diff --git a/military/military-module-system/src/main/java/com/zgx/MilitaryZMQApplication.java b/military/military-module-system/src/main/java/com/zgx/MilitaryZMQApplication.java index 63aefeb..9b28aed 100644 --- a/military/military-module-system/src/main/java/com/zgx/MilitaryZMQApplication.java +++ b/military/military-module-system/src/main/java/com/zgx/MilitaryZMQApplication.java @@ -50,6 +50,8 @@ import java.awt.geom.Point2D; import java.io.UnsupportedEncodingException; import java.math.BigDecimal; import java.net.ConnectException; +import java.nio.charset.StandardCharsets; +import java.text.DecimalFormat; import java.text.ParseException; import java.util.*; @@ -76,7 +78,6 @@ public class MilitaryZMQApplication implements ApplicationRunner { IMsAlarmSettingsService msAlarmSettingsService; @Autowired IMsFaultRecordService msFaultRecordService; - @Autowired IMsCameraSettingService msCameraSettingService; @@ -155,7 +156,7 @@ public class MilitaryZMQApplication implements ApplicationRunner { redisUtil.hset("alarm_settings", "targetHeight", alarmSettings.getTargetHeight()); } - //1.监听雷达（雷远）预警信息 +/* //1.监听雷达（雷远）预警信息 ZmqSubThread radarLYInfoThread = new ZmqSubThread(address, recvPort, radarLY) { @Override public void dealWithData(byte[] data) throws ParseException { @@ -540,9 +541,9 @@ public class MilitaryZMQApplication implements ApplicationRunner { } } }; - new Thread(radarSYInfoThread).start(); + new Thread(radarSYInfoThread).start();*/ - //3.监听电子围网（智安）报警信息 +/* //3.监听电子围网（智安）报警信息 ZmqSubThread fenceZAInfoThread = new ZmqSubThread(address, recvPort, fenceZA) { @Override public void dealWithData(byte[] data) throws ParseException { @@ -655,7 +656,7 @@ public class MilitaryZMQApplication implements ApplicationRunner { faultRecord.setContent(content.toString()); faultRecord.setHappenTime(new Date(jsonObject.getLongValue("timestamp"))); msFaultRecordService.save(faultRecord); - /*//根据IP获取对应设数据记录设备线程 + *//*//根据IP获取对应设数据记录设备线程 TcpClient tcpClient = ThreadManager.getTcpClientMap().get(String.valueOf(redisUtil.hget("dataRecordServer", "ip"))); if (tcpClient != null) { //将报警数据发送给大系统 @@ -668,7 +669,7 @@ public class MilitaryZMQApplication implements ApplicationRunner { AlarmType2.BREAK.getCode(), 9999, System.currentTimeMillis()); - tcpClient.send(alarmInfo);*/ + tcpClient.send(alarmInfo);*//* } } break; @@ -677,7 +678,7 @@ public class MilitaryZMQApplication implements ApplicationRunner { } } }; - new Thread(fenceZAInfoThread).start(); + new Thread(fenceZAInfoThread).start();*/ //todo 新增代码 目标位置信息 @@ -691,7 +692,7 @@ public class MilitaryZMQApplication implements ApplicationRunner { public void dealWithData(byte[] data) throws ParseException { log.info(Thread.currentThread().getName() + "接收到数据：" + new String(data)); JSONObject jsonObject = JSON.parseObject(new String(data)); - log.info("1.jsonObject:" + jsonObject.toString()); + log.info("case4 : jsonObject:" + jsonObject.toString()); //查询雷达信息 雷达经纬度(113.455074,22.122197) QueryWrapper queryWrapper = new QueryWrapper<>(); @@ -711,7 +712,7 @@ public class MilitaryZMQApplication implements ApplicationRunner { //获取目标经纬度 targetLonLat:(113.457415,22.094953) GEOIntersectPointUtils.LatLon targetLonLat = GEOUtils.getLocationByLocationAndAngleAndDistance(deviceInfo.getLon(), deviceInfo.getLat(), azimuth, distance);//计算目标点经纬度 //todo : 打印目标经纬度 - log.info("2.目标经纬度targetLonLat:" + targetLonLat); + log.info("case4 : 目标经纬度targetLonLat:" + targetLonLat); //判断该设备是否有关联光电，有则查询光电信息 MsDeviceInfo cameraInfo = null; @@ -782,7 +783,7 @@ public class MilitaryZMQApplication implements ApplicationRunner { double fov = Math.toDegrees(Math.atan(h / d)) * 2 * 100; //todo 打印光电水平所需偏转角 -/* log.info("3.获取光电水平初始偏转角cameraInitAzimuth" + cameraInfo.getInitAzimuth().toString()); +/* log.info("3.获取光电水平初始偏转角cameraInitAzimuth" + cameraInfo.getInitAzimuth().toString()); log.info("4.PTZStatus-pan:" + redisUtil.hget("PTZStatus", "pan").toString()); log.info("5.获取光电水平偏转角cameraAzimuth:" + cameraAzimuth); log.info("6.计算目标绝对方位角targetAzimuth:" + targetAzimuth); @@ -796,7 +797,7 @@ public class MilitaryZMQApplication implements ApplicationRunner { log.info("10.目标平均高度height:" + h); log.info("11.目标距离dis:" + d); log.info("12.计算视场角:" + fov);*/ - + log.info("视场角:" + fov); tcpClient.send( HPDataParser.send( HPReqParamEnc.ptzControl(String.valueOf(redisUtil.get(tcpClient.getIp())), @@ -808,50 +809,173 @@ public class MilitaryZMQApplication implements ApplicationRunner { //todo : 联动控制球机 log.info("联动控制球机:"); - MsCameraSetting cameraSetting = null; - if (cameraInfo.getRelateType() == 6) {//雷达通过relate_type==2 和relate_id去绑定光电 需要在ms_device_info表中中添加并绑定光电信息 - //根据关联id查询光电信息 - cameraSetting = msCameraSettingService.getById(cameraInfo.getRelateId()); - if (cameraSetting == null) { - log.info("查询不到关联的球机设备"); - } + List 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 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 + + cameraSettings = msCameraSettingService.list(cameraSettingLambdaQueryWrapper); + if (cameraSettings==null|| cameraSettings.isEmpty()){ + return; } - //1、若设备关联球机，则进行联动定位 - if (cameraSetting != null) { - //todo : 计算PTZ + 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(1.5);//todo : 暂时写死 实际应该查表 + BigDecimal labelHeight = new BigDecimal(h); double heightDiff = cameraHeight.subtract(labelHeight).doubleValue(); if (heightDiff < 0) { - return; + 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 (zDistemp){ + msCameraSetting=cameraSetting; + nearestDistance=temp; + heightDiff=tempHeightDiff; + } } + } + + /*MsCameraSetting msCameraSetting = getNearestDistanceCamera(cameraSettings, h, targetLonLat.getLon(), targetLonLat.getLat()); + double nearestDistance= GEOUtils.GetDistance(msCameraSetting.getLongitude().doubleValue(),msCameraSetting.getLatitude().doubleValue(),targetLonLat.getLon(),targetLonLat.getLat()); + double heightDiff= msCameraSetting.getHeight().subtract(BigDecimal.valueOf(h)).doubleValue(); + */ //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("case4 :"+"超过跟踪的最大距离"+redisUtil.hget("alarm_settings", "inOutEffectDistance").toString()); + return; + } + + //MsCameraSetting msCameraSetting = cameraSettings.get(index); + 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 + //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】"); + msCameraSettingService.ptzControllerByLatLon(msCameraSetting.getIp(), + msCameraSetting.getUser(), + msCameraSetting.getPassword(), + msCameraSetting.getMaxElevation(), + msCameraSetting.getZeroAzimuth(), + heightDiff, + msCameraSetting.getZoomFactor(), + msCameraSetting.getLongitude().doubleValue(), + msCameraSetting.getLatitude().doubleValue(), + targetLonLat.getLon(), + targetLonLat.getLat(), + msCameraSetting.getStyle());//style用于区分品牌类型 1:海康 2:宇视 + log.info("case4 :"+"【参数信息】"); + log.info("cameraSetting.getUser()："+msCameraSetting.getUser()); + log.info("cameraSetting.getPassword()："+msCameraSetting.getPassword()); + log.info("cameraSetting.getMaxElevation()："+msCameraSetting.getMaxElevation()); + log.info("cameraSetting.getZeroAzimuth()："+msCameraSetting.getZeroAzimuth()); + log.info("heightDiff："+heightDiff); + log.info("cameraSetting.getZoomFactor()："+msCameraSetting.getZoomFactor()); + log.info("cameraSetting.getLongitude()："+msCameraSetting.getLongitude().doubleValue()); + log.info("cameraSetting.getLatitude()："+msCameraSetting.getLatitude().doubleValue()); + log.info("targetLonLat.getLon()"+targetLonLat.getLon()); + 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-------"); + DecimalFormat decimalFormat = new DecimalFormat("#.00");//保留两位小数 + String longitude = decimalFormat.format(targetLonLat.getLon()); + String latitude = decimalFormat.format(targetLonLat.getLat()); + + //获取轨迹信息 + //String redisKey = "tracks"+"_"+longitude+"_"+latitude; + int redisAzimuth=(int)azimuth; + String redisKey = "tracks:"+redisAzimuth; + log.info("case4 :"+"longitude:"+longitude+" "+"latitude"+latitude+"azimuth"+redisAzimuth); + + + // 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("【尝试使用ptzControllerByLatLonAndDistance】"); - msCameraSettingService.ptzControllerByLatLon(cameraSetting.getIp(), - cameraSetting.getUser(), - cameraSetting.getPassword(), - cameraSetting.getMaxElevation(), - cameraSetting.getZeroAzimuth(), - heightDiff, - cameraSetting.getZoomFactor(), - cameraSetting.getLongitude().doubleValue(), - cameraSetting.getLatitude().doubleValue(), - targetLonLat.getLon(), - targetLonLat.getLat()); - log.info("【参数信息】"); - log.info("cameraSetting.getUser()："+cameraSetting.getUser()); - log.info("cameraSetting.getPassword()："+cameraSetting.getPassword()); - log.info("cameraSetting.getMaxElevation()："+cameraSetting.getMaxElevation()); - log.info("cameraSetting.getZeroAzimuth()："+cameraSetting.getZeroAzimuth()); - log.info("heightDiff："+heightDiff); - log.info("cameraSetting.getZoomFactor()："+cameraSetting.getZoomFactor()); - log.info("cameraSetting.getLongitude()："+cameraSetting.getLongitude().doubleValue()); - log.info("cameraSetting.getLatitude()："+cameraSetting.getLatitude().doubleValue()); - log.info("targetLonLat.getLon()"+targetLonLat.getLon()); - log.info("targetLonLat.getLat()"+targetLonLat.getLat()); + 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 + 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 + } catch (UnsupportedEncodingException e) { e.printStackTrace(); @@ -861,25 +985,295 @@ public class MilitaryZMQApplication implements ApplicationRunner { }; new Thread(nyGuideCamPosThread).start(); + + //todo : 新增代码 球机联动 + /** + * 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) + */ + ZmqSubThread radarTrackThread = new ZmqSubThread(address, recvPort, "RadarTrack") { //todo ip为radar-gui服务运行的机器 + @Override + public void dealWithData(byte[] data) throws ParseException { + log.info(Thread.currentThread().getName() + "接收到数据：" + new String(data)); + JSONObject jsonObject = JSON.parseObject(new String(data)); + log.info("case3 :"+"1.RadarTrack数据:" + jsonObject.toString()); + + String radarTarcksJsonString = (String) jsonObject.get("radarTracks"); + List radarTrackModels = JSONObject.parseArray(radarTarcksJsonString, RadarTrackModel.class); + log.info(JSON.toJSONString(radarTrackModels)); + RadarTrackModel radarTrackModel = radarTrackModels.get(0); + log.info("case3 :"+JSON.toJSONString(radarTrackModel)); + + //将经纬度作为key去定位 + DecimalFormat decimalFormat = new DecimalFormat("#.00"); + String longitude = decimalFormat.format(radarTrackModel.getLongitude()); + String latitude = decimalFormat.format(radarTrackModel.getLatitude()); + String azimuth = decimalFormat.format(radarTrackModel.getAzimuth()); + + log.info("longitude:"+longitude+"latitude:"+latitude+"azimuth:"+azimuth); + + //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); + + String redisKey = "tracks:"+(int)redisAzimuth;//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) + log.info("redisKey:"+redisKey); + + //缓存 Azimuth =》 船信息 + redisUtil.hset(redisKey,"targetLon",radarTrackModel.getLongitude()); + redisUtil.hset(redisKey,"targetLat",radarTrackModel.getLatitude()); + redisUtil.hset(redisKey,"targetDis",radarTrackModel.getDis()); + redisUtil.hset(redisKey,"targetAzimuth",radarTrackModel.getAzimuth()); + redisUtil.hset(redisKey,"targetCourse",radarTrackModel.getCourse()); + redisUtil.hset(redisKey,"targetSpeed",radarTrackModel.getSpeed()); + redisUtil.hset(redisKey,"trackId",radarTrackModel.getTrackId()); + + + //缓存 TrackId =》 船信息 (todo:如果雷达case 4数据可以多发一个trackId 就无需多缓存azimuth) + String trackIdKey = "trackIds:"+radarTrackModel.getTrackId(); + redisUtil.hset(trackIdKey,"targetLon",radarTrackModel.getLongitude()); + redisUtil.hset(trackIdKey,"targetLat",radarTrackModel.getLatitude()); + redisUtil.hset(trackIdKey,"targetDis",radarTrackModel.getDis()); + redisUtil.hset(trackIdKey,"targetAzimuth",radarTrackModel.getAzimuth()); + redisUtil.hset(trackIdKey,"targetCourse",radarTrackModel.getCourse()); + redisUtil.hset(trackIdKey,"targetSpeed",radarTrackModel.getSpeed()); + redisUtil.hset(trackIdKey,"trackId",radarTrackModel.getTrackId()); + + //redis中存在正在跟踪的轨迹目标信息 + String ip = (String) redisUtil.hget("trackingTargetId", String.valueOf(radarTrackModel.getTrackId()));//获取并判断雷达传过来的轨迹数据 看是否该轨迹在跟踪目标队列中 + 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 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 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 + + cameraSettings = msCameraSettingService.list(cameraSettingLambdaQueryWrapper); + if (cameraSettings==null|| cameraSettings.isEmpty()){ + return; + } + log.info("遍历相机列表 寻找最近的点的球机去跟踪"); + log.info(JSON.toJSONString(cameraSettings)); + + 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 + 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 + 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("case3 :"+"ip="+cameraSetting.getIp() + " tempHeightDiff < 0 超过球机照射范围"); + }else { + double temp = GEOUtils.GetDistance(cameraSetting.getLongitude().doubleValue(),cameraSetting.getLatitude().doubleValue(),(double) redisUtil.hget("trackIds:"+radarTrackModel.getTrackId(), "targetLon"),(double) redisUtil.hget("trackIds:"+radarTrackModel.getTrackId(), "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("case3 :"+"超过跟踪的最大距离"+redisUtil.hget("alarm_settings", "inOutEffectDistance").toString()); + return; + } + + //MsCameraSetting msCameraSetting = cameraSettings.get(index); + log.info("case3 :"+" 相机IP:"+ msCameraSetting.getIp() +" 最短距离nearestDistance:"+nearestDistance); + log.info("case3 :"+"距离最近的相机:"+JSON.toJSONString(msCameraSetting)); + + + //todo : 1.0 + String trackIdKey2 = "trackIds:"+radarTrackModel.getTrackId();//获取该轨迹对应的最新数据 + double targetLon = (double) redisUtil.hget(trackIdKey2, "targetLon"); + double targetLat = (double) redisUtil.hget(trackIdKey2, "targetLat"); + + //LambdaQueryWrapper lambdaQueryWrapper = new LambdaQueryWrapper().eq(MsCameraSetting::getIp, ip); + //MsCameraSetting msCameraSetting = msCameraSettingService.getOne(lambdaQueryWrapper); + //控制球机照射目标 + log.info("case3 :"+"【尝试使用ptzControllerByLatLonAndDistance】"); + msCameraSettingService.ptzControllerByLatLon(msCameraSetting.getIp(), + msCameraSetting.getUser(), + msCameraSetting.getPassword(), + msCameraSetting.getMaxElevation(), + msCameraSetting.getZeroAzimuth(), + heightDiff, + msCameraSetting.getZoomFactor(), + msCameraSetting.getLongitude().doubleValue(), + msCameraSetting.getLatitude().doubleValue(), + targetLon, + targetLat, + msCameraSetting.getStyle());//style用于区分品牌类型 1:海康 2:宇视 + log.info("【参数信息】"); + log.info("cameraSetting.getUser()："+msCameraSetting.getUser()); + log.info("cameraSetting.getPassword()："+msCameraSetting.getPassword()); + log.info("cameraSetting.getMaxElevation()："+msCameraSetting.getMaxElevation()); + log.info("cameraSetting.getZeroAzimuth()："+msCameraSetting.getZeroAzimuth()); + log.info("heightDiff："+heightDiff); + log.info("cameraSetting.getZoomFactor()："+msCameraSetting.getZoomFactor()); + log.info("cameraSetting.getLongitude()："+msCameraSetting.getLongitude().doubleValue()); + 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 等待下一次轨迹信息 在进行下次定位"); + } + } + + }; + new Thread(radarTrackThread).start(); } + + 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(); + 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.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); + PTZStatus status = ptzDevices.getStatus(token);*/ + JSONObject jsonObject = new JSONObject(); + jsonObject.put("flag",1); + jsonObject.put("sourceId","AgilTrack_cat010bsz"); + jsonObject.put("utc",System.currentTimeMillis()); + + List 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 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 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） * diff --git a/military/military-module-system/src/main/java/com/zgx/modules/military/entity/RadarTrackModel.java b/military/military-module-system/src/main/java/com/zgx/modules/military/entity/RadarTrackModel.java new file mode 100644 index 0000000..087b0c2 --- /dev/null +++ b/military/military-module-system/src/main/java/com/zgx/modules/military/entity/RadarTrackModel.java @@ -0,0 +1,31 @@ +package com.zgx.modules.military.entity; + +import lombok.AllArgsConstructor; +import lombok.Data; +import lombok.NoArgsConstructor; +import lombok.ToString; +import org.apache.ibatis.annotations.ConstructorArgs; + +import java.beans.ConstructorProperties; + +@Data +@ToString +@AllArgsConstructor +@NoArgsConstructor +public class RadarTrackModel { + private int radarId; + private long timestamp; + private int trackId; + private char trackState; + private int dis; + private float azimuth; + private float speed; + private float course; + private float longitude; + private float latitude; + private float altitude; + private char type; + private int deviceOwnerId; + private int counter; + private int timeoutToNext; +} diff --git a/military/military-module-system/src/main/java/com/zgx/modules/military/service/impl/MsCameraSettingServiceImpl.java b/military/military-module-system/src/main/java/com/zgx/modules/military/service/impl/MsCameraSettingServiceImpl.java index 3f3a052..2972118 100644 --- a/military/military-module-system/src/main/java/com/zgx/modules/military/service/impl/MsCameraSettingServiceImpl.java +++ b/military/military-module-system/src/main/java/com/zgx/modules/military/service/impl/MsCameraSettingServiceImpl.java @@ -144,39 +144,42 @@ public class MsCameraSettingServiceImpl extends ServiceImpl ptzControl(String cameraIP, String cameraUser, String cameraPassword, String instruct, float speed) { Result result = new Result<>(); @@ -545,8 +547,64 @@ public class MsCameraSettingServiceImpl extends ServiceImpl 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; + } + - // todo : 自己计算PTZ值 + // todo : 计算海康PTZ值 /** * 计算ptz2的值 * @@ -558,26 +616,23 @@ public class MsCameraSettingServiceImpl extends ServiceImpl commonAngle1) { //yAngle的取值范围是0-90 一般是89度左右 if (yAngle > commonAngle1 * 2) { tiltValue = 1; @@ -605,12 +665,12 @@ public class MsCameraSettingServiceImpl extends ServiceImpl 0.25){ +/* if (zoomValue > 0.25){ zoomValue = 0.24; - } -/* if (zoomValue > 1) { - zoomValue = 1; }*/ + if (zoomValue > 1) { + zoomValue = 1; + } if (zoomValue < factor) { zoomValue = factor; } @@ -632,13 +692,6 @@ public class MsCameraSettingServiceImpl extends ServiceImpl