雷达跟踪引导接收

‘liusuyi’

2023-11-29 c4dbb67b6045e138faf1ab8e5ccbd453bada9d66

 ard-work/src/main/java/com/ruoyi/alarm/radar/service/impl/ArdRadarServiceImpl.java

@@ -3,11 +3,14 @@
import com.alibaba.fastjson2.JSONObject;
import com.ruoyi.alarm.radar.service.ArdRadarService;
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.ICameraSdkService;
import com.ruoyi.device.radar.mapper.ArdEquipRadarMapper;
import com.ruoyi.storage.minio.domain.jsonbean.JsonsRootBean;
import com.ruoyi.utils.gis.GisUtil;
import lombok.extern.slf4j.Slf4j;
import org.gavaghan.geodesy.GlobalCoordinates;
import org.springframework.scheduling.annotation.Async;
import org.springframework.stereotype.Service;

@@ -42,19 +45,26 @@
            if (msgMap != null) {
                Double p = Double.parseDouble(msgMap.get("p").toString());
                Double t = Double.parseDouble(msgMap.get("t").toString());
                Double z = Double.parseDouble(msgMap.get("z").toString());
                Long distance = Long.parseLong(msgMap.get("distance").toString());
                String radarId = msgMap.get("radarId").toString();
                //获取雷达所在塔上的大光电
                String cameraIdWithTower = ardEquipRadarMapper.getCameraByRadar(radarId);
                if (StringUtils.isNotNull(cameraIdWithTower) && StringUtils.isNotEmpty(cameraIdWithTower)) {
                    log.debug("获取到雷达塔上的光电:" + cameraIdWithTower);
                ArdCameras camera = ardEquipRadarMapper.getCameraByRadar(radarId);
                if (StringUtils.isNotNull(camera)) {
                    log.debug("获取到雷达塔上的光电:" + camera.getId());
                    //计算目标点坐标
                    GlobalCoordinates cameraCoordinates = new GlobalCoordinates(camera.getLatitude(), camera.getLongitude());
                    GlobalCoordinates targetCoordinates = GisUtil.getGlobalCoordinates(cameraCoordinates, p, distance);
                    //获取ptz
                    double[] cameraPoint = new double[]{ camera.getLongitude(), camera.getLatitude(),camera.getAltitude()};
                    double[] targetPoint = new double[]{targetCoordinates.getLongitude(), targetCoordinates.getLatitude()};
                    double[] cameraPTZ = GisUtil.getCameraPTZ(cameraPoint, targetPoint, 20, 150);
                    //如果雷达塔上有光电
                    CameraCmd cmd = new CameraCmd(cameraIdWithTower, 1);
                    CameraCmd cmd = new CameraCmd(camera.getId(), 1);
                    cmd.setOperator("sys_radar_force");
                    Map<String, Double> ptzMap = new HashMap<>();
                    ptzMap.put("p", p);
                    ptzMap.put("t", t);
                    ptzMap.put("z", z);
                    ptzMap.put("z", cameraPTZ[2]);
                    cmd.setPtzMap(ptzMap);
                    boolean res = iCameraSdkService.setPtz(cmd);
                    if (res) {
@@ -67,7 +77,55 @@
                }
            }
        } catch (Exception ex) {
            log.error("强制引导异常:"+ ex.getMessage());
            log.error("强制引导异常:" + ex.getMessage());
        }
    }
}
    /**
     * 异步雷达追踪引导
     * 刘苏义
     * 2023/11/2 9:00:55
     */
    @Override
    @Async
    public void followGuide(String msg) {
        try {
            Map<String, Object> msgMap = JSONObject.parseObject(msg, Map.class);
            if (msgMap != null) {
                Double p = Double.parseDouble(msgMap.get("p").toString());
                Double t = Double.parseDouble(msgMap.get("t").toString());
                Long distance = Long.parseLong(msgMap.get("distance").toString());
                String radarId = msgMap.get("radarId").toString();
                //获取雷达所在塔上的大光电
                ArdCameras camera = ardEquipRadarMapper.getCameraByRadar(radarId);
                if (StringUtils.isNotNull(camera)) {
                    log.debug("获取到雷达塔上的光电:" + camera.getId());
                    //计算目标点坐标
                    GlobalCoordinates cameraCoordinates = new GlobalCoordinates(camera.getLatitude(), camera.getLongitude());
                    GlobalCoordinates targetCoordinates = GisUtil.getGlobalCoordinates(cameraCoordinates, p, distance);
                    //获取ptz
                    double[] cameraPoint = new double[]{ camera.getLongitude(), camera.getLatitude(),camera.getAltitude()};
                    double[] targetPoint = new double[]{targetCoordinates.getLongitude(), targetCoordinates.getLatitude()};
                    double[] cameraPTZ = GisUtil.getCameraPTZ(cameraPoint, targetPoint, 20, 150);
                    //如果雷达塔上有光电
                    CameraCmd cmd = new CameraCmd(camera.getId(), 1);
                    cmd.setOperator("sys_radar_follow");
                    Map<String, Double> ptzMap = new HashMap<>();
                    ptzMap.put("p", p);
                    ptzMap.put("t", t);
                    ptzMap.put("z", cameraPTZ[2]);
                    cmd.setPtzMap(ptzMap);
                    boolean res = iCameraSdkService.setPtz(cmd);
                    if (res) {
                        log.debug("雷达追踪引导成功");
                    } else {
                        log.debug("雷达追踪引导失败");
                    }
                } else {
                    log.debug("未获取到雷达塔上的光电");
                }
            }
        } catch (Exception ex) {
            log.error("达追踪引导异常:" + ex.getMessage());
        }
    }
}