添加业务代码

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

@@ -9,6 +9,7 @@ package com.sd.cavphmi.bean
  */
  data class AvpStatuBean(
     val businessType: String,
+    val businessStatus: String,
     val drivenDecision: DrivenDecision,
 //    val exceptionCode: Any,
 //    val exceptionMessage: Any,

app/src/main/java/com/sd/cavphmi/highmap/ReverCar.kt

 package com.sd.cavphmi.highmap
 
 class ReverCar {
-    val cenLat: Double = 0.0  //车位中心点坐标
-    val cenLng: Double = 0.0  //车位中心点坐标
-    val code: String = ""//车位编号
+    var cenLat: Double = 0.0  //车位中心点坐标
+    var cenLng: Double = 0.0  //车位中心点坐标
+    var code: String = ""//车位编号
 }
\ No newline at end of file

app/src/main/java/com/sd/cavphmi/highmap/TileJsonBean.kt

@@ -13,7 +13,7 @@ import com.sd.cavphmi.utils.MyContants
 class TileJsonBean {
     var host: String = MyContants.HOST_HTTP_3
     var tiles3d = listOf(
-        "/gis_data/3dtiles/road/CurbStrip/tileset.json",
+//        "/gis_data/3dtiles/road/CurbStrip/tileset.json",
         "/gis_data/3dtiles/road/LanePolygon/tileset.json",
         "/gis_data/3dtiles/road/RoadSection/tileset.json",
         "/gis_data/3dtiles/road/SafetyIsland/tileset.json",
@@ -22,22 +22,54 @@ class TileJsonBean {
         "/gis_data/3dtiles/road/TraMarkA/tileset.json",
         "/gis_data/3dtiles/road/TraMarkL/tileset.json",
         "/gis_data/3dtiles/road/TraMarkP/tileset.json",
-        "/gis_data/3dtiles/roadequip/FieldFacility/tileset.json",
-        "/gis_data/3dtiles/roadequip/PlatForm/tileset.json",
-        "/gis_data/3dtiles/roadequip/SafetyRail/tileset.json",
-        "/gis_data/3dtiles/roadequip/SignStrct/tileset.json",
-        "/gis_data/3dtiles/roadequip/StreetLight/tileset.json",
-        "/gis_data/3dtiles/roadequip/TrafficLight/tileset.json",
-        "/gis_data/3dtiles/roadequip/TrafficSign/tileset.json",
-        "/gis_data/3dtiles/roadequip/VideoCamera/tileset.json",
-        "/gis_data/3dtiles/roadequip/baoganji/tileset.json",
-        "/gis_data/3dtiles/roadequip/buguangdeng/tileset.json",
+//        "/gis_data/3dtiles/roadequip/FieldFacility/tileset.json",
+//        "/gis_data/3dtiles/roadequip/PlatForm/tileset.json",
+//        "/gis_data/3dtiles/roadequip/SafetyRail/tileset.json",
+//        "/gis_data/3dtiles/roadequip/SignStrct/tileset.json",//监控杆子和路标杆子
+//        "/gis_data/3dtiles/roadequip/StreetLight/tileset.json",//路灯
+//        "/gis_data/3dtiles/roadequip/TrafficLight/tileset.json",
+//        "/gis_data/3dtiles/roadequip/TrafficSign/tileset.json",//监控探头和路标牌子
+//        "/gis_data/3dtiles/roadequip/VideoCamera/tileset.json",
+//        "/gis_data/3dtiles/roadequip/xinhaodeng/tileset.json",
+//        "/gis_data/3dtiles/roadequip/baoganji/tileset.json",
+//        "/gis_data/3dtiles/roadequip/buguangdeng/tileset.json",
         "/gis_data/3dtiles/roadequip/chongdianzhuang/tileset.json",
-        "/gis_data/3dtiles/roadequip/jiaohuanji/tileset.json",
-        "/gis_data/3dtiles/roadequip/xinhaoji/tileset.json",
+//        "/gis_data/3dtiles/roadequip/jiaohuanji/tileset.json",
+//        "/gis_data/3dtiles/roadequip/xinhaoji/tileset.json",
         "/gis_data/3dtiles/roadequip/yidongronghe/tileset.json",
         "/gis_data/3dtiles/buildings/tileset.json",
         "/gis_data/3dtiles/ground/tileset.json",
-        "/gis_data/3dtiles/vegetation/Tree/tileset.json"
+//        "/gis_data/3dtiles/vegetation/Tree/tileset.json"//树
     )
+    //四维的
+    /*  var host = "http://gz.tasks.city/3dtiles"
+      var tiles3d = listOf(
+  //        "/1/CurbStrip/tileset.json",
+          "/1/LanePolygon/tileset.json",
+          "/1/RoadSection/tileset.json",
+          "/1/SafetyIsland/tileset.json",
+          "/1/SepStrip/tileset.json",
+          "/1/SideWalk/tileset.json",
+          "/1/TraMarkA/tileset.json",
+          "/1/TraMarkL/tileset.json",
+          "/1/TraMarkP/tileset.json",
+          "/2/FieldFacility/tileset.json",
+          "/2/PlatForm/tileset.json",
+  //        "/2/SafetyRail/tileset.json",
+  //        "/2/SignStrct/tileset.json",
+  //        "/2/StreetLight/tileset.json",
+  //        "/2/TrafficLight/tileset.json",
+  //        "/2/TrafficSign/tileset.json",
+  //        "/2/VideoCamera/tileset.json",
+  //        "/2/xinhaodeng/tileset.json",
+  //        "/3/baoganji/tileset.json",
+  //        "/3/buguangdeng/tileset.json",
+          "/3/chongdianzhuang/tileset.json",
+  //        "/3/jiaohuanji/tileset.json",
+  //        "/3/jiaohuanji/tileset.json",
+  //        "/3/yidongronghe.clt/tileset.json",
+          "/4/Yizhuang_Unicom_building/tileset.json",
+          "/4/Yizhuang_Unicom_Ground/tileset.json",
+  //        "/4/Yizhuang_Unicom_Tree/tileset.json"
+      )*/
 }
\ No newline at end of file

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

@@ -10,8 +10,13 @@ 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.AvpStatuBean
+import com.sd.cavphmi.bean.DrivenDecision
+import com.sd.cavphmi.bean.Space
 import com.sd.cavphmi.databinding.ActivityMainBinding
+import com.sd.cavphmi.highmap.AllLine
 import com.sd.cavphmi.highmap.HighMapApi
+import com.sd.cavphmi.highmap.ReverCar
 import com.sd.cavphmi.highmap.UnityPtc
 import com.sd.cavphmi.highmap.WarnPtc
 import com.sd.cavphmi.intfaces.OnConCan
@@ -58,7 +63,10 @@ class MainActivity : BaseActivity<ActivityMainBinding, MyBaseViewModel>(),
     private val mockVM: MockVM by viewModels()
 
     private val mainVm: MainVm by viewModels()
-//    private val avpMapVM: AvpMapVM by viewModels()
+
+    //    private val avpMapVM: AvpMapVM by viewModels()
+    //是否进入泊车倒车状态
+    private var isReversePark = false
 
     //退出应用弹窗
     private lateinit var dialogFragment: ExitAppDialog
@@ -101,21 +109,81 @@ class MainActivity : BaseActivity<ActivityMainBinding, MyBaseViewModel>(),
         mockBt()
     }
 
-    private fun mockBt() {
     //获取AVP状态
-        binding.btAvpStatu.setOnClickListener {
-            mainVm.getAvpStatus().observe(this) {
+    private fun getAvpStatus() {
+        mainVm.getAvpStatus().observe(this) { avpStatu ->
+            var businessType = avpStatu.businessType//Park Call
+            var businessStatus =
+                avpStatu.businessStatus//NIL WAITING PROCESSING COMPLETED CANCELLED FAILED
+            var gearType = avpStatu.vehicleContext.vehicleDynamic.gearType
+            //画全局路径
+            drawAllLines(avpStatu.drivenDecision)
+            //在泊车状态下的倒挡绘制倒车路线
+            drawReversePark(businessType, gearType, avpStatu.space)
+            //是否显示车位流光效果
+            showParkLight(businessType, gearType, avpStatu.space)
+            //根据AVP状态判特效是否关闭
+            showEffectAvpStatu(businessStatus)
+        }
+    }
+
+    private fun showEffectAvpStatu(businessStatus: String) {
+        if (businessStatus == "CANCELLED" || businessStatus == "COMPLETED" || businessStatus == "FAILED") {
+            HighMapApi.setCarNavPath(listOf(), drawpassed = false)
+            HighMapApi.parkRoundLight("")
+        } else {
+
+        }
+    }
+
+    //是否显示车位流光效果
+    private fun showParkLight(businessType: String, gearType: String, space: Space) {
+        if (businessType == "Park" && gearType == "REVERSE") {
+            HighMapApi.parkRoundLight(space.code)
+        }
+    }
+
+    //在泊车状态下的倒挡绘制倒车路线
+    private fun drawReversePark(businessType: String, gearType: String, space: Space) {
+        if (businessType == "Park" && gearType == "REVERSE") {
+            if (isReversePark)
+                return
+            isReversePark = true
+            var reverCar = ReverCar().apply {
+                this.cenLat = space.centerLatitude
+                this.cenLng = space.centerLongitude
+                this.code = space.code
+            }
+            HighMapApi.setParkRever(reverCar)
+        }
+    }
 
+    //画全局路径
+    private fun drawAllLines(drivenDecision: DrivenDecision) {
+        var lines = drivenDecision.trajectory.points.map {
+            AllLine().apply {
+                this.lat = it.latitude
+                this.lon = it.longitude
             }
         }
+        HighMapApi.setCarNavPath(lines, drawpassed = true, showdistance = 300)
+    }
+
+
     //联网车辆位姿数据
-        binding.btVehicle.setOnClickListener {
-            mainVm.subVehicle().observe(this) {
-                var a = 1
+    private fun getCarVehicle() {
+        mainVm.subVehicle().observe(this) { carBean ->
+            var car = carBean.first()
+            HighMapApi.setCarPosition(
+                car.heading,
+                car.latitude,
+                car.longitude,
+                20.80189
+            )
         }
     }
-        //感知目标物
-        binding.btTarget.setOnClickListener {
+
+    private fun getTarget() {
         mainVm.subTarget().observe(this) {
             if (it.isEmpty()) {
                 HighMapApi.clearPtcData()
@@ -140,8 +208,9 @@ class MainActivity : BaseActivity<ActivityMainBinding, MyBaseViewModel>(),
             HighMapApi.setPtcData(ptcList)
         }
     }
-        //v2x 预警
-        binding.btV2x.setOnClickListener {
+
+    //开启v2x预警
+    private fun getV2x() {
         mainVm.subStartV2x().observe(this) { v2x ->
             if (v2x.objects.isEmpty())
                 return@observe
@@ -152,19 +221,38 @@ class MainActivity : BaseActivity<ActivityMainBinding, MyBaseViewModel>(),
             var warnPtc = WarnPtc().apply {
                 this.ptcid = v2xId
                 this.isRed = true
-                    this.isFlash = true
+//                    this.isFlash = true
             }
-
             val warnPtcs = listOf(warnPtc)
             HighMapApi.setWarnPtc(warnPtcs)
 
             CoroutineScope(Dispatchers.Default).launch {
                 delay(MyContants.WARNINGTIME)
                 warnPtc.isRed = false
-                    HighMapApi.setWarnPtc(listOf(warnPtc))
+//                    HighMapApi.setWarnPtc(listOf(warnPtc))
+                HighMapApi.setWarnPtc(warnPtcs)
             }
         }
     }
+
+
+    private fun mockBt() {
+        //获取AVP状态
+        binding.btAvpStatu.setOnClickListener {
+            getAvpStatus()
+        }
+        //联网车辆位姿数据
+        binding.btVehicle.setOnClickListener {
+            getCarVehicle()
+        }
+        //感知目标物
+        binding.btTarget.setOnClickListener {
+            getTarget()
+        }
+        //v2x 预警
+        binding.btV2x.setOnClickListener {
+            getV2x()
+        }
         //模拟选择车辆
         binding.btSetcar.setOnClickListener {
             var list = listOf("skywell.1ggvlp16.car10", "skywell.1ggvlp16.car8")
@@ -175,6 +263,10 @@ class MainActivity : BaseActivity<ActivityMainBinding, MyBaseViewModel>(),
         //车位四周流光
         binding.btParkround.setOnClickListener {
             HighMapApi.parkRoundLight("B050")
+            CoroutineScope(Dispatchers.Default).launch {
+                delay(5000)
+                HighMapApi.parkRoundLight("")
+            }
         }
     }
 

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

@@ -48,6 +48,10 @@ 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)
+        }
     }
 
 

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

@@ -98,7 +98,7 @@ class UnityFragment : Fragment(), IUnityPlayerLifecycleEvents {
         mUnityPlayer.windowFocusChanged(true)
 //        mUnityPlayer.requestFocus()
         //使用拼接服务器资源加载地图
-//        unityMapVm.loadTileJson()
+        unityMapVm.loadTileJson()
     }
 
 

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

 package com.sd.cavphmi.viewmodels
 
-import android.content.Context
 import androidx.lifecycle.viewModelScope
 import com.sd.cavphmi.base.MyBaseViewModel
 import com.sd.cavphmi.bean.CarPanelBean
 import com.sd.cavphmi.bean.CarVehicle
-
+import com.sd.cavphmi.bean.GearStatus
 import dagger.hilt.android.lifecycle.HiltViewModel
-import dagger.hilt.android.qualifiers.ApplicationContext
 import kotlinx.coroutines.Dispatchers
 import kotlinx.coroutines.delay
 import kotlinx.coroutines.launch
@@ -44,6 +42,26 @@ class CarPanelVM @Inject constructor() : MyBaseViewModel() {
 //        var a = 0
     }
 
+    /**设置档位类型*****/
+    fun setGearType(gearType: String) {
+        when (gearType) {
+            "PARK" -> {
+                carPanelBean.tapPos.set(GearStatus.P)
+            }
+            "REVERSE" -> {
+                carPanelBean.tapPos.set(GearStatus.R)
+            }
+            "NEUTRAL" -> {
+                carPanelBean.tapPos.set(GearStatus.N)
+            }
+            "DRIVE" -> {
+                carPanelBean.tapPos.set(GearStatus.D)
+            }
+        }
+
+    }
+
+
 
     fun mock() {
         changeMockHeading()

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

@@ -212,15 +212,8 @@ class MainVm @Inject constructor(
                             //下载到sd卡下面的DownLoad文件夹下面
 //                            FileIoUtils.writeToFile(str, "CarVehicle.txt")
                             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
-                            )
+                            carVehicle.postValue(carBean)
                         }
                     }
                 }

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

@@ -51,11 +51,11 @@ class VecLocWSClient : WebSocketClient {
     }
 
     override fun onClose(code: Int, reason: String?, remote: Boolean) {
-//        System.out.println(TAG + "  closed with exit code " + code + " additional info: " + reason);
+        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)
+        System.err.println(TAG + "an error occurred:" + ex)
 
     }