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lixiao 2024-09-04 15:28:59 +08:00
parent 22924f4583
commit 7cabbbd29a
18 changed files with 891 additions and 115 deletions
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2
entry/src/main/cpp/sdk/api/include/JudgeSdk.h
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@ -273,7 +273,7 @@ JUDGE_SDK_API int JUDGE_SDK_METHOD autoServiceSetBasePoint(const char* data, int
* 参数: data: 场地模型信息, json字符串; length: 字符串长度
* 返回值: 调用执行结果错误码, 0: 成功, 其他: 失败
*/
JUDGE_SDK_API int JUDGE_SDK_METHOD autoServiceSetFeildModel(const char* data, int length);
JUDGE_SDK_API int JUDGE_SDK_METHOD autoServiceSetFieldModel(const char* data, int length);
/**
* 说明: 设置教学点信息

6
entry/src/main/cpp/sdk/api/js/JSApiBridge.cpp
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@ -482,9 +482,9 @@ JS_JUDGE_FUN_IMPL(autoServiceSetBasePoint)
return createErrorCode(env, code);
}
JS_JUDGE_FUN_IMPL(autoServiceSetFeildModel)
JS_JUDGE_FUN_IMPL(autoServiceSetFieldModel)
{
logdebug("call js_autoServiceSetFeildModel");
logdebug("call js_autoServiceSetFieldModel");
size_t argc = 2;
napi_value args[2] = {nullptr};
@ -500,7 +500,7 @@ JS_JUDGE_FUN_IMPL(autoServiceSetFeildModel)
return createErrorCode(env, errorNapiArgType);
}
int code = AutomaticService::autoServiceSetFeildModel(data.c_str(), data.length());
int code = AutomaticService::autoServiceSetFieldModel(data.c_str(), data.length());
return createErrorCode(env, code);
}

2
entry/src/main/cpp/sdk/api/js/JSApiBridge.h
View File

@ -42,7 +42,7 @@ public:
JS_JUDGE_FUN_DECL(autoServiceInit);
JS_JUDGE_FUN_DECL(autoServiceSetBasePoint);
JS_JUDGE_FUN_DECL(autoServiceSetFeildModel);
JS_JUDGE_FUN_DECL(autoServiceSetFieldModel);
JS_JUDGE_FUN_DECL(autoServiceSetTeachPointInfo);
JS_JUDGE_FUN_DECL(autoServiceSetTeachPointParam);
JS_JUDGE_FUN_DECL(autoServiceSetCarModel);

8
entry/src/main/cpp/sdk/api/platform/JudgeSdk.cpp
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@ -29,7 +29,7 @@ JS_JUDGE_API_JOIN(examJudgeMapImage);
JS_JUDGE_API_JOIN(examJudgeMapImageSetCallback);
JS_JUDGE_API_JOIN(autoServiceInit);
JS_JUDGE_API_JOIN(autoServiceSetBasePoint);
JS_JUDGE_API_JOIN(autoServiceSetFeildModel);
JS_JUDGE_API_JOIN(autoServiceSetFieldModel);
JS_JUDGE_API_JOIN(autoServiceSetTeachPointInfo);
JS_JUDGE_API_JOIN(autoServiceSetTeachPointParam);
JS_JUDGE_API_JOIN(autoServiceSetCarModel);
@ -72,7 +72,7 @@ static napi_value JS_JUDGE_MODULE_EXPORT(napi_env env, napi_value exports)
JS_JUDGE_CAT_DESC(examJudgeMapImageSetCallback),
JS_JUDGE_CAT_DESC(autoServiceInit),
JS_JUDGE_CAT_DESC(autoServiceSetBasePoint),
JS_JUDGE_CAT_DESC(autoServiceSetFeildModel),
JS_JUDGE_CAT_DESC(autoServiceSetFieldModel),
JS_JUDGE_CAT_DESC(autoServiceSetTeachPointInfo),
JS_JUDGE_CAT_DESC(autoServiceSetTeachPointParam),
JS_JUDGE_CAT_DESC(autoServiceSetCarModel),
@ -378,9 +378,9 @@ JUDGE_SDK_API int autoServiceSetBasePoint(const char* data, int length)
return FactoryAutomaticApi->autoServiceSetBasePoint(data, length);
}
JUDGE_SDK_API int autoServiceSetFeildModel(const char* data, int length)
JUDGE_SDK_API int autoServiceSetFieldModel(const char* data, int length)
{
return FactoryAutomaticApi->autoServiceSetFeildModel(data, length);
return FactoryAutomaticApi->autoServiceSetFieldModel(data, length);
}
JUDGE_SDK_API int autoServiceSetTeachPointInfo(const char* data, int length)

2
entry/src/main/cpp/sdk/assistdrive/AutomaticService.cpp
View File

@ -54,7 +54,7 @@ int AutomaticService::autoServiceSetBasePoint(const char *data, int length)
return 0;
}
int AutomaticService::autoServiceSetFeildModel(const char *data, int length)
int AutomaticService::autoServiceSetFieldModel(const char *data, int length)
{
try
{

2
entry/src/main/cpp/sdk/assistdrive/AutomaticService.h
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@ -29,7 +29,7 @@ public:
virtual int autoServiceInit() override;
virtual int autoServiceSetBasePoint(const char *data, int length) override;
virtual int autoServiceSetFeildModel(const char *data, int length) override;
virtual int autoServiceSetFieldModel(const char *data, int length) override;
virtual int autoServiceSetTeachPointInfo(const char *data, int length) override;
virtual int autoServiceSetTeachPointParam(const char *data, int length) override;
virtual int autoServiceSetCarModel(const char *data, int length) override;

2
entry/src/main/cpp/sdk/assistdrive/IAutomaticInterface.h
View File

@ -11,7 +11,7 @@ public:
virtual int autoServiceInit() = 0;
virtual int autoServiceSetBasePoint(const char *data, int length) = 0;
virtual int autoServiceSetFeildModel(const char *data, int length) = 0;
virtual int autoServiceSetFieldModel(const char *data, int length) = 0;
virtual int autoServiceSetTeachPointInfo(const char *data, int length) = 0;
virtual int autoServiceSetTeachPointParam(const char *data, int length) = 0;
virtual int autoServiceSetCarModel(const char *data, int length) = 0;

2
entry/src/main/cpp/sdk/assistdrive/IAutomaticService.h
View File

@ -11,7 +11,7 @@ public:
virtual int autoServiceInit() = 0;
virtual int autoServiceSetBasePoint(const char *data, int length) = 0;
virtual int autoServiceSetFeildModel(const char *data, int length) = 0;
virtual int autoServiceSetFieldModel(const char *data, int length) = 0;
virtual int autoServiceSetTeachPointInfo(const char *data, int length) = 0;
virtual int autoServiceSetTeachPointParam(const char *data, int length) = 0;
virtual int autoServiceSetCarModel(const char *data, int length) = 0;

143
entry/src/main/ets/pages/Index.ets
View File

@ -2,12 +2,15 @@ import common from '@ohos.app.ability.common';
import RealTime from '../components/RealTime';
import { MediaPlayer } from '../utils/MediaPlayer';
import { CommandType, MessageCallBackParams, SimulatorUdpClient } from '../utils/simulator/UdpClient';
import { UdpClient } from '../utils/udp/UdpClient';
import { ConfigItemProps, Status } from '../model/index';
import { BackMachineUdpClient } from '../utils/udp/UdpClient';
import { ConfigItemProps, ConfigProps, Status } from '../model/index';
import { getConfigFile } from '../utils/native/NativeUtils';
import promptAction from '@ohos.promptAction';
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';
// 直角转弯 (0, 0) (0, 1) ...
@ -23,10 +26,6 @@ const audios = new Array(33).map((_, i) => {
return "audio/output_" + i + ".mp3"
})
function TestLog(...message: string[]) {
console.log("Assisted Driving: ", ...message)
}
const projectAudio = [
[4, 5],
[0, 1, 2, 3],
@ -64,30 +63,47 @@ struct Index {
@State currentPath: number = 0
@State currentLibrary: number = 0
@State process: number = 1
private line: string
private lib: string
private carModel: string
private fieldModel: string
private teachPoint: string
private teachPointParams: string
private basePoint: string
private player: MediaPlayer = new MediaPlayer(getContext(this) as common.UIAbilityContext)
private simulatorUdpClient: SimulatorUdpClient
private backupUdpClient: UdpClient
private outWireControl: OutWireControl
private simulatorUdpClient?: SimulatorUdpClient
private backupUdpClient?: BackMachineUdpClient
private outWireControl?: OutWireControl
async aboutToAppear() {
getConfigFile().then(([fieldModel, carModel, lib, path, teachPoint, basePoint]) => {
this.fieldModel = fieldModel
this.carModel = carModel
this.libraries = lib
this.paths = path
this.teachPoint = teachPoint
this.basePoint = basePoint
}).catch(err => {
TestLog(err)
})
this.outWireControl = new OutWireControl()
await this.outWireControl.init("192.168.7.181", 30021)
await this.initPlatformUDP()
await this.initAudioPlayer()
try {
await getConfigFile().then(([fieldModel, carModel, line, lib, teachPoint, teachPointParams, basePoint]) => {
this.fieldModel = fieldModel
this.carModel = carModel
this.teachPoint = teachPoint
this.basePoint = basePoint
this.teachPointParams = teachPointParams
this.line = line
this.lib = lib
this.libraries = (JSON.parse(lib) as ConfigProps<Array<number>>).features
this.paths = (JSON.parse(line) as ConfigProps<Array<Array<number>>>).features
})
await nativeSDKInit()
// await nativeLogCallback((message: string, len: number) => {
// LogHelper.I("NativeSDK", message)
// })
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()
} catch (err) {
promptAction.showToast({
message: JSON.stringify(err),
duration: 3000
})
LogHelper.E("View ", JSON.stringify(err))
}
}
async playAudio(project: number, point: number) {
@ -108,56 +124,63 @@ struct Index {
// 初始化终端UDP
async initPlatformUDP() {
this.simulatorUdpClient = new SimulatorUdpClient("0.0.0.0", 8990, "88.22.10.118", 9001)
await this.simulatorUdpClient.bindUdp()
// this.simulatorUdpClient.heart()
setInterval(() => {
this.simulatorUdpClient.uploadPosition()
}, 1000)
this.simulatorUdpClient.onMessage(({type, data = [] }: MessageCallBackParams) => {
if (type === CommandType.Start) {
let path = this.paths.findIndex(item => {
return item.properties.id === data[0]
})
let lib = this.libraries.findIndex(item => {
return item.properties.id === data[1]
})
if (path === -1 || lib === -1) {
promptAction.showToast({
message: "错误的路线或库位"
try {
await this.simulatorUdpClient.bindUdp()
this.simulatorUdpClient.heart()
setInterval(() => {
this.simulatorUdpClient.uploadPosition()
}, 1000)
this.simulatorUdpClient.onMessage(({type, data = [] }: MessageCallBackParams) => {
if (type === CommandType.Start) {
let path = this.paths.findIndex(item => {
return item.properties.id === data[0]
})
this.simulatorUdpClient.sendPID26(CommandType.Failed)
return
let lib = this.libraries.findIndex(item => {
return item.properties.id === data[1]
})
if (path === -1 || lib === -1) {
promptAction.showToast({
message: "错误的路线或库位"
})
this.simulatorUdpClient.sendPID26(CommandType.Failed)
return
}
this.currentPath = path
this.currentLibrary = lib
this.status = Status.Running
this.simulatorUdpClient.sendPID26(CommandType.Success)
}
this.currentPath = path
this.currentLibrary = lib
this.status = Status.Running
this.simulatorUdpClient.sendPID26(CommandType.Success)
}
else if (type === CommandType.Stop) {
this.status = Status.Idle
this.simulatorUdpClient.sendPID26(CommandType.Success)
}
})
else if (type === CommandType.Stop) {
this.status = Status.Idle
this.simulatorUdpClient.sendPID26(CommandType.Success)
}
})
} catch (err) {
throw new Error(JSON.stringify(err))
}
}
// 初始化后置机UDP
async initBackMachineUDP() {
this.backupUdpClient = new UdpClient("", 0, "", 0)
await this.backupUdpClient.bindUdp()
this.backupUdpClient.onMessage(() => {
})
this.backupUdpClient = new BackMachineUdpClient("", 0, "", 0)
try {
await this.backupUdpClient.bindUdp()
this.backupUdpClient.onMessage(() => {
})
} catch (err) {
throw new Error(JSON.stringify(err))
}
}
// 上方按钮点击
onConfirm() {
if (this.status === Status.Idle) {
this.simulatorUdpClient.setPathId(this.paths[this.currentPath].properties.id)
this.simulatorUdpClient.setLibId(this.libraries[this.currentLibrary].properties.id)
this.simulatorUdpClient.sendPID26(CommandType.Start)
this.simulatorUdpClient?.setPathId(this.paths[this.currentPath].properties.id)
this.simulatorUdpClient?.setLibId(this.libraries[this.currentLibrary].properties.id)
this.simulatorUdpClient?.sendPID26(CommandType.Start)
this.status = Status.Running
} else {
this.simulatorUdpClient.sendPID26(CommandType.Stop)
this.simulatorUdpClient?.sendPID26(CommandType.Stop)
this.status = Status.Idle
}
}

6
entry/src/main/ets/utils/LogHelper.ts
View File

@ -18,7 +18,11 @@ export class LogHelper {
public static DOOR_SWITCH = "door_switch";
public static I(tag: string, ...msg: any[]) {
console.log(tag + "__", ...msg);
console.log(`[Assisted Drive Module ${tag} Message]: `, ...msg);
}
public static E(tag: string, ...msg: any[]) {
console.error(`[Assisted Drive Module ${tag} Message]: `, ...msg);
}
public static getDetailLog(tag: string, value: number) {

4
entry/src/main/ets/utils/Store.ets
View File

@ -1,6 +1,6 @@
import common from '@ohos.app.ability.common'
import { SimulatorUdpClient } from './simulator/UdpClient'
import { UdpClient } from './udp/UdpClient'
import { BackMachineUdpClient } from './udp/UdpClient'
class Store {
private static instance: Store
@ -8,7 +8,7 @@ class Store {
public closeUDPSocket: boolean
public plcUdpError: boolean
public serialPortMsg: string
public backMachineUDPClient: UdpClient
public backMachineUDPClient: BackMachineUdpClient
public simulatorUdpClient: SimulatorUdpClient
public isJudge: boolean
public messageTimer: number

230
entry/src/main/ets/utils/native/NativeSDK.ets
View File

@ -1,18 +1,212 @@
// import libJudgeSdk from 'libJudgeSdk.so'
//
// function useNativeAPI(cb: Function, ...args: Object[]) {
// return new Promise<void>((resolve, reject) => {
// let params = args.map(item => JSON.stringify(item))
// let result = cb(...params)
// if (result === 0) {
// resolve()
// } else {
// reject()
// }
// })
// }
//
// export function init(data: Object) {
// return useNativeAPI(libJudgeSdk.examJudgeInit, data)
// }
//
import libJudgeSdk from 'libJudgeSdk.so'
import { LogHelper } from '../LogHelper'
const Tag = "NativeSDK"
function useNativeAPI(cb: Function, ...args: Object[]) {
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)
if (result === 0) {
LogHelper.I(Tag, "use native function ", cb.name, " success")
resolve()
} else {
reject("use native function " + cb.name + " failed")
}
})
}
// 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) => {
const result = libJudgeSdk.registerAutoServiceLogCallback(callback)
if (result === 0) {
LogHelper.I(Tag, "use native function ", "registerAutoServiceLogCallback", " success")
resolve()
} else {
reject("use native function " + "registerAutoServiceLogCallback" + " failed, error code " + result)
}
})
}
// 设置基准点
export function setBasePoint(basePoint: string) {
return new Promise<void>((resolve, reject) => {
const result = libJudgeSdk.autoServiceSetBasePoint(basePoint, basePoint.length)
if (result === 0) {
LogHelper.I(Tag, "use native function ", "autoServiceSetBasePoint", " success")
resolve()
} else {
reject("use native function " + "autoServiceSetBasePoint" + " failed, error code " + result)
}
})
}
// 设置场地模型
export function setFieldModel(fieldModel: string) {
return new Promise<void>((resolve, reject) => {
const result = libJudgeSdk.autoServiceSetFieldModel(fieldModel, fieldModel.length)
if (result === 0) {
LogHelper.I(Tag, "use native function ", "autoServiceSetFieldModel", " success")
resolve()
} else {
reject("use native function " + "autoServiceSetFieldModel" + " failed, error code " + result)
}
})
}
// 设置教学点
export function setTeachPoint(teachPoint: string) {
return new Promise<void>((resolve, reject) => {
const result = libJudgeSdk.autoServiceSetTeachPointInfo(teachPoint, teachPoint.length)
if (result === 0) {
LogHelper.I(Tag, "use native function ", "autoServiceSetTeachPointInfo", " success")
resolve()
} else {
reject("use native function " + "autoServiceSetTeachPointInfo" + " failed, error code " + result)
}
})
}
// 设置教学点参数
export function setTeachPointParam(teachPointParam: string) {
return new Promise<void>((resolve, reject) => {
const result = libJudgeSdk.autoServiceSetTeachPointParam(teachPointParam, teachPointParam.length)
if (result === 0) {
LogHelper.I(Tag, "use native function ", "autoServiceSetTeachPointParam", " success")
resolve()
} else {
reject("use native function " + "autoServiceSetTeachPointParam" + " failed, error code " + result)
}
})
}
// 设置车模
export function setCarModel(carModel: string) {
return new Promise<void>((resolve, reject) => {
const result = libJudgeSdk.autoServiceSetCarModel(carModel, carModel.length)
if (result === 0) {
LogHelper.I(Tag, "use native function ", "autoServiceSetCarModel", " success")
resolve()
} else {
reject("use native function " + "autoServiceSetCarModel" + " failed, error code " + result)
}
})
}
// 设置路径信息
export function setLineInfo(line: string) {
return new Promise<void>((resolve, reject) => {
const result = libJudgeSdk.autoServiceSetLineInfo(line, line.length)
if (result === 0) {
LogHelper.I(Tag, "use native function ", "autoServiceSetLineInfo", " success")
resolve()
} else {
reject("use native function " + "autoServiceSetLineInfo" + " failed, error code " + result)
}
})
}
// 设置库位信息
export function setLibInfo(lib: string) {
return new Promise<void>((resolve, reject) => {
const result = libJudgeSdk.autoServiceSetLibInfo(lib, lib.length)
if (result === 0) {
LogHelper.I(Tag, "use native function ", "autoServiceSetLibInfo", " success")
resolve()
} else {
reject("use native function " + "autoServiceSetLibInfo" + " failed, error code " + result)
}
})
}
// 选择路径和库位
export function selectLineAndLib(line: number, lib: number) {
return new Promise<void>((resolve, reject) => {
const result = libJudgeSdk.autoServiceSelectLineAndLib(line, lib)
if (result === 0) {
LogHelper.I(Tag, "use native function ", "autoServiceSelectLineAndLib", " success")
resolve()
} else {
reject("use native function " + "autoServiceSelectLineAndLib" + " failed, error code " + result)
}
})
}
// 轨迹跟踪
export function onTrack(lng: number, lat: number, yaw: number, v: number) {
return new Promise<void>((resolve, reject) => {
const result = libJudgeSdk.autoServiceTrack(lng, lat, yaw, v)
if (result === 0) {
LogHelper.I(Tag, "use native function ", "autoServiceTrack", " success")
resolve()
} else {
reject("use native function " + "autoServiceTrack" + " failed, error code " + result)
}
})
}
// 设置线画图大小
export function setImageSize(width: number, height: number) {
return new Promise<void>((resolve, reject) => {
const result = libJudgeSdk.autoServiceSetImageSize(width, height)
if (result === 0) {
LogHelper.I(Tag, "use native function ", "autoServiceSetImageSize", " success")
resolve()
} else {
reject("use native function " + "autoServiceSetImageSize" + " failed, error code " + result)
}
})
}
// 注册车辆控制回调
export function registerControlCallback(callback: Function) {
return new Promise<void>((resolve, reject) => {
const result = libJudgeSdk.registerAutoServiceCallback(callback)
if (result === 0) {
LogHelper.I(Tag, "use native function ", "registerAutoServiceCallback", " success")
resolve()
} else {
reject("use native function " + "registerAutoServiceCallback" + " failed, error code " + result)
}
})
}
// 注册教学语音回调
export function registerSoundCallback(callback: Function) {
return new Promise<void>((resolve, reject) => {
const result = libJudgeSdk.registerAutoServiceSoundCallback(callback)
if (result === 0) {
LogHelper.I(Tag, "use native function ", "registerAutoServiceSoundCallback", " success")
resolve()
} else {
reject("use native function " + "registerAutoServiceSoundCallback" + " failed, error code " + result)
}
})
}
// 设置配置文件
export function setConfigFile(
basePoint: string,
fieldModel: string,
teachPoint: string,
teachPointParams: string,
carModel: string,
line: string,
lib: string) {
return Promise.all([
setBasePoint(basePoint),
setFieldModel(fieldModel),
setTeachPoint(teachPoint),
setTeachPointParam(teachPointParams),
setCarModel(carModel),
setLineInfo(line),
setLibInfo(lib)])
}

15
entry/src/main/ets/utils/native/NativeUtils.ets
View File

@ -26,20 +26,21 @@ function getCarModel() {
// 获取库位
function getLibrary() {
return getRawFile(`config/${dir}/destLib.json`).then(res => {
return (JSON.parse(res) as ConfigProps<Array<number>>).features
})
return getRawFile(`config/${dir}/destLib.json`)
}
// 获取路线
function getTrack() {
return getRawFile(`config/${dir}/naviPath.json`).then(res => {
return (JSON.parse(res) as ConfigProps<Array<Array<number>>>).features
})
return getRawFile(`config/${dir}/naviPath.json`)
}
// 获取教学点位
function getTeachPoint() {
return getRawFile(`config/${dir}/aiconfig.json`)
}
// 获取教学点位参数
function getTeachPointParams() {
return getRawFile(`config/${dir}/collectParams.json`).then(res => {
const origin = (JSON.parse(res) as Array<TeachPoint>)
const native: NativeTeachPoint = { item: [] }
@ -77,6 +78,6 @@ function translateTeachPoint() {
// 获取SDK所需的配置文件
export function getConfigFile() {
return Promise.all([getFieldModel(), getCarModel(), getLibrary(), getTrack(), getTeachPoint(), getBasePoint()])
return Promise.all([getFieldModel(), getCarModel(), getTrack(), getLibrary(), getTeachPoint(), getTeachPointParams(), getBasePoint()])
}

14
entry/src/main/ets/utils/simulator/UdpClient.ets
View File

@ -1,7 +1,8 @@
import socket from '@ohos.net.socket';
import { LogHelper } from '../LogHelper';
import { byte2string, DataToByte } from '../Utils';
const TAG = 'socketTag[Simulator.UdpClient] '
const TAG = 'SimulatorUDP'
function generateCheckCode(arr: Uint8Array | Uint16Array | Uint32Array) {
let end: number
@ -55,6 +56,7 @@ export class SimulatorUdpClient {
private pathId: number
private lidId: number
private callback?: MessageCallBack
public static Tag = "SimulatorUDP"
constructor(localIp: string, localIpPort: number, oppositeIp: string, oppositeIpPort: number) {
this.localIp = localIp
@ -119,12 +121,12 @@ export class SimulatorUdpClient {
type: CommandType.Start,
data: [path, lib]
})
console.log(TAG, `receive pid18: command start, path: ${path}, lib: ${lib}`)
LogHelper.I(TAG, `receive pid18: command start, path: ${path}, lib: ${lib}`)
} else if (type === 16) {
this.callback?.({
type: CommandType.Stop
})
console.log(TAG, `receive pid18: command stop`)
LogHelper.I(TAG, `receive pid18: command stop`)
}
}
@ -184,16 +186,16 @@ export class SimulatorUdpClient {
}
})
.then(() => {
console.log(TAG, `[${this.oppositeIp}:${this.oppositeIpPort}]: send success`)
LogHelper.I(TAG, `[${this.oppositeIp}:${this.oppositeIpPort}]: send success`)
})
.catch(err => {
console.error(JSON.stringify(err))
LogHelper.E(TAG, JSON.stringify(err))
})
}
onError(callback?) {
this.udp.on('error', async err => {
console.log(TAG, 'udpError', JSON.stringify(err))
LogHelper.E(TAG, JSON.stringify(err))
this.bindUdp()
this.sendMsg('111')
this.onMessage(callback)

12
entry/src/main/ets/utils/udp/UdpClient.ets
View File

@ -1,12 +1,13 @@
import socket from '@ohos.net.socket';
import promptAction from '@ohos.promptAction';
import { LogHelper } from '../LogHelper';
import { getSerialPort } from '../native/HiserialUtils';
import Store from '../Store';
const TAG = 'socketTag[PLC.UdpClient] '
const TAG = 'BackMachineUDP'
export class UdpClient {
export class BackMachineUdpClient {
private localIp: string = ''
private localIpPort: number = 0
private oppositeIp: string = ''
@ -14,6 +15,7 @@ export class UdpClient {
private udp: socket.UDPSocket = null
private num: number = 0
private plcUdpError: boolean = false
public static TAG: string = 'BackMachineUDP'
constructor(localIp: string, localIpPort: number, oppositeIp: string, oppositeIpPort: number) {
this.localIp = localIp
@ -41,7 +43,6 @@ export class UdpClient {
sendMsg(msg) {
return this.udp.getState()
.then(data => {
console.log('getState success:' + JSON.stringify(data));
return this.udp.send({
data: msg,
address: {
@ -52,11 +53,10 @@ export class UdpClient {
})
})
.then(() => {
console.log(`${TAG}udpCLient udp send success:oppositeIp${this.oppositeIp},oppositeIpPort:${this.oppositeIpPort},localIp:${this.localIp},localIpPort,${this.localIpPort}`);
LogHelper.I(TAG, `[${this.oppositeIp}:${this.oppositeIpPort}]: send success`)
})
.catch(err => {
console.log(`${TAG}udpCLient udp send fail:oppositeIp${this.oppositeIp},oppositeIpPort:${this.oppositeIpPort},localIp:${this.localIp},localIpPort,${this.localIpPort}`);
console.log(`${TAG}udpCLient udp send fail error: ${JSON.stringify(err)}`);
LogHelper.E(TAG, JSON.stringify(err))
})
}

2
entry/src/main/ets/utils/wireControl/WireControl.ets
View File

@ -147,8 +147,6 @@ export class WireControl {
this.socket.setExtraOptions({ reuseAddress: true });
return this.socket.bind({ address: "192.168.7.170", port: 31021 }).then(() => {
this.isInit = true;
}).catch((err) => {
LogHelper.I(LogHelper.TAG, "init failed: ", JSON.stringify(err))
})
}

277
entry/src/main/resources/rawfile/config/duolun/aiconfig.json Normal file
View File

@ -0,0 +1,277 @@
{
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{
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"velocity_std": 3,
"steering_std": 0,
"lamp_std": 0
},
{
"point_index":2,
"teachName":"停车-江西蓝天",
"velocity_max": 7.4,
"velocity_std": 0,
"steering_std": 0,
"lamp_std": 0
},
{
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"velocity_max": 4.1,
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"steering_std": 540,
"lamp_std": 0
},
{
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"lamp_std": 0
},
{
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"velocity_max": 2.3,
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"lamp_std": 0
},
{
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},
{
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},
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},
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},
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},
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},
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}
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},
{
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}
]
},
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},
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},
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"steering_std": 360,
"lamp_std": 0
},
{
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},
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},
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},
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}
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{
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},
{
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}
]
},
{
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"teach_point":[
{
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},
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},
{
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},
{
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"velocity_std": 2.4,
"steering_std": 360,
"lamp_std": 0
}
]
}
]
}

277
entry/src/main/resources/rawfile/config/simulator/aiconfig.json Normal file
View File

@ -0,0 +1,277 @@
{
"item":[
{
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{
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"teachName":"进项目-江西蓝天",
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"lamp_std": 0
},
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},
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]
}