增加一部份车辆位姿代码

app/src/main/java/com/sd/cavphmi/bean/mock/CarVeh.kt

+package com.sd.cavphmi.bean.mock
+/***车辆位姿 自己服务器的*/
+class CarVeh {
+    /**业务状态 park  call   park_com  call_com**/
+    var status = ""
+    /***车辆行驶的点位**/
+    var carPos = 0
+    /***全局路径**/
+    var rs: List<List<Double>>? = null
+}
\ No newline at end of file

app/src/main/java/com/sd/cavphmi/ui/LoginActivity.kt

@@ -39,10 +39,10 @@ class LoginActivity : AppCompatActivity() {
         binding = ActivityLoginBinding.inflate(layoutInflater)
         setContentView(binding.root)
 
-        if (MMKVUtil.token.isNotEmpty()) {
+   /*     if (MMKVUtil.token.isNotEmpty()) {
             MyContants.HTTP_TOKEN = MMKVUtil.token
             getBinderCars()
-        }
+        }*/
 //        else {
         var lo = binding.btLogin.clicks().throttleFirst(1, TimeUnit.SECONDS).subscribe {
             login()
@@ -65,9 +65,11 @@ class LoginActivity : AppCompatActivity() {
                 loginVm.login(user, PWD, VERIFYCODE).collect {
 //                    println("-----------登录回调 = ${it}")
                     //获取可绑定车辆
-                    if (it == 1) {
+                /*    if (it == 1) {
                         getBinderCars()
-                    }
+                    }*/
+                    startActivity(Intent(this@LoginActivity, MainActivity::class.java))
+                    finish()
                 }
             }
         }

app/src/main/java/com/sd/cavphmi/ui/MainActivity.kt

@@ -164,29 +164,29 @@ class MainActivity : BaseActivity<ActivityMainBinding, MyBaseViewModel>() {
     }
 
     override fun getToData() {
-/*        if (!mainVm.isMock) {
+    /*    if (!mainVm.isMock) {
             //开启AVP状态(HTTP SSE)
             getAvpStatus()
-        }
+        }*/
         //开启V2X预警
         getV2x()
         //开启感知物websocket
         getTarget()
         //开启车辆位姿
-        getCarVehicle()*/
+//        getCarVehicle()
         //获取车位占用情况
 //        getSpaceInfo()
 
-        //连接自己的服务V2X 和车辆位姿
+        //连接自己的服务车辆位姿
         getSelfCar()
-        getV2x()
     }
 
     /**连接自己的车辆位姿服务**/
     private fun getSelfCar() {
-
+        mainVm.getSelfCar()
     }
 
+
     //获取车位占用情况
     private fun getSpaceInfo() {
         mainVm.getSpaceInfo().observe(this) { spaceInfo ->

app/src/main/java/com/sd/cavphmi/utils/MyContants.kt

@@ -26,13 +26,13 @@ object MyContants {
     //跟踪车辆的ID 15(模拟) skywell.1ggvlp16.car10  skywell.1ggvlp16.car8
 
     //用来拼接websocket
-    var BASE_HOST = "172.24.124.130:19443"
+    var BASE_HOST = "192.168.60.218:8090"
 //        if (IS_DEBUG) "itg-dev.cu-sc.com:19443" else "itg-yz.cu-sc.com:19443"
 //        if (IS_DEBUG) "172.24.124.130:19443" else "itg-yz.cu-sc.com:19443"
 //        if (IS_DEBUG) "itg-yz.cu-sc.com:13443" else "itg-yz.cu-sc.com:19443"
 
     //websocket地址 token=${HTTP_TOKEN}&
-    private var WSHOST = "wss://${BASE_HOST}/wsplus/socket?reType=freedo&"
+    private var WSHOST = "ws://${BASE_HOST}/ws/avp?"
 //    if (IS_DEBUG) "wss://${BASE_HOST}/wsplus/socket?token=121&reType=freedo&" else "wss://${BASE_HOST}/wsplus/socket?token=121&reType=freedo&"
 
 
@@ -40,14 +40,14 @@ object MyContants {
     var VEHICLEID = 27
 
     /**网联车辆位姿  用于实车测试喽数据 &vehicleId=${VEHICLEID}***/
-    var WS_VEH_LOC = "${WSHOST}msgType=2&vehicleId=${VEHICLEID}"
+    var WS_VEH_LOC = "${WSHOST}type=1"
 
     /***感知目标物  &intersectionCode=yz-15 停车场  不传就是整个园区***/
 //    var WS_FEEL_TARGET = "${WSHOST}msgType=1&intersectionCode=17 "
-    var WS_FEEL_TARGET = "${WSHOST}msgType=1&intersectionCode=yz-15"
+    var WS_FEEL_TARGET = "${WSHOST}type=2"
 
     /***V2X预警  VEHICLEID 传了就是获取某一辆车的预警 &vehicleId=${VEHICLEID}"=***/
-    var WS_V2X = "${WSHOST}msgType=4&vehicleId=${VEHICLEID}"
+    var WS_V2X = "${WSHOST}type=3"
 
     /***网联车辆状态 &VEHICLEID=''***/
     var WS_VEH_STATU = "${WSHOST}msgType=6"

app/src/main/java/com/sd/cavphmi/viewmodels/MainVm.kt

@@ -91,7 +91,7 @@ class MainVm @Inject constructor(
 //    private var vehStatuWSClient = VehStatuWSClient(URI(MyContants.WS_VEH_STATU))
 
     //socket 管理
-    private var sockets = listOf(feelTargetWSClient, v2xWSClient)
+    private var sockets = listOf(vecLocWSClient,feelTargetWSClient, v2xWSClient)
 
     //交通信号灯
 //    private var trafficLightWSClient: TrafficLightWSClient? = null
@@ -102,7 +102,7 @@ class MainVm @Inject constructor(
     lateinit var mockVM: MockVM
 
     //是否需要模拟
-    var isMock = true
+    var isMock = false
 
     //车辆位姿数据
 //    var carVehicle = MutableLiveData<CarVehicle>()
@@ -272,6 +272,44 @@ class MainVm @Inject constructor(
     }
 
 
+    /**
+     * 联网车辆位姿数据
+     */
+    fun getSelfCar() {
+        try {
+            vecLocWSClient.onWebSocketCb = object : OnWebSocketCb {
+                override fun onClose(
+                    code: Int,
+                    reason: String?,
+                    remote: Boolean
+                ) {
+                }
+
+                override fun onMsg(str: String) {
+                    viewModelScope.launch {
+                        if (str.isNotEmpty()) {
+                            try {
+                                mockVM.selfCar(str,carVehicle)
+//                                var carBean = gson.fromJson(str, CarVehicle::class.java)
+                                //更新主车位置
+//                                carVehicle.postValue(carBean)
+                            } catch (e: JsonSyntaxException) {
+                                e.printStackTrace()
+                            }
+                        }
+                    }
+                }
+            }
+            if (!vecLocWSClient.isOpen) {
+                vecLocWSClient.connect()
+            }
+        } catch (e: Exception) {
+            e.printStackTrace()
+        }
+    }
+//        mockVM.getSelfCar(carVehicle, targetPre, v2xStartBean)
+
+
     //车辆位姿回调
     private var carCb = object : SseCallback {
         var url = ""
@@ -323,7 +361,7 @@ class MainVm @Inject constructor(
             mockVM.onSubTargetMock(targetPre)
         } else {
             try {
-                feelTargetWSClient!!.onWebSocketCb = object : OnWebSocketCb {
+                feelTargetWSClient.onWebSocketCb = object : OnWebSocketCb {
                     override fun onClose(
                         code: Int,
                         reason: String?,
@@ -335,7 +373,7 @@ class MainVm @Inject constructor(
                         viewModelScope.launch {
                             //下载到sd卡下面的DownLoad文件夹下面
                             if (str.isNotEmpty()) {
-                                FileSdCardUtils.writeFileToDownload(str, "PerTarget.txt")
+//                                FileSdCardUtils.writeFileToDownload(str, "PerTarget.txt")
                                 try {
                                     var bean = gson.fromJson(str, PerceptionBean::class.java)
                                     targetPre.postValue(bean)
@@ -377,13 +415,13 @@ class MainVm @Inject constructor(
                     override fun onMsg(str: String) {
                         viewModelScope.launch {
                             if (str.isNotEmpty()) {
-                                FileSdCardUtils.writeFileToDownload(str, "avp_v2x.txt")
-                            }
-                            try {
-                                var bean = gson.fromJson(str, V2xStartBean::class.java)
-                                v2xStartBean.postValue(bean)
-                            } catch (e: JsonSyntaxException) {
-                                e.printStackTrace()
+//                                FileSdCardUtils.writeFileToDownload(str, "avp_v2x.txt")
+                                try {
+                                    var bean = gson.fromJson(str, V2xStartBean::class.java)
+                                    v2xStartBean.postValue(bean)
+                                } catch (e: JsonSyntaxException) {
+                                    e.printStackTrace()
+                                }
                             }
 
                         }

app/src/main/java/com/sd/cavphmi/viewmodels/MockVM.kt

@@ -26,6 +26,7 @@ import com.sd.cavphmi.bean.CarVehicle
 import com.sd.cavphmi.bean.PerceptionBean
 import com.sd.cavphmi.bean.V2xStartBean
 import com.sd.cavphmi.bean.VObject
+import com.sd.cavphmi.bean.mock.CarVeh
 import com.sd.cavphmi.bean.mock.MRoutes
 import com.sd.cavphmi.bean.mock.ParkPath
 import com.sd.cavphmi.highmap.AllLine
@@ -71,6 +72,82 @@ class MockVM @Inject constructor(
         }
     }
 
+    //泊车首次只进来一次
+    private var isPark = false
+
+    //接受从自己服务器来的数据
+    suspend fun selfCar(str: String, carVehicle: MutableStateFlow<CarVehicle>) {
+        withContext(Dispatchers.Main) {
+            val random = Random
+            var cCar: CarVehicle? = null
+            val CarVeh = gson.fromJson(str, CarVeh::class.java)
+            if (CarVeh.status.equals("park")) {
+                var mRoutes = MRoutes(CarVeh.rs!!)//转换类型
+                if (!isPark) {
+                    isPark = true
+                    //画局部图小车
+                    drawNavingCar(
+                        Tools.latLngToPoint(
+                            LatLng(
+                                39.81014469509955,
+                                116.50238005214746
+                            )
+                        )
+                    )
+                    //画局部图路径
+                    smallLineMock(mRoutes)
+                    //画终点
+                    addEndMarker(LatLng(39.809039362307594, 116.50254394816011))
+                    //用矩形框柱
+                    drawEndArea(
+                        39.81014469509955,
+                        116.50238005214746,
+                        39.809039362307594,
+                        116.50254394816011,
+                    )
+                    //画出全局路径
+                    var lines = CarVeh.rs!!.map {
+                        AllLine(it[1], it[0])
+                    }
+                    HighMapApi.setCarNavPath(lines, showdistance = 200)
+                    //开启流光效果
+                    HighMapApi.parkRoundLight("B017")
+                    //2旁车辆占用
+                    var spinfos = listOf(Spinfo().apply {
+                        code = "B016"
+                        state = true
+                    }, Spinfo().apply {
+                        code = "B018"
+                        state = true
+                    })
+                    HighMapApi.setParkStatu(ParkStatu(spinfos))
+                }
+                //变速
+                CarPanelBean.instance.speed.set(random.nextInt(10..15))
+                //模拟车辆移动
+                var rs=CarVeh.rs!!.get(CarVeh.carPos)
+                cCar = CarVehicle().apply {
+                    this.vehiclePos = listOf(rs[0], rs[1], rs[2])
+                }
+                //更新主车位置
+                carVehicle.value = cCar
+                //更新小地图小车
+                showNavingCarPosition(
+                    Tools.latLngToNdsPoint(
+                        LatLng(
+                            cCar.vehiclePos!!.get(1),
+                            cCar.vehiclePos!!.get(0)
+                        )
+                    ),
+                    cCar.vehiclePos!!.get(2).toFloat()
+                )
+                //更新小地图路径
+                upSmallLine(CarVeh.carPos, mRoutes)
+            }
+
+        }
+    }
+
     /******
      * 模拟车辆位姿 泊车
      * @param binding 里的航向角
@@ -344,7 +421,7 @@ class MockVM @Inject constructor(
                     //开始跟车
                     HighMapApi.setCameraAngle(30f)
                     HighMapApi.setCameraDistance(8f)
-                } else if (index == 70) {
+                } else if (index == 70) {//盲区预警
                     var v2x = V2xStartBean().apply {
                         type = 4
                         objects =

app/src/main/java/com/sd/cavphmi/websockets/FeelTargetWSClient.kt

@@ -27,7 +27,7 @@ class FeelTargetWSClient : BaseWsClient {
     var onWebSocketCb: OnWebSocketCb? = null
 
     override fun onOpen(handshakedata: ServerHandshake?) {
-        println(TAG + "-------openg  "+uri.toString())
+        println(TAG + "-------  "+uri.toString())
 //        System.out.println(TAG + "new connection opened")
     }
 

app/src/main/java/com/sd/cavphmi/websockets/VecLocWSClient.kt

@@ -37,7 +37,7 @@ class VecLocWSClient : BaseWsClient {
     var onWebSocketCb: OnWebSocketCb? = null
 
     override fun onOpen(handshakedata: ServerHandshake?) {
-        System.out.println(TAG + "网联车辆位姿 opened  " + uri.toString())
+        System.out.println(TAG + " opened  " + uri.toString())
     }
 
     override fun onMessage(message: String?) {

settings.gradle.kts

@@ -32,6 +32,6 @@ dependencyResolutionManagement {
     }
 }
 
-rootProject.name = "SuZhouAvp"
+rootProject.name = "c-avp2.0"
 include(":app")
 include(":mycomutils")