From 6f59464fc6e12a525ba3004864eceb1bc1573a31 Mon Sep 17 00:00:00 2001
From: 张世豪 <979909237@qq.com>
Date: 星期四, 11 十二月 2025 17:43:45 +0800
Subject: [PATCH] 20251211

---
 src/gecaoji/Device.java |  103 ++++++++++++++++++++++++++++++++++++++++++++-------
 1 files changed, 88 insertions(+), 15 deletions(-)

diff --git a/src/gecaoji/Device.java b/src/gecaoji/Device.java
index 0a54671..ee13487 100644
--- a/src/gecaoji/Device.java
+++ b/src/gecaoji/Device.java
@@ -72,6 +72,8 @@
     // 鍗槦鍙暟
     private String differentialAge;
     // 宸垎鏃堕棿
+    private String selfCheckStatus = "-1";
+    // 鍓茶崏鏈鸿嚜妫�鐘舵��
 
     private static final double METERS_PER_DEGREE_LAT = 111320.0d;
     
@@ -131,6 +133,7 @@
         target.positioningStatus = properties.getProperty("positioningStatus", "-1");
         target.satelliteCount = properties.getProperty("satelliteCount", "-1");
         target.differentialAge = properties.getProperty("differentialAge", "-1");
+    target.selfCheckStatus = properties.getProperty("selfCheckStatus", "-1");
     }
 
     private void applyDefaults(Device target) {
@@ -162,6 +165,7 @@
         target.positioningStatus = "-1";
         target.satelliteCount = "-1";
         target.differentialAge = "-1";
+    target.selfCheckStatus = "-1";
     }
 
     public static synchronized Device initializeActiveDevice(String mowerId) { // 鏍规嵁璁惧ID鍒濆鍖栨椿璺冭澶�
@@ -260,6 +264,9 @@
             case "differentialAge":
                 this.differentialAge = value;
                 return true;
+            case "selfCheckStatus":
+                this.selfCheckStatus = value;
+                return true;
             default:
                 System.err.println("鏈煡瀛楁: " + fieldName);
                 return false;
@@ -274,6 +281,14 @@
         device.applyGNGGAUpdate(gnggaData, deviceId);
     }
 
+    public static synchronized void updateFromSerialGNGGA(String gnggaData) { // 涓插彛鏁版嵁鏇存柊璺緞锛堟棤闇�璁惧缂栧彿鍖归厤锛�
+        Device device = gecaoji;
+        if (device == null) {
+            return;
+        }
+        device.chuankouGNGGAUpdate(gnggaData);
+    }
+
     private void applyGNGGAUpdate(String gnggaData, String deviceId) { // 鎵цGNGGA鏇存柊閫昏緫
         if (gnggaData == null) {
             return;
@@ -297,10 +312,7 @@
                 return;
             }
         }
-        if (hasMeaningfulValue(mowerNumber) && hasMeaningfulValue(incomingDeviceId) && !mowerNumber.equals(incomingDeviceId)) {
-            return;
-        }
-        if (hasMeaningfulValue(incomingDeviceId)) {
+        if (hasMeaningfulValue(incomingDeviceId) && !incomingDeviceId.equals(mowerNumber)) {
             mowerNumber = incomingDeviceId;
         }
 
@@ -309,9 +321,19 @@
         String longitudeValue = sanitizeField(fields, 4);
         String longitudeHemisphere = sanitizeField(fields, 5);
 
-        realtimeLatitude = defaultIfEmpty(combineCoordinate(latitudeValue, latitudeHemisphere));
-        realtimeLongitude = defaultIfEmpty(combineCoordinate(longitudeValue, longitudeHemisphere));
-        realtimeAltitude = defaultIfEmpty(sanitizeField(fields, 9));
+        String combinedLatitude = combineCoordinate(latitudeValue, latitudeHemisphere);
+        if (hasMeaningfulValue(combinedLatitude)) {
+            realtimeLatitude = combinedLatitude;
+        }
+        String combinedLongitude = combineCoordinate(longitudeValue, longitudeHemisphere);
+        if (hasMeaningfulValue(combinedLongitude)) {
+            realtimeLongitude = combinedLongitude;
+        }
+
+        String altitudeValue = sanitizeField(fields, 9);
+        if (hasMeaningfulValue(altitudeValue)) {
+            realtimeAltitude = altitudeValue;
+        }
 
         positioningStatus = defaultIfEmpty(sanitizeField(fields, 6));
         satelliteCount = defaultIfEmpty(sanitizeField(fields, 7));
@@ -324,28 +346,68 @@
 
         updateRelativeCoordinates(latitudeValue, latitudeHemisphere, longitudeValue, longitudeHemisphere);
     }
+    
+    /**涓插彛鏇存柊GNGGA鏁版嵁*/
+    private void chuankouGNGGAUpdate(String gnggaData) { // 鎵цGNGGA鏇存柊閫昏緫
+        if (gnggaData == null) {
+            return;
+        }
+
+        String trimmed = gnggaData.trim();
+        if (trimmed.isEmpty() || !trimmed.startsWith("$GNGGA")) {
+            return;
+        }
+
+        String[] fields = trimmed.split(",");
+        if (fields.length < 15) {
+            System.err.println("GNGGA瀛楁鏁伴噺涓嶈冻: " + fields.length);
+            return;
+        }
+
+        
+        String latitudeValue = sanitizeField(fields, 2);
+        String latitudeHemisphere = sanitizeField(fields, 3);
+        String longitudeValue = sanitizeField(fields, 4);
+        String longitudeHemisphere = sanitizeField(fields, 5);
+
+        String combinedLatitude = combineCoordinate(latitudeValue, latitudeHemisphere);
+        if (hasMeaningfulValue(combinedLatitude)) {
+            realtimeLatitude = combinedLatitude;
+        }
+        String combinedLongitude = combineCoordinate(longitudeValue, longitudeHemisphere);
+        if (hasMeaningfulValue(combinedLongitude)) {
+            realtimeLongitude = combinedLongitude;
+        }
+
+        String altitudeValue = sanitizeField(fields, 9);
+        if (hasMeaningfulValue(altitudeValue)) {
+            realtimeAltitude = altitudeValue;
+        }
+
+        positioningStatus = defaultIfEmpty(sanitizeField(fields, 6));
+        satelliteCount = defaultIfEmpty(sanitizeField(fields, 7));
+        differentialAge = defaultIfEmpty(sanitizeField(fields, 13));       
+        realtimeSpeed ="0";        
+        GupdateTime = String.valueOf(System.currentTimeMillis());
+
+        updateRelativeCoordinates(latitudeValue, latitudeHemisphere, longitudeValue, longitudeHemisphere);
+    }
 
     private void updateRelativeCoordinates(String latValue, String latHemisphere,
                                            String lonValue, String lonHemisphere) { // 璁＄畻鐩稿鍧愭爣
         if (!hasMeaningfulValue(latValue) || !hasMeaningfulValue(lonValue)
                 || !hasMeaningfulValue(latHemisphere) || !hasMeaningfulValue(lonHemisphere)) {
-            realtimeX = "-1";
-            realtimeY = "-1";
             return;
         }
 
         double mowerLat = toDecimalDegrees(latValue, latHemisphere);
         double mowerLon = toDecimalDegrees(lonValue, lonHemisphere);
         if (Double.isNaN(mowerLat) || Double.isNaN(mowerLon)) {
-            realtimeX = "-1";
-            realtimeY = "-1";
             return;
         }
 
         double[] baseLatLon = resolveBaseStationLatLon();
         if (baseLatLon == null) {
-            realtimeX = "-1";
-            realtimeY = "-1";
             return;
         }
 
@@ -357,8 +419,10 @@
         double eastMeters = deltaLonDeg * metersPerLon;
         double northMeters = deltaLatDeg * METERS_PER_DEGREE_LAT;
 
-        realtimeX = formatMeters(eastMeters);
-        realtimeY = formatMeters(northMeters);
+        if (Double.isFinite(eastMeters) && Double.isFinite(northMeters)) {
+            realtimeX = formatMeters(eastMeters);
+            realtimeY = formatMeters(northMeters);
+        }
     }
 
     private double[] resolveBaseStationLatLon() { // 瑙ｆ瀽鍩虹珯缁忕含搴�
@@ -639,6 +703,14 @@
         this.differentialAge = differentialAge;
     }
 
+    public String getSelfCheckStatus() { // 鑾峰彇鑷鐘舵��
+        return selfCheckStatus;
+    }
+
+    public void setSelfCheckStatus(String selfCheckStatus) { // 璁剧疆鑷鐘舵��
+        this.selfCheckStatus = selfCheckStatus;
+    }
+
     @Override
     public String toString() { // 杈撳嚭瀵硅薄淇℃伅
         return "Device{" +
@@ -666,6 +738,7 @@
                 ", positioningStatus='" + positioningStatus + '\'' +
                 ", satelliteCount='" + satelliteCount + '\'' +
                 ", differentialAge='" + differentialAge + '\'' +
+                ", selfCheckStatus='" + selfCheckStatus + '\'' +
                 '}';
     }
 }
\ No newline at end of file

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