添加token 保存自动判断逻辑

app/build.gradle.kts

@@ -78,6 +78,7 @@ dependencies {
     androidTestImplementation(libs.androidx.junit)
     androidTestImplementation(libs.androidx.espresso.core)
 
+    implementation("com.tencent:mmkv:2.2.4")
     implementation("io.github.cymchad:BaseRecyclerViewAdapterHelper4:4.1.7")
     implementation("com.jakewharton.rxbinding4:rxbinding:4.0.0")
     //屏幕适配

app/src/main/java/com/sd/cavphmi/MyAppcation.kt

 package com.sd.cavphmi
 
 import android.app.Application
+import com.tencent.mmkv.MMKV
 import dagger.hilt.android.HiltAndroidApp
 import me.jessyan.autosize.AutoSizeConfig
 
+
 @HiltAndroidApp
 class MyAppcation : Application() {
     companion object {
@@ -15,5 +17,7 @@ class MyAppcation : Application() {
         super.onCreate()
         instance = this
         AutoSizeConfig.getInstance().setLog(false)
+        val rootDir = MMKV.initialize(this)
+        println("----MMKV root: " + rootDir)
     }
 }
\ No newline at end of file

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

@@ -72,7 +72,7 @@ object HighMapApi {
         notthrough: String = "2868D8",
         through: String = "8e959e",
         drawpassed: Boolean = true,
-        showdistance: Int = 45
+        showdistance: Int = 75
     ) {
         var carNavPath = CarNavPath().apply {
             this.lines = lines

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

@@ -99,11 +99,8 @@ class AvpDataRepo @Inject constructor(
      * 我们车辆位姿数据用的是 车俩基础信息的id   可绑车辆接口 返回的是 avp车俩id
      * 所以这里的id 是绑定车辆列表返回的id
      */
-    fun getAvpStatus(url: String,body: RequestBody?, listener: SSESimpleListener?) {
-        simpleSSEClient.startSSE(
-            "${MyContants.HOST}/api/avpweb/hmi/monitor/v1/taskStatus",
-            body, listener
-        )
+    fun getAvpStatus(url: String, body: RequestBody?, listener: SSESimpleListener?) {
+        simpleSSEClient.startSSE(url, body, listener)
     }
 
     /**获取车辆位姿****/

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

@@ -7,6 +7,7 @@ import androidx.appcompat.app.AppCompatActivity
 import com.jakewharton.rxbinding4.view.clicks
 import com.sd.cavphmi.databinding.ActivityLoginBinding
 import com.sd.cavphmi.ui.dialog.SeleBindCarDialog
+import com.sd.cavphmi.utils.MMKVUtil
 import com.sd.cavphmi.utils.MyContants
 import com.sd.cavphmi.viewmodels.LoginVm
 import com.sd.cavphmi.viewmodels.MainVm
@@ -22,6 +23,7 @@ class LoginActivity : AppCompatActivity() {
     private val mainVm: MainVm by viewModels()
 
     private val PWD = "5803d205ac27f33ea5f53afed4eb81880bee49f06129ea5437c1b940d18da8f1"
+    private val VERIFYCODE = 285369
 
     //车牌号选择
 //    private lateinit var seleBindCarDialog: SeleBindCarDialog
@@ -32,19 +34,28 @@ class LoginActivity : AppCompatActivity() {
         binding = ActivityLoginBinding.inflate(layoutInflater)
         setContentView(binding.root)
 
+        if (MMKVUtil.token.isNotEmpty()) {
+            MyContants.HTTP_TOKEN = MMKVUtil.token
+            getBinderCars()
+        } else {
             var lo = binding.btLogin.clicks().throttleFirst(1, TimeUnit.SECONDS).subscribe {
                 var user = binding.etAccount.text.toString()
                 var pwd = binding.etPwd.text.toString()
 //            "4CIHV37pDF8sx0ZXYmYah6HSgys7F7ULSMmm39uzppc"
 //            var key = "Cusc@itmp-sm4key".toByteArray()
 //            var pp = SM4CryptoHelper.encryptECB(key, pwd.toByteArray())
-            loginVm.login(user, PWD, 285369).observe(this) {
+                loginVm.login(user, PWD, VERIFYCODE).observe(this) {
                     //获取可绑定车辆
                     if (it == 1) {
                         getBinderCars()
                     }
                 }
             }
+        }
+        setListener()
+    }
+
+    private fun setListener() {
         //  HTTP获取车位占用情况
         binding.btSpaceinfo.setOnClickListener {
             mainVm.getSpaceInfo()
@@ -53,6 +64,9 @@ class LoginActivity : AppCompatActivity() {
         binding.btAvpstatu.setOnClickListener {
             mainVm.getAvpStatus()
         }
+        binding.btCarpos.setOnClickListener {
+            mainVm.subVehicle()
+        }
         //获取可绑定车辆
         binding.btGetbindcar.setOnClickListener {
             getBinderCars()
@@ -62,9 +76,9 @@ class LoginActivity : AppCompatActivity() {
             startActivity(Intent(this, MainActivity::class.java))
             finish()
         }
-
     }
 
+
     //获取可绑定车辆
     private fun getBinderCars() {
 //        seleBindCarDialog = SeleBindCarDialog.newInstance()
@@ -80,7 +94,7 @@ class LoginActivity : AppCompatActivity() {
                     finish()
                 }
             }
-            if (!seleBindCarDialog.isAdded){
+            if (!seleBindCarDialog.isAdded) {
                 seleBindCarDialog.showNow(supportFragmentManager, "seleBindCarDialog")
             }
 //            val dialog = CustomListDialog(this, "选择车辆", plateNumbers)

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

@@ -35,11 +35,6 @@ import kotlinx.coroutines.delay
 import kotlinx.coroutines.launch
 
 
-/**
- * Main activity
- *
- * @constructor Create empty Main activity
- */
 @AndroidEntryPoint
 class MainActivity : BaseActivity<ActivityMainBinding, MyBaseViewModel>() {
 
@@ -71,6 +66,7 @@ class MainActivity : BaseActivity<ActivityMainBinding, MyBaseViewModel>() {
 
     override fun onDestroy() {
         super.onDestroy()
+        mainVm.cleanRes()
         binding.mapView.onDestroy()
     }
 
@@ -85,7 +81,7 @@ class MainActivity : BaseActivity<ActivityMainBinding, MyBaseViewModel>() {
 
     //    private val avpMapVM: AvpMapVM by viewModels()
     //是否进入泊车倒车状态
-    private var isReversePark = false
+//    private var isReversePark = false
 
     //退出应用弹窗
     private lateinit var dialogFragment: ExitAppDialog
@@ -149,7 +145,7 @@ class MainActivity : BaseActivity<ActivityMainBinding, MyBaseViewModel>() {
     private fun setUpMap() {
         binding.mapView.addMapRenderCallback(object : MapView.OnMapReadyListener {
             override fun onMapReady(mineMap: MineMap?) {
-                mainVm.mMineMap = mineMap
+//                mainVm.mMineMap = mineMap
                 mapOpt.mMineMap = mineMap
                 mockVM.mMineMap = mineMap
                 mineMap?.setZoomLevel(14f)
@@ -163,14 +159,15 @@ class MainActivity : BaseActivity<ActivityMainBinding, MyBaseViewModel>() {
     override fun getToData() {
         //开启websocket
         getTarget()
+        getV2x()
         //开启2个HTTP sse
         getCarVehicle()
         getAvpStatus()
-
         //获取车位占用情况
 //        getSpaceInfo()
     }
 
+    //获取车位占用情况
     private fun getSpaceInfo() {
         mainVm.getSpaceInfo().observe(this) { spaceInfo ->
             //车辆占用情况
@@ -207,36 +204,59 @@ class MainActivity : BaseActivity<ActivityMainBinding, MyBaseViewModel>() {
         mainVm.getAvpStatus().observe(this) { avpStatu ->
             //业务类型
             var businessType = avpStatu.businessType//NIL Park Call
-            if (businessType == AvpContants.NIL_TYPE)
+            if (businessType == AvpContants.NIL_TYPE) {
+                clearAllEffect(businessType)
                 return@observe
+            }
             //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)
-            //画终点
-            mapOpt.addEndMarker(avpStatu.drivenDecision.endPoint)
             //生成小地图路线以及二维坐标点
             mapOpt.takeSmallMapLine(avpStatu.drivenDecision)
-            //判断在泊车状态下的倒挡绘制倒车路线,改变镜头视角,,判断车是否到达停车点
-            mapOpt.drawReversePark(businessStatus, businessType, gearType, avpStatu.space)
+            //画终点
+            mapOpt.addEndMarker(avpStatu.drivenDecision.endPoint)
             //是否显示车位流光效果
             mapOpt.showParkLight(businessType, avpStatu.space)
-            //根据AVP任务状态判特效是否关闭
+            //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)
+            // 车内视频
+//            isCarVideo(businessStatus)
+        }
+    }
+
+    /***是否展示车内视频****/
+    private fun isCarVideo(businessStatus: String) {
+        if (businessStatus == AvpContants.TRANSPORT_PROGRESS) {
+            getVehDetail()
+        } else {
+//            exoPlayFragment.videoUrl = cameraUrl
+            showVideoFragment(false)
+        }
+    }
+
+    /**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)
+            //消除全局路径
+            HighMapApi.setCarNavPath(emptyList())
+            //清除所有绘制
+            mapOpt.clearAllEffect()
             //重置变量
-//            resetVariable(businessStatus)
-            // 是否关闭车内视频
-//            if (businessStatus == "CANCELLED" || businessStatus == "COMPLETED" || businessStatus == "FAILED") {
-//                exoPlayFragment.videoUrl = ""
-//                showVideoFragment(false)
-//            }
+            resetVariable(businessType)
         }
     }
 
     /***重置变量**/
-    fun resetVariable(businessType: String) {
+    private fun resetVariable(businessType: String) {
         if (businessType == AvpContants.NIL_TYPE) {
             mainVm.isGetVehDetail = false
             mapOpt.smallMapLine = false
@@ -268,21 +288,6 @@ class MainActivity : BaseActivity<ActivityMainBinding, MyBaseViewModel>() {
         }
     }
 
-    private var setCamera = false
-
-    //设置跟车视角
-    private fun setCarCamera(c: Int) {
-        if (setCamera)
-            return
-        if (c == 1) {
-            HighMapApi.setCameraAngle(30f)
-            HighMapApi.setCameraDistance(6f)
-        } else if (c == 2) {
-            HighMapApi.setCameraAngle(90f)
-            HighMapApi.setCameraDistance(80f)
-        }
-        setCamera = true
-    }
 
     //联网车辆感知物
     private fun getTarget() {
@@ -324,13 +329,25 @@ class MainActivity : BaseActivity<ActivityMainBinding, MyBaseViewModel>() {
         }
     }
 
-    //获取车辆详情，取车内摄像头地址打开左下角的车内视频
-    private fun getVehDetail(car: CarVehicle?) {
-        if (car?.businessStatus.equals("EXITED")) {
-            exoPlayFragment.videoUrl = ""
-            showVideoFragment(false)
-            return
+    //设置跟车视角
+    private fun setCarCamera(c: Int) {
+        if (c == 1) {
+            HighMapApi.setCameraAngle(30f)
+            HighMapApi.setCameraDistance(6f)
+        } else if (c == 2) {
+            HighMapApi.setCameraAngle(90f)
+            HighMapApi.setCameraDistance(80f)
         }
+    }
+
+
+    //获取车辆详情，取车内摄像头地址打开左下角的车内视频
+    private fun getVehDetail() {
+//        if (car?.businessStatus.equals("EXITED")) {
+//            exoPlayFragment.videoUrl = ""
+//            showVideoFragment(false)
+//            return
+//        }
         mainVm.getVehDetail().observe(this) { vehDetail ->
             if (vehDetail.result.vehicleInfos.count() == 0)
                 return@observe
@@ -360,7 +377,7 @@ class MainActivity : BaseActivity<ActivityMainBinding, MyBaseViewModel>() {
         }
         //  HTTP获取车辆详情
         binding.btVehinfo.setOnClickListener {
-            getVehDetail(null)
+            getVehDetail()
         }
         //v2x 预警
         binding.btV2x.setOnClickListener {
@@ -390,7 +407,7 @@ class MainActivity : BaseActivity<ActivityMainBinding, MyBaseViewModel>() {
         //地锁绘制
         binding.btLock.setOnClickListener {
             //释放http资源
-            SimpleSSEClient.instance.cancelContect()
+//            SimpleSSEClient.instance.cancelContect()
 
             var lockStatu = LockStatu().apply {
                 code = "B021"
@@ -435,13 +452,14 @@ class MainActivity : BaseActivity<ActivityMainBinding, MyBaseViewModel>() {
         ft.commit()
     }
 
+
+
     override fun dispatchKeyEvent(event: KeyEvent): Boolean {
         if ((event.getKeyCode() == KeyEvent.KEYCODE_BACK) || event.getKeyCode() == KeyEvent.KEYCODE_HOME) {
 //            var ft = supportFragmentManager.beginTransaction()
             dialogFragment = ExitAppDialog()
             dialogFragment.onConCan = object : OnConCan {
                 override fun onCon() {
-                    mainVm.cleanRes()
                     finish()
                 }
 

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

@@ -44,11 +44,11 @@ class UnityFragment : Fragment(), IUnityPlayerLifecycleEvents {
 
     override fun onDestroy() {
         super.onDestroy()
-//        try {
-//            this.mUnityPlayer.destroy()
-//        } catch (e: Exception) {
-//
-//        }
+        try {
+            this.mUnityPlayer.destroy()
+        } catch (e: Exception) {
+//            e.printStackTrace()
+        }
     }
 
     override fun onCreateView(
@@ -108,7 +108,7 @@ class UnityFragment : Fragment(), IUnityPlayerLifecycleEvents {
             HighMapApi.setCameraDistance(6f)
 //            } catch (e: Exception) {
 //            }
-        },300)
+        }, 300)
     }
 
 

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

+package com.sd.cavphmi.utils
+
+import com.tencent.mmkv.MMKV
+
+object MMKVUtil {
+    private var mmkv = MMKV.defaultMMKV()
+
+    var token: String
+        set(value) {
+            mmkv.encode("token", value)
+        }
+        get() {
+            return mmkv.decodeString("token", "").toString()
+        }
+
+
+}
\ No newline at end of file

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

@@ -19,8 +19,8 @@ object MyContants {
 //    private val WSTOKEN =
 //        "eyJ0eXAiOiJKV1QiLCJhbGciOiJIUzI1NiJ9.eyJ1aWQiOiI0MTc0NDY3NGNlOGM0MDZmOTVkZTVkYWYyMWVlOWQ0ZiIsImNyZWF0ZVRpbWUiOjE3NTUwNzYxMTgxMjQsInVzZXJUeXBlIjoxLCJzb3VyY2UiOjAsInB3ZEV4cGlyZWQiOmZhbHNlLCJ1c2VybmFtZSI6ImNoZW5ieTUxIn0.aPYHCxXgQHj4eYGGZnce5MPJCtmMoRcIIHcNXzMMOHE"
 
-    //登录后拿到Token aQQ8U2YPfcnrKgdwrIXcLXdtKyaFavYfKlWkNn26fenMLE2fIMPtbt5dSJX3qgM4yHZJ9bY4esSMHRH0FCs1nMte9P5qsaThTe7frFD9RAtWdlyWof4yISiTfkp0ZHiB
-    var HTTP_TOKEN = "eyJ0eXAiOiJKV1QiLCJhbGciOiJIUzI1NiJ9.eyJ1aWQiOiJjNzNkNzA4M2I1YjU0OWI0OTBiZWZlMGEyMmVlM2I3OSIsImNyZWF0ZVRpbWUiOjE3NjMxMDg5MzUyMzQsInVzZXJUeXBlIjoxLCJzb3VyY2UiOjAsInB3ZEV4cGlyZWQiOmZhbHNlLCJ1c2VybmFtZSI6ImhtaSJ9.0GJtC7YaduYUHpknLTpvRd4f4876uygPWKgioMvwRtM"
+    //登录后拿到Token eyJ0eXAiOiJKV1QiLCJhbGciOiJIUzI1NiJ9.eyJ1aWQiOiJjNzNkNzA4M2I1YjU0OWI0OTBiZWZlMGEyMmVlM2I3OSIsImNyZWF0ZVRpbWUiOjE3NjMxMDg5MzUyMzQsInVzZXJUeXBlIjoxLCJzb3VyY2UiOjAsInB3ZEV4cGlyZWQiOmZhbHNlLCJ1c2VybmFtZSI6ImhtaSJ9.0GJtC7YaduYUHpknLTpvRd4f4876uygPWKgioMvwRtM
+    var HTTP_TOKEN = ""
 
     //仅仅用于测试接口联通性，这里可不传
 //    private val reType = "51world"
@@ -32,10 +32,11 @@ object MyContants {
 //        if (IS_DEBUG) "172.24.124.130:19443" else "itg-yz.cu-sc.com:19443"
 //        if (IS_DEBUG) "itg-yz.cu-sc.com:13443" else "itg-yz.cu-sc.com:19443"
 
-    //websocket地址
-    private var WSHOST = "wss://${BASE_HOST}/wsplus/socket?token=${HTTP_TOKEN}&reType=freedo&"
+    //websocket地址 token=${HTTP_TOKEN}&
+    private var WSHOST = "wss://${BASE_HOST}/wsplus/socket?reType=freedo&"
 //    if (IS_DEBUG) "wss://${BASE_HOST}/wsplus/socket?token=121&reType=freedo&" else "wss://${BASE_HOST}/wsplus/socket?token=121&reType=freedo&"
 
+
     //车辆编号 27
     var VEHICLEID = 27
 

app/src/main/java/com/sd/cavphmi/utils/Proj4jCoord.kt

@@ -30,7 +30,7 @@ object Proj4jCoord {
      * @param coordinateSeries 坐标点串 [[经度1, 纬度1], [经度2, 纬度2], ...]
      * @return 投影结果数组 [投影点经度, 投影点纬度, 最近点索引, 最小距离]
      */
-    fun calculatePointProjection(
+    suspend fun calculatePointProjection(
         point: DoubleArray,
         coordinateSeries: MutableList<DoubleArray>
     ): DoubleArray {

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

@@ -7,6 +7,7 @@ import androidx.lifecycle.viewModelScope
 import com.sd.cavphmi.bean.CarVehicle
 import com.sd.cavphmi.net.MyResult
 import com.sd.cavphmi.repositorys.AvpDataRepo
+import com.sd.cavphmi.utils.MMKVUtil
 import com.sd.cavphmi.utils.MyContants
 import dagger.hilt.android.lifecycle.HiltViewModel
 import kotlinx.coroutines.launch
@@ -42,6 +43,7 @@ class LoginVm @Inject constructor(private var avpDataRepo: AvpDataRepo) : ViewMo
             when (result) {
                 is MyResult.Success<String> -> {
                     MyContants.HTTP_TOKEN = result.data
+                    MMKVUtil.token = MyContants.HTTP_TOKEN
 //                    loginData.postValue("true")
                     lLogin.postValue(1)
                 }

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

@@ -32,6 +32,7 @@ import com.sd.cavphmi.net.SimpleSSEClient
 import com.sd.cavphmi.repositorys.AvpDataRepo
 import com.sd.cavphmi.utils.FileIoUtils
 import com.sd.cavphmi.utils.MyContants
+import com.sd.cavphmi.utils.MyContants.HTTP_TOKEN
 import com.sd.cavphmi.utils.MyMapUtils
 import com.sd.cavphmi.utils.ToastHelper
 import com.sd.cavphmi.websockets.FeelTargetWSClient
@@ -57,16 +58,20 @@ class MainVm @Inject constructor(
 
     private val TAG = "MainVm"
 
-    var mMineMap: MineMap? = null
+//    var mMineMap: MineMap? = null
+
+    //用于拼接
+    private val WSTOKEN = "&token=${HTTP_TOKEN}"
 
     //网联车辆位姿socket
     private var vecLocWSClient = VecLocWSClient(URI(MyContants.WS_VEH_LOC))
 
     //感知物socket
-    private var feelTargetWSClient = FeelTargetWSClient(URI(MyContants.WS_FEEL_TARGET))
+    private var feelTargetWSClient =
+        FeelTargetWSClient(URI(MyContants.WS_FEEL_TARGET + WSTOKEN))
 
     //v2x预警socket
-    private var v2xWSClient = V2xWSClient(URI(MyContants.WS_V2X))
+    private var v2xWSClient = V2xWSClient(URI(MyContants.WS_V2X+ WSTOKEN))
 
     //网联车辆状态
 //    private var vehStatuWSClient = VehStatuWSClient(URI(MyContants.WS_VEH_STATU))
@@ -114,9 +119,11 @@ class MainVm @Inject constructor(
 
     /***清理资源***/
     fun cleanRes() {
+        //关闭socket连接
         sockets.forEach {
-            it.close()
+            it?.close()
         }
+        //关闭Http sse 长连接
         SimpleSSEClient.instance.cancelContect()
     }
 
@@ -242,7 +249,7 @@ class MainVm @Inject constructor(
             mockVM.onSubTargetMock(targetPre)
         } else {
             try {
-                feelTargetWSClient.onWebSocketCb = object : OnWebSocketCb {
+                feelTargetWSClient!!.onWebSocketCb = object : OnWebSocketCb {
                     override fun onClose(
                         code: Int,
                         reason: String?,
@@ -261,8 +268,8 @@ class MainVm @Inject constructor(
                         }
                     }
                 }
-                if (!feelTargetWSClient.isOpen) {
-                    feelTargetWSClient.connect()
+                if (!feelTargetWSClient!!.isOpen) {
+                    feelTargetWSClient?.connect()
                 }
             } catch (e: Exception) {
                 e.printStackTrace()

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

@@ -64,7 +64,7 @@ class MapOpt @Inject constructor(
     fun drawAllLines(drivenDecision: DrivenDecision) {
         if (drivenDecision.trajectory.points.count() > 0) {
             //全局路径这里只执行一次
-            if (allLines == null || allLines?.count() == 0) {
+//            if (allLines == null || allLines?.count() == 0) {
             allLines = drivenDecision.trajectory.points.map {
                 AllLine().apply {
                     this.lat = it.latitude
@@ -72,7 +72,7 @@ class MapOpt @Inject constructor(
                 }
             }
             HighMapApi.setCarNavPath(allLines!!, drawpassed = true, showdistance = 200)
-            }
+//            }
         }
         var arrived = drivenDecision.trajectory.arrived
         if (arrived) {
@@ -172,11 +172,12 @@ class MapOpt @Inject constructor(
                 )
 //                println("----最近线段索引: " + result[2].toInt())
                 var index = result[2].toInt()
-                var temps = sLatLngs?.sliceArray(index..sLatLngs!!.lastIndex)
-
+                //截取线段
+                var nPoints = sLatLngs?.sliceArray(index..sLatLngs!!.lastIndex)
+                //删除线
                 deleteSmapLine()
 //                if (sPolyline == null) {
-                sPolyline = Polyline(temps, false)
+                sPolyline = Polyline(nPoints, false)
                 sPolyline?.setStrokeStyle(Overlay.StrokeStyle.solidWithButt)
                 sPolyline?.setWidth(8f)
                 sPolyline?.setColor(0xFF00B578.toInt())
@@ -209,10 +210,10 @@ class MapOpt @Inject constructor(
         space: Space
     ) {
         if (businessType == AvpContants.Park_TYPE) {
-            if (businessStatus == AvpContants.TRANSPORT_COMPLETED) {
+            if (businessStatus == AvpContants.TRANSPORT_COMPLETED) {//到达停车点
                 HighMapApi.setCameraDistance(30f)
                 HighMapApi.setCameraAngle(60f)
-            } else if (businessStatus == AvpContants.PARK_PROGRESS) {
+            } else if (businessStatus == AvpContants.PARK_PROGRESS) {//泊车进行中
                 HighMapApi.setCameraDistance(20f)
                 HighMapApi.setCameraAngle(90f)
 
@@ -222,10 +223,16 @@ class MapOpt @Inject constructor(
                     this.code = space.code
                 }
                 HighMapApi.setParkRever(reverCar)
+            } else {
+                HighMapApi.setCameraAngle(30f)
+                HighMapApi.setCameraDistance(6f)
             }
 //            if (isReversePark)
 //                return
 //            isReversePark = true
+        } else {
+            HighMapApi.setCameraAngle(30f)
+            HighMapApi.setCameraDistance(6f)
         }
     }
 
@@ -244,7 +251,8 @@ class MapOpt @Inject constructor(
     fun showEffectAvpStatu(businessType: String, businessStatus: String) {
         //到达召，停车点
         if (businessType == AvpContants.TRANSPORT_COMPLETED || businessType == AvpContants.TRANSPORT_CANCELED || businessType == AvpContants.TRANSPORT_ABNORMAL) {
-            HighMapApi.setCarNavPath(emptyList())//消除全局路径
+            //消除全局路径
+            HighMapApi.setCarNavPath(emptyList())
             //删除终点mark
             deleteEndMarker()
             //清除小地图路径数据
@@ -261,14 +269,22 @@ class MapOpt @Inject constructor(
         }
     }
 
+    /***清除所有绘制**/
+    fun clearAllEffect() {
+        //删除终点mark
+        deleteEndMarker()
+        //清除小地图路径数据
+        clearSmallLineData()
+        //删除线
+        deleteSmapLine()
+    }
+
 
     /**
      * 移除终点
      */
     private fun deleteEndMarker() {
         if (pEndMarker != null) {
-
-
             mMineMap?.removeMarker(pEndMarker)
             pEndMarker = null
         }

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

 package com.sd.cavphmi.websockets
 
+import com.sd.cavphmi.utils.MyContants
 import org.java_websocket.client.WebSocketClient
 import org.java_websocket.drafts.Draft
 import java.net.Socket
@@ -18,6 +19,9 @@ import javax.net.ssl.X509ExtendedTrustManager
         if (serverUri.toString().contains("wss://")) {
             trustAllHosts()
         }
+//        if (MyContants.HTTP_TOKEN.isNotEmpty()){
+//            serverUri.
+//        }
     }
 
     constructor(serverUri: URI?, protocolDraft: Draft?) : super(serverUri, protocolDraft)

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

@@ -21,6 +21,7 @@ class FeelTargetWSClient : BaseWsClient {
     private val TAG = "-----FeelTargetWSClient"
 
     constructor(serverUri: URI) : super(serverUri){
+        var a=0
 //        if(serverUri.toString().contains("wss://")){
 //            trustAllHosts()
 //        }

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

@@ -38,7 +38,7 @@ class V2xWSClient : BaseWsClient {
     }
 
     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?) {

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

@@ -132,6 +132,14 @@
                 android:visibility="visible"
                 android:text="获取AVP状态信息"
                 />
+
+            <Button
+                android:id="@+id/bt_carpos"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:visibility="visible"
+                android:text="获取车辆位姿"
+                />
             <Button
                 android:id="@+id/bt_getbindcar"
                 android:layout_width="wrap_content"
@@ -146,7 +154,7 @@
                 android:layout_height="wrap_content"
                 android:layout_gravity="center_horizontal"
                 android:text="直接到首页"
-                android:visibility="gone"/>
+                android:visibility="visible"/>
 
         </LinearLayout>
 

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

@@ -70,7 +70,7 @@
                 android:layout_height="wrap_content"
                 android:background="@color/text_blue"
                 android:paddingVertical="5dp"
-                android:text="网联车辆位姿"
+                android:text="车辆位姿"
                 android:textColor="@color/white" />
 
 
@@ -81,7 +81,7 @@
                 android:layout_marginLeft="5dp"
                 android:background="@color/text_blue"
                 android:paddingVertical="5dp"
-                android:text="感知目标物数据"
+                android:text="感知物"
                 android:textColor="@color/white" />
 
             <TextView
@@ -113,6 +113,7 @@
                 android:background="@color/text_blue"
                 android:paddingVertical="5dp"
                 android:text="车辆详情"
+                android:visibility="gone"
                 android:textColor="@color/white" />
 
             <TextView