package console;
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import java.awt.Point;
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import java.awt.geom.Point2D;
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import java.awt.geom.Point2D.Double;
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import java.io.IOException;
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import java.math.BigDecimal;
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import java.math.RoundingMode;
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import java.sql.Connection;
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import java.sql.DriverManager;
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import java.sql.PreparedStatement;
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import java.sql.ResultSet;
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import java.sql.SQLException;
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import java.util.ArrayList;
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import java.util.Collections;
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import java.util.HashMap;
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import java.util.List;
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import java.util.Map;
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import javax.servlet.ServletException;
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import javax.servlet.http.HttpServlet;
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import javax.servlet.http.HttpServletRequest;
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import javax.servlet.http.HttpServletResponse;
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import a.AStar;
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import a.MapInfo;
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import a.Node;
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import com.google.gson.JsonArray;
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import com.google.gson.JsonObject;
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public class MapConsole extends HttpServlet {
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/**
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*
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*/
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private static final long serialVersionUID = 1L;
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private static final int DEFAULT_MINOR_COUNT = 3;
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private HttpServletRequest request;
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private HttpServletResponse response;
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private Connection connection;
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// private static String sqlUrl = "jdbc:mysql://rm-8vbgt2g7d2p34t91ao.mysql.zhangbei.rds.aliyuncs.com/cbi?useUnicode=true&characterEncoding=UTF8";
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// private static String sqlUsername = "demo";
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// private static String sqlpassword = "Demo123456";
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private static String sqlUrl = "jdbc:mysql://localhost:3306/mapview";
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private static String sqlUsername = "root";
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private static String sqlpassword = "123456";
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private ArrayList<double[]> kamparList = new ArrayList<double[]>();;
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private Float Q = 5.f;
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private Float kalmanR = 8.f;
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@Override
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protected void doGet(HttpServletRequest req, HttpServletResponse resp) throws ServletException, IOException {
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try {
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init(req, resp);
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} catch (Exception e) {
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e.printStackTrace();
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}
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String requestURL = req.getRequestURI();
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System.out.println(requestURL);
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int rootIndex = requestURL.lastIndexOf("/");
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String menu = requestURL.substring(rootIndex+1);
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try {
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receive(menu);
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} catch (Exception e) {
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e.printStackTrace();
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}
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}
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private void receive(String menu) throws Exception {
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if ("getmap".equalsIgnoreCase(menu)) {
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getMapViewInfo();
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// getOrderedPoint();
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}
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else if ("getorderlist".equalsIgnoreCase(menu)) {
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getOrderedPointnew();
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}
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else if ("shortest".equalsIgnoreCase(menu)) {
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getShortestDistance();
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}
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else if ("getParkingSpaces".equalsIgnoreCase(menu)) {
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getParkingSpaces();
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}
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}
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private void getOrderedPointnew() throws IOException, SQLException {
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String minorString = request.getParameter("minor");
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request.setAttribute("list", new ArrayList<BeaconModel>());
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@SuppressWarnings("unchecked")
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List<BeaconModel> lists = (List<BeaconModel>) request.getAttribute("list");
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for (BeaconModel beaconModel : lists) {
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String bluetoothAddress = beaconModel.getBluetoothAddress();
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}
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String[] minorStrings = minorString.split(",");
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BigDecimal endX = BigDecimal.ZERO;
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BigDecimal endY = BigDecimal.ZERO;
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if (minorStrings.length < DEFAULT_MINOR_COUNT) {
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response.setStatus(HttpServletResponse.SC_BAD_REQUEST);
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response.getWriter().write("minor count is not match");
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return;
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}
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ResultSet resultSet = getPointList(minorStrings);
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BigDecimal x = BigDecimal.ZERO;
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BigDecimal y = BigDecimal.ZERO;
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BigDecimal count = BigDecimal.ZERO;
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while(resultSet.next()) {
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String pointString = resultSet.getString("point");
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String[] pointStrings = pointString.split(",");
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x = x.add(new BigDecimal(pointStrings[0]));
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y = y.add(new BigDecimal(pointStrings[1]));
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count = count.add(BigDecimal.ONE);
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}
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if (count.intValue() == 0) {
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return;
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}
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else {
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endX = x.divide(count, RoundingMode.DOWN);
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endY = y.divide(count, RoundingMode.DOWN);
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}
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Point kamparChange = kamparChange(endX, endY);
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JsonObject result = new JsonObject();
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result.addProperty("success", true);
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result.addProperty("point", kamparChange.x + "," + kamparChange.y);
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response.setStatus(HttpServletResponse.SC_OK);
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response.getWriter().write(result.toString());
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}
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private Point kamparChange(BigDecimal x, BigDecimal y) {
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int endX = -1, endY = -1;
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System.out.println("原坐标：" + x.intValue() + "-------" + y.intValue());
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//对原坐标进行滤波
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//1 init
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if (kamparList == null || kamparList.isEmpty()) {
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double[] kalmparX = new double[3];
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kalmparX[0] = x.doubleValue();//添加下一时刻的估计值，默认为初始添加实际信号值
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kalmparX[1] = 1;//添加初始K增益
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kalmparX[2] = x.doubleValue();//添加初始误差协方差P
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kamparList.add(kalmparX);
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double[] kalmparY = new double[3];
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kalmparY[0] = y.doubleValue();//添加下一时刻的估计值，默认为初始添加实际信号值
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kalmparY[1] = 1;//添加初始K增益
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kalmparY[2] = y.doubleValue();//添加初始误差协方差P
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kamparList.add(kalmparY);
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}
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for (int i = 0; i < kamparList.size(); i++) {
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double newK = (kamparList.get(i)[2]+Q)/(kamparList.get(i)[2]+Q+kalmanR);//更新卡尔曼增益
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//最优解
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double betterPoint = kamparList.get(i)[0] + newK * (x.doubleValue() - kamparList.get(i)[0]);
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double newP = (1-newK)*(kamparList.get(i)[2]+Q);//更新误差协方差P
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kamparList.get(i)[0] = betterPoint;
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kamparList.get(i)[1] = newK;
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kamparList.get(i)[2] = newP;
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if (i == 0) {
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endX = (int)Math.round(betterPoint);
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}
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else if (i == 1) {
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endY = (int)Math.round(betterPoint);
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}
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}
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System.out.println("现坐标：" + endX + "-------" + endY);
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return new Point(endX, endY);
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}
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private void getOrderedPoint() throws SQLException, IOException {
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String orderString = request.getParameter("order");
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String[] orderStrings = orderString.split(",");
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Orders requestorder = new Orders(Integer.parseInt(orderStrings[0]), Integer.parseInt(orderStrings[1]), Integer.parseInt(orderStrings[2]), Integer.parseInt(orderStrings[3]), Integer.parseInt(orderStrings[4]));
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ResultSet resultSet = getOrderList();
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Map<BigDecimal ,Point> orderPointList = new HashMap<BigDecimal, Point>();
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List<BigDecimal> orderDList = new ArrayList<BigDecimal>();
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while(resultSet.next()) {
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String pointString = resultSet.getString("point");
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String[] pointStrings = pointString.split(",");
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Point point = new Point(Util.ParseInt(pointStrings[0]), Util.ParseInt(pointStrings[1]));
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String orderLiString = resultSet.getString("orderlist");
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String[] orderListStrings = orderLiString.split(",");
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Orders oneOrders = new Orders(Util.ParseInt(orderListStrings[0]), Util.ParseInt(orderListStrings[1]), Util.ParseInt(orderListStrings[2]), Util.ParseInt(orderListStrings[3]), Util.ParseInt(orderListStrings[4]));
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BigDecimal d = Util.getDFromOrder(oneOrders, requestorder);
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orderPointList.put(d, point);
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if (orderDList.size() < 4) {
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orderDList.add(d);
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}
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else {
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Collections.sort(orderDList);
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BigDecimal no4d = orderDList.get(3);
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int compareTo = no4d.compareTo(d);
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if (compareTo == 1) {
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orderDList.set(3, d);
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}
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}
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}
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//end select
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List<BigDecimal> wList = Util.calculateWValue(orderDList);
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BigDecimal x = BigDecimal.ZERO;
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BigDecimal y = BigDecimal.ZERO;
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for (int i = 0; i < orderDList.size(); i++) {
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BigDecimal wi = wList.get(i);
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BigDecimal d = orderDList.get(i);
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Point point = orderPointList.get(d);
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BigDecimal xDecimal = new BigDecimal(point.x);
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BigDecimal yDecimal = new BigDecimal(point.y);
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BigDecimal Wnx = wi.multiply(xDecimal);
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BigDecimal Wny = wi.multiply(yDecimal);
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x = x.add(Wnx);
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y = y.add(Wny);
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}
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x = x.divide(new BigDecimal(orderDList.size()), 10, RoundingMode.DOWN);
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y = y.divide(new BigDecimal(orderDList.size()), 10, RoundingMode.DOWN);
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Point kamparChange = kamparChange(x, y);
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JsonObject result = new JsonObject();
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result.addProperty("success", true);
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result.addProperty("point", kamparChange.x + "," + kamparChange.y);
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response.setStatus(HttpServletResponse.SC_OK);
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response.getWriter().write(result.toString());
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}
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private ResultSet getPointList(String[] minorStrings) throws SQLException {
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String getOrderListSql = "select * from orderlist where active = 'T' and minorcode in (";
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for (int i = 0; i < minorStrings.length; i++) {
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String minor = minorStrings[i];
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getOrderListSql += minor;
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if (i < minorStrings.length -1) {
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getOrderListSql += ",";
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}else if (i == minorStrings.length -1) {
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getOrderListSql += ")";
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}
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}
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PreparedStatement prepareStatement = connection.prepareStatement(getOrderListSql);
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ResultSet resultSet = prepareStatement.executeQuery();
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return resultSet;
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}
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private ResultSet getOrderList() throws SQLException {
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String getOrderListSql = "select * from orderlist where active = 'T'";
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PreparedStatement prepareStatement = connection.prepareStatement(getOrderListSql);
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ResultSet resultSet = prepareStatement.executeQuery();
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return resultSet;
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}
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private void getParkingSpaces() throws SQLException, IOException {
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JsonObject result = new JsonObject();
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JsonArray parkingPositionSet = new JsonArray();
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String parentid = request.getParameter("id");
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ResultSet parkingspacesSet = getParkingspacesFromParkingId(parentid);
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while(parkingspacesSet.next()) {
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JsonObject onePosition = new JsonObject();
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onePosition.addProperty("id", parkingspacesSet.getString("id"));
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onePosition.addProperty("spacex", parkingspacesSet.getString("spaceX"));
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onePosition.addProperty("spacey", parkingspacesSet.getString("spaceY"));
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onePosition.addProperty("isused", parkingspacesSet.getString("isused"));
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onePosition.addProperty("direction", parkingspacesSet.getString("direction"));
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parkingPositionSet.add(onePosition);
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}
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result.addProperty("success", true);
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result.add("dataset", parkingPositionSet);
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response.setStatus(HttpServletResponse.SC_OK);
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response.getWriter().write(result.toString());
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}
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private void getShortestDistance() throws Exception {
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ArrayList<ArrayList<Double>> banAreaList = null;
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Node startNode =null;
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Point changedScale = null;
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String parkinglotId = request.getParameter("id");
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String endpointx = request.getParameter("endpointx");
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String endpointy = request.getParameter("endpointy");
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Node endNode = new Node(Integer.valueOf(endpointx), Integer.valueOf(endpointy));
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//1 获取 尺寸，障碍区域，起点，终点
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ResultSet parkinglot = getParkingLotFromId(parkinglotId);
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while (parkinglot.next()) {
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String startpoint = parkinglot.getString("startpoint");
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String[] starts = startpoint.split(",");
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startNode = new Node(new Integer(starts[0]), new Integer(starts[1]));
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String imgscale = parkinglot.getString("imgscale");
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String[] areaPoint = imgscale.split(",");
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String x = areaPoint[0];
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String y = areaPoint[1];
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changedScale = new Point(Integer.valueOf(x), Integer.valueOf(y));
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ResultSet banAreaSet = getBanAreaFromParkingId(parkinglotId);
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banAreaList = banArea2List(banAreaSet);
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}
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createMatrix(changedScale, banAreaList, startNode, endNode);
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}
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private Node replacedPoint(Node node, ArrayList<ArrayList<Double>> banAreaList, Point changedScale) {
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Node replacedNode = null;
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if (inBanArea(node.coord.x, node.coord.y, banAreaList)) {
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//获取最近的代替点
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replacedNode = getrePlaceNode(node, banAreaList, 1, changedScale);
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}
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else {
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replacedNode = node;
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}
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return replacedNode;
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}
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private Node getrePlaceNode(Node node, ArrayList<ArrayList<Double>> banAreaList, int deep, Point changedScale) {
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if (deep == 0) {
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deep = 1;
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}
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Node replacedNode = null;
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Point point = new Point(node.coord.x, node.coord.y);
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java.util.List<Point> pointsCircular = Util.getPointsCircular(point, deep);
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for (Point oneCriclePoint : pointsCircular) {
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if (!inBanArea(oneCriclePoint.x, oneCriclePoint.y, banAreaList) && !isOutofImg(oneCriclePoint, changedScale)) {
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replacedNode = new Node(new java.lang.Double(oneCriclePoint.x).intValue(), new java.lang.Double(oneCriclePoint.y).intValue());
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return replacedNode;
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}
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}
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deep++;
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replacedNode = getrePlaceNode(node, banAreaList, deep, changedScale);
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return replacedNode;
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}
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private boolean isOutofImg(Point oneCriclePoint, Point changedScale) {
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if (oneCriclePoint.x <= changedScale.x && oneCriclePoint.y <= changedScale.y) {
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return false;
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}
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return true;
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}
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private void createMatrix(Point changedScale, ArrayList<ArrayList<Double>> banAreaList, Node startNode, Node endNode) throws IOException {
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//1 初始化map
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int[][] maps = new int[changedScale.y/10][changedScale.x/10];
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for (int i = 0; i < Integer.valueOf(changedScale.y /10 - 1); i++) {
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for (int j = 0; j < Integer.valueOf(changedScale.x /10 - 1); j++) {
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if(inBanArea(j, i, banAreaList)) {
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maps[i][j] = 1;
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}else {
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maps[i][j] = 0;
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}
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}
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}
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startNode.coord.x = startNode.coord.x/10;
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startNode.coord.y = startNode.coord.y/10;
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endNode.coord.x = endNode.coord.x/10;
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endNode.coord.y = endNode.coord.y/10;
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//2 起点，终点是不是在障碍物里,如果在找寻最近的代替点
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Point imgCcale = new Point(changedScale.x / 10, changedScale.y / 10);
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startNode = replacedPoint(startNode, banAreaList, imgCcale);
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endNode = replacedPoint(endNode, banAreaList, imgCcale);
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MapInfo info=new MapInfo(maps,maps[0].length, maps.length, startNode, endNode);
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new AStar().start(info);
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for (int i = 0; i < maps.length; i++)
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{
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for (int j = 0; j < maps[i].length; j++)
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{
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System.out.print(maps[i][j] +" ");
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}
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System.out.println();
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}
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printMap(maps);
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}
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public void printMap(int[][] maps) throws IOException
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{
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JsonObject result = new JsonObject();
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JsonArray pointList = new JsonArray();
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for (int i = 0; i < maps.length; i++)
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{
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for (int j = 0; j < maps[i].length; j++)
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{
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if(maps[i][j] == 2) {
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JsonObject onePoint = new JsonObject();
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onePoint.addProperty("x", j);
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onePoint.addProperty("y", i);
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pointList.add(onePoint);
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System.out.println("坐标：("+ i +"," + j +")" );
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}
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}
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System.out.println();
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}
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result.addProperty("success", true);
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result.add("dataset", pointList);
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response.setStatus(HttpServletResponse.SC_OK);
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response.getWriter().write(result.toString());
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}
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private boolean inBanArea(int i, int j, ArrayList<ArrayList<Double>> banAreaList) {
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Double point = new Double(i,j);
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for (ArrayList<Double> oneArea : banAreaList) {
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boolean isContains = SpatialRelationUtil.isPolygonContainsPoint(oneArea, point);
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boolean isIn = SpatialRelationUtil.isPointInPolygonBoundary(oneArea, point);
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if(isContains || isIn) {
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return true;
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}
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}
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return false;
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}
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private ArrayList<ArrayList<Double>> banArea2List(ResultSet banAreaSet) throws Exception {
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ArrayList<ArrayList<Point2D.Double>> banAreaList = new ArrayList<ArrayList<Point2D.Double>>();
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while(banAreaSet.next()) {
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ArrayList<Double> oneArea = new ArrayList<Point2D.Double>();
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String areaPoints = banAreaSet.getString("areapoints");
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String[] points = areaPoints.split(";");
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for (String onePoint : points) {
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String[] coordinates = onePoint.split(",");
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Double point = new Point2D.Double(java.lang.Double.valueOf(coordinates[0]) / 10 , java.lang.Double.valueOf(coordinates[1]) / 10);
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oneArea.add(point);
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}
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banAreaList.add(oneArea);
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}
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return banAreaList;
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}
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private ResultSet getParkingspacesFromParkingId(String parkinglotId) throws SQLException {
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String banParkingAreaById = "select * from parkingspaces where parentid = ?";
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PreparedStatement prepareStatement = connection.prepareStatement(banParkingAreaById);
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prepareStatement.setString(1, parkinglotId);
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ResultSet resultSet = prepareStatement.executeQuery();
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return resultSet;
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}
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private ResultSet getBanAreaFromParkingId(String parkinglotId) throws SQLException {
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String banParkingAreaById = "select * from banparkingarea where parentid = ?";
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PreparedStatement prepareStatement = connection.prepareStatement(banParkingAreaById);
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prepareStatement.setString(1, parkinglotId);
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ResultSet resultSet = prepareStatement.executeQuery();
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return resultSet;
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}
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private void getMapViewInfo() throws Exception {
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JsonObject jsonObject = new JsonObject();
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ResultSet resultSet = getParkingLotFromId("001");
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while (resultSet.next()) {
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JsonObject mapViewJsonObject = new JsonObject();
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mapViewJsonObject.addProperty("id", resultSet.getString("id"));
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mapViewJsonObject.addProperty("name", resultSet.getString("name"));
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mapViewJsonObject.addProperty("imageurl", resultSet.getString("imageurl"));
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jsonObject.add("mapview", mapViewJsonObject);
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}
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jsonObject.addProperty("success", true);
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response.setStatus(HttpServletResponse.SC_OK);
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response.getWriter().write(jsonObject.toString());
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}
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private ResultSet getParkingLotFromId(String id) throws SQLException {
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String getTextMapSql = "select * from parkinglot where id = ?";
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PreparedStatement prepareStatement = connection.prepareStatement(getTextMapSql);
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prepareStatement.setString(1, id);
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ResultSet resultSet = prepareStatement.executeQuery();
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return resultSet;
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}
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private void initJDBC() throws IOException {
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try {
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Class.forName("com.mysql.jdbc.Driver");
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connection = DriverManager.getConnection(sqlUrl, sqlUsername, sqlpassword);
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} catch (Exception e) {
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response.sendError(400);
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response.getWriter().write(e.getMessage());
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e.printStackTrace();
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}
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}
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private void init(HttpServletRequest req, HttpServletResponse resp) throws Exception {
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request = req;
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response = resp;
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request.setCharacterEncoding("UTF-8");
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response.setContentType("text/html;charset=UTF-8");
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initJDBC();
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}
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@Override
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protected void doPost(HttpServletRequest req, HttpServletResponse resp)
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throws ServletException, IOException {
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doGet(req, resp);
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}
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}
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