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.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 android.widget.Toast;
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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.basecommonlib.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.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 java.util.concurrent.ScheduledExecutorService;
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import java.util.concurrent.TimeUnit;
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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.BaseDataUIBean;
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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.MapInfoHead;
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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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import safeluck.drive.evaluation.util.Utils;
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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 implements View.OnClickListener {
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private boolean isDrawing = false;
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private int pixels = 80;
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private long count =0;
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private long lastcount =0;
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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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if (msgCode == Constant.LEFT_RIGHT_DISTANCE){
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String str = (String)obj;
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count++;
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try {
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JSONObject jsonObject = new JSONObject(str);
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leftDistance = Utils.getdouble(jsonObject.getDouble("left"),3);
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rightDistance = Utils.getdouble(jsonObject.getDouble("right"),3);
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} catch (JSONException e) {
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e.printStackTrace();
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}
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}
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}
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};
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private ScheduledExecutorService scheduledExecutorService = Executors.newSingleThreadScheduledExecutor();
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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 Bitmap bmp2 = null;
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private Canvas canvas2 = null;
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private Canvas canvas3 = 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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private double leftDistance = 0;
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private double rightDistance = 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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scheduledExecutorService.scheduleAtFixedRate(new Runnable() {
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@Override
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public void run() {
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// Log.i(TAG,"1s到");
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if (lastcount==count){
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// Log.i(TAG,"已经没在发消息了");
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leftDistance = 0.0;
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rightDistance = 0.0;
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}
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lastcount = count;
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}
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},1000,1000, TimeUnit.MILLISECONDS);
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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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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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view.findViewById(R.id.btn_reduce).setOnClickListener(this);
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view.findViewById(R.id.btn_amplify).setOnClickListener(this);
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view.findViewById(R.id.btn_change_map).setOnClickListener(this);
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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*2/3, 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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bmp2 = Bitmap.createBitmap(screen_width/3, screen_height, Bitmap.Config.ARGB_8888);
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canvas3 = new Canvas(bmp2);
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canvas3.drawColor(Color.WHITE);
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Log.d(TAG, "BMP W = " + bmp.getWidth() + "BMP H = " + bmp.getHeight());
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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(bmp2, screen_width/3, 0, paint);
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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((bmp.getWidth() - base_x - 10) / (max_x - min_x));
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long scale_y = Math.round((bmp.getHeight() - 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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@Override
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public void onClick(View v) {
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switch (v.getId()){
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case R.id.btn_reduce:
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if (pixels < 5){
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pixels = 5;
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Toast.makeText(_mActivity, "已经是最小了，不能再小了", Toast.LENGTH_SHORT).show();
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}else{
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pixels -= 5;
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}
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break;
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case R.id.btn_amplify:
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if (pixels >80){
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Toast.makeText(_mActivity, "已经是最大了", Toast.LENGTH_SHORT).show();
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pixels = 80;
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}else{
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pixels+=5;
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}
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break;
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case R.id.btn_change_map:
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MapInfoHead mapInfoHead = ExamPlatformData.getInstance().getMapInfoHeads().get(BaseDataUIBean.TYPE_.yard);
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String url = mapInfoHead.getGps_moinitor_url();
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Log.i(TAG,"map head lulao gps url="+url);
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VPFragment jiaXiaoFragment = findFragment(VPFragment.class);
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if (jiaXiaoFragment == null) {
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jiaXiaoFragment = (VPFragment) VPFragment.newInstance(url);
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}
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start(jiaXiaoFragment);
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break;
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}
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}
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class PointF {
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double x;
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double y;
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public PointF(double x, double y) {
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this.x = x;
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this.y = y;
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}
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double getX() {
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return x;
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}
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double getY() {
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return y;
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}
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void setX(double x) {
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this.x = x;
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}
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void setY(double y) {
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this.y = y;
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}
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}
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public PointF rotatePoint(PointF oldPoint, PointF centre, double degree) {
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PointF newPoint = new PointF(0, 0);
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newPoint.setX( (oldPoint.getX()-centre.getX())*Math.cos(Math.toRadians(degree)) - (oldPoint.getY()-centre.getY())*Math.sin(Math.toRadians(degree)) + centre.getX() );
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newPoint.setY ( (oldPoint.getX()-centre.getX())*Math.sin(Math.toRadians(degree)) + (oldPoint.getY()-centre.getY())*Math.cos(Math.toRadians(degree)) + centre.getY() );
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return newPoint;
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}
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public void DrawMapAll(double yaw, List<Double> mainAnt, double[][][] map, double [][]map_other, double[][] car,
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List<Integer>body, List<Integer> tire) {
|
if (canvas2 == null || bmp == null || bmp2 == null || canvas3 == null) {
|
return;
|
}
|
long scale_x,scale_y;
|
// _mActivity.runOnUiThread(new Runnable() {
|
// @Override
|
// public void run() {
|
float base_x = 300;
|
float base_y = 20;
|
double max_x = 0, min_x = 0, max_y = 0, min_y = 0;
|
|
// Log.d(TAG, "DrawMap map size " + map.length + " car size " + car.length);
|
|
PointF mainPoint = new PointF(mainAnt.get(0), mainAnt.get(1));
|
|
// Log.d(TAG, String.format("主天线 X = %f Y = %f 旋转角度 %f", mainPoint.getX(), mainPoint.getY(), yaw));
|
|
for (int x = 0; x < map.length; x++) {
|
for (int j = 0; j < map[x].length; j++) {
|
PointF oldPoint = new PointF(map[x][j][0], map[x][j][1]);
|
|
PointF newPoint = rotatePoint(oldPoint, mainPoint, yaw );
|
|
map[x][j][0] = newPoint.getX();
|
map[x][j][1] = newPoint.getY();
|
|
map[x][j][0] = map[x][j][0] - mainPoint.getX();
|
map[x][j][1] = map[x][j][1] - mainPoint.getY();
|
map[x][j][1] = -map[x][j][1];
|
}
|
}
|
|
for (int i = 0; i < car.length; i++) {
|
PointF oldPoint = new PointF(car[i][0], car[i][1]);
|
PointF newPoint = rotatePoint(oldPoint, mainPoint, yaw );
|
car[i][0] = newPoint.getX();
|
car[i][1] = newPoint.getY();
|
|
car[i][0] = car[i][0] - mainPoint.getX();
|
car[i][1] = car[i][1] - mainPoint.getY();
|
car[i][1] = -car[i][1];
|
}
|
|
for (int i = 0; i < map_other.length; i++) {
|
PointF oldPoint = new PointF(map_other[i][0], map_other[i][1]);
|
PointF newPoint = rotatePoint(oldPoint, mainPoint, yaw );
|
map_other[i][0] = newPoint.getX();
|
map_other[i][1] = newPoint.getY();
|
|
map_other[i][0] = map_other[i][0] - mainPoint.getX();
|
map_other[i][1] = map_other[i][1] - mainPoint.getY();
|
map_other[i][1] = -map_other[i][1];
|
}
|
|
scale_x = Math.round(Math.abs(pixels / Math.sqrt(Math.pow(car[0][0], 2) + Math.pow(car[0][1], 2)) ));
|
scale_y = scale_x;
|
|
base_x = bmp.getWidth() / 2;
|
base_y = bmp.getHeight() * 7 / 10;
|
|
Log.d(TAG, String.format("DrawMapAll scale_x = %d 车头据 = %f", scale_x, Math.sqrt(Math.pow(car[0][0], 2) + Math.pow(car[0][1], 2))));
|
|
/* for (int x = 0; x < map.length; x++) {
|
for (int j = 0; j < map[x].length; j++) {
|
if (x == 0&&j==0) {
|
max_x = map[0][0][0];
|
min_x = map[0][0][0];
|
max_y = map[0][0][1];
|
min_y = map[0][0][1];
|
} else {
|
// Log.i(TAG,String.format("map[%d][%d][0]=%f",x,j,map[x][j][0]));
|
// Log.i(TAG,String.format("map[%d][%d][1]=%f",x,j,map[x][j][1]));
|
// 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));
|
if (max_x < map[x][j][0]) {
|
|
max_x = map[x][j][0];
|
}
|
if (min_x > map[x][j][0]) {
|
min_x = map[x][j][0];
|
}
|
if (max_y < map[x][j][1]) {
|
max_y = map[x][j][1];
|
}
|
if (min_y > map[x][j][1]) {
|
min_y = map[x][j][1];
|
}
|
}
|
}
|
}
|
|
// Log.d(TAG, "all 地图DrawMap max_x " + max_x + " max_y " + max_y + " min_x " + min_x + " min_y " + min_y);
|
if (map_other.length>9){
|
for (int i = 0; i < map_other.length; i++) {
|
|
if (max_x < map_other[i][0]) {
|
max_x = map_other[i][0];
|
}
|
if (min_x > map_other[i][0]) {
|
min_x = map_other[i][0];
|
}
|
if (max_y < map_other[i][1]) {
|
max_y = map_other[i][1];
|
}
|
if (min_y > map_other[i][1]) {
|
min_y = map_other[i][1];
|
}
|
}
|
}
|
|
|
// 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);
|
|
for (int i = 0; i < car.length; i++) {
|
if (max_x < car[i][0]) {
|
max_x = car[i][0];
|
}
|
if (min_x > car[i][0]) {
|
min_x = car[i][0];
|
}
|
if (max_y < car[i][1]) {
|
max_y = car[i][1];
|
}
|
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 + (mainAnt.get(1) - min_y) * scale_y), 2, paint);
|
canvas2.drawCircle((float) base_x, (float) base_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);
|
|
canvas2.drawCircle((float) (base_x + (car[tire.get(0)][0]) * scale_x), (float) (base_y + (car[tire.get(0)][1]) * scale_y), 2.5f, paint);
|
canvas2.drawCircle((float) (base_x + (car[tire.get(1)][0]) * scale_x), (float) (base_y + (car[tire.get(1)][1]) * scale_y), 2.5f, paint);
|
canvas2.drawCircle((float) (base_x + (car[tire.get(2)][0]) * scale_x), (float) (base_y + (car[tire.get(2)][1]) * scale_y), 2.5f, paint);
|
canvas2.drawCircle((float) (base_x + (car[tire.get(3)][0]) * scale_x), (float) (base_y + (car[tire.get(3)][1]) * 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]) * scale_x), (float) (base_y + (map[k][0][1]) * 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]) * scale_x), (float) (base_y + (map[k][i][1]) * 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));
|
}
|
}
|
|
|
|
}
|
}
|
|
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 paintnv = new Paint();
|
// paintnv.setColor(Color.BLUE);
|
// paintnv.setStrokeWidth(1.0f);
|
// paintnv.setAntiAlias(true);
|
|
paint.setStyle(Paint.Style.FILL_AND_STROKE);
|
|
canvas3.drawColor(Color.YELLOW);
|
|
// 指南针 ++++++++++++++++++++++++++++++++++++++++++++++++++++
|
float compassOX = bmp2.getWidth() - 60, compassOY = 60;
|
|
float compass1X = compassOX + 7, compass1Y = compassOY;
|
float compass2X = compassOX, compass2Y = compassOY + 30;
|
float compass3X = compassOX - 7, compass3Y = compassOY;
|
|
float compass4X = compassOX + 7, compass4Y = compassOY;
|
float compass5X = compassOX, compass5Y = compassOY - 30;
|
float compass6X = compassOX - 7, compass6Y = compassOY;
|
|
PointF compassO = new PointF(compassOX, compassOY);
|
PointF compass1 = new PointF(compass1X, compass1Y);
|
PointF compass2 = new PointF(compass2X, compass2Y);
|
PointF compass3 = new PointF(compass3X, compass3Y);
|
PointF compass4 = new PointF(compass4X, compass4Y);
|
PointF compass5 = new PointF(compass5X, compass5Y);
|
PointF compass6 = new PointF(compass6X, compass6Y);
|
|
compass1 = rotatePoint(compass1, compassO, yaw);
|
compass2 = rotatePoint(compass2, compassO, yaw);
|
compass3 = rotatePoint(compass3, compassO, yaw);
|
compass4 = rotatePoint(compass4, compassO, yaw);
|
compass5 = rotatePoint(compass5, compassO, yaw);
|
compass6 = rotatePoint(compass6, compassO, yaw);
|
|
paint.setStyle(Paint.Style.STROKE);
|
paint.setColor(Color.RED);
|
|
canvas3.drawCircle((float)compassO.getX(), (float)compassO.getY(), 20, paint);
|
canvas3.drawCircle((float)compassO.getX(), (float)compassO.getY(), 40, paint);
|
|
paint.setStyle(Paint.Style.FILL_AND_STROKE);
|
paint.setColor(Color.BLUE);
|
Path compassN = new Path();
|
|
compassN.moveTo((float)compassO.getX(), (float)compassO.getY());
|
compassN.lineTo((float)compass1.getX(), (float)compass1.getY());
|
compassN.lineTo((float)compass2.getX(), (float)compass2.getY());
|
compassN.lineTo((float)compass3.getX(), (float)compass3.getY());
|
compassN.close();
|
canvas3.drawPath(compassN, paint);
|
|
paint.setColor(Color.RED);
|
Path compassS = new Path();
|
compassS.moveTo((float)compassO.getX(), (float)compassO.getY());
|
compassS.lineTo((float)compass4.getX(), (float)compass4.getY());
|
compassS.lineTo((float)compass5.getX(), (float)compass5.getY());
|
compassS.lineTo((float)compass6.getX(), (float)compass6.getY());
|
compassS.close();
|
canvas3.drawPath(compassS, paint);
|
// 指南针 -------------------------------------------
|
|
|
if (osdHeading != null) {
|
Path pathText = new Path();
|
pathText.moveTo(10, 30);
|
pathText.lineTo(700, 30);
|
canvas3.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);
|
// canvas3.drawTextOnPath(osdMoveDirect, pathText, 0, 0, paint);//逆时针生成
|
// }
|
//
|
if (osdRtkSpeed != null) {
|
Path pathText = new Path();
|
pathText.moveTo(10, 70);
|
pathText.lineTo(700, 70);
|
canvas3.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);
|
// canvas3.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);
|
//
|
// canvas3.drawTextOnPath("GPS速度:" + bd, pathText, 0, 0, paint);//逆时针生成
|
// }
|
|
|
|
base_x = 170;
|
base_y = 350;
|
|
scale_x=scale_y = 27;
|
|
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 + (mainAnt.get(1) - min_y) * scale_y), 2, paint);
|
canvas3.drawCircle((float) base_x, (float) base_y, 2, paint);
|
|
paint.setColor(Color.RED);
|
|
canvas3.drawCircle((float) (base_x + (car[tire.get(0)][0]) * scale_x), (float) (base_y + (car[tire.get(0)][1]) * scale_y), 2.5f, paint);
|
canvas3.drawCircle((float) (base_x + (car[tire.get(1)][0]) * scale_x), (float) (base_y + (car[tire.get(1)][1]) * scale_y), 2.5f, paint);
|
canvas3.drawCircle((float) (base_x + (car[tire.get(2)][0]) * scale_x), (float) (base_y + (car[tire.get(2)][1]) * scale_y), 2.5f, paint);
|
canvas3.drawCircle((float) (base_x + (car[tire.get(3)][0]) * scale_x), (float) (base_y + (car[tire.get(3)][1]) * scale_y), 2.5f, paint);
|
|
|
|
Path pathCanvs3 = new Path();
|
pathCanvs3.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)));
|
pathCanvs3.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));
|
}
|
paint.setStyle(Paint.Style.STROKE);
|
paint.setColor(Color.BLACK);
|
pathCanvs3.close();
|
canvas3.drawPath(pathCanvs3,paint);
|
|
Paint mPaint = new Paint();
|
mPaint.setTextSize(20);
|
mPaint.setStyle(Paint.Style.FILL_AND_STROKE);
|
osdMoveDirect="9.4345";
|
if (osdMoveDirect != null) {
|
Path pathText = new Path();
|
pathText.moveTo(base_x-110, base_y-35);
|
pathText.lineTo(base_x-20, base_y-35);
|
if (leftDistance == 0.0){
|
|
canvas3.drawTextOnPath("...", pathText, 0, 0, mPaint);//逆时针生成
|
}else{
|
|
canvas3.drawTextOnPath(String.valueOf(leftDistance), pathText, 0, 0, mPaint);//逆时针生成
|
}
|
}
|
if (osdMoveDirect != null) {
|
Path pathText = new Path();
|
pathText.moveTo(base_x+30, base_y-35);
|
pathText.lineTo(base_x+110, base_y-35);
|
if (rightDistance == 0.0){
|
|
canvas3.drawTextOnPath("...", pathText, 0, 0, mPaint);//逆时针生成
|
}else{
|
canvas3.drawTextOnPath(String.valueOf(rightDistance), pathText, 0, 0, mPaint);//逆时针生成
|
}
|
|
}
|
paint.setColor(Color.RED);
|
canvas3.drawLine(base_x-120,base_y-200,base_x-120,base_y+200,paint);
|
canvas3.drawLine(base_x+120,base_y-200,base_x+120,base_y+200,paint);
|
|
DrawArrows(canvas3,Color.GREEN,15f,base_x-20,base_y-30,base_x-120,base_y-30);//左边箭头（左边距
|
DrawArrows(canvas3,Color.GREEN,15f,base_x+20,base_y-30,base_x+120,base_y-30);//右边箭头（边距
|
|
|
// 提交画布
|
Canvas canvas = holder.lockCanvas();
|
if (canvas != null){
|
|
canvas.drawBitmap(bmp, 0, 0, paint);
|
canvas.drawBitmap(bmp2, screen_width*2/3, 0, paint);
|
holder.unlockCanvasAndPost(canvas);
|
}
|
// }
|
// });
|
}
|
/*
|
public void DrawMapAll(List<Double> mainAnt, final double[][][] map, final double[][] car,
|
List<Integer>body, List<Integer> tire) {
|
if (canvas2 == null || bmp == null) {
|
return;
|
}
|
long scale_x,scale_y;
|
// _mActivity.runOnUiThread(new Runnable() {
|
// @Override
|
// public void run() {
|
double base_x = 300, base_y = 20;
|
double max_x = 0, min_x = 0, max_y = 0, min_y = 0;
|
|
// Log.d(TAG, "DrawMap map size " + map.length + " car size " + car.length);
|
|
|
for (int x = 0; x < map.length; x++) {
|
for (int j = 0; j < map[x].length; j++) {
|
if (x == 0&&j==0) {
|
max_x = map[0][0][0];
|
min_x = map[0][0][0];
|
max_y = map[0][0][1];
|
min_y = map[0][0][1];
|
} else {
|
// Log.i(TAG,String.format("map[%d][%d][0]=%f",x,j,map[x][j][0]));
|
// Log.i(TAG,String.format("map[%d][%d][1]=%f",x,j,map[x][j][1]));
|
// 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));
|
if (max_x < map[x][j][0]) {
|
|
max_x = map[x][j][0];
|
}
|
if (min_x > map[x][j][0]) {
|
min_x = map[x][j][0];
|
}
|
if (max_y < map[x][j][1]) {
|
max_y = map[x][j][1];
|
}
|
if (min_y > map[x][j][1]) {
|
min_y = map[x][j][1];
|
}
|
}
|
}
|
}
|
|
// Log.d(TAG, "all 地图DrawMap max_x " + max_x + " max_y " + max_y + " min_x " + min_x + " min_y " + min_y);
|
if (map_other.length>9){
|
for (int i = 0; i < map_other.length; i++) {
|
|
if (max_x < map_other[i][0]) {
|
max_x = map_other[i][0];
|
}
|
if (min_x > map_other[i][0]) {
|
min_x = map_other[i][0];
|
}
|
if (max_y < map_other[i][1]) {
|
max_y = map_other[i][1];
|
}
|
if (min_y > map_other[i][1]) {
|
min_y = map_other[i][1];
|
}
|
}
|
}
|
|
|
// 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);
|
|
for (int i = 0; i < car.length; i++) {
|
if (max_x < car[i][0]) {
|
max_x = car[i][0];
|
}
|
if (min_x > car[i][0]) {
|
min_x = car[i][0];
|
}
|
if (max_y < car[i][1]) {
|
max_y = car[i][1];
|
}
|
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 = "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 = 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<>();
|
|
double yaw = timeCarPos.getHeading();
|
|
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;
|
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<ExamMap>(){}.getType();
|
if (buffer != null){
|
examMaps= gson.fromJson(buffer.toString().trim(), type);
|
}else{
|
examMaps = gson.fromJson(newmap.trim(),type);
|
}
|
map_id = -1;
|
if (map_id == -1){
|
allMap =new double[examMaps.getItems().size()][][];
|
for (int i = 0; i < examMaps.getItems().size(); i++) {
|
ExamMap.ItemsBean examMap = examMaps.getItems().get(i);
|
|
List<ExamMap.ItemsBean.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 = 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 = xys.get(k);
|
map_other[map_line_other][1] = value;
|
map_line_other++;
|
}
|
}
|
}
|
|
|
|
}
|
|
|
}
|
|
double [][]mapOther;
|
|
mapOther = map_other.clone();
|
|
DrawMapAll(yaw, mainAnt,allMap, mapOther, car,body,tire);
|
}else{
|
for (int i = 0; i < examMaps.getItems().size(); i++) {
|
ExamMap.ItemsBean examMap = examMaps.getItems().get(i);
|
if (map_id == examMap.getId()){
|
List<ExamMap.ItemsBean.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, 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, speedListener, Constant.BIND_RTK_SPEED_TOPIC);
|
}
|
|
|
|
void DrawArrows(Canvas canvas, int color, float arrowSize, float x1,
|
float y1, float x2, float y2) {
|
paint.setAntiAlias(true);
|
paint.setStyle(Paint.Style.STROKE);
|
paint.setColor(color);
|
|
// 画直线
|
canvas.drawLine(x1, y1, x2, y2, paint);
|
|
// 箭头中的第一条线的起点
|
int x3 = 0;
|
int y3 = 0;
|
|
// 箭头中的第二条线的起点
|
int x4 = 0;
|
int y4 = 0;
|
|
double awrad = Math.atan(3.5 / 8);
|
double[] arrXY_1 = rotateVec(x2 - x1, y2 - y1, awrad, arrowSize);
|
double[] arrXY_2 = rotateVec(x2 - x1, y2 - y1, -awrad, arrowSize);
|
|
// 第一端点
|
Double X3 = Double.valueOf(x2 - arrXY_1[0]);
|
x3 = X3.intValue();
|
Double Y3 = Double.valueOf(y2 - arrXY_1[1]);
|
y3 = Y3.intValue();
|
|
// 第二端点
|
Double X4 = Double.valueOf(x2 - arrXY_2[0]);
|
x4 = X4.intValue();
|
Double Y4 = Double.valueOf(y2 - arrXY_2[1]);
|
y4 = Y4.intValue();
|
|
Path arrowsPath = new Path();
|
arrowsPath.moveTo(x2, y2);
|
arrowsPath.lineTo(x3, y3);
|
arrowsPath.lineTo(x4, y4);
|
arrowsPath.close();
|
canvas.drawLine(x3, y3, x2, y2, paint);
|
canvas.drawLine(x4, y4, x2, y2, paint);
|
}
|
|
private double[] rotateVec(float px, float py, double ang, double arrowSize) {
|
double mathstr[] = new double[2];
|
double vx = px * Math.cos(ang) - py * Math.sin(ang);
|
double vy = px * Math.sin(ang) + py * Math.cos(ang);
|
double d = Math.sqrt(vx * vx + vy * vy);
|
vx = vx / d * arrowSize;
|
vy = vy / d * arrowSize;
|
mathstr[0] = vx;
|
mathstr[1] = vy;
|
return mathstr;
|
}
|
|
|
}
|
