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1、优化debug

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This commit is contained in:
weidong 2025-01-24 22:46:56 +08:00
parent 0bf150765f
commit d51b83069b
10 changed files with 23 additions and 24 deletions
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6
sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/bd/FocusCalculator1.java
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@ -152,7 +152,7 @@ public class FocusCalculator1 implements FocusCalculator{
// 求初始重心 // 求初始重心
double[] focus = focusPointObj(selectPoints); 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 // 迭代计算重心，直到选出50%的点
List<double[]> filteredPoints=null; List<double[]> filteredPoints=null;
@ -165,10 +165,10 @@ public class FocusCalculator1 implements FocusCalculator{
if(filteredPoints.size() == 0) continue; if(filteredPoints.size() == 0) continue;
focus = focusPoint(filteredPoints); focus = focusPoint(filteredPoints);
}while ((double)filteredPoints.size()/pointList.size() < pointSelectedRate); }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; return focus;
}else{ }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; return focus;
} }

2
sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/bd/FocusCalculator2.java
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@ -99,7 +99,7 @@ public class FocusCalculator2 extends FocusCalculator1{
while (iterator.hasNext()){ while (iterator.hasNext()){
pointList.addAll(iterator.next().getValue()); 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()); cyclePointList.get(0).getKey(), cyclePointList.get(cyclePointList.size()-1).getKey());
if(pointList.size() >= gravityMaxCount){ if(pointList.size() >= gravityMaxCount){

4
sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/bd/FocusCalculator5.java
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@ -87,7 +87,7 @@ public class FocusCalculator5 implements FocusCalculator{
pointList.clear(); pointList.clear();
} }
else{ 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(); tilts.clear();
counterNoB562 = 0; counterNoB562 = 0;
@ -148,7 +148,7 @@ public class FocusCalculator5 implements FocusCalculator{
//取交集 //取交集
eList.retainAll(nList); eList.retainAll(nList);
eList.retainAll(uList); 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; if(eList.size() == 0) return null;
//求均值 //求均值

2
sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/bd/FocusCalculator6.java
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@ -63,7 +63,7 @@ public class FocusCalculator6 implements FocusCalculator{
pointList.clear(); pointList.clear();
} }
else{ 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(); tilts.clear();
counterNoB562 = 0; counterNoB562 = 0;

22
sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/calc/SingleLineGNSSCalcService.java
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@ -136,14 +136,14 @@ public class SingleLineGNSSCalcService implements GNSSDataCalcService {
double[] doubles = message.getB562_loc();//unit: mm double[] doubles = message.getB562_loc();//unit: mm
if(doubles !=null) { if(doubles !=null) {
focusCalculator.addXyz(doubles, message.getCreateTime()); 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 // 单次GGA
Gga gga = message.getGga(); Gga gga = message.getGga();
if(gga != null) { if(gga != null) {
focusCalculator.addGGA(gga); 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()); gga.getLongitude(), gga.getLatitude(), gga.getAltitude(), gga.getQuality());
if(groupCalc.getVer() == 7 && focusCalculator.isJump()){ if(groupCalc.getVer() == 7 && focusCalculator.isJump()){
logger.info("{}发生周跳",deviceId); logger.info("{}发生周跳",deviceId);
@ -227,11 +227,11 @@ public class SingleLineGNSSCalcService implements GNSSDataCalcService {
}*/ }*/
Tilt tilt = focusCalculator.avgTilt(); Tilt tilt = focusCalculator.avgTilt();
logger.info("测站 {} 的b562相对坐标重心:{}", deviceId, Arrays.toString(b562Result)); logger.debug("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 {} 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) { if (mergeResult != null && b562Result != null) {
//这里检查一下result，过滤1千米外非正常数据 //这里检查一下result，过滤1千米外非正常数据
@ -299,7 +299,7 @@ public class SingleLineGNSSCalcService implements GNSSDataCalcService {
if(latestRpos != null) focusCalculator.setReferPoint(latestRpos); if(latestRpos != null) focusCalculator.setReferPoint(latestRpos);
else { else {
double[] avgEnu = gnssCalcFilterService.calcFilterValueByLastDay(locationRecord); double[] avgEnu = gnssCalcFilterService.calcFilterValueByLastDay(locationRecord);
logger.info("{} calc 24 hours filtered pos", deviceId); logger.debug("{} calc 24 hours filtered pos", deviceId);
if (avgEnu != null) { if (avgEnu != null) {
((FocusCalculator6) focusCalculator).setOriginalReferPoint(avgEnu); ((FocusCalculator6) focusCalculator).setOriginalReferPoint(avgEnu);
} }
@ -324,23 +324,23 @@ public class SingleLineGNSSCalcService implements GNSSDataCalcService {
if(focusCalculator2.isOriginalReferPointSet()) { if(focusCalculator2.isOriginalReferPointSet()) {
if (locationRecord.getEnabled() && locationRecord.getRpose() != null) { if (locationRecord.getEnabled() && locationRecord.getRpose() != null) {
focusCalculator2.setReferPoint(new double[]{locationRecord.getRpose(), locationRecord.getRposn(), locationRecord.getRposd()}); 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()); deviceId, locationRecord.getRpose(), locationRecord.getRposn(), locationRecord.getRposd());
} }
else{ else{
logger.info("{} reference pos not changed",deviceId); logger.debug("{} reference pos not changed",deviceId);
} }
} }
else{ else{
// 查询设备有没有配置初始位置 // 查询设备有没有配置初始位置
if(device.getIPose()!=null){ if(device.getIPose()!=null){
focusCalculator2.setOriginalReferPoint(new double[]{device.getIPose(),device.getIPosn(),device.getIPosd()}); 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()); deviceId,device.getIPose(),device.getIPosn(),device.getIPosd());
} }
else{ else{
focusCalculator.setReferPoint(b562Result); focusCalculator.setReferPoint(b562Result);
logger.info("{} set reference pos to b562 result",deviceId); logger.debug("{} set reference pos to b562 result",deviceId);
} }
} }
} }
@ -386,7 +386,7 @@ public class SingleLineGNSSCalcService implements GNSSDataCalcService {
queryWrapper.last("limit 1"); queryWrapper.last("limit 1");
GnssCalcData gnssCalcData = dataMapper.selectOne(queryWrapper); GnssCalcData gnssCalcData = dataMapper.selectOne(queryWrapper);
if(gnssCalcData != null){ if(gnssCalcData != null){
logger.info("{} getLatestPos", deviceId); logger.debug("{} getLatestPos", deviceId);
return new double[]{gnssCalcData.getRpose(),gnssCalcData.getRposn(),gnssCalcData.getRposd()}; return new double[]{gnssCalcData.getRpose(),gnssCalcData.getRposn(),gnssCalcData.getRposd()};
} }
return null; return null;

4
sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/executor/D341LocationMessageExecutor.java
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@ -100,13 +100,13 @@ public class D341LocationMessageExecutor implements Executor<D341LocationMessage
if(device.getLoggingmode() == GnssDevice.LOGGING_MODE_FULL){ if(device.getLoggingmode() == GnssDevice.LOGGING_MODE_FULL){
logger.info("receive {} d341 message: {}", message.getId(), DataTypeUtil.getHexString(message.getSrcData())); logger.info("receive {} d341 message: {}", message.getId(), DataTypeUtil.getHexString(message.getSrcData()));
} }
else { /*else {
Gga gga1 = message.getGga(); Gga gga1 = message.getGga();
if (gga1 != null && !gga1.isFixed()) { if (gga1 != null && !gga1.isFixed()) {
// 若不是固定解，则打印原始码流到日志里 // 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())); logger.info("receive {} d341 message: {}", message.getId(), DataTypeUtil.getHexString(message.getSrcData()));
} }
} }*/
}); });
return null; return null;

2
sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/executor/D3F0SelfCheckMessageExecutor.java
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@ -53,7 +53,7 @@ public class D3F0SelfCheckMessageExecutor implements Executor<D3F0SelfCheckMessa
@Override @Override
public Void execute(D3F0SelfCheckMessage message) { 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()); Device device = deviceService.findByDeviceId(message.getId());
if(device == null) return null; if(device == null) return null;

2
sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/executor/D3F2StopIndicationMessageExecutor.java
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@ -48,7 +48,7 @@ public class D3F2StopIndicationMessageExecutor implements Executor<D3F2StopIndic
@Override @Override
public Void execute(D3F2StopIndicationMessage message) { 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 // 补齐tenantId
String deviceId = message.getId(); String deviceId = message.getId();

2
sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/server/tcp/RtcmTcpHandler.java
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@ -49,7 +49,7 @@ public class RtcmTcpHandler extends SimpleChannelInboundHandler<ByteBuf> {
@Override @Override
public void channelInactive(ChannelHandlerContext ctx) public void channelInactive(ChannelHandlerContext ctx)
throws Exception { throws Exception {
logger.info("channel inactive"); logger.debug("channel inactive");
ctx.close(); ctx.close();
} }

1
sec-beidou-rtcm/src/main/java/com/imdroid/sideslope/service/WarningServiceImpl.java
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@ -286,7 +286,6 @@ public class WarningServiceImpl implements WarningService {
queryWrapper.last("limit 1"); queryWrapper.last("limit 1");
WarningMsg warningMsg = warningMsgMapper.selectOne(queryWrapper); WarningMsg warningMsg = warningMsgMapper.selectOne(queryWrapper);
if(warningMsg!=null){ if(warningMsg!=null){
logger.info("update warningMsg {}",warningMsg.getId());
warningMsg.setCleartime(LocalDateTime.now()); warningMsg.setCleartime(LocalDateTime.now());
warningMsgMapper.updateById(warningMsg); warningMsgMapper.updateById(warningMsg);
} }