cpp

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

@@ -87,6 +87,10 @@ struct Index {
 
   async aboutToAppear() {
     try {
+      await this.initWireControlUDP()
+      await this.initPlatformUDP()
+      await this.initAudioPlayer()
+      await this.initBackMachineUDP()
       await getConfigFile().then(([fieldModel, carModel, line, lib, teachPoint, teachPointParams, basePoint]) => {
         this.fieldModel = fieldModel
         this.carModel = carModel
@@ -102,7 +106,27 @@ struct Index {
       await nativeLogCallback((message: string, _: number) => {
         LogHelper.I("NativeSDK", "[Log Callback]: ", message)
       })
-      await registerControlCallback(() => {
+      await registerControlCallback((fxp: number, move: number) => {
+        if (fxp > 0) {
+          this.outWireControl.rightWheel(fxp)
+        } else {
+          this.outWireControl.leftWheel(fxp)
+        }
+        switch (move) {
+          case -1000:
+            break;
+          case -1:
+            this.outWireControl.moveDown()
+            break;
+          case 0:
+            this.outWireControl.moveStop()
+            break;
+          case 1:
+            this.outWireControl.moveUp()
+            break;
+          default:
+            break;
+        }
         LogHelper.I("NativeSDK", "[Control Callback]: ")
       })
       await registerSoundCallback(() => {
@@ -110,11 +134,6 @@ struct Index {
       })
       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?.message || err),
@@ -145,9 +164,9 @@ struct Index {
     try {
       await this.simulatorUdpClient.bindUdp()
       // this.simulatorUdpClient.heart()
-      setInterval(() => {
+      // setInterval(() => {
-        this.simulatorUdpClient.uploadPosition(new GpsInfo(), new CarInfo())
+      //   this.simulatorUdpClient.uploadPosition(new GpsInfo(), new CarInfo())
-      }, 1000)
+      // }, 1000)
       this.simulatorUdpClient.onMessage(({type, data = [] }: MessageCallBackParams) => {
         if (type === CommandType.Start) {
           let path = this.paths.findIndex(item => {
@@ -194,6 +213,12 @@ struct Index {
     }
   }
 
+  // 初始化车机控制UDP
+  async initWireControlUDP() {
+    this.outWireControl = new OutWireControl()
+    await this.outWireControl.init("192.168.7.181", 30021)
+  }
+
   // 上方按钮点击
   onConfirm() {
     if (this.status === Status.Idle) {
@@ -202,9 +227,12 @@ struct Index {
       this.simulatorUdpClient?.sendPID26(CommandType.Start)
       selectLineAndLib(this.paths[this.currentPath].properties.id, this.libraries[this.currentLibrary].properties.id)
       this.status = Status.Running
+      this.outWireControl.apaStart()
     } else {
       this.simulatorUdpClient?.sendPID26(CommandType.Stop)
       this.status = Status.Idle
+      this.outWireControl.moveStop()
+      this.outWireControl.apaStop()
     }
   }