harmony_car/subject-two
harmony_car/subject-two
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Merge branch 'dev' of http://88.22.24.105:3000/harmony_car/subject-two into dev

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wangzhongjie 2025-06-05 16:12:27 +08:00
commit 2f524da992
6 changed files with 165 additions and 60 deletions
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87
entry/src/main/ets/common/rearEndUnitsTool/f&S/UdpByOne.ts
View File

@ -11,54 +11,80 @@ export default class UdpByOne {
// PLC localIp
private LocalIp: string = '192.168.7.170';
// PLC localIpPort
private PLCLocalIpPort: string = '31012';
private PLCLocalIpPort: number = 31012;
private OppositeIp: string = '192.168.7.124'
// PLC oppositeIpPort
private PLCOppositeIpPort: string = '30012';
private PLCOppositeIpPort: number = 30012;
// PLC消息
private PLCMsg: ArrayBuffer;
// GPS udp
private GPSUDP: any;
private GPSTCP: any;
// GPS localIp
// GPS localIpPort
private GPSLocalIpPort: string = '31013';
private GPSLocalIpPort: number = 31013;
// GPS oppositeIpPort
private GPSOppositeIpPort: string = '30013';
private GPSOppositeIpPort: number = 30013;
// GPS消息
private GPSMsg: any;
private timer: number;
public type: 1| 2
constructor(type) {
//一型机 二型机
public terType: 1 | 2
//板卡类型
public cardType: 0| 1 | 2
constructor(terType,cardType) {
this.terType = terType;
this.cardType = cardType;
this.init()
console.info('surenjun type=>',type +'')
this.type = type;
}
async init(){
const fileUtil = new FileUtil(globalThis.context)
const {terType,cardType} = this
const data = await fileUtil.readFile(GlobalConfig.comoonfileWriteAddress + '/config/ipConfig.txt');
const result = JSON.parse(data)
this.LocalIp = result.udplocalIp;
this.OppositeIp = result.udpOppositeIp;
this.OppositeIp = result.udpOppositeIp;
// 初始化UDP
this.PLCUDP = socket.constructUDPSocketInstance();
// this.PLCUDP.bind(this.PLCLocalIp, this.PLCLocalIpPort);
this.PLCUDP.bind({
address: this.LocalIp, port: parseInt(this.PLCLocalIpPort), family: 1
address: this.LocalIp, port: this.PLCLocalIpPort, family: 1
});
this.GPSUDP = socket.constructUDPSocketInstance();
// this.GPSUDP.bind(this.GPSLocalIp, this.GPSLocalIpPort);
this.GPSUDP.bind({
address: this.LocalIp, port: parseInt(this.GPSLocalIpPort), family: 1
});
this.PLCUDP.on("message", (res, remoteInfo) => {
this.PLCMsg = res.message;
})
if(terType == 1 && cardType == 1){
this.GPSTCP = socket.constructTCPSocketInstance();
await this.GPSTCP.bind({address:this.LocalIp,port:this.GPSLocalIpPort,family: 1});
try {
await this.GPSTCP.connect({address:{
address:this.OppositeIp,port:this.GPSOppositeIpPort
}});
}catch (e) {
console.info('surenjun e=>',JSON.stringify(e))
}
console.info('surenjun=>','3')
this.GPSTCP.on("message", (res1, remoteInfo) => {
let dataView = new DataView(res1.message)
let str = ""
for (let i = 0; i < dataView?.byteLength; ++i) {
let c = String.fromCharCode(dataView?.getUint8(i))
if (c !== "\n") {str += c}
}
this.GPSMsg = str;
})
}else{
this.GPSUDP = socket.constructUDPSocketInstance();
// this.GPSUDP.bind(this.GPSLocalIp, this.GPSLocalIpPort);
await this.GPSUDP.bind({
address: this.LocalIp, port: this.GPSLocalIpPort, family: 1
});
this.GPSUDP.on("message", (res1, remoteInfo) => {
let dataView = new DataView(res1.message)
let str = ""
@ -71,10 +97,14 @@ export default class UdpByOne {
this.GPSMsg = str;
})
}
}
// 重新绑定
public rebind() {
this.PLCUDP.bind(this.LocalIp, this.PLCLocalIpPort);
this.GPSUDP.bind(this.LocalIp, this.GPSLocalIpPort);
this.PLCUDP.rebind(this.LocalIp, this.PLCLocalIpPort);
this.GPSUDP?.rebind(this.LocalIp, this.GPSLocalIpPort);
this.GPSTCP?.rebind(this.LocalIp, this.GPSLocalIpPort);
}
// PLC发送消息
@ -83,7 +113,7 @@ export default class UdpByOne {
data: '111111',
address: {
address: this.OppositeIp,
port: parseInt(this.PLCOppositeIpPort),
port: this.PLCOppositeIpPort,
}
})
}
@ -96,6 +126,8 @@ export default class UdpByOne {
// 处理消息
public handleMsg() {
let newMessage = PLCGPSData;
const cardType = this.cardType;
console.info('surenjun=> cardType',cardType)
if (this.GPSMsg) {
let GPGGAMatch = this.GPSMsg.match(/\$GPGGA[^$]*/);
@ -106,10 +138,14 @@ export default class UdpByOne {
// 使用正则表达式提取$GPGST消息
let GPGSTMatch = this.GPSMsg.match(/\$GPGST[^$]*/);
let GPGSTMsgArr = GPGSTMatch ? GPGSTMatch[0]?.split(",").slice(0, 9) : [];
// 使用正则表达式提取$GPGST消息
let GNGSTMatch = this.GPSMsg.match(/\$GNGST[^$]*/);
let GNGSTMsgArr = GNGSTMatch ? GNGSTMatch[0]?.split(",").slice(0, 9) : [];
// 使用正则提取$PTNL消息
let PTNLMatch = this.GPSMsg.match(/\$PTNL[^$]*/);
let PTNLMsgArr = PTNLMatch ? PTNLMatch[0].split(",")?.slice(0, 14) : [];
// 组合GPS数据
// 状态83
newMessage[83] = GPGGAMsgArr[6];
@ -122,11 +158,13 @@ export default class UdpByOne {
// 龄期87
newMessage[87] = GPGGAMsgArr[13];
// 维度因子88
newMessage[88] = GPGSTMsgArr[6];
newMessage[88] = GPGSTMsgArr[6] || GNGSTMsgArr[6];
// 经度因子89
newMessage[89] = GPGSTMsgArr[7]
newMessage[89] = GPGSTMsgArr[7] || GNGSTMsgArr[7];
// 航向角90
newMessage[90] = PTNLMsgArr[3];
const hxj = Number(PTNLMsgArr[3])
newMessage[90] = (cardType == 0 ? hxj : ((hxj + 180 > 360) ?(hxj + 180 - 360): hxj + 180)).toFixed(4)
// newMessage[90] = PTNLMsgArr[3];
// 俯仰角91
newMessage[91] = PTNLMsgArr[5];
// 航向角状态-收星数92
@ -210,18 +248,19 @@ export default class UdpByOne {
newMessage[25] = ((Data29 << 24) + (Data30 << 16) + (Data31 << 8) + Data32).toString();
// 熄火次数 26
newMessage[26] = parseInt(PLCByteArr[33], 2) + '';
// 方向盘角度 27
// TODO 档位 磁档位为外接信号
newMessage[28] = (globalThis.chuankoMsg == '0' || globalThis.chuankoMsg == '' ||globalThis.chuankoMsg == undefined)?(parseInt(PLCByteArr[13], 2) + ''): globalThis.chuankoMsg;
if(this.type == 1){
if(this.terType == 1){
// 超声波1
newMessage[29] = (PLCByteArr[4][1] > 0 ? '300' : '1200')
// 超声波2
newMessage[30] = (PLCByteArr[4][0] > 0 ? '300': '1200' )
}
if(this.type == 2){
if(this.terType == 2){
newMessage[29] = (parseInt(PLCByteArr[52], 2) > 10) ? '1200' : '300'
newMessage[30] = (parseInt(PLCByteArr[54], 2) > 10) ? '1200': '300'
}

23
entry/src/main/ets/common/rearEndUnitsTool/index.ts
View File

@ -8,6 +8,8 @@ import GpsTcpClient from '../utils/GpsTcpClient'
export default class RearEndUnitsTool {
//一型机 二型机 三型机 一体机
public terType: 0 | 1 | 2 | 3 = 2;
//C1板卡 B4板卡
public cardType: 0 | 1;
public timer: number = 0
public diffTimer: number = 0
private UdpByOneClass: UdpByOne
@ -21,6 +23,7 @@ export default class RearEndUnitsTool {
public receiveMsg = (callBack)=> {
const terType = this.terType;
const cardType = this.cardType;
//TODO 临时处理关闭消息接收
this.cancelMsg()
@ -28,8 +31,10 @@ export default class RearEndUnitsTool {
//一型机
case 0: {
const udpClass = this.getFUdp({
type: 1
})
terType: 1,
cardType,
});
this.timer = setInterval(() => {
const message = udpClass.handleMsg()
callBack && callBack(message)
@ -40,7 +45,8 @@ export default class RearEndUnitsTool {
//二型机
case 1: {
const udpClass = this.getFUdp({
type: 2
terType: 2,
cardType
})
this.timer = setInterval(() => {
const message = udpClass.handleMsg()
@ -88,13 +94,14 @@ export default class RearEndUnitsTool {
const result = JSON.parse(config || '{}')
//默认设置为三代机
this.terType = result.terType
this.cardType = result.cardType
return this.terType
}
//获取一型机&二型机单例
private getFUdp({type}) {
private getFUdp({terType,cardType}) {
if (!this.UdpByOneClass) {
this.UdpByOneClass = new UdpByOne(type);
this.UdpByOneClass = new UdpByOne(terType,cardType);
}
return this.UdpByOneClass;
}
@ -118,6 +125,7 @@ export default class RearEndUnitsTool {
// 转发差分改正数
public sendDiffCorrections = (message) => {
const type = this.terType
const cardType = this.cardType
//差分改正数截取前5位
let dataView = new DataView(message)
const Arraybuffer = message.slice(5, dataView?.byteLength);
@ -125,8 +133,13 @@ export default class RearEndUnitsTool {
switch (type){
//一型机
case 0:
//天宝类型板卡
if(cardType === 1){
globalThis.udpClient?.sendMsg(Arraybuffer);break
}else{
const GpsTcpClientClass = this.getGpsTcp()
GpsTcpClientClass.sendGpsMsg(Arraybuffer);break
}
//二型机
case 1: globalThis.udpClient?.sendMsg(Arraybuffer);break

30
entry/src/main/ets/pages/TerminalInfos.ets
View File

@ -21,8 +21,10 @@ struct Index {
// @State inputTextList1: string[] = ['172.37.55.191','18782','192.168.7.1','8082','255.255.255.0','192.168.7.170','114.114.114.114','192.168.7.124','20022','172.37.55.59','20122']
@State inputTextList1: string[] = ['172.37.55.191', '18782', '172.37.55.191', '8082', '255.255.255.0', '192.168.7.1', '114.114.114.114', '192.168.7.124', '20022', '192.168.7.170', '20122']
@State terTextList: string[] = ['一型机', '二型机', '三型机', '一体机']
@State cardTextList: string[] = ['北云', '天宝MB2']
@State netTextList: string[] = ['否', '是']
@State selectedTerType: number = 0
@State selectedCardType: number = 0
//是否启用网络差分
@State netOpen: number = 0
// @State inputTextList2: string[] = []
@ -94,6 +96,7 @@ struct Index {
})
}.width('50%').height('14%')
Row() {
Text('是否启用网络差分')
.width('40%')
@ -113,7 +116,30 @@ struct Index {
})
Text(netText).fontSize(20).fontColor('#FFF')
})
}.width('52%').height('14%')
}.width('51%').height('14%')
Row(){
Text('板卡类型')
.width('40%')
.height('100%')
.fontColor('#E5CBA1')
.padding({ 'left': '35px' })
.fontSize(this.inputFontSize * this.ratio)
ForEach(this.cardTextList, (cardText, index) => {
Radio({ value: cardText, group: 'cardRadioGroup' })
.borderColor('#E5CBA1')
.checked(index === this.selectedCardType)
.onChange((value: boolean) => {
if(value){
this.selectedCardType = index
}
})
Text(cardText).fontSize(20).fontColor('#FFF')
})
}.width('49%').height('14%')
}
}
.width('95%')
@ -145,6 +171,7 @@ struct Index {
centerIp: this.inputTextList1[2],
centerPort: this.inputTextList1[3],
terType: this.selectedTerType,
cardType: this.selectedCardType,
netOpen: this.netOpen
}
fileUtil.addFile(`${folderPath}/ipConfig.txt`, JSON.stringify(param), '')
@ -218,6 +245,7 @@ struct Index {
this.inputTextList1[2] = result.centerIp
this.inputTextList1[3] = result.centerPort
this.selectedTerType = result.terType
this.selectedCardType = result.cardType
this.netOpen= result.netOpen
console.log('surenjun', this.selectedTerType + '');
}

16
entry/src/main/ets/pages/compontents/judge/RealTime.ets
View File

@ -3,8 +3,9 @@ import Judge from '../../judgeSDK/utils/judgeReal';
import { MarkRule, Project, ProjectObj } from '../../judgeSDK/api/judgeSDK.d';
import common from '@ohos.app.ability.common';
import {
examJudgeMapSetScaling
examJudgeMapSetScaling, examJudgeVersion
} from '../../judgeSDK/api'
import { judgeConfig } from '../../judgeSDK/utils/judgeConfig';
interface RoadDataType {
name: string,
@ -30,6 +31,8 @@ export default struct RealTime {
@State ratio: number = 1
@State lane: Object = {}
@State timer:number = 0
@State version: string = ""
constructor() {
super()
@ -67,11 +70,11 @@ export default struct RealTime {
Column() {
if (this.draw) {
Stack({ alignContent: Alignment.TopEnd }) {
XComponent({
id: 'duolun_plugin_id_draw', //显示轨迹窗口id名称，注意这个ID要和C++侧一致，不能变
type: 'surface',
libraryname: 'JudgeSdk'
// libraryname: 'judgesdk'
})
.width(this.widthNumber)
.height(this.heightNumber)
@ -83,6 +86,12 @@ export default struct RealTime {
this.draw = false;
clearInterval(globalThis.realTimer)
})
}.width(this.widthNumber)
.height(this.heightNumber)
Row() {
Text(this.version).margin({ right: 10 }).fontSize(14).fontColor(0x333333)
}
} else {
Column() {
}
@ -108,7 +117,10 @@ export default struct RealTime {
async aboutToDisappear() {
clearInterval(this.timer)
}
async aboutToAppear() {
this.version = (await examJudgeVersion()) + "/" + judgeConfig.version
const judge = new Judge(this)
let timer = setInterval(()=>{
this.lane = globalThis.laneData;

16
entry/src/main/ets/pages/judgeSDK/judge.ts
View File

@ -55,7 +55,7 @@ import {
examJudgeVersion
} from './api/index';
import { getSyncData, upDateTableByArray } from '../../common/service/initable';
import { GlobalConfig } from '../../config';
const judgeTag = 'SURENJUN_JUDGE'
function ifNeedRetry(code: number | string): boolean {
@ -276,6 +276,7 @@ export default class Judge {
}
private fileLog
private filePath
private bklx: number = 0
private totalScore: number
private prevJd: number = 0
private prevWd: number = 0
@ -726,12 +727,15 @@ export default class Judge {
// 获取评判初始化数据
getJudgeInitData = async () => {
const {getModelData,getKm3JudgeInitConfig} = this
const {getModelData,getKm3JudgeInitConfig,bklx} = this
const carInfo = globalThis.carInfo;
const { examSubject,plateNo,carId } = carInfo;
const judgeUI = this.judgeUI
const {projectsObj,itemInfoObj,markRuleListObj,carType,carName,systemparmArr,carinfoArr} = judgeUI
const examType = examSubject == 2 ? 'km2' : 'km3'
const fileUtil = new FileUtil(globalThis.context)
const ipConfigStr = await fileUtil.readFile(GlobalConfig.comoonfileWriteAddress + '/config/ipConfig.txt');
const ipConfig = JSON.parse(ipConfigStr)
let allitems = [];
if (examSubject == 2) {
@ -768,6 +772,8 @@ export default class Judge {
itemInfoObj,
carlist: judgeUI.carlist,
carinfo: carinfoArr,
//板卡类型
bklx,
};
let km3Config = {}
@ -1752,8 +1758,14 @@ export default class Judge {
const filePath = await fileLog.initFileLogo({
name, lsh, idCard
});
const ipFileUtil = new FileUtil(globalThis.context)
const ipConfigStr = await ipFileUtil.readFile(GlobalConfig.comoonfileWriteAddress + '/config/ipConfig.txt');
const ipConfig = JSON.parse(ipConfigStr)
this.fileLog = fileLog;
this.filePath = filePath;
this.bklx = Number(ipConfig.cardType)
const {
getJudgeBeginData,

1
entry/src/main/ets/pages/judgeSDK/utils/judgeConfig.ts
View File

@ -1,5 +1,6 @@
//考试回放开关
export const judgeConfig = {
version:'2024.08.21.01',
//本地目录开关
isTrajectoryOpen: false,
//是否开启拍照