My Date-Behavior in 2009

iBatis框架解析
本文介绍了iBatis框架的设计思想及应用实践,包括其配置文件结构、缓存机制、事务管理等内容,并分享了一些常见问题的解决方案。

@Author: cjcj  cj.yangjun@gmail.com <c-j.iteye.com>



两种设计思想:


1、数据库操作与业务操作分开
2、业务操作进行调用DB层时是面向OO的

 

两种模型:

什么叫模型?

 对于DBA来说,表就是他的模型,定义了字段名、类型、主外键关系;

 对于程序员来说,Entity就是他的模型,定义了变量名、类型、对象关系;

1、“贫血”模型(大家都这样叫,也就这样叫了)

    就是 “数据”的Entity;

2、“充血”模型
    就是 “数据”+“行为”的Entity;
也是目前流行的hibernate的思想。

 

现实中一些项目做法:

1、static方式,纯JDBC,纯sql

2、JavaBean方式,部分JDBC

3、Hibernate方式,业务层面向OO

讨论最多的应该是方式3,但是我感觉频繁的创建很多DAO是很繁琐的。所以想寻索到一种更好的方法。

iBATIS项目思想:

1、sql语句与代码分离

2、select语句where条件可写死在xml或在代码中指定

3、运用IOC的构造sqlMapClient和targetType成员属性



 

 

 

IBATIS框架涉及的文件  

 IBATIS配置文件(XML)

1、配置缓存 setting

2、配置连接和连接池 transactionManager

3、配置sqlMap资源 sqlMap

 

如:对于容器没有提供连接池的情况,配置一个DBCP连接池

  

IBATIS MAP文件(XML)

 

<parameterMap id=”parameterMapName” [class=”com.domain.Product”]>
<parameter property =”propertyName” [jdbcType=”VARCHAR”] [javaType=”string”]
[nullValue=”NUMERIC”] [null=”-9999999”]/>
<parameter …… />
<parameter …… />
</parameterMap>
<resultMap id=”resultMapName” class=”some.domain.Class” [extends=”parent-resultMap”]>
<result property=”propertyName” column=”COLUMN_NAME”
[columnIndex=”1”] [javaType=”int”] [jdbcType=”NUMERIC”]
[nullValue=”-999999”] [select=”someOtherStatement”]
/>
<result ……/>
<result ……/>
<result ……/>
</resultMap>

 

 

 
对于复杂查询1:1的情况,有两种查询方式:延迟加载VS联合查询。
如果您要缓存查询结果,则使用子查询(而不是联合查询)来缓存查询结果。

对于复杂查询1:M or M:N的情况,2.x目前还没有更好的解决方案,只能采用“延迟加载”

 

 

<resultMap id=”get-category-result” class=”com.ibatis.example.Category”>
<result property=”id” column=”CAT_ID”/>
<result property=”productList” column=”CAT_ID” select=”getProductsByCatId”/>
</resultMap>

<resultMap id=”get-product-result” class=”com.ibatis.example.Product”>
<result property=”id” column=”PRD_ID”/>
</resultMap>

<statement id=”getCategory” parameterClass=”int” resultMap=”get-category-result”>
select * from CATEGORY where CAT_ID = #value#
</statement>
<statement id=”getProductsByCatId” parameterClass=”int” resultMap=”get-product-result”>
select * from PRODUCT where PRD_CAT_ID = #value#
</statement>

 


对于多个参数属性

IBATIS的client实例

    IBATIS提供的数据库操作实例是sqlMapClient,里面包括了query,update,delete的方法,还有transaction,datasource(DBCP);sqlMapClient实例的query方法是用ThreadLocal保证线程安全。

IBATIS的事务管理

    因为IBATIS本身只是轻封装了JDBC,所以事务也是JDBC本身控制的。运用事务很简单,只需要获得sqlMapClient实例调用相应方法就可以了,如下:

  

  sqlMap=new MapClientConfigLoader(SqlMapClientSingleton.sqlMapConfig).loadSMC();
  sqlMap.startTransaction();
 // 事务操作,在同一个Session里
 sqlMap.endTransaction();

 

IBATIS的Cache

 

    采用简单查询缓存;

    采用Hibernate 等的两级缓存
   对象缓存(Object Cache),将对象像库表记录一样,按主键进行缓存,相当于建立一个简单的内存数据库;
   查询缓存(Query Cache),但它只缓存结果集的主键,因此 cache.value 空间消耗大大减少。

 

Some public websites that utilize IBatis

1up.com - Gaming community 
http://www.1up.com 
Abebooks.com - Worlds largest online marketplace for books 

 http://www.abebooks.com 
AccesStream.com - Open Source Identity and Access Management Suite 

http://www.accesstream.com 
BullionVault.com - Online gold trading 

http://www.bullionvault.com 
www.druckdiskont.at -

Online print portal (Web To Print) 

http://www.druckdiskont.at 
Fiskars - Consumer products manufacturer
 http://www.fiskars.com 
GalMarley.com - Gold prices, facts, figures and charts 

http://www.galmarley.com 
GAPay - General Agent Payment System 
http://www.gapay.com
Ideal Financial Services 
http://www.idealfsi.com  ....

 

于是也简单查了下IBATIS的Cache源码;

- 三种模式

/**
   * Constant for weak caching
   * This cache model is probably the best choice in most cases. It will increase
   * performance for popular results, but it will absolutely release the memory to
   * be used in allocating other objects, assuming that the results are not currently
   * in use.
   */
  public final static MemoryCacheLevel WEAK;

  /**
   * Constant for soft caching.
   * This cache model will reduce the likelihood of running out of memory in case the
   * results are not currently in use and the memory is needed for other objects.
   * However, this is not the most aggressive cache-model in that regard. Hence,
   * memory still might be allocated and unavailable for more important objects.
   */
  public final static MemoryCacheLevel SOFT;

  /**
   * Constant for strong caching.
   * This cache model will guarantee that the results stay in memory until the cache
   * is explicitly flushed. This is ideal for results that are:
   * <ol>
   * <li>very small</li>
   * <li>absolutely static</li>
   * <li>used very often</li>
   * </ol>
   * The advantage is that performance will be very good for this particular query.
   * The disadvantage is that if the memory used by these results is needed, then it
   * will not be released to make room for other objects (possibly more important
   * objects).
   */
  public final static MemoryCacheLevel STRONG;



 

- 4种策略

FIFO
LRU
MEMORY
OS

 

研究dao-zone项目中...   

 

 

疑难杂症:

1:classNotFound, 找不到Resource类的问题,用户会出现打成JAR包的时候无法找到IBATIS的类错误;

   解决:这个属于ECLIPSE打包的问题,在你的JAR所在目录下新建LIB文件夹,并在工程MANIFEST.MF修改如下:

Manifest-Version: 1.0
Main-Class: com.hp.CcdMain
Class-Path: lib/ibatis-common-2.jar lib/ibatis-sqlmap-2.jar lib/log4j.jar lib/commons-dbcp-1.2.2.jar lib/mysql-connector-java-5.1.8-bin.jar lib/commons-pool-1.5.2.jar

Class-Path为第三方JAR包的路径

 

 

2:Cause: com.ibatis.common.xml.NodeletException: Error parsing XML.  Cause: org.xml.sax.SAXParseException: Element "sqlMap" requires additional elements.异常问题

解决:IBATIS支持JRE1.4,刚开始我怀疑是JRE版本的问题,不是,这类问题大多数跟IBATIS的XML配置文件有关;

sqlMap必须要有<sqlMap>和<statement>标签,否则IBATIS将报错

 

  3:SqlMapConfig.xml加载外部资源文件相对路径问题:

    提供了两种方式:resource和url

    今天实验下url好像不能用相对路径如 ..  ,只能用绝对路径,郁闷了,如<properties url="file:///G:/SRC/testccd/config.properties" />


 

# Other default tuning values # MySQL Server Instance Configuration File # ---------------------------------------------------------------------- # Generated by the MySQL Server Instance Configuration Wizard # # # Installation Instructions # ---------------------------------------------------------------------- # # On Linux you can copy this file to /etc/my.cnf to set global options, # mysql-data-dir/my.cnf to set server-specific options # (@localstatedir@ for this installation) or to # ~/.my.cnf to set user-specific options. # # On Windows, when MySQL has been installed using MySQL Installer you # should keep this file in the ProgramData directory of your server # (e.g. C:\ProgramData\MySQL\MySQL Server X.Y). To make sure the server # reads the config file, use the startup option "--defaults-file". # # To run the server from the command line, execute this in a # command line shell, e.g. # mysqld --defaults-file="C:\Program Files\MySQL\MySQL Server X.Y\my.ini" # # To install the server as a Windows service manually, execute this in a # command line shell, e.g. # mysqld --install MySQLXY --defaults-file="C:\Program Files\MySQL\MySQL Server X.Y\my.ini" # # And then execute this in a command line shell to start the server, e.g. # net start MySQLXY # # # Guidelines for editing this file # ---------------------------------------------------------------------- # # In this file, you can use all long options that the program supports. # If you want to know the options a program supports, start the program # with the "--help" option. # # More detailed information about the individual options can also be # found in the manual. # # For advice on how to change settings please see # https://dev.mysql.com/doc/refman/8.0/en/server-configuration-defaults.html # # # CLIENT SECTION # ---------------------------------------------------------------------- # # The following options will be read by MySQL client applications. # Note that only client applications shipped by MySQL are guaranteed # to read this section. If you want your own MySQL client program to # honor these values, you need to specify it as an option during the # MySQL client library initialization. # [client] # pipe= # socket=MYSQL port=3306 [mysql] no-beep # default-character-set= # SERVER SECTION # ---------------------------------------------------------------------- # # The following options will be read by the MySQL Server. Make sure that # you have installed the server correctly (see above) so it reads this # file. # [mysqld] port = 3306 bind-address = 0.0.0.0 # The next three options are mutually exclusive to SERVER_PORT below. # skip-networking # enable-named-pipe # shared-memory # shared-memory-base-name=MYSQL # The Pipe the MySQL Server will use. # socket=MYSQL # The access control granted to clients on the named pipe created by the MySQL Server. # named-pipe-full-access-group= # The TCP/IP Port the MySQL Server will listen on port=3306 # Path to installation directory. All paths are usually resolved relative to this. # basedir="D:/mysql" # Path to the database root datadir=D:/mysql\Data # The default character set that will be used when a new schema or table is # created and no character set is defined # character-set-server= # The default storage engine that will be used when create new tables when default-storage-engine=INNODB # The current server SQL mode, which can be set dynamically. # Modes affect the SQL syntax MySQL supports and the data validation checks it performs. This # makes it easier to use MySQL in different environments and to use MySQL together with other # database servers. sql-mode="ONLY_FULL_GROUP_BY,STRICT_TRANS_TABLES,NO_ZERO_IN_DATE,NO_ZERO_DATE,ERROR_FOR_DIVISION_BY_ZERO,NO_ENGINE_SUBSTITUTION" # General and Slow logging. log-output=FILE general-log=0 general_log_file="WIN-20240617SLP.log" slow-query-log=1 slow_query_log_file="WIN-20240617SLP-slow.log" long_query_time=10 # Error Logging. log-error="WIN-20240617SLP.err" # ***** Group Replication Related ***** # Specifies the base name to use for binary log files. With binary logging # enabled, the server logs all statements that change data to the binary # log, which is used for backup and replication. log-bin="WIN-20240617SLP-bin" # ***** Group Replication Related ***** # Specifies the server ID. For servers that are used in a replication topology, # you must specify a unique server ID for each replication server, in the # range from 1 to 2^32 &minus; 1. "Unique" means that each ID must be different # from every other ID in use by any other source or replica. server-id=1 # Indicates how table and database names are stored on disk and used in MySQL. # Value 0 = Table and database names are stored on disk using the lettercase specified in the CREATE # TABLE or CREATE DATABASE statement. Name comparisons are case-sensitive. You should not # set this variable to 0 if you are running MySQL on a system that has case-insensitive file # names (such as Windows or macOS). If you force this variable to 0 with # --lower-case-table-names=0 on a case-insensitive file system and access MyISAM tablenames # using different lettercases, index corruption may result. # Value 1 = Table names are stored in lowercase on disk and name comparisons are not case-sensitive. # MySQL converts all table names to lowercase on storage and lookup. This behavior also applies # to database names and table aliases. # Value 2 = Table and database names are stored on disk using the lettercase specified in the CREATE TABLE # or CREATE DATABASE statement, but MySQL converts them to lowercase on lookup. Name comparisons # are not case-sensitive. This works only on file systems that are not case-sensitive! InnoDB # table names and view names are stored in lowercase, as for lower_case_table_names=1. lower_case_table_names=1 # This variable is used to limit the effect of data import and export operations, such as # those performed by the LOAD DATA and SELECT ... INTO OUTFILE statements and the # LOAD_FILE() function. These operations are permitted only to users who have the FILE privilege. secure-file-priv="D:/mysql/Uploads" # The maximum amount of concurrent sessions the MySQL server will # allow. One of these connections will be reserved for a user with # SUPER privileges to allow the administrator to login even if the # connection limit has been reached. max_connections=151 # The number of open tables for all threads. Increasing this value increases the number # of file descriptors that mysqld requires. table_open_cache=4000 # Defines the maximum amount of memory that can be occupied by the TempTable # storage engine before it starts storing data on disk. temptable_max_ram=1G # Defines the maximum size of internal in-memory temporary tables created # by the MEMORY storage engine and, as of MySQL 8.0.28, the TempTable storage # engine. If an internal in-memory temporary table exceeds this size, it is # automatically converted to an on-disk internal temporary table. tmp_table_size=128M # The storage engine for in-memory internal temporary tables (see Section 8.4.4, "Internal # Temporary Table Use in MySQL"). Permitted values are TempTable (the default) and MEMORY. internal_tmp_mem_storage_engine=TempTable #*** MyISAM Specific options # The maximum size of the temporary file that MySQL is permitted to use while re-creating a # MyISAM index (during REPAIR TABLE, ALTER TABLE, or LOAD DATA). If the file size would be # larger than this value, the index is created using the key cache instead, which is slower. # The value is given in bytes. myisam_max_sort_file_size=2146435072 # The size of the buffer that is allocated when sorting MyISAM indexes during a REPAIR TABLE # or when creating indexes with CREATE INDEX or ALTER TABLE. myisam_sort_buffer_size=245M # Size of the Key Buffer, used to cache index blocks for MyISAM tables. # Do not set it larger than 30% of your available memory, as some memory # is also required by the OS to cache rows. Even if you're not using # MyISAM tables, you should still set it to 8-64M as it will also be # used for internal temporary disk tables. key_buffer_size=8M # Each thread that does a sequential scan for a MyISAM table allocates a buffer # of this size (in bytes) for each table it scans. If you do many sequential # scans, you might want to increase this value, which defaults to 131072. The # value of this variable should be a multiple of 4KB. If it is set to a value # that is not a multiple of 4KB, its value is rounded down to the nearest multiple # of 4KB. read_buffer_size=128K # This variable is used for reads from MyISAM tables, and, for any storage engine, # for Multi-Range Read optimization. read_rnd_buffer_size=256K #*** INNODB Specific options *** # innodb_data_home_dir= # Use this option if you have a MySQL server with InnoDB support enabled # but you do not plan to use it. This will save memory and disk space # and speed up some things. # skip-innodb # If set to 1, InnoDB will flush (fsync) the transaction logs to the # disk at each commit, which offers full ACID behavior. If you are # willing to compromise this safety, and you are running small # transactions, you may set this to 0 or 2 to reduce disk I/O to the # logs. Value 0 means that the log is only written to the log file and # the log file flushed to disk approximately once per second. Value 2 # means the log is written to the log file at each commit, but the log # file is only flushed to disk approximately once per second. innodb_flush_log_at_trx_commit=1 # The size in bytes of the buffer that InnoDB uses to write to the log files on # disk. The default value changed from 8MB to 16MB with the introduction of 32KB # and 64KB innodb_page_size values. A large log buffer enables large transactions # to run without the need to write the log to disk before the transactions commit. # Thus, if you have transactions that update, insert, or delete many rows, making # the log buffer larger saves disk I/O. innodb_log_buffer_size=16M # The size in bytes of the buffer pool, the memory area where InnoDB caches table # and index data. The default value is 134217728 bytes (128MB). The maximum value # depends on the CPU architecture; the maximum is 4294967295 (232-1) on 32-bit systems # and 18446744073709551615 (264-1) on 64-bit systems. On 32-bit systems, the CPU # architecture and operating system may impose a lower practical maximum size than the # stated maximum. When the size of the buffer pool is greater than 1GB, setting # innodb_buffer_pool_instances to a value greater than 1 can improve the scalability on # a busy server. innodb_buffer_pool_size=128M # Defines the amount of disk space occupied by redo log files. This variable supersedes the # innodb_log_files_in_group and innodb_log_file_size variables. innodb_redo_log_capacity=100M # Defines the maximum number of threads permitted inside of InnoDB. A value # of 0 (the default) is interpreted as infinite concurrency (no limit). This # variable is intended for performance tuning on high concurrency systems. # InnoDB tries to keep the number of threads inside InnoDB less than or equal to # the innodb_thread_concurrency limit. Once the limit is reached, additional threads # are placed into a "First In, First Out" (FIFO) queue for waiting threads. Threads # waiting for locks are not counted in the number of concurrently executing threads. innodb_thread_concurrency=25 # The increment size (in MB) for extending the size of an auto-extend InnoDB system tablespace file when it becomes full. innodb_autoextend_increment=64 # The number of regions that the InnoDB buffer pool is divided into. # For systems with buffer pools in the multi-gigabyte range, dividing the buffer pool into separate instances can improve concurrency, # by reducing contention as different threads read and write to cached pages. innodb_buffer_pool_instances=8 # Determines the number of threads that can enter InnoDB concurrently. innodb_concurrency_tickets=5000 # Specifies how long in milliseconds (ms) a block inserted into the old sublist must stay there after its first access before # it can be moved to the new sublist. innodb_old_blocks_time=1000 # When this variable is enabled, InnoDB updates statistics during metadata statements. innodb_stats_on_metadata=0 # When innodb_file_per_table is enabled (the default in 5.6.6 and higher), InnoDB stores the data and indexes for each newly created table # in a separate .ibd file, rather than in the system tablespace. innodb_file_per_table=1 # Use the following list of values: 0 for crc32, 1 for strict_crc32, 2 for innodb, 3 for strict_innodb, 4 for none, 5 for strict_none. innodb_checksum_algorithm=0 # If this is set to a nonzero value, all tables are closed every flush_time seconds to free up resources and # synchronize unflushed data to disk. # This option is best used only on systems with minimal resources. flush_time=0 # The minimum size of the buffer that is used for plain index scans, range index scans, and joins that do not use # indexes and thus perform full table scans. join_buffer_size=256K # The maximum size of one packet or any generated or intermediate string, or any parameter sent by the # mysql_stmt_send_long_data() C API function. max_allowed_packet=64M # If more than this many successive connection requests from a host are interrupted without a successful connection, # the server blocks that host from performing further connections. max_connect_errors=100 # The number of file descriptors available to mysqld from the operating system # Try increasing the value of this option if mysqld gives the error "Too many open files". open_files_limit=8161 # If you see many sort_merge_passes per second in SHOW GLOBAL STATUS output, you can consider increasing the # sort_buffer_size value to speed up ORDER BY or GROUP BY operations that cannot be improved with query optimization # or improved indexing. sort_buffer_size=256K # Specify the maximum size of a row-based binary log event, in bytes. # Rows are grouped into events smaller than this size if possible. The value should be a multiple of 256. binlog_row_event_max_size=8K # If the value of this variable is greater than 0, a replica synchronizes its master.info file to disk. # (using fdatasync()) after every sync_source_info events. sync_source_info=10000 # If the value of this variable is greater than 0, the MySQL server synchronizes its relay log to disk. # (using fdatasync()) after every sync_relay_log writes to the relay log. sync_relay_log=10000 # Load mysql plugins at start."plugin_x ; plugin_y". # plugin_load # The TCP/IP Port the MySQL Server X Protocol will listen on. 这就是配置文件内容
10-03
Executing tasks: [:app:assembleDebug] in project D:\TestProject\MyApplication > Task :app:createDebugVariantModel UP-TO-DATE > Task :app:preBuild UP-TO-DATE > Task :app:preDebugBuild UP-TO-DATE > Task :app:mergeDebugNativeDebugMetadata NO-SOURCE > Task :app:compileDebugAidl NO-SOURCE > Task :app:compileDebugRenderscript NO-SOURCE > Task :app:generateDebugBuildConfig UP-TO-DATE > Task :app:javaPreCompileDebug UP-TO-DATE > Task :app:checkDebugAarMetadata UP-TO-DATE AGPBI: {"kind":"warning","text":"Your project has set `android.useAndroidX=true`, but configuration `:app:debugRuntimeClasspath` still contains legacy support libraries, which may cause runtime issues.\nThis behavior will not be allowed in Android Gradle plugin 8.0.\nPlease use only AndroidX dependencies or set `android.enableJetifier=true` in the `gradle.properties` file to migrate your project to AndroidX (see https://developer.android.com/jetpack/androidx/migrate for more info).\nThe following legacy support libraries are detected:\n:app:debugRuntimeClasspath -> com.android.support:support-compat:28.0.0\n:app:debugRuntimeClasspath -> com.android.support:support-compat:28.0.0 -> com.android.support:support-annotations:28.0.0\n:app:debugRuntimeClasspath -> com.android.support:support-compat:28.0.0 -> com.android.support:collections:28.0.0\n:app:debugRuntimeClasspath -> com.android.support:support-compat:28.0.0 -> android.arch.lifecycle:runtime:1.1.1\n:app:debugRuntimeClasspath -> com.android.support:support-compat:28.0.0 -> android.arch.lifecycle:runtime:1.1.1 -> android.arch.lifecycle:common:1.1.1\n:app:debugRuntimeClasspath -> com.android.support:support-compat:28.0.0 -> android.arch.lifecycle:runtime:1.1.1 -> android.arch.core:common:1.1.1\n:app:debugRuntimeClasspath -> com.android.support:support-compat:28.0.0 -> com.android.support:versionedparcelable:28.0.0","sources":[{}]} > Task :app:generateDebugResValues UP-TO-DATE > Task :app:mapDebugSourceSetPaths UP-TO-DATE > Task :app:generateDebugResources UP-TO-DATE > Task :app:mergeDebugResources UP-TO-DATE > Task :app:packageDebugResources UP-TO-DATE > Task :app:parseDebugLocalResources UP-TO-DATE > Task :app:createDebugCompatibleScreenManifests UP-TO-DATE > Task :app:extractDeepLinksDebug UP-TO-DATE > Task :app:processDebugMainManifest FAILED [androidx.versionedparcelable:versionedparcelable:1.1.1] C:\Users\wangsen\.gradle\caches\transforms-3\4b621581b14be943fef7e9025808a5ef\transformed\versionedparcelable-1.1.1\AndroidManifest.xml Warning: Namespace 'androidx.versionedparcelable' used in: androidx.versionedparcelable:versionedparcelable:1.1.1, com.android.support:versionedparcelable:28.0.0. D:\TestProject\MyApplication\app\src\main\AndroidManifest.xml:22:18-91 Error: Attribute application@appComponentFactory value=(android.support.v4.app.CoreComponentFactory) from [com.android.support:support-compat:28.0.0] AndroidManifest.xml:22:18-91 is also present at [androidx.core:core:1.7.0] AndroidManifest.xml:24:18-86 value=(androidx.core.app.CoreComponentFactory). Suggestion: add 'tools:replace="android:appComponentFactory"' to <application> element at AndroidManifest.xml:7:5-25:19 to override. See https://developer.android.com/r/studio-ui/build/manifest-merger for more information about the manifest merger. > Task :app:mergeDebugShaders UP-TO-DATE > Task :app:compileDebugShaders NO-SOURCE > Task :app:generateDebugAssets UP-TO-DATE > Task :app:mergeDebugAssets UP-TO-DATE > Task :app:compressDebugAssets UP-TO-DATE > Task :app:processDebugJavaRes NO-SOURCE > Task :app:desugarDebugFileDependencies UP-TO-DATE > Task :app:mergeDebugJniLibFolders UP-TO-DATE > Task :app:mergeDebugNativeLibs NO-SOURCE > Task :app:stripDebugDebugSymbols NO-SOURCE > Task :app:validateSigningDebug UP-TO-DATE > Task :app:writeDebugAppMetadata UP-TO-DATE > Task :app:writeDebugSigningConfigVersions UP-TO-DATE > Task :app:checkDebugDuplicateClasses FAILED > Task :app:mergeDebugJavaResource FAILED FAILURE: Build completed with 3 failures. 1: Task failed with an exception. ----------- * What went wrong: Execution failed for task ':app:processDebugMainManifest'. > Manifest merger failed with multiple errors, see logs * Try: > Run with --stacktrace option to get the stack trace. > Run with --info or --debug option to get more log output. > Run with --scan to get full insights. ============================================================================== 2: Task failed with an exception. ----------- * What went wrong: Execution failed for task ':app:checkDebugDuplicateClasses'. > A failure occurred while executing com.android.build.gradle.internal.tasks.CheckDuplicatesRunnable > Duplicate class android.support.v4.app.INotificationSideChannel found in modules core-1.7.0-runtime (androidx.core:core:1.7.0) and support-compat-28.0.0-runtime (com.android.support:support-compat:28.0.0) Duplicate class android.support.v4.app.INotificationSideChannel$Stub found in modules core-1.7.0-runtime (androidx.core:core:1.7.0) and support-compat-28.0.0-runtime (com.android.support:support-compat:28.0.0) Duplicate class android.support.v4.app.INotificationSideChannel$Stub$Proxy found in modules core-1.7.0-runtime (androidx.core:core:1.7.0) and support-compat-28.0.0-runtime (com.android.support:support-compat:28.0.0) Duplicate class android.support.v4.graphics.drawable.IconCompatParcelizer found in modules core-1.7.0-runtime (androidx.core:core:1.7.0) and support-compat-28.0.0-runtime (com.android.support:support-compat:28.0.0) Duplicate class android.support.v4.os.IResultReceiver found in modules core-1.7.0-runtime (androidx.core:core:1.7.0) and support-compat-28.0.0-runtime (com.android.support:support-compat:28.0.0) Duplicate class android.support.v4.os.IResultReceiver$Stub found in modules core-1.7.0-runtime (androidx.core:core:1.7.0) and support-compat-28.0.0-runtime (com.android.support:support-compat:28.0.0) Duplicate class android.support.v4.os.IResultReceiver$Stub$Proxy found in modules core-1.7.0-runtime (androidx.core:core:1.7.0) and support-compat-28.0.0-runtime (com.android.support:support-compat:28.0.0) Duplicate class android.support.v4.os.ResultReceiver found in modules core-1.7.0-runtime (androidx.core:core:1.7.0) and support-compat-28.0.0-runtime (com.android.support:support-compat:28.0.0) Duplicate class android.support.v4.os.ResultReceiver$1 found in modules core-1.7.0-runtime (androidx.core:core:1.7.0) and support-compat-28.0.0-runtime (com.android.support:support-compat:28.0.0) Duplicate class android.support.v4.os.ResultReceiver$MyResultReceiver found in modules core-1.7.0-runtime (androidx.core:core:1.7.0) and support-compat-28.0.0-runtime (com.android.support:support-compat:28.0.0) Duplicate class android.support.v4.os.ResultReceiver$MyRunnable found in modules core-1.7.0-runtime (androidx.core:core:1.7.0) and support-compat-28.0.0-runtime (com.android.support:support-compat:28.0.0) Duplicate class androidx.core.graphics.drawable.IconCompatParcelizer found in modules core-1.7.0-runtime (androidx.core:core:1.7.0) and support-compat-28.0.0-runtime (com.android.support:support-compat:28.0.0) Duplicate class androidx.core.internal.package-info found in modules core-1.7.0-runtime (androidx.core:core:1.7.0) and support-compat-28.0.0-runtime (com.android.support:support-compat:28.0.0) Duplicate class androidx.versionedparcelable.CustomVersionedParcelable found in modules versionedparcelable-1.1.1-runtime (androidx.versionedparcelable:versionedparcelable:1.1.1) and versionedparcelable-28.0.0-runtime (com.android.support:versionedparcelable:28.0.0) Duplicate class androidx.versionedparcelable.NonParcelField found in modules versionedparcelable-1.1.1-runtime (androidx.versionedparcelable:versionedparcelable:1.1.1) and versionedparcelable-28.0.0-runtime (com.android.support:versionedparcelable:28.0.0) Duplicate class androidx.versionedparcelable.ParcelField found in modules versionedparcelable-1.1.1-runtime (androidx.versionedparcelable:versionedparcelable:1.1.1) and versionedparcelable-28.0.0-runtime (com.android.support:versionedparcelable:28.0.0) Duplicate class androidx.versionedparcelable.ParcelImpl found in modules versionedparcelable-1.1.1-runtime (androidx.versionedparcelable:versionedparcelable:1.1.1) and versionedparcelable-28.0.0-runtime (com.android.support:versionedparcelable:28.0.0) Duplicate class androidx.versionedparcelable.ParcelImpl$1 found in modules versionedparcelable-1.1.1-runtime (androidx.versionedparcelable:versionedparcelable:1.1.1) and versionedparcelable-28.0.0-runtime (com.android.support:versionedparcelable:28.0.0) Duplicate class androidx.versionedparcelable.ParcelUtils found in modules versionedparcelable-1.1.1-runtime (androidx.versionedparcelable:versionedparcelable:1.1.1) and versionedparcelable-28.0.0-runtime (com.android.support:versionedparcelable:28.0.0) Duplicate class androidx.versionedparcelable.VersionedParcel found in modules versionedparcelable-1.1.1-runtime (androidx.versionedparcelable:versionedparcelable:1.1.1) and versionedparcelable-28.0.0-runtime (com.android.support:versionedparcelable:28.0.0) Duplicate class androidx.versionedparcelable.VersionedParcel$1 found in modules versionedparcelable-1.1.1-runtime (androidx.versionedparcelable:versionedparcelable:1.1.1) and versionedparcelable-28.0.0-runtime (com.android.support:versionedparcelable:28.0.0) Duplicate class androidx.versionedparcelable.VersionedParcel$ParcelException found in modules versionedparcelable-1.1.1-runtime (androidx.versionedparcelable:versionedparcelable:1.1.1) and versionedparcelable-28.0.0-runtime (com.android.support:versionedparcelable:28.0.0) Duplicate class androidx.versionedparcelable.VersionedParcelParcel found in modules versionedparcelable-1.1.1-runtime (androidx.versionedparcelable:versionedparcelable:1.1.1) and versionedparcelable-28.0.0-runtime (com.android.support:versionedparcelable:28.0.0) Duplicate class androidx.versionedparcelable.VersionedParcelStream found in modules versionedparcelable-1.1.1-runtime (androidx.versionedparcelable:versionedparcelable:1.1.1) and versionedparcelable-28.0.0-runtime (com.android.support:versionedparcelable:28.0.0) Duplicate class androidx.versionedparcelable.VersionedParcelStream$FieldBuffer found in modules versionedparcelable-1.1.1-runtime (androidx.versionedparcelable:versionedparcelable:1.1.1) and versionedparcelable-28.0.0-runtime (com.android.support:versionedparcelable:28.0.0) Duplicate class androidx.versionedparcelable.VersionedParcelable found in modules versionedparcelable-1.1.1-runtime (androidx.versionedparcelable:versionedparcelable:1.1.1) and versionedparcelable-28.0.0-runtime (com.android.support:versionedparcelable:28.0.0) Duplicate class androidx.versionedparcelable.VersionedParcelize found in modules versionedparcelable-1.1.1-runtime (androidx.versionedparcelable:versionedparcelable:1.1.1) and versionedparcelable-28.0.0-runtime (com.android.support:versionedparcelable:28.0.0) Go to the documentation to learn how to <a href="d.android.com/r/tools/classpath-sync-errors">Fix dependency resolution errors</a>. * Try: > Run with --stacktrace option to get the stack trace. > Run with --info or --debug option to get more log output. > Run with --scan to get full insights. ============================================================================== 3: Task failed with an exception. ----------- * What went wrong: Execution failed for task ':app:mergeDebugJavaResource'. > A failure occurred while executing com.android.build.gradle.internal.tasks.MergeJavaResWorkAction > 2 files found with path 'META-INF/androidx.core_core.version' from inputs: - C:\Users\wangsen\.gradle\caches\transforms-3\0b22a6b07b3e498281e2fdb9d93c9c6b\transformed\support-compat-28.0.0\jars\classes.jar - C:\Users\wangsen\.gradle\caches\transforms-3\0212d0c0c0b99c5d00c15a82a811f4d1\transformed\core-1.7.0\jars\classes.jar Adding a packagingOptions block may help, please refer to https://developer.android.com/reference/tools/gradle-api/7.4/com/android/build/api/dsl/ResourcesPackagingOptions for more information * Try: > Run with --stacktrace option to get the stack trace. > Run with --info or --debug option to get more log output. > Run with --scan to get full insights. ============================================================================== * Get more help at https://help.gradle.org BUILD FAILED in 436ms 22 actionable tasks: 3 executed, 19 up-to-date
07-10
内容概要:本文档围绕六自由度机械臂的ANN人工神经网络设计展开,涵盖正向与逆向运动学求解、正向动力学控制,并采用拉格朗日-欧拉法推导逆向动力学方程,所有内容均通过Matlab代码实现。同时结合RRT路径规划与B样条优化技术,提升机械臂运动轨迹的合理性与平滑性。文中还涉及多种先进算法与仿真技术的应用,如状态估计中的UKF、AUKF、EKF等滤波方法,以及PINN、INN、CNN-LSTM等神经网络模型在工程问题中的建模与求解,展示了Matlab在机器人控制、智能算法与系统仿真中的强大能力。; 适合人群:具备一定Ma六自由度机械臂ANN人工神经网络设计:正向逆向运动学求解、正向动力学控制、拉格朗日-欧拉法推导逆向动力学方程(Matlab代码实现)tlab编程基础,从事机器人控制、自动化、智能制造、人工智能等相关领域的科研人员及研究生;熟悉运动学、动力学建模或对神经网络在控制系统中应用感兴趣的工程技术人员。; 使用场景及目标:①实现六自由度机械臂的精确运动学与动力学建模;②利用人工神经网络解决传统解析方法难以处理的非线性控制问题;③结合路径规划与轨迹优化提升机械臂作业效率;④掌握基于Matlab的状态估计、数据融合与智能算法仿真方法; 阅读建议:建议结合提供的Matlab代码进行实践操作,重点理解运动学建模与神经网络控制的设计流程,关注算法实现细节与仿真结果分析,同时参考文中提及的多种优化与估计方法拓展研究思路。
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