefdac';
+    
+    function createTiandituTileLoadFunction() {
+        return function(imageTile, src) {
+            imageTile.getImage().src = src;
+            imageTile.getImage().onerror = function() {
+                // 天地图加载失败时切换到高德地图
+                var mapTypeSelect = document.getElementById('mapTypeSelectNew');
+                if(mapTypeSelect && mapTypeSelect.value.startsWith('tianditu_')) {
+                    mapTypeSelect.value = 'amap';
+                    if (window.DeviceOverview && typeof window.DeviceOverview.switchMapType === 'function') {
+                        window.DeviceOverview.switchMapType('amap');
+                    }
+                    if (window.layer && typeof window.layer.msg === 'function') {
+                        window.layer.msg('天地图加载失败,已自动切换到高德地图');
+                    }
+                    if (window.layui && window.layui.form) {
+                        window.layui.form.render('select');
+                    }
+                }
+            };
+        };
+    }
+    
+
+    var mapLayers = {
+        // 高德地图
+        amap: new ol.layer.Tile({
+            source: new ol.source.XYZ({
+                url: 'https://webrd0{1-4}.is.autonavi.com/appmaptile?lang=zh_cn&size=1&scale=1&style=8&x={x}&y={y}&z={z}'
+            })
+        }),
+        
+        // 高德卫星图
+        amap_satellite: new ol.layer.Group({
+            layers: [
+                new ol.layer.Tile({
+                    source: new ol.source.XYZ({
+                        url: 'https://webst0{1-4}.is.autonavi.com/appmaptile?style=6&x={x}&y={y}&z={z}'
+                    })
+                }),
+                new ol.layer.Tile({
+                    source: new ol.source.XYZ({
+                        url: 'https://webst0{1-4}.is.autonavi.com/appmaptile?style=8&x={x}&y={y}&z={z}'
+                    })
+                })
+            ]
+        }),
+        
+        // 谷歌卫星图
+        google_satellite: new ol.layer.Tile({
+            source: new ol.source.XYZ({
+                url: 'https://mt{0-3}.google.com/vt/lyrs=s&x={x}&y={y}&z={z}',
+                crossOrigin: 'anonymous'
+            })
+        }),
+        
+        // 谷歌地形图
+        google_terrain: new ol.layer.Tile({
+            source: new ol.source.XYZ({
+                url: 'https://mt{0-3}.google.com/vt/lyrs=p&x={x}&y={y}&z={z}',
+                crossOrigin: 'anonymous'
+            })
+        }),
+        
+        // 谷歌道路图
+        google_roadmap: new ol.layer.Tile({
+            source: new ol.source.XYZ({
+                url: 'https://mt{0-3}.google.com/vt/lyrs=m&x={x}&y={y}&z={z}',
+                crossOrigin: 'anonymous'
+            })
+        }),
+        
+        // 谷歌混合图
+        google_hybrid: new ol.layer.Tile({
+            source: new ol.source.XYZ({
+                url: 'https://mt{0-3}.google.com/vt/lyrs=y&x={x}&y={y}&z={z}',
+                crossOrigin: 'anonymous'
+            })
+        }),
+        
+        // 天地图卫星影像
+        tianditu_satellite: new ol.layer.Group({
+            layers: [
+                new ol.layer.Tile({
+                    source: new ol.source.XYZ({
+                        url: 'https://t{0-7}.tianditu.gov.cn/img_w/wmts?SERVICE=WMTS&REQUEST=GetTile&VERSION=1.0.0&LAYER=img&STYLE=default&TILEMATRIXSET=w&FORMAT=tiles&TILEMATRIX={z}&TILEROW={y}&TILECOL={x}&tk=' + TIANDITU_KEY,
+                        tileLoadFunction: createTiandituTileLoadFunction()
+                    })
+                }),
+                new ol.layer.Tile({
+                    source: new ol.source.XYZ({
+                        url: 'https://t{0-7}.tianditu.gov.cn/cia_w/wmts?SERVICE=WMTS&REQUEST=GetTile&VERSION=1.0.0&LAYER=cia&STYLE=default&TILEMATRIXSET=w&FORMAT=tiles&TILEMATRIX={z}&TILEROW={y}&TILECOL={x}&tk=' + TIANDITU_KEY,
+                        tileLoadFunction: createTiandituTileLoadFunction()
+                    })
+                })
+            ]
+        }),
+        
+        // 天地图矢量图
+        tianditu_normal: new ol.layer.Group({
+            layers: [
+                new ol.layer.Tile({
+                    source: new ol.source.XYZ({
+                        url: 'https://t{0-7}.tianditu.gov.cn/vec_w/wmts?SERVICE=WMTS&REQUEST=GetTile&VERSION=1.0.0&LAYER=vec&STYLE=default&TILEMATRIXSET=w&FORMAT=tiles&TILEMATRIX={z}&TILEROW={y}&TILECOL={x}&tk=' + TIANDITU_KEY,
+                        tileLoadFunction: createTiandituTileLoadFunction()
+                    })
+                }),
+                new ol.layer.Tile({
+                    source: new ol.source.XYZ({
+                        url: 'https://t{0-7}.tianditu.gov.cn/cva_w/wmts?SERVICE=WMTS&REQUEST=GetTile&VERSION=1.0.0&LAYER=cva&STYLE=default&TILEMATRIXSET=w&FORMAT=tiles&TILEMATRIX={z}&TILEROW={y}&TILECOL={x}&tk=' + TIANDITU_KEY,
+                        tileLoadFunction: createTiandituTileLoadFunction()
+                    })
+                })
+            ]
+        }),
+        
+        // 天地图地形图
+        tianditu_terrain: new ol.layer.Group({
+            layers: [
+                new ol.layer.Tile({
+                    source: new ol.source.XYZ({
+                        url: 'https://t{0-7}.tianditu.gov.cn/ter_w/wmts?SERVICE=WMTS&REQUEST=GetTile&VERSION=1.0.0&LAYER=ter&STYLE=default&TILEMATRIXSET=w&FORMAT=tiles&TILEMATRIX={z}&TILEROW={y}&TILECOL={x}&tk=' + TIANDITU_KEY,
+                        tileLoadFunction: createTiandituTileLoadFunction()
+                    })
+                })
+            ]
+        }),
+        
+        // 天地图地形混合图
+        tianditu_terrain_hybrid: new ol.layer.Group({
+            layers: [
+                new ol.layer.Tile({
+                    source: new ol.source.XYZ({
+                        url: 'https://t{0-7}.tianditu.gov.cn/ter_w/wmts?SERVICE=WMTS&REQUEST=GetTile&VERSION=1.0.0&LAYER=ter&STYLE=default&TILEMATRIXSET=w&FORMAT=tiles&TILEMATRIX={z}&TILEROW={y}&TILECOL={x}&tk=' + TIANDITU_KEY,
+                        tileLoadFunction: createTiandituTileLoadFunction()
+                    })
+                }),
+                new ol.layer.Tile({
+                    source: new ol.source.XYZ({
+                        url: 'https://t{0-7}.tianditu.gov.cn/cta_w/wmts?SERVICE=WMTS&REQUEST=GetTile&VERSION=1.0.0&LAYER=cta&STYLE=default&TILEMATRIXSET=w&FORMAT=tiles&TILEMATRIX={z}&TILEROW={y}&TILECOL={x}&tk=' + TIANDITU_KEY,
+                        tileLoadFunction: createTiandituTileLoadFunction()
+                    })
+                })
+            ]
+        })
+    };
+    
+
+    function getLayer(mapType) {
+        return mapLayers[mapType];
+    }
+    
+
+
+    function getAllLayers() {
+        return mapLayers;
+    }
+    
+
+    function hasLayer(mapType) {
+        return mapLayers.hasOwnProperty(mapType);
+    }
+    
+
+    return {
+        getLayer: getLayer,
+        getAllLayers: getAllLayers,
+        hasLayer: hasLayer
+    };
+})(); 

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

@@ -0,0 +1,303 @@
+/**
+ * 测距工具模块
+ * 提供地图测距功能
+ */
+var MeasureTools = (function() {
+    'use strict';
+    
+    var measureActive = false;
+    var measureDraw = null;
+    var measureSource = null;
+    var measureLayer = null;
+    var measureTooltips = [];
+    var measureFeatures = [];
+    var currentMeasureTooltips = [];
+    var currentSketch = null;
+    var currentListener = null;
+    var segmentTooltips = [];
+    var map = null;
+    
+    function init(mapInstance) {
+        map = mapInstance;
+        
+        // 测距专用图层
+        measureSource = new ol.source.Vector();
+        measureLayer = new ol.layer.Vector({
+            source: measureSource,
+            style: new ol.style.Style({
+                fill: new ol.style.Fill({ color: 'rgba(255,255,255,0.2)' }),
+                stroke: new ol.style.Stroke({ color: '#ffcc33', width: 2 }),
+                image: new ol.style.RegularShape({
+                    points: 4,
+                    radius: 8,
+                    radius2: 0,
+                    angle: Math.PI / 4,
+                    stroke: new ol.style.Stroke({ color: '#ed8936', width: 2 })
+                })
+            })
+        });
+        
+        if (map) {
+            map.addLayer(measureLayer);
+        }
+    }
+    
+    function toggleMeasureDistance() {
+        if (measureActive) {
+            deactivateMeasure();
+            if (window.layer && typeof window.layer.msg === 'function') {
+                window.layer.msg('测距功能已关闭');
+            }
+        } else {
+            activateMeasure();
+            if (window.layer && typeof window.layer.msg === 'function') {
+                window.layer.msg('点击左键添加距离节点，点击右键结束测量 :)');
+            }
+        }
+        
+        var menu = document.getElementById('mapFunctionsMenu');
+        if (menu) {
+            menu.classList.remove('show');
+        }
+    }
+    
+    function finishMeasuring() {
+        if (measureActive && currentSketch && measureDraw) {
+            measureDraw.finishDrawing();
+        }
+    }
+    
+    function activateMeasure() {
+        if (!map || !measureSource) return;
+        
+        measureActive = true;
+        
+        // 显示测量状态指示器
+        var measureStatus = document.getElementById('measureStatus');
+        if (measureStatus) {
+            measureStatus.style.display = 'flex';
+        }
+        
+        measureDraw = new ol.interaction.Draw({
+            source: measureSource,
+            type: 'LineString',
+            style: new ol.style.Style({
+                fill: new ol.style.Fill({ color: 'rgba(255,255,255,0.2)' }),
+                stroke: new ol.style.Stroke({ color: '#ffcc33', width: 2 }),
+                image: new ol.style.RegularShape({
+                    points: 4,
+                    radius: 8,
+                    radius2: 0,
+                    angle: Math.PI / 4,
+                    stroke: new ol.style.Stroke({ color: '#ed8936', width: 2 })
+                })
+            })
+        });
+        
+        map.addInteraction(measureDraw);
+
+        map.getViewport().addEventListener('contextmenu', function(e) {
+            if (measureActive && currentSketch) {
+                e.preventDefault();
+                measureDraw.finishDrawing();
+            }
+        });
+        
+        measureDraw.on('drawstart', function(evt) {
+            currentSketch = evt.feature;
+            currentMeasureTooltips = [];
+            segmentTooltips = [];
+            
+            currentListener = currentSketch.getGeometry().on('change', function(e) {
+                var geom = e.target;
+                var coords = geom.getCoordinates();
+                
+                clearTemporaryTooltips();
+                clearSegmentTooltips();
+                
+                // 计算并显示每个节点的距离
+                var total = 0;
+                for (var i = 0; i < coords.length; i++) {
+                    if (i === 0) {
+                        // 起点
+                        var startTooltip = createMeasureTooltip(coords[0], '起点');
+                        currentMeasureTooltips.push(startTooltip);
+                    } else {
+                        // 计算段距离
+                        var seg = new ol.geom.LineString([coords[i-1], coords[i]]);
+                        var segmentLength = ol.sphere.getLength(seg);
+                        total += segmentLength;
+                        
+                        // 显示每个节点的累计距离
+                        var output = formatLength(total);
+                        var tooltip = createMeasureTooltip(coords[i], output);
+                        segmentTooltips.push(tooltip);
+                        
+                        if (i === coords.length - 1) {
+                            currentMeasureTooltips.push(tooltip);
+                        }
+                    }
+                }
+            });
+        });
+        
+        // 绘制结束
+        measureDraw.on('drawend', function(evt) {
+            var coords = evt.feature.getGeometry().getCoordinates();
+        
+            clearTemporaryTooltips();
+            clearSegmentTooltips();
+            
+            var total = 0;
+            for (var i = 0; i < coords.length; i++) {
+                if (i === 0) {
+                    var startTooltip = createMeasureTooltip(coords[0], '起点', true);
+                    measureTooltips.push(startTooltip);
+                } else {
+                    var seg = new ol.geom.LineString([coords[i-1], coords[i]]);
+                    total += ol.sphere.getLength(seg);
+                    
+                    var output = formatLength(total);
+                    var tooltip = createMeasureTooltip(coords[i], output, true);
+                    measureTooltips.push(tooltip);
+                }
+            }
+            
+            measureFeatures.push(evt.feature);
+            
+            if (currentListener) {
+                ol.Observable.unByKey(currentListener);
+            }
+            currentSketch = null;
+            currentListener = null;
+            
+            var measureStatus = document.getElementById('measureStatus');
+            if (measureStatus) {
+                measureStatus.style.display = 'none';
+            }
+            
+            map.removeInteraction(measureDraw);
+            measureActive = false;
+            
+            if (window.layer && typeof window.layer.msg === 'function') {
+                window.layer.msg('测量完成');
+            }
+        });
+    }
+    
+    function deactivateMeasure() {
+        measureActive = false;
+        
+        var measureStatus = document.getElementById('measureStatus');
+        if (measureStatus) {
+            measureStatus.style.display = 'none';
+        }
+        
+        if (measureDraw && map) {
+            map.removeInteraction(measureDraw);
+            measureDraw = null;
+        }
+        
+        if (currentListener) {
+            ol.Observable.unByKey(currentListener);
+            currentListener = null;
+        }
+        
+        currentSketch = null;
+        clearTemporaryTooltips();
+        clearSegmentTooltips();
+    }
+    
+    function createMeasureTooltip(coord, text, isStatic) {
+        var elem = document.createElement('div');
+        elem.className = isStatic ? 'ol-tooltip ol-tooltip-static' : 'ol-tooltip ol-tooltip-measure';
+        elem.innerHTML = text;
+        
+        var overlay = new ol.Overlay({
+            element: elem,
+            offset: [0, -15],
+            positioning: 'bottom-center'
+        });
+        
+        overlay.setPosition(coord);
+        
+        if (map) {
+            map.addOverlay(overlay);
+        }
+        
+        return overlay;
+    }
+    
+    function formatLength(length) {
+        if (length > 1000) {
+            return (Math.round(length / 100) / 10) + ' km';
+        } else {
+            return (Math.round(length * 10) / 10) + ' m';
+        }
+    }
+    
+    function clearAllMeasureTooltips() {
+        if (!map) return;
+        
+        for (var i = 0; i < measureTooltips.length; i++) {
+            map.removeOverlay(measureTooltips[i]);
+        }
+        measureTooltips = [];
+        
+        clearTemporaryTooltips();
+    }
+    
+    function clearTemporaryTooltips() {
+        if (!map) return;
+        
+        for (var i = 0; i < currentMeasureTooltips.length; i++) {
+            map.removeOverlay(currentMeasureTooltips[i]);
+        }
+        currentMeasureTooltips = [];
+    }
+    
+    function clearSegmentTooltips() {
+        if (!map) return;
+        
+        for (var i = 0; i < segmentTooltips.length; i++) {
+            map.removeOverlay(segmentTooltips[i]);
+        }
+        segmentTooltips = [];
+    }
+    
+    function clearMeasure() {
+        if (measureSource) {
+            measureSource.clear();
+        }
+        
+        clearAllMeasureTooltips();
+        measureFeatures = [];
+        
+        if (window.layer && typeof window.layer.msg === 'function') {
+            window.layer.msg('测距标记已清除');
+        }
+        
+        // 关闭地图功能菜单
+        var menu = document.getElementById('mapFunctionsMenu');
+        if (menu) {
+            menu.classList.remove('show');
+        }
+    }
+    
+    function isActive() {
+        return measureActive;
+    }
+    
+    function getMeasureCount() {
+        return measureFeatures.length;
+    }
+    
+    return {
+        init: init,
+        toggleMeasureDistance: toggleMeasureDistance,
+        finishMeasuring: finishMeasuring,
+        clearMeasure: clearMeasure,
+        isActive: isActive,
+        getMeasureCount: getMeasureCount
+    };
+})(); 

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

@@ -0,0 +1,187 @@
+/**
+ * 搜索和过滤功能模块
+ * 负责设备搜索、过滤和查询功能
+ */
+var SearchFilter = (function() {
+    'use strict';
+    
+    var currentSearchedDevice = null;
+    var markerState = 3; // 1:all; 2:orange; 3:red
+    
+    function searchDevice(deviceId) {
+        if (!deviceId || !deviceId.trim()) {
+            clearSearch();
+            return false;
+        }
+        
+        deviceId = deviceId.trim();
+        currentSearchedDevice = deviceId;
+        
+        var success = DeviceMarkers.locateDevice(deviceId);
+        
+        if (success) {
+            if (window.layer && typeof window.layer.msg === 'function') {
+                window.layer.msg('已定位到设备: ' + deviceId);
+            }
+            
+            // 获取设备信息并显示天气预测（如果启用）
+            var targetFeature = DeviceMarkers.findDeviceById(deviceId);
+            if (targetFeature && window.WeatherForecast && window.WeatherForecast.isEnabled()) {
+                var deviceInfo = targetFeature.get('deviceInfo');
+                if (deviceInfo) {
+                    window.WeatherForecast.showWeatherForecast(deviceInfo);
+                }
+            }
+        } else {
+            if (window.layer && typeof window.layer.msg === 'function') {
+                window.layer.msg('未找到设备: ' + deviceId);
+            }
+        }
+        
+        return success;
+    }
+    
+    function clearSearch() {
+        currentSearchedDevice = null;
+        var searchInput = document.getElementById('deviceSearchNew');
+        if (searchInput) {
+            searchInput.value = '';
+        }
+        
+        // 恢复到当前的过滤状态
+        applyCurrentFilter();
+    }
+    
+    function applyCurrentFilter() {
+        switch(markerState) {
+            case 1:
+                showAllDevices();
+                break;
+            case 2:
+                showWarning1Devices();
+                break;
+            case 3:
+                showWarning2Devices();
+                break;
+        }
+    }
+    
+    function showAllDevices() {
+        currentSearchedDevice = null;
+        clearSearchInput();
+        DeviceMarkers.showAllDevices();
+        markerState = 1;
+        updateFilterSelect('all');
+    }
+    
+    function showWarning1Devices() {
+        currentSearchedDevice = null;
+        clearSearchInput();
+        DeviceMarkers.showWarning1Devices();
+        markerState = 2;
+        updateFilterSelect('warning1');
+    }
+    function showWarning2Devices() {
+        currentSearchedDevice = null;
+        clearSearchInput();
+        DeviceMarkers.showWarning2Devices();
+        markerState = 3;
+        updateFilterSelect('warning2');
+    }
+    function clearSearchInput() {
+        var searchInput = document.getElementById('deviceSearchNew');
+        if (searchInput) {
+            searchInput.value = '';
+        }
+    }
+    
+    function updateFilterSelect(filterValue) {
+        var filterSelect = document.getElementById('warningFilter');
+        if (filterSelect) {
+            filterSelect.value = filterValue;
+        }
+    }
+    
+    function filterDevicesByStatus(statusType) {
+        switch(statusType) {
+            case 'warning1':
+                showWarning1Devices();
+                break;
+            case 'warning2':
+                showWarning2Devices();
+                break;
+            case 'offline':
+            case 'no_fwd':
+            case 'nofixed':
+            case 'nogga':
+                // 对于这些状态，显示所有设备，让用户在弹窗中选择
+                showAllDevices();
+                break;
+            default:
+                showAllDevices();
+                break;
+        }
+    }
+    
+    function queryDevices(statusType) {
+        filterDevicesByStatus(statusType);
+        
+        // 打开设备列表弹窗
+        if (window.layer && typeof window.layer.open === 'function') {
+            var index = window.layer.open({
+                title: '设备列表',
+                type: 2,
+                shade: 0.2,
+                maxmin: true,
+                shadeClose: true,
+                anim: 2,
+                offset: 'rb',
+                area: ['100%', '50%'],
+                content: '../page/gnss_q_status?query=' + statusType,
+            });
+        }
+    }
+    
+    function locateDeviceOnMap(deviceId, latitude, longitude) {
+        currentSearchedDevice = deviceId;
+        var success = DeviceMarkers.locateDevice(deviceId);
+        
+        if (success && window.layer && typeof window.layer.closeAll === 'function') {
+            window.layer.closeAll();
+        }
+        
+        return success;
+    }
+    
+    function locateDeviceDirectly(deviceId) {
+        currentSearchedDevice = deviceId;
+        return DeviceMarkers.locateDevice(deviceId);
+    }
+    
+    function getCurrentSearchedDevice() {
+        return currentSearchedDevice;
+    }
+    
+    function getMarkerState() {
+        return markerState;
+    }
+    
+    function setMarkerState(state) {
+        markerState = state;
+    }
+    
+    return {
+        searchDevice: searchDevice,
+        clearSearch: clearSearch,
+        showAllDevices: showAllDevices,
+        showWarning1Devices: showWarning1Devices,
+        showWarning2Devices: showWarning2Devices,
+        filterDevicesByStatus: filterDevicesByStatus,
+        queryDevices: queryDevices,
+        locateDeviceOnMap: locateDeviceOnMap,
+        locateDeviceDirectly: locateDeviceDirectly,
+        getCurrentSearchedDevice: getCurrentSearchedDevice,
+        getMarkerState: getMarkerState,
+        setMarkerState: setMarkerState
+    };
+})(); 

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

@@ -0,0 +1,307 @@
+var WeatherForecast = (function() {
+    'use strict';
+    
+    var weatherApiKey = 'Uxh4IdMuAvhSiBnsf4UUDVGF4e3YAp2B';
+    var weatherEnabled = false;
+    var weatherData = null;
+    var currentForecastIndex = 0;
+    var currentWeatherDevice = null;
+    
+    function init() {
+        // 天气预报模块初始化完成
+    }
+    
+    function toggleWeatherForecast() {
+        var role = window.userRole || 'USER';
+        if (role !== 'SUPER_ADMIN') {
+            if (window.layer && typeof window.layer.msg === 'function') {
+                window.layer.msg('您没有权限使用此功能');
+            }
+            return; 
+        }
+        
+        var enableSwitch = document.getElementById('enableWeatherSwitch');
+        weatherEnabled = enableSwitch ? enableSwitch.checked : false;
+        
+        if (weatherEnabled) {
+            if (window.layer && typeof window.layer.msg === 'function') {
+                window.layer.msg(
+                    '搜索设备或点击地图设备图标即可自动查询天气预测',
+                    {time: 3000, area: ['300px', '80px']}
+                );
+            }
+        } else {
+            if (window.layer && typeof window.layer.msg === 'function') {
+                window.layer.msg('天气预测功能已关闭');
+            }
+            closeWeatherCard();
+        }
+        
+        var menu = document.getElementById('mapFunctionsMenu');
+        if (menu) {
+            menu.classList.remove('show');
+        }
+    }
+    
+    function showWeatherForecast(deviceInfo) {
+        currentWeatherDevice = deviceInfo;
+        weatherData = null;
+        
+        var role = window.userRole || 'USER';
+        if (role !== 'SUPER_ADMIN') {
+            return;
+        }
+                
+        if (!weatherEnabled) {
+            if (window.layer && typeof window.layer.msg === 'function') {
+                window.layer.msg('天气预测功能未启用', {time: 2000});
+            }
+            return;
+        }
+        
+        var deviceIdElement = document.getElementById('weatherDeviceId');
+        var deviceCoordsElement = document.getElementById('weatherDeviceCoords');
+        
+        if (deviceIdElement) {
+            deviceIdElement.textContent = '设备: ' + deviceInfo.deviceid;
+        }
+        
+        if (deviceCoordsElement) {
+            deviceCoordsElement.textContent = 
+                '坐标: ' + deviceInfo.latitude.toFixed(4) + ', ' + deviceInfo.longitude.toFixed(4);
+        }
+        
+        var weatherCard = document.getElementById('weatherForecastCard');
+        if (weatherCard) {
+            weatherCard.style.display = 'block';
+        }
+        
+        var contentElement = document.getElementById('weatherForecastContent');
+        if (contentElement) {
+            contentElement.innerHTML = 
+                '<div class="weather-loading">' +
+                '<i class="layui-icon layui-icon-loading layui-icon-anim-rotate"></i>' +
+                '<p>请确保网络可访问 Windy API 服务</p>' +
+                '<p>正在获取天气预测数据...</p>' +
+                '</div>';
+        }
+        
+        var prevBtn = document.getElementById('prevForecast');
+        var nextBtn = document.getElementById('nextForecast');
+        var timeDisplay = document.getElementById('forecastTimeDisplay');
+        
+        if (prevBtn) prevBtn.disabled = true;
+        if (nextBtn) nextBtn.disabled = true;
+        if (timeDisplay) timeDisplay.textContent = '--:--';
+        
+        fetchWeatherData(deviceInfo.latitude, deviceInfo.longitude);
+    }
+    
+    function closeWeatherCard() {
+        var weatherCard = document.getElementById('weatherForecastCard');
+        if (weatherCard) {
+            weatherCard.style.display = 'none';
+        }
+        currentWeatherDevice = null;
+        weatherData = null;
+    }
+    
+    function showPrevForecast() {
+        if (!weatherData || currentForecastIndex <= 0) return;
+        
+        currentForecastIndex--;
+        displayCurrentForecast();
+        updateForecastNavigation();
+    }
+    
+    function showNextForecast() {
+        if (!weatherData || !weatherData.ts || currentForecastIndex >= weatherData.ts.length - 1) return;
+        
+        currentForecastIndex++;
+        displayCurrentForecast();
+        updateForecastNavigation();
+    }
+    
+    function updateForecastNavigation() {
+        if (!weatherData || !weatherData.ts) return;
+        
+        var prevBtn = document.getElementById('prevForecast');
+        var nextBtn = document.getElementById('nextForecast');
+        var timeDisplay = document.getElementById('forecastTimeDisplay');
+        
+        if (prevBtn) prevBtn.disabled = (currentForecastIndex <= 0);
+        if (nextBtn) nextBtn.disabled = (currentForecastIndex >= weatherData.ts.length - 1);
+        
+        if (timeDisplay) {
+            var timestamp = weatherData.ts[currentForecastIndex];
+            var date = new Date(timestamp);
+            timeDisplay.textContent = formatDateTime(date);
+        }
+    }
+
+    function fetchWeatherData(lat, lon) {
+        var requestBody = {
+            "lat": parseFloat(lat.toFixed(2)),
+            "lon": parseFloat(lon.toFixed(2)),
+            "model": "gfs",
+            "parameters": ["temp", "wind", "precip", "pressure", "rh", "windGust"],
+            "levels": ["surface"],
+            "key": weatherApiKey,
+            "hours": 72
+        };
+        
+        fetch('https://api.windy.com/api/point-forecast/v2', {
+            method: 'POST',
+            headers: {
+                'Content-Type': 'application/json',
+                'Accept': 'application/json'
+            },
+            body: JSON.stringify(requestBody)
+        })
+        .then(function(response) {
+            if (!response.ok) {
+                throw new Error('网络响应状态: ' + response.status);
+            }
+            return response.json();
+        })
+        .then(function(data) {
+            weatherData = data;
+            
+            var currentTime = new Date().getTime();
+            var closestIndex = 0;
+            var futureIndex = -1;
+            
+            if (weatherData.ts && weatherData.ts.length > 0) {
+                for (var i = 0; i < weatherData.ts.length; i++) {
+                    if (weatherData.ts[i] > currentTime) {
+                        futureIndex = i;
+                        break;
+                    }
+                }
+                
+                if (futureIndex >= 0) {
+                    closestIndex = futureIndex;
+                } else {
+                    var smallestDiff = Number.MAX_VALUE;
+                    for (var i = 0; i < weatherData.ts.length; i++) {
+                        var diff = Math.abs(weatherData.ts[i] - currentTime);
+                        if (diff < smallestDiff) {
+                            smallestDiff = diff;
+                            closestIndex = i;
+                        }
+                    }
+                }
+            }
+            
+            currentForecastIndex = closestIndex;
+            displayCurrentForecast();
+            updateForecastNavigation();
+        })
+        .catch(function(error) {
+            console.error('天气数据获取失败:', error);
+            displayWeatherError('获取天气数据失败: ' + error.message);
+        });
+    }
+    
+    function displayCurrentForecast() {
+        if (!weatherData || !weatherData.ts || weatherData.ts.length === 0) {
+            displayWeatherError('无可用的天气预测数据');
+            return;
+        }
+        
+        var i = currentForecastIndex;
+        var forecastHtml = '<div class="weather-forecast-item"><div class="weather-param-grid">';
+        
+        if (weatherData['temp-surface'] && weatherData['temp-surface'][i] !== null) {
+            var temp = (weatherData['temp-surface'][i] - 273.15).toFixed(1);
+            forecastHtml += createWeatherParam('温度', temp + '°C');
+        }
+        
+        if (weatherData['wind_u-surface'] && weatherData['wind_v-surface'] && 
+            weatherData['wind_u-surface'][i] !== null && weatherData['wind_v-surface'][i] !== null) {
+            var windU = weatherData['wind_u-surface'][i];
+            var windV = weatherData['wind_v-surface'][i];
+            var windSpeed = Math.sqrt(windU * windU + windV * windV).toFixed(1);
+            var windDir = getWindDirection(windU, windV);
+            forecastHtml += createWeatherParam('风速', windSpeed + ' m/s');
+            forecastHtml += createWeatherParam('风向', windDir);
+        }
+        
+        if (weatherData['past3hprecip-surface'] && weatherData['past3hprecip-surface'][i] !== null) {
+            var precip = weatherData['past3hprecip-surface'][i].toFixed(1);
+            forecastHtml += createWeatherParam('降水', precip + ' mm');
+        }
+        
+        if (weatherData['rh-surface'] && weatherData['rh-surface'][i] !== null) {
+            var humidity = weatherData['rh-surface'][i].toFixed(0);
+            forecastHtml += createWeatherParam('湿度', humidity + '%');
+        }
+        
+        if (weatherData['pressure-surface'] && weatherData['pressure-surface'][i] !== null) {
+            var pressure = (weatherData['pressure-surface'][i] / 100).toFixed(0);
+            forecastHtml += createWeatherParam('气压', pressure + ' hPa');
+        }
+        
+        if (weatherData['gust-surface'] && weatherData['gust-surface'][i] !== null) {
+            var gust = weatherData['gust-surface'][i].toFixed(1);
+            forecastHtml += createWeatherParam('阵风', gust + ' m/s');
+        }
+        
+        forecastHtml += '</div></div>';
+        
+        var contentElement = document.getElementById('weatherForecastContent');
+        if (contentElement) {
+            contentElement.innerHTML = forecastHtml;
+        }
+    }
+    
+    function displayWeatherError(message) {
+        var contentElement = document.getElementById('weatherForecastContent');
+        if (contentElement) {
+            contentElement.innerHTML = 
+                '<div class="weather-error">' +
+                '<i class="layui-icon layui-icon-close"></i>' +
+                '<p>' + message + '</p>' +
+                '</div>';
+        }
+    }
+    
+    function createWeatherParam(label, value) {
+        return '<div class="weather-param">' +
+               '<span class="weather-param-label">' + label + '</span>' +
+               '<span class="weather-param-value">' + value + '</span>' +
+               '</div>';
+    }
+    
+    function formatDateTime(date) {
+        var month = (date.getMonth() + 1).toString().padStart(2, '0');
+        var day = date.getDate().toString().padStart(2, '0');
+        var hours = date.getHours().toString().padStart(2, '0');
+        var minutes = date.getMinutes().toString().padStart(2, '0');
+        
+        return month + '-' + day + ' ' + hours + ':' + minutes;
+    }
+    
+    function getWindDirection(u, v) {
+        var angle = Math.atan2(-u, -v) * 180 / Math.PI;
+        angle = (angle + 360) % 360;
+        
+        var directions = ['北', '东北', '东', '东南', '南', '西南', '西', '西北'];
+        var index = Math.round(angle / 45) % 8;
+        return directions[index];
+    }
+    
+    function isEnabled() {
+        return weatherEnabled;
+    }
+    
+    return {
+        init: init,
+        toggleWeatherForecast: toggleWeatherForecast,
+        showWeatherForecast: showWeatherForecast,
+        closeWeatherCard: closeWeatherCard,
+        showPrevForecast: showPrevForecast,
+        showNextForecast: showNextForecast,
+        isEnabled: isEnabled
+    };
+})(); 

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

@@ -219,7 +219,7 @@
 
 		//建立webSocket连接
 		var webSocktPath;
-		webSocktPath = (basePath+"/websocket").replace("http","ws");
+		webSocktPath = (basePath+"/websocket/cmdline").replace("http","ws");
 		websocket = new WebSocket(webSocktPath);
 
 		//打开webSokcet连接时，回调该函数

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

@@ -96,6 +96,16 @@
 							</div>
 						</div>
 						<div class="layui-inline">
+							<label class="layui-form-label">内置电池</label>
+							<div class="layui-input-inline">
+								<select name="has_battery" id="has_battery" lay-verify="required" lay-search="">
+									<option value="-1">全部</option>
+									<option value="0">无</option>
+									<option value="1">是</option>
+								</select>
+							</div>
+						</div>
+						<div class="layui-inline">
                             <button type="submit" class="layui-btn layui-btn-primary"  lay-submit lay-filter="data-search-btn"><i class="layui-icon"></i> 搜 索</button>
                         </div>
                     </div>
@@ -134,6 +144,7 @@
 			{field: 'group_id', title: '基本参数组', width: 60, sort: true},
 			{field: 'calc_group_id', title: '解算参数组', width: 60, sort: true},
 			{field: 'parentid', title: '基站编号', width: 80, sort: true},
+			{field: 'parentid1', title: '备用基站', width: 80, sort: true},
 			{field: 'tenantname', title: '所属组织', width: 120},
 			{field: 'fwd_group_id', title: '推送组', width: 80},
 			{field: 'fwd_group_id2', title: '推送2', width: 80},
@@ -141,6 +152,7 @@
 			{field: 'syn', title: '参数同步', width: 80,templet: '#synTrans'},
 			{field: 'model', title: '型号', width: 80,templet: "<div>{{d.model==0?'G505':'G510'}}</div>"},
 			{field: 'appver', title: '固件版本', width: 80},
+			{field: 'voltage_factor', title: '分压系数', width: 60},
 			{field: 'imei', title: 'IMEI', width: 100},
 			{title: '操作', toolbar: '#currentTableBar', fixed: "right", width: 120}
 		];

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

@@ -21,7 +21,17 @@
                         <div class="layui-inline">
                             <label class="layui-form-label">设备号</label>
                             <div class="layui-input-inline">
-                                <input type="text" name="s_deviceid" autocomplete="off" class="layui-input">
+                                <input type="text" name="s_deviceid" id="deviceid" autocomplete="off" class="layui-input">
+                            </div>
+                        </div>
+                        <div class="layui-inline">
+                            <label class="layui-form-label">内置电池</label>
+                            <div class="layui-input-inline">
+                                <select name="NULL_solarvoltage" id="NULL_solarvoltage" lay-verify="required" lay-search="">
+                                    <option value="-1">全部</option>
+                                    <option value="0">无</option>
+                                    <option value="1">是</option>
+                                </select>
                             </div>
                         </div>
                         <div class="layui-inline">
@@ -34,7 +44,7 @@
                             </div>
                         </div>
 						<div class="layui-inline">
-                            <button type="submit" class="layui-btn layui-btn-primary"  lay-submit lay-filter="data-search-btn"><i class="layui-icon"></i> 搜 索</button>
+                            <button type="submit" class="layui-btn layui-btn-primary"  lay-submit lay-filter="data-search-btn"><i class="layui-icon"></i> 搜 索</button>
                             <button type="submit" class="layui-btn layui-btn-primary" lay-submit lay-filter="data-export-btn"><i class="layui-icon">&#xe67d;</i>导出</button>
                         </div>
                     </div>
@@ -42,17 +52,36 @@
             </div>
         </fieldset>
 
+        <div class="layui-tab layui-tab-card" lay-filter="data-tab">
+            <ul class="layui-tab-title">
+                <li class="layui-this">数据表格</li>
+                <li>姿态曲线</li>
+            </ul>
+            <div class="layui-tab-content">
+                <div class="layui-tab-item layui-show">
                     <table class="layui-hide" id="currentTableId" lay-filter="currentTableFilter"></table>
+                </div>
+                <div class="layui-tab-item">
+                    <div id="echarts-attitude" style="min-height:500px;padding: 10px"></div>
+                </div>
+            </div>
+        </div>
 
     </div>
 </div>
+<script src="../js/lay-module/echarts/echartsTheme.js" charset="utf-8"></script>
+<script src="../js/lay-module/echarts/echarts.js" charset="utf-8"></script>
 <script src="../lib/layui-v2.6.3/layui.js" charset="utf-8"></script>
 <script th:inline="javascript">
-    layui.use(['form', 'table', 'laydate'], function () {
+    layui.use(['form', 'table', 'laydate', 'element'], function () {
         var $ = layui.$;
         var form = layui.form,
             table = layui.table,
-            laydate = layui.laydate;
+            laydate = layui.laydate,
+            element = layui.element;
+            
+        var echartsAttitude = echarts.init(document.getElementById('echarts-attitude'), 'walden');
+        var chartDataLoaded = false;
 
         var cfg_cols = [
             {field: 'deviceid', title: '设备号', width: 100},
@@ -68,9 +97,7 @@
             {field: 'temperature', title: '温度(°C)'},
             {field: 'humidity', title: '湿度(%)'}
         ];
-        /**
+        
-         * 初始化表单，要加上，不然刷新部分组件可能会不加载
-         */
         form.render();
 
         laydate.render({
@@ -85,7 +112,7 @@
         table.render({
             elem: '#currentTableId',
             url: '/gnss/msg/status/list',
-            toolbar: '#toolbarDemo',//开启头部工具栏
+            toolbar: '#toolbarDemo',
             defaultToolbar: ['filter'],
             cols: [
                 cfg_cols
@@ -96,11 +123,9 @@
             skin: 'line'
         });
 
-        // 监听搜索操作
         form.on('submit(data-search-btn)', function (data) {
             var result = JSON.stringify(data.field);
 
-            //执行搜索重载
             table.reload('currentTableId', {
                 page: {
                     curr: 1
@@ -113,7 +138,6 @@
             return false;
         });
 
-        // 监听导出操作
         form.on('submit(data-export-btn)', function (data) {
             var result =  $('#searchFrm').serialize();
             var u = "/gnss/msg/status/export?" + result;
@@ -121,6 +145,173 @@
             return false;
         });
         
+        element.on('tab(data-tab)', function(data){
+            if (data.index == 1) {
+                echartsAttitude.resize();
+                
+                if (!chartDataLoaded) {
+                    var deviceId = $('#deviceid').val();
+                    if (deviceId) {
+                        loadChartData(deviceId);
+                    } else {
+                        layer.msg('请先在搜索框中输入设备号');
+                    }
+                }
+            }
+        });
+        
+        function loadChartData(deviceId) {
+            $.ajax({
+                url: '/gnss/msg/status/device_data',
+                type: 'GET',
+                data: {
+                    deviceId: deviceId
+                },
+                success: function(res) {
+                    if (res.code === 0 && res.data) {
+                        showChart(res.data, res.originalData);
+                        chartDataLoaded = true;
+                    } else {
+                        layer.msg('获取数据失败');
+                    }
+                },
+                error: function() {
+                    layer.msg('获取数据失败');
+                }
+            });
+        }
+        
+        function showChart(smoothedData, originalData) {
+            var t = [];
+            var roll = [];
+            var pitch = [];
+            var yaw = [];
+            var smoothRoll = [];
+            var smoothPitch = [];
+            var smoothYaw = [];
+            
+            for (var i = 0; i < originalData.length; i++) {
+                t.push(originalData[i].createtime);
+                roll.push(originalData[i].roll);
+                pitch.push(originalData[i].pitch);
+                yaw.push(originalData[i].yaw);
+            }
+            
+            for (var i = 0; i < smoothedData.length; i++) {
+                smoothRoll.push(smoothedData[i].roll);
+                smoothPitch.push(smoothedData[i].pitch);
+                smoothYaw.push(smoothedData[i].yaw);
+            }
+            
+            var option = {
+                title: {
+                    text: '姿态数据曲线'
+                },
+                tooltip: {
+                    trigger: 'axis',
+                    axisPointer: {
+                        type: 'cross',
+                        label: {
+                            backgroundColor: '#6a7985'
+                        }
+                    }
+                },
+                legend: {
+                    data: ['Roll', 'Pitch', 'Yaw', '平滑Roll', '平滑Pitch', '平滑Yaw']
+                },
+                toolbox: {
+                    feature: {
+                        saveAsImage: {}
+                    }
+                },
+                grid: {
+                    left: '3%',
+                    right: '4%',
+                    bottom: '3%',
+                    containLabel: true
+                },
+                xAxis: [
+                    {
+                        type: 'category',
+                        boundaryGap: false,
+                        data: t,
+                        axisLabel: {
+                            formatter: function(value) {
+                                var date = new Date(value);
+                                return date.getFullYear() + '-' +
+                                       (date.getMonth() + 1).toString().padStart(2, '0') + '-' +
+                                       date.getDate().toString().padStart(2, '0') + ' ' +
+                                       date.getHours().toString().padStart(2, '0') + ':' +
+                                       date.getMinutes().toString().padStart(2, '0') + ':' +
+                                       date.getSeconds().toString().padStart(2, '0');
+                            }
+                        }
+                    }
+                ],
+                yAxis: [
+                    {
+                        type: 'value'
+                    }
+                ],
+                series: [
+                    {
+                        name: 'Roll',
+                        type: 'line',
+                        data: roll,
+                        lineStyle: {
+                            width: 1
+                        }
+                    },
+                    {
+                        name: 'Pitch',
+                        type: 'line',
+                        data: pitch,
+                        lineStyle: {
+                            width: 1
+                        }
+                    },
+                    {
+                        name: 'Yaw',
+                        type: 'line',
+                        data: yaw,
+                        lineStyle: {
+                            width: 1
+                        }
+                    },
+                    {
+                        name: '平滑Roll',
+                        type: 'line',
+                        data: smoothRoll,
+                        lineStyle: {
+                            width: 2
+                        }
+                    },
+                    {
+                        name: '平滑Pitch',
+                        type: 'line',
+                        data: smoothPitch,
+                        lineStyle: {
+                            width: 2
+                        }
+                    },
+                    {
+                        name: '平滑Yaw',
+                        type: 'line',
+                        data: smoothYaw,
+                        lineStyle: {
+                            width: 2
+                        }
+                    }
+                ]
+            };
+            
+            echartsAttitude.setOption(option);
+            
+            window.onresize = function() {
+                echartsAttitude.resize();
+            }
+        }
+
     });
 </script>
 

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

@@ -0,0 +1,237 @@
+<!DOCTYPE html>
+<html>
+<head>
+	<meta charset="utf-8">
+	<title>设备参数</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">
+</head>
+<body>
+<div class="layuimini-container">
+    <div class="layuimini-main">
+		<div class="layui-card layui-panel">
+			<div class="layui-card-header">
+				<h3>请选择要升级的固件</h3>
+			</div>
+			<div class="layui-card-body">
+				<table class="layui-hide" id="firmware-table" lay-filter="firmware-table"></table>
+			</div>
+		</div>
+		<br><br>
+
+		<div class="layui-card layui-panel">
+			<div class="layui-card-header" name="app-title">
+				<h3>终端固件信息</h3>
+			</div>
+			<div class="layui-card-body">
+				<fieldset class="table-search-fieldset">
+					<legend>搜索信息</legend>
+					<div style="margin: 10px 10px 10px 10px">
+						<form class="layui-form layui-form-pane" action="">
+							<div class="layui-form-item">
+								<div class="layui-inline" th:if="${tenant_id==0}">
+									<label class="layui-form-label">所属部门</label>
+									<div class="layui-input-inline">
+										<select name="tenantname" id="tenantname" lay-search="">
+											<option value="">全部</option>
+											<option value="非SAAS服务商">非SAAS服务商</option>
+											<option th:each="item : ${tenant_list}" th:text="${item.name}" th:value="${item.name}"></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" name="deviceid" autocomplete="off" class="layui-input">
+									</div>
+								</div>
+								<div class="layui-inline">
+									<label class="layui-form-label">项目号</label>
+									<div class="layui-input-inline">
+										<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">
+									<label class="layui-form-label">固件版本</label>
+									<div class="layui-input-inline">
+										<input type="text" name="appver" autocomplete="off" class="layui-input">
+									</div>
+								</div>
+								<div class="layui-inline">
+									<label class="layui-form-label">使用状态</label>
+									<div class="layui-input-inline">
+										<select name="opmode" id="opmode" lay-verify="required" lay-search="">
+											<option value="-1">全部</option>
+											<option value="0">正常</option>
+											<option value="1">维护</option>
+											<option value="2">停用</option>
+										</select>
+									</div>
+								</div>
+
+								<div class="layui-inline">
+									<button type="submit" class="layui-btn layui-btn-primary"  lay-submit lay-filter="data-search-btn"><i class="layui-icon"></i> 搜 索</button>
+								</div>
+							</div>
+						</form>
+					</div>
+				</fieldset>
+				<table class="layui-hide" id="app-table" lay-filter="app-table"></table>
+			</div>
+		</div>
+		<br><br>
+
+		<script type="text/html" id="app-toolbar">
+			<div class="layui-btn-container">
+				<button class="layui-btn layui-btn-sm" lay-event="upgrade" id="btn_upgrade">升级</button>
+			</div>
+		</script>
+
+    </div>
+</div>
+<script src="../lib/layui-v2.6.3/layui.js" charset="utf-8"></script>
+<script th:inline="javascript">
+    layui.use(['form', 'table'], function () {
+        var $ = layui.$,
+            form = layui.form,
+            table = layui.table;
+		var cfg_cols = [
+			{type: 'checkbox', fixed: 'left'},
+			{field: 'deviceid', title: '设备号', width: 100, sort: true},
+			{field: 'remark', title: '备注', width: 100},
+			{field: 'project_id', title: '项目号', width: 120, sort: true},
+			{field: 'sector', title: '桩号', width: 120, sort: true},
+			{field: 'name', title: '监测点号', width: 80},
+			{field: 'devicetype', title: '类型', width: 80,templet: "<div>{{d.devicetype==0?'监测站':'基准站'}}</div>"},
+			{field: 'parentid', title: '基站编号', width: 80, sort: true},
+			{field: 'tenantname', title: '所属组织', width: 120},
+			{field: 'opmode', title: '使用状态', width: 80,templet: '#modeTrans'},
+			{field: 'model', title: '型号', width: 80,templet: "<div>{{d.model==0?'G505':'G510'}}</div>"},
+			{field: 'appver', title: '固件版本', width: 80}
+		];
+		/**
+		 * 初始化表单，要加上，不然刷新部分组件可能会不加载
+		 */
+		form.render();
+		
+        table.render({
+            elem: '#app-table',
+            url: '/sys/ver_mgr/gnss_device_list',
+            toolbar: '#app-toolbar',
+			defaultToolbar: ['filter','exports'],
+			cols: [
+				cfg_cols
+			],
+			limits: [10, 20, 50],
+			limit: 10,
+            page: true,
+            skin: 'line'
+        });
+
+		table.render({
+			elem: '#firmware-table'
+			,url:'/sys/ver_mgr/firmware_list'
+			,cols: [
+					[
+				{type: 'radio', fixed: 'left'}
+				,{field:'name', title:'固件', sort: true}
+				,{field:'length', title:'长度（字节）'}
+				,{field:'create_time', title:'时间', sort: true, templet: "<div>{{layui.util.toDateString(d.create_time, 'yyyy-MM-dd HH:mm:ss')}}</div>"}
+				]
+			]
+			,page: true
+		});
+
+		// 监听搜索操作
+		form.on('submit(data-search-btn)', function (data) {
+			var result = JSON.stringify(data.field);
+
+			//执行搜索重载
+			table.reload('app-table', {
+				page: {
+					curr: 1
+				}
+				, where: {
+					searchParams: result
+				}
+			}, 'data');
+			table.render();
+
+			return false;
+		});
+
+		/**
+		 * toolbar事件监听
+		 */
+		//头工具栏事件
+		table.on('toolbar(app-table)', function(obj){
+			let $ = layui.$;
+			switch(obj.event){
+				case 'upgrade':
+					var optionStatus = table.checkStatus('firmware-table')//获取选中行状态
+					var fdata = optionStatus.data;
+					var checkStatus = table.checkStatus('app-table')//获取选中行状态
+					var adata = checkStatus.data;
+					if(fdata.length>0 && adata.length>0){
+						var firmware = fdata[0]["name"];
+						var device_list = "";
+						for(var i=0;i<adata.length; i++){
+							device_list = device_list+adata[i]["deviceid"]+";";
+						}
+						$.ajax({
+							type:"POST",
+							url:"/sys/ver_mgr/upgrade",
+							data: {
+								'firmware': firmware,
+								'id_list': device_list
+							},
+							success: function (result) {
+								if(result.code == 0) layer.msg('升级进行中...');
+								else layer.alert(result.msg);
+							},
+							error: function () {
+								console.log("ajax error");
+							}
+						});
+					}
+					break;
+
+			};
+		});
+
+	});
+
+	function onDeviceCfgUpdated(){
+		layui.table.reload('currentTableId');
+	}
+</script>
+
+<script type="text/html" id="modeTrans">
+	{{#  if(d.opmode == 0){ }}
+	<span class="layui-badge layui-bg-green">正常</span>
+	{{# } else if(d.opmode == 1){ }}
+	<span class="layui-badge layui-bg-blue">维护</span>
+	{{# } else { }}
+	<span class="layui-badge layui-bg-gray">停用</span>
+	{{#  } }}
+</script>
+
+<script type="text/html" id="synTrans">
+	{{#  if(d.syn == 0){ }}
+	<span class="layui-badge layui-bg-orange">否</span>
+	{{# } else { }}
+	<span class="layui-badge layui-bg-green">是</span>
+	{{#  } }}
+</script>
+
+</body>
+</html>

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

@@ -22,7 +22,7 @@
             <div class="layui-inline">
                 <label class="layui-form-label required">设备编号</label>
                 <div class="layui-input-block">
-                    <input type="text" name="deviceid" id="deviceid" th:field="*{deviceid}" lay-verify="required" lay-reqtext="不能为空" placeholder="请输入设备编号" value="" class="layui-input">
+                    <input type="text" name="deviceid" id="deviceid" th:field="*{deviceid}" lay-verify="required" lay-reqtext="不能为空" placeholder="请输入设备编号" value="" class="layui-input" onblur="checkDeviceId()">
                 </div>
             </div>
             <div class="layui-inline">
@@ -57,14 +57,21 @@
                 </div>
             </div>
             <div class="layui-inline" pane="">
-                <label class="layui-form-label">星座</label>
+                <label class="layui-form-label">内置电池</label>
-                <div class="layui-input-block">
+                <div class="layui-input-inline">
-                    <input type="checkbox" name="like1[write]" lay-skin="primary" title="北斗" checked="" disabled="">
+                    <select name="has_battery" id="has_battery" th:field="*{has_battery}" lay-verify="required" lay-search="">
-                    <input type="checkbox" name="like1[read]" lay-skin="primary" title="GPS" disabled="">
+                        <option value="0">否</option>
-                    <input type="checkbox" name="like1[game]" lay-skin="primary" title="GLONASS" disabled="">
+                        <option value="1">是</option>
-                    <input type="checkbox" name="like1[game]" lay-skin="primary" title="Galileo" disabled="">
+                    </select>
                 </div>
             </div>
+            <div class="layui-inline" pane="">
+                <label class="layui-form-label">电压系数</label>
+                <div class="layui-input-inline">
+                    <input type="text" name="voltage_factor" id="voltage_factor" th:field="*{voltage_factor}" class="layui-input">
+                </div>
+                <div class="layui-form-mid layui-word-aux">*0.1</div>
+            </div>
         </div>
         <div class="layui-form-item">
             <div class="layui-inline">
@@ -82,6 +89,12 @@
                     <input type="number" name="parentid" id="parentid" th:field="*{parentid}" placeholder="请输入关联基准站编号" value="" class="layui-input">
                 </div>
             </div>
+            <div class="layui-inline" >
+                <label class="layui-form-label">备选基站</label>
+                <div class="layui-input-block">
+                    <input type="number" name="parentid1" id="parentid1"  th:field="*{parentid1}" placeholder="请输入备选基准站编号" value="" class="layui-input">
+                </div>
+            </div>
         </div>
         <div class="layui-form-item" id="ecef_div">
             <div class="layui-inline">
@@ -288,6 +301,7 @@
 
         });
 
+
         function setEcefEditor(){
             var $ = layui.$;
             console.log($('#devicetype').val(), $('#model').val());
@@ -299,6 +313,19 @@
             }
         }
 
+        function checkDeviceId(){
+            var $ = layui.$;
+            var value = $("#deviceid").val();
+            console.log(value);
+            if(value.startsWith("6") || value.startsWith("7")){
+                $("#has_battery").val('1');
+                $("#has_battery").attr('disabled',true);
+            }
+            else{
+                $("#has_battery").attr('disabled',false);
+            }
+            layui.form.render();
+        }
     </script>
 
 </body>

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

@@ -91,8 +91,12 @@
                     contentType: "application/json;charset=UTF-8",
                     data: JSON.stringify(data.field),
                     success: function (result) {
+                        if(result.code == 0) {
                             parent.onBaseParaUpdated();
                             parent.layer.close(iframeIndex);
+                        }
+                        else layer.alert(result.msg);
+
                     },
                     error: function () {
                         console.log("ajax error");

sec-common/pom.xml

@@ -56,6 +56,12 @@
             <version>5.5.8</version>
         </dependency>
 
+        <dependency>
+            <groupId>io.netty</groupId>
+            <artifactId>netty-all</artifactId>
+            <version>4.1.78.Final</version>
+        </dependency>
+
 
     </dependencies>
 

sec-common/src/main/java/com/imdroid/common/util/Des3Utils.java

@@ -0,0 +1,109 @@
+package com.imdroid.common.util;
+
+import io.netty.buffer.ByteBuf;
+import io.netty.buffer.Unpooled;
+import org.apache.commons.codec.binary.Base64;
+
+import javax.crypto.Cipher;
+import javax.crypto.SecretKeyFactory;
+import javax.crypto.spec.DESedeKeySpec;
+import javax.crypto.spec.IvParameterSpec;
+import java.nio.charset.StandardCharsets;
+import java.security.Key;
+
+public class Des3Utils {
+    private static final String KEY_ALGORITHM = "DESede";
+    private static final String CIPHER_ALGORITHM_CBC = "DESede/CBC/PKCS5Padding";
+    private static final String CIPHER_ALGORITHM_ECB = "DESede/ECB/PKCS5Padding";
+
+
+    static String mode = "DESede/CFB/NoPadding";
+
+    public static byte[] encrypt(Key deskey, IvParameterSpec desiv, String mode, byte[] data) {
+        byte[] res = null;
+
+        Cipher cipher;
+        try {
+            cipher = Cipher.getInstance(mode);
+            cipher.init(Cipher.ENCRYPT_MODE, deskey, desiv);
+            res = cipher.doFinal(data);
+        } catch (Exception e) {
+            e.printStackTrace();
+        }
+        return res;
+    }
+
+    public static String encrypt(String data, byte[] key, byte[] iv) {
+        String res = "";
+
+        ByteBuf buf = Unpooled.buffer(256);
+        byte[] databyte = data.getBytes(StandardCharsets.UTF_8);
+        buf.writeBytes(databyte);
+        int a = (8 - databyte.length % 8);
+        for (int c = 0; c < a; c++) {
+            buf.writeByte(0x00);
+        }
+        databyte = new byte[buf.readableBytes()];
+        buf.readBytes(databyte);
+
+        DESedeKeySpec spec;
+        SecretKeyFactory keyfactory;
+        Key deskey;
+        try {
+            keyfactory = SecretKeyFactory.getInstance("DESede");
+            spec = new DESedeKeySpec(key);
+            deskey = keyfactory.generateSecret(spec);
+            IvParameterSpec desiv = new IvParameterSpec(iv);
+
+            byte[] encryptbyte = encrypt(deskey, desiv, mode, databyte);
+            res = Base64.encodeBase64String(encryptbyte);
+        } catch (Exception e) {
+            e.printStackTrace();
+        }
+
+        return res;
+
+    }
+
+    public static String encryptCBC(byte[] key, byte[] iv, String data) throws Exception {
+        DESedeKeySpec spec = new DESedeKeySpec(key);
+        SecretKeyFactory keyFactory = SecretKeyFactory.getInstance(KEY_ALGORITHM);
+        Key desKey = keyFactory.generateSecret(spec);
+        Cipher cipher = Cipher.getInstance(mode);
+        IvParameterSpec ips = new IvParameterSpec(iv);
+        cipher.init(Cipher.ENCRYPT_MODE, desKey, ips);
+        byte[] encryptedData = cipher.doFinal(data.getBytes(StandardCharsets.UTF_8));
+        return Base64.encodeBase64String(encryptedData);
+    }
+
+    public static String decryptCBC(byte[] key, byte[] iv, String data) throws Exception {
+        DESedeKeySpec spec = new DESedeKeySpec(key);
+        SecretKeyFactory keyFactory = SecretKeyFactory.getInstance(KEY_ALGORITHM);
+        Key desKey = keyFactory.generateSecret(spec);
+        Cipher cipher = Cipher.getInstance(CIPHER_ALGORITHM_CBC);
+        IvParameterSpec ips = new IvParameterSpec(iv);
+        cipher.init(Cipher.DECRYPT_MODE, desKey, ips);
+        byte[] decryptedData = cipher.doFinal(Base64.decodeBase64(data));
+        return new String(decryptedData, StandardCharsets.UTF_8);
+    }
+
+    public static String encryptECB(byte[] key, String data) throws Exception {
+        DESedeKeySpec spec = new DESedeKeySpec(key);
+        SecretKeyFactory keyFactory = SecretKeyFactory.getInstance(KEY_ALGORITHM);
+        Key desKey = keyFactory.generateSecret(spec);
+        Cipher cipher = Cipher.getInstance(CIPHER_ALGORITHM_ECB);
+        cipher.init(Cipher.ENCRYPT_MODE, desKey);
+        byte[] encryptedData = cipher.doFinal(data.getBytes(StandardCharsets.UTF_8));
+        return Base64.encodeBase64String(encryptedData);
+    }
+
+    public static String decryptECB(byte[] key, String data) throws Exception {
+        DESedeKeySpec spec = new DESedeKeySpec(key);
+        SecretKeyFactory keyFactory = SecretKeyFactory.getInstance(KEY_ALGORITHM);
+        Key desKey = keyFactory.generateSecret(spec);
+        Cipher cipher = Cipher.getInstance(CIPHER_ALGORITHM_ECB);
+        cipher.init(Cipher.DECRYPT_MODE, desKey);
+        byte[] decryptedData = cipher.doFinal(Base64.decodeBase64(data));
+        return new String(decryptedData, StandardCharsets.UTF_8);
+    }
+}

sec-ntrip-proxy/src/main/java/com/imdroid/ntripproxy/service/Ntrip2Channels.java

@@ -3,8 +3,12 @@ package com.imdroid.ntripproxy.service;
 public class Ntrip2Channels {
     final private String localHost="127.0.0.1";
     final private int localPort=9903;
-    final private String remoteHost="47.107.50.52";
+    // 将远程主机改为本地，端口改为12000
-    final private int remotePort=9903;
+    final private String remoteHost="127.0.0.1";
+    //final private String remoteHost="100.91.37.6";
+    //final private String remoteHost="47.107.50.52";
+    //final private String remoteHost="8.134.185.53";
+    final private int remotePort=12000;
 
     public static final Ntrip2Channels INSTANCE = new Ntrip2Channels();
 

sec-ntrip-proxy/src/main/java/com/imdroid/ntripproxy/service/RtcmFilterServer.java

@@ -0,0 +1,185 @@
+package com.imdroid.ntripproxy.service;
+
+import com.imdroid.common.util.DataTypeUtil;
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
+import org.springframework.boot.ApplicationArguments;
+import org.springframework.boot.ApplicationRunner;
+import org.springframework.stereotype.Component;
+
+import java.io.IOException;
+import java.net.*;
+import java.nio.ByteBuffer;
+import java.nio.channels.SelectionKey;
+import java.nio.channels.Selector;
+import java.nio.channels.ServerSocketChannel;
+import java.nio.channels.SocketChannel;
+import java.util.ArrayList;
+import java.util.Iterator;
+import java.util.List;
+import java.util.concurrent.CopyOnWriteArrayList;
+import java.util.concurrent.ExecutorService;
+import java.util.concurrent.Executors;
+
+/**
+ * RTCM数据过滤服务器
+ * 监听UDP 12000端口，接收RTCM数据
+ * 开启TCP 12002端口，转发指定deviceId的RTCM数据
+ */
+@Component
+public class RtcmFilterServer implements ApplicationRunner {
+
+    private static final Logger logger = LoggerFactory.getLogger(RtcmFilterServer.class);
+    
+    // 配置参数
+    private static final int UDP_PORT = 12000;
+    private static final int TCP_PORT = 12002;
+    private static final String TARGET_DEVICE_ID = "3530795";
+    private static final int BUFFER_SIZE = 4096;
+    
+    // TCP客户端连接列表
+    private final List<SocketChannel> tcpClients = new CopyOnWriteArrayList<>();
+    
+    // 线程池
+    private final ExecutorService executorService = Executors.newFixedThreadPool(2);
+    
+    @Override
+    public void run(ApplicationArguments args) {
+        // 启动UDP监听服务
+        executorService.submit(this::startUdpServer);
+        
+        // 启动TCP服务器
+        executorService.submit(this::startTcpServer);
+        
+        logger.info("RTCM过滤服务已启动 - UDP监听端口:{}, TCP服务端口:{}, 目标设备ID:{}", 
+                UDP_PORT, TCP_PORT, TARGET_DEVICE_ID);
+    }
+    
+    /**
+     * 启动UDP服务器监听12000端口
+     */
+    private void startUdpServer() {
+        try (DatagramSocket socket = new DatagramSocket(UDP_PORT)) {
+            logger.info("UDP服务已启动，监听端口: {}", UDP_PORT);
+            byte[] buffer = new byte[BUFFER_SIZE];
+            
+            while (true) {
+                DatagramPacket packet = new DatagramPacket(buffer, buffer.length);
+                socket.receive(packet);
+                
+                // 解析数据包
+                byte[] data = new byte[packet.getLength()];
+                System.arraycopy(packet.getData(), packet.getOffset(), data, 0, packet.getLength());
+                
+                // 提取设备ID
+                String deviceId = extractDeviceId(data);
+                
+                // 如果是目标设备ID，则转发到TCP客户端
+                if (TARGET_DEVICE_ID.equals(deviceId)) {
+                    if (logger.isDebugEnabled()) {
+                        logger.debug("接收到目标设备 {} 的RTCM数据，长度: {}", deviceId, data.length);
+                    }
+                    forwardToTcpClients(data);
+                }
+            }
+        } catch (IOException e) {
+            logger.error("UDP服务异常: {}", e.getMessage(), e);
+        }
+    }
+    
+    /**
+     * 启动TCP服务器监听12002端口
+     */
+    private void startTcpServer() {
+        try {
+            Selector selector = Selector.open();
+            ServerSocketChannel serverChannel = ServerSocketChannel.open();
+            serverChannel.configureBlocking(false);
+            serverChannel.socket().bind(new InetSocketAddress(TCP_PORT));
+            serverChannel.register(selector, SelectionKey.OP_ACCEPT);
+            
+            logger.info("TCP服务已启动，监听端口: {}", TCP_PORT);
+            
+            while (true) {
+                selector.select();
+                Iterator<SelectionKey> keys = selector.selectedKeys().iterator();
+                
+                while (keys.hasNext()) {
+                    SelectionKey key = keys.next();
+                    keys.remove();
+                    
+                    if (!key.isValid()) {
+                        continue;
+                    }
+                    
+                    if (key.isAcceptable()) {
+                        acceptConnection(selector, serverChannel);
+                    }
+                }
+            }
+        } catch (IOException e) {
+            logger.error("TCP服务异常: {}", e.getMessage(), e);
+        }
+    }
+    
+    /**
+     * 接受新的TCP客户端连接
+     */
+    private void acceptConnection(Selector selector, ServerSocketChannel serverChannel) throws IOException {
+        SocketChannel clientChannel = serverChannel.accept();
+        clientChannel.configureBlocking(false);
+        clientChannel.register(selector, SelectionKey.OP_READ);
+        
+        tcpClients.add(clientChannel);
+        logger.info("新的TCP客户端已连接: {}", clientChannel.getRemoteAddress());
+    }
+    
+    /**
+     * 从数据包中提取设备ID
+     */
+    private String extractDeviceId(byte[] data) {
+        // 按照NtripMessage格式解析，设备ID从第4字节开始，4字节无符号整型
+        if (data.length >= 8) {
+            ByteBuffer buffer = ByteBuffer.wrap(data, 4, 4);
+            long deviceId = buffer.getInt() & 0xFFFFFFFFL; // 转为无符号整型
+            return String.valueOf(deviceId);
+        }
+        return "";
+    }
+    
+    /**
+     * 将数据转发到所有TCP客户端
+     */
+    private void forwardToTcpClients(byte[] data) {
+        if (tcpClients.isEmpty()) {
+            return;
+        }
+        
+        List<SocketChannel> disconnectedClients = new ArrayList<>();
+        
+        for (SocketChannel client : tcpClients) {
+            try {
+                if (client.isOpen()) {
+                    ByteBuffer buffer = ByteBuffer.wrap(data);
+                    client.write(buffer);
+                } else {
+                    disconnectedClients.add(client);
+                }
+            } catch (IOException e) {
+                logger.warn("向TCP客户端发送数据失败: {}", e.getMessage());
+                disconnectedClients.add(client);
+            }
+        }
+        
+        // 移除断开连接的客户端
+        for (SocketChannel client : disconnectedClients) {
+            tcpClients.remove(client);
+            try {
+                client.close();
+                logger.info("已关闭断开连接的TCP客户端");
+            } catch (IOException e) {
+                logger.error("关闭TCP客户端异常: {}", e.getMessage());
+            }
+        }
+    }
+} 

sec-vermgr/pom.xml

@@ -0,0 +1,104 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project xmlns="http://maven.apache.org/POM/4.0.0"
+         xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
+         xsi:schemaLocation="http://maven.apache.org/POM/4.0.0 http://maven.apache.org/xsd/maven-4.0.0.xsd">
+    <modelVersion>4.0.0</modelVersion>
+    <parent>
+        <groupId>com.imdroid</groupId>
+        <artifactId>security-monitor</artifactId>
+        <version>1.0-SNAPSHOT</version>
+    </parent>
+
+    <artifactId>sec-vermgr</artifactId>
+
+    <properties>
+        <maven.compiler.source>8</maven.compiler.source>
+        <maven.compiler.target>8</maven.compiler.target>
+        <project.build.sourceEncoding>UTF-8</project.build.sourceEncoding>
+    </properties>
+
+    <dependencies>
+        <dependency>
+            <groupId>org.springframework.boot</groupId>
+            <artifactId>spring-boot-starter-web</artifactId>
+        </dependency>
+        <dependency>
+            <groupId>org.springframework.boot</groupId>
+            <artifactId>spring-boot-starter-test</artifactId>
+            <scope>test</scope>
+        </dependency>
+        <dependency>
+            <groupId>org.springframework.boot</groupId>
+            <artifactId>spring-boot-devtools</artifactId>
+            <optional>true</optional>
+        </dependency>
+
+        <dependency>
+            <groupId>org.slf4j</groupId>
+            <artifactId>slf4j-api</artifactId>
+        </dependency>
+        <dependency>
+            <groupId>ch.qos.logback</groupId>
+            <artifactId>logback-classic</artifactId>
+        </dependency>
+        <dependency>
+            <groupId>io.netty</groupId>
+            <artifactId>netty-all</artifactId>
+            <version>4.1.78.Final</version>
+        </dependency>
+
+        <dependency>
+            <groupId>com.imdroid</groupId>
+            <artifactId>sec-api</artifactId>
+            <version>1.0-SNAPSHOT</version>
+        </dependency>
+        <dependency>
+            <groupId>com.imdroid</groupId>
+            <artifactId>sec-common</artifactId>
+            <version>1.0-SNAPSHOT</version>
+        </dependency>
+
+        <dependency>
+            <groupId>org.projectlombok</groupId>
+            <artifactId>lombok</artifactId>
+            <optional>true</optional>
+        </dependency>
+        <!-- 矩阵工具 -->
+        <dependency>
+            <groupId>org.ejml</groupId>
+            <artifactId>ejml-all</artifactId>
+            <version>0.41</version>
+        </dependency>
+    </dependencies>
+
+    <build>
+        <finalName>${project.artifactId}</finalName>
+        <plugins>
+            <plugin>
+                <groupId>org.springframework.boot</groupId>
+                <artifactId>spring-boot-maven-plugin</artifactId>
+                <executions>
+                    <execution>
+                        <goals>
+                            <goal>repackage</goal>
+                        </goals>
+                    </execution>
+                </executions>
+            </plugin>
+        </plugins>
+    </build>
+
+    <repositories>
+        <repository>
+            <id>central</id>
+            <name>ali-mirror</name>
+            <url>https://maven.aliyun.com/repository/central</url>
+            <releases>
+                <enabled>true</enabled>
+            </releases>
+            <snapshots>
+                <enabled>true</enabled>
+            </snapshots>
+        </repository>
+    </repositories>
+</project>

sec-vermgr/src/main/java/com/imdroid/vermgr/VerMgrApp.java

@@ -0,0 +1,25 @@
+package com.imdroid.vermgr;
+
+import org.mybatis.spring.annotation.MapperScan;
+import org.springframework.boot.SpringApplication;
+import org.springframework.boot.autoconfigure.SpringBootApplication;
+import org.springframework.boot.autoconfigure.domain.EntityScan;
+import org.springframework.cloud.openfeign.EnableFeignClients;
+import org.springframework.context.annotation.ComponentScan;
+
+
+/**
+ * @author Layton
+ * @date 2023/1/31 20:33
+ */
+@SpringBootApplication(scanBasePackages = {"com.imdroid"})
+@MapperScan({"com.imdroid.secapi","com.imdroid.beidou.entity"})
+@ComponentScan({"com.imdroid.*"})
+@EntityScan({"com.imdroid.*"})
+@EnableFeignClients(basePackages = "com.imdroid.*")
+public class VerMgrApp {
+
+    public static void main(String[] args) {
+        SpringApplication.run(VerMgrApp.class, args);
+    }
+}

sec-vermgr/src/main/java/com/imdroid/vermgr/entity/DeviceApp.java

@@ -0,0 +1,39 @@
+package com.imdroid.vermgr.entity;
+
+import lombok.Data;
+
+import java.sql.Timestamp;
+
+//member name must be same as the field name in mysql
+@Data
+public class DeviceApp {
+    //0:未连接；1：连接；2：升级中；3：传输完成；4：升级失败
+    public static final short STATE_DISCONNECTED = 0;
+    public static final short STATE_CONNECTED = 1;
+    public static final short STATE_UPGRADING = 2;
+    public static final short STATE_TX_COMPLETED = 3;
+    public static final short STATE_TX_FAILED = 4;
+    public static final String[] state_description = {
+            "未连接","连接","升级中","发送完成","发送失败"
+    };
+    public static final String[] result_description = {
+            "成功","其他错误","传输中断","超时","数据错误","超时","保存失败","文件错误"
+    };
+
+    long device_sn = 0;
+    String version;
+    String firmware;
+    short upgrade_state = STATE_DISCONNECTED;
+    short upgrade_result;   //失败原因
+    Timestamp upgrade_time;
+    String strState;
+    String strResult;
+
+    public void translateCode() {
+        if(upgrade_state>STATE_TX_FAILED) upgrade_state=STATE_DISCONNECTED;
+        strState = state_description[upgrade_state];
+        if(upgrade_result>7) upgrade_result=7;
+        strResult = result_description[upgrade_result];
+    }
+
+}

sec-vermgr/src/main/java/com/imdroid/vermgr/service/UpgradeManager.java

@@ -0,0 +1,290 @@
+package com.imdroid.vermgr.service;
+
+import com.imdroid.secapi.client.BeidouClient;
+import com.imdroid.secapi.client.HttpResp;
+import com.imdroid.vermgr.entity.DeviceApp;
+import com.imdroid.vermgr.utils.CRC16;
+import io.netty.channel.Channel;
+import io.netty.util.AttributeKey;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.web.bind.annotation.PostMapping;
+import org.springframework.web.bind.annotation.RequestParam;
+import org.springframework.web.bind.annotation.RestController;
+
+import java.util.Map;
+import java.util.Timer;
+import java.util.TimerTask;
+import java.util.concurrent.ConcurrentHashMap;
+
+/******************************************************
+ * 批量升级终端版本
+ * 单例，要求线程安全
+ * 状态机：Idle---收到UpgradeDeviceList--->Upgrading
+ *         ^                                 |
+ *         |                                 |
+ *         +------Timerout or Complete <-----+
+ *
+ * 流程：
+ * 1）收到待升级的设备列表UpgradeDeviceList。如果当前处于升级完毕状态，则更新待升级列表。回应答：开始升级/升级未结束
+ * 2）TCP通道激活 ---> 获取版本信息 ---> 关联TCP通道和待升级的设备
+ * 3）启动升级会话 ---> 实时更新会话
+ * 数据结构：deviceId,cur_ver,upgrade_firmware,TCP_channel,upgrade_session
+ * ****************************************************/
+@Slf4j
+@RestController
+public class UpgradeManager {
+    // 版本管理协议
+    public static final byte GET_APP_INFO = (byte) 0xA0;
+    public static final byte APP_INFO_IND = (byte) 0xA1;
+    public static final byte UPGRADE_IND  = (byte) 0xA2;
+    public static final byte NOT_UPGRADE_IND = (byte) 0xA3;
+    public static final byte UPGRADE_ACK  = (byte) 0xA4;
+
+    @Autowired
+    static public UpgradeManager INSTANCE;
+    @Autowired
+    BeidouClient beidouClient;
+
+    Map<Long, DeviceApp> upgradeDeviceList = new ConcurrentHashMap<>();
+    Map<Long, UpgradeSession> upgradeSessionMap = new ConcurrentHashMap<>();
+    boolean isIdleState = true;
+    TimerTask operationTimerTask = null;
+    TimerTask txProgressTimerTask = null;
+    Timer timer;   //30s定时器
+
+    @PostMapping("/upgrade_cmd")
+    HttpResp upgrade(@RequestParam(name = "deviceList") String deviceList, @RequestParam(name = "verFile") String verFile){
+        HttpResp resp = new HttpResp();
+        if(onRxUpgradeDeviceList(deviceList.split(";"),verFile)){
+            resp.setCode(HttpResp.HTTP_RSP_OK);
+        }
+        else{
+            resp.setCode(HttpResp.HTTP_RSP_FAILED);
+            resp.setResponseMessage("正在升级中");
+        }
+        return resp;
+    }
+
+    boolean onRxUpgradeDeviceList(String[] deviceList, String firmware){
+        if(isIdleState){
+            isIdleState = false;
+            //清空状态信息和升级会话
+            upgradeDeviceList.clear();
+            upgradeSessionMap.clear();
+            //创建新的状态信息
+            for(String deviceId:deviceList){
+                Long deviceSn = Long.valueOf(deviceId);
+                if(deviceSn!=null) {
+                    DeviceApp deviceApp = new DeviceApp();
+                    deviceApp.setDevice_sn(deviceSn);
+                    deviceApp.setFirmware(firmware);
+                    upgradeDeviceList.put(deviceSn, deviceApp);
+                }
+            }
+            //启动20s定时器，如果这期间没有收到任何数据，则超时失败
+            startTimer();
+            startTxProgressTimerTask();
+            return true;
+        }
+        else{
+            return false;
+        }
+    }
+    public void onChannelActive(Channel channel){
+        // get app info
+        Long deviceId = (Long) channel.attr(AttributeKey.valueOf("deviceId")).get();
+        if(deviceId == null){
+            getVerInfo(channel);
+        }
+    }
+    void onChannelInactive(Channel channel){
+        // 更新状态为”未连接“
+        long sn = (long) channel.attr(AttributeKey.valueOf("sn")).get();
+        if(sn > 0){
+            DeviceApp deviceApp = upgradeDeviceList.get(sn);
+            if (deviceApp != null) {
+                deviceApp.setUpgrade_state(DeviceApp.STATE_DISCONNECTED);
+            }
+            upgradeSessionMap.remove(sn);
+        }
+    }
+    void onRxData(Channel channel, byte[] rx_data){
+        if(isIdleState){
+            // 临时，空闲状态下，如果连续3次收到C，则认为有终端主动请求升级
+            if(rx_data[0]==UpgradeSession.CC && rx_data.length<=4){
+                //onUpgradeRequest(channel);
+            }
+        }
+        else {
+            if (rx_data[0] == APP_INFO_IND && rx_data.length > 2) {
+                onVerInfoReceived(channel, rx_data);
+                restartTimer();
+            }
+            else {
+                Long sn = (Long) channel.attr(AttributeKey.valueOf("deviceId")).get();
+                if(sn==null) return;
+                UpgradeSession session = upgradeSessionMap.get(sn);
+                if (session == null) return;
+
+                boolean session_done = false;
+
+                if (rx_data[0] == UPGRADE_ACK) {
+                    log.info("upgrade ack");
+                    //outputHex(rx_data);
+                    if (rx_data[5] != 0) {
+                        //终端拒绝升级，原因是产品序列号不对
+                        session.reject();
+                        session_done = true;
+                    }
+                } else {
+                    session_done = session.procYmodem(channel, rx_data);
+                }
+
+                if (session_done) {
+                    if (isAllUpgraded()) {
+                        //全部发完，等待新版本启动回应答
+                        stopTimer();
+                        onUpgradeComplete();
+                    }
+                }
+            }
+        }
+
+    }
+
+    void onUpgradeComplete(){
+        isIdleState = true;
+        stopTxProgressTimerTask();
+        refreshTxProgress();
+        beidouClient.onUpgradeComplete();
+    }
+    /***************************************************
+     * 定时器处理
+     ****************************************************/
+    void startTimer(){
+        if(operationTimerTask == null) {
+            operationTimerTask = new TimerTask() {
+                @Override
+                public void run() {
+                    onTimerout();
+                }
+            };
+        }
+        timer.schedule(operationTimerTask,15000);
+    }
+    void restartTimer(){
+        stopTimer();
+        startTimer();
+    }
+    void stopTimer(){
+        if(operationTimerTask != null){
+            operationTimerTask.cancel();
+            operationTimerTask = null;
+        }
+    }
+
+    void onTimerout(){
+        // 超时处理
+        for(UpgradeSession session:upgradeSessionMap.values()){
+            if(session.getState() == DeviceApp.STATE_UPGRADING) {
+                session.onTimeout();
+            }
+        }
+        //
+        onUpgradeComplete();
+    }
+
+    void startTxProgressTimerTask(){
+        if(txProgressTimerTask==null){
+            txProgressTimerTask = new TimerTask() {
+                @Override
+                public void run() {
+                    refreshTxProgress();
+                }
+            };
+        }
+        timer.schedule(txProgressTimerTask,1000,1000);
+    }
+    void stopTxProgressTimerTask(){
+        if(txProgressTimerTask != null){
+            txProgressTimerTask.cancel();
+            txProgressTimerTask = null;
+            log.info("stopTxProgressTimerTask");
+        }
+    }
+    /***************************************************
+     * 获取终端信息
+     ****************************************************/
+    public void getVerInfo(Channel channel){
+        // 向所有连接终端发读取版本请求
+        byte get_app_info[] = {GET_APP_INFO,0};
+        byte tailer_buff[] = {0,0};
+        int crc = CRC16.calculate(get_app_info);
+        tailer_buff[0] = (byte) (crc>>8);
+        tailer_buff[1] = (byte) crc;
+        channel.write(get_app_info);
+        channel.writeAndFlush(tailer_buff);
+    }
+
+    void onVerInfoReceived(Channel channel, byte[] rx_data){
+        log.info(channel.remoteAddress()+": received app info");
+        // 记录获取到的版本信息
+        if(rx_data.length<9) return;
+        int crc = CRC16.calculate(rx_data, 7);
+        int crc0 =  (((short)rx_data[7]&0xFF)<<8) | ((short)rx_data[8]&0xFF);
+        if(crc != crc0) {
+            log.info(channel.remoteAddress()+": crc error");
+            return;
+        }
+        int i=1;
+        long sn = 0;
+        for(i=1;i<=4;i++){
+            sn = (sn<<8) | ((short)rx_data[i]&0xFF);
+        }
+        String cur_ver = ((short)rx_data[i++]&0xFF) + "." + ((short)rx_data[i++]&0xFF);
+
+        // 更新APP记录并检查此终端是否需要升级
+        DeviceApp deviceApp = upgradeDeviceList.get(sn);
+
+        if (deviceApp == null) return;
+
+        deviceApp.setVersion(cur_ver);
+        //记录这个channel是有应答的
+        channel.attr(AttributeKey.valueOf("deviceId")).set(sn);
+        // 如果原来是未连接状态，则改为连接；如果是其他状态则保持不变
+        if(deviceApp.getUpgrade_state() == DeviceApp.STATE_DISCONNECTED) {
+            deviceApp.setUpgrade_state(DeviceApp.STATE_CONNECTED);
+        }
+        //启动升级
+        UpgradeSession session = new UpgradeSession(deviceApp);
+        upgradeSessionMap.put(sn, session);
+        session.start(channel);
+    }
+
+    /***************************************************
+     * 升级
+     ****************************************************/
+    synchronized public boolean isAllUpgraded(){
+        for(DeviceApp deviceApp:upgradeDeviceList.values()){
+            if(deviceApp.getUpgrade_state() != DeviceApp.STATE_TX_COMPLETED &&
+                    deviceApp.getUpgrade_state() != DeviceApp.STATE_TX_FAILED) {
+                return false;
+            }
+        }
+        return true;
+    }
+
+    void refreshTxProgress(){
+        for(UpgradeSession session:upgradeSessionMap.values()){
+            if(session.getState() == DeviceApp.STATE_UPGRADING) {
+                beidouClient.onUpgradeProgress(Long.toString(session.getSN()), session.getTxPercentage() + "%");
+            }
+        }
+        for(DeviceApp deviceApp:upgradeDeviceList.values()){
+            if(deviceApp.getUpgrade_state()!=DeviceApp.STATE_UPGRADING){
+                beidouClient.onUpgradeProgress(Long.toString(deviceApp.getDevice_sn()),deviceApp.getStrState());
+            }
+        }
+    }
+}

sec-vermgr/src/main/java/com/imdroid/vermgr/service/UpgradeSession.java

@@ -0,0 +1,394 @@
+package com.imdroid.vermgr.service;
+
+import com.imdroid.vermgr.entity.DeviceApp;
+import com.imdroid.vermgr.utils.CRC16;
+import io.netty.channel.Channel;
+import lombok.extern.slf4j.Slf4j;
+
+import java.io.File;
+import java.io.FileInputStream;
+import java.io.FileNotFoundException;
+import java.io.IOException;
+import java.sql.Timestamp;
+import java.util.Arrays;
+@Slf4j
+public class UpgradeSession {
+    public static final byte COM_OK         = 0;
+    public static final byte COM_ERROR      = 1;
+    public static final byte COM_ABORT      = 2;
+    public static final byte COM_TIMEOUT    = 3;
+    public static final byte COM_DATA       = 4;
+    public static final byte COM_LIMIT      = 5;
+    public static final byte COM_SAVE_ERR   = 6;
+    public static final byte COM_FILE_ERR   = 7;
+
+    public static final byte SOH = 0x01;  /* start of 128-byte data packet */
+    public static final byte STX = 0x02;  /* start of 1024-byte data packet */
+    public static final byte EOT = 0x04;  /* end of transmission */
+    public static final byte ACK = 0x06;  /* acknowledge */
+    public static final byte NAK = 0x15;  /* negative acknowledge */
+    public static final byte CA  = 0x18; /* two of these in succession aborts transfer */
+    public static final byte CC = 0x43;  /* 'C' == 0x43, request 16-bit CRC */
+
+    public static final short PACKET_HEADER_SIZE = 3;
+    public static final short PACKET_TRAILER_SIZE = 2;
+    public static final short PACKET_SIZE = 128;
+    public static final short PACKET_1K_SIZE = 1024;
+
+    static private String version_path="firmware";
+
+    private DeviceApp deviceApp;
+    File firmware;
+    FileInputStream reader;
+    short tx_seq = 0;
+    int tx_bytes = 0;
+    byte nak_num = 0;
+
+    byte[] header_buff;
+    byte[] tailer_buff;
+    byte[] soh_buff;
+    byte[] stx_buff;
+    boolean session_done = false;
+    boolean file_done = false;
+    boolean is_file_accepted = false;
+    byte result = COM_OK;
+
+    public UpgradeSession(DeviceApp app) {
+        deviceApp = app;
+        firmware = null;
+        reader = null;
+        header_buff = new byte[PACKET_HEADER_SIZE];
+        tailer_buff = new byte[PACKET_TRAILER_SIZE];
+        soh_buff = new byte[PACKET_SIZE];
+        stx_buff = new byte[PACKET_1K_SIZE];
+    }
+
+    public byte getResult(){
+        return result;
+    }
+    public DeviceApp getDeviceApp(){return deviceApp;}
+    public long getSN(){return deviceApp.getDevice_sn();}
+    public int getState() {return deviceApp.getUpgrade_state();}
+    public int getTxPercentage() {
+        if(firmware == null) return 0;
+        return (int) (tx_bytes*100/firmware.length());
+    }
+
+    public void reset(){
+        session_done = true;
+        file_done = true;
+        is_file_accepted = false;
+        tx_seq = 0;
+        nak_num = 0;
+        tx_bytes = 0;
+
+        try {
+            if(reader!=null) reader.close();
+        }
+        catch (IOException e){
+            log.error(firmware+" reader.close()",e);
+        }
+    }
+
+    public boolean start(Channel channel) {
+        session_done = false;
+        file_done = false;
+        is_file_accepted = false;
+        tx_seq = 0;
+        nak_num = 0;
+        tx_bytes = 0;
+        result = COM_FILE_ERR;
+
+        String file_name = deviceApp.getFirmware();
+        if(file_name != null){
+            firmware = new File(version_path+"/" + file_name);
+            if (firmware.exists()) {
+                try {
+                    if(reader!=null) reader.close();
+                    reader = new FileInputStream(firmware);
+                    result = COM_OK;
+                }
+                catch (FileNotFoundException e) {
+                    log.error(firmware+" reader open",e);
+                    reset();
+                } catch (IOException e) {
+                    log.error(firmware+" reader open",e);
+                    reset();
+                }
+            }
+        }
+
+        // 发升级指示
+        if(result != COM_OK){
+            deviceApp.setUpgrade_state(DeviceApp.STATE_TX_FAILED);
+            deviceApp.setUpgrade_result(result);
+            return false;
+        }
+        else {
+            long sn = deviceApp.getDevice_sn();
+            byte[] ind_msg = new byte[5];
+            ind_msg[0] = UpgradeManager.UPGRADE_IND;
+            ind_msg[1] = (byte) (sn >> 24);
+            ind_msg[2] = (byte) (sn >> 16);
+            ind_msg[3] = (byte) (sn >> 8);
+            ind_msg[4] = (byte) sn;
+            byte tailer_buff[] = {0, 0};
+            int crc = CRC16.calculate(ind_msg);
+            tailer_buff[0] = (byte) (crc >> 8);
+            tailer_buff[1] = (byte) crc;
+            channel.write(ind_msg);
+            channel.writeAndFlush(tailer_buff);
+            log.info(deviceApp.getDevice_sn()+": send UPGRADE_IND");
+
+            deviceApp.setUpgrade_state(DeviceApp.STATE_UPGRADING);
+            return true;
+        }
+    }
+
+    public boolean restart(Channel channel) {
+        session_done = false;
+        file_done = false;
+        is_file_accepted = false;
+        tx_seq = 0;
+        nak_num = 0;
+        result = COM_FILE_ERR;
+
+        try {
+            if(reader!=null) reader.close();
+            reader = new FileInputStream(firmware);
+            result = COM_OK;
+        }
+        catch (FileNotFoundException e) {
+            log.error(firmware+" reader open failed: ",e);
+            reset();
+        } catch (IOException e) {
+            log.error(firmware+" reader open failed: ",e);
+            reset();
+        }
+
+        return (result == COM_OK);
+    }
+
+    public void reject(){
+        result = COM_ERROR;
+        deviceApp.setUpgrade_state(DeviceApp.STATE_TX_FAILED);
+        deviceApp.setUpgrade_result(result);
+        deviceApp.setUpgrade_time(new Timestamp(System.currentTimeMillis()));
+    }
+
+    public void onTimeout(){
+        result = COM_TIMEOUT;
+        deviceApp.setUpgrade_state(DeviceApp.STATE_TX_FAILED);
+        deviceApp.setUpgrade_result(result);
+        deviceApp.setUpgrade_time(new Timestamp(System.currentTimeMillis()));
+    }
+
+    public boolean procYmodem(Channel channel, byte[] rx_data){
+        if(session_done) return true;
+
+        try {
+            switch (rx_data[0]) {
+                case CC:
+                    log.info("C");
+                    if(tx_seq!=0){
+                        //这种情况说明上次接收端意外中断了，需要重新开始
+                        restart(channel);
+                    }
+                    if (!is_file_accepted) {
+                        sendFileInfo(channel);
+                    } else {
+                        tx_seq++;
+                        sendPacket(channel);
+                        //sendSmallPacket(channel);
+                    }
+                    break;
+                case ACK:
+                    if(rx_data.length == 4)
+                        log.info("ACK "+rx_data[1]+" "+(rx_data[2]<<8|((short)rx_data[3]&0xFF)));
+                    else log.info("ACK");
+                    nak_num = 0;
+                    if (!is_file_accepted) {
+                        is_file_accepted = true;
+                    }
+                    else if(!file_done){
+                        tx_seq++;
+                        sendPacket(channel);
+                        //sendSmallPacket(channel);
+                    }
+                    if(file_done) {
+                        is_file_accepted=false;
+                        tx_seq=0;
+                    }
+                    break;
+                case NAK:
+                    if(rx_data.length == 4)
+                        log.info("NAK "+rx_data[1]+" "+(rx_data[2]<<8|((short)rx_data[3]&0xFF)));
+                    else log.info("NAK");
+                    nak_num++;
+                    if(nak_num>=3){
+                        log.info("too much NAK, cancel transmit");
+                        result = COM_ERROR;
+                        reset();
+                    }
+                    else resendPacket(channel);
+                    break;
+                case CA:
+                    log.info("CA");
+                    result = rx_data[1];
+                    reset();
+                    break;
+                default:
+                    log.info("unknown ind received: "+rx_data[0]+" "+rx_data[1]);
+                    break;
+            }
+        }
+        catch (IOException e){
+            reset();
+            log.error(firmware+" reader error: ",e);
+            result = COM_FILE_ERR;
+        }
+
+        if(result == COM_ERROR || result==COM_FILE_ERR){
+            header_buff[0] = CA;
+            channel.writeAndFlush(header_buff);
+        }
+
+        if(session_done){
+            if(result == COM_OK) {
+                deviceApp.setUpgrade_state(DeviceApp.STATE_TX_COMPLETED);
+            }
+            else{
+                deviceApp.setUpgrade_state(DeviceApp.STATE_TX_FAILED);
+            }
+            deviceApp.setUpgrade_result(result);
+            deviceApp.setUpgrade_time(new Timestamp(System.currentTimeMillis()));
+        }
+        return session_done;
+    }
+
+    void sendFileInfo(Channel channel){
+        header_buff[0] = SOH;
+        header_buff[1] = (byte) tx_seq;
+        header_buff[2] = (byte) ~tx_seq;
+
+        Arrays.fill(soh_buff, (byte) 0);
+        if(file_done) {
+            reset();//end of session
+        }
+        else{
+            int pos = 0;
+            byte[] file_name = firmware.getName().getBytes();
+            for (int i = 0; i < file_name.length; i++) soh_buff[pos++] = file_name[i];
+            soh_buff[pos++] = 0;
+            String strFileSize = "" + firmware.length();
+            byte[] file_size = strFileSize.getBytes();
+            for (int i = 0; i < file_size.length; i++) soh_buff[pos++] = file_size[i];
+            soh_buff[pos++] = 0;
+        }
+
+        int crc = CRC16.calculate(soh_buff);
+        tailer_buff[0] = (byte) (crc>>8);
+        tailer_buff[1] = (byte) crc;
+        channel.write(header_buff);
+        channel.write(soh_buff);
+        channel.writeAndFlush(tailer_buff);
+        log.info(deviceApp.getDevice_sn()+": send file info");
+    }
+
+    void sendPacket(Channel channel) throws IOException {
+        if(tx_seq==0) return;
+        if(file_done){
+            header_buff[0] = EOT;
+            channel.writeAndFlush(header_buff);
+            log.info(deviceApp.getDevice_sn()+": send end of tx, seq="+tx_seq);
+            return;
+        }
+
+        header_buff[0] = STX;
+        header_buff[1] = (byte) tx_seq;
+        header_buff[2] = (byte) ~tx_seq;
+
+        int read_bytes = reader.read(stx_buff);
+        if(read_bytes != -1) tx_bytes+=read_bytes;
+
+        if(read_bytes == -1 || read_bytes==0){
+            // send EOT
+            header_buff[0] = EOT;
+            channel.writeAndFlush(header_buff);
+            file_done = true;
+            log.info(deviceApp.getDevice_sn()+": send end of tx, seq="+tx_seq);
+            return;
+        }
+        else if(read_bytes>=PACKET_1K_SIZE){
+
+        }
+        else if(read_bytes<PACKET_1K_SIZE && read_bytes>PACKET_SIZE){
+            for(int i=read_bytes; i<PACKET_1K_SIZE; i++) stx_buff[i]=0x1A;
+        }
+        else{
+            header_buff[0] = SOH;
+            Arrays.fill(soh_buff, (byte) 0x1A);
+            for(int i=0; i<read_bytes; i++) soh_buff[i] = stx_buff[i];
+        }
+
+        int crc = CRC16.calculate((header_buff[0] == STX)?stx_buff:soh_buff);
+        tailer_buff[0] = (byte) (crc>>8);
+        tailer_buff[1] = (byte) crc;
+        channel.write(header_buff);
+        channel.write((header_buff[0] == STX)?stx_buff:soh_buff);
+        channel.writeAndFlush(tailer_buff);
+        log.info(deviceApp.getDevice_sn()+": send packet "+tx_seq);
+    }
+    void sendSmallPacket(Channel channel) throws IOException {
+        if(tx_seq==0) return;
+        if(file_done){
+            header_buff[0] = EOT;
+            channel.writeAndFlush(header_buff);
+            log.info(deviceApp.getDevice_sn()+": send end of tx, seq="+tx_seq);
+            return;
+        }
+
+        header_buff[0] = SOH;
+        header_buff[1] = (byte) tx_seq;
+        header_buff[2] = (byte) ~tx_seq;
+
+        int read_bytes = reader.read(soh_buff);
+        if(read_bytes != -1) tx_bytes+=read_bytes;
+
+        if(read_bytes == -1 || read_bytes==0){
+            // send EOT
+            header_buff[0] = EOT;
+            channel.writeAndFlush(header_buff);
+            file_done = true;
+            log.info(deviceApp.getDevice_sn()+": send end of tx, seq="+tx_seq);
+            return;
+        }
+        else if(read_bytes>=PACKET_SIZE){
+
+        }
+        else{
+            for(int i=read_bytes; i<PACKET_SIZE; i++) soh_buff[i]=0x1A;
+        }
+
+        int crc = CRC16.calculate(soh_buff);
+        tailer_buff[0] = (byte) (crc>>8);
+        tailer_buff[1] = (byte) crc;
+        channel.write(header_buff);
+        channel.write(soh_buff);
+        channel.writeAndFlush(tailer_buff);
+        log.info(deviceApp.getDevice_sn()+": send packet "+tx_seq);
+    }
+
+    void resendPacket(Channel channel){
+        if(file_done){
+            header_buff[0] = EOT;
+            channel.writeAndFlush(header_buff);
+        }
+        else {
+            channel.write(header_buff);
+            channel.write((header_buff[0] == STX) ? stx_buff : soh_buff);
+            channel.writeAndFlush(tailer_buff);
+        }
+        log.info(deviceApp.getDevice_sn()+": resend packet "+header_buff[1]);
+    }
+}

sec-vermgr/src/main/java/com/imdroid/vermgr/service/VersionHandler.java

@@ -0,0 +1,52 @@
+package com.imdroid.vermgr.service;
+
+import io.netty.channel.Channel;
+import io.netty.channel.ChannelHandlerContext;
+import io.netty.channel.ChannelInboundHandlerAdapter;
+import io.netty.handler.timeout.IdleState;
+import io.netty.handler.timeout.IdleStateEvent;
+import lombok.extern.slf4j.Slf4j;
+
+@Slf4j
+public class VersionHandler extends ChannelInboundHandlerAdapter {
+    @Override
+    public void channelActive(ChannelHandlerContext ctx) throws Exception {
+        super.channelActive(ctx);
+        Channel channel = ctx.channel();
+        UpgradeManager.INSTANCE.onChannelActive(channel);
+    }
+
+    @Override
+    public void userEventTriggered(ChannelHandlerContext ctx, Object evt) throws Exception {
+        if(evt instanceof IdleStateEvent) {
+            IdleStateEvent event = (IdleStateEvent) evt;
+
+            if (event.state() == IdleState.READER_IDLE) {
+                Channel channel = ctx.channel();
+                log.info(channel.remoteAddress() + " idle too long to be closed");
+                channel.close();
+            }
+        }
+    }
+
+    @Override
+    public void channelRead(ChannelHandlerContext ctx,
+                            Object msg) throws Exception{
+        Channel channel = ctx.channel();
+        UpgradeManager.INSTANCE.onRxData(channel, (byte[]) msg);
+    }
+
+    @Override
+    public void channelInactive(ChannelHandlerContext ctx)
+            throws Exception {
+        Channel channel = ctx.channel();
+        UpgradeManager.INSTANCE.onChannelInactive(channel);
+    }
+
+    @Override
+    public void exceptionCaught(ChannelHandlerContext ctx, Throwable cause) {
+        cause.printStackTrace();
+
+        ctx.close();
+    }
+}

sec-vermgr/src/main/java/com/imdroid/vermgr/service/VersionServer.java

@@ -0,0 +1,71 @@
+package com.imdroid.vermgr.service;
+
+import io.netty.bootstrap.ServerBootstrap;
+import io.netty.channel.*;
+import io.netty.channel.nio.NioEventLoopGroup;
+import io.netty.channel.socket.SocketChannel;
+import io.netty.channel.socket.nio.NioServerSocketChannel;
+import io.netty.handler.codec.bytes.ByteArrayDecoder;
+import io.netty.handler.codec.bytes.ByteArrayEncoder;
+import io.netty.handler.logging.LogLevel;
+import io.netty.handler.logging.LoggingHandler;
+import io.netty.handler.timeout.IdleStateHandler;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.beans.factory.annotation.Value;
+import org.springframework.stereotype.Service;
+
+import javax.annotation.PostConstruct;
+
+@Service
+@Slf4j
+public class VersionServer {
+    @Value("${version_server_port}")
+    private int data_port;
+
+    @PostConstruct
+    public void init() {
+
+        // 创建socket服务，线程阻塞
+        new Thread(new Runnable() {
+            @Override
+            public void run() {
+                log.info("dtu config server starting...");
+                // Configure the server.
+                EventLoopGroup bossGroup = new NioEventLoopGroup(1);
+                EventLoopGroup workerGroup = new NioEventLoopGroup();
+
+                try {
+                    ServerBootstrap b = new ServerBootstrap();
+                    b.group(bossGroup, workerGroup)
+                            .channel(NioServerSocketChannel.class)
+                            .option(ChannelOption.SO_BACKLOG, 100)
+                            //.option(ChannelOption.SO_REUSEADDR, true)
+                            .handler(new LoggingHandler(LogLevel.INFO))
+                            .childHandler(new ChannelInitializer<SocketChannel>() {
+                                @Override
+                                public void initChannel(SocketChannel ch) throws Exception {
+                                    ChannelPipeline p = ch.pipeline();
+                                    //p.addLast(new LoggingHandler(LogLevel.INFO));
+                                    p.addLast(new ByteArrayDecoder());
+                                    p.addLast(new ByteArrayEncoder());
+                                    p.addLast(new IdleStateHandler(300, 300, 300));    //设置心跳超时时间，秒
+                                    p.addLast(new VersionHandler());
+                                }
+                            });
+
+                    // Start the server.
+                    ChannelFuture f = b.bind(data_port).sync();
+
+                    // Wait until the server socket is closed.
+                    f.channel().closeFuture().sync();
+                } catch (InterruptedException e) {
+                    log.error("error occurred during version server running: "+e);
+                } finally {
+                    // Shut down all event loops to terminate all threads.
+                    bossGroup.shutdownGracefully();
+                    workerGroup.shutdownGracefully();
+                }
+            }
+        }).start();
+    }
+}

sec-vermgr/src/main/java/com/imdroid/vermgr/utils/CRC16.java

@@ -0,0 +1,87 @@
+package com.imdroid.vermgr.utils;
+
+public class CRC16 {
+    static final char[] TABLE1021 = { /* CRC1021余式表 */
+
+            0x0000, 0x1021, 0x2042, 0x3063, 0x4084, 0x50a5, 0x60c6, 0x70e7, 0x8108,
+
+            0x9129, 0xa14a, 0xb16b, 0xc18c, 0xd1ad, 0xe1ce, 0xf1ef, 0x1231,
+
+            0x0210, 0x3273, 0x2252, 0x52b5, 0x4294, 0x72f7, 0x62d6, 0x9339,
+
+            0x8318, 0xb37b, 0xa35a, 0xd3bd, 0xc39c, 0xf3ff, 0xe3de, 0x2462,
+
+            0x3443, 0x0420, 0x1401, 0x64e6, 0x74c7, 0x44a4, 0x5485, 0xa56a,
+
+            0xb54b, 0x8528, 0x9509, 0xe5ee, 0xf5cf, 0xc5ac, 0xd58d, 0x3653,
+
+            0x2672, 0x1611, 0x0630, 0x76d7, 0x66f6, 0x5695, 0x46b4, 0xb75b,
+
+            0xa77a, 0x9719, 0x8738, 0xf7df, 0xe7fe, 0xd79d, 0xc7bc, 0x48c4,
+
+            0x58e5, 0x6886, 0x78a7, 0x0840, 0x1861, 0x2802, 0x3823, 0xc9cc,
+
+            0xd9ed, 0xe98e, 0xf9af, 0x8948, 0x9969, 0xa90a, 0xb92b, 0x5af5,
+
+            0x4ad4, 0x7ab7, 0x6a96, 0x1a71, 0x0a50, 0x3a33, 0x2a12, 0xdbfd,
+
+            0xcbdc, 0xfbbf, 0xeb9e, 0x9b79, 0x8b58, 0xbb3b, 0xab1a, 0x6ca6,
+
+            0x7c87, 0x4ce4, 0x5cc5, 0x2c22, 0x3c03, 0x0c60, 0x1c41, 0xedae,
+
+            0xfd8f, 0xcdec, 0xddcd, 0xad2a, 0xbd0b, 0x8d68, 0x9d49, 0x7e97,
+
+            0x6eb6, 0x5ed5, 0x4ef4, 0x3e13, 0x2e32, 0x1e51, 0x0e70, 0xff9f,
+
+            0xefbe, 0xdfdd, 0xcffc, 0xbf1b, 0xaf3a, 0x9f59, 0x8f78, 0x9188,
+
+            0x81a9, 0xb1ca, 0xa1eb, 0xd10c, 0xc12d, 0xf14e, 0xe16f, 0x1080,
+
+            0x00a1, 0x30c2, 0x20e3, 0x5004, 0x4025, 0x7046, 0x6067, 0x83b9,
+
+            0x9398, 0xa3fb, 0xb3da, 0xc33d, 0xd31c, 0xe37f, 0xf35e, 0x02b1,
+
+            0x1290, 0x22f3, 0x32d2, 0x4235, 0x5214, 0x6277, 0x7256, 0xb5ea,
+
+            0xa5cb, 0x95a8, 0x8589, 0xf56e, 0xe54f, 0xd52c, 0xc50d, 0x34e2,
+
+            0x24c3, 0x14a0, 0x0481, 0x7466, 0x6447, 0x5424, 0x4405, 0xa7db,
+
+            0xb7fa, 0x8799, 0x97b8, 0xe75f, 0xf77e, 0xc71d, 0xd73c, 0x26d3,
+
+            0x36f2, 0x0691, 0x16b0, 0x6657, 0x7676, 0x4615, 0x5634, 0xd94c,
+
+            0xc96d, 0xf90e, 0xe92f, 0x99c8, 0x89e9, 0xb98a, 0xa9ab, 0x5844,
+
+            0x4865, 0x7806, 0x6827, 0x18c0, 0x08e1, 0x3882, 0x28a3, 0xcb7d,
+
+            0xdb5c, 0xeb3f, 0xfb1e, 0x8bf9, 0x9bd8, 0xabbb, 0xbb9a, 0x4a75,
+
+            0x5a54, 0x6a37, 0x7a16, 0x0af1, 0x1ad0, 0x2ab3, 0x3a92, 0xfd2e,
+
+            0xed0f, 0xdd6c, 0xcd4d, 0xbdaa, 0xad8b, 0x9de8, 0x8dc9, 0x7c26,
+
+            0x6c07, 0x5c64, 0x4c45, 0x3ca2, 0x2c83, 0x1ce0, 0x0cc1, 0xef1f,
+
+            0xff3e, 0xcf5d, 0xdf7c, 0xaf9b, 0xbfba, 0x8fd9, 0x9ff8, 0x6e17,
+
+            0x7e36, 0x4e55, 0x5e74, 0x2e93, 0x3eb2, 0x0ed1, 0x1ef0 };
+
+    public static int calculate(byte[] buf, int length) {
+
+        int counter;
+        int crc = 0;
+
+        if(length > buf.length) return 0;
+
+        for (counter = 0; counter < length; counter++) {
+            crc = (crc << 8) ^ TABLE1021[((crc >> 8) ^ buf[counter]) & 0x00FF];
+        }
+        return crc & 0xFFFF;
+    }
+
+    public static int calculate(byte[] buf) {
+        return calculate(buf, buf.length);
+    }
+
+}

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

@@ -0,0 +1,10 @@
+server.port=9914
+server.servlet.context-path=/
+
+spring.application.name=vermgr
+spring.application.build=20250519
+
+version_server_port = 9916
+
+#version manage
+version.path = firmware