t

U3D_DrivingSystem/Assets/Scenes/main_.unity

@@ -691426,7 +691426,7 @@ PrefabInstance:
     - target: {fileID: 2815687268591738351, guid: 299ef976ddfafad4daa8e07b81465542,
         type: 3}
       propertyPath: m_RootOrder
-      value: 13
+      value: 4
       objectReference: {fileID: 0}
     - target: {fileID: 2815687268591738351, guid: 299ef976ddfafad4daa8e07b81465542,
         type: 3}

U3D_DrivingSystem/Assets/Scenes/start.unity

@@ -133,7 +133,6 @@ GameObject:
   m_Component:
   - component: {fileID: 466370289}
   - component: {fileID: 466370290}
-  - component: {fileID: 466370291}
   m_Layer: 0
   m_Name: APP
   m_TagString: Untagged
@@ -167,18 +166,6 @@ MonoBehaviour:
   m_Script: {fileID: 11500000, guid: beb73c429dba468f8a8c37893d1204b8, type: 3}
   m_Name: 
   m_EditorClassIdentifier: 
---- !u!114 &466370291
-MonoBehaviour:
-  m_ObjectHideFlags: 0
-  m_CorrespondingSourceObject: {fileID: 0}
-  m_PrefabInstance: {fileID: 0}
-  m_PrefabAsset: {fileID: 0}
-  m_GameObject: {fileID: 466370288}
-  m_Enabled: 1
-  m_EditorHideFlags: 0
-  m_Script: {fileID: 11500000, guid: 374ccbdc1a0c8d8478a9e49fd1215a18, type: 3}
-  m_Name: 
-  m_EditorClassIdentifier: 
 --- !u!1 &634617318
 GameObject:
   m_ObjectHideFlags: 0

U3D_DrivingSystem/Assets/Script/CarGearControl.cs

@@ -17,7 +17,6 @@ namespace Script
         public GameObject ui2d;
 
 
-        
         private VehicleController vehicleController;
 
         private VehicleStandardInput vehicleStandardInput;
@@ -64,12 +63,12 @@ namespace Script
 
         private bool dianhuo = false;
 
-        void Start()
+         void Start()
         {
             vehicleController = GetComponent<VehicleController>();
             vehicleStandardInput = GetComponent<VehicleStandardInput>();
 
-             // StartModbus();
+            StartModbus();
             ModBusQueue();
         }
 
@@ -100,20 +99,21 @@ namespace Script
         {
             while (true)
             {
-                // Debug.Log(client.modbusQueue.Count);
-                // if (client.modbusQueue.Count > 0)
-                // {
-                //     // Debug.Log(client.modbusQueue.Count);
-                //
-                //     carData = client.modbusQueue.Dequeue();
-
                 try
                 {
-                    if (ModbusTcpClient.modbusTcpClient.modbusQueue.Count > 0)
+                    // Debug.Log(client.modbusQueue.Count);
+                    if (client.modbusQueue.Count > 0)
                     {
-                        // Debug.Log(ModbusTcpClient.modbusTcpClient.modbusQueue.Count);
+                        // Debug.Log(client.modbusQueue.Count);
 
-                        carData = ModbusTcpClient.modbusTcpClient.modbusQueue.Dequeue();
+                        carData = client.modbusQueue.Dequeue();
+
+
+                        // if (ModbusTcpClient.modbusTcpClient.modbusQueue.Count > 0)
+                        // {
+                        //     // Debug.Log(ModbusTcpClient.modbusTcpClient.modbusQueue.Count);
+                        //
+                        //     carData = ModbusTcpClient.modbusTcpClient.modbusQueue.Dequeue();
 
 
                         //方向盘
@@ -371,8 +371,6 @@ namespace Script
                             }
                         }
                     }
-
-                  
                 }
                 catch (Exception e)
                 {

U3D_DrivingSystem/Assets/Script/Manaegr/CarInfoManager.cs

@@ -195,7 +195,14 @@ public class CarInfoManager : MonoBehaviour
 
     private void OnDestroy()
     {
-        cancellationTokenSource.Cancel();
+        try
-        cancellationTokenSource = null;
+        {
+            cancellationTokenSource.Cancel();
+            cancellationTokenSource = null;
+        }
+        catch (Exception e)
+        {
+            Debug.Log(e.Message);
+        }
     }
 }

U3D_DrivingSystem/Assets/Script/ModbusTcpClient.cs

@@ -44,7 +44,7 @@ namespace ModbusManager
 
         private void Start()
         {
-            StartModbus();
+            // StartModbus();
         }
 
 
@@ -169,7 +169,7 @@ namespace ModbusManager
                             carStatusData.IgnitionSwitch = dataValue;
                             break;
                         case 1://左打方向盘为负数，右打方向盘为正数，打方向盘打死一圈半，数值1500。
-                           // Debug.Log($"方向盘数据: {(short)dataValue}");
+                          Debug.Log($"方向盘数据: {(short)dataValue}");
                             carStatusData.SteeringWheelAngle = (short)dataValue;
                             break;
                         case 2://01为喇叭按下
@@ -181,7 +181,7 @@ namespace ModbusManager
                             carStatusData.BrakePedalPosition = dataValue;
                             break;
                         case 4://0-100,踩到底为100
-                             Debug.Log($"油门踏板数据: {dataValue}");
+                            //   Debug.Log($"油门踏板数据: {dataValue}");
                             carStatusData.AcceleratorPedalPosition = dataValue;
                             break;
                         case 5://0-100,踩到底为100

U3D_DrivingSystem/Assets/Script/SteeringWheelController.cs

@@ -30,16 +30,34 @@ public class SteeringWheelController : MonoBehaviour
     private int NewValue = -1;
 
     private bool ClutchPedalPositionBool = false;
+    private ModbusTcpClient client;
 
     private void Awake()
     {
         Instance = this;
     }
 
-    private void Start()
+    private async void Start()
     {
+         StartModbus();
         ModBusQueue();
     }
+    async Task StartModbus()
+    {
+        client = new ModbusTcpClient();
+        await client.ConnectToServer();
+        while (true)
+        {
+            await client.SendModbusRequest();
+
+            await Task.Delay(TimeSpan.FromSeconds(.1));
+        }
+    }
+
+    private void OnDestroy()
+    {
+        client.CloseConnection();
+    }
 
     // void Update()
     // {
@@ -71,9 +89,9 @@ public class SteeringWheelController : MonoBehaviour
         while (true)
         {
             // Debug.Log(client.modbusQueue.Count);
-            if (ModbusTcpClient.modbusTcpClient.modbusQueue.Count > 0)
+            if (client.modbusQueue.Count > 0)
             {
-                CarStatusData carData = ModbusTcpClient.modbusTcpClient.modbusQueue.Dequeue();
+                CarStatusData carData = client.modbusQueue.Dequeue();
 
                 if (carData.AcceleratorPedalPosition > 30)
                 {

U3D_DrivingSystem/Logs/AssetImportWorker0.log

@@ -0,0 +1,77 @@
+Using pre-set license
+Built from '2021.1/staging' branch; Version is '2021.1.24f1 (6667702a1e7c) revision 6711152'; Using compiler version '192528614'; Build Type 'Release'
+OS: 'Windows 10 Pro; OS build 19044.1682; Version 2009; 64bit' Language: 'zh' Physical Memory: 16197 MB
+BatchMode: 1, IsHumanControllingUs: 0, StartBugReporterOnCrash: 0, Is64bit: 1, IsPro: 0
+
+COMMAND LINE ARGUMENTS:
+D:\2021.1.24f1\Editor\Unity.exe
+-adb2
+-batchMode
+-noUpm
+-name
+AssetImportWorker0
+-projectPath
+E:/Unity Projects/GitLab/2023/H_SafeExperienceDrivingSystem/U3D_DrivingSystem
+-logFile
+Logs/AssetImportWorker0.log
+-srvPort
+54624
+Successfully changed project path to: E:/Unity Projects/GitLab/2023/H_SafeExperienceDrivingSystem/U3D_DrivingSystem
+E:/Unity Projects/GitLab/2023/H_SafeExperienceDrivingSystem/U3D_DrivingSystem
+Using Asset Import Pipeline V2.
+Refreshing native plugins compatible for Editor in 251.71 ms, found 8 plugins.
+Preloading 0 native plugins for Editor in 0.00 ms.
+Initialize engine version: 2021.1.24f1 (6667702a1e7c)
+[Subsystems] Discovering subsystems at path D:/2021.1.24f1/Editor/Data/Resources/UnitySubsystems
+[Subsystems] Discovering subsystems at path E:/Unity Projects/GitLab/2023/H_SafeExperienceDrivingSystem/U3D_DrivingSystem/Assets
+GfxDevice: creating device client; threaded=0; jobified=0
+Direct3D:
+    Version:  Direct3D 11.0 [level 11.1]
+    Renderer: NVIDIA GeForce GTX 1660 SUPER (ID=0x21c4)
+    Vendor:   NVIDIA
+    VRAM:     5981 MB
+    Driver:   31.0.15.4617
+Shader 'Custom/EVP Particles Alpha Blended Shadows': fallback shader 'Particles/Alpha Blended' not found
+Initialize mono
+Mono path[0] = 'D:/2021.1.24f1/Editor/Data/Managed'
+Mono path[1] = 'D:/2021.1.24f1/Editor/Data/MonoBleedingEdge/lib/mono/unityjit'
+Mono config path = 'D:/2021.1.24f1/Editor/Data/MonoBleedingEdge/etc'
+Using monoOptions --debugger-agent=transport=dt_socket,embedding=1,server=y,suspend=n,address=127.0.0.1:56812
+Begin MonoManager ReloadAssembly
+Registering precompiled unity dll's ...
+Register platform support module: D:/2021.1.24f1/Editor/Data/PlaybackEngines/WindowsStandaloneSupport/UnityEditor.WindowsStandalone.Extensions.dll
+Registered in 0.000943 seconds.
+Native extension for WindowsStandalone target not found
+Refreshing native plugins compatible for Editor in 201.77 ms, found 8 plugins.
+Preloading 0 native plugins for Editor in 0.00 ms.
+Mono: successfully reloaded assembly
+- Completed reload, in  1.934 seconds
+Domain Reload Profiling:
+	ReloadAssembly (1935ms)
+		BeginReloadAssembly (58ms)
+			ExecutionOrderSort (0ms)
+			DisableScriptedObjects (0ms)
+			BackupInstance (0ms)
+			ReleaseScriptingObjects (0ms)
+			CreateAndSetChildDomain (1ms)
+		EndReloadAssembly (622ms)
+			LoadAssemblies (57ms)
+			RebuildTransferFunctionScriptingTraits (0ms)
+			SetupTypeCache (166ms)
+			ReleaseScriptCaches (0ms)
+			RebuildScriptCaches (37ms)
+			SetupLoadedEditorAssemblies (369ms)
+				LogAssemblyErrors (0ms)
+				InitializePlatformSupportModulesInManaged (7ms)
+				SetLoadedEditorAssemblies (0ms)
+				RefreshPlugins (202ms)
+				BeforeProcessingInitializeOnLoad (2ms)
+				ProcessInitializeOnLoadAttributes (114ms)
+				ProcessInitializeOnLoadMethodAttributes (44ms)
+				AfterProcessingInitializeOnLoad (0ms)
+				EditorAssembliesLoaded (0ms)
+			ExecutionOrderSort2 (0ms)
+			AwakeInstancesAfterBackupRestoration (0ms)
+Platform modules already initialized, skipping
+Registering precompiled user dll's ...
+Registered in 0.006615 seconds.

U3D_DrivingSystem/Logs/AssetImportWorker1.log

@@ -0,0 +1,77 @@
+Using pre-set license
+Built from '2021.1/staging' branch; Version is '2021.1.24f1 (6667702a1e7c) revision 6711152'; Using compiler version '192528614'; Build Type 'Release'
+OS: 'Windows 10 Pro; OS build 19044.1682; Version 2009; 64bit' Language: 'zh' Physical Memory: 16197 MB
+BatchMode: 1, IsHumanControllingUs: 0, StartBugReporterOnCrash: 0, Is64bit: 1, IsPro: 0
+
+COMMAND LINE ARGUMENTS:
+D:\2021.1.24f1\Editor\Unity.exe
+-adb2
+-batchMode
+-noUpm
+-name
+AssetImportWorker1
+-projectPath
+E:/Unity Projects/GitLab/2023/H_SafeExperienceDrivingSystem/U3D_DrivingSystem
+-logFile
+Logs/AssetImportWorker1.log
+-srvPort
+54624
+Successfully changed project path to: E:/Unity Projects/GitLab/2023/H_SafeExperienceDrivingSystem/U3D_DrivingSystem
+E:/Unity Projects/GitLab/2023/H_SafeExperienceDrivingSystem/U3D_DrivingSystem
+Using Asset Import Pipeline V2.
+Refreshing native plugins compatible for Editor in 229.77 ms, found 8 plugins.
+Preloading 0 native plugins for Editor in 0.00 ms.
+Initialize engine version: 2021.1.24f1 (6667702a1e7c)
+[Subsystems] Discovering subsystems at path D:/2021.1.24f1/Editor/Data/Resources/UnitySubsystems
+[Subsystems] Discovering subsystems at path E:/Unity Projects/GitLab/2023/H_SafeExperienceDrivingSystem/U3D_DrivingSystem/Assets
+GfxDevice: creating device client; threaded=0; jobified=0
+Direct3D:
+    Version:  Direct3D 11.0 [level 11.1]
+    Renderer: NVIDIA GeForce GTX 1660 SUPER (ID=0x21c4)
+    Vendor:   NVIDIA
+    VRAM:     5981 MB
+    Driver:   31.0.15.4617
+Shader 'Custom/EVP Particles Alpha Blended Shadows': fallback shader 'Particles/Alpha Blended' not found
+Initialize mono
+Mono path[0] = 'D:/2021.1.24f1/Editor/Data/Managed'
+Mono path[1] = 'D:/2021.1.24f1/Editor/Data/MonoBleedingEdge/lib/mono/unityjit'
+Mono config path = 'D:/2021.1.24f1/Editor/Data/MonoBleedingEdge/etc'
+Using monoOptions --debugger-agent=transport=dt_socket,embedding=1,server=y,suspend=n,address=127.0.0.1:56060
+Begin MonoManager ReloadAssembly
+Registering precompiled unity dll's ...
+Register platform support module: D:/2021.1.24f1/Editor/Data/PlaybackEngines/WindowsStandaloneSupport/UnityEditor.WindowsStandalone.Extensions.dll
+Registered in 0.000956 seconds.
+Native extension for WindowsStandalone target not found
+Refreshing native plugins compatible for Editor in 205.35 ms, found 8 plugins.
+Preloading 0 native plugins for Editor in 0.00 ms.
+Mono: successfully reloaded assembly
+- Completed reload, in  1.250 seconds
+Domain Reload Profiling:
+	ReloadAssembly (1250ms)
+		BeginReloadAssembly (60ms)
+			ExecutionOrderSort (0ms)
+			DisableScriptedObjects (0ms)
+			BackupInstance (0ms)
+			ReleaseScriptingObjects (0ms)
+			CreateAndSetChildDomain (1ms)
+		EndReloadAssembly (608ms)
+			LoadAssemblies (58ms)
+			RebuildTransferFunctionScriptingTraits (0ms)
+			SetupTypeCache (164ms)
+			ReleaseScriptCaches (0ms)
+			RebuildScriptCaches (35ms)
+			SetupLoadedEditorAssemblies (358ms)
+				LogAssemblyErrors (0ms)
+				InitializePlatformSupportModulesInManaged (7ms)
+				SetLoadedEditorAssemblies (0ms)
+				RefreshPlugins (205ms)
+				BeforeProcessingInitializeOnLoad (2ms)
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+				AfterProcessingInitializeOnLoad (0ms)
+				EditorAssembliesLoaded (0ms)
+			ExecutionOrderSort2 (0ms)
+			AwakeInstancesAfterBackupRestoration (0ms)
+Platform modules already initialized, skipping
+Registering precompiled user dll's ...
+Registered in 0.006953 seconds.

U3D_DrivingSystem/Logs/AssetImportWorker2.log

@@ -0,0 +1,77 @@
+Using pre-set license
+Built from '2021.1/staging' branch; Version is '2021.1.24f1 (6667702a1e7c) revision 6711152'; Using compiler version '192528614'; Build Type 'Release'
+OS: 'Windows 10 Pro; OS build 19044.1682; Version 2009; 64bit' Language: 'zh' Physical Memory: 16197 MB
+BatchMode: 1, IsHumanControllingUs: 0, StartBugReporterOnCrash: 0, Is64bit: 1, IsPro: 0
+
+COMMAND LINE ARGUMENTS:
+D:\2021.1.24f1\Editor\Unity.exe
+-adb2
+-batchMode
+-noUpm
+-name
+AssetImportWorker2
+-projectPath
+E:/Unity Projects/GitLab/2023/H_SafeExperienceDrivingSystem/U3D_DrivingSystem
+-logFile
+Logs/AssetImportWorker2.log
+-srvPort
+54624
+Successfully changed project path to: E:/Unity Projects/GitLab/2023/H_SafeExperienceDrivingSystem/U3D_DrivingSystem
+E:/Unity Projects/GitLab/2023/H_SafeExperienceDrivingSystem/U3D_DrivingSystem
+Using Asset Import Pipeline V2.
+Refreshing native plugins compatible for Editor in 227.42 ms, found 8 plugins.
+Preloading 0 native plugins for Editor in 0.00 ms.
+Initialize engine version: 2021.1.24f1 (6667702a1e7c)
+[Subsystems] Discovering subsystems at path D:/2021.1.24f1/Editor/Data/Resources/UnitySubsystems
+[Subsystems] Discovering subsystems at path E:/Unity Projects/GitLab/2023/H_SafeExperienceDrivingSystem/U3D_DrivingSystem/Assets
+GfxDevice: creating device client; threaded=0; jobified=0
+Direct3D:
+    Version:  Direct3D 11.0 [level 11.1]
+    Renderer: NVIDIA GeForce GTX 1660 SUPER (ID=0x21c4)
+    Vendor:   NVIDIA
+    VRAM:     5981 MB
+    Driver:   31.0.15.4617
+Shader 'Custom/EVP Particles Alpha Blended Shadows': fallback shader 'Particles/Alpha Blended' not found
+Initialize mono
+Mono path[0] = 'D:/2021.1.24f1/Editor/Data/Managed'
+Mono path[1] = 'D:/2021.1.24f1/Editor/Data/MonoBleedingEdge/lib/mono/unityjit'
+Mono config path = 'D:/2021.1.24f1/Editor/Data/MonoBleedingEdge/etc'
+Using monoOptions --debugger-agent=transport=dt_socket,embedding=1,server=y,suspend=n,address=127.0.0.1:56592
+Begin MonoManager ReloadAssembly
+Registering precompiled unity dll's ...
+Register platform support module: D:/2021.1.24f1/Editor/Data/PlaybackEngines/WindowsStandaloneSupport/UnityEditor.WindowsStandalone.Extensions.dll
+Registered in 0.001022 seconds.
+Native extension for WindowsStandalone target not found
+Refreshing native plugins compatible for Editor in 201.18 ms, found 8 plugins.
+Preloading 0 native plugins for Editor in 0.00 ms.
+Mono: successfully reloaded assembly
+- Completed reload, in  1.247 seconds
+Domain Reload Profiling:
+	ReloadAssembly (1247ms)
+		BeginReloadAssembly (61ms)
+			ExecutionOrderSort (0ms)
+			DisableScriptedObjects (0ms)
+			BackupInstance (0ms)
+			ReleaseScriptingObjects (0ms)
+			CreateAndSetChildDomain (1ms)
+		EndReloadAssembly (618ms)
+			LoadAssemblies (60ms)
+			RebuildTransferFunctionScriptingTraits (0ms)
+			SetupTypeCache (171ms)
+			ReleaseScriptCaches (0ms)
+			RebuildScriptCaches (39ms)
+			SetupLoadedEditorAssemblies (351ms)
+				LogAssemblyErrors (0ms)
+				InitializePlatformSupportModulesInManaged (8ms)
+				SetLoadedEditorAssemblies (0ms)
+				RefreshPlugins (201ms)
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+				EditorAssembliesLoaded (0ms)
+			ExecutionOrderSort2 (0ms)
+			AwakeInstancesAfterBackupRestoration (0ms)
+Platform modules already initialized, skipping
+Registering precompiled user dll's ...
+Registered in 0.006728 seconds.

U3D_DrivingSystem/Logs/shadercompiler-AssetImportWorker0.log

@@ -0,0 +1,3 @@
+Base path: 'D:/2021.1.24f1/Editor/Data', plugins path 'D:/2021.1.24f1/Editor/Data/PlaybackEngines'
+Cmd: initializeCompiler
+

U3D_DrivingSystem/UserSettings/EditorUserSettings.asset

@@ -18,10 +18,10 @@ EditorUserSettings:
       value: 22424703114646680e0b0227036c52151802563f22213229
       flags: 0
     RecentlyUsedScenePath-4:
-      value: 22424703114646680e0b0227036c4c0417050c6439262f2434
+      value: 22424703114646680e0b0227036c52111f19276439262f2434
       flags: 0
     RecentlyUsedScenePath-5:
-      value: 22424703114646680e0b0227036c52111f19276439262f2434
+      value: 22424703114646680e0b0227036c4c0417050c6439262f2434
       flags: 0
     vcSharedLogLevel:
       value: 0d5e400f0650