package com.moral.api.controller;
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import com.alibaba.fastjson.JSON;
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import com.alibaba.fastjson.JSONArray;
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import com.alibaba.fastjson.JSONObject;
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import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
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import com.baomidou.mybatisplus.core.toolkit.ObjectUtils;
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import com.moral.api.entity.HistorySecondUav;
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import com.moral.api.mapper.HistorySecondUavMapper;
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import com.moral.api.pojo.dto.uav.UAVGteForDTO;
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import com.moral.api.pojo.dto.uav.UAVQueryTimeSlotDTO;
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import com.moral.api.pojo.dto.uav.UAVResultDTO;
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import com.moral.api.pojo.form.uav.UAVQueryTimeSlotForm;
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import com.moral.api.pojo.vo.uav.HistorySecondUavVOs;
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import com.moral.api.pojo.vo.uav.UAVQueryDateVO;
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import com.moral.api.pojo.vo.uav.UAVQueryTimeSlotVO;
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import com.moral.api.pojo.vo.uav.UAVQueryTimeSlotVOs;
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import com.moral.api.service.HistorySecondUavService;
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import com.moral.constant.ResponseCodeEnum;
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import com.moral.constant.ResultMessage;
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import com.moral.util.DateUtils;
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import io.swagger.annotations.Api;
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import lombok.extern.slf4j.Slf4j;
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import org.springframework.beans.factory.annotation.Autowired;
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import org.springframework.web.bind.annotation.CrossOrigin;
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import org.springframework.web.bind.annotation.RequestMapping;
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import org.springframework.web.bind.annotation.RestController;
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import java.awt.geom.GeneralPath;
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import java.awt.geom.Point2D;
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import java.text.DecimalFormat;
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import java.util.*;
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/**
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* @ClassName UAVController
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* @Description 无人机控制器
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* @Author 陈凯裕
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* @Date 2021/8/31 15:08
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* @Version TODO
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**/
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@Slf4j
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@Api(tags = {"无人机控制器"})
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@RestController
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@CrossOrigin(origins = "*", maxAge = 3600)
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@RequestMapping("/uav")
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public class UAVController {
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@Autowired
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HistorySecondUavService historySecondUavService;
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@Autowired
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HistorySecondUavMapper historySecondUavMapper;
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/**
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* @Description: 根据批次号查询无人机飞行数据
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* @Param: [batch]
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* @return: com.moral.constant.ResultMessage
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* @Author: 陈凯裕
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* @Date: 2021/9/13
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*/
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@RequestMapping("queryDataByBatch")
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public ResultMessage queryDataByBatch(String batch){
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List<HistorySecondUav> historySecondUavs = historySecondUavService.queryDataByBatch(batch);
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if (historySecondUavs==null){
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return new ResultMessage(ResponseCodeEnum.SENSOR_IS_NOT_EXIST,"null");
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}
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//转换前端所需参数
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HistorySecondUavVOs vo = HistorySecondUavVOs.convert(historySecondUavs);
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return new ResultMessage(ResponseCodeEnum.SUCCESS.getCode(), ResponseCodeEnum.SUCCESS.getMsg(),vo);
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}
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@RequestMapping("test")
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public ResultMessage test(){
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//纬度
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ArrayList<Double> flyLatList = new ArrayList<>();
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//经度
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ArrayList<Double> flyLonList = new ArrayList<>();
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HashMap<String, Object> map = new HashMap<>();
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String mac ="p5dnd7a0243592";
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String time1 ="2023-05-14 10:40:00";
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String time2 ="2023-05-14 11:10:00";
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map.put("mac",mac);
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map.put("time1",time1);
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map.put("time2",time2);
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// List<UAVResultDTO> uavResultDTOS = historySecondUavMapper.reList(map);
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QueryWrapper<HistorySecondUav> queryWrapper = new QueryWrapper<>();
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queryWrapper.select("value");
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queryWrapper.eq("mac",mac);
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queryWrapper.between("time",time1,time2);
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List<HistorySecondUav> historySecondUavs = historySecondUavMapper.selectList(queryWrapper);
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for (HistorySecondUav historySecondUav : historySecondUavs) {
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String value = historySecondUav.getValue();
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Map map1 = JSON.parseObject(value, Map.class);
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flyLatList.add(Double.parseDouble(map1.get("flylat").toString()));
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flyLonList.add(Double.parseDouble(map1.get("flylon").toString()));
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}
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Double maxLat = Collections.max(flyLatList);
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Double maxLon = Collections.max(flyLonList);
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Double minLat = Collections.min(flyLatList);
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Double minLon = Collections.min(flyLonList);
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//大四边形右下
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String leftTop = minLat +";"+ maxLon;
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//右上
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String rightTop = maxLat +";"+ maxLon;
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//左下
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String leftBottom = minLat +";" + minLon;
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//左上
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String rightBottom = maxLat +";" + minLon;
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//计算纬度的距离
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double distance1 = getDistance(maxLon, minLat, maxLon, maxLat);
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//计算经度的距离
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double distance2 = getDistance(maxLon, minLat, minLon, minLat);
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ArrayList<UAVGteForDTO> list = new ArrayList<>();
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//小四边形
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String [] lefts =new String[]{maxLon.toString(),minLat.toString()};
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//右上2
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String[] youshang = calLocationByDistanceAndLocationAndDirection(90, minLon, maxLat, 50);
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//右下2
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String[] youxia = calLocationByDistanceAndLocationAndDirection(180, Double.parseDouble(youshang[0]), Double.parseDouble(youshang[1]), 50);
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//左下2
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String[] zuoxia = calLocationByDistanceAndLocationAndDirection(180, minLon, maxLat, 50);
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for (int i = 0; i <distance2 ; i+=50) {
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UAVGteForDTO dto1 = new UAVGteForDTO();
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String[] strings2 = calLocationByDistanceAndLocationAndDirection(90, minLon, maxLat, i);
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String[] strings3 = calLocationByDistanceAndLocationAndDirection(90, Double.parseDouble(youshang[0].toString()), Double.parseDouble(youshang[1].toString()), i);
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String[] strings4 = calLocationByDistanceAndLocationAndDirection(90, Double.parseDouble(youxia[0].toString()), Double.parseDouble(youxia[1].toString()), i);
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String[] strings5 = calLocationByDistanceAndLocationAndDirection(90, Double.parseDouble(zuoxia[0].toString()), Double.parseDouble(zuoxia[1].toString()), i);
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dto1.setLeftTop(strings2);
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dto1.setRightTop(strings3);
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dto1.setRightBottom(strings4);
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dto1.setLeftBottom(strings5);
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list.add(dto1);
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for (int j = 0; j < distance1; j+=50) {
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UAVGteForDTO dto2 = new UAVGteForDTO();
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String[] strings6 = calLocationByDistanceAndLocationAndDirection(180, Double.parseDouble(strings2[0].toString()), Double.parseDouble(strings2[1].toString()), j);
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String[] strings7 = calLocationByDistanceAndLocationAndDirection(180, Double.parseDouble(strings3[0].toString()), Double.parseDouble(strings3[1].toString()), j);
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String[] strings8 = calLocationByDistanceAndLocationAndDirection(180, Double.parseDouble(strings4[0].toString()), Double.parseDouble(strings4[1].toString()), j);
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String[] strings9 = calLocationByDistanceAndLocationAndDirection(180, Double.parseDouble(strings5[0].toString()), Double.parseDouble(strings5[1].toString()), j);
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dto2.setLeftTop(strings6);
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dto2.setRightTop(strings7);
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dto2.setRightBottom(strings8);
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dto2.setLeftBottom(strings9);
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if (j!=0){
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list.add(dto2);
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}
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}
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}
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ArrayList<UAVResultDTO> uavResultDTOS1 = new ArrayList<>();
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for (UAVGteForDTO uavGteForDTO : list) {
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ArrayList<String[]> doubleArrayList = new ArrayList<>();
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doubleArrayList.add(uavGteForDTO.getLeftTop());
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doubleArrayList.add(uavGteForDTO.getLeftBottom());
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doubleArrayList.add(uavGteForDTO.getRightTop());
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doubleArrayList.add(uavGteForDTO.getRightBottom());
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// UAVResultDTO result = getResult(doubleArrayList);
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// uavResultDTOS1.add(result);
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}
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if (!ObjectUtils.isEmpty(uavResultDTOS1)){
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return new ResultMessage(ResponseCodeEnum.SUCCESS.getCode(), ResponseCodeEnum.SUCCESS.getMsg(),uavResultDTOS1);
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}
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// ArrayList<List<String>> lists = new ArrayList<>();
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HashMap<String,List<String>> rsMap = new HashMap<>();
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// HashMap<String,List<Map<String,Object>>> rsMap1 = new HashMap<>();
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for (UAVGteForDTO uavGteForDTO : list) {
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ArrayList<String> list1 = new ArrayList<>();
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ArrayList<String[]> doubleArrayList = new ArrayList<>();
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doubleArrayList.add(uavGteForDTO.getLeftTop());
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doubleArrayList.add(uavGteForDTO.getLeftBottom());
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doubleArrayList.add(uavGteForDTO.getRightTop());
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doubleArrayList.add(uavGteForDTO.getRightBottom());
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//获取区域对象
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for (HistorySecondUav historySecondUav : historySecondUavs) {
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String value = historySecondUav.getValue();
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Map map1 = JSON.parseObject(value, Map.class);
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String flylat = map1.get("flylat").toString();
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String flylon = map1.get("flylon").toString();
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//判断点是否在区域内
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boolean flag = isInPolygon(flylon,flylat,doubleArrayList);
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if (flag){
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list1.add(historySecondUav.getValue());
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}
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}
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// lists.add(list1);
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String result = getResult(doubleArrayList);
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rsMap.put(result,list1);
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}
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ArrayList<UAVResultDTO> uavResultDTOS = new ArrayList<>();
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Set<String> strings = rsMap.keySet();
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for (String string : strings) {
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UAVResultDTO dto = new UAVResultDTO();
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List<String> list1 = rsMap.get(string);
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if (ObjectUtils.isEmpty(list1)){
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continue;
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}
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ArrayList<Double> TVOCArrayList = new ArrayList<>();
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ArrayList<Double> PM10ArrayList = new ArrayList<>();
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ArrayList<Double> PM25ArrayList = new ArrayList<>();
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ArrayList<Double> SOArrayList = new ArrayList<>();
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ArrayList<Double> NOArrayList = new ArrayList<>();
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ArrayList<Double> QYArrayList = new ArrayList<>();
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ArrayList<Double> COArrayList = new ArrayList<>();
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ArrayList<Double> WDArrayList = new ArrayList<>();
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ArrayList<Double> SHArrayList = new ArrayList<>();
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ArrayList<Double> O3ArrayList = new ArrayList<>();
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for (String s : list1) {
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JSONObject jsonObject = JSON.parseObject(s);
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//tvoc
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String a99054 = jsonObject.get("a99054").toString();
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//pm2.5
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String a34004 = jsonObject.get("a34004").toString();
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//二氧化硫
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String a21026 = jsonObject.get("a21026").toString();
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///二氧化氮
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String a21004 = jsonObject.get("a21004").toString();
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// //气压
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Object a01006 = jsonObject.get("a01006");
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if (!Objects.isNull(a01006)){
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QYArrayList.add(Double.parseDouble(a01006.toString()));
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}
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//pm10
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String a34002 = jsonObject.get("a34002").toString();
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//co
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String a21005 = jsonObject.get("a21005").toString();
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//湿度
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Object a01002 = jsonObject.get("a01002");
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if (!Objects.isNull(a01002)){
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QYArrayList.add(Double.parseDouble(a01002.toString()));
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}
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//温度
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Object a01001 = jsonObject.get("a01001");
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if (!Objects.isNull(a01001)){
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QYArrayList.add(Double.parseDouble(a01001.toString()));
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}
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String a05024 = jsonObject.get("a05024").toString();
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TVOCArrayList.add(Double.parseDouble(a99054));
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PM10ArrayList.add(Double.parseDouble(a34002));
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PM25ArrayList.add(Double.parseDouble(a34004));
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SOArrayList.add(Double.parseDouble(a21026));
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NOArrayList.add(Double.parseDouble(a21004));
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COArrayList.add(Double.parseDouble(a21005));
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O3ArrayList.add(Double.parseDouble(a05024));
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}
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double WDDouble =0.0;
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double SHDouble =0.0;
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double QYDouble =0.0;
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double CODouble =0.0;
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double TVODouble =0.0;
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double PM10Double =0.0;
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double PM25Double =0.0;
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double SODouble =0.0;
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double NODouble =0.0;
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double O3Double =0.0;
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if (COArrayList.size()>0){
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CODouble = COArrayList.stream().mapToDouble(Double::doubleValue).average().getAsDouble();
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}
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if (TVOCArrayList.size()>0){
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TVODouble = TVOCArrayList.stream().mapToDouble(Double::doubleValue).average().getAsDouble();
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}
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if (PM10ArrayList.size()>0){
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PM10Double = PM10ArrayList.stream().mapToDouble(Double::doubleValue).average().getAsDouble();
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}
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if (PM25ArrayList.size()>0){
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PM25Double = PM25ArrayList.stream().mapToDouble(Double::doubleValue).average().getAsDouble();
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}
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if (SOArrayList.size()>0){
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SODouble = SOArrayList.stream().mapToDouble(Double::doubleValue).average().getAsDouble();
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}
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if (NOArrayList.size()>0){
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NODouble = NOArrayList.stream().mapToDouble(Double::doubleValue).average().getAsDouble();
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}
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if (WDArrayList.size()>0){
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WDDouble = WDArrayList.stream().mapToDouble(Double::doubleValue).average().getAsDouble();
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}
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if (SHArrayList.size()>0){
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SHDouble = SHArrayList.stream().mapToDouble(Double::doubleValue).average().getAsDouble();
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}
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if (QYArrayList.size()>0){
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QYDouble = QYArrayList.stream().mapToDouble(Double::doubleValue).average().getAsDouble();
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}
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if (O3ArrayList.size()>0){
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O3Double = O3ArrayList.stream().mapToDouble(Double::doubleValue).average().getAsDouble();
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}
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dto.setCoAvg(CODouble);
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dto.setNO2Avg(NODouble);
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dto.setO3Avg(O3Double);
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dto.setTVOCAvg(TVODouble);
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dto.setPM10Avg(PM10Double);
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dto.setPM25Avg(PM25Double);
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dto.setSO2Avg(SODouble);
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dto.setWDAvg(WDDouble);
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dto.setSHAvg(SHDouble);
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dto.setQYAvg(QYDouble);
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String[] s = string.split("_");
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dto.setFlyLat(Double.parseDouble(s[1]));
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dto.setFlyLon(Double.parseDouble(s[0]));
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uavResultDTOS.add(dto);
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}
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return new ResultMessage(ResponseCodeEnum.SUCCESS.getCode(), ResponseCodeEnum.SUCCESS.getMsg(),uavResultDTOS);
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}
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/**
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* @Description: 查询组织在哪天有无人机飞行，返回具体日期
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* @Param: [organizationId]
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* @return: com.moral.constant.ResultMessage
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* @Author: 陈凯裕
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* @Date: 2021/9/8
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*/
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@RequestMapping("queryDate")
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public ResultMessage queryDate(Integer organizationId){
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//处理查询业务
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List<Date> dates = historySecondUavService.queryDate(organizationId);
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//封装vo层
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UAVQueryDateVO vo = UAVQueryDateVO.convert(dates);
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//返回数据
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return new ResultMessage(ResponseCodeEnum.SUCCESS.getCode(), ResponseCodeEnum.SUCCESS.getMsg(),vo);
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}
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/**
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* @Description: 查询某天组织无人机的飞行时间段
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* @Param: [form]
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* @return: com.moral.constant.ResultMessage
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* @Author: 陈凯裕
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* @Date: 2021/9/13
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*/
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@RequestMapping("queryTimeSlot")
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public ResultMessage queryTimeSlot(UAVQueryTimeSlotForm form){
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//判断是否缺少参数
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if (!form.valid())
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return ResultMessage.fail(ResponseCodeEnum.PARAMETERS_IS_MISSING.getCode(),
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ResponseCodeEnum.PARAMETERS_IS_MISSING.getMsg());
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//处理查询业务
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List<UAVQueryTimeSlotDTO> dtos = historySecondUavService.queryTimeSlot(form);
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//封装vo层
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UAVQueryTimeSlotVOs vo = UAVQueryTimeSlotVOs.convert(dtos);
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//返回数据
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return new ResultMessage(ResponseCodeEnum.SUCCESS.getCode(), ResponseCodeEnum.SUCCESS.getMsg(),vo);
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}
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private static final double EARTH_RADIUS = 6378137;
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private static final double R = 6371e3;
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/** 180° **/
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private static final DecimalFormat df = new DecimalFormat("0.00000000");
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/**
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* 根据一点的坐标与距离，以及方向，计算另外一点的位置
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* @param angle 角度，从正北顺时针方向开始计算
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* @param startLong 起始点经度
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* @param startLat 起始点纬度
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* @param distance 距离，单位m
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* @return
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*/
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public static String[] calLocationByDistanceAndLocationAndDirection(double angle, double startLong,double startLat, double distance){
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String[] result = new String[2];
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//将距离转换成经度的计算公式
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double δ = distance/R;
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// 转换为radian，否则结果会不正确
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angle = Math.toRadians(angle);
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startLong = Math.toRadians(startLong);
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startLat = Math.toRadians(startLat);
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double lat = Math.asin(Math.sin(startLat)*Math.cos(δ)+Math.cos(startLat)*Math.sin(δ)*Math.cos(angle));
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double lon = startLong + Math.atan2(Math.sin(angle)*Math.sin(δ)*Math.cos(startLat),Math.cos(δ)-Math.sin(startLat)*Math.sin(lat));
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// 转为正常的10进制经纬度
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lon = Math.toDegrees(lon);
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lat = Math.toDegrees(lat);
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result[0] = df.format(lon);
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result[1] = df.format(lat);
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return result;
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}
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/**
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* 根据经纬度，计算两点间的距离
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*
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* @param longitude1 第一个点的经度
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* @param latitude1 第一个点的纬度
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* @param longitude2 第二个点的经度
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* @param latitude2 第二个点的纬度
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* @return 返回距离 单位米
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*/
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public static double getDistance(double longitude1, double latitude1, double longitude2, double latitude2) {
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// 纬度
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double lat1 = Math.toRadians(latitude1);
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double lat2 = Math.toRadians(latitude2);
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// 经度
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double lng1 = Math.toRadians(longitude1);
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double lng2 = Math.toRadians(longitude2);
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// 纬度之差
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double a = lat1 - lat2;
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// 经度之差
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double b = lng1 - lng2;
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// 计算两点距离的公式
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double s = 2 * Math.asin(Math.sqrt(Math.pow(Math.sin(a / 2), 2) +
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Math.cos(lat1) * Math.cos(lat2) * Math.pow(Math.sin(b / 2), 2)));
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// 弧长乘地球半径, 返回单位: 米
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s = s * EARTH_RADIUS;
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return s;
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}
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public static String getResult(ArrayList<String[]> doubleArrayList){
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// UAVResultDTO uavResultDTO = new UAVResultDTO();
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int total = doubleArrayList.size();
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double X = 0, Y = 0, Z = 0;
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for (int i = 0; i < total; i++) {
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double lat, lon, x, y, z;
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String[] strings = doubleArrayList.get(i);
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lon = Double.parseDouble(strings[0]) * Math.PI / 180;
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lat = Double.parseDouble(strings[1]) * Math.PI / 180;
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x = Math.cos(lat) * Math.cos(lon);
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y = Math.cos(lat) * Math.sin(lon);
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z = Math.sin(lat);
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X += x;
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Y += y;
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Z += z;
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}
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X = X / total;
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Y = Y / total;
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Z = Z / total;
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double Lon = Math.atan2(Y, X);
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double Hyp = Math.sqrt(X * X + Y * Y);
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double Lat = Math.atan2(Z, Hyp);
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double rsLon = Lon * 180 / Math.PI;
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double rsLat = Lat * 180 / Math.PI;
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// uavResultDTO.setFlyLon(rsLon);
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// uavResultDTO.setFlyLat(rsLat);
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return rsLon+"_"+rsLat;
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// return uavResultDTO;
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}
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/**
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* 将经纬度点集合转换为GeneralPath对象
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*
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* @param points 点集合(有序)
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*
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* @return GeneralPath对象
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*/
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public static GeneralPath genGeneralPath(ArrayList<Point2D.Double> points) {
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GeneralPath path = new GeneralPath();
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if (points.size() < 3) {
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return null;
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}
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path.moveTo((float) points.get(0).getX(), (float) points.get(0).getY());
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for (Iterator<Point2D.Double> it = points.iterator(); it.hasNext();) {
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Point2D.Double point = (Point2D.Double) it.next();
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path.lineTo((float) point.getX(), (float) point.getY());
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}
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path.closePath();
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return path;
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}
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/**
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* 判断点是否在多边形内，如果点位于多边形的顶点或边上，也算做点在多边形内，直接返回true
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* @param point 检测点
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* @param pts 多边形的顶点
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* @return 点在多边形内返回true,否则返回false
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*/
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public static boolean IsPtInPoly(Point2D.Double point, List<Point2D.Double> pts){
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int N = pts.size();
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boolean boundOrVertex = true; //如果点位于多边形的顶点或边上，也算做点在多边形内，直接返回true
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int intersectCount = 0;//cross points count of x
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double precision = 2e-10; //浮点类型计算时候与0比较时候的容差
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Point2D.Double p1, p2;//neighbour bound vertices
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Point2D.Double p = point; //当前点
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p1 = pts.get(0);//left vertex
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for(int i = 1; i <= N; ++i){//check all rays
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if(p.equals(p1)){
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return boundOrVertex;//p is an vertex
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}
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p2 = pts.get(i % N);
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if(p.x < Math.min(p1.x, p2.x) || p.x > Math.max(p1.x, p2.x)){
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p1 = p2;
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continue;
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}
|
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if(p.x > Math.min(p1.x, p2.x) && p.x < Math.max(p1.x, p2.x)){
|
if(p.y <= Math.max(p1.y, p2.y)){
|
if(p1.x == p2.x && p.y >= Math.min(p1.y, p2.y)){
|
return boundOrVertex;
|
}
|
|
if(p1.y == p2.y){
|
if(p1.y == p.y){
|
return boundOrVertex;
|
}else{//before ray
|
++intersectCount;
|
}
|
}else{
|
double xinters = (p.x - p1.x) * (p2.y - p1.y) / (p2.x - p1.x) + p1.y;
|
if(Math.abs(p.y - xinters) < precision){
|
return boundOrVertex;
|
}
|
|
if(p.y < xinters){
|
++intersectCount;
|
}
|
}
|
}
|
}else{
|
if(p.x == p2.x && p.y <= p2.y){
|
Point2D.Double p3 = pts.get((i+1) % N);
|
if(p.x >= Math.min(p1.x, p3.x) && p.x <= Math.max(p1.x, p3.x)){
|
++intersectCount;
|
}else{
|
intersectCount += 2;
|
}
|
}
|
}
|
p1 = p2;
|
}
|
|
if(intersectCount % 2 == 0){//偶数在多边形外
|
return false;
|
} else { //奇数在多边形内
|
return true;
|
}
|
}
|
|
/**
|
* 判断当前位置是否在多边形区域内
|
* @param
|
* @param doubleArrayList 区域顶点
|
* @return
|
*/
|
public static boolean isInPolygon(String X,String Y,ArrayList<String[]> doubleArrayList){
|
|
double p_x =Double.parseDouble(X);
|
double p_y =Double.parseDouble(Y);
|
Point2D.Double point = new Point2D.Double(p_x, p_y);
|
|
List<Point2D.Double> pointList= new ArrayList<Point2D.Double>();
|
|
for (String[] strings : doubleArrayList) {
|
double polygonPoint_x=Double.parseDouble(strings[0]);
|
double polygonPoint_y=Double.parseDouble(strings[1]);
|
Point2D.Double polygonPoint = new Point2D.Double(polygonPoint_x,polygonPoint_y);
|
pointList.add(polygonPoint);
|
}
|
return IsPtInPoly(point,pointList);
|
|
}
|
|
public final static double x_pi = 3.14159265358979324 * 3000.0 / 180.0;
|
|
/**
|
* 高德坐标转百度坐标
|
*
|
* @param gd_lon 经度
|
* @param gd_lat 纬度
|
* @return
|
*/
|
public static Map<String, String> gd2bd(String gd_lon, String gd_lat) {
|
double longitude = Double.parseDouble(gd_lon);
|
double latitude = Double.parseDouble(gd_lat);
|
Map<String, String> data = new HashMap<>();
|
double x = longitude, y = latitude;
|
double z = Math.sqrt(x * x + y * y) + 0.00002 * Math.sin(y * x_pi);
|
double theta = Math.atan2(y, x) + 0.000003 * Math.cos(x * x_pi);
|
double bd_lon = z * Math.cos(theta) + 0.0065;
|
double bd_lat = z * Math.sin(theta) + 0.006;
|
data.put("lon", String.valueOf(bd_lon));
|
data.put("lat", String.valueOf(bd_lat));
|
return data;
|
}
|
|
}
|
