360 lines
12 KiB
Plaintext
360 lines
12 KiB
Plaintext
import common from '@ohos.app.ability.common';
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import RealTime from '../components/RealTime';
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import { MediaPlayer } from '../utils/MediaPlayer';
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import { CommandType, MessageCallBackParams, SimulatorUdpClient } from '../utils/simulator/UdpClient';
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import { BackMachineUdpClient } from '../utils/udp/UdpClient';
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import { ConfigItemProps, ConfigProps, Status } from '../model/index';
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import { getConfigFile } from '../utils/native/NativeUtils';
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import promptAction from '@ohos.promptAction';
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import { OutWireControl } from '../utils/wireControl/OutWireControl';
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import {
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nativeLogCallback,
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nativeSDKInit,
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onTrack,
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registerControlCallback,
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registerSoundCallback,
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selectLineAndLib,
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setConfigFile,
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setImageSize
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} from '../utils/native/NativeSDK';
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import { LogHelper } from '../utils/LogHelper';
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import util from '@ohos.util';
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import { CarInfo, GpsInfo, parseCar, parseGps } from '../utils/udp/Gps';
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// 直角转弯 (0, 0) (0, 1) ...
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// 坡道起步 (1, 0) (1, 1) ...
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// 倒车入库 (2, 0) (2, 1) ...
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// 曲线行驶 (3, 0) (3, 1) ...
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// 侧方停车 (4, 0) (4, 1) ...
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const startImage: Resource[] = [$rawfile("images/start.png"), $rawfile("images/finish.png"), $rawfile("images/finish.png")]
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const resumeImage: Resource[] = [$rawfile("images/resume.png"), $rawfile("images/pause.png"), $rawfile("images/resume.png")]
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const audios = new Array(33).map((_, i) => {
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return "audio/output_" + i + ".mp3"
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})
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const projectAudio = [
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[4, 5],
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[0, 1, 2, 3],
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[6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21],
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[29, 30, 31, 32],
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[22, 23, 24, 25, 26, 27, 28],
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]
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@Component
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struct CustomButton {
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@Prop checked: boolean
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private text: string = ""
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build() {
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Button(this.text, { type: ButtonType.Normal })
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.backgroundColor(this.checked ? 0xff5e69 : 0xffffff)
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.fontColor(this.checked ? 0xffffff : 0x557685)
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.borderRadius(8)
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.shadow({
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offsetX: 3,
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offsetY: 3,
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color: 0xf1f1f1,
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radius: 10
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})
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.width("100%")
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}
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}
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@Entry
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@Component
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struct Index {
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@State status: Status = Status.Idle
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@State paths: ConfigItemProps<Array<Array<number>>>[] = []
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@State libraries: ConfigItemProps<Array<number>>[] = []
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@State currentPath: number = 0
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@State currentLibrary: number = 0
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@State process: number = 1
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private line: string
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private lib: string
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private carModel: string
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private fieldModel: string
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private teachPoint: string
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private teachPointParams: string
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private basePoint: string
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private player: MediaPlayer = new MediaPlayer(getContext(this) as common.UIAbilityContext)
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private simulatorUdpClient?: SimulatorUdpClient
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private backupUdpClient?: BackMachineUdpClient
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private outWireControl?: OutWireControl
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private carStatus: number = 0
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async aboutToAppear() {
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try {
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await this.initWireControlUDP()
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await this.initPlatformUDP()
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await this.initAudioPlayer()
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await this.initBackMachineUDP()
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await getConfigFile().then(([fieldModel, carModel, line, lib, teachPoint, teachPointParams, basePoint]) => {
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this.fieldModel = fieldModel
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this.carModel = carModel
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this.teachPoint = teachPoint
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this.basePoint = basePoint
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this.teachPointParams = teachPointParams
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this.line = line
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this.lib = lib
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this.libraries = (JSON.parse(lib) as ConfigProps<Array<number>>).features
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this.paths = (JSON.parse(line) as ConfigProps<Array<Array<number>>>).features
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})
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await nativeSDKInit()
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await nativeLogCallback((message: string, _: number) => {
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LogHelper.I("NativeSDK", "[Log Callback]: ", message)
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})
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await registerControlCallback((fxp: number, move: number) => {
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if (fxp > 0) {
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this.outWireControl.rightWheel(fxp)
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} else {
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this.outWireControl.leftWheel(fxp)
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}
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switch (move) {
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case -1000:
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break;
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case -1:
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this.outWireControl.moveDown()
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this.carStatus = move
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break;
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case 0:
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this.outWireControl.moveStop()
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this.carStatus = move
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break;
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case 1:
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this.outWireControl.moveUp()
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this.carStatus = move
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break;
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default:
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break;
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}
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LogHelper.I("NativeSDK", "[Control Callback]: ")
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})
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await registerSoundCallback((project: number, idx: number) => {
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this.playAudio(project, idx)
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LogHelper.I("NativeSDK", "[Sound Callback]: ")
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})
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await setImageSize(500, 300)
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await setConfigFile(this.basePoint, this.fieldModel, this.teachPoint, this.teachPointParams, this.carModel, this.line, this.lib)
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} catch (err) {
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promptAction.showToast({
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message: JSON.stringify(err?.message || err),
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duration: 3000
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})
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LogHelper.E("View", JSON.stringify(err?.message || err))
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}
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}
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// 播放语音
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async playAudio(project: number, idx: number) {
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try {
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await this.player.setSource({
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type: "raw",
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url: audios[projectAudio[project][idx]]
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})
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} catch (err) {
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promptAction.showToast({
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message: JSON.stringify(err?.message || err),
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duration: 3000
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})
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LogHelper.E("View", JSON.stringify(err?.message || err))
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}
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}
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// 初始化语音播放器
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async initAudioPlayer() {
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await this.player.create()
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this.player.on("prepared", () => {
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this.player.play()
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})
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}
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// 初始化终端UDP
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async initPlatformUDP() {
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this.simulatorUdpClient = new SimulatorUdpClient("0.0.0.0", 8990, "88.22.10.118", 9001)
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try {
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await this.simulatorUdpClient.bindUdp()
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// this.simulatorUdpClient.heart()
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// setInterval(() => {
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// this.simulatorUdpClient.uploadPosition(new GpsInfo(), new CarInfo())
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// }, 1000)
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this.simulatorUdpClient.onMessage(({type, data = [] }: MessageCallBackParams) => {
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if (type === CommandType.Start) {
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let path = this.paths.findIndex(item => {
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return item.properties.id === data[0]
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})
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let lib = this.libraries.findIndex(item => {
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return item.properties.id === data[1]
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})
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if (path === -1 || lib === -1) {
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promptAction.showToast({
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message: "错误的路线或库位"
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})
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this.simulatorUdpClient.sendPID26(CommandType.Failed)
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return
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}
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this.currentPath = path
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this.currentLibrary = lib
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this.status = Status.Running
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this.simulatorUdpClient.sendPID26(CommandType.Success)
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}
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else if (type === CommandType.Stop) {
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this.status = Status.Idle
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this.simulatorUdpClient.sendPID26(CommandType.Success)
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}
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})
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} catch (err) {
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throw new Error(JSON.stringify(err))
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}
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}
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// 初始化后置机UDP
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async initBackMachineUDP() {
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this.backupUdpClient = new BackMachineUdpClient("0.0.0.0", 8991, "", 0)
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try {
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await this.backupUdpClient.bindUdp()
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this.backupUdpClient.onMessage((arr) => {
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let gps = parseGps(arr)
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let car = parseCar(arr)
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this.simulatorUdpClient?.uploadPosition(gps, car)
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onTrack(gps.lng, gps.lat, gps.heading, gps.v)
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})
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} catch (err) {
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throw new Error(JSON.stringify(err))
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}
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}
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// 初始化车机控制UDP
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async initWireControlUDP() {
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this.outWireControl = new OutWireControl()
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await this.outWireControl.init("192.168.7.181", 30021)
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}
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// 上方按钮点击
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onConfirm() {
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if (this.status === Status.Idle) {
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this.simulatorUdpClient?.setPathId(this.paths[this.currentPath].properties.id)
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this.simulatorUdpClient?.setLibId(this.libraries[this.currentLibrary].properties.id)
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this.simulatorUdpClient?.sendPID26(CommandType.Start)
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selectLineAndLib(this.paths[this.currentPath].properties.id, this.libraries[this.currentLibrary].properties.id)
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this.status = Status.Running
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this.outWireControl.apaStart()
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} else {
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this.simulatorUdpClient?.sendPID26(CommandType.Stop)
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this.status = Status.Idle
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this.outWireControl.moveStop()
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this.outWireControl.apaStop()
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}
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}
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// 下方按钮点击
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onCancel() {
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if (this.status === Status.Running) {
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this.status = Status.Pause
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this.outWireControl.moveStop()
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} else if (this.status === Status.Pause) {
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switch (this.carStatus) {
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case -1:
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this.outWireControl.moveDown()
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break;
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case 0:
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this.outWireControl.moveStop()
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break;
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case 1:
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this.outWireControl.moveUp()
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break;
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default:
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break;
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}
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this.status = Status.Running
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}
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}
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build() {
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Row() {
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Stack() {
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RealTime()
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Row() {
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Column() {
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Row() {
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ForEach(["项目演示", "发车", "收车"], (item, index) => {
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Text(item)
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.padding(12)
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.backgroundColor(this.process === index ? 0xff5d69 : "rgba(240, 242, 246, 0.88)")
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.fontColor(this.process === index ? 0xffffff : 0x7f899f)
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.borderRadius(index === 0 ? { topLeft: 10, bottomLeft: 10 } : index === 2 ? {
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topRight: 10,
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bottomRight: 10
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} : {})
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.width(90)
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.textAlign(TextAlign.Center)
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.onClick(() => {
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if (index > 0) {
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this.process = index
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}
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})
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})
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}.borderRadius(10).margin({ bottom: 20 })
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Column() {
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Column() {
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Row() {
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Image($rawfile("images/path.png")).width(42)
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Text("线路选择").fontColor(0x557685)
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}.margin({ bottom: 12 })
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Flex({ wrap: FlexWrap.Wrap }) {
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ForEach(this.paths, (item: ConfigItemProps<Array<Array<number>>>, index: number) => {
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Row() {
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CustomButton({ text: item.properties.name, checked: this.currentPath === index }).onClick(() => {
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this.currentPath = index
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}).margin({ bottom: 12 }).width("100%")
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}.width("50%").padding({ left: index % 2 === 0 ? 0 : 5, right: index % 2 === 0 ? 5 : 0 })
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})
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}
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}.alignItems(HorizontalAlign.Start).width("100%")
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Column() {
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Row() {
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Image($rawfile("images/park.png")).width(42)
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Text("库位选择").fontColor(0x557685)
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}.margin({ bottom: 12 })
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Flex({ wrap: FlexWrap.Wrap }) {
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ForEach(this.libraries, (item: ConfigItemProps<Array<number>>, index: number) => {
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Row() {
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CustomButton({ text: item.properties.name, checked: this.currentLibrary === index })
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.onClick(() => {
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this.currentLibrary = index
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})
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.margin({ bottom: 12 })
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.width("100%")
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}.width("50%").padding({ left: index % 2 === 0 ? 0 : 5, right: index % 2 === 0 ? 5 : 0 })
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})
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}
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}.alignItems(HorizontalAlign.Start).width("100%")
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}.backgroundColor("rgba(240, 242, 246, 0.88)").borderRadius(10).padding(12).width(270)
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}
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Blank()
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Column() {
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Image(startImage[this.status]).width(74).onClick(() => {
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this.onConfirm()
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})
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Image(resumeImage[this.status]).width(74).onClick(() => {
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this.onCancel()
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})
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}.backgroundColor('rgba(228, 229, 233, 0.7)').borderRadius(10)
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}.width("100%").height("100%").padding(24).alignItems(VerticalAlign.Top)
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}.height('100%')
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.width("100%")
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}
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.height('100%')
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.width("100%")
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}
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} |