feat: 添加配置属性

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"
+KERNEL=="ttyUSB*", SUBSYSTEM=="tty", ENV{ID_PATH}=="platform-fc840000.usb-usb-0:1:1.0", SYMLINK+="autolabor_ld19", MODE="0777"

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; }
+    }
+}

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("FoundObstacleThreshold", 2);
-            _benzObstacleController.SetProperty("LostObstacleThreshold", 5);
+            _benzObstacleController.SetProperty("LostObstacleThreshold", 3);
         
             // 5. 连接组件
             // 雷达数据流向避障检测

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();

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);
-            // }
         }
     }
 }

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
       }
+    ]
+  }
+
 }

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
       }
+    ]
+  }
+
 }

detection.sh

@@ -4,4 +4,4 @@
 SCRIPT_DIR="$(cd "$(dirname "$0")" && pwd)"
 echo "脚本当前目录：$SCRIPT_DIR"
 
-mono "$SCRIPT_DIR"/bin/publish/BenzObstacleDetect.exe
+mono "$SCRIPT_DIR"/Release/BenzObstacleDetect.exe