增加超脑业务

‘liusuyi’

2023-11-09 092d7c56bb8653075b8f4b27220e69e6bb8e5d37

 src/main/java/com/ard/utils/tcp/ClientHandler.java

@@ -175,7 +175,7 @@
            if (!crc32Check) {
                log.debug("CRC32校验不通过");
            } else {
                log.debug("CRC32校验通过");
                //log.debug("CRC32校验通过");
            }
            //endregion
            //log.info("原始数据:" + DatatypeConverter.printHexBinary(data));
@@ -188,6 +188,7 @@
            //  log.info("命令ID:" + DatatypeConverter.printHexBinary(cmdId));
            byte[] payloadSize = Arrays.copyOfRange(data, 2, 4);//有效负载大小
            payloadSize = ByteUtils.toLittleEndian(payloadSize);
            //log.info("payloadSize:" + DatatypeConverter.printHexBinary(payloadSize));
            int payloadSizeToDecimal = ByteUtils.bytesToDecimal(payloadSize);
            // log.info("有效负载大小(转整型):" + payloadSizeToDecimal);
            //endregion
@@ -461,13 +462,17 @@
                log.debug("方位:" + tx);
                byte[] fTy = Arrays.copyOfRange(data, 12, 16);
                fTy = ByteUtils.toLittleEndian(fTy);
                float ty= ByteUtils.bytesToFloat(fTy);
                float ty = ByteUtils.bytesToFloat(fTy);
                if (ty < 0) {
                    ty += 360;
                }
                log.debug("俯仰:" + ty);
                Map<String,Object>forceGuideMap=new HashMap<>();
                forceGuideMap.put("p",tx);
                forceGuideMap.put("t",ty);
                forceGuideMap.put("z",1);
                forceGuideMap.put("radarId",radarId);
                Map<String, Object> forceGuideMap = new HashMap<>();
                forceGuideMap.put("distance", distance);
                forceGuideMap.put("p", tx);
                forceGuideMap.put("t", ty);
                forceGuideMap.put("radarId", radarId);
                log.debug("强制引导信息" + forceGuideMap);
                //endregion
                MqttProducer.publish(2, false, "radarForceGuide", JSON.toJSONString(forceGuideMap));
            }
@@ -475,5 +480,4 @@
            log.error("雷达报文解析异常:" + ex.getMessage());
        }
    }

}
}