From 449cfc9241150500e60166349db19b3e75cbb30c Mon Sep 17 00:00:00 2001 From: baoge <751575283@qq.com> Date: Thu, 19 Oct 2023 14:02:23 +0800 Subject: [PATCH] =?UTF-8?q?rev:=E5=A4=84=E7=90=86=E8=88=B5=E8=BD=AE?= =?UTF-8?q?=E8=A7=92=E5=BA=A6=E5=B0=8F=E6=95=B0=E7=82=B9=E4=BF=9D=E7=95=99?= =?UTF-8?q?3=E4=BD=8D?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../service/impl/VehicleInfoServiceImpl.java | 24 ++++++++----------- 1 file changed, 10 insertions(+), 14 deletions(-) diff --git a/nladmin-system/src/main/java/org/nl/agv/service/impl/VehicleInfoServiceImpl.java b/nladmin-system/src/main/java/org/nl/agv/service/impl/VehicleInfoServiceImpl.java index 43aaa32..a475079 100644 --- a/nladmin-system/src/main/java/org/nl/agv/service/impl/VehicleInfoServiceImpl.java +++ b/nladmin-system/src/main/java/org/nl/agv/service/impl/VehicleInfoServiceImpl.java @@ -31,6 +31,7 @@ import org.springframework.stereotype.Service; import javax.annotation.Resource; import java.math.BigDecimal; +import java.math.RoundingMode; import java.util.HashMap; import java.util.Map; import java.util.concurrent.ThreadPoolExecutor; @@ -208,29 +209,24 @@ public class VehicleInfoServiceImpl implements VehicleInfoService{ } row.put("working_status", working_status); row.put("vehicle_status", vehicle_status); - BigDecimal x = new BigDecimal(debugInfoJson.getString("Car_Global_rx")); - //保留两位小数且四舍五入 - x = x.setScale(3, BigDecimal.ROUND_HALF_UP); + //保留三位小数且四舍五入 + BigDecimal x = new BigDecimal(debugInfoJson.getString("Car_Global_rx")).setScale(3, RoundingMode.HALF_UP); row.put("x", x); - BigDecimal y = new BigDecimal(debugInfoJson.getString("Car_Global_ry")); - //保留两位小数且四舍五入 - y = y.setScale(3, BigDecimal.ROUND_HALF_UP); + BigDecimal y = new BigDecimal(debugInfoJson.getString("Car_Global_ry")).setScale(3, RoundingMode.HALF_UP); row.put("y", y); - row.put("z", debugInfoJson.getString("Car_Global_Theta")); + //航向角度 + BigDecimal z = new BigDecimal(debugInfoJson.getString("Car_Global_Theta")).setScale(3, RoundingMode.HALF_UP); + row.put("z",z ); row.put("send_speed", debugInfoJson.getString("VehicleCtrlExpThrottle")); row.put("real_speed", debugInfoJson.getString("Speedm_Tmp")); - //保留3位小数 //舵轮角度 row.put("carrier", debugInfoJson.getString("SVreal_angle")); - //保留3位小数 //横向偏差 - BigDecimal Lateral_Deviation_m = new BigDecimal(debugInfoJson.getString("Lateral_Deviation_m")); - Lateral_Deviation_m = Lateral_Deviation_m.setScale(3, BigDecimal.ROUND_HALF_UP); + BigDecimal Lateral_Deviation_m = new BigDecimal(debugInfoJson.getString("Lateral_Deviation_m")).setScale(3, RoundingMode.HALF_UP); row.put("landscape_deviation", Lateral_Deviation_m); //航向偏差 - BigDecimal Vertical_Deviation_deg = new BigDecimal(debugInfoJson.getString("Vertical_Deviation_deg")); - Lateral_Deviation_m = Lateral_Deviation_m.setScale(3, BigDecimal.ROUND_HALF_UP); - row.put("course_deviation", debugInfoJson.getString("Vertical_Deviation_deg")); + BigDecimal Vertical_Deviation_deg = new BigDecimal(debugInfoJson.getString("Vertical_Deviation_deg")).setScale(3, RoundingMode.HALF_UP); + row.put("course_deviation", Vertical_Deviation_deg); returnjo.put("code", "1"); returnjo.put("desc", "查询成功！"); returnjo.put("result", row);