H_SafeExperienceDrivingSystem/U3D_DrivingSystem/Assets/Script/SteeringWheelController.cs

using System;
using System.Collections;
using System.Collections.Generic;
using System.Threading.Tasks;
using ModbusManager;
using UnityEngine;
using UnityEngine.UI; // 如果您使用的是UGUI

public class SteeringWheelController : MonoBehaviour
{
    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

    // 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
    public float selectionAngleThreshold = 30.0f; // 例如，30度
    public float neutralAngleThreshold = 5.0f; // 方向盘接近中立位置的阈值


    public float testFloatV;
    float minValue = -300f; // 范围的最小值
    float maxValue = 300; // 范围的最大值


    private int NewValue = -1;

    private bool ClutchPedalPositionBool = false;
    private ModbusTcpClient client;

    private void Awake()
    {
        Instance = this;
    }

    private async void Start()
    {
        StartModbus();
        ModBusQueue();
    }

    async Task StartModbus()
    {
        client = new ModbusTcpClient();
        await client.ConnectToServer();
        while (true)
        {
            await client.SendModbusRequest();

            await Task.Delay(TimeSpan.FromSeconds(.1));
        }
    }

    private void OnDestroy()
    {
        client.CloseConnection();
    }

    // void Update()
    // {
    //     // 更新方向盘角度
    //     // UpdateSteeringWheelAngle();
    //
    //     // 检查方向盘角度并更新选中的按钮
    //     CheckSteeringWheelAngle();
    // }


    public void SSSS()
    {
        testFloatV = 45;
    }

    public void AAAA()
    {
        testFloatV = 0;
    }

    public void BBB()
    {
        testFloatV = -45;
    }

    async Task ModBusQueue()
    {
        while (true)
        {
            // Debug.Log(client.modbusQueue.Count);
            if (client.modbusQueue.Count > 0)
            {
                CarStatusData carData = client.modbusQueue.Dequeue();

                if (carData.AcceleratorPedalPosition > 30)
                {
                    if (ClutchPedalPositionBool)
                    {
                        ClutchPedalPositionBool = false;
                        SelectButton();
                    }
                }
                else if (carData.BrakePedalPosition > 30)
                {
                    if (ClutchPedalPositionBool)
                    {
                        ClutchPedalPositionBool = false;
                        MenuManager.instance.PreviousStep();
                    }
                }
                else if (carData.AcceleratorPedalPosition < 30)
                {
                    ClutchPedalPositionBool = true;
                }


                // else if(carData.BrakePedalPosition<30)
                // {
                //     ClutchPedalPositionBool = true;
                // }


                if (NewValue != carData.ButtonData)
                {
                    NewValue = carData.ButtonData;
                }
                else
                {
                    continue;
                }

                CheckSteeringWheelAngle(NewValue);
            }

            await Task.Delay(TimeSpan.FromSeconds(.1));
        }
    }

    // /// <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   //上1,右2,下3，左4
    /// </summary>
    private void CheckSteeringWheelAngle(int btvalue)
    {
        if (btvalue > 0)
        {
            if (btvalue == 4)
            {
                SelectPreviousButton();
            }
            else if (btvalue == 2)
            {
                SelectNextButton();
            }
        }


        // if (Mathf.Abs(steeringWheelAngle) < neutralAngleThreshold)
        // {
        //     hasSelected = false;
        //     return;
        // }

        // if (!hasSelected)
        // {
        //     if (steeringWheelAngle > selectionAngleThreshold)
        //     {
        //         // 向右转动
        //         SelectNextButton();
        //         hasSelected = true;
        //     }
        //     else if (steeringWheelAngle < -selectionAngleThreshold)
        //     {
        //         // 向左转动
        //         SelectPreviousButton();
        //         hasSelected = true;
        //     }
        // }
    }

    /// <summary>
    /// 下一个按钮
    /// </summary>
    private void SelectNextButton()
    {
        selectedButtonIndex = (selectedButtonIndex + 1) % buttons.Length;
        // Debug.Log("前进" + selectedButtonIndex);
        HighlightButton(selectedButtonIndex);
    }

    /// <summary>
    /// 上一个按钮
    /// </summary>
    private void SelectPreviousButton()
    {
        if (selectedButtonIndex == 0)
            selectedButtonIndex = buttons.Length - 1;
        else
            selectedButtonIndex--;


        // Debug.Log("后退" + selectedButtonIndex);
        HighlightButton(selectedButtonIndex);
    }

    /// <summary>
    /// 选择按钮变换
    /// </summary>
    /// <param name="index"></param>
    public void HighlightButton(int index)
    {
        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();
    }

    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;
    }
}