增加雷达引导相机跟踪

liusuyi

2023-11-29 e4d7da0fc500395f70f13d6c46bd7227c8644ec4

增加雷达引导相机跟踪

 ard-work/src/main/java/com/ruoyi/alarm/radar/domain/RadarAlarmData.java

@@ -26,5 +26,6 @@
    @Excel(name = "报警时间", width = 30, dateFormat = "yyyy-MM-dd HH:mm:ss")
    private Date alarmTime;
    private List<ArdAlarmRadar> ardAlarmRadars;

    /**雷达跟踪引导数据*/
    private ArdAlarmRadar ardFollowRadars;
}

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

@@ -1,6 +1,8 @@
package com.ruoyi.alarm.radar.service.impl;

import com.alibaba.fastjson2.JSONObject;
import com.ruoyi.alarm.radar.domain.ArdAlarmRadar;
import com.ruoyi.alarm.radar.domain.RadarAlarmData;
import com.ruoyi.alarm.radar.service.ArdRadarService;
import com.ruoyi.common.utils.StringUtils;
import com.ruoyi.device.camera.domain.ArdCameras;
@@ -16,6 +18,7 @@

import javax.annotation.Resource;
import java.util.HashMap;
import java.util.List;
import java.util.Map;

/**
@@ -89,43 +92,38 @@
    @Async
    public void followGuide(String msg) {
        try {
            Map<String, Object> msgMap = JSONObject.parseObject(msg, Map.class);
            if (msgMap != null) {
                Double p = Double.parseDouble(msgMap.get("p").toString());
                Double t = Double.parseDouble(msgMap.get("t").toString());
                Long distance = Long.parseLong(msgMap.get("distance").toString());
                String radarId = msgMap.get("radarId").toString();
                //获取雷达所在塔上的大光电
                ArdCameras camera = ardEquipRadarMapper.getCameraByRadar(radarId);
                if (StringUtils.isNotNull(camera)) {
                    log.debug("获取到雷达塔上的光电:" + camera.getId());
                    //计算目标点坐标
                    GlobalCoordinates cameraCoordinates = new GlobalCoordinates(camera.getLatitude(), camera.getLongitude());
                    GlobalCoordinates targetCoordinates = GisUtil.getGlobalCoordinates(cameraCoordinates, p, distance);
                    //获取ptz
                    double[] cameraPoint = new double[]{ camera.getLongitude(), camera.getLatitude(),camera.getAltitude()};
                    double[] targetPoint = new double[]{targetCoordinates.getLongitude(), targetCoordinates.getLatitude()};
                    double[] cameraPTZ = GisUtil.getCameraPTZ(cameraPoint, targetPoint, 20, 150);
                    //如果雷达塔上有光电
                    CameraCmd cmd = new CameraCmd(camera.getId(), 1);
                    cmd.setOperator("sys_radar_follow");
                    Map<String, Double> ptzMap = new HashMap<>();
                    ptzMap.put("p", p);
                    ptzMap.put("t", t);
                    ptzMap.put("z", cameraPTZ[2]);
                    cmd.setPtzMap(ptzMap);
                    boolean res = iCameraSdkService.setPtz(cmd);
                    if (res) {
                        log.debug("雷达追踪引导成功");
            RadarAlarmData radarFollowData = JSONObject.parseObject(msg, RadarAlarmData.class);
            if (radarFollowData != null) {
                ArdAlarmRadar ardFollowRadar = radarFollowData.getArdFollowRadars();
                if (ardFollowRadar != null) {
                    //当每次上报只上报一个追踪信息，认为不太可能雷达扫描一次会跟踪多个目标
                    String radarId = radarFollowData.getRadarId();//雷达id
                    //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();
                    //获取雷达所在塔上的大光电
                    ArdCameras camera = ardEquipRadarMapper.getCameraByRadar(radarId);
                    if (StringUtils.isNotNull(camera)) {
                        log.debug("获取到雷达塔上的大光电:" + camera.getId());
                        //如果雷达塔上有光电,引导光电的1通道到追踪的坐标
                        CameraCmd cmd = new CameraCmd(camera.getId(), 1);
                        cmd.setOperator("sys_radar_follow");
                        cmd.setCameraId(camera.getId());
                        cmd.setChanNo(1);
                        cmd.setTargetPosition(new double[]{longitude,latitude});
                        boolean res = iCameraSdkService.guideTargetPosition(cmd);
                        if (res) {
                            log.debug("雷达追踪引导成功");
                        } else {
                            log.debug("雷达追踪引导失败");
                        }
                    } else {
                        log.debug("雷达追踪引导失败");
                        log.debug("未获取到雷达塔上的大光电");
                    }
                } else {
                    log.debug("未获取到雷达塔上的光电");
                }
            }
        } catch (Exception ex) {
            log.error("达追踪引导异常:" + ex.getMessage());
            log.error("雷达追踪引导异常:" + ex.getMessage());
        }
    }
}