From 1bca1b9c61676b48cc3137d3003e520c75ecdd92 Mon Sep 17 00:00:00 2001
From: aijinhui <aijinhui>
Date: Sat, 13 Jan 2024 10:57:36 +0800
Subject: [PATCH] Merge remote-tracking branch 'origin/master'
---
ard-work/src/main/java/com/ruoyi/alarm/radar/service/impl/ArdRadarServiceImpl.java | 73 ++++++++++++++++++++++++++++++++----
1 files changed, 65 insertions(+), 8 deletions(-)
diff --git a/ard-work/src/main/java/com/ruoyi/alarm/radar/service/impl/ArdRadarServiceImpl.java b/ard-work/src/main/java/com/ruoyi/alarm/radar/service/impl/ArdRadarServiceImpl.java
index 8abcf5c..791557b 100644
--- a/ard-work/src/main/java/com/ruoyi/alarm/radar/service/impl/ArdRadarServiceImpl.java
+++ b/ard-work/src/main/java/com/ruoyi/alarm/radar/service/impl/ArdRadarServiceImpl.java
@@ -1,18 +1,24 @@
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;
import com.ruoyi.device.camera.domain.CameraCmd;
import com.ruoyi.device.camera.service.ICameraSdkService;
import com.ruoyi.device.radar.mapper.ArdEquipRadarMapper;
import com.ruoyi.storage.minio.domain.jsonbean.JsonsRootBean;
+import com.ruoyi.utils.gis.GisUtil;
import lombok.extern.slf4j.Slf4j;
+import org.gavaghan.geodesy.GlobalCoordinates;
import org.springframework.scheduling.annotation.Async;
import org.springframework.stereotype.Service;
import javax.annotation.Resource;
import java.util.HashMap;
+import java.util.List;
import java.util.Map;
/**
@@ -42,19 +48,26 @@
if (msgMap != null) {
Double p = Double.parseDouble(msgMap.get("p").toString());
Double t = Double.parseDouble(msgMap.get("t").toString());
- Double z = Double.parseDouble(msgMap.get("z").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
- String cameraIdWithTower = ardEquipRadarMapper.getCameraByRadar(radarId);
- if (StringUtils.isNotNull(cameraIdWithTower) && StringUtils.isNotEmpty(cameraIdWithTower)) {
- log.debug("获取到雷达塔上的光电:" + cameraIdWithTower);
+ 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(cameraIdWithTower, 1);
+ CameraCmd cmd = new CameraCmd(camera.getId(), 1);
cmd.setOperator("sys_radar_force");
Map<String, Double> ptzMap = new HashMap<>();
ptzMap.put("p", p);
ptzMap.put("t", t);
- ptzMap.put("z", z);
+ ptzMap.put("z", cameraPTZ[2]);
cmd.setPtzMap(ptzMap);
boolean res = iCameraSdkService.setPtz(cmd);
if (res) {
@@ -67,7 +80,51 @@
}
}
} catch (Exception ex) {
- log.error("强制引导异常:"+ ex.getMessage());
+ log.error("强制引导异常:" + ex.getMessage());
}
}
-}
+ /**
+ * 异步雷达追踪引导
+ * 刘苏义
+ * 2023/11/2 9:00:55
+ */
+ @Override
+ @Async
+ public void followGuide(String msg) {
+ try {
+ RadarAlarmData radarFollowData = JSONObject.parseObject(msg, RadarAlarmData.class);
+ if (radarFollowData != null) {
+ List<ArdAlarmRadar> ardFollowRadars = radarFollowData.getArdFollowRadars();
+ if (ardFollowRadars.size()>0) {
+ //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
+ ArdAlarmRadar ardFollowRadar = ardFollowRadars.get(0);
+ 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("未获取到雷达塔上的大光电");
+ }
+ }
+ }
+ } catch (Exception ex) {
+ log.error("雷达追踪引导异常:" + ex.getMessage());
+ }
+ }
+}
\ No newline at end of file
--
Gitblit v1.9.3