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H_SafeExperienceDrivingSystem
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Merge branch 'master' of http://172.16.1.12/huangjiayu/H_SafeExperienceDrivingSystem

This commit is contained in:
黄嘉宇 2023-12-19 13:11:07 +08:00
parent 8df7be5fca c4e4e6b134
commit 8ed677eb84
11 changed files with 365 additions and 121 deletions
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2
U3D_DrivingSystem/Assets/EVP5/Scripts/Editor/VehicleStandardInputInspector.cs
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@ -28,6 +28,8 @@ public class VehicleStandardInputInspector : Editor
EditorGUILayout.PropertyField(propThrottleAndBrakeInput);
EditorGUILayout.PropertyField(serializedObject.FindProperty("steerAxis"));
EditorGUILayout.PropertyField(serializedObject.FindProperty("xxxxxx"));
VehicleStandardInput.ThrottleAndBrakeInput throttleAndBrakeInput = (VehicleStandardInput.ThrottleAndBrakeInput)propThrottleAndBrakeInput.enumValueIndex;
if (throttleAndBrakeInput == VehicleStandardInput.ThrottleAndBrakeInput.SeparateAxes)

10
U3D_DrivingSystem/Assets/EVP5/Scripts/VehicleStandardInput.cs
View File

@ -48,7 +48,7 @@ namespace EVP
if (Input.GetKeyDown(resetVehicleKey)) m_doReset = true;
}
// public float xxxxxx;
void FixedUpdate()
{
if (target == null) return;
@ -72,9 +72,11 @@ namespace EVP
forwardInput = Mathf.Clamp01(Input.GetAxis(throttleAndBrakeAxis));
reverseInput = Mathf.Clamp01(-Input.GetAxis(throttleAndBrakeAxis));
}
// Debug.Log("前轮控制左右的参数----->" + steerInput);
// Debug.Log("往前的参数----->" + forwardInput);
// Debug.Log("往后的参数----->" + reverseInput);
// forwardInput = xxxxxx;
Debug.Log("前轮控制左右的参数----->" + steerInput);
Debug.Log("往前的参数----->" + forwardInput);
Debug.Log("往后的参数----->" + reverseInput);
// Translate forward/reverse to vehicle input
float throttleInput = 0.0f;

8
U3D_DrivingSystem/Assets/Scenes/main_.unity
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211
U3D_DrivingSystem/Assets/Scenes/start.unity
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14
U3D_DrivingSystem/Assets/Script/BtClick.cs
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@ -12,6 +12,7 @@ public class BtClick : MonoBehaviour
public CarType carType;
private Image image;
public event Action OnStartCompleted;
private void Awake()
{
image = this.GetComponent<Image>();
@ -42,25 +43,20 @@ public class BtClick : MonoBehaviour
// }
this.GetComponent<Button>().onClick.AddListener(delegate
{
GameManager.instance.UIClick(carType,this.name);
OnClickSprite();
Debug.Log("123123");
});
this.GetComponent<Button>().onClick.AddListener(delegate { GameManager.instance.OnBtClick(carType, this.name); });
// OnStartCompleted?.Invoke();
}
public void OnClickSprite()
{
image.sprite = clickSprite;
}
public void Cancel()
public void OnCancel()
{
image.sprite = defaultSprite;
}

6
U3D_DrivingSystem/Assets/Script/Manaegr/CarInfoManager.cs
View File

@ -39,6 +39,12 @@ public class CarInfoManager : MonoBehaviour
#endregion
private void Start()
{
StartBlinking(leftIndicator);
}
/// <summary>
/// 打开车灯
/// </summary>

89
U3D_DrivingSystem/Assets/Script/Manaegr/GameManager.cs
View File

@ -1,6 +1,7 @@
using System;
using System.Collections;
using System.Collections.Generic;
using System.Linq;
using UnityEngine;
using UnityEngine.UI;
@ -26,10 +27,8 @@ public class GameManager : MonoBehaviour
public GameObject[] uiGames;
public Button[] btList = new Button[] { };
private List<string> stepValues = new List<string>(); // 保存每个步骤的值
private int currentStep = 0; // 当前步骤索引
private CarType carType;
public Dictionary<CarType, string> carSelectTypeInfo = new Dictionary<CarType, string>();
private void Awake()
{
@ -65,7 +64,10 @@ public class GameManager : MonoBehaviour
// GetComponent<SteeringWheelController>().buttons = home;
UIClick(CarType.首页, "");
// UIClick(CarType.首页, "模拟驾驶体验");
// NextStep("3");
GetComponent<SteeringWheelController>().buttons = uiGames[currentStep].GetComponentsInChildren<Button>();
GetComponent<SteeringWheelController>().HighlightButton(0);
}
// private IEnumerator WaitForBtClickStarts()
@ -88,64 +90,24 @@ public class GameManager : MonoBehaviour
// }
public void SceneBts()
public void OnBtClick(CarType carType, string btName)
{
Button[] buttonArray = new Button[] { };
switch (carType)
{
case CarType.首页:
buttonArray = uiGames[0].GetComponentsInChildren<Button>();
break;
case CarType.车类型:
break;
case CarType.天气:
buttonArray = uiGames[1].GetComponentsInChildren<Button>();
break;
case CarType.危险驾驶:
buttonArray = uiGames[2].GetComponentsInChildren<Button>();
break;
}
carSelectTypeInfo.Add(carType, btName);
btList = buttonArray;
}
NextStep();
public void UIClick(CarType ct, string btName)
foreach (var v in carSelectTypeInfo)
{
carType = ct;
SceneBts();
for (int i = 0; i < btList.Length; i++)
{
if (btList[i].name == btName)
{
btList[i].GetComponent<BtClick>().OnClickSprite();
}
else
{
btList[i].GetComponent<BtClick>().Cancel();
}
Debug.Log(v.Key + "--->" + v.Value);
}
}
public void NextStep(string value)
public void NextStep()
{
if (currentStep >= uiGames.Length - 1)
return;
if (currentStep < stepValues.Count)
{
// 更新当前步骤的值
stepValues[currentStep] = value;
}
else
{
// 添加新步骤的值
stepValues.Add(value);
}
for (int i = 0; i < uiGames.Length; i++)
{
uiGames[i].SetActive(false);
@ -153,13 +115,11 @@ public class GameManager : MonoBehaviour
currentStep++;
uiGames[currentStep].SetActive(true);
DisplayCurrentStepValue();
uiGames[currentStep].transform.GetChild(0).GetComponent<BtClick>().OnClickSprite();
// Debug.Log(uiGames[currentStep].transform.GetChild(0).GetComponent<Button>());
GetComponent<SteeringWheelController>().buttons = btList;
GetComponent<SteeringWheelController>().buttons = uiGames[currentStep].GetComponentsInChildren<Button>();
}
// 调用这个方法来返回上一个步骤
@ -172,29 +132,14 @@ public class GameManager : MonoBehaviour
uiGames[i].SetActive(false);
}
var item = carSelectTypeInfo.ElementAt(carSelectTypeInfo.Count - 1);
carSelectTypeInfo.Remove(item.Key);
currentStep--;
uiGames[currentStep].SetActive(true);
// 移除当前步骤的值
if (currentStep < stepValues.Count)
{
stepValues.RemoveAt(currentStep);
}
DisplayCurrentStepValue();
}
uiGames[currentStep].transform.GetChild(0).GetComponent<BtClick>().OnClickSprite();
}
private void DisplayCurrentStepValue()
{
if (currentStep < stepValues.Count)
{
Debug.Log("Current Step: " + currentStep + ", Value: " + stepValues[currentStep]);
}
else
{
Debug.Log("Current Step: " + currentStep + ", No Value Yet");
}
GetComponent<SteeringWheelController>().buttons = uiGames[currentStep].GetComponentsInChildren<Button>();
}
}

15
U3D_DrivingSystem/Assets/Script/ModbusTcpClient.cs
View File

@ -61,6 +61,9 @@ public class ModbusTcpClient
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
/// "00 00 00 00 00 24" 为TCP报文头，24 表示后面有三十六个字节。
@ -69,16 +72,17 @@ public class ModbusTcpClient
/// "20" 表示后面有三十二个字节数据，即16个数据。
/// 后续数据为硬件反馈回来的数据：
/// - "00 01" 为钥匙开关数据，0 熄火，1 通电，2 启动。
/// - "00 02" 为方向盘数据。
/// - "00 02"为方向盘数据，左打方向盘为负数，右打方向盘为正数，打方向盘幅度越大，绝对值越大。
/// - "00 03" 为方向盘上喇叭状态，01 为喇叭按下。
/// - "00 04" 为刹车踏板数据。
/// - "00 05" 为油门踏板数据。
/// - "00 06" 为离合踏板数据。
/// - "00 04"为刹车踏板数据,　0-100,踩到底为100
/// - "00 05" 为油门踏板数据。0-100,踩到底为100
/// - "00 06" 为离合踏板数据。0-100,踩到底为100
/// - "00 07" 为手刹数据，01 表示手刹有效。
/// - "00 08" 为挡位数据，00 空挡，1 前进档，2 倒挡，3 为 P 档。
/// - "00 09" 为雨刮数据，00 空档，1 手动一次雨刮，2 自动雨刮慢速，3 自动雨刮快速。
/// - "00 0A" 为灯光数据，00 未开灯，1 近光，2 远光。
/// - "00 0B" 为转向灯数据，00 未开转向灯，1 左转向灯，2 右转向灯。
/// - "00 0C"为点火钥匙数据，00是熄火，1是通电，2是点火
/// 后面为预留。
/// </summary>
private async Task ReadResponse(NetworkStream stream)
@ -133,6 +137,9 @@ public class ModbusTcpClient
case 10:
Debug.Log($"转向灯状态: {dataValue}");
break;
case 11:
Debug.Log($"点火钥匙数据: {dataValue}");
break;
default:
Debug.Log($"预留数据 {i / 2 - 4}: {dataValue}");
break;

71
U3D_DrivingSystem/Assets/Script/SteeringWheelController.cs
View File

@ -1,15 +1,18 @@
using System.Collections;
using System;
using System.Collections;
using System.Collections.Generic;
using UnityEngine;
using UnityEngine.UI; // 如果您使用的是UGUI
public class SteeringWheelController : MonoBehaviour
{
public Button[] buttons; // 您的UI按钮
public static SteeringWheelController Instance;
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
// 假设这是从硬件获取的方向盘角度
// 硬件获取的方向盘角度
private float steeringWheelAngle;
// 方向盘选择角度阈值和中立阈值
@ -19,6 +22,12 @@ public class SteeringWheelController : MonoBehaviour
public float testFloatV;
private void Awake()
{
Instance = this;
}
void Update()
{
// 更新方向盘角度
@ -33,20 +42,29 @@ public class SteeringWheelController : MonoBehaviour
{
testFloatV = 45;
}
public void AAAA()
{
testFloatV = 0;
}
public void BBB()
{
testFloatV = -45;
}
/// <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
/// </summary>
private void CheckSteeringWheelAngle()
{
if (Mathf.Abs(steeringWheelAngle) < neutralAngleThreshold)
@ -72,6 +90,9 @@ public class SteeringWheelController : MonoBehaviour
}
}
/// <summary>
/// 下一个按钮
/// </summary>
private void SelectNextButton()
{
selectedButtonIndex = (selectedButtonIndex + 1) % buttons.Length;
@ -79,6 +100,9 @@ public class SteeringWheelController : MonoBehaviour
HighlightButton(selectedButtonIndex);
}
/// <summary>
/// 上一个按钮
/// </summary>
private void SelectPreviousButton()
{
if (selectedButtonIndex == 0)
@ -91,11 +115,44 @@ public class SteeringWheelController : MonoBehaviour
HighlightButton(selectedButtonIndex);
}
private void HighlightButton(int index)
/// <summary>
/// 选择按钮变换
/// </summary>
/// <param name="index"></param>
public void HighlightButton(int index)
{
// 根据您的UI系统来高亮选中的按钮
// 例如，在UGUI中，您可以改变按钮的颜色或添加一个高亮的边框
buttons[index].GetComponent<Button>().onClick.Invoke();
for (int i = 0; i < buttons.Length; i++)
{
if (buttons[i].name == buttons[index].name)
{
buttons[i].GetComponent<BtClick>().OnClickSprite();
}
else
{
buttons[i].GetComponent<BtClick>().OnCancel();
}
}
}
// public void SelectButtonSprite( string btName)
// {
// for (int i = 0; i < buttons.Length; i++)
// {
// if (buttons[i].name == btName)
// {
// buttons[i].GetComponent<BtClick>().ClickSp();
// }
// else
// {
// buttons[i].GetComponent<BtClick>().Cancel();
// }
// }
// }
public void SelectButton()
{
buttons[selectedButtonIndex].GetComponent<Button>().onClick.Invoke();
}
}

7
U3D_DrivingSystem/Assets/Script/test.cs
View File

@ -1,12 +1,13 @@
using System;
using UnityEngine;
using UnityEngine.UI;
namespace Script
{
public class test : MonoBehaviour
{
public Texture2D ttt;
public void HHHH()
{
@ -15,12 +16,16 @@ namespace Script
private ModbusTcpClient client;
public RawImage raw;
private void Start()
{
hh();
}
async void hh()
{
// 使用

27
U3D_DrivingSystem/Assets/demo.unity
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@ -1218,9 +1218,8 @@ MonoBehaviour:
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