Merge branch 'master' of http://172.16.1.12/huangjiayu/H_SafeExperienceDrivingSystem
This commit is contained in:
commit
5e706a9e85
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@ -3093,6 +3094,8 @@ MonoBehaviour:
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ygq: {fileID: 0}
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@ -42,14 +42,14 @@ namespace Script
|
|||
public TurnSignalController turnSignalController;
|
||||
|
||||
private bool inputUp = false;
|
||||
private int inputUpV;
|
||||
private int inputUpV=-1;
|
||||
|
||||
void Start()
|
||||
{
|
||||
vehicleController = GetComponent<VehicleController>();
|
||||
vehicleStandardInput = GetComponent<VehicleStandardInput>();
|
||||
|
||||
StartModbus();
|
||||
// StartModbus();
|
||||
ModBusQueue();
|
||||
}
|
||||
|
||||
|
|
@ -62,9 +62,14 @@ namespace Script
|
|||
await client.SendModbusRequest();
|
||||
|
||||
await Task.Delay(TimeSpan.FromSeconds(.1));
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
// public void HHHHHH()
|
||||
// {
|
||||
// client.SendModbusRequest12();
|
||||
// }
|
||||
// void OnDestroy()
|
||||
// {
|
||||
// client.CloseConnection();
|
||||
|
|
@ -75,11 +80,17 @@ namespace Script
|
|||
while (true)
|
||||
{
|
||||
// Debug.Log(client.modbusQueue.Count);
|
||||
if (client.modbusQueue.Count > 0)
|
||||
{
|
||||
Debug.Log(client.modbusQueue.Count);
|
||||
// if (client.modbusQueue.Count > 0)
|
||||
// {
|
||||
// Debug.Log(client.modbusQueue.Count);
|
||||
//
|
||||
// carData = client.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
|
||||
|
|
@ -182,7 +193,7 @@ namespace Script
|
|||
inputUpV = carData.TurnSignalStatus;
|
||||
}
|
||||
|
||||
if ( inputUpV == carData.TurnSignalStatus)
|
||||
if ( inputUpV == carData.TurnSignalStatus)
|
||||
{
|
||||
turnSignalController.SetSignal(3);
|
||||
}
|
||||
|
|
@ -198,14 +209,28 @@ namespace Script
|
|||
turnSignalController.SetSignal(1);
|
||||
break;
|
||||
case 2:
|
||||
turnSignalController.SetSignal(2);
|
||||
turnSignalController.SetSignal(2);
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
// 灯光
|
||||
switch (carData.LightStatus)
|
||||
{
|
||||
case 0:
|
||||
turnSignalController.CloseLight();
|
||||
break;
|
||||
case 1:
|
||||
turnSignalController.OpenLight();
|
||||
break;
|
||||
case 2:
|
||||
|
||||
break;
|
||||
}
|
||||
|
||||
//刹车
|
||||
if (carData.BrakePedalPosition > 40)
|
||||
if (carData.BrakePedalPosition > 30)
|
||||
{
|
||||
if (shache[0].activeInHierarchy)
|
||||
continue;
|
||||
|
|
@ -215,11 +240,11 @@ namespace Script
|
|||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
{
|
||||
if (!shache[0].activeInHierarchy)
|
||||
continue;
|
||||
for (int i = 0; i < shache.Length; i++)
|
||||
{
|
||||
continue;
|
||||
for (int i = 0; i < shache.Length; i++)
|
||||
{
|
||||
shache[i].SetActive(false);
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -54,7 +54,7 @@ namespace ModbusManager
|
|||
while (true)
|
||||
{
|
||||
await SendModbusRequest();
|
||||
|
||||
// await SendModbusRequest12();
|
||||
await Task.Delay(TimeSpan.FromSeconds(.1));
|
||||
}
|
||||
}
|
||||
|
|
@ -110,7 +110,18 @@ namespace ModbusManager
|
|||
}
|
||||
}
|
||||
|
||||
public async Task SendModbusRequest12()
|
||||
{
|
||||
byte[] request = new byte[] { 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x01, 0x06, 0x00, 0x01, 0x00, 0x00 };
|
||||
NetworkStream stream = tcpClient.GetStream();
|
||||
|
||||
if (stream.CanWrite)
|
||||
{
|
||||
await stream.WriteAsync(request, 0, request.Length);
|
||||
// Debug.Log("Modbus请求已发送。");
|
||||
await ReadResponse(stream);
|
||||
}
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 设备回复: 00 00 00 00 00 24 01 03 20 00 01 00 02 00 03 00 04 00 05 00 06 00 07 00 08 00 09 00 0A 00 0B 00 0C 00 0D 00 0E 00 0F 00 10
|
||||
|
|
@ -189,11 +200,11 @@ namespace ModbusManager
|
|||
carStatusData.WiperStatus = dataValue;
|
||||
break;
|
||||
case 9://00是未开灯，1是示廓灯，2是近光远光。。没有找到远光信号。
|
||||
// Debug.Log($"灯光状态: {dataValue}");
|
||||
Debug.Log($"灯光状态: {dataValue}");
|
||||
carStatusData.LightStatus = dataValue;
|
||||
break;
|
||||
case 10://00是未开转向灯，1是左转向灯，2是右转向灯
|
||||
Debug.Log($"转向灯状态: {dataValue}");
|
||||
// Debug.Log($"转向灯状态: {dataValue}");
|
||||
carStatusData.TurnSignalStatus = dataValue;
|
||||
break;
|
||||
case 11://00是熄火，1是通电，2是点火
|
||||
|
|
|
|||
|
|
@ -6,10 +6,18 @@ public class TurnSignalController : MonoBehaviour
|
|||
{
|
||||
public GameObject leftTurnSignal;
|
||||
public GameObject rightTurnSignal;
|
||||
public GameObject rightTurnSignalGame;
|
||||
public GameObject leftTurnSignalGame;
|
||||
private Task currentBlinkTask = null;
|
||||
private CancellationTokenSource cancellationTokenSource;
|
||||
private int currentSignalType = 0; // 当前的信号类型
|
||||
|
||||
|
||||
public GameObject HighBeamLight;
|
||||
public GameObject LowBeamLight;
|
||||
|
||||
|
||||
|
||||
public void SetSignal(int signalType)
|
||||
{
|
||||
// 如果当前信号类型与请求的信号类型相同，则不执行任何操作
|
||||
|
|
@ -25,6 +33,12 @@ public class TurnSignalController : MonoBehaviour
|
|||
{
|
||||
cancellationTokenSource.Cancel();
|
||||
cancellationTokenSource.Dispose();
|
||||
|
||||
|
||||
|
||||
// HighBeamLight.SetActive(false);
|
||||
// LowBeamLight.SetActive(false);
|
||||
|
||||
}
|
||||
|
||||
cancellationTokenSource = new CancellationTokenSource();
|
||||
|
|
@ -32,23 +46,38 @@ public class TurnSignalController : MonoBehaviour
|
|||
switch (signalType)
|
||||
{
|
||||
case 1: // 左转向灯
|
||||
currentBlinkTask = BlinkSignalAsync(leftTurnSignal, cancellationTokenSource.Token);
|
||||
currentBlinkTask = BlinkSignalAsync(leftTurnSignal, leftTurnSignalGame,cancellationTokenSource.Token);
|
||||
rightTurnSignal.SetActive(false);
|
||||
break;
|
||||
case 2: // 右转向灯
|
||||
currentBlinkTask = BlinkSignalAsync(rightTurnSignal, cancellationTokenSource.Token);
|
||||
currentBlinkTask = BlinkSignalAsync(rightTurnSignal, rightTurnSignalGame,cancellationTokenSource.Token);
|
||||
leftTurnSignal.SetActive(false);
|
||||
break;
|
||||
case 3: // 双闪灯
|
||||
currentBlinkTask = BlinkBothSignalsAsync(cancellationTokenSource.Token);
|
||||
break;
|
||||
// case 4://远光灯
|
||||
// HighBeamLight.SetActive(true);
|
||||
// break;
|
||||
// case 5://近光灯
|
||||
// LowBeamLight.SetActive(true);
|
||||
// break;
|
||||
// case 0: // 全部停止
|
||||
// StopAllSignals();
|
||||
// break;
|
||||
}
|
||||
}
|
||||
|
||||
private async Task BlinkSignalAsync(GameObject signal, CancellationToken ct)
|
||||
public void OpenLight()
|
||||
{
|
||||
HighBeamLight.SetActive(true);
|
||||
}
|
||||
public void CloseLight()
|
||||
{
|
||||
HighBeamLight.SetActive(false);
|
||||
}
|
||||
|
||||
private async Task BlinkSignalAsync(GameObject signal, GameObject sinGame,CancellationToken ct)
|
||||
{
|
||||
bool isOn = false;
|
||||
|
||||
|
|
@ -58,6 +87,7 @@ public class TurnSignalController : MonoBehaviour
|
|||
{
|
||||
isOn = !isOn;
|
||||
signal.SetActive(isOn);
|
||||
sinGame.SetActive(isOn);
|
||||
await Task.Delay(500, ct); // 等待500毫秒
|
||||
}
|
||||
}
|
||||
|
|
@ -67,6 +97,7 @@ public class TurnSignalController : MonoBehaviour
|
|||
}
|
||||
|
||||
signal.SetActive(false); // 确保灯光关闭
|
||||
sinGame.SetActive(false);
|
||||
}
|
||||
|
||||
private async Task BlinkBothSignalsAsync(CancellationToken ct)
|
||||
|
|
@ -80,7 +111,10 @@ public class TurnSignalController : MonoBehaviour
|
|||
isOn = !isOn;
|
||||
leftTurnSignal.SetActive(isOn);
|
||||
rightTurnSignal.SetActive(isOn);
|
||||
await Task.Delay(500, ct); // 等待500毫秒
|
||||
|
||||
rightTurnSignalGame.SetActive(isOn);
|
||||
leftTurnSignalGame.SetActive(isOn);
|
||||
await Task.Delay(500, ct); // 等待500毫秒
|
||||
}
|
||||
}
|
||||
catch (TaskCanceledException)
|
||||
|
|
|
|||
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|
@ -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
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||||
|
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COMMAND LINE ARGUMENTS:
|
||||
D:\2021.1.24f1\Editor\Unity.exe
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AssetImportWorker0
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-projectPath
|
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E:/Unity Projects/GitLab/2023/H_SafeExperienceDrivingSystem/U3D_DrivingSystem
|
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-logFile
|
||||
Logs/AssetImportWorker0.log
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-srvPort
|
||||
56965
|
||||
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.
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Refreshing native plugins compatible for Editor in 193.67 ms, found 8 plugins.
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Preloading 0 native plugins for Editor in 0.00 ms.
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Initialize engine version: 2021.1.24f1 (6667702a1e7c)
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[Subsystems] Discovering subsystems at path D:/2021.1.24f1/Editor/Data/Resources/UnitySubsystems
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[Subsystems] Discovering subsystems at path E:/Unity Projects/GitLab/2023/H_SafeExperienceDrivingSystem/U3D_DrivingSystem/Assets
|
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GfxDevice: creating device client; threaded=0; jobified=0
|
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Direct3D:
|
||||
Version: Direct3D 11.0 [level 11.1]
|
||||
Renderer: NVIDIA GeForce GTX 1660 SUPER (ID=0x21c4)
|
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Vendor: NVIDIA
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VRAM: 5981 MB
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Driver: 31.0.15.4617
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Shader 'Custom/EVP Particles Alpha Blended Shadows': fallback shader 'Particles/Alpha Blended' not found
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Initialize mono
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Mono path[0] = 'D:/2021.1.24f1/Editor/Data/Managed'
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Mono config path = 'D:/2021.1.24f1/Editor/Data/MonoBleedingEdge/etc'
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Using monoOptions --debugger-agent=transport=dt_socket,embedding=1,server=y,suspend=n,address=127.0.0.1:56244
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Begin MonoManager ReloadAssembly
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Registering precompiled unity dll's ...
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Register platform support module: D:/2021.1.24f1/Editor/Data/PlaybackEngines/WindowsStandaloneSupport/UnityEditor.WindowsStandalone.Extensions.dll
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Registered in 0.000960 seconds.
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Native extension for WindowsStandalone target not found
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Refreshing native plugins compatible for Editor in 197.54 ms, found 8 plugins.
|
||||
Preloading 0 native plugins for Editor in 0.00 ms.
|
||||
Mono: successfully reloaded assembly
|
||||
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|
||||
Domain Reload Profiling:
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|
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BeginReloadAssembly (75ms)
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ExecutionOrderSort (0ms)
|
||||
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BackupInstance (0ms)
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||||
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|
||||
LoadAssemblies (73ms)
|
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RebuildTransferFunctionScriptingTraits (0ms)
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SetupTypeCache (172ms)
|
||||
ReleaseScriptCaches (0ms)
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|
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|
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||||
AfterProcessingInitializeOnLoad (0ms)
|
||||
EditorAssembliesLoaded (0ms)
|
||||
ExecutionOrderSort2 (0ms)
|
||||
AwakeInstancesAfterBackupRestoration (0ms)
|
||||
Platform modules already initialized, skipping
|
||||
Registering precompiled user dll's ...
|
||||
Registered in 0.006784 seconds.
|
||||
|
|
@ -0,0 +1,77 @@
|
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Using pre-set license
|
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Built from '2021.1/staging' branch; Version is '2021.1.24f1 (6667702a1e7c) revision 6711152'; Using compiler version '192528614'; Build Type 'Release'
|
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OS: 'Windows 10 Pro; OS build 19044.1682; Version 2009; 64bit' Language: 'zh' Physical Memory: 16197 MB
|
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BatchMode: 1, IsHumanControllingUs: 0, StartBugReporterOnCrash: 0, Is64bit: 1, IsPro: 0
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COMMAND LINE ARGUMENTS:
|
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D:\2021.1.24f1\Editor\Unity.exe
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-adb2
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-batchMode
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-name
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AssetImportWorker1
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-projectPath
|
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E:/Unity Projects/GitLab/2023/H_SafeExperienceDrivingSystem/U3D_DrivingSystem
|
||||
-logFile
|
||||
Logs/AssetImportWorker1.log
|
||||
-srvPort
|
||||
56965
|
||||
Successfully changed project path to: E:/Unity Projects/GitLab/2023/H_SafeExperienceDrivingSystem/U3D_DrivingSystem
|
||||
E:/Unity Projects/GitLab/2023/H_SafeExperienceDrivingSystem/U3D_DrivingSystem
|
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Using Asset Import Pipeline V2.
|
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Refreshing native plugins compatible for Editor in 187.97 ms, found 8 plugins.
|
||||
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|
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Initialize engine version: 2021.1.24f1 (6667702a1e7c)
|
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[Subsystems] Discovering subsystems at path D:/2021.1.24f1/Editor/Data/Resources/UnitySubsystems
|
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[Subsystems] Discovering subsystems at path E:/Unity Projects/GitLab/2023/H_SafeExperienceDrivingSystem/U3D_DrivingSystem/Assets
|
||||
GfxDevice: creating device client; threaded=0; jobified=0
|
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Direct3D:
|
||||
Version: Direct3D 11.0 [level 11.1]
|
||||
Renderer: NVIDIA GeForce GTX 1660 SUPER (ID=0x21c4)
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Vendor: NVIDIA
|
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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=127.0.0.1:56472
|
||||
Begin MonoManager ReloadAssembly
|
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Registering precompiled unity dll's ...
|
||||
Register platform support module: D:/2021.1.24f1/Editor/Data/PlaybackEngines/WindowsStandaloneSupport/UnityEditor.WindowsStandalone.Extensions.dll
|
||||
Registered in 0.001060 seconds.
|
||||
Native extension for WindowsStandalone target not found
|
||||
Refreshing native plugins compatible for Editor in 194.45 ms, found 8 plugins.
|
||||
Preloading 0 native plugins for Editor in 0.00 ms.
|
||||
Mono: successfully reloaded assembly
|
||||
- Completed reload, in 1.220 seconds
|
||||
Domain Reload Profiling:
|
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ReloadAssembly (1220ms)
|
||||
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|
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ExecutionOrderSort (0ms)
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ReleaseScriptCaches (0ms)
|
||||
RebuildScriptCaches (35ms)
|
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SetupLoadedEditorAssemblies (343ms)
|
||||
LogAssemblyErrors (0ms)
|
||||
InitializePlatformSupportModulesInManaged (7ms)
|
||||
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|
||||
RefreshPlugins (195ms)
|
||||
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|
||||
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|
||||
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|
||||
AfterProcessingInitializeOnLoad (0ms)
|
||||
EditorAssembliesLoaded (0ms)
|
||||
ExecutionOrderSort2 (0ms)
|
||||
AwakeInstancesAfterBackupRestoration (0ms)
|
||||
Platform modules already initialized, skipping
|
||||
Registering precompiled user dll's ...
|
||||
Registered in 0.006552 seconds.
|
||||
File diff suppressed because it is too large
Load Diff
|
|
@ -0,0 +1,3 @@
|
|||
Base path: 'D:/2021.1.24f1/Editor/Data', plugins path 'D:/2021.1.24f1/Editor/Data/PlaybackEngines'
|
||||
Cmd: initializeCompiler
|
||||
|
||||
|
|
@ -1,54 +1,39 @@
|
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|
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Microsoft Visual Studio Solution File, Format Version 11.00
|
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|
||||
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|
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Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "Boxophobic.Utils.Scripts", "Boxophobic.Utils.Scripts.csproj", "{CDFF3BE2-7F3F-3464-C8D9-78B1AE3BC3C2}"
|
||||
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|
|
|
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|
|
@ -0,0 +1,13 @@
|
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{
|
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|
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|
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|
||||
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|
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|
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|
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|
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|
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|
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},
|
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|
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@ -1 +1,56 @@
|
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Loading…
Reference in New Issue