~zhangnaisong/ruoyi-api-alarm.git

			@@ -21,6 +21,7 @@
			import java.util.concurrent.ScheduledFuture;
			import java.util.concurrent.TimeUnit;

			import static com.ard.utils.netty.tcp.ClientInitialize.aroundScanfMap;
			import static com.ard.utils.util.ByteUtils.toLittleEndian;

			/**
			@@ -56,19 +57,19 @@
			*/
			@Override
			public void channelInactive(ChannelHandlerContext ctx) throws Exception {
			ChannelId id = ctx.channel().id();
			InetSocketAddress ipSocket = (InetSocketAddress) ctx.channel().remoteAddress();
			int port = ipSocket.getPort();
			String host = ipSocket.getHostString();
			log.error("与设备" + host + ":" + port + "连接断开!");
			ArdEquipRadar ardEquipRadar = ClientInitialize.tureConnectMap.get(id);
			String ipPort = ipSocket.getHostString() + ":" + ipSocket.getPort();
			log.error("与设备" + ipPort + "连接断开!");
			// 连接断开后的最后处理
			ctx.pipeline().remove(this);
			ctx.deregister();
			ctx.close();

			// 将失败信息插入Set集合
			ClientInitialize.falseConnectSet.add(ardEquipRadar);
			ArdEquipRadar radar = ClientInitialize.trueConnectMap.get(ipPort);
			if (radar != null) {
			ClientInitialize.falseConnectSet.add(radar);
			ClientInitialize.trueConnectMap.remove(ipPort);
			}
			super.channelInactive(ctx);
			}

			@@ -81,17 +82,26 @@
			* @throws Exception
			*/
			@Override
			public void channelRead0(ChannelHandlerContext ctx, ByteBuf msg) throws Exception {
			ChannelId id = ctx.channel().id();
			ArdEquipRadar ardEquipRadar = ClientInitialize.tureConnectMap.get(id);
			public void channelRead0(ChannelHandlerContext ctx, ByteBuf msg) {
			InetSocketAddress ipSocket = (InetSocketAddress) ctx.channel().remoteAddress();
			String ipPort = ipSocket.getHostString() + ":" + ipSocket.getPort();
			ArdEquipRadar radar = ClientInitialize.trueConnectMap.get(ipPort);
			if (radar == null) {
			return;
			}
			MessageHandler messageHandler = ClientInitialize.SucMessageHandlerMap.get(ipPort);
			if (messageHandler == null) {
			return;
			}
			// 处理接收到的消息
			byte[] byteArray = new byte[msg.readableBytes()];
			msg.getBytes(msg.readerIndex(), byteArray);
			byte[] bytes = MessageParsing.receiveCompletePacket(byteArray);
			byte[] bytes = messageHandler.receiveCompletePacket(byteArray);
			if (bytes != null) {
			processData(ardEquipRadar, bytes);
			processData(radar, bytes);
			}
			}


			/**
			* 通道数据处理完成
			@@ -143,7 +153,7 @@
			byte[] payloadCrc32 = ByteUtils.parseCrc32(payload);
			byte[] footer = {0x01, 0x02, 0x00};
			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};
			//byte[] heart = {0x01, 0x02, 0x01, 0x10, 0x00, 0x00, 0x00, (byte) 0x83, (byte) 0x88, 0x5d, 0x71, 0x01, 0x02, 0x00};
			String hexString = DatatypeConverter.printHexBinary(heart);
			// log.debug("发送心跳:" + hexString);
			message.writeBytes(heart);
			@@ -165,15 +175,15 @@
			/**
			* 解析报警数据
			*/
			public void processData(ArdEquipRadar ardEquipRadarbyte, byte[] data) {
			public void processData(ArdEquipRadar radar, byte[] data) {
			try {
			String radarId = ardEquipRadarbyte.getId();
			String radarName = ardEquipRadarbyte.getName();
			Double radarLongitude = ardEquipRadarbyte.getLongitude();
			Double radarLagitude = ardEquipRadarbyte.getLatitude();
			Double radarAltitude = ardEquipRadarbyte.getAltitude();
			String radarId = radar.getId();
			String radarName = radar.getName();
			Double radarLongitude = radar.getLongitude();
			Double radarLagitude = radar.getLatitude();
			Double radarAltitude = radar.getAltitude();
			//region crc校验-目前仅用于显示校验结果
			Boolean crc32Check = MessageParsing.CRC32Check(data);
			Boolean crc32Check = MessageHandler.CRC32Check(data);
			if (!crc32Check) {
			log.debug("CRC32校验不通过");
			} else {
			@@ -182,12 +192,12 @@
			//endregion
			//log.info("原始数据:" + DatatypeConverter.printHexBinary(data));
			//log.info("雷达信息：" + host + "【port】" + port + "【X】" + longitude + "【Y】" + lagitude + "【Z】" + altitude);
			data = MessageParsing.transferData(data);//去掉包头和包尾、校验及转义
			data = MessageHandler.transferData(data);//去掉包头和包尾、校验及转义
			//region 负载头解析
			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
			String cmdIdStr=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 = toLittleEndian(payloadSize);
			@@ -201,7 +211,37 @@
			List<ArdAlarmRadar> well = new ArrayList<>();
			String alarmTime = "";
			Integer targetNum = 0;
			log.debug("处理雷达"+radarName+"数据-->命令ID:"+cmdIdStr);
			log.debug("处理雷达" + radarName + "数据-->命令ID:" + cmdIdStr);
			//前端工作状态反馈
			if (Arrays.equals(cmdId, new byte[]{0x00})) {
			//region 告警信息反馈
			byte[] dfScanAngV = Arrays.copyOfRange(data, 4, 12);
			dfScanAngV = toLittleEndian(dfScanAngV);
			double ScanAngV = ByteUtils.bytesToDouble(dfScanAngV);
			log.info("设备扫描的俯仰角度:" + ScanAngV);

			byte[] dfAngDy = Arrays.copyOfRange(data, 12, 20);
			dfAngDy = toLittleEndian(dfAngDy);
			double AngDy = ByteUtils.bytesToDouble(dfAngDy);
			log.info("周视图像的垂直视场角度:" + AngDy);

			byte[] iImgW = Arrays.copyOfRange(data, 20, 24);
			iImgW = toLittleEndian(iImgW);
			int ImgW = ByteUtils.bytesToDecimal(iImgW);
			log.info("周视图像的宽:" + ImgW);
			byte[] iImgH = Arrays.copyOfRange(data, 24, 28);
			iImgH = toLittleEndian(iImgH);
			int ImgH = ByteUtils.bytesToDecimal(iImgH);
			log.info("周视图像的高:" + ImgH);

			byte[] cStat = Arrays.copyOfRange(data, 28, 29);
			// 提取第4位至第6位的值
			cStat = toLittleEndian(cStat);
			int Stat = cStat[0] & 0b00000001;
			log.info("设备当前工作状态:" + Stat);
			aroundScanfMap.put(radar.getIp()+":"+radar.getPort(),Stat);

			}
			//雷达移动防火报警
			if (Arrays.equals(cmdId, new byte[]{0x01})) {
			//region 告警信息反馈
			@@ -310,15 +350,14 @@
			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)
			{
			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：" + "【radarName】" + radarName + "【targetId】"+ targetId + "【alarmType】" + alarmType + "【alarmTime】" + alarmTime + "【name】" + alarmPointName+"【Distance】"+Distance);
			log.debug("报警信息：" + "【radarName】" + radarName + "【targetId】" + targetId + "【alarmType】" + alarmType + "【alarmTime】" + alarmTime + "【name】" + alarmPointName + "【Distance】" + Distance);
			ArdAlarmRadar ardAlarmRadar = new ArdAlarmRadar();
			ardAlarmRadar.setTargetId(targetId);
			ardAlarmRadar.setName(alarmPointName);
			@@ -345,7 +384,7 @@
			radarAlarmData.setAlarmTime(alarmTime);
			radarAlarmData.setArdAlarmRadars(radarAlarmInfos);
			MqttProducer.publish(2, false, "radar", JSON.toJSONString(radarAlarmData));
			if (radarFollowInfos.size() >0) {
			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));
			@@ -432,7 +471,7 @@
			//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);
			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);
			@@ -500,4 +539,4 @@
			log.error("雷达报文解析异常:" + ex.getMessage());
			}
			}
			}
			}