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车辆位姿http SSE

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app/src/main/assets/mock/Car_fangzhen_park.txt
View file @ 8a6f13af
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\ No newline at end of file
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\ No newline at end of file
app/src/main/assets/mock/genHead.py 0 → 100644
View file @ 8a6f13af
import json
import math
def calculate_heading(lat1, lon1, lat2, lon2):
"""
计算两点之间的航向角
返回角度值（0-360度）
"""
# 将经纬度从度转换为弧度
lat1 = math.radians(lat1)
lon1 = math.radians(lon1)
lat2 = math.radians(lat2)
lon2 = math.radians(lon2)
# 计算经度差
dLon = lon2 - lon1
# 使用反正切函数计算航向角
y = math.sin(dLon) * math.cos(lat2)
x = math.cos(lat1) * math.sin(lat2) - math.sin(lat1) * math.cos(lat2) * math.cos(dLon)
bearing = math.atan2(y, x)
# 将弧度转换为度数
bearing = math.degrees(bearing)
# 确保结果在0-360度范围内
bearing = (bearing + 360) % 360
return bearing
def process_gps_data_with_headings(input_data):
"""
处理GPS数据，为每个点添加航向角
"""
processed_data = []
points = input_data["rs"]
for i in range(len(points)):
lon, lat = points[i][0], points[i][1] # 数据中是[lon, lat]格式
if i == len(points) - 1:
# 最后一个点没有下一个点，使用前一个点的方向
if i > 0:
prev_lon, prev_lat = points[i-1][0], points[i-1][1]
heading = calculate_heading(prev_lat, prev_lon, lat, lon)
else:
# 只有一个点的情况，设为0度
heading = 0
else:
# 计算到下一个点的航向角
next_lon, next_lat = points[i+1][0], points[i+1][1]
heading = calculate_heading(lat, lon, next_lat, next_lon)
processed_data.append([lon, lat, heading])
# 创建新的数据结构
result = {"rs": processed_data}
return result
# 新的GPS数据（从Car_fangzhen_call.txt获取）
new_original_data = {
"rs": [
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]
}
# 处理新的数据并添加航向角
processed_data = process_gps_data_with_headings(new_original_data)
# 将结果保存为JSON格式
json_output = json.dumps(processed_data, indent=2, ensure_ascii=False)
print("处理完成！以下是包含航向角的JSON数据：")
print(json_output)
# 如果需要保存到文件
with open('gps_data_with_headings.json', 'w', encoding='utf-8') as f:
f.write(json_output)
print("\n数据已保存到 gps_data_with_headings.json 文件中")
\ No newline at end of file
app/src/main/assets/mock/gps_data_with_headings.json 0 → 100644
View file @ 8a6f13af
This diff is collapsed.
app/src/main/java/com/sd/cavphmi/ui/MainActivity.kt
View file @ 8a6f13af
......@@ -179,9 +179,9 @@ class MainActivity : BaseActivity<ActivityMainBinding, MyBaseViewModel>() {
//开启感知物websocket
getTarget()
//开启车辆位姿
// getCarVehicle()
//连接自己的服务车辆位姿
getSelfCar()
getCarVehicle()
//连接自己的服务websocket车辆位姿
// getSelfCar()
}
/**连接自己的车辆位姿服务**/
......@@ -335,10 +335,6 @@ class MainActivity : BaseActivity<ActivityMainBinding, MyBaseViewModel>() {
}
}
}
//召车的时候临时开一下
/* mainVm.targetPre.observe(this) {
showPre(it)
}*/
}
/**更新车辆位置*/
......
app/src/main/java/com/sd/cavphmi/viewmodels/MainVm.kt
View file @ 8a6f13af
......@@ -244,22 +244,22 @@ class MainVm @Inject constructor(
* 联网车辆位姿数据
*/
fun subVehicle(): StateFlow<CarVehicle> {
if (isMock) {
// mockVM.subVehicle(carVehicle)
viewModelScope.launch {
delay(20000)
//模拟泊车
mockVM.onVehicleMockPark(carVehicle, v2xStartBean)
delay(3000)
//模拟叫车
mockVM.onVehicleMockCall(carVehicle, targetPre, v2xStartBean)
}
} else {
var url = "${MyContants.HOST}/api/avpweb/hmi/monitor/v1/monitorDrivenStatus"
carCb.url = url
var body = RequestBodyUtil.toRequestBody(mapOf("id" to MyContants.VEHICLEID))
avpDataRepo.getCarPose(url, body, carCb)
}
// if (isMock) {
//// mockVM.subVehicle(carVehicle)
// viewModelScope.launch {
// delay(20000)
// //模拟泊车
// mockVM.onVehicleMockPark(carVehicle, v2xStartBean)
// delay(3000)
// //模拟叫车
// mockVM.onVehicleMockCall(carVehicle, targetPre, v2xStartBean)
// }
// } else {
var url = "${MyContants.HOST}/api/avpweb/hmi/monitor/v1/monitorDrivenStatus"
carCb.url = url
var body = RequestBodyUtil.toRequestBody(mapOf("id" to MyContants.VEHICLEID))
avpDataRepo.getCarPose(url, body, carCb)
// }
return carVehicle
}
......
app/src/main/java/com/sd/cavphmi/viewmodels/MockVM.kt
View file @ 8a6f13af
......@@ -154,16 +154,16 @@ class MockVM @Inject constructor(
//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()) {
/* if (index > 0 && index < mRoutes.rs.count()) {
var p1 = mRoutes.rs.get(index - 1)
var pc = mRoutes.rs.get(index)
head = MyMapUtils.calculateBearing(
LatLng(p1[1], p1[0]),
LatLng(pc[1], pc[0])
)
}
}*/
cCar = CarVehicle().apply {
this.vehiclePos = listOf(it[0], it[1], head)
this.vehiclePos = listOf(it[0], it[1], it[2])
}
oldHead = head
......
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