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H_SafeExperienceDrivingSystem
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yzx 2023-12-22 10:50:53 +08:00
parent 984bc9a853
commit 7ea6ef5529
12 changed files with 9215 additions and 4890 deletions
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5160
U3D_DrivingSystem/Assets/Scenes/main_.unity
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22
U3D_DrivingSystem/Assets/Scenes/start.unity
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@ -38,12 +38,12 @@ RenderSettings:
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m_Sun: {fileID: 0}
m_IndirectSpecularColor: {r: 0, g: 0, b: 0, a: 1}
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--- !u!157 &3
LightmapSettings:
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serializedVersion: 12
m_GIWorkflowMode: 1
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@ -98,7 +98,7 @@ LightmapSettings:
m_TrainingDataDestination: TrainingData
m_LightProbeSampleCountMultiplier: 4
m_LightingDataAsset: {fileID: 0}
m_UseShadowmask: 1
m_LightingSettings: {fileID: 0}
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@ -118,6 +118,8 @@ NavMeshSettings:
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tileSize: 256
accuratePlacement: 0
maxJobWorkers: 0
preserveTilesOutsideBounds: 0
debug:
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@ -131,6 +133,7 @@ GameObject:
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m_Name: APP
m_TagString: Untagged
@ -164,6 +167,18 @@ MonoBehaviour:
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m_Name:
m_EditorClassIdentifier:
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MonoBehaviour:
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m_Name:
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@ -323,6 +338,7 @@ Light:
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133
U3D_DrivingSystem/Assets/Script/CarGearControl.cs
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@ -22,111 +22,118 @@ namespace Script
public float xx;
float steerInput, throttleInput, brakeInput, handbrakeInput;
private ModbusTcpClient client;
private CarStatusData carData;
float minValue = -300f; // 范围的最小值
float maxValue = 300; // 范围的最大值
public CarInfoManager carInfoManager;
void Start()
{
vehicleController = GetComponent<VehicleController>();
vehicleStandardInput = GetComponent<VehicleStandardInput>();
StartModbus();
// StartModbus();
ModBusQueue();
}
async Task StartModbus()
{
client = new ModbusTcpClient();
await client.ConnectToServer();
while (true)
{
await client.SendModbusRequest();
// async Task StartModbus()
// {
// client = new ModbusTcpClient();
// await client.ConnectToServer();
// while (true)
// {
// await client.SendModbusRequest();
//
// await Task.Delay(TimeSpan.FromSeconds(.1));
// }
// }
await Task.Delay(TimeSpan.FromSeconds(.1));
}
}
void OnDestroy()
{
client.CloseConnection();
}
// void OnDestroy()
// {
// client.CloseConnection();
// }
async Task ModBusQueue()
{
while (true)
{
if (client.modbusQueue.Count > 0)
// Debug.Log(client.modbusQueue.Count);
if (ModbusTcpClient.modbusTcpClient.modbusQueue.Count > 0)
{
carData = client.modbusQueue.Dequeue();
// Debug.Log(carData.SteeringWheelAngle);
carData = ModbusTcpClient.modbusTcpClient.modbusQueue.Dequeue();
//方向盘
vehicleController.steerInput = NormalizeValue(carData.SteeringWheelAngle, minValue, maxValue);
//手刹
// vehicleController.throttleInput = carData.HandbrakeStatus == 0 ? 1 : 0;
//挡位 00空挡，1前进档，2倒挡，3为P档
switch (carData.GearPosition)
//当钥匙为点火状态，才能启动车
if (carData.IgnitionSwitch == 2)
{
case 0:
break;
case 1://1前进档
if (carData.HandbrakeStatus == 0)
{
if (carData.AcceleratorPedalPosition > 0)
switch (carData.GearPosition)
{
case 0:
break;
case 1: //1前进档
if (carData.HandbrakeStatus == 0)
{
vehicleController.throttleInput = 1;
if (carData.AcceleratorPedalPosition > 30)
{
vehicleController.throttleInput = 1;
}
else
{
vehicleController.throttleInput = 0;
}
}
else
{
vehicleController.throttleInput = 0;
}
}
else
{
vehicleController.throttleInput = 0;
}
break;
case 2://2倒挡
if (carData.HandbrakeStatus == 0)
{
if (carData.AcceleratorPedalPosition > 0)
break;
case 2: //2倒挡
if (carData.HandbrakeStatus == 0)
{
vehicleController.throttleInput = -0.5f;
if (carData.AcceleratorPedalPosition > 30)
{
vehicleController.throttleInput = -0.5f;
}
else
{
vehicleController.throttleInput = 0;
}
}
else
{
vehicleController.throttleInput = 0;
}
}
else
{
vehicleController.throttleInput = 0;
}
break;
case 3:
break;
break;
case 3:
break;
}
}
//转向灯 00是未开转向灯，1是左转向灯，2是右转向灯
switch (carData.TurnSignalStatus)
//当钥匙转为通电才能启动转向灯 0熄火，1通电，2启动
if (carData.IgnitionSwitch == 1)
{
case 0:
carInfoManager.StopBlinking();
break;
case 1:
carInfoManager.LeftStartBlinking();
break;
case 2:
carInfoManager.RightStartBlinking();
break;
switch (carData.TurnSignalStatus)
{
case 0:
carInfoManager.StopBlinking();
break;
case 1:
carInfoManager.LeftStartBlinking();
break;
case 2:
carInfoManager.RightStartBlinking();
break;
}
}
}
await Task.Delay(TimeSpan.FromSeconds(.1));
@ -144,8 +151,8 @@ namespace Script
//vehicleController.steerInput = 0;
vehicleController.brakeInput = 0;
vehicleController.handbrakeInput = 0;
// vehicleController.brakeInput = 0;
// vehicleController.handbrakeInput = 0;
//Debug.Log($"{steerInput}--{throttleInput}--{brakeInput}--{handbrakeInput}");
// vehicleStandardInput.SetThrottleValue(xx);

7
U3D_DrivingSystem/Assets/Script/Manaegr/CarInfoManager.cs
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@ -123,14 +123,13 @@ public class CarInfoManager : MonoBehaviour
#region 转向灯动画
public void LeftStartBlinking()
{ Indicator.SetActive(false);
{
Indicator = leftIndicator;
StartBlinking(Indicator);
}
public void RightStartBlinking()
{
Indicator.SetActive(false);
Indicator = rightIndicator;
StartBlinking(Indicator);
}
@ -157,6 +156,10 @@ public class CarInfoManager : MonoBehaviour
// 停止闪烁的方法
public void StopBlinking()
{
if(!isBlinking)
return;
isBlinking = false;
if (cancellationTokenSource != null)
{

16
U3D_DrivingSystem/Assets/Script/Manaegr/CarManager.cs
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@ -9,14 +9,14 @@ public class CarManager : MonoBehaviour
public GameObject puncture; //爆胎
public GameObject UIl;
private void OnTriggerEnter(Collider other)
{
if (other.name == "爆胎")
{
puncture.SetActive(true);
UIl.SetActive(true);
}
}
// private void OnTriggerEnter(Collider other)
// {
// if (other.name == "爆胎")
// {
// puncture.SetActive(true);
// UIl.SetActive(true);
// }
// }
// /// <summary>
// /// 爆胎

51
U3D_DrivingSystem/Assets/Script/ModbusTcpClient.cs
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@ -27,18 +27,49 @@ public class CarStatusData
namespace ModbusManager
{
public class ModbusTcpClient
public class ModbusTcpClient:MonoBehaviour
{
private TcpClient tcpClient;
private string serverIp = "172.16.1.125";
private int serverPort = 12315;
public Queue<CarStatusData> modbusQueue;
public ModbusTcpClient()
public static ModbusTcpClient modbusTcpClient;
private void Awake()
{
modbusTcpClient = this;
tcpClient = new TcpClient();
modbusQueue = new Queue<CarStatusData>();
}
private void Start()
{
StartModbus();
}
async Task StartModbus()
{
await ConnectToServer();
while (true)
{
await SendModbusRequest();
await Task.Delay(TimeSpan.FromSeconds(.1));
}
}
private void OnDestroy()
{
CloseConnection();
}
// public ModbusTcpClient()
// {
// tcpClient = new TcpClient();
// modbusQueue = new Queue<CarStatusData>();
// }
/// <summary>
/// 接口为TCP/IP接口。
/// 协议为MODBUS/TCP,数据为十六进制数据。
@ -74,7 +105,7 @@ namespace ModbusManager
if (stream.CanWrite)
{
await stream.WriteAsync(request, 0, request.Length);
//Debug.LogLine("Modbus请求已发送。");
// Debug.Log("Modbus请求已发送。");
await ReadResponse(stream);
}
}
@ -138,19 +169,19 @@ 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
//Debug.Log($"离合踏板数据: {dataValue}");
Debug.Log($"离合踏板数据: {dataValue}");
carStatusData.ClutchPedalPosition = dataValue;
break;
case 6://01表示手刹有效
// Debug.Log($"手刹数据: {dataValue}");
// Debug.Log($"手刹数据: {dataValue}");
carStatusData.HandbrakeStatus = dataValue;
break;
case 7://00空挡，1前进档，2倒挡，3为P档
// Debug.Log($"挡位数据: {dataValue}");
// Debug.Log($"挡位数据: {dataValue}");
carStatusData.GearPosition = dataValue;
break;
case 8://00是空档，1是手动一次雨刮，2是自动雨刮慢速，3是自动雨刮快速
@ -162,7 +193,7 @@ namespace ModbusManager
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
@ -170,7 +201,7 @@ namespace ModbusManager
carStatusData.KeyStatus = dataValue;
break;
case 12://上1,右2,下3，左4
//Debug.Log($"按键数据: {dataValue}");
// Debug.Log($"按键数据: {dataValue}");
carStatusData.ButtonData = dataValue;
break;
// default:
@ -181,6 +212,8 @@ namespace ModbusManager
modbusQueue.Enqueue(carStatusData);
// Debug.Log(modbusQueue.Count);
}
else
{

146
U3D_DrivingSystem/Assets/Script/SteeringWheelController.cs
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@ -1,14 +1,16 @@
using System;
using System.Collections;
using System.Collections.Generic;
using System.Threading.Tasks;
using ModbusManager;
using UnityEngine;
using UnityEngine.UI; // 如果您使用的是UGUI
public class SteeringWheelController : MonoBehaviour
{
public static SteeringWheelController Instance;
public Button[] buttons;
public Button[] buttons;
private int selectedButtonIndex = 0; // 当前选中的按钮索引
private bool hasSelected = false; // 是否已经进行了选择
@ -21,22 +23,31 @@ public class SteeringWheelController : MonoBehaviour
public float testFloatV;
float minValue = -300f; // 范围的最小值
float maxValue = 300; // 范围的最大值
private int NewValue = -1;
private void Awake()
{
Instance = this;
}
void Update()
private void Start()
{
// 更新方向盘角度
UpdateSteeringWheelAngle();
// 检查方向盘角度并更新选中的按钮
CheckSteeringWheelAngle();
ModBusQueue();
}
// void Update()
// {
// // 更新方向盘角度
// // UpdateSteeringWheelAngle();
//
// // 检查方向盘角度并更新选中的按钮
// CheckSteeringWheelAngle();
// }
public void SSSS()
{
@ -53,41 +64,88 @@ public class SteeringWheelController : MonoBehaviour
testFloatV = -45;
}
/// <summary>
/// 更新方向盘角度
/// </summary>
private void UpdateSteeringWheelAngle()
async Task ModBusQueue()
{
// 这里需要替换成获取硬件方向盘角度的代码
steeringWheelAngle = testFloatV;
while (true)
{
// Debug.Log(client.modbusQueue.Count);
if (ModbusTcpClient.modbusTcpClient.modbusQueue.Count > 0)
{
CarStatusData carData = ModbusTcpClient.modbusTcpClient.modbusQueue.Dequeue();
if (carData.ClutchPedalPosition > 30)
{
SelectButton();
}
if (NewValue != carData.ButtonData)
{
NewValue = carData.ButtonData;
}
else
{
continue;
}
CheckSteeringWheelAngle(NewValue);
}
await Task.Delay(TimeSpan.FromSeconds(.1));
}
}
// /// <summary>
// /// 更新方向盘角度
// /// </summary>
// private void UpdateSteeringWheelAngle()
// {
// // 这里需要替换成获取硬件方向盘角度的代码
// steeringWheelAngle = testFloatV;
// }
/// <summary>
/// 判断方向盘左边还是右边
/// 判断方向盘左边还是右边 //上1,右2,下3，左4
/// </summary>
private void CheckSteeringWheelAngle()
private void CheckSteeringWheelAngle(int btvalue)
{
if (Mathf.Abs(steeringWheelAngle) < neutralAngleThreshold)
if (btvalue > 0)
{
hasSelected = false;
return;
if (btvalue == 4)
{
SelectPreviousButton();
}
else if (btvalue == 2)
{
SelectNextButton();
}
}
if (!hasSelected)
{
if (steeringWheelAngle > selectionAngleThreshold)
{
// 向右转动
SelectNextButton();
hasSelected = true;
}
else if (steeringWheelAngle < -selectionAngleThreshold)
{
// 向左转动
SelectPreviousButton();
hasSelected = true;
}
}
// if (Mathf.Abs(steeringWheelAngle) < neutralAngleThreshold)
// {
// hasSelected = false;
// return;
// }
// if (!hasSelected)
// {
// if (steeringWheelAngle > selectionAngleThreshold)
// {
// // 向右转动
// SelectNextButton();
// hasSelected = true;
// }
// else if (steeringWheelAngle < -selectionAngleThreshold)
// {
// // 向左转动
// SelectPreviousButton();
// hasSelected = true;
// }
// }
}
/// <summary>
@ -96,7 +154,7 @@ public class SteeringWheelController : MonoBehaviour
private void SelectNextButton()
{
selectedButtonIndex = (selectedButtonIndex + 1) % buttons.Length;
Debug.Log("前进" + selectedButtonIndex);
// Debug.Log("前进" + selectedButtonIndex);
HighlightButton(selectedButtonIndex);
}
@ -111,20 +169,19 @@ public class SteeringWheelController : MonoBehaviour
selectedButtonIndex--;
Debug.Log("后退" + selectedButtonIndex);
// Debug.Log("后退" + selectedButtonIndex);
HighlightButton(selectedButtonIndex);
}
/// <summary>
/// 选择按钮变换
/// </summary>
/// <param name="index"></param>
public void HighlightButton(int index)
{
for (int i = 0; i < buttons.Length; i++)
{
if (buttons[i].name == buttons[index].name)
if (buttons[i].name == buttons[index].name)
{
buttons[i].GetComponent<BtClick>().OnClickSprite();
}
@ -155,4 +212,15 @@ public class SteeringWheelController : MonoBehaviour
{
buttons[selectedButtonIndex].GetComponent<Button>().onClick.Invoke();
}
public float NormalizeValue(float originalValue, float minValue, float maxValue)
{
// 确保原始值在范围内
float clampedValue = Math.Max(minValue, Math.Min(originalValue, maxValue));
// 计算归一化值
float normalizedValue = (2 * (clampedValue - minValue) / (maxValue - minValue)) - 1;
return normalizedValue;
}
}

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U3D_DrivingSystem/Logs/AssetImportWorker0-prev.log
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U3D_DrivingSystem/Logs/AssetImportWorker1-prev.log Normal file
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@ -0,0 +1,77 @@
Using pre-set license
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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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-srvPort
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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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Refreshing native plugins compatible for Editor in 181.72 ms, found 8 plugins.
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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
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Renderer: NVIDIA GeForce GTX 1660 SUPER (ID=0x21c4)
Vendor: NVIDIA
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U3D_DrivingSystem/Logs/AssetImportWorker2-prev.log Normal file
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U3D_DrivingSystem/Logs/shadercompiler-UnityShaderCompiler.exe8.log
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@ -1,6 +1,3 @@
Base path: 'D:/2021.1.24f1/Editor/Data', plugins path 'D:/2021.1.24f1/Editor/Data/PlaybackEngines'
Cmd: initializeCompiler
Cmd: compileSnippet
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U3D_DrivingSystem/UserSettings/EditorUserSettings.asset
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@ -12,13 +12,13 @@ EditorUserSettings:
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