增加雷达报警引导优先ptz引导 修改海康红外开关接口命令值 优化坐标数组改为实体类

‘liusuyi’

2024-03-11 0a93967d8028733169ef9bcad7207026d4dea74e

增加雷达报警引导优先ptz引导
修改海康红外开关接口命令值
优化坐标数组改为实体类

 ard-work/src/main/java/com/ruoyi/alarm/global/domain/GuideCameraDto.java

¶Ô±ÈÐÂÎļþ
@@ -0,0 +1,35 @@
package com.ruoyi.alarm.global.domain;

import lombok.Data;
import lombok.experimental.Accessors;

/**
 * @Description:
 * @ClassName: GuideCameraDto
 * @Author: åˆ˜è‹ä¹‰
 * @Date: 2024å¹´03月11日11:45:38
 **/
@Data
@Accessors(chain = true)
public class GuideCameraDto {
    /**
     * æ‘„像头id
     */
    private String cameraId;
    /**
     * æ‘„像头通道
     */
    private Integer chanNo;
    /**
     * æ˜¯å¦å¼•å¯¼ptz
     */
    private Boolean isGuidePTZ;
    /**
     * å¼•å¯¼åæ ‡å®žä½“
     */
    private GuidePoint guidePoint;
    /**
     * å¼•å¯¼PTZ实体
     */
    private GuidePTZ guidePTZ;
}

 ard-work/src/main/java/com/ruoyi/alarm/global/domain/GuideDataDto.java

@@ -1,9 +1,11 @@
package com.ruoyi.alarm.global.domain;

import com.ruoyi.device.camera.domain.ArdCameras;
import lombok.Data;
import lombok.experimental.Accessors;

import java.util.Date;
import java.util.List;

/**
 * @Description: å¼•å¯¼æ•°æ®å®žä½“
@@ -20,6 +22,8 @@
    String alarmId;
    String alarmType;
    Date receiveTime;
    double[] targetPosition;
    GuidePTZ guidePTZ;
    GuidePoint targetPosition;
    String wellId;
    Boolean isGuidePTZ;//是否ptz引导
}

 ard-work/src/main/java/com/ruoyi/alarm/global/domain/GuidePTZ.java

¶Ô±ÈÐÂÎļþ
@@ -0,0 +1,27 @@
package com.ruoyi.alarm.global.domain;

import lombok.Data;
import lombok.experimental.Accessors;

/**
 * @Description:
 * @ClassName: PTZ
 * @Author: åˆ˜è‹ä¹‰
 * @Date: 2024å¹´03月11日11:47:54
 **/
@Data
@Accessors(chain = true)
public class GuidePTZ {
    /**
     * å¯è§å…‰PTZ
     */
    private Double p1;
    private Double t1;
    private Double z1;
    /**
     * çƒ­çº¢å¤–PTZ
     */
    private Double p2;
    private Double t2;
    private Double z2;
}

 ard-work/src/main/java/com/ruoyi/alarm/global/domain/GuidePoint.java

¶Ô±ÈÐÂÎļþ
@@ -0,0 +1,13 @@
package com.ruoyi.alarm.global.domain;

import lombok.Data;
import lombok.experimental.Accessors;

@Data
@Accessors(chain = true)
public class GuidePoint{

    private Double longitude;
    private Double latitude;
    private Double altitude;
}

 ard-work/src/main/java/com/ruoyi/alarm/global/domain/GuideTask.java

@@ -40,12 +40,18 @@
     * æŽ¥æ”¶æ—¶é—´
     */
    String receiveTime;

    /**
     * æ˜¯å¦PTZ引导
     */
    Boolean isGuidePTZ;
    /**
     * å¼•å¯¼ç›®æ ‡ç»çº¬åº¦
     */
    double[] targetPosition;

    GuidePoint targetPosition;
    /**
     * å¼•å¯¼ç›®æ ‡PTZ
     */
    GuidePTZ targetPTZ;
    /**
     * äº•å·
     */

 ard-work/src/main/java/com/ruoyi/alarm/global/service/impl/GlobalAlarmServiceImpl.java

@@ -30,7 +30,9 @@
import com.ruoyi.alarmpoints.tube.mapper.ArdTubesDetailsMapper;
import com.ruoyi.alarmpoints.tube.mapper.ArdTubesMapper;
import com.ruoyi.alarmpoints.well.domain.ArdAlarmpointsWell;
import com.ruoyi.alarmpoints.well.domain.ArdWellGuideCamera;
import com.ruoyi.alarmpoints.well.mapper.ArdAlarmpointsWellMapper;
import com.ruoyi.alarmpoints.well.mapper.ArdWellGuideCameraMapper;
import com.ruoyi.common.constant.CacheConstants;
import com.ruoyi.common.core.redis.RedisCache;
import com.ruoyi.common.utils.ConfigUtils;
@@ -116,6 +118,9 @@
    private QueueHandler queueHandler;
    @Resource
    private ArdEquipRadarMapper ardEquipRadarMapper;
    @Resource
    private ArdWellGuideCameraMapper ardWellGuideCameraMapper;

    //endregion

    /**
@@ -1034,15 +1039,15 @@
                        if (StringUtils.isNull(longitude) || StringUtils.isNull(latitude)) {
                            return;
                        }
                        double[] coordinate = new double[]{longitude, latitude};
                        String cameraId = getCameraByNear(new double[]{ardAlarmTube.getLongitude(), ardAlarmTube.getLatitude()});
                        GuidePoint guidePoint = new GuidePoint().setLongitude(longitude).setLatitude(latitude);
                        String cameraId = getCameraByNear(guidePoint);
                        if (StringUtils.isNotEmpty(cameraId)) {
                            GuideDataDto guideDataDto = new GuideDataDto()
                                    .setAlarmId(cameraId)
                                    .setCameraId(cameraId)
                                    .setAlarmId(ardAlarmTube.getId())
                                    .setAlarmType("sys_tube_leak")
                                    .setReceiveTime(ardAlarmTube.getCreateTime())
                                    .setTargetPosition(coordinate);
                                    .setTargetPosition(guidePoint);
                            messagesEnqueued(guideDataDto);
                        }
                        //endregion
@@ -1070,8 +1075,8 @@
                        String alarmpointName = ardAlarmRadar.getName();//兴趣点名称
                        ArdAlarmpointsWell well = ardAlarmpointsWellMapper.selectArdAlarmpointsWellByWellId(alarmpointName);
                        if (well == null) {
                            String path=System.getProperty("user.dir") + File.separator +"noExistWell.txt";
                            writeStringToFile(alarmpointName,path);
                            String path = System.getProperty("user.dir") + File.separator + "noExistWell.txt";
                            writeStringToFile(alarmpointName, path);
                            continue;
                        }

@@ -1148,15 +1153,16 @@
                        if (StringUtils.isNull(ardAlarmExternal.getLongitude()) || StringUtils.isNull(ardAlarmExternal.getLatitude())) {
                            return;
                        }
                        double[] coordinate = new double[]{ardAlarmExternal.getLongitude(), ardAlarmExternal.getLatitude()};//引导坐标
                        String cameraId = getCameraByNear(coordinate);//最近相机ID
                        GuidePoint guidePoint = new GuidePoint().setLongitude(ardAlarmExternal.getLongitude()).setLatitude(ardAlarmExternal.getLatitude());
                        //引导坐标
                        String cameraId = getCameraByNear(guidePoint);//最近相机ID
                        if (StringUtils.isNotEmpty(cameraId)) {
                            GuideDataDto guideDataDto = new GuideDataDto()
                                    .setAlarmId(cameraId)
                                    .setCameraId(cameraId)
                                    .setAlarmId(ardAlarmExternal.getId())
                                    .setAlarmType("sys_external")
                                    .setReceiveTime(ardAlarmExternal.getCreateTime())
                                    .setTargetPosition(coordinate)
                                    .setTargetPosition(guidePoint)
                                    .setWellId(well.getId());
                            messagesEnqueued(guideDataDto);
                        }
@@ -1186,15 +1192,15 @@
                        if (StringUtils.isNull(ardAlarmAccess.getLongitude()) || StringUtils.isNull(ardAlarmAccess.getLatitude())) {
                            return;
                        }
                        double[] coordinate = new double[]{ardAlarmAccess.getLongitude(), ardAlarmAccess.getLatitude()};//引导坐标
                        String cameraId = getCameraByNear(coordinate);//最近相机ID
                        GuidePoint guidePoint = new GuidePoint().setLongitude(ardAlarmAccess.getLongitude()).setLatitude(ardAlarmAccess.getLatitude());//引导坐标
                        String cameraId = getCameraByNear(guidePoint);//最近相机ID
                        if (StringUtils.isNotEmpty(cameraId)) {
                            GuideDataDto guideDataDto = new GuideDataDto()
                                    .setAlarmId(cameraId)
                                    .setCameraId(cameraId)
                                    .setAlarmId(ardAlarmAccess.getId())
                                    .setAlarmType("sys_external")
                                    .setReceiveTime(ardAlarmAccess.getCreateTime())
                                    .setTargetPosition(coordinate);
                                    .setTargetPosition(guidePoint);
                            messagesEnqueued(guideDataDto);
                        }
                        //endregion
@@ -1263,6 +1269,11 @@
            }
            GuideTask guideTask = new GuideTask();
            guideTask.setCameraId(cameraId);//相机ID
            guideTask.setIsGuidePTZ(guideDataDto.getIsGuidePTZ());
            if(guideTask.getIsGuidePTZ())
            {
                guideTask.setTargetPTZ(guideDataDto.getGuidePTZ());
            }
            String alarmType = guideDataDto.getAlarmType();
            switch (alarmType) {
                case "运动目标检测":
@@ -1317,7 +1328,7 @@
    /**
     * èŽ·å–附近开启报警引导功能光电
     */
    private String getCameraByNear(double[] targetPosition) {
    private String getCameraByNear(GuidePoint guidePoint) {
        String minDistanceCameraId = "";
        try {
            //获取所有大光电
@@ -1330,6 +1341,7 @@
                    continue;
                }
                double[] camPosition = new double[]{camera.getLongitude(), camera.getLatitude()};
                double[] targetPosition = new double[]{guidePoint.getLongitude(), guidePoint.getLatitude()};
                double distance = GisUtil.getDistance(targetPosition, camPosition);
                if (distance != 0.0 && distance <= camera.getCamMaxVisibleDistance()) {
                    distanceMap.put(camera.getId(), distance);
@@ -1357,15 +1369,37 @@

    //获取相机引导入队
    private void getCameraGuideToQueue(GuideDataDto guideDataDto) {
        //获取雷达所在塔上的大光电
        ArdCameras cameraWithTower = ardEquipRadarMapper.getCameraByRadar(guideDataDto.getRadarId());
        if (StringUtils.isNotNull(cameraWithTower)) {
            log.debug("获取到雷达塔上的光电:" + cameraWithTower.getId());
            //如果雷达塔上有光电
            guideDataDto.setCameraId(cameraWithTower.getId());
        //获取兴趣点关联的相机
        ArdAlarmpointsWell well = ardAlarmpointsWellMapper.selectArdAlarmpointsWellByWellId(guideDataDto.getWellId());
        ArdWellGuideCamera ardWellGuideCamera = new ArdWellGuideCamera();
        ardWellGuideCamera.setWellId(well.getId());
        List<ArdWellGuideCamera> ardWellGuideCameras = ardWellGuideCameraMapper.selectArdWellGuideCameraList(ardWellGuideCamera);
        if (ardWellGuideCameras.size() > 0) {
            //优先获取井关联相机的预置位
            ardWellGuideCamera = ardWellGuideCameras.get(0);
            guideDataDto.setIsGuidePTZ(true);
            guideDataDto.setCameraId(ardWellGuideCamera.getCameraId());
            guideDataDto.setGuidePTZ(new GuidePTZ()
                    .setP1(ardWellGuideCamera.getP1())
                    .setT1(ardWellGuideCamera.getT1())
                    .setZ1(ardWellGuideCamera.getZ1())
                    .setP2(ardWellGuideCamera.getP2())
                    .setT2(ardWellGuideCamera.getT2())
                    .setZ2(ardWellGuideCamera.getZ2())
            );
            messagesEnqueued(guideDataDto);
        } else {
            log.debug("未获取到雷达塔上的光电,无法引导");
            //获取雷达所在塔上的大光电
            ArdCameras cameraWithTower = ardEquipRadarMapper.getCameraByRadar(guideDataDto.getRadarId());
            if (StringUtils.isNotNull(cameraWithTower)) {
                log.debug("获取到雷达塔上的光电:" + cameraWithTower.getId());
                //如果雷达塔上有光电
                guideDataDto.setIsGuidePTZ(false);
                guideDataDto.setCameraId(cameraWithTower.getId());
                messagesEnqueued(guideDataDto);
            } else {
                log.debug("未获取到雷达塔上的光电,无法引导");
            }
        }
    }

@@ -1380,7 +1414,9 @@
            log.debug("坐标为空不引导");
            return;
        }
        double[] coordinate = new double[]{ardAlarmRadarMove.getLongitude(), ardAlarmRadarMove.getLatitude()};//报警坐标
        GuidePoint guidePoint = new GuidePoint().setLongitude(ardAlarmRadarMove.getLongitude())
                .setLatitude(ardAlarmRadarMove.getLatitude());
        //报警坐标
        //引导入队
        GuideDataDto guideDataDto = new GuideDataDto()
                .setRadarId(ardAlarmRadarMove.getRadarId())
@@ -1389,7 +1425,7 @@
                .setAlarmType(ardAlarmRadarMove.getAlarmType())
                .setReceiveTime(ardAlarmRadarMove.getCreateTime())
                .setWellId(ardAlarmRadarMove.getWellId())
                .setTargetPosition(coordinate);
                .setTargetPosition(guidePoint);
        getCameraGuideToQueue(guideDataDto);//获取相机入队
    }

@@ -1404,7 +1440,8 @@
            log.debug("坐标为空不引导");
            return;
        }
        double[] coordinate = new double[]{ardAlarmRadarFire.getLongitude(), ardAlarmRadarFire.getLatitude()};//报警坐标
        GuidePoint guidePoint = new GuidePoint().setLongitude(ardAlarmRadarFire.getLongitude())//报警坐标
                .setLatitude(ardAlarmRadarFire.getLatitude());
        //引导入队
        GuideDataDto guideDataDto = new GuideDataDto()
                .setRadarId(ardAlarmRadarFire.getRadarId())
@@ -1413,7 +1450,7 @@
                .setAlarmType(ardAlarmRadarFire.getAlarmType())
                .setReceiveTime(ardAlarmRadarFire.getCreateTime())
                .setWellId(ardAlarmRadarFire.getWellId())
                .setTargetPosition(coordinate);
                .setTargetPosition(guidePoint);
        getCameraGuideToQueue(guideDataDto);//获取相机入队
    }

@@ -1429,7 +1466,8 @@
            log.debug("坐标为空不引导");
            return;
        }
        double[] coordinate = new double[]{ardAlarmRadarPump.getLongitude(), ardAlarmRadarPump.getLatitude()};//报警坐标
        GuidePoint guidePoint = new GuidePoint().setLongitude(ardAlarmRadarPump.getLongitude())
                .setLatitude(ardAlarmRadarPump.getLatitude());//报警坐标
        //引导入队
        GuideDataDto guideDataDto = new GuideDataDto()
                .setRadarId(ardAlarmRadarPump.getRadarId())
@@ -1438,7 +1476,7 @@
                .setAlarmType(ardAlarmRadarPump.getAlarmType())
                .setReceiveTime(ardAlarmRadarPump.getCreateTime())
                .setWellId(ardAlarmRadarPump.getWellId())
                .setTargetPosition(coordinate);
                .setTargetPosition(guidePoint);
        getCameraGuideToQueue(guideDataDto);//获取相机入队
    }


 ard-work/src/main/java/com/ruoyi/alarm/global/service/impl/QueueHandler.java

@@ -91,6 +91,7 @@
            }
        }
    }

    //异步处理任务
    public void processTask(GuideTask guideTask) {
        try {
@@ -103,24 +104,46 @@
            cmd.setChanNo(guideTask.getChanNo());
            cmd.setOperator(guideTask.getAlarmType());
            cmd.setExpired(30);
            Map<String, Double> ptzMap=new HashMap<>();
            if(guideTask.getTargetPTZ()!=null) {
                if (guideTask.getChanNo() == 1) {
                    ptzMap.put("p", guideTask.getTargetPTZ().getP1());
                    ptzMap.put("t", guideTask.getTargetPTZ().getT1());
                    ptzMap.put("z", guideTask.getTargetPTZ().getZ1());
                }
                if (guideTask.getChanNo() == 2) {
                    ptzMap.put("p", guideTask.getTargetPTZ().getP2());
                    ptzMap.put("t", guideTask.getTargetPTZ().getT2());
                    ptzMap.put("z", guideTask.getTargetPTZ().getZ2());
                }
                cmd.setPtzMap(ptzMap);
            }
            cmd.setRecordBucketName("record");
            cmd.setTargetPosition(guideTask.getTargetPosition());
            cmd.setRecordObjectName("alarmGuide/"+ DateUtils.getDateYYYYMMDD()+"/"+guideTask.getAlarmType()+"/"+guideTask.getAlarmId());
            cmd.setRecordObjectName("alarmGuide/" + DateUtils.getDateYYYYMMDD() + "/" + guideTask.getAlarmType() + "/" + guideTask.getAlarmId());
            ICameraSdkService cameraSdkService = SpringUtils.getBean(ICameraSdkService.class);
            log.debug("开始引导");
            boolean recordFlag = false;
            boolean guideRes = cameraSdkService.guideTargetPosition(cmd);
            boolean guideRes = false;
            if (guideTask.getIsGuidePTZ()) {
                AjaxResult result = cameraSdkService.setPtz(cmd);
                if (result.get("code").equals(200)) {
                    guideRes = true;
                }
            } else {
                guideRes = cameraSdkService.guideTargetPosition(cmd);
            }
            if (guideRes) {
                log.debug("引导成功");
                //region é€šçŸ¥å‰ç«¯
                Map<String,Object> message = new HashMap<>();
                Map<String,String> data = new HashMap<>();
                data.put("cameraId",cmd.getCameraId());
                data.put("chanNo",cmd.getChanNo().toString());
                data.put("alarmType",cmd.getOperator());
                Map<String, Object> message = new HashMap<>();
                Map<String, String> data = new HashMap<>();
                data.put("cameraId", cmd.getCameraId());
                data.put("chanNo", cmd.getChanNo().toString());
                data.put("alarmType", cmd.getOperator());
                data.put("alarmId", guideTask.getAlarmId());
                data.put("wellId",guideTask.getWellId());
                message.put("70000",data);
                data.put("wellId", guideTask.getWellId());
                message.put("70000", data);
                WebSocketUtils.sendMessageAll(message);
                //endregion
                cameraSdkService.controlLock(cmd);//上锁

 ard-work/src/main/java/com/ruoyi/alarm/radar/service/impl/ArdRadarServiceImpl.java

@@ -1,6 +1,7 @@
package com.ruoyi.alarm.radar.service.impl;

import com.alibaba.fastjson2.JSONObject;
import com.ruoyi.alarm.global.domain.GuidePoint;
import com.ruoyi.alarm.radar.domain.ArdAlarmRadar;
import com.ruoyi.alarm.radar.domain.RadarAlarmData;
import com.ruoyi.alarm.radar.service.ArdRadarService;
@@ -98,6 +99,7 @@
                    //这里追踪的坐标为雷达经过计算上传的经纬度
                    Double longitude = ardFollowRadar.getLongitude();
                    Double latitude = ardFollowRadar.getLatitude();
                    GuidePoint guidePoint=new GuidePoint().setLongitude(longitude).setLatitude(latitude);
                    //获取雷达所在塔上的大光电
                    ArdCameras camera = ardEquipRadarMapper.getCameraByRadar(radarId);
                    if (StringUtils.isNotNull(camera)) {
@@ -107,7 +109,7 @@
                        cmd.setOperator("sys_radar_follow");
                        cmd.setCameraId(camera.getId());
                        cmd.setChanNo(1);
                        cmd.setTargetPosition(new double[]{longitude,latitude});
                        cmd.setTargetPosition(guidePoint);
                        boolean res = iCameraSdkService.guideTargetPosition(cmd);
                        if (res) {
                            log.debug("雷达追踪引导成功");

 ard-work/src/main/java/com/ruoyi/device/camera/controller/CameraSdkController.java

@@ -194,8 +194,8 @@
                    point.setLatitude(Double.valueOf(parts[i + 1]));

                    pointList.add(point);

                }

                double lon = cmd.getTargetPosition()[0];

                double lat = cmd.getTargetPosition()[1];

                double lon = cmd.getTargetPosition().getLongitude();

                double lat = cmd.getTargetPosition().getLatitude();

                Point targetPoint = new Point(lon, lat);

                //判断引导目标是否在坐标集合组成的多边形内

                boolean inPolygon = GisUtil.isInPolygon(targetPoint, pointList);


 ard-work/src/main/java/com/ruoyi/device/camera/domain/CameraCmd.java

@@ -1,5 +1,6 @@
package com.ruoyi.device.camera.domain;

import com.ruoyi.alarm.global.domain.GuidePoint;
import io.swagger.annotations.ApiModel;
import lombok.Data;
import lombok.NoArgsConstructor;
@@ -37,7 +38,7 @@
    Map<String, Double> ptzMap;

    /*目标经纬度*/
    double[] targetPosition;
    GuidePoint targetPosition;
    /*目标井*/
    String wellId;


 ard-work/src/main/java/com/ruoyi/device/camera/service/impl/ArdCamerasServiceImpl.java

@@ -3,6 +3,7 @@
import java.util.*;
import java.util.stream.Collectors;

import com.ruoyi.alarm.global.domain.GuidePoint;
import com.ruoyi.alarmpoints.well.domain.ArdAlarmpointsWell;
import com.ruoyi.common.constant.CacheConstants;
import com.ruoyi.common.constant.CameraConstants;
@@ -402,8 +403,8 @@
    @Override
    public TreeMap getNearCamerasBycoordinate(CameraCmd cmd) {
        try {
            double[] targetPosition = cmd.getTargetPosition();
            if (targetPosition == null || (targetPosition != null && targetPosition.length == 0)) {
            GuidePoint guidePoint = cmd.getTargetPosition();
            if (guidePoint == null) {
                log.debug("目标位置为空");
                return new TreeMap<>();
            }
@@ -418,7 +419,8 @@
                    continue;
                }
                double[] camPosition = new double[]{camera.getLongitude(), camera.getLatitude()};
                double distance = GisUtil.getDistance(cmd.getTargetPosition(), camPosition);
                double[] targetPosition = new double[]{guidePoint.getLongitude(), guidePoint.getLatitude()};
                double distance = GisUtil.getDistance(targetPosition, camPosition);
                if (camera.getCamMaxVisibleDistance() == null) {
                    continue;
                }

 ard-work/src/main/java/com/ruoyi/device/camera/service/impl/CameraSdkServiceImpl.java

@@ -1,5 +1,6 @@
package com.ruoyi.device.camera.service.impl;



import com.ruoyi.alarm.global.domain.GuidePoint;

import com.ruoyi.alarmpoints.well.domain.ArdAlarmpointsWell;

import com.ruoyi.alarmpoints.well.domain.ArdWellGuideCamera;

import com.ruoyi.alarmpoints.well.service.IArdAlarmpointsWellService;

@@ -500,7 +501,8 @@
        if (well == null) {

            return AjaxResult.error("井不存在");

        }

        cmd.setTargetPosition(new double[]{well.getLongitude(), well.getLatitude()});

        GuidePoint guidePoint=new GuidePoint().setLongitude(well.getLongitude()).setLatitude(well.getLatitude());

        cmd.setTargetPosition(guidePoint);



        //获取井配置的引导相机列表

        List<ArdWellGuideCamera> ardWellGuideCameraList = well.getArdWellGuideCameraList();


 ard-work/src/main/java/com/ruoyi/inspect/service/impl/ArdVideoInspectTaskServiceImpl.java

@@ -2,6 +2,7 @@


import java.util.*;



import com.ruoyi.alarm.global.domain.GuidePoint;

import com.ruoyi.alarmpoints.well.domain.ArdAlarmpointsWell;

import com.ruoyi.alarmpoints.well.mapper.ArdAlarmpointsWellMapper;

import com.ruoyi.common.utils.DateUtils;

@@ -436,17 +437,13 @@
                if (!StringUtils.isNull(wellId)) {

                    /*获取井坐标*/

                    ArdAlarmpointsWell well = ardAlarmpointsWellMapper.selectArdAlarmpointsWellById(wellId);

                    if(StringUtils.isNull(well))

                    {

                    if (StringUtils.isNull(well)) {

                        log.debug("找不到井:" + well.getWellId());

                        return;

                    }

                    log.debug("找到井:" + well.getWellId());

                    double[] targetPositon = new double[3];

                    targetPositon[0] = well.getLongitude();

                    targetPositon[1] = well.getLatitude();

                    //targetPositon[2] = well.getAltitude();

                    log.debug("找到井坐标:" +well.getLongitude()+"-"+well.getLatitude()+"-"+well.getAltitude());

                    GuidePoint guidePoint = new GuidePoint().setLongitude(well.getLongitude()).setLatitude(well.getLatitude());

                    log.debug("找到井坐标:" + well.getLongitude() + "-" + well.getLatitude() + "-" + well.getAltitude());

                    /*获取相机坐标*/

                    ArdCameras cameras = ardCamerasMapper.selectArdCamerasById(cameraId);

                    if (StringUtils.isNull(cameras)) {

@@ -454,16 +451,11 @@
                        return;

                    }

                    log.debug("找到相机:" + cameraId);

                    //double[] cameraPositon = new double[3];

                    //cameraPositon[0] = cameras.getLongitude();

                    //cameraPositon[1] = cameras.getLatitude();

                    //cameraPositon[2] = cameras.getAltitude();



                    /*控制相机巡检*/

                    CameraCmd cmd = new CameraCmd();

                    cmd.setCameraId(cameraId);

                    cmd.setChanNo(channel);

                    cmd.setTargetPosition(targetPositon);

                    cmd.setTargetPosition(guidePoint);

                    cmd.setOperator("sys_patrol_inspect");

                    cmd.setExpired(step.getRecordingTime());//秒为单位

                    boolean setTargetPosition = cameraSdkService.guideTargetPosition(cmd);

@@ -502,25 +494,25 @@
                if (!StringUtils.isNull(wellId)) {

                    /*获取井坐标*/

                    ArdAlarmpointsWell well = ardAlarmpointsWellMapper.selectArdAlarmpointsWellById(wellId);

                    double[] targetPositon = new double[2];

                    targetPositon[0] = well.getLongitude();

                    targetPositon[1] = well.getLatitude();

                    //targetPositon[2] = well.getAltitude();

                    if(StringUtils.isNull(well))

                    {

                        log.debug("找不到井:" + well.getWellId());

                        return;

                    }

                    log.debug("找到井:" + well.getWellId());

                    GuidePoint guidePoint = new GuidePoint().setLongitude(well.getLongitude()).setLatitude(well.getLatitude());

                    /*获取相机坐标*/

                    ArdCameras cameras = ardCamerasMapper.selectArdCamerasById(cameraId);

                    if (StringUtils.isNull(cameras)) {

                        log.debug("找不到相机:" + cameraId);

                        return;

                    }

                    double[] cameraPositon = new double[3];

                    cameraPositon[0] = cameras.getLongitude();

                    cameraPositon[1] = cameras.getLatitude();

                    cameraPositon[2] = cameras.getAltitude();

                    log.debug("找到相机:" + cameraId);

                    /*控制相机巡检*/

                    CameraCmd cmd = new CameraCmd();

                    cmd.setCameraId(cameraId);

                    cmd.setChanNo(channel);

                    cmd.setTargetPosition(targetPositon);

                    cmd.setTargetPosition(guidePoint);

                    cmd.setOperator("sys_patrol_inspect");

                    cmd.setExpired(step.getRecordingTime());//秒为单位

                    boolean setTargetPosition = cameraSdkService.guideTargetPosition(cmd);

@@ -561,7 +553,7 @@
                cmd.setChanNo(channel);

                cmd.setOperator("sys_patrol_inspect");

                cmd.setRecordBucketName("record");

                cmd.setRecordObjectName("inspectGuide/" + DateUtils.getDateYYYYMMDD()+"/"+ IdUtils.fastSimpleUUID());

                cmd.setRecordObjectName("inspectGuide/" + DateUtils.getDateYYYYMMDD() + "/" + IdUtils.fastSimpleUUID());

                String url = cameraSdkService.recordStopToMinio(cmd);

                /*插入巡检记录*/

                ArdVideoInspectRecord ardVideoInspectRecord = new ArdVideoInspectRecord();


 ard-work/src/main/java/com/ruoyi/utils/sdk/dhsdk/service/impl/DahuaSDK.java

@@ -690,7 +690,7 @@
        try {
            ArdCameras cameras = ardCamerasService.selectArdCamerasById(cameraId);
            double[] cameraPositon = new double[]{cameras.getLongitude(), cameras.getLatitude(), cameras.getAltitude()};
            double[] targetPositions = cmd.getTargetPosition();
            double[] targetPositions = new double[]{cmd.getTargetPosition().getLongitude(),cmd.getTargetPosition().getLatitude()};
            double[] cameraPTZ = GisUtil.getCameraPTZ(cameraPositon, targetPositions, 20, 150);
            int p = (int) (cameraPTZ[0] * 10);
            int t = (int) (cameraPTZ[1] * 10);

 ard-work/src/main/java/com/ruoyi/utils/sdk/hiksdk/lib/HCNetSDK.java

@@ -686,7 +686,8 @@


    public static final int NET_DVR_GET_TRAFFIC_DATA = 3141;   //长连接获取交通数据

    public static final int NET_DVR_GET_TRAFFIC_FLOW = 3142;   //长连接获取交通流量



    public static final int NET_DVR_GET_CCDPARAMCFG = 1067;//获取前端参数(扩展)

    public static final int NET_DVR_SET_CCDPARAMCFG = 1068;//设置前端参数(扩展)

    public static final int NET_DVR_GET_CCDPARAMCFG_EX = 3368;//获取前端参数(扩展)

    public static final int NET_DVR_SET_CCDPARAMCFG_EX = 3369;//设置前端参数(扩展)

    public static final int NET_DVR_GET_FOCUSMODECFG = 3305;//获取快球聚焦模式信息


 ard-work/src/main/java/com/ruoyi/utils/sdk/hiksdk/service/impl/HikvisionSDK.java

@@ -457,7 +457,7 @@
        if (!bool) {
            int errorCode = hCNetSDK.NET_DVR_GetLastError();
            log.error("控制失败,请稍后重试" + errorCode);
            return AjaxResult.error("errorCode:" + errorCode + "errorInfo:" + SdkErrorCodeEnum.getDescByCode(errorCode));
            return AjaxResult.error("errorCode:" + errorCode + " errorInfo:" + SdkErrorCodeEnum.getDescByCode(errorCode));
        }
        return AjaxResult.success();
    }
@@ -1021,7 +1021,7 @@
            if (!bool) {
                int errorCode = hCNetSDK.NET_DVR_GetLastError();
                log.error("设置PTZ参数失败,请稍后重试:" + errorCode);
                return AjaxResult.error("errorCode:" + errorCode + "errorInfo:" + SdkErrorCodeEnum.getDescByCode(errorCode));
                return AjaxResult.error("errorCode:" + errorCode + " errorInfo:" + SdkErrorCodeEnum.getDescByCode(errorCode));
            }
            return AjaxResult.success();
        } catch (Exception ex) {
@@ -1080,7 +1080,7 @@
            if (!bool) {
                int errorCode = hCNetSDK.NET_DVR_GetLastError();
                log.error("设置高精度PTZ参数失败,请稍后重试:" + errorCode);
                return AjaxResult.error("errorCode:" + errorCode + "errorInfo:" + SdkErrorCodeEnum.getDescByCode(errorCode));
                return AjaxResult.error("errorCode:" + errorCode + " errorInfo:" + SdkErrorCodeEnum.getDescByCode(errorCode));
            }
            return AjaxResult.success();

@@ -1104,7 +1104,7 @@
        try {
            ArdCameras cameras = ardCamerasService.selectArdCamerasById(cameraId);
            double[] cameraPositon = new double[]{cameras.getLongitude(), cameras.getLatitude(), cameras.getAltitude()};
            double[] targetPositions = cmd.getTargetPosition();
            double[] targetPositions = new double[]{cmd.getTargetPosition().getLongitude(), cmd.getTargetPosition().getLatitude()};
            double[] cameraPTZ = GisUtil.getCameraPTZ(cameraPositon, targetPositions, 20, 150);
            String p = String.valueOf((int) (cameraPTZ[0] * 10));
            String t = String.valueOf((int) (cameraPTZ[1] * 10));
@@ -1302,7 +1302,7 @@
        NET_DVR_CAMERAPARAMCFG_EX struDayNigh = new NET_DVR_CAMERAPARAMCFG_EX();
        Pointer point = struDayNigh.getPointer();
        IntByReference ibrBytesReturned = new IntByReference(0);
        boolean b_GetCameraParam = hCNetSDK.NET_DVR_GetDVRConfig(userId, NET_DVR_GET_CCDPARAMCFG_EX, chanNo, point, struDayNigh.size(), ibrBytesReturned);
        boolean b_GetCameraParam = hCNetSDK.NET_DVR_GetDVRConfig(userId, NET_DVR_GET_CCDPARAMCFG, chanNo, point, struDayNigh.size(), ibrBytesReturned);
        if (!b_GetCameraParam) {
            log.error("获取前端参数失败，错误码：" + hCNetSDK.NET_DVR_GetLastError());
        }
@@ -1320,7 +1320,7 @@
        daynight.byDayNightFilterTime = 60;
        struDayNigh.struDayNight = daynight;
        struDayNigh.write();
        boolean bool = hCNetSDK.NET_DVR_SetDVRConfig(userId, NET_DVR_SET_CCDPARAMCFG_EX, chanNo, point, struDayNigh.size());
        boolean bool = hCNetSDK.NET_DVR_SetDVRConfig(userId, NET_DVR_SET_CCDPARAMCFG, chanNo, point, struDayNigh.size());
        if (!bool) {
            int code = hCNetSDK.NET_DVR_GetLastError();
            log.error("设置夜视失败 ErrorCode:{},ErrorInfo:{}",code, SdkErrorCodeEnum.getDescByCode(code));

 ard-work/src/main/java/com/ruoyi/utils/tools/ArdTool.java

@@ -181,4 +181,5 @@
            e.printStackTrace();
        }
    }

}