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.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 android.widget.LinearLayout;
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import androidx.annotation.NonNull;
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import androidx.annotation.Nullable;
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import androidx.appcompat.widget.Toolbar;
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import com.anyun.exam.lib.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.R;
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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.CThreadPoolExecutor;
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import safeluck.drive.evaluation.util.FileUtil;
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public class RoadDriveMapFragmentaa extends SupportFragment {
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private static final int ALL_MAP = 100;
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private boolean isDrawing = false;
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private StringBuffer buffer;//存放地图的buffer
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private ICEventListener rtcmicEventListener = new ICEventListener() {
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@Override
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public void onCEvent(String topic, int msgCode, int resultCode, final Object obj) {
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if (msgCode == Constant.DEBUG_RTCM){
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CThreadPoolExecutor.runOnMainThread(new Runnable() {
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@Override
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public void run() {
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Log.i(TAG, "title="+(String)obj);
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toolbar.setTitle((String)obj);
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}
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});
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}
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}
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};
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private ICEventListener debugTxticEventListener = new ICEventListener() {
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@Override
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public void onCEvent(String topic, int msgCode, int resultCode, final Object obj) {
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if (msgCode == Constant.DEBUG_TXT){
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CThreadPoolExecutor.runOnMainThread(new Runnable() {
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@Override
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public void run() {
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Log.i(TAG, "subtitle="+(String)obj);
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toolbar.setSubtitle((String)obj);
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}
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});
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}
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}
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};
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private ICEventListener speedListener = new ICEventListener() {
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@Override
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public void onCEvent(String topic, int msgCode, int resultCode, Object obj) {
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if (msgCode == Constant.RTK_INFO){
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gpsSpeed = (double)obj;
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}
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}
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};
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public static SupportFragment newInstance() {
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return new RoadDriveMapFragmentaa();
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}
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private SurfaceView mSurfaceView;
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private static final String TAG = "RoadDriveFragment";
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private SurfaceHolder holder;
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Path path = new Path();
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private Canvas canvas;
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private int x = -1;
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private int y = -1;
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private Toolbar toolbar;
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private Bitmap bmp = null;
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private Canvas canvas2 = null;
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private Paint paint = null;
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private int screen_width = 0, screen_height = 0;
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private String osdHeading = null;
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private String osdMoveDirect = null;
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private String osdRtkSpeed = null;
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private String osdQf = null;
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private int map_id;
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private double gpsSpeed = 0;
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double 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[][] ;
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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 LinkedBlockingQueue queue = new LinkedBlockingQueue(100);
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private ExecutorService producer = Executors.newSingleThreadExecutor();
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private ExecutorService consumer = Executors.newSingleThreadExecutor();
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@Nullable
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@Override
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public View onCreateView(@NonNull LayoutInflater inflater, @Nullable ViewGroup container, @Nullable Bundle savedInstanceState) {
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View view = inflater.inflate(R.layout.layout_mapfragment, container, false);
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gson = new Gson();
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initView(view);
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consumer.execute(new CalRunnable());
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return view;
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}
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private int avaliableHeight,avalibleWidth;
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private void initView(View view) {
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toolbar = view.findViewById(R.id.toolbar);
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toolbar.setTitle("简单地图");
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toolbar.setNavigationIcon(R.drawable.ic_arrow_back_white_24dp);
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toolbar.setNavigationOnClickListener(new View.OnClickListener() {
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@Override
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public void onClick(View v) {
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_mActivity.onBackPressed();
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}
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});
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avaliableHeight= getResources().getDisplayMetrics().heightPixels;
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avalibleWidth = getResources().getDisplayMetrics().widthPixels;
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Log.i(TAG, "initView: aliwidht="+avalibleWidth+" height="+avaliableHeight);
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mSurfaceView = view.findViewById(R.id.surfaceview);
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holder = mSurfaceView.getHolder();
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holder.addCallback(new SurfaceHolder.Callback() {
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@Override
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public void surfaceCreated(SurfaceHolder surfaceHolder) {
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Canvas canvas = surfaceHolder.lockCanvas();
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if (canvas != null) {
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Log.d(TAG, "W = " + canvas.getWidth() + " H = " + canvas.getHeight());
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screen_width = canvas.getWidth();
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screen_height = canvas.getHeight();
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surfaceHolder.unlockCanvasAndPost(canvas);
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bmp = Bitmap.createBitmap(screen_width, screen_height, Bitmap.Config.ARGB_8888);
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canvas2 = new Canvas(bmp);
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canvas2.drawColor(Color.WHITE);
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paint = new Paint();
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paint.setTextSize(30);
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paint.setColor(Color.BLACK);
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paint.setStrokeWidth(1.5f);
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paint.setAntiAlias(true);
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paint.setStyle(Paint.Style.STROKE);
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holder.lockCanvas();
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canvas.drawBitmap(bmp, 0, 0, paint);
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holder.unlockCanvasAndPost(canvas);
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}
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}
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@Override
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public void surfaceChanged(SurfaceHolder surfaceHolder, int i, int i1, int i2) {
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}
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@Override
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public void surfaceDestroyed(SurfaceHolder surfaceHolder) {
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}
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});
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}
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public void DrawMap(List<Double> mainAnt, final double[][] map, final double[][] car,
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List<Integer>body, List<Integer> tire, List<RoadExamMap.MapsBean> maps) {
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if (canvas2 == null || bmp == null) {
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return;
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}
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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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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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Log.i(TAG,String.format("screen_width - base_x - 10=%f,screen_height - base_y - 10=%f,max_x - min_x=%f,max_y - min_y=%f",screen_width - base_x - 10,screen_height - base_y - 10
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,max_x - min_x,max_y - min_y));
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long scale_x = Math.round((screen_width - base_x - 10) / (max_x - min_x));
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long scale_y = Math.round((screen_height - base_y - 10) / (max_y - min_y));
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Log.i(TAG,String.format("scale_x=%d,scale_y=%d",scale_x,scale_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 (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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List<List<Integer>> allTringgerLines = mapItem.getAll_trigger_line();
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for (List<Integer> allTriggerLine: allTringgerLines
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) {
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for (int kk = 1; kk < allTriggerLine.size(); kk++) {
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int pos = allTriggerLine.get(kk);
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if (kk ==1){
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path.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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path.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("trigerline 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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paint.reset();
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paint.setStyle(Paint.Style.STROKE);
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paint.setStrokeWidth(1.5f);
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paint.setAntiAlias(true);
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paint.setColor(Color.RED);
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paint.setPathEffect(null);
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Log.i(TAG,"redLinesSize"+redLines.size());
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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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Log.i(TAG,"redLiSize"+redline.size());
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int pos = redline.get(j);
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if (j == 0){
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path.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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path.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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canvas2.drawPath(path,paint);
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//画虚线（分道线）
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paint.reset();
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paint.setStyle(Paint.Style.STROKE);
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paint.setStrokeWidth(1.5f);
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paint.setAntiAlias(true);
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// paint.setColor(Color.WHITE);
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paint.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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path.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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path.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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canvas2.drawPath(path,paint);
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}else{
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List<Integer> area = mapItem.getArea();
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List<Integer> stoplines = mapItem.getStop_line();
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for (int aaa = 0; aaa <stoplines.size(); aaa++) {
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int pos = stoplines.get(aaa);
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if (aaa==0){
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path.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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}else{
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path.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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}
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canvas2.drawPath(path,paint);
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}
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for (int jj = 0; jj < area.size(); jj++) {
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int pos = area.get(jj);
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if (jj==0){
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path.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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}else{
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path.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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}
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}
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path.close();
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canvas2.drawPath(path,paint);
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}
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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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paint.setPathEffect(null);
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paint.setColor(Color.BLACK);
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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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int line = 0;
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int map_line = 0;
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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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RoadExamMap examMaps ;
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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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producer.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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boolean flag = true;
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class CalRunnable implements Runnable{
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@Override
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public void run() {
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while (flag) {
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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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line =0 ;map_line=0;
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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<>();
|
|
tire.add(tire1.get(0));
|
tire.add(tire2.get(0));
|
tire.add(tire3.get(0));
|
tire.add(tire4.get(0));
|
|
|
if (buffer == null) {
|
|
buffer = FileUtil.readAssetTxtFile(_mActivity, Constant.ROAD_MAP);
|
Log.i(TAG, "ditu=" + buffer.toString().trim());
|
}
|
Type type = new TypeToken<RoadExamMap>() {
|
}.getType();
|
if (buffer != null) {
|
examMaps = gson.fromJson(buffer.toString().trim(), type);
|
}
|
if (examMaps != null) {
|
|
points = examMaps.getPoints();
|
if (points != null) {
|
map = new double[points.size() / 2][2];
|
for (int i = 0; i < points.size(); i++) {
|
if ((i % 2) == 0) {
|
map[map_line][0] = points.get(i);
|
|
} else {
|
double value = 0 - points.get(i);
|
map[map_line][1] = value;
|
map_line++;
|
}
|
}
|
}
|
}
|
|
DrawMap(mainAnt,map, car, body, tire, examMaps.getMaps());
|
|
}
|
|
}
|
}
|
|
|
}
|
@Override
|
public void onAttach(Context context) {
|
super.onAttach(context);
|
CEventCenter.onBindEvent(true, icEventListener, Constant.REAL_TIME_POS_CAR_TOPIC);
|
CEventCenter.onBindEvent(true, rtcmicEventListener, Constant.BIND_RTCM_TOPIC);
|
CEventCenter.onBindEvent(true, debugTxticEventListener, Constant.BIND_DEBUG_TXT);
|
CEventCenter.onBindEvent(true, speedListener, Constant.BIND_RTK_SPEED_TOPIC);
|
}
|
|
@Override
|
public void onDetach() {
|
super.onDetach();
|
flag = false;
|
producer.shutdown();
|
consumer.shutdown();
|
CEventCenter.onBindEvent(false, icEventListener, Constant.REAL_TIME_POS_CAR_TOPIC);
|
CEventCenter.onBindEvent(false, icEventListener, Constant.BIND_RTCM_TOPIC);
|
CEventCenter.onBindEvent(false, icEventListener, Constant.BIND_DEBUG_TXT);
|
CEventCenter.onBindEvent(false, speedListener, Constant.BIND_RTK_SPEED_TOPIC);
|
}
|
|
}
|
