inner class and static elements

本文探讨了静态元素(静态字段和静态方法)只能在静态或顶级类型中声明的规定,并解释了这一规定的原因。非静态内部类不能声明静态元素。
static elements(static fields and static methods) can only be declared in a static or top level type, that means non-static inner class could not declare static elements
public class NacosConfigDatasourceTaskElementsOperation implements DatasourceTaskElementsOperation { private static final Logger LOGGER = LoggerFactory.getLogger(NacosConfigDatasourceTaskElementsOperation.class); /** * Single-thread pool. Once the thread pool is blocked, we throw up the old task. */ private final ExecutorService pool = new ThreadPoolExecutor(1, 1, 0, TimeUnit.MILLISECONDS, new ArrayBlockingQueue<>(1), new NameThreadFactory("cron-nacos-datasource-update"), new ThreadPoolExecutor.DiscardOldestPolicy()); private static final int DEFAULT_TIMEOUT = 3000; private ConfigRefreshListener configListener; private final String groupId; private final String dataId; private final Properties properties; private final ConfigFormat configFormat; /** * Note: The Nacos config might be null if its initialization failed. */ private ConfigService configService; /** * Constructs an read-only DataSource with Nacos backend. * * @param serverAddr server address of Nacos, cannot be empty * @param groupId group ID, cannot be empty * @param dataId data ID, cannot be empty * @param configFormat config format, cannot be null. */ public NacosConfigDatasourceTaskElementsOperation(final String serverAddr, final String groupId, final String dataId, final ConfigFormat configFormat) { this(buildProperties(serverAddr), groupId, dataId, configFormat); } /** * * @param properties properties for construct {@link ConfigService} using {@link NacosFactory#createConfigService(Properties)} * @param groupId group ID, cannot be empty * @param dataId data ID, cannot be empty * @param configFormat config format, cannot be null. */ public NacosConfigDatasourceTaskElementsOperation(final Properties properties, final String groupId, final String dataId, final ConfigFormat configFormat) { if (StringUtils.isBlank(groupId) || StringUtils.isBlank(dataId)) { throw new IllegalArgumentException(String.format("Bad argument: groupId=[%s], dataId=[%s]", groupId, dataId)); } Objects.requireNonNull(properties, "Nacos properties must not be null, you could put some keys from PropertyKeyConst"); Objects.requireNonNull(configFormat, "Nacos configFormat must not be null"); this.groupId = groupId; this.dataId = dataId; this.properties = properties; this.configFormat = configFormat; initNacosListener(); } private static Properties buildProperties(String serverAddr) { Properties properties = new Properties(); properties.setProperty(PropertyKeyConst.SERVER_ADDR, serverAddr); return properties; } private void initNacosListener() { try { this.configService = NacosFactory.createConfigService(this.properties); } catch (Exception ex) { LOGGER.warn("[NacosConfigDatasourceTaskElementsOperation] Error occurred when initializing " + "Nacos data source", ex); } } @Override public void purgeDatasourceTaskElements() { List<NacosConfigTaskElement> elements = getElements(); for (NacosConfigTaskElement element : elements) { element.purge(); } publishConfig(elements); } @Override public List<TaskElement> getDatasourceTaskElements() { return Collections.unmodifiableList(getElements()); } @Override public void afterStart(List<TaskElement> fulledDatasourceTaskElement) { updateConfig(fulledDatasourceTaskElement); } @Override public List<TaskElement> getRuntimeNeedCheckDatasourceTaskElements() { List<NacosConfigTaskElement> elements = getElements(); if (elements.isEmpty()) { return Collections.emptyList(); } elements = elements.stream() .filter(t -> Objects.equals(t.getUpdateSign(), 1) || (Objects.equals(t.getUpdateSign(), 1) && t.getTaskId() == null)) .collect(Collectors.toList()); return Collections.unmodifiableList(elements); } @Override public void afterRun(List<TaskElement> runtimeCheckedDatasourceTaskElement) { updateConfig(runtimeCheckedDatasourceTaskElement); } @Nullable @Override public TaskElement getElementById(String id) { List<NacosConfigTaskElement> elements = getElements(); return elements.isEmpty() ? null : elements.stream() .filter(e-> Objects.equals(e.getTaskId(), id)).findFirst().orElse(null); } @Override public boolean registerDefaultIfMainTaskInfoNotProvided() { return false; } @Override public void close() { if (configService != null) { if (configListener != null) { configService.removeListener(dataId, groupId, configListener); } try { configService.shutDown(); } catch (Exception ex) { LOGGER.warn("[NacosConfigDatasourceTaskElementsOperation] Error occurred when closing " + "Nacos data source", ex); } } pool.shutdownNow(); } @Override public void notifyMainTaskInfoNotProvidedAndNoDefaultUsed() { configListener = new ConfigRefreshListener(); try { // Add config listener. configService.addListener(dataId, groupId, new ConfigRefreshListener()); } catch (NacosException ex) { LOGGER.warn("[NacosConfigDatasourceTaskElementsOperation] Error occurred when add " + "config listener", ex); throw new DataSourceDrivenException("Failed to add configuration and refresh listener", ex); } } private List<NacosConfigTaskElement> getElements() { if (configListener != null) { return configListener.elements; } return getRemoteElements(); } private List<NacosConfigTaskElement> getRemoteElements() { String configInfo; try { configInfo = configService.getConfig(dataId, groupId, DEFAULT_TIMEOUT); } catch (NacosException ex) { LOGGER.warn("[NacosConfigDatasourceTaskElementsOperation] Error occurred when get " + "config info ", ex); throw new DataSourceDrivenException("[NacosConfigDatasourceTaskElementsOperation] Error occurred when get " + "config info ", ex); } return deserialize(configInfo); } private List<NacosConfigTaskElement> deserialize(String configInfo) { try { return NacosConfigTaskElementSerializerManager.deserialize(configFormat, configInfo); } catch (IOException ex) { LOGGER.error("Failed to deserialize {} using {} format", configInfo, configFormat, ex); throw new DataSourceDrivenException("Failed to deserialize " + configInfo + " using " + configFormat + " format", ex); } } private void updateConfig(List<TaskElement> elements) { List<NacosConfigTaskElement> nacosConfigTaskElements = new ArrayList<>(); for (TaskElement taskElement : elements) { if (taskElement instanceof NacosConfigTaskElement) { nacosConfigTaskElements.add((NacosConfigTaskElement) taskElement); } } if (nacosConfigTaskElements.isEmpty()) { LOGGER.warn("There is no {} instance in the update item collection, so the configuration " + "cannot be updated.", NacosConfigTaskElement.class.getName()); return; } publishConfig(nacosConfigTaskElements); } private void publishConfig(List<NacosConfigTaskElement> nacosConfigTaskElements) { String newConfig = null; try { newConfig = NacosConfigTaskElementSerializerManager.serialize(configFormat, nacosConfigTaskElements); configService.publishConfig(dataId, groupId, newConfig); } catch (IOException ex) { LOGGER.error("Failed to serialize {} using {} format", nacosConfigTaskElements, configFormat, ex); throw new DataSourceDrivenException("Failed to serialize " + nacosConfigTaskElements + " using " + configFormat + " format", ex); } catch (NacosException ex) { LOGGER.warn("[NacosConfigDatasourceTaskElementsOperation] Error occurred when " + "publish config {}", newConfig, ex); throw new DataSourceDrivenException("[NacosConfigDatasourceTaskElementsOperation] Error occurred when " + "publish config " + newConfig, ex); } } private class ConfigRefreshListener implements Listener { volatile List<NacosConfigTaskElement> elements; public ConfigRefreshListener() { elements = getRemoteElements(); } @Override public Executor getExecutor() { return pool; } @Override public void receiveConfigInfo(String configInfo) { LOGGER.info("[NacosDataSource] New property value received for (properties: {}) " + "(dataId: {}, groupId: {}): {}", properties, dataId, groupId, configInfo); elements = deserialize(configInfo); } } } 根本你的理解 ,帮我为这个雷写上合理的 中英文java注释吧,先中文后英文
11-15
【无人机】基于改进粒子群算法的无人机路径规划研究[和遗传算法、粒子群算法进行比较](Matlab代码实现)内容概要:本文围绕基于改进粒子群算法的无人机路径规划展开研究,重点探讨了在复杂环境中利用改进粒子群算法(PSO)实现无人机三维路径规划的方法,并将其与遗传算法(GA)、标准粒子群算法等传统优化算法进行对比分析。研究内容涵盖路径规划的多目标优化、避障策略、航路点约束以及算法收敛性和寻优能力的评估,所有实验均通过Matlab代码实现,提供了完整的仿真验证流程。文章还提到了多种智能优化算法在无人机路径规划中的应用比较,突出了改进PSO在收敛速度和全局寻优方面的优势。; 适合人群:具备一定Matlab编程基础和优化算法知识的研究生、科研人员及从事无人机路径规划、智能优化算法研究的相关技术人员。; 使用场景及目标:①用于无人机在复杂地形或动态环境下的三维路径规划仿真研究;②比较不同智能优化算法(如PSO、GA、蚁群算法、RRT等)在路径规划中的性能差异;③为多目标优化问题提供算法选型和改进思路。; 阅读建议:建议读者结合文中提供的Matlab代码进行实践操作,重点关注算法的参数设置、适应度函数设计及路径约束处理方式,同时可参考文中提到的多种算法对比思路,拓展到其他智能优化算法的研究与改进中。
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