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.BaseDataUIBean; import safeluck.drive.evaluation.bean.ExamPlatformData; import safeluck.drive.evaluation.bean.MapInfoHead; import safeluck.drive.evaluation.bean.RealTimeCarPos; import safeluck.drive.evaluation.bean.RoadExamMap; import safeluck.drive.evaluation.bean.RoadExamMap2; 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 RoadDriveMapFragmentaa 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 RoadDriveMapFragmentaa(); } 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 mainAnt, double[][] map, double[][] car, Listbody, List tire, List 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> redLines= mapItem.getRed_line(); List> greenLines = mapItem.getGreen_line(); List> allTringgerLines = mapItem.getAll_trigger_line(); for (List 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 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 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 area = mapItem.getArea(); List stoplines = mapItem.getStop_line(); for (int aaa = 0; aaa 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 mainAnt, double[][] map, double[][] car, Listbody, List tire, List roadBeanList, List 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++) { RoadExamMap2.RoadBean road = roadBeanList.get(x); Log.d(TAG, "路 id = "+ road.getId()); List 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++) { RoadExamMap2.RoadBean.EdgeBean 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 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 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++) { RoadExamMap2.RoadBean.EdgeBean 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 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>> 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> lines = separate.get(y); Log.d(TAG, "线数量 = " + lines.size()); for (int z = 0; z < lines.size(); z++) { List line = lines.get(z); for (int zz = 0; zz < line.size(); zz++) { RoadExamMap2.RoadBean.SeparateBean 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 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> lines = sep.getLine(); Path sepPath = new Path(); for (int z = 0; z < lines.size(); z++) { List 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++) { RoadExamMap2.SpecialAreaBean specialArea = specialAreaBeanList.get(x); List 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 context * @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 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 mainAnt = timeCarPos.getMain_ant(); List tire1 = timeCarPos.getLeft_front_tire(); List tire2 = timeCarPos.getRight_front_tire(); List tire3 = timeCarPos.getLeft_rear_tire(); List tire4 = timeCarPos.getRight_rear_tire(); List body = timeCarPos.getBody(); List 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(); final String roadMapPath = "/storage/emulated/0/fl_road.json"; 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() { }.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());*/ RoadExamMap2 roadExamMap2 = null; Type type2 = new TypeToken() { }.getType(); if (buffer != null) { Log.d(TAG, "解析地图1 " + buffer.toString().trim()); roadExamMap2 = gson.fromJson(buffer.toString().trim(), type2); }else{ Log.d(TAG, "解析地图2 " + newmap.trim()); roadExamMap2 = gson.fromJson(newmap.trim(),type2); } if (roadExamMap2 != null) { points = roadExamMap2.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, roadExamMap2.getRoadBean(), roadExamMap2.getSpecialAreaBean()); // 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; } }