package safeluck.drive.evaluation.fragment;
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import android.content.Context;
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import android.graphics.Bitmap;
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import android.graphics.Canvas;
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import android.graphics.Color;
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import android.graphics.Paint;
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import android.graphics.Path;
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import android.os.Bundle;
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import android.os.Handler;
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import android.text.LoginFilter;
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import android.text.TextUtils;
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import android.util.Log;
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import android.view.LayoutInflater;
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import android.view.SurfaceHolder;
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import android.view.SurfaceView;
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import android.view.View;
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import android.view.ViewGroup;
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import android.widget.LinearLayout;
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import androidx.annotation.NonNull;
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import androidx.annotation.Nullable;
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import androidx.appcompat.widget.Toolbar;
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import com.anyun.exam.lib.AYSdk;
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import com.anyun.exam.lib.MyLog;
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import com.google.gson.Gson;
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import com.google.gson.reflect.TypeToken;
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import org.json.JSONException;
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import org.json.JSONObject;
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import java.lang.reflect.Type;
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import java.math.BigDecimal;
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import java.text.DecimalFormat;
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import java.util.ArrayList;
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import java.util.List;
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import java.util.concurrent.ExecutorService;
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import java.util.concurrent.Executors;
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import java.util.concurrent.LinkedBlockingQueue;
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import me.yokeyword.fragmentation.SupportFragment;
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import safeluck.drive.evaluation.Constant;
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import safeluck.drive.evaluation.R;
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import safeluck.drive.evaluation.bean.ExamMap;
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import safeluck.drive.evaluation.bean.ExamPlatformData;
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import safeluck.drive.evaluation.bean.RealTimeCarPos;
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import safeluck.drive.evaluation.cEventCenter.CEventCenter;
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import safeluck.drive.evaluation.cEventCenter.ICEventListener;
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import safeluck.drive.evaluation.util.CThreadPoolExecutor;
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import safeluck.drive.evaluation.util.FileUtil;
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/**
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* MyApplication2
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* Created by lzw on 2019/9/26. 15:20:58
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* 邮箱：632393724@qq.com
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* All Rights Saved! Chongqing AnYun Tech co. LTD
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*/
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public class MapFragment extends SupportFragment {
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private boolean isDrawing = false;
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private ICEventListener rtcmicEventListener = new ICEventListener() {
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@Override
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public void onCEvent(String topic, int msgCode, int resultCode, final Object obj) {
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if (msgCode == Constant.DEBUG_RTCM){
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CThreadPoolExecutor.runOnMainThread(new Runnable() {
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@Override
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public void run() {
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Log.i(TAG, "title="+(String)obj);
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toolbar.setTitle((String)obj);
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}
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});
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}
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}
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};
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private ICEventListener debugTxticEventListener = new ICEventListener() {
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@Override
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public void onCEvent(String topic, int msgCode, int resultCode, final Object obj) {
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if (msgCode == Constant.DEBUG_TXT){
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CThreadPoolExecutor.runOnMainThread(new Runnable() {
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@Override
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public void run() {
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Log.i(TAG, "subtitle="+(String)obj);
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toolbar.setSubtitle((String)obj);
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}
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});
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}
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}
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};
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private ICEventListener speedListener = new ICEventListener() {
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@Override
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public void onCEvent(String topic, int msgCode, int resultCode, Object obj) {
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if (msgCode == Constant.RTK_INFO){
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gpsSpeed = (double)obj;
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}
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}
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};
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public static SupportFragment newInstance() {
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return new MapFragment();
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}
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private SurfaceView mSurfaceView;
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private static final String TAG = "MapFragment";
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private SurfaceHolder holder;
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Path path = new Path();
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private Canvas canvas;
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private int x = -1;
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private int y = -1;
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private Toolbar toolbar;
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private Bitmap bmp = null;
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private Canvas canvas2 = null;
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private Paint paint = null;
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private int screen_width = 0, screen_height = 0;
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private String osdHeading = null;
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private String osdMoveDirect = null;
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private String osdRtkSpeed = null;
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private String osdQf = null;
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private int map_id;
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private double gpsSpeed = 0;
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double allMap[][][];
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double map[][] = {{-2.4065, 30.7090}, {-3.0759, 30.3599}, { -2.6023, 29.2578}, {-3.3316,28.9383},{-3.8247,30.0293},
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{-3.4503,30.1946}, {-2.9669,29.0981}, { -3.6962, 28.7786}, {-4.1991, 29.8640}};
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double map_other[][] = {{-2.4065, 30.7090}, {-3.0759, 30.3599}, { -2.6023, 29.2578}, {-3.3316,28.9383},{-3.8247,30.0293},
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{-3.4503,30.1946}, {-2.9669,29.0981}};
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// double map[][] ;
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double car[][] = {{8.278, 1.467}, {7.2780000000000009, 1.467}, {7.2780000000000009, -1.533}, {8.278, -1.533}
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, {9.278, -1.5330000000000004}, {9.277999999999999, 1.467000000000001}};
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Gson gson;
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private LinearLayout linearLayout;//surfaceview的父容器，为了移动surfaceview而使用，因为scrollto不能移动view，
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private LinkedBlockingQueue queue = new LinkedBlockingQueue(100);
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private ExecutorService producer = Executors.newSingleThreadExecutor();
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private ExecutorService consumer = Executors.newSingleThreadExecutor();
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@Nullable
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@Override
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public View onCreateView(@NonNull LayoutInflater inflater, @Nullable ViewGroup container, @Nullable Bundle savedInstanceState) {
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View view = inflater.inflate(R.layout.layout_mapfragment, container, false);
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gson = new Gson();
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initView(view);
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consumer.execute(new CalRunnable());
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return view;
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}
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private int avaliableHeight,avalibleWidth;
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private void initView(View view) {
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toolbar = view.findViewById(R.id.toolbar);
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toolbar.setTitle("简单地图");
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toolbar.setNavigationIcon(R.drawable.ic_arrow_back_white_24dp);
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toolbar.setNavigationOnClickListener(new View.OnClickListener() {
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@Override
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public void onClick(View v) {
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_mActivity.onBackPressed();
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}
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});
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avaliableHeight= getResources().getDisplayMetrics().heightPixels;
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avalibleWidth = getResources().getDisplayMetrics().widthPixels;
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Log.i(TAG, "initView: aliwidht="+avalibleWidth+" height="+avaliableHeight);
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mSurfaceView = view.findViewById(R.id.surfaceview);
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holder = mSurfaceView.getHolder();
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holder.addCallback(new SurfaceHolder.Callback() {
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@Override
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public void surfaceCreated(SurfaceHolder surfaceHolder) {
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Canvas canvas = surfaceHolder.lockCanvas();
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if (canvas != null) {
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Log.d(TAG, "W = " + canvas.getWidth() + " H = " + canvas.getHeight());
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screen_width = canvas.getWidth();
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screen_height = canvas.getHeight();
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surfaceHolder.unlockCanvasAndPost(canvas);
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bmp = Bitmap.createBitmap(screen_width, screen_height, Bitmap.Config.ARGB_8888);
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canvas2 = new Canvas(bmp);
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canvas2.drawColor(Color.WHITE);
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paint = new Paint();
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paint.setTextSize(30);
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paint.setColor(Color.BLACK);
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paint.setStrokeWidth(1.5f);
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paint.setAntiAlias(true);
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paint.setStyle(Paint.Style.STROKE);
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holder.lockCanvas();
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canvas.drawBitmap(bmp, 0, 0, paint);
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holder.unlockCanvasAndPost(canvas);
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}
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}
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@Override
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public void surfaceChanged(SurfaceHolder surfaceHolder, int i, int i1, int i2) {
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}
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@Override
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public void surfaceDestroyed(SurfaceHolder surfaceHolder) {
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}
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});
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}
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public void DrawMap(List<Double> mainAnt, final double[][] map, final double[][] car,
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List<Integer>body, List<Integer> tire) {
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if (canvas2 == null || bmp == null) {
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return;
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}
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// _mActivity.runOnUiThread(new Runnable() {
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// @Override
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// public void run() {
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double base_x = 300, base_y = 20;
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double max_x = 0, min_x = 0, max_y = 0, min_y = 0;
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Log.d(TAG, "DrawMap map size " + map.length + " car size " + car.length);
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for (int i = 0; i < map.length; i++) {
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if (i == 0) {
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max_x = map[0][0];
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min_x = map[0][0];
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max_y = map[0][1];
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min_y = map[0][1];
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} else {
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if (max_x < map[i][0]) {
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max_x = map[i][0];
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}
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if (min_x > map[i][0]) {
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min_x = map[i][0];
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}
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if (max_y < map[i][1]) {
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max_y = map[i][1];
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}
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if (min_y > map[i][1]) {
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min_y = map[i][1];
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}
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}
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}
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if (map_other.length>9){
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for (int i = 0; i < map_other.length; i++) {
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if (max_x < map_other[i][0]) {
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max_x = map_other[i][0];
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}
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if (min_x > map_other[i][0]) {
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min_x = map_other[i][0];
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}
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if (max_y < map_other[i][1]) {
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max_y = map_other[i][1];
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}
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if (min_y > map_other[i][1]) {
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min_y = map_other[i][1];
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}
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}
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}
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Log.d(TAG, "DrawMap max_x " + max_x + " max_y " + max_y + " min_x " + min_x + " min_y " + min_y);
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for (int i = 0; i < car.length; i++) {
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if (max_x < car[i][0]) {
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max_x = car[i][0];
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}
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if (min_x > car[i][0]) {
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min_x = car[i][0];
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}
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if (max_y < car[i][1]) {
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max_y = car[i][1];
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}
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if (min_y > car[i][1]) {
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min_y = car[i][1];
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}
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}
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Log.d(TAG, "DrawMap max_x " + max_x + " max_y " + max_y + " min_x " + min_x + " min_y " + min_y);
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long scale_x = Math.round((screen_width - base_x - 10) / (max_x - min_x));
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long scale_y = Math.round((screen_height - base_y - 10) / (max_y - min_y));
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if (scale_x >= scale_y) {
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scale_x = scale_y;
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} else {
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scale_y = scale_x;
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}
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Log.d(TAG, "DrawMap scale_x " + scale_x + " scale_y " + scale_y);
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canvas2.drawColor(Color.WHITE);
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if (paint == null || canvas2==null){
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return;
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}
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paint.setStyle(Paint.Style.FILL_AND_STROKE);
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paint.setColor(Color.BLUE);
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canvas2.drawCircle((float) (base_x + (mainAnt.get(0) - min_x) * scale_x), (float) (base_y + (0 - mainAnt.get(1) - min_y) * scale_y), 2, paint);
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paint.setColor(Color.RED);
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canvas2.drawCircle((float) (base_x + (car[tire.get(0)][0] - min_x) * scale_x), (float) (base_y + (car[tire.get(0)][1] - min_y) * scale_y), 2.5f, paint);
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canvas2.drawCircle((float) (base_x + (car[tire.get(1)][0] - min_x) * scale_x), (float) (base_y + (car[tire.get(1)][1] - min_y) * scale_y), 2.5f, paint);
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canvas2.drawCircle((float) (base_x + (car[tire.get(2)][0] - min_x) * scale_x), (float) (base_y + (car[tire.get(2)][1] - min_y) * scale_y), 2.5f, paint);
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canvas2.drawCircle((float) (base_x + (car[tire.get(3)][0] - min_x) * scale_x), (float) (base_y + (car[tire.get(3)][1] - min_y) * scale_y), 2.5f, paint);
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paint.setStyle(Paint.Style.STROKE);
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paint.setColor(Color.BLACK);
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Path path = new Path();
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Log.i(TAG, "DrawMap: map.length:"+map.length);
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if (map.length < 9) {
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Log.d(TAG, "DrawMap X = " + String.format("%f", (float) (base_x + (map[0][0] - min_x) * scale_x)) + " Y = " + String.format("%f", (float) (base_y + (map[0][1] - min_y) * scale_y)));
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path.moveTo((float) (base_x + (map[0][0] - min_x) * scale_x), (float) (base_y + (map[0][1] - min_y) * scale_y));
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for (int i = 1; i < map.length; i++) {
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Log.d(TAG, "DrawMap to X = " + (float) (base_x + (map[i][0] - min_x) * scale_x) + " Y = " + (float) (base_y + (map[i][1] - min_y) * scale_y));
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path.lineTo((float) (base_x + (map[i][0] - min_x) * scale_x), (float) (base_y + (map[i][1] - min_y) * scale_y));
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}
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path.close();
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} else if (map.length == 9) {
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path.moveTo((float) (base_x + (map[0][0] - min_x) * scale_x), (float) (base_y + (map[0][1] - min_y) * scale_y));
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path.lineTo((float) (base_x + (map[8][0] - min_x) * scale_x), (float) (base_y + (map[8][1] - min_y) * scale_y));
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path.moveTo((float) (base_x + (map[2][0] - min_x) * scale_x), (float) (base_y + (map[2][1] - min_y) * scale_y));
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path.lineTo((float) (base_x + (map[1][0] - min_x) * scale_x), (float) (base_y + (map[1][1] - min_y) * scale_y));
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path.moveTo((float) (base_x + (map[3][0] - min_x) * scale_x), (float) (base_y + (map[3][1] - min_y) * scale_y));
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path.lineTo((float) (base_x + (map[4][0] - min_x) * scale_x), (float) (base_y + (map[4][1] - min_y) * scale_y));
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path.moveTo((float) (base_x + (map[6][0] - min_x) * scale_x), (float) (base_y + (map[6][1] - min_y) * scale_y));
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path.lineTo((float) (base_x + (map[5][0] - min_x) * scale_x), (float) (base_y + (map[5][1] - min_y) * scale_y));
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path.moveTo((float) (base_x + (map[7][0] - min_x) * scale_x), (float) (base_y + (map[7][1] - min_y) * scale_y));
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path.lineTo((float) (base_x + (map[8][0] - min_x) * scale_x), (float) (base_y + (map[8][1] - min_y) * scale_y));
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} else {
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path.moveTo((float) (base_x + (map[0][0] - min_x) * scale_x), (float) (base_y + (map[0][1] - min_y) * scale_y));
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for (int i = 1; i < map.length; i++) {
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path.lineTo((float) (base_x + (map[i][0] - min_x) * scale_x), (float) (base_y + (map[i][1] - min_y) * scale_y));
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}
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if (map_other.length>9){
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path.moveTo((float) (base_x + (map_other[0][0] - min_x) * scale_x), (float) (base_y + (map_other[0][1] - min_y) * scale_y));
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for (int i = 1; i < map.length; i++) {
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path.lineTo((float) (base_x + (map_other[i][0] - min_x) * scale_x), (float) (base_y + (map_other[i][1] - min_y) * scale_y));
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}
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}
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for (int i = 0, j = 0; i < map.length && j < map_other.length; i++, j++) {
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path.moveTo((float) (base_x + (map[i][0] - min_x) * scale_x), (float) (base_y + (map[i][1] - min_y) * scale_y));
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path.lineTo((float) (base_x + (map_other[j][0] - min_x) * scale_x), (float) (base_y + (map_other[j][1] - min_y) * scale_y));
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}
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}
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canvas2.drawPath(path, paint);
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path.moveTo((float) (base_x + (car[body.get(0)][0] - min_x) * scale_x), (float) (base_y + (car[body.get(0)][1] - min_y) * scale_y));
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for (int i = 1; i < body.size(); i++){
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Log.d(TAG, "for 循环 DrawMap to X = " + (float) (base_x + (car[body.get(i)][0] - min_x) * scale_x)+ " Y = " + (float) (base_y + (car[body.get(i)][1] - min_y) * scale_y));
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path.lineTo((float) (base_x + (car[body.get(i)][0] - min_x) * scale_x), (float) (base_y + (car[body.get(i)][1] - min_y) * scale_y));
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}
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path.close();
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canvas2.drawPath(path, paint);
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paint.setStyle(Paint.Style.FILL_AND_STROKE);
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if (osdHeading != null) {
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Path pathText = new Path();
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pathText.moveTo(10, 170);
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pathText.lineTo(700, 170);
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canvas2.drawTextOnPath(osdHeading, pathText, 0, 0, paint);//逆时针生成
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}
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if (osdMoveDirect != null) {
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Path pathText = new Path();
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pathText.moveTo(10, 30);
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pathText.lineTo(700, 30);
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canvas2.drawTextOnPath(osdMoveDirect, pathText, 0, 0, paint);//逆时针生成
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}
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if (osdRtkSpeed != null) {
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Path pathText = new Path();
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pathText.moveTo(10, 240);
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pathText.lineTo(700, 240);
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canvas2.drawTextOnPath(osdRtkSpeed, pathText, 0, 0, paint);//逆时针生成
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}
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if (osdQf != null) {
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Path pathText = new Path();
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pathText.moveTo(10, 120);
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pathText.lineTo(700, 120);
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canvas2.drawTextOnPath(osdQf, pathText, 0, 0, paint);//逆时针生成
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}
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{
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BigDecimal bd = new BigDecimal(gpsSpeed);
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bd = bd.setScale(3, BigDecimal.ROUND_HALF_UP);
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Path pathText = new Path();
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pathText.moveTo(10, 70);
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pathText.lineTo(700, 70);
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canvas2.drawTextOnPath("GPS速度:" + bd, pathText, 0, 0, paint);//逆时针生成
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}
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// 提交画布
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Canvas canvas = holder.lockCanvas();
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if (canvas != null){
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canvas.drawBitmap(bmp, 0, 0, paint);
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holder.unlockCanvasAndPost(canvas);
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}
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}
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public void DrawMapAll(List<Double> mainAnt, final double[][][] map, final double[][] car,
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List<Integer>body, List<Integer> tire) {
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if (canvas2 == null || bmp == null) {
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return;
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}
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long scale_x,scale_y;
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// _mActivity.runOnUiThread(new Runnable() {
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// @Override
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// public void run() {
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double base_x = 300, base_y = 20;
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double max_x = 0, min_x = 0, max_y = 0, min_y = 0;
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// Log.d(TAG, "DrawMap map size " + map.length + " car size " + car.length);
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for (int x = 0; x < map.length; x++) {
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for (int j = 0; j < map[x].length; j++) {
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if (x == 0&&j==0) {
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max_x = map[0][0][0];
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min_x = map[0][0][0];
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max_y = map[0][0][1];
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min_y = map[0][0][1];
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} else {
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// Log.i(TAG,String.format("map[%d][%d][0]=%f",x,j,map[x][j][0]));
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// Log.i(TAG,String.format("map[%d][%d][1]=%f",x,j,map[x][j][1]));
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// Log.i(TAG,String.format("max_x=%f,max_y=%f,min_x=%f,min_y=%f",max_x,max_y,min_x,min_y));
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if (max_x < map[x][j][0]) {
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max_x = map[x][j][0];
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}
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if (min_x > map[x][j][0]) {
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min_x = map[x][j][0];
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}
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if (max_y < map[x][j][1]) {
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max_y = map[x][j][1];
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}
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if (min_y > map[x][j][1]) {
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min_y = map[x][j][1];
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}
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}
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}
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}
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// Log.d(TAG, "all 地图DrawMap max_x " + max_x + " max_y " + max_y + " min_x " + min_x + " min_y " + min_y);
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if (map_other.length>9){
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for (int i = 0; i < map_other.length; i++) {
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if (max_x < map_other[i][0]) {
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max_x = map_other[i][0];
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}
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if (min_x > map_other[i][0]) {
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min_x = map_other[i][0];
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}
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if (max_y < map_other[i][1]) {
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max_y = map_other[i][1];
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}
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if (min_y > map_other[i][1]) {
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min_y = map_other[i][1];
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}
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}
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}
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// Log.d(TAG, "DrawMap另外一条曲线 max_x " + max_x + " max_y " + max_y + " min_x " + min_x + " min_y " + min_y);
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for (int i = 0; i < car.length; i++) {
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if (max_x < car[i][0]) {
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max_x = car[i][0];
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}
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if (min_x > car[i][0]) {
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min_x = car[i][0];
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}
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if (max_y < car[i][1]) {
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max_y = car[i][1];
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}
|
if (min_y > car[i][1]) {
|
min_y = car[i][1];
|
}
|
}
|
|
// Log.d(TAG, "DrawMapAll 和车比max_x " + max_x + " max_y " + max_y + " min_x " + min_x + " min_y " + min_y);
|
|
scale_x = Math.round((screen_width - base_x - 10) / (max_x - min_x));
|
scale_y = Math.round((screen_height - base_y - 10) / (max_y - min_y));
|
|
if (scale_x >= scale_y) {
|
scale_x = scale_y;
|
} else {
|
scale_y = scale_x;
|
}
|
|
// Log.d(TAG, "DrawMapAll scale_x " + scale_x + " scale_y " + scale_y);
|
|
|
canvas2.drawColor(Color.WHITE);
|
|
if (paint == null || canvas2==null){
|
return;
|
}
|
paint.setStyle(Paint.Style.FILL_AND_STROKE);
|
paint.setColor(Color.BLUE);
|
|
canvas2.drawCircle((float) (base_x + (mainAnt.get(0) - min_x) * scale_x), (float) (base_y + (0 - mainAnt.get(1) - min_y) * scale_y), 2, paint);
|
|
paint.setColor(Color.RED);
|
canvas2.drawCircle((float) (base_x + (car[tire.get(0)][0] - min_x) * scale_x), (float) (base_y + (car[tire.get(0)][1] - min_y) * scale_y), 2.5f, paint);
|
canvas2.drawCircle((float) (base_x + (car[tire.get(1)][0] - min_x) * scale_x), (float) (base_y + (car[tire.get(1)][1] - min_y) * scale_y), 2.5f, paint);
|
canvas2.drawCircle((float) (base_x + (car[tire.get(2)][0] - min_x) * scale_x), (float) (base_y + (car[tire.get(2)][1] - min_y) * scale_y), 2.5f, paint);
|
canvas2.drawCircle((float) (base_x + (car[tire.get(3)][0] - min_x) * scale_x), (float) (base_y + (car[tire.get(3)][1] - min_y) * scale_y), 2.5f, paint);
|
|
|
|
paint.setStyle(Paint.Style.STROKE);
|
paint.setColor(Color.BLACK);
|
|
|
|
|
|
Path path = new Path();
|
|
for (int k = 0; k < map.length; k++) {
|
|
|
|
|
Log.i(TAG, String.format("all DrawMap: map[%d].length=[%d]",k,map[k].length));
|
if (map[k].length < 9) {
|
// Log.d(TAG, String.format("map[%d][0][0]=%f,X=%f",k,map[k][0][0], (float) (base_x + (map[k][0][0] - min_x) * scale_x)) + String.format("map[%d][0][1]=%f,Y=%f",k,map[k][0][1], (float) (base_y + (map[k][0][1] - min_y) * scale_y)));
|
path.moveTo((float) (base_x + (map[k][0][0] - min_x) * scale_x), (float) (base_y + (map[k][0][1] - min_y) * scale_y));
|
for (int i = 1; i < map[k].length; i++) {
|
// Log.i(TAG,String.format("map[%d][%d][0]=%f,to X=%f",k,i,map[k][i][0],(float) (base_x + (map[k][i][0] - min_x) * scale_x)));
|
// Log.i(TAG,String.format("map[%d][%d][1]=%f,to Y=%f",k,i,map[k][i][1],(float) (base_y + (map[k][i][1] - min_y) * scale_y)));
|
path.lineTo((float) (base_x + (map[k][i][0] - min_x) * scale_x), (float) (base_y + (map[k][i][1] - min_y) * scale_y));
|
}
|
path.close();
|
} else if (map[k].length == 9) {
|
path.moveTo((float) (base_x + (map[k][0][0] - min_x) * scale_x), (float) (base_y + (map[k][0][1] - min_y) * scale_y));
|
path.lineTo((float) (base_x + (map[k][8][0] - min_x) * scale_x), (float) (base_y + (map[k][8][1] - min_y) * scale_y));
|
|
path.moveTo((float) (base_x + (map[k][2][0] - min_x) * scale_x), (float) (base_y + (map[k][2][1] - min_y) * scale_y));
|
path.lineTo((float) (base_x + (map[k][1][0] - min_x) * scale_x), (float) (base_y + (map[k][1][1] - min_y) * scale_y));
|
|
path.moveTo((float) (base_x + (map[k][3][0] - min_x) * scale_x), (float) (base_y + (map[k][3][1] - min_y) * scale_y));
|
path.lineTo((float) (base_x + (map[k][4][0] - min_x) * scale_x), (float) (base_y + (map[k][4][1] - min_y) * scale_y));
|
|
path.moveTo((float) (base_x + (map[k][6][0] - min_x) * scale_x), (float) (base_y + (map[k][6][1] - min_y) * scale_y));
|
path.lineTo((float) (base_x + (map[k][5][0] - min_x) * scale_x), (float) (base_y + (map[k][5][1] - min_y) * scale_y));
|
|
path.moveTo((float) (base_x + (map[k][7][0] - min_x) * scale_x), (float) (base_y + (map[k][7][1] - min_y) * scale_y));
|
path.lineTo((float) (base_x + (map[k][8][0] - min_x) * scale_x), (float) (base_y + (map[k][8][1] - min_y) * scale_y));
|
} else {
|
path.moveTo((float) (base_x + (map[k][0][0] - min_x) * scale_x), (float) (base_y + (map[k][0][1] - min_y) * scale_y));
|
for (int i = 1; i < map[k].length; i++) {
|
path.lineTo((float) (base_x + (map[k][i][0] - min_x) * scale_x), (float) (base_y + (map[k][i][1] - min_y) * scale_y));
|
}
|
|
if (map_other.length>9){
|
path.moveTo((float) (base_x + (map_other[0][0] - min_x) * scale_x), (float) (base_y + (map_other[0][1] - min_y) * scale_y));
|
for (int i = 1; i < map[k].length; i++) {
|
path.lineTo((float) (base_x + (map_other[i][0] - min_x) * scale_x), (float) (base_y + (map_other[i][1] - min_y) * scale_y));
|
}
|
}
|
|
for (int i = 0, j = 0; i < map[k].length && j < map_other.length; i++, j++) {
|
path.moveTo((float) (base_x + (map[k][i][0] - min_x) * scale_x), (float) (base_y + (map[k][i][1] - min_y) * scale_y));
|
path.lineTo((float) (base_x + (map_other[j][0] - min_x) * scale_x), (float) (base_y + (map_other[j][1] - min_y) * scale_y));
|
}
|
|
}
|
|
|
}
|
|
canvas2.drawPath(path, paint);
|
|
path.moveTo((float) (base_x + (car[body.get(0)][0] - min_x) * scale_x), (float) (base_y + (car[body.get(0)][1] - min_y) * scale_y));
|
for (int i = 1; i < body.size(); i++){
|
// Log.d(TAG, "for 循环 DrawMap to X = " + (float) (base_x + (car[body.get(i)][0] - min_x) * scale_x)+ " Y = " + (float) (base_y + (car[body.get(i)][1] - min_y) * scale_y));
|
Log.i(TAG,String.format("car[%d][0]=%f,to X =%f,car[%d][1]=%f,to Y=%f",i,car[body.get(i)][0],
|
(float) (base_x + (car[body.get(i)][0] - min_x) * scale_x),i,car[body.get(i)][1],(float) (base_y + (car[body.get(i)][1] - min_y) * scale_y)));
|
path.lineTo((float) (base_x + (car[body.get(i)][0] - min_x) * scale_x), (float) (base_y + (car[body.get(i)][1] - min_y) * scale_y));
|
}
|
|
path.close();
|
|
canvas2.drawPath(path, paint);
|
|
|
paint.setStyle(Paint.Style.FILL_AND_STROKE);
|
|
if (osdHeading != null) {
|
Path pathText = new Path();
|
pathText.moveTo(10, 170);
|
pathText.lineTo(700, 170);
|
canvas2.drawTextOnPath(osdHeading, pathText, 0, 0, paint);//逆时针生成
|
}
|
|
if (osdMoveDirect != null) {
|
Path pathText = new Path();
|
pathText.moveTo(10, 30);
|
pathText.lineTo(700, 30);
|
canvas2.drawTextOnPath(osdMoveDirect, pathText, 0, 0, paint);//逆时针生成
|
}
|
|
if (osdRtkSpeed != null) {
|
Path pathText = new Path();
|
pathText.moveTo(10, 240);
|
pathText.lineTo(700, 240);
|
canvas2.drawTextOnPath(osdRtkSpeed, pathText, 0, 0, paint);//逆时针生成
|
}
|
|
if (osdQf != null) {
|
Path pathText = new Path();
|
pathText.moveTo(10, 120);
|
pathText.lineTo(700, 120);
|
canvas2.drawTextOnPath(osdQf, pathText, 0, 0, paint);//逆时针生成
|
}
|
|
{
|
BigDecimal bd = new BigDecimal(gpsSpeed);
|
bd = bd.setScale(3, BigDecimal.ROUND_HALF_UP);
|
|
Path pathText = new Path();
|
pathText.moveTo(10, 70);
|
pathText.lineTo(700, 70);
|
|
canvas2.drawTextOnPath("GPS速度:" + bd, pathText, 0, 0, paint);//逆时针生成
|
}
|
|
|
// 提交画布
|
Canvas canvas = holder.lockCanvas();
|
if (canvas != null){
|
|
canvas.drawBitmap(bmp, 0, 0, paint);
|
holder.unlockCanvasAndPost(canvas);
|
}
|
// }
|
// });
|
}
|
|
int line = 0;
|
int map_line = 0;
|
int map_line_other = 0;
|
int sanwei = 0;
|
private StringBuffer stringBuffer = new StringBuffer();
|
class MessageRemoteService{
|
public int msgCode;
|
public String json;
|
|
public MessageRemoteService(int msgCode, Object obj) {
|
this.json = (String) obj;
|
this.msgCode = msgCode;
|
}
|
}
|
private ICEventListener icEventListener = new ICEventListener() {
|
@Override
|
public void onCEvent(String topic, final int msgCode, int resultCode, final Object obj) {
|
|
|
producer.execute(new Runnable() {
|
@Override
|
public void run() {
|
queue.offer(new MessageRemoteService(msgCode,obj));
|
}
|
});
|
|
|
}
|
};
|
boolean flag = true;
|
class CalRunnable implements Runnable{
|
|
private String json;
|
private int cmd;
|
|
@Override
|
public void run() {
|
while (flag){
|
MessageRemoteService messageRemoteService = (MessageRemoteService) queue.peek();
|
if (messageRemoteService == null){
|
try {
|
Thread.sleep(100);
|
} catch (InterruptedException e) {
|
e.printStackTrace();
|
}
|
}
|
messageRemoteService = (MessageRemoteService) queue.poll();
|
if (messageRemoteService != null){
|
this.cmd = messageRemoteService.msgCode;
|
this.json = messageRemoteService.json;
|
MyLog.i(TAG, json);
|
|
|
RealTimeCarPos timeCarPos = gson.fromJson((String) json, RealTimeCarPos.class);
|
List<Double> points = timeCarPos.getPoint();
|
switch (timeCarPos.getMove()){
|
case 0:
|
osdMoveDirect = "停车";
|
break;
|
case 1:
|
osdMoveDirect = "前进";
|
break;
|
case -1:
|
osdMoveDirect = "后退";
|
break;
|
}
|
osdHeading="方向角"+String.valueOf(timeCarPos.getHeading());
|
|
BigDecimal bd = new BigDecimal(timeCarPos.getSpeed());
|
bd = bd.setScale(3, BigDecimal.ROUND_HALF_UP);
|
osdRtkSpeed = "计算速度:" + bd;
|
|
osdQf = "QF：" + String.valueOf(timeCarPos.getQf());
|
|
line = 0;
|
map_line = 0;
|
map_line_other = 0;
|
sanwei = 0;
|
|
car = new double[points.size()/2][2];
|
|
for (int i = 0; i < points.size(); i++) {
|
if ((i % 2) == 0) {
|
car[line][0] = points.get(i);
|
} else {
|
double value = 0 - points.get(i);
|
car[line][1] = value;
|
line++;
|
}
|
|
}
|
map_id = timeCarPos.getMap_id();
|
|
List<Double> mainAnt = timeCarPos.getMain_ant();
|
List<Integer> tire1 = timeCarPos.getLeft_front_tire();
|
List<Integer> tire2 = timeCarPos.getRight_front_tire();
|
List<Integer> tire3 = timeCarPos.getLeft_rear_tire();
|
List<Integer> tire4 = timeCarPos.getRight_rear_tire();
|
|
List<Integer> body = timeCarPos.getBody();
|
|
List<Integer> tire = new ArrayList<>();
|
|
tire.add(tire1.get(0));
|
tire.add(tire2.get(0));
|
tire.add(tire3.get(0));
|
tire.add(tire4.get(0));
|
|
// 1 - 倒库
|
// 2 - 坡起
|
// 3 - 侧方停车
|
// 4 - 曲线行驶
|
// 5 - 直角转弯
|
StringBuffer buffer=null;
|
List<ExamMap> examMaps;
|
String newmap = null;
|
String mapPath = ExamPlatformData.getInstance().getMapPath();
|
if (!TextUtils.isEmpty(mapPath)){
|
MyLog.i("调用更新Map路径后的地图"+mapPath);
|
byte[] fileContent = FileUtil.readFile(mapPath);
|
if (fileContent != null){
|
newmap= new String(fileContent);
|
}else{
|
MyLog.i(String.format("文件:%s不存在",mapPath));
|
}
|
}else{
|
buffer = FileUtil.readAssetTxtFile(_mActivity,Constant.MAP);
|
}
|
|
Type type = new TypeToken<List<ExamMap>>(){}.getType();
|
if (buffer != null){
|
examMaps= gson.fromJson(buffer.toString().trim(), type);
|
}else{
|
examMaps = gson.fromJson(newmap.trim(),type);
|
}
|
|
if (map_id == -1){
|
allMap =new double[examMaps.size()][][];
|
for (int i = 0; i < examMaps.size(); i++) {
|
ExamMap examMap = examMaps.get(i);
|
|
List<ExamMap.PointBean> pointBeanList = examMap.getPoint();
|
|
for(int j=0; j<pointBeanList.size();j++){
|
List<Double> xys = pointBeanList.get(j).getXy();
|
if(j==0){
|
map = new double[xys.size()/2][2];
|
allMap[sanwei] = new double[xys.size()/2][2];
|
map_line = 0;
|
for (int k=0; k<xys.size();k++){
|
if ((k % 2) == 0) {
|
map[map_line][0] = xys.get(k);
|
} else {
|
double value = 0 - xys.get(k);
|
map[map_line][1] = value;
|
map_line++;
|
}
|
}
|
allMap[sanwei] = map.clone();
|
sanwei++;
|
|
}else{
|
// MyLog.i(TAG,"all支持曲线");
|
map_other = new double[xys.size()/2][2];
|
for (int k=0; k<xys.size();k++){
|
if ((k % 2) == 0) {
|
map_other[map_line_other][0] = xys.get(k);
|
} else {
|
double value = 0 - xys.get(k);
|
map_other[map_line_other][1] = value;
|
map_line_other++;
|
}
|
}
|
}
|
|
|
|
}
|
|
|
}
|
DrawMapAll(mainAnt,allMap,car,body,tire);
|
}else{
|
for (int i = 0; i < examMaps.size(); i++) {
|
ExamMap examMap = examMaps.get(i);
|
if (map_id == examMap.getId()){
|
List<ExamMap.PointBean> pointBeanList = examMap.getPoint();
|
|
for(int j=0; j<pointBeanList.size();j++){
|
List<Double> xys = pointBeanList.get(j).getXy();
|
if(j==0){
|
map = new double[xys.size()/2][2];
|
|
|
|
for (int k=0; k<xys.size();k++){
|
if ((k % 2) == 0) {
|
map[map_line][0] = xys.get(k);
|
} else {
|
double value = 0 - xys.get(k);
|
Log.i(TAG, "onCEvent: map新值=" + value + " 位置：" + k);
|
map[map_line][1] = value;
|
map_line++;
|
}
|
}
|
}else{
|
MyLog.i(TAG,"暂时支持曲线");
|
map_other = new double[xys.size()/2][2];
|
for (int k=0; k<xys.size();k++){
|
if ((k % 2) == 0) {
|
map_other[map_line_other][0] = xys.get(k);
|
} else {
|
double value = 0 - xys.get(k);
|
map_other[map_line_other][1] = value;
|
map_line_other++;
|
}
|
}
|
break;
|
}
|
|
|
|
}
|
break;
|
}
|
}
|
|
DrawMap(mainAnt, map, car, body, tire);
|
}
|
|
}
|
}
|
}
|
}
|
@Override
|
public void onAttach(Context context) {
|
super.onAttach(context);
|
CEventCenter.onBindEvent(true, icEventListener, Constant.REAL_TIME_POS_CAR_TOPIC);
|
CEventCenter.onBindEvent(true, rtcmicEventListener, Constant.BIND_RTCM_TOPIC);
|
CEventCenter.onBindEvent(true, debugTxticEventListener, Constant.BIND_DEBUG_TXT);
|
CEventCenter.onBindEvent(true, speedListener, Constant.BIND_RTK_SPEED_TOPIC);
|
}
|
|
@Override
|
public void onDetach() {
|
super.onDetach();
|
flag = false;
|
producer.shutdown();
|
consumer.shutdown();
|
CEventCenter.onBindEvent(false, icEventListener, Constant.REAL_TIME_POS_CAR_TOPIC);
|
CEventCenter.onBindEvent(false, icEventListener, Constant.BIND_RTCM_TOPIC);
|
CEventCenter.onBindEvent(false, icEventListener, Constant.BIND_DEBUG_TXT);
|
CEventCenter.onBindEvent(false, speedListener, Constant.BIND_RTK_SPEED_TOPIC);
|
}
|
}
|
