From dd6a4ef22d8d892113abdb1bcc0882c87fe7ac0d Mon Sep 17 00:00:00 2001 From: wanxiaoli Date: Thu, 8 Jan 2026 10:40:38 +0800 Subject: [PATCH] =?UTF-8?q?=E6=B7=BB=E5=8A=A0=E6=95=B0=E6=8D=AE=E5=A4=84?= =?UTF-8?q?=E7=90=86=E6=9C=8D=E5=8A=A1=EF=BC=8C=E6=A0=B9=E6=8D=AE=E9=BB=98?= =?UTF-8?q?=E8=AE=A4=E6=A8=A1=E6=9D=BF=E6=8B=86=E5=88=86INS=E4=B8=BA?= =?UTF-8?q?=E4=B8=A4=E4=B8=AA=E6=96=87=E4=BB=B6VINS/FVNS?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../service/InsFileConvertService.java | 223 ++ java/src/main/resources/templates/FVNS.csv | 504 +++++ .../main/resources/templates/VINS_0_mode1.txt | 1977 +++++++++++++++++ .../resources/templates/ins_frameSimu_0.txt | 1977 ++++++++++++++++- 4 files changed, 4680 insertions(+), 1 deletion(-) create mode 100644 java/src/main/java/com/yfd/platform/modules/experimentalData/service/InsFileConvertService.java create mode 100644 java/src/main/resources/templates/FVNS.csv create mode 100644 java/src/main/resources/templates/VINS_0_mode1.txt diff --git a/java/src/main/java/com/yfd/platform/modules/experimentalData/service/InsFileConvertService.java b/java/src/main/java/com/yfd/platform/modules/experimentalData/service/InsFileConvertService.java new file mode 100644 index 0000000..d29f936 --- /dev/null +++ b/java/src/main/java/com/yfd/platform/modules/experimentalData/service/InsFileConvertService.java @@ -0,0 +1,223 @@ +package com.yfd.platform.modules.experimentalData.service; + +import org.slf4j.Logger; +import org.slf4j.LoggerFactory; +import org.springframework.core.io.ClassPathResource; +import org.springframework.stereotype.Service; + +import java.io.*; +import java.nio.charset.StandardCharsets; +import java.nio.file.Path; +import java.time.LocalDateTime; +import java.time.format.DateTimeFormatter; +import java.util.*; + +@Service +public class InsFileConvertService { + + private static final Logger log = + LoggerFactory.getLogger(InsFileConvertService.class); + + /** + * INS 转换通用方法 + * INS 数据 → VINS/FVNS 文件 + */ + public void convertByTemplate(File insFile) throws Exception { + + long startTime = System.currentTimeMillis(); + + if (!insFile.exists()) { + throw new FileNotFoundException("INS 文件不存在：" + insFile.getAbsolutePath()); + } + + log.info("INS 转换开始，源文件：{}", insFile.getAbsolutePath()); + + // ---------- 1. 时间戳 ---------- + String ts = LocalDateTime.now() + .format(DateTimeFormatter.ofPattern("yyyyMMddHHmmss")); + + Path outDir = insFile.getParentFile().toPath(); + + File vinsOut = outDir.resolve("VINS_0_mode1_" + ts + ".txt").toFile(); + File fvnsOut = outDir.resolve("FVNS_" + ts + ".csv").toFile(); + + // ---------- 2. 模板 ---------- + ClassPathResource vinsTpl = + new ClassPathResource("templates/VINS_0_mode1.txt"); + ClassPathResource fvnsTpl = + new ClassPathResource("templates/FVNS.csv"); + + // ---------- 3. 流 ---------- + try ( + BufferedReader insReader = new BufferedReader( + new InputStreamReader(new FileInputStream(insFile), StandardCharsets.UTF_8)); + + BufferedReader vinsTplReader = new BufferedReader( + new InputStreamReader(vinsTpl.getInputStream(), StandardCharsets.UTF_8)); + + BufferedReader fvnsTplReader = new BufferedReader( + new InputStreamReader(fvnsTpl.getInputStream(), StandardCharsets.UTF_8)); + + BufferedWriter vinsWriter = new BufferedWriter( + new OutputStreamWriter(new FileOutputStream(vinsOut), StandardCharsets.UTF_8)); + + BufferedWriter fvnsWriter = new BufferedWriter( + new OutputStreamWriter(new FileOutputStream(fvnsOut), StandardCharsets.UTF_8)) + ) { + + // ---------- 4. INS 表头 ---------- + String insHeaderLine = insReader.readLine(); + if (insHeaderLine == null) { + throw new RuntimeException("INS 文件为空"); + } + + Map insIndex = buildIndex(insHeaderLine); + + // ---------- 5. 表头校验（关键增强） ---------- + validateInsHeader(insIndex); + + // ---------- 6. 模板表头 ---------- + String vinsHeader = vinsTplReader.readLine(); + String fvnsHeader = fvnsTplReader.readLine(); + + if (vinsHeader == null || fvnsHeader == null) { + throw new RuntimeException("模板文件缺少表头"); + } + + vinsWriter.write(vinsHeader); + vinsWriter.newLine(); + + fvnsWriter.write(fvnsHeader); + fvnsWriter.newLine(); + + String[] vinsCols = vinsHeader.split(","); + String[] fvnsCols = fvnsHeader.split(","); + + // ---------- 7. 映射规则 ---------- + Map vinsMapping = new HashMap<>(); + vinsMapping.put("UTC", "utc"); + vinsMapping.put("LatGps", "LatJG"); + vinsMapping.put("LonGps", "LonJG"); + + Map fvnsMapping = new HashMap<>(); + fvnsMapping.put("FvnsSts", "posx"); + fvnsMapping.put("PosxFvns", "posy"); + fvnsMapping.put("PosyFvns", "posz"); + + + // ---------- 8. 流式处理 ---------- + String line; + long rowCount = 0; + + while ((line = insReader.readLine()) != null) { + + String[] insRow = line.split("[,\t]", -1); + + writeLine(vinsWriter, vinsCols, vinsMapping, insIndex, insRow, ","); + writeLine(fvnsWriter, fvnsCols, fvnsMapping, insIndex, insRow, ","); + + rowCount++; + } + + vinsWriter.flush(); + fvnsWriter.flush(); + + long cost = System.currentTimeMillis() - startTime; + + log.info( + "INS 转换完成，行数：{}，耗时：{} ms，输出文件：{}, {}", + rowCount, + cost, + vinsOut.getName(), + fvnsOut.getName() + ); + } + } + + // ================== 校验与工具方法 ================== + + /** + * INS 必须字段校验 + */ + private void validateInsHeader(Map insIndex) { + + List required = Arrays.asList( + "utc", + "LatJG", + "LonJG", + "posx", + "posy", + "posz" + ); + + + List missing = new ArrayList<>(); + + for (String field : required) { + if (!insIndex.containsKey(field)) { + missing.add(field); + } + } + + if (!missing.isEmpty()) { + throw new RuntimeException( + "INS 文件缺少必要字段：" + String.join(", ", missing) + ); + } + } + + private Map buildIndex(String headerLine) { + String[] headers = headerLine.split("[,\t]"); + Map map = new HashMap<>(); + for (int i = 0; i < headers.length; i++) { + map.put(headers[i].trim(), i); + } + return map; + } + + private void writeLine(BufferedWriter writer, + String[] targetCols, + Map mapping, + Map insIndex, + String[] insRow, + String delimiter) throws IOException { + + String[] out = new String[targetCols.length]; + Arrays.fill(out, "0"); + + for (int i = 0; i < targetCols.length; i++) { + String targetCol = targetCols[i].trim(); + String insCol = mapping.get(targetCol); + if (insCol != null) { + Integer idx = insIndex.get(insCol); + if (idx != null && idx < insRow.length) { + out[i] = insRow[idx]; + } + } + } + + writer.write(String.join(delimiter, out)); + writer.newLine(); + } + + public static void main(String[] args) { + + try { + // ---------- 1. 构造待测 Service ---------- + InsFileConvertService service = new InsFileConvertService(); + + // ---------- 2. 指定 INS 文件路径 ---------- + File insFile = new File("D:/data/ins_frameSimu_0.txt"); + // Linux 示例： + // File insFile = new File("/data/ins/ins_frameSimu_0.txt"); + + // ---------- 3. 执行转换 ---------- + service.convertByTemplate(insFile); + + System.out.println("转换完成，请检查输出文件。"); + + } catch (Exception e) { + e.printStackTrace(); + } + } +} diff --git a/java/src/main/resources/templates/FVNS.csv b/java/src/main/resources/templates/FVNS.csv new file mode 100644 index 0000000..c431ca0 --- /dev/null +++ b/java/src/main/resources/templates/FVNS.csv @@ -0,0 +1,504 @@ +UTC,UTCOut,LatGps,HgtGps,LonGps,RollGps,YawGps,PitchGps,LatVins,HgtVins,LonVins,RollVins,YawVins,PitchVins,FvnsSts,PosxFvns,PosyFvns,PoszFvns,ModeFvns,ConfFvns,MethodFvns,RefID,NumPt,Pt1x,Pt1y,Pt2x,Pt2y,Pt3x,Pt3y,Pt4x,Pt4y,Pt5x,Pt5y,Pt6x,Pt6y,Pt7x,Pt7y,Pt8x,Pt8y,Pt9x,Pt9y,Pt10x,Pt10y,Pt11x,Pt11y,Pt12x,Pt12y 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