package safeluck.drive.evaluation.util;

import android.content.res.Resources;
import android.graphics.PointF;
import android.os.SystemClock;
import android.util.Log;
import android.util.TypedValue;

import com.anyun.basecommonlib.MyLog;
import com.anyun.exam.lib.util.ByteUtil;
import com.google.gson.Gson;
import com.safeluck.aykj.utils.BytesUtils;

import java.io.File;
import java.io.FileInputStream;
import java.io.FileOutputStream;
import java.math.BigDecimal;
import java.nio.charset.Charset;
import java.security.SecureRandom;
import java.text.ParseException;
import java.text.SimpleDateFormat;
import java.util.ArrayList;
import java.util.Arrays;
import java.util.Calendar;
import java.util.Collections;
import java.util.Date;
import java.util.List;
import java.util.Random;
import java.util.regex.Matcher;
import java.util.regex.Pattern;
import java.util.zip.ZipEntry;
import java.util.zip.ZipFile;
import java.util.zip.ZipOutputStream;

import javax.crypto.Cipher;
import javax.crypto.SecretKey;
import javax.crypto.SecretKeyFactory;
import javax.crypto.spec.DESKeySpec;
import javax.crypto.spec.IvParameterSpec;

import safeluck.drive.evaluation.app;
import safeluck.drive.evaluation.bean.CarModel;
import safeluck.drive.evaluation.bean.GisCarModel;
import safeluck.drive.evaluation.bean.Point;
import safeluck.drive.evaluation.httpmodule.GsonConverterFactory;

import static java.lang.Math.cos;
import static java.lang.Math.pow;
import static java.lang.Math.sin;
import static java.lang.Math.toRadians;

/**
 * MyApplication2
 * Created by lzw on 2019/3/18. 13:13:42
 * 邮箱：632393724@qq.com
 * All Rights Saved! Chongqing AnYun Tech co. LTD
 */
public class Utils {
    private static final String TAG = "Utils";
    public static float px2dp(float value){
        return TypedValue.applyDimension(TypedValue.COMPLEX_UNIT_DIP,value, Resources.getSystem().getDisplayMetrics());
    }





    /**
     * dp值转像素
     * @param dpValue
     * @return
     */
    public static float dp2Px(int dpValue){
        return TypedValue.applyDimension(TypedValue.COMPLEX_UNIT_PX,dpValue,Resources.getSystem().getDisplayMetrics());
    }

    /**
     * 平台协议生成的校验码
     * @param bytes
     * @return
     */

    public static byte calCheckCode(byte[] bytes){
        byte checkCode =0;
        //　参与运算的两个值，如果两个相应bit位相同，则结果为0，否则为1。
        for (int i = 0; i < bytes.length; i++) {
            checkCode ^= bytes[i];
        }

        return checkCode;
    }

    /**
     * 转义
     * 采用Ox7e表示，若校验码、消息头以及消息体中出现0x7e，则要进行转义处理，转义规则定义如下:
     * 0x7e<——>0x7d后紧跟一个0x02；
     * 0x7d<——>0x7d后紧跟一个0x01。
     * @param datas
     * @return
     */
    public static byte[] transferMeaning(byte[] datas){
        byte [] temp = new byte[datas.length*2];
        int y = 0;
        temp[y++] = 0x7e;
        for (int i = 1; i < datas.length-1; i++) {
            if (datas[i] == 0x7E) {
                temp[y++] = 0x7D;
                temp[y++] = 0x02;
            } else if (datas[i] == 0x7D) {
                temp[y++] = 0x7D;
                temp[y++] = 0x01;
            } else {
                temp[y++] = datas[i];
            }
        }
        temp[y++] = 0x7e;

        byte[] tranferbytes = new byte[y];
        System.arraycopy(temp,0,tranferbytes,0,y);
        Log.i(TAG,"转义过后："+ ByteUtil.byte2hex(tranferbytes));
        return tranferbytes;
    }

    /**
     *接收消息时:转义还原
     * @param datas
     * @return
     */
    public static byte[] parseMsg(byte[] datas){
        byte[] temp = new byte[datas.length];
        int y =0 ;
        for (int i = 0; i < datas.length; i++) {
            if (datas[i]==0x7d && datas[i+1]==0x02 ){
                temp[y++] = 0x7e;
                i++;
                continue;
            }else if (datas[i]==0x7d && datas[i+1]==0x01 ){

                temp[y++] = 0x7d;
                i++;
                continue;
            }else{
                temp[y++] = datas[i];
            }
        }
        return temp;
    }

//    public static boolean isDigital(String str) {
//        String regx= "^\\d+";
//        return str.matches(regx);
//    }

//    public static void main(String []args){
//        String str   = "EB00020000031420010000000400A5";
////        String str   = "7EEB00020000031420010000000400A5007E";
//        String str1  = "EB000200000314200100000004030D00";
////        String str1  = "7EEB000200000314200100000004030D00D57E";
//        String str2  = "EB000200000314200100000004035000";
//        byte [] dtas=BytesUtils.hexStringToBytes(str);
//        byte checkcode = calCheckCode(dtas);
//        System.out.println(BytesUtils.toHexString(checkcode));
//    }



    public static int[] getRandomInts(int size,int randomMax){
        Random random = new Random();
        int[] a=new int[size];
        int index=0;

        while(index<size){
            System.out.println("---------------");
            int temp=random.nextInt(randomMax);

            if(temp!=0&&!contains(a,temp)){
                a[index++]=temp;
            }
        }

        for(int i=0;i<a.length;i++){
            System.out.println(a[i]);
        }


        return a;

    }



    //该方法完成判断temp在a数组中是否包含
//包含返回true
    public static boolean contains(int[] a,int temp){

        for(int i=0;i<a.length;i++){
            if(a[i]==temp){
                return true;
            }
        }

        return false;
    }


    public static String getHHmm(){
        String mMonth,mDay,mWay,mHours,mMinute;
        StringBuffer stringBuffer = new StringBuffer();
        Calendar calendar = Calendar.getInstance();
        mMonth = String.valueOf(calendar.get(Calendar.MONTH) + 1);        //获取日期的月
        mDay = String.valueOf(calendar.get(Calendar.DAY_OF_MONTH));      //获取日期的天
        mWay = String.valueOf(calendar.get(Calendar.DAY_OF_WEEK));      //获取日期的星期

        /**
         * 如果小时是个位数
         *
         *则在前面价格“0”
         * */
        if (calendar.get(Calendar.HOUR) < 10) {
            mHours = "0" + calendar.get(Calendar.HOUR);

        } else {
            mHours = String.valueOf(calendar.get(Calendar.HOUR));
        }
        stringBuffer.append(mHours);
        stringBuffer.append(":");
        /**
         * 如果分钟是个位数
         *
         *则在前面价格“0”
         * */
        if (calendar.get(Calendar.MINUTE) < 10) {
            mMinute = "0" + calendar.get(Calendar.MINUTE);
        } else {
            mMinute = String.valueOf(calendar.get(Calendar.MINUTE));
        }
        stringBuffer.append(mMinute);
        /**
         * 获取星期
         * 并设置出来
         * */
        if ("1".equals(mWay)) {
            mWay = "天";
        } else if ("2".equals(mWay)) {
            mWay = "一";
        } else if ("3".equals(mWay)) {
            mWay = "二";
        } else if ("4".equals(mWay)) {
            mWay = "三";
        } else if ("5".equals(mWay)) {
            mWay = "四";
        } else if ("6".equals(mWay)) {
            mWay = "五";
        } else if ("7".equals(mWay)) {
            mWay = "六";
        }
        return stringBuffer.toString();
    }


    /**
     * 加密
     * @param datasource byte[]
     * @param password String
     * @return byte[]
     */
    public static  byte[] encrypt(byte[] datasource, String password) {
        try{
            SecureRandom random = new SecureRandom();
            DESKeySpec desKey = new DESKeySpec(password.getBytes());
            //创建一个密匙工厂，然后用它把DESKeySpec转换成
            SecretKeyFactory keyFactory = SecretKeyFactory.getInstance("DES");
            SecretKey securekey = keyFactory.generateSecret(desKey);
            //Cipher对象实际完成加密操作
            Cipher cipher = Cipher.getInstance("DES");
            //用密匙初始化Cipher对象
            cipher.init(Cipher.ENCRYPT_MODE, securekey, random);
            //现在，获取数据并加密
            //正式执行加密操作
            return cipher.doFinal(datasource);
        }catch(Throwable e){
            e.printStackTrace();
        }
        return null;
    }    /**
     * 二维码加密
     * @param datasource byte[]
     * @param password String
     * @return byte[]
     */
    public static  byte[] qrencrypt(byte[] datasource, String password) {
        try{
            Cipher cipher = Cipher.getInstance("DES/CBC/PKCS5Padding");
            DESKeySpec desKeySpec = new DESKeySpec(password.getBytes());
            SecretKeyFactory keyFactory = SecretKeyFactory.getInstance("DES");
            SecretKey securekey = keyFactory.generateSecret(desKeySpec);
            IvParameterSpec desKey = new IvParameterSpec(password.getBytes());
            //创建一个密匙工厂，然后用它把DESKeySpec转换成
            //Cipher对象实际完成加密操作
            //用密匙初始化Cipher对象
            cipher.init(Cipher.ENCRYPT_MODE, securekey, desKey);
            //现在，获取数据并加密
            //正式执行加密操作
            return cipher.doFinal(datasource);
        }catch(Throwable e){
            e.printStackTrace();
        }
        return null;
    }
    /**
     * 解密
     * @param src byte[]
     * @param password String
     * @return byte[]
     * @throws Exception
     */
    public static byte[] decrypt(byte[] src, String password) throws Exception {
        // DES算法要求有一个可信任的随机数源
        SecureRandom random = new SecureRandom();
        // 创建一个DESKeySpec对象
        DESKeySpec desKey = new DESKeySpec(password.getBytes());
        // 创建一个密匙工厂
        SecretKeyFactory keyFactory = SecretKeyFactory.getInstance("DES");
        // 将DESKeySpec对象转换成SecretKey对象
        SecretKey securekey = keyFactory.generateSecret(desKey);
        // Cipher对象实际完成解密操作
        Cipher cipher = Cipher.getInstance("DES");
        // 用密匙初始化Cipher对象
        cipher.init(Cipher.DECRYPT_MODE, securekey, random);
        // 真正开始解密操作
        return cipher.doFinal(src);
    }

    public static int parseUnsignedInt(String s, int radix)
            throws NumberFormatException {
        if (s == null)  {
            throw new NumberFormatException("null");
        }

        int len = s.length();
        if (len > 0) {
            char firstChar = s.charAt(0);
            if (firstChar == '-') {
                throw new
                        NumberFormatException(String.format("Illegal leading minus sign " +
                        "on unsigned string %s.", s));
            } else {
                if (len <= 5 || // Integer.MAX_VALUE in Character.MAX_RADIX is 6 digits
                        (radix == 10 && len <= 9) ) { // Integer.MAX_VALUE in base 10 is 10 digits
                    return Integer.parseInt(s, radix);
                } else {
                    long ell = Long.parseLong(s, radix);
                    if ((ell & 0xffff_ffff_0000_0000L) == 0) {
                        return (int) ell;
                    } else {
                        throw new
                                NumberFormatException(String.format("String value %s exceeds " +
                                "range of unsigned int.", s));
                    }
                }
            }
        } else {
            throw new NumberFormatException("For input string: \"" + s + "\"");
        }
    }

    public static void main(String[] args){
        long longCurrTIme = System.currentTimeMillis()/1000;
        long CurrTIme =  System.currentTimeMillis();
        System.out.println("longCurrTIme="+longCurrTIme);
        System.out.println("intCurrTIme="+CurrTIme);
        int unsignedTime=  parseUnsignedInt(String.valueOf(longCurrTIme),10);
        System.out.println("unsigned int time = "+unsignedTime);



Point p1 = new Point(2.55,1.0);
Point p2 = new Point(1.55,1.0);
        System.out.println(Calc3Point(p1,p2,1.0).toString());
        System.out.println( isDigital("2003233d"));
        System.out.println( isDigital("d2003233"));
        System.out.println( dateToLongSec("20200330101455"));
        Date date = new Date(utc2NetWorkTime("20200330142612"));

        System.out.println(date.getTime() );
        System.out.println("date="+formatTimeYYMMDDHHmmSS(date.getTime()) );

        System.out.println(        formatTimeYYMMDDHHmmSS(1585578372000L));
        System.out.println(        "============================");
        String utc =utc2NetWorkTimeMillSeconds("20200401014101.400");
        System.out.println(utc );
        String sss ="{\"utc\":\"20200401014101.40\",\"qf\":3,\"coord_x\":-7630.0,\"coord_x_dir\":\"N\",\"coord_y\":16570.0,\"coord_y_dir\":\"E\",\"heading\":90.0,\"pitch\":0.0,\"roll\":0.0,\"sat_num\":14,\"latitude\":33.26948983333333,\"longitude\":120.78270283333333,\"altitude\":58.9666,\"speed\":1.72591488,\"track_ture\":90.0}";
               sss= sss.replaceFirst("[1-9]\\d*\\.\\d*|0\\.\\d*[1-9]\\d*",utc);
        System.out.println(String.format("ssss=%s",sss));



        String str = "{\"result\":true,\"data\":{\"server\":\"gps.safeluck.com\",\"port\":\"3301\",\"map_json\":{\"axial\":[0.0,12.0],\"left_front_tire\":[8.0,9.0],\"main_ant\":[-9151.5063,13030.5118],\"right_front_tire\":[20.0,21.0],\"right_rear_tire\":[22.0,23.0],\"name\":\"科二场考车模型\",\"left_rear_tire\":[10.0,11.0],\"type\":\"car\",\"body\":[0.0,1.0,2.0,3.0,4.0,5.0,6.0,7.0,12.0,13.0,14.0,15.0,16.0,17.0,18.0,19.0],\"point\":[-9149.6063,13033.0768,-9149.9978,13033.3124,-9150.3258,13033.3485,-9150.8341,13032.8985,-9151.7318,13031.6639,-9152.3573,13030.83,-9152.5214,13030.5639,-9152.602,13030.3105,-9150.8053,13032.8843,-9150.6537,13032.7602,-9152.3352,13030.8124,-9152.221,13030.7008,-9152.092,13029.7892,-9151.4638,13029.4333,-9151.2111,13029.568,-9150.9808,13029.8341,-9150.3546,13030.6796,-9149.458,13031.8642,-9149.1611,13032.4276,-9149.2827,13032.7653,-9149.4842,13031.8708,-9149.6176,13031.9937,-9151.0011,13029.8717,-9151.1367,13029.9878]},\"pzh\":\"豫E8000测\"}}";
       System.out.println("http="+parseHttpRsp(str));


    }


    public static String parseHttpRsp(String str){
        StringBuilder stringBuilder = new StringBuilder();


        int begin =0;
        String patternAll = "\\d+\\.[0-9]{1,4}";
        Pattern all = Pattern.compile(patternAll);
        Matcher mall = all.matcher(str);
        int k = 0;
        String pattern111 = "^\\d{1,2}\\.[0]{1}$";
        Pattern pattern1111= Pattern.compile(pattern111);

        while (mall.find()){
            String temp=mall.group();
            Matcher mmm = pattern1111.matcher(temp);
            int start =mall.start();
            int end= mall.end();
            if (mmm.matches()){
                String mmmStr = mmm.group();
                String intNumber = mmmStr.substring(0,mmmStr.indexOf("."));
                System.out.println("mmmStr="+mmmStr+" intNumber="+intNumber+" start="+start+"end="+end);
                String bbbb = str.substring(begin,start);


                stringBuilder.append(bbbb+intNumber);

                begin = 0;
                begin+=end;

                k++;

            }


        }
        stringBuilder.append(str.substring(begin));
        return stringBuilder.toString();
    }

    public static Point Calc3Point(Point p1,Point p2,double L ){
        Point p3 = new Point(0.0,0.0);
        System.out.println(p1.toString()+" "+p2.toString());
        if (isEqual(p1.getX(), p2.getX())) {
            p3.setY( p2.getY());
            if (p2.getY() > p1.getY()) {
                p3.setX(p2.getX() - L);
            } else {
                p3.setX(p2.getX() + L)  ;
            }
            return p3;
        }
        if (isEqual(p1.getY(), p2.getY())) {
            p3.setX(p2.getX());
            if (p2.getX() > p1.getX()) {
                p3.setY(p2.getY()+L);
            } else {
                p3.setY(p2.getY() - L);
            }
            return p3;
        }

        double k = (p2.getY() - p1.getY()) / (p2.getX() - p1.getX());
        double b = p1.getY() - k*p1.getX();

        double A = 1 + pow(k, 2);
        double B = 2*k*(b - p2.getY()) - 2*p2.getX();
        double C = pow(b - p2.getY(), 2) + pow(p2.getX(), 2) - pow(L,2);

        double x3, y3;


        if (p1.getX() < p2.getX()) {
            x3 = (- B - Math.sqrt(pow(B, 2) - 4*A*C))/(2*A);
        } else {
            x3 = (- B + Math.sqrt(pow(B, 2) - 4*A*C))/(2*A);
        }
        y3 = k * x3 + b;


        p3.setX(x3);
        p3.setY(y3);

        p3 = rotatePoint(p3, p2, 270);


        return p3;

    }

    private static boolean isEqual(double a,double b){
        return (Math.abs(a-b)<1e-3);
    }
    public static Point rotatePoint(Point oldPoint,Point centre,double degree){

        Point newPoint = new Point(0.0,0.0);
        newPoint.setX(getdouble((oldPoint.getX()-centre.getX())*cos(toRadians(degree)) -
                (oldPoint.getY()-centre.getY())*sin(toRadians(degree)) + centre.getX(),4)) ;
        newPoint.setY(getdouble( (oldPoint.getX()-centre.getX())*sin(toRadians(degree))
                + (oldPoint.getY()-centre.getY())*cos(toRadians(degree)) + centre.getY(),4));
        return newPoint;
    }


    /**
     * 对double保留几位小数
     */
    public static Double  getdouble(Double d,int reserve) {

        BigDecimal b= new BigDecimal(d);
        return b.setScale(reserve, BigDecimal.ROUND_HALF_UP).doubleValue();
    }


   public static double YawOf(Point p1, Point p2)
    {
        double deg = 0.0;

        if (Math.abs(p1.getY() - p2.getY()) <= 1e-3) {
            if (p1.getX() > p2.getX()) {
                deg = 90;
            } else {
                deg = 270;
            }
        } else if (Math.abs(p1.getX() - p2.getX()) <= 1e-3) {
            if (p1.getY() > p2.getY()) {
                deg = 0;
            } else {
                deg = 180;
            }
        } else {
            deg = Math.atan(Math.abs(p1.getX() - p2.getX()) /
                    Math.abs(p1.getY() - p2.getY()));

            deg = Math.toDegrees(deg);

            if (p1.getX() > p2.getX() &&
                    p1.getY() > p2.getY()) {

            } else if (p1.getX() < p2.getX() &&
                    p1.getY() > p2.getY()) {
                deg = 360 - deg;
            } else if (p1.getX() < p2.getX() &&
                    p1.getY() < p2.getY()) {
                deg = 180 + deg;
            } else if (p1.getX() > p2.getX() &&
                    p1.getY() < p2.getY()) {
                deg = 180 - deg;
            }
        }

        return deg;
    }

    public static String formatTimeYYMMDDHHmmSS(long begin_time) {
        SimpleDateFormat simpleDateFormat = new SimpleDateFormat("yyyy-MM-dd HH:mm:ss");

        return  simpleDateFormat.format(begin_time);
    }
    public static String formatTimeYYMMDDHHmmSSSSS(long begin_time) {
        SimpleDateFormat simpleDateFormat = new SimpleDateFormat("yyyy-MM-dd HH:mm:ss.SSS");

        return  simpleDateFormat.format(begin_time);
    }

    public static boolean isDigital(String str){
        String regx = "^[0-9]*$";
        Pattern pattern = Pattern.compile(regx);
        Matcher matcher = pattern.matcher(str);
        return matcher.matches();
    }
    public static boolean isNumber(String str) {
        //采用正则表达式的方式来判断一个字符串是否为数字，这种方式判断面比较全
        //可以判断正负、整数小数

        boolean isInt = Pattern.compile("^-?[1-9]\\d*$").matcher(str).find();
        boolean isDouble = Pattern.compile("^-?([1-9]\\d*\\.\\d*|0\\.\\d*[1-9]\\d*|0?\\.0+|0)$").matcher(str).find();

        return isInt || isDouble;

    }
    public static long dateToLongSec(String utc) {
//        MyLog.i("dateToLongSec:"+utc);
        SimpleDateFormat simpleDateFormat = new SimpleDateFormat("yyyyMMddHHmmss");
        Date date = null;
        try {
            date = simpleDateFormat.parse(utc);
        } catch (ParseException e) {
            e.printStackTrace();
        }
        if (date==null){
//            MyLog.i("dateToLongSec date==null");
            return new Date().getTime();
        }
        return date.getTime()/1000;
    }

    public static long  utc2NetWorkTime(String utc){
        SimpleDateFormat simpleDateFormat = new SimpleDateFormat("yyyyMMddHHmmss");
        Date date = null;
        try {
            date = simpleDateFormat.parse(utc);
        } catch (ParseException e) {
            e.printStackTrace();
        }
        long utcTime = date.getTime()+8*60*60*1000;
        return utcTime;
    }
    public static String  utc2NetWorkTimeMillSeconds(String utcMillSeconds){
        SimpleDateFormat simpleDateFormat = new SimpleDateFormat("yyyyMMddHHmmss.SSS");
        Date date = null;
        try {
            date = simpleDateFormat.parse(utcMillSeconds);
        } catch (ParseException e) {
            e.printStackTrace();
        }
        long utcTime = date.getTime()+8*60*60*1000;
        date.setTime(utcTime);
        return simpleDateFormat.format(date);
    }

    public static void zipFolder(String srcFileString,String zipFileString) throws Exception{
        //创建zip
        ZipOutputStream outZip = new ZipOutputStream(new FileOutputStream(zipFileString));

        //创建文件
        File file = new File(srcFileString);
        //压缩
        System.out.println("----->"+file.getParent()+"==="+file.getAbsolutePath());
        zipFiles(file.getParent()+File.separator,file.getName(),outZip);
        outZip.finish();
        outZip.close();
    }

    /**
     * 压缩文件
     * @param folderString
     * @param fileString
     * @param outZip
     */
    private static void zipFiles(String folderString, String fileString, ZipOutputStream outZip)
    throws Exception{
        System.out.println("folderString="+folderString+ "\n" +
                "fileString:" + fileString + "\n==========================");
        if (outZip == null){
            return;
        }
        File file = new File(folderString + fileString);
        if (file.isFile()){
            ZipEntry zipEntry = new ZipEntry(fileString);
            FileInputStream fileInputStream = new FileInputStream(file);
            outZip.putNextEntry(zipEntry);
            int len = 0;
            byte[] buffer = new byte[1024];
            while ((len=fileInputStream.read(buffer))!=-1){
                outZip.write(buffer,0,len);
            }
            outZip.closeEntry();
        }else{
            //文件夹
            String []fileList = file.list();
            //没有子文件的压缩
            if (fileList.length<=0){
                ZipEntry zipEntry = new ZipEntry(fileString+File.separator);
                outZip.putNextEntry(zipEntry);
                outZip.closeEntry();
            }else{
                for (int i = 0; i < fileList.length; i++) {
                    zipFiles(folderString+fileString+"/",fileList[i],outZip);
                }
            }
        }

    }


    public static List<CarModel> getCarModelData(Point basePoint, List<Integer> axial, List<Point> car){
        List<CarModel> carModelList = new ArrayList<>();
        double C02= (car.get(0).getX()-basePoint.getX())*(car.get(0).getX()-basePoint.getX()) + (car.get(0).getY()-basePoint.getY())*(car.get(0).getY()-basePoint.getY());
        double c0 = Math.sqrt(C02);
        CarModel carModel = new CarModel();
        carModel.setDistance(c0);
        carModel.setAngle(0.0);
        carModelList.add(carModel);

        for (int i = 1; i < car.size(); ++i) {
            double dis2 = (car.get(i).getX()-basePoint.getX())*(car.get(i).getX()-basePoint.getX()) + (car.get(i).getY()-basePoint.getY())*(car.get(i).getY()-basePoint.getY());
            double dis = Math.sqrt(dis2);

            CarModel c =new CarModel();
            c.setDistance(dis);

            c.setAngle(180 * Math.acos((dis2 + C02 - ((car.get(i).getX()-car.get(0).getX())*(car.get(i).getX()-car.get(0).getX()) +
                    (car.get(i).getY()-car.get(0).getY())*(car.get(i).getY()-car.get(0).getY())))/(2*c0*dis)) / Math.PI);

            if (i > axial.get(1)){
                c.setAngle( 360.0 - c.getAngle());
            }
            carModelList.add(c);
        }
        return carModelList;
    }

    public static List<Point> getCarPoint(double pitch,double yaw,Point point,GisCarModel gisCarModel){
        pitch = 0;
//        yaw = 45;
        Point main_ant = point;
        List<Point> carNew = new ArrayList<>();
//        StringBuffer buffer=FileUtil.readAssetTxtFile(app.getAppContext(),"giscar.json");
//        Log.i(TAG,"giscar="+buffer.toString());
//        GisCarModel gisCarModel= new Gson().fromJson(buffer.toString(),GisCarModel.class);
        List<Point> pointList = new ArrayList<Point>() ;
        for (int i = 0; i < gisCarModel.getPoint().size(); i++) {
                double x= gisCarModel.getPoint().get(i);
                i++;
                double y= gisCarModel.getPoint().get(i);
                pointList.add(new Point(x,y));



        }
        double mainAnt_x = gisCarModel.getMain_ant().get(0);
        double mainAnt_y = gisCarModel.getMain_ant().get(1);
        long pretime = System.currentTimeMillis();
        List<CarModel> carModels = getCarModelData(new Point(mainAnt_x, mainAnt_y),gisCarModel.getAxial(),pointList);

        if (carModels != null && carModels.size()>0){

            for (int i = 0; i < carModels.size(); ++i) {
//                Log.i(TAG,String.format("位置[%d],distance=%f,angle=%f",i,carModels.get(i).getDistance(),carModels.get(i).getAngle()));
                double qrx = carModels.get(i).getDistance() * Math.sin(carModels.get(i).getAngle() * Math.PI / 180);
                double qry = carModels.get(i).getDistance() * Math.cos(carModels.get(i).getAngle() * Math.PI / 180) * Math.cos(pitch * Math.PI / 180);

                double projectDistance = Math.sqrt(Math.pow(qrx, 2) + Math.pow(qry, 2));
                double projectAngle = Math.acos(qry / projectDistance) * 180 / Math.PI;

                if (carModels.get(i).getAngle() > 180) {
                    projectAngle = 360 - projectAngle;
                }

                double X =
                        projectDistance * Math.sin(yaw * Math.PI / 180) * Math.cos(projectAngle * Math.PI / 180) -
                                projectDistance * Math.cos(yaw * Math.PI / 180) * Math.sin(projectAngle * Math.PI / 180) +
                                main_ant.getX();
                double Y =
                        projectDistance * Math.sin(yaw * Math.PI / 180) * Math.sin(projectAngle * Math.PI / 180) +
                                projectDistance * Math.cos(yaw * Math.PI / 180) * Math.cos(projectAngle * Math.PI / 180) +
                                main_ant.getY();
                carNew.add(new Point(X,Y));

            }
        }
        Log.i(TAG,String.format("getCarModelData 耗时=%d毫秒",System.currentTimeMillis()-pretime));
        return carNew;


    }
}