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Commit d0e4e0f9 authored by p x's avatar p x
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增加文档

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README.md
View file @ d0e4e0f9
...@@ -39,4 +39,15 @@ var dic = mapOf( ...@@ -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 ## 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
app/src/main/assets/PointCloud.proto deleted 100644 → 0
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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;
}
app/src/main/assets/avphmi-demo.vue deleted 100644 → 0
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app/src/main/assets/comfunc.js deleted 100644 → 0
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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;
}
app/src/main/assets/main-view.vue deleted 100644 → 0
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app/src/main/assets/mock/CarVehicle.txt 0 → 100644
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app/src/main/assets/mock/PerTarget.txt 0 → 100644
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app/src/main/assets/mock/carvehicle.txt deleted 100644 → 0
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app/src/main/assets/mock/http_path.txt 0 → 100644
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{"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":{"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":{"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":{"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":{"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":{"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":{"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":{"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":{"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":{"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":{"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"}}
app/src/main/assets/mock/park.txt deleted 100644 → 0
View file @ a3f2ec3b
{"callOrBackPoint":"125.1424934543.83896992","centrePoint":"125.14337396,43.83873198","extendPoint":"125.14333880,43.83866747","parkingSpace":"1D-001"}
app/src/main/assets/mock/target.txt deleted 100644 → 0
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app/src/main/assets/mock/vehicleS.txt 0 → 100644
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app/src/main/assets/response.proto deleted 100644 → 0
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syntax = "proto3";
option java_package = "com.cusc.imserver.protocol";
message SocketResponse {
int32 code = 1;
string msg = 2;
int32 msgType = 3; //
string data = 4;
}
app/src/main/assets/setting.js deleted 100644 → 0
View file @ a3f2ec3b
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",
},
};
app/src/main/java/com/sd/cavphmi/bean/ParkLinePlan.kt
View file @ d0e4e0f9
package com.sd.cavphmi.bean package com.sd.cavphmi.bean
/**开始泊车，获取路径规划 /**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( data class ParkLinePlan(
val line: List<List<Double>>, val line: List<List<Double>>,
......
app/src/main/java/com/sd/cavphmi/bean/WebSetBean.kt
View file @ d0e4e0f9
...@@ -15,6 +15,7 @@ object WebSetBean { ...@@ -15,6 +15,7 @@ object WebSetBean {
"/topic/linePlaning" to "/avp/api/VL961/linePlaning",//全局路径发生切换 "/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/partLine" to "/avp/api/VL961/partLine",// // 局部路径
"/topic/rsiEvent" to "/avp/api/VL961/rsiEvent",// rsi事件 "/topic/rsiEvent" to "/avp/api/VL961/rsiEvent",// rsi事件
"/topic/parkingLockStatusChange" to "/topic/parkingLockStatusChange",// 地锁
) )
var dic = mapOf( var dic = mapOf(
......
app/src/main/java/com/sd/cavphmi/ui/MainActivity.kt
View file @ d0e4e0f9
...@@ -72,7 +72,7 @@ class MainActivity : BaseActivity<ActivityMainBinding, MainVm>() { ...@@ -72,7 +72,7 @@ class MainActivity : BaseActivity<ActivityMainBinding, MainVm>() {
private fun mockBt() { private fun mockBt() {
binding.btVehicle.setOnClickListener { binding.btVehicle.setOnClickListener {
viewModel.subVehicle(true).observe(this) { viewModel.subVehicle().observe(this) {
topicVehicle(it) topicVehicle(it)
} }
} }
......
app/src/main/java/com/sd/cavphmi/utils/FileIoUtils.kt
View file @ d0e4e0f9
...@@ -42,7 +42,7 @@ object FileIoUtils { ...@@ -42,7 +42,7 @@ object FileIoUtils {
e.printStackTrace() e.printStackTrace()
} finally { } finally {
bf?.close() bf?.close()
assetManager.close() // assetManager.close()
} }
return@withContext "" return@withContext ""
} }
......
app/src/main/java/com/sd/cavphmi/viewmodels/MainVm.kt
View file @ d0e4e0f9
...@@ -56,6 +56,9 @@ class MainVm @Inject constructor( ...@@ -56,6 +56,9 @@ class MainVm @Inject constructor(
//模拟操作 //模拟操作
lateinit var mockVM: MockVM lateinit var mockVM: MockVM
//是否需要模拟
var isMock = false
//车辆位姿数据 //车辆位姿数据
var carVehicle = MutableLiveData<CarVehicle>() var carVehicle = MutableLiveData<CarVehicle>()
...@@ -156,13 +159,15 @@ class MainVm @Inject constructor( ...@@ -156,13 +159,15 @@ class MainVm @Inject constructor(
when (result) { when (result) {
is MyResult.Success<OrderBean> -> { is MyResult.Success<OrderBean> -> {
println("-------订单信息---- = ${result.data}") println("-------订单信息---- = ${result.data}")
FileIoUtils.writeToFile(gson.toJson(result.data), "order.txt")
orderBean.value = result.data orderBean.value = result.data
var avpStatus = result.data.avpStatus var avpStatus = result.data.avpStatus
// var plateNo = result.data.plateNo // var plateNo = result.data.plateNo
// var plateNo = "吉AC242"
if (avpStatus == 3) {//泊车 if (avpStatus == 3) {//泊车
startParkingVehicle("吉AC242") startParkingVehicle(vehiclePlate)
} else if (avpStatus == 5) {//招车 } else if (avpStatus == 5) {//招车
startRecruitmentVehicle("吉AC242") startRecruitmentVehicle(vehiclePlate)
} else { } else {
endParkingVehicle() // 结束泊车 endParkingVehicle() // 结束泊车
endRecruitmentVehicle()//// 由招车转为其他状态 endRecruitmentVehicle()//// 由招车转为其他状态
...@@ -229,24 +234,8 @@ class MainVm @Inject constructor( ...@@ -229,24 +234,8 @@ class MainVm @Inject constructor(
private fun startRecruitmentVehicle(vehiclePlate: String) { private fun startRecruitmentVehicle(vehiclePlate: String) {
// worker不处理路径规划显示的路径 // worker不处理路径规划显示的路径
this.needDealPath = true this.needDealPath = true
// 获取规划好的路径 // 获取规划好的路径
findPathPlanning(vehiclePlate, false) 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*/ /** 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( ...@@ -272,6 +261,7 @@ class MainVm @Inject constructor(
fun findPathPlanning(vehiclePlate: String, ifParking: Boolean = true) { fun findPathPlanning(vehiclePlate: String, ifParking: Boolean = true) {
viewModelScope.launch { viewModelScope.launch {
var result = parseSocketRepo.getLinePlaning(vehiclePlate) var result = parseSocketRepo.getLinePlaning(vehiclePlate)
FileIoUtils.writeToFile(gson.toJson(result), "http_path.txt")
when (result) { when (result) {
is MyResult.Success -> { is MyResult.Success -> {
var lins = result.data.line var lins = result.data.line
...@@ -390,6 +380,7 @@ class MainVm @Inject constructor( ...@@ -390,6 +380,7 @@ class MainVm @Inject constructor(
private var onDataCb = object : MyWebSocketClient.OnDataCb { private var onDataCb = object : MyWebSocketClient.OnDataCb {
override fun onVehicle(res: Response.SocketResponse) { override fun onVehicle(res: Response.SocketResponse) {
viewModelScope.launch { viewModelScope.launch {
FileIoUtils.writeToFile(res.data, "CarVehicle.txt")
val bean = val bean =
parseSocketRepo.parseDataBean(res.data, CarVehicle::class.java) parseSocketRepo.parseDataBean(res.data, CarVehicle::class.java)
println("------车辆位姿数据 = ${res.data}") println("------车辆位姿数据 = ${res.data}")
...@@ -397,12 +388,12 @@ class MainVm @Inject constructor( ...@@ -397,12 +388,12 @@ class MainVm @Inject constructor(
heading.set(bean.vehicleData.get(0).heading.toInt()) heading.set(bean.vehicleData.get(0).heading.toInt())
speed.set(bean.vehicleData.get(0).speed) speed.set(bean.vehicleData.get(0).speed)
} }
// FileIoUtils.writeToFile(res.data, "carvehicle.txt")
} }
} }
override fun onVehicleStats(res: Response.SocketResponse) { override fun onVehicleStats(res: Response.SocketResponse) {
viewModelScope.launch { viewModelScope.launch {
FileIoUtils.writeToFile(res.data, "vehicleS.txt")
val bean = val bean =
parseSocketRepo.parseDataBean(res.data, VehicleStats::class.java) parseSocketRepo.parseDataBean(res.data, VehicleStats::class.java)
println("------联网车辆状态数据 = ${res.data}") println("------联网车辆状态数据 = ${res.data}")
...@@ -416,16 +407,15 @@ class MainVm @Inject constructor( ...@@ -416,16 +407,15 @@ class MainVm @Inject constructor(
driveMode.set(str) driveMode.set(str)
} }
vehicleStat.value = bean vehicleStat.value = bean
FileIoUtils.writeToFile(res.data, "vehicleS.txt")
} }
} }
override fun onTarget(res: Response.SocketResponse) { override fun onTarget(res: Response.SocketResponse) {
viewModelScope.launch { viewModelScope.launch {
FileIoUtils.writeToFile(res.data, "PerTarget.txt")
var bean = parseSocketRepo.parseDataBean(res.data, PerTarget::class.java) var bean = parseSocketRepo.parseDataBean(res.data, PerTarget::class.java)
println("-----感知目标物数据 = ${bean}") println("-----感知目标物数据 = ${bean}")
targetPre.value = bean targetPre.value = bean
// FileIoUtils.writeToFile(res.data, "target.txt")
} }
} }
...@@ -439,25 +429,26 @@ class MainVm @Inject constructor( ...@@ -439,25 +429,26 @@ class MainVm @Inject constructor(
override fun onEndV2x(res: Response.SocketResponse) { override fun onEndV2x(res: Response.SocketResponse) {
println("--------V2X预警结束--${res.data}") println("--------V2X预警结束--${res.data}")
viewModelScope.launch { viewModelScope.launch {
FileIoUtils.writeToFile(res.data, "onEndV2x.txt")
} }
} }
override fun onPoint(res: Response.SocketResponse) { override fun onPoint(res: Response.SocketResponse) {
viewModelScope.launch { viewModelScope.launch {
println("-----停车位变更 = ${res.data}") println("-----停车位变更 = ${res.data}")
FileIoUtils.writeToFile(res.data, "change_park.txt")
var bean = parseSocketRepo.parseDataBean(res.data, ParkBean::class.java) var bean = parseSocketRepo.parseDataBean(res.data, ParkBean::class.java)
parkBean.value = bean parkBean.value = bean
FileIoUtils.writeToFile(res.data, "park.txt")
} }
} }
override fun onLinePlaning(res: Response.SocketResponse) { override fun onLinePlaning(res: Response.SocketResponse) {
viewModelScope.launch { viewModelScope.launch {
println("-----全局路径发生切换 = ${res.data}") 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) var bean = parseSocketRepo.parseDataBean(res.data, LinePlaningBean::class.java)
// parkBean.value = bean // parkBean.value = bean
FileIoUtils.writeToFile(res.data, "line_plan.txt")
// FileIoUtils.writeToFile(gson.toJson(bean), "line_plan.txt") // FileIoUtils.writeToFile(gson.toJson(bean), "line_plan.txt")
} }
} }
...@@ -465,9 +456,9 @@ class MainVm @Inject constructor( ...@@ -465,9 +456,9 @@ class MainVm @Inject constructor(
override fun onPartLine(res: Response.SocketResponse) { override fun onPartLine(res: Response.SocketResponse) {
viewModelScope.launch { viewModelScope.launch {
println("-----局部路径 = ${res.data}") println("-----局部路径 = ${res.data}")
FileIoUtils.writeToFile(res.data, "part_line.txt")
var bean = parseSocketRepo.parseDataBean(res.data, PartLineBean::class.java) var bean = parseSocketRepo.parseDataBean(res.data, PartLineBean::class.java)
// parkBean.value = bean // parkBean.value = bean
FileIoUtils.writeToFile(res.data, "part_line.txt")
// FileIoUtils.writeToFile(gson.toJson(bean), "part_line.txt") // FileIoUtils.writeToFile(gson.toJson(bean), "part_line.txt")
} }
} }
...@@ -486,8 +477,8 @@ class MainVm @Inject constructor( ...@@ -486,8 +477,8 @@ class MainVm @Inject constructor(
/*** 联网车辆位姿数据**/ /*** 联网车辆位姿数据**/
fun subVehicle(mock: Boolean = false): LiveData<CarVehicle> { fun subVehicle(): LiveData<CarVehicle> {
if (mock) { if (isMock) {
mockVM.onVehicleMock(carVehicle, heading, speed) mockVM.onVehicleMock(carVehicle, heading, speed)
} else { } else {
client?.send(getSendData("/topic/vehicle")) client?.send(getSendData("/topic/vehicle"))
...@@ -552,8 +543,8 @@ class MainVm @Inject constructor( ...@@ -552,8 +543,8 @@ class MainVm @Inject constructor(
client?.send(reqStr) client?.send(reqStr)
} }
/**构建发送体**/
fun getSendData(key: String): String { private fun getSendData(key: String): String {
var data = WebSetBean.subDic.get(key) var data = WebSetBean.subDic.get(key)
var req = ReqBean() var req = ReqBean()
req.data = data!! req.data = data!!
......
app/src/main/java/com/sd/cavphmi/viewmodels/MockVM.kt
View file @ d0e4e0f9
...@@ -33,7 +33,7 @@ class MockVM @Inject constructor( ...@@ -33,7 +33,7 @@ class MockVM @Inject constructor(
var dst = mutableListOf<String>() var dst = mutableListOf<String>()
FileIoUtils.getAssetMock(context, "mock/carvehicle.txt", dst) FileIoUtils.getAssetMock(context, "mock/carvehicle.txt", dst)
dst.forEach { str -> dst.forEach { str ->
delay(3000) delay(1000)
val bean = val bean =
parseSocketRepo.parseDataBean(str, CarVehicle::class.java) parseSocketRepo.parseDataBean(str, CarVehicle::class.java)
println("------模拟车辆位姿数据 = ${bean}") println("------模拟车辆位姿数据 = ${bean}")
......
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