613 lines
23 KiB
C#
613 lines
23 KiB
C#
using EVP;
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using Script.Manaegr;
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using UnityEngine;
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using UnityEngine.UIElements;
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using Button = UnityEngine.UI.Button;
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namespace Script
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{
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using ModbusManager;
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using System;
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using System.Collections;
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using System.Collections.Generic;
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using System.Threading.Tasks;
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using Unity.VisualScripting;
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using UnityEngine;
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public class CarGearControl : MonoBehaviour
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{
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public GameObject ui3d;
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public GameObject ui2d;
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private VehicleController vehicleController;
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private VehicleStandardInput vehicleStandardInput;
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public int currentGear = 0; // 当前挡位
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//public float[] gearSpeeds = { 0f, 20f, 40f, 60f }; // 每个挡位的最大速度
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public List<float> gearSpeeds; // 每个挡位的最大速度
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public float xx;
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float steerInput, throttleInput, brakeInput, handbrakeInput;
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private CarStatusData carData;
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float minValue = -700f; // 范围的最小值
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float maxValue = 700; // 范围的最大值
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public CarInfoManager carInfoManager;
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private ModbusTcpClient client;
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private int NewValue = -1;
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public GameObject thirdPerson; //第三人称
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public GameObject firstPerson; //第一人称
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public GameObject[] shache;
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public AnimationController ygq;
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public TurnSignalController turnSignalController;
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private bool inputUp = false;
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private int inputUpV = -1;
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public GameObject uiGame;
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public GameObject carMenuUI;
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public GameObject accident; //事故UI
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public GameObject honglvdengUI; //事故UI public GameObject accident; //事故UI
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private bool ClutchPedalPositionBool;
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public bool mingdi = false;
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public AccidentManager accidentManager;
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public Transform ttt;
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private bool dianhuo = false;
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private Coroutine currentCoroutine = null; // 当前正在运行的协程
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private int lastEndIndex = 0; // 上一次的结束索引
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private int currentEndIndex = 0; // 当前的结束索引
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public bool isShache = false;
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public void LoadData()
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{
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gearSpeeds = new List<float>();
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int originalCount = 21;
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int targetCount = 100;
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int interval = (targetCount - 1) / (originalCount - 1);
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for (int i = 1; i <= originalCount; i++)
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{
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float startValue = i;
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gearSpeeds.Add(startValue);
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if (i < originalCount)
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{
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float endValue = i + 1;
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for (int j = 1; j < interval; j++)
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{
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float interpolatedValue = startValue + (endValue - startValue) * j / interval;
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gearSpeeds.Add(interpolatedValue);
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}
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}
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}
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gearSpeeds[0] = 0;
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gearSpeeds[1] = 0;
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gearSpeeds[2] = 0;
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gearSpeeds[3] = 0;
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gearSpeeds[4] = 0;
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gearSpeeds[5] = 0;
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gearSpeeds[6] = 0;
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gearSpeeds[7] = 0;
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gearSpeeds[8] = 0;
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gearSpeeds[9] = 0;
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gearSpeeds[10] = 0;
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}
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void Start()
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{
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LoadData();
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vehicleController = GetComponent<VehicleController>();
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vehicleStandardInput = GetComponent<VehicleStandardInput>();
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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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if (await client.ConnectToServer())
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{
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Debug.Log("连接上");
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}
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else
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{
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this.GetComponent<CarGearControl>().enabled = false;
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this.GetComponent<VehicleStandardInput>().enabled = true;
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this.GetComponent<CarInputManager>().enabled = true;
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this.GetComponent<CarInputManager>().Init();
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Debug.Log("断开连接");
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}
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// client.StartModbus();
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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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}
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public void HHHHHH()
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{
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client.SendModbusRequest12();
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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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try
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{
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// Debug.Log(client.modbusQueue.Count);
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if (client.modbusQueue.Count > 0)
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{
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// Debug.Log(client.modbusQueue.Count);
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carData = client.modbusQueue.Dequeue();
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// if (ModbusTcpClient.modbusTcpClient.modbusQueue.Count > 0)
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// {
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// // Debug.Log(ModbusTcpClient.modbusTcpClient.modbusQueue.Count);
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//
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// carData = ModbusTcpClient.modbusTcpClient.modbusQueue.Dequeue();
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//方向盘
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vehicleController.steerInput = NormalizeValue(carData.SteeringWheelAngle, minValue, maxValue);
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//钥匙 00是熄火，1是通电，2是点火
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switch (carData.KeyStatus)
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{
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case 0:
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uiGame.SetActive(false);
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break;
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case 1:
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break;
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case 2:
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if (carData.BrakePedalPosition > 30)
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{
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uiGame.SetActive(true);
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currentGear = 0;
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dianhuo = true;
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ui2d.SetActive(true);
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}
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break;
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}
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if (!dianhuo)
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continue;
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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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//当钥匙为点火状态，才能启动车
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if (carData.IgnitionSwitch == 1)
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{
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switch (carData.GearPosition)
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{
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case 0:
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vehicleController.throttleInput = 0;
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currentGear = 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 > 20 && carData.AcceleratorPedalPosition <= 50)
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//{
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// vehicleController.throttleInput = 1;
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// currentGear = 1;
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//}
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//else if (carData.AcceleratorPedalPosition > 50 && carData.AcceleratorPedalPosition <= 80)
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//{
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// vehicleController.throttleInput = 1;
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// currentGear = 2;
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//}
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//else if (carData.AcceleratorPedalPosition > 80 && carData.AcceleratorPedalPosition <= 100)
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//{
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// vehicleController.throttleInput = 1;
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// currentGear = 3;
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//}
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//else
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//{
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// vehicleController.throttleInput = 0;
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// currentGear = 0;
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//}
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if (carData.AcceleratorPedalPosition < 10)
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{
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vehicleController.throttleInput = 0;
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currentGear = 0;
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}
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else
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{
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vehicleController.throttleInput = 1;
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currentGear = carData.AcceleratorPedalPosition;
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currentEndIndex = currentGear;
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if (currentEndIndex != lastEndIndex)
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{
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float totalDuration = currentEndIndex < lastEndIndex ? 5.0f : 2.0f;
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StartRetrieveData(lastEndIndex, currentEndIndex, totalDuration);
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lastEndIndex = currentEndIndex;
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}
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}
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//当转向没有打灯就弹窗
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if (carData.SteeringWheelAngle > 200)
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{
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if (turnSignalController.turnSignalState != TurnSignalState.右转向)
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{
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accidentManager.PlayAnimationSequence("MsgWinAnimOpen", "MsgWinAnimClose");
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accidentManager.uis.transform.Find("UI/转向").gameObject.SetActive(true);
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}
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}
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else if (carData.SteeringWheelAngle < -200)
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{
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if (turnSignalController.turnSignalState != TurnSignalState.左转向)
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{
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accidentManager.PlayAnimationSequence("MsgWinAnimOpen", "MsgWinAnimClose");
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accidentManager.uis.transform.Find("UI/转向").gameObject.SetActive(true);
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}
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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 > 20)
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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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}
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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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//当钥匙转为通电才能启动转向灯 0熄火，1通电，2启动
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// if (carData.IgnitionSwitch == 1)
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// {
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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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//上1,右2,下3，左4
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if (NewValue != carData.ButtonData)
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{
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NewValue = carData.ButtonData;
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CarMenuButton(NewValue);
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}
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// else
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// {
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// continue;
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// }
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//雨刮器
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if (carData.WiperStatus == 2)
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{
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ygq.PlayAnimation("donghua");
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}
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else
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{
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ygq.StopAnimationLoop();
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}
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if (mingdi)
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{
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if (carData.HornStatus == 1)
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{
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mingdi = false;
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accidentManager.Tr(ttt, true);
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}
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}
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//转向灯和双闪
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if (carData.ButtonData == 1)
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{
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if (!inputUp)
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{
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inputUp = true;
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inputUpV = carData.TurnSignalStatus;
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}
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else
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{
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inputUp = false;
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inputUpV = -1;
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turnSignalController.rightTurnSignalGame.SetActive(false);
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turnSignalController.leftTurnSignalGame.SetActive(false);
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turnSignalController.SetSignal(0);
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}
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}
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if (inputUpV == carData.TurnSignalStatus)
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{
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turnSignalController.SetSignal(3);
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}
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else
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{
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inputUpV = -1;
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switch (carData.TurnSignalStatus)
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{
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case 0:
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turnSignalController.SetSignal(0);
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break;
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case 1:
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turnSignalController.SetSignal(1);
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break;
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case 2:
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turnSignalController.SetSignal(2);
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break;
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}
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}
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// 灯光
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switch (carData.LightStatus)
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{
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case 0:
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turnSignalController.CloseLight();
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break;
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case 1:
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turnSignalController.OpenLight();
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break;
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case 2:
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break;
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}
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// if (honglvdengUI.activeInHierarchy)
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// {
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// if (carData.AcceleratorPedalPosition > 90)
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// {
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// honglvdengUI.transform.Find("重置").GetComponent<Button>().onClick.Invoke();
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// }
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// }
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// if (accident.activeInHierarchy)
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// {
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// if (carData.AcceleratorPedalPosition > 90)
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// {
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// accident.transform.Find("重置").GetComponent<Button>().onClick.Invoke();
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// }
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// }
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// else
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// {
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//踩离合弹出菜单UI
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if (carData.ClutchPedalPosition > 30)
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{
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if (!ClutchPedalPositionBool)
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{
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ClutchPedalPositionBool = true;
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carMenuUI.SetActive(true);
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}
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}
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else if (carData.ClutchPedalPosition <= 0)
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{
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ClutchPedalPositionBool = false;
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}
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if (carMenuUI.activeInHierarchy)
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{
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if (carData.ButtonData == 4)
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{
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carMenuUI.GetComponent<CarMenuManager>().Back();
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}
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else if (carData.ButtonData == 2)
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{
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carMenuUI.GetComponent<CarMenuManager>().Next();
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}
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if (carData.AcceleratorPedalPosition > 30)
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{
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carMenuUI.GetComponent<CarMenuManager>().Click();
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}
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}
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// }
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//刹车
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if (carData.BrakePedalPosition > 30)
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{
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if (shache[0].activeInHierarchy)
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continue;
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isShache = true;
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for (int i = 0; i < shache.Length; i++)
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{
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shache[i].SetActive(true);
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}
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vehicleController.throttleInput = 0;
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currentGear = 0;
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}
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else
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{
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isShache = false;
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if (!shache[0].activeInHierarchy)
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continue;
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for (int i = 0; i < shache.Length; i++)
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{
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shache[i].SetActive(false);
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}
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}
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}
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}
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catch (Exception e)
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{
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// Console.WriteLine(e);
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// throw;
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}
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await Task.Delay(TimeSpan.FromSeconds(.1));
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}
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}
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public void StartRetrieveData(int startIndex, int endIndex, float totalDuration)
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{
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if (currentCoroutine != null)
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{
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StopCoroutine(currentCoroutine);
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}
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// 跳过前三个元素
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startIndex = Mathf.Max(startIndex, 3);
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currentCoroutine = StartCoroutine(RetrieveData(startIndex, endIndex, totalDuration));
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}
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IEnumerator RetrieveData(int startIndex, int endIndex, float totalDuration)
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{
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// 确定遍历方向
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int step = startIndex < endIndex ? 1 : -1;
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int count = Mathf.Abs(endIndex - startIndex) + 1;
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float delay = totalDuration / count;
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for (int i = startIndex; step > 0 ? i <= endIndex : i >= endIndex; i += step)
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{
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yield return new WaitForSeconds(delay);
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}
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currentCoroutine = null;
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}
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void CarMenuButton(int bt)
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{
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if (bt == 3)
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{
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if (thirdPerson.activeInHierarchy)
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{
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thirdPerson.SetActive(false);
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firstPerson.SetActive(true);
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ui3d.SetActive(true);
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ui2d.SetActive(false);
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}
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else
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{
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thirdPerson.SetActive(true);
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firstPerson.SetActive(false);
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ui3d.SetActive(false);
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ui2d.SetActive(true);
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}
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}
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}
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void Update()
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{
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// 检测并更新挡位
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CheckAndUpdateGear();
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// 根据当前挡位设置车辆速度
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SetVehicleSpeed(gearSpeeds[currentGear]);
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//vehicleController.steerInput = 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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// SetSpeedBasedOnValue(1);
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if (Input.GetKeyDown(KeyCode.F12))
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{
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client.SendModbusRequest();
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}
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}
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void CheckAndUpdateGear()
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{
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if (Input.GetKeyDown(KeyCode.Alpha1)) currentGear = 1;
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if (Input.GetKeyDown(KeyCode.Alpha2)) currentGear = 2;
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if (Input.GetKeyDown(KeyCode.Alpha3)) currentGear = 3;
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if (Input.GetKeyDown(KeyCode.Alpha0)) currentGear = 0; // 假设0为空挡
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}
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void SetVehicleSpeed(float maxSpeed)
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{
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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。
|
||
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;
|
||
}
|
||
}
|
||
} |