From 9aa66699aaa610be66f5bd0c22e90cae114311f9 Mon Sep 17 00:00:00 2001
From: ‘liusuyi’ <1951119284@qq.com>
Date: 星期五, 07 七月 2023 17:15:16 +0800
Subject: [PATCH] 优化外联设备报警解析并上传mqtt
---
src/main/java/com/ard/utils/tcp/NettyTcpClientHandler.java | 406 +++++++++++++++++++++++++++------------------------------
1 files changed, 191 insertions(+), 215 deletions(-)
diff --git a/src/main/java/com/ard/utils/tcp/NettyTcpClientHandler.java b/src/main/java/com/ard/utils/tcp/NettyTcpClientHandler.java
index 5a0c7fa..82d9685 100644
--- a/src/main/java/com/ard/utils/tcp/NettyTcpClientHandler.java
+++ b/src/main/java/com/ard/utils/tcp/NettyTcpClientHandler.java
@@ -2,52 +2,49 @@
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.alarm.radar.domain.RadarAlarmData;
+import com.ard.alarm.radar.domain.ArdAlarmRadar;
+import com.ard.utils.ByteUtils;
+import com.ard.utils.GisUtils;
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 org.apache.commons.lang3.StringUtils;
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瀹㈡埛绔鐞�
+ * @Description: tcp瀹㈡埛绔鐞�-寮冪敤
* @ClassName: NettyTcpClientHandler
* @Author: 鍒樿嫃涔�
* @Date: 2023骞�06鏈�25鏃�17:02
* @Version: 1.0
**/
-@Slf4j(topic = "radar")
+@Slf4j(topic = "netty")
public class NettyTcpClientHandler extends SimpleChannelInboundHandler<ByteBuf> {
private String host;
private Integer port;
private Double longitude;
private Double lagitude;
+ private Double altitude;
private String name;
+ private String id;
public NettyTcpClientHandler(ArdEquipRadar ardEquipRadar) {
this.host = ardEquipRadar.getIp();
this.port = ardEquipRadar.getPort();
this.longitude = ardEquipRadar.getLongitude();
this.lagitude = ardEquipRadar.getLatitude();
- this.name=ardEquipRadar.getName();
+ this.name = ardEquipRadar.getName();
+ this.id = ardEquipRadar.getId();
+ this.altitude = ardEquipRadar.getAltitude();
}
private ChannelHandlerContext context;
@@ -58,10 +55,8 @@
// 澶勭悊鎺ユ敹鍒扮殑娑堟伅
byte[] byteArray = new byte[msg.readableBytes()];
msg.getBytes(msg.readerIndex(), byteArray);
- byte[] bytes = receiveCompletePacket(byteArray);
+ byte[] bytes = MessageParsing.receiveCompletePacket(byteArray);
if (bytes != null) {
- // String hexString = DatatypeConverter.printHexBinary(bytes);
- // log.info(hexString);
processData(bytes);
}
}
@@ -79,7 +74,12 @@
heartbeatTask = context.executor().scheduleAtFixedRate(() -> {
// 鍙戦�佸績璺虫秷鎭�
ByteBuf message = context.alloc().buffer();
- byte[] heart = {0x01, 0x02, 0x01, 0x10, 0x00, 0x00, 0x00, (byte) 0x83, (byte) 0x88, 0x5d, 0x71, 0x01, 0x02, 0x00};
+ 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.info("鍙戦�佸績璺�:" + hexString);
message.writeBytes(heart);
@@ -112,46 +112,64 @@
*/
public void processData(byte[] data) {
try {
- data = transferData(data);//鍘绘帀鍖呭ご鍜屽寘灏俱�佹牎楠屽強杞箟
-
+ //region crc鏍￠獙-鐩墠浠呯敤浜庢樉绀烘牎楠岀粨鏋�
+ Boolean crc32Check = MessageParsing.CRC32Check(data);
+ if (!crc32Check) {
+ log.info("CRC32鏍￠獙涓嶉�氳繃");
+ } else {
+ log.info("CRC32鏍￠獙閫氳繃");
+ }
+ //endregion
+ //log.info("鍘熷鏁版嵁:" + DatatypeConverter.printHexBinary(data));
+ //log.info("闆疯揪淇℃伅锛�" + host + "銆恜ort銆�" + port + "銆怷銆�" + longitude + "銆怸銆�" + lagitude + "銆怹銆�" + altitude);
+ data = MessageParsing.transferData(data);//鍘绘帀鍖呭ご鍜屽寘灏俱�佹牎楠屽強杞箟
+ //region 璐熻浇澶磋В鏋�
byte[] type = Arrays.copyOfRange(data, 0, 1);//鍛戒护绫诲瀷
- log.info("鍛戒护绫诲瀷:" + DatatypeConverter.printHexBinary(type));
-
+ // log.info("鍛戒护绫诲瀷:" + DatatypeConverter.printHexBinary(type));
byte[] cmdId = Arrays.copyOfRange(data, 1, 2);//鍛戒护ID
- log.info("鍛戒护ID:" + DatatypeConverter.printHexBinary(cmdId));
-
+ // log.info("鍛戒护ID:" + DatatypeConverter.printHexBinary(cmdId));
byte[] payloadSize = Arrays.copyOfRange(data, 2, 4);//鏈夋晥璐熻浇澶у皬
- payloadSize = toLittleEndian(payloadSize);
- int payloadSizeToDecimal = byteArrayToDecimal(payloadSize);
- log.info("鏈夋晥璐熻浇澶у皬(杞暣鍨�):" + payloadSizeToDecimal);
-
+ payloadSize = ByteUtils.toLittleEndian(payloadSize);
+ int payloadSizeToDecimal = ByteUtils.bytesToDecimal(payloadSize);
+ // log.info("鏈夋晥璐熻浇澶у皬(杞暣鍨�):" + payloadSizeToDecimal);
+ //endregion
+ List<ArdAlarmRadar> radarAlarmInfos = new ArrayList<>();
+ String alarmTime = "";
+ Integer targetNum = 0;
if (Arrays.equals(cmdId, new byte[]{0x01})) {
+ //region 鍛婅淇℃伅鍙嶉
byte[] dwTim = Arrays.copyOfRange(data, 4, 8);
- dwTim = toLittleEndian(dwTim);
+ dwTim = ByteUtils.toLittleEndian(dwTim);
SimpleDateFormat sdf = new SimpleDateFormat("yyyy-MM-dd HH:mm:ss");
- long l = byteArrayToDecimal(dwTim);
- String alarmTime = sdf.format(l * 1000);
- log.info("鍛ㄨ鍥惧儚鐨勫嚭鐜版椂闂�(杞琩ate):" + alarmTime);
+ long l = ByteUtils.bytesToDecimal(dwTim);
+ alarmTime = sdf.format(l * 1000);
+ // log.info("鍛ㄨ鍥惧儚鐨勫嚭鐜版椂闂�(杞琩ate):" + alarmTime);
byte[] wTargetNum = Arrays.copyOfRange(data, 8, 10);
- wTargetNum = toLittleEndian(wTargetNum);
- int targetNum = byteArrayToDecimal(wTargetNum);
+ wTargetNum = ByteUtils.toLittleEndian(wTargetNum);
+ targetNum = ByteUtils.bytesToDecimal(wTargetNum);
+ if (targetNum == 0) {
+ return;
+ }
log.info("鐩爣鎬荤偣鏁�(杞暣鍨�):" + targetNum);
//瑙ｆ瀽NET_TARGET_UNIT(64鏄疦ET_TARGET_HEAD鐨勫瓧鑺傛暟)
int uintSize = (payloadSizeToDecimal - 64) / targetNum;
- log.info("鍗曟潯鎶ヨ澶у皬:" + uintSize);
+ // log.info("鍗曟潯鎶ヨ澶у皬:" + uintSize);
+
for (int i = 0; i < targetNum; i++) {
Integer index = 68 + uintSize * i;
byte[] dwID = Arrays.copyOfRange(data, index, index + 4);
- dwID = toLittleEndian(dwID);
- int id = byteArrayToDecimal(dwID);
+ // log.info("鐩爣ID:" + DatatypeConverter.printHexBinary(cmdId));
+ dwID = ByteUtils.toLittleEndian(dwID);
+ int id = ByteUtils.bytesToDecimal(dwID);
+
// log.info("鐩爣ID鍙凤細" + id);
byte[] iDistance = Arrays.copyOfRange(data, index + 8, index + 12);
- iDistance = toLittleEndian(iDistance);
- int Distance = byteArrayToDecimal(iDistance);
+ iDistance = ByteUtils.toLittleEndian(iDistance);
+ Double Distance = ByteUtils.bytesToDouble(iDistance);
// log.info("鐩爣褰撳墠璺濈(m):" + Distance);
//region 涓嶉渶瑕佺殑瀛楁
// byte[] dwGSum = Arrays.copyOfRange(data, index + 4, index + 8);
@@ -177,12 +195,7 @@
// cTrkNum = toLittleEndian(cTrkNum);
// int TrkNum = byteArrayToDecimal(cTrkNum);
// log.info("杞ㄨ抗鐐规暟:" + TrkNum);
-//
-// byte[] cStat = Arrays.copyOfRange(data, index + 23, index + 24);
-// cStat = toLittleEndian(cStat);
-// int Stat = byteArrayToDecimal(cStat);
-// log.info("鐩爣褰撳墠鐘舵��:" + Stat);
-//
+
// byte[] sVx = Arrays.copyOfRange(data, index + 24, index + 26);
// sVx = toLittleEndian(sVx);
// int Vx = byteArrayToDecimal(sVx);
@@ -203,185 +216,148 @@
// int Grp = byteArrayToDecimal(cGrp);
// log.info("鎵�灞炵粍:" + Grp);
//endregion
- byte[] szName = Arrays.copyOfRange(data, index + 64, index + 96);
- 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");
+ String alarmType = "";
+ byte[] cStat = Arrays.copyOfRange(data, index + 23, index + 24);
+ cStat = ByteUtils.toLittleEndian(cStat);
+ String binaryString = String.format("%8s", Integer.toBinaryString(cStat[0] & 0xFF)).replace(' ', '0');
+ // log.info("鐩爣褰撳墠鐘舵��:" + binaryString);
+ // 鎻愬彇绗�4浣嶈嚦绗�6浣嶇殑鍊�
+ int extractedValue = (cStat[0] >> 4) & 0b00001111;
+ // 鍒ゆ柇鎻愬彇鐨勫��
+ if (extractedValue == 0b0000) {
+ alarmType = "杩愬姩鐩爣妫�娴�";
+ } else if (extractedValue == 0b0001) {
+ alarmType = "鐑簮妫�娴�";
}
+ // log.info("鎶ヨ绫诲瀷:" + alarmType);
+
+ byte[] szName = Arrays.copyOfRange(data, index + 64, index + 96);
+ String alarmPointName = ByteUtils.bytesToStringZh(szName);
// log.info("鎵�灞炲憡璀﹀尯鍩熷悕绉�:" + alarmPointName);
byte[] afTx = Arrays.copyOfRange(data, index + 96, index + 100);
- afTx = toLittleEndian(afTx);
- float fTx = bytesToFloat(afTx);
+ afTx = ByteUtils.toLittleEndian(afTx);
+ float fTx = ByteUtils.bytesToFloat(afTx);
// log.info("姘村钩瑙掑害:" + fTx);
byte[] afTy = Arrays.copyOfRange(data, index + 112, index + 116);
- afTy = toLittleEndian(afTy);
- float fTy = bytesToFloat(afTy);
+ afTy = ByteUtils.toLittleEndian(afTy);
+ float fTy = ByteUtils.bytesToFloat(afTy);
// log.info("鍨傜洿瑙掑害:" + fTy);
- log.info("闆疯揪淇℃伅锛�" + host + "銆恜ort銆�" + port + "銆怷銆�" + longitude + "銆怸銆�" + lagitude);
Double[] radarXY = {longitude, lagitude};
- Double[] alarmXY = CalculateCoordinates(radarXY, Distance, (double) fTx);
- log.info("鎶ヨ淇℃伅锛�" + "銆恑d銆�" + id + "銆恘ame銆�" + alarmPointName + "銆恆larmTime銆�" + alarmTime + "銆恉istance銆�" + Distance + "銆怭銆�" + fTx + "銆怲銆�" + fTy + "銆怷銆�" + alarmXY[0] + "銆怸銆�" + 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));
+ Double[] alarmXY = GisUtils.CalculateCoordinates(radarXY, Distance, (double) fTx);
+ // log.info("鎶ヨ淇℃伅锛�" + "銆恑d銆�" + id + "銆恘ame銆�" + alarmPointName + "銆恆larmType銆�" + alarmType + "銆恆larmTime銆�" + alarmTime + "銆恉istance銆�" + Distance + "銆怭銆�" + fTx + "銆怲銆�" + fTy + "銆怷銆�" + alarmXY[0] + "銆怸銆�" + alarmXY[1]);
+ ArdAlarmRadar ardAlarmRadar = new ArdAlarmRadar();
+ ardAlarmRadar.setTargetId(id);
+ ardAlarmRadar.setName(alarmPointName);
+ ardAlarmRadar.setLongitude(alarmXY[0]);
+ ardAlarmRadar.setLatitude(alarmXY[1]);
+ ardAlarmRadar.setAlarmType(alarmType);
+ radarAlarmInfos.add(ardAlarmRadar);
}
+ //endregion
}
+ if (Arrays.equals(cmdId, new byte[]{0x04})) {
+ //region鎶芥补鏈篈I鐘舵�佸弽棣�
+ String hexString = DatatypeConverter.printHexBinary(data);
+ //log.info(hexString);
+
+ byte[] dwTim = Arrays.copyOfRange(data, 4, 8);
+ dwTim = ByteUtils.toLittleEndian(dwTim);
+ SimpleDateFormat sdf = new SimpleDateFormat("yyyy-MM-dd HH:mm:ss");
+ long l = ByteUtils.bytesToDecimal(dwTim);
+ alarmTime = sdf.format(l * 1000);
+ //log.info("鍛ㄨ鍥惧儚鐨勫嚭鐜版椂闂�(杞琩ate):" + alarmTime);
+
+ byte[] wTargetNum = Arrays.copyOfRange(data, 8, 10);
+ wTargetNum = ByteUtils.toLittleEndian(wTargetNum);
+ targetNum = ByteUtils.bytesToDecimal(wTargetNum);
+ log.info("鐩爣鎬荤偣鏁�(杞暣鍨�):" + targetNum);
+ if (targetNum == 0) {
+ return;
+ }
+ //瑙ｆ瀽NET_TARGET_UNIT(64鏄疦ET_TARGET_HEAD鐨勫瓧鑺傛暟)
+ int uintSize = (payloadSizeToDecimal - 64) / targetNum;
+ //log.info("鍗曟潯鎶ヨ澶у皬:" + uintSize);
+ for (int i = 0; i < targetNum; i++) {
+ Integer index = 68 + uintSize * i;
+ byte[] dwID = Arrays.copyOfRange(data, index, index + 4);
+ //log.info("鐩爣ID:" + DatatypeConverter.printHexBinary(dwID));
+ dwID = ByteUtils.toLittleEndian(dwID);
+ int id = ByteUtils.bytesToDecimal(dwID);
+ //log.info("鐩爣ID鍙凤細" + id);
+ //region 涓嶉渶瑕佺殑瀛楁
+ byte[] iTw = Arrays.copyOfRange(data, index + 4, index + 8);
+ iTw = ByteUtils.toLittleEndian(iTw);
+ int Tw = ByteUtils.bytesToDecimal(iTw);
+ // log.info("鐩爣褰撳墠鐨勫儚绱犲搴�:" + Tw);
+
+ byte[] iTh = Arrays.copyOfRange(data, index + 8, index + 12);
+ iTh = ByteUtils.toLittleEndian(iTh);
+ int Th = ByteUtils.bytesToDecimal(iTh);
+ //log.info("鐩爣褰撳墠鐨勫儚绱犻珮搴�:" + Th);
+
+ byte[] fTx = Arrays.copyOfRange(data, index + 12, index + 16);
+ fTx = ByteUtils.toLittleEndian(fTx);
+ float fTxAngle = ByteUtils.bytesToFloat(fTx);
+ //log.info("p瑙掑害:" + fTxAngle);
+ byte[] fTy = Arrays.copyOfRange(data, index + 16, index + 20);
+ fTy = ByteUtils.toLittleEndian(fTy);
+ float fTyAngle = ByteUtils.bytesToFloat(fTy);
+ //log.info("t瑙掑害:" + fTyAngle);
+
+ byte[] sAreaNo = Arrays.copyOfRange(data, index + 20, index + 22);
+ sAreaNo = ByteUtils.toLittleEndian(sAreaNo);
+ int AreaNo = ByteUtils.bytesToDecimal(sAreaNo);
+ //log.info("鐩爣褰掑睘鐨勫憡璀﹀尯鍩熷彿:" + AreaNo);
+
+ byte[] cGrp = Arrays.copyOfRange(data, index + 22, index + 23);
+ cGrp = ByteUtils.toLittleEndian(cGrp);
+ int Grp = ByteUtils.bytesToDecimal(cGrp);
+ //log.info("鎵�灞炵粍:" + Grp);
+ //endregion
+ String alarmType;
+ byte[] cStat = Arrays.copyOfRange(data, index + 23, index + 24);
+ cStat = ByteUtils.toLittleEndian(cStat);
+ //String binaryString = String.format("%8s", Integer.toBinaryString(cStat[0] & 0xFF)).replace(' ', '0');
+ //log.info("鐩爣褰撳墠鐘舵��:" + binaryString);
+ // 鎻愬彇绗�0浣嶅��
+ // 浣跨敤浣嶈繍绠楁搷浣滃垽鏂0浣嶆槸鍚︿负1
+ boolean isB0 = (cStat[0] & 0x01) == 0x00;
+ // 鍒ゆ柇鎻愬彇鐨勫��
+ if (isB0) {
+ alarmType = "闆疯揪鎶芥补鏈哄仠鏈�";
+ } else {
+ continue;
+ }
+ //log.info("鎶ヨ绫诲瀷:" + alarmType);
+
+ byte[] szName = Arrays.copyOfRange(data, index + 32, index + 64);
+ //log.info("鎵�灞炲憡璀﹀尯鍩熷悕绉�:" + DatatypeConverter.printHexBinary(szName));
+ String alarmPointName = ByteUtils.bytesToStringZh(szName);
+ // log.info("鎵�灞炲憡璀﹀尯鍩熷悕绉�:" + alarmPointName);
+ //log.info("鎶ヨ淇℃伅锛�" + "銆恑d銆�" + id + "銆恘ame銆�" + alarmPointName + "銆恆larmType銆�" + alarmType + "銆恆larmTime銆�" + alarmTime);
+ ArdAlarmRadar ardAlarmRadar = new ArdAlarmRadar();
+ ardAlarmRadar.setTargetId(id);
+ ardAlarmRadar.setName(alarmPointName);
+ ardAlarmRadar.setAlarmType(alarmType);
+ radarAlarmInfos.add(ardAlarmRadar);
+ }
+ //endregion
+ }
+ if (StringUtils.isEmpty(alarmTime)) {
+ return;
+ }
+ if (targetNum == 0) {
+ return;
+ }
+ RadarAlarmData radarAlarmData = new RadarAlarmData();
+ radarAlarmData.setRadarId(id);
+ radarAlarmData.setRadarName(name);
+ radarAlarmData.setAlarmTime(alarmTime);
+ radarAlarmData.setArdAlarmRadars(radarAlarmInfos);
+ MqttConsumer.publish(2, false, "radar", JSON.toJSONString(radarAlarmData));
} catch (Exception ex) {
- log.error(ex.getMessage());
+ log.error("闆疯揪鎶ユ枃瑙ｆ瀽寮傚父:" + ex.getMessage());
}
- }
- /**
- * byte鏁扮粍杞琭loat
- */
- private float bytesToFloat(byte[] bytes) {
- ByteBuffer buffer = ByteBuffer.wrap(bytes);
- return buffer.getFloat();
- }
-
-
- /**
- * byte鏁扮粍杞暣鍨�
- */
- public int byteArrayToDecimal(byte[] byteArray) {
- int decimalValue = 0;
-
- for (int i = 0; i < byteArray.length; i++) {
- decimalValue = (decimalValue << 8) | (byteArray[i] & 0xFF);
- }
-
- return decimalValue;
- }
-
- /**
- * 澶х杞皬绔�
- */
- public byte[] toLittleEndian(byte[] bigEndianBytes) {
- byte[] littleEndianBytes = new byte[bigEndianBytes.length];
-
- for (int i = 0; i < bigEndianBytes.length; i++) {
- int j = bigEndianBytes.length - i - 1;
- littleEndianBytes[i] = bigEndianBytes[j];
- }
-
- return littleEndianBytes;
- }
-
-
- // 鍒涘缓缂撳啿鍖哄垪琛�
- List<Byte> buffer = new ArrayList<>();
-
- /**
- * 鎺ユ敹瀹屾暣鍖�
- */
- public byte[] receiveCompletePacket(byte[] receivedData) {
- // 瀹氫箟鍖呭熬瀛楄妭搴忓垪
- byte[] packetEnd = {0x01, 0x02, 0x00};
- // 娣诲姞宸叉帴鏀剁殑鏁版嵁鍒扮紦鍐插尯
- for (byte data : receivedData) {
- buffer.add(data);
- }
- // 妫�鏌ョ紦鍐插尯涓殑鏁版嵁鏄惁鍖呭惈瀹屾暣鐨勫寘
- while (buffer.size() >= packetEnd.length) {
- int endIndex = findPacketEndIndex(buffer, packetEnd);
- if (endIndex != -1) {
- // 鎵惧埌瀹屾暣鐨勫寘
- byte[] packet = extractPacketFromBuffer(buffer, endIndex + packetEnd.length);
- return packet;
- } else {
- // 鏈壘鍒板寘灏撅紝缁х画鎺ユ敹鏁版嵁
- break;
- }
- }
-
- // 鏈壘鍒板畬鏁寸殑鍖�
- return null;
- }
-
- /**
- * 鑾峰彇鍖呯粨鏉熺储寮�
- */
- 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++) {
- if (buffer.get(i + j) != packetEnd[j]) {
- isMatch = false;
- break;
- }
- }
- if (isMatch) {
- return i;
- }
- }
- return -1;
- }
-
- /**
- * 浠庣紦鍐插尯鎻愬彇鏁版嵁鍖�
- */
- 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);
- }
- buffer.subList(0, endIndex).clear();
- return packet;
- }
-
- /**
- * 鍘绘帀鍖呭ご鍜屽寘灏炬牎楠屽強杞箟
- */
- 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);
- if (dataStr.contains("01020201")) {//杞箟01020201
- dataStr = dataStr.replaceAll("01020201", "010201");
- }
- if (dataStr.contains("01020200")) {//杞箟01020200
- dataStr = dataStr.replaceAll("01020200", "010200");
- }
- if (dataStr.contains("01020202")) {//杞箟01020202
- dataStr = dataStr.replaceAll("01020202", "010202");
- }
- data = DatatypeConverter.parseHexBinary(dataStr);
- return data;
- }
-
- /**
- * 鎵惧埌00鐨勭储寮曚綅缃�
- */
- private int findIndexOfDoubleZero(byte[] bytes) {
- for (int i = 0; i < bytes.length - 1; i++) {
- if (bytes[i] == 0x00) {
- return i;
- }
- }
- return -1;
- }
-
- /**
- * 閫氳繃A鐐瑰潗鏍囷紝闀垮害鍜孻杞磋搴﹁绠桞鐐瑰潗鏍�
- */
- 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 鐐圭殑 X 鍧愭爣
- double Ay = to_wgs84[1]; // A 鐐圭殑 Y 鍧愭爣
- double AB = distance; // AB 鐨勯暱搴�
- double angleWithYAxisDegrees = angle; // AB 涓� Y 杞寸殑瑙掑害锛堜互搴︽暟琛ㄧず锛�
- 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()};
}
}
--
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