模拟召车

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

+[{"id":"3743379f-ddea-4816-9a34-e3b699810c50","deviceCode":"C-HK-38","deviceId":"DW17-XJ-003-034","intersectionCode":"yz-17","reportTime":1758163422384,"accessTime":1758163345458,"receiveTime":1758163422384,"participants":[{"ptcId":"50332456-3030-3030-3530-303334533955","ptcType":"pedestrian","longitude":"116.50230306","latitude":"39.80994386","heading":145,"speed":8.14,"gear":0,"color":0}]}]
+[{"id":"3743379f-ddea-4816-9a34-e3b699810c50","deviceCode":"C-HK-38","deviceId":"DW17-XJ-003-034","intersectionCode":"yz-17","reportTime":1758163422384,"accessTime":1758163345458,"receiveTime":1758163422384,"participants":[{"ptcId":"50332456-3030-3030-3530-303334533955","ptcType":"pedestrian","longitude":"116.50226374","latitude":"39.80999206","heading":145,"speed":8.14,"gear":0,"color":0}]}]
+[{"id":"3743379f-ddea-4816-9a34-e3b699810c50","deviceCode":"C-HK-38","deviceId":"DW17-XJ-003-034","intersectionCode":"yz-17","reportTime":1758163422384,"accessTime":1758163345458,"receiveTime":1758163422384,"participants":[{"ptcId":"50332456-3030-3030-3530-303334533955","ptcType":"pedestrian","longitude":"116.50220032","latitude":"39.80999713","heading":145,"speed":8.14,"gear":0,"color":0}]}]
+[{"id":"3743379f-ddea-4816-9a34-e3b699810c50","deviceCode":"C-HK-38","deviceId":"DW17-XJ-003-034","intersectionCode":"yz-17","reportTime":1758163422384,"accessTime":1758163345458,"receiveTime":1758163422384,"participants":[{"ptcId":"50332456-3030-3030-3530-303334533955","ptcType":"pedestrian","longitude":"116.50204936866068","latitude":"39.809955271625505","heading":145,"speed":8.14,"gear":0,"color":0}]}]
+[{"id":"3743379f-ddea-4816-9a34-e3b699810c50","deviceCode":"C-HK-38","deviceId":"DW17-XJ-003-034","intersectionCode":"yz-17","reportTime":1758163422384,"accessTime":1758163345458,"receiveTime":1758163422384,"participants":[{"ptcId":"50332456-3030-3030-3530-303334533955","ptcType":"pedestrian","longitude":"116.50204936866068","latitude":"39.809955271625505","heading":145,"speed":8.14,"gear":0,"color":0}]}]
\ No newline at end of file

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

@@ -19,13 +19,14 @@ data class AvpStatuBean(
 )
 
 data class DrivenDecision(
-    val endPoint: EndPoint,
+    val endPoint: EndPoint,//终点
 //    val progress: Any,
 //    val routing: Any,
-    val startPoint: StartPoint,
-    val trajectory: Trajectory
+    val startPoint: StartPoint,//起点
+    val trajectory: Trajectory //// 全局路径
 )
 
+//车位信息
 data class Space(
     val centerLatitude: Double,
     val centerLongitude: Double,
@@ -97,13 +98,14 @@ data class StartPoint(
     val verticalAcce: Any
 )
 
+// 全局路径
 data class Trajectory(
     val arrived: Boolean,
     val endPoint: EndPointX,
     val length: Double,
     val pathArray: Any,
     val pathLine: String,
-    val points: List<Point>,
+    val points: List<Point>,// 全局路径 02坐标系
     val startPoint: StartPointX,
     val time: Int
 )

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

@@ -20,6 +20,7 @@ import com.sd.cavphmi.base.BaseActivity
 import com.sd.cavphmi.base.MyBaseViewModel
 import com.sd.cavphmi.bean.AvpStatuBean
 import com.sd.cavphmi.bean.CarVehicle
+import com.sd.cavphmi.bean.PerceptionBean
 import com.sd.cavphmi.databinding.ActivityMainBinding
 import com.sd.cavphmi.highmap.HighMapApi
 import com.sd.cavphmi.highmap.LockStatu
@@ -274,6 +275,10 @@ class MainActivity : BaseActivity<ActivityMainBinding, MyBaseViewModel>() {
                 }
             }
         }
+        //召车的时候临时开一下
+        mainVm.targetPre.observe(this) {
+            showPre(it)
+        }
     }
 
     //显示车辆位姿UI
@@ -307,32 +312,36 @@ class MainActivity : BaseActivity<ActivityMainBinding, MyBaseViewModel>() {
     //联网车辆感知物
     private fun getTarget() {
         mainVm.subTarget().observe(this) { it ->
-            if (it.getOrNull(0) == null) {
+            showPre(it)
+        }
+    }
 
-                return@observe
-            }
-            var parts = it.flatMap { it.participants }
-            if (parts.count() == 0) {
-                HighMapApi.clearPtcData()
-                return@observe
-            }
-            var ptcList = parts.map {
-                var unityPtc = UnityPtc().apply {
-                    lat = it.latitude
-                    lon = it.longitude
-                    ptcid = it.ptcId
-                    heading = it.heading
+    /**绘制感知物****/
+    private fun showPre(it: PerceptionBean) {
+        if (it.getOrNull(0) == null) {
+            return
+        }
+        var parts = it.flatMap { it.participants }
+        if (parts.count() == 0) {
+            HighMapApi.clearPtcData()
+            return
+        }
+        var ptcList = parts.map {
+            var unityPtc = UnityPtc().apply {
+                lat = it.latitude
+                lon = it.longitude
+                ptcid = it.ptcId
+                heading = it.heading
+                pType = 1
+                if (it.ptcType == "car") {
                     pType = 1
-                    if (it.ptcType == "car") {
-                        pType = 1
-                    } else if (it.ptcType == "pedestrian") {
-                        pType = 2
-                    }
+                } else if (it.ptcType == "pedestrian") {
+                    pType = 2
                 }
-                return@map unityPtc
             }
-            HighMapApi.setPtcData(ptcList)
+            return@map unityPtc
         }
+        HighMapApi.setPtcData(ptcList)
     }
 
     //开启v2x预警

app/src/main/java/com/sd/cavphmi/ui/fragment/UnityFragment.kt

@@ -110,7 +110,7 @@ class UnityFragment : Fragment() {
 //            HighMapApi.setCameraAngle(90f)
 //            HighMapApi.setCameraDistance(80f)
         HighMapApi.setCameraAngle(30f)
-        HighMapApi.setCameraDistance(5f)
+        HighMapApi.setCameraDistance(8f)
 //            } catch (e: Exception) {
 //            }
 //        }, 300)

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

@@ -103,7 +103,7 @@ class MainVm @Inject constructor(
     lateinit var mockVM: MockVM
 
     //是否需要模拟
-    var isMock = false
+    var isMock = true
 
     //车辆位姿数据
 //    var carVehicle = MutableLiveData<CarVehicle>()
@@ -221,10 +221,10 @@ class MainVm @Inject constructor(
         ) {
             viewModelScope.launch {
                 if (data.isNotEmpty()) {
-//                    println("-------AVP状态 = ${data}")
+                    println("-------AVP状态 = ${data}")
                     try {
                         var result = gson.fromJson<AvpStatuBean>(data, AvpStatuBean::class.java)
-                        if (result.haulingStageState != null) {
+                        if (result.haulingStageState != null) {//businessType
                             FileSdCardUtils.writeFileToDownload(data, "avp_status.txt")
                         }
                         avpStatu.emit(result)
@@ -256,7 +256,7 @@ class MainVm @Inject constructor(
         if (isMock) {
 //            mockVM.subVehicle(carVehicle)
 //            mockVM.onVehicleMockPark(carVehicle)
-            mockVM.onVehicleMockCall(carVehicle)
+            mockVM.onVehicleMockCall(carVehicle,targetPre)
         } else {
             var url = "${MyContants.HOST}/api/avpweb/hmi/monitor/v1/monitorDrivenStatus"
             carCb.url = url
@@ -284,7 +284,7 @@ class MainVm @Inject constructor(
                     //                    println("-----车辆位姿 = ${data}")
                     try {
                         var result = gson.fromJson<CarVehicle>(data, CarVehicle::class.java)
-                        if (result.businessStatus!=null){
+                        if (result.vehiclePos!=null){
                             FileSdCardUtils.writeFileToDownload(data, "CarVehicle.txt")
                         }
                         carVehicle.value = result

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

@@ -238,7 +238,7 @@ class MapOpt @Inject constructor(
             mMineMap?.setPointToCenter(point.x, point.y)
         } else {
             if (drawAreaCount.div(50) == 0) {
-                println("----------drawAreaCount = $drawAreaCount")
+//                println("----------drawAreaCount = $drawAreaCount")
                 var lon1 = car.vehiclePos!!.get(0)
                 var lat1 = car.vehiclePos!!.get(1)
                 var lon2 = sLatLngs!!.last().x.div(100000.0)
@@ -302,14 +302,14 @@ class MapOpt @Inject constructor(
                 HighMapApi.setParkComplete(true)
             } else {
                 HighMapApi.setCameraAngle(30f)
-                HighMapApi.setCameraDistance(6f)
+                HighMapApi.setCameraDistance(8f)
             }
 //            if (isReversePark)
 //                return
 //            isReversePark = true
         } else {
             HighMapApi.setCameraAngle(30f)
-            HighMapApi.setCameraDistance(6f)
+            HighMapApi.setCameraDistance(8f)
         }
     }
 

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

@@ -91,10 +91,10 @@ class MockVM @Inject constructor(
             addEndMarker(LatLng(39.809039362307594, 116.50254394816011))
             //用矩形框柱
             drawEndArea(
-                116.50238005214746,
                 39.81014469509955,
-                116.50254394816011,
+                116.50238005214746,
                 39.809039362307594,
+                116.50254394816011,
             )
             //画出全局路径
             var lines = mRoutes.rs.map {
@@ -159,7 +159,7 @@ class MockVM @Inject constructor(
 //            }
 //            HighMapApi.setLockStatus(lockStatu)
             //开始泊车
-            var parkStr = FileIoUtils.getAsset(context, "mock/parkpath.txt")   //Qgis里取的点和四维取得点混合
+            var parkStr = FileIoUtils.getAsset(context, "mock/parkpath.txt")
             val parkPath = gson.fromJson<ParkPath>(parkStr, ParkPath::class.java)
             //改变镜头角度
             HighMapApi.setCameraAngle(60f)
@@ -239,55 +239,105 @@ class MockVM @Inject constructor(
     }
 
     fun drawEndArea(lat1: Double, lon1: Double, lat2: Double, lon2: Double) {
-        var minLat = Math.min(lat1, lat2).times(100000).toInt() - 10
-        var maxLat = Math.max(lat1, lat2).times(100000).toInt() + 10
-        var minLon = minOf(lon1, lon2).times(100000).toInt() - 10
-        var maxLon = maxOf(lon1, lon2).times(100000).toInt() + 10
+        val MU = 100000
+
+        var minLat = Math.min(lat1, lat2).times(MU).toInt() - 100
+        var maxLat = Math.max(lat1, lat2).times(MU).toInt() + 100
+        var minLon = Math.min(lon1, lon2).times(MU).toInt() - 10
+        var maxLon = Math.max(lon1, lon2).times(MU).toInt() + 10
 
         var rect = Rect(
-            minLon, minLat,
-            maxLon, maxLat
+            minLon, minLat, maxLon, maxLat
         )
         mMineMap?.fitWorldArea(rect)
     }
 
     //召车  航向角 238.38134765625
     fun onVehicleMockCall(
-        carVehicle: MutableStateFlow<CarVehicle>
+        carVehicle: MutableStateFlow<CarVehicle>,
+        targetPre: MutableLiveData<PerceptionBean>?
     ) {
         viewModelScope.launch {
-            var cCar: CarVehicle
+            //初始镜头角度
+            HighMapApi.setCameraAngle(90f)
+            HighMapApi.setCameraDistance(20f)
 
-            var gson = Gson()
-            var str =
-                FileIoUtils.getAsset(context, "mock/Car_fangzhen_call.txt")
-            val mRoutes = gson.fromJson<MRoutes>(str, MRoutes::class.java)
+            delay(3000)
 
+            //2旁车辆占用
+            var spinfos = listOf(Spinfo().apply {
+                code = "B016"
+                state = true
+            }, Spinfo().apply {
+                code = "B018"
+                state = true
+            })
+            HighMapApi.setParkStatu(ParkStatu(spinfos))
+
+            delay(5000)
+
+            var cCar: CarVehicle
+            var gson = Gson()
             //画局部图小车
-            drawNavingCar(Tools.latLngToPoint(LatLng(39.80881912, 116.50272019)))
-            //画局部图路径
-            smallLineMock(mRoutes)
+            drawNavingCar(Tools.latLngToPoint(LatLng(39.8090317, 116.5024625)))
             //画终点
             addEndMarker(LatLng(39.809955271, 116.50204936))
             //用矩形框柱
             drawEndArea(
-                39.80881912,
-                116.50272019,
-                39.809955271,
-                116.50204936
+                39.8090317,
+                116.5024625,
+                39.809955271625505,
+                116.50204936866068
             )
+
+            //挂前进挡
+            CarPanelBean.instance.tapPos.set(2)
+            //开始出库
+          /*  var callStr = FileIoUtils.getAsset(context, "mock/callpath.txt")
+            val callPath = gson.fromJson<ParkPath>(callStr, ParkPath::class.java)
+            CarPanelBean.instance.speed.set(5)//减速
+            var forword = callPath.result.routes.find { it.gear == 3 }
+            forword?.polyline?.forEach { poly ->
+                cCar = CarVehicle().apply {
+                    this.vehiclePos = listOf(poly.get(0), poly.get(1), poly.get(3))
+                }
+                //更新主车位置
+                carVehicle.value = cCar
+                //更新小地图小车
+                showNavingCarPosition(
+                    Tools.latLngToNdsPoint(
+                        LatLng(
+                            cCar.vehiclePos!!.get(1),
+                            cCar.vehiclePos!!.get(0)
+                        )
+                    ),
+                    cCar.vehiclePos!!.get(2).toFloat()
+                )
+                delay(200)
+            }*/
+
+
+            var str =
+                FileIoUtils.getAsset(context, "mock/Car_fangzhen_call.txt")
+            val mRoutes = gson.fromJson<MRoutes>(str, MRoutes::class.java)
+            //生成局部图路径
+            smallLineMock(mRoutes)
             //画出全局路径
             var lines = mRoutes.rs.map {
                 AllLine(it[1], it[0])
             }
             HighMapApi.setCarNavPath(lines, showdistance = 200)
-
+            //开始跟车
+            HighMapApi.setCameraAngle(30f)
+            HighMapApi.setCameraDistance(8f)
+            //加速
+            CarPanelBean.instance.speed.set(25)
             //模拟车辆移动
             var head = 0.0
             var oldHead = 0.0
             var bearing = 0.0
             mRoutes.rs.forEachIndexed { index, it ->
-                if (index > 0 && index < mRoutes.rs.count()) {
+                if (index > 0 &&  index < mRoutes.rs.count()) {
                     var p1 = mRoutes.rs.get(index - 1)
                     var pc = mRoutes.rs.get(index)
 //                    head = BasicTools.calculateBearing(p1[0],p1[1], pc[1], pc[0])
@@ -295,43 +345,58 @@ class MockVM @Inject constructor(
                         LatLng(p1[1], p1[0]),
                         LatLng(pc[1], pc[0])
                     )
+//                    bearing = head
+//                    println("-------- head = ${head}  oldHead = ${oldHead}  ${(head - oldHead).absoluteValue.toInt()}")
+//                    if (oldHead!=0.0 && (head - oldHead).absoluteValue.toInt() < 45) {
+//                        bearing = head
+//                    }
+                    cCar = CarVehicle().apply {
+                        this.vehiclePos = listOf(it[0], it[1], head)
+                    }
+                    //更新主车位置
+                    carVehicle.value = cCar
+                    oldHead = head
+                    //更新小地图小车
+                    showNavingCarPosition(
+                        Tools.latLngToNdsPoint(
+                            LatLng(
+                                cCar.vehiclePos!!.get(1),
+                                cCar.vehiclePos!!.get(0)
+                            )
+                        ),
+                        cCar.vehiclePos!!.get(2).toFloat()
+                    )
+                    //更新小地图路径
+                    upSmallLine(index, mRoutes)
                 }
-                if ((head - oldHead).absoluteValue < 45) {
-                    bearing = head
-                }
-                cCar = CarVehicle().apply {
-                    this.vehiclePos = listOf(it[0], it[1], bearing)
-                }
-                oldHead = head
-                //更新主车位置
-                carVehicle.value = cCar
-                //更新小地图小车
-                showNavingCarPosition(
-                    Tools.latLngToNdsPoint(
-                        LatLng(
-                            cCar.vehiclePos!!.get(1),
-                            cCar.vehiclePos!!.get(0)
-                        )
-                    ),
-                    cCar.vehiclePos!!.get(2).toFloat()
-                )
-                //更新小地图路径
-                upSmallLine(index, mRoutes)
                 //用矩形框柱
-                drawEndArea(
-                    it[1], it[0],
-                    39.809955271,
-                    116.50204936
-                )
-                delay(300)
+//                drawEndArea(
+//                    it[1], it[0],
+//                    39.809955271,
+//                    116.50204936
+//                )
+                delay(200)
             }
             //消除全局路径
             HighMapApi.setCarNavPath(listOf())
             //删除终点mark
             deleteEndMarker()
-            //挂P档
-            CarPanelBean.instance.tapPos.set(1)
+            //挂N档等人
+            CarPanelBean.instance.tapPos.set(0)
             CarPanelBean.instance.speed.set(0)
+            //上人
+            val parts = mutableListOf<String>()
+            FileIoUtils.getAssetMock(context, "mock/call_shangren.txt", parts)
+            parts.forEach { str ->
+                if (str.isNotEmpty()) {
+                    var bean = parseDataBean(str, PerceptionBean::class.java)
+                    if (bean != null) {
+                        targetPre?.value = bean
+                        delay(500)
+                    }
+                }
+            }
+            HighMapApi.clearPtcData()
         }
     }
 

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

@@ -117,13 +117,12 @@
             android:orientation="horizontal">
 
 
-
             <Button
                 android:id="@+id/bt_spaceinfo"
                 android:layout_width="wrap_content"
                 android:layout_height="wrap_content"
                 android:text="车位占用情况"
-                android:visibility="visible" />
+                android:visibility="gone" />
 
             <Button
                 android:id="@+id/bt_avpstatu"

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

@@ -58,7 +58,7 @@
         <LinearLayout
             android:id="@+id/ll_1"
             android:layout_width="match_parent"
-            android:layout_height="25dp"
+            android:layout_height="23dp"
             android:layout_alignParentBottom="true"
             android:orientation="horizontal"
             android:visibility="visible">
@@ -79,16 +79,17 @@
                 android:layout_height="match_parent"
                 android:layout_marginLeft="3dp"
                 android:background="@color/text_blue"
-                android:text="感知物"
+                android:text="感知物"    android:gravity="center"
                 android:textColor="@color/white" />
 
             <TextView
                 android:id="@+id/bt_v2x"
                 android:layout_width="wrap_content"
                 android:layout_height="match_parent"
-                android:layout_marginLeft="5dp"
+                android:layout_marginLeft="3dp"
                 android:background="@color/text_blue"
                 android:text="V2X预警开始"
+                android:gravity="center"
                 android:textColor="@color/white" />
 
 
@@ -96,9 +97,10 @@
                 android:id="@+id/bt_avpStatu"
                 android:layout_width="wrap_content"
                 android:layout_height="match_parent"
-                android:layout_marginLeft="5dp"
+                android:layout_marginLeft="3dp"
                 android:background="@color/text_blue"
                 android:text="AVP状态"
+                android:gravity="center"
                 android:textColor="@color/white" />
 
             <TextView
@@ -149,18 +151,20 @@
                 android:id="@+id/warn_car"
                 android:layout_width="wrap_content"
                 android:layout_height="match_parent"
-                android:layout_marginLeft="5dp"
+                android:layout_marginLeft="3dp"
                 android:background="@color/text_blue"
                 android:text="预警车"
+                android:gravity="center"
                 android:textColor="@color/white" />
 
             <TextView
                 android:id="@+id/warn_peo"
                 android:layout_width="wrap_content"
                 android:layout_height="match_parent"
-                android:layout_marginLeft="5dp"
+                android:layout_marginLeft="3dp"
                 android:background="@color/text_blue"
                 android:text="预警人"
+                android:gravity="center"
                 android:textColor="@color/white" />
 
         </LinearLayout>