加入预警和感知物管理类

.idea/misc.xml

-<?xml version="1.0" encoding="UTF-8"?>
 <project version="4">
   <component name="ExternalStorageConfigurationManager" enabled="true" />
   <component name="JavadocGenerationManager">

app/src/main/java/com/sd/demo/ui/OnLineMapActivity.kt

@@ -9,7 +9,7 @@ import com.sd.api.maps.MethodAdv
 import com.sd.api.maps.cdata.MSLatLng
 import com.sd.api.scenario.CucsVehicle
 import com.sd.api.scenario.VehicleModel
-import com.sd.api.scenario.VehiclePos
+import com.sd.api.scenario.bean.VehiclePos
 import com.sd.api.ui.MapMultiView.OnMapReadyLis
 import com.sd.api.ui.MapReadyView
 import com.sd.demo.bean.mock.MRoutes

app/src/main/java/com/sd/demo/ui/PartRoadActivity.kt

@@ -12,7 +12,10 @@ import com.sd.api.parkroad.OnPrAddCar
 import com.sd.api.parkroad.PartType
 import com.sd.api.parkroad.PtcBean
 import com.sd.api.scenario.CucsVehicle
-import com.sd.api.scenario.VehiclePos
+import com.sd.api.scenario.PerceptionManager
+import com.sd.api.scenario.V2xWarn
+import com.sd.api.scenario.bean.Percept
+import com.sd.api.scenario.bean.VehiclePos
 import com.sd.api.ui.MapMultiView.OnMapReadyLis
 import com.sd.api.ui.MapReadyView
 import com.sd.demo.bean.mock.MRoutes
@@ -39,7 +42,7 @@ class PartRoadActivity : AppCompatActivity() {
             override fun onMapReady(mapReadyView: MapReadyView) {
                 this@PartRoadActivity.mapReadView = mapReadyView
                 //初始化局部视图控制器
-                MsParkRoad.setCarRoadVM(mapReadView)
+//                MsParkRoad.setCarRoadVM(mapReadView)
             }
         })
         setLis()
@@ -74,15 +77,15 @@ class PartRoadActivity : AppCompatActivity() {
         //mark点
         binding.bt6.setOnClickListener {
             lifecycleScope.launch {
-                MsParkRoad.showMarker(1)
+                V2xWarn.setWarnMark(1)
                 delay(2000)
-                MsParkRoad.showMarker(2)
+                V2xWarn.setWarnMark(2)
                 delay(2000)
-                MsParkRoad.showMarker(3)
+                V2xWarn.setWarnMark(3)
                 delay(2000)
-                MsParkRoad.showMarker(0)
+                V2xWarn.setWarnMark(0)
                 delay(2000)
-                MsParkRoad.showMarker(-1)
+                V2xWarn.setWarnMark(-1)
             }
         }
         //预警雷达
@@ -100,15 +103,16 @@ class PartRoadActivity : AppCompatActivity() {
         //预警车
         binding.bt9.setOnClickListener {
             lifecycleScope.launch {
-                MsParkRoad.warnAlerm("f117fdfa-feff-0100-85dc-35850000acb1", true, 0)
+                V2xWarn.setWarning("f117fdfa-feff-0100-85dc-35850000acb1")
                 delay(5000)
-                MsParkRoad.warnAlerm("f117fdfa-feff-0100-85dc-35850000acb1", false, 0)
+                V2xWarn.stopWarning()
             }
         }
         //清除感知物
         binding.bt10.setOnClickListener {
-//            MsParkRoad.warnAlerm("50332456-3030-3030-3530-303334533954", true, 5)
-            MsParkRoad.clearAllTargets()
+//            MsParkRoad.clearAllTargets()
+            //清除所有感知物
+            PerceptionManager.clearAllPerception()
         }
         //预加载主车
         binding.bt11.setOnClickListener {
@@ -179,21 +183,21 @@ class PartRoadActivity : AppCompatActivity() {
                     var parts = perceptionBean.flatMap { it -> it.participants }
                     //转化sdk可用的感知物
                     var pres = parts.map { it ->
-                        PtcBean().apply {
-                            ptcId = it.ptcId
+                        Percept().apply {
+                            ptcid = it.ptcId
                             if (it.ptcType == "car") {
-                                ptcType = 1
+                                pType = 1
                             } else if (it.ptcType == "pedestrian") {
-                                ptcType = 2
+                                pType = 2
                             } else {
-                                ptcType = 1
+                                pType = 1
                             }
                             lat = it.latitude
-                            lng = it.longitude
+                            lon = it.longitude
                             heading = it.heading
                         }
                     }
-                    MsParkRoad.upDatePreTarget(pres)
+                    PerceptionManager.upPerception(pres, 1)
                     delay(1000)
                 }
             } catch (e: CancellationException) {

app/src/main/java/com/sd/demo/ui/THighMapActivity.kt

@@ -12,7 +12,10 @@ import com.sd.api.highmap.WarnPtc
 import com.sd.api.maps.MSCalcuMapUtil
 import com.sd.api.maps.cdata.MSLatLng
 import com.sd.api.scenario.CucsVehicle
-import com.sd.api.scenario.VehiclePos
+import com.sd.api.scenario.PerceptionManager
+import com.sd.api.scenario.V2xWarn
+import com.sd.api.scenario.bean.Percept
+import com.sd.api.scenario.bean.VehiclePos
 import com.sd.api.ui.MapMultiView.OnMapReadyLis
 import com.sd.api.ui.MapReadyView
 import com.sd.demo.bean.mock.MRoutes
@@ -63,15 +66,15 @@ class THighMapActivity : AppCompatActivity() {
             var str =
                 FileIoUtils.getAsset(this@THighMapActivity, "mock/Car_fangzhen.txt")
             val mRoutes = gson.fromJson<MRoutes>(str, MRoutes::class.java)
-            //画出全局路径
+            //画出车辆全局路径
             var lines = mRoutes.rs.map {
                 AllLine(it[1], it[0])
             }
-//            HighMapApi.setCarNavPath(lines, showdistance = 200)
+            //车辆路径特效对象
             var carNavPath = CarNavPath().apply {
                 this.lines = lines
             }
-            //设置全局路径
+            //设置车辆路径
             CucsVehicle.setCarNaiPath(carNavPath)
             //模拟车辆移动
             var head = 0.0
@@ -88,6 +91,7 @@ class THighMapActivity : AppCompatActivity() {
                     if ((head - oldHead).absoluteValue < 45) {
                         bearing = head
                     }
+                    //车辆位置
                     VehiclePos.instance.apply {
                         lat = pc[1]
                         lng = pc[0]
@@ -95,7 +99,8 @@ class THighMapActivity : AppCompatActivity() {
                         evel = 20.80189
                     }
                 }
-                if (index>10){
+                if (index > 10) {
+//                    清除车辆路径
                     CucsVehicle.clearCarNaiPath()
                 }
 //                HighMapApi.setCarPosition(head, it[1], it[0], 20.80189)
@@ -115,9 +120,9 @@ class THighMapActivity : AppCompatActivity() {
                 val perceptionBean =
                     gson.fromJson<PerceptionBean>(str, PerceptionBean::class.java)
                 var parts = perceptionBean.flatMap { it -> it.participants }
-                //将感知物转成API能用的类型
+                //将感知物转成sdk能用的类型
                 var pres = parts.map { it ->
-                    UnityPtc().apply {
+                    Percept().apply {
                         ptcid = it.ptcId
                         if (it.ptcType == "car") {
                             pType = 1
@@ -129,7 +134,10 @@ class THighMapActivity : AppCompatActivity() {
                         heading = it.heading
                     }
                 }
-                HighMap.setPtcData(pres)
+/**更新感知物位置
+ * @param percepts 感知物列表
+ * @param upSoap(更新范围)  1:更新局部图感知物 2:更新高精图感知物 3：包含两者*/
+                PerceptionManager.upPerception(pres, 2)
 
                 delay(1000)
             }
@@ -151,17 +159,15 @@ class THighMapActivity : AppCompatActivity() {
     //开启预警特效
     fun startWarning(ptcId: String) {
         lifecycleScope.launch {
-            var warnPtc = WarnPtc().apply {
-                ptcid = ptcId
-                isRed = true
-            }
-            var warns = listOf(warnPtc)
-            HighMap.setWarnPtc(warns)
+//            * @param ptcId 感知物ID
+//            * @param time 感知物闪烁时间 0=不闪烁
+//            * @param dirent 雷达方向0=关闭  1=左前 2=正前 3=右前   4=右后  5=正后  6=左后
+            V2xWarn.setWarning(ptcId, 0,2)
             delay(5000)
-            warnPtc.isRed = false
-            HighMap.setWarnPtc(warns)
+            //停止预警
+            V2xWarn.stopWarning()
         }
-        toggleCircleRadar(2)
+//        toggleCircleRadar(2)
     }
 
 
@@ -169,7 +175,7 @@ class THighMapActivity : AppCompatActivity() {
      * @param dirent  0=关闭  1=左前 2=正前 3=右前   4=右后  5=正后  6=左后
      * */
     fun toggleCircleRadar(dirent: Int) {
-        HighMap.setCarBottomCircle(true)
+//        HighMap.setCarBottomCircle(true)
         HighMap.setCarRadarDirection(dirent)
         lifecycleScope.launch {
             delay(5000)

mapapi/build.gradle.kts

+import org.gradle.language.nativeplatform.internal.Dimensions.applicationVariants
+
 plugins {
     alias(libs.plugins.android.library)
     alias(libs.plugins.kotlin.android)
@@ -15,6 +17,7 @@ android {
     namespace = "com.sd.api"
     compileSdk = 35
 
+
     defaultConfig {
         minSdk = 29
 

mapapi/src/main/java/com/sd/api/fragments/PartRoadFragment.kt

@@ -55,7 +55,9 @@ class PartRoadFragment : Fragment() {
 //        carRoadVM.webViewClient?.preloadMainCar(requireActivity().assets.open("truck.glb")) { v: Boolean ->
 //            println("-----------v = ${v}")
 //        }
+        //初始化局部视图控制器
         MapReadyView.instance.carRoadVM = carRoadVM
+        MsParkRoad.setCarRoadVM(MapReadyView.instance)
         onMapReadyLis?.onMapReady(MapReadyView.instance)
     }
 

mapapi/src/main/java/com/sd/api/highmap/HighMap.kt

@@ -214,6 +214,8 @@ object HighMap :MsOperationParent() {
     fun setWarnPtc(warnPtc: List<WarnPtc>) {
         when (MSDKInitializer.getMapType()) {
             MAP_TYPE.MINE -> {
+                if (!isLoadUnityPlayer())
+                    return
                 UnityPlayer.UnitySendMessage(
                     MODELNAME,
                     "SetWarnPre",

mapapi/src/main/java/com/sd/api/maps/MSNavi.kt

@@ -14,6 +14,8 @@ import com.sd.api.ui.MapReadyView
  * 导航相关
  */
 object MSNavi {
+    /**是否开启导航**/
+    var mStartNav = false
 
     fun init() {
         when (MSDKInitializer.getMapType()) {

mapapi/src/main/java/com/sd/api/maps/mine/MineNai.kt

@@ -28,7 +28,7 @@ import com.sd.api.ui.MapReadyView
 import com.sd.api.ui.MineNaiDirActivity
 
 /**
- * 四维导航
+ * 四维导航实现
  */
 object MineNai {
 

mapapi/src/main/java/com/sd/api/parkroad/MsParkRoad.kt

@@ -157,7 +157,8 @@ object MsParkRoad : MsOperationParent() {
         }
     }
 
-    /**预警特效
+    /**
+     * 预警特效（单个）
      * @param ptcId 感知物id
      * @param isRed 是否变红
      * @param time 动画持续时间
@@ -165,8 +166,21 @@ object MsParkRoad : MsOperationParent() {
     fun warnAlerm(ptcId: String, isRed: Boolean, time: Int) {
         when (MSDKInitializer.getMapType()) {
             MAP_TYPE.MINE -> {
-                var car = Alarm(ptcId, isRed, time)
-                carRoadVM?.webViewClient?.setAlarms(listOf(car), null)
+                var alarm = Alarm(ptcId, isRed, time)
+                carRoadVM?.webViewClient?.setAlarms(listOf(alarm), null)
+            }
+
+            MAP_TYPE.AMAP -> {
+            }
+        }
+    }
+    /**
+     * 预警特效批量
+     */
+    fun warnAlerms(alarms: List<Alarm>) {
+        when (MSDKInitializer.getMapType()) {
+            MAP_TYPE.MINE -> {
+                carRoadVM?.webViewClient?.setAlarms(alarms, null)
             }
 
             MAP_TYPE.AMAP -> {
@@ -218,7 +232,7 @@ object MsParkRoad : MsOperationParent() {
     }
 
     /**预加载主车
-     * @param fileName 模型文件名称
+     * @param fileName 模型文件路径
      */
     fun preloadMainCar(assets: AssetManager, fileName: String) {
         when (MSDKInitializer.getMapType()) {
@@ -233,7 +247,10 @@ object MsParkRoad : MsOperationParent() {
         }
     }
 
-    /**预加载感知物***/
+    /**
+     * 预加载感知物
+     * @param fileName 模型文件路径
+     */
     fun preloadParticipant(assets: AssetManager, fileName: String, ptcType: PartType) {
         when (MSDKInitializer.getMapType()) {
             MAP_TYPE.MINE -> {

mapapi/src/main/java/com/sd/api/scenario/CucsVehicle.kt

 package com.sd.api.scenario
 
-import androidx.lifecycle.viewModelScope
 import com.minedata.minenavi.mapdal.LatLng
+import com.sd.api.MAP_TYPE
+import com.sd.api.MSDKInitializer
 import com.sd.api.highmap.CarNavPath
 import com.sd.api.highmap.HighMap
 import com.sd.api.highmap.HighPos
 import com.sd.api.parkroad.MsParkRoad
 import com.sd.api.parkroad.RoadPos
+import com.sd.api.scenario.bean.VehiclePos
 import com.sd.api.utils.SmoothMoveUtils
 import kotlinx.coroutines.CoroutineScope
 import kotlinx.coroutines.Dispatchers
@@ -15,6 +17,7 @@ import kotlinx.coroutines.launch
 /**车辆管理类***/
 object CucsVehicle {
 
+    //控制车辆是否暂停移动
     private var stopCar = false
 
     //动画是否开始
@@ -39,21 +42,34 @@ object CucsVehicle {
      */
     fun moveCar(vPos: VehiclePos, moveType: Int) {
         cvPos = vPos
-        var highPos = HighPos.instance.apply {
-            heading = vPos.heading
-            lat = vPos.lat
-            lon = vPos.lng
-            evel = vPos.evel
-        }
-        var roadPos = RoadPos.instance.apply {
-            lat = vPos.lat
-            lng = vPos.lng
-            bearing = vPos.heading.toFloat()
+        if (stopCar)
+            return
+        when (MSDKInitializer.getMapType()) {
+            MAP_TYPE.MINE -> {
+                mineCarMove(vPos, moveType)
+            }
+
+            MAP_TYPE.AMAP -> {
+            }
         }
+    }
 
+    //四维实现
+    private fun mineCarMove(vPos: VehiclePos, moveType: Int) {
         if (moveType == 1) {
+            var highPos = HighPos.instance.apply {
+                heading = vPos.heading
+                lat = vPos.lat
+                lon = vPos.lng
+                evel = vPos.evel
+            }
             HighMap.setCarPosition(highPos)
         } else if (moveType == 2) {
+            var roadPos = RoadPos.instance.apply {
+                lat = vPos.lat
+                lng = vPos.lng
+                bearing = vPos.heading.toFloat()
+            }
             MsParkRoad.updateMainCar(roadPos, null)
         } else if (moveType == 3) {
             if (fromLoc == null || fromLoc?.lng == 0.0) {
@@ -73,6 +89,7 @@ object CucsVehicle {
         }
     }
 
+
     //在线地图主车平滑移动
     private var sCarSmooth = object : SmoothMoveUtils.OnPositionUpdateListener {
         override fun onUpdate(
@@ -119,16 +136,18 @@ object CucsVehicle {
         }
     }
 
-    /**
-     * 停止车辆移动
-     */
+    /**停止车辆移动*/
     fun stopCar() {
         stopCar = true
     }
 
+    fun resumeCarMove() {
+        stopCar = false
+    }
+
 
     /**
-     * 设置车辆移动路径
+     * 绘制车辆移动路径
      * @param carNavPath
      */
     fun setCarNaiPath(carNavPath: CarNavPath) {
@@ -136,7 +155,7 @@ object CucsVehicle {
     }
 
     /**
-     * 清除导航路径
+     * 清除车辆移动路径
      */
     fun clearCarNaiPath() {
         var carNavPath = CarNavPath()

mapapi/src/main/java/com/sd/api/scenario/PerceptionManager.kt

+package com.sd.api.scenario
+
+import com.sd.api.MAP_TYPE
+import com.sd.api.MSDKInitializer
+import com.sd.api.highmap.HighMap
+import com.sd.api.highmap.UnityPtc
+import com.sd.api.parkroad.MsParkRoad
+import com.sd.api.parkroad.PtcBean
+import com.sd.api.scenario.bean.Percept
+
+/***感知物管理**/
+object PerceptionManager {
+
+    /**更新感知物位置
+     * @param percepts 感知物列表
+     * @param upSoap(更新范围)  1:更新局部图感知物 2:更新高精图感知物 3：包含两者
+     */
+    fun upPerception(percepts: List<Percept>, upSoap: Int) {
+        when (MSDKInitializer.getMapType()) {
+            MAP_TYPE.MINE -> {
+                if (upSoap == 1) {
+                    refreshParkPerception(percepts)
+                } else if (upSoap == 2) {
+                    refreshHighPerception(percepts)
+                } else if (upSoap == 3) {
+                    refreshParkPerception(percepts)
+                    refreshHighPerception(percepts)
+                }
+            }
+
+            MAP_TYPE.AMAP -> {
+            }
+        }
+    }
+
+    //刷新局部图感知物
+    private fun refreshParkPerception(percepts: List<Percept>) {
+        //转化sdk可用的感知物
+        var pres = percepts.map { it ->
+            PtcBean().apply {
+                ptcId = it.ptcid
+                ptcType = it.pType
+                lat = it.lat
+                lng = it.lon
+                heading = it.heading
+            }
+        }
+        MsParkRoad.upDatePreTarget(pres)
+    }
+
+    //刷新高精图感知物
+    private fun refreshHighPerception(percepts: List<Percept>) {
+        var pres = percepts.map { it ->
+            UnityPtc().apply {
+                ptcid = it.ptcid
+                pType = it.pType
+                lat = it.lat
+                lon = it.lon
+                heading = it.heading
+            }
+        }
+        HighMap.setPtcData(pres)
+    }
+
+    /***清除所有感知物**/
+    fun clearAllPerception() {
+        when (MSDKInitializer.getMapType()) {
+            MAP_TYPE.MINE -> {
+                MsParkRoad.clearAllTargets()
+                HighMap.setPtcData(emptyList())
+            }
+
+            MAP_TYPE.AMAP -> {
+            }
+        }
+    }
+
+
+}
\ No newline at end of file

mapapi/src/main/java/com/sd/api/scenario/V2xWarn.kt

+package com.sd.api.scenario
+
+import com.example.car_and_road_3d.models.Alarm
+import com.sd.api.highmap.HighMap
+import com.sd.api.highmap.WarnPtc
+import com.sd.api.parkroad.MsParkRoad
+import kotlinx.coroutines.CoroutineScope
+import kotlinx.coroutines.Dispatchers
+import kotlinx.coroutines.delay
+import kotlinx.coroutines.launch
+
+/**预警管理类***/
+object V2xWarn {
+
+    //高精地图预警对象
+    private var warnPtcs = mutableListOf<WarnPtc>()
+
+    //局部地图预警对象
+    private var alarms = mutableListOf<Alarm>()
+
+    /**
+     * 感知物预警(批量)
+     */
+    fun setWarningBatch(ptcIds: List<String>, time: Int = 0, dirent: Int = 0) {
+        startWarning(ptcIds, time, dirent)
+    }
+
+    /**
+     * 感知物预警(单个)
+     * @param ptcId 感知物ID列表
+     * @param time 感知物闪烁时间 0=不闪烁
+     * @param dirent 雷达方向0=关闭  1=左前 2=正前 3=右前   4=右后  5=正后  6=左后
+     */
+    fun setWarning(ptcId: String, time: Int = 0, dirent: Int = 0) {
+        startWarning(listOf(ptcId), time, dirent)
+    }
+
+    /***停止预警***/
+    fun stopWarning() {
+        warnPtcs.forEach {
+            it.isRed = false
+            it.isFlash = false
+            it.aniTime = 0L
+        }
+        alarms.forEach {
+            it.isAlarm = false
+            it.time = 0
+        }
+        HighMap.setWarnPtc(warnPtcs)
+        MsParkRoad.warnAlerms(alarms)
+    }
+
+    private fun startWarning(ptcId: List<String>, time: Int, dirent: Int) {
+        warnPtcs.clear()
+        alarms.clear()
+        ptcId.forEach { ptcId ->
+            //构造高精地体预警类
+            warnPtcs.add(WarnPtc().apply {
+                this.ptcid = ptcId
+                this.isRed = true
+                if (time > 0) {
+                    this.aniTime = time.toLong()
+                    this.isFlash = true
+                }
+            })
+            //构造局部地图预警类
+            alarms.add(Alarm().apply {
+                this.participantId = ptcId
+                this.isAlarm = false
+                if (time > 0) {
+                    this.isAlarm = true
+                    this.time = time
+                }
+            })
+        }
+        //高精图预警
+        HighMap.setWarnPtc(warnPtcs)
+
+        CoroutineScope(Dispatchers.Main).launch {
+            HighMap.setCarRadarDirection(dirent)
+            HighMap.setCarBottomCircle(true)
+            delay(5000)
+            HighMap.setCarBottomCircle(false)
+            HighMap.setCarRadarDirection(0)
+        }
+        //局部图预警
+        MsParkRoad.warnAlerms(alarms)
+        CoroutineScope(Dispatchers.Main).launch {
+            MsParkRoad.toggleRadar(true)
+            delay(5000)
+            MsParkRoad.toggleRadar(false)
+        }
+    }
+
+    /**
+     * 设置局部图预警点
+     * @param marker 1:结冰 2:施工 3:交叉路口慢行
+     * */
+    fun setWarnMark(mark: Int) {
+        MsParkRoad.showMarker(mark)
+    }
+
+}
\ No newline at end of file

mapapi/src/main/java/com/sd/api/scenario/VehicleModel.kt

 package com.sd.api.scenario
 
-import android.util.Log
-import androidx.lifecycle.viewModelScope
-import com.minedata.minenavi.map.Model
-import com.minedata.minenavi.map.ModelOptions
-import com.minedata.minenavi.map.Overlay
-import com.minedata.minenavi.mapdal.LatLng
 import com.sd.api.MAP_TYPE
 import com.sd.api.MSDKInitializer
-import com.sd.api.UserCtx
-import com.sd.api.maps.MsOperationParent
-import com.sd.api.utils.FileIoUtils
-import com.unity3d.player.UnityPlayer
-import kotlinx.coroutines.CoroutineScope
-import kotlinx.coroutines.Dispatchers
-import kotlinx.coroutines.launch
-import java.io.File
-import java.io.IOException
+import com.sd.api.scenario.mine.MineVehicleModel
 
-/**网联车模型**/
-object VehicleModel : MsOperationParent() {
-
-    //在线地图用户当前位置模型
-    private var mainCarMo: Model? = null
-
-    //主车obj模型
-    private var objPath = ""
-
-    //在线地图小车是否加载完毕
-    private var loadAddCar = false
-
-    /****加载主车特斯拉模型***/
-    suspend  fun loadMainCar() {
-        var context = UserCtx.instance.mContext
-//        CoroutineScope(Dispatchers.IO).launch {
-            try {
-                var parentFileDir = File(context?.filesDir, "models/car_model")
-                if (!parentFileDir.exists())
-                    parentFileDir.mkdirs()
-
-                objPath = FileIoUtils.assetFilePath(context!!, "models/car_model/gszh_xyz.obj")
-//                Log.d("-----", "✅ OBJ文件复制成功: " + objPath)
-                var path = FileIoUtils.assetFilePath(context, "models/car_model/gszh_xyz.mtl")
-//                Log.d("-----", "✅ 纹理文件复制成功: " + path)
-                path = FileIoUtils.assetFilePath(context, "models/car_model/Binary_0.jpeg")
-//                Log.d("-----", "✅ 材质文件复制成功: " + path)
-            } catch (e: IOException) {
-                e.printStackTrace()
-            }
-//        }
-    }
+/**网联车模型(在线地图)**/
+object VehicleModel {
 
     /****更新模型位置**/
     fun upMyLocCarModel(
@@ -59,16 +15,7 @@ object VehicleModel : MsOperationParent() {
     ) {
         when (MSDKInitializer.getMapType()) {
             MAP_TYPE.MINE -> {
-                CoroutineScope(Dispatchers.Default).launch {
-                    loadMainCar()
-                    if (!loadAddCar) {
-                        loadAddCar= true
-                        addMyLocCarModel(lat, lng, heading)
-                    }
-                    var cHeading = 0f - 180f - heading
-                    mainCarMo?.setPosition(LatLng(lat, lng))
-                    mainCarMo?.setHeading(cHeading)
-                }
+                MineVehicleModel.upMyLocCarModel(lat, lng, heading)
             }
 
             MAP_TYPE.AMAP -> {
@@ -76,33 +23,11 @@ object VehicleModel : MsOperationParent() {
         }
     }
 
-
-    /****添加我的定位小车模型
-     * 这小车模型航向角0是冲下的
-     * ***/
-    suspend fun addMyLocCarModel(
-        lat: Double,
-        lng: Double,
-        heading: Float
-    ) {
+    //删除互联网地图上的车模型
+    fun deleteMyLocModel() {
         when (MSDKInitializer.getMapType()) {
             MAP_TYPE.MINE -> {
-                if (objPath.isEmpty() || lat == 0.0 || lng == 0.0)
-                    return
-                if (mainCarMo != null)
-                    return
-                var mMineMap = getMapReadView()?.mMineMap
-                // 模型文件相对路径
-                var modelOptions = ModelOptions()
-                    .objFile(objPath)
-                    .position(LatLng(lat, lng))
-                    .layer(Overlay.Layer.aboveMarker)
-                    .heading(heading)
-                    .keepScaleSize(8f) // 保持尺寸的比例尺
-                    .scaleFactor(0.007f) // 缩放因子
-                    .visible(true)
-
-                mainCarMo = mMineMap?.addModel(modelOptions)
+                MineVehicleModel.deleteMyLocModel()
             }
 
             MAP_TYPE.AMAP -> {
@@ -110,13 +35,8 @@ object VehicleModel : MsOperationParent() {
         }
     }
 
-    //删除互联网地图上的车模型
-    fun deleteMyLocModel() {
-        if (mainCarMo != null) {
-            var mMineMap = getMapReadView()?.mMineMap
-            mMineMap?.removeOverlay(mainCarMo)
-            mainCarMo = null
-        }
-    }
+
+
+
 
 }
\ No newline at end of file

mapapi/src/main/java/com/sd/api/scenario/bean/Percept.kt

+package com.sd.api.scenario.bean
+
+/**感知物数据**/
+class Percept {
+    /**感知物类型 1=车 2=人*/
+    var pType = 1
+
+    /**航向角*/
+    var heading = 0.0
+
+    /**纬度**/
+    var lat = 0.0
+
+    /**经度**/
+    var lon = 0.0
+
+    /**感知物id*/
+    var ptcid = ""
+}
\ No newline at end of file

mapapi/src/main/java/com/sd/api/scenario/VehiclePos.kt → mapapi/src/main/java/com/sd/api/scenario/bean/VehiclePos.kt

-package com.sd.api.scenario
+package com.sd.api.scenario.bean
 
 /***车辆位置**/
 class VehiclePos {
@@ -7,6 +7,8 @@ class VehiclePos {
     }
     var lat = 0.0
     var lng = 0.0
+    /**航向角***/
     var heading = 0.0
+    /**高程***/
     var evel = 20.80189
 }
\ No newline at end of file

mapapi/src/main/java/com/sd/api/scenario/mine/MineVehicleModel.kt

+package com.sd.api.scenario.mine
+
+import android.content.Context
+import com.minedata.minenavi.map.Model
+import com.minedata.minenavi.map.ModelOptions
+import com.minedata.minenavi.map.Overlay
+import com.minedata.minenavi.mapdal.LatLng
+import com.sd.api.UserCtx
+import com.sd.api.maps.MsOperationParent
+import com.sd.api.utils.FileIoUtils
+import kotlinx.coroutines.CoroutineScope
+import kotlinx.coroutines.Dispatchers
+import kotlinx.coroutines.launch
+import java.io.File
+import java.io.IOException
+
+//四维模型实现
+object MineVehicleModel : MsOperationParent() {
+    //在线地图用户当前位置模型
+    private var mainCarMo: Model? = null
+
+    //主车obj模型
+    private var objPath = ""
+
+    //在线地图小车是否加载完毕
+    private var loadAddCar = false
+
+    /****加载主车特斯拉模型***/
+    private suspend fun loadMainCar(context: Context?) {
+        if (context == null)
+            return
+        try {
+            var parentFileDir = File(context?.filesDir, "models/car_model")
+            if (!parentFileDir.exists())
+                parentFileDir.mkdirs()
+
+            objPath = FileIoUtils.assetFilePath(context!!, "models/car_model/gszh_xyz.obj")
+//                Log.d("-----", "✅ OBJ文件复制成功: " + objPath)
+            var path = FileIoUtils.assetFilePath(context, "models/car_model/gszh_xyz.mtl")
+//                Log.d("-----", "✅ 纹理文件复制成功: " + path)
+            path = FileIoUtils.assetFilePath(context, "models/car_model/Binary_0.jpeg")
+//                Log.d("-----", "✅ 材质文件复制成功: " + path)
+        } catch (e: IOException) {
+            e.printStackTrace()
+        }
+    }
+
+    /****添加我的定位小车模型
+     * 这小车模型航向角0是冲下的
+     * ***/
+    private fun addMyLocCarModel(
+        lat: Double,
+        lng: Double,
+        heading: Float
+    ) {
+        if (objPath.isEmpty() || lat == 0.0 || lng == 0.0)
+            return
+        if (mainCarMo != null)
+            return
+        var mMineMap = getMapReadView()?.mMineMap
+        // 模型文件相对路径
+        var modelOptions = ModelOptions()
+            .objFile(objPath)
+            .position(LatLng(lat, lng))
+            .layer(Overlay.Layer.aboveMarker)
+            .heading(heading)
+            .keepScaleSize(8f) // 保持尺寸的比例尺
+            .scaleFactor(0.007f) // 缩放因子
+            .visible(true)
+
+        mainCarMo = mMineMap?.addModel(modelOptions)
+    }
+
+
+    /****更新模型位置**/
+    fun upMyLocCarModel(
+        lat: Double,
+        lng: Double,
+        heading: Float
+    ) {
+        CoroutineScope(Dispatchers.Default).launch {
+            var context = UserCtx.instance.mContext
+            loadMainCar(context)
+            if (!loadAddCar) {
+                loadAddCar = true
+                addMyLocCarModel(lat, lng, heading)
+            }
+            var cHeading = 0f - 180f - heading
+            mainCarMo?.setPosition(LatLng(lat, lng))
+            mainCarMo?.setHeading(cHeading)
+        }
+    }
+
+
+    //删除互联网地图上的车模型
+    fun deleteMyLocModel() {
+        if (mainCarMo != null) {
+            var mMineMap = getMapReadView()?.mMineMap
+            mMineMap?.removeOverlay(mainCarMo)
+            mainCarMo = null
+        }
+    }
+
+
+}
\ No newline at end of file