package com.ard.alarm.radar.controller;
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import com.ard.alarm.radar.domain.ArdEquipRadar;
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import com.ard.alarm.radar.domain.GuideInfo;
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import com.ard.alarm.radar.service.IArdEquipRadarService;
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import com.ard.utils.http.AjaxResult;
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import com.ard.utils.util.ByteUtils;
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import com.ard.utils.util.GisUtils;
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import com.ard.utils.netty.tcp.RadarNettyTcpClient;
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import io.netty.buffer.ByteBuf;
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import io.netty.channel.Channel;
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import io.netty.channel.ChannelFuture;
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import lombok.extern.slf4j.Slf4j;
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import org.springframework.web.bind.annotation.PostMapping;
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import org.springframework.web.bind.annotation.RequestBody;
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import org.springframework.web.bind.annotation.RequestMapping;
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import org.springframework.web.bind.annotation.RestController;
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import javax.annotation.Resource;
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import java.util.HashMap;
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import java.util.Map;
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/**
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* @Description: 雷达接口
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* @ClassName: RadarController
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* @Author: 刘苏义
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* @Date: 2023年11月01日14:12:31
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**/
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@RestController
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@RequestMapping("/radar")
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@Slf4j(topic = "netty")
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public class RadarController {
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@Resource
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IArdEquipRadarService ardEquipRadarService;
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/**
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* 角度引导信息反馈
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*/
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@PostMapping("/guideInfoBack")
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public AjaxResult guideInfoBack(@RequestBody GuideInfo guideInfo) {
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double[] targetPosition = guideInfo.getTargetPosition();
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ArdEquipRadar ardEquipRadar = ardEquipRadarService.selectArdEquipRadarById(guideInfo.getRadarId());
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if (ardEquipRadar == null) {
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return AjaxResult.error("雷达不存在");
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}
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Channel channel= RadarNettyTcpClient.SERVER_MAP.get(ardEquipRadar.getIp() + ":" + ardEquipRadar.getPort());
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if (channel == null) {
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return AjaxResult.error("雷达未连接");
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}
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Double longitude = ardEquipRadar.getLongitude();//雷达经度
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Double latitude = ardEquipRadar.getLatitude();//雷达纬度
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Double altitude = ardEquipRadar.getAltitude();//雷达高度
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//计算水平角度
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float p = (float) GisUtils.getNorthAngle(longitude, latitude, targetPosition[0], targetPosition[1]);
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//计算垂直角度
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double[] radarPosition = new double[2];
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radarPosition[0] = longitude;
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radarPosition[1] = latitude;
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double distance = GisUtils.getDistance(radarPosition, targetPosition);
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float angleInRadians = (float) Math.atan(distance / altitude);
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float t = (90 - (float) Math.toDegrees(angleInRadians)) * -1;
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log.debug("distance：" + distance);
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log.debug("p：" + p);
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log.debug("t：" + t);
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//发送告警前端的角度提示
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byte[] header = {0x01, 0x02, 0x01};//包头
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byte[] payloadHeader = {0x10, 0x03, 0x20, 0x00};//负载头
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byte[] distanceBytes = ByteUtils.decimalToBytes((int) distance);
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distanceBytes = ByteUtils.toLittleEndian(distanceBytes);
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byte[] pBytes = ByteUtils.floatToBytes(p);
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pBytes = ByteUtils.toLittleEndian(pBytes);
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byte[] tBytes = ByteUtils.floatToBytes(t);
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tBytes = ByteUtils.toLittleEndian(tBytes);
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byte[] resBytes = new byte[20];
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byte[] payloadBody = ByteUtils.appendArrays(distanceBytes, pBytes, tBytes, resBytes);//负载
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byte[] payload = ByteUtils.appendArrays(payloadHeader, payloadBody);//负载头+负载
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byte[] payloadCrc32 = ByteUtils.parseCrc32(payload);//负载头+负载的crc32校验
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byte[] footer = {0x01, 0x02, 0x00};//包尾
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byte[] data = ByteUtils.appendArrays(header, payload, payloadCrc32, footer);
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ByteBuf message = channel.alloc().buffer();
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message.writeBytes(data);
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channel.writeAndFlush(message);
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Map<String,Object> map = new HashMap<>();
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map.put("distance",distance);
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map.put("p",p);
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map.put("t",t);
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return AjaxResult.success(map);
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}
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}
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