package safeluck.drive.evaluation.fragment;
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import android.content.Context;
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import android.graphics.Canvas;
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import android.graphics.Color;
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import android.graphics.DashPathEffect;
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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.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 androidx.annotation.NonNull;
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import androidx.annotation.Nullable;
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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 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 me.yokeyword.fragmentation.SupportFragment;
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import safeluck.drive.evaluation.Constant;
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import safeluck.drive.evaluation.bean.RealTimeCarPos;
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import safeluck.drive.evaluation.bean.RoadExamMap;
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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.FileUtil;
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public class RoadDriveMapFragment extends SupportFragment implements SurfaceHolder.Callback {
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private static final String TAG = RoadDriveMapFragment.class.getSimpleName();
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private static final int ALL_MAP = 100;//总图
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private SurfaceView mSurfaceView;
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private SurfaceHolder mSurfaceHolder;
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private boolean flag = false;//控制绘制线程drawThread
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private Canvas mCanvas;
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private Canvas bitMapCanvas;
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private Paint mPaint;
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private Path mPath;
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private StringBuffer buffer;//存放地图的buffer
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private Gson gson = new Gson();
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private double gpsSpeed = 0;
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private int map_id = -1;
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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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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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double map[][]={};
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private LinkedBlockingQueue queue = new LinkedBlockingQueue(100);
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private int avaliableWidth,avaliableHeight;
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private int x = 50, y = 50, r = 10; // 圆的坐标和半径
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float [] pts={50,100,100,200,200,300,300,400};
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private ExecutorService generateData = Executors.newSingleThreadExecutor();//产生数据（主要是车辆数据）
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private ExecutorService drawThread = Executors.newSingleThreadExecutor();//绘制线程
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/**
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* 接收远程服务发过来的车辆位置信息
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*/
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private ICEventListener icEventListener = new ICEventListener() {
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@Override
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public void onCEvent(String topic, final int msgCode, int resultCode, final Object obj) {
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generateData.execute(new Runnable() {
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@Override
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public void run() {
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queue.offer(new MessageRemoteService(msgCode,obj));
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}
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});
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}
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};
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public static RoadDriveMapFragment newInstance(){
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return new RoadDriveMapFragment();
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}
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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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mSurfaceView = new SurfaceView(_mActivity);
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ViewGroup.LayoutParams layoutParams = new ViewGroup.LayoutParams(ViewGroup.LayoutParams.MATCH_PARENT,ViewGroup.LayoutParams.MATCH_PARENT);
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mSurfaceView.setLayoutParams(layoutParams);
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mSurfaceView.getHolder().addCallback(this);
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mSurfaceHolder = mSurfaceView.getHolder();
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avaliableHeight = mSurfaceView.getHeight();
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avaliableWidth = mSurfaceView.getWidth();
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Log.i(TAG,"可用宽度="+avaliableWidth+"可用高度="+avaliableHeight);
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mPaint = new Paint(Paint.ANTI_ALIAS_FLAG);
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mPaint.setStyle(Paint.Style.STROKE);
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mPaint.setStrokeWidth(1.5f);
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mPath = new Path();
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int widhtpixels =getResources().getDisplayMetrics().widthPixels;
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int heightpixels =getResources().getDisplayMetrics().heightPixels;
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Log.i(TAG,"widhtpixels="+widhtpixels+" heig="+heightpixels);
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return mSurfaceView;
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}
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@Override
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public void surfaceCreated(SurfaceHolder holder) {
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// mCanvas = holder.lockCanvas();
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// int screen_width = mCanvas.getWidth();
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// int screen_height = mCanvas.getHeight();
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// Bitmap bmp = Bitmap.createBitmap(screen_width, screen_height, Bitmap.Config.ARGB_8888);
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// bitMapCanvas = new Canvas(bmp);
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// bitMapCanvas.drawColor(Color.WHITE);
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//
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// mPaint = new Paint();
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//
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// mPaint.setTextSize(30);
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// mPaint.setColor(Color.BLACK);
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// mPaint.setStrokeWidth(1.5f);
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// mPaint.setAntiAlias(true);
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// mPaint.setStyle(Paint.Style.STROKE);
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//
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// mCanvas.drawBitmap(bmp,0,0,mPaint);
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// holder.unlockCanvasAndPost(mCanvas);
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flag = true;
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drawThread.execute(new DrawRunnable());
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}
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@Override
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public void surfaceChanged(SurfaceHolder holder, int format, int width, int height) {
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}
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@Override
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public void surfaceDestroyed(SurfaceHolder holder) {
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flag = false;
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}
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RoadExamMap examMaps ;
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/**
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* 主要是这个方法，进行坐标点计算，使用mPath画图，可能要用到Canvas
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* 最好只使用path
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*/
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private void calculate() {
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int map_line = 0,line = 0;
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MessageRemoteService messageRemoteService = (MessageRemoteService) queue.peek();
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if (messageRemoteService == null){
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Log.i(TAG,"messageRemoteService ==null");
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try {
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Thread.sleep(100);
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} catch (InterruptedException e) {
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e.printStackTrace();
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}
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}
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messageRemoteService = (MessageRemoteService) queue.poll();
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if (messageRemoteService != null){
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MyLog.i(TAG, messageRemoteService.json);
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RealTimeCarPos timeCarPos = gson.fromJson((String) messageRemoteService.json, RealTimeCarPos.class);
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List<Double> points = timeCarPos.getPoint();
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switch (timeCarPos.getMove()){
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case 0:
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osdMoveDirect = "停车";
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break;
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case 1:
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osdMoveDirect = "前进";
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break;
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case -1:
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osdMoveDirect = "后退";
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break;
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}
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osdHeading="方向角"+String.valueOf(timeCarPos.getHeading());
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BigDecimal bd = new BigDecimal(timeCarPos.getSpeed());
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bd = bd.setScale(3, BigDecimal.ROUND_HALF_UP);
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osdRtkSpeed = "计算速度:" + bd;
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osdQf = "QF：" + String.valueOf(timeCarPos.getQf());
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car = new double[points.size()/2][2];
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for (int i = 0; i < points.size(); i++) {
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if ((i % 2) == 0) {
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car[line][0] = points.get(i);
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} else {
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double value = 0 - points.get(i);
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car[line][1] = value;
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line++;
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}
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}
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map_id = timeCarPos.getMap_id();
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List<Double> mainAnt = timeCarPos.getMain_ant();
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List<Integer> tire1 = timeCarPos.getLeft_front_tire();
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List<Integer> tire2 = timeCarPos.getRight_front_tire();
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List<Integer> tire3 = timeCarPos.getLeft_rear_tire();
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List<Integer> tire4 = timeCarPos.getRight_rear_tire();
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List<Integer> body = timeCarPos.getBody();
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List<Integer> tire = new ArrayList<>();
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tire.add(tire1.get(0));
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tire.add(tire2.get(0));
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tire.add(tire3.get(0));
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tire.add(tire4.get(0));
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if (buffer == null){
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buffer = FileUtil.readAssetTxtFile(_mActivity, Constant.ROAD_MAP);
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Log.i(TAG,"ditu="+buffer.toString().trim());
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}
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Type type = new TypeToken<RoadExamMap>(){}.getType();
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if (buffer != null){
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examMaps= gson.fromJson(buffer.toString().trim(), type);
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}
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if (examMaps!=null){
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points = examMaps.getPoints();
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if (points != null){
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map = new double[points.size()/2][2];
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for (int i = 0; i < points.size(); i++) {
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if ((i % 2) == 0){
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map[map_line][0] = points.get(i);
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}else{
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double value = 0-points.get(i);
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map[map_line][1] = value;
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map_line++;
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}
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}
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}
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}
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onDrawMap(map,examMaps.getMaps(),car,body,tire,mainAnt);
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}
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// mPaint.reset();
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// mPaint.setStyle(Paint.Style.FILL);
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// mPaint.setColor(Color.RED);
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// mPath.addCircle(x,y,r, Path.Direction.CCW);
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//
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// mCanvas.drawPath(mPath,mPaint);
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//
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//
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// mPaint.reset();
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// mPaint.setStyle(Paint.Style.FILL);
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// mPaint.setColor(Color.GREEN);
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// mCanvas.drawCircle(x+100,y+100,70,mPaint);
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//
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//
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// mPaint.reset();
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// mPath = new Path();
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// mPaint.setColor(Color.GREEN);
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// mPaint.setStyle(Paint.Style.STROKE);
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// mPaint.setStrokeWidth(1.5f);
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//
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// mPath.moveTo(pts[0],pts[1]);
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// mPath.lineTo(pts[2],pts[3]);
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// mCanvas.drawPath(mPath,mPaint);
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if (mCanvas != null){
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//释放canvas对象并提交画布
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mSurfaceHolder.unlockCanvasAndPost(mCanvas);
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}
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}
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private void onDrawMap(final double[][] map, List<RoadExamMap.MapsBean> maps,final double[][] car,
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List<Integer>body, List<Integer> tire,List<Double> mainAnt){
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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 " );
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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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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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//绘制背景 清屏
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mCanvas.drawColor(Color.WHITE);
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long scale_x = Math.round((mCanvas.getWidth() - base_x - 10) / (max_x - min_x));
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long scale_y = Math.round((mCanvas.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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mPaint.reset();
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mPaint.setAntiAlias(true);
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mPaint.setColor(Color.BLUE);
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mPaint.setStrokeWidth(1.5f);
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mPaint.setStyle(Paint.Style.FILL_AND_STROKE);
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mCanvas.drawCircle((float) (base_x + (mainAnt.get(0) - min_x) * scale_x), (float) (base_y + (0 - mainAnt.get(1) - min_y) * scale_y), 2, mPaint);
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mPaint.setColor(Color.RED);
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mCanvas.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, mPaint);
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mCanvas.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, mPaint);
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mCanvas.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, mPaint);
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mCanvas.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, mPaint);
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mPaint.setStyle(Paint.Style.STROKE);
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mPaint.setColor(Color.BLACK);
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mPaint.reset();
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mPaint.setStyle(Paint.Style.STROKE);
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mPaint.setStrokeWidth(1.5f);
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mPaint.setAntiAlias(true);
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mPaint.setColor(Color.BLACK);
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mPath.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 k = 1; k < body.size(); k++){
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Log.i(TAG,String.format("car[%d][0]=%f,to X =%f,car[%d][1]=%f,to Y=%f",k,car[body.get(k)][0],
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(float) (base_x + (car[body.get(k)][0] - min_x) * scale_x),k,car[body.get(k)][1],(float) (base_y + (car[body.get(k)][1] - min_y) * scale_y)));
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mPath.lineTo((float) (base_x + (car[body.get(k)][0] - min_x) * scale_x), (float) (base_y + (car[body.get(k)][1] - min_y) * scale_y));
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}
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mPath.close();
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mCanvas.drawPath(mPath, mPaint);
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if (map.length > 9) {
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if (maps != null&& maps.size()>0){
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for (int i = 0; i < maps.size(); i++) {
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RoadExamMap.MapsBean mapItem = maps.get(i);
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if (mapItem.getItem() == ALL_MAP){
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List<List<Integer>> redLines= mapItem.getRed_line();
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List<List<Integer>> greenLines = mapItem.getGreen_line();
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mPaint.reset();
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mPaint.setStyle(Paint.Style.STROKE);
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mPaint.setStrokeWidth(1.5f);
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mPaint.setAntiAlias(true);
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mPaint.setColor(Color.RED);
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for (List<Integer> redline: redLines
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) {
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for (int j = 0; j < redline.size(); j++) {
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int pos = redline.get(j);
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if (j == 0){
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mPath.moveTo((float) (base_x + (map[pos][0] - min_x) * scale_x), (float) (base_y + (map[pos][1] - min_y) * scale_y));
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}
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mPath.lineTo((float) (base_x + (map[pos][0] - min_x) * scale_x), (float) (base_y + (map[pos][1] - min_y) * scale_y));
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// Log.i(TAG,String.format("map[%d][0]=%f,map[%d][1]=%f,line to (%f,%f)",pos,map[pos][0],pos,map[pos][1],
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// (float) (base_x + (map[pos][0] - min_x) * scale_x),(float) (base_y + (map[pos][1] - min_y) * scale_y)));
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}
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}
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mCanvas.drawPath(mPath,mPaint);
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//画虚线（分道线）
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mPaint.reset();
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mPaint.setStyle(Paint.Style.STROKE);
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mPaint.setStrokeWidth(1.5f);
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mPaint.setAntiAlias(true);
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mPaint.setColor(Color.WHITE);
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mPath = new Path();
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mPaint.setPathEffect(new DashPathEffect(new float[] {15, 15}, 0));
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for (List<Integer> greenline:
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greenLines){
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for (int j = 0; j < greenline.size(); j++) {
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int pos = greenline.get(j);
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if (j == 0){
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mPath.moveTo((float) (base_x + (map[pos][0] - min_x) * scale_x), (float) (base_y + (map[pos][1] - min_y) * scale_y));
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}
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mPath.lineTo((float) (base_x + (map[pos][0] - min_x) * scale_x), (float) (base_y + (map[pos][1] - min_y) * scale_y));
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// Log.i(TAG,String.format("map[%d][0]=%f,map[%d][1]=%f,line to (%f,%f)",pos,map[pos][0],pos,map[pos][1],
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// (float) (base_x + (map[pos][0] - min_x) * scale_x),(float) (base_y + (map[pos][1] - min_y) * scale_y)));
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}
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}
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mCanvas.drawPath(mPath,mPaint);
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}
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}
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}
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}
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}
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/**
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* 绘制
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*/
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private void drawMap() {
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try {
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//获得canvas对象
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mCanvas = mSurfaceHolder.lockCanvas();
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// //绘制背景
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// mCanvas.drawColor(Color.WHITE);
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Log.i(TAG,"width="+mCanvas.getWidth()+"height:"+mCanvas.getHeight());
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//绘制路径
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mCanvas.drawPath(mPath, mPaint);
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}catch (Exception e){
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}finally {
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// if (mCanvas != null){
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// mCanvas.restore();
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// //释放canvas对象并提交画布
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// mSurfaceHolder.unlockCanvasAndPost(mCanvas);
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// }
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}
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}
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class DrawRunnable implements Runnable{
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@Override
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public void run() {
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while(flag){
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drawMap();
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calculate();
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try {
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Thread.sleep(50);
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} catch (InterruptedException 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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class MessageRemoteService{
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public int msgCode;
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public String json;
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public MessageRemoteService(int msgCode, Object obj) {
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this.json = (String) obj;
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this.msgCode = msgCode;
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}
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}
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@Override
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public void onAttach(Context context) {
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super.onAttach(context);
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CEventCenter.onBindEvent(true, icEventListener, Constant.REAL_TIME_POS_CAR_TOPIC);
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CEventCenter.onBindEvent(true, speedListener, Constant.BIND_RTK_SPEED_TOPIC);
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}
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@Override
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public void onDetach() {
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super.onDetach();
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generateData.shutdown();
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drawThread.shutdown();
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CEventCenter.onBindEvent(false, icEventListener, Constant.REAL_TIME_POS_CAR_TOPIC);
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CEventCenter.onBindEvent(false, speedListener, Constant.BIND_RTK_SPEED_TOPIC);
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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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}
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