function Lu_ArcToDeg(i){
	var a=i*180.0/Math.PI;
	return a;
}

function Lu_DegToArc(i){
	var a=i*Math.PI/180.0;
	return a;
}


function Lu_IntToByte(i) {
	var b = i & 0x000000FF;

	return b;
}

function Lu_StrToByte(str){
	var p=Lu_IntToByte(parseInt(str));
	return p;
}

 //无符int转有符int
function UInt32toInt32(i) {
	if (i <= 2147483647)
	    return i;
	else
	    return i - 4294967296
}

function Int32toUInt32(i){
  if (i >= 0)
            return i;
        else
            4294967296 + i;
}

function UInt162Int16(i){
	if(i<=32767)return i;
	else return i - 65536;
}

function Lu_Convert2ByteToInt16(byteHigh,byteLow){
	 value= ((byteHigh << 8) & 0xFF00) | (byteLow & 0x00FF);
	 return UInt162Int16(value);
}

function Lu_Convert4ByteToUInt32(byte3,byte2,byte1,byte0){
	value= ((byte3 << 24) & 0xFF000000) |
	       ((byte2 << 16) & 0x00FF0000) |
	       ((byte1 <<  8) & 0x0000FF00) |
	       ((byte0      ) & 0x000000FF) ;
	return Int32toUInt32(value);
}

function Lu_Convert4ByteToInt32(byte3,byte2,byte1,byte0){
	value= ((byte3 << 24) & 0xFF000000) |
	       ((byte2 << 16) & 0x00FF0000) |
	       ((byte1 <<  8) & 0x0000FF00) |
	       ((byte0      ) & 0x000000FF) ;
	return value;
}

function Lu_Normal_Deg(MinDeg,MaxDeg,Deg){
	//console.log(MinDeg+" "+MaxDeg+" "+Deg);
	var R_Deg=0.0;
	while(Deg<MinDeg){
		Deg=Deg+360.0;
	}
	while(Deg>MaxDeg){
		Deg=Deg-360.0;
	}
	R_Deg=Deg;
	return R_Deg;
}

function Lu_Get_Dist(x1,y1,x2,y2){
	var dist=Math.sqrt((x1-x2)*(x1-x2)+(y1-y2)*(y1-y2));
	return dist;
}

function Lu_GetNextPoint_By_xs_ys_dirdeg(xs,ys,dir_deg,dist){
	var dir_arc=dir_deg*Math.PI/180;
	var xe=xs+dist*Math.cos(dir_arc);
	var ye=ys+dist*Math.sin(dir_arc);
	var obj = new Object();
	obj.x=xe;
	obj.y=ye;
	return obj;
}

function Lu_ORILocalPoint2GlobalPoint(ori_rx,ori_ry,ori_rt_deg,lx,ly){
	var obj=new Object();
	var arc=ori_rt_deg*Math.PI/180;
	obj.x=ori_rx+lx*Math.cos(arc)-ly*Math.sin(arc);
	obj.y=ori_ry+ly*Math.cos(arc)+lx*Math.sin(arc);
	return obj;
}

function Lu_DRPLocalPoint2GlobalPoint(ori_rx,ori_ry,ori_rt_deg,DRP_Dist_m,DRP_Angle_deg){
	var arc=DRP_Angle_deg*Math.PI/180.0;
	var lx_m=DRP_Dist_m*Math.cos(arc);
	var ly_m=DRP_Dist_m*Math.sin(arc);
	return Lu_ORILocalPoint2GlobalPoint(ori_rx,ori_ry,ori_rt_deg,lx_m,ly_m);
}

function Lu_Judge_StartToEnd_SpeedDirection(sp_x,sp_y,ep_x,ep_y,ep_thetax_deg){
	var RunVector_x=ep_x-sp_x;
	var RunVector_y=ep_y-sp_y;

	var arc = Lu_DegToArc(ep_thetax_deg+90);
	var CarVector_x=Math.cos(arc);
	var CarVector_y=Math.sin(arc);
	var a=RunVector_x*CarVector_x+RunVector_y*CarVector_y;
	if(a>=0)return 1;
	else return -1;
}

function Lu_GetBezier_SP_Next_Point(sp_x,sp_y,sp_thetax_deg,Direction,Slider3,Slider1){
	var max_dist=Slider3/100.0*10.0;
	var dist=max_dist*Slider1/100.0;
	if(dist<0.3)dist=0.3;
	if(Direction=="Front"){
		return Lu_GetNextPoint_By_xs_ys_dirdeg(sp_x,sp_y,sp_thetax_deg+90.0,dist);
	}
	else{
		return Lu_GetNextPoint_By_xs_ys_dirdeg(sp_x,sp_y,sp_thetax_deg-90.0,dist);
	}
}

function Lu_GetBezier_EP_Last_Point(ep_x,ep_y,ep_thetax_deg,Direction,Slider3,Slider2){
	var max_dist=Slider3/100.0*10.0;
	var dist=max_dist*Slider2/100.0;
	if(dist<0.3)dist=0.3;
	if(Direction=="Front"){
		return Lu_GetNextPoint_By_xs_ys_dirdeg(ep_x,ep_y,ep_thetax_deg-90.0,dist);
	}
	else{
		return Lu_GetNextPoint_By_xs_ys_dirdeg(ep_x,ep_y,ep_thetax_deg+90.0,dist);
	}
}

function factorial(num){
	if (num <= 1)
	{
		return 1;
	}
	else
	{
		var r = 1;
		for (let i = 1; i <= num; i++) {
			r = r * i;
		}
		//console.log("factorial num:"+num+"="+r);
		return r;
		// return num * factorial(num - 1);
	}
}
//补位 当某个字段不是两位数时补0
function fnW(str){
	var num;
	str>=10?num=str:num="0"+str;
	return num;
} 

function fnDate(){
	var date=new Date();
	var year=date.getFullYear();//当前年份
	var month=date.getMonth();//当前月份
	var data=date.getDate();//天
	var hours=date.getHours();//小时
	var minute=date.getMinutes();//分
	var second=date.getSeconds();//秒
	var time=year+"-"+fnW((month+1))+"-"+fnW(data)+" "+fnW(hours)+":"+fnW(minute)+":"+fnW(second);
	return time;
}
function sleep(time) {
	return new Promise(resolve => setTimeout(resolve, time));
}