调通车辆位姿

app/build.gradle.kts

@@ -78,6 +78,7 @@ dependencies {
     androidTestImplementation(libs.androidx.junit)
     androidTestImplementation(libs.androidx.espresso.core)
 
+    implementation("io.github.cymchad:BaseRecyclerViewAdapterHelper4:4.1.7")
     implementation("com.jakewharton.rxbinding4:rxbinding:4.0.0")
     //屏幕适配
     implementation("com.github.JessYanCoding:AndroidAutoSize:v1.2.1")

app/src/main/java/com/sd/cavphmi/adapter/BIndCarAdapter.kt

+package com.sd.cavphmi.adapter
+
+import android.content.Context
+import android.view.LayoutInflater
+import android.view.ViewGroup
+import androidx.recyclerview.widget.RecyclerView
+import com.chad.library.adapter4.BaseQuickAdapter
+import com.sd.cavphmi.databinding.BindCarListBinding
+
+class BindCarAdapter :
+    BaseQuickAdapter<String, BindCarAdapter.BcVh>() {
+    override fun onCreateViewHolder(
+        context: Context,
+        parent: ViewGroup,
+        viewType: Int
+    ): BcVh {
+        return BcVh(parent)
+    }
+
+    override fun onBindViewHolder(
+        holder: BcVh,
+        position: Int,
+        item: String?
+    ) {
+        holder.show(item!!)
+    }
+
+
+    inner class BcVh(
+        parent: ViewGroup,
+        val binding: BindCarListBinding = BindCarListBinding.inflate(
+            LayoutInflater.from(parent.context),
+            parent,
+            false
+        )
+    ) : RecyclerView.ViewHolder(binding.root) {
+        private var tvPlate = binding.tvPlate
+
+        fun show(str: String) {
+            tvPlate.text = str
+        }
+
+    }
+
+}
\ No newline at end of file

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

@@ -9,12 +9,11 @@ package com.sd.cavphmi.bean
  */
  data class AvpStatuBean(
     val businessType: String,
-    val businessStatus: String,
     val drivenDecision: DrivenDecision,
 //    val exceptionCode: Any,
 //    val exceptionMessage: Any,
-    val haulingNo: String,
-//    val haulingStageState: String,
+//    val haulingNo: String,
+    val haulingStageState: String,//任务状态
     val space: Space,
     val spaceId: String,
     val vehicleContext: VehicleContext,

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

@@ -32,7 +32,7 @@ class CarPanelBean {
     var speed = ObservableField(0)
 
     /***档位**/
-    var tapPos = ObservableField<Int>(-1)
+    var tapPos = ObservableField<Int>(7)
 //    var gear =  ObservableField<Int>()
 
     //剩余电量

app/src/main/java/com/sd/cavphmi/bindadapters/ShowCarPanelObject.kt

@@ -12,6 +12,7 @@ import androidx.databinding.BindingAdapter
 import com.sd.cavphmi.R
 import com.sd.cavphmi.bean.GearStatus
 import com.sd.cavphmi.ui.view.HeadAngelView
+import com.sd.cavphmi.utils.AvpContants
 
 
 object ShowCarPanelObject {
@@ -102,18 +103,29 @@ object ShowCarPanelObject {
     }
 
 
-    /***是否自动驾驶***/
+    /***
+     * 驾驶模式
+     *   UNKNOWN(0, "未知"),
+     *     AUTOMATIC(1, "自动驾驶"),
+     *     MANUAL(2, "人工驾驶"),
+     *     REMOTE(3, "远程驾驶");
+     */
     @JvmStatic
     @BindingAdapter("showAutoDri")
-    fun showAutoDri(tv: TextView, auto: Int) {
+    fun showAutoDri(tv: TextView, auto: String) {
         when (auto) {
-            2, 6 -> {
+            AvpContants.DRIVE_MODE_UNKNOWN -> {
+                tv.text = "未知"
+            }
+            AvpContants.DRIVE_MODE_AUTOMATIC -> {
                 tv.text = "自动驾驶"
             }
-
-            1, 3 -> {
+            AvpContants.DRIVE_MODE_MANUAL -> {
                 tv.text = "人工驾驶"
             }
+            AvpContants.DRIVE_MODE_REMOTE -> {
+                tv.text = "远程驾驶"
+            }
         }
     }
 

app/src/main/java/com/sd/cavphmi/net/SimpleSSEClient.kt

@@ -52,7 +52,6 @@ class SimpleSSEClient {
         }
         val request = build.build()
 
-
         client.newCall(request).enqueue(object : Callback {
             override fun onFailure(call: Call, e: IOException) {
                 listener?.onError(e)
@@ -60,7 +59,7 @@ class SimpleSSEClient {
 
             override fun onResponse(call: Call, response: Response) {
                 if (!response.isSuccessful) {
-                    listener?.onError(IOException("HTTP ${response.code}"))
+                    listener?.onError(IOException("HTTP ${response.code} ${response.message}"))
                     return
                 }
                 calls.add(call)
@@ -92,11 +91,10 @@ class SimpleSSEClient {
                         }
                     }
                 } catch (e: IOException) {
-
+                    e.printStackTrace()
                 } finally {
 //                    response.closeQuietly()
                 }
-
             }
         })
     }
@@ -111,12 +109,14 @@ class SimpleSSEClient {
     /**释放连接***/
     fun cancelContect() {
         CoroutineScope(Dispatchers.Default).launch {
-//            for (call in calls) {
-//                call.cancel()
-//            }
+            for (call in calls) {
+                call.cancel()
+            }
+            calls.clear()
             for (body in responseBodys) {
                 body.closeQuietly()
             }
+            responseBodys.clear()
         }
     }
 

app/src/main/java/com/sd/cavphmi/repositorys/AvpDataRepo.kt

@@ -99,7 +99,7 @@ class AvpDataRepo @Inject constructor(
      * 我们车辆位姿数据用的是 车俩基础信息的id   可绑车辆接口 返回的是 avp车俩id
      * 所以这里的id 是绑定车辆列表返回的id
      */
-    fun getAvpStatus(body: RequestBody?, listener: SSESimpleListener?) {
+    fun getAvpStatus(url: String,body: RequestBody?, listener: SSESimpleListener?) {
         simpleSSEClient.startSSE(
             "${MyContants.HOST}/api/avpweb/hmi/monitor/v1/taskStatus",
             body, listener
@@ -107,12 +107,9 @@ class AvpDataRepo @Inject constructor(
     }
 
     /**获取车辆位姿****/
-    fun getCarPose(body: RequestBody?, listener: SSESimpleListener?) {
+    fun getCarPose(url: String, body: RequestBody?, listener: SSESimpleListener?) {
 //        try {
-        simpleSSEClient.startSSE(
-            "${MyContants.HOST}/api/avpweb/hmi/monitor/v1/monitorDrivenStatus",
-            body, listener
-        )
+        simpleSSEClient.startSSE(url, body, listener)
 //        } catch (e: HttpException) {
 ////                println("e.message = ${e.message}")
 //        } catch (e: Exception) {

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

@@ -2,15 +2,12 @@ package com.sd.cavphmi.ui
 
 import android.content.Intent
 import android.os.Bundle
-import android.util.TimeUtils
-import android.widget.Toast
 import androidx.activity.viewModels
 import androidx.appcompat.app.AppCompatActivity
 import com.jakewharton.rxbinding4.view.clicks
 import com.sd.cavphmi.databinding.ActivityLoginBinding
-import com.sd.cavphmi.ui.view.CustomListDialog
+import com.sd.cavphmi.ui.dialog.SeleBindCarDialog
 import com.sd.cavphmi.utils.MyContants
-import com.sd.cavphmi.utils.SM4CryptoHelper
 import com.sd.cavphmi.viewmodels.LoginVm
 import com.sd.cavphmi.viewmodels.MainVm
 import dagger.hilt.android.AndroidEntryPoint
@@ -26,6 +23,10 @@ class LoginActivity : AppCompatActivity() {
 
     private val PWD = "5803d205ac27f33ea5f53afed4eb81880bee49f06129ea5437c1b940d18da8f1"
 
+    //车牌号选择
+//    private lateinit var seleBindCarDialog: SeleBindCarDialog
+    private  val seleBindCarDialog: SeleBindCarDialog by lazy { SeleBindCarDialog.newInstance() }
+
     override fun onCreate(savedInstanceState: Bundle?) {
         super.onCreate(savedInstanceState)
         binding = ActivityLoginBinding.inflate(layoutInflater)
@@ -39,7 +40,9 @@ class LoginActivity : AppCompatActivity() {
 //            var pp = SM4CryptoHelper.encryptECB(key, pwd.toByteArray())
             loginVm.login(user, PWD, 285369).observe(this) {
                 //获取可绑定车辆
-                getBinderCars()
+                if (it == 1) {
+                    getBinderCars()
+                }
             }
         }
         //  HTTP获取车位占用情况
@@ -64,22 +67,36 @@ class LoginActivity : AppCompatActivity() {
 
     //获取可绑定车辆
     private fun getBinderCars() {
+//        seleBindCarDialog = SeleBindCarDialog.newInstance()
+
         mainVm.getBindCar().observe(this) { bindCars ->
             var plateNumbers = bindCars.map { it.plateNumber }
-            val dialog = CustomListDialog(this, "选择车辆", plateNumbers)
-            dialog.setOnItemClickListener(object : CustomListDialog.OnItemClickListener {
-                override fun onItemClick(position: Int, selectedItem: String) {
-//                    Toast.makeText(
-//                        this@LoginActivity,
-//                        "点击了第${position + 1}项: $selectedItem",
-//                        Toast.LENGTH_SHORT
-//                    ).show()
+
+            seleBindCarDialog.setPlates(plateNumbers)
+            seleBindCarDialog.itemClickListener = object : SeleBindCarDialog.OnItemClickListener {
+                override fun onItemClick(position: Int) {
                     MyContants.VEHICLEID = bindCars.get(position).id
                     startActivity(Intent(this@LoginActivity, MainActivity::class.java))
                     finish()
                 }
-            })
-            dialog.show()
+            }
+            if (!seleBindCarDialog.isAdded){
+                seleBindCarDialog.showNow(supportFragmentManager, "seleBindCarDialog")
+            }
+//            val dialog = CustomListDialog(this, "选择车辆", plateNumbers)
+//            dialog.setOnItemClickListener(object : CustomListDialog.OnItemClickListener {
+//                override fun onItemClick(position: Int, selectedItem: String) {
+////                    Toast.makeText(
+////                        this@LoginActivity,
+////                        "点击了第${position + 1}项: $selectedItem",
+////                        Toast.LENGTH_SHORT
+////                    ).show()
+//                    MyContants.VEHICLEID = bindCars.get(position).id
+//                    startActivity(Intent(this@LoginActivity, MainActivity::class.java))
+//                    finish()
+//                }
+//            })
+//            dialog.show()
         }
     }
 

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

@@ -14,6 +14,7 @@ import com.sd.cavphmi.BR
 import com.sd.cavphmi.R
 import com.sd.cavphmi.base.BaseActivity
 import com.sd.cavphmi.base.MyBaseViewModel
+import com.sd.cavphmi.bean.CarVehicle
 import com.sd.cavphmi.databinding.ActivityMainBinding
 import com.sd.cavphmi.highmap.HighMapApi
 import com.sd.cavphmi.highmap.LockStatu
@@ -24,6 +25,7 @@ import com.sd.cavphmi.intfaces.OnConCan
 import com.sd.cavphmi.net.SimpleSSEClient
 import com.sd.cavphmi.ui.fragment.CarPanelFragment
 import com.sd.cavphmi.ui.fragment.ExoPlayFragment
+import com.sd.cavphmi.utils.AvpContants
 import com.sd.cavphmi.utils.DisplayUtil
 import com.sd.cavphmi.viewmodels.MainVm
 import com.sd.cavphmi.viewmodels.MapOpt
@@ -160,7 +162,11 @@ class MainActivity : BaseActivity<ActivityMainBinding, MyBaseViewModel>() {
 
     override fun getToData() {
         //开启websocket
-//        mainVm.startWS()
+        getTarget()
+        //开启2个HTTP sse
+        getCarVehicle()
+        getAvpStatus()
+
         //获取车位占用情况
 //        getSpaceInfo()
     }
@@ -201,30 +207,39 @@ class MainActivity : BaseActivity<ActivityMainBinding, MyBaseViewModel>() {
         mainVm.getAvpStatus().observe(this) { avpStatu ->
             //业务类型
             var businessType = avpStatu.businessType//NIL Park Call
+            if (businessType == AvpContants.NIL_TYPE)
+                return@observe
             //业务状态
-            var businessStatus =
-                avpStatu.businessStatus//NIL WAITING PROCESSING COMPLETED CANCELLED FAILED
+            var businessStatus = avpStatu.haulingStageState
             //获取档位
             var gearType = avpStatu.vehicleContext.vehicleDynamic.gearType
-            //画全局路径,判断车是否到达停车点
+            //画全局路径
             mapOpt.drawAllLines(avpStatu.drivenDecision)
-            //画小地图小车
-            mapOpt.drawNavingCar(avpStatu.drivenDecision)
             //画终点
             mapOpt.addEndMarker(avpStatu.drivenDecision.endPoint)
-            //画小地图路线
-            mapOpt.drawSmallMapLine(avpStatu.drivenDecision)
-            //判断在泊车状态下的倒挡绘制倒车路线,改变镜头视角
-            mapOpt.drawReversePark(businessType, gearType, avpStatu.space)
+            //生成小地图路线以及二维坐标点
+            mapOpt.takeSmallMapLine(avpStatu.drivenDecision)
+            //判断在泊车状态下的倒挡绘制倒车路线,改变镜头视角,,判断车是否到达停车点
+            mapOpt.drawReversePark(businessStatus, businessType, gearType, avpStatu.space)
             //是否显示车位流光效果
             mapOpt.showParkLight(businessType, avpStatu.space)
-            //根据AVP状态判特效是否关闭
-            mapOpt.showEffectAvpStatu(businessStatus)
+            //根据AVP任务状态判特效是否关闭
+            mapOpt.showEffectAvpStatu(businessType, businessStatus)
+            //重置变量
+//            resetVariable(businessStatus)
             // 是否关闭车内视频
-            if (businessStatus == "CANCELLED" || businessStatus == "COMPLETED" || businessStatus == "FAILED") {
-                exoPlayFragment.videoUrl = ""
-                showVideoFragment(false)
-            }
+//            if (businessStatus == "CANCELLED" || businessStatus == "COMPLETED" || businessStatus == "FAILED") {
+//                exoPlayFragment.videoUrl = ""
+//                showVideoFragment(false)
+//            }
+        }
+    }
+
+    /***重置变量**/
+    fun resetVariable(businessType: String) {
+        if (businessType == AvpContants.NIL_TYPE) {
+            mainVm.isGetVehDetail = false
+            mapOpt.smallMapLine = false
         }
     }
 
@@ -232,9 +247,11 @@ class MainActivity : BaseActivity<ActivityMainBinding, MyBaseViewModel>() {
     private fun getCarVehicle() {
         mainVm.subVehicle().observe(this) { car ->
 //            var car = carBean
-            if (car.vehiclePos == null)
+            if (car.vehiclePos == null || car.vehiclePos.count() < 3)
                 return@observe
 //            setCarCamera(1)
+            //画小地图小车
+            mapOpt.drawSmallCar(car)
             //刷新右下角小车位置
             mapOpt.showNavingCarPosition(car)
             //刷新右下角小地图路径
@@ -308,11 +325,16 @@ class MainActivity : BaseActivity<ActivityMainBinding, MyBaseViewModel>() {
     }
 
     //获取车辆详情，取车内摄像头地址打开左下角的车内视频
-    private fun getVehDetail() {
+    private fun getVehDetail(car: CarVehicle?) {
+        if (car?.businessStatus.equals("EXITED")) {
+            exoPlayFragment.videoUrl = ""
+            showVideoFragment(false)
+            return
+        }
         mainVm.getVehDetail().observe(this) { vehDetail ->
             if (vehDetail.result.vehicleInfos.count() == 0)
                 return@observe
-            var cameraUrl = vehDetail.result.vehicleInfos?.get(0)?.vehicleVideoUrl
+            var cameraUrl = vehDetail.result.vehicleInfos.get(0).vehicleVideoUrl
             println("---cameraUrl = ${cameraUrl}")
             if (exoPlayFragment.videoUrl.isNotEmpty())
                 return@observe
@@ -338,7 +360,7 @@ class MainActivity : BaseActivity<ActivityMainBinding, MyBaseViewModel>() {
         }
         //  HTTP获取车辆详情
         binding.btVehinfo.setOnClickListener {
-            getVehDetail()
+            getVehDetail(null)
         }
         //v2x 预警
         binding.btV2x.setOnClickListener {
@@ -398,7 +420,6 @@ class MainActivity : BaseActivity<ActivityMainBinding, MyBaseViewModel>() {
         }
     }
 
-
     /**
      * Show video play
      * @param isHide false:隐藏 true:显示

app/src/main/java/com/sd/cavphmi/ui/dialog/SeleBindCarDialog.kt

+package com.sd.cavphmi.ui.dialog
+
+import android.os.Bundle
+import android.view.LayoutInflater
+import android.view.View
+import android.view.ViewGroup
+import android.widget.LinearLayout
+import androidx.fragment.app.DialogFragment
+import com.sd.cavphmi.R
+import com.sd.cavphmi.adapter.BindCarAdapter
+import com.sd.cavphmi.databinding.SeleBindCarBinding
+import com.sd.cavphmi.utils.DisplayUtil
+import dagger.hilt.android.AndroidEntryPoint
+import javax.inject.Inject
+
+
+//private const val ARG_PARAM1 = "cars"
+
+/***选择绑定车牌*/
+class SeleBindCarDialog : DialogFragment() {
+
+    private lateinit var binding: SeleBindCarBinding
+
+    interface OnItemClickListener {
+        //        fun onItemClick(position: Int, selectedItem: String)
+        fun onItemClick(position: Int)
+    }
+
+    var itemClickListener: OnItemClickListener? = null
+
+
+    private var bindCarAdapter: BindCarAdapter = BindCarAdapter()
+
+    //车牌号
+    private var plates: List<String>? = null
+
+    override fun onCreate(savedInstanceState: Bundle?) {
+        super.onCreate(savedInstanceState)
+
+//        window?.setDimAmount(0.5f)  override fun onCreate(savedInstanceState: Bundle?) {
+//        arguments?.let {
+//            plates = it.getStringArrayList(ARG_PARAM1)
+//        }
+//        var dialogWidth = DisplayUtil.getScreenWidthPx().times(0.8).toInt()
+//        dialog?.window?.setLayout(dialogWidth, ViewGroup.LayoutParams.WRAP_CONTENT)
+
+    }
+
+    override fun onStart() {
+        super.onStart()
+        var window = dialog?.window
+        window?.setBackgroundDrawableResource(R.color.transparent)
+
+        var dialogWidth = DisplayUtil.getScreenWidthPx().times(0.6).toInt()
+        dialog?.window?.setLayout(
+            dialogWidth,
+            LinearLayout.LayoutParams.WRAP_CONTENT
+        )
+    }
+
+
+    override fun onCreateView(
+        inflater: LayoutInflater, container: ViewGroup?,
+        savedInstanceState: Bundle?
+    ): View? {
+        binding = SeleBindCarBinding.inflate(inflater, container, false)
+        return binding.root
+    }
+
+    override fun onViewCreated(view: View, savedInstanceState: Bundle?) {
+        super.onViewCreated(view, savedInstanceState)
+        binding.recyclerView.adapter = bindCarAdapter
+
+        bindCarAdapter.setOnItemClickListener { adapter, view, position ->
+            itemClickListener?.onItemClick(position)
+            dismissNow()
+        }
+    }
+
+    //设置车牌号
+    fun setPlates(plates: List<String>) {
+        this.plates = plates
+        bindCarAdapter.submitList(plates)
+    }
+
+    companion object {
+        @JvmStatic
+        fun newInstance() = SeleBindCarDialog()
+//        @JvmStatic
+//        fun newInstance(plates: ArrayList<String>) = SeleBindCarDialog().apply {
+//            arguments = Bundle().apply {
+//                putStringArrayList(ARG_PARAM1, plates)
+//            }
+//        }
+    }
+
+}
\ No newline at end of file

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

@@ -7,6 +7,7 @@ import com.sd.cavphmi.R
 import com.sd.cavphmi.base.BaseFragment
 import com.sd.cavphmi.base.MyBaseViewModel
 import com.sd.cavphmi.databinding.FragmentCarPanelBinding
+import com.sd.cavphmi.utils.AvpContants
 import com.sd.cavphmi.viewmodels.CarPanelVM
 import com.sd.cavphmi.viewmodels.MainVm
 import dagger.hilt.android.AndroidEntryPoint
@@ -48,10 +49,32 @@ class CarPanelFragment : BaseFragment<FragmentCarPanelBinding, MyBaseViewModel>(
         mainVm.carVehicle.observe(this) {
             carPanelVM.setCarPanelBean(it)
         }
-//        mainVm.avpStatu.observe(this) {
-//            var gearType = it.vehicleContext.vehicleDynamic.gearType
-//            carPanelVM.setGearType(gearType)
-//        }
+        mainVm.avpStatu.observe(this) {
+            var dynamic = it.vehicleContext.vehicleDynamic
+            //速度
+            carPanelVM.carPanelBean.speed.set(dynamic.speed.toInt())
+            //驾驶模式
+            carPanelVM.carPanelBean.driveMode=dynamic.drivingMode
+           //档位
+            var gearType = dynamic.gearType
+            when (gearType) {
+                AvpContants.GEAR_NEUTRAL -> {
+                    carPanelVM.carPanelBean.tapPos.set(0)
+                }
+                AvpContants.GEAR_PARK -> {
+                    carPanelVM.carPanelBean.tapPos.set(1)
+                }
+                AvpContants.GEAR_DRIVE -> {
+                    carPanelVM.carPanelBean.tapPos.set(2)
+                }
+                AvpContants.GEAR_REVERSE -> {
+                    carPanelVM.carPanelBean.tapPos.set(3)
+                }
+                AvpContants.GEAR_UNKNOWN -> {
+                    carPanelVM.carPanelBean.tapPos.set(7)
+                }
+             }
+        }
     }
 
 

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

@@ -13,6 +13,7 @@ import androidx.fragment.app.activityViewModels
 import androidx.lifecycle.lifecycleScope
 import com.sd.cavphmi.bean.AvpStatuBean
 import com.sd.cavphmi.databinding.FragmentDistantTipBinding
+import com.sd.cavphmi.utils.AvpContants
 import com.sd.cavphmi.utils.MyMapUtils
 import com.sd.cavphmi.viewmodels.MainVm
 import kotlinx.coroutines.launch
@@ -71,8 +72,7 @@ class DistantTipFragment : Fragment() {
         //业务类型
         var businessType = avpStatu.businessType//NIL Park Call
         //业务状态
-        var businessStatus =
-            avpStatu.businessStatus//NIL WAITING PROCESSING COMPLETED CANCELLED FAILED
+        var businessStatus = avpStatu.haulingStageState
         lifecycleScope.launch {
             val vehicleDynamic = avpStatu.vehicleContext.vehicleDynamic
             val endPoint = avpStatu.drivenDecision.trajectory.endPoint
@@ -84,29 +84,23 @@ class DistantTipFragment : Fragment() {
                 endPoint.longitude
             )
 
-            if (businessType == "Park") {
+            if (businessType == AvpContants.Park_TYPE) {
                 when (businessStatus) {
-//                    "WAITING" -> {
-//                        binding.tvTip.text = "正在前往您的车位,距离终点${distance}m"
-//                    }
-                    "PROCESSING" -> {
+                    AvpContants.TRANSPORT_PROGRESS -> {
                         takeStr(distance, 1)
                     }
 
-                    "COMPLETED" -> {
+                    AvpContants.TRANSPORT_COMPLETED, AvpContants.TRANSPORT_CANCELED, AvpContants.TRANSPORT_ABNORMAL -> {
                         clearTipStr()
                     }
                 }
-            } else if (businessType == "Call") {
+            } else if (businessType == AvpContants.CALL_TYPE) {
                 when (businessStatus) {
-//                    "WAITING" -> {
-//                        binding.tvTip.text = "正在前往您召车点,距离乘客${distance}m"
-//                    }
-                    "PROCESSING" -> {
+                    AvpContants.TRANSPORT_PROGRESS -> {
                         takeStr(distance, 2)
                     }
 
-                    "COMPLETED" -> {
+                    AvpContants.TRANSPORT_COMPLETED, AvpContants.TRANSPORT_CANCELED, AvpContants.TRANSPORT_ABNORMAL -> {
                         clearTipStr()
                     }
                 }

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

@@ -72,8 +72,8 @@ class ExoPlayFragment : BaseFragment<FragmentExoPlayBinding, MyBaseViewModel>()
 
     private var player: ExoPlayer? = null
 
-     var videoUrl = "https://itg-yz.cu-sc.com:13443/video/yizhuang/0b130981fd754f7e817797235f399264.live.flv"
-//    var videoUrl = ""
+//     var videoUrl = "https://itg-yz.cu-sc.com:13443/video/yizhuang/0b130981fd754f7e817797235f399264.live.flv"
+    var videoUrl = ""
 
     //用于测试，实际可以传参进来
 //    private var videoUri = "https://faw.cuscavp.cn:8443/hdl/live/3.flv"

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

+package com.sd.cavphmi.utils
+
+/***AVP 常理**/
+object AvpContants {
+    //业务类型
+    val NIL_TYPE = "NIL"
+    val CALL_TYPE = "CALL"
+    val Park_TYPE = "Park"
+
+    //档位
+    val GEAR_REVERSE = "REVERSE"
+    val GEAR_NEUTRAL = "NEUTRAL"
+    val GEAR_PARK = "PARK"
+    val GEAR_DRIVE = "DRIVE"
+    val GEAR_UNKNOWN = "UNKNOWN"
+
+    /***驾驶模式
+     *     UNKNOWN(0, "未知"),
+     *     AUTOMATIC(1, "自动驾驶"),
+     *     MANUAL(2, "人工驾驶"),
+     *     REMOTE(3, "远程驾驶");
+     * **/
+    val DRIVE_MODE_UNKNOWN = "UNKNOWN"
+    val DRIVE_MODE_AUTOMATIC = "AUTOMATIC"
+    val DRIVE_MODE_MANUAL = "MANUAL"
+    val DRIVE_MODE_REMOTE = "REMOTE"
+
+    //业务状态
+    /**
+     * 运输阶段
+     * 泊车有两个阶段 运输阶段(从起点到车位前的倒车入库点)  、停车阶段 (从倒车入库点到车位)，召车只有一个阶段   运输阶段(从车位到终点)
+     */
+    val TRANSPORT_INIT = "TRANSPORT_INIT"// 运输初始阶段
+    val TRANSPORT_SUSPEND = "TRANSPORT_SUSPEND"// 运输初始阶段
+    val TRANSPORT_PROGRESS = "TRANSPORT_PROGRESS" // 运输进行中
+    val TRANSPORT_WAIT = "TRANSPORT_WAIT" // 运输等待
+    val TRANSPORT_RESUMING = "TRANSPORT_RESUMING" // 恢复运输
+    val TRANSPORT_COMPLETED = "TRANSPORT_COMPLETED" // 运输完成
+    val TRANSPORT_CANCELED = "TRANSPORT_CANCELED"// 取消运输
+    val TRANSPORT_ABNORMAL = "TRANSPORT_ABNORMAL" // 运输异常
+
+    /**
+     * 停车阶段
+     */
+    val PARK_INIT = "PARK_INIT" // 泊车初始阶段
+    val PARK_SUSPEND = "PARK_SUSPEND" // 泊车阶段挂起
+    val PARK_PROGRESS = "PARK_PROGRESS" // 泊车进行中
+    val PARK_WAIT = "PARK_WAIT" // 泊车等待
+    val PARK_RESUMING = "PARK_RESUMING" // 泊车恢复
+    val PARK_COMPLETED = "PARK_COMPLETED" // 泊车完成
+    val PARK_CANCELED = "PARK_CANCELED" // 取消泊车
+    val PARK_ABNORMAL = "PARK_ABNORMAL"// 泊车异常
+
+    /**
+     * 人工接管
+     */
+    val MANUAL_TAKEOVER_COMPLETED = "MANUAL_TAKEOVER_COMPLETED"
+
+}
\ No newline at end of file

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

@@ -16,7 +16,7 @@ import javax.inject.Inject
 class LoginVm @Inject constructor(private var avpDataRepo: AvpDataRepo) : ViewModel() {
 
     //1= 登录成功 0 = 登录失败
-    var lLogin = MutableLiveData(-1)
+    var lLogin = MutableLiveData(0)
     var loginData = MutableLiveData<String>()
         get() = field
         set(value) {
@@ -36,17 +36,18 @@ class LoginVm @Inject constructor(private var avpDataRepo: AvpDataRepo) : ViewMo
         pwd: String,
         verifyCode: Int
     ): LiveData<Int> {
+        lLogin.value = 0
         viewModelScope.launch {
             var result = avpDataRepo.login(user, pwd, verifyCode)
             when (result) {
                 is MyResult.Success<String> -> {
                     MyContants.HTTP_TOKEN = result.data
-                    loginData.postValue("true")
-                    lLogin.value = 1
+//                    loginData.postValue("true")
+                    lLogin.postValue(1)
                 }
 
                 else -> {
-                    lLogin.value = 0
+                    lLogin.postValue(0)
                 }
             }
         }

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

@@ -39,7 +39,6 @@ import com.sd.cavphmi.websockets.V2xWSClient
 import com.sd.cavphmi.websockets.VecLocWSClient
 import dagger.hilt.android.lifecycle.HiltViewModel
 import dagger.hilt.android.qualifiers.ApplicationContext
-import kotlinx.coroutines.Job
 import kotlinx.coroutines.delay
 import kotlinx.coroutines.launch
 import java.net.URI
@@ -92,6 +91,9 @@ class MainVm @Inject constructor(
     //车辆详情
     var vehDetail = MutableLiveData<VehDetailBean>()
 
+    //是否获取过车辆详情
+    var isGetVehDetail = false
+
     //感知目标物
     var targetPre = MutableLiveData<PerceptionBean>()
 
@@ -110,19 +112,6 @@ class MainVm @Inject constructor(
     //获取已绑定车辆列表
     var bindCars = MutableLiveData<List<BindResult>>()
 
-//    fun startWS() {
-//        val httpHeaders = mutableMapOf<String, String>()
-//        httpHeaders.put("Cookie", "username=nemo")
-//        try {
-//            client = MyWebSocketClient(URI(MyContants.WS_HOST))
-//            client?.onSocketCb = onSocketCb
-//            client?.onDataCb = onDataCb
-//            client?.connect()
-//        } catch (e: Exception) {
-//
-//        }
-//    }
-
     /***清理资源***/
     fun cleanRes() {
         sockets.forEach {
@@ -134,8 +123,10 @@ class MainVm @Inject constructor(
 
     //获取车辆详情 传{}就行，正常应该是传场地ID，但是亦庄这个和太和桥车是一样的,用于拿到车内视频
     fun getVehDetail(id: String = ""): LiveData<VehDetailBean> {
+        if (isGetVehDetail)
+            return vehDetail
+        isGetVehDetail = true
         viewModelScope.launch {
-//            while (isActive) {
             var result = avpDataRepo.getVehDetail(id)
             when (result) {
                 is MyResult.Success<VehDetailBean> -> {
@@ -145,8 +136,6 @@ class MainVm @Inject constructor(
                 else -> {
                 }
             }
-            delay(2000)
-//            }
         }
         return vehDetail
     }
@@ -173,12 +162,14 @@ class MainVm @Inject constructor(
 
     //HTTP获取AVP状态
     fun getAvpStatus(): LiveData<AvpStatuBean> {
-        if (isMock){
+        if (isMock) {
 
-        }else{
+        } else {
+            var url = "${MyContants.HOST}/api/avpweb/hmi/monitor/v1/taskStatus"
             var body = RequestBodyUtil.toRequestBody(mapOf("id" to MyContants.VEHICLEID))
-            avpDataRepo.getAvpStatus(body, object : SimpleSSEClient.SSESimpleListener {
+            avpDataRepo.getAvpStatus(url, body, object : SimpleSSEClient.SSESimpleListener {
                 override fun onOpen() {
+                    println("--------Http AVP状态  Sse open url = ${url}")
                 }
 
                 override fun onEvent(data: String) {
@@ -193,6 +184,7 @@ class MainVm @Inject constructor(
                 }
 
                 override fun onError(throwable: Throwable) {
+                    println("------getAvpStatus throwable = ${throwable}")
                 }
 
                 override fun onClosed() {
@@ -210,17 +202,19 @@ class MainVm @Inject constructor(
      */
     fun subVehicle(): LiveData<CarVehicle> {
         if (isMock) {
-            mockVM.onVehicleMock(carVehicle)
+            mockVM.subVehicle(carVehicle)
         } else {
+            var url = "${MyContants.HOST}/api/avpweb/hmi/monitor/v1/monitorDrivenStatus"
             var body = RequestBodyUtil.toRequestBody(mapOf("id" to MyContants.VEHICLEID))
-            avpDataRepo.getCarPose(body, object : SimpleSSEClient.SSESimpleListener {
+            avpDataRepo.getCarPose(url, body, object : SimpleSSEClient.SSESimpleListener {
                 override fun onOpen() {
+                    println("--------Http车辆位姿  Sse open url = ${url}")
                 }
 
                 override fun onEvent(data: String) {
                     viewModelScope.launch {
                         if (data.isNotEmpty()) {
-                            println("-----车辆位姿 = ${data}")
+//                            println("-----车辆位姿 = ${data}")
                             FileIoUtils.writeToFile(data, "CarVehicle.txt")
                             var result = gson.fromJson<CarVehicle>(data, CarVehicle::class.java)
                             carVehicle.postValue(result)
@@ -518,6 +512,7 @@ class MainVm @Inject constructor(
         ToastHelper.showCustViewShort(context, imgs.get("2")!!)
     }
 
+
     /*fun d1() {
         try {
             vecLocWSClient.onWebSocketCb = object : OnWebSocketCb {

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

@@ -22,6 +22,7 @@ import com.sd.cavphmi.bean.Space
 import com.sd.cavphmi.highmap.AllLine
 import com.sd.cavphmi.highmap.HighMapApi
 import com.sd.cavphmi.highmap.ReverCar
+import com.sd.cavphmi.utils.AvpContants
 import com.sd.cavphmi.utils.Proj4jCoord
 import dagger.hilt.android.lifecycle.HiltViewModel
 import dagger.hilt.android.qualifiers.ApplicationContext
@@ -43,10 +44,10 @@ class MapOpt @Inject constructor(
     //路径规划终点
     private var pEndMarker: Marker? = null
 
-    //小地图点坐标集合
+    //小地图路径点坐标集合
     private var sLatLngs: Array<Point>? = null
 
-    // 坐标点串 (02坐标系)
+    // 小地图路径坐标点串 (02坐标系)
     private var coordinateSeries = ArrayList<DoubleArray>()
     private var sPolyline: Polyline? = null
 
@@ -54,7 +55,7 @@ class MapOpt @Inject constructor(
     private var isReversePark = false
 
     //是否生成小地图线
-    private var smallMapLine = false
+    var smallMapLine = false
 
     //全局路径
     private var allLines: List<AllLine>? = null
@@ -75,8 +76,8 @@ class MapOpt @Inject constructor(
         }
         var arrived = drivenDecision.trajectory.arrived
         if (arrived) {
-            HighMapApi.setCameraDistance(30f)
-            HighMapApi.setCarNavPath(emptyList())
+//            HighMapApi.setCameraDistance(30f)
+//            HighMapApi.setCarNavPath(emptyList())
         }
     }
 
@@ -97,25 +98,51 @@ class MapOpt @Inject constructor(
         }
     }
 
+
+    /****根据车辆位置 画局部图小车*/
+    fun drawSmallCar(car: CarVehicle) {
+        synchronized(this) {
+            if (mSmallMapCar == null && car.vehiclePos != null) {
+                var point =
+                    LatLng(car.vehiclePos.get(1), car.vehiclePos.get(0))
+                mSmallMapCar = MyLocationStyle("res/icons/carIconInSmallMap.png", true)
+                mSmallMapCar?.myLocationType(MyLocationStyle.LOCATION_TYPE_EXTERNAL)
+                val scaleFactor = -
+                Math.round(((10 * NativeEnv.getDpi() * 2) * 10 / (160 * 48)).toFloat())
+                    .toFloat() / 10
+                mSmallMapCar?.scaleFactor(scaleFactor)
+                mSmallMapCar?.anchor(0.5f, 0.5f)
+                mSmallMapCar?.setPosition(point)
+                mMineMap?.setMyLocationStyle(mSmallMapCar)
+            }
+        }
+    }
+
     /**
      * 刷新右下角小车位置
      */
     fun showNavingCarPosition(carVehicle: CarVehicle) {
+        if (carVehicle.vehiclePos == null)
+            return
         synchronized(NativeEnv.SyncObject) {
             var ndsLatLng = LatLng(carVehicle.vehiclePos!!.get(1), carVehicle.vehiclePos.get(0))
             var heading = carVehicle.vehiclePos.get(2).toFloat()
             //刷新小地图自车位置
             if (mSmallMapCar != null) {
-                mSmallMapCar!!.orientAngle((heading + 40) % 360)
+//                mSmallMapCar!!.orientAngle((heading + 40) % 360)
+                mSmallMapCar!!.orientAngle(0f - 180f - heading)
+//                mSmallMapCar!!.orientAngle((heading + 180) % 360)
                 mSmallMapCar!!.setPositionNds(ndsLatLng)
             }
         }
     }
 
-    //画小地图路线
-    fun drawSmallMapLine(drivenDecision: DrivenDecision) {
+    /***生成小地图路线 并转化为二维坐标系*/
+    fun takeSmallMapLine(drivenDecision: DrivenDecision) {
         if (smallMapLine)
             return
+        if (coordinateSeries.count() > 0)
+            return
         if (drivenDecision.trajectory.points.count() > 0) {
             smallMapLine = true
             //转换小弟提路径点
@@ -133,7 +160,7 @@ class MapOpt @Inject constructor(
 
     //更新小地图路径
     fun upSmallMapLine(carVehicle: CarVehicle) {
-        deleteSmapLine()
+//        deleteSmapLine()
         viewModelScope.launch(Dispatchers.Default) {
             if (coordinateSeries.count() > 0) {
                 //当前车辆位置
@@ -148,13 +175,13 @@ class MapOpt @Inject constructor(
                 var temps = sLatLngs?.sliceArray(index..sLatLngs!!.lastIndex)
 
                 deleteSmapLine()
-                if (sLatLngs == null) {
-                    sPolyline = Polyline(temps, false)
-                    sPolyline?.setStrokeStyle(Overlay.StrokeStyle.solidWithButt)
-                    sPolyline?.setWidth(8f)
-                    sPolyline?.setColor(0xFF00B578.toInt())
-                    mMineMap?.addOverlay(sPolyline)
-                }
+//                if (sPolyline == null) {
+                sPolyline = Polyline(temps, false)
+                sPolyline?.setStrokeStyle(Overlay.StrokeStyle.solidWithButt)
+                sPolyline?.setWidth(8f)
+                sPolyline?.setColor(0xFF00B578.toInt())
+                mMineMap?.addOverlay(sPolyline)
+//                }
             }
         }
     }
@@ -174,27 +201,38 @@ class MapOpt @Inject constructor(
     }
 
 
-    //判断在泊车状态下的倒挡绘制倒车路线
-    fun drawReversePark(businessType: String, gearType: String, space: Space) {
-        if (businessType == "Park" && gearType == "REVERSE") {
+    //判断在泊车状态下的倒挡绘制倒车路线,改变视角
+    fun drawReversePark(
+        businessType: String,
+        businessStatus: String,
+        gearType: String,
+        space: Space
+    ) {
+        if (businessType == AvpContants.Park_TYPE) {
+            if (businessStatus == AvpContants.TRANSPORT_COMPLETED) {
+                HighMapApi.setCameraDistance(30f)
+                HighMapApi.setCameraAngle(60f)
+            } else if (businessStatus == AvpContants.PARK_PROGRESS) {
+                HighMapApi.setCameraDistance(20f)
+                HighMapApi.setCameraAngle(90f)
+
+                var reverCar = ReverCar().apply {
+                    this.cenLat = space.centerLatitude
+                    this.cenLng = space.centerLongitude
+                    this.code = space.code
+                }
+                HighMapApi.setParkRever(reverCar)
+            }
 //            if (isReversePark)
 //                return
 //            isReversePark = true
-            HighMapApi.setCameraDistance(20f)
-
-            var reverCar = ReverCar().apply {
-                this.cenLat = space.centerLatitude
-                this.cenLng = space.centerLongitude
-                this.code = space.code
-            }
-            HighMapApi.setParkRever(reverCar)
         }
     }
 
 
     //是否显示车位流光效果
     fun showParkLight(businessType: String, space: Space) {
-        if (businessType == "Park") {
+        if (businessType == AvpContants.Park_TYPE) {
             HighMapApi.parkRoundLight(space.code)
         } else {
 //            HighMapApi.parkRoundLight("")
@@ -203,16 +241,23 @@ class MapOpt @Inject constructor(
 
 
     //根据AVP状态判特效是否关闭
-    fun showEffectAvpStatu(businessStatus: String) {
-        if (businessStatus == "CANCELLED" || businessStatus == "COMPLETED" || businessStatus == "FAILED") {
-            HighMapApi.setCarNavPath(listOf())
-            HighMapApi.parkRoundLight("")
-            //消除泊车特效
-            HighMapApi.setParkComplete(true)
+    fun showEffectAvpStatu(businessType: String, businessStatus: String) {
+        //到达召，停车点
+        if (businessType == AvpContants.TRANSPORT_COMPLETED || businessType == AvpContants.TRANSPORT_CANCELED || businessType == AvpContants.TRANSPORT_ABNORMAL) {
+            HighMapApi.setCarNavPath(emptyList())//消除全局路径
             //删除终点mark
             deleteEndMarker()
-        } else {
-
+            //清除小地图路径数据
+            clearSmallLineData()
+        }
+        //倒车完成
+        if (businessType == AvpContants.Park_TYPE) {
+            if (businessStatus == AvpContants.PARK_COMPLETED) {
+                //消除车位流光特效
+                HighMapApi.parkRoundLight("")
+                //消除泊车特效
+                HighMapApi.setParkComplete(true)
+            }
         }
     }
 
@@ -222,6 +267,8 @@ class MapOpt @Inject constructor(
      */
     private fun deleteEndMarker() {
         if (pEndMarker != null) {
+
+
             mMineMap?.removeMarker(pEndMarker)
             pEndMarker = null
         }
@@ -246,5 +293,11 @@ class MapOpt @Inject constructor(
         }
     }
 
+    //清除小地图路径数据
+    fun clearSmallLineData() {
+        coordinateSeries.clear()
+        sLatLngs?.toMutableList()?.clear()
+    }
+
 
 }
\ No newline at end of file