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Commit aa341738 authored by p x's avatar p x
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集成一部分订阅

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README.md
View file @ aa341738
......@@ -3,4 +3,5 @@
停车场泊车 苏州 约等于（长春） AVP
https://protobuf.dev/getting-started/javatutorial/
protoc --java_out=app\src\main\java\ -I d:\WorkSpace\suzhouavp\app\src\main\proto\ d:\WorkSpace\suzhouavp\app\src\main\proto\response.proto
\ No newline at end of file
protoc --java_out=app\src\main\java\ -I app\src\main\proto\ response.proto
protoc --java_out=app\src\main\java\ -I d:\WorkSpace\suzhouavp\app\src\main\proto\ response.proto
\ No newline at end of file
app/src/main/assets/avphmi-demo.vue 0 → 100644
View file @ aa341738
<template>
<div class="cesium-page-css">
<basis-cesium ref="basisCesium" :access-token="this.$setting.cesiumSetting.defaultAccessToken" />
<main-view ref="mainView" :speed="speed" :heading="heading2" :v2xname="v2xname" :driveMode="driveMode"
:endTime="endTime" />
</div>
</template>
<script>
import Worker from "@/assets/js/bessel.worker.js";
import basisCesium from "@/components/cesium/basis-cesium.vue";
import mainView from "@/components/other/main-view.vue";
import websocket from "@/utils/ws/websocket.js";
import axios from "axios";
import SpaceData from "@/assets/SpaceJSON.json";
import CarJSON from "@/assets/CarJSON.json";
let v2xdata = {
v2xArray: [],
};
let baseData = {
mainCarID: "",
perceiveList: [],
mainLocation: {
lon: 116.50304817785404,
lat: 39.80882415169232,
},
};
let plainData = {
lon: 0,
lat: 0,
};
const ParkingSpace = [
{ P: "C002", lon: "120.70663538", lat: "31.32409565" },
{ P: "C003", lon: "120.70663038", lat: "31.32407265" },
{ P: "C004", lon: "120.70662538", lat: "31.32404965" },
{ P: "C005", lon: "120.70661838", lat: "31.32401665" },
{ P: "C006", lon: "120.70661338", lat: "31.32399365" },
{ P: "C007", lon: "120.70660838", lat: "31.32397065" },
];
let pValue = "";
let worker = null;
let postData = [];
let AllTingCheChang = [];
let preWsTime = 0;
let preHMITime = 0;
// 是否需要进行路径规划
let needFindPath = true;
export default {
name: "HomeView",
components: {
basisCesium,
mainView,
},
//L
data() {
return {
heading2: "—— ——", //航向角显示
v2xname: "异常车辆预警", //预警事件名称
driveMode: "—— ——", //驾驶模式
speed: 0, //速度
endTime: false, //用于判断预警事件是否展示完毕，false为没有预警事件
// 是否是车内视角
firstPerspective: false,
audioSrc: "@/assets/11582.mp3",
};
},
//A
mounted() {
// 120.70487827, 31.32469438 176.6541769857891
// 120.70486427, 31.32469337 176.68233785573705
// 120.70450226, 31.32472483 140.1278723424079
// 120.7044951, 31.32471744 125.72534272264176
// 120.70449184, 31.32471254 116.59055210401831
// 120.70448881, 31.32470443 103.82035744116246
// 120.70448773, 31.32469666 92.04861226425777
// 120.70448812, 31.32469172 84.64731549277309
// 120.70448989, 31.32468488 74.0716768319416
// 120.7044918, 31.32468057 67.23386687836239
// 120.70449568, 31.32467475 57.28430640874274
// 120.70449925, 31.3246713 50.56300411447833
// 120.70450527, 31.32466652 40.423499499135175
// 120.70451002, 31.32466347 33.654283427843154
// 120.70451755, 31.32466059 23.63138380201046
// 120.70452293, 31.32465874 17.30164259248454
// 120.70453232, 31.32465719 9.975568028350523
// 120.70454182, 31.3246563 5.34004158206794
// 120.70454854, 31.32465612 3.2548804511114184
// 120.70455936, 31.32465585 1.1908997367711152
// 120.70456667, 31.32465606 0.3411149209948121
// 120.70457733, 31.32465623 -0.3316792028189468
// const music = new Audio(
// "http://downsc.chinaz.net/Files/DownLoad/sound1/201906/11582.mp3"
// );
// music.play();
this.initMap();
this.websocketClient();
worker = new Worker();
worker.onmessage = (e) => {
if (this.avpStatus) {
let result = this.$refs.basisCesium.drawLine(e.data[0], e.data[1]);
// if (result.code) {
// this.moveCar(result.data.lon, result.data.lat, e.data[2]);
// } else {
// this.moveCar(e.data[0], e.data[1], e.data[2]);
// }
this.moveCar(e.data[0], e.data[1], e.data[2]);
} else {
this.moveCar(e.data[0], e.data[1], e.data[2]);
}
};
// 规划
// this.$refs.basisCesium.findPathPlanning("origin", "destination");
this.$refs.basisCesium.addParkingSpace(30.7065927, 114.3241276, 0);
// this.$refs.basisCesium.moveParkingSpace(120.7065927, 31.3241276, 100);
setTimeout(this.getSpaceData, 5000);
setInterval(this.getSpaceData, 20000);
// this.addTest()
},
methods: {
/**
* 模拟入库
*/
addTest() {
this.$refs.basisCesium.addTest();
},
initMap() {
this.$refs.basisCesium.buildCesiumWorld();
// this.$refs.basisCesium.setGaoDeBasemap();
this.$refs.basisCesium.inject3DtilesMapByUrl("unit/tileset.json");
this.$refs.basisCesium.inject3DtilesMapByUrl_two("garage/tileset.json");
this.$refs.basisCesium.addWmsDT();
this.$refs.basisCesium.addWmsGQDT();
this.$refs.basisCesium.cesiumCameraflyTo(
120.7065927,
31.3241276,
150,
-150,
-52,
0
);
this.$refs.basisCesium.initLine();
},
async websocketClient() {
this.websocketHeartCheck = {
lastSecond: 0,
heartTimer: null
}
await websocket.connectSocket();
// 2.2. 联网车辆位姿数据topic
websocket.stompClient.subscribe(
this.$setting.webSocket.dic["/topic/vehicle"],
(message) => {
// 更新接收消息时间
this.websocketHeartCheck.lastSecond = new Date().getTime();
var bodyData = JSON.parse(message.body);
this.topicVehicle(bodyData);
// let curTime = new Date().getTime();
// console.log('接收后台时间', bodyData.wsTime, 'hmi时间', curTime, '相差时间', curTime - bodyData.wsTime)
// console.log('后台两帧时间差', bodyData.wsTime - preWsTime, 'hmi接收时间差', curTime - preHMITime)
// console.log('车辆位置', bodyData.vehicleData[0].longitude + ',' + bodyData.vehicleData[0].latitude)
// console.log('')
// preWsTime = bodyData.wsTime
// preHMITime = curTime
}
);
// 2.3. 联网车辆状态数据topic
websocket.stompClient.subscribe(
this.$setting.webSocket.dic["/topic/vehicleStatus"],
(message) => {
// 更新接收消息时间
this.websocketHeartCheck.lastSecond = new Date().getTime();
var bodyData = JSON.parse(message.body);
this.topicVehicleStatus(bodyData);
//AAAAAA
}
);
// 2.4. 感知目标物数据topic
websocket.stompClient.subscribe(
this.$setting.webSocket.dic["/topic/dataMerge"],
(message) => {
// 更新接收消息时间
this.websocketHeartCheck.lastSecond = new Date().getTime();
var bodyData = JSON.parse(message.body);
this.topicDataMerge(bodyData);
}
);
// 2.5. V2X预警开始topic
websocket.stompClient.subscribe(
this.$setting.webSocket.dic["/topic/v2xStart"],
(message) => {
// 更新接收消息时间
this.websocketHeartCheck.lastSecond = new Date().getTime();
var bodyData = JSON.parse(message.body);
this.topicv2xStart(bodyData);
}
);
// 2.6. V2X预警结束topic
websocket.stompClient.subscribe(
this.$setting.webSocket.dic["/topic/v2xEnd"],
(message) => {
// 更新接收消息时间
this.websocketHeartCheck.lastSecond = new Date().getTime();
var bodyData = JSON.parse(message.body);
this.topicv2xEnd(bodyData);
}
);
websocket.stompClient.subscribe(
this.$setting.webSocket.dic["/topic/points"],
(message) => {
// 更新接收消息时间
this.websocketHeartCheck.lastSecond = new Date().getTime();
var bodyData = JSON.parse(message.body);
pValue = bodyData.parkingSpace;
// 需要进行路径规划，此场景出现在先接收到泊车指令，后接收车位指令
if (needFindPath) {
this.findPathPlanning()
}
// 更新停车位
const lonLat = this.getLonLatByP(pValue);
this.$refs.basisCesium.moveParkingSpace(lonLat.lon, lonLat.lat, 190);
}
);
// if (this.websocketHeartCheck.heartTimer) {
// return
// }
// this.websocketHeartCheck.heartTimer = setInterval(() => {
// let newSecond = new Date().getTime();
// if (newSecond - this.websocketHeartCheck.lastSecond > 1000 * 30) {
// // 0:正在连接中，1：已连接，2：正在关闭，3：已关闭
// if (websocket.stompClient.readyState == 2 && websocket.stompClient.readyState == 3) {
// clearInterval(this.websocketHeartCheck.heartTimer)
// this.websocketHeartCheck.heartTimer = null;
// // 重新开始连接
// this.websocketClient()
// }
// }
// }, 1000)
},
topicVehicleStatus(msg) {
if (msg.vehicleStatusList.length != 0) {
let driveMode1 = msg.vehicleStatusList[0].driveMode;
switch (driveMode1) {
case 0:
this.driveMode = "自动驾驶";
break;
case 1:
this.driveMode = "人工驾驶";
break;
case 2:
this.driveMode = "远程驾驶";
break;
default:
this.driveMode = "—— ——";
break;
}
}
},
topicv2xStart(msg) {
let v2xStartName = msg.v2xStartData[0].name;
if (
v2xStartName == "异常车辆预警" ||
v2xStartName == "车辆入场预警" ||
v2xStartName == "前向碰撞预警" ||
v2xStartName == "盲区/变道预警" ||
v2xStartName == "交叉路口碰撞预警" ||
v2xStartName == "弱势交通参与者碰撞预警"
) {
v2xdata.v2xArray.push({
id: msg.v2xStartData[0].id,
name: msg.v2xStartData[0].name,
priority: msg.v2xStartData[0].priority,
no: msg.v2xStartData[0].no,
});
//通过冒泡排序对插入在v2xArray的数组按照priority优先级由低到高进行排序
const n = v2xdata.v2xArray.length;
if (n > 1) {
for (let i = 0; i < n - 1; i++) {
let swapped = false; // 优化：如果某一轮没有进行交换，则说明数组已经有序，可以提前结束循环
for (let j = 0; j < n - 1 - i; j++) {
if (
parseInt(v2xdata.v2xArray[j].priority) >
parseInt(v2xdata.v2xArray[j + 1].priority)
) {
// 交换位置
const temp = v2xdata.v2xArray[j];
v2xdata.v2xArray[j] = v2xdata.v2xArray[j + 1];
v2xdata.v2xArray[j + 1] = temp;
swapped = true;
}
}
if (!swapped) {
break; // 优化：如果没有进行交换，则说明数组已经有序，可以提前结束排序
}
}
}
this.v2xname = v2xdata.v2xArray[n - 1].name;
this.endTime = true;
}
},
topicv2xEnd(msg) {
v2xdata.v2xArray.forEach((item, index) => {
if (item.id === msg.v2xEndData[0].id) {
v2xdata.v2xArray.splice(index, 1); // 如果找到匹配的id，则删除该数组
}
});
const n = v2xdata.v2xArray.length;
if (n == 0) {
//如果数组为空，则将endTime变为false，表示预警事件全部结束，隐藏预警
this.endTime = false;
} else {
this.v2xname = v2xdata.v2xArray[n - 1].name;
this.endTime = true;
//否则会将优先级最高的事件进行展示
}
},
//A
topicVehicle(msg) {
// #region L
this.speed = msg.vehicleData[0].speed;
let heading1 = Math.floor(msg.vehicleData[0].heading);
if (heading1 < 0) {
heading1 += 360;
}
switch (true) {
case heading1 === 0:
this.heading2 = "正北";
break;
case heading1 === 90:
this.heading2 = "正东";
break;
case heading1 === 180:
this.heading2 = "正南";
break;
case heading1 === 270:
this.heading2 = "正西";
break;
case heading1 > 0 && heading1 <= 45:
this.heading2 = "北偏东 " + heading1 + "°";
break;
case heading1 > 45 && heading1 < 90:
this.heading2 = "东偏北 " + (90 - heading1) + "°";
break;
case heading1 > 90 && heading1 <= 135:
this.heading2 = "东偏南 " + (heading1 - 90) + "°";
break;
case heading1 > 135 && heading1 < 180:
this.heading2 = "南偏东 " + (180 - heading1) + "°";
break;
case heading1 > 180 && heading1 <= 225:
this.heading2 = "南偏西 " + (heading1 - 180) + "°";
break;
case heading1 > 225 && heading1 < 270:
this.heading2 = "西偏南 " + (270 - heading1) + "°";
break;
case heading1 > 270 && heading1 <= 315:
this.heading2 = "西偏北 " + (heading1 - 270) + "°";
break;
case heading1 > 315 && heading1 < 360:
this.heading2 = "北偏西 " + (360 - heading1) + "°";
break;
default:
break;
}
// #endregion A
plainData.lon = msg.vehicleData[0].longitude;
plainData.lat = msg.vehicleData[0].latitude;
let longitude = msg.vehicleData[0].longitude;
let latitude = msg.vehicleData[0].latitude;
let heading = msg.vehicleData[0].heading - 90;
if (baseData.mainCarID == "") {
let id = msg.vehicleData[0].vehicleId;
let url = "cesium/XC60.glb";
this.$refs.basisCesium.addOneModelById(
id,
url,
longitude,
latitude,
heading,
0.8
);
baseData.mainCarID = id;
} else {
worker.postMessage([longitude, latitude, heading]);
// this.moveCar(longitude, latitude, heading);
baseData.mainLocation.lon = longitude;
baseData.mainLocation.lat = latitude;
}
// this.$refs.basisCesium.drawLine(longitude, latitude);
},
moveCar(longitude, latitude, heading) {
if (this.firstPerspective) {
this.$refs.basisCesium.moveModelById(
baseData.mainCarID,
longitude,
latitude,
heading,
true,
[-1, 0, 0],
true
);
} else {
this.$refs.basisCesium.moveModelById(
baseData.mainCarID,
longitude,
latitude,
heading,
true,
[-31.5, 0, 10]
);
}
},
transformGCJ02ToWGS84(lng, lat) {
var a = 6378245.0;
var ee = 0.00669342162296594323;
var pi = Math.PI;
function outOfChina(lng, lat) {
if (lng < 72.004 || lng > 137.8347) {
return true;
}
if (lat < 0.8293 || lat > 55.8271) {
return true;
}
return false;
}
function transformLng(lng, lat) {
var ret =
300.0 +
lng +
2.0 * lat +
0.1 * lng * lng +
0.1 * lng * lat +
0.1 * Math.sqrt(Math.abs(lng));
ret +=
((20.0 * Math.sin(6.0 * lng * pi) + 20.0 * Math.sin(2.0 * lng * pi)) *
2.0) /
3.0;
ret +=
((20.0 * Math.sin(lng * pi) + 40.0 * Math.sin((lng / 3.0) * pi)) *
2.0) /
3.0;
ret +=
((150.0 * Math.sin((lng / 12.0) * pi) +
300.0 * Math.sin((lng / 30.0) * pi)) *
2.0) /
3.0;
return ret;
}
function transformLat(lng, lat) {
var ret =
-100.0 +
2.0 * lng +
3.0 * lat +
0.2 * lat * lat +
0.1 * lat * lng +
0.2 * Math.sqrt(Math.abs(lng));
ret +=
((20.0 * Math.sin(6.0 * lng * pi) + 20.0 * Math.sin(2.0 * lng * pi)) *
2.0) /
3.0;
ret +=
((20.0 * Math.sin(lat * pi) + 40.0 * Math.sin((lat / 3.0) * pi)) *
2.0) /
3.0;
ret +=
((160.0 * Math.sin((lat / 12.0) * pi) +
320 * Math.sin((lat * pi) / 30.0)) *
2.0) /
3.0;
return ret;
}
function transform(lng, lat) {
if (outOfChina(lng, lat)) {
return [lng, lat];
}
var dLng = transformLng(lng - 105.0, lat - 35.0);
var dLat = transformLat(lng - 105.0, lat - 35.0);
var radLat = (lat / 180.0) * pi;
var magic = Math.sin(radLat);
magic = 1 - ee * magic * magic;
var sqrtMagic = Math.sqrt(magic);
dLng = (dLng * 180.0) / ((a / sqrtMagic) * Math.cos(radLat) * pi);
dLat = (dLat * 180.0) / (((a * (1 - ee)) / (magic * sqrtMagic)) * pi);
var mgLng = lng + dLng;
var mgLat = lat + dLat;
return [mgLng, mgLat];
}
return transform(lng, lat);
},
getDistance(lng1, lat1, lng2, lat2) {
let radLat1 = (lat1 * Math.PI) / 180.0;
let radLat2 = (lat2 * Math.PI) / 180.0;
let a = radLat1 - radLat2;
let b = (lng1 * Math.PI) / 180.0 - (lng2 * Math.PI) / 180.0;
let s =
2 *
Math.asin(
Math.sqrt(
Math.pow(Math.sin(a / 2), 2) +
Math.cos(radLat1) *
Math.cos(radLat2) *
Math.pow(Math.sin(b / 2), 2)
)
);
s = s * 6378137;
s = Math.round(s * 10000) / 10000;
return s;
},
topicDataMerge(msg) {
for (let i = 0; i < msg.objectData.length; i++) {
let allPerceive = [];
for (let j = 0; j < msg.objectData[i].participant.length; j++) {
// allPerceive.push({
// id: msg.objectData[i].participant[j].ptcId,
// type: msg.objectData[i].participant[j].ptcType,
// longitude: msg.objectData[i].participant[j].longitude,
// latitude: msg.objectData[i].participant[j].latitude,
// heading: msg.objectData[i].participant[j].heading,
// });
let distance = this.getDistance(
baseData.mainLocation.lon,
baseData.mainLocation.lat,
msg.objectData[i].participant[j].longitude,
msg.objectData[i].participant[j].latitude
)
// console.log('距离:' + distance, '类型:' + msg.objectData[i].participant[j].ptcType, 'id:' + msg.objectData[i].participant[j].ptcId)
if (distance < 100) {
allPerceive.push({
id: msg.objectData[i].participant[j].ptcId,
type: msg.objectData[i].participant[j].ptcType,
longitude: msg.objectData[i].participant[j].longitude,
latitude: msg.objectData[i].participant[j].latitude,
heading: msg.objectData[i].participant[j].heading,
});
}
}
this.$refs.basisCesium.beginPerceive(
msg.objectData[i].deviceCode,
allPerceive
);
}
},
getLonLatByP(pValue) {
const parkingInfo = ParkingSpace.find((item) => item.P === pValue);
if (parkingInfo) {
const lon = parseFloat(parkingInfo.lon); // 转换为浮点数
const lat = parseFloat(parkingInfo.lat); // 转换为浮点数
return { lon, lat };
} else {
// 如果找不到对应的P值，则返回null或者其他适当的值
return null;
}
},
setAvpStatus(bool) {
this.avpStatus = bool;
if (this.avpStatus && pValue != "") {
// 需要进行路径规划，此场景出现在先接收到车位指令，后接收泊车指令
if (needFindPath) {
this.findPathPlanning()
}
} else {
// 泊车结束，下次泊车需要路径规划
needFindPath = true;
this.$refs.basisCesium.moveParkingSpace(131.7065927, 40.3241276, 10);
this.$refs.basisCesium.ClearLine();
}
},
/**
* 自主泊车+有停车位信息，才能开始进行路径规划
*/
findPathPlanning() {
const lonLat = this.getLonLatByP(pValue);
// 起点
let origin = [plainData.lon, plainData.lat];
if (
this.getDistance(
plainData.lon,
plainData.lat,
120.7062195,
31.3238778
) < 8
) {
origin = [120.7062195, 31.3238778];
} else {
console.log("距离不够咧，起点", origin);
console.log(
this.getDistance(
plainData.lon,
plainData.lat,
120.7062195,
31.3238778
)
);
}
const destination = [lonLat.lon, lonLat.lat];
const steps = false;
const waypoints = [];
const trafficCondition = false;
const equalDistance = false;
const distance = 1;
this.$refs.basisCesium.moveParkingSpace(lonLat.lon, lonLat.lat, 190);
this.$refs.basisCesium.findPathPlanning(
origin,
destination,
steps,
waypoints,
trafficCondition,
equalDistance,
distance
);
// 泊车开始，不需要再进行路径规划了
needFindPath = true;
},
async getSpaceData() {
let data = JSON.stringify({
pageNo: 20,
pageSize: 1000,
});
await axios
.post(
"https://sip-avp.isungent.cn:8443/hkapi/pms/v1/parkingSpace/spaceNo",
data,
{
headers: {
"Content-Type": "application/json",
},
}
)
.then((response) => {
AllTingCheChang = [];
const newData = response.data.data.list;
postData = newData;
// 遍历新数据，根据state值添加或移除模型
postData.forEach((car) => {
const parkingSpot = SpaceData.find(
(spot) => spot.spaceCode === car.spaceNo
);
if (parkingSpot) {
//this.removeCarModel(car.spaceNo);
// 检查该车位是否已经添加模型
if (car.state === 1) {
//将车位信息添加到已添加模型的数据中;
const name = parkingSpot.spaceCode;
const latlon = [parkingSpot.center[0], parkingSpot.center[1]];
if (
this.getDistance(
baseData.mainLocation.lon,
baseData.mainLocation.lat,
latlon[0],
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app/src/main/assets/mock/carvehicle.txt 0 → 100644
View file @ aa341738
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app/src/main/assets/mock/target.txt 0 → 100644
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app/src/main/assets/setting.js 0 → 100644
View file @ aa341738
export default {
webSocket: {
// url: "ws://127.0.0.1:1884",
// url: "wss://10.166.5.5:10443/socket/ws?clientSource=100",
url: "wss://sip-avp.isungent.cn:8443/socket/ws?clientSource=100",
/* dic: {
// "/topic/vehicle": "/topic/vehicle/1556919708184276993",
"/topic/vehicle": "/topic/vehicle",
"/topic/dataMerge": "/topic/dataMerge",
"/topic/signal": "/topic/signal",
"/topic/v2xStart": "/topic/v2xStart",
"/topic/v2xEnd": "/topic/v2xEnd",
"/topic/vehicleStatus": "/topic/vehicleStatus",
"/topic/timeDelay": "/topic/timeDelay",
}, */
dic: {
/* "/topic/vehicle": "/topic/vehicle/1556919708184276993", */
"/topic/vehicle": "/avp/api/VL961/vehicle/1694264612474306561",
"/topic/dataMerge": "/avp/api/VL961/dataMerge",
"/topic/signal": "/avp/api/VL961/signal",
"/topic/v2xStart": "/avp/api/VL961/v2xStart",
"/topic/v2xEnd": "/avp/api/VL961/v2xEnd",
"/topic/vehicleStatus": "/avp/api/VL961/vehicleStatus",
"/topic/timeDelay": "/avp/api/VL961/timeDelay",
"/topic/points": "/avp/api/VL961/points",
},
},
cesiumSetting: {
defaultAccessToken:
"eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJqdGkiOiJiMTgwZWJjMy1iNGVlLTRjYjctOWRlMy0xYmI3NzJmZDA3YzciLCJpZCI6MTAxNTkxLCJpYXQiOjE2NTgxNDAzMzB9.feULjgKOMAUASE9RnhPNkWhg2dvS9NCGupOeJF55I5M",
},
};
app/src/main/java/com/sd/cavphmi/bean/CarVehicle.kt 0 → 100644
View file @ aa341738
package com.sd.cavphmi.bean
/***车辆位资数据**/
data class CarVehicle(
val vehicleData: List<CarVehicleData>,
val wsTime: Long
)
data class CarVehicleData(
val altitude: Double,
val brake: Int,
val gasPedal: Int,
val gear: Int,
val heading: Float,
val latitude: Double,
val longitude: Double,
val obuCode: String,
val reportTime: Long,
val speed: Float,//m/s
val vehicleId: String,
val vehiclePlate: String,
val vehiclePurpose: String,
val vehiclePurposeName: String,
val wheelAngle: Int
)
\ No newline at end of file
app/src/main/java/com/sd/cavphmi/bean/PerTarget.kt 0 → 100644
View file @ aa341738
package com.sd.cavphmi.bean
/**感知目标物
* {"objectData":[{"altitude":0.0,"deviceCode":"ALL","id":"rsm","latitude":0.0,"longitude":0.0,"participant":[{"gear":0,"heading":59.51892445105614,"latitude":43.836595395579934,"longitude":125.13730164662486,"ptcId":"0","ptcType":"non-motor","size":{"length":1.7816076278686523,"width":0.95207178592681885,"height":1.080740213394165},"speed":0.0030517578125}],"reportTime":1750148176068}],"wsTime":1750148130604}{"objectData":[{"altitude":0.0,"deviceCode":"ALL","id":"rsm","latitude":0.0,"longitude":0.0,"participant":[{"gear":0,"heading":59.51892445105614,"latitude":43.836595395579934,"longitude":125.13730164662486,"ptcId":"0","ptcType":"non-motor","size":{"length":1.7816076278686523,"width":0.95207178592681885,"height":1.080740213394165},"speed":0.0030517578125}],"reportTime":1750148176068}],"wsTime":1750148130604}
*
* ***/
data class PerTarget(
val objectData: List<ObjectData>,
val wsTime: Long
)
data class ObjectData(
val altitude: Double,
val deviceCode: String,
val id: String,
val latitude: Double,
val longitude: Double,
val participant: List<Participant>,
val reportTime: Long
)
data class Participant(
val gear: Int,
val heading: Double,
val latitude: Double,
val longitude: Double,
val ptcId: String,
val ptcType: String,
val size: Size,
val speed: Double
)
data class Size(
val height: Double,
val length: Double,
val width: Double
)
\ No newline at end of file
app/src/main/java/com/sd/cavphmi/bean/VehicleStats.kt 0 → 100644
View file @ aa341738
package com.sd.cavphmi.bean
//联网车辆状态数据
data class VehicleStats(
val vehicleData: List<VehicleData>,
val wsTime: Long
)
data class VehicleData(
val altitude: Double,
val brake: Int,
val gasPedal: Int,
val gear: Int,
val heading: Double,
val latitude: Double,
val longitude: Double,
val obuCode: String,
val reportTime: Long,
val speed: Double,
val vehicleId: String,
val vehiclePlate: String,
val vehiclePurpose: String,
val vehiclePurposeName: String,
val wheelAngle: Int,
val driveMode: Int,
)
\ No newline at end of file
app/src/main/java/com/sd/cavphmi/bean/WebSetBean.kt
View file @ aa341738
......@@ -2,7 +2,8 @@ package com.sd.cavphmi.bean
object WebSetBean {
/* "/topic/vehicle"to "/topic/vehicle/1556919708184276993", */
var dic = mapOf(
//目前只有车辆和感知
var subDic = mapOf(
"/topic/vehicle" to "/avp/api/VL961/vehicle/1694264612474306561",
"/topic/dataMerge" to "/avp/api/VL961/dataMerge",
"/topic/signal" to "/avp/api/VL961/signal",
......@@ -10,6 +11,27 @@ object WebSetBean {
"/topic/v2xEnd" to "/avp/api/VL961/v2xEnd",
"/topic/vehicleStatus" to "/avp/api/VL961/vehicleStatus",
"/topic/timeDelay" to "/avp/api/VL961/timeDelay",
"/topic/points" to "/avp/api/VL961/points",
"/topic/points" to "/avp/api/VL961/points",//停车位变更
)
var dic = mapOf(
5231 to "/topic/vehicle",
5232 to "/topic/dataMerge",
5233 to "topic/signa",
5234 to "/topic/v2xStart",
5235 to "/topic/v2xEnd",
5236 to "/topic/vehicleStatus",
5237 to "/topic/timeDelay",
1 to "/topic/point",
)
// 5231: { action: setting.webSocket.dic["/topic/vehicle"] },
// 5232: { action: setting.webSocket.dic["/topic/dataMerge"] },
// 5233: { action: setting.webSocket.dic["/topic/signal"] },
// 5234: { action: setting.webSocket.dic["/topic/v2xStart"] },
// 5235: { action: setting.webSocket.dic["/topic/v2xEnd"] },
// 5236: { action: setting.webSocket.dic["/topic/vehicleStatus"] },
// 5237: { action: setting.webSocket.dic["/topic/timeDelay"] },
// 1: { action: setting.webSocket.dic["/topic/points"] },
}
\ No newline at end of file
app/src/main/java/com/sd/cavphmi/bindadapters/ShowCarStatuObject.kt 0 → 100644
View file @ aa341738
package com.sd.cavphmi.bindadapters
import android.graphics.Typeface
import android.text.SpannableStringBuilder
import android.text.Spanned
import android.text.style.RelativeSizeSpan
import android.text.style.StyleSpan
import android.widget.TextView
import androidx.databinding.BindingAdapter
import java.text.DecimalFormat
import kotlin.math.absoluteValue
object ShowCarStatuObject {
@JvmStatic
@BindingAdapter("showSpeed")
fun showSpeed(tv: TextView, speed: Float) {
var sb = SpannableStringBuilder()
var mixSpan = RelativeSizeSpan(1f)
var maxSpan = RelativeSizeSpan(2f)
var bold= StyleSpan(Typeface.BOLD)
if (speed > 0f) {
val df: DecimalFormat = DecimalFormat("#.0")
val s: String = df.format(speed.times(3.6f))
sb.append("${s}km/h")
sb.setSpan(maxSpan, 0, s.count(), Spanned.SPAN_INCLUSIVE_EXCLUSIVE)
sb.setSpan(bold, 0, s.count(), Spanned.SPAN_INCLUSIVE_EXCLUSIVE)
sb.setSpan(mixSpan, s.count(), sb.count(), Spanned.SPAN_INCLUSIVE_EXCLUSIVE)
tv.setText(sb)
} else {
sb = SpannableStringBuilder("0km/h")
sb.setSpan(maxSpan, 0, 1, Spanned.SPAN_INCLUSIVE_EXCLUSIVE)
sb.setSpan(bold, 0, 1, Spanned.SPAN_INCLUSIVE_EXCLUSIVE)
sb.setSpan(mixSpan, 1, sb.count(), Spanned.SPAN_EXCLUSIVE_EXCLUSIVE)
tv.setText(sb)
}
}
@JvmStatic
@BindingAdapter("showHeading")
fun showHeading(tv: TextView, head: Int) {
var heading = head.absoluteValue
when (heading) {
0 -> {
tv.setText("正北")
}
90 -> {
tv.setText("正东")
}
180 -> {
tv.setText("正南")
}
270 -> {
tv.setText("正北")
}
in 1..45 -> {
tv.setText("北偏东")
}
in 46..89 -> {
tv.setText("东偏北")
}
in 91..135 -> {
tv.setText("东偏南")
}
in 136..179 -> {
tv.setText("南偏东")
}
in 181..225 -> {
tv.setText("南偏西")
}
in 226..269 -> {
tv.setText("西偏南")
}
in 271..315 -> {
tv.setText("西偏北")
}
in 316..359 -> {
tv.setText("北偏西")
}
else -> {
tv.setText(" - -")
}
}
}
}
\ No newline at end of file
app/src/main/java/com/sd/cavphmi/repositorys/ParseSocketRepo.kt 0 → 100644
View file @ aa341738
package com.sd.cavphmi.repositorys
import com.google.gson.Gson
import kotlinx.coroutines.Dispatchers
import kotlinx.coroutines.withContext
import javax.inject.Inject
class ParseSocketRepo @Inject constructor() {
var gson = Gson()
/**联网车辆状态数据***/
suspend fun <T> genDataBean(str: String, clazz: Class<T>): T {
return withContext(Dispatchers.Default) {
gson.fromJson(str, clazz)
}
}
// /**联网车辆状态数据***/
// suspend fun<T> genVehStatus():T {
//
// }
}
\ No newline at end of file
app/src/main/java/com/sd/cavphmi/ui/MainActivity.kt
View file @ aa341738
......@@ -7,8 +7,10 @@ import androidx.lifecycle.ViewModelProvider
import com.sd.cavphmi.BR
import com.sd.cavphmi.R
import com.sd.cavphmi.base.BaseActivity
import com.sd.cavphmi.base.MyBaseViewModel
import com.sd.cavphmi.bean.CarVehicle
import com.sd.cavphmi.bean.VehicleStats
import com.sd.cavphmi.databinding.ActivityMainBinding
import com.sd.cavphmi.utils.DateUtils
import com.sd.cavphmi.viewmodels.MainVm
import dagger.hilt.android.AndroidEntryPoint
......@@ -43,23 +45,76 @@ class MainActivity : BaseActivity<ActivityMainBinding, MainVm>() {
}
override fun initListener() {
binding.btVehicle.setOnClickListener {
viewModel.subVehicle().observe(this) {
topicVehicle(it)
}
}
binding.btStatus.setOnClickListener {
viewModel.subVehicleStatus().observe(this) {
// println("time = ${time}")
topicVehicleStatus(it)
}
}
binding.btTarget.setOnClickListener {
viewModel.subTarget()
}
binding.btV2x.setOnClickListener {
viewModel.subStartV2x()
}
binding.btV2xend.setOnClickListener {
viewModel.subEndV2x()
}
binding.btChewei.setOnClickListener {
viewModel.subPoints()
}
}
/**车辆姿态**/
private fun topicVehicle(bean: CarVehicle) {
var time = DateUtils.longToString(bean.wsTime, DateUtils.FORMAT_TIME)
binding.tvTime.setText(time)
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**/
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)
}
}
override fun dispatchKeyEvent(event: KeyEvent): Boolean {
if ((event.getKeyCode() == KeyEvent.KEYCODE_BACK) || event.getKeyCode() == KeyEvent.KEYCODE_HOME) {
//如果是导航中，提示清除资源
val dialog = AlertDialog.Builder(this)
val dialog = AlertDialog.Builder(this)
// dialog.setIcon(android.R.drawable.ic_dialog_info)
dialog.setTitle("提示")
dialog.setMessage("确定退出应用")
dialog.setPositiveButton(
"确定",
DialogInterface.OnClickListener { dialog1: DialogInterface?, which: Int ->
viewModel.closeWS()
finish()
})
dialog.setNegativeButton(
"取消",
DialogInterface.OnClickListener { dialog12: DialogInterface?, which: Int -> })
dialog.show()
dialog.setTitle("提示")
dialog.setMessage("确定退出应用")
dialog.setPositiveButton(
"确定",
DialogInterface.OnClickListener { dialog1: DialogInterface?, which: Int ->
dialog1?.dismiss()
viewModel.closeWS()
finish()
})
dialog.setNegativeButton(
"取消",
DialogInterface.OnClickListener { dialog12: DialogInterface?, which: Int ->
dialog12?.dismiss()
})
dialog.show()
return true
} else {
......
app/src/main/java/com/sd/cavphmi/utils/FileIoUtils.kt
View file @ aa341738
......@@ -7,6 +7,7 @@ import android.net.Uri
import android.os.Build
import android.os.Environment
import android.provider.MediaStore
import android.util.Log
import kotlinx.coroutines.Dispatchers
import kotlinx.coroutines.coroutineScope
import kotlinx.coroutines.runBlocking
......@@ -47,12 +48,12 @@ object FileIoUtils {
}
suspend fun getAssetMock(context: Context, fileName: String, dst: MutableList<String>) :Int{
suspend fun getAssetMock(context: Context, fileName: String, dst: MutableList<String>): Int {
val assetManager = context.assets
var bf: BufferedReader? = null
try {
val inputReader = InputStreamReader(assetManager.open(fileName))
bf = BufferedReader(inputReader)
bf = BufferedReader(inputReader)
var line = ""
while (!bf.run {
line = readLine()
......@@ -334,7 +335,25 @@ object FileIoUtils {
} catch (e: java.lang.Exception) {
e.printStackTrace()
}
}
private var fileWriter: FileWriter? = null
suspend fun writeToFile(message: String, fileName: String) {
withContext(Dispatchers.IO) {
try {
val file = File(
Environment.getExternalStoragePublicDirectory(Environment.DIRECTORY_DOWNLOADS),
fileName
)
fileWriter = FileWriter(file, true) // true for append mode
fileWriter!!.append("$message\n")
fileWriter!!.flush() // Optional, to ensure immediate writing to file
} catch (e: IOException) {
Log.e("------writeToFile", "Error initializing log file", e)
}
}
}
......
app/src/main/java/com/sd/cavphmi/viewmodels/MainVm.kt
View file @ aa341738
package com.sd.cavphmi.viewmodels
import android.content.Context
import androidx.databinding.ObservableField
import androidx.lifecycle.LiveData
import androidx.lifecycle.MutableLiveData
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.PerTarget
import com.sd.cavphmi.bean.ReqBean
import com.sd.cavphmi.bean.SpaceNoBean
import com.sd.cavphmi.bean.VToXImgBean
import com.sd.cavphmi.bean.VehicleStats
import com.sd.cavphmi.bean.WebSetBean
import com.sd.cavphmi.net.MyResult
import com.sd.cavphmi.repositorys.ParseSocketRepo
import com.sd.cavphmi.repositorys.SpaceNoRepo
import com.sd.cavphmi.utils.MyContants
import com.sd.cavphmi.utils.ToastHelper
import com.sd.cavphmi.websockets.MyWebSocketClient
import com.sd.shupathwebview.utils.FileIoUtils
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
import java.nio.ByteBuffer
import javax.inject.Inject
......@@ -25,13 +36,33 @@ import javax.inject.Inject
@HiltViewModel
class MainVm @Inject constructor(
@ApplicationContext var context: Context,
var spaceNoRepo: SpaceNoRepo
private var parseSocketRepo: ParseSocketRepo
// var spaceNoRepo: SpaceNoRepo
) : MyBaseViewModel() {
private var client: MyWebSocketClient? = null
private var gson = Gson()
//车辆位姿数据
var carVehicle = MutableLiveData<CarVehicle>()
//联网车辆状态数据topic
var vehicleStat = MutableLiveData<VehicleStats>()
//感知目标物
var targetPre = MutableLiveData<PerTarget>()
//驾驶模式
var driveMode = ObservableField("")
//航向角
var heading = ObservableField(550)
//速度
var speed = ObservableField(0f)
fun startWS() {
val httpHeaders = mutableMapOf<String, String>()
httpHeaders.put("Cookie", "username=nemo")
......@@ -39,6 +70,7 @@ class MainVm @Inject constructor(
try {
client = MyWebSocketClient(URI(MyContants.WS_HOST))
client?.onSocketCb = onSocketCb
client?.onDataCb = onDataCb
client?.connect()
} catch (e: Exception) {
......@@ -51,35 +83,112 @@ class MainVm @Inject constructor(
}
}
var onSocketCb = object : MyWebSocketClient.OnSocketCb {
private var onSocketCb = object : MyWebSocketClient.OnSocketCb {
override fun onOpen(handshakedata: ServerHandshake?) {
println("--------Thread.currentThread() = ${Thread.currentThread()}")
subVehicle()
}
override fun onClose(code: Int, reason: String?, remote: Boolean) {
}
override fun onMessage(message: String?) {
override fun onError(ex: Exception?) {
}
}
override fun onMessage(bytes: ByteBuffer?) {
// SocketResponse.parseFrom(bytes)
private var onDataCb = object : MyWebSocketClient.OnDataCb {
override fun onVehicle(res: Response.SocketResponse) {
viewModelScope.launch {
val bean =
parseSocketRepo.genDataBean(res.data, CarVehicle::class.java)
println("---车辆位姿数据 = ${bean}")
carVehicle.value = bean
FileIoUtils.writeToFile(gson.toJson(bean), "carvehicle.txt")
}
}
override fun onClose(code: Int, reason: String?, remote: Boolean) {
override fun onVehicleStats(res: Response.SocketResponse) {
viewModelScope.launch {
val bean =
parseSocketRepo.genDataBean(res.data, VehicleStats::class.java)
println("---联网车辆状态数据 = ${bean}")
vehicleStat.value = bean
FileIoUtils.writeToFile(gson.toJson(bean), "vehicleS.txt")
}
}
override fun onError(ex: Exception?) {
override fun onTarget(res: Response.SocketResponse) {
viewModelScope.launch {
var bean = parseSocketRepo.genDataBean(res.data, PerTarget::class.java)
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")
}
override fun onEndV2x(res: Response.SocketResponse) {
println("--------onEndV2x")
}
override fun onPoint(res: Response.SocketResponse) {
println("--------onPoint")
}
}
/*** 2.2. 联网车辆位姿数据topic**/
fun subVehicle() {
var reqStr = getSendData("/topic/vehicle")
/*** 联网车辆位姿数据**/
fun subVehicle(): LiveData<CarVehicle> {
val reqStr = getSendData("/topic/vehicle")
client?.send(reqStr)
return carVehicle
}
/** 联网车辆状态数据
*
* {"vehicleStats":{"total":0,"avp":0},"vehicleStatusList":[],"wsTime":1750138623719}
* */
fun subVehicleStatus(): LiveData<VehicleStats> {
val reqStr = getSendData("/topic/vehicleStatus")
client?.send(reqStr)
return vehicleStat
}
/**感知目标物数据
* {"objectData":[{"altitude":0.0,"deviceCode":"ALL","id":"rsm","latitude":0.0,"longitude":0.0,"participant":[],"reportTime":1750138879684}],"wsTime":1750138834204}
* **/
fun subTarget() {
val reqStr = getSendData("/topic/dataMerge")
client?.send(reqStr)
}
/**V2X预警开始
*
* **/
fun subStartV2x() {
val reqStr = getSendData("/topic/v2xStart")
client?.send(reqStr)
}
/*** V2X预警结束topic**/
fun subEndV2x() {
var reqStr = getSendData("/topic/v2xEnd")
client?.send(reqStr)
}
/*** 更新停车位**/
fun subPoints() {
val reqStr = getSendData("/topic/points")
client?.send(reqStr)
}
fun getSendData(key: String): String {
var data = WebSetBean.dic.get(key)
var data = WebSetBean.subDic.get(key)
var req = ReqBean()
req.data = data!!
var str = gson.toJson(req)
......@@ -93,18 +202,18 @@ class MainVm @Inject constructor(
}
fun getSpaceData() {
viewModelScope.launch {
var result = spaceNoRepo.getSpaceData()
when (result) {
is MyResult.Success<SpaceNoBean> -> {
var a = 0
}
else -> {
var b = 0
}
}
}
// viewModelScope.launch {
// var result = spaceNoRepo.getSpaceData()
// when (result) {
// is MyResult.Success<SpaceNoBean> -> {
// var a = 0
// }
//
// else -> {
// var b = 0
// }
// }
// }
}
......
app/src/main/java/com/sd/cavphmi/websockets/MyWebSocketClient.kt
View file @ aa341738
......@@ -4,7 +4,7 @@ package com.sd.cavphmi.websockets
import org.java_websocket.client.WebSocketClient
import org.java_websocket.drafts.Draft
import org.java_websocket.handshake.ServerHandshake
import protocol.Response.SocketResponse
import protocol.Response
import java.net.URI
import java.nio.ByteBuffer
......@@ -29,9 +29,9 @@ class MyWebSocketClient : WebSocketClient {
}
override fun onMessage(message: String?) {
System.out.println(TAG + "received message: " + message);
// System.out.println(TAG + "received message: " + message);
onSocketCb?.onMessage(message)
// onSocketCb?.onMessage(message)
//处理各种推送消息
// let data = {};
// let result = await decodeResponseProtoBuf(msg);
......@@ -50,15 +50,33 @@ class MyWebSocketClient : WebSocketClient {
}
override fun onMessage(bytes: ByteBuffer?) {
System.out.println(TAG + " received ByteBuffer")
var socketResponse=SocketResponse.parseFrom(bytes)
// socketResponse.
onSocketCb?.onMessage(bytes)
// System.out.println(TAG + " received ByteBuffer")
val socketResponse = Response.SocketResponse.parseFrom(bytes)
when (socketResponse.msgType) {
5231 -> {//联网车辆位姿数据
onDataCb?.onVehicle(socketResponse)
}
5232 -> {//感知目标物数据
onDataCb?.onTarget(socketResponse)
}
5234 -> {//V2X预警开始
onDataCb?.onStartV2x(socketResponse)
}
5235 -> {//V2X预警结束
onDataCb?.onEndV2x(socketResponse)
}
5236 -> {//联网车辆状态数据
onDataCb?.onVehicleStats(socketResponse)
}
1 -> {//更新停车场
onDataCb?.onPoint(socketResponse)
}
}
}
override fun onClose(code: Int, reason: String?, remote: Boolean) {
System.out.println(TAG + " closed with exit code " + code + " additional info: " + reason);
onSocketCb?.onClose(code,reason,remote)
onSocketCb?.onClose(code, reason, remote)
}
override fun onError(ex: Exception?) {
......@@ -70,11 +88,23 @@ class MyWebSocketClient : WebSocketClient {
interface OnSocketCb {
fun onOpen(handshakedata: ServerHandshake?)
fun onMessage(message: String?)
fun onMessage(bytes: ByteBuffer?)
// fun onMessage(message: String?)
// fun onMessage(socketResponse: Response.SocketResponse)
fun onClose(code: Int, reason: String?, remote: Boolean)
fun onError(ex: Exception?)
}
var onDataCb: OnDataCb? = null
interface OnDataCb {
fun onVehicle(res: Response.SocketResponse)
fun onVehicleStats(res: Response.SocketResponse)
fun onTarget(res: Response.SocketResponse)
fun onStartV2x(res: Response.SocketResponse)
fun onEndV2x(res: Response.SocketResponse)
fun onPoint(res: Response.SocketResponse)
}
}
\ No newline at end of file
app/src/main/res/layout/activity_main.xml
View file @ aa341738
<?xml version="1.0" encoding="utf-8"?>
<layout xmlns:android="http://schemas.android.com/apk/res/android"
xmlns:app="http://schemas.android.com/apk/res-auto">
xmlns:app="http://schemas.android.com/apk/res-auto"
xmlns:tools="http://schemas.android.com/tools">
<data>
<variable
name="vm"
type="com.sd.cavphmi.viewmodels.MainVm" />
</data>
<RelativeLayout xmlns:tools="http://schemas.android.com/tools"
<RelativeLayout
android:id="@+id/main"
android:layout_width="match_parent"
android:layout_height="match_parent"
......@@ -40,10 +40,12 @@
<TextView
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:layout_marginLeft="2dp"
android:text="--"
android:textColor="@color/text_black" />
android:layout_height="match_parent"
android:layout_marginLeft="3dp"
android:gravity="center_vertical"
android:textColor="@color/text_black"
app:showHeading="@{vm.heading}"
tools:text="23423" />
</LinearLayout>
......@@ -74,20 +76,21 @@
<LinearLayout
android:layout_width="0dp"
android:layout_height="wrap_content"
android:gravity="right | center_vertical"
android:layout_weight="1">
android:layout_weight="1"
android:gravity="right | center_vertical">
<ImageView
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:src="@drawable/drive_mode"
android:layout_marginRight="3dp"/>
android:layout_marginRight="3dp"
android:src="@drawable/drive_mode" />
<TextView
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:text="自动驾驶"
android:textColor="@color/text_black" />
android:text="@{vm.driveMode}"
android:textColor="@color/text_black"
tools:text="自动驾驶" />
</LinearLayout>
......@@ -107,12 +110,50 @@
</LinearLayout>
<ImageView
<LinearLayout
android:layout_width="match_parent"
android:layout_height="match_parent"
android:layout_below="@+id/ll_head"
android:src="#907867" />
android:orientation="vertical"
android:src="#907867">
<Button
android:id="@+id/bt_vehicle"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:text="车辆位姿数据" />
<Button
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" />
<Button
android:id="@+id/bt_target"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:text="感知目标物数据" />
<Button
android:id="@+id/bt_v2x"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:text="V2X预警开始" />
<Button
android:id="@+id/bt_v2xend"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:text="V2X预警结束" />
<Button
android:id="@+id/bt_chewei"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:text="更新停车位" />
</LinearLayout>
<RelativeLayout
......@@ -132,19 +173,20 @@
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:layout_centerHorizontal="true"
android:layout_marginTop="3dp"
android:text="9.19Am"
android:textColor="@color/text_black" />
android:layout_marginTop="2dp"
android:textColor="@color/text_black"
tools:text="9:19" />
<TextView
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:layout_below="@+id/tv_time"
android:layout_below="@id/tv_time"
android:layout_centerHorizontal="true"
android:layout_marginTop="5dp"
android:text="0 km/h"
android:layout_marginTop="10dp"
android:textColor="@color/text_black"
android:textSize="20sp" />
android:textSize="12sp"
app:showSpeed="@{vm.speed}"
tools:text="0 km/h" />
</RelativeLayout>
......
app/src/test/java/com/sd/cavphmi/ExampleUnitTest.kt
View file @ aa341738
......@@ -14,4 +14,15 @@ class ExampleUnitTest {
fun addition_isCorrect() {
assertEquals(4, 2 + 2)
}
@Test
fun testwhen() {
var driveMode=2
var str = when (driveMode) {
0 -> "自动驾驶"
1 -> "人工驾驶"
2 -> "远程驾驶"
else -> "—— ——"
}
println("str = ${str}")
}
}
\ No newline at end of file
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