增加文档

d0e4e0f9 · p x · a3f2ec3b · d0e4e0f9 · a3f2ec3b · a3f2ec3b
Commit d0e4e0f9 authored Jun 26, 2025 by p x
--- a/README.md
+++ b/README.md
@@ -39,4 +39,15 @@ var dic = mapOf(

 ## 获取订单信息 getOrderData 后只有当avpStatus=3或5的时候需要路径规划

+## 地锁
+有四个状态 down(0, "已落下"),
+up(1, "已升起"),
+downing(2, "落下中"),
+upping(3, "升起中"),
+地锁状态变化时，会通过 /topic/parkingLockStatusChange 把状态发
+
+## 问题
+  全局没有是因为路径没有发生切换
+  局部没有是因为路上没有障碍物，没有推送避障路线
+

--- a/app/src/main/assets/PointCloud.proto
+++ b/app/src/main/assets/PointCloud.proto
-syntax = "proto3";
-
-package com.cusc.data.clean.module;
-
-option java_multiple_files = true;
-option java_outer_classname = "Point";
-
-message PointCloud {
-repeated Result results = 1;
-}
-message Result {
-  double x = 1;
-  double y = 2;
-  double z = 3;
-  double angle = 4;
-}
--- a/app/src/main/assets/avphmi-demo.vue
+++ b/app/src/main/assets/avphmi-demo.vue
-<template>
-  <div class="cesium-page-css">
-    <basis-cesium ref="basisCesium" :access-token="this.$setting.cesiumSetting.defaultAccessToken" />
-    <div class="cesiumContainer2d">
-      <div ref="cesiumRef2D" id="cesium2d"></div>
-    </div>
-    <main-view ref="mainView" :speed="speed" :heading="heading2" :v2xname="v2xname" :driveMode="driveMode"
-      :endTime="endTime" :rsiChange="rsiChange" :infowindowChange="infowindowChange" />
-    <div class="showBuildingBtn">
-      <el-switch active-text="建筑物" v-model="showBuilding" active-color="rgb(99, 122, 190)"
-        @change="setBuildingVisibility">
-      </el-switch>
-    </div>
-    <div class="videoBox">
-      <video controls>
-        <source src="" type="video/mp4">
-      </video>
-    </div>
-  </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";
-// import * as Cesium from "cesium/Cesium";
-import * as turf from "@turf/turf";
-import cesiumMainIns from "@/utils/cesiumMain";
-
-import carpng_src from "@/assets/img/car.png";
-
-let v2xdata = {
-  v2xArray: [],
-};
-let baseData = {
-  mainCarID: "",
-  mainLocation: {
-    lon: 116.50304817785404,
-    lat: 39.80882415169232,
-  },
-};
-
-let carArr = []
-let lineArr = []
-window.carArr = carArr
-window.lineArr = lineArr
-window.bblineArr = []
-
-window.recordData = {};
-window.needRecord = false;
-
-// 记录rsi高亮的感知物数组
-let rsiHighlightArr = [];
-// 记录rsi数组
-let rsiEventArr = [];
-
-// 感知目标物topic对象，主要用于记录感知目标物什么时候结束，以及结束后的操作
-let dataMergeTopicObj = {
-  timer: null, // 计时器
-  lastSecond: null, // 最新记录的秒数
-};
-
-// 停车位编码
-let spaceCode = "";
-
-let worker = null;
-let postData = [];
-let AllTingCheChang = [];
-
-let viewer2d; // 二维视图
-let car2d; // 二维车辆
-let polyine2d = {}; // 二维路线
-let billboardCollection2d; // 二维图标集合
-let primitiveCollection3d;  // 三维primitive集合
-let polylineCollection2d; // 二维poliline集合
-let singleLinePathPosition = []; // 整体路径的坐标
-let highlightSpaceEntity = null;
-
-// basis-cesium 中已经算好了路径，就不需要重复计算，直接使用
-window.beforePath = [] // 车辆前面还没走的路径
-window.afterPath = [] // 车辆前面还没走的路径
-window.leftPath = [] // 倒车入库左边的路径
-window.rightPath = [] // 倒车入库右边的路径
-
-export default {
-  name: "HomeView",
-  components: {
-    basisCesium,
-    mainView,
-  },
-  //L
-  data() {
-    return {
-      heading2: "—— ——", //航向角显示
-      v2xname: "-", //预警事件名称
-      driveMode: "—— ——", //驾驶模式
-      driveModeCode: -1, //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",
-      rsiChange: {}, // rsi改变，界面弹窗
-      infowindowChange: {}, // 弹窗信息改变，界面弹窗
-      showBuilding: true, // 是否显示停车场外围建筑物
-    };
-  },
-
-  //A
-  mounted() {
-    this.initMap();
-    this.initViewer2d(); // 初始化二维场景
-
-    // todo 采用测试数据 todo 暂时注释
-    this.websocketClient();
-    // this.addTestCar()
-
-    // 采用worker的目的是，当websoket推送频率降低，两帧数据之间的点位距离较大，在这两个点之间做插值，使路线平滑
-    worker = new Worker();
-    worker.onmessage = (e) => {
-      let lon = e.data[0];
-      let lat = e.data[1];
-      let alt = e.data[2];
-
-      if (this.needDealPath) {
-        // 根据车辆位置计算已经走过的点
-        this.$refs.basisCesium.updatePathPlanLine(lon, lat);
-
-        // 小地图中路径
-        cesiumMainIns.updateLinePosition2D(polyine2d, {
-          before: window.beforePath,
-          after: window.afterPath,
-          left: window.leftPath,
-          right: window.rightPath,
-        });
-        // console.log('window.leftPath', window.leftPath)
-      }
-
-      // 移动车辆位置
-      this.moveCar(lon, lat, alt);
-
-      // carArr.push([lon, lat, alt])
-    };
-
-    // 延时5秒查询车位信息
-    setTimeout(this.getSpaceData, 5000);
-
-    // 每隔20s查询一次车位信息
-    setInterval(this.getSpaceData, 20000);
-
-    // todo 测试代码
-    // this.addTest()
-  },
-  methods: {
-    /**
-     * 模拟入库
-     */
-    addTest() {
-      let gui = new dat.GUI();
-      let param = {
-        mockCar: () => {
-          spaceCode = "C002";
-          let index = 50;
-          setInterval(() => {
-            let bodyData = CarJSON[index];
-            this.topicVehicle(bodyData);
-
-            index++;
-            if (index == CarJSON.length) {
-              index = 50;
-            }
-          }, 300);
-        },
-        startParking: () => {
-          this.needDealPath = true;
-          spaceCode = "1D-005";
-          this.setAvpStatus(true);
-        },
-        changeParking: () => {
-          spaceCode = "C004";
-          let parkingSpot = this.getParkingSpot(spaceCode);
-          this.$refs.basisCesium.updateParkingSpace(parkingSpot);
-        },
-        startAvoidance: () => {
-          let obj = {
-            objectData: [
-              {
-                taskType: 1,
-                vehiclePlate: "吉AC242",
-                lineName: "",
-                pointStr: "[]",
-                tenantCode: "VL961",
-                type: 2, // 1避障 2倒车入库
-              },
-            ],
-            wsTime: 1720253314196,
-          };
-
-          this.topicPartLine(obj);
-        },
-        endAvoidance: () => {
-          this.$refs.basisCesium.removeAvoidanceEffect();
-        },
-        backPath: () => {
-          this.$refs.basisCesium.addBackParkingEffect({
-            spaceInfo: {
-              spaceCode: "1D-005",
-              coordinates: [
-                [
-                  125.14352243,
-                  43.8387679
-                ],
-                [
-                  125.14349542,
-                  43.83875615
-                ],
-                [
-                  125.14346121,
-                  43.83879796
-                ],
-                [
-                  125.14348784,
-                  43.83880941
-                ],
-                [
-                  125.14352243,
-                  43.8387679
-                ]
-              ],
-              type: "car",
-              heading: 130,
-              center: [120.70663029752453, 31.32409853737599],
-            },
-          });
-        },
-        endParking: () => {
-          this.$refs.basisCesium.removeParkingEffect();
-        },
-        startV2x1: () => {
-          this.topicv2xStart({
-            v2xStartData: [
-              {
-                id: "111",
-                name: "弱势交通参与者碰撞预警",
-                priority: 2,
-              },
-            ],
-          });
-        },
-        startV2x2: () => {
-          this.topicv2xStart({
-            v2xStartData: [
-              {
-                id: "222",
-                name: "弱势交通参与者碰撞预警",
-                priority: 3,
-              },
-            ],
-          });
-        },
-        endV2x1: () => {
-          this.topicv2xEnd({
-            v2xEndData: [
-              {
-                id: "111",
-              },
-            ],
-          });
-        },
-        endV2x2: () => {
-          this.topicv2xEnd({
-            v2xEndData: [
-              {
-                id: "222",
-              },
-            ],
-          });
-        },
-        addMerge: () => {
-          let bodyData = {
-            objectData: [
-              {
-                participant: [
-                  {
-                    ptcId: "7113",
-                    ptcType: "pedestrian",
-                    heading: 90,
-                    longitude: 120.70653432313952,
-                    latitude: 31.32399543429305,
-                  },
-                ],
-                deviceCode: "merge111deviceCode",
-              },
-            ],
-          };
-          this.topicDataMerge(bodyData);
-        },
-        highlightMerge: () => {
-          this.$refs.basisCesium.highlightPerceive("1363547912");
-        },
-        cancleHighlightMerge: () => {
-          this.$refs.basisCesium.cancleHighlightPerceive("1363547912");
-        },
-        startCongestion: () => {
-          this.$refs.basisCesium.addCongestionEffect({
-            eventId: "707",
-            eventPosition: {
-              lon: 120.70650368953218,
-              lat: 31.32387012500568,
-            },
-            eventRadius: 25,
-          });
-        },
-        startCongestion2: () => {
-          this.$refs.basisCesium.addCongestionEffect({
-            eventId: "707",
-            eventPosition: {
-              lon: 120.70627736888751,
-              lat: 31.324424454655308,
-            },
-            eventRadius: 15,
-          });
-        },
-        startCongestion3: () => {
-          this.$refs.basisCesium.addCongestionEffect({
-            eventId: "707",
-            eventPosition: {
-              lon: 120.7064005384187,
-              lat: 31.324587955182743,
-            },
-            eventRadius: 15,
-          });
-        },
-        startCongestion4: () => {
-          this.$refs.basisCesium.addCongestionEffect({
-            eventId: "707",
-            eventPosition: {
-              lon: 120.70640680679377,
-              lat: 31.324612419581705,
-            },
-            eventRadius: 15,
-          });
-        },
-        endCongestion: () => {
-          this.$refs.basisCesium.removeCongestionEffect("707");
-        },
-        startRoadConstruction: () => {
-          this.$refs.basisCesium.addRoadConstructionEffect({
-            eventId: "38",
-            eventPosition: {
-              lon: 120.70640680679377,
-              lat: 31.324612419581705,
-            },
-            eventRadius: 15,
-          });
-        },
-        endRoadConstruction: () => {
-          this.$refs.basisCesium.removeRoadConstructionEffect("38");
-        },
-        startRsi: () => {
-          let obj = {
-            objectData: [
-              {
-                reportData: [
-                  {
-                    eventId: "100",
-                    eventType: "707",
-                    eventPosition: {
-                      lon: 120.70575286803157,
-                      lat: 31.32438408479422,
-                    },
-                  },
-                ],
-                tenantCode: "VL961",
-              },
-            ],
-            wsTime: 1720059537473,
-          };
-
-          this.topicRsiEvent(obj);
-        },
-        startRsi2: () => {
-          let obj = {
-            objectData: [
-              {
-                reportData: [
-                  {
-                    eventId: "901-2",
-                    eventRadius: 1,
-                    referencePaths: [
-                      {
-                        activePath: [
-                          {
-                            lon: 120.1234567,
-                            lat: 30.7654321,
-                          },
-                        ],
-                      },
-                    ],
-                    eventSource: "3",
-                    eventDescription: "3",
-                    eventObjId: ["119951397"],
-                    eventType: "901",
-                    eventPriority: "17",
-                    referenceLinkList: [
-                      {
-                        upstreamNodeId: 63880,
-                        downstreamNodeId: 63880,
-                      },
-                    ],
-                    eventPosition: {
-                      lon: 120.70575286803157,
-                      lat: 31.32438408479422,
-                    },
-                  },
-                ],
-                tenantCode: "VL961",
-              },
-            ],
-            wsTime: 1720059537473,
-          };
-
-          this.topicRsiEvent(obj);
-        },
-        endRsi: () => {
-          this.topicRsiEvent({
-            objectData: [],
-          });
-        },
-        startRecord: () => {
-          window.needRecord = true;
-          window.recordData = {
-            vehicle: [],
-            vehicleStatus: [],
-            dataMerge: [],
-            v2xStart: [],
-            v2xEnd: [],
-            points: [],
-            linePlaning: [],
-            linePlaningHttp: [],
-            partLine: [],
-            rsiEvent: [],
-            getOrderParkingInfoForPlate: [],
-            spaceNo: [],
-          };
-        },
-        endRecord: () => {
-          needRecord = false;
-        },
-        linePlaningInfowindow: () => {
-          // 弹窗显示
-          this.infowindowChange = {
-            time: new Date().getTime(),
-            type: "linePlaning",
-            text: "已重新规划路线",
-          };
-        },
-        mockGetSpaceData: () => {
-          let response = {
-            code: "0",
-            msg: "pgs.common.msg.success",
-            data: {
-              total: 85,
-              pageNo: 1,
-              pageSize: 1000,
-              totalPage: 1,
-              list: [
-                {
-                  spaceSyscode: "fe3960ce3dd9420d915785d5a7b2255f",
-                  spaceNo: "1C-033",
-                  // "spaceNo": "1A-053",
-                  parkSyscode: "8abec9a2db5f442a86ba563b40c41f00",
-                  parkName: "博览中心",
-                  floorSyscode: "2a6452b0a9fb4d1fa02bcf7e1dc16817",
-                  floorName: "负1",
-                  longitude: "946.0",
-                  latitude: "657.0",
-                  state: 1,
-                  inTime: "2024-10-28T11:29:27+08:00",
-                  spacePicUri:
-                    "/pic?0d2500=d580ip-beo621-f67*1o5=2503*7l0=0106078763t0=912**ps==810b*=22a0*3b4250a17-82375e-0*l10aod04952=004",
-                  plateNoPicUri: null,
-                  aswSyscode: "f52ac7d7-b3f9-4a5e-8844-c999b1bd76aa",
-                  plateNos: "苏A2T9C7,苏EAVP002,吉AC242",
-                  alarmPlateNos: null,
-                  spaceTypeKey: "1",
-                  spaceType: "允许停放车位",
-                  plateNo: "苏EFP9932",
-                  spacePicUrl:
-                    "http://10.16.14.20:6120/pic?0d2500=d580ip-beo621-f67*1o5=2503*7l0=0106078763t0=912**ps==810b*=22a0*3b4250a17-82375e-0*l10aod04952=004&AccessKeyId=sdY2KWVe/wHUcN0P&Expires=1730709991&Signature=OjTzwM3ZwMnA4eiszgd6SBXX+IY=",
-                  plateNoPicUrl: null,
-                },
-              ],
-            },
-          };
-
-          AllTingCheChang = [];
-          const newData = response.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) {
-              // 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]];
-                let distance = this.getDistance(
-                  baseData.mainLocation.lon,
-                  baseData.mainLocation.lat,
-                  latlon[0],
-                  latlon[1]
-                );
-                if (distance > 2) {
-                  AllTingCheChang.push({
-                    id: name,
-                    longitude: latlon[0],
-                    latitude: latlon[1],
-                    heading: parkingSpot.heading,
-                  });
-                }
-              }
-            }
-          });
-          this.$refs.basisCesium.beginParkingLot(AllTingCheChang);
-
-          if (needRecord) {
-            window.recordData.spaceNo.push(response);
-          }
-        },
-      };
-      gui.add(param, "mockCar").name("模拟跑车");
-      gui.add(param, "startParking").name("开始泊车");
-      gui.add(param, "changeParking").name("切换车位");
-      gui.add(param, "startAvoidance").name("开始避让");
-      gui.add(param, "endAvoidance").name("结束避让");
-      gui.add(param, "backPath").name("倒车入库");
-      gui.add(param, "endParking").name("结束自主泊车");
-      gui.add(param, "startV2x1").name("开始v2x1");
-      gui.add(param, "endV2x1").name("结束v2x1");
-      gui.add(param, "startV2x2").name("开始v2x2");
-      gui.add(param, "endV2x2").name("结束v2x2");
-      gui.add(param, "addMerge").name("添加感知物");
-      gui.add(param, "highlightMerge").name("高亮感知物");
-      gui.add(param, "cancleHighlightMerge").name("取消高亮感知物");
-      gui.add(param, "startCongestion").name("发生拥堵");
-      gui.add(param, "startCongestion2").name("发生拥堵2");
-      gui.add(param, "startCongestion3").name("发生拥堵3");
-      gui.add(param, "startCongestion4").name("发生拥堵4");
-      gui.add(param, "endCongestion").name("拥堵结束");
-      gui.add(param, "startRoadConstruction").name("发生道路施工");
-      gui.add(param, "endRoadConstruction").name("结束道路施工");
-      gui.add(param, "startRsi").name("开始rsi");
-      gui.add(param, "startRsi2").name("结束rsi1");
-      gui.add(param, "startRsi2").name("开始rsi2");
-      gui.add(param, "startRsi").name("结束rsi2");
-      gui.add(param, "endRsi").name("结束所有rsi");
-      gui.add(param, "startRecord").name("开始记录");
-      gui.add(param, "endRecord").name("结束记录");
-      gui.add(param, "linePlaningInfowindow").name("切换路径弹窗");
-      gui.add(param, "mockGetSpaceData").name("停车位信息");
-    },
-
-    addTestCar() {
-      const res = pathRes
-      this.$refs.basisCesium.findPathPlanning(res);
-
-      // 高亮车位
-      spaceCode = "1D-005";
-      this.highlightSpaceEntity(spaceCode)
-
-      setTimeout(() => {
-        spaceCode = "1D-004";
-        this.highlightSpaceEntity(spaceCode)
-      }, 5000)
-
-      setTimeout(() => {
-        spaceCode = "";
-        this.highlightSpaceEntity(spaceCode)
-      }, 8000)
-
-      let index = 0
-      const timer = setInterval(() => {
-        if (index == pathCar.length) {
-          clearInterval(timer)
-          return
-        }
-        const ele = pathCar[index]
-        const bodyData = {
-          "vehicleData": [
-            {
-              "altitude": 0,
-              "brake": 30,
-              "gasPedal": 20,
-              "gear": 1,
-              "heading": 0,
-              "latitude": ele[1],
-              "longitude": ele[0],
-              "obuCode": "O-HK-2687",
-              "reportTime": 1748411699632,
-              "speed": 0,
-              "vehicleId": "1694264612474306561",
-              "vehiclePlate": "吉AC242",
-              "vehiclePurpose": "avp",
-              "vehiclePurposeName": "AVP车辆",
-              "wheelAngle": 2
-            }
-          ],
-          "wsTime": 1748411699632
-        }
-        this.topicVehicle(bodyData);
-        index++
-      }, 1)
-    },
-
-    // 设置停车场外围建筑物的显示和隐藏
-    setBuildingVisibility(value) {
-      this.$refs.basisCesium.setBuildingVisibility(value);
-    },
-
-    initMap() {
-      this.$refs.basisCesium.buildCesiumWorld();
-      this.$refs.basisCesium.inject3DtilesMapByUrl("unit/tileset.json"); // 停车场外部建筑
-      // this.$refs.basisCesium.inject3DtilesMapByUrl_two("garage/tileset.json");  // 停车场内部建筑
-      this.$refs.basisCesium.addWmsDT(); // 低精地图
-      this.$refs.basisCesium.addWmsGQDT(); // 高精地图
-      this.$refs.basisCesium.cesiumCameraflyTo(
-        125.142191,
-        43.829754,
-        600,
-        356,
-        -33,
-        0
-      );
-    },
-
-    async websocketClient() {
-      await websocket.connectSocket();
-
-      // 2.2. 联网车辆位姿数据topic
-      websocket.stompClient.subscribe(
-        this.$setting.webSocket.dic["/topic/vehicle"],
-        (message) => {
-          let bodyData = JSON.parse(message.body);
-          this.topicVehicle(bodyData);
-          // console.log('车辆', bodyData)
-
-          if (needRecord) {
-            window.recordData.vehicle.push(bodyData);
-          }
-        }
-      );
-      // 2.3. 联网车辆状态数据topic
-      websocket.stompClient.subscribe(
-        this.$setting.webSocket.dic["/topic/vehicleStatus"],
-        (message) => {
-          var bodyData = JSON.parse(message.body);
-          this.topicVehicleStatus(bodyData);
-
-          if (needRecord) {
-            window.recordData.vehicleStatus.push(bodyData);
-          }
-        }
-      );
-      // 2.4. 感知目标物数据topic
-      websocket.stompClient.subscribe(
-        this.$setting.webSocket.dic["/topic/dataMerge"],
-        (message) => {
-          var bodyData = JSON.parse(message.body);
-          this.topicDataMerge(bodyData);
-
-          if (needRecord) {
-            window.recordData.dataMerge.push(bodyData);
-          }
-
-          // 2秒没有消息推过来，则需要清除所有感知目标物了
-          dataMergeTopicObj.lastSecond = new Date().getTime();
-          if (dataMergeTopicObj.timer) {
-            return;
-          }
-          dataMergeTopicObj.timer = setInterval(() => {
-            let newSecond = new Date().getTime();
-            if (newSecond - dataMergeTopicObj.lastSecond > 2000) {
-              // 清除所有感知目标物
-              this.removeDataMerge();
-
-              clearInterval(dataMergeTopicObj.timer);
-              dataMergeTopicObj.timer = null;
-              console.log("2s接收不到感知目标物，清除感知目标物");
-            }
-          }, 500);
-
-          // console.log(bodyData)
-        }
-      );
-
-      // 2.5. V2X预警开始topic
-      websocket.stompClient.subscribe(
-        this.$setting.webSocket.dic["/topic/v2xStart"],
-        (message) => {
-          var bodyData = JSON.parse(message.body);
-          this.topicv2xStart(bodyData);
-
-          if (needRecord) {
-            window.recordData.v2xStart.push(bodyData);
-          }
-        }
-      );
-      // 2.6. V2X预警结束topic
-      websocket.stompClient.subscribe(
-        this.$setting.webSocket.dic["/topic/v2xEnd"],
-        (message) => {
-          var bodyData = JSON.parse(message.body);
-          this.topicv2xEnd(bodyData);
-
-          if (needRecord) {
-            window.recordData.v2xEnd.push(bodyData);
-          }
-        }
-      );
-      websocket.stompClient.subscribe(
-        this.$setting.webSocket.dic["/topic/points"],
-        (message) => {
-          var bodyData = JSON.parse(message.body);
-          this.topicvPoints(bodyData);
-
-          if (needRecord) {
-            window.recordData.points.push(bodyData);
-          }
-        }
-      );
-
-      // 全局路径发生切换
-      websocket.stompClient.subscribe(
-        this.$setting.webSocket.dic["/topic/linePlaning"],
-        (message) => {
-          var bodyData = JSON.parse(message.body);
-          this.topicLinePlaning(bodyData);
-
-          if (needRecord) {
-            window.recordData.linePlaning.push(bodyData);
-          }
-
-          // console.log('/topic/linePlaning', bodyData)
-        }
-      );
-
-      // 局部路径
-      websocket.stompClient.subscribe(
-        this.$setting.webSocket.dic["/topic/partLine"],
-        (message) => {
-          var bodyData = JSON.parse(message.body);
-          this.topicPartLine(bodyData);
-
-          if (needRecord) {
-            window.recordData.partLine.push(bodyData);
-          }
-
-          // console.log('局部路径', bodyData)
-        }
-      );
-
-      // rsi事件
-      websocket.stompClient.subscribe(
-        this.$setting.webSocket.dic["/topic/rsiEvent"],
-        (message) => {
-          var bodyData = JSON.parse(message.body);
-          this.topicRsiEvent(bodyData);
-
-          if (needRecord) {
-            window.recordData.rsiEvent.push(bodyData);
-          }
-
-          // console.log(bodyData)
-        }
-      );
-    },
-
-    /**
-     * 车辆驾驶模式
-     * @param {*} msg
-     */
-    topicVehicleStatus(msg) {
-      if (msg.vehicleStatusList.length != 0) {
-        let driveMode1 = msg.vehicleStatusList[0].driveMode;
-        this.driveModeCode = driveMode1;
-        switch (driveMode1) {
-          case 0:
-            this.driveMode = "自动驾驶";
-
-            // 如果有全局路径，那么显示全局路径
-            this.$refs.basisCesium.organizePathLine({
-              type: "driveMode0",
-            });
-            break;
-          case 1:
-            this.driveMode = "人工驾驶";
-
-            // 如果有全局路径，那么隐藏全局路径
-            this.$refs.basisCesium.organizePathLine({
-              path: [],
-              type: "driveMode1",
-            });
-            break;
-          case 2:
-            this.driveMode = "远程驾驶";
-            break;
-          default:
-            this.driveMode = "—— ——";
-            break;
-        }
-      }
-    },
-
-    /**
-     * v2x开始
-     * @param {*} msg
-     */
-    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;
-      }
-
-      // 高亮目标物
-      if (
-        msg.v2xStartData[0] &&
-        msg.v2xStartData[0].mec &&
-        msg.v2xStartData[0].mec.length
-      ) {
-        console.log(msg.v2xStartData[0]);
-
-        let needHighIds = msg.v2xStartData[0].mec;
-        for (let i = 0; i < needHighIds.length; i++) {
-          let nendId = needHighIds[i].id;
-          let eventType = needHighIds[i].type;
-          this.$refs.basisCesium.highlightPerceive({
-            nendId,
-            eventType,
-            iconType: "v2xicon",
-            mainCarID: baseData.mainCarID,
-          });
-        }
-      }
-    },
-
-    /**
-     * v2x结束
-     * @param {*} msg
-     */
-    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
-      }
-
-      // 取消高亮目标物
-      if (
-        msg.v2xEndData[0] &&
-        msg.v2xEndData[0].mec &&
-        msg.v2xEndData[0].mec.length
-      ) {
-        console.log(msg.v2xEndData[0]);
-
-        let needHighIds = msg.v2xEndData[0].mec;
-        for (let i = 0; i < needHighIds.length; i++) {
-          let nendId = needHighIds[i].id;
-          this.$refs.basisCesium.cancleHighlightPerceive(nendId);
-        }
-      }
-    },
-
-    /**
-     * 车辆实时位置、航向角等信息
-     * @param {*} msg
-     */
-    topicVehicle(msg) {
-      if (!msg || !msg.vehicleData || !msg.vehicleData.length) {
-        return;
-      }
-
-      let vehicleData = msg.vehicleData[0];
-      let { speed, heading, longitude, latitude } = vehicleData;
-      let curHeading = heading - 90;
-      this.speed = speed;
-
-      // 设置界面上显示的角度
-      this.setUIHeading(heading);
-
-      if (baseData.mainCarID == "") {
-        let id = msg.vehicleData[0].vehicleId;
-        let url = "./cesium/yqcar.glb";
-        this.$refs.basisCesium.addOneModelById({
-          id,
-          url,
-          longitude,
-          latitude,
-          angle: curHeading,
-          scale: 0.8,
-        });
-        baseData.mainCarID = id;
-      } else {
-        // 采用多线程插值
-        worker.postMessage([longitude, latitude, curHeading]);
-
-        // 如果不采用多线程插值，就需要在这里移动车辆位置
-        // this.moveCar(longitude, latitude, heading);
-      }
-
-      // 记录车辆位置
-      baseData.mainLocation.lon = longitude;
-      baseData.mainLocation.lat = latitude;
-    },
-
-    /**
-     * 设置界面上显示的角度
-     * @param {*} heading
-     */
-    setUIHeading(heading) {
-      let heading1 = Math.floor(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;
-      }
-    },
-
-    /**
-     * 停车位变更
-     * @param {*} msg
-     */
-    topicvPoints(msg) {
-      let curValue = msg.parkingSpace;
-
-      if (spaceCode) {
-        // 更新停车位的信息
-        let parkingSpot = this.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
-      spaceCode = curValue;
-
-      this.highlightSpaceEntity(spaceCode)
-    },
-
-    /**
-     * 全局路径规划切换
-     * @param {*} msg
-     */
-    topicLinePlaning(msg) {
-      if (msg.objectData && msg.objectData[0] && msg.objectData[0].line) {
-        this.$refs.basisCesium.organizePathLine({
-          path: msg.objectData[0].line,
-          type: "linePlaning",
-        });
-
-        // 弹窗显示
-        this.infowindowChange = {
-          time: new Date().getTime(),
-          type: "linePlaning",
-          text: "已重新规划路线",
-        };
-      }
-    },
-
-    /**
-     * 局部路径发生改变
-     * @param {*} msg
-     */
-    topicPartLine(msg) {
-      // 先判断类型
-      if (msg.objectData && msg.objectData[0] && msg.objectData[0]) {
-        let objectData = msg.objectData[0];
-        let { type, pointStr, globalPath } = objectData;
-
-        let pointArr = JSON.parse(pointStr);
-        if (pointArr) {
-          if (type == 1) {
-            // 避障
-            this.$refs.basisCesium.addAvoidanceEffect({
-              line: pointArr,
-              globalPath,
-            });
-
-            // 更新全局路径
-            this.$refs.basisCesium.organizePathLine({
-              path: globalPath,
-              partLine: pointArr,
-              type: "partLine",
-            });
-
-            // singleLinePathPosition = [...pointArr, ...globalPath]
-
-            // 记录前后路径
-            // window.beforePath = [...globalPath]
-            // window.afterPath = [...pointArr]
-
-            // 避障需要前端判断结束，持续5s没有收到避障的topic，则任务避障结束
-            clearInterval(this.addAvoidanceTimer);
-            let voidanceLastSecond = new Date().getTime();
-            this.addAvoidanceTimer = setInterval(() => {
-              let newSecond = new Date().getTime();
-              if (newSecond - voidanceLastSecond > 2000) {
-                // 清除避障效果
-                this.$refs.basisCesium.removeAvoidanceEffect();
-
-                // 清除全局路径
-                this.$refs.basisCesium.organizePathLine({
-                  type: "partLine",
-                });
-
-                // 清除定时器
-                clearInterval(this.addAvoidanceTimer);
-                this.addAvoidanceTimer = null;
-              }
-            }, 1000);
-          } else {
-            if (!spaceCode) {
-              return;
-            }
-
-            // lineArr.push(pointArr)
-
-            // 开始后退，不需要再跳转视角了，因此用 singleLinePathPosition 长度控制
-            // singleLinePathPosition = []
-
-            let parkingSpot = this.getParkingSpot(spaceCode);
-            this.$refs.basisCesium.addBackParkingEffect({
-              carPos: baseData.mainLocation,
-              line: pointArr,
-              spaceInfo: parkingSpot,
-            });
-          }
-        }
-      }
-    },
-
-    /**
-     * 根据停车位编号，获取停车位的具体信息
-     * @param {*} parkingValue
-     */
-    getParkingSpot(parkingValue) {
-      // 查询倒车入库的车位
-      const parkingSpot = SpaceData.find(
-        (spot) => spot.spaceCode === parkingValue
-      );
-      return parkingSpot;
-    },
-
-    /**
-     * 获取路径规划
-     */
-    async findPathPlanning(ifParking = true) {
-      await this.request
-        .post("/avp/linePlaning/get", { vehiclePlate: "吉AC242" })
-        .then((res) => {
-          if (res.line && res.line.length) {
-            this.$refs.basisCesium.findPathPlanning(res);
-
-            // 泊车需要高亮车位，召车不高亮
-            if (ifParking) {
-              spaceCode = res.spaceCode
-            } else {
-              spaceCode = ''
-            }
-            this.highlightSpaceEntity(spaceCode)
-          } else {
-            console.log(res);
-          }
-        });
-    },
-
-    /**
-     * rsi事件
-     * 感知物高亮:如果eventObjId有值，那么就高亮对应的感知物，当连续几帧（比如3帧）没有某个感知物的id，则取消这个感知物的高亮
-     * 道路面高亮：当eventType为拥堵时，需要高亮道路面，当连续几帧（比如3帧）不拥堵，则取消这个道路面的高亮
-     * 事件优先级展示
-     * @param {*} msg
-     */
-    topicRsiEvent(msg) {
-      // 先得到所有需要高亮的感知物id
-      let needHighIds = []; // 把所有rsi感知到的所有感知物id放在一个数组中，用于判断感知物高亮的结束
-      let needRsiIds = []; // 把所有rsi的id放在一个数组中，用于判断rsi的结束
-      for (let i = 0; i < msg.objectData.length; i++) {
-        for (let j = 0; j < msg.objectData[i].reportData.length; j++) {
-          let curData = msg.objectData[i].reportData[j];
-          let eventId = curData.eventId;
-          let eventType = curData.eventType;
-
-          // console.log(eventId, eventType)
-
-          // console.log(eventType)
-
-          // 这一步的目的是把所有的事件id放到一个数组
-          needRsiIds.push(eventId);
-
-          // 设置当前rsi事件在rsiEventArr数组中的状态
-          let obj = rsiEventArr.find((rs) => {
-            return rs.eventId == eventId;
-          });
-          if (obj) {
-            obj.number = 1;
-          } else {
-            let eventPriority = curData.eventPriority;
-
-            rsiEventArr.push({
-              eventId: eventId,
-              priority: eventPriority,
-              type: eventType,
-              number: 1,
-            });
-
-            // 添加这个事件对应的弹窗
-            this.rsiChange = {
-              type: "add",
-              eventId,
-              eventType,
-            };
-          }
-
-          if (eventType == "707") {
-            // 如果当前是拥堵事件，则添加道路面，或者根据eventDescriptionI字段更新道路面的颜色
-            this.$refs.basisCesium.addCongestionEffect({
-              ...curData,
-              eventId,
-            });
-          } else if (eventType == "38") {
-            // 如果当前事件是道路施工，则根据传过来的经纬度添加施工图标
-            // console.log('道路施工：接收到推送消息' + eventId)
-            this.$refs.basisCesium.addRoadConstructionEffect({
-              ...curData,
-              eventId,
-            });
-          }
-
-          // 这一步的目的是把所有的感知物id放到一个数组
-          let curRsi = msg.objectData[i].reportData[j];
-          if (curRsi.eventObjId) {
-            if (Array.isArray(curRsi.eventObjId)) {
-              curRsi.eventObjId.forEach((tr) => {
-                needHighIds.push({
-                  id: tr,
-                  eventType: curRsi.eventType,
-                });
-                // console.log('交通事件', '事件id:' + eventId, '事件type:' + eventType, '参与者id:' + tr)
-              });
-            } else {
-              // console.log('交通事件', '事件id:' + eventId, '事件type:' + eventType, '参与者id:' + curRsi.eventObjId)
-              needHighIds.push({
-                id: curRsi.eventObjId,
-                eventType: curRsi.eventType,
-              });
-            }
-          }
-        }
-      }
-
-      // 高亮感知物
-      this.dealHighlightRsi(needHighIds);
-
-      // 事件优先级展示
-      this.dealUIShow(needRsiIds);
-    },
-
-    /**
-     * 处理感知物的高亮，包括高亮当前感知物 + 取消前面几帧高亮的感知物
-     * @param {*} needHighIds
-     */
-    dealHighlightRsi(needHighIds) {
-      // 高亮感知物
-      for (let i = 0; i < needHighIds.length; i++) {
-        let nendId = needHighIds[i].id;
-        let eventType = needHighIds[i].eventType;
-        let obj = rsiHighlightArr.find((rs) => {
-          return rs.id == nendId;
-        });
-        if (obj) {
-          obj.number = 1;
-        } else {
-          rsiHighlightArr.push({
-            id: nendId,
-            number: 1,
-          });
-        }
-
-        // 高亮感知物
-        this.$refs.basisCesium.highlightPerceive({
-          nendId,
-          eventType,
-          iconType: "rsiicon",
-          mainCarID: baseData.mainCarID,
-        });
-      }
-
-      // 取消连续5帧不存在的感知物高亮
-      for (let i = rsiHighlightArr.length - 1; i >= 0; i--) {
-        let curRsi = rsiHighlightArr[i];
-        let deleteObject = needHighIds.find((ni) => ni.id == curRsi.id);
-        if (!deleteObject) {
-          curRsi.number += 1;
-          if (curRsi.number > 5) {
-            this.$refs.basisCesium.cancleHighlightPerceive(curRsi.id);
-            rsiHighlightArr.splice(i, 1);
-          }
-        }
-      }
-    },
-
-    /**
-     * 处理界面上的弹窗显示，按照优先级高低
-     * @param {*} needRsiIds
-     */
-    dealUIShow(needRsiIds) {
-      // 连续5帧没有同一个eventId的事件，则认为这个事件结束了
-      for (let i = rsiEventArr.length - 1; i >= 0; i--) {
-        let curRsi = rsiEventArr[i];
-        let deleteObject = needRsiIds.find((ni) => ni == curRsi.eventId);
-        if (!deleteObject) {
-          curRsi.number += 1;
-          if (curRsi.number > 5) {
-            rsiEventArr.splice(i, 1);
-
-            if (curRsi.type == "707") {
-              // 删除这个事件对应的道路面高亮
-              this.$refs.basisCesium.removeCongestionEffect(curRsi.eventId);
-            } else if (curRsi.type == "38") {
-              // 删除这个事件对应的道路施工图标
-              // console.log('道路施工：连续5帧没有' + curRsi.eventId)
-              this.$refs.basisCesium.removeRoadConstructionEffect(
-                curRsi.eventId
-              );
-            }
-
-            // 删除这个事件对应的弹窗
-            this.rsiChange = {
-              type: "remove",
-              eventId: curRsi.eventId,
-              eventType: curRsi.type,
-            };
-          }
-        }
-      }
-    },
-
-    /**
-     * 移动车辆位置
-     * @param {*} longitude
-     * @param {*} latitude
-     * @param {*} heading
-     */
-    moveCar(longitude, latitude, heading) {
-      if (this.firstPerspective) {
-        this.$refs.basisCesium.moveModelById({
-          id: baseData.mainCarID,
-          longitude,
-          latitude,
-          angle: heading,
-          follow: true,
-          offset: [-1, 0, 0],
-          firstPer: true,
-        });
-      } else {
-        this.$refs.basisCesium.moveModelById({
-          id: baseData.mainCarID,
-          longitude,
-          latitude,
-          angle: heading,
-          follow: true,
-          offset: [-31.5, 0, 9],
-        });
-      }
-
-      // 更新2d车辆位置，需要跟随视角
-      cesiumMainIns.updateBillboard(car2d, {
-        viewer: viewer2d,
-        position: [longitude, latitude],
-        heading: heading - 60,
-      });
-      // if (car2d) {
-      //   cesiumMainIns.updateGlbModelPrimitive(car2d, {
-      //     position: [longitude, latitude],
-      //     heading: heading + 90,
-      //   })
-      // }
-    },
-
-    /**
-     * 两点之间的距离
-     * @param {*} lng1
-     * @param {*} lat1
-     * @param {*} lng2
-     * @param {*} lat2
-     */
-    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;
-    },
-
-    /**
-     * 感知目标物
-     * @param {*} msg
-     */
-    topicDataMerge(msg) {
-      for (let i = 0; i < msg.objectData.length; i++) {
-        let allPerceive = [];
-        for (let j = 0; j < msg.objectData[i].participant.length; j++) {
-          let participant = msg.objectData[i].participant[j];
-          let { longitude, latitude, ptcId, ptcType, heading } = participant;
-
-          // 计算主车辆和感知目标物的距离
-          let distance = this.getDistance(
-            baseData.mainLocation.lon,
-            baseData.mainLocation.lat,
-            longitude,
-            latitude
-          );
-
-          // 距离小于100米才显示感知目标物
-          // if (distance < 100) {
-          allPerceive.push({
-            id: ptcId,
-            type: ptcType,
-            longitude: longitude,
-            latitude: latitude,
-            heading: heading,
-          });
-          // }
-        }
-
-        let deviceCode = msg.objectData[i].deviceCode;
-        this.$refs.basisCesium.beginPerceive(deviceCode, allPerceive);
-      }
-    },
-
-    /**
-     * 清除所有感知目标物
-     */
-    removeDataMerge() {
-      this.$refs.basisCesium.removeDataMerge();
-    },
-
-    /**
-     * 开始泊车
-     */
-    startParkingVehicle() {
-      // worker中处理路径规划显示的路径
-      this.needDealPath = true;
-
-      // 获取规划好的路径
-      this.findPathPlanning();
-    },
-
-    /**
-     * 结束泊车
-     */
-    endParkingVehicle() {
-      // 移除自主泊车所有效果
-      this.$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
-     */
-    startRecruitmentVehicle() {
-      // worker不处理路径规划显示的路径
-      this.needDealPath = true;
-
-      // 获取规划好的路径
-      this.findPathPlanning(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
-     */
-    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.$refs.basisCesium.removePathPlanLine();
-
-      // 小地图上不显示线
-      cesiumMainIns.updateLinePosition2D(polyine2d, {
-        before: [],
-        after: [],
-        left: [],
-        right: []
-      });
-    },
-
-    /**
-     * 查询车位信息
-     */
-    async getSpaceData() {
-      let data = JSON.stringify({
-        pageNo: 20,
-        pageSize: 1000,
-      });
-      await axios
-        .post(
-          "https://faw.cuscavp.cn:8443/hkapi/pms/v1/parkingSpace/spaceNo",
-          data,
-          {
-            headers: {
-              "Content-Type": "application/json",
-            },
-          }
-        )
-        .then((response) => {
-          AllTingCheChang = [];
-          const newData = response.data.data.list;
-          postData = newData;
-          // 遍历新数据，根据state值添加或移除模型
-          postData.forEach((car) => {
-            const parkingSpot = SpaceData.find(
-              (spot) => spot.spaceCode === car.spaceNo
-            );
-            if (parkingSpot) {
-              // 检查该车位是否已经添加模型
-              if (car.state === 1) {
-                //将车位信息添加到已添加模型的数据中;
-                const name = parkingSpot.spaceCode;
-                const latlon = [parkingSpot.center[0], parkingSpot.center[1]];
-                let distance = this.getDistance(
-                  baseData.mainLocation.lon,
-                  baseData.mainLocation.lat,
-                  latlon[0],
-                  latlon[1]
-                );
-                if (distance > 2) {
-                  AllTingCheChang.push({
-                    id: name,
-                    longitude: latlon[0],
-                    latitude: latlon[1],
-                    heading: parkingSpot.heading,
-                  });
-                }
-              }
-            }
-          });
-          this.$refs.basisCesium.beginParkingLot(AllTingCheChang);
-
-          if (needRecord) {
-            window.recordData.spaceNo.push(response);
-          }
-        });
-    },
-
-    // 添加二维内容
-    async initViewer2d() {
-      // 初始化二维场景
-      viewer2d = cesiumMainIns.initScene(this.$refs.cesiumRef2D, {
-        // sceneMode: Cesium.SceneMode.SCENE2D,
-      });
-      window.viewer2d = viewer2d;
-      window.getCurrentCameraView = cesiumMainIns.getCurrentCameraView;
-
-      // 设置二维视角
-      cesiumMainIns.setView(viewer2d, {
-        "longitude": 125.143565,
-        "latitude": 43.838348,
-        "height": 89.988899,
-        "heading": 330,
-        "pitch": -88.630968,
-        "roll": 0
-      });
-
-      cesiumMainIns.addWmsLayer(viewer2d, {
-        url: "https://faw.cuscavp.cn:8443/geoserver/changchun/wms?SERVICE=WMS&VERSION=1.1.1&REQUEST=GetMap&FORMAT=image/png&TRANSPARENT=true",
-        layers: "changchun:HMI_AVP_BASE",
-      });
-      cesiumMainIns.addWmsLayer(viewer2d, {
-        url: "https://faw.cuscavp.cn:8443/geoserver/changchun/wms?service=WMS&version=1.1.0&request=GetMap&srs=EPSG:4326&styles=",
-        layers: "changchun:CHANGCHUN_HMI_AVP_GJDT",
-      });
-
-      // 加载车位
-      // cesiumMainIns.addGeojson(viewer2d, {
-      //   url: "cesium/Parking.geojson",
-      //   alpha: 0.5,
-      //   strokeAlpha: 1,
-      //   fill: "#BEDDFF",
-      //   strokeColor: "#BEDDFF",
-      // });
-
-      // 添加二维poliline集合
-      polylineCollection2d = cesiumMainIns.addPolylineCollection(viewer2d);
-      // 二维路径
-      polyine2d.before = cesiumMainIns.addPolyline(polylineCollection2d, {
-        path: [],
-        width: 5,
-        type: "color",
-        color: "#5b81f6",
-      });
-      polyine2d.after = cesiumMainIns.addPolyline(polylineCollection2d, {
-        path: [],
-        width: 5,
-        type: "color",
-        color: "#54B19B",
-      });
-      polyine2d.left = cesiumMainIns.addPolyline(polylineCollection2d, {
-        path: [],
-        width: 3,
-        type: "gradientPolylineDash",
-        color: "#fff",
-      });
-      polyine2d.right = cesiumMainIns.addPolyline(polylineCollection2d, {
-        path: [],
-        width: 3,
-        type: "gradientPolylineDash",
-        color: "#fff",
-      });
-
-      // 添加二维图标集合
-      billboardCollection2d = cesiumMainIns.addBillboardCollection(viewer2d);
-      car2d = cesiumMainIns.addBillboard(billboardCollection2d, {
-        position: [baseData.mainLocation.lon, baseData.mainLocation.lat],
-        heading: 0,
-        scale: 1,
-        // image: "./cesium/car.png",
-        image: carpng_src,
-        nearFarScalar: [50, 0.5, 300, 0.3]
-      });
-      console.log('加载car.png', car2d)
-
-
-      // 三维primitive集合
-      // primitiveCollection3d = cesiumMainIns.addPrimitiveCollection(viewer2d)
-      // let url = "cesium/XC60.glb";
-      // car2d = await cesiumMainIns.addGlbModelPrimitive(primitiveCollection3d, {
-      //   url: url,
-      //   position: [125.143684, 43.838424],
-      //   heading: 0,
-      //   follow: false,
-      //   scale: 0.5,
-      //   viewer: viewer2d,
-      //   lightingFactor: 2
-      // });
-
-      setInterval(() => {
-        if (!window.leftPath.length && [...window.afterPath, ...window.beforePath].length) {
-          this.flyToRect([...window.afterPath, ...window.beforePath], {
-            scale: 1.5
-          })
-        } else {
-          cesiumMainIns.flyToPoint(viewer2d, {
-            position: [baseData.mainLocation.lon, baseData.mainLocation.lat, 30],
-            orientation: {
-              heading: 330,
-              pitch: -89,
-              roll: 0
-            }
-          })
-        }
-      }, 3000)
-    },
-
-    flyToRect(lineCoors, options = {}) {
-      const { scale = 1.5 } = options
-
-      // 设置二维地图的视角
-      const line = turf.lineString(lineCoors); // 得到路径
-
-      const length = turf.length(line, { units: "kilometers" }) * 1000;
-      // console.log(length)
-      if (length < 18) return
-
-      const bbox = turf.bbox(line); // 计算路径的边界框
-      var poly = turf.bboxPolygon(bbox);  // 计算路径的边界多边形
-      let result = turf.transformScale(poly, scale);  // 缩放1.2倍，主要是为了让地图边界留点空间
-      const bbox2 = turf.bbox(result); // 需要跳转的矩形
-      cesiumMainIns.flyToRect(viewer2d, bbox2, {
-        orientation: {
-          heading: 330,
-          pitch: -89,
-          roll: 0
-        }
-      })
-    },
-
-    highlightSpaceEntity(spaceCode) {
-      if (spaceCode) {
-        const parkingSpot = this.getParkingSpot(spaceCode);
-        const coordinates = parkingSpot.coordinates
-        if (highlightSpaceEntity) {
-          cesiumMainIns.updatePolygonEntity(highlightSpaceEntity, {
-            coordinates
-          })
-        } else {
-          highlightSpaceEntity = cesiumMainIns.addPolygon(viewer2d, {
-            coordinates,
-            fill: '#72f8f4',
-            alpha: 0.6
-          })
-        }
-      } else {
-        if (highlightSpaceEntity) {
-          cesiumMainIns.updatePolygonEntity(highlightSpaceEntity, {
-            coordinates: []
-          })
-        }
-      }
-    }
-  },
-
-  destroyed() {
-    if (window.viewer) {
-      if (window.viewer.primitive) {
-        window.viewer.primitives.removeAll();
-      }
-
-      window.viewer.destroy();
-      Cesium.CameraEventAggregator.prototype.removeInputAction;
-      Cesium.Texture.prototype.destroy;
-      delete window.viewer;
-    }
-    worker.postMessage("线程关闭");
-    worker.terminate();
-  },
-};
-</script>
-<style scoped>
-#cesium-page-css {
-  position: absolute;
-  height: 100%;
-  width: 100%;
-}
-
-.showBuildingBtn {
-  position: absolute;
-  right: 1%;
-  top: 13%;
-}
-
-.cesiumContainer2d {
-  position: absolute;
-  width: 20vw;
-  height: 40vh;
-  bottom: 4vh;
-  right: 1vw;
-  /* width: 300px;
-  height: 380px;
-  right: 20px;
-  bottom: 20px; */
-
-  &::before {
-    content: "";
-    position: absolute;
-    left: 0;
-    top: 0;
-    width: 100%;
-    height: 100%;
-    pointer-events: none;
-    z-index: 1;
-    box-shadow: 0rem 0rem 0.5rem 0.5rem rgb(191 206 233);
-  }
-
-  #cesium2d {
-    position: absolute;
-    width: 100%;
-    height: 100%;
-  }
-}
-
-.videoBox {
-  position: absolute;
-  width: 22vw;
-  height: 30vh;
-  top: 20vh;
-  right: 1vw;
-
-  /* width: 330px;
-  height: 280px;
-  right: 20px;
-  top: 160px; */
-  >video {
-    width: 100%;
-    height: 100%;
-  }
-
-  &::before {
-    content: "";
-    position: absolute;
-    left: 0;
-    top: 0;
-    width: 100%;
-    height: 100%;
-    pointer-events: none;
-    z-index: 1;
-    box-shadow: 0rem 0rem 0.5rem 0.5rem rgb(191 206 233);
-  }
-}
-</style>
-<style>
-.cesium-widget-credits {
-  display: none !important;
-}
-</style>
--- a/app/src/main/assets/comfunc.js
+++ b/app/src/main/assets/comfunc.js
-import protoRoot from "@/utils/ws/base";
-
-/**
- * 解码通用的protobuf数据
- * 推送格式映射在response.proto里的，使用此方法 ！
- * SocketResponse对应解码文件base.js里面的SocketResponse
- */
-export async function decodeResponseProtoBuf(msg) {
-  const SocketResponse = protoRoot.lookup("SocketResponse");
-  let blob = msg.data;
-  let arrybuff = await blob.arrayBuffer();
-  let uinit8 = new Uint8Array(arrybuff);
-  const result = SocketResponse.decode(uinit8);
-  return result;
-}
--- a/app/src/main/assets/main-view.vue
+++ b/app/src/main/assets/main-view.vue
-<template>
-  <div class="container">
-    <div class="headnav">
-      <span class="version">ver 2.0.1</span>
-      <div class="xinhao" :style="{ backgroundImage: `url(${imgURL})` }"></div>
-      <div class="angle"></div>
-      <span style="color: #7f8591" class="angledata">{{ heading }}</span>
-      <div class="vehicleStatus" v-show="avpStatus1 != '—— ——'"></div>
-      <span style="color: #637abe" class="vehicleStatusdata">{{
-        avpStatus1
-      }}</span>
-      <div class="yuan">
-        <div class="ttime">{{ twentyTime }}</div>
-        <div class="speed">
-          <div class="sd">{{ Math.floor(speed) }}</div>
-        </div>
-        <div class="km">km/h</div>
-      </div>
-      <div class="driveMode"></div>
-      <span style="color: #606873" class="driveModedata">{{ driveMode }}</span>
-    </div>
-    <div class="orderlist" v-show="(avpStatus1 == '场内行驶' ||
-      avpStatus1 == '自动泊车中' ||
-      avpStatus1 == '自动召车中' ||
-      avpStatus1 == '车辆停靠') &&
-      No != null &&
-      orderStatus != 25
-      ">
-      <div class="order">{{ No }}</div>
-      <div class="durationtime">
-        {{ durationString }}
-      </div>
-      <div class="entertime">
-        {{ enterTime }}
-      </div>
-      <div class="price">
-        <span>{{ actualCost }}</span>
-        元
-      </div>
-    </div>
-    <div class="eventBox">
-      <!-- <div class="v2x" v-if="endTime == true" :style="{ backgroundImage: `url(${v2xImg})` }"></div>
-      <div class="v2x" v-if="rsiEndTime == true" :style="{ backgroundImage: `url(${rsiImg})` }"></div> -->
-      <!-- <div v-for="(item, index) in showEvent" v-if="!item.hide" :key="index" class="v2x"
-        :style="{ backgroundImage: `url(${item.backgroundImage})` }"></div> -->
-      <!-- </div> -->
-      <div v-for="(item, index) in showEvent" v-if="!item.hide" :key="index" class="v2x">
-        <img class="v2x-img" :src="item.backgroundImage">
-        <span class="v2x-span">{{ item.text }}</span>
-      </div>
-    </div>
-    <div class="showStatus" v-show="showStatus">
-      <span>已经转为{{ avpStatus1 }}状态</span>
-    </div>
-  </div>
-</template>
-<script>
-import request from "@/utils/http/request";
-let imgurl = {
-  imgArr: [
-    "xinhao1.png",
-    "xinhao2.png",
-    "xinhao3.png",
-    "xinhao4.png",
-    "xinhao5.png",
-    "xinhao6.png",
-  ],
-  v2xImg: [
-    "abnormal.png",
-    "admission.png",
-    "advance.png",
-    "ChangeLanes.png",
-    "intersection.png",
-    "weak.png",
-  ]
-};
-
-// rsi事件类型和显示名称映射表
-let rsiTextMap = {
-  "38": "注意道路施工",
-  "100": "注意多车驶停",
-  "707": "注意前方路段拥堵",
-  "901": "注意车辆超速",
-  "902": "注意车辆慢速",
-  "903": "注意异常停车",
-  "904": "注意逆行"
-}
-// v2x预警和显示名称映射表
-let v2xUIType = '';
-let v2xTextMap = {
-  "abnormal": "异常车辆预警",
-  "admission": "车辆入场预警",
-  "advance": "前向碰撞预警",
-  "ChangeLanes": "盲区/变道预警",
-  "intersection": "交叉口碰撞预警",
-  "weak": "弱势交通预警",
-}
-
-export default {
-  props: {
-    speed: Number,
-    heading: String,
-    v2xname: String,
-    driveMode: String,
-    endTime: Boolean,
-    rsiChange: Object,
-    infowindowChange: Object
-  },
-  data() {
-    return {
-      avpStatus1: "—— ——", //用于二维界面的显示
-      avpStatus2: 0, //用于来判断是否出现了场景切换
-      showStatus: false, //用于avpStatus转场动画的显示隐藏，false为隐藏
-      twentyTime: 0, //12小时制时间
-      No: 0, //订单编号
-      durationString: "", //订单总时长
-      enterTime: "", //入场时间
-      actualCost: 0, //订单金额
-      orderStatus: 0, //订单状态
-      imgURL: require("@/assets/img/other/xinhao5.png"), //信号质量默认
-      v2xImg: require("@/assets/img/other/v2xicon/billbord/abnormal.png"), //v2x预警事件默认展示
-      rsiImg: require("@/assets/img/other/v2xicon/billbord/abnormal.png"), //v2x预警事件默认展示
-
-      showEvent: [],
-    };
-  },
-
-  mounted() {
-    this.isShowInfowindow = false;  // 是否可以弹提示窗
-
-    this.allmethods();
-  },
-  beforeUnmounted() {
-    if (this.getCurrentTime) {
-      clearInterval(this.getCurrentTime);
-    }
-    if (this.getTimeOut) {
-      clearInterval(this.getTimeOut);
-    }
-    if (this.getOrderData) {
-      clearInterval(this.getOrderData);
-    }
-  },
-  watch: {
-    endTime(value) {
-      this.$nextTick(() => {
-        this.eventFunc('endTime', value)
-      })
-    },
-    rsiChange(value) {
-      // rsi事件改变，包括新增和删除
-      this.$nextTick(() => {
-        this.eventFunc('rsi', value)
-      })
-    },
-
-    infowindowChange(value) {
-      // 显示弹窗提醒
-      this.$nextTick(() => {
-        this.eventFunc('infowindow', value)
-      })
-    },
-
-    //监听v2x事件的改变，并根据事件的名称渲染对应的图片
-    v2xname(v2xname) {
-      switch (v2xname) {
-        case "异常车辆预警":
-          this.v2xImg = require("@/assets/img/other/v2xicon/billbord/" +
-            imgurl.v2xImg[0]);
-          v2xUIType = 'abnormal';
-          break;
-        case "车辆入场预警":
-          this.v2xImg = require("@/assets/img/other/v2xicon/billbord/" +
-            imgurl.v2xImg[1]);
-          v2xUIType = 'admission';
-          break;
-        case "前向碰撞预警":
-          this.v2xImg = require("@/assets/img/other/v2xicon/billbord/" +
-            imgurl.v2xImg[2]);
-          v2xUIType = 'advance';
-          break;
-        case "盲区/变道预警":
-          this.v2xImg = require("@/assets/img/other/v2xicon/billbord/" +
-            imgurl.v2xImg[3]);
-          v2xUIType = 'ChangeLanes';
-          break;
-        case "交叉路口碰撞预警":
-          this.v2xImg = require("@/assets/img/other/v2xicon/billbord/" +
-            imgurl.v2xImg[4]);
-          v2xUIType = 'intersection';
-          break;
-        case "弱势交通参与者碰撞预警":
-          this.v2xImg = require("@/assets/img/other/v2xicon/billbord/" +
-            imgurl.v2xImg[5]);
-          v2xUIType = 'weak';
-          break;
-        default:
-          break;
-      }
-
-      // 触发ui
-      this.eventFunc('endTime', this.endTime)
-    },
-
-
-  },
-  methods: {
-    eventFunc(name, value) {
-      if (name === 'endTime') {
-        let index = this.showEvent.findIndex(e => { return e.type == 'v2x' })
-
-        if (value) {
-          if (index > -1) {
-            // 如果原本存在v2x，则需要更新图片
-            this.showEvent[index].backgroundImage = this.v2xImg
-            this.showEvent[index].text = v2xTextMap[v2xUIType]
-          } else {
-            // 如果原本没有v2x，则新展示v2x
-            this.showEvent.push({
-              backgroundImage: this.v2xImg,
-              text: v2xTextMap[v2xUIType],
-              type: 'v2x'
-            })
-          }
-        } else {
-          if (index > -1) {
-            // 删除原有的v2x
-            this.showEvent.splice(index, 1)
-          }
-        }
-        this.showEvent = [...this.showEvent]
-      } else if (name === 'rsi') {
-        // rsi事件，可以显示多个弹窗
-        let { type, eventId, eventType } = value;
-        // 新增
-        if (type == 'add') {
-          let img = this.getImgByPathAndType({
-            path: 'rsiicon',
-            type: eventType
-          })
-          if (!img) {
-            return
-          }
-
-          // 判断如果当前存在这种类型的提示，则不重复弹窗
-          let hasLabel = this.showEvent.find(e => {
-            return e.eventType == eventType
-          })
-
-          this.showEvent.push({
-            type: 'rsi',
-            eventId,
-            eventType,
-            text: rsiTextMap[eventType],
-            backgroundImage: img,
-            hide: !!hasLabel
-          })
-        } else {
-          // 删除
-          for (let i = this.showEvent.length - 1; i >= 0; i--) {
-            let event = this.showEvent[i]
-            if (event.type == 'rsi' && event.eventId == eventId) {
-              this.showEvent.splice(i, 1);
-              break;
-            }
-          }
-
-
-          for (let i = this.showEvent.length - 1; i >= 0; i--) {
-            // 如果存在相同eventType的事件，那么需要显示这个事件
-            let hasLabelIndex = this.showEvent.findIndex(e => {
-              return e.eventType == eventType
-            })
-            if (hasLabelIndex > -1) {
-              this.showEvent[hasLabelIndex].hide = false;
-              break;
-            }
-          }
-        }
-
-        this.showEvent = [...this.showEvent]
-      } else if (name === 'infowindow') {
-        // 已经有提示窗，不重复弹窗
-        if (this.isShowInfowindow) {
-          return;
-        }
-
-        this.isShowInfowindow = true;
-        let { type, text } = value;
-        let img = this.getImgByPathAndType({
-          path: 'infowindow',
-          type: type
-        });
-
-        this.showEvent.push({
-          type: 'infowindow',
-          backgroundImage: img,
-          text
-        })
-
-        // 3秒之后清除这个弹窗
-        setTimeout(() => {
-          // 3秒之内不重复弹窗
-          this.isShowInfowindow = false;
-          let index = this.showEvent.findIndex(e => { return e.type == 'infowindow' })
-          if (index > -1) {
-            this.showEvent.splice(index, 1)
-          }
-        }, 3000)
-      }
-    },
-
-    // 根据rsi的类型，渲染对应的图片
-    getImgByPathAndType(options) {
-      let { path, type } = options;
-      return require("@/assets/img/other/" + path + "/billbord/" + type + '.png');
-
-      switch (type) {
-        case "38":
-        case "100":
-        case "707":
-        case "901":
-        case "902":
-        case "903":
-        case "904":
-        case "914":
-          return require("@/assets/img/other/" + path + "/" + type + '.png');
-        default:
-          return ''
-      }
-    },
-
-    allmethods() {
-      this.getOrderData();
-      this.getTimeOut();
-      this.getCurrentTime();
-      setInterval(() => {
-        this.getTimeOut();
-      }, 5000);
-      setInterval(() => {
-        this.getOrderData();
-      }, 1000);
-      setInterval(() => {
-        this.getCurrentTime();
-      }, 1000);
-    },
-    //获取12小时制时间
-    getCurrentTime() {
-      const date = new Date();
-      const hours = date.getHours();
-      const minutes = date.getMinutes();
-      const period = hours >= 12 ? "PM" : "AM";
-      const hours12 = hours % 12 || 12;
-      this.twentyTime = `${hours12}:${this.addZero(minutes)} ${period}`;
-    },
-    addZero(value) {
-      return value < 10 ? `0${value}` : value;
-    },
-    //获取订单信息
-    async getOrderData() {
-      let data = JSON.stringify({
-        vehiclePlate: "吉AC242",
-      });
-      await request
-        .post(
-          "/avp/avpMonitor/getOrderParkingInfoForPlate",
-          data /* , {
-          headers: {
-            "Content-Type": "application/json",
-            "Tenant-Id": "1484465260508323841",
-          },
-        } */
-        )
-        .then((response) => {
-          const OrderData = response;
-          this.No = OrderData.orderNo;
-          this.durationString = OrderData.durationString;
-          this.enterTime = OrderData.enterTime;
-          this.actualCost = OrderData.actualCost;
-          this.orderStatus = OrderData.orderStatus;
-          const avpStatus = OrderData.avpStatus;
-
-          if (this.avpStatus2 != avpStatus) {
-            if (avpStatus != 3 && this.avpStatus2 == 3) {
-              this.$parent.endParkingVehicle(); // 结束泊车
-            } else if (avpStatus == 3) {
-              this.$parent.startParkingVehicle(); // 开始泊车
-            }
-
-            if (avpStatus != 5 && this.avpStatus2 == 5) {
-              // 由招车转为其他状态
-              this.$parent.endRecruitmentVehicle();
-            } else if (avpStatus == 5) {
-              // 招车需要显示路径
-              this.$parent.startRecruitmentVehicle();
-            }
-
-            if (avpStatus == 1) {
-              this.avpStatus1 = "场外行驶";
-              this.avpStatus2 = avpStatus;
-              this.showStatus = true;
-              setTimeout(() => {
-                this.showStatus = false;
-              }, 3000);
-            } else if (avpStatus == 2 || avpStatus == 6) {
-              this.avpStatus1 = "场内行驶";
-              this.avpStatus2 = avpStatus;
-              this.showStatus = true;
-              setTimeout(() => {
-                this.showStatus = false;
-              }, 3000);
-            } else if (avpStatus == 3) {
-              this.avpStatus1 = "自动泊车中";
-              this.avpStatus2 = avpStatus;
-              this.showStatus = true;
-              setTimeout(() => {
-                this.showStatus = false;
-              }, 3000);
-            } else if (avpStatus == 4) {
-              this.avpStatus1 = "车辆停靠";
-              this.avpStatus2 = avpStatus;
-              this.showStatus = true;
-              setTimeout(() => {
-                this.showStatus = false;
-              }, 3000);
-            } else if (avpStatus == 5) {
-              this.avpStatus1 = "自动召车中";
-              this.avpStatus2 = avpStatus;
-              this.showStatus = true;
-              setTimeout(() => {
-                this.showStatus = false;
-              }, 3000);
-            }
-          }
-
-          if (needRecord) {
-            window.recordData.getOrderParkingInfoForPlate.push(response)
-          }
-
-        });
-    },
-    //获取网络质量
-    async getTimeOut() {
-      const startTime = new Date().getTime();
-      await request.post("/avp/siteLine/getNetworkQuality", null).then(() => {
-        const endTime = new Date().getTime();
-        const duration = endTime - startTime;
-        if (duration >= 0 && duration <= 100) {
-          this.imgURL = require("@/assets/img/other/" + imgurl.imgArr[4]);
-        } else if (duration >= 101 && duration <= 200) {
-          this.imgURL = require("@/assets/img/other/" + imgurl.imgArr[3]);
-        } else if (duration >= 201 && duration <= 300) {
-          this.imgURL = require("@/assets/img/other/" + imgurl.imgArr[2]);
-        } else if (duration >= 301 && duration <= 400) {
-          this.imgURL = require("@/assets/img/other/" + imgurl.imgArr[1]);
-        } else {
-          this.imgURL = require("@/assets/img/other/" + imgurl.imgArr[0]);
-        }
-      });
-    },
-  },
-};
-</script>
-
-
-<style scoped>
-.container {
-  font-size: 1.4vw;
-  width: 100vw;
-  height: 100vh;
-  display: flex;
-  justify-content: center;
-}
-
-.headnav {
-  position: relative;
-  display: flex;
-  justify-content: center;
-  background-color: rgba(197, 203, 215, 0.8);
-  margin-top: 0;
-  height: 10.56vh;
-  width: 100vw;
-  backdrop-filter: blur(10px);
-}
-
-.headnav div {
-  display: inline-block;
-}
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-.version {
-  position: absolute;
-  top: 46%;
-  left: 1%;
-  font-size: 0.5rem;
-  color: gray;
-}
-
-.xinhao {
-  position: absolute;
-  left: 96%;
-  top: 55%;
-  width: 2.3%;
-  height: 31%;
-  background-size: 100% 100%;
-  /* z-index: 999; */
-}
-
-.angle {
-  position: absolute;
-  left: 12.414%;
-  top: 46%;
-  width: 2.5%;
-  height: 42%;
-  background-image: url("@/assets/img/other/angle.png");
-  background-size: 100% 100%;
-}
-
-.angledata {
-  position: absolute;
-  margin-top: 3%;
-  margin-right: 62%;
-}
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-.vehicleStatus {
-  position: absolute;
-  background-image: url("@/assets/img/other/stop.png");
-  background-size: 100% 100%;
-  left: 23.477%;
-  top: 46%;
-  width: 2.45%;
-  height: 42%;
-}
-
-.vehicleStatusdata {
-  position: absolute;
-  margin-top: 3%;
-  margin-right: 39.2%;
-  width: 8%;
-}
-
-.yuan {
-  position: absolute;
-  background-image: url("@/assets/img/other/speed.png");
-  background-size: 100% 100%;
-  text-align: center;
-  /* left: 28%; */
-  height: 320%;
-  width: 50%;
-  margin-top: -4.17%;
-}
-
-.ttime {
-  position: absolute;
-  left: 44%;
-  margin-top: 8%;
-}
-
-/* .speed {
-  position: absolute;
-  left: 40.8%;
-  top: 38%;
-} */
-.sd {
-  font-size: 4vw;
-  font-weight: bold;
-  text-align: center;
-  position: absolute;
-  top: 38%;
-  right: 51%;
-}
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-.km {
-  position: absolute;
-  top: 53%;
-  left: 50%;
-}
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-.driveMode {
-  position: absolute;
-  left: 72.46875%;
-  top: 46%;
-  width: 2.5%;
-  height: 42%;
-  background-image: url("@/assets/img/other/driveMode.png");
-  background-size: 100% 100%;
-}
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-.driveModedata {
-  position: absolute;
-  margin-top: 3%;
-  margin-left: 58%;
-}
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-.orderlist {
-  position: absolute;
-  left: 1.71875%;
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-  background-size: 100% 100%;
-  height: 29%;
-  width: 24.5%;
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-  opacity: 0.8;
-  backdrop-filter: blur(10px) saturate(200%);
-}
-
-.orderlist div {
-  position: relative;
-  height: 10%;
-  width: 20vw;
-  padding-left: 18%;
-  padding-top: 7.8%;
-}
-
-.eventBox {
-  position: absolute;
-  top: 21.236%;
-  width: 14%;
-}
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-.v2x {
-  /* position: absolute; */
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-  display: flex;
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-  height: 4.5vh;
-  width: 100%;
-  display: flex;
-  margin-bottom: 0.8vh;
-  background: rgba(124, 50, 50, 0.6);
-  /* border-radius: 10px 10px 10px 10px; */
-  border-radius: 0.4vw;
-  border: 2px solid #FA5151;
-  /* padding-left: 20px; */
-  padding-left: 0.5vw;
-}
-
-.v2x .v2x-img {
-  height: 3.5vh;
-  width: auto;
-  pointer-events: none;
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-  margin-right: 0.8vw;
-  vertical-align: middle;
-}
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-.v2x .v2x-span {
-  display: inline-flex;
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-  font-size: 2vh;
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-.orderlist .price {
-  padding-top: 5.5%;
-}
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-.price span {
-  font-size: 2vw;
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-}
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-.showStatus {
-  position: absolute;
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-  height: 10vh;
-  background-color: rgba(197, 203, 215, 0.8);
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-.showStatus span {
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-@media (min-width: 2560px) and (min-height: 1550px) {
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-    justify-content: center;
-  }
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-  }
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-  }
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-    position: absolute;
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-    width: 50%;
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-  .sd {
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-    position: absolute;
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-    position: absolute;
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-  .driveModedata {
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-  .orderlist .durationtime {
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-  .price span {
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-  /* .v2x {
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-    top: 21.236%;
-    display: inline-block;
-    background-size: cover;
-    height: 5.54%;
-    width: 17%;
-    display: flex;
-    justify-content: center;
-  } */
-}
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-@media (min-width: 2560px) and (min-height: 1600px) {
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-    height: 100vh;
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-    justify-content: center;
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-  .headnav {
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-  .driveMode {
-    position: absolute;
-    left: 72.46875%;
-    top: 46%;
-    width: 2.8%;
-    height: 42%;
-    background-image: url("@/assets/img/other/driveMode.png");
-    background-size: 100% 100%;
-  }
-
-  .driveModedata {
-    position: absolute;
-    margin-top: 3.8%;
-    margin-left: 58%;
-  }
-
-  .orderlist {
-    position: absolute;
-    left: 1.71875%;
-    background-image: url("@/assets/img/other/list.png");
-    background-size: 100% 100%;
-    height: 29%;
-    width: 27%;
-    top: 13.194%;
-    opacity: 0.8;
-    backdrop-filter: blur(10px) saturate(200%);
-  }
-
-  .orderlist .order {
-    position: absolute;
-    top: 1%;
-    height: 25%;
-    width: 20vw;
-  }
-
-  .orderlist .durationtime {
-    position: absolute;
-    top: 23%;
-    height: 25%;
-    width: 20vw;
-  }
-
-  .orderlist .entertime {
-    position: absolute;
-    top: 44%;
-    height: 25%;
-    width: 20vw;
-  }
-
-  .orderlist .price {
-    top: 66%;
-  }
-
-  .price span {
-    font-size: 2vw;
-    color: blue;
-  }
-
-  /* .v2x {
-    position: absolute;
-    top: 21.236%;
-    display: inline-block;
-    background-size: cover;
-    height: 5.54%;
-    width: 17%;
-    display: flex;
-    justify-content: center;
-  } */
-}
-</style>
--- a/app/src/main/assets/mock/CarVehicle.txt
+++ b/app/src/main/assets/mock/CarVehicle.txt
--- a/app/src/main/assets/mock/PerTarget.txt
+++ b/app/src/main/assets/mock/PerTarget.txt
--- a/app/src/main/assets/mock/carvehicle.txt
+++ b/app/src/main/assets/mock/carvehicle.txt
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--- a/app/src/main/assets/mock/http_path.txt
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--- a/app/src/main/assets/mock/park.txt
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--- a/app/src/main/assets/mock/target.txt
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+{"vehicleStats":{"total":1,"avp":1},"vehicleStatusList":[],"wsTime":1750909097046}
+{"vehicleStats":{"total":1,"avp":1},"vehicleStatusList":[],"wsTime":1750909098050}
+{"vehicleStats":{"total":1,"avp":1},"vehicleStatusList":[],"wsTime":1750909099051}
+{"objectData":[{"altitude":0.0,"deviceCode":"ALL","id":"rsm","latitude":0.0,"longitude":0.0,"participant":[],"reportTime":1750909099937}],"wsTime":1750909100070}
+{"vehicleStats":{"total":0,"avp":0},"vehicleStatusList":[{"driveMode":1,"vehicleId":"1694264612474306561","vehiclePurpose":"avp","vehicleStatus":0,"vehicleStatusName":"离线","videoStatus":[0,0]}],"wsTime":1750909100053}
+{"vehicleStats":{"total":0,"avp":0},"vehicleStatusList":[],"wsTime":1750909101055}
+{"vehicleStats":{"total":0,"avp":0},"vehicleStatusList":[],"wsTime":1750909102058}
+{"vehicleStats":{"total":0,"avp":0},"vehicleStatusList":[],"wsTime":1750909103060}
+{"vehicleStats":{"total":0,"avp":0},"vehicleStatusList":[],"wsTime":1750909104062}
+{"vehicleStats":{"total":0,"avp":0},"vehicleStatusList":[],"wsTime":1750909105064}
+{"vehicleStats":{"total":0,"avp":0},"vehicleStatusList":[],"wsTime":1750909106076}
+{"vehicleStats":{"total":0,"avp":0},"vehicleStatusList":[],"wsTime":1750909107078}
+{"vehicleStats":{"total":0,"avp":0},"vehicleStatusList":[],"wsTime":1750909109082}
+{"vehicleStats":{"total":0,"avp":0},"vehicleStatusList":[],"wsTime":1750909111086}
+{"vehicleStats":{"total":0,"avp":0},"vehicleStatusList":[],"wsTime":1750909112089}
+{"vehicleStats":{"total":0,"avp":0},"vehicleStatusList":[],"wsTime":1750909113091}
+{"vehicleStats":{"total":0,"avp":0},"vehicleStatusList":[],"wsTime":1750909114093}
+{"vehicleStats":{"total":0,"avp":0},"vehicleStatusList":[],"wsTime":1750909115095}
+{"vehicleStats":{"total":0,"avp":0},"vehicleStatusList":[],"wsTime":1750909116096}
+{"vehicleStats":{"total":0,"avp":0},"vehicleStatusList":[],"wsTime":1750909117098}
+{"vehicleStats":{"total":0,"avp":0},"vehicleStatusList":[],"wsTime":1750909118101}
+{"vehicleStats":{"total":0,"avp":0},"vehicleStatusList":[],"wsTime":1750909119103}
+{"vehicleStats":{"total":0,"avp":0},"vehicleStatusList":[],"wsTime":1750909120105}
+{"vehicleStats":{"total":0,"avp":0},"vehicleStatusList":[],"wsTime":1750909121107}
+{"vehicleStats":{"total":0,"avp":0},"vehicleStatusList":[],"wsTime":1750909122109}
+{"vehicleStats":{"total":0,"avp":0},"vehicleStatusList":[],"wsTime":1750909123111}
+{"vehicleStats":{"total":0,"avp":0},"vehicleStatusList":[],"wsTime":1750909124115}
+{"vehicleStats":{"total":0,"avp":0},"vehicleStatusList":[],"wsTime":1750909125116}
+{"vehicleStats":{"total":0,"avp":0},"vehicleStatusList":[],"wsTime":1750909126119}
+{"vehicleStats":{"total":0,"avp":0},"vehicleStatusList":[],"wsTime":1750909127120}
+{"vehicleStats":{"total":0,"avp":0},"vehicleStatusList":[],"wsTime":1750909128122}
+{"vehicleStats":{"total":0,"avp":0},"vehicleStatusList":[],"wsTime":1750909129124}
+{"vehicleStats":{"total":0,"avp":0},"vehicleStatusList":[],"wsTime":1750909130126}
+{"vehicleStats":{"total":0,"avp":0},"vehicleStatusList":[],"wsTime":1750909131128}
+{"vehicleStats":{"total":0,"avp":0},"vehicleStatusList":[],"wsTime":1750909132130}
+{"vehicleStats":{"total":0,"avp":0},"vehicleStatusList":[],"wsTime":1750909133132}
+{"vehicleStats":{"total":0,"avp":0},"vehicleStatusList":[],"wsTime":1750909134134}
+{"vehicleStats":{"total":0,"avp":0},"vehicleStatusList":[],"wsTime":1750909135136}
+{"vehicleStats":{"total":0,"avp":0},"vehicleStatusList":[],"wsTime":1750909136138}
+{"vehicleStats":{"total":0,"avp":0},"vehicleStatusList":[],"wsTime":1750909137140}
+{"vehicleStats":{"total":0,"avp":0},"vehicleStatusList":[],"wsTime":1750909138142}
+{"vehicleStats":{"total":0,"avp":0},"vehicleStatusList":[],"wsTime":1750909139144}
+{"vehicleStats":{"total":0,"avp":0},"vehicleStatusList":[],"wsTime":1750909140146}
+{"vehicleStats":{"total":0,"avp":0},"vehicleStatusList":[],"wsTime":1750909141147}
+{"vehicleStats":{"total":0,"avp":0},"vehicleStatusList":[],"wsTime":1750909142150}
--- a/app/src/main/assets/response.proto
+++ b/app/src/main/assets/response.proto
-
-syntax = "proto3";
-
-option java_package = "com.cusc.imserver.protocol";
-message SocketResponse {
-  int32 code = 1;
-  string msg = 2;
-  int32 msgType = 3; //
-  string data = 4;
-}
--- a/app/src/main/assets/setting.js
+++ b/app/src/main/assets/setting.js
-export default {
-  webSocket: {
-    // url: "ws://127.0.0.1:1884",
-    // url: "wss://10.166.5.5:10443/socket/ws?clientSource=100",
-    url: "wss://faw.cuscavp.cn:8443/socket/ws?clientSource=100",
-    // url: "wss://itg-test.cu-sc.com:13443/WS/socket?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/dataMerge": "/zhixing/v2/PM270/topic/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",
-      "/topic/linePlaning": "/avp/api/VL961/linePlaning",
-      "/topic/partLine": "/avp/api/VL961/partLine",
-      "/topic/rsiEvent": "/avp/api/VL961/rsiEvent",
-    },
-  },
-  cesiumSetting: {
-    defaultAccessToken:
-      "eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJqdGkiOiJiMTgwZWJjMy1iNGVlLTRjYjctOWRlMy0xYmI3NzJmZDA3YzciLCJpZCI6MTAxNTkxLCJpYXQiOjE2NTgxNDAzMzB9.feULjgKOMAUASE9RnhPNkWhg2dvS9NCGupOeJF55I5M",
-  },
-};
--- a/app/src/main/java/com/sd/cavphmi/bean/ParkLinePlan.kt
+++ b/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}
+ * {"vehiclePlate":"吉AC242"}
+ * {"data":{"line":[[125.14359435375829,43.83877834786253],[125.14342925781992,43.83870671502458]],"linkingLine":"118_0.00_-1","spaceCode":"1D-004","taskId":"1937759817639038977","vehicleId":"1700381241280815105","vehicleInfoId":"1694264612474306561","vehiclePlate":"吉AC242"}}
 * **/
 data class ParkLinePlan(
    val line: List<List<Double>>,

--- a/app/src/main/java/com/sd/cavphmi/bean/WebSetBean.kt
+++ b/app/src/main/java/com/sd/cavphmi/bean/WebSetBean.kt
@@ -15,6 +15,7 @@ object WebSetBean {
        "/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
+        "/topic/parkingLockStatusChange" to "/topic/parkingLockStatusChange",// 地锁
    )

    var dic = mapOf(

--- a/app/src/main/java/com/sd/cavphmi/ui/MainActivity.kt
+++ b/app/src/main/java/com/sd/cavphmi/ui/MainActivity.kt
@@ -72,7 +72,7 @@ class MainActivity : BaseActivity<ActivityMainBinding, MainVm>() {

    private fun mockBt() {
        binding.btVehicle.setOnClickListener {
-            viewModel.subVehicle(true).observe(this) {
+            viewModel.subVehicle().observe(this) {
                topicVehicle(it)
            }
        }

--- a/app/src/main/java/com/sd/cavphmi/utils/FileIoUtils.kt
+++ b/app/src/main/java/com/sd/cavphmi/utils/FileIoUtils.kt
@@ -42,7 +42,7 @@ object FileIoUtils {
                e.printStackTrace()
            } finally {
                bf?.close()
-                assetManager.close()
+//                assetManager.close()
            }
            return@withContext  ""
        }

--- a/app/src/main/java/com/sd/cavphmi/viewmodels/MainVm.kt
+++ b/app/src/main/java/com/sd/cavphmi/viewmodels/MainVm.kt
@@ -56,6 +56,9 @@ class MainVm @Inject constructor(
    //模拟操作
    lateinit var mockVM: MockVM

+    //是否需要模拟
+    var isMock = false
+
    //车辆位姿数据
    var carVehicle = MutableLiveData<CarVehicle>()

@@ -156,13 +159,15 @@ class MainVm @Inject constructor(
                    when (result) {
                        is MyResult.Success<OrderBean> -> {
                            println("-------订单信息---- = ${result.data}")
+                            FileIoUtils.writeToFile(gson.toJson(result.data), "order.txt")
                            orderBean.value = result.data
                            var avpStatus = result.data.avpStatus
 //                            var plateNo = result.data.plateNo
+//                            var plateNo = "吉AC242"
                            if (avpStatus == 3) {//泊车
-                                startParkingVehicle("吉AC242")
+                                startParkingVehicle(vehiclePlate)
                            } else if (avpStatus == 5) {//招车
-                                startRecruitmentVehicle("吉AC242")
+                                startRecruitmentVehicle(vehiclePlate)
                            } else {
                                endParkingVehicle() // 结束泊车
                                endRecruitmentVehicle()//// 由招车转为其他状态
@@ -229,24 +234,8 @@ class MainVm @Inject constructor(
    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*/
@@ -272,6 +261,7 @@ class MainVm @Inject constructor(
    fun findPathPlanning(vehiclePlate: String, ifParking: Boolean = true) {
        viewModelScope.launch {
            var result = parseSocketRepo.getLinePlaning(vehiclePlate)
+            FileIoUtils.writeToFile(gson.toJson(result), "http_path.txt")
            when (result) {
                is MyResult.Success -> {
                    var lins = result.data.line
@@ -390,6 +380,7 @@ class MainVm @Inject constructor(
    private var onDataCb = object : MyWebSocketClient.OnDataCb {
        override fun onVehicle(res: Response.SocketResponse) {
            viewModelScope.launch {
+                FileIoUtils.writeToFile(res.data, "CarVehicle.txt")
                val bean =
                    parseSocketRepo.parseDataBean(res.data, CarVehicle::class.java)
                println("------车辆位姿数据 = ${res.data}")
@@ -397,12 +388,12 @@ class MainVm @Inject constructor(
                    heading.set(bean.vehicleData.get(0).heading.toInt())
                    speed.set(bean.vehicleData.get(0).speed)
                }
-//                FileIoUtils.writeToFile(res.data, "carvehicle.txt")
            }
        }

        override fun onVehicleStats(res: Response.SocketResponse) {
            viewModelScope.launch {
+                FileIoUtils.writeToFile(res.data, "vehicleS.txt")
                val bean =
                    parseSocketRepo.parseDataBean(res.data, VehicleStats::class.java)
                println("------联网车辆状态数据 = ${res.data}")
@@ -416,16 +407,15 @@ class MainVm @Inject constructor(
                    driveMode.set(str)
                }
                vehicleStat.value = bean
-                FileIoUtils.writeToFile(res.data, "vehicleS.txt")
            }
        }

        override fun onTarget(res: Response.SocketResponse) {
            viewModelScope.launch {
+                FileIoUtils.writeToFile(res.data, "PerTarget.txt")
                var bean = parseSocketRepo.parseDataBean(res.data, PerTarget::class.java)
                println("-----感知目标物数据 = ${bean}")
                targetPre.value = bean
-//                FileIoUtils.writeToFile(res.data, "target.txt")
            }
        }

@@ -439,25 +429,26 @@ class MainVm @Inject constructor(
        override fun onEndV2x(res: Response.SocketResponse) {
            println("--------V2X预警结束--${res.data}")
            viewModelScope.launch {
-
+                FileIoUtils.writeToFile(res.data, "onEndV2x.txt")
            }
        }

        override fun onPoint(res: Response.SocketResponse) {
            viewModelScope.launch {
                println("-----停车位变更 = ${res.data}")
+                FileIoUtils.writeToFile(res.data, "change_park.txt")
                var bean = parseSocketRepo.parseDataBean(res.data, ParkBean::class.java)
                parkBean.value = bean
-                FileIoUtils.writeToFile(res.data, "park.txt")
            }
        }

        override fun onLinePlaning(res: Response.SocketResponse) {
            viewModelScope.launch {
                println("-----全局路径发生切换 = ${res.data}")
+                FileIoUtils.writeToFile(res.data, "all_line.txt")
                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")
            }
        }
@@ -465,9 +456,9 @@ class MainVm @Inject constructor(
        override fun onPartLine(res: Response.SocketResponse) {
            viewModelScope.launch {
                println("-----局部路径 = ${res.data}")
+                FileIoUtils.writeToFile(res.data, "part_line.txt")
                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")
            }
        }
@@ -486,8 +477,8 @@ class MainVm @Inject constructor(


    /***  联网车辆位姿数据**/
-    fun subVehicle(mock: Boolean = false): LiveData<CarVehicle> {
-        if (mock) {
+    fun subVehicle(): LiveData<CarVehicle> {
+        if (isMock) {
            mockVM.onVehicleMock(carVehicle, heading, speed)
        } else {
            client?.send(getSendData("/topic/vehicle"))
@@ -552,8 +543,8 @@ class MainVm @Inject constructor(
        client?.send(reqStr)
    }

-
-    fun getSendData(key: String): String {
+    /**构建发送体**/
+    private fun getSendData(key: String): String {
        var data = WebSetBean.subDic.get(key)
        var req = ReqBean()
        req.data = data!!

--- a/app/src/main/java/com/sd/cavphmi/viewmodels/MockVM.kt
+++ b/app/src/main/java/com/sd/cavphmi/viewmodels/MockVM.kt
@@ -33,7 +33,7 @@ class MockVM @Inject constructor(
            var dst = mutableListOf<String>()
            FileIoUtils.getAssetMock(context, "mock/carvehicle.txt", dst)
            dst.forEach { str ->
-                delay(3000)
+                delay(1000)
                val bean =
                    parseSocketRepo.parseDataBean(str, CarVehicle::class.java)
                println("------模拟车辆位姿数据 = ${bean}")