From b66315469c994ae3b294e26d6d770cbb488442c3 Mon Sep 17 00:00:00 2001
From: weidong <weidong@im-droid.com>
Date: Tue, 9 Jul 2024 19:41:10 +0800
Subject: [PATCH] =?UTF-8?q?=E7=AE=97=E6=B3=954=E4=BC=98=E5=8C=96=EF=BC=8C?=
 =?UTF-8?q?=E5=88=9D=E5=A7=8B=E5=8F=82=E8=80=83=E5=80=BC=E4=BD=BF=E7=94=A8?=
 =?UTF-8?q?=E6=9C=80=E8=BF=91=E4=B8=80=E4=B8=AA=E6=9C=89=E6=95=88=E8=A7=A3?=
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---
 .../calc/SingleLineGNSSCalcService.java       | 22 ++++++++++++++++++-
 1 file changed, 21 insertions(+), 1 deletion(-)

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 b4fc7e49..6c897932 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
@@ -1,7 +1,9 @@
 package com.imdroid.sideslope.calc;
 
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.imdroid.common.util.ThreadManager;
 import com.imdroid.secapi.dto.GnssCalcData;
+import com.imdroid.secapi.dto.GnssCalcDataMapper;
 import com.imdroid.secapi.dto.GnssGroupCalc;
 import com.imdroid.secapi.dto.GnssGroupCalcMapper;
 import com.imdroid.sideslope.bd.*;
@@ -44,6 +46,8 @@ public class SingleLineGNSSCalcService implements GNSSDataCalcService {
 
     @Autowired
     GnssGroupCalcMapper groupCalcMapper;
+    @Autowired
+    GnssCalcDataMapper dataMapper;
 
     // 非线程安全，需加同步保护
     List<GnssGroupCalc> groupCalcList;
@@ -222,7 +226,9 @@ public class SingleLineGNSSCalcService implements GNSSDataCalcService {
                             new double[]{locationRecord.getRpose(),locationRecord.getRposn(),locationRecord.getRposd()});
                 }
                 else if(focusCalculator.getReferPoint() == null){
-                    focusCalculator.setReferPoint(b562Result);
+                    double[] latestPos = getLatestPos(deviceId);
+                    if(latestPos != null) focusCalculator.setReferPoint(latestPos);
+                    else focusCalculator.setReferPoint(b562Result);
                 }
             }
             else if(focusCalculator.getVer()==1 || focusCalculator.getVer()==3 || focusCalculator.isShocked()) {
@@ -273,4 +279,18 @@ public class SingleLineGNSSCalcService implements GNSSDataCalcService {
         calculatorMap.remove(deviceId);
         logger.info("device paras changed");
     }
+
+    double[] getLatestPos(String deviceId){
+        QueryWrapper<GnssCalcData> queryWrapper = new QueryWrapper<>();
+        queryWrapper.eq("deviceid",deviceId);
+        queryWrapper.ge("createtime",LocalDateTime.now().minusHours(12));
+        queryWrapper.isNotNull("rpose");
+        queryWrapper.orderByDesc("createtime");
+        GnssCalcData gnssCalcData = dataMapper.selectOne(queryWrapper);
+        if(gnssCalcData != null){
+            logger.info("{} getLatestPos", deviceId);
+            return new double[]{gnssCalcData.getRpose(),gnssCalcData.getRposn(),gnssCalcData.getRposd()};
+        }
+        return null;
+    }
 }