Imdroid/security-monitor
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1、d3f2其它信息显示上个周期角度最大最小值

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2、振动用第2个传感器数据
This commit is contained in:
weidong 2025-10-28 09:19:43 +08:00
parent b04ec862b2
commit ab0bd9943c
5 changed files with 54 additions and 3 deletions
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6
sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/executor/D331RtcmMessageExecutor.java
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@ -7,6 +7,7 @@ import com.imdroid.secapi.dto.GnssDevice;
import com.imdroid.common.util.ByteUtil;
import com.imdroid.sideslope.bd.Gga;
import com.imdroid.sideslope.bd.Rtcm1005;
import com.imdroid.sideslope.bd.Tilt;
import com.imdroid.sideslope.calc.GNSSDataCalcService;
import com.imdroid.sideslope.message.D331RtcmMessage;
import com.imdroid.sideslope.ntrip.UdpNtripServer;
@ -117,6 +118,11 @@ public class D331RtcmMessageExecutor implements Executor<D331RtcmMessage, Void>
deviceBs.setLongitude(gga.getLongitude());
deviceBs.setAltitude(gga.getAltitude());
}
// update angles
Tilt tilt = message.getTilt();
if(tilt!=null){
deviceBs.updateMinMaxAngle(tilt.getRoll(),tilt.getPitch());
}
// 添加NTRIP处理

5
sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/executor/D341LocationMessageExecutor.java
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@ -5,6 +5,7 @@ import com.imdroid.common.util.ThreadManager;
import com.imdroid.secapi.client.BeidouClient;
import com.imdroid.secapi.dto.GnssDevice;
import com.imdroid.sideslope.bd.Gga;
import com.imdroid.sideslope.bd.Tilt;
import com.imdroid.sideslope.calc.GNSSDataCalcService;
import com.imdroid.sideslope.message.D341LocationMessage;
import com.imdroid.sideslope.service.Device;
@ -78,6 +79,10 @@ public class D341LocationMessageExecutor implements Executor<D341LocationMessage
double[] pos = message.getB562_loc();
device.updateCalcQuality((int) pos[3]);
}
Tilt tilt = message.getTilt();
if(tilt!=null){
device.updateMinMaxAngle(tilt.getRoll(),tilt.getPitch());
}
Gga gga = message.getGga();
if(gga != null) {

8
sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/executor/D3F2StopIndicationMessageExecutor.java
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@ -60,6 +60,14 @@ public class D3F2StopIndicationMessageExecutor implements Executor<D3F2StopIndic
message.setOtherInfo(message.getOtherInfo() + ",valid calc:" + device.getLastValidCalcDataTime());
}
}
if(device.getMinAngleX()!=null){
message.setOtherInfo(String.format("%s,303(%.2f,%.2f,%.2f,%.2f)",
message.getOtherInfo(),
device.getMinAngleX(),
device.getMaxAngleX(),
device.getMinAngleY(),
device.getMaxAngleY()));
}
//更新统计
device.updateRx(message.getHeader(), message.getLen(),1);
GnssTrxMsg gnssTrxMsg = message.getTrxMsg();

30
sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/service/Device.java
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@ -93,6 +93,11 @@ public class Device {
byte dataChannelType = CHANNEL_TYPE_UDP; // 0:TCP;1:DUP
int lasQuality = 0;
Double minAngleX;
Double maxAngleX;
Double minAngleY;
Double maxAngleY;
public void updateRx(int head, int bytes,int count){
lastRxHead = head;
@ -155,6 +160,11 @@ public class Device {
fixedNum = 0;
floatNum = 0;
jumpCount = 0;
minAngleX=null;
minAngleY=null;
maxAngleX=null;
maxAngleY=null;
}
public void clearD342Stat(){
@ -169,4 +179,24 @@ public class Device {
abnormalD341Num = 0;
}
public void updateMinMaxAngle(double x, double y){
if(minAngleX == null || maxAngleX == null){
minAngleX = x;
maxAngleX = x;
}
else{
if(x<minAngleX) minAngleX = x;
if(x>maxAngleX) maxAngleX = x;
}
if(minAngleY == null || maxAngleY == null){
minAngleY = y;
maxAngleY = y;
}
else{
if(y<minAngleY) minAngleY = y;
if(y>maxAngleY) maxAngleY = y;
}
}
}

8
sec-incline-server/src/main/java/com/imdroid/inclide_server/executor/D350SurfaceInclineMessageExecutor.java
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@ -122,9 +122,11 @@ public class D350SurfaceInclineMessageExecutor implements Executor<D350SurfaceIn
if (device.sensorNum == 2) {
if (data.getSensorid()==1) device.data1 = data;
else {
data1.setAngley(data.getAnglex());
data1.setAccy(data.getAccx());
dataForwarder.send(device.device, data1);
data.setAngley(data.getAnglex());
data.setAnglex(data1.getAnglex());
//data1.setAngley(data.getAnglex());
//data1.setAccy(data.getAccx());
dataForwarder.send(device.device, data);
}
}
}