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数据不匹配时，其他数据返回

This commit is contained in:
fl 2025-03-11 10:57:48 +08:00
parent d81f38be67
commit 67c3e8756f
1 changed files with 30 additions and 10 deletions
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40
app/src/main/java/com/bonus/uav/utils/SerialConnectUtils.java
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@ -298,16 +298,21 @@ public class SerialConnectUtils {
} }
//2.3判断是否返回对应结果集（即数据集合点数量等于导线分裂数量） //2.3判断是否返回对应结果集（即数据集合点数量等于导线分裂数量）
// if (calStandardDeviation.size() == towerDataBean.getSplitType()) { // if (calStandardDeviation.size() == towerDataBean.getSplitType()) {
if (calStandardDeviation.size() >= towerDataBean.getSplitType()) { //雷达数据不匹配时，返回其他数据
calStandardDeviation = calStandardDeviation.subList(0, towerDataBean.getSplitType()); boolean radarStatus = false;
//2.4根据公式去转换成测点坐标 //2.4根据公式去转换成测点坐标
List<Coordinate> coordinates = new ArrayList<>(); List<Coordinate> coordinates = new ArrayList<>();
if (calStandardDeviation.size() >= towerDataBean.getSplitType()) {
radarStatus = true;
calStandardDeviation = calStandardDeviation.subList(0, towerDataBean.getSplitType());
for (RadarPointBean radarPointBean : calStandardDeviation) { for (RadarPointBean radarPointBean : calStandardDeviation) {
System.out.printf("RTK：lat：%.8f; lon：%.8f; 高度：%.2f\n", sensorDataBean.getLat(), sensorDataBean.getLon(), sensorDataBean.getH()); System.out.printf("RTK：lat：%.8f; lon：%.8f; 高度：%.2f\n", sensorDataBean.getLat(), sensorDataBean.getLon(), sensorDataBean.getH());
Coordinate coordinate = RadarMathUtil.transferPoint2(radarPointBean, sensorDataBean); Coordinate coordinate = RadarMathUtil.transferPoint2(radarPointBean, sensorDataBean);
coordinate.setRadarPoint(radarPointBean); coordinate.setRadarPoint(radarPointBean);
coordinates.add(coordinate); coordinates.add(coordinate);
System.out.printf("测点：lat：%.8f; lon：%.8f; 高度：%.2f\n", coordinate.getLat(), coordinate.getLon(), coordinate.getH()); System.out.printf("测点：lat：%.8f; lon：%.8f; 高度：%.2f\n", coordinate.getLat(), coordinate.getLon(), coordinate.getH());
} }
//2.5导线编号 //2.5导线编号
//先以0-90度为标准的导线if //先以0-90度为标准的导线if
@ -316,8 +321,8 @@ public class SerialConnectUtils {
} else { } else {
classifyAndSortCoordinates(coordinates, true); classifyAndSortCoordinates(coordinates, true);
} }
//2.5-1.0后续添加逻辑，增加求点到雷达夹角，确认最佳测量角度
double[] goodAngle = dealWithCoordinatesAngel(coordinates, sensorDataBean); }
//2.6 已编号结束的雷达数据 coordinates,传感器测量数据 sensorDataBean,根据编成指令返回遥控器端 //2.6 已编号结束的雷达数据 coordinates,传感器测量数据 sensorDataBean,根据编成指令返回遥控器端
//生成返回指令 //生成返回指令
@ -325,6 +330,7 @@ public class SerialConnectUtils {
sb.append("F0F0F0"); sb.append("F0F0F0");
sb.append("03"); sb.append("03");
//雷达数据 //雷达数据
if(radarStatus){
for (int m = 0; m < (Math.min(coordinates.size(), 4)); m++) { for (int m = 0; m < (Math.min(coordinates.size(), 4)); m++) {
Coordinate coordinate = coordinates.get(m); Coordinate coordinate = coordinates.get(m);
int distance = (int) (ArithUtil.round(coordinate.getRadarPoint().getDistance(), 3) * 1000); int distance = (int) (ArithUtil.round(coordinate.getRadarPoint().getDistance(), 3) * 1000);
@ -337,6 +343,11 @@ public class SerialConnectUtils {
for (int i = 0; i < remaining; i++) { for (int i = 0; i < remaining; i++) {
sb.append("00000000"); sb.append("00000000");
} }
}else{
for (int i = 0; i < 4; i++) {
sb.append("00000000");
}
}
//传感器数据 //传感器数据
//俯仰角 //俯仰角
int pitchAngle = (int) (ArithUtil.round(Math.abs(sensorDataBean.getPitchAngle()), 2) * 100); int pitchAngle = (int) (ArithUtil.round(Math.abs(sensorDataBean.getPitchAngle()), 2) * 100);
@ -359,11 +370,18 @@ public class SerialConnectUtils {
//将即分裂返回，方便处理数据 //将即分裂返回，方便处理数据
sb.append("0" + towerDataBean.getSplitType()); sb.append("0" + towerDataBean.getSplitType());
if(radarStatus) {
//2.5-1.0后续添加逻辑，增加求点到雷达夹角，确认最佳测量角度
double[] goodAngle = dealWithCoordinatesAngel(coordinates, sensorDataBean);
//添加最佳测量角 //添加最佳测量角
int goodPitchAngle = (int) (ArithUtil.round(Math.abs(goodAngle[0]), 2) * 100); int goodPitchAngle = (int) (ArithUtil.round(Math.abs(goodAngle[0]), 2) * 100);
sb.append(ByteUtil.decIntToHexStr(goodPitchAngle, 2)); sb.append(ByteUtil.decIntToHexStr(goodPitchAngle, 2));
int goodRollAngle = (int) (ArithUtil.round(Math.abs(goodAngle[1]), 2) * 100); int goodRollAngle = (int) (ArithUtil.round(Math.abs(goodAngle[1]), 2) * 100);
sb.append(ByteUtil.decIntToHexStr(goodRollAngle, 2)); sb.append(ByteUtil.decIntToHexStr(goodRollAngle, 2));
}else {
sb.append("0000");
sb.append("0000");
}
String checkByte = ByteUtil.getSum16(sb.toString()); String checkByte = ByteUtil.getSum16(sb.toString());
sb.append(checkByte); sb.append(checkByte);
@ -372,12 +390,14 @@ public class SerialConnectUtils {
assert serialHelper != null; assert serialHelper != null;
Log.e(TAG, "2.测量数据返回：" + sb.toString()); Log.e(TAG, "2.测量数据返回：" + sb.toString());
serialHelper.sendHex(sb.toString()); serialHelper.sendHex(sb.toString());
} else {
SerialHelper serialHelper = serialHelperMap.get("数传");
assert serialHelper != null; // else {
serialHelper.sendHex("F0000002"); // SerialHelper serialHelper = serialHelperMap.get("数传");
Log.e(TAG, "激光雷达解析数据与分裂类型不匹配：" + calStandardDeviation); // assert serialHelper != null;
} // serialHelper.sendHex("F0000002");
// Log.e(TAG, "激光雷达解析数据与分裂类型不匹配：" + calStandardDeviation);
// }
} }
} }
} }