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

# Conflicts:
#	U3D_DrivingSystem/Assets/Scenes/main_.unity

U3D_DrivingSystem/Assets/EVP5/car-wiper-master/Assets/CarWiper/Arts/NormalSnowDrops.mat

@@ -89,8 +89,8 @@ Material:
     - _TexWidth: 16
     - _UVSec: 0
     - _WiperAmount: 0
-    - _WiperAngle: 0
-    - _WiperAxis: 1
+    - _WiperAngle: 76.7
+    - _WiperAxis: -5.65
     - _WiperDirection: 0
     - _WiperInterval: 0.5
     - _WiperRadius: 0.8

U3D_DrivingSystem/Assets/Script/CarGearControl.cs

@@ -77,6 +77,9 @@ namespace Script
         {
             client = new ModbusTcpClient();
             await client.ConnectToServer();
+
+             // client.StartModbus();
+            
             while (true)
             {
                 await client.SendModbusRequest();
@@ -435,6 +438,13 @@ namespace Script
             // vehicleStandardInput.SetThrottleValue(xx);
 
             // SetSpeedBasedOnValue(1);
+
+
+            if (Input.GetKeyDown(KeyCode.F12))
+            {
+                client.SendModbusRequest();
+            }
+
         }
 
         void CheckAndUpdateGear()

U3D_DrivingSystem/Assets/Script/ModbusTcpClient.cs

@@ -2,6 +2,7 @@
 using System.Collections;
 using System.Collections.Generic;
 using System.Net.Sockets;
+using System.Threading;
 using System.Threading.Tasks;
 using UnityEngine;
 
@@ -34,6 +35,10 @@ namespace ModbusManager
         public Queue<CarStatusData> modbusQueue;
         public static ModbusTcpClient modbusTcpClient;
 
+        
+        private CancellationTokenSource cancellationTokenSource;
+
+        
         private void Awake()
         {
             modbusTcpClient = this;
@@ -44,20 +49,24 @@ namespace ModbusManager
 
         private void Start()
         {
-            // StartModbus();
+          
         }
 
 
 
-        async Task StartModbus()
+       public void  StartModbus()
         {
-            await ConnectToServer();
-            while (true)
-            {
-                await SendModbusRequest();
-                // await SendModbusRequest12();
-                await Task.Delay(TimeSpan.FromSeconds(.1));
-            }
+            cancellationTokenSource = new CancellationTokenSource();
+            // MonitorConnection(cancellationTokenSource.Token);
+            MonitorQueue(cancellationTokenSource.Token);
+            
+            // await ConnectToServer();
+            // while (true)
+            // {
+            //     await SendModbusRequest();
+            //     // await SendModbusRequest12();
+            //     await Task.Delay(TimeSpan.FromSeconds(.1));
+            // }
         }
         
         private void OnDestroy()
@@ -124,6 +133,47 @@ namespace ModbusManager
             }
         }
 
+        
+        private async Task MonitorConnection(CancellationToken token)
+        {
+            while (!token.IsCancellationRequested)
+            {
+                if (!tcpClient.Connected)
+                {
+                    try
+                    {
+                        await ConnectToServer();
+                    }
+                    catch (Exception ex)
+                    {
+                        Debug.Log("连接失败: " + ex.Message);
+                        await Task.Delay(TimeSpan.FromSeconds(1), token); // 重试前等待
+                    }
+                }
+                await Task.Delay(TimeSpan.FromSeconds(1), token); // 检查间隔
+            }
+        }
+
+        private async Task MonitorQueue(CancellationToken token)
+        {
+            while (!token.IsCancellationRequested)
+            {
+                if (modbusQueue.Count == 0)
+                {
+                    await SendModbusRequest();
+                    await Task.Delay(TimeSpan.FromSeconds(3), token); // 队列检查频率
+                }
+                else
+                {
+                    await Task.Delay(TimeSpan.FromSeconds(1), token); // 等待一段时间后再次检查
+                }
+            }
+        }
+        
+        
+        
+        
+        
         /// <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。
@@ -241,6 +291,7 @@ namespace ModbusManager
                 {
                     tcpClient.GetStream().Close();
                     tcpClient.Close();
+                    cancellationTokenSource.Cancel();
                     Debug.Log("已关闭与Modbus服务器的连接。");
                 }
             }

U3D_DrivingSystem/Assets/Script/WeatherManager.cs

@@ -28,6 +28,9 @@ public class WeatherManager : MonoBehaviour
             case "雪天":
                 weather_snow.SetActive(true);
                 xuetianglass.SetActive(true);
+                
+                weather_snow.transform.Find("下雪01").GetComponent<ParticleSystem>().Play();
+                
                 // 地面.transform.GetComponent<MeshRenderer>().material = snowMaterial;
                 break;
             case "雾天":

U3D_DrivingSystem/UserSettings/EditorUserSettings.asset

@@ -18,10 +18,10 @@ EditorUserSettings:
       value: 22424703114646680e0b0227036c52151802563f22213229
       flags: 0
     RecentlyUsedScenePath-4:
-      value: 22424703114646680e0b0227036c52111f19276439262f2434
+      value: 22424703114646680e0b0227036c4c0417050c6439262f2434
       flags: 0
     RecentlyUsedScenePath-5:
-      value: 22424703114646680e0b0227036c4c0417050c6439262f2434
+      value: 22424703114646680e0b0227036c52111f19276439262f2434
       flags: 0
     vcSharedLogLevel:
       value: 0d5e400f0650