From e4d7da0fc500395f70f13d6c46bd7227c8644ec4 Mon Sep 17 00:00:00 2001
From: liusuyi <13324259@qq.com>
Date: Wed, 29 Nov 2023 21:18:59 +0800
Subject: [PATCH] 增加雷达引导相机跟踪
---
ard-work/src/main/java/com/ruoyi/alarm/radar/service/impl/ArdRadarServiceImpl.java | 62 +++++++++++++++----------------
ard-work/src/main/java/com/ruoyi/alarm/radar/domain/RadarAlarmData.java | 3 +
2 files changed, 32 insertions(+), 33 deletions(-)
diff --git a/ard-work/src/main/java/com/ruoyi/alarm/radar/domain/RadarAlarmData.java b/ard-work/src/main/java/com/ruoyi/alarm/radar/domain/RadarAlarmData.java
index 926ad70..438a133 100644
--- a/ard-work/src/main/java/com/ruoyi/alarm/radar/domain/RadarAlarmData.java
+++ b/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;
}
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 8d1cdf3..e97ed12 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
@@ -1,6 +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());
}
}
}
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