Merge branch 'master' of http://101.36.160.140:21044/numberPro/numberCloud

src/main/java/com/unissoft/interaction/algorithm/SquareAlg.java

@@ -60,7 +60,7 @@ public class SquareAlg {
 			double AB = 0; //理想状态 垂直三角形的底边AB 实际是平面三角形的斜边
 		    double level_angle = 0;//水平转动的角度
 		    double vertical_angle = 0;//垂直转动角度
-		    double BC = 0; //设备和粮面点之间的距离
+		    double BC = 0; //设备和粮面点之间的距离(垂直三角形的斜边)
 		    
 		    int level_angle1 = 0;//水平转动的角度
 		    int vertical_angle1 = 0;//垂直转动角度
@@ -70,9 +70,9 @@ public class SquareAlg {
 				  y = spacingDistance * i;
 				  //System.out.println("("+x+","+y+")");
 				  AB = Math.sqrt(x*x+y*y);
-				  if(x == 0 && y >= 0){
+				  if(x == 0 && y >= 0){//y轴的正半轴以及原点
 					  level_angle = 0;
-				  }else if(y == 0 && x != 0){ 
+				  }else if(y == 0 && x != 0){//x轴的负半轴
 					  level_angle = -90;
 				  }else{
 					  level_angle = -Math.toDegrees(Math.atan((Math.abs(x))/y));
@@ -102,7 +102,7 @@ public class SquareAlg {
 					  y = spacingDistance * i;
 					  //System.out.println("("+x+","+y+")");
 					  AB = Math.sqrt(x*x+y*y);
-					  if(y == 0){
+					  if(y == 0){//x轴的正半轴
 						  level_angle = 90;
 					  }else{ 
 						  level_angle = Math.toDegrees(Math.atan(x/y));
@@ -131,7 +131,7 @@ public class SquareAlg {
 				  y = -spacingDistance * i;
 				  //System.out.println("("+x+","+y+")");
 				  AB = Math.sqrt(x*x+y*y);
-				  if(x == 0){
+				  if(x == 0){//y轴的负半轴
 					  level_angle = 0;
 				  }else{
 					  level_angle = Math.toDegrees(Math.atan((Math.abs(x))/y));
@@ -310,14 +310,168 @@ public class SquareAlg {
 	    
 	    
 	    /**
-	     * 计算体积---------------todo
+	     * 计算体积---------------
 	     *
 	     * @param zList 粮面高集合(z值的集合)
 	     */
-	    public static double calculateVolume(List<Double> zList,double houseWideOn,double houseWideUnder,double houseLengthLeft,double houseLengthRight,double houseHight) {
-	    	double v = 0; 
+	    public static double calculateVolume(List<Double> zList,double houseLength,double houseWide,double houseHight) {
+	    	
+	    	//17.1  18.3  19.2  18.3    20.1  16.4  19.8  16.7  19.0  18.9
+	        Double zMin = Collections.min(zList); //z的最小值
+
+	        double sum = 0;
+	        double zHeigh = 0;//每一个z与最低点的z差值
+	        for (int i = 0; i < zList.size(); i++) {
+	            //sum = zList.get(i)+sum;
+	            zHeigh = zList.get(i) - zMin;
+	            sum += zHeigh;
+	        }
+	        /** v 是总体积
+	         * v1 最上面的那一部分不规则的体积
+	         * v2 是长方体的体积
+	         * 
+	         */
+
+	        double v1 = houseLength * houseWide * (sum / zList.size());
+	        double v2 = houseLength * houseWide * houseHight;
+	        double sumV = v1 + v2;
+	        BigDecimal bdv = BigDecimal.valueOf(sumV);
+	        double v = bdv.setScale(2, RoundingMode.HALF_UP).doubleValue();
 	    	return v;
 	    }
 	    
 	    
+
+	    /**
+	     * 计算实际的点的坐标
+	     */
+	    public static String getCoordinates(String rotationxy, double houseWideOn,double houseWideUnder,double houseLengthLeft,double houseLengthRight, double high) {
+	    	
+	    	StringBuffer pointSb = new StringBuffer();
+	    	pointSb.append("[");
+	    	
+	    	String pointString = null;//所有的点
+	    	String xyz = null;//每个点的坐标
+
+	        double AC = high;
+	        //double B1C = 0;//设备和粮面点之间的距离
+	        double A1B1 = 0;//粮面的点到设备的水平距离
+	        double x = 0; //实际点的坐标的x轴
+	        double y = 0; //实际点的坐标的y轴
+	        double z = 0; //实际点的坐标的z轴
+	        //加一个边界值后的横纵坐标
+	        double x1 = 0;
+	        double y1 = 0;
+	        //给三维的坐标
+	        int x2 = 0;
+	        int y2 = 0;
+	        double verticalAngle = 0;//垂直角度
+	        double levelAngle = 0;//水平角度
+	        double realHypotenuse = 0;//返回的距离即设备和粮面间两点的距离
+	        
+	        double oa = houseLengthLeft; //x的左半轴(长)
+    		double ob = houseWideOn; //y的上半轴(宽)
+    		double oc = houseLengthRight; //x的右半轴(长)
+    		double od = houseWideUnder; //y的下半轴(宽)
+    		
+	        BigDecimal baseNumber = new BigDecimal(basicData);
+
+	        //  "18,7,17.88 ; 19,6,28.88 ; 17,4,39.88"  垂直角度，水平角度，返回距离 ;
+	        String[] split = rotationxy.split(";");
+	        for (int i = 0; i < split.length; i++) {
+	            //System.out.println("split[i]是:"+split[i]);
+	            String[] split1 = split[i].split(",");
+	            verticalAngle = new BigDecimal(split1[0]).divide(baseNumber, 0, RoundingMode.HALF_UP).doubleValue();
+	            levelAngle = new BigDecimal(split1[1]).divide(baseNumber, 0, RoundingMode.HALF_UP).doubleValue();
+	            realHypotenuse = new BigDecimal(split1[2]).divide(new BigDecimal(1000), 2, RoundingMode.HALF_UP).doubleValue(); //单位转化为米
+
+	            //将垂直的角度转化为弧度
+	            double verticalAngleRadians = Math.toRadians(verticalAngle);
+	            //垂直角度的sin
+	            String verticalAngleS = String.format("%.2f%n", Math.sin(verticalAngleRadians));
+	            double sinVerticalAngle = new Double(verticalAngleS);
+	            //垂直角度的cos
+	            String verticalAngleC = String.format("%.2f%n", Math.cos(verticalAngleRadians));
+	            double cosVerticalAngle = new Double(verticalAngleC);
+	            
+	            //将水平的角度转化为弧度
+	            double levelAngleRadians = Math.toRadians(levelAngle);
+	            //水平角度的sin
+	            String sinLevel = String.format("%.2f%n", Math.sin(levelAngleRadians));
+	            double sinLeveld = new Double(sinLevel);
+	            //水平角度的cos
+	            String cosLevel = String.format("%.2f%n", Math.cos(levelAngleRadians));
+	            double cosLeveld = new Double(cosLevel);
+
+	            //竖直三角形的底边 即 平面三角形的斜边   
+	            A1B1 = realHypotenuse * sinVerticalAngle; 
+
+	            //横坐标的距离(只有长度)
+	            x = Math.abs(A1B1 * cosLeveld ) ;
+	            //纵坐标的距离(只有长度)
+	            y = Math.abs(A1B1 * sinLeveld ) ;
+	            
+	            //判断真实的坐标与长宽的距离
+	            //四面都减少0.5米做安全隔墙 只要不在这范围的都算打在墙上(真实的坐标的距离都加0.5小于实际的边即可)
+	            
+	    		//加0.5后的横纵坐标的距离
+	    		x1 = x + boundaryValue;
+	    		y1 = y + boundaryValue;
+	    		
+	    		 
+	             //A1C 是粮面点到设备的垂直距离
+	             double A1C = realHypotenuse * cosVerticalAngle; 
+	             z = high - A1C;
+	            
+	             /*
+	              *  给三维的坐标是 1234 模块都属于第一象限 则需要将原点移动至仓房的左下角
+	              *  
+	              *  坐标移动 横坐标向左移动oa的长度 则＋oa(长度) 纵坐标向下移动od的长度 则＋od(长度)
+	              */
+	             
+	                x2 = (int) Math.round(x1+oa);
+	                y2 = (int) Math.round(y1+od);
+	                z = (double) (Math.round(z*100)/100);
+            		xyz = "["+x2+","+y2+","+z+"]"+",";
+
+	             if(levelAngle < 0 && verticalAngle>0 ){
+		            	//第一区域
+		            	if(x1<oa && y1<ob){
+		            		pointSb.append(xyz);
+		            	}
+		            }else if(levelAngle > 0 && verticalAngle>0){
+		            	//第二区域
+		            	if(x1<oc && y1<ob){
+		            		pointSb.append(xyz);
+		           	    }
+		            	
+		            }else if(levelAngle > 0 && verticalAngle<0){
+		            	//第三区域
+		            	if(x1<oa && y1<od){
+		            		pointSb.append(xyz);
+		           	    }
+		            	
+		            }else if(levelAngle < 0 && verticalAngle<0){
+		            	//第四区域
+		            	if(x1<oc && y1<od){
+		            		pointSb.append(xyz);
+		           	    }
+		            }else if(levelAngle == 0 || levelAngle == -90 || levelAngle == 90){
+		            	//坐标轴上的点
+		            	if(verticalAngle>0){
+		            		if(y1<ob){
+		            			pointSb.append(xyz);
+		            		}
+		            	}else if(verticalAngle<0){
+		            		if(y1<od){
+		            			pointSb.append(xyz);
+		            		}
+		            	}
+		            }
+	        }
+	        pointString = pointSb.substring(0, pointSb.toString().length()-1).toString()+"]";
+	        return pointString;
+	    	
+	    }
+	    
 }

src/main/java/com/unissoft/interaction/service/TeDataService.java

@@ -45,4 +45,10 @@ public interface TeDataService {
 
 	void scanTask(String cfId, Double diameter, Double h);
 
+	void tj(String taskID);
+
+	double calculateVolumeByOne(String taskID);
+
+	void calibration(String cfId, double diameter, double height);
+
 }

src/main/java/com/unissoft/interaction/service/TestTask.java

@@ -68,12 +68,17 @@ public class TestTask extends AbstractTask {
                 		teDataService.scanTask(cfId,diameter,h);
                 	}
                 	if(houseType.equals("21")){
-                		//平房仓的打点算法--------------todo
-                		double houseWideOn = 0 ; 
+                		//平房仓的打点算法--------------
+                		/*double houseWideOn = 0 ; 
                 		double houseWideUnder = 0;
                 		double houseLengthLeft = 0; 
                 		double houseLengthRight = 0;
-                		double houseHigh = 0;
+                		double houseHigh = 0;*/
+                		double houseWideOn = orgInfoHouse.getHouseWideOn().doubleValue();
+                		double houseWideUnder = orgInfoHouse.getHouseWideUnder().doubleValue();
+                		double houseLengthLeft = orgInfoHouse.getHouseLengthLeft().doubleValue();
+                		double houseLengthRight = orgInfoHouse.getHouseLengthRight().doubleValue();
+                		double houseHigh = Double.valueOf(orgInfoHouse.getHigh());
                 		squareService.scanSquareTask(cfId,houseWideOn, houseWideUnder, houseLengthLeft, houseLengthRight, houseHigh);
                 	}
         		}
@@ -89,7 +94,14 @@ public class TestTask extends AbstractTask {
 	         		teDataService.scanTask(houseId,diameter,h);
 		         }
 		         if(houseType.equals("21")){
-		         		//平房仓的打点算法
+		         	//平房仓的打点算法
+		        	double houseWideOn = orgInfoHouse.getHouseWideOn().doubleValue();
+             		double houseWideUnder = orgInfoHouse.getHouseWideUnder().doubleValue();
+             		double houseLengthLeft = orgInfoHouse.getHouseLengthLeft().doubleValue();
+             		double houseLengthRight = orgInfoHouse.getHouseLengthRight().doubleValue();
+             		double houseHigh = Double.valueOf(orgInfoHouse.getHigh());
+             		squareService.scanSquareTask(houseId,houseWideOn, houseWideUnder, houseLengthLeft, houseLengthRight, houseHigh);
+             	
 		         }
         	}
         	logger.info("检测任务结束");

src/main/java/com/unissoft/interaction/service/impl/SquareServiceImpl.java

@@ -1,5 +1,6 @@
 package com.unissoft.interaction.service.impl;
 
+import com.alibaba.fastjson.JSONArray;
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.unissoft.interaction.algorithm.SquareAlg;
 import com.unissoft.interaction.entity.ReMsg;
@@ -12,7 +13,9 @@ import com.unissoft.interaction.service.SquareService;
 import com.unissoft.parameter.mapper.HardwareParameterMapper;
 import com.unissoft.parameter.model.HardwareParameter;
 import com.unissoft.systemManage.mapper.OrgInfoMapper;
+import com.unissoft.systemManage.mapper.PointDataMapper;
 import com.unissoft.systemManage.model.OrgInfo;
+import com.unissoft.systemManage.model.PointData;
 
 import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;
@@ -21,6 +24,7 @@ import org.springframework.scheduling.annotation.Async;
 import org.springframework.stereotype.Service;
 import org.springframework.web.client.RestTemplate;
 
+import java.util.ArrayList;
 import java.util.Collections;
 import java.util.Date;
 import java.util.List;
@@ -66,6 +70,9 @@ public class SquareServiceImpl implements SquareService {
     @Resource
     private TeDataServiceImpl teDataServiceImpl;
     
+    @Resource
+    private PointDataMapper pointDataMapper;
+    
     
 
     /**
@@ -135,16 +142,23 @@ public class SquareServiceImpl implements SquareService {
             if(hardList.size()>0){
             	OrgInfo orgInfoHouse = orgInfoMapper.selectById(Integer.parseInt(houseId));//--------------------待完
             	
-            	double houseWideOn = 0;
+            	/*double houseWideOn = 0;
                 double houseWideUnder = 0;
                 double houseLengthLeft = 0;
                 double houseLengthRight = 0;
-                double houseHight = 0;
+                double houseHight = 0;*/
+            	
+            	double houseWideOn = orgInfoHouse.getHouseWideOn().doubleValue();
+         		double houseWideUnder = orgInfoHouse.getHouseWideUnder().doubleValue();
+         		double houseLengthLeft = orgInfoHouse.getHouseLengthLeft().doubleValue();
+         		double houseLengthRight = orgInfoHouse.getHouseLengthRight().doubleValue();
+         		double houseHight = Double.valueOf(orgInfoHouse.getHigh());
                 
                 
             	//计算以粮面为基准面的高
-                List<Double> zlist = SquareAlg.zHeight(teData.getRotationxy(),houseWideOn,houseWideUnder,houseLengthLeft,houseLengthRight,houseHight);
-                double zHeight = Collections.max(zlist);//纵坐标的最大值
+                List<Double> zList = SquareAlg.zHeight(teData.getRotationxy(),houseWideOn,houseWideUnder,houseLengthLeft,houseLengthRight,houseHight);
+                //double zHeight = Collections.max(zList);//纵坐标的最大值
+                double zHeight = Collections.min(zList);//纵坐标的最小值
                 double secondH = houseHight - zHeight;//仓房的高-点的纵坐标
                 logger.info("以粮面为基准面的高secondH {}",secondH);
 
@@ -170,6 +184,7 @@ public class SquareServiceImpl implements SquareService {
             //Te.addNBasicEdge(v,teData.getTaskID());
             teDataServiceImpl.addNBasicEdge(v, teData.getTaskID());
             //计算实际的点的坐标(用于三维展示)-------------todo
+            this.addPoint(teData.getTaskID());
             
         }
 
@@ -230,21 +245,93 @@ public class SquareServiceImpl implements SquareService {
         
         //根据仓房id查询其信息
     	String houseId = taskID.split(",")[0];//仓房id
-    	OrgInfo orgInfoHouse = orgInfoMapper.selectById(Integer.parseInt(houseId));//--------------------待完
+    	OrgInfo orgInfoHouse = orgInfoMapper.selectById(Integer.parseInt(houseId));//--------------------
     	
-    	double houseWideOn = 0;
+    	/*double houseWideOn = 0;
         double houseWideUnder = 0;
         double houseLengthLeft = 0;
         double houseLengthRight = 0;
-        double houseHight = 0;
+        double houseHight = 0;*/
+    	
+    	double houseWideOn = orgInfoHouse.getHouseWideOn().doubleValue();
+ 		double houseWideUnder = orgInfoHouse.getHouseWideUnder().doubleValue();
+ 		double houseLengthLeft = orgInfoHouse.getHouseLengthLeft().doubleValue();
+ 		double houseLengthRight = orgInfoHouse.getHouseLengthRight().doubleValue();
+ 		double houseLength = orgInfoHouse.getChang().doubleValue();
+ 		double houseWide = orgInfoHouse.getKuan().doubleValue();
+ 		double houseHight = Double.valueOf(orgInfoHouse.getHigh());
         
         
         //去除打在墙上的点 得到的集合是有效的点的纵坐标
         List<Double> zList = SquareAlg.zHeight(xyStr,houseWideOn,houseWideUnder,houseLengthLeft,houseLengthRight,houseHight);
         //体积
-        double v =SquareAlg.calculateVolume(zList,houseWideOn,houseWideUnder,houseLengthLeft,houseLengthRight,houseHight);
+        double v =SquareAlg.calculateVolume(zList,houseLength,houseWide,houseHight);
         return v;
 
     }
+    
+    
+    /**
+     * 实际打点的坐标
+     * @param taskId
+     */
+    public void addPoint(String taskId){
+    	PointData ponitData = new PointData();
+    	
+    	String houseId = taskId.split(",")[0];//仓房id
+        //获取仓房信息
+    	OrgInfo orgInfoHouse = orgInfoMapper.selectById(Integer.parseInt(houseId));
+		String high = orgInfoHouse.getHigh();//高
+		Double h = Double.parseDouble(high);
+		double houseWideOn = orgInfoHouse.getHouseWideOn().doubleValue();
+ 		double houseWideUnder = orgInfoHouse.getHouseWideUnder().doubleValue();
+ 		double houseLengthLeft = orgInfoHouse.getHouseLengthLeft().doubleValue();
+ 		double houseLengthRight = orgInfoHouse.getHouseLengthRight().doubleValue();
+ 		double length = orgInfoHouse.getChang().doubleValue();
+ 		double wide = orgInfoHouse.getKuan().doubleValue();
+    	//查询打点返回的数据
+    	StringBuffer sb = new StringBuffer();
+    	QueryWrapper<TeData> queryWrapper = new QueryWrapper<>();
+        List<TeData> teDataList = null;
+        queryWrapper.eq("taskID", taskId);
+        teDataList = teDataMapper.selectList(queryWrapper);
+        if(teDataList.size()>0){
+        	for (TeData teData : teDataList) {
+        		sb.append(teData.getRotationxy()+";");
+            	
+            }
+        	String rotationxy = sb.substring(0, sb.length()-1).toString();//发送的角度和返回的距离  150,50,90;200,-100,90;50,-50,90
+        	
+        	//计算实际的坐标
+        	String xyz = SquareAlg.getCoordinates(rotationxy,houseWideOn,houseWideUnder,houseLengthLeft,houseLengthRight , h);
+        	
+        	ponitData.setHouseId(orgInfoHouse.getId());
+        	ponitData.setCreateTime(new Date());
+        	ponitData.setLkHeight(high);//保存高
+    		ponitData.setPoints(xyz);//保存坐标
+    		ponitData.setLength(length+"");//仓房的长
+    		ponitData.setWide(wide+"");//仓房的宽
+    		
+    		//String jsonString = "[[1,2,3],[4,5,62.33],[1,5,2.3]]";
+    		JSONArray jsonArray=JSONArray.parseArray(xyz);
+    		List<Double> list = new ArrayList<>();
+    		
+    		for(int i=0;i<jsonArray.size();i++){
+    		    double z = Double.parseDouble(jsonArray.get(i).toString().split(",")[2].split("]")[0]);
+    		    list.add(z);
+    		    //System.out.println(z);
+    		}
+    		Double max = Collections.max(list);
+    		max = (double) (Math.round(max*100)/100);
+    	    Double min = Collections.min(list);
+    	    min = (double) (Math.round(min*100)/100);
+    	    Double minHeigth = (max+min)/2;
+    	    ponitData.setVerticalMaxHeigth(max+"");//垂直最大高度
+    	    ponitData.setVerticalMinHeigth(min+"");//垂直最小高度
+    	    ponitData.setMinHeigth(minHeigth+"");//----------------待确定
+    		pointDataMapper.insert(ponitData);
+        	
+        }
+    }
 
 }

src/main/java/com/unissoft/interaction/service/impl/TeDataServiceImpl.java

@@ -101,7 +101,7 @@ public class TeDataServiceImpl implements TeDataService {
         teData.setStime(date);
 
         // 第一次待打点
-        String rotationxy = CylinderAlg.getAveragePosition(diameter, high);
+        String rotationxy = CylinderAlg.getAveragePosition1(diameter, high);
         teData.setRotationxy(rotationxy);
         //int inum = teDataMapper.insert(teData);
 
@@ -140,7 +140,7 @@ public class TeDataServiceImpl implements TeDataService {
             String base_url = "http://"+hardList.get(0).getIpAdress()+":"+hardList.get(0).getPort()+"/";
 
             // 第一次待打点
-            String rotationxy = CylinderAlg.getAveragePosition(diameter, h);
+            String rotationxy = CylinderAlg.getAveragePosition1(diameter, h);
             teData.setRotationxy(rotationxy);
             logger.info("第一次打点的数据{}",teData);
             
@@ -191,16 +191,16 @@ public class TeDataServiceImpl implements TeDataService {
         		Double diameter = Double.parseDouble(radius)*2;//直径
         		Double h = Double.parseDouble(high);
         		
-                //double zHeight = CylinderAlg.zHeight(teData.getRotationxy(), diameter, h);
-                
         		List<Double> zList = CylinderAlg.getValidZ(teData.getRotationxy(), diameter, h);
         		double z = Collections.max(zList);//纵坐标的最大值
+        		double z1 = Collections.min(zList);//纵坐标的最小值
         		//第二次打点的高
-        		double secondH = h - z;//仓房的高-点的纵坐标
-                logger.info("z {} ，diameter {}，secondH {}",z,diameter,secondH);
+        		//double secondH = h - z;//仓房的高-点的纵坐标
+        		double secondH = z;
+                logger.info("z {} ，z1 {},diameter {}，secondH {}",z,z1,diameter,secondH);
 
                 //打点
-                String rotationxy = CylinderAlg.getAveragePosition(diameter, secondH);
+                String rotationxy = CylinderAlg.getAveragePosition1(diameter, secondH);
                 teData.setRotationxy(rotationxy);
                 teData.setStime(new Date());//第二次开始的时间
                 
@@ -217,7 +217,8 @@ public class TeDataServiceImpl implements TeDataService {
         } else { 
         	//打点两次完毕 计算体积
         	 logger.info("计算体积。。。。");
-            double v = this.calculateVolume(teData.getTaskID());
+            double v = this.calculateVolume(teData.getTaskID());//两次数据
+            //double v = this.calculateVolumeByOne(teData.getTaskID());//两次数据中的一条数据
             logger.info("计算体积是:{}",v);
             //增加数据到数据查询表(即体积、重量)
             this.addNBasicEdge(v,teData.getTaskID());
@@ -289,6 +290,42 @@ public class TeDataServiceImpl implements TeDataService {
         
     }
     
+    @Override
+    public double calculateVolumeByOne (String taskID){
+    	StringBuffer sb = new StringBuffer();
+    	Double v = new Double(0);
+    	QueryWrapper<TeData> queryWrapper = new QueryWrapper<>();
+
+        List<TeData> teDataList = null;
+        queryWrapper.eq("taskID", taskID);
+        teDataList = teDataMapper.selectList(queryWrapper);
+        
+        if(teDataList.size()>0){
+        	/*for (TeData teData : teDataList) {
+        		sb.append(teData.getRotationxy()+";");
+            }
+        	String rotationxy = sb.substring(0, sb.length()-1).toString();//发送的角度和返回的距离  150,50,90;200,-100,90;50,-50,90
+        	*/
+        	String rotationxy = teDataList.get(0).getRotationxy();
+        	//获取直径
+        	String houseId = taskID.split(",")[0];//仓房id
+        	OrgInfo orgInfoHouse = orgInfoMapper.selectById(Integer.parseInt(houseId));
+    		String radius = orgInfoHouse.getRadius();//仓房的半径
+    		Double diameter = Double.parseDouble(radius)*2;//直径
+    		String high = orgInfoHouse.getHigh();//高
+    		Double h = Double.parseDouble(high);
+    		
+    		//获取有效的z值
+        	List<Double> zList = CylinderAlg.getValidZ(rotationxy, diameter, h);
+            
+    		//计算体积
+            v = CylinderAlg.calculateVolume(zList, diameter, h1, h2); //体积
+        }
+        
+       return v;
+        
+    }
+    
     /**
      * 计算 质量  体积
      * @param lkVolume
@@ -411,7 +448,7 @@ public class TeDataServiceImpl implements TeDataService {
     	    min = (double) (Math.round(min*100)/100);
     	    Double minHeigth = (max+min)/2;
     	    ponitData.setVerticalMaxHeigth(max+"");//垂直最大高度
-    	    ponitData.setVerticalMinHeigth(min+"");//垂直最大高度
+    	    ponitData.setVerticalMinHeigth(min+"");//垂直最小高度
     	    ponitData.setMinHeigth(minHeigth+"");//----------------待确定
     		pointDataMapper.insert(ponitData);
         	
@@ -430,4 +467,53 @@ public class TeDataServiceImpl implements TeDataService {
     	
 	}
 
+	@Override
+	public void tj(String taskID) {
+		// TODO Auto-generated method stub
+		double v = this.calculateVolume(taskID);
+		
+		BigDecimal big_density = new BigDecimal(500); 
+	    BigDecimal big_lkVolume = new BigDecimal(v); //保留两位小数的体积
+	    BigDecimal quality = big_density.multiply(big_lkVolume).divide(new BigDecimal(1000)).setScale(2, RoundingMode.HALF_UP);
+		double m = Double.parseDouble(quality+"");//单位 吨
+		System.out.println("体积v:"+v+"-----"+"重量是："+m);
+		
+	}
+
+	@Override
+	public void calibration(String cfId, double diameter, double height) {
+		// TODO Auto-generated method stub
+		//根据仓房id 获取设备编号
+				QueryWrapper<HardwareParameter> queryWrapper = new QueryWrapper<>();
+		        queryWrapper.eq("house_id", Integer.parseInt(cfId));
+		        List<HardwareParameter> hardList = hardwareParameterMapper.selectList(queryWrapper);
+		        StringBuffer sb = new StringBuffer();
+		        if(hardList.size()>0){
+		        	logger.info("圆筒{}仓打点前校准的直径和高: {},{}",cfId ,diameter,height);
+		            STask task = new STask();
+		            Date date = new Date();
+		            task.setCtime(date);
+		            task.setDepict(cfId+"仓是否校准");
+		            sTaskMapper.insert(task);
+
+		            TeData teData = new TeData();
+		            teData.setEquipmentID(hardList.get(0).getDeviceCode());//设备id
+		            teData.setTaskID(cfId+","+ task.getId());//拼接一个仓房id
+		            teData.setStime(date);
+		            //IP地址
+		            String base_url = "http://"+hardList.get(0).getIpAdress()+":"+hardList.get(0).getPort()+"/";
+		            
+		            //打一个点判断是否校准 垂直角度90，水平不变
+		            int vertical = CylinderAlg.basicData*90;
+		            sb.append(vertical);
+		            sb.append(",");
+		            sb.append(0);
+		            teData.setRotationxy(sb.toString());
+		            //发送给硬件
+		            postHelper(teData,base_url);
+
+		        }
+	}
+
+
 }

src/main/java/com/unissoft/systemManage/mapper/PointDataMapper.xml

@@ -13,11 +13,15 @@
         <result column="vertical_max_heigth" property="verticalMaxHeigth" />
         <result column="vertical_min_heigth" property="verticalMinHeigth" />
         <result column="create_time" property="createTime" />
+        
+        <result column="length" property="length" />
+        <result column="wide" property="wide" />
     </resultMap>
 
     <!-- 通用查询结果列 -->
     <sql id="Base_Column_List">
-        id, house_id, lk_height, radius, points, min_heigth, vertical_max_heigth, vertical_min_heigth, create_time
+        id, house_id, lk_height, radius, points, min_heigth, vertical_max_heigth, vertical_min_heigth, 
+        create_time,length,wide
     </sql>
 
 </mapper>

src/main/java/com/unissoft/systemManage/model/OrgInfo.java

@@ -110,6 +110,24 @@ public class OrgInfo implements Serializable {
     private String radius;
     
     
+    
+    @ApiModelProperty(value = "平房仓中宽的上半部分")
+    @TableField("house_wide_on")
+    private BigDecimal houseWideOn;
+    
+    @ApiModelProperty(value = "平房仓中宽的下半部分")
+    @TableField("house_wide_under")
+    private BigDecimal houseWideUnder;
+    
+    @ApiModelProperty(value = "平房仓中长的左半部分")
+    @TableField("house_length_left")
+    private BigDecimal houseLengthLeft;
+    
+    @ApiModelProperty(value = "平房仓中长的右半部分")
+    @TableField("house_length_right")
+    private BigDecimal houseLengthRight;
+    
+    
     /**
      * 业务字段
      */

src/main/java/com/unissoft/systemManage/model/PointData.java

@@ -66,6 +66,17 @@ public class PointData implements Serializable {
     @ApiModelProperty(value = "创建时间")
     @TableField("create_time")
     private Date createTime;
+    
+    @ApiModelProperty(value = "平房仓的长")
+    @JsonProperty("Length")
+    @TableField("length")
+    private String length;
+    
+    
+    @ApiModelProperty(value = "平房仓的宽")
+    @JsonProperty("Wide")
+    @TableField("wide")
+    private String wide;
 
 
 }

src/main/resources/mapper/systemManage/OrgInfoMapper.xml

@@ -24,12 +24,17 @@
         <result column="house_type" property="houseType" />
         <result column="high" property="high" />
         <result column="radius" property="radius" />
+        
+        <result column="house_wide_on" property="houseWideOn" />
+        <result column="house_wide_under" property="houseWideUnder" />
+        <result column="house_length_left" property="houseLengthLeft" />
+        <result column="house_length_right" property="houseLengthRight" />
     </resultMap>
 
     <!-- 通用查询结果列 -->
     <sql id="Base_Column_List">
         id, org_name, store_type_name, store_type_code, org_state, parent_id, build_time, keeper, lxfs, cf_status, zlxgd, sjcr, chang, kuan, 
-        cntj, last_time, house_type, high, radius
+        cntj, last_time, house_type, high, radius,house_wide_on,house_wide_under,house_length_left,house_length_right
     </sql>
 
     <select id="getStorehouse" parameterType="java.lang.Integer" resultType="java.util.Map">