~zhangnaisong/ruoyi-api-alarm.git

			@@ -1,11 +1,30 @@
			package com.ard.utils.tcp;

			import com.alibaba.fastjson2.JSON;
			import com.ard.alarm.radar.domain.ArdEquipRadar;
			import com.ard.alarm.radar.domain.RadarAlarmInfo;
			import com.ard.hiksdk.domain.alarmEventInfo;
			import com.ard.utils.LonlatConver;
			import com.ard.utils.SpringTool;
			import com.ard.utils.mqtt.MqttConsumer;
			import io.netty.buffer.ByteBuf;
			import io.netty.channel.ChannelHandlerContext;
			import io.netty.channel.SimpleChannelInboundHandler;
			import lombok.extern.slf4j.Slf4j;
			import org.gavaghan.geodesy.Ellipsoid;
			import org.gavaghan.geodesy.GeodeticCalculator;
			import org.gavaghan.geodesy.GlobalCoordinates;
			import sun.nio.cs.ext.GBK;

			import javax.xml.bind.DatatypeConverter;
			import java.io.UnsupportedEncodingException;
			import java.nio.ByteBuffer;
			import java.nio.charset.Charset;
			import java.nio.charset.StandardCharsets;
			import java.text.SimpleDateFormat;
			import java.util.*;
			import java.util.concurrent.ScheduledFuture;
			import java.util.concurrent.TimeUnit;

			/**
			* @Description: tcp客户端处理
			@@ -14,30 +33,355 @@
			* @Date: 2023年06月25日17:02
			* @Version: 1.0
			**/
			@Slf4j
			@Slf4j(topic = "radar")
			public class NettyTcpClientHandler extends SimpleChannelInboundHandler<ByteBuf> {

			private String host;
			private Integer port;
			private Double longitude;
			private Double lagitude;
			private String name;

			public NettyTcpClientHandler(ArdEquipRadar ardEquipRadar) {
			this.host = ardEquipRadar.getIp();
			this.port = ardEquipRadar.getPort();
			this.longitude = ardEquipRadar.getLongitude();
			this.lagitude = ardEquipRadar.getLatitude();
			this.name=ardEquipRadar.getName();
			}

			private ChannelHandlerContext context;
			private ScheduledFuture<?> heartbeatTask;

			@Override
			protected void channelRead0(ChannelHandlerContext ctx, ByteBuf msg){
			protected void channelRead0(ChannelHandlerContext ctx, ByteBuf msg) {
			// 处理接收到的消息
			byte[] byteArray = new byte[msg.readableBytes()];
			msg.getBytes(msg.readerIndex(), byteArray);
			String hexString = DatatypeConverter.printHexBinary(byteArray);

			log.info("Received: " + hexString);
			byte[] bytes = receiveCompletePacket(byteArray);
			if (bytes != null) {
			// String hexString = DatatypeConverter.printHexBinary(bytes);
			// log.info(hexString);
			processData(bytes);
			}
			}

			@Override
			public void channelActive(ChannelHandlerContext ctx) throws Exception {
			// 当客户端连接成功后，发送消息给服务器
			ByteBuf message = ctx.alloc().buffer();
			message.writeBytes("Hello, Server!".getBytes());
			ctx.writeAndFlush(message);
			public void channelActive(ChannelHandlerContext ctx) {
			context = ctx;
			startHeartbeatTask();//开始发送心跳
			}

			/**
			* 开始心跳任务
			*/
			private void startHeartbeatTask() {
			heartbeatTask = context.executor().scheduleAtFixedRate(() -> {
			// 发送心跳消息
			ByteBuf message = context.alloc().buffer();
			byte[] heart = {0x01, 0x02, 0x01, 0x10, 0x00, 0x00, 0x00, (byte) 0x83, (byte) 0x88, 0x5d, 0x71, 0x01, 0x02, 0x00};
			String hexString = DatatypeConverter.printHexBinary(heart);
			log.info("发送心跳:" + hexString);
			message.writeBytes(heart);
			context.writeAndFlush(message);

			}, 0, 5, TimeUnit.SECONDS);
			}

			/**
			* 停止心跳任务
			*/
			private void stopHeartbeatTask() {
			if (heartbeatTask != null) {
			heartbeatTask.cancel(false);
			heartbeatTask = null;
			}
			}

			@Override
			public void exceptionCaught(ChannelHandlerContext ctx, Throwable cause){
			public void exceptionCaught(ChannelHandlerContext ctx, Throwable cause) {
			log.info("tcp客户端连接异常");
			// 发生异常时的处理
			cause.printStackTrace();
			ctx.close();
			stopHeartbeatTask();//停止心跳发送
			}

			/**
			* 解析报警数据
			*/
			public void processData(byte[] data) {
			try {
			data = transferData(data);//去掉包头和包尾、校验及转义

			byte[] type = Arrays.copyOfRange(data, 0, 1);//命令类型
			log.info("命令类型:" + DatatypeConverter.printHexBinary(type));

			byte[] cmdId = Arrays.copyOfRange(data, 1, 2);//命令ID
			log.info("命令ID:" + DatatypeConverter.printHexBinary(cmdId));

			byte[] payloadSize = Arrays.copyOfRange(data, 2, 4);//有效负载大小
			payloadSize = toLittleEndian(payloadSize);
			int payloadSizeToDecimal = byteArrayToDecimal(payloadSize);
			log.info("有效负载大小(转整型):" + payloadSizeToDecimal);

			if (Arrays.equals(cmdId, new byte[]{0x01})) {
			byte[] dwTim = Arrays.copyOfRange(data, 4, 8);
			dwTim = toLittleEndian(dwTim);
			SimpleDateFormat sdf = new SimpleDateFormat("yyyy-MM-dd HH:mm:ss");
			long l = byteArrayToDecimal(dwTim);
			String alarmTime = sdf.format(l * 1000);
			log.info("周视图像的出现时间(转date):" + alarmTime);

			byte[] wTargetNum = Arrays.copyOfRange(data, 8, 10);
			wTargetNum = toLittleEndian(wTargetNum);
			int targetNum = byteArrayToDecimal(wTargetNum);
			log.info("目标总点数(转整型):" + targetNum);

			//解析NET_TARGET_UNIT(64是NET_TARGET_HEAD的字节数)
			int uintSize = (payloadSizeToDecimal - 64) / targetNum;
			log.info("单条报警大小:" + uintSize);
			for (int i = 0; i < targetNum; i++) {

			Integer index = 68 + uintSize * i;
			byte[] dwID = Arrays.copyOfRange(data, index, index + 4);
			dwID = toLittleEndian(dwID);
			int id = byteArrayToDecimal(dwID);
			// log.info("目标ID号：" + id);

			byte[] iDistance = Arrays.copyOfRange(data, index + 8, index + 12);
			iDistance = toLittleEndian(iDistance);
			int Distance = byteArrayToDecimal(iDistance);
			// log.info("目标当前距离(m):" + Distance);
			//region 不需要的字段
			// byte[] dwGSum = Arrays.copyOfRange(data, index + 4, index + 8);
			// dwGSum = toLittleEndian(dwGSum);
			// int GSum = byteArrayToDecimal(dwGSum);
			// log.info("目标当前像素灰度和：" + GSum);
			// byte[] iTw = Arrays.copyOfRange(data, index + 12, index + 16);
			// iTw = toLittleEndian(iTw);
			// int Tw = byteArrayToDecimal(iTw);
			// log.info("目标当前的像素宽度:" + Tw);
			//
			// byte[] iTh = Arrays.copyOfRange(data, index + 16, index + 20);
			// iTh = toLittleEndian(iTh);
			// int Th = byteArrayToDecimal(iTh);
			// log.info("目标当前的像素高度:" + Th);
			//
			// byte[] wPxlArea = Arrays.copyOfRange(data, index + 20, index + 22);
			// wPxlArea = toLittleEndian(wPxlArea);
			// int PxlArea = byteArrayToDecimal(wPxlArea);
			// log.info("目标当前像素面积:" + PxlArea);
			//
			// byte[] cTrkNum = Arrays.copyOfRange(data, index + 22, index + 23);
			// cTrkNum = toLittleEndian(cTrkNum);
			// int TrkNum = byteArrayToDecimal(cTrkNum);
			// log.info("轨迹点数:" + TrkNum);
			//
			// byte[] cStat = Arrays.copyOfRange(data, index + 23, index + 24);
			// cStat = toLittleEndian(cStat);
			// int Stat = byteArrayToDecimal(cStat);
			// log.info("目标当前状态:" + Stat);
			//
			// byte[] sVx = Arrays.copyOfRange(data, index + 24, index + 26);
			// sVx = toLittleEndian(sVx);
			// int Vx = byteArrayToDecimal(sVx);
			// log.info("目标当前速度矢量(像素距离)X:" + Vx);
			//
			// byte[] sVy = Arrays.copyOfRange(data, index + 26, index + 28);
			// sVy = toLittleEndian(sVy);
			// int Vy = byteArrayToDecimal(sVy);
			// log.info("目标当前速度矢量(像素距离)Y:" + Vy);
			//
			// byte[] sAreaNo = Arrays.copyOfRange(data, index + 28, index + 30);
			// sAreaNo = toLittleEndian(sAreaNo);
			// int AreaNo = byteArrayToDecimal(sAreaNo);
			// log.info("目标归属的告警区域号:" + AreaNo);
			//
			// byte[] cGrp = Arrays.copyOfRange(data, index + 30, index + 31);
			// cGrp = toLittleEndian(cGrp);
			// int Grp = byteArrayToDecimal(cGrp);
			// log.info("所属组:" + Grp);
			//endregion
			byte[] szName = Arrays.copyOfRange(data, index + 64, index + 96);
			int position = findIndexOfDoubleZero(szName);
			String alarmPointName = "";
			if (position != -1) {
			byte[] result = new byte[position];
			System.arraycopy(szName, 0, result, 0, position);
			alarmPointName = new String(result, "GBK");
			} else {
			alarmPointName = new String(szName, "GBK");
			}
			// log.info("所属告警区域名称:" + alarmPointName);
			byte[] afTx = Arrays.copyOfRange(data, index + 96, index + 100);
			afTx = toLittleEndian(afTx);
			float fTx = bytesToFloat(afTx);
			// log.info("水平角度:" + fTx);
			byte[] afTy = Arrays.copyOfRange(data, index + 112, index + 116);
			afTy = toLittleEndian(afTy);
			float fTy = bytesToFloat(afTy);
			// log.info("垂直角度:" + fTy);
			log.info("雷达信息：" + host + "【port】" + port + "【X】" + longitude + "【Y】" + lagitude);
			Double[] radarXY = {longitude, lagitude};
			Double[] alarmXY = CalculateCoordinates(radarXY, Distance, (double) fTx);
			log.info("报警信息：" + "【id】" + id + "【name】" + alarmPointName + "【alarmTime】" + alarmTime + "【distance】" + Distance + "【P】" + fTx + "【T】" + fTy + "【X】" + alarmXY[0] + "【Y】" + alarmXY[1]);
			RadarAlarmInfo alarmInfo=new RadarAlarmInfo();
			alarmInfo.setId(id);
			alarmInfo.setAlarmTime(alarmTime);
			alarmInfo.setName(alarmPointName+"("+name+")");
			alarmInfo.setLongitude(alarmXY[0]);
			alarmInfo.setLagitude(alarmXY[1]);
			MqttConsumer.publish(2, false, "radar", JSON.toJSONString(alarmInfo));
			}
			}
			} catch (Exception ex) {
			log.error(ex.getMessage());
			}
			}
			/**
			* byte数组转float
			*/
			private float bytesToFloat(byte[] bytes) {
			ByteBuffer buffer = ByteBuffer.wrap(bytes);
			return buffer.getFloat();
			}


			/**
			* byte数组转整型
			*/
			public int byteArrayToDecimal(byte[] byteArray) {
			int decimalValue = 0;

			for (int i = 0; i < byteArray.length; i++) {
			decimalValue = (decimalValue << 8) \| (byteArray[i] & 0xFF);
			}

			return decimalValue;
			}

			/**
			* 大端转小端
			*/
			public byte[] toLittleEndian(byte[] bigEndianBytes) {
			byte[] littleEndianBytes = new byte[bigEndianBytes.length];

			for (int i = 0; i < bigEndianBytes.length; i++) {
			int j = bigEndianBytes.length - i - 1;
			littleEndianBytes[i] = bigEndianBytes[j];
			}

			return littleEndianBytes;
			}


			// 创建缓冲区列表
			List<Byte> buffer = new ArrayList<>();

			/**
			* 接收完整包
			*/
			public byte[] receiveCompletePacket(byte[] receivedData) {
			// 定义包尾字节序列
			byte[] packetEnd = {0x01, 0x02, 0x00};
			// 添加已接收的数据到缓冲区
			for (byte data : receivedData) {
			buffer.add(data);
			}
			// 检查缓冲区中的数据是否包含完整的包
			while (buffer.size() >= packetEnd.length) {
			int endIndex = findPacketEndIndex(buffer, packetEnd);
			if (endIndex != -1) {
			// 找到完整的包
			byte[] packet = extractPacketFromBuffer(buffer, endIndex + packetEnd.length);
			return packet;
			} else {
			// 未找到包尾，继续接收数据
			break;
			}
			}

			// 未找到完整的包
			return null;
			}

			/**
			* 获取包结束索引
			*/
			public int findPacketEndIndex(List<Byte> buffer, byte[] packetEnd) {
			for (int i = 0; i <= buffer.size() - packetEnd.length; i++) {
			boolean isMatch = true;
			for (int j = 0; j < packetEnd.length; j++) {
			if (buffer.get(i + j) != packetEnd[j]) {
			isMatch = false;
			break;
			}
			}
			if (isMatch) {
			return i;
			}
			}
			return -1;
			}

			/**
			* 从缓冲区提取数据包
			*/
			public byte[] extractPacketFromBuffer(List<Byte> buffer, int endIndex) {
			byte[] packet = new byte[endIndex];
			for (int i = 0; i < endIndex; i++) {
			packet[i] = buffer.get(i);
			}
			buffer.subList(0, endIndex).clear();
			return packet;
			}

			/**
			* 去掉包头和包尾校验及转义
			*/
			public byte[] transferData(byte[] data) {
			data = Arrays.copyOfRange(data, 3, data.length);
			data = Arrays.copyOfRange(data, 0, data.length - 7);
			String dataStr = DatatypeConverter.printHexBinary(data);
			if (dataStr.contains("01020201")) {//转义01020201
			dataStr = dataStr.replaceAll("01020201", "010201");
			}
			if (dataStr.contains("01020200")) {//转义01020200
			dataStr = dataStr.replaceAll("01020200", "010200");
			}
			if (dataStr.contains("01020202")) {//转义01020202
			dataStr = dataStr.replaceAll("01020202", "010202");
			}
			data = DatatypeConverter.parseHexBinary(dataStr);
			return data;
			}

			/**
			* 找到00的索引位置
			*/
			private int findIndexOfDoubleZero(byte[] bytes) {
			for (int i = 0; i < bytes.length - 1; i++) {
			if (bytes[i] == 0x00) {
			return i;
			}
			}
			return -1;
			}

			/**
			* 通过A点坐标，长度和Y轴角度计算B点坐标
			*/
			public Double[] CalculateCoordinates(Double[] radarCoordinates, Integer distance, Double angle) {
			double[] to_wgs84 = LonlatConver.gcj02_To_Wgs84(radarCoordinates[0], radarCoordinates[1]);
			double Ax = to_wgs84[0]; // A 点的 X 坐标
			double Ay = to_wgs84[1]; // A 点的 Y 坐标
			double AB = distance; // AB 的长度
			double angleWithYAxisDegrees = angle; // AB 与 Y 轴的角度（以度数表示）
			GeodeticCalculator calculator = new GeodeticCalculator();
			GlobalCoordinates globalCoordinates = new GlobalCoordinates(Ay, Ax);
			GlobalCoordinates globalCoordinates1 = calculator.calculateEndingGlobalCoordinates(Ellipsoid.WGS84, globalCoordinates, angleWithYAxisDegrees, AB);
			return new Double[]{globalCoordinates1.getLongitude(), globalCoordinates1.getLatitude()};
			}

			}