feat：新科目视觉类代码
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Surenjun
parent
50c16cb56a
commit
158f6260db
@ -7,7 +7,6 @@ import systemTime from '@ohos.systemDateTime';
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export default class RadarClient{
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public localRadarUdp: UdpClient
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private radarMessageIds:messageIds = {}
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constructor(params:{
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deviceIpArr:string[],
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@ -15,18 +14,19 @@ export default class RadarClient{
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udplocalIp:string
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}) {
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const {deviceIpArr,devicePortArr,udplocalIp} = params;
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//雷达UDP
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this.localRadarUdp = new UdpClient('radar', {
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deviceIpArr, devicePortArr, udplocalIp
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});
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}
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onMessage(callback){
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this.localRadarUdp.onClientMessage((str) => {
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const data = this.radarStrToObj(str)
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callback( data)
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})
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//雷达信息监听
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async onRadarClientMessage(callback){
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this.localRadarUdp.onClientMessage((radarStr)=>{
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const radarObj = this.radarStrToObj(radarStr)
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callback(radarObj)
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console.log(radarStr+'');
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});
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}
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// 雷达数据解析
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@ -47,13 +47,6 @@ export default class RadarClient{
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tempObj.rc = this.getMachineRc(machineArr[12])
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}
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// 视觉数据解析
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async visionStrToObj(str:string){
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//$SBXS,85,20250603115529563,B202,赣A78QK6@360803200602253517@1@20250603115523132@@@@@李从星@001@@001@2506455453517,05,*SBJS
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//$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
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}
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getMachineItem(str){
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const strArr = str.split('_');
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return {
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@ -90,4 +83,8 @@ export default class RadarClient{
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}
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}
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async offMessage(){
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this.localRadarUdp.closeUdp()
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}
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}
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@ -51,42 +51,11 @@ export default class LidaUdpClient{
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this.offMessage()
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//message
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this.udpClient.on('message',(buffer)=>{
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const str = this.arrayBuffetToStr(buffer.message);
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//解析数据
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switch (this.type){
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//激光雷达
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case 'radar':
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const radarObj = this.radarStrToObj(str)
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callback(radarObj)
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break;
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//TODO 视觉
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case 'vision':
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const visionObj = this.visionStrToObj(str)
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callback(str)
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break;
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}
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console.log(str+'');
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const dataStr = this.arrayBuffetToStr(buffer.message);
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callback(dataStr)
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});
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}
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// 雷达数据解析
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async radarStrToObj(str:string){
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//$MachineVision,30.950^0_-1_1_1,-1^-1_-1_-1_1,-1^-1_-1_-1_1,-1^-1_-1_-1_1,-1^-1_-1_-1_1,-1^-1_-1_-1_1,-1^-1_-1_-1_1,-1^-1_-1_-1_1,-1^-1_-1_-1_1,-1^-1_-1^-1,43083,0_0_0_0,-1^-1_-1_-1_1,-1^-1_-1_-1_1,-1^-1_-1_-1_1,10102264201.69632,1.1.1.2,0*+$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 } ]
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const [machine, visual, obj] = str.split('+');
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const machineArr = machine.split(',');
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let tempObj:Machine = {};
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tempObj.sj = await systemTime.getCurrentTime();
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tempObj.xh = Number(machineArr[10]);
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['qf', 'hf', 'zq', 'zh', 'yq', 'yh', 'zc', 'yc', 'zf'].forEach((c,index) => {
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tempObj[c] = this.getMachineItem(machineArr[index + 1]);
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});
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['lq', 'lz', 'ly'].forEach((c,index) => {
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tempObj[c] = this.getMachineItem(machineArr[index + 13]);
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});
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tempObj.wt = this.getMachineWt(machineArr[10])
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tempObj.rc = this.getMachineRc(machineArr[12])
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}
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// 视觉数据解析
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async visionStrToObj(str:string){
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//头部姿态 驾驶行为 前方障碍物
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@ -95,42 +64,6 @@ export default class LidaUdpClient{
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//$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
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}
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getMachineItem(str){
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const strArr = str.split('_');
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return {
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//对象编号
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bh:strArr[2],
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//车类型
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lx:strArr[3],
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//纵向距离
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jz:strArr[0].split('^')[0],
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//横向距离
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jh:strArr[0].split('^')[1],
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//速度
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sd:strArr[1]
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}
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}
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//获取前方数据
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getMachineWt(str){
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return {
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xz:str.split('_')[0].split('^')[0],
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xh:str.split('_')[0].split('^')[1],
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zz:str.split('_')[1].split('^')[0],
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zh:str.split('_')[1].split('^')[1],
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}
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}
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//获取绕车一周数据
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getMachineRc(str){
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return {
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zh:str.split('_')[0],
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yh:str.split('_')[1],
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yq:str.split('_')[2],
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zq:str.split('_')[3]
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}
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}
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//arrayBuffer转string
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arrayBuffetToStr(arrayBuffer){
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let dataView = new DataView(arrayBuffer)
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@ -6,7 +6,6 @@ import systemTime from '@ohos.systemDateTime';
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export default class VisionClient{
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public localVisionUdp: UdpClient
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private visionMessageIds:messageIds = {}
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constructor(params:{
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deviceIpArr:string[],
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@ -21,22 +20,76 @@ export default class VisionClient{
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});
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}
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onMessage(callback){
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// 视觉信息监听
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async onVisionClientMessage(callback){
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this.localVisionUdp.onClientMessage((str) => {
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const data = this.visionStrToObj(str)
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callback( data)
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callback(data)
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})
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}
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// 视觉数据解析
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async visionStrToObj(str:string){
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//$SBXS,85,20250603115529563,B202,赣A78QK6@360803200602253517@1@20250603115523132@@@@@李从星@001@@001@2506455453517,05,*SBJS
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async visionStrToObj(visionStr:string){
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const visionDataArr = visionStr.split(',');
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const [dataType, message] = [visionDataArr[3] , visionDataArr[4]];
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const messageArr = (message || '').split('@')
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const sj = await systemTime.getCurrentTime();
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switch (dataType){
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//头部姿态
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case 'A204':return {
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//系统时间戳
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sj,
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//置信度
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df:Number(messageArr[0]),
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//摇头旋转角度
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yt:Number(messageArr[1]),
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//左右旋转角度
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zy:Number(messageArr[2]),
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//上下点头角度
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sx:Number(messageArr[3]),
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}
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//驾驶行为
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case 'A206':return {
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//系统时间戳
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sj,
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//控制方向盘
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fx:Number(messageArr[0]),
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//手伸出窗外
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ch:Number(messageArr[1]),
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}
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//前方障碍物
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case 'A205':return {
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//系统时间戳
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sj,
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//信号灯
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xd:messageArr[0],
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//识别前方物体
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wt:Number(messageArr[1]),
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//中心隔离设施或中心线
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zx:Number(messageArr[2]),
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//后车超车信号
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hc:messageArr[3]
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}
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}
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//头部姿态 驾驶行为 前方障碍物
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//$SBXS,85,20250603115529563,B202,赣A78QK6@360803200602253517@1@20250603115523132@@@@@李从星@001@@001@2506455453517,05,*SBJS
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//$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
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}
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//扣分
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//开始考试
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//结束考试
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// 初始化指令
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async visionInit(){}
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// 开始考试指令
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async visionExamStart(){}
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// 结束考试指令
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async visionExamEnd(){}
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// 安全员开始录像
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async visionStartRecord(){}
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// 安全员结束录像
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async visionEndRecord(){}
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// 安全员信号传输
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async visionSignalTransfer(){}
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}
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