泊车本地化

app/src/main/java/com/sd/cavphmi/bean/BindCarBean.kt

@@ -15,11 +15,11 @@ data class BindCarBean(
 
 data class BindResult(
     val id: Int,
-    val lastLatitude: Any,
-    val lastLongitude: Any,
-    val placeId: Int,
+//    val lastLatitude: Any,
+//    val lastLongitude: Any,
+//    val placeId: Int,
     val plateNumber: String,
-    val vehicleBusinessType: String,
-    val vehicleCode: String,
-    val vin: String
+//    val vehicleBusinessType: String,
+//    val vehicleCode: String,
+//    val vin: String
 )
\ No newline at end of file

app/src/main/java/com/sd/cavphmi/bean/V2xStartBean.kt

@@ -4,20 +4,20 @@ package com.sd.cavphmi.bean
  * {"id":"39846582477537280","objects":[{"id":"267","name":"Vehicle","longitude":117.3461065,"latitude":38.9985969,"elevation":500.0},{"id":"1600009","name":"Participants","longitude":117.3463289,"latitude":38.9986373,"elevation":500.0}],"type":1,"typeName":"前向碰撞预警","level":1,"startTime":1755582898300,"reportTime":1755582898300}
  * ***/
 class V2xStartBean {
-    var id: String = ""
-    var level: Int = 1
+//    var id: String = ""
+//    var level: Int = 1
     var objects: List<VObject>? = null
-    var reportTime: Long = 0L
-    var startTime: Long = 0L
+//    var reportTime: Long = 0L
+//    var startTime: Long = 0L
     var type: Int = -1
     var typeName: String = ""
 }
 
-//第一个是自己的车 第二个是预警车
+//第一个是自己的车 第二个是预警物体
 data class VObject(
-    var elevation: Double,
+//    var elevation: Double,
     var id: String,
-    var latitude: Double,
-    var longitude: Double,
-    var name: String
+//    var latitude: Double,
+//    var longitude: Double,
+//    var name: String
 )
\ No newline at end of file

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

@@ -8,6 +8,7 @@ import androidx.lifecycle.Lifecycle
 import androidx.lifecycle.lifecycleScope
 import androidx.lifecycle.repeatOnLifecycle
 import com.jakewharton.rxbinding4.view.clicks
+import com.sd.cavphmi.bean.BindResult
 import com.sd.cavphmi.databinding.ActivityLoginBinding
 import com.sd.cavphmi.ui.dialog.SeleBindCarDialog
 import com.sd.cavphmi.utils.MMKVUtil
@@ -98,35 +99,35 @@ class LoginActivity : AppCompatActivity() {
 
     //获取可绑定车辆
     private fun getBinderCars() {
-//        seleBindCarDialog = SeleBindCarDialog.newInstance()
-        mainVm.getBindCar().observe(this) { bindCars ->
+        if (mainVm.isMock) {
+            //id = 27
+            var bindCars = listOf(BindResult(27, "皖BDJ1106"))
             var plateNumbers = bindCars.map { it.plateNumber }
-
             seleBindCarDialog.setPlates(plateNumbers)
-            seleBindCarDialog.itemClickListener = object : SeleBindCarDialog.OnItemClickListener {
-                override fun onItemClick(position: Int) {
-                    MyContants.VEHICLEID = bindCars.get(position).id
-                    startActivity(Intent(this@LoginActivity, MainActivity::class.java))
-                    finish()
+            seleBindCarDialog.itemClickListener =
+                object : SeleBindCarDialog.OnItemClickListener {
+                    override fun onItemClick(position: Int) {
+                        MyContants.VEHICLEID = bindCars.get(position).id
+                        startActivity(Intent(this@LoginActivity, MainActivity::class.java))
+                        finish()
+                    }
                 }
+        } else {
+            mainVm.getBindCar().observe(this) { bindCars ->
+                var plateNumbers = bindCars.map { it.plateNumber }
+                seleBindCarDialog.itemClickListener =
+                    object : SeleBindCarDialog.OnItemClickListener {
+                        override fun onItemClick(position: Int) {
+                            MyContants.VEHICLEID = bindCars.get(position).id
+                            startActivity(Intent(this@LoginActivity, MainActivity::class.java))
+                            finish()
+                        }
+                    }
+                seleBindCarDialog.setPlates(plateNumbers)
             }
-            if (!seleBindCarDialog.isAdded) {
-                seleBindCarDialog.showNow(supportFragmentManager, "seleBindCarDialog")
-            }
-//            val dialog = CustomListDialog(this, "选择车辆", plateNumbers)
-//            dialog.setOnItemClickListener(object : CustomListDialog.OnItemClickListener {
-//                override fun onItemClick(position: Int, selectedItem: String) {
-////                    Toast.makeText(
-////                        this@LoginActivity,
-////                        "点击了第${position + 1}项: $selectedItem",
-////                        Toast.LENGTH_SHORT
-////                    ).show()
-//                    MyContants.VEHICLEID = bindCars.get(position).id
-//                    startActivity(Intent(this@LoginActivity, MainActivity::class.java))
-//                    finish()
-//                }
-//            })
-//            dialog.show()
+        }
+        if (!seleBindCarDialog.isAdded) {
+            seleBindCarDialog.showNow(supportFragmentManager, "seleBindCarDialog")
         }
     }
 

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

@@ -32,6 +32,7 @@ import com.sd.cavphmi.ui.fragment.CarPanelFragment
 import com.sd.cavphmi.ui.fragment.ExoPlayFragment
 import com.sd.cavphmi.utils.AvpContants
 import com.sd.cavphmi.utils.DisplayUtil
+import com.sd.cavphmi.utils.ToastHelper
 import com.sd.cavphmi.viewmodels.MainVm
 import com.sd.cavphmi.viewmodels.MapOpt
 import com.sd.cavphmi.viewmodels.MockVM
@@ -164,13 +165,15 @@ class MainActivity : BaseActivity<ActivityMainBinding, MyBaseViewModel>() {
 
     override fun getToData() {
         if (!mainVm.isMock) {
-            //开启websocket
-            getTarget()
-            getV2x()
-            //开启2个HTTP sse
-            getCarVehicle()
+            //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()
         //获取车位占用情况
 //        getSpaceInfo()
     }
@@ -240,12 +243,42 @@ class MainActivity : BaseActivity<ActivityMainBinding, MyBaseViewModel>() {
         mapOpt.showParkLight(businessType, businessStatus, avpStatu.space)
         //判断在泊车状态下的倒挡绘制倒车路线,改变镜头视角,,判断车是否到达停车点
         mapOpt.drawReversePark(businessType, businessStatus, gearType, avpStatu.space)
+        //显示提示
+        tip(businessType, businessStatus)
         //重置变量
         resetVariable(businessStatus)
         //根据AVP任务状态判停车特效是否关闭
 //        mapOpt.showEffectAvpStatu(businessType, businessStatus)
     }
 
+    /***重置变量**/
+    private fun resetVariable(businessStatus: String) {
+        if (businessStatus == AvpContants.TRANSPORT_COMPLETED || businessStatus == AvpContants.TRANSPORT_CANCELED) {
+            mainVm.isGetVehDetail = false
+//            mapOpt.smallMapLine = false
+            mapOpt.sliceIndex = 0
+//            mapOpt.isDrawAreaCount = false
+        }
+    }
+
+    /***提示业务完成状态**/
+    private fun tip(businessType: String, businessStatus: String) {
+        if (businessType == AvpContants.PARK_TYPE) {
+            when (businessStatus) {
+                AvpContants.PARK_COMPLETED -> {
+                    ToastHelper.showShort(this, "泊车完成")
+                }
+            }
+        } else if (businessType == AvpContants.CALL_TYPE) {
+            when (businessStatus) {
+                AvpContants.TRANSPORT_COMPLETED -> {
+                    ToastHelper.showShort(this, "召车完成")
+                }
+            }
+        }
+    }
+
+
     /***是否展示车内视频****/
     private fun isCarVideo(businessStatus: String) {
         if (businessStatus == AvpContants.TRANSPORT_PROGRESS) {
@@ -256,15 +289,6 @@ class MainActivity : BaseActivity<ActivityMainBinding, MyBaseViewModel>() {
         }
     }
 
-    /***重置变量**/
-    private fun resetVariable(businessStatus: String) {
-        if (businessStatus == AvpContants.TRANSPORT_COMPLETED || businessStatus == AvpContants.TRANSPORT_CANCELED) {
-            mainVm.isGetVehDetail = false
-//            mapOpt.smallMapLine = false
-            mapOpt.sliceIndex = 0
-//            mapOpt.isDrawAreaCount = false
-        }
-    }
 
     //联网车辆位姿数据
     private fun getCarVehicle() {
@@ -276,9 +300,9 @@ class MainActivity : BaseActivity<ActivityMainBinding, MyBaseViewModel>() {
             }
         }
         //召车的时候临时开一下
-        mainVm.targetPre.observe(this) {
+    /*    mainVm.targetPre.observe(this) {
             showPre(it)
-        }
+        }*/
     }
 
     //显示车辆位姿UI
@@ -291,7 +315,7 @@ class MainActivity : BaseActivity<ActivityMainBinding, MyBaseViewModel>() {
         mapOpt.drawSmallCar(car)
         //刷新右下角小车位置
         mapOpt.showNavingCarPosition(car)
-        //生成车前方矩形
+        //车四周生成矩形
         mapOpt.genFronArea(car)
         //刷新右下角小地图路径
         mapOpt.upSmallMapLine()

app/src/main/java/com/sd/cavphmi/ui/fragment/DistantTipFragment.kt

@@ -100,7 +100,7 @@ class DistantTipFragment : Fragment() {
 //                endPoint.longitude
 //            ).toInt()
 
-            if (businessType == AvpContants.Park_TYPE) {
+            if (businessType == AvpContants.PARK_TYPE) {
                 when (businessStatus) {
                     AvpContants.TRANSPORT_PROGRESS -> {
                         takeStr(distance, 1)

app/src/main/java/com/sd/cavphmi/ui/fragment/UnityFragment.kt

@@ -15,7 +15,6 @@ import com.unity3d.player.IUnityPlayerLifecycleEvents
 import com.unity3d.player.UnityPlayer
 
 class UnityFragment : Fragment() {
-    // region Lifecycle Management - MUST BE FORWARDED TO UnityPlayer
     override fun onResume() {
         super.onResume()
         mUnityPlayer.onResume()
@@ -66,21 +65,8 @@ class UnityFragment : Fragment() {
             frameLayout.addView(unityPlayer, layoutParams)
         }
         return frameLayout
-//        return inflater.inflate(R.layout.fragment_unity, container, false)
     }
 
-
-//    override fun onUnityPlayerUnloaded() {
-//        Log.d("UnityFragment", "-----------------onUnityPlayerUnloaded")
-//        // Unity 玩家未加载时调用
-//        activity?.finish()
-//    }
-//
-//    override fun onUnityPlayerQuitted() {
-//        Log.d("UnityFragment", "-----------------onUnityPlayerQuitted")
-//    }
-
-
     // UnityPlayer 实例
     private lateinit var mUnityPlayer: UnityPlayer
 
@@ -98,8 +84,6 @@ class UnityFragment : Fragment() {
     override fun onViewCreated(view: View, savedInstanceState: Bundle?) {
         super.onViewCreated(view, savedInstanceState)
         // 视图创建完成后，可以在这里进行最终设置
-//        mUnityPlayer.windowFocusChanged(true)
-        // 视图创建完成后，可以在这里进行最终设置
         mUnityPlayer.requestFocus()
         mUnityPlayer.setFocusableInTouchMode(true)
         //使用拼接服务器资源加载地图
@@ -107,8 +91,6 @@ class UnityFragment : Fragment() {
 //        mUnityPlayer.postDelayed({
 //            try {
         HighMapApi.setCarBottomCircle(true)
-//            HighMapApi.setCameraAngle(90f)
-//            HighMapApi.setCameraDistance(80f)
         HighMapApi.setCameraAngle(30f)
         HighMapApi.setCameraDistance(8f)
 //            } catch (e: Exception) {

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

@@ -5,7 +5,7 @@ object AvpContants {
     //业务类型
     val NIL_TYPE = "NIL"
     val CALL_TYPE = "Call"
-    val Park_TYPE = "Park"
+    val PARK_TYPE = "Park"
 
     //档位
     val GEAR_REVERSE = "REVERSE"

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

@@ -102,7 +102,7 @@ class MainVm @Inject constructor(
     lateinit var mockVM: MockVM
 
     //是否需要模拟
-    var isMock = false
+    var isMock = true
 
     //车辆位姿数据
 //    var carVehicle = MutableLiveData<CarVehicle>()
@@ -254,8 +254,13 @@ class MainVm @Inject constructor(
     fun subVehicle(): StateFlow<CarVehicle> {
         if (isMock) {
 //            mockVM.subVehicle(carVehicle)
-//            mockVM.onVehicleMockPark(carVehicle)
-            mockVM.onVehicleMockCall(carVehicle, targetPre)
+            viewModelScope.launch {
+                delay(20000)
+                //模拟泊车
+                mockVM.onVehicleMockPark(carVehicle, v2xStartBean)
+                delay(3000)
+            }
+//            mockVM.onVehicleMockCall(carVehicle, targetPre,v2xStartBean)
         } else {
             var url = "${MyContants.HOST}/api/avpweb/hmi/monitor/v1/monitorDrivenStatus"
             carCb.url = url
@@ -416,6 +421,7 @@ class MainVm @Inject constructor(
     //开启预警特效
     fun startWarning(ptcId: String) {
         viewModelScope.launch {
+            toggleCircleRadar(2)
             var warnPtc = WarnPtc().apply {
                 ptcid = ptcId
                 isRed = true
@@ -426,7 +432,6 @@ class MainVm @Inject constructor(
             warnPtc.isRed = false
             HighMapApi.setWarnPtc(warns)
         }
-        toggleCircleRadar(2)
     }
 
     /**开启预警（光圈和雷达）

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

@@ -64,11 +64,7 @@ class MapOpt @Inject constructor(
     //车四周矩形
     private var roundArea: Polygon? = null
 
-    //锁
-//    private var cenAreaLock = CenAreaLock()
-
-    // 小地图路径坐标点串 (02坐标系)
-//    private var coordinateSeries = ArrayList<DoubleArray>()
+    //小地图线
     private var sPolyline: Polyline? = null
 
     //是否进入泊车倒车状态
@@ -175,8 +171,6 @@ class MapOpt @Inject constructor(
             return
         }
 //        if (smallMapLine)
-//            return
-//        if (coordinateSeries.count() > 0)
 //            return
         if (drivenDecision.trajectory.points.count() > 0) {
 //            smallMapLine = true
@@ -205,7 +199,7 @@ class MapOpt @Inject constructor(
             //当前车辆位置
 //            var latlng = LatLng(carVehicle.vehiclePos!!.get(1), carVehicle.vehiclePos.get(0))
             viewModelScope.launch(Dispatchers.Default) {
-                //算出线段与车辆四周面的相交
+                //算出线段与车辆四周面的相交的下标
                 var crossIndex = MyGeoTools.cauLineContainsArea(roundArea, lineString)
                 //点没有平均分配，前三分一8个点，后三分之一3个点
 //                    println("-----------相交线段下标 crossIndex = ${crossIndex}")
@@ -246,10 +240,10 @@ class MapOpt @Inject constructor(
 
                 val MU = 100000
 
-                var minLat = Math.min(lat1, lat2).times(MU).toInt() - 10
-                var maxLat = Math.max(lat1, lat2).times(MU).toInt() + 10
-                var minLon = Math.min(lon1, lon2).times(MU).toInt() - 10
-                var maxLon = Math.max(lon1, lon2).times(MU).toInt() + 10
+                var minLat = Math.min(lat1, lat2).times(MU).toInt() - 20
+                var maxLat = Math.max(lat1, lat2).times(MU).toInt() + 20
+                var minLon = Math.min(lon1, lon2).times(MU).toInt() - 20
+                var maxLon = Math.max(lon1, lon2).times(MU).toInt() + 20
 
                 var rect = Rect(
                     minLon, minLat, maxLon, maxLat
@@ -264,12 +258,14 @@ class MapOpt @Inject constructor(
 
     /**画路径起终点***/
     fun addEndMarker(endPoint: EndPoint, businessStatus: String) {
-        if (businessStatus == AvpContants.TRANSPORT_COMPLETED || businessStatus == AvpContants.TRANSPORT_CANCELED) {
+        if (businessStatus == AvpContants.TRANSPORT_COMPLETED || businessStatus == AvpContants.TRANSPORT_CANCELED ||
+            businessStatus == AvpContants.PARK_COMPLETED
+        ) {
             //删除终点marker
             deleteEndMarker()
             return
         }
-        if (pEndMarker == null) {
+        if (pEndMarker == null && endPoint != null) {
             var mEndPoint = LatLng(endPoint.latitude, endPoint.longitude)
             val end_icon = BitmapFactory.decodeResource(context.resources, R.drawable.plan_end)
             pEndMarker = mMineMap?.addMarker(
@@ -283,7 +279,7 @@ class MapOpt @Inject constructor(
     fun drawReversePark(
         businessType: String, businessStatus: String, gearType: String, space: Space
     ) {
-        if (businessType == AvpContants.Park_TYPE) {
+        if (businessType == AvpContants.PARK_TYPE) {
             if (businessStatus == AvpContants.TRANSPORT_COMPLETED) {//到达停车点
                 HighMapApi.setCameraDistance(30f)
                 HighMapApi.setCameraAngle(60f)
@@ -316,15 +312,17 @@ class MapOpt @Inject constructor(
 
     //是否显示车位流光效果
     fun showParkLight(businessType: String, businessStatus: String, space: Space) {
-        if (businessType == AvpContants.Park_TYPE) {
+        if (businessType == AvpContants.PARK_TYPE) {
             if (businessStatus == AvpContants.PARK_COMPLETED) {
                 //消除车位流光特效
                 HighMapApi.parkRoundLight("")
+            } else if (space == null) {
+                HighMapApi.parkRoundLight("")
             } else {
                 HighMapApi.parkRoundLight(space.name)
             }
         } else {
-//            HighMapApi.parkRoundLight("")
+            HighMapApi.parkRoundLight("")
         }
     }
 

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

@@ -25,6 +25,7 @@ import com.sd.cavphmi.bean.CarPanelBean
 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.MRoutes
 import com.sd.cavphmi.bean.mock.ParkPath
 import com.sd.cavphmi.highmap.AllLine
@@ -76,7 +77,7 @@ class MockVM @Inject constructor(
      * @param binding 里的速度
      * **/
     fun onVehicleMockPark(
-        carVehicle: MutableStateFlow<CarVehicle>
+        carVehicle: MutableStateFlow<CarVehicle>, v2xStartBean: MutableLiveData<V2xStartBean>
     ) {
 //        HighMapApi.setCameraAngle(30f)
         viewModelScope.launch {
@@ -121,9 +122,34 @@ class MockVM @Inject constructor(
             var bearing = 0f
             val random = Random
             mRoutes.rs.forEachIndexed { index, it ->
+                if (index == 8) {//紧急制动预警
+                    var v2x = V2xStartBean().apply {
+                        type = 6
+                        objects =
+                            listOf(VObject(""), VObject("f117fdfa-feff-0100-85dc-35850000acb0"))
+                    }
+                    v2xStartBean.postValue(v2x)
+                } else if (index == 30) {
+                    //前向碰撞
+                    var v2x = V2xStartBean().apply {
+                        type = 1
+                        objects =
+                            listOf(VObject(""), VObject("f117fdfa-feff-0100-85dc-35850000acb0"))
+                    }
+                    v2xStartBean.postValue(v2x)
+                } else if (index == 60) {
+                    //弱势交通参与者
+                    var v2x = V2xStartBean().apply {
+                        type = 12
+                        objects =
+                            listOf(VObject(""), VObject("50332456-3030-3030-3530-303334533955"))
+                    }
+                    v2xStartBean.postValue(v2x)
+                }
+
                 //变速
                 CarPanelBean.instance.speed.set(random.nextInt(10..15))
-
+                //一边移动一把你计算航向角
                 if (index > 0 && index < mRoutes.rs.count()) {
                     var p1 = mRoutes.rs.get(index - 1)
                     var pc = mRoutes.rs.get(index)
@@ -261,7 +287,8 @@ class MockVM @Inject constructor(
     //召车  航向角 238.38134765625
     fun onVehicleMockCall(
         carVehicle: MutableStateFlow<CarVehicle>,
-        targetPre: MutableLiveData<PerceptionBean>?
+        targetPre: MutableLiveData<PerceptionBean>,
+        v2xStartBean: MutableLiveData<V2xStartBean>
     ) {
         viewModelScope.launch {
             //初始镜头角度
@@ -320,7 +347,7 @@ class MockVM @Inject constructor(
                 if (index <= 139) {
                     //正在小心翼翼的出库
                     CarPanelBean.instance.speed.set(random.nextInt(1..5))
-                }else {
+                } else {
                     //开起来了
                     CarPanelBean.instance.speed.set(random.nextInt(10..16))
                 }
@@ -523,6 +550,7 @@ class MockVM @Inject constructor(
     //感知目标物
     fun onSubTargetMock(targetPre: MutableLiveData<PerceptionBean>) {
         viewModelScope.launch {
+            delay(20000)
             val parts = mutableListOf<String>()
             FileIoUtils.getAssetMock(context, "mock/PerTarget.txt", parts)
             var temp = ""

app/src/main/res/layout/activity_login.xml

@@ -153,7 +153,7 @@
                 android:layout_height="wrap_content"
                 android:layout_gravity="center_horizontal"
                 android:text="直接到首页"
-                android:visibility="visible"/>
+                android:visibility="gone"/>
 
         </LinearLayout>