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Commit e0a57a35 authored by p x's avatar p x
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录一个召泊车数据

parent 1da693ec
Hide whitespace changes
Inline Side-by-side
app/build.gradle.kts
View file @ e0a57a35
......@@ -85,6 +85,8 @@ dependencies {
implementation("com.github.JessYanCoding:AndroidAutoSize:v1.2.1")
//用于坐标重投影的Proj.4库的Java端口
implementation("org.locationtech.proj4j:proj4j:1.4.1")
// https://mvnrepository.com/artifact/org.locationtech.proj4j/proj4j-epsg
implementation("org.locationtech.proj4j:proj4j-epsg:1.3.0")// 包含EPSG定义
//sm4 加密
implementation("org.bouncycastle:bcprov-jdk15on:1.70")
......
app/src/androidTest/java/com/sd/cavphmi/ExampleInstrumentedTest.kt
View file @ e0a57a35
......@@ -74,11 +74,11 @@ class ExampleInstrumentedTest {
// 计算投影
// double[] result = CoordinateProjectionUtils.calculatePointProjection(testPoint, coordinateSeries);
testPoint.forEachIndexed { index, it ->
val result = Proj4jCoord.calculatePointProjection(it, coordinateSeries)
println("车当前下标: (" + index + ") " + "车当前位置：" + it[0] + " " + it[1] + " 最近线段索引: " + result[2].toInt())
// val result = Proj4jCoord.calculatePointProjection(it, coordinateSeries)
// println("车当前下标: (" + index + ") " + "车当前位置：" + it[0] + " " + it[1] + " 最近线段索引: " + result[2].toInt())
// println("投影点坐标: (" + result[0] + ", " + result[1] + ")")
// println("最近线段索引: " + result[2].toInt())
println("最小距离: " + result[3] + " 米")
// println("最小距离: " + result[3] + " 米")
}
}
......
app/src/main/assets/mock/shiche/CarVehicle.txt 0 → 100644
View file @ e0a57a35
{"businessStatus":"DRIVING","spaceName":null,"vehiclePos":[116.502439,39.808918,327.76611328125],"routing":[],"progress":null}
{"businessStatus":"DRIVING","spaceName":null,"vehiclePos":[116.502435,39.808923,327.777099609375],"routing":[],"progress":null}
{"businessStatus":"DRIVING","spaceName":null,"vehiclePos":[116.502432,39.808927,327.843017578125],"routing":[],"progress":null}
{"businessStatus":"DRIVING","spaceName":null,"vehiclePos":[116.502428,39.808932,327.930908203125],"routing":[],"progress":null}
{"businessStatus":"DRIVING","spaceName":null,"vehiclePos":[116.502424,39.808937,327.98583984375],"routing":[],"progress":null}
{"businessStatus":"DRIVING","spaceName":null,"vehiclePos":[116.50242,39.808942,327.974853515625],"routing":[],"progress":null}
{"businessStatus":"DRIVING","spaceName":null,"vehiclePos":[116.502416,39.808947,327.94189453125],"routing":[],"progress":null}
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app/src/main/assets/mock/shiche/CarVehicle_Call.txt 0 → 100644
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app/src/main/assets/mock/shiche/CarVehicle_park.txt 0 → 100644
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app/src/main/assets/mock/shiche/avp_status_call.txt 0 → 100644
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app/src/main/assets/mock/shiche/avp_status_park.txt 0 → 100644
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app/src/main/java/com/sd/cavphmi/bean/AvpStatuBean.kt
View file @ e0a57a35
......@@ -8,8 +8,8 @@ package com.sd.cavphmi.bean
data class AvpStatuBean(
val businessType: String,
val drivenDecision: DrivenDecision,
val exceptionCode: Any,
val exceptionMessage: Any,
// val exceptionCode: Any,
// val exceptionMessage: Any,
val haulingNo: String,
val haulingStageState: String,
val space: Space,
......@@ -20,8 +20,8 @@ data class AvpStatuBean(
data class DrivenDecision(
val endPoint: EndPoint,
val progress: Any,
val routing: Any,
// val progress: Any,
// val routing: Any,
val startPoint: StartPoint,
val trajectory: Trajectory
)
......@@ -30,15 +30,15 @@ data class Space(
val centerLatitude: Double,
val centerLongitude: Double,
val code: String,
val createdAt: Int,
val elevation: Any,
// val createdAt: Long,
// val elevation: Any,
val entranceLatitude: Double,
val entranceLongitude: Double,
val id: Long,
val line: Any,
// val line: Any,
val name: String,
val occupySource: String,
val occupyTime: String,
// val occupySource: String,
// val occupyTime: String,
val placeId: Int,
val spaceType: String,
val state: String,
......@@ -48,9 +48,9 @@ data class Space(
data class VehicleContext(
val online: Boolean,
val perceptionContext: Any,
// val perceptionContext: Any,
val vehicleBasic: VehicleBasic,
val vehicleBusinessType: Any,
val vehicleBusinessType: String,
val vehicleDynamic: VehicleDynamic,
val vin: String
)
......
app/src/main/java/com/sd/cavphmi/ui/LoginActivity.kt
View file @ e0a57a35
......@@ -59,7 +59,7 @@ class LoginActivity : AppCompatActivity() {
lifecycleScope.launch {
repeatOnLifecycle(Lifecycle.State.STARTED) {
loginVm.login(user, PWD, VERIFYCODE).collect {
println("-----------登录回调 = ${it}")
// println("-----------登录回调 = ${it}")
//获取可绑定车辆
if (it == 1) {
getBinderCars()
......
app/src/main/java/com/sd/cavphmi/ui/MainActivity.kt
View file @ e0a57a35
......@@ -221,26 +221,22 @@ class MainActivity : BaseActivity<ActivityMainBinding, MyBaseViewModel>() {
return
//业务类型
var businessType = avpStatu.businessType//NIL Park Call
if (businessType == AvpContants.NIL_TYPE) {
clearAllEffect(businessType)
return
}
//业务状态
var businessStatus = avpStatu.haulingStageState
//获取档位
var gearType = avpStatu.vehicleContext.vehicleDynamic.gearType
//画全局路径
mapOpt.drawAllLines(avpStatu.drivenDecision)
//生成小地图路线以及二维坐标点
mapOpt.takeSmallMapLine(avpStatu.drivenDecision)
mapOpt.drawAllLines(avpStatu.drivenDecision,businessStatus)
//生成小地图路线
mapOpt.takeSmallMapLine(avpStatu.drivenDecision,businessStatus)
//画终点
mapOpt.addEndMarker(avpStatu.drivenDecision.endPoint)
mapOpt.addEndMarker(avpStatu.drivenDecision.endPoint,businessStatus)
//是否显示车位流光效果
mapOpt.showParkLight(businessType, avpStatu.space)
mapOpt.showParkLight(businessType, businessStatus,avpStatu.space)
//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(businessType, businessStatus, gearType, avpStatu.space)
//根据AVP任务状态判停车特效是否关闭
mapOpt.showEffectAvpStatu(businessType, businessStatus)
// mapOpt.showEffectAvpStatu(businessType, businessStatus)
}
/***是否展示车内视频****/
......@@ -254,26 +250,40 @@ class MainActivity : BaseActivity<ActivityMainBinding, MyBaseViewModel>() {
}
/**清除所有特效****/
private fun clearAllEffect(businessType: String) {
if (businessType == AvpContants.NIL_TYPE) {
//消除车位流光特效
HighMapApi.parkRoundLight("")
//消除泊车特效
HighMapApi.setParkComplete(true)
private fun clearAllEffect(businessType: String, businessStatus: String): Boolean {
if (businessStatus == AvpContants.TRANSPORT_COMPLETED) {
//消除全局路径
HighMapApi.setCarNavPath(emptyList())
//清除所有绘制
mapOpt.clearAllEffect()
//重置变量
resetVariable(businessType)
}
if (businessType == AvpContants.CALL_TYPE) {
if (businessStatus == AvpContants.TRANSPORT_COMPLETED) {
//重置变量
resetVariable(businessStatus)
}
} else if (businessType == AvpContants.Park_TYPE) {
if (businessStatus == AvpContants.TRANSPORT_COMPLETED) {
} else if (businessStatus == AvpContants.PARK_COMPLETED) {
//消除车位流光特效
HighMapApi.parkRoundLight("")
//消除泊车特效
HighMapApi.setParkComplete(true)
//重置变量
resetVariable(businessStatus)
}
}
return false
}
/***重置变量**/
private fun resetVariable(businessType: String) {
if (businessType == AvpContants.NIL_TYPE) {
private fun resetVariable(businessStatus: String) {
if (businessStatus == AvpContants.TRANSPORT_COMPLETED) {
mainVm.isGetVehDetail = false
mapOpt.smallMapLine = false
// mapOpt.smallMapLine = false
}
}
......@@ -294,22 +304,27 @@ class MainActivity : BaseActivity<ActivityMainBinding, MyBaseViewModel>() {
return
if (car.vehiclePos == null || car.vehiclePos.count() < 3)
return
// 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
mapOpt.upSmallMapLine(car)
try {
var tHead = car.vehiclePos.get(2)
//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
mapOpt.upSmallMapLine(car)
// println("----car.heading ${car.heading}")
//刷新主车位置
HighMapApi.setCarPosition(
car.vehiclePos!!.get(2),
car.vehiclePos.get(1),
car.vehiclePos.get(0),
20.80189
//刷新主车位置
HighMapApi.setCarPosition(
car.vehiclePos!!.get(2),
car.vehiclePos.get(1),
car.vehiclePos.get(0),
20.80189
// car.elevation
)
)
} catch (e: NullPointerException) {
//隐藏小车
}
// setCarCamera(1)
}
//联网车辆感知物
......
app/src/main/java/com/sd/cavphmi/utils/AvpMapUtils.kt 0 → 100644
View file @ e0a57a35
package com.sd.cavphmi.utils
import android.graphics.Point
import com.minedata.minenavi.mapdal.LatLng
import com.minedata.minenavi.util.Tools
object AvpMapUtils {
//找到离车最近点的下标
suspend fun findNearPointIndex(
point: LatLng,
sLatLngs: List<Point>
): Int {
var minDistance = Double.Companion.MAX_VALUE
var nearestIndex = -1
var series = sLatLngs.map {
Tools.pointToLatLng(it)
}
//获取起点和终点
var sPoi = series.first()
var ePoi = series.last()
//离起点距离
var sDis =
MyMapUtils.cauMyLocDistance(
point.longitude, point.latitude,
sPoi.longitude, sPoi.latitude
)
// println("---------------distance = ${distance}")
//线段长度
var lineSeg = MyMapUtils.cauMyLocDistance(
sPoi.longitude, sPoi.latitude,
ePoi.longitude, ePoi.latitude
)
if (sDis > lineSeg * 2) {
return 0
}
series.forEachIndexed { index, latLng ->
val distance = MyMapUtils.cauMyLocDistance(
point.longitude,
point.latitude,
latLng.longitude,
latLng.latitude
)
// println("---------distance = ${distance} index = ${index}")
if (distance < minDistance) {
minDistance = distance
nearestIndex = index
}
}
return nearestIndex
}
}
\ No newline at end of file
app/src/main/java/com/sd/cavphmi/utils/MyMapUtils.java
View file @ e0a57a35
package com.sd.cavphmi.utils;
import android.graphics.Point;
import android.location.Location;
import com.minedata.minenavi.mapdal.LatLng;
import java.lang.reflect.Array;
public class MyMapUtils {
......@@ -121,4 +124,7 @@ public class MyMapUtils {
}
}
app/src/main/java/com/sd/cavphmi/utils/Proj4jCoord.kt
View file @ e0a57a35
package com.sd.cavphmi.utils
import org.locationtech.proj4j.CRSFactory
import org.locationtech.proj4j.CoordinateReferenceSystem
import org.locationtech.proj4j.CoordinateTransform
import org.locationtech.proj4j.CoordinateTransformFactory
import org.locationtech.proj4j.Proj4jException
import org.locationtech.proj4j.ProjCoordinate
import kotlin.math.atan2
......@@ -10,11 +13,35 @@ import kotlin.math.min
import kotlin.math.sin
import kotlin.math.sqrt
class CoordResultBean {
//最近点
var nearPoi: ProjCoordinate? = null
//线段下标
var nearIndex: Int = 0
var distance = 0
}
/**坐标投影转换工具***/
object Proj4jCoord {
private val crsFactory: CRSFactory = CRSFactory()
private var transformFactory: CoordinateTransformFactory = CoordinateTransformFactory()
// 定义 WGS84 (经纬度) 和 Web墨卡托 (用于计算) 坐标系
var wgs84: CoordinateReferenceSystem = crsFactory.createFromName("epsg:4326") // 经纬度源坐标
// var webMercator: CoordinateReferenceSystem = crsFactory.createFromName("epsg:3857") // 投影目标坐标
var webMercator: CoordinateReferenceSystem = crsFactory.createFromName("EPSG:32650") // 投影目标坐标
// 创建转换器
var wgsToMercator: CoordinateTransform = transformFactory.createTransform(wgs84, webMercator)
// 创建逆转换器 (墨卡托 -> WGS84)
var mercatorToWgs: CoordinateTransform = transformFactory.createTransform(webMercator, wgs84)
//返回结果
private val resultArray=doubleArrayOf(0.0, 0.0, 0.0, 0.0)
private val resultBean = CoordResultBean()
// private val resultArray = doubleArrayOf(0.0, 0.0, 0.0, 0.0)
// 定义坐标系参数
private const val WGS84_PARAMS = "+proj=longlat +ellps=WGS84 +datum=WGS84 +no_defs"
......@@ -33,23 +60,18 @@ object Proj4jCoord {
suspend fun calculatePointProjection(
point: DoubleArray,
coordinateSeries: MutableList<DoubleArray>
): DoubleArray {
): CoordResultBean {
try {
// 创建坐标系
/* val wgs84: CoordinateReferenceSystem? =
crsFactory.createFromParameters(
"WGS84",
WGS84_PARAMS
)
val cgcs2000: CoordinateReferenceSystem? =
crsFactory.createFromParameters(
"CGCS2000",
CGCS2000_BEIJING_3_DEGREE_ZONE_39
)*/
//直接使用02坐标系
val dstCoord = ProjCoordinate(point[0], point[1])
val projectedPoint = doubleArrayOf(dstCoord.x, dstCoord.y)
// 转换点到投影坐标
val pointWgs = ProjCoordinate(point[0], point[1]) // 你的点经纬度
val pointMercator = ProjCoordinate()
wgsToMercator.transform(pointWgs, pointMercator)
// val projectedPoint = doubleArrayOf(pointMercator.x, pointMercator.y)
// //直接使用02坐标系
// val dstCoord = ProjCoordinate(point[0], point[1])
// val projectedPoint = doubleArrayOf(dstCoord.x, dstCoord.y)
// 转换坐标点串到CGCS2000坐标系
// var projectedSeries = mutableListOf<DoubleArray>()
......@@ -58,10 +80,10 @@ object Proj4jCoord {
// }
// 计算点到线串的最短距离和投影点
return findNearestProjection(projectedPoint, coordinateSeries)
return findNearestProjection(pointMercator, coordinateSeries)
} catch (e: Proj4jException) {
e.printStackTrace()
return doubleArrayOf(0.0, 0.0, -1.0, -1.0)
return CoordResultBean()
}
}
......@@ -70,48 +92,83 @@ object Proj4jCoord {
* 在投影后的坐标系中查找最近投影点
*/
private fun findNearestProjection(
point: DoubleArray,
point: ProjCoordinate,
series: MutableList<DoubleArray>
): DoubleArray {
): CoordResultBean {
var minDistance = Double.Companion.MAX_VALUE
var nearestIndex = -1
var projectionPoint = DoubleArray(2)
var nearPoi: ProjCoordinate? = null
// 遍历所有线段计算投影
for (i in 0..<series.size - 1) {
val start = series.get(i)
val end = series.get(i + 1)
val currentProjection: DoubleArray = projectPointToLine(point, start, end)
// 同样转换线段的两个端点
val lineStartWgs = ProjCoordinate(start[0], start[1])
val lineEndWgs = ProjCoordinate(end[0], end[1])
val lineStartMercator = ProjCoordinate()
val lineEndMercator = ProjCoordinate()
wgsToMercator.transform(lineStartWgs, lineStartMercator)
wgsToMercator.transform(lineEndWgs, lineEndMercator)
// val currentProjection: DoubleArray = projectPointToLine(point, start, end)
// val currentProjection: DoubleArray = series.get(i)
var closestPointWgs = closestPointOnSegment(point, lineStartMercator, lineEndMercator)
// 转换最近点回 WGS84
nearPoi = ProjCoordinate()
mercatorToWgs.transform(closestPointWgs, nearPoi)
//计算点距离
val distance: Double = calculateDistance(point, currentProjection)
// var distance = MyMapUtils.cauMyLocDistance(
// point[0],
// point[1],
// currentProjection[0],
// currentProjection[1]
// )
println("-------distance = ${distance} i= ${i}")
val distance: Double = calculateDistance(point, closestPointWgs)
// println("-------nearPoi = ${nearPoi.x} ${nearPoi.y} i = ${i}")
// println("---------------distance = ${distance} i = ${i}")
if (distance < minDistance) {
minDistance = distance
nearestIndex = i
projectionPoint = currentProjection
}
}
resultArray.set(0,projectionPoint[0])
resultArray.set(1,projectionPoint[1])
resultArray.set(2,nearestIndex.toDouble())
resultArray.set(3,minDistance)
return resultArray
// return doubleArrayOf(
// projectionPoint[0],
// projectionPoint[1],
// nearestIndex.toDouble(),
// minDistance
// )
resultBean.nearPoi = nearPoi
return resultBean
}
//在投影坐标下，使用向量投影法计算点到线段的最近点
fun closestPointOnSegment(
point: ProjCoordinate,
lineStart: ProjCoordinate,
lineEnd: ProjCoordinate
): ProjCoordinate {
// 计算方向向量 d = lineEnd - lineStart
val dx = lineEnd.x - lineStart.x
val dy = lineEnd.y - lineStart.y
// 如果线段退化为一个点，直接返回起点
if (dx == 0.0 && dy == 0.0) {
return ProjCoordinate(lineStart.x, lineStart.y)
}
// 计算向量 AP = point - lineStart
val apx = point.x - lineStart.x
val apy = point.x - lineStart.y
// 计算投影参数 t = (AP · d) / (d · d)
// 点积公式: ap dot d = apx * dx + apy * dy
val dot = apx * dx + apy * dy
val lenSq = dx * dx + dy * dy
val t = dot / lenSq
// val t = if (lenSq != 0.0) max(0.0, min(1.0, dot / lenSq)) else 0.0
// 检查最近点是否在线段范围内
if (t < 0.0) {
return ProjCoordinate(lineStart.x, lineStart.y) // 最近点是起点
} else if (t > 1.0) {
return ProjCoordinate(lineEnd.x, lineEnd.y) // 最近点是终点
} else {
// 最近点在线段上: lineStart + t * d
val closestX = lineStart.x + t * dx
val closestY = lineStart.y + t * dy
return ProjCoordinate(closestX, closestY)
}
}
......@@ -145,13 +202,13 @@ object Proj4jCoord {
/**
* 计算两点间距离
*/
private fun calculateDistance(p1: DoubleArray, p2: DoubleArray): Double {
var dx = p1[0] - p2[0]
var dy = p1[1] - p2[1]
return Math.sqrt(Math.pow(dx, 2.0) + Math.pow(dy, 2.0))
private fun calculateDistance(p1: ProjCoordinate, p2: ProjCoordinate): Double {
val dx: Double = p2.x - p1.y
val dy: Double = p2.y - p1.y
return sqrt(dx * dx + dy * dy)
// 角度转弧度
val radLat1 = Math.toRadians(p1[1])
/* val radLat1 = Math.toRadians(p1[1])
val radLon1 = Math.toRadians(p1[0])
val radLat2 = Math.toRadians(p2[1])
val radLon2 = Math.toRadians(p2[0])
......@@ -166,7 +223,7 @@ object Proj4jCoord {
val c = 2 * atan2(sqrt(a), sqrt(1 - a))
// 距离 = 地球半径 × 圆心角
return EARTH_RADIUS * c
return EARTH_RADIUS * c*/
}
......
app/src/main/java/com/sd/cavphmi/viewmodels/MainVm.kt
View file @ e0a57a35
......@@ -93,7 +93,7 @@ class MainVm @Inject constructor(
lateinit var mockVM: MockVM
//是否需要模拟
var isMock = false
var isMock = true
//车辆位姿数据
// var carVehicle = MutableLiveData<CarVehicle>()
......@@ -186,14 +186,14 @@ class MainVm @Inject constructor(
//HTTP获取AVP状态
fun getAvpStatus(): SharedFlow<AvpStatuBean> {
// if (isMock) {
if (isMock) {
mockVM.subAvpStatus(avpStatu)
// } else {
// var url = "${MyContants.HOST}/api/avpweb/hmi/monitor/v1/taskStatus"
// avpCb.url = url
// var body = RequestBodyUtil.toRequestBody(mapOf("id" to MyContants.VEHICLEID))
// avpDataRepo.getAvpStatus(url, body, avpCb)
// }
} else {
var url = "${MyContants.HOST}/api/avpweb/hmi/monitor/v1/taskStatus"
avpCb.url = url
var body = RequestBodyUtil.toRequestBody(mapOf("id" to MyContants.VEHICLEID))
avpDataRepo.getAvpStatus(url, body, avpCb)
}
return avpStatu
}
......@@ -208,7 +208,7 @@ class MainVm @Inject constructor(
override fun onEvent(data: String) {
viewModelScope.launch {
if (data.isNotEmpty()) {
println("-------AVP状态 = ${data}")
// println("-------AVP状态 = ${data}")
FileIoUtils.writeToFile(data, "avp_status.txt")
var result = gson.fromJson<AvpStatuBean>(data, AvpStatuBean::class.java)
avpStatu.emit(result)
......@@ -217,8 +217,11 @@ class MainVm @Inject constructor(
}
override fun onError(throwable: Throwable) {
println("------开启AVP状态连接是失败 throwable = ${throwable}")
getAvpStatus()
println("------开启AVP状态连接是失败 throwable = ${throwable} 2秒重连")
viewModelScope.launch {
delay(2000)
getAvpStatus()
}
}
override fun onClosed() {
......
app/src/main/java/com/sd/cavphmi/viewmodels/MapOpt.kt
View file @ e0a57a35
......@@ -23,7 +23,7 @@ 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 com.sd.cavphmi.utils.AvpMapUtils
import dagger.hilt.android.lifecycle.HiltViewModel
import dagger.hilt.android.qualifiers.ApplicationContext
import kotlinx.coroutines.Dispatchers
......@@ -48,7 +48,7 @@ class MapOpt @Inject constructor(
private var sLatLngs: Array<Point>? = null
// 小地图路径坐标点串 (02坐标系)
private var coordinateSeries = ArrayList<DoubleArray>()
// private var coordinateSeries = ArrayList<DoubleArray>()
private var sPolyline: Polyline? = null
//是否进入泊车倒车状态
......@@ -61,7 +61,12 @@ class MapOpt @Inject constructor(
private var allLines: List<AllLine>? = null
//画全局路径
fun drawAllLines(drivenDecision: DrivenDecision) {
fun drawAllLines(drivenDecision: DrivenDecision, businessStatus: String) {
if (businessStatus == AvpContants.TRANSPORT_COMPLETED || businessStatus == AvpContants.PARK_COMPLETED) {
//清除全局路径
HighMapApi.setCarNavPath(emptyList())
return
}
if (drivenDecision.trajectory.points.count() > 0) {
//全局路径这里只执行一次
// if (allLines == null || allLines?.count() == 0) {
......@@ -102,18 +107,20 @@ 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)
if (mMineMap != null && car.vehiclePos != null) {
if (mSmallMapCar == 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)
}
}
}
}
......@@ -126,76 +133,87 @@ class MapOpt @Inject constructor(
return
synchronized(NativeEnv.SyncObject) {
var ndsLatLng = LatLng(carVehicle.vehiclePos.get(1), carVehicle.vehiclePos.get(0))
var tHead = carVehicle.vehiclePos.get(2)
var heading = 0f
if (tHead != null) {
heading = tHead.toFloat()
}
var tHead = carVehicle.vehiclePos.get(2).toFloat()
//刷新小地图自车位置
if (mSmallMapCar != null) {
// mSmallMapCar!!.orientAngle((heading + 40) % 360)
mSmallMapCar!!.orientAngle(0f - 180f - heading)
mSmallMapCar!!.orientAngle(0f - 180f - tHead)
// mSmallMapCar!!.orientAngle((heading + 180) % 360)
mSmallMapCar!!.setPositionNds(ndsLatLng)
// val point = Tools.latLngToPoint(ndsLatLng)
// mMineMap?.setPointToCenter(point.x, point.y)
}
}
}
/***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)
fun takeSmallMapLine(drivenDecision: DrivenDecision, businessStatus: String) {
if (businessStatus == AvpContants.TRANSPORT_COMPLETED) {
//清除全局路径
sLatLngs?.toMutableList()?.clear()
sLatLngs = null
return
}
// if (smallMapLine)
// return
// if (coordinateSeries.count() > 0)
// return
if (drivenDecision.trajectory.points.count() > 0) {
smallMapLine = true
// smallMapLine = true
//转换小弟提路径点
sLatLngs = drivenDecision.trajectory.points.map {
Tools.latLngToPoint(LatLng(it.latitude, it.longitude))
}.toTypedArray()
//生成DoubleArray
sLatLngs?.forEach {
var ll = Tools.pointToLatLng(it)
var temp = doubleArrayOf(ll.longitude, ll.latitude)
coordinateSeries.add(temp)
}
// sLatLngs?.forEach {
// var ll = Tools.pointToLatLng(it)
// var temp = doubleArrayOf(ll.longitude, ll.latitude)
// coordinateSeries.add(temp)
// }
}
}
//更新小地图路径
fun upSmallMapLine(carVehicle: CarVehicle) {
// deleteSmapLine()
viewModelScope.launch(Dispatchers.Default) {
if (coordinateSeries.count() > 0) {
//当前车辆位置
var latlng = LatLng(carVehicle.vehiclePos!!.get(1), carVehicle.vehiclePos.get(0))
//投影计算结果
var result = Proj4jCoord.calculatePointProjection(
doubleArrayOf(latlng.latitude, latlng.longitude),
coordinateSeries
)
// println("----最近线段索引: " + result[2].toInt())
var index = result[2].toInt()
//截取线段
var nPoints = sLatLngs?.sliceArray(index..sLatLngs!!.lastIndex)
if (sLatLngs != null && (sLatLngs?.count() ?: 0) > 0) {
//当前车辆位置
var latlng = LatLng(carVehicle.vehiclePos!!.get(1), carVehicle.vehiclePos.get(0))
//投影计算结果
// var result = Proj4jCoord.calculatePointProjection(
// doubleArrayOf(latlng.longitude, latlng.latitude),
// coordinateSeries
// )
viewModelScope.launch(Dispatchers.Default) {
var index = AvpMapUtils.findNearPointIndex(latlng, sLatLngs!!.toList())
// println("----最近线段索引: " + index)
// var index = result.nearIndex
//删除线
deleteSmapLine()
// if (sPolyline == null) {
sPolyline = Polyline(nPoints, false)
sPolyline?.setStrokeStyle(Overlay.StrokeStyle.solidWithButt)
sPolyline?.setWidth(8f)
sPolyline?.setColor(0xFF00B578.toInt())
mMineMap?.addOverlay(sPolyline)
// }
synchronized(NativeEnv.SyncObject) {
//截取线段
var nPoints = sLatLngs!!.sliceArray(index..sLatLngs!!.lastIndex)
sPolyline = Polyline(nPoints, false)
sPolyline?.setStrokeStyle(Overlay.StrokeStyle.solidWithButt)
sPolyline?.setWidth(8f)
sPolyline?.setColor(0xFF00B578.toInt())
mMineMap?.addOverlay(sPolyline)
}
}
} else {
deleteSmapLine()
}
// }
}
/**画路径起终点***/
fun addEndMarker(endPoint: EndPoint) {
//删除终点marker
// deleteEndMarker()
fun addEndMarker(endPoint: EndPoint, businessStatus: String) {
if (businessStatus == AvpContants.TRANSPORT_COMPLETED) {
//删除终点marker
deleteEndMarker()
return
}
if (pEndMarker == null) {
var mEndPoint = LatLng(endPoint.latitude, endPoint.longitude)
val end_icon = BitmapFactory.decodeResource(context.resources, R.drawable.plan_end)
......@@ -227,6 +245,9 @@ class MapOpt @Inject constructor(
this.code = space.code
}
HighMapApi.setParkRever(reverCar)
} else if (businessStatus == AvpContants.PARK_COMPLETED) {
//消除泊车特效
HighMapApi.setParkComplete(true)
} else {
HighMapApi.setCameraAngle(30f)
HighMapApi.setCameraDistance(6f)
......@@ -242,9 +263,14 @@ class MapOpt @Inject constructor(
//是否显示车位流光效果
fun showParkLight(businessType: String, space: Space) {
fun showParkLight(businessType: String, businessStatus: String, space: Space) {
if (businessType == AvpContants.Park_TYPE) {
HighMapApi.parkRoundLight(space.name)
if (businessStatus == AvpContants.PARK_COMPLETED) {
//消除车位流光特效
HighMapApi.parkRoundLight("")
} else {
HighMapApi.parkRoundLight(space.name)
}
} else {
// HighMapApi.parkRoundLight("")
}
......@@ -264,7 +290,7 @@ class MapOpt @Inject constructor(
}
//倒车完成
if (businessType == AvpContants.Park_TYPE) {
if (businessStatus == AvpContants.PARK_COMPLETED) {
if (businessStatus == AvpContants.PARK_COMPLETED || businessStatus == AvpContants.PARK_CANCELED) {
//消除车位流光特效
HighMapApi.parkRoundLight("")
//消除泊车特效
......@@ -315,7 +341,7 @@ class MapOpt @Inject constructor(
//清除小地图路径数据
fun clearSmallLineData() {
coordinateSeries.clear()
// coordinateSeries.clear()
sLatLngs?.toMutableList()?.clear()
}
......
app/src/main/java/com/sd/cavphmi/viewmodels/MockVM.kt
View file @ e0a57a35
......@@ -237,13 +237,13 @@ class MockVM @Inject constructor(
viewModelScope.launch {
var gson = Gson()
var datas = mutableListOf<String>()
FileIoUtils.getAssetMock(context, "mock/CarVehicle_Test.txt", datas)
FileIoUtils.getAssetMock(context, "mock/shiche/CarVehicle_Call.txt", datas)
datas.forEach { str ->
val cCar = gson.fromJson<CarVehicle>(str, CarVehicle::class.java)
if (cCar.vehiclePos != null) {
carLiveData.value = cCar
// carLiveData.postValue(cCar)
delay(200)
delay(300)
}
}
}
......@@ -440,7 +440,7 @@ class MockVM @Inject constructor(
viewModelScope.launch {
var gson = Gson()
var datas = mutableListOf<String>()
FileIoUtils.getAssetMock(context, "mock/avp_status.txt", datas)
FileIoUtils.getAssetMock(context, "mock/shiche/avp_status_call.txt", datas)
var str = datas.first()
val statu = gson.fromJson<AvpStatuBean>(str, AvpStatuBean::class.java)
for (i in 0..10000) {
......
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