From 6474b923d8f6d8ea5e5b63277f18335136c7e33c Mon Sep 17 00:00:00 2001
From: ‘liusuyi’ <1951119284@qq.com>
Date: Mon, 04 Dec 2023 11:24:16 +0800
Subject: [PATCH] 增加动态客户端备用代码 优化雷达追踪引导 优化打印日志
---
src/main/java/com/ard/utils/tcp/ClientHandler.java | 25 +
src/main/java/com/ard/alarm/radar/domain/RadarAlarmData.java | 2
src/main/java/com/ard/utils/tcp/DynamicClient.java | 150 +++++++++++++
src/main/java/com/ard/utils/other/ByteUtils.java | 7
src/main/java/com/ard/utils/tcp/DynamicClientHandler.java | 437 +++++++++++++++++++++++++++++++++++++++
src/main/java/com/ard/utils/tcp/DynamicClientInitializer.java | 25 ++
src/main/java/com/ard/utils/tcp/ClientInitialize.java | 2
7 files changed, 635 insertions(+), 13 deletions(-)
diff --git a/src/main/java/com/ard/alarm/radar/domain/RadarAlarmData.java b/src/main/java/com/ard/alarm/radar/domain/RadarAlarmData.java
index e6269d5..8cf17ec 100644
--- a/src/main/java/com/ard/alarm/radar/domain/RadarAlarmData.java
+++ b/src/main/java/com/ard/alarm/radar/domain/RadarAlarmData.java
@@ -17,5 +17,5 @@
String radarName;
String alarmTime;
List<ArdAlarmRadar> ardAlarmRadars;
- ArdAlarmRadar ardFollowRadar;
+ List<ArdAlarmRadar> ardFollowRadars;
}
diff --git a/src/main/java/com/ard/utils/other/ByteUtils.java b/src/main/java/com/ard/utils/other/ByteUtils.java
index 0c11f68..fe2ab19 100644
--- a/src/main/java/com/ard/utils/other/ByteUtils.java
+++ b/src/main/java/com/ard/utils/other/ByteUtils.java
@@ -189,7 +189,12 @@
// System.out.print("校验:"+DatatypeConverter.printHexBinary(bytes));//打印crc32的校验值
return bytes;
}
-
+ /**
+ * byte转二进制字符串
+ */
+ public static String byteToBitString(byte b) {
+ return String.format("%8s", Integer.toBinaryString(b & 0xFF)).replace(' ', '0');
+ }
/**
* 去除包头包尾
* 刘苏义
diff --git a/src/main/java/com/ard/utils/tcp/ClientHandler.java b/src/main/java/com/ard/utils/tcp/ClientHandler.java
index 2f62a5f..a032d57 100644
--- a/src/main/java/com/ard/utils/tcp/ClientHandler.java
+++ b/src/main/java/com/ard/utils/tcp/ClientHandler.java
@@ -188,7 +188,8 @@
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, 1, 2);//命令ID
- // log.info("命令ID:" + DatatypeConverter.printHexBinary(cmdId));
+ String cmdIdStr=DatatypeConverter.printHexBinary(cmdId);
+ //log.info("命令ID:" + DatatypeConverter.printHexBinary(cmdId));
byte[] payloadSize = Arrays.copyOfRange(data, 2, 4);//有效负载大小
payloadSize = toLittleEndian(payloadSize);
//log.info("payloadSize:" + DatatypeConverter.printHexBinary(payloadSize));
@@ -196,11 +197,12 @@
// log.info("有效负载大小(转整型):" + payloadSizeToDecimal);
//endregion
List<ArdAlarmRadar> radarAlarmInfos = new ArrayList<>();
- ArdAlarmRadar radarFollowInfo = null;
+ List<ArdAlarmRadar> radarFollowInfos = new ArrayList<>();
//抽油机状态雷达推送集合
List<ArdAlarmRadar> well = new ArrayList<>();
String alarmTime = "";
Integer targetNum = 0;
+ log.debug("处理雷达"+radarName+"数据-->命令ID:"+cmdIdStr);
//雷达移动防火报警
if (Arrays.equals(cmdId, new byte[]{0x01})) {
//region 告警信息反馈
@@ -309,11 +311,15 @@
double thetaRadians = Math.toRadians(fTy + 90);
// 使用正弦函数计算对边长度
Distance = Math.sin(thetaRadians) * Distance;
+ if(Distance<0)
+ {
+ continue;//过滤距离小于0的脏数据
+ }
//log.debug("目标投影距离(m):" + Distance);
Double[] radarXY = {radarLongitude, radarLagitude};
Double[] alarmXY = GisUtils.CalculateCoordinates(radarXY, Distance, (double) fTx);
- log.debug("报警信息：" + "【radarId】" + radarId+ "【targetId】" + targetId + "【name】" + alarmPointName + "【alarmType】" + alarmType + "【alarmTime】" + alarmTime + "【distance】" + Distance + "【P】" + fTx + "【T】" + fTy + "【X】" + alarmXY[0] + "【Y】" + alarmXY[1]);
+ log.debug("报警信息：" + "【radarName】" + radarName + "【targetId】"+ targetId + "【alarmType】" + alarmType + "【alarmTime】" + alarmTime + "【name】" + alarmPointName+"【Distance】"+Distance);
ArdAlarmRadar ardAlarmRadar = new ArdAlarmRadar();
ardAlarmRadar.setTargetId(targetId);
ardAlarmRadar.setName(alarmPointName);
@@ -324,9 +330,7 @@
int bit1 = (cStat[0] >> 1) & 0x1;
//目标的B1=1 锁定
if (bit1 == 1) {
- radarFollowInfo = ardAlarmRadar;
- //将追踪锁定的报警对象属性复制给radarFollowInfo对象
- //BeanUtils.copyProperties(ardAlarmRadar, radarFollowInfo);
+ radarFollowInfos.add(ardAlarmRadar);
}
}
//endregion
@@ -342,9 +346,10 @@
radarAlarmData.setAlarmTime(alarmTime);
radarAlarmData.setArdAlarmRadars(radarAlarmInfos);
MqttProducer.publish(2, false, "radar", JSON.toJSONString(radarAlarmData));
- if (radarFollowInfo != null) {
+ if (radarFollowInfos.size() >0) {
+ radarAlarmData.setArdFollowRadars(radarFollowInfos);
//当前雷达扫描存在引导跟踪数据，只保留最后一次锁定的数据
- MqttProducer.publish(2, false, "radarFollowGuide", JSON.toJSONString(radarFollowInfo));
+ MqttProducer.publish(2, false, "radarFollowGuide", JSON.toJSONString(radarAlarmData));
}
//抽油机状态MQTT队列
radarAlarmData.setArdAlarmRadars(well);
@@ -428,7 +433,7 @@
//log.info("所属告警区域名称:" + DatatypeConverter.printHexBinary(szName));
String alarmPointName = ByteUtils.bytesToStringZh(szName);
// log.info("所属告警区域名称:" + alarmPointName);
- log.debug("报警信息："+ "【radarId】" + radarId + "【targetId】" + targetId + "【name】" + alarmPointName + "【alarmType】" + alarmType + "【alarmTime】" + alarmTime);
+ log.debug("报警信息："+ "【radarName】" + radarName + "【targetId】" + targetId + "【name】" + alarmPointName + "【alarmType】" + alarmType + "【alarmTime】" + alarmTime);
ArdAlarmRadar ardAlarmRadar = new ArdAlarmRadar();
ardAlarmRadar.setTargetId(targetId);
ardAlarmRadar.setName(alarmPointName);
@@ -441,7 +446,7 @@
//抽油机状态集合中装入数据
byte[] szName = Arrays.copyOfRange(data, index + 32, index + 64);
String alarmPointName = ByteUtils.bytesToStringZh(szName);
- log.debug("报警信息：" + "【radarId】" + radarId + "【targetId】" + targetId + "【name】" + alarmPointName + "【alarmType】抽油机状态报警【alarmState】" + wellType + "【alarmTime】" + alarmTime);
+ //log.debug("状态信息：" + "【radarName】" + radarName + "【targetId】" + targetId + "【alarmTime】" + alarmTime + "【name】" + alarmPointName + "【alarmState】" + wellType);
ArdAlarmRadar wellAlarm = new ArdAlarmRadar();
wellAlarm.setTargetId(targetId);
wellAlarm.setName(alarmPointName);
diff --git a/src/main/java/com/ard/utils/tcp/ClientInitialize.java b/src/main/java/com/ard/utils/tcp/ClientInitialize.java
index dfc0ca8..89a5cf7 100644
--- a/src/main/java/com/ard/utils/tcp/ClientInitialize.java
+++ b/src/main/java/com/ard/utils/tcp/ClientInitialize.java
@@ -135,7 +135,7 @@
for (ArdEquipRadar ardEquipRadar : ardEquipRadars) {
String host = ardEquipRadar.getIp();
Integer port = Integer.valueOf(ardEquipRadar.getPort());
- log.debug("TCP客户端尝试连接：" + host + ":" + port);
+ log.debug("TCP client try to connect radar【：" + host + ":" + port+"】");
connectServer(ardEquipRadar);//连接每一个雷达服务
}
}
diff --git a/src/main/java/com/ard/utils/tcp/DynamicClient.java b/src/main/java/com/ard/utils/tcp/DynamicClient.java
new file mode 100644
index 0000000..e22cb3f
--- /dev/null
+++ b/src/main/java/com/ard/utils/tcp/DynamicClient.java
@@ -0,0 +1,150 @@
+package com.ard.utils.tcp;
+
+import com.ard.alarm.radar.domain.ArdEquipRadar;
+import com.ard.alarm.radar.service.IArdEquipRadarService;
+import io.netty.bootstrap.Bootstrap;
+import io.netty.channel.*;
+import io.netty.channel.nio.NioEventLoopGroup;
+import io.netty.channel.socket.nio.NioSocketChannel;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.beans.factory.annotation.Value;
+import org.springframework.boot.ApplicationArguments;
+import org.springframework.stereotype.Component;
+import javax.annotation.Resource;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.concurrent.ConcurrentHashMap;
+import java.util.concurrent.TimeUnit;
+
+
+/**
+ * @Description: 雷达动态tcp客户端（备用）
+ * @ClassName: DynamicClient
+ * @Author: 刘苏义
+ * @Date: 2023年11月30日9:25:48
+ **/
+@Slf4j(topic = "netty")
+@Component
+public class DynamicClient {
+ @Resource
+ IArdEquipRadarService ardEquipRadarService;
+
+ @Value("${spring.netty.tcp.enabled}")
+ private Boolean tcpClientEnable;
+
+ private static List<Channel> serverChannels = new ArrayList<>();
+ public static ConcurrentHashMap<Channel, ArdEquipRadar> ConnectMap = new ConcurrentHashMap();
+
+ public static void main(String[] args) throws InterruptedException {
+ EventLoopGroup group = new NioEventLoopGroup();
+ Bootstrap bootstrap = new Bootstrap();
+ bootstrap.group(group)
+ .channel(NioSocketChannel.class)
+ .option(ChannelOption.TCP_NODELAY, true)
+ .option(ChannelOption.SO_KEEPALIVE, true)
+ .handler(new DynamicClientInitializer());
+
+ DynamicClient dynamicClient = new DynamicClient();
+ ArdEquipRadar radar1 = new ArdEquipRadar();
+ radar1.setName("511");
+ radar1.setIp("112.98.126.2");
+ radar1.setPort(1200);
+ dynamicClient.connect(bootstrap, radar1);
+
+ Thread.sleep(2000); // 等待连接建立
+
+ // 模拟动态增加一个服务端
+ ArdEquipRadar radar2 = new ArdEquipRadar();
+ radar2.setName("140");
+ radar2.setIp("112.98.126.2");
+ radar2.setPort(1201);
+ dynamicClient.connect(bootstrap, radar2);
+
+ }
+
+ public void connectToServer(ArdEquipRadar radar) {
+ EventLoopGroup group = new NioEventLoopGroup();
+ try {
+ Bootstrap bootstrap = new Bootstrap();
+ bootstrap.group(group)
+ .channel(NioSocketChannel.class)
+ .option(ChannelOption.TCP_NODELAY, true)
+ .option(ChannelOption.SO_KEEPALIVE, true)
+ .handler(new DynamicClientInitializer());
+ // 连接服务端
+ ChannelFuture channelFuture = bootstrap.connect(radar.getIp(), radar.getPort()).sync();
+ Channel serverChannel = channelFuture.channel();
+ // 将连接的服务端 Channel 添加到管理列表
+ serverChannels.add(serverChannel);
+ ConnectMap.put(serverChannel, radar);
+ log.debug("雷达【" + radar.getIp() + ":" + radar.getPort() + "】连接成功");
+ } catch (Exception e) {
+ e.printStackTrace();
+ }
+ }
+
+ public Channel connect(Bootstrap bootstrap, ArdEquipRadar radar) {
+ ChannelFuture future = bootstrap.connect(radar.getIp(), radar.getPort());
+ future.addListener((ChannelFutureListener) futureListener -> {
+ if (futureListener.isSuccess()) {
+ log.info("Connected to radar device: " + radar.getName() + "【" + radar.getIp() + ":" + radar.getPort() + "】" + " successful");
+ // 在连接建立后，你可以在这里添加业务逻辑或其他处理
+ serverChannels.add(future.channel());
+ ConnectMap.put(future.channel(), radar);
+ } else {
+ log.error("Connection to radar device " + radar.getName() + "【" + radar.getIp() + ":" + radar.getPort() + "】" + " failed. Retrying...");
+ // 连接失败时，定时进行重连
+ futureListener.channel().eventLoop().schedule(
+ () -> connect(bootstrap, radar),
+ 1L, TimeUnit.SECONDS
+ );
+ }
+ });
+
+ return future.channel();
+ }
+
+ // 在连接建立后可以通过调用这个方法向指定的服务端发送数据
+ public void sendDataToServer(Channel serverChannel, Object data) {
+ serverChannel.writeAndFlush(data);
+ }
+
+ // 关闭指定的服务端连接
+ public void closeServerConnection(Channel serverChannel) {
+ serverChannel.close();
+ serverChannels.remove(serverChannel);
+ }
+
+ // 关闭所有服务端连接
+ public void closeAllServerConnections() {
+ for (Channel serverChannel : serverChannels) {
+ serverChannel.close();
+ }
+ serverChannels.clear();
+ }
+
+ /**
+ * 初始化方法
+ */
+ //@Override
+ public void run(ApplicationArguments args) {
+ if (!tcpClientEnable) {
+ return;
+ }
+ EventLoopGroup group = new NioEventLoopGroup();
+ Bootstrap bootstrap = new Bootstrap();
+ bootstrap.group(group)
+ .channel(NioSocketChannel.class)
+ .option(ChannelOption.TCP_NODELAY, true)
+ .option(ChannelOption.SO_KEEPALIVE, true)
+ .handler(new DynamicClientInitializer());
+ List<ArdEquipRadar> ardEquipRadars = ardEquipRadarService.selectArdEquipRadarList(new ArdEquipRadar());
+ for (ArdEquipRadar ardEquipRadar : ardEquipRadars) {
+ String host = ardEquipRadar.getIp();
+ Integer port = Integer.valueOf(ardEquipRadar.getPort());
+ log.debug("TCP client try to connect radar【：" + host + ":" + port+"】");
+ // connectServer(ardEquipRadar);//连接每一个雷达服务
+ connect(bootstrap, ardEquipRadar);
+ }
+ }
+}
\ No newline at end of file
diff --git a/src/main/java/com/ard/utils/tcp/DynamicClientHandler.java b/src/main/java/com/ard/utils/tcp/DynamicClientHandler.java
new file mode 100644
index 0000000..ac8483d
--- /dev/null
+++ b/src/main/java/com/ard/utils/tcp/DynamicClientHandler.java
@@ -0,0 +1,437 @@
+package com.ard.utils.tcp;
+
+import com.alibaba.fastjson2.JSON;
+import com.ard.alarm.radar.domain.ArdAlarmRadar;
+import com.ard.alarm.radar.domain.ArdEquipRadar;
+import com.ard.alarm.radar.domain.RadarAlarmData;
+import com.ard.utils.mqtt.MqttProducer;
+import com.ard.utils.other.ByteUtils;
+import com.ard.utils.other.GisUtils;
+import io.netty.buffer.ByteBuf;
+import io.netty.channel.Channel;
+import io.netty.channel.ChannelHandlerContext;
+import io.netty.channel.SimpleChannelInboundHandler;
+import lombok.extern.slf4j.Slf4j;
+import org.apache.commons.lang3.StringUtils;
+import javax.xml.bind.DatatypeConverter;
+import java.text.SimpleDateFormat;
+import java.util.*;
+import java.util.concurrent.ScheduledFuture;
+import java.util.concurrent.TimeUnit;
+import static com.ard.utils.other.ByteUtils.byteToBitString;
+import static com.ard.utils.other.ByteUtils.toLittleEndian;
+
+/**
+ * @Description: 客户端数据处理器（备用）
+ * @ClassName: DynamicClientHandler
+ * @Author: 刘苏义
+ * @Date: 2023年11月30日9:27:55
+ **/
+@Slf4j(topic = "netty")
+class DynamicClientHandler extends SimpleChannelInboundHandler<ByteBuf> {
+ /**
+ * 连接建立
+ *
+ * @param ctx
+ * @throws Exception
+ */
+ @Override
+ public void channelActive(ChannelHandlerContext ctx) {
+ context = ctx;
+ startHeartbeatTask();//开始发送心跳
+ }
+
+ @Override
+ protected void channelRead0(ChannelHandlerContext ctx, ByteBuf msg) {
+ // 处理接收到的数据
+ // ...
+ Channel channel = ctx.channel();
+ ArdEquipRadar ardEquipRadar = DynamicClient.ConnectMap.get(channel);
+ // 处理接收到的消息
+ byte[] byteArray = new byte[msg.readableBytes()];
+ msg.getBytes(msg.readerIndex(), byteArray);
+ byte[] bytes = MessageParsing.receiveCompletePacket(byteArray);
+ if (bytes != null) {
+ processData(ardEquipRadar, bytes);
+ }
+ }
+
+ @Override
+ public void exceptionCaught(ChannelHandlerContext ctx, Throwable cause) throws Exception {
+ // 处理异常
+ // ...
+ log.error("处理异常");
+ }
+
+ private ScheduledFuture<?> heartbeatTask;
+ private ChannelHandlerContext context;
+
+ /**
+ * 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[] header = {0x01, 0x02, 0x01};
+ byte[] payload = {0x10, 0x00, 0x00, 0x00};
+ byte[] payloadCrc32 = ByteUtils.parseCrc32(payload);
+ byte[] footer = {0x01, 0x02, 0x00};
+ byte[] heart = ByteUtils.appendArrays(header, payload, payloadCrc32, footer);
+// byte[] heart = {0x01, 0x02, 0x01, 0x10, 0x00, 0x00, 0x00, (byte) 0x83, (byte) 0x88, 0x5d, 0x71, 0x01, 0x02, 0x00};
+ String hexString = DatatypeConverter.printHexBinary(heart);
+ // log.debug("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;
+ }
+ }
+
+ /**
+ * 解析报警数据
+ */
+ public void processData(ArdEquipRadar ardEquipRadarbyte, byte[] data) {
+ try {
+ String radarId = ardEquipRadarbyte.getId();
+ String radarName = ardEquipRadarbyte.getName();
+ Double radarLongitude = ardEquipRadarbyte.getLongitude();
+ Double radarLagitude = ardEquipRadarbyte.getLatitude();
+ Double radarAltitude = ardEquipRadarbyte.getAltitude();
+ //region crc校验-目前仅用于显示校验结果
+ Boolean crc32Check = MessageParsing.CRC32Check(data);
+ if (!crc32Check) {
+ log.debug("CRC32校验不通过");
+ } else {
+ //log.debug("CRC32校验通过");
+ }
+ //endregion
+ //log.info("原始数据:" + DatatypeConverter.printHexBinary(data));
+ //log.info("雷达信息：" + host + "【port】" + port + "【X】" + longitude + "【Y】" + lagitude + "【Z】" + altitude);
+ data = MessageParsing.transferData(data);//去掉包头和包尾、校验及转义
+ //region 负载头解析
+ 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, 1, 2);//命令ID
+ String cmdIdStr = DatatypeConverter.printHexBinary(cmdId);
+ //log.info("命令ID:" + DatatypeConverter.printHexBinary(cmdId));
+ byte[] payloadSize = Arrays.copyOfRange(data, 2, 4);//有效负载大小
+ payloadSize = toLittleEndian(payloadSize);
+ //log.info("payloadSize:" + DatatypeConverter.printHexBinary(payloadSize));
+ int payloadSizeToDecimal = ByteUtils.bytesToDecimal(payloadSize);
+ // log.info("有效负载大小(转整型):" + payloadSizeToDecimal);
+ //endregion
+ List<ArdAlarmRadar> radarAlarmInfos = new ArrayList<>();
+ ArdAlarmRadar radarFollowInfo = null;
+ //抽油机状态雷达推送集合
+ List<ArdAlarmRadar> well = new ArrayList<>();
+ String alarmTime = "";
+ Integer targetNum = 0;
+ log.debug("Processing radar data 【" + radarName + "】数据-->命令ID:" + cmdIdStr + "二进制:" + byteToBitString(cmdId[0]));
+ //雷达移动防火报警
+ if (Arrays.equals(cmdId, new byte[]{0x01})) {
+ //region 告警信息反馈
+ byte[] dwTim = Arrays.copyOfRange(data, 4, 8);
+ dwTim = toLittleEndian(dwTim);
+ SimpleDateFormat sdf = new SimpleDateFormat("yyyy-MM-dd HH:mm:ss");
+ long l = ByteUtils.bytesToDecimal(dwTim);
+ alarmTime = sdf.format(l * 1000);
+ // log.info("周视图像的出现时间(转date):" + alarmTime);
+
+ byte[] wTargetNum = Arrays.copyOfRange(data, 8, 10);
+ wTargetNum = toLittleEndian(wTargetNum);
+ targetNum = ByteUtils.bytesToDecimal(wTargetNum);
+ if (targetNum == 0) {
+ return;
+ }
+ //log.debug("目标总点数(转整型):" + targetNum);
+
+ //解析NET_TARGET_UNIT(64是NET_TARGET_HEAD的字节数)
+ int uintSize = (payloadSizeToDecimal - 64) / targetNum;
+ // log.info("单条报警大小:" + uintSize);
+
+ for (int i = 0; i < targetNum; i++) {
+
+ Integer index = 68 + uintSize * i;
+ byte[] dwID = Arrays.copyOfRange(data, index, index + 4);
+ // log.info("目标ID:" + DatatypeConverter.printHexBinary(cmdId));
+ dwID = toLittleEndian(dwID);
+ int targetId = ByteUtils.bytesToDecimal(dwID);
+ // log.info("目标ID号：" + targetId);
+
+ byte[] iDistance = Arrays.copyOfRange(data, index + 8, index + 12);
+ iDistance = toLittleEndian(iDistance);
+ double Distance = ByteUtils.bytesToDecimal(iDistance);
+ //log.debug("目标当前直线距离(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[] 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
+ String alarmType = "";
+ byte[] cStat = Arrays.copyOfRange(data, index + 23, index + 24);
+ log.info("原始状态:" + byteToBitString(cStat[0]));
+ // cStat = toLittleEndian(cStat);
+ // 提取第4位至第6位的值
+ int extractedValue = (cStat[0] >> 4) & 0b00001111;
+ // 判断提取的值
+ if (extractedValue == 0b0000) {
+ alarmType = "运动目标检测";
+ } else if (extractedValue == 0b0001) {
+ alarmType = "热源检测";
+ }
+ // log.info("报警类型:" + alarmType);
+ byte[] szName = Arrays.copyOfRange(data, index + 64, index + 96);
+ String alarmPointName = ByteUtils.bytesToStringZh(szName);
+ // 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 = ByteUtils.bytesToFloat(afTx);
+ // log.info("水平角度:" + fTx);
+ byte[] afTy = Arrays.copyOfRange(data, index + 112, index + 116);
+ afTy = toLittleEndian(afTy);
+ float fTy = ByteUtils.bytesToFloat(afTy);
+ //log.debug("垂直角度:" + fTy);
+ // 将角度转换为弧度
+ double thetaRadians = Math.toRadians(fTy + 90);
+ // 使用正弦函数计算对边长度
+ Distance = Math.sin(thetaRadians) * Distance;
+ //log.debug("目标投影距离(m):" + Distance);
+
+ Double[] radarXY = {radarLongitude, radarLagitude};
+ Double[] alarmXY = GisUtils.CalculateCoordinates(radarXY, Distance, (double) fTx);
+ log.debug("报警信息：" + "【radarName】" + radarName + "【targetId】" + targetId + "【alarmType】" + alarmType + "【alarmTime】" + alarmTime + "【name】" + alarmPointName);
+ ArdAlarmRadar ardAlarmRadar = new ArdAlarmRadar();
+ ardAlarmRadar.setTargetId(targetId);
+ ardAlarmRadar.setName(alarmPointName);
+ ardAlarmRadar.setLongitude(alarmXY[0]);
+ ardAlarmRadar.setLatitude(alarmXY[1]);
+ ardAlarmRadar.setAlarmType(alarmType);
+ radarAlarmInfos.add(ardAlarmRadar);
+
+ int bit1 = (cStat[0] >> 1) & 0x1;
+ //目标的B1=1 锁定
+ if (bit1 == 1) {
+ radarFollowInfo = ardAlarmRadar;
+ //将追踪锁定的报警对象属性复制给radarFollowInfo对象
+ //BeanUtils.copyProperties(ardAlarmRadar, radarFollowInfo);
+ }
+ }
+ //endregion
+ if (StringUtils.isEmpty(alarmTime)) {
+ return;
+ }
+ if (targetNum == 0) {
+ return;
+ }
+ RadarAlarmData radarAlarmData = new RadarAlarmData();
+ radarAlarmData.setRadarId(radarId);
+ radarAlarmData.setRadarName(radarName);
+ radarAlarmData.setAlarmTime(alarmTime);
+ radarAlarmData.setArdAlarmRadars(radarAlarmInfos);
+ MqttProducer.publish(2, false, "radar", JSON.toJSONString(radarAlarmData));
+ if (radarFollowInfo != null) {
+ //当前雷达扫描存在引导跟踪数据，只保留最后一次锁定的数据
+ MqttProducer.publish(2, false, "radarFollowGuide", JSON.toJSONString(radarFollowInfo));
+ }
+ //抽油机状态MQTT队列
+ radarAlarmData.setArdAlarmRadars(well);
+ MqttProducer.publish(2, false, "radarWellData", JSON.toJSONString(radarAlarmData));
+
+ }
+ //抽油机AI状态反馈
+ if (Arrays.equals(cmdId, new byte[]{0x04})) {
+ //region抽油机AI状态反馈
+ String hexString = DatatypeConverter.printHexBinary(data);
+ //log.info(hexString);
+
+ byte[] dwTim = Arrays.copyOfRange(data, 4, 8);
+ dwTim = toLittleEndian(dwTim);
+ SimpleDateFormat sdf = new SimpleDateFormat("yyyy-MM-dd HH:mm:ss");
+ long l = ByteUtils.bytesToDecimal(dwTim);
+ alarmTime = sdf.format(l * 1000);
+ //log.info("周视图像的出现时间(转date):" + alarmTime);
+
+ byte[] wTargetNum = Arrays.copyOfRange(data, 8, 10);
+ wTargetNum = toLittleEndian(wTargetNum);
+ targetNum = ByteUtils.bytesToDecimal(wTargetNum);
+ //log.debug("目标总点数(转整型):" + targetNum);
+ if (targetNum == 0) {
+ return;
+ }
+ //解析NET_TARGET_UNIT(64是NET_TARGET_HEAD的字节数)
+ int uintSize = (payloadSizeToDecimal - 64) / targetNum;
+ //log.info("单条报警大小:" + uintSize);
+ for (int i = 0; i < targetNum; i++) {
+ Integer index = 68 + uintSize * i;
+ byte[] dwID = Arrays.copyOfRange(data, index, index + 4);
+ //log.info("目标ID:" + DatatypeConverter.printHexBinary(dwID));
+ dwID = toLittleEndian(dwID);
+ int targetId = ByteUtils.bytesToDecimal(dwID);
+ //log.info("目标ID号：" + targetId);
+ //region 不需要的字段
+ byte[] iTw = Arrays.copyOfRange(data, index + 4, index + 8);
+ iTw = toLittleEndian(iTw);
+ int Tw = ByteUtils.bytesToDecimal(iTw);
+ // log.info("目标当前的像素宽度:" + Tw);
+
+ byte[] iTh = Arrays.copyOfRange(data, index + 8, index + 12);
+ iTh = toLittleEndian(iTh);
+ int Th = ByteUtils.bytesToDecimal(iTh);
+ //log.info("目标当前的像素高度:" + Th);
+
+ byte[] fTx = Arrays.copyOfRange(data, index + 12, index + 16);
+ fTx = toLittleEndian(fTx);
+ float fTxAngle = ByteUtils.bytesToFloat(fTx);
+ //log.debug("p角度:" + fTxAngle);
+ byte[] fTy = Arrays.copyOfRange(data, index + 16, index + 20);
+ fTy = toLittleEndian(fTy);
+ float fTyAngle = ByteUtils.bytesToFloat(fTy);
+ //log.debug("t角度:" + fTyAngle);
+
+ byte[] sAreaNo = Arrays.copyOfRange(data, index + 20, index + 22);
+ sAreaNo = toLittleEndian(sAreaNo);
+ int AreaNo = ByteUtils.bytesToDecimal(sAreaNo);
+ //log.debug("目标归属的告警区域号:" + AreaNo);
+
+ byte[] cGrp = Arrays.copyOfRange(data, index + 22, index + 23);
+ cGrp = toLittleEndian(cGrp);
+ int Grp = ByteUtils.bytesToDecimal(cGrp);
+ //log.info("所属组:" + Grp);
+ //endregion
+ String alarmType;
+ //抽油机状态变量
+ String wellType;
+ byte[] cStat = Arrays.copyOfRange(data, index + 23, index + 24);
+ cStat = toLittleEndian(cStat);
+ //String binaryString = String.format("%8s", Integer.toBinaryString(cStat[0] & 0xFF)).replace(' ', '0');
+ //log.info("目标当前状态:" + binaryString);
+ // 提取第0位值
+ // 使用位运算操作判断第0位是否为1
+ boolean isB0 = (cStat[0] & 0x01) == 0x00;
+ // 判断提取的值
+ if (isB0) {
+ alarmType = "雷达抽油机停机";
+ byte[] szName = Arrays.copyOfRange(data, index + 32, index + 64);
+ //log.info("所属告警区域名称:" + DatatypeConverter.printHexBinary(szName));
+ String alarmPointName = ByteUtils.bytesToStringZh(szName);
+ // log.info("所属告警区域名称:" + alarmPointName);
+ //log.debug("报警信息："+ "【radarName】" + radarName + "【targetId】" + targetId + "【name】" + alarmPointName + "【alarmType】" + alarmType + "【alarmTime】" + alarmTime);
+ ArdAlarmRadar ardAlarmRadar = new ArdAlarmRadar();
+ ardAlarmRadar.setTargetId(targetId);
+ ardAlarmRadar.setName(alarmPointName);
+ ardAlarmRadar.setAlarmType(alarmType);
+ radarAlarmInfos.add(ardAlarmRadar);
+ wellType = "停机";
+ } else {
+ wellType = "运行";
+ }
+ //抽油机状态集合中装入数据
+ byte[] szName = Arrays.copyOfRange(data, index + 32, index + 64);
+ String alarmPointName = ByteUtils.bytesToStringZh(szName);
+ log.debug("报警信息：" + "【radarName】" + radarName + "【targetId】" + targetId + "【alarmType】抽油机状态报警" + "【alarmTime】" + alarmTime + "【name】" + alarmPointName + "【alarmState】" + wellType);
+ ArdAlarmRadar wellAlarm = new ArdAlarmRadar();
+ wellAlarm.setTargetId(targetId);
+ wellAlarm.setName(alarmPointName);
+ wellAlarm.setAlarmType(wellType);
+ well.add(wellAlarm);
+ }
+ //endregion
+ if (StringUtils.isEmpty(alarmTime)) {
+ return;
+ }
+ if (targetNum == 0) {
+ return;
+ }
+ RadarAlarmData radarAlarmData = new RadarAlarmData();
+ radarAlarmData.setRadarId(radarId);
+ radarAlarmData.setRadarName(radarName);
+ radarAlarmData.setAlarmTime(alarmTime);
+ radarAlarmData.setArdAlarmRadars(radarAlarmInfos);
+ MqttProducer.publish(2, false, "radar", JSON.toJSONString(radarAlarmData));
+ //抽油机状态MQTT队列
+ radarAlarmData.setArdAlarmRadars(well);
+ MqttProducer.publish(2, false, "radarWellData", JSON.toJSONString(radarAlarmData));
+ }
+ //强制引导
+ if (Arrays.equals(cmdId, new byte[]{0x02})) {
+ //region 告警前端发送的强制引导信息
+ byte[] iDistance = Arrays.copyOfRange(data, 4, 8);
+ iDistance = toLittleEndian(iDistance);
+ long distance = ByteUtils.bytesToDecimal(iDistance);
+ log.info("目标当前距离(m):" + distance);
+ byte[] fTx = Arrays.copyOfRange(data, 8, 12);
+ fTx = toLittleEndian(fTx);
+ float tx = ByteUtils.bytesToFloat(fTx);
+ log.debug("方位:" + tx);
+ byte[] fTy = Arrays.copyOfRange(data, 12, 16);
+ fTy = toLittleEndian(fTy);
+ float ty = ByteUtils.bytesToFloat(fTy);
+ if (ty < 0) {
+ ty += 360;
+ }
+ log.debug("俯仰:" + ty);
+ Map<String, Object> forceGuideMap = new HashMap<>();
+ forceGuideMap.put("distance", distance);
+ forceGuideMap.put("p", tx);
+ forceGuideMap.put("t", ty);
+ forceGuideMap.put("radarId", radarId);
+ log.debug("强制引导信息" + forceGuideMap);
+ //endregion
+ MqttProducer.publish(2, false, "radarForceGuide", JSON.toJSONString(forceGuideMap));
+ }
+ } catch (Exception ex) {
+ log.error("雷达报文解析异常:" + ex.getMessage());
+ }
+ }
+}
diff --git a/src/main/java/com/ard/utils/tcp/DynamicClientInitializer.java b/src/main/java/com/ard/utils/tcp/DynamicClientInitializer.java
new file mode 100644
index 0000000..0a84573
--- /dev/null
+++ b/src/main/java/com/ard/utils/tcp/DynamicClientInitializer.java
@@ -0,0 +1,25 @@
+package com.ard.utils.tcp;
+
+import io.netty.channel.ChannelInitializer;
+import io.netty.channel.ChannelPipeline;
+import io.netty.channel.socket.SocketChannel;
+
+/**
+ * @Description: 初始化客户端的通道（备用）
+ * @ClassName: DynamicClientInitializer
+ * @Author: 刘苏义
+ * @Date: 2023年11月30日9:27:03
+ **/
+public class DynamicClientInitializer extends ChannelInitializer<SocketChannel> {
+ @Override
+ protected void initChannel(SocketChannel ch){
+ try {
+ ChannelPipeline pipeline = ch.pipeline();
+ // 添加你需要的处理器
+ pipeline.addLast(new DynamicClientHandler());
+ }catch (Exception e)
+ {
+ e.printStackTrace();
+ }
+ }
+}
--
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