feat: update Autolabor.Robobase.Component to version 0.2.1833 and clean up unused code

BenzObstacleDetect/BenzObstacleDetect.csproj

@@ -20,7 +20,7 @@
           <PrivateAssets>all</PrivateAssets>
           <IncludeAssets>runtime; build; native; contentfiles; analyzers; buildtransitive</IncludeAssets>
         </PackageReference>
-        <PackageReference Include="Autolabor.Robobase.Component" Version="0.2.1827" />
+        <PackageReference Include="Autolabor.Robobase.Component" Version="0.2.1833" />
         <PackageReference Include="Autolabor.SerialBase" Version="0.1.239" />
         <PackageReference Include="Microsoft.Extensions.Hosting" Version="9.0.2" />
         <PackageReference Include="System.Security.Permissions" Version="9.0.2" />

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<Pose2D[]> _lidarRender;
-        private DataRender<Pose2D[]> _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<Pose2D[]>("Benz","lidar",false,true);
-            _obstacleRender = DataRenderFactory.Make<Pose2D[]>("Benz","obstacle",false,true);
+            // 连接到绘图
+            // var lidarRender = DataRenderFactory.Make<Pose2D[]>("Benz","lidar",false,true);
+            // var obstacleRender = DataRenderFactory.Make<Pose2D[]>("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);
         }
     }
 }

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",