完整版科三道路

endian11

2020-12-01 f1e0868392f26cea1ccd45ec78d759d5205e5dc4

完整版科三道路

 app/src/main/java/safeluck/drive/evaluation/bean/RoadExamMap3.java

New file
@@ -0,0 +1,486 @@
package safeluck.drive.evaluation.bean;

import java.util.List;

/**
 * DriveJudge
 * Created by lzw on 2020/12/1. 16:40:59
 * 邮箱：632393724@qq.com
 * All Rights Saved! Chongqing AnYun Tech co. LTD
 */
public class RoadExamMap3 {

    /**
     * name : 涪陵交通驾校road新增
     * points : [428097.3494,3292398.695,428839.3222,3292353.4694,428904.1984,3292342.3202,428909.2188,3292339.5687,428912.7048,3292335.2346,428914.3318,3292329.5423,428914.6448,3292229.2849,428914.3495,3292199.2617,427794.2684,3291847.891,427843.6031,3291848.2677,427794.2538,3291837.5986,427843.6031,3291837.5968,427794.2634,3291844.3909,427813.6031,3291844.3819,427843.6032,3291844.3677,427794.2585,3291840.8909,427813.6032,3291840.8819,427843.6031,3291840.8677,427889.6681,3291847.846,428859.3318,3291847.3888,428867.0733,3291849.9062,428872.3885,3291854.6058,427889.5344,3291837.553,428859.2109,3291837.0889,428867.8127,3291838.5584,428874.5509,3291842.4758,428879.5036,3291848.2172,428882.2786,3291854.9625,427889.5864,3291844.346,428859.3301,3291843.8888,427889.6754,3291840.846,428859.3284,3291840.3888,428871.961,3291854.9222,428866.767,3291850.2715,428859.332,3291847.7888,427889.6054,3291848.246,428868.1235,3291860.6933,428866.8461,3291859.1589,428864.0891,3291858.1862,428859.5321,3291858.1876,427889.6569,3291858.4876,428859.3337,3291851.2888,427920.2527,3291851.7316,427890.1442,3291851.7458,428859.3354,3291854.7888,427919.9881,3291855.2317,427889.6601,3291855.246,427843.6083,3291847.8677,427794.269,3291848.291,427843.6031,3291858.6714,427794.2836,3291858.6265,427843.6031,3291851.7677,427794.2739,3291851.791,427843.7076,3291855.2677,427794.2789,3291855.291]
     * red_line : [{"id":0,"points":[291,292],"type":4},{"id":1,"points":[292,294],"type":4},{"id":2,"points":[295,296,297,298,299,300,301,302,303,304,305,306,307,308,309],"type":1},{"id":3,"points":[310,311,312,313,314,315,316,317,318,319,320,321,322,323,324,325,326],"type":1},{"id":4,"points":[327,328],"type":4},{"id":5,"points":[329,330],"type":4},{"id":6,"points":[331,332],"type":4}]
     * road : [{"active":0,"crossing":[{"active":2,"center_point":55,"line":[26,140],"stop_flag":0,"tts":"路口左转弯"}],"id":10,"left_edge":[{"line":[352,353,354,355,356,357,358,359,360,361,362,363,364],"type":1}],"next_road":11,"right_edge":[{"line":[333,334,335,336,337,338,339,340,341,342,343,344,345,346,347,348,349,350,351],"type":1}],"separate":[{"lane_guide":[{"guide":[2,1,1],"head_tail":[379,380]}],"lane_line":[[{"line":[365,366,367,368,369,370,371,372,373,374,375,376,377,378,379],"type":0},{"line":[379,380],"type":1}],[{"line":[381,382,383,384,385,386,387,388,389,390,391,392,393,394],"type":0},{"line":[394,395],"type":1}]]}],"start_line":[352,333]},{"active":0,"crossing":[{"active":2,"center_point":55,"line":[26,140],"stop_flag":0,"tts":"路口左转弯"}],"id":11,"left_edge":[{"line":[396,397],"type":1}],"next_road":12,"right_edge":[{"line":[398,399,400,401,402],"type":1}],"separate":[{"lane_guide":[{"guide":[4,2,2],"head_tail":[404,405]}],"lane_line":[[{"line":[403,404],"type":0},{"line":[404,405],"type":1}],[{"line":[406,407],"type":0},{"line":[407,408],"type":1}]]}],"start_line":[396,398]},{"active":0,"crossing":[{"active":2,"center_point":55,"line":[26,140],"stop_flag":0,"tts":"路口左转弯"}],"id":13,"left_edge":[{"line":[409,410],"type":1}],"next_road":14,"right_edge":[{"line":[425,426],"type":1}],"separate":[{"lane_guide":[{"guide":[8,1,4],"head_tail":[444,445]}],"lane_line":[[{"line":[443,444],"type":0},{"line":[444,445],"type":1}],[{"line":[446,447],"type":0},{"line":[447,448],"type":1}]]}],"start_line":[409,425]},{"active":0,"crossing":[{"active":2,"center_point":55,"line":[26,140],"stop_flag":0,"tts":"路口左转弯"}],"id":14,"left_edge":[{"line":[411,412,413,414,415,416,417,418,419,420,421,422,423,424],"type":1}],"next_road":1,"right_edge":[{"line":[427,428,429,430,431,432,433,434,435,436,437,438,439,440,441,442],"type":1}],"separate":[{"lane_guide":[{"guide":[4,1,1],"head_tail":[461,462]}],"lane_line":[[{"line":[449,450,451,452,453,454,455,456,457,458,459,460,461],"type":0},{"line":[461,462],"type":1}],[{"line":[463,464,465,466,467,468,469,470,471,472,473,474,475],"type":0},{"line":[475,476],"type":1}]]}],"start_line":[411,427]},{"active":0,"crossing":[{"active":2,"center_point":55,"line":[26,140],"stop_flag":0,"tts":"路口左转弯"}],"id":15,"left_edge":[{"line":[477,478],"type":1}],"next_road":16,"right_edge":[{"line":[479,480],"type":1}],"separate":[{"lane_guide":[{"guide":[2,1,1],"head_tail":[482,483]}],"lane_line":[[{"line":[481,482],"type":0},{"line":[482,483],"type":1}],[{"line":[484,485],"type":0},{"line":[485,486],"type":1}]]}],"start_line":[477,479]},{"active":0,"crossing":[{"active":2,"center_point":55,"line":[26,140],"stop_flag":0,"tts":"路口左转弯"}],"id":16,"left_edge":[{"line":[487,488,489,490],"type":1}],"next_road":1,"right_edge":[{"line":[491,492,493,494,495,496],"type":1}],"separate":[{"lane_line":[[{"line":[497,498],"type":0}],[{"line":[499,500],"type":0}]]}],"start_line":[487,491]},{"active":0,"crossing":[{"active":2,"center_point":55,"line":[26,140],"stop_flag":0,"tts":"路口左转弯"}],"id":17,"left_edge":[{"line":[501,502,503,504],"type":1}],"next_road":1,"right_edge":[{"line":[505,506,507,508,509],"type":1}],"separate":[{"lane_guide":[{"guide":[8,1,4],"head_tail":[511,512]}],"lane_line":[[{"line":[510,511],"type":0},{"line":[511,512],"type":1}],[{"line":[513,514],"type":0},{"line":[514,515],"type":1}]]}],"start_line":[501,505]},{"active":0,"crossing":[{"active":2,"center_point":55,"line":[26,140],"stop_flag":0,"tts":"路口左转弯"}],"id":18,"left_edge":[{"line":[516,517],"type":1}],"next_road":16,"right_edge":[{"line":[518,519],"type":1}],"separate":[{"lane_line":[[{"line":[520,521],"type":0}],[{"line":[522,523],"type":0}]]}],"start_line":[516,518]},{"active":0,"crossing":[{"active":2,"center_point":55,"line":[26,140],"stop_flag":0,"tts":"路口左转弯"}],"id":1,"left_edge":[{"line":[118,121,123,125,127,129,132,137,140],"type":1}],"next_road":2,"right_edge":[{"line":[0,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26],"type":1}],"separate":[{"lane_line":[[{"line":[117,120,122,124,126,128,131],"type":0}]]},{"lane_guide":[{"guide":[2,1,4],"head_tail":[135,139]}],"lane_line":[[{"line":[131,135],"type":0},{"line":[135,139],"type":1}],[{"line":[130,133],"type":0},{"line":[133,138],"type":1}]]}],"start_line":[0,118]},{"active":0,"crossing":[{"active":1,"center_point":0,"line":[37,178],"stop_flag":0,"tts":"通过路口"}],"id":2,"left_edge":[{"line":[155,157,162,165,168,171,178],"type":1}],"next_road":5,"right_edge":[{"line":[28,29,30,31,32,33,34,35,36,37],"type":1}],"separate":[{"lane_guide":[{"guide":[1,1,4],"head_tail":[174,177]}],"lane_line":[[{"line":[159,161,164,167,170,174],"type":0},{"line":[174,177],"type":1}],[{"line":[158,160,163,166,169,172],"type":0},{"line":[172,176],"type":1}]]}],"start_line":[28,155]},{"active":0,"crossing":[{"active":1,"center_point":0,"line":[81,245],"stop_flag":0,"tts":"通过路口"}],"id":3,"left_edge":[{"line":[217,223,226,229,232,235,238,245],"type":1}],"next_road":6,"right_edge":[{"line":[64,66,67,68,69,70,71,72,73,76,78,80,85],"type":1}],"separate":[{"lane_guide":[{"guide":[2,1,1],"head_tail":[239,243]}],"lane_line":[[{"line":[220,222,225,228,231,234,237,241],"type":0},{"line":[241,244],"type":1}],[{"line":[219,221,224,227,230,233,236,239],"type":0},{"line":[239,243],"type":1}]]}],"start_line":[64,217]},{"active":0,"crossing":[{"active":8,"center_point":0,"line":[115,153],"stop_flag":0,"tts":"调头"}],"id":4,"left_edge":[{"line":[141,145,147,149,153],"type":1}],"next_road":0,"right_edge":[{"line":[104,106,107,108,109,110,111,112,113,114,115],"type":1}],"separate":[{"lane_guide":[{"guide":[3,1],"head_tail":[150,152]}],"lane_line":[[{"line":[143,144,146,148,150],"type":0},{"line":[150,152],"type":1}]]}],"start_line":[101,141]},{"active":8,"crossing":[{"active":8,"center_point":0,"line":[62,215],"stop_flag":0,"tts":"掉头"}],"id":5,"left_edge":[{"line":[184,188,191,194,197,200,203,206,209,212,215],"type":1}],"next_road":3,"right_edge":[{"line":[40,42,43,44,45,48,51,54,55,56,57,58,59,60,61,62],"type":1}],"separate":[{"lane_line":[[{"line":[183,187,190,193,196,199,202,205,208,211,214],"type":0}],[{"line":[182,186,189,192,195,198,201,204,207,210,213],"type":0}]]}],"start_line":[180,184]},{"active":0,"crossing":[{"active":4,"center_point":0,"line":[98,285],"stop_flag":0,"tts":"路口右转弯"}],"id":6,"left_edge":[{"line":[249,253,256,259,262,263,268,271,274,279,282,285],"type":1}],"next_road":4,"right_edge":[{"line":[85,86,87,89,92,93,94,95,96,97,98],"type":1}],"separate":[{"lane_guide":[{"guide":[2,1,5],"head_tail":[275,283]}],"lane_line":[[{"line":[248,252,255,258,261,264,267,270,273,277],"type":0},{"line":[277,281,284],"type":1}],[{"line":[247,251,254,257,260,265,266,269,272,275],"type":0},{"line":[275,280,283],"type":1}]]}],"start_line":[85,249]}]
     * special_area : [{"area":[39,40],"id":0,"road":2,"type":0},{"area":[45,47],"id":1,"road":5,"type":0},{"area":[48,50],"id":2,"road":5,"type":2},{"area":[51,53],"id":3,"road":5,"type":0},{"area":[73,75],"id":4,"road":3,"type":0},{"area":[76,78],"id":5,"road":3,"type":2},{"area":[82,83],"id":6,"road":3,"type":0},{"area":[83,87],"id":7,"road":6,"type":1},{"area":[89,91],"id":8,"road":6,"type":0},{"area":[100,101],"id":9,"road":6,"type":0},{"area":[102,104],"id":10,"road":4,"type":0},{"area":[180,43],"id":11,"road":5,"type":1}]
     * trigger_line : [{"id":0,"line":[287],"road":5,"tts":"变更车道","type":1},{"id":1,"line":[288],"road":5,"tts":"加减档","type":4},{"id":2,"line":[289],"road":3,"tts":"直线行驶","type":3},{"id":3,"line":[290],"road":3,"tts":"超车","type":2}]
     * type : road
     */

    private String name;
    private String type;
    private List<Double> points;
    private List<RedLineBean> red_line;
    private List<RoadBean> road;
    private List<SpecialAreaBean> special_area;
    private List<TriggerLineBean> trigger_line;

    public String getName() {
        return name;
    }

    public void setName(String name) {
        this.name = name;
    }

    public String getType() {
        return type;
    }

    public void setType(String type) {
        this.type = type;
    }

    public List<Double> getPoints() {
        return points;
    }

    public void setPoints(List<Double> points) {
        this.points = points;
    }

    public List<RedLineBean> getRed_line() {
        return red_line;
    }

    public void setRed_line(List<RedLineBean> red_line) {
        this.red_line = red_line;
    }

    public List<RoadBean> getRoad() {
        return road;
    }

    public void setRoad(List<RoadBean> road) {
        this.road = road;
    }

    public List<SpecialAreaBean> getSpecial_area() {
        return special_area;
    }

    public void setSpecial_area(List<SpecialAreaBean> special_area) {
        this.special_area = special_area;
    }

    public List<TriggerLineBean> getTrigger_line() {
        return trigger_line;
    }

    public void setTrigger_line(List<TriggerLineBean> trigger_line) {
        this.trigger_line = trigger_line;
    }

    public static class RedLineBean {
        /**
         * id : 0
         * points : [291,292]
         * type : 4
         */

        private int id;
        private int type;
        private List<Integer> points;

        public int getId() {
            return id;
        }

        public void setId(int id) {
            this.id = id;
        }

        public int getType() {
            return type;
        }

        public void setType(int type) {
            this.type = type;
        }

        public List<Integer> getPoints() {
            return points;
        }

        public void setPoints(List<Integer> points) {
            this.points = points;
        }
    }

    public static class RoadBean {
        /**
         * active : 0
         * crossing : [{"active":2,"center_point":55,"line":[26,140],"stop_flag":0,"tts":"路口左转弯"}]
         * id : 10
         * left_edge : [{"line":[352,353,354,355,356,357,358,359,360,361,362,363,364],"type":1}]
         * next_road : 11
         * right_edge : [{"line":[333,334,335,336,337,338,339,340,341,342,343,344,345,346,347,348,349,350,351],"type":1}]
         * separate : [{"lane_guide":[{"guide":[2,1,1],"head_tail":[379,380]}],"lane_line":[[{"line":[365,366,367,368,369,370,371,372,373,374,375,376,377,378,379],"type":0},{"line":[379,380],"type":1}],[{"line":[381,382,383,384,385,386,387,388,389,390,391,392,393,394],"type":0},{"line":[394,395],"type":1}]]}]
         * start_line : [352,333]
         */

        private int active;
        private int id;
        private int next_road;
        private List<CrossingBean> crossing;
        private List<LeftEdgeBean> left_edge;
        private List<RightEdgeBean> right_edge;
        private List<SeparateBean> separate;
        private List<Integer> start_line;

        public int getActive() {
            return active;
        }

        public void setActive(int active) {
            this.active = active;
        }

        public int getId() {
            return id;
        }

        public void setId(int id) {
            this.id = id;
        }

        public int getNext_road() {
            return next_road;
        }

        public void setNext_road(int next_road) {
            this.next_road = next_road;
        }

        public List<CrossingBean> getCrossing() {
            return crossing;
        }

        public void setCrossing(List<CrossingBean> crossing) {
            this.crossing = crossing;
        }

        public List<LeftEdgeBean> getLeft_edge() {
            return left_edge;
        }

        public void setLeft_edge(List<LeftEdgeBean> left_edge) {
            this.left_edge = left_edge;
        }

        public List<RightEdgeBean> getRight_edge() {
            return right_edge;
        }

        public void setRight_edge(List<RightEdgeBean> right_edge) {
            this.right_edge = right_edge;
        }

        public List<SeparateBean> getSeparate() {
            return separate;
        }

        public void setSeparate(List<SeparateBean> separate) {
            this.separate = separate;
        }

        public List<Integer> getStart_line() {
            return start_line;
        }

        public void setStart_line(List<Integer> start_line) {
            this.start_line = start_line;
        }

        public static class CrossingBean {
            /**
             * active : 2
             * center_point : 55
             * line : [26,140]
             * stop_flag : 0
             * tts : 路口左转弯
             */

            private int active;
            private int center_point;
            private int stop_flag;
            private String tts;
            private List<Integer> line;

            public int getActive() {
                return active;
            }

            public void setActive(int active) {
                this.active = active;
            }

            public int getCenter_point() {
                return center_point;
            }

            public void setCenter_point(int center_point) {
                this.center_point = center_point;
            }

            public int getStop_flag() {
                return stop_flag;
            }

            public void setStop_flag(int stop_flag) {
                this.stop_flag = stop_flag;
            }

            public String getTts() {
                return tts;
            }

            public void setTts(String tts) {
                this.tts = tts;
            }

            public List<Integer> getLine() {
                return line;
            }

            public void setLine(List<Integer> line) {
                this.line = line;
            }
        }

        public static class LeftEdgeBean {
            /**
             * line : [352,353,354,355,356,357,358,359,360,361,362,363,364]
             * type : 1
             */

            private int type;
            private List<Integer> line;

            public int getType() {
                return type;
            }

            public void setType(int type) {
                this.type = type;
            }

            public List<Integer> getLine() {
                return line;
            }

            public void setLine(List<Integer> line) {
                this.line = line;
            }
        }

        public static class RightEdgeBean {
            /**
             * line : [333,334,335,336,337,338,339,340,341,342,343,344,345,346,347,348,349,350,351]
             * type : 1
             */

            private int type;
            private List<Integer> line;

            public int getType() {
                return type;
            }

            public void setType(int type) {
                this.type = type;
            }

            public List<Integer> getLine() {
                return line;
            }

            public void setLine(List<Integer> line) {
                this.line = line;
            }
        }

        public static class SeparateBean {
            private List<LaneGuideBean> lane_guide;
            private List<List<LaneLineBean>> lane_line;

            public List<LaneGuideBean> getLane_guide() {
                return lane_guide;
            }

            public void setLane_guide(List<LaneGuideBean> lane_guide) {
                this.lane_guide = lane_guide;
            }

            public List<List<LaneLineBean>> getLane_line() {
                return lane_line;
            }

            public void setLane_line(List<List<LaneLineBean>> lane_line) {
                this.lane_line = lane_line;
            }

            public static class LaneGuideBean {
                private List<Integer> guide;
                private List<Integer> head_tail;

                public List<Integer> getGuide() {
                    return guide;
                }

                public void setGuide(List<Integer> guide) {
                    this.guide = guide;
                }

                public List<Integer> getHead_tail() {
                    return head_tail;
                }

                public void setHead_tail(List<Integer> head_tail) {
                    this.head_tail = head_tail;
                }
            }

            public static class LaneLineBean {
                /**
                 * line : [365,366,367,368,369,370,371,372,373,374,375,376,377,378,379]
                 * type : 0
                 */

                private int type;
                private List<Integer> line;

                public int getType() {
                    return type;
                }

                public void setType(int type) {
                    this.type = type;
                }

                public List<Integer> getLine() {
                    return line;
                }

                public void setLine(List<Integer> line) {
                    this.line = line;
                }
            }
        }
    }

    public static class SpecialAreaBean {
        /**
         * area : [39,40]
         * id : 0
         * road : 2
         * type : 0
         */

        private int id;
        private int road;
        private int type;
        private List<Integer> area;

        public int getId() {
            return id;
        }

        public void setId(int id) {
            this.id = id;
        }

        public int getRoad() {
            return road;
        }

        public void setRoad(int road) {
            this.road = road;
        }

        public int getType() {
            return type;
        }

        public void setType(int type) {
            this.type = type;
        }

        public List<Integer> getArea() {
            return area;
        }

        public void setArea(List<Integer> area) {
            this.area = area;
        }
    }

    public static class TriggerLineBean {
        /**
         * id : 0
         * line : [287]
         * road : 5
         * tts : 变更车道
         * type : 1
         */

        private int id;
        private int road;
        private String tts;
        private int type;
        private List<Integer> line;

        public int getId() {
            return id;
        }

        public void setId(int id) {
            this.id = id;
        }

        public int getRoad() {
            return road;
        }

        public void setRoad(int road) {
            this.road = road;
        }

        public String getTts() {
            return tts;
        }

        public void setTts(String tts) {
            this.tts = tts;
        }

        public int getType() {
            return type;
        }

        public void setType(int type) {
            this.type = type;
        }

        public List<Integer> getLine() {
            return line;
        }

        public void setLine(List<Integer> line) {
            this.line = line;
        }
    }
}

 app/src/main/java/safeluck/drive/evaluation/fragment/ArcGisMapFragment.java

@@ -181,9 +181,9 @@
        switch (v.getId()){
            case R.id.btn_change_map:
                if (ExamPlatformData.getInstance().getExamType()>ExamPlatformData.EXAM_TYPE_ChangKAO){
                    RoadDriveMapFragmentaa jiaXiaoFragment = findFragment(RoadDriveMapFragmentaa.class);
                    RoadDriveMapFragmentab jiaXiaoFragment = findFragment(RoadDriveMapFragmentab.class);
                    if (jiaXiaoFragment == null) {
                        jiaXiaoFragment = (RoadDriveMapFragmentaa) RoadDriveMapFragmentaa.newInstance();
                        jiaXiaoFragment = (RoadDriveMapFragmentab) RoadDriveMapFragmentab.newInstance();
                    }
                    startWithPop(jiaXiaoFragment);
                }else{

 app/src/main/java/safeluck/drive/evaluation/fragment/RoadDriveMapFragmentab.java

New file
@@ -0,0 +1,1585 @@
package safeluck.drive.evaluation.fragment;

import android.content.Context;
import android.graphics.Bitmap;
import android.graphics.BitmapFactory;
import android.graphics.Canvas;
import android.graphics.Color;
import android.graphics.DashPathEffect;
import android.graphics.Matrix;
import android.graphics.Paint;
import android.graphics.Path;
import android.os.Bundle;
import android.text.TextUtils;
import android.util.Log;
import android.view.LayoutInflater;
import android.view.SurfaceHolder;
import android.view.SurfaceView;
import android.view.View;
import android.view.ViewGroup;
import android.widget.Toast;

import androidx.annotation.NonNull;
import androidx.annotation.Nullable;
import androidx.appcompat.widget.Toolbar;

import com.anyun.basecommonlib.MyLog;
import com.google.gson.Gson;
import com.google.gson.reflect.TypeToken;

import org.json.JSONException;
import org.json.JSONObject;

import java.io.InputStream;
import java.lang.reflect.Type;
import java.math.BigDecimal;
import java.util.ArrayList;
import java.util.List;
import java.util.concurrent.ExecutorService;
import java.util.concurrent.Executors;
import java.util.concurrent.LinkedBlockingQueue;
import java.util.concurrent.ScheduledExecutorService;
import java.util.concurrent.TimeUnit;

import me.yokeyword.fragmentation.SupportFragment;
import safeluck.drive.evaluation.Constant;
import safeluck.drive.evaluation.R;
import safeluck.drive.evaluation.bean.ExamPlatformData;
import safeluck.drive.evaluation.bean.RealTimeCarPos;
import safeluck.drive.evaluation.bean.RoadExamMap;
import safeluck.drive.evaluation.bean.RoadExamMap2;
import safeluck.drive.evaluation.bean.RoadExamMap3;
import safeluck.drive.evaluation.cEventCenter.CEventCenter;
import safeluck.drive.evaluation.cEventCenter.ICEventListener;
import safeluck.drive.evaluation.util.FileUtil;
import safeluck.drive.evaluation.util.Utils;

public class RoadDriveMapFragmentab extends SupportFragment implements View.OnClickListener {

    private static final int ALL_MAP = 100;
    private int pixels = 3;
    private boolean isDrawing = false;
    private StringBuffer buffer = null;//存放地图的buffer

    private ICEventListener speedListener = new ICEventListener() {
        @Override
        public void onCEvent(String topic, int msgCode, int resultCode, Object obj) {
            if (msgCode == Constant.RTK_INFO){
                gpsSpeed = (double)obj;
            }
            if (msgCode == Constant.LEFT_RIGHT_DISTANCE){
                String str = (String)obj;

                try {
                    JSONObject jsonObject = new JSONObject(str);
                    leftDistance = Utils.getdouble(jsonObject.getDouble("left"),3);
                    rightDistance = Utils.getdouble(jsonObject.getDouble("right"),3);

                } catch (JSONException e) {
                    e.printStackTrace();
                }
            }
        }
    };
    private double leftDistance =0.0;
    private double rightDistance =0.0;

    public static SupportFragment newInstance() {
        return new RoadDriveMapFragmentab();
    }

    private SurfaceView mSurfaceView;
    private static final String TAG = "RoadDriveFragmentaa";
    private SurfaceHolder holder;
    Path path = new Path();
    private Canvas canvas;
    private int x = -1;
    private int y = -1;
    private Toolbar toolbar;

    private Bitmap bmp = null;
    private Bitmap bmp2 = null;
    private Canvas canvas2 = null;
    private Canvas canvas3 = null;
    private Paint paint = null;
    private int screen_width = 0, screen_height = 0;
    private String osdHeading = null;
    private String osdMoveDirect = null;
    private String osdRtkSpeed = null;
    private String osdQf = null;

    private int map_id;
    private double gpsSpeed = 0;

    double map[][] = {{-2.4065, 30.7090}, {-3.0759, 30.3599}, { -2.6023, 29.2578}, {-3.3316,28.9383},{-3.8247,30.0293},
            {-3.4503,30.1946}, {-2.9669,29.0981}, { -3.6962, 28.7786}, {-4.1991, 29.8640}};

    //    double map[][] ;
    double car[][] = {{8.278, 1.467}, {7.2780000000000009, 1.467}, {7.2780000000000009, -1.533}, {8.278, -1.533}
            , {9.278, -1.5330000000000004}, {9.277999999999999, 1.467000000000001}};
    Gson gson;
    private LinkedBlockingQueue queue = new LinkedBlockingQueue(100);
    private ExecutorService producer = Executors.newSingleThreadExecutor();
    private ExecutorService consumer = Executors.newSingleThreadExecutor();
    private long count =0;
    private long lastcount =0;
    private ScheduledExecutorService scheduledExecutorService = Executors.newSingleThreadScheduledExecutor();
    @Nullable
    @Override
    public View onCreateView(@NonNull LayoutInflater inflater, @Nullable ViewGroup container, @Nullable Bundle savedInstanceState) {
        View view = inflater.inflate(R.layout.layout_mapfragment, container, false);
        gson = new Gson();
        initView(view);
        consumer.execute(new CalRunnable());
        scheduledExecutorService.scheduleAtFixedRate(new Runnable() {
            @Override
            public void run() {
                Log.i(TAG,"1s到");
                if (lastcount==count){
                    Log.i(TAG,"已经没在发消息了");
                    leftDistance = 0.0;
                    rightDistance = 0.0;
                }
                lastcount = count;
            }
        },1000,1000, TimeUnit.MILLISECONDS);
        return view;
    }
    private int avaliableHeight,avalibleWidth;
    private void initView(View view) {

        avaliableHeight= getResources().getDisplayMetrics().heightPixels;
        avalibleWidth = getResources().getDisplayMetrics().widthPixels;
        Log.i(TAG, "initView: aliwidht="+avalibleWidth+" height="+avaliableHeight);
        mSurfaceView = view.findViewById(R.id.surfaceview);
        view.findViewById(R.id.btn_reduce).setOnClickListener(this);
        view.findViewById(R.id.btn_amplify).setOnClickListener(this);
        holder = mSurfaceView.getHolder();

        holder.addCallback(new SurfaceHolder.Callback() {
            @Override
            public void surfaceCreated(SurfaceHolder surfaceHolder) {
                Canvas canvas = surfaceHolder.lockCanvas();

                if (canvas != null) {
                    Log.d(TAG, "W = " + canvas.getWidth() + " H = " + canvas.getHeight());
                    screen_width = canvas.getWidth();
                    screen_height = canvas.getHeight();
                    surfaceHolder.unlockCanvasAndPost(canvas);

                    bmp = Bitmap.createBitmap(screen_width*2/3, screen_height, Bitmap.Config.ARGB_8888);
                    canvas2 = new Canvas(bmp);
                    canvas2.drawColor(Color.WHITE);


                    bmp2 = Bitmap.createBitmap(screen_width/3, screen_height, Bitmap.Config.ARGB_8888);
                    canvas3 = new Canvas(bmp2);
                    canvas3.drawColor(Color.WHITE);

                    paint = new Paint();

                    paint.setTextSize(30);
                    paint.setColor(Color.BLACK);
                    paint.setStrokeWidth(1.5f);
                    paint.setAntiAlias(true);
                    paint.setStyle(Paint.Style.STROKE);

                    holder.lockCanvas();
                    canvas.drawBitmap(bmp, 0, 0, paint);
                    canvas.drawBitmap(bmp2, screen_width/3, 0, paint);
                    holder.unlockCanvasAndPost(canvas);
                }
            }

            @Override
            public void surfaceChanged(SurfaceHolder surfaceHolder, int i, int i1, int i2) {

            }

            @Override
            public void surfaceDestroyed(SurfaceHolder surfaceHolder) {

            }
        });
    }

    class PointF {
        double x;
        double y;

        public PointF(double x, double y) {
            this.x = x;
            this.y = y;
        }

        double getX() {
            return x;
        }

        double getY() {
            return y;
        }

        void setX(double x) {
            this.x = x;
        }

        void setY(double y) {
            this.y = y;
        }
    }

    class Line {
        double X1;
        double Y1;
        double X2;
        double Y2;

        public Line(double x1, double y1, double x2, double y2) {
            this.X1 = x1;
            this.Y1 = y1;
            this.X2 = x2;
            this.Y2 = y2;
        }
    }

    private enum Relation {
        GM_None,
        GM_Tangent,
        GM_Intersection,
        GM_Containment
    };

    public PointF rotatePoint(PointF oldPoint, PointF centre, double degree) {
        PointF newPoint = new PointF(0, 0);

        newPoint.setX( (oldPoint.getX()-centre.getX())*Math.cos(Math.toRadians(degree)) - (oldPoint.getY()-centre.getY())*Math.sin(Math.toRadians(degree)) + centre.getX() );
        newPoint.setY ( (oldPoint.getX()-centre.getX())*Math.sin(Math.toRadians(degree)) + (oldPoint.getY()-centre.getY())*Math.cos(Math.toRadians(degree)) + centre.getY() );

        return newPoint;
    }

    boolean isEqual(double a, double b)
    {
        return (Math.abs(a - b) <= 1e-6);
    }

    Relation IntersectionOf(Line line1, Line line2)
    {
        if ((isEqual(line1.X1, line1.X2) && isEqual(line1.Y1, line1.Y2)) || (isEqual(line2.X1, line2.X2) && isEqual(line2.Y1, line2.Y2)))
            return Relation.GM_None;

        if ((isEqual(line1.X1, line2.X1) && isEqual(line1.Y1, line2.Y1)) || (isEqual(line1.X2, line2.X1) && isEqual(line1.Y2, line2.Y1)))
            return Relation.GM_Intersection;

        if ((isEqual(line1.X1, line2.X2) && isEqual(line1.Y1, line2.Y2)) || (isEqual(line1.X2, line2.X2) && isEqual(line1.Y2, line2.Y2)))
            return Relation.GM_Intersection;

        line1.X2 -= line1.X1; line1.Y2 -= line1.Y1;
        line2.X1 -= line1.X1; line2.Y1 -= line1.Y1;
        line2.X2 -= line1.X1; line2.Y2 -= line1.Y1;

        double distAB = Math.sqrt(line1.X2 * line1.X2 + line1.Y2 * line1.Y2);

        double theCos = line1.X2 / distAB;
        double theSin = line1.Y2 / distAB;
        double newX = line2.X1 * theCos + line2.Y1 * theSin;

        line2.Y1 = line2.Y1 * theCos - line2.X1 * theSin;
        line2.X1 = newX;
        newX = line2.X2 * theCos + line2.Y2 * theSin;
        line2.Y2 = line2.Y2 * theCos - line2.X2 * theSin;
        line2.X2 = newX;

        if ((line2.Y1 < 0 && line2.Y2 < 0) || (line2.Y1 >= 0 && line2.Y2 >= 0)) {
            return Relation.GM_None;
        }

        double posAB = line2.X2 + (line2.X1 - line2.X2) * line2.Y2 / (line2.Y2 - line2.Y1);

        if (posAB < 0 || posAB > distAB) {
            return Relation.GM_None;
        }

        return Relation.GM_Intersection;
    }

    Relation IntersectionOf(Line line, double screen_w, double screen_h)
    {
        boolean tangent = false;

        Line line1 = new Line(0, 0, screen_w, 0);
        Line line2 = new Line(screen_w, 0, screen_w, screen_h);
        Line line3 = new Line(screen_w, screen_h, 0, screen_h);
        Line line4 = new Line(0, screen_h, 0, 0);

        Relation relation = IntersectionOf(line, line1);
        if (relation == Relation.GM_Intersection) {
            return relation;
        }
        if (relation == Relation.GM_Tangent) {
            tangent = true;
        }

        relation = IntersectionOf(line, line2);
        if (relation == Relation.GM_Intersection) {
            return relation;
        }
        if (relation == Relation.GM_Tangent) {
            tangent = true;
        }

        relation = IntersectionOf(line, line3);
        if (relation == Relation.GM_Intersection) {
            return relation;
        }
        if (relation == Relation.GM_Tangent) {
            tangent = true;
        }

        relation = IntersectionOf(line, line4);
        if (relation == Relation.GM_Intersection) {
            return relation;
        }
        if (relation == Relation.GM_Tangent) {
            tangent = true;
        }

        if (tangent)
            return Relation.GM_Tangent;

        if (line.X1 > 0 && line.X1 < screen_w && line.Y1 > 0 && line.Y1 < screen_h)
            return Relation.GM_Containment;

        return Relation.GM_None;
    }

    static int angg = 0;

    public void DrawMap(double yaw, List<Double> mainAnt, double[][] map, double[][] car,
                        List<Integer>body, List<Integer> tire, List<RoadExamMap.MapsBean> maps) {
        if (canvas2 == null || bmp == null) {
            return;
        }
        float base_x = 300, base_y = 20;
        double max_x = 0, min_x = 0, max_y = 0, min_y = 0;
        long scale_x, scale_y;

        Log.d(TAG, "DrawMap map size " + map.length + " car size " + car.length);

        PointF mainPoint = new PointF(mainAnt.get(0), mainAnt.get(1));

        Log.d(TAG, String.format("主天线 X = %f Y = %f 旋转角度 %f", mainPoint.getX(), mainPoint.getY(), yaw));



        for (int x = 0; x < map.length; x++) {
            PointF oldPoint = new PointF(map[x][0], map[x][1]);
            PointF newPoint = oldPoint;//rotatePoint(oldPoint, mainPoint, yaw );
            map[x][0] = newPoint.getX();
            map[x][1] = newPoint.getY();

            map[x][0] = map[x][0] - mainPoint.getX();
            map[x][1] = map[x][1] - mainPoint.getY();
            map[x][1] = -map[x][1];
        }

        for (int i = 0; i < car.length; i++) {
            PointF oldPoint = new PointF(car[i][0], car[i][1]);
            PointF newPoint = oldPoint;//rotatePoint(oldPoint, mainPoint, yaw );
            car[i][0] = newPoint.getX();
            car[i][1] = newPoint.getY();

            car[i][0] = car[i][0] - mainPoint.getX();
            car[i][1] = car[i][1] - mainPoint.getY();
            car[i][1] = -car[i][1];
        }

        scale_x = Math.round(Math.abs(pixels / Math.sqrt(Math.pow(car[0][0], 2) + Math.pow(car[0][1], 2)) ));
        scale_y = scale_x;

        base_x = bmp.getWidth() / 2;
        base_y = bmp.getHeight() * 7 / 10;

        Log.d(TAG, String.format("DrawMapAll scale_x = %d 车头据 = %f", scale_x, Math.sqrt(Math.pow(car[0][0], 2) + Math.pow(car[0][1], 2))));


/*
        for (int i = 0; i < map.length; i++) {
            if (i == 0) {
                max_x = map[0][0];
                min_x = map[0][0];
                max_y = map[0][1];
                min_y = map[0][1];
            } else {
                if (max_x < map[i][0]) {
                    max_x = map[i][0];
                }
                if (min_x > map[i][0]) {
                    min_x = map[i][0];
                }
                if (max_y < map[i][1]) {
                    max_y = map[i][1];
                }
                if (min_y > map[i][1]) {
                    min_y = map[i][1];
                }
            }
        }



        Log.d(TAG, "DrawMap max_x " + max_x + " max_y " + max_y + " min_x " + min_x + " min_y " + min_y);

        for (int i = 0; i < car.length; i++) {
            if (max_x < car[i][0]) {
                max_x = car[i][0];
            }
            if (min_x > car[i][0]) {
                min_x = car[i][0];
            }
            if (max_y < car[i][1]) {
                max_y = car[i][1];
            }
            if (min_y > car[i][1]) {
                min_y = car[i][1];
            }
        }

        Log.d(TAG, "DrawMap max_x " + max_x + " max_y " + max_y + " min_x " + min_x + " min_y " + min_y);

        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
        ,max_x - min_x,max_y - min_y));


        long scale_x = Math.round((screen_width - base_x - 10) / (max_x - min_x));
        long scale_y = Math.round((screen_height - base_y - 10) / (max_y - min_y));

        Log.i(TAG,String.format("scale_x=%d,scale_y=%d",scale_x,scale_y));

        if (scale_x >= scale_y) {
            scale_x = scale_y;
        } else {
            scale_y = scale_x;
        }

        Log.d(TAG, "DrawMap scale_x " + scale_x + " scale_y " + scale_y);
*/
        canvas2.drawColor(Color.WHITE);

        if (paint == null || canvas2==null){
            return;
        }
        paint.setStyle(Paint.Style.FILL_AND_STROKE);
        paint.setColor(Color.BLUE);

        canvas2.drawCircle((float) (base_x), (float) (base_y), 2, paint);

        paint.setColor(Color.RED);
        canvas2.drawCircle((float) (base_x + (car[tire.get(0)][0] - min_x) * scale_x), (float) (base_y + (car[tire.get(0)][1] - min_y) * scale_y), 2.5f, paint);
        canvas2.drawCircle((float) (base_x + (car[tire.get(1)][0] - min_x) * scale_x), (float) (base_y + (car[tire.get(1)][1] - min_y) * scale_y), 2.5f, paint);
        canvas2.drawCircle((float) (base_x + (car[tire.get(2)][0] - min_x) * scale_x), (float) (base_y + (car[tire.get(2)][1] - min_y) * scale_y), 2.5f, paint);
        canvas2.drawCircle((float) (base_x + (car[tire.get(3)][0] - min_x) * scale_x), (float) (base_y + (car[tire.get(3)][1] - min_y) * scale_y), 2.5f, paint);

        paint.setStyle(Paint.Style.STROKE);
        paint.setColor(Color.BLACK);

        Path path = new Path();
        Log.i(TAG, "DrawMap: map.length:"+map.length);
        if (maps != null&& maps.size()>0){
            for (int i = 0; i < maps.size(); i++) {
                RoadExamMap.MapsBean mapItem = maps.get(i);

                if (mapItem.getItem() == ALL_MAP){
                    List<List<Integer>> redLines= mapItem.getRed_line();
                    List<List<Integer>> greenLines = mapItem.getGreen_line();
                    List<List<Integer>> allTringgerLines =  mapItem.getAll_trigger_line();


                    for (List<Integer> allTriggerLine: allTringgerLines
                    ) {
                        for (int kk = 1; kk < allTriggerLine.size(); kk++) {
                            int pos = allTriggerLine.get(kk);
                            if (kk ==1){
                                path.moveTo((float) (base_x + (map[pos][0] - min_x) * scale_x), (float) (base_y + (map[pos][1] - min_y) * scale_y));
                            }
                            path.lineTo((float) (base_x + (map[pos][0] - min_x) * scale_x), (float) (base_y + (map[pos][1] - min_y) * scale_y));
                            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],
                                    (float) (base_x + (map[pos][0] - min_x) * scale_x),(float) (base_y + (map[pos][1] - min_y) * scale_y)));
                        }
                    }

                    paint.reset();
                    paint.setStyle(Paint.Style.STROKE);
                    paint.setStrokeWidth(1.5f);
                    paint.setAntiAlias(true);
                    paint.setColor(Color.RED);

                    Log.i(TAG,"redLinesSize"+redLines.size());
                    for (List<Integer> redline: redLines
                    ) {
                        for (int j = 0; j < redline.size(); j++) {
                            Log.i(TAG,"redLiSize"+redline.size());
                            int pos = redline.get(j);
                            if (j == 0){
                                path.moveTo((float) (base_x + (map[pos][0] - min_x) * scale_x), (float) (base_y + (map[pos][1] - min_y) * scale_y));
                            }
                            path.lineTo((float) (base_x + (map[pos][0] - min_x) * scale_x), (float) (base_y + (map[pos][1] - min_y) * scale_y));
                            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],
                                    (float) (base_x + (map[pos][0] - min_x) * scale_x),(float) (base_y + (map[pos][1] - min_y) * scale_y)));

                        }
                    }
                    canvas2.drawPath(path,paint);
                    //画虚线（分道线）

                    Paint paintFenDao = new Paint(Paint.ANTI_ALIAS_FLAG);
                    Path pathFenDao = new Path();
                    paintFenDao.reset();
                    paintFenDao.setStyle(Paint.Style.STROKE);
                    paintFenDao.setStrokeWidth(1.5f);
                    paintFenDao.setAntiAlias(true);
                    paintFenDao.setPathEffect(new DashPathEffect(new float[] {15, 15}, 0));
                    for (List<Integer> greenline:
                            greenLines){
                        for (int j = 0; j < greenline.size(); j++) {
                            int pos = greenline.get(j);
                            if (j == 0){
                                pathFenDao.moveTo((float) (base_x + (map[pos][0] - min_x) * scale_x), (float) (base_y + (map[pos][1] - min_y) * scale_y));
                            }
                            pathFenDao.lineTo((float) (base_x + (map[pos][0] - min_x) * scale_x), (float) (base_y + (map[pos][1] - min_y) * scale_y));
                            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],
                                    (float) (base_x + (map[pos][0] - min_x) * scale_x),(float) (base_y + (map[pos][1] - min_y) * scale_y)));
                        }
                    }
                    canvas2.drawPath(pathFenDao,paintFenDao);

                }else{
                    List<Integer> area = mapItem.getArea();
                    List<Integer> stoplines = mapItem.getStop_line();
                    for (int aaa = 0; aaa <stoplines.size(); aaa++) {

                        int pos = stoplines.get(aaa);
                        if (aaa==0){
                            path.moveTo((float) (base_x + (map[pos][0] - min_x) * scale_x), (float) (base_y + (map[pos][1] - min_y) * scale_y));
                        }else{
                            path.lineTo((float) (base_x + (map[pos][0] - min_x) * scale_x), (float) (base_y + (map[pos][1] - min_y) * scale_y));
                        }
                        canvas2.drawPath(path,paint);
                    }
                    for (int jj = 0; jj < area.size(); jj++) {
                        int pos = area.get(jj);
                        if (jj==0){
                            path.moveTo((float) (base_x + (map[pos][0] - min_x) * scale_x), (float) (base_y + (map[pos][1] - min_y) * scale_y));
                        }else{
                            path.lineTo((float) (base_x + (map[pos][0] - min_x) * scale_x), (float) (base_y + (map[pos][1] - min_y) * scale_y));
                        }
                    }
                    path.close();
                    canvas2.drawPath(path,paint);
                }
            }





        }

        /*Bitmap bmpp = readBitmapById(R.drawable.police_car);

        double min_body_x, max_body_x, min_body_y, max_body_y;

        max_body_x = min_body_x = car[body.get(0)][0];
        min_body_y = max_body_y = car[body.get(0)][1];
        for (int i = 1; i < body.size(); i++){
            if (max_body_x < car[body.get(i)][0]) {
                max_body_x = car[body.get(i)][0];
            }
            if (min_body_x > car[body.get(i)][0]) {
                min_body_x = car[body.get(i)][0];
            }
            if (max_body_y < car[body.get(i)][1]) {
                max_body_y = car[body.get(i)][1];
            }
            if (min_body_y > car[body.get(i)][1]) {
                min_body_y = car[body.get(i)][1];
            }
        }


        bmpp = scaleImage(bmpp, (int)((max_body_x - min_body_x)*scale_x), (int)((max_body_y - min_body_y)*scale_y));

        Log.d(TAG, "图片尺寸 " + bmpp.getWidth() + "  " + bmpp.getHeight());

        canvas2.drawBitmap(bmpp, 0, 0, paint);

        bmpp = rotaingImageView(angg, bmpp);

        Log.d(TAG, String.valueOf(angg) + " 旋转后的 图片尺寸 " + bmpp.getWidth() + "  " + bmpp.getHeight());

        angg += 10;

        if (angg == 360) angg = 0;

        canvas2.drawBitmap(bmpp, 300, 200, paint);*/

//        canvas2.drawPath(path, paint);
        paint.setColor(Color.BLACK);
        path.moveTo((float) (base_x + (car[body.get(0)][0] - min_x) * scale_x), (float) (base_y + (car[body.get(0)][1] - min_y) * scale_y));
        for (int i = 1; i < body.size(); i++){
//            Log.d(TAG, "for 循环 DrawMap to X = " + (float) (base_x + (car[body.get(i)][0] - min_x) * scale_x)+ " Y = " + (float) (base_y + (car[body.get(i)][1] - min_y) * scale_y));
            path.lineTo((float) (base_x + (car[body.get(i)][0] - min_x) * scale_x), (float) (base_y + (car[body.get(i)][1] - min_y) * scale_y));
        }

        path.close();

        canvas2.drawPath(path, paint);

        paint.setStyle(Paint.Style.FILL_AND_STROKE);
        paint.setPathEffect(null);
        paint.setColor(Color.BLACK);

        paint.setStyle(Paint.Style.FILL_AND_STROKE);

        canvas3.drawColor(Color.YELLOW);

        // 指南针 ++++++++++++++++++++++++++++++++++++++++++++++++++++
        float compassOX =  bmp2.getWidth() - 60, compassOY = 60;

        float compass1X = compassOX + 7, compass1Y = compassOY;
        float compass2X = compassOX, compass2Y = compassOY + 30;
        float compass3X = compassOX - 7, compass3Y = compassOY;

        float compass4X = compassOX + 7, compass4Y = compassOY;
        float compass5X = compassOX, compass5Y = compassOY - 30;
        float compass6X = compassOX - 7, compass6Y = compassOY;

        PointF compassO = new PointF(compassOX, compassOY);
        PointF compass1 = new PointF(compass1X, compass1Y);
        PointF compass2 = new PointF(compass2X, compass2Y);
        PointF compass3 = new PointF(compass3X, compass3Y);
        PointF compass4 = new PointF(compass4X, compass4Y);
        PointF compass5 = new PointF(compass5X, compass5Y);
        PointF compass6 = new PointF(compass6X, compass6Y);

        compass1 = rotatePoint(compass1, compassO, yaw);
        compass2 = rotatePoint(compass2, compassO, yaw);
        compass3 = rotatePoint(compass3, compassO, yaw);
        compass4 = rotatePoint(compass4, compassO, yaw);
        compass5 = rotatePoint(compass5, compassO, yaw);
        compass6 = rotatePoint(compass6, compassO, yaw);

        paint.setStyle(Paint.Style.STROKE);
        paint.setColor(Color.RED);

        canvas3.drawCircle((float)compassO.getX(), (float)compassO.getY(), 20, paint);
        canvas3.drawCircle((float)compassO.getX(), (float)compassO.getY(), 40, paint);

        paint.setStyle(Paint.Style.FILL_AND_STROKE);
        paint.setColor(Color.BLUE);
        Path compassN = new Path();

        compassN.moveTo((float)compassO.getX(), (float)compassO.getY());
        compassN.lineTo((float)compass1.getX(), (float)compass1.getY());
        compassN.lineTo((float)compass2.getX(), (float)compass2.getY());
        compassN.lineTo((float)compass3.getX(), (float)compass3.getY());
        compassN.close();
        canvas3.drawPath(compassN, paint);

        paint.setColor(Color.RED);
        Path compassS = new Path();
        compassS.moveTo((float)compassO.getX(), (float)compassO.getY());
        compassS.lineTo((float)compass4.getX(), (float)compass4.getY());
        compassS.lineTo((float)compass5.getX(), (float)compass5.getY());
        compassS.lineTo((float)compass6.getX(), (float)compass6.getY());
        compassS.close();
        canvas3.drawPath(compassS, paint);

        // 指南针 -------------------------------------------

        if (osdHeading != null) {
            Path pathText = new Path();
            pathText.moveTo(10, 30);
            pathText.lineTo(700, 30);
            canvas3.drawTextOnPath(osdHeading, pathText, 0, 0, paint);//逆时针生成
        }

//        if (osdMoveDirect != null) {
//            Path pathText = new Path();
//            pathText.moveTo(10, 30);
//            pathText.lineTo(700, 30);
//            canvas3.drawTextOnPath(osdMoveDirect, pathText, 0, 0, paint);//逆时针生成
//        }

        if (osdRtkSpeed != null) {
            Path pathText = new Path();
            pathText.moveTo(10, 70);
            pathText.lineTo(700, 70);
            canvas3.drawTextOnPath(osdRtkSpeed, pathText, 0, 0, paint);//逆时针生成
        }
//
//        if (osdQf != null) {
//            Path pathText = new Path();
//            pathText.moveTo(10, 120);
//            pathText.lineTo(700, 120);
//            canvas3.drawTextOnPath(osdQf, pathText, 0, 0, paint);//逆时针生成
//        }
//
//        {
//            BigDecimal bd = new BigDecimal(gpsSpeed);
//            bd = bd.setScale(3, BigDecimal.ROUND_HALF_UP);
//
//            Path pathText = new Path();
//            pathText.moveTo(10, 70);
//            pathText.lineTo(700, 70);
//
//            canvas3.drawTextOnPath("GPS速度:" + bd, pathText, 0, 0, paint);//逆时针生成
//        }







        base_x = 170;
        base_y = 350;

        scale_x=scale_y = 27;

        paint.setStyle(Paint.Style.FILL_AND_STROKE);
        paint.setColor(Color.BLUE);
//        canvas2.drawCircle((float) (base_x + (mainAnt.get(0) - min_x) * scale_x), (float) (base_y + (mainAnt.get(1) - min_y) * scale_y), 2, paint);
        canvas3.drawCircle((float) base_x, (float) base_y, 2, paint);

        paint.setColor(Color.RED);

        canvas3.drawCircle((float) (base_x + (car[tire.get(0)][0]) * scale_x), (float) (base_y + (car[tire.get(0)][1]) * scale_y), 2.5f, paint);
        canvas3.drawCircle((float) (base_x + (car[tire.get(1)][0]) * scale_x), (float) (base_y + (car[tire.get(1)][1]) * scale_y), 2.5f, paint);
        canvas3.drawCircle((float) (base_x + (car[tire.get(2)][0]) * scale_x), (float) (base_y + (car[tire.get(2)][1]) * scale_y), 2.5f, paint);
        canvas3.drawCircle((float) (base_x + (car[tire.get(3)][0]) * scale_x), (float) (base_y + (car[tire.get(3)][1]) * scale_y), 2.5f, paint);


        Path pathCanvs3 = new Path();
        pathCanvs3.moveTo((float) (base_x + (car[body.get(0)][0] - min_x) * scale_x), (float) (base_y + (car[body.get(0)][1] - min_y) * scale_y));
        for (int i = 1; i < body.size(); i++){
//                    Log.d(TAG, "for 循环 DrawMap to X = " + (float) (base_x + (car[body.get(i)][0] - min_x) * scale_x)+ " Y = " + (float) (base_y + (car[body.get(i)][1] - min_y) * scale_y));
            Log.i(TAG,String.format("car[%d][0]=%f,to X =%f,car[%d][1]=%f,to Y=%f",i,car[body.get(i)][0],
                    (float) (base_x + (car[body.get(i)][0] - min_x) * scale_x),i,car[body.get(i)][1],(float) (base_y + (car[body.get(i)][1] - min_y) * scale_y)));
            pathCanvs3.lineTo((float) (base_x + (car[body.get(i)][0] - min_x) * scale_x), (float) (base_y + (car[body.get(i)][1] - min_y) * scale_y));
        }
        paint.setStyle(Paint.Style.STROKE);
        paint.setColor(Color.BLACK);
        pathCanvs3.close();
        canvas3.drawPath(pathCanvs3,paint);

        Paint mPaint = new Paint();
        mPaint.setTextSize(20);
        mPaint.setStyle(Paint.Style.FILL_AND_STROKE);
        osdMoveDirect="9.4345";
        if (osdMoveDirect != null) {
            Path pathText = new Path();
            pathText.moveTo(base_x-110, base_y-35);
            pathText.lineTo(base_x-20, base_y-35);
            if (leftDistance == 0.0){

                canvas3.drawTextOnPath("...", pathText, 0, 0, mPaint);//逆时针生成
            }else{

                canvas3.drawTextOnPath(String.valueOf(leftDistance), pathText, 0, 0, mPaint);//逆时针生成
            }
        }
        if (osdMoveDirect != null) {
            Path pathText = new Path();
            pathText.moveTo(base_x+30, base_y-35);
            pathText.lineTo(base_x+110, base_y-35);
            if (rightDistance == 0.0){

                canvas3.drawTextOnPath("...", pathText, 0, 0, mPaint);//逆时针生成
            }else{
                canvas3.drawTextOnPath(String.valueOf(rightDistance), pathText, 0, 0, mPaint);//逆时针生成
            }
        }
        paint.setColor(Color.RED);
        canvas3.drawLine(base_x-120,base_y-200,base_x-120,base_y+200,paint);
        canvas3.drawLine(base_x+120,base_y-200,base_x+120,base_y+200,paint);

        DrawArrows(canvas3,Color.GREEN,15f,base_x-20,base_y-30,base_x-120,base_y-30);//左边箭头（左边距
        DrawArrows(canvas3,Color.GREEN,15f,base_x+20,base_y-30,base_x+120,base_y-30);//右边箭头（边距




        // 提交画布
        Canvas canvas = holder.lockCanvas();
        if (canvas != null){

            canvas.drawBitmap(bmp, 0, 0, paint);
            canvas.drawBitmap(bmp2, screen_width*2/3, 0, paint);
            holder.unlockCanvasAndPost(canvas);
        }
    }


    public void DrawMap2(double yaw, List<Double> mainAnt, double[][] map, double[][] car,
                        List<Integer>body, List<Integer> tire, List<RoadExamMap3.RoadBean> roadBeanList,
                         List<RoadExamMap3.SpecialAreaBean> specialAreaBeanList) {
        if (canvas2 == null || bmp == null) {
            return;
        }
        float base_x = 300, base_y = 20;
        double max_x = 0, min_x = 0, max_y = 0, min_y = 0;
        long scale_x, scale_y;

        Log.d(TAG, "DrawMap2 map size " + map.length + " car size " + car.length);

        PointF mainPoint = new PointF(mainAnt.get(0), mainAnt.get(1));

        Log.d(TAG, String.format("主天线 X = %f Y = %f 旋转角度 %f", mainPoint.getX(), mainPoint.getY(), yaw));


        for (int x = 0; x < map.length; x++) {
            PointF oldPoint = new PointF(map[x][0], map[x][1]);
            PointF newPoint = rotatePoint(oldPoint, mainPoint, yaw );
            map[x][0] = newPoint.getX();
            map[x][1] = newPoint.getY();

            map[x][0] = map[x][0] - mainPoint.getX();
            map[x][1] = map[x][1] - mainPoint.getY();
            map[x][1] = -map[x][1];
        }

        for (int i = 0; i < car.length; i++) {
            PointF oldPoint = new PointF(car[i][0], car[i][1]);
            PointF newPoint = rotatePoint(oldPoint, mainPoint, yaw );
            car[i][0] = newPoint.getX();
            car[i][1] = newPoint.getY();

            car[i][0] = car[i][0] - mainPoint.getX();
            car[i][1] = car[i][1] - mainPoint.getY();
            car[i][1] = -car[i][1];
        }

        scale_x = Math.round(Math.abs(50 / Math.sqrt(Math.pow(car[0][0], 2) + Math.pow(car[0][1], 2)) ));

        scale_x = pixels;

        scale_y = scale_x;

        base_x = bmp.getWidth() / 2;
        base_y = bmp.getHeight() * 7 / 10;

        Log.d(TAG, String.format("DrawMapAll scale_x = %d 车头据 = %f", scale_x, Math.sqrt(Math.pow(car[0][0], 2) + Math.pow(car[0][1], 2))));

        canvas2.drawColor(Color.BLACK);

        // 画车轮
        paint.setStyle(Paint.Style.FILL_AND_STROKE);
        paint.setColor(Color.BLUE);

        canvas2.drawCircle((float) (base_x), (float) (base_y), 2, paint);

        paint.setColor(Color.RED);
        canvas2.drawCircle((float) (base_x + (car[tire.get(0)][0] - min_x) * scale_x), (float) (base_y + (car[tire.get(0)][1] - min_y) * scale_y), 2.5f, paint);
        canvas2.drawCircle((float) (base_x + (car[tire.get(1)][0] - min_x) * scale_x), (float) (base_y + (car[tire.get(1)][1] - min_y) * scale_y), 2.5f, paint);
        canvas2.drawCircle((float) (base_x + (car[tire.get(2)][0] - min_x) * scale_x), (float) (base_y + (car[tire.get(2)][1] - min_y) * scale_y), 2.5f, paint);
        canvas2.drawCircle((float) (base_x + (car[tire.get(3)][0] - min_x) * scale_x), (float) (base_y + (car[tire.get(3)][1] - min_y) * scale_y), 2.5f, paint);

        paint.setStyle(Paint.Style.STROKE);
        paint.setColor(Color.GREEN);
        paint.setStrokeWidth(2.0f);

        Path carpath = new Path();
        // 画车体
        carpath.moveTo((float) (base_x + (car[body.get(0)][0] - min_x) * scale_x), (float) (base_y + (car[body.get(0)][1] - min_y) * scale_y));
        for (int i = 1; i < body.size(); i++){
//            Log.d(TAG, "for 循环 DrawMap to X = " + (float) (base_x + (car[body.get(i)][0] - min_x) * scale_x)+ " Y = " + (float) (base_y + (car[body.get(i)][1] - min_y) * scale_y));
            carpath.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));
        }

        carpath.close();

        canvas2.drawPath(carpath, paint);

        Path path = new Path();

        // 画地图
        if (roadBeanList != null) {
            for (int x = 0; x < roadBeanList.size(); x++) {
                RoadExamMap3.RoadBean road = roadBeanList.get(x);
                Log.d(TAG, "路 id = "+ road.getId());

                List<RoadExamMap3.RoadBean.LeftEdgeBean> leftEdge = road.getLeft_edge();

                if (leftEdge != null) {
                    Log.d(TAG, "绘制左路沿");

                    paint.setStrokeWidth(3.0f);
                    paint.setColor(Color.YELLOW);

                    for (int y = 0; y < leftEdge.size(); y++) {
                        RoadExamMap3.RoadBean.LeftEdgeBean edgeBean = leftEdge.get(y);

                        if (edgeBean.getType() == 0) {
                            paint.setPathEffect(new DashPathEffect(new float[] {20, 20}, 0));
                        } else {
                            paint.setPathEffect(new DashPathEffect(new float[] {10000, 0}, 0));
                        }

                        List<Integer> line = edgeBean.getLine();
                        Log.d(TAG, "路边沿 " + y + " 分段 " + line.size());

                        int draw_status = 0;

                        for (int z = 0; z < line.size() - 1; z++) {
                            float scr_x = (float) (base_x + (map[line.get(z)][0] - min_x) * scale_x);
                            float scr_y = (float) (base_y + (map[line.get(z)][1] - min_y) * scale_y);

                            float scr_x2 = (float) (base_x + (map[line.get(z+1)][0] - min_x) * scale_x);
                            float scr_y2 = (float) (base_y + (map[line.get(z+1)][1] - min_y) * scale_y);

                            Line linex = new Line(scr_x, scr_y, scr_x2, scr_y2);

                            Relation relation = IntersectionOf(linex, bmp.getWidth(), bmp.getHeight());

                            if (relation == Relation.GM_Intersection || relation == Relation.GM_Containment) {
                                if (draw_status == 0) {
                                    path.moveTo(scr_x, scr_y);
                                    path.lineTo(scr_x2, scr_y2);
                                    draw_status = 1;
                                } else if (draw_status == 1) {
                                    path.lineTo(scr_x2, scr_y2);
                                }
                            } else if (draw_status == 1) {
                                canvas2.drawPath(path, paint);
                                draw_status = 0;
                            }
                        }
                        if (draw_status == 1) {
                            canvas2.drawPath(path, paint);
                            draw_status = 0;
                        }


//                        path.moveTo((float) (base_x + (map[line.get(0)][0] - min_x) * scale_x), (float) (base_y + (map[line.get(0)][1] - min_y) * scale_y));
//
//                        Log.d(TAG, String.format("0. X = %f Y = %f", map[line.get(0)][0], map[line.get(0)][1]));
//
//                        for (int z = 1; z < line.size(); z++) {
//                            path.lineTo((float) (base_x + (map[line.get(z)][0] - min_x) * scale_x), (float) (base_y + (map[line.get(z)][1] - min_y) * scale_y));
//                            Log.d(TAG, String.format("%d. X = %f Y = %f", z, map[line.get(z)][0], map[line.get(z)][1]));
//                        }
//                        Log.d(TAG, "路边沿......");
//                        canvas2.drawPath(path, paint);
                        Log.d(TAG, "左路边沿完毕");
                    }
                }

                List<RoadExamMap3.RoadBean.RightEdgeBean> rightEdge = road.getRight_edge();

                if (rightEdge != null) {
                    Log.d(TAG, "绘制右路沿");

                    paint.setStrokeWidth(3.0f);
                    paint.setColor(Color.YELLOW);

                    for (int y = 0; y < rightEdge.size(); y++) {
                        RoadExamMap3.RoadBean.RightEdgeBean edgeBean = rightEdge.get(y);

                        if (edgeBean.getType() == 0) {
                            Log.d(TAG, "虚线");
                            paint.setPathEffect(new DashPathEffect(new float[] {20, 20}, 0));
                        } else {
                            Log.d(TAG, "实线");
                            paint.setPathEffect(new DashPathEffect(new float[] {10000, 0}, 0));
                        }

                        List<Integer> line = edgeBean.getLine();

                        Path edgePath = new Path();
                        Log.d(TAG, "路边沿 " + y + " 分段 " + line.size());

                        int draw_status = 0;

                        for (int z = 0; z < line.size()-1; z++) {
                            float scr_x = (float) (base_x + (map[line.get(z)][0] - min_x) * scale_x);
                            float scr_y = (float) (base_y + (map[line.get(z)][1] - min_y) * scale_y);

                            float scr_x2 = (float) (base_x + (map[line.get(z+1)][0] - min_x) * scale_x);
                            float scr_y2 = (float) (base_y + (map[line.get(z+1)][1] - min_y) * scale_y);

                            Line linex = new Line(scr_x, scr_y, scr_x2, scr_y2);

                            Relation relation = IntersectionOf(linex, bmp.getWidth(), bmp.getHeight());

                            if (relation == Relation.GM_Intersection || relation == Relation.GM_Containment) {
                                if (draw_status == 0) {
                                    edgePath.moveTo(scr_x, scr_y);
                                    edgePath.lineTo(scr_x2, scr_y2);
                                    draw_status = 1;
                                } else if (draw_status == 1) {
                                    edgePath.lineTo(scr_x2, scr_y2);
                                }
                            } else if (draw_status == 1) {
                                canvas2.drawPath(edgePath, paint);
                                draw_status = 0;
                            }
                        }
                        if (draw_status == 1) {
                            canvas2.drawPath(edgePath, paint);
                            draw_status = 0;
                        }

//                        edgePath.moveTo((float) (base_x + (map[line.get(0)][0] - min_x) * scale_x), (float) (base_y + (map[line.get(0)][1] - min_y) * scale_y));
//
//                        Log.d(TAG, String.format("0. X = %f Y = %f", map[line.get(0)][0], map[line.get(0)][1]));
//
//                        for (int z = 1; z < line.size(); z++) {
//                            edgePath.lineTo((float) (base_x + (map[line.get(z)][0] - min_x) * scale_x), (float) (base_y + (map[line.get(z)][1] - min_y) * scale_y));
//                            Log.d(TAG, String.format("%d. X = %f Y = %f", z, map[line.get(z)][0], map[line.get(z)][1]));
//                        }
//                        Log.d(TAG, "路边沿......");
//                        canvas2.drawPath(edgePath, paint);

                        Log.d(TAG, "右路边沿完毕");
                    }
                }

                List<RoadExamMap3.RoadBean.SeparateBean> separate = road.getSeparate();

                paint.setStrokeWidth(2.0f);
                paint.setColor(Color.WHITE);

                if (separate != null) {
                    Log.d(TAG, "绘制道路分割线 段数量 = " + separate.size());


                    for (int y = 0; y < separate.size(); y++) {
                        List<List<RoadExamMap3.RoadBean.SeparateBean.LaneLineBean>> lines = separate.get(y).getLane_line();

                        Log.d(TAG, "线数量 = " + lines.size());

                        for (int z = 0; z < lines.size(); z++) {
                            List<RoadExamMap3.RoadBean.SeparateBean.LaneLineBean> line = lines.get(z);

                            for (int zz = 0; zz < line.size(); zz++) {
                                RoadExamMap3.RoadBean.SeparateBean.LaneLineBean seg = line.get(zz);

                                Path sepPath = new Path();

                                if (seg.getType() == 0) {
                                    Log.d(TAG, "虚线");
                                    paint.setPathEffect(new DashPathEffect(new float[] {40, 80}, 0));
                                } else {
                                    Log.d(TAG, "实线");
                                    paint.setPathEffect(new DashPathEffect(new float[] {10000, 0}, 0));
                                }

                                List<Integer> points = seg.getLine();


                                int draw_status = 0;

                                for (int za = 0; za < points.size()-1; za++) {
                                    float scr_x = (float) (base_x + (map[points.get(za)][0] - min_x) * scale_x);
                                    float scr_y = (float) (base_y + (map[points.get(za)][1] - min_y) * scale_y);

                                    float scr_x2 = (float) (base_x + (map[points.get(za+1)][0] - min_x) * scale_x);
                                    float scr_y2 = (float) (base_y + (map[points.get(za+1)][1] - min_y) * scale_y);

                                    Line linex = new Line(scr_x, scr_y, scr_x2, scr_y2);

                                    Relation relation = IntersectionOf(linex, bmp.getWidth(), bmp.getHeight());
                                    if (relation == Relation.GM_Intersection || relation == Relation.GM_Containment) {
                                        if (draw_status == 0) {
                                            sepPath.moveTo(scr_x, scr_y);
                                            sepPath.lineTo(scr_x2, scr_y2);
                                            draw_status = 1;
                                        } else if (draw_status == 1) {
                                            sepPath.lineTo(scr_x2, scr_y2);
                                        }
                                    } else if (draw_status == 1) {
                                        canvas2.drawPath(sepPath, paint);
                                        draw_status = 0;
                                    }
                                }
                                if (draw_status == 1) {
                                    canvas2.drawPath(sepPath, paint);
                                    draw_status = 0;
                                }

//                                sepPath.moveTo((float) (base_x + (map[points.get(0)][0] - min_x) * scale_x), (float) (base_y + (map[points.get(0)][1] - min_y) * scale_y));
//                                for (int za = 1; za < points.size(); za++) {
//                                    sepPath.lineTo((float) (base_x + (map[points.get(za)][0] - min_x) * scale_x), (float) (base_y + (map[points.get(za)][1] - min_y) * scale_y));
//                                }
//                                canvas2.drawPath(sepPath, paint);
                            }
                        }


                        /*if (line.getType() == 0) {
                            Log.d(TAG, "虚线");
                            paint.setPathEffect(new DashPathEffect(new float[] {40, 80}, 0));
                        } else {
                            Log.d(TAG, "实线");
                            paint.setPathEffect(new DashPathEffect(new float[] {10000, 0}, 0));
                        }

                        List<List<Integer>> lines = sep.getLine();

                        Path sepPath = new Path();

                        for (int z = 0; z < lines.size(); z++) {

                            List<Integer> line = lines.get(z);

                            sepPath.moveTo((float) (base_x + (map[line.get(0)][0] - min_x) * scale_x), (float) (base_y + (map[line.get(0)][1] - min_y) * scale_y));

                            for (int za = 1; za < line.size(); za++) {
                                sepPath.lineTo((float) (base_x + (map[line.get(za)][0] - min_x) * scale_x), (float) (base_y + (map[line.get(za)][1] - min_y) * scale_y));
                            }
                            canvas2.drawPath(sepPath, paint);

                        }*/
                    }
                }


            }
        }

        if (specialAreaBeanList != null) {
            Paint mPaint = new Paint();
            mPaint.setTextSize(20);
            mPaint.setStyle(Paint.Style.FILL_AND_STROKE);
            mPaint.setColor(Color.WHITE);
            for (x = 0; x < specialAreaBeanList.size(); x++) {
                RoadExamMap3.SpecialAreaBean specialArea = specialAreaBeanList.get(x);

                List<Integer> points = specialArea.getArea();

                switch (specialArea.getType()) {
                    case 0:
                        paint.setColor(Color.GREEN);
                        break;
                    case 1:
                        paint.setColor(Color.RED);
                        break;
                    case 2:
                        paint.setColor(Color.BLUE);
                        break;
                    case 3:
                        paint.setColor(Color.YELLOW);
                        break;
                }



                for (int y = 0; y < points.size(); y++) {
                    if (y == 0) {
                        Path pathText = new Path();
                        pathText.moveTo((float) (base_x + (map[points.get(y)][0] - min_x) * scale_x), (float) (base_y + (map[points.get(y)][1] - min_x) * scale_y));
                        pathText.lineTo((float) (base_x + (map[points.get(y)][0] - min_x) * scale_x) + 60.0f, (float) (base_y + (map[points.get(y)][1] - min_x) * scale_y));
                        canvas2.drawTextOnPath(String.format("%d: %d - %d", specialArea.getRoad(), specialArea.getId(), specialArea.getType()), pathText, 0, 0, mPaint);//逆时针生成
                    }

                    canvas2.drawCircle((float) (base_x + (map[points.get(y)][0] - min_x) * scale_x), (float) (base_y + (map[points.get(y)][1] - min_x) * scale_y), 2.5f, paint);


                }
            }

            paint.setColor(Color.WHITE);

            PointF tp = ConvertScreen(428909.046, 3291970.692, yaw, mainPoint);
            canvas2.drawCircle((float) (base_x + (tp.getX() - min_x) * scale_x), (float) (base_y + (tp.getY() - min_y) * scale_y), 5.0f, paint);
            tp = ConvertScreen(428864.169, 3292181.902, yaw, mainPoint);
            canvas2.drawCircle((float) (base_x + (tp.getX() - min_x) * scale_x), (float) (base_y + (tp.getY() - min_y) * scale_y), 5.0f, paint);
            tp = ConvertScreen(428507.796, 3292262.818, yaw, mainPoint);
            canvas2.drawCircle((float) (base_x + (tp.getX() - min_x) * scale_x), (float) (base_y + (tp.getY() - min_y) * scale_y), 5.0f, paint);
            tp = ConvertScreen(428041.147, 3292240.051, yaw, mainPoint);
            canvas2.drawCircle((float) (base_x + (tp.getX() - min_x) * scale_x), (float) (base_y + (tp.getY() - min_y) * scale_y), 5.0f, paint);
            tp = ConvertScreen(427961.753, 3292170.694, yaw, mainPoint);
            canvas2.drawCircle((float) (base_x + (tp.getX() - min_x) * scale_x), (float) (base_y + (tp.getY() - min_y) * scale_y), 5.0f, paint);

        }


        // 提交画布
        Canvas canvas = holder.lockCanvas();
        if (canvas != null){

            canvas.drawBitmap(bmp, 0, 0, paint);
//            canvas.drawBitmap(bmp2, screen_width*2/3, 0, paint);
            holder.unlockCanvasAndPost(canvas);
            Log.d(TAG, "提交画布");
        }
    }
    /**
     * 通过资源id转化成Bitmap
     *
     * @param resId
     * @return
     */
    public Bitmap readBitmapById(int resId){
//        BitmapFactory.Options opt = new BitmapFactory.Options();
//        opt.inPreferredConfig = Bitmap.Config.ARGB_8888;
        InputStream is = getResources().openRawResource(resId);
        return BitmapFactory.decodeStream(is);
    }


    public PointF ConvertScreen(double x, double y, double yaw, PointF mainPoint) {
        PointF oldPoint = new PointF(x, y);
        PointF newPoint = rotatePoint(oldPoint, mainPoint, yaw );
        x = newPoint.getX();
        y = newPoint.getY();

        x = x - mainPoint.getX();
        y = y - mainPoint.getY();
        y = -y;

        newPoint = new PointF(x, y);
        return newPoint;
    }

    /**
     * 缩放图片
     * @param bm 要缩放图片
     * @param newWidth 宽度
     * @param newHeight 高度
     * @return处理后的图片
     */
    public Bitmap  scaleImage(Bitmap bm, int newWidth, int newHeight){
        if (bm == null){
            return null;
        }
        int width = bm.getWidth();
        int height = bm.getHeight();
        float scaleWidth = ((float) newWidth) / width;
        float scaleHeight = ((float) newHeight) / height;
        Matrix matrix = new Matrix();
        matrix.postScale(scaleWidth, scaleHeight);
        Bitmap newbm = Bitmap.createBitmap(bm, 0, 0, width, height, matrix,true);
        if (bm != null & !bm.isRecycled()){
            bm.recycle();//销毁原图片
            bm = null;
        }
        return newbm;
    }

    /**
     * 旋转图片
     * @param angle 旋转角度
     * @param bitmap 要处理的Bitmap
     * @return 处理后的Bitmap
     */
    public Bitmap rotaingImageView(int angle, Bitmap bitmap)
    {
        // 旋转图片 动作
        Matrix matrix = new Matrix();
        matrix.postRotate(angle);
        // 创建新的图片
        Bitmap resizedBitmap = Bitmap.createBitmap(bitmap, 0, 0,
                bitmap.getWidth(), bitmap.getHeight(), matrix, true);
        if (resizedBitmap != bitmap && bitmap != null && !bitmap.isRecycled()){
            bitmap.recycle();
            bitmap = null;
        }
        return resizedBitmap;
    }


    int line = 0;
    int map_line = 0;
    class MessageRemoteService{
        public int msgCode;
        public String json;

        public MessageRemoteService(int msgCode, Object obj) {
            this.json = (String) obj;
            this.msgCode = msgCode;
        }
    }

    RoadExamMap examMaps ;
    private ICEventListener icEventListener = new ICEventListener() {
        @Override
        public void onCEvent(String topic, final int msgCode, int resultCode, final Object obj) {


            producer.execute(new Runnable() {
                @Override
                public void run() {
                    queue.offer(new MessageRemoteService(msgCode,obj));
                }
            });


        }
    };
    boolean flag = true;
    String newmap = null;
    class CalRunnable implements Runnable{



        @Override
        public void run() {
            while (flag) {
                MessageRemoteService messageRemoteService = (MessageRemoteService) queue.peek();
                if (messageRemoteService == null) {
                    Log.i(TAG, "messageRemoteService ==null");

                    try {
                        Thread.sleep(100);
                    } catch (InterruptedException e) {
                        e.printStackTrace();
                    }
                }

                messageRemoteService = (MessageRemoteService) queue.poll();
                if (messageRemoteService != null) {
                    MyLog.i(TAG, messageRemoteService.json+" 消息队列长度："+queue.size());


                    RealTimeCarPos timeCarPos = gson.fromJson((String) messageRemoteService.json, RealTimeCarPos.class);

                    List<Double> points = timeCarPos.getPoint();
                    switch (timeCarPos.getMove()) {
                        case 0:
                            osdMoveDirect = "停车";
                            break;
                        case 1:
                            osdMoveDirect = "前进";
                            break;
                        case -1:
                            osdMoveDirect = "后退";
                            break;
                    }
                    osdHeading = "方向角" + String.valueOf(timeCarPos.getHeading());

                    BigDecimal bd = new BigDecimal(timeCarPos.getSpeed());
                    bd = bd.setScale(3, BigDecimal.ROUND_HALF_UP);
                    osdRtkSpeed = "计算速度:" + bd;

                    osdQf = "QF：" + String.valueOf(timeCarPos.getQf());


                    car = new double[points.size() / 2][2];
                    line =0 ;map_line=0;
                    for (int i = 0; i < points.size(); i++) {
                        if ((i % 2) == 0) {
                            car[line][0] = points.get(i);
                        } else {
                            double value = points.get(i);
                            car[line][1] = value;
                            line++;
                        }

                    }
                    map_id = timeCarPos.getMap_id();

                    List<Double> mainAnt = timeCarPos.getMain_ant();
                    List<Integer> tire1 = timeCarPos.getLeft_front_tire();
                    List<Integer> tire2 = timeCarPos.getRight_front_tire();
                    List<Integer> tire3 = timeCarPos.getLeft_rear_tire();
                    List<Integer> tire4 = timeCarPos.getRight_rear_tire();

                    List<Integer> body = timeCarPos.getBody();

                    List<Integer> tire = new ArrayList<>();

                    double yaw = timeCarPos.getHeading();

                    tire.add(tire1.get(0));
                    tire.add(tire2.get(0));
                    tire.add(tire3.get(0));
                    tire.add(tire4.get(0));



                        final String roadMapPath = ExamPlatformData.getInstance().getRoadMapPath();

                        if (!TextUtils.isEmpty(roadMapPath)){
                                Log.d(TAG, "地图路径 " + roadMapPath);
                                byte [] datas= FileUtil.readFile(roadMapPath);
                                if (datas != null){
                                    newmap= new String(datas);
                                }else{
                                    MyLog.i(String.format("文件:%s不存在",roadMapPath));
                                }

                        }else{

                            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);
                    }else{
                        examMaps = gson.fromJson(newmap.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 = points.get(i);
                                    map[map_line][1] = value;
                                    map_line++;
                                }
                            }
                        }
                    }

                    DrawMap(yaw, mainAnt,map, car, body, tire,  examMaps.getMaps());*/


                    RoadExamMap3 roadExamMap3 = null;
                    Type type2 = new TypeToken<RoadExamMap3>() {
                    }.getType();

                    if (buffer != null) {
                        Log.d(TAG, "解析地图1 " + buffer.toString().trim());
                        roadExamMap3 = gson.fromJson(buffer.toString().trim(), type2);
                    }else{
                        Log.d(TAG, "解析地图2 " + newmap.trim());
                        roadExamMap3 = gson.fromJson(newmap.trim(),type2);
                    }
                    if (roadExamMap3 != null) {
                        points = roadExamMap3.getPoints();
                        Log.d(TAG, "地图数量 %d" + points.size());
                        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 = points.get(i);
                                    map[map_line][1] = value;
                                    map_line++;
                                }
                            }
                        }

                        DrawMap2(yaw, mainAnt, map, car, body, tire, roadExamMap3.getRoad(), roadExamMap3.getSpecial_area());
//                        DrawMap(yaw, mainAnt, map, car, body, tire, null);
                    }

                }

            }
        }


    }
    @Override
    public void onAttach(Context context) {
        super.onAttach(context);
        CEventCenter.onBindEvent(true, icEventListener, Constant.REAL_TIME_POS_CAR_TOPIC);
        CEventCenter.onBindEvent(true, speedListener, Constant.BIND_RTK_SPEED_TOPIC);
    }

    @Override
    public void onDetach() {
        super.onDetach();
        flag = false;
        producer.shutdown();
        consumer.shutdown();
        CEventCenter.onBindEvent(false, icEventListener, Constant.REAL_TIME_POS_CAR_TOPIC);
        CEventCenter.onBindEvent(false, speedListener, Constant.BIND_RTK_SPEED_TOPIC);
    }
    @Override
    public void onClick(View v) {
        switch (v.getId()){
            case R.id.btn_reduce:

                if (pixels < 5){
                    pixels = 5;
                    Toast.makeText(_mActivity, "已经是最小了，不能再小了", Toast.LENGTH_SHORT).show();
                }else{
                    pixels -= 5;
                }
                break;
            case R.id.btn_amplify:
                if (pixels >80){
                    Toast.makeText(_mActivity, "已经是最大了", Toast.LENGTH_SHORT).show();
                    pixels = 80;
                }else{
                    pixels+=5;
                }
                break;

        }
    }



    void DrawArrows(Canvas canvas, int color, float arrowSize, float x1,
                    float y1, float x2, float y2) {
        paint.setAntiAlias(true);
        paint.setStyle(Paint.Style.STROKE);
        paint.setColor(color);

        // 画直线
        canvas.drawLine(x1, y1, x2, y2, paint);

        // 箭头中的第一条线的起点
        int x3 = 0;
        int y3 = 0;

        // 箭头中的第二条线的起点
        int x4 = 0;
        int y4 = 0;

        double awrad = Math.atan(3.5 / 8);
        double[] arrXY_1 = rotateVec(x2 - x1, y2 - y1, awrad, arrowSize);
        double[] arrXY_2 = rotateVec(x2 - x1, y2 - y1, -awrad, arrowSize);

        // 第一端点
        Double X3 = Double.valueOf(x2 - arrXY_1[0]);
        x3 = X3.intValue();
        Double Y3 = Double.valueOf(y2 - arrXY_1[1]);
        y3 = Y3.intValue();

        // 第二端点
        Double X4 = Double.valueOf(x2 - arrXY_2[0]);
        x4 = X4.intValue();
        Double Y4 = Double.valueOf(y2 - arrXY_2[1]);
        y4 = Y4.intValue();

        Path arrowsPath = new Path();
        arrowsPath.moveTo(x2, y2);
        arrowsPath.lineTo(x3, y3);
        arrowsPath.lineTo(x4, y4);
        arrowsPath.close();
        canvas.drawLine(x3, y3, x2, y2, paint);
        canvas.drawLine(x4, y4, x2, y2, paint);
    }

    private double[] rotateVec(float px, float py, double ang, double arrowSize) {
        double mathstr[] = new double[2];
        double vx = px * Math.cos(ang) - py * Math.sin(ang);
        double vy = px * Math.sin(ang) + py * Math.cos(ang);
        double d = Math.sqrt(vx * vx + vy * vy);
        vx = vx / d * arrowSize;
        vy = vy / d * arrowSize;
        mathstr[0] = vx;
        mathstr[1] = vy;
        return mathstr;
    }


}