feat: 新增事务回填

sec-api/src/main/java/com/imdroid/secapi/dto/RtkTransaction.java

@@ -0,0 +1,23 @@
+package com.imdroid.secapi.dto;
+
+import com.baomidou.mybatisplus.annotation.IdType;
+import com.baomidou.mybatisplus.annotation.TableId;
+import com.baomidou.mybatisplus.annotation.TableName;
+import lombok.Data;
+
+@Data
+@TableName(value = "rtktransaction")
+public class RtkTransaction {
+    @TableId(value = "id", type = IdType.AUTO)
+    Integer id;
+    String device_id;
+    Double latitude;
+    Double longitude;
+    Double altitude;
+    Double ecef_x;
+    Double ecef_y;
+    Double ecef_z;
+    Short status;
+    Short checked;
+}
+

sec-api/src/main/java/com/imdroid/secapi/dto/RtkTransactionMapper.java

@@ -0,0 +1,7 @@
+package com.imdroid.secapi.dto;
+
+import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+
+public interface RtkTransactionMapper extends BaseMapper<RtkTransaction> {
+}
+

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

@@ -412,6 +412,7 @@ public class APIController extends BasicController {
             }
             if(q >= 0){
                 rtkMonitorService.onSolution(deviceId, q);
+                try{ rtkMonitorService.onSolutionLLH(deviceId, q, lat, lon, h);}catch(Exception ignore){}
             }
         } catch (Exception e){
             String msg = "RTK " + deviceId + " " + line;

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

@@ -0,0 +1,43 @@
+package com.imdroid.beidou.controller;
+
+import com.alibaba.fastjson.JSONObject;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.core.metadata.IPage;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.imdroid.secapi.dto.RtkTransaction;
+import com.imdroid.secapi.dto.RtkTransactionMapper;
+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.ResponseBody;
+
+import javax.servlet.http.HttpSession;
+
+@Controller
+public class RtkTransactionController extends BasicController {
+    @Autowired
+    RtkTransactionMapper mapper;
+
+    @RequestMapping("/page/rtk_transactions")
+    public String page(Model m, HttpSession session){
+        initModel(m, session);
+        return "/page/rtk_transactions";
+    }
+
+    @RequestMapping("/rtk/transaction/list")
+    @ResponseBody
+    public JSONObject list(int page, int limit, String device_id){
+        Page<RtkTransaction> pageable = new Page<>(page, limit);
+        QueryWrapper<RtkTransaction> qw = new QueryWrapper<>();
+        if(device_id!=null && !device_id.isEmpty()) qw.eq("device_id", device_id);
+        IPage<RtkTransaction> cs = mapper.selectPage(pageable, qw);
+        JSONObject json = new JSONObject();
+        json.put("code",0);
+        json.put("msg","");
+        json.put("count", cs.getTotal());
+        json.put("data", cs.getRecords());
+        return json;
+    }
+}
+

sec-beidou/src/main/java/com/imdroid/beidou/service/RtkMonitorService.java

@@ -12,6 +12,7 @@ import java.util.concurrent.ConcurrentHashMap;
 public class RtkMonitorService {
     private final Map<String, Integer> consecFix = new ConcurrentHashMap<>();
     private final Map<String, Boolean> running = new ConcurrentHashMap<>();
+    private final Map<String, java.util.LinkedList<double[]>> fixBuffer = new ConcurrentHashMap<>();
 
     @Autowired
     RtkrcvClient rtkrcvClient;
@@ -21,10 +22,12 @@ public class RtkMonitorService {
     public void onStart(String deviceId){
         running.put(deviceId, true);
         consecFix.put(deviceId, 0);
+        fixBuffer.remove(deviceId);
     }
     public void onStop(String deviceId){
         running.remove(deviceId);
         consecFix.remove(deviceId);
+        fixBuffer.remove(deviceId);
     }
     public void onSolution(String deviceId, int q){
         if(Boolean.TRUE.equals(running.get(deviceId))){
@@ -32,9 +35,17 @@ public class RtkMonitorService {
                 consecFix.merge(deviceId, 1, Integer::sum);
             } else {
                 consecFix.put(deviceId, 0);
+                fixBuffer.remove(deviceId);
             }
         }
     }
+    public void onSolutionLLH(String deviceId, int q, double lat, double lon, double h){
+        if(Boolean.TRUE.equals(running.get(deviceId)) && q==1){
+            java.util.LinkedList<double[]> buf = fixBuffer.computeIfAbsent(deviceId,k->new java.util.LinkedList<>());
+            buf.add(new double[]{lat,lon,h});
+            if(buf.size()>100) buf.removeFirst();
+        }
+    }
 
     @Scheduled(fixedRate = 30000)
     public void check(){
@@ -44,6 +55,7 @@ public class RtkMonitorService {
             if(Boolean.TRUE.equals(running.get(dev)) && cnt != null && cnt >= 40){
                 try { rtkrcvClient.stop(dev); } catch (Exception ignore) {}
                 running.remove(dev);
+                try { writeTransaction(dev); } catch (Exception ignore) {}
                 try {
                     com.alibaba.fastjson.JSONObject ctrl = new com.alibaba.fastjson.JSONObject();
                     ctrl.put("type","rtk_ctrl");
@@ -55,4 +67,41 @@ public class RtkMonitorService {
             }
         }
     }
+
+    @org.springframework.beans.factory.annotation.Autowired
+    com.imdroid.secapi.dto.RtkTransactionMapper rtkTransactionMapper;
+
+    private void writeTransaction(String deviceId){
+        java.util.LinkedList<double[]> buf = fixBuffer.get(deviceId);
+        if(buf==null || buf.size()<40) return;
+        java.util.List<double[]> last = buf.subList(Math.max(buf.size()-40,0), buf.size());
+        double[] latArr = new double[last.size()];
+        double[] lonArr = new double[last.size()];
+        double[] hArr = new double[last.size()];
+        for(int i=0;i<last.size();i++){ latArr[i]=last.get(i)[0]; lonArr[i]=last.get(i)[1]; hArr[i]=last.get(i)[2]; }
+        double lat = trimmedMean(latArr);
+        double lon = trimmedMean(lonArr);
+        double alt = trimmedMean(hArr);
+        com.imdroid.beidou.util.GeoCoordConverterUtil.LLA_Coordinate L = new com.imdroid.beidou.util.GeoCoordConverterUtil.LLA_Coordinate(lat,lon,alt);
+        com.imdroid.beidou.util.GeoCoordConverterUtil.ECEF_Coordinate E = com.imdroid.beidou.util.GeoCoordConverterUtil.LLA2ECEF(L);
+        com.imdroid.secapi.dto.RtkTransaction t = new com.imdroid.secapi.dto.RtkTransaction();
+        t.setDevice_id(deviceId);
+        t.setLatitude(lat);
+        t.setLongitude(lon);
+        t.setAltitude(alt);
+        t.setEcef_x(E.ECEF_X);
+        t.setEcef_y(E.ECEF_Y);
+        t.setEcef_z(E.ECEF_Z);
+        t.setStatus((short)1);
+        t.setChecked((short)0);
+        rtkTransactionMapper.insert(t);
+        fixBuffer.remove(deviceId);
+    }
+
+    private double trimmedMean(double[] arr){
+        java.util.Arrays.sort(arr);
+        if(arr.length<=2){ return arr.length==0?0: (arr.length==1?arr[0]:(arr[0]+arr[1])/2.0); }
+        double sum=0; for(int i=1;i<arr.length-1;i++) sum+=arr[i];
+        return sum/(arr.length-2);
+    }
 }

sec-beidou/src/main/java/com/imdroid/beidou/util/GeoCoordConverterUtil.java

@@ -0,0 +1,33 @@
+package com.imdroid.beidou.util;
+
+public class GeoCoordConverterUtil {
+    public static class LLA_Coordinate {
+        public double Latitude;
+        public double Longitude;
+        public double Altitude;
+        public LLA_Coordinate(double lat,double lon,double alt){ this.Latitude=lat; this.Longitude=lon; this.Altitude=alt; }
+    }
+    public static class ECEF_Coordinate {
+        public double ECEF_X;
+        public double ECEF_Y;
+        public double ECEF_Z;
+        public ECEF_Coordinate(double x,double y,double z){ this.ECEF_X=x; this.ECEF_Y=y; this.ECEF_Z=z; }
+    }
+    public static ECEF_Coordinate LLA2ECEF(LLA_Coordinate L){
+        double a = 6378137.0;
+        double e2 = 6.69437999014e-3;
+        double lat = Math.toRadians(L.Latitude);
+        double lon = Math.toRadians(L.Longitude);
+        double h = L.Altitude;
+        double sinLat = Math.sin(lat);
+        double cosLat = Math.cos(lat);
+        double cosLon = Math.cos(lon);
+        double sinLon = Math.sin(lon);
+        double N = a / Math.sqrt(1 - e2 * sinLat * sinLat);
+        double x = (N + h) * cosLat * cosLon;
+        double y = (N + h) * cosLat * sinLon;
+        double z = (N * (1 - e2) + h) * sinLat;
+        return new ECEF_Coordinate(x,y,z);
+    }
+}
+

sec-beidou/src/main/resources/static/api/init_super_admin.json

@@ -54,10 +54,24 @@
           ]
         },
         {
-          "title": "日志",
+          "title": "定位管理",
-          "href": "page/gnss_single_data",
+          "href": "",
           "icon": "fa fa-clipboard",
-          "target": "_self"
+          "target": "_self",
+          "child": [
+            {
+              "title": "通用",
+              "href": "page/rtkrcv",
+              "icon": "fa fa-minus",
+              "target": "_self"
+            },
+            {
+              "title": "事务管理",
+              "href": "page/rtk_transactions",
+              "icon": "fa fa-minus",
+              "target": "_self"
+            }
+          ]
         },
         {
           "title": "配置管理",
@@ -82,12 +96,6 @@
               "href": "page/cmd_line",
               "icon": "fa fa-minus",
               "target": "_self"
-            },
-            {
-              "title": "定位管理",
-              "href": "page/rtkrcv",
-              "icon": "fa fa-minus",
-              "target": "_self"
             }
           ]
         },

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

@@ -0,0 +1,62 @@
+<!DOCTYPE html>
+<html>
+<head>
+    <meta charset="utf-8">
+    <title>RTK事务</title>
+    <meta name="renderer" content="webkit">
+    <meta http-equiv="X-UA-Compatible" content="IE=edge,chrome=1">
+    <meta name="viewport" content="width=device-width, initial-scale=1, maximum-scale=1">
+    <link rel="stylesheet" href="../lib/layui-v2.6.3/css/layui.css" media="all">
+    <link rel="stylesheet" href="../css/public.css" media="all">
+</head>
+<body>
+<div class="layuimini-container">
+    <div class="layuimini-main">
+        <fieldset class="table-search-fieldset">
+            <legend>查询</legend>
+            <div style="margin:10px">
+                <form class="layui-form layui-form-pane" action="" id="txSearch">
+                    <div class="layui-form-item">
+                        <div class="layui-inline">
+                            <label class="layui-form-label">设备号</label>
+                            <div class="layui-input-inline">
+                                <input type="text" name="device_id" id="tx-device" autocomplete="off" class="layui-input">
+                            </div>
+                        </div>
+                        <div class="layui-inline">
+                            <button type="submit" class="layui-btn layui-btn-primary" lay-submit lay-filter="tx-search-btn"><i class="layui-icon">&#xe615;</i> 搜 索</button>
+                        </div>
+                    </div>
+                </form>
+            </div>
+        </fieldset>
+        <table class="layui-hide" id="txTable" lay-filter="txTableFilter"></table>
+    </div>
+</div>
+<script src="../lib/layui-v2.6.3/layui.js" charset="utf-8"></script>
+<script>
+layui.use(['form','table'], function(){
+  var $=layui.$, form=layui.form, table=layui.table;
+  function render(params){
+    table.render({
+      elem:'#txTable', url:'/rtk/transaction/list', where: params||{},
+      cols:[ [
+        {field:'device_id', title:'设备号', width:120},
+        {field:'latitude', title:'纬度', width:140},
+        {field:'longitude', title:'经度', width:140},
+        {field:'altitude', title:'高程', width:120},
+        {field:'ecef_x', title:'ECEF_X'},
+        {field:'ecef_y', title:'ECEF_Y'},
+        {field:'ecef_z', title:'ECEF_Z'},
+        {field:'status', title:'状态', width:80, templet:function(d){ return d.status==1?'<span class="layui-badge layui-bg-green">固定</span>':'<span class="layui-badge layui-bg-orange">浮点</span>'; }},
+        {field:'checked', title:'已检查', width:80, templet:function(d){ return d.checked?'<span class="layui-badge layui-bg-blue">是</span>':'<span class="layui-badge">否</span>'; }}
+      ] ], page:true, limits:[10,20,50,100], limit:10
+    });
+  }
+  render({});
+  form.on('submit(tx-search-btn)', function(data){ render(data.field); return false; });
+});
+</script>
+</body>
+</html>
+