录像socket推数据

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

@@ -40,11 +40,6 @@ class CarPanelBean {
     //转向灯 1=left 2=right
     var lights = ObservableField<Int>(-1)
 
-   /*** 枚举类型：[0..9]，1：人工接管（人工驾驶）；2：单车自控（自动驾
-    * 驶）；3：云端支持下的人工驾驶；4：云端支持下的自动驾驶；5：非
-    * 主驾位置人工驾驶（不启用）；6：脱离（非自动驾驶行程自动结束下
-    * 的接管）；7：远程驾驶（非现场人工驾驶）；8：未处于任何驾驶模式；
-    * 9：其他未定义状态；0xFF 表示缺省*/
     var driveMode = ObservableField("")
 
     //航向角0.。360

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

+package com.sd.cavphmi.bean
+
+/***感知延时**/
+data class PreDelay(
+    val id: String,
+    val level: Int,
+    val objects: List<PObject>,
+    val reportTime: Long,
+    val startTime: Long,
+    val type: Int,
+    val typeName: String
+)
+
+data class PObject(
+    val elevation: Double,
+    val id: String,
+    val latitude: Double,
+    val longitude: Double,
+    val name: String
+)
\ No newline at end of file

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

+package com.sd.cavphmi.bean
+
+/****交通信号灯****/
+class TrafficLightBean {
+}
\ No newline at end of file

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

+package com.sd.cavphmi.bean
+
+/****交通感知****/
+class TrafficPerBean {
+}
\ No newline at end of file

app/src/main/java/com/sd/cavphmi/bean/V2xStartBean.kt

 package com.sd.cavphmi.bean
-/**V2x 预警开始***/
-class V2xStartBean {
-}
+/**V2x 预警开始
+ * {"id":"39709073452974080","objects":[{"id":"269","name":"Vehicle","longitude":117.3470947,"latitude":38.9947742,"elevation":500.0},{"id":"100228","name":"Participants","longitude":117.347007,"latitude":38.994787,"elevation":500.0}],"type":1,"typeName":"前向碰撞预警","level":1,"startTime":1754533787716,"reportTime":1754533797778}
+ * ***/
\ No newline at end of file
+data class V2xStartBean(
+    val id: String,
+    val level: Int,
+    val objects: List<VObject>,////记录具体是哪两个对象发生了预警
+    val reportTime: Long,
+    val startTime: Long,
+    val type: Int,
+    val typeName: String
+)
+
+data class VObject(
+    val elevation: Double,
+    val id: String,
+    val latitude: Double,
+    val longitude: Double,
+    val name: String
+)
\ No newline at end of file

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

@@ -41,6 +41,7 @@ class MainActivity : BaseActivity<ActivityMainBinding, MainVm>() {
     private val avpMapVM: AvpMapVM by viewModels()
 
     private lateinit var dialogFragment: ExitAppDialog
+
     //汽车仪表
     private val carPanelFragment by lazy { CarPanelFragment.newInstance() }
 
@@ -73,41 +74,47 @@ class MainActivity : BaseActivity<ActivityMainBinding, MainVm>() {
     }
 
     private fun mockBt() {
+        //联网车辆位姿数据
         binding.btVehicle.setOnClickListener {
             viewModel.subVehicle().observe(this) {
 //                topicVehicle(it)
             }
         }
-        binding.btStatus.setOnClickListener {
-            viewModel.subVehicleStatus().observe(this) {
-//                println("time = ${time}")
-                topicVehicleStatus(it)
-            }
-        }
         //感知目标物
         binding.btTarget.setOnClickListener {
             viewModel.subTarget()
         }
+        //v2x 预警
         binding.btV2x.setOnClickListener {
             viewModel.subStartV2x()
         }
-        binding.btV2xend.setOnClickListener {
-            viewModel.subEndV2x()
-        }
-        binding.btChewei.setOnClickListener {
-            viewModel.subPoints().observe(this) {
-                topicvPoints(it)
+        //网联车辆状态
+        binding.btStatus.setOnClickListener {
+            viewModel.subVehicleStatus().observe(this) {
+//                println("time = ${time}")
+//                topicVehicleStatus(it)
             }
         }
-        binding.btAllline.setOnClickListener {
-            viewModel.subLinePlaning()
+        //感知延时
+        binding.btPredelay.setOnClickListener {
+            viewModel.subPreDelay()
         }
-        binding.btJubuline.setOnClickListener {
-            viewModel.subPartLine()
+        //交通感知事件
+        binding.btTarpre.setOnClickListener {
+            viewModel.subTrafficPre().observe(this) {
+
+            }
         }
-        binding.btRsi.setOnClickListener {
-            viewModel.subRsiEvent()
+        //交通信号灯
+        binding.btTarlight.setOnClickListener {
+            viewModel.subTrafficLight()
         }
+//        binding.btJubuline.setOnClickListener {
+//            viewModel.subPartLine()
+//        }
+//        binding.btRsi.setOnClickListener {
+//            viewModel.subRsiEvent()
+//        }
     }
 
     /**车辆姿态**/

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

+package com.sd.cavphmi.ui.fragment
+
+import androidx.lifecycle.ViewModelProvider
+import com.sd.cavphmi.BR
+import com.sd.cavphmi.R
+import com.sd.cavphmi.base.BaseFragment
+import com.sd.cavphmi.base.MyBaseViewModel
+import com.sd.cavphmi.databinding.FragmentMapMainBinding
+import com.sd.cavphmi.viewmodels.AvpMapVM
+import dagger.hilt.android.AndroidEntryPoint
+
+
+// the fragment initialization parameters, e.g. ARG_ITEM_NUMBER
+//private const val ARG_PARAM1 = "param1"
+//private const val ARG_PARAM2 = "param2"
+
+
+@AndroidEntryPoint
+class MapMainFragment : BaseFragment<FragmentMapMainBinding, AvpMapVM>() {
+
+//    private var param1: String? = null
+//    private var param2: String? = null
+//
+//    override fun onCreate(savedInstanceState: Bundle?) {
+//        super.onCreate(savedInstanceState)
+//        arguments?.let {
+//            param1 = it.getString(ARG_PARAM1)
+//            param2 = it.getString(ARG_PARAM2)
+//        }
+//    }//    // T
+
+
+    override fun getStatuBarColor(): Int {
+        return -1
+    }
+
+    override fun isAutoStatusBarDarkModeEnable(): Boolean {
+        return false
+    }
+
+    override fun initContentView(): Int {
+        return R.layout.fragment_map_main
+    }
+
+    override fun initViewModel(): AvpMapVM {
+        return ViewModelProvider(this).get(AvpMapVM::class.java)
+    }
+
+    override fun initVariableId(): Int {
+        return BR.vm
+    }
+
+
+    override fun initView() {
+
+    }
+
+    override fun initListener() {
+    }
+
+
+    override fun getToData() {
+
+    }
+
+
+    companion object {
+
+        @JvmStatic
+        fun newInstance() = MapMainFragment()
+//        @JvmStatic
+//        fun newInstance(param1: String, param2: String) =
+//            MapMainFragment().apply {
+//                arguments = Bundle().apply {
+//                    putString(ARG_PARAM1, param1)
+//                    putString(ARG_PARAM2, param2)
+//                }
+//            }
+
+    }
+}
\ No newline at end of file

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

 package com.sd.cavphmi.utils
 
 object MyContants {
-    const val IS_DEBUG = true
+//    const val IS_DEBUG = true
 
-    var HOST = if (IS_DEBUG) "https://faw.cuscavp.cn:8443" else ""
+    var HOST = "https://faw.cuscavp.cn:8443"
+
+    var WSHOST = "wss://itg-dev.cu-sc.com:19443/WSPLUSV5/socket?"
 //    var PORT = if (IS_DEBUG) "123" else "34534"
+    /***感知目标物***/
+    var WS_FEEL_TARGET = "${WSHOST}token=111&msgType=1&reType=51world"
 
     /***网联车辆位姿***/
-    var WS_VEH_LOC = "wss://itg-dev.cu-sc.com:19443/WSPLUSV5/socket?token=111&msgType=2&reType=51world"
+    var WS_VEH_LOC = "${WSHOST}token=111&msgType=2&reType=51world&vehicleId="
+
+    /***V2X预警  vehicleId 传了就是获取某一辆车的预警 ***/
+    var WS_V2X = "${WSHOST}token=111&msgType=4&reType=51world&vehicleId="
+
+    /***网联车辆状态***/
+    var WS_VEH_STATU = "${WSHOST}token=111&msgType=6&reType=51world&vehicleId="
+
+    /***感知延时***/
+    var WS_PRE_DELAY = "${WSHOST}token=111&msgType=7&intersectionCode="
+
+    /***交通（感知）事件***/
+    var WS_TRAFFIC_PER = "${WSHOST}token=111&msgType=5&intersectionCode=="
+
+    /***交通信号灯***/
+    var WS_TRAFFIC_LIGHT = "${WSHOST}token=111&msgType=3&intersectionCode=="
 
-    /***感知目标物***/
-    var WS_FEEL_TARGET = "wss://itg-dev.cu-sc.com:19443/WSPLUSV5/socket?token=111&msgType=1&reType=51world"
 
     /***已经**/
     const val ALREADT_ONCE = -1

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

@@ -2,11 +2,12 @@ package com.sd.cavphmi.viewmodels
 
 import android.content.Context
 import androidx.lifecycle.ViewModel
+import com.sd.cavphmi.base.MyBaseViewModel
 import dagger.hilt.android.lifecycle.HiltViewModel
 import dagger.hilt.android.qualifiers.ApplicationContext
 import javax.inject.Inject
 
 @HiltViewModel
 class AvpMapVM @Inject constructor(@ApplicationContext private var context: Context) :
-    ViewModel() {
+    MyBaseViewModel() {
 }
\ No newline at end of file

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

 package com.sd.cavphmi.viewmodels
 
 import android.content.Context
-import androidx.databinding.ObservableField
 import androidx.lifecycle.LiveData
 import androidx.lifecycle.MutableLiveData
 import androidx.lifecycle.viewModelScope
@@ -16,13 +15,14 @@ import com.sd.cavphmi.bean.ParkBean
 import com.sd.cavphmi.bean.ParkLinePlan
 import com.sd.cavphmi.bean.PartLineBean
 import com.sd.cavphmi.bean.PerTarget
-import com.sd.cavphmi.bean.ReqBean
+import com.sd.cavphmi.bean.PreDelay
 import com.sd.cavphmi.bean.RsiEventBean
 import com.sd.cavphmi.bean.SpaceDataLocBeanItem
-import com.sd.cavphmi.bean.SpaceNoBean
+import com.sd.cavphmi.bean.TrafficLightBean
+import com.sd.cavphmi.bean.TrafficPerBean
+import com.sd.cavphmi.bean.V2xStartBean
 import com.sd.cavphmi.bean.VToXImgBean
 import com.sd.cavphmi.bean.VehicleStats
-import com.sd.cavphmi.bean.WebSetBean
 import com.sd.cavphmi.net.MyResult
 import com.sd.cavphmi.repositorys.ParseSocketRepo
 import com.sd.cavphmi.utils.FileIoUtils
@@ -30,13 +30,17 @@ import com.sd.cavphmi.utils.MyContants
 import com.sd.cavphmi.utils.ToastHelper
 import com.sd.cavphmi.websockets.FeelTargetWSClient
 import com.sd.cavphmi.websockets.MyWebSocketClient
+import com.sd.cavphmi.websockets.PreDelayWSClient
+import com.sd.cavphmi.websockets.TrafficLightWSClient
+import com.sd.cavphmi.websockets.TrafficPreWSClient
+import com.sd.cavphmi.websockets.V2xWSClient
 import com.sd.cavphmi.websockets.VecLocWSClient
+import com.sd.cavphmi.websockets.VehStatuWSClient
 import dagger.hilt.android.lifecycle.HiltViewModel
 import dagger.hilt.android.qualifiers.ApplicationContext
 import kotlinx.coroutines.Dispatchers
 import kotlinx.coroutines.launch
 import kotlinx.coroutines.withContext
-import org.java_websocket.handshake.ServerHandshake
 import protocol.Response
 import java.net.URI
 import java.util.Timer
@@ -51,13 +55,28 @@ class MainVm @Inject constructor(
 //    var spaceNoRepo: SpaceNoRepo,
 ) : MyBaseViewModel() {
 
-    private var client: MyWebSocketClient? = null
+//    private var client: MyWebSocketClient? = null
 
     //w网联车辆socket
     private var vecLocWSClient: VecLocWSClient? = null
+
     //感知物socket
     private var feelTargetWSClient: FeelTargetWSClient? = null
 
+    //感知物socket
+    private var v2xWSClient: V2xWSClient? = null
+
+    //网联车辆状态
+    private var vehStatuWSClient: VehStatuWSClient? = null
+
+    //感知延时
+    private var preDelayWSClient: PreDelayWSClient? = null
+
+    //交通感知事件
+    private var trafficPreWSClient: TrafficPreWSClient? = null
+
+    //交通信号灯
+    private var trafficLightWSClient: TrafficLightWSClient? = null
 
     private var gson = Gson()
 
@@ -70,20 +89,37 @@ class MainVm @Inject constructor(
     //车辆位姿数据
     var carVehicle = MutableLiveData<CarVehicle>()
 
-    //联网车辆状态数据topic
-    var vehicleStat = MutableLiveData<VehicleStats>()
-
     //感知目标物
     var targetPre = MutableLiveData<PerTarget>()
 
+    //v2x 预警
+    var v2xStartBean = MutableLiveData<V2xStartBean>()
+
+    //联网车辆状态数据
+    var vehicleStat = MutableLiveData<VehicleStats>()
+
+    //感知时延
+    var preDelay = MutableLiveData<PreDelay>()
+
+    //交通感知
+    var trafficPerBean = MutableLiveData<TrafficPerBean>()
+
+    //交通信号灯
+    var trafficLightBean = MutableLiveData<TrafficLightBean>()
+
+    /***车辆仪表***/
+    var carPanelBean = CarPanelBean.instance
+
+//    、、-----------------
+
     //全局路径
-    var allLine = MutableLiveData<AllLinePlaningBean>()
+//    var allLine = MutableLiveData<AllLinePlaningBean>()
 
     //局部路径
-    var partLine = MutableLiveData<PartLineBean>()
+//    var partLine = MutableLiveData<PartLineBean>()
 
     //停车位变更
-    var parkBean = MutableLiveData<ParkBean>()
+//    var parkBean = MutableLiveData<ParkBean>()
 
     //停车位编码
     var spaceCode = ""
@@ -97,8 +133,6 @@ class MainVm @Inject constructor(
     // 是否处理路径规划显示的路径
     private var needDealPath = false
 
-    /***车辆仪表***/
-    var carPanelBean = CarPanelBean.instance
 
     //网络延时时间差
 //    var timeOutDiff = ObservableField(-1)
@@ -110,7 +144,7 @@ class MainVm @Inject constructor(
     private var orderTimer = Timer()
 
     // 车位信息
-    private var carSpaNoTimer = Timer()
+//    private var carSpaNoTimer = Timer()
 
 
     /***获取信号强度**/
@@ -348,30 +382,8 @@ class MainVm @Inject constructor(
 
     /***清理资源***/
     fun cleanRes() {
-//        curTimer.cancel()
-//        netSingTimer.cancel()
-        orderTimer.cancel()
-        carSpaNoTimer.cancel()
-        closeWS()
-    }
-
-
-    private fun closeWS() {
-        if (client?.isOpen ?: false) {
-            client?.close()
-        }
-    }
 
 
-    private var onSocketCb = object : MyWebSocketClient.OnSocketCb {
-        override fun onOpen(handshakedata: ServerHandshake?) {
-        }
-
-        override fun onClose(code: Int, reason: String?, remote: Boolean) {
-        }
-
-        override fun onError(ex: Exception?) {
-        }
     }
 
 
@@ -440,7 +452,7 @@ class MainVm @Inject constructor(
                 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
+//                parkBean.value = bean
             }
         }
 
@@ -449,7 +461,7 @@ class MainVm @Inject constructor(
                 println("-----全局路径发生切换 = ${res.data}")
                 FileIoUtils.writeToFile(res.data, "all_line.txt")
                 val bean = parseSocketRepo.parseDataBean(res.data, AllLinePlaningBean::class.java)
-                allLine.value = bean
+//                allLine.value = bean
             }
         }
 
@@ -458,7 +470,7 @@ class MainVm @Inject constructor(
                 println("-----局部路径 = ${res.data}")
                 FileIoUtils.writeToFile(res.data, "part_line.txt")
                 var bean = parseSocketRepo.parseDataBean(res.data, PartLineBean::class.java)
-                partLine.value = bean
+//                partLine.value = bean
             }
         }
 
@@ -486,9 +498,11 @@ class MainVm @Inject constructor(
 
                     vecLocWSClient?.onDataCb = object : VecLocWSClient.OnDataCb {
                         override fun onMsg(str: String) {
-//                            FileIoUtils.writeToFile(str, "CarVehicle.txt")
-                            var bean = gson.fromJson(str, CarVehicle::class.java)
-                            carVehicle.postValue(bean)
+                            viewModelScope.launch {
+                                FileIoUtils.writeToFile(str, "CarVehicle.txt")
+                                var bean = gson.fromJson(str, CarVehicle::class.java)
+                                carVehicle.postValue(bean)
+                            }
                         }
                     }
                 }
@@ -503,8 +517,24 @@ class MainVm @Inject constructor(
      *  联网车辆状态数据
      * */
     fun subVehicleStatus(): LiveData<VehicleStats> {
-        val reqStr = getSendData("/topic/vehicleStatus")
-        client?.send(reqStr)
+        try {
+            if (vehStatuWSClient == null) {
+                vehStatuWSClient = VehStatuWSClient(URI(MyContants.WS_VEH_STATU))
+                vehStatuWSClient?.connect()
+
+                vehStatuWSClient?.onDataCb = object : VehStatuWSClient.OnDataCb {
+                    override fun onMsg(str: String) {
+                        viewModelScope.launch {
+                            FileIoUtils.writeToFile(str, "vehicleS.txt")
+//                            var bean = gson.fromJson(str, VehicleStats::class.java)
+//                            vehicleStat.postValue(bean)
+                        }
+                    }
+                }
+            }
+        } catch (e: Exception) {
+            e.printStackTrace()
+        }
         return vehicleStat
     }
 
@@ -522,9 +552,11 @@ class MainVm @Inject constructor(
 
                     feelTargetWSClient?.onDataCb = object : FeelTargetWSClient.OnDataCb {
                         override fun onMsg(str: String) {
-//                            FileIoUtils.writeToFile(str, "PerTarget.txt")
-                            var bean = gson.fromJson(str, PerTarget::class.java)
-                            targetPre.postValue(bean)
+                            viewModelScope.launch {
+                                FileIoUtils.writeToFile(str, "PerTarget.txt")
+                                var bean = gson.fromJson(str, PerTarget::class.java)
+                                targetPre.postValue(bean)
+                            }
                         }
                     }
                 }
@@ -538,63 +570,139 @@ class MainVm @Inject constructor(
     /**
      * V2X预警开始
      * **/
-    fun subStartV2x() {
-        val reqStr = getSendData("/topic/v2xStart")
-        client?.send(reqStr)
-    }
+    fun subStartV2x(): LiveData<V2xStartBean> {
+        if (isMock) {
+//            mockVM.onSubTargetMock(targetPre)
+        } else {
+            try {
+                if (v2xWSClient == null) {
+                    v2xWSClient = V2xWSClient(URI(MyContants.WS_V2X))
+                    v2xWSClient?.connect()
 
-    /*** V2X预警结束topic**/
-    fun subEndV2x() {
-        var reqStr = getSendData("/topic/v2xEnd")
-        client?.send(reqStr)
+                    v2xWSClient?.onDataCb = object : V2xWSClient.OnDataCb {
+                        override fun onMsg(str: String) {
+                            viewModelScope.launch {
+                                FileIoUtils.writeToFile(str, "onStartV2x.txt")
+                                var bean = gson.fromJson(str, V2xStartBean::class.java)
+                                v2xStartBean.postValue(bean)
+                            }
+                        }
+                    }
+                }
+            } catch (e: Exception) {
+                e.printStackTrace()
+            }
+        }
+        return v2xStartBean
     }
 
-    /*** 更新停车位**/
-    fun subPoints(): LiveData<ParkBean> {
-        if (isMock) {
-            mockVM.onPointsMock(parkBean)
-        } else {
-            client?.send(getSendData("/topic/points"))
+    /*** 感知延时**/
+    fun subPreDelay(): LiveData<PreDelay> {
+        try {
+            if (preDelayWSClient == null) {
+                preDelayWSClient = PreDelayWSClient(URI(MyContants.WS_PRE_DELAY))
+                preDelayWSClient?.connect()
+
+                preDelayWSClient?.onDataCb = object : PreDelayWSClient.OnDataCb {
+                    override fun onMsg(str: String) {
+                        viewModelScope.launch {
+                            FileIoUtils.writeToFile(str, "pre_delay.txt")
+                            var bean = gson.fromJson(str, PreDelay::class.java)
+                            preDelay.postValue(bean)
+                        }
+                    }
+                }
+            }
+        } catch (e: Exception) {
+            e.printStackTrace()
         }
-        return parkBean
+        return preDelay
     }
 
-    /*** 全局路径发生切换**/
-    fun subLinePlaning(): LiveData<AllLinePlaningBean> {
-        if (isMock) {
-            mockVM.onSubLinePlaningMock(allLine)
-        } else {
-            val reqStr = getSendData("/topic/linePlaning")
-            client?.send(reqStr)
+    /*** 交通（感知）事件**/
+    fun subTrafficPre(): LiveData<TrafficPerBean> {
+        try {
+            if (trafficPreWSClient == null) {
+                trafficPreWSClient = TrafficPreWSClient(URI(MyContants.WS_TRAFFIC_PER))
+                trafficPreWSClient?.connect()
+
+                trafficPreWSClient?.onDataCb = object : TrafficPreWSClient.OnDataCb {
+                    override fun onMsg(str: String) {
+                        viewModelScope.launch {
+                            FileIoUtils.writeToFile(str, "pre_traff.txt")
+                            var bean = gson.fromJson(str, TrafficPerBean::class.java)
+                            trafficPerBean.postValue(bean)
+                        }
+                    }
+                }
+            }
+        } catch (e: Exception) {
+            e.printStackTrace()
         }
-        return allLine
+        return trafficPerBean
     }
 
-    /*** 局部路径**/
-    fun subPartLine(): LiveData<PartLineBean> {
-        if (isMock) {
-            mockVM.onSubPartLineMock(partLine)
-        } else {
-            val reqStr = getSendData("/topic/partLine")
-            client?.send(reqStr)
+
+    /*** 交通信号灯**/
+    fun subTrafficLight(): LiveData<TrafficLightBean> {
+        try {
+            if (trafficLightWSClient == null) {
+                trafficLightWSClient = TrafficLightWSClient(URI(MyContants.WS_TRAFFIC_LIGHT))
+                trafficLightWSClient?.connect()
+
+                trafficLightWSClient?.onDataCb = object : TrafficLightWSClient.OnDataCb {
+                    override fun onMsg(str: String) {
+                        viewModelScope.launch {
+                            FileIoUtils.writeToFile(str, "traff_light.txt")
+//                            var bean = gson.fromJson(str, TrafficPerBean::class.java)
+//                            trafficPerBean.postValue(bean)
+                        }
+                    }
+                }
+            }
+        } catch (e: Exception) {
+            e.printStackTrace()
         }
-        return partLine
+        return trafficLightBean
     }
 
+
+    /*** 全局路径发生切换**/
+//    fun subLinePlaning(): LiveData<AllLinePlaningBean> {
+//        if (isMock) {
+//            mockVM.onSubLinePlaningMock(allLine)
+//        } else {
+//            val reqStr = getSendData("/topic/linePlaning")
+//            client?.send(reqStr)
+//        }
+//        return allLine
+//    }
+
+    /*** 局部路径**/
+//    fun subPartLine(): LiveData<PartLineBean> {
+//        if (isMock) {
+//            mockVM.onSubPartLineMock(partLine)
+//        } else {
+//            val reqStr = getSendData("/topic/partLine")
+//            client?.send(reqStr)
+//        }
+//        return partLine
+//    }
+
     /*** rsi事件**/
-    fun subRsiEvent() {
-        val reqStr = getSendData("/topic/rsiEvent")
-        client?.send(reqStr)
-    }
+//    fun subRsiEvent() {
+//        val reqStr = getSendData("/topic/rsiEvent")
+//        client?.send(reqStr)
+//    }
 
     /**构建发送体**/
-    private fun getSendData(key: String): String {
-        var data = WebSetBean.subDic.get(key)
-        var req = ReqBean()
-        req.data = data!!
-        var str = gson.toJson(req)
-        return str
-    }
+//    private fun getSendData(key: String): String {
+//        var data = WebSetBean.subDic.get(key)
+//        var req = ReqBean()
+//        req.data = data!!
+//        var str = gson.toJson(req)
+//        return str
+//    }
 
 
     fun showVToTip() {

app/src/main/java/com/sd/cavphmi/websockets/FeelTargetWSClient.kt

@@ -26,7 +26,7 @@ class FeelTargetWSClient : WebSocketClient {
     }
 
     override fun onMessage(message: String?) {
-//        System.out.println(TAG + "received message: " + message);
+        println(TAG + " : " + message)
         if (message.isNullOrEmpty())
             return
         onDataCb?.onMsg(message)

app/src/main/java/com/sd/cavphmi/websockets/PreDelayWSClient.kt

+package com.sd.cavphmi.websockets
+
+import org.java_websocket.client.WebSocketClient
+import org.java_websocket.drafts.Draft
+import org.java_websocket.handshake.ServerHandshake
+import java.net.URI
+import java.nio.ByteBuffer
+
+/*****感知延时**/
+class PreDelayWSClient : WebSocketClient {
+
+    private val TAG = "-----PreDelayWSClient"
+
+    constructor(serverUri: URI) : super(serverUri)
+
+    constructor(serverUri: URI?, protocolDraft: Draft?) : super(serverUri, protocolDraft)
+
+    constructor(serverUri: URI?, httpHeaders: MutableMap<String, String>?) : super(
+        serverUri,
+        httpHeaders
+    )
+
+    override fun onOpen(handshakedata: ServerHandshake?) {
+//        send("Hello, it is me. Mario :)")
+//        System.out.println(TAG + "new connection opened")
+    }
+
+    override fun onMessage(message: String?) {
+        println(TAG + " : " + message)
+        if (message.isNullOrEmpty())
+            return
+        onDataCb?.onMsg(message)
+//        onSocketCb?.onMessage(message)
+
+    }
+
+    override fun onMessage(bytes: ByteBuffer?) {
+//        System.out.println(TAG + "  received ByteBuffer")
+
+    }
+
+    override fun onClose(code: Int, reason: String?, remote: Boolean) {
+//        System.out.println(TAG + "  closed with exit code " + code + " additional info: " + reason);
+
+    }
+
+    override fun onError(ex: Exception?) {
+//        System.err.println(TAG + "an error occurred:" + ex)
+
+    }
+
+    var onDataCb: OnDataCb? = null
+
+    interface OnDataCb {
+        fun onMsg(str: String)
+    }
+
+
+}
\ No newline at end of file

app/src/main/java/com/sd/cavphmi/websockets/TrafficLightWSClient.kt

+package com.sd.cavphmi.websockets
+
+import org.java_websocket.client.WebSocketClient
+import org.java_websocket.drafts.Draft
+import org.java_websocket.handshake.ServerHandshake
+import java.net.URI
+import java.nio.ByteBuffer
+
+/**
+ *交通信号灯
+ * **/
+class TrafficLightWSClient : WebSocketClient {
+
+    private val TAG = "-----TrafficLightWSClient"
+
+    constructor(serverUri: URI) : super(serverUri)
+
+    constructor(serverUri: URI?, protocolDraft: Draft?) : super(serverUri, protocolDraft)
+
+    constructor(serverUri: URI?, httpHeaders: MutableMap<String, String>?) : super(
+        serverUri,
+        httpHeaders
+    )
+
+    override fun onOpen(handshakedata: ServerHandshake?) {
+//        send("Hello, it is me. Mario :)")
+        System.out.println(TAG + "   new connection opened")
+    }
+
+    override fun onMessage(message: String?) {
+        println(TAG + " : " + message)
+        if (message.isNullOrEmpty())
+            return
+        onDataCb?.onMsg(message)
+//        onSocketCb?.onMessage(message)
+
+    }
+
+    override fun onMessage(bytes: ByteBuffer?) {
+//        System.out.println(TAG + "  received ByteBuffer")
+
+    }
+
+    override fun onClose(code: Int, reason: String?, remote: Boolean) {
+//        System.out.println(TAG + "  closed with exit code " + code + " additional info: " + reason);
+
+    }
+
+    override fun onError(ex: Exception?) {
+//        System.err.println(TAG + "an error occurred:" + ex)
+
+    }
+
+    var onDataCb: OnDataCb? = null
+
+    interface OnDataCb {
+        fun onMsg(str: String)
+    }
+
+
+}
\ No newline at end of file

app/src/main/java/com/sd/cavphmi/websockets/TrafficPreWSClient.kt

+package com.sd.cavphmi.websockets
+
+import org.java_websocket.client.WebSocketClient
+import org.java_websocket.drafts.Draft
+import org.java_websocket.handshake.ServerHandshake
+import java.net.URI
+import java.nio.ByteBuffer
+
+/**
+ *交通（感知）事件
+ * **/
+class TrafficPreWSClient : WebSocketClient {
+
+    private val TAG = "-----TrafficPreWSClient"
+
+    constructor(serverUri: URI) : super(serverUri)
+
+    constructor(serverUri: URI?, protocolDraft: Draft?) : super(serverUri, protocolDraft)
+
+    constructor(serverUri: URI?, httpHeaders: MutableMap<String, String>?) : super(
+        serverUri,
+        httpHeaders
+    )
+
+    override fun onOpen(handshakedata: ServerHandshake?) {
+//        send("Hello, it is me. Mario :)")
+        System.out.println(TAG + "   new connection opened")
+    }
+
+    override fun onMessage(message: String?) {
+        println(TAG + " : " + message)
+        if (message.isNullOrEmpty())
+            return
+        onDataCb?.onMsg(message)
+//        onSocketCb?.onMessage(message)
+
+    }
+
+    override fun onMessage(bytes: ByteBuffer?) {
+//        System.out.println(TAG + "  received ByteBuffer")
+
+    }
+
+    override fun onClose(code: Int, reason: String?, remote: Boolean) {
+//        System.out.println(TAG + "  closed with exit code " + code + " additional info: " + reason);
+
+    }
+
+    override fun onError(ex: Exception?) {
+//        System.err.println(TAG + "an error occurred:" + ex)
+
+    }
+
+    var onDataCb: OnDataCb? = null
+
+    interface OnDataCb {
+        fun onMsg(str: String)
+    }
+
+
+}
\ No newline at end of file

app/src/main/java/com/sd/cavphmi/websockets/V2xWSClient.kt

+package com.sd.cavphmi.websockets
+
+import org.java_websocket.client.WebSocketClient
+import org.java_websocket.drafts.Draft
+import org.java_websocket.handshake.ServerHandshake
+import java.net.URI
+import java.nio.ByteBuffer
+
+/*****v2x预警**/
+class V2xWSClient : WebSocketClient {
+
+    private val TAG = "-----V2xWSClient"
+
+    constructor(serverUri: URI) : super(serverUri)
+
+    constructor(serverUri: URI?, protocolDraft: Draft?) : super(serverUri, protocolDraft)
+
+    constructor(serverUri: URI?, httpHeaders: MutableMap<String, String>?) : super(
+        serverUri,
+        httpHeaders
+    )
+
+    override fun onOpen(handshakedata: ServerHandshake?) {
+//        send("Hello, it is me. Mario :)")
+//        System.out.println(TAG + "new connection opened")
+    }
+
+    override fun onMessage(message: String?) {
+        println(TAG + " : " + message)
+        if (message.isNullOrEmpty())
+            return
+        onDataCb?.onMsg(message)
+//        onSocketCb?.onMessage(message)
+
+    }
+
+    override fun onMessage(bytes: ByteBuffer?) {
+//        System.out.println(TAG + "  received ByteBuffer")
+
+    }
+
+    override fun onClose(code: Int, reason: String?, remote: Boolean) {
+//        System.out.println(TAG + "  closed with exit code " + code + " additional info: " + reason);
+
+    }
+
+    override fun onError(ex: Exception?) {
+//        System.err.println(TAG + "an error occurred:" + ex)
+
+    }
+
+    var onDataCb: OnDataCb? = null
+
+    interface OnDataCb {
+        fun onMsg(str: String)
+    }
+
+
+}
\ No newline at end of file

app/src/main/java/com/sd/cavphmi/websockets/VecLocWSClient.kt

@@ -29,7 +29,7 @@ class VecLocWSClient : WebSocketClient {
     }
 
     override fun onMessage(message: String?) {
-        System.out.println(TAG + "received message: " + message);
+        System.out.println(TAG + " : " + message);
         if (message.isNullOrEmpty())
             return
         onDataCb?.onMsg(message)

app/src/main/java/com/sd/cavphmi/websockets/VehStatuWSClient.kt

+package com.sd.cavphmi.websockets
+
+import org.java_websocket.client.WebSocketClient
+import org.java_websocket.drafts.Draft
+import org.java_websocket.handshake.ServerHandshake
+import java.net.URI
+import java.nio.ByteBuffer
+
+/*****网联车辆状态
+ * 只有发生变化的数据才推送
+ * **/
+class VehStatuWSClient : WebSocketClient {
+
+    private val TAG = "-----VehStatuWSClient"
+
+    constructor(serverUri: URI) : super(serverUri)
+
+    constructor(serverUri: URI?, protocolDraft: Draft?) : super(serverUri, protocolDraft)
+
+    constructor(serverUri: URI?, httpHeaders: MutableMap<String, String>?) : super(
+        serverUri,
+        httpHeaders
+    )
+
+    override fun onOpen(handshakedata: ServerHandshake?) {
+//        send("Hello, it is me. Mario :)")
+        System.out.println(TAG + "   new connection opened")
+    }
+
+    override fun onMessage(message: String?) {
+        println(TAG + " : " + message)
+        if (message.isNullOrEmpty())
+            return
+        onDataCb?.onMsg(message)
+//        onSocketCb?.onMessage(message)
+
+    }
+
+    override fun onMessage(bytes: ByteBuffer?) {
+//        System.out.println(TAG + "  received ByteBuffer")
+
+    }
+
+    override fun onClose(code: Int, reason: String?, remote: Boolean) {
+//        System.out.println(TAG + "  closed with exit code " + code + " additional info: " + reason);
+
+    }
+
+    override fun onError(ex: Exception?) {
+//        System.err.println(TAG + "an error occurred:" + ex)
+
+    }
+
+    var onDataCb: OnDataCb? = null
+
+    interface OnDataCb {
+        fun onMsg(str: String)
+    }
+
+
+}
\ No newline at end of file

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

@@ -29,7 +29,12 @@
             android:layout_marginLeft="@dimen/dp_10"
             android:layout_marginTop="@dimen/dp_10" />
 
-<!--        高精地图放这里-->
+        <!--        高精地图放这里-->
+        <fragment
+            android:id="@+id/map_main"
+            android:layout_width="match_parent"
+            android:layout_height="match_parent"
+            class="com.sd.cavphmi.ui.fragment.MapMainFragment"/>
 
 
         <LinearLayout
@@ -50,8 +55,7 @@
                 android:id="@+id/bt_status"
                 android:layout_width="wrap_content"
                 android:layout_height="wrap_content"
-                android:text="联网车辆状态"
-                android:visibility="gone"/>
+                android:text="联网车辆状态" />
 
             <Button
                 android:id="@+id/bt_target"
@@ -66,34 +70,39 @@
                 android:text="V2X预警开始" />
 
             <Button
-                android:id="@+id/bt_v2xend"
+                android:id="@+id/bt_predelay"
                 android:layout_width="wrap_content"
                 android:layout_height="wrap_content"
-                android:text="V2X预警结束" />
+                android:text="感知延时" />
 
             <Button
-                android:id="@+id/bt_chewei"
+                android:id="@+id/bt_tarpre"
                 android:layout_width="wrap_content"
                 android:layout_height="wrap_content"
-                android:text="停车位变更" />
+                android:text="交通（感知）事件" />
 
             <Button
-                android:id="@+id/bt_allline"
+                android:id="@+id/bt_tarlight"
                 android:layout_width="wrap_content"
                 android:layout_height="wrap_content"
-                android:text="全局路径发生切换" />
+                android:text="交通信号灯" />
+
 
             <Button
-                android:id="@+id/bt_jubuline"
+                android:id="@+id/bt_allline"
                 android:layout_width="wrap_content"
                 android:layout_height="wrap_content"
-                android:text="局部路径" />
+                android:text="全局路径发生切换"
+                android:visibility="gone"/>
 
             <Button
-                android:id="@+id/bt_rsi"
+                android:id="@+id/bt_jubuline"
                 android:layout_width="wrap_content"
                 android:layout_height="wrap_content"
-                android:text="rsi事件" />
+                android:visibility="gone"
+                android:text="局部路径" />
+
+
 
         </LinearLayout>
 

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

+<?xml version="1.0" encoding="utf-8"?>
+<layout xmlns:android="http://schemas.android.com/apk/res/android"
+    xmlns:tools="http://schemas.android.com/tools">
+
+    <FrameLayout
+        android:layout_width="match_parent"
+        android:layout_height="match_parent"
+        tools:context=".ui.fragment.MapMainFragment">
+
+
+        <TextView
+            android:layout_width="match_parent"
+            android:layout_height="match_parent"
+          android:gravity="center"
+            android:text="@string/hello_blank_fragment" />
+
+    </FrameLayout>
+
+</layout>
\ No newline at end of file

app/src/main/res/values/strings.xml

 <resources>
     <string name="app_name">C-adas AVP</string>
+    <!-- TODO: Remove or change this placeholder text -->
+    <string name="hello_blank_fragment">Hello blank fragment</string>
 </resources>
\ No newline at end of file