fix：更新gps数据处理

backend/monitoring/common.py

@@ -19,8 +19,8 @@ VIDEO_TRAILER_ENDIANNESS = "little"
 VIDEO_TRAILER_TIMESTAMP_UNIT = "ms"
 VIDEO_TRAILER_TIMESTAMP_MULTIPLIER_NS = 1_000_000
 VIDEO_TRAILER_TIMESTAMP_MAX_SKEW_NS = 7 * 24 * 60 * 60 * 1_000_000_000
-VIDEO_TRAILER_COORDINATE_FORMAT = "float32 little-endian"
-VIDEO_TRAILER_STRUCT = struct.Struct("<Qff")
+VIDEO_TRAILER_COORDINATE_FORMAT = "uint64 timestamp_ms + float64 latitude + float64 longitude (little-endian)"
+VIDEO_TRAILER_STRUCT = struct.Struct("<Qdd")
 VIDEO_TRAILER_BYTES = VIDEO_TRAILER_STRUCT.size
 
 CONTROL_PACKET = struct.Struct("<6f")

backend/monitoring/telemetry.py

@@ -80,6 +80,8 @@ class GpsDataService:
             "utc_time": datetime.fromtimestamp(timestamp_seconds, timezone.utc).strftime("%H:%M:%S"),
             "latitude": round(metadata.latitude, 6),
             "longitude": round(metadata.longitude, 6),
+            "raw_latitude_hex": f"0x{metadata.raw_latitude_hex}",
+            "raw_longitude_hex": f"0x{metadata.raw_longitude_hex}",
             "satellites": None,
             "altitude_m": None,
             "coordinate_system": "WGS84",

backend/monitoring/video.py

@@ -182,6 +182,8 @@ class OmniSocketVideoReceiver:
             return None
         if not (-90.0 <= latitude <= 90.0) or not (-180.0 <= longitude <= 180.0):
             return None
+        if abs(latitude) < 1e-9 and abs(longitude) < 1e-9:
+            return None
 
         timestamp_ns = timestamp_ms * VIDEO_TRAILER_TIMESTAMP_MULTIPLIER_NS
         if abs(time.time_ns() - timestamp_ns) > VIDEO_TRAILER_TIMESTAMP_MAX_SKEW_NS:
@@ -191,6 +193,8 @@ class OmniSocketVideoReceiver:
             timestamp_ns=timestamp_ns,
             latitude=latitude,
             longitude=longitude,
+            raw_latitude_hex=trailer[8:16].hex(),
+            raw_longitude_hex=trailer[16:24].hex(),
             received_at=received_at if received_at is not None else time.time(),
         )
 

frontend/src/components/GpsMapPanel.vue

@@ -53,6 +53,10 @@ function formatNumber(value: number) {
   return value.toFixed(6)
 }
 
+function formatHexText(value: string | null | undefined) {
+  return value || '暂无'
+}
+
 async function loadAmapScript(key: string, securityJsCode: string) {
   if (window.AMap) {
     return window.AMap
@@ -161,8 +165,10 @@ function updateMap(gps: GpsTelemetry | null) {
       [
         '<div style="min-width: 240px; padding: 6px 2px; line-height: 1.75; font-size: 13px; color: #152033;">',
         '<div style="margin-bottom: 8px; font-size: 14px; font-weight: 700; color: #0f172a;">Robot GPS 定位</div>',
-        `<div><span style="color: #667085;">原始 WGS84:</span> <strong style="color: #0f172a;">${formatNumber(rawLatitude)}, ${formatNumber(rawLongitude)}</strong></div>`,
+        `<div><span style="color: #667085;">WGS84:</span> <strong style="color: #0f172a;">${formatNumber(rawLatitude)}, ${formatNumber(rawLongitude)}</strong></div>`,
         `<div><span style="color: #667085;">高德 GCJ-02:</span> <strong style="color: #0f172a;">${formatNumber(lat)}, ${formatNumber(lng)}</strong></div>`,
+        `<div><span style="color: #667085;">纬度原始 8B:</span> <strong style="color: #0f172a;">${formatHexText(gps.raw_latitude_hex)}</strong></div>`,
+        `<div><span style="color: #667085;">经度原始 8B:</span> <strong style="color: #0f172a;">${formatHexText(gps.raw_longitude_hex)}</strong></div>`,
         `<div><span style="color: #667085;">UTC 时间:</span> <strong style="color: #0f172a;">${gps.utc_time || '--:--:--'}</strong></div>`,
         `<div><span style="color: #667085;">卫星数:</span> <strong style="color: #0f172a;">${gps.satellites ?? '未知'}</strong></div>`,
         `<div><span style="color: #667085;">海拔:</span> <strong style="color: #0f172a;">${gps.altitude_m ?? '未知'} m</strong></div>`,
@@ -206,6 +212,17 @@ const rawCoordinateText = computed(() => {
   return `${formatNumber(props.gps.latitude)}, ${formatNumber(props.gps.longitude)}`
 })
 
+const rawLatitudeHexText = computed(() => formatHexText(props.gps?.raw_latitude_hex))
+
+const rawLongitudeHexText = computed(() => formatHexText(props.gps?.raw_longitude_hex))
+
+const coordinateMetaText = computed(() => {
+  if (!props.gps) {
+    return '暂无'
+  }
+  return `${props.gps.coordinate_system} / ${props.gps.raw_coordinate_format}`
+})
+
 const metaText = computed(() => {
   if (!props.gps) {
     return '暂无'
@@ -268,13 +285,21 @@ watch(
 
     <div class="details">
       <div class="detail-card">
-        <span>原始 WGS84</span>
+        <span>WGS84 坐标</span>
         <strong>{{ rawCoordinateText }}</strong>
       </div>
       <div class="detail-card">
         <span>高德 GCJ-02</span>
         <strong>{{ amapCoordinateText }}</strong>
       </div>
+      <div class="detail-card">
+        <span>纬度原始 8 字节</span>
+        <strong class="mono">{{ rawLatitudeHexText }}</strong>
+      </div>
+      <div class="detail-card">
+        <span>经度原始 8 字节</span>
+        <strong class="mono">{{ rawLongitudeHexText }}</strong>
+      </div>
       <div class="detail-card">
         <span>UTC 时间</span>
         <strong>{{ gps?.utc_time ?? '--:--:--' }}</strong>
@@ -284,8 +309,8 @@ watch(
         <strong>{{ metaText }}</strong>
       </div>
       <div class="detail-card">
-        <span>坐标系</span>
-        <strong>{{ gps?.coordinate_system ?? 'WGS84' }}</strong>
+        <span>坐标系 / 格式</span>
+        <strong>{{ coordinateMetaText }}</strong>
       </div>
       <div class="detail-card">
         <span>最近刷新</span>
@@ -397,6 +422,11 @@ h2 {
   word-break: break-word;
 }
 
+.detail-card strong.mono {
+  font-family: "JetBrains Mono", "SFMono-Regular", monospace;
+  font-size: 14px;
+}
+
 .map-canvas {
   position: relative;
   min-height: 420px;