整理车辆移动和感知物

app/src/main/AndroidManifest.xml

@@ -20,6 +20,10 @@
     <uses-permission android:name="android.permission.READ_EXTERNAL_STORAGE" /> <!-- 允许程序写入外部存储设备 -->
     <uses-permission android:name="android.permission.WRITE_EXTERNAL_STORAGE" /> <!-- 允许程序读取所有者数据 -->
     <uses-permission android:name="android.permission.READ_OWNER_DATA" /> <!-- 访问WiFi状态，需要WiFi信息用于网络定位 -->
+    <uses-permission
+        android:name="android.permission.MANAGE_EXTERNAL_STORAGE"
+        tools:ignore="ScopedStorage" />
+
     <uses-permission android:name="android.permission.ACCESS_WIFI_STATE" /> <!-- 访问网络的变化, 需要某些信息用于网络定位 -->
     <uses-permission android:name="android.permission.CHANGE_NETWORK_STATE" /> <!-- 8.0 安装未知程序权限 -->
     <uses-permission android:name="android.permission.REQUEST_INSTALL_PACKAGES" />
@@ -43,11 +47,21 @@
             android:name="com.minedata.minenavi.apikey"
             android:value="57ac7a0d56494912a0c28e651fa4a40a" /> <!-- android:screenOrientation="userLandscape" -->
 
+        <provider
+            android:name="androidx.core.content.FileProvider"
+            android:authorities="${applicationId}.provider"
+            android:exported="false"
+            android:grantUriPermissions="true">
+            <meta-data
+                android:name="android.support.FILE_PROVIDER_PATHS"
+                android:resource="@xml/file_paths" />
+        </provider>
+
         <activity
             android:name=".ui.LoginActivity"
             android:exported="true"
-            android:theme="@style/Theme.SuZhouAvp"
-            android:screenOrientation="landscape">
+            android:screenOrientation="landscape"
+            android:theme="@style/Theme.SuZhouAvp">
 
             <intent-filter>
                 <action android:name="android.intent.action.MAIN" />
@@ -65,19 +79,19 @@
             android:hardwareAccelerated="false"
             android:launchMode="singleTask"
             android:resizeableActivity="false"
-            android:screenOrientation="fullUser"/>
+            android:screenOrientation="fullUser" />
 
-<!--        <activity-->
-<!--            android:name=".ui.BootActivity"-->
-<!--            android:exported="true"-->
-<!--            android:screenOrientation="landscape"-->
-<!--            android:theme="@style/SplashTheme">-->
-<!--            <intent-filter>-->
-<!--                <action android:name="android.intent.action.MAIN" />-->
+        <!--        <activity-->
+        <!--            android:name=".ui.BootActivity"-->
+        <!--            android:exported="true"-->
+        <!--            android:screenOrientation="landscape"-->
+        <!--            android:theme="@style/SplashTheme">-->
+        <!--            <intent-filter>-->
+        <!--                <action android:name="android.intent.action.MAIN" />-->
 
-<!--                <category android:name="android.intent.category.LAUNCHER" />-->
-<!--            </intent-filter>-->
-<!--        </activity>-->
+        <!--                <category android:name="android.intent.category.LAUNCHER" />-->
+        <!--            </intent-filter>-->
+        <!--        </activity>-->
 
     </application>
 

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

-package com.sd.cavphmi.bean
-
-/**
- * 感知目标物实体
- ****/
-class PerTargetTest : ArrayList<PerTargetTestItem>()
-
-data class PerTargetTestItem(
-    val id: String,
-    val accessTime: Long,
-    val deviceId: String,
-    val deviceCode: String,
-    val intersectionCode: String,
-    val participants: List<ParticipantTest>,
-    val receiveTime: Long,
-    val reportTime: Long,
-//    val statistic: Statistic
-)
-
-data class ParticipantTest(
-    val color: Int,
-    val gear: Int,
-    val heading: Double,
-    val latitude: Double,
-    val longitude: Double,
-    val ptcId: String,
-    val ptcType: String,
-    val speed: Double,
-    var aniTime:Long,
-    var isFlash:Boolean,
-    var isRed:Boolean
-)
-
-data class StatisticTest(
-    val ambulance: Int,
-    val bike: Int,
-    val bus: Int,
-    val car: Int,
-    val coach: Int,
-    val concrete_mixer: Int,
-    val conical_barrel: Int,
-    val electric_bicycle: Int,
-    val engine_emergency: Int,
-    val fire_truck: Int,
-    val heavy_truck: Int,
-    val large_truck: Int,
-    val micro_truck: Int,
-    val midibus: Int,
-    val minibus: Int,
-    val motorcycle: Int,
-    val mpv: Int,
-    val pedestrian: Int,
-    val pickup: Int,
-    val police_car: Int,
-    val small_truck: Int,
-    val spillage: Int,
-    val suv: Int,
-    val tank_truck: Int,
-    val tricycle: Int,
-    val truck: Int,
-    val unknown: Int
-)
\ No newline at end of file

app/src/main/java/com/sd/cavphmi/bean/PerTarget.kt → app/src/main/java/com/sd/cavphmi/bean/PerceptionBean.kt

 package com.sd.cavphmi.bean
 
 /**
- * 感知目标物实体
- ****/
-class PerTarget : ArrayList<PerTargetItem>()
+ * websocket解析目标感知物的接受数据
+ *
+ **/
+class PerceptionBean : ArrayList<PerceptionBeanItem>()
 
-data class PerTargetItem(
+data class PerceptionBeanItem(
     val accessTime: Long,
     val deviceId: String,
     val participants: List<Participant>,
-    val receiveTime: Int,
+    val receiveTime: Long,
     val reportTime: Long,
 //    val statistic: Statistic
 )
@@ -21,7 +22,7 @@ data class Participant(
     val latitude: Double,
     val longitude: Double,
     val ptcId: String,
-    val ptcType: String,
+    val ptcType: String,//
     val speed: Double
 )
 

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

@@ -2,6 +2,7 @@ package com.sd.cavphmi.ui
 
 import android.Manifest
 import android.content.Intent
+import android.os.Build
 import androidx.lifecycle.ViewModelProvider
 import com.permissionx.guolindev.PermissionX
 import com.sd.cavphmi.BR
@@ -61,14 +62,20 @@ class BootActivity : BaseActivity<ActivityBootBinding, MyBaseViewModel>() {
 
 
     fun requestPers() {
-        var list = listOf(
-            Manifest.permission.ACCESS_COARSE_LOCATION,
+        var pers = mutableListOf<String>(
+            Manifest.permission.ACCESS_BACKGROUND_LOCATION,
             Manifest.permission.ACCESS_FINE_LOCATION,
-            Manifest.permission.WRITE_EXTERNAL_STORAGE,
-            Manifest.permission.READ_PHONE_STATE,
+            Manifest.permission.ACCESS_COARSE_LOCATION,
+            Manifest.permission.READ_PHONE_STATE
         )
+        if (Build.VERSION.SDK_INT >= Build.VERSION_CODES.R){
+            pers.add(Manifest.permission.READ_EXTERNAL_STORAGE)
+            pers.add(Manifest.permission.MANAGE_EXTERNAL_STORAGE)
+        }else{
+            pers.add(Manifest.permission.READ_EXTERNAL_STORAGE)
+        }
         PermissionX.init(this)
-            .permissions(list)
+            .permissions(pers.toList())
             .onExplainRequestReason { scope, deniedList ->
                 scope.showRequestReasonDialog(
                     deniedList,

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

@@ -98,41 +98,33 @@ class MainActivity : BaseActivity<ActivityMainBinding, MyBaseViewModel>(),
         //联网车辆位姿数据
         binding.btVehicle.setOnClickListener {
             mainVm.subVehicle().observe(this) {
-
+                var a = 1
             }
         }
         //感知目标物
         binding.btTarget.setOnClickListener {
             mainVm.subTarget().observe(this) {
-                if (it.size == 0) {
+                if (it.isEmpty()) {
                     HighMapApi.clearPtcData()
                     return@observe
                 }
-                it.forEachIndexed { index, perTargetTestItem ->
-                    var list = perTargetTestItem.participants
-                    val ptcList: MutableList<UnityPtc> = ArrayList(list.size)
-                    list.forEachIndexed { index, item ->
-                        var unityPtc = UnityPtc()
-                        unityPtc.lat = item.latitude
-                        unityPtc.lon = item.longitude
-                        unityPtc.ptcid = item.ptcId
-                        unityPtc.heading = item.heading
-                        if (item.ptcType == "car") {
-                            unityPtc.pType = 1
+                var parts = it.flatMap { it.participants }
+
+                var ptcList = parts.map {
+                    var unityPtc = UnityPtc().apply {
+                        lat = it.latitude
+                        lon = it.longitude
+                        ptcid = it.ptcId
+                        heading = it.heading
+                        if (it.ptcType == "car") {
+                            pType = 1
                         } else {
-                            unityPtc.pType = 2
+                           pType = 2
                         }
-//                        unityPtc.aniTime=ptc.aniTime
-//                        unityPtc.aniTime = 1
-//                        unityPtc.isFlash=ptc.isFlash
-//                        unityPtc.isRed=ptc.isRed
-//                        unityPtc.isFlash = true
-//                        unityPtc.isRed = true
-                        ptcList.add(unityPtc)
                     }
-                    HighMapApi.setPtcData(ptcList)
+                    return@map unityPtc
                 }
-
+                HighMapApi.setPtcData(ptcList)
             }
         }
         //v2x 预警

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

@@ -101,18 +101,10 @@ class UnityFragment : Fragment(), IUnityPlayerLifecycleEvents {
         unityMapVm.loadTileJson()
     }
 
-    // 可选：向 Unity 发送消息的方法
-    fun sendMessageToUnity(gameObjectName: String, methodName: String, message: String) {
-//        mUnityPlayer?.sendMessage(gameObjectName, methodName, message)
-//        UnityPlayer.UnitySendMessage()
-    }
-
-
-
 
     companion object {
         @JvmStatic
         fun newInstance() = UnityFragment()
-
     }
+
 }
\ 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
      //测试环境
 //    var HOST = "https://itg-dev.cu-sc.com:19443/"
     //开发环境切勿动
     var HOST = "https://itg-yz.cu-sc.com:13443"
     //智网生产环境地址用于拼接3dtile.json
     var HOST_HTTP_3 = "https://itg-yz.cu-sc.com:13443"
-    /***测试环境socket token***/
-    private val WSTOKEN =
-        "eyJ0eXAiOiJKV1QiLCJhbGciOiJIUzI1NiJ9.eyJ1aWQiOiI0MTc0NDY3NGNlOGM0MDZmOTVkZTVkYWYyMWVlOWQ0ZiIsImNyZWF0ZVRpbWUiOjE3NTUwNzYxMTgxMjQsInVzZXJUeXBlIjoxLCJzb3VyY2UiOjAsInB3ZEV4cGlyZWQiOmZhbHNlLCJ1c2VybmFtZSI6ImNoZW5ieTUxIn0.aPYHCxXgQHj4eYGGZnce5MPJCtmMoRcIIHcNXzMMOHE"
+//    /***测试环境socket token***/
+//    private val WSTOKEN =
+//        "eyJ0eXAiOiJKV1QiLCJhbGciOiJIUzI1NiJ9.eyJ1aWQiOiI0MTc0NDY3NGNlOGM0MDZmOTVkZTVkYWYyMWVlOWQ0ZiIsImNyZWF0ZVRpbWUiOjE3NTUwNzYxMTgxMjQsInVzZXJUeXBlIjoxLCJzb3VyY2UiOjAsInB3ZEV4cGlyZWQiOmZhbHNlLCJ1c2VybmFtZSI6ImNoZW5ieTUxIn0.aPYHCxXgQHj4eYGGZnce5MPJCtmMoRcIIHcNXzMMOHE"
 
     //登录后拿到Token
     var HTTP_TOKEN =
@@ -18,23 +18,26 @@ object MyContants {
 
     //仅仅用于测试接口联通性，这里可不传
 //    private val reType = "51world"
-    //跟踪车辆的ID 267(模拟) skywell.1ggvlp16.car10  skywell.1ggvlp16.car8
-    private val VEHICLEID = "skywell.1ggvlp16.car8"
-    var WSHOST = "wss://itg-dev.cu-sc.com:19443/WSPLUSV5/socket?token=${WSTOKEN}&vehicleId=${VEHICLEID}&"
-//    var WSHOST = "wss://172.24.124.130:19443/wsplus/socket?token=121&reType=freedo&vehicleId=7&"
+    //跟踪车辆的ID 15(模拟) skywell.1ggvlp16.car10  skywell.1ggvlp16.car8
+
+    //智网测试、开发地址
+    var BASE_HOST =
+        if (IS_DEBUG) "172.24.124.130:19443" else "itg-yz.cu-sc.com:19443"
+
+    //websocket地址
+    private var WSHOST =  if (IS_DEBUG) "wss://${BASE_HOST}/wsplus/socket?token=121&reType=freedo&" else "wss://${BASE_HOST}/wsplus/socket?token=121&reType=freedo&"
+    var vehicleId = "17"
+    /**网联车辆位姿  用于实车测试喽数据***/
+    var WS_VEH_LOC = "${WSHOST}msgType=2&vehicleId=${vehicleId}"
 
-//    var PORT = if (IS_DEBUG) "123" else "34534"
     /***感知目标物  &intersectionCode=17 停车场  不传就是整个园区***/
 //    var WS_FEEL_TARGET = "${WSHOST}msgType=1&intersectionCode=17"
-    var WS_FEEL_TARGET = "wss://172.24.124.130:19443/wsplus/socket?token=121&reType=freedo&&msgType=1&intersectionCode=17"
-
-    /***网联车辆位姿  &vehicleId=***/
-//    var WS_VEH_LOC = "${WSHOST}msgType=2"
-    var WS_VEH_LOC = "wss://172.24.124.130:19443/wsplus/socket?token=121&reType=freedo&msgType=2&vehicleId=7"
+    var WS_FEEL_TARGET = "${WSHOST}&msgType=1"
 
     /***V2X预警  vehicleId 传了就是获取某一辆车的预警 &vehicleId=***/
     var WS_V2X = "${WSHOST}msgType=4"
 
+
     /***网联车辆状态 &vehicleId=''***/
     var WS_VEH_STATU = "${WSHOST}msgType=6"
 

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

@@ -8,13 +8,13 @@ import com.google.gson.Gson
 import com.sd.cavphmi.base.MyBaseViewModel
 import com.sd.cavphmi.bean.AvpStatuBean
 import com.sd.cavphmi.bean.CarVehicle
-import com.sd.cavphmi.bean.PerTarget
-import com.sd.cavphmi.bean.PerTargetTest
+import com.sd.cavphmi.bean.PerceptionBean
 import com.sd.cavphmi.bean.SpaceInfoBean
 import com.sd.cavphmi.bean.V2xStartBean
 import com.sd.cavphmi.bean.VToXImgBean
 import com.sd.cavphmi.bean.VehDetailBean
 import com.sd.cavphmi.bean.VehicleStats
+import com.sd.cavphmi.highmap.HighMapApi
 import com.sd.cavphmi.net.MyResult
 import com.sd.cavphmi.repositorys.AvpDataRepo
 import com.sd.cavphmi.utils.FileIoUtils
@@ -23,7 +23,6 @@ import com.sd.cavphmi.utils.ToastHelper
 import com.sd.cavphmi.websockets.FeelTargetWSClient
 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.launch
@@ -72,7 +71,7 @@ class MainVm @Inject constructor(
     lateinit var mockVM: MockVM
 
     //是否需要模拟
-    var isMock = true
+    var isMock = false
 
     //车辆位姿数据
     var carVehicle = MutableLiveData<CarVehicle>()
@@ -81,7 +80,7 @@ class MainVm @Inject constructor(
     var vehDetail = MutableLiveData<VehDetailBean>()
 
     //感知目标物
-    var targetPre = MutableLiveData<PerTargetTest>()
+    var targetPre = MutableLiveData<PerceptionBean>()
 
     //v2x 预警
     var v2xStartBean = MutableLiveData<V2xStartBean>()
@@ -196,12 +195,17 @@ class MainVm @Inject constructor(
                         viewModelScope.launch {
                             //下载到sd卡下面的DownLoad文件夹下面
                             FileIoUtils.writeToFile(str, "CarVehicle.txt")
-                            var bean = gson.fromJson(str, CarVehicle::class.java)
-                            carVehicle.postValue(bean)
+                            var carBean = gson.fromJson(str, CarVehicle::class.java)
+//                            carVehicle.postValue(carBean)
+                            //更新主车位置
+                            var car=carBean.first()
+                            HighMapApi.setCarPosition(car.heading, car.latitude, car.longitude, 20.80189)
                         }
                     }
                 }
-                vecLocWSClient.connect()
+                if (!vecLocWSClient.isOpen){
+                    vecLocWSClient.connect()
+                }
             } catch (e: Exception) {
                 e.printStackTrace()
             }
@@ -213,7 +217,7 @@ class MainVm @Inject constructor(
     /**感知目标物数据
      *传入intersectionCode=17 拼接 代表获取某区域的感知物，目前没有数据
      */
-    fun subTarget(): LiveData<PerTargetTest> {
+    fun subTarget(): LiveData<PerceptionBean> {
         if (isMock) {
             mockVM.onSubTargetMock(targetPre)
         } else {
@@ -222,12 +226,14 @@ class MainVm @Inject constructor(
                     override fun onMsg(str: String) {
                         viewModelScope.launch {
                             FileIoUtils.writeToFile(str, "PerTarget.txt")
-                            var bean = gson.fromJson(str, PerTargetTest::class.java)
+                            var bean = gson.fromJson(str, PerceptionBean::class.java)
                             targetPre.postValue(bean)
                         }
                     }
                 }
-                feelTargetWSClient.connect()
+                if (!feelTargetWSClient.isOpen){
+                    feelTargetWSClient.connect()
+                }
             } catch (e: Exception) {
                 e.printStackTrace()
             }
@@ -254,7 +260,9 @@ class MainVm @Inject constructor(
                         }
                     }
                 }
-                v2xWSClient.connect()
+                if (v2xWSClient.isOpen == false){
+                    v2xWSClient.connect()
+                }
             } catch (e: Exception) {
                 e.printStackTrace()
             }

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

 package com.sd.cavphmi.viewmodels
 
 import android.content.Context
-import androidx.databinding.ObservableField
 import androidx.lifecycle.MutableLiveData
 import androidx.lifecycle.ViewModel
 import androidx.lifecycle.viewModelScope
 import com.google.gson.Gson
-import com.sd.cavphmi.bean.CarPanelBean
 import com.sd.cavphmi.bean.CarVehicle
-import com.sd.cavphmi.bean.CarVehicleItem
-import com.sd.cavphmi.bean.PerTarget
-import com.sd.cavphmi.bean.PerTargetTest
+import com.sd.cavphmi.bean.PerceptionBean
 import com.sd.cavphmi.bean.V2xStartBean
+import com.sd.cavphmi.highmap.HighMapApi
 import com.sd.cavphmi.utils.FileIoUtils
 import dagger.hilt.android.lifecycle.HiltViewModel
 import dagger.hilt.android.qualifiers.ApplicationContext
@@ -45,32 +42,34 @@ class MockVM @Inject constructor(
     ) {
         viewModelScope.launch {
             val dst = mutableListOf<String>()
-            FileIoUtils.getAssetMock(context, "mock/CarVehicle.txt", dst)
+            FileIoUtils.getAssetMock(context, "mock/CarVehicle_15.txt", dst)
             dst.forEach { str ->
-                delay(1000)
                 val bean = parseDataBean(str, CarVehicle::class.java)
-                println("------模拟车辆位姿数据 = ${bean}")
-                println("------车速 = ${bean.first().speed}")
-                println("------电量 = ${bean.first().soc}")
+//                println("------模拟车辆位姿数据 = ${bean}")
+//                println("------车速 = ${bean.first().speed}")
+//                println("------电量 = ${bean.first().soc}")
                 carVehicle.value = bean
+                var car = bean.first()
+                HighMapApi.setCarPosition(car.heading, car.latitude, car.longitude, 20.80189)
+                delay(100)
             }
         }
     }
 
 
     //感知目标物
-    fun onSubTargetMock(targetPre: MutableLiveData<PerTargetTest>) {
+    fun onSubTargetMock(targetPre: MutableLiveData<PerceptionBean>) {
         viewModelScope.launch {
             val parts = mutableListOf<String>()
             FileIoUtils.getAssetMock(context, "mock/PerTarget.txt", parts)
             parts.forEach { str ->
-                delay(1000)
-                var bean = parseDataBean(str, PerTargetTest::class.java)
+                var bean = parseDataBean(str, PerceptionBean::class.java)
 //                println("------模拟感知目标物数据 = ${bean}")
 //                println("------模拟感知目标物typeName = ${bean.typeName}")
 //                println("------模拟感知目标物type = ${bean.type}")
 //                println("------模拟感知目标物level = ${bean.type}")
                 targetPre.value = bean
+                delay(1000)
             }
         }
     }

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

@@ -43,11 +43,10 @@ class FeelTargetWSClient : WebSocketClient {
             return
         onDataCb?.onMsg(message)
 //        onSocketCb?.onMessage(message)
-
     }
 
     override fun onMessage(bytes: ByteBuffer?) {
-        System.out.println(TAG + "  received ByteBuffer")
+//        System.out.println(TAG + "  received ByteBuffer")
 
     }
 

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

@@ -44,17 +44,14 @@ class VecLocWSClient : WebSocketClient {
             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?) {

app/src/main/res/xml/file_paths.xml

+<?xml version="1.0" encoding="utf-8"?>
+<resources>
+    <paths>
+        <external-path
+            name="external-path"
+            path="." />
+    </paths>
+
+</resources>
\ No newline at end of file