feat: 创建工程
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Microsoft Visual Studio Solution File, Format Version 12.00
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Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "BenzObstacleDetect", "BenzObstacleDetect\BenzObstacleDetect.csproj", "{D158026B-CF72-4CB7-85D1-D6DF91F9D71E}"
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EndProject
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Global
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GlobalSection(SolutionConfigurationPlatforms) = preSolution
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Debug|Any CPU = Debug|Any CPU
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Release|Any CPU = Release|Any CPU
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EndGlobalSection
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GlobalSection(ProjectConfigurationPlatforms) = postSolution
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{D158026B-CF72-4CB7-85D1-D6DF91F9D71E}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
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{D158026B-CF72-4CB7-85D1-D6DF91F9D71E}.Debug|Any CPU.Build.0 = Debug|Any CPU
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{D158026B-CF72-4CB7-85D1-D6DF91F9D71E}.Release|Any CPU.ActiveCfg = Release|Any CPU
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{D158026B-CF72-4CB7-85D1-D6DF91F9D71E}.Release|Any CPU.Build.0 = Release|Any CPU
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EndGlobalSection
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EndGlobal
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@ -1,5 +1,8 @@
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## 忽略 Visual Studio 临时文件、用户设置以及编译输出目录
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# idea
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.idea/
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# Visual Studio 相关文件
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.vs/
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*.suo
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<Project Sdk="Microsoft.NET.Sdk.Worker">
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<PropertyGroup>
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<TargetFramework>net472</TargetFramework>
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<LangVersion>9</LangVersion>
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<Nullable>enable</Nullable>
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<Authors>Autolabor</Authors>
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<ImplicitUsings>disable</ImplicitUsings>
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<RootNamespace>Autolabor.Benz.ObstacleDetection</RootNamespace>
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<UserSecretsId>dotnet-BenzObstacleDetect-E0768EF0-F5A4-4FC1-983F-62D3BEA23B87</UserSecretsId>
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<AllowUnsafeBlocks>true</AllowUnsafeBlocks> <!-- 允许 unsafe 代码 -->
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</PropertyGroup>
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<ItemGroup>
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<!-- 微软-主机构建扩展包 -->
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<PackageReference Include="Autolabor.Robobase" Version="0.3.631" />
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<PackageReference Include="Autolabor.Robobase.CodeGuard" Version="0.1.24">
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<PrivateAssets>all</PrivateAssets>
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<IncludeAssets>runtime; build; native; contentfiles; analyzers; buildtransitive</IncludeAssets>
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</PackageReference>
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<PackageReference Include="Autolabor.Robobase.Component" Version="0.2.1827" />
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<PackageReference Include="Autolabor.SerialBase" Version="0.1.239" />
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<PackageReference Include="Microsoft.Extensions.Hosting" Version="9.0.2" />
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<PackageReference Include="System.Security.Permissions" Version="9.0.2" />
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</ItemGroup>
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<ItemGroup>
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<!-- 支持动态类型-->
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<Reference Include="Microsoft.CSharp"/>
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</ItemGroup>
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</Project>
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using System;
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using System.Net;
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using Autolabor.Robobase;
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using Autolabor.Robobase.Component.Algorithm.LidarDetection;
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using Autolabor.Robobase.Component.Algorithm.LidarDetection.DataType;
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using Autolabor.Robobase.Component.Business.Benz;
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using Autolabor.Robobase.Component.Driver;
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using Autolabor.Robobase.Component.Driver.SerialRelay;
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using Autolabor.Robobase.Component.Tools;
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using Autolabor.Robobase.Geometry;
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using Autolabor.Robobase.Tools.DataRender;
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namespace Autolabor.Benz.ObstacleDetection
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{
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[Serializable]
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public class Detection : GroupComponent
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{
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// 驱动层组件
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private Ld19DriverNew _lidarDriver;
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private SerialRelayDriver _serialRelay;
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// 算法层组件
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private LidarRoiFilter _lidarRoiFilter;
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private ObstacleDetector _obstacleDetector;
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private BenzObstacleControl _benzObstacleController;
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// 显示组件
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private DataRender<Pose2D[]> _lidarRender;
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private DataRender<Pose2D[]> _obstacleRender;
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// 模拟器配置
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private int _FrontLidarRpcPort = 50120;
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private int _FrontLidarListenPort = 40120;
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private IPAddress _serverIp = IPAddress.Loopback;
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// 配置过滤区域
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private LidarRoi[] _lidarRois;
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public Detection()
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{
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// 2. 创建各个功能组件
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// 驱动组件
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_lidarDriver = new Ld19DriverNew();
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_serialRelay = new SerialRelayDriver();
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// 算法组件
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_obstacleDetector = new ObstacleDetector();
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_benzObstacleController = new BenzObstacleControl();
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_lidarRoiFilter = new LidarRoiFilter();
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// 显示组件
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_lidarRender = DataRenderFactory.Make<Pose2D[]>("Benz","lidar",false,true);
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_obstacleRender = DataRenderFactory.Make<Pose2D[]>("Benz","obstacle",false,true);
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// 3. 添加组件到容器
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Add(_lidarDriver);
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Add(_serialRelay);
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Add(_lidarRoiFilter);
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Add(_obstacleDetector);
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Add(_benzObstacleController);
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Add(_lidarRender);
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Add(_obstacleRender);
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// 4. 配置组件
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// 激光雷达配置
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_lidarDriver.SetProperty("lidar.port", "/dev/tty.usbserial-2120");
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_lidarDriver.SetProperty("lidar.x", 0.0);
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_lidarDriver.SetProperty("lidar.y", 0.0);
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_lidarDriver.SetProperty("lidar.originName", "frontLidarOrigin");
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_lidarDriver.SetProperty("lidar.rotation", Math.PI / 2.0);
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_lidarDriver.SetProperty("lidar.startRad", -Math.PI); // 要提取的数据范围
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_lidarDriver.SetProperty("lidar.rangeRad", 2.0 * Math.PI);
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_lidarDriver.SetProperty("lidar.display.interval", 1000);
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_lidarDriver.SetProperty("lidar.intensityLevel", 200.0);
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_lidarDriver.SetProperty("sim.lidar.server.ip", _serverIp);
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_lidarDriver.SetProperty("sim.lidar.rpc.port", _FrontLidarRpcPort);
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_lidarDriver.SetProperty("sim.lidar.listen.port", _FrontLidarListenPort);
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// 串口继电器配置
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_serialRelay.SetProperty("serial.relay.port", "/dev/tty.usbserial-AC012VIB");
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// 创建感兴趣区
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_lidarRois = new[]
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{
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LidarRoiFactory.Make(0.6, 0.5, 0.1, -0.5),
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};
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// 配置过滤器
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_lidarRoiFilter.SetProperty("roiArray", _lidarRois);
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// 障碍物检测器配置
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_obstacleDetector.SetProperty("MinClusterDistance", 0.05);
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_obstacleDetector.SetProperty("MinClusterSize", 3);
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_obstacleDetector.SetProperty("MaxPrjDistance", 0.05);
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_obstacleDetector.SetProperty("GuessDistance", 1.0);
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// 配置发现和丢失次数
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_benzObstacleController.SetProperty("FoundObstacleThreshold", 3);
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_benzObstacleController.SetProperty("LostObstacleThreshold", 5);
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// 5. 连接组件
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// 雷达数据流向避障检测
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_lidarDriver.OutputLocalLidarPose2D.Connect(_lidarRoiFilter.InputLidarPoints);
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_lidarRoiFilter.OutputFilteredPoints.Connect(_obstacleDetector.InputLidarPoints);
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// 雷达诊断信号连接到奔驰障碍物控制器
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_lidarDriver.OutputLidarDiagnostic.Connect(_benzObstacleController.InputDiagnostics);
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// 避障检测结果流向奔驰避障控制器
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_obstacleDetector.OutputObstacles.Connect(_benzObstacleController.InputObstacles);
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// 奔驰避障控制器输出到继电器
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_benzObstacleController.OutputRelayControl.Connect(_serialRelay.InputRelayControl);
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_benzObstacleController.OutputRelayQuery.Connect(_serialRelay.InputRelayQuery);
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_serialRelay.OutputRelayFeedback.Connect(_benzObstacleController.InputRelayStatus);
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// 连接到绘图
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_lidarDriver.OutputLocalLidarPose2D.Connect(_lidarRender.Input);
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_obstacleDetector.OutputObstaclePoses.Connect(_obstacleRender.Input);
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}
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}
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}
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using Autolabor.Benz.ObstacleDetection;
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using Microsoft.Extensions.DependencyInjection;
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using Microsoft.Extensions.Hosting;
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var builder = Host.CreateApplicationBuilder(args);
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builder.Services.AddHostedService<Worker>();
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var host = builder.Build();
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host.Run();
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{
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"$schema": "http://json.schemastore.org/launchsettings.json",
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"profiles": {
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"BenzObstacleDetect": {
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"commandName": "Project",
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"dotnetRunMessages": true,
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"environmentVariables": {
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"DOTNET_ENVIRONMENT": "Development"
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}
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}
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}
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}
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using System;
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using System.Threading;
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using System.Threading.Tasks;
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using Autolabor.Robobase;
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using Microsoft.Extensions.Hosting;
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using Microsoft.Extensions.Logging;
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namespace Autolabor.Benz.ObstacleDetection
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{
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public class Worker : BackgroundService
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{
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private readonly ILogger<Worker> _logger;
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public Worker(ILogger<Worker> logger)
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{
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_logger = logger;
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}
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protected override async Task ExecuteAsync(CancellationToken stoppingToken)
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{
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// 创建用户配置文件
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var app = Kits.GetAutolaborDataPath();
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var path = System.IO.Path.Combine(app, "BenzObstacleDetection.bin");
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UserDataManager.Initialize(path);
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// 输出日志
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TestKit.Logger.Trace("BenzObstacleDetection start");
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// 启动顶层组件
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var detection = new Detection();
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detection.Enable = true;
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// while (!stoppingToken.IsCancellationRequested)
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// {
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// if (_logger.IsEnabled(LogLevel.Information))
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// {
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// _logger.LogInformation("Worker running at: {time}", DateTimeOffset.Now);
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// }
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//
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// await Task.Delay(1000, stoppingToken);
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// }
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}
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}
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}
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Reference in New Issue