更新

aijinhui

2024-02-23 2df696b07d0ffdf7829d4d9cd3da23162dec8799

 ard-work/src/main/java/com/ruoyi/sy/gps31/PushClientImplPosition.java

@@ -13,14 +13,22 @@
import com.gps31.push.netty.client.TcpClient;
import com.gps31.push.util.MapUtil;
import com.ruoyi.common.utils.spring.SpringUtils;
import com.ruoyi.sy.service.impl.ArdSyCarServiceImpl;
import com.ruoyi.sy.domain.*;
import com.ruoyi.sy.service.*;
import com.ruoyi.sy.service.impl.*;
import com.ruoyi.utils.gps.GeoTools;
import com.ruoyi.utils.qymqtt.newM.EmqClient;
import com.ruoyi.utils.qymqtt.newM.QosEnum;
import com.ruoyi.utils.qymqtt.oldM.MqttCustomerClient;
import lombok.extern.slf4j.Slf4j;
import org.apache.commons.logging.Log;
import org.apache.commons.logging.LogFactory;
import org.eclipse.paho.client.mqttv3.MqttException;

import java.awt.geom.Point2D;
import java.math.BigDecimal;
import java.text.SimpleDateFormat;
import java.util.Date;
import java.util.HashMap;
import java.util.Map;
import java.util.*;

/**
 * <p>Description: </p>
@@ -29,9 +37,10 @@
 * @author chencq
 * @version 1.0
 */
@Slf4j(topic = "mqttCar")
public class PushClientImplPosition extends PushClient implements Runnable {

    private static final Log log = LogFactory.getLog(PushClientImplPosition.class);
//    private static final Log log = LogFactory.getLog(PushClientImplPosition.class);

    private String ip;

@@ -71,11 +80,302 @@
            Map<String,Object> gpsMap = pushMsg.getJsonMap();
            /*String carName = MapUtil.getStrVal(gpsMap, "carName","");//获取车牌号
            SimpleDateFormat sdf = new SimpleDateFormat("yyyy-MM-dd HH:mm:ss");
            System.out.println(sdf.format(new Date()));
            log.error(String.format("   ---->收到定位数据:%s",JSON.toJSONString(gpsMap)));*/
            System.out.println(sdf.format(new Date()));*/
            log.debug(String.format("   ---->----收到定位数据如下:%s",JSON.toJSONString(gpsMap)));
            String carId = (String)gpsMap.get("carId");
            ((ArdSyCarDayServiceImpl)SpringUtils.getBean("ardSyCarDayServiceImpl")).insertArdSyCarDay(carId);//新增车辆上报时间
            Map<String,Object> result = ((ArdSyCarServiceImpl)SpringUtils.getBean("ardSyCarServiceImpl")).getArdSyCarAndDeptByCarId(carId);//查询车辆及部门
            if(result != null){
                //清淤开始----------
                try{
                    String lng = (String) gpsMap.get("lng").toString();//获取经度
                    String lat = (String) gpsMap.get("lat").toString();//获取纬度
                    String carName = (String) gpsMap.get("carName");//获取车牌号
                    String time = (String) gpsMap.get("time");//定位时间
                    //时间状态
                    Boolean timeType = true;
                    if(time==null || time == ""){
                        timeType = false;
                    }
                    String deptNum = (String) result.get("deptId").toString();//获取部门ID
                    String deptName = (String) result.get("deptName");//获取部门名称
                    String carModel = (String) result.get("carModel");//获取车辆模型
                    Integer drct = (Integer) gpsMap.get("drct");//获取车辆模型
                    Integer speed = (Integer) gpsMap.get("speed");//车速
                    String reserved = (String) result.get("reserved_1");//rtu关联
                    //rtu标识
                    boolean rtuType = true;
                    if(reserved==null || reserved==""){
                        //无锁
                        rtuType = false;
                    }
    //                    log.debug("定位数据：车辆carId:"+carId+"经度lng:"+lng+"纬度lat:"+lat);
                    //定义2维空间
                    Point2D.Double point = new Point2D.Double(Double.parseDouble(lng), Double.parseDouble(lat));
                    List<Point2D.Double> pts = new ArrayList<Point2D.Double>();
                    //注入带锁车辆Bean
                    ArdAccessFenceService ardAccessFenceService = SpringUtils.getBean(ArdAccessFenceService.class);
                    //注入油点围栏Bean
                    ArdOilWallService ardOilWallService = SpringUtils.getBean(ArdOilWallService.class);
                    //注入报警计数Bean
                    ArdAccessNumService accessNumService = SpringUtils.getBean(ArdAccessNumService.class);
                    //注入电子锁Bean
                    ArdSyCarRtuService carRtuService = SpringUtils.getBean(ArdSyCarRtuService.class);
                    //注入锁Bean
                    ArdSyCarLockService lockService = SpringUtils.getBean(ArdSyCarLockService.class);
                    //查询定位油车表中是否有该车辆
                    ArdAccessFence ardAccessFence = ardAccessFenceService.queryAccess(carId);
                    //查询所有装油点围栏
                    List<ArdOilWall> ardOilWalls = ardOilWallService.accessAll();
                    //日期格式
                    SimpleDateFormat sdf = new SimpleDateFormat("yyyyMMddHHmmss");
                    //如果没有说明车辆未进入装油点，需要匹配所有装油点围栏
                    if(ardAccessFence==null){
                        //车辆未进入装油点
                        for (int i = 0; i < ardOilWalls.size(); i++) {
                            pts.clear();
                            ArdOilWall ardOilWall = ardOilWalls.get(i);
                            String[] coord = ardOilWall.getCoord().split(",");
                            for (int j = 0; j < coord.length; j = j + 3) {
                                pts.add(new Point2D.Double(Double.parseDouble(coord[j]), Double.parseDouble(coord[j+1])));
                            }
                            if(GeoTools.IsPtInPoly(point, pts)){
                                //进入装油点入库
                                ArdAccessFence ardAccessFence1 = new ArdAccessFence();
                                ardAccessFence1.setId(String.valueOf(UUID.randomUUID()));
                                ardAccessFence1.setCarId(carId);
                                ardAccessFence1.setCarName(carName);
                                ardAccessFence1.setDeptId(deptNum);
                                ardAccessFence1.setDeptName(deptName);
                                ardAccessFence1.setIntoShipmentId(ardOilWall.getId());
                                ardAccessFence1.setIntoShipmentTime(time);
                                ardAccessFence1.setLng(lng);
                                ardAccessFence1.setLat(lat);
                                ardAccessFence1.setLastTime(time);
                                ardAccessFence1.setNowWallName("进入装油点："+ardOilWall.getName());
                                ardAccessFence1.setCarModel(carModel);
                                ardAccessFence1.setIsWarning(0);
                                ardAccessFence1.setDrct(drct);
                                ardAccessFence1.setIsAlarm(0);
                                ardAccessFenceService.access(ardAccessFence1);
                                if(rtuType){
                                    //mqtt发送既定Rtu状态
                                    feng(carId,"装油点",carRtuService,lockService);
                                    break;
                                }
                            }
                        }
                    }else {
                        //车速标记
                        Boolean stop = true;
                        //判断车速
                        if(rtuType){
                            if(speed>5){
                                //mqtt发送既定Rtu状态
                                feng(carId,"施封",carRtuService,lockService);
                                stop = false;
                            }
                        }
                        //车辆有值优先判断是否为手动添加车辆
                        if(ardAccessFence.getIsAlarm() == 0 || ardAccessFence.getIsAlarm() == null){
                            //车辆非手动添加数据，判断是否有进入围栏ID
                            if(ardAccessFence.getIntoShipmentId()==null){
                                //没有进入装油点，赋值经纬度
                                ardAccessFence.setLng(lng);
                                ardAccessFence.setLat(lat);
                                //判断是否进入装油点围栏
                                for (int i = 0; i < ardOilWalls.size(); i++) {
                                    pts.clear();
                                    ArdOilWall ardOilWall = ardOilWalls.get(i);
                                    String[] coord = ardOilWall.getCoord().split(",");
                                    for (int j = 0; j < coord.length; j = j + 3) {
                                        pts.add(new Point2D.Double(Double.parseDouble(coord[j]), Double.parseDouble(coord[j+1])));
                                    }
                                    if(GeoTools.IsPtInPoly(point, pts)){
                                        //进入装油点入库
                                        ardAccessFence.setIntoShipmentId(ardOilWall.getId());
                                        ardAccessFence.setIntoShipmentTime(time);
                                        ardAccessFence.setNowWallName("进入装油点："+ardOilWall.getName());
                                        ardAccessFence.setLastTime(time);
                                        if(rtuType){
                                            if(stop){
                                                //mqtt发送既定Rtu状态
                                                feng(carId,"装油点",carRtuService,lockService);
                                            }
                                        }
                                        break;
                                    }
                                }
                                ardAccessFenceService.updAccess(ardAccessFence);
                            }else {
                                //如果有进入围栏ID，判断是否开出装油点
                                String out = ardAccessFence.getOutShipmentId();
                                //出装油点ID为空
                                if(out == null){
                                    //车辆未开出装油点,判断是否开出装油点
                                    String into = ardAccessFence.getIntoShipmentId();
                                    ArdOilWall ardOilWall = ardOilWallService.one(into);
                                    pts.clear();
                                    String[] coord = ardOilWall.getCoord().split(",");
                                    for (int j = 0; j < coord.length; j = j + 3) {
                                        pts.add(new Point2D.Double(Double.parseDouble(coord[j]), Double.parseDouble(coord[j + 1])));
                                    }
                                    if (!GeoTools.IsPtInPoly(point, pts)) {
                                        //车辆开出装油点
                                        ardAccessFence.setOutShipmentId(into);
                                        ardAccessFence.setOutShipmentTime(time);
                                        ardAccessFence.setNowWallName("开出装油点："+ardOilWall.getName());
                                        ardAccessFence.setLastTime(time);
                                        ardAccessFence.setLng(lng);
                                        ardAccessFence.setLat(lat);
                                        ardAccessFenceService.updAccess(ardAccessFence);
                                        if(rtuType){
                                            //开出装油点围栏，发送上锁及施封命令
                                            feng(carId,"施封",carRtuService,lockService);
                                        }
                                    }
                                }else {
                                    //车辆已经开出装油点，查看是否有卸油点ID
                                    String unload = ardAccessFence.getIntoUnloadId();
                                    //如果unload为空，判断是否进入卸油点
                                    if (unload == null) {
                                        //车辆未进入卸油点
                                        List<ArdOilWall> ardOilWallUpload = ardOilWallService.uploadAll();
                                        //是否在路上
                                        Boolean isRoad = true;
                                        //判断是否进去卸油点
                                        for (int i = 0; i < ardOilWallUpload.size(); i++) {
                                            pts.clear();
                                            ArdOilWall ardOilWall = ardOilWallUpload.get(i);
                                            String[] coord = ardOilWall.getCoord().split(",");
                                            for (int j = 0; j < coord.length; j = j + 3) {
                                                pts.add(new Point2D.Double(Double.parseDouble(coord[j]), Double.parseDouble(coord[j + 1])));
                                            }
                                            if (GeoTools.IsPtInPoly(point, pts)) {
                                                //进入卸油点,存入卸油点围栏ID
                                                ardAccessFence.setIntoUnloadId(ardOilWall.getId());
                                                ardAccessFence.setIntoUnloadTime(time);
                                                ardAccessFence.setLng(lng);
                                                ardAccessFence.setLat(lat);
                                                ardAccessFence.setNowWallName("进入卸油点："+ardOilWall.getName());
                                                ardAccessFence.setLastTime(time);
                                                ardAccessFenceService.updAccess(ardAccessFence);
                                                //已经进入卸油点，不在路上不需要停车报警
                                                isRoad = false;
                                                if(rtuType){
                                                    if(stop){
                                                        //mqtt发送既定Rtu状态
                                                        feng(carId,"卸油点",carRtuService,lockService);
                                                    }
                                                }
                                                break;
                                            }
                                        }
                                        //不在卸油点就是在路上
                                        if(isRoad){
                                            //所在围栏名称赋null
                                            ardAccessFence.setNowWallName("在路上");
                                            //如果在路上判断坐标是否与上次一样
                                            if(ardAccessFence.getLng().equals(lng) && ardAccessFence.getLat().equals(lat)){
                                                if(ardAccessFence.getLastTime()!=null){
                                                    if(timeType){
                                                        //如果坐标一样相减
                                                        Date nowTime = sdf.parse(time);
                                                        Date lastTime = sdf.parse(ardAccessFence.getLastTime());
                                                        Long diff = (nowTime.getTime() - lastTime.getTime())/1000;
                                                        ArdAccessNum list = accessNumService.queryNum();
                                                        if(list!=null){
                                                            int alarm = list.getAlarm();
                                                            if(diff>=alarm){
                                                                ardAccessFence.setIsWarning(1);
                                                                ardAccessFence.setAlarmLat(lat);
                                                                ardAccessFence.setAlarmLng(lng);
                                                                ardAccessFenceService.updAccess(ardAccessFence);
                                                            }
                                                        }
                                                    }else {
                                                        log.debug(carId+"号车定位时间为空");
                                                    }
                                                }else {
                                                    ardAccessFence.setLastTime(time);
                                                    ardAccessFenceService.updAccess(ardAccessFence);
                                                }
                                            }else {
                                                //如果不一样更新坐标
                                                ardAccessFence.setLat(lat);
                                                ardAccessFence.setLng(lng);
                                                ardAccessFence.setLastTime(time);
                                                ardAccessFenceService.updAccess(ardAccessFence);
                                            }
                                        }
                                    }else {
                                        //车辆已经进入卸油点，判断是否已经开出卸油点
                                        ArdOilWall ardOilWall = ardOilWallService.one(unload);
                                        pts.clear();
                                        String[] coord = ardOilWall.getCoord().split(",");
                                        for (int j = 0; j < coord.length; j = j + 3) {
                                            pts.add(new Point2D.Double(Double.parseDouble(coord[j]), Double.parseDouble(coord[j + 1])));
                                        }
                                        if (!GeoTools.IsPtInPoly(point, pts)) {
                                            if(rtuType){
                                                //开出了卸油点围栏，发送上锁及施解封指令
                                                feng(carId,"施封",carRtuService,lockService);
                                            }
                                            //删除该条车辆数据
                                            ardAccessFenceService.delAccess(carId);
                                        }else {
                                            //未开出卸油点，更新经纬度保存
                                            ardAccessFence.setLng(lng);
                                            ardAccessFence.setLat(lat);
                                            ardAccessFence.setLastTime(time);
                                            ardAccessFenceService.updAccess(ardAccessFence);
                                        }
                                    }
                                }
                            }
                        }else
                        if(ardAccessFence.getIsAlarm()==1){
                            //1为手动添加车辆无需报警信息，更新位置即可
                            ardAccessFence.setLng(lng);
                            ardAccessFence.setLat(lat);
                            ardAccessFenceService.updAccess(ardAccessFence);
                        }else if(ardAccessFence.getIsAlarm() == 2){
                            //2为手动添加报警车辆有报警，所在围栏名称赋null,排查报警信息,只需处理路上情况
                            ardAccessFence.setNowWallName(null);
                            //如果在路上判断坐标是否与上次一样
                            if(ardAccessFence.getLng().equals(lng) && ardAccessFence.getLat().equals(lat)){
                                if(timeType){
                                    Date nowTime = sdf.parse(time);
                                    Date lastTime = sdf.parse(ardAccessFence.getLastTime());
                                    Long diff = (nowTime.getTime() - lastTime.getTime())/1000;
                                    ArdAccessNum list = accessNumService.queryNum();
                                    if(list!=null){
                                        int alarm = list.getAlarm();
                                        if(diff>=alarm){
                                            //报警字段为1提示报警
                                            ardAccessFence.setIsWarning(1);
                                            ardAccessFence.setAlarmLat(lat);
                                            ardAccessFence.setAlarmLng(lng);
                                            ardAccessFenceService.updAccess(ardAccessFence);
                                        }
                                    }
                                }else {
                                    log.debug(carId+"号车定位时间为空");
                                }
                            }else {
                                //如果不一样更新坐标
                                ardAccessFence.setLat(lat);
                                ardAccessFence.setLng(lng);
                                ardAccessFence.setLastTime(time);
                                ardAccessFenceService.updAccess(ardAccessFence);
                            }
                        }
                    }
                    //清淤结束------------
                }catch(Exception e){

                }

                gpsMap.putAll(result);
                String ancestors = (String) gpsMap.get("ancestors");//获取父级部门
                String[] ancestorsArray = ancestors.split(",");
@@ -113,6 +413,30 @@
                        }
                    }
                }
                //若有用户需要追踪车辆，则计算预估位置
                if(PositionContainer.getUserPositionMap().size() != 0){
                    for(String userId : PositionContainer.getUserPositionMap().keySet()){
                        Map<String,Map<String,Object>> carIdCarMap =  PositionContainer.getUserPositionMap().get(userId);
                        if(carIdCarMap != null){
                            if(carIdCarMap.keySet().contains(carId)){
                                if(PositionContainer.getCarPositionMap().get(carId) == null){
                                    gpsMap.put("elng",gpsMap.get("lng"));
                                    gpsMap.put("elat",gpsMap.get("lat"));
                                }else{
                                    Double velocityOld = ((Integer) PositionContainer.getCarPositionMap().get(carId).get("speed")).doubleValue();
                                    Double velocityNew = ((Integer) gpsMap.get("speed")).doubleValue();
                                    Double acceleration = Double.valueOf(1000*(velocityNew - velocityOld)/3600);
                                    Double distance = getDistance(velocityNew, acceleration ,"1.5");
                                    Double[] eposition = azimuth_offset(((BigDecimal)gpsMap.get("lng")).doubleValue(),((BigDecimal)gpsMap.get("lat")).doubleValue(),(Integer)gpsMap.get("drct"),distance);
                                    gpsMap.put("elng",eposition[0]);
                                    gpsMap.put("elat",eposition[1]);
                                }
                            }
                        }
                    }
                }
                //存入实时位置容器
                PositionContainer.getCarPositionMap().put(carId,gpsMap);
                //存入用户容器
                if(PositionContainer.getUserPositionMap().size() != 0){
                    for(String userId : PositionContainer.getUserPositionMap().keySet()){
@@ -174,4 +498,133 @@
    public void run() {
        sendMassage();
    }

    private void feng(String carId,String type,ArdSyCarRtuService carRtuService,ArdSyCarLockService lockService) throws MqttException {
        //查询装油点既定Rtu状态
        ArdSyCarRtu ardSyCarRtu = carRtuService.one(carId);
        if(ardSyCarRtu!=null){
            //查询锁信息
            List<ArdSyCarLock> ardSyCarLocks = lockService.carLock(ardSyCarRtu.getId());
            if(ardSyCarLocks.size()>0){
                Integer fengType = null;
                if("装油点".equals(type)){
                    fengType = ardSyCarRtu.getInstallType();
                }else if("卸油点".equals(type)){
                    fengType = ardSyCarRtu.getUnloadType();
                }else if("施封".equals(type)){
                    fengType = 0;
                }
                //1解封
                if(fengType==1){
                    //如果不是解封封状态，则发送施封命令
                    if(ardSyCarLocks.get(0).getRelayInfo()==0 || ardSyCarLocks.get(0).getRelayInfo()==null){
//                            Map<String,Object> map = new HashMap<>();
//                            map.put("A01", 110000);//导通第一路继电器
//                            map.put("A02", 110000);//导通第二路继电器
//                            map.put("res", String.valueOf(System.currentTimeMillis()));
//                            String mapString = com.alibaba.fastjson.JSON.toJSONString(map);
                        String mapString = "{\"A01\":110000,\"A02\":110000,\"res\":\""+String.valueOf(System.currentTimeMillis())+"\"}";
                        log.debug("自动解封："+mapString);
                        EmqClient emqClient = new EmqClient(carId+"mqttPublish"+UUID.randomUUID());
                        emqClient.connect();
                        emqClient.publish(ardSyCarRtu.getTopicPublish(),mapString, QosEnum.QoS2,false);
                        log.debug("车辆"+carId+"解封命令发送成功！");
                        //                mqttOnce.publishCar(carId,ardSyCarRtu.getTopicPublish(),String.valueOf(new JSONObject(map)),"解封");
                    }
                }

                //0施封
                if(fengType==0){
                    if(ardSyCarLocks.get(0).getRelayInfo()==1 || ardSyCarLocks.get(0).getRelayInfo()==null){
                        //锁开关状态
                        int lockCloseNum = 0;
                        String mapString1 = "{\"A01\":100000,\"A02\":100000,\"res\":\""+String.valueOf(System.currentTimeMillis())+"\"}";
                        System.out.println("自动施封："+mapString1);
                        EmqClient emqClient1 = new EmqClient(carId+"mqttPublish"+UUID.randomUUID());
                        emqClient1.connect();
                        emqClient1.publish(ardSyCarRtu.getTopicPublish(),mapString1, QosEnum.QoS2,false);
                        //如果不是施封状态，则发送施封命令
                        if(ardSyCarLocks.get(0).getRelayInfo()!=null){
                            if(ardSyCarLocks.get(0).getRelayInfo()==1){
                                for (int j = 0; j < ardSyCarLocks.size(); j++) {
                                    ArdSyCarLock ardSyCarLock = ardSyCarLocks.get(j);
                                    String currents = ardSyCarLock.getCurrents();
                                    Double currentInfo = ardSyCarLock.getCurrentInfo();
                                    //电流值为4.0是关锁状态
                                    if(currentInfo.equals(4.00) || currentInfo.equals(4)){
                                        lockCloseNum += 1;
                                    }else {
                                        String key = "";
                                        if(currents.equals("C01")){
                                            key = "D03";
                                        }else if(currents.equals("C02")){
                                            key = "D04";
                                        }
//                                    Map<String,Object> map = new HashMap();
//                                    map.put(key, 0.01);
//                                    map.put("res", String.valueOf(System.currentTimeMillis()));
//                                    String mapString = com.alibaba.fastjson.JSON.toJSONString(map);
                                        String mapString = "{\""+key+"\":0.01,\"res\":\""+String.valueOf(System.currentTimeMillis())+"\"}";
                                        log.debug("自动关锁："+mapString);
                                        EmqClient emqClient = new EmqClient(carId+"mqttPublish"+UUID.randomUUID());
                                        emqClient.connect();
                                        emqClient.publish(ardSyCarRtu.getTopicPublish(),mapString, QosEnum.QoS2,false);
                                        //                        mqttOnce.publishCar("carId",ardSyCarRtu.getTopicPublish(),String.valueOf(new JSONObject(map)),"开锁："+currents);
                                        while(true){
                                            ArdSyCarLock ardSyCarLock1 = lockService.getCurrentInfo(ardSyCarRtu.getId(),currents);
                                            Double currentInfo1 = ardSyCarLock1.getCurrentInfo();
                                            if(currentInfo1.equals(4.00) || currentInfo1.equals(4)){
                                                lockCloseNum +=1;
                                                break;
                                            }
                                        }
                                    }
                                }
                                if(lockCloseNum == 2){
//                                Map<String,Object> map = new HashMap<>();
//                                map.put("A01", 100000);//断开第一路继电器
//                                map.put("A02", 100000);//断开第二路继电器
//                                map.put("res", String.valueOf(System.currentTimeMillis()));
//                                String mapString = com.alibaba.fastjson.JSON.toJSONString(map);
                                    log.debug("车辆"+carId+"施封命令发送成功！");
                                    //                    mqttOnce.publishCar(carId,ardSyCarRtu.getTopicPublish(),String.valueOf(new JSONObject(map)),"施封");
                                }
                            }
                        }
                    }
                }
            }
        }
    }

    public Double[] azimuth_offset(double origin_lon, double origin_lat, Integer direction,double distance){
        Double[] lonlat = new Double[2];
        if(direction != null && distance > 0){
            lonlat[0] = origin_lon + distance * Math.sin(direction* Math.PI / 180) * 180 / ( Math.PI * 6371229 * Math.cos(origin_lat * Math.PI / 180));
            lonlat[1] = origin_lat + distance * Math.cos(direction* Math.PI / 180) / ( Math.PI * 6371229 / 180);
        }else{
            lonlat[0] = origin_lon;
            lonlat[1] = origin_lat;
        }
        return lonlat;
    }

    public Double getDistance(Double velocity ,Double acceleration ,String time){
        Double distance = velocity*Double.parseDouble(time) + 0.5*acceleration*Double.parseDouble(time)*Double.parseDouble(time);
        return distance;
    }

    /*public Double getVelocity(Double velocity ,Double acceleration ,String time){
        SimpleDateFormat simpleDateFormat = new SimpleDateFormat("yyyy-MM-dd HH:mm:ss");
        Long t = (long) 0;
        try {
            t = (new Date().getTime() - simpleDateFormat.parse(time).getTime())/1000;
        } catch (Exception e) {
            // TODO Auto-generated catch block
            e.printStackTrace();
        }
        Double velocityt = velocity + acceleration*t;
        return velocityt;
    }*/

}