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rev:处理舵轮角度小数点保留3位

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baoge
2023-10-19 14:02:23 +08:00
parent 3776a50ad5
commit 449cfc9241
1 changed files with 10 additions and 14 deletions
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24
nladmin-system/src/main/java/org/nl/agv/service/impl/VehicleInfoServiceImpl.java
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@@ -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);