2

app/src/main/assets/mock/park.txt

+{"callOrBackPoint":"125.1424934543.83896992","centrePoint":"125.14337396,43.83873198","extendPoint":"125.14333880,43.83866747","parkingSpace":"1D-001"}

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

 package com.sd.cavphmi.bean
-/***车辆位资数据**/
+/***车辆位资数据
+ *{"vehicleData":[{"altitude":0.00,"brake":30,"gasPedal":20,"gear":2,"heading":208.61645962016533,"latitude":43.83869937,"longitude":125.14344480,"obuCode":"O-HK-2687","reportTime":1750300843548,"speed":0.00,"vehicleId":"1694264612474306561","vehiclePlate":"吉AC242","vehiclePurpose":"avp","vehiclePurposeName":"AVP车辆","wheelAngle":-375}],"wsTime":1750300843548}
+ * **/
 data class CarVehicle(
     val vehicleData: List<CarVehicleData>,
     val wsTime: Long

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

+package com.sd.cavphmi.bean
+/**全局路径发生切换***/
+class LinePlaningBean {
+}
\ No newline at end of file

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

+package com.sd.cavphmi.bean
+/***定车位变更
+ * {"centrePoint":"125.14337396,43.83873198","extendPoint":"125.14333880,43.83866747","callOrBackPoint":"125.1424934543.83896992","parkingSpace":"1D-001"}
+ * */
+data class ParkBean(
+    val callOrBackPoint: String,
+    val centrePoint: String,
+    val extendPoint: String,
+    val parkingSpace: String
+)
\ No newline at end of file

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

+package com.sd.cavphmi.bean
+/**开始泊车，获取路径规划
+ * {"vehicleId":"1700381241280815105","vehicleInfoId":"1694264612474306561","vehiclePlate":"吉AC242","taskId":"1935514619273338882","linkingLine":"118_0.00_-1","line":[[125.14350411033233,43.83873919249159],[125.14340202112747,43.83869489740147]],"spaceCode":null}
+ * **/
+data class ParkLinePlan(
+    val line: List<List<Double>>,
+    val linkingLine: String,
+    val spaceCode: Any,
+    val taskId: String,
+    val vehicleId: String,
+    val vehicleInfoId: String,
+    val vehiclePlate: String
+)
\ No newline at end of file

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

+package com.sd.cavphmi.bean
+
+/**局部路径***/
+class PartLineBean {
+}
\ No newline at end of file

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

+package com.sd.cavphmi.bean
+/***rsi事件**/
+class RsiEventBean {
+}
\ No newline at end of file

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

@@ -12,6 +12,9 @@ object WebSetBean {
         "/topic/vehicleStatus" to "/avp/api/VL961/vehicleStatus",
         "/topic/timeDelay" to "/avp/api/VL961/timeDelay",
         "/topic/points" to "/avp/api/VL961/points",//停车位变更
+        "/topic/linePlaning" to "/avp/api/VL961/linePlaning",//全局路径发生切换
+        "/topic/partLine" to "/avp/api/VL961/partLine",// // 局部路径
+        "/topic/rsiEvent" to "/avp/api/VL961/rsiEvent",// rsi事件
     )
 
     var dic = mapOf(
@@ -23,6 +26,9 @@ object WebSetBean {
         5236 to "/topic/vehicleStatus",
         5237 to "/topic/timeDelay",
         1 to "/topic/point",
+        52310 to "/topic/linePlaning",
+        52311 to "/topic/rsiEvent",
+        52312 to "/topic/partLine",
     )
 
 

app/src/main/java/com/sd/cavphmi/bindadapters/ShowCarStatuObject.kt

@@ -94,35 +94,35 @@ object ShowCarStatuObject {
             }
 
             in 1..45 -> {
-                tv.setText("北偏东")
+                tv.setText("北偏东${heading}°")
             }
 
             in 46..89 -> {
-                tv.setText("东偏北")
+                tv.setText("东偏北${90-heading}°")
             }
 
             in 91..135 -> {
-                tv.setText("东偏南")
+                tv.setText("东偏南${heading-90}°")
             }
 
             in 136..179 -> {
-                tv.setText("南偏东")
+                tv.setText("南偏东${180 - heading}°")
             }
 
             in 181..225 -> {
-                tv.setText("南偏西")
+                tv.setText("南偏西${heading - 180}°")
             }
 
             in 226..269 -> {
-                tv.setText("西偏南")
+                tv.setText("西偏南${270 - heading}°")
             }
 
             in 271..315 -> {
-                tv.setText("西偏北")
+                tv.setText("西偏北${heading - 270}°")
             }
 
             in 316..359 -> {
-                tv.setText("北偏西")
+                tv.setText("北偏西${360 - heading}°")
             }
 
             else -> {

app/src/main/java/com/sd/cavphmi/bindadapters/ShowOrderObject.kt

 package com.sd.cavphmi.bindadapters
 
-import android.graphics.Color
 import android.text.Spannable
 import android.text.SpannableStringBuilder
 import android.text.style.ForegroundColorSpan
-import android.text.style.RelativeSizeSpan
 import android.view.View
 import android.widget.LinearLayout
 import android.widget.TextView
-import androidx.core.text.set
-import androidx.databinding.BindingAdapter
 import androidx.core.graphics.toColorInt
+import androidx.databinding.BindingAdapter
 
 object ShowOrderObject {
 

app/src/main/java/com/sd/cavphmi/net/httpmothod/ClientRetrofitMethod.kt

 package com.sd.cavphmi.net.httpmothod
 
 
+import com.sd.cavphmi.bean.ParkLinePlan
 import com.sd.cavphmi.bean.OrderBean
 import com.sd.cavphmi.bean.SpaceNoBean
 import com.sd.cavphmi.net.MyBaseResource
-import io.reactivex.rxjava3.core.Observable
 import okhttp3.RequestBody
 import retrofit2.http.Body
 import retrofit2.http.POST
@@ -18,9 +18,7 @@ interface ClientRetrofitMethod {
 //    @GET("http://59.175.163.12/serv-addr/server.json")
 //    fun getConfigurations(): Observable<List<ConfigurationBean>>
 //
-    /**排序字段sortBy
-    排序方向order
-     */
+    /***查询车位信息***/
     @POST("hkapi/pms/v1/parkingSpace/spaceNo")
     suspend fun getSpaceData(@Body body: RequestBody): MyBaseResource<SpaceNoBean>
 
@@ -32,6 +30,10 @@ interface ClientRetrofitMethod {
     @POST("avp/siteLine/getNetworkQuality")
     suspend fun getTimeOut(): Any
 
+    /***获取路径规划**/
+    @POST("avp/linePlaning/get")
+    suspend fun getLinePlaning(@Body body: RequestBody): ParkLinePlan
+
 
     /**
      * 话题根据评论ID查询所有回复

app/src/main/java/com/sd/cavphmi/repositorys/ParseSocketRepo.kt

 package com.sd.cavphmi.repositorys
 
 import com.google.gson.Gson
+import com.sd.cavphmi.bean.ParkLinePlan
 import com.sd.cavphmi.bean.OrderBean
+import com.sd.cavphmi.bean.SpaceNoBean
 import com.sd.cavphmi.net.MyResult
 import com.sd.cavphmi.net.RequestBodyUtil
 import com.sd.cavphmi.net.httpmothod.ClientRetrofitMethod
 import com.sd.cavphmi.utils.MyContants
 import kotlinx.coroutines.Dispatchers
-import kotlinx.coroutines.delay
 import kotlinx.coroutines.withContext
 import retrofit2.HttpException
-import java.io.EOFException
-import java.util.concurrent.atomic.AtomicBoolean
 import javax.inject.Inject
 
 class ParseSocketRepo @Inject constructor(private val clientRetrofitMethod: ClientRetrofitMethod) {
@@ -27,9 +26,12 @@ class ParseSocketRepo @Inject constructor(private val clientRetrofitMethod: Clie
         }
     }
 
-    suspend fun getOrderData(carPlate: String): MyResult<OrderBean> {
+    /***订单信息**/
+    suspend fun getOrderData(carPlate: String?): MyResult<OrderBean> {
+        if (carPlate.isNullOrEmpty()) {
+            return MyResult.Error(MyContants.HTTP_ERROR, "error")
+        }
 //        if (!orderCalled.getAndSet(true)) {
-        delay(5000)
         var map = mapOf("vehiclePlate" to carPlate)
         var body = RequestBodyUtil.toRequestBody(map)
         try {
@@ -39,14 +41,14 @@ class ParseSocketRepo @Inject constructor(private val clientRetrofitMethod: Clie
 //                println("e.message = ${e.message}")
             return MyResult.Error(e.code(), e.message() ?: "error")
         } catch (e: Exception) {
-            return MyResult.Error(500, e.message ?: "error")
+            return MyResult.Error(MyContants.HTTP_ERROR, e.message ?: "error")
         }
 //        } else {
 //            return MyResult.Error(MyContants.ALREADT_ONCE, "")
 //        }
     }
 
-
+    /**测试网络超时***/
     suspend fun getTimeOut(): MyResult<Int> {
         try {
             var star = System.currentTimeMillis()
@@ -56,7 +58,37 @@ class ParseSocketRepo @Inject constructor(private val clientRetrofitMethod: Clie
         } catch (e: HttpException) {
             return MyResult.Error(e.code(), e.message() ?: "error")
         } catch (e: Exception) {
-            return MyResult.Error(500, e.message ?: "error")
+            return MyResult.Error(MyContants.HTTP_ERROR, e.message ?: "error")
+        }
+    }
+
+    /***查询车位信息***/
+    suspend fun getSpaceData(): MyResult<SpaceNoBean> {
+        var map = mutableMapOf("pageNo" to 20, "pageSize" to 1000)
+        var body = RequestBodyUtil.toRequestBody(map)
+        try {
+            var bean = clientRetrofitMethod.getSpaceData(body)
+            return MyResult.Success(bean.data)
+        } catch (e: HttpException) {
+//            println("e.message = ${e.message}")
+            return MyResult.Error(e.code(), e.message() ?: "error")
+        } catch (e: Exception) {
+            return MyResult.Error(MyContants.HTTP_ERROR, e.message ?: "error")
+        }
+    }
+
+    /***获取路径规划***/
+    suspend fun getLinePlaning(vehiclePlate:String): MyResult<ParkLinePlan> {
+        var map = mutableMapOf("vehiclePlate" to vehiclePlate)
+        var body = RequestBodyUtil.toRequestBody(map)
+        try {
+            var bean = clientRetrofitMethod.getLinePlaning(body)
+            return MyResult.Success(bean)
+        } catch (e: HttpException) {
+            println("e.message = ${e.message}")
+            return MyResult.Error(e.code(), e.message() ?: "error")
+        } catch (e: Exception) {
+            return MyResult.Error(MyContants.HTTP_ERROR, e.message ?: "error")
         }
     }
 

app/src/main/java/com/sd/cavphmi/repositorys/SpaceNoRepo.kt

@@ -26,15 +26,5 @@ class SpaceNoRepo @Inject constructor(var clientRetrofitMethod: ClientRetrofitMe
 
 
 
-    suspend fun getSpaceData(): MyResult<SpaceNoBean> {
-        var map = mutableMapOf("pageNo" to 20, "pageSize" to 1000)
-        var body = RequestBodyUtil.toRequestBody(map)
-        try {
-            var bean = clientRetrofitMethod.getSpaceData(body)
-            return MyResult.Success(bean.data)
-        } catch (e: HttpException) {
-            println("e.message = ${e.message}")
-            return MyResult.Error(e.code(), e.message() ?: "error")
-        }
-    }
+
 }
\ No newline at end of file

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

@@ -7,6 +7,7 @@ import com.sd.cavphmi.BR
 import com.sd.cavphmi.R
 import com.sd.cavphmi.base.BaseActivity
 import com.sd.cavphmi.bean.CarVehicle
+import com.sd.cavphmi.bean.ParkBean
 import com.sd.cavphmi.bean.VehicleStats
 import com.sd.cavphmi.databinding.ActivityMainBinding
 import com.sd.cavphmi.intfaces.OnConCan
@@ -46,14 +47,35 @@ class MainActivity : BaseActivity<ActivityMainBinding, MainVm>() {
         viewModel.startWS()
         viewModel.getCurrentTime()
         viewModel.getMobileNetworkSignal()
+        viewModel.getOrderData()
+        viewModel.getSpaceData()
+
+        //test
+//        viewModel.findPathPlanning()
     }
 
     override fun initListener() {
+        mockBt()
+        mockLis()
+
+        //订单数据
+        viewModel.orderBean.observe(this) {
+            binding.order = it
+        }
+
+    }
+
+    private fun mockLis() {
+        mockVM.orderBean.observe(this) {
+            binding.order = it
+        }
+    }
+
+    private fun mockBt() {
         binding.btVehicle.setOnClickListener {
             viewModel.subVehicle().observe(this) {
                 topicVehicle(it)
             }
-//            mockVM.onVehicleMock()
         }
         binding.btStatus.setOnClickListener {
             viewModel.subVehicleStatus().observe(this) {
@@ -71,37 +93,56 @@ class MainActivity : BaseActivity<ActivityMainBinding, MainVm>() {
             viewModel.subEndV2x()
         }
         binding.btChewei.setOnClickListener {
-            viewModel.subPoints()
+            viewModel.subPoints().observe(this){
+                topicvPoints(it)
+            }
         }
-        //订单数据
-        viewModel.orderBean.observe(this) {
-            binding.order = it
+        binding.btAllline.setOnClickListener {
+            viewModel.subLinePlaning()
         }
-        mockVM.orderBean.observe(this) {
-            binding.order = it
+        binding.btJubuline.setOnClickListener {
+            viewModel.subPartLine()
+        }
+        binding.btRsi.setOnClickListener {
+            viewModel.subRsiEvent()
         }
     }
 
     /**车辆姿态**/
     private fun topicVehicle(bean: CarVehicle) {
-        if (bean.vehicleData?.isNotEmpty() ?: false) {
-            viewModel.heading.set(bean.vehicleData.get(0).heading.toInt())
-            viewModel.speed.set(bean.vehicleData.get(0).speed)
-        }
+
     }
 
-    /**联网车辆状态数据topic**/
+    /**联网车辆状态数据**/
     private fun topicVehicleStatus(bean: VehicleStats) {
-        if (bean.vehicleData?.isNotEmpty() ?: false) {
-            var driveMode = bean.vehicleData.get(0).driveMode
-            var str = when (driveMode) {
-                0 -> "自动驾驶"
-                1 -> "人工驾驶"
-                2 -> "远程驾驶"
-                else -> "—— ——"
-            }
-            viewModel.driveMode.set(str)
+        if ((bean.vehicleData.count()) > 0) {
+
+        }
+    }
+    /**停车位变更**/
+    private fun topicvPoints(bean: ParkBean) {
+        var curValue = bean.parkingSpace
+//
+        if (viewModel.spaceCode.isNotEmpty()) {
+//            // 更新停车位的信息
+            var parkingSpot = viewModel.getParkingSpot(curValue)
+//            this.$refs.basisCesium.updateParkingSpace(parkingSpot);
+        } else {
+//            // 第一次需要添加停车位的效果
+//            let carPostion = [baseData.mainLocation.lon, baseData.mainLocation.lat];
+//            // 开启前进自主泊车效果
+//            let parkingSpot = this.getParkingSpot(curValue);
+//            this.$refs.basisCesium.addForwardParkingEffect({
+//                    id: baseData.mainCarID,
+//                    carPostion: carPostion,
+//                    spaceInfo: parkingSpot,
+//            });
         }
+//
+//        // 记录 spaceCode 给倒车入库的时候用
+        viewModel.spaceCode = curValue
+//
+//        this.highlightSpaceEntity(spaceCode)
     }
 
 

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

@@ -14,4 +14,6 @@ object MyContants {
     /***已经**/
     const val ALREADT_ONCE = -1
 
+    const val HTTP_ERROR = 500
+
 }
\ No newline at end of file

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

 package com.sd.cavphmi.viewmodels
 
 import android.content.Context
-import android.telephony.PhoneStateListener
-import android.telephony.SignalStrength
-import android.telephony.TelephonyCallback
-import android.telephony.TelephonyManager
+import android.text.TextUtils
 import androidx.databinding.ObservableField
 import androidx.lifecycle.LiveData
 import androidx.lifecycle.MutableLiveData
@@ -12,9 +9,14 @@ import androidx.lifecycle.viewModelScope
 import com.google.gson.Gson
 import com.sd.cavphmi.base.MyBaseViewModel
 import com.sd.cavphmi.bean.CarVehicle
+import com.sd.cavphmi.bean.LinePlaningBean
 import com.sd.cavphmi.bean.OrderBean
+import com.sd.cavphmi.bean.ParkBean
+import com.sd.cavphmi.bean.PartLineBean
 import com.sd.cavphmi.bean.PerTarget
 import com.sd.cavphmi.bean.ReqBean
+import com.sd.cavphmi.bean.RsiEventBean
+import com.sd.cavphmi.bean.SpaceNoBean
 import com.sd.cavphmi.bean.VToXImgBean
 import com.sd.cavphmi.bean.VehicleStats
 import com.sd.cavphmi.bean.WebSetBean
@@ -23,12 +25,13 @@ import com.sd.cavphmi.repositorys.ParseSocketRepo
 import com.sd.cavphmi.utils.DateUtils
 import com.sd.cavphmi.utils.FileIoUtils
 import com.sd.cavphmi.utils.MyContants
-import com.sd.cavphmi.utils.SystemUtils
 import com.sd.cavphmi.utils.ToastHelper
 import com.sd.cavphmi.websockets.MyWebSocketClient
 import dagger.hilt.android.lifecycle.HiltViewModel
 import dagger.hilt.android.qualifiers.ApplicationContext
+import kotlinx.coroutines.Dispatchers
 import kotlinx.coroutines.launch
+import kotlinx.coroutines.withContext
 import org.java_websocket.handshake.ServerHandshake
 import protocol.Response
 import java.net.URI
@@ -58,9 +61,21 @@ class MainVm @Inject constructor(
     //感知目标物
     var targetPre = MutableLiveData<PerTarget>()
 
+    //停车位变更
+    var parkBean = MutableLiveData<ParkBean>()
+
+    //停车位编码
+    var spaceCode = ""
+
     //订单信息
     var orderBean = MutableLiveData<OrderBean>()
 
+    //老停车状态，用于判断状态切换
+    private var oldAvpStatus = -1
+
+    // 是否处理路径规划显示的路径
+    private var needDealPath = false
+
     //驾驶模式
     var driveMode = ObservableField("")
 
@@ -76,12 +91,19 @@ class MainVm @Inject constructor(
     //网络延时时间差
     var timeOutDiff = ObservableField(-1)
 
-    // Timer 可用于执行延迟任务或循环任务
+    // 当前时间
     private var curTimer = Timer()
 
-    // Timer 可用于执行延迟任务或循环任务
+    // 信号强度
     private var netSingTimer = Timer()
 
+    // 订单详情
+    private var orderTimer = Timer()
+
+    // 车位信息
+    private var carSpaNoTimer = Timer()
+
+
     /***获取当前时间**/
     fun getCurrentTime() {
         curTimer.schedule(object : TimerTask() {
@@ -92,6 +114,153 @@ class MainVm @Inject constructor(
         }, 2000, 1000 * 60)
     }
 
+    /***获取订单信息
+     * @param vehiclePlate 车牌号
+     * **/
+    fun getOrderData() {
+        orderTimer.schedule(object : TimerTask() {
+            override fun run() {
+                var vehiclePlate = carVehicle.value?.vehicleData?.get(0)?.vehiclePlate ?: ""
+                if (TextUtils.isEmpty(vehiclePlate)) {
+                    return
+                }
+                viewModelScope.launch {
+                    var result =
+                        parseSocketRepo.getOrderData(vehiclePlate)
+                    when (result) {
+                        is MyResult.Success<OrderBean> -> {
+                            println("-------订单信息---- = ${result.data}")
+                            orderBean.value = result.data
+                            var avpStatus = result.data.avpStatus
+                            var plateNo = result.data.plateNo
+                            if (oldAvpStatus != avpStatus) {
+                                if (avpStatus != 3 && oldAvpStatus == 3) {
+//                                    endParkingVehicle() // 结束泊车
+                                } else if (avpStatus == 3) {
+                                    startParkingVehicle(plateNo) // 开始泊车
+                                }
+                                if (avpStatus != 5 && oldAvpStatus == 5) {
+                                    // 由招车转为其他状态
+                                    endRecruitmentVehicle()
+                                } else if (avpStatus == 5) {
+                                    // 招车需要显示路径
+                                    startRecruitmentVehicle(plateNo)
+                                }
+                                oldAvpStatus = avpStatus
+                            }
+                        }
+
+                        is MyResult.Error -> {
+                            println("-------订单信息 ERROR---- = ${result}")
+                        }
+                    }
+//                FileIoUtils.writeToFile(gson.toJson(bean), "carvehicle.txt")
+                }
+            }
+        }, 3000, 1000 * 10)
+    }
+
+    /**开始泊车*/
+    private fun startParkingVehicle(plateNo: String) {
+        // worker中处理路径规划显示的路径
+        needDealPath = true
+        // 获取规划好的路径
+        findPathPlanning(plateNo)
+    }
+
+    /**
+     * 结束泊车
+     */
+    private fun endParkingVehicle() {
+        // 移除自主泊车所有效果
+//        this.$refs.basisCesium.removeParkingEffect();
+//
+//        // 停车位信息重置
+//        spaceCode = "";
+//        this.highlightSpaceEntity(spaceCode)
+//
+//        // 是否处理路径规划显示的路径
+//        this.needDealPath = false;
+//
+//        // 小地图上不显示线
+//        cesiumMainIns.updateLinePosition2D(polyine2d, {
+//            before: [],
+//            after: [],
+//            left: [],
+//            right: []
+//        });
+        // console.log('window.leftPath', window.leftPath)
+    }
+
+    /*** 开始招车，显示路径规划路径*/
+    private fun startRecruitmentVehicle(vehiclePlate: String) {
+        // worker不处理路径规划显示的路径
+        this.needDealPath = true
+
+        // 获取规划好的路径
+        findPathPlanning(vehiclePlate, false)
+
+        // 开始招车的时候就开始记录了
+        // window.needRecord = true;
+        // window.recordData = {
+        //   vehicle: [],
+        //   vehicleStatus: [],
+        //   dataMerge: [],
+        //   v2xStart: [],
+        //   v2xEnd: [],
+        //   points: [],
+        //   linePlaning: [],
+        //   linePlaningHttp: [],
+        //   partLine: [],
+        //   rsiEvent: [],
+        // }
+    }
+
+    /** 由招车转为其他状态，移除路径规划路线*/
+    private fun endRecruitmentVehicle() {
+        // worker中不处理路径规划显示的路径
+        this.needDealPath = false;
+//
+//        // 移除路面上的路线
+//        this.$refs.basisCesium.removePathPlanLine();
+//
+//        // 小地图上不显示线
+//        cesiumMainIns.updateLinePosition2D(polyine2d, {
+//            before: [],
+//            after: [],
+//            left: [],
+//            right: []
+//        });
+    }
+
+    /**
+     * 获取路径规划
+     */
+    fun findPathPlanning(vehiclePlate: String = "吉AC242", ifParking: Boolean = true) {
+        viewModelScope.launch {
+            var result = parseSocketRepo.getLinePlaning(vehiclePlate)
+            when (result) {
+                is MyResult.Success -> {
+                    var lins = result.data.line
+                    if (lins.isNotEmpty()) {
+//                        this.$refs.basisCesium.findPathPlanning(res);
+//                        // 泊车需要高亮车位，召车不高亮
+                        if (ifParking) {
+//                            spaceCode = res.spaceCode
+                        } else {
+//                            spaceCode = ''
+                        }
+//                        this.highlightSpaceEntity(spaceCode)
+                    }
+                }
+
+                else -> {
+                    println("-----获取路径规划 = ${result}")
+                }
+            }
+        }
+    }
+
     /***获取信号强度**/
     fun getMobileNetworkSignal() {
         netSingTimer.schedule(object : TimerTask() {
@@ -113,6 +282,45 @@ class MainVm @Inject constructor(
         }, 5000, 1000 * 60)
     }
 
+    /**查询车位信息**/
+    fun getSpaceData() {
+        carSpaNoTimer.schedule(object : TimerTask() {
+            override fun run() {
+                viewModelScope.launch {
+                    var result = parseSocketRepo.getSpaceData()
+                    when (result) {
+                        is MyResult.Success<SpaceNoBean> -> {
+                            println("-------------查询车位信息= ${result}")
+                            FileIoUtils.writeToFile(gson.toJson(result.data), "spaceno.txt")
+                        }
+
+                        is MyResult.Error -> {
+                            println("-------------查询车位信息  Error= ${result}")
+//                            carSpaNoTimer.cancel()
+                        }
+                    }
+                }
+            }
+        }, 4000, 1000 * 20)
+    }
+
+    /**
+     * 根据停车位编号，获取停车位的具体信息
+     * @param {*} parkingValue
+     */
+    fun getParkingSpot(parkingValue: String) {
+        viewModelScope.launch {
+            withContext(Dispatchers.IO) {
+//               // 查询倒车入库的车位
+//               const parkingSpot = SpaceData.find(
+//                       (spot) => spot.spaceCode === parkingValue
+//               );
+//               return parkingSpot;
+            }
+        }
+    }
+
+
     fun startWS() {
 //        val httpHeaders = mutableMapOf<String, String>()
 //        httpHeaders.put("Cookie", "username=nemo")
@@ -130,6 +338,8 @@ class MainVm @Inject constructor(
     fun cleanRes() {
         curTimer.cancel()
         netSingTimer.cancel()
+        orderTimer.cancel()
+        carSpaNoTimer.cancel()
         closeWS()
     }
 
@@ -140,9 +350,9 @@ class MainVm @Inject constructor(
         }
     }
 
+
     private var onSocketCb = object : MyWebSocketClient.OnSocketCb {
         override fun onOpen(handshakedata: ServerHandshake?) {
-            println("--------Thread.currentThread() = ${Thread.currentThread()}")
         }
 
         override fun onClose(code: Int, reason: String?, remote: Boolean) {
@@ -158,20 +368,11 @@ class MainVm @Inject constructor(
             viewModelScope.launch {
                 val bean =
                     parseSocketRepo.parseDataBean(res.data, CarVehicle::class.java)
-                println("---车辆位姿数据 = ${bean}")
-                var result =
-                    parseSocketRepo.getOrderData(bean.vehicleData?.get(0)?.vehiclePlate ?: "")
-                when (result) {
-                    is MyResult.Success<OrderBean> -> {
-                        println("-------订单信息---- = ${result.data}")
-                        orderBean.value = result.data
-                    }
-
-                    else -> {
-//                        println("-------Error---- = ${result.msg}")
-                    }
+                println("------车辆位姿数据 = ${res.data}")
+                if ((bean.vehicleData.count()) > 0) {
+                    heading.set(bean.vehicleData.get(0).heading.toInt())
+                    speed.set(bean.vehicleData.get(0).speed)
                 }
-                carVehicle.value = bean
 //                FileIoUtils.writeToFile(gson.toJson(bean), "carvehicle.txt")
             }
         }
@@ -180,7 +381,16 @@ class MainVm @Inject constructor(
             viewModelScope.launch {
                 val bean =
                     parseSocketRepo.parseDataBean(res.data, VehicleStats::class.java)
-                println("---联网车辆状态数据 = ${bean}")
+                println("------联网车辆状态数据 = ${res.data}")
+                if ((bean.vehicleData.count()) > 0) {
+                    val str = when (bean.vehicleData[0].driveMode) {
+                        0 -> "自动驾驶"
+                        1 -> "人工驾驶"
+                        2 -> "远程驾驶"
+                        else -> "—— ——"
+                    }
+                    driveMode.set(str)
+                }
                 vehicleStat.value = bean
 
                 FileIoUtils.writeToFile(gson.toJson(bean), "vehicleS.txt")
@@ -190,22 +400,64 @@ class MainVm @Inject constructor(
         override fun onTarget(res: Response.SocketResponse) {
             viewModelScope.launch {
                 var bean = parseSocketRepo.parseDataBean(res.data, PerTarget::class.java)
-                println("---感知目标物数据 = ${bean}")
+                println("-----感知目标物数据 = ${bean}")
                 targetPre.value = bean
 //                FileIoUtils.writeToFile(gson.toJson(bean), "target.txt")
             }
         }
 
         override fun onStartV2x(res: Response.SocketResponse) {
-            println("--------onStartV2x")
+            viewModelScope.launch {
+                println("-----V2X预警开始 = ${res.data}")
+                FileIoUtils.writeToFile(res.data, "onStartV2x.txt")
+            }
         }
 
         override fun onEndV2x(res: Response.SocketResponse) {
-            println("--------onEndV2x")
+            println("--------V2X预警结束--${res.data}")
+            viewModelScope.launch {
+
+            }
         }
 
         override fun onPoint(res: Response.SocketResponse) {
-            println("--------onPoint")
+            viewModelScope.launch {
+                println("-----停车位变更 = ${res.data}")
+                var bean = parseSocketRepo.parseDataBean(res.data, ParkBean::class.java)
+                parkBean.value = bean
+                FileIoUtils.writeToFile(gson.toJson(bean), "park.txt")
+            }
+        }
+
+        override fun onLinePlaning(res: Response.SocketResponse) {
+            viewModelScope.launch {
+                println("-----全局路径发生切换 = ${res.data}")
+                var bean = parseSocketRepo.parseDataBean(res.data, LinePlaningBean::class.java)
+//                parkBean.value = bean
+                FileIoUtils.writeToFile(res.data, "line_plan.txt")
+//                FileIoUtils.writeToFile(gson.toJson(bean), "line_plan.txt")
+            }
+        }
+
+        override fun onPartLine(res: Response.SocketResponse) {
+            viewModelScope.launch {
+                println("-----局部路径 = ${res.data}")
+                var bean = parseSocketRepo.parseDataBean(res.data, PartLineBean::class.java)
+//                parkBean.value = bean
+                FileIoUtils.writeToFile(res.data, "part_line.txt")
+//                FileIoUtils.writeToFile(gson.toJson(bean), "part_line.txt")
+            }
+        }
+
+        override fun onRsiEvent(res: Response.SocketResponse) {
+            viewModelScope.launch {
+                println("-----rsi事件 = ${res.data}")
+                var bean = parseSocketRepo.parseDataBean(res.data, RsiEventBean::class.java)
+
+//                parkBean.value = bean
+//                FileIoUtils.writeToFile(gson.toJson(bean), "rsi_event.txt")
+                FileIoUtils.writeToFile(res.data, "rsi_event.txt")
+            }
         }
     }
 
@@ -250,11 +502,31 @@ class MainVm @Inject constructor(
     }
 
     /*** 更新停车位**/
-    fun subPoints() {
+    fun subPoints(): LiveData<ParkBean> {
         val reqStr = getSendData("/topic/points")
         client?.send(reqStr)
+        return parkBean
     }
 
+    /*** 全局路径发生切换**/
+    fun subLinePlaning() {
+        val reqStr = getSendData("/topic/linePlaning")
+        client?.send(reqStr)
+    }
+
+    /*** 局部路径**/
+    fun subPartLine() {
+        val reqStr = getSendData("/topic/partLine")
+        client?.send(reqStr)
+    }
+
+    /*** rsi事件**/
+    fun subRsiEvent() {
+        val reqStr = getSendData("/topic/rsiEvent")
+        client?.send(reqStr)
+    }
+
+
     fun getSendData(key: String): String {
         var data = WebSetBean.subDic.get(key)
         var req = ReqBean()
@@ -269,20 +541,5 @@ class MainVm @Inject constructor(
         ToastHelper.showCustViewShort(context, imgs.get("2")!!)
     }
 
-    fun getSpaceData() {
-//        viewModelScope.launch {
-//            var result = spaceNoRepo.getSpaceData()
-//            when (result) {
-//                is MyResult.Success<SpaceNoBean> -> {
-//                    var a = 0
-//                }
-//
-//                else -> {
-//                    var b = 0
-//                }
-//            }
-//        }
-    }
-
 
 }
\ No newline at end of file

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

@@ -53,7 +53,7 @@ class MyWebSocketClient : WebSocketClient {
 //        System.out.println(TAG + "  received ByteBuffer")
         val socketResponse = Response.SocketResponse.parseFrom(bytes)
         when (socketResponse.msgType) {
-            5231 -> {//联网车辆位姿数据
+            5231 -> {//车辆位姿数据
                 onDataCb?.onVehicle(socketResponse)
             }
             5232 -> {//感知目标物数据
@@ -68,9 +68,18 @@ class MyWebSocketClient : WebSocketClient {
             5236 -> {//联网车辆状态数据
                 onDataCb?.onVehicleStats(socketResponse)
             }
-            1 -> {//更新停车场
+            1 -> {//停车位变更
                 onDataCb?.onPoint(socketResponse)
             }
+            52310 -> {//全局路径发生切换
+                onDataCb?.onLinePlaning(socketResponse)
+            }
+            52311 -> {//局部路径
+                onDataCb?.onPartLine(socketResponse)
+            }
+            52312 -> {//rsi事件
+                onDataCb?.onRsiEvent(socketResponse)
+            }
         }
     }
 
@@ -103,7 +112,11 @@ class MyWebSocketClient : WebSocketClient {
         fun onTarget(res: Response.SocketResponse)
         fun onStartV2x(res: Response.SocketResponse)
         fun onEndV2x(res: Response.SocketResponse)
+        /***停车位变更***/
         fun onPoint(res: Response.SocketResponse)
+        fun onLinePlaning(res: Response.SocketResponse)
+        fun onPartLine(res: Response.SocketResponse)
+        fun onRsiEvent(res: Response.SocketResponse)
     }
 
 

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

@@ -133,7 +133,7 @@
                 android:id="@+id/bt_status"
                 android:layout_width="wrap_content"
                 android:layout_height="wrap_content"
-                android:text="联网车辆状态数据" />
+                android:text="联网车辆状态" />
 
             <Button
                 android:id="@+id/bt_target"
@@ -159,6 +159,24 @@
                 android:layout_height="wrap_content"
                 android:text="停车位变更" />
 
+            <Button
+                android:id="@+id/bt_allline"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:text="全局路径发生切换" />
+
+            <Button
+                android:id="@+id/bt_jubuline"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:text="局部路径" />
+
+            <Button
+                android:id="@+id/bt_rsi"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:text="rsi事件" />
+
         </LinearLayout>
 
         <RelativeLayout