feat:新科目三&安全员代码

entry/src/main/ets/common/lidar/index.ts

@@ -1,14 +1,12 @@
+import emitter from '@ohos.events.emitter';
 import UdpClient from './udpClient/index'
 import FileUtil from '../../common/utils/File';
 import { GlobalConfig } from '../../config/index';
-import emitter from '@ohos.events.emitter';
+import {messageIds} from './type'
-import RadarClient from './radar/index'
+
-interface messageIds {
-  [k:string]:number;
-}
 
 class Lidar {
-  public localRadarUdp: RadarClient
+  public localRadarUdp: UdpClient
   public localVisionUdp: UdpClient
   //是否新科目三设备
   private isNewKm3: Boolean
@@ -21,6 +19,49 @@ class Lidar {
     this.init()
   }
 
+  async init() {
+    const fileUtil = new FileUtil(globalThis.context)
+    const addressStr = await fileUtil.readFile(GlobalConfig.comoonfileWriteAddress + '/config/ipConfig.txt');
+    const {deviceType,deviceIpArr,devicePortArr,udplocalIp} = JSON.parse(addressStr);
+
+    //新科目三设备
+    if (deviceType == '2') {
+      //雷达UDP
+      this.localRadarUdp = new UdpClient('radar', {
+        deviceIpArr, devicePortArr, udplocalIp
+      })
+      this.localRadarUdp.onClientMessage(async (obj) => {
+        //广播注册的radar消息
+        Reflect.ownKeys(this.radarMessageIds).forEach((messageId:string) => {
+          emitter.emit({eventId:this.radarMessageIds[messageId]},{data:obj})
+        })
+      })
+      // this.localRadarUdp.onMessage((obj) => {
+      //   //广播注册的radar消息
+      //   Reflect.ownKeys(this.radarMessageIds).forEach((messageId:string) => {
+      //     emitter.emit({eventId:this.radarMessageIds[messageId]},{data:obj})
+      //   })
+      // })
+      //
+      // this.localVisionUdp.onMessage((obj) => {
+      //   //广播注册的sense消息
+      //   Reflect.ownKeys(this.senseMessageIds).forEach((messageId:string) => {
+      //     emitter.emit({eventId:this.radarMessageIds[messageId]},{data:obj})
+      //   })
+      // })
+      this.isNewKm3 = true;
+    }
+    //安全员&新科目三均需要视觉
+    //TODO 视觉UDP
+    this.localVisionUdp = new UdpClient('vision', {
+      deviceIpArr, devicePortArr, udplocalIp
+    })
+    this.localVisionUdp.onClientMessage(async (obj) => {
+
+    })
+
+  }
+
   //监听雷达信息
   async onRadarMsg(messageId:string,callback:Function) {
     if(this.radarMessageIds[messageId] === undefined){
@@ -47,42 +88,6 @@ class Lidar {
     delete [type === 'radar'?this.radarMessageIds:this.senseMessageIds][messageId]
   }
 
-  async init() {
-    const fileUtil = new FileUtil(globalThis.context)
-    const addressStr = await fileUtil.readFile(GlobalConfig.comoonfileWriteAddress + '/config/ipConfig.txt');
-    const {deviceType,deviceIpArr,devicePortArr,udplocalIp} = JSON.parse(addressStr);
-
-    //新科目三设备
-    if (deviceType == '2') {
-      //雷达UDP
-      this.localRadarUdp = new RadarClient({
-        deviceIpArr, devicePortArr, udplocalIp
-      });
-
-      //视觉UDP
-      this.localVisionUdp = new UdpClient('vision', {
-        deviceIpArr, devicePortArr, udplocalIp
-      })
-
-      this.localRadarUdp.onMessage((obj) => {
-        //广播注册的radar消息
-        Reflect.ownKeys(this.radarMessageIds).forEach((messageId:string) => {
-          emitter.emit({eventId:this.radarMessageIds[messageId]},{data:obj})
-        })
-      })
-
-      this.localVisionUdp.onMessage((obj) => {
-        //广播注册的sense消息
-        Reflect.ownKeys(this.senseMessageIds).forEach((messageId:string) => {
-          emitter.emit({eventId:this.radarMessageIds[messageId]},{data:obj})
-        })
-      })
-      this.isNewKm3 = true;
-    }
-
-    //TODO 安全员设备
-  }
-
   //随机生成6位的id
   generateRandomNumber(){
     let num = '';

entry/src/main/ets/common/lidar/udpClient/index.ts

@@ -42,9 +42,7 @@ export default class LidaUdpClient{
     //bind
     await this.safeFn(async()=>{
       await this.udpClient.bind({
-        address: this.localIp,
+        address: this.localIp, port: port, family: 1
-        port: port,
-        family: 1
       });
     })
   }
@@ -52,14 +50,18 @@ export default class LidaUdpClient{
   async onClientMessage(callback){
     this.offMessage()
     //message
-    this.udpClient.on('message',(str)=>{
+    this.udpClient.on('message',(buffer)=>{
+      const str =  this.arrayBuffetToStr(buffer.message);
+      //解析数据
       switch (this.type){
-      //激光雷达
+        //激光雷达
         case 'radar':
-          callback(str)
+          const radarObj = this.radarStrToObj(str)
+          callback(radarObj)
           break;
-      //视觉
+        //TODO 视觉
         case 'vision':
+          const visionObj = this.visionStrToObj(str)
           callback(str)
           break;
       }
@@ -67,6 +69,81 @@ export default class LidaUdpClient{
     });
   }
 
+  // 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
+
+    //$SBXS,85,20250603115529563,B202,赣A78QK6@360803200602253517@1@20250603115523132@@@@@李从星@001@@001@2506455453517,05,*SBJS
+    //$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 {
+      //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)
+    let str = ""
+    for (let i = 0; i < dataView?.byteLength; ++i) {
+      let c = String.fromCharCode(dataView?.getUint8(i))
+      if (c !== "\n") {
+        str += c
+      }
+    }
+    return str
+  }
+
   //获取对应的IP和端口
   async getIpAPort(): Promise<IPAPORT>{
     const fileUtil = new FileUtil(globalThis.context)
@@ -79,6 +156,21 @@ export default class LidaUdpClient{
     }
   }
 
+  // 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(){}
+
   async offMessage(){
     this.udpClient.off('message')
   }
@@ -100,4 +192,5 @@ export default class LidaUdpClient{
       throw e
     }
   }
+
 }