From c4dbb67b6045e138faf1ab8e5ccbd453bada9d66 Mon Sep 17 00:00:00 2001
From: ‘liusuyi’ <1951119284@qq.com>
Date: 星期三, 29 十一月 2023 15:43:56 +0800
Subject: [PATCH] 雷达跟踪引导接收
---
ard-work/src/main/java/com/ruoyi/alarm/radar/service/impl/ArdRadarServiceImpl.java | 74 +++++++++++++++++++++++++++++++++----
1 files changed, 66 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..8d1cdf3 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
@@ -3,11 +3,14 @@
import com.alibaba.fastjson2.JSONObject;
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;
@@ -42,19 +45,26 @@
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();
//鑾峰彇闆疯揪鎵�鍦ㄥ涓婄殑澶у厜鐢�
- String cameraIdWithTower = ardEquipRadarMapper.getCameraByRadar(radarId);
- if (StringUtils.isNotNull(cameraIdWithTower) && StringUtils.isNotEmpty(cameraIdWithTower)) {
- log.debug("鑾峰彇鍒伴浄杈惧涓婄殑鍏夌數:" + cameraIdWithTower);
+ ArdCameras camera = ardEquipRadarMapper.getCameraByRadar(radarId);
+ if (StringUtils.isNotNull(camera)) {
+ log.debug("鑾峰彇鍒伴浄杈惧涓婄殑鍏夌數:" + camera.getId());
+ //璁＄畻鐩爣鐐瑰潗鏍�
+ GlobalCoordinates cameraCoordinates = new GlobalCoordinates(camera.getLatitude(), camera.getLongitude());
+ GlobalCoordinates targetCoordinates = GisUtil.getGlobalCoordinates(cameraCoordinates, p, distance);
+ //鑾峰彇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);
//濡傛灉闆疯揪濉斾笂鏈夊厜鐢�
- 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 +77,55 @@
}
}
} catch (Exception ex) {
- log.error("寮哄埗寮曞寮傚父:"+ ex.getMessage());
+ log.error("寮哄埗寮曞寮傚父:" + ex.getMessage());
}
}
-}
+ /**
+ * 寮傛闆疯揪杩借釜寮曞
+ * 鍒樿嫃涔�
+ * 2023/11/2 9:00:55
+ */
+ @Override
+ @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();
+ //鑾峰彇闆疯揪鎵�鍦ㄥ涓婄殑澶у厜鐢�
+ ArdCameras camera = ardEquipRadarMapper.getCameraByRadar(radarId);
+ if (StringUtils.isNotNull(camera)) {
+ log.debug("鑾峰彇鍒伴浄杈惧涓婄殑鍏夌數:" + camera.getId());
+ //璁＄畻鐩爣鐐瑰潗鏍�
+ GlobalCoordinates cameraCoordinates = new GlobalCoordinates(camera.getLatitude(), camera.getLongitude());
+ GlobalCoordinates targetCoordinates = GisUtil.getGlobalCoordinates(cameraCoordinates, p, distance);
+ //鑾峰彇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);
+ //濡傛灉闆疯揪濉斾笂鏈夊厜鐢�
+ 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("闆疯揪杩借釜寮曞鎴愬姛");
+ } else {
+ log.debug("闆疯揪杩借釜寮曞澶辫触");
+ }
+ } else {
+ log.debug("鏈幏鍙栧埌闆疯揪濉斾笂鐨勫厜鐢�");
+ }
+ }
+ } catch (Exception ex) {
+ log.error("杈捐拷韪紩瀵煎紓甯�:" + ex.getMessage());
+ }
+ }
+}
\ No newline at end of file
--
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