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Merge branch 'master' into feature/beidou

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This commit is contained in:
fengyarnom 2025-02-12 17:44:05 +08:00
commit 6080c9646b
32 changed files with 325 additions and 361 deletions
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6
sec-api/src/main/java/com/imdroid/secapi/client/RtcmClient.java
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@ -1,6 +1,7 @@
package com.imdroid.secapi.client;
import org.springframework.cloud.openfeign.FeignClient;
import org.springframework.web.bind.annotation.GetMapping;
import org.springframework.web.bind.annotation.PostMapping;
import org.springframework.web.bind.annotation.RequestParam;
@ -11,7 +12,10 @@ public interface RtcmClient {
@PostMapping("/config_by_udp")
HttpResp configByUdp(@RequestParam(name = "deviceId") String deviceId, @RequestParam(name = "configuration") String configData);
@PostMapping(value = "/config_device")
public HttpResp configDevice(@RequestParam(name = "deviceId") String deviceId, @RequestParam(name = "configuration") String configData);
@GetMapping(value = "/get_device_info")
public HttpResp getDeviceInfo(@RequestParam(name = "deviceId") String deviceId, @RequestParam(name = "cmd") String cmd);
@PostMapping("/device_param_changed")
HttpResp deviceParamChanged(@RequestParam(name = "deviceId") String deviceId,@RequestParam(name = "oldParentId") String oldParentId);

2
sec-api/src/main/java/com/imdroid/secapi/dto/GnssDevice.java
View File

@ -65,5 +65,5 @@ public class GnssDevice {
// 日志记录控制
private Short loggingmode;
private String remark;
}

2
sec-api/src/main/java/com/imdroid/secapi/dto/GnssStatusJoin.java
View File

@ -92,4 +92,6 @@ public class GnssStatusJoin {
Double longitude;
@ExcelProperty("海拔")
Double altitude;
@ExcelProperty("备注")
String remark;
}

1
sec-api/src/main/java/com/imdroid/secapi/dto/ResendRecord.java
View File

@ -18,6 +18,7 @@ public class ResendRecord {
static public final short STATE_FWD_OK = 0;
static public final short STATE_FWD_FAILED = 1;
static public final short STATE_BREAK_POINT = 2;
static public final short STATE_FWDING = 3;
@TableId(value = "id", type = IdType.AUTO)
Long id;
Integer tenantid;

45
sec-beidou-fwd/src/main/java/com/imdroid/beidou_fwd/task/Forwarder.java
View File

@ -1,6 +1,7 @@
package com.imdroid.beidou_fwd.task;
import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
import com.baomidou.mybatisplus.core.conditions.update.UpdateWrapper;
import com.github.yulichang.query.MPJQueryWrapper;
import com.imdroid.beidou_fwd.entity.GZYMQTTData;
import com.imdroid.common.util.GsonUtil;
@ -198,7 +199,8 @@ public class Forwarder {
int sendNum = send(projectId, records, sendTime);
// 记录推送
// 非重发的才产生推送记录
if(resendRecord==null) {
FwdRecord fwdRecord = new FwdRecord();
fwdRecord.setProjectid(projectId);
fwdRecord.setTenantid(tenantId);
@ -209,16 +211,10 @@ public class Forwarder {
if (sendNum > 0) {
totalSendNum += sendNum;
fwdRecord.setResult(FwdRecord.RESULT_OK);
if(resendRecord != null){
resendRecord.setState(ResendRecord.STATE_FWD_OK);
resendRecordMapper.updateById(resendRecord);
}
}
else{
} else {
fwdResult = false;
fwdRecord.setResult(FwdRecord.RESULT_FAILED);
// 新增重发记录
if(resendRecord == null) {
resendRecord = new ResendRecord();
resendRecord.setProjectid(projectId);
resendRecord.setTenantid(tenantId);
@ -229,17 +225,15 @@ public class Forwarder {
resendRecord.setState(ResendRecord.STATE_FWD_FAILED);
resendRecordMapper.insert(resendRecord);
}
else{
resendRecord.setState(ResendRecord.STATE_FWD_FAILED);
resendRecordMapper.updateById(resendRecord);
}
}
fwdRecordsMapper.insert(fwdRecord);
}
}
// 更新推送记录
if(resendRecord==null) {
if (totalSendNum > 0) updateFwd(totalSendNum, true);
else if (!fwdResult) updateFwd(totalSendNum, false);
}
return fwdResult;
}
@ -258,10 +252,20 @@ public class Forwarder {
QueryWrapper<ResendRecord> queryWrapper = new QueryWrapper<>();
queryWrapper.eq("fwd_group_id",fwdGroupId);
queryWrapper.ne("state",ResendRecord.STATE_FWD_OK);
queryWrapper.ne("state",ResendRecord.STATE_FWDING);
queryWrapper.ge("createtime", LocalDateTime.now().minusDays(30));
List<ResendRecord> resendRecordsList = resendRecordMapper.selectList(queryWrapper);
if(resendRecordsList!=null){
logger.info("{} forward history records: {}",fwdGroupId, resendRecordsList.size());
//修改状态
UpdateWrapper<ResendRecord> updateWrapper = new UpdateWrapper<>();
updateWrapper.eq("fwd_group_id",fwdGroupId);
updateWrapper.ne("state",ResendRecord.STATE_FWD_OK);
updateWrapper.ne("state",ResendRecord.STATE_FWDING);
updateWrapper.ge("createtime", LocalDateTime.now().minusDays(30));
updateWrapper.set("state",ResendRecord.STATE_FWDING);
int updateNum = resendRecordMapper.update(null, updateWrapper);
logger.info("{} forward history records: {}, update {}",fwdGroupId, resendRecordsList.size(),updateNum);
// 2.检索这个这个时间段的解算结果，如果有数据则单个终端转发，标志记录为已补传
for(ResendRecord record:resendRecordsList){
if(record.getProjectid()!=null)
@ -273,10 +277,21 @@ public class Forwarder {
void forwardBatchGnssRecords(ResendRecord record) {
LocalDateTime sendTime = record.getStarttime();
int totalSend = 0;
while(sendTime.isBefore(record.getEndtime()) || sendTime.isEqual(record.getEndtime())){
forwardGnssRecords(sendTime,record);
if(forwardGnssRecords(sendTime,record)) totalSend++;
sendTime = sendTime.plusMinutes(fwdCycleMinutes);
}
if(totalSend>0) {
record.setState(ResendRecord.STATE_FWD_OK);
}
else{
record.setState(ResendRecord.STATE_FWD_FAILED);
}
resendRecordMapper.updateById(record);
}
int send(String projectId, List<GnssCalcData> records, LocalDateTime sentTime) {

100
sec-beidou-fwd/src/main/java/com/imdroid/beidou_fwd/task/GXXfz2Forwarder.java
View File

@ -1,124 +1,30 @@
package com.imdroid.beidou_fwd.task;
import com.imdroid.beidou_fwd.entity.XFZData;
import com.imdroid.beidou_fwd.service.TCPClient;
import com.imdroid.beidou_fwd.service.TCPListener;
import com.imdroid.common.util.GsonUtil;
import com.imdroid.common.util.NumberUtils;
import com.imdroid.secapi.dto.GnssCalcData;
import org.springframework.beans.factory.annotation.Value;
import org.springframework.context.annotation.Configuration;
import org.springframework.scheduling.annotation.EnableScheduling;
import org.springframework.scheduling.annotation.Scheduled;
import org.springframework.stereotype.Component;
import javax.annotation.PostConstruct;
import java.time.LocalDateTime;
import java.util.ArrayList;
import java.util.List;
@Component
@Configuration
@EnableScheduling
public class GXXfz2Forwarder extends Forwarder{
static final String FORWARDER_NAME = "广西路建";
public class GXXfz2Forwarder extends GXXfzForwarder{
private String FORWARDER_NAME = "广西路建";
@Value("${gxlj.server.host}")
private String host;
@Value("${gxlj.server.port}")
private int port;
private TCPClient xfzTcpClient;
static class XFZTCPListener implements TCPListener{
public static final int STATE_NO_ACK = 0;
public static final int STATE_OK = 1;
public static final int STATE_FAILED = 2;
public int state = STATE_NO_ACK;
public void clear(){
state = STATE_NO_ACK;
}
@Override
public void onConnected() {
}
@Override
public void onDisconnect() {
}
@Override
public void onMessage(String msg) {
if(msg.contains("succeed")) state = STATE_OK;
else state = STATE_FAILED;
}
}
XFZTCPListener listener = new XFZTCPListener();
@PostConstruct
@Override
void registerMe(){
init(FORWARDER_NAME, "TCP "+host+":"+port,6,FWD_DEVICE_ID,30);
xfzTcpClient = new TCPClient();
xfzTcpClient.init(host, port,listener);
xfzTcpClient.start();
}
/**
* 每半小时转发GNSS解算结果
*/
@Scheduled(cron = "0 0/30 * * * ?") // 每30分钟执行一次
private void forwardGnss() {
logger.info("xfz forwardGnss");
forwardCurrentGnss();
}
@Override
int send(String projectId, List<GnssCalcData> records, LocalDateTime sentTime){
int sendNum = 0;
if(records.size() == 0) return 0;
XFZData xfzTcpMessage = new XFZData();
xfzTcpMessage.setProjectID(projectId);
xfzTcpMessage.setWorkPointID(projectId);
List<XFZData.Data> dataList = new ArrayList<>(records.size());
xfzTcpMessage.setData(dataList);
for(GnssCalcData locationRecord: records) {
XFZData.Data data = new XFZData.Data();
dataList.add(data);
data.setDataTime(locationRecord.getCreatetime().format(formatter));
data.setDevNum(locationRecord.getDeviceid());
data.setDevtype("GNSS");
// 单位由mm转化为m
data.setX(NumberUtils.scale(locationRecord.getRpose() * 0.001, 5));
data.setY(NumberUtils.scale(locationRecord.getRposn() * 0.001, 5));
data.setZ(NumberUtils.scale(locationRecord.getRposd() * 0.001, 5));
sendNum++;
}
String json = "#" + GsonUtil.toJson(xfzTcpMessage) + "!";
logger.info("project " + projectId + ": push calculation result to XFZ");
logger.info(json);
try {
listener.clear();
xfzTcpClient.writeAndFlush(json);
//等待应答
if(!checkResult()) sendNum = 0;
} catch (Exception e1) {
sendNum = 0;
e1.printStackTrace();
}
return sendNum;
}
boolean checkResult() throws InterruptedException {
// 等待应答，最多等1s
for(int i=0; i<10; i++){
Thread.sleep(100);
if(listener.state == XFZTCPListener.STATE_OK) return true;
else if(listener.state == XFZTCPListener.STATE_FAILED) return false;
}
return false;
}
}

4
sec-beidou-fwd/src/main/java/com/imdroid/beidou_fwd/task/GXXfzForwarder.java
View File

@ -21,14 +21,14 @@ import java.util.List;
@Configuration
@EnableScheduling
public class GXXfzForwarder extends Forwarder{
static final String FORWARDER_NAME = "广西新发展";
private String FORWARDER_NAME = "广西新发展";
@Value("${xfz.server.host}")
private String host;
@Value("${xfz.server.port}")
private int port;
private TCPClient xfzTcpClient;
TCPClient xfzTcpClient;
static class XFZTCPListener implements TCPListener{
public static final int STATE_NO_ACK = 0;

31
sec-beidou-fwd/src/main/java/com/imdroid/beidou_fwd/task/GZBForwarder.java Normal file
View File

@ -0,0 +1,31 @@
package com.imdroid.beidou_fwd.task;
import com.imdroid.beidou_fwd.service.TCPClient;
import org.springframework.beans.factory.annotation.Value;
import org.springframework.context.annotation.Configuration;
import org.springframework.scheduling.annotation.EnableScheduling;
import org.springframework.stereotype.Component;
import javax.annotation.PostConstruct;
@Component
@Configuration
@EnableScheduling
public class GZBForwarder extends GXXfzForwarder{
private String FORWARDER_NAME = "葛洲坝";
@Value("${gzb.server.host}")
private String host;
@Value("${gzb.server.port}")
private int port;
@PostConstruct
@Override
void registerMe(){
init(FORWARDER_NAME, "TCP "+host+":"+port,1,FWD_DEVICE_ID,30);
xfzTcpClient = new TCPClient();
xfzTcpClient.init(host, port,listener);
xfzTcpClient.start();
}
}

6
sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/bd/FocusCalculator1.java
View File

@ -152,7 +152,7 @@ public class FocusCalculator1 implements FocusCalculator{
// 求初始重心
double[] focus = focusPointObj(selectPoints);
logger.info("seed focus {},{},{},select size {}",focus[0],focus[1],focus[2],selectPoints.size());
logger.debug("seed focus {},{},{},select size {}",focus[0],focus[1],focus[2],selectPoints.size());
// 迭代计算重心，直到选出50%的点
List<double[]> filteredPoints=null;
@ -165,10 +165,10 @@ public class FocusCalculator1 implements FocusCalculator{
if(filteredPoints.size() == 0) continue;
focus = focusPoint(filteredPoints);
}while ((double)filteredPoints.size()/pointList.size() < pointSelectedRate);
if(null!=filteredPoints) logger.info("calc focus r:{}, point num:{}",r,filteredPoints.size());
if(null!=filteredPoints) logger.debug("calc focus r:{}, point num:{}",r,filteredPoints.size());
return focus;
}else{
logger.info("calc focus iter num:0, point num:{}",selectPoints.size());
logger.debug("calc focus iter num:0, point num:{}",selectPoints.size());
return focus;
}

2
sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/bd/FocusCalculator2.java
View File

@ -99,7 +99,7 @@ public class FocusCalculator2 extends FocusCalculator1{
while (iterator.hasNext()){
pointList.addAll(iterator.next().getValue());
}
logger.info("total fixed point num to calculated: {},{},{}",pointList.size(),
logger.debug("total fixed point num to calculated: {},{},{}",pointList.size(),
cyclePointList.get(0).getKey(), cyclePointList.get(cyclePointList.size()-1).getKey());
if(pointList.size() >= gravityMaxCount){

84
sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/bd/FocusCalculator3.java
View File

@ -14,37 +14,19 @@ import static com.imdroid.sideslope.bd.GeoCoordConverterUtil.*;
* 博通：用GGA绝对坐标代替相对位置
*/
public class FocusCalculator3 extends FocusCalculator1{
//final static long scale = 100000000L;//地球1°：111km，放大到mm乘以100,000,000
final static int bad_change_mm = 500;//固定解跳变连续10次超过500mm，认为是周跳
final static int bad_duration = 10;
int bad_count = 0;
Device bsDevice;
public FocusCalculator3(Device bsDevice){
super();
this.bsDevice = bsDevice;
gravityMinCount = 80;
}
/*
static class EComparator implements Comparator<double[]>{
@Override
public int compare(double[] point1, double[] point2) {
return Double.compare(point1[1], point2[1]);
//return (int) ((point1[0] - point2[0])*100);
}
}
static class NComparator implements Comparator<double[]>{
@Override
public int compare(double[] point1, double[] point2) {
return Double.compare(point1[1], point2[1]);
//return (int) ((point1[1] - point2[1])*100);
}
}
static class DComparator implements Comparator<double[]>{
@Override
public int compare(double[] point1, double[] point2) {
return Double.compare(point1[1], point2[1]);
//return (int) ((point1[2] - point2[2])*100);
}
}
*/
@Override
public void addGGA(Gga gga) {
if(gga == null) return;
@ -69,7 +51,6 @@ public class FocusCalculator3 extends FocusCalculator1{
// 以基站为站心的 ENU 坐标
ENU_Coordinate difference_enu = ECEF2ENU(reference_ecef, rover_ecef);
System.out.println("DIFF ENU:" + difference_enu.ENU_E + " " + difference_enu.ENU_N + " " + difference_enu.ENU_U);
end = new double[]{
difference_enu.ENU_E*1000,
difference_enu.ENU_N*1000,
@ -79,7 +60,17 @@ public class FocusCalculator3 extends FocusCalculator1{
if(gga.isFixed()) {
counterFixedResult++;
//pointList.add(xyz);
if(pointList.size()>0){
double[] lastXyz = pointList.get(pointList.size()-1);
if(Math.abs(end[0]-lastXyz[0])>bad_change_mm ||
Math.abs(end[1]-lastXyz[1])>bad_change_mm ||
Math.abs(end[2]-lastXyz[2])>bad_change_mm){
bad_count++;
return;
}
}
bad_count = 0;
pointList.add(end);
}
else if(gga.getQuality() == 5) counterNoFixed++;
@ -95,33 +86,6 @@ public class FocusCalculator3 extends FocusCalculator1{
}
/*double calcGravity(List<double[]> list , int index){
double sum = 0;
int begin = (int) (list.size() * 0.25);
int end = (int) (list.size() * 0.75);
if(end-begin == 0) return 0;
for(int i=begin; i<end; i++){
sum += list.get(i)[index];
}
return sum/(end-begin);
}
@Override
public double[] resultB562(){
if(pointList.size() >= 3){
Collections.sort(pointList, new EComparator());
double e = calcGravity(pointList,0);
Collections.sort(pointList, new NComparator());
double n = calcGravity(pointList,1);
Collections.sort(pointList, new DComparator());
double d = calcGravity(pointList,2);
return new double[]{e,n,d};
}
return null;
}*/
@Override
public double[] resultB562(){
try {
@ -166,9 +130,23 @@ public class FocusCalculator3 extends FocusCalculator1{
return null;
}
@Override
public void reset(){
super.reset();
bad_count = 0;
}
@Override
public int getVer() {
return 3;
}
public boolean isJump(){
if (bad_count>bad_duration){
bad_count = 0;
return true;
}
else return false;
}
}

4
sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/bd/FocusCalculator5.java
View File

@ -87,7 +87,7 @@ public class FocusCalculator5 implements FocusCalculator{
pointList.clear();
}
else{
logger.info("{} num of fixed points:{}, less than {}",deviceId, pointList.size(),minPointNum);
logger.debug("{} num of fixed points:{}, less than {}",deviceId, pointList.size(),minPointNum);
}
tilts.clear();
counterNoB562 = 0;
@ -148,7 +148,7 @@ public class FocusCalculator5 implements FocusCalculator{
//取交集
eList.retainAll(nList);
eList.retainAll(uList);
logger.info("{} fixed point selected: {}", deviceId, eList.size());
logger.debug("{} fixed point selected: {}", deviceId, eList.size());
if(eList.size() == 0) return null;
//求均值

2
sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/bd/FocusCalculator6.java
View File

@ -63,7 +63,7 @@ public class FocusCalculator6 implements FocusCalculator{
pointList.clear();
}
else{
logger.info("{} num of fixed points:{}, less than {}",deviceId, pointList.size(),minPointNum);
logger.debug("{} num of fixed points:{}, less than {}",deviceId, pointList.size(),minPointNum);
}
tilts.clear();
counterNoB562 = 0;

117
sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/bd/FocusCalculator7.java
View File

@ -1,117 +0,0 @@
package com.imdroid.sideslope.bd;
import com.imdroid.sideslope.sal.Device;
import static com.imdroid.sideslope.bd.GeoCoordConverterUtil.ECEF2ENU;
import static com.imdroid.sideslope.bd.GeoCoordConverterUtil.LLA2ECEF;
/**
* 博通：用GGA绝对坐标代替相对位置
*/
public class FocusCalculator7 extends FocusCalculator3{
//final static long scale = 100000000L;//地球1°：111km，放大到mm乘以100,000,000
final static int bad_change_mm = 500;//固定解跳变连续10次超过500mm，认为是周跳
final static int bad_duration = 10;
int bad_count = 0;
public FocusCalculator7(Device bsDevice) {
super(bsDevice);
}
/*@Override
public void addGGA(Gga gga) {
if(gga == null) return;
double[] xyz = new double[]{gga.getLongitude()*scale, gga.getLatitude()*scale, gga.getAltitude()*1000, gga.getQuality()};
if(gga.isFixed()) {
counterFixedResult++;
if(pointList.size()>0){
double[] lastXyz = pointList.get(pointList.size()-1);
if(Math.abs(xyz[0]-lastXyz[0])>bad_change_mm ||
Math.abs(xyz[1]-lastXyz[1])>bad_change_mm ||
Math.abs(xyz[2]-lastXyz[2])>bad_change_mm){
bad_count++;
return;
}
}
bad_count = 0;
pointList.add(xyz);
}
else if(gga.getQuality() == 5) counterNoFixed++;
else counterNoB562 ++;
}*/
@Override
public void addGGA(Gga gga) {
if(gga == null) return;
double[] end;
// 测站的GGA - 测站 LLA 数据
GeoCoordConverterUtil.LLA_Coordinate rover_lla = new GeoCoordConverterUtil.LLA_Coordinate(gga.getLatitude(),gga.getLongitude(),gga.getAltitude());
// 测站 LLA 坐标转 ECEF 坐标，单位米
GeoCoordConverterUtil.ECEF_Coordinate rover_ecef = LLA2ECEF(rover_lla);
if(bsDevice==null || bsDevice.getEcefx()==null){
end = new double[]{
rover_ecef.getECEF_X()*1000,
rover_ecef.getECEF_Y()*1000,
rover_ecef.getECEF_Z()*1000,
gga.getQuality()};
}
else {
// 查询测站的绑定的基站
GeoCoordConverterUtil.ECEF_Coordinate reference_ecef = new GeoCoordConverterUtil.ECEF_Coordinate(bsDevice.getEcefx(), bsDevice.getEcefy(), bsDevice.getEcefz());
// 以基站为站心的 ENU 坐标
GeoCoordConverterUtil.ENU_Coordinate difference_enu = ECEF2ENU(reference_ecef, rover_ecef);
end = new double[]{
difference_enu.ENU_E*1000,
difference_enu.ENU_N*1000,
difference_enu.ENU_U*1000,
gga.getQuality()};
}
if(gga.isFixed()) {
counterFixedResult++;
if(pointList.size()>0){
double[] lastXyz = pointList.get(pointList.size()-1);
if(Math.abs(end[0]-lastXyz[0])>bad_change_mm ||
Math.abs(end[1]-lastXyz[1])>bad_change_mm ||
Math.abs(end[2]-lastXyz[2])>bad_change_mm){
bad_count++;
return;
}
}
bad_count = 0;
pointList.add(end);
}
else if(gga.getQuality() == 5) counterNoFixed++;
else counterNoB562 ++;
}
@Override
public void reset(){
super.reset();
bad_count = 0;
}
@Override
public int getVer() {
return 7;
}
public boolean isJump(){
if (bad_count>bad_duration){
bad_count = 0;
return true;
}
else return false;
}
}

35
sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/calc/SingleLineGNSSCalcService.java
View File

@ -85,16 +85,13 @@ public class SingleLineGNSSCalcService implements GNSSDataCalcService {
if(device == null) return;
GnssGroupCalc groupCalc = getGroupCalc(device.getCalcGroupId());
if(groupCalc==null) return;
device.setB562AsCalc(groupCalc.getVer()!=3 && groupCalc.getVer()!=7);
device.setB562AsCalc(groupCalc.getVer()!=3);
if(completeWhenIdle) resultOutputTimer(device, groupCalc, message.getCreateTime());
//todo 创建FocusCalculator对象需获取该测站的杆长度，上一小时的Tilt平均值，上一小时的测站相对坐标融合值ekfResult
FocusCalculator focusCalculator;
if(groupCalc.getVer() == 7){
focusCalculator = calculatorMap.computeIfAbsent(deviceId,s -> new FocusCalculator7(null));
}
else if(groupCalc.getVer() == 6){
if(groupCalc.getVer() == 6){
focusCalculator = calculatorMap.computeIfAbsent(deviceId,s -> new FocusCalculator6(deviceId, 50));
}
else if(groupCalc.getVer() == 5){
@ -136,16 +133,16 @@ public class SingleLineGNSSCalcService implements GNSSDataCalcService {
double[] doubles = message.getB562_loc();//unit: mm
if(doubles !=null) {
focusCalculator.addXyz(doubles, message.getCreateTime());
logger.info("测站{}的b562单次解析结果:{}", deviceId,Arrays.toString(doubles));
logger.debug("测站{}的b562单次解析结果:{}", deviceId,Arrays.toString(doubles));
}
// 单次GGA
Gga gga = message.getGga();
if(gga != null) {
focusCalculator.addGGA(gga);
logger.info("测站{}的gga单次解析结果:{},{},{},{}",deviceId,
logger.debug("测站{}的gga单次解析结果:{},{},{},{}",deviceId,
gga.getLongitude(), gga.getLatitude(), gga.getAltitude(), gga.getQuality());
if(groupCalc.getVer() == 7 && focusCalculator.isJump()){
if(groupCalc.getVer() == 3 && focusCalculator.isJump()){
logger.info("{}发生周跳",deviceId);
hardResetDevice(deviceId);
}
@ -227,11 +224,11 @@ public class SingleLineGNSSCalcService implements GNSSDataCalcService {
}*/
Tilt tilt = focusCalculator.avgTilt();
logger.info("测站 {} 的b562相对坐标重心:{}", deviceId, Arrays.toString(b562Result));
logger.info("测站 {} 参考坐标:{}", deviceId, Arrays.toString(referPos));
logger.debug("测站 {} 的b562相对坐标重心:{}", deviceId, Arrays.toString(b562Result));
logger.debug("测站 {} 参考坐标:{}", deviceId, Arrays.toString(referPos));
//logger.info("测站 {} 的惯导相对坐标:{}", deviceId, Arrays.toString(r9250Result));
//logger.info("测站 {} 的相对坐标融合值:{}", deviceId, Arrays.toString(mergeResult));
logger.info("测站 {} 的Tilt平均值:{}", deviceId, tilt);
logger.debug("测站 {} 的Tilt平均值:{}", deviceId, tilt);
/*
if (mergeResult != null && b562Result != null) {
//这里检查一下result，过滤1千米外非正常数据
@ -273,7 +270,7 @@ public class SingleLineGNSSCalcService implements GNSSDataCalcService {
gnssCalcFilterService.calc(device, groupCalc, locationRecord, latestRpos);
}
else {
if(focusCalculator.getVer()==1 || focusCalculator.getVer()==3 || focusCalculator.getVer()==5 || focusCalculator.getVer()==7){
if(focusCalculator.getVer()==1 || focusCalculator.getVer()==3 || focusCalculator.getVer()==5){
gnssCalcFilterService.calc(device, groupCalc, locationRecord, null);
}
else {
@ -299,7 +296,7 @@ public class SingleLineGNSSCalcService implements GNSSDataCalcService {
if(latestRpos != null) focusCalculator.setReferPoint(latestRpos);
else {
double[] avgEnu = gnssCalcFilterService.calcFilterValueByLastDay(locationRecord);
logger.info("{} calc 24 hours filtered pos", deviceId);
logger.debug("{} calc 24 hours filtered pos", deviceId);
if (avgEnu != null) {
((FocusCalculator6) focusCalculator).setOriginalReferPoint(avgEnu);
}
@ -316,7 +313,7 @@ public class SingleLineGNSSCalcService implements GNSSDataCalcService {
else focusCalculator.setReferPoint(b562Result);
}
}
else if(focusCalculator.getVer()==1 || focusCalculator.getVer()==3 || focusCalculator.getVer()==5 || focusCalculator.getVer()==7) {
else if(focusCalculator.getVer()==1 || focusCalculator.getVer()==3 || focusCalculator.getVer()==5) {
focusCalculator.setReferPoint(b562Result);
}
else {
@ -324,23 +321,23 @@ public class SingleLineGNSSCalcService implements GNSSDataCalcService {
if(focusCalculator2.isOriginalReferPointSet()) {
if (locationRecord.getEnabled() && locationRecord.getRpose() != null) {
focusCalculator2.setReferPoint(new double[]{locationRecord.getRpose(), locationRecord.getRposn(), locationRecord.getRposd()});
logger.info("{} set reference pos to filter result:{},{},{}",
logger.debug("{} set reference pos to filter result:{},{},{}",
deviceId, locationRecord.getRpose(), locationRecord.getRposn(), locationRecord.getRposd());
}
else{
logger.info("{} reference pos not changed",deviceId);
logger.debug("{} reference pos not changed",deviceId);
}
}
else{
// 查询设备有没有配置初始位置
if(device.getIPose()!=null){
focusCalculator2.setOriginalReferPoint(new double[]{device.getIPose(),device.getIPosn(),device.getIPosd()});
logger.info("{} set reference pos to init pos:{},{},{}",
logger.debug("{} set reference pos to init pos:{},{},{}",
deviceId,device.getIPose(),device.getIPosn(),device.getIPosd());
}
else{
focusCalculator.setReferPoint(b562Result);
logger.info("{} set reference pos to b562 result",deviceId);
logger.debug("{} set reference pos to b562 result",deviceId);
}
}
}
@ -386,7 +383,7 @@ public class SingleLineGNSSCalcService implements GNSSDataCalcService {
queryWrapper.last("limit 1");
GnssCalcData gnssCalcData = dataMapper.selectOne(queryWrapper);
if(gnssCalcData != null){
logger.info("{} getLatestPos", deviceId);
logger.debug("{} getLatestPos", deviceId);
return new double[]{gnssCalcData.getRpose(),gnssCalcData.getRposn(),gnssCalcData.getRposd()};
}
return null;

13
sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/executor/D331RtcmMessageExecutor.java
View File

@ -8,6 +8,7 @@ import com.imdroid.sideslope.bd.Gga;
import com.imdroid.sideslope.message.D331RtcmMessage;
import com.imdroid.sideslope.sal.Device;
import com.imdroid.sideslope.sal.DeviceService;
import com.imdroid.sideslope.server.DeviceChannel;
import com.imdroid.sideslope.server.OnlineChannels;
import com.imdroid.sideslope.service.DataPersistService;
import io.netty.buffer.ByteBuf;
@ -49,10 +50,18 @@ public class D331RtcmMessageExecutor implements Executor<D331RtcmMessage, Void>
// 要求快速转发，因此用缓存，不要每次都查数据库
List<Device> deviceList = deviceService.findByParentId(id);
//logger.debug("base station {} has {} rovers: ", message.getId(),deviceList.size());
DeviceChannel deviceChannel = null;
for (Device device : deviceList) {
if (device.getOpMode() != GnssDevice.OP_MODE_USE) continue;
String deviceId = device.getDeviceId();
OnlineChannels.INSTANCE.get(deviceId).ifPresent(deviceChannel -> {
if(device.getDataChannelType() == Device.CHANNEL_TYPE_UDP) {
deviceChannel = OnlineChannels.INSTANCE.getDataChannel(deviceId);
}
else {
deviceChannel = OnlineChannels.INSTANCE.getConfigChannel(deviceId);
}
if(deviceChannel!=null && deviceChannel.isOnline()){
if (logger.isDebugEnabled()) {
logger.debug("forward d331 rtcm to device {}", deviceId);
}
@ -62,7 +71,7 @@ public class D331RtcmMessageExecutor implements Executor<D331RtcmMessage, Void>
ByteBuf buf = Unpooled.buffer();
buf.writeBytes(forwardBytes);
deviceChannel.writeAndFlush(buf);
});
}
}
}

4
sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/executor/D341LocationMessageExecutor.java
View File

@ -100,13 +100,13 @@ public class D341LocationMessageExecutor implements Executor<D341LocationMessage
if(device.getLoggingmode() == GnssDevice.LOGGING_MODE_FULL){
logger.info("receive {} d341 message: {}", message.getId(), DataTypeUtil.getHexString(message.getSrcData()));
}
else {
/*else {
Gga gga1 = message.getGga();
if (gga1 != null && !gga1.isFixed()) {
// 若不是固定解，则打印原始码流到日志里
logger.info("receive {} d341 message: {}", message.getId(), DataTypeUtil.getHexString(message.getSrcData()));
}
}
}*/
});
return null;

20
sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/executor/D3F0SelfCheckMessageExecutor.java
View File

@ -53,7 +53,7 @@ public class D3F0SelfCheckMessageExecutor implements Executor<D3F0SelfCheckMessa
@Override
public Void execute(D3F0SelfCheckMessage message) {
logger.info("receive d3f0 message of {} device: {}", message.getId(), DataTypeUtil.getHexString(message.getSrcData()));
logger.debug("receive d3f0 message of {} device: {}", message.getId(), DataTypeUtil.getHexString(message.getSrcData()));
Device device = deviceService.findByDeviceId(message.getId());
if(device == null) return null;
@ -111,9 +111,21 @@ public class D3F0SelfCheckMessageExecutor implements Executor<D3F0SelfCheckMessa
}
}*/
boolean isBaseStationFwd(Device device){
Device bsDevice = deviceService.findByDeviceId(device.getParentId());
if(bsDevice != null){
LocalDateTime lastRxTime = bsDevice.getLastRxTime();
if(lastRxTime != null &&
lastRxTime.isAfter(LocalDateTime.now().minusMinutes(10))){
return true;
}
}
return false; //最近10分钟基站没有转发数据，可能是基站故障
}
private void checkAndSendF9PColdStartCommand(Device device){
if((device.getWarningcode()&WarningCfg.TYPE_NO_FIXED_RESULT) !=0){
startF9PColdStartTask(device);
if(isBaseStationFwd(device)) startF9PColdStartTask(device);
device.clearNoResultStat();
}
}
@ -169,11 +181,11 @@ public class D3F0SelfCheckMessageExecutor implements Executor<D3F0SelfCheckMessa
private void checkAndResetBTGnss(Device device){
if(device.getNoFixedAndFloatResult()>0 &&device.getAbnormalD341Num()>10){
startBTResetTask(device);
if(isBaseStationFwd(device)) startBTResetTask(device);
device.clearNoResultStat();
}
else if((device.getWarningcode()&WarningCfg.TYPE_CONT_INVALID_RESULT) !=0){
startBTHotStartTask(device);
if(isBaseStationFwd(device)) startBTHotStartTask(device);
device.clearNoResultStat();
}
}

2
sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/executor/D3F2StopIndicationMessageExecutor.java
View File

@ -48,7 +48,7 @@ public class D3F2StopIndicationMessageExecutor implements Executor<D3F2StopIndic
@Override
public Void execute(D3F2StopIndicationMessage message) {
logger.info("receive d3f2 message of {} device: {}", message.getId(), DataTypeUtil.getHexString(message.getSrcData()));
logger.debug("receive d3f2 message of {} device: {}", message.getId(), DataTypeUtil.getHexString(message.getSrcData()));
// 补齐tenantId
String deviceId = message.getId();

5
sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/sal/Device.java
View File

@ -26,6 +26,9 @@ public class Device {
*/
public static final int DEVICE_ROVER = 0;
public static final byte CHANNEL_TYPE_TCP = 0;
public static final byte CHANNEL_TYPE_UDP = 1;
private String name;
private Integer tenantId;
@ -77,6 +80,8 @@ public class Device {
LocalDateTime lastValidCalcDataTime; //最近一次有效解
int warningcode = 0;
short abnormalD341Num = 0;
byte cfgChannelType = CHANNEL_TYPE_TCP; // 0:TCP;1:DUP
byte dataChannelType = CHANNEL_TYPE_UDP; // 0:TCP;1:DUP
public void updateRx(int head, int bytes,int count){
lastRxHead = head;

2
sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/server/tcp/RtcmTcpHandler.java
View File

@ -49,7 +49,7 @@ public class RtcmTcpHandler extends SimpleChannelInboundHandler<ByteBuf> {
@Override
public void channelInactive(ChannelHandlerContext ctx)
throws Exception {
logger.info("channel inactive");
logger.debug("channel inactive");
ctx.close();
}

4
sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/server/udp/RtcmUdpHandler.java
View File

@ -46,7 +46,9 @@ public class RtcmUdpHandler extends ChannelInboundHandlerAdapter {
}
BizExecutors.execute(message);
} catch (UnSupportedMessageException e) {
logger.warn("receive un supported message: {}", e.getMessage());
byte[] data = new byte[packet.content().readableBytes()];
packet.content().getBytes(0, data);
logger.warn("receive un supported message: {}", DataTypeUtil.getHexString(data));
} catch (Exception e) {
logger.error("channel read error: {}", e.toString());
} finally {

1
sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/service/WarningServiceImpl.java
View File

@ -286,7 +286,6 @@ public class WarningServiceImpl implements WarningService {
queryWrapper.last("limit 1");
WarningMsg warningMsg = warningMsgMapper.selectOne(queryWrapper);
if(warningMsg!=null){
logger.info("update warningMsg {}",warningMsg.getId());
warningMsg.setCleartime(LocalDateTime.now());
warningMsgMapper.updateById(warningMsg);
}

75
sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/web/ApiController.java
View File

@ -4,6 +4,7 @@ import com.imdroid.common.util.DataTypeUtil;
import com.imdroid.secapi.client.HttpResp;
import com.imdroid.sideslope.calc.MultiLineGNSSCalcService;
import com.imdroid.sideslope.calc.SingleLineGNSSCalcService;
import com.imdroid.sideslope.sal.Device;
import com.imdroid.sideslope.sal.LocalDeviceServiceImpl;
import com.imdroid.sideslope.server.DeviceChannel;
import com.imdroid.sideslope.server.OnlineChannels;
@ -13,6 +14,7 @@ import io.netty.buffer.Unpooled;
import org.slf4j.Logger;
import org.slf4j.LoggerFactory;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.web.bind.annotation.GetMapping;
import org.springframework.web.bind.annotation.PostMapping;
import org.springframework.web.bind.annotation.RestController;
@ -54,7 +56,7 @@ public class ApiController {
// send command
ByteBuf buf = Unpooled.buffer();
byte[] data = getBinaryData(ConfigDataTypeEnum.HEX, configuration);
logger.info("send command:{}", configuration);
logger.debug("send command:{}", configuration);
buf.writeBytes(data);
deviceChannel.writeAndFlush(buf);
}
@ -81,7 +83,7 @@ public class ApiController {
// send command
ByteBuf buf = Unpooled.buffer();
byte[] data = getBinaryData(ConfigDataTypeEnum.HEX, configuration);
logger.info("send command:{}", configuration);
logger.debug("send command:{}", configuration);
buf.writeBytes(data);
deviceChannel.writeAndFlush(buf);
}
@ -97,6 +99,75 @@ public class ApiController {
return resp;
}
@PostMapping(value = "/config_device")
public HttpResp configDevice(String deviceId, String configuration) {
Map<String, Object> status = new HashMap<>();
HttpResp resp = new HttpResp();
// set channel0/channel1 tcp/udp
String[] paras = configuration.split("=| ");
Device device = localDeviceService.findByDeviceId(deviceId);
if(device!=null){
resp.setResponseMessage("set OK.");
if(paras.length>=3){
if(paras[1].equals("channel1")){
if(paras[2].equals("tcp")) device.setDataChannelType(Device.CHANNEL_TYPE_TCP);
else device.setDataChannelType(Device.CHANNEL_TYPE_UDP);
}
else if(paras[1].equals("channel0")){
if(paras[2].equals("tcp")) device.setCfgChannelType(Device.CHANNEL_TYPE_TCP);
else device.setCfgChannelType(Device.CHANNEL_TYPE_UDP);
}
}
else{
status.put("paras", "error");
}
}
else {
status.put("status", "Offline");
resp.setCode(HttpResp.HTTP_RSP_FAILED);
resp.setResponseMessage("Offline.");
}
resp.setResponseObject(status);
return resp;
}
@GetMapping(value = "/get_device_info")
public HttpResp getDeviceInfo(String deviceId, String cmd) {
Map<String, Object> status = new HashMap<>();
HttpResp resp = new HttpResp();
// get channel0/channel1 type
String[] paras = cmd.split("=| ");
Device device = localDeviceService.findByDeviceId(deviceId);
if(device!=null){
resp.setResponseMessage("set OK.");
if(paras.length>=3){
if(paras[2].equals("type")) {
if (paras[1].equals("channel1")) {
if (device.getDataChannelType()==Device.CHANNEL_TYPE_TCP) {
resp.setResponseMessage(paras[1]+" tcp");
}
else resp.setResponseMessage(paras[1]+" udp");
} else if (paras[1].equals("channel0")) {
if (device.getCfgChannelType()==Device.CHANNEL_TYPE_TCP) {
resp.setResponseMessage(paras[1]+" tcp");
}
else resp.setResponseMessage(paras[1]+" udp");
}
}
}
else{
status.put("paras", "error");
}
}
else {
status.put("status", "Offline");
resp.setCode(HttpResp.HTTP_RSP_FAILED);
resp.setResponseMessage("Offline.");
}
resp.setResponseObject(status);
return resp;
}
@PostMapping("/device_param_changed")
public HttpResp deviceParamChanged(String deviceId, String oldParentId) {
// 更新设备缓存

19
sec-beidou/src/main/java/com/imdroid/beidou/controller/CmdLineController.java
View File

@ -70,9 +70,21 @@ public class CmdLineController extends BasicController{
return HttpResult.fail("设备号不能为空");
}
String sendCmd = cmd.replaceAll(" +","");
String sendCmd;
short len = 0;
int msgType = 0xD310 + cmdType;
HttpResp<HashMap<String, Object>> rsp;
if(cmd.startsWith("set")||cmd.startsWith("get")){
msgType = 0xD3FF;//后台命令
sendCmd = cmd;
len = (short) cmd.length();
if(cmd.charAt(0)=='s') rsp = rtcmClient.configDevice(deviceId,sendCmd);
else rsp = rtcmClient.getDeviceInfo(deviceId,sendCmd);
}
else{
sendCmd = cmd.replaceAll(" +","");
if(cmdType == 10 || cmdType==11){ // DTU,string format
len = (short) (sendCmd.length() + 5);
sendCmd = Integer.toHexString(msgType) + HexUtil.Short2HexString(len)+
@ -84,10 +96,10 @@ public class CmdLineController extends BasicController{
sendCmd = Integer.toHexString(msgType) + HexUtil.Short2HexString(len)+
HexUtil.Int2HexString(Integer.parseInt(deviceId))+sendCmd;
}
HttpResp<HashMap<String, Object>> rsp;
if(sendChannel == 0)
rsp = rtcmClient.config(deviceId,sendCmd);
else rsp = rtcmClient.configByUdp(deviceId,sendCmd);
}
String txInfo = "TX "+ dateFormat.format(System.currentTimeMillis())+
" "+deviceId+" "+sendCmd;
@ -95,6 +107,9 @@ public class CmdLineController extends BasicController{
if(rsp.getCode() != HttpResp.HTTP_RSP_OK){
txInfo += "\r\n" + rsp.getResponseMessage();
}
else if(msgType == 0xD3FF){
txInfo += "\r\n" + rsp.getResponseMessage();
}
// 保存
GnssMsg gnssMsg = new GnssMsg();

5
sec-beidou/src/main/java/com/imdroid/beidou/controller/GnssDeviceController.java
View File

@ -135,6 +135,11 @@ public class GnssDeviceController extends BasicController{
if (StringUtils.hasText(appver)) {
queryWrapper.like("appver", appver);
}
//备注
String remark = search.getString("remark");
if (StringUtils.hasText(remark)) {
queryWrapper.like("remark", remark);
}
//使用状态
Integer opmode = search.getInteger("opmode");
if (opmode != null && opmode != QUERY_ALL) {

2
sec-beidou/src/main/java/com/imdroid/beidou/controller/GnssStatusController.java
View File

@ -99,7 +99,7 @@ public class GnssStatusController extends BasicController implements CommonExcel
public MPJQueryWrapper<GnssStatus> prepareQueryWrapper() {
return new MPJQueryWrapper<GnssStatus>()
.selectAll(GnssStatus.class)
.select("d.devicetype as devicetype")
.select("d.devicetype as devicetype,d.remark as remark")
.leftJoin("gnssdevices d on t.deviceid = d.deviceid")
.orderByDesc("t.updatetime");
}

14
sec-beidou/src/main/resources/templates/page/gnss_dev_cfg.html
View File

@ -82,6 +82,12 @@
</select>
</div>
</div>
<div class="layui-inline" th:if="${role=='SUPER_ADMIN'}">
<label class="layui-form-label">备注</label>
<div class="layui-input-inline">
<input type="text" name="remark" id="remark" autocomplete="off" class="layui-input">
</div>
</div>
<div class="layui-inline">
<button type="submit" class="layui-btn layui-btn-primary" lay-submit lay-filter="data-search-btn"><i class="layui-icon"></i> 搜 索</button>
</div>
@ -113,6 +119,7 @@
table = layui.table;
var cfg_cols = [
{field: 'deviceid', title: '设备号', width: 100, sort: true},
{field: 'remark', title: '备注', width: 100},
{field: 'project_id', title: '项目号', width: 120, sort: true},
{field: 'sector', title: '桩号', width: 120, sort: true},
{field: 'name', title: '监测点号', width: 80},
@ -131,10 +138,13 @@
{title: '操作', toolbar: '#currentTableBar', fixed: "right", width: 120}
];
if([[${role}]] == "USER") {
cfg_cols[15].hide = true;
cfg_cols[17].hide = true;
}
else if([[${role}]] != "SUPER_ADMIN") {
cfg_cols[1].hide = true;
}
if([[${tenant_id}]] != 0) {
cfg_cols[10].hide = true;
cfg_cols[11].hide = true;
}
/**
* 初始化表单，要加上，不然刷新部分组件可能会不加载

10
sec-beidou/src/main/resources/templates/page/gnss_status.html
View File

@ -61,6 +61,12 @@
</select>
</div>
</div>
<div class="layui-inline" th:if="${role=='SUPER_ADMIN'}">
<label class="layui-form-label">备注</label>
<div class="layui-input-inline">
<input type="text" name="sl_d.remark" autocomplete="off" class="layui-input">
</div>
</div>
<div class="layui-inline">
<button type="submit" class="layui-btn layui-btn-primary" lay-submit lay-filter="data-search-btn"><i class="layui-icon"></i> 搜 索</button>
<button type="submit" class="layui-btn layui-btn-primary" lay-submit lay-filter="data-export-btn"><i class="layui-icon">&#xe67d;</i>导出</button>
@ -92,6 +98,7 @@
table = layui.table;
var cfg_cols = [
{field: 'deviceid', title: '设备号', sort: true},
{field: 'remark', title: '备注', width: 100},
{field: 'devicetype', title: '设备类型',templet: '#typeTrans'},
{field: 'updatetime', title: '更新时间', templet: "<div>{{layui.util.toDateString(d.updatetime, 'yyyy-MM-dd HH:mm:ss')}}</div>"},
{field: 'state', title: '状态',templet: '#stateTrans'},
@ -107,6 +114,9 @@
{field: 'latitude', title: '纬度'},
{title: '操作', toolbar: '#currentTableBar', fixed: "right", width: 80}
];
if([[${role}]] != "SUPER_ADMIN") {
cfg_cols[1].hide = true;
}
/**
* 初始化表单，要加上，不然刷新部分组件可能会不加载
*/

4
sec-beidou/src/main/resources/templates/page/resend_records.html
View File

@ -128,8 +128,10 @@
<span class="layui-badge layui-bg-green">推送成功</span>
{{# } else if(d.state == 1){ }}
<span class="layui-badge layui-bg-red">推送失败</span>
{{# } else if(d.state == 2){ }}
<span class="layui-badge layui-bg-red">断点补传</span>
{{# } else { }}
<span class="layui-badge layui-bg-orange">断点补传</span>
<span class="layui-badge layui-bg-orange">推送中</span>
{{# } }}
</script>

8
sec-beidou/src/main/resources/templates/page/table/gnss_add_dev.html
View File

@ -207,6 +207,13 @@
</div>
</div>
<hr>
<div class="layui-form-item" th:if="${role=='SUPER_ADMIN'}">
<label class="layui-form-label">备注</label>
<div class="layui-input-block">
<input type="text" name="remark" id="remark" class="layui-input">
</div>
</div>
<hr th:if="${role=='SUPER_ADMIN'}">
<div class="layui-form-item">
<div class="layui-input-block" style="float:right" >
<button class="layui-btn layui-btn-normal" lay-submit lay-filter="saveBtn">确认保存</button>
@ -312,6 +319,7 @@
$('#ecefz').val(data.ecefz);
$('#model').val(data.model);
$('#sector').val(data.sector);
$('#remark').val(data.remark);
setEcefEditor();
form.render();
}

1
sec-beidou/src/main/resources/templates/page/table/gnss_add_group_calc.html
View File

@ -39,7 +39,6 @@
<option value="4">4</option>
<option value="5">5</option>
<option value="6">6</option>
<option value="7">7</option>
</select>
</div>
</div>