增加引导井关联相机ptz

‘liusuyi’

2024-01-16 8926d27639d8cb9826941b482926f774bd10dc92

 ard-work/src/main/java/com/ruoyi/device/camera/service/impl/CameraSdkServiceImpl.java

@@ -1,23 +1,34 @@
package com.ruoyi.device.camera.service.impl;



import com.ruoyi.alarmpoints.well.domain.ArdAlarmpointsWell;

import com.ruoyi.alarmpoints.well.domain.ArdWellGuideCamera;

import com.ruoyi.alarmpoints.well.service.IArdAlarmpointsWellService;

import com.ruoyi.common.annotation.SdkOperate;

import com.ruoyi.common.constant.CacheConstants;

import com.ruoyi.common.core.domain.AjaxResult;

import com.ruoyi.common.core.redis.RedisCache;

import com.ruoyi.common.utils.SecurityUtils;

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.IArdCamerasService;

import com.ruoyi.device.camera.service.ICameraSdkService;

import com.ruoyi.device.camera.strategy.SdkStrategy;

import com.ruoyi.device.camera.strategy.SdkStrategyFactory;

import com.ruoyi.device.camera.factory.CameraSDK;

import com.ruoyi.device.camera.factory.CameraSDKFactory;

import com.ruoyi.device.noguidezone.domain.ArdCameraNoGuideZone;

import com.ruoyi.device.noguidezone.service.IArdCameraNoGuideZoneService;

import com.ruoyi.utils.gis.GisUtil;

import com.ruoyi.utils.gis.Point;

import com.ruoyi.utils.sdk.common.GlobalVariable;

import com.ruoyi.utils.tools.ArdTool;

import com.sun.scenario.effect.impl.sw.sse.SSEBlend_SRC_OUTPeer;

import lombok.extern.slf4j.Slf4j;

import org.springframework.boot.ApplicationArguments;

import org.springframework.boot.ApplicationRunner;

import org.springframework.stereotype.Service;



import javax.annotation.Resource;

import java.util.Date;

import java.util.HashMap;

import java.util.List;

import java.util.Map;

import java.util.*;





/**

@@ -34,7 +45,11 @@
    @Resource

    private RedisCache redisCache;

    @Resource

    private SdkStrategyFactory sdkStrategyFactory;

    private CameraSDKFactory cameraSDKFactory;

    @Resource

    private IArdAlarmpointsWellService ardAlarmpointsWellService;

    @Resource

    private IArdCameraNoGuideZoneService ardCameraNoGuideZoneService;



    /**

     * 启动线程方法，用于执行初始化登录相机的逻辑

@@ -64,10 +79,10 @@
        try {

            if (ardCamera != null) {

                String factory = ardCamera.getFactory();

                SdkStrategy sdkStrategy = sdkStrategyFactory.getSdkStrategy(factory);

                CameraSDK cameraSDK = cameraSDKFactory.createCameraSDK(factory);

                //sdkStrategy.login(ardCamera);//同步登录

                sdkStrategy.asyncLogin(ardCamera);//异步登录

                result=true;

                cameraSDK.asyncLogin(ardCamera);//异步登录

                result = true;

            }

        } catch (Exception ex) {

            log.error("登录异常：" + ex.getMessage());

@@ -84,8 +99,8 @@
            ArdCameras ardCamera = redisCache.getCacheObject(CacheConstants.CAMERA_LIST_KEY + cameraId);

            if (ardCamera != null) {

                String factory = ardCamera.getFactory();

                SdkStrategy sdkStrategy = sdkStrategyFactory.getSdkStrategy(factory);

                result = sdkStrategy.logout(cameraId);

                CameraSDK cameraSDK = cameraSDKFactory.createCameraSDK(factory);

                result = cameraSDK.logout(cameraId);

            }

        } catch (Exception ex) {

            log.error("注销异常：" + ex.getMessage());

@@ -103,8 +118,8 @@
            ArdCameras ardCamera = redisCache.getCacheObject(CacheConstants.CAMERA_LIST_KEY + cameraId);

            if (ardCamera != null) {

                String factory = ardCamera.getFactory();

                SdkStrategy sdkStrategy = sdkStrategyFactory.getSdkStrategy(factory);

                onLine = sdkStrategy.isOnLine(cmd);

                CameraSDK cameraSDK = cameraSDKFactory.createCameraSDK(factory);

                onLine = cameraSDK.isOnLine(cmd);

            }

            return onLine;

        } catch (Exception ex) {

@@ -114,7 +129,6 @@
    }



    //云台控制

    @SdkOperate

    @Override

    public boolean pTZControl(CameraCmd cmd) {

        try {

@@ -123,8 +137,8 @@
            ArdCameras ardCamera = redisCache.getCacheObject(CacheConstants.CAMERA_LIST_KEY + cameraId);

            if (ardCamera != null) {

                String factory = ardCamera.getFactory();

                SdkStrategy sdkStrategy = sdkStrategyFactory.getSdkStrategy(factory);

                result = sdkStrategy.pTZControl(cmd);

                CameraSDK cameraSDK = cameraSDKFactory.createCameraSDK(factory);

                result = cameraSDK.pTZControl(cmd);

            }

            return result;

        } catch (Exception ex) {

@@ -142,8 +156,8 @@
            ArdCameras ardCamera = redisCache.getCacheObject(CacheConstants.CAMERA_LIST_KEY + cameraId);

            if (ardCamera != null) {

                String factory = ardCamera.getFactory();

                SdkStrategy sdkStrategy = sdkStrategyFactory.getSdkStrategy(factory);

                result = sdkStrategy.setFocusPos(cmd);

                CameraSDK cameraSDK = cameraSDKFactory.createCameraSDK(factory);

                result = cameraSDK.setFocusPos(cmd);

            }

        } catch (Exception ex) {

            log.error("设置聚焦值异常：" + ex.getMessage());

@@ -161,8 +175,8 @@
            ArdCameras ardCamera = redisCache.getCacheObject(CacheConstants.CAMERA_LIST_KEY + cameraId);

            if (ardCamera != null) {

                String factory = ardCamera.getFactory();

                SdkStrategy sdkStrategy = sdkStrategyFactory.getSdkStrategy(factory);

                result = sdkStrategy.getFocusPos(cmd);

                CameraSDK cameraSDK = cameraSDKFactory.createCameraSDK(factory);

                result = cameraSDK.getFocusPos(cmd);

            }

        } catch (Exception ex) {

            log.error("获取聚焦值异常：" + ex.getMessage());

@@ -172,7 +186,6 @@


    //设置预置位

    @Override

    @SdkOperate

    public boolean setPreset(CameraCmd cmd) {

        boolean result = false;

        try {

@@ -180,8 +193,8 @@
            ArdCameras ardCamera = redisCache.getCacheObject(CacheConstants.CAMERA_LIST_KEY + cameraId);

            if (ardCamera != null) {

                String factory = ardCamera.getFactory();

                SdkStrategy sdkStrategy = sdkStrategyFactory.getSdkStrategy(factory);

                result = sdkStrategy.setPreset(cmd);

                CameraSDK cameraSDK = cameraSDKFactory.createCameraSDK(factory);

                result = cameraSDK.setPreset(cmd);

            }

        } catch (Exception ex) {

            log.error("设置预置位异常：" + ex.getMessage());

@@ -191,7 +204,6 @@


    //调用预置位

    @Override

    @SdkOperate

    public boolean gotoPreset(CameraCmd cmd) {

        boolean result = false;

        try {

@@ -199,8 +211,8 @@
            ArdCameras ardCamera = redisCache.getCacheObject(CacheConstants.CAMERA_LIST_KEY + cameraId);

            if (ardCamera != null) {

                String factory = ardCamera.getFactory();

                SdkStrategy sdkStrategy = sdkStrategyFactory.getSdkStrategy(factory);

                result = sdkStrategy.gotoPreset(cmd);

                CameraSDK cameraSDK = cameraSDKFactory.createCameraSDK(factory);

                result = cameraSDK.gotoPreset(cmd);

            }

        } catch (Exception ex) {

            log.error("调用预置位异常：" + ex.getMessage());

@@ -217,8 +229,8 @@
            ArdCameras ardCamera = redisCache.getCacheObject(CacheConstants.CAMERA_LIST_KEY + cameraId);

            if (ardCamera != null) {

                String factory = ardCamera.getFactory();

                SdkStrategy sdkStrategy = sdkStrategyFactory.getSdkStrategy(factory);

                map = sdkStrategy.getVideoCompressionCfg(cmd);

                CameraSDK cameraSDK = cameraSDKFactory.createCameraSDK(factory);

                map = cameraSDK.getVideoCompressionCfg(cmd);

            }

        } catch (Exception ex) {

            log.error("获取码流压缩参数异常：" + ex.getMessage());

@@ -235,8 +247,8 @@
            ArdCameras ardCamera = redisCache.getCacheObject(CacheConstants.CAMERA_LIST_KEY + cameraId);

            if (ardCamera != null) {

                String factory = ardCamera.getFactory();

                SdkStrategy sdkStrategy = sdkStrategyFactory.getSdkStrategy(factory);

                result = sdkStrategy.controlDefogcfg(cmd);

                CameraSDK cameraSDK = cameraSDKFactory.createCameraSDK(factory);

                result = cameraSDK.controlDefogcfg(cmd);

            }

        } catch (Exception ex) {

            log.error("操控透雾异常：" + ex.getMessage());

@@ -253,8 +265,8 @@
            ArdCameras ardCamera = redisCache.getCacheObject(CacheConstants.CAMERA_LIST_KEY + cameraId);

            if (ardCamera != null) {

                String factory = ardCamera.getFactory();

                SdkStrategy sdkStrategy = sdkStrategyFactory.getSdkStrategy(factory);

                result = sdkStrategy.controlInfrarecfg(cmd);

                CameraSDK cameraSDK = cameraSDKFactory.createCameraSDK(factory);

                result = cameraSDK.controlInfrarecfg(cmd);

            }

        } catch (Exception ex) {

            log.error("操控红外异常：" + ex.getMessage());

@@ -271,8 +283,8 @@
            ArdCameras ardCamera = redisCache.getCacheObject(CacheConstants.CAMERA_LIST_KEY + cameraId);

            if (ardCamera != null) {

                String factory = ardCamera.getFactory();

                SdkStrategy sdkStrategy = sdkStrategyFactory.getSdkStrategy(factory);

                result = sdkStrategy.controlFocusMode(cmd);

                CameraSDK cameraSDK = cameraSDKFactory.createCameraSDK(factory);

                result = cameraSDK.controlFocusMode(cmd);

            }

        } catch (Exception ex) {

            log.error("操控聚焦模式异常：" + ex.getMessage());

@@ -289,8 +301,8 @@
            ArdCameras ardCamera = redisCache.getCacheObject(CacheConstants.CAMERA_LIST_KEY + cameraId);

            if (ardCamera != null) {

                String factory = ardCamera.getFactory();

                SdkStrategy sdkStrategy = sdkStrategyFactory.getSdkStrategy(factory);

                result = sdkStrategy.getFocusMode(cmd);

                CameraSDK cameraSDK = cameraSDKFactory.createCameraSDK(factory);

                result = cameraSDK.getFocusMode(cmd);

            }

        } catch (Exception ex) {

            log.error("获取聚焦模式异常：" + ex.getMessage());

@@ -307,8 +319,8 @@
            ArdCameras ardCamera = redisCache.getCacheObject(CacheConstants.CAMERA_LIST_KEY + cameraId);

            if (ardCamera != null) {

                String factory = ardCamera.getFactory();

                SdkStrategy sdkStrategy = sdkStrategyFactory.getSdkStrategy(factory);

                result = sdkStrategy.controlPTHeateRpwron(cmd);

                CameraSDK cameraSDK = cameraSDKFactory.createCameraSDK(factory);

                result = cameraSDK.controlPTHeateRpwron(cmd);

            }

        } catch (Exception ex) {

            log.error("操控云台加热异常：" + ex.getMessage());

@@ -325,8 +337,8 @@
            ArdCameras ardCamera = redisCache.getCacheObject(CacheConstants.CAMERA_LIST_KEY + cameraId);

            if (ardCamera != null) {

                String factory = ardCamera.getFactory();

                SdkStrategy sdkStrategy = sdkStrategyFactory.getSdkStrategy(factory);

                result = sdkStrategy.controlCameraDeicing(cmd);

                CameraSDK cameraSDK = cameraSDKFactory.createCameraSDK(factory);

                result = cameraSDK.controlCameraDeicing(cmd);

            }

        } catch (Exception ex) {

            log.error("操控云台加热异常：" + ex.getMessage());

@@ -343,8 +355,8 @@
            ArdCameras ardCamera = redisCache.getCacheObject(CacheConstants.CAMERA_LIST_KEY + cameraId);

            if (ardCamera != null) {

                String factory = ardCamera.getFactory();

                SdkStrategy sdkStrategy = sdkStrategyFactory.getSdkStrategy(factory);

                result = sdkStrategy.getPTZLockInfo(cmd);

                CameraSDK cameraSDK = cameraSDKFactory.createCameraSDK(factory);

                result = cameraSDK.getPTZLockInfo(cmd);

            }

        } catch (Exception ex) {

            log.error("获取云台锁定信息异常：" + ex.getMessage());

@@ -358,7 +370,6 @@
    }



    //抓图

    @SdkOperate

    @Override

    public String picCutCate(CameraCmd cmd) {

        String url = "";

@@ -370,8 +381,8 @@
            if (ardCamera != null) {

                //获取摄像头工厂

                String factory = ardCamera.getFactory();

                SdkStrategy sdkStrategy = sdkStrategyFactory.getSdkStrategy(factory);

                url = sdkStrategy.picCutCate(cmd);

                CameraSDK cameraSDK = cameraSDKFactory.createCameraSDK(factory);

                url = cameraSDK.picCutCate(cmd);

            }

        } catch (Exception ex) {

            log.error("抓图异常：" + ex.getMessage());

@@ -388,8 +399,8 @@
            ArdCameras ardCamera = redisCache.getCacheObject(CacheConstants.CAMERA_LIST_KEY + cameraId);

            if (ardCamera != null) {

                String factory = ardCamera.getFactory();

                SdkStrategy sdkStrategy = sdkStrategyFactory.getSdkStrategy(factory);

                map = sdkStrategy.getPtz(cmd);

                CameraSDK cameraSDK = cameraSDKFactory.createCameraSDK(factory);

                map = cameraSDK.getPtz(cmd);

            }

        } catch (Exception ex) {

            log.error("获取ptz异常：" + ex.getMessage());

@@ -406,8 +417,8 @@
            ArdCameras ardCamera = redisCache.getCacheObject(CacheConstants.CAMERA_LIST_KEY + cameraId);

            if (ardCamera != null) {

                String factory = ardCamera.getFactory();

                SdkStrategy sdkStrategy = sdkStrategyFactory.getSdkStrategy(factory);

                map = sdkStrategy.getPtzScope(cmd);

                CameraSDK cameraSDK = cameraSDKFactory.createCameraSDK(factory);

                map = cameraSDK.getPtzScope(cmd);

            }

        } catch (Exception ex) {

            log.error("获取ptz范围异常：" + ex.getMessage());

@@ -416,7 +427,6 @@
    }



    //设置ptz

    @SdkOperate

    @Override

    public boolean setPtz(CameraCmd cmd) {

        boolean result = false;

@@ -425,8 +435,15 @@
            ArdCameras ardCamera = redisCache.getCacheObject(CacheConstants.CAMERA_LIST_KEY + cameraId);

            if (ardCamera != null) {

                String factory = ardCamera.getFactory();

                SdkStrategy sdkStrategy = sdkStrategyFactory.getSdkStrategy(factory);

                result = sdkStrategy.setPtz(cmd);

                CameraSDK cameraSDK = cameraSDKFactory.createCameraSDK(factory);

                String gdtype = ardCamera.getGdtype();

                if (gdtype.equals("1")) {

                    //大光电使用高精度ptz设置

                    result = cameraSDK.setPtz(cmd);

                } else {

                    result = cameraSDK.setPtz1(cmd);

                }



            }

        } catch (Exception ex) {

            log.error("设置ptz异常：" + ex.getMessage());

@@ -435,7 +452,6 @@
    }



    //设置零方位角

    @SdkOperate

    @Override

    public boolean setZeroPtz(CameraCmd cmd) {

        boolean result = false;

@@ -444,8 +460,8 @@
            ArdCameras ardCamera = redisCache.getCacheObject(CacheConstants.CAMERA_LIST_KEY + cameraId);

            if (ardCamera != null) {

                String factory = ardCamera.getFactory();

                SdkStrategy sdkStrategy = sdkStrategyFactory.getSdkStrategy(factory);

                result = sdkStrategy.setZeroPtz(cmd);

                CameraSDK cameraSDK = cameraSDKFactory.createCameraSDK(factory);

                result = cameraSDK.setZeroPtz(cmd);

            }

        } catch (Exception ex) {

            log.error("设置零方位角异常：" + ex.getMessage());

@@ -454,7 +470,6 @@
    }



    //引导指向目标

    @SdkOperate

    @Override

    public boolean guideTargetPosition(CameraCmd cmd) {

        boolean result = false;

@@ -463,11 +478,186 @@
            ArdCameras ardCamera = redisCache.getCacheObject(CacheConstants.CAMERA_LIST_KEY + cameraId);

            if (ardCamera != null) {

                String factory = ardCamera.getFactory();

                SdkStrategy sdkStrategy = sdkStrategyFactory.getSdkStrategy(factory);

                result = sdkStrategy.guideTargetPosition(cmd);

                CameraSDK cameraSDK = cameraSDKFactory.createCameraSDK(factory);

                result = cameraSDK.guideTargetPosition(cmd);

            }

        } catch (Exception ex) {

            log.error("引导指向目标异常：" + ex.getMessage());

        }

        return result;

    }



    //引导指向井

    @Override

    public AjaxResult guideTargetWell(CameraCmd cmd) {



        //按日夜切换配置获取相机通道

        Integer chanNo = ArdTool.getChannelBydayNightTime(redisCache.getCacheObject("sys_config:dayNightTime"));

        cmd.setChanNo(chanNo);



        //获取井

        ArdAlarmpointsWell well = ardAlarmpointsWellService.selectArdAlarmpointsWellById(cmd.getWellId());

        if (well == null) {

            return AjaxResult.error("井不存在");

        }

        cmd.setTargetPosition(new double[]{well.getLongitude(), well.getLatitude()});



        //获取井配置的引导相机列表

        List<ArdWellGuideCamera> ardWellGuideCameraList = well.getArdWellGuideCameraList();

        if (ardWellGuideCameraList != null && ardWellGuideCameraList.size() > 0) {

            //获取相机和井的距离进行排序，取出最近的一个相机

            Map<String, Double> distanceMap = new HashMap<>();

            for (ArdWellGuideCamera ardWellGuideCamera : ardWellGuideCameraList) {

                ArdCameras cameras = ardCamerasService.selectArdCamerasById(ardWellGuideCamera.getCameraId());

                if (cameras == null) {

                    continue;

                }

                double[] targetPosition = new double[]{well.getLongitude(), well.getLatitude()};

                double[] camPosition = new double[]{cameras.getLongitude(), cameras.getLatitude()};

                double distance = GisUtil.getDistance(targetPosition, camPosition);

                distanceMap.put(ardWellGuideCamera.getCameraId(), distance);//存入缓存map

            }

            //从缓存里取出距离最近相机ID

            String cameraId = ArdTool.getKeyByMinValue(distanceMap);

            cmd.setCameraId(cameraId);

            //获取最近相机的对象

            Optional<ArdWellGuideCamera> first = ardWellGuideCameraList.stream().filter(s -> s.getCameraId().equals(cameraId)).findFirst();

            if(first.isPresent())

            {

                ArdWellGuideCamera ardWellGuideCamera = first.get();

                Map<String, Double> ptzMap = null;

                //通过通道获取预置位

                switch (chanNo) {

                    case 1:

                        if (ardWellGuideCamera.getP1() != null) {

                            ptzMap = new HashMap<>();

                            ptzMap.put("p", ardWellGuideCamera.getP1());

                            ptzMap.put("t", ardWellGuideCamera.getT1());

                            ptzMap.put("z", ardWellGuideCamera.getZ1());

                        }

                        break;

                    case 2:

                        if (ardWellGuideCamera.getP2() != null) {

                            ptzMap = new HashMap<>();

                            ptzMap.put("p", ardWellGuideCamera.getP2());

                            ptzMap.put("t", ardWellGuideCamera.getT2());

                            ptzMap.put("z", ardWellGuideCamera.getZ2());

                        }

                        break;



                }

                //引导

                if (ptzMap != null) {

                    //使用ptz引导

                    cmd.setPtzMap(ptzMap);

                    boolean res = setPtz(cmd);

                    if (!res) {

                        return AjaxResult.error("ptz引导失败", "cameraId:" + cameraId);

                    }

                    return AjaxResult.success("ptz引导成功", "cameraId:" + cameraId);

                }

            }



        }

        log.debug("未找到ptz引导相机,查找最近相机");



        //从附近相机找最近的一个相机

        String cameraId = getCameraByNear(new double[]{well.getLongitude(), well.getLatitude()});

        cmd.setCameraId(cameraId);

        if ("".equals(cameraId)) {

            return AjaxResult.error("未找到引导相机");

        }

        //判断禁引区

        if (isInPolygon(cameraId, new Double[]{well.getLongitude(), well.getLatitude()})) {

            return AjaxResult.error("井位置属于相机禁止引导区域");

        }

        //按井坐标开始引导

        if (!guideTargetPosition(cmd)) {

            return AjaxResult.error("井坐标引导失败", "cameraId:" + cameraId);

        }

        return AjaxResult.success("井坐标引导成功", "cameraId:" + cameraId);



    }



    /**

     * 获取最近距离的光电

     * 1-相机在线

     * 2-开启报警引导功能

     * 3-配置了最大可视距离

     */

    private String getCameraByNear(double[] targetPosition) {

        String minDistanceCameraId = "";

        try {

            //获取所有大光电

            List<Object> Objects = redisCache.getListKey(CacheConstants.CAMERA_LIST_KEY);

            //统计所有大光电可视范围内与报警点的距离

            Map<String, Double> distanceMap = new HashMap<>();

            for (Object obj : Objects) {

                ArdCameras camera = (ArdCameras) obj;



                if (!GlobalVariable.loginMap.containsKey(camera.getId())) {

                    log.debug("该光电未登录");

                    continue;

                }

                if (camera.getCamMaxVisibleDistance() == null) {

                    log.debug("该光电未配置最大可视距离");

                    continue;

                }

                if (camera.getCamAlarmGuideEnable().equals(0)) {

                    log.debug("该光电未开启报警引导");

                    continue;

                }



                double[] camPosition = new double[]{camera.getLongitude(), camera.getLatitude()};

                double distance = GisUtil.getDistance(targetPosition, camPosition);

                if (distance != 0.0 && distance <= camera.getCamMaxVisibleDistance()) {

                    distanceMap.put(camera.getId(), distance);

                    if (StringUtils.isNull(camera.getCamAlarmGuideEnable())) {

                        camera.setCamAlarmGuideEnable(0);

                    }

                }

            }

            if (distanceMap.size() > 0) {

                log.debug("尝试查找最近光电");

                //获取距离字典中最近的一个相机ID

                minDistanceCameraId = ArdTool.getKeyByMinValue(distanceMap);

                log.debug("查找到最近光电:" + minDistanceCameraId);

            }

        } catch (Exception ex) {

            log.error("获取附近开启报警引导功能光电异常:" + ex.getMessage());

        }

        return minDistanceCameraId;

    }



    //判断相机和引导位置是否在禁止引导区域

    public boolean isInPolygon(String cameraId, Double[] targetPosition) {

        boolean result = false;

        //拦截手动引导

        ArdCameraNoGuideZone ardCameraNoGuideZone = new ArdCameraNoGuideZone();

        ardCameraNoGuideZone.setCameraId(cameraId);

        ardCameraNoGuideZone.setEnabled("1");

        //获取当前相机的禁引可视域列表

        List<ArdCameraNoGuideZone> ardCameraNoGuideZones = ardCameraNoGuideZoneService.selectArdCameraNoGuideZoneList(ardCameraNoGuideZone);

        if (ardCameraNoGuideZones.size() > 0) {

            //获取到当前相机的坐标集合

            for (ArdCameraNoGuideZone zone : ardCameraNoGuideZones) {

                String[] parts = zone.getPoi().split(",");

                List<Point> pointList = new ArrayList<>();

                for (int i = 0; i < parts.length; i += 3) {

                    Point point = new Point();

                    point.setLongitude(Double.valueOf(parts[i]));

                    point.setLatitude(Double.valueOf(parts[i + 1]));

                    pointList.add(point);

                }

                double lon = targetPosition[0];

                double lat = targetPosition[1];

                Point targetPoint = new Point(lon, lat);

                //判断引导目标是否在坐标集合组成的多边形内

                boolean inPolygon = GisUtil.isInPolygon(targetPoint, pointList);

                if (inPolygon) {

                    result = inPolygon;

                }

            }

        }

        return result;

    }

@@ -516,7 +706,6 @@
        return true;

    }





    //录像

    @SdkOperate

    @Override

@@ -527,8 +716,8 @@
            ArdCameras ardCamera = redisCache.getCacheObject(CacheConstants.CAMERA_LIST_KEY + cameraId);

            if (ardCamera != null) {

                String factory = ardCamera.getFactory();

                SdkStrategy sdkStrategy = sdkStrategyFactory.getSdkStrategy(factory);

                url = sdkStrategy.record(cmd);

                CameraSDK cameraSDK = cameraSDKFactory.createCameraSDK(factory);

                url = cameraSDK.record(cmd);

            }

        } catch (Exception ex) {

            log.error("录像异常：" + ex.getMessage());

@@ -545,8 +734,8 @@
            ArdCameras ardCamera = redisCache.getCacheObject(CacheConstants.CAMERA_LIST_KEY + cameraId);

            if (ardCamera != null) {

                String factory = ardCamera.getFactory();

                SdkStrategy sdkStrategy = sdkStrategyFactory.getSdkStrategy(factory);

                result = sdkStrategy.recordStart(cmd);

                CameraSDK cameraSDK = cameraSDKFactory.createCameraSDK(factory);

                result = cameraSDK.recordStart(cmd);

            }

        } catch (Exception ex) {

            log.error("开始录像异常：" + ex.getMessage());

@@ -563,8 +752,8 @@
            ArdCameras ardCamera = redisCache.getCacheObject(CacheConstants.CAMERA_LIST_KEY + cameraId);

            if (ardCamera != null) {

                String factory = ardCamera.getFactory();

                SdkStrategy sdkStrategy = sdkStrategyFactory.getSdkStrategy(factory);

                url = sdkStrategy.recordStopToMinio(cmd);

                CameraSDK cameraSDK = cameraSDKFactory.createCameraSDK(factory);

                url = cameraSDK.recordStopToMinio(cmd);

            }

        } catch (Exception ex) {

            log.error("停止录像异常：" + ex.getMessage());

@@ -581,8 +770,8 @@
            ArdCameras ardCamera = redisCache.getCacheObject(CacheConstants.CAMERA_LIST_KEY + cameraId);

            if (ardCamera != null) {

                String factory = ardCamera.getFactory();

                SdkStrategy sdkStrategy = sdkStrategyFactory.getSdkStrategy(factory);

                result = sdkStrategy.recordStopNotToMinio(cmd);

                CameraSDK cameraSDK = cameraSDKFactory.createCameraSDK(factory);

                result = cameraSDK.recordStopNotToMinio(cmd);

            }

        } catch (Exception ex) {

            log.error("停止录像异常：" + ex.getMessage());

@@ -599,14 +788,13 @@
            ArdCameras ardCamera = redisCache.getCacheObject(CacheConstants.CAMERA_LIST_KEY + cameraId);

            if (ardCamera != null) {

                String factory = ardCamera.getFactory();

                SdkStrategy sdkStrategy = sdkStrategyFactory.getSdkStrategy(factory);

                map = sdkStrategy.getGisInfo(cmd);

                CameraSDK cameraSDK = cameraSDKFactory.createCameraSDK(factory);

                map = cameraSDK.getGisInfo(cmd);

            }

        } catch (Exception ex) {

            log.error("获取相机架设参数异常：" + ex.getMessage());

        }

        return map;

    }





}