feat: 新增姿态平滑

sec-beidou/src/main/java/com/imdroid/beidou/controller/GnssMsgStatusController.java

@@ -1,6 +1,7 @@
 package com.imdroid.beidou.controller;
 
 import com.alibaba.fastjson.JSONObject;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.core.mapper.BaseMapper;
 import com.imdroid.beidou.service.CommonExcelService;
 import com.imdroid.secapi.dto.GnssStatusMsg;
@@ -11,12 +12,13 @@ import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.stereotype.Controller;
 import org.springframework.ui.Model;
 import org.springframework.web.bind.annotation.RequestMapping;
+import org.springframework.web.bind.annotation.RequestParam;
 import org.springframework.web.bind.annotation.ResponseBody;
 
 import javax.servlet.http.HttpServletRequest;
 import javax.servlet.http.HttpServletResponse;
 import javax.servlet.http.HttpSession;
-import java.util.List;
+import java.util.*;
 
 /**
  * 状态消息 控制器
@@ -32,6 +34,10 @@ public class GnssMsgStatusController extends BasicController implements CommonEx
     GnssStatusMsgMapper statusMsgMapper;
     @Autowired
     OpLogManager opLogManager;
+    
+    // 滑动窗口大小
+    private static final int WINDOW_SIZE = 5;
+    
     @RequestMapping("/page/gnss_msg_status")
     public String gnssStatusMsg(Model m, HttpSession session) {
         initModel(m, session);
@@ -54,6 +60,118 @@ public class GnssMsgStatusController extends BasicController implements CommonEx
         return obj;
     }
     
+    /**
+     * 获取特定设备的数据，并应用滑动平均
+     * 
+     * @param deviceId 设备ID
+     * @param limit 获取条数，默认150条
+     * @return 处理后的数据
+     */
+    @RequestMapping("/gnss/msg/status/device_data")
+    @ResponseBody
+    public JSONObject getDeviceData(@RequestParam String deviceId, 
+                                   @RequestParam(required = false, defaultValue = "150") Integer limit) {
+        // 查询指定设备的最近数据
+        QueryWrapper<GnssStatusMsg> queryWrapper = new QueryWrapper<>();
+        queryWrapper.eq("deviceid", deviceId)
+                   .orderByDesc("createtime")
+                   .last("limit " + limit);
+        
+        List<GnssStatusMsg> dataList = statusMsgMapper.selectList(queryWrapper);
+        // 反转列表，使其按时间升序排列
+        Collections.reverse(dataList);
+        
+        // 应用滑动平均
+        List<GnssStatusMsg> smoothedData = applyMovingAverage(dataList, WINDOW_SIZE);
+        
+        JSONObject result = new JSONObject();
+        result.put("code", 0);
+        result.put("msg", "");
+        result.put("count", smoothedData.size());
+        result.put("data", smoothedData);
+        result.put("originalData", dataList);
+        return result;
+    }
+    
+    /**
+     * 应用滑动平均算法
+     * 
+     * @param dataList 原始数据列表
+     * @param windowSize 窗口大小
+     * @return 处理后的数据列表
+     */
+    private List<GnssStatusMsg> applyMovingAverage(List<GnssStatusMsg> dataList, int windowSize) {
+        if (dataList.size() <= 1) {
+            return new ArrayList<>(dataList);
+        }
+        
+        List<GnssStatusMsg> result = new ArrayList<>(dataList.size());
+        
+        // 初始窗口
+        Deque<Float> rollWindow = new LinkedList<>();
+        Deque<Float> pitchWindow = new LinkedList<>();
+        Deque<Float> yawWindow = new LinkedList<>();
+        
+        for (int i = 0; i < dataList.size(); i++) {
+            GnssStatusMsg currentMsg = dataList.get(i);
+            GnssStatusMsg smoothedMsg = new GnssStatusMsg();
+            
+            // 复制基本属性
+            smoothedMsg.setId(currentMsg.getId());
+            smoothedMsg.setDeviceid(currentMsg.getDeviceid());
+            smoothedMsg.setCreatetime(currentMsg.getCreatetime());
+            smoothedMsg.setDevicetime(currentMsg.getDevicetime());
+            smoothedMsg.setTenantid(currentMsg.getTenantid());
+            smoothedMsg.setDtustate(currentMsg.getDtustate());
+            smoothedMsg.setRssi(currentMsg.getRssi());
+            smoothedMsg.setVoltage(currentMsg.getVoltage());
+            smoothedMsg.setSolarvoltage(currentMsg.getSolarvoltage());
+            smoothedMsg.setChargecurrency(currentMsg.getChargecurrency());
+            smoothedMsg.setChargewatt(currentMsg.getChargewatt());
+            smoothedMsg.setTemperature(currentMsg.getTemperature());
+            smoothedMsg.setHumidity(currentMsg.getHumidity());
+            
+            // 添加当前值到窗口
+            if (currentMsg.getRoll() != null) rollWindow.addLast(currentMsg.getRoll());
+            if (currentMsg.getPitch() != null) pitchWindow.addLast(currentMsg.getPitch());
+            if (currentMsg.getYaw() != null) yawWindow.addLast(currentMsg.getYaw());
+            
+            // 保持窗口大小
+            if (rollWindow.size() > windowSize) rollWindow.removeFirst();
+            if (pitchWindow.size() > windowSize) pitchWindow.removeFirst();
+            if (yawWindow.size() > windowSize) yawWindow.removeFirst();
+            
+            // 计算平均值
+            if (!rollWindow.isEmpty()) {
+                float rollSum = 0;
+                for (Float val : rollWindow) rollSum += val;
+                smoothedMsg.setRoll(rollSum / rollWindow.size());
+            } else {
+                smoothedMsg.setRoll(currentMsg.getRoll());
+            }
+            
+            if (!pitchWindow.isEmpty()) {
+                float pitchSum = 0;
+                for (Float val : pitchWindow) pitchSum += val;
+                smoothedMsg.setPitch(pitchSum / pitchWindow.size());
+            } else {
+                smoothedMsg.setPitch(currentMsg.getPitch());
+            }
+            
+            if (!yawWindow.isEmpty()) {
+                float yawSum = 0;
+                for (Float val : yawWindow) yawSum += val;
+                smoothedMsg.setYaw(yawSum / yawWindow.size());
+            } else {
+                smoothedMsg.setYaw(currentMsg.getYaw());
+            }
+            
+            result.add(smoothedMsg);
+        }
+        
+        return result;
+    }
+
     /**
      * 导出excel
      *

sec-beidou/src/main/resources/templates/page/gnss_msg_status.html

@@ -21,7 +21,7 @@
                         <div class="layui-inline">
                             <label class="layui-form-label">设备号</label>
                             <div class="layui-input-inline">
-                                <input type="text" name="s_deviceid" autocomplete="off" class="layui-input">
+                                <input type="text" name="s_deviceid" id="deviceid" autocomplete="off" class="layui-input">
                             </div>
                         </div>
                         <div class="layui-inline">
@@ -44,7 +44,7 @@
                             </div>
                         </div>
 						<div class="layui-inline">
-                            <button type="submit" class="layui-btn layui-btn-primary"  lay-submit lay-filter="data-search-btn"><i class="layui-icon"></i> 搜 索</button>
+                            <button type="submit" class="layui-btn layui-btn-primary"  lay-submit lay-filter="data-search-btn"><i class="layui-icon"></i> 搜 索</button>
                             <button type="submit" class="layui-btn layui-btn-primary" lay-submit lay-filter="data-export-btn"><i class="layui-icon">&#xe67d;</i>导出</button>
                         </div>
                     </div>
@@ -52,17 +52,36 @@
             </div>
         </fieldset>
 
-        <table class="layui-hide" id="currentTableId" lay-filter="currentTableFilter"></table>
+        <div class="layui-tab layui-tab-card" lay-filter="data-tab">
+            <ul class="layui-tab-title">
+                <li class="layui-this">数据表格</li>
+                <li>姿态曲线</li>
+            </ul>
+            <div class="layui-tab-content">
+                <div class="layui-tab-item layui-show">
+                    <table class="layui-hide" id="currentTableId" lay-filter="currentTableFilter"></table>
+                </div>
+                <div class="layui-tab-item">
+                    <div id="echarts-attitude" style="min-height:500px;padding: 10px"></div>
+                </div>
+            </div>
+        </div>
 
     </div>
 </div>
+<script src="../js/lay-module/echarts/echartsTheme.js" charset="utf-8"></script>
+<script src="../js/lay-module/echarts/echarts.js" charset="utf-8"></script>
 <script src="../lib/layui-v2.6.3/layui.js" charset="utf-8"></script>
 <script th:inline="javascript">
-    layui.use(['form', 'table', 'laydate'], function () {
+    layui.use(['form', 'table', 'laydate', 'element'], function () {
         var $ = layui.$;
         var form = layui.form,
             table = layui.table,
-            laydate = layui.laydate;
+            laydate = layui.laydate,
+            element = layui.element;
+            
+        var echartsAttitude = echarts.init(document.getElementById('echarts-attitude'), 'walden');
+        var chartDataLoaded = false;
 
         var cfg_cols = [
             {field: 'deviceid', title: '设备号', width: 100},
@@ -78,9 +97,7 @@
             {field: 'temperature', title: '温度(°C)'},
             {field: 'humidity', title: '湿度(%)'}
         ];
-        /**
+        
-         * 初始化表单，要加上，不然刷新部分组件可能会不加载
-         */
         form.render();
 
         laydate.render({
@@ -95,7 +112,7 @@
         table.render({
             elem: '#currentTableId',
             url: '/gnss/msg/status/list',
-            toolbar: '#toolbarDemo',//开启头部工具栏
+            toolbar: '#toolbarDemo',
             defaultToolbar: ['filter'],
             cols: [
                 cfg_cols
@@ -106,11 +123,9 @@
             skin: 'line'
         });
 
-        // 监听搜索操作
         form.on('submit(data-search-btn)', function (data) {
             var result = JSON.stringify(data.field);
 
-            //执行搜索重载
             table.reload('currentTableId', {
                 page: {
                     curr: 1
@@ -123,7 +138,6 @@
             return false;
         });
 
-        // 监听导出操作
         form.on('submit(data-export-btn)', function (data) {
             var result =  $('#searchFrm').serialize();
             var u = "/gnss/msg/status/export?" + result;
@@ -131,6 +145,173 @@
             return false;
         });
         
+        element.on('tab(data-tab)', function(data){
+            if (data.index == 1) {
+                echartsAttitude.resize();
+                
+                if (!chartDataLoaded) {
+                    var deviceId = $('#deviceid').val();
+                    if (deviceId) {
+                        loadChartData(deviceId);
+                    } else {
+                        layer.msg('请先在搜索框中输入设备号');
+                    }
+                }
+            }
+        });
+        
+        function loadChartData(deviceId) {
+            $.ajax({
+                url: '/gnss/msg/status/device_data',
+                type: 'GET',
+                data: {
+                    deviceId: deviceId
+                },
+                success: function(res) {
+                    if (res.code === 0 && res.data) {
+                        showChart(res.data, res.originalData);
+                        chartDataLoaded = true;
+                    } else {
+                        layer.msg('获取数据失败');
+                    }
+                },
+                error: function() {
+                    layer.msg('获取数据失败');
+                }
+            });
+        }
+        
+        function showChart(smoothedData, originalData) {
+            var t = [];
+            var roll = [];
+            var pitch = [];
+            var yaw = [];
+            var smoothRoll = [];
+            var smoothPitch = [];
+            var smoothYaw = [];
+            
+            for (var i = 0; i < originalData.length; i++) {
+                t.push(originalData[i].createtime);
+                roll.push(originalData[i].roll);
+                pitch.push(originalData[i].pitch);
+                yaw.push(originalData[i].yaw);
+            }
+            
+            for (var i = 0; i < smoothedData.length; i++) {
+                smoothRoll.push(smoothedData[i].roll);
+                smoothPitch.push(smoothedData[i].pitch);
+                smoothYaw.push(smoothedData[i].yaw);
+            }
+            
+            var option = {
+                title: {
+                    text: '姿态数据曲线'
+                },
+                tooltip: {
+                    trigger: 'axis',
+                    axisPointer: {
+                        type: 'cross',
+                        label: {
+                            backgroundColor: '#6a7985'
+                        }
+                    }
+                },
+                legend: {
+                    data: ['Roll', 'Pitch', 'Yaw', '平滑Roll', '平滑Pitch', '平滑Yaw']
+                },
+                toolbox: {
+                    feature: {
+                        saveAsImage: {}
+                    }
+                },
+                grid: {
+                    left: '3%',
+                    right: '4%',
+                    bottom: '3%',
+                    containLabel: true
+                },
+                xAxis: [
+                    {
+                        type: 'category',
+                        boundaryGap: false,
+                        data: t,
+                        axisLabel: {
+                            formatter: function(value) {
+                                var date = new Date(value);
+                                return date.getFullYear() + '-' +
+                                       (date.getMonth() + 1).toString().padStart(2, '0') + '-' +
+                                       date.getDate().toString().padStart(2, '0') + ' ' +
+                                       date.getHours().toString().padStart(2, '0') + ':' +
+                                       date.getMinutes().toString().padStart(2, '0') + ':' +
+                                       date.getSeconds().toString().padStart(2, '0');
+                            }
+                        }
+                    }
+                ],
+                yAxis: [
+                    {
+                        type: 'value'
+                    }
+                ],
+                series: [
+                    {
+                        name: 'Roll',
+                        type: 'line',
+                        data: roll,
+                        lineStyle: {
+                            width: 1
+                        }
+                    },
+                    {
+                        name: 'Pitch',
+                        type: 'line',
+                        data: pitch,
+                        lineStyle: {
+                            width: 1
+                        }
+                    },
+                    {
+                        name: 'Yaw',
+                        type: 'line',
+                        data: yaw,
+                        lineStyle: {
+                            width: 1
+                        }
+                    },
+                    {
+                        name: '平滑Roll',
+                        type: 'line',
+                        data: smoothRoll,
+                        lineStyle: {
+                            width: 2
+                        }
+                    },
+                    {
+                        name: '平滑Pitch',
+                        type: 'line',
+                        data: smoothPitch,
+                        lineStyle: {
+                            width: 2
+                        }
+                    },
+                    {
+                        name: '平滑Yaw',
+                        type: 'line',
+                        data: smoothYaw,
+                        lineStyle: {
+                            width: 2
+                        }
+                    }
+                ]
+            };
+            
+            echartsAttitude.setOption(option);
+            
+            window.onresize = function() {
+                echartsAttitude.resize();
+            }
+        }
+
     });
 </script>