加入高精地图API

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

 package com.sd.cavphmi.bean
 /**
- * 感知目标物
+ * 感知目标物实体
  ****/
 data class PerTarget(
     val collectTime: Int,

app/src/main/java/com/sd/cavphmi/highmap/AlertPath.kt

+package com.sd.cavphmi.highmap
+
+/**
+ * Alert path
+ * 传入点的坐标数组绘制路面状况颜色2=(路径里的红色、施工区域红色、人行道红色) 3=绿色（绿波） 4=感知车前的红色）
+ */
+data class AlertPath(
+    val alertLins: List<AlertLin>,
+    val alertType: Int
+)
+
+ class AlertLin {
+     //    val evel: Int,
+     var lat: Double=0.0
+     var lon: Double=0.0
+ }
\ No newline at end of file

app/src/main/java/com/sd/cavphmi/highmap/BottomCircle.kt

+package com.sd.cavphmi.highmap
+
+/**
+ * 开启（关闭）绘制主车底盘下的光圈
+ */
+data class BottomCircle(
+    val ison: Boolean
+)
\ No newline at end of file

app/src/main/java/com/sd/cavphmi/highmap/CarNavPath.kt

+package com.sd.cavphmi.highmap
+
+/**
+ *全局路径绘制（蓝色）
+ */
+data class CarNavPath(
+    val lines: List<AllLine>
+)
+
+data class AllLine(
+//    val evel: Int,
+    val lat: Double,
+    val lon: Double
+)
\ No newline at end of file

app/src/main/java/com/sd/cavphmi/highmap/CarPos.kt

+package com.sd.cavphmi.highmap
+
+/**
+ * 根据外界传入的坐标，航向角，速度使主车移动
+ * {
+ *     "lat": 116.50272672296624,	//纬度
+ *     "lon": 116.49886019,			//经度
+ *     "evel": 20.80189,	//高度
+ *     "heading": 0,		//汽车姿态方向角度
+ * }
+ */
+class CarPos {
+    var evel = 20.80189
+    var heading = 0.0
+    var lat = 0.0
+    var lon = 0.0
+}

app/src/main/java/com/sd/cavphmi/highmap/HighMapApi.kt

+package com.sd.cavphmi.highmap
+
+import com.google.gson.Gson
+import com.unity3d.player.UnityPlayer
+
+
+/**
+ * 高精地图Api
+ *
+ * 在EarlyWarnVM.kt里setAssEvent函数里用到了
+ */
+object HighMapApi {
+
+    private var gson = Gson()
+
+    private const val MODELNAME = "MsgBridge"
+
+    /**
+     * 给unity读取3d tile json配置
+     */
+    fun setTileInit(tileJsonBean: TileJsonBean) {
+        UnityPlayer.UnitySendMessage(MODELNAME, "SetTileInit", gson.toJson(tileJsonBean))
+    }
+
+    /**
+     * 根据外界传入的坐标，航向角，速度使主车移动
+     * @param heading 航向角
+     * @param evel 高程
+     */
+    fun setCarPosition(
+        evel: Float,
+        heading: Double,
+        lat: Double,
+        lon: Double
+    ) {
+        val carPos = CarPos().apply {
+            this.evel=evel.toDouble()
+            this.heading = heading
+            this.lat = lat
+            this.lon = lon
+        }
+        UnityPlayer.UnitySendMessage(MODELNAME, "SetCarPosition", gson.toJson(carPos))
+    }
+
+    /**
+     * 开启（关闭）绘制主车底盘下的光圈
+     */
+    fun setCarBottomCircle(ison: Boolean) {
+        var bottomCircle = BottomCircle(ison)
+        UnityPlayer.UnitySendMessage(MODELNAME, "SetCarBottomCircle", gson.toJson(bottomCircle))
+    }
+
+    /**
+     * 开启（关闭）主车前方的雷达6个方向
+     */
+    fun setCarRadarDirection(dirent: Int) {
+        var radarDirection = RadarDirection(dirent)
+        UnityPlayer.UnitySendMessage(MODELNAME, "SetCarRadarDirection", gson.toJson(radarDirection))
+    }
+
+    /**
+     * 车辆行驶全局路径绘制  - 蓝色渐变引导线
+     * @param lines 全局路径
+     */
+    fun setCarNavPath(lines: List<AllLine>) {
+        var carNavPath = CarNavPath(lines)
+        UnityPlayer.UnitySendMessage(MODELNAME, "SetCarNavPath", gson.toJson(carNavPath))
+    }
+
+    /**
+     * 传入点的坐标数组绘制路面状况颜色2=(路径里的红色、施工区域红色、人行道红色) 3=绿色（绿波） 4=感知车前的红色）
+     * @param alertLins 危险路径
+     * @param alertType 危险类型
+     */
+    fun setAlertPath(alertLins: List<AlertLin>, alertType: Int) {
+        var alertPath = AlertPath(alertLins, alertType)
+        UnityPlayer.UnitySendMessage(MODELNAME, "SetAlertPath", gson.toJson(alertPath))
+    }
+
+    /**
+     * 绘制感知物
+     * @param ptcList
+     */
+    fun setPtcData(ptcList: List<UnityPtc>) {
+        var ptcData = PtcData(ptcList)
+        UnityPlayer.UnitySendMessage(MODELNAME, "SetPtcData", gson.toJson(ptcData))
+    }
+    /**
+     * 清除所有感知物
+     */
+    fun clearPtcData() {
+        UnityPlayer.UnitySendMessage(MODELNAME, "ClearAllPtcData","")
+    }
+
+}
\ No newline at end of file

app/src/main/java/com/sd/cavphmi/highmap/PtcData.kt

+package com.sd.cavphmi.highmap
+
+/**
+ * 感知物数据
+ *
+ *  {
+ * ptcList: //感知物数组
+ * [
+ *     {
+ *      ptcid:xxx,//感知物id
+ *         "lat": 43.826145,		//纬度
+ *         "lon": 125.12990,		//经度
+ *         "pType":1    //感知物类型 1=车 2=人
+ *         "heading": 125.12990,       //航向角
+ *          “isRed”:false                  //是否变红
+ *          isFlash:fasle                  //是否闪烁
+ *          aniTime:1(单位秒)           //此字段具有高优先级，以第一帧接收为准开始计时，控制闪烁和变红在X秒后消失，如果传0已上面的bool值为准。
+ *     },
+ *
+ * }
+ */
+data class PtcData(
+    val ptcList: List<UnityPtc>
+)
+
+class UnityPtc {
+    var aniTime = 1
+    var pType = 0
+    var heading = 0.0
+    var isFlash = false
+    var isRed = false
+    var lat: Double = 0.0
+    var lon: Double = 0.0
+    var ptcid: String = ""
+}

app/src/main/java/com/sd/cavphmi/highmap/RadarDirection.kt

+package com.sd.cavphmi.highmap
+
+/**
+ * 车前雷达
+ * {dirent:1}   0=关闭  1=左前 2=正前 3=右前   4=右后  5=正后  6=左后
+ */
+data class RadarDirection(
+    val dirent: Int
+)
\ No newline at end of file

app/src/main/java/com/sd/cavphmi/highmap/TileJsonBean.kt

+package com.sd.cavphmi.highmap
+
+import com.sd.cavphmi.utils.MyContants
+
+
+/**
+ * 给unity 初始化json
+ *
+ * @property host
+ * @property tiles3d
+ * @constructor Create empty Tile json bean
+ */
+class TileJsonBean {
+    var host: String = MyContants.HOST
+    var tiles3d = listOf(
+        "/gis_data/3dtiles/road/CurbStrip/tileset.json",
+        "/gis_data/3dtiles/road/LanePolygon/tileset.json",
+        "/gis_data/3dtiles/road/RoadSection/tileset.json",
+        "/gis_data/3dtiles/road/SafetyIsland/tileset.json",
+        "/gis_data/3dtiles/road/SepStrip/tileset.json",
+        "/gis_data/3dtiles/road/SideWalk/tileset.json",
+        "/gis_data/3dtiles/road/TraMarkA/tileset.json",
+        "/gis_data/3dtiles/road/TraMarkL/tileset.json",
+        "/gis_data/3dtiles/road/TraMarkP/tileset.json",
+        "/gis_data/3dtiles/roadequip/FieldFacility/tileset.json",
+        "/gis_data/3dtiles/roadequip/PlatForm/tileset.json",
+        "/gis_data/3dtiles/roadequip/SafetyRail/tileset.json",
+        "/gis_data/3dtiles/roadequip/SignStrct/tileset.json",
+        "/gis_data/3dtiles/roadequip/StreetLight/tileset.json",
+        "/gis_data/3dtiles/roadequip/TrafficLight/tileset.json",
+        "/gis_data/3dtiles/roadequip/TrafficSign/tileset.json",
+        "/gis_data/3dtiles/roadequip/VideoCamera/tileset.json",
+        "/gis_data/3dtiles/roadequip/baoganji/tileset.json",
+        "/gis_data/3dtiles/roadequip/buguangdeng/tileset.json",
+        "/gis_data/3dtiles/roadequip/chongdianzhuang/tileset.json",
+        "/gis_data/3dtiles/roadequip/jiaohuanji/tileset.json",
+        "/gis_data/3dtiles/roadequip/xinhaoji/tileset.json",
+        "/gis_data/3dtiles/roadequip/yidongronghe/tileset.json",
+        "/gis_data/3dtiles/buildings/tileset.json",
+        "/gis_data/3dtiles/ground/tileset.json",
+        "/gis_data/3dtiles/vegetation/Tree/tileset.json"
+    )
+}
\ No newline at end of file

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

@@ -50,7 +50,7 @@ class LoginActivity : AppCompatActivity() {
         binding.btSpaceinfo.setOnClickListener {
             mainVm.getSpaceInfo()
         }
-        //  HTTP获取AVp状态信息 以后就用socket订阅了
+        //  HTTP获取AVp状态信息 以后就用socket订阅了,获取找、泊车状态，拿到全局路径lines,和局部（避障）路径xxx
         binding.btAvpstatu.setOnClickListener {
             mainVm.getAvpStatus()
         }

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

@@ -22,7 +22,7 @@ object MyContants {
     var WSHOST = "wss://itg-dev.cu-sc.com:19443/WSPLUSV5/socket?token=${WSTOKEN}&vehicleId=${VEHICLEID}&"
 
 //    var PORT = if (IS_DEBUG) "123" else "34534"
-    /***感知目标物  &intersectionCode***/
+    /***感知目标物  &intersectionCode=17 停车场  不传就是整个园区***/
     var WS_FEEL_TARGET = "${WSHOST}msgType=1&intersectionCode=17"
 
     /***网联车辆位姿  &vehicleId=***/

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

@@ -125,7 +125,7 @@ class MainVm @Inject constructor(
     }
 
 
-    //获取车辆详情 传{}就行，正常应该是传场地ID，但是亦庄这个和太和桥车是一样的
+    //获取车辆详情 传{}就行，正常应该是传场地ID，但是亦庄这个和太和桥车是一样的,用于拿到车内视频
     fun getVehDetail(id: String = ""): LiveData<VehDetailBean> {
         viewModelScope.launch {
             var result = avpDataRepo.getVehDetail(id)
@@ -142,7 +142,8 @@ class MainVm @Inject constructor(
     }
 
 
-    //HTTP获取车位占用情况
+   /* HTTP获取车位占用情况
+    通过车位号传给四维高精地图*/
     fun getSpaceInfo(): LiveData<SpaceInfoBean> {
         viewModelScope.launch {
             var result = avpDataRepo.getSpaceInfo()
@@ -182,6 +183,7 @@ class MainVm @Inject constructor(
     /**
      * 联网车辆位姿数据
      * 传入vehicleId 和url拼接代表某辆车的预警
+     * 用来控制主车移动
      */
     fun subVehicle(): LiveData<CarVehicle> {
         if (isMock) {
@@ -235,7 +237,8 @@ class MainVm @Inject constructor(
     /**
      * V2X预警开始
      * 传入vehicleId 和url拼接代表某辆车的预警
-     * **/
+     * 某个预警id要和感知物的ptcid对上
+     */
     fun subStartV2x(): LiveData<V2xStartBean> {
         if (isMock) {
             mockVM.onV2xMock(v2xStartBean)