Imdroid/security-monitor
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1、成员变量多线程安全优化

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2、增加重心计算参考点的时间有效期判断
This commit is contained in:
weidong 2024-04-26 09:27:55 +08:00
parent 875d0dd423
commit 7854b5f45c
5 changed files with 36 additions and 12 deletions
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25
sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/bd/FocusCalculator1.java
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@ -3,6 +3,7 @@ package com.imdroid.sideslope.bd;
import org.slf4j.Logger;
import org.slf4j.LoggerFactory;
import java.time.LocalDateTime;
import java.util.*;
/**
@ -24,6 +25,7 @@ public class FocusCalculator1 implements FocusCalculator{
double pointSelectedRate = 0.5;
double iterStep = 1;//mm
double[] referPoint; //参考点，一般是上一次计算的位置，用来辅助计算重心
LocalDateTime referPointTime;
// 惯导算法相关
final List<Tilt> tilts = Collections.synchronizedList(new ArrayList<>());
@ -34,11 +36,11 @@ public class FocusCalculator1 implements FocusCalculator{
final double shockThreshold = 1.5;
//其他
int delay_ms = 0;
int delay_counter = 0;
int counterNoB562 = 0;
int counterNoFixed = 0;
int counterFixedResult = 0;
int delay_ms;
int delay_counter;
int counterNoB562;
int counterNoFixed;
int counterFixedResult;
/*public FocusCalculator1(double height, Tilt tilt0, double[] position0){
this.height = height;
@ -54,6 +56,8 @@ public class FocusCalculator1 implements FocusCalculator{
counterNoB562 = 0;
counterNoFixed = 0;
counterFixedResult = 0;
delay_ms = 0;
delay_counter = 0;
}
@Override
@ -63,6 +67,8 @@ public class FocusCalculator1 implements FocusCalculator{
counterNoB562 = 0;
counterNoFixed = 0;
counterFixedResult = 0;
delay_ms = 0;
delay_counter = 0;
}
/**
@ -102,9 +108,15 @@ public class FocusCalculator1 implements FocusCalculator{
@Override
public void setReferPoint(double[] point){
referPoint = point;
referPointTime = LocalDateTime.now();
}
@Override
public double[] getReferPoint(){
if(referPoint==null || referPointTime==null) return null;
if(LocalDateTime.now().isAfter(referPointTime.plusHours(24))) {
referPoint = null;
}
return referPoint;
}
@Override
@ -368,7 +380,8 @@ public class FocusCalculator1 implements FocusCalculator{
}
@Override
public int getAvgDelayMs(){
return delay_ms/delay_counter;
if(delay_counter==0) return -1;
else return delay_ms/delay_counter;
}
}

3
sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/bd/FocusCalculator2.java
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@ -148,7 +148,8 @@ public class FocusCalculator2 extends FocusCalculator1{
public void setReferPoint(double[] point){
if(referPointFilteredFlag){
// 初始参考位置保持24小时
if(initReferPointTime!=null && LocalDateTime.now().isAfter(initReferPointTime.plusHours(1))){
if(initReferPointTime!=null &&
LocalDateTime.now().isAfter(initReferPointTime.plusHours(24))){
referPoint = point;
}
}

3
sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/calc/MultiLineGNSSCalcService.java
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@ -47,7 +47,7 @@ public class MultiLineGNSSCalcService {
GnssGroupCalcMapper groupCalcMapper;
List<GnssGroupCalc> groupCalcList;
GnssGroupCalc getGroupCalc(int groupId){
synchronized GnssGroupCalc getGroupCalc(int groupId){
if(groupCalcList == null){
groupCalcList = groupCalcMapper.selectList(null);
}
@ -187,6 +187,7 @@ public class MultiLineGNSSCalcService {
}
public void refreshGroupCalc(){
if(groupCalcList!=null) groupCalcList.clear();
groupCalcList = groupCalcMapper.selectList(null);
logger.info("group paras changed");
}

13
sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/calc/SingleLineGNSSCalcService.java
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@ -44,9 +44,11 @@ public class SingleLineGNSSCalcService implements GNSSDataCalcService {
@Autowired
GnssGroupCalcMapper groupCalcMapper;
// 非线程安全，需加同步保护
List<GnssGroupCalc> groupCalcList;
GnssGroupCalc getGroupCalc(int groupId){
synchronized GnssGroupCalc getGroupCalc(int groupId){
if(groupCalcList == null){
groupCalcList = groupCalcMapper.selectList(null);
}
@ -58,6 +60,13 @@ public class SingleLineGNSSCalcService implements GNSSDataCalcService {
return null;
}
/***
* 处理本轮的固定解，求出重心位置。多线程调用，访问成员变量要考虑多线程安全
* @param message d341报文
* @param completeWhenIdle 是否根据空闲时间判断本轮结束。是则启动30s定时器；否则需显示调用SingleDone函数
* @return
*/
@Override
public double[] calcSingle(D341LocationMessage message, boolean completeWhenIdle) {
String deviceId = message.getId();
@ -229,7 +238,7 @@ public class SingleLineGNSSCalcService implements GNSSDataCalcService {
}
public void refreshGroupCalc(){
groupCalcList.clear();
if(groupCalcList!=null) groupCalcList.clear();
groupCalcList = groupCalcMapper.selectList(null);
calculatorMap.clear();
logger.info("group paras changed");

4
sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/service/WarningServiceImpl.java
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@ -9,9 +9,9 @@ import org.springframework.stereotype.Service;
import javax.annotation.PostConstruct;
import java.time.LocalDateTime;
import java.util.HashMap;
import java.util.List;
import java.util.Map;
import java.util.concurrent.ConcurrentHashMap;
@Service
public class WarningServiceImpl implements WarningService {
@ -23,7 +23,7 @@ public class WarningServiceImpl implements WarningService {
GnssStatusMapper gnssStatusMapper;
// warning type <-> level & value
Map<Integer, int[]> cfgMap = new HashMap<>();
Map<Integer, int[]> cfgMap = new ConcurrentHashMap<>();
int warningLevel2Code = 0;
@PostConstruct