平房仓 整合

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

@@ -12,15 +12,25 @@ import java.util.List;
  */
 public class SquareAlg {
 
+	/**
+	 * 定义常量  减速机传动比
+	 */
+	public static int basicData = 50;
 	
-	 public static String getAveragePosition(double houseWideOn, double houseWideUnder, double houseLengthLeft, double houseLengthRight,double houseHigh) {
+	//0.5米做安全隔墙
+	public static double boundaryValue = 0.5;
+	
+	//每隔2米打一个点
+	public static double spacingDistance = 2;
+	
+	public static String getAveragePosition(double houseWideOn, double houseWideUnder, double houseLengthLeft, double houseLengthRight,double houseHigh) {
 		 
 			StringBuffer sb = new StringBuffer();   
 			String str = "";
 			//AC 是设备到地面/粮面最高点的高
 			double AC = houseHigh;
 			/**
-			 * 设备安装的点为o 设备到左面的点为a上面的点为b 右面的点为c 下面的点为d
+			 * 设备安装的点为o 设备到左面的点为a 上面的点为b 右面的点为c 下面的点为d
 			 * oa ob oc od 根据设备可以获取得到 
 			 * 以o为起点每间隔两米打一个点
 			 * 		b
@@ -31,8 +41,8 @@ public class SquareAlg {
 			 * | 3 |	4	   |
 			 * |---------------|
 			 * 		d
-			 * 水平方向的 以bd为开始 向左即（2和4 区域的）是反方向的；（23区域）是正方向的
-			 * 垂直方向的 以ac为开始 向上即（1和2区域的）是正方向;(3和4区域)是反方向的
+			 * 水平转动的方向 以bd为开始 向左即（1和4 区域的）是反方向的；（23区域）是正方向的
+			 * 垂直转动的方向 以ac为开始 向上即（1和2区域的）是正方向;(3和4区域)是反方向的
 			 * 
 			 */
 			double oa = houseLengthLeft;
@@ -41,36 +51,37 @@ public class SquareAlg {
 			double od = houseWideUnder;
 			/**
 			 * 第一块
-			 * 以o为起点 oa、ob方向每隔两米打一个点 
+			 * 以o为起点 oa、ob方向每隔spacingDistance米打一个点 
 			 * +1是把起点o算上
 			 * 打出来的点 包括区域里的和x轴和y轴
 			 */
-			double x = 0;
-			double y = 0;
-			double AB = 0; //理想状态 打出来三角形的底边AB 实际是平面上点的斜边
+			double x = 0;//点的横坐标
+			double y = 0;//点的纵坐标
+			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 BC = 0; //设备和粮面点之间的距离
 		    double vertical_angle = 0;//垂直转动角度
+		    double BC = 0; //设备和粮面点之间的距离
 		    
 		    int level_angle1 = 0;//水平转动的角度
 		    int vertical_angle1 = 0;//垂直转动角度
-			for (int i = 0; i < Math.floor(ob/2)+1 ; i++) {
-			  for(int j = 0; j < Math.floor(oa/2)+1 ; j++){
-				  x = -2*j;
-				  y = 2*i;
+			for (int i = 0; i < Math.floor(ob/spacingDistance)+1 ; i++) {//i和j表示点的个数
+			  for(int j = 0; j < Math.floor(oa/spacingDistance)+1 ; j++){
+				  x = -spacingDistance * j;
+				  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){
 					  level_angle = 0;
-				  }else if(y == 0 && x<0){ 
+				  }else if(y == 0 && x != 0){ 
 					  level_angle = -90;
 				  }else{
 					  level_angle = -Math.toDegrees(Math.atan((Math.abs(x))/y));
 				  }
 				  BC = Math.sqrt(AB*AB+AC*AC);
 				  vertical_angle = Math.toDegrees(Math.acos(AC/BC));
-				  level_angle1 = (int) Math.round(level_angle);
-				  vertical_angle1 = (int) Math.round(vertical_angle);
+				  
+				  level_angle1 =  (int) (Math.round(level_angle) * basicData);
+				  vertical_angle1 =  (int) (Math.round(vertical_angle) * basicData);
 				  
 				  str = vertical_angle1 + ","+level_angle1+";";
 				  sb.append(str);
@@ -85,10 +96,10 @@ public class SquareAlg {
 			 * 
 			 * 打出来的点 只有 x轴和区域的点
 			 */
-			for(int i = 0; i < Math.floor(ob/2)+1 ; i++){
-				for(int j = 1; j <= Math.floor(oc/2) ; j++){
-					  x = 2*j;
-					  y = 2*i;
+			for(int i = 0; i < Math.floor(ob/spacingDistance)+1 ; i++){
+				for(int j = 1; j <= Math.floor(oc/spacingDistance) ; j++){
+					  x = spacingDistance * j;
+					  y = spacingDistance * i;
 					  //System.out.println("("+x+","+y+")");
 					  AB = Math.sqrt(x*x+y*y);
 					  if(y == 0){
@@ -98,8 +109,9 @@ public class SquareAlg {
 					  }
 					  BC = Math.sqrt(AB*AB+AC*AC);
 					  vertical_angle = Math.toDegrees(Math.acos(AC/BC));
-					  level_angle1 = (int) Math.round(level_angle);
-					  vertical_angle1 = (int) Math.round(vertical_angle);
+					  
+					  level_angle1 = (int) Math.round(level_angle) * basicData;
+					  vertical_angle1 = (int) Math.round(vertical_angle) *basicData;
 					  str = vertical_angle1 + ","+level_angle1+";";
 					  sb.append(str);
 				}
@@ -113,10 +125,10 @@ public class SquareAlg {
 			 * 打出来的点 包括区域里的和y轴
 			 */
 			
-			for (int i = 1; i <= Math.floor(oa/2)+1 ; i++) {
-			  for(int j = 0; j < Math.floor(od/2) ; j++){
-				  x = -2*j;
-				  y = -2*i;
+			for (int i = 1; i < Math.floor(od/spacingDistance)+1 ; i++) {
+				  for(int j = 0; j < Math.floor(oa/spacingDistance)+1 ; j++){
+				  x = -spacingDistance * j;
+				  y = -spacingDistance * i;
 				  //System.out.println("("+x+","+y+")");
 				  AB = Math.sqrt(x*x+y*y);
 				  if(x == 0){
@@ -126,8 +138,8 @@ public class SquareAlg {
 				  }
 				  BC = Math.sqrt(AB*AB+AC*AC);
 				  vertical_angle = -Math.toDegrees(Math.acos(AC/BC));
-				  level_angle1 = (int) Math.round(level_angle);
-				  vertical_angle1 = (int) Math.round(vertical_angle);
+				  level_angle1 = (int) Math.round(level_angle) * basicData;
+				  vertical_angle1 = (int) Math.round(vertical_angle) * basicData;
 				  str = vertical_angle1 + ","+level_angle1+";";
 				  sb.append(str);
 			  }
@@ -139,40 +151,40 @@ public class SquareAlg {
 			 * 以o为起点 oc、od方向每隔两米打一个点 
 			 * 打出来的点 只有区域的点
 			 */
-			for(int i = 1; i <= Math.floor(oc/2) ; i++){
-				for(int j = 1; j <= Math.floor(od/2) ; j++){
-					  x = 2*i;
-					  y = -2*j;
+			for(int i = 1; i <= Math.floor(oc/spacingDistance) ; i++){
+				for(int j = 1; j <= Math.floor(od/spacingDistance) ; j++){
+					  x = spacingDistance * i;
+					  y = -spacingDistance * j;
 					 // System.out.println("("+x+","+y+")");
 					  AB = Math.sqrt(x*x+y*y);
 					  level_angle = -Math.toDegrees(Math.atan(x/(Math.abs(y))));
 					  BC = Math.sqrt(AB*AB+AC*AC);
 					  vertical_angle = -Math.toDegrees(Math.acos(AC/BC));
-					  level_angle1 = (int) Math.round(level_angle);
-					  vertical_angle1 = (int) Math.round(vertical_angle);
+					  level_angle1 = (int) Math.round(level_angle) * basicData;
+					  vertical_angle1 = (int) Math.round(vertical_angle) * basicData;
 					  str = vertical_angle1 + ","+level_angle1+";";
 					  sb.append(str);
 				}
 				
 			}
-			 //System.out.println(sb);
-		 return sb.toString();
+			String returnString = sb.substring(0, sb.length()-1);
+			//System.out.println(returnString);
+
+		 return returnString;
 		 
 	 }
 	 
 	 
 	   /**
-	     * 计算  粮面点到设备的垂直距离(有效点)
+	     * 计算  z的有效点
 	     *
 	     * @param rotationxy
 	     * @return
 	     */
-	    public static List<Double> zHeight(String rotationxy,double houseWideOn,double houseWideUnder,double houseLengthLeft,double houseLengthRight) {
+	    public static List<Double> zHeight(String rotationxy,double houseWideOn,double houseWideUnder,double houseLengthLeft,double houseLengthRight,double houseHight) {
 
 			List<Double> zList = new ArrayList<Double>();
 			
-			//返回的结果集
-			//String rotationxy ="";
 			//垂直角度
 			double verticalAngle = 0;
 			//水平角度
@@ -191,19 +203,19 @@ public class SquareAlg {
 	        double x = 0;
 	        //真实的点的纵坐标的距离
 	        double y = 0;
-	        //加0.5后的横纵坐标
+	        //加一个边界值后的横纵坐标
 	        double x1 = 0;
 	        double y1 = 0;
 	       //以粮面为基准面的高
-	        double zHigh = 0;
+	        //double zHigh = 0;
 	        
 	        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)
     		
-	        //基数 51
-	        BigDecimal baseNumber = new BigDecimal(51);
+	        //基数 
+	        BigDecimal baseNumber = new BigDecimal(basicData);
 	        
 			String[] split = rotationxy.split(";");
 	        for (int i = 0; i < split.length; i++) {
@@ -217,67 +229,75 @@ public class SquareAlg {
 	             * 去掉打在墙上的点(计算正式的点的坐标，横纵坐标只要有一个>(边-0.5)即为墙上的点)
 	             */
 	            
-	            String verticalAngleS = String.format("%.2f%n", Math.sin(Math.abs(verticalAngle)));
-	            double verticalSinc = new Double(verticalAngleS);
-	            //即 平面三角形的斜边
-	            A1B1 = realHypotenuse * verticalSinc; 
+	            //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 verticalC = String.format("%.2f%n", Math.cos(Math.abs(verticalAngleRadians)));
+	            double cosVertical = new Double(verticalC);
 	            
-
-	            String levelSinStr = String.format("%.2f%n", Math.sin(Math.abs(levelAngle)));
-	            double levelSina = new Double(levelSinStr);
+	            //将水平的角度转化为弧度
+	            double levelAngleRadians = Math.toRadians(levelAngle);
+	            //水平角度的sin
+	            String levelSinStr = String.format("%.2f%n", Math.sin(Math.abs(levelAngleRadians)));
+	            double sinLevelAngle = new Double(levelSinStr);
+	            //水平角度的cos
+	            String levelCosStr = String.format("%.2f%n", Math.cos(Math.abs(levelAngleRadians)));
+	            double cosLevelAngle = new Double(levelCosStr);
 	            
-	            String levelCosStr = String.format("%.2f%n", Math.cos(Math.abs(levelAngle)));
-	            double levelCosa = new Double(levelCosStr);
+	            //平面三角形的斜边
+	            A1B1 = realHypotenuse * sinVerticalAngle;
 	            
-	            //横坐标的距离
-	            x = A1B1 * levelCosa;
-	            //纵坐标的距离
-	            y = A1B1 * levelSina;
+	            //横坐标的距离(只有长度)
+	            x = Math.abs(A1B1 * cosLevelAngle ) ;
+	            //纵坐标的距离(只有长度)
+	            y = Math.abs(A1B1 * sinLevelAngle ) ;
 	            
 	            //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;
 	    		
-	    		//加0.5后的横纵坐标
-	    		x1 = x + 0.5;
-	    		y1 = y + 0.5;
-	    		
-	    		 String verticalC = String.format("%.2f%n", Math.cos(Math.abs(verticalAngle)));
-	             double verticalCosc = new Double(verticalC);
+	    		 
 	             //A1C 是粮面点到设备的垂直距离
-	             double A1C = realHypotenuse * verticalCosc; 
+	             double A1C = realHypotenuse * cosVertical; 
+	             double z = houseHight - A1C;
 	             
 	            if(levelAngle < 0 && verticalAngle>0 ){
 	            	//第一区域
 	            	if(x1<oa && y1<ob){
-	                     zList.add(A1C);
+	                     zList.add(z);
 	            	}
 	            }else if(levelAngle > 0 && verticalAngle>0){
 	            	//第二区域
 	            	if(x1<oc && y1<ob){
-	                    zList.add(A1C);
+	                    zList.add(z);
 	           	    }
 	            	
 	            }else if(levelAngle > 0 && verticalAngle<0){
 	            	//第三区域
 	            	if(x1<oa && y1<od){
-	                    zList.add(A1C);
+	                    zList.add(z);
 	           	    }
 	            	
 	            }else if(levelAngle < 0 && verticalAngle<0){
 	            	//第四区域
 	            	if(x1<oc && y1<od){
-	                    zList.add(A1C);
+	                    zList.add(z);
 	           	    }
 	            }else if(levelAngle == 0 || levelAngle == -90 || levelAngle == 90){
-	            	//
+	            	//坐标轴上的点
 	            	if(verticalAngle>0){
 	            		if(y1<ob){
-	            			zList.add(A1C);
+	            			zList.add(z);
 	            		}
 	            	}else if(verticalAngle<0){
 	            		if(y1<od){
-	            			zList.add(A1C);
+	            			zList.add(z);
 	            		}
 	            	}
 	            }
@@ -290,6 +310,14 @@ public class SquareAlg {
 	    
 	    
 	    /**
-	     * 去除打在墙上的点
+	     * 计算体积---------------todo
+	     *
+	     * @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; 
+	    	return v;
+	    }
+	    
+	    
 }

src/main/java/com/unissoft/interaction/controller/DataController.java

@@ -1,10 +1,15 @@
 package com.unissoft.interaction.controller;
 
 import com.unissoft.interaction.entity.TeData;
+import com.unissoft.interaction.service.SquareService;
 import com.unissoft.interaction.service.TeDataService;
+import com.unissoft.systemManage.model.OrgInfo;
+import com.unissoft.systemManage.service.OrgInfoService;
 
 import java.util.Date;
 
+import javax.annotation.Resource;
+
 import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;
 import org.springframework.beans.factory.annotation.Autowired;
@@ -18,11 +23,23 @@ public class DataController {
 
     private TeDataService teDataService;
 
+    private SquareService squareService;
+
     @Autowired
     public void setTeDataService(TeDataService teDataService) {
         this.teDataService = teDataService;
     }
+    
+    @Autowired
+    public void setSquareService(SquareService squareService) {
+        this.squareService = squareService;
+    }
+    
+    
 
+    @Resource
+    private OrgInfoService orgInfoService;
+    
     /**
      * 检测后数据
      *
@@ -37,7 +54,17 @@ public class DataController {
         if (inum < 0) {
             return "fail";
         }
-        teDataService.scanTask(teData);//进行下一次的打点
+        String houseId = teData.getTaskID().split(",")[0];	
+        //查询仓房信息 判断是平房仓还是圆筒仓
+        OrgInfo orgInfoHouse = orgInfoService.getById(Integer.parseInt(houseId));
+   	    String houseType = orgInfoHouse.getHouseType();
+        //20 筒仓  21 平房仓
+   	    if(houseType.equals("20")){
+   	        teDataService.scanTask(teData);//进行下一次的打点
+   	    }else if(houseType.equals("21")){
+   	    	squareService.scanTask(teData); //下一次打点
+   	    }
+        
         return "success";
     }
 

src/main/java/com/unissoft/interaction/controller/SquareController.java

@@ -1,4 +1,4 @@
-package com.unissoft.interaction.controller;
+/*package com.unissoft.interaction.controller;
 
 import com.unissoft.interaction.entity.TeData;
 import com.unissoft.interaction.service.SquareService;
@@ -10,11 +10,11 @@ import org.slf4j.LoggerFactory;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.web.bind.annotation.*;
 
-/**
+*//**
  * 平房仓
  * @author My Sunshine
  *
- */
+ *//*
 @RestController
 @RequestMapping(value = "/square")
 public class SquareController {
@@ -28,12 +28,12 @@ public class SquareController {
         this.squareService = squareService;
     }
 
-    /**
+    *//**
      * 检测后数据
      *
      * @param teData
      * @return
-     */
+     *//*
     @PostMapping("/equipmentTestingEnd")
     public String equipmentTesting(@RequestBody TeData teData) {
         logger.info("接收到的数据为{}", teData);
@@ -47,12 +47,12 @@ public class SquareController {
         return "success";
     }
 
-    /**
+    *//**
      * @param houseWideOn 仓房宽的上半部分
      * @param houseWideUnder 仓房宽的下半部分
      * houseLengthLeft 仓房长的左半部分
      * houseLengthRight 仓房长的右半部分
-     */
+     *//*
     @GetMapping("/scanning")
     public void scanning(@RequestParam(value = "houseWideOn", defaultValue = "35") double houseWideOn,
                          @RequestParam(value = "houseWideUnder ", defaultValue = "12") double houseWideUnder,
@@ -66,10 +66,11 @@ public class SquareController {
     }
     
     
-    /*@GetMapping("/scanningss")
+    @GetMapping("/scanningss")
     public void scanningss() {
         squareService.calculateVolume("2022030111");
-    }*/
+    }
     
     
 }
+*/

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

@@ -26,12 +26,12 @@ public interface SquareService {
      * @param houseLengthLeft
      * @param houseLengthRight
      */
-	void scanSquareTask(double houseWideOn, double houseWideUnder, double houseLengthLeft, double houseLengthRight,double houseHigh);
+	void scanSquareTask(String cfId, double houseWideOn, double houseWideUnder, double houseLengthLeft, double houseLengthRight,double houseHigh);
 
 	int saveTeData(TeData teData);
 
 	void scanTask(TeData teData);
 
-	void calculateVolume(String taskID);
+	double calculateVolume(String taskID);
 
 }

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

@@ -29,6 +29,9 @@ public class TestTask extends AbstractTask {
     @Resource
     private TeDataService teDataService;
     
+    @Resource
+    private SquareService squareService;
+    
     private Logger logger = LoggerFactory.getLogger(TestTask.class);
 
     @PostConstruct
@@ -64,7 +67,13 @@ public class TestTask extends AbstractTask {
                 		teDataService.scanTask(cfId,diameter,h);
                 	}
                 	if(houseType.equals("21")){
-                		//平房仓的打点算法
+                		//平房仓的打点算法--------------todo
+                		double houseWideOn = 0 ; 
+                		double houseWideUnder = 0;
+                		double houseLengthLeft = 0; 
+                		double houseLengthRight = 0;
+                		double houseHigh = 0;
+                		squareService.scanSquareTask(cfId,houseWideOn, houseWideUnder, houseLengthLeft, houseLengthRight, houseHigh);
                 	}
         		}
         	}else{//单个仓房

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

@@ -2,7 +2,6 @@ package com.unissoft.interaction.service.impl;
 
 import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.unissoft.interaction.algorithm.SquareAlg;
-import com.unissoft.interaction.controller.DataController;
 import com.unissoft.interaction.entity.ReMsg;
 import com.unissoft.interaction.entity.STask;
 import com.unissoft.interaction.entity.TeData;
@@ -10,7 +9,11 @@ import com.unissoft.interaction.mapper.ReMsgMapper;
 import com.unissoft.interaction.mapper.STaskMapper;
 import com.unissoft.interaction.mapper.TeDataMapper;
 import com.unissoft.interaction.service.SquareService;
-import com.unissoft.interaction.service.TeDataService;
+import com.unissoft.parameter.mapper.HardwareParameterMapper;
+import com.unissoft.parameter.model.HardwareParameter;
+import com.unissoft.systemManage.mapper.OrgInfoMapper;
+import com.unissoft.systemManage.model.OrgInfo;
+
 import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;
 import org.springframework.beans.factory.annotation.Autowired;
@@ -18,12 +21,12 @@ import org.springframework.scheduling.annotation.Async;
 import org.springframework.stereotype.Service;
 import org.springframework.web.client.RestTemplate;
 
-import java.beans.Transient;
-import java.util.ArrayList;
 import java.util.Collections;
 import java.util.Date;
 import java.util.List;
 
+import javax.annotation.Resource;
+
 @Service(value = "squareService")
 public class SquareServiceImpl implements SquareService {
 
@@ -31,15 +34,14 @@ public class SquareServiceImpl implements SquareService {
 
     static String base_url = "http://192.168.0.61:4017/";
     static boolean flag = true;
-    static double houseWideOn;
+    /*static double houseWideOn;
     static double houseWideUnder;
     static double houseLengthLeft;
-    static double houseLengthRight;
+    static double houseLengthRight;*/
     private STaskMapper sTaskMapper;
     private TeDataMapper teDataMapper;
     private ReMsgMapper reMsgMapper;
-
-
+    
     @Autowired
     public void setsTaskMapper(STaskMapper sTaskMapper) {
         this.sTaskMapper = sTaskMapper;
@@ -54,36 +56,53 @@ public class SquareServiceImpl implements SquareService {
     public void setReMsgMapper(ReMsgMapper reMsgMapper) {
         this.reMsgMapper = reMsgMapper;
     }
+    
+    @Resource
+    private HardwareParameterMapper hardwareParameterMapper;
+
+    @Resource
+    private OrgInfoMapper orgInfoMapper;
+    
+    @Resource
+    private TeDataServiceImpl teDataServiceImpl;
+    
+    
 
     /**
-     * todo
-     * http://local.wxlxit.com:61001/
-     * 1. equipmentTestingIsReady
-     * 2. equipmentTestingStart
-     * 3. equipmentTestingEnd
+     *第一次打点
      */
     @Override
-    public void scanSquareTask(double houseWideOn, double houseWideUnder, double houseLengthLeft, double houseLengthRight,double houseHigh) {
-        logger.info("scanTask {},{},{}，{},{}",houseWideOn, houseWideUnder,houseLengthLeft,houseLengthRight,houseHigh);
-        STask task = new STask();
-        Date date = new Date();
-        task.setCtime(date);
-        task.setDepict("test");
-        sTaskMapper.insert(task);
-
-        TeData teData = new TeData();
-        teData.setEquipmentID("hljcbk1001");
-        teData.setTaskID("" + task.getId());
-        teData.setStime(date);
-
-        //todo 第一次待打点
-        String rotationxy = SquareAlg.getAveragePosition(houseWideOn,houseWideUnder,houseLengthLeft,houseLengthRight, houseHigh);
-        teData.setRotationxy(rotationxy);
-        logger.info("scanTask sTaskMapper teDataMapper {},{}",task,teData);
-
-        postHelper(teData);
-        flag = true;
+    public void scanSquareTask(String cfId,double houseWideOn, double houseWideUnder, double houseLengthLeft, double houseLengthRight,double houseHigh) {
+    	logger.info("scanSquareTask{} {},{},{}，{},{}",cfId,houseWideOn, houseWideUnder,houseLengthLeft,houseLengthRight,houseHigh);
+
+    	//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);
+        if(hardList.size()>0){
+        	STask task = new STask();
+            Date date = new Date();
+            task.setCtime(date);
+            task.setDepict(cfId+"仓打点");
+            sTaskMapper.insert(task);
+            
+            TeData teData = new TeData();
+            teData.setEquipmentID(hardList.get(0).getDeviceCode());//设备id-----设备编码
+            teData.setTaskID(cfId+","+ task.getId());//拼接一个仓房id
+            teData.setStime(date);
+            
+            //第一次待打点
+            String rotationxy = SquareAlg.getAveragePosition(houseWideOn,houseWideUnder,houseLengthLeft,houseLengthRight, houseHigh);
+            teData.setRotationxy(rotationxy);
+            logger.info("第一次打点数据{}",teData);
 
+            //发送给硬件
+            postHelper(teData);
+            //第一次打点标识
+            flag = true;
+        }else{
+          	logger.info("该仓房没有硬件参数");
+        }
     }
     
     /**
@@ -99,33 +118,51 @@ public class SquareServiceImpl implements SquareService {
         }
         //只运行 发送一次。
         if (flag) {
-            //teData.getEquipmentID();
-            //teData.getTaskID();
-
-            //todo 第二次待打点
-
-            //计算以粮面为基准面的高
-            List<Double> list = SquareAlg.zHeight(teData.getRotationxy(),houseWideOn,houseWideUnder,houseLengthLeft,houseLengthRight);
-            double zHeight = Collections.min(list);
-            logger.info("以粮面为基准面的高zHeight {}",zHeight);
+            // 第二次待打点
+
+            //根据仓房id查询其信息
+        	String taskId = teData.getTaskID();
+        	String houseId = taskId.split(",")[0];//仓房id
+        	OrgInfo orgInfoHouse = orgInfoMapper.selectById(Integer.parseInt(houseId));//--------------------待完
+        	
+        	double houseWideOn = 0;
+            double houseWideUnder = 0;
+            double houseLengthLeft = 0;
+            double houseLengthRight = 0;
+            double houseHight = 0;
+            
+            
+        	//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
+            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);
 
             //打点
-            String rotationxy = SquareAlg.getAveragePosition(houseWideOn,houseWideUnder,houseLengthLeft,houseLengthRight, zHeight);
+            String rotationxy = SquareAlg.getAveragePosition(houseWideOn,houseWideUnder,houseLengthLeft,houseLengthRight, secondH);
             teData.setRotationxy(rotationxy);
             teData.setStime(new Date());//第二次开始的时间
+            
+            //发送给硬件
             postHelper(teData);
 
+            //打点次数的标识
             flag = false;
-        } else { //打点两次完毕 计算体积
-            this.calculateVolume(teData.getTaskID());
+        } else { 
+        	//打点两次完毕 计算体积
+            double v = this.calculateVolume(teData.getTaskID());
+            //增加数据到数据查询表(即体积、重量)
+            //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
+            
         }
 
     }
 
     @Override
     public int saveTeData(TeData teData) {
-        int inum = teDataMapper.insert(teData);
-        return inum;
+        return teDataMapper.insert(teData);
     }
 
     public ReMsg postHelper(TeData teData) {
@@ -152,7 +189,7 @@ public class SquareServiceImpl implements SquareService {
     }
 
     @Override
-    public void calculateVolume(String taskID) {
+    public double calculateVolume(String taskID) {
     	
     	
     	//（第一次扫描点数总和+第二次扫描点数总和）*（仓房长*宽/(第一次扫描点数+第二次扫描点数)）=体积
@@ -161,8 +198,8 @@ public class SquareServiceImpl implements SquareService {
         */
         
         // TODO Auto-generated method stub
-        List<Double> zList = new ArrayList<Double>();
-        String[] split = null;
+        //List<Double> zList = new ArrayList<Double>();
+        //String[] split = null;
         String str = "";
 
         QueryWrapper<TeData> queryWrapper = new QueryWrapper<>();
@@ -175,12 +212,23 @@ public class SquareServiceImpl implements SquareService {
         }
         //两次打点的值
         String xyStr = str.substring(0, str.length()-1);
-        //去除打在墙上的点 得到的集合是有效的点(粮面点到设备的垂直距离)
-        List<Double> list = SquareAlg.zHeight(xyStr,houseWideOn,houseWideUnder,houseLengthLeft,houseLengthRight);
-
         
+        //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
+    	
+    	double houseWideOn = 0;
+        double houseWideUnder = 0;
+        double houseLengthLeft = 0;
+        double houseLengthRight = 0;
+        double houseHight = 0;
         
         
+        //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);
+        return v;
 
     }
 

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

@@ -177,7 +177,7 @@ public class TeDataServiceImpl implements TeDataService {
             //double zHeight = CylinderAlg.zHeight(teData.getRotationxy(), diameter, h);
             
     		List<Double> zList = CylinderAlg.getValidZ(teData.getRotationxy(), diameter, h);
-    		double z = Collections.min(zList);
+    		double z = Collections.max(zList);//纵坐标的最大值
     		//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);