From 0797627f39818dc879dc4db8ddcedc0671b8e6a5 Mon Sep 17 00:00:00 2001
From: weidong <weidong@im-droid.com>
Date: Sat, 28 Sep 2024 15:06:23 +0800
Subject: [PATCH] =?UTF-8?q?=E4=BF=AE=E6=94=B9GGA=E5=9B=BA=E5=AE=9A?=
 =?UTF-8?q?=E8=A7=A3=E7=BB=9F=E8=AE=A1=E7=9A=84bug?=
MIME-Version: 1.0
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---
 .../main/java/com/imdroid/sideslope/bd/Gga.java   |  4 +++-
 .../sideslope/calc/SingleLineGNSSCalcService.java |  2 +-
 .../executor/D341LocationMessageExecutor.java     |  8 ++++----
 .../java/com/imdroid/sideslope/sal/Device.java    | 15 +++++++++++----
 4 files changed, 19 insertions(+), 10 deletions(-)

diff --git a/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/bd/Gga.java b/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/bd/Gga.java
index cded5c89..531899a5 100644
--- a/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/bd/Gga.java
+++ b/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/bd/Gga.java
@@ -7,6 +7,8 @@ import java.nio.charset.Charset;
 
 @Data
 public class Gga {
+    public static int FIX_RESULT = 4;
+    public static int FLOAT_RESULT = 5;
     final static byte[] GGA_FLAG =  {'$', 'G'};//$xxGGA
 
     final static byte[] d331_flag = {(byte) 0xd3, (byte)0x31};
@@ -133,6 +135,6 @@ public class Gga {
         //Possible values for quality: 0 = No fix, 1 = autonomous GNSS fix, 2 = differential GNSS fix, 4 = RTK fixed, 5 = RTK float, 6 =
         //estimated/dead reckoning fix
         //return (quality==1 || quality==2 || quality==4);
-        return (quality==4);
+        return (quality==FIX_RESULT);
     }
 }
diff --git a/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/calc/SingleLineGNSSCalcService.java b/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/calc/SingleLineGNSSCalcService.java
index 2ce8ef88..7ac6213a 100644
--- a/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/calc/SingleLineGNSSCalcService.java
+++ b/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/calc/SingleLineGNSSCalcService.java
@@ -79,7 +79,7 @@ public class SingleLineGNSSCalcService implements GNSSDataCalcService {
         if(device == null) return;
         GnssGroupCalc groupCalc = getGroupCalc(device.getCalcGroupId());
         if(groupCalc==null) return;
-        device.setCalcVer(groupCalc.getVer());
+        device.setB562AsCalc(groupCalc.getVer()!=3);
 
         if(completeWhenIdle) resultOutputTimer(device, groupCalc, message.getCreateTime());
 
diff --git a/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/executor/D341LocationMessageExecutor.java b/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/executor/D341LocationMessageExecutor.java
index de61ffc5..4388e65d 100644
--- a/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/executor/D341LocationMessageExecutor.java
+++ b/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/executor/D341LocationMessageExecutor.java
@@ -74,9 +74,9 @@ public class D341LocationMessageExecutor implements Executor<D341LocationMessage
 
         // update trx
         device.updateRx(message.getHeader(), message.getLen(), 1);
-        if(device.getCalcVer()==null || device.getCalcVer()!=3) {
+        if(device.isB562AsCalc()) {
             double[] pos = message.getB562_loc();
-            device.updateB562Quality((int) pos[3]);
+            device.updateCalcQuality((int) pos[3]);
         }
 
         Gga gga = message.getGga();
@@ -87,8 +87,8 @@ public class D341LocationMessageExecutor implements Executor<D341LocationMessage
                 device.setLongitude(gga.getLongitude());
                 device.setAltitude(gga.getAltitude());
             }
-            if(device.getCalcVer()!=null && device.getCalcVer()==3){
-                device.updateB562Quality(gga.getQuality());
+            if(!device.isB562AsCalc()){
+                device.updateCalcQuality(gga.getQuality());
             }
         }
 
diff --git a/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/sal/Device.java b/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/sal/Device.java
index 381fd580..9e4258d1 100644
--- a/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/sal/Device.java
+++ b/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/sal/Device.java
@@ -1,5 +1,6 @@
 package com.imdroid.sideslope.sal;
 
+import com.imdroid.sideslope.bd.Gga;
 import com.imdroid.sideslope.bd.UBXUtil;
 import lombok.Data;
 
@@ -37,7 +38,7 @@ public class Device {
 
     private Integer calcGroupId;
     private Short opMode;
-    private Short calcVer;//算法版本
+    private boolean b562AsCalc = true;//算法版本
 
     int d3xxCount = 0;
     int d3xxbytes = 0;
@@ -103,9 +104,15 @@ public class Device {
         }
     }
 
-    public void updateB562Quality(int quality){
-        if(quality == UBXUtil.FIX_RESULT) fixedNum++;
-        else if(quality == UBXUtil.FLOAT_RESULT) floatNum++;
+    public void updateCalcQuality(int quality){
+        if(b562AsCalc) {
+            if (quality == UBXUtil.FIX_RESULT) fixedNum++;
+            else if (quality == UBXUtil.FLOAT_RESULT) floatNum++;
+        }
+        else{
+            if (quality == Gga.FIX_RESULT) fixedNum++;
+            else if (quality == Gga.FLOAT_RESULT) floatNum++;
+        }
     }
 
     public void clearStat(){