增加动态客户端备用代码 优化雷达追踪引导 优化打印日志

‘liusuyi’

2023-12-04 6474b923d8f6d8ea5e5b63277f18335136c7e33c

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

@@ -13,6 +13,7 @@
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;
@@ -20,6 +21,8 @@
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
@@ -175,7 +178,7 @@
            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));
@@ -185,33 +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.debug("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;
@@ -222,14 +230,14 @@
                    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);
                    iDistance = toLittleEndian(iDistance);
                    double Distance = ByteUtils.bytesToDecimal(iDistance);
                    log.debug("目标当前直线距离(m):" + Distance);
                    //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);
@@ -278,9 +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
@@ -290,34 +296,42 @@
                        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.debug("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;
                    log.debug("目标投影距离(m):" + 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.debug("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)) {
@@ -332,26 +346,33 @@
                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.debug("目标总点数(转整型):" + targetNum);
                //log.debug("目标总点数(转整型):" + targetNum);
                if (targetNum == 0) {
                    return;
                }
@@ -362,36 +383,36 @@
                    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.debug("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.debug("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.debug("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
@@ -399,7 +420,7 @@
                    //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
@@ -412,9 +433,9 @@
                        //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：" + "【id】" + id + "【name】" + alarmPointName + "【alarmType】" + alarmType + "【alarmTime】" + alarmTime);
                        log.debug("报警信息："+ "【radarName】" + radarName + "【targetId】" + targetId + "【name】" + alarmPointName + "【alarmType】" + alarmType + "【alarmTime】" + alarmTime);
                        ArdAlarmRadar ardAlarmRadar = new ArdAlarmRadar();
                        ardAlarmRadar.setTargetId(id);
                        ardAlarmRadar.setTargetId(targetId);
                        ardAlarmRadar.setName(alarmPointName);
                        ardAlarmRadar.setAlarmType(alarmType);
                        radarAlarmInfos.add(ardAlarmRadar);
@@ -425,9 +446,9 @@
                    //抽油机状态集合中装入数据
                    byte[] szName = Arrays.copyOfRange(data, index + 32, index + 64);
                    String alarmPointName = ByteUtils.bytesToStringZh(szName);
                    log.debug("抽油机状态报警信息：" + "【id】" + id + "【name】" + alarmPointName + "【alarmType】" + wellType + "【alarmTime】" + alarmTime);
                    //log.debug("状态信息：" + "【radarName】" + radarName + "【targetId】" + targetId  + "【alarmTime】" + alarmTime + "【name】" + alarmPointName + "【alarmState】" + wellType);
                    ArdAlarmRadar wellAlarm = new ArdAlarmRadar();
                    wellAlarm.setTargetId(id);
                    wellAlarm.setTargetId(targetId);
                    wellAlarm.setName(alarmPointName);
                    wellAlarm.setAlarmType(wellType);
                    well.add(wellAlarm);
@@ -449,26 +470,30 @@
                radarAlarmData.setArdAlarmRadars(well);
                MqttProducer.publish(2, false, "radarWellData", JSON.toJSONString(radarAlarmData));
            }
            //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 = ByteUtils.toLittleEndian(iDistance);
                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 = ByteUtils.toLittleEndian(fTx);
                fTx = toLittleEndian(fTx);
                float tx = ByteUtils.bytesToFloat(fTx);
                log.debug("方位:" + tx);
                byte[] fTy = Arrays.copyOfRange(data, 12, 16);
                fTy = ByteUtils.toLittleEndian(fTy);
                float ty= ByteUtils.bytesToFloat(fTy);
                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);
                forceGuideMap.put("radarName",radarName);
                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));
            }
@@ -476,5 +501,4 @@
            log.error("雷达报文解析异常:" + ex.getMessage());
        }
    }

}
}