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Commit b213484f authored by p x's avatar p x
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avp模拟服务

parent d3e221c7
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src/main/kotlin/com/inzy/wsmock/bean/CarVehicle.kt → src/main/kotlin/com/inzy/wsmock/bean/CarVehBak.kt
View file @ b213484f
......@@ -21,7 +21,7 @@ package com.sd.cavphmi.bean
// val data: VehData
//)
class CarVehicle {
class CarVehBak {
var businessStatus: String = ""
// val progress: Any = ""
......@@ -30,4 +30,7 @@ class CarVehicle {
//vehiclePos 里面分别是 经度、纬度、航向角
var vehiclePos: List<Double>? = null
//车辆行驶当前位置,用于吃掉小地图路径
var carPos = 0
}
\ No newline at end of file
src/main/kotlin/com/inzy/wsmock/bean/CarVeh.kt → src/main/kotlin/com/inzy/wsmock/bean/RouteCarVeh.kt
View file @ b213484f
package com.inzy.wsmock.bean
/***车辆位姿*/
class CarVeh {
class RouteCarVeh {
/**业务状态 park call park_com call_com**/
var status = "park"
/***车辆行驶的点位**/
......
src/main/kotlin/com/inzy/wsmock/push/AvpPushTask.kt
View file @ b213484f
......@@ -4,18 +4,19 @@ import com.alibaba.fastjson2.JSON
import com.alibaba.fastjson2.JSONObject
import com.inzy.wsmock.ChannelManager
import com.inzy.wsmock.RequestParamHandler
import com.inzy.wsmock.bean.CarVeh
import com.inzy.wsmock.bean.RouteCarVeh
import com.inzy.wsmock.bean.ParkPath
import com.inzy.wsmock.bean.V2xStartBean
import com.inzy.wsmock.bean.VObject
import com.inzy.wsmock.utils.FileIoUtil
import com.inzy.wsmock.utils.MyMapUtils
import com.sd.cavphmi.bean.CarVehicle
import com.sd.cavphmi.bean.CarVehBak
import io.netty.channel.Channel
import io.netty.handler.codec.http.websocketx.TextWebSocketFrame
import jakarta.annotation.PostConstruct
import jakarta.annotation.PreDestroy
import kotlinx.coroutines.*
import kotlinx.coroutines.time.delay
import org.slf4j.LoggerFactory
import org.springframework.core.io.ResourceLoader
import org.springframework.stereotype.Component
......@@ -35,16 +36,19 @@ class AvpPushTask(
// 注入ChannelManager单例
private val channelManager = ChannelManager.instance
//车辆位姿
private var carBak = CarVehBak()
//车辆位姿，泊车
// private var carDstPark = mutableListOf<String>()
private var carVehPark: CarVeh? = null
private var carVehPark: RouteCarVeh? = null
//车辆位姿，倒车入库
//倒车路径
private var parkPath: ParkPath? = null
//车辆位姿，召车
// private var carDstCall = mutableListOf<String>()
private var carVehCall: CarVeh? = null
private var carVehCall: RouteCarVeh? = null
//车辆行驶的位置
private var carIndex = 0
......@@ -67,7 +71,7 @@ class AvpPushTask(
CoroutineScope(Dispatchers.IO).launch {
//读取泊车数据
val parkStr = FileIoUtil.getFileDate(classpathResource.inputStream)
carVehPark = JSON.parseObject(parkStr, CarVeh::class.java)
carVehPark = JSON.parseObject(parkStr, RouteCarVeh::class.java)
//计算航向角
carVehPark!!.rs?.forEachIndexed { i, doubles ->
if (i > 0) {
......@@ -90,7 +94,7 @@ class AvpPushTask(
//读取召车数据
classpathResource = resourceLoader.getResource("classpath:avpm/Car_fangzhen_call.txt")
val callStr = FileIoUtil.getFileDate(classpathResource.inputStream)
carVehCall = JSON.parseObject(callStr, CarVeh::class.java)
carVehCall = JSON.parseObject(callStr, RouteCarVeh::class.java)
//计算航向角
carVehCall!!.rs?.forEachIndexed { i, doubles ->
if (i > 0) {
......@@ -140,67 +144,73 @@ class AvpPushTask(
}
}
private var carVehicle = CarVehicle()
/**
* 推送车辆位姿
*/
private fun pushCarPos(channel: Channel) {
CoroutineScope(Dispatchers.Default).launch {
delay(12000)
delay(18000)
if (carVehPark?.rs?.count() == 0 || carVehCall?.rs?.count() == 0)
return@launch
status = "park"
//开始推送泊车
carVehicle.businessStatus = status
carBak.businessStatus = status
carVehPark!!.status = status
carVehPark!!.rs?.forEachIndexed { i, doubles ->
carIndex++
carVehicle.vehiclePos = doubles
sendMsg(channel, JSON.toJSONString(carVehPark))
carBak.vehiclePos = doubles
carBak.carPos = i
sendMsg(channel, JSON.toJSONString(carBak))
delay(300)
}
//开始倒车入库
status = "parking"
carVehicle.businessStatus = status
carBak.businessStatus = status
carBak.carPos = -1
//开始后退
var forword = parkPath!!.result.routes.find { it.gear == 1 }
forword?.polyline?.forEachIndexed { index, doubles ->
val forback = parkPath!!.result.routes.find { it.gear == 1 }
forback?.polyline?.forEachIndexed { index, doubles ->
carIndex++
carVehicle.vehiclePos = listOf<Double>(doubles[0], doubles[1], doubles[3])
sendMsg(channel, JSON.toJSONString(carVehicle))
carBak.vehiclePos = listOf<Double>(doubles[0], doubles[1], doubles[3])
sendMsg(channel, JSON.toJSONString(carBak))
delay(300)
}
//泊车完成
status = "park_com"
carVehicle.businessStatus = status
carVehicle.vehiclePos = emptyList()
carBak.businessStatus = status
carBak.vehiclePos = emptyList()
//泊车完成消息
sendMsg(channel, JSON.toJSONString(carVehPark))
sendMsg(channel, JSON.toJSONString(carBak))
delay(3000)
//开始推送召车
status = "call"
/* //开始推送召车
carVehCall!!.status = status
carBak.businessStatus = status
carVehCall!!.rs?.forEachIndexed { i, doubles ->
carIndex = i
carVehCall?.carPos = i
sendMsg(channel, JSON.toJSONString(carVehCall))
carIndex++
carBak.vehiclePos = doubles
carBak.carPos = i
sendMsg(channel, JSON.toJSONString(carBak))
delay(300)
}
delay(1000)
//召车完成
status = "call_com"
carVehCall?.apply {
status = this@AvpPushTask.status
carPos = 0
rs = listOf()
}
carBak.businessStatus = status
carBak.vehiclePos = emptyList()
//发送召车完成消息
sendMsg(channel, JSON.toJSONString(carVehCall))
sendMsg(channel, JSON.toJSONString(carBak))
//全部完成
carIndex = 0
status = ""
carVehCall?.apply {
carBak.businessStatus = status
carBak.carPos = 0
carBak.vehiclePos = emptyList()
sendMsg(channel, JSON.toJSONString(carBak))
/* carVehCall?.apply {
this.status = this@AvpPushTask.status
carPos = 0
rs = listOf()
......@@ -209,6 +219,11 @@ class AvpPushTask(
}
}
private fun pushPark() {
}
/**感知物**/
private fun pushPre(channel: Channel) {
CoroutineScope(Dispatchers.Default).launch {
......@@ -228,11 +243,14 @@ class AvpPushTask(
CoroutineScope(Dispatchers.Default).launch {
while (isActive) {
// carPos = 0
// println("-------------carIndex = ${carIndex}")
if (carIndex == 0 || status.equals(""))
val carPos = carBak.carPos
// println("----------carPos ${carPos} status ${status}")
if (carPos == 0 || status.equals("")) {
delay(100)
continue
}
if (status.equals("park")) {
when (carIndex) {
when (carPos) {
8 -> {//紧急制动预警
// val v2x = V2xStartBean().apply {
// type = 6
......@@ -262,7 +280,7 @@ class AvpPushTask(
}
} else if (status.equals("call")) {
when (carIndex) {
when (carPos) {
70 -> {//盲区预警
/* val v2x = V2xStartBean().apply {
type = 4
......
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