From 02845303adc0f15dd44793a64990afa5b3bd153b Mon Sep 17 00:00:00 2001
From: 12345qiupeng <qpeng0504@163.com>
Date: Mon, 17 Mar 2025 14:28:42 +0800
Subject: [PATCH] =?UTF-8?q?feat:=20=E6=B7=BB=E5=8A=A0=E9=85=8D=E7=BD=AE?=
 =?UTF-8?q?=E5=B1=9E=E6=80=A7?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 99-benz-serial.rules                   |   4 ++--
 BenzObstacleDetect/DataType/RectRoi.cs |  16 ++++++++++++++++
 BenzObstacleDetect/Detection.cs        |  18 ++++++++++--------
 BenzObstacleDetect/Program.cs          |   6 ++++++
 BenzObstacleDetect/Worker.cs           |  23 ++++++++++++-----------
 BenzObstacleDetect/appsettings.json    |  18 ++++++++++++++++++
 Release/BenzObstacleDetect.exe         | Bin 11264 -> 13824 bytes
 Release/BenzObstacleDetect.pdb         | Bin 13492 -> 14112 bytes
 Release/appsettings.json               |  18 ++++++++++++++++++
 detection.sh                           |   2 +-
 10 files changed, 83 insertions(+), 22 deletions(-)
 create mode 100644 BenzObstacleDetect/DataType/RectRoi.cs

diff --git a/99-benz-serial.rules b/99-benz-serial.rules
index d9c0cda..7b2feb5 100644
--- a/99-benz-serial.rules
+++ b/99-benz-serial.rules
@@ -1,4 +1,4 @@
 # 串口继电器
-KERNEL=="ttyUSB*", SUBSYSTEM=="tty", ENV{ID_PATH}=="platform-xhci-hcd.4.auto-usb-0:1:1.0-port0", SYMLINK+="autolabor_relay", MODE="0777"
+KERNEL=="ttyUSB*", SUBSYSTEM=="tty", ENV{ID_PATH}=="platform-xhci-hcd.4.auto-usb-0:1:1.0", SYMLINK+="autolabor_relay", MODE="0777"
 # 雷达
-KERNEL=="ttyUSB*", SUBSYSTEM=="tty", ENV{ID_PATH}=="platform-fc840000.usb-usb-0:1:1.0-port0", SYMLINK+="autolabor_ld19", MODE="0777"
\ No newline at end of file
+KERNEL=="ttyUSB*", SUBSYSTEM=="tty", ENV{ID_PATH}=="platform-fc840000.usb-usb-0:1:1.0", SYMLINK+="autolabor_ld19", MODE="0777"
\ No newline at end of file
diff --git a/BenzObstacleDetect/DataType/RectRoi.cs b/BenzObstacleDetect/DataType/RectRoi.cs
new file mode 100644
index 0000000..76bba96
--- /dev/null
+++ b/BenzObstacleDetect/DataType/RectRoi.cs
@@ -0,0 +1,16 @@
+namespace Autolabor.Benz.ObstacleDetection.DataType
+{
+    
+    public class RectRoiSettings
+    {
+        public RectRoi[] RectRois { get; set; }
+    }
+    
+    public struct RectRoi
+    {
+        public double LeftUpX { get; set; }
+        public double LeftUpY { get; set; }
+        public double RightDownX { get; set; }
+        public double RightDownY { get; set; }
+    }
+}
\ No newline at end of file
diff --git a/BenzObstacleDetect/Detection.cs b/BenzObstacleDetect/Detection.cs
index 0f97de6..f6da589 100644
--- a/BenzObstacleDetect/Detection.cs
+++ b/BenzObstacleDetect/Detection.cs
@@ -1,5 +1,8 @@
 using System;
+using System.Collections.Generic;
+using System.Linq;
 using System.Net;
+using Autolabor.Benz.ObstacleDetection.DataType;
 using Autolabor.Robobase;
 using Autolabor.Robobase.Component.Algorithm.LidarDetection;
 using Autolabor.Robobase.Component.Algorithm.LidarDetection.DataType;
@@ -36,8 +39,12 @@ namespace Autolabor.Benz.ObstacleDetection
         // 配置过滤区域
         private LidarRoi[] _lidarRois;
 
-        public Detection()
+        public Detection(RectRoiSettings roiSettings)
         {
+            // 1. 获取感兴趣区域
+            var rois = roiSettings.RectRois.Select(roi => LidarRoiFactory.Make(roi.LeftUpX, roi.LeftUpY, roi.RightDownX, roi.RightDownY)).ToList();
+            _lidarRois = rois.ToArray();
+
             // 2. 创建各个功能组件
             // 驱动组件
             _lidarDriver = new Ld19DriverNew();
@@ -79,11 +86,6 @@ namespace Autolabor.Benz.ObstacleDetection
             // 串口继电器配置
             _serialRelay.SetProperty("serial.relay.port", "/dev/autolabor_relay");
             
-            // 创建感兴趣区
-            _lidarRois = new[]
-            {
-                LidarRoiFactory.Make(0.6, 0.5, 0.1, -0.5),
-            };
             // 配置过滤器
             _lidarRoiFilter.SetProperty("roiArray", _lidarRois);
             // 障碍物检测器配置
@@ -92,8 +94,8 @@ namespace Autolabor.Benz.ObstacleDetection
             _obstacleDetector.SetProperty("MaxPrjDistance", 0.05);
             _obstacleDetector.SetProperty("GuessDistance", 1.0);
             // 配置发现和丢失次数
-            _benzObstacleController.SetProperty("FoundObstacleThreshold", 3);
-            _benzObstacleController.SetProperty("LostObstacleThreshold", 5);
+            _benzObstacleController.SetProperty("FoundObstacleThreshold", 2);
+            _benzObstacleController.SetProperty("LostObstacleThreshold", 3);
         
             // 5. 连接组件
             // 雷达数据流向避障检测
diff --git a/BenzObstacleDetect/Program.cs b/BenzObstacleDetect/Program.cs
index 466e3f2..c21e313 100644
--- a/BenzObstacleDetect/Program.cs
+++ b/BenzObstacleDetect/Program.cs
@@ -1,9 +1,15 @@
 using Autolabor.Benz.ObstacleDetection;
+using Autolabor.Benz.ObstacleDetection.DataType;
 using Microsoft.Extensions.DependencyInjection;
 using Microsoft.Extensions.Hosting;
 
+
 var builder = Host.CreateApplicationBuilder(args);
 builder.Services.AddHostedService<Worker>();
 
+// 注册配置绑定到 RectRoiSettings 类
+builder.Services.Configure<RectRoiSettings>(builder.Configuration.GetSection("RectRoiSettings"));
+
+
 var host = builder.Build();
 host.Run();
\ No newline at end of file
diff --git a/BenzObstacleDetect/Worker.cs b/BenzObstacleDetect/Worker.cs
index d7a7f68..277da2a 100644
--- a/BenzObstacleDetect/Worker.cs
+++ b/BenzObstacleDetect/Worker.cs
@@ -1,23 +1,32 @@
 using System;
 using System.Threading;
 using System.Threading.Tasks;
+using Autolabor.Benz.ObstacleDetection.DataType;
 using Autolabor.Robobase;
 using Microsoft.Extensions.Hosting;
 using Microsoft.Extensions.Logging;
+using Microsoft.Extensions.Options;
 
 namespace Autolabor.Benz.ObstacleDetection
 {
     public class Worker : BackgroundService
     {
         private readonly ILogger<Worker> _logger;
+        private readonly RectRoiSettings _roiSettings;
 
-        public Worker(ILogger<Worker> logger)
+        public Worker(ILogger<Worker> logger, IOptions<RectRoiSettings> roiSettings)
         {
             _logger = logger;
+            _roiSettings = roiSettings.Value;
         }
 
         protected override async Task ExecuteAsync(CancellationToken stoppingToken)
         {
+            foreach (var roi in _roiSettings.RectRois)
+            {
+                _logger.LogInformation("RectRoi: leftUp({0},{1}) - rightDown({2},{3})",
+                    roi.LeftUpX, roi.LeftUpY, roi.RightDownX, roi.RightDownY);
+            }
             
             // 创建用户配置文件
             var app = Kits.GetAutolaborDataPath();
@@ -26,18 +35,10 @@ namespace Autolabor.Benz.ObstacleDetection
             
             // 输出日志
             TestKit.Logger.Trace("BenzObstacleDetection start");
+            
             // 启动顶层组件
-            var detection = new Detection();
+            var detection = new Detection(_roiSettings);
             detection.Enable = true;
-            // while (!stoppingToken.IsCancellationRequested)
-            // {
-            //     if (_logger.IsEnabled(LogLevel.Information))
-            //     {
-            //         _logger.LogInformation("Worker running at: {time}", DateTimeOffset.Now);
-            //     }
-            //
-            //     await Task.Delay(1000, stoppingToken);
-            // }
         }
     }
 }
\ No newline at end of file
diff --git a/BenzObstacleDetect/appsettings.json b/BenzObstacleDetect/appsettings.json
index b2dcdb6..8b78f12 100644
--- a/BenzObstacleDetect/appsettings.json
+++ b/BenzObstacleDetect/appsettings.json
@@ -4,5 +4,23 @@
       "Default": "Information",
       "Microsoft.Hosting.Lifetime": "Information"
     }
+  },
+  
+  "RectRoiSettings": {
+    "RectRois": [
+      {
+        "leftUpX": 1.5,
+        "leftUpY": 0.3,
+        "rightDownX": 0.55,
+        "rightDownY": -0.3
+      },
+      {
+        "leftUpX": -0.55,
+        "leftUpY": 0.3,
+        "rightDownX": -1.5,
+        "rightDownY": -0.3
+      }
+    ]
   }
+
 }
diff --git a/Release/BenzObstacleDetect.exe b/Release/BenzObstacleDetect.exe
index 65438f4a258a62371b8dcb4aaf357bbbf62bfff0..d7d2da11eb4957a3a6bbb054831a3c7b19410f42 100644
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delta 4307
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diff --git a/Release/BenzObstacleDetect.pdb b/Release/BenzObstacleDetect.pdb
index b59790f93e27197c049e95f73900fd1342f7caf9..07dea61ffa9dc8a2546a4f591fcf43abbcfef00e 100644
GIT binary patch
delta 1541
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delta 1006
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diff --git a/Release/appsettings.json b/Release/appsettings.json
index b2dcdb6..8b78f12 100644
--- a/Release/appsettings.json
+++ b/Release/appsettings.json
@@ -4,5 +4,23 @@
       "Default": "Information",
       "Microsoft.Hosting.Lifetime": "Information"
     }
+  },
+  
+  "RectRoiSettings": {
+    "RectRois": [
+      {
+        "leftUpX": 1.5,
+        "leftUpY": 0.3,
+        "rightDownX": 0.55,
+        "rightDownY": -0.3
+      },
+      {
+        "leftUpX": -0.55,
+        "leftUpY": 0.3,
+        "rightDownX": -1.5,
+        "rightDownY": -0.3
+      }
+    ]
   }
+
 }
diff --git a/detection.sh b/detection.sh
index dcaeae0..115cd02 100644
--- a/detection.sh
+++ b/detection.sh
@@ -4,4 +4,4 @@
 SCRIPT_DIR="$(cd "$(dirname "$0")" && pwd)"
 echo "脚本当前目录：$SCRIPT_DIR"
 
-mono "$SCRIPT_DIR"/bin/publish/BenzObstacleDetect.exe
\ No newline at end of file
+mono "$SCRIPT_DIR"/Release/BenzObstacleDetect.exe
\ No newline at end of file