王耀栋--工作台模块代码,任务详情

api-common/src/main/java/api/common/pojo/po/project/ManualProjectTaskPo.java

@@ -54,6 +54,9 @@ public class ManualProjectTaskPo extends BasePo {
     //最小速度
     private String minimunVelocity;
 
+    //最大加速度
+    private String maximumAcceleration;
+
     //最大减速度
     private String maximumDeceleration;
 

api-common/src/main/java/api/common/pojo/vo/project/ProjectTaskDetailsVo.java

@@ -3,6 +3,8 @@ package api.common.pojo.vo.project;
 import lombok.Getter;
 import lombok.Setter;
 
+import java.util.Map;
+
 /**
  * 任务详情
  */
@@ -43,6 +45,9 @@ public class ProjectTaskDetailsVo {
     //最小速度
     private String minimunVelocity;
 
+    //最大加速度
+    private String maximumAcceleration;
+
     //最大减速度
     private String maximumDeceleration;
 
@@ -85,5 +90,8 @@ public class ProjectTaskDetailsVo {
     //其他
     private String otherCurve;
 
+    //变化曲线
+    private Map CurveData;
+
 
 }

simulation-resource-server/src/main/java/com/css/simulation/resource/project/impl/SimulationProjectServiceImpl.java

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