XdCxRhDW/XdCxRhDW.App/Controllers/PosController.cs

using System;
using System.Collections.Generic;
using System.Data.Entity;
using System.Linq;
using System.Net.Http;
using System.Text;
using System.Threading.Tasks;
using System.Web.Http;
using XdCxRhDW.Dto;
using XdCxRhDW.Repostory;
using System.IO;
using XdCxRhDW.Entity;
using XdCxRhDW.Api;
using XdCxRhDW.WebApi;
using DPP_YH_Core.Extensions;
using XdCxRhDW.App.Model;
using System.Diagnostics;
using System.Configuration;
using System.Data.Entity.Infrastructure;
using XdCxRhDW.Framework;
using Org.BouncyCastle.Asn1.X509;

namespace XdCxRhDW.App.Controllers
{
    /// <summary>
    /// 定位功能相关接口
    /// </summary>
    public class PosController : BaseController
    {
        #region 一星一地测向定位
        /// <summary>
        /// 一星一地测向带参定位(含星历)
        /// </summary>
        /// <param name="dto">定位参数</param>
        /// <returns></returns>
        [HttpPost]
        public async Task<AjaxResult<PosResDto>> PosX1D1Async(X1D1PosDto dto)
        {
            TaskInfo runTask;
            using (MySqlContext db = new MySqlContext())
            {
                if (dto.TaskID == null)
                {
                    runTask = await db.TaskInfos.FirstOrDefaultAsync(p => p.TaskType == EnumTaskType.Group
                    && p.PosType == EnumPosType.X1D1CX && p.TaskState == EnumTaskState.Running);
                    if (runTask == null)
                    {
                        XdCxRhDW.Framework.LogHelper.Warning($"接收到一星一地测向带参定位(含星历)参数,由于找不到执行中的任务忽略本次定位");
                        return Error<PosResDto>($"多模式融合定位平台没有启动一星一地测向定位任务");
                    }
                }
                else
                {
                    runTask = await db.TaskInfos.FirstOrDefaultAsync(p => p.ID == dto.TaskID);
                    if (runTask == null)
                    {
                        XdCxRhDW.Framework.LogHelper.Warning($"找不到任务,ID={dto.TaskID}");
                        return Error<PosResDto>($"找不到ID={dto.TaskID}的任务");
                    }
                }
            }

            using (MySqlContext db = new MySqlContext())
            {
                var StationRes = db.StationRes.Add(new StationRes()
                {
                    SatTxLon = dto.SatTxLon,
                    SatTxLat = dto.SatTxLat,
                    CdbTxLon = dto.CdbTxLon,
                    CdbTxLat = dto.CdbTxLat,
                    CxLon = dto.CxLon,
                    CxLat = dto.CxLat,
                    RefLon = dto.RefLon,
                    RefLat = dto.RefLat,
                    SigTime = dto.SigTime,
                });
                var ckRes = new CheckRes()
                {
                    SigTime = dto.SigTime,
                    FileName = dto.CheckRes?.FileName,
                    SmpStart = dto.CheckRes?.SmpStart,
                    SmpCount = dto.CheckRes?.SmpCount,
                    PosCheckType = (EnumPosCheckType?)dto.CheckRes?.PosCheckType,
                    ModRate = dto.CheckRes?.ModRate,
                    ModType = dto.CheckRes?.ModType,
                    UserName = dto.CheckRes?.UserName,
                    FfcHz = dto.CheckRes?.FfcHz,
                    Snr = dto.CheckRes?.Snr
                };
                db.CheckRes.Add(ckRes);

                var cgRes = db.CgRes.Add(new CgRes()
                {
                    SigTime = dto.SigTime,
                    DtoCdb = Math.Round(dto.XdDto, 10),
                    DfoCdb = Math.Round(dto.XdDfo, 10),
                    SnrCdb = Math.Round(dto.XdSnr, 1),
                    YbMainDto = Math.Round(dto.MainYbDto, 10),
                    StationResID = StationRes.ID,
                    MainCode = dto.MainCode,
                    TaskID = runTask.ID,
                    MainX = dto.MainX,
                    MainY = dto.MainY,
                    MainZ = dto.MainZ,
                    TarFreqUp = dto.FreqUp,
                    TarFreqDown = dto.FreqDown,
                });

                var cxRes = db.CxRes.Add(new CxRes()
                {
                    SigTime = dto.SigTime,
                    Fx = dto.CxRes,
                });
                var res = PosApi.X1D1_Pos(cgRes, StationRes, cxRes, dto.CalcConfidence);

                PosRes posRes = new PosRes()
                {
                    FreqUpHz = (long)cgRes.TarFreqUp.Value,
                    SigTime = cgRes.SigTime,
                    TaskInfoID = runTask.ID,
                    CxResID = cxRes.ID,
                    CgResID = cgRes.ID,
                    CheckResID = ckRes.ID,
                    PosLon = res[0],
                    PosLat = res[1],
                    MirrLon = res[3],
                    MirrLat = res[4],
                    Confidence = (int)res[6],
                    PosResType = EnumPosResType.X1D1CX,
                };
                posRes = db.PosRes.Add(posRes);
                var task = db.TaskInfos.FirstOrDefault(p => p.ID == dto.TaskID);
                if (task != null)
                {
                    if (task.MaxSigTime == null || task.MaxSigTime < dto.SigTime) task.MaxSigTime = dto.SigTime;
                    if (task.MinSigTime == null || task.MinSigTime > dto.SigTime) task.MinSigTime = dto.SigTime;
                    db.Entry(task).State = EntityState.Modified;
                }
                db.Entry(runTask).State = EntityState.Modified;
                await db.SaveChangesAsync();
                Messenger.Defalut.Pub("新增定位点", MapModel(posRes, cgRes, ckRes, null));
                return Success(MapDto(posRes, cgRes, ckRes.UserName));
            }
        }

        /// <summary>
        /// 一星一地测向带参定位(无星历)
        /// </summary>
        /// <returns>返回定位结果ID</returns>
        [HttpPost]
        public async Task<AjaxResult<PosResDto>> PosX1D1NoXlAsync(X1D1NoXlPosDto dto)
        {
            TaskInfo runTask;
            using (MySqlContext db = new MySqlContext())
            {
                if (dto.TaskID == null)
                {
                    runTask = await db.TaskInfos.FirstOrDefaultAsync(p => p.TaskType == EnumTaskType.Group
                    && p.PosType == EnumPosType.X1D1CX && p.TaskState == EnumTaskState.Running);
                    if (runTask == null)
                    {
                        XdCxRhDW.Framework.LogHelper.Warning($"接收到一星一地测向带参定位(无星历)参数,由于找不到执行中的任务忽略本次定位");
                        return Error<PosResDto>($"多模式融合定位平台没有启动一星一地测向定位任务");
                    }
                }
                else
                {
                    runTask = await db.TaskInfos.FirstOrDefaultAsync(p => p.ID == dto.TaskID);
                    if (runTask == null)
                    {
                        XdCxRhDW.Framework.LogHelper.Warning($"找不到任务,ID={dto.TaskID}");
                        return Error<PosResDto>($"找不到ID={dto.TaskID}的任务");
                    }
                }
            }
            var xl1 = await XlRepository.GetLatestAsync(dto.MainCode, dto.SigTime);
            if (xl1 == null)
            {
                XdCxRhDW.Framework.LogHelper.Error($"系统缺少编号{dto.MainCode}卫星的星历!");
                return Error<PosResDto>($"系统缺少编号{dto.MainCode}卫星的星历!");
            }
            XdCxRhDW.Framework.LogHelper.Info($"卫星{dto.MainCode}使用发布时刻为{xl1.TimeUTC:yyyyMMddHHmmss}的星历进行推算");
            var XlCalcDto = new XlCalcDto() { tleStr = xl1.TwoLine, SigTime = dto.SigTime };
            var ephMain = await HttpHelper.PostRequestAsync<SatEphResDto>(SysConfig.GetUrl("Xl/Calc"), XlCalcDto);
            if (ephMain.code != 200)
            {
                XdCxRhDW.Framework.LogHelper.Error($"推算卫星{dto.MainCode}的ECEF星历出错.{ephMain.msg}");
                return Error<PosResDto>($"推算卫星{dto.MainCode}的ECEF星历出错");
            }
            using (MySqlContext db = new MySqlContext())
            {

                var StationRes = db.StationRes.Add(new StationRes()
                {
                    SatTxLon = dto.SatTxLon,
                    SatTxLat = dto.SatTxLat,
                    CdbTxLon = dto.CdbTxLon,
                    CdbTxLat = dto.CdbTxLat,
                    CxLon = dto.CxLon,
                    CxLat = dto.CxLat,
                    RefLon = dto.RefLon,
                    RefLat = dto.RefLat,
                    SigTime = dto.SigTime,
                });

                var ckRes = new CheckRes()
                {
                    SigTime = dto.SigTime,
                    FileName = dto.CheckRes?.FileName,
                    SmpStart = dto.CheckRes?.SmpStart,
                    SmpCount = dto.CheckRes?.SmpCount,
                    PosCheckType = (EnumPosCheckType?)dto.CheckRes?.PosCheckType,
                    ModRate = dto.CheckRes?.ModRate,
                    ModType = dto.CheckRes?.ModType,
                    UserName = dto.CheckRes?.UserName,
                    FfcHz = dto.CheckRes?.FfcHz,
                    Snr = dto.CheckRes?.Snr
                };
                db.CheckRes.Add(ckRes);

                var cgRes = db.CgRes.Add(new CgRes()
                {
                    SigTime = dto.SigTime,
                    DtoCdb = Math.Round(dto.XdDto, 10),
                    DfoCdb = Math.Round(dto.XdDfo, 10),
                    SnrCdb = Math.Round(dto.XdSnr, 1),
                    YbMainDto = Math.Round(dto.MainYbDto, 10),
                    StationResID = StationRes.ID,
                    MainCode = dto.MainCode,
                    MainXlTime = ephMain.data.TleTime,
                    TaskID = runTask.ID,
                    MainX = ephMain.data.X,
                    MainY = ephMain.data.Y,
                    MainZ = ephMain.data.Z,
                    MainVx = ephMain.data.VX,
                    MainVy = ephMain.data.VY,
                    MainVz = ephMain.data.VZ,
                    TarFreqUp = dto.FreqUp,
                    TarFreqDown = dto.FreqDown,
                });

                var cxRes = db.CxRes.Add(new CxRes()
                {
                    SigTime = dto.SigTime,
                    Fx = dto.CxRes,
                });
                var res = PosApi.X1D1_Pos(cgRes, StationRes, cxRes, dto.CalcConfidence);

                PosRes posRes = new PosRes()
                {
                    FreqUpHz = (long)cgRes.TarFreqUp.Value,
                    SigTime = dto.SigTime,
                    TaskInfoID = runTask.ID,
                    CgResID = cgRes.ID,
                    CxResID = cxRes.ID,
                    CheckResID = ckRes.ID,
                    PosLon = res[0],
                    PosLat = res[1],
                    MirrLon = res[3],
                    MirrLat = res[4],
                    Confidence = (int)res[6],
                    PosResType = EnumPosResType.X1D1CX,
                };
                posRes = db.PosRes.Add(posRes);
                var task = db.TaskInfos.FirstOrDefault(p => p.ID == dto.TaskID);
                if (task != null)
                {
                    if (task.MaxSigTime == null || task.MaxSigTime < dto.SigTime) task.MaxSigTime = dto.SigTime;
                    if (task.MinSigTime == null || task.MinSigTime > dto.SigTime) task.MinSigTime = dto.SigTime;
                    db.Entry(task).State = EntityState.Modified;
                }
                await db.SaveChangesAsync();
                Messenger.Defalut.Pub("新增定位点", MapModel(posRes, cgRes, ckRes, null));
                return Success(MapDto(posRes, cgRes, ckRes.UserName));
            }
        }
        #endregion

        #region  两星一地定位
        /// <summary>
        /// 两星一地带参定位(含星历)
        /// </summary>
        /// <param name="dto">定位参数</param>
        /// <returns></returns>
        [HttpPost]
        public async Task<AjaxResult<PosResDto>> PosX2D1Async(X2D1PosDto dto)
        {
            TaskInfo runTask;
            TargetInfo target = null;
            using (MySqlContext db = new MySqlContext())
            {
                if (dto.TaskID == null)
                {
                    runTask = await db.TaskInfos.FirstOrDefaultAsync(p => p.TaskType == EnumTaskType.Group
                    && p.PosType == EnumPosType.X2D1 && p.TaskState == EnumTaskState.Running);
                    if (runTask == null)
                    {
                        XdCxRhDW.Framework.LogHelper.Warning($"接收到两星一地带参定位(含星历)参数,由于找不到执行中的任务忽略本次定位");
                        return Error<PosResDto>($"多模式融合定位平台没有启动两星一地定位任务");
                    }
                }
                else
                {
                    runTask = await db.TaskInfos.FirstOrDefaultAsync(p => p.ID == dto.TaskID);
                    if (runTask == null)
                    {
                        XdCxRhDW.Framework.LogHelper.Warning($"找不到任务,ID={dto.TaskID}");
                        return Error<PosResDto>($"找不到ID={dto.TaskID}的任务");
                    }
                }

            }
            if (!string.IsNullOrWhiteSpace(dto.Target))
            {
                using (MySqlContext db = new MySqlContext())
                {
                    target = await db.TargetInfos.FirstOrDefaultAsync(p => p.TargetName == dto.Target.Trim());
                    if (target == null)
                    {
                        target = db.TargetInfos.Add(new TargetInfo()
                        {
                            TargetName = dto.Target.Trim(),
                            TargeColor = ColorHelper.GetHtmlColor(dto.Target.Trim())
                        });
                        await db.SaveChangesAsync();
                    }
                }
            }
            using (MySqlContext db = new MySqlContext())
            {
                var StationRes = db.StationRes.Add(new StationRes()
                {
                    SatTxLon = dto.SatTxLon,
                    SatTxLat = dto.SatTxLat,
                    CdbTxLon = dto.CdbTxLon,
                    CdbTxLat = dto.CdbTxLat,
                    RefLon = dto.RefLon,
                    RefLat = dto.RefLat,
                    SigTime = dto.SigTime,
                });

                var ckRes = new CheckRes()
                {
                    SigTime = dto.SigTime,
                    FileName = dto.CheckRes?.FileName,
                    SmpStart = dto.CheckRes?.SmpStart,
                    SmpCount = dto.CheckRes?.SmpCount,
                    PosCheckType = (EnumPosCheckType?)dto.CheckRes?.PosCheckType,
                    ModRate = dto.CheckRes?.ModRate,
                    ModType = dto.CheckRes?.ModType,
                    UserName = dto.CheckRes?.UserName,
                    FfcHz = dto.CheckRes?.FfcHz,
                    Snr = dto.CheckRes?.Snr
                };
                ckRes = db.CheckRes.Add(ckRes);

                var cgRes = db.CgRes.Add(new CgRes()
                {
                    SigTime = dto.SigTime,
                    Dto1 = Math.Round(dto.SxDto, 10),
                    Dfo1 = Math.Round(dto.SxDfo, 10),
                    Snr1 = Math.Round(dto.SxSnr, 1),
                    DtoCdb = Math.Round(dto.XdDto, 10),
                    DfoCdb = Math.Round(dto.XdDfo, 10),
                    SnrCdb = Math.Round(dto.XdSnr, 1),
                    YbMainDto = Math.Round(dto.MainYbDto, 10),
                    YbAdja1Dto = Math.Round(dto.AdjaYbDto, 10),
                    StationResID = StationRes.ID,
                    MainCode = dto.MainCode,
                    Adja1Code = dto.AdjaCode,
                    TaskID = runTask.ID,
                    MainX = dto.MainX,
                    MainY = dto.MainY,
                    MainZ = dto.MainZ,
                    Adja1X = dto.AdjaX,
                    Adja1Y = dto.AdjaY,
                    Adja1Z = dto.AdjaZ,
                    MainVx = dto.MainVX,
                    MainVy = dto.MainVY,
                    MainVz = dto.MainVZ,
                    Adja1Vx = dto.AdjaVX,
                    Adja1Vy = dto.AdjaVY,
                    Adja1Vz = dto.AdjaVZ,
                    TarFreqUp = dto.FreqUp,
                    TarFreqDown = dto.FreqDown,
                });

                var res = PosApi.X2D1_Pos(cgRes, StationRes, dto.Zone, dto.CalcConfidence);

                PosRes posRes = new PosRes()
                {
                    FreqUpHz = (long)cgRes.TarFreqUp.Value,
                    SigTime = cgRes.SigTime,
                    TaskInfoID = runTask.ID,
                    CgResID = cgRes.ID,
                    CheckResID = ckRes.ID,
                    PosLon = res[0],
                    PosLat = res[1],
                    MirrLon = res[3],
                    MirrLat = res[4],
                    Confidence = (int)res[6],
                    PosResType = EnumPosResType.X2D1,
                };
                if (dto.TheoryDfoCalc && posRes.PosLon != 999)
                    posRes.TargetState = TheoryDtoDfoApi.TheoryDfo(cgRes, StationRes, posRes, SysConfig.Config.YDPZThreshold);
                if (target != null)
                {
                    posRes.TargetInfoID = target.ID;
                }
                if (dto.CalcConfidence)
                {

                }
                posRes = db.PosRes.Add(posRes);
                var task = db.TaskInfos.FirstOrDefault(p => p.ID == dto.TaskID);
                if (task != null)
                {
                    if (task.MaxSigTime == null || task.MaxSigTime < dto.SigTime) task.MaxSigTime = dto.SigTime;
                    if (task.MinSigTime == null || task.MinSigTime > dto.SigTime) task.MinSigTime = dto.SigTime;
                    db.Entry(task).State = EntityState.Modified;
                }
                await db.SaveChangesAsync();
                Messenger.Defalut.Pub("新增定位点", MapModel(posRes, cgRes, ckRes, target));
                return Success(MapDto(posRes, cgRes, ckRes.UserName));
            }

        }

        /// <summary>
        /// 两星一地带参定位(无星历)
        /// </summary>
        /// <returns>返回定位结果ID</returns>
        [HttpPost]
        public async Task<AjaxResult<PosResDto>> PosX2D1NoXlAsync(X2D1NoXlPosDto dto)
        {

            TaskInfo runTask;
            TargetInfo target = null;
            using (MySqlContext db = new MySqlContext())
            {
                if (dto.TaskID == null)
                {
                    runTask = await db.TaskInfos.FirstOrDefaultAsync(p => p.TaskType == EnumTaskType.Group
                    && p.PosType == EnumPosType.X2D1 && p.TaskState == EnumTaskState.Running);
                    if (runTask == null)
                    {
                        XdCxRhDW.Framework.LogHelper.Warning($"接收到两星一地带参定位(无星历)参数,由于找不到执行中的任务忽略本次定位");
                        return Error<PosResDto>($"多模式融合定位平台没有启动两星一地定位任务");
                    }
                }
                else
                {
                    runTask = await db.TaskInfos.FirstOrDefaultAsync(p => p.ID == dto.TaskID);
                    if (runTask == null)
                    {
                        XdCxRhDW.Framework.LogHelper.Warning($"找不到任务,ID={dto.TaskID}");
                        return Error<PosResDto>($"找不到ID={dto.TaskID}的任务");
                    }
                }
            }
            if (!string.IsNullOrWhiteSpace(dto.Target))
            {
                using (MySqlContext db = new MySqlContext())
                {
                    target = await db.TargetInfos.FirstOrDefaultAsync(p => p.TargetName == dto.Target.Trim());
                    if (target == null)
                    {
                        target = db.TargetInfos.Add(new TargetInfo()
                        {
                            TargetName = dto.Target.Trim(),
                            TargeColor = ColorHelper.GetHtmlColor(dto.Target.Trim())
                        });
                        await db.SaveChangesAsync();
                    }
                }
            }
            var xl1 = await XlRepository.GetLatestAsync(dto.MainCode, dto.SigTime);
            if (xl1 == null)
            {
                XdCxRhDW.Framework.LogHelper.Error($"系统缺少编号{dto.MainCode}卫星的星历!");
                return Error<PosResDto>($"系统缺少编号{dto.MainCode}卫星的星历!");
            }
            XdCxRhDW.Framework.LogHelper.Info($"卫星{dto.MainCode}使用发布时刻为{xl1.TimeUTC:yyyyMMddHHmmss}的星历进行推算");
            var xl2 = await XlRepository.GetLatestAsync(dto.AdjaCode, dto.SigTime);
            if (xl2 == null)
            {
                XdCxRhDW.Framework.LogHelper.Error($"系统缺少编号{dto.AdjaCode}卫星的星历!");
                return Error<PosResDto>($"系统缺少编号{dto.AdjaCode}卫星的星历!");
            }
            XdCxRhDW.Framework.LogHelper.Info($"卫星{dto.AdjaCode}使用发布时刻为{xl2.TimeUTC:yyyyMMddHHmmss}的星历进行推算");
            var XlCalcDto = new XlCalcDto() { tleStr = xl1.TwoLine, SigTime = dto.SigTime };
            var ephMain = await HttpHelper.PostRequestAsync<SatEphResDto>(SysConfig.GetUrl("Xl/Calc"), XlCalcDto);
            if (ephMain.code != 200)
            {
                XdCxRhDW.Framework.LogHelper.Error($"推算卫星{dto.MainCode}的ECEF星历出错.{ephMain.msg}");
                return Error<PosResDto>($"推算卫星{dto.MainCode}的ECEF星历出错");
            }
            var XlCalcDto2 = new XlCalcDto() { tleStr = xl2.TwoLine, SigTime = dto.SigTime };
            var ephAdja = await HttpHelper.PostRequestAsync<SatEphResDto>(SysConfig.GetUrl("Xl/Calc"), XlCalcDto2);
            if (ephAdja.code != 200)
            {
                XdCxRhDW.Framework.LogHelper.Error($"推算卫星{dto.AdjaCode}的ECEF星历出错.{ephAdja.msg}");
                return Error<PosResDto>($"推算卫星{dto.AdjaCode}的ECEF星历出错");
            }

            //#warning 测试代码
            //var tarEcef = PhysicsHelper.GeoToEcef((110, 17, 0));
            //var ecefXl1 = (ephMain.data.X, ephMain.data.Y, ephMain.data.Z);
            //var ecefXl2 = (ephAdja.data.X, ephAdja.data.Y, ephAdja.data.Z);
            //var ecefCdb = PhysicsHelper.GeoToEcef((dto.CdbTxLon, dto.CdbTxLat, 0));
            //var ecefRec = PhysicsHelper.GeoToEcef((dto.SatTxLon, dto.SatTxLat, 0));
            //var dt1 = PhysicsHelper.Dto(tarEcef, ecefXl1, ecefRec);
            //var dt2 = PhysicsHelper.Dto(tarEcef, ecefXl2, ecefRec);
            //var dt3 = PhysicsHelper.Dto(tarEcef, ecefCdb);
            //var dto1 = dt1 - dt2;
            //var dto2 = dt1 - dt3;
            //dto.SxDto = Math.Round(dto1 * 1e6 + r.Next(-10, 10) + r.NextDouble(), 3);
            //dto.XdDto = Math.Round(dto2 * 1e6 + r.Next(-10, 10) + r.NextDouble(), 3);

            //var refEcef = PhysicsHelper.GeoToEcef((dto.RefLon, dto.RefLat, 0));
            //var refdt1 = PhysicsHelper.Dto(refEcef, ecefXl1, ecefRec);
            //var refdt2 = PhysicsHelper.Dto(refEcef, ecefXl2, ecefRec);

            //dto.MainYbDto = Math.Round(refdt1 * 1e6, 3);
            //dto.AdjaYbDto = Math.Round(refdt2 * 1e6, 3);


            using (MySqlContext db = new MySqlContext())
            {
                var StationRes = db.StationRes.Add(new StationRes()
                {
                    SatTxLon = dto.SatTxLon,
                    SatTxLat = dto.SatTxLat,
                    CdbTxLon = dto.CdbTxLon,
                    CdbTxLat = dto.CdbTxLat,
                    RefLon = dto.RefLon,
                    RefLat = dto.RefLat,
                    SigTime = dto.SigTime,
                });

                var ckRes = new CheckRes()
                {
                    SigTime = dto.SigTime,
                    FileName = dto.CheckRes?.FileName,
                    SmpStart = dto.CheckRes?.SmpStart,
                    SmpCount = dto.CheckRes?.SmpCount,
                    PosCheckType = (EnumPosCheckType?)dto.CheckRes?.PosCheckType,
                    ModRate = dto.CheckRes?.ModRate,
                    ModType = dto.CheckRes?.ModType,
                    UserName = dto.CheckRes?.UserName,
                    FfcHz = dto.CheckRes?.FfcHz,
                    Snr = dto.CheckRes?.Snr
                };
                db.CheckRes.Add(ckRes);

                var cgRes = db.CgRes.Add(new CgRes()
                {
                    SigTime = dto.SigTime,
                    Dto1 = Math.Round(dto.SxDto, 10),
                    Dfo1 = Math.Round(dto.SxDfo, 10),
                    Snr1 = Math.Round(dto.SxSnr, 1),
                    DtoCdb = Math.Round(dto.XdDto, 10),
                    DfoCdb = Math.Round(dto.XdDfo, 10),
                    SnrCdb = Math.Round(dto.XdSnr, 1),
                    YbMainDto = Math.Round(dto.MainYbDto, 10),
                    YbAdja1Dto = Math.Round(dto.AdjaYbDto, 10),
                    StationResID = StationRes.ID,
                    MainCode = dto.MainCode,
                    MainXlTime = ephMain.data.TleTime,
                    Adja1Code = dto.AdjaCode,
                    Adja1XlTime = ephAdja.data.TleTime,
                    TaskID = runTask.ID,
                    MainX = ephMain.data.X,
                    MainY = ephMain.data.Y,
                    MainZ = ephMain.data.Z,
                    MainVx = ephMain.data.VX,
                    MainVy = ephMain.data.VY,
                    MainVz = ephMain.data.VZ,
                    Adja1Vx = ephAdja.data.VX,
                    Adja1Vy = ephAdja.data.VY,
                    Adja1Vz = ephAdja.data.VZ,
                    Adja1X = ephAdja.data.X,
                    Adja1Y = ephAdja.data.Y,
                    Adja1Z = ephAdja.data.Z,
                    TarFreqUp = dto.FreqUp,
                    TarFreqDown = dto.FreqDown,
                });

                var res = PosApi.X2D1_Pos(cgRes, StationRes, dto.Zone, dto.CalcConfidence);
                PosRes posRes = new PosRes()
                {
                    FreqUpHz = (long)cgRes.TarFreqUp.Value,
                    SigTime = dto.SigTime,
                    TaskInfoID = runTask.ID,
                    CgResID = cgRes.ID,
                    CheckResID = ckRes.ID,
                    PosLon = res[0],
                    PosLat = res[1],
                    MirrLon = res[3],
                    MirrLat = res[4],
                    Confidence = (int)res[6],
                    PosResType = EnumPosResType.X2D1,
                };
                /*
                if (posRes.PosLon == 999 || posRes.PosLat == 999)//有参无结果时做无参
                {
                    res = PosApi.X2D1_PosNoRef(cgRes, StationRes, dto.CalcConfidence);
                    posRes = new PosRes()
                    {
                        FreqUpHz = (long)cgRes.TarFreqUp.Value,
                        SigTime = dto.SigTime,
                        TaskInfoID = runTask.ID,
                        CgResID = cgRes.ID,
                        CheckResID = ckRes.ID,
                        PosLon = res[0],
                        PosLat = res[1],
                        MirrLon = res[3],
                        MirrLat = res[4],
                        Confidence = (int)res[6],
                        PosResType = EnumPosResType.X2D1NoRef,
                    };

                }
                */
                if (dto.TheoryDfoCalc && posRes.PosLon != 999)
                    posRes.TargetState = TheoryDtoDfoApi.TheoryDfo(cgRes, StationRes, posRes, SysConfig.Config.YDPZThreshold);
                if (target != null)
                {
                    posRes.TargetInfoID = target.ID;
                }
                posRes = db.PosRes.Add(posRes);
                var task = db.TaskInfos.FirstOrDefault(p => p.ID == dto.TaskID);
                if (task != null)
                {
                    if (task.MaxSigTime == null || task.MaxSigTime < dto.SigTime) task.MaxSigTime = dto.SigTime;
                    if (task.MinSigTime == null || task.MinSigTime > dto.SigTime) task.MinSigTime = dto.SigTime;
                    db.Entry(task).State = EntityState.Modified;
                }
                await db.SaveChangesAsync();
                Messenger.Defalut.Pub("新增定位点", MapModel(posRes, cgRes, ckRes, target));
                return Success(MapDto(posRes, cgRes, ckRes.UserName));
            }
        }

        /// <summary>
        /// 两星一地无参定位(含星历)
        /// </summary>
        /// <param name="dto">定位参数</param>
        /// <returns></returns>
        [HttpPost]
        public async Task<AjaxResult<PosResDto>> PosX2D1NoParAsync(X2D1NoParPosDto dto)
        {

            TaskInfo runTask;
            TargetInfo target = null;
            using (MySqlContext db = new MySqlContext())
            {
                if (dto.TaskID == null)
                {
                    runTask = await db.TaskInfos.FirstOrDefaultAsync(p => p.TaskType == EnumTaskType.Group
                    && p.PosType == EnumPosType.X2D1 && p.TaskState == EnumTaskState.Running);
                    if (runTask == null)
                    {
                        XdCxRhDW.Framework.LogHelper.Warning($"接收到两星一地无参定位(含星历)参数,由于找不到执行中的任务忽略本次定位");
                        return Error<PosResDto>($"多模式融合定位平台没有启动两星一地定位任务");
                    }
                }
                else
                {
                    runTask = await db.TaskInfos.FirstOrDefaultAsync(p => p.ID == dto.TaskID);
                    if (runTask == null)
                    {
                        XdCxRhDW.Framework.LogHelper.Warning($"找不到任务,ID={dto.TaskID}");
                        return Error<PosResDto>($"找不到ID={dto.TaskID}的任务");
                    }
                }
            }
            if (!string.IsNullOrWhiteSpace(dto.Target))
            {
                using (MySqlContext db = new MySqlContext())
                {
                    target = await db.TargetInfos.FirstOrDefaultAsync(p => p.TargetName == dto.Target.Trim());
                    if (target == null)
                    {
                        target = db.TargetInfos.Add(new TargetInfo()
                        {
                            TargetName = dto.Target.Trim(),
                            TargeColor = ColorHelper.GetHtmlColor(dto.Target.Trim())
                        });
                        await db.SaveChangesAsync();
                    }
                }
            }
            using (MySqlContext db = new MySqlContext())
            {
                var StationRes = db.StationRes.Add(new StationRes()
                {
                    SatTxLon = dto.SatTxLon,
                    SatTxLat = dto.SatTxLat,
                    CdbTxLon = dto.CdbTxLon,
                    CdbTxLat = dto.CdbTxLat,
                    SigTime = dto.SigTime,
                });

                var ckRes = new CheckRes()
                {
                    SigTime = dto.SigTime,
                    FileName = dto.CheckRes?.FileName,
                    SmpStart = dto.CheckRes?.SmpStart,
                    SmpCount = dto.CheckRes?.SmpCount,
                    PosCheckType = (EnumPosCheckType?)dto.CheckRes?.PosCheckType,
                    ModRate = dto.CheckRes?.ModRate,
                    ModType = dto.CheckRes?.ModType,
                    UserName = dto.CheckRes?.UserName,
                    FfcHz = dto.CheckRes?.FfcHz,
                    Snr = dto.CheckRes?.Snr
                };
                db.CheckRes.Add(ckRes);

                var cgRes = db.CgRes.Add(new CgRes()
                {
                    SigTime = dto.SigTime,
                    Dto1 = Math.Round(dto.SxDto, 10),
                    Dfo1 = Math.Round(dto.SxDfo, 10),
                    Snr1 = Math.Round(dto.SxSnr, 1),
                    DtoCdb = Math.Round(dto.XdDto, 10),
                    DfoCdb = Math.Round(dto.XdDfo, 10),
                    SnrCdb = Math.Round(dto.XdSnr, 1),
                    StationResID = StationRes.ID,
                    MainCode = dto.MainCode,
                    Adja1Code = dto.AdjaCode,
                    TaskID = runTask.ID,
                    MainX = dto.MainX,
                    MainY = dto.MainY,
                    MainZ = dto.MainZ,
                    Adja1X = dto.AdjaX,
                    Adja1Y = dto.AdjaY,
                    Adja1Z = dto.AdjaZ,
                    MainVx = dto.MainVX,
                    MainVy = dto.MainVY,
                    MainVz = dto.MainVZ,
                    Adja1Vx = dto.AdjaVX,
                    Adja1Vy = dto.AdjaVY,
                    Adja1Vz = dto.AdjaVZ,
                    TarFreqUp = dto.FreqUp,
                    TarFreqDown = dto.FreqDown,
                });
                double[] res;
                res = PosApi.X2D1_PosNoRef_ZL(cgRes, StationRes, dto.CalcConfidence);
                PosRes posRes = new PosRes()
                {
                    FreqUpHz = (long)cgRes.TarFreqUp.Value,
                    SigTime = cgRes.SigTime,
                    TaskInfoID = runTask.ID,
                    CgResID = cgRes.ID,
                    CheckResID = ckRes.ID,
                    PosLon = res[0],
                    PosLat = res[1],
                    MirrLon = res[3],
                    MirrLat = res[4],
                    Confidence = (int)res[6],
                    PosResType = EnumPosResType.X2D1NoRef,
                };
                if (dto.TheoryDfoCalc && posRes.PosLon != 999)
                    posRes.TargetState = TheoryDtoDfoApi.TheoryDfo(cgRes, StationRes, posRes, SysConfig.Config.YDPZThreshold);
                if (target != null)
                {
                    posRes.TargetInfoID = target.ID;
                }
                posRes = db.PosRes.Add(posRes);
                var task = db.TaskInfos.FirstOrDefault(p => p.ID == dto.TaskID);
                if (task != null)
                {
                    if (task.MaxSigTime == null || task.MaxSigTime < dto.SigTime) task.MaxSigTime = dto.SigTime;
                    if (task.MinSigTime == null || task.MinSigTime > dto.SigTime) task.MinSigTime = dto.SigTime;
                    db.Entry(task).State = EntityState.Modified;
                }
                await db.SaveChangesAsync();
                Messenger.Defalut.Pub("新增定位点", MapModel(posRes, cgRes, ckRes, target));
                return Success(MapDto(posRes, cgRes, ckRes.UserName));
            }
        }


        /// <summary>
        /// 两星一地无参定位(无星历)
        /// </summary>
        /// <returns>返回定位结果ID</returns>
        [HttpPost]
        public async Task<AjaxResult<PosResDto>> PosX2D1NoXlNoParAsync(X2D1NoXlNoParlPosDto dto)
        {

            TaskInfo runTask;
            TargetInfo target = null;
            using (MySqlContext db = new MySqlContext())
            {
                if (dto.TaskID == null)
                {
                    runTask = await db.TaskInfos.FirstOrDefaultAsync(p => p.TaskType == EnumTaskType.Group
                    && p.PosType == EnumPosType.X2D1 && p.TaskState == EnumTaskState.Running);
                    if (runTask == null)
                    {
                        XdCxRhDW.Framework.LogHelper.Warning($"接收到两星一地无参定位(无星历)参数,由于找不到执行中的任务忽略本次定位");
                        return Error<PosResDto>($"多模式融合定位平台没有启动两星一地定位任务");
                    }
                }
                else
                {
                    runTask = await db.TaskInfos.FirstOrDefaultAsync(p => p.ID == dto.TaskID);
                    if (runTask == null)
                    {
                        XdCxRhDW.Framework.LogHelper.Warning($"找不到任务,ID={dto.TaskID}");
                        return Error<PosResDto>($"找不到ID={dto.TaskID}的任务");
                    }
                }
            }
            if (!string.IsNullOrWhiteSpace(dto.Target))
            {
                using (MySqlContext db = new MySqlContext())
                {
                    target = await db.TargetInfos.FirstOrDefaultAsync(p => p.TargetName == dto.Target.Trim());
                    if (target == null)
                    {
                        target = db.TargetInfos.Add(new TargetInfo()
                        {
                            TargetName = dto.Target.Trim(),
                            TargeColor = ColorHelper.GetHtmlColor(dto.Target.Trim())
                        });
                        await db.SaveChangesAsync();
                    }
                }
            }
            var xl1 = await XlRepository.GetLatestAsync(dto.MainCode, dto.SigTime);
            if (xl1 == null)
            {
                XdCxRhDW.Framework.LogHelper.Error($"系统缺少编号{dto.MainCode}卫星的星历!");
                return Error<PosResDto>($"系统缺少编号{dto.MainCode}卫星的星历!");
            }
            XdCxRhDW.Framework.LogHelper.Info($"卫星{dto.MainCode}使用发布时刻为{xl1.TimeUTC:yyyyMMddHHmmss}的星历进行推算");
            var xl2 = await XlRepository.GetLatestAsync(dto.AdjaCode, dto.SigTime);
            if (xl2 == null)
            {
                XdCxRhDW.Framework.LogHelper.Error($"系统缺少编号{dto.AdjaCode}卫星的星历!");
                return Error<PosResDto>($"系统缺少编号{dto.AdjaCode}卫星的星历!");
            }
            XdCxRhDW.Framework.LogHelper.Info($"卫星{dto.AdjaCode}使用发布时刻为{xl2.TimeUTC:yyyyMMddHHmmss}的星历进行推算");
            var XlCalcDto = new XlCalcDto() { tleStr = xl1.TwoLine, SigTime = dto.SigTime };
            var ephMain = await HttpHelper.PostRequestAsync<SatEphResDto>(SysConfig.GetUrl("Xl/Calc"), XlCalcDto);
            if (ephMain.code != 200)
            {
                XdCxRhDW.Framework.LogHelper.Error($"推算卫星{dto.MainCode}的ECEF星历出错.{ephMain.msg}");
                return Error<PosResDto>($"推算卫星{dto.MainCode}的ECEF星历出错");
            }
            var XlCalcDto2 = new XlCalcDto() { tleStr = xl2.TwoLine, SigTime = dto.SigTime };
            var ephAdja = await HttpHelper.PostRequestAsync<SatEphResDto>(SysConfig.GetUrl("Xl/Calc"), XlCalcDto2);
            if (ephAdja.code != 200)
            {
                XdCxRhDW.Framework.LogHelper.Error($"推算卫星{dto.AdjaCode}的ECEF星历出错.{ephAdja.msg}");
                return Error<PosResDto>($"推算卫星{dto.AdjaCode}的ECEF星历出错");
            }

            //#warning 测试代码
            //var tarEcef = PhysicsHelper.GeoToEcef((46, 21, 0));
            //var ecefXl1 = (ephMain.data.X, ephMain.data.Y, ephMain.data.Z);
            //var ecefXl2 = (ephAdja.data.X, ephAdja.data.Y, ephAdja.data.Z);
            //var ecefCdb = PhysicsHelper.GeoToEcef((dto.CdbTxLon, dto.CdbTxLat, 0));
            //var ecefRec = PhysicsHelper.GeoToEcef((dto.SatTxLon, dto.SatTxLat, 0));
            //var dt1 = PhysicsHelper.Dto(tarEcef, ecefXl1, ecefRec);
            //var dt2 = PhysicsHelper.Dto(tarEcef, ecefXl2, ecefRec);
            //var dt3 = PhysicsHelper.Dto(tarEcef, ecefCdb);
            //var dto1 = dt1 - dt2;
            //var dto2 = dt1 - dt3;
            //dto.SxDto = dto1 * 1e6 + r.Next(-10, 10) + Math.Round(r.NextDouble(), 3);
            //dto.XdDto = dto2 * 1e6 + r.Next(-10, 10) + Math.Round(r.NextDouble(), 3);

            using (MySqlContext db = new MySqlContext())
            {
                var StationRes = db.StationRes.Add(new StationRes()
                {
                    SatTxLon = dto.SatTxLon,
                    SatTxLat = dto.SatTxLat,
                    CdbTxLon = dto.CdbTxLon,
                    CdbTxLat = dto.CdbTxLat,
                    SigTime = dto.SigTime,
                });

                var ckRes = new CheckRes()
                {
                    SigTime = dto.SigTime,
                    FileName = dto.CheckRes?.FileName,
                    SmpStart = dto.CheckRes?.SmpStart,
                    SmpCount = dto.CheckRes?.SmpCount,
                    PosCheckType = (EnumPosCheckType?)dto.CheckRes?.PosCheckType,
                    ModRate = dto.CheckRes?.ModRate,
                    ModType = dto.CheckRes?.ModType,
                    UserName = dto.CheckRes?.UserName,
                    FfcHz = dto.CheckRes?.FfcHz,
                    Snr = dto.CheckRes?.Snr
                };
                db.CheckRes.Add(ckRes);

                var cgRes = db.CgRes.Add(new CgRes()
                {
                    SigTime = dto.SigTime,
                    Dto1 = Math.Round(dto.SxDto, 10),
                    Dfo1 = Math.Round(dto.SxDfo, 10),
                    Snr1 = Math.Round(dto.SxSnr, 1),
                    DtoCdb = Math.Round(dto.XdDto, 10),
                    DfoCdb = Math.Round(dto.XdDfo, 10),
                    SnrCdb = Math.Round(dto.XdSnr, 1),
                    StationResID = StationRes.ID,
                    MainCode = dto.MainCode,
                    Adja1Code = dto.AdjaCode,
                    MainXlTime = ephMain.data.TleTime,
                    Adja1XlTime = ephAdja.data.TleTime,
                    TaskID = runTask.ID,
                    MainX = ephMain.data.X,
                    MainY = ephMain.data.Y,
                    MainZ = ephMain.data.Z,
                    Adja1X = ephAdja.data.X,
                    Adja1Y = ephAdja.data.Y,
                    Adja1Z = ephAdja.data.Z,
                    MainVx = ephMain.data.VX,
                    MainVy = ephMain.data.VY,
                    MainVz = ephMain.data.VZ,
                    Adja1Vx = ephAdja.data.VX,
                    Adja1Vy = ephAdja.data.VY,
                    Adja1Vz = ephAdja.data.VZ,
                    TarFreqUp = dto.FreqUp,
                    TarFreqDown = dto.FreqDown,
                });
                double[] res;
                res = PosApi.X2D1_PosNoRef_ZL(cgRes, StationRes, dto.CalcConfidence);
                PosRes posRes = new PosRes()
                {
                    FreqUpHz = (long)cgRes.TarFreqUp.Value,
                    SigTime = dto.SigTime,
                    TaskInfoID = runTask.ID,
                    CgResID = cgRes.ID,
                    CheckResID = ckRes.ID,
                    PosLon = res[0],
                    PosLat = res[1],
                    MirrLon = res[3],
                    MirrLat = res[4],
                    Confidence = (int)res[6],
                    PosResType = EnumPosResType.X2D1NoRef,
                };
                if (dto.TheoryDfoCalc && posRes.PosLon != 999)
                    posRes.TargetState = TheoryDtoDfoApi.TheoryDfo(cgRes, StationRes, posRes, SysConfig.Config.YDPZThreshold);
                if (target != null)
                {
                    posRes.TargetInfoID = target.ID;
                }
                posRes = db.PosRes.Add(posRes);
                var task = db.TaskInfos.FirstOrDefault(p => p.ID == dto.TaskID);
                if (task != null)
                {
                    if (task.MaxSigTime == null || task.MaxSigTime < dto.SigTime) task.MaxSigTime = dto.SigTime;
                    if (task.MinSigTime == null || task.MinSigTime > dto.SigTime) task.MinSigTime = dto.SigTime;
                    db.Entry(task).State = EntityState.Modified;
                }
                await db.SaveChangesAsync();
                Messenger.Defalut.Pub("新增定位点", MapModel(posRes, cgRes, ckRes, target));
                return Success(MapDto(posRes, cgRes, ckRes.UserName));
            }
        }
        #endregion

        #region 融合定位
        /// <summary>
        /// 融合带参定位(含星历)
        /// </summary>
        /// <param name="dto">定位参数</param>
        /// <returns></returns>
        [HttpPost]
        public async Task<AjaxResult<PosResDto>> PosRhAsync(RHPosDto dto)
        {
            TaskInfo runTask;
            using (MySqlContext db = new MySqlContext())
            {
                if (dto.TaskID == null)
                {
                    runTask = await db.TaskInfos.FirstOrDefaultAsync(p => p.TaskType == EnumTaskType.Group
                    && p.PosType == EnumPosType.RH && p.TaskState == EnumTaskState.Running);
                    if (runTask == null)
                    {
                        XdCxRhDW.Framework.LogHelper.Warning($"接收到融合带参定位(含星历)参数,由于找不到执行中的任务忽略本次定位");
                        return Error<PosResDto>($"多模式融合定位平台没有启动融合定位任务");
                    }
                }
                else
                {
                    runTask = await db.TaskInfos.FirstOrDefaultAsync(p => p.ID == dto.TaskID);
                    if (runTask == null)
                    {
                        XdCxRhDW.Framework.LogHelper.Warning($"找不到任务,ID={dto.TaskID}");
                        return Error<PosResDto>($"找不到ID={dto.TaskID}的任务");
                    }
                }
            }
            using (MySqlContext db = new MySqlContext())
            {
                var StationRes = db.StationRes.Add(new StationRes()
                {
                    SatTxLon = dto.SatTxLon,
                    SatTxLat = dto.SatTxLat,
                    CdbTxLon = dto.CdbTxLon,
                    CdbTxLat = dto.CdbTxLat,
                    CxLon = dto.CxLon,
                    CxLat = dto.CxLat,
                    RefLon = dto.RefLon,
                    RefLat = dto.RefLat,
                    SigTime = dto.SigTime,
                });

                var ckRes = new CheckRes()
                {
                    SigTime = dto.SigTime,
                    FileName = dto.CheckRes?.FileName,
                    SmpStart = dto.CheckRes?.SmpStart,
                    SmpCount = dto.CheckRes?.SmpCount,
                    PosCheckType = (EnumPosCheckType?)dto.CheckRes?.PosCheckType,
                    ModRate = dto.CheckRes?.ModRate,
                    ModType = dto.CheckRes?.ModType,
                    UserName = dto.CheckRes?.UserName,
                    FfcHz = dto.CheckRes?.FfcHz,
                    Snr = dto.CheckRes?.Snr
                };
                db.CheckRes.Add(ckRes);

                var cgRes = db.CgRes.Add(new CgRes()
                {
                    SigTime = dto.SigTime,
                    Dto1 = Math.Round(dto.SxDto, 10),
                    Dfo1 = Math.Round(dto.SxDfo, 10),
                    Snr1 = Math.Round(dto.SxSnr, 1),
                    DtoCdb = Math.Round(dto.XdDto, 10),
                    DfoCdb = Math.Round(dto.XdDfo, 10),
                    SnrCdb = Math.Round(dto.XdSnr, 1),
                    YbMainDto = Math.Round(dto.MainYbDto, 10),
                    YbAdja1Dto = Math.Round(dto.AdjaYbDto, 10),
                    StationResID = StationRes.ID,
                    MainCode = dto.MainCode,
                    Adja1Code = dto.AdjaCode,
                    TaskID = runTask.ID,
                    MainX = dto.MainX,
                    MainY = dto.MainY,
                    MainZ = dto.MainZ,
                    Adja1X = dto.AdjaX,
                    Adja1Y = dto.AdjaY,
                    Adja1Z = dto.AdjaZ,
                    TarFreqUp = dto.FreqUp,
                    TarFreqDown = dto.FreqDown,
                });

                var cxRes = db.CxRes.Add(new CxRes()
                {
                    SigTime = dto.SigTime,
                    Fx = dto.CxRes,
                });

                var res = PosApi.RH_Pos(cgRes, StationRes, cxRes, dto.CalcConfidence);

                PosRes posRes = new PosRes()
                {
                    FreqUpHz = (long)cgRes.TarFreqUp.Value,
                    SigTime = cgRes.SigTime,
                    TaskInfoID = runTask.ID,
                    CxResID = cxRes.ID,
                    CgResID = cgRes.ID,
                    CheckResID = ckRes.ID,
                    PosLon = res[0],
                    PosLat = res[1],
                    MirrLon = res[3],
                    MirrLat = res[4],
                    Confidence = (int)res[6],
                    PosResType = EnumPosResType.RH,
                };
                if (dto.TheoryDfoCalc && posRes.PosLon != 999)
                    posRes.TargetState = TheoryDtoDfoApi.TheoryDfo(cgRes, StationRes, posRes, SysConfig.Config.YDPZThreshold);
                posRes = db.PosRes.Add(posRes);
                var task = db.TaskInfos.FirstOrDefault(p => p.ID == dto.TaskID);
                if (task != null)
                {
                    if (task.MaxSigTime == null || task.MaxSigTime < dto.SigTime) task.MaxSigTime = dto.SigTime;
                    if (task.MinSigTime == null || task.MinSigTime > dto.SigTime) task.MinSigTime = dto.SigTime;
                    db.Entry(task).State = EntityState.Modified;
                }
                await db.SaveChangesAsync();
                Messenger.Defalut.Pub("新增定位点", MapModel(posRes, cgRes, ckRes, null));
                return Success(MapDto(posRes, cgRes, ckRes.UserName));
            }
        }

        /// <summary>
        /// 融合带参定位(无星历)
        /// </summary>
        /// <returns>返回定位结果ID</returns>
        [HttpPost]
        public async Task<AjaxResult<PosResDto>> PosRhNoXlAsync(RHNoXlPosDto dto)
        {
            TaskInfo runTask;
            using (MySqlContext db = new MySqlContext())
            {
                if (dto.TaskID == null)
                {
                    runTask = await db.TaskInfos.FirstOrDefaultAsync(p => p.TaskType == EnumTaskType.Group
                    && p.PosType == EnumPosType.RH && p.TaskState == EnumTaskState.Running);
                    if (runTask == null)
                    {
                        XdCxRhDW.Framework.LogHelper.Warning($"接收到融合带参定位(无星历)参数,由于找不到执行中的任务忽略本次定位");
                        return Error<PosResDto>($"多模式融合定位平台没有启动融合定位任务");
                    }
                }
                else
                {
                    runTask = await db.TaskInfos.FirstOrDefaultAsync(p => p.ID == dto.TaskID);
                    if (runTask == null)
                    {
                        XdCxRhDW.Framework.LogHelper.Warning($"找不到任务,ID={dto.TaskID}");
                        return Error<PosResDto>($"找不到ID={dto.TaskID}的任务");
                    }
                }
            }
            var xl1 = await XlRepository.GetLatestAsync(dto.MainCode, dto.SigTime);
            if (xl1 == null)
            {
                XdCxRhDW.Framework.LogHelper.Error($"系统缺少编号{dto.MainCode}卫星的星历!");
                return Error<PosResDto>($"系统缺少编号{dto.MainCode}卫星的星历!");
            }
            XdCxRhDW.Framework.LogHelper.Info($"卫星{dto.MainCode}使用发布时刻为{xl1.TimeUTC:yyyyMMddHHmmss}的星历进行推算");
            var xl2 = await XlRepository.GetLatestAsync(dto.AdjaCode, dto.SigTime);
            if (xl2 == null)
            {
                XdCxRhDW.Framework.LogHelper.Error($"系统缺少编号{dto.AdjaCode}卫星的星历!");
                return Error<PosResDto>($"系统缺少编号{dto.AdjaCode}卫星的星历!");
            }
            XdCxRhDW.Framework.LogHelper.Info($"卫星{dto.AdjaCode}使用发布时刻为{xl2.TimeUTC:yyyyMMddHHmmss}的星历进行推算");
            var XlCalcDto = new XlCalcDto() { tleStr = xl1.TwoLine, SigTime = dto.SigTime };
            var ephMain = await HttpHelper.PostRequestAsync<SatEphResDto>(SysConfig.GetUrl("Xl/Calc"), XlCalcDto);
            if (ephMain.code != 200)
            {
                XdCxRhDW.Framework.LogHelper.Error($"推算卫星{dto.MainCode}的ECEF星历出错.{ephMain.msg}");
                return Error<PosResDto>($"推算卫星{dto.MainCode}的ECEF星历出错");
            }
            var XlCalcDto2 = new XlCalcDto() { tleStr = xl2.TwoLine, SigTime = dto.SigTime };
            var ephAdja = await HttpHelper.PostRequestAsync<SatEphResDto>(SysConfig.GetUrl("Xl/Calc"), XlCalcDto2);
            if (ephAdja.code != 200)
            {
                XdCxRhDW.Framework.LogHelper.Error($"推算卫星{dto.AdjaCode}的ECEF星历出错.{ephAdja.msg}");
                return Error<PosResDto>($"推算卫星{dto.AdjaCode}的ECEF星历出错");
            }
            using (MySqlContext db = new MySqlContext())
            {
                var StationRes = db.StationRes.Add(new StationRes()
                {
                    SatTxLon = dto.SatTxLon,
                    SatTxLat = dto.SatTxLat,
                    CdbTxLon = dto.CdbTxLon,
                    CdbTxLat = dto.CdbTxLat,
                    CxLon = dto.CxLon,
                    CxLat = dto.CxLat,
                    RefLon = dto.RefLon,
                    RefLat = dto.RefLat,
                    SigTime = dto.SigTime,
                });

                var ckRes = new CheckRes()
                {
                    SigTime = dto.SigTime,
                    FileName = dto.CheckRes?.FileName,
                    SmpStart = dto.CheckRes?.SmpStart,
                    SmpCount = dto.CheckRes?.SmpCount,
                    PosCheckType = (EnumPosCheckType?)dto.CheckRes?.PosCheckType,
                    ModRate = dto.CheckRes?.ModRate,
                    ModType = dto.CheckRes?.ModType,
                    UserName = dto.CheckRes?.UserName,
                    FfcHz = dto.CheckRes?.FfcHz,
                    Snr = dto.CheckRes?.Snr
                };
                db.CheckRes.Add(ckRes);

                var cgRes = db.CgRes.Add(new CgRes()
                {
                    SigTime = dto.SigTime,
                    Dto1 = Math.Round(dto.SxDto, 10),
                    Dfo1 = Math.Round(dto.SxDfo, 10),
                    Snr1 = Math.Round(dto.SxSnr, 1),
                    DtoCdb = Math.Round(dto.XdDto, 10),
                    DfoCdb = Math.Round(dto.XdDfo, 10),
                    SnrCdb = Math.Round(dto.XdSnr, 1),
                    YbMainDto = Math.Round(dto.MainYbDto, 10),
                    YbAdja1Dto = Math.Round(dto.AdjaYbDto, 10),
                    StationResID = StationRes.ID,
                    MainCode = dto.MainCode,
                    Adja1Code = dto.AdjaCode,
                    MainXlTime = ephMain.data.TleTime,
                    Adja1XlTime = ephAdja.data.TleTime,
                    TaskID = runTask.ID,
                    MainX = ephMain.data.X,
                    MainY = ephMain.data.Y,
                    MainZ = ephMain.data.Z,
                    MainVx = ephMain.data.VX,
                    MainVy = ephMain.data.VY,
                    MainVz = ephMain.data.VZ,
                    Adja1X = ephAdja.data.X,
                    Adja1Y = ephAdja.data.Y,
                    Adja1Z = ephAdja.data.Z,
                    Adja1Vx = ephAdja.data.VX,
                    Adja1Vy = ephAdja.data.VY,
                    Adja1Vz = ephAdja.data.VZ,
                    TarFreqUp = dto.FreqUp,
                    TarFreqDown = dto.FreqDown,
                });
                var cxRes = db.CxRes.Add(new CxRes()
                {
                    SigTime = dto.SigTime,
                    Fx = dto.CxRes,
                });
                var res = PosApi.RH_Pos(cgRes, StationRes, cxRes, dto.CalcConfidence);

                PosRes posRes = new PosRes()
                {
                    FreqUpHz = (long)cgRes.TarFreqUp.Value,
                    SigTime = cgRes.SigTime,
                    TaskInfoID = runTask.ID,
                    CxResID = cxRes.ID,
                    CgResID = cgRes.ID,
                    CheckResID = ckRes.ID,
                    PosLon = res[0],
                    PosLat = res[1],
                    MirrLon = res[3],
                    MirrLat = res[4],
                    Confidence = (int)res[6],
                    PosResType = EnumPosResType.RH,
                };
                if (dto.TheoryDfoCalc && posRes.PosLon != 999)
                    posRes.TargetState = TheoryDtoDfoApi.TheoryDfo(cgRes, StationRes, posRes, SysConfig.Config.YDPZThreshold);
                posRes = db.PosRes.Add(posRes);
                var task = db.TaskInfos.FirstOrDefault(p => p.ID == dto.TaskID);
                if (task != null)
                {
                    if (task.MaxSigTime == null || task.MaxSigTime < dto.SigTime) task.MaxSigTime = dto.SigTime;
                    if (task.MinSigTime == null || task.MinSigTime > dto.SigTime) task.MinSigTime = dto.SigTime;
                    db.Entry(task).State = EntityState.Modified;
                }
                await db.SaveChangesAsync();
                Messenger.Defalut.Pub("新增定位点", MapModel(posRes, cgRes, ckRes, null));
                return Success(MapDto(posRes, cgRes, ckRes.UserName));
            }
        }
        #endregion

        #region 三星双时差定位
        /// <summary>
        /// 三星双时差带参定位(含星历)
        /// </summary>
        /// <param name="dto">定位参数</param>
        /// <returns></returns>
        [HttpPost]
        public async Task<AjaxResult<PosResDto>> PosX3TwoDtoAsync(X3TwoDtoPosDto dto)
        {

            TaskInfo runTask;
            TargetInfo target = null;
            using (MySqlContext db = new MySqlContext())
            {
                if (dto.TaskID == null)
                {
                    runTask = await db.TaskInfos.FirstOrDefaultAsync(p => p.TaskType == EnumTaskType.Group
                    && p.PosType == EnumPosType.X3TwoDto && p.TaskState == EnumTaskState.Running);
                    if (runTask == null)
                    {
                        XdCxRhDW.Framework.LogHelper.Warning($"接收到三星双时差带参定位(含星历)参数,由于找不到执行中的任务忽略本次定位");
                        return Error<PosResDto>($"多模式融合定位平台没有启动三星双时差定位任务");
                    }
                }
                else
                {
                    runTask = await db.TaskInfos.FirstOrDefaultAsync(p => p.ID == dto.TaskID);
                    if (runTask == null)
                    {
                        XdCxRhDW.Framework.LogHelper.Warning($"找不到任务,ID={dto.TaskID}");
                        return Error<PosResDto>($"找不到ID={dto.TaskID}的任务");
                    }
                }
            }
            if (!string.IsNullOrWhiteSpace(dto.Target))
            {
                using (MySqlContext db = new MySqlContext())
                {
                    target = await db.TargetInfos.FirstOrDefaultAsync(p => p.TargetName == dto.Target.Trim());
                    if (target == null)
                    {
                        target = db.TargetInfos.Add(new TargetInfo()
                        {
                            TargetName = dto.Target.Trim(),
                            TargeColor = ColorHelper.GetHtmlColor(dto.Target.Trim())
                        });
                        await db.SaveChangesAsync();
                    }
                }
            }
            using (MySqlContext db = new MySqlContext())
            {
                var StationRes = db.StationRes.Add(new StationRes()
                {
                    SatTxLon = dto.SatTxLon,
                    SatTxLat = dto.SatTxLat,
                    RefLon = dto.RefLon,
                    RefLat = dto.RefLat,
                    SigTime = dto.SigTime,
                });

                var ckRes = new CheckRes()
                {
                    SigTime = dto.SigTime,
                    FileName = dto.CheckRes?.FileName,
                    SmpStart = dto.CheckRes?.SmpStart,
                    SmpCount = dto.CheckRes?.SmpCount,
                    PosCheckType = (EnumPosCheckType?)dto.CheckRes?.PosCheckType,
                    ModRate = dto.CheckRes?.ModRate,
                    ModType = dto.CheckRes?.ModType,
                    UserName = dto.CheckRes?.UserName,
                    FfcHz = dto.CheckRes?.FfcHz,
                    Snr = dto.CheckRes?.Snr
                };
                db.CheckRes.Add(ckRes);

                var cgRes = db.CgRes.Add(new CgRes()
                {
                    SigTime = dto.SigTime,
                    Dto1 = Math.Round(dto.Dto1, 10),
                    Dfo1 = Math.Round(dto.Dfo1, 10),
                    Snr1 = Math.Round(dto.Snr1, 1),
                    Dto2 = Math.Round(dto.Dto2, 10),
                    Dfo2 = Math.Round(dto.Dfo2, 10),
                    Snr2 = Math.Round(dto.Snr2, 1),
                    YbMainDto = Math.Round(dto.YbMainDto, 10),
                    YbAdja1Dto = Math.Round(dto.YbAdja1Dto, 10),
                    YbAdja2Dto = Math.Round(dto.YbAdja2Dto, 10),
                    StationResID = StationRes.ID,
                    MainCode = dto.MainCode,
                    Adja1Code = dto.Adja1Code,
                    Adja2Code = dto.Adja2Code,
                    TaskID = runTask.ID,
                    MainX = dto.MainX,
                    MainY = dto.MainY,
                    MainZ = dto.MainZ,
                    MainVx = dto.MainVX,
                    MainVy = dto.MainVY,
                    MainVz = dto.MainVZ,
                    Adja1X = dto.Adja1X,
                    Adja1Y = dto.Adja1Y,
                    Adja1Z = dto.Adja1Z,
                    Adja1Vx = dto.Adja1VX,
                    Adja1Vy = dto.Adja1VY,
                    Adja1Vz = dto.Adja1VZ,
                    Adja2X = dto.Adja2X,
                    Adja2Y = dto.Adja2Y,
                    Adja2Z = dto.Adja2Z,
                    Adja2Vx = dto.Adja2VX,
                    Adja2Vy = dto.Adja2VY,
                    Adja2Vz = dto.Adja2VZ,
                    TarFreqUp = dto.FreqUp,
                    TarFreqDown = dto.FreqDown,
                });

                var res = PosApi.X3_Pos(cgRes, StationRes, dto.Zone, dto.CalcConfidence);

                PosRes posRes = new PosRes()
                {
                    FreqUpHz = (long)cgRes.TarFreqUp.Value,
                    SigTime = cgRes.SigTime,
                    TaskInfoID = runTask.ID,
                    CgResID = cgRes.ID,
                    CheckResID = ckRes.ID,
                    PosLon = res[0],
                    PosLat = res[1],
                    MirrLon = res[3],
                    MirrLat = res[4],
                    Confidence = (int)res[6],
                    PosResType = EnumPosResType.X3,
                };
                if (dto.TheoryDfoCalc && posRes.PosLon != 999)
                    posRes.TargetState = TheoryDtoDfoApi.TheoryDfo(cgRes, StationRes, posRes, SysConfig.Config.YDPZThreshold);
                if (target != null)
                {
                    posRes.TargetInfoID = target.ID;
                }
                posRes = db.PosRes.Add(posRes);
                var task = db.TaskInfos.FirstOrDefault(p => p.ID == dto.TaskID);
                if (task != null)
                {
                    if (task.MaxSigTime == null || task.MaxSigTime < dto.SigTime) task.MaxSigTime = dto.SigTime;
                    if (task.MinSigTime == null || task.MinSigTime > dto.SigTime) task.MinSigTime = dto.SigTime;
                    db.Entry(task).State = EntityState.Modified;
                }
                await db.SaveChangesAsync();
                Messenger.Defalut.Pub("新增定位点", MapModel(posRes, cgRes, ckRes, target));
                return Success(MapDto(posRes, cgRes, ckRes.UserName));
            }
        }

        /// <summary>
        /// 三星双时差带参定位(无星历)
        /// </summary>
        /// <returns>返回定位结果ID</returns>
        [HttpPost]
        public async Task<AjaxResult<PosResDto>> PosX3TwoDtoNoXlAsync(X3TwoDtoNoXlPosDto dto)
        {
            TaskInfo runTask;
            TargetInfo target = null;
            using (MySqlContext db = new MySqlContext())
            {
                if (dto.TaskID == null)
                {
                    runTask = await db.TaskInfos.FirstOrDefaultAsync(p => p.TaskType == EnumTaskType.Group
                    && p.PosType == EnumPosType.X3TwoDto && p.TaskState == EnumTaskState.Running);
                    if (runTask == null)
                    {
                        XdCxRhDW.Framework.LogHelper.Warning($"接收到三星双时差带参定位(无星历)参数,由于找不到执行中的任务忽略本次定位");
                        return Error<PosResDto>($"多模式融合定位平台没有启动三星双时差定位任务");
                    }
                }
                else
                {
                    runTask = await db.TaskInfos.FirstOrDefaultAsync(p => p.ID == dto.TaskID);
                    if (runTask == null)
                    {
                        XdCxRhDW.Framework.LogHelper.Warning($"找不到任务,ID={dto.TaskID}");
                        return Error<PosResDto>($"找不到ID={dto.TaskID}的任务");
                    }
                }
            }
            if (!string.IsNullOrWhiteSpace(dto.Target))
            {
                using (MySqlContext db = new MySqlContext())
                {
                    target = await db.TargetInfos.FirstOrDefaultAsync(p => p.TargetName == dto.Target.Trim());
                    if (target == null)
                    {
                        target = db.TargetInfos.Add(new TargetInfo()
                        {
                            TargetName = dto.Target.Trim(),
                            TargeColor = ColorHelper.GetHtmlColor(dto.Target.Trim())
                        });
                        await db.SaveChangesAsync();
                    }
                }
            }
            var xl1 = await XlRepository.GetLatestAsync(dto.MainCode, dto.SigTime);
            if (xl1 == null)
            {
                XdCxRhDW.Framework.LogHelper.Error($"系统缺少编号{dto.MainCode}卫星的星历!");
                return Error<PosResDto>($"系统缺少编号{dto.MainCode}卫星的星历!");
            }
            XdCxRhDW.Framework.LogHelper.Info($"卫星{dto.MainCode}使用发布时刻为{xl1.TimeUTC:yyyyMMddHHmmss}的星历进行推算");
            var xl2 = await XlRepository.GetLatestAsync(dto.Adja1Code, dto.SigTime);
            if (xl2 == null)
            {
                XdCxRhDW.Framework.LogHelper.Error($"系统缺少编号{dto.Adja1Code}卫星的星历!");
                return Error<PosResDto>($"系统缺少编号{dto.Adja1Code}卫星的星历!");
            }
            XdCxRhDW.Framework.LogHelper.Info($"卫星{dto.Adja1Code}使用发布时刻为{xl2.TimeUTC:yyyyMMddHHmmss}的星历进行推算");
            var xl3 = await XlRepository.GetLatestAsync(dto.Adja2Code, dto.SigTime);
            if (xl3 == null)
            {
                XdCxRhDW.Framework.LogHelper.Error($"系统缺少编号{dto.Adja2Code}卫星的星历!");
                return Error<PosResDto>($"系统缺少编号{dto.Adja2Code}卫星的星历!");
            }
            XdCxRhDW.Framework.LogHelper.Info($"卫星{dto.Adja2Code}使用发布时刻为{xl3.TimeUTC:yyyyMMddHHmmss}的星历进行推算");
            var XlCalcDto = new XlCalcDto() { tleStr = xl1.TwoLine, SigTime = dto.SigTime };
            var ephMain = await HttpHelper.PostRequestAsync<SatEphResDto>(SysConfig.GetUrl("Xl/Calc"), XlCalcDto);
            if (ephMain.code != 200)
            {
                XdCxRhDW.Framework.LogHelper.Error($"推算卫星{dto.MainCode}的ECEF星历出错.{ephMain.msg}");
                return Error<PosResDto>($"推算卫星{dto.MainCode}的ECEF星历出错");
            }
            var XlCalcDto2 = new XlCalcDto() { tleStr = xl2.TwoLine, SigTime = dto.SigTime };
            var ephAdja1 = await HttpHelper.PostRequestAsync<SatEphResDto>(SysConfig.GetUrl("Xl/Calc"), XlCalcDto2);
            if (ephAdja1.code != 200)
            {
                XdCxRhDW.Framework.LogHelper.Error($"推算卫星{dto.Adja1Code}的ECEF星历出错.{ephAdja1.msg}");
                return Error<PosResDto>($"推算卫星{dto.Adja1Code}的ECEF星历出错");
            }
            var XlCalcDto3 = new XlCalcDto() { tleStr = xl3.TwoLine, SigTime = dto.SigTime };
            var ephAdja2 = await HttpHelper.PostRequestAsync<SatEphResDto>(SysConfig.GetUrl("Xl/Calc"), XlCalcDto3);
            if (ephAdja2.code != 200)
            {
                XdCxRhDW.Framework.LogHelper.Error($"推算卫星{dto.Adja2Code}的ECEF星历出错.{ephAdja2.msg}");
                return Error<PosResDto>($"推算卫星{dto.Adja2Code}的ECEF星历出错");
            }
            using (MySqlContext db = new MySqlContext())
            {
                var StationRes = db.StationRes.Add(new StationRes()
                {
                    SatTxLon = dto.SatTxLon,
                    SatTxLat = dto.SatTxLat,
                    RefLon = dto.RefLon,
                    RefLat = dto.RefLat,
                    SigTime = dto.SigTime,
                });

                var ckRes = new CheckRes()
                {
                    SigTime = dto.SigTime,
                    FileName = dto.CheckRes?.FileName,
                    SmpStart = dto.CheckRes?.SmpStart,
                    SmpCount = dto.CheckRes?.SmpCount,
                    PosCheckType = (EnumPosCheckType?)dto.CheckRes?.PosCheckType,
                    ModRate = dto.CheckRes?.ModRate,
                    ModType = dto.CheckRes?.ModType,
                    UserName = dto.CheckRes?.UserName,
                    FfcHz = dto.CheckRes?.FfcHz,
                    Snr = dto.CheckRes?.Snr
                };
                db.CheckRes.Add(ckRes);

                var cgRes = db.CgRes.Add(new CgRes()
                {
                    SigTime = dto.SigTime,
                    Dto1 = Math.Round(dto.Dto1, 10),
                    Dfo1 = Math.Round(dto.Dfo1, 10),
                    Snr1 = Math.Round(dto.Snr1, 1),
                    Dto2 = Math.Round(dto.Dto2, 10),
                    Dfo2 = Math.Round(dto.Dfo2, 10),
                    Snr2 = Math.Round(dto.Snr2, 1),
                    YbMainDto = Math.Round(dto.YbMainDto, 10),
                    YbAdja1Dto = Math.Round(dto.YbAdja1Dto, 10),
                    YbAdja2Dto = Math.Round(dto.YbAdja2Dto, 10),
                    StationResID = StationRes.ID,
                    MainCode = dto.MainCode,
                    Adja1Code = dto.Adja1Code,
                    Adja2Code = dto.Adja2Code,
                    MainXlTime = ephMain.data.TleTime,
                    Adja1XlTime = ephAdja1.data.TleTime,
                    Adja2XlTime = ephAdja2.data.TleTime,
                    TaskID = runTask.ID,
                    MainX = ephMain.data.X,
                    MainY = ephMain.data.Y,
                    MainZ = ephMain.data.Z,
                    MainVx = ephMain.data.VX,
                    MainVy = ephMain.data.VY,
                    MainVz = ephMain.data.VZ,
                    Adja1X = ephAdja1.data.X,
                    Adja1Y = ephAdja1.data.Y,
                    Adja1Z = ephAdja1.data.Z,
                    Adja1Vx = ephAdja1.data.VX,
                    Adja1Vy = ephAdja1.data.VY,
                    Adja1Vz = ephAdja1.data.VZ,
                    Adja2X = ephAdja2.data.X,
                    Adja2Y = ephAdja2.data.Y,
                    Adja2Z = ephAdja2.data.Z,
                    Adja2Vx = ephAdja2.data.VX,
                    Adja2Vy = ephAdja2.data.VY,
                    Adja2Vz = ephAdja2.data.VZ,
                    TarFreqUp = dto.FreqUp,
                    TarFreqDown = dto.FreqDown,
                });

                var res = PosApi.X3_Pos(cgRes, StationRes, dto.Zone, dto.CalcConfidence);

                PosRes posRes = new PosRes()
                {
                    FreqUpHz = (long)cgRes.TarFreqUp.Value,
                    SigTime = dto.SigTime,
                    TaskInfoID = runTask.ID,
                    CgResID = cgRes.ID,
                    CheckResID = ckRes.ID,
                    PosLon = res[0],
                    PosLat = res[1],
                    MirrLon = res[3],
                    MirrLat = res[4],
                    Confidence = (int)res[6],
                    PosResType = EnumPosResType.X3,
                };
                if (dto.TheoryDfoCalc && posRes.PosLon != 999)
                    posRes.TargetState = TheoryDtoDfoApi.TheoryDfo(cgRes, StationRes, posRes, SysConfig.Config.YDPZThreshold);
                if (target != null)
                {
                    posRes.TargetInfoID = target.ID;
                }
                posRes = db.PosRes.Add(posRes);
                var task = db.TaskInfos.FirstOrDefault(p => p.ID == dto.TaskID);
                if (task != null)
                {
                    if (task.MaxSigTime == null || task.MaxSigTime < dto.SigTime) task.MaxSigTime = dto.SigTime;
                    if (task.MinSigTime == null || task.MinSigTime > dto.SigTime) task.MinSigTime = dto.SigTime;
                    db.Entry(task).State = EntityState.Modified;
                }
                await db.SaveChangesAsync();
                Messenger.Defalut.Pub("新增定位点", MapModel(posRes, cgRes, ckRes, target));
                return Success(MapDto(posRes, cgRes, ckRes.UserName));
            }

        }

        /// <summary>
        /// 三星双时差无参定位(含星历)
        /// </summary>
        /// <param name="dto">定位参数</param>
        /// <returns></returns>
        [HttpPost]
        public async Task<AjaxResult<PosResDto>> PosX3TwoDtoNoParAsync(X3TwoDtoNoParPosDto dto)
        {
            TaskInfo runTask;
            TargetInfo target = null;
            using (MySqlContext db = new MySqlContext())
            {
                if (dto.TaskID == null)
                {
                    runTask = await db.TaskInfos.FirstOrDefaultAsync(p => p.TaskType == EnumTaskType.Group
                    && p.PosType == EnumPosType.X3TwoDto && p.TaskState == EnumTaskState.Running);
                    if (runTask == null)
                    {
                        XdCxRhDW.Framework.LogHelper.Warning($"接收到三星双时差无参定位(含星历)参数,由于找不到执行中的任务忽略本次定位");
                        return Error<PosResDto>($"多模式融合定位平台没有启动三星双时差定位任务");
                    }
                }
                else
                {
                    runTask = await db.TaskInfos.FirstOrDefaultAsync(p => p.ID == dto.TaskID);
                    if (runTask == null)
                    {
                        XdCxRhDW.Framework.LogHelper.Warning($"找不到任务,ID={dto.TaskID}");
                        return Error<PosResDto>($"找不到ID={dto.TaskID}的任务");
                    }
                }
            }
            if (!string.IsNullOrWhiteSpace(dto.Target))
            {
                using (MySqlContext db = new MySqlContext())
                {
                    target = await db.TargetInfos.FirstOrDefaultAsync(p => p.TargetName == dto.Target.Trim());
                    if (target == null)
                    {
                        target = db.TargetInfos.Add(new TargetInfo()
                        {
                            TargetName = dto.Target.Trim(),
                            TargeColor = ColorHelper.GetHtmlColor(dto.Target.Trim())
                        });
                        await db.SaveChangesAsync();
                    }
                }
            }
            using (MySqlContext db = new MySqlContext())
            {
                var StationRes = db.StationRes.Add(new StationRes()
                {
                    SatTxLon = dto.SatTxLon,
                    SatTxLat = dto.SatTxLat,
                    SigTime = dto.SigTime,
                });

                var ckRes = new CheckRes()
                {
                    SigTime = dto.SigTime,
                    FileName = dto.CheckRes?.FileName,
                    SmpStart = dto.CheckRes?.SmpStart,
                    SmpCount = dto.CheckRes?.SmpCount,
                    PosCheckType = (EnumPosCheckType?)dto.CheckRes?.PosCheckType,
                    ModRate = dto.CheckRes?.ModRate,
                    ModType = dto.CheckRes?.ModType,
                    UserName = dto.CheckRes?.UserName,
                    FfcHz = dto.CheckRes?.FfcHz,
                    Snr = dto.CheckRes?.Snr
                };
                db.CheckRes.Add(ckRes);

                var cgRes = db.CgRes.Add(new CgRes()
                {
                    SigTime = dto.SigTime,
                    Dto1 = Math.Round(dto.Dto1, 10),
                    Dfo1 = Math.Round(dto.Dfo1, 10),
                    Snr1 = Math.Round(dto.Snr1, 1),
                    Dto2 = Math.Round(dto.Dto2, 10),
                    Dfo2 = Math.Round(dto.Dfo2, 10),
                    Snr2 = Math.Round(dto.Snr2, 1),
                    StationResID = StationRes.ID,
                    MainCode = dto.MainCode,
                    Adja1Code = dto.Adja1Code,
                    Adja2Code = dto.Adja2Code,
                    TaskID = runTask.ID,
                    MainX = dto.MainX,
                    MainY = dto.MainY,
                    MainZ = dto.MainZ,
                    MainVx = dto.MainVX,
                    MainVy = dto.MainVY,
                    MainVz = dto.MainVZ,
                    Adja1X = dto.Adja1X,
                    Adja1Y = dto.Adja1Y,
                    Adja1Z = dto.Adja1Z,
                    Adja1Vx = dto.Adja1VX,
                    Adja1Vy = dto.Adja1VY,
                    Adja1Vz = dto.Adja1VZ,
                    Adja2X = dto.Adja2X,
                    Adja2Y = dto.Adja2Y,
                    Adja2Z = dto.Adja2Z,
                    Adja2Vx = dto.Adja2VX,
                    Adja2Vy = dto.Adja2VY,
                    Adja2Vz = dto.Adja2VZ,
                    TarFreqUp = dto.FreqUp,
                    TarFreqDown = dto.FreqDown,
                });

                var res = PosApi.X3_PosNoRef(cgRes, StationRes, dto.Zone, dto.CalcConfidence);
                PosRes posRes = new PosRes()
                {
                    FreqUpHz = (long)cgRes.TarFreqUp.Value,
                    SigTime = cgRes.SigTime,
                    TaskInfoID = runTask.ID,
                    CgResID = cgRes.ID,
                    CheckResID = ckRes.ID,
                    PosLon = res[0],
                    PosLat = res[1],
                    MirrLon = res[3],
                    MirrLat = res[4],
                    Confidence = (int)res[6],
                    PosResType = EnumPosResType.X3NoRef,
                };
                if (dto.TheoryDfoCalc && posRes.PosLon != 999)
                    posRes.TargetState = TheoryDtoDfoApi.TheoryDfo(cgRes, StationRes, posRes, SysConfig.Config.YDPZThreshold);
                if (target != null)
                {
                    posRes.TargetInfoID = target.ID;
                }
                posRes = db.PosRes.Add(posRes);
                var task = db.TaskInfos.FirstOrDefault(p => p.ID == dto.TaskID);
                if (task != null)
                {
                    if (task.MaxSigTime == null || task.MaxSigTime < dto.SigTime) task.MaxSigTime = dto.SigTime;
                    if (task.MinSigTime == null || task.MinSigTime > dto.SigTime) task.MinSigTime = dto.SigTime;
                    db.Entry(task).State = EntityState.Modified;
                }
                await db.SaveChangesAsync();
                Messenger.Defalut.Pub("新增定位点", MapModel(posRes, cgRes, ckRes, target));
                return Success(MapDto(posRes, cgRes, ckRes.UserName));
            }
        }

        /// <summary>
        /// 三星双时差无参定位(无星历)
        /// </summary>
        /// <returns>返回定位结果ID</returns>
        [HttpPost]
        public async Task<AjaxResult<PosResDto>> PosX3TwoDtoNoXlNoParAsync(X3TwoDtoNoXlNoParPosDto dto)
        {
            TaskInfo runTask;
            TargetInfo target = null;
            using (MySqlContext db = new MySqlContext())
            {
                if (dto.TaskID == null)
                {
                    runTask = await db.TaskInfos.FirstOrDefaultAsync(p => p.TaskType == EnumTaskType.Group
                    && p.PosType == EnumPosType.X3TwoDto && p.TaskState == EnumTaskState.Running);
                    if (runTask == null)
                    {
                        XdCxRhDW.Framework.LogHelper.Warning($"接收到三星双时差无参定位(无星历)参数,由于找不到执行中的任务忽略本次定位");
                        return Error<PosResDto>($"多模式融合定位平台没有启动三星双时差定位任务");
                    }
                }
                else
                {
                    runTask = await db.TaskInfos.FirstOrDefaultAsync(p => p.ID == dto.TaskID);
                    if (runTask == null)
                    {
                        XdCxRhDW.Framework.LogHelper.Warning($"找不到任务,ID={dto.TaskID}");
                        return Error<PosResDto>($"找不到ID={dto.TaskID}的任务");
                    }
                }
            }
            if (!string.IsNullOrWhiteSpace(dto.Target))
            {
                using (MySqlContext db = new MySqlContext())
                {
                    target = await db.TargetInfos.FirstOrDefaultAsync(p => p.TargetName == dto.Target.Trim());
                    if (target == null)
                    {
                        target = db.TargetInfos.Add(new TargetInfo()
                        {
                            TargetName = dto.Target.Trim(),
                            TargeColor = ColorHelper.GetHtmlColor(dto.Target.Trim())
                        });
                        await db.SaveChangesAsync();
                    }
                }
            }
            var xl1 = await XlRepository.GetLatestAsync(dto.MainCode, dto.SigTime);
            if (xl1 == null)
            {
                XdCxRhDW.Framework.LogHelper.Error($"系统缺少编号{dto.MainCode}卫星的星历!");
                return Error<PosResDto>($"系统缺少编号{dto.MainCode}卫星的星历!");
            }
            XdCxRhDW.Framework.LogHelper.Info($"卫星{dto.MainCode}使用发布时刻为{xl1.TimeUTC:yyyyMMddHHmmss}的星历进行推算");
            var xl2 = await XlRepository.GetLatestAsync(dto.Adja1Code, dto.SigTime);
            if (xl2 == null)
            {
                XdCxRhDW.Framework.LogHelper.Error($"系统缺少编号{dto.Adja1Code}卫星的星历!");
                return Error<PosResDto>($"系统缺少编号{dto.Adja1Code}卫星的星历!");
            }
            XdCxRhDW.Framework.LogHelper.Info($"卫星{dto.Adja1Code}使用发布时刻为{xl2.TimeUTC:yyyyMMddHHmmss}的星历进行推算");
            var xl3 = await XlRepository.GetLatestAsync(dto.Adja2Code, dto.SigTime);
            if (xl3 == null)
            {
                XdCxRhDW.Framework.LogHelper.Error($"系统缺少编号{dto.Adja2Code}卫星的星历!");
                return Error<PosResDto>($"系统缺少编号{dto.Adja2Code}卫星的星历!");
            }
            XdCxRhDW.Framework.LogHelper.Info($"卫星{dto.Adja2Code}使用发布时刻为{xl3.TimeUTC:yyyyMMddHHmmss}的星历进行推算");
            var XlCalcDto = new XlCalcDto() { tleStr = xl1.TwoLine, SigTime = dto.SigTime };
            var ephMain = await HttpHelper.PostRequestAsync<SatEphResDto>(SysConfig.GetUrl("Xl/Calc"), XlCalcDto);
            if (ephMain.code != 200)
            {
                XdCxRhDW.Framework.LogHelper.Error($"推算卫星{dto.MainCode}的ECEF星历出错.{ephMain.msg}");
                return Error<PosResDto>($"推算卫星{dto.MainCode}的ECEF星历出错");
            }
            var XlCalcDto2 = new XlCalcDto() { tleStr = xl2.TwoLine, SigTime = dto.SigTime };
            var ephAdja1 = await HttpHelper.PostRequestAsync<SatEphResDto>(SysConfig.GetUrl("Xl/Calc"), XlCalcDto2);
            if (ephAdja1.code != 200)
            {
                XdCxRhDW.Framework.LogHelper.Error($"推算卫星{dto.Adja1Code}的ECEF星历出错.{ephAdja1.msg}");
                return Error<PosResDto>($"推算卫星{dto.Adja1Code}的ECEF星历出错");
            }
            var XlCalcDto3 = new XlCalcDto() { tleStr = xl3.TwoLine, SigTime = dto.SigTime };
            var ephAdja2 = await HttpHelper.PostRequestAsync<SatEphResDto>(SysConfig.GetUrl("Xl/Calc"), XlCalcDto3);
            if (ephAdja2.code != 200)
            {
                XdCxRhDW.Framework.LogHelper.Error($"推算卫星{dto.Adja2Code}的ECEF星历出错.{ephAdja2.msg}");
                return Error<PosResDto>($"推算卫星{dto.Adja2Code}的ECEF星历出错");
            }
            using (MySqlContext db = new MySqlContext())
            {
                var StationRes = db.StationRes.Add(new StationRes()
                {
                    SatTxLon = dto.SatTxLon,
                    SatTxLat = dto.SatTxLat,
                    SigTime = dto.SigTime,
                });

                var ckRes = new CheckRes()
                {
                    SigTime = dto.SigTime,
                    FileName = dto.CheckRes?.FileName,
                    SmpStart = dto.CheckRes?.SmpStart,
                    SmpCount = dto.CheckRes?.SmpCount,
                    PosCheckType = (EnumPosCheckType?)dto.CheckRes?.PosCheckType,
                    ModRate = dto.CheckRes?.ModRate,
                    ModType = dto.CheckRes?.ModType,
                    UserName = dto.CheckRes?.UserName,
                    FfcHz = dto.CheckRes?.FfcHz,
                    Snr = dto.CheckRes?.Snr
                };
                db.CheckRes.Add(ckRes);

                var cgRes = db.CgRes.Add(new CgRes()
                {
                    SigTime = dto.SigTime,
                    Dto1 = Math.Round(dto.Dto1, 10),
                    Dfo1 = Math.Round(dto.Dfo1, 10),
                    Snr1 = Math.Round(dto.Snr1, 1),
                    Dto2 = Math.Round(dto.Dto2, 10),
                    Dfo2 = Math.Round(dto.Dfo2, 10),
                    Snr2 = Math.Round(dto.Snr2, 1),
                    StationResID = StationRes.ID,
                    MainCode = dto.MainCode,
                    Adja1Code = dto.Adja1Code,
                    Adja2Code = dto.Adja2Code,
                    MainXlTime = ephMain.data.TleTime,
                    Adja1XlTime = ephAdja1.data.TleTime,
                    Adja2XlTime = ephAdja2.data.TleTime,
                    TaskID = runTask.ID,
                    MainX = ephMain.data.X,
                    MainY = ephMain.data.Y,
                    MainZ = ephMain.data.Z,
                    MainVx = ephMain.data.VX,
                    MainVy = ephMain.data.VY,
                    MainVz = ephMain.data.VZ,
                    Adja1X = ephAdja1.data.X,
                    Adja1Y = ephAdja1.data.Y,
                    Adja1Z = ephAdja1.data.Z,
                    Adja1Vx = ephAdja1.data.VX,
                    Adja1Vy = ephAdja1.data.VY,
                    Adja1Vz = ephAdja1.data.VZ,
                    Adja2X = ephAdja2.data.X,
                    Adja2Y = ephAdja2.data.Y,
                    Adja2Z = ephAdja2.data.Z,
                    Adja2Vx = ephAdja2.data.VX,
                    Adja2Vy = ephAdja2.data.VY,
                    Adja2Vz = ephAdja2.data.VZ,
                    TarFreqUp = dto.FreqUp,
                    TarFreqDown = dto.FreqDown,
                });

                var res = PosApi.X3_PosNoRef(cgRes, StationRes, dto.Zone, dto.CalcConfidence);

                PosRes posRes = new PosRes()
                {
                    FreqUpHz = (long)cgRes.TarFreqUp.Value,
                    SigTime = dto.SigTime,
                    TaskInfoID = runTask.ID,
                    CgResID = cgRes.ID,
                    CheckResID = ckRes.ID,
                    PosLon = res[0],
                    PosLat = res[1],
                    MirrLon = res[3],
                    MirrLat = res[4],
                    Confidence = (int)res[6],
                    PosResType = EnumPosResType.X3NoRef,
                };
                if (dto.TheoryDfoCalc && posRes.PosLon != 999)
                    posRes.TargetState = TheoryDtoDfoApi.TheoryDfo(cgRes, StationRes, posRes, SysConfig.Config.YDPZThreshold);
                if (target != null)
                {
                    posRes.TargetInfoID = target.ID;
                }
                posRes = db.PosRes.Add(posRes);
                var task = db.TaskInfos.FirstOrDefault(p => p.ID == dto.TaskID);
                if (task != null)
                {
                    if (task.MaxSigTime == null || task.MaxSigTime < dto.SigTime) task.MaxSigTime = dto.SigTime;
                    if (task.MinSigTime == null || task.MinSigTime > dto.SigTime) task.MinSigTime = dto.SigTime;
                    db.Entry(task).State = EntityState.Modified;
                }
                await db.SaveChangesAsync();
                Messenger.Defalut.Pub("新增定位点", MapModel(posRes, cgRes, ckRes, target));
                return Success(MapDto(posRes, cgRes, ckRes.UserName));
            }

        }
        #endregion

        #region 三星双频差定位
        /// <summary>
        /// 三星双频差带参定位(含星历)
        /// </summary>
        /// <param name="dto">定位参数</param>
        /// <returns></returns>
        [HttpPost]
        public async Task<AjaxResult<PosResDto>> PosX3TwoDfoAsync(X3TwoDfoPosDto dto)
        {
            TaskInfo runTask;
            using (MySqlContext db = new MySqlContext())
            {
                if (dto.TaskID == null)
                {
                    runTask = await db.TaskInfos.FirstOrDefaultAsync(p => p.TaskType == EnumTaskType.Group
                    && p.PosType == EnumPosType.X3TwoDfo && p.TaskState == EnumTaskState.Running);
                    if (runTask == null)
                    {
                        XdCxRhDW.Framework.LogHelper.Warning($"接收到三星双频差带参定位(含星历)参数,由于找不到执行中的任务忽略本次定位");
                        return Error<PosResDto>($"多模式融合定位平台没有启动三星双频差定位任务");
                    }
                }
                else
                {
                    runTask = await db.TaskInfos.FirstOrDefaultAsync(p => p.ID == dto.TaskID);
                    if (runTask == null)
                    {
                        XdCxRhDW.Framework.LogHelper.Warning($"找不到任务,ID={dto.TaskID}");
                        return Error<PosResDto>($"找不到ID={dto.TaskID}的任务");
                    }
                }
            }
            using (MySqlContext db = new MySqlContext())
            {
                var StationRes = db.StationRes.Add(new StationRes()
                {
                    SatTxLon = dto.SatTxLon,
                    SatTxLat = dto.SatTxLat,
                    RefLon = dto.RefLon,
                    RefLat = dto.RefLat,
                    SigTime = dto.SigTime,
                });

                var ckRes = new CheckRes()
                {
                    SigTime = dto.SigTime,
                    FileName = dto.CheckRes?.FileName,
                    SmpStart = dto.CheckRes?.SmpStart,
                    SmpCount = dto.CheckRes?.SmpCount,
                    PosCheckType = (EnumPosCheckType?)dto.CheckRes?.PosCheckType,
                    ModRate = dto.CheckRes?.ModRate,
                    ModType = dto.CheckRes?.ModType,
                    UserName = dto.CheckRes?.UserName,
                    FfcHz = dto.CheckRes?.FfcHz,
                    Snr = dto.CheckRes?.Snr
                };
                db.CheckRes.Add(ckRes);

                var cgRes = db.CgRes.Add(new CgRes()
                {
                    SigTime = dto.SigTime,
                    Dto1 = Math.Round(dto.Dto1, 10),
                    Dfo1 = Math.Round(dto.Dfo1, 10),
                    Snr1 = Math.Round(dto.Snr1, 1),
                    Dto2 = Math.Round(dto.Dto2, 10),
                    Dfo2 = Math.Round(dto.Dfo2, 10),
                    Snr2 = Math.Round(dto.Snr2, 1),
                    YbMainDfo = Math.Round(dto.YbMainDfo, 10),
                    YbAdja1Dfo = Math.Round(dto.YbAdja1Dfo, 10),
                    YbAdja2Dfo = Math.Round(dto.YbAdja2Dfo, 10),
                    TarFreqUp = dto.TarFreqUp,
                    TarFreqDown = dto.TarFreqDown,
                    RefFreqUp = dto.RefFreqUp,
                    RefFreqDown = dto.RefFreqDown,
                    StationResID = StationRes.ID,
                    MainCode = dto.MainCode,
                    Adja1Code = dto.Adja1Code,
                    Adja2Code = dto.Adja2Code,
                    TaskID = runTask.ID,
                    MainX = dto.MainX,
                    MainY = dto.MainY,
                    MainZ = dto.MainZ,
                    MainVx = dto.MainVx,
                    MainVy = dto.MainVy,
                    MainVz = dto.MainVz,
                    Adja1X = dto.Adja1X,
                    Adja1Y = dto.Adja1Y,
                    Adja1Z = dto.Adja1Z,
                    Adja1Vx = dto.Adja1Vx,
                    Adja1Vy = dto.Adja1Vy,
                    Adja1Vz = dto.Adja1Vz,
                    Adja2X = dto.Adja2X,
                    Adja2Y = dto.Adja2Y,
                    Adja2Z = dto.Adja2Z,
                    Adja2Vx = dto.Adja2Vx,
                    Adja2Vy = dto.Adja2Vy,
                    Adja2Vz = dto.Adja2Vz,
                });

                var res = PosApi.X3_PosTwoDfo(cgRes, StationRes, dto.CalcConfidence);

                PosRes posRes = new PosRes()
                {
                    FreqUpHz = (long)cgRes.TarFreqUp.Value,
                    SigTime = cgRes.SigTime,
                    TaskInfoID = runTask.ID,
                    CgResID = cgRes.ID,
                    CheckResID = ckRes.ID,
                    PosLon = res[0],
                    PosLat = res[1],
                    MirrLon = res[3],
                    MirrLat = res[4],
                    Confidence = (int)res[6],
                    PosResType = EnumPosResType.X3TwoDfo,
                };
                if (dto.TheoryDfoCalc && posRes.PosLon != 999)
                    posRes.TargetState = TheoryDtoDfoApi.TheoryDfo(cgRes, StationRes, posRes, SysConfig.Config.YDPZThreshold);
                posRes = db.PosRes.Add(posRes);
                var task = db.TaskInfos.FirstOrDefault(p => p.ID == dto.TaskID);
                if (task != null)
                {
                    if (task.MaxSigTime == null || task.MaxSigTime < dto.SigTime) task.MaxSigTime = dto.SigTime;
                    if (task.MinSigTime == null || task.MinSigTime > dto.SigTime) task.MinSigTime = dto.SigTime;
                    db.Entry(task).State = EntityState.Modified;
                }
                await db.SaveChangesAsync();
                Messenger.Defalut.Pub("新增定位点", MapModel(posRes, cgRes, ckRes, null));
                return Success(MapDto(posRes, cgRes, ckRes.UserName));
            }
        }

        /// <summary>
        /// 三星双频差带参定位(无星历)
        /// </summary>
        /// <returns>返回定位结果ID</returns>
        [HttpPost]
        public async Task<AjaxResult<PosResDto>> PosX3TwoDfoNoXlAsync(X3TwoDfoNoXlPosDto dto)
        {
            TaskInfo runTask;
            using (MySqlContext db = new MySqlContext())
            {
                if (dto.TaskID == null)
                {
                    runTask = await db.TaskInfos.FirstOrDefaultAsync(p => p.TaskType == EnumTaskType.Group
                    && p.PosType == EnumPosType.X3TwoDfo && p.TaskState == EnumTaskState.Running);
                    if (runTask == null)
                    {
                        XdCxRhDW.Framework.LogHelper.Warning($"接收到三星双频差带参定位(无星历)参数,由于找不到执行中的任务忽略本次定位");
                        return Error<PosResDto>($"多模式融合定位平台没有启动三星双频差定位任务");
                    }
                }
                else
                {
                    runTask = await db.TaskInfos.FirstOrDefaultAsync(p => p.ID == dto.TaskID);
                    if (runTask == null)
                    {
                        XdCxRhDW.Framework.LogHelper.Warning($"找不到任务,ID={dto.TaskID}");
                        return Error<PosResDto>($"找不到ID={dto.TaskID}的任务");
                    }
                }
            }
            var xl1 = await XlRepository.GetLatestAsync(dto.MainCode, dto.SigTime);
            if (xl1 == null)
            {
                XdCxRhDW.Framework.LogHelper.Error($"系统缺少编号{dto.MainCode}卫星的星历!");
                return Error<PosResDto>($"系统缺少编号{dto.MainCode}卫星的星历!");
            }
            XdCxRhDW.Framework.LogHelper.Info($"卫星{dto.MainCode}使用发布时刻为{xl1.TimeUTC:yyyyMMddHHmmss}的星历进行推算");
            var xl2 = await XlRepository.GetLatestAsync(dto.Adja1Code, dto.SigTime);
            if (xl2 == null)
            {
                XdCxRhDW.Framework.LogHelper.Error($"系统缺少编号{dto.Adja1Code}卫星的星历!");
                return Error<PosResDto>($"系统缺少编号{dto.Adja1Code}卫星的星历!");
            }
            XdCxRhDW.Framework.LogHelper.Info($"卫星{dto.Adja1Code}使用发布时刻为{xl2.TimeUTC:yyyyMMddHHmmss}的星历进行推算");
            var xl3 = await XlRepository.GetLatestAsync(dto.Adja2Code, dto.SigTime);
            if (xl3 == null)
            {
                XdCxRhDW.Framework.LogHelper.Error($"系统缺少编号{dto.Adja2Code}卫星的星历!");
                return Error<PosResDto>($"系统缺少编号{dto.Adja2Code}卫星的星历!");
            }
            XdCxRhDW.Framework.LogHelper.Info($"卫星{dto.Adja2Code}使用发布时刻为{xl3.TimeUTC:yyyyMMddHHmmss}的星历进行推算");
            var XlCalcDto = new XlCalcDto() { tleStr = xl1.TwoLine, SigTime = dto.SigTime };
            var ephMain = await HttpHelper.PostRequestAsync<SatEphResDto>(SysConfig.GetUrl("Xl/Calc"), XlCalcDto);
            if (ephMain.code != 200)
            {
                XdCxRhDW.Framework.LogHelper.Error($"推算卫星{dto.MainCode}的ECEF星历出错.{ephMain.msg}");
                return Error<PosResDto>($"推算卫星{dto.MainCode}的ECEF星历出错");
            }
            var XlCalcDto2 = new XlCalcDto() { tleStr = xl2.TwoLine, SigTime = dto.SigTime };
            var ephAdja1 = await HttpHelper.PostRequestAsync<SatEphResDto>(SysConfig.GetUrl("Xl/Calc"), XlCalcDto2);
            if (ephAdja1.code != 200)
            {
                XdCxRhDW.Framework.LogHelper.Error($"推算卫星{dto.Adja1Code}的ECEF星历出错.{ephAdja1.msg}");
                return Error<PosResDto>($"推算卫星{dto.Adja1Code}的ECEF星历出错");
            }
            var XlCalcDto3 = new XlCalcDto() { tleStr = xl3.TwoLine, SigTime = dto.SigTime };
            var ephAdja2 = await HttpHelper.PostRequestAsync<SatEphResDto>(SysConfig.GetUrl("Xl/Calc"), XlCalcDto3);
            if (ephAdja2.code != 200)
            {
                XdCxRhDW.Framework.LogHelper.Error($"推算卫星{dto.Adja2Code}的ECEF星历出错.{ephAdja2.msg}");
                return Error<PosResDto>($"推算卫星{dto.Adja2Code}的ECEF星历出错");
            }
            using (MySqlContext db = new MySqlContext())
            {
                var StationRes = db.StationRes.Add(new StationRes()
                {
                    SatTxLon = dto.SatTxLon,
                    SatTxLat = dto.SatTxLat,
                    RefLon = dto.RefLon,
                    RefLat = dto.RefLat,
                    SigTime = dto.SigTime,
                });

                var ckRes = new CheckRes()
                {
                    SigTime = dto.SigTime,
                    FileName = dto.CheckRes?.FileName,
                    SmpStart = dto.CheckRes?.SmpStart,
                    SmpCount = dto.CheckRes?.SmpCount,
                    PosCheckType = (EnumPosCheckType?)dto.CheckRes?.PosCheckType,
                    ModRate = dto.CheckRes?.ModRate,
                    ModType = dto.CheckRes?.ModType,
                    UserName = dto.CheckRes?.UserName,
                    FfcHz = dto.CheckRes?.FfcHz,
                    Snr = dto.CheckRes?.Snr
                };
                db.CheckRes.Add(ckRes);

                var cgRes = db.CgRes.Add(new CgRes()
                {
                    SigTime = dto.SigTime,
                    Dto1 = Math.Round(dto.Dto1, 10),
                    Dfo1 = Math.Round(dto.Dfo1, 10),
                    Snr1 = Math.Round(dto.Snr1, 1),
                    Dto2 = Math.Round(dto.Dto2, 10),
                    Dfo2 = Math.Round(dto.Dfo2, 10),
                    Snr2 = Math.Round(dto.Snr2, 1),
                    YbMainDfo = Math.Round(dto.YbMainDfo, 10),
                    YbAdja1Dfo = Math.Round(dto.YbAdja1Dfo, 10),
                    YbAdja2Dfo = Math.Round(dto.YbAdja2Dfo, 10),
                    TarFreqUp = dto.TarFreqUp,
                    TarFreqDown = dto.TarFreqDown,
                    RefFreqUp = dto.RefFreqUp,
                    RefFreqDown = dto.RefFreqDown,
                    StationResID = StationRes.ID,
                    MainCode = dto.MainCode,
                    Adja1Code = dto.Adja1Code,
                    Adja2Code = dto.Adja2Code,
                    MainXlTime = ephMain.data.TleTime,
                    Adja1XlTime = ephAdja1.data.TleTime,
                    Adja2XlTime = ephAdja2.data.TleTime,
                    TaskID = runTask.ID,
                    MainX = ephMain.data.X,
                    MainY = ephMain.data.Y,
                    MainZ = ephMain.data.Z,
                    MainVx = ephMain.data.VX,
                    MainVy = ephMain.data.VY,
                    MainVz = ephMain.data.VZ,
                    Adja1X = ephAdja1.data.X,
                    Adja1Y = ephAdja1.data.Y,
                    Adja1Z = ephAdja1.data.Z,
                    Adja1Vx = ephAdja1.data.VX,
                    Adja1Vy = ephAdja1.data.VY,
                    Adja1Vz = ephAdja1.data.VZ,
                    Adja2X = ephAdja2.data.X,
                    Adja2Y = ephAdja2.data.Y,
                    Adja2Z = ephAdja2.data.Z,
                    Adja2Vx = ephAdja2.data.VX,
                    Adja2Vy = ephAdja2.data.VY,
                    Adja2Vz = ephAdja2.data.VZ,
                });

                var res = PosApi.X3_PosTwoDfo(cgRes, StationRes, dto.CalcConfidence);

                PosRes posRes = new PosRes()
                {
                    FreqUpHz = (long)cgRes.TarFreqUp.Value,
                    SigTime = dto.SigTime,
                    TaskInfoID = runTask.ID,
                    CgResID = cgRes.ID,
                    CheckResID = ckRes.ID,
                    PosLon = res[0],
                    PosLat = res[1],
                    MirrLon = res[3],
                    MirrLat = res[4],
                    Confidence = (int)res[6],
                    PosResType = EnumPosResType.X3TwoDfo,
                };
                if (dto.TheoryDfoCalc && posRes.PosLon != 999)
                    posRes.TargetState = TheoryDtoDfoApi.TheoryDfo(cgRes, StationRes, posRes, SysConfig.Config.YDPZThreshold);
                posRes = db.PosRes.Add(posRes);
                var task = db.TaskInfos.FirstOrDefault(p => p.ID == dto.TaskID);
                if (task != null)
                {
                    if (task.MaxSigTime == null || task.MaxSigTime < dto.SigTime) task.MaxSigTime = dto.SigTime;
                    if (task.MinSigTime == null || task.MinSigTime > dto.SigTime) task.MinSigTime = dto.SigTime;
                    db.Entry(task).State = EntityState.Modified;
                }
                await db.SaveChangesAsync();
                Messenger.Defalut.Pub("新增定位点", MapModel(posRes, cgRes, ckRes, null));
                return Success(MapDto(posRes, cgRes, ckRes.UserName));
            }
        }
        #endregion

        #region 双星时频差定位
        /// <summary>
        /// 双星时频差带参定位(含星历)
        /// </summary>
        /// <param name="dto">定位参数</param>
        /// <returns></returns>
        [HttpPost]
        public async Task<AjaxResult<PosResDto>> PosX2DtoDfoAsync(X2DtoDfoPosDto dto)
        {
            TaskInfo runTask;
            using (MySqlContext db = new MySqlContext())
            {
                if (dto.TaskID == null)
                {
                    runTask = await db.TaskInfos.FirstOrDefaultAsync(p => p.TaskType == EnumTaskType.Group
                    && p.PosType == EnumPosType.X2Dfo && p.TaskState == EnumTaskState.Running);
                    if (runTask == null)
                    {
                        XdCxRhDW.Framework.LogHelper.Warning($"接收到双星时频差带参定位(含星历)参数,由于找不到执行中的任务忽略本次定位");
                        return Error<PosResDto>($"多模式融合定位平台没有启动双星时频差定位任务");
                    }
                }
                else
                {
                    runTask = await db.TaskInfos.FirstOrDefaultAsync(p => p.ID == dto.TaskID);
                    if (runTask == null)
                    {
                        XdCxRhDW.Framework.LogHelper.Warning($"找不到任务,ID={dto.TaskID}");
                        return Error<PosResDto>($"找不到ID={dto.TaskID}的任务");
                    }
                }
            }
            using (MySqlContext db = new MySqlContext())
            {
                var StationRes = db.StationRes.Add(new StationRes()
                {
                    SatTxLon = dto.SatTxLon,
                    SatTxLat = dto.SatTxLat,
                    RefLon = dto.RefLon,
                    RefLat = dto.RefLat,
                    SigTime = dto.SigTime,
                });

                var ckRes = new CheckRes()
                {
                    SigTime = dto.SigTime,
                    FileName = dto.CheckRes?.FileName,
                    SmpStart = dto.CheckRes?.SmpStart,
                    SmpCount = dto.CheckRes?.SmpCount,
                    PosCheckType = (EnumPosCheckType?)dto.CheckRes?.PosCheckType,
                    ModRate = dto.CheckRes?.ModRate,
                    ModType = dto.CheckRes?.ModType,
                    UserName = dto.CheckRes?.UserName,
                    FfcHz = dto.CheckRes?.FfcHz,
                    Snr = dto.CheckRes?.Snr
                };
                db.CheckRes.Add(ckRes);

                var cgRes = db.CgRes.Add(new CgRes()
                {
                    SigTime = dto.SigTime,

                    Dto1 = Math.Round(dto.Dto, 10),
                    Dfo1 = Math.Round(dto.Dfo, 10),
                    Snr1 = Math.Round(dto.Snr, 1),
                    YbMainDto = Math.Round(dto.YbMainDto, 10),
                    YbAdja1Dto = Math.Round(dto.YbAdjaDto, 10),
                    YbMainDfo = Math.Round(dto.YbMainDfo, 10),
                    YbAdja1Dfo = Math.Round(dto.YbAdjaDfo, 10),

                    TarFreqUp = dto.TarFreqUp,
                    TarFreqDown = dto.TarFreqDown,
                    RefFreqUp = dto.RefFreqUp,
                    RefFreqDown = dto.RefFreqDown,
                    StationResID = StationRes.ID,
                    MainCode = dto.MainCode,
                    Adja1Code = dto.AdjaCode,
                    TaskID = runTask.ID,
                    MainX = dto.MainX,
                    MainY = dto.MainY,
                    MainZ = dto.MainZ,
                    MainVx = dto.MainVx,
                    MainVy = dto.MainVy,
                    MainVz = dto.MainVz,
                    Adja1X = dto.AdjaX,
                    Adja1Y = dto.AdjaY,
                    Adja1Z = dto.AdjaZ,
                    Adja1Vx = dto.AdjaVx,
                    Adja1Vy = dto.AdjaVy,
                    Adja1Vz = dto.AdjaVz,
                });

                var res = PosApi.X2_PosDtoDfo(cgRes, StationRes, dto.CalcConfidence);

                PosRes posRes = new PosRes()
                {
                    FreqUpHz = (long)cgRes.TarFreqUp.Value,
                    SigTime = cgRes.SigTime,
                    TaskInfoID = runTask.ID,
                    CgResID = cgRes.ID,
                    CheckResID = ckRes.ID,
                    PosLon = res[0],
                    PosLat = res[1],
                    MirrLon = res[3],
                    MirrLat = res[4],
                    Confidence = (int)res[6],
                    PosResType = EnumPosResType.X2Dfo,
                };
                if (dto.TheoryDfoCalc && posRes.PosLon != 999)
                    posRes.TargetState = TheoryDtoDfoApi.TheoryDfo(cgRes, StationRes, posRes, SysConfig.Config.YDPZThreshold);
                posRes = db.PosRes.Add(posRes);
                var task = db.TaskInfos.FirstOrDefault(p => p.ID == dto.TaskID);
                if (task != null)
                {
                    if (task.MaxSigTime == null || task.MaxSigTime < dto.SigTime) task.MaxSigTime = dto.SigTime;
                    if (task.MinSigTime == null || task.MinSigTime > dto.SigTime) task.MinSigTime = dto.SigTime;
                    db.Entry(task).State = EntityState.Modified;
                }
                await db.SaveChangesAsync();
                Messenger.Defalut.Pub("新增定位点", MapModel(posRes, cgRes, ckRes, null));
                return Success(MapDto(posRes, cgRes, ckRes.UserName));
            }
        }

        /// <summary>
        /// 双星时频差带参定位(无星历)
        /// </summary>
        /// <returns>返回定位结果ID</returns>
        [HttpPost]
        public async Task<AjaxResult<PosResDto>> PosX2DtoDfoNoXlAsync(X2DtoDfoNoXlPosDto dto)
        {
            TaskInfo runTask;
            using (MySqlContext db = new MySqlContext())
            {
                if (dto.TaskID == null)
                {
                    runTask = await db.TaskInfos.FirstOrDefaultAsync(p => p.TaskType == EnumTaskType.Group
                    && p.PosType == EnumPosType.X2Dfo && p.TaskState == EnumTaskState.Running);
                    if (runTask == null)
                    {
                        XdCxRhDW.Framework.LogHelper.Warning($"接收到双星时频差带参定位(无星历)参数,由于找不到执行中的任务忽略本次定位");
                        return Error<PosResDto>($"多模式融合定位平台没有启动双星时频差定位任务");
                    }
                }
                else
                {
                    runTask = await db.TaskInfos.FirstOrDefaultAsync(p => p.ID == dto.TaskID);
                    if (runTask == null)
                    {
                        XdCxRhDW.Framework.LogHelper.Warning($"找不到任务,ID={dto.TaskID}");
                        return Error<PosResDto>($"找不到ID={dto.TaskID}的任务");
                    }
                }
            }
            var xl1 = await XlRepository.GetLatestAsync(dto.MainCode, dto.SigTime);
            if (xl1 == null)
            {
                XdCxRhDW.Framework.LogHelper.Error($"系统缺少编号{dto.MainCode}卫星的星历!");
                return Error<PosResDto>($"系统缺少编号{dto.MainCode}卫星的星历!");
            }
            XdCxRhDW.Framework.LogHelper.Info($"卫星{dto.MainCode}使用发布时刻为{xl1.TimeUTC:yyyyMMddHHmmss}的星历进行推算");
            var xl2 = await XlRepository.GetLatestAsync(dto.AdjaCode, dto.SigTime);
            if (xl2 == null)
            {
                XdCxRhDW.Framework.LogHelper.Error($"系统缺少编号{dto.AdjaCode}卫星的星历!");
                return Error<PosResDto>($"系统缺少编号{dto.AdjaCode}卫星的星历!");
            }
            XdCxRhDW.Framework.LogHelper.Info($"卫星{dto.AdjaCode}使用发布时刻为{xl2.TimeUTC:yyyyMMddHHmmss}的星历进行推算");
            var XlCalcDto = new XlCalcDto() { tleStr = xl1.TwoLine, SigTime = dto.SigTime };
            var ephMain = await HttpHelper.PostRequestAsync<SatEphResDto>(SysConfig.GetUrl("Xl/Calc"), XlCalcDto);
            if (ephMain.code != 200)
            {
                XdCxRhDW.Framework.LogHelper.Error($"推算卫星{dto.MainCode}的ECEF星历出错.{ephMain.msg}");
                return Error<PosResDto>($"推算卫星{dto.MainCode}的ECEF星历出错");
            }
            var XlCalcDto2 = new XlCalcDto() { tleStr = xl2.TwoLine, SigTime = dto.SigTime };
            var ephAdja = await HttpHelper.PostRequestAsync<SatEphResDto>(SysConfig.GetUrl("Xl/Calc"), XlCalcDto2);
            if (ephAdja.code != 200)
            {
                XdCxRhDW.Framework.LogHelper.Error($"推算卫星{dto.AdjaCode}的ECEF星历出错.{ephAdja.msg}");
                return Error<PosResDto>($"推算卫星{dto.AdjaCode}的ECEF星历出错");
            }
            using (MySqlContext db = new MySqlContext())
            {
                var StationRes = db.StationRes.Add(new StationRes()
                {
                    SatTxLon = dto.SatTxLon,
                    SatTxLat = dto.SatTxLat,
                    RefLon = dto.RefLon,
                    RefLat = dto.RefLat,
                    SigTime = dto.SigTime,
                });

                var ckRes = new CheckRes()
                {
                    SigTime = dto.SigTime,
                    FileName = dto.CheckRes?.FileName,
                    SmpStart = dto.CheckRes?.SmpStart,
                    SmpCount = dto.CheckRes?.SmpCount,
                    PosCheckType = (EnumPosCheckType?)dto.CheckRes?.PosCheckType,
                    ModRate = dto.CheckRes?.ModRate,
                    ModType = dto.CheckRes?.ModType,
                    UserName = dto.CheckRes?.UserName,
                    FfcHz = dto.CheckRes?.FfcHz,
                    Snr = dto.CheckRes?.Snr
                };
                db.CheckRes.Add(ckRes);

                var cgRes = db.CgRes.Add(new CgRes()
                {
                    SigTime = dto.SigTime,
                    Dto1 = Math.Round(dto.Dto, 10),
                    Dfo1 = Math.Round(dto.Dfo, 10),
                    Snr1 = Math.Round(dto.Snr, 1),
                    YbMainDto = Math.Round(dto.YbMainDto, 10),
                    YbAdja1Dto = Math.Round(dto.YbAdjaDto, 10),
                    YbMainDfo = Math.Round(dto.YbMainDfo, 10),
                    YbAdja1Dfo = Math.Round(dto.YbAdjaDfo, 10),
                    TarFreqUp = dto.TarFreqUp,
                    TarFreqDown = dto.TarFreqDown,
                    RefFreqUp = dto.RefFreqUp,
                    RefFreqDown = dto.RefFreqDown,
                    StationResID = StationRes.ID,
                    MainCode = dto.MainCode,
                    Adja1Code = dto.AdjaCode,
                    MainXlTime = ephMain.data.TleTime,
                    Adja1XlTime = ephAdja.data.TleTime,
                    TaskID = runTask.ID,
                    MainX = ephMain.data.X,
                    MainY = ephMain.data.Y,
                    MainZ = ephMain.data.Z,
                    MainVx = ephMain.data.VX,
                    MainVy = ephMain.data.VY,
                    MainVz = ephMain.data.VZ,
                    Adja1X = ephAdja.data.X,
                    Adja1Y = ephAdja.data.Y,
                    Adja1Z = ephAdja.data.Z,
                    Adja1Vx = ephAdja.data.VX,
                    Adja1Vy = ephAdja.data.VY,
                    Adja1Vz = ephAdja.data.VZ,
                });

                var res = PosApi.X2_PosDtoDfo(cgRes, StationRes, dto.CalcConfidence);
                PosRes posRes = new PosRes()
                {
                    FreqUpHz = (long)cgRes.TarFreqUp.Value,
                    SigTime = dto.SigTime,
                    TaskInfoID = runTask.ID,
                    CgResID = cgRes.ID,
                    CheckResID = ckRes.ID,
                    PosLon = res[0],
                    PosLat = res[1],
                    MirrLon = res[3],
                    MirrLat = res[4],
                    Confidence = (int)res[6],
                    PosResType = EnumPosResType.X2Dfo,
                };
                if (dto.TheoryDfoCalc && posRes.PosLon != 999)
                    posRes.TargetState = TheoryDtoDfoApi.TheoryDfo(cgRes, StationRes, posRes, SysConfig.Config.YDPZThreshold);
                posRes = db.PosRes.Add(posRes);
                var task = db.TaskInfos.FirstOrDefault(p => p.ID == dto.TaskID);
                if (task != null)
                {

                    if (task.MaxSigTime == null || task.MaxSigTime < dto.SigTime) task.MaxSigTime = dto.SigTime;
                    if (task.MinSigTime == null || task.MinSigTime > dto.SigTime) task.MinSigTime = dto.SigTime;
                    db.Entry(task).State = EntityState.Modified;
                }
                await db.SaveChangesAsync();
                Messenger.Defalut.Pub("新增定位点", MapModel(posRes, cgRes, ckRes, null));
                return Success(MapDto(posRes, cgRes, ckRes.UserName));
            }
        }
        #endregion



        private PosResDto MapDto(PosRes res, CgRes cg, string user)
        {
            var tmp = new PosResDto()
            {
                ID = res.ID,
                FreqUpHz = res.FreqUpHz,
                SigTime = res.SigTime,
                TaskInfoID = res.TaskInfoID,
                TarName = res.TargetInfo?.TargetName,
                PosLon = res.PosLon,
                PosLat = res.PosLat,
                MirrLon = res.MirrLon,
                MirrLat = res.MirrLat,
                CheckType = res.CheckRes?.PosCheckType == null ? "" : res.CheckRes?.PosCheckType?.GetEnumDisplayName(),
                TargetState = (EnumTargetStateDto)res.TargetState,
                PosResType = (EnumPosResTypeDto)res.PosResType,
                Confidence = res.Confidence,
                Snr1 = cg?.Snr1,
                UserName = user
            };
            if (cg.Snr2 != null)
                tmp.Snr2 = cg.Snr2;
            else
                tmp.Snr2 = cg.SnrCdb;
            return tmp;

        }


        private ModelPosRes MapModel(PosRes res, CgRes cg, CheckRes ck, TargetInfo tar)
        {
            var model = new ModelPosRes()
            {
                ID = res.ID,
                FreqUpHz = res.FreqUpHz,
                SigTime = res.SigTime,
                TaskInfoID = res.TaskInfoID,
                PosLon = res.PosLon,
                PosLat = res.PosLat,
                MirrLon = res.MirrLon,
                MirrLat = res.MirrLat,
                TargetState = res.TargetState,
                PosResType = res.PosResType,
                CgResID = res.CgResID,
                CheckRes = res.CheckRes,
                CheckResID = res.CheckResID,
                ColorKey = tar?.TargeColor,
                CreateTime = res.CreateTime,
                CxResID = res.CxResID,
                StationResID = res.StationResID,
                TargetInfo = tar,
                TargetInfoID = tar?.ID,
                UpdateTime = res.UpdateTime,
                Confidence = res.Confidence,
                UserName = ck.UserName,
                PosCheckType = ck.PosCheckType,
                Snr1 = cg.Snr1,
                Snr2 = cg.Snr2,
                SnrCdb = cg.SnrCdb,
                TargetName = tar?.TargetName,

            };
            if (model.Snr2 == null && model.SnrCdb != null)
            {
                model.Snr2 = model.SnrCdb;
            }
            return model;
        }

    }
}