修改车端UI、停车点

CMakeLists.txt

@@ -8,7 +8,7 @@ set (CMAKE_CXX_STANDARD     11)
 # Version.
 set (MAJOR_VERSION "1")
 set (MINOR_VERSION "1")
-set (PATCH_VERSION "7")
+set (PATCH_VERSION "8")
 
 # Import cmake modules.
 list (APPEND    CMAKE_MODULE_PATH   "$ENV{HT_BUILDSYS_CMAKE_MODULES}")

public/config.json

 {
-    "SERVICE_IP": "172.16.0.101:1234",
+    "SERVICE_IP": "192.168.92.185:1234",
     "LOG_SERVE_IP":"192.168.93.87:8020",
     "MAP_CENTER": [39.74441007068,111.24544532751],
     "version": "1.1.4"

src/js/socket/index.js

@@ -337,9 +337,10 @@ export default class Socket {
         const worker = this.root.worker.worker[key]
         switch(type) {
             case '/vehicle/basicinfo':
-                const {avoidancePath, obstacle} = msg
+                const {avoidancePath, obstacle, stopPoint} = msg
                 avoidancePath && worker.postMessage({name: 'avoidancePath', msg: avoidancePath})
                 obstacle && worker.postMessage({name: 'obstacle', msg: obstacle})
+                stopPoint && worker.postMessage({name: 'stopPoint', msg: [stopPoint]})
                 this.vehicleStore.setBasicInfo(msg)
                 break
             case '/vehicle/nextPathinfo':

src/js/worker/dealData.worker.js

@@ -120,11 +120,13 @@ self.onmessage = function({data}) {
         for (let i = 0; i < msg.length; i++) {
             let item = msg[i]
             const { basic, safe, traj } = item
-            const { vehicleType, vehicleLoad, vehicleLatitude, vehicleLongtitude, vehicleHeading, vehicleID } = basic
+            const { vehicleType, vehicleLoad, vehicleLatitude, vehicleLongtitude, vehicleHeading, vehicleID, status } = basic
 
             let image = null
             if ([0, 11, 10, 15].includes(vehicleType)) {
                 image = vehicleLoad > 10 ? 'heavyTruck1' : 'emptyTruck1'
+                // 故障状态
+                if (status == 17) image += 'fault'
             } else {
                 image = VEHICLE_IMAGE[vehicleType]
             }

src/store/MapStore.js

@@ -27,6 +27,7 @@ export const useMapStore = defineStore('map', {
             nextPathAvailable: null, // 下一段路路权
             currPathAvailable: null, // 当前路径路权
             dynamicPathinfo: null, // 车辆动态路权信息
+            stopPoint: null, // 停车点
         }
     },
     actions: {

src/views/BasicInformation.vue

@@ -10,12 +10,14 @@
         <ul class="basic-info">
             <li v-for="list in lists" :key="list.index">
                 <p v-for="item in list" :key="item.index">
+                    <template v-if="Object.keys(debug).includes(item.name)">
                         <span>{{item.label}}：</span>
-                    <span v-if="item.name === 'target_velocity' || item.name === 'VechicleSpd'">{{Number(debug[item.name]).toFixed(1)}}</span>
+                        <span v-if="['target_velocity', 'VechicleSpd', 'gasBrake', 'soc'].includes(item.name)">{{Number(debug[item.name]).toFixed(1)}}</span>
                         <span v-else-if="['obstacleFrontDistance', 'obstacleFrontFlag', 'obstacleBackBarriDistance'].includes(item.name)">{{Number(debug[item.name]).toFixed(2)}}</span>
                         <span v-else-if="item.name === 'vehicleLoad'">{{vehicleLoad}}</span>
                         <span v-else-if="item.name === 'oil'">{{surplusOil}}</span>
                         <span v-else>{{debug[item.name]}}</span>
+                    </template>
                 </p>
             </li>
             <template v-if="debug['followVisible']">
@@ -100,11 +102,11 @@
             height: calc(100% - 40px);
             li {
                 display: flex;
-                height: 3.5vh;
+                max-height: 3.5vh;
                 line-height: 3.5vh;
-                min-height: 30px;
+                // min-height: 30px;
                 p {
-                    padding: 5px 10px;
+                    padding: 0 10px;
                     min-width: 50%;
                     white-space: nowrap;
                     span:nth-child(1) {

src/views/js/view_def.js

@@ -62,7 +62,7 @@ export const INFORMATION_MESSAGE = [
     [
         {
             name: 'Retarder_cmd',
-            label: '电制动给定'
+            label: '缓行制动给定'
         },
         {
             name: 'retarder_position',
@@ -71,6 +71,36 @@ export const INFORMATION_MESSAGE = [
     ],
     [
         {
+            name: 'parkBrakeCmd',
+            label: '驻车制动给定'
+        },
+        {
+            name: 'parkBrakeStatus',
+            label: '反馈'
+        }
+    ],
+    [
+        {
+            name: 'exhaustBrakeCmd',
+            label: '排气制动给定'
+        },
+        {
+            name: 'exhaustBrakeStatus',
+            label: '反馈'
+        }
+    ],
+    [
+        {
+            name: 'retarderGearCmd',
+            label: '缓行档位给定'
+        },
+        {
+            name: 'retarderGearStatus',
+            label: '反馈'
+        }
+    ],
+    [
+        {
             name: 'loadBrakeCmd',
             label: '装载制动给定'
         },
@@ -97,6 +127,22 @@ export const INFORMATION_MESSAGE = [
     ],
     [
         {
+            name: 'gearNumber',
+            label: '具体档位'
+        },
+        {
+            name: 'soc',
+            label: 'Soc'
+        }
+    ],
+    [
+        {
+            name: 'gasBrake',
+            label: '气刹压力'
+        }
+    ],
+    [
+        {
             name: 'EngSpd',
             label: '发动机转速'
         },

src/views/map/MapLeaflet.vue

@@ -64,6 +64,7 @@
     const mapLayers = markRaw({})
     const safeObjects = markRaw({})
     const safeTrajs = markRaw({})
+    const symbleLayers = markRaw({})
     const singlePaths = markRaw([])
     const navigate = ref(true)
     const currentRotation = ref(0)
@@ -95,6 +96,7 @@
         avoidancePath, // 绕障路径
         obstacleData,
         dynamicPathinfo, // 车辆动态路权信息
+        stopPoint, // 停车点
     } = mapStoreToRefs
     const vehicleStore = useVehicleStore()
     const vehicleStoreToRefs = storeToRefs(vehicleStore)
@@ -263,6 +265,7 @@
     }
 
     function dealMapPath(value, layerName, color) {
+        if (!map) return
         if (mapLayers[layerName]) {
             map.removeLayer(mapLayers[layerName])
             delete mapLayers[layerName]
@@ -357,6 +360,34 @@
             mapStore.setData(layerName, null)
     }
 
+    function deleteSymble(layerName) {
+        Object.keys(symbleLayers).forEach(item => {
+            if(item.includes(layerName)){
+                map.removeLayer(symbleLayers[item])
+            }
+        })
+    }
+
+    function dealSymbleLayer(value, layerName, url) {
+        if (!map) return
+
+        deleteSymble(layerName)
+        if (value && value.length) {
+            for (let i = 0; i < value.length; i++) {
+                let [lat, lon] = value[i]
+                if (!lat && !lon) continue
+                symbleLayers[`${layerName}`] = L.marker([lat, lon], {
+                    icon: L.icon({
+                        iconUrl: `/image/${url}.png`,
+                        iconSize: [50, 50],
+                        iconAnchor: [25, 35],
+                    }),
+                    zIndexOffset: 100,
+                }).addTo(map)
+            }
+        }
+    }
+
     function removeLayer(obj, vehicleID) {
         if (obj[vehicleID]) {
             for (let item in obj[vehicleID]) {
@@ -415,7 +446,7 @@
             safeTrajs[vehicleID]['circle'].bringToFront()
         } else {
             if(dealedData && !dealedData.length) return;
-            if(dealedData=='undefined') return;
+            if(dealedData=='undefined' || !dealedData) return;
             let path = L.polyline(JSON.parse(JSON.stringify(dealedData)), {})
             safeTrajs[vehicleID]['path'] = path
             let bufferLine = turf.buffer(path.toGeoJSON(), trajPathWid / 2, { units: "meters" })
@@ -466,7 +497,8 @@
                 let beforeIconUrl = vehicles[vehicleID].getIcon().options 
                                     ? vehicles[vehicleID].getIcon().options.iconUrl 
                                     : vehicles[vehicleID].getIcon().iconUrl
-                if (!beforeIconUrl.includes(image)) {
+                let beforeIconImage = beforeIconUrl.match(/image\/(\S*).png/)[1]
+                if (beforeIconImage != image) {
                     let newIcon = L.icon({
                         iconUrl: `/image/${image}.png`,
                         iconSize,
@@ -639,6 +671,14 @@
         adjustmentLayer()
     }, {immediate: true, deep: true})
 
+    // TODO: 增加停车点图标
+    watch(stopPoint, (value, oldValue) => {
+        if (value && oldValue && value.length && oldValue.length) {
+            if (value[0][0] == oldValue[0][0] && value[0][1] == oldValue[0][1]) return
+        }
+        dealSymbleLayer(value, 'stopPoint', 'stop_point')
+    }, {immediate: true, deep: true})
+
     watch(currPathinfo, (value) => {
         dealMapPath(value, 'currentPath', currPathAvailable.value === 1 ? '#19ae19' : '#8B4513')
         adjustmentLayer()