From b0926cd91651c158a3a1c070f9b6d2d8ce877cfe Mon Sep 17 00:00:00 2001
From: ‘liusuyi’ <1951119284@qq.com>
Date: 星期二, 26 三月 2024 10:07:33 +0800
Subject: [PATCH] 优化雷达连接
---
src/main/java/com/ard/alarm/radar/controller/RadarController.java | 46 ++++++++++++++++++++++++++--------------------
1 files changed, 26 insertions(+), 20 deletions(-)
diff --git a/src/main/java/com/ard/alarm/radar/controller/RadarController.java b/src/main/java/com/ard/alarm/radar/controller/RadarController.java
index 5cd3e6c..cf4c7e4 100644
--- a/src/main/java/com/ard/alarm/radar/controller/RadarController.java
+++ b/src/main/java/com/ard/alarm/radar/controller/RadarController.java
@@ -6,9 +6,10 @@
import com.ard.utils.http.AjaxResult;
import com.ard.utils.util.ByteUtils;
import com.ard.utils.util.GisUtils;
-import com.ard.utils.netty.tcp.ClientInitialize;
+import com.ard.utils.netty.tcp.RadarNettyTcpClient;
import io.netty.buffer.ByteBuf;
import io.netty.channel.Channel;
+import io.netty.channel.ChannelFuture;
import lombok.extern.slf4j.Slf4j;
import org.springframework.web.bind.annotation.PostMapping;
import org.springframework.web.bind.annotation.RequestBody;
@@ -16,6 +17,8 @@
import org.springframework.web.bind.annotation.RestController;
import javax.annotation.Resource;
+import java.util.HashMap;
+import java.util.Map;
/**
* @Description: 闆疯揪鎺ュ彛
@@ -41,46 +44,49 @@
if (ardEquipRadar == null) {
return AjaxResult.error("闆疯揪涓嶅瓨鍦�");
}
- Channel channel = (Channel)ClientInitialize.SuccessConnectMap.get(ardEquipRadar.getId());
- if (channel==null)
- {
+ Channel channel= RadarNettyTcpClient.SERVER_MAP.get(ardEquipRadar.getIp() + ":" + ardEquipRadar.getPort());
+ if (channel == null) {
return AjaxResult.error("闆疯揪鏈繛鎺�");
}
Double longitude = ardEquipRadar.getLongitude();//闆疯揪缁忓害
Double latitude = ardEquipRadar.getLatitude();//闆疯揪绾害
Double altitude = ardEquipRadar.getAltitude();//闆疯揪楂樺害
//璁＄畻姘村钩瑙掑害
- float p = (float)GisUtils.getNorthAngle(longitude, latitude, targetPosition[0], targetPosition[1]);
+ float p = (float) GisUtils.getNorthAngle(longitude, latitude, targetPosition[0], targetPosition[1]);
//璁＄畻鍨傜洿瑙掑害
double[] radarPosition = new double[2];
radarPosition[0] = longitude;
radarPosition[1] = latitude;
double distance = GisUtils.getDistance(radarPosition, targetPosition);
- float angleInRadians = (float)Math.atan(distance / altitude);
- float t = (90-(float)Math.toDegrees(angleInRadians))*-1;
- log.debug("distance锛�"+distance);
- log.debug("p锛�"+p);
- log.debug("t锛�"+t);
+ float angleInRadians = (float) Math.atan(distance / altitude);
+ float t = (90 - (float) Math.toDegrees(angleInRadians)) * -1;
+ log.debug("distance锛�" + distance);
+ log.debug("p锛�" + p);
+ log.debug("t锛�" + t);
//鍙戦�佸憡璀﹀墠绔殑瑙掑害鎻愮ず
byte[] header = {0x01, 0x02, 0x01};//鍖呭ご
byte[] payloadHeader = {0x10, 0x03, 0x20, 0x00};//璐熻浇澶�
- byte[] distanceBytes = ByteUtils.decimalToBytes((int)distance);
- distanceBytes=ByteUtils.toLittleEndian(distanceBytes);
+ byte[] distanceBytes = ByteUtils.decimalToBytes((int) distance);
+ distanceBytes = ByteUtils.toLittleEndian(distanceBytes);
byte[] pBytes = ByteUtils.floatToBytes(p);
- pBytes=ByteUtils.toLittleEndian(pBytes);
+ pBytes = ByteUtils.toLittleEndian(pBytes);
byte[] tBytes = ByteUtils.floatToBytes(t);
- tBytes=ByteUtils.toLittleEndian(tBytes);
- byte[] resBytes=new byte[20];
- byte[] payloadBody = ByteUtils.appendArrays(distanceBytes,pBytes,tBytes,resBytes);//璐熻浇
+ tBytes = ByteUtils.toLittleEndian(tBytes);
+ byte[] resBytes = new byte[20];
+ byte[] payloadBody = ByteUtils.appendArrays(distanceBytes, pBytes, tBytes, resBytes);//璐熻浇
- byte[] payload = ByteUtils.appendArrays(payloadHeader,payloadBody);//璐熻浇澶�+璐熻浇
+ byte[] payload = ByteUtils.appendArrays(payloadHeader, payloadBody);//璐熻浇澶�+璐熻浇
byte[] payloadCrc32 = ByteUtils.parseCrc32(payload);//璐熻浇澶�+璐熻浇鐨刢rc32鏍￠獙
byte[] footer = {0x01, 0x02, 0x00};//鍖呭熬
byte[] data = ByteUtils.appendArrays(header, payload, payloadCrc32, footer);
- System.out.println(ByteUtils.printHexBinary(data));
+
ByteBuf message = channel.alloc().buffer();
message.writeBytes(data);
channel.writeAndFlush(message);
- return AjaxResult.success();
+ Map<String,Object> map = new HashMap<>();
+ map.put("distance",distance);
+ map.put("p",p);
+ map.put("t",t);
+ return AjaxResult.success(map);
}
-}
\ No newline at end of file
+}
--
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