~zhangnaisong/ruoyi-api-alarm.git

			@@ -1,26 +1,29 @@
			package com.ard.utils.tcp;

			import com.alibaba.fastjson2.JSON;
			import com.ard.alarm.radar.domain.ArdAlarmRadar;
			import com.ard.alarm.radar.domain.ArdEquipRadar;
			import com.ard.alarm.radar.domain.RadarAlarmData;
			import com.ard.utils.other.ByteUtils;
			import com.ard.utils.other.GisUtils;
			import com.ard.utils.mqtt.MqttConsumer;
			import com.ard.utils.mqtt.MqttProducer;
			import io.netty.buffer.ByteBuf;
			import io.netty.channel.ChannelHandlerContext;
			import io.netty.channel.ChannelId;
			import io.netty.channel.SimpleChannelInboundHandler;
			import lombok.extern.slf4j.Slf4j;
			import org.apache.commons.lang3.StringUtils;
			import org.springframework.beans.BeanUtils;

			import javax.xml.bind.DatatypeConverter;
			import java.net.InetSocketAddress;
			import java.text.SimpleDateFormat;
			import java.util.ArrayList;
			import java.util.Arrays;
			import java.util.List;
			import java.util.*;
			import java.util.concurrent.ScheduledFuture;
			import java.util.concurrent.TimeUnit;

			import static com.ard.utils.other.ByteUtils.toLittleEndian;

			/**
			* @Description: 客户端处理器
			* @ClassName: ClientHandler
			@@ -41,7 +44,7 @@
			* @throws Exception
			*/
			@Override
			public void channelActive(ChannelHandlerContext ctx) throws Exception {
			public void channelActive(ChannelHandlerContext ctx) {
			context = ctx;
			startHeartbeatTask();//开始发送心跳
			}
			@@ -143,7 +146,7 @@
			byte[] heart = ByteUtils.appendArrays(header, payload, payloadCrc32, footer);
			// 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);
			// log.debug("发送心跳:" + hexString);
			message.writeBytes(heart);
			context.writeAndFlush(message);

			@@ -169,12 +172,13 @@
			String radarName = ardEquipRadarbyte.getName();
			Double radarLongitude = ardEquipRadarbyte.getLongitude();
			Double radarLagitude = ardEquipRadarbyte.getLatitude();
			Double radarAltitude = ardEquipRadarbyte.getAltitude();
			//region crc校验-目前仅用于显示校验结果
			Boolean crc32Check = MessageParsing.CRC32Check(data);
			if (!crc32Check) {
			log.info("CRC32校验不通过");
			log.debug("CRC32校验不通过");
			} else {
			log.info("CRC32校验通过");
			//log.debug("CRC32校验通过");
			}
			//endregion
			//log.info("原始数据:" + DatatypeConverter.printHexBinary(data));
			@@ -184,31 +188,38 @@
			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));
			String cmdIdStr=DatatypeConverter.printHexBinary(cmdId);
			//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);
			payloadSize = 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
			List<ArdAlarmRadar> radarAlarmInfos = new ArrayList<>();
			List<ArdAlarmRadar> radarFollowInfos = new ArrayList<>();
			//抽油机状态雷达推送集合
			List<ArdAlarmRadar> well = new ArrayList<>();
			String alarmTime = "";
			Integer targetNum = 0;
			log.debug("处理雷达"+radarName+"数据-->命令ID:"+cmdIdStr);
			//雷达移动防火报警
			if (Arrays.equals(cmdId, new byte[]{0x01})) {
			//region 告警信息反馈
			byte[] dwTim = Arrays.copyOfRange(data, 4, 8);
			dwTim = ByteUtils.toLittleEndian(dwTim);
			dwTim = toLittleEndian(dwTim);
			SimpleDateFormat sdf = new SimpleDateFormat("yyyy-MM-dd HH:mm:ss");
			long l = ByteUtils.bytesToDecimal(dwTim);
			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 = ByteUtils.toLittleEndian(wTargetNum);
			wTargetNum = toLittleEndian(wTargetNum);
			targetNum = ByteUtils.bytesToDecimal(wTargetNum);
			if (targetNum == 0) {
			return;
			}
			log.info("目标总点数(转整型):" + targetNum);
			//log.debug("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;
			@@ -219,15 +230,15 @@
			Integer index = 68 + uintSize * i;
			byte[] dwID = Arrays.copyOfRange(data, index, index + 4);
			// log.info("目标ID:" + DatatypeConverter.printHexBinary(cmdId));
			dwID = ByteUtils.toLittleEndian(dwID);
			int id = ByteUtils.bytesToDecimal(dwID);

			// log.info("目标ID号：" + id);
			dwID = toLittleEndian(dwID);
			int targetId = ByteUtils.bytesToDecimal(dwID);
			// log.info("目标ID号：" + targetId);

			byte[] iDistance = Arrays.copyOfRange(data, index + 8, index + 12);
			iDistance = ByteUtils.toLittleEndian(iDistance);
			Double Distance = ByteUtils.bytesToDouble(iDistance);
			// log.info("目标当前距离(m):" + Distance);
			iDistance = toLittleEndian(iDistance);
			double Distance = ByteUtils.bytesToDecimal(iDistance);
			//log.debug("目标当前直线距离(m):" + Distance);

			//region 不需要的字段
			// byte[] dwGSum = Arrays.copyOfRange(data, index + 4, index + 8);
			// dwGSum = toLittleEndian(dwGSum);
			@@ -275,9 +286,7 @@
			//endregion
			String alarmType = "";
			byte[] cStat = Arrays.copyOfRange(data, index + 23, index + 24);
			cStat = ByteUtils.toLittleEndian(cStat);
			String binaryString = String.format("%8s", Integer.toBinaryString(cStat[0] & 0xFF)).replace(' ', '0');
			// log.info("目标当前状态:" + binaryString);
			cStat = toLittleEndian(cStat);
			// 提取第4位至第6位的值
			int extractedValue = (cStat[0] >> 4) & 0b00001111;
			// 判断提取的值
			@@ -287,47 +296,83 @@
			alarmType = "热源检测";
			}
			// log.info("报警类型:" + alarmType);

			byte[] szName = Arrays.copyOfRange(data, index + 64, index + 96);
			String alarmPointName = ByteUtils.bytesToStringZh(szName);
			// log.info("所属告警区域名称:" + alarmPointName);
			byte[] afTx = Arrays.copyOfRange(data, index + 96, index + 100);
			afTx = ByteUtils.toLittleEndian(afTx);
			afTx = toLittleEndian(afTx);
			float fTx = ByteUtils.bytesToFloat(afTx);
			// log.info("水平角度:" + fTx);
			byte[] afTy = Arrays.copyOfRange(data, index + 112, index + 116);
			afTy = ByteUtils.toLittleEndian(afTy);
			afTy = toLittleEndian(afTy);
			float fTy = ByteUtils.bytesToFloat(afTy);
			// log.info("垂直角度:" + fTy);
			//log.debug("垂直角度:" + fTy);
			// 将角度转换为弧度
			double thetaRadians = Math.toRadians(fTy + 90);
			// 使用正弦函数计算对边长度
			Distance = Math.sin(thetaRadians) * Distance;
			if(Distance<0)
			{
			continue;//过滤距离小于0的脏数据
			}
			//log.debug("目标投影距离(m):" + Distance);

			Double[] radarXY = {radarLongitude, radarLagitude};
			Double[] alarmXY = GisUtils.CalculateCoordinates(radarXY, Distance, (double) fTx);
			// log.info("报警信息：" + "【id】" + id + "【name】" + alarmPointName + "【alarmType】" + alarmType + "【alarmTime】" + alarmTime + "【distance】" + Distance + "【P】" + fTx + "【T】" + fTy + "【X】" + alarmXY[0] + "【Y】" + alarmXY[1]);
			log.debug("报警信息：" + "【radarName】" + radarName + "【targetId】"+ targetId + "【alarmType】" + alarmType + "【alarmTime】" + alarmTime + "【name】" + alarmPointName+"【Distance】"+Distance);
			ArdAlarmRadar ardAlarmRadar = new ArdAlarmRadar();
			ardAlarmRadar.setTargetId(id);
			ardAlarmRadar.setTargetId(targetId);
			ardAlarmRadar.setName(alarmPointName);
			ardAlarmRadar.setLongitude(alarmXY[0]);
			ardAlarmRadar.setLatitude(alarmXY[1]);
			ardAlarmRadar.setAlarmType(alarmType);
			radarAlarmInfos.add(ardAlarmRadar);
			int bit1 = (cStat[0] >> 1) & 0x1;
			//目标的B1=1 锁定
			if (bit1 == 1) {
			radarFollowInfos.add(ardAlarmRadar);
			}
			}
			//endregion
			if (StringUtils.isEmpty(alarmTime)) {
			return;
			}
			if (targetNum == 0) {
			return;
			}
			RadarAlarmData radarAlarmData = new RadarAlarmData();
			radarAlarmData.setRadarId(radarId);
			radarAlarmData.setRadarName(radarName);
			radarAlarmData.setAlarmTime(alarmTime);
			radarAlarmData.setArdAlarmRadars(radarAlarmInfos);
			MqttProducer.publish(2, false, "radar", JSON.toJSONString(radarAlarmData));
			if (radarFollowInfos.size() >0) {
			radarAlarmData.setArdFollowRadars(radarFollowInfos);
			//当前雷达扫描存在引导跟踪数据，只保留最后一次锁定的数据
			MqttProducer.publish(2, false, "radarFollowGuide", JSON.toJSONString(radarAlarmData));
			}
			//抽油机状态MQTT队列
			radarAlarmData.setArdAlarmRadars(well);
			MqttProducer.publish(2, false, "radarWellData", JSON.toJSONString(radarAlarmData));

			}
			//抽油机AI状态反馈
			if (Arrays.equals(cmdId, new byte[]{0x04})) {
			//region抽油机AI状态反馈
			String hexString = DatatypeConverter.printHexBinary(data);
			//log.info(hexString);

			byte[] dwTim = Arrays.copyOfRange(data, 4, 8);
			dwTim = ByteUtils.toLittleEndian(dwTim);
			dwTim = toLittleEndian(dwTim);
			SimpleDateFormat sdf = new SimpleDateFormat("yyyy-MM-dd HH:mm:ss");
			long l = ByteUtils.bytesToDecimal(dwTim);
			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 = ByteUtils.toLittleEndian(wTargetNum);
			wTargetNum = toLittleEndian(wTargetNum);
			targetNum = ByteUtils.bytesToDecimal(wTargetNum);
			log.info("目标总点数(转整型):" + targetNum);
			//log.debug("目标总点数(转整型):" + targetNum);
			if (targetNum == 0) {
			return;
			}
			@@ -338,42 +383,44 @@
			Integer index = 68 + uintSize * i;
			byte[] dwID = Arrays.copyOfRange(data, index, index + 4);
			//log.info("目标ID:" + DatatypeConverter.printHexBinary(dwID));
			dwID = ByteUtils.toLittleEndian(dwID);
			int id = ByteUtils.bytesToDecimal(dwID);
			//log.info("目标ID号：" + id);
			dwID = toLittleEndian(dwID);
			int targetId = ByteUtils.bytesToDecimal(dwID);
			//log.info("目标ID号：" + targetId);
			//region 不需要的字段
			byte[] iTw = Arrays.copyOfRange(data, index + 4, index + 8);
			iTw = ByteUtils.toLittleEndian(iTw);
			iTw = toLittleEndian(iTw);
			int Tw = ByteUtils.bytesToDecimal(iTw);
			// log.info("目标当前的像素宽度:" + Tw);

			byte[] iTh = Arrays.copyOfRange(data, index + 8, index + 12);
			iTh = ByteUtils.toLittleEndian(iTh);
			iTh = toLittleEndian(iTh);
			int Th = ByteUtils.bytesToDecimal(iTh);
			//log.info("目标当前的像素高度:" + Th);

			byte[] fTx = Arrays.copyOfRange(data, index + 12, index + 16);
			fTx = ByteUtils.toLittleEndian(fTx);
			fTx = toLittleEndian(fTx);
			float fTxAngle = ByteUtils.bytesToFloat(fTx);
			//log.info("p角度:" + fTxAngle);
			//log.debug("p角度:" + fTxAngle);
			byte[] fTy = Arrays.copyOfRange(data, index + 16, index + 20);
			fTy = ByteUtils.toLittleEndian(fTy);
			fTy = toLittleEndian(fTy);
			float fTyAngle = ByteUtils.bytesToFloat(fTy);
			//log.info("t角度:" + fTyAngle);
			//log.debug("t角度:" + fTyAngle);

			byte[] sAreaNo = Arrays.copyOfRange(data, index + 20, index + 22);
			sAreaNo = ByteUtils.toLittleEndian(sAreaNo);
			sAreaNo = toLittleEndian(sAreaNo);
			int AreaNo = ByteUtils.bytesToDecimal(sAreaNo);
			//log.info("目标归属的告警区域号:" + AreaNo);
			//log.debug("目标归属的告警区域号:" + AreaNo);

			byte[] cGrp = Arrays.copyOfRange(data, index + 22, index + 23);
			cGrp = ByteUtils.toLittleEndian(cGrp);
			cGrp = toLittleEndian(cGrp);
			int Grp = ByteUtils.bytesToDecimal(cGrp);
			//log.info("所属组:" + Grp);
			//endregion
			String alarmType;
			//抽油机状态变量
			String wellType;
			byte[] cStat = Arrays.copyOfRange(data, index + 23, index + 24);
			cStat = ByteUtils.toLittleEndian(cStat);
			cStat = toLittleEndian(cStat);
			//String binaryString = String.format("%8s", Integer.toBinaryString(cStat[0] & 0xFF)).replace(' ', '0');
			//log.info("目标当前状态:" + binaryString);
			// 提取第0位值
			@@ -382,39 +429,76 @@
			// 判断提取的值
			if (isB0) {
			alarmType = "雷达抽油机停机";
			byte[] szName = Arrays.copyOfRange(data, index + 32, index + 64);
			//log.info("所属告警区域名称:" + DatatypeConverter.printHexBinary(szName));
			String alarmPointName = ByteUtils.bytesToStringZh(szName);
			// log.info("所属告警区域名称:" + alarmPointName);
			log.debug("报警信息："+ "【radarName】" + radarName + "【targetId】" + targetId + "【name】" + alarmPointName + "【alarmType】" + alarmType + "【alarmTime】" + alarmTime);
			ArdAlarmRadar ardAlarmRadar = new ArdAlarmRadar();
			ardAlarmRadar.setTargetId(targetId);
			ardAlarmRadar.setName(alarmPointName);
			ardAlarmRadar.setAlarmType(alarmType);
			radarAlarmInfos.add(ardAlarmRadar);
			wellType = "停机";
			} else {
			continue;
			wellType = "运行";
			}
			//log.info("报警类型:" + alarmType);

			//抽油机状态集合中装入数据
			byte[] szName = Arrays.copyOfRange(data, index + 32, index + 64);
			//log.info("所属告警区域名称:" + DatatypeConverter.printHexBinary(szName));
			String alarmPointName = ByteUtils.bytesToStringZh(szName);
			// log.info("所属告警区域名称:" + alarmPointName);
			//log.info("报警信息：" + "【id】" + id + "【name】" + alarmPointName + "【alarmType】" + alarmType + "【alarmTime】" + alarmTime);
			ArdAlarmRadar ardAlarmRadar = new ArdAlarmRadar();
			ardAlarmRadar.setTargetId(id);
			ardAlarmRadar.setName(alarmPointName);
			ardAlarmRadar.setAlarmType(alarmType);
			radarAlarmInfos.add(ardAlarmRadar);
			//log.debug("状态信息：" + "【radarName】" + radarName + "【targetId】" + targetId + "【alarmTime】" + alarmTime + "【name】" + alarmPointName + "【alarmState】" + wellType);
			ArdAlarmRadar wellAlarm = new ArdAlarmRadar();
			wellAlarm.setTargetId(targetId);
			wellAlarm.setName(alarmPointName);
			wellAlarm.setAlarmType(wellType);
			well.add(wellAlarm);
			}
			//endregion
			if (StringUtils.isEmpty(alarmTime)) {
			return;
			}
			if (targetNum == 0) {
			return;
			}
			RadarAlarmData radarAlarmData = new RadarAlarmData();
			radarAlarmData.setRadarId(radarId);
			radarAlarmData.setRadarName(radarName);
			radarAlarmData.setAlarmTime(alarmTime);
			radarAlarmData.setArdAlarmRadars(radarAlarmInfos);
			MqttProducer.publish(2, false, "radar", JSON.toJSONString(radarAlarmData));
			//抽油机状态MQTT队列
			radarAlarmData.setArdAlarmRadars(well);
			MqttProducer.publish(2, false, "radarWellData", JSON.toJSONString(radarAlarmData));
			}
			if (StringUtils.isEmpty(alarmTime)) {
			return;
			//强制引导
			if (Arrays.equals(cmdId, new byte[]{0x02})) {
			//region 告警前端发送的强制引导信息
			byte[] iDistance = Arrays.copyOfRange(data, 4, 8);
			iDistance = toLittleEndian(iDistance);
			long distance = ByteUtils.bytesToDecimal(iDistance);
			log.info("目标当前距离(m):" + distance);
			byte[] fTx = Arrays.copyOfRange(data, 8, 12);
			fTx = toLittleEndian(fTx);
			float tx = ByteUtils.bytesToFloat(fTx);
			log.debug("方位:" + tx);
			byte[] fTy = Arrays.copyOfRange(data, 12, 16);
			fTy = toLittleEndian(fTy);
			float ty = ByteUtils.bytesToFloat(fTy);
			if (ty < 0) {
			ty += 360;
			}
			log.debug("俯仰:" + ty);
			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));
			}
			if (targetNum == 0) {
			return;
			}
			RadarAlarmData radarAlarmData = new RadarAlarmData();
			radarAlarmData.setRadarId(radarId);
			radarAlarmData.setRadarName(radarName);
			radarAlarmData.setAlarmTime(alarmTime);
			radarAlarmData.setArdAlarmRadars(radarAlarmInfos);
			MqttConsumer.publish(2, false, "radar", JSON.toJSONString(radarAlarmData));
			} catch (Exception ex) {
			log.error("雷达报文解析异常:" + ex.getMessage());
			}
			}

			}
			}