feat:新科目三&安全员代码
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Surenjun
parent
4fa6ad0544
commit
50c16cb56a
@ -1,14 +1,12 @@
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import emitter from '@ohos.events.emitter';
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import UdpClient from './udpClient/index'
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import FileUtil from '../../common/utils/File';
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import { GlobalConfig } from '../../config/index';
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import emitter from '@ohos.events.emitter';
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import RadarClient from './radar/index'
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interface messageIds {
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[k:string]:number;
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}
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import {messageIds} from './type'
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class Lidar {
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public localRadarUdp: RadarClient
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public localRadarUdp: UdpClient
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public localVisionUdp: UdpClient
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//是否新科目三设备
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private isNewKm3: Boolean
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@ -21,6 +19,49 @@ class Lidar {
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this.init()
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}
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async init() {
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const fileUtil = new FileUtil(globalThis.context)
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const addressStr = await fileUtil.readFile(GlobalConfig.comoonfileWriteAddress + '/config/ipConfig.txt');
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const {deviceType,deviceIpArr,devicePortArr,udplocalIp} = JSON.parse(addressStr);
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//新科目三设备
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if (deviceType == '2') {
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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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this.localRadarUdp.onClientMessage(async (obj) => {
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//广播注册的radar消息
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Reflect.ownKeys(this.radarMessageIds).forEach((messageId:string) => {
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emitter.emit({eventId:this.radarMessageIds[messageId]},{data:obj})
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})
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})
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// this.localRadarUdp.onMessage((obj) => {
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// //广播注册的radar消息
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// Reflect.ownKeys(this.radarMessageIds).forEach((messageId:string) => {
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// emitter.emit({eventId:this.radarMessageIds[messageId]},{data:obj})
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// })
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// })
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//
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// this.localVisionUdp.onMessage((obj) => {
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// //广播注册的sense消息
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// Reflect.ownKeys(this.senseMessageIds).forEach((messageId:string) => {
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// emitter.emit({eventId:this.radarMessageIds[messageId]},{data:obj})
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// })
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// })
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this.isNewKm3 = true;
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}
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//安全员&新科目三均需要视觉
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//TODO 视觉UDP
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this.localVisionUdp = new UdpClient('vision', {
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deviceIpArr, devicePortArr, udplocalIp
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})
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this.localVisionUdp.onClientMessage(async (obj) => {
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})
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}
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//监听雷达信息
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async onRadarMsg(messageId:string,callback:Function) {
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if(this.radarMessageIds[messageId] === undefined){
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@ -47,42 +88,6 @@ class Lidar {
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delete [type === 'radar'?this.radarMessageIds:this.senseMessageIds][messageId]
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}
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async init() {
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const fileUtil = new FileUtil(globalThis.context)
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const addressStr = await fileUtil.readFile(GlobalConfig.comoonfileWriteAddress + '/config/ipConfig.txt');
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const {deviceType,deviceIpArr,devicePortArr,udplocalIp} = JSON.parse(addressStr);
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//新科目三设备
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if (deviceType == '2') {
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//雷达UDP
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this.localRadarUdp = new RadarClient({
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deviceIpArr, devicePortArr, udplocalIp
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});
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//视觉UDP
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this.localVisionUdp = new UdpClient('vision', {
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deviceIpArr, devicePortArr, udplocalIp
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})
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this.localRadarUdp.onMessage((obj) => {
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//广播注册的radar消息
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Reflect.ownKeys(this.radarMessageIds).forEach((messageId:string) => {
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emitter.emit({eventId:this.radarMessageIds[messageId]},{data:obj})
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})
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})
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this.localVisionUdp.onMessage((obj) => {
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//广播注册的sense消息
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Reflect.ownKeys(this.senseMessageIds).forEach((messageId:string) => {
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emitter.emit({eventId:this.radarMessageIds[messageId]},{data:obj})
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})
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})
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this.isNewKm3 = true;
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}
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//TODO 安全员设备
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}
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//随机生成6位的id
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generateRandomNumber(){
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let num = '';
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@ -42,9 +42,7 @@ export default class LidaUdpClient{
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//bind
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await this.safeFn(async()=>{
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await this.udpClient.bind({
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address: this.localIp,
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port: port,
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family: 1
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address: this.localIp, port: port, family: 1
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});
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})
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}
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@ -52,14 +50,18 @@ export default class LidaUdpClient{
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async onClientMessage(callback){
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this.offMessage()
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//message
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this.udpClient.on('message',(str)=>{
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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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//激光雷达
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case 'radar':
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callback(str)
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const radarObj = this.radarStrToObj(str)
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callback(radarObj)
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break;
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//视觉
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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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@ -67,6 +69,81 @@ export default class LidaUdpClient{
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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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//$SBXS,85,20250603115529563,B202,赣A78QK6@360803200602253517@1@20250603115523132@@@@@李从星@001@@001@2506455453517,05,*SBJS
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//$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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//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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let str = ""
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for (let i = 0; i < dataView?.byteLength; ++i) {
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let c = String.fromCharCode(dataView?.getUint8(i))
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if (c !== "\n") {
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str += c
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}
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}
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return str
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}
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//获取对应的IP和端口
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async getIpAPort(): Promise<IPAPORT>{
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const fileUtil = new FileUtil(globalThis.context)
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@ -79,6 +156,21 @@ export default class LidaUdpClient{
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}
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}
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// 初始化指令
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async visionInit(){
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}
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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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async offMessage(){
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this.udpClient.off('message')
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}
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@ -100,4 +192,5 @@ export default class LidaUdpClient{
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throw e
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}
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}
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}
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