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lib/appbar.dart

@@ -91,20 +91,44 @@ class CustomAppBar extends StatelessWidget implements PreferredSizeWidget {
           width: 10,
         ),
         Obx(
-          () => InkWell(
+          () {
-            onTap: () {
+            Color color = appcontroller.isDarkMode.value
-              // Navigator.push(context,
+                ? Colors.white70
-              //           MaterialPageRoute(builder: (context) => const ScenceMap())),
+                : const Color.fromARGB(200, 29, 28, 28);
-            },
+            int status = realcontroller.status.value;
-            child: Image(
+            if (status == 4) {
-              image: const AssetImage('images/satellite.png'),
+              color = Colors.green;
-              // width: 40,
+            } else if (status == 1) {
-              color: appcontroller.isDarkMode.value
+              color = Colors.red;
-                  ? Colors.white70
+            } else {
-                  : const Color.fromARGB(200, 29, 28, 28),
+              if (status != 0) {
-              height: 40,
+                color = Colors.blue;
-            ),
+              }
-          ),
+            }
+            String text = "";
+            text = "${realcontroller.sa.value}/${realcontroller.sv.value}";
+
+            return InkWell(
+              onTap: () {
+                // Navigator.push(context,
+                //           MaterialPageRoute(builder: (context) => const ScenceMap())),
+              },
+              child: Row(
+                children: [
+                  Text(
+                    text,
+                    style: const TextStyle(fontSize: 12),
+                  ),
+                  Image(
+                    image: const AssetImage('images/satellite.png'),
+                    // width: 40,
+                    color: color,
+                    height: 40,
+                  )
+                ],
+              ),
+            );
+          },
         ),
         const SizedBox(
           width: 10,

lib/pages/real/process.dart

@@ -114,8 +114,8 @@ class ProcessEntity {
   }
 
 
- factory ProcessEntity.fromString(String str) {
+ factory ProcessEntity.fromList(List<String> list) {
-    List<String> list = str.split(",");
+   
     return ProcessEntity(
       utc:int.parse( list[2]),
       lat: double.parse(list[3]),

lib/pages/real/real_controller.dart

@@ -1,3 +1,4 @@
+import 'dart:math';
 import 'dart:typed_data';
 import 'dart:ui';
 import 'package:cpnav/pages/setting/child_pages/XyChange/xy_change.dart';
@@ -178,6 +179,9 @@ class RealController extends GetxController {
       impact_force: []).obs;
   var dataCount = 0.obs;
   CoordTrans? coordTrans;
+  var status = 0.obs;
+  var sa = 0.obs;
+  var sv = 0.obs;
   reset() {
     sightOffset1.value = const Offset(3, 3);
     sightOffsetInit1.value = const Offset(0, 0);
@@ -190,9 +194,23 @@ class RealController extends GetxController {
   var isDataVisible = false.obs;
   onBleData(Uint8List data) {
     String str = String.fromCharCodes(data);
-
+    String first = str.split("#POSA")[1];
-    ProcessEntity process = ProcessEntity.fromString(str);
+    List<String> list = first.split(",");
-    processdata.value = process;
+    double baseLine = double.parse(list[7]);
+    double heading = double.parse(list[8]);
+    double pitch = double.parse(list[9]);
+    status.value = int.parse(list[1]);
+    sa.value = int.parse(list[10]);
+    List<String> svStr = list[11].trim().split(" ");
+    sv.value = int.parse(svStr[0]);
+    ProcessEntity process = ProcessEntity.fromList(list);
+    processdata.update((value) {
+      // value.speed = process.speed;
+      value?.lat = process.lat;
+      value?.lng = process.lng;
+      value?.alt = process.height;
+      value?.utc = process.utc;
+    });
     dataCount.value++;
     CoorTransModel trans = xyChangeController.coorTrans.value;
     coordTrans ??= CoordTrans(TransOptions(
@@ -213,9 +231,19 @@ class RealController extends GetxController {
         mapController.deviceList[settingController.currentDevice.value?.tid];
     if (centerDev != null) {
       // log("center${xyh.X},${xyh.Y}");
-      centerDev.x.value = xyh.X;
+
-      centerDev.y.value = xyh.Y;
       centerDev.update.value++;
+      double pitchRad = pitch * pi / 180;
+      double headingRad = (270 - heading) * pi / 180; //(270-)
+      centerDev.rotation.value = headingRad;
+      // 计算水平投影距离
+      double dXY = baseLine * cos(pitchRad);
+
+      // 计算副天线的坐标
+      double carX = xyh.X + dXY * cos(headingRad);
+      double carY = xyh.Y + dXY * sin(headingRad);
+      centerDev.x.value = carX;
+      centerDev.y.value = carY;
     }
   }
 }