From ab0bd9943cf612462398f13f6d11c30b6df58ec4 Mon Sep 17 00:00:00 2001
From: weidong <weidong@im-droid.com>
Date: Tue, 28 Oct 2025 09:19:43 +0800
Subject: [PATCH] =?UTF-8?q?1=E3=80=81d3f2=E5=85=B6=E5=AE=83=E4=BF=A1?=
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---
 .../executor/D331RtcmMessageExecutor.java     |  6 ++++
 .../executor/D341LocationMessageExecutor.java |  5 ++++
 .../D3F2StopIndicationMessageExecutor.java    |  8 +++++
 .../com/imdroid/sideslope/service/Device.java | 30 +++++++++++++++++++
 .../D350SurfaceInclineMessageExecutor.java    |  8 +++--
 5 files changed, 54 insertions(+), 3 deletions(-)

diff --git a/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/executor/D331RtcmMessageExecutor.java b/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/executor/D331RtcmMessageExecutor.java
index 0af518ef..fcccdfa0 100644
--- a/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/executor/D331RtcmMessageExecutor.java
+++ b/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/executor/D331RtcmMessageExecutor.java
@@ -7,6 +7,7 @@ import com.imdroid.secapi.dto.GnssDevice;
 import com.imdroid.common.util.ByteUtil;
 import com.imdroid.sideslope.bd.Gga;
 import com.imdroid.sideslope.bd.Rtcm1005;
+import com.imdroid.sideslope.bd.Tilt;
 import com.imdroid.sideslope.calc.GNSSDataCalcService;
 import com.imdroid.sideslope.message.D331RtcmMessage;
 import com.imdroid.sideslope.ntrip.UdpNtripServer;
@@ -117,6 +118,11 @@ public class D331RtcmMessageExecutor implements Executor<D331RtcmMessage, Void>
             deviceBs.setLongitude(gga.getLongitude());
             deviceBs.setAltitude(gga.getAltitude());
         }
+        // update angles
+        Tilt tilt = message.getTilt();
+        if(tilt!=null){
+            deviceBs.updateMinMaxAngle(tilt.getRoll(),tilt.getPitch());
+        }
 
         // 添加NTRIP处理
 
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 659681dc..30e21e97 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
@@ -5,6 +5,7 @@ import com.imdroid.common.util.ThreadManager;
 import com.imdroid.secapi.client.BeidouClient;
 import com.imdroid.secapi.dto.GnssDevice;
 import com.imdroid.sideslope.bd.Gga;
+import com.imdroid.sideslope.bd.Tilt;
 import com.imdroid.sideslope.calc.GNSSDataCalcService;
 import com.imdroid.sideslope.message.D341LocationMessage;
 import com.imdroid.sideslope.service.Device;
@@ -78,6 +79,10 @@ public class D341LocationMessageExecutor implements Executor<D341LocationMessage
             double[] pos = message.getB562_loc();
             device.updateCalcQuality((int) pos[3]);
         }
+        Tilt tilt = message.getTilt();
+        if(tilt!=null){
+            device.updateMinMaxAngle(tilt.getRoll(),tilt.getPitch());
+        }
 
         Gga gga = message.getGga();
         if(gga != null) {
diff --git a/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/executor/D3F2StopIndicationMessageExecutor.java b/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/executor/D3F2StopIndicationMessageExecutor.java
index c5f8f71b..caf2fd5f 100644
--- a/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/executor/D3F2StopIndicationMessageExecutor.java
+++ b/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/executor/D3F2StopIndicationMessageExecutor.java
@@ -60,6 +60,14 @@ public class D3F2StopIndicationMessageExecutor implements Executor<D3F2StopIndic
                 message.setOtherInfo(message.getOtherInfo() + ",valid calc:" + device.getLastValidCalcDataTime());
             }
         }
+        if(device.getMinAngleX()!=null){
+            message.setOtherInfo(String.format("%s,303(%.2f,%.2f,%.2f,%.2f)",
+                    message.getOtherInfo(),
+                    device.getMinAngleX(),
+                    device.getMaxAngleX(),
+                    device.getMinAngleY(),
+                    device.getMaxAngleY()));
+        }
         //更新统计
         device.updateRx(message.getHeader(), message.getLen(),1);
         GnssTrxMsg gnssTrxMsg = message.getTrxMsg();
diff --git a/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/service/Device.java b/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/service/Device.java
index fcc1cffa..da07b4fb 100644
--- a/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/service/Device.java
+++ b/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/service/Device.java
@@ -93,6 +93,11 @@ public class Device {
     byte dataChannelType = CHANNEL_TYPE_UDP; // 0:TCP;1:DUP
     int lasQuality = 0;
 
+    Double minAngleX;
+    Double maxAngleX;
+    Double minAngleY;
+    Double maxAngleY;
+
     public void updateRx(int head, int bytes,int count){
         lastRxHead = head;
 
@@ -155,6 +160,11 @@ public class Device {
         fixedNum = 0;
         floatNum = 0;
         jumpCount = 0;
+
+        minAngleX=null;
+        minAngleY=null;
+        maxAngleX=null;
+        maxAngleY=null;
     }
 
     public void clearD342Stat(){
@@ -169,4 +179,24 @@ public class Device {
         abnormalD341Num = 0;
     }
 
+    public void updateMinMaxAngle(double x, double y){
+        if(minAngleX == null || maxAngleX == null){
+            minAngleX = x;
+            maxAngleX = x;
+        }
+        else{
+            if(x<minAngleX) minAngleX = x;
+            if(x>maxAngleX) maxAngleX = x;
+        }
+
+        if(minAngleY == null || maxAngleY == null){
+            minAngleY = y;
+            maxAngleY = y;
+        }
+        else{
+            if(y<minAngleY) minAngleY = y;
+            if(y>maxAngleY) maxAngleY = y;
+        }
+    }
+
 }
diff --git a/sec-incline-server/src/main/java/com/imdroid/inclide_server/executor/D350SurfaceInclineMessageExecutor.java b/sec-incline-server/src/main/java/com/imdroid/inclide_server/executor/D350SurfaceInclineMessageExecutor.java
index 4dcd1f0c..e7a364dc 100644
--- a/sec-incline-server/src/main/java/com/imdroid/inclide_server/executor/D350SurfaceInclineMessageExecutor.java
+++ b/sec-incline-server/src/main/java/com/imdroid/inclide_server/executor/D350SurfaceInclineMessageExecutor.java
@@ -122,9 +122,11 @@ public class D350SurfaceInclineMessageExecutor implements Executor<D350SurfaceIn
             if (device.sensorNum == 2) {
                 if (data.getSensorid()==1) device.data1 = data;
                 else {
-                    data1.setAngley(data.getAnglex());
-                    data1.setAccy(data.getAccx());
-                    dataForwarder.send(device.device, data1);
+                    data.setAngley(data.getAnglex());
+                    data.setAnglex(data1.getAnglex());
+                    //data1.setAngley(data.getAnglex());
+                    //data1.setAccy(data.getAccx());
+                    dataForwarder.send(device.device, data);
                 }
             }
         }