using EVP; using UnityEngine; using UnityEngine.UIElements; namespace Script { using ModbusManager; using System; using System.Threading.Tasks; using Unity.VisualScripting; using UnityEngine; public class CarGearControl : MonoBehaviour { public GameObject ui3d; public GameObject ui2d; private VehicleController vehicleController; private VehicleStandardInput vehicleStandardInput; public int currentGear = 0; // 当前挡位 public float[] gearSpeeds = { 0f, 20f, 40f, 60f }; // 每个挡位的最大速度 public float xx; float steerInput, throttleInput, brakeInput, handbrakeInput; private CarStatusData carData; float minValue = -1500f; // 范围的最小值 float maxValue = 1500; // 范围的最大值 public CarInfoManager carInfoManager; private ModbusTcpClient client; private int NewValue = -1; public GameObject thirdPerson; //第三人称 public GameObject firstPerson; //第一人称 public GameObject[] shache; public AnimationController ygq; public TurnSignalController turnSignalController; private bool inputUp = false; private int inputUpV = -1; public GameObject uiGame; public GameObject carMenuUI; public GameObject accident; //事故UI private bool ClutchPedalPositionBool; public bool mingdi = false; public AccidentManager accidentManager; public Transform ttt; private bool dianhuo = false; void Start() { vehicleController = GetComponent(); vehicleStandardInput = GetComponent(); // StartModbus(); ModBusQueue(); } async Task StartModbus() { client = new ModbusTcpClient(); await client.ConnectToServer(); while (true) { await client.SendModbusRequest(); await Task.Delay(TimeSpan.FromSeconds(.1)); } } public void HHHHHH() { client.SendModbusRequest12(); } void OnDestroy() { client.CloseConnection(); } async Task ModBusQueue() { while (true) { // Debug.Log(client.modbusQueue.Count); // if (client.modbusQueue.Count > 0) // { // // Debug.Log(client.modbusQueue.Count); // // carData = client.modbusQueue.Dequeue(); if (ModbusTcpClient.modbusTcpClient.modbusQueue.Count > 0) { // Debug.Log(ModbusTcpClient.modbusTcpClient.modbusQueue.Count); carData = ModbusTcpClient.modbusTcpClient.modbusQueue.Dequeue(); //方向盘 vehicleController.steerInput = NormalizeValue(carData.SteeringWheelAngle, minValue, maxValue); //钥匙 00是熄火，1是通电，2是点火 switch (carData.KeyStatus) { case 0: uiGame.SetActive(false); break; case 1: break; case 2: if (carData.BrakePedalPosition > 30) { uiGame.SetActive(true); currentGear = 1; dianhuo = true; ui2d.SetActive(true); } break; } if (!dianhuo) continue; //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 //当钥匙为点火状态，才能启动车 if (carData.IgnitionSwitch == 1) { switch (carData.GearPosition) { case 0: break; case 1: //1前进档 if (carData.HandbrakeStatus == 0) { if (carData.AcceleratorPedalPosition > 20 && carData.AcceleratorPedalPosition <= 50) { vehicleController.throttleInput = 1; currentGear = 1; } else if (carData.AcceleratorPedalPosition > 50 && carData.AcceleratorPedalPosition <= 80) { vehicleController.throttleInput = 1; currentGear = 2; } else if (carData.AcceleratorPedalPosition > 80 && carData.AcceleratorPedalPosition <= 100) { vehicleController.throttleInput = 1; currentGear = 3; } else { vehicleController.throttleInput = 0; currentGear = 0; } } else { vehicleController.throttleInput = 0; } break; case 2: //2倒挡 if (carData.HandbrakeStatus == 0) { if (carData.AcceleratorPedalPosition > 20) { 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 //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) // { // switch (carData.TurnSignalStatus) // { // case 0: // carInfoManager.StopBlinking(); // break; // case 1: // carInfoManager.LeftStartBlinking(); // break; // case 2: // carInfoManager.RightStartBlinking(); // break; // } // } //上1,右2,下3，左4 if (NewValue != carData.ButtonData) { NewValue = carData.ButtonData; CarMenuButton(NewValue); } // else // { // continue; // } //雨刮器 if (carData.WiperStatus == 2) { ygq.PlayAnimation("donghua"); } else { ygq.StopAnimationLoop(); } if (mingdi) { if (carData.HornStatus == 1) { mingdi = false; accidentManager.Tr(ttt, true); } } //转向灯和双闪 if (carData.ButtonData == 1) { if (!inputUp) { inputUp = true; inputUpV = carData.TurnSignalStatus; } else { inputUp = false; inputUpV = -1; turnSignalController.rightTurnSignalGame.SetActive(false); turnSignalController.leftTurnSignalGame.SetActive(false); turnSignalController.SetSignal(0); } } if (inputUpV == carData.TurnSignalStatus) { turnSignalController.SetSignal(3); } else { inputUpV = -1; switch (carData.TurnSignalStatus) { case 0: turnSignalController.SetSignal(0); break; case 1: turnSignalController.SetSignal(1); break; case 2: turnSignalController.SetSignal(2); break; } } // 灯光 switch (carData.LightStatus) { case 0: turnSignalController.CloseLight(); break; case 1: turnSignalController.OpenLight(); break; case 2: break; } if (accident.activeInHierarchy) { if (carData.AcceleratorPedalPosition > 90) { accident.transform.Find("重置").GetComponent().onClick.Invoke(); } } else { //踩离合弹出菜单UI if (carData.ClutchPedalPosition > 30) { if (!ClutchPedalPositionBool) { ClutchPedalPositionBool = true; carMenuUI.SetActive(true); } } else if (carData.ClutchPedalPosition <= 0) { ClutchPedalPositionBool = false; } if (carMenuUI.activeInHierarchy) { if (carData.ButtonData == 4) { carMenuUI.GetComponent().Back(); } else if (carData.ButtonData == 2) { carMenuUI.GetComponent().Next(); } if (carData.AcceleratorPedalPosition > 30) { carMenuUI.GetComponent().Click(); } } } //刹车 if (carData.BrakePedalPosition > 30) { if (shache[0].activeInHierarchy) continue; for (int i = 0; i < shache.Length; i++) { shache[i].SetActive(true); } } else { if (!shache[0].activeInHierarchy) continue; for (int i = 0; i < shache.Length; i++) { shache[i].SetActive(false); } } } await Task.Delay(TimeSpan.FromSeconds(.1)); } } void CarMenuButton(int bt) { if (bt == 3) { if (thirdPerson.activeInHierarchy) { thirdPerson.SetActive(false); firstPerson.SetActive(true); ui3d.SetActive(true); ui2d.SetActive(false); } else { thirdPerson.SetActive(true); firstPerson.SetActive(false); ui3d.SetActive(false); ui2d.SetActive(true); } } } void Update() { // 检测并更新挡位 CheckAndUpdateGear(); // 根据当前挡位设置车辆速度 SetVehicleSpeed(gearSpeeds[currentGear]); //vehicleController.steerInput = 0; // vehicleController.brakeInput = 0; // vehicleController.handbrakeInput = 0; //Debug.Log($"{steerInput}--{throttleInput}--{brakeInput}--{handbrakeInput}"); // vehicleStandardInput.SetThrottleValue(xx); // SetSpeedBasedOnValue(1); } void CheckAndUpdateGear() { if (Input.GetKeyDown(KeyCode.Alpha1)) currentGear = 1; if (Input.GetKeyDown(KeyCode.Alpha2)) currentGear = 2; if (Input.GetKeyDown(KeyCode.Alpha3)) currentGear = 3; if (Input.GetKeyDown(KeyCode.Alpha0)) currentGear = 0; // 假设0为空挡 } void SetVehicleSpeed(float maxSpeed) { // 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。 vehicleController.maxSpeedForward = maxSpeed; //vehicleController.throttleInput = 1; } 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; } } }