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 Serilog;
using XdCxRhDW.Dto;
using XdCxRhDW.Repostory;
using System.IO;
using XdCxRhDW.Entity;
using XdCxRhDW.Api;
using XdCxRhDw.Dto;
using XdCxRhDW.WebApi;

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 (RHDWContext db = new RHDWContext())
            {
                if (dto.TaskID == null)
                {
                    runTask = await db.TaskInfos.FirstOrDefaultAsync(p => p.TaskType == EnumTaskType.Real
                    && p.PosType == EnumPosType.X1D1CX && p.TaskState == EnumTaskState.Running);
                    if (runTask == null)
                    {
                        Serilog.Log.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)
                    {
                        Serilog.Log.Warning($"找不到任务,ID={dto.TaskID}");
                        return Error<PosResDto>($"找不到ID={dto.TaskID}的任务");
                    }
                }
            }
            using (RHDWPartContext db = RHDWPartContext.GetContext(dto.SigTime))
            {

                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,
                });

                var cgRes = db.CgRes.Add(new CgRes()
                {
                    SigTime = dto.SigTime,
                    DtoCdb = dto.XdDto,
                    DfoCdb = dto.XdDfo,
                    SnrCdb = dto.XdSnr,
                    YbMainDto = dto.MainYbDto,
                    StationResID = StationRes.ID,
                    MainCode = dto.MainCode,
                    TaskID = runTask.ID,
                    MainX = dto.MainX,
                    MainY = dto.MainY,
                    MainZ = dto.MainZ,
                    TarFreqUp = dto.FreqUp == null ? runTask.Freq : 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);

                PosRes posRes = new PosRes()
                {
                    FreqUpHz = (long)cgRes.TarFreqUp.Value,
                    SigTime = cgRes.SigTime,
                    TaskInfoID = runTask.ID,
                    CxResID = cxRes.ID,
                    CgResID = cgRes.ID,
                    TarName = string.IsNullOrWhiteSpace(dto.TarName) ? "未知目标" : dto.TarName,
                    TsName = dto.TsName,
                    PosLon = res[0],
                    PosLat = res[1],
                    MirrLon = res[3],
                    MirrLat = res[4],
                    PosResType = EnumPosResType.X1D1CX,
                };
                posRes = db.PosRes.Add(posRes);
                await db.SaveChangesAsync();
                Messenger.Defalut.Pub("新增定位点", posRes);
                return Success(MapDto(posRes));
            }
        }

        /// <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;
            SysSetings settings;
            using (RHDWContext db = new RHDWContext())
            {
                if (dto.TaskID == null)
                {
                    runTask = await db.TaskInfos.FirstOrDefaultAsync(p => p.TaskType == EnumTaskType.Real
                    && p.PosType == EnumPosType.X1D1CX && p.TaskState == EnumTaskState.Running);
                    if (runTask == null)
                    {
                        Serilog.Log.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)
                    {
                        Serilog.Log.Warning($"找不到任务,ID={dto.TaskID}");
                        return Error<PosResDto>($"找不到ID={dto.TaskID}的任务");
                    }
                }
                settings = await db.SysSetings.FirstOrDefaultAsync();
            }
            var xl1 = await XlRepository.GetLatestAsync(dto.MainCode, dto.SigTime);
            if (xl1 == null)
            {
                Serilog.Log.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!");
            }
            Serilog.Log.Information($"卫星{dto.MainCode}使用发布时刻为{xl1.TimeBJ:yyyyMMddHHmmss}的星历进行推算");
            var XlCalcDto = new XlCalcDto() { tleStr = xl1.TwoLine, dt = dto.SigTime };
            string url = string.Format("http://{0}:{1}/Api/Xl/Calc", IpHelper.GetLocalIp(), settings.HttpPort);
            var ephMain = await HttpHelper.PostRequestAsync<SatEphResDto>(url, XlCalcDto);
            if (ephMain.code != 200)
            {
                Serilog.Log.Error($"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 (RHDWPartContext db = RHDWPartContext.GetContext(dto.SigTime))
            {
                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,
                });

                var cgRes = db.CgRes.Add(new CgRes()
                {
                    SigTime = dto.SigTime,
                    DtoCdb = dto.XdDto,
                    DfoCdb = dto.XdDfo,
                    SnrCdb = dto.XdSnr,
                    YbMainDto = dto.MainYbDto,
                    StationResID = StationRes.ID,
                    MainCode = dto.MainCode,
                    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 == null ? runTask.Freq : 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);

                PosRes posRes = new PosRes()
                {
                    FreqUpHz = (long)cgRes.TarFreqUp.Value,
                    SigTime = dto.SigTime,
                    TaskInfoID = runTask.ID,
                    CgResID = cgRes.ID,
                    CxResID = cxRes.ID,
                    TarName = string.IsNullOrWhiteSpace(dto.TarName) ? "未知目标" : dto.TarName,
                    TsName = dto.TsName,
                    PosLon = res[0],
                    PosLat = res[1],
                    MirrLon = res[3],
                    MirrLat = res[4],
                    PosResType = EnumPosResType.X1D1CX,
                };
                posRes = db.PosRes.Add(posRes);
                await db.SaveChangesAsync();
                Messenger.Defalut.Pub("新增定位点", posRes);
                return Success(MapDto(posRes));
            }
        }
        #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;
            SysSetings settings;
            using (RHDWContext db = new RHDWContext())
            {
                if (dto.TaskID == null)
                {
                    runTask = await db.TaskInfos.FirstOrDefaultAsync(p => p.TaskType == EnumTaskType.Real
                    && p.PosType == EnumPosType.X2D1 && p.TaskState == EnumTaskState.Running);
                    if (runTask == null)
                    {
                        Serilog.Log.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)
                    {
                        Serilog.Log.Warning($"找不到任务,ID={dto.TaskID}");
                        return Error<PosResDto>($"找不到ID={dto.TaskID}的任务");
                    }
                }
                settings = await db.SysSetings.FirstOrDefaultAsync();
            }
            using (RHDWPartContext db = RHDWPartContext.GetContext(dto.SigTime))
            {
                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,
                });

                var cgRes = db.CgRes.Add(new CgRes()
                {
                    SigTime = dto.SigTime,
                    Dto1 = dto.SxDto,
                    Dfo1 = dto.SxDfo,
                    Snr1 = dto.SxSnr,
                    DtoCdb = dto.XdDto,
                    DfoCdb = dto.XdDfo,
                    SnrCdb = dto.XdSnr,
                    YbMainDto = dto.MainYbDto,
                    YbAdja1Dto = dto.AdjaYbDto,
                    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 == null ? runTask.Freq : dto.FreqUp,
                    TarFreqDown = dto.FreqDown,
                });

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

                PosRes posRes = new PosRes()
                {
                    FreqUpHz = (long)cgRes.TarFreqUp.Value,
                    SigTime = cgRes.SigTime,
                    TaskInfoID = runTask.ID,
                    CgResID = cgRes.ID,
                    TarName = string.IsNullOrWhiteSpace(dto.TarName) ? "未知目标" : dto.TarName,
                    TsName = dto.TsName,
                    PosLon = res[0],
                    PosLat = res[1],
                    MirrLon = res[3],
                    MirrLat = res[4],
                    PosResType = EnumPosResType.X2D1,
                };
                posRes.TargetState = TheoryDtoDfoApi.TheoryDfo(cgRes, StationRes, posRes, settings.YDPZThreshold);
                posRes = db.PosRes.Add(posRes);
                await db.SaveChangesAsync();
                Messenger.Defalut.Pub("新增定位点", posRes);
                return Success(MapDto(posRes));
            }
        }

        /// <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;
            SysSetings settings;
            using (RHDWContext db = new RHDWContext())
            {
                if (dto.TaskID == null)
                {
                    runTask = await db.TaskInfos.FirstOrDefaultAsync(p => p.TaskType == EnumTaskType.Real
                    && p.PosType == EnumPosType.X2D1 && p.TaskState == EnumTaskState.Running);
                    if (runTask == null)
                    {
                        Serilog.Log.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)
                    {
                        Serilog.Log.Warning($"找不到任务,ID={dto.TaskID}");
                        return Error<PosResDto>($"找不到ID={dto.TaskID}的任务");
                    }
                }
                settings = await db.SysSetings.FirstOrDefaultAsync();
            }
            var xl1 = await XlRepository.GetLatestAsync(dto.MainCode, dto.SigTime);
            if (xl1 == null)
            {
                Serilog.Log.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!");
            }
            Serilog.Log.Information($"卫星{dto.MainCode}使用发布时刻为{xl1.TimeBJ:yyyyMMddHHmmss}的星历进行推算");
            var xl2 = await XlRepository.GetLatestAsync(dto.AdjaCode, dto.SigTime);
            if (xl2 == null)
            {
                Serilog.Log.Error($"系统缺少编号{dto.AdjaCode}卫星的星历!");
                return Error<PosResDto>($"系统缺少编号{dto.AdjaCode}卫星的星历!");
            }
            Serilog.Log.Information($"卫星{dto.AdjaCode}使用发布时刻为{xl2.TimeBJ:yyyyMMddHHmmss}的星历进行推算");
            string url = string.Format("http://{0}:{1}/Api/Xl/Calc", IpHelper.GetLocalIp(), settings.HttpPort);
            var XlCalcDto = new XlCalcDto() { tleStr = xl1.TwoLine, dt = dto.SigTime };
            var ephMain = await HttpHelper.PostRequestAsync<SatEphResDto>(url, XlCalcDto);
            if (ephMain.code != 200)
            {
                Serilog.Log.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, dt = dto.SigTime };
            var ephAdja = await HttpHelper.PostRequestAsync<SatEphResDto>(url, XlCalcDto2);
            if (ephAdja.code != 200)
            {
                Serilog.Log.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 (RHDWPartContext db = RHDWPartContext.GetContext(dto.SigTime))
            {
                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,
                });

                var cgRes = db.CgRes.Add(new CgRes()
                {
                    SigTime = dto.SigTime,
                    Dto1 = dto.SxDto,
                    Dfo1 = dto.SxDfo,
                    Snr1 = dto.SxSnr,
                    DtoCdb = dto.XdDto,
                    DfoCdb = dto.XdDfo,
                    SnrCdb = dto.XdSnr,
                    YbMainDto = dto.MainYbDto,
                    YbAdja1Dto = dto.AdjaYbDto,
                    StationResID = StationRes.ID,
                    MainCode = dto.MainCode,
                    Adja1Code = dto.AdjaCode,
                    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 == null ? runTask.Freq : dto.FreqUp,
                    TarFreqDown = dto.FreqDown,
                });

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

                PosRes posRes = new PosRes()
                {
                    FreqUpHz = (long)cgRes.TarFreqUp.Value,
                    SigTime = dto.SigTime,
                    TaskInfoID = runTask.ID,
                    CgResID = cgRes.ID,
                    TarName = string.IsNullOrWhiteSpace(dto.TarName) ? "未知目标" : dto.TarName,
                    TsName = dto.TsName,
                    PosLon = res[0],
                    PosLat = res[1],
                    MirrLon = res[3],
                    MirrLat = res[4],
                    PosResType = EnumPosResType.X2D1,
                };
                posRes.TargetState = TheoryDtoDfoApi.TheoryDfo(cgRes, StationRes, posRes, settings.YDPZThreshold);
                posRes = db.PosRes.Add(posRes);
                await db.SaveChangesAsync();
                Messenger.Defalut.Pub("新增定位点", posRes);
                return Success(MapDto(posRes));
            }
        }

        /// <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;
            SysSetings settings;
            using (RHDWContext db = new RHDWContext())
            {
                if (dto.TaskID == null)
                {
                    runTask = await db.TaskInfos.FirstOrDefaultAsync(p => p.TaskType == EnumTaskType.Real
                    && p.PosType == EnumPosType.X2D1 && p.TaskState == EnumTaskState.Running);
                    if (runTask == null)
                    {
                        Serilog.Log.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)
                    {
                        Serilog.Log.Warning($"找不到任务,ID={dto.TaskID}");
                        return Error<PosResDto>($"找不到ID={dto.TaskID}的任务");
                    }
                }
                settings = await db.SysSetings.FirstOrDefaultAsync();
            }
            using (RHDWPartContext db = RHDWPartContext.GetContext(dto.SigTime))
            {
                var StationRes = db.StationRes.Add(new StationRes()
                {
                    SatTxLon = dto.SatTxLon,
                    SatTxLat = dto.SatTxLat,
                    CdbTxLon = dto.CdbTxLon,
                    CdbTxLat = dto.CdbTxLat,
                });
                var cgRes = db.CgRes.Add(new CgRes()
                {
                    SigTime = dto.SigTime,
                    Dto1 = dto.SxDto,
                    Dfo1 = dto.SxDfo,
                    Snr1 = dto.SxSnr,
                    DtoCdb = dto.XdDto,
                    DfoCdb = dto.XdDfo,
                    SnrCdb = dto.XdSnr,
                    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 == null ? runTask.Freq : dto.FreqUp,
                    TarFreqDown = dto.FreqDown,
                });
                var res = PosApi.X2D1_PosNoRef(cgRes, StationRes);
                PosRes posRes = new PosRes()
                {
                    FreqUpHz = (long)cgRes.TarFreqUp.Value,
                    SigTime = cgRes.SigTime,
                    TaskInfoID = runTask.ID,
                    CgResID = cgRes.ID,
                    TarName = string.IsNullOrWhiteSpace(dto.TarName) ? "未知目标" : dto.TarName,
                    TsName = dto.TsName,
                    PosLon = res[0],
                    PosLat = res[1],
                    MirrLon = res[3],
                    MirrLat = res[4],
                    PosResType = EnumPosResType.X2D1NoRef,
                };
                posRes.TargetState = TheoryDtoDfoApi.TheoryDfo(cgRes, StationRes, posRes, settings.YDPZThreshold);
                posRes = db.PosRes.Add(posRes);
                await db.SaveChangesAsync();
                Messenger.Defalut.Pub("新增定位点", posRes);
                return Success(MapDto(posRes));
            }
        }

        /// <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;
            SysSetings settings;
            using (RHDWContext db = new RHDWContext())
            {
                if (dto.TaskID == null)
                {
                    runTask = await db.TaskInfos.FirstOrDefaultAsync(p => p.TaskType == EnumTaskType.Real
                    && p.PosType == EnumPosType.X2D1 && p.TaskState == EnumTaskState.Running);
                    if (runTask == null)
                    {
                        Serilog.Log.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)
                    {
                        Serilog.Log.Warning($"找不到任务,ID={dto.TaskID}");
                        return Error<PosResDto>($"找不到ID={dto.TaskID}的任务");
                    }
                }
                settings = await db.SysSetings.FirstOrDefaultAsync();
            }
            var xl1 = await XlRepository.GetLatestAsync(dto.MainCode, dto.SigTime);
            if (xl1 == null)
            {
                Serilog.Log.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!");
            }
            Serilog.Log.Information($"卫星{dto.MainCode}使用发布时刻为{xl1.TimeBJ:yyyyMMddHHmmss}的星历进行推算");
            var xl2 = await XlRepository.GetLatestAsync(dto.AdjaCode, dto.SigTime);
            if (xl2 == null)
            {
                Serilog.Log.Error($"系统缺少编号{dto.AdjaCode}卫星的星历!");
                return Error<PosResDto>($"系统缺少编号{dto.AdjaCode}卫星的星历!");
            }
            Serilog.Log.Information($"卫星{dto.AdjaCode}使用发布时刻为{xl2.TimeBJ:yyyyMMddHHmmss}的星历进行推算");
            string url = string.Format("http://{0}:{1}/Api/Xl/Calc", IpHelper.GetLocalIp(), settings.HttpPort);
            var XlCalcDto = new XlCalcDto() { tleStr = xl1.TwoLine, dt = dto.SigTime };
            var ephMain = await HttpHelper.PostRequestAsync<SatEphResDto>(url, XlCalcDto);
            if (ephMain.code != 200)
            {
                Serilog.Log.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, dt = dto.SigTime };
            var ephAdja = await HttpHelper.PostRequestAsync<SatEphResDto>(url, XlCalcDto2);
            if (ephAdja.code != 200)
            {
                Serilog.Log.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 (RHDWPartContext db = RHDWPartContext.GetContext(dto.SigTime))
            {
                var StationRes = db.StationRes.Add(new StationRes()
                {
                    SatTxLon = dto.SatTxLon,
                    SatTxLat = dto.SatTxLat,
                    CdbTxLon = dto.CdbTxLon,
                    CdbTxLat = dto.CdbTxLat,
                });

                var cgRes = db.CgRes.Add(new CgRes()
                {
                    SigTime = dto.SigTime,
                    Dto1 = dto.SxDto,
                    Dfo1 = dto.SxDfo,
                    Snr1 = dto.SxSnr,
                    DtoCdb = dto.XdDto,
                    DfoCdb = dto.XdDfo,
                    SnrCdb = dto.XdSnr,
                    StationResID = StationRes.ID,
                    MainCode = dto.MainCode,
                    Adja1Code = dto.AdjaCode,
                    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 == null ? runTask.Freq : dto.FreqUp,
                    TarFreqDown = dto.FreqDown,
                });

                var res = PosApi.X2D1_PosNoRef(cgRes, StationRes);

                PosRes posRes = new PosRes()
                {
                    FreqUpHz = (long)cgRes.TarFreqUp.Value,
                    SigTime = dto.SigTime,
                    TaskInfoID = runTask.ID,
                    CgResID = cgRes.ID,
                    TarName = string.IsNullOrWhiteSpace(dto.TarName) ? "未知目标" : dto.TarName,
                    TsName = dto.TsName,
                    PosLon = res[0],
                    PosLat = res[1],
                    MirrLon = res[3],
                    MirrLat = res[4],
                    PosResType = EnumPosResType.X2D1NoRef,
                };
                posRes.TargetState = TheoryDtoDfoApi.TheoryDfo(cgRes, StationRes, posRes, settings.YDPZThreshold);
                posRes = db.PosRes.Add(posRes);
                await db.SaveChangesAsync();
                Messenger.Defalut.Pub("新增定位点", posRes);
                return Success(MapDto(posRes));
            }
        }
        #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;
            SysSetings settings;
            using (RHDWContext db = new RHDWContext())
            {
                if (dto.TaskID == null)
                {
                    runTask = await db.TaskInfos.FirstOrDefaultAsync(p => p.TaskType == EnumTaskType.Real
                    && p.PosType == EnumPosType.RH && p.TaskState == EnumTaskState.Running);
                    if (runTask == null)
                    {
                        Serilog.Log.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)
                    {
                        Serilog.Log.Warning($"找不到任务,ID={dto.TaskID}");
                        return Error<PosResDto>($"找不到ID={dto.TaskID}的任务");
                    }
                }
                settings = await db.SysSetings.FirstOrDefaultAsync();
            }
            using (RHDWPartContext db = RHDWPartContext.GetContext(dto.SigTime))
            {
                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,
                });

                var cgRes = db.CgRes.Add(new CgRes()
                {
                    SigTime = dto.SigTime,
                    Dto1 = dto.SxDto,
                    Dfo1 = dto.SxDfo,
                    Snr1 = dto.SxSnr,
                    DtoCdb = dto.XdDto,
                    DfoCdb = dto.XdDfo,
                    SnrCdb = dto.XdSnr,
                    YbMainDto = dto.MainYbDto,
                    YbAdja1Dto = dto.AdjaYbDto,
                    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 == null ? runTask.Freq : 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);

                PosRes posRes = new PosRes()
                {
                    FreqUpHz = (long)cgRes.TarFreqUp.Value,
                    SigTime = cgRes.SigTime,
                    TaskInfoID = runTask.ID,
                    CxResID = cxRes.ID,
                    CgResID = cgRes.ID,
                    TarName = string.IsNullOrWhiteSpace(dto.TarName) ? "未知目标" : dto.TarName,
                    TsName = dto.TsName,
                    PosLon = res[0],
                    PosLat = res[1],
                    MirrLon = res[3],
                    MirrLat = res[4],
                    PosResType = EnumPosResType.RH,
                };
                posRes.TargetState = TheoryDtoDfoApi.TheoryDfo(cgRes, StationRes, posRes, settings.YDPZThreshold);
                posRes = db.PosRes.Add(posRes);
                await db.SaveChangesAsync();
                Messenger.Defalut.Pub("新增定位点", posRes);
                return Success(MapDto(posRes));
            }
        }

        /// <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;
            SysSetings settings;
            using (RHDWContext db = new RHDWContext())
            {
                if (dto.TaskID == null)
                {
                    runTask = await db.TaskInfos.FirstOrDefaultAsync(p => p.TaskType == EnumTaskType.Real
                    && p.PosType == EnumPosType.RH && p.TaskState == EnumTaskState.Running);
                    if (runTask == null)
                    {
                        Serilog.Log.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)
                    {
                        Serilog.Log.Warning($"找不到任务,ID={dto.TaskID}");
                        return Error<PosResDto>($"找不到ID={dto.TaskID}的任务");
                    }
                }
                settings = await db.SysSetings.FirstOrDefaultAsync();
            }
            var xl1 = await XlRepository.GetLatestAsync(dto.MainCode, dto.SigTime);
            if (xl1 == null)
            {
                Serilog.Log.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!");
            }
            Serilog.Log.Information($"卫星{dto.MainCode}使用发布时刻为{xl1.TimeBJ:yyyyMMddHHmmss}的星历进行推算");
            var xl2 = await XlRepository.GetLatestAsync(dto.AdjaCode, dto.SigTime);
            if (xl2 == null)
            {
                Serilog.Log.Error($"系统缺少编号{dto.AdjaCode}卫星的星历!");
                return Error<PosResDto>($"系统缺少编号{dto.AdjaCode}卫星的星历!");
            }
            Serilog.Log.Information($"卫星{dto.AdjaCode}使用发布时刻为{xl2.TimeBJ:yyyyMMddHHmmss}的星历进行推算");
            string url = string.Format("http://{0}:{1}/Api/Xl/Calc", IpHelper.GetLocalIp(), settings.HttpPort);
            var XlCalcDto = new XlCalcDto() { tleStr = xl1.TwoLine, dt = dto.SigTime };
            var ephMain = await HttpHelper.PostRequestAsync<SatEphResDto>(url, XlCalcDto);
            if (ephMain.code != 200)
            {
                Serilog.Log.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, dt = dto.SigTime };
            var ephAdja = await HttpHelper.PostRequestAsync<SatEphResDto>(url, XlCalcDto2);
            if (ephAdja.code != 200)
            {
                Serilog.Log.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 (RHDWPartContext db = RHDWPartContext.GetContext(dto.SigTime))
            {
                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,
                });
                var cgRes = db.CgRes.Add(new CgRes()
                {
                    SigTime = dto.SigTime,
                    Dto1 = dto.SxDto,
                    Dfo1 = dto.SxDfo,
                    Snr1 = dto.SxSnr,
                    DtoCdb = dto.XdDto,
                    DfoCdb = dto.XdDfo,
                    SnrCdb = dto.XdSnr,
                    YbMainDto = dto.MainYbDto,
                    YbAdja1Dto = dto.AdjaYbDto,
                    StationResID = StationRes.ID,
                    MainCode = dto.MainCode,
                    Adja1Code = dto.AdjaCode,
                    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 == null ? runTask.Freq : 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);
                PosRes posRes = new PosRes()
                {
                    FreqUpHz = (long)cgRes.TarFreqUp.Value,
                    SigTime = cgRes.SigTime,
                    TaskInfoID = runTask.ID,
                    CxResID = cxRes.ID,
                    CgResID = cgRes.ID,
                    TarName = string.IsNullOrWhiteSpace(dto.TarName) ? "未知目标" : dto.TarName,
                    TsName = dto.TsName,
                    PosLon = res[0],
                    PosLat = res[1],
                    MirrLon = res[3],
                    MirrLat = res[4],
                    PosResType = EnumPosResType.RH,
                };
                posRes.TargetState = TheoryDtoDfoApi.TheoryDfo(cgRes, StationRes, posRes, settings.YDPZThreshold);
                posRes = db.PosRes.Add(posRes);
                await db.SaveChangesAsync();
                Messenger.Defalut.Pub("新增定位点", posRes);
                return Success(MapDto(posRes));
            }
        }
        #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;
            SysSetings settings;
            using (RHDWContext db = new RHDWContext())
            {
                if (dto.TaskID == null)
                {
                    runTask = await db.TaskInfos.FirstOrDefaultAsync(p => p.TaskType == EnumTaskType.Real
                    && p.PosType == EnumPosType.X3TwoDto && p.TaskState == EnumTaskState.Running);
                    if (runTask == null)
                    {
                        Serilog.Log.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)
                    {
                        Serilog.Log.Warning($"找不到任务,ID={dto.TaskID}");
                        return Error<PosResDto>($"找不到ID={dto.TaskID}的任务");
                    }
                }
                settings = await db.SysSetings.FirstOrDefaultAsync();
            }
            using (RHDWPartContext db = RHDWPartContext.GetContext(dto.SigTime))
            {
                var StationRes = db.StationRes.Add(new StationRes()
                {
                    SatTxLon = dto.SatTxLon,
                    SatTxLat = dto.SatTxLat,
                    RefLon = dto.RefLon,
                    RefLat = dto.RefLat,
                });

                var cgRes = db.CgRes.Add(new CgRes()
                {
                    SigTime = dto.SigTime,
                    Dto1 = dto.Dto1,
                    Dfo1 = dto.Dfo1,
                    Snr1 = dto.Snr1,
                    Dto2 = dto.Dto2,
                    Dfo2 = dto.Dfo2,
                    Snr2 = dto.Snr2,
                    YbMainDto = dto.YbMainDto,
                    YbAdja1Dto = dto.YbAdja1Dto,
                    YbAdja2Dto = dto.YbAdja2Dto,
                    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 == null ? runTask.Freq : dto.FreqUp,
                    TarFreqDown = dto.FreqDown,
                });

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

                PosRes posRes = new PosRes()
                {
                    FreqUpHz = (long)cgRes.TarFreqUp.Value,
                    SigTime = cgRes.SigTime,
                    TaskInfoID = runTask.ID,
                    CgResID = cgRes.ID,
                    TarName = string.IsNullOrWhiteSpace(dto.TarName) ? "未知目标" : dto.TarName,
                    TsName = dto.TsName,
                    PosLon = res[0],
                    PosLat = res[1],
                    MirrLon = res[3],
                    MirrLat = res[4],
                    PosResType = EnumPosResType.X3,
                };
                posRes.TargetState = TheoryDtoDfoApi.TheoryDfo(cgRes, StationRes, posRes, settings.YDPZThreshold);
                posRes = db.PosRes.Add(posRes);
                await db.SaveChangesAsync();
                Messenger.Defalut.Pub("新增定位点", posRes);
                return Success(MapDto(posRes));
            }
        }

        /// <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;
            SysSetings settings;
            using (RHDWContext db = new RHDWContext())
            {
                if (dto.TaskID == null)
                {
                    runTask = await db.TaskInfos.FirstOrDefaultAsync(p => p.TaskType == EnumTaskType.Real
                    && p.PosType == EnumPosType.X3TwoDto && p.TaskState == EnumTaskState.Running);
                    if (runTask == null)
                    {
                        Serilog.Log.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)
                    {
                        Serilog.Log.Warning($"找不到任务,ID={dto.TaskID}");
                        return Error<PosResDto>($"找不到ID={dto.TaskID}的任务");
                    }
                }
                settings = await db.SysSetings.FirstOrDefaultAsync();
            }
            var xl1 = await XlRepository.GetLatestAsync(dto.MainCode, dto.SigTime);
            if (xl1 == null)
            {
                Serilog.Log.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!");
            }
            Serilog.Log.Information($"卫星{dto.MainCode}使用发布时刻为{xl1.TimeBJ:yyyyMMddHHmmss}的星历进行推算");
            var xl2 = await XlRepository.GetLatestAsync(dto.Adja1Code, dto.SigTime);
            if (xl2 == null)
            {
                Serilog.Log.Error($"系统缺少编号{dto.Adja1Code}卫星的星历!");
                return Error<PosResDto>($"系统缺少编号{dto.Adja1Code}卫星的星历!");
            }
            Serilog.Log.Information($"卫星{dto.Adja1Code}使用发布时刻为{xl2.TimeBJ:yyyyMMddHHmmss}的星历进行推算");
            var xl3 = await XlRepository.GetLatestAsync(dto.Adja2Code, dto.SigTime);
            if (xl3 == null)
            {
                Serilog.Log.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!");
            }
            Serilog.Log.Information($"卫星{dto.Adja2Code}使用发布时刻为{xl3.TimeBJ:yyyyMMddHHmmss}的星历进行推算");
            string url = string.Format("http://{0}:{1}/Api/Xl/Calc", IpHelper.GetLocalIp(), settings.HttpPort);
            var XlCalcDto = new XlCalcDto() { tleStr = xl1.TwoLine, dt = dto.SigTime };
            var ephMain = await HttpHelper.PostRequestAsync<SatEphResDto>(url, XlCalcDto);
            if (ephMain.code != 200)
            {
                Serilog.Log.Error($"推算卫星{dto.MainCode}的ECEF星历出错.{ephMain.msg}");
                return Error<PosResDto>($"推算卫星{dto.MainCode}的ECEF星历出错");
            }
            var XlCalcDto2 = new XlCalcDto() { tleStr = xl2.TwoLine, dt = dto.SigTime };
            var ephAdja1 = await HttpHelper.PostRequestAsync<SatEphResDto>(url, XlCalcDto2);
            if (ephAdja1.code != 200)
            {
                Serilog.Log.Error($"推算卫星{dto.Adja1Code}的ECEF星历出错.{ephAdja1.msg}");
                return Error<PosResDto>($"推算卫星{dto.Adja1Code}的ECEF星历出错");
            }
            var XlCalcDto3 = new XlCalcDto() { tleStr = xl3.TwoLine, dt = dto.SigTime };
            var ephAdja2 = await HttpHelper.PostRequestAsync<SatEphResDto>(url, XlCalcDto3);
            if (ephAdja2.code != 200)
            {
                Serilog.Log.Error($"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 (RHDWPartContext db = RHDWPartContext.GetContext(dto.SigTime))
            {
                var StationRes = db.StationRes.Add(new StationRes()
                {
                    SatTxLon = dto.SatTxLon,
                    SatTxLat = dto.SatTxLat,
                    RefLon = dto.RefLon,
                    RefLat = dto.RefLat,
                });

                var cgRes = db.CgRes.Add(new CgRes()
                {
                    SigTime = dto.SigTime,
                    Dto1 = dto.Dto1,
                    Dfo1 = dto.Dfo1,
                    Snr1 = dto.Snr1,
                    Dto2 = dto.Dto2,
                    Dfo2 = dto.Dfo2,
                    Snr2 = dto.Snr2,
                    YbMainDto = dto.YbMainDto,
                    YbAdja1Dto = dto.YbAdja1Dto,
                    YbAdja2Dto = dto.YbAdja2Dto,
                    StationResID = StationRes.ID,
                    MainCode = dto.MainCode,
                    Adja1Code = dto.Adja1Code,
                    Adja2Code = dto.Adja2Code,
                    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 == null ? runTask.Freq : dto.FreqUp,
                    TarFreqDown = dto.FreqDown,
                });

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

                PosRes posRes = new PosRes()
                {
                    FreqUpHz = (long)cgRes.TarFreqUp.Value,
                    SigTime = dto.SigTime,
                    TaskInfoID = runTask.ID,
                    CgResID = cgRes.ID,
                    TarName = string.IsNullOrWhiteSpace(dto.TarName) ? "未知目标" : dto.TarName,
                    TsName = dto.TsName,
                    PosLon = res[0],
                    PosLat = res[1],
                    MirrLon = res[3],
                    MirrLat = res[4],
                    PosResType = EnumPosResType.X3,
                };
                posRes.TargetState = TheoryDtoDfoApi.TheoryDfo(cgRes, StationRes, posRes, settings.YDPZThreshold);
                posRes = db.PosRes.Add(posRes);
                await db.SaveChangesAsync();
                Messenger.Defalut.Pub("新增定位点", posRes);
                return Success(MapDto(posRes));
            }
        }

        /// <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;
            SysSetings settings;
            using (RHDWContext db = new RHDWContext())
            {
                if (dto.TaskID == null)
                {
                    runTask = await db.TaskInfos.FirstOrDefaultAsync(p => p.TaskType == EnumTaskType.Real
                    && p.PosType == EnumPosType.X3TwoDto && p.TaskState == EnumTaskState.Running);
                    if (runTask == null)
                    {
                        Serilog.Log.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)
                    {
                        Serilog.Log.Warning($"找不到任务,ID={dto.TaskID}");
                        return Error<PosResDto>($"找不到ID={dto.TaskID}的任务");
                    }
                }
                settings = await db.SysSetings.FirstOrDefaultAsync();
            }
            using (RHDWPartContext db = RHDWPartContext.GetContext(dto.SigTime))
            {
                var StationRes = db.StationRes.Add(new StationRes()
                {
                    SatTxLon = dto.SatTxLon,
                    SatTxLat = dto.SatTxLat,
                });

                var cgRes = db.CgRes.Add(new CgRes()
                {
                    SigTime = dto.SigTime,
                    Dto1 = dto.Dto1,
                    Dfo1 = dto.Dfo1,
                    Snr1 = dto.Snr1,
                    Dto2 = dto.Dto2,
                    Dfo2 = dto.Dfo2,
                    Snr2 = dto.Snr2,
                    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 == null ? runTask.Freq : dto.FreqUp,
                    TarFreqDown = dto.FreqDown,
                });

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

                PosRes posRes = new PosRes()
                {
                    FreqUpHz = (long)cgRes.TarFreqUp.Value,
                    SigTime = cgRes.SigTime,
                    TaskInfoID = runTask.ID,
                    CgResID = cgRes.ID,
                    TarName = string.IsNullOrWhiteSpace(dto.TarName) ? "未知目标" : dto.TarName,
                    TsName = dto.TsName,
                    PosLon = res[0],
                    PosLat = res[1],
                    MirrLon = res[3],
                    MirrLat = res[4],
                    PosResType = EnumPosResType.X3NoRef,
                };
                posRes.TargetState = TheoryDtoDfoApi.TheoryDfo(cgRes, StationRes, posRes, settings.YDPZThreshold);
                posRes = db.PosRes.Add(posRes);
                await db.SaveChangesAsync();
                Messenger.Defalut.Pub("新增定位点", posRes);
                return Success(MapDto(posRes));
            }
        }

        /// <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;
            SysSetings settings;
            using (RHDWContext db = new RHDWContext())
            {
                if (dto.TaskID == null)
                {
                    runTask = await db.TaskInfos.FirstOrDefaultAsync(p => p.TaskType == EnumTaskType.Real
                    && p.PosType == EnumPosType.X3TwoDto && p.TaskState == EnumTaskState.Running);
                    if (runTask == null)
                    {
                        Serilog.Log.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)
                    {
                        Serilog.Log.Warning($"找不到任务,ID={dto.TaskID}");
                        return Error<PosResDto>($"找不到ID={dto.TaskID}的任务");
                    }
                }
                settings = await db.SysSetings.FirstOrDefaultAsync();
            }
            var xl1 = await XlRepository.GetLatestAsync(dto.MainCode, dto.SigTime);
            if (xl1 == null)
            {
                Serilog.Log.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!");
            }
            Serilog.Log.Information($"卫星{dto.MainCode}使用发布时刻为{xl1.TimeBJ:yyyyMMddHHmmss}的星历进行推算");
            var xl2 = await XlRepository.GetLatestAsync(dto.Adja1Code, dto.SigTime);
            if (xl2 == null)
            {
                Serilog.Log.Error($"系统缺少编号{dto.Adja1Code}卫星的星历!");
                return Error<PosResDto>($"系统缺少编号{dto.Adja1Code}卫星的星历!");
            }
            Serilog.Log.Information($"卫星{dto.Adja1Code}使用发布时刻为{xl2.TimeBJ:yyyyMMddHHmmss}的星历进行推算");
            var xl3 = await XlRepository.GetLatestAsync(dto.Adja2Code, dto.SigTime);
            if (xl3 == null)
            {
                Serilog.Log.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!");
            }
            Serilog.Log.Information($"卫星{dto.Adja2Code}使用发布时刻为{xl3.TimeBJ:yyyyMMddHHmmss}的星历进行推算");
            string url = string.Format("http://{0}:{1}/Api/Xl/Calc", IpHelper.GetLocalIp(), settings.HttpPort);
            var XlCalcDto = new XlCalcDto() { tleStr = xl1.TwoLine, dt = dto.SigTime };
            var ephMain = await HttpHelper.PostRequestAsync<SatEphResDto>(url, XlCalcDto);
            if (ephMain.code != 200)
            {
                Serilog.Log.Error($"推算卫星{dto.MainCode}的ECEF星历出错.{ephMain.msg}");
                return Error<PosResDto>($"推算卫星{dto.MainCode}的ECEF星历出错");
            }
            var XlCalcDto2 = new XlCalcDto() { tleStr = xl2.TwoLine, dt = dto.SigTime };
            var ephAdja1 = await HttpHelper.PostRequestAsync<SatEphResDto>(url, XlCalcDto2);
            if (ephAdja1.code != 200)
            {
                Serilog.Log.Error($"推算卫星{dto.Adja1Code}的ECEF星历出错.{ephAdja1.msg}");
                return Error<PosResDto>($"推算卫星{dto.Adja1Code}的ECEF星历出错");
            }
            var XlCalcDto3 = new XlCalcDto() { tleStr = xl3.TwoLine, dt = dto.SigTime };
            var ephAdja2 = await HttpHelper.PostRequestAsync<SatEphResDto>(url, XlCalcDto3);
            if (ephAdja2.code != 200)
            {
                Serilog.Log.Error($"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 (RHDWPartContext db = RHDWPartContext.GetContext(dto.SigTime))
            {
                var StationRes = db.StationRes.Add(new StationRes()
                {
                    SatTxLon = dto.SatTxLon,
                    SatTxLat = dto.SatTxLat,
                });

                var cgRes = db.CgRes.Add(new CgRes()
                {
                    SigTime = dto.SigTime,
                    Dto1 = dto.Dto1,
                    Dfo1 = dto.Dfo1,
                    Snr1 = dto.Snr1,
                    Dto2 = dto.Dto2,
                    Dfo2 = dto.Dfo2,
                    Snr2 = dto.Snr2,
                    StationResID = StationRes.ID,
                    MainCode = dto.MainCode,
                    Adja1Code = dto.Adja1Code,
                    Adja2Code = dto.Adja2Code,
                    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 == null ? runTask.Freq : dto.FreqUp,
                    TarFreqDown = dto.FreqDown,
                });

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

                PosRes posRes = new PosRes()
                {
                    FreqUpHz = (long)cgRes.TarFreqUp.Value,
                    SigTime = dto.SigTime,
                    TaskInfoID = runTask.ID,
                    CgResID = cgRes.ID,
                    TarName = string.IsNullOrWhiteSpace(dto.TarName) ? "未知目标" : dto.TarName,
                    TsName = dto.TsName,
                    PosLon = res[0],
                    PosLat = res[1],
                    MirrLon = res[3],
                    MirrLat = res[4],
                    PosResType = EnumPosResType.X3NoRef,
                };
                posRes.TargetState = TheoryDtoDfoApi.TheoryDfo(cgRes, StationRes, posRes, settings.YDPZThreshold);
                posRes = db.PosRes.Add(posRes);
                await db.SaveChangesAsync();
                Messenger.Defalut.Pub("新增定位点", posRes);
                return Success(MapDto(posRes));
            }
        }
        #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;
            SysSetings settings;
            using (RHDWContext db = new RHDWContext())
            {
                if (dto.TaskID == null)
                {
                    runTask = await db.TaskInfos.FirstOrDefaultAsync(p => p.TaskType == EnumTaskType.Real
                    && p.PosType == EnumPosType.X3TwoDfo && p.TaskState == EnumTaskState.Running);
                    if (runTask == null)
                    {
                        Serilog.Log.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)
                    {
                        Serilog.Log.Warning($"找不到任务,ID={dto.TaskID}");
                        return Error<PosResDto>($"找不到ID={dto.TaskID}的任务");
                    }
                }
                settings = await db.SysSetings.FirstOrDefaultAsync();
            }
            using (RHDWPartContext db = RHDWPartContext.GetContext(dto.SigTime))
            {
                var StationRes = db.StationRes.Add(new StationRes()
                {
                    SatTxLon = dto.SatTxLon,
                    SatTxLat = dto.SatTxLat,
                    RefLon = dto.RefLon,
                    RefLat = dto.RefLat,
                });

                var cgRes = db.CgRes.Add(new CgRes()
                {
                    SigTime = dto.SigTime,
                    Dto1 = dto.Dto1,
                    Dfo1 = dto.Dfo1,
                    Snr1 = dto.Snr1,
                    Dto2 = dto.Dto2,
                    Dfo2 = dto.Dfo2,
                    Snr2 = dto.Snr2,
                    YbMainDfo = dto.YbMainDfo,
                    YbAdja1Dfo = dto.YbAdja1Dfo,
                    YbAdja2Dfo = dto.YbAdja2Dfo,
                    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);

                PosRes posRes = new PosRes()
                {
                    FreqUpHz = (long)cgRes.TarFreqUp.Value,
                    SigTime = cgRes.SigTime,
                    TaskInfoID = runTask.ID,
                    CgResID = cgRes.ID,
                    TarName = string.IsNullOrWhiteSpace(dto.TarName) ? "未知目标" : dto.TarName,
                    TsName = dto.TsName,
                    PosLon = res[0],
                    PosLat = res[1],
                    MirrLon = res[3],
                    MirrLat = res[4],
                    PosResType = EnumPosResType.X3TwoDfo,
                };
                posRes.TargetState = TheoryDtoDfoApi.TheoryDfo(cgRes, StationRes, posRes, settings.YDPZThreshold);
                posRes = db.PosRes.Add(posRes);
                await db.SaveChangesAsync();
                Messenger.Defalut.Pub("新增定位点", posRes);
                return Success(MapDto(posRes));
            }
        }

        /// <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;
            SysSetings settings;
            using (RHDWContext db = new RHDWContext())
            {
                if (dto.TaskID == null)
                {
                    runTask = await db.TaskInfos.FirstOrDefaultAsync(p => p.TaskType == EnumTaskType.Real
                    && p.PosType == EnumPosType.X3TwoDfo && p.TaskState == EnumTaskState.Running);
                    if (runTask == null)
                    {
                        Serilog.Log.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)
                    {
                        Serilog.Log.Warning($"找不到任务,ID={dto.TaskID}");
                        return Error<PosResDto>($"找不到ID={dto.TaskID}的任务");
                    }
                }
                settings = await db.SysSetings.FirstOrDefaultAsync();
            }
            var xl1 = await XlRepository.GetLatestAsync(dto.MainCode, dto.SigTime);
            if (xl1 == null)
            {
                Serilog.Log.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!");
            }
            Serilog.Log.Information($"卫星{dto.MainCode}使用发布时刻为{xl1.TimeBJ:yyyyMMddHHmmss}的星历进行推算");
            var xl2 = await XlRepository.GetLatestAsync(dto.Adja1Code, dto.SigTime);
            if (xl2 == null)
            {
                Serilog.Log.Error($"系统缺少编号{dto.Adja1Code}卫星的星历!");
                return Error<PosResDto>($"系统缺少编号{dto.Adja1Code}卫星的星历!");
            }
            Serilog.Log.Information($"卫星{dto.Adja1Code}使用发布时刻为{xl2.TimeBJ:yyyyMMddHHmmss}的星历进行推算");
            var xl3 = await XlRepository.GetLatestAsync(dto.Adja2Code, dto.SigTime);
            if (xl3 == null)
            {
                Serilog.Log.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!");
            }
            Serilog.Log.Information($"卫星{dto.Adja2Code}使用发布时刻为{xl3.TimeBJ:yyyyMMddHHmmss}的星历进行推算");
            string url = string.Format("http://{0}:{1}/Api/Xl/Calc", IpHelper.GetLocalIp(), settings.HttpPort);
            var XlCalcDto = new XlCalcDto() { tleStr = xl1.TwoLine, dt = dto.SigTime };
            var ephMain = await HttpHelper.PostRequestAsync<SatEphResDto>(url, XlCalcDto);
            if (ephMain.code != 200)
            {
                Serilog.Log.Error($"推算卫星{dto.MainCode}的ECEF星历出错.{ephMain.msg}");
                return Error<PosResDto>($"推算卫星{dto.MainCode}的ECEF星历出错");
            }
            var XlCalcDto2 = new XlCalcDto() { tleStr = xl2.TwoLine, dt = dto.SigTime };
            var ephAdja1 = await HttpHelper.PostRequestAsync<SatEphResDto>(url, XlCalcDto2);
            if (ephAdja1.code != 200)
            {
                Serilog.Log.Error($"推算卫星{dto.Adja1Code}的ECEF星历出错.{ephAdja1.msg}");
                return Error<PosResDto>($"推算卫星{dto.Adja1Code}的ECEF星历出错");
            }
            var XlCalcDto3 = new XlCalcDto() { tleStr = xl3.TwoLine, dt = dto.SigTime };
            var ephAdja2 = await HttpHelper.PostRequestAsync<SatEphResDto>(url, XlCalcDto3);
            if (ephAdja2.code != 200)
            {
                Serilog.Log.Error($"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 (RHDWPartContext db = RHDWPartContext.GetContext(dto.SigTime))
            {
                var StationRes = db.StationRes.Add(new StationRes()
                {
                    SatTxLon = dto.SatTxLon,
                    SatTxLat = dto.SatTxLat,
                    RefLon = dto.RefLon,
                    RefLat = dto.RefLat,
                });

                var cgRes = db.CgRes.Add(new CgRes()
                {
                    SigTime = dto.SigTime,
                    Dto1 = dto.Dto1,
                    Dfo1 = dto.Dfo1,
                    Snr1 = dto.Snr1,
                    Dto2 = dto.Dto2,
                    Dfo2 = dto.Dfo2,
                    Snr2 = dto.Snr2,
                    YbMainDfo = dto.YbMainDfo,
                    YbAdja1Dfo = dto.YbAdja1Dfo,
                    YbAdja2Dfo = dto.YbAdja2Dfo,
                    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 = 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);

                PosRes posRes = new PosRes()
                {
                    FreqUpHz = (long)cgRes.TarFreqUp.Value,
                    SigTime = dto.SigTime,
                    TaskInfoID = runTask.ID,
                    CgResID = cgRes.ID,
                    TarName = string.IsNullOrWhiteSpace(dto.TarName) ? "未知目标" : dto.TarName,
                    TsName = dto.TsName,
                    PosLon = res[0],
                    PosLat = res[1],
                    MirrLon = res[3],
                    MirrLat = res[4],
                    PosResType = EnumPosResType.X3TwoDfo,
                };
                posRes.TargetState = TheoryDtoDfoApi.TheoryDfo(cgRes, StationRes, posRes, settings.YDPZThreshold);
                posRes = db.PosRes.Add(posRes);
                await db.SaveChangesAsync();
                Messenger.Defalut.Pub("新增定位点", posRes);
                return Success(MapDto(posRes));
            }
        }
        #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;
            SysSetings settings;
            using (RHDWContext db = new RHDWContext())
            {
                if (dto.TaskID == null)
                {
                    runTask = await db.TaskInfos.FirstOrDefaultAsync(p => p.TaskType == EnumTaskType.Real
                    && p.PosType == EnumPosType.X2Dfo && p.TaskState == EnumTaskState.Running);
                    if (runTask == null)
                    {
                        Serilog.Log.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)
                    {
                        Serilog.Log.Warning($"找不到任务,ID={dto.TaskID}");
                        return Error<PosResDto>($"找不到ID={dto.TaskID}的任务");
                    }
                }
                settings = await db.SysSetings.FirstOrDefaultAsync();
            }
            using (RHDWPartContext db = RHDWPartContext.GetContext(dto.SigTime))
            {
                var StationRes = db.StationRes.Add(new StationRes()
                {
                    SatTxLon = dto.SatTxLon,
                    SatTxLat = dto.SatTxLat,
                    RefLon = dto.RefLon,
                    RefLat = dto.RefLat,
                });

                var cgRes = db.CgRes.Add(new CgRes()
                {
                    SigTime = dto.SigTime,
                    Dto1 = dto.Dto,
                    Dfo1 = dto.Dfo,
                    Snr1 = dto.Snr,
                    YbMainDto = dto.YbMainDto,
                    YbAdja1Dto = dto.YbAdjaDto,
                    YbMainDfo = dto.YbMainDfo,
                    YbAdja1Dfo = dto.YbAdjaDfo,
                    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);

                PosRes posRes = new PosRes()
                {
                    FreqUpHz = (long)cgRes.TarFreqUp.Value,
                    SigTime = cgRes.SigTime,
                    TaskInfoID = runTask.ID,
                    CgResID = cgRes.ID,
                    TarName = string.IsNullOrWhiteSpace(dto.TarName) ? "未知目标" : dto.TarName,
                    TsName = dto.TsName,
                    PosLon = res[0],
                    PosLat = res[1],
                    MirrLon = res[3],
                    MirrLat = res[4],
                    PosResType = EnumPosResType.X2Dfo,
                };
                posRes.TargetState = TheoryDtoDfoApi.TheoryDfo(cgRes, StationRes, posRes, settings.YDPZThreshold);
                posRes = db.PosRes.Add(posRes);
                await db.SaveChangesAsync();
                Messenger.Defalut.Pub("新增定位点", posRes);
                return Success(MapDto(posRes));
            }
        }

        /// <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;
            SysSetings settings;
            using (RHDWContext db = new RHDWContext())
            {
                if (dto.TaskID == null)
                {
                    runTask = await db.TaskInfos.FirstOrDefaultAsync(p => p.TaskType == EnumTaskType.Real
                    && p.PosType == EnumPosType.X2Dfo && p.TaskState == EnumTaskState.Running);
                    if (runTask == null)
                    {
                        Serilog.Log.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)
                    {
                        Serilog.Log.Warning($"找不到任务,ID={dto.TaskID}");
                        return Error<PosResDto>($"找不到ID={dto.TaskID}的任务");
                    }
                }
                settings = await db.SysSetings.FirstOrDefaultAsync();
            }
            var xl1 = await XlRepository.GetLatestAsync(dto.MainCode, dto.SigTime);
            if (xl1 == null)
            {
                Serilog.Log.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!");
            }
            Serilog.Log.Information($"卫星{dto.MainCode}使用发布时刻为{xl1.TimeBJ:yyyyMMddHHmmss}的星历进行推算");
            var xl2 = await XlRepository.GetLatestAsync(dto.AdjaCode, dto.SigTime);
            if (xl2 == null)
            {
                Serilog.Log.Error($"系统缺少编号{dto.AdjaCode}卫星的星历!");
                return Error<PosResDto>($"系统缺少编号{dto.AdjaCode}卫星的星历!");
            }
            Serilog.Log.Information($"卫星{dto.AdjaCode}使用发布时刻为{xl2.TimeBJ:yyyyMMddHHmmss}的星历进行推算");
            string url = string.Format("http://{0}:{1}/Api/Xl/Calc", IpHelper.GetLocalIp(), settings.HttpPort);
            var XlCalcDto = new XlCalcDto() { tleStr = xl1.TwoLine, dt = dto.SigTime };
            var ephMain = await HttpHelper.PostRequestAsync<SatEphResDto>(url, XlCalcDto);
            if (ephMain.code != 200)
            {
                Serilog.Log.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, dt = dto.SigTime };
            var ephAdja = await HttpHelper.PostRequestAsync<SatEphResDto>(url, XlCalcDto2);
            if (ephAdja.code != 200)
            {
                Serilog.Log.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 (RHDWPartContext db = RHDWPartContext.GetContext(dto.SigTime))
            {
                var StationRes = db.StationRes.Add(new StationRes()
                {
                    SatTxLon = dto.SatTxLon,
                    SatTxLat = dto.SatTxLat,
                    RefLon = dto.RefLon,
                    RefLat = dto.RefLat,
                });

                var cgRes = db.CgRes.Add(new CgRes()
                {
                    SigTime = dto.SigTime,
                    Dto1 = dto.Dto,
                    Dfo1 = dto.Dfo,
                    Snr1 = dto.Snr,
                    YbMainDto = dto.YbMainDto,
                    YbAdja1Dto = dto.YbAdjaDto,
                    YbMainDfo = dto.YbMainDfo,
                    YbAdja1Dfo = dto.YbAdjaDfo,
                    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 = 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);

                PosRes posRes = new PosRes()
                {
                    FreqUpHz = (long)cgRes.TarFreqUp.Value,
                    SigTime = dto.SigTime,
                    TaskInfoID = runTask.ID,
                    CgResID = cgRes.ID,
                    TarName = string.IsNullOrWhiteSpace(dto.TarName) ? "未知目标" : dto.TarName,
                    TsName = dto.TsName,
                    PosLon = res[0],
                    PosLat = res[1],
                    MirrLon = res[3],
                    MirrLat = res[4],
                    PosResType = EnumPosResType.X2Dfo,
                };
                posRes.TargetState = TheoryDtoDfoApi.TheoryDfo(cgRes, StationRes, posRes, settings.YDPZThreshold);
                posRes = db.PosRes.Add(posRes);
                await db.SaveChangesAsync();
                Messenger.Defalut.Pub("新增定位点", posRes);
                return Success(MapDto(posRes));
            }
        }
        #endregion

        #region 定位结果查询接口
        /// <summary>
        /// 根据时间范围查询定位结果
        /// </summary>
        /// <param name="dto"><see cref="PosRequestByTimeRangeDto"/>查询参数</param>
        /// <returns></returns>
        /// <exception cref="Exception"></exception>
        [HttpPost]
        public async Task<AjaxResult<List<PosResDto>>> GetPosResByTimeRange(PosRequestByTimeRangeDto dto)
        {
#pragma warning disable CS0612 // 类型或成员已过时
            var response = (await GetPosResByTimeRangeObsolete(dto));
#pragma warning restore CS0612 // 类型或成员已过时
            if (response.code == 200)
            {
                var listDto = response.data?.Select(p => MapDto(p)).ToList();
                return Success(listDto);
            }
            else
            {
                return Error<List<PosResDto>>(response.msg);
            }
        }

        /// <summary>
        /// 查询最后X小时的的定位结果
        /// </summary>
        /// <param name="dto"><see cref="PosRequestByLastRangeDto"/>查询参数</param>
        /// <returns></returns>
        /// <exception cref="Exception"></exception>
        [HttpPost]
        public async Task<AjaxResult<List<PosResDto>>> GetPosResByLastHours(PosRequestByLastRangeDto dto)
        {
#pragma warning disable CS0612 // 类型或成员已过时
            var response = (await GetPosResByLastHoursObsolete(dto));
#pragma warning restore CS0612 // 类型或成员已过时
            if (response.code == 200)
            {
                var listDto = response.data?.Select(p => MapDto(p)).ToList();
                return Success(listDto);
            }
            else
            {
                return Error<List<PosResDto>>(response.msg);
            }
        }

        /// <summary>
        /// 根据时间范围查询定位结果(此方法内部调用)
        /// </summary>
        /// <param name="dto"><see cref="PosRequestByTimeRangeDto"/>查询参数</param>
        /// <returns></returns>
        /// <exception cref="Exception"></exception>
        [HttpPost]
        [Obsolete]
        public async Task<AjaxResult<List<ModelPosRes>>> GetPosResByTimeRangeObsolete(PosRequestByTimeRangeDto dto)
        {
            List<ModelPosRes> posList = new List<ModelPosRes>();
            try
            {
                DateTime start = dto.BeginTime;
                DateTime end = dto.EndTime;
                var dir = Path.Combine(AppDomain.CurrentDomain.BaseDirectory, "DbPart");
                if (!Directory.Exists(dir)) return Success(posList);
                List<string> list = new List<string>();
                while (end >= start)
                {
                    list.Add(end.ToString("yyyy") + "\\" + end.ToString("MMdd") + ".db");
                    end = end.AddDays(-1);
                }
                end = dto.EndTime;
                foreach (var item in list)
                {
                    var dayFile = Path.Combine(dir, item);
                    using (RHDWPartContext db = RHDWPartContext.GetContext(dayFile))
                    {
                        var query = db.PosRes.Where(p => p.SigTime >= start && p.SigTime <= end && p.TaskInfoID == dto.TaskInfoID);
                        if (!dto.IncludeInvalidate)
                            query = query.Where(p => p.PosLon != 999);
                        if (dto.TarFrequpHz != null)
                            query = query.Where(p => p.FreqUpHz == dto.TarFrequpHz.Value);
                        var posRes = await query.OrderByDescending(p => p.SigTime).ToListAsync();
                        posList.AddRange(posRes.Select(p => MapModel(p)));
                        if (posList.Count > 5000)
                        {
                            return Success(posList.Take(5000).ToList(), "数据过多,只返回前5000条数据!");
                        }
                    }
                }
                return Success(posList);
            }
            catch (Exception ex)
            {
                string msg = $"定位结果时间范围查询异常.任务ID={dto.TaskInfoID},{dto.BeginTime:yyyyMMddHHmmss}-{dto.EndTime:yyyyMMddHHmmss}";
                Serilog.Log.Error(ex, msg);
                return Error<List<ModelPosRes>>("定位结果时间范围查询异常");
            }
        }

        /// <summary>
        /// 查询最后X小时的的定位结果(此方法内部调用)
        /// </summary>
        /// <param name="dto"><see cref="PosRequestByLastRangeDto"/>查询参数</param>
        /// <returns></returns>
        /// <exception cref="Exception"></exception>
        [HttpPost]
        [Obsolete]
        public async Task<AjaxResult<List<ModelPosRes>>> GetPosResByLastHoursObsolete(PosRequestByLastRangeDto dto)
        {
            List<ModelPosRes> posList = new List<ModelPosRes>();
            try
            {
                var dir = Path.Combine(AppDomain.CurrentDomain.BaseDirectory, "DbPart");
                if (!Directory.Exists(dir)) return Success(posList);
                var yearDirs = Directory.EnumerateDirectories(dir).OrderByDescending(p => Convert.ToInt32(new DirectoryInfo(p).Name));//年目录,倒叙排列
                DateTime max = DateTime.MinValue;
                foreach (var yearDir in yearDirs)
                {
                    if (max != DateTime.MinValue) break;
                    //每一天的db文件,倒序排列
                    var dayFiles = Directory.EnumerateFiles(Path.Combine(AppDomain.CurrentDomain.BaseDirectory, yearDir), "*.db").OrderByDescending(p => Convert.ToInt32(new DirectoryInfo(p).Name.Substring(0, 4)));
                    foreach (var dayFile in dayFiles)
                    {
                        using (RHDWPartContext db = RHDWPartContext.GetContext(dayFile))
                        {
                            var query = db.PosRes.Where(p => p.TaskInfoID == dto.TaskInfoID);
                            if (!dto.IncludeInvalidate)
                            {
                                query = query.Where(p => p.PosLon != 999);

                            }
                            if (dto.TarFrequpHz != null)
                            {
                                query = query.Where(p => p.FreqUpHz == dto.TarFrequpHz);
                            }
                            bool any = await query.AnyAsync();
                            if (any)
                                max = await query.MaxAsync(p => p.SigTime);
                        }
                        if (max != DateTime.MinValue)
                        {
                            break;
                        }
                    }
                }
                if (max == DateTime.MinValue) return Success(posList);
                DateTime min = max.AddHours(-dto.Hours);
                var res = await GetPosResByTimeRangeObsolete(new PosRequestByTimeRangeDto()
                {
                    TaskInfoID = dto.TaskInfoID,
                    BeginTime = min,
                    EndTime = max,
                    IncludeInvalidate = dto.IncludeInvalidate,
                    TarFrequpHz = dto.TarFrequpHz,
                });
                return res;
            }
            catch (Exception ex)
            {
                string msg = $"定位结果查询最新数据异常-任务编号:{dto.TaskInfoID},Hours:{dto.Hours}";
                Serilog.Log.Error(ex, msg);
                return Error<List<ModelPosRes>>("定位结果查询最新数据异常");
            }
        }
        #endregion

        private PosResDto MapDto(PosRes res)
        {
            return new PosResDto()
            {
                ID = res.ID,
                FreqUpHz = res.FreqUpHz,
                UserName = res.TsName,
                SigTime = res.SigTime,
                TaskInfoID = res.TaskInfoID,
                TarName = string.IsNullOrWhiteSpace(res.TarName) ? "未知目标" : res.TarName,
                PosLon = res.PosLon,
                PosLat = res.PosLat,
                MirrLon = res.MirrLon,
                MirrLat = res.MirrLat,
                TargetState = (EnumTargetStateDto)(int)res.TargetState,
                PosResType = (EnumPosResTypeDto)(int)res.PosResType
            };
        }
        private PosResDto MapDto(ModelPosRes res)
        {
            return new PosResDto()
            {
                ID = res.ID,
                UserName = res.TsName,
                FreqUpHz = res.FreqUpHz,
                TargetState = (EnumTargetStateDto)(int)res.TargetState,
                SigTime = res.SigTime,
                TaskInfoID = res.TaskInfoID,
                TarName = string.IsNullOrWhiteSpace(res.TarName) ? "未知目标" : res.TarName,
                PosLon = res.PosLon,
                PosLat = res.PosLat,
                MirrLon = res.MirrLon,
                MirrLat = res.MirrLat,
                PosResType = (EnumPosResTypeDto)((int)res.PosResType)

            };
        }
        private ModelPosRes MapModel(PosRes res)
        {
            return new ModelPosRes()
            {
                ID = res.ID,
                CgResID = res.CgResID,
                ClusterCount = res.ClusterCount,
                ClusterKey = res.ClusterKey,
                ColorKey = res.ColorKey,
                CreateTime = res.CreateTime,
                CxResID = res.CxResID,
                Selected = res.Selected,
                StationResID = res.StationResID,
                TargetID = res.TargetID,
                TargetState = res.TargetState,
                TsName = res.TsName,
                UpdateTime = res.UpdateTime,
                Visible = res.Visible,
                SigTime = res.SigTime,
                TaskInfoID = res.TaskInfoID,
                TarName = string.IsNullOrWhiteSpace(res.TarName) ? "未知目标" : res.TarName,
                PosLon = res.PosLon,
                PosLat = res.PosLat,
                MirrLon = res.MirrLon,
                MirrLat = res.MirrLat,
                PosResType = (EnumPosResType)((int)res.PosResType),
                FreqUpHz = res.FreqUpHz,
            };
        }

    }
}