From 3be4440f6800e10efd8db51b957d17a6cc3b39df Mon Sep 17 00:00:00 2001
From: ‘liusuyi’ <1951119284@qq.com>
Date: Tue, 27 Jun 2023 16:17:07 +0800
Subject: [PATCH] 增加雷达报警点坐标计算 增加雷达报警数据推送mqtt
---
src/main/java/com/ard/alarm/radar/service/impl/ArdEquipRadarServiceImpl.java | 121 +++++
src/main/java/com/ard/alarm/radar/domain/ArdEquipRadar.java | 70 +++
src/main/resources/mapper/ArdEquipRadarMapper.xml | 180 +++++++
src/main/java/com/ard/utils/LonlatConver.java | 294 ++++++++++++
pom.xml | 5
/dev/null | 33 -
src/main/java/com/ard/alarm/radar/domain/RadarAlarmInfo.java | 23 +
src/main/java/com/ard/utils/tcp/NettyTcpClient.java | 65 +-
src/main/java/com/ard/utils/tcp/NettyTcpClientHandler.java | 398 +++++++++-------
src/main/java/com/ard/alarm/radar/mapper/ArdEquipRadarMapper.java | 63 ++
src/main/java/com/ard/alarm/radar/service/IArdEquipRadarService.java | 61 ++
src/main/resources/application.yml | 23
src/main/java/com/ard/alarm/tube/service/TubeAlarmService.java | 11
13 files changed, 1,092 insertions(+), 255 deletions(-)
diff --git a/pom.xml b/pom.xml
index 07bbe5e..0244e01 100644
--- a/pom.xml
+++ b/pom.xml
@@ -79,6 +79,11 @@
<artifactId>commons-lang3</artifactId>
<version>3.12.0</version>
</dependency>
+ <dependency>
+ <groupId>org.gavaghan</groupId>
+ <artifactId>geodesy</artifactId>
+ <version>1.1.3</version>
+ </dependency>
</dependencies>
<build>
diff --git a/src/main/java/com/ard/alarm/radar/domain/ArdEquipRadar.java b/src/main/java/com/ard/alarm/radar/domain/ArdEquipRadar.java
new file mode 100644
index 0000000..7d13e4d
--- /dev/null
+++ b/src/main/java/com/ard/alarm/radar/domain/ArdEquipRadar.java
@@ -0,0 +1,70 @@
+package com.ard.alarm.radar.domain;
+
+import java.util.Date;
+import com.fasterxml.jackson.annotation.JsonFormat;
+import lombok.Data;
+
+/**
+ * radar对象 ard_equip_radar
+ *
+ * @author zj
+ * @date 2023-03-11
+ */
+@Data
+public class ArdEquipRadar
+{
+ private static final long serialVersionUID = 1L;
+
+ /** id */
+ private String id;
+ /** 名称 */
+ private String name;
+ /** 端口 */
+ private Integer port;
+
+ /** 操作员id */
+ private String operate;
+
+ /** 删除标记 */
+ private String delFlag;
+
+ /** 用户id */
+ private String userId;
+
+ /** 经度 */
+ private Double longitude;
+
+ /** 维度 */
+ private Double latitude;
+
+ /** 高程 */
+ private Double altitude;
+
+ /** 安装时间 */
+ @JsonFormat(pattern = "yyyy-MM-dd HH:mm:ss")
+ private Date radarDate;
+
+ /** 部门id */
+ private Long deptId;
+
+ /** 俯仰角 */
+ private String pitch;
+
+ /** 塔id */
+ private String towerId;
+ private String towerName;
+
+ /** 图像宽度 */
+ private String imageWidth;
+
+ /** 图像高度 */
+ private String imageHeight;
+
+ /** 型号 */
+ private String type;
+
+ /** ip */
+ private String ip;
+
+
+}
diff --git a/src/main/java/com/ard/alarm/radar/domain/RadarAlarmInfo.java b/src/main/java/com/ard/alarm/radar/domain/RadarAlarmInfo.java
new file mode 100644
index 0000000..4fcd6e6
--- /dev/null
+++ b/src/main/java/com/ard/alarm/radar/domain/RadarAlarmInfo.java
@@ -0,0 +1,23 @@
+package com.ard.alarm.radar.domain;
+
+import lombok.Data;
+
+import java.util.Date;
+
+/**
+ * @Description:
+ * @ClassName: RadarAlarmInfo
+ * @Author: 刘苏义
+ * @Date: 2023年06月27日15:49
+ * @Version: 1.0
+ **/
+@Data
+public class RadarAlarmInfo {
+
+ Integer id;
+ String name;
+ String alarmTime;
+ Double longitude;
+ Double lagitude;
+
+}
diff --git a/src/main/java/com/ard/alarm/radar/mapper/ArdEquipRadarMapper.java b/src/main/java/com/ard/alarm/radar/mapper/ArdEquipRadarMapper.java
new file mode 100644
index 0000000..2d5755c
--- /dev/null
+++ b/src/main/java/com/ard/alarm/radar/mapper/ArdEquipRadarMapper.java
@@ -0,0 +1,63 @@
+package com.ard.alarm.radar.mapper;
+
+import java.util.List;
+import com.ard.alarm.radar.domain.ArdEquipRadar;
+import org.apache.ibatis.annotations.Mapper;
+
+/**
+ * radarMapper接口
+ *
+ * @author zj
+ * @date 2023-03-11
+ */
+@Mapper
+public interface ArdEquipRadarMapper
+{
+ /**
+ * 查询radar
+ *
+ * @param id radar主键
+ * @return radar
+ */
+ public ArdEquipRadar selectArdEquipRadarById(String id);
+
+ /**
+ * 查询radar列表
+ *
+ * @param ardEquipRadar radar
+ * @return radar集合
+ */
+ public List<ArdEquipRadar> selectArdEquipRadarList(ArdEquipRadar ardEquipRadar);
+
+ /**
+ * 新增radar
+ *
+ * @param ardEquipRadar radar
+ * @return 结果
+ */
+ public int insertArdEquipRadar(ArdEquipRadar ardEquipRadar);
+
+ /**
+ * 修改radar
+ *
+ * @param ardEquipRadar radar
+ * @return 结果
+ */
+ public int updateArdEquipRadar(ArdEquipRadar ardEquipRadar);
+
+ /**
+ * 删除radar
+ *
+ * @param id radar主键
+ * @return 结果
+ */
+ public int deleteArdEquipRadarById(String id);
+
+ /**
+ * 批量删除radar
+ *
+ * @param ids 需要删除的数据主键集合
+ * @return 结果
+ */
+ public int deleteArdEquipRadarByIds(String[] ids);
+}
diff --git a/src/main/java/com/ard/alarm/radar/service/IArdEquipRadarService.java b/src/main/java/com/ard/alarm/radar/service/IArdEquipRadarService.java
new file mode 100644
index 0000000..87889de
--- /dev/null
+++ b/src/main/java/com/ard/alarm/radar/service/IArdEquipRadarService.java
@@ -0,0 +1,61 @@
+package com.ard.alarm.radar.service;
+
+import java.util.List;
+import com.ard.alarm.radar.domain.ArdEquipRadar;
+
+/**
+ * radarService接口
+ *
+ * @author zj
+ * @date 2023-03-11
+ */
+public interface IArdEquipRadarService
+{
+ /**
+ * 查询radar
+ *
+ * @param id radar主键
+ * @return radar
+ */
+ public ArdEquipRadar selectArdEquipRadarById(String id);
+
+ /**
+ * 查询radar列表
+ *
+ * @param ardEquipRadar radar
+ * @return radar集合
+ */
+ public List<ArdEquipRadar> selectArdEquipRadarList(ArdEquipRadar ardEquipRadar);
+
+ /**
+ * 新增radar
+ *
+ * @param ardEquipRadar radar
+ * @return 结果
+ */
+ public int insertArdEquipRadar(ArdEquipRadar ardEquipRadar);
+
+ /**
+ * 修改radar
+ *
+ * @param ardEquipRadar radar
+ * @return 结果
+ */
+ public int updateArdEquipRadar(ArdEquipRadar ardEquipRadar);
+
+ /**
+ * 批量删除radar
+ *
+ * @param ids 需要删除的radar主键集合
+ * @return 结果
+ */
+ public int deleteArdEquipRadarByIds(String[] ids);
+
+ /**
+ * 删除radar信息
+ *
+ * @param id radar主键
+ * @return 结果
+ */
+ public int deleteArdEquipRadarById(String id);
+}
diff --git a/src/main/java/com/ard/alarm/radar/service/impl/ArdEquipRadarServiceImpl.java b/src/main/java/com/ard/alarm/radar/service/impl/ArdEquipRadarServiceImpl.java
new file mode 100644
index 0000000..2613750
--- /dev/null
+++ b/src/main/java/com/ard/alarm/radar/service/impl/ArdEquipRadarServiceImpl.java
@@ -0,0 +1,121 @@
+package com.ard.alarm.radar.service.impl;
+
+import java.util.List;
+import com.ard.alarm.radar.domain.ArdEquipRadar;
+import com.ard.alarm.radar.mapper.ArdEquipRadarMapper;
+import com.ard.alarm.radar.service.IArdEquipRadarService;
+import com.ard.utils.tcp.NettyTcpClient;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.beans.factory.annotation.Value;
+import org.springframework.stereotype.Service;
+import javax.annotation.PostConstruct;
+import javax.annotation.Resource;
+
+/**
+ * radarService业务层处理
+ *
+ * @author zj
+ * @date 2023-03-11
+ */
+@Service
+@Slf4j(topic = "radar")
+public class ArdEquipRadarServiceImpl implements IArdEquipRadarService
+{
+ @Autowired
+ private ArdEquipRadarMapper ardEquipRadarMapper;
+
+
+ @Resource
+ NettyTcpClient nettyTcpClient;
+ @Value("${spring.netty.tcp.enabled}")
+ private Boolean tcpClientEnable;
+ @PostConstruct
+ public void init() {
+ if(!tcpClientEnable)
+ {
+ return;
+ }
+ List<ArdEquipRadar> ardEquipRadars = selectArdEquipRadarList(new ArdEquipRadar());
+ for (ArdEquipRadar ardEquipRadar:ardEquipRadars)
+ {
+ String host = ardEquipRadar.getIp();
+ Integer port = Integer.valueOf(ardEquipRadar.getPort());
+ log.info("TCP客户端尝试连接："+host+":"+port);
+ nettyTcpClient.init(ardEquipRadar);
+ }
+ }
+
+ /**
+ * 查询radar
+ *
+ * @param id radar主键
+ * @return radar
+ */
+ @Override
+ public ArdEquipRadar selectArdEquipRadarById(String id)
+ {
+ return ardEquipRadarMapper.selectArdEquipRadarById(id);
+ }
+
+
+ /**
+ * 查询radar列表
+ *
+ * @param ardEquipRadar radar
+ * @return radar
+ */
+ @Override
+ public List<ArdEquipRadar> selectArdEquipRadarList(ArdEquipRadar ardEquipRadar)
+ {
+ return ardEquipRadarMapper.selectArdEquipRadarList(ardEquipRadar);
+ }
+
+ /**
+ * 新增radar
+ *
+ * @param ardEquipRadar radar
+ * @return 结果
+ */
+ @Override
+ public int insertArdEquipRadar(ArdEquipRadar ardEquipRadar)
+ {
+ return ardEquipRadarMapper.insertArdEquipRadar(ardEquipRadar);
+ }
+
+ /**
+ * 修改radar
+ *
+ * @param ardEquipRadar radar
+ * @return 结果
+ */
+ @Override
+ public int updateArdEquipRadar(ArdEquipRadar ardEquipRadar)
+ {
+ return ardEquipRadarMapper.updateArdEquipRadar(ardEquipRadar);
+ }
+
+ /**
+ * 批量删除radar
+ *
+ * @param ids 需要删除的radar主键
+ * @return 结果
+ */
+ @Override
+ public int deleteArdEquipRadarByIds(String[] ids)
+ {
+ return ardEquipRadarMapper.deleteArdEquipRadarByIds(ids);
+ }
+
+ /**
+ * 删除radar信息
+ *
+ * @param id radar主键
+ * @return 结果
+ */
+ @Override
+ public int deleteArdEquipRadarById(String id)
+ {
+ return ardEquipRadarMapper.deleteArdEquipRadarById(id);
+ }
+}
diff --git a/src/main/java/com/ard/alarm/tube/service/TubeAlarmService.java b/src/main/java/com/ard/alarm/tube/service/TubeAlarmService.java
index 3106e6a..a8243d9 100644
--- a/src/main/java/com/ard/alarm/tube/service/TubeAlarmService.java
+++ b/src/main/java/com/ard/alarm/tube/service/TubeAlarmService.java
@@ -14,8 +14,6 @@
import javax.annotation.Resource;
import java.util.HashMap;
import java.util.Map;
-import java.util.regex.Matcher;
-import java.util.regex.Pattern;
/**
* @Description: 管线泄漏报警服务
@@ -29,11 +27,10 @@
public class TubeAlarmService {
@Resource
NettyUdpServer nettyUdpServer;
- @Resource
- NettyTcpClient nettyTcpClient;
- @Value("${spring.netty.port}")
+
+ @Value("${spring.netty.udp.port}")
private Integer udpPort;
- @Value("${spring.netty.enabled}")
+ @Value("${spring.netty.udp.enabled}")
private String UdpServerEnable;
@PostConstruct
@@ -43,8 +40,6 @@
}
nettyUdpServer.init(udpPort);
log.info("UDP服务已启动");
- nettyTcpClient.init("127.0.0.1",1200);
- log.info("TCP客户端已启动");
}
@Async("alarm")
diff --git a/src/main/java/com/ard/utils/LonlatConver.java b/src/main/java/com/ard/utils/LonlatConver.java
new file mode 100644
index 0000000..ff02333
--- /dev/null
+++ b/src/main/java/com/ard/utils/LonlatConver.java
@@ -0,0 +1,294 @@
+package com.ard.utils;
+
+public class LonlatConver {
+ /**
+ * a
+ */
+ public final static double a = 6378245.0;
+ /**
+ * ee
+ */
+ public final static double ee = 0.00669342162296594323;
+
+ //圆周率 GCJ_02_To_WGS_84
+ public final static double pi = 3.14159265358979324;
+ /**
+ * @Description WGS84 to 火星坐标系 (GCJ-02)
+ * @param lon 经度
+ * @param lat 纬度
+ * @return
+ */
+ public static double[] wgs84_To_Gcj02(double lon, double lat) {
+ if (outOfChina(lat, lon)) {
+ return null;
+ }
+ double dLat = transformLat(lon - 105.0, lat - 35.0);
+ double dLon = transformLon(lon - 105.0, lat - 35.0);
+ double radLat = lat / 180.0 * pi;
+ double magic = Math.sin(radLat);
+ magic = 1 - ee * magic * magic;
+ double sqrtMagic = Math.sqrt(magic);
+ dLat = (dLat * 180.0) / ((a * (1 - ee)) / (magic * sqrtMagic) * pi);
+ dLon = (dLon * 180.0) / (a / sqrtMagic * Math.cos(radLat) * pi);
+ double mgLat = lat + dLat;
+ double mgLon = lon + dLon;
+ return new double[] { mgLon, mgLat };
+ }
+
+ /**
+ * @Description 火星坐标系 (GCJ-02) to WGS84
+ * @param lon
+ * @param lat
+ * @return
+ */
+ public static double[] gcj02_To_Wgs84(double lon, double lat) {
+ double[] gps = transform(lat, lon);
+ double lontitude = lon * 2 - gps[1];
+ double latitude = lat * 2 - gps[0];
+ return new double[] { lontitude, latitude };
+ }
+
+ /**
+ * @Description 火星坐标系 (GCJ-02) to 百度坐标系 (BD-09)
+ * @param gg_lon
+ * @param gg_lat
+ * @return
+ */
+ public static double[] gcj02_To_Bd09(double gg_lon, double gg_lat) {
+ double x = gg_lon, y = gg_lat;
+ double z = Math.sqrt(x * x + y * y) + 0.00002 * Math.sin(y * pi);
+ double theta = Math.atan2(y, x) + 0.000003 * Math.cos(x * pi);
+ double bd_lon = z * Math.cos(theta) + 0.0065;
+ double bd_lat = z * Math.sin(theta) + 0.006;
+ return new double[] { bd_lon, bd_lat };
+ }
+
+ /**
+ * @Description 百度坐标系 (BD-09) to 火星坐标系 (GCJ-02)
+ * @param bd_lon
+ * @param bd_lat
+ * @return
+ */
+ public static double[] bd09_To_Gcj02(double bd_lon, double bd_lat) {
+ double x = bd_lon - 0.0065, y = bd_lat - 0.006;
+ double z = Math.sqrt(x * x + y * y) - 0.00002 * Math.sin(y * pi);
+ double theta = Math.atan2(y, x) - 0.000003 * Math.cos(x * pi);
+ double gg_lon = z * Math.cos(theta);
+ double gg_lat = z * Math.sin(theta);
+ return new double[] { gg_lon, gg_lat };
+ }
+ /**
+ * @Description 百度坐标系 (BD-09) to WGS84
+ * @param bd_lat
+ * @param bd_lon
+ * @return
+ */
+ public static double[] bd09_To_Wgs84(double bd_lon,double bd_lat) {
+
+ double[] gcj02 = LonlatConver.bd09_To_Gcj02(bd_lon, bd_lat);
+ double[] map84 = LonlatConver.gcj02_To_Wgs84(gcj02[0], gcj02[1]);
+ return map84;
+
+ }
+
+ /**
+ * @Description 判断是否在中国范围内
+ * @param lat
+ * @param lon
+ * @return
+ */
+ public static boolean outOfChina(double lat, double lon) {
+ if (lon < 72.004 || lon > 137.8347)
+ return true;
+ if (lat < 0.8293 || lat > 55.8271)
+ return true;
+ return false;
+ }
+
+ /**
+ * @Description transform
+ * @param lat
+ * @param lon
+ * @return
+ */
+ private static double[] transform(double lat, double lon) {
+ if (outOfChina(lat, lon)) {
+ return new double[] { lat, lon };
+ }
+ double dLat = transformLat(lon - 105.0, lat - 35.0);
+ double dLon = transformLon(lon - 105.0, lat - 35.0);
+ double radLat = lat / 180.0 * pi;
+ double magic = Math.sin(radLat);
+ magic = 1 - ee * magic * magic;
+ double sqrtMagic = Math.sqrt(magic);
+ dLat = (dLat * 180.0) / ((a * (1 - ee)) / (magic * sqrtMagic) * pi);
+ dLon = (dLon * 180.0) / (a / sqrtMagic * Math.cos(radLat) * pi);
+ double mgLat = lat + dLat;
+ double mgLon = lon + dLon;
+ return new double[] { mgLat, mgLon };
+ }
+
+ /**
+ * @Description transformLat
+ * @param x
+ * @param y
+ * @return
+ */
+ private static double transformLat(double x, double y) {
+ double ret = -100.0 + 2.0 * x + 3.0 * y + 0.2 * y * y + 0.1 * x * y
+ + 0.2 * Math.sqrt(Math.abs(x));
+ ret += (20.0 * Math.sin(6.0 * x * pi) + 20.0 * Math.sin(2.0 * x * pi)) * 2.0 / 3.0;
+ ret += (20.0 * Math.sin(y * pi) + 40.0 * Math.sin(y / 3.0 * pi)) * 2.0 / 3.0;
+ ret += (160.0 * Math.sin(y / 12.0 * pi) + 320 * Math.sin(y * pi / 30.0)) * 2.0 / 3.0;
+ return ret;
+ }
+
+ /**
+ * @Description transformLon
+ * @param x
+ * @param y
+ * @return
+ */
+ public static double transformLon(double x, double y) {
+ double ret = 300.0 + x + 2.0 * y + 0.1 * x * x + 0.1 * x * y + 0.1
+ * Math.sqrt(Math.abs(x));
+ ret += (20.0 * Math.sin(6.0 * x * pi) + 20.0 * Math.sin(2.0 * x * pi)) * 2.0 / 3.0;
+ ret += (20.0 * Math.sin(x * pi) + 40.0 * Math.sin(x / 3.0 * pi)) * 2.0 / 3.0;
+ ret += (150.0 * Math.sin(x / 12.0 * pi) + 300.0 * Math.sin(x / 30.0
+ * pi)) * 2.0 / 3.0;
+ return ret;
+ }
+
+ /**
+ * GPS经纬度转换为 度（3114.1717,12122.1067 → 121.37300779，31.23436014）
+ * @param dms 坐标
+ * @param type 坐标类型 E/N
+ * @return String 解析后的经纬度
+ */
+ public static String gpsToWgs84(String dms, String type) {
+ if (dms == null || dms.equals("")) {
+ return "0.0";
+ }
+ double result = 0.0D;
+ String temp = "";
+
+ if (type.equals("E")) {//经度
+ String e1 = dms.substring(0, 3);//截取3位数字，经度共3位，最多180度
+ //经度是一伦敦为点作南北两极的线为0度,所有往西和往东各180度
+ String e2 = dms.substring(3, dms.length());//需要运算的小数
+
+ result = Double.parseDouble(e1);
+ /* System.out.println("e2===="+e2);
+ System.out.println("===="+Double.parseDouble(e2) / 60.0D);*/
+ result += (Double.parseDouble(e2) / 60.0D);
+ temp = String.valueOf(result);
+ if (temp.length() > 11) {
+ temp = e1 + temp.substring(temp.indexOf("."), 11);
+ }
+ } else if (type.equals("N")) { //纬度，纬度是以赤道为基准,相当于把地球分两半,两个半球面上的点和平面夹角0~90度
+ String n1 = dms.substring(0, 2);//截取2位，纬度共2位，最多90度
+ String n2 = dms.substring(2, dms.length());
+
+ result = Double.parseDouble(n1);
+ /* System.out.println("n2===="+n2);
+ System.out.println("===="+Double.parseDouble(n2) / 60.0D);*/
+ result += Double.parseDouble(n2) / 60.0D;
+ temp = String.valueOf(result);
+ if (temp.length() > 10) {
+ temp = n1 + temp.substring(temp.indexOf("."), 10);
+ }
+ }
+ return temp;
+ }
+
+ /**
+ *
+ * @title 计算点与点的距离
+ * @param pointA
+ * @param pointB
+ * @description 注意pointA,pointB中的经纬度坐标都是火星坐标
+ * @return
+ * @author huaqunzi
+ */
+ /*public static double distanceToPoint(PointEntity pointA,PointEntity pointB){
+ //jts提供的几何要素工厂类
+ GeometryFactory geometryFactory = new GeometryFactory();
+
+ //火星坐标(gcj02)转GPS坐标(WGS84)
+ double[] wgsPntA = CoordinateUtil.gcj02_To_Wgs84(pointA.x,pointA.y);
+ double[] wgsPntB = CoordinateUtil.gcj02_To_Wgs84(pointB.x,pointB.y);
+
+ //WGS84->高斯6度分带投影
+ double[] gaussPntA = wgs84_To_Gauss6(wgsPntA[0], wgsPntA[1]);
+ double[] gaussPntB = wgs84_To_Gauss6(wgsPntB[0], wgsPntB[1]);
+
+ //通过几何要素工厂得到point实体
+ Point pntA = geometryFactory.createPoint(new Coordinate(gaussPntA[0], gaussPntA[1]));
+ Point pntB = geometryFactory.createPoint(new Coordinate(gaussPntB[0], gaussPntB[1]));
+
+ // 两点距离
+ return pntA.distance(pntB);
+ }*/
+
+
+
+ /**
+ * @Description WGS84 to 高斯投影(6度分带)
+ * @param longitude 经度
+ * @param latitude 纬度
+ * @return double[] x y
+ */
+ public static double[] wgs84_To_Gauss6(double longitude, double latitude) {
+ int ProjNo = 0;
+ int ZoneWide; // //带宽
+ double[] output = new double[2];
+ double longitude1, latitude1, longitude0, X0, Y0, xval, yval;
+ double a, f, e2, ee, NN, T, C, A, M, iPI;
+ iPI = 0.0174532925199433; // //3.1415926535898/180.0;
+ ZoneWide = 6; //6度带宽
+ a = 6378137.0;
+ f = 1.0 / 298.257223563; //WGS84坐标系参数
+ //a = 6378245.0;f = 1.0 / 298.3; // 54年北京坐标系参数
+ // //a=6378140.0; f=1/298.257; //80年西安坐标系参数
+ ProjNo = (int) (longitude / ZoneWide);
+ longitude0 = (double)(ProjNo * ZoneWide + ZoneWide / 2);
+ longitude0 = longitude0 * iPI;
+ longitude1 = longitude * iPI; // 经度转换为弧度
+ latitude1 = latitude * iPI; // 纬度转换为弧度
+ e2 = 2 * f - f * f;
+ ee = e2 / (1.0 - e2);
+ NN = a
+ / Math.sqrt(1.0 - e2 * Math.sin(latitude1)
+ * Math.sin(latitude1));
+ T = Math.tan(latitude1) * Math.tan(latitude1);
+ C = ee * Math.cos(latitude1) * Math.cos(latitude1);
+ A = (longitude1 - longitude0) * Math.cos(latitude1);
+ M = a
+ * ((1 - e2 / 4 - 3 * e2 * e2 / 64 - 5 * e2 * e2 * e2 / 256)
+ * latitude1
+ - (3 * e2 / 8 + 3 * e2 * e2 / 32 + 45 * e2 * e2 * e2
+ / 1024) * Math.sin(2 * latitude1)
+ + (15 * e2 * e2 / 256 + 45 * e2 * e2 * e2 / 1024)
+ * Math.sin(4 * latitude1) - (35 * e2 * e2 * e2 / 3072)
+ * Math.sin(6 * latitude1));
+ // 因为是以赤道为Y轴的，与我们南北为Y轴是相反的，所以xy与高斯投影的标准xy正好相反;
+ xval = NN
+ * (A + (1 - T + C) * A * A * A / 6 + (5 - 18 * T + T * T + 14
+ * C - 58 * ee)
+ * A * A * A * A * A / 120);
+ yval = M
+ + NN
+ * Math.tan(latitude1)
+ * (A * A / 2 + (5 - T + 9 * C + 4 * C * C) * A * A * A * A / 24 + (61
+ - 58 * T + T * T + 270 * C - 330 * ee)
+ * A * A * A * A * A * A / 720);
+ X0 = 1000000L * (ProjNo + 1) + 500000L;
+ Y0 = 0;
+ xval = xval + X0;
+ yval = yval + Y0;
+ output[0] = xval;
+ output[1] = yval;
+ return output;
+ }
+
+}
diff --git a/src/main/java/com/ard/utils/tcp/NettyTcpClient.java b/src/main/java/com/ard/utils/tcp/NettyTcpClient.java
index 2d6c324..2eab8e2 100644
--- a/src/main/java/com/ard/utils/tcp/NettyTcpClient.java
+++ b/src/main/java/com/ard/utils/tcp/NettyTcpClient.java
@@ -1,5 +1,6 @@
package com.ard.utils.tcp;
+import com.ard.alarm.radar.domain.ArdEquipRadar;
import io.netty.bootstrap.Bootstrap;
import io.netty.channel.ChannelFuture;
import io.netty.channel.ChannelFutureListener;
@@ -11,6 +12,8 @@
import org.springframework.scheduling.annotation.Async;
import org.springframework.scheduling.annotation.EnableAsync;
import org.springframework.stereotype.Component;
+
+import java.util.concurrent.TimeUnit;
/**
* @Description:
@@ -24,33 +27,43 @@
@Slf4j(topic = "radar")
public class NettyTcpClient {
@Async
- public void init(String host, Integer port) {
- NioEventLoopGroup group = new NioEventLoopGroup();
- try {
- Bootstrap bootstrap = new Bootstrap();
- bootstrap.group(group)
- .channel(NioSocketChannel.class)
- .handler(new ChannelInitializer<SocketChannel>() {
- @Override
- protected void initChannel(SocketChannel ch) throws Exception {
- ch.pipeline().addLast(new NettyTcpClientHandler());
- }
- });
- ChannelFuture future = bootstrap.connect(host, port).sync();
- // 添加连接成功的监听器
- future.addListener((ChannelFutureListener) future1 -> {
- if (future1.isSuccess()) {
- log.info("tcp连接成功"+host+":"+port);
- } else {
- log.info("tcp连接失败"+host+":"+port);
- }
- });
- future.channel().closeFuture().sync();
+ public void init(ArdEquipRadar ardEquipRadar) {
- } catch (Exception ex) {
- log.error("nettyTcp客户端初始化异常:" + ex.getMessage());
- } finally {
- group.shutdownGracefully();
+ while (true) {
+ NioEventLoopGroup group = new NioEventLoopGroup();
+ try {
+ Bootstrap bootstrap = new Bootstrap();
+ bootstrap.group(group)
+ .channel(NioSocketChannel.class)
+ .handler(new ChannelInitializer<SocketChannel>() {
+ @Override
+ protected void initChannel(SocketChannel ch) throws Exception {
+ ch.pipeline().addLast(new NettyTcpClientHandler(ardEquipRadar));
+ }
+ });
+ String host = ardEquipRadar.getIp();
+ Integer port = ardEquipRadar.getPort();
+ ChannelFuture future = bootstrap.connect(host, port).sync();
+ // 添加连接成功的监听器
+ future.addListener((ChannelFutureListener) future1 -> {
+ if (future1.isSuccess()) {
+ log.info("tcp连接成功" + host + ":" + port);
+ } else {
+ log.info("tcp连接失败" + host + ":" + port);
+ }
+ });
+ future.channel().closeFuture().sync();
+
+ } catch (Exception e) {
+ log.error("nettyTcp客户端初始化异常:" + e.getMessage());
+ try {
+ TimeUnit.SECONDS.sleep(5); // 等待5秒后重新连接
+ } catch (InterruptedException ex) {
+ Thread.currentThread().interrupt();
+ }
+ } finally {
+ group.shutdownGracefully();
+ }
}
}
}
diff --git a/src/main/java/com/ard/utils/tcp/NettyTcpClientHandler.java b/src/main/java/com/ard/utils/tcp/NettyTcpClientHandler.java
index 626aff8..5a0c7fa 100644
--- a/src/main/java/com/ard/utils/tcp/NettyTcpClientHandler.java
+++ b/src/main/java/com/ard/utils/tcp/NettyTcpClientHandler.java
@@ -1,17 +1,30 @@
package com.ard.utils.tcp;
+import com.alibaba.fastjson2.JSON;
+import com.ard.alarm.radar.domain.ArdEquipRadar;
+import com.ard.alarm.radar.domain.RadarAlarmInfo;
+import com.ard.hiksdk.domain.alarmEventInfo;
+import com.ard.utils.LonlatConver;
import com.ard.utils.SpringTool;
+import com.ard.utils.mqtt.MqttConsumer;
import io.netty.buffer.ByteBuf;
import io.netty.channel.ChannelHandlerContext;
import io.netty.channel.SimpleChannelInboundHandler;
import lombok.extern.slf4j.Slf4j;
+import org.gavaghan.geodesy.Ellipsoid;
+import org.gavaghan.geodesy.GeodeticCalculator;
+import org.gavaghan.geodesy.GlobalCoordinates;
import sun.nio.cs.ext.GBK;
import javax.xml.bind.DatatypeConverter;
+import java.io.UnsupportedEncodingException;
+import java.nio.ByteBuffer;
import java.nio.charset.Charset;
import java.nio.charset.StandardCharsets;
import java.text.SimpleDateFormat;
import java.util.*;
+import java.util.concurrent.ScheduledFuture;
+import java.util.concurrent.TimeUnit;
/**
* @Description: tcp客户端处理
@@ -23,6 +36,23 @@
@Slf4j(topic = "radar")
public class NettyTcpClientHandler extends SimpleChannelInboundHandler<ByteBuf> {
+ private String host;
+ private Integer port;
+ private Double longitude;
+ private Double lagitude;
+ private String name;
+
+ public NettyTcpClientHandler(ArdEquipRadar ardEquipRadar) {
+ this.host = ardEquipRadar.getIp();
+ this.port = ardEquipRadar.getPort();
+ this.longitude = ardEquipRadar.getLongitude();
+ this.lagitude = ardEquipRadar.getLatitude();
+ this.name=ardEquipRadar.getName();
+ }
+
+ private ChannelHandlerContext context;
+ private ScheduledFuture<?> heartbeatTask;
+
@Override
protected void channelRead0(ChannelHandlerContext ctx, ByteBuf msg) {
// 处理接收到的消息
@@ -30,155 +60,198 @@
msg.getBytes(msg.readerIndex(), byteArray);
byte[] bytes = receiveCompletePacket(byteArray);
if (bytes != null) {
- String hexString = DatatypeConverter.printHexBinary(bytes);
- log.info(hexString);
+ // String hexString = DatatypeConverter.printHexBinary(bytes);
+ // log.info(hexString);
processData(bytes);
}
}
@Override
public void channelActive(ChannelHandlerContext ctx) {
- // 当客户端连接成功后，发送消息给服务器
- TimerTask timerTask = new TimerTask() {
- @Override
- public void run() {
- ByteBuf message = ctx.alloc().buffer();
- byte[] heart = {0x01, 0x02, 0x01, 0x10, 0x00, 0x00, 0x00, (byte) 0x83, (byte) 0x88, 0x5d, 0x71, 0x01, 0x02, 0x00};
- String hexString = DatatypeConverter.printHexBinary(heart);
- log.info("发送心跳:" + hexString);
- message.writeBytes(heart);
- ctx.writeAndFlush(message);
- }
- };
- Timer timer = new Timer();
- // timer.schedule(timerTask, 0, 6000);
+ context = ctx;
+ startHeartbeatTask();//开始发送心跳
+ }
+
+ /**
+ * 开始心跳任务
+ */
+ private void startHeartbeatTask() {
+ heartbeatTask = context.executor().scheduleAtFixedRate(() -> {
+ // 发送心跳消息
+ ByteBuf message = context.alloc().buffer();
+ byte[] heart = {0x01, 0x02, 0x01, 0x10, 0x00, 0x00, 0x00, (byte) 0x83, (byte) 0x88, 0x5d, 0x71, 0x01, 0x02, 0x00};
+ String hexString = DatatypeConverter.printHexBinary(heart);
+ log.info("发送心跳:" + hexString);
+ message.writeBytes(heart);
+ context.writeAndFlush(message);
+
+ }, 0, 5, TimeUnit.SECONDS);
+ }
+
+ /**
+ * 停止心跳任务
+ */
+ private void stopHeartbeatTask() {
+ if (heartbeatTask != null) {
+ heartbeatTask.cancel(false);
+ heartbeatTask = null;
+ }
}
@Override
public void exceptionCaught(ChannelHandlerContext ctx, Throwable cause) {
- log.error("连接异常");
+ log.info("tcp客户端连接异常");
// 发生异常时的处理
cause.printStackTrace();
ctx.close();
+ stopHeartbeatTask();//停止心跳发送
}
- public static void processData(byte[] data) {
+ /**
+ * 解析报警数据
+ */
+ public void processData(byte[] data) {
try {
- data = transferData(data);//去掉包头和包尾及转义
- String s = DatatypeConverter.printHexBinary(data);
- log.info(s);
- byte[] type = Arrays.copyOfRange(data, index.type[0], index.type[1]);//命令类型
+ data = transferData(data);//去掉包头和包尾、校验及转义
+
+ byte[] type = Arrays.copyOfRange(data, 0, 1);//命令类型
log.info("命令类型:" + DatatypeConverter.printHexBinary(type));
- byte[] cmdId = Arrays.copyOfRange(data, index.funcc[0], index.funcc[1]);//命令ID
+ byte[] cmdId = Arrays.copyOfRange(data, 1, 2);//命令ID
log.info("命令ID:" + DatatypeConverter.printHexBinary(cmdId));
- byte[] payloadSize = Arrays.copyOfRange(data, index.payloadSize[0], index.payloadSize[1]);//有效负载大小
- // log.info("有效负载大小:" + DatatypeConverter.printHexBinary(payloadSize));
+ byte[] payloadSize = Arrays.copyOfRange(data, 2, 4);//有效负载大小
payloadSize = toLittleEndian(payloadSize);
- // log.info("有效负载大小(转小端):" + DatatypeConverter.printHexBinary(payloadSize));
int payloadSizeToDecimal = byteArrayToDecimal(payloadSize);
log.info("有效负载大小(转整型):" + payloadSizeToDecimal);
if (Arrays.equals(cmdId, new byte[]{0x01})) {
- byte[] dwTim = Arrays.copyOfRange(data, index.dwTim[0], index.dwTim[1]);
- // log.info("周视图像的出现时间:" + DatatypeConverter.printHexBinary(dwTim));
+ byte[] dwTim = Arrays.copyOfRange(data, 4, 8);
dwTim = toLittleEndian(dwTim);
- // log.info("周视图像的出现时间(转小端):" + DatatypeConverter.printHexBinary(dwTim));
- // log.info("周视图像的出现时间(转整型):" + byteArrayToDecimal(dwTim));
SimpleDateFormat sdf = new SimpleDateFormat("yyyy-MM-dd HH:mm:ss");
long l = byteArrayToDecimal(dwTim);
- String format = sdf.format(l * 1000);
- log.info("周视图像的出现时间(转date):" + format);
+ String alarmTime = sdf.format(l * 1000);
+ log.info("周视图像的出现时间(转date):" + alarmTime);
- byte[] wTargetNum = Arrays.copyOfRange(data, index.wTargetNum[0], index.wTargetNum[1]);
+ byte[] wTargetNum = Arrays.copyOfRange(data, 8, 10);
wTargetNum = toLittleEndian(wTargetNum);
- // log.info("目标总点数(转小端):" + DatatypeConverter.printHexBinary(wTargetNum));
int targetNum = byteArrayToDecimal(wTargetNum);
log.info("目标总点数(转整型):" + targetNum);
//解析NET_TARGET_UNIT(64是NET_TARGET_HEAD的字节数)
- int unitIndex = index.acRes[1];
- log.info("有效负载无头起始位:" + unitIndex);
-
-// byte datum = data[unitIndex];
-// log.info("无头起始字节：" + SpringTool.byteToHex(datum));
- int UNITNum = (payloadSizeToDecimal - 64) / targetNum;
- log.info("单个Unit大小:" + UNITNum);
+ int uintSize = (payloadSizeToDecimal - 64) / targetNum;
+ log.info("单条报警大小:" + uintSize);
for (int i = 0; i < targetNum; i++) {
- Integer index = unitIndex + UNITNum * i;
+
+ Integer index = 68 + uintSize * i;
byte[] dwID = Arrays.copyOfRange(data, index, index + 4);
dwID = toLittleEndian(dwID);
- // log.info("dwID：" + DatatypeConverter.printHexBinary(dwID));
int id = byteArrayToDecimal(dwID);
- log.info("目标ID号：" + id);
-
- byte[] dwGSum = Arrays.copyOfRange(data, index + 4, index + 8);
- dwGSum = toLittleEndian(dwGSum);
- int GSum = byteArrayToDecimal(dwGSum);
- log.info("目标当前像素灰度和：" + GSum);
+ // log.info("目标ID号：" + id);
byte[] iDistance = Arrays.copyOfRange(data, index + 8, index + 12);
iDistance = toLittleEndian(iDistance);
int Distance = byteArrayToDecimal(iDistance);
- log.info("目标当前距离(m):" + Distance);
-
- byte[] iTw = Arrays.copyOfRange(data, index + 12, index + 16);
- iTw = toLittleEndian(iTw);
- int Tw = byteArrayToDecimal(iTw);
- log.info("目标当前的像素宽度:" + Tw);
-
- byte[] iTh = Arrays.copyOfRange(data, index + 16, index + 20);
- iTh = toLittleEndian(iTh);
- int Th = byteArrayToDecimal(iTh);
- log.info("目标当前的像素高度:" + Th);
-
- byte[] wPxlArea = Arrays.copyOfRange(data, index + 20, index + 22);
- wPxlArea = toLittleEndian(wPxlArea);
- int PxlArea = byteArrayToDecimal(wPxlArea);
- log.info("目标当前像素面积:" + PxlArea);
-
- byte[] cTrkNum = Arrays.copyOfRange(data, index + 22, index + 23);
- cTrkNum = toLittleEndian(cTrkNum);
- int TrkNum = byteArrayToDecimal(cTrkNum);
- log.info("轨迹点数:" + TrkNum);
-
- byte[] cStat = Arrays.copyOfRange(data, index + 23, index + 24);
- cStat = toLittleEndian(cStat);
- int Stat = byteArrayToDecimal(cStat);
- log.info("目标当前状态:" + Stat);
-
- byte[] sVx = Arrays.copyOfRange(data, index + 24, index + 26);
- sVx = toLittleEndian(sVx);
- int Vx = byteArrayToDecimal(sVx);
- log.info("目标当前速度矢量(像素距离)X:" + Vx);
-
- byte[] sVy = Arrays.copyOfRange(data, index + 26, index + 28);
- sVy = toLittleEndian(sVy);
- int Vy = byteArrayToDecimal(sVy);
- log.info("目标当前速度矢量(像素距离)Y:" + Vy);
-
- byte[] sAreaNo = Arrays.copyOfRange(data, index + 28, index + 30);
- sAreaNo = toLittleEndian(sAreaNo);
- int AreaNo = byteArrayToDecimal(sAreaNo);
- log.info("目标归属的告警区域号:" + AreaNo);
-
- byte[] cGrp = Arrays.copyOfRange(data, index + 30, index + 31);
- cGrp = toLittleEndian(cGrp);
- int Grp = byteArrayToDecimal(cGrp);
- log.info("所属组:" + Grp);
-
+ // log.info("目标当前距离(m):" + Distance);
+ //region 不需要的字段
+// byte[] dwGSum = Arrays.copyOfRange(data, index + 4, index + 8);
+// dwGSum = toLittleEndian(dwGSum);
+// int GSum = byteArrayToDecimal(dwGSum);
+// log.info("目标当前像素灰度和：" + GSum);
+// byte[] iTw = Arrays.copyOfRange(data, index + 12, index + 16);
+// iTw = toLittleEndian(iTw);
+// int Tw = byteArrayToDecimal(iTw);
+// log.info("目标当前的像素宽度:" + Tw);
+//
+// byte[] iTh = Arrays.copyOfRange(data, index + 16, index + 20);
+// iTh = toLittleEndian(iTh);
+// int Th = byteArrayToDecimal(iTh);
+// log.info("目标当前的像素高度:" + Th);
+//
+// byte[] wPxlArea = Arrays.copyOfRange(data, index + 20, index + 22);
+// wPxlArea = toLittleEndian(wPxlArea);
+// int PxlArea = byteArrayToDecimal(wPxlArea);
+// log.info("目标当前像素面积:" + PxlArea);
+//
+// byte[] cTrkNum = Arrays.copyOfRange(data, index + 22, index + 23);
+// cTrkNum = toLittleEndian(cTrkNum);
+// int TrkNum = byteArrayToDecimal(cTrkNum);
+// log.info("轨迹点数:" + TrkNum);
+//
+// byte[] cStat = Arrays.copyOfRange(data, index + 23, index + 24);
+// cStat = toLittleEndian(cStat);
+// int Stat = byteArrayToDecimal(cStat);
+// log.info("目标当前状态:" + Stat);
+//
+// byte[] sVx = Arrays.copyOfRange(data, index + 24, index + 26);
+// sVx = toLittleEndian(sVx);
+// int Vx = byteArrayToDecimal(sVx);
+// log.info("目标当前速度矢量(像素距离)X:" + Vx);
+//
+// byte[] sVy = Arrays.copyOfRange(data, index + 26, index + 28);
+// sVy = toLittleEndian(sVy);
+// int Vy = byteArrayToDecimal(sVy);
+// log.info("目标当前速度矢量(像素距离)Y:" + Vy);
+//
+// byte[] sAreaNo = Arrays.copyOfRange(data, index + 28, index + 30);
+// sAreaNo = toLittleEndian(sAreaNo);
+// int AreaNo = byteArrayToDecimal(sAreaNo);
+// log.info("目标归属的告警区域号:" + AreaNo);
+//
+// byte[] cGrp = Arrays.copyOfRange(data, index + 30, index + 31);
+// cGrp = toLittleEndian(cGrp);
+// int Grp = byteArrayToDecimal(cGrp);
+// log.info("所属组:" + Grp);
+ //endregion
byte[] szName = Arrays.copyOfRange(data, index + 64, index + 96);
- String str = new String(szName, "GBK");
- log.info("所属告警区域名称:" + str);
+ int position = findIndexOfDoubleZero(szName);
+ String alarmPointName = "";
+ if (position != -1) {
+ byte[] result = new byte[position];
+ System.arraycopy(szName, 0, result, 0, position);
+ alarmPointName = new String(result, "GBK");
+ } else {
+ alarmPointName = new String(szName, "GBK");
+ }
+ // log.info("所属告警区域名称:" + alarmPointName);
+ byte[] afTx = Arrays.copyOfRange(data, index + 96, index + 100);
+ afTx = toLittleEndian(afTx);
+ float fTx = bytesToFloat(afTx);
+ // log.info("水平角度:" + fTx);
+ byte[] afTy = Arrays.copyOfRange(data, index + 112, index + 116);
+ afTy = toLittleEndian(afTy);
+ float fTy = bytesToFloat(afTy);
+ // log.info("垂直角度:" + fTy);
+ log.info("雷达信息：" + host + "【port】" + port + "【X】" + longitude + "【Y】" + lagitude);
+ Double[] radarXY = {longitude, lagitude};
+ Double[] alarmXY = CalculateCoordinates(radarXY, Distance, (double) fTx);
+ log.info("报警信息：" + "【id】" + id + "【name】" + alarmPointName + "【alarmTime】" + alarmTime + "【distance】" + Distance + "【P】" + fTx + "【T】" + fTy + "【X】" + alarmXY[0] + "【Y】" + alarmXY[1]);
+ RadarAlarmInfo alarmInfo=new RadarAlarmInfo();
+ alarmInfo.setId(id);
+ alarmInfo.setAlarmTime(alarmTime);
+ alarmInfo.setName(alarmPointName+"("+name+")");
+ alarmInfo.setLongitude(alarmXY[0]);
+ alarmInfo.setLagitude(alarmXY[1]);
+ MqttConsumer.publish(2, false, "radar", JSON.toJSONString(alarmInfo));
}
}
} catch (Exception ex) {
log.error(ex.getMessage());
}
}
+ /**
+ * byte数组转float
+ */
+ private float bytesToFloat(byte[] bytes) {
+ ByteBuffer buffer = ByteBuffer.wrap(bytes);
+ return buffer.getFloat();
+ }
- public static int byteArrayToDecimal(byte[] byteArray) {
+
+ /**
+ * byte数组转整型
+ */
+ public int byteArrayToDecimal(byte[] byteArray) {
int decimalValue = 0;
for (int i = 0; i < byteArray.length; i++) {
@@ -188,7 +261,10 @@
return decimalValue;
}
- public static byte[] toLittleEndian(byte[] bigEndianBytes) {
+ /**
+ * 大端转小端
+ */
+ public byte[] toLittleEndian(byte[] bigEndianBytes) {
byte[] littleEndianBytes = new byte[bigEndianBytes.length];
for (int i = 0; i < bigEndianBytes.length; i++) {
@@ -200,84 +276,12 @@
}
- public static Integer processPayloadSize(String payloadSize) {//解析有效负载大小
- Integer payloadSizeInfo = 0;
- String[] payloadSizeArr = payloadSize.split("");
- for (int i = 0; i <= payloadSizeArr.length - 1; i++) {
- Integer num = null;
- switch (payloadSizeArr[i]) {
- case "0":
- num = 0;
- break;
- case "1":
- num = 1;
- break;
- case "2":
- num = 2;
- break;
- case "3":
- num = 3;
- break;
- case "4":
- num = 4;
- break;
- case "5":
- num = 5;
- break;
- case "6":
- num = 6;
- break;
- case "7":
- num = 7;
- break;
- case "8":
- num = 8;
- break;
- case "9":
- num = 9;
- break;
- case "a":
- num = 10;
- break;
- case "b":
- num = 11;
- break;
- case "c":
- num = 12;
- break;
- case "d":
- num = 13;
- break;
- case "e":
- num = 14;
- break;
- case "f":
- num = 15;
- break;
- default:
- break;
- }
- if (i % 2 == 0) {
- payloadSizeInfo = payloadSizeInfo + num * 16;
- } else {
- payloadSizeInfo = payloadSizeInfo + num * 256;
- }
- }
- return payloadSizeInfo;
- }
-
- public static Boolean checkPayloadSize(Integer payloadSizeInfo, String data) {//校验有效负载大小
- Integer payloadSize = (data.length() - 8 - 8) / 2;//去除包头8位和校验8位
- if (payloadSize.equals(payloadSizeInfo)) {
- return true;
- } else {
- return false;
- }
- }
-
// 创建缓冲区列表
List<Byte> buffer = new ArrayList<>();
+ /**
+ * 接收完整包
+ */
public byte[] receiveCompletePacket(byte[] receivedData) {
// 定义包尾字节序列
byte[] packetEnd = {0x01, 0x02, 0x00};
@@ -302,7 +306,10 @@
return null;
}
- public static int findPacketEndIndex(List<Byte> buffer, byte[] packetEnd) {
+ /**
+ * 获取包结束索引
+ */
+ public int findPacketEndIndex(List<Byte> buffer, byte[] packetEnd) {
for (int i = 0; i <= buffer.size() - packetEnd.length; i++) {
boolean isMatch = true;
for (int j = 0; j < packetEnd.length; j++) {
@@ -318,7 +325,10 @@
return -1;
}
- public static byte[] extractPacketFromBuffer(List<Byte> buffer, int endIndex) {
+ /**
+ * 从缓冲区提取数据包
+ */
+ public byte[] extractPacketFromBuffer(List<Byte> buffer, int endIndex) {
byte[] packet = new byte[endIndex];
for (int i = 0; i < endIndex; i++) {
packet[i] = buffer.get(i);
@@ -327,8 +337,10 @@
return packet;
}
- //去掉包头和包尾校验及转义
- public static byte[] transferData(byte[] data) {
+ /**
+ * 去掉包头和包尾校验及转义
+ */
+ public byte[] transferData(byte[] data) {
data = Arrays.copyOfRange(data, 3, data.length);
data = Arrays.copyOfRange(data, 0, data.length - 7);
String dataStr = DatatypeConverter.printHexBinary(data);
@@ -344,4 +356,32 @@
data = DatatypeConverter.parseHexBinary(dataStr);
return data;
}
+
+ /**
+ * 找到00的索引位置
+ */
+ private int findIndexOfDoubleZero(byte[] bytes) {
+ for (int i = 0; i < bytes.length - 1; i++) {
+ if (bytes[i] == 0x00) {
+ return i;
+ }
+ }
+ return -1;
+ }
+
+ /**
+ * 通过A点坐标，长度和Y轴角度计算B点坐标
+ */
+ public Double[] CalculateCoordinates(Double[] radarCoordinates, Integer distance, Double angle) {
+ double[] to_wgs84 = LonlatConver.gcj02_To_Wgs84(radarCoordinates[0], radarCoordinates[1]);
+ double Ax = to_wgs84[0]; // A 点的 X 坐标
+ double Ay = to_wgs84[1]; // A 点的 Y 坐标
+ double AB = distance; // AB 的长度
+ double angleWithYAxisDegrees = angle; // AB 与 Y 轴的角度（以度数表示）
+ GeodeticCalculator calculator = new GeodeticCalculator();
+ GlobalCoordinates globalCoordinates = new GlobalCoordinates(Ay, Ax);
+ GlobalCoordinates globalCoordinates1 = calculator.calculateEndingGlobalCoordinates(Ellipsoid.WGS84, globalCoordinates, angleWithYAxisDegrees, AB);
+ return new Double[]{globalCoordinates1.getLongitude(), globalCoordinates1.getLatitude()};
+ }
+
}
diff --git a/src/main/java/com/ard/utils/tcp/index.java b/src/main/java/com/ard/utils/tcp/index.java
deleted file mode 100644
index c4ae70c..0000000
--- a/src/main/java/com/ard/utils/tcp/index.java
+++ /dev/null
@@ -1,33 +0,0 @@
-package com.ard.utils.tcp;
-
-/**
- * @Description:
- * @ClassName: domain
- * @Author: 刘苏义
- * @Date: 2023年06月26日15:21
- * @Version: 1.0
- **/
-public class index {
- //header
- public static Integer[] type = {0,1};
- public static Integer[] funcc = {1,2};
- public static Integer[] payloadSize = {2,4};
- //NET_TARGET_HEAD
- public static Integer[] dwTim = {4,8};
- public static Integer[] wTargetNum = {8,10};
- public static Integer[] acRes = {10,68};
- //NET_TARGET_UNIT
-// public static Integer[] dwID = {68,72};
-// public static Integer[] dwGSum = {};
-// public static Integer[] iDistance = 2;
-// public static Integer[] cTrkNum = 1;
-// public static Integer[] cStat = 1;
-// public static Integer[] sVx = 2;
-// public static Integer[] sVy = 2;
-// public static Integer[] sAreaNo = 2;
-// public static Integer[] cGrp = 1;
-// public static Integer[] acRes1 = 33;
-// public static Integer[] szName = 32;
-// public static Integer[] afTx = 16;
-// public static Integer[] afTy = 16;
-}
diff --git a/src/main/resources/application.yml b/src/main/resources/application.yml
index 82d9d81..2e6ddc4 100644
--- a/src/main/resources/application.yml
+++ b/src/main/resources/application.yml
@@ -1,7 +1,12 @@
spring:
netty:
- port: 40000
- enabled: true
+ udp:
+ port: 40000
+ enabled: true
+ tcp:
+ host: 112.98.126.2
+ port: 1200
+ enabled: true
mqtt:
host: tcp://192.168.1.15:1883
clientId: c3
@@ -15,15 +20,15 @@
url: http://iot.zhdk.net:8090/Warning/GetWarning?userName=cy4oil
datasource:
driver-class-name: org.postgresql.Driver
-# url: jdbc:postgresql://111.40.46.199:15432/ry-vue?stringtype=unspecified
-# username: postgres
-# password: Yykj.2021
- url: jdbc:postgresql://192.168.1.15:5432/ry-vue?stringtype=unspecified
+ url: jdbc:postgresql://111.40.46.199:15432/ry-vue?stringtype=unspecified
username: postgres
- password: postgres
+ password: Yykj.2021
+# url: jdbc:postgresql://192.168.1.15:5432/ry-vue?stringtype=unspecified
+# username: postgres
+# password: postgres
mybatis:
- type-aliases-package: com.ard.alarm.camera.domain.ArdCameras
- mapper-locations: classpath:/mapper/*.xml
+ typeAliasesPackage: com.ard.alarm.**.domain
+ mapperLocations: classpath:/mapper/*.xml
# minio配置
minio:
endpoint: http://192.168.1.15:9001
diff --git a/src/main/resources/mapper/ArdEquipRadarMapper.xml b/src/main/resources/mapper/ArdEquipRadarMapper.xml
new file mode 100644
index 0000000..d675849
--- /dev/null
+++ b/src/main/resources/mapper/ArdEquipRadarMapper.xml
@@ -0,0 +1,180 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<!DOCTYPE mapper
+PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
+"http://mybatis.org/dtd/mybatis-3-mapper.dtd">
+<mapper namespace="com.ard.alarm.radar.mapper.ArdEquipRadarMapper">
+
+ <resultMap type="ArdEquipRadar" id="ArdEquipRadarResult">
+ <result property="id" column="id" />
+ <result property="name" column="name" />
+ <result property="port" column="port" />
+ <result property="operate" column="operate" />
+ <result property="delFlag" column="del_flag" />
+ <result property="userId" column="user_id" />
+ <result property="longitude" column="longitude" />
+ <result property="latitude" column="latitude" />
+ <result property="altitude" column="altitude" />
+ <result property="radarDate" column="radar_date" />
+ <result property="deptId" column="dept_id" />
+ <result property="pitch" column="pitch" />
+ <result property="towerId" column="tower_id" />
+ <result property="imageWidth" column="image_width" />
+ <result property="imageHeight" column="image_height" />
+ <result property="type" column="type" />
+ <result property="ip" column="ip" />
+ <result property="towerName" column="name" />
+ </resultMap>
+
+ <sql id="selectArdEquipRadarVo">
+ select c.id,
+ c.name,
+ c.create_by,
+ c.port,
+ c.operate,
+ c.create_time,
+ c.update_by,
+ c.update_time,
+ c.del_flag,
+ c.user_id,
+ c.longitude,
+ c.latitude,
+ c.altitude,
+ c.radar_date,
+ c.dept_id,
+ c.pitch,
+ c.tower_id,
+ c.image_width,
+ c.image_height,
+ c.type,
+ c.ip
+ from ard_equip_radar c
+ </sql>
+
+ <select id="selectArdEquipRadarList" parameterType="ArdEquipRadar" resultMap="ArdEquipRadarResult">
+ select c.id,c.name,
+ c.create_by,
+ c.port,
+ c.operate,
+ c.create_time,
+ c.update_by,
+ c.update_time,
+ c.del_flag,
+ c.user_id,
+ c.longitude,
+ c.latitude,
+ c.altitude,
+ c.radar_date,
+ c.dept_id,
+ c.pitch,
+ c.tower_id,
+ c.image_width,
+ c.image_height,
+ c.type,
+ c.ip,
+ t.name
+ from ard_equip_radar c
+ left join sys_dept d on d.dept_id = c.dept_id
+ left join sys_user u on u.user_id = c.user_id
+ left join ard_towers t on t.id = c.tower_id
+ <where>
+ <if test="towerId != null and towerId != ''"> and c.tower_id = #{towerId}</if>
+ <if test="userId != null and userId != ''">and c.user_id = #{userId}</if>
+ <if test="deptId != null ">and (c.dept_id = #{deptId} OR c.dept_id IN ( SELECT t.dept_id FROM sys_dept t
+ WHERE cast(#{deptId} as varchar) = any(string_to_array(ancestors,',')) ))
+ </if>
+ </where>
+ </select>
+
+ <select id="selectArdEquipRadarById" parameterType="String" resultMap="ArdEquipRadarResult">
+ <include refid="selectArdEquipRadarVo"/>
+ where id = #{id}
+ </select>
+
+ <insert id="insertArdEquipRadar" parameterType="ArdEquipRadar">
+ insert into ard_equip_radar
+ <trim prefix="(" suffix=")" suffixOverrides=",">
+ <if test="id != null">id,</if>
+ <if test="name != null">name,</if>
+ <if test="createBy != null">create_by,</if>
+ <if test="port != null">port,</if>
+ <if test="operate != null">operate,</if>
+ <if test="createTime != null">create_time,</if>
+ <if test="updateBy != null">update_by,</if>
+ <if test="updateTime != null">update_time,</if>
+ <if test="delFlag != null">del_flag,</if>
+ <if test="userId != null">user_id,</if>
+ <if test="longitude != null">longitude,</if>
+ <if test="latitude != null">latitude,</if>
+ <if test="altitude != null">altitude,</if>
+ <if test="radarDate != null">radar_date,</if>
+ <if test="deptId != null">dept_id,</if>
+ <if test="pitch != null">pitch,</if>
+ <if test="towerId != null">tower_id,</if>
+ <if test="imageWidth != null">image_width,</if>
+ <if test="imageHeight != null">image_height,</if>
+ <if test="type != null">type,</if>
+ <if test="ip != null">ip,</if>
+ </trim>
+ <trim prefix="values (" suffix=")" suffixOverrides=",">
+ <if test="id != null">#{id},</if>
+ <if test="name != null">#{name},</if>
+ <if test="createBy != null">#{createBy},</if>
+ <if test="port != null">#{port},</if>
+ <if test="operate != null">#{operate},</if>
+ <if test="createTime != null">#{createTime},</if>
+ <if test="updateBy != null">#{updateBy},</if>
+ <if test="updateTime != null">#{updateTime},</if>
+ <if test="delFlag != null">#{delFlag},</if>
+ <if test="userId != null">#{userId},</if>
+ <if test="longitude != null">#{longitude},</if>
+ <if test="latitude != null">#{latitude},</if>
+ <if test="altitude != null">#{altitude},</if>
+ <if test="radarDate != null">#{radarDate},</if>
+ <if test="deptId != null">#{deptId},</if>
+ <if test="pitch != null">#{pitch},</if>
+ <if test="towerId != null">#{towerId},</if>
+ <if test="imageWidth != null">#{imageWidth},</if>
+ <if test="imageHeight != null">#{imageHeight},</if>
+ <if test="type != null">#{type},</if>
+ <if test="ip != null">#{ip},</if>
+ </trim>
+ </insert>
+
+ <update id="updateArdEquipRadar" parameterType="ArdEquipRadar">
+ update ard_equip_radar
+ <trim prefix="SET" suffixOverrides=",">
+ <if test="name != null">name = #{name},</if>
+ <if test="createBy != null">create_by = #{createBy},</if>
+ <if test="port != null">port = #{port},</if>
+ <if test="operate != null">operate = #{operate},</if>
+ <if test="createTime != null">create_time = #{createTime},</if>
+ <if test="updateBy != null">update_by = #{updateBy},</if>
+ <if test="updateTime != null">update_time = #{updateTime},</if>
+ <if test="delFlag != null">del_flag = #{delFlag},</if>
+ <if test="userId != null">user_id = #{userId},</if>
+ <if test="longitude != null">longitude = #{longitude},</if>
+ <if test="latitude != null">latitude = #{latitude},</if>
+ <if test="altitude != null">altitude = #{altitude},</if>
+ <if test="radarDate != null">radar_date = #{radarDate},</if>
+ <if test="deptId != null">dept_id = #{deptId},</if>
+ <if test="pitch != null">pitch = #{pitch},</if>
+ <if test="towerId != null">tower_id = #{towerId},</if>
+ <if test="imageWidth != null">image_width = #{imageWidth},</if>
+ <if test="imageHeight != null">image_height = #{imageHeight},</if>
+ <if test="type != null">type = #{type},</if>
+ <if test="ip != null">ip = #{ip},</if>
+ </trim>
+ where id = #{id}
+ </update>
+
+ <delete id="deleteArdEquipRadarById" parameterType="String">
+ delete from ard_equip_radar where id = #{id}
+ </delete>
+
+ <delete id="deleteArdEquipRadarByIds" parameterType="String">
+ delete from ard_equip_radar where id in
+ <foreach item="id" collection="array" open="(" separator="," close=")">
+ #{id}
+ </foreach>
+ </delete>
+</mapper>
\ No newline at end of file
--
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