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@@ -4,6 +4,7 @@ import api.common.pojo.common.PageVO;
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import api.common.pojo.common.ResponseBodyVO;
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import api.common.pojo.constants.DictConstants;
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import api.common.pojo.param.KafkaParameter;
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+import api.common.pojo.param.MinioParameter;
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import api.common.pojo.param.project.ProjectTaskParam;
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import api.common.pojo.param.project.SceneScoreParam;
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import api.common.pojo.param.project.SimulationManualProjectKafkaParam;
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@@ -25,6 +26,7 @@ import api.common.util.TimeUtil;
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import com.css.simulation.resource.common.utils.AuthUtil;
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import com.css.simulation.resource.common.utils.PageUtil;
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import com.css.simulation.resource.feign.AlgoPlatformService;
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+import com.css.simulation.resource.feign.FileDownService;
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import com.css.simulation.resource.project.constants.ProjectConstants;
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import com.css.simulation.resource.project.enums.ProjectRunStateEnum;
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import com.css.simulation.resource.project.enums.SceneTypeEnum;
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@@ -42,6 +44,7 @@ import com.itextpdf.text.pdf.BaseFont;
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import com.itextpdf.text.pdf.PdfPCell;
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import com.itextpdf.text.pdf.PdfPTable;
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import com.itextpdf.text.pdf.PdfWriter;
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+import feign.Response;
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import lombok.SneakyThrows;
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import lombok.extern.slf4j.Slf4j;
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import org.springframework.beans.BeanUtils;
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@@ -88,6 +91,9 @@ public class SimulationProjectServiceImpl implements SimulationProjectService {
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@Resource
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AlgoPlatformService algoPlatformService;
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+ @Resource
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+ FileDownService fileDownService;
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+
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private String[] dateFmtArr= new String[]{"yyyyMMdd", "yyyy-MM-dd HH:mm:ss","yyyy-MM-dd"};
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@Override
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@@ -701,25 +707,198 @@ public class SimulationProjectServiceImpl implements SimulationProjectService {
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resultVo.setRunState(po.getRunState());
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resultVo.setFinishState(po.getRunResult());
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resultVo.setSceneDescribe("");
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- ///TODO 任务详情信息
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- resultVo.setMileage(po.getMileage());
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- resultVo.setAverageVelocity(po.getAverageVelocity());
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- resultVo.setMaximunSpeed(po.getMaximunSpeed());
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- resultVo.setMinimunVelocity(po.getMinimunVelocity());
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- resultVo.setMaximumDeceleration(po.getMaximumDeceleration());
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- resultVo.setMaximumSwingSpeed(po.getMaximumSwingSpeed());
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- resultVo.setSpeedVariance(saveTwoDecimalPlaces(po.getSpeedVariance()));
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- resultVo.setSpeedComfortLevel(po.getSpeedComfortLevel());
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- resultVo.setSwingSpeedMeanSquareRoot(saveTwoDecimalPlaces(po.getSwingSpeedMeanSquareRoot()));
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- resultVo.setSwingComfortLevel(po.getSwingComfortLevel());
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- resultVo.setAcceleration(po.getAcceleration());
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- resultVo.setLaneOffset(po.getLaneOffset());
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- resultVo.setBrake(po.getBrake());
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- resultVo.setSteetingWheel(po.getSteetingWheel());
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- resultVo.setThrottle(po.getThrottle());
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- resultVo.setYawRate(po.getYawRate());
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- resultVo.setVelocity(po.getVelocity());
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- resultVo.setOtherCurve(po.getOtherCurve());
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+
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+
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+ ///TODO 1.获取仿真结果文件
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+ try {
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+ //2.解析仿真文件
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+ //time
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+ List<Double> time_list = new ArrayList<>();
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+ //velocity
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+ List<Double> velocity_list = new ArrayList<>();
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+ List<Double> lateral_velocity_list = new ArrayList<>();//横 时间
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+ List<Double> longitudinal_velocity_list = new ArrayList<>();//纵 速度
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+ //acceleration
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+ List<Double> acceleration_list = new ArrayList<>();
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+ List<Double> lateral_acceleration = new ArrayList<>();//纵向加速度
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+ List<Double> longitudinal_acceleration_list = new ArrayList<>();//纵向加速度
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+ //lane_offset
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+ List<Double> lane_offset_list = new ArrayList<>();
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+ ///TODO brake
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+ List<Double> brake_list = new ArrayList<>();
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+ //steeting_wheel
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+ List<Double> steeting_wheel_list = new ArrayList<>();
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+ ///TODO throttle
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+ List<Double> throttle_list = new ArrayList<>();
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+
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+
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+ List<Double> yawrate_list = new ArrayList<>();//摆角速度
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+
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+ File file = new File("E:\\仿真云平台\\任务详情界面数据\\Ego(1).csv");
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+ InputStream fileInputStream = new FileInputStream(file);
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+ InputStreamReader inputStreamReader = new InputStreamReader(fileInputStream,"utf-8");
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+
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+/* MinioParameter minioParameter = new MinioParameter();
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+// minioParameter.setObjectName(po.getRunResultFilePath()+"/ego.csv");
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+ minioParameter.setObjectName("test/ego.csv");
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+ Response download = fileDownService.download(minioParameter);
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+ Response.Body body = download.body();
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+ InputStream inputStream = body.asInputStream();
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+ InputStreamReader inputStreamReader = new InputStreamReader(inputStream,"utf-8");*/
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+
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+ BufferedReader bufferedReader = new BufferedReader(inputStreamReader);
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+ String line;
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+ int lineIndex = 0;
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+ while((line = bufferedReader.readLine()) != null){
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+ lineIndex++;
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+ if(lineIndex == 1){
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+ continue;
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+ }
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+ String[] split = line.split(",");
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+
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+ try {
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+ time_list.add(Double.valueOf(split[1]));
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+ }catch (NumberFormatException e){
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+ time_list.add(0D);
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+ }
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+
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+
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+ try {
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+ lateral_velocity_list.add(Double.valueOf(split[6]));
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+ }catch (NumberFormatException e){
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+ lateral_velocity_list.add(0D);
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+ }
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+
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+ try {
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+ longitudinal_velocity_list.add(Double.valueOf(split[7]));
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+ }catch (NumberFormatException e){
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+ longitudinal_velocity_list.add(0D);
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+ }
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+
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+
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+ try {
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+ lateral_acceleration.add(Double.valueOf(split[8]));
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+ }catch (NumberFormatException e){
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+ lateral_acceleration.add(0D);
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+ }
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+
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+ try {
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+ longitudinal_acceleration_list.add(Double.valueOf(split[9]));
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+ }catch (NumberFormatException e){
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+ longitudinal_acceleration_list.add(0D);
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+ }
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+
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+ try {
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+ steeting_wheel_list.add(Double.valueOf(split[12]));//steering_angle
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+ }catch (NumberFormatException e){
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+ steeting_wheel_list.add(0D);
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+ }
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+
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+ try {
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+ yawrate_list.add(Double.valueOf(split[13]));
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+ }catch (NumberFormatException e){
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+ yawrate_list.add(0D);
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+ }
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+
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+ try {
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+ lane_offset_list.add(Double.valueOf(split[27]));//lane_center_offset
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+ }catch (NumberFormatException e){
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+ lane_offset_list.add(0D);
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+ }
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+
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+// brake_list.add(Double.valueOf(split[7])); ///TODO 没有
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+// throttle_list.add(Double.valueOf(split[7]));///TODO 没有
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+
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+ }
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+ //里程
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+ Double lc = 0D;
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+ for(int i=0; i<time_list.size(); i++){
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+ if(i == 0){
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+ continue;
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+ }
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+ lc += (time_list.get(i)-time_list.get(i-1))*longitudinal_velocity_list.get(i-1);
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+
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+ }
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+
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+ //平均速度
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+ Double pjsd = lc/time_list.get(time_list.size()-1);
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+
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+ //最大速度
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+ Double zdsd = Collections.max(longitudinal_velocity_list);
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+
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+ //最小速度
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+ Double zxsd = Collections.min(longitudinal_velocity_list);
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+
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+ //最大加速度
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+ Double zdjiasd = Collections.max(longitudinal_acceleration_list);
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+
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+ //最大减速度
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+ Double zdjiansd = Collections.min(longitudinal_acceleration_list);
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+
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+ //最大摆角速度
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+ Double zdbjsd = Collections.max(yawrate_list);
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+
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+ //自车速度方差
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+ Double zcsdfc = 0D;
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+ for(Double d :longitudinal_velocity_list){
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+ zcsdfc +=Math.pow(d-pjsd,2);
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+ }
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+ zcsdfc = zcsdfc/longitudinal_velocity_list.size();
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+
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+ //自车横摆角速度均方根
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+ Double zchbjsdjfg = 0D;
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+ for(Double d :yawrate_list){
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+ zchbjsdjfg += Math.pow(d-pjsd,2);
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+ }
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+ zchbjsdjfg = Math.sqrt(zchbjsdjfg/yawrate_list.size());
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+
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+ for(int i=0; i<lateral_acceleration.size(); i++){
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+ Double aDouble = lateral_acceleration.get(i);
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+ Double aDouble1 = longitudinal_acceleration_list.get(i);
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+ Double d = Math.pow(aDouble,2)+Math.pow(aDouble1,2);
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+ acceleration_list.add(Math.sqrt(d));
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+ }
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+
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+ for(int i=0; i<lateral_velocity_list.size(); i++){
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+ Double aDouble = lateral_velocity_list.get(i);
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+ Double aDouble1 = longitudinal_velocity_list.get(i);
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+ Double d = Math.pow(aDouble,2)+Math.pow(aDouble1,2);
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+ velocity_list.add(d);
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+ }
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+
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+ //任务详情信息
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+ resultVo.setMileage(lc.toString());
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+ resultVo.setAverageVelocity(pjsd.toString());
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+ resultVo.setMaximunSpeed(zdsd.toString());
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+ resultVo.setMinimunVelocity(zxsd.toString());
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+ resultVo.setMaximumAcceleration(zdjiasd.toString());
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+ resultVo.setMaximumDeceleration(zdjiansd.toString());
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+ resultVo.setMaximumSwingSpeed(zdbjsd.toString());
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+ resultVo.setSpeedVariance(zcsdfc);
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+// resultVo.setSpeedComfortLevel(po.getSpeedComfortLevel());
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+
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+ resultVo.setSwingSpeedMeanSquareRoot(zchbjsdjfg);
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+// resultVo.setSwingComfortLevel(po.getSwingComfortLevel());
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+
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+ HashMap<String, List> CurveData = new HashMap<>();
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+ CurveData.put("time",time_list);
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+ CurveData.put("acceleration",acceleration_list);
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+ CurveData.put("lane_offset",lane_offset_list);
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+ CurveData.put("brake",brake_list);
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+ CurveData.put("steeting",steeting_wheel_list);
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+ CurveData.put("throttle",throttle_list);
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+ CurveData.put("yaw_rate",yawrate_list);
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+ CurveData.put("velocity",velocity_list);
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+ resultVo.setCurveData(CurveData);
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+
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+
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+ } catch (Exception e){
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+ e.printStackTrace();
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+
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+ }finally {
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+
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+ }
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+
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return new ResponseBodyVO(ResponseBodyVO.Response.SUCCESS,resultVo);
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}
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wangyaodong