雷达引导追踪优化

‘liusuyi’

2023-12-04 6c47588406827fa706e4068c692de3be0ae0188e

 ard-work/src/main/java/com/ruoyi/sy/gps31/PushClientImplPosition.java

@@ -8,7 +8,6 @@
package com.ruoyi.sy.gps31;

import com.alibaba.fastjson2.JSON;
import com.alibaba.fastjson2.JSONObject;
import com.gps31.push.netty.PushClient;
import com.gps31.push.netty.PushMsg;
import com.gps31.push.netty.client.TcpClient;
@@ -18,14 +17,14 @@
import com.ruoyi.sy.service.*;
import com.ruoyi.sy.service.impl.*;
import com.ruoyi.utils.gps.GeoTools;
import com.ruoyi.utils.mqtt.MqttConsumer;
import com.ruoyi.utils.mqtt.MqttOnce;
import com.ruoyi.utils.qymqtt.newM.EmqClient;
import com.ruoyi.utils.qymqtt.newM.QosEnum;
import com.ruoyi.utils.qymqtt.oldM.MqttCustomerClient;
import org.apache.commons.logging.Log;
import org.apache.commons.logging.LogFactory;
import org.eclipse.paho.client.mqttv3.MqttException;

import java.awt.geom.Point2D;
import java.math.BigDecimal;
import java.text.SimpleDateFormat;
import java.util.*;

@@ -93,6 +92,7 @@
                String deptName = (String) result.get("deptName");//获取部门名称
                String carModel = (String) result.get("carModel");//获取车辆模型
                Integer drct = (Integer) gpsMap.get("drct");//获取车辆模型
                Integer speed = (Integer) gpsMap.get("speed");
                //定义2维空间
                Point2D.Double point = new Point2D.Double(Double.parseDouble(lng), Double.parseDouble(lat));
                List<Point2D.Double> pts = new ArrayList<Point2D.Double>();
@@ -106,12 +106,18 @@
                ArdSyCarRtuService carRtuService = SpringUtils.getBean(ArdSyCarRtuService.class);
                //注入锁Bean
                ArdSyCarLockService lockService = SpringUtils.getBean(ArdSyCarLockService.class);
                //创建mqtt工具类对象
                MqttOnce mqttOnce = new MqttOnce();
                //查询定位油车表中是否有该车辆
                ArdAccessFence ardAccessFence = ardAccessFenceService.queryAccess(carId);
                //查询所有装油点围栏
                List<ArdOilWall> ardOilWalls = ardOilWallService.accessAll();
                //车速标记
                Boolean stop = true;
                //判断车速
                if(speed>5){
                    //mqtt发送既定Rtu状态
                    feng(carId,"施封",carRtuService,lockService);
                    stop = false;
                }
                //如果没有说明车辆未进入装油点，需要匹配所有装油点围栏
                if(ardAccessFence==null){
                    //车辆未进入装油点
@@ -141,8 +147,10 @@
                            ardAccessFence1.setDrct(drct);
                            ardAccessFence1.setIsAlarm(0);
                            ardAccessFenceService.access(ardAccessFence1);
                            //mqtt发送既定Rtu状态
                            feng(carId,"装油点",carRtuService,lockService,mqttOnce);
                            if(stop){
                                //mqtt发送既定Rtu状态
                                feng(carId,"装油点",carRtuService,lockService);
                            }
                            break;
                        }
                    }
@@ -201,8 +209,10 @@
                                    ardAccessFence.setIntoShipmentTime(time);
                                    ardAccessFence.setNowWallName(ardOilWall.getName());
                                    ardAccessFence.setLastTime(time);
                                    //mqtt发送既定Rtu状态
                                    feng(carId,"装油点",carRtuService,lockService,mqttOnce);
                                    if(stop){
                                        //mqtt发送既定Rtu状态
                                        feng(carId,"装油点",carRtuService,lockService);
                                    }
                                    break;
                                }
                            }
@@ -230,7 +240,7 @@
                                    ardAccessFence.setLat(lat);
                                    ardAccessFenceService.updAccess(ardAccessFence);
                                    //开出装油点围栏，发送上锁及施封命令
                                    feng(carId,"施封",carRtuService,lockService,mqttOnce);
                                    feng(carId,"施封",carRtuService,lockService);
                                }
                            }else {
                                //车辆已经开出装油点，查看是否有卸油点ID
@@ -260,8 +270,10 @@
                                            ardAccessFenceService.updAccess(ardAccessFence);
                                            //已经进入卸油点，不在路上不需要停车报警
                                            isRoad = false;
                                            //mqtt发送既定Rtu状态
                                            feng(carId,"卸油点",carRtuService,lockService,mqttOnce);
                                            if(stop){
                                                //mqtt发送既定Rtu状态
                                                feng(carId,"卸油点",carRtuService,lockService);
                                            }
                                            break;
                                        }
                                    }
@@ -304,7 +316,7 @@
                                    }
                                    if (!GeoTools.IsPtInPoly(point, pts)) {
                                        //开出了卸油点围栏，发送上锁及施解封指令
                                        feng(carId,"施封",carRtuService,lockService,mqttOnce);
                                        feng(carId,"施封",carRtuService,lockService);
                                        //删除该条车辆数据
                                        ardAccessFenceService.delAccess(carId);
                                    }else {
@@ -420,9 +432,11 @@
        sendMassage();
    }

    private void feng(String carId,String type,ArdSyCarRtuService carRtuService,ArdSyCarLockService lockService,MqttOnce mqttOnce) throws MqttException {
    private void feng(String carId,String type,ArdSyCarRtuService carRtuService,ArdSyCarLockService lockService) throws MqttException {
        //查询装油点既定Rtu状态
        ArdSyCarRtu ardSyCarRtu = carRtuService.one(carId);
        //查询锁信息
        List<ArdSyCarLock> ardSyCarLocks = lockService.carLock(ardSyCarRtu.getId());
        Integer fengType = null;
        if("装油点".equals(type)){
            fengType = ardSyCarRtu.getInstallType();
@@ -431,56 +445,75 @@
        }else if("施封".equals(type)){
            fengType = 0;
        }
        //1解封
        if(fengType==1){
            Map<String,Object> map = new HashMap<>();
            map.put("A01", 110000);//导通第一路继电器
            map.put("A02", 110000);//导通第二路继电器
            map.put("res", String.valueOf(System.currentTimeMillis()));
            mqttOnce.publishCar(carId,ardSyCarRtu.getTopicPublish(),String.valueOf(new JSONObject(map)),"解封");
        }
        //0施封
        if(fengType==0){
            //锁开关状态
            int lockCloseNum = 0;
            //查询锁信息
            List<ArdSyCarLock> ardSyCarLocks = lockService.carLock(ardSyCarRtu.getId());
            for (int j = 0; j < ardSyCarLocks.size(); j++) {
                ArdSyCarLock ardSyCarLock = ardSyCarLocks.get(j);
                String currents = ardSyCarLock.getCurrents();
                Double currentInfo = ardSyCarLock.getCurrentInfo();
                //电流值为4.0是关锁状态
                if(currentInfo.equals(4.00) || currentInfo.equals(4)){
                    lockCloseNum += 1;
                }else {
                    String key = "";
                    if(currents.equals("C01")){
                        key = "D03";
                    }else if(currents.equals("C02")){
                        key = "D04";
                    }
                    Map<String,Object> map = new HashMap();
                    map.put(key, 0.01);
        if(ardSyCarLocks.size()>0){
            //1解封
            if(fengType==1){
                //如果不是解封封状态，则发送施封命令
                if(ardSyCarLocks.get(0).getRelayInfo()==0){
                    Map<String,Object> map = new HashMap<>();
                    map.put("A01", 110000);//导通第一路继电器
                    map.put("A02", 110000);//导通第二路继电器
                    map.put("res", String.valueOf(System.currentTimeMillis()));
                    mqttOnce.publishCar("carId",ardSyCarRtu.getTopicPublish(),String.valueOf(new JSONObject(map)),"开锁："+currents);
                    while(true){
                        ArdSyCarLock ardSyCarLock1 = lockService.getCurrentInfo(ardSyCarRtu.getId(),currents);
                        Double currentInfo1 = ardSyCarLock1.getCurrentInfo();
                        if(currentInfo1.equals(4.00)){
                            lockCloseNum +=1;
                            break;
                    String mapString = com.alibaba.fastjson.JSON.toJSONString(map);
                    EmqClient emqClient = new EmqClient(carId+"mqttPublish"+UUID.randomUUID());
                    emqClient.connect();
                    emqClient.publish(ardSyCarRtu.getTopicPublish(),mapString, QosEnum.QoS2,false);
                    log.info("车辆"+carId+"解封命令发送成功！");
//                mqttOnce.publishCar(carId,ardSyCarRtu.getTopicPublish(),String.valueOf(new JSONObject(map)),"解封");
                }
            }
            //0施封
            if(fengType==0){
                //锁开关状态
                int lockCloseNum = 0;
                //如果不是施封状态，则发送施封命令
                if(ardSyCarLocks.get(0).getRelayInfo()==1){
                    for (int j = 0; j < ardSyCarLocks.size(); j++) {
                        ArdSyCarLock ardSyCarLock = ardSyCarLocks.get(j);
                        String currents = ardSyCarLock.getCurrents();
                        Double currentInfo = ardSyCarLock.getCurrentInfo();
                        //电流值为4.0是关锁状态
                        if(currentInfo.equals(4.00) || currentInfo.equals(4)){
                            lockCloseNum += 1;
                        }else {
                            String key = "";
                            if(currents.equals("C01")){
                                key = "D03";
                            }else if(currents.equals("C02")){
                                key = "D04";
                            }
                            Map<String,Object> map = new HashMap();
                            map.put(key, 0.01);
                            map.put("res", String.valueOf(System.currentTimeMillis()));
                            String mapString = com.alibaba.fastjson.JSON.toJSONString(map);
                            EmqClient emqClient = new EmqClient(carId+"mqttPublish"+UUID.randomUUID());
                            emqClient.connect();
                            emqClient.publish(ardSyCarRtu.getTopicPublish(),mapString, QosEnum.QoS2,false);
//                        mqttOnce.publishCar("carId",ardSyCarRtu.getTopicPublish(),String.valueOf(new JSONObject(map)),"开锁："+currents);
                            while(true){
                                ArdSyCarLock ardSyCarLock1 = lockService.getCurrentInfo(ardSyCarRtu.getId(),currents);
                                Double currentInfo1 = ardSyCarLock1.getCurrentInfo();
                                if(currentInfo1.equals(4.00) || currentInfo1.equals(4)){
                                    lockCloseNum +=1;
                                    break;
                                }
                            }
                        }
                    }
                    if(lockCloseNum == 2){
                        Map<String,Object> map = new HashMap<>();
                        map.put("A01", 100000);//断开第一路继电器
                        map.put("A02", 100000);//断开第二路继电器
                        map.put("res", String.valueOf(System.currentTimeMillis()));
                        String mapString = com.alibaba.fastjson.JSON.toJSONString(map);
                        EmqClient emqClient = new EmqClient(carId+"mqttPublish"+UUID.randomUUID());
                        emqClient.connect();
                        emqClient.publish(ardSyCarRtu.getTopicPublish(),mapString, QosEnum.QoS2,false);
                        log.info("车辆"+carId+"施封命令发送成功！");
//                    mqttOnce.publishCar(carId,ardSyCarRtu.getTopicPublish(),String.valueOf(new JSONObject(map)),"施封");
                    }
                }
            }
            if(lockCloseNum == 2){
                Map<String,Object> map = new HashMap<>();
                map.put("A01", 100000);//断开第一路继电器
                map.put("A02", 100000);//断开第二路继电器
                map.put("res", String.valueOf(System.currentTimeMillis()));
                mqttOnce.publishCar(carId,ardSyCarRtu.getTopicPublish(),String.valueOf(new JSONObject(map)),"施封");
            }
        }
    }

}