From e6ab24158692413ca649b336e6659d2fe4ae826f Mon Sep 17 00:00:00 2001 From: weidong Date: Wed, 30 Oct 2024 09:10:47 +0800 Subject: [PATCH 1/2] =?UTF-8?q?=E5=A2=9E=E5=8A=A0=E5=91=A8=E8=B7=B3?= =?UTF-8?q?=E5=88=A4=E6=96=AD=E5=92=8C=E5=A4=84=E7=90=86?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../imdroid/sideslope/bd/FocusCalculator.java | 1 + .../sideslope/bd/FocusCalculator1.java | 5 +++ .../sideslope/bd/FocusCalculator5.java | 5 +++ .../sideslope/bd/FocusCalculator6.java | 5 +++ .../sideslope/bd/FocusCalculator7.java | 29 ++++++++++++++++ .../calc/SingleLineGNSSCalcService.java | 34 ++++++++++++++++--- 6 files changed, 75 insertions(+), 4 deletions(-) diff --git a/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/bd/FocusCalculator.java b/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/bd/FocusCalculator.java index 6af84bd2..3c9f2088 100644 --- a/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/bd/FocusCalculator.java +++ b/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/bd/FocusCalculator.java @@ -27,4 +27,5 @@ public interface FocusCalculator { // 算法版本 int getVer(); + boolean isJump(); } diff --git a/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/bd/FocusCalculator1.java b/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/bd/FocusCalculator1.java index fc9cb4b8..6e152231 100644 --- a/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/bd/FocusCalculator1.java +++ b/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/bd/FocusCalculator1.java @@ -349,6 +349,11 @@ public class FocusCalculator1 implements FocusCalculator{ return 1; } + @Override + public boolean isJump() { + return false; + } + @Override public Tilt avgTilt() { if (tilts.size() == 0) { diff --git a/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/bd/FocusCalculator5.java b/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/bd/FocusCalculator5.java index 13d83ccd..d4f872f5 100644 --- a/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/bd/FocusCalculator5.java +++ b/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/bd/FocusCalculator5.java @@ -210,6 +210,11 @@ public class FocusCalculator5 implements FocusCalculator{ return 5; } + @Override + public boolean isJump() { + return false; + } + @Override public Tilt avgTilt() { if (tilts.size() == 0) { diff --git a/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/bd/FocusCalculator6.java b/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/bd/FocusCalculator6.java index c2f2a49a..e3f01512 100644 --- a/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/bd/FocusCalculator6.java +++ b/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/bd/FocusCalculator6.java @@ -215,6 +215,11 @@ public class FocusCalculator6 implements FocusCalculator{ return 6; } + @Override + public boolean isJump() { + return false; + } + @Override public Tilt avgTilt() { if (tilts.size() == 0) { diff --git a/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/bd/FocusCalculator7.java b/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/bd/FocusCalculator7.java index bbff0896..5fb77415 100644 --- a/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/bd/FocusCalculator7.java +++ b/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/bd/FocusCalculator7.java @@ -9,6 +9,10 @@ import com.imdroid.sideslope.sal.Device; 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); @@ -22,15 +26,40 @@ public class FocusCalculator7 extends FocusCalculator3{ 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 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; + } + } diff --git a/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/calc/SingleLineGNSSCalcService.java b/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/calc/SingleLineGNSSCalcService.java index ce7ae820..04ee65b1 100644 --- a/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/calc/SingleLineGNSSCalcService.java +++ b/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/calc/SingleLineGNSSCalcService.java @@ -1,6 +1,7 @@ package com.imdroid.sideslope.calc; import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper; +import com.imdroid.common.util.DataTypeUtil; import com.imdroid.common.util.ThreadManager; import com.imdroid.secapi.dto.GnssCalcData; import com.imdroid.secapi.dto.GnssCalcDataMapper; @@ -10,7 +11,11 @@ import com.imdroid.sideslope.bd.*; import com.imdroid.sideslope.message.D341LocationMessage; 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.WarningService; +import io.netty.buffer.ByteBuf; +import io.netty.buffer.Unpooled; import org.slf4j.Logger; import org.slf4j.LoggerFactory; import org.springframework.beans.factory.annotation.Autowired; @@ -119,7 +124,7 @@ public class SingleLineGNSSCalcService implements GNSSDataCalcService { if(tilt != null) { focusCalculator.addTilt(tilt); if (logger.isDebugEnabled()) { - logger.debug("测站" + deviceId + "惯导单次解析结果:{}", tilt); + logger.debug("测站{}惯导单次解析结果:{}", deviceId,tilt); } } @@ -130,15 +135,19 @@ public class SingleLineGNSSCalcService implements GNSSDataCalcService { double[] doubles = message.getB562_loc();//unit: mm if(doubles !=null) { focusCalculator.addXyz(doubles, message.getCreateTime()); - logger.info("测站" + deviceId + "的b562单次解析结果:{}", Arrays.toString(doubles)); + logger.info("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(message.getGga()); - logger.info("测站" + deviceId + "的gga单次解析结果:{},{},{},{}", + focusCalculator.addGGA(gga); + logger.info("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()){ + logger.info("{}发生周跳",deviceId); + hardResetDevice(deviceId); + } } } @@ -350,4 +359,21 @@ public class SingleLineGNSSCalcService implements GNSSDataCalcService { } return null; } + + void hardResetDevice(String deviceId){ + String resetCmd = "42 4b cc 17 26 04 00 00"; + DeviceChannel deviceChannel = OnlineChannels.INSTANCE.getConfigChannel(deviceId); + if(deviceChannel == null || !deviceChannel.isOnline()) { + deviceChannel = OnlineChannels.INSTANCE.getDataChannel(deviceId); + } + //if(deviceChannel!=null && deviceChannel.isOnline()){ + if(deviceChannel!=null && deviceChannel.isOnline()){ + // send command + ByteBuf buf = Unpooled.buffer(); + byte[] data = DataTypeUtil.hexStringToBytes(resetCmd); + logger.info("send hard reset command:{}", resetCmd); + buf.writeBytes(data); + deviceChannel.writeAndFlush(buf); + } + } } From 27b87538d9de83d177b723986fb79279d4a40ffc Mon Sep 17 00:00:00 2001 From: weidong Date: Thu, 31 Oct 2024 14:22:08 +0800 Subject: [PATCH 2/2] =?UTF-8?q?=E5=8F=96=E6=B6=882412254=E5=8F=82=E8=80=83?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../com/imdroid/sideslope/task/AbnormalDeviceProcessor.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/task/AbnormalDeviceProcessor.java b/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/task/AbnormalDeviceProcessor.java index 4d6419a1..0f8ba076 100644 --- a/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/task/AbnormalDeviceProcessor.java +++ b/sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/task/AbnormalDeviceProcessor.java @@ -55,7 +55,7 @@ public class AbnormalDeviceProcessor{ private void checkDevice() { logger.info("zny checkDevice"); //checkNoDataDevice("2345080","2345068","2410190"); - checkNotGoodDevice("2412254","2412272"); + //checkNotGoodDevice("2412254","2412272"); checkNotGoodDevice("2412270","2412272"); //checkNoDataDevice("2345084","2415276","2345076"); //checkNoDataDevice("2345085","2345068","2345075");