package com.ard.utils.netty.tcp;
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import com.alibaba.fastjson2.JSON;
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import com.ard.alarm.radar.domain.ArdAlarmRadar;
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import com.ard.alarm.radar.domain.ArdEquipRadar;
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import com.ard.alarm.radar.domain.RadarAlarmData;
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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.mqtt.MqttProducer;
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import io.netty.buffer.ByteBuf;
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import io.netty.channel.ChannelHandlerContext;
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import io.netty.channel.ChannelId;
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import io.netty.channel.SimpleChannelInboundHandler;
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import lombok.extern.slf4j.Slf4j;
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import org.apache.commons.lang3.StringUtils;
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import javax.xml.bind.DatatypeConverter;
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import java.net.InetSocketAddress;
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import java.text.SimpleDateFormat;
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import java.util.*;
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import java.util.concurrent.ScheduledFuture;
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import java.util.concurrent.TimeUnit;
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import static com.ard.utils.netty.tcp.ClientInitialize.aroundScanfMap;
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import static com.ard.utils.util.ByteUtils.toLittleEndian;
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/**
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* @Description: 客户端处理器
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* @ClassName: ClientHandler
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* @Author: 刘苏义
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* @Date: 2023年07月05日13:13
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* @Version: 1.0
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**/
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@Slf4j(topic = "netty")
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public class ClientHandler extends SimpleChannelInboundHandler<ByteBuf> {
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private ChannelHandlerContext context;
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private ScheduledFuture<?> heartbeatTask;
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/**
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* 连接建立
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*
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* @param ctx
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* @throws Exception
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*/
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@Override
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public void channelActive(ChannelHandlerContext ctx) {
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context = ctx;
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startHeartbeatTask();//开始发送心跳
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}
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/**
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* 连接断开
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*
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* @param ctx
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* @throws Exception
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*/
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@Override
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public void channelInactive(ChannelHandlerContext ctx) throws Exception {
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InetSocketAddress ipSocket = (InetSocketAddress) ctx.channel().remoteAddress();
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String ipPort = ipSocket.getHostString() + ":" + ipSocket.getPort();
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log.error("与设备" + ipPort + "连接断开!");
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// 连接断开后的最后处理
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ctx.pipeline().remove(this);
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ctx.deregister();
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ctx.close();
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// 将失败信息插入Set集合
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ArdEquipRadar radar = ClientInitialize.trueConnectMap.get(ipPort);
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if (radar != null) {
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ClientInitialize.falseConnectSet.add(radar);
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ClientInitialize.trueConnectMap.remove(ipPort);
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}
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super.channelInactive(ctx);
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}
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/**
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* 通道数据读取
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* 业务操作
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*
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* @param ctx
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* @param msg
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* @throws Exception
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*/
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@Override
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public void channelRead0(ChannelHandlerContext ctx, ByteBuf msg) {
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InetSocketAddress ipSocket = (InetSocketAddress) ctx.channel().remoteAddress();
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String ipPort = ipSocket.getHostString() + ":" + ipSocket.getPort();
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ArdEquipRadar radar = ClientInitialize.trueConnectMap.get(ipPort);
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if (radar == null) {
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return;
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}
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MessageHandler messageHandler = ClientInitialize.SucMessageHandlerMap.get(ipPort);
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if (messageHandler == null) {
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return;
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}
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// 处理接收到的消息
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byte[] byteArray = new byte[msg.readableBytes()];
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msg.getBytes(msg.readerIndex(), byteArray);
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byte[] bytes = messageHandler.receiveCompletePacket(byteArray);
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if (bytes != null) {
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processData(radar, bytes);
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}
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}
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/**
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* 通道数据处理完成
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*
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* @param ctx
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* @throws Exception
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*/
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@Override
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public void channelReadComplete(ChannelHandlerContext ctx) throws Exception {
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super.channelReadComplete(ctx);
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}
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/**
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* 事件触发
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*
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* @param ctx
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* @param evt
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* @throws Exception
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*/
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@Override
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public void userEventTriggered(ChannelHandlerContext ctx, Object evt) throws Exception {
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super.userEventTriggered(ctx, evt);
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}
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/**
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* 异常触发
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*
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* @param ctx
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* @param cause
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* @throws Exception
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*/
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@Override
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public void exceptionCaught(ChannelHandlerContext ctx, Throwable cause) throws Exception {
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// 发生异常时的处理
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cause.printStackTrace();
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ctx.close();
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stopHeartbeatTask();//停止心跳发送
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}
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/**
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* 开始心跳任务
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*/
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private void startHeartbeatTask() {
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heartbeatTask = context.executor().scheduleAtFixedRate(() -> {
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// 发送心跳消息
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ByteBuf message = context.alloc().buffer();
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byte[] header = {0x01, 0x02, 0x01};
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byte[] payload = {0x10, 0x00, 0x00, 0x00};
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byte[] payloadCrc32 = ByteUtils.parseCrc32(payload);
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byte[] footer = {0x01, 0x02, 0x00};
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byte[] heart = ByteUtils.appendArrays(header, payload, payloadCrc32, footer);
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//byte[] heart = {0x01, 0x02, 0x01, 0x10, 0x00, 0x00, 0x00, (byte) 0x83, (byte) 0x88, 0x5d, 0x71, 0x01, 0x02, 0x00};
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String hexString = DatatypeConverter.printHexBinary(heart);
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// log.debug("发送心跳:" + hexString);
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message.writeBytes(heart);
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context.writeAndFlush(message);
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}, 0, 5, TimeUnit.SECONDS);
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}
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/**
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* 停止心跳任务
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*/
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private void stopHeartbeatTask() {
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if (heartbeatTask != null) {
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heartbeatTask.cancel(false);
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heartbeatTask = null;
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}
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}
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/**
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* 解析报警数据
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*/
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public void processData(ArdEquipRadar radar, byte[] data) {
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try {
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String radarId = radar.getId();
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String radarName = radar.getName();
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Double radarLongitude = radar.getLongitude();
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Double radarLagitude = radar.getLatitude();
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Double radarAltitude = radar.getAltitude();
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//region crc校验-目前仅用于显示校验结果
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Boolean crc32Check = MessageHandler.CRC32Check(data);
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if (!crc32Check) {
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log.debug("CRC32校验不通过");
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} else {
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//log.debug("CRC32校验通过");
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}
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//endregion
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//log.info("原始数据:" + DatatypeConverter.printHexBinary(data));
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//log.info("雷达信息：" + host + "【port】" + port + "【X】" + longitude + "【Y】" + lagitude + "【Z】" + altitude);
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data = MessageHandler.transferData(data);//去掉包头和包尾、校验及转义
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//region 负载头解析
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byte[] type = Arrays.copyOfRange(data, 0, 1);//命令类型
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// log.info("命令类型:" + DatatypeConverter.printHexBinary(type));
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byte[] cmdId = Arrays.copyOfRange(data, 1, 2);//命令ID
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String cmdIdStr = DatatypeConverter.printHexBinary(cmdId);
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//log.info("命令ID:" + DatatypeConverter.printHexBinary(cmdId));
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byte[] payloadSize = Arrays.copyOfRange(data, 2, 4);//有效负载大小
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payloadSize = toLittleEndian(payloadSize);
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//log.info("payloadSize:" + DatatypeConverter.printHexBinary(payloadSize));
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int payloadSizeToDecimal = ByteUtils.bytesToDecimal(payloadSize);
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// log.info("有效负载大小(转整型):" + payloadSizeToDecimal);
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//endregion
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List<ArdAlarmRadar> radarAlarmInfos = new ArrayList<>();
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List<ArdAlarmRadar> radarFollowInfos = new ArrayList<>();
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//抽油机状态雷达推送集合
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List<ArdAlarmRadar> well = new ArrayList<>();
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String alarmTime = "";
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Integer targetNum = 0;
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log.debug("处理雷达" + radarName + "数据-->命令ID:" + cmdIdStr);
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//前端工作状态反馈
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if (Arrays.equals(cmdId, new byte[]{0x00})) {
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//region 告警信息反馈
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byte[] dfScanAngV = Arrays.copyOfRange(data, 4, 12);
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dfScanAngV = toLittleEndian(dfScanAngV);
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double ScanAngV = ByteUtils.bytesToDouble(dfScanAngV);
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log.info("设备扫描的俯仰角度:" + ScanAngV);
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byte[] dfAngDy = Arrays.copyOfRange(data, 12, 20);
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dfAngDy = toLittleEndian(dfAngDy);
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double AngDy = ByteUtils.bytesToDouble(dfAngDy);
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log.info("周视图像的垂直视场角度:" + AngDy);
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byte[] iImgW = Arrays.copyOfRange(data, 20, 24);
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iImgW = toLittleEndian(iImgW);
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int ImgW = ByteUtils.bytesToDecimal(iImgW);
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log.info("周视图像的宽:" + ImgW);
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byte[] iImgH = Arrays.copyOfRange(data, 24, 28);
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iImgH = toLittleEndian(iImgH);
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int ImgH = ByteUtils.bytesToDecimal(iImgH);
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log.info("周视图像的高:" + ImgH);
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byte[] cStat = Arrays.copyOfRange(data, 28, 29);
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// 提取第4位至第6位的值
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cStat = toLittleEndian(cStat);
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int Stat = cStat[0] & 0b00000001;
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log.info("设备当前工作状态:" + Stat);
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aroundScanfMap.put(radar.getIp()+":"+radar.getPort(),Stat);
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}
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//雷达移动防火报警
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if (Arrays.equals(cmdId, new byte[]{0x01})) {
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//region 告警信息反馈
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byte[] dwTim = Arrays.copyOfRange(data, 4, 8);
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dwTim = toLittleEndian(dwTim);
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SimpleDateFormat sdf = new SimpleDateFormat("yyyy-MM-dd HH:mm:ss");
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long l = ByteUtils.bytesToDecimal(dwTim);
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alarmTime = sdf.format(l * 1000);
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// log.info("周视图像的出现时间(转date):" + alarmTime);
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byte[] wTargetNum = Arrays.copyOfRange(data, 8, 10);
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wTargetNum = toLittleEndian(wTargetNum);
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targetNum = ByteUtils.bytesToDecimal(wTargetNum);
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if (targetNum == 0) {
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return;
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}
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//log.debug("目标总点数(转整型):" + targetNum);
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//解析NET_TARGET_UNIT(64是NET_TARGET_HEAD的字节数)
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int uintSize = (payloadSizeToDecimal - 64) / targetNum;
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// log.info("单条报警大小:" + uintSize);
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for (int i = 0; i < targetNum; i++) {
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Integer index = 68 + uintSize * i;
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byte[] dwID = Arrays.copyOfRange(data, index, index + 4);
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// log.info("目标ID:" + DatatypeConverter.printHexBinary(cmdId));
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dwID = toLittleEndian(dwID);
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int targetId = ByteUtils.bytesToDecimal(dwID);
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// log.info("目标ID号：" + targetId);
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byte[] iDistance = Arrays.copyOfRange(data, index + 8, index + 12);
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iDistance = toLittleEndian(iDistance);
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double Distance = ByteUtils.bytesToDecimal(iDistance);
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//log.debug("目标当前直线距离(m):" + Distance);
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//region 不需要的字段
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// byte[] dwGSum = Arrays.copyOfRange(data, index + 4, index + 8);
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// dwGSum = toLittleEndian(dwGSum);
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// int GSum = byteArrayToDecimal(dwGSum);
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// log.info("目标当前像素灰度和：" + GSum);
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// byte[] iTw = Arrays.copyOfRange(data, index + 12, index + 16);
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// iTw = toLittleEndian(iTw);
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// int Tw = byteArrayToDecimal(iTw);
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// log.info("目标当前的像素宽度:" + Tw);
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//
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// byte[] iTh = Arrays.copyOfRange(data, index + 16, index + 20);
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// iTh = toLittleEndian(iTh);
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// int Th = byteArrayToDecimal(iTh);
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// log.info("目标当前的像素高度:" + Th);
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//
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// byte[] wPxlArea = Arrays.copyOfRange(data, index + 20, index + 22);
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// wPxlArea = toLittleEndian(wPxlArea);
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// int PxlArea = byteArrayToDecimal(wPxlArea);
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// log.info("目标当前像素面积:" + PxlArea);
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//
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// byte[] cTrkNum = Arrays.copyOfRange(data, index + 22, index + 23);
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// cTrkNum = toLittleEndian(cTrkNum);
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// int TrkNum = byteArrayToDecimal(cTrkNum);
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// log.info("轨迹点数:" + TrkNum);
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// byte[] sVx = Arrays.copyOfRange(data, index + 24, index + 26);
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// sVx = toLittleEndian(sVx);
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// int Vx = byteArrayToDecimal(sVx);
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// log.info("目标当前速度矢量(像素距离)X:" + Vx);
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//
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// byte[] sVy = Arrays.copyOfRange(data, index + 26, index + 28);
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// sVy = toLittleEndian(sVy);
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// int Vy = byteArrayToDecimal(sVy);
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// log.info("目标当前速度矢量(像素距离)Y:" + Vy);
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//
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// byte[] sAreaNo = Arrays.copyOfRange(data, index + 28, index + 30);
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// sAreaNo = toLittleEndian(sAreaNo);
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// int AreaNo = byteArrayToDecimal(sAreaNo);
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// log.info("目标归属的告警区域号:" + AreaNo);
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//
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// byte[] cGrp = Arrays.copyOfRange(data, index + 30, index + 31);
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// cGrp = toLittleEndian(cGrp);
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// int Grp = byteArrayToDecimal(cGrp);
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// log.info("所属组:" + Grp);
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//endregion
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String alarmType = "";
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byte[] cStat = Arrays.copyOfRange(data, index + 23, index + 24);
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cStat = toLittleEndian(cStat);
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// 提取第4位至第6位的值
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int extractedValue = (cStat[0] >> 4) & 0b00001111;
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// 判断提取的值
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if (extractedValue == 0b0000) {
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alarmType = "运动目标检测";
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} else if (extractedValue == 0b0001) {
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alarmType = "热源检测";
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}
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// log.info("报警类型:" + alarmType);
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byte[] szName = Arrays.copyOfRange(data, index + 64, index + 96);
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String alarmPointName = ByteUtils.bytesToStringZh(szName);
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// log.info("所属告警区域名称:" + alarmPointName);
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byte[] afTx = Arrays.copyOfRange(data, index + 96, index + 100);
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afTx = toLittleEndian(afTx);
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float fTx = ByteUtils.bytesToFloat(afTx);
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// log.info("水平角度:" + fTx);
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byte[] afTy = Arrays.copyOfRange(data, index + 112, index + 116);
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afTy = toLittleEndian(afTy);
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float fTy = ByteUtils.bytesToFloat(afTy);
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//log.debug("垂直角度:" + fTy);
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// 将角度转换为弧度
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double thetaRadians = Math.toRadians(fTy + 90);
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// 使用正弦函数计算对边长度
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Distance = Math.sin(thetaRadians) * Distance;
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if (Distance < 0) {
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continue;//过滤距离小于0的脏数据
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}
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//log.debug("目标投影距离(m):" + Distance);
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Double[] radarXY = {radarLongitude, radarLagitude};
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Double[] alarmXY = GisUtils.CalculateCoordinates(radarXY, Distance, (double) fTx);
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log.debug("报警信息：" + "【radarName】" + radarName + "【targetId】" + targetId + "【alarmType】" + alarmType + "【alarmTime】" + alarmTime + "【name】" + alarmPointName + "【Distance】" + Distance);
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ArdAlarmRadar ardAlarmRadar = new ArdAlarmRadar();
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ardAlarmRadar.setTargetId(targetId);
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ardAlarmRadar.setName(alarmPointName);
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ardAlarmRadar.setLongitude(alarmXY[0]);
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ardAlarmRadar.setLatitude(alarmXY[1]);
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ardAlarmRadar.setAlarmType(alarmType);
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radarAlarmInfos.add(ardAlarmRadar);
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int bit1 = (cStat[0] >> 1) & 0x1;
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//目标的B1=1 锁定
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if (bit1 == 1) {
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radarFollowInfos.add(ardAlarmRadar);
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}
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}
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//endregion
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if (StringUtils.isEmpty(alarmTime)) {
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return;
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}
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if (targetNum == 0) {
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return;
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}
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RadarAlarmData radarAlarmData = new RadarAlarmData();
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radarAlarmData.setRadarId(radarId);
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radarAlarmData.setRadarName(radarName);
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radarAlarmData.setAlarmTime(alarmTime);
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radarAlarmData.setArdAlarmRadars(radarAlarmInfos);
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MqttProducer.publish(2, false, "radar", JSON.toJSONString(radarAlarmData));
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if (radarFollowInfos.size() > 0) {
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radarAlarmData.setArdFollowRadars(radarFollowInfos);
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//当前雷达扫描存在引导跟踪数据，只保留最后一次锁定的数据
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MqttProducer.publish(2, false, "radarFollowGuide", JSON.toJSONString(radarAlarmData));
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}
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//抽油机状态MQTT队列
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radarAlarmData.setArdAlarmRadars(well);
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MqttProducer.publish(2, false, "radarWellData", JSON.toJSONString(radarAlarmData));
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}
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//抽油机AI状态反馈
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if (Arrays.equals(cmdId, new byte[]{0x04})) {
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//region抽油机AI状态反馈
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String hexString = DatatypeConverter.printHexBinary(data);
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//log.info(hexString);
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byte[] dwTim = Arrays.copyOfRange(data, 4, 8);
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dwTim = toLittleEndian(dwTim);
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SimpleDateFormat sdf = new SimpleDateFormat("yyyy-MM-dd HH:mm:ss");
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long l = ByteUtils.bytesToDecimal(dwTim);
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alarmTime = sdf.format(l * 1000);
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//log.info("周视图像的出现时间(转date):" + alarmTime);
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byte[] wTargetNum = Arrays.copyOfRange(data, 8, 10);
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wTargetNum = toLittleEndian(wTargetNum);
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targetNum = ByteUtils.bytesToDecimal(wTargetNum);
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//log.debug("目标总点数(转整型):" + targetNum);
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if (targetNum == 0) {
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return;
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}
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//解析NET_TARGET_UNIT(64是NET_TARGET_HEAD的字节数)
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int uintSize = (payloadSizeToDecimal - 64) / targetNum;
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//log.info("单条报警大小:" + uintSize);
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for (int i = 0; i < targetNum; i++) {
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Integer index = 68 + uintSize * i;
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byte[] dwID = Arrays.copyOfRange(data, index, index + 4);
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//log.info("目标ID:" + DatatypeConverter.printHexBinary(dwID));
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dwID = toLittleEndian(dwID);
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int targetId = ByteUtils.bytesToDecimal(dwID);
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//log.info("目标ID号：" + targetId);
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//region 不需要的字段
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byte[] iTw = Arrays.copyOfRange(data, index + 4, index + 8);
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iTw = toLittleEndian(iTw);
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int Tw = ByteUtils.bytesToDecimal(iTw);
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// log.info("目标当前的像素宽度:" + Tw);
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byte[] iTh = Arrays.copyOfRange(data, index + 8, index + 12);
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iTh = toLittleEndian(iTh);
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int Th = ByteUtils.bytesToDecimal(iTh);
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//log.info("目标当前的像素高度:" + Th);
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byte[] fTx = Arrays.copyOfRange(data, index + 12, index + 16);
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fTx = toLittleEndian(fTx);
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float fTxAngle = ByteUtils.bytesToFloat(fTx);
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//log.debug("p角度:" + fTxAngle);
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byte[] fTy = Arrays.copyOfRange(data, index + 16, index + 20);
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fTy = toLittleEndian(fTy);
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float fTyAngle = ByteUtils.bytesToFloat(fTy);
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//log.debug("t角度:" + fTyAngle);
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byte[] sAreaNo = Arrays.copyOfRange(data, index + 20, index + 22);
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sAreaNo = toLittleEndian(sAreaNo);
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int AreaNo = ByteUtils.bytesToDecimal(sAreaNo);
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//log.debug("目标归属的告警区域号:" + AreaNo);
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byte[] cGrp = Arrays.copyOfRange(data, index + 22, index + 23);
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cGrp = toLittleEndian(cGrp);
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int Grp = ByteUtils.bytesToDecimal(cGrp);
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//log.info("所属组:" + Grp);
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//endregion
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String alarmType;
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//抽油机状态变量
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String wellType;
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byte[] cStat = Arrays.copyOfRange(data, index + 23, index + 24);
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cStat = toLittleEndian(cStat);
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//String binaryString = String.format("%8s", Integer.toBinaryString(cStat[0] & 0xFF)).replace(' ', '0');
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//log.info("目标当前状态:" + binaryString);
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// 提取第0位值
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// 使用位运算操作判断第0位是否为1
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boolean isB0 = (cStat[0] & 0x01) == 0x00;
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// 判断提取的值
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if (isB0) {
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alarmType = "雷达抽油机停机";
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byte[] szName = Arrays.copyOfRange(data, index + 32, index + 64);
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//log.info("所属告警区域名称:" + DatatypeConverter.printHexBinary(szName));
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String alarmPointName = ByteUtils.bytesToStringZh(szName);
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// log.info("所属告警区域名称:" + alarmPointName);
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log.debug("报警信息：" + "【radarName】" + radarName + "【targetId】" + targetId + "【name】" + alarmPointName + "【alarmType】" + alarmType + "【alarmTime】" + alarmTime);
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ArdAlarmRadar ardAlarmRadar = new ArdAlarmRadar();
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ardAlarmRadar.setTargetId(targetId);
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ardAlarmRadar.setName(alarmPointName);
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ardAlarmRadar.setAlarmType(alarmType);
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radarAlarmInfos.add(ardAlarmRadar);
|
wellType = "停机";
|
} else {
|
wellType = "运行";
|
}
|
//抽油机状态集合中装入数据
|
byte[] szName = Arrays.copyOfRange(data, index + 32, index + 64);
|
String alarmPointName = ByteUtils.bytesToStringZh(szName);
|
//log.debug("状态信息：" + "【radarName】" + radarName + "【targetId】" + targetId + "【alarmTime】" + alarmTime + "【name】" + alarmPointName + "【alarmState】" + wellType);
|
ArdAlarmRadar wellAlarm = new ArdAlarmRadar();
|
wellAlarm.setTargetId(targetId);
|
wellAlarm.setName(alarmPointName);
|
wellAlarm.setAlarmType(wellType);
|
well.add(wellAlarm);
|
}
|
//endregion
|
if (StringUtils.isEmpty(alarmTime)) {
|
return;
|
}
|
if (targetNum == 0) {
|
return;
|
}
|
RadarAlarmData radarAlarmData = new RadarAlarmData();
|
radarAlarmData.setRadarId(radarId);
|
radarAlarmData.setRadarName(radarName);
|
radarAlarmData.setAlarmTime(alarmTime);
|
radarAlarmData.setArdAlarmRadars(radarAlarmInfos);
|
MqttProducer.publish(2, false, "radar", JSON.toJSONString(radarAlarmData));
|
//抽油机状态MQTT队列
|
radarAlarmData.setArdAlarmRadars(well);
|
MqttProducer.publish(2, false, "radarWellData", JSON.toJSONString(radarAlarmData));
|
}
|
//强制引导
|
if (Arrays.equals(cmdId, new byte[]{0x02})) {
|
//region 告警前端发送的强制引导信息
|
byte[] iDistance = Arrays.copyOfRange(data, 4, 8);
|
iDistance = toLittleEndian(iDistance);
|
long distance = ByteUtils.bytesToDecimal(iDistance);
|
log.info("目标当前距离(m):" + distance);
|
byte[] fTx = Arrays.copyOfRange(data, 8, 12);
|
fTx = toLittleEndian(fTx);
|
float tx = ByteUtils.bytesToFloat(fTx);
|
log.debug("方位:" + tx);
|
byte[] fTy = Arrays.copyOfRange(data, 12, 16);
|
fTy = toLittleEndian(fTy);
|
float ty = ByteUtils.bytesToFloat(fTy);
|
if (ty < 0) {
|
ty += 360;
|
}
|
log.debug("俯仰:" + ty);
|
Map<String, Object> forceGuideMap = new HashMap<>();
|
forceGuideMap.put("distance", distance);
|
forceGuideMap.put("p", tx);
|
forceGuideMap.put("t", ty);
|
forceGuideMap.put("radarId", radarId);
|
log.debug("强制引导信息" + forceGuideMap);
|
//endregion
|
MqttProducer.publish(2, false, "radarForceGuide", JSON.toJSONString(forceGuideMap));
|
}
|
} catch (Exception ex) {
|
log.error("雷达报文解析异常:" + ex.getMessage());
|
}
|
}
|
}
|
