cpp

entry/src/main/cpp/sdk/api/include/JudgeSdk.h

@@ -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

entry/src/main/cpp/sdk/api/js/JSApiBridge.cpp

@@ -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);
 }
 

entry/src/main/cpp/sdk/api/js/JSApiBridge.h

@@ -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);

entry/src/main/cpp/sdk/api/platform/JudgeSdk.cpp

@@ -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)

entry/src/main/cpp/sdk/assistdrive/AutomaticService.cpp

@@ -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
     {

entry/src/main/cpp/sdk/assistdrive/AutomaticService.h

@@ -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;

entry/src/main/cpp/sdk/assistdrive/IAutomaticInterface.h

@@ -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;

entry/src/main/cpp/sdk/assistdrive/IAutomaticService.h

@@ -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;

entry/src/main/ets/pages/Index.ets

@@ -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 { BackMachineUdpClient } from '../utils/udp/UdpClient';
-import { ConfigItemProps, Status } from '../model/index';
+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 simulatorUdpClient?: SimulatorUdpClient
-  private backupUdpClient: UdpClient
+  private backupUdpClient?: BackMachineUdpClient
-  private outWireControl: OutWireControl
+  private outWireControl?: OutWireControl
 
   async aboutToAppear() {
-    getConfigFile().then(([fieldModel, carModel, lib, path, teachPoint, basePoint]) => {
+    try {
+      await getConfigFile().then(([fieldModel, carModel, line, lib, teachPoint, teachPointParams, basePoint]) => {
         this.fieldModel = fieldModel
         this.carModel = carModel
-      this.libraries = lib
-      this.paths = path
         this.teachPoint = teachPoint
         this.basePoint = basePoint
-    }).catch(err => {
+        this.teachPointParams = teachPointParams
-      TestLog(err)
+        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) {
@@ -108,8 +124,9 @@ struct Index {
   // 初始化终端UDP
   async initPlatformUDP() {
     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()
       }, 1000)
@@ -138,26 +155,32 @@ struct Index {
           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)
+    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?.setPathId(this.paths[this.currentPath].properties.id)
-      this.simulatorUdpClient.setLibId(this.libraries[this.currentLibrary].properties.id)
+      this.simulatorUdpClient?.setLibId(this.libraries[this.currentLibrary].properties.id)
-      this.simulatorUdpClient.sendPID26(CommandType.Start)
+      this.simulatorUdpClient?.sendPID26(CommandType.Start)
       this.status = Status.Running
     } else {
-      this.simulatorUdpClient.sendPID26(CommandType.Stop)
+      this.simulatorUdpClient?.sendPID26(CommandType.Stop)
       this.status = Status.Idle
     }
   }

entry/src/main/ets/utils/LogHelper.ts

@@ -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) {

entry/src/main/ets/utils/Store.ets

@@ -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

entry/src/main/ets/utils/native/NativeSDK.ets

@@ -1,18 +1,212 @@
-// import libJudgeSdk from 'libJudgeSdk.so'
+import libJudgeSdk from 'libJudgeSdk.so'
-//
+import { LogHelper } from '../LogHelper'
-// function useNativeAPI(cb: Function, ...args: Object[]) {
+
-//   return new Promise<void>((resolve, reject) => {
+const Tag = "NativeSDK"
-//     let params = args.map(item => JSON.stringify(item))
+
-//     let result = cb(...params)
+function useNativeAPI(cb: Function, ...args: Object[]) {
-//     if (result === 0) {
+  return new Promise<void>((resolve, reject) => {
-//       resolve()
+    let params = args.map(item => JSON.stringify(item))
-//     } else {
+    let result = cb(...params)
-//       reject()
+    LogHelper.I(Tag, cb.name, "receive sdk result ", result)
-//     }
+    if (result === 0) {
-//   })
+      LogHelper.I(Tag, "use native function ", cb.name, " success")
-// }
+      resolve()
-//
+    } else {
-// export function init(data: Object) {
+      reject("use native function " + cb.name + " failed")
-//   return useNativeAPI(libJudgeSdk.examJudgeInit, data)
+    }
-// }
+  })
-//
+}
+
+// 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)])
+}
+

entry/src/main/ets/utils/native/NativeUtils.ets

@@ -26,20 +26,21 @@ function getCarModel() {
 
 // 获取库位
 function getLibrary() {
-  return getRawFile(`config/${dir}/destLib.json`).then(res => {
+  return getRawFile(`config/${dir}/destLib.json`)
-    return (JSON.parse(res) as ConfigProps<Array<number>>).features
-  })
 }
 
 // 获取路线
 function getTrack() {
-  return getRawFile(`config/${dir}/naviPath.json`).then(res => {
+  return getRawFile(`config/${dir}/naviPath.json`)
-    return (JSON.parse(res) as ConfigProps<Array<Array<number>>>).features
-  })
 }
 
 // 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()])
 }
 

entry/src/main/ets/utils/simulator/UdpClient.ets

@@ -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)

entry/src/main/ets/utils/udp/UdpClient.ets

@@ -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}`);
+        LogHelper.E(TAG, JSON.stringify(err))
-        console.log(`${TAG}udpCLient udp send fail error: ${JSON.stringify(err)}`);
       })
   }
 

entry/src/main/ets/utils/wireControl/WireControl.ets

@@ -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))
     })
   }
 

entry/src/main/resources/rawfile/config/duolun/aiconfig.json

@@ -0,0 +1,277 @@
+{
+    "item":[
+        {
+            "item_code":"20100",
+            "teach_point":[
+                {
+                    "point_index":1,
+                    "teachName":"进项目-江西蓝天",
+                    "velocity_max": 5.7,
+                    "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
+                },
+                {
+                    "point_index":3,
+                    "teachName":"右入库第一把右打满-江西蓝天",
+                    "velocity_max": 4.1,
+                    "velocity_std": 0.8,
+                    "steering_std": 540,
+                    "lamp_std": 0
+                },
+                {
+                    "point_index":4,
+                    "teachName":"右入库第二把回正-江西蓝天",
+                    "velocity_max": 3.1,
+                    "velocity_std": 0.8,
+                    "steering_std": 0,
+                    "lamp_std": 0
+                },
+                {
+                    "point_index":5,
+                    "teachName":"右入库第三把右打满-江西蓝天",
+                    "velocity_max": 2.3,
+                    "velocity_std": 0.8,
+                    "steering_std": 540,
+                    "lamp_std": 0
+                },
+                {
+                    "point_index":6,
+                    "teachName":"右入库调整库边距-江西蓝天",
+                    "velocity_max": 2.6,
+                    "velocity_std": 0.8,
+                    "steering_std": 0,
+                    "lamp_std": 0
+                },
+                {
+                    "point_index":7,
+                    "teachName":"右入库停车-江西蓝天",
+                    "velocity_max": 3.8,
+                    "velocity_std": 0,
+                    "steering_std": 0,
+                    "lamp_std": 0
+                },
+                {
+                    "point_index":8,
+                    "teachName":"左出库-江西蓝天",
+                    "velocity_max": 4.5,
+                    "velocity_std": 0.7,
+                    "steering_std": 540,
+                    "lamp_std": 0
+                },
+                {
+                    "point_index":9,
+                    "teachName":"回正方向-江西蓝天",
+                    "velocity_max": 4.3,
+                    "velocity_std": 1.5,
+                    "steering_std": 0,
+                    "lamp_std": 0
+                },
+                {
+                    "point_index":10,
+                    "teachName":"左出库停车-江西蓝天",
+                    "velocity_max": 4.9,
+                    "velocity_std": 0,
+                    "steering_std": 0,
+                    "lamp_std": 0
+                },
+                {
+                    "point_index":11,
+                    "teachName":"左入库第一把左打满-江西蓝天",
+                    "velocity_max": 3.5,
+                    "velocity_std": 0.8,
+                    "steering_std": 540,
+                    "lamp_std": 0
+                },
+                {
+                    "point_index":12,
+                    "teachName":"左入库第二把回正-江西蓝天",
+                    "velocity_max": 3.1,
+                    "velocity_std": 0.8,
+                    "steering_std": 0,
+                    "lamp_std": 0
+                },
+                {
+                    "point_index":13,
+                    "teachName":"左入库第三把左打满-江西蓝天",
+                    "velocity_max": 4.1,
+                    "velocity_std": 0.8,
+                    "steering_std": 540,
+                    "lamp_std": 0
+                },
+                {
+                    "point_index":14,
+                    "teachName":"左入库调整库边距-江西蓝天",
+                    "velocity_max": 3.3,
+                    "velocity_std": 0.9,
+                    "steering_std": 0,
+                    "lamp_std": 0
+                },
+                {
+                    "point_index":15,
+                    "teachName":"左入库停车-江西蓝天",
+                    "velocity_max": 3.5,
+                    "velocity_std": 0,
+                    "steering_std": 0,
+                    "lamp_std": 0
+                },
+                {
+                    "point_index":16,
+                    "teachName":"右出库-江西蓝天",
+                    "velocity_max": 4,
+                    "velocity_std": 1.3,
+                    "steering_std": 540,
+                    "lamp_std": 0
+                }
+            ]
+        },
+        {
+            "item_code":"20700",
+            "teach_point":[
+                {
+                    "point_index":1,
+                    "teachName":"进项目-江西蓝天-新",
+                    "velocity_max": 7.9,
+                    "velocity_std": 2.2,
+                    "steering_std": 0,
+                    "lamp_std": 1
+                },
+                {
+                    "point_index":2,
+                    "teachName":"左转-江西蓝天",
+                    "velocity_max": 7.1,
+                    "velocity_std": 1.7,
+                    "steering_std": 540,
+                    "lamp_std": 1
+                }
+            ]
+        },
+        {
+            "item_code":"20400",
+            "teach_point":[
+                {
+                    "point_index":1,
+                    "teachName":"进项目-江西蓝天",
+                    "velocity_max": 8.2,
+                    "velocity_std": 3.3,
+                    "steering_std": 0,
+                    "lamp_std": 0
+                },
+                {
+                    "point_index":2,
+                    "teachName":"停车-江西蓝天",
+                    "velocity_max": 7.6,
+                    "velocity_std": 0,
+                    "steering_std": 0,
+                    "lamp_std": 0
+                },
+                {
+                    "point_index":3,
+                    "teachName":"入库第一把右打一圈-江西蓝天",
+                    "velocity_max": 5.3,
+                    "velocity_std": 1.2,
+                    "steering_std": 360,
+                    "lamp_std": 0
+                },
+                {
+                    "point_index":4,
+                    "teachName":"入库第二把回正方向-江西蓝天",
+                    "velocity_max": 3.4,
+                    "velocity_std": 1.1,
+                    "steering_std": 0,
+                    "lamp_std": 0
+                },
+                {
+                    "point_index":5,
+                    "teachName":"入库第三把左打满-江西蓝天",
+                    "velocity_max": 4.8,
+                    "velocity_std": 1.2,
+                    "steering_std": 540,
+                    "lamp_std": 0
+                },
+                {
+                    "point_index":6,
+                    "teachName":"入库停车-江西蓝天",
+                    "velocity_max": 3.7,
+                    "velocity_std": 0,
+                    "steering_std": 0,
+                    "lamp_std": 0
+                },
+                {
+                    "point_index":8,
+                    "teachName":"出库第二把右打满-江西蓝天",
+                    "velocity_max": 5.7,
+                    "velocity_std": 1.6,
+                    "steering_std": 540,
+                    "lamp_std": -1
+                }
+            ]
+        },
+        {
+            "item_code":"20300",
+            "teach_point":[
+                {
+                    "point_index":1,
+                    "teachName":"进项目-江西蓝天",
+                    "velocity_max": 8.0,
+                    "velocity_std": 4.0,
+                    "steering_std": 0,
+                    "lamp_std": 0
+                },
+                {
+                    "point_index":2,
+                    "teachName":"定点停车-江西蓝天",
+                    "velocity_max": 6,
+                    "velocity_std": 0,
+                    "steering_std": 0,
+                    "lamp_std": 0
+                }
+            ]
+        },
+        {
+            "item_code":"20600",
+            "teach_point":[
+                {
+                    "point_index":1,
+                    "teachName":"进项目-蓝天",
+                    "velocity_max": 3.8,
+                    "velocity_std": 1.8,
+                    "steering_std": 0,
+                    "lamp_std": 0
+                },
+                {
+                    "point_index":2,
+                    "teachName":"左打一圈-江西蓝天",
+                    "velocity_max": 7.1,
+                    "velocity_std": 2.5,
+                    "steering_std": 360,
+                    "lamp_std": 0
+                },
+                {
+                    "point_index":3,
+                    "teachName":"回正方向-江西蓝天",
+                    "velocity_max": 6.3,
+                    "velocity_std": 2.0,
+                    "steering_std": 0,
+                    "lamp_std": 0
+                },
+                {
+                    "point_index":4,
+                    "teachName":"右打一圈-江西蓝天",
+                    "velocity_max": 7.4,
+                    "velocity_std": 2.4,
+                    "steering_std": 360,
+                    "lamp_std": 0
+                }
+            ]
+        }
+    ]
+}

entry/src/main/resources/rawfile/config/simulator/aiconfig.json

@@ -0,0 +1,277 @@
+{
+    "item":[
+        {
+            "item_code":"20100",
+            "teach_point":[
+                {
+                    "point_index":1,
+                    "teachName":"进项目-江西蓝天",
+                    "velocity_max": 5.7,
+                    "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
+                },
+                {
+                    "point_index":3,
+                    "teachName":"右入库第一把右打满-江西蓝天",
+                    "velocity_max": 4.1,
+                    "velocity_std": 0.8,
+                    "steering_std": 540,
+                    "lamp_std": 0
+                },
+                {
+                    "point_index":4,
+                    "teachName":"右入库第二把回正-江西蓝天",
+                    "velocity_max": 3.1,
+                    "velocity_std": 0.8,
+                    "steering_std": 0,
+                    "lamp_std": 0
+                },
+                {
+                    "point_index":5,
+                    "teachName":"右入库第三把右打满-江西蓝天",
+                    "velocity_max": 2.3,
+                    "velocity_std": 0.8,
+                    "steering_std": 540,
+                    "lamp_std": 0
+                },
+                {
+                    "point_index":6,
+                    "teachName":"右入库调整库边距-江西蓝天",
+                    "velocity_max": 2.6,
+                    "velocity_std": 0.8,
+                    "steering_std": 0,
+                    "lamp_std": 0
+                },
+                {
+                    "point_index":7,
+                    "teachName":"右入库停车-江西蓝天",
+                    "velocity_max": 3.8,
+                    "velocity_std": 0,
+                    "steering_std": 0,
+                    "lamp_std": 0
+                },
+                {
+                    "point_index":8,
+                    "teachName":"左出库-江西蓝天",
+                    "velocity_max": 4.5,
+                    "velocity_std": 0.7,
+                    "steering_std": 540,
+                    "lamp_std": 0
+                },
+                {
+                    "point_index":9,
+                    "teachName":"回正方向-江西蓝天",
+                    "velocity_max": 4.3,
+                    "velocity_std": 1.5,
+                    "steering_std": 0,
+                    "lamp_std": 0
+                },
+                {
+                    "point_index":10,
+                    "teachName":"左出库停车-江西蓝天",
+                    "velocity_max": 4.9,
+                    "velocity_std": 0,
+                    "steering_std": 0,
+                    "lamp_std": 0
+                },
+                {
+                    "point_index":11,
+                    "teachName":"左入库第一把左打满-江西蓝天",
+                    "velocity_max": 3.5,
+                    "velocity_std": 0.8,
+                    "steering_std": 540,
+                    "lamp_std": 0
+                },
+                {
+                    "point_index":12,
+                    "teachName":"左入库第二把回正-江西蓝天",
+                    "velocity_max": 3.1,
+                    "velocity_std": 0.8,
+                    "steering_std": 0,
+                    "lamp_std": 0
+                },
+                {
+                    "point_index":13,
+                    "teachName":"左入库第三把左打满-江西蓝天",
+                    "velocity_max": 4.1,
+                    "velocity_std": 0.8,
+                    "steering_std": 540,
+                    "lamp_std": 0
+                },
+                {
+                    "point_index":14,
+                    "teachName":"左入库调整库边距-江西蓝天",
+                    "velocity_max": 3.3,
+                    "velocity_std": 0.9,
+                    "steering_std": 0,
+                    "lamp_std": 0
+                },
+                {
+                    "point_index":15,
+                    "teachName":"左入库停车-江西蓝天",
+                    "velocity_max": 3.5,
+                    "velocity_std": 0,
+                    "steering_std": 0,
+                    "lamp_std": 0
+                },
+                {
+                    "point_index":16,
+                    "teachName":"右出库-江西蓝天",
+                    "velocity_max": 4,
+                    "velocity_std": 1.3,
+                    "steering_std": 540,
+                    "lamp_std": 0
+                }
+            ]
+        },
+        {
+            "item_code":"20700",
+            "teach_point":[
+                {
+                    "point_index":1,
+                    "teachName":"进项目-江西蓝天-新",
+                    "velocity_max": 7.9,
+                    "velocity_std": 2.2,
+                    "steering_std": 0,
+                    "lamp_std": 1
+                },
+                {
+                    "point_index":2,
+                    "teachName":"左转-江西蓝天",
+                    "velocity_max": 7.1,
+                    "velocity_std": 1.7,
+                    "steering_std": 540,
+                    "lamp_std": 1
+                }
+            ]
+        },
+        {
+            "item_code":"20400",
+            "teach_point":[
+                {
+                    "point_index":1,
+                    "teachName":"进项目-江西蓝天",
+                    "velocity_max": 8.2,
+                    "velocity_std": 3.3,
+                    "steering_std": 0,
+                    "lamp_std": 0
+                },
+                {
+                    "point_index":2,
+                    "teachName":"停车-江西蓝天",
+                    "velocity_max": 7.6,
+                    "velocity_std": 0,
+                    "steering_std": 0,
+                    "lamp_std": 0
+                },
+                {
+                    "point_index":3,
+                    "teachName":"入库第一把右打一圈-江西蓝天",
+                    "velocity_max": 5.3,
+                    "velocity_std": 1.2,
+                    "steering_std": 360,
+                    "lamp_std": 0
+                },
+                {
+                    "point_index":4,
+                    "teachName":"入库第二把回正方向-江西蓝天",
+                    "velocity_max": 3.4,
+                    "velocity_std": 1.1,
+                    "steering_std": 0,
+                    "lamp_std": 0
+                },
+                {
+                    "point_index":5,
+                    "teachName":"入库第三把左打满-江西蓝天",
+                    "velocity_max": 4.8,
+                    "velocity_std": 1.2,
+                    "steering_std": 540,
+                    "lamp_std": 0
+                },
+                {
+                    "point_index":6,
+                    "teachName":"入库停车-江西蓝天",
+                    "velocity_max": 3.7,
+                    "velocity_std": 0,
+                    "steering_std": 0,
+                    "lamp_std": 0
+                },
+                {
+                    "point_index":8,
+                    "teachName":"出库第二把右打满-江西蓝天",
+                    "velocity_max": 5.7,
+                    "velocity_std": 1.6,
+                    "steering_std": 540,
+                    "lamp_std": -1
+                }
+            ]
+        },
+        {
+            "item_code":"20300",
+            "teach_point":[
+                {
+                    "point_index":1,
+                    "teachName":"进项目-江西蓝天",
+                    "velocity_max": 8.0,
+                    "velocity_std": 4.0,
+                    "steering_std": 0,
+                    "lamp_std": 0
+                },
+                {
+                    "point_index":2,
+                    "teachName":"定点停车-江西蓝天",
+                    "velocity_max": 6,
+                    "velocity_std": 0,
+                    "steering_std": 0,
+                    "lamp_std": 0
+                }
+            ]
+        },
+        {
+            "item_code":"20600",
+            "teach_point":[
+                {
+                    "point_index":1,
+                    "teachName":"进项目-蓝天",
+                    "velocity_max": 3.8,
+                    "velocity_std": 1.8,
+                    "steering_std": 0,
+                    "lamp_std": 0
+                },
+                {
+                    "point_index":2,
+                    "teachName":"左打一圈-江西蓝天",
+                    "velocity_max": 7.1,
+                    "velocity_std": 2.5,
+                    "steering_std": 360,
+                    "lamp_std": 0
+                },
+                {
+                    "point_index":3,
+                    "teachName":"回正方向-江西蓝天",
+                    "velocity_max": 6.3,
+                    "velocity_std": 2.0,
+                    "steering_std": 0,
+                    "lamp_std": 0
+                },
+                {
+                    "point_index":4,
+                    "teachName":"右打一圈-江西蓝天",
+                    "velocity_max": 7.4,
+                    "velocity_std": 2.4,
+                    "steering_std": 360,
+                    "lamp_std": 0
+                }
+            ]
+        }
+    ]
+}