球机代码初步完成 等待雷达持续发送数据 进行测试

military/military-base/military-base-tools/src/main/java/com/zgx/common/util/GEOUtils.java

@@ -57,7 +57,7 @@ public class GEOUtils {
     public static double position(double lon1, double lat1, double lon2, double lat2) {
         double longitude1 = lon1;
         double longitude2 = lon2;
-        double latitude1 = Math.toRadians(lat1);//将度数转为y值
+        double latitude1 = Math.toRadians(lat1);
         double latitude2 = Math.toRadians(lat2);
         double longDiff = Math.toRadians(longitude2 - longitude1);
         double y = Math.sin(longDiff) * Math.cos(latitude2);

military/military-module-system/src/main/java/com/zgx/MilitaryZMQApplication.java

@@ -683,6 +683,7 @@ public class MilitaryZMQApplication implements ApplicationRunner {
 
         //todo 新增代码 目标位置信息
         /**
+         * case4 : 点击的目标数据 (只有点击雷达图上的目标时才发送)
          * address : 172.20.0.77 (ZMQ发布地址)
          * port : 5151
          * topic : NyGuideCamPos
@@ -812,8 +813,7 @@ public class MilitaryZMQApplication implements ApplicationRunner {
                         List<MsCameraSetting> cameraSettings = null;//todo : 查询所有的球机 暂时查询本项目数据库 实际可能查询别的项目数据库
                         LambdaQueryWrapper<MsCameraSetting> cameraSettingLambdaQueryWrapper = new LambdaQueryWrapper<>();
                         cameraSettingLambdaQueryWrapper.eq(MsCameraSetting::getType, 2);//只查询球机的信息 type:2 球机 type:1 枪击  type:10 故障
-                        //todo : 用于调整球机初始角
+                        //cameraSettingLambdaQueryWrapper.eq(MsCameraSetting::getType,5);//只查询球机的信息 用于调整球机初始角
-                        //cameraSettingLambdaQueryWrapper.eq(MsCameraSetting::getType,5);//只查询球机的信息
 
                         cameraSettings = msCameraSettingService.list(cameraSettingLambdaQueryWrapper);
                         if (cameraSettings == null || cameraSettings.isEmpty()) {
@@ -822,30 +822,6 @@ public class MilitaryZMQApplication implements ApplicationRunner {
                         log.info("case4 : 遍历相机列表 寻找最近的点的球机去跟踪");
                         log.info("case4 : " + JSON.toJSONString(cameraSettings));
 
-                        //todo : 未优化算法(减少相机数量)
-/*                        double minDis=GEOUtils.GetDistance(cameraSettings.get(0).getLongitude().doubleValue(),cameraSettings.get(0).getLatitude().doubleValue(), targetLonLat.getLon(), targetLonLat.getLat());
-                        int index=0;
-                        for (int i = 1; i < cameraSettings.size(); i++) {
-                            MsCameraSetting cameraSetting = cameraSettings.get(i);
-                            //todo : 1.计算距离 选最近球机 进行跟踪
-                            BigDecimal cameraHeight = cameraSetting.getHeight();
-                            BigDecimal labelHeight = new BigDecimal(h);
-                            double heightDiff = cameraHeight.subtract(labelHeight).doubleValue();
-                            if (heightDiff < 0) {
-                                log.info("IP:"+cameraSetting.getIp()+"与目标的高度差:"+heightDiff+"小于0");
-                            } else{
-                                BigDecimal longitude = cameraSetting.getLongitude();//经度
-                                BigDecimal latitude = cameraSetting.getLatitude();//纬度
-                                double zDis = GEOUtils.GetDistance(longitude.doubleValue(), latitude.doubleValue(), targetLonLat.getLon(), targetLonLat.getLat());
-                                log.info("下标i:"+i+ " 相机IP:"+ cameraSetting.getIp() +" 距离当前相机:"+zDis);
-                                //todo : 更新距离最小的数据 如果数据是按顺序的 可以判断当数据比前一个数据变大的时候就终止 取前一个数据
-                                if (zDis<minDis){
-                                    minDis=zDis;
-                                    index=i;
-                                }
-                            }
-                        }*/
-
                         // todo : 优化1.0
                         // 计算距离最近的球机
                         MsCameraSetting msCameraSetting = null;//最近球机信息
@@ -889,22 +865,9 @@ public class MilitaryZMQApplication implements ApplicationRunner {
                         log.info("case4 :" + " 相机IP:" + msCameraSetting.getIp() + " 最短距离nearestDistance:" + nearestDistance);
                         log.info("case4 :" + "距离最近的相机:" + JSON.toJSONString(msCameraSetting));
 
-/*                        //todo : 计算PTZ
+                        //todo : 球机也跟踪光电过去(此处可保留 也可删除 因为轨迹数据也会让球机过去)
-                        //球机高度
-                        BigDecimal cameraHeight = msCameraSetting.getHeight();
-                        //目标高度
-                        BigDecimal labelHeight = new BigDecimal(h);
-                        //球机与目标的高度差
-                        double heightDiff = cameraHeight.subtract(labelHeight).doubleValue();
-                        //高度差小于0 则说明目标在球机上方 超过球机照射范围
-                        if (heightDiff < 0) {
-                            log.info("heightDiff < 0 超过球机照射范围");
-                            return;
-                        }*/
-
-
                         //1.先控制球机照射目标
-                        log.info("【尝试使用ptzControllerByLatLonAndDistance】");
+                        log.info("case4【尝试使用ptzControllerByLatLonAndDistance】将球机转到目标位置");
                         msCameraSettingService.ptzControllerByLatLon(msCameraSetting.getIp(),
                                 msCameraSetting.getUser(),
                                 msCameraSetting.getPassword(),
@@ -930,7 +893,8 @@ public class MilitaryZMQApplication implements ApplicationRunner {
                         log.info("targetLonLat.getLat()" + targetLonLat.getLat());
 
                         //todo : 2.水平跟踪目标  目标详细信息再redis中 当雷达开启目标跟踪后 将发case3数据 订阅case3数据后 将目标详细数据缓存到redis中
-                        log.info("------case4将球机转到目标位置-------");
+                        //由于只能接收到方位角和距离 并且轨迹不断更新 所以只能将方位角和距离进行
+                        //由于经纬度不断变化 暂时不使用经纬度进行定位
                         DecimalFormat decimalFormat = new DecimalFormat("#.00");//保留两位小数
                         String longitude = decimalFormat.format(targetLonLat.getLon());
                         String latitude = decimalFormat.format(targetLonLat.getLat());
@@ -938,43 +902,20 @@ public class MilitaryZMQApplication implements ApplicationRunner {
                         //获取轨迹信息
                         //String redisKey = "tracks"+"_"+longitude+"_"+latitude;
                         int redisAzimuth = (int) azimuth;
-                        String redisKey = "tracks:"+redisAzimuth;
+                        int redisDis = (((int) distance + 999) / 1000) * 1000;
-                        log.info("case4 :"+"longitude:"+longitude+" "+"latitude"+latitude+"azimuth"+redisAzimuth);
+                        String redisKey = "tracks:" + redisAzimuth + "_" + redisDis;
-
+                        log.info("case4 :" + "longitude:" + longitude + " " + "latitude" + latitude + "azimuth" + redisAzimuth + redisDis);
-
+                        log.info("case4 :" + "redisKey = " + redisKey);
-                        // todo : 1.通过船速和航向控制球机转动(不采用)
- /*                       float targetSpeed = Float.parseFloat(redisUtil.hget(redisKey, "targetSpeed").toString());//航速
-                        float targetCourse =Float.parseFloat(redisUtil.hget(redisKey, "targetCourse").toString());//航向
-
-                        log.info("targetCourse 航向:"+String.valueOf(targetSpeed));
-                        log.info("targetSpeed 航速:"+String.valueOf(targetCourse));
-
-                        double ySpend = Math.cos(Math.toRadians(targetCourse))*targetSpeed; //正数 上  负数 下
-                        log.info("ySpend 方向："+String.valueOf(ySpend));
-
-                        String instruct="stop";
-                        //todo : 待优化
-                        if (ySpend>=0){   //160 下  330 上
-                            instruct="right";//(-1, 0, 0)
-                        }else {
-                            instruct="left";//(1, 0, 0)
-                        }
-
-                        //todo : 速度的计算 根据航速和航向
-                        float speed= (float) (targetSpeed * msCameraSetting.getLeftAngle());
-                        log.info("相机水平转动速度:"+String.valueOf(speed)+"方向:"+instruct);
 
-                        msCameraSettingService.ptzControl(msCameraSetting.getIp(), msCameraSetting.getUser(), msCameraSetting.getPassword(),instruct,speed);
-                        */
 
                         //todo : 2.通过不断更新的船经纬度信息控制球机转动
 /*                        redisUtil.hget(redisKey,"targetLon");
                         redisUtil.hget(redisKey,"targetLat");*/
-                        int trackId = (int) redisUtil.hget(redisKey, "trackId");//根据方位角 找到 轨迹Id
+                        int trackId = Integer.valueOf(redisUtil.hget(redisKey, "trackId").toString());//根据方位角 找到 轨迹Id
                         redisUtil.hset("trackingTargetId", String.valueOf(trackId), msCameraSetting.getIp());//将该轨迹 和 定位该轨迹的球机 保存到跟踪队列中
                         log.info("正在跟踪的trackId:" + trackId);
 
-                        //todo : 根据trackId更新的数据转动球机
+                        //todo : case4 当前轨迹数据是正在跟踪点时 调动球机跟踪
 
 
                     } catch (UnsupportedEncodingException e) {
@@ -986,8 +927,10 @@ public class MilitaryZMQApplication implements ApplicationRunner {
         };
         new Thread(nyGuideCamPosThread).start();
 
+
         //todo : 新增代码 球机联动
         /**
+         * case3 : 船轨迹数据 (开启目标跟踪使能后 持续发送)
          * address : 172.20.0.77 (ZMQ发布地址)
          * port : 5151
          * topic : RadarTrack(todo : 暂时写死 后续通过配置文件配置)
@@ -1016,8 +959,9 @@ public class MilitaryZMQApplication implements ApplicationRunner {
                 //将每个目标轨迹信息进行缓存
                 //String redisKey = "tracks"+"_"+longitude+"_"+latitude;//经纬度来进行缓存
                 float redisAzimuth = Float.parseFloat(azimuth);
+                int redisDis = ((radarTrackModel.getDis() + 999) / 1000) * 1000;
 
-                String redisKey = "tracks:"+(int)redisAzimuth;//方位角进行缓存
+                String redisKey = "tracks:" + (int) redisAzimuth + "_" + redisDis;//方位角进行缓存
                 //String redisKey = "tracks";//方位角进行缓存
 
                 //todo : 将雷达轨迹数据持续进行缓存 后续根据当用户点击雷达图的目标时 持续跟踪最新的该目标信息(存在的问题 : 雷达数据不更新)
@@ -1048,13 +992,11 @@ public class MilitaryZMQApplication implements ApplicationRunner {
                 log.info("查询当前轨迹是否处于跟踪状态" + ip);
                 if (ip != null) {// 该轨迹处于跟踪状态
 
-                    // todo : 2.0
                     //计算最近球机
                     List<MsCameraSetting> cameraSettings = null;//todo : 查询所有的球机 暂时查询本项目数据库 实际可能查询别的项目数据库
                     LambdaQueryWrapper<MsCameraSetting> cameraSettingLambdaQueryWrapper = new LambdaQueryWrapper<>();
                     cameraSettingLambdaQueryWrapper.eq(MsCameraSetting::getType, 2);//只查询球机的信息 type:2 球机 type:1 枪击  type:10 故障
-                    //todo : 用于调整球机初始角
+                    //cameraSettingLambdaQueryWrapper.eq(MsCameraSetting::getType,5);//只查询球机的信息 用于调整球机初始角
-                    //cameraSettingLambdaQueryWrapper.eq(MsCameraSetting::getType,5);//只查询球机的信息
 
                     cameraSettings = msCameraSettingService.list(cameraSettingLambdaQueryWrapper);
                     if (cameraSettings == null || cameraSettings.isEmpty()) {
@@ -1067,7 +1009,6 @@ public class MilitaryZMQApplication implements ApplicationRunner {
                     double nearestDistance = 0;//最近距离
                     double heightDiff = 0;//最近球机的高度差
                     double targetHeight = Double.parseDouble(redisUtil.hget("alarm_settings", "targetHeight").toString());
-                    //Map cameraList=new HashMap();//保存距离目标球机的顺序
                     for (MsCameraSetting cameraSetting : cameraSettings) {
                         // todo : 判断该球机是否满足照射范围 不满足的话还可以找第二近的球机 如果放到后面才判断高度差 就无法找第二近的去跟踪了
                         BigDecimal cameraHeight = cameraSetting.getHeight();//球机高度
@@ -1135,8 +1076,7 @@ public class MilitaryZMQApplication implements ApplicationRunner {
                     log.info("cameraSetting.getLatitude()：" + msCameraSetting.getLatitude().doubleValue());
                     log.info("targetLonLat.getLon()" + targetLon);
                     log.info("targetLonLat.getLat()" + targetLat);
-
+                    log.info("case3 :" + "已控制球机照过去 等待下一次更新的轨迹信息 在进行下次定位");
-                    log.info("case3 :"+"已控制球机照过去 等待下一次轨迹信息 在进行下次定位");
                 }
             }
 
@@ -1146,133 +1086,6 @@ public class MilitaryZMQApplication implements ApplicationRunner {
 
 
 
-    public static void main(String[] args) throws SOAPException, ConnectException {
-        float speed=10.45f;
-        System.out.println(speed*1000L);
-        long result= (long) (speed*1000L);
-        System.out.println(result);
-
-
-        RadarTrackModel radarTrackModel =new RadarTrackModel();
-        radarTrackModel.setDis(1);
-        log.info(JSON.toJSONString(radarTrackModel));
-
-        String a="314.8044";
-        float b= Float.parseFloat(a);
-        System.out.println(b);
-
-        float azimuth=314.80445f;
-        int redisAzimuth=(int)azimuth;
-        System.out.println(redisAzimuth);
-
-        double targetSpeed=1.0831853;
-        double targetCourse=330;
-        double degree=Math.toRadians(targetCourse);
-
-        double cos=Math.cos(degree);
-        double ySpend = Math.cos(targetCourse)*targetSpeed;
-        System.out.println(degree);
-        System.out.println(cos);
-        System.out.println(ySpend);
-        System.out.println("--------------------");
-       /* System.out.println(System.getProperty("user.dir") + "\\lib\\hk\\win64\\HCNetSDK.dll");
-        de.onvif.soap.OnvifDevice onvifDevice = new OnvifDevice("192.168.1.71","admin","hk123456");
-        PtzDevices ptzDevices = onvifDevice.getPtz();
-        String token = onvifDevice.getDevices().getProfiles().get(0).getToken();*/
-      //  boolean absoluteMoveSupported = ptzDevices.isAbsoluteMoveSupported(token);
-/*        System.out.println(absoluteMoveSupported);
-        ptzDevices.absoluteMove(token,0.5f,0.5f,0.5f);
-        ptzDevices.relativeMove(token,0,0,0.5f);*/
-
-/*        ptzDevices.absoluteMove(token,0.5f,0f,0f);
-        ptzDevices.relativeMove(token,0,0,0.5f);
-        ptzDevices.continuousMove(token,0.5f , 0f, 0f);
-        //ptzDevices.stopMove(token);
-        PTZStatus status = ptzDevices.getStatus(token);*/
-        JSONObject jsonObject = new JSONObject();
-        jsonObject.put("flag",1);
-        jsonObject.put("sourceId","AgilTrack_cat010bsz");
-        jsonObject.put("utc",System.currentTimeMillis());
-
-        List<RadarTrackModel> radarTracks=new ArrayList<>();
-        RadarTrackModel radarTrack = new RadarTrackModel();
-        radarTrack.setDis(100);
-        radarTrack.setAzimuth(315);
-        radarTrack.setRadarId(10);
-        radarTrack.setSpeed(10);
-        radarTrack.setLatitude(22.180616f);
-        radarTrack.setLongitude(113.40126f);
-        radarTracks.add(radarTrack);
-        jsonObject.put("radarTracks",JSON.toJSONString(radarTracks));
-        String jsonString = JSON.toJSONString(jsonObject);
-
-        byte[] data=jsonString.getBytes();
-
-        JSONObject jsonObject2 = JSON.parseObject(new String(data));
-        log.info("1.RadarTrack数据:" + jsonObject2.toString());
-
-        String radarTarcksJsonString = (String) jsonObject2.get("radarTracks");
-        List<RadarTrackModel> radarTrackModels = JSONObject.parseArray(radarTarcksJsonString, RadarTrackModel.class);
-        float latitude = radarTrackModels.get(0).getLatitude();
-        float longitude = radarTrackModels.get(0).getLongitude();
-        DecimalFormat decimalFormat = new DecimalFormat("#.00");
-        String l  = decimalFormat.format(latitude);
-        String r  = decimalFormat.format(longitude);
-        System.out.println(latitude);
-        System.out.println(longitude);
-        System.out.println(l);
-        System.out.println(r);
-        System.out.println(radarTrackModels);
-
-        float ab=1.0831853f;
-        log.info(String.valueOf(ab));
-    }
-
-    /**
-     * 获取最近球机
-     * @param cameraSettings 所有球机
-     * @param targetHeight   目标高度
-     * @param targetLon      目标经度
-     * @param targetLat      目标纬度
-     * @return
-     */
-    public MsCameraSetting getNearestDistanceCamera(List<MsCameraSetting> cameraSettings,double targetHeight,double targetLon,double targetLat){
-        // todo : 优化1.0
-        // 计算距离最近的球机
-        MsCameraSetting msCameraSetting=null;//最近球机信息
-        double nearestDistance=0;//最近距离
-        double heightDiff=0;//最近球机的高度差
-        //Map cameraList=new HashMap();//保存距离目标球机的顺序
-        for (MsCameraSetting cameraSetting : cameraSettings) {
-            // todo : 判断该球机是否满足照射范围 不满足的话还可以找第二近的球机 如果放到后面才判断高度差 就无法找第二近的去跟踪了
-            BigDecimal cameraHeight = cameraSetting.getHeight();//球机高度
-            BigDecimal labelHeight = new BigDecimal(targetHeight);//目标高度
-            double tempHeightDiff = cameraHeight.subtract(labelHeight).doubleValue();//球机与目标高度差
-            if (tempHeightDiff<0){
-                log.info("ip="+cameraSetting.getIp() + " tempHeightDiff < 0 超过球机照射范围");
-            }else {
-                double temp = GEOUtils.GetDistance(cameraSetting.getLongitude().doubleValue(),cameraSetting.getLatitude().doubleValue(),targetLon,targetLat);
-                // 第一次 先将第一个球机的距离作为最近距离 和 最近球机信息
-                if (msCameraSetting==null){
-                    msCameraSetting=cameraSetting;
-                    nearestDistance=temp;
-                    continue;
-                }
-                // 第二次以后 如果距离更近则更新最近距离 以及 最近球机信息
-                if (nearestDistance>temp){
-                    msCameraSetting=cameraSetting;
-                    nearestDistance=temp;
-                    heightDiff=tempHeightDiff;
-                }
-            }
-        }
-        //判断两点的距离是否超过有效距离，超过则丢掉
-        if (nearestDistance > Integer.parseInt(redisUtil.hget("alarm_settings", "inOutEffectDistance").toString())) {
-            log.info("超过跟踪的最大距离"+redisUtil.hget("alarm_settings", "inOutEffectDistance").toString());
-        }
-        return msCameraSetting;
-    }
-
 
     /**
      * 计算围网报警有效区域（围网外5米 + 雷达测角误差±1°造成的距离偏差）
@@ -1416,4 +1229,176 @@ public class MilitaryZMQApplication implements ApplicationRunner {
         return new MsAreaPoint[]{pointMap.get(min1), pointMap.get(min2)};
     }
 
+
+    //测试数据
+    public static void main(String[] args) throws SOAPException, ConnectException {
+        float d = 3142f;
+        int redisDis = (((int) d + 999) / 1000) * 1000;
+        System.out.println(redisDis);
+        int dis = 845;
+        int count = (int) Math.log10(dis) + 1;
+        System.out.println();//判断一个数是几位数
+
+        int num = 5000;
+        System.out.println(((num + 999) / 1000) * 1000);
+
+
+        float speed = 10.45f;
+        System.out.println(speed * 1000L);
+        long result = (long) (speed * 1000L);
+        System.out.println(result);
+
+
+        RadarTrackModel radarTrackModel = new RadarTrackModel();
+        radarTrackModel.setDis(1);
+        log.info(JSON.toJSONString(radarTrackModel));
+
+        String a = "314.8044";
+        float b = Float.parseFloat(a);
+        System.out.println(b);
+
+        float azimuth = 314.80445f;
+        int redisAzimuth = (int) azimuth;
+        System.out.println(redisAzimuth);
+
+        double targetSpeed = 1.0831853;
+        double targetCourse = 330;
+        double degree = Math.toRadians(targetCourse);
+
+        double cos = Math.cos(degree);
+        double ySpend = Math.cos(targetCourse) * targetSpeed;
+        System.out.println(degree);
+        System.out.println(cos);
+        System.out.println(ySpend);
+        System.out.println("--------------------");
+       /* System.out.println(System.getProperty("user.dir") + "\\lib\\hk\\win64\\HCNetSDK.dll");
+        de.onvif.soap.OnvifDevice onvifDevice = new OnvifDevice("192.168.1.71","admin","hk123456");
+        PtzDevices ptzDevices = onvifDevice.getPtz();
+        String token = onvifDevice.getDevices().getProfiles().get(0).getToken();*/
+        //  boolean absoluteMoveSupported = ptzDevices.isAbsoluteMoveSupported(token);
+/*        System.out.println(absoluteMoveSupported);
+        ptzDevices.absoluteMove(token,0.5f,0.5f,0.5f);
+        ptzDevices.relativeMove(token,0,0,0.5f);*/
+
+/*        ptzDevices.absoluteMove(token,0.5f,0f,0f);
+        ptzDevices.relativeMove(token,0,0,0.5f);
+        ptzDevices.continuousMove(token,0.5f , 0f, 0f);
+        //ptzDevices.stopMove(token);
+        PTZStatus status = ptzDevices.getStatus(token);*/
+        JSONObject jsonObject = new JSONObject();
+        jsonObject.put("flag", 1);
+        jsonObject.put("sourceId", "AgilTrack_cat010bsz");
+        jsonObject.put("utc", System.currentTimeMillis());
+
+        List<RadarTrackModel> radarTracks = new ArrayList<>();
+        RadarTrackModel radarTrack = new RadarTrackModel();
+        radarTrack.setDis(100);
+        radarTrack.setAzimuth(315);
+        radarTrack.setRadarId(10);
+        radarTrack.setSpeed(10);
+        radarTrack.setLatitude(22.180616f);
+        radarTrack.setLongitude(113.40126f);
+        radarTracks.add(radarTrack);
+        jsonObject.put("radarTracks", JSON.toJSONString(radarTracks));
+        String jsonString = JSON.toJSONString(jsonObject);
+
+        byte[] data = jsonString.getBytes();
+
+        JSONObject jsonObject2 = JSON.parseObject(new String(data));
+        log.info("1.RadarTrack数据:" + jsonObject2.toString());
+
+        String radarTarcksJsonString = (String) jsonObject2.get("radarTracks");
+        List<RadarTrackModel> radarTrackModels = JSONObject.parseArray(radarTarcksJsonString, RadarTrackModel.class);
+        float latitude = radarTrackModels.get(0).getLatitude();
+        float longitude = radarTrackModels.get(0).getLongitude();
+        DecimalFormat decimalFormat = new DecimalFormat("#.00");
+        String l = decimalFormat.format(latitude);
+        String r = decimalFormat.format(longitude);
+        System.out.println(latitude);
+        System.out.println(longitude);
+        System.out.println(l);
+        System.out.println(r);
+        System.out.println(radarTrackModels);
+
+        float ab = 1.0831853f;
+        log.info(String.valueOf(ab));
+    }
+
+
+    //根据船速和航向进行跟踪
+    private void trackingTarget() {
+        // todo : 通过船速和航向控制球机转动(不采用)
+        MsCameraSetting msCameraSetting=null;
+
+        String redisKey = "";//根据雷达图上目标的距离和方位角找到轨迹数据中对应的目标ID
+
+        float targetSpeed = Float.parseFloat(redisUtil.hget(redisKey, "targetSpeed").toString());//获取跟踪目标的航速
+        float targetCourse = Float.parseFloat(redisUtil.hget(redisKey, "targetCourse").toString());//获取跟踪目标的航向
+
+        log.info("targetCourse 航向:" + String.valueOf(targetSpeed));
+        log.info("targetSpeed 航速:" + String.valueOf(targetCourse));
+
+        //计算水平运动速度
+        double ySpend = Math.cos(Math.toRadians(targetCourse)) * targetSpeed; //正数 上  负数 下
+        log.info("ySpend 方向：" + String.valueOf(ySpend));
+
+        String instruct = "stop";
+        //todo : 待优化
+        if (ySpend >= 0) {   //160 下  330 上
+            instruct = "right";//(-1, 0, 0)
+        } else {
+            instruct = "left";//(1, 0, 0)
+        }
+
+        //todo : 速度的计算 根据航速和航向
+        float speed = (float) (targetSpeed * msCameraSetting.getLeftAngle());
+        log.info("相机水平转动速度:" + String.valueOf(speed) + "方向:" + instruct);
+
+        msCameraSettingService.ptzControl(msCameraSetting.getIp(), msCameraSetting.getUser(), msCameraSetting.getPassword(), instruct, speed);
+    }
+
+    /**
+     * 获取最近球机
+     *
+     * @param cameraSettings 所有球机
+     * @param targetHeight   目标高度
+     * @param targetLon      目标经度
+     * @param targetLat      目标纬度
+     * @return
+     */
+    public MsCameraSetting getNearestDistanceCamera(List<MsCameraSetting> cameraSettings, double targetHeight, double targetLon, double targetLat) {
+        // 计算距离最近的球机
+        MsCameraSetting msCameraSetting = null;//最近球机信息
+        double nearestDistance = 0;//最近距离
+        double heightDiff = 0;//最近球机的高度差
+        //Map cameraList=new HashMap();//保存距离目标球机的顺序
+        for (MsCameraSetting cameraSetting : cameraSettings) {
+            // todo : 判断该球机是否满足照射范围 不满足的话还可以找第二近的球机 如果放到后面才判断高度差 就无法找第二近的去跟踪了
+            BigDecimal cameraHeight = cameraSetting.getHeight();//球机高度
+            BigDecimal labelHeight = new BigDecimal(targetHeight);//目标高度
+            double tempHeightDiff = cameraHeight.subtract(labelHeight).doubleValue();//球机与目标高度差
+            if (tempHeightDiff < 0) {
+                log.info("ip=" + cameraSetting.getIp() + " tempHeightDiff < 0 超过球机照射范围");
+            } else {
+                double temp = GEOUtils.GetDistance(cameraSetting.getLongitude().doubleValue(), cameraSetting.getLatitude().doubleValue(), targetLon, targetLat);
+                // 第一次 先将第一个球机的距离作为最近距离 和 最近球机信息
+                if (msCameraSetting == null) {
+                    msCameraSetting = cameraSetting;
+                    nearestDistance = temp;
+                    continue;
+                }
+                // 第二次以后 如果距离更近则更新最近距离 以及 最近球机信息
+                if (nearestDistance > temp) {
+                    msCameraSetting = cameraSetting;
+                    nearestDistance = temp;
+                    heightDiff = tempHeightDiff;
+                }
+            }
+        }
+        //判断两点的距离是否超过有效距离，超过则丢掉
+        if (nearestDistance > Integer.parseInt(redisUtil.hget("alarm_settings", "inOutEffectDistance").toString())) {
+            log.info("超过跟踪的最大距离" + redisUtil.hget("alarm_settings", "inOutEffectDistance").toString());
+        }
+        return msCameraSetting;
+    }
 }

military/military-module-system/src/main/java/com/zgx/modules/military/entity/MsCameraSetting.java

@@ -23,6 +23,8 @@ import lombok.experimental.Accessors;
  * @Date:   2021-07-01
  * @Version: V1.0
  */
+
+//todo : 少了字段 1.厂家 
 @Data
 @TableName("ms_camera_setting")
 @Accessors(chain = true)

military/military-module-system/src/main/java/com/zgx/modules/military/service/IMsCameraSettingService.java

@@ -142,5 +142,6 @@ public interface IMsCameraSettingService extends IService<MsCameraSetting> {
                                       double lon1,
                                       double lat1,
                                       double lon2,
-                                      double lat2);
+                                      double lat2,
+                                      int style);
 }

military/military-module-system/src/main/java/com/zgx/modules/military/service/impl/MsCameraSettingServiceImpl.java

@@ -173,9 +173,11 @@ public class MsCameraSettingServiceImpl extends ServiceImpl<MsCameraSettingMappe
             //计算PTZ值(根据数据库设置的初始值进行进一步计算)  -1<P<1 -1<T<1 0<Z<1
             PTZVo ptzVo = new PTZVo();
             if (style==1){
-                ptzVo = ptzCal1(yOffsetAngle, zOffsetAngle, focusDis, yAngle, zAngle, factor);//todo : 海康计算方法
+                //ptzVo = ptzCal1(yOffsetAngle, zOffsetAngle, focusDis, yAngle, zAngle, factor);//todo : 海康计算方法
+                ptzVo = HKPTZCal(yOffsetAngle, zOffsetAngle, focusDis, yAngle, zAngle, factor);//todo : 海康计算方法
             }else if(style==2){
-                ptzVo = ptzCal2(yOffsetAngle, zOffsetAngle, focusDis, yAngle, zAngle, factor);//todo : 宇视计算方法
+                //ptzVo = ptzCal2(yOffsetAngle, zOffsetAngle, focusDis, yAngle, zAngle, factor);//todo : 宇视计算方法
+                ptzVo = YSPTZCal(yOffsetAngle, zOffsetAngle, focusDis, yAngle, zAngle, factor);//todo : 宇视计算方法
             }
 
             log.info("【计算后的ptzVo】"+ptzVo.toString());
@@ -604,6 +606,8 @@ public class MsCameraSettingServiceImpl extends ServiceImpl<MsCameraSettingMappe
     }
 
 
+
+
     // todo : 计算海康PTZ值
     /**
      * 计算ptz2的值
@@ -702,4 +706,115 @@ public class MsCameraSettingServiceImpl extends ServiceImpl<MsCameraSettingMappe
 
     }
 
+
+    /**
+     * 计算宇视ptz的值
+     * @param yOffsetAngle 最大仰角
+     * @param zOffsetAngle 水平初始角
+     * @param distance     相机与目标距离
+     * @param yAngle       相机与视野垂直夹角（垂直移动角度）
+     * @param zAngle       相机与视野水平夹角（水平移动角度）
+     * @param factor       变倍因子
+     * @return
+     */
+    public PTZVo YSPTZCal(double yOffsetAngle,//最大仰角
+                         double zOffsetAngle,//水平初始角
+                         double distance,
+                         double yAngle,//球机需要转动的垂直角度
+                         double zAngle,
+                         double factor) {
+        PTZVo ptzVo = new PTZVo();
+        double zReal = (zAngle + 360 - zOffsetAngle) % 360;
+        double panValue = 0f;
+        double tiltValue = 0f;
+        double commonAngle = 180.00f;
+        double commonAngle1 = (yOffsetAngle + 90.00f) / 2.00f;
+        if (zReal < 180) {
+            if (zReal <= 0) {
+                panValue = 0f;
+            } else {
+                panValue = zReal / commonAngle;
+            }
+        } else {
+            panValue = (zReal - commonAngle) / commonAngle - 1;
+        }
+
+        if (yAngle > commonAngle1) {
+            if (yAngle > commonAngle1 * 2) { // yAngle < 90  yOffsetAngle <
+                tiltValue = 1;
+            } else {
+                tiltValue = ((yAngle - commonAngle1) / commonAngle1) * (-1);
+            }
+        } else {
+            tiltValue = (yAngle - commonAngle1) / commonAngle1;
+        }
+        ptzVo.setPanValue(panValue);
+        ptzVo.setTileValue(tiltValue);
+
+        double zoomValue = factor * distance * 0.01;
+        if (zoomValue > 1) {
+            zoomValue = 1;
+        }
+        if (zoomValue < factor) {
+            zoomValue = factor;
+        }
+        ptzVo.setZoomValue(zoomValue);
+        return ptzVo;
+    }
+
+
+
+    /**
+     * 计算海康球机的ptz的值
+     * @param yOffsetAngle 最大仰角
+     * @param zOffsetAngle 水平初始角
+     * @param distance     相机与目标距离
+     * @param yAngle       相机与视野垂直夹角（垂直移动角度）
+     * @param zAngle       相机与视野水平夹角（水平移动角度）
+     * @param factor       变倍因子
+     * @return
+     */
+    public PTZVo HKPTZCal(double yOffsetAngle,//最大仰角
+                         double zOffsetAngle,//水平初始角
+                         double distance,
+                         double yAngle,//球机需要转动的垂直角度
+                         double zAngle,//根据球机经纬度和目标经纬度计算得出水平角
+                         double factor) {
+        PTZVo ptzVo = new PTZVo();
+        double zReal = (zAngle + 360 - zOffsetAngle) % 360;
+        double panValue = 0f;
+        double tiltValue= 0f;
+        double commonAngle = 180.00f;
+        double commonAngle1 = 45.00f;
+
+        //P算法
+        if (zReal < 180) {
+            if (zReal <= 0) {
+                panValue = 0f;
+            } else {
+                panValue = zReal / commonAngle;//p的取值范围在0-1之间
+            }
+        } else {
+            panValue = (zReal - commonAngle) / commonAngle - 1;
+        }
+
+        //T算法  (yAngle-45)/45 * (-1)
+        tiltValue=(-1)*(yAngle-commonAngle1)/commonAngle1; //yAngle的取值范围是0-90 一般是 86~89度左右
+
+        ptzVo.setPanValue(panValue);
+        ptzVo.setTileValue(tiltValue);//T值范围修正
+
+        // Z算法
+        double zoomValue = factor * distance * 0.01; //可以通过数据库factor去控制聚焦
+
+        if (zoomValue > 1) {
+            zoomValue = 1;
+        }
+        if (zoomValue < factor) {
+            zoomValue = factor;
+        }
+        ptzVo.setZoomValue(zoomValue);
+        return ptzVo;
+    }
+
 }

military/military-module-system/src/main/java/com/zgx/modules/military/utils/hp/HPDataHandle.java

@@ -98,7 +98,7 @@ public class HPDataHandle {
                     redisUtil.hset("PTZStatus", "ptRunState", param.getIntValue("ptRunState"));
                     break;
                 case "ivpReport":  //todo : 智能分析上报消息
-                    log.info(tcpClient.getIp() + "======" + new String(data, "UTF-8"));
+                    //log.info(tcpClient.getIp() + "======" + new String(data, "UTF-8"));//todo : 先不打印
                     JSONArray targets = param.getJSONArray("targets");
                     for (int i = 0; i < targets.size(); i++) {
                         //检测到目标为人
@@ -137,12 +137,12 @@ public class HPDataHandle {
                     break;
                 case "ivpTrackingStatusGet": //todo : 获取目标跟踪状态
                     //判断当前光电是否正在跟踪，否的话判断是否存在目标ID，有的话让其跟踪
-                    log.info("3.ivpTrackingStatusGet:ackvalue="+param.getInteger("ackvalue").toString());
+                    //log.info("3.ivpTrackingStatusGet:ackvalue="+param.getInteger("ackvalue").toString());
                     if (param.getInteger("ackvalue") == 100) {
                         boolean bTracking = param.getBooleanValue("bTracking");
                         if (bTracking) {
                             System.out.println("【正在跟踪...】");
-                            log.info("正在跟踪...");
+                            //log.info("正在跟踪...");
                             //如果正在跟踪，判断当前是否已经丢失了目标
                             tcpClient.send(
                                     HPDataParser.send(
@@ -152,9 +152,9 @@ public class HPDataHandle {
                             );
                         } else {
                             System.out.println("【当前不在跟踪状态】");
-                            log.info("当前不在跟踪状态...");
+                            //log.info("当前不在跟踪状态...");
                             if (redisUtil.get(tcpClient.getIp() + "_trackTarget") != null) {
-                                System.out.println("跟踪目标ID" + Integer.parseInt(String.valueOf(redisUtil.get(tcpClient.getIp() + "_trackTarget"))));
+                                //System.out.println("跟踪目标ID" + Integer.parseInt(String.valueOf(redisUtil.get(tcpClient.getIp() + "_trackTarget"))));
                                 //跟踪目标
                                 tcpClient.send(
                                         HPDataParser.send(
@@ -169,7 +169,7 @@ public class HPDataHandle {
                 case "ivpGetResult": //todo : 获取智能分析结果
                     if (param.getInteger("ackvalue") == 100) {
                         //若目标丢失了，则停止跟踪
-                        System.out.println("【智能分析結果-】" + param.getJSONArray("targets"));
+                        //System.out.println("【智能分析結果-】" + param.getJSONArray("targets"));
                         if (param.getJSONArray("targets").size() == 0) {
                             System.out.println("目标已经丢失，停止跟踪");
                             tcpClient.send(

military/military-module-system/src/main/java/com/zgx/modules/military/utils/hp/HPTcpKeepAlive.java

@@ -33,7 +33,7 @@ public class HPTcpKeepAlive extends Thread {
                 try {
                     for (Map.Entry<String, TcpClient> entity : ThreadManager.getTcpClientMap().entrySet()) {
                         if (entity.getValue().isConnected()) {
-                            log.info(entity.getKey() + "===发送心跳");
+                            //log.info(entity.getKey() + "===发送心跳");
                             if (entity.getKey().equals(String.valueOf(redisUtil.hget("dataRecordServer", "ip")))) {
                                 data = AlarmInfoConvert.getStateInformationData(
                                         Integer.valueOf(redisUtil.hget("dataRecordServer", "deviceNum").toString()),

military/military-module-system/target/maven-status/maven-compiler-plugin/compile/default-compile/createdFiles.lst

@@ -262,7 +262,6 @@ com\zgx\modules\system\service\ISysDepartRolePermissionService.class
 com\zgx\modules\military\controller\MsAisInfoController.class
 com\zgx\modules\system\service\ISysCheckRuleService.class
 com\zgx\modules\system\service\ISysDictItemService.class
-com\zgx\MilitaryZMQApplication$3.class
 com\zgx\modules\system\util\SecurityUtil.class
 com\zgx\modules\system\model\DepartIdModel.class
 com\zgx\modules\quartz\service\IQuartzJobService.class
@@ -340,6 +339,7 @@ com\zgx\modules\system\service\impl\SysDataSourceServiceImpl.class
 com\zgx\modules\system\service\impl\SysPermissionServiceImpl.class
 com\zgx\modules\military\controller\MsDeviceInfoController$1.class
 com\zgx\modules\military\controller\MsFencesInfoController.class
+com\zgx\modules\military\entity\RadarTrackModel.class
 com\zgx\modules\system\service\ISysUserAgentService.class
 com\zgx\modules\military\mapper\MsModelPositionMapper.class
 com\zgx\modules\system\util\PermissionDataUtil.class
@@ -364,7 +364,6 @@ com\zgx\modules\military\constant\enums\AlarmType2.class
 com\zgx\modules\api\controller\SystemAPIController.class
 com\zgx\modules\message\entity\SysMessage.class
 com\zgx\modules\system\service\ISysUserService.class
-com\zgx\MilitaryZMQApplication$4.class
 com\zgx\modules\military\service\impl\MsDeviceInfoVOServiceImpl.class
 com\zgx\modules\military\mapper\MsDutyUserMapper.class
 com\zgx\modules\military\entity\MsDutyUserBak.class

military/military-module-system/target/maven-status/maven-compiler-plugin/compile/default-compile/inputFiles.lst

@@ -107,6 +107,7 @@ C:\Users\15819\Desktop\military\military\military-module-system\src\main\java\co
 C:\Users\15819\Desktop\military\military\military-module-system\src\main\java\com\zgx\modules\military\service\IMsCameraSiteService.java
 C:\Users\15819\Desktop\military\military\military-module-system\src\main\java\com\zgx\modules\system\mapper\SysDepartRoleMapper.java
 C:\Users\15819\Desktop\military\military\military-module-system\src\main\java\com\zgx\modules\system\vo\thirdapp\SyncInfoVo.java
+C:\Users\15819\Desktop\military\military\military-module-system\src\main\java\com\zgx\modules\military\entity\RadarTrackModel.java
 C:\Users\15819\Desktop\military\military\military-module-system\src\main\java\com\zgx\modules\system\util\TenantContext.java
 C:\Users\15819\Desktop\military\military\military-module-system\src\main\java\com\zgx\modules\military\utils\hp\HPReqParamEnc.java
 C:\Users\15819\Desktop\military\military\military-module-system\src\main\java\com\zgx\modules\monitor\controller\ActuatorRedisController.java