diff --git a/BenzObstacleDetect/BenzObstacleDetect.csproj b/BenzObstacleDetect/BenzObstacleDetect.csproj
index 1745c4a..18ad269 100644
--- a/BenzObstacleDetect/BenzObstacleDetect.csproj
+++ b/BenzObstacleDetect/BenzObstacleDetect.csproj
@@ -20,7 +20,7 @@
all
runtime; build; native; contentfiles; analyzers; buildtransitive
-
+
diff --git a/BenzObstacleDetect/Detection.cs b/BenzObstacleDetect/Detection.cs
index f6da589..efd23ab 100644
--- a/BenzObstacleDetect/Detection.cs
+++ b/BenzObstacleDetect/Detection.cs
@@ -1,5 +1,4 @@
using System;
-using System.Collections.Generic;
using System.Linq;
using System.Net;
using Autolabor.Benz.ObstacleDetection.DataType;
@@ -9,9 +8,6 @@ using Autolabor.Robobase.Component.Algorithm.LidarDetection.DataType;
using Autolabor.Robobase.Component.Business.Benz;
using Autolabor.Robobase.Component.Driver;
using Autolabor.Robobase.Component.Driver.SerialRelay;
-using Autolabor.Robobase.Component.Tools;
-using Autolabor.Robobase.Geometry;
-using Autolabor.Robobase.Tools.DataRender;
namespace Autolabor.Benz.ObstacleDetection
{
@@ -27,10 +23,6 @@ namespace Autolabor.Benz.ObstacleDetection
private ObstacleDetector _obstacleDetector;
private BenzObstacleControl _benzObstacleController;
- // 显示组件
- private DataRender _lidarRender;
- private DataRender _obstacleRender;
-
// 模拟器配置
private int _FrontLidarRpcPort = 50120;
private int _FrontLidarListenPort = 40120;
@@ -55,9 +47,13 @@ namespace Autolabor.Benz.ObstacleDetection
_benzObstacleController = new BenzObstacleControl();
_lidarRoiFilter = new LidarRoiFilter();
- // 显示组件
- _lidarRender = DataRenderFactory.Make("Benz","lidar",false,true);
- _obstacleRender = DataRenderFactory.Make("Benz","obstacle",false,true);
+ // 连接到绘图
+ // var lidarRender = DataRenderFactory.Make("Benz","lidar",false,true);
+ // var obstacleRender = DataRenderFactory.Make("Benz","obstacle",false,true);
+ // Add(lidarRender);
+ // Add(obstacleRender);
+ // _lidarDriver.OutputLocalLidarPose2D.Connect(lidarRender.Input);
+ // _obstacleDetector.OutputObstaclePoses.Connect(obstacleRender.Input);
// 3. 添加组件到容器
Add(_lidarDriver);
@@ -65,9 +61,7 @@ namespace Autolabor.Benz.ObstacleDetection
Add(_lidarRoiFilter);
Add(_obstacleDetector);
Add(_benzObstacleController);
- Add(_lidarRender);
- Add(_obstacleRender);
-
+
// 4. 配置组件
// 激光雷达配置
_lidarDriver.SetProperty("lidar.port", "/dev/autolabor_ld19");
@@ -102,17 +96,16 @@ namespace Autolabor.Benz.ObstacleDetection
_lidarDriver.OutputLocalLidarPose2D.Connect(_lidarRoiFilter.InputLidarPoints);
_lidarRoiFilter.OutputFilteredPoints.Connect(_obstacleDetector.InputLidarPoints);
// 雷达诊断信号连接到奔驰障碍物控制器
- _lidarDriver.OutputLidarDiagnostic.Connect(_benzObstacleController.InputDiagnostics);
+ _lidarDriver.OutputLidarDiagnostic.Connect(_benzObstacleController.InputLidarDiagnostics);
// 避障检测结果流向奔驰避障控制器
_obstacleDetector.OutputObstacles.Connect(_benzObstacleController.InputObstacles);
// 奔驰避障控制器输出到继电器
_benzObstacleController.OutputRelayControl.Connect(_serialRelay.InputRelayControl);
_benzObstacleController.OutputRelayQuery.Connect(_serialRelay.InputRelayQuery);
_serialRelay.OutputRelayFeedback.Connect(_benzObstacleController.InputRelayStatus);
+ _serialRelay.OutputSerialConnect.Connect(_benzObstacleController.InputSerialConnect);
+
- // 连接到绘图
- _lidarDriver.OutputLocalLidarPose2D.Connect(_lidarRender.Input);
- _obstacleDetector.OutputObstaclePoses.Connect(_obstacleRender.Input);
}
}
}
\ No newline at end of file
diff --git a/Release/BenzObstacleDetect.deps.json b/Release/BenzObstacleDetect.deps.json
index de5f75d..be0f7e8 100644
--- a/Release/BenzObstacleDetect.deps.json
+++ b/Release/BenzObstacleDetect.deps.json
@@ -11,7 +11,7 @@
"dependencies": {
"Autolabor.Robobase": "0.3.631",
"Autolabor.Robobase.CodeGuard": "0.1.24",
- "Autolabor.Robobase.Component": "0.2.1827",
+ "Autolabor.Robobase.Component": "0.2.1833",
"Autolabor.SerialBase": "0.1.239",
"Microsoft.Extensions.Hosting": "9.0.2",
"Microsoft.NETFramework.ReferenceAssemblies": "1.0.3",
@@ -165,7 +165,7 @@
}
},
"Autolabor.Robobase.CodeGuard/0.1.24": {},
- "Autolabor.Robobase.Component/0.2.1827": {
+ "Autolabor.Robobase.Component/0.2.1833": {
"dependencies": {
"Autolabor.Robobase": "0.3.631",
"NLog": "5.1.3",
@@ -628,12 +628,12 @@
"path": "autolabor.robobase.codeguard/0.1.24",
"hashPath": "autolabor.robobase.codeguard.0.1.24.nupkg.sha512"
},
- "Autolabor.Robobase.Component/0.2.1827": {
+ "Autolabor.Robobase.Component/0.2.1833": {
"type": "package",
"serviceable": true,
- "sha512": "sha512-SkgsD2lQ45k/Aj7tWTFpH7VLoXfVLFDLWR3VkOK9EmPvULwb1tjj9RU1lpdr58E2ihFYHJKdL55yCwk2iXwvzw==",
- "path": "autolabor.robobase.component/0.2.1827",
- "hashPath": "autolabor.robobase.component.0.2.1827.nupkg.sha512"
+ "sha512": "sha512-y7LlbK0cQiOjUpW3Z1AWfOcoYuVkKHgMD5ex00WNF2xBOYHv6vL7idDlGc8rhnxf+YNq4Ewp6OnQyHR+03NLTA==",
+ "path": "autolabor.robobase.component/0.2.1833",
+ "hashPath": "autolabor.robobase.component.0.2.1833.nupkg.sha512"
},
"Autolabor.SerialBase/0.1.239": {
"type": "package",
diff --git a/Release/BenzObstacleDetect.exe b/Release/BenzObstacleDetect.exe
index d7d2da1..362439e 100644
Binary files a/Release/BenzObstacleDetect.exe and b/Release/BenzObstacleDetect.exe differ
diff --git a/Release/BenzObstacleDetect.pdb b/Release/BenzObstacleDetect.pdb
index 07dea61..9f280bc 100644
Binary files a/Release/BenzObstacleDetect.pdb and b/Release/BenzObstacleDetect.pdb differ
diff --git a/Release/componentlibrary.dll b/Release/componentlibrary.dll
index fe2a551..b9353d8 100755
Binary files a/Release/componentlibrary.dll and b/Release/componentlibrary.dll differ