package com.ruoyi.alarm.radar.service.impl;
|
|
import com.alibaba.fastjson2.JSONObject;
|
import com.ruoyi.alarm.global.domain.GuidePoint;
|
import com.ruoyi.alarm.radar.domain.ArdAlarmRadar;
|
import com.ruoyi.alarm.radar.domain.RadarAlarmData;
|
import com.ruoyi.alarm.radar.service.ArdRadarService;
|
import com.ruoyi.common.core.domain.AjaxResult;
|
import com.ruoyi.common.utils.StringUtils;
|
import com.ruoyi.device.camera.domain.ArdCameras;
|
import com.ruoyi.device.camera.domain.CameraCmd;
|
import com.ruoyi.device.camera.service.ICameraSdkService;
|
import com.ruoyi.device.radar.mapper.ArdEquipRadarMapper;
|
import com.ruoyi.storage.minio.domain.jsonbean.JsonsRootBean;
|
import com.ruoyi.utils.gis.GisUtil;
|
import lombok.extern.slf4j.Slf4j;
|
import org.gavaghan.geodesy.GlobalCoordinates;
|
import org.springframework.scheduling.annotation.Async;
|
import org.springframework.stereotype.Service;
|
|
import javax.annotation.Resource;
|
import java.util.HashMap;
|
import java.util.List;
|
import java.util.Map;
|
|
/**
|
* @Description: 雷达业务
|
* @ClassName: ArdRadarServiceImpl
|
* @Author: 刘苏义
|
* @Date: 2023年11月02日9:00:08
|
**/
|
@Slf4j(topic = "guideQueue")
|
@Service
|
public class ArdRadarServiceImpl implements ArdRadarService {
|
@Resource
|
ICameraSdkService iCameraSdkService;
|
@Resource
|
ArdEquipRadarMapper ardEquipRadarMapper;
|
|
/**
|
* 异步执行强制引导
|
* 刘苏义
|
* 2023/11/2 9:00:55
|
*/
|
@Override
|
@Async
|
public void forceGuide(String msg) {
|
try {
|
Map<String, Object> msgMap = JSONObject.parseObject(msg, Map.class);
|
if (msgMap != null) {
|
Double p = Double.parseDouble(msgMap.get("p").toString());
|
Double t = Double.parseDouble(msgMap.get("t").toString());
|
Long distance = Long.parseLong(msgMap.get("distance").toString());
|
String radarId = msgMap.get("radarId").toString();
|
//获取雷达所在塔上的大光电
|
ArdCameras camera = ardEquipRadarMapper.getCameraByRadar(radarId);
|
if (StringUtils.isNotNull(camera)) {
|
log.debug("获取到雷达塔上的光电:" + camera.getId());
|
//计算目标点坐标
|
GlobalCoordinates cameraCoordinates = new GlobalCoordinates(camera.getLatitude(), camera.getLongitude());
|
GlobalCoordinates targetCoordinates = GisUtil.getGlobalCoordinates(cameraCoordinates, p, distance);
|
//获取ptz
|
double[] cameraPoint = new double[]{ camera.getLongitude(), camera.getLatitude(),camera.getAltitude()};
|
double[] targetPoint = new double[]{targetCoordinates.getLongitude(), targetCoordinates.getLatitude()};
|
double[] cameraPTZ = GisUtil.getCameraPTZ(cameraPoint, targetPoint, 20, 150);
|
//如果雷达塔上有光电
|
CameraCmd cmd = new CameraCmd(camera.getId(), 1);
|
cmd.setOperator("sys_radar_force");
|
Map<String, Double> ptzMap = new HashMap<>();
|
ptzMap.put("p", p);
|
ptzMap.put("t", t);
|
ptzMap.put("z", cameraPTZ[2]);
|
cmd.setPtzMap(ptzMap);
|
iCameraSdkService.setPtz(cmd);
|
} else {
|
log.debug("未获取到雷达塔上的光电");
|
}
|
}
|
} catch (Exception ex) {
|
log.error("强制引导异常:" + ex.getMessage());
|
}
|
}
|
/**
|
* 异步雷达追踪引导
|
* 刘苏义
|
* 2023/11/2 9:00:55
|
*/
|
@Override
|
@Async
|
public void followGuide(String msg) {
|
try {
|
RadarAlarmData radarFollowData = JSONObject.parseObject(msg, RadarAlarmData.class);
|
if (radarFollowData != null) {
|
List<ArdAlarmRadar> ardFollowRadars = radarFollowData.getArdFollowRadars();
|
if (ardFollowRadars.size()>0) {
|
//当每次上报只上报一个追踪信息，认为不太可能雷达扫描一次会跟踪多个目标
|
ArdAlarmRadar ardFollowRadar = ardFollowRadars.get(0);
|
String radarId = radarFollowData.getRadarId();//雷达id
|
//这里追踪的坐标为雷达经过计算上传的经纬度
|
Double longitude = ardFollowRadar.getLongitude();
|
Double latitude = ardFollowRadar.getLatitude();
|
GuidePoint guidePoint=new GuidePoint().setLongitude(longitude).setLatitude(latitude);
|
//获取雷达所在塔上的大光电
|
ArdCameras camera = ardEquipRadarMapper.getCameraByRadar(radarId);
|
if (StringUtils.isNotNull(camera)) {
|
log.debug("获取到雷达塔上的大光电:" + camera.getId());
|
//如果雷达塔上有光电,引导光电的1通道到追踪的坐标
|
CameraCmd cmd = new CameraCmd(camera.getId(), 1);
|
cmd.setOperator("sys_radar_follow");
|
cmd.setCameraId(camera.getId());
|
cmd.setChanNo(1);
|
cmd.setTargetPosition(new double[]{guidePoint.getLongitude(), guidePoint.getLatitude()});
|
boolean res = iCameraSdkService.guideTargetPosition(cmd);
|
if (res) {
|
log.debug("雷达追踪引导成功");
|
} else {
|
log.debug("雷达追踪引导失败");
|
}
|
} else {
|
log.debug("未获取到雷达塔上的大光电");
|
}
|
}
|
}
|
} catch (Exception ex) {
|
log.error("雷达追踪引导异常:" + ex.getMessage());
|
}
|
}
|
}
|
