修改漫游点数据结09点38分

sxz-application/src/main/java/com.fdkk.sxz/main.java

@@ -1,29 +1,189 @@
 package com.fdkk.sxz;
 
-import cn.hutool.core.date.TimeInterval;
-import cn.hutool.core.lang.Console;
-import cn.hutool.core.thread.ThreadUtil;
+import com.alibaba.fastjson.JSON;
+import com.alibaba.fastjson.JSONArray;
+import com.alibaba.fastjson.JSONObject;
+
+import java.util.ArrayList;
+import java.util.List;
+import java.util.Map;
+import java.util.stream.Collectors;
 
 public class main {
     public static void main(String[] args) {
-        final TimeInterval timer = new TimeInterval();
-
-// 分组1
-        timer.start();
-        ThreadUtil.sleep(800);
-        Console.log("Timer 1 took {} ms", timer.intervalMs());
-
-        timer.intervalRestart();
-        ThreadUtil.sleep(1500);
-
-        Console.log("Timer 2 took {} Second", timer.intervalMs());
-
-        Console.log("Timer 2 took {} intervalRestart", timer.intervalRestart());
-
-        ThreadUtil.sleep(3500);
-        timer.restart();
-        ThreadUtil.sleep(1200);
-        Console.log("Timer 3 took {} Second", timer.intervalMs());
+        String json = "{\n" +
+                "    \"sweepLocations\": [\n" +
+                "        {\n" +
+                "            \"subgroup\": 0,\n" +
+                "            \"pose\": {\n" +
+                "                \"rotation\": {\n" +
+                "                    \"w\": 0.95928264,\n" +
+                "                    \"x\": -0.0017092235,\n" +
+                "                    \"y\": -0.0016763769,\n" +
+                "                    \"z\": -0.28243768\n" +
+                "                },\n" +
+                "                \"translation\": {\n" +
+                "                    \"x\": 3.6112025,\n" +
+                "                    \"y\": 0.12166519,\n" +
+                "                    \"z\": 0.07516695\n" +
+                "                }\n" +
+                "            },\n" +
+                "            \"visibles3\": [\n" +
+                "                1,\n" +
+                "                2,\n" +
+                "                3\n" +
+                "            ],\n" +
+                "            \"visibles2\": [\n" +
+                "                1,\n" +
+                "                2,\n" +
+                "                3\n" +
+                "            ],\n" +
+                "            \"puck\": {\n" +
+                "                \"x\": 3.6112025,\n" +
+                "                \"y\": 0.12166519,\n" +
+                "                \"z\": -1.39718955\n" +
+                "            },\n" +
+                "            \"uuid\": \"0\",\n" +
+                "            \"visibles\": [\n" +
+                "                1,\n" +
+                "                2,\n" +
+                "                3\n" +
+                "            ],\n" +
+                "            \"group\": 1\n" +
+                "        },\n" +
+                "        {\n" +
+                "            \"subgroup\": 0,\n" +
+                "            \"pose\": {\n" +
+                "                \"rotation\": {\n" +
+                "                    \"w\": 0.97998166,\n" +
+                "                    \"x\": -0.00051350286,\n" +
+                "                    \"y\": -0.00007887775,\n" +
+                "                    \"z\": -0.19908713\n" +
+                "                },\n" +
+                "                \"translation\": {\n" +
+                "                    \"x\": 1.6813623,\n" +
+                "                    \"y\": 0.20879818,\n" +
+                "                    \"z\": 0.07516695\n" +
+                "                }\n" +
+                "            },\n" +
+                "            \"visibles3\": [\n" +
+                "                0,\n" +
+                "                2,\n" +
+                "                3\n" +
+                "            ],\n" +
+                "            \"visibles2\": [\n" +
+                "                0,\n" +
+                "                2,\n" +
+                "                3\n" +
+                "            ],\n" +
+                "            \"puck\": {\n" +
+                "                \"x\": 1.6813623,\n" +
+                "                \"y\": 0.20879818,\n" +
+                "                \"z\": -1.39718955\n" +
+                "            },\n" +
+                "            \"uuid\": \"2\",\n" +
+                "            \"visibles\": [\n" +
+                "                0,\n" +
+                "                2,\n" +
+                "                3\n" +
+                "            ],\n" +
+                "            \"group\": 1\n" +
+                "        },\n" +
+                "        {\n" +
+                "            \"subgroup\": 0,\n" +
+                "            \"pose\": {\n" +
+                "                \"rotation\": {\n" +
+                "                    \"w\": 0.7688388,\n" +
+                "                    \"x\": -0.0022818057,\n" +
+                "                    \"y\": 0.0016657045,\n" +
+                "                    \"z\": -0.6394364\n" +
+                "                },\n" +
+                "                \"translation\": {\n" +
+                "                    \"x\": -1.0941758,\n" +
+                "                    \"y\": -0.15828772,\n" +
+                "                    \"z\": 0.07516695\n" +
+                "                }\n" +
+                "            },\n" +
+                "            \"visibles3\": [\n" +
+                "                0,\n" +
+                "                1,\n" +
+                "                3\n" +
+                "            ],\n" +
+                "            \"visibles2\": [\n" +
+                "                0,\n" +
+                "                1,\n" +
+                "                3\n" +
+                "            ],\n" +
+                "            \"puck\": {\n" +
+                "                \"x\": -1.0941758,\n" +
+                "                \"y\": -0.15828772,\n" +
+                "                \"z\": -1.39718955\n" +
+                "            },\n" +
+                "            \"uuid\": \"4\",\n" +
+                "            \"visibles\": [\n" +
+                "                0,\n" +
+                "                1,\n" +
+                "                3\n" +
+                "            ],\n" +
+                "            \"group\": 1\n" +
+                "        },\n" +
+                "        {\n" +
+                "            \"subgroup\": 1,\n" +
+                "            \"pose\": {\n" +
+                "                \"rotation\": {\n" +
+                "                    \"w\": 0.75378096,\n" +
+                "                    \"x\": -0.00085483055,\n" +
+                "                    \"y\": 0.0011985971,\n" +
+                "                    \"z\": -0.6571241\n" +
+                "                },\n" +
+                "                \"translation\": {\n" +
+                "                    \"x\": -4.213454,\n" +
+                "                    \"y\": -0.17369196,\n" +
+                "                    \"z\": 0.07516695\n" +
+                "                }\n" +
+                "            },\n" +
+                "            \"visibles3\": [\n" +
+                "                0,\n" +
+                "                1,\n" +
+                "                2\n" +
+                "            ],\n" +
+                "            \"visibles2\": [\n" +
+                "                0,\n" +
+                "                1,\n" +
+                "                2\n" +
+                "            ],\n" +
+                "            \"puck\": {\n" +
+                "                \"x\": -4.213454,\n" +
+                "                \"y\": -0.17369196,\n" +
+                "                \"z\": -1.39718955\n" +
+                "            },\n" +
+                "            \"uuid\": \"6\",\n" +
+                "            \"visibles\": [\n" +
+                "                0,\n" +
+                "                1,\n" +
+                "                2\n" +
+                "            ],\n" +
+                "            \"group\": 1\n" +
+                "        }\n" +
+                "    ]\n" +
+                "}";
+        JSONObject visionJson = JSON.parseObject(json);
+        JSONArray sweepArray = visionJson.getJSONArray("sweepLocations");
+        List<JSONObject> roamingPoint = new ArrayList();
+        for (int i = 0; i < sweepArray.size(); i++) {
+            JSONObject objectJson = sweepArray.getJSONObject(i);
+            JSONObject newJson = new JSONObject();
+            newJson.put("uuid", objectJson.getString("uuid"));
+            JSONObject puck = objectJson.getJSONObject("puck");
+            puck.put("y", puck.getDoubleValue("y") * -1);
+            puck.remove("z");
+            newJson.put("puck", puck);
+            newJson.put("subgroup", objectJson.getInteger("subgroup"));
+            roamingPoint.add(newJson);
+        }
+        Map<Integer, List<JSONObject>> subgroup = roamingPoint.stream().collect(
+                Collectors.groupingBy(x -> x.getInteger("subgroup")));
 
+        System.out.println(JSON.toJSONString(subgroup));
     }
 }

sxz-core/src/main/java/com/fdkk/sxz/webApi/controller/ImportDataController.java

@@ -43,6 +43,7 @@ import java.util.HashMap;
 import java.util.List;
 import java.util.Map;
 import java.util.concurrent.atomic.AtomicBoolean;
+import java.util.stream.Collectors;
 
 /**
  * Created by Hb_zzZ on 2020/6/19.
@@ -191,7 +192,7 @@ public class ImportDataController extends BaseController {
             JSONObject visionJson = JSON.parseObject(FileUtils.readFile(filePath + "/vision.txt"));
 
             JSONArray sweepArray = visionJson.getJSONArray("sweepLocations");
-            JSONArray roamingPoint = new JSONArray();
+            List<JSONObject> roamingPoint = new ArrayList();
             for (int i = 0; i < sweepArray.size(); i++) {
                 JSONObject objectJson = sweepArray.getJSONObject(i);
                 JSONObject newJson = new JSONObject();
@@ -200,11 +201,12 @@ public class ImportDataController extends BaseController {
                 puck.put("y", puck.getDoubleValue("y") * -1);
                 puck.remove("z");
                 newJson.put("puck", puck);
-                Map<Object, Object> newData = new HashMap<>();
-                newData.put(objectJson.getString("subgroup"), newJson);
-                roamingPoint.add(newData);
+                newJson.put("subgroup", objectJson.getInteger("subgroup"));
+                roamingPoint.add(newJson);
             }
-            FileUtils.writeFile(filePath + File.separator + "roamingPoint.json", roamingPoint.toJSONString());
+            Map<Integer, List<JSONObject>> subgroup = roamingPoint.stream().collect(
+                    Collectors.groupingBy(x -> x.getInteger("subgroup")));
+            FileUtils.writeFile(filePath + File.separator + "roamingPoint.json", JSON.toJSONString(subgroup));
 
             //数据上传oss，让计算服务器下载资源
             uploadToOssUtil.upload(filePath + File.separator + "roamingPoint.json",
@@ -532,7 +534,7 @@ public class ImportDataController extends BaseController {
                     if (sweepArray != null && sweepArray.size() > 0) {
                         entryJson.put("noSetting", sweepArray.getJSONObject(0));
                         //处理漫游点供前端使用
-                        JSONArray roamingPoint = new JSONArray();
+                        List<JSONObject> roamingPoint = new ArrayList();
                         for (int i = 0; i < sweepArray.size(); i++) {
                             JSONObject objectJson = sweepArray.getJSONObject(i);
                             JSONObject newJson = new JSONObject();
@@ -541,12 +543,12 @@ public class ImportDataController extends BaseController {
                             puck.put("y", puck.getDoubleValue("y") * -1);
                             puck.remove("z");
                             newJson.put("puck", puck);
-                            Map<Object, Object> newData = new HashMap<>();
-                            newData.put(objectJson.getString("subgroup"), newJson);
-                            roamingPoint.add(newData);
+                            newJson.put("subgroup", objectJson.getInteger("subgroup"));
+                            roamingPoint.add(newJson);
                         }
-                        FileUtils.writeFile(basePath + File.separator + "roamingPoint.json", roamingPoint.toJSONString());
-
+                        Map<Integer, List<JSONObject>> subgroup = roamingPoint.stream().collect(
+                                Collectors.groupingBy(x -> x.getInteger("subgroup")));
+                        FileUtils.writeFile(basePath + File.separator + "roamingPoint.json", JSON.toJSONString(subgroup));
                         //数据上传oss，让计算服务器下载资源
                         uploadToOssUtil.upload(basePath + File.separator + "roamingPoint.json",
                                 "data/data" + num + "/roamingPoint.json");