diff --git a/casic-server-support/src/main/java/com/casic/missiles/modular/system/model/RobotInfo.java b/casic-server-support/src/main/java/com/casic/missiles/modular/system/model/RobotInfo.java index a37b70b..6bf6da1 100644 --- a/casic-server-support/src/main/java/com/casic/missiles/modular/system/model/RobotInfo.java +++ b/casic-server-support/src/main/java/com/casic/missiles/modular/system/model/RobotInfo.java @@ -81,31 +81,31 @@ * 俯仰角： -40.43 */ @TableField("PITCH_ANGLE") - private Float pitchAngle; + private Double pitchAngle; /** * 横滚角：-15.55 */ @TableField("ROLL_ANGLE") - private Float rollAngle; + private Double rollAngle; /** * 航向角：124.66 */ @TableField("HEADING_ANGLE") - private Float headingAngle; + private Double headingAngle; /** * 浮力值：-4.05 */ @TableField("BUOYANCY") - private Float buoyancy; + private Double buoyancy; /** * 滑块位置：-30.05 */ @TableField("POSITION") - private Float position; + private Double position; /** * 探测状态：无目标 @@ -117,13 +117,13 @@ * 目标距离：1.56km */ @TableField("TARGET_DISTANCE") - private String targetDistance; + private Double targetDistance; /** * 目标方位： 170.85 */ @TableField("TARGET_DIRECTION") - private Float targetDirection; + private Double targetDirection; /** * 目标频率：2000hz diff --git a/casic-server-support/src/main/java/com/casic/missiles/modular/system/model/RobotInfo.java b/casic-server-support/src/main/java/com/casic/missiles/modular/system/model/RobotInfo.java index a37b70b..6bf6da1 100644 --- a/casic-server-support/src/main/java/com/casic/missiles/modular/system/model/RobotInfo.java +++ b/casic-server-support/src/main/java/com/casic/missiles/modular/system/model/RobotInfo.java @@ -81,31 +81,31 @@ * 俯仰角： -40.43 */ @TableField("PITCH_ANGLE") - private Float pitchAngle; + private Double pitchAngle; /** * 横滚角：-15.55 */ @TableField("ROLL_ANGLE") - private Float rollAngle; + private Double rollAngle; /** * 航向角：124.66 */ @TableField("HEADING_ANGLE") - private Float headingAngle; + private Double headingAngle; /** * 浮力值：-4.05 */ @TableField("BUOYANCY") - private Float buoyancy; + private Double buoyancy; /** * 滑块位置：-30.05 */ @TableField("POSITION") - private Float position; + private Double position; /** * 探测状态：无目标 @@ -117,13 +117,13 @@ * 目标距离：1.56km */ @TableField("TARGET_DISTANCE") - private String targetDistance; + private Double targetDistance; /** * 目标方位： 170.85 */ @TableField("TARGET_DIRECTION") - private Float targetDirection; + private Double targetDirection; /** * 目标频率：2000hz diff --git a/casic-shelter/src/main/java/com/casic/missiles/modular/system/controller/ShelterController.java b/casic-shelter/src/main/java/com/casic/missiles/modular/system/controller/ShelterController.java index de6dceb..83cdd7f 100644 --- a/casic-shelter/src/main/java/com/casic/missiles/modular/system/controller/ShelterController.java +++ b/casic-shelter/src/main/java/com/casic/missiles/modular/system/controller/ShelterController.java @@ -5,7 +5,6 @@ import com.casic.missiles.modular.system.dto.RobotInfoDTO; import com.casic.missiles.modular.system.dto.SatelliteSignalDTO; import com.casic.missiles.modular.system.dto.ShelterPositionDTO; -import com.casic.missiles.modular.system.model.RobotInfo; import com.casic.missiles.modular.system.service.IRobotService; import com.casic.missiles.modular.system.service.ISatelliteService; import com.casic.missiles.modular.system.service.IShelterPositionService; @@ -45,7 +44,7 @@ @GetMapping(value = "/robotList") @ResponseBody public Object list() { - List> robotListMap = robotService.robotList(); + List> robotListMap = robotService.robotList(); return ResponseData.success(robotListMap); } diff --git a/casic-server-support/src/main/java/com/casic/missiles/modular/system/model/RobotInfo.java b/casic-server-support/src/main/java/com/casic/missiles/modular/system/model/RobotInfo.java index a37b70b..6bf6da1 100644 --- a/casic-server-support/src/main/java/com/casic/missiles/modular/system/model/RobotInfo.java +++ b/casic-server-support/src/main/java/com/casic/missiles/modular/system/model/RobotInfo.java @@ -81,31 +81,31 @@ * 俯仰角： -40.43 */ @TableField("PITCH_ANGLE") - private Float pitchAngle; + private Double pitchAngle; /** * 横滚角：-15.55 */ @TableField("ROLL_ANGLE") - private Float rollAngle; + private Double rollAngle; /** * 航向角：124.66 */ @TableField("HEADING_ANGLE") - private Float headingAngle; + private Double headingAngle; /** * 浮力值：-4.05 */ @TableField("BUOYANCY") - private Float buoyancy; + private Double buoyancy; /** * 滑块位置：-30.05 */ @TableField("POSITION") - private Float position; + private Double position; /** * 探测状态：无目标 @@ -117,13 +117,13 @@ * 目标距离：1.56km */ @TableField("TARGET_DISTANCE") - private String targetDistance; + private Double targetDistance; /** * 目标方位： 170.85 */ @TableField("TARGET_DIRECTION") - private Float targetDirection; + private Double targetDirection; /** * 目标频率：2000hz diff --git a/casic-shelter/src/main/java/com/casic/missiles/modular/system/controller/ShelterController.java b/casic-shelter/src/main/java/com/casic/missiles/modular/system/controller/ShelterController.java index de6dceb..83cdd7f 100644 --- a/casic-shelter/src/main/java/com/casic/missiles/modular/system/controller/ShelterController.java +++ b/casic-shelter/src/main/java/com/casic/missiles/modular/system/controller/ShelterController.java @@ -5,7 +5,6 @@ import com.casic.missiles.modular.system.dto.RobotInfoDTO; import com.casic.missiles.modular.system.dto.SatelliteSignalDTO; import com.casic.missiles.modular.system.dto.ShelterPositionDTO; -import com.casic.missiles.modular.system.model.RobotInfo; import com.casic.missiles.modular.system.service.IRobotService; import com.casic.missiles.modular.system.service.ISatelliteService; import com.casic.missiles.modular.system.service.IShelterPositionService; @@ -45,7 +44,7 @@ @GetMapping(value = "/robotList") @ResponseBody public Object list() { - List> robotListMap = robotService.robotList(); + List> robotListMap = robotService.robotList(); return ResponseData.success(robotListMap); } diff --git a/casic-shelter/src/main/java/com/casic/missiles/modular/system/dto/RobotInfoDTO.java b/casic-shelter/src/main/java/com/casic/missiles/modular/system/dto/RobotInfoDTO.java index 8fa7f2c..bcb5b29 100644 --- a/casic-shelter/src/main/java/com/casic/missiles/modular/system/dto/RobotInfoDTO.java +++ b/casic-shelter/src/main/java/com/casic/missiles/modular/system/dto/RobotInfoDTO.java @@ -56,27 +56,27 @@ /** * 俯仰角： -40.43 */ - private Float pitchAngle; + private Double pitchAngle; /** * 横滚角：-15.55 */ - private Float rollAngle; + private Double rollAngle; /** * 航向角：124.66 */ - private Float headingAngle; + private Double headingAngle; /** * 浮力值：-4.05 */ - private Float buoyancy; + private Double buoyancy; /** * 滑块位置：-30.05 */ - private Float position; + private Double position; /** * 探测状态：无目标 @@ -86,12 +86,12 @@ /** * 目标距离：1.56km */ - private String targetDistance; + private Double targetDistance; /** * 目标方位： 170.85 */ - private Float targetDirection; + private Double targetDirection; /** * 目标频率：2000hz diff --git a/casic-server-support/src/main/java/com/casic/missiles/modular/system/model/RobotInfo.java b/casic-server-support/src/main/java/com/casic/missiles/modular/system/model/RobotInfo.java index a37b70b..6bf6da1 100644 --- a/casic-server-support/src/main/java/com/casic/missiles/modular/system/model/RobotInfo.java +++ b/casic-server-support/src/main/java/com/casic/missiles/modular/system/model/RobotInfo.java @@ -81,31 +81,31 @@ * 俯仰角： -40.43 */ @TableField("PITCH_ANGLE") - private Float pitchAngle; + private Double pitchAngle; /** * 横滚角：-15.55 */ @TableField("ROLL_ANGLE") - private Float rollAngle; + private Double rollAngle; /** * 航向角：124.66 */ @TableField("HEADING_ANGLE") - private Float headingAngle; + private Double headingAngle; /** * 浮力值：-4.05 */ @TableField("BUOYANCY") - private Float buoyancy; + private Double buoyancy; /** * 滑块位置：-30.05 */ @TableField("POSITION") - private Float position; + private Double position; /** * 探测状态：无目标 @@ -117,13 +117,13 @@ * 目标距离：1.56km */ @TableField("TARGET_DISTANCE") - private String targetDistance; + private Double targetDistance; /** * 目标方位： 170.85 */ @TableField("TARGET_DIRECTION") - private Float targetDirection; + private Double targetDirection; /** * 目标频率：2000hz diff --git a/casic-shelter/src/main/java/com/casic/missiles/modular/system/controller/ShelterController.java b/casic-shelter/src/main/java/com/casic/missiles/modular/system/controller/ShelterController.java index de6dceb..83cdd7f 100644 --- a/casic-shelter/src/main/java/com/casic/missiles/modular/system/controller/ShelterController.java +++ b/casic-shelter/src/main/java/com/casic/missiles/modular/system/controller/ShelterController.java @@ -5,7 +5,6 @@ import com.casic.missiles.modular.system.dto.RobotInfoDTO; import com.casic.missiles.modular.system.dto.SatelliteSignalDTO; import com.casic.missiles.modular.system.dto.ShelterPositionDTO; -import com.casic.missiles.modular.system.model.RobotInfo; import com.casic.missiles.modular.system.service.IRobotService; import com.casic.missiles.modular.system.service.ISatelliteService; import com.casic.missiles.modular.system.service.IShelterPositionService; @@ -45,7 +44,7 @@ @GetMapping(value = "/robotList") @ResponseBody public Object list() { - List> robotListMap = robotService.robotList(); + List> robotListMap = robotService.robotList(); return ResponseData.success(robotListMap); } diff --git a/casic-shelter/src/main/java/com/casic/missiles/modular/system/dto/RobotInfoDTO.java b/casic-shelter/src/main/java/com/casic/missiles/modular/system/dto/RobotInfoDTO.java index 8fa7f2c..bcb5b29 100644 --- a/casic-shelter/src/main/java/com/casic/missiles/modular/system/dto/RobotInfoDTO.java +++ b/casic-shelter/src/main/java/com/casic/missiles/modular/system/dto/RobotInfoDTO.java @@ -56,27 +56,27 @@ /** * 俯仰角： -40.43 */ - private Float pitchAngle; + private Double pitchAngle; /** * 横滚角：-15.55 */ - private Float rollAngle; + private Double rollAngle; /** * 航向角：124.66 */ - private Float headingAngle; + private Double headingAngle; /** * 浮力值：-4.05 */ - private Float buoyancy; + private Double buoyancy; /** * 滑块位置：-30.05 */ - private Float position; + private Double position; /** * 探测状态：无目标 @@ -86,12 +86,12 @@ /** * 目标距离：1.56km */ - private String targetDistance; + private Double targetDistance; /** * 目标方位： 170.85 */ - private Float targetDirection; + private Double targetDirection; /** * 目标频率：2000hz diff --git a/casic-shelter/src/main/java/com/casic/missiles/modular/system/service/IRobotService.java b/casic-shelter/src/main/java/com/casic/missiles/modular/system/service/IRobotService.java index ee00285..3d023e8 100644 --- a/casic-shelter/src/main/java/com/casic/missiles/modular/system/service/IRobotService.java +++ b/casic-shelter/src/main/java/com/casic/missiles/modular/system/service/IRobotService.java @@ -23,7 +23,7 @@ * * @return {@link List} */ - List> robotList(); + List> robotList(); /** * 查询机器人详情 diff --git a/casic-server-support/src/main/java/com/casic/missiles/modular/system/model/RobotInfo.java b/casic-server-support/src/main/java/com/casic/missiles/modular/system/model/RobotInfo.java index a37b70b..6bf6da1 100644 --- a/casic-server-support/src/main/java/com/casic/missiles/modular/system/model/RobotInfo.java +++ b/casic-server-support/src/main/java/com/casic/missiles/modular/system/model/RobotInfo.java @@ -81,31 +81,31 @@ * 俯仰角： -40.43 */ @TableField("PITCH_ANGLE") - private Float pitchAngle; + private Double pitchAngle; /** * 横滚角：-15.55 */ @TableField("ROLL_ANGLE") - private Float rollAngle; + private Double rollAngle; /** * 航向角：124.66 */ @TableField("HEADING_ANGLE") - private Float headingAngle; + private Double headingAngle; /** * 浮力值：-4.05 */ @TableField("BUOYANCY") - private Float buoyancy; + private Double buoyancy; /** * 滑块位置：-30.05 */ @TableField("POSITION") - private Float position; + private Double position; /** * 探测状态：无目标 @@ -117,13 +117,13 @@ * 目标距离：1.56km */ @TableField("TARGET_DISTANCE") - private String targetDistance; + private Double targetDistance; /** * 目标方位： 170.85 */ @TableField("TARGET_DIRECTION") - private Float targetDirection; + private Double targetDirection; /** * 目标频率：2000hz diff --git a/casic-shelter/src/main/java/com/casic/missiles/modular/system/controller/ShelterController.java b/casic-shelter/src/main/java/com/casic/missiles/modular/system/controller/ShelterController.java index de6dceb..83cdd7f 100644 --- a/casic-shelter/src/main/java/com/casic/missiles/modular/system/controller/ShelterController.java +++ b/casic-shelter/src/main/java/com/casic/missiles/modular/system/controller/ShelterController.java @@ -5,7 +5,6 @@ import com.casic.missiles.modular.system.dto.RobotInfoDTO; import com.casic.missiles.modular.system.dto.SatelliteSignalDTO; import com.casic.missiles.modular.system.dto.ShelterPositionDTO; -import com.casic.missiles.modular.system.model.RobotInfo; import com.casic.missiles.modular.system.service.IRobotService; import com.casic.missiles.modular.system.service.ISatelliteService; import com.casic.missiles.modular.system.service.IShelterPositionService; @@ -45,7 +44,7 @@ @GetMapping(value = "/robotList") @ResponseBody public Object list() { - List> robotListMap = robotService.robotList(); + List> robotListMap = robotService.robotList(); return ResponseData.success(robotListMap); } diff --git a/casic-shelter/src/main/java/com/casic/missiles/modular/system/dto/RobotInfoDTO.java b/casic-shelter/src/main/java/com/casic/missiles/modular/system/dto/RobotInfoDTO.java index 8fa7f2c..bcb5b29 100644 --- a/casic-shelter/src/main/java/com/casic/missiles/modular/system/dto/RobotInfoDTO.java +++ b/casic-shelter/src/main/java/com/casic/missiles/modular/system/dto/RobotInfoDTO.java @@ -56,27 +56,27 @@ /** * 俯仰角： -40.43 */ - private Float pitchAngle; + private Double pitchAngle; /** * 横滚角：-15.55 */ - private Float rollAngle; + private Double rollAngle; /** * 航向角：124.66 */ - private Float headingAngle; + private Double headingAngle; /** * 浮力值：-4.05 */ - private Float buoyancy; + private Double buoyancy; /** * 滑块位置：-30.05 */ - private Float position; + private Double position; /** * 探测状态：无目标 @@ -86,12 +86,12 @@ /** * 目标距离：1.56km */ - private String targetDistance; + private Double targetDistance; /** * 目标方位： 170.85 */ - private Float targetDirection; + private Double targetDirection; /** * 目标频率：2000hz diff --git a/casic-shelter/src/main/java/com/casic/missiles/modular/system/service/IRobotService.java b/casic-shelter/src/main/java/com/casic/missiles/modular/system/service/IRobotService.java index ee00285..3d023e8 100644 --- a/casic-shelter/src/main/java/com/casic/missiles/modular/system/service/IRobotService.java +++ b/casic-shelter/src/main/java/com/casic/missiles/modular/system/service/IRobotService.java @@ -23,7 +23,7 @@ * * @return {@link List} */ - List> robotList(); + List> robotList(); /** * 查询机器人详情 diff --git a/casic-shelter/src/main/java/com/casic/missiles/modular/system/service/impl/RobotServiceImpl.java b/casic-shelter/src/main/java/com/casic/missiles/modular/system/service/impl/RobotServiceImpl.java index 3dcab19..7dca94c 100644 --- a/casic-shelter/src/main/java/com/casic/missiles/modular/system/service/impl/RobotServiceImpl.java +++ b/casic-shelter/src/main/java/com/casic/missiles/modular/system/service/impl/RobotServiceImpl.java @@ -39,19 +39,19 @@ * @return {@link List} */ @Override - public List> robotList() { - List> maps = new ArrayList<>(); + public List> robotList() { + List> maps = new ArrayList<>(); for (Integer robotId : selectRobotIds()) { RobotInfoDTO robotDetail = robotDetail(String.valueOf(robotId)); - Map robotMap = new HashMap<>(7); - robotMap.put("robotId", String.valueOf(robotId)); + Map robotMap = new HashMap<>(7); + robotMap.put("robotId", robotId); robotMap.put("modelType", robotDetail.getModelType()); - robotMap.put("lng", String.valueOf(robotDetail.getLng())); - robotMap.put("lat", String.valueOf(robotDetail.getLat())); + robotMap.put("lng", robotDetail.getLng()); + robotMap.put("lat", robotDetail.getLat()); robotMap.put("navigateState", robotDetail.getNavigateState()); - robotMap.put("instrumentE", String.valueOf(robotDetail.getInstrumentE())); - robotMap.put("powerE", String.valueOf(robotDetail.getPowerE())); + robotMap.put("instrumentE", robotDetail.getInstrumentE()); + robotMap.put("powerE", robotDetail.getPowerE()); robotMap.put("targetDistance", robotDetail.getTargetDistance()); maps.add(robotMap); diff --git a/casic-server-support/src/main/java/com/casic/missiles/modular/system/model/RobotInfo.java b/casic-server-support/src/main/java/com/casic/missiles/modular/system/model/RobotInfo.java index a37b70b..6bf6da1 100644 --- a/casic-server-support/src/main/java/com/casic/missiles/modular/system/model/RobotInfo.java +++ b/casic-server-support/src/main/java/com/casic/missiles/modular/system/model/RobotInfo.java @@ -81,31 +81,31 @@ * 俯仰角： -40.43 */ @TableField("PITCH_ANGLE") - private Float pitchAngle; + private Double pitchAngle; /** * 横滚角：-15.55 */ @TableField("ROLL_ANGLE") - private Float rollAngle; + private Double rollAngle; /** * 航向角：124.66 */ @TableField("HEADING_ANGLE") - private Float headingAngle; + private Double headingAngle; /** * 浮力值：-4.05 */ @TableField("BUOYANCY") - private Float buoyancy; + private Double buoyancy; /** * 滑块位置：-30.05 */ @TableField("POSITION") - private Float position; + private Double position; /** * 探测状态：无目标 @@ -117,13 +117,13 @@ * 目标距离：1.56km */ @TableField("TARGET_DISTANCE") - private String targetDistance; + private Double targetDistance; /** * 目标方位： 170.85 */ @TableField("TARGET_DIRECTION") - private Float targetDirection; + private Double targetDirection; /** * 目标频率：2000hz diff --git a/casic-shelter/src/main/java/com/casic/missiles/modular/system/controller/ShelterController.java b/casic-shelter/src/main/java/com/casic/missiles/modular/system/controller/ShelterController.java index de6dceb..83cdd7f 100644 --- a/casic-shelter/src/main/java/com/casic/missiles/modular/system/controller/ShelterController.java +++ b/casic-shelter/src/main/java/com/casic/missiles/modular/system/controller/ShelterController.java @@ -5,7 +5,6 @@ import com.casic.missiles.modular.system.dto.RobotInfoDTO; import com.casic.missiles.modular.system.dto.SatelliteSignalDTO; import com.casic.missiles.modular.system.dto.ShelterPositionDTO; -import com.casic.missiles.modular.system.model.RobotInfo; import com.casic.missiles.modular.system.service.IRobotService; import com.casic.missiles.modular.system.service.ISatelliteService; import com.casic.missiles.modular.system.service.IShelterPositionService; @@ -45,7 +44,7 @@ @GetMapping(value = "/robotList") @ResponseBody public Object list() { - List> robotListMap = robotService.robotList(); + List> robotListMap = robotService.robotList(); return ResponseData.success(robotListMap); } diff --git a/casic-shelter/src/main/java/com/casic/missiles/modular/system/dto/RobotInfoDTO.java b/casic-shelter/src/main/java/com/casic/missiles/modular/system/dto/RobotInfoDTO.java index 8fa7f2c..bcb5b29 100644 --- a/casic-shelter/src/main/java/com/casic/missiles/modular/system/dto/RobotInfoDTO.java +++ b/casic-shelter/src/main/java/com/casic/missiles/modular/system/dto/RobotInfoDTO.java @@ -56,27 +56,27 @@ /** * 俯仰角： -40.43 */ - private Float pitchAngle; + private Double pitchAngle; /** * 横滚角：-15.55 */ - private Float rollAngle; + private Double rollAngle; /** * 航向角：124.66 */ - private Float headingAngle; + private Double headingAngle; /** * 浮力值：-4.05 */ - private Float buoyancy; + private Double buoyancy; /** * 滑块位置：-30.05 */ - private Float position; + private Double position; /** * 探测状态：无目标 @@ -86,12 +86,12 @@ /** * 目标距离：1.56km */ - private String targetDistance; + private Double targetDistance; /** * 目标方位： 170.85 */ - private Float targetDirection; + private Double targetDirection; /** * 目标频率：2000hz diff --git a/casic-shelter/src/main/java/com/casic/missiles/modular/system/service/IRobotService.java b/casic-shelter/src/main/java/com/casic/missiles/modular/system/service/IRobotService.java index ee00285..3d023e8 100644 --- a/casic-shelter/src/main/java/com/casic/missiles/modular/system/service/IRobotService.java +++ b/casic-shelter/src/main/java/com/casic/missiles/modular/system/service/IRobotService.java @@ -23,7 +23,7 @@ * * @return {@link List} */ - List> robotList(); + List> robotList(); /** * 查询机器人详情 diff --git a/casic-shelter/src/main/java/com/casic/missiles/modular/system/service/impl/RobotServiceImpl.java b/casic-shelter/src/main/java/com/casic/missiles/modular/system/service/impl/RobotServiceImpl.java index 3dcab19..7dca94c 100644 --- a/casic-shelter/src/main/java/com/casic/missiles/modular/system/service/impl/RobotServiceImpl.java +++ b/casic-shelter/src/main/java/com/casic/missiles/modular/system/service/impl/RobotServiceImpl.java @@ -39,19 +39,19 @@ * @return {@link List} */ @Override - public List> robotList() { - List> maps = new ArrayList<>(); + public List> robotList() { + List> maps = new ArrayList<>(); for (Integer robotId : selectRobotIds()) { RobotInfoDTO robotDetail = robotDetail(String.valueOf(robotId)); - Map robotMap = new HashMap<>(7); - robotMap.put("robotId", String.valueOf(robotId)); + Map robotMap = new HashMap<>(7); + robotMap.put("robotId", robotId); robotMap.put("modelType", robotDetail.getModelType()); - robotMap.put("lng", String.valueOf(robotDetail.getLng())); - robotMap.put("lat", String.valueOf(robotDetail.getLat())); + robotMap.put("lng", robotDetail.getLng()); + robotMap.put("lat", robotDetail.getLat()); robotMap.put("navigateState", robotDetail.getNavigateState()); - robotMap.put("instrumentE", String.valueOf(robotDetail.getInstrumentE())); - robotMap.put("powerE", String.valueOf(robotDetail.getPowerE())); + robotMap.put("instrumentE", robotDetail.getInstrumentE()); + robotMap.put("powerE", robotDetail.getPowerE()); robotMap.put("targetDistance", robotDetail.getTargetDistance()); maps.add(robotMap); diff --git a/casic-shelter/src/main/java/com/casic/missiles/modular/system/utils/DecodeData.java b/casic-shelter/src/main/java/com/casic/missiles/modular/system/utils/DecodeData.java index 9c27d7e..3a8e261 100644 --- a/casic-shelter/src/main/java/com/casic/missiles/modular/system/utils/DecodeData.java +++ b/casic-shelter/src/main/java/com/casic/missiles/modular/system/utils/DecodeData.java @@ -118,12 +118,8 @@ System.arraycopy(bytes, 5 + 1 + idsBytes.length + targetBytes.length + 1, radiusBytes, 0, 2); regionMap.put("regionRadius", covertTargetDistance(radiusBytes)); - int aByte = bytes[5 + 1 + idsBytes.length + targetBytes.length + 1 + radiusBytes.length]; - if (aByte == 0) { - regionMap.put("contour", "轮廓标志位:多边形，" + count + "个轮廓点"); - } else { - regionMap.put("contour", "轮廓标志位:圆形，" + count + "个轮廓点"); - } + int contour = bytes[5 + 1 + idsBytes.length + targetBytes.length + 1 + radiusBytes.length]; + regionMap.put("contour", contour); //经度(4)、纬度(4) int regionSize = count * (4 + 4); @@ -176,14 +172,14 @@ * 定向任务 */ public static String decodeDirectedTask(byte[] bytes) { - Map taskMap = new HashMap<>(2); + Map taskMap = new HashMap<>(2); byte[] depthBytes = new byte[2]; System.arraycopy(bytes, 4, depthBytes, 0, 2); - taskMap.put("taskDepth", covertDepth(depthBytes) + "m"); + taskMap.put("taskDepth", covertDepth(depthBytes)); byte[] angleBytes = new byte[2]; System.arraycopy(bytes, 6, angleBytes, 0, 2); - taskMap.put("headingAngle", covertHeadingAngle(angleBytes) + "°"); + taskMap.put("headingAngle", covertHeadingAngle(angleBytes)); return JSON.toJSONString(taskMap); } @@ -195,10 +191,10 @@ byte[] depthBytes = new byte[2]; System.arraycopy(bytes, 4, depthBytes, 0, 2); - taskMap.put("taskDepth", covertDepth(depthBytes) + "m"); + taskMap.put("taskDepth", covertDepth(depthBytes)); int count = bytes[6]; - taskMap.put("routeCount", String.valueOf(count)); + taskMap.put("routeCount", count); //经度(4)、纬度(4) int routeSize = count * (4 + 4); @@ -212,18 +208,18 @@ * 定深直航任务 */ public static String decodeDirectFlightTask(byte[] bytes) { - Map taskMap = new HashMap<>(3); + Map taskMap = new HashMap<>(3); byte[] depthBytes = new byte[2]; System.arraycopy(bytes, 4, depthBytes, 0, 2); - taskMap.put("taskDepth", covertDepth(depthBytes) + "m"); + taskMap.put("taskDepth", covertDepth(depthBytes)); byte[] angleBytes = new byte[2]; System.arraycopy(bytes, 6, angleBytes, 0, 2); - taskMap.put("headingAngle", covertHeadingAngle(angleBytes) + "°"); + taskMap.put("headingAngle", covertHeadingAngle(angleBytes)); byte[] timesBytes = new byte[2]; System.arraycopy(bytes, 8, timesBytes, 0, 2); - taskMap.put("time", covertToDec(timesBytes) + "s"); + taskMap.put("time", covertToDec(timesBytes)); return JSON.toJSONString(taskMap); } @@ -231,22 +227,22 @@ * 驻留任务 */ public static String decodeResideTask(byte[] bytes) { - Map taskMap = new HashMap<>(4); + Map taskMap = new HashMap<>(4); byte[] lngBytes = new byte[4]; System.arraycopy(bytes, 4, lngBytes, 0, 4); - taskMap.put("lng", String.valueOf(covertLngLat(lngBytes))); + taskMap.put("lng", covertLngLat(lngBytes)); byte[] latBytes = new byte[4]; System.arraycopy(bytes, 8, latBytes, 0, 4); - taskMap.put("lat", String.valueOf(covertLngLat(latBytes))); + taskMap.put("lat", covertLngLat(latBytes)); byte[] angleBytes = new byte[2]; System.arraycopy(bytes, 12, angleBytes, 0, 2); - taskMap.put("depth", covertDepth(angleBytes) + "m"); + taskMap.put("depth", covertDepth(angleBytes)); byte[] timesBytes = new byte[2]; System.arraycopy(bytes, 14, timesBytes, 0, 2); - taskMap.put("time", covertToDec(timesBytes) + "min"); + taskMap.put("time", covertToDec(timesBytes)); return JSON.toJSONString(taskMap); } @@ -254,17 +250,17 @@ * 投放任务 */ public static String decodePutTask(byte[] bytes) { - Map taskMap = new HashMap<>(4); + Map taskMap = new HashMap<>(4); byte[] lngBytes = new byte[4]; System.arraycopy(bytes, 4, lngBytes, 0, 4); - taskMap.put("lng", String.valueOf(covertLngLat(lngBytes))); + taskMap.put("lng", covertLngLat(lngBytes)); byte[] latBytes = new byte[4]; System.arraycopy(bytes, 8, latBytes, 0, 4); - taskMap.put("lat", String.valueOf(covertLngLat(latBytes))); + taskMap.put("lat", covertLngLat(latBytes)); int count = bytes[12]; - taskMap.put("count", String.valueOf(count)); + taskMap.put("count", count); byte[] idsBytes = new byte[count]; System.arraycopy(bytes, 13, idsBytes, 0, count); @@ -447,46 +443,46 @@ /** * 目标距离转换算法 */ - private static String covertTargetDistance(byte[] bytes) { + private static double covertTargetDistance(byte[] bytes) { float a = ((bytes[0] & 0xFF) << 8) + (bytes[1] & 0xFF); - return (float) (a * 0.01) + "km"; + return a * 0.01; } /** * 横滚角转换算法 */ - private static float covertBuoyancy(byte[] bytes) { + private static double covertBuoyancy(byte[] bytes) { float a = ((bytes[0] & 0xFF) << 8) + (bytes[1] & 0xFF); - return (float) (a * 0.01 - 100); + return a * 0.01 - 100; } /** * 横滚角转换算法 */ - private static float covertHeadingAngle(byte[] bytes) { + private static double covertHeadingAngle(byte[] bytes) { float a = ((bytes[0] & 0xFF) << 8) + (bytes[1] & 0xFF); - return (float) (a * 0.01); + return a * 0.01; } /** * 横滚角转换算法 */ - private static float covertRollAngle(byte[] bytes) { + private static double covertRollAngle(byte[] bytes) { float a = ((bytes[0] & 0xFF) << 8) + (bytes[1] & 0xFF); - return (float) (a * 0.01 - 180); + return a * 0.01 - 180; } /** * 俯仰角转换算法 */ - private static float covertPitchAngle(byte[] bytes) { + private static double covertPitchAngle(byte[] bytes) { float a = ((bytes[0] & 0xFF) << 8) + (bytes[1] & 0xFF); - return (float) (a * 0.01 - 90); + return a * 0.01 - 90; } /** diff --git a/casic-server-support/src/main/java/com/casic/missiles/modular/system/model/RobotInfo.java b/casic-server-support/src/main/java/com/casic/missiles/modular/system/model/RobotInfo.java index a37b70b..6bf6da1 100644 --- a/casic-server-support/src/main/java/com/casic/missiles/modular/system/model/RobotInfo.java +++ b/casic-server-support/src/main/java/com/casic/missiles/modular/system/model/RobotInfo.java @@ -81,31 +81,31 @@ * 俯仰角： -40.43 */ @TableField("PITCH_ANGLE") - private Float pitchAngle; + private Double pitchAngle; /** * 横滚角：-15.55 */ @TableField("ROLL_ANGLE") - private Float rollAngle; + private Double rollAngle; /** * 航向角：124.66 */ @TableField("HEADING_ANGLE") - private Float headingAngle; + private Double headingAngle; /** * 浮力值：-4.05 */ @TableField("BUOYANCY") - private Float buoyancy; + private Double buoyancy; /** * 滑块位置：-30.05 */ @TableField("POSITION") - private Float position; + private Double position; /** * 探测状态：无目标 @@ -117,13 +117,13 @@ * 目标距离：1.56km */ @TableField("TARGET_DISTANCE") - private String targetDistance; + private Double targetDistance; /** * 目标方位： 170.85 */ @TableField("TARGET_DIRECTION") - private Float targetDirection; + private Double targetDirection; /** * 目标频率：2000hz diff --git a/casic-shelter/src/main/java/com/casic/missiles/modular/system/controller/ShelterController.java b/casic-shelter/src/main/java/com/casic/missiles/modular/system/controller/ShelterController.java index de6dceb..83cdd7f 100644 --- a/casic-shelter/src/main/java/com/casic/missiles/modular/system/controller/ShelterController.java +++ b/casic-shelter/src/main/java/com/casic/missiles/modular/system/controller/ShelterController.java @@ -5,7 +5,6 @@ import com.casic.missiles.modular.system.dto.RobotInfoDTO; import com.casic.missiles.modular.system.dto.SatelliteSignalDTO; import com.casic.missiles.modular.system.dto.ShelterPositionDTO; -import com.casic.missiles.modular.system.model.RobotInfo; import com.casic.missiles.modular.system.service.IRobotService; import com.casic.missiles.modular.system.service.ISatelliteService; import com.casic.missiles.modular.system.service.IShelterPositionService; @@ -45,7 +44,7 @@ @GetMapping(value = "/robotList") @ResponseBody public Object list() { - List> robotListMap = robotService.robotList(); + List> robotListMap = robotService.robotList(); return ResponseData.success(robotListMap); } diff --git a/casic-shelter/src/main/java/com/casic/missiles/modular/system/dto/RobotInfoDTO.java b/casic-shelter/src/main/java/com/casic/missiles/modular/system/dto/RobotInfoDTO.java index 8fa7f2c..bcb5b29 100644 --- a/casic-shelter/src/main/java/com/casic/missiles/modular/system/dto/RobotInfoDTO.java +++ b/casic-shelter/src/main/java/com/casic/missiles/modular/system/dto/RobotInfoDTO.java @@ -56,27 +56,27 @@ /** * 俯仰角： -40.43 */ - private Float pitchAngle; + private Double pitchAngle; /** * 横滚角：-15.55 */ - private Float rollAngle; + private Double rollAngle; /** * 航向角：124.66 */ - private Float headingAngle; + private Double headingAngle; /** * 浮力值：-4.05 */ - private Float buoyancy; + private Double buoyancy; /** * 滑块位置：-30.05 */ - private Float position; + private Double position; /** * 探测状态：无目标 @@ -86,12 +86,12 @@ /** * 目标距离：1.56km */ - private String targetDistance; + private Double targetDistance; /** * 目标方位： 170.85 */ - private Float targetDirection; + private Double targetDirection; /** * 目标频率：2000hz diff --git a/casic-shelter/src/main/java/com/casic/missiles/modular/system/service/IRobotService.java b/casic-shelter/src/main/java/com/casic/missiles/modular/system/service/IRobotService.java index ee00285..3d023e8 100644 --- a/casic-shelter/src/main/java/com/casic/missiles/modular/system/service/IRobotService.java +++ b/casic-shelter/src/main/java/com/casic/missiles/modular/system/service/IRobotService.java @@ -23,7 +23,7 @@ * * @return {@link List} */ - List> robotList(); + List> robotList(); /** * 查询机器人详情 diff --git a/casic-shelter/src/main/java/com/casic/missiles/modular/system/service/impl/RobotServiceImpl.java b/casic-shelter/src/main/java/com/casic/missiles/modular/system/service/impl/RobotServiceImpl.java index 3dcab19..7dca94c 100644 --- a/casic-shelter/src/main/java/com/casic/missiles/modular/system/service/impl/RobotServiceImpl.java +++ b/casic-shelter/src/main/java/com/casic/missiles/modular/system/service/impl/RobotServiceImpl.java @@ -39,19 +39,19 @@ * @return {@link List} */ @Override - public List> robotList() { - List> maps = new ArrayList<>(); + public List> robotList() { + List> maps = new ArrayList<>(); for (Integer robotId : selectRobotIds()) { RobotInfoDTO robotDetail = robotDetail(String.valueOf(robotId)); - Map robotMap = new HashMap<>(7); - robotMap.put("robotId", String.valueOf(robotId)); + Map robotMap = new HashMap<>(7); + robotMap.put("robotId", robotId); robotMap.put("modelType", robotDetail.getModelType()); - robotMap.put("lng", String.valueOf(robotDetail.getLng())); - robotMap.put("lat", String.valueOf(robotDetail.getLat())); + robotMap.put("lng", robotDetail.getLng()); + robotMap.put("lat", robotDetail.getLat()); robotMap.put("navigateState", robotDetail.getNavigateState()); - robotMap.put("instrumentE", String.valueOf(robotDetail.getInstrumentE())); - robotMap.put("powerE", String.valueOf(robotDetail.getPowerE())); + robotMap.put("instrumentE", robotDetail.getInstrumentE()); + robotMap.put("powerE", robotDetail.getPowerE()); robotMap.put("targetDistance", robotDetail.getTargetDistance()); maps.add(robotMap); diff --git a/casic-shelter/src/main/java/com/casic/missiles/modular/system/utils/DecodeData.java b/casic-shelter/src/main/java/com/casic/missiles/modular/system/utils/DecodeData.java index 9c27d7e..3a8e261 100644 --- a/casic-shelter/src/main/java/com/casic/missiles/modular/system/utils/DecodeData.java +++ b/casic-shelter/src/main/java/com/casic/missiles/modular/system/utils/DecodeData.java @@ -118,12 +118,8 @@ System.arraycopy(bytes, 5 + 1 + idsBytes.length + targetBytes.length + 1, radiusBytes, 0, 2); regionMap.put("regionRadius", covertTargetDistance(radiusBytes)); - int aByte = bytes[5 + 1 + idsBytes.length + targetBytes.length + 1 + radiusBytes.length]; - if (aByte == 0) { - regionMap.put("contour", "轮廓标志位:多边形，" + count + "个轮廓点"); - } else { - regionMap.put("contour", "轮廓标志位:圆形，" + count + "个轮廓点"); - } + int contour = bytes[5 + 1 + idsBytes.length + targetBytes.length + 1 + radiusBytes.length]; + regionMap.put("contour", contour); //经度(4)、纬度(4) int regionSize = count * (4 + 4); @@ -176,14 +172,14 @@ * 定向任务 */ public static String decodeDirectedTask(byte[] bytes) { - Map taskMap = new HashMap<>(2); + Map taskMap = new HashMap<>(2); byte[] depthBytes = new byte[2]; System.arraycopy(bytes, 4, depthBytes, 0, 2); - taskMap.put("taskDepth", covertDepth(depthBytes) + "m"); + taskMap.put("taskDepth", covertDepth(depthBytes)); byte[] angleBytes = new byte[2]; System.arraycopy(bytes, 6, angleBytes, 0, 2); - taskMap.put("headingAngle", covertHeadingAngle(angleBytes) + "°"); + taskMap.put("headingAngle", covertHeadingAngle(angleBytes)); return JSON.toJSONString(taskMap); } @@ -195,10 +191,10 @@ byte[] depthBytes = new byte[2]; System.arraycopy(bytes, 4, depthBytes, 0, 2); - taskMap.put("taskDepth", covertDepth(depthBytes) + "m"); + taskMap.put("taskDepth", covertDepth(depthBytes)); int count = bytes[6]; - taskMap.put("routeCount", String.valueOf(count)); + taskMap.put("routeCount", count); //经度(4)、纬度(4) int routeSize = count * (4 + 4); @@ -212,18 +208,18 @@ * 定深直航任务 */ public static String decodeDirectFlightTask(byte[] bytes) { - Map taskMap = new HashMap<>(3); + Map taskMap = new HashMap<>(3); byte[] depthBytes = new byte[2]; System.arraycopy(bytes, 4, depthBytes, 0, 2); - taskMap.put("taskDepth", covertDepth(depthBytes) + "m"); + taskMap.put("taskDepth", covertDepth(depthBytes)); byte[] angleBytes = new byte[2]; System.arraycopy(bytes, 6, angleBytes, 0, 2); - taskMap.put("headingAngle", covertHeadingAngle(angleBytes) + "°"); + taskMap.put("headingAngle", covertHeadingAngle(angleBytes)); byte[] timesBytes = new byte[2]; System.arraycopy(bytes, 8, timesBytes, 0, 2); - taskMap.put("time", covertToDec(timesBytes) + "s"); + taskMap.put("time", covertToDec(timesBytes)); return JSON.toJSONString(taskMap); } @@ -231,22 +227,22 @@ * 驻留任务 */ public static String decodeResideTask(byte[] bytes) { - Map taskMap = new HashMap<>(4); + Map taskMap = new HashMap<>(4); byte[] lngBytes = new byte[4]; System.arraycopy(bytes, 4, lngBytes, 0, 4); - taskMap.put("lng", String.valueOf(covertLngLat(lngBytes))); + taskMap.put("lng", covertLngLat(lngBytes)); byte[] latBytes = new byte[4]; System.arraycopy(bytes, 8, latBytes, 0, 4); - taskMap.put("lat", String.valueOf(covertLngLat(latBytes))); + taskMap.put("lat", covertLngLat(latBytes)); byte[] angleBytes = new byte[2]; System.arraycopy(bytes, 12, angleBytes, 0, 2); - taskMap.put("depth", covertDepth(angleBytes) + "m"); + taskMap.put("depth", covertDepth(angleBytes)); byte[] timesBytes = new byte[2]; System.arraycopy(bytes, 14, timesBytes, 0, 2); - taskMap.put("time", covertToDec(timesBytes) + "min"); + taskMap.put("time", covertToDec(timesBytes)); return JSON.toJSONString(taskMap); } @@ -254,17 +250,17 @@ * 投放任务 */ public static String decodePutTask(byte[] bytes) { - Map taskMap = new HashMap<>(4); + Map taskMap = new HashMap<>(4); byte[] lngBytes = new byte[4]; System.arraycopy(bytes, 4, lngBytes, 0, 4); - taskMap.put("lng", String.valueOf(covertLngLat(lngBytes))); + taskMap.put("lng", covertLngLat(lngBytes)); byte[] latBytes = new byte[4]; System.arraycopy(bytes, 8, latBytes, 0, 4); - taskMap.put("lat", String.valueOf(covertLngLat(latBytes))); + taskMap.put("lat", covertLngLat(latBytes)); int count = bytes[12]; - taskMap.put("count", String.valueOf(count)); + taskMap.put("count", count); byte[] idsBytes = new byte[count]; System.arraycopy(bytes, 13, idsBytes, 0, count); @@ -447,46 +443,46 @@ /** * 目标距离转换算法 */ - private static String covertTargetDistance(byte[] bytes) { + private static double covertTargetDistance(byte[] bytes) { float a = ((bytes[0] & 0xFF) << 8) + (bytes[1] & 0xFF); - return (float) (a * 0.01) + "km"; + return a * 0.01; } /** * 横滚角转换算法 */ - private static float covertBuoyancy(byte[] bytes) { + private static double covertBuoyancy(byte[] bytes) { float a = ((bytes[0] & 0xFF) << 8) + (bytes[1] & 0xFF); - return (float) (a * 0.01 - 100); + return a * 0.01 - 100; } /** * 横滚角转换算法 */ - private static float covertHeadingAngle(byte[] bytes) { + private static double covertHeadingAngle(byte[] bytes) { float a = ((bytes[0] & 0xFF) << 8) + (bytes[1] & 0xFF); - return (float) (a * 0.01); + return a * 0.01; } /** * 横滚角转换算法 */ - private static float covertRollAngle(byte[] bytes) { + private static double covertRollAngle(byte[] bytes) { float a = ((bytes[0] & 0xFF) << 8) + (bytes[1] & 0xFF); - return (float) (a * 0.01 - 180); + return a * 0.01 - 180; } /** * 俯仰角转换算法 */ - private static float covertPitchAngle(byte[] bytes) { + private static double covertPitchAngle(byte[] bytes) { float a = ((bytes[0] & 0xFF) << 8) + (bytes[1] & 0xFF); - return (float) (a * 0.01 - 90); + return a * 0.01 - 90; } /** diff --git a/casic-task/src/main/java/com/casic/missiles/modular/system/controller/TaskController.java b/casic-task/src/main/java/com/casic/missiles/modular/system/controller/TaskController.java index 7ce9767..12c2041 100644 --- a/casic-task/src/main/java/com/casic/missiles/modular/system/controller/TaskController.java +++ b/casic-task/src/main/java/com/casic/missiles/modular/system/controller/TaskController.java @@ -8,6 +8,7 @@ import org.springframework.web.bind.annotation.RequestMapping; import org.springframework.web.bind.annotation.ResponseBody; +import java.util.List; import java.util.Map; /** @@ -29,7 +30,7 @@ @GetMapping(value = "/timeList") @ResponseBody public Object timeList() { - Map timeMap = regionPlanService.selectTimeList(); + List> timeMap = regionPlanService.selectTimeList(); return ResponseData.success(timeMap); } diff --git a/casic-server-support/src/main/java/com/casic/missiles/modular/system/model/RobotInfo.java b/casic-server-support/src/main/java/com/casic/missiles/modular/system/model/RobotInfo.java index a37b70b..6bf6da1 100644 --- a/casic-server-support/src/main/java/com/casic/missiles/modular/system/model/RobotInfo.java +++ b/casic-server-support/src/main/java/com/casic/missiles/modular/system/model/RobotInfo.java @@ -81,31 +81,31 @@ * 俯仰角： -40.43 */ @TableField("PITCH_ANGLE") - private Float pitchAngle; + private Double pitchAngle; /** * 横滚角：-15.55 */ @TableField("ROLL_ANGLE") - private Float rollAngle; + private Double rollAngle; /** * 航向角：124.66 */ @TableField("HEADING_ANGLE") - private Float headingAngle; + private Double headingAngle; /** * 浮力值：-4.05 */ @TableField("BUOYANCY") - private Float buoyancy; + private Double buoyancy; /** * 滑块位置：-30.05 */ @TableField("POSITION") - private Float position; + private Double position; /** * 探测状态：无目标 @@ -117,13 +117,13 @@ * 目标距离：1.56km */ @TableField("TARGET_DISTANCE") - private String targetDistance; + private Double targetDistance; /** * 目标方位： 170.85 */ @TableField("TARGET_DIRECTION") - private Float targetDirection; + private Double targetDirection; /** * 目标频率：2000hz diff --git a/casic-shelter/src/main/java/com/casic/missiles/modular/system/controller/ShelterController.java b/casic-shelter/src/main/java/com/casic/missiles/modular/system/controller/ShelterController.java index de6dceb..83cdd7f 100644 --- a/casic-shelter/src/main/java/com/casic/missiles/modular/system/controller/ShelterController.java +++ b/casic-shelter/src/main/java/com/casic/missiles/modular/system/controller/ShelterController.java @@ -5,7 +5,6 @@ import com.casic.missiles.modular.system.dto.RobotInfoDTO; import com.casic.missiles.modular.system.dto.SatelliteSignalDTO; import com.casic.missiles.modular.system.dto.ShelterPositionDTO; -import com.casic.missiles.modular.system.model.RobotInfo; import com.casic.missiles.modular.system.service.IRobotService; import com.casic.missiles.modular.system.service.ISatelliteService; import com.casic.missiles.modular.system.service.IShelterPositionService; @@ -45,7 +44,7 @@ @GetMapping(value = "/robotList") @ResponseBody public Object list() { - List> robotListMap = robotService.robotList(); + List> robotListMap = robotService.robotList(); return ResponseData.success(robotListMap); } diff --git a/casic-shelter/src/main/java/com/casic/missiles/modular/system/dto/RobotInfoDTO.java b/casic-shelter/src/main/java/com/casic/missiles/modular/system/dto/RobotInfoDTO.java index 8fa7f2c..bcb5b29 100644 --- a/casic-shelter/src/main/java/com/casic/missiles/modular/system/dto/RobotInfoDTO.java +++ b/casic-shelter/src/main/java/com/casic/missiles/modular/system/dto/RobotInfoDTO.java @@ -56,27 +56,27 @@ /** * 俯仰角： -40.43 */ - private Float pitchAngle; + private Double pitchAngle; /** * 横滚角：-15.55 */ - private Float rollAngle; + private Double rollAngle; /** * 航向角：124.66 */ - private Float headingAngle; + private Double headingAngle; /** * 浮力值：-4.05 */ - private Float buoyancy; + private Double buoyancy; /** * 滑块位置：-30.05 */ - private Float position; + private Double position; /** * 探测状态：无目标 @@ -86,12 +86,12 @@ /** * 目标距离：1.56km */ - private String targetDistance; + private Double targetDistance; /** * 目标方位： 170.85 */ - private Float targetDirection; + private Double targetDirection; /** * 目标频率：2000hz diff --git a/casic-shelter/src/main/java/com/casic/missiles/modular/system/service/IRobotService.java b/casic-shelter/src/main/java/com/casic/missiles/modular/system/service/IRobotService.java index ee00285..3d023e8 100644 --- a/casic-shelter/src/main/java/com/casic/missiles/modular/system/service/IRobotService.java +++ b/casic-shelter/src/main/java/com/casic/missiles/modular/system/service/IRobotService.java @@ -23,7 +23,7 @@ * * @return {@link List} */ - List> robotList(); + List> robotList(); /** * 查询机器人详情 diff --git a/casic-shelter/src/main/java/com/casic/missiles/modular/system/service/impl/RobotServiceImpl.java b/casic-shelter/src/main/java/com/casic/missiles/modular/system/service/impl/RobotServiceImpl.java index 3dcab19..7dca94c 100644 --- a/casic-shelter/src/main/java/com/casic/missiles/modular/system/service/impl/RobotServiceImpl.java +++ b/casic-shelter/src/main/java/com/casic/missiles/modular/system/service/impl/RobotServiceImpl.java @@ -39,19 +39,19 @@ * @return {@link List} */ @Override - public List> robotList() { - List> maps = new ArrayList<>(); + public List> robotList() { + List> maps = new ArrayList<>(); for (Integer robotId : selectRobotIds()) { RobotInfoDTO robotDetail = robotDetail(String.valueOf(robotId)); - Map robotMap = new HashMap<>(7); - robotMap.put("robotId", String.valueOf(robotId)); + Map robotMap = new HashMap<>(7); + robotMap.put("robotId", robotId); robotMap.put("modelType", robotDetail.getModelType()); - robotMap.put("lng", String.valueOf(robotDetail.getLng())); - robotMap.put("lat", String.valueOf(robotDetail.getLat())); + robotMap.put("lng", robotDetail.getLng()); + robotMap.put("lat", robotDetail.getLat()); robotMap.put("navigateState", robotDetail.getNavigateState()); - robotMap.put("instrumentE", String.valueOf(robotDetail.getInstrumentE())); - robotMap.put("powerE", String.valueOf(robotDetail.getPowerE())); + robotMap.put("instrumentE", robotDetail.getInstrumentE()); + robotMap.put("powerE", robotDetail.getPowerE()); robotMap.put("targetDistance", robotDetail.getTargetDistance()); maps.add(robotMap); diff --git a/casic-shelter/src/main/java/com/casic/missiles/modular/system/utils/DecodeData.java b/casic-shelter/src/main/java/com/casic/missiles/modular/system/utils/DecodeData.java index 9c27d7e..3a8e261 100644 --- a/casic-shelter/src/main/java/com/casic/missiles/modular/system/utils/DecodeData.java +++ b/casic-shelter/src/main/java/com/casic/missiles/modular/system/utils/DecodeData.java @@ -118,12 +118,8 @@ System.arraycopy(bytes, 5 + 1 + idsBytes.length + targetBytes.length + 1, radiusBytes, 0, 2); regionMap.put("regionRadius", covertTargetDistance(radiusBytes)); - int aByte = bytes[5 + 1 + idsBytes.length + targetBytes.length + 1 + radiusBytes.length]; - if (aByte == 0) { - regionMap.put("contour", "轮廓标志位:多边形，" + count + "个轮廓点"); - } else { - regionMap.put("contour", "轮廓标志位:圆形，" + count + "个轮廓点"); - } + int contour = bytes[5 + 1 + idsBytes.length + targetBytes.length + 1 + radiusBytes.length]; + regionMap.put("contour", contour); //经度(4)、纬度(4) int regionSize = count * (4 + 4); @@ -176,14 +172,14 @@ * 定向任务 */ public static String decodeDirectedTask(byte[] bytes) { - Map taskMap = new HashMap<>(2); + Map taskMap = new HashMap<>(2); byte[] depthBytes = new byte[2]; System.arraycopy(bytes, 4, depthBytes, 0, 2); - taskMap.put("taskDepth", covertDepth(depthBytes) + "m"); + taskMap.put("taskDepth", covertDepth(depthBytes)); byte[] angleBytes = new byte[2]; System.arraycopy(bytes, 6, angleBytes, 0, 2); - taskMap.put("headingAngle", covertHeadingAngle(angleBytes) + "°"); + taskMap.put("headingAngle", covertHeadingAngle(angleBytes)); return JSON.toJSONString(taskMap); } @@ -195,10 +191,10 @@ byte[] depthBytes = new byte[2]; System.arraycopy(bytes, 4, depthBytes, 0, 2); - taskMap.put("taskDepth", covertDepth(depthBytes) + "m"); + taskMap.put("taskDepth", covertDepth(depthBytes)); int count = bytes[6]; - taskMap.put("routeCount", String.valueOf(count)); + taskMap.put("routeCount", count); //经度(4)、纬度(4) int routeSize = count * (4 + 4); @@ -212,18 +208,18 @@ * 定深直航任务 */ public static String decodeDirectFlightTask(byte[] bytes) { - Map taskMap = new HashMap<>(3); + Map taskMap = new HashMap<>(3); byte[] depthBytes = new byte[2]; System.arraycopy(bytes, 4, depthBytes, 0, 2); - taskMap.put("taskDepth", covertDepth(depthBytes) + "m"); + taskMap.put("taskDepth", covertDepth(depthBytes)); byte[] angleBytes = new byte[2]; System.arraycopy(bytes, 6, angleBytes, 0, 2); - taskMap.put("headingAngle", covertHeadingAngle(angleBytes) + "°"); + taskMap.put("headingAngle", covertHeadingAngle(angleBytes)); byte[] timesBytes = new byte[2]; System.arraycopy(bytes, 8, timesBytes, 0, 2); - taskMap.put("time", covertToDec(timesBytes) + "s"); + taskMap.put("time", covertToDec(timesBytes)); return JSON.toJSONString(taskMap); } @@ -231,22 +227,22 @@ * 驻留任务 */ public static String decodeResideTask(byte[] bytes) { - Map taskMap = new HashMap<>(4); + Map taskMap = new HashMap<>(4); byte[] lngBytes = new byte[4]; System.arraycopy(bytes, 4, lngBytes, 0, 4); - taskMap.put("lng", String.valueOf(covertLngLat(lngBytes))); + taskMap.put("lng", covertLngLat(lngBytes)); byte[] latBytes = new byte[4]; System.arraycopy(bytes, 8, latBytes, 0, 4); - taskMap.put("lat", String.valueOf(covertLngLat(latBytes))); + taskMap.put("lat", covertLngLat(latBytes)); byte[] angleBytes = new byte[2]; System.arraycopy(bytes, 12, angleBytes, 0, 2); - taskMap.put("depth", covertDepth(angleBytes) + "m"); + taskMap.put("depth", covertDepth(angleBytes)); byte[] timesBytes = new byte[2]; System.arraycopy(bytes, 14, timesBytes, 0, 2); - taskMap.put("time", covertToDec(timesBytes) + "min"); + taskMap.put("time", covertToDec(timesBytes)); return JSON.toJSONString(taskMap); } @@ -254,17 +250,17 @@ * 投放任务 */ public static String decodePutTask(byte[] bytes) { - Map taskMap = new HashMap<>(4); + Map taskMap = new HashMap<>(4); byte[] lngBytes = new byte[4]; System.arraycopy(bytes, 4, lngBytes, 0, 4); - taskMap.put("lng", String.valueOf(covertLngLat(lngBytes))); + taskMap.put("lng", covertLngLat(lngBytes)); byte[] latBytes = new byte[4]; System.arraycopy(bytes, 8, latBytes, 0, 4); - taskMap.put("lat", String.valueOf(covertLngLat(latBytes))); + taskMap.put("lat", covertLngLat(latBytes)); int count = bytes[12]; - taskMap.put("count", String.valueOf(count)); + taskMap.put("count", count); byte[] idsBytes = new byte[count]; System.arraycopy(bytes, 13, idsBytes, 0, count); @@ -447,46 +443,46 @@ /** * 目标距离转换算法 */ - private static String covertTargetDistance(byte[] bytes) { + private static double covertTargetDistance(byte[] bytes) { float a = ((bytes[0] & 0xFF) << 8) + (bytes[1] & 0xFF); - return (float) (a * 0.01) + "km"; + return a * 0.01; } /** * 横滚角转换算法 */ - private static float covertBuoyancy(byte[] bytes) { + private static double covertBuoyancy(byte[] bytes) { float a = ((bytes[0] & 0xFF) << 8) + (bytes[1] & 0xFF); - return (float) (a * 0.01 - 100); + return a * 0.01 - 100; } /** * 横滚角转换算法 */ - private static float covertHeadingAngle(byte[] bytes) { + private static double covertHeadingAngle(byte[] bytes) { float a = ((bytes[0] & 0xFF) << 8) + (bytes[1] & 0xFF); - return (float) (a * 0.01); + return a * 0.01; } /** * 横滚角转换算法 */ - private static float covertRollAngle(byte[] bytes) { + private static double covertRollAngle(byte[] bytes) { float a = ((bytes[0] & 0xFF) << 8) + (bytes[1] & 0xFF); - return (float) (a * 0.01 - 180); + return a * 0.01 - 180; } /** * 俯仰角转换算法 */ - private static float covertPitchAngle(byte[] bytes) { + private static double covertPitchAngle(byte[] bytes) { float a = ((bytes[0] & 0xFF) << 8) + (bytes[1] & 0xFF); - return (float) (a * 0.01 - 90); + return a * 0.01 - 90; } /** diff --git a/casic-task/src/main/java/com/casic/missiles/modular/system/controller/TaskController.java b/casic-task/src/main/java/com/casic/missiles/modular/system/controller/TaskController.java index 7ce9767..12c2041 100644 --- a/casic-task/src/main/java/com/casic/missiles/modular/system/controller/TaskController.java +++ b/casic-task/src/main/java/com/casic/missiles/modular/system/controller/TaskController.java @@ -8,6 +8,7 @@ import org.springframework.web.bind.annotation.RequestMapping; import org.springframework.web.bind.annotation.ResponseBody; +import java.util.List; import java.util.Map; /** @@ -29,7 +30,7 @@ @GetMapping(value = "/timeList") @ResponseBody public Object timeList() { - Map timeMap = regionPlanService.selectTimeList(); + List> timeMap = regionPlanService.selectTimeList(); return ResponseData.success(timeMap); } diff --git a/casic-task/src/main/java/com/casic/missiles/modular/system/dto/PointDTO.java b/casic-task/src/main/java/com/casic/missiles/modular/system/dto/PointDTO.java index 6a4e1e1..81026ae 100644 --- a/casic-task/src/main/java/com/casic/missiles/modular/system/dto/PointDTO.java +++ b/casic-task/src/main/java/com/casic/missiles/modular/system/dto/PointDTO.java @@ -12,11 +12,11 @@ /** * 俯仰角： -40.43 */ - private Float pitchAngle; + private Double pitchAngle; /** * 航向角：124.66 */ - private Float headingAngle; + private Double headingAngle; /** * 规划航路点深度 */ diff --git a/casic-server-support/src/main/java/com/casic/missiles/modular/system/model/RobotInfo.java b/casic-server-support/src/main/java/com/casic/missiles/modular/system/model/RobotInfo.java index a37b70b..6bf6da1 100644 --- a/casic-server-support/src/main/java/com/casic/missiles/modular/system/model/RobotInfo.java +++ b/casic-server-support/src/main/java/com/casic/missiles/modular/system/model/RobotInfo.java @@ -81,31 +81,31 @@ * 俯仰角： -40.43 */ @TableField("PITCH_ANGLE") - private Float pitchAngle; + private Double pitchAngle; /** * 横滚角：-15.55 */ @TableField("ROLL_ANGLE") - private Float rollAngle; + private Double rollAngle; /** * 航向角：124.66 */ @TableField("HEADING_ANGLE") - private Float headingAngle; + private Double headingAngle; /** * 浮力值：-4.05 */ @TableField("BUOYANCY") - private Float buoyancy; + private Double buoyancy; /** * 滑块位置：-30.05 */ @TableField("POSITION") - private Float position; + private Double position; /** * 探测状态：无目标 @@ -117,13 +117,13 @@ * 目标距离：1.56km */ @TableField("TARGET_DISTANCE") - private String targetDistance; + private Double targetDistance; /** * 目标方位： 170.85 */ @TableField("TARGET_DIRECTION") - private Float targetDirection; + private Double targetDirection; /** * 目标频率：2000hz diff --git a/casic-shelter/src/main/java/com/casic/missiles/modular/system/controller/ShelterController.java b/casic-shelter/src/main/java/com/casic/missiles/modular/system/controller/ShelterController.java index de6dceb..83cdd7f 100644 --- a/casic-shelter/src/main/java/com/casic/missiles/modular/system/controller/ShelterController.java +++ b/casic-shelter/src/main/java/com/casic/missiles/modular/system/controller/ShelterController.java @@ -5,7 +5,6 @@ import com.casic.missiles.modular.system.dto.RobotInfoDTO; import com.casic.missiles.modular.system.dto.SatelliteSignalDTO; import com.casic.missiles.modular.system.dto.ShelterPositionDTO; -import com.casic.missiles.modular.system.model.RobotInfo; import com.casic.missiles.modular.system.service.IRobotService; import com.casic.missiles.modular.system.service.ISatelliteService; import com.casic.missiles.modular.system.service.IShelterPositionService; @@ -45,7 +44,7 @@ @GetMapping(value = "/robotList") @ResponseBody public Object list() { - List> robotListMap = robotService.robotList(); + List> robotListMap = robotService.robotList(); return ResponseData.success(robotListMap); } diff --git a/casic-shelter/src/main/java/com/casic/missiles/modular/system/dto/RobotInfoDTO.java b/casic-shelter/src/main/java/com/casic/missiles/modular/system/dto/RobotInfoDTO.java index 8fa7f2c..bcb5b29 100644 --- a/casic-shelter/src/main/java/com/casic/missiles/modular/system/dto/RobotInfoDTO.java +++ b/casic-shelter/src/main/java/com/casic/missiles/modular/system/dto/RobotInfoDTO.java @@ -56,27 +56,27 @@ /** * 俯仰角： -40.43 */ - private Float pitchAngle; + private Double pitchAngle; /** * 横滚角：-15.55 */ - private Float rollAngle; + private Double rollAngle; /** * 航向角：124.66 */ - private Float headingAngle; + private Double headingAngle; /** * 浮力值：-4.05 */ - private Float buoyancy; + private Double buoyancy; /** * 滑块位置：-30.05 */ - private Float position; + private Double position; /** * 探测状态：无目标 @@ -86,12 +86,12 @@ /** * 目标距离：1.56km */ - private String targetDistance; + private Double targetDistance; /** * 目标方位： 170.85 */ - private Float targetDirection; + private Double targetDirection; /** * 目标频率：2000hz diff --git a/casic-shelter/src/main/java/com/casic/missiles/modular/system/service/IRobotService.java b/casic-shelter/src/main/java/com/casic/missiles/modular/system/service/IRobotService.java index ee00285..3d023e8 100644 --- a/casic-shelter/src/main/java/com/casic/missiles/modular/system/service/IRobotService.java +++ b/casic-shelter/src/main/java/com/casic/missiles/modular/system/service/IRobotService.java @@ -23,7 +23,7 @@ * * @return {@link List} */ - List> robotList(); + List> robotList(); /** * 查询机器人详情 diff --git a/casic-shelter/src/main/java/com/casic/missiles/modular/system/service/impl/RobotServiceImpl.java b/casic-shelter/src/main/java/com/casic/missiles/modular/system/service/impl/RobotServiceImpl.java index 3dcab19..7dca94c 100644 --- a/casic-shelter/src/main/java/com/casic/missiles/modular/system/service/impl/RobotServiceImpl.java +++ b/casic-shelter/src/main/java/com/casic/missiles/modular/system/service/impl/RobotServiceImpl.java @@ -39,19 +39,19 @@ * @return {@link List} */ @Override - public List> robotList() { - List> maps = new ArrayList<>(); + public List> robotList() { + List> maps = new ArrayList<>(); for (Integer robotId : selectRobotIds()) { RobotInfoDTO robotDetail = robotDetail(String.valueOf(robotId)); - Map robotMap = new HashMap<>(7); - robotMap.put("robotId", String.valueOf(robotId)); + Map robotMap = new HashMap<>(7); + robotMap.put("robotId", robotId); robotMap.put("modelType", robotDetail.getModelType()); - robotMap.put("lng", String.valueOf(robotDetail.getLng())); - robotMap.put("lat", String.valueOf(robotDetail.getLat())); + robotMap.put("lng", robotDetail.getLng()); + robotMap.put("lat", robotDetail.getLat()); robotMap.put("navigateState", robotDetail.getNavigateState()); - robotMap.put("instrumentE", String.valueOf(robotDetail.getInstrumentE())); - robotMap.put("powerE", String.valueOf(robotDetail.getPowerE())); + robotMap.put("instrumentE", robotDetail.getInstrumentE()); + robotMap.put("powerE", robotDetail.getPowerE()); robotMap.put("targetDistance", robotDetail.getTargetDistance()); maps.add(robotMap); diff --git a/casic-shelter/src/main/java/com/casic/missiles/modular/system/utils/DecodeData.java b/casic-shelter/src/main/java/com/casic/missiles/modular/system/utils/DecodeData.java index 9c27d7e..3a8e261 100644 --- a/casic-shelter/src/main/java/com/casic/missiles/modular/system/utils/DecodeData.java +++ b/casic-shelter/src/main/java/com/casic/missiles/modular/system/utils/DecodeData.java @@ -118,12 +118,8 @@ System.arraycopy(bytes, 5 + 1 + idsBytes.length + targetBytes.length + 1, radiusBytes, 0, 2); regionMap.put("regionRadius", covertTargetDistance(radiusBytes)); - int aByte = bytes[5 + 1 + idsBytes.length + targetBytes.length + 1 + radiusBytes.length]; - if (aByte == 0) { - regionMap.put("contour", "轮廓标志位:多边形，" + count + "个轮廓点"); - } else { - regionMap.put("contour", "轮廓标志位:圆形，" + count + "个轮廓点"); - } + int contour = bytes[5 + 1 + idsBytes.length + targetBytes.length + 1 + radiusBytes.length]; + regionMap.put("contour", contour); //经度(4)、纬度(4) int regionSize = count * (4 + 4); @@ -176,14 +172,14 @@ * 定向任务 */ public static String decodeDirectedTask(byte[] bytes) { - Map taskMap = new HashMap<>(2); + Map taskMap = new HashMap<>(2); byte[] depthBytes = new byte[2]; System.arraycopy(bytes, 4, depthBytes, 0, 2); - taskMap.put("taskDepth", covertDepth(depthBytes) + "m"); + taskMap.put("taskDepth", covertDepth(depthBytes)); byte[] angleBytes = new byte[2]; System.arraycopy(bytes, 6, angleBytes, 0, 2); - taskMap.put("headingAngle", covertHeadingAngle(angleBytes) + "°"); + taskMap.put("headingAngle", covertHeadingAngle(angleBytes)); return JSON.toJSONString(taskMap); } @@ -195,10 +191,10 @@ byte[] depthBytes = new byte[2]; System.arraycopy(bytes, 4, depthBytes, 0, 2); - taskMap.put("taskDepth", covertDepth(depthBytes) + "m"); + taskMap.put("taskDepth", covertDepth(depthBytes)); int count = bytes[6]; - taskMap.put("routeCount", String.valueOf(count)); + taskMap.put("routeCount", count); //经度(4)、纬度(4) int routeSize = count * (4 + 4); @@ -212,18 +208,18 @@ * 定深直航任务 */ public static String decodeDirectFlightTask(byte[] bytes) { - Map taskMap = new HashMap<>(3); + Map taskMap = new HashMap<>(3); byte[] depthBytes = new byte[2]; System.arraycopy(bytes, 4, depthBytes, 0, 2); - taskMap.put("taskDepth", covertDepth(depthBytes) + "m"); + taskMap.put("taskDepth", covertDepth(depthBytes)); byte[] angleBytes = new byte[2]; System.arraycopy(bytes, 6, angleBytes, 0, 2); - taskMap.put("headingAngle", covertHeadingAngle(angleBytes) + "°"); + taskMap.put("headingAngle", covertHeadingAngle(angleBytes)); byte[] timesBytes = new byte[2]; System.arraycopy(bytes, 8, timesBytes, 0, 2); - taskMap.put("time", covertToDec(timesBytes) + "s"); + taskMap.put("time", covertToDec(timesBytes)); return JSON.toJSONString(taskMap); } @@ -231,22 +227,22 @@ * 驻留任务 */ public static String decodeResideTask(byte[] bytes) { - Map taskMap = new HashMap<>(4); + Map taskMap = new HashMap<>(4); byte[] lngBytes = new byte[4]; System.arraycopy(bytes, 4, lngBytes, 0, 4); - taskMap.put("lng", String.valueOf(covertLngLat(lngBytes))); + taskMap.put("lng", covertLngLat(lngBytes)); byte[] latBytes = new byte[4]; System.arraycopy(bytes, 8, latBytes, 0, 4); - taskMap.put("lat", String.valueOf(covertLngLat(latBytes))); + taskMap.put("lat", covertLngLat(latBytes)); byte[] angleBytes = new byte[2]; System.arraycopy(bytes, 12, angleBytes, 0, 2); - taskMap.put("depth", covertDepth(angleBytes) + "m"); + taskMap.put("depth", covertDepth(angleBytes)); byte[] timesBytes = new byte[2]; System.arraycopy(bytes, 14, timesBytes, 0, 2); - taskMap.put("time", covertToDec(timesBytes) + "min"); + taskMap.put("time", covertToDec(timesBytes)); return JSON.toJSONString(taskMap); } @@ -254,17 +250,17 @@ * 投放任务 */ public static String decodePutTask(byte[] bytes) { - Map taskMap = new HashMap<>(4); + Map taskMap = new HashMap<>(4); byte[] lngBytes = new byte[4]; System.arraycopy(bytes, 4, lngBytes, 0, 4); - taskMap.put("lng", String.valueOf(covertLngLat(lngBytes))); + taskMap.put("lng", covertLngLat(lngBytes)); byte[] latBytes = new byte[4]; System.arraycopy(bytes, 8, latBytes, 0, 4); - taskMap.put("lat", String.valueOf(covertLngLat(latBytes))); + taskMap.put("lat", covertLngLat(latBytes)); int count = bytes[12]; - taskMap.put("count", String.valueOf(count)); + taskMap.put("count", count); byte[] idsBytes = new byte[count]; System.arraycopy(bytes, 13, idsBytes, 0, count); @@ -447,46 +443,46 @@ /** * 目标距离转换算法 */ - private static String covertTargetDistance(byte[] bytes) { + private static double covertTargetDistance(byte[] bytes) { float a = ((bytes[0] & 0xFF) << 8) + (bytes[1] & 0xFF); - return (float) (a * 0.01) + "km"; + return a * 0.01; } /** * 横滚角转换算法 */ - private static float covertBuoyancy(byte[] bytes) { + private static double covertBuoyancy(byte[] bytes) { float a = ((bytes[0] & 0xFF) << 8) + (bytes[1] & 0xFF); - return (float) (a * 0.01 - 100); + return a * 0.01 - 100; } /** * 横滚角转换算法 */ - private static float covertHeadingAngle(byte[] bytes) { + private static double covertHeadingAngle(byte[] bytes) { float a = ((bytes[0] & 0xFF) << 8) + (bytes[1] & 0xFF); - return (float) (a * 0.01); + return a * 0.01; } /** * 横滚角转换算法 */ - private static float covertRollAngle(byte[] bytes) { + private static double covertRollAngle(byte[] bytes) { float a = ((bytes[0] & 0xFF) << 8) + (bytes[1] & 0xFF); - return (float) (a * 0.01 - 180); + return a * 0.01 - 180; } /** * 俯仰角转换算法 */ - private static float covertPitchAngle(byte[] bytes) { + private static double covertPitchAngle(byte[] bytes) { float a = ((bytes[0] & 0xFF) << 8) + (bytes[1] & 0xFF); - return (float) (a * 0.01 - 90); + return a * 0.01 - 90; } /** diff --git a/casic-task/src/main/java/com/casic/missiles/modular/system/controller/TaskController.java b/casic-task/src/main/java/com/casic/missiles/modular/system/controller/TaskController.java index 7ce9767..12c2041 100644 --- a/casic-task/src/main/java/com/casic/missiles/modular/system/controller/TaskController.java +++ b/casic-task/src/main/java/com/casic/missiles/modular/system/controller/TaskController.java @@ -8,6 +8,7 @@ import org.springframework.web.bind.annotation.RequestMapping; import org.springframework.web.bind.annotation.ResponseBody; +import java.util.List; import java.util.Map; /** @@ -29,7 +30,7 @@ @GetMapping(value = "/timeList") @ResponseBody public Object timeList() { - Map timeMap = regionPlanService.selectTimeList(); + List> timeMap = regionPlanService.selectTimeList(); return ResponseData.success(timeMap); } diff --git a/casic-task/src/main/java/com/casic/missiles/modular/system/dto/PointDTO.java b/casic-task/src/main/java/com/casic/missiles/modular/system/dto/PointDTO.java index 6a4e1e1..81026ae 100644 --- a/casic-task/src/main/java/com/casic/missiles/modular/system/dto/PointDTO.java +++ b/casic-task/src/main/java/com/casic/missiles/modular/system/dto/PointDTO.java @@ -12,11 +12,11 @@ /** * 俯仰角： -40.43 */ - private Float pitchAngle; + private Double pitchAngle; /** * 航向角：124.66 */ - private Float headingAngle; + private Double headingAngle; /** * 规划航路点深度 */ diff --git a/casic-task/src/main/java/com/casic/missiles/modular/system/service/IRegionPlanService.java b/casic-task/src/main/java/com/casic/missiles/modular/system/service/IRegionPlanService.java index b167fe7..fe8be0f 100644 --- a/casic-task/src/main/java/com/casic/missiles/modular/system/service/IRegionPlanService.java +++ b/casic-task/src/main/java/com/casic/missiles/modular/system/service/IRegionPlanService.java @@ -4,6 +4,7 @@ import com.casic.missiles.modular.system.dto.RegionPlanDTO; import com.casic.missiles.modular.system.model.RegionPlan; +import java.util.List; import java.util.Map; /** @@ -31,7 +32,7 @@ /** * 获取所有路线时间的列表 * - * @return {@link Map} + * @return {@link List} */ - Map selectTimeList(); + List> selectTimeList(); } diff --git a/casic-server-support/src/main/java/com/casic/missiles/modular/system/model/RobotInfo.java b/casic-server-support/src/main/java/com/casic/missiles/modular/system/model/RobotInfo.java index a37b70b..6bf6da1 100644 --- a/casic-server-support/src/main/java/com/casic/missiles/modular/system/model/RobotInfo.java +++ b/casic-server-support/src/main/java/com/casic/missiles/modular/system/model/RobotInfo.java @@ -81,31 +81,31 @@ * 俯仰角： -40.43 */ @TableField("PITCH_ANGLE") - private Float pitchAngle; + private Double pitchAngle; /** * 横滚角：-15.55 */ @TableField("ROLL_ANGLE") - private Float rollAngle; + private Double rollAngle; /** * 航向角：124.66 */ @TableField("HEADING_ANGLE") - private Float headingAngle; + private Double headingAngle; /** * 浮力值：-4.05 */ @TableField("BUOYANCY") - private Float buoyancy; + private Double buoyancy; /** * 滑块位置：-30.05 */ @TableField("POSITION") - private Float position; + private Double position; /** * 探测状态：无目标 @@ -117,13 +117,13 @@ * 目标距离：1.56km */ @TableField("TARGET_DISTANCE") - private String targetDistance; + private Double targetDistance; /** * 目标方位： 170.85 */ @TableField("TARGET_DIRECTION") - private Float targetDirection; + private Double targetDirection; /** * 目标频率：2000hz diff --git a/casic-shelter/src/main/java/com/casic/missiles/modular/system/controller/ShelterController.java b/casic-shelter/src/main/java/com/casic/missiles/modular/system/controller/ShelterController.java index de6dceb..83cdd7f 100644 --- a/casic-shelter/src/main/java/com/casic/missiles/modular/system/controller/ShelterController.java +++ b/casic-shelter/src/main/java/com/casic/missiles/modular/system/controller/ShelterController.java @@ -5,7 +5,6 @@ import com.casic.missiles.modular.system.dto.RobotInfoDTO; import com.casic.missiles.modular.system.dto.SatelliteSignalDTO; import com.casic.missiles.modular.system.dto.ShelterPositionDTO; -import com.casic.missiles.modular.system.model.RobotInfo; import com.casic.missiles.modular.system.service.IRobotService; import com.casic.missiles.modular.system.service.ISatelliteService; import com.casic.missiles.modular.system.service.IShelterPositionService; @@ -45,7 +44,7 @@ @GetMapping(value = "/robotList") @ResponseBody public Object list() { - List> robotListMap = robotService.robotList(); + List> robotListMap = robotService.robotList(); return ResponseData.success(robotListMap); } diff --git a/casic-shelter/src/main/java/com/casic/missiles/modular/system/dto/RobotInfoDTO.java b/casic-shelter/src/main/java/com/casic/missiles/modular/system/dto/RobotInfoDTO.java index 8fa7f2c..bcb5b29 100644 --- a/casic-shelter/src/main/java/com/casic/missiles/modular/system/dto/RobotInfoDTO.java +++ b/casic-shelter/src/main/java/com/casic/missiles/modular/system/dto/RobotInfoDTO.java @@ -56,27 +56,27 @@ /** * 俯仰角： -40.43 */ - private Float pitchAngle; + private Double pitchAngle; /** * 横滚角：-15.55 */ - private Float rollAngle; + private Double rollAngle; /** * 航向角：124.66 */ - private Float headingAngle; + private Double headingAngle; /** * 浮力值：-4.05 */ - private Float buoyancy; + private Double buoyancy; /** * 滑块位置：-30.05 */ - private Float position; + private Double position; /** * 探测状态：无目标 @@ -86,12 +86,12 @@ /** * 目标距离：1.56km */ - private String targetDistance; + private Double targetDistance; /** * 目标方位： 170.85 */ - private Float targetDirection; + private Double targetDirection; /** * 目标频率：2000hz diff --git a/casic-shelter/src/main/java/com/casic/missiles/modular/system/service/IRobotService.java b/casic-shelter/src/main/java/com/casic/missiles/modular/system/service/IRobotService.java index ee00285..3d023e8 100644 --- a/casic-shelter/src/main/java/com/casic/missiles/modular/system/service/IRobotService.java +++ b/casic-shelter/src/main/java/com/casic/missiles/modular/system/service/IRobotService.java @@ -23,7 +23,7 @@ * * @return {@link List} */ - List> robotList(); + List> robotList(); /** * 查询机器人详情 diff --git a/casic-shelter/src/main/java/com/casic/missiles/modular/system/service/impl/RobotServiceImpl.java b/casic-shelter/src/main/java/com/casic/missiles/modular/system/service/impl/RobotServiceImpl.java index 3dcab19..7dca94c 100644 --- a/casic-shelter/src/main/java/com/casic/missiles/modular/system/service/impl/RobotServiceImpl.java +++ b/casic-shelter/src/main/java/com/casic/missiles/modular/system/service/impl/RobotServiceImpl.java @@ -39,19 +39,19 @@ * @return {@link List} */ @Override - public List> robotList() { - List> maps = new ArrayList<>(); + public List> robotList() { + List> maps = new ArrayList<>(); for (Integer robotId : selectRobotIds()) { RobotInfoDTO robotDetail = robotDetail(String.valueOf(robotId)); - Map robotMap = new HashMap<>(7); - robotMap.put("robotId", String.valueOf(robotId)); + Map robotMap = new HashMap<>(7); + robotMap.put("robotId", robotId); robotMap.put("modelType", robotDetail.getModelType()); - robotMap.put("lng", String.valueOf(robotDetail.getLng())); - robotMap.put("lat", String.valueOf(robotDetail.getLat())); + robotMap.put("lng", robotDetail.getLng()); + robotMap.put("lat", robotDetail.getLat()); robotMap.put("navigateState", robotDetail.getNavigateState()); - robotMap.put("instrumentE", String.valueOf(robotDetail.getInstrumentE())); - robotMap.put("powerE", String.valueOf(robotDetail.getPowerE())); + robotMap.put("instrumentE", robotDetail.getInstrumentE()); + robotMap.put("powerE", robotDetail.getPowerE()); robotMap.put("targetDistance", robotDetail.getTargetDistance()); maps.add(robotMap); diff --git a/casic-shelter/src/main/java/com/casic/missiles/modular/system/utils/DecodeData.java b/casic-shelter/src/main/java/com/casic/missiles/modular/system/utils/DecodeData.java index 9c27d7e..3a8e261 100644 --- a/casic-shelter/src/main/java/com/casic/missiles/modular/system/utils/DecodeData.java +++ b/casic-shelter/src/main/java/com/casic/missiles/modular/system/utils/DecodeData.java @@ -118,12 +118,8 @@ System.arraycopy(bytes, 5 + 1 + idsBytes.length + targetBytes.length + 1, radiusBytes, 0, 2); regionMap.put("regionRadius", covertTargetDistance(radiusBytes)); - int aByte = bytes[5 + 1 + idsBytes.length + targetBytes.length + 1 + radiusBytes.length]; - if (aByte == 0) { - regionMap.put("contour", "轮廓标志位:多边形，" + count + "个轮廓点"); - } else { - regionMap.put("contour", "轮廓标志位:圆形，" + count + "个轮廓点"); - } + int contour = bytes[5 + 1 + idsBytes.length + targetBytes.length + 1 + radiusBytes.length]; + regionMap.put("contour", contour); //经度(4)、纬度(4) int regionSize = count * (4 + 4); @@ -176,14 +172,14 @@ * 定向任务 */ public static String decodeDirectedTask(byte[] bytes) { - Map taskMap = new HashMap<>(2); + Map taskMap = new HashMap<>(2); byte[] depthBytes = new byte[2]; System.arraycopy(bytes, 4, depthBytes, 0, 2); - taskMap.put("taskDepth", covertDepth(depthBytes) + "m"); + taskMap.put("taskDepth", covertDepth(depthBytes)); byte[] angleBytes = new byte[2]; System.arraycopy(bytes, 6, angleBytes, 0, 2); - taskMap.put("headingAngle", covertHeadingAngle(angleBytes) + "°"); + taskMap.put("headingAngle", covertHeadingAngle(angleBytes)); return JSON.toJSONString(taskMap); } @@ -195,10 +191,10 @@ byte[] depthBytes = new byte[2]; System.arraycopy(bytes, 4, depthBytes, 0, 2); - taskMap.put("taskDepth", covertDepth(depthBytes) + "m"); + taskMap.put("taskDepth", covertDepth(depthBytes)); int count = bytes[6]; - taskMap.put("routeCount", String.valueOf(count)); + taskMap.put("routeCount", count); //经度(4)、纬度(4) int routeSize = count * (4 + 4); @@ -212,18 +208,18 @@ * 定深直航任务 */ public static String decodeDirectFlightTask(byte[] bytes) { - Map taskMap = new HashMap<>(3); + Map taskMap = new HashMap<>(3); byte[] depthBytes = new byte[2]; System.arraycopy(bytes, 4, depthBytes, 0, 2); - taskMap.put("taskDepth", covertDepth(depthBytes) + "m"); + taskMap.put("taskDepth", covertDepth(depthBytes)); byte[] angleBytes = new byte[2]; System.arraycopy(bytes, 6, angleBytes, 0, 2); - taskMap.put("headingAngle", covertHeadingAngle(angleBytes) + "°"); + taskMap.put("headingAngle", covertHeadingAngle(angleBytes)); byte[] timesBytes = new byte[2]; System.arraycopy(bytes, 8, timesBytes, 0, 2); - taskMap.put("time", covertToDec(timesBytes) + "s"); + taskMap.put("time", covertToDec(timesBytes)); return JSON.toJSONString(taskMap); } @@ -231,22 +227,22 @@ * 驻留任务 */ public static String decodeResideTask(byte[] bytes) { - Map taskMap = new HashMap<>(4); + Map taskMap = new HashMap<>(4); byte[] lngBytes = new byte[4]; System.arraycopy(bytes, 4, lngBytes, 0, 4); - taskMap.put("lng", String.valueOf(covertLngLat(lngBytes))); + taskMap.put("lng", covertLngLat(lngBytes)); byte[] latBytes = new byte[4]; System.arraycopy(bytes, 8, latBytes, 0, 4); - taskMap.put("lat", String.valueOf(covertLngLat(latBytes))); + taskMap.put("lat", covertLngLat(latBytes)); byte[] angleBytes = new byte[2]; System.arraycopy(bytes, 12, angleBytes, 0, 2); - taskMap.put("depth", covertDepth(angleBytes) + "m"); + taskMap.put("depth", covertDepth(angleBytes)); byte[] timesBytes = new byte[2]; System.arraycopy(bytes, 14, timesBytes, 0, 2); - taskMap.put("time", covertToDec(timesBytes) + "min"); + taskMap.put("time", covertToDec(timesBytes)); return JSON.toJSONString(taskMap); } @@ -254,17 +250,17 @@ * 投放任务 */ public static String decodePutTask(byte[] bytes) { - Map taskMap = new HashMap<>(4); + Map taskMap = new HashMap<>(4); byte[] lngBytes = new byte[4]; System.arraycopy(bytes, 4, lngBytes, 0, 4); - taskMap.put("lng", String.valueOf(covertLngLat(lngBytes))); + taskMap.put("lng", covertLngLat(lngBytes)); byte[] latBytes = new byte[4]; System.arraycopy(bytes, 8, latBytes, 0, 4); - taskMap.put("lat", String.valueOf(covertLngLat(latBytes))); + taskMap.put("lat", covertLngLat(latBytes)); int count = bytes[12]; - taskMap.put("count", String.valueOf(count)); + taskMap.put("count", count); byte[] idsBytes = new byte[count]; System.arraycopy(bytes, 13, idsBytes, 0, count); @@ -447,46 +443,46 @@ /** * 目标距离转换算法 */ - private static String covertTargetDistance(byte[] bytes) { + private static double covertTargetDistance(byte[] bytes) { float a = ((bytes[0] & 0xFF) << 8) + (bytes[1] & 0xFF); - return (float) (a * 0.01) + "km"; + return a * 0.01; } /** * 横滚角转换算法 */ - private static float covertBuoyancy(byte[] bytes) { + private static double covertBuoyancy(byte[] bytes) { float a = ((bytes[0] & 0xFF) << 8) + (bytes[1] & 0xFF); - return (float) (a * 0.01 - 100); + return a * 0.01 - 100; } /** * 横滚角转换算法 */ - private static float covertHeadingAngle(byte[] bytes) { + private static double covertHeadingAngle(byte[] bytes) { float a = ((bytes[0] & 0xFF) << 8) + (bytes[1] & 0xFF); - return (float) (a * 0.01); + return a * 0.01; } /** * 横滚角转换算法 */ - private static float covertRollAngle(byte[] bytes) { + private static double covertRollAngle(byte[] bytes) { float a = ((bytes[0] & 0xFF) << 8) + (bytes[1] & 0xFF); - return (float) (a * 0.01 - 180); + return a * 0.01 - 180; } /** * 俯仰角转换算法 */ - private static float covertPitchAngle(byte[] bytes) { + private static double covertPitchAngle(byte[] bytes) { float a = ((bytes[0] & 0xFF) << 8) + (bytes[1] & 0xFF); - return (float) (a * 0.01 - 90); + return a * 0.01 - 90; } /** diff --git a/casic-task/src/main/java/com/casic/missiles/modular/system/controller/TaskController.java b/casic-task/src/main/java/com/casic/missiles/modular/system/controller/TaskController.java index 7ce9767..12c2041 100644 --- a/casic-task/src/main/java/com/casic/missiles/modular/system/controller/TaskController.java +++ b/casic-task/src/main/java/com/casic/missiles/modular/system/controller/TaskController.java @@ -8,6 +8,7 @@ import org.springframework.web.bind.annotation.RequestMapping; import org.springframework.web.bind.annotation.ResponseBody; +import java.util.List; import java.util.Map; /** @@ -29,7 +30,7 @@ @GetMapping(value = "/timeList") @ResponseBody public Object timeList() { - Map timeMap = regionPlanService.selectTimeList(); + List> timeMap = regionPlanService.selectTimeList(); return ResponseData.success(timeMap); } diff --git a/casic-task/src/main/java/com/casic/missiles/modular/system/dto/PointDTO.java b/casic-task/src/main/java/com/casic/missiles/modular/system/dto/PointDTO.java index 6a4e1e1..81026ae 100644 --- a/casic-task/src/main/java/com/casic/missiles/modular/system/dto/PointDTO.java +++ b/casic-task/src/main/java/com/casic/missiles/modular/system/dto/PointDTO.java @@ -12,11 +12,11 @@ /** * 俯仰角： -40.43 */ - private Float pitchAngle; + private Double pitchAngle; /** * 航向角：124.66 */ - private Float headingAngle; + private Double headingAngle; /** * 规划航路点深度 */ diff --git a/casic-task/src/main/java/com/casic/missiles/modular/system/service/IRegionPlanService.java b/casic-task/src/main/java/com/casic/missiles/modular/system/service/IRegionPlanService.java index b167fe7..fe8be0f 100644 --- a/casic-task/src/main/java/com/casic/missiles/modular/system/service/IRegionPlanService.java +++ b/casic-task/src/main/java/com/casic/missiles/modular/system/service/IRegionPlanService.java @@ -4,6 +4,7 @@ import com.casic.missiles.modular.system.dto.RegionPlanDTO; import com.casic.missiles.modular.system.model.RegionPlan; +import java.util.List; import java.util.Map; /** @@ -31,7 +32,7 @@ /** * 获取所有路线时间的列表 * - * @return {@link Map} + * @return {@link List} */ - Map selectTimeList(); + List> selectTimeList(); } diff --git a/casic-task/src/main/java/com/casic/missiles/modular/system/service/impl/RegionPlanServiceImpl.java b/casic-task/src/main/java/com/casic/missiles/modular/system/service/impl/RegionPlanServiceImpl.java index ac53bd9..5193f49 100644 --- a/casic-task/src/main/java/com/casic/missiles/modular/system/service/impl/RegionPlanServiceImpl.java +++ b/casic-task/src/main/java/com/casic/missiles/modular/system/service/impl/RegionPlanServiceImpl.java @@ -84,13 +84,16 @@ } @Override - public Map selectTimeList() { - Map timeMap = new HashMap<>(1); + public List> selectTimeList() { + List> mapList = new ArrayList<>(); for (RegionPlan plan : list()) { + Map timeMap = new HashMap<>(1); String planTime = plan.getPlanTime(); timeMap.put("id", plan.getId()); timeMap.put("time", TimeUtil.timeToId(planTime)); + + mapList.add(timeMap); } - return timeMap; + return mapList; } }