增加本地抓图和录像 增加兴趣点引导上报

‘liusuyi’

2024-04-13 a17ac1c04c229294760d58825ac68dbe044e8278

 ard-work/src/main/java/com/ruoyi/sy/service/impl/ArdSyCarServiceImpl.java

@@ -2,9 +2,12 @@

import java.io.IOException;
import java.io.InputStream;
import java.io.UnsupportedEncodingException;
import java.net.URLEncoder;
import java.text.ParseException;
import java.text.SimpleDateFormat;
import java.util.*;
import java.util.List;
import java.util.concurrent.ExecutorService;
import java.util.concurrent.Executors;
import java.util.function.Predicate;
@@ -12,28 +15,36 @@

import com.alibaba.fastjson.JSON;
import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
import com.dtflys.forest.annotation.Var;
import com.github.pagehelper.PageInfo;
import com.ruoyi.app.application.domain.ArdAppApplication;
import com.ruoyi.app.application.mapper.ArdAppApplicationMapper;
import com.ruoyi.app.position.mapper.ArdAppPositionMapper;
import com.ruoyi.common.core.domain.AjaxResult;
import com.ruoyi.common.core.domain.entity.SysUser;
import com.ruoyi.common.core.redis.RedisCache;
import com.ruoyi.common.utils.SecurityUtils;
import com.ruoyi.common.utils.uuid.IdUtils;
import com.ruoyi.sy.domain.ArdAccessFence;
import com.ruoyi.sy.param.ArdSyCarParam;
import com.ruoyi.sy.vo.ArdSyCarVo;
import com.ruoyi.system.mapper.SysDeptMapper;
import com.ruoyi.utils.gis.GisUtil;
import com.ruoyi.utils.gis.Point;
import com.ruoyi.scheduling.domian.SchedulingParam;
import com.ruoyi.sy.domain.ArdSyCarDay;
import com.ruoyi.sy.mapper.ArdSyCarDayMapper;
import com.ruoyi.utils.tools.GisTool;
import com.ruoyi.utils.minio.MinioUtil;
import com.ruoyi.utils.websocket.util.WebSocketUtils;
import com.ruoyi.device.hiksdk.config.MinioClientSingleton;
import com.ruoyi.storage.minio.utils.MinioUtils;
import com.ruoyi.sy.domain.ArdSyUser;
import com.ruoyi.sy.gps31.PositionContainer;
import com.ruoyi.sy.mapper.ArdSyUserMapper;
import com.ruoyi.system.domain.SysConfig;
import com.ruoyi.common.core.domain.entity.SysConfig;
import com.ruoyi.system.mapper.SysConfigMapper;
import com.ruoyi.system.mapper.SysUserMapper;
import com.ruoyi.utils.forest.SYClient;
import com.ruoyi.utils.result.Results;
import io.minio.GetPresignedObjectUrlArgs;
import io.minio.ListObjectsArgs;
import io.minio.PutObjectArgs;
import io.minio.Result;
import io.minio.http.Method;
import io.minio.messages.Item;
@@ -43,6 +54,7 @@
import okhttp3.Response;
import okhttp3.ResponseBody;
import org.apache.commons.codec.digest.DigestUtils;
import org.springframework.beans.factory.annotation.Value;
import org.springframework.stereotype.Service;
import com.ruoyi.sy.mapper.ArdSyCarMapper;
import com.ruoyi.sy.domain.ArdSyCar;
@@ -81,6 +93,15 @@
    @Resource
    private ArdSyCarDayMapper ardSyCarDayMapper;

    @Resource
    private ArdAppApplicationMapper ardAppApplicationMapper;

    @Resource
    private SysDeptMapper sysDeptMapper;

    @Value("${minio.endpoint}")
    private String minioEndpoint;

    private Map<Integer, Map<String, String>> logInMap = new HashMap();

    private Map<String, Timer> userCarTimerMap = new HashMap();
@@ -105,6 +126,52 @@
    @Override
    public List<ArdSyCar> selectArdSyCarList(ArdSyCar ardSyCar) {
        return ardSyCarMapper.selectArdSyCarList(ardSyCar);
    }

    @Override
    public AjaxResult ardSyCarList(ArdSyCarParam ardSyCarParam,Map<String,Object> result) {
        QueryWrapper<ArdSyCar> queryWrapper = new QueryWrapper<>();
        queryWrapper.like(ardSyCarParam.getCarBrand()!=null,"car_brand",ardSyCarParam.getCarBrand())
                .like(ardSyCarParam.getCarType()!=null,"car_type",ardSyCarParam.getCarType());
        List<ArdSyCar> ardSyCars = ardSyCarMapper.selectList(queryWrapper);
        List<ArdSyCarVo> ardSyCarVoList = new ArrayList<>();
        if(((String)result.get("code")).equals("200")){
            List<Map<String,Object>> list = (List<Map<String, Object>>) result.get("data");
            for (int i = 0; i < ardSyCars.size(); i++) {
                ArdSyCar ardSyCar = ardSyCars.get(i);
                String carId = ardSyCar.getCarId();
                for (int j = 0; j < list.size(); j++) {
                    String carId31 = (String) list.get(j).get("carId");
                    if(carId.equals(carId31)){
                        ArdSyCarVo ardSyCarVo = new ArdSyCarVo();
                        ardSyCarVo.setId(ardSyCar.getId());
                        ardSyCarVo.setCarId(carId);
                        ardSyCarVo.setCarBrand(ardSyCar.getCarBrand());
                        ardSyCarVo.setCarModel(ardSyCar.getCarModel());
                        ardSyCarVo.setCarPicture(ardSyCar.getCarPicture());
                        ardSyCarVo.setCarType(ardSyCar.getCarType());
                        ardSyCarVo.setDeptId(ardSyCar.getDeptId());
                        ardSyCarVo.setRemark(ardSyCar.getRemark());
                        ardSyCarVo.setCarPlate((String) list.get(j).get("carPlate"));
                        ardSyCarVoList.add(ardSyCarVo);
                        break;
                    }
                }
            }
            if(ardSyCarParam.getCarPlate()!=null){
                List<ArdSyCarVo> newList = new ArrayList<>();
                for (int i = 0; i < ardSyCarVoList.size(); i++) {
                    String carPlate = ardSyCarVoList.get(i).getCarPlate();
                    if(!carPlate.contains(ardSyCarParam.getCarPlate())){
                        newList.add(ardSyCarVoList.get(i));
                    }
                }
                ardSyCarVoList.removeAll(newList);
            }
            return AjaxResult.success(new PageInfo<>(ardSyCarVoList));
        }else {
            return AjaxResult.error("31平台连接失败，车牌号获取失败！",new PageInfo<>(ardSyCars));
        }
    }

    /**
@@ -144,7 +211,7 @@
                objectNames.add(ardSyCar.getCarPicture().split("/sycar/")[1]);
            }
        }
        MinioUtils.removeObjects("sycar", objectNames);
        MinioUtil.removeObjects("sycar", objectNames);
        return ardSyCarMapper.deleteArdSyCarByIds(ids);
    }

@@ -261,60 +328,30 @@

    @Override
    public List<Map<String, String>> getAllCarModel() {
        boolean exsit = MinioUtils.exitsBucket("sycar");
        boolean exsit = MinioUtil.exitsBucket("system");
        if (exsit) {
            List<Map<String, String>> listObjetcName = new ArrayList<>();
            try {
                ListObjectsArgs listObjectsArgs = ListObjectsArgs.builder().prefix("carmodel/").bucket("sycar").build();
                Iterable<Result<Item>> myObjects = MinioClientSingleton.getMinioClient().listObjects(listObjectsArgs);
                //Iterable<Result<Item>> myObjects = MinioUtil.getObjectsByBucket("sycar","carmodel");
                Iterable<Result<Item>> myObjects = MinioUtil.getObjectsByBucket("system","model/car");
                for (Result<Item> result : myObjects) {
                    Item item = result.get();
                    Map<String, String> map = new HashMap();
                    map.put("carModel", "sycar/" + item.objectName());
                    switch (item.objectName()) {
                        case "carmodel/aodi.glb":
                            map.put("carType", "奥迪");
                            break;
                        case "carmodel/baolai.glb":
                            map.put("carType", "宝来");
                            break;
                        case "carmodel/bieke.glb":
                            map.put("carType", "别克");
                            break;
                        case "carmodel/bus1.glb":
                            map.put("carType", "大客车");
                            break;
                        case "carmodel/car.glb":
                            map.put("carType", "小型车");
                            break;
                        case "carmodel/fire(1).glb":
                            map.put("carType", "消防车");
                            break;
                        case "carmodel/fute.glb":
                            map.put("carType", "福特");
                            break;
                        case "carmodel/jingche_a.glb":
                            map.put("carType", "警车");
                            break;
                        case "carmodel/jiuhu.glb":
                            map.put("carType", "救护车");
                            break;
                        case "carmodel/oil.glb":
                            map.put("carType", "油罐车");
                            break;
                        case "carmodel/truck.glb":
                            map.put("carType", "工程用车");
                            break;
                        case "carmodel/van1.glb":
                            map.put("carType", "大货车");
                            break;
                        default:
                            break;
                    String[] strArr = item.objectName().split("/");
                    try{
                        String carType = strArr[2];
                        if(!carType.contains(".")){
                            map.put("carType", carType);
                            map.put("carModel", "system/" + item.objectName());
                            listObjetcName.add(map);
                        }
                    }catch(Exception e){
                        e.printStackTrace();
                    }
                    listObjetcName.add(map);
                }
                return listObjetcName;
            } catch (Exception ex) {
                ex.printStackTrace();
                //log.error("minio获取桶下对象异常：" + ex.getMessage());
            }
        }
@@ -329,16 +366,16 @@
            if (ardSyCarr.getCarPicture() != null || !ardSyCarr.getCarPicture().equals("")) {
                String objectName = ardSyCarr.getCarPicture().split("/sycar/")[1];
                objectNames.add(objectName);
                MinioUtils.removeObjects("sycar", objectNames);
                MinioUtil.removeObjects("sycar", objectNames);
            }
        }
        //判断文件是否为空
        if (null == carPicture || 0 == carPicture.getSize()) {
            return "";
        }
        boolean exsit = MinioUtils.exitsBucket("sycar");
        boolean exsit = MinioUtil.exitsBucket("sycar");
        if (!exsit) {
            boolean bucket = MinioUtils.createBucket("sycar");
            boolean bucket = MinioUtil.createBucket("sycar");
        }
        //文件名
        String originalFilename = carPicture.getOriginalFilename();
@@ -347,14 +384,15 @@
        try {
            InputStream inputStream = carPicture.getInputStream();
            /*上传对象*/
            PutObjectArgs putObjectArgs = PutObjectArgs
                    .builder()
                    .bucket("sycar")
                    .object(fileName)
                    .stream(inputStream, carPicture.getSize(), -1)
                    .contentType(carPicture.getContentType())
                    .build();
            MinioClientSingleton.getMinioClient().putObject(putObjectArgs);
//            PutObjectArgs putObjectArgs = PutObjectArgs
//                    .builder()
//                    .bucket("sycar")
//                    .object(fileName)
//                    .stream(inputStream, carPicture.getSize(), -1)
//                    .contentType(carPicture.getContentType())
//                    .build();
//            MinioConfig.getMinioClient().putObject(putObjectArgs);
            MinioUtil.uploadObject("sycar",fileName,inputStream,carPicture.getSize(),carPicture.getContentType());
            inputStream.close();
            /*获取url*/
            GetPresignedObjectUrlArgs getPresignedObjectUrlArgs = GetPresignedObjectUrlArgs
@@ -363,8 +401,8 @@
                    .object(fileName)
                    .method(Method.GET)
                    .build();
            String presignedObjectUrl = MinioClientSingleton.getMinioClient().getPresignedObjectUrl(getPresignedObjectUrlArgs);
            String ObjectUrl = presignedObjectUrl.substring(0, presignedObjectUrl.indexOf("?"));
            //String presignedObjectUrl = MinioConfig.getMinioClient().getPresignedObjectUrl(getPresignedObjectUrlArgs);
            String ObjectUrl = MinioUtil.getBucketObjectUrl("sycar", fileName);
            if (id != null && !id.equals("")) {//id为非必要
                ArdSyCar ardSyCar = new ArdSyCar();
                ardSyCar.setId(id);
@@ -403,12 +441,15 @@
    public Map<String, Object> getArdSyCarAndDeptByCarId(String carId) {
        Map<String, Object> result = ardSyCarMapper.getArdSyCarAndDeptByCarId(carId);
        if (result != null) {
            if (result.get("carPicture") != null) {
            /*if (result.get("carPicture") != null) {
                if (!((String) result.get("carPicture")).equals("")) {
                    String url = ((String) result.get("carPicture")).split("sycar")[0];
                    String carModel = url + (String) result.get("carModel");
                    String carModel = this.minioEndpoint + "/" + (String) result.get("carModel");
                    result.put("carModel", carModel);
                }
            }*/
            if(result.get("carModel") != null || "".equals(result.get("carModel"))){
                String carModel = this.minioEndpoint + "/" + (String) result.get("carModel");
                result.put("carModel", carModel);
            }
        }
        return result;
@@ -472,7 +513,7 @@
     * @return
     */
    @Override
    public Map<String, Object> allListByUser(ArdSyUser ardSyUser, String syURL, String usersId) {
    public Map<String, Object> allListByUser(ArdSyUser ardSyUser, String syURL, String usersId, List<Long> deptList) {
        Map<String, Object> result0 = new HashMap();
        //判断关联表是否有数据
        if (ardSyUser != null) {
@@ -493,10 +534,29 @@
                map.put("list", new ArrayList());
                return map;
            }
            QueryWrapper<ArdSyCar> queryWrapper = new QueryWrapper<>();
            queryWrapper.in("dept_id", deptList);
            List<ArdSyCar> carListTable = ardSyCarMapper.selectList(queryWrapper);
            int online = 0;
            for (Map<String, Object> map : (List<Map<String, Object>>) result0.get("list")) {
                Map<String, Object> resultMap = sYClient.getTeamCarList(syURL, (String) map.get("teamId"), result.get("sessionId"));
                List<Map<String, Object>> carList = (List<Map<String, Object>>) resultMap.get("carList");
                if(carList.size()>0){
                    for (int i = 0; i < carList.size(); i++) {
                        String carId = (String) carList.get(i).get("carId");
                        Boolean isCar = false;
                        for (int j = 0; j < carListTable.size(); j++) {
                            ArdSyCar ardSyCar = carListTable.get(j);
                            if (carId.equals(ardSyCar.getCarId())) {
                                isCar = true;
                                break;
                            }
                        }
                        if(!isCar){
                            carList.remove(carList.get(i));
                        }
                    }
                }
                for (Map<String, Object> m : carList) {
                    if (((String) m.get("stateCn")).contains("在线")) {
                        online = online + 1;
@@ -504,11 +564,12 @@
                        continue;
                    }
                }
                for (Map<String, Object> m : (List<Map<String, Object>>) result0.get("list")) {
                    if (((String) m.get("teamId")).equals(((String) map.get("teamId")))) {
                        map.put("count", Integer.parseInt((String) m.get("carNum")));
                    }
                }
//                for (Map<String, Object> m : (List<Map<String, Object>>) result0.get("list")) {
//                    if (((String) m.get("teamId")).equals(((String) map.get("teamId")))) {
//                        map.put("count", Integer.parseInt((String) m.get("carNum")));
//                    }
//                }
                map.put("count", carList.size());
                map.put("online", online);
                online = 0;
            }
@@ -612,23 +673,29 @@
        queryWrapper.in("dept_id", deptList);
        List<ArdSyCar> carList = ardSyCarMapper.selectList(queryWrapper);
        //对比把匹配到的数据添加到list中
        for (Map<String, String> m : list) {
            String carId = m.get("carId");
            for (int i = 0; i < carList.size(); i++) {
                ArdSyCar ardSyCar = carList.get(i);
        for (int i = 0; i < list.size(); i++) {
            String carId = list.get(i).get("carId");
            Boolean isCar = false;
            for (int j = 0; j < carList.size(); j++) {
                ArdSyCar ardSyCar = carList.get(j);
                if (carId.equals(ardSyCar.getCarId())) {
                    String url = "";
                    /*String url = "";
                    if (ardSyCar.getCarPicture() != null) {
                        if (!ardSyCar.getCarPicture().equals("")) {
                            url = ardSyCar.getCarPicture().split("sycar")[0];
                        }
                    }
                    m.put("carModel", url + ardSyCar.getCarModel());//zns
                    }*/
                    list.get(i).put("carModel", this.minioEndpoint + "/" + ardSyCar.getCarModel());//zns
                    //m.put("carModel",ardSyCar.getCarModel());
                    m.put("carTypeArd", ardSyCar.getCarType());
                    m.put("carBrand", ardSyCar.getCarBrand());
                    m.put("carPicture", ardSyCar.getCarPicture());
                    list.get(i).put("carTypeArd", ardSyCar.getCarType());
                    list.get(i).put("carBrand", ardSyCar.getCarBrand());
                    list.get(i).put("carPicture", ardSyCar.getCarPicture());
                    isCar = true;
                    break;
                }
            }
            if(!isCar){
                list.remove(list.get(i));
            }
        }
        return list;
@@ -650,7 +717,12 @@
        String passwordMd5 = DigestUtils.md5Hex(password31);
        Map<String, Object> result1 = sYClient.logIn(syURL, passwordMd5, username31);
        Map<String, Object> result0 = new HashMap();
        result0 = sYClient.getCarGPSTrack(syURL, carId, startTime, endTime, maxSpeed, (String) result1.get("sessionId"));
        //result0 = sYClient.getCarGPSTrack(syURL, carId, startTime, endTime, maxSpeed, (String) result1.get("sessionId"));
        try {
            result0 = getCarGPSTrack(syURL, carId, startTime, endTime, maxSpeed, (String) result1.get("sessionId"));
        } catch (Exception e) {
            return Results.error("查询历史数据数量过多导致超时，请缩小范围查询！");
        }
        List<Map<String, Object>> list = (List<Map<String, Object>>) result0.get("list");
        if (list.isEmpty()) {
            return Results.succeed();
@@ -667,6 +739,37 @@
                m.putAll(sgnMap);
            }
            return Results.succeed(list);
        }
    }

    public static Map<String,Object> getCarGPSTrack(String syURL,String carId,String startTime,String endTime,String maxSpeed,String sessionId){
        OkHttpClient okHttpClient = new OkHttpClient();

        Request request = new Request.Builder()
                .url(syURL + "/gps-web/api/get_gps_h.jsp?carId=" + carId + "&startTime=" + startTime + "&endTime=" + endTime + "&sessionId=" + sessionId)
                .build();

        Response response = null;
        try {
            response = okHttpClient.newCall(request).execute();
        } catch (IOException e1) {
            // TODO Auto-generated catch block
            e1.printStackTrace();
        }

        response.headers(); //响应头

        ResponseBody responseBody = response.body();

        try {
            String message = responseBody.string();// 响应体
            Map<String,Object> map = (Map<String, Object>) JSON.parse(message);
            //System.out.println(message);
            return map;
        } catch (IOException e) {
            // TODO Auto-generated catch block
            e.printStackTrace();
            return new HashMap();
        }
    }

@@ -771,32 +874,108 @@
    }

    @Override
    public Results getCarGPSBycarId(String usersId, String carId, String syURL, ArdSyUser ardSyUser) {
        Map<String, String> result = logInMap.get(Integer.parseInt(usersId));
    public Map<String, Object> getCarGPSBycarId(String usersId, String carId, String syURL, ArdSyUser ardSyUser) {
//        Map<String, String> result = logInMap.get(Integer.parseInt(usersId));
        //31用户名密码
        String username31 = ardSyUser.getUserId();
        String password31 = ardSyUser.getPassword();
        String passwordMd5 = DigestUtils.md5Hex(password31);
        Map<String, Object> result1 = sYClient.logIn(syURL, passwordMd5, username31);
        result = new HashMap();
        Map<String, String> result = new HashMap();
        result.put("userId", username31);
        result.put("sessionId", (String) result1.get("sessionId"));
        Map<String, Object> result0 = new HashMap();
        result0 = sYClient.getCarNearPositionByCarId(syURL, carId, result.get("userId"), result.get("sessionId"));
        return Results.succeed(result0);
        return sYClient.getCarNearPositionByCarId(syURL, carId, result.get("userId"), result.get("sessionId"));
    }

    @Override
    public Map<String, Object> getCarPicture(String carId, String syURL, String sessionId) {
        return sYClient.getCarPicture(syURL, carId, sessionId);
    }

    @Override
    public String getSessionId(String syURL,ArdSyUser ardSyUser) {
        String username31 = ardSyUser.getUserId();
        String password31 = ardSyUser.getPassword();
        String passwordMd5 = DigestUtils.md5Hex(password31);
        System.out.println(passwordMd5);
        Map<String, Object> result1 = sYClient.logIn(syURL, passwordMd5, username31);
        return (String) result1.get("sessionId");
    }

    @Override
    public Map<String, Object> sendCmd(String userId,String syURL, String sessionId, String carId, List<String> channelList) throws UnsupportedEncodingException {
//        for (int i = 0; i < channelList.size(); i++) {
            Map<String,String> params = new HashMap();
            params.put("channel", channelList.get(1));//选择通道1
            params.put("interval", "0");//每隔0s照一次
            params.put("photoNum", "1");//照1张
            params.put("action", "0");//上传模式
            String paramsStr = com.alibaba.fastjson2.JSON.toJSONString(params);
            paramsStr = URLEncoder.encode(paramsStr,"UTF-8");
            System.out.println("拍照参数："+paramsStr);
            return sYClient.sendCmd(syURL,userId,carId,301,"MediaTake",paramsStr,sessionId);
//        }
//        return sendCmdMap;
    }

    @Override
    public Map<String, Object> getPhoto(String syURL, String carId, String sessionId,String startTime) {
        SimpleDateFormat sdf = new SimpleDateFormat("yyyyMMddHHmmss");
        String endTime = sdf.format(new Date());
        System.out.println("开始时间："+startTime+"  结束时间："+endTime);
        return sYClient.getPhoto(syURL,carId,startTime,endTime,sessionId);
    }

    @Override
    public Map<String, Object> getVideo(String syURL,String carId,ArdSyUser ardSyUser) {
        //31用户名密码
        String username = ardSyUser.getUserId();
        String password31 = ardSyUser.getPassword();
        String password = DigestUtils.md5Hex(password31);
//        Map<String, Object> result1 = sYClient.logIn(syURL, passwordMd5, username31);
        return sYClient.getVideo(syURL,username,password,"黑E12401",1);
    }


    @Override
    public Results chaseCarByCarId(String usersId, String carId, String cycle) {
        ArdSyUser ardSyUser = ardSyUserMapper.userById(usersId);
        String userId ="";
        String password = "";
        if(ardSyUser != null){
            userId = ardSyUser.getUserId();
            password = DigestUtils.md5Hex(ardSyUser.getPassword());
        }else{
            return Results.error("没有挂接三一车辆用户");
        }
        List<SysConfig> syURLResult = sysConfigMapper.selectByType("syCarPT");
        String syURL = "";
        if(syURLResult.size() != 0){
            syURL = syURLResult.get(0).getConfigValue();
        }else{
            return Results.error("三一车辆地址未录入");
        }

        String sessionId = "";
        for(String key : ONLINE_USER_SESSIONS.keySet()){
            if(key.startsWith(usersId + "_")){
                sessionId = key;
            }
        }
        if(sessionId.equals("")){//没有session就返回失败
            return Results.error("追踪失败");
        }
        try {
            /*Map<String,Map<String,Object>> map = new HashMap();
            map.put(carId,new HashMap());
            PositionContainer.getUserPositionMap().put(usersId,map);*/
            if (cycle.equals("0")) {
                if (userCarTimerMap.get(usersId) != null) {
                    userCarTimerMap.get(usersId).cancel();
                    userCarTimerMap.remove(usersId);
                    PositionContainer.getUserPositionMap().remove(usersId);
                    Map<String,Object> loginResult = sYClient.logIn(syURL, password, userId);
                    String sySessionId = (String) loginResult.get("sessionId");
                    String params = "%7B%220020%22:%220%22,%220029%22:%2230%22%7d";
                    sYClient.changePositionSendMode(syURL, carId,104,"CmdSetParam",params,sySessionId);//停止追踪，改为定时30s推送
                    System.out.println("停止追踪");
                }
                return Results.succeed("停止追踪");
            } else {
@@ -807,8 +986,32 @@
                    Map<String, Map<String, Object>> map = new HashMap();
                    map.put(carId, new HashMap());
                    PositionContainer.getUserPositionMap().put(usersId, map);

                    Map<String,Object> loginResult = sYClient.logIn(syURL, password, userId);
                    String sySessionId = (String) loginResult.get("sessionId");
                    List<SysConfig> distanceSYResult = sysConfigMapper.selectByType("31time");
                    String time = "";
                    if(distanceSYResult.size() != 0){
                        time = distanceSYResult.get(0).getConfigValue();
                    }else{
                        return Results.error("三一车辆定时未录入");
                    }
                    String params = "%7B%220020%22:%220%22,%220029%22:%22"+time+"%22%7d";
                    sYClient.changePositionSendMode(syURL, carId,104,"CmdSetParam",params,sySessionId);//开始追踪，改为定时推送

                    Map<String, Object> position = PositionContainer.getCarPositionMap().get(carId);//查询当前车辆位置
                    if (position != null) {
                        if (position.size() != 0) {
                            position.put("elng",position.get("lng"));
                            position.put("elat",position.get("lat"));
                            Map<String, Map<String, Object>> data = new HashMap();
                            data.put("31000", position);
                            WebSocketUtils.sendMessage(ONLINE_USER_SESSIONS.get(sessionId), JSON.toJSONString(data));
                        }
                    }

                    Date date = new Date();
                    Timer carPositionTimer = new Timer();//定时推送实时位置
                    Timer carPositionTimer = new Timer(sessionId);//定时推送实时位置
                    TimerTask carPositionTask = new TimerTask() {
                        @Override
                        public void run() {
@@ -817,7 +1020,35 @@
                                if (position.size() != 0) {
                                    Map<String, Map<String, Object>> data = new HashMap();
                                    data.put("31000", position);
                                    WebSocketUtils.sendMessage(ONLINE_USER_SESSIONS.get(usersId), JSON.toJSONString(data));
                                    String sessionId = Thread.currentThread().getName();
                                    if(ONLINE_USER_SESSIONS.get(sessionId) == null){//用户离线释放资源
                                        if (userCarTimerMap.get(usersId) != null) {
                                            userCarTimerMap.get(usersId).cancel();
                                            userCarTimerMap.remove(usersId);
                                            PositionContainer.getUserPositionMap().remove(usersId);

                                            ArdSyUser ardSyUser = ardSyUserMapper.userById(usersId);
                                            String userId ="";
                                            String password = "";
                                            if(ardSyUser != null){
                                                userId = ardSyUser.getUserId();
                                                password = ardSyUser.getPassword();
                                            }
                                            List<SysConfig> syURLResult = sysConfigMapper.selectByType("syCarPT");
                                            String syURL = "";
                                            if(syURLResult.size() != 0){
                                                syURL = syURLResult.get(0).getConfigValue();
                                            }
                                            if(!userId.equals("") && !password.equals("") && !syURL.equals("")){
                                                Map<String,Object> loginResult = sYClient.logIn(syURL, password, userId);
                                                String sySessionId = (String) loginResult.get("sessionId");
                                                String params = "%7B%220020%22:%220%22,%220029%22:%2230%22%7d";
                                                sYClient.changePositionSendMode(syURL, carId,104,"CmdSetParam",params,sySessionId);//停止追踪，改为定时30s
                                            }
                                            System.out.println("用户离线，停止追踪");
                                        }
                                    }
                                    WebSocketUtils.sendMessage(ONLINE_USER_SESSIONS.get(sessionId), JSON.toJSONString(data));
                                }
                            }
                        }
@@ -829,8 +1060,32 @@
                    Map<String, Map<String, Object>> map = new HashMap();
                    map.put(carId, new HashMap());
                    PositionContainer.getUserPositionMap().put(usersId, map);

                    Map<String,Object> loginResult = sYClient.logIn(syURL, password, userId);
                    String sySessionId = (String) loginResult.get("sessionId");
                    List<SysConfig> distanceSYResult = sysConfigMapper.selectByType("31time");
                    String time = "";
                    if(distanceSYResult.size() != 0){
                        time = distanceSYResult.get(0).getConfigValue();
                    }else{
                        return Results.error("三一车辆定时未录入");
                    }
                    String params = "%7B%220020%22:%220%22,%220029%22:%22"+time+"%22%7d";
                    sYClient.changePositionSendMode(syURL, carId,104,"CmdSetParam",params,sySessionId);//开始追踪，改为定时推送

                    Map<String, Object> position = PositionContainer.getCarPositionMap().get(carId);//查询当前车辆位置
                    if (position != null) {
                        if (position.size() != 0) {
                            position.put("elng",position.get("lng"));
                            position.put("elat",position.get("lat"));
                            Map<String, Map<String, Object>> data = new HashMap();
                            data.put("31000", position);
                            WebSocketUtils.sendMessage(ONLINE_USER_SESSIONS.get(sessionId), JSON.toJSONString(data));
                        }
                    }

                    Date date = new Date();
                    Timer carPositionTimer = new Timer();//定时推送实时位置
                    Timer carPositionTimer = new Timer(sessionId);//定时推送实时位置
                    TimerTask carPositionTask = new TimerTask() {
                        @Override
                        public void run() {
@@ -839,7 +1094,35 @@
                                if (position.size() != 0) {
                                    Map<String, Map<String, Object>> data = new HashMap();
                                    data.put("31000", position);
                                    WebSocketUtils.sendMessage(ONLINE_USER_SESSIONS.get(usersId), JSON.toJSONString(data));
                                    String sessionId = Thread.currentThread().getName();
                                    if(ONLINE_USER_SESSIONS.get(sessionId) == null){//用户离线释放资源
                                        if (userCarTimerMap.get(usersId) != null) {
                                            userCarTimerMap.get(usersId).cancel();
                                            userCarTimerMap.remove(usersId);
                                            PositionContainer.getUserPositionMap().remove(usersId);

                                            ArdSyUser ardSyUser = ardSyUserMapper.userById(usersId);
                                            String userId ="";
                                            String password = "";
                                            if(ardSyUser != null){
                                                userId = ardSyUser.getUserId();
                                                password = ardSyUser.getPassword();
                                            }
                                            List<SysConfig> syURLResult = sysConfigMapper.selectByType("syCarPT");
                                            String syURL = "";
                                            if(syURLResult.size() != 0){
                                                syURL = syURLResult.get(0).getConfigValue();
                                            }
                                            if(!userId.equals("") && !password.equals("") && !syURL.equals("")){
                                                Map<String,Object> loginResult = sYClient.logIn(syURL, password, userId);
                                                String sySessionId = (String) loginResult.get("sessionId");
                                                String params = "%7B%220020%22:%220%22,%220029%22:%2230%22%7d";
                                                sYClient.changePositionSendMode(syURL, carId,104,"CmdSetParam",params,sySessionId);//停止追踪，改为定时30s
                                            }
                                            System.out.println("用户离线，停止追踪");
                                        }
                                    }
                                    WebSocketUtils.sendMessage(ONLINE_USER_SESSIONS.get(sessionId), JSON.toJSONString(data));
                                }
                            }
                        }
@@ -1032,64 +1315,224 @@
    /**
     * 获取附近范围内的车辆信息
     */

    @Override
    public List<Map<String, Object>> getNearCar(SchedulingParam param) {
        Double longitude = param.getLongitude();
        Double latitude = param.getLatitude();
        Integer radius = param.getSealingRadius();
        if (longitude == null && latitude == null) {
            log.debug("原点坐标为空");
            return null;
        }
        if (radius == null) {
            log.debug("半径距离为空");
            return null;
        }
        String userId = SecurityUtils.getUserId();
        ArdSyUser syUser = new ArdSyUser();
        syUser.setSysUserId(userId);
        List<ArdSyUser> ardSyUserList = ardSyUserMapper.selectArdSyUserList(syUser);
        if (ardSyUserList.size() == 0) {
            log.debug("用户未挂接三一车辆");
            return null;
        }
        ArdSyUser ardSyUser = ardSyUserList.get(0);
        String syUrl = redisCache.getCacheObject("sys_config:syCarPT");
        String passwordMd5 = DigestUtils.md5Hex(ardSyUser.getPassword());
        Map<String, Object> LogInResult = sYClient.logIn(syUrl, passwordMd5, ardSyUser.getUserId());
        String sessionId = (String) LogInResult.get("sessionId");
        try {
            Double longitude = param.getLongitude();
            Double latitude = param.getLatitude();
            Integer radius = param.getSealingRadius();
            if (longitude == null && latitude == null) {
                log.debug("原点坐标为空");
                return null;
            }
            if (radius == null) {
                log.debug("半径距离为空");
                return null;
            }
            String userId = SecurityUtils.getUserId();
            ArdSyUser syUser = new ArdSyUser();
            syUser.setSysUserId(userId);
            List<ArdSyUser> ardSyUserList = ardSyUserMapper.selectArdSyUserList(syUser);
            if (ardSyUserList.size() == 0) {
                log.debug("用户未挂接三一车辆");
                return null;
            }
            ArdSyUser ardSyUser = ardSyUserList.get(0);
            String syUrl = redisCache.getCacheObject("sys_config:syCarPT");
            String passwordMd5 = DigestUtils.md5Hex(ardSyUser.getPassword());
            Map<String, Object> LogInResult = sYClient.logIn(syUrl, passwordMd5, ardSyUser.getUserId());
            String sessionId = (String) LogInResult.get("sessionId");

        Map<String, Object> teamList = sYClient.getTeamList(syUrl, ardSyUser.getUserId(), sessionId);
        List<Map<String, Object>> listMap = (List<Map<String, Object>>) teamList.get("list");
        List<Map<String, Object>> allList = new ArrayList<>();
        for (Map<String, Object> team : listMap) {
            String teamId = (String) team.get("teamId");
            Map<String, Object> carListMap = sYClient.getCarList1(syUrl, teamId, ardSyUser.getUserId(), sessionId);
            if (((String) carListMap.get("rspCode")).equals("1")) {
                List<Map<String, Object>> list = (List<Map<String, Object>>) carListMap.get("list");
                allList.addAll(list);
            Map<String, Object> teamList = sYClient.getTeamList(syUrl, ardSyUser.getUserId(), sessionId);
            List<Map<String, Object>> listMap = (List<Map<String, Object>>) teamList.get("list");
            List<Map<String, Object>> allList = new ArrayList<>();
            for (Map<String, Object> team : listMap) {
                String teamId = (String) team.get("teamId");
                Map<String, Object> carListMap = sYClient.getCarList1(syUrl, teamId, ardSyUser.getUserId(), sessionId);
                if (((String) carListMap.get("rspCode")).equals("1")) {
                    List<Map<String, Object>> list = (List<Map<String, Object>>) carListMap.get("list");
                    allList.addAll(list);
                }
            }
            //过滤在线车辆
            List<Map<String, Object>> onlineList = allList.stream()
                    .filter(map -> !"离线".equals(map.get("stateCn")))
                    .collect(Collectors.toList());
            List<Map<String, Object>> filteredList = new ArrayList<>();
            //过滤半径
            for (Map<String, Object> carMap : onlineList) {
                String carId = (String) carMap.get("carId");
                Map<String, Object> carGPSTrack = sYClient.getCarNearPositionByCarId(syUrl, carId, ardSyUser.getUserId(), sessionId);
                List<Map<String, Object>> carGPSMap = (List<Map<String, Object>>) carGPSTrack.get("list");
                Double lng = Double.valueOf((String) carGPSMap.get(0).get("lng"));
                Double lat = Double.valueOf((String) carGPSMap.get(0).get("lat"));
                double distance = GisUtil.getDistance(new double[]{longitude, latitude}, new double[]{lng, lat});
                if (distance <= radius) {
                    carMap.put("longitude", lng);
                    carMap.put("latitude", lat);
                    filteredList.add(carMap); // 将满足条件的车辆添加到筛选列表中
                }
            }
            return filteredList;
        }catch (Exception e)
        {
           log.error("获取附近范围内的车辆信息异常:"+e.getMessage());
            return null;
        }
    }
    /**
     * 获取范围内的车辆信息(多边形)
     */
    @Override
    public List<Map<String, Object>> getNearCarWithPolygon(SchedulingParam param) {
        List<Map<String, Object>> filteredList = new ArrayList<>();
        try {
            List<Point> partitionLocation = param.getPartitionLocation();
            if (partitionLocation == null) {
                log.debug("多边形坐标集合为空");
                return null;
            }
            String userId = SecurityUtils.getUserId();
            ArdSyUser syUser = new ArdSyUser();
            syUser.setSysUserId(userId);
            List<ArdSyUser> ardSyUserList = ardSyUserMapper.selectArdSyUserList(syUser);
            if (ardSyUserList.size() == 0) {
                log.debug("用户未挂接三一车辆");
                return null;
            }
            ArdSyUser ardSyUser = ardSyUserList.get(0);
            String syUrl = redisCache.getCacheObject("sys_config:syCarPT");
            String passwordMd5 = DigestUtils.md5Hex(ardSyUser.getPassword());
            Map<String, Object> LogInResult = sYClient.logIn(syUrl, passwordMd5, ardSyUser.getUserId());
            String sessionId = (String) LogInResult.get("sessionId");

            Map<String, Object> teamList = sYClient.getTeamList(syUrl, ardSyUser.getUserId(), sessionId);
            List<Map<String, Object>> listMap = (List<Map<String, Object>>) teamList.get("list");
            List<Map<String, Object>> allList = new ArrayList<>();
            for (Map<String, Object> team : listMap) {
                String teamId = (String) team.get("teamId");
                Map<String, Object> carListMap = sYClient.getCarList1(syUrl, teamId, ardSyUser.getUserId(), sessionId);
                if (((String) carListMap.get("rspCode")).equals("1")) {
                    List<Map<String, Object>> list = (List<Map<String, Object>>) carListMap.get("list");
                    allList.addAll(list);
                }
            }
            //过滤在线车辆
            List<Map<String, Object>> onlineList = allList.stream()
                    .filter(map -> !"离线".equals(map.get("stateCn")))
                    .collect(Collectors.toList());

            //过滤半径
            for (Map<String, Object> carMap : onlineList) {
                String carId = (String) carMap.get("carId");
                Map<String, Object> carGPSTrack = sYClient.getCarNearPositionByCarId(syUrl, carId, ardSyUser.getUserId(), sessionId);
                List<Map<String, Object>> carGPSMap = (List<Map<String, Object>>) carGPSTrack.get("list");
                Double lng = Double.valueOf((String) carGPSMap.get(0).get("lng"));
                Double lat = Double.valueOf((String) carGPSMap.get(0).get("lat"));
                Point point = new Point(lng,lat);
                boolean inPolygon = GisUtil.isInPolygon(point, partitionLocation);
                if (inPolygon) {
                    carMap.put("longitude", lng);
                    carMap.put("latitude", lat);
                    filteredList.add(carMap); // 将满足条件的车辆添加到筛选列表中
                }
            }
        }
        //过滤在线车辆
        List<Map<String, Object>> onlineList = allList.stream()
                .filter(map -> !"离线".equals(map.get("stateCn")))
                .collect(Collectors.toList());
        List<Map<String, Object>> filteredList = new ArrayList<>();
        //过滤半径
        for (Map<String, Object> carMap : onlineList) {
            String carId = (String) carMap.get("carId");
            Map<String, Object> carGPSTrack = sYClient.getCarNearPositionByCarId(syUrl, carId, ardSyUser.getUserId(), sessionId);
            List<Map<String, Object>> carGPSMap = (List<Map<String, Object>>) carGPSTrack.get("list");
            Double lng = Double.valueOf((String) carGPSMap.get(0).get("lng"));
            Double lat = Double.valueOf((String) carGPSMap.get(0).get("lat"));
            double distance = GisTool.getDistance( new double[]{longitude,latitude}, new double[]{lng, lat});
            if (distance <= radius) {
                carMap.put("longitude",lng);
                carMap.put("latitude",lat);
                filteredList.add(carMap); // 将满足条件的车辆添加到筛选列表中
            }
        catch (Exception ex)
        {
            log.error("获取范围内的车辆信息(多边形)异常:" + ex.getMessage());
        }
        return filteredList;
    }

    @Override
    public List<ArdSyCar> all() {
        QueryWrapper<ArdSyCar> queryWrapper = new QueryWrapper<>();
        queryWrapper.ne("reserved_1","");
        return ardSyCarMapper.selectList(queryWrapper);
    }

    @Override
    public Map<String, Object> getAlarmHPfmCountDetail(String sessionId, String usersId, String carId, String startTime, String endTime, String syURL) {
//        System.out.println("sessionId------"+sessionId+",usersId-----"+usersId+",carId-----"+carId+",startTime----"+startTime+",endTime----"+endTime+",syURL----"+syURL);
        return sYClient.getAlarmHPfmCountDetail(syURL,carId,sessionId,startTime,endTime);
    }

    @Override
    public Map<String, Object> getOnlineSYCarPosition(String soilderId) {
        Map<String,Object> result = new HashMap();
        ArdSyUser ardSyUserPara = new ArdSyUser();
        ardSyUserPara.setSysUserId(soilderId);
        List<ArdSyUser> ardSyUserList = ardSyUserMapper.selectArdSyUserList(ardSyUserPara);
        if(ardSyUserList.size() == 0){
            result.put("code","0");
            result.put("msg","登录用户未挂接三一车辆账号");
            result.put("SYCarPositionList",new ArrayList());
            return result;
        }
        ArdAppApplication ardAppApplicationPara = new ArdAppApplication();
        ardAppApplicationPara.setSoilderId(soilderId);
        ardAppApplicationPara.setApplicationType("SYCar");
        ardAppApplicationPara.setState("1");
        List<ArdAppApplication> ardAppApplicationList = ardAppApplicationMapper.selectArdAppApplicationList(ardAppApplicationPara);
        if(ardAppApplicationList.size() == 0){
            result.put("code","0");
            result.put("msg","登录用户未经指挥端同意");
            result.put("SYCarPositionList",new ArrayList());
            return result;
        }
        SysUser sysUser = userMapper.selectUserById(soilderId);//获取系统用户
        List<Long> deptIdList = new ArrayList();
        deptIdList.add(sysUser.getDeptId());
        deptIdList = getOwnAndChildrenDeptIdList(deptIdList,new ArrayList());//递归查询下属部门主键
        List<String> carIdList = ardSyCarMapper.selectArdSyCarByDeptIds(deptIdList);
        String carIds = "";
        for(String carId : carIdList){
            carIds = carIds + carId + ",";
        }
        carIds = carIds.substring(0,carIds.length() - 1);
        String syURL = "";
        List<SysConfig> sysConfigResult = sysConfigMapper.selectByType("syCarPT");
        if(sysConfigResult.size() > 0){
            syURL = sysConfigResult.get(0).getConfigValue();
        }else{
            result.put("code","0");
            result.put("msg","三一车辆url没有录入");
            result.put("SYCarPositionList",new ArrayList());
            return result;
        }
        String passwordMd5 = DigestUtils.md5Hex(ardSyUserList.get(0).getPassword());
        Map<String,Object> syLoginResult = sYClient.logIn(syURL, passwordMd5, ardSyUserList.get(0).getUserId());
        String sessionId = (String) syLoginResult.get("sessionId");
        Map<String,Object> carNearPositionResult = sYClient.getCarNearPositionByCarId(syURL, carIds, ardSyUserList.get(0).getUserId(),sessionId);
        if(((String)carNearPositionResult.get("rspCode")).equals("1")){
            result.put("code","1");
            result.put("msg","三一车辆查询成功");
            List<Map<String,Object>> SYCarPositionList = (List<Map<String, Object>>) carNearPositionResult.get("list");
            //筛选在线
            SYCarPositionList = SYCarPositionList.stream().filter(map -> ((String)map.get("stateCn")).startsWith("在线")).collect(Collectors.toList());
            for(Map<String,Object> sycar : SYCarPositionList){
                Map<String,Object> map = ardSyCarMapper.getArdSyCarAndDeptByCarId((String)sycar.get("carId"));
                sycar.putAll(map);
            }
            result.put("SYCarPositionList",SYCarPositionList);
            return result;
        }else{
            result.put("code","0");
            result.put("msg","三一车辆查询失败");
            result.put("SYCarPositionList",new ArrayList());
            return result;
        }
    }

    public List<Long> getOwnAndChildrenDeptIdList(List<Long> deptIdList,List<Long> deptIdListr){
        deptIdListr.addAll(deptIdList);
        List<Long> result = sysDeptMapper.getChildrenDeptIdList(deptIdList);
        if(result.size() != 0){
            deptIdListr.addAll(result);
            result = getOwnAndChildrenDeptIdList(result,deptIdListr);
        }
        deptIdListr = deptIdListr.stream().distinct().collect(Collectors.toList());
        return deptIdListr;
    }
}