first commit

.gitignore

@@ -0,0 +1,14 @@
+### Example user template template
+### Example user template
+
+# IntelliJ project files
+.idea
+*.iml
+out
+gen
+/target/
+/mqttlogs/debug/debug-Arvin.log
+/mqttlogs/error/error-Arvin.log
+/mqttlogs/info/info-Arvin.log
+mqttlogs
+db

HELP.md

@@ -0,0 +1,30 @@
+# Read Me First
+
+The following was discovered as part of building this project:
+
+* No Docker Compose services found. As of now, the application won't start! Please add at least one service to
+  the `compose.yaml` file.
+* The JVM level was changed from '1.8' to '17', review
+  the [JDK Version Range](https://github.com/spring-projects/spring-framework/wiki/Spring-Framework-Versions#jdk-version-range)
+  on the wiki for more details.
+
+# Getting Started
+
+### Reference Documentation
+
+For further reference, please consider the following sections:
+
+* [Official Apache Maven documentation](https://maven.apache.org/guides/index.html)
+* [Spring Boot Maven Plugin Reference Guide](https://docs.spring.io/spring-boot/docs/3.1.3/maven-plugin/reference/html/)
+* [Create an OCI image](https://docs.spring.io/spring-boot/docs/3.1.3/maven-plugin/reference/html/#build-image)
+* [Spring Boot DevTools](https://docs.spring.io/spring-boot/docs/3.1.3/reference/htmlsingle/index.html#using.devtools)
+* [Docker Compose Support](https://docs.spring.io/spring-boot/docs/3.1.3/reference/htmlsingle/index.html#features.docker-compose)
+
+### Docker Compose support
+
+This project contains a Docker Compose file named `compose.yaml`.
+
+However, no services were found. As of now, the application won't start!
+
+Please make sure to add at least one service in the `compose.yaml` file.
+

compose.yaml

@@ -0,0 +1 @@
+services:

mvnw

@@ -0,0 +1,308 @@
+#!/bin/sh
+# ----------------------------------------------------------------------------
+# Licensed to the Apache Software Foundation (ASF) under one
+# or more contributor license agreements.  See the NOTICE file
+# distributed with this work for additional information
+# regarding copyright ownership.  The ASF licenses this file
+# to you under the Apache License, Version 2.0 (the
+# "License"); you may not use this file except in compliance
+# with the License.  You may obtain a copy of the License at
+#
+#    https://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing,
+# software distributed under the License is distributed on an
+# "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY
+# KIND, either express or implied.  See the License for the
+# specific language governing permissions and limitations
+# under the License.
+# ----------------------------------------------------------------------------
+
+# ----------------------------------------------------------------------------
+# Apache Maven Wrapper startup batch script, version 3.2.0
+#
+# Required ENV vars:
+# ------------------
+#   JAVA_HOME - location of a JDK home dir
+#
+# Optional ENV vars
+# -----------------
+#   MAVEN_OPTS - parameters passed to the Java VM when running Maven
+#     e.g. to debug Maven itself, use
+#       set MAVEN_OPTS=-Xdebug -Xrunjdwp:transport=dt_socket,server=y,suspend=y,address=8000
+#   MAVEN_SKIP_RC - flag to disable loading of mavenrc files
+# ----------------------------------------------------------------------------
+
+if [ -z "$MAVEN_SKIP_RC" ] ; then
+
+  if [ -f /usr/local/etc/mavenrc ] ; then
+    . /usr/local/etc/mavenrc
+  fi
+
+  if [ -f /etc/mavenrc ] ; then
+    . /etc/mavenrc
+  fi
+
+  if [ -f "$HOME/.mavenrc" ] ; then
+    . "$HOME/.mavenrc"
+  fi
+
+fi
+
+# OS specific support.  $var _must_ be set to either true or false.
+cygwin=false;
+darwin=false;
+mingw=false
+case "$(uname)" in
+  CYGWIN*) cygwin=true ;;
+  MINGW*) mingw=true;;
+  Darwin*) darwin=true
+    # Use /usr/libexec/java_home if available, otherwise fall back to /Library/Java/Home
+    # See https://developer.apple.com/library/mac/qa/qa1170/_index.html
+    if [ -z "$JAVA_HOME" ]; then
+      if [ -x "/usr/libexec/java_home" ]; then
+        JAVA_HOME="$(/usr/libexec/java_home)"; export JAVA_HOME
+      else
+        JAVA_HOME="/Library/Java/Home"; export JAVA_HOME
+      fi
+    fi
+    ;;
+esac
+
+if [ -z "$JAVA_HOME" ] ; then
+  if [ -r /etc/gentoo-release ] ; then
+    JAVA_HOME=$(java-config --jre-home)
+  fi
+fi
+
+# For Cygwin, ensure paths are in UNIX format before anything is touched
+if $cygwin ; then
+  [ -n "$JAVA_HOME" ] &&
+    JAVA_HOME=$(cygpath --unix "$JAVA_HOME")
+  [ -n "$CLASSPATH" ] &&
+    CLASSPATH=$(cygpath --path --unix "$CLASSPATH")
+fi
+
+# For Mingw, ensure paths are in UNIX format before anything is touched
+if $mingw ; then
+  [ -n "$JAVA_HOME" ] && [ -d "$JAVA_HOME" ] &&
+    JAVA_HOME="$(cd "$JAVA_HOME" || (echo "cannot cd into $JAVA_HOME."; exit 1); pwd)"
+fi
+
+if [ -z "$JAVA_HOME" ]; then
+  javaExecutable="$(which javac)"
+  if [ -n "$javaExecutable" ] && ! [ "$(expr "\"$javaExecutable\"" : '\([^ ]*\)')" = "no" ]; then
+    # readlink(1) is not available as standard on Solaris 10.
+    readLink=$(which readlink)
+    if [ ! "$(expr "$readLink" : '\([^ ]*\)')" = "no" ]; then
+      if $darwin ; then
+        javaHome="$(dirname "\"$javaExecutable\"")"
+        javaExecutable="$(cd "\"$javaHome\"" && pwd -P)/javac"
+      else
+        javaExecutable="$(readlink -f "\"$javaExecutable\"")"
+      fi
+      javaHome="$(dirname "\"$javaExecutable\"")"
+      javaHome=$(expr "$javaHome" : '\(.*\)/bin')
+      JAVA_HOME="$javaHome"
+      export JAVA_HOME
+    fi
+  fi
+fi
+
+if [ -z "$JAVACMD" ] ; then
+  if [ -n "$JAVA_HOME"  ] ; then
+    if [ -x "$JAVA_HOME/jre/sh/java" ] ; then
+      # IBM's JDK on AIX uses strange locations for the executables
+      JAVACMD="$JAVA_HOME/jre/sh/java"
+    else
+      JAVACMD="$JAVA_HOME/bin/java"
+    fi
+  else
+    JAVACMD="$(\unset -f command 2>/dev/null; \command -v java)"
+  fi
+fi
+
+if [ ! -x "$JAVACMD" ] ; then
+  echo "Error: JAVA_HOME is not defined correctly." >&2
+  echo "  We cannot execute $JAVACMD" >&2
+  exit 1
+fi
+
+if [ -z "$JAVA_HOME" ] ; then
+  echo "Warning: JAVA_HOME environment variable is not set."
+fi
+
+# traverses directory structure from process work directory to filesystem root
+# first directory with .mvn subdirectory is considered project base directory
+find_maven_basedir() {
+  if [ -z "$1" ]
+  then
+    echo "Path not specified to find_maven_basedir"
+    return 1
+  fi
+
+  basedir="$1"
+  wdir="$1"
+  while [ "$wdir" != '/' ] ; do
+    if [ -d "$wdir"/.mvn ] ; then
+      basedir=$wdir
+      break
+    fi
+    # workaround for JBEAP-8937 (on Solaris 10/Sparc)
+    if [ -d "${wdir}" ]; then
+      wdir=$(cd "$wdir/.." || exit 1; pwd)
+    fi
+    # end of workaround
+  done
+  printf '%s' "$(cd "$basedir" || exit 1; pwd)"
+}
+
+# concatenates all lines of a file
+concat_lines() {
+  if [ -f "$1" ]; then
+    # Remove \r in case we run on Windows within Git Bash
+    # and check out the repository with auto CRLF management
+    # enabled. Otherwise, we may read lines that are delimited with
+    # \r\n and produce $'-Xarg\r' rather than -Xarg due to word
+    # splitting rules.
+    tr -s '\r\n' ' ' < "$1"
+  fi
+}
+
+log() {
+  if [ "$MVNW_VERBOSE" = true ]; then
+    printf '%s\n' "$1"
+  fi
+}
+
+BASE_DIR=$(find_maven_basedir "$(dirname "$0")")
+if [ -z "$BASE_DIR" ]; then
+  exit 1;
+fi
+
+MAVEN_PROJECTBASEDIR=${MAVEN_BASEDIR:-"$BASE_DIR"}; export MAVEN_PROJECTBASEDIR
+log "$MAVEN_PROJECTBASEDIR"
+
+##########################################################################################
+# Extension to allow automatically downloading the maven-wrapper.jar from Maven-central
+# This allows using the maven wrapper in projects that prohibit checking in binary data.
+##########################################################################################
+wrapperJarPath="$MAVEN_PROJECTBASEDIR/.mvn/wrapper/maven-wrapper.jar"
+if [ -r "$wrapperJarPath" ]; then
+    log "Found $wrapperJarPath"
+else
+    log "Couldn't find $wrapperJarPath, downloading it ..."
+
+    if [ -n "$MVNW_REPOURL" ]; then
+      wrapperUrl="$MVNW_REPOURL/org/apache/maven/wrapper/maven-wrapper/3.2.0/maven-wrapper-3.2.0.jar"
+    else
+      wrapperUrl="https://repo.maven.apache.org/maven2/org/apache/maven/wrapper/maven-wrapper/3.2.0/maven-wrapper-3.2.0.jar"
+    fi
+    while IFS="=" read -r key value; do
+      # Remove '\r' from value to allow usage on windows as IFS does not consider '\r' as a separator ( considers space, tab, new line ('\n'), and custom '=' )
+      safeValue=$(echo "$value" | tr -d '\r')
+      case "$key" in (wrapperUrl) wrapperUrl="$safeValue"; break ;;
+      esac
+    done < "$MAVEN_PROJECTBASEDIR/.mvn/wrapper/maven-wrapper.properties"
+    log "Downloading from: $wrapperUrl"
+
+    if $cygwin; then
+      wrapperJarPath=$(cygpath --path --windows "$wrapperJarPath")
+    fi
+
+    if command -v wget > /dev/null; then
+        log "Found wget ... using wget"
+        [ "$MVNW_VERBOSE" = true ] && QUIET="" || QUIET="--quiet"
+        if [ -z "$MVNW_USERNAME" ] || [ -z "$MVNW_PASSWORD" ]; then
+            wget $QUIET "$wrapperUrl" -O "$wrapperJarPath" || rm -f "$wrapperJarPath"
+        else
+            wget $QUIET --http-user="$MVNW_USERNAME" --http-password="$MVNW_PASSWORD" "$wrapperUrl" -O "$wrapperJarPath" || rm -f "$wrapperJarPath"
+        fi
+    elif command -v curl > /dev/null; then
+        log "Found curl ... using curl"
+        [ "$MVNW_VERBOSE" = true ] && QUIET="" || QUIET="--silent"
+        if [ -z "$MVNW_USERNAME" ] || [ -z "$MVNW_PASSWORD" ]; then
+            curl $QUIET -o "$wrapperJarPath" "$wrapperUrl" -f -L || rm -f "$wrapperJarPath"
+        else
+            curl $QUIET --user "$MVNW_USERNAME:$MVNW_PASSWORD" -o "$wrapperJarPath" "$wrapperUrl" -f -L || rm -f "$wrapperJarPath"
+        fi
+    else
+        log "Falling back to using Java to download"
+        javaSource="$MAVEN_PROJECTBASEDIR/.mvn/wrapper/MavenWrapperDownloader.java"
+        javaClass="$MAVEN_PROJECTBASEDIR/.mvn/wrapper/MavenWrapperDownloader.class"
+        # For Cygwin, switch paths to Windows format before running javac
+        if $cygwin; then
+          javaSource=$(cygpath --path --windows "$javaSource")
+          javaClass=$(cygpath --path --windows "$javaClass")
+        fi
+        if [ -e "$javaSource" ]; then
+            if [ ! -e "$javaClass" ]; then
+                log " - Compiling MavenWrapperDownloader.java ..."
+                ("$JAVA_HOME/bin/javac" "$javaSource")
+            fi
+            if [ -e "$javaClass" ]; then
+                log " - Running MavenWrapperDownloader.java ..."
+                ("$JAVA_HOME/bin/java" -cp .mvn/wrapper MavenWrapperDownloader "$wrapperUrl" "$wrapperJarPath") || rm -f "$wrapperJarPath"
+            fi
+        fi
+    fi
+fi
+##########################################################################################
+# End of extension
+##########################################################################################
+
+# If specified, validate the SHA-256 sum of the Maven wrapper jar file
+wrapperSha256Sum=""
+while IFS="=" read -r key value; do
+  case "$key" in (wrapperSha256Sum) wrapperSha256Sum=$value; break ;;
+  esac
+done < "$MAVEN_PROJECTBASEDIR/.mvn/wrapper/maven-wrapper.properties"
+if [ -n "$wrapperSha256Sum" ]; then
+  wrapperSha256Result=false
+  if command -v sha256sum > /dev/null; then
+    if echo "$wrapperSha256Sum  $wrapperJarPath" | sha256sum -c > /dev/null 2>&1; then
+      wrapperSha256Result=true
+    fi
+  elif command -v shasum > /dev/null; then
+    if echo "$wrapperSha256Sum  $wrapperJarPath" | shasum -a 256 -c > /dev/null 2>&1; then
+      wrapperSha256Result=true
+    fi
+  else
+    echo "Checksum validation was requested but neither 'sha256sum' or 'shasum' are available."
+    echo "Please install either command, or disable validation by removing 'wrapperSha256Sum' from your maven-wrapper.properties."
+    exit 1
+  fi
+  if [ $wrapperSha256Result = false ]; then
+    echo "Error: Failed to validate Maven wrapper SHA-256, your Maven wrapper might be compromised." >&2
+    echo "Investigate or delete $wrapperJarPath to attempt a clean download." >&2
+    echo "If you updated your Maven version, you need to update the specified wrapperSha256Sum property." >&2
+    exit 1
+  fi
+fi
+
+MAVEN_OPTS="$(concat_lines "$MAVEN_PROJECTBASEDIR/.mvn/jvm.config") $MAVEN_OPTS"
+
+# For Cygwin, switch paths to Windows format before running java
+if $cygwin; then
+  [ -n "$JAVA_HOME" ] &&
+    JAVA_HOME=$(cygpath --path --windows "$JAVA_HOME")
+  [ -n "$CLASSPATH" ] &&
+    CLASSPATH=$(cygpath --path --windows "$CLASSPATH")
+  [ -n "$MAVEN_PROJECTBASEDIR" ] &&
+    MAVEN_PROJECTBASEDIR=$(cygpath --path --windows "$MAVEN_PROJECTBASEDIR")
+fi
+
+# Provide a "standardized" way to retrieve the CLI args that will
+# work with both Windows and non-Windows executions.
+MAVEN_CMD_LINE_ARGS="$MAVEN_CONFIG $*"
+export MAVEN_CMD_LINE_ARGS
+
+WRAPPER_LAUNCHER=org.apache.maven.wrapper.MavenWrapperMain
+
+# shellcheck disable=SC2086 # safe args
+exec "$JAVACMD" \
+  $MAVEN_OPTS \
+  $MAVEN_DEBUG_OPTS \
+  -classpath "$MAVEN_PROJECTBASEDIR/.mvn/wrapper/maven-wrapper.jar" \
+  "-Dmaven.multiModuleProjectDirectory=${MAVEN_PROJECTBASEDIR}" \
+  ${WRAPPER_LAUNCHER} $MAVEN_CONFIG "$@"

mvnw.cmd

@@ -0,0 +1,205 @@
+@REM ----------------------------------------------------------------------------
+@REM Licensed to the Apache Software Foundation (ASF) under one
+@REM or more contributor license agreements.  See the NOTICE file
+@REM distributed with this work for additional information
+@REM regarding copyright ownership.  The ASF licenses this file
+@REM to you under the Apache License, Version 2.0 (the
+@REM "License"); you may not use this file except in compliance
+@REM with the License.  You may obtain a copy of the License at
+@REM
+@REM    https://www.apache.org/licenses/LICENSE-2.0
+@REM
+@REM Unless required by applicable law or agreed to in writing,
+@REM software distributed under the License is distributed on an
+@REM "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY
+@REM KIND, either express or implied.  See the License for the
+@REM specific language governing permissions and limitations
+@REM under the License.
+@REM ----------------------------------------------------------------------------
+
+@REM ----------------------------------------------------------------------------
+@REM Apache Maven Wrapper startup batch script, version 3.2.0
+@REM
+@REM Required ENV vars:
+@REM JAVA_HOME - location of a JDK home dir
+@REM
+@REM Optional ENV vars
+@REM MAVEN_BATCH_ECHO - set to 'on' to enable the echoing of the batch commands
+@REM MAVEN_BATCH_PAUSE - set to 'on' to wait for a keystroke before ending
+@REM MAVEN_OPTS - parameters passed to the Java VM when running Maven
+@REM     e.g. to debug Maven itself, use
+@REM set MAVEN_OPTS=-Xdebug -Xrunjdwp:transport=dt_socket,server=y,suspend=y,address=8000
+@REM MAVEN_SKIP_RC - flag to disable loading of mavenrc files
+@REM ----------------------------------------------------------------------------
+
+@REM Begin all REM lines with '@' in case MAVEN_BATCH_ECHO is 'on'
+@echo off
+@REM set title of command window
+title %0
+@REM enable echoing by setting MAVEN_BATCH_ECHO to 'on'
+@if "%MAVEN_BATCH_ECHO%" == "on"  echo %MAVEN_BATCH_ECHO%
+
+@REM set %HOME% to equivalent of $HOME
+if "%HOME%" == "" (set "HOME=%HOMEDRIVE%%HOMEPATH%")
+
+@REM Execute a user defined script before this one
+if not "%MAVEN_SKIP_RC%" == "" goto skipRcPre
+@REM check for pre script, once with legacy .bat ending and once with .cmd ending
+if exist "%USERPROFILE%\mavenrc_pre.bat" call "%USERPROFILE%\mavenrc_pre.bat" %*
+if exist "%USERPROFILE%\mavenrc_pre.cmd" call "%USERPROFILE%\mavenrc_pre.cmd" %*
+:skipRcPre
+
+@setlocal
+
+set ERROR_CODE=0
+
+@REM To isolate internal variables from possible post scripts, we use another setlocal
+@setlocal
+
+@REM ==== START VALIDATION ====
+if not "%JAVA_HOME%" == "" goto OkJHome
+
+echo.
+echo Error: JAVA_HOME not found in your environment. >&2
+echo Please set the JAVA_HOME variable in your environment to match the >&2
+echo location of your Java installation. >&2
+echo.
+goto error
+
+:OkJHome
+if exist "%JAVA_HOME%\bin\java.exe" goto init
+
+echo.
+echo Error: JAVA_HOME is set to an invalid directory. >&2
+echo JAVA_HOME = "%JAVA_HOME%" >&2
+echo Please set the JAVA_HOME variable in your environment to match the >&2
+echo location of your Java installation. >&2
+echo.
+goto error
+
+@REM ==== END VALIDATION ====
+
+:init
+
+@REM Find the project base dir, i.e. the directory that contains the folder ".mvn".
+@REM Fallback to current working directory if not found.
+
+set MAVEN_PROJECTBASEDIR=%MAVEN_BASEDIR%
+IF NOT "%MAVEN_PROJECTBASEDIR%"=="" goto endDetectBaseDir
+
+set EXEC_DIR=%CD%
+set WDIR=%EXEC_DIR%
+:findBaseDir
+IF EXIST "%WDIR%"\.mvn goto baseDirFound
+cd ..
+IF "%WDIR%"=="%CD%" goto baseDirNotFound
+set WDIR=%CD%
+goto findBaseDir
+
+:baseDirFound
+set MAVEN_PROJECTBASEDIR=%WDIR%
+cd "%EXEC_DIR%"
+goto endDetectBaseDir
+
+:baseDirNotFound
+set MAVEN_PROJECTBASEDIR=%EXEC_DIR%
+cd "%EXEC_DIR%"
+
+:endDetectBaseDir
+
+IF NOT EXIST "%MAVEN_PROJECTBASEDIR%\.mvn\jvm.config" goto endReadAdditionalConfig
+
+@setlocal EnableExtensions EnableDelayedExpansion
+for /F "usebackq delims=" %%a in ("%MAVEN_PROJECTBASEDIR%\.mvn\jvm.config") do set JVM_CONFIG_MAVEN_PROPS=!JVM_CONFIG_MAVEN_PROPS! %%a
+@endlocal & set JVM_CONFIG_MAVEN_PROPS=%JVM_CONFIG_MAVEN_PROPS%
+
+:endReadAdditionalConfig
+
+SET MAVEN_JAVA_EXE="%JAVA_HOME%\bin\java.exe"
+set WRAPPER_JAR="%MAVEN_PROJECTBASEDIR%\.mvn\wrapper\maven-wrapper.jar"
+set WRAPPER_LAUNCHER=org.apache.maven.wrapper.MavenWrapperMain
+
+set WRAPPER_URL="https://repo.maven.apache.org/maven2/org/apache/maven/wrapper/maven-wrapper/3.2.0/maven-wrapper-3.2.0.jar"
+
+FOR /F "usebackq tokens=1,2 delims==" %%A IN ("%MAVEN_PROJECTBASEDIR%\.mvn\wrapper\maven-wrapper.properties") DO (
+    IF "%%A"=="wrapperUrl" SET WRAPPER_URL=%%B
+)
+
+@REM Extension to allow automatically downloading the maven-wrapper.jar from Maven-central
+@REM This allows using the maven wrapper in projects that prohibit checking in binary data.
+if exist %WRAPPER_JAR% (
+    if "%MVNW_VERBOSE%" == "true" (
+        echo Found %WRAPPER_JAR%
+    )
+) else (
+    if not "%MVNW_REPOURL%" == "" (
+        SET WRAPPER_URL="%MVNW_REPOURL%/org/apache/maven/wrapper/maven-wrapper/3.2.0/maven-wrapper-3.2.0.jar"
+    )
+    if "%MVNW_VERBOSE%" == "true" (
+        echo Couldn't find %WRAPPER_JAR%, downloading it ...
+        echo Downloading from: %WRAPPER_URL%
+    )
+
+    powershell -Command "&{"^
+		"$webclient = new-object System.Net.WebClient;"^
+		"if (-not ([string]::IsNullOrEmpty('%MVNW_USERNAME%') -and [string]::IsNullOrEmpty('%MVNW_PASSWORD%'))) {"^
+		"$webclient.Credentials = new-object System.Net.NetworkCredential('%MVNW_USERNAME%', '%MVNW_PASSWORD%');"^
+		"}"^
+		"[Net.ServicePointManager]::SecurityProtocol = [Net.SecurityProtocolType]::Tls12; $webclient.DownloadFile('%WRAPPER_URL%', '%WRAPPER_JAR%')"^
+		"}"
+    if "%MVNW_VERBOSE%" == "true" (
+        echo Finished downloading %WRAPPER_JAR%
+    )
+)
+@REM End of extension
+
+@REM If specified, validate the SHA-256 sum of the Maven wrapper jar file
+SET WRAPPER_SHA_256_SUM=""
+FOR /F "usebackq tokens=1,2 delims==" %%A IN ("%MAVEN_PROJECTBASEDIR%\.mvn\wrapper\maven-wrapper.properties") DO (
+    IF "%%A"=="wrapperSha256Sum" SET WRAPPER_SHA_256_SUM=%%B
+)
+IF NOT %WRAPPER_SHA_256_SUM%=="" (
+    powershell -Command "&{"^
+       "$hash = (Get-FileHash \"%WRAPPER_JAR%\" -Algorithm SHA256).Hash.ToLower();"^
+       "If('%WRAPPER_SHA_256_SUM%' -ne $hash){"^
+       "  Write-Output 'Error: Failed to validate Maven wrapper SHA-256, your Maven wrapper might be compromised.';"^
+       "  Write-Output 'Investigate or delete %WRAPPER_JAR% to attempt a clean download.';"^
+       "  Write-Output 'If you updated your Maven version, you need to update the specified wrapperSha256Sum property.';"^
+       "  exit 1;"^
+       "}"^
+       "}"
+    if ERRORLEVEL 1 goto error
+)
+
+@REM Provide a "standardized" way to retrieve the CLI args that will
+@REM work with both Windows and non-Windows executions.
+set MAVEN_CMD_LINE_ARGS=%*
+
+%MAVEN_JAVA_EXE% ^
+  %JVM_CONFIG_MAVEN_PROPS% ^
+  %MAVEN_OPTS% ^
+  %MAVEN_DEBUG_OPTS% ^
+  -classpath %WRAPPER_JAR% ^
+  "-Dmaven.multiModuleProjectDirectory=%MAVEN_PROJECTBASEDIR%" ^
+  %WRAPPER_LAUNCHER% %MAVEN_CONFIG% %*
+if ERRORLEVEL 1 goto error
+goto end
+
+:error
+set ERROR_CODE=1
+
+:end
+@endlocal & set ERROR_CODE=%ERROR_CODE%
+
+if not "%MAVEN_SKIP_RC%"=="" goto skipRcPost
+@REM check for post script, once with legacy .bat ending and once with .cmd ending
+if exist "%USERPROFILE%\mavenrc_post.bat" call "%USERPROFILE%\mavenrc_post.bat"
+if exist "%USERPROFILE%\mavenrc_post.cmd" call "%USERPROFILE%\mavenrc_post.cmd"
+:skipRcPost
+
+@REM pause the script if MAVEN_BATCH_PAUSE is set to 'on'
+if "%MAVEN_BATCH_PAUSE%"=="on" pause
+
+if "%MAVEN_TERMINATE_CMD%"=="on" exit %ERROR_CODE%
+
+cmd /C exit /B %ERROR_CODE%

pom.xml

@@ -0,0 +1,224 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project xmlns="http://maven.apache.org/POM/4.0.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
+         xsi:schemaLocation="http://maven.apache.org/POM/4.0.0 https://maven.apache.org/xsd/maven-4.0.0.xsd">
+    <modelVersion>4.0.0</modelVersion>
+    <parent>
+        <groupId>org.springframework.boot</groupId>
+        <artifactId>spring-boot-starter-parent</artifactId>
+        <version>2.7.10</version>
+        <relativePath/> <!-- lookup parent from repository -->
+    </parent>
+    <groupId>com.example</groupId>
+    <artifactId>military-hq</artifactId>
+    <version>0.0.1-SNAPSHOT</version>
+    <name>military-hq</name>
+    <description>military-hq</description>
+    <properties>
+
+        <project.build.sourceEncoding>UTF-8</project.build.sourceEncoding>
+        <xxl-job-core.version>2.2.0</xxl-job-core.version>
+        <fastjson.version>1.2.83</fastjson.version>
+        <dom4j.version>1.2.83</dom4j.version>
+
+        <java.version>1.8</java.version>
+        <dom4j.version>1.6.1</dom4j.version>
+        <qiniu-java-sdk.version>7.4.0</qiniu-java-sdk.version>
+        <!-- Log4j2爆雷漏洞 -->
+        <log4j2.version>2.17.0</log4j2.version>
+        <logback.version>1.2.9</logback.version>
+        <skipTests>true</skipTests>
+        <mysql-connector-java.version>8.0.21</mysql-connector-java.version>
+    </properties>
+    <dependencies>
+        <dependency>
+            <groupId>org.springframework.boot</groupId>
+            <artifactId>spring-boot-starter</artifactId>
+        </dependency>
+
+        <dependency>
+            <groupId>org.springframework.boot</groupId>
+            <artifactId>spring-boot-devtools</artifactId>
+            <scope>runtime</scope>
+            <optional>true</optional>
+        </dependency>
+        <dependency>
+            <groupId>org.springframework.boot</groupId>
+            <artifactId>spring-boot-configuration-processor</artifactId>
+            <optional>true</optional>
+        </dependency>
+        <!--<dependency>
+            <groupId>org.springframework.boot</groupId>
+            <artifactId>spring-boot-docker-compose</artifactId>
+            <scope>runtime</scope>
+            <optional>true</optional>
+        </dependency>-->
+        <dependency>
+            <groupId>org.projectlombok</groupId>
+            <artifactId>lombok</artifactId>
+            <optional>true</optional>
+        </dependency>
+        <dependency>
+            <groupId>org.springframework.boot</groupId>
+            <artifactId>spring-boot-starter-test</artifactId>
+            <scope>test</scope>
+        </dependency>
+        <!-- json -->
+        <dependency>
+            <groupId>com.alibaba</groupId>
+            <artifactId>fastjson</artifactId>
+            <version>${fastjson.version}</version>
+        </dependency>
+        <!-- dom4j -->
+        <dependency>
+            <groupId>dom4j</groupId>
+            <artifactId>dom4j</artifactId>
+            <version>${dom4j.version}</version>
+        </dependency>
+        <dependency>
+            <groupId>org.zeromq</groupId>
+            <artifactId>jeromq</artifactId>
+            <version>0.5.2</version>
+        </dependency>
+        <dependency>
+            <groupId>org.eclipse.paho</groupId>
+            <artifactId>org.eclipse.paho.client.mqttv3</artifactId>
+            <version>1.2.5</version>
+        </dependency>
+
+        <dependency>
+            <groupId>com.fasterxml.jackson.core</groupId>
+            <artifactId>jackson-databind</artifactId>
+        </dependency>
+        <dependency>
+            <groupId>com.fasterxml.jackson.dataformat</groupId>
+            <artifactId>jackson-dataformat-xml</artifactId>
+        </dependency>
+        <dependency>
+            <groupId>com.fasterxml.jackson.core</groupId>
+            <artifactId>jackson-annotations</artifactId>
+            <version>2.13.5</version>
+        </dependency>
+        <dependency>
+            <groupId>commons-io</groupId>
+            <artifactId>commons-io</artifactId>
+            <version>2.8.0</version>
+        </dependency>
+        <dependency>
+            <groupId>com.google.protobuf</groupId>
+            <artifactId>protobuf-java</artifactId>
+            <version>3.16.1</version>
+        </dependency>
+        <dependency>
+            <groupId>io.netty</groupId>
+            <artifactId>netty-all</artifactId>
+        </dependency>
+        <dependency>
+            <groupId>org.apache.commons</groupId>
+            <artifactId>commons-lang3</artifactId>
+        </dependency>
+        <dependency>
+            <groupId>cn.hutool</groupId>
+            <artifactId>hutool-all</artifactId>
+            <version>5.7.22</version>
+            <scope>compile</scope>
+        </dependency>
+        <dependency>
+            <groupId>com.google.guava</groupId>
+            <artifactId>guava</artifactId>
+            <version>28.2-android</version>
+        </dependency>
+
+        <dependency>
+            <groupId>org.springframework.boot</groupId>
+            <artifactId>spring-boot-starter-websocket</artifactId>
+        </dependency>
+
+        <dependency>
+            <groupId>org.apache.tomcat.embed</groupId>
+            <artifactId>tomcat-embed-websocket</artifactId>
+        </dependency>
+
+        <dependency>
+            <groupId>org.gavaghan</groupId>
+            <artifactId>geodesy</artifactId>
+            <version>1.1.3</version>
+        </dependency>
+
+        <dependency>
+            <groupId>com.baomidou</groupId>
+            <artifactId>mybatis-plus-boot-starter</artifactId>
+            <version>3.4.1</version>
+        </dependency>
+
+        <!-- Redis -->
+        <dependency>
+            <groupId>org.springframework.boot</groupId>
+            <artifactId>spring-boot-starter-data-redis</artifactId>
+        </dependency>
+        <dependency>
+            <groupId>org.apache.commons</groupId>
+            <artifactId>commons-pool2</artifactId>
+        </dependency>
+        <dependency>
+            <groupId>org.springframework.data</groupId>
+            <artifactId>spring-data-redis</artifactId>
+            <!--<version>2.3.5.RELEASE</version>-->
+        </dependency>
+
+        <!-- onvif -->
+        <dependency>
+            <groupId>com.github.03</groupId>
+            <artifactId>onvif</artifactId>
+            <version>1.0.7</version>
+        </dependency>
+        <dependency>
+            <groupId>org.gavaghan</groupId>
+            <artifactId>geodesy</artifactId>
+            <version>1.1.3</version>
+        </dependency>
+        <dependency>
+            <groupId>com.dbb</groupId>
+            <artifactId>onvif</artifactId>
+            <version>1.0.0</version>
+        </dependency>
+
+        <dependency>
+            <groupId>io.lettuce</groupId>
+            <artifactId>lettuce-core</artifactId>
+        </dependency>
+
+        <dependency>
+            <groupId>mysql</groupId>
+            <artifactId>mysql-connector-java</artifactId>
+            <version>${mysql-connector-java.version}</version>
+            <scope>runtime</scope>
+        </dependency>
+
+        <dependency>
+            <groupId>commons-beanutils</groupId>
+            <artifactId>commons-beanutils</artifactId>
+            <version>1.9.4</version>
+        </dependency>
+    </dependencies>
+
+    <build>
+
+        <plugins>
+            <plugin>
+                <groupId>org.springframework.boot</groupId>
+                <artifactId>spring-boot-maven-plugin</artifactId>
+                <configuration>
+                    <excludes>
+                        <exclude>
+                            <groupId>org.projectlombok</groupId>
+                            <artifactId>lombok</artifactId>
+                        </exclude>
+                    </excludes>
+                    <mainClass>com.zgx.iot.SystemApplication</mainClass>
+                </configuration>
+
+            </plugin>
+        </plugins>
+    </build>
+
+</project>

src/main/java/com/zgx/iot/MilitaryMqttApplication.java

@@ -0,0 +1,60 @@
+package com.zgx.iot;
+
+import com.zgx.iot.config.mqtt.MQTTProps;
+import com.zgx.iot.config.socket.ssl.NettyProps;
+import com.zgx.iot.mq.mqtt.MqttService;
+import lombok.extern.slf4j.Slf4j;
+
+import org.springframework.boot.ApplicationArguments;
+import org.springframework.boot.ApplicationRunner;
+import org.springframework.core.annotation.Order;
+import org.springframework.scheduling.annotation.Async;
+import org.springframework.scheduling.annotation.EnableAsync;
+import org.springframework.stereotype.Component;
+
+import javax.annotation.Resource;
+import java.util.Arrays;
+
+/**
+ * 启动 MQTT 服务
+ * 注解 @Order 执行顺序
+ *
+ * @author AaGMixW
+ */
+@Slf4j
+@Component
+@Order(value = 1)
+@EnableAsync
+public class MilitaryMqttApplication implements ApplicationRunner {
+
+
+    @Resource
+    private MQTTProps mqttProps;
+    @Resource
+    private NettyProps nettyProps;
+    //@Resource
+    private  static MqttService mqttService ;
+
+//    public MilitaryMqttApplication() {
+//       // this.mqttService = mqttService;
+//    }
+
+
+    @Override
+    @Async
+    public void run(ApplicationArguments args) throws Exception {
+        try {
+            mqttService = new MqttService(mqttProps);
+            mqttService.connect();
+            mqttService.subscribe();
+        } catch (Exception e) {
+            // 尝试重新连接
+            mqttService.reconnect();
+        }
+
+    }
+    public  static void pubMessage(String message,String topic){
+        log.info("msg:"+message+"--------topic:"+topic);
+        mqttService.pubMessage(message,  topic);
+    }
+}

src/main/java/com/zgx/iot/MilitaryNettyApplication.java

@@ -0,0 +1,58 @@
+/*
+package com.zgx.iot;
+
+import com.zgx.iot.api.DeviceInfoAPI;
+import com.zgx.iot.entity.DtDeviceInfo;
+import com.zgx.iot.utils.DeviceServiceUtil;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.boot.ApplicationArguments;
+import org.springframework.boot.ApplicationRunner;
+import org.springframework.core.annotation.Order;
+import org.springframework.stereotype.Component;
+
+import javax.annotation.Resource;
+import java.util.ArrayList;
+import java.util.List;
+
+*/
+/**
+ * 启动 Netty 服务
+ *
+ * @author AaGMixW
+ *//*
+
+
+@Slf4j
+@Order(value = 3) //执行顺序
+@Component
+public class MilitaryNettyApplication implements ApplicationRunner {
+
+
+
+    @Resource
+    private final DeviceServiceUtil deviceServiceUtil;
+
+
+    public MilitaryNettyApplication(DeviceServiceUtil deviceServiceUtil) {
+
+        this.deviceServiceUtil = deviceServiceUtil;
+    }
+
+    @Override
+    public void run(ApplicationArguments args) throws Exception {
+        //List<MsDeviceInfo> deviceInfos = DeviceInfoAPI.GetALLDeviceLit("1446644493355888641");
+        DtDeviceInfo msDeviceInfo = new DtDeviceInfo();
+        msDeviceInfo.setNetProtocol("1");
+        msDeviceInfo.setServerType(1);
+        //msDeviceInfo.setIp("172.20.0.77");
+        msDeviceInfo.setDeviceIp("127.0.0.1");
+        msDeviceInfo.setIpPort(8899);
+        List<DtDeviceInfo> deviceInfoList =new ArrayList<>();
+        deviceInfoList.add(msDeviceInfo);
+
+        //deviceServiceUtil.startServerByDeviceInfo(deviceInfos);
+        deviceServiceUtil.startServerByDeviceInfo(deviceInfoList);
+    }
+
+}
+*/

src/main/java/com/zgx/iot/MilitarySocketApplication.java

@@ -0,0 +1,171 @@
+package com.zgx.iot;
+
+
+import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.zgx.iot.constant.enums.DeviceType;
+import com.zgx.iot.entity.DtDeviceInfo;
+import com.zgx.iot.entity.MsCameraSetting;
+import com.zgx.iot.service.IDtDeviceInfoService;
+import com.zgx.iot.service.IMsCameraSettingService;
+import com.zgx.iot.utils.RedisUtil;
+import com.zgx.iot.utils.hp.HPDataParser;
+import com.zgx.iot.utils.hp.HPReqParamEnc;
+import com.zgx.iot.utils.hp.HPTcpKeepAlive;
+import com.zgx.iot.utils.hp.ThreadManager;
+import com.zgx.iot.utils.socket.TcpClient;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.boot.ApplicationArguments;
+import org.springframework.boot.ApplicationRunner;
+import org.springframework.core.annotation.Order;
+import org.springframework.scheduling.annotation.EnableAsync;
+import org.springframework.stereotype.Component;
+
+import javax.annotation.PostConstruct;
+import java.text.ParseException;
+import java.util.HashMap;
+import java.util.List;
+import java.util.Map;
+
+/**
+ * 启动Socket服务
+ */
+@Slf4j
+@Component
+@Order(value = 1) //执行顺序
+@EnableAsync
+public class MilitarySocketApplication implements ApplicationRunner {
+
+    @Autowired
+    private RedisUtil redisUtil;
+    @Autowired
+    private IDtDeviceInfoService msDeviceInfoService;
+    @Autowired
+    private IMsCameraSettingService msCameraSettingService;
+
+    @PostConstruct //通过@PostConstruct实现初始化bean之前进行的操作
+    public void init() {
+        MilitarySocketApplication socketApplication = this;
+        // 初使化时将已静态化的Service实例化
+        socketApplication.msDeviceInfoService = this.msDeviceInfoService;
+        socketApplication.msCameraSettingService = this.msCameraSettingService;
+    }
+
+/*    @Override
+    public void run(ApplicationArguments args) throws Exception {
+        //1.查询所有光电设备
+        //2.循环建立TCP连接
+        //3.设备登录（userSaltGet，userLogin）
+        //4.定时发送心跳保持连接（userOnlineHeart）
+
+        //key为设备IP
+        Map<String, TcpClient> tcpClientMap = new HashMap<>();
+
+        redisUtil.del("cameraList");
+        redisUtil.del("dataRecordServer");
+
+        QueryWrapper<DtDeviceInfo> queryWrapper = new QueryWrapper<>();
+        //queryWrapper.eq("state", 1);//1-启用
+        //todo 查询光电
+        queryWrapper.and(wrapper -> wrapper.eq("device_type", DeviceType.PHOTOELECTRIC.getValue()));
+        List<DtDeviceInfo> deviceList = msDeviceInfoService.list(queryWrapper);
+        for (DtDeviceInfo ms : deviceList) {
+            //todo 建立TCP连接并接收数据
+            log.info("建立连接的设备 : "+ms.toString());//测试数据
+            TcpClient tcpClient = new TcpClient(ms.getDeviceIp(), ms.getIpPort()) {
+                @Override
+                public void dealWithRecvData(byte[] data) throws ParseException {
+                    if (ms.getDeviceType() == DeviceType.PHOTOELECTRIC.getValue()) {
+                        HPDataParser.recv(data, this);//接收数据
+                    }
+                }
+            };
+            tcpClient.start();
+            try {
+                Thread.sleep(1000);
+            } catch (InterruptedException e) {
+                e.printStackTrace();
+            }
+            log.info(tcpClient.getIp() +"状态：" + String.valueOf(tcpClient.flag)+"类型"+String.valueOf(ms.getDeviceType()));
+            if (tcpClient.flag) {
+                if (ms.getDeviceType() == DeviceType.PHOTOELECTRIC.getValue()) {
+                    redisUtil.lSet("cameraList", ms);
+                    //获取salt
+                    tcpClient.send(HPDataParser.send(HPReqParamEnc.userSaltGet(ms.getUsername())));
+                } else if (ms.getDeviceType() == DeviceType.DATARECORD.getValue()) {
+                    redisUtil.hset("dataRecordServer", "deviceCode", ms.getDeviceCode());
+                    redisUtil.hset("dataRecordServer", "ip", ms.getDeviceIp());
+                    redisUtil.hset("dataRecordServer", "port", ms.getIpPort());
+                }
+                //将线程放入map
+                tcpClientMap.put(ms.getDeviceIp(), tcpClient);
+            }
+        }
+
+        //将tcp线程放入管理类
+        ThreadManager.setTcpClientMap(tcpClientMap);
+
+        //发送心跳保持连接
+        HPTcpKeepAlive keepAlive = new HPTcpKeepAlive(redisUtil);
+        keepAlive.start();
+
+        log.info("Socket服务启动成功!");
+    }*/
+
+    public void run(ApplicationArguments args) throws Exception {
+        //1.查询所有光电设备
+        //2.循环建立TCP连接
+        //3.设备登录（userSaltGet，userLogin）
+        //4.定时发送心跳保持连接（userOnlineHeart）
+
+        //key为设备IP
+        Map<String, TcpClient> tcpClientMap = new HashMap<>();
+
+        redisUtil.del("cameraList");
+        redisUtil.del("dataRecordServer");
+
+        LambdaQueryWrapper<MsCameraSetting> lambdaQueryWrapper = new LambdaQueryWrapper<>();
+        //lambdaQueryWrapper.eq(MsCameraSetting::getType,3).eq(MsCameraSetting::getStatus,1);
+        lambdaQueryWrapper.eq(MsCameraSetting::getType,3);
+
+        List<MsCameraSetting> deviceList = msCameraSettingService.list(lambdaQueryWrapper);
+        for (MsCameraSetting ms : deviceList) {
+            //todo 建立TCP连接并接收数据
+            log.info("建立连接的设备 : "+ms.toString());//测试数据
+            TcpClient tcpClient = new TcpClient(ms.getIp(), ms.getPort()) {
+                @Override
+                public void dealWithRecvData(byte[] data) throws ParseException {
+                    if (ms.getType() == 3) {
+                        HPDataParser.recv(data, this);//接收数据
+                    }
+                }
+            };
+            tcpClient.start();
+            try {
+                Thread.sleep(1000);
+            } catch (InterruptedException e) {
+                e.printStackTrace();
+            }
+            log.info(tcpClient.getIp() +"状态：" + String.valueOf(tcpClient.flag)+"类型"+String.valueOf(ms.getType()));
+            if (tcpClient.flag) {
+                if (ms.getType() == 3) {
+                    redisUtil.lSet("cameraList", ms);
+                    //获取salt
+                    tcpClient.send(HPDataParser.send(HPReqParamEnc.userSaltGet(ms.getUser())));
+                }
+                //将线程放入map
+                tcpClientMap.put(ms.getIp(), tcpClient);
+            }
+        }
+
+        //将tcp线程放入管理类
+        ThreadManager.setTcpClientMap(tcpClientMap);
+
+        //发送心跳保持连接
+        HPTcpKeepAlive keepAlive = new HPTcpKeepAlive(redisUtil);
+        keepAlive.start();
+
+        log.info("Socket服务启动成功!");
+    }
+}

src/main/java/com/zgx/iot/MilitaryZMQApplication.java

@@ -0,0 +1,684 @@
+package com.zgx.iot;
+
+
+import cn.hutool.extra.spring.SpringUtil;
+import com.alibaba.fastjson.JSON;
+import com.alibaba.fastjson.JSONObject;
+import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.zgx.iot.constant.enums.CameraType;
+import com.zgx.iot.constant.enums.DeviceType;
+import com.zgx.iot.dto.radar.RadarTrackModel;
+import com.zgx.iot.entity.MsAlarmSettings;
+import com.zgx.iot.entity.MsCameraSetting;
+import com.zgx.iot.entity.DtDeviceInfo;
+import com.zgx.iot.service.IMsAlarmSettingsService;
+import com.zgx.iot.service.IMsCameraSettingService;
+import com.zgx.iot.service.IDtDeviceInfoService;
+import com.zgx.iot.service.impl.MsCameraSettingServiceImpl;
+import com.zgx.iot.mq.mqtt.handle.RadarHandler;
+import com.zgx.iot.thread.ZmqSubThread;
+import com.zgx.iot.utils.*;
+import com.zgx.iot.utils.hp.HPDataParser;
+import com.zgx.iot.utils.hp.HPReqParamEnc;
+import com.zgx.iot.utils.hp.ThreadManager;
+import com.zgx.iot.utils.socket.TcpClient;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttException;
+import org.springframework.beans.BeanUtils;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.beans.factory.annotation.Value;
+import org.springframework.boot.ApplicationArguments;
+import org.springframework.boot.ApplicationRunner;
+import org.springframework.context.ApplicationContext;
+import org.springframework.core.annotation.Order;
+import org.springframework.scheduling.annotation.EnableAsync;
+import org.springframework.stereotype.Component;
+
+import javax.annotation.PostConstruct;
+import java.io.BufferedWriter;
+import java.io.FileWriter;
+import java.io.IOException;
+import java.io.UnsupportedEncodingException;
+import java.math.BigDecimal;
+import java.text.DecimalFormat;
+import java.text.SimpleDateFormat;
+import java.util.Date;
+import java.util.List;
+
+/**
+ * 启动ZMQ服务
+ */
+@Slf4j
+@Component
+@Order(value = 3) //执行顺序
+@EnableAsync
+public class MilitaryZMQApplication implements ApplicationRunner {
+
+    @Autowired
+    RedisUtil redisUtil;
+    @Autowired
+    IDtDeviceInfoService msDeviceInfoService;
+    @Autowired
+    IMsCameraSettingService msCameraSettingService;
+    @Autowired
+    IMsAlarmSettingsService msAlarmSettingsService;
+    @Autowired
+    RadarHandler radarHandler;
+
+    /**
+     * 服务发布地址
+     */
+    @Value(value = "${zmq.ip}")
+    private String address;
+
+    /**
+     * 服务接收端口
+     */
+    @Value(value = "${zmq.recv-port}")
+    private int recvPort;
+
+
+    /**
+     * 雷达图上目标主题
+     */
+    @Value(value = "${zmq.topic.radar_target}")
+    private String radarTarget;
+
+    /**
+     * 雷达目标轨迹主题
+     */
+    @Value(value = "${zmq.topic.target_trajectory}")
+    private String targetTrajectory;
+
+    /**
+     * 发送前端轨迹数据主题
+     */
+    private final String trajectoryTopic = "/server/radar";
+
+    private final String trackDeviceInfo = "/track/deviceInfo";
+
+    /**
+     * 发送球机数据主题
+     */
+    private final String trackCameraInfo = "/track/cameraInfo";
+
+    @PostConstruct //通过@PostConstruct实现初始化bean之前进行的操作
+    public void init() {
+        MilitaryZMQApplication zmqApplication = this;
+        // 初使化时将已静态化的Service实例化
+        zmqApplication.msDeviceInfoService = this.msDeviceInfoService;
+        zmqApplication.msAlarmSettingsService = this.msAlarmSettingsService;
+        zmqApplication.msCameraSettingService = this.msCameraSettingService;
+    }
+
+    @Override
+    public void run(ApplicationArguments args) throws Exception {
+
+
+        //判断缓存是否存在报警参数，无则从数据库查询并放入缓存
+        if (!redisUtil.hasKey("alarm_settings")) {
+            MsAlarmSettings alarmSettings = msAlarmSettingsService.list().get(0);
+            redisUtil.hset("alarm_settings", "lineEffectTime", alarmSettings.getLineEffectTime());
+            redisUtil.hset("alarm_settings", "alarmEffectTime", alarmSettings.getAlarmEffectTime());
+            redisUtil.hset("alarm_settings", "trackEffectTime", alarmSettings.getTrackEffectTime());
+            redisUtil.hset("alarm_settings", "fenceEffectTime", alarmSettings.getFenceEffectTime());
+            redisUtil.hset("alarm_settings", "inOutEffectDistance", alarmSettings.getInOutEffectDistance());
+            redisUtil.hset("alarm_settings", "targetHeight", alarmSettings.getTargetHeight());
+
+            //测试数据
+/*            RadarTrackModel radarTrackModel = new RadarTrackModel();
+            radarTrackModel.setLongitude(113.485085f);
+            radarTrackModel.setLatitude(22.050129f);
+            radarTrackModel.setDis(8560);
+            radarTrackModel.setAzimuth(158.7832f);
+            radarTrackModel.setCourse(169.96576f);
+            radarTrackModel.setSpeed(3.2160966f);
+            radarTrackModel.setTrackId(1);
+            radarTrackModel.setAltitude(5.770267f);
+            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());
+            redisUtil.hset(trackIdKey, "trackAltitude", radarTrackModel.getAltitude());
+
+            redisUtil.hset("PTZStatus", "pan", 331.0400085449219);
+            redisUtil.hset("PTZStatus", "tilt", 24.100000381469727);
+            redisUtil.hset("PTZStatus", "ptRunState", 4104);*/
+        }
+
+
+        //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
+         */
+        ZmqSubThread nyGuideCamPosThread = new ZmqSubThread(address, recvPort, radarTarget) {  //todo ip为radar-gui服务运行的机器
+            @Override
+            public void dealWithData(byte[] data) {
+                log.info(Thread.currentThread().getName() + "接收到数据：" + new String(data));
+                JSONObject jsonObject = JSON.parseObject(new String(data));
+                log.info("case4 : jsonObject:" + jsonObject.toString());
+
+                //查询雷达信息  雷达经纬度(113.455074,22.122197)
+                QueryWrapper<DtDeviceInfo> queryWrapper = new QueryWrapper<>();
+                queryWrapper.eq("device_type", DeviceType.RADAR.getValue())
+                        .eq("device_status", 1);//1-启用状态
+                DtDeviceInfo deviceInfo = msDeviceInfoService.getOne(queryWrapper);
+                log.info("雷达信息:" + deviceInfo);
+                if (deviceInfo == null) {
+                    log.info("查询不到相关设备");
+                    return;
+                }
+                //目标相对方位角
+                double azimuth = jsonObject.getDoubleValue("azimuth");
+                //目标距离
+                double distance = jsonObject.getDoubleValue("dis");
+                //计算目标经纬度
+                GEOIntersectPointUtils.LatLon targetLonLat = GEOUtils.getLocationByLocationAndAngleAndDistance(deviceInfo.getDeviceLon(), deviceInfo.getDeviceLat(), azimuth, distance);//计算目标点经纬度
+                log.info("目标经纬度targetLonLat:" + targetLonLat);
+
+                //查询光电信息
+                DtDeviceInfo cameraInfo = null;
+                LambdaQueryWrapper<DtDeviceInfo> photoelectricLambdaQueryWrapper = new LambdaQueryWrapper<>();
+                photoelectricLambdaQueryWrapper.eq(DtDeviceInfo::getDeviceType, DeviceType.PHOTOELECTRIC.getValue()).eq(DtDeviceInfo::getDeviceStatus, 1);
+                List<DtDeviceInfo> photoelectricDevices = null;
+                photoelectricDevices = msDeviceInfoService.list(photoelectricLambdaQueryWrapper);//查出所有光电
+                cameraInfo = photoelectricDevices.get(0);
+                log.info("光电信息:" + cameraInfo);
+
+                //1、若设备关联光电，则进行联动定位
+                if (cameraInfo != null) {
+                    try {
+                        double cameraAzimuth = cameraInfo.getInitAzimuth() + Double.parseDouble(redisUtil.hget("PTZStatus", "pan").toString());
+                        //计算目标相对于光电的方位角
+                        double targetAzimuth = GEOUtils.getAzimuth(deviceInfo.getDeviceLon(),
+                                deviceInfo.getDeviceLat(),
+                                targetLonLat.getLon(),
+                                targetLonLat.getLat()
+                        );
+
+                        //计算光电水平所需方位角
+                        double differAzimuth = targetAzimuth - cameraAzimuth;
+
+                        //计算方位角
+                        double horAngle = Double.parseDouble(redisUtil.hget("PTZStatus", "pan").toString()) + differAzimuth;
+                        horAngle = horAngle >= 0 ? horAngle : (360 + horAngle);
+
+                        //计算俯仰角(上27000-36000中间0-9000下)
+                        double verAngle = Math.toDegrees(Math.asin(cameraInfo.getDeviceHeight() / distance));
+                        verAngle = verAngle + cameraInfo.getInitPitch();
+
+                        //根据IP获取对应光电线程
+                        TcpClient tcpClient = ThreadManager.getTcpClientMap().get(cameraInfo.getDeviceIp());
+
+                        //停止跟踪
+                        tcpClient.send(
+                                HPDataParser.send(
+                                        HPReqParamEnc.ivpTrackingCtrl(String.valueOf(redisUtil.get(tcpClient.getIp())), 0, false, null)
+                                )
+                        );
+
+
+                        //转动光电到指定位置
+                        //当光电已经处于跟踪状态时，以下操作不会生效
+                        //根据目标位置进行定位(角度实际上送值 : 100倍整数值)
+                        tcpClient.send(
+                                HPDataParser.send(
+                                        HPReqParamEnc.ptzControl(String.valueOf(redisUtil.get(tcpClient.getIp())),
+                                                0, 51, null,
+                                                null, null, 45,
+                                                (int) (horAngle * 100), (int) (verAngle * 100), null)
+                                )
+                        );
+
+                        //目标高度 平均高度 在ms_alarm_settings表中设置 船的平均高度 高度越高视场角越大
+                        double h = Double.parseDouble(redisUtil.hget("alarm_settings", "targetHeight").toString());
+
+                        //计算目标距离光点的距离
+                        double d = GEOUtils.GetDistance(targetLonLat.getLon(), targetLonLat.getLat(), cameraInfo.getDeviceLon(), cameraInfo.getDeviceLat());
+
+                        //计算视场角，100为分辨率/像素
+                        double fov = Math.toDegrees(Math.atan(h / d)) * 2 * 100;
+                        log.info("目标平均高度：" + h + " 目标距离光电:" + d);
+                        log.info("水平方位角：" + horAngle + " 俯仰角：" + verAngle + " 视场角:" + fov);
+
+                        tcpClient.send(
+                                HPDataParser.send(
+                                        HPReqParamEnc.ptzControl(String.valueOf(redisUtil.get(tcpClient.getIp())),
+                                                0, 42, null,
+                                                null, null, null,
+                                                null, null, (int) (fov * 100))
+                                )
+                        );
+
+                        log.info("联动控制球机:");
+                        List<MsCameraSetting> cameraSettings = null;
+                        LambdaQueryWrapper<MsCameraSetting> cameraSettingLambdaQueryWrapper = new LambdaQueryWrapper<>();
+                        cameraSettingLambdaQueryWrapper.eq(MsCameraSetting::getType, 2).eq(MsCameraSetting::getStatus, 1);//只查询球机的信息 type:2 球机 type:1 枪击
+                        cameraSettings = msCameraSettingService.list(cameraSettingLambdaQueryWrapper);
+                        if (cameraSettings == null || cameraSettings.isEmpty()) {
+                            return;
+                        }
+                        log.info("case4 : 遍历相机列表 寻找最近的点的球机去跟踪");
+
+                        // 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
+                        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(h);//目标高度
+                            double tempHeightDiff = cameraHeight.subtract(labelHeight).doubleValue();//球机与目标高度差
+                            if (tempHeightDiff < 0) {
+                                log.info("case4 :" + "ip=" + cameraSetting.getIp() + " tempHeightDiff < 0 超过球机照射范围");
+                            } else {
+                                double temp = GEOUtils.GetDistance(cameraSetting.getLongitude().doubleValue(), cameraSetting.getLatitude().doubleValue(), targetLonLat.getLon(), targetLonLat.getLat());
+                                log.info("当前的球机" + cameraSetting.getIp() + "与目标的距离:" + temp);
+                                // 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;
+                                }
+                            }
+                        }
+
+                        if (msCameraSetting == null) {
+                            log.info("没有可跟踪的球机");
+                            return;
+                        }
+
+                        //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;
+                        }
+
+                        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));
+
+                        //控制球机照射目标
+                        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(),
+                                msCameraSetting.getMaxElevation(),
+                                msCameraSetting.getZeroAzimuth(),
+                                heightDiff,
+                                msCameraSetting.getZoomFactor(),
+                                msCameraSetting.getLongitude().doubleValue(),
+                                msCameraSetting.getLatitude().doubleValue(),
+                                targetLonLat.getLon(),
+                                targetLonLat.getLat(),
+                                msCameraSetting.getFactory());//factory用于区分品牌类型 1:海康 2:宇视
+
+                        log.info("跟踪球机的主要参数信息:");
+                        log.info("1.IP: " + msCameraSetting.getIp());
+                        log.info("2.用户名: " + msCameraSetting.getUser());
+                        log.info("3.密码: " + msCameraSetting.getPassword());
+                        log.info("4.最大俯仰角: " + msCameraSetting.getMaxElevation());
+                        log.info("5.初始方位角: " + msCameraSetting.getZeroAzimuth());
+                        log.info("6.品牌: " + (msCameraSetting.getFactory() == 1 ? "海康" : "宇视"));
+
+                        //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());
+
+                        //获取轨迹信息
+                        //String redisKey = "tracks"+"_"+longitude+"_"+latitude;
+                        int redisAzimuth = (int) azimuth;
+                        int redisDis = (((int) distance + 999) / 1000) * 1000;
+                        String redisKey = "tracks:" + redisAzimuth + "_" + redisDis;
+                        log.info("case4 :" + "redisLongitude:" + longitude + " " + "redisLatitude:" + latitude + "redisAzimuth:" + redisAzimuth + " redisDis:" + redisDis);
+                        log.info("case4 :" + "redisKey = " + redisKey);
+
+
+                        //通过不断更新的船经纬度信息控制球机转动
+                        int trackId = Integer.parseInt(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 + "跟踪的球机" + msCameraSetting.getIp());
+
+                        //将光电信息封装成rtspUrl返回前端
+                        String rtspUrl = getRtspUrl(deviceInfo.getDeviceIp(), deviceInfo.getIpPort(), deviceInfo.getUsername(), deviceInfo.getPassword());
+                        //轨迹数据发送mqtt给前端使用
+                        JSONObject jsonObject1 = new JSONObject();
+                        jsonObject1.put("rtspUrl", rtspUrl);
+                        MilitaryMqttApplication.pubMessage(jsonObject1.toJSONString(), trackDeviceInfo);
+                        log.info("发送轨迹数据给前端----------" + "消息:" + jsonObject1.toJSONString() + " 主题:" + trackDeviceInfo);
+
+                    } catch (UnsupportedEncodingException e) {
+                        e.printStackTrace();
+                    }
+                }
+            }
+
+        };
+        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
+         */
+/*        ZmqSubThread radarTrackThread = new ZmqSubThread(address, recvPort, targetTrajectory) {
+            @Override
+            public void dealWithData(byte[] data) {
+                log.info(Thread.currentThread().getName() + "接收到数据：" + new String(data));
+                JSONObject jsonObject = JSON.parseObject(new String(data));
+                log.info("case3 :" + "RadarTrack航迹数据:" + jsonObject.toString());
+
+                String radarTarcksJsonString = (String) jsonObject.get("radarTracks");
+                List<RadarTrackModel> radarTrackModels = JSONObject.parseArray(radarTarcksJsonString, RadarTrackModel.class);
+                //RadarTrackModel radarTrackModel = radarTrackModels.get(0);
+
+                for (RadarTrackModel radarTrackModel : radarTrackModels) {
+                    log.info("case3 :" + "航迹数据：" + JSON.toJSONString(radarTrackModel));
+
+                    log.error("时间:" + new Date(System.currentTimeMillis()) + "轨迹" + radarTrackModel.getTrackId() + "的数据 经纬度:" + radarTrackModel.getLongitude() + "_" + radarTrackModel.getLatitude());
+
+                    //保存有轨迹的Id
+                    redisUtil.zAdd("updatedIds", String.valueOf(radarTrackModel.getTrackId()), (double) System.currentTimeMillis());
+
+
+                    //缓存 TrackId =》 船具体信息
+                    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, "trackAltitude", radarTrackModel.getAltitude());
+
+                    //redis中存在正在跟踪的轨迹目标信息
+                    String trackingTarget = (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
+
+                    if (trackingTarget != null) {// 该轨迹处于跟踪状态
+                        log.info("当前轨迹处于跟踪列表中" + trackingTarget);
+                        //计算最近球机
+                        List<MsCameraSetting> cameraSettings = null;
+                        LambdaQueryWrapper<MsCameraSetting> cameraSettingLambdaQueryWrapper = new LambdaQueryWrapper<>();
+                        cameraSettingLambdaQueryWrapper.eq(MsCameraSetting::getType, 1).eq(MsCameraSetting::getStatus, 1);//只查询球机的信息 type:1 球机 type:2 枪击  type:10 故障
+
+                        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" + JSON.toJSONString(cameraSettings));
+
+                        //最近球机信息
+                        MsCameraSetting msCameraSetting = null;
+                        //最近距离
+                        double nearestDistance = 0;
+                        //最近球机的高度差
+                        double heightDiff = 0;
+                        //轨迹数据中有海拔(就暂时不使用目标平均高度了)
+                        double trackAltitude = Double.parseDouble(redisUtil.hget(trackIdKey, "trackAltitude").toString());
+                        if (trackAltitude == 0) {
+                            trackAltitude = Double.parseDouble(redisUtil.hget("alarm_settings", "targetHeight").toString());//没有就取平均值
+                            log.info("该轨迹没有传船的高度 赋予平均值");
+                        }
+
+                        //查找最近的相机
+                        for (MsCameraSetting cameraSetting : cameraSettings) {
+                            BigDecimal cameraHeight = cameraSetting.getHeight();//球机高度
+                            BigDecimal labelHeight = new BigDecimal(trackAltitude);//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;
+                                }
+                            }
+                        }
+
+                        if (msCameraSetting == null) {
+                            log.info("没有可跟踪的球机");
+                            return;
+                        }
+
+                        //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;
+                        }
+
+                        //获取跟踪目标的最新经纬度
+                        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");
+
+                        //将球机信息返回前端
+                        if (!trackingTarget.equals(msCameraSetting.getIp())){
+                            //跟踪的球机改变发送给前端
+                            JSONObject jsonObject2 = new JSONObject();
+                            jsonObject2.put("deviceId", msCameraSetting.getId());
+                            jsonObject2.put("rtspUrl", msCameraSetting.getPreRtsp());
+                            jsonObject2.put("rtcUrl", msCameraSetting.getWebcastAddress());
+                            MilitaryMqttApplication.pubMessage(jsonObject2.toJSONString(), trackCameraInfo);
+                        }
+                        redisUtil.hset("trackingTargetId", String.valueOf(radarTrackModel.getTrackId()), msCameraSetting.getIp(), 60 * 5);//更新时间
+
+
+                        //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.getFactory());//style用于区分品牌类型 1:海康 3:宇视
+
+                        redisUtil.hset("trackingTargetId", String.valueOf(radarTrackModel.getTrackId()), msCameraSetting.getIp());//更新时间
+                    }
+
+                    //发送雷达轨迹数据
+                    JSONObject jsonObject1 = new JSONObject();
+                    jsonObject1.put("sourceId", "AgilTrack_cat010bsz");
+                    jsonObject1.put("flag", 1);
+                    //jsonObject1.put("radarTrack", radarTrackModel);
+                    jsonObject1.put("radarTrack", JSON.toJSONString(radarTrackModel));
+                    SimpleDateFormat simpleDateFormat = new SimpleDateFormat("yyyy-MM-dd hh:mm:ss");
+                    String dataString = simpleDateFormat.format(new Date(System.currentTimeMillis()));
+                    jsonObject1.put("utc", dataString);
+                    jsonObject1.put("length", 3);
+                    MilitaryMqttApplication.pubMessage(jsonObject1.toJSONString(), trajectoryTopic);
+                    log.info("发送轨迹数据给前端----------" + "消息:" + JSON.toJSONString(radarTrackModel) + " 主题:" + trajectoryTopic);
+                }
+            }
+
+        };
+        new Thread(radarTrackThread).start();*/
+        ZmqSubThread radarTrackThread = new ZmqSubThread(address, recvPort, targetTrajectory) {
+            @Override
+            public void dealWithData(byte[] data) {
+                log.info(Thread.currentThread().getName() + "接收到数据：" + new String(data));
+                JSONObject jsonObject = JSON.parseObject(new String(data));
+                log.info("case3 :" + "RadarTrack航迹数据:" + jsonObject.toString());
+
+                String radarTarcksJsonString = (String) jsonObject.get("radarTracks");
+                List<RadarTrackModel> radarTrackModels = JSONObject.parseArray(radarTarcksJsonString, RadarTrackModel.class);
+                //RadarTrackModel radarTrackModel = radarTrackModels.get(0);
+
+                for (RadarTrackModel radarTrackModel : radarTrackModels) {
+                    log.info("case3 :" + "航迹数据：" + JSON.toJSONString(radarTrackModel));
+
+                    log.error("时间:" + new Date(System.currentTimeMillis()) + "轨迹" + radarTrackModel.getTrackId() + "的数据 经纬度:" + radarTrackModel.getLongitude() + "_" + radarTrackModel.getLatitude());
+
+                    //保存有轨迹的Id
+                    redisUtil.zAdd("updatedIds", String.valueOf(radarTrackModel.getTrackId()), (double) System.currentTimeMillis());
+
+
+                    //缓存 TrackId =》 船具体信息
+                    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, "trackAltitude", radarTrackModel.getAltitude());
+
+                    //redis中存在正在跟踪的轨迹目标信息
+                    //String trackingCamera = (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
+                    String trackingId = (String) redisUtil.get("trackingId");//获取跟踪目标Id
+                    String cameraIp = (String) redisUtil.get("trackingCameraIp");//获取跟踪球机的Ip
+
+
+                    if (trackingId != null && trackingId.equals(String.valueOf(radarTrackModel.getTrackId()))) {// 该轨迹处于跟踪状态
+                        //log.info("当前轨迹处于跟踪列表中" + cameraIp);
+
+                        List<MsCameraSetting> cameraSettings = null;
+                        LambdaQueryWrapper<MsCameraSetting> cameraSettingLambdaQueryWrapper = new LambdaQueryWrapper<>();
+                        cameraSettingLambdaQueryWrapper.eq(MsCameraSetting::getType,CameraType.QIUJI.getValue()).eq(MsCameraSetting::getStatus, 0);//只查询球机的信息 type:2 球机 type:1 枪击  type:10 故障
+
+                        cameraSettings = msCameraSettingService.list(cameraSettingLambdaQueryWrapper);
+
+                        if (cameraSettings != null) {
+                            //获取跟踪目标的最新经纬度
+                            String trackIdKey2 = "trackIds:" + radarTrackModel.getTrackId();//获取该轨迹对应的最新数据
+                            double targetLon = radarTrackModel.getLongitude();
+                            double targetLat = radarTrackModel.getLatitude();
+
+                            //计算最近球机
+                            MsCameraSetting msCameraSetting = radarHandler.getNearestCamera(cameraSettings, targetLon, targetLat);
+
+                            //控制球机照射目标
+                            //radarHandler.cameraToTarget((float) targetLon, (float) targetLat, msCameraSetting);
+
+                            //控制球机照射目标2
+                            JSONObject jsonObject1 = new JSONObject();
+                            jsonObject1.put("targetLon", radarTrackModel.getLongitude());
+                            jsonObject1.put("targetLat", radarTrackModel.getLatitude());
+                            jsonObject1.put("camera", JSON.toJSONString(msCameraSetting));
+                            MilitaryMqttApplication.pubMessage(JSON.toJSONString(jsonObject1), "/cameraToTarget");
+
+
+                            //当前跟踪的球机与之前跟踪的球机是否一样
+                            if (!cameraIp.equals(msCameraSetting.getIp())) {
+                                //跟踪的球机改变发送给前端
+                                JSONObject jsonObject2 = new JSONObject();
+                                jsonObject2.put("deviceId", msCameraSetting.getId());
+                                jsonObject2.put("rtspUrl", msCameraSetting.getPreRtsp());
+                                jsonObject2.put("rtcUrl", msCameraSetting.getWebcastAddress());
+                                MilitaryMqttApplication.pubMessage(jsonObject2.toJSONString(), trackCameraInfo);
+                                redisUtil.set("trackingCameraIp", msCameraSetting.getIp(),5*60);//更新正在跟踪的球机Ip
+                            }
+                            //redisUtil.hset("trackingTargetId", String.valueOf(radarTrackModel.getTrackId()), msCameraSetting.getIp(), 60 * 5);//更新时间
+
+                            log.info("轨迹-----------【参数信息】");
+                            log.info("相机IP:" + msCameraSetting.getIp());
+                            log.info("用户名：" + msCameraSetting.getUser());
+                            log.info("密码：" + msCameraSetting.getPassword());
+                            log.info("最大俯仰角：" + msCameraSetting.getMaxElevation());
+                            log.info("初始方位角：" + msCameraSetting.getZeroAzimuth());
+                            log.info("变焦倍数：" + msCameraSetting.getZoomFactor());
+                            log.info("相机经度：" + msCameraSetting.getLongitude().doubleValue());
+                            log.info("相机纬度：" + msCameraSetting.getLatitude().doubleValue());
+                            log.info("目标经度: " + targetLon);
+                            log.info("目标纬度: " + targetLat);
+                            log.info("品牌: " + (msCameraSetting.getFactory() == 1 ? "海康" : "宇视"));
+                            log.info("轨迹-----------【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】");
+                        }
+                    }
+
+                    //todo : 真实发送雷达轨迹数据
+                    JSONObject jsonObject1 = new JSONObject();
+                    jsonObject1.put("sourceId", "AgilTrack_cat010bsz");
+                    jsonObject1.put("flag", 1);
+                    jsonObject1.put("radarTrack", JSON.toJSONString(radarTrackModel));
+                    SimpleDateFormat simpleDateFormat = new SimpleDateFormat("yyyy-MM-dd hh:mm:ss");
+                    String dataString = simpleDateFormat.format(new Date(System.currentTimeMillis()));
+                    jsonObject1.put("utc", dataString);
+                    jsonObject1.put("length", 3);
+                    MilitaryMqttApplication.pubMessage(jsonObject1.toJSONString(), trajectoryTopic);
+                    log.info("发送轨迹数据给前端----------" + "消息:" + JSON.toJSONString(radarTrackModel) + " 主题:" + trajectoryTopic);
+                }
+            }
+
+        };
+        new Thread(radarTrackThread).start();
+    }
+
+    private static String getRtspUrl(String ip, int port, String user, String password) {
+        String rtspUrl = String.format("rtsp://%s:%s@%s:%d/", user, password, ip, port);
+        return rtspUrl;
+    }
+
+
+    //测试
+    public static void main(String[] args) {
+/*        double distance = GEOUtils.getDistance(113.5130050, 22.161666, 113.448686, 22.118584);
+        System.out.println(distance);
+
+        BigDecimal cameraHeight = new BigDecimal(6);//球机高度
+        BigDecimal labelHeight = new BigDecimal(0.28445536);//目标高度
+        double tempHeightDiff = cameraHeight.subtract(labelHeight).doubleValue();//球机与目标高度差
+        System.out.println(tempHeightDiff);
+
+        double azimuth = GEOUtils.getAzimuth(113.4578, 22.8021, 113.6782, 22.6602);
+        System.out.println("方位角:" + azimuth);
+
+        System.out.println(new Date(System.currentTimeMillis()));
+        System.out.println(getRtspUrl("192.168.1.200", 8081, "admin", "admin123!#"));//测试rtsp生成
+
+        for (int i = 0; i < 10; i++) {
+            JSONObject jsonObject = new JSONObject();
+            jsonObject.put("radarId", "1");
+            jsonObject.put("radarId2", "2");
+            jsonObject.put("radarId3", "3");
+            jsonObject.put("radarId4", "4");
+            jsonObject.put("radarId5", "5");
+            //测试数据
+            String filepath = "C:\\Users\\15819\\Desktop\\radarData.txt";
+            try {
+                bufferedWriterTest(filepath, jsonObject.toString());
+            } catch (IOException e) {
+                throw new RuntimeException(e);
+            }
+        }*/
+    }
+
+    private static void bufferedWriterTest(String filepath, String content) throws IOException {
+        try (BufferedWriter bufferedWriter = new BufferedWriter(new FileWriter(filepath, true))) {
+            bufferedWriter.write(content);
+            bufferedWriter.newLine();
+        }
+    }
+}

src/main/java/com/zgx/iot/SystemApplication.java

@@ -0,0 +1,54 @@
+package com.zgx.iot;
+import com.zgx.iot.config.mqtt.MQTTProps;
+import com.zgx.iot.config.socket.ssl.NettyProps;
+import com.zgx.iot.mq.mqtt.MqttService;
+import com.zgx.iot.utils.oConvertUtils;
+import lombok.extern.slf4j.Slf4j;
+
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.beans.factory.annotation.Value;
+import org.springframework.boot.ApplicationArguments;
+import org.springframework.boot.ApplicationRunner;
+import org.springframework.boot.SpringApplication;
+
+import org.springframework.boot.autoconfigure.SpringBootApplication;
+import org.springframework.boot.autoconfigure.jdbc.DataSourceAutoConfiguration;
+import org.springframework.context.ConfigurableApplicationContext;
+import org.springframework.core.env.Environment;
+import org.springframework.scheduling.annotation.EnableScheduling;
+
+import javax.annotation.Resource;
+import java.net.InetAddress;
+import java.net.UnknownHostException;
+import java.util.concurrent.ExecutorService;
+import java.util.concurrent.Executors;
+
+@EnableScheduling
+@SpringBootApplication
+@Slf4j
+public class SystemApplication implements ApplicationRunner{
+    @Resource
+    private NettyProps nettyProps;
+    public static ExecutorService threadPool = Executors.newFixedThreadPool(15);
+
+    public static void main(String[] args) throws UnknownHostException {
+        ConfigurableApplicationContext application = SpringApplication.run(SystemApplication.class, args);
+        Environment env = application.getEnvironment();
+        String ip = InetAddress.getLocalHost().getHostAddress();
+        String port = env.getProperty("server.port");
+        String path = oConvertUtils.getString(env.getProperty("server.servlet.context-path"));
+        log.info("\n----------------------------------------------------------\n\t" +
+                "周界入侵告警管控平台服务启动成功! Access URLs:\n\t" +
+                "Local: \t\thttp://localhost:" + port + path + "/\n\t" +
+                "External: \thttp://" + ip + ":" + port + path + "/\n\t" +
+//                "Swagger文档: \thttp://" + ip + ":" + port + path + "/doc.html\n" +
+                "----------------------------------------------------------");
+    }
+
+
+    @Override
+    public void run(ApplicationArguments args) throws Exception {
+//        MilitaryMqttApplication.pubMessage("aaa","military");
+//        System.out.println("111");
+    }
+}

src/main/java/com/zgx/iot/api/DeviceInfoAPI.java

@@ -0,0 +1,43 @@
+package com.zgx.iot.api;
+
+import com.alibaba.fastjson.JSON;
+
+import com.zgx.iot.common.Constants;
+import com.zgx.iot.entity.DtDeviceInfo;
+import com.zgx.iot.utils.https.ResultData;
+
+import com.zgx.iot.utils.https.HttpAPIHelper;
+
+import java.util.HashMap;
+import java.util.List;
+
+public class DeviceInfoAPI {
+
+
+    public static List<DtDeviceInfo> GetALLDeviceLit(String siteid){
+
+        String url =  Constants.APIURL.DEVICE_LIST;
+        HashMap<String, Object> valueMap = new HashMap<>();
+        valueMap.put("device_owner_id",siteid);
+        valueMap.put("device_status",0);
+        ResultData resultData = HttpAPIHelper.doGet(url,  valueMap);
+        List<DtDeviceInfo> jsonArray = JSON.parseArray(resultData.getResult(), DtDeviceInfo.class);
+        // 将JSONArray数组转为List类型
+        //List<DeviceInfo> list = (List)jsonArray;
+        //        return JSON.parseObject(resultData.getData(), List<DeviceInfo>.class);
+        for (DtDeviceInfo deviceInfo : jsonArray) {
+            System.out.println(deviceInfo.getDeviceName());
+
+        }
+        return  jsonArray;
+    }
+/*    public static DeviceInfo GetDeviceInfo(String deviceCode){
+
+        String url =  Constants.APIURL.DEVICE_LIST +"?deviceOwnerId=" +"";
+        ResultData resultData = HttpAPIHelper.doGet(url,  null);
+        DeviceInfo deviceInfo = JSON.parseObject(resultData.getData(),DeviceInfo.class);
+
+//        return JSON.parseObject(resultData.getData(), List<DeviceInfo>.class);
+        return  deviceInfo;
+    }*/
+}

src/main/java/com/zgx/iot/api/ServiceAPI.java

@@ -0,0 +1,4 @@
+package com.zgx.iot.api;
+
+public class ServiceAPI {
+}

src/main/java/com/zgx/iot/api/mq/MQManager.java

@@ -0,0 +1,4 @@
+package com.zgx.iot.api.mq;
+
+public class MQManager {
+}

src/main/java/com/zgx/iot/api/mq/MQService.java

@@ -0,0 +1,4 @@
+package com.zgx.iot.api.mq;
+
+public interface MQService {
+}

src/main/java/com/zgx/iot/api/mq/MQTTServiceimpl.java

@@ -0,0 +1,4 @@
+package com.zgx.iot.api.mq;
+
+public class MQTTServiceimpl implements MQService {
+}

src/main/java/com/zgx/iot/base/BaseMap.java

@@ -0,0 +1,140 @@
+package com.zgx.iot.base;
+
+
+import cn.hutool.core.util.ObjectUtil;
+import org.apache.commons.beanutils.ConvertUtils;
+
+import java.math.BigDecimal;
+import java.util.HashMap;
+import java.util.List;
+import java.util.Map;
+import java.util.Optional;
+import java.util.stream.Collectors;
+
+/**
+ * 自定义Map
+ */
+public class BaseMap extends HashMap<String, Object> {
+
+    private static final long serialVersionUID = 1L;
+
+
+    public BaseMap() {
+
+    }
+
+    public BaseMap(Map<String, Object> map) {
+        this.putAll(map);
+    }
+
+
+    @Override
+    public BaseMap put(String key, Object value) {
+        super.put(key, Optional.ofNullable(value).orElse(""));
+        return this;
+    }
+
+    public BaseMap add(String key, Object value) {
+        super.put(key, Optional.ofNullable(value).orElse(""));
+        return this;
+    }
+
+    @SuppressWarnings("unchecked")
+    public <T> T get(String key) {
+        Object obj = super.get(key);
+        if (ObjectUtil.isNotEmpty(obj)) {
+            return (T) obj;
+        } else {
+            return null;
+        }
+    }
+
+    @SuppressWarnings("unchecked")
+    public Boolean getBoolean(String key) {
+        Object obj = super.get(key);
+        if (ObjectUtil.isNotEmpty(obj)) {
+            return Boolean.valueOf(obj.toString());
+        } else {
+            return false;
+        }
+    }
+
+    public Long getLong(String key) {
+        Object v = get(key);
+        if (ObjectUtil.isNotEmpty(v)) {
+            return new Long(v.toString());
+        }
+        return null;
+    }
+
+    public Long[] getLongs(String key) {
+        Object v = get(key);
+        if (ObjectUtil.isNotEmpty(v)) {
+            return (Long[]) v;
+        }
+        return null;
+    }
+
+    public List<Long> getListLong(String key) {
+        List<String> list = get(key);
+        if (ObjectUtil.isNotEmpty(list)) {
+            return list.stream().map(e -> new Long(e)).collect(Collectors.toList());
+        } else {
+            return null;
+        }
+    }
+
+    public Long[] getLongIds(String key) {
+        Object ids = get(key);
+        if (ObjectUtil.isNotEmpty(ids)) {
+            return (Long[]) ConvertUtils.convert(ids.toString().split(","), Long.class);
+        } else {
+            return null;
+        }
+    }
+
+
+    public Integer getInt(String key, Integer def) {
+        Object v = get(key);
+        if (ObjectUtil.isNotEmpty(v)) {
+            return Integer.parseInt(v.toString());
+        } else {
+            return def;
+        }
+    }
+
+    public Integer getInt(String key) {
+        Object v = get(key);
+        if (ObjectUtil.isNotEmpty(v)) {
+            return Integer.parseInt(v.toString());
+        } else {
+            return 0;
+        }
+    }
+
+    public BigDecimal getBigDecimal(String key) {
+        Object v = get(key);
+        if (ObjectUtil.isNotEmpty(v)) {
+            return new BigDecimal(v.toString());
+        }
+        return new BigDecimal("0");
+    }
+
+
+    @SuppressWarnings("unchecked")
+    public <T> T get(String key, T def) {
+        Object obj = super.get(key);
+        if (ObjectUtil.isEmpty(obj)) {
+            return def;
+        }
+        return (T) obj;
+    }
+
+    public static BaseMap toBaseMap(Map<String, Object> obj) {
+        BaseMap map = new BaseMap();
+        map.putAll(obj);
+        return map;
+    }
+
+
+}

src/main/java/com/zgx/iot/client/ClientProtocalFactory.java

@@ -0,0 +1,48 @@
+package com.zgx.iot.client;
+
+import com.zgx.iot.client.impl.ProtocalLadarYS;
+import com.zgx.iot.dto.site.DeviceInfo;
+
+import java.util.HashMap;
+import java.util.Map;
+
+public class ClientProtocalFactory {
+	
+	// 对象列表
+	private static Map<String, IClientProtocal> objectList = new HashMap<String, IClientProtocal>();
+	
+	/**
+	 * 根据路径新建对象
+	 * @param path
+	 * @return
+	 */
+	public static IClientProtocal getInstance(String path) {
+    	if( objectList.containsKey(path) ){
+    		return objectList.get(path);
+    	}else{
+    		try {
+				Class<IClientProtocal> classObject =  (Class<IClientProtocal>) Class.forName("com.zgx.iot.protocal.impl." + path);
+				IClientProtocal iprotocal = classObject.newInstance() ;
+				objectList.put(path,iprotocal) ;
+				return iprotocal ;
+			} catch (Exception e) {
+				
+			}
+    	}
+    	return null;
+    }
+
+    public static IClientProtocal CreateClient(DeviceInfo deviceInfo) {
+		IClientProtocal clientProtocal=null;
+		switch (deviceInfo.getProtocol()) {
+			case 1:
+				clientProtocal = new ProtocalLadarYS(deviceInfo);
+			default:
+				clientProtocal = new ProtocalLadarYS(deviceInfo);
+		}
+		if(clientProtocal!=null){
+			clientProtocal.login();
+		}
+		return  clientProtocal;
+    }
+}

src/main/java/com/zgx/iot/client/ClientProtocalManager.java

@@ -0,0 +1,34 @@
+package com.zgx.iot.client;
+
+
+import java.util.HashMap;
+import java.util.Map;
+
+/**
+ * 协议解析，入口
+ * @author chenrj
+ *
+ */
+public class ClientProtocalManager {
+
+
+	// 对象列表
+	private static Map<String, IClientProtocal> DeviceList = new HashMap<>();
+    private String site_id="";
+
+	/**
+	 * 登录判断并匹配协议
+	 */
+	public   void loginClientDevices(){
+/*		List<MsDeviceInfo> deviceInfoList= DeviceInfoAPI.GetALLDeviceLit(site_id);
+		for ( MsDeviceInfo deviceInfo :deviceInfoList) {
+			IClientProtocal clientProtocal = ClientProtocalFactory.CreateClient(deviceInfo);
+		}*/
+
+	}
+
+
+
+
+	
+}

src/main/java/com/zgx/iot/client/IClientProtocal.java

@@ -0,0 +1,30 @@
+package com.zgx.iot.client;
+
+/**
+ * 策略抽象接口类,提供客户端需要的一些公共方法
+ */
+public interface IClientProtocal {
+
+
+	/**
+	 * 登录
+	 */
+	void login();
+	
+	/**
+	 * 数据解析
+	 * @param data
+	 */
+	void analysisData( byte[] data);
+	
+	/**
+	 * 心跳包
+	 */
+	void handbert();
+
+
+
+	
+	void logout();
+	
+}

src/main/java/com/zgx/iot/client/impl/ProtocalLadarYS.java

@@ -0,0 +1,61 @@
+package com.zgx.iot.client.impl;
+
+import com.zgx.iot.SystemApplication;
+import com.zgx.iot.client.IClientProtocal;
+
+import com.zgx.iot.common.Code.IOT_NODE_STATUS;
+import com.zgx.iot.common.Config;
+import com.zgx.iot.common.Constants;
+import com.zgx.iot.dto.site.DeviceInfo;
+import com.zgx.iot.radar.RadarServer;
+
+
+import java.net.InetAddress;
+import java.net.UnknownHostException;
+import java.util.Date;
+
+/**
+ * 
+ * @author M
+ * HJ212
+ *
+ */
+public class ProtocalLadarYS implements IClientProtocal {
+
+
+
+	private DeviceInfo _deviceInfo;
+	public  ProtocalLadarYS(DeviceInfo deviceInfo){
+
+	}
+
+
+	@Override
+	public void login() {
+
+		
+
+		
+	}
+
+	@Override
+	public void analysisData(  byte[] data ) {
+		try{
+
+
+		} catch (Exception e) {
+			e.printStackTrace();
+		}
+	}
+
+	@Override
+	public void handbert( ) {
+	}
+
+
+
+	@Override
+	public void logout()  {
+
+	}
+}

src/main/java/com/zgx/iot/common/Cache.java

@@ -0,0 +1,36 @@
+package com.zgx.iot.common;
+
+
+import java.util.Map;
+import java.util.Timer;
+import java.util.concurrent.ConcurrentHashMap;
+
+
+/**
+ * 缓存
+ *
+ */
+public class Cache {
+
+	
+	/**
+	 * nodeId session 缓存
+	 */
+	//public static Map<String, IoSession> nodeIdsessionMap = new ConcurrentHashMap<>();
+	
+	
+	/**
+	 * 定时任务轮训，主要主动请求数据
+	 */
+	public static Map<String, Timer > timerTaskMap = new ConcurrentHashMap<>();
+	
+	/**
+	 * 设备数据透传
+	 */
+	public static Map<String, Long > deviceMap = new ConcurrentHashMap<>();
+
+
+	//public static Map<String, IotNodeInfoBOSocket> nodeIdsessionMapEx = new ConcurrentHashMap<>();
+	
+	
+}

src/main/java/com/zgx/iot/common/Code.java

@@ -0,0 +1,36 @@
+package com.zgx.iot.common;
+
+public class Code {
+	
+	public static class IOT_NODE_STATUS {
+		
+		public static final Integer online = 16 ;
+		
+		public static final Integer offline = 17;
+		
+	}
+	
+	public static class ResponseCode{
+		
+		public static final Integer OK  = 2 ;
+		
+		public static final Integer NO_DATA  = 4 ;
+	}
+	
+	/**
+	 * 设备状态
+	 * @author chenrj
+	 *
+	 */
+	public static class DEVICE_STATUS{
+		
+		public static final Integer ONLINE = 16 ;
+		
+		public static final Integer OFFLINE = 17 ;
+		
+		public static final Integer UNCONTECT = 18;
+		
+		public static final Integer FAILURE = 19 ;
+	}
+	
+}

src/main/java/com/zgx/iot/common/Config.java

@@ -0,0 +1,8 @@
+package com.zgx.iot.common;
+
+public class Config {
+    public static String SITE_ID =  "";
+
+    public static String IOT_USER_KEY  ;
+    public static String IOT_URL="localhost:8088";
+}

src/main/java/com/zgx/iot/common/Constants.java

@@ -0,0 +1,105 @@
+package com.zgx.iot.common;
+
+public class Constants {
+
+
+	public final static String IOT_LPM_TYPE = "IOT_SERVER_LPM";
+	
+	public final static String DEVICE_CODE = "deviceId";
+
+	public final static String DEVICE_LOGIN = "login";
+	//协议类型
+	public final static String PROTOCOL_CATEGORY = "protocolCategory";
+	
+	public final static String DEVICE_PARAM = "deviceParam" ;
+	
+	public final static String DEVICE_TRANSFER = "deviceTransfer" ;
+	
+	public final static String DEVICE_FLAG = "deviceFlag" ;
+	
+	public final static String DEVICE_SESSION = "deviceSession" ;
+	
+	public final static String NODE_INFO = "nodeInfo" ;
+	
+	public final static String THREAD_HASH_CODE = "threadHashCode" ;
+	
+	public final static String DATA_CACHE = "dataCache";
+	
+	
+	public static class CODE_TYPE{
+		public final static String HEX = "hex";
+		public final static String STR = "STR";
+	}
+	public String API_URL="";
+	public static class APIURL {
+		/**
+		 * 所属站点设备列表
+		 */
+		public static String DEVICE_LIST   = Config.IOT_URL + "/dt/military/dtDeviceInfo/queryByIsland";
+	}
+		public static class URL{
+		/**
+		 * 同步lpro和lpm数据
+		 */
+		public static String SYNC_NODE = Config.IOT_URL + "/service/node/data/sync.json" ;
+		
+		/**
+		 * 修改传感器的请求值,实时值
+		 */
+		public static String SENSORS_DATA = Config.IOT_URL + "/service/sensors/realtime/update.json";
+		/**
+		 * 修改设备的状态
+		 */
+		public static String NODE_INFO = Config.IOT_URL +"/service/node/status.json";
+		/**
+		 * 批量保存储存传感器数据
+		 */
+		public static String SAVE_NODE_DATA = Config.IOT_URL + "/service/save/node/data.json" ;
+	}
+	public static class MQTT_TOPIC{
+		/**
+		 *雷达目标信息
+		 */
+		public static String RadarTargetTopic = "RadarTargetTopic" ;
+
+		/**
+		 *AIS目标原始信息
+		 */
+		public static String AisRawTargetTopic = "AisRawTargetTopic" ;
+		/**
+		 *AIS目标信息
+		 */
+		public static String AisTargetTopic = "AisTargetTopic" ;
+
+		/**
+		 *其他目标信息
+		 */
+		public static String ExtTargetTopic = "ExtTargetTopic" ;
+
+		/**
+		 *融合目标信息
+		 */
+		public static String UnionTargetTopic = "UnionTargetTopic" ;
+		/**
+		 *报警信息
+		 */
+		public static String AlarmInfoTopic = "AlarmInfoTopic" ;
+
+		/**
+		 *站点信息
+		 */
+		public static String SiteTopic = "SiteTopic" ;
+
+		/**
+		 *设备信息
+		 */
+		public static String DeviceInfoTopic = "DeviceInfoTopic" ;
+
+		/**
+		 *设备状态信息
+		 */
+		public static String DeviceStatusTopic = "DeviceStatusTopic" ;
+
+
+	}
+}

src/main/java/com/zgx/iot/config/mqtt/MQTTProps.java

@@ -0,0 +1,73 @@
+package com.zgx.iot.config.mqtt;
+
+import lombok.Data;
+import org.springframework.boot.context.properties.ConfigurationProperties;
+import org.springframework.stereotype.Component;
+
+import java.util.List;
+
+/**
+ * 配置文件的前缀
+ */
+@Data
+@Component
+@ConfigurationProperties(prefix = "mqtt")
+public class MQTTProps {
+    @Data
+    public static class Service {
+        /**
+         * MQTT 服务器地址
+         */
+        private String address;
+        /**
+         * 服务端 账号
+         */
+        private String username;
+        /**
+         * 认证方式
+         */
+        private String authentication;
+        /**
+         * 服务端 密码
+         */
+        private String password;
+    }
+
+    @Data
+    public static class Retry {
+        /**
+         * 重试次数 (次)
+         */
+        private int count;
+        /**
+         * 重试间隔（秒）
+         */
+        private int interval;
+    }
+
+    @Data
+    public static class Client {
+
+        /**
+         * mqtt 客户端 ID
+         */
+        private String id;
+        /**
+         * 定阅的主题
+         */
+        private String topics;
+    }
+
+    /**
+     * 服务端
+     */
+    private Service service;
+    /**
+     * 客户端
+     */
+    private Client client;
+    /**
+     * 重试选项
+     */
+    private Retry retry;
+}

src/main/java/com/zgx/iot/config/socket/ssl/NettyProps.java

@@ -0,0 +1,80 @@
+package com.zgx.iot.config.socket.ssl;
+
+import com.zgx.iot.config.mqtt.MQTTProps;
+import lombok.Data;
+import org.springframework.boot.context.properties.ConfigurationProperties;
+import org.springframework.stereotype.Component;
+
+@Data
+@Component
+@ConfigurationProperties(prefix = "netty")
+public class NettyProps {
+
+    @Data
+    public static class tcpClient {
+
+        /**
+         * netty tcp客户端地址
+         */
+        private String address;
+        /**
+         * netty tcp客户端端口
+         */
+        private String port;
+    }
+    @Data
+    public static class tcpService {
+
+        /**
+         * netty tcp服务端地址
+         */
+        private String address;
+        /**
+         * netty tcp服务端端口
+         */
+        private String port;
+    }
+    /**
+     * udp
+     */
+    @Data
+    public static class udpService {
+
+        /**
+         * udp服务端地址
+         */
+        private String address;
+        /**
+         * udp服务端端口
+         */
+        private String port;
+    }
+    @Data
+    public static class udpClient {
+
+        /**
+         * netty udp客户端地址
+         */
+        private String address;
+        /**
+         * netty udp客户端端口
+         */
+        private String port;
+    }
+    /**
+     * tcp服务端
+     */
+    private tcpService tcpService;
+    /**
+     * tcp客户端
+     */
+    private tcpClient tcpClient;
+    /**
+     * udp服务端
+     */
+    private tcpService udpService;
+    /**
+     * udp客户端
+     */
+    private tcpClient udpClient;
+}

src/main/java/com/zgx/iot/config/socket/ssl/SslConfig.java

@@ -0,0 +1,4 @@
+package com.zgx.iot.config.socket.ssl;
+
+public class SslConfig {
+}

src/main/java/com/zgx/iot/constant/CacheConstant.java

@@ -0,0 +1,94 @@
+package com.zgx.iot.constant;
+
+/**
+ * @author: huangxutao
+ * @date: 2019-06-14
+ * @description: 缓存常量
+ */
+public interface CacheConstant {
+
+	/**
+	 * 字典信息缓存
+	 */
+    public static final String SYS_DICT_CACHE = "sys:cache:dict";
+	/**
+	 * 表字典信息缓存
+	 */
+    public static final String SYS_DICT_TABLE_CACHE = "sys:cache:dictTable";
+	public static final String SYS_DICT_TABLE_BY_KEYS_CACHE = SYS_DICT_TABLE_CACHE + "ByKeys";
+
+	/**
+	 * 数据权限配置缓存
+	 */
+    public static final String SYS_DATA_PERMISSIONS_CACHE = "sys:cache:permission:datarules";
+
+	/**
+	 * 缓存用户信息
+	 */
+	public static final String SYS_USERS_CACHE = "sys:cache:user";
+
+	/**
+	 * 全部部门信息缓存
+	 */
+	public static final String SYS_DEPARTS_CACHE = "sys:cache:depart:alldata";
+
+
+	/**
+	 * 全部部门ids缓存
+	 */
+	public static final String SYS_DEPART_IDS_CACHE = "sys:cache:depart:allids";
+
+
+	/**
+	 * 测试缓存key
+	 */
+	public static final String TEST_DEMO_CACHE = "test:demo";
+
+	/**
+	 * 字典信息缓存
+	 */
+	public static final String SYS_DYNAMICDB_CACHE = "sys:cache:dbconnect:dynamic:";
+
+	/**
+	 * gateway路由缓存
+	 */
+	public static final String GATEWAY_ROUTES = "sys:cache:cloud:gateway_routes";
+
+
+	/**
+	 * gateway路由 reload key
+	 */
+	public static final String ROUTE_JVM_RELOAD_TOPIC = "gateway_jvm_route_reload_topic";
+
+	/**
+	 * TODO 冗余代码 待删除
+	 *插件商城排行榜
+	 */
+	public static final String PLUGIN_MALL_RANKING = "pluginMall::rankingList";
+	/**
+	 * TODO 冗余代码 待删除
+	 *插件商城排行榜
+	 */
+	public static final String PLUGIN_MALL_PAGE_LIST = "pluginMall::queryPageList";
+
+
+	/**
+	 * online列表页配置信息缓存key
+	 */
+	public static final String ONLINE_LIST = "sys:cache:online:list";
+
+	/**
+	 * online表单页配置信息缓存key
+	 */
+	public static final String ONLINE_FORM = "sys:cache:online:form";
+
+	/**
+	 * online报表
+	 */
+	public static final String ONLINE_RP = "sys:cache:online:rp";
+
+	/**
+	 * online图表
+	 */
+	public static final String ONLINE_GRAPH = "sys:cache:online:graph";
+}

src/main/java/com/zgx/iot/constant/GlobalConstants.java

@@ -0,0 +1,14 @@
+package com.zgx.iot.constant;
+
+public class GlobalConstants {
+
+    /**
+     * 业务处理器beanName传递参数
+     */
+    public static final String HANDLER_NAME = "handlerName";
+
+    /**
+     * redis消息通道名称
+     */
+    public static final String REDIS_TOPIC_NAME="jeecg_redis_topic";
+}

src/main/java/com/zgx/iot/constant/SocketConstant.java

@@ -0,0 +1,30 @@
+package com.zgx.iot.constant;
+
+/**
+ * @Description: Socket常量类
+ * @author: bb
+ * @date: 2022-07-31
+ */
+public class SocketConstant {
+
+    /**
+     * 连接超时时间（毫秒）
+     */
+    public static final int TIME_OUT = 3 * 1000;
+
+    /**
+     * 若指定时间内无数据交互，则进行心跳探测（秒）
+     */
+    public static final int IDLE_TIME = 15 * 1000;
+
+    /**
+     * 重试次数（次）
+     */
+    public static final int RETRY_COUNT = 5;
+
+    /**
+     * 重试间隔（秒）
+     */
+    public static final int RETRY_INTERVAL = 3;
+
+}

src/main/java/com/zgx/iot/constant/WebsocketConst.java

@@ -0,0 +1,64 @@
+package com.zgx.iot.constant;
+
+/**
+ * @Description: Websocket常量类
+ * @author: taoyan
+ * @date: 2020年03月23日
+ */
+public class WebsocketConst {
+
+
+    /**
+     * 消息json key:cmd
+     */
+    public static final String MSG_CMD = "cmd";
+
+    /**
+     * 消息json key:msgId
+     */
+    public static final String MSG_ID = "msgId";
+
+    /**
+     * 消息json key:msgTxt
+     */
+    public static final String MSG_TXT = "msgTxt";
+
+    /**
+     * 消息json key:userId
+     */
+    public static final String MSG_USER_ID = "userId";
+
+    /**
+     * 消息类型 heartcheck
+     */
+    public static final String CMD_CHECK = "heartcheck";
+
+    /**
+     * 消息类型 user 用户消息
+     */
+    public static final String CMD_USER = "user";
+
+    /**
+     * 消息类型 topic 系统通知
+     */
+    public static final String CMD_TOPIC = "topic";
+
+    /**
+     * 消息类型 email
+     */
+    public static final String CMD_EMAIL = "email";
+
+    /**
+     * 消息类型 meetingsign 会议签到
+     */
+    public static final String CMD_SIGN = "sign";
+
+    /**
+     * 消息类型 新闻发布/取消
+     */
+    public static final String NEWS_PUBLISH = "publish";
+    /**
+     * 消息类型  事件通报
+     */
+    public static final String event_PUBLISH = "eventPublish";
+}

src/main/java/com/zgx/iot/constant/enums/AlarmType.java

@@ -0,0 +1,33 @@
+package com.zgx.iot.constant.enums;
+
+/**
+ * 报警类型
+ */
+public enum AlarmType {
+    VIDEO("视频报警", 1),
+    RADAR("雷达报警", 2),
+    FENCE("电子围网报警", 3),
+    PATROL("巡逻人员警报", 4),
+    OTHERS("其他报警", 9);
+
+    private String desc;
+    private int code;
+
+    AlarmType(String desc, int code) {
+        this.desc = desc;
+        this.code = code;
+    }
+
+    public int getCode() {
+        return this.code;
+    }
+
+    public static String getDesc(int code) {
+        for (AlarmType alarmType : AlarmType.values()) {
+            if (code == alarmType.code) {
+                return alarmType.desc;
+            }
+        }
+        return null;
+    }
+}

src/main/java/com/zgx/iot/constant/enums/AlarmType2.java

@@ -0,0 +1,27 @@
+package com.zgx.iot.constant.enums;
+
+/**
+ * 报警类型
+ */
+public enum AlarmType2 {
+
+    INVADE("入侵", 1),
+    BREAK("破坏", 2),
+    OTHER("其他", 3);
+
+    private String desc;
+    private Integer code;
+
+    AlarmType2(String desc, Integer value) {
+        this.desc = desc;
+        this.code = value;
+    }
+
+    public String getDesc() {
+        return desc;
+    }
+
+    public Integer getCode() {
+        return code;
+    }
+}

src/main/java/com/zgx/iot/constant/enums/CameraType.java

@@ -0,0 +1,27 @@
+package com.zgx.iot.constant.enums;
+
+/**
+ * 设备类型
+ */
+public enum CameraType {
+    QIUJI("球机", 1),
+    QIANGJI("枪击", 2),
+    GUANGDIAN("光电跟踪仪", 3),
+    YUNTAI("高清云台", 4);
+
+    private final String desc;
+    private final Integer value;
+
+    CameraType(String desc, Integer value) {
+        this.desc = desc;
+        this.value = value;
+    }
+
+    public String getDesc() {
+        return desc;
+    }
+
+    public Integer getValue() {
+        return value;
+    }
+}

src/main/java/com/zgx/iot/constant/enums/DateType.java

@@ -0,0 +1,25 @@
+package com.zgx.iot.constant.enums;
+
+/**
+ * 信息类型
+ */
+public enum DateType {
+    ALARM_INFO("报警信息", 0),
+    STATE_INFO("状态信息", 1);
+
+    private String desc;
+    private Integer value;
+
+    DateType(String desc, Integer value) {
+        this.desc = desc;
+        this.value = value;
+    }
+
+    public String getDesc() {
+        return desc;
+    }
+
+    public Integer getValue() {
+        return value;
+    }
+}

src/main/java/com/zgx/iot/constant/enums/DeviceComp.java

@@ -0,0 +1,28 @@
+package com.zgx.iot.constant.enums;
+
+/**
+ * 相机设备厂商
+ */
+public enum DeviceComp {
+    HAIKAN("海康", 1),
+    DAHUA("大华", 2),
+    YUSHI("宇视", 3),
+    HEPU("和普", 4);
+
+    private String desc;
+    private Integer value;
+
+    DeviceComp(String desc, Integer value) {
+        this.desc = desc;
+        this.value = value;
+    }
+
+    public Integer getValue() {
+        return value;
+    }
+
+    public String getDesc(){
+        return desc;
+    }
+
+}

src/main/java/com/zgx/iot/constant/enums/DeviceType.java

@@ -0,0 +1,29 @@
+package com.zgx.iot.constant.enums;
+
+/**
+ * 设备类型
+ */
+public enum DeviceType {
+    RADAR("雷达", 1),
+    PHOTOELECTRIC("光电", 2),
+    PERIMETERALARM("电子围网", 3),
+    PHOTOVOLTAIC("光伏", 4),
+    DATARECORD("数据记录设备", 5),
+    VIBRATECABLE("振动电缆", 6);
+
+    private final String desc;
+    private final Integer value;
+
+    DeviceType(String desc, Integer value) {
+        this.desc = desc;
+        this.value = value;
+    }
+
+    public String getDesc() {
+        return desc;
+    }
+
+    public Integer getValue() {
+        return value;
+    }
+}

src/main/java/com/zgx/iot/constant/enums/FaultItem.java

@@ -0,0 +1,54 @@
+package com.zgx.iot.constant.enums;
+
+/**
+ * 故障诊断项
+ */
+public enum FaultItem {
+    N(1, "系统"),
+    N2(2, "网络连接"),
+    N3(3, "串口通信"),
+    N4(4, "视频接口通信"),
+    N5(5, "视频输入"),
+    N6(6, "视频处理子系统"),
+    N7(7, "视频编码"),
+    N8(8, "视频解码"),
+    N9(9, "智能分析"),
+    N10(10, "云台角度定位准确性"),
+    N11(11, "云台速度平稳性"),
+    N12(12, "可见光zoom定位准确性"),
+    N13(13, "可见光focus定位准确性"),
+    N14(14, "热像zoom定位准确性"),
+    N15(15, "热像focus定位准确性"),
+    N16(16, "热像自检"),
+    N17(17, "云台自检"),
+    N18(18, "激光自检"),
+    N19(19, "激光测距"),
+    N20(20, "GPS"),
+    N21(21, "电子罗盘"),
+    N22(22, "雨刷");
+
+    private int code;
+    private String desc;
+
+    FaultItem(int code, String desc) {
+        this.code = code;
+        this.desc = desc;
+    }
+
+    public static String getDesc(int code) {
+        for (FaultItem fenceType : FaultItem.values()) {
+            if (code == fenceType.code) {
+                return fenceType.desc;
+            }
+        }
+        return null;
+    }
+
+    public int getCode() {
+        return code;
+    }
+
+    public String getDesc() {
+        return desc;
+    }
+}

src/main/java/com/zgx/iot/constant/enums/FaultResult.java

@@ -0,0 +1,37 @@
+package com.zgx.iot.constant.enums;
+
+/**
+ * 故障诊断结果
+ */
+public enum FaultResult {
+    NORMAL(0, "正常"),
+    FAULT(1, "故障"),
+    UNSUPPORT(2, "不支持"),
+    POWEROFF(3, "电源关"),
+    UNDIAGNOSED(4, "未诊断");
+
+    private int code;
+    private String desc;
+
+    FaultResult(int code, String desc) {
+        this.code = code;
+        this.desc = desc;
+    }
+
+    public static String getDesc(int code) {
+        for (FaultResult fenceType : FaultResult.values()) {
+            if (code == fenceType.code) {
+                return fenceType.desc;
+            }
+        }
+        return null;
+    }
+
+    public int getCode() {
+        return code;
+    }
+
+    public String getDesc() {
+        return desc;
+    }
+}

src/main/java/com/zgx/iot/constant/enums/FenceType.java

@@ -0,0 +1,38 @@
+package com.zgx.iot.constant.enums;
+
+/**
+ * 电子围栏信息类型
+ */
+public enum FenceType {
+    BROKEN(2, "断线报警"),
+    INVADE(6, "入侵报警"),
+    OFFLINE(8, "离线报警"),
+    ONLINE(9, "离线报警恢复"),
+    TAMPER(10, "防拆报警"),
+    FAULT(12, "故障报警");
+
+    private int code;
+    private String desc;
+
+    FenceType(int code, String desc) {
+        this.code = code;
+        this.desc = desc;
+    }
+
+    public static String getDesc(int code) {
+        for (FenceType fenceType : FenceType.values()) {
+            if (code == fenceType.code) {
+                return fenceType.desc;
+            }
+        }
+        return null;
+    }
+
+    public int getCode() {
+        return code;
+    }
+
+    public String getDesc() {
+        return desc;
+    }
+}

src/main/java/com/zgx/iot/constant/enums/Invade.java

@@ -0,0 +1,30 @@
+package com.zgx.iot.constant.enums;
+
+/**
+ * 入侵行为
+ */
+public enum Invade {
+
+    CLIMB(1, "攀爬"), JUMP(2, "翻越");
+
+    private int code;
+    private String value;
+
+    Invade(int code, String value) {
+        this.code = code;
+        this.value = value;
+    }
+
+    public String getValue() {
+        return this.value;
+    }
+
+    public static String getVal(int code) {
+        for (Invade invade : Invade.values()) {
+            if (code == invade.code) {
+                return invade.value;
+            }
+        }
+        return null;
+    }
+}

src/main/java/com/zgx/iot/constant/enums/StateType.java

@@ -0,0 +1,27 @@
+package com.zgx.iot.constant.enums;
+
+/**
+ * 状态类型
+ */
+public enum StateType {
+
+    HEARTBEAT("心跳",1),
+    BREAK_LINE("断纤",2),
+    OTHER_FAULT("其他故障",3);
+
+    private String desc;
+    private Integer code;
+
+    StateType(String desc, Integer value) {
+        this.desc = desc;
+        this.code = value;
+    }
+
+    public String getDesc() {
+        return desc;
+    }
+
+    public Integer getCode() {
+        return code;
+    }
+}

src/main/java/com/zgx/iot/constant/enums/TargetType.java

@@ -0,0 +1,27 @@
+package com.zgx.iot.constant.enums;
+
+/**
+ * 目标类型
+ */
+public enum TargetType {
+
+    PEOPLE("人", 1),
+    CAR("车", 2),
+    OTHER("其他", 3);
+
+    private String desc;
+    private Integer code;
+
+    TargetType(String desc, Integer value) {
+        this.desc = desc;
+        this.code = value;
+    }
+
+    public String getDesc() {
+        return desc;
+    }
+
+    public Integer getCode() {
+        return code;
+    }
+}

src/main/java/com/zgx/iot/constant/enums/WarnLevel.java

@@ -0,0 +1,18 @@
+package com.zgx.iot.constant.enums;
+
+/**
+ * 报警等级
+ */
+public enum WarnLevel {
+    ONE(1), TWO(2), THREE(3), FOUR(4);
+
+    private int value;
+
+    WarnLevel(int value) {
+        this.value = value;
+    }
+
+    public int getValue() {
+        return this.value;
+    }
+}

src/main/java/com/zgx/iot/constant/enums/WarnType.java

@@ -0,0 +1,18 @@
+package com.zgx.iot.constant.enums;
+
+/**
+ * 警示类型
+ */
+public enum WarnType {
+    PRE_WARN(1), WARN(2);
+
+    private int value;
+
+    WarnType(int value) {
+        this.value = value;
+    }
+
+    public int getValue() {
+        return this.value;
+    }
+}

src/main/java/com/zgx/iot/controller/TrackingTargetController.java

@@ -0,0 +1,248 @@
+package com.zgx.iot.controller;
+
+import com.alibaba.fastjson.JSON;
+import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.zgx.iot.constant.enums.DeviceType;
+import com.zgx.iot.dto.radar.TrackingTargetDTO;
+import com.zgx.iot.dto.site.Result;
+import com.zgx.iot.entity.DtDeviceInfo;
+import com.zgx.iot.entity.MsCameraSetting;
+import com.zgx.iot.service.IDtDeviceInfoService;
+import com.zgx.iot.service.IMsAlarmSettingsService;
+import com.zgx.iot.service.IMsCameraSettingService;
+import com.zgx.iot.utils.GEOUtils;
+import com.zgx.iot.utils.RedisUtil;
+import com.zgx.iot.utils.hp.HPDataParser;
+import com.zgx.iot.utils.hp.HPReqParamEnc;
+import com.zgx.iot.utils.hp.ThreadManager;
+import com.zgx.iot.utils.socket.TcpClient;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.util.CollectionUtils;
+import org.springframework.web.bind.annotation.PostMapping;
+import org.springframework.web.bind.annotation.RequestBody;
+import org.springframework.web.bind.annotation.RequestMapping;
+import org.springframework.web.bind.annotation.RestController;
+
+
+import java.io.UnsupportedEncodingException;
+import java.math.BigDecimal;
+import java.util.List;
+
+/**
+ * 光电跟踪接口
+ */
+@RestController
+@RequestMapping("/tracking")
+@Slf4j
+public class TrackingTargetController {
+
+    @Autowired
+    RedisUtil redisUtil;
+    @Autowired
+    IDtDeviceInfoService msDeviceInfoService;
+    @Autowired
+    IMsCameraSettingService msCameraSettingService;
+    @Autowired
+    IMsAlarmSettingsService msAlarmSettingsService;
+
+
+    @PostMapping(value = "/target")
+    public Result<?> trackingTarget(@RequestBody TrackingTargetDTO trackingTarget) throws UnsupportedEncodingException {
+
+        //获取目标id 和 雷达id 和是否跟踪
+        String trackTargetId = String.valueOf(trackingTarget.getTrackId());
+        int radarId = trackingTarget.getRadarId();
+        boolean isTracking = trackingTarget.isTrackStatus();//todo : 是否跟踪
+
+        String trackIdKey = "trackIds:" + trackTargetId;
+        //目标经纬度
+        float targetLon = Float.parseFloat(redisUtil.hget(trackIdKey, "targetLon").toString());
+        float targetLat = Float.parseFloat(redisUtil.hget(trackIdKey, "targetLat").toString());
+        //目标距离(基于雷达)
+        int distance = Integer.parseInt(redisUtil.hget(trackIdKey, "targetDis").toString());
+        //目标方位角(基于雷达)
+        float azimuth = Float.parseFloat(redisUtil.hget(trackIdKey, "targetAzimuth").toString());
+
+        log.info("目标经纬度:" + targetLon + "," + targetLat);
+
+        //查询雷达信息  雷达经纬度(113.455074,22.122197)
+        QueryWrapper<DtDeviceInfo> queryWrapper = new QueryWrapper<>();
+        queryWrapper.eq("device_type", DeviceType.RADAR.getValue()) //雷达类型
+                .eq("device_status", 1) //1-启用状态
+                .eq("id", radarId); //雷达Id
+        DtDeviceInfo deviceInfo = msDeviceInfoService.getOne(queryWrapper);
+        if (deviceInfo == null) {
+            log.info("查询不到雷达设备");
+            return Result.error("查询不到雷达设备");
+        }
+        log.info("雷达设备信息:" + deviceInfo);
+
+        //查询光电信息
+        DtDeviceInfo cameraInfo = null;
+        LambdaQueryWrapper<DtDeviceInfo> photoelectricLambdaQueryWrapper = new LambdaQueryWrapper<>();
+        photoelectricLambdaQueryWrapper.eq(DtDeviceInfo::getDeviceType, DeviceType.PHOTOELECTRIC.getValue()) //光电类型
+                .eq(DtDeviceInfo::getDeviceStatus, 1);//1-启用状态
+        List<DtDeviceInfo> photoelectricDevices = msDeviceInfoService.list(photoelectricLambdaQueryWrapper);//查出所有光电
+        if (CollectionUtils.isEmpty(photoelectricDevices)) {
+            log.info("查询不到光电设备");
+            return Result.error("查询不到光电设备");
+        }
+        cameraInfo = photoelectricDevices.get(0);//todo : 是否需要计算最近的光电
+        log.info("光电设备信息:" + cameraInfo);
+
+        //1、若设备关联光电，则进行联动定位
+        if (cameraInfo != null) {
+            double cameraAzimuth = cameraInfo.getInitAzimuth() + Double.parseDouble(redisUtil.hget("PTZStatus", "pan").toString());
+            //计算目标基于光电的方位角
+            double targetAzimuth = GEOUtils.getAzimuth(cameraInfo.getDeviceLon(),
+                    deviceInfo.getDeviceLat(),
+                    targetLon,
+                    targetLat
+            );
+
+            //计算光电水平所需方位角
+            double differAzimuth = targetAzimuth - cameraAzimuth;
+
+            //计算方位角
+            double horAngle = Double.parseDouble(redisUtil.hget("PTZStatus", "pan").toString()) + differAzimuth;
+            horAngle = horAngle >= 0 ? horAngle : (360 + horAngle);
+
+            //计算俯仰角(上27000-36000中间0-9000下)
+            double verAngle = Math.toDegrees(Math.asin((double) cameraInfo.getDeviceHeight() / distance));
+            verAngle = verAngle + cameraInfo.getInitPitch();
+
+            //根据IP获取对应光电线程
+            TcpClient tcpClient = ThreadManager.getTcpClientMap().get(cameraInfo.getDeviceIp());
+
+            //停止跟踪
+            tcpClient.send(
+                    HPDataParser.send(
+                            HPReqParamEnc.ivpTrackingCtrl(String.valueOf(redisUtil.get(tcpClient.getIp())), 0, false, null)
+                    )
+            );
+
+            //转动光电到指定位置
+            //当光电已经处于跟踪状态时，以下操作不会生效
+            //根据目标位置进行定位(角度实际上送值 : 100倍整数值)
+            tcpClient.send(
+                    HPDataParser.send(
+                            HPReqParamEnc.ptzControl(String.valueOf(redisUtil.get(tcpClient.getIp())),
+                                    0, 51, null,
+                                    null, null, 45,
+                                    (int) (horAngle * 100), (int) (verAngle * 100), null)
+                    )
+            );
+
+            //目标高度 平均高度 在ms_alarm_settings表中设置 船的平均高度 高度越高视场角越大
+            double h = Double.parseDouble(redisUtil.hget("alarm_settings", "targetHeight").toString());
+
+            //计算目标距离光点的距离
+            double d = GEOUtils.GetDistance(targetLon, targetLat, cameraInfo.getDeviceLon(), cameraInfo.getDeviceLat());
+
+            //计算视场角，100为分辨率/像素
+            double fov = Math.toDegrees(Math.atan(h / d)) * 2 * 100;
+            log.info("目标平均高度：" + h + " 目标距离光电:" + d);
+            log.info("水平方位角：" + horAngle + " 俯仰角：" + verAngle + " 视场角:" + fov);
+
+            tcpClient.send(
+                    HPDataParser.send(
+                            HPReqParamEnc.ptzControl(String.valueOf(redisUtil.get(tcpClient.getIp())),
+                                    0, 42, null,
+                                    null, null, null,
+                                    null, null, (int) (fov * 100))
+                    )
+            );
+
+            //球机联动
+            log.info("联动控制球机:");
+            LambdaQueryWrapper<MsCameraSetting> cameraSettingLambdaQueryWrapper = new LambdaQueryWrapper<>();
+            cameraSettingLambdaQueryWrapper.eq(MsCameraSetting::getType, 2)//2-球机类型
+                    .eq(MsCameraSetting::getStatus, 1);//1-启用状态
+            List<MsCameraSetting> cameraSettings = msCameraSettingService.list(cameraSettingLambdaQueryWrapper);
+            if (CollectionUtils.isEmpty(cameraSettings)) {
+                log.info("没有可联动的球机");
+                return Result.error("没有可联动的球机");
+            }
+            log.info("case4 : 遍历相机列表 寻找最近的点的球机去跟踪");
+
+            // 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
+            for (MsCameraSetting cameraSetting : cameraSettings) {
+                // 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(h);//目标高度
+                double tempHeightDiff = cameraHeight.subtract(labelHeight).doubleValue();//球机与目标高度差
+                if (tempHeightDiff < 0) {
+                    log.info("case4 :" + "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);
+                    log.info("当前的球机" + cameraSetting.getIp() + "与目标的距离:" + temp);
+                    // 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;
+                    }
+                }
+            }
+
+            //没有找到跟踪的球机
+            if (msCameraSetting == null) {
+                log.info("没有可跟踪的球机");
+                return Result.ERROR("没有可跟踪的球机");
+            }
+
+            //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 :" + "目标超过跟踪的最大距离" + redisUtil.hget("alarm_settings", "inOutEffectDistance").toString());
+                return Result.ERROR("目标超过跟踪的最大距离");
+            }
+
+            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));
+
+            //控制球机照射目标
+            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(),
+                    msCameraSetting.getMaxElevation(),
+                    msCameraSetting.getZeroAzimuth(),
+                    heightDiff,
+                    msCameraSetting.getZoomFactor(),
+                    msCameraSetting.getLongitude().doubleValue(),
+                    msCameraSetting.getLatitude().doubleValue(),
+                    targetLon,
+                    targetLat,
+                    msCameraSetting.getFactory());//factory用于区分品牌类型 1:海康 2:宇视
+
+            log.info("跟踪球机的主要参数信息:");
+            log.info("1.IP: " + msCameraSetting.getIp());
+            log.info("2.用户名: " + msCameraSetting.getUser());
+            log.info("3.密码: " + msCameraSetting.getPassword());
+            log.info("4.最大俯仰角: " + msCameraSetting.getMaxElevation());
+            log.info("5.初始方位角: " + msCameraSetting.getZeroAzimuth());
+            log.info("6.品牌: " + (msCameraSetting.getFactory() == 1 ? "海康" : "宇视"));
+
+            //将需要跟踪的目标进行保存 并且保存跟踪该目标的球机IP
+            redisUtil.hset("trackingTargetId", trackTargetId, msCameraSetting.getIp());
+            log.info("正在跟踪的trackId:" + trackTargetId + "跟踪的球机" + msCameraSetting.getIp());
+
+            //返回当前联动跟踪的球机信息
+            return Result.OK(msCameraSetting);
+        }
+        return Result.ERROR("没有可跟踪的光电");
+    }
+
+}

src/main/java/com/zgx/iot/dto/Brower2LpmDto.java

@@ -0,0 +1,22 @@
+package com.zgx.iot.dto;
+
+import lombok.Data;
+import lombok.EqualsAndHashCode;
+import lombok.NoArgsConstructor;
+
+
+@Data
+@NoArgsConstructor
+
+@EqualsAndHashCode(callSuper = false) 
+public class Brower2LpmDto {
+
+	private Integer messageType ;    // 1 连接 ，2 数据
+	
+	private String deviceCode ;		 // 设备号
+	
+	private Integer dataType  ;      // 数据类型 1 16进制，2 ascii
+	
+	private String data ;            // 数据
+	
+}

src/main/java/com/zgx/iot/dto/radar/NyGuideCamPosModel.java

@@ -0,0 +1,52 @@
+// 
+// Decompiled by Procyon v0.5.36
+// 
+
+package com.zgx.iot.dto.radar;
+
+import java.beans.ConstructorProperties;
+
+/**
+ * 引导光电位置
+ */
+public class NyGuideCamPosModel
+{
+    /**
+     * 距离（单位：米）
+     */
+    private int dis;
+
+    /**
+     * 方位（相对于大地北，单位：度）
+     */
+    private float azimuth;
+
+
+    public int getDis() {
+        return dis;
+    }
+
+    public void setDis(int dis) {
+        this.dis = dis;
+    }
+
+    public float getAzimuth() {
+        return azimuth;
+    }
+
+    public void setAzimuth(float azimuth) {
+        this.azimuth = azimuth;
+    }
+
+    public NyGuideCamPosModel() {
+    }
+
+
+    @ConstructorProperties({ "dis","azimuth" })
+    public NyGuideCamPosModel(final int dis, final float azimuth) {
+        this.dis=dis;
+        this.azimuth=azimuth;
+    }
+
+
+}

src/main/java/com/zgx/iot/dto/radar/RadarRESPackageModel.java

@@ -0,0 +1,87 @@
+// 
+// Decompiled by Procyon v0.5.36
+// 
+
+package com.zgx.iot.dto.radar;
+
+
+
+import com.zgx.iot.utils.radarUtils.BitConverter;
+
+import java.beans.ConstructorProperties;
+
+/**
+ *  todo 雷达总体数据
+ *  1.包头标识 mark
+ *  2.数据类型 dataType
+ *  3.整包数据的长度 dataLength
+ *  4.数据数量 dataNum
+ *  5.雷达数据 allBytes
+ */
+public class RadarRESPackageModel
+{
+    private byte[] allBytes;
+    
+    public int getMark() {
+        final int mark = BitConverter.bytes2IntSmallEndian(this.allBytes, 0);
+        return mark;
+    }
+    
+    public int getDataType() {
+        final int dataType = BitConverter.bytes2IntSmallEndian(this.allBytes, 4);
+        return dataType;
+    }
+    
+    public int getDataLength() {
+        final int dataLength = BitConverter.bytes2IntSmallEndian(this.allBytes, 8);
+        return dataLength;
+    }
+    
+    public int getDataNum() {
+        final int dataNum = BitConverter.bytes2IntSmallEndian(this.allBytes, 12);
+        return dataNum;
+    }
+    
+    public boolean isIntegrated() {
+        boolean flag = false;
+        if (this.getDataLength() <= this.allBytes.length) {
+            flag = true;
+        }
+        return flag;
+    }
+    
+    public byte[] getData() {
+        final int len = this.getDataLength() - 16;
+        final byte[] bs = new byte[len];
+        System.arraycopy(this.allBytes, 16, bs, 0, len);
+        return bs;
+    }
+    
+    public byte[] getRemain() {
+        final int len = this.getDataLength();
+        byte[] bs = null;
+        if (len < this.allBytes.length) {
+            bs = new byte[this.allBytes.length - len];
+            System.arraycopy(this.allBytes, len, bs, 0, this.allBytes.length - len);
+        }
+        return bs;
+    }
+    
+    public RadarRESPackageModel() {
+        this.allBytes = null;
+    }
+    
+    @ConstructorProperties({ "allBytes" })
+    public RadarRESPackageModel(final byte[] allBytes) {
+        this.allBytes = null;
+        this.allBytes = allBytes;
+    }
+    
+    public void setAllBytes(final byte[] allBytes) {
+        this.allBytes = allBytes;
+    }
+    
+    public byte[] getAllBytes() {
+        return this.allBytes;
+    }
+}

src/main/java/com/zgx/iot/dto/radar/RadarStateModel.java

@@ -0,0 +1,101 @@
+// 
+// Decompiled by Procyon v0.5.36
+// 
+
+package com.zgx.iot.dto.radar;
+
+import java.beans.ConstructorProperties;
+
+/**
+ * 雷达状态数据
+ */
+public class RadarStateModel
+{
+    private int radarId;
+    private long timestamp;
+    private char workState;
+    private char sendState;
+    private float temperature;
+    private float longitude;
+    private float latitude;
+    private float altitude;
+    
+    public void setRadarId(final int radarId) {
+        this.radarId = radarId;
+    }
+    
+    public void setTimestamp(final long timestamp) {
+        this.timestamp = timestamp;
+    }
+    
+    public void setWorkState(final char workState) {
+        this.workState = workState;
+    }
+    
+    public void setSendState(final char sendState) {
+        this.sendState = sendState;
+    }
+    
+    public void setTemperature(final float temperature) {
+        this.temperature = temperature;
+    }
+    
+    public void setLongitude(final float longitude) {
+        this.longitude = longitude;
+    }
+    
+    public void setLatitude(final float latitude) {
+        this.latitude = latitude;
+    }
+    
+    public void setAltitude(final float altitude) {
+        this.altitude = altitude;
+    }
+    
+    public int getRadarId() {
+        return this.radarId;
+    }
+    
+    public long getTimestamp() {
+        return this.timestamp;
+    }
+    
+    public char getWorkState() {
+        return this.workState;
+    }
+    
+    public char getSendState() {
+        return this.sendState;
+    }
+    
+    public float getTemperature() {
+        return this.temperature;
+    }
+    
+    public float getLongitude() {
+        return this.longitude;
+    }
+    
+    public float getLatitude() {
+        return this.latitude;
+    }
+    
+    public float getAltitude() {
+        return this.altitude;
+    }
+    
+    public RadarStateModel() {
+    }
+    
+    @ConstructorProperties({ "radarId", "timestamp", "workState", "sendState", "temperature", "longitude", "latitude", "altitude" })
+    public RadarStateModel(final int radarId, final long timestamp, final char workState, final char sendState, final float temperature, final float longitude, final float latitude, final float altitude) {
+        this.radarId = radarId;
+        this.timestamp = timestamp;
+        this.workState = workState;
+        this.sendState = sendState;
+        this.temperature = temperature;
+        this.longitude = longitude;
+        this.latitude = latitude;
+        this.altitude = altitude;
+    }
+}

src/main/java/com/zgx/iot/dto/radar/RadarTargetModel.java

@@ -0,0 +1,91 @@
+// 
+// Decompiled by Procyon v0.5.36
+// 
+
+package com.zgx.iot.dto.radar;
+
+import java.beans.ConstructorProperties;
+
+/**
+ * 雷达点迹数据
+ */
+public class RadarTargetModel
+{
+    private int radarId;
+    private long timestamp;
+    private int dis;
+    private float azimuth;
+    private float longitude;
+    private float latitude;
+    private float altitude;
+    
+    public void setRadarId(final int radarId) {
+        this.radarId = radarId;
+    }
+    
+    public void setTimestamp(final long timestamp) {
+        this.timestamp = timestamp;
+    }
+    
+    public void setDis(final int dis) {
+        this.dis = dis;
+    }
+    
+    public void setAzimuth(final float azimuth) {
+        this.azimuth = azimuth;
+    }
+    
+    public void setLongitude(final float longitude) {
+        this.longitude = longitude;
+    }
+    
+    public void setLatitude(final float latitude) {
+        this.latitude = latitude;
+    }
+    
+    public void setAltitude(final float altitude) {
+        this.altitude = altitude;
+    }
+    
+    public int getRadarId() {
+        return this.radarId;
+    }
+    
+    public long getTimestamp() {
+        return this.timestamp;
+    }
+    
+    public int getDis() {
+        return this.dis;
+    }
+    
+    public float getAzimuth() {
+        return this.azimuth;
+    }
+    
+    public float getLongitude() {
+        return this.longitude;
+    }
+    
+    public float getLatitude() {
+        return this.latitude;
+    }
+    
+    public float getAltitude() {
+        return this.altitude;
+    }
+    
+    public RadarTargetModel() {
+    }
+    
+    @ConstructorProperties({ "radarId", "timestamp", "dis", "azimuth", "longitude", "latitude", "altitude" })
+    public RadarTargetModel(final int radarId, final long timestamp, final int dis, final float azimuth, final float longitude, final float latitude, final float altitude) {
+        this.radarId = radarId;
+        this.timestamp = timestamp;
+        this.dis = dis;
+        this.azimuth = azimuth;
+        this.longitude = longitude;
+        this.latitude = latitude;
+        this.altitude = altitude;
+    }
+}

src/main/java/com/zgx/iot/dto/radar/RadarTrackModel.java

@@ -0,0 +1,225 @@
+// 
+// Decompiled by Procyon v0.5.36
+// 
+
+package com.zgx.iot.dto.radar;
+
+import java.beans.ConstructorProperties;
+
+/**
+ * 雷达航迹数据
+ */
+public class RadarTrackModel
+{
+    private int radarId;//设备ID
+    private long timestamp;//时间戳
+    private int trackId;//航迹ID(目标批号)
+    private char trackState;//目标状态
+    private int dis;//距离
+    private float azimuth;//方位角
+    private float speed;//速度
+    private float course;//航向
+    private float longitude;//经度
+    private float latitude;//纬度
+    private float altitude;//海拔(估算目标高度)
+    private char type;//目标类型
+
+    //todo 增加字段
+    private int deviceOwnerId;//设备所属站点ID
+
+    private int counter;//目标消息
+
+    private int timeoutToNext;
+
+    public int getdeviceOwnerId() {
+        return deviceOwnerId;
+    }
+
+    public void setdeviceOwnerId(int deviceOwnerId) {
+        this.deviceOwnerId = deviceOwnerId;
+    }
+
+    public int getCounter() {
+        return counter;
+    }
+
+    public void setCounter(int counter) {
+        this.counter = counter;
+    }
+
+    public int getDeviceOwnerId() {
+        return deviceOwnerId;
+    }
+
+    public void setDeviceOwnerId(int deviceOwnerId) {
+        this.deviceOwnerId = deviceOwnerId;
+    }
+
+    public int getTimeoutToNext() {
+        return timeoutToNext;
+    }
+
+    public void setTimeoutToNext(int timeoutToNext) {
+        this.timeoutToNext = timeoutToNext;
+    }
+
+    public void setRadarId(final int radarId) {
+        this.radarId = radarId;
+    }
+    
+    public void setTimestamp(final long timestamp) {
+        this.timestamp = timestamp;
+    }
+    
+    public void setTrackId(final int trackId) {
+        this.trackId = trackId;
+    }
+    
+    public void setTrackState(final char trackState) {
+        this.trackState = trackState;
+    }
+    
+    public void setDis(final int dis) {
+        this.dis = dis;
+    }
+    
+    public void setAzimuth(final float azimuth) {
+        this.azimuth = azimuth;
+    }
+    
+    public void setSpeed(final float speed) {
+        this.speed = speed;
+    }
+    
+    public void setCourse(final float course) {
+        this.course = course;
+    }
+    
+    public void setLongitude(final float longitude) {
+        this.longitude = longitude;
+    }
+    
+    public void setLatitude(final float latitude) {
+        this.latitude = latitude;
+    }
+    
+    public void setAltitude(final float altitude) {
+        this.altitude = altitude;
+    }
+    
+    public void setType(final char type) {
+        this.type = type;
+    }
+    
+    public int getRadarId() {
+        return this.radarId;
+    }
+    
+    public long getTimestamp() {
+        return this.timestamp;
+    }
+    
+    public int getTrackId() {
+        return this.trackId;
+    }
+    
+    public char getTrackState() {
+        return this.trackState;
+    }
+    
+    public int getDis() {
+        return this.dis;
+    }
+    
+    public float getAzimuth() {
+        return this.azimuth;
+    }
+    
+    public float getSpeed() {
+        return this.speed;
+    }
+    
+    public float getCourse() {
+        return this.course;
+    }
+    
+    public float getLongitude() {
+        return this.longitude;
+    }
+    
+    public float getLatitude() {
+        return this.latitude;
+    }
+    
+    public float getAltitude() {
+        return this.altitude;
+    }
+    
+    public char getType() {
+        return this.type;
+    }
+    
+    public RadarTrackModel() {
+    }
+    
+    @ConstructorProperties({ "radarId", "timestamp", "trackId", "trackState", "dis", "azimuth", "speed", "course", "longitude", "latitude", "altitude", "type" })
+    public RadarTrackModel(final int radarId,
+                           final long timestamp,
+                           final int trackId,
+                           final char trackState,
+                           final int dis,
+                           final float azimuth,
+                           final float speed,
+                           final float course,
+                           final float longitude,
+                           final float latitude,
+                           final float altitude,
+                           final char type) {
+        this.radarId = radarId;
+        this.timestamp = timestamp;
+        this.trackId = trackId;
+        this.trackState = trackState;
+        this.dis = dis;
+        this.azimuth = azimuth;
+        this.speed = speed;
+        this.course = course;
+        this.longitude = longitude;
+        this.latitude = latitude;
+        this.altitude = altitude;
+        this.type = type;
+    }
+
+    //todo : 把新增字段的加入构造函数
+    @ConstructorProperties({ "radarId", "timestamp", "trackId", "trackState", "dis", "azimuth", "speed", "course", "longitude", "latitude", "altitude", "type" ,"deviceOwnerId","counter","timeoutToNext"})
+    public RadarTrackModel(final int radarId,
+                           final long timestamp,
+                           final int trackId,
+                           final char trackState,
+                           final int dis,
+                           final float azimuth,
+                           final float speed,
+                           final float course,
+                           final float longitude,
+                           final float latitude,
+                           final float altitude,
+                           final char type,
+                           final int deviceOwnerId,
+                           final int counter,
+                           final int timeoutToNext) {
+        this.radarId = radarId;
+        this.timestamp = timestamp;
+        this.trackId = trackId;
+        this.trackState = trackState;
+        this.dis = dis;
+        this.azimuth = azimuth;
+        this.speed = speed;
+        this.course = course;
+        this.longitude = longitude;
+        this.latitude = latitude;
+        this.altitude = altitude;
+        this.type = type;
+        this.deviceOwnerId=deviceOwnerId;
+        this.counter=counter;
+        this.timeoutToNext=timeoutToNext;
+    }
+}

src/main/java/com/zgx/iot/dto/radar/TrackingTargetDTO.java

@@ -0,0 +1,29 @@
+package com.zgx.iot.dto.radar;
+
+import lombok.AllArgsConstructor;
+import lombok.Data;
+import lombok.NoArgsConstructor;
+
+@Data
+@NoArgsConstructor
+@AllArgsConstructor
+public class TrackingTargetDTO {
+
+    
+
+    /**
+     * 雷达Id
+     */
+    private int radarId;
+
+    /**
+     * 轨迹Id
+     */
+    private int trackId;
+
+    /**
+     * 是否跟踪
+     */
+    private boolean trackStatus;
+
+}

src/main/java/com/zgx/iot/dto/site/AisInfo.java

@@ -0,0 +1,120 @@
+package com.zgx.iot.dto.site;
+
+
+import com.fasterxml.jackson.annotation.JsonFormat;
+import lombok.Data;
+
+import java.io.Serializable;
+
+/**
+ * @Description: 船泊AIS信息表
+ * @Author: jeecg-boot
+ * @Date:   2021-11-01
+ * @Version: V1.0
+ */
+@Data
+
+
+public class AisInfo implements Serializable {
+    private static final long serialVersionUID = 1L;
+
+	/**主键*/
+
+    //(value = "主键")
+    private String id;
+	/**创建人*/
+    //(value = "创建人")
+    private String createBy;
+	/**创建日期*/
+	@JsonFormat(timezone = "GMT+8",pattern = "yyyy-MM-dd HH:mm:ss")
+
+    //(value = "创建日期")
+    private java.util.Date createTime;
+	/**更新人*/
+    //(value = "更新人")
+    private String updateBy;
+	/**更新日期*/
+	@JsonFormat(timezone = "GMT+8",pattern = "yyyy-MM-dd HH:mm:ss")
+
+    //(value = "更新日期")
+    private java.util.Date updateTime;
+	/**事件编号*/
+    //(value = "事件编号")
+    private String eventSerialNum;
+	/**船名*/
+
+    //(value = "船名")
+    private String shipName;
+	/**MMSI*/
+
+    //(value = "MMSI")
+    private String mmsi;
+	/**呼号*/
+
+    //(value = "呼号")
+    private String callSign;
+	/**IMO*/
+
+    //(value = "IMO")
+    private String imo;
+	/**船首向*/
+
+    //(value = "船首向")
+    private java.math.BigDecimal bowDirection;
+	/**航迹向*/
+
+    //(value = "航迹向")
+    private java.math.BigDecimal trackDirection;
+	/**状态*/
+
+    //(value = "状态")
+    private Integer shipStatus;
+	/**船长*/
+
+    //(value = "船长")
+    private Double shipLength;
+	/**船宽*/
+
+    //(value = "船宽")
+    private Double shipWidth;
+	/**吃水*/
+
+    //(value = "吃水")
+    private Double draft;
+	/**类型*/
+
+    //(value = "类型")
+    private Integer shipType;
+	/**航速*/
+
+    //(value = "航速")
+    private Double shipSpeed;
+	/**目的地*/
+
+    //(value = "目的地")
+    private String destination;
+	/**经度*/
+
+    //(value = "经度")
+    private java.math.BigDecimal longitude;
+	/**纬度*/
+
+    //(value = "纬度")
+    private java.math.BigDecimal latitude;
+	/**国籍*/
+
+    //(value = "国籍")
+    private String nationality;
+	/**预到时间*/
+
+	@JsonFormat(timezone = "GMT+8",pattern = "yyyy-MM-dd HH:mm:ss")
+
+    //(value = "预到时间")
+    private java.util.Date preArrivalTime;
+
+    //(value = "创建时间")
+    private Long	  realTime;
+
+    //(value = "操作类型：设备增加，1；设备删减，2；设备信息变更，3；")
+    private int operaType;
+}

src/main/java/com/zgx/iot/dto/site/AlarmInfo.java

@@ -0,0 +1,101 @@
+package com.zgx.iot.dto.site;
+
+
+import lombok.Data;
+import lombok.EqualsAndHashCode;
+import lombok.experimental.Accessors;
+
+import java.io.Serializable;
+import java.util.Date;
+
+/**
+ * @Description: 告警信息格式
+ * @Author: lxc
+ * @Date:   2023-08-01
+ * @Version: V1.0
+ */
+@Data
+@Accessors(chain = true)
+@EqualsAndHashCode(callSuper = false)
+
+public class AlarmInfo implements Serializable {
+    private static final long serialVersionUID = 1L;
+
+	/**报警信息唯一标识*/
+	/*@TableId(type = IdType.ASSIGN_ID)*/
+    //(value = "报警信息唯一标识")
+    private String _id;
+	/**报警所属站点ID*/
+
+    //(value = "报警所属站点ID")
+    private String alarmOwnerId;
+	/**报警类型*/
+
+    //(value = "报警类型")
+    private Integer alarmType;
+	/**报警类型名称*/
+
+    //(value = "报警类型名称")
+    private String alarmTypeName;
+	/**报警等级*/
+
+    //(value = "报警等级")
+    private Integer alarmLevel;
+	/**报警信息描述*/
+
+    //(value = "报警信息描述")
+    private String alarmContent;
+	/**报警处置状态*/
+
+    //(value = "报警处置状态")
+    private String alarmDisposal;
+	/**报警开始时间*/
+
+
+
+    //(value = "报警开始时间")
+    private Date alarmTimeStart;
+	/**报警关闭时间*/
+
+
+    //(value = "报警关闭时间")
+    private Date alarmTimeEnd;
+	/**报警点经度*/
+
+    //(value = "报警点经度")
+    private Double alarmPointLon;
+	/**报警点纬度*/
+
+    //(value = "报警点纬度")
+    private Double alarmPointLat;
+	/**报警点海拔*/
+
+    //(value = "报警点海拔")
+    private Double alarmPointAlt;
+	/**关联报警目标唯一标识*/
+
+    //(value = "关联报警目标唯一标识")
+    private String alarmTargetId;
+	/**记录目标到目前位置航迹点位*/
+
+    //(value = "记录目标到目前位置航迹点位")
+    private String targetPoint;
+	/**关联摄像机唯一标识*/
+
+    //(value = "关联摄像机唯一标识")
+    private String alarmCameraId;
+	/**创建人*/
+    //(value = "创建人")
+    private String createBy;
+	/**创建时间*/
+
+    //(value = "创建时间")
+    private Long	  realTime;
+
+    //(value = "操作类型：设备增加，1；设备删减，2；设备信息变更，3；")
+    private int operaType;
+
+
+
+
+}

src/main/java/com/zgx/iot/dto/site/CommonConstant.java

@@ -0,0 +1,325 @@
+package com.zgx.iot.dto.site;
+
+public interface CommonConstant {
+
+	/**
+	 * 正常状态
+	 */
+	public static final Integer STATUS_NORMAL = 0;
+
+	/**
+	 * 禁用状态
+	 */
+	public static final Integer STATUS_DISABLE = -1;
+
+	/**
+	 * 删除标志
+	 */
+	public static final Integer DEL_FLAG_1 = 1;
+
+	/**
+	 * 未删除
+	 */
+	public static final Integer DEL_FLAG_0 = 0;
+
+	/**
+	 * 系统日志类型： 登录
+	 */
+	public static final int LOG_TYPE_1 = 1;
+	
+	/**
+	 * 系统日志类型： 操作
+	 */
+	public static final int LOG_TYPE_2 = 2;
+
+	/**
+	 * 操作日志类型： 查询
+	 */
+	public static final int OPERATE_TYPE_1 = 1;
+	
+	/**
+	 * 操作日志类型： 添加
+	 */
+	public static final int OPERATE_TYPE_2 = 2;
+	
+	/**
+	 * 操作日志类型： 更新
+	 */
+	public static final int OPERATE_TYPE_3 = 3;
+	
+	/**
+	 * 操作日志类型： 删除
+	 */
+	public static final int OPERATE_TYPE_4 = 4;
+	
+	/**
+	 * 操作日志类型： 倒入
+	 */
+	public static final int OPERATE_TYPE_5 = 5;
+	
+	/**
+	 * 操作日志类型： 导出
+	 */
+	public static final int OPERATE_TYPE_6 = 6;
+	
+	
+	/** {@code 500 Server Error} (HTTP/1.0 - RFC 1945) */
+    public static final Integer SC_INTERNAL_SERVER_ERROR_500 = 500;
+    /** {@code 200 OK} (HTTP/1.0 - RFC 1945) */
+    public static final Integer SC_OK_200 = 200;
+    
+    /**访问权限认证未通过 510*/
+    public static final Integer SC_JEECG_NO_AUTHZ=510;
+
+    /** 登录用户Shiro权限缓存KEY前缀 */
+    public static String PREFIX_USER_SHIRO_CACHE  = "shiro:cache:org.jeecg.config.shiro.ShiroRealm.authorizationCache:";
+    /** 登录用户Token令牌缓存KEY前缀 */
+    public static final String PREFIX_USER_TOKEN  = "prefix_user_token_";
+    /** Token缓存时间：3600秒即一小时 */
+    public static final int  TOKEN_EXPIRE_TIME  = 3600;
+    
+
+    /**
+     *  0：一级菜单
+     */
+    public static final Integer MENU_TYPE_0  = 0;
+   /**
+    *  1：子菜单 
+    */
+    public static final Integer MENU_TYPE_1  = 1;
+    /**
+     *  2：按钮权限
+     */
+    public static final Integer MENU_TYPE_2  = 2;
+    
+    /**通告对象类型（USER:指定用户，ALL:全体用户）*/
+    public static final String MSG_TYPE_UESR  = "USER";
+    public static final String MSG_TYPE_ALL  = "ALL";
+    
+    /**发布状态（0未发布，1已发布，2已撤销）*/
+    public static final String NO_SEND  = "0";
+    public static final String HAS_SEND  = "1";
+    public static final String HAS_CANCLE  = "2";
+    
+    /**阅读状态（0未读，1已读）*/
+    public static final String HAS_READ_FLAG  = "1";
+    public static final String NO_READ_FLAG  = "0";
+    
+    /**优先级（L低，M中，H高）*/
+    public static final String PRIORITY_L  = "L";
+    public static final String PRIORITY_M  = "M";
+    public static final String PRIORITY_H  = "H";
+    
+    /**
+     * 短信模板方式  0 .登录模板、1.注册模板、2.忘记密码模板
+     */
+    public static final String SMS_TPL_TYPE_0  = "0";
+    public static final String SMS_TPL_TYPE_1  = "1";
+    public static final String SMS_TPL_TYPE_2  = "2";
+    
+    /**
+     * 状态(0无效1有效)
+     */
+    public static final String STATUS_0 = "0";
+    public static final String STATUS_1 = "1";
+    
+    /**
+     * 同步工作流引擎1同步0不同步
+     */
+    public static final Integer ACT_SYNC_1 = 1;
+    public static final Integer ACT_SYNC_0 = 0;
+
+    /**
+     * 消息类型1:通知公告2:系统消息
+     */
+    public static final String MSG_CATEGORY_1 = "1";
+    public static final String MSG_CATEGORY_2 = "2";
+    
+    /**
+     * 是否配置菜单的数据权限 1是0否
+     */
+    public static final Integer RULE_FLAG_0 = 0;
+    public static final Integer RULE_FLAG_1 = 1;
+
+    /**
+     * 是否用户已被冻结 1正常(解冻) 2冻结
+     */
+    public static final Integer USER_UNFREEZE = 1;
+    public static final Integer USER_FREEZE = 2;
+    
+    /**字典翻译文本后缀*/
+    public static final String DICT_TEXT_SUFFIX = "_dictText";
+
+    /**
+     * 表单设计器主表类型
+     */
+    public static final Integer DESIGN_FORM_TYPE_MAIN = 1;
+
+    /**
+     * 表单设计器子表表类型
+     */
+    public static final Integer DESIGN_FORM_TYPE_SUB = 2;
+
+    /**
+     * 表单设计器URL授权通过
+     */
+    public static final Integer DESIGN_FORM_URL_STATUS_PASSED = 1;
+
+    /**
+     * 表单设计器URL授权未通过
+     */
+    public static final Integer DESIGN_FORM_URL_STATUS_NOT_PASSED = 2;
+
+    /**
+     * 表单设计器新增 Flag
+     */
+    public static final String DESIGN_FORM_URL_TYPE_ADD = "add";
+    /**
+     * 表单设计器修改 Flag
+     */
+    public static final String DESIGN_FORM_URL_TYPE_EDIT = "edit";
+    /**
+     * 表单设计器详情 Flag
+     */
+    public static final String DESIGN_FORM_URL_TYPE_DETAIL = "detail";
+    /**
+     * 表单设计器复用数据 Flag
+     */
+    public static final String DESIGN_FORM_URL_TYPE_REUSE = "reuse";
+    /**
+     * 表单设计器编辑 Flag （已弃用）
+     */
+    public static final String DESIGN_FORM_URL_TYPE_VIEW = "view";
+
+    /**
+     * online参数值设置（是：Y, 否：N）
+     */
+    public static final String ONLINE_PARAM_VAL_IS_TURE = "Y";
+    public static final String ONLINE_PARAM_VAL_IS_FALSE = "N";
+
+    /**
+     * 文件上传类型（本地：local，Minio：minio，阿里云：alioss）
+     */
+    public static final String UPLOAD_TYPE_LOCAL = "local";
+    public static final String UPLOAD_TYPE_MINIO = "minio";
+    public static final String UPLOAD_TYPE_OSS = "alioss";
+
+    /**
+     * 文档上传自定义桶名称
+     */
+    public static final String UPLOAD_CUSTOM_BUCKET = "eoafile";
+    /**
+     * 文档上传自定义路径
+     */
+    public static final String UPLOAD_CUSTOM_PATH = "eoafile";
+    /**
+     * 文件外链接有效天数
+     */
+    public static final Integer UPLOAD_EFFECTIVE_DAYS = 1;
+
+    /**
+     * 员工身份 （1:普通员工  2:上级）
+     */
+    public static final Integer USER_IDENTITY_1 = 1;
+    public static final Integer USER_IDENTITY_2 = 2;
+
+    /** sys_user 表 username 唯一键索引 */
+    public static final String SQL_INDEX_UNIQ_SYS_USER_USERNAME = "uniq_sys_user_username";
+    /** sys_user 表 work_no 唯一键索引 */
+    public static final String SQL_INDEX_UNIQ_SYS_USER_WORK_NO = "uniq_sys_user_work_no";
+    /** sys_user 表 phone 唯一键索引 */
+    public static final String SQL_INDEX_UNIQ_SYS_USER_PHONE = "uniq_sys_user_phone";
+    /** sys_user 表 email 唯一键索引 */
+    public static final String SQL_INDEX_UNIQ_SYS_USER_EMAIL = "uniq_sys_user_email";
+    /** sys_quartz_job 表 job_class_name 唯一键索引 */
+    public static final String SQL_INDEX_UNIQ_JOB_CLASS_NAME = "uniq_job_class_name";
+    /** sys_position 表 code 唯一键索引 */
+    public static final String SQL_INDEX_UNIQ_CODE = "uniq_code";
+    /** sys_role 表 code 唯一键索引 */
+    public static final String SQL_INDEX_UNIQ_SYS_ROLE_CODE = "uniq_sys_role_role_code";
+    /** sys_depart 表 code 唯一键索引 */
+    public static final String SQL_INDEX_UNIQ_DEPART_ORG_CODE = "uniq_depart_org_code";
+    /**
+     * 在线聊天 是否为默认分组
+     */
+    public static final String IM_DEFAULT_GROUP = "1";
+    /**
+     * 在线聊天 图片文件保存路径
+     */
+    public static final String IM_UPLOAD_CUSTOM_PATH = "imfile";
+    /**
+     * 在线聊天 用户状态
+     */
+    public static final String IM_STATUS_ONLINE = "online";
+
+    /**
+     * 在线聊天 SOCKET消息类型
+     */
+    public static final String IM_SOCKET_TYPE = "chatMessage";
+
+    /**
+     * 在线聊天 是否开启默认添加好友 1是 0否
+     */
+    public static final String IM_DEFAULT_ADD_FRIEND = "1";
+
+    /**
+     * 在线聊天 用户好友缓存前缀
+     */
+    public static final String IM_PREFIX_USER_FRIEND_CACHE = "sys:cache:im:im_prefix_user_friend_";
+
+    /**
+     * 考勤补卡业务状态 （1：同意  2：不同意）
+     */
+    public static final String SIGN_PATCH_BIZ_STATUS_1 = "1";
+    public static final String SIGN_PATCH_BIZ_STATUS_2 = "2";
+
+    /**
+     * 公文文档上传自定义路径
+     */
+    public static final String UPLOAD_CUSTOM_PATH_OFFICIAL = "officialdoc";
+     /**
+     * 公文文档下载自定义路径
+     */
+    public static final String DOWNLOAD_CUSTOM_PATH_OFFICIAL = "officaldown";
+
+    /**
+     * WPS存储值类别(1 code文号 2 text（WPS模板还是公文发文模板）)
+     */
+    public static final String WPS_TYPE_1="1";
+    public static final String WPS_TYPE_2="2";
+
+
+    public final static String X_ACCESS_TOKEN = "X-Access-Token";
+
+    /**
+     * 多租户 请求头
+     */
+    public final static String TENANT_ID = "tenant-id";
+
+    /**
+     * 微服务读取配置文件属性 服务地址
+     */
+    public final static String CLOUD_SERVER_KEY = "spring.cloud.nacos.discovery.server-addr";
+
+    /**
+     * 第三方登录 验证密码/创建用户 都需要设置一个操作码 防止被恶意调用
+     */
+    public final static String THIRD_LOGIN_CODE = "third_login_code";
+
+    /**
+     * 第三方APP同步方向：本地 --> 第三方APP
+     */
+    String THIRD_SYNC_TO_APP = "SYNC_TO_APP";
+    /**
+     * 第三方APP同步方向：第三方APP --> 本地
+     */
+    String THIRD_SYNC_TO_LOCAL = "SYNC_TO_LOCAL";
+
+    /** 系统通告消息状态：0=未发布 */
+    String ANNOUNCEMENT_SEND_STATUS_0 = "0";
+    /** 系统通告消息状态：1=已发布 */
+    String ANNOUNCEMENT_SEND_STATUS_1 = "1";
+    /** 系统通告消息状态：2=已撤销 */
+    String ANNOUNCEMENT_SEND_STATUS_2 = "2";
+
+}

src/main/java/com/zgx/iot/dto/site/DeveiceType.java

@@ -0,0 +1,66 @@
+package com.zgx.iot.dto.site;
+
+import lombok.Data;
+import lombok.EqualsAndHashCode;
+import lombok.experimental.Accessors;
+
+import java.io.Serializable;
+import java.math.BigDecimal;
+
+/**
+ * @Description: 设备类型表
+ * @Author: lxc
+ * @Date:   2023-08-17
+ * @Version: V1.0
+ */
+@Data
+
+@Accessors(chain = true)
+@EqualsAndHashCode(callSuper = false)
+
+public class DeveiceType implements Serializable {
+    private static final long serialVersionUID = 1L;
+
+	/**id*/
+
+    //(value = "id")
+    private String id;
+	/**类型编号*/
+
+    //(value = "类型编号")
+    private Integer typeNo;
+	/**类型名称*/
+
+    //(value = "类型名称")
+    private String typeName;
+	/**是否有传感器*/
+
+    //(value = "是否有传感器")
+    private Integer havesensor;
+	/**地图显示图片模型*/
+
+    //(value = "地图显示图片模型")
+    private String mapIco;
+	/**是否3D*/
+
+    //(value = "是否3D")
+    private Integer is3d;
+	/**默认宽度*/
+
+    //(value = "默认宽度")
+    private BigDecimal width;
+	/**默认长度*/
+
+    //(value = "默认长度")
+    private BigDecimal length;
+	/**默认高度*/
+
+    //(value = "默认高度")
+    private BigDecimal height;
+
+    //(value = "创建时间")
+    private Long	  realTime;
+
+    //(value = "操作类型：设备增加，1；设备删减，2；设备信息变更，3；")
+    private int operaType;
+}

src/main/java/com/zgx/iot/dto/site/DeviceInfo.java

@@ -0,0 +1,133 @@
+package com.zgx.iot.dto.site;
+
+
+import lombok.Data;
+
+import java.io.Serializable;
+
+/**
+ * @Description: 设备信息表
+ * @Author: jeecg-boot
+ * @Date:   2023-08-18
+ * @Version: V1.0
+ */
+
+@Data
+@Deprecated
+public class DeviceInfo implements Serializable {
+    private static final long serialVersionUID = 1L;
+
+	/**设备唯一标识*/
+
+    //(value = "设备唯一标识")
+    private String id;
+	/**设备所属站点ID*/
+
+    private String deviceOwnerId;
+	/**设备类型*/
+
+    //(value = "设备类型")
+    private Integer deviceType;
+	/**设备编码*/
+
+    //(value = "设备编码")
+    private String deviceCode;
+	/**设备名称*/
+
+    //(value = "设备名称")
+    private String deviceName;
+	/**位置描述置*/
+
+    //(value = "位置描述置")
+    private String devicePosition;
+	/**设备经度*/
+
+    //(value = "设备经度")
+    private Double deviceLon;
+	/**设备纬度*/
+
+    //(value = "设备纬度")
+    private Double deviceLat;
+	/**设备海拔*/
+
+    //(value = "设备海拔")
+    private Double deviceAlt;
+    /**设备状态*/
+
+    //(value = "设备状态")
+    private Integer deviceStatus;
+    /**入网许可证*/
+
+    //(value = "入网许可证")
+    private Integer isAudit;
+	/**设备访问路径*/
+
+    //(value = "设备访问路径")
+    private String deviceUrl;
+	/**设备ip地址*/
+
+    //(value = "设备ip地址")
+    private String deviceIp;
+	/**端口*/
+
+    //(value = "端口")
+    private Integer ipPort;
+	/**端口2*/
+
+    //(value = "端口2")
+    private Integer ipPort2;
+	/**用户名*/
+
+    //(value = "用户名")
+    private String username;
+	/**密码*/
+
+    //(value = "密码")
+    private String password;
+	/**设备子类型*/
+
+    //(value = "设备子类型")
+    private Integer subtype;
+	/**安装高度*/
+
+    //(value = "安装高度")
+    private Integer deviceHeight;
+	/**初始方位角*/
+
+    //(value = "初始方位角")
+    private Integer initAzimuth;
+	/**初始俯仰角*/
+
+    //(value = "初始俯仰角")
+    private Integer initPitch;
+	/**工作半径*/
+
+    //(value = "工作半径")
+    private Integer workingRadius;
+	/**水平市场角度*/
+
+    //(value = "水平市场角度")
+    private Integer horizontalAngle;
+	/**锤子市场角度*/
+
+    //(value = "锤子市场角度")
+    private Integer verticalAngle;
+	/**识别刻度*/
+
+    //(value = "识别刻度")
+    private Integer identificationScale;
+	/**备注*/
+
+    //(value = "备注")
+    private String remark;
+	/**协议类型*/
+
+    //(value = "协议类型")
+    private Integer protocol;
+
+    //(value = "创建时间")
+    private Long	  realTime;
+
+    //(value = "操作类型：设备增加，1；设备删减，2；设备信息变更，3；")
+    private int operaType;
+}

src/main/java/com/zgx/iot/dto/site/DeviceStatus.java

@@ -0,0 +1,44 @@
+package com.zgx.iot.dto.site;
+
+
+import lombok.Data;
+
+import java.io.Serializable;
+
+/**
+ * @Description: 设备状态信息
+ * @Author: jeecg-boot
+ * @Date:   2023-08-18
+ * @Version: V1.0
+ */
+ 
+@Data
+ 
+public class DeviceStatus implements Serializable {
+    private static final long serialVersionUID = 1L;
+
+	/**id*/
+ 
+    private String id;
+	/**设备唯一标识*/
+    //(value = "设备唯一标识")
+    private String deviceId;
+	/**设备所属站点ID*/
+
+    //(value = "设备所属站点ID")
+    private Integer deviceOwnerId;
+	/**设备初始状态*/
+
+    //(value = "设备初始状态")
+    private Integer status;
+	/**状态补充说明*/
+
+    //(value = "状态补充说明")
+    private String remark;
+
+    //(value = "创建时间")
+    private Long	  realTime;
+
+    //(value = "操作类型：设备增加，1；设备删减，2；设备信息变更，3；")
+    private int operaType;
+}

src/main/java/com/zgx/iot/dto/site/Result.java

@@ -0,0 +1,159 @@
+package com.zgx.iot.dto.site;
+
+import com.fasterxml.jackson.annotation.JsonIgnore;
+import lombok.Data;
+
+import java.io.Serializable;
+
+
+/**
+ *   接口返回数据格式
+ * @author scott
+ * @email jeecgos@163.com
+ * @date  2019年1月19日
+ */
+@Data
+public class Result<T> implements Serializable {
+
+	private static final long serialVersionUID = 1L;
+
+	/**
+	 * 成功标志
+	 */
+
+	private boolean success = true;
+
+	/**
+	 * 返回处理消息
+	 */
+
+	private String message = "操作成功！";
+
+	/**
+	 * 返回代码
+	 */
+
+	private Integer code = 0;
+
+	/**
+	 * 返回数据对象 data
+	 */
+
+	private T result;
+
+	/**
+	 * 时间戳
+	 */
+
+	private long timestamp = System.currentTimeMillis();
+
+	public Result() {
+
+	}
+
+	public Result<T> success(String message) {
+		this.message = message;
+		this.code = CommonConstant.SC_OK_200;
+		this.success = true;
+		return this;
+	}
+
+	@Deprecated
+	public static Result<Object> ok() {
+		Result<Object> r = new Result<Object>();
+		r.setSuccess(true);
+		r.setCode(CommonConstant.SC_OK_200);
+		r.setMessage("成功");
+		return r;
+	}
+
+	@Deprecated
+	public static Result<Object> ok(String msg) {
+		Result<Object> r = new Result<>();
+		r.setSuccess(true);
+		r.setCode(CommonConstant.SC_OK_200);
+		r.setMessage(msg);
+		return r;
+	}
+
+	@Deprecated
+	public static Result<Object> ok(Object data) {
+		Result<Object> r = new Result<Object>();
+		r.setSuccess(true);
+		r.setCode(CommonConstant.SC_OK_200);
+		r.setResult(data);
+		return r;
+	}
+
+	public static<T> Result<T> OK() {
+		Result<T> r = new Result<T>();
+		r.setSuccess(true);
+		r.setCode(CommonConstant.SC_OK_200);
+		r.setMessage("成功");
+		return r;
+	}
+
+	public static<T> Result<T> OK(T data) {
+		Result<T> r = new Result<T>();
+		r.setSuccess(true);
+		r.setCode(CommonConstant.SC_OK_200);
+		r.setResult(data);
+		return r;
+	}
+
+	public static<T> Result<T> OK(String msg, T data) {
+		Result<T> r = new Result<T>();
+		r.setSuccess(true);
+		r.setCode(CommonConstant.SC_OK_200);
+		r.setMessage(msg);
+		r.setResult(data);
+		return r;
+	}
+
+	public static<T> Result<T> error(String msg, T data) {
+		Result<T> r = new Result<T>();
+		r.setSuccess(false);
+		r.setCode(CommonConstant.SC_INTERNAL_SERVER_ERROR_500);
+		r.setMessage(msg);
+		r.setResult(data);
+		return r;
+	}
+
+	public static<T> Result<T> ERROR(String msg) {
+		return ERROR(CommonConstant.SC_INTERNAL_SERVER_ERROR_500, msg);
+	}
+	public static<T> Result<T> ERROR(int code, String msg) {
+		Result<T> r = new Result<>();
+		r.setCode(code);
+		r.setMessage(msg);
+		r.setSuccess(false);
+		return r;
+	}
+	public static Result<Object> error(String msg) {
+		return error(CommonConstant.SC_INTERNAL_SERVER_ERROR_500, msg);
+	}
+	public static Result<Object> error(int code, String msg) {
+		Result<Object> r = new Result<>();
+		r.setCode(code);
+		r.setMessage(msg);
+		r.setSuccess(false);
+		return r;
+	}
+
+	public Result<T> error500(String message) {
+		this.message = message;
+		this.code = CommonConstant.SC_INTERNAL_SERVER_ERROR_500;
+		this.success = false;
+		return this;
+	}
+	/**
+	 * 无权限访问返回结果
+	 */
+	public static Result<Object> noauth(String msg) {
+		return error(CommonConstant.SC_JEECG_NO_AUTHZ, msg);
+	}
+
+	@JsonIgnore
+	private String onlTable;
+
+}

src/main/java/com/zgx/iot/dto/site/SysDictItem.java

@@ -0,0 +1,75 @@
+package com.zgx.iot.dto.site;
+
+
+import lombok.Data;
+import lombok.EqualsAndHashCode;
+import lombok.experimental.Accessors;
+
+
+import java.io.Serializable;
+import java.util.Date;
+
+/**
+ * <p>
+ *
+ * </p>
+ *
+ * @Author zhangweijian
+ * @since 2018-12-28
+ */
+@Data
+@EqualsAndHashCode(callSuper = false)
+@Accessors(chain = true)
+public class SysDictItem implements Serializable {
+
+    private static final long serialVersionUID = 1L;
+
+    /**
+     * id
+     */
+
+    private String id;
+
+    /**
+     * 字典id
+     */
+    private String dictId;
+
+    /**
+     * 字典项文本
+     */
+    private String itemText;
+
+    /**
+     * 字典项值
+     */
+    private String itemValue;
+
+    /**
+     * 描述
+     */
+    private String description;
+
+    /**
+     * 排序
+     */
+
+    private Integer sortOrder;
+
+
+    /**
+     * 状态（1启用 0不启用）
+     */
+
+    private Integer status;
+
+    private String createBy;
+
+    private Date createTime;
+
+    private String updateBy;
+
+    private Date updateTime;
+
+
+}

src/main/java/com/zgx/iot/entity/DtDeviceInfo.java

@@ -0,0 +1,195 @@
+package com.zgx.iot.entity;
+
+import lombok.Data;
+import lombok.EqualsAndHashCode;
+import lombok.experimental.Accessors;
+
+import java.io.Serializable;
+import java.util.Date;
+
+/**
+ * @Description: 设备信息表
+ * @Author: jeecg-boot
+ * @Date: 2022-08-12
+ * @Version: V1.0
+ */
+@Data
+@Accessors(chain = true)
+@EqualsAndHashCode(callSuper = false)
+public class DtDeviceInfo implements Serializable {
+    private static final long serialVersionUID = 1L;
+    /**
+     * 设备唯一标识
+     */
+    private String id;
+
+    /**
+     * 设备所属站点ID
+     */
+    private String deviceOwnerId;
+
+    /**
+     * 设备类型
+     */
+    private Integer deviceType;
+
+    /**
+     * 设备编码
+     */
+    private String deviceCode;
+
+    /**
+     * 设备名称
+     */
+    private String deviceName;
+
+    /**
+     * 位置描述置
+     */
+    private String devicePosition;
+
+    /**
+     * 设备经度
+     */
+    private Double deviceLon;
+
+    /**
+     * 设备纬度
+     */
+    private Double deviceLat;
+
+    /**
+     * 设备海拔
+     */
+    private Double deviceAlt;
+
+    /**
+     * 设备状态
+     */
+    private Integer deviceStatus;
+
+    /**
+     * 设备访问路径
+     */
+    private String deviceUrl;
+
+    /**
+     * 设备ip地址
+     */
+    private String deviceIp;
+
+    /**
+     * 端口
+     */
+    private Integer ipPort;
+
+    /**
+     * 端口2
+     */
+    private Integer ipPort2;
+
+    /**
+     * 用户名
+     */
+    private String username;
+
+    /**
+     * 密码
+     */
+    private String password;
+
+    /**
+     * 设备子类型
+     */
+    private Integer subtype;
+
+    /**
+     * 安装高度
+     */
+    private Integer deviceHeight;
+
+    /**
+     * 初始方位角
+     */
+    private Integer initAzimuth;
+
+    /**
+     * 初始俯仰角
+     */
+    private Integer initPitch;
+
+    /**
+     * 工作半径
+     */
+    private Integer workingRadius;
+
+    /**
+     * 水平市场角度
+     */
+    private Integer horizontalAngle;
+
+    /**
+     * 锤子市场角度
+     */
+    private Integer verticalAngle;
+
+    /**
+     * 识别刻度
+     */
+    private Integer identificationScale;
+
+    /**
+     * 网络协议类型
+     */
+    private String netProtocol;
+
+    /**
+     * 数据协议类型
+     */
+    private String dataProtocol;
+
+    /**
+     * 备注
+     */
+    private String remark;
+
+    /**
+     * 创建人
+     */
+    private String createBy;
+
+    /**
+     * 创建时间
+     */
+    private Date createTime;
+
+    /**
+     * 修改人
+     */
+    private String updateBy;
+
+    /**
+     * 修改时间
+     */
+    private Date updateTime;
+
+    /**
+     * 所属区域
+     */
+    private String sysAreaCode;
+
+    /**
+     * 所属部门
+     */
+    private String sysOrgCode;
+
+    /**
+     * 入网许可证
+     */
+    private Integer isAudit;
+
+    /**
+     * 设备服务器类型
+     */
+    private Integer serverType;
+}

src/main/java/com/zgx/iot/entity/MsAlarmSettings.java

@@ -0,0 +1,67 @@
+package com.zgx.iot.entity;
+
+import lombok.Data;
+
+
+import java.io.Serializable;
+import java.util.Date;
+
+/**
+ * @Description: 报警参数配置表
+ * @Author: jeecg-boot
+ * @Date: 2022-09-02
+ * @Version: V1.0
+ */
+@Data
+public class MsAlarmSettings implements Serializable {
+    private static final long serialVersionUID = 1L;
+
+    /**
+     * 主键
+     */
+    private String id;
+    /**
+     * 创建人
+     */
+    private String createBy;
+    /**
+     * 创建日期
+     */
+    private Date createTime;
+    /**
+     * 更新人
+     */
+    private String updateBy;
+    /**
+     * 更新日期
+     */
+    private Date updateTime;
+    /**
+     * 所属部门
+     */
+    private String sysOrgCode;
+    /**
+     * 航迹点有效时间（秒）
+     */
+    private Integer lineEffectTime;
+    /**
+     * 报警区域有效时间（秒）
+     */
+    private Integer alarmEffectTime;
+    /**
+     * 跟踪目标有效时间（秒）
+     */
+    private Integer trackEffectTime;
+    /**
+     * 报警防区有效时间（秒）
+     */
+    private Integer fenceEffectTime;
+    /**
+     * 围网外侧航迹点与内测点迹距离有效距离（米）
+     */
+    private Integer inOutEffectDistance;
+    /**
+     * 目标平均身高（米）
+     */
+    private Double targetHeight;
+}

src/main/java/com/zgx/iot/entity/MsCameraSetting.java

@@ -0,0 +1,112 @@
+package com.zgx.iot.entity;
+
+import lombok.Data;
+import lombok.EqualsAndHashCode;
+import lombok.experimental.Accessors;
+
+import java.io.Serializable;
+import java.math.BigDecimal;
+import java.util.Date;
+
+/**
+ * @Description: 相机设置
+ * @Author: jeecg-boot
+ * @Date:   2021-07-01
+ * @Version: V1.0
+ */
+
+//todo : 少了字段 1.厂家 
+@Data
+@Accessors(chain = true)
+@EqualsAndHashCode(callSuper = false)
+public class MsCameraSetting implements Serializable {
+    private static final long serialVersionUID = 1L;
+
+    /**主键*/
+    private String id;
+    /**创建人*/
+    private String createBy;
+    /**创建日期*/
+    private Date createTime;
+    /**更新人*/
+    private String updateBy;
+    /**更新日期*/
+    private Date updateTime;
+    /**站点id*/
+    private String siteId;
+    /**相机ip*/
+    private String ip;
+    /**相机备用ip*/
+    private String ip2;
+    /**端口*/
+    private Integer port;
+    /**相机类型(厂家)*/
+    private Integer factory;
+    /**认证用户名*/
+    private String user;
+    /**认证密码*/
+    private String password;
+    /**相机预览通道*/
+    private Integer channel;
+    /**rtsp地址*/
+    private String preRtsp;
+    /**分析rtsp*/
+    private String analysisRtsp;
+    /**录像rtsp*/
+    private String recordRtsp;
+    //todo:补充字段 1.站点名称(siteName) 2.web播放地址(webcast_address) 3.相机编号(camera_code)
+    /**站点名称*/
+    private String siteName;
+    /**web播放地址*/
+    private String webcastAddress;
+    /**相机编号*/
+    private String cameraCode;
+    /**云台控制ip*/
+    private String cloudCtrlIp;
+    /**云台控制端口*/
+    private Integer cloudCtrlPort;
+    /**相机名称*/
+    private String cameraName;
+    /**纬度*/
+    private BigDecimal latitude;
+    /**经度*/
+    private BigDecimal longitude;
+    /**高度*/
+    private BigDecimal height;
+    /**类型*/
+    private Integer type;
+    /**样式*/
+    private Integer style;
+    /**左夹角*/
+    private Double leftAngle;
+    /**右夹角*/
+    private Double rightAngle;
+    /**视野中央有效距离*/
+    private Double viewDistance;
+    /**采样帧率*/
+    private Integer frameRate;
+    /**最大跟踪范围*/
+    private Integer maxRange;
+    /**状态*/
+    private Integer status;
+    /**零方位角（正北夹角）*/
+    private Double zeroAzimuth;
+    /**安装垂直角（上下-90°~90°）*/
+    private Double fixedAngle;
+    /**最大仰角*/
+    private Double maxElevation;
+    /**最大可视距离*/
+    private Double maxVisibleDistance;
+    /**变倍因子*/
+    private Double zoomFactor;
+    /**流媒体服务器id*/
+    private String streamingMediaId;
+    /**录像机id*/
+    private String videoRecorderId;
+    /**白光开始时间*/
+    private String dayBeginTime;
+    /**白光结束时间*/
+    private String dayEndTime;
+    /**报警次数*/
+    private Integer alarmNum;
+}

src/main/java/com/zgx/iot/entity/MsModelPosition.java

@@ -0,0 +1,50 @@
+package com.zgx.iot.entity;
+
+import lombok.Data;
+
+import java.io.Serializable;
+
+
+@Data
+public class MsModelPosition implements Serializable {
+    private static final long serialVersionUID = 1L;
+
+	/**主键*/
+    private String id;
+	/**创建人*/
+    private String createBy;
+	/**创建日期*/
+    private java.util.Date createTime;
+	/**更新人*/
+    private String updateBy;
+	/**更新日期*/
+    private java.util.Date updateTime;
+	/**所属部门*/
+    private String sysOrgCode;
+	/**事件编号*/
+    private String eventSerialNum;
+	/**事件类型*/
+    private Integer eventType;
+	/**模型id*/
+    private String modelId;
+	/**模型类别*/
+    private Integer modelType;
+	/**经度*/
+    private java.math.BigDecimal lon;
+	/**纬度*/
+    private java.math.BigDecimal lat;
+	/**高度*/
+    private java.math.BigDecimal height;
+	/**偏航角*/
+    private java.math.BigDecimal yaw;
+	/**俯仰角*/
+    private java.math.BigDecimal pitch;
+	/**翻转角*/
+    private java.math.BigDecimal roll;
+	/**开始时间*/
+    private java.util.Date startTimestamp;
+	/**结束时间*/
+    private java.util.Date endTimestamp;
+	/**是否展示*/
+    private Integer isShow;
+}

src/main/java/com/zgx/iot/entity/MsModelTrajectory.java

@@ -0,0 +1,55 @@
+package com.zgx.iot.entity;
+
+import com.baomidou.mybatisplus.annotation.IdType;
+import com.baomidou.mybatisplus.annotation.TableId;
+import com.baomidou.mybatisplus.annotation.TableName;
+import com.fasterxml.jackson.annotation.JsonFormat;
+
+import lombok.Data;
+
+import org.springframework.format.annotation.DateTimeFormat;
+
+import java.io.Serializable;
+import java.util.Date;
+
+/**
+ * @Description: 模型历史轨迹
+ * @Author: jeecg-boot
+ * @Date:   2021-07-09
+ * @Version: V1.0
+ */
+
+@Data
+
+public class MsModelTrajectory implements Serializable {
+    private static final long serialVersionUID = 1L;
+
+	/**主键*/
+    private String id;
+	/**创建人*/
+    private String createBy;
+	/**创建日期*/
+    private Date createTime;
+	/**更新人*/
+    private String updateBy;
+	/**更新日期*/
+    private Date updateTime;
+	/**所属部门*/
+    private String sysOrgCode;
+	/**模型位置表id*/
+    private String modelPositionId;
+	/**经度*/
+    private java.math.BigDecimal lon;
+	/**纬度*/
+    private java.math.BigDecimal lat;
+	/**高度*/
+    private java.math.BigDecimal height;
+	/**偏航角*/
+    private java.math.BigDecimal yaw;
+	/**俯仰角*/
+    private java.math.BigDecimal pitch;
+	/**翻转角*/
+    private java.math.BigDecimal roll;
+	/**当前位置时间*/
+    private Date currPosTime;
+}

src/main/java/com/zgx/iot/mapper/DtDeviceInfoMapper.java

@@ -0,0 +1,16 @@
+package com.zgx.iot.mapper;
+
+import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.zgx.iot.entity.DtDeviceInfo;
+import org.apache.ibatis.annotations.Mapper;
+
+/**
+ * @Description: 设备信息表
+ * @Author: jeecg-boot
+ * @Date:   2022-08-12
+ * @Version: V1.0
+ */
+@Mapper
+public interface DtDeviceInfoMapper extends BaseMapper<DtDeviceInfo> {
+
+}

src/main/java/com/zgx/iot/mapper/MsAlarmSettingsMapper.java

@@ -0,0 +1,18 @@
+package com.zgx.iot.mapper;
+
+
+import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.zgx.iot.entity.MsAlarmSettings;
+import org.apache.ibatis.annotations.Mapper;
+
+/**
+ * @Description: 报警参数配置表
+ * @Author: jeecg-boot
+ * @Date:   2022-09-02
+ * @Version: V1.0
+ */
+@Mapper
+public interface MsAlarmSettingsMapper extends BaseMapper<MsAlarmSettings> {
+
+
+}

src/main/java/com/zgx/iot/mapper/MsCameraSettingMapper.java

@@ -0,0 +1,29 @@
+package com.zgx.iot.mapper;
+
+
+import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.zgx.iot.entity.MsCameraSetting;
+import io.lettuce.core.dynamic.annotation.Param;
+import org.apache.ibatis.annotations.Mapper;
+
+import java.util.List;
+
+/**
+ * @Description: 相机设置
+ * @Author: jeecg-boot
+ * @Date:   2021-07-01
+ * @Version: V1.0
+ */
+@Mapper
+public interface MsCameraSettingMapper extends BaseMapper<MsCameraSetting> {
+    public boolean deleteByMainId(@Param("mainId") String mainId);
+
+    public List<MsCameraSetting> selectByMainId(@Param("mainId") String mainId);
+
+    public List<MsCameraSetting> selectAllSetting();
+
+    //public List<MsCameraSettingVo> selectSettingVoList();
+
+    //public void updateLatAndLonBySiteId(MsCameraSite msCameraSite);
+
+}

src/main/java/com/zgx/iot/mapper/MsModelPositionMapper.java

@@ -0,0 +1,17 @@
+package com.zgx.iot.mapper;
+
+import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.zgx.iot.entity.MsModelPosition;
+import org.apache.ibatis.annotations.Mapper;
+
+
+/**
+ * @Description: 模型位置信息
+ * @Author: jeecg-boot
+ * @Date:   2021-07-09
+ * @Version: V1.0
+ */
+@Mapper
+public interface MsModelPositionMapper extends BaseMapper<MsModelPosition> {
+
+}

src/main/java/com/zgx/iot/mapper/MsModelTrajectoryMapper.java

@@ -0,0 +1,22 @@
+package com.zgx.iot.mapper;
+
+import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.zgx.iot.entity.MsModelTrajectory;
+import org.apache.ibatis.annotations.Mapper;
+import org.apache.ibatis.annotations.Param;
+
+import java.util.List;
+
+/**
+ * @Description: 模型历史轨迹
+ * @Author: jeecg-boot
+ * @Date:   2021-07-09
+ * @Version: V1.0
+ */
+@Mapper
+public interface MsModelTrajectoryMapper extends BaseMapper<MsModelTrajectory> {
+
+	public boolean deleteByMainId(@Param("mainId") String mainId);
+    
+	public List<MsModelTrajectory> selectByMainId(@Param("mainId") String mainId);
+}

src/main/java/com/zgx/iot/mapper/xml/DtDeviceInfoMapper.xml

@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
+<mapper namespace="com.zgx.iot.mapper.DtDeviceInfoMapper">
+
+
+</mapper>

src/main/java/com/zgx/iot/mapper/xml/MsAlarmSettingsMapper.xml

@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
+<mapper namespace="com.zgx.iot.mapper.MsAlarmSettingsMapper">
+
+
+</mapper>

src/main/java/com/zgx/iot/mapper/xml/MsCameraSettingMapper.xml

@@ -0,0 +1,38 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
+<mapper namespace="com.zgx.iot.mapper.MsCameraSettingMapper">
+    <delete id="deleteByMainId" parameterType="java.lang.String">
+		DELETE
+		FROM  ms_camera_setting
+		WHERE
+			 site_id = #{mainId}
+	</delete>
+
+    <select id="selectByMainId" parameterType="java.lang.String"
+            resultType="com.zgx.iot.entity.MsCameraSetting">
+		SELECT *
+		FROM  ms_camera_setting
+		WHERE
+			 site_id = #{mainId}
+	</select>
+
+	<select id="selectAllSetting" resultType="com.zgx.iot.entity.MsCameraSetting">
+		select id, site_id, camera_name
+		from ms_camera_setting
+	</select>
+
+<!--	<select id="selectSettingVoList" resultType="com.zgx.modules.military.vo.MsCameraSettingVo">
+		select b.sitename,a.* from ms_camera_setting a LEFT JOIN ms_camera_site b ON a.site_id = b.id
+	</select>
+
+	<update id="updateLatAndLonBySiteId" parameterType="com.zgx.modules.military.entity.MsCameraSite">
+		update ms_camera_setting
+		<set>
+			&#45;&#45;  noop
+		    id = #{id},
+			<if test="latitude!= null">latitude=#{latitude},</if>
+			<if test="longitude!= null">longitude=#{longitude},</if>
+		</set>
+		where site_id=#{id}
+	</update>-->
+</mapper>

src/main/java/com/zgx/iot/mapper/xml/MsModelPositionMapper.xml

@@ -0,0 +1,5 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
+<mapper namespace="com.zgx.iot.mapper.MsModelPositionMapper">
+
+</mapper>

src/main/java/com/zgx/iot/mapper/xml/MsModelTrajectoryMapper.xml

@@ -0,0 +1,16 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
+<mapper namespace="com.zgx.iot.mapper.MsModelTrajectoryMapper">
+
+	<delete id="deleteByMainId" parameterType="java.lang.String">
+		DELETE 
+		FROM  ms_model_trajectory 
+		WHERE
+			 model_position_id = #{mainId} 	</delete>
+	
+	<select id="selectByMainId" parameterType="java.lang.String" resultType="com.zgx.iot.entity.MsModelTrajectory">
+		SELECT * 
+		FROM  ms_model_trajectory
+		WHERE
+			 model_position_id = #{mainId} 	</select>
+</mapper>

src/main/java/com/zgx/iot/message/websocket/WebSocket.java

@@ -0,0 +1,165 @@
+package com.zgx.iot.message.websocket;
+
+import com.alibaba.fastjson.JSONObject;
+import com.zgx.iot.base.BaseMap;
+import com.zgx.iot.constant.WebsocketConst;
+import com.zgx.iot.redis.client.JeecgRedisClient;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.beans.factory.annotation.Value;
+import org.springframework.stereotype.Component;
+
+import javax.annotation.Resource;
+import javax.websocket.OnClose;
+import javax.websocket.OnMessage;
+import javax.websocket.OnOpen;
+import javax.websocket.Session;
+import javax.websocket.server.PathParam;
+import javax.websocket.server.ServerEndpoint;
+import java.util.HashMap;
+import java.util.Map;
+import java.util.concurrent.CopyOnWriteArraySet;
+
+/**
+ * @Author scott
+ * @Date 2019/11/29 9:41
+ * @Description: 此注解相当于设置访问URL
+ */
+@Component
+@Slf4j
+@ServerEndpoint("/websocket/{userId}") //此注解相当于设置访问URL
+public class WebSocket {
+
+    private Session session;
+
+    private String userId;
+
+    private static final String REDIS_TOPIC_NAME = "socketHandler";
+
+    @Resource
+    private JeecgRedisClient jeecgRedisClient;
+    @Value("${mqtt.orgCode}")
+    private String myOrgCode;
+
+    /**
+     * 缓存 webSocket连接到单机服务class中（整体方案支持集群）
+     */
+    private static CopyOnWriteArraySet<WebSocket> webSockets = new CopyOnWriteArraySet<>();
+    private static Map<String, Session> sessionPool = new HashMap<String, Session>();
+
+
+    @OnOpen
+    public void onOpen(Session session, @PathParam(value = "userId") String userId) {
+        try {
+            this.session = session;
+            this.userId = userId;
+            webSockets.add(this);
+            sessionPool.put(userId, session);
+            log.info("【websocket消息】有新的连接，总数为:" + webSockets.size());
+        } catch (Exception e) {
+        }
+    }
+
+    @OnClose
+    public void onClose() {
+        try {
+            webSockets.remove(this);
+            sessionPool.remove(this.userId);
+            log.info("【websocket消息】连接断开，总数为:" + webSockets.size());
+        } catch (Exception e) {
+        }
+    }
+
+
+    /**
+     * 服务端推送消息
+     *
+     * @param userId
+     * @param message
+     */
+    public void pushMessage(String userId, String message) {
+        Session session = sessionPool.get(userId);
+        if (session != null && session.isOpen()) {
+            try {
+                log.info("【websocket消息】 单点消息:" + message);
+                session.getAsyncRemote().sendText(message);
+            } catch (Exception e) {
+                e.printStackTrace();
+            }
+        }
+    }
+
+    /**
+     * 服务器端推送消息
+     */
+    public void pushMessage(String message) {
+        webSockets.forEach(ws -> {
+            Session curSession = ws.session;
+            synchronized (curSession) {
+                if (curSession.isOpen()) {
+                    try {
+                        log.info("【websocket消息】广播消息:" + message);
+                        curSession.getAsyncRemote().sendText(message);
+                    } catch (Exception e) {
+                        e.printStackTrace();
+                    }
+                }
+            }
+        });
+    }
+
+
+    @OnMessage
+    public void onMessage(String message) {
+        //todo 现在有个定时任务刷，应该去掉
+        log.debug("【websocket消息】收到客户端消息:" + message);
+        JSONObject obj = new JSONObject();
+        //业务类型
+        obj.put(WebsocketConst.MSG_CMD, WebsocketConst.CMD_CHECK);
+        //消息内容
+        obj.put(WebsocketConst.MSG_TXT, "心跳响应");
+        // 当前登录用户所属机构
+        obj.put("source", myOrgCode); // 信息来源
+        for (WebSocket webSocket : webSockets) {
+            webSocket.pushMessage(message);
+        }
+    }
+
+    /**
+     * 后台发送消息到redis
+     *
+     * @param message
+     */
+    public void sendMessage(String message) {
+        log.info("【websocket消息】广播消息:" + message);
+        BaseMap baseMap = new BaseMap();
+        baseMap.put("userId", "");
+        baseMap.put("message", message);
+        jeecgRedisClient.sendMessage(REDIS_TOPIC_NAME, baseMap);
+    }
+
+    /**
+     * 此为单点消息
+     *
+     * @param userId
+     * @param message
+     */
+    public void sendMessage(String userId, String message) {
+        BaseMap baseMap = new BaseMap();
+        baseMap.put("userId", userId);
+        baseMap.put("message", message);
+        jeecgRedisClient.sendMessage(REDIS_TOPIC_NAME, baseMap);
+    }
+
+    /**
+     * 此为单点消息(多人)
+     *
+     * @param userIds
+     * @param message
+     */
+    public void sendMessage(String[] userIds, String message) {
+        for (String userId : userIds) {
+            sendMessage(userId, message);
+        }
+    }
+
+}

src/main/java/com/zgx/iot/mq/mqtt/MessageCallback.java

@@ -0,0 +1,102 @@
+package com.zgx.iot.mq.mqtt;
+
+
+import cn.hutool.extra.spring.SpringUtil;
+import com.alibaba.fastjson.JSON;
+import com.alibaba.fastjson.JSONObject;
+import com.zgx.iot.SystemApplication;
+import com.zgx.iot.dto.radar.RadarTrackModel;
+import com.zgx.iot.dto.radar.TrackingTargetDTO;
+import com.zgx.iot.entity.MsCameraSetting;
+import com.zgx.iot.mq.mqtt.handle.RadarHandler;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.IMqttDeliveryToken;
+import org.eclipse.paho.client.mqttv3.MqttCallbackExtended;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.stereotype.Component;
+
+import javax.annotation.Resource;
+import java.util.regex.Pattern;
+
+@Component
+@Slf4j
+public class MessageCallback implements MqttCallbackExtended {
+
+/*
+	@Resource
+	RadarHandler radarHandler;
+
+	@Resource
+	MqttService mqttService;*/
+
+	// 定义正则表达式模式
+	/**
+	 * 雷达跟踪目标信息
+	 */
+	private static final Pattern TRACK_TARGET_PATTERN = Pattern.compile("^/trackTarget$", Pattern.MULTILINE);
+
+	/**
+	 * 球机雷达跟踪目标信息
+	 */
+	private static final Pattern CAMERA_TRACK_TARGET_PATTERN = Pattern.compile("^/cameraToTarget$", Pattern.MULTILINE);
+
+	/**
+	 * 正北俯仰角校正
+	 */
+	private static final Pattern MODIFY_ANGLE = Pattern.compile("^/modifyAngle$", Pattern.MULTILINE);
+
+	@Override
+	public void connectionLost(Throwable arg0) {
+		// TODO 连接断开，可以做重连,目前重连失败，还没有设置
+	}
+
+	@Override
+	public void deliveryComplete(IMqttDeliveryToken token) {
+		// TODO  delivery 传送OK
+	}
+
+	@Override
+	public void messageArrived(String topic, MqttMessage message) throws Exception {
+		log.info("【MQTT-客户端】接收消息主题 : " + topic);
+		log.info("【MQTT-客户端】接收消息Qos : " + message.getQos());
+		log.info("【MQTT-客户端】接收消息内容 : " + new String(message.getPayload(),"UTF-8"));
+		String messageStr = new String(message.getPayload(),"UTF-8");
+
+		// 通过正则表达式匹配主题
+		boolean matches = TRACK_TARGET_PATTERN.matcher(topic).matches();
+		boolean matches2= CAMERA_TRACK_TARGET_PATTERN.matcher(topic).matches();
+		boolean matches3= MODIFY_ANGLE.matcher(topic).matches();
+
+		RadarHandler radarHandler = SpringUtil.getBean(RadarHandler.class);
+
+		if (matches){
+			TrackingTargetDTO trackingTarget = JSON.parseObject(messageStr, TrackingTargetDTO.class);
+			radarHandler.targetHandler(trackingTarget);
+		}else if (matches2){
+			JSONObject jsonObject = JSON.parseObject(messageStr);
+			Float targetLon = jsonObject.getFloatValue("targetLon");
+			Float targetLat = jsonObject.getFloatValue("targetLat");
+			String cameraJsonString = (String) jsonObject.get("camera");
+			MsCameraSetting nearestCamera = JSON.parseObject(cameraJsonString, MsCameraSetting.class);
+			radarHandler.cameraToTarget(targetLon,targetLat,nearestCamera);
+		}else if (matches3){
+			JSONObject jsonObject = JSON.parseObject(messageStr);
+			Float targetLon = jsonObject.getFloatValue("longitude");
+			Float targetLat = jsonObject.getFloatValue("latitude");
+			String ip = (String) jsonObject.get("ip");
+			radarHandler.cameraToTarget2(targetLon,targetLat,ip);
+		}
+
+	}
+
+	@Override
+	public void connectComplete(boolean arg0, String arg1) {
+		// 连接成功后，重新订阅自己的主题
+		//MqttService.subscribe();
+/*		MqttService mqttService1 = SpringUtil.getBean(MqttService.class);
+		mqttService1.subscribe();*/
+	}
+}

src/main/java/com/zgx/iot/mq/mqtt/MessageHandler.java

@@ -0,0 +1,50 @@
+package com.zgx.iot.mq.mqtt;
+
+import com.alibaba.fastjson.JSON;
+import com.zgx.iot.common.Cache;
+import com.zgx.iot.dto.Brower2LpmDto;
+import lombok.extern.slf4j.Slf4j;
+
+
+import java.util.Date;
+@Slf4j
+public class MessageHandler implements Runnable {
+	
+	private String message ;
+	private String topic ;
+	private byte[] msg ;
+	
+	public MessageHandler(byte[] msg , String message,String topic){
+		this.message = message ;
+		this.topic = topic;
+		this.msg= msg;
+		log.debug("topic="+topic);
+		log.debug("message="+message);
+	}
+	
+	@Override
+	public void run() {
+		try{
+			if(topic.contains("RadarData-3") ){
+				// 服务器发送命令
+				//Protocal.execServer(null,msg,message);
+				log.info("接收到雷达类型3数据,准备处理RadarData-3:"+message);
+				
+			}else if(topic.contains("RadarData-1")){
+				log.info("接收到雷达类型1数据,准备处理RadarData-1:"+message);
+/*				// 透传命令 - 入库和更新时间
+				Brower2LpmDto browerDto = JSON.parseObject(message, Brower2LpmDto.class) ;
+				Integer messageType = browerDto.getMessageType() ;
+				String deviceCode = browerDto.getDeviceCode() ;
+				if( messageType == 1 ){
+					Cache.deviceMap.put( deviceCode , new Date().getTime()) ;
+				}else{
+					// 数据发送
+
+				}*/
+			}
+		}catch(Exception e){
+			log.error(e.getMessage());
+		}
+	}
+}

src/main/java/com/zgx/iot/mq/mqtt/MqttService.java

@@ -0,0 +1,166 @@
+package com.zgx.iot.mq.mqtt;
+
+import com.alibaba.fastjson.JSON;
+import com.fasterxml.jackson.annotation.JsonFormat;
+import com.zgx.iot.common.Config;
+import com.zgx.iot.config.mqtt.MQTTProps;
+import lombok.Data;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttClient;
+import org.eclipse.paho.client.mqttv3.MqttConnectOptions;
+import org.eclipse.paho.client.mqttv3.MqttException;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.eclipse.paho.client.mqttv3.persist.MemoryPersistence;
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
+import org.springframework.beans.factory.annotation.Value;
+import org.springframework.boot.context.properties.ConfigurationProperties;
+import org.springframework.stereotype.Component;
+import org.springframework.stereotype.Service;
+
+import java.util.concurrent.TimeUnit;
+
+@Data
+@Component
+@Slf4j
+public class MqttService {
+
+    
+    public  MqttClient _client;
+    private MQTTProps _mqttProps;
+    /** 
+     * 构造函数 
+     * @throws MqttException 
+     */  
+    public MqttService(MQTTProps mqttProps) throws MqttException {
+        // MemoryPersistence设置
+        _mqttProps=mqttProps;
+        System.out.println("siteid="+_mqttProps.getClient().getId());
+        System.out.println("HOST="+_mqttProps.getService().getAddress());
+        log.debug(JSON.toJSONString(mqttProps) );
+        _client = new MqttClient(_mqttProps.getService().getAddress(), _mqttProps.getClient().getId(), new MemoryPersistence());
+
+    }
+
+    /** 
+     *  用来连接服务器 
+     */  
+    public void connect() throws MqttException {
+        MqttConnectOptions options = new MqttConnectOptions();  
+        options.setCleanSession(false);  
+        options.setUserName(_mqttProps.getService().getUsername());
+        options.setPassword(_mqttProps.getService().getPassword().toCharArray());
+        // 设置超时时间  
+        options.setConnectionTimeout(10000);
+        // 设置会话心跳时间  
+        options.setKeepAliveInterval(2000);
+        // 重连
+        options.setAutomaticReconnect(true);
+        //options.setCleanSession(true);
+        try {
+            _client.setCallback(new MessageCallback());
+            _client.connect(options);
+            if (_client.isConnected()){
+                log.info("mqtt server connect success ;"+_client);
+            }
+            log.info("mqtt server connect fail");
+        } catch (Exception e) {
+        	log.error("Error:" + e.getLocalizedMessage() +"，请检查MQTT 代理是否正常启动！");
+        }
+    }
+
+    /**
+     * 重新连接
+     */
+    public void reconnect() {
+        log.info("正在重新连接 MQTT 服务");
+        boolean isSuccess = false;
+        int retryCount = _mqttProps.getRetry().getCount();
+        long retryInterval = _mqttProps.getRetry().getInterval();
+        while (!isSuccess && retryCount > 0) {
+            try {
+                connect();
+                isSuccess = true;
+            } catch (Exception e) {
+                log.error("MQTT 服务 连接失败: {}", e.getMessage());
+                if (retryCount == 1) {
+                    log.error("MQTT 服务 连接失败，停止重试");
+                    // 跳过延迟
+                    return;
+                }
+                try {
+                    TimeUnit.SECONDS.sleep(retryInterval);
+                } catch (InterruptedException ex) {
+                    log.error("MQTT 服务 尝试时连接时异常: {}", ex.getMessage());
+                    Thread.currentThread().interrupt();
+                }
+            }
+            retryCount--;
+        }
+    }
+
+    public  void subscribe(String[] topic1){
+    	try{
+	    	 // 订阅消息  
+
+    		int[] Qos = new int[topic1.length];
+    		for(int i = 0; i< Qos.length ;i++ ){
+    			Qos[i] =1 ;
+    		}
+	        _client.subscribe(topic1, Qos);
+    	}catch (Exception e) {
+    		log.error(e.getLocalizedMessage());
+		}
+    }
+    public  void subscribe(){
+        try{
+            // 订阅消息
+            String[] topic1 =_mqttProps.getClient().getTopics().split(",");
+            int[] Qos = new int[topic1.length];
+            for(int i = 0; i< Qos.length ;i++ ){
+                Qos[i] =1 ;
+            }
+            _client.subscribe(topic1, Qos);
+        }catch (Exception e) {
+            log.error(e.getLocalizedMessage());
+        }
+    }
+    /**
+     * 消息发送
+     * @param message byte
+     * @param topic
+     */
+    public  void pubMessage(byte[] message,String topic){
+    	MqttMessage mess = new MqttMessage();
+    	mess.setQos(1);
+    	mess.setRetained(false);
+    	mess.setPayload(message);
+    	try {
+            System.out.println("是否连接："+_client.isConnected());
+			_client.publish(topic, mess);
+		} catch (Exception e) {
+			log.error(e.getLocalizedMessage());
+		}
+    }
+    
+    /**
+     * 消息发送
+     * @param message
+     * @param topic
+     */
+    public  void pubMessage(String message,String topic){
+    	MqttMessage mess = new MqttMessage();
+    	mess.setQos(1);
+    	mess.setRetained(false);
+    	mess.setPayload(message.getBytes());
+    	try {
+			_client.publish(topic, mess);
+		} catch (Exception e) {
+			log.error(e.getLocalizedMessage());
+		}
+    }
+  
+}
+
+	
+

src/main/java/com/zgx/iot/mq/mqtt/handle/RadarHandler.java

@@ -0,0 +1,821 @@
+package com.zgx.iot.mq.mqtt.handle;
+
+import cn.hutool.extra.spring.SpringUtil;
+import com.alibaba.fastjson.JSON;
+import com.alibaba.fastjson.JSONObject;
+import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
+import com.zgx.iot.MilitaryMqttApplication;
+import com.zgx.iot.constant.enums.CameraType;
+import com.zgx.iot.constant.enums.DeviceType;
+import com.zgx.iot.dto.radar.RadarTrackModel;
+import com.zgx.iot.dto.radar.TrackingTargetDTO;
+import com.zgx.iot.entity.DtDeviceInfo;
+import com.zgx.iot.entity.MsCameraSetting;
+import com.zgx.iot.service.IDtDeviceInfoService;
+import com.zgx.iot.service.IMsAlarmSettingsService;
+import com.zgx.iot.service.IMsCameraSettingService;
+import com.zgx.iot.service.impl.MsCameraSettingServiceImpl;
+import com.zgx.iot.utils.GEOUtils;
+import com.zgx.iot.utils.RedisUtil;
+import com.zgx.iot.utils.hp.HPDataParser;
+import com.zgx.iot.utils.hp.HPReqParamEnc;
+import com.zgx.iot.utils.hp.ThreadManager;
+import com.zgx.iot.utils.socket.TcpClient;
+import com.zgx.iot.vo.PTZVo;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttException;
+import org.springframework.beans.BeanUtils;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.data.redis.core.ZSetOperations;
+import org.springframework.scheduling.annotation.Scheduled;
+import org.springframework.stereotype.Component;
+import org.springframework.util.CollectionUtils;
+
+import java.io.UnsupportedEncodingException;
+import java.math.BigDecimal;
+import java.util.Arrays;
+import java.util.HashMap;
+import java.util.List;
+import java.util.Set;
+import java.util.stream.Collectors;
+import java.util.stream.Stream;
+
+import static com.fasterxml.jackson.databind.type.LogicalType.Map;
+
+
+@Slf4j
+@Component
+public class RadarHandler {
+
+    @Autowired
+    RedisUtil redisUtil;
+
+    @Autowired
+    IDtDeviceInfoService msDeviceInfoService;
+
+    @Autowired
+    IMsCameraSettingService msCameraSettingService;
+
+    @Autowired
+    IMsAlarmSettingsService msAlarmSettingsService;
+
+    //发送轨迹数据主题
+    private final String trackDeviceInfoTopic = "/track/deviceInfo";
+
+    //发送球机数据主题
+    private final String trackCameraInfoTopic = "/track/cameraInfo";
+
+    //发送待删除的轨迹数据主题
+    private final String removeTrackIdsTopic = "/remove/trackIds";
+
+
+
+    public RadarHandler(IDtDeviceInfoService msDeviceInfoService, IMsCameraSettingService msCameraSettingService, IMsAlarmSettingsService msAlarmSettingsService, RedisUtil redisUtil) {
+        // 初使化时将已静态化的Service实例化
+        this.msDeviceInfoService = msDeviceInfoService;
+        this.msCameraSettingService = msCameraSettingService;
+        this.msAlarmSettingsService = msAlarmSettingsService;
+        this.redisUtil = redisUtil;
+    }
+
+/*    public void targetHandler(TrackingTargetDTO trackingTarget) throws UnsupportedEncodingException {
+        //获取目标id 和是否跟踪
+        String trackTargetId = String.valueOf(trackingTarget.getTrackId());
+        boolean trackStatus = trackingTarget.isTrackStatus();
+
+        String trackIdKey = "trackIds:" + trackTargetId;
+        //目标经纬度
+        float targetLon = Float.parseFloat(redisUtil.hget(trackIdKey, "targetLon").toString());
+        float targetLat = Float.parseFloat(redisUtil.hget(trackIdKey, "targetLat").toString());
+        //目标距离(基于雷达)
+        int distance = Integer.parseInt(redisUtil.hget(trackIdKey, "targetDis").toString());
+
+        log.info("目标经纬度:" + targetLon + "," + targetLat);
+
+        //查询光电信息
+        DtDeviceInfo cameraInfo = null;
+        LambdaQueryWrapper<DtDeviceInfo> photoelectricLambdaQueryWrapper = new LambdaQueryWrapper<>();
+        photoelectricLambdaQueryWrapper.eq(DtDeviceInfo::getDeviceType, DeviceType.PHOTOELECTRIC.getValue()) //光电类型
+                .eq(DtDeviceInfo::getDeviceStatus, 1);//1-启用状态
+        List<DtDeviceInfo> photoelectricDevices = msDeviceInfoService.list(photoelectricLambdaQueryWrapper);//查出所有光电
+        if (CollectionUtils.isEmpty(photoelectricDevices)) {
+            log.info("查询不到光电设备");
+        }
+        cameraInfo = photoelectricDevices.get(0);//todo : 是否需要计算最近的光电
+        log.info("光电设备信息:" + cameraInfo);
+
+        //1、若设备关联光电，则进行联动定位
+        if (cameraInfo != null) {
+            //根据IP获取对应光电线程
+            TcpClient tcpClient = ThreadManager.getTcpClientMap().get(cameraInfo.getDeviceIp());
+
+            //停止跟踪
+            if (!trackStatus) {
+                tcpClient.send(
+                        HPDataParser.send(
+                                HPReqParamEnc.ivpTrackingCtrl(String.valueOf(redisUtil.get(tcpClient.getIp())), 0, false, null)
+                        )
+                );
+                return;
+            }
+
+            double cameraAzimuth = cameraInfo.getInitAzimuth() + Double.parseDouble(redisUtil.hget("PTZStatus", "pan").toString());
+            //计算目标基于光电的方位角
+            double targetAzimuth = GEOUtils.getAzimuth(cameraInfo.getDeviceLon(),
+                    cameraInfo.getDeviceLat(),
+                    targetLon,
+                    targetLat
+            );
+
+            //计算光电水平所需方位角
+            double differAzimuth = targetAzimuth - cameraAzimuth;
+
+            //计算方位角
+            double horAngle = Double.parseDouble(redisUtil.hget("PTZStatus", "pan").toString()) + differAzimuth;
+            horAngle = horAngle >= 0 ? horAngle : (360 + horAngle);
+
+            //计算俯仰角(上27000-36000中间0-9000下)
+            double verAngle = Math.toDegrees(Math.asin((double) cameraInfo.getDeviceHeight() / distance));
+            verAngle = verAngle + cameraInfo.getInitPitch();
+
+
+            //停止跟踪
+            tcpClient.send(
+                    HPDataParser.send(
+                            HPReqParamEnc.ivpTrackingCtrl(String.valueOf(redisUtil.get(tcpClient.getIp())), 0, false, null)
+                    )
+            );
+
+            //转动光电到指定位置
+            //当光电已经处于跟踪状态时，以下操作不会生效
+            //根据目标位置进行定位(角度实际上送值 : 100倍整数值)
+            tcpClient.send(
+                    HPDataParser.send(
+                            HPReqParamEnc.ptzControl(String.valueOf(redisUtil.get(tcpClient.getIp())),
+                                    0, 51, null,
+                                    null, null, 45,
+                                    (int) (horAngle * 100), (int) (verAngle * 100), null)
+                    )
+            );
+
+
+            //目标高度 平均高度 在ms_alarm_settings表中设置 船的平均高度 高度越高视场角越大
+            double h = Double.parseDouble(redisUtil.hget("alarm_settings", "targetHeight").toString());
+
+            //计算目标距离光点的距离
+            double d = GEOUtils.GetDistance(targetLon, targetLat, cameraInfo.getDeviceLon(), cameraInfo.getDeviceLat());
+
+            //计算视场角，100为分辨率/像素
+            double fov = Math.toDegrees(Math.atan(h / d)) * 2 * 100;
+            log.info("目标平均高度：" + h + " 目标距离光电:" + d);
+            log.info("水平方位角：" + horAngle + " 俯仰角：" + verAngle + " 视场角:" + fov);
+
+            tcpClient.send(
+                    HPDataParser.send(
+                            HPReqParamEnc.ptzControl(String.valueOf(redisUtil.get(tcpClient.getIp())),
+                                    0, 42, null,
+                                    null, null, null,
+                                    null, null, (int) (fov * 100))
+                    )
+            );
+
+            //球机联动
+            log.info("联动控制球机:");
+            LambdaQueryWrapper<MsCameraSetting> cameraSettingLambdaQueryWrapper = new LambdaQueryWrapper<>();
+            cameraSettingLambdaQueryWrapper.eq(MsCameraSetting::getType, 1)//1-球机类型
+                    .eq(MsCameraSetting::getStatus, 0);//0-启用状态
+            List<MsCameraSetting> cameraSettings = msCameraSettingService.list(cameraSettingLambdaQueryWrapper);
+            if (CollectionUtils.isEmpty(cameraSettings)) {
+                log.info("没有可联动的球机");
+            }
+
+            MsCameraSetting msCameraSetting = getNearestCamera(cameraSettings, (double) targetLon, (double) targetLat);
+            //将光电信息封装成rtspUrl返回前端
+            String rtspUrl = getRtspUrl(cameraInfo.getDeviceIp(), cameraInfo.getUsername(), cameraInfo.getPassword(), 3);//光电
+            //String rtspUrlTest = "rtsp://admin:hk123456@192.168.1.71:554/";//光电
+            //String rtspUrl=getRtspUrl(msCameraSetting.getIp(), msCameraSetting.getUser(),msCameraSetting.getPassword(),msCameraSetting.getFactory());//球机
+            //相机数据发送mqtt给前端展示
+            JSONObject jsonObject1 = new JSONObject();
+            jsonObject1.put("longitude", cameraInfo.getDeviceLon());
+            jsonObject1.put("latitude", cameraInfo.getDeviceLat());
+            jsonObject1.put("deviceName", cameraInfo.getDeviceName());
+            jsonObject1.put("deviceStatus", cameraInfo.getDeviceStatus());
+            jsonObject1.put("deviceType", cameraInfo.getDeviceType());
+            jsonObject1.put("rtspUrl", rtspUrl);
+            //jsonObject1.put("rtspUrl", msCameraSetting.getPreRtsp());
+            //jsonObject1.put("rtspUrl", msCameraSetting.getAnalysisRtsp());
+            MilitaryMqttApplication.pubMessage(jsonObject1.toJSONString(), trackDeviceInfoTopic);
+            log.info("发送rtsp地址给前端----------" + "消息:" + jsonObject1.toJSONString() + " 主题:" + trackDeviceInfoTopic);
+
+            //控制球机照射目标
+            cameraToTarget(targetLon,targetLat,msCameraSetting);
+
+            log.info("跟踪球机的主要参数信息:");
+            log.info("1.IP: " + msCameraSetting.getIp());
+            log.info("2.用户名: " + msCameraSetting.getUser());
+            log.info("3.密码: " + msCameraSetting.getPassword());
+            log.info("4.最大俯仰角: " + msCameraSetting.getMaxElevation());
+            log.info("5.初始方位角: " + msCameraSetting.getZeroAzimuth());
+            log.info("6.品牌: " + (msCameraSetting.getFactory() == 1 ? "海康" : "宇视"));
+
+            //将需要跟踪的目标进行保存 并且保存跟踪该目标的球机IP
+            redisUtil.hset("trackingTargetId", trackTargetId, msCameraSetting.getIp());
+            log.info("正在跟踪的trackId:" + trackTargetId + "跟踪的球机" + msCameraSetting.getIp());
+        }
+    }*/
+
+/*    public void targetHandler(TrackingTargetDTO trackingTarget) throws UnsupportedEncodingException {
+        //获取目标id 和是否跟踪
+        String trackTargetId = String.valueOf(trackingTarget.getTrackId());
+        boolean trackStatus = trackingTarget.isTrackStatus();
+
+        String trackIdKey = "trackIds:" + trackTargetId;
+        //目标经纬度
+        float targetLon = Float.parseFloat(redisUtil.hget(trackIdKey, "targetLon").toString());
+        float targetLat = Float.parseFloat(redisUtil.hget(trackIdKey, "targetLat").toString());
+        //目标距离(基于雷达)
+        int distance = Integer.parseInt(redisUtil.hget(trackIdKey, "targetDis").toString());
+
+        log.info("目标经纬度:" + targetLon + "," + targetLat);
+
+        //查询光电信息
+        MsCameraSetting cameraInfo = null;
+        LambdaQueryWrapper<MsCameraSetting> photoelectricLambdaQueryWrapper = new LambdaQueryWrapper<>();
+        photoelectricLambdaQueryWrapper.eq(MsCameraSetting::getType, 3) //3-光电类型
+                .eq(MsCameraSetting::getStatus, 1);//1-启用状态
+        List<MsCameraSetting> photoelectricDevices = msCameraSettingService.list(photoelectricLambdaQueryWrapper);//查出所有光电
+        if (CollectionUtils.isEmpty(photoelectricDevices)) {
+            log.info("查询不到光电设备");
+        }
+        cameraInfo = photoelectricDevices.get(0);//todo : 是否需要计算最近的光电
+        log.info("光电设备信息:" + cameraInfo);
+
+        //1、若设备关联光电，则进行联动定位
+        if (cameraInfo != null) {
+            //根据IP获取对应光电线程
+            TcpClient tcpClient = ThreadManager.getTcpClientMap().get(cameraInfo.getIp());
+
+            //停止跟踪
+            if (!trackStatus) {
+                tcpClient.send(
+                        HPDataParser.send(
+                                HPReqParamEnc.ivpTrackingCtrl(String.valueOf(redisUtil.get(tcpClient.getIp())), 0, false, null)
+                        )
+                );
+                return;
+            }
+
+            double cameraAzimuth = cameraInfo.getZeroAzimuth() + Double.parseDouble(redisUtil.hget("PTZStatus", "pan").toString());
+            //计算目标基于光电的方位角
+            double targetAzimuth = GEOUtils.getAzimuth(cameraInfo.getLongitude().doubleValue(),
+                    cameraInfo.getLatitude().doubleValue(),
+                    targetLon,
+                    targetLat
+            );
+
+            //计算光电水平所需方位角
+            double differAzimuth = targetAzimuth - cameraAzimuth;
+
+            //计算方位角
+            double horAngle = Double.parseDouble(redisUtil.hget("PTZStatus", "pan").toString()) + differAzimuth;
+            horAngle = horAngle >= 0 ? horAngle : (360 + horAngle);
+
+            //计算俯仰角(上27000-36000中间0-9000下)
+            //double verAngle = Math.toDegrees(Math.asin((double) cameraInfo.getHeight() / distance));
+            double verAngle = Math.toDegrees(Math.asin((cameraInfo.getHeight().doubleValue() / distance)));
+            verAngle = verAngle + cameraInfo.getFixedAngle();
+
+            log.info("【停止跟踪】");
+            //停止跟踪
+            tcpClient.send(
+                    HPDataParser.send(
+                            HPReqParamEnc.ivpTrackingCtrl(String.valueOf(redisUtil.get(tcpClient.getIp())), 0, false, null)
+                    )
+            );
+
+            //转动光电到指定位置
+            //当光电已经处于跟踪状态时，以下操作不会生效
+            //根据目标位置进行定位(角度实际上送值 : 100倍整数值)
+            log.info("【转动光电到指定位置】");
+            tcpClient.send(
+                    HPDataParser.send(
+                            HPReqParamEnc.ptzControl(String.valueOf(redisUtil.get(tcpClient.getIp())),
+                                    0, 51, null,
+                                    null, null, 45,
+                                    (int) (horAngle * 100), (int) (verAngle * 100), null)
+                    )
+            );
+
+            //目标高度 平均高度 在ms_alarm_settings表中设置 船的平均高度 高度越高视场角越大
+            double h = Double.parseDouble(redisUtil.hget("alarm_settings", "targetHeight").toString());
+
+            //计算目标距离光点的距离
+            double d = GEOUtils.GetDistance(targetLon, targetLat, cameraInfo.getLongitude().doubleValue(), cameraInfo.getLatitude().doubleValue());
+
+            //计算视场角，100为分辨率/像素
+            double fov = Math.toDegrees(Math.atan(h / d)) * 2 * 100;
+            log.info("目标平均高度：" + h + " 目标距离光电:" + d);
+            log.info("水平方位角：" + horAngle + " 俯仰角：" + verAngle + " 视场角:" + fov);
+
+            log.info("【调整光电视场角】");
+            tcpClient.send(
+                    HPDataParser.send(
+                            HPReqParamEnc.ptzControl(String.valueOf(redisUtil.get(tcpClient.getIp())),
+                                    0, 42, null,
+                                    null, null, null,
+                                    null, null, (int) (fov * 100))
+                    )
+            );
+
+            //球机联动
+            log.info("联动控制球机:");
+            LambdaQueryWrapper<MsCameraSetting> cameraSettingLambdaQueryWrapper = new LambdaQueryWrapper<>();
+            cameraSettingLambdaQueryWrapper.eq(MsCameraSetting::getType, 1)//1-球机类型
+                    .eq(MsCameraSetting::getStatus, 1);//1-启用状态
+            List<MsCameraSetting> cameraSettings = msCameraSettingService.list(cameraSettingLambdaQueryWrapper);
+            if (CollectionUtils.isEmpty(cameraSettings)) {
+                log.info("没有可联动的球机");
+            }
+            log.info("case4 : 遍历相机列表 寻找最近的点的球机去跟踪");
+
+            // 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
+            for (MsCameraSetting cameraSetting : cameraSettings) {
+                // 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(h);//目标高度
+                double tempHeightDiff = cameraHeight.subtract(labelHeight).doubleValue();//球机与目标高度差
+                if (tempHeightDiff < 0) {
+                    log.info("case4 :" + "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);
+                    log.info("当前的球机" + cameraSetting.getIp() + "与目标的距离:" + temp);
+                    // 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;
+                    }
+                }
+            }
+
+            //没有找到跟踪的球机
+            if (msCameraSetting == null) {
+                log.info("没有可跟踪的球机");
+            }
+
+            //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 :" + "目标超过跟踪的最大距离" + redisUtil.hget("alarm_settings", "inOutEffectDistance").toString());
+            }
+
+            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));
+
+            //控制球机照射目标
+            log.info("case4【尝试使用ptzControllerByLatLonAndDistance】将球机转到目标位置");
+
+            //将光电信息封装成rtspUrl返回前端
+            String rtspUrl = getRtspUrl(cameraInfo.getIp(), cameraInfo.getUser(), cameraInfo.getPassword(), 3);//光电
+            //String rtspUrlTest = "rtsp://admin:hk123456@192.168.1.71:554/";//光电
+            //String rtspUrl=getRtspUrl(msCameraSetting.getIp(), msCameraSetting.getPort(), msCameraSetting.getUser(),msCameraSetting.getPassword(),msCameraSetting.getFactory());//球机
+            //轨迹数据发送mqtt给前端使用
+            JSONObject jsonObject1 = new JSONObject();
+            jsonObject1.put("longitude", cameraInfo.getLongitude());
+            jsonObject1.put("latitude", cameraInfo.getLatitude());
+            jsonObject1.put("deviceName", cameraInfo.getCameraName());
+            jsonObject1.put("deviceStatus", cameraInfo.getStatus());
+            jsonObject1.put("deviceType", cameraInfo.getType());
+            jsonObject1.put("rtspUrl", cameraInfo.getPreRtsp());
+            jsonObject1.put("videoUrl", cameraInfo.getVideoUrl());
+
+            //jsonObject1.put("rtspUrl", rtspUrlTest);
+            MilitaryMqttApplication.pubMessage(jsonObject1.toJSONString(), trackDeviceInfoTopic);
+            log.info("发送rtsp地址给前端----------" + "消息:" + jsonObject1.toJSONString() + " 主题:" + trackDeviceInfoTopic);
+
+            msCameraSettingService.ptzControllerByLatLon(msCameraSetting.getIp(),
+                    msCameraSetting.getUser(),
+                    msCameraSetting.getPassword(),
+                    msCameraSetting.getMaxElevation(),
+                    msCameraSetting.getZeroAzimuth(),
+                    heightDiff,
+                    msCameraSetting.getZoomFactor(),
+                    msCameraSetting.getLongitude().doubleValue(),
+                    msCameraSetting.getLatitude().doubleValue(),
+                    targetLon,
+                    targetLat,
+                    msCameraSetting.getFactory());//factory用于区分品牌类型 1:海康 2:宇视
+
+
+            log.info("跟踪球机的主要参数信息:");
+            log.info("1.IP: " + msCameraSetting.getIp());
+            log.info("2.用户名: " + msCameraSetting.getUser());
+            log.info("3.密码: " + msCameraSetting.getPassword());
+            log.info("4.最大俯仰角: " + msCameraSetting.getMaxElevation());
+            log.info("5.初始方位角: " + msCameraSetting.getZeroAzimuth());
+            log.info("6.品牌: " + (msCameraSetting.getFactory() == 1 ? "海康" : "宇视"));
+
+            //将需要跟踪的目标进行保存 并且保存跟踪该目标的球机IP 跟踪有效时间设置为1h
+            redisUtil.hset("trackingTargetId", trackTargetId, msCameraSetting.getIp(), 60 * 5);
+            log.info("正在跟踪的trackId:" + trackTargetId + "跟踪的球机" + msCameraSetting.getIp());
+
+        }
+    }*/
+
+/*    public void targetHandler(TrackingTargetDTO trackingTarget) throws UnsupportedEncodingException{
+        angleTest();
+    }*/
+
+    public void targetHandler(TrackingTargetDTO trackingTarget) throws UnsupportedEncodingException {
+        //获取目标id 和是否跟踪
+        String trackTargetId = String.valueOf(trackingTarget.getTrackId());
+        boolean trackStatus = trackingTarget.isTrackStatus();
+
+        String trackIdKey = "trackIds:" + trackTargetId;
+        //目标经纬度
+        float targetLon = Float.parseFloat(redisUtil.hget(trackIdKey, "targetLon").toString());
+        float targetLat = Float.parseFloat(redisUtil.hget(trackIdKey, "targetLat").toString());
+
+
+
+        //目标距离(基于雷达)
+        int distance = Integer.parseInt(redisUtil.hget(trackIdKey, "targetDis").toString());
+
+        log.info("目标经纬度:" + targetLon + "," + targetLat);
+
+        //查询光电信息
+        MsCameraSetting cameraInfo = null;
+        LambdaQueryWrapper<MsCameraSetting> photoelectricLambdaQueryWrapper = new LambdaQueryWrapper<>();
+        photoelectricLambdaQueryWrapper.eq(MsCameraSetting::getType, CameraType.GUANGDIAN.getValue()); //3-光电类型
+    //            .eq(MsCameraSetting::getStatus, 0);//0-启用状态
+        List<MsCameraSetting> photoelectricDevices = msCameraSettingService.list(photoelectricLambdaQueryWrapper);//查出所有光电
+        if (CollectionUtils.isEmpty(photoelectricDevices)) {
+            log.info("查询不到光电设备");
+        }
+
+        //获取目标最近的光电
+        cameraInfo = getNearestCamera(photoelectricDevices, (double) targetLon, (double) targetLat);
+        //cameraInfo = photoelectricDevices.get(0);//todo : 是否需要计算最近的光电
+        log.info("光电设备信息:" + cameraInfo);
+
+        //1、若设备关联光电，则进行联动定位
+        if (cameraInfo != null) {
+            //根据IP获取对应光电线程
+            TcpClient tcpClient = ThreadManager.getTcpClientMap().get(cameraInfo.getIp());
+
+            //停止跟踪
+            if (!trackStatus) {
+                tcpClient.send(
+                        HPDataParser.send(
+                                HPReqParamEnc.ivpTrackingCtrl(String.valueOf(redisUtil.get(tcpClient.getIp())), 0, false, null)
+                        )
+                );
+                return;
+            }
+
+            double cameraAzimuth = cameraInfo.getZeroAzimuth() + Double.parseDouble(redisUtil.hget("PTZStatus", "pan").toString());
+            //计算目标基于光电的方位角
+            double targetAzimuth = GEOUtils.getAzimuth(cameraInfo.getLongitude().doubleValue(),
+                    cameraInfo.getLatitude().doubleValue(),
+                    targetLon,
+                    targetLat
+            );
+
+            //计算光电水平所需方位角
+            double differAzimuth = targetAzimuth - cameraAzimuth;
+
+            //计算方位角
+            double horAngle = Double.parseDouble(redisUtil.hget("PTZStatus", "pan").toString()) + differAzimuth;
+            horAngle = horAngle >= 0 ? horAngle : (360 + horAngle);
+
+            //计算俯仰角(上27000-36000中间0-9000下)
+            //double verAngle = Math.toDegrees(Math.asin((double) cameraInfo.getHeight() / distance));
+            double verAngle = Math.toDegrees(Math.asin((cameraInfo.getHeight().doubleValue() / distance)));
+            verAngle = verAngle + cameraInfo.getFixedAngle();
+
+            log.info("【停止跟踪】");
+            //停止跟踪
+            tcpClient.send(
+                    HPDataParser.send(
+                            HPReqParamEnc.ivpTrackingCtrl(String.valueOf(redisUtil.get(tcpClient.getIp())), 0, false, null)
+                    )
+            );
+
+            //转动光电到指定位置
+            //当光电已经处于跟踪状态时，以下操作不会生效
+            //根据目标位置进行定位(角度实际上送值 : 100倍整数值)
+            log.info("【转动光电到指定位置】");
+            tcpClient.send(
+                    HPDataParser.send(
+                            HPReqParamEnc.ptzControl(String.valueOf(redisUtil.get(tcpClient.getIp())),
+                                    0, 51, null,
+                                    null, null, 45,
+                                    (int) (horAngle * 100), (int) (verAngle * 100), null)
+                    )
+            );
+
+            //目标高度 平均高度 在ms_alarm_settings表中设置 船的平均高度 高度越高视场角越大
+            double h = Double.parseDouble(redisUtil.hget("alarm_settings", "targetHeight").toString());
+
+            //计算目标距离光点的距离
+            double d = GEOUtils.GetDistance(targetLon, targetLat, cameraInfo.getLongitude().doubleValue(), cameraInfo.getLatitude().doubleValue());
+
+            //计算视场角，100为分辨率/像素
+            double fov = Math.toDegrees(Math.atan(h / d)) * 2 * 100;
+            log.info("目标平均高度：" + h + " 目标距离光电:" + d);
+            log.info("水平方位角：" + horAngle + " 俯仰角：" + verAngle + " 视场角:" + fov);
+
+            log.info("【调整光电视场角】");
+            tcpClient.send(
+                    HPDataParser.send(
+                            HPReqParamEnc.ptzControl(String.valueOf(redisUtil.get(tcpClient.getIp())),
+                                    0, 42, null,
+                                    null, null, null,
+                                    null, null, (int) (fov * 100))
+                    )
+            );
+
+            //将光电信息返回前端
+            JSONObject jsonObject1 = new JSONObject();
+            jsonObject1.put("longitude", cameraInfo.getLongitude());
+            jsonObject1.put("latitude", cameraInfo.getLatitude());
+            jsonObject1.put("deviceName", cameraInfo.getCameraName());
+            jsonObject1.put("deviceStatus", cameraInfo.getStatus());
+            jsonObject1.put("deviceType", cameraInfo.getType());
+            jsonObject1.put("deviceId", cameraInfo.getId());
+            jsonObject1.put("rtspUrl", cameraInfo.getPreRtsp());
+            jsonObject1.put("rtcUrl", cameraInfo.getWebcastAddress());
+
+            MilitaryMqttApplication.pubMessage(jsonObject1.toJSONString(), trackDeviceInfoTopic);
+
+            log.info("发送rtsp地址给前端----------" + "消息:" + jsonObject1.toJSONString() + " 主题:" + trackDeviceInfoTopic);
+
+            //球机联动
+            log.info("联动控制球机:");
+            LambdaQueryWrapper<MsCameraSetting> cameraSettingLambdaQueryWrapper = new LambdaQueryWrapper<>();
+            cameraSettingLambdaQueryWrapper.eq(MsCameraSetting::getType, CameraType.QIUJI.getValue())//1-球机类型
+                    .eq(MsCameraSetting::getStatus, 0);//启用状态
+            List<MsCameraSetting> cameraSettings = msCameraSettingService.list(cameraSettingLambdaQueryWrapper);
+            if (CollectionUtils.isEmpty(cameraSettings)) {
+                log.info("没有可联动的球机");
+                return;
+            }
+
+            // 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
+            for (MsCameraSetting cameraSetting : cameraSettings) {
+                // 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(h);//目标高度
+                double tempHeightDiff = cameraHeight.subtract(labelHeight).doubleValue();//球机与目标高度差
+                if (tempHeightDiff < 0) {
+                    log.info("case4 :" + "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);
+                    log.info("当前的球机" + cameraSetting.getIp() + "与目标的距离:" + temp);
+                    // 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;
+                    }
+                }
+            }
+
+            //没有找到跟踪的球机
+            if (msCameraSetting == null) {
+                log.info("没有可跟踪的球机");
+                return;
+            }
+
+            //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 :" + "目标超过跟踪的最大距离" + redisUtil.hget("alarm_settings", "inOutEffectDistance").toString());
+            }
+
+            //将球机信息返回前端
+            JSONObject jsonObject2 = new JSONObject();
+            jsonObject2.put("deviceId", msCameraSetting.getId());
+            jsonObject2.put("rtspUrl", msCameraSetting.getPreRtsp());
+            jsonObject2.put("rtcUrl", msCameraSetting.getWebcastAddress());
+
+            MilitaryMqttApplication.pubMessage(jsonObject2.toJSONString(), trackCameraInfoTopic);
+
+            log.info("发送联动跟踪的球机rtsp地址给前端----------" + "消息:" + jsonObject2.toJSONString() + " 主题:/track/cameraInfo");
+
+            msCameraSettingService.ptzControllerByLatLon(msCameraSetting.getIp(),
+                    msCameraSetting.getUser(),
+                    msCameraSetting.getPassword(),
+                    msCameraSetting.getMaxElevation(),
+                    msCameraSetting.getZeroAzimuth(),
+                    heightDiff,
+                    msCameraSetting.getZoomFactor(),
+                    msCameraSetting.getLongitude().doubleValue(),
+                    msCameraSetting.getLatitude().doubleValue(),
+                    targetLon,
+                    targetLat,
+                    msCameraSetting.getFactory());//factory用于区分品牌类型 1:海康 3:宇视
+
+
+            //将需要跟踪的目标进行保存 并且保存跟踪该目标的球机IP 跟踪有效时间设置为1h
+            //redisUtil.hset("trackingTargetId", trackTargetId, msCameraSetting.getIp(), 60 * 5);
+            redisUtil.set("trackingCameraIp",msCameraSetting.getIp(),60 * 5);
+            redisUtil.set("trackingId",trackTargetId,60 * 5);
+            log.info("正在跟踪的trackId:" + trackTargetId + "跟踪的球机" + msCameraSetting.getIp());
+        }
+    }
+
+    /**
+     * 相机转动到指定位置
+     * @param targetLon
+     * @param targetLat
+     * @param msCameraSetting
+     */
+    public void cameraToTarget(Float targetLon,Float targetLat,MsCameraSetting msCameraSetting){
+        BigDecimal cameraHeight = msCameraSetting.getHeight();//球机高度
+        double h = Double.parseDouble(redisUtil.hget("alarm_settings", "targetHeight").toString());
+        BigDecimal labelHeight = new BigDecimal(h);//目标高度
+        double heightDiff = cameraHeight.subtract(labelHeight).doubleValue();//球机与目标高度差
+
+        msCameraSettingService.ptzControllerByLatLon(msCameraSetting.getIp(),
+                msCameraSetting.getUser(),
+                msCameraSetting.getPassword(),
+                msCameraSetting.getMaxElevation(),
+                msCameraSetting.getZeroAzimuth(),
+                heightDiff,
+                msCameraSetting.getZoomFactor(),
+                msCameraSetting.getLongitude().doubleValue(),
+                msCameraSetting.getLatitude().doubleValue(),
+                targetLon,
+                targetLat,
+                msCameraSetting.getFactory());//factory用于区分品牌类型 1:海康 2:宇视
+    }
+
+    /**
+     * 相机转动到指定位置
+     * @param targetLon
+     * @param targetLat
+     * @param ip
+     */
+    public void cameraToTarget2(Float targetLon,Float targetLat,String ip){
+        LambdaQueryWrapper<MsCameraSetting> queryWrapper = new LambdaQueryWrapper<MsCameraSetting>().eq(MsCameraSetting::getIp, ip);
+        MsCameraSetting msCameraSetting = msCameraSettingService.getOne(queryWrapper);
+        BigDecimal cameraHeight = msCameraSetting.getHeight();//球机高度
+        double h = Double.parseDouble(redisUtil.hget("alarm_settings", "targetHeight").toString());
+        BigDecimal labelHeight = new BigDecimal(h);//目标高度
+        double heightDiff = cameraHeight.subtract(labelHeight).doubleValue();//球机与目标高度差
+
+        msCameraSettingService.ptzControllerByLatLon(msCameraSetting.getIp(),
+                msCameraSetting.getUser(),
+                msCameraSetting.getPassword(),
+                msCameraSetting.getMaxElevation(),
+                msCameraSetting.getZeroAzimuth(),
+                heightDiff,
+                msCameraSetting.getZoomFactor(),
+                msCameraSetting.getLongitude().doubleValue(),
+                msCameraSetting.getLatitude().doubleValue(),
+                targetLon,
+                targetLat,
+                msCameraSetting.getFactory());//factory用于区分品牌类型 1:海康 2:宇视
+    }
+
+
+    /**
+     * 生成rtsp
+     * @param ip
+     * @param user
+     * @param password
+     * @param factory 品牌产商
+     * @return
+     */
+    private static String getRtspUrl(String ip, String user, String password, Integer factory) {
+        String rtspUrl = null;
+        switch (factory) {
+            //海康
+            case 1: {
+                rtspUrl = String.format("rtsp://%s:%s@%s/Streaming/Channels/1?transportmode=unicast&profile=Profile_1", user, password, ip);
+                break;
+            }
+            //宇视
+            case 2: {
+                rtspUrl = String.format("rtsp://%s:%s@%s/media/video1", user, password, ip);
+                break;
+            }
+            //光电
+            case 3: {
+                rtspUrl = String.format("rtsp://%s:%s@%s/h264/ch1/main/av_stream", user, password, ip);
+                break;
+            }
+        }
+        return rtspUrl;
+    }
+
+    /**
+     * 定时清除多次未更新的轨迹数据 任务
+     */
+    @Scheduled(cron="0 0/1 * * * ?")
+    public void scheduledCleanTask(){
+        System.out.println("定时清除旧轨迹任务执行...");
+        long now = System.currentTimeMillis() - 60000;//定义多久以前的数据是需要清除的轨迹
+        System.out.println(now);
+        //得到待删除轨迹的Id
+        Set<ZSetOperations.TypedTuple<Object>> removeIds = redisUtil.zRangeByScoreWithScores("updatedIds", 0, now);
+        List<Integer> removeIdList = removeIds.stream().map(key -> Integer.valueOf(key.getValue().toString())).collect(Collectors.toList());
+
+        JSONObject jsonObject = new JSONObject();
+        jsonObject.put("removeIds",removeIdList);
+        MilitaryMqttApplication.pubMessage(jsonObject.toJSONString(),removeTrackIdsTopic);
+
+        //删除过期的轨迹Id
+        redisUtil.zRemoveRangeByScore("updatedIds",0,now);
+    }
+
+    public MsCameraSetting getNearestCamera(List<MsCameraSetting> cameraSettings,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
+        for (MsCameraSetting cameraSetting : cameraSettings) {
+            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;
+            }
+
+        }
+        return msCameraSetting;
+    }
+
+    public static void main(String[] args) {
+        RedisUtil redisUtil1 = SpringUtil.getBean(RedisUtil.class);
+        Object o = redisUtil1.get("allIds:");
+    }
+
+
+    //用于本地测试 模拟光电
+    public void test(){
+        MsCameraSettingServiceImpl mscameraSettingService = new MsCameraSettingServiceImpl();
+        mscameraSettingService.ptzControl(
+                "192.168.1.71",
+                "admin",
+                "hk123456",
+                new PTZVo(0.5,-0.5,0.5)
+        );
+    }
+
+    //todo : 正北调整(2024-4-10)
+    public void angleTest() {
+        LambdaQueryWrapper<MsCameraSetting> msCameraSettingLambdaQueryWrapper = new LambdaQueryWrapper<>();
+        msCameraSettingLambdaQueryWrapper.eq(MsCameraSetting::getType, CameraType.QIUJI.getValue())//1-球机类型
+                .eq(MsCameraSetting::getStatus, 0);//启用状态
+        List<MsCameraSetting> msCameraSettingList = msCameraSettingService.list(msCameraSettingLambdaQueryWrapper);
+
+/*        double targetLon=113.45166600000000;
+        double targetLat=22.12888800000000;   */
+        double targetLon=113.43722200000000;
+        double targetLat=22.15888800000000;
+        for (MsCameraSetting msCameraSetting : msCameraSettingList) {
+            try {
+                msCameraSettingService.ptzControllerByLatLon(msCameraSetting.getIp(),
+                        msCameraSetting.getUser(),
+                        msCameraSetting.getPassword(),
+                        msCameraSetting.getMaxElevation(),
+                        msCameraSetting.getZeroAzimuth(),
+                        msCameraSetting.getHeight().doubleValue(),
+                        msCameraSetting.getZoomFactor(),
+                        msCameraSetting.getLongitude().doubleValue(),
+                        msCameraSetting.getLatitude().doubleValue(),
+                        targetLon,
+                        targetLat,
+                        msCameraSetting.getFactory());//factory用于区分品牌类型 1:海康 2:宇视
+            }catch (Exception e){
+                System.out.println("异常相机:"+msCameraSetting.getIp());
+                log.info("异常相机");
+                log.info(msCameraSetting.getIp());
+            }
+        }
+
+    }
+}

src/main/java/com/zgx/iot/mq/mqtt/model/radar/TargetMessage.java

@@ -0,0 +1,20 @@
+package com.zgx.iot.mq.mqtt.model.radar;
+
+import com.zgx.iot.dto.radar.TrackingTargetDTO;
+import lombok.Data;
+
+/**
+ * @author AaGMixW
+ */
+@Data
+public class TargetMessage {
+    /**
+     * mqtt 消息体
+     */
+    private TrackingTargetDTO messageBody;
+    /**
+     * mqtt 主题
+     */
+    private String topic;
+
+}

src/main/java/com/zgx/iot/netty/NettyServiceManage.java

@@ -0,0 +1,203 @@
+package com.zgx.iot.netty;
+
+
+import com.zgx.iot.dto.site.Result;
+import com.zgx.iot.netty.exception.NettyServiceControllerException;
+import com.zgx.iot.netty.model.NettyDeviceInfo;
+import com.zgx.iot.netty.model.NettyService;
+import com.zgx.iot.netty.pipeline.TcpPipelineFactory;
+import com.zgx.iot.netty.pipeline.UdpPipelineFactory;
+import com.zgx.iot.netty.socket.base.NettyBaseServiceImpl;
+import com.zgx.iot.netty.socket.base.NettyBaseSocket;
+import com.zgx.iot.netty.socket.tcp.TcpClientByNetty;
+import com.zgx.iot.netty.socket.tcp.TcpServiceByNetty;
+import com.zgx.iot.netty.socket.udp.UdpClientByNetty;
+import com.zgx.iot.netty.socket.udp.UdpServiceByNetty;
+import org.apache.logging.log4j.LogManager;
+import org.apache.logging.log4j.Logger;
+import org.springframework.stereotype.Component;
+
+import java.net.InetSocketAddress;
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * @author AaGMixW
+ */
+@Component
+public class NettyServiceManage {
+    private static final Logger logger = LogManager.getLogger(NettyServiceManage.class);
+
+
+    private final ConcurrentHashMap<String, NettyService<? extends NettyBaseSocket>> nettyServiceMap = new ConcurrentHashMap<>(16);
+    // 启动服务
+
+    /**
+     * 启动 tcp 服务端
+     *
+     * @param deviceInfo          设备信息 {@link NettyDeviceInfo}
+     * @param pipelineFactoryType tcp 管道, 对传输的数据进行相关处理
+     * @return udp service
+     */
+    public  NettyService<? extends NettyBaseSocket> startupTcpService(
+            NettyDeviceInfo deviceInfo,
+            Class<? extends TcpPipelineFactory<TcpServiceByNetty>> pipelineFactoryType
+    ) {
+        String key = deviceInfo.getId();
+        // 判断 已经启动服务中是否已经存在
+        if (nettyServiceMap.containsKey(key)) {
+            // 存在
+            // 直接返回获取到的服务
+            return nettyServiceMap.get(key);
+        }
+        // 不存在
+        TcpServiceByNetty service = new TcpServiceByNetty(deviceInfo, pipelineFactoryType);
+        try {
+            service.startup();
+            // 存储到 nettyServiceMap 里
+            NettyService<TcpServiceByNetty> nettyService = new NettyService<>(service);
+            nettyServiceMap.put(key, nettyService);
+            return nettyService;
+        } catch (InstantiationException | IllegalAccessException e) {
+            logger.error("启动 {} 服务失败，{}", deviceInfo.getDeviceName(), e.getMessage());
+            service.shutdown();
+            return null;
+        }
+    }
+
+    /**
+     * 启动 tcp 客户端
+     *
+     * @param deviceInfo          设备信息 {@link NettyDeviceInfo}
+     * @param pipelineFactoryType tcp 管道, 对传输的数据进行相关处理
+     * @return udp service
+     */
+    public <T> TcpClientByNetty startupTcpClient(
+            NettyDeviceInfo deviceInfo,
+            Class<? extends TcpPipelineFactory<TcpClientByNetty>> pipelineFactoryType
+    ) {
+        String key = deviceInfo.getId();
+        // 判断 已经启动服务中是否已经存在
+        if (nettyServiceMap.containsKey(key)) {
+            // 存在
+            // 直接返回获取到的服务
+            return (TcpClientByNetty) nettyServiceMap.get(key).getService();
+        }
+        // 不存在
+        TcpClientByNetty client = new TcpClientByNetty(deviceInfo, pipelineFactoryType);
+        try {
+            client.startup();
+            // 存储到 nettyServiceMap 里
+            NettyService<TcpClientByNetty> nettyService = new NettyService<>(client);
+            nettyServiceMap.put(key, nettyService);
+            return client;
+        } catch (InstantiationException | IllegalAccessException e) {
+            client.shutdown();
+            logger.error("启动 {} 服务失败，{}", deviceInfo.getDeviceName(), e.getMessage());
+            return null;
+        }
+    }
+
+
+    /**
+     * 启动 udp 客户端
+     *
+     * @param deviceInfo          设备信息 {@link NettyDeviceInfo}
+     * @param pipelineFactoryType udp 管道, 对传输的数据进行相关处理
+     * @return udp client
+     */
+    public synchronized NettyService<? extends NettyBaseSocket> startupUdpClient(NettyDeviceInfo deviceInfo, Class<? extends UdpPipelineFactory<UdpClientByNetty>> pipelineFactoryType) {
+        String key = deviceInfo.getId();
+        // 判断 已经启动服务中是否已经存在
+        if (nettyServiceMap.containsKey(key)) {
+            // 存在
+            // 直接返回获取到的服务
+            return nettyServiceMap.get(key);
+        }
+        // 不存在
+        UdpClientByNetty client = new UdpClientByNetty(deviceInfo, pipelineFactoryType);
+        try {
+            // 启动服务
+            client.startup();
+            // 存储到 nettyServiceMap 里
+            NettyService<UdpClientByNetty> nettyService = new NettyService<>(client);
+            nettyServiceMap.put(key, nettyService);
+            return nettyService;
+        } catch (InstantiationException | IllegalAccessException e) {
+            logger.error("启动 {} 服务失败，{}", deviceInfo.getDeviceName(), e.getMessage());
+            client.shutdown();
+            return null;
+        }
+    }
+
+    /**
+     * 启动 udp 服务端
+     *
+     * @param deviceInfo          设备信息 {@link NettyDeviceInfo}
+     * @param pipelineFactoryType udp 管道, 对传输的数据进行相关处理
+     * @return udp service
+     */
+    public NettyService<? extends NettyBaseSocket> startupUdpService(
+            NettyDeviceInfo deviceInfo,
+            Class<? extends UdpPipelineFactory<UdpServiceByNetty>> pipelineFactoryType
+    ) {
+        String key = deviceInfo.getId();
+        // 判断 已经启动服务中是否已经存在
+        if (nettyServiceMap.containsKey(key)) {
+            // 存在
+            // 直接返回获取到的服务
+            return nettyServiceMap.get(key);
+        }
+        // 不存在
+        UdpServiceByNetty service = new UdpServiceByNetty(pipelineFactoryType, deviceInfo);
+        try {
+            // 启动服务
+            service.startup();
+            // 存储到 nettyServiceMap 里
+            NettyService<UdpServiceByNetty> nettyService = new NettyService<>(service);
+            nettyServiceMap.put(key, nettyService);
+            return nettyService;
+        } catch (InstantiationException | IllegalAccessException e) {
+            service.shutdown();
+            logger.error("启动 {} 服务失败，{}", deviceInfo.getDeviceName(), e.getMessage());
+            throw new NettyServiceControllerException("启动服务失败:" + e.getMessage());
+        }
+    }
+
+    /**
+     * 停止服务
+     *
+     * @param deviceInfo 设备信息 {@link NettyDeviceInfo}
+     * @return 是否成功
+     */
+    public boolean stopService(NettyDeviceInfo deviceInfo) {
+        String key = deviceInfo.getId();
+        if (nettyServiceMap.containsKey(key)) {
+            NettyService<? extends NettyBaseSocket> nettyService = nettyServiceMap.get(key);
+            nettyService.shutdown();
+        }
+        // 服务不存在 失败
+        return false;
+    }
+
+
+    public boolean stopChannel(String key, InetSocketAddress address) {
+        if (nettyServiceMap.containsKey(key)) {
+            NettyService<? extends NettyBaseSocket> nettyService = nettyServiceMap.get(key);
+            return nettyService.stopChannel(address);
+        } else {
+            logger.error("找不到 netty service!");
+            return false;
+        }
+    }
+
+
+    public Result<NettyService<? extends NettyBaseSocket>> getNettyService(NettyDeviceInfo deviceInfo) {
+        String key = deviceInfo.getId();
+        if (nettyServiceMap.containsKey(key)) {
+            return Result.OK(nettyServiceMap.get(key));
+        } else {
+            logger.error("找不到 netty service!");
+            return Result.ERROR("找不到 netty service!");
+        }
+    }
+}

src/main/java/com/zgx/iot/netty/config/AppServiceConfig.java

@@ -0,0 +1,42 @@
+package com.zgx.iot.netty.config;
+
+import lombok.Getter;
+import lombok.Setter;
+import org.springframework.beans.factory.annotation.Value;
+import org.springframework.stereotype.Component;
+
+/**
+ * @author AaGMixW
+ */
+@Component
+@Getter
+@Setter
+public class AppServiceConfig {
+
+    /**
+     * 服务重试设置
+     */
+    @Value("${netty.retry.interval}")
+    private Integer retryInterval;
+    @Value("${netty.retry.count}")
+    private Integer retryCount;
+    /**
+     * 请求设备重试设置
+     */
+    @Value("${netty.device.retry.interval}")
+    private Integer deviceRetryInterval;
+    @Value("${netty.device.retry.count}")
+    private Integer deviceRetryCount;
+
+    /**
+     * 心跳包 间隔
+     */
+    @Value("${netty.heartbeat.interval}")
+    private Integer heartbeatInterval;
+    /**
+     * 心跳包 重试次数(次)
+     */
+    @Value("${netty.heartbeat.count}")
+    private Integer heartbeatCount;
+
+}

src/main/java/com/zgx/iot/netty/constant/AttributeMapConstant.java

@@ -0,0 +1,20 @@
+package com.zgx.iot.netty.constant;
+
+import com.zgx.iot.netty.socket.base.NettyBaseSocket;
+import io.netty.util.AttributeKey;
+
+import java.net.InetSocketAddress;
+
+/**
+ * @author AaGMixW
+ */
+public class AttributeMapConstant {
+    private AttributeMapConstant() {
+        throw new IllegalStateException("Constant class");
+    }
+
+    public static final AttributeKey<NettyBaseSocket> NETTY_CHANNEL_SOCKET_KEY =
+            AttributeKey.valueOf("netty.channel.socket");
+    public static final AttributeKey<InetSocketAddress> NETTY_SERVICE_REMOTE_ADDR_KEY =
+            AttributeKey.valueOf("netty.service.remote.addr");
+}

src/main/java/com/zgx/iot/netty/constant/CustomLogLevel.java

@@ -0,0 +1,21 @@
+package com.zgx.iot.netty.constant;
+
+import org.apache.logging.log4j.Level;
+
+/**
+ * @author AaGMixW
+ */
+public class CustomLogLevel {
+
+    private CustomLogLevel() {
+        throw new IllegalStateException("Constant class");
+    }
+
+    //定义业务操作日志级别(级别越高，数字越小)
+    // off 0, fatal 100, error 200, warn 300, info 400, debug 500
+
+    /**
+     * 设备数据 日志
+     */
+    public static final Level DEVICE_DATA_LEVEL = Level.forName("DEVICE_DATA", 350);
+}

src/main/java/com/zgx/iot/netty/constant/DeviceRelations.java

@@ -0,0 +1,150 @@
+package com.zgx.iot.netty.constant;
+
+import com.google.common.collect.BiMap;
+import com.google.common.collect.HashBiMap;
+
+import java.util.*;
+
+/**
+ * @author AaGMixW
+ */
+public enum DeviceRelations {
+    ;
+
+    private static final Map<Integer, String> ALARM_TYPE = new HashMap<>();
+
+    static {
+        ALARM_TYPE.put(2, "断线报警");
+        ALARM_TYPE.put(3, "触网报警");
+        ALARM_TYPE.put(4, "短路报警");
+        ALARM_TYPE.put(5, "接近预警");
+        ALARM_TYPE.put(6, "入侵报警");
+        ALARM_TYPE.put(7, "感应报警");
+        ALARM_TYPE.put(8, "离线报警");
+        ALARM_TYPE.put(9, "离线报警恢复");
+    }
+
+    private static final BiMap<Integer, String> DEVICE_TYPE = HashBiMap.create();
+
+    static {
+        DEVICE_TYPE.put(1, "radar");
+        DEVICE_TYPE.put(2, "camera");
+        DEVICE_TYPE.put(3, "fence");
+        DEVICE_TYPE.put(4, "photovoltaics");
+        DEVICE_TYPE.put(98, "relay");
+        DEVICE_TYPE.put(99, "other");
+    }
+
+    private static final BiMap<Integer, String> DEVICE_TYPE_CHINESE = HashBiMap.create();
+
+    static {
+        DEVICE_TYPE_CHINESE.put(1, "雷达");
+        DEVICE_TYPE_CHINESE.put(2, "光电");
+        DEVICE_TYPE_CHINESE.put(3, "电子围网");
+        DEVICE_TYPE_CHINESE.put(4, "光伏");
+        DEVICE_TYPE_CHINESE.put(98, "网络继电器");
+        DEVICE_TYPE_CHINESE.put(99, "其他");
+    }
+
+    private static final BiMap<Integer, String> DEVICE_COMP = HashBiMap.create();
+
+    static {
+        DEVICE_COMP.put(1, "lei_yuan");
+        DEVICE_COMP.put(2, "sine");
+        DEVICE_COMP.put(3, "zhi_an");
+        DEVICE_COMP.put(4, "he_pu");
+        DEVICE_COMP.put(5, "shang_shang");
+        DEVICE_COMP.put(98, "corx");
+        DEVICE_COMP.put(99, "other");
+    }
+
+    private static final BiMap<Integer, String> DEVICE_COMP_CHINESE = HashBiMap.create();
+
+    static {
+        DEVICE_COMP_CHINESE.put(1, "雷远");
+        DEVICE_COMP_CHINESE.put(2, "赛英");
+        DEVICE_COMP_CHINESE.put(3, "智安");
+        DEVICE_COMP_CHINESE.put(4, "和普");
+        DEVICE_COMP_CHINESE.put(5, "尚上");
+        DEVICE_COMP_CHINESE.put(98, "科星");
+        DEVICE_COMP_CHINESE.put(99, "其他");
+    }
+
+    private static final Map<Integer, List<String>> DEVICE_SERVICE_TYPE = new HashMap<>(16);
+
+    static {
+        // 雷远雷达
+        DEVICE_SERVICE_TYPE.put(Objects.hash(1, 1), SocketType.UDP.SERVICE.getNameAsList());
+        // 赛英雷达
+        DEVICE_SERVICE_TYPE.put(Objects.hash(1, 2), SocketType.UDP.SERVICE.getNameAsList());
+        // 电子围网
+        DEVICE_SERVICE_TYPE.put(Objects.hash(3, 3), SocketType.TCP.CLIENT.getNameAsList());
+        // 科兴网络继电器
+        DEVICE_SERVICE_TYPE.put(Objects.hash(98, 98), SocketType.TCP.CLIENT.getNameAsList());
+        // 振动电缆
+        DEVICE_SERVICE_TYPE.put(Objects.hash(6, 3), SocketType.TCP.CLIENT.getNameAsList());
+        DEVICE_SERVICE_TYPE.put(-1, new ArrayList<>());
+    }
+
+    public static String getDeviceTypeName(int deviceType) {
+        return DEVICE_TYPE.get(deviceType);
+    }
+
+    public static String getDeviceCompName(int deviceComp) {
+        return DEVICE_COMP.get(deviceComp);
+    }
+
+    public static String getDeviceTypeNameChinese(int deviceType) {
+        return DEVICE_TYPE_CHINESE.get(deviceType);
+    }
+
+    public static String getDeviceCompNameChinese(int deviceComp) {
+        return DEVICE_COMP_CHINESE.get(deviceComp);
+    }
+
+    public static int getDeviceTypeValue(String deviceType) {
+        return DEVICE_TYPE.inverse().get(deviceType);
+    }
+
+    public static int getDeviceCompValue(String deviceComp) {
+        return DEVICE_COMP.inverse().get(deviceComp);
+    }
+
+    public static int getDeviceTypeValueChinese(String deviceType) {
+        return DEVICE_TYPE_CHINESE.inverse().get(deviceType);
+    }
+
+    public static int getDeviceCompValueChinese(String deviceComp) {
+        return DEVICE_COMP_CHINESE.inverse().get(deviceComp);
+    }
+
+
+    public static String getDeviceMark(int deviceType, int deviceComp, String delimiter) {
+        return DEVICE_TYPE.get(deviceType) + delimiter + DEVICE_COMP.get(deviceComp);
+    }
+
+    public static String getDeviceNameChinese(int deviceType, int deviceComp) {
+        return DEVICE_COMP_CHINESE.get(deviceComp) + DEVICE_TYPE_CHINESE.get(deviceType);
+    }
+
+    public static String getAlarmType(int alarmType) {
+        return ALARM_TYPE.get(alarmType);
+    }
+
+    public static String getServiceId(int deviceType, int deviceComp, String delimiter) {
+        int hash = Objects.hash(deviceType, deviceComp);
+        List<String> list = DEVICE_SERVICE_TYPE.getOrDefault(hash, new ArrayList<>());
+        // 没有值时
+        if (list.isEmpty()) {
+            return "";
+        }
+        StringBuilder value = new StringBuilder();
+        for (int i = 0; i < list.size(); i++) {
+            if (i != 0) {
+                value.append(delimiter);
+            }
+            value.append(list.get(i));
+        }
+        return value.toString();
+    }
+}

src/main/java/com/zgx/iot/netty/constant/HandlerDataType.java

@@ -0,0 +1,36 @@
+package com.zgx.iot.netty.constant;
+
+
+/**
+ * @author AaGMixW
+ */
+
+public enum HandlerDataType {
+    ;
+
+    public enum PerimeterDataType {
+        /**
+         * 报警数据
+         */
+        ALARM(0),
+        /**
+         * 操作结果数据
+         */
+        OPERATE_RESULT(1),
+        /**
+         * 设防/旁路 数据
+         */
+        DEFENCE_AREA_DATA(2),
+        ;
+        private final int value;
+
+        PerimeterDataType(int value) {
+            this.value = value;
+        }
+
+        public int getValue() {
+            return value;
+        }
+    }
+
+}

src/main/java/com/zgx/iot/netty/constant/SocketType.java

@@ -0,0 +1,74 @@
+package com.zgx.iot.netty.constant;
+
+import java.util.ArrayList;
+import java.util.List;
+
+public enum SocketType {
+    ;
+
+    public enum TCP {
+        /**
+         * 服务端
+         */
+        SERVICE("service", 1),
+        /**
+         * 客户端
+         */
+        CLIENT("client", 0);
+        private final String name;
+        private final Integer value;
+        private static final String PREFIX = "TCP";
+
+        TCP(String name, Integer value) {
+            this.name = name;
+            this.value = value;
+        }
+
+        public String getName(String delimiter) {
+            return PREFIX + delimiter + name;
+        }
+        public Integer getValue() {
+            return value;
+        }
+
+        public List<String> getNameAsList() {
+            List<String> list = new ArrayList<>(16);
+            list.add(PREFIX);
+            list.add(name);
+            return list;
+        }
+    }
+
+    public enum UDP {
+        /**
+         * 服务端
+         */
+        SERVICE("service", 1),
+        /**
+         * 客户端
+         */
+        CLIENT("client", 0);
+        private final String name;
+        private final Integer value;
+        private static final String PREFIX = "UDP";
+
+        UDP(String name, Integer value) {
+            this.name = name;
+            this.value = value;
+        }
+
+        public String getName(String delimiter) {
+            return PREFIX + delimiter + name;
+        }
+        public Integer getValue() {
+            return value;
+        }
+
+        public List<String> getNameAsList() {
+            List<String> list = new ArrayList<>(16);
+            list.add(PREFIX);
+            list.add(name);
+            return list;
+        }
+    }
+}

src/main/java/com/zgx/iot/netty/constant/device/MicrowaveDetectorConstant.java

@@ -0,0 +1,239 @@
+package com.zgx.iot.netty.constant.device;
+
+import java.util.HashMap;
+import java.util.Map;
+
+/**
+ * @author AaGMixW
+ */
+public enum MicrowaveDetectorConstant {
+    ;
+
+    public enum deviceType {
+        /**
+         * 探测器
+         */
+        DETECTOR(1, "探测器"),
+
+        /**
+         * 探测主机
+         */
+        DETECTOR_HOST(2, "探测主机"),
+
+        /**
+         * 串口设备
+         */
+        SERIAL_DEVICE(3, "串口设备"),
+
+        /**
+         * 预留
+         */
+        RESERVED(4, "预留");
+
+
+        private int value;
+        private String name;
+
+        deviceType(int value, String name) {
+            this.value = value;
+            this.name = name;
+        }
+
+        public int getValue() {
+            return value;
+        }
+
+        public String getName() {
+            return name;
+        }
+
+        private static final Map<Integer, deviceType> map = new HashMap<>();
+
+        static {
+            for (MicrowaveDetectorConstant.deviceType deviceType : deviceType.values()) {
+                map.put(deviceType.getValue(), deviceType);
+            }
+        }
+
+        public static deviceType valueOf(int value) {
+            return map.get(value);
+        }
+    }
+
+    public enum faultType {
+        /**
+         * 无特定类型
+         */
+        NONE(0, "无特定类型"),
+        /**
+         * 离线丢失
+         */
+        OFFLINE(1, "离线丢失"),
+        /**
+         * 硬件故障
+         */
+        HARDWARE_FAULT(2, "硬件故障"),
+        /**
+         * 传感器噪声高
+         */
+        SENSOR_NOISE_HIGH(3, "传感器噪声高"),
+        /**
+         * 内部软件故障
+         */
+        INTERNAL_SOFTWARE_FAULT(4, "内部软件故障"),
+        /**
+         * 防拆报警
+         */
+        ANTI_DEMOLITION_ALARM(5, "防拆报警"),
+        /**
+         * 状态不明
+         */
+        STATUS_UNKNOWN(6, "状态不明"),
+        /**
+         * 错误消息或通信异常
+         */
+        ERROR_MESSAGE_OR_COMMUNICATION_EXCEPTION(7, "错误消息或通信异常"),
+        /**
+         * 剪线断线
+         */
+        CUT_LINE_DISCONNECT(8, "剪线断线"),
+        /**
+         * 其他预留
+         */
+        OTHER_RESERVED(9, "其他预留");
+
+        private int value;
+        private String name;
+
+        faultType(int value, String name) {
+            this.value = value;
+            this.name = name;
+        }
+
+        public int getValue() {
+            return value;
+        }
+
+        public String getName() {
+            return name;
+        }
+
+        private static final Map<Integer, faultType> map = new HashMap<>();
+
+        static {
+            for (faultType faultType : faultType.values()) {
+                map.put(faultType.getValue(), faultType);
+            }
+        }
+
+        public static faultType valueOf(int value) {
+            return map.get(value);
+        }
+    }
+
+    public enum alarmType {
+        /**
+         * MEMS入侵报警
+         */
+        MEMS_INVASION_ALARM(1, "MEMS入侵报警"),
+        /**
+         * 预留；
+         */
+        RESERVED(2, "预留");
+
+        private int value;
+        private String name;
+
+        alarmType(int value, String name) {
+            this.value = value;
+            this.name = name;
+        }
+
+        public int getValue() {
+            return value;
+        }
+
+        public String getName() {
+            return name;
+        }
+
+        private static final Map<Integer, alarmType> map = new HashMap<>();
+
+        static {
+            for (alarmType alarmType : alarmType.values()) {
+                map.put(alarmType.getValue(), alarmType);
+            }
+        }
+
+        public static alarmType valueOf(int value) {
+            return map.get(value);
+        }
+    }
+
+    public enum alarmReason {
+        // pc：0-其它（无特定原因）；1-敲击；2-摇晃；3-攀爬（振动）；4-倾斜；5~7：预留；8-剪切线缆；
+        //9-MEMS雷达报警
+        /**
+         * 其它（无特定原因）
+         */
+        OTHER(0, "其它（无特定原因）"),
+        /**
+         * 敲击
+         */
+        KNOCK(1, "敲击"),
+        /**
+         * 摇晃
+         */
+        SHAKE(2, "摇晃"),
+        /**
+         * 攀爬（振动）
+         */
+        CLIMB(3, "攀爬（振动）"),
+        /**
+         * 倾斜
+         */
+        TILT(4, "倾斜"),
+        /**
+         * 预留
+         */
+        RESERVED(5, "预留"),
+        RESERVED_2(6, "预留"),
+        RESERVED_3(7, "预留"),
+        /**
+         * 剪切线缆
+         */
+        CUT_WIRE(8, "剪切线缆"),
+        /**
+         * MEMS雷达报警
+         */
+        MEMS_RADAR_ALARM(9, "MEMS雷达报警");
+
+        private int value;
+        private String name;
+
+        alarmReason(int value, String name) {
+            this.value = value;
+            this.name = name;
+        }
+
+        public int getValue() {
+            return value;
+        }
+
+        public String getName() {
+            return name;
+        }
+
+        private static final Map<Integer, alarmReason> map = new HashMap<>();
+
+        static {
+            for (alarmReason alarmReason : alarmReason.values()) {
+                map.put(alarmReason.getValue(), alarmReason);
+            }
+        }
+
+        public static alarmReason valueOf(int value) {
+            return map.get(value);
+        }
+    }
+}

src/main/java/com/zgx/iot/netty/exception/CompletableFutureException.java

@@ -0,0 +1,12 @@
+package com.zgx.iot.netty.exception;
+
+/**
+ * @author AaGMixW
+ */
+public class CompletableFutureException extends RuntimeException {
+    private static final long serialVersionUID = 6898660892382632176L;
+
+    public CompletableFutureException(String s) {
+        super(s);
+    }
+}

src/main/java/com/zgx/iot/netty/exception/DeviceInfoException.java

@@ -0,0 +1,12 @@
+package com.zgx.iot.netty.exception;
+
+/**
+ * @author AaGMixW
+ */
+public class DeviceInfoException extends RuntimeException {
+    private static final long serialVersionUID = 5004118888832463932L;
+
+    public DeviceInfoException(String s) {
+        super(s);
+    }
+}

src/main/java/com/zgx/iot/netty/exception/NettyServiceControllerException.java

@@ -0,0 +1,12 @@
+package com.zgx.iot.netty.exception;
+
+/**
+ * @author AaGMixW
+ */
+public class NettyServiceControllerException extends RuntimeException {
+    private static final long serialVersionUID = -8621535055348629709L;
+
+    public NettyServiceControllerException(String s) {
+        super(s);
+    }
+}

src/main/java/com/zgx/iot/netty/handler/ConnectHandler.java

@@ -0,0 +1,57 @@
+package com.zgx.iot.netty.handler;
+
+import com.zgx.iot.netty.constant.AttributeMapConstant;
+import com.zgx.iot.netty.socket.base.NettyBaseClientImpl;
+import com.zgx.iot.netty.socket.base.NettyBaseServiceImpl;
+import com.zgx.iot.netty.socket.base.NettyBaseSocket;
+import io.netty.channel.ChannelHandlerContext;
+import io.netty.channel.ChannelInboundHandlerAdapter;
+import io.netty.util.NetUtil;
+import org.apache.logging.log4j.LogManager;
+import org.apache.logging.log4j.Logger;
+
+import java.net.InetSocketAddress;
+
+/**
+ * @author AaGMixW
+ */
+public class ConnectHandler extends ChannelInboundHandlerAdapter {
+    private static final Logger logger = LogManager.getLogger(ConnectHandler.class);
+
+
+    @Override
+    public void channelActive(ChannelHandlerContext ctx) throws Exception {
+        NettyBaseSocket socket = ctx.channel().attr(AttributeMapConstant.NETTY_CHANNEL_SOCKET_KEY).get();
+        InetSocketAddress address = new InetSocketAddress(0);
+        String msg = "";
+        if (socket instanceof NettyBaseClientImpl) {
+            address = (InetSocketAddress) ctx.channel().remoteAddress();
+            msg = "建立连接";
+        } else if (socket instanceof NettyBaseServiceImpl) {
+            address = (InetSocketAddress) ctx.channel().localAddress();
+            msg = "监听端口";
+        }
+        String name = socket.getDeviceInfo().getDeviceName() + "(" + NetUtil.toSocketAddressString(address) + ")";
+        logger.info("{} {}", name, msg);
+        super.channelActive(ctx);
+    }
+
+    @Override
+    public void channelInactive(ChannelHandlerContext ctx) {
+        NettyBaseSocket socket = ctx.channel().attr(AttributeMapConstant.NETTY_CHANNEL_SOCKET_KEY).get();
+        InetSocketAddress address = new InetSocketAddress(0);
+        String msg = "";
+        if (socket instanceof NettyBaseClientImpl) {
+            // client
+            address = (InetSocketAddress) ctx.channel().remoteAddress();
+            msg = "断开连接";
+        } else if (socket instanceof NettyBaseServiceImpl) {
+            // service
+            address = (InetSocketAddress) ctx.channel().localAddress();
+            msg = "停止监听";
+        }
+        String name = socket.getDeviceInfo().getDeviceName() + "(" + NetUtil.toSocketAddressString(address) + ")";
+        logger.info("{} {}", name, msg);
+    }
+
+}

src/main/java/com/zgx/iot/netty/handler/ExceptionHandler.java

@@ -0,0 +1,168 @@
+package com.zgx.iot.netty.handler;
+
+import com.zgx.iot.netty.config.AppServiceConfig;
+import com.zgx.iot.netty.constant.AttributeMapConstant;
+import com.zgx.iot.netty.socket.base.NettyBaseClientImpl;
+import com.zgx.iot.netty.socket.base.NettyBaseServiceImpl;
+import com.zgx.iot.netty.socket.base.NettyBaseSocket;
+import com.zgx.iot.utils.NettyConfigUtil;
+import io.netty.channel.*;
+import io.netty.channel.ChannelHandler.Sharable;
+import io.netty.util.NetUtil;
+import org.apache.logging.log4j.LogManager;
+import org.apache.logging.log4j.Logger;
+
+import java.io.IOException;
+import java.net.InetSocketAddress;
+import java.net.PortUnreachableException;
+import java.net.SocketAddress;
+import java.nio.channels.ClosedChannelException;
+import java.util.concurrent.TimeUnit;
+
+/**
+ * @author AaGMixW
+ */
+@Sharable
+public class ExceptionHandler extends ChannelDuplexHandler {
+
+    private static final Logger logger = LogManager.getLogger(ExceptionHandler.class);
+
+    private final AppServiceConfig appServiceConfig = NettyConfigUtil.getAppServiceConfig();
+
+    @Override
+    public void exceptionCaught(ChannelHandlerContext ctx, Throwable cause) {
+        // Uncaught exceptions from inbound handlers will propagate up to this handler
+        InetSocketAddress address = (InetSocketAddress) ctx.channel().remoteAddress();
+        String addressStr = NetUtil.toSocketAddressString(address);
+        try {
+            if (cause instanceof IOException) {
+                if (cause instanceof PortUnreachableException) {
+                    logger.error("无法发送到指定端口 {} => {}", addressStr,
+                            cause.getMessage() != null ? cause.getMessage() : cause.getClass().getSimpleName());
+                    logger.error("关闭该连接");
+                    ctx.channel().close().sync();
+                } else {
+                    logger.error("连接 {} 异常=> {}", addressStr,
+                            cause.getMessage() != null ? cause.getMessage() : cause.getClass().getSimpleName());
+                }
+            }
+        } catch (InterruptedException e) {
+            throw new RuntimeException(e);
+        }
+    }
+
+    /**
+     * client
+     *
+     * @param ctx           the {@link ChannelHandlerContext} for which the connect operation is made
+     * @param remoteAddress the {@link SocketAddress} to which it should connect
+     * @param localAddress  the {@link SocketAddress} which is used as source on connect
+     * @param promise       the {@link ChannelPromise} to notify once the operation completes
+     */
+    @Override
+    public void connect(ChannelHandlerContext ctx, SocketAddress remoteAddress, SocketAddress localAddress, ChannelPromise promise) {
+        NettyBaseSocket socket = ctx.channel().attr(AttributeMapConstant.NETTY_CHANNEL_SOCKET_KEY).get();
+        ctx.connect(remoteAddress, localAddress, promise.addListener((ChannelFutureListener) future -> {
+            if (!future.isSuccess()) {
+                // Handle connect exception here...
+                Throwable failureCause = future.cause();
+                InetSocketAddress address = (InetSocketAddress) remoteAddress;
+                String addressStr = NetUtil.toSocketAddressString(address);
+                String name = socket.getDeviceInfo().getDeviceName() + "(" + addressStr + ")";
+                if (failureCause instanceof ClosedChannelException) {
+                    logger.info("{} 连接已关闭", name);
+                    return;
+                }
+                logger.error("{} 建立连接异常: {}", name, failureCause.getMessage());
+                // reconnect
+                doConnect(ctx, address);
+            }
+        }));
+    }
+
+    /**
+     * service
+     *
+     * @param ctx          the {@link ChannelHandlerContext} for which the bind operation is made
+     * @param localAddress the {@link SocketAddress} to which it should bound
+     * @param promise      the {@link ChannelPromise} to notify once the operation completes
+     * @throws Exception 异常
+     */
+    @Override
+    public void bind(ChannelHandlerContext ctx, SocketAddress localAddress, ChannelPromise promise) throws Exception {
+        NettyBaseSocket socket = ctx.channel().attr(AttributeMapConstant.NETTY_CHANNEL_SOCKET_KEY).get();
+        ctx.bind(localAddress, promise.addListener((ChannelFutureListener) future -> {
+            if (!future.isSuccess()) {
+                // Handle connect exception here...
+                Throwable failureCause = future.cause();
+                InetSocketAddress address = (InetSocketAddress) localAddress;
+                String addressStr = NetUtil.toSocketAddressString(address);
+                String name = socket.getDeviceInfo().getDeviceName() + "(" + addressStr + ")";
+                logger.error("{} 监听端口异常: {}", name, failureCause.getMessage());
+                // reconnect
+                doConnect(ctx, address);
+            }
+        }));
+    }
+
+    @Override
+    public void write(ChannelHandlerContext ctx, Object msg, ChannelPromise promise) {
+        ctx.write(msg, promise.addListener((ChannelFutureListener) future -> {
+            if (!future.isSuccess()) {
+                // Handle write exception here...
+                Throwable failureCause = future.cause();
+                logger.info("write exception: {}", failureCause.getMessage());
+            }
+        }));
+    }
+
+    /**
+     * Calls {@link ChannelHandlerContext#fireChannelUnregistered()} to forward
+     * to the next {@link ChannelInboundHandler} in the {@link ChannelPipeline}.
+     * <p>
+     * Subclasses may override this method to change behavior.
+     *
+     * @param ctx ctx
+     */
+    @Override
+    public void channelUnregistered(ChannelHandlerContext ctx) throws Exception {
+        NettyBaseSocket socket = ctx.channel().attr(AttributeMapConstant.NETTY_CHANNEL_SOCKET_KEY).get();
+        //客户端使用过程中断线重连
+        if (socket instanceof NettyBaseClientImpl) {
+            InetSocketAddress address = (InetSocketAddress) ctx.channel().remoteAddress();
+            if (address != null) {
+                doConnect(ctx, address);
+            } else {
+                logger.error("重连时获取连接地址出错，取消连接");
+                ctx.channel().close().sync();
+            }
+        }
+        super.channelUnregistered(ctx);
+    }
+
+
+    /**
+     * 重试方法
+     *
+     * @param ctx     ctx
+     * @param address 连接地址
+     */
+    private void doConnect(ChannelHandlerContext ctx, InetSocketAddress address) {
+        NettyBaseSocket socket = ctx.channel().attr(AttributeMapConstant.NETTY_CHANNEL_SOCKET_KEY).get();
+        String addressStr = NetUtil.toSocketAddressString(address);
+        String name = socket.getDeviceInfo().getDeviceName() + "(" + addressStr + ")";
+        long nextRetryDelay = appServiceConfig.getRetryInterval();
+        String msg = "";
+        if (socket instanceof NettyBaseClientImpl) {
+            // client
+            msg = "连接";
+        } else if (socket instanceof NettyBaseServiceImpl) {
+            // service
+            msg = "监听";
+        }
+        logger.info("{} 正在尝试重新{}", name, msg);
+        ctx.channel().eventLoop().schedule(() -> socket.retry(address), nextRetryDelay, TimeUnit.MILLISECONDS);
+    }
+
+    // ... override more outbound methods to handle their exceptions as well
+}

src/main/java/com/zgx/iot/netty/handler/codec/MicrowaveDetectorMessageClientDecoder.java

@@ -0,0 +1,87 @@
+package com.zgx.iot.netty.handler.codec;
+
+
+import com.fasterxml.jackson.core.JsonProcessingException;
+import com.zgx.iot.netty.constant.AttributeMapConstant;
+import com.zgx.iot.netty.model.device.microwave.command.rep.MicrowaveDeviceRep;
+import com.zgx.iot.netty.model.device.microwave.command.rep.MicrowaveIORep;
+import com.zgx.iot.netty.model.device.microwave.command.rep.MicrowaveOpcRep;
+import com.zgx.iot.netty.model.device.microwave.command.rep.MicrowaveQueryRep;
+import com.zgx.iot.utils.JacksonUtil;
+import com.zgx.iot.utils.NettyDeviceUtil;
+import io.netty.buffer.ByteBuf;
+import io.netty.channel.ChannelHandlerContext;
+import io.netty.channel.socket.DatagramPacket;
+import io.netty.handler.codec.MessageToMessageDecoder;
+import io.netty.util.Attribute;
+import lombok.extern.slf4j.Slf4j;
+
+import java.net.InetSocketAddress;
+import java.nio.charset.Charset;
+import java.util.List;
+import java.util.regex.Matcher;
+import java.util.regex.Pattern;
+
+
+/**
+ * @author AaGMixW
+ */
+@Slf4j
+public class MicrowaveDetectorMessageClientDecoder extends MessageToMessageDecoder<DatagramPacket> {
+    private static final String LOCAL_HOST_ADDR = "127.0.0.1";
+
+    @Override
+    protected void decode(ChannelHandlerContext ctx, DatagramPacket packet, List<Object> list) {
+      ByteBuf byteBuf = packet.content();
+        int readableBytes = byteBuf.readableBytes();
+        if (readableBytes <= 0) {
+            return;
+        }
+        Attribute<InetSocketAddress> addrAttr = ctx.channel().attr(AttributeMapConstant.NETTY_SERVICE_REMOTE_ADDR_KEY);
+        InetSocketAddress address = packet.sender();
+        addrAttr.set(address);
+        String dataStr = byteBuf.toString(Charset.forName("GB18030"));
+        InetSocketAddress localAddress = (InetSocketAddress) ctx.channel().localAddress();
+        String deviceName = NettyDeviceUtil.getDeviceNameAndIp(ctx, localAddress, address);
+
+        log.debug("{} 字符数据: {}", deviceName, dataStr);
+/*        try {
+
+            // 判断数据类型
+            String regex = "^\\s*<(\\w+:)?(\\w+)";
+            Pattern pattern = Pattern.compile(regex);
+            Matcher matcher = pattern.matcher(dataStr);
+            if (matcher.find()) {
+                String root = matcher.group(2);
+                switch (root) {
+                    case "opcRep":
+                        // 防区及探测器操作维护响应
+                        MicrowaveOpcRep opcRep = JacksonUtil.xml2Obj(dataStr, MicrowaveOpcRep.class);
+                        list.add(opcRep);
+                        break;
+                    case "ioRep":
+                        // IO操作维护响应
+                        MicrowaveIORep ioRep = JacksonUtil.xml2Obj(dataStr, MicrowaveIORep.class);
+                        list.add(ioRep);
+                        break;
+                    case "deviceRep":
+                        // 设备操作维护响应
+                        MicrowaveDeviceRep deviceRep = JacksonUtil.xml2Obj(dataStr, MicrowaveDeviceRep.class);
+                        list.add(deviceRep);
+                        break;
+                    case "queryRep":
+                        // 查询响应
+                        MicrowaveQueryRep queryRep = JacksonUtil.xml2Obj(dataStr, MicrowaveQueryRep.class);
+                        list.add(queryRep);
+                        break;
+                    default:
+                        log.error("{} 服务， 数据 => {}; 未匹配到数据类型, 丢弃数据", deviceName, dataStr);
+                }
+            } else {
+                log.error("{} 服务， 数据 => {}; 未匹配到数据类型, 丢弃数据", deviceName, dataStr);
+            }
+        } catch (JsonProcessingException e) {
+            log.error("{} 服务， 数据 => {}; 转换失败: {}, 丢弃数据", deviceName, dataStr, e.getMessage());
+        }*/
+    }
+}

src/main/java/com/zgx/iot/netty/handler/codec/MicrowaveDetectorMessageServiceDecoder.java

@@ -0,0 +1,81 @@
+package com.zgx.iot.netty.handler.codec;
+
+
+import com.fasterxml.jackson.core.JsonProcessingException;
+
+import com.zgx.iot.netty.constant.AttributeMapConstant;
+import com.zgx.iot.netty.model.device.microwave.MicrowaveDetectorAlarm;
+import com.zgx.iot.netty.model.device.microwave.MicrowaveDetectorFault;
+import com.zgx.iot.netty.model.device.microwave.MicrowaveDetectorHeartbeat;
+import com.zgx.iot.utils.JacksonUtil;
+import com.zgx.iot.utils.NettyDeviceUtil;
+import io.netty.buffer.ByteBuf;
+import io.netty.channel.ChannelHandlerContext;
+import io.netty.channel.socket.DatagramPacket;
+import io.netty.handler.codec.MessageToMessageDecoder;
+import io.netty.util.Attribute;
+import lombok.extern.slf4j.Slf4j;
+
+import java.net.InetSocketAddress;
+import java.nio.charset.Charset;
+import java.util.List;
+import java.util.regex.Matcher;
+import java.util.regex.Pattern;
+
+
+/**
+ * @author AaGMixW
+ */
+@Slf4j
+public class MicrowaveDetectorMessageServiceDecoder extends MessageToMessageDecoder<DatagramPacket> {
+    private static final String LOCAL_HOST_ADDR = "127.0.0.1";
+
+    @Override
+    protected void decode(ChannelHandlerContext ctx, DatagramPacket packet, List<Object> list) {
+/*        ByteBuf byteBuf = packet.content();
+        int readableBytes = byteBuf.readableBytes();
+        if (readableBytes <= 0) {
+            return;
+        }
+        Attribute<InetSocketAddress> addrAttr = ctx.channel().attr(AttributeMapConstant.NETTY_SERVICE_REMOTE_ADDR_KEY);
+        InetSocketAddress address = packet.sender();
+        addrAttr.set(address);
+        String dataStr = byteBuf.toString(Charset.forName("GB18030"));
+        InetSocketAddress localAddress = (InetSocketAddress) ctx.channel().localAddress();
+        String deviceName = NettyDeviceUtil.getDeviceNameAndIp(ctx, localAddress, address);
+
+        log.debug("{} 字符数据: {}", deviceName, dataStr);
+        try {
+            // 判断数据类型
+            String regex = "^\\s*<(\\w+:)?(\\w+)";
+            Pattern pattern = Pattern.compile(regex);
+            Matcher matcher = pattern.matcher(dataStr);
+            if (matcher.find()) {
+                String root = matcher.group(2);
+                switch (root) {
+                    case "heartbeat":
+                        // 心跳数据
+                        MicrowaveDetectorHeartbeat heartbeat = JacksonUtil.xml2Obj(dataStr, MicrowaveDetectorHeartbeat.class);
+                        list.add(heartbeat);
+                        break;
+                    case "fault":
+                        // 故障数据
+                        MicrowaveDetectorFault fault = JacksonUtil.xml2Obj(dataStr, MicrowaveDetectorFault.class);
+                        list.add(fault);
+                        break;
+                    case "alarm":
+                        // 报警数据
+                        MicrowaveDetectorAlarm alarm = JacksonUtil.xml2Obj(dataStr, MicrowaveDetectorAlarm.class);
+                        list.add(alarm);
+                        break;
+                    default:
+                        log.error("{} 服务， 数据 => {}; 未匹配到数据类型, 丢弃数据", deviceName, dataStr);
+                }
+            } else {
+                log.error("{} 服务， 数据 => {}; 未匹配到数据类型, 丢弃数据", deviceName, dataStr);
+            }
+        } catch (JsonProcessingException e) {
+            log.error("{} 服务， 数据 => {}; 转换失败: {}, 丢弃数据", deviceName, dataStr, e.getMessage());
+        }*/
+    }
+}

src/main/java/com/zgx/iot/netty/handler/codec/RadarDetectorMessageServiceDecoder.java

@@ -0,0 +1,105 @@
+package com.zgx.iot.netty.handler.codec;
+
+
+import com.zgx.iot.dto.radar.RadarRESPackageModel;
+import com.zgx.iot.netty.NettyServiceManage;
+import com.zgx.iot.radar.RadarAcceptSocket;
+import com.zgx.iot.utils.radarUtils.ByteIntUtil;
+import io.netty.buffer.ByteBuf;
+import io.netty.channel.Channel;
+import io.netty.channel.ChannelHandlerContext;
+import io.netty.channel.ChannelInboundHandler;
+import io.netty.channel.socket.SocketChannel;
+import io.netty.handler.codec.ByteToMessageDecoder;
+
+import io.netty.handler.codec.FixedLengthFrameDecoder;
+import io.netty.handler.codec.LengthFieldBasedFrameDecoder;
+import io.netty.handler.codec.ReplayingDecoder;
+import org.apache.commons.logging.Log;
+import org.apache.logging.log4j.LogManager;
+import org.apache.logging.log4j.Logger;
+
+import java.io.DataInputStream;
+import java.io.InputStream;
+import java.util.Arrays;
+import java.util.List;
+
+
+public class RadarDetectorMessageServiceDecoder extends ByteToMessageDecoder {
+    private static final Logger log = LogManager.getLogger(RadarDetectorMessageServiceDecoder.class);
+    private int radar_data_package_head_len=16;
+    public static final int PACKAGE_MAX_LENGTH = 4096;
+    private volatile boolean flag = true;
+    private volatile byte[] data;
+    private int len;
+    private byte[] byte_buffer;
+
+    @Override
+    protected void decode(ChannelHandlerContext ctx, ByteBuf byteBuf,List<Object> list) throws Exception {
+        int size = byteBuf.readableBytes();
+        while (flag) {
+            if (byteBuf.readableBytes()<size){
+                byteBuf.resetReaderIndex();
+                return;
+            }
+            System.out.println(size);
+            byte[] data = new byte[size];
+            byteBuf.readBytes(data);
+            this.len = data.length;
+            this.data = new byte[this.len];
+            System.arraycopy(data, 0, this.data, 0, this.len);
+            RadarRESPackageModel radarRESPackageModel = this.dealProcess(this.data);
+            log.info("处理好的数据:"+radarRESPackageModel);
+            if (radarRESPackageModel!=null){
+                list.add(radarRESPackageModel);
+                log.info("list添加了");
+            }
+            byteBuf.skipBytes(byteBuf.readableBytes());
+            byteBuf.markReaderIndex();
+            this.data = null;
+        }
+    }
+    private RadarRESPackageModel dealProcess(final byte[] bytes) {
+        log.info(Arrays.toString(bytes));
+        if (this.byte_buffer == null) {
+            this.byte_buffer = bytes;
+        } else if (this.byte_buffer.length > 1024000) {
+            this.byte_buffer = bytes;
+        } else {
+            this.byte_buffer = ByteIntUtil.byteMerger(this.byte_buffer, bytes);
+        }
+        final int byte_buffer_len = this.byte_buffer.length;
+        if (byte_buffer_len < this.radar_data_package_head_len) {
+            // 数据包头不完整，没有达到16字节长度
+            log.debug("\u6570\u636e\u5305\u5934\u4e0d\u5b8c\u6574\uff0c\u6ca1\u6709\u8fbe\u523016\u5b57\u8282\u957f\u5ea6");
+            return null;
+        }
+        final RadarRESPackageModel radarPackage = new RadarRESPackageModel(this.byte_buffer);
+        final int mark = radarPackage.getMark();
+        final int dataType = radarPackage.getDataType();
+        final int dataLength = radarPackage.getDataLength();
+        final int dataNum = radarPackage.getDataNum();
+        // 包头标识
+        log.info("\u5305\u5934\u6807\u8bc6\uff1a " + mark);
+        // 数据类型
+        log.info("\u6570\u636e\u7c7b\u578b\uff1a " + dataType);
+        // 整包数据的长度
+        log.info("\u6574\u5305\u6570\u636e\u7684\u957f\u5ea6\uff1a " + dataLength);
+        // 数据数量
+        log.info("\u6570\u636e\u6570\u91cf\uff1a " + dataNum);
+        if (!radarPackage.isIntegrated()) {
+            // 数据包没有发送完整，等待继续接收
+            log.info("\u6570\u636e\u5305\u6ca1\u6709\u53d1\u9001\u5b8c\u6574\uff0c\u7b49\u5f85\u7ee7\u7eed\u63a5\u6536\r\n");
+            return null;
+        }
+        final byte[] radardata = radarPackage.getData();
+        //this.handleRadarData(mark, dataType, dataLength, dataNum, radardata);
+        final byte[] remainbytes = radarPackage.getRemain();
+        if (remainbytes != null) {
+            this.byte_buffer = remainbytes;
+        } else {
+            this.byte_buffer = null;
+        }
+        return radarPackage;
+    }
+}