package com.ruoyi.alarm.radar.service.impl;
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import com.alibaba.fastjson2.JSONObject;
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import com.ruoyi.alarm.global.domain.GuidePoint;
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import com.ruoyi.alarm.radar.domain.ArdAlarmRadar;
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import com.ruoyi.alarm.radar.domain.RadarAlarmData;
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import com.ruoyi.alarm.radar.service.ArdRadarService;
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import com.ruoyi.common.core.domain.AjaxResult;
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import com.ruoyi.common.utils.StringUtils;
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import com.ruoyi.device.camera.domain.ArdCameras;
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import com.ruoyi.device.camera.domain.CameraCmd;
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import com.ruoyi.device.camera.service.ICameraSdkService;
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import com.ruoyi.device.radar.mapper.ArdEquipRadarMapper;
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import com.ruoyi.storage.minio.domain.jsonbean.JsonsRootBean;
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import com.ruoyi.utils.gis.GisUtil;
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import lombok.extern.slf4j.Slf4j;
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import org.gavaghan.geodesy.GlobalCoordinates;
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import org.springframework.scheduling.annotation.Async;
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import org.springframework.stereotype.Service;
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import javax.annotation.Resource;
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import java.util.HashMap;
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import java.util.List;
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import java.util.Map;
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/**
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* @Description: 雷达业务
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* @ClassName: ArdRadarServiceImpl
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* @Author: 刘苏义
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* @Date: 2023年11月02日9:00:08
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**/
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@Slf4j(topic = "guideQueue")
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@Service
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public class ArdRadarServiceImpl implements ArdRadarService {
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@Resource
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ICameraSdkService iCameraSdkService;
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@Resource
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ArdEquipRadarMapper ardEquipRadarMapper;
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/**
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* 异步执行强制引导
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* 刘苏义
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* 2023/11/2 9:00:55
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*/
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@Override
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@Async
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public void forceGuide(String msg) {
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try {
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Map<String, Object> msgMap = JSONObject.parseObject(msg, Map.class);
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if (msgMap != null) {
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Double p = Double.parseDouble(msgMap.get("p").toString());
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Double t = Double.parseDouble(msgMap.get("t").toString());
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Long distance = Long.parseLong(msgMap.get("distance").toString());
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String radarId = msgMap.get("radarId").toString();
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//获取雷达所在塔上的大光电
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ArdCameras camera = ardEquipRadarMapper.getCameraByRadar(radarId);
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if (StringUtils.isNotNull(camera)) {
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log.debug("获取到雷达塔上的光电:" + camera.getId());
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//计算目标点坐标
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GlobalCoordinates cameraCoordinates = new GlobalCoordinates(camera.getLatitude(), camera.getLongitude());
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GlobalCoordinates targetCoordinates = GisUtil.getGlobalCoordinates(cameraCoordinates, p, distance);
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//获取ptz
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double[] cameraPoint = new double[]{ camera.getLongitude(), camera.getLatitude(),camera.getAltitude()};
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double[] targetPoint = new double[]{targetCoordinates.getLongitude(), targetCoordinates.getLatitude()};
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double[] cameraPTZ = GisUtil.getCameraPTZ(cameraPoint, targetPoint, 20, 150);
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//如果雷达塔上有光电
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CameraCmd cmd = new CameraCmd(camera.getId(), 1);
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cmd.setOperator("sys_radar_force");
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Map<String, Double> ptzMap = new HashMap<>();
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ptzMap.put("p", p);
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ptzMap.put("t", t);
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ptzMap.put("z", cameraPTZ[2]);
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cmd.setPtzMap(ptzMap);
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iCameraSdkService.setPtz(cmd);
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} else {
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log.debug("未获取到雷达塔上的光电");
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}
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}
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} catch (Exception ex) {
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log.error("强制引导异常:" + ex.getMessage());
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}
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}
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/**
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* 异步雷达追踪引导
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* 刘苏义
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* 2023/11/2 9:00:55
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*/
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@Override
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@Async
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public void followGuide(String msg) {
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try {
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RadarAlarmData radarFollowData = JSONObject.parseObject(msg, RadarAlarmData.class);
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if (radarFollowData != null) {
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List<ArdAlarmRadar> ardFollowRadars = radarFollowData.getArdFollowRadars();
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if (ardFollowRadars.size()>0) {
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//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
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ArdAlarmRadar ardFollowRadar = ardFollowRadars.get(0);
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String radarId = radarFollowData.getRadarId();//雷达id
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//这里追踪的坐标为雷达经过计算上传的经纬度
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Double longitude = ardFollowRadar.getLongitude();
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Double latitude = ardFollowRadar.getLatitude();
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GuidePoint guidePoint=new GuidePoint().setLongitude(longitude).setLatitude(latitude);
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//获取雷达所在塔上的大光电
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ArdCameras camera = ardEquipRadarMapper.getCameraByRadar(radarId);
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if (StringUtils.isNotNull(camera)) {
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log.debug("获取到雷达塔上的大光电:" + camera.getId());
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//如果雷达塔上有光电,引导光电的1通道到追踪的坐标
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CameraCmd cmd = new CameraCmd(camera.getId(), 1);
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cmd.setOperator("sys_radar_follow");
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cmd.setCameraId(camera.getId());
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cmd.setChanNo(1);
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cmd.setTargetPosition(new double[]{guidePoint.getLongitude(), guidePoint.getLatitude()});
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boolean res = iCameraSdkService.guideTargetPosition(cmd).get("code").equals(200);
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if (res) {
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log.debug("雷达追踪引导成功");
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} else {
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log.debug("雷达追踪引导失败");
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}
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} else {
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log.debug("未获取到雷达塔上的大光电");
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}
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}
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}
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} catch (Exception ex) {
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log.error("雷达追踪引导异常:" + ex.getMessage());
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}
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}
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}
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