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suixy 2 months ago
parent 9258ec632e
commit 0b5d488d1e
1 changed files with 134 additions and 69 deletions
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203
src/views/index.vue
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@ -31,67 +31,8 @@ import {
UpdateCData, DeleteCData
} from "@/api/api";
import {useRouter} from "vue-router";
const router = useRouter();
import {ElMessage} from "element-plus";
const rulerRef = ref()
const getSocket = () => {
// const socket = new WebSocket("ws://192.168.1.123:7789/ws");
const socket = new WebSocket("ws://192.168.1.123:7789/ws");
// 2. 连接成功时触发
socket.addEventListener("open", () => {
console.log("✅ WebSocket 连接成功");
});
// 3. 接收消息
socket.addEventListener("message", (event) => {
processData(JSON.parse(event.data))
});
// 4. 连接关闭时触发
socket.addEventListener("close", () => {
console.log("❌ WebSocket 已关闭");
});
// 5. 出错时触发
socket.addEventListener("error", (error) => {
console.error("⚠️ WebSocket 出错:", error);
});
}
const processData = (data) => {
if (data.FodName === '雷达信息') {
radarWorkState.value = data.radar_work_state
}
if (data.FodName === '图像数据') {
}
if (data.FodName === 'fod信息') {
console.log('障碍物信息', data)
setDot(data)
}
if (data.ty === 3) {
}
if (data.FodName === '车辆信息') {
currentPosition.value = {
lon: data.Longitude,
lat: data.Latitude,
}
const rectInfo = calcRectangleFromPoints(areaPoints.value);
const point = {
lon: data.Longitude,
lat: data.Latitude,
rotate: data.HeadingAngle
};
const local = getLocalPositionRelativeToP4(point, areaPoints.value, rectInfo);
boxPos.value = local
}
};
const TOP = defineComponent({
name: 'TOP',
setup() {
@ -634,6 +575,67 @@ const RIGHT = defineComponent({
}
})
const router = useRouter();
const rulerRef = ref()
const getSocket = () => {
// const socket = new WebSocket("ws://192.168.1.123:7789/ws");
const socket = new WebSocket("ws://192.168.1.123:7789/ws");
// 2. 连接成功时触发
socket.addEventListener("open", () => {
console.log("✅ WebSocket 连接成功");
});
// 3. 接收消息
socket.addEventListener("message", (event) => {
processData(JSON.parse(event.data))
});
// 4. 连接关闭时触发
socket.addEventListener("close", () => {
console.log("❌ WebSocket 已关闭");
});
// 5. 出错时触发
socket.addEventListener("error", (error) => {
console.error("⚠️ WebSocket 出错:", error);
});
}
const processData = (data) => {
if (data.FodName === '雷达信息') {
radarWorkState.value = data.radar_work_state
}
if (data.FodName === '图像数据') {
}
if (data.FodName === 'fod信息') {
console.log('障碍物信息', data)
setDot(data)
}
if (data.ty === 3) {
}
if (data.FodName === '车辆信息') {
currentPosition.value = {
lon: data.Longitude,
lat: data.Latitude,
}
const rectInfo = calcRectangleFromPoints(areaPoints.value);
const point = {
lon: data.Longitude,
lat: data.Latitude,
rotate: data.HeadingAngle
};
const local = correctDeviation(getLocalPositionRelativeToP4(point, areaPoints.value, rectInfo))
boxPos.value = local
}
};
// 默认方法
const onSubmit = (e) => {
console.log(e)
@ -728,7 +730,6 @@ const saveParasSignalproForm = () => {
// 保存路线设置
const saveParasPosForm = () => {
setParasPos(parasPosForm.value).then(e => {
console.log(e)
})
}
// 更新路线数量
@ -863,11 +864,6 @@ function calcRectangleFromPoints(points) {
const bottomAngleRad = Math.atan2(p1.y - p4.y, p1.x - p4.x);
const angleDeg = bottomAngleRad * 180 / Math.PI;
console.log({
width: Number(width.toFixed(2)),
height: Number(height.toFixed(2)),
angle: Number(angleDeg.toFixed(6))
})
return {
width: Number(width.toFixed(2)),
height: Number(height.toFixed(2)),
@ -902,6 +898,25 @@ function getLocalPositionRelativeToP4(point, rectPoints, rectInfo) {
};
}
// 偏差值
const deviationValue = ref({})
// 设置偏差值
const getDeviationValue = (e) => {
if (!e) return
const rectInfo = calcRectangleFromPoints(areaPoints.value);
const local = getLocalPositionRelativeToP4(e, areaPoints.value, rectInfo);
deviationValue.value = local;
}
// 修正偏差
const correctDeviation = (e) => {
let numH = deviationValue.value.y
let numW = deviationValue.value.x
let Ratio = e.y / numH
return {
...e,
x: e.x - numW * Ratio
}
}
const getPoint = (k) => {
regionLabeling.value[k].lon = currentPosition.value.lon || 0
regionLabeling.value[k].lat = currentPosition.value.lat || 0
@ -916,11 +931,10 @@ const setDot = (e) => {
lat: v.Lat,
rotate: 0
};
const local = getLocalPositionRelativeToP4(point, areaPoints.value, rectInfo);
const local = correctDeviation(getLocalPositionRelativeToP4(point, areaPoints.value, rectInfo))
return local
}).filter(v => v)]
console.log(dots.value)
tableData1.value = [...tableData1.value, ...fodInfo.map((v, k) => {
return {...v, index: tableData1.value.length + k}
})]
@ -932,7 +946,6 @@ const table1Current = (e, v) => {
} else {
dotIndex.value = e.index || 0
}
console.log(e)
}
@ -968,7 +981,28 @@ const getArea2 = () => {
// 区域标定信息
const regionLabeling = ref([])
// 区域点位信息
const areaPoints = ref([])
const areaPoints = ref([
{
name: '点位1',
lon: 120.263824,
lat: 36.985199,
},
{
name: '点位2',
lon: 120.271545,
lat: 36.9816399,
},
{
name: '点位3',
lon: 120.271736,
lat: 36.9818535,
},
{
name: '点位4',
lon: 120.264008,
lat: 36.985424,
},
])
// 保存区域信息
const saveAreaPoint = () => {
let arr = []
@ -980,6 +1014,8 @@ const saveAreaPoint = () => {
ElMessage.success('保存成功')
let data = calcRectangleFromPoints(areaPoints.value)
areaData.value = data
getDeviationValue(areaPoints.value.find(e => e.name === '点位3'))
}).catch((err) => {
ElMessage.error(err)
})
@ -991,15 +1027,44 @@ const getAreaData = () => {
areaPoints.value = res.data
let data = calcRectangleFromPoints(res.data)
areaData.value = data
getDeviationValue(res.data.find(e => e.name === '点位3'))
})
}
const testFun = () => {
let data = calcRectangleFromPoints(areaPoints.value)
areaData.value = data
getDeviationValue(areaPoints.value.find(e => e.name === '点位3'))
let data1 = {
lon: 120.2716405,
lat: 36.9817467,
rotate: 303
}
const getLocal = () => {
const rectInfo = calcRectangleFromPoints(areaPoints.value);
const local = correctDeviation(getLocalPositionRelativeToP4(data1, areaPoints.value, rectInfo))
boxPos.value = local
}
getLocal()
let fx = 1
setInterval(() => {
data1.lon += fx * -0.0077245 * 0.01 / 60
data1.lat += fx * 0.0035648 * 0.01 / 60
getLocal()
}, 1000 / 60)
setInterval(() => {
fx *= -1
}, 1000 * 80)
}
onMounted(() => {
getTableData()
getSocket()
getOption()
getShildTableList()
// testFun()
})
</script>
<style>

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