feat：新科目视觉类代码

2025-09-29 08:39:44 +08:00 · 2025-09-29 08:39:44 +08:00 · 158f6260db
commit 158f6260db
parent 50c16cb56a
3 changed files with 74 additions and 91 deletions
--- a/entry/src/main/ets/common/lidar/radar/index.ts
+++ b/entry/src/main/ets/common/lidar/radar/index.ts
@ -7,7 +7,6 @@ import systemTime from '@ohos.systemDateTime';
 export default class RadarClient{

  public localRadarUdp: UdpClient
-  private radarMessageIds:messageIds = {}

  constructor(params:{
    deviceIpArr:string[],
@ -15,18 +14,19 @@ export default class RadarClient{
    udplocalIp:string
  }) {
    const {deviceIpArr,devicePortArr,udplocalIp} = params;
-
    //雷达UDP
    this.localRadarUdp = new UdpClient('radar', {
      deviceIpArr, devicePortArr, udplocalIp
    });
  }

-  onMessage(callback){
-    this.localRadarUdp.onClientMessage((str) => {
-      const data = this.radarStrToObj(str)
-      callback( data)
-    })
+  //雷达信息监听
+  async onRadarClientMessage(callback){
+    this.localRadarUdp.onClientMessage((radarStr)=>{
+      const radarObj = this.radarStrToObj(radarStr)
+      callback(radarObj)
+      console.log(radarStr+'');
+    });
  }

  // 雷达数据解析
@ -47,13 +47,6 @@ export default class RadarClient{
    tempObj.rc = this.getMachineRc(machineArr[12])
  }

-  // 视觉数据解析
-  async visionStrToObj(str:string){
-    //$SBXS,85,20250603115529563,B202,赣A78QK6@360803200602253517@1@20250603115523132@@@@@李从星@001@@001@2506455453517,05,*SBJS
-
-    //$SBXS,213,20250603090553562,B207,邓凯倩@@320250603085259@000000100000001001001000@14@870@28520185@115902060@1@828@4294943473@359.8704@0@0@1111111111011111111111111111111100000000@0@0000000000@3142@0@0@@C1@赣A78QK6@0@001-001@360121200401040528,01,*SBJS
-  }
-
  getMachineItem(str){
    const strArr = str.split('_');
    return {
@ -90,4 +83,8 @@ export default class RadarClient{
    }
  }

+  async offMessage(){
+    this.localRadarUdp.closeUdp()
+  }
+
 }
--- a/entry/src/main/ets/common/lidar/udpClient/index.ts
+++ b/entry/src/main/ets/common/lidar/udpClient/index.ts
@ -51,42 +51,11 @@ export default class LidaUdpClient{
    this.offMessage()
    //message
    this.udpClient.on('message',(buffer)=>{
-      const str =  this.arrayBuffetToStr(buffer.message);
-      //解析数据
-      switch (this.type){
-        //激光雷达
-        case 'radar':
-          const radarObj = this.radarStrToObj(str)
-          callback(radarObj)
-          break;
-        //TODO 视觉
-        case 'vision':
-          const visionObj = this.visionStrToObj(str)
-          callback(str)
-          break;
-      }
-      console.log(str+'');
+      const dataStr =  this.arrayBuffetToStr(buffer.message);
+      callback(dataStr)
    });
  }

-  // 雷达数据解析
-  async radarStrToObj(str:string){
-    //$MachineVision,30.950^0_-1_1_1,-1^-1_-1_-1_1,-1^-1_-1_-1_1,-1^-1_-1_-1_1,-1^-1_-1_-1_1,-1^-1_-1_-1_1,-1^-1_-1_-1_1,-1^-1_-1_-1_1,-1^-1_-1_-1_1,-1^-1_-1^-1,43083,0_0_0_0,-1^-1_-1_-1_1,-1^-1_-1_-1_1,-1^-1_-1_-1_1,10102264201.69632,1.1.1.2,0*+$VisualInfo,1_-7205_3480_-7300_3350_-7655_3610_-7560_3735_,*+[ { "bodyangle": "1.00", "bodyx": "0.490", "bodyy": "31.300", "elevation": "2.403", "geoangle": "323.90", "geolat": "29.92678975", "geolon": "119.89823128", "id": 1, "type": 2 } ]
-    const [machine, visual, obj] = str.split('+');
-    const machineArr = machine.split(',');
-    let tempObj:Machine = {};
-    tempObj.sj = await systemTime.getCurrentTime();
-    tempObj.xh = Number(machineArr[10]);
-    ['qf', 'hf', 'zq', 'zh', 'yq', 'yh', 'zc', 'yc', 'zf'].forEach((c,index) => {
-      tempObj[c] = this.getMachineItem(machineArr[index + 1]);
-    });
-    ['lq', 'lz', 'ly'].forEach((c,index) => {
-      tempObj[c] = this.getMachineItem(machineArr[index + 13]);
-    });
-    tempObj.wt = this.getMachineWt(machineArr[10])
-    tempObj.rc = this.getMachineRc(machineArr[12])
-  }
-
  // 视觉数据解析
  async visionStrToObj(str:string){
    //头部姿态 驾驶行为 前方障碍物
@ -95,42 +64,6 @@ export default class LidaUdpClient{
    //$SBXS,213,20250603090553562,B207,邓凯倩@@320250603085259@000000100000001001001000@14@870@28520185@115902060@1@828@4294943473@359.8704@0@0@1111111111011111111111111111111100000000@0@0000000000@3142@0@0@@C1@赣A78QK6@0@001-001@360121200401040528,01,*SBJS
  }

-  getMachineItem(str){
-    const strArr = str.split('_');
-    return {
-      //对象编号
-      bh:strArr[2],
-      //车类型
-      lx:strArr[3],
-      //纵向距离
-      jz:strArr[0].split('^')[0],
-      //横向距离
-      jh:strArr[0].split('^')[1],
-      //速度
-      sd:strArr[1]
-    }
-  }
-
-  //获取前方数据
-  getMachineWt(str){
-    return {
-      xz:str.split('_')[0].split('^')[0],
-      xh:str.split('_')[0].split('^')[1],
-      zz:str.split('_')[1].split('^')[0],
-      zh:str.split('_')[1].split('^')[1],
-    }
-  }
-
-  //获取绕车一周数据
-  getMachineRc(str){
-    return {
-      zh:str.split('_')[0],
-      yh:str.split('_')[1],
-      yq:str.split('_')[2],
-      zq:str.split('_')[3]
-    }
-  }
-
  //arrayBuffer转string
  arrayBuffetToStr(arrayBuffer){
    let dataView = new DataView(arrayBuffer)
--- a/entry/src/main/ets/common/lidar/vision/index.ts
+++ b/entry/src/main/ets/common/lidar/vision/index.ts
@ -6,7 +6,6 @@ import systemTime from '@ohos.systemDateTime';
 export default class VisionClient{

  public localVisionUdp: UdpClient
-  private visionMessageIds:messageIds = {}

  constructor(params:{
    deviceIpArr:string[],
@ -21,22 +20,76 @@ export default class VisionClient{
    });
  }

-  onMessage(callback){
+  // 视觉信息监听
+  async onVisionClientMessage(callback){
    this.localVisionUdp.onClientMessage((str) => {
      const data = this.visionStrToObj(str)
-      callback( data)
+      callback(data)
    })
  }

  // 视觉数据解析
-  async visionStrToObj(str:string){
-    //$SBXS,85,20250603115529563,B202,赣A78QK6@360803200602253517@1@20250603115523132@@@@@李从星@001@@001@2506455453517,05,*SBJS
+  async visionStrToObj(visionStr:string){
+    const visionDataArr = visionStr.split(',');
+    const [dataType, message] = [visionDataArr[3] , visionDataArr[4]];
+    const messageArr = (message || '').split('@')
+    const sj = await systemTime.getCurrentTime();
+    switch (dataType){
+      //头部姿态
+      case 'A204':return {
+        //系统时间戳
+        sj,
+        //置信度
+        df:Number(messageArr[0]),
+        //摇头旋转角度
+        yt:Number(messageArr[1]),
+        //左右旋转角度
+        zy:Number(messageArr[2]),
+        //上下点头角度
+        sx:Number(messageArr[3]),
+      }
+      //驾驶行为
+      case 'A206':return {
+        //系统时间戳
+        sj,
+        //控制方向盘
+        fx:Number(messageArr[0]),
+        //手伸出窗外
+        ch:Number(messageArr[1]),
+      }
+      //前方障碍物
+      case 'A205':return {
+        //系统时间戳
+        sj,
+        //信号灯
+        xd:messageArr[0],
+        //识别前方物体
+        wt:Number(messageArr[1]),
+        //中心隔离设施或中心线
+        zx:Number(messageArr[2]),
+        //后车超车信号
+        hc:messageArr[3]
+      }
+    }

+    //头部姿态 驾驶行为 前方障碍物
+    //$SBXS,85,20250603115529563,B202,赣A78QK6@360803200602253517@1@20250603115523132@@@@@李从星@001@@001@2506455453517,05,*SBJS
    //$SBXS,213,20250603090553562,B207,邓凯倩@@320250603085259@000000100000001001001000@14@870@28520185@115902060@1@828@4294943473@359.8704@0@0@1111111111011111111111111111111100000000@0@0000000000@3142@0@0@@C1@赣A78QK6@0@001-001@360121200401040528,01,*SBJS
  }

-  //扣分
-  //开始考试
-  //结束考试
+
+
+  // 初始化指令
+  async visionInit(){}
+  // 开始考试指令
+  async visionExamStart(){}
+  // 结束考试指令
+  async visionExamEnd(){}
+  // 安全员开始录像
+  async visionStartRecord(){}
+  // 安全员结束录像
+  async visionEndRecord(){}
+  // 安全员信号传输
+  async visionSignalTransfer(){}

 }