lixiao/assistedDrive
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

cpp

Browse Source
This commit is contained in:
lixiao 2024-09-04 17:52:29 +08:00
parent 7cabbbd29a
commit 2d82810d61
6 changed files with 179 additions and 44 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

10
entry/src/main/ets/components/RealTime.ets
View File

@ -1,11 +1,10 @@
// import apiJudgeSdk from 'libJudgeSdk.so';
import { setMapDrawing } from '../utils/native/NativeSDK'
@Component
export default struct RealTime {
@State draw: boolean = false
@State draw: boolean = true
@State serialNumber: number = 0
build() {
Column() {
if (this.draw) {
@ -17,11 +16,10 @@ export default struct RealTime {
.width('100%')
.height('100%')
.onLoad(() => {
this.draw = true;
// apiJudgeSdk.examJudgeMapSetDrawing(true); //停止绘制地图轨迹，false:表示结束绘制
setMapDrawing(true);
})
.onDestroy(() => {
// apiJudgeSdk.examJudgeMapSetDrawing(false); //停止绘制地图轨迹，false:表示结束绘制
setMapDrawing(false);
this.draw = false;
})
} else {

18
entry/src/main/ets/pages/Index.ets
View File

@ -11,6 +11,7 @@ import { OutWireControl } from '../utils/wireControl/OutWireControl';
import { nativeLogCallback, nativeSDKInit, setBasePoint, setConfigFile, setImageSize } from '../utils/native/NativeSDK';
import { LogHelper } from '../utils/LogHelper';
import util from '@ohos.util';
import { CarInfo, GpsInfo, parseCar, parseGps } from '../utils/udp/Gps';
// 直角转弯 (0, 0) (0, 1) ...
@ -89,14 +90,16 @@ struct Index {
this.paths = (JSON.parse(line) as ConfigProps<Array<Array<number>>>).features
})
await nativeSDKInit()
// await nativeLogCallback((message: string, len: number) => {
// LogHelper.I("NativeSDK", message)
// })
await nativeLogCallback((message: string, len: number) => {
LogHelper.I("NativeSDK", message)
})
await setImageSize(500, 300)
await setConfigFile(this.basePoint, this.fieldModel, this.teachPoint, this.teachPointParams, this.carModel, this.line, this.lib)
this.outWireControl = new OutWireControl()
await this.outWireControl.init("192.168.7.181", 30021)
await this.initPlatformUDP()
await this.initAudioPlayer()
await this.initBackMachineUDP()
} catch (err) {
promptAction.showToast({
message: JSON.stringify(err),
@ -126,9 +129,9 @@ struct Index {
this.simulatorUdpClient = new SimulatorUdpClient("0.0.0.0", 8990, "88.22.10.118", 9001)
try {
await this.simulatorUdpClient.bindUdp()
this.simulatorUdpClient.heart()
// this.simulatorUdpClient.heart()
setInterval(() => {
this.simulatorUdpClient.uploadPosition()
this.simulatorUdpClient.uploadPosition(new GpsInfo(), new CarInfo())
}, 1000)
this.simulatorUdpClient.onMessage(({type, data = [] }: MessageCallBackParams) => {
if (type === CommandType.Start) {
@ -165,7 +168,10 @@ struct Index {
this.backupUdpClient = new BackMachineUdpClient("", 0, "", 0)
try {
await this.backupUdpClient.bindUdp()
this.backupUdpClient.onMessage(() => {
this.backupUdpClient.onMessage((arr) => {
let gps = parseGps(arr)
let car = parseCar(arr)
this.simulatorUdpClient?.uploadPosition(gps, car)
})
} catch (err) {
throw new Error(JSON.stringify(err))

29
entry/src/main/ets/utils/native/NativeSDK.ets
View File

@ -3,25 +3,19 @@ import { LogHelper } from '../LogHelper'
const Tag = "NativeSDK"
function useNativeAPI(cb: Function, ...args: Object[]) {
// sdk初始化
export function nativeSDKInit() {
return new Promise<void>((resolve, reject) => {
let params = args.map(item => JSON.stringify(item))
let result = cb(...params)
LogHelper.I(Tag, cb.name, "receive sdk result ", result)
const result = libJudgeSdk.autoServiceInit()
if (result === 0) {
LogHelper.I(Tag, "use native function ", cb.name, " success")
LogHelper.I(Tag, "use native function ", "autoServiceInit", " success")
resolve()
} else {
reject("use native function " + cb.name + " failed")
reject("use native function " + "autoServiceInit" + " failed, error code " + result)
}
})
}
// sdk初始化
export function nativeSDKInit(data?: Object) {
return useNativeAPI(libJudgeSdk.autoServiceInit, data)
}
// 日志回调
export async function nativeLogCallback(callback: Function) {
return new Promise<void>((resolve, reject) => {
@ -191,6 +185,19 @@ export function registerSoundCallback(callback: Function) {
})
}
// 绘图控制
export function setMapDrawing(drawing: boolean) {
return new Promise<void>((resolve, reject) => {
const result = libJudgeSdk.examJudgeMapSetDrawing(drawing)
if (result === 0) {
LogHelper.I(Tag, "use native function ", "examJudgeMapSetDrawing", " success")
resolve()
} else {
reject("use native function " + "examJudgeMapSetDrawing" + " failed, error code " + result)
}
})
}
// 设置配置文件
export function setConfigFile(
basePoint: string,

31
entry/src/main/ets/utils/simulator/UdpClient.ets
View File

@ -1,5 +1,6 @@
import socket from '@ohos.net.socket';
import { LogHelper } from '../LogHelper';
import { CarInfo, GpsInfo } from '../udp/Gps';
import { byte2string, DataToByte } from '../Utils';
const TAG = 'SimulatorUDP'
@ -82,30 +83,30 @@ export class SimulatorUdpClient {
return this.bindUdp()
}
uploadPosition() {
uploadPosition(gps: GpsInfo, car: CarInfo) {
const type = new Uint8Array([2])
const student = new Uint8Array(DataToByte("0", 32))
const time = new Uint8Array(DataToByte("0830102933", 32))
const status = new Uint8Array([0b1111, 0b1111, 0b1111])
const project = new Uint8Array(new ArrayBuffer(5))
const v = new Uint8Array(DataToByte(1000, 16))
const r = new Uint8Array(DataToByte(2000, 16))
const lng = new Uint8Array(DataToByte(118.86541404 * Math.pow(10, 8), 6 * 8))
const lat = new Uint8Array(DataToByte(31.9279647 * Math.pow(10, 8), 6 * 8))
const v = new Uint8Array(DataToByte(gps.v * 100, 16)) //速度
const r = new Uint8Array(DataToByte(car.r * 100, 16)) //发动机转速
const lng = new Uint8Array(DataToByte(gps.lng * Math.pow(10, 8), 6 * 8)) //经度
const lat = new Uint8Array(DataToByte(gps.lat * Math.pow(10, 8), 6 * 8)) //纬度
const heading = new Uint8Array(DataToByte(gps.heading * 100, 16))
const pit = new Uint8Array(DataToByte(gps.pitch * 100, 16))
const baseLng = new Uint8Array(DataToByte(118.86538625 * Math.pow(10, 8), 6 * 8))
const baseLat = new Uint8Array(DataToByte(31.92784807 * Math.pow(10, 8), 6 * 8))
const scene = new Uint8Array(new ArrayBuffer(16))
const body = new Uint8Array(new ArrayBuffer(92))
body.set([...type, ...student, ...time, ...status, ...project, ...v, ...r, ...lng, ...lat, ...DataToByte(1000, 16),
...DataToByte(100, 16), ...DataToByte(10000, 24), ...DataToByte(230, 24), ...new Uint8Array([1]), ...baseLng, ...baseLat,
const body = new Uint8Array([...type, ...student, ...time, ...status, ...project, ...v, ...r, ...lng, ...lat, ...heading,
...pit, ...DataToByte(10000, 24), ...DataToByte(230, 24), ...new Uint8Array([1]), ...baseLng, ...baseLat,
...new Uint8Array([10]), ...new Uint8Array(([10])), ...scene])
const [head, headCheckCode] = generateHead(25, 601, 1254, 0, body.length)
const bodyCheckCode = generateCheckCode(body)
const end = new Uint8Array(new ArrayBuffer(2))
end.set([0x0D, 0x0A])
const end = new Uint8Array([0x0D, 0x0A])
const message = new Uint8Array([...head, headCheckCode, ...body, bodyCheckCode, ...end])
this.sendMsg(message.buffer)
}
@ -143,8 +144,7 @@ export class SimulatorUdpClient {
}
const [head, headCheckCode] = generateHead(26, 601, 1254, 0, body.length)
const bodyCheckCode = generateCheckCode(body)
const end = new Uint8Array(new ArrayBuffer(2))
end.set([0x0D, 0x0A])
const end = new Uint8Array([0x0D, 0x0A])
const message = new Uint8Array([...head, headCheckCode, ...body, bodyCheckCode, ...end])
this.sendMsg(message.buffer, 11111)
}
@ -162,11 +162,10 @@ export class SimulatorUdpClient {
}
const [body, bodyCheckCode] = getMessage()
const [head, headCheckCode] = generateHead(this.lastCommand, 6001, 1254, 0, body.length)
const end = new Uint16Array(new ArrayBuffer(2))
end.set([0x0D, 0x0A])
const end = new Uint8Array([0x0D, 0x0A])
let result = new Uint8Array([...head, headCheckCode, ...body, bodyCheckCode, ...end])
setInterval(() => {
this.sendMsg(result.buffer)
this.sendMsg(result.buffer, 11111)
}, 1000)
}
@ -186,7 +185,7 @@ export class SimulatorUdpClient {
}
})
.then(() => {
LogHelper.I(TAG, `[${this.oppositeIp}:${this.oppositeIpPort}]: send success`)
LogHelper.I(TAG, `[${this.oppositeIp}:${port ?? this.oppositeIpPort}]: send success`)
})
.catch(err => {
LogHelper.E(TAG, JSON.stringify(err))

124
entry/src/main/ets/utils/udp/Gps.ts Normal file
View File

@ -0,0 +1,124 @@
export class GpsInfo {
// 状态
public status: number = 0
// 收星数
// public
// 海拔高
public altitude: number = 0
// 高度差
public heightDiff: number = 0
// 龄期
public age: number = 0
// 维度因子
public lngFactor: number = 0
// 经度因子
public latFactor: number = 0
// 航向角
public heading: number = 0
// 俯仰角
public pitch: number = 0
// 航向角状态-收星数
public headingStatus: number = 0
// 年月日
public date: Date = new Date()
// 时分秒
// 经度
public lng: number = 0
// 纬度
public lat: number = 0
// 速度
public v: number = 0
constructor(gpsArr?: string[]) {
if (gpsArr) {
this.status = Number(gpsArr[0])
this.altitude = Number(gpsArr[2])
this.heightDiff = Number(gpsArr[3])
this.age = Number(gpsArr[4])
this.lngFactor = Number(gpsArr[5])
this.latFactor = Number(gpsArr[6])
this.heading = Number(gpsArr[7])
this.pitch = Number(gpsArr[8])
this.headingStatus = Number(gpsArr[9])
this.date = this.parseDate(gpsArr[10], gpsArr[11])
this.lng = Number(gpsArr[12])
this.lat = Number(gpsArr[13])
this.v = Number(gpsArr[14])
}
}
private parseDate(str1: string, str2: string) {
let year = new Date().getFullYear()
let month = Number(str1.slice(2, 4)) - 1
let date = Number(str1.slice(4))
let hour = Number(str2.slice(0, 2))
let minute = Number(str2.slice(2, 4))
let second = Number(str2.slice(4, 6))
return new Date(year, month, date, hour, minute, second)
}
}
export class CarInfo {
// 左方向灯
// 右方向灯
// 喇叭
// 点火1
// 点火2
// 近光灯
// 远光灯
// 示廓灯
// 雾灯
// 雨刮器
// 脚刹
// 手刹
// 主驾驶门
// NC
// SA15
// 离合
// 副刹车
// 安全带
// 双跳灯
// 其他门
// 转速过高
// 车速
// 累计脉冲
// 发动机转速
public r: number = 0
// 熄火次数
// 方向盘角度
// 档位
// 超声波1
// 超声波2
// 超声波3
// 超声波4
// 触摸1
// 触摸2
// 发送次数
// 方向盘类型
// 汽车类型
// 接口心跳
// 本机IP
// 固件版本
// 按键数值
// GPS板卡类型
// GPS板卡软件版本
// 改正数次数/改正数大小
// GPS数据次数/数据长度
// GPS错误次数
// 已工作时长/设定的工作时长
constructor(carArr?: string[]) {
if (carArr) {
this.r = Number(carArr[23])
}
}
}
export function parseGps(backupArr: string[]) {
return new GpsInfo(backupArr.slice(83))
}
export function parseCar(backArr: string[]) {
return new CarInfo(backArr.slice(2))
}

11
entry/src/main/ets/utils/udp/UdpClient.ets
View File

@ -7,6 +7,8 @@ import Store from '../Store';
const TAG = 'BackMachineUDP'
export type MessageCallback = (msg: string[]) => void
export class BackMachineUdpClient {
private localIp: string = ''
private localIpPort: number = 0
@ -60,7 +62,7 @@ export class BackMachineUdpClient {
})
}
onError(callback?) {
onError(callback?: MessageCallback) {
this.udp.on('error', async err => {
this.bindUdp()
this.sendMsg('111')
@ -68,7 +70,7 @@ export class BackMachineUdpClient {
});
}
onMessage(callback?) {
onMessage(callback?: MessageCallback) {
this.udp.on('message', value => {
this.plcUdpError = false
if (value) {
@ -85,10 +87,9 @@ export class BackMachineUdpClient {
return
}
receiveArr[28] = Store.serialPortMsg || '0'
const newArr = JSON.parse(JSON.stringify(receiveArr))
callback?.(newArr.toString())
callback?.(receiveArr)
} else {
callback?.('')
callback?.([])
}
});
setInterval(async () => {