284 lines
8.8 KiB
Dart
284 lines
8.8 KiB
Dart
import 'dart:async';
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import 'dart:math';
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import 'dart:developer' as dev;
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import 'package:cpnav/pages/setting/setting_controller.dart';
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import 'package:flutter/material.dart';
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import 'package:get/get.dart';
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import 'package:gnss/gnss.dart';
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import 'package:scence_map/controllers/controller.dart';
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import 'package:scence_map/record_entity.dart';
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import '../main.dart';
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import '../models/pilePoint/coord_trans.dart';
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import '../pages/aim_point/aimpoint_controller.dart';
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SettingController settingController = Get.find<SettingController>();
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class GnssController extends GetxController {
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late final Gnss gnss;
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late ScenceMapController mapController;
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late AimPointerController aimcontroller;
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LocationData? locationData;
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late Pos3D pilerCenter;
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late DeviceItem device;
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var locationUpdate = 0.obs;
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// late final PilerPointCalculate pilerCenterPoint;
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//三个定义
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var maindrilldistance = 2.0.obs; //主天线与车心距离
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var auxdrilldistance = 2.0.obs; //副天线与车心距离
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var offsetangle = 0.0.obs; //主副连线与车身夹角
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late final CoordTrans coordTrans;
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RecordEntity? lastPilePoint;
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var _dx = 0.0;
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var _dy = 0.0;
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Timer? timer;
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checkDistance() {
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if (DateTime.now().millisecondsSinceEpoch -
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aimcontroller.lastManualTapTime <
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30000 ||
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DateTime.now().millisecondsSinceEpoch - aimcontroller.lastCloseTapTime <
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30000) {
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return;
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}
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Offset pilerCenterPoint = Offset(device.x.value, device.y.value);
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if (aimcontroller.selectedPilePoint == null) {
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return;
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}
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var offset = Offset(
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aimcontroller.selectedPilePoint!.x, aimcontroller.selectedPilePoint!.y);
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if (mapController.calculateDistance(pilerCenterPoint, offset) < 1.9) {
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if (!aimcontroller.isCardVisible.value) {
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dev.log("距离小于1m");
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aimcontroller.isCardVisible.value = true;
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} else {
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return null;
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}
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} else {
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if (!aimcontroller.isCardVisible.value) {
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dev.log("距离大于1m");
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return null;
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} else {
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aimcontroller.isCardVisible.value = false;
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}
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}
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}
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@override
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void onInit() async {
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super.onInit();
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mapController = Get.find<ScenceMapController>();
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aimcontroller = Get.find<AimPointerController>();
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if (settingController.currentDevice.value != null) {
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device = settingController.currentDevice.value!;
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} else {
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device = DeviceItem(
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name: "",
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tid: 0,
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type: "",
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height: 0.0,
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width: 0.0,
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image: "",
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);
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}
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if (device.x.value == 0 && device.y.value == 0) {
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device.x.value = 3790621.123;
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device.y.value = 577052.547;
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}
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// device = DeviceItem(
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// name: 'GNSS',
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// tid: 1001,
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// // type: 2,
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// height: 3.0,
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// width: 3.0,
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// lat: 3790621.123,
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// lon: 577052.547,
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// image: 'assets/images/pilerCar.png');
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// mapController.addDevice(device);
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// pilerCenterPoint = PilerPointCalculate(
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// maindrilldistance.value,
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// auxdrilldistance.value,
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// offsetangle.value,
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// );
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// 调用 pilerPos3D 方法
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// pilerCenter = Pos3D(4196544.959, 517639.709, 0.0);
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// 插入定时器测试代码
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timer = Timer.periodic(const Duration(seconds: 1), (Timer timer) {
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if (lastPilePoint != aimcontroller.selectedPilePoint) {
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lastPilePoint = aimcontroller.selectedPilePoint;
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if (aimcontroller.selectedPilePoint != null) {
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var dx = device.x.value - aimcontroller.selectedPilePoint!.x;
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var dy = device.y.value - aimcontroller.selectedPilePoint!.y;
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var distance = sqrt(dx * dx + dy * dy);
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if (distance > 2) {
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dx = (aimcontroller.selectedPilePoint!.x - device.x.value) /
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(distance / 2);
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dy = (aimcontroller.selectedPilePoint!.y - device.y.value) /
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(distance / 2);
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device.x.value = aimcontroller.selectedPilePoint!.x + dx;
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device.y.value = aimcontroller.selectedPilePoint!.y + dy;
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}
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_dx = -dx / 10;
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_dy = -dy / 10;
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}
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}
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// if ((aimcontroller.selectedPilePoint!.x - device.x).abs() > _dx.abs()) {
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device.x.value += _dx;
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device.y.value += _dy;
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// } else {
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// device.x = aimcontroller.selectedPilePoint!.x;
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// device.y = aimcontroller.selectedPilePoint!.y;
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// }
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// device.x += 0.05;
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// device.y += 0.05;
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device.rotation.value += pi / 180; // 确保旋转角度在0-360度之间
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device.update.value++;
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checkDistance();
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});
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gnss = Gnss(port: "/dev/ttysWK2", baudrate: 115200);
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// gnss = Gnss(port: "COM1", baudrate: 115200);
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try {
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gnss.start();
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} catch (e) {
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scaffoldMessengerKey.currentState?.showSnackBar(
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SnackBar(
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content: Text('发生错误: ${e.toString()}'),
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duration: const Duration(seconds: 25),
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backgroundColor: Colors.red,
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),
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);
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return;
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}
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gnss.locationStream.listen((location) {
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locationData = location;
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// log(locationData);
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// var xyh = coordTrans.d2p(CoordBLH(
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// B: location.latitude, L: location.longitude, H: location.altitude));
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// pilerCenter = pilerCenterPoint.pilerPos3D(xyh, location.heading,
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// location.pitch, location.baseLength, offsetangle.value);
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// log(
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// 'X: ${pilerCenter.X}, Y: ${pilerCenter.Y}, Rotation: ${pilerCenter.rotation}');
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// CheckDistance();
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locationUpdate.value++;
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});
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coordTrans = CoordTrans(TransOptions(L0: 108.5, elevation: 0));
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}
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@override
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void dispose() {
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gnss.dispose();
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super.dispose();
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timer?.cancel();
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}
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}
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class Pos3D {
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double X;
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double Y;
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double rotation;
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Pos3D(this.X, this.Y, this.rotation);
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}
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// class PilerPointCalculate {
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// final double mainDrillDistance; //主天线与钻头距离
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// final double auxDrillDistance; //副天线与钻头距离
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// final double offsetangle;
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// PilerPointCalculate(
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// this.mainDrillDistance,
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// this.auxDrillDistance,
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// this.offsetangle,
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// );
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// // 计算副天线的坐标
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// Offset auxPointCalculate(
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// CoordXYH mainPoint, double baseLength, double pitch, double heading) {
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// // 将角度转换为弧度
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// double pitchRad = pitch * pi / 180;
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// double headingRad = (270 - heading) * pi / 180; //(270-)
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// // 计算水平投影距离
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// double dXY = baseLength * cos(pitchRad);
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// // 计算副天线的坐标
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// double x2 = mainPoint.X + dXY * cos(headingRad);
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// double y2 = mainPoint.Y + dXY * sin(headingRad);
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// return Offset(x2, y2);
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// }
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// // 计算交点
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// List findIntersections(CoordXYH mainPoint, Offset auxPoint) {
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// // 计算第二个点 b 的坐标
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// // Offset auxPoint = _auxPointCalculate(mainPoint, baseLength, pitch, heading);
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// double dx = auxPoint.dx - mainPoint.X;
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// double dy = auxPoint.dy - mainPoint.Y;
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// double d = sqrt(dx * dx + dy * dy);
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// if (d > mainDrillDistance + auxDrillDistance ||
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// d < (mainDrillDistance - auxDrillDistance).abs()) {
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// // 圆不相交
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// return [];
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// }
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// double a_ = (mainDrillDistance * mainDrillDistance -
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// auxDrillDistance * auxDrillDistance +
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// d * d) /
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// (2 * d);
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// double h = sqrt(mainDrillDistance * mainDrillDistance - a_ * a_);
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// double x2 = mainPoint.X + a_ * (dx / d);
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// double y2 = mainPoint.Y + a_ * (dy / d);
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// double rx = -dy * (h / d);
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// double ry = dx * (h / d);
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// Offset intersection1 = Offset(x2 + rx, y2 + ry);
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// Offset intersection2 = Offset(x2 - rx, y2 - ry);
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// return [intersection1, intersection2];
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// }
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// // 计算车心
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// Pos3D pilerPos3D(CoordXYH mainPoint, double heading, double pitch,
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// double baseLength, double offsetangle) {
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// // 找到两个可能的车心点
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// Offset auxPoint = auxPointCalculate(mainPoint, baseLength, pitch, heading);
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// List intersections = findIntersections(mainPoint, auxPoint);
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// if (intersections.isEmpty) {
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// throw Exception('无法找到车心点，圆不相交');
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// }
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// // 以主点为起点连线到副点作为横轴
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// double dx = auxPoint.dx - mainPoint.X;
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// double dy = auxPoint.dy - mainPoint.Y;
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// // 横轴逆时针旋转90度为纵轴
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// double verticalX = -dy;
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// double verticalY = dx;
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// // 选择位于纵轴正半轴的点作为最终的车心坐标
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// Offset intersection = (intersections[1].dx - mainPoint.X) * verticalX +
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// (intersections[1].dy - mainPoint.Y) * verticalY >
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// 0
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// ? intersections[1]
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// : intersections[0];
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// double rotation = (atan2(dy, dx) * 180 / pi) + 90 + offsetangle;
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// return Pos3D(intersection.dx, intersection.dy, rotation);
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// }
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// }
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