package safeluck.drive.evaluation.util;
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import android.content.res.Resources;
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import android.graphics.PointF;
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import android.os.SystemClock;
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import android.util.Log;
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import android.util.TypedValue;
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import com.anyun.basecommonlib.MyLog;
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import com.anyun.exam.lib.util.ByteUtil;
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import com.google.gson.Gson;
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import com.safeluck.aykj.utils.BytesUtils;
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import java.io.File;
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import java.io.FileInputStream;
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import java.io.FileOutputStream;
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import java.math.BigDecimal;
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import java.nio.charset.Charset;
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import java.security.SecureRandom;
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import java.text.ParseException;
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import java.text.SimpleDateFormat;
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import java.util.ArrayList;
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import java.util.Arrays;
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import java.util.Calendar;
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import java.util.Collections;
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import java.util.Date;
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import java.util.List;
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import java.util.Random;
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import java.util.regex.Matcher;
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import java.util.regex.Pattern;
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import java.util.zip.ZipEntry;
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import java.util.zip.ZipFile;
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import java.util.zip.ZipOutputStream;
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import javax.crypto.Cipher;
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import javax.crypto.SecretKey;
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import javax.crypto.SecretKeyFactory;
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import javax.crypto.spec.DESKeySpec;
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import javax.crypto.spec.IvParameterSpec;
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import safeluck.drive.evaluation.app;
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import safeluck.drive.evaluation.bean.CarModel;
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import safeluck.drive.evaluation.bean.GisCarModel;
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import safeluck.drive.evaluation.bean.Point;
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import safeluck.drive.evaluation.httpmodule.GsonConverterFactory;
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import static java.lang.Math.cos;
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import static java.lang.Math.pow;
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import static java.lang.Math.sin;
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import static java.lang.Math.toRadians;
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/**
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* MyApplication2
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* Created by lzw on 2019/3/18. 13:13:42
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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 Utils {
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private static final String TAG = "Utils";
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public static float px2dp(float value){
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return TypedValue.applyDimension(TypedValue.COMPLEX_UNIT_DIP,value, Resources.getSystem().getDisplayMetrics());
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}
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/**
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* dp值转像素
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* @param dpValue
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* @return
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*/
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public static float dp2Px(int dpValue){
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return TypedValue.applyDimension(TypedValue.COMPLEX_UNIT_PX,dpValue,Resources.getSystem().getDisplayMetrics());
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}
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/**
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* 平台协议生成的校验码
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* @param bytes
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* @return
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*/
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public static byte calCheckCode(byte[] bytes){
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byte checkCode =0;
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// 参与运算的两个值，如果两个相应bit位相同，则结果为0，否则为1。
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for (int i = 0; i < bytes.length; i++) {
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checkCode ^= bytes[i];
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}
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return checkCode;
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}
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/**
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* 转义
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* 采用Ox7e表示，若校验码、消息头以及消息体中出现0x7e，则要进行转义处理，转义规则定义如下:
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* 0x7e<——>0x7d后紧跟一个0x02；
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* 0x7d<——>0x7d后紧跟一个0x01。
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* @param datas
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* @return
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*/
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public static byte[] transferMeaning(byte[] datas){
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byte [] temp = new byte[datas.length*2];
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int y = 0;
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temp[y++] = 0x7e;
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for (int i = 1; i < datas.length-1; i++) {
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if (datas[i] == 0x7E) {
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temp[y++] = 0x7D;
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temp[y++] = 0x02;
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} else if (datas[i] == 0x7D) {
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temp[y++] = 0x7D;
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temp[y++] = 0x01;
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} else {
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temp[y++] = datas[i];
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}
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}
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temp[y++] = 0x7e;
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byte[] tranferbytes = new byte[y];
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System.arraycopy(temp,0,tranferbytes,0,y);
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Log.i(TAG,"转义过后："+ ByteUtil.byte2hex(tranferbytes));
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return tranferbytes;
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}
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/**
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*接收消息时:转义还原
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* @param datas
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* @return
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*/
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public static byte[] parseMsg(byte[] datas){
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byte[] temp = new byte[datas.length];
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int y =0 ;
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for (int i = 0; i < datas.length; i++) {
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if (datas[i]==0x7d && datas[i+1]==0x02 ){
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temp[y++] = 0x7e;
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i++;
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continue;
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}else if (datas[i]==0x7d && datas[i+1]==0x01 ){
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temp[y++] = 0x7d;
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i++;
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continue;
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}else{
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temp[y++] = datas[i];
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}
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}
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return temp;
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}
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// public static boolean isDigital(String str) {
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// String regx= "^\\d+";
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// return str.matches(regx);
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// }
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// public static void main(String []args){
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// String str = "EB00020000031420010000000400A5";
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//// String str = "7EEB00020000031420010000000400A5007E";
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// String str1 = "EB000200000314200100000004030D00";
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//// String str1 = "7EEB000200000314200100000004030D00D57E";
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// String str2 = "EB000200000314200100000004035000";
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// byte [] dtas=BytesUtils.hexStringToBytes(str);
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// byte checkcode = calCheckCode(dtas);
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// System.out.println(BytesUtils.toHexString(checkcode));
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// }
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public static int[] getRandomInts(int size,int randomMax){
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Random random = new Random();
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int[] a=new int[size];
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int index=0;
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while(index<size){
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System.out.println("---------------");
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int temp=random.nextInt(randomMax);
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if(temp!=0&&!contains(a,temp)){
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a[index++]=temp;
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}
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}
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for(int i=0;i<a.length;i++){
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System.out.println(a[i]);
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}
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return a;
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}
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//该方法完成判断temp在a数组中是否包含
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//包含返回true
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public static boolean contains(int[] a,int temp){
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for(int i=0;i<a.length;i++){
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if(a[i]==temp){
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return true;
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}
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}
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return false;
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}
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public static String getHHmm(){
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String mMonth,mDay,mWay,mHours,mMinute;
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StringBuffer stringBuffer = new StringBuffer();
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Calendar calendar = Calendar.getInstance();
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mMonth = String.valueOf(calendar.get(Calendar.MONTH) + 1); //获取日期的月
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mDay = String.valueOf(calendar.get(Calendar.DAY_OF_MONTH)); //获取日期的天
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mWay = String.valueOf(calendar.get(Calendar.DAY_OF_WEEK)); //获取日期的星期
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/**
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* 如果小时是个位数
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*
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*则在前面价格“0”
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* */
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if (calendar.get(Calendar.HOUR) < 10) {
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mHours = "0" + calendar.get(Calendar.HOUR);
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} else {
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mHours = String.valueOf(calendar.get(Calendar.HOUR));
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}
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stringBuffer.append(mHours);
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stringBuffer.append(":");
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/**
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* 如果分钟是个位数
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*
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*则在前面价格“0”
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* */
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if (calendar.get(Calendar.MINUTE) < 10) {
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mMinute = "0" + calendar.get(Calendar.MINUTE);
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} else {
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mMinute = String.valueOf(calendar.get(Calendar.MINUTE));
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}
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stringBuffer.append(mMinute);
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/**
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* 获取星期
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* 并设置出来
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* */
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if ("1".equals(mWay)) {
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mWay = "天";
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} else if ("2".equals(mWay)) {
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mWay = "一";
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} else if ("3".equals(mWay)) {
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mWay = "二";
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} else if ("4".equals(mWay)) {
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mWay = "三";
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} else if ("5".equals(mWay)) {
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mWay = "四";
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} else if ("6".equals(mWay)) {
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mWay = "五";
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} else if ("7".equals(mWay)) {
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mWay = "六";
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}
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return stringBuffer.toString();
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}
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/**
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* 加密
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* @param datasource byte[]
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* @param password String
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* @return byte[]
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*/
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public static byte[] encrypt(byte[] datasource, String password) {
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try{
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SecureRandom random = new SecureRandom();
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DESKeySpec desKey = new DESKeySpec(password.getBytes());
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//创建一个密匙工厂，然后用它把DESKeySpec转换成
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SecretKeyFactory keyFactory = SecretKeyFactory.getInstance("DES");
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SecretKey securekey = keyFactory.generateSecret(desKey);
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//Cipher对象实际完成加密操作
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Cipher cipher = Cipher.getInstance("DES");
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//用密匙初始化Cipher对象
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cipher.init(Cipher.ENCRYPT_MODE, securekey, random);
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//现在，获取数据并加密
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//正式执行加密操作
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return cipher.doFinal(datasource);
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}catch(Throwable e){
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e.printStackTrace();
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}
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return null;
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} /**
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* 二维码加密
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* @param datasource byte[]
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* @param password String
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* @return byte[]
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*/
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public static byte[] qrencrypt(byte[] datasource, String password) {
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try{
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Cipher cipher = Cipher.getInstance("DES/CBC/PKCS5Padding");
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DESKeySpec desKeySpec = new DESKeySpec(password.getBytes());
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SecretKeyFactory keyFactory = SecretKeyFactory.getInstance("DES");
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SecretKey securekey = keyFactory.generateSecret(desKeySpec);
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IvParameterSpec desKey = new IvParameterSpec(password.getBytes());
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//创建一个密匙工厂，然后用它把DESKeySpec转换成
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//Cipher对象实际完成加密操作
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//用密匙初始化Cipher对象
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cipher.init(Cipher.ENCRYPT_MODE, securekey, desKey);
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//现在，获取数据并加密
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//正式执行加密操作
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return cipher.doFinal(datasource);
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}catch(Throwable e){
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e.printStackTrace();
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}
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return null;
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}
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/**
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* 解密
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* @param src byte[]
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* @param password String
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* @return byte[]
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* @throws Exception
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*/
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public static byte[] decrypt(byte[] src, String password) throws Exception {
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// DES算法要求有一个可信任的随机数源
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SecureRandom random = new SecureRandom();
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// 创建一个DESKeySpec对象
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DESKeySpec desKey = new DESKeySpec(password.getBytes());
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// 创建一个密匙工厂
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SecretKeyFactory keyFactory = SecretKeyFactory.getInstance("DES");
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// 将DESKeySpec对象转换成SecretKey对象
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SecretKey securekey = keyFactory.generateSecret(desKey);
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// Cipher对象实际完成解密操作
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Cipher cipher = Cipher.getInstance("DES");
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// 用密匙初始化Cipher对象
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cipher.init(Cipher.DECRYPT_MODE, securekey, random);
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// 真正开始解密操作
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return cipher.doFinal(src);
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}
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public static int parseUnsignedInt(String s, int radix)
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throws NumberFormatException {
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if (s == null) {
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throw new NumberFormatException("null");
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}
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int len = s.length();
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if (len > 0) {
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char firstChar = s.charAt(0);
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if (firstChar == '-') {
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throw new
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NumberFormatException(String.format("Illegal leading minus sign " +
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"on unsigned string %s.", s));
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} else {
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if (len <= 5 || // Integer.MAX_VALUE in Character.MAX_RADIX is 6 digits
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(radix == 10 && len <= 9) ) { // Integer.MAX_VALUE in base 10 is 10 digits
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return Integer.parseInt(s, radix);
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} else {
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long ell = Long.parseLong(s, radix);
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if ((ell & 0xffff_ffff_0000_0000L) == 0) {
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return (int) ell;
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} else {
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throw new
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NumberFormatException(String.format("String value %s exceeds " +
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"range of unsigned int.", s));
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}
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}
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}
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} else {
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throw new NumberFormatException("For input string: \"" + s + "\"");
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}
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}
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public static void main(String[] args){
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long longCurrTIme = System.currentTimeMillis()/1000;
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long CurrTIme = System.currentTimeMillis();
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System.out.println("longCurrTIme="+longCurrTIme);
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System.out.println("intCurrTIme="+CurrTIme);
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int unsignedTime= parseUnsignedInt(String.valueOf(longCurrTIme),10);
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System.out.println("unsigned int time = "+unsignedTime);
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Point p1 = new Point(2.55,1.0);
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Point p2 = new Point(1.55,1.0);
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System.out.println(Calc3Point(p1,p2,1.0).toString());
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System.out.println( isDigital("2003233d"));
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System.out.println( isDigital("d2003233"));
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System.out.println( dateToLongSec("20200330101455"));
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Date date = new Date(utc2NetWorkTime("20200330142612"));
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System.out.println(date.getTime() );
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System.out.println("date="+formatTimeYYMMDDHHmmSS(date.getTime()) );
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System.out.println( formatTimeYYMMDDHHmmSS(1585578372000L));
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System.out.println( "============================");
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String utc =utc2NetWorkTimeMillSeconds("20200401014101.400");
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System.out.println(utc );
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String sss ="{\"utc\":\"20200401014101.40\",\"qf\":3,\"coord_x\":-7630.0,\"coord_x_dir\":\"N\",\"coord_y\":16570.0,\"coord_y_dir\":\"E\",\"heading\":90.0,\"pitch\":0.0,\"roll\":0.0,\"sat_num\":14,\"latitude\":33.26948983333333,\"longitude\":120.78270283333333,\"altitude\":58.9666,\"speed\":1.72591488,\"track_ture\":90.0}";
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sss= sss.replaceFirst("[1-9]\\d*\\.\\d*|0\\.\\d*[1-9]\\d*",utc);
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System.out.println(String.format("ssss=%s",sss));
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String str = "{\"result\":true,\"data\":{\"server\":\"gps.safeluck.com\",\"port\":\"3301\",\"map_json\":{\"axial\":[0.0,12.0],\"left_front_tire\":[8.0,9.0],\"main_ant\":[-9151.5063,13030.5118],\"right_front_tire\":[20.0,21.0],\"right_rear_tire\":[22.0,23.0],\"name\":\"科二场考车模型\",\"left_rear_tire\":[10.0,11.0],\"type\":\"car\",\"body\":[0.0,1.0,2.0,3.0,4.0,5.0,6.0,7.0,12.0,13.0,14.0,15.0,16.0,17.0,18.0,19.0],\"point\":[-9149.6063,13033.0768,-9149.9978,13033.3124,-9150.3258,13033.3485,-9150.8341,13032.8985,-9151.7318,13031.6639,-9152.3573,13030.83,-9152.5214,13030.5639,-9152.602,13030.3105,-9150.8053,13032.8843,-9150.6537,13032.7602,-9152.3352,13030.8124,-9152.221,13030.7008,-9152.092,13029.7892,-9151.4638,13029.4333,-9151.2111,13029.568,-9150.9808,13029.8341,-9150.3546,13030.6796,-9149.458,13031.8642,-9149.1611,13032.4276,-9149.2827,13032.7653,-9149.4842,13031.8708,-9149.6176,13031.9937,-9151.0011,13029.8717,-9151.1367,13029.9878]},\"pzh\":\"豫E8000测\"}}";
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System.out.println("http="+parseHttpRsp(str));
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}
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public static String parseHttpRsp(String str){
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StringBuilder stringBuilder = new StringBuilder();
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int begin =0;
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String patternAll = "\\d+\\.[0-9]{1,4}";
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Pattern all = Pattern.compile(patternAll);
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Matcher mall = all.matcher(str);
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int k = 0;
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String pattern111 = "^\\d{1,2}\\.[0]{1}$";
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Pattern pattern1111= Pattern.compile(pattern111);
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while (mall.find()){
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String temp=mall.group();
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Matcher mmm = pattern1111.matcher(temp);
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int start =mall.start();
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int end= mall.end();
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if (mmm.matches()){
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String mmmStr = mmm.group();
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String intNumber = mmmStr.substring(0,mmmStr.indexOf("."));
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System.out.println("mmmStr="+mmmStr+" intNumber="+intNumber+" start="+start+"end="+end);
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String bbbb = str.substring(begin,start);
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stringBuilder.append(bbbb+intNumber);
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begin = 0;
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begin+=end;
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k++;
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}
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}
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stringBuilder.append(str.substring(begin));
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return stringBuilder.toString();
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}
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public static Point Calc3Point(Point p1,Point p2,double L ){
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Point p3 = new Point(0.0,0.0);
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System.out.println(p1.toString()+" "+p2.toString());
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if (isEqual(p1.getX(), p2.getX())) {
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p3.setY( p2.getY());
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if (p2.getY() > p1.getY()) {
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p3.setX(p2.getX() - L);
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} else {
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p3.setX(p2.getX() + L) ;
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}
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return p3;
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}
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if (isEqual(p1.getY(), p2.getY())) {
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p3.setX(p2.getX());
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if (p2.getX() > p1.getX()) {
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p3.setY(p2.getY()+L);
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} else {
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p3.setY(p2.getY() - L);
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}
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return p3;
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}
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double k = (p2.getY() - p1.getY()) / (p2.getX() - p1.getX());
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double b = p1.getY() - k*p1.getX();
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double A = 1 + pow(k, 2);
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double B = 2*k*(b - p2.getY()) - 2*p2.getX();
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double C = pow(b - p2.getY(), 2) + pow(p2.getX(), 2) - pow(L,2);
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double x3, y3;
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if (p1.getX() < p2.getX()) {
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x3 = (- B - Math.sqrt(pow(B, 2) - 4*A*C))/(2*A);
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} else {
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x3 = (- B + Math.sqrt(pow(B, 2) - 4*A*C))/(2*A);
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}
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y3 = k * x3 + b;
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p3.setX(x3);
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p3.setY(y3);
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p3 = rotatePoint(p3, p2, 270);
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return p3;
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}
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private static boolean isEqual(double a,double b){
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return (Math.abs(a-b)<1e-3);
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}
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public static Point rotatePoint(Point oldPoint,Point centre,double degree){
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Point newPoint = new Point(0.0,0.0);
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newPoint.setX(getdouble((oldPoint.getX()-centre.getX())*cos(toRadians(degree)) -
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(oldPoint.getY()-centre.getY())*sin(toRadians(degree)) + centre.getX(),4)) ;
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newPoint.setY(getdouble( (oldPoint.getX()-centre.getX())*sin(toRadians(degree))
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+ (oldPoint.getY()-centre.getY())*cos(toRadians(degree)) + centre.getY(),4));
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return newPoint;
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}
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/**
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* 对double保留几位小数
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*/
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public static Double getdouble(Double d,int reserve) {
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BigDecimal b= new BigDecimal(d);
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return b.setScale(reserve, BigDecimal.ROUND_HALF_UP).doubleValue();
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}
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public static double YawOf(Point p1, Point p2)
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{
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double deg = 0.0;
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if (Math.abs(p1.getY() - p2.getY()) <= 1e-3) {
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if (p1.getX() > p2.getX()) {
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deg = 90;
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} else {
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deg = 270;
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}
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} else if (Math.abs(p1.getX() - p2.getX()) <= 1e-3) {
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if (p1.getY() > p2.getY()) {
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deg = 0;
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} else {
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deg = 180;
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}
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} else {
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deg = Math.atan(Math.abs(p1.getX() - p2.getX()) /
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Math.abs(p1.getY() - p2.getY()));
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deg = Math.toDegrees(deg);
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if (p1.getX() > p2.getX() &&
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p1.getY() > p2.getY()) {
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} else if (p1.getX() < p2.getX() &&
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p1.getY() > p2.getY()) {
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deg = 360 - deg;
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} else if (p1.getX() < p2.getX() &&
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p1.getY() < p2.getY()) {
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deg = 180 + deg;
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} else if (p1.getX() > p2.getX() &&
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p1.getY() < p2.getY()) {
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deg = 180 - deg;
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}
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}
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return deg;
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}
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public static String formatTimeYYMMDDHHmmSS(long begin_time) {
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SimpleDateFormat simpleDateFormat = new SimpleDateFormat("yyyy-MM-dd HH:mm:ss");
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return simpleDateFormat.format(begin_time);
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}
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public static String formatTimeYYMMDDHHmmSSSSS(long begin_time) {
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SimpleDateFormat simpleDateFormat = new SimpleDateFormat("yyyy-MM-dd HH:mm:ss.SSS");
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return simpleDateFormat.format(begin_time);
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}
|
|
public static boolean isDigital(String str){
|
String regx = "^[0-9]*$";
|
Pattern pattern = Pattern.compile(regx);
|
Matcher matcher = pattern.matcher(str);
|
return matcher.matches();
|
}
|
|
public static long dateToLongSec(String utc) {
|
// MyLog.i("dateToLongSec:"+utc);
|
SimpleDateFormat simpleDateFormat = new SimpleDateFormat("yyyyMMddHHmmss");
|
Date date = null;
|
try {
|
date = simpleDateFormat.parse(utc);
|
} catch (ParseException e) {
|
e.printStackTrace();
|
}
|
if (date==null){
|
// MyLog.i("dateToLongSec date==null");
|
return new Date().getTime();
|
}
|
return date.getTime()/1000;
|
}
|
|
public static long utc2NetWorkTime(String utc){
|
SimpleDateFormat simpleDateFormat = new SimpleDateFormat("yyyyMMddHHmmss");
|
Date date = null;
|
try {
|
date = simpleDateFormat.parse(utc);
|
} catch (ParseException e) {
|
e.printStackTrace();
|
}
|
long utcTime = date.getTime()+8*60*60*1000;
|
return utcTime;
|
}
|
public static String utc2NetWorkTimeMillSeconds(String utcMillSeconds){
|
SimpleDateFormat simpleDateFormat = new SimpleDateFormat("yyyyMMddHHmmss.SSS");
|
Date date = null;
|
try {
|
date = simpleDateFormat.parse(utcMillSeconds);
|
} catch (ParseException e) {
|
e.printStackTrace();
|
}
|
long utcTime = date.getTime()+8*60*60*1000;
|
date.setTime(utcTime);
|
return simpleDateFormat.format(date);
|
}
|
|
public static void zipFolder(String srcFileString,String zipFileString) throws Exception{
|
//创建zip
|
ZipOutputStream outZip = new ZipOutputStream(new FileOutputStream(zipFileString));
|
|
//创建文件
|
File file = new File(srcFileString);
|
//压缩
|
System.out.println("----->"+file.getParent()+"==="+file.getAbsolutePath());
|
zipFiles(file.getParent()+File.separator,file.getName(),outZip);
|
outZip.finish();
|
outZip.close();
|
}
|
|
/**
|
* 压缩文件
|
* @param folderString
|
* @param fileString
|
* @param outZip
|
*/
|
private static void zipFiles(String folderString, String fileString, ZipOutputStream outZip)
|
throws Exception{
|
System.out.println("folderString="+folderString+ "\n" +
|
"fileString:" + fileString + "\n==========================");
|
if (outZip == null){
|
return;
|
}
|
File file = new File(folderString + fileString);
|
if (file.isFile()){
|
ZipEntry zipEntry = new ZipEntry(fileString);
|
FileInputStream fileInputStream = new FileInputStream(file);
|
outZip.putNextEntry(zipEntry);
|
int len = 0;
|
byte[] buffer = new byte[1024];
|
while ((len=fileInputStream.read(buffer))!=-1){
|
outZip.write(buffer,0,len);
|
}
|
outZip.closeEntry();
|
}else{
|
//文件夹
|
String []fileList = file.list();
|
//没有子文件的压缩
|
if (fileList.length<=0){
|
ZipEntry zipEntry = new ZipEntry(fileString+File.separator);
|
outZip.putNextEntry(zipEntry);
|
outZip.closeEntry();
|
}else{
|
for (int i = 0; i < fileList.length; i++) {
|
zipFiles(folderString+fileString+"/",fileList[i],outZip);
|
}
|
}
|
}
|
|
}
|
|
|
public static List<CarModel> getCarModelData(Point basePoint, List<Integer> axial, List<Point> car){
|
List<CarModel> carModelList = new ArrayList<>();
|
double C02= (car.get(0).getX()-basePoint.getX())*(car.get(0).getX()-basePoint.getX()) + (car.get(0).getY()-basePoint.getY())*(car.get(0).getY()-basePoint.getY());
|
double c0 = Math.sqrt(C02);
|
CarModel carModel = new CarModel();
|
carModel.setDistance(c0);
|
carModel.setAngle(0.0);
|
carModelList.add(carModel);
|
|
for (int i = 1; i < car.size(); ++i) {
|
double dis2 = (car.get(i).getX()-basePoint.getX())*(car.get(i).getX()-basePoint.getX()) + (car.get(i).getY()-basePoint.getY())*(car.get(i).getY()-basePoint.getY());
|
double dis = Math.sqrt(dis2);
|
|
CarModel c =new CarModel();
|
c.setDistance(dis);
|
|
c.setAngle(180 * Math.acos((dis2 + C02 - ((car.get(i).getX()-car.get(0).getX())*(car.get(i).getX()-car.get(0).getX()) +
|
(car.get(i).getY()-car.get(0).getY())*(car.get(i).getY()-car.get(0).getY())))/(2*c0*dis)) / Math.PI);
|
|
if (i > axial.get(1)){
|
c.setAngle( 360.0 - c.getAngle());
|
}
|
carModelList.add(c);
|
}
|
return carModelList;
|
}
|
|
public static List<Point> getCarPoint(double pitch,double yaw,Point point){
|
pitch = 0;
|
// yaw = 45;
|
Point main_ant = point;
|
List<Point> carNew = new ArrayList<>();
|
StringBuffer buffer=FileUtil.readAssetTxtFile(app.getAppContext(),"giscar.json");
|
Log.i(TAG,"giscar="+buffer.toString());
|
GisCarModel gisCarModel= new Gson().fromJson(buffer.toString(),GisCarModel.class);
|
List<Point> pointList = new ArrayList<Point>() ;
|
for (int i = 0; i < gisCarModel.getPoint().size(); i++) {
|
double x= gisCarModel.getPoint().get(i);
|
i++;
|
double y= gisCarModel.getPoint().get(i);
|
pointList.add(new Point(x,y));
|
|
|
|
}
|
double mainAnt_x = gisCarModel.getMain_ant().get(0);
|
double mainAnt_y = gisCarModel.getMain_ant().get(1);
|
List<CarModel> carModels = getCarModelData(new Point(mainAnt_x, mainAnt_y),gisCarModel.getAxial(),pointList);
|
if (carModels != null && carModels.size()>0){
|
|
for (int i = 0; i < carModels.size(); ++i) {
|
Log.i(TAG,String.format("位置[%d],distance=%f,angle=%f",i,carModels.get(i).getDistance(),carModels.get(i).getAngle()));
|
double qrx = carModels.get(i).getDistance() * Math.sin(carModels.get(i).getAngle() * Math.PI / 180);
|
double qry = carModels.get(i).getDistance() * Math.cos(carModels.get(i).getAngle() * Math.PI / 180) * Math.cos(pitch * Math.PI / 180);
|
|
double projectDistance = Math.sqrt(Math.pow(qrx, 2) + Math.pow(qry, 2));
|
double projectAngle = Math.acos(qry / projectDistance) * 180 / Math.PI;
|
|
if (carModels.get(i).getAngle() > 180) {
|
projectAngle = 360 - projectAngle;
|
}
|
|
double X =
|
projectDistance * Math.sin(yaw * Math.PI / 180) * Math.cos(projectAngle * Math.PI / 180) -
|
projectDistance * Math.cos(yaw * Math.PI / 180) * Math.sin(projectAngle * Math.PI / 180) +
|
main_ant.getX();
|
double Y =
|
projectDistance * Math.sin(yaw * Math.PI / 180) * Math.sin(projectAngle * Math.PI / 180) +
|
projectDistance * Math.cos(yaw * Math.PI / 180) * Math.cos(projectAngle * Math.PI / 180) +
|
main_ant.getY();
|
carNew.add(new Point(X,Y));
|
|
}
|
}
|
return carNew;
|
|
|
}
|
}
|
