This commit is contained in:
yzx 2023-12-21 18:03:36 +08:00
parent 2532528d63
commit dafe35f893
12 changed files with 9792 additions and 1615 deletions

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@ -24,11 +24,11 @@ namespace Script
private ModbusTcpClient client; private ModbusTcpClient client;
private CarStatusData carData; private CarStatusData carData;
double originalValue = 75.0; float minValue = -300f; // 范围的最小值
double minValue = 0.0; // 范围的最小 float maxValue = 300; // 范围的最大
double maxValue = 850; // 范围的最大值
public CarInfoManager carInfoManager;
void Start() void Start()
{ {
vehicleController = GetComponent<VehicleController>(); vehicleController = GetComponent<VehicleController>();
@ -36,7 +36,10 @@ namespace Script
StartModbus(); StartModbus();
ModBusQueue(); ModBusQueue();
} }
async Task StartModbus() async Task StartModbus()
{ {
client = new ModbusTcpClient(); client = new ModbusTcpClient();
@ -45,27 +48,88 @@ namespace Script
{ {
await client.SendModbusRequest(); await client.SendModbusRequest();
await Task.Delay(TimeSpan.FromSeconds(.2)); await Task.Delay(TimeSpan.FromSeconds(.1));
} }
} }
void OnDestroy() void OnDestroy()
{ {
client.CloseConnection(); client.CloseConnection();
} }
async Task ModBusQueue() async Task ModBusQueue()
{ {
while (true) while (true)
{ {
if (client.modbusQueue.Count > 0) if (client.modbusQueue.Count > 0)
{ {
carData = client.modbusQueue.Dequeue(); carData = client.modbusQueue.Dequeue();
Debug.Log(carData.SteeringWheelAngle); // Debug.Log(carData.SteeringWheelAngle);
vehicleController.steerInput = NormalizeValue(); //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)
{
case 0:
break;
case 1://1前进档
if (carData.HandbrakeStatus == 0)
{
if (carData.AcceleratorPedalPosition > 0)
{
vehicleController.throttleInput = 1;
}
else
{
vehicleController.throttleInput = 0;
}
}
else
{
vehicleController.throttleInput = 0;
}
break;
case 2://2倒挡
if (carData.HandbrakeStatus == 0)
{
if (carData.AcceleratorPedalPosition > 0)
{
vehicleController.throttleInput = -0.5f;
}
else
{
vehicleController.throttleInput = 0;
}
}
else
{
vehicleController.throttleInput = 0;
}
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)
{
case 0:
carInfoManager.StopBlinking();
break;
case 1:
carInfoManager.LeftStartBlinking();
break;
case 2:
carInfoManager.RightStartBlinking();
break;
}
} }
await Task.Delay(TimeSpan.FromSeconds(.2)); await Task.Delay(TimeSpan.FromSeconds(.1));
} }
} }
@ -79,9 +143,9 @@ namespace Script
SetVehicleSpeed(gearSpeeds[currentGear]); SetVehicleSpeed(gearSpeeds[currentGear]);
//vehicleController.steerInput = 0; //vehicleController.steerInput = 0;
//vehicleController.throttleInput = xx;
//vehicleController.brakeInput = 0; vehicleController.brakeInput = 0;
//vehicleController.handbrakeInput = 0; vehicleController.handbrakeInput = 0;
//Debug.Log($"{steerInput}--{throttleInput}--{brakeInput}--{handbrakeInput}"); //Debug.Log($"{steerInput}--{throttleInput}--{brakeInput}--{handbrakeInput}");
// vehicleStandardInput.SetThrottleValue(xx); // vehicleStandardInput.SetThrottleValue(xx);
@ -102,21 +166,18 @@ namespace Script
// 在这里,你需要根据你的车辆控制系统来调整速度。 // 在这里,你需要根据你的车辆控制系统来调整速度。
// 以下是一个假设的方法你可能需要根据EVP5的API来修改它。 // 以下是一个假设的方法你可能需要根据EVP5的API来修改它。
vehicleController.maxSpeedForward = maxSpeed; vehicleController.maxSpeedForward = maxSpeed;
vehicleController.throttleInput = 1; //vehicleController.throttleInput = 1;
} }
public double NormalizeValue(double originalValue, double minValue, double maxValue)
public float NormalizeValue(float originalValue, float minValue, float maxValue)
{ {
// 确保原始值在范围内 // 确保原始值在范围内
double clampedValue = Math.Max(minValue, Math.Min(originalValue, maxValue)); float clampedValue = Math.Max(minValue, Math.Min(originalValue, maxValue));
// 计算归一化值 // 计算归一化值
double normalizedValue = (clampedValue - minValue) / (maxValue - minValue); float normalizedValue = (2 * (clampedValue - minValue) / (maxValue - minValue)) - 1;
return normalizedValue; return normalizedValue;
} }
} }
} }

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@ -30,10 +30,12 @@ public class CarInfoManager : MonoBehaviour
private bool stopRequested = false; private bool stopRequested = false;
private CancellationTokenSource cancellationTokenSource; private CancellationTokenSource cancellationTokenSource;
private GameObject Indicator;
#region #region
public float fuelLevelValue = 100f; // 初始油量 public float fuelLevelValue = 100f; // 初始油量
private float consumptionRate =50f; // 每公里的油耗 private float consumptionRate = 50f; // 每公里的油耗
public float totalDistanceTraveled = 0f; // 总行驶距离 public float totalDistanceTraveled = 0f; // 总行驶距离
private float speed; // 时速(假设其他脚本会更新这个值) private float speed; // 时速(假设其他脚本会更新这个值)
@ -89,17 +91,18 @@ public class CarInfoManager : MonoBehaviour
{ {
rpm.text = Convert.ToInt32(Math.Abs(target.speed)).ToString(); rpm.text = Convert.ToInt32(Math.Abs(target.speed)).ToString();
odometer.text = Convert.ToInt32((Math.Abs(target.speed) * 3.6f)).ToString(); odometer.text = Convert.ToInt32((Math.Abs(target.speed) * 3.6f)).ToString();
speed = Math.Abs(target.speed); speed = Math.Abs(target.speed);
} }
else else
{ {
rpm.text = Convert.ToInt32(target.speed).ToString(); rpm.text = Convert.ToInt32(target.speed).ToString();
odometer.text = Convert.ToInt32((target.speed * 3.6f)).ToString(); odometer.text = Convert.ToInt32((target.speed * 3.6f)).ToString();
speed = target.speed; speed = target.speed;
} }
#region #region
// 计算这一帧行驶的距离 // 计算这一帧行驶的距离
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 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
float fuelConsumed = distanceTraveled * consumptionRate; float fuelConsumed = distanceTraveled * consumptionRate;
@ -108,25 +111,41 @@ public class CarInfoManager : MonoBehaviour
fuelLevelValue -= fuelConsumed; fuelLevelValue -= fuelConsumed;
if (fuelLevelValue < 0) fuelLevelValue = 0; if (fuelLevelValue < 0) fuelLevelValue = 0;
fuelLevel.text = Convert.ToInt32(fuelLevelValue).ToString()+"%"; fuelLevel.text = Convert.ToInt32(fuelLevelValue).ToString() + "%";
// 可以在这里添加油量显示逻辑 // 可以在这里添加油量显示逻辑
// Debug.Log("Current Fuel Level: " + fuelLevelValue); // Debug.Log("Current Fuel Level: " + fuelLevelValue);
// Debug.Log("Total Distance Traveled: " + totalDistanceTraveled + " km"); // Debug.Log("Total Distance Traveled: " + totalDistanceTraveled + " km");
#endregion #endregion
} }
#region #region
public void LeftStartBlinking()
{
Indicator = leftIndicator;
StartBlinking(Indicator);
}
public void RightStartBlinking()
{
Indicator = rightIndicator;
StartBlinking(Indicator);
}
public void StartBlinking(GameObject game) public void StartBlinking(GameObject game)
{ {
// 如果已经有一个闪烁过程在运行,则先取消它 // 如果已经有一个闪烁过程在运行,则先取消它
StopBlinking(game); if (isBlinking)
return;
StopBlinking();
if (!isBlinking)
isBlinking = true;
cancellationTokenSource?.Cancel(); cancellationTokenSource?.Cancel();
cancellationTokenSource = new CancellationTokenSource(); cancellationTokenSource = new CancellationTokenSource();
@ -135,14 +154,16 @@ public class CarInfoManager : MonoBehaviour
} }
// 停止闪烁的方法 // 停止闪烁的方法
public void StopBlinking(GameObject game) public void StopBlinking()
{ {
isBlinking = false;
if (cancellationTokenSource != null) if (cancellationTokenSource != null)
{ {
cancellationTokenSource.Cancel(); cancellationTokenSource.Cancel();
cancellationTokenSource = null; cancellationTokenSource = null;
game.SetActive(false); // 确保物体被隐藏
} }
Indicator.SetActive(false);
} }
// 控制闪烁的异步方法 // 控制闪烁的异步方法
@ -151,7 +172,7 @@ public class CarInfoManager : MonoBehaviour
try try
{ {
// 初始隐藏物体 // 初始隐藏物体
game.SetActive(false); game.SetActive(true);
while (true) while (true)
{ {

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@ -30,7 +30,7 @@ namespace ModbusManager
public class ModbusTcpClient public class ModbusTcpClient
{ {
private TcpClient tcpClient; private TcpClient tcpClient;
private string serverIp = "192.168.0.105"; private string serverIp = "172.16.1.125";
private int serverPort = 12315; private int serverPort = 12315;
public Queue<CarStatusData> modbusQueue; public Queue<CarStatusData> modbusQueue;
public ModbusTcpClient() public ModbusTcpClient()
@ -122,11 +122,11 @@ namespace ModbusManager
switch ((i - 9) / 2) switch ((i - 9) / 2)
{ {
case 0://s0熄火1通电2启动 case 0://s0熄火1通电2启动
//Debug.Log($"钥匙开关数据: {dataValue}"); // Debug.Log($"钥匙开关数据: {dataValue}");
carStatusData.IgnitionSwitch = dataValue; carStatusData.IgnitionSwitch = dataValue;
break; 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。 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; carStatusData.SteeringWheelAngle = (short)dataValue;
break; break;
case 2://01为喇叭按下 case 2://01为喇叭按下
@ -138,7 +138,7 @@ namespace ModbusManager
carStatusData.BrakePedalPosition = dataValue; carStatusData.BrakePedalPosition = dataValue;
break; break;
case 4://0-100,踩到底为100 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; carStatusData.AcceleratorPedalPosition = dataValue;
break; break;
case 5://0-100,踩到底为100 case 5://0-100,踩到底为100
@ -146,11 +146,11 @@ namespace ModbusManager
carStatusData.ClutchPedalPosition = dataValue; carStatusData.ClutchPedalPosition = dataValue;
break; break;
case 6://01表示手刹有效 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; carStatusData.HandbrakeStatus = dataValue;
break; break;
case 7://00空挡1前进档2倒挡3为P档 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; carStatusData.GearPosition = dataValue;
break; 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 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 +162,7 @@ namespace ModbusManager
carStatusData.LightStatus = dataValue; carStatusData.LightStatus = dataValue;
break; break;
case 10://00是未开转向灯1是左转向灯2是右转向灯 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; carStatusData.TurnSignalStatus = dataValue;
break; break;
case 11://00是熄火1是通电2是点火 case 11://00是熄火1是通电2是点火

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@ -1,4 +1,5 @@
using System; using System;
using System.Threading.Tasks;
using ModbusManager; using ModbusManager;
using UnityEngine; using UnityEngine;
using UnityEngine.SceneManagement; using UnityEngine.SceneManagement;
@ -12,7 +13,7 @@ namespace Script
public Texture2D ttt; public Texture2D ttt;
public void HHHH() public void HHHH()
{ {
hh();
} }
@ -22,11 +23,11 @@ namespace Script
private void Start() private void Start()
{ {
this.GetComponent<Button>().onClick.AddListener(delegate // this.GetComponent<Button>().onClick.AddListener(delegate
{ // {
SceneManager.LoadScene("menu"); // SceneManager.LoadScene("menu");
}); // });
// hh(); // hh();
} }
@ -36,7 +37,11 @@ namespace Script
// 使用 // 使用
client = new ModbusTcpClient(); client = new ModbusTcpClient();
await client.ConnectToServer(); await client.ConnectToServer();
while (true)
{
await client.SendModbusRequest();
await Task.Delay(TimeSpan.FromSeconds(1));
}
Debug.Log("123"); Debug.Log("123");
} }

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@ -1,539 +0,0 @@
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