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@ -24,11 +24,11 @@ namespace Script
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private ModbusTcpClient client;
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private CarStatusData carData;
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double originalValue = 75.0;
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double minValue = 0.0; // 范围的最小值
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double maxValue = 850; // 范围的最大值
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float minValue = -300f; // 范围的最小值
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float maxValue = 300; // 范围的最大值
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public CarInfoManager carInfoManager;
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void Start()
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{
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vehicleController = GetComponent<VehicleController>();
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@ -36,7 +36,10 @@ namespace Script
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StartModbus();
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ModBusQueue();
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}
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async Task StartModbus()
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{
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client = new ModbusTcpClient();
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@ -45,27 +48,88 @@ namespace Script
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{
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await client.SendModbusRequest();
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await Task.Delay(TimeSpan.FromSeconds(.2));
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await Task.Delay(TimeSpan.FromSeconds(.1));
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}
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}
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void OnDestroy()
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{
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client.CloseConnection();
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}
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async Task ModBusQueue()
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{
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while (true)
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{
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if (client.modbusQueue.Count > 0)
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{
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carData = client.modbusQueue.Dequeue();
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Debug.Log(carData.SteeringWheelAngle);
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vehicleController.steerInput = NormalizeValue();
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// Debug.Log(carData.SteeringWheelAngle);
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//方向盘
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vehicleController.steerInput = NormalizeValue(carData.SteeringWheelAngle, minValue, maxValue);
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//手刹
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// vehicleController.throttleInput = carData.HandbrakeStatus == 0 ? 1 : 0;
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//挡位 00空挡，1前进档，2倒挡，3为P档
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switch (carData.GearPosition)
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{
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case 0:
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break;
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case 1://1前进档
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if (carData.HandbrakeStatus == 0)
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{
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if (carData.AcceleratorPedalPosition > 0)
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{
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vehicleController.throttleInput = 1;
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}
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else
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{
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vehicleController.throttleInput = 0;
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}
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}
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else
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{
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vehicleController.throttleInput = 0;
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}
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break;
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case 2://2倒挡
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if (carData.HandbrakeStatus == 0)
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{
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if (carData.AcceleratorPedalPosition > 0)
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{
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vehicleController.throttleInput = -0.5f;
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}
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else
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{
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vehicleController.throttleInput = 0;
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}
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}
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else
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{
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vehicleController.throttleInput = 0;
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}
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break;
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case 3:
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break;
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}
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//转向灯 00是未开转向灯，1是左转向灯，2是右转向灯
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switch (carData.TurnSignalStatus)
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{
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case 0:
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carInfoManager.StopBlinking();
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break;
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case 1:
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carInfoManager.LeftStartBlinking();
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break;
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case 2:
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carInfoManager.RightStartBlinking();
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break;
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}
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}
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await Task.Delay(TimeSpan.FromSeconds(.2));
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await Task.Delay(TimeSpan.FromSeconds(.1));
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}
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}
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@ -79,9 +143,9 @@ namespace Script
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SetVehicleSpeed(gearSpeeds[currentGear]);
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//vehicleController.steerInput = 0;
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//vehicleController.throttleInput = xx;
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//vehicleController.brakeInput = 0;
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//vehicleController.handbrakeInput = 0;
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vehicleController.brakeInput = 0;
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vehicleController.handbrakeInput = 0;
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//Debug.Log($"{steerInput}--{throttleInput}--{brakeInput}--{handbrakeInput}");
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// vehicleStandardInput.SetThrottleValue(xx);
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@ -102,21 +166,18 @@ namespace Script
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// 在这里，你需要根据你的车辆控制系统来调整速度。
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// 以下是一个假设的方法，你可能需要根据EVP5的API来修改它。
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vehicleController.maxSpeedForward = maxSpeed;
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vehicleController.throttleInput = 1;
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//vehicleController.throttleInput = 1;
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}
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public double NormalizeValue(double originalValue, double minValue, double maxValue)
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public float NormalizeValue(float originalValue, float minValue, float maxValue)
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{
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// 确保原始值在范围内
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double clampedValue = Math.Max(minValue, Math.Min(originalValue, maxValue));
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float clampedValue = Math.Max(minValue, Math.Min(originalValue, maxValue));
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// 计算归一化值
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double normalizedValue = (clampedValue - minValue) / (maxValue - minValue);
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float normalizedValue = (2 * (clampedValue - minValue) / (maxValue - minValue)) - 1;
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return normalizedValue;
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}
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}
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}
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@ -30,10 +30,12 @@ public class CarInfoManager : MonoBehaviour
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private bool stopRequested = false;
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private CancellationTokenSource cancellationTokenSource;
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private GameObject Indicator;
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#region 耗油量
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public float fuelLevelValue = 100f; // 初始油量
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private float consumptionRate =50f; // 每公里的油耗
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private float consumptionRate = 50f; // 每公里的油耗
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public float totalDistanceTraveled = 0f; // 总行驶距离
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private float speed; // 时速（假设其他脚本会更新这个值）
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@ -89,17 +91,18 @@ public class CarInfoManager : MonoBehaviour
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{
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rpm.text = Convert.ToInt32(Math.Abs(target.speed)).ToString();
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odometer.text = Convert.ToInt32((Math.Abs(target.speed) * 3.6f)).ToString();
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speed = Math.Abs(target.speed);
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speed = Math.Abs(target.speed);
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}
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else
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{
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rpm.text = Convert.ToInt32(target.speed).ToString();
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odometer.text = Convert.ToInt32((target.speed * 3.6f)).ToString();
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speed = target.speed;
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speed = target.speed;
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}
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#region 计算耗油量
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// 计算这一帧行驶的距离
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float distanceTraveled = speed * Time.deltaTime / 3600f; // 将速度从时速转换为每秒，并计算行驶的距离
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float fuelConsumed = distanceTraveled * consumptionRate;
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@ -108,25 +111,41 @@ public class CarInfoManager : MonoBehaviour
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fuelLevelValue -= fuelConsumed;
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if (fuelLevelValue < 0) fuelLevelValue = 0;
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fuelLevel.text = Convert.ToInt32(fuelLevelValue).ToString()+"%";
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fuelLevel.text = Convert.ToInt32(fuelLevelValue).ToString() + "%";
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// 可以在这里添加油量显示逻辑
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// Debug.Log("Current Fuel Level: " + fuelLevelValue);
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// Debug.Log("Total Distance Traveled: " + totalDistanceTraveled + " km");
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// Debug.Log("Current Fuel Level: " + fuelLevelValue);
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// Debug.Log("Total Distance Traveled: " + totalDistanceTraveled + " km");
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#endregion
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}
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#region 转向灯动画
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public void LeftStartBlinking()
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{
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Indicator = leftIndicator;
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StartBlinking(Indicator);
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}
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public void RightStartBlinking()
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{
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Indicator = rightIndicator;
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StartBlinking(Indicator);
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}
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public void StartBlinking(GameObject game)
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{
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// 如果已经有一个闪烁过程在运行，则先取消它
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StopBlinking(game);
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if (isBlinking)
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return;
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StopBlinking();
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if (!isBlinking)
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isBlinking = true;
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cancellationTokenSource?.Cancel();
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cancellationTokenSource = new CancellationTokenSource();
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@ -135,14 +154,16 @@ public class CarInfoManager : MonoBehaviour
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}
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// 停止闪烁的方法
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public void StopBlinking(GameObject game)
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public void StopBlinking()
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{
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isBlinking = false;
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if (cancellationTokenSource != null)
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{
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cancellationTokenSource.Cancel();
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cancellationTokenSource = null;
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game.SetActive(false); // 确保物体被隐藏
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}
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Indicator.SetActive(false);
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}
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// 控制闪烁的异步方法
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try
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{
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// 初始隐藏物体
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game.SetActive(false);
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game.SetActive(true);
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while (true)
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{
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@ -30,7 +30,7 @@ namespace ModbusManager
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public class ModbusTcpClient
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{
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private TcpClient tcpClient;
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private string serverIp = "192.168.0.105";
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private string serverIp = "172.16.1.125";
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private int serverPort = 12315;
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public Queue<CarStatusData> modbusQueue;
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public ModbusTcpClient()
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@ -122,11 +122,11 @@ namespace ModbusManager
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switch ((i - 9) / 2)
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{
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case 0://s0熄火，1通电，2启动
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//Debug.Log($"钥匙开关数据: {dataValue}");
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// Debug.Log($"钥匙开关数据: {dataValue}");
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carStatusData.IgnitionSwitch = dataValue;
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break;
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case 1://左打方向盘为负数，右打方向盘为正数，打方向盘打死一圈半，数值1500。
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//Debug.Log($"方向盘数据: {(short)dataValue}");
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// Debug.Log($"方向盘数据: {(short)dataValue}");
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carStatusData.SteeringWheelAngle = (short)dataValue;
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break;
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case 2://01为喇叭按下
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@ -138,7 +138,7 @@ namespace ModbusManager
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carStatusData.BrakePedalPosition = dataValue;
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break;
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case 4://0-100,踩到底为100
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//Debug.Log($"油门踏板数据: {dataValue}");
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// Debug.Log($"油门踏板数据: {dataValue}");
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carStatusData.AcceleratorPedalPosition = dataValue;
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break;
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case 5://0-100,踩到底为100
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@ -146,11 +146,11 @@ namespace ModbusManager
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carStatusData.ClutchPedalPosition = dataValue;
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break;
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case 6://01表示手刹有效
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//Debug.Log($"手刹数据: {dataValue}");
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// Debug.Log($"手刹数据: {dataValue}");
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carStatusData.HandbrakeStatus = dataValue;
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break;
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case 7://00空挡，1前进档，2倒挡，3为P档
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//Debug.Log($"挡位数据: {dataValue}");
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// Debug.Log($"挡位数据: {dataValue}");
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carStatusData.GearPosition = dataValue;
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break;
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case 8://00是空档，1是手动一次雨刮，2是自动雨刮慢速，3是自动雨刮快速
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@ -162,7 +162,7 @@ namespace ModbusManager
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carStatusData.LightStatus = dataValue;
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break;
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case 10://00是未开转向灯，1是左转向灯，2是右转向灯
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//Debug.Log($"转向灯状态: {dataValue}");
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Debug.Log($"转向灯状态: {dataValue}");
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carStatusData.TurnSignalStatus = dataValue;
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break;
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case 11://00是熄火，1是通电，2是点火
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@ -1,4 +1,5 @@
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using System;
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using System.Threading.Tasks;
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using ModbusManager;
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using UnityEngine;
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using UnityEngine.SceneManagement;
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@ -12,7 +13,7 @@ namespace Script
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public Texture2D ttt;
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public void HHHH()
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{
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hh();
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}
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@ -22,11 +23,11 @@ namespace Script
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private void Start()
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{
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this.GetComponent<Button>().onClick.AddListener(delegate
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{
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SceneManager.LoadScene("menu");
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});
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// hh();
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// this.GetComponent<Button>().onClick.AddListener(delegate
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// {
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// SceneManager.LoadScene("menu");
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// });
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// hh();
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}
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@ -36,7 +37,11 @@ namespace Script
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// 使用
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client = new ModbusTcpClient();
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await client.ConnectToServer();
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while (true)
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{
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await client.SendModbusRequest();
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await Task.Delay(TimeSpan.FromSeconds(1));
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}
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Debug.Log("123");
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}
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File diff suppressed because it is too large
Load Diff
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@ -1,539 +0,0 @@
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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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-noUpm
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-name
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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
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Logs/AssetImportWorker0.log
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-srvPort
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56973
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Successfully changed project path to: E:/Unity Projects/GitLab/2023/H_SafeExperienceDrivingSystem/U3D_DrivingSystem
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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 187.15 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:
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Version: Direct3D 11.0 [level 11.1]
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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 path[1] = 'D:/2021.1.24f1/Editor/Data/MonoBleedingEdge/lib/mono/unityjit'
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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=127.0.0.1:56872
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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 0.000929 seconds.
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Native extension for WindowsStandalone target not found
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Refreshing native plugins compatible for Editor in 185.09 ms, found 8 plugins.
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Preloading 0 native plugins for Editor in 0.00 ms.
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Mono: successfully reloaded assembly
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- Completed reload, in 1.207 seconds
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Domain Reload Profiling:
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ReloadAssembly (1207ms)
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BeginReloadAssembly (71ms)
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ExecutionOrderSort (0ms)
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DisableScriptedObjects (0ms)
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BackupInstance (0ms)
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ReleaseScriptingObjects (0ms)
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CreateAndSetChildDomain (1ms)
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EndReloadAssembly (574ms)
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LoadAssemblies (70ms)
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RebuildTransferFunctionScriptingTraits (0ms)
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SetupTypeCache (165ms)
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ReleaseScriptCaches (0ms)
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RebuildScriptCaches (33ms)
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SetupLoadedEditorAssemblies (327ms)
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LogAssemblyErrors (0ms)
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InitializePlatformSupportModulesInManaged (7ms)
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SetLoadedEditorAssemblies (0ms)
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RefreshPlugins (185ms)
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BeforeProcessingInitializeOnLoad (2ms)
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ProcessInitializeOnLoadAttributes (103ms)
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ProcessInitializeOnLoadMethodAttributes (30ms)
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AfterProcessingInitializeOnLoad (0ms)
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EditorAssembliesLoaded (0ms)
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ExecutionOrderSort2 (0ms)
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AwakeInstancesAfterBackupRestoration (0ms)
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Platform modules already initialized, skipping
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Registering precompiled user dll's ...
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Registered in 0.006751 seconds.
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Begin MonoManager ReloadAssembly
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Registering precompiled unity dll's ...
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|
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Registered in 0.006935 seconds.
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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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|
||||
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|
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||||
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||||
Platform modules already initialized, skipping
|
||||
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|
||||
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|
||||
|
|
@ -1,719 +0,0 @@
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|
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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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|
||||
Successfully changed project path to: E:/Unity Projects/GitLab/2023/H_SafeExperienceDrivingSystem/U3D_DrivingSystem
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||||
Mono path[0] = 'D:/2021.1.24f1/Editor/Data/Managed'
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||||
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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=127.0.0.1:56228
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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
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|
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Native extension for WindowsStandalone target not found
|
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========================================================================
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========================================================================
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========================================================================
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path: Assets/Scenes/main_.unity
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========================================================================
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AssetImportWorkerClient::OnTransportError - code=2 error=End of file
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Base path: 'D:/2021.1.24f1/Editor/Data', plugins path 'D:/2021.1.24f1/Editor/Data/PlaybackEngines'
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Loading…
Reference in New Issue