在apollo与lgsvl仿真的同时，通过websockets对url:http://localhost:8888捕获ego的属性（速度位置）

[lsm2842035890]

async def testApollo(tag):
    env = Env()

    SIMULATOR_HOST = env.str("LGSVL__SIMULATOR_HOST", "127.0.0.1")
    SIMULATOR_PORT = env.int("LGSVL__SIMULATOR_PORT", 8181)
    BRIDGE_HOST = env.str("LGSVL__AUTOPILOT_0_HOST", "127.0.0.1")
    BRIDGE_PORT = env.int("LGSVL__AUTOPILOT_0_PORT", 9090)

    LGSVL__AUTOPILOT_HD_MAP = env.str("LGSVL__AUTOPILOT_HD_MAP", "san_francisco")
    LGSVL__AUTOPILOT_0_VEHICLE_CONFIG = env.str("LGSVL__AUTOPILOT_0_VEHICLE_CONFIG", 'Lincoln2017MKZ_LGSVL')
    LGSVL__SIMULATION_DURATION_SECS = 1500

    vehicle_conf = env.str("LGSVL__VEHICLE_0", lgsvl.wise.DefaultAssets.ego_lincoln2017mkz_apollo6_modular)
    scene_name = env.str("LGSVL__MAP", lgsvl.wise.DefaultAssets.map_sanfrancisco_correct)
    sim = lgsvl.Simulator(SIMULATOR_HOST, SIMULATOR_PORT)

    if sim.current_scene == scene_name:
        sim.reset()
    else:
        sim.load(scene_name)

    sim.set_date_time(datetime(2022, 6, 22, 11, 0, 0, 0), True)

    spawns = sim.get_spawn()
    state2 = lgsvl.AgentState()
    # state2.transform = spawns[0]
    state2.transform = sim.map_point_on_lane(lgsvl.Vector(-297.000030517578, 10, 4.99996948242188))
    print(state2)

    print("Loading vehicle {}...".format(vehicle_conf))
    ego = sim.add_agent(vehicle_conf, lgsvl.AgentType.EGO, state2)
    print("Connecting to bridge...")
    ego.connect_bridge(BRIDGE_HOST, BRIDGE_PORT)

    dv = lgsvl.dreamview.Connection(sim, ego, BRIDGE_HOST)
    dv.set_hd_map(LGSVL__AUTOPILOT_HD_MAP)
    dv.set_vehicle(LGSVL__AUTOPILOT_0_VEHICLE_CONFIG)

    default_modules = [
        'Localization',
        'Transform',
        'Routing',
        'Prediction',
        'Planning',
        'Control',
        'Recorder',
        'Perception'
        
    ]

    dv.disable_apollo()
    time.sleep(5)
    dv.setup_apollo(592598.94, 4134701.40, default_modules)
    dv.set_destination(592598.94,4134701.40,coord_type=CoordType.Northing)
    sim.run(LGSVL__SIMULATION_DURATION_SECS)

async def monitor_ego_and_npcs_data():
    uri = "ws://localhost:8888"  # 替换为实际的 WebSocket 地址
    try:
        print("[WebSocket] Attempting to connect...")
        async with websockets.connect(uri) as websocket:
            init_msg = json.dumps({ 'type': 'HMIAction', 'action': "START_MODULE", 'value': "Planning" })     
            print(init_msg)
            await websocket.send(init_msg)
            print("[WebSocket] Connected to Apollo WebSocket!")
            while True:
                message = await websocket.recv()
                print(f"[WebSocket] Received: {message}")
    except Exception as e:
        print(f"[WebSocket] Error: {e}")

# 主函数
async def main():
    simulation_task = asyncio.create_task(
      testApollo(1)
    )
    websocket_task = asyncio.create_task(monitor_ego_and_npcs_data())
    print("Waiting for tasks to complete...")
    # 等待所有任务完成
    await asyncio.gather(simulation_task, websocket_task)

命令行打印显示：
Waiting for tasks to complete...
{'transform': 'Transform(position=Vector(-294.417388916016, 10.2076644897461, 2.22021484375), rotation=Vector(2.91570336230507e-06, 133.698532104492, 0))', 'velocity': 'Vector(0.0, 0.0, 0.0)', 'angular_velocity': 'Vector(0.0, 0.0, 0.0)'}
Loading vehicle 2e9095fa-c9b9-4f3f-8d7d-65fa2bb03921...
Connecting to bridge...

我想在apollo和lgsvl仿真的时候，因为 Apollo 提供的数据是通过 WebSocket传输的，我想实现异步函数实时捕获，为什么捕获不到，不打印message