From 8341bb74d1bde19eecaee61406b9f0f66e22faa5 Mon Sep 17 00:00:00 2001 From: GG Date: Tue, 4 Jun 2024 15:22:39 +0800 Subject: [PATCH] v1 --- .../com/zgx/iot/MilitaryZMQApplication.java | 33 +- .../zgx/iot/mq/mqtt/handle/RadarHandler.java | 412 ++---------------- 2 files changed, 41 insertions(+), 404 deletions(-) diff --git a/src/main/java/com/zgx/iot/MilitaryZMQApplication.java b/src/main/java/com/zgx/iot/MilitaryZMQApplication.java index 3dcc7be..c262102 100644 --- a/src/main/java/com/zgx/iot/MilitaryZMQApplication.java +++ b/src/main/java/com/zgx/iot/MilitaryZMQApplication.java @@ -116,7 +116,7 @@ public class MilitaryZMQApplication implements ApplicationRunner { 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 +/* //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()); @@ -125,31 +125,7 @@ public class MilitaryZMQApplication implements ApplicationRunner { 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 @@ -544,7 +520,6 @@ public class MilitaryZMQApplication implements ApplicationRunner { //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()); @@ -560,8 +535,8 @@ public class MilitaryZMQApplication implements ApplicationRunner { 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 + // 该轨迹处于跟踪状态 + if (trackingId != null && trackingId.equals(String.valueOf(radarTrackModel.getTrackId()))) { //log.info("当前轨迹处于跟踪列表中" + cameraIp); List cameraSettings = null; diff --git a/src/main/java/com/zgx/iot/mq/mqtt/handle/RadarHandler.java b/src/main/java/com/zgx/iot/mq/mqtt/handle/RadarHandler.java index 3170b71..c2b33cc 100644 --- a/src/main/java/com/zgx/iot/mq/mqtt/handle/RadarHandler.java +++ b/src/main/java/com/zgx/iot/mq/mqtt/handle/RadarHandler.java @@ -69,7 +69,6 @@ public class RadarHandler { 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; @@ -78,361 +77,6 @@ public class RadarHandler { 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 photoelectricLambdaQueryWrapper = new LambdaQueryWrapper<>(); - photoelectricLambdaQueryWrapper.eq(DtDeviceInfo::getDeviceType, DeviceType.PHOTOELECTRIC.getValue()) //光电类型 - .eq(DtDeviceInfo::getDeviceStatus, 1);//1-启用状态 - List 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 cameraSettingLambdaQueryWrapper = new LambdaQueryWrapper<>(); - cameraSettingLambdaQueryWrapper.eq(MsCameraSetting::getType, 1)//1-球机类型 - .eq(MsCameraSetting::getStatus, 0);//0-启用状态 - List 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 photoelectricLambdaQueryWrapper = new LambdaQueryWrapper<>(); - photoelectricLambdaQueryWrapper.eq(MsCameraSetting::getType, 3) //3-光电类型 - .eq(MsCameraSetting::getStatus, 1);//1-启用状态 - List 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 cameraSettingLambdaQueryWrapper = new LambdaQueryWrapper<>(); - cameraSettingLambdaQueryWrapper.eq(MsCameraSetting::getType, 1)//1-球机类型 - .eq(MsCameraSetting::getStatus, 1);//1-启用状态 - List 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 @@ -445,7 +89,6 @@ public class RadarHandler { 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()); @@ -455,7 +98,7 @@ public class RadarHandler { MsCameraSetting cameraInfo = null; LambdaQueryWrapper photoelectricLambdaQueryWrapper = new LambdaQueryWrapper<>(); photoelectricLambdaQueryWrapper.eq(MsCameraSetting::getType, CameraType.GUANGDIAN.getValue()); //3-光电类型 - // .eq(MsCameraSetting::getStatus, 0);//0-启用状态 + // .eq(MsCameraSetting::getStatus, 0);//0-启用状态 List photoelectricDevices = msCameraSettingService.list(photoelectricLambdaQueryWrapper);//查出所有光电 if (CollectionUtils.isEmpty(photoelectricDevices)) { log.info("查询不到光电设备"); @@ -635,19 +278,20 @@ public class RadarHandler { //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); + 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){ + 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 @@ -669,11 +313,12 @@ public class RadarHandler { /** * 相机转动到指定位置 + * * @param targetLon * @param targetLat * @param ip */ - public void cameraToTarget2(Float targetLon,Float targetLat,String ip){ + public void cameraToTarget2(Float targetLon, Float targetLat, String ip) { LambdaQueryWrapper queryWrapper = new LambdaQueryWrapper().eq(MsCameraSetting::getIp, ip); MsCameraSetting msCameraSetting = msCameraSettingService.getOne(queryWrapper); BigDecimal cameraHeight = msCameraSetting.getHeight();//球机高度 @@ -698,10 +343,11 @@ public class RadarHandler { /** * 生成rtsp + * * @param ip * @param user * @param password - * @param factory 品牌产商 + * @param factory 品牌产商 * @return */ private static String getRtspUrl(String ip, String user, String password, Integer factory) { @@ -729,8 +375,8 @@ public class RadarHandler { /** * 定时清除多次未更新的轨迹数据 任务 */ - @Scheduled(cron="0 0/1 * * * ?") - public void scheduledCleanTask(){ + @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); @@ -739,14 +385,14 @@ public class RadarHandler { List 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); + jsonObject.put("removeIds", removeIdList); + MilitaryMqttApplication.pubMessage(jsonObject.toJSONString(), removeTrackIdsTopic); //删除过期的轨迹Id - redisUtil.zRemoveRangeByScore("updatedIds",0,now); + redisUtil.zRemoveRangeByScore("updatedIds", 0, now); } - public MsCameraSetting getNearestCamera(List cameraSettings,Double targetLon,Double targetLat) { + public MsCameraSetting getNearestCamera(List 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 @@ -775,13 +421,13 @@ public class RadarHandler { //用于本地测试 模拟光电 - public void test(){ + public void test() { MsCameraSettingServiceImpl mscameraSettingService = new MsCameraSettingServiceImpl(); mscameraSettingService.ptzControl( "192.168.1.71", "admin", "hk123456", - new PTZVo(0.5,-0.5,0.5) + new PTZVo(0.5, -0.5, 0.5) ); } @@ -794,8 +440,8 @@ public class RadarHandler { /* double targetLon=113.45166600000000; double targetLat=22.12888800000000; */ - double targetLon=113.43722200000000; - double targetLat=22.15888800000000; + double targetLon = 113.43722200000000; + double targetLat = 22.15888800000000; for (MsCameraSetting msCameraSetting : msCameraSettingList) { try { msCameraSettingService.ptzControllerByLatLon(msCameraSetting.getIp(), @@ -810,12 +456,28 @@ public class RadarHandler { 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()); + } catch (Exception e) { + System.out.println("异常相机:" + msCameraSetting.getIp()); log.info("异常相机"); log.info(msCameraSetting.getIp()); } } } + + public void ivpTrackingCtrl(Float x, Float y, Float w, Float h, String ip) throws UnsupportedEncodingException { + //根据IP获取对应光电线程 + TcpClient tcpClient = ThreadManager.getTcpClientMap().get(ip); + JSONObject trackingRect = new JSONObject(); + trackingRect.put("x",x); + trackingRect.put("y",y); + trackingRect.put("w",w); + trackingRect.put("h",h); + tcpClient.send( + HPDataParser.send( + HPReqParamEnc.ivpTrackingCtrl(String.valueOf(redisUtil.get(tcpClient.getIp())), 0, true, trackingRect) + ) + ); + + } }