commit c9b25b1965a4745bff85a4180f32a2efca069498 Author: lichong <18518571399@163.com> Date: Fri Jul 26 09:28:22 2024 +0800 3211 diff --git a/basedemo/vitebase/.gitignore b/basedemo/vitebase/.gitignore new file mode 100644 index 0000000..a547bf3 --- /dev/null +++ b/basedemo/vitebase/.gitignore @@ -0,0 +1,24 @@ +# Logs +logs +*.log +npm-debug.log* +yarn-debug.log* +yarn-error.log* +pnpm-debug.log* +lerna-debug.log* + +node_modules +dist +dist-ssr +*.local + +# Editor directories and files +.vscode/* +!.vscode/extensions.json +.idea +.DS_Store +*.suo +*.ntvs* +*.njsproj +*.sln +*.sw? diff --git a/basedemo/vitebase/README.md b/basedemo/vitebase/README.md new file mode 100644 index 0000000..e62e093 --- /dev/null +++ b/basedemo/vitebase/README.md @@ -0,0 +1,7 @@ +# Vue 3 + Vite + +This template should help get you started developing with Vue 3 in Vite. The template uses Vue 3 ` + + diff --git a/basedemo/vitebase/package.json b/basedemo/vitebase/package.json new file mode 100644 index 0000000..84d369e --- /dev/null +++ b/basedemo/vitebase/package.json @@ -0,0 +1,18 @@ +{ + "name": "vitebase", + "private": true, + "version": "0.0.0", + "type": "module", + "scripts": { + "dev": "vite", + "build": "vite build", + "preview": "vite preview" + }, + "dependencies": { + "vue": "^3.3.4" + }, + "devDependencies": { + "@vitejs/plugin-vue": "^4.2.3", + "vite": "^4.4.5" + } +} diff --git a/basedemo/vitebase/public/vite.svg b/basedemo/vitebase/public/vite.svg new file mode 100644 index 0000000..e7b8dfb --- /dev/null +++ b/basedemo/vitebase/public/vite.svg @@ -0,0 +1 @@ + \ No newline at end of file diff --git a/basedemo/vitebase/src/App.vue b/basedemo/vitebase/src/App.vue new file mode 100644 index 0000000..341dbf0 --- /dev/null +++ b/basedemo/vitebase/src/App.vue @@ -0,0 +1,30 @@ + + + + + diff --git a/basedemo/vitebase/src/assets/vue.svg b/basedemo/vitebase/src/assets/vue.svg new file mode 100644 index 0000000..770e9d3 --- /dev/null +++ b/basedemo/vitebase/src/assets/vue.svg @@ -0,0 +1 @@ + \ No newline at end of file diff --git a/basedemo/vitebase/src/components/HelloWorld.vue b/basedemo/vitebase/src/components/HelloWorld.vue new file mode 100644 index 0000000..f5e4f53 --- /dev/null +++ b/basedemo/vitebase/src/components/HelloWorld.vue @@ -0,0 +1,40 @@ + + + + + diff --git a/basedemo/vitebase/src/main.js b/basedemo/vitebase/src/main.js new file mode 100644 index 0000000..2425c0f --- /dev/null +++ b/basedemo/vitebase/src/main.js @@ -0,0 +1,5 @@ +import { createApp } from 'vue' +import './style.css' +import App from './App.vue' + +createApp(App).mount('#app') diff --git a/basedemo/vitebase/src/style.css b/basedemo/vitebase/src/style.css new file mode 100644 index 0000000..84a0050 --- /dev/null +++ b/basedemo/vitebase/src/style.css @@ -0,0 +1,89 @@ +:root { + font-family: Inter, system-ui, Avenir, Helvetica, Arial, sans-serif; + line-height: 1.5; + font-weight: 400; + + color-scheme: light dark; + color: rgba(255, 255, 255, 0.87); + background-color: #242424; + + font-synthesis: none; + text-rendering: optimizeLegibility; + -webkit-font-smoothing: antialiased; + -moz-osx-font-smoothing: grayscale; + -webkit-text-size-adjust: 100%; +} + +a { + font-weight: 500; + color: #646cff; + text-decoration: inherit; +} +a:hover { + color: #535bf2; +} + +a { + font-weight: 500; + color: #646cff; + text-decoration: inherit; +} +a:hover { + color: #535bf2; +} + +body { + margin: 0; + display: flex; + place-items: center; + min-width: 320px; + min-height: 100vh; +} + +h1 { + font-size: 3.2em; + line-height: 1.1; +} + +button { + border-radius: 8px; + border: 1px solid transparent; + padding: 0.6em 1.2em; + font-size: 1em; + font-weight: 500; + font-family: inherit; + background-color: #1a1a1a; + cursor: pointer; + transition: border-color 0.25s; +} +button:hover { + border-color: #646cff; +} +button:focus, +button:focus-visible { + outline: 4px auto -webkit-focus-ring-color; +} + +.card { + padding: 2em; +} + +#app { + max-width: 1280px; + margin: 0 auto; + padding: 2rem; + text-align: center; +} + +@media (prefers-color-scheme: light) { + :root { + color: #213547; + background-color: #ffffff; + } + a:hover { + color: #747bff; + } + button { + background-color: #f9f9f9; + } +} diff --git a/basedemo/vitebase/vite.config.js b/basedemo/vitebase/vite.config.js new file mode 100644 index 0000000..05c1740 --- /dev/null +++ b/basedemo/vitebase/vite.config.js @@ -0,0 +1,7 @@ +import { defineConfig } from 'vite' +import vue from '@vitejs/plugin-vue' + +// https://vitejs.dev/config/ +export default defineConfig({ + plugins: [vue()], +}) diff --git a/basedemo/vuebase/.gitignore b/basedemo/vuebase/.gitignore new file mode 100644 index 0000000..403adbc --- /dev/null +++ b/basedemo/vuebase/.gitignore @@ -0,0 +1,23 @@ +.DS_Store +node_modules +/dist + + +# local env files +.env.local +.env.*.local + +# Log files +npm-debug.log* +yarn-debug.log* +yarn-error.log* +pnpm-debug.log* + +# Editor directories and files +.idea +.vscode +*.suo +*.ntvs* +*.njsproj +*.sln +*.sw? diff --git a/basedemo/vuebase/README.md b/basedemo/vuebase/README.md new file mode 100644 index 0000000..80581b4 --- /dev/null +++ b/basedemo/vuebase/README.md @@ -0,0 +1,24 @@ +# vuebase + +## Project setup +``` +npm install +``` + +### Compiles and hot-reloads for development +``` +npm run serve +``` + +### Compiles and minifies for production +``` +npm run build +``` + +### Lints and fixes files +``` +npm run lint +``` + +### Customize configuration +See [Configuration Reference](https://cli.vuejs.org/config/). diff --git a/basedemo/vuebase/babel.config.js b/basedemo/vuebase/babel.config.js new file mode 100644 index 0000000..e955840 --- /dev/null +++ b/basedemo/vuebase/babel.config.js @@ -0,0 +1,5 @@ +module.exports = { + presets: [ + '@vue/cli-plugin-babel/preset' + ] +} diff --git a/basedemo/vuebase/jsconfig.json b/basedemo/vuebase/jsconfig.json new file mode 100644 index 0000000..4aafc5f --- /dev/null +++ b/basedemo/vuebase/jsconfig.json @@ -0,0 +1,19 @@ +{ + "compilerOptions": { + "target": "es5", + "module": "esnext", + "baseUrl": "./", + "moduleResolution": "node", + "paths": { + "@/*": [ + "src/*" + ] + }, + "lib": [ + "esnext", + "dom", + "dom.iterable", + "scripthost" + ] + } +} diff --git a/basedemo/vuebase/package.json b/basedemo/vuebase/package.json new file mode 100644 index 0000000..7921601 --- /dev/null +++ b/basedemo/vuebase/package.json @@ -0,0 +1,52 @@ +{ + "name": "vuebase", + "version": "0.1.0", + "private": true, + "scripts": { + "serve": "vue-cli-service serve", + "build": "vue-cli-service build", + "lint": "vue-cli-service lint" + }, + "dependencies": { + "axios": "^1.5.0", + "core-js": "^3.8.3", + "dayjs": "^1.11.9", + "element-plus": "^2.3.12", + "lodash": "^4.17.21", + "nprogress": "^0.2.0", + "vue": "^3.2.13", + "vue-router": "^4.0.3", + "vuex": "^4.0.0" + }, + "devDependencies": { + "@babel/core": "^7.12.16", + "@babel/eslint-parser": "^7.12.16", + "@vue/cli-plugin-babel": "~5.0.0", + "@vue/cli-plugin-eslint": "~5.0.0", + "@vue/cli-plugin-router": "~5.0.0", + "@vue/cli-plugin-vuex": "~5.0.0", + "@vue/cli-service": "~5.0.0", + "eslint": "^7.32.0", + "eslint-plugin-vue": "^8.0.3" + }, + "eslintConfig": { + "root": true, + "env": { + "node": true + }, + "extends": [ + "plugin:vue/vue3-essential", + "eslint:recommended" + ], + "parserOptions": { + "parser": "@babel/eslint-parser" + }, + "rules": {} + }, + "browserslist": [ + "> 1%", + "last 2 versions", + "not dead", + "not ie 11" + ] +} diff --git a/basedemo/vuebase/public/favicon.ico b/basedemo/vuebase/public/favicon.ico new file mode 100644 index 0000000..df36fcf Binary files /dev/null and b/basedemo/vuebase/public/favicon.ico differ diff --git a/basedemo/vuebase/public/index.html b/basedemo/vuebase/public/index.html new file mode 100644 index 0000000..3e5a139 --- /dev/null +++ b/basedemo/vuebase/public/index.html @@ -0,0 +1,17 @@ + + + + + + + + <%= htmlWebpackPlugin.options.title %> + + + +
+ + + diff --git a/basedemo/vuebase/src/App.vue b/basedemo/vuebase/src/App.vue new file mode 100644 index 0000000..a753dba --- /dev/null +++ b/basedemo/vuebase/src/App.vue @@ -0,0 +1,30 @@ + + + diff --git a/basedemo/vuebase/src/assets/logo.png b/basedemo/vuebase/src/assets/logo.png new file mode 100644 index 0000000..f3d2503 Binary files /dev/null and b/basedemo/vuebase/src/assets/logo.png differ diff --git a/basedemo/vuebase/src/components/HelloWorld.vue b/basedemo/vuebase/src/components/HelloWorld.vue new file mode 100644 index 0000000..1c544cb --- /dev/null +++ b/basedemo/vuebase/src/components/HelloWorld.vue @@ -0,0 +1,60 @@ + + + + + + diff --git a/basedemo/vuebase/src/main.js b/basedemo/vuebase/src/main.js new file mode 100644 index 0000000..a92f228 --- /dev/null +++ b/basedemo/vuebase/src/main.js @@ -0,0 +1,6 @@ +import { createApp } from 'vue' +import App from './App.vue' +import router from './router' +import store from './store' + +createApp(App).use(store).use(router).mount('#app') diff --git a/basedemo/vuebase/src/router/index.js b/basedemo/vuebase/src/router/index.js new file mode 100644 index 0000000..d7a8d0a --- /dev/null +++ b/basedemo/vuebase/src/router/index.js @@ -0,0 +1,25 @@ +import { createRouter, createWebHashHistory } from 'vue-router' +import HomeView from '../views/HomeView.vue' + +const routes = [ + { + path: '/', + name: 'home', + component: HomeView + }, + { + path: '/about', + name: 'about', + // route level code-splitting + // this generates a separate chunk (about.[hash].js) for this route + // which is lazy-loaded when the route is visited. + component: () => import(/* webpackChunkName: "about" */ '../views/AboutView.vue') + } +] + +const router = createRouter({ + history: createWebHashHistory(), + routes +}) + +export default router diff --git a/basedemo/vuebase/src/store/index.js b/basedemo/vuebase/src/store/index.js new file mode 100644 index 0000000..7f5b89c --- /dev/null +++ b/basedemo/vuebase/src/store/index.js @@ -0,0 +1,14 @@ +import { createStore } from 'vuex' + +export default createStore({ + state: { + }, + getters: { + }, + mutations: { + }, + actions: { + }, + modules: { + } +}) diff --git a/basedemo/vuebase/src/views/AboutView.vue b/basedemo/vuebase/src/views/AboutView.vue new file mode 100644 index 0000000..3fa2807 --- /dev/null +++ b/basedemo/vuebase/src/views/AboutView.vue @@ -0,0 +1,5 @@ + diff --git a/basedemo/vuebase/src/views/HomeView.vue b/basedemo/vuebase/src/views/HomeView.vue new file mode 100644 index 0000000..e8d96d7 --- /dev/null +++ b/basedemo/vuebase/src/views/HomeView.vue @@ -0,0 +1,18 @@ + + + diff --git a/basedemo/vuebase/vue.config.js b/basedemo/vuebase/vue.config.js new file mode 100644 index 0000000..6596a0b --- /dev/null +++ b/basedemo/vuebase/vue.config.js @@ -0,0 +1,5 @@ +const { defineConfig } = require('@vue/cli-service') +module.exports = defineConfig({ + transpileDependencies: true, + lintOnSave: false +}) diff --git a/demo/README.md b/demo/README.md new file mode 100644 index 0000000..0c37989 --- /dev/null +++ b/demo/README.md @@ -0,0 +1,33 @@ +# mqtttohttp + + + +## QuickStart + + + +see [egg docs][egg] for more detail. + +### Development + +```bash +$ npm i +$ npm run dev +$ open http://localhost:7001/ +``` + +### Deploy + +```bash +$ npm start +$ npm stop +``` + +### npm scripts + +- Use `npm run lint` to check code style. +- Use `npm test` to run unit test. +- Use `npm run autod` to auto detect dependencies upgrade, see [autod](https://www.npmjs.com/package/autod) for more detail. + + +[egg]: https://eggjs.org \ No newline at end of file diff --git a/demo/app.js b/demo/app.js new file mode 100644 index 0000000..61cbfad --- /dev/null +++ b/demo/app.js @@ -0,0 +1,74 @@ +// app.js +const mqtt = require("mqtt");//mqtt api包 +const _ = require("lodash")//工具包 +class AppBootHook { + constructor(app) { + this.app = app; + } + async didReady() { + //连接到小车上的mqtt服务器 + // const client = mqtt.connect("mqtt://192.168.1.102:1883", { + const client = mqtt.connect("mqtt://127.0.0.1:1883", { + clean: true,//持续链接 + connectTimeout: 4000,//超时 + clientId: 'map-editor-' + Math.random().toString(16).substr(2),//连接用户id唯一 + username: 'map-editor',//连接用户名（如果没有则可以不写） + password: 'leador',//连接用户密码（如果没有则可以不写） + }); + //连接服务器 + client.on("connect", function () { + console.log("appmqtt服务器连接成功"); + // 订阅电池信息 + client.subscribe(`/robot4inspection/fa49e558574df1ec/sensor/battery`, { qos: 0 }, (a, b, c) => { + }); + // 订阅位置信息 + client.subscribe(`/robot4inspection/fa49e558574df1ec/sensor/gps`, { qos: 0 }, (a, b, c) => { + }); + // 订阅位姿信息 + client.subscribe(`/robot4inspection/fa49e558574df1ec/localization/pose`, { qos: 0 }, (a, b, c) => { + }); + // 订阅错误消息 + client.subscribe(`/robot4inspection/fa49e558574df1ec/message/error`, { qos: 0 }, (a, b, c) => { + }); + // 订阅警告消息 + client.subscribe(`/robot4inspection/fa49e558574df1ec/message/warn`, { qos: 0 }, (a, b, c) => { + }); + // 订阅日志消息 + client.subscribe(`/robot4inspection/fa49e558574df1ec/message/info`, { qos: 0 }, (a, b, c) => { + }); + + }); + //监听消息 + client.on("message", async function (topic, message) { + if (_.endsWith(topic, "/sensor/battery")) { + //得到电池信息 + let resObj = JSON.parse(message.toString()) + console.log(resObj) + } else if (_.endsWith(topic, "/sensor/gps")) { + //得到位置信息 + let resObj = JSON.parse(message.toString()) + console.log(resObj) + } else if (_.endsWith(topic, "/localization/pose")) { + //得到位姿信息 + let resObj = JSON.parse(message.toString()) + console.log(resObj) + } else if (_.endsWith(topic, "/message/error")) { + //得到错误信息 + let resObj = JSON.parse(message.toString()) + console.log(resObj) + //得到错误信息后需要发布消息（自定义话题即可） + client.publish("/errorMessage", JSON.stringify(resObj), { qos: 1, }) + } else if (_.endsWith(topic, "/message/warn")) { + //得到警告信息 + let resObj = JSON.parse(message.toString()) + console.log(resObj) + } else if (_.endsWith(topic, "/message/info")) { + //得到日志信息 + let resObj = JSON.parse(message.toString()) + console.log(resObj) + } + }); + } +} + +module.exports = AppBootHook; diff --git a/demo/app/controller/home.js b/demo/app/controller/home.js new file mode 100644 index 0000000..4227970 --- /dev/null +++ b/demo/app/controller/home.js @@ -0,0 +1,11 @@ +'use strict'; + +const { Controller } = require('egg'); +const _ = require("lodash") +class HomeController extends Controller { + async index() { + + } +} + +module.exports = HomeController; diff --git a/demo/app/router.js b/demo/app/router.js new file mode 100644 index 0000000..ccb9ae5 --- /dev/null +++ b/demo/app/router.js @@ -0,0 +1,9 @@ +'use strict'; + +/** + * @param {Egg.Application} app - egg application + */ +module.exports = app => { + const { router, controller } = app; + router.post('/', controller.home.index); +}; diff --git a/demo/config/config.default.js b/demo/config/config.default.js new file mode 100644 index 0000000..32ef2b9 --- /dev/null +++ b/demo/config/config.default.js @@ -0,0 +1,36 @@ +/* eslint valid-jsdoc: "off" */ + +"use strict"; + +/** + * @param {Egg.EggAppInfo} appInfo app info + */ +module.exports = (appInfo) => { + /** + * built-in config + * @type {Egg.EggAppConfig} + **/ + const config = (exports = {}); + + // use for cookie sign key, should change to your own and keep security + config.keys = appInfo.name + "_1687851227647_4638"; + + // add your middleware config here + config.middleware = []; + config.cluster = { + listen: { + port: 7020 + } + } + // add your user config here + const userConfig = { + // myAppName: 'egg', + }; + + + + return { + ...config, + ...userConfig, + }; +}; diff --git a/demo/config/plugin.js b/demo/config/plugin.js new file mode 100644 index 0000000..d0ecaae --- /dev/null +++ b/demo/config/plugin.js @@ -0,0 +1,10 @@ +"use strict"; + +/** @type Egg.EggPlugin */ +module.exports = { + // had enabled by egg + // static: { + // enable: true, + // } + +}; diff --git a/demo/jsconfig.json b/demo/jsconfig.json new file mode 100644 index 0000000..1bbed3f --- /dev/null +++ b/demo/jsconfig.json @@ -0,0 +1,5 @@ +{ + "include": [ + "**/*" + ] +} \ No newline at end of file diff --git a/demo/package.json b/demo/package.json new file mode 100644 index 0000000..af89d83 --- /dev/null +++ b/demo/package.json @@ -0,0 +1,49 @@ +{ + "name": "mqtttohttp", + "version": "1.0.0", + "description": "", + "private": true, + "egg": { + "declarations": true + }, + "dependencies": { + "aedes": "^0.49.0", + "egg": "^3", + "egg-scripts": "^2", + "lodash": "^4.17.21", + "mqtt": "^4.3.7" + }, + "devDependencies": { + "egg-bin": "^5", + "egg-ci": "^2", + "egg-mock": "^5", + "eslint": "^8", + "eslint-config-egg": "^12" + }, + "engines": { + "node": ">=16.0.0" + }, + "scripts": { + "start": "egg-scripts start --daemon --title=egg-server-mqtttohttp", + "stop": "egg-scripts stop --title=egg-server-mqtttohttp", + "dev": "egg-bin dev", + "npmPro": "npm install --production", + "build": "tar -zcvf ../release.tgz .", + "debug": "egg-bin debug", + "test": "npm run lint -- --fix && npm run test-local", + "test-local": "egg-bin test", + "cov": "egg-bin cov", + "lint": "eslint .", + "ci": "npm run lint && npm run cov" + }, + "ci": { + "version": "16, 18", + "type": "github" + }, + "repository": { + "type": "git", + "url": "" + }, + "author": "", + "license": "MIT" +} \ No newline at end of file diff --git a/demo/run/agent_config.json b/demo/run/agent_config.json new file mode 100644 index 0000000..8c4de38 --- /dev/null +++ b/demo/run/agent_config.json @@ -0,0 +1,549 @@ +{ + "config": { + "session": { + "maxAge": 86400000, + "key": "EGG_SESS", + "httpOnly": true, + "encrypt": true, + "logValue": true + }, + "security": { + "domainWhiteList": [], + "protocolWhiteList": [], + "defaultMiddleware": "csrf,hsts,methodnoallow,noopen,nosniff,csp,xssProtection,xframe,dta", + "csrf": { + "enable": true, + "type": "ctoken", + "ignoreJSON": false, + "useSession": false, + "cookieName": "csrfToken", + "sessionName": "csrfToken", + "headerName": "x-csrf-token", + "bodyName": "_csrf", + "queryName": "_csrf", + "supportedRequests": [ + { + "path": {}, + "methods": [ + "POST", + "PATCH", + "DELETE", + "PUT", + "CONNECT" + ] + } + ], + "refererWhiteList": [] + }, + "xframe": { + "enable": true, + "value": "SAMEORIGIN" + }, + "hsts": { + "enable": false, + "maxAge": 31536000, + "includeSubdomains": false + }, + "dta": { + "enable": true + }, + "methodnoallow": { + "enable": true + }, + "noopen": { + "enable": true + }, + "nosniff": { + "enable": true + }, + "referrerPolicy": { + "enable": false, + "value": "no-referrer-when-downgrade" + }, + "xssProtection": { + "enable": true, + "value": "1; mode=block" + }, + "csp": { + "enable": false, + "policy": {} + }, + "ssrf": { + "ipBlackList": null, + "ipExceptionList": null, + "checkAddress": null + }, + "_protocolWhiteListSet": "" + }, + "helper": { + "shtml": {} + }, + "jsonp": { + "limit": 50, + "callback": [ + "_callback", + "callback" + ], + "csrf": false + }, + "onerror": { + "errorPageUrl": "", + "appErrorFilter": null, + "templatePath": "F:\\code\\demo\\node_modules\\egg-onerror\\lib\\onerror_page.mustache" + }, + "i18n": { + "defaultLocale": "en_US", + "dirs": [], + "queryField": "locale", + "cookieField": "locale", + "cookieDomain": "", + "cookieMaxAge": "1y" + }, + "watcher": { + "type": "development", + "eventSources": { + "default": "F:\\code\\demo\\node_modules\\egg-watcher\\lib\\event-sources\\default", + "development": "F:\\code\\demo\\node_modules\\egg-watcher\\lib\\event-sources\\development" + } + }, + "customLogger": { + "scheduleLogger": { + "consoleLevel": "NONE", + "file": "egg-schedule.log" + } + }, + "schedule": { + "directory": [] + }, + "multipart": { + "mode": "stream", + "autoFields": false, + "defaultCharset": "utf8", + "defaultParamCharset": "utf8", + "fieldNameSize": 100, + "fieldSize": "100kb", + "fields": 10, + "fileSize": "10mb", + "files": 10, + "fileExtensions": [], + "whitelist": null, + "allowArrayField": false, + "tmpdir": 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"ipHeaders": "x-forwarded-for", + "hostHeaders": "", + "pkg": { + "name": "mqtttohttp", + "version": "1.0.0", + "description": "", + "private": true, + "egg": { + "declarations": true + }, + "dependencies": { + "aedes": "^0.49.0", + "egg": "^3", + "egg-scripts": "^2", + "lodash": "^4.17.21", + "mqtt": "^4.3.7" + }, + "devDependencies": { + "egg-bin": "^5", + "egg-ci": "^2", + "egg-mock": "^5", + "eslint": "^8", + "eslint-config-egg": "^12" + }, + "engines": { + "node": ">=16.0.0" + }, + "scripts": { + "start": "egg-scripts start --daemon --title=egg-server-mqtttohttp", + "stop": "egg-scripts stop --title=egg-server-mqtttohttp", + "dev": "egg-bin dev", + "npmPro": "npm install --production", + "build": "tar -zcvf ../release.tgz .", + "debug": "egg-bin debug", + "test": "npm run lint -- --fix && npm run test-local", + "test-local": "egg-bin test", + "cov": "egg-bin cov", + "lint": "eslint .", + "ci": "npm run lint && npm run cov" + }, + "ci": { + "version": "16, 18", + "type": "github" + 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node_modules/egg-core/lib/egg.js:304:10", + "start": 1700535302966, + "end": 1700535302972, + "duration": 6, + "pid": 9772, + "index": 65 + } +] \ No newline at end of file diff --git a/demo/run/router.json b/demo/run/router.json new file mode 100644 index 0000000..0ad7725 --- /dev/null +++ b/demo/run/router.json @@ -0,0 +1,14 @@ +[ + { + "name": null, + "methods": [ + "POST" + ], + "paramNames": [], + "path": "/", + "regexp": "/^(?:\\/(?=$))?$/", + "stack": [ + "wrappedController" + ] + } +] \ No newline at end of file diff --git a/demo/typings/app/controller/index.d.ts b/demo/typings/app/controller/index.d.ts new file mode 100644 index 0000000..7dad0e3 --- /dev/null +++ b/demo/typings/app/controller/index.d.ts @@ -0,0 +1,12 @@ +// This file is created by egg-ts-helper@1.35.1 +// Do not modify this file!!!!!!!!! +/* eslint-disable */ + +import 'egg'; +import ExportHome = require('../../../app/controller/home'); + +declare module 'egg' { + interface IController { + home: ExportHome; + } +} diff --git a/demo/typings/app/index.d.ts b/demo/typings/app/index.d.ts new file mode 100644 index 0000000..c604948 --- /dev/null +++ b/demo/typings/app/index.d.ts @@ -0,0 +1,7 @@ +// This file is created by egg-ts-helper@1.35.1 +// Do not modify this file!!!!!!!!! +/* eslint-disable */ + +import 'egg'; +export * from 'egg'; +export as namespace Egg; diff --git a/demo/typings/config/index.d.ts b/demo/typings/config/index.d.ts new file mode 100644 index 0000000..a8add35 --- /dev/null +++ b/demo/typings/config/index.d.ts @@ -0,0 +1,12 @@ +// This file is created by egg-ts-helper@1.35.1 +// Do not modify this file!!!!!!!!! +/* eslint-disable */ + +import 'egg'; +import { EggAppConfig } from 'egg'; +import ExportConfigDefault = require('../../config/config.default'); +type ConfigDefault = ReturnType; +type NewEggAppConfig = ConfigDefault; +declare module 'egg' { + interface EggAppConfig extends NewEggAppConfig { } +} \ No newline at end of file diff --git a/demo/typings/config/plugin.d.ts b/demo/typings/config/plugin.d.ts new file mode 100644 index 0000000..57c59b0 --- /dev/null +++ b/demo/typings/config/plugin.d.ts @@ -0,0 +1,34 @@ +// This file is created by egg-ts-helper@1.35.1 +// Do not modify this file!!!!!!!!! +/* eslint-disable */ + +import 'egg'; +import 'egg-onerror'; +import 'egg-session'; +import 'egg-i18n'; +import 'egg-watcher'; +import 'egg-multipart'; +import 'egg-security'; +import 'egg-development'; +import 'egg-logrotator'; +import 'egg-schedule'; +import 'egg-static'; +import 'egg-jsonp'; +import 'egg-view'; +import { EggPluginItem } from 'egg'; +declare module 'egg' { + interface EggPlugin { + onerror?: EggPluginItem; + session?: EggPluginItem; + i18n?: EggPluginItem; + watcher?: EggPluginItem; + multipart?: EggPluginItem; + security?: EggPluginItem; + development?: EggPluginItem; + logrotator?: EggPluginItem; + schedule?: EggPluginItem; + static?: EggPluginItem; + jsonp?: EggPluginItem; + view?: EggPluginItem; + } +} \ No newline at end of file diff --git a/developedcode/cegongji/back/.eslintignore b/developedcode/cegongji/back/.eslintignore new file mode 100644 index 0000000..4ebc8ae --- /dev/null +++ b/developedcode/cegongji/back/.eslintignore @@ -0,0 +1 @@ +coverage diff --git a/developedcode/cegongji/back/.eslintrc b/developedcode/cegongji/back/.eslintrc new file mode 100644 index 0000000..f304bdd --- /dev/null +++ b/developedcode/cegongji/back/.eslintrc @@ -0,0 +1,4 @@ +{ + "extends": "eslint-config-egg", + "root": true +} diff --git a/developedcode/cegongji/back/.gitignore b/developedcode/cegongji/back/.gitignore new file mode 100644 index 0000000..652759b --- /dev/null +++ b/developedcode/cegongji/back/.gitignore @@ -0,0 +1,15 @@ +logs/ +npm-debug.log +yarn-error.log +node_modules/ +*-lock.json +*-lock.yaml +yarn.lock +coverage/ +.idea/ +run/ +.DS_Store +*.sw* +*.un~ +typings/ +.nyc_output/ diff --git a/developedcode/cegongji/back/README.md b/developedcode/cegongji/back/README.md new file mode 100644 index 0000000..7f70ca2 --- /dev/null +++ b/developedcode/cegongji/back/README.md @@ -0,0 +1,33 @@ +# cegongji + +cegongji back + +## QuickStart + + + +see [egg docs][egg] for more detail. + +### Development + +```bash +$ npm i +$ npm run dev +$ open http://localhost:7001/ +``` + +### Deploy + +```bash +$ npm start +$ npm stop +``` + +### npm scripts + +- Use `npm run lint` to check code style. +- Use `npm test` to run unit test. +- Use `npm run autod` to auto detect dependencies upgrade, see [autod](https://www.npmjs.com/package/autod) for more detail. + + +[egg]: https://eggjs.org \ No newline at end of file diff --git a/developedcode/cegongji/back/agent.js b/developedcode/cegongji/back/agent.js new file mode 100644 index 0000000..6f73602 --- /dev/null +++ b/developedcode/cegongji/back/agent.js @@ -0,0 +1,3 @@ +module.exports = async app => { + +} diff --git a/developedcode/cegongji/back/app.js b/developedcode/cegongji/back/app.js new file mode 100644 index 0000000..8bf5012 --- /dev/null +++ b/developedcode/cegongji/back/app.js @@ -0,0 +1,128 @@ +const { SerialPort } = require('serialport') +const mqtt = require("mqtt"); +require('events').EventEmitter.defaultMaxListeners = 0; // 解除限制 +const serialPortParams = { + path: "COM5", + baudRate: 9600, //波特率 + dataBits: 8, //数据位 + parity: 'none', //奇偶校验 + stopBits: 1, //停止位 + flowControl: false, + autoOpen: false, //不自动打开 + // highWaterMark: 64 * 1024, + highWaterMark: 32, +} +class AppBootHook { + constructor(app) { + this.app = app; + } + configWillLoad() { + // 此时 config 文件已经被读取并合并，但是还并未生效 + // 这是应用层修改配置的最后时机 + // 注意：此函数只支持同步调用 + } + + async didLoad() { + // 所有的配置已经加载完毕 + // 可以用来加载应用自定义的文件，启动自定义的服务 + + + } + + async willReady() { + // 所有的插件都已启动完毕，但是应用整体还未 ready + // 可以做一些数据初始化等操作，这些操作成功才会启动应用 + + } + + async didReady() { + // 应用已经启动完毕 + + } + + async serverDidReady() { + // http / https server 已启动，开始接受外部请求 + // 此时可以从 app.server 拿到 server 的实例 + //生成串口连接 + function genSerialport(options) { + return new SerialPort({ ...serialPortParams, ...options }) + } + //转矩转速功率测量仪下"COM1" + //转矩转速功率测量仪中"COM2" + //转矩转速功率测量仪上"COM3" + //wlk-10A控制器（下上一体）"COM4" + //XSD5-2隔离型 "COM5" + //初始化串口 + this.app.comKey = [ + { + key: "XSD5", + ripCom: "COM5", + sendRipId: "01 03 00 00 00 06", + ripBackStart: "01 03", + recieveRipLength: 17, + ripComInstence: genSerialport({ path: "COM5" }), + }, + { + key: "TR4DU", + ripCom: "COM3", + sendRipId: "05 03 00 00 00 09", + ripBackStart: "05 03", + recieveRipLength: 23, + ripComInstence: genSerialport({ path: "COM3" }), + }, + { + key: "WLK10A", + ripCom: "COM4", + execFun: ["WLK10AU", "WLK10AD"], + sendRipId: "01 03 00 00 00 02", + ripBackStart: "01 03", + recieveRipLength: 9, + ripComInstence: genSerialport({ path: "COM4" }), + }, + { + key: "TR4DM", + ripCom: "COM2", + sendRipId: "05 03 00 00 00 09", + ripBackStart: "05 03", + recieveRipLength: 23, + ripComInstence: genSerialport({ path: "COM2" }), + }, + { + key: "TR4DD", + ripCom: "COM1", + sendRipId: "05 03 00 00 00 09", + ripBackStart: "05 03", + recieveRipLength: 23, + ripComInstence: genSerialport({ path: "COM1" }), + }, + { + key: "relay", + ripCom: "COM7", + // sendRipId: ["08 01 00 41 00 08", "02 01 00 41 00 08"], + sendRipId: ["08 01 00 41 00 08"], + // ripBackStart: ["01 01 01", "02 01 01"], + ripBackStart: ["08 01 01"], + recieveRipLength: 6, + ripComInstence: genSerialport({ path: "COM7" }), + }, + // { + // key: "COM6", + // ripCom: "COM6", + // sendRipId: ["01 01 00 41 00 08", "02 01 00 41 00 08"], + // ripBackStart: ["01 01 01", "02 01 01"], + // recieveRipLength: 6, + // ripComInstence: genSerialport({ path: "COM6" }), + // }, + ] + this.app.mqttServe = mqtt.connect("mqtt://127.0.0.1:1883", { + clean: true, + connectTimeout: 4000, + clientId: 'COM-' + Math.random().toString(16).substring(2), + }); + this.app.mqttServe.on("connect", function () { + console.log("appmqtt服务器连接成功"); + }); + } +} + +module.exports = AppBootHook; diff --git a/developedcode/cegongji/back/app/controller/dualFlowMotor.js b/developedcode/cegongji/back/app/controller/dualFlowMotor.js new file mode 100644 index 0000000..b0efe39 --- /dev/null +++ b/developedcode/cegongji/back/app/controller/dualFlowMotor.js @@ -0,0 +1,30 @@ +'use strict'; +const _ = require("lodash"); +const Controller = require('egg').Controller; +class DualFlowMotorController extends Controller { + //初始化双流电机 + async init() { + let { ctx } = this; + let params = ctx.request.body + let res = await ctx.service.dualFlowMotor.init(params); + ctx.body = res + ctx.status = 200 + } + //保存双流电机数据 + async send() { + let { ctx } = this; + let params = ctx.request.body + let res = await ctx.service.dualFlowMotor.send(params); + ctx.body = res + ctx.status = 200 + } + //保存双流电机数据 + async save() { + let { ctx } = this; + let params = ctx.request.body + let res = await ctx.service.dualFlowMotor.save(params); + ctx.body = res + ctx.status = 200 + } +} +module.exports = DualFlowMotorController; \ No newline at end of file diff --git a/developedcode/cegongji/back/app/controller/home.js b/developedcode/cegongji/back/app/controller/home.js new file mode 100644 index 0000000..bf7b12c --- /dev/null +++ b/developedcode/cegongji/back/app/controller/home.js @@ -0,0 +1,32 @@ +'use strict'; +const Controller = require('egg').Controller; +const _ = require("lodash"); +class HomeController extends Controller { + //启动定时任务 + async startSend() { + let { ctx } = this; + ctx.service.home.startSend(ctx.request.body); + ctx.body = { + haserror: false, + msg: `(${_.join(_.map(ctx.request.body, "key"), "、")})定时任务开始`, + } + ctx.status = 200 + } + //初始化发送一次查询命令 + async startSendOnce() { + let { ctx } = this; + let res = await ctx.service.home.startSendOnce(ctx.request.body); + ctx.body = res + ctx.status = 200 + } + + //关闭定时任务 + async endSend() { + let { ctx } = this; + let res = await ctx.service.home.endSend(); + ctx.body = res + ctx.status = 200 + } +} + +module.exports = HomeController; \ No newline at end of file diff --git a/developedcode/cegongji/back/app/controller/hubMotor.js b/developedcode/cegongji/back/app/controller/hubMotor.js new file mode 100644 index 0000000..ff3b4ec --- /dev/null +++ b/developedcode/cegongji/back/app/controller/hubMotor.js @@ -0,0 +1,22 @@ +'use strict'; +const _ = require("lodash"); +const Controller = require('egg').Controller; +class HubMotorController extends Controller { + //初始化轮毂电机 + async init() { + let { ctx } = this; + let params = ctx.request.body + let res = await ctx.service.hubMotor.init(params); + ctx.body = res + ctx.status = 200 + } + //保存轮毂电机数据 + async save() { + let { ctx } = this; + let params = ctx.request.body + let res = await ctx.service.hubMotor.save(params); + ctx.body = res + ctx.status = 200 + } +} +module.exports = HubMotorController; \ No newline at end of file diff --git a/developedcode/cegongji/back/app/controller/message.js b/developedcode/cegongji/back/app/controller/message.js new file mode 100644 index 0000000..d38ce83 --- /dev/null +++ b/developedcode/cegongji/back/app/controller/message.js @@ -0,0 +1,33 @@ +'use strict'; +const _ = require("lodash"); +const Controller = require('egg').Controller; +class MessageController extends Controller { + //打开端口 + async openCom() { + let { ctx } = this; + let params = ctx.request.body + let SerialPortItem = _.find(ctx.app.comKey, { key: params.key }) + let res = await ctx.service.message.openCom(SerialPortItem); + ctx.body = res + ctx.status = 200 + } + //关闭端口 + async closeCom() { + let { ctx } = this; + let params = ctx.request.body + let SerialPortItem = _.find(ctx.app.comKey, { key: params.key }) + let res = await ctx.service.message.closeCom(SerialPortItem); + ctx.body = res + ctx.status = 200 + } + //发送指令 + async index() { + let { ctx } = this; + let params = ctx.request.body + let SerialPortItem = _.find(ctx.app.comKey, { ripCom: params.ripCom }) + let res = await ctx.service.message.index({ ...SerialPortItem, ...params }); + ctx.body = res + ctx.status = 200 + } +} +module.exports = MessageController; \ No newline at end of file diff --git a/developedcode/cegongji/back/app/controller/users.js b/developedcode/cegongji/back/app/controller/users.js new file mode 100644 index 0000000..6b0cbec --- /dev/null +++ b/developedcode/cegongji/back/app/controller/users.js @@ -0,0 +1,48 @@ +'use strict'; +const Controller = require('egg').Controller; +class UserController extends Controller { + //用户登陆 + async login() { + let { ctx } = this; + let res = await ctx.service.users.login(ctx.request.body); + ctx.body = res + ctx.status = 200 + } + //新增用户 + async addUser() { + let { ctx } = this; + let res = await ctx.service.users.addUser(ctx.request.body); + ctx.body = res + } + // //修改用户 + // async updateUser() { + // let { ctx } = this; + // let id = await ctx.service.users.updateUser(ctx.request.body); + // ctx.body = { + // topic_id: id, + // }; + // } + // //删除用户 + // async delUser() { + // let { ctx } = this; + // let id = await ctx.service.users.delUser(ctx.request.body); + // ctx.body = { + // topic_id: id, + // }; + // } + //获取用户列表 + async getUserList() { + let { ctx } = this; + let res = await ctx.service.users.getUserList(ctx.request.body); + ctx.body = res + } + //获取用户登录列表 + async getUserLoginList() { + let { ctx } = this; + let res = await ctx.service.users.getUserLoginList(ctx.request.body); + ctx.body = res + } + + +} +module.exports = UserController; \ No newline at end of file diff --git a/developedcode/cegongji/back/app/io/controller/gelixing.js b/developedcode/cegongji/back/app/io/controller/gelixing.js new file mode 100644 index 0000000..375cc97 --- /dev/null +++ b/developedcode/cegongji/back/app/io/controller/gelixing.js @@ -0,0 +1,9 @@ +'use strict'; +const Controller = require('egg').Controller; +class GelixingController extends Controller { + //message + async index1() { + + } +} +module.exports = GelixingController; \ No newline at end of file diff --git a/developedcode/cegongji/back/app/middleware/error_handler.js b/developedcode/cegongji/back/app/middleware/error_handler.js new file mode 100644 index 0000000..deb7716 --- /dev/null +++ b/developedcode/cegongji/back/app/middleware/error_handler.js @@ -0,0 +1,24 @@ +// app/middleware/error_handler.js +module.exports = () => { + return async function errorHandler(ctx, next) { + try { + await next(); + } catch (err) { + // 所有的异常都在 app 上触发一个 error 事件，框架会记录一条错误日志 + ctx.app.emit('error', err, ctx); + const status = err.status || 500; + // 生产环境时 500 错误的详细错误内容不返回给客户端，因为可能包含敏感信息 + const error = + status === 500 && ctx.app.config.env === 'prod' + ? 'Internal Server Error' + : err.message; + + // 从 error 对象上读出各个属性，设置到响应中 + ctx.body = { error }; + if (status === 422) { + ctx.body.detail = err.errors; + } + ctx.status = status; + } + }; + }; \ No newline at end of file diff --git a/developedcode/cegongji/back/app/middleware/jwtErr.js b/developedcode/cegongji/back/app/middleware/jwtErr.js new file mode 100644 index 0000000..389543f --- /dev/null +++ b/developedcode/cegongji/back/app/middleware/jwtErr.js @@ -0,0 +1,23 @@ +'use strict'; + +// middleware/jwtErr.js +module.exports = options => { + return async function jwtErr(ctx, next) { + try { + let tokenTemp = ctx.headers.authorization.split(' ') + let token = tokenTemp[tokenTemp.length - 1]; + let decode = await ctx.app.jwt.verify(token, options.secret) + let params = { + _id: decode.userID + } + let permission = await ctx.service.utils.checkPerssion("User", params) + if (permission) { + await next() + } else { + ctx.body = { "statusCode": 403, "errMsg": "没有权限" }; + } + } catch (err) { + ctx.body = { "statusCode": 403, "errMsg": `错误信息：${err}` }; + } + }; +}; diff --git a/developedcode/cegongji/back/app/model/dualFlowMotor.js b/developedcode/cegongji/back/app/model/dualFlowMotor.js new file mode 100644 index 0000000..95e2955 --- /dev/null +++ b/developedcode/cegongji/back/app/model/dualFlowMotor.js @@ -0,0 +1,47 @@ +'use strict'; + +module.exports = app => { + const mongoose = app.mongoose; + const Schema = mongoose.Schema; + + const DualFlowMotorSchema = new Schema({ + username: {//数据所属人 + type: String, + index: true + }, + canName: {//can名称 + type: String, + index: true + }, + canId: { //canId + type: String, + index: true + }, + sendRip: { //can发送的数据 + type: String, + index: true + }, + recieveRipArr: { //can接收的数据 + type: Array, + index: true + }, + delete: { + type: Number, + default: 0, //0代表未删除，1代表删除 + index: true + }, + create_at: { + type: Date, + default: Date.now, + index: true + }, + update_at: { + type: Date, + default: Date.now, + index: true + }, + }, { + strict: false + }); + return mongoose.model('dualFlowMotor', DualFlowMotorSchema, "dualFlowMotor"); +}; diff --git a/developedcode/cegongji/back/app/model/hubMotor.js b/developedcode/cegongji/back/app/model/hubMotor.js new file mode 100644 index 0000000..f5a2b0f --- /dev/null +++ b/developedcode/cegongji/back/app/model/hubMotor.js @@ -0,0 +1,47 @@ +'use strict'; + +module.exports = app => { + const mongoose = app.mongoose; + const Schema = mongoose.Schema; + + const HubMotorSchema = new Schema({ + username: {//数据所属人 + type: String, + index: true + }, + canName: {//can名称 + type: String, + index: true + }, + canId: { //canId + type: String, + index: true + }, + sendRip: { //can发送的数据 + type: String, + index: true + }, + recieveRipArr: { //can接收的数据 + type: Array, + index: true + }, + delete: { + type: Number, + default: 0, //0代表未删除，1代表删除 + index: true + }, + create_at: { + type: Date, + default: Date.now, + index: true + }, + update_at: { + type: Date, + default: Date.now, + index: true + }, + }, { + strict: false + }); + return mongoose.model('hubMotor', HubMotorSchema, "hubMotor"); +}; diff --git a/developedcode/cegongji/back/app/model/user.js b/developedcode/cegongji/back/app/model/user.js new file mode 100644 index 0000000..305145f --- /dev/null +++ b/developedcode/cegongji/back/app/model/user.js @@ -0,0 +1,43 @@ +'use strict'; + +module.exports = app => { + const mongoose = app.mongoose; + const Schema = mongoose.Schema; + + const UserSchema = new Schema({ + submission: { + username: { + type: String, + unique: true, + index: true + }, + password: { + type: String, + index: true + }, + }, + role: { //角色信息，默认操作员 + type: String, + default: 'operator', + index: true + }, + delete: { + type: Number, + default: 0, //0代表未删除，1代表删除 + index: true + }, + create_at: { + type: Date, + default: Date.now, + index: true + }, + update_at: { + type: Date, + default: Date.now, + index: true + }, + }, { + strict: false + }); + return mongoose.model('user', UserSchema, "user"); +}; diff --git a/developedcode/cegongji/back/app/model/userLoginRecord.js b/developedcode/cegongji/back/app/model/userLoginRecord.js new file mode 100644 index 0000000..1f613b4 --- /dev/null +++ b/developedcode/cegongji/back/app/model/userLoginRecord.js @@ -0,0 +1,37 @@ +'use strict'; + +module.exports = app => { + const mongoose = app.mongoose; + const Schema = mongoose.Schema; + + const UserLoginRecordSchema = new Schema({ + username: { + type: String, + ref: 'User', + index: true + }, + role: { //角色信息，默认操作员 + type: String, + default: 'operator', + index: true + }, + delete: { + type: Number, + default: 0, //0代表未删除，1代表删除 + index: true + }, + create_at: { + type: Date, + default: Date.now, + index: true + }, + update_at: { + type: Date, + default: Date.now, + index: true + }, + }, { + strict: false + }); + return mongoose.model('userLoginRecord', UserLoginRecordSchema, "userLoginRecord"); +}; diff --git a/developedcode/cegongji/back/app/router.js b/developedcode/cegongji/back/app/router.js new file mode 100644 index 0000000..b8706cb --- /dev/null +++ b/developedcode/cegongji/back/app/router.js @@ -0,0 +1,14 @@ +"use strict"; + +/** + * @param {Egg.Application} app - egg application + */ +module.exports = (app) => { + require('./router/user')(app) + //udp + app.udp.handle("index.handle") + // mqttio + require('./router/message')(app) + //自定义初始化页面 + require('./router/selfInit')(app) +}; diff --git a/developedcode/cegongji/back/app/router/message.js b/developedcode/cegongji/back/app/router/message.js new file mode 100644 index 0000000..ad10615 --- /dev/null +++ b/developedcode/cegongji/back/app/router/message.js @@ -0,0 +1,11 @@ +'use strict'; +/** + * @param {Egg.Application} app - egg application + */ +module.exports = app => { + const { router, controller } = app; + //串口接口 + router.post('/api/v1/openCom', controller.message.openCom) + router.post('/api/v1/closeCom', controller.message.closeCom) + router.post('/api/v1/message', controller.message.index) +}; diff --git a/developedcode/cegongji/back/app/router/selfInit.js b/developedcode/cegongji/back/app/router/selfInit.js new file mode 100644 index 0000000..2658ca3 --- /dev/null +++ b/developedcode/cegongji/back/app/router/selfInit.js @@ -0,0 +1,15 @@ +'use strict'; +/** + * @param {Egg.Application} app - egg application + */ +module.exports = app => { + const { router, controller } = app; + //hubMotor轮毂电机 + router.post('/api/v1/initDualFlowMotor', controller.dualFlowMotor.init) + router.post('/api/v1/saveDualFlowMotor', controller.dualFlowMotor.save) + router.post('/api/v1/sendDualFlowMotor', controller.dualFlowMotor.send) + //hubMotor轮毂电机 + router.post('/api/v1/initHubMotor', controller.hubMotor.init) + router.post('/api/v1/saveHubMotor', controller.hubMotor.save) + +}; diff --git a/developedcode/cegongji/back/app/router/user.js b/developedcode/cegongji/back/app/router/user.js new file mode 100644 index 0000000..babb7d3 --- /dev/null +++ b/developedcode/cegongji/back/app/router/user.js @@ -0,0 +1,17 @@ +'use strict'; +/** + * @param {Egg.Application} app - egg application + */ +module.exports = app => { + const { router, controller, middleware } = app; + // const jwtErr = middleware.jwtErr(app.config.jwt); + router.post('/api/v1/auth', controller.users.login)//用户登录 + router.post('/api/v1/adduser', controller.users.addUser)//增加用户、查用户列表 + // router.post('/api/v1/updateuser', jwtErr , controller.users.updateUser)//修改用户 + // router.post('/api/v1/deluser', jwtErr , controller.users.delUser)//删除用户 + router.post('/api/v1/getUserList', controller.users.getUserList) + router.post('/api/v1/getUserLoginList', controller.users.getUserLoginList)//查找用户登陆列表 + router.post('/api/v1/startSend', controller.home.startSend)//启动定时任务 + router.post('/api/v1/startSendOnce', controller.home.startSendOnce)//初始化发送一次查询命令 + router.get('/api/v1/endSend', controller.home.endSend)//关闭定时任务 +}; diff --git a/developedcode/cegongji/back/app/service/dealSerialport.js b/developedcode/cegongji/back/app/service/dealSerialport.js new file mode 100644 index 0000000..6917fd2 --- /dev/null +++ b/developedcode/cegongji/back/app/service/dealSerialport.js @@ -0,0 +1,88 @@ +'use strict'; +const Service = require('egg').Service; +const _ = require("lodash"); +class DealSerialportService extends Service { + + //打开串口 + async openSerialport(SerialPortItem, port) { + if (SerialPortItem.isOpen) { + await this.closeSerialport(SerialPortItem, port) + } + let returnData = { + haserror: true, + msg: `${port}串口打开出错`, + }; + await SerialPortItem.open(function (error) { + if (error) { + returnData.haserror = true + returnData.msg = `${port}端口打开出错：${error}` + } else { + returnData.haserror = false + returnData.msg = `${port}端口打开成功` + } + return returnData + }); + return returnData + } + //关闭串口 + async closeSerialport(SerialPortItem, port) { + if (SerialPortItem.isOpen) { + await SerialPortItem.close() + } + let returnData = { + haserror: false, + msg: `${port}串口关闭成功`, + }; + return returnData + } + //向串口发送指令 + async writeSerialport(SerialPortItem, params) { + let { ctx } = this + //每次发送数据停留50ms + await ctx.service.utils.sleep(50); + let returnData = { + haserror: false, + msg: `${params.ripCom}的指令(${JSON.stringify(params.sendRipId)})发送成功`, + }; + if (SerialPortItem.isOpen) { + await this.writeData(SerialPortItem, params) + } else { + await this.openSerialport(SerialPortItem, params.ripCom) + await this.writeData(SerialPortItem, params) + } + return returnData + } + //写数据后读取 + async writeData(SerialPortItem, params) { + let { ctx } = this + let dealData1 = "" + let dealData2 = "" + if (typeof (params.sendRipId) === "string") { + dealData1 = await ctx.service.utils.MODBUS_CRC(params.sendRipId, true, "hex"); + } else if (typeof (params.sendRipId) === "object") { + dealData1 = await ctx.service.utils.MODBUS_CRC(params.sendRipId[0], true, "hex"); + // dealData2 = await ctx.service.utils.MODBUS_CRC(params.sendRipId[1], true, "hex"); + } + await SerialPortItem.write(Buffer.from(dealData1)); // 发送字符串 + await ctx.service.utils.sleep(50); + let readResult1 = await SerialPortItem.read(); // 发送字符串 + if (dealData1 && readResult1) { + if (dealData1.toString("hex").substring(0, 4) === readResult1.toString("hex").substring(0, 4) && dealData1.toString("hex") !== readResult1.toString("hex")) { + await ctx.service.home.sendData(params, readResult1, params.isDirct); + } + } + if (dealData2) { + await ctx.service.utils.sleep(50); + await SerialPortItem.write(Buffer.from(dealData2)); // 发送字符串 + await ctx.service.utils.sleep(50); + let readResult2 = await SerialPortItem.read(); // 发送字符串 + if (dealData2 && readResult2) { + if (dealData2.toString("hex").substring(0, 4) === readResult2.toString("hex").substring(0, 4) && dealData2.toString("hex") !== readResult2.toString("hex")) { + await ctx.service.home.sendData(params, readResult2, params.isDirct); + } + } + } + } +} + +module.exports = DealSerialportService; \ No newline at end of file diff --git a/developedcode/cegongji/back/app/service/dualFlowMotor.js b/developedcode/cegongji/back/app/service/dualFlowMotor.js new file mode 100644 index 0000000..e00441c --- /dev/null +++ b/developedcode/cegongji/back/app/service/dualFlowMotor.js @@ -0,0 +1,46 @@ +'use strict'; +const Service = require('egg').Service; +const _ = require("lodash"); +class DualFlowMotorService extends Service { + //初始化双流电机 + async init(params) { + let { ctx, app } = this; + app.cantest1 = params.start + return { + hasError: false, + msg: `${params.start ? '开启' : '关闭'}成功` + } + } + //保存双流电机数据 + async send(params) { + let { ctx, app } = this; + let returnData = { + hasError: false, + msg: "发送成功" + } + await app.udp.udp.send(params.key, 8096, "localhost", (err, bytes) => { + if (err) { + returnData.msg = err + } else { + returnData.msg = `已成功发送${bytes}字节` + // app.udp.udp.close(); + // app.udp.udp.on("close", () => { + // console.log("close"); + // }); + } + }); + return returnData + } + //保存双流电机数据 + async save(params) { + let { ctx, app } = this; + // let res = await ctx.model.DualFlowMotor.create(params) + // console.log(66688, res, params) + return { + a444: 52 + } + } + +} + +module.exports = DualFlowMotorService; \ No newline at end of file diff --git a/developedcode/cegongji/back/app/service/home.js b/developedcode/cegongji/back/app/service/home.js new file mode 100644 index 0000000..3392215 --- /dev/null +++ b/developedcode/cegongji/back/app/service/home.js @@ -0,0 +1,121 @@ +'use strict'; +const Service = require('egg').Service; +const _ = require("lodash"); +class HomeService extends Service { + // 开始定时任务 + async startSend(params) { + let { app, ctx } = this; + await ctx.service.utils.sleep(500); + if (!_.isEmpty(params)) { + let newArr = [] + for (let i = 0; i < app.comKey.length; i++) { + let element = app.comKey[i]; + let item = _.find(params, o => o.key === element.key) + if (item) { + newArr.push({ ...element }) + } + } + app.timerTemp = true + while (app.timerTemp) { + await this.exec(newArr) + } + } + } + //初始化发送一次查询命令 + async startSendOnce(params) { + let { app } = this; + let newArr = [] + for (let i = 0; i < app.comKey.length; i++) { + let element = app.comKey[i]; + let item = _.find(params, o => o.key === element.key) + if (item) { + newArr.push({ ...element }) + } + } + await this.exec(newArr) + return { + haserror: false, + msg: '查询完成', + } + } + + //结束定时任务 + async endSend() { + let { app } = this; + app.timerTemp = false + return { + haserror: false, + msg: `成功关闭该页面定时任务`, + } + } + //执行任务 + async exec(newArr) { + let { ctx } = this; + for (let i = 0; i < newArr.length; i++) { + let element = newArr[i]; + await ctx.service.message.index(element); + } + } + // ArrayBuffer转16进制字符串 + arrayBuffer2Hex(buffer) { + let hexArr = Array.prototype.map.call( + new Uint8Array(buffer), + function (bit) { + return ('00' + bit.toString(16)).slice(-2) + } + ) + return hexArr.join(" ") + } + //收到数据后发送数据 + async sendData(params, data, isDirct = false) { + if (data) { + let { app } = this; + let resData = this.arrayBuffer2Hex(Buffer.from(data)) + //像端口发布信息 + if (isDirct) { + app.mqttServe.publish(`/${params.ripCom}`, resData, { + qos: 2, + retain: false, + }) + } else { + let keyList = ["relay", "WLK10A"] + if (keyList.indexOf(params.key) === -1) { + if (!resData.indexOf(params.ripBackStart)) { + app.mqttServe.publish(`/${params.key}`, resData, { + qos: 2, + retain: false, + }) + } + } else { + if (params.key === "WLK10A") { + if (!resData.indexOf(params.ripBackStart)) { + for (let j = 0; j < params.execFun.length; j++) { + let execItem = params.execFun[j]; + app.mqttServe.publish(`/${execItem}`, resData, { + qos: 2, + retain: false, + }) + } + } + } else { + if (params.key === "relay") { + if (!resData.indexOf(params.ripBackStart[0])) { + app.mqttServe.publish(`/${params.key}1`, resData, { + qos: 2, + retain: false, + }) + } else if (!resData.indexOf(params.ripBackStart[1])) { + app.mqttServe.publish(`/${params.key}2`, resData, { + qos: 2, + retain: false, + }) + } + } + } + } + } + } + } +} + +module.exports = HomeService; \ No newline at end of file diff --git a/developedcode/cegongji/back/app/service/hubMotor.js b/developedcode/cegongji/back/app/service/hubMotor.js new file mode 100644 index 0000000..e3adeb6 --- /dev/null +++ b/developedcode/cegongji/back/app/service/hubMotor.js @@ -0,0 +1,24 @@ +'use strict'; +const Service = require('egg').Service; +const _ = require("lodash"); + +class HubMotorService extends Service { + //初始化轮毂电机 + async init(params) { + let { ctx, app } = this; + return { + a444: 55 + } + } + //保存轮毂电机数据 + async save(params) { + let { ctx, app } = this; + return { + a444: 53 + } + } + + +} + +module.exports = HubMotorService; \ No newline at end of file diff --git a/developedcode/cegongji/back/app/service/message.js b/developedcode/cegongji/back/app/service/message.js new file mode 100644 index 0000000..1ea62f0 --- /dev/null +++ b/developedcode/cegongji/back/app/service/message.js @@ -0,0 +1,37 @@ +'use strict'; +const Service = require('egg').Service; +const _ = require("lodash"); +class MessageService extends Service { + //打开端口 + async openCom(params) { + let { ctx, app } = this; + let SerialPortItem = _.find(app.comKey, { key: params.key }) + let res = await ctx.service.dealSerialport.openSerialport(SerialPortItem.ripComInstence, params.ripCom); + return res + } + //关闭端口 + async closeCom(params) { + let { ctx, app } = this; + let SerialPortItem = _.find(app.comKey, { key: params.key }) + let res = await ctx.service.dealSerialport.closeSerialport(SerialPortItem.ripComInstence, params.ripCom); + return res + } + + //发送指令 + async send(SerialPortItem, params) { + let { ctx } = this; + let sendResult = await ctx.service.dealSerialport.writeSerialport(SerialPortItem, params); + if (sendResult) { + return sendResult + } else { + return "端口已被占用，请关闭已占用的端口后刷新页面。" + } + } + //发送指令 + async index(params) { + let sendResult = await this.send(params.ripComInstence, params); + return sendResult + } +} + +module.exports = MessageService; \ No newline at end of file diff --git a/developedcode/cegongji/back/app/service/users.js b/developedcode/cegongji/back/app/service/users.js new file mode 100644 index 0000000..974ed62 --- /dev/null +++ b/developedcode/cegongji/back/app/service/users.js @@ -0,0 +1,156 @@ +'use strict'; +const Service = require('egg').Service; +const _ = require("lodash"); +class UserService extends Service { + //用户登录 + async login(uesrData) { + let { ctx } = this; + let filterOption = { + "filters": { + "submission.username": uesrData.username, + "submission.password": uesrData.password + }, + "sort": { + "create_at": -1 + }, + "skip": 0, + "limit": 1, + } + let res = await ctx.service.utils.getDataList("User", filterOption); + let returnData = + { + haserror: true, + msg: `账号或密码出错请重新登录`, + username: _.get(uesrData, ["username"], ""), + }; + if (res.total) { + //登录成功后新增一条登录信息 + await this.addLoginInfo(_.get(uesrData, ["username"], ""), _.get(res, ["results", 0, "role"], "operator")) + returnData = + { + haserror: false, + msg: `${_.get(uesrData, ["username"], "")}用户登录成功`, + username: _.get(uesrData, ["username"], ""), + _id: _.get(res, ["results", 0, "_id"], ""), + role: _.get(res, ["results", 0, "role"], "operator"), + token: this.genToken(_.get(res, ["results", 0, "_id"], "")), + } + } + return returnData + } + //新增用户 + async addUser(uesrData) { + let { ctx } = this; + let params = { + submission: { + username: _.get(uesrData, ["username"], ""), + password: _.get(uesrData, ["password"], "") + } + } + let returnData = + { + haserror: true, + msg: `${_.get(uesrData, ["username"], "")}用户重复，请输入不同用户`, + username: _.get(uesrData, ["username"]), + }; + try { + let result = await ctx.model.User.create(params) + //注册成功后新增一条登录信息 + await this.addLoginInfo(_.get(uesrData, ["username"], ""), result.role) + returnData = { + haserror: false, + msg: `${_.get(result, ["submission", "username"], "")}用户新建成功`, + username: _.get(result, ["submission", "username"]), + _id: result._id, + role: result.role, + token: this.genToken(result._id), + }; + + } catch (error) { + } + return returnData + } + // //修改用户 + // async updateUser(filter) { + // let { ctx } = this; + // let res = await ctx.model.User.findOneAndUpdate({ username: filter.username }, { password: filter.password }, function (err, data) { + // if (err) { + // return "修改失败" + // } else { + // return "修改成功" + // } + // } + // ); + // return res + // } + // //删除用户 + // async delUser(uesrData) { + // let { ctx } = this; + // let res = await ctx.model.User.findOneAndUpdate({ username: filter.username }, { delete: true }, function (err, data) { + // if (err) { + // return "删除失败" + // } else { + // return "删除成功" + // } + // } + // ); + // return res + // } + //获取用户列表 + async getUserList(uesrData) { + let { ctx } = this; + let filterOption = { + "project": { + "submission.username": "$submission.username", + "role": "$role", + "create_at": "$create_at" + }, + "sort": { + "create_at": -1 + }, + "skip": 0, + "limit": 10, + ...uesrData + } + filterOption = _.merge(filterOption, uesrData) + let res = await ctx.service.utils.getDataList("User", filterOption); + return res + } + //获取用户登录列表 + async getUserLoginList(uesrData) { + let { ctx } = this; + let filterOption = { + "project": { + "username": "$username", + "role": "$role", + "create_at": "$create_at" + }, + "sort": { + "create_at": -1 + }, + "skip": 0, + "limit": 10, + ...uesrData + } + filterOption = _.merge(filterOption, uesrData) + let res = await ctx.service.utils.getDataList("UserLoginRecord", filterOption); + return res + } + //登陆后或者注册后新增一条登录信息数据 + async addLoginInfo(username = "", role = "operator") { + let { ctx, app } = this + let res = await ctx.model.UserLoginRecord.create({ username: username, role: role }) + return res + } + //根据用户id生成token + genToken(id) { + // //生成Token + let { app } = this + let token = app.jwt.sign({ + userID: id, //需要存储的Token数据 + }, app.config.jwt.secret, { expiresIn: 24 * 60 * 60 + 's' }); + return token + } +} + +module.exports = UserService; \ No newline at end of file diff --git a/developedcode/cegongji/back/app/service/utils.js b/developedcode/cegongji/back/app/service/utils.js new file mode 100644 index 0000000..44ae247 --- /dev/null +++ b/developedcode/cegongji/back/app/service/utils.js @@ -0,0 +1,241 @@ +'use strict'; +const Service = require('egg').Service; +const _ = require("lodash") +const mongoose = require('mongoose'); +const crc16 = require('crc/crc16'); +// const dayjs = require('dayjs'); +const ObjectId = mongoose.Types.ObjectId; +class UtilsService extends Service { + //基础表 + baseModel() { + let WorkflowlaunchSchema = new mongoose.Schema({ + create_at: { + type: Date, + default: Date.now, + index: true + }, + update_at: { + type: Date, + default: Date.now, + index: true + }, + title: { + type: String, + index: true + }, + user: { + type: String, + ref: 'XbyUser', + index: true + }, + delete: { + type: Number, + default: 0, //0代表未删除，1代表删除 + index: true + }, + }, { + strict: false + }); + return WorkflowlaunchSchema; + } + //数据库查找表 + async findModelByName(name) { + if (!this.ctx.model.hasOwnProperty(name)) { + let baseModel = this.baseModel(); + let lowerFirstName = _.lowerFirst(name) + this.ctx.model[name] = mongoose.model(lowerFirstName, baseModel, lowerFirstName); + } + return this.ctx.model[name]; + } + /** + * 通用数据获取接口 + * @param modelObj + * @param filterOption 过滤条件、排序、分页条件 + * { + "filters": { + "submission.name": { + "$regex": ".*66", + "$options": "i" + } + }, + "sort": { + "create_at": -1 + }, + "skip": 0, + "limit": 20, + } + * @returns {Promise<*>} + */ + async getDataList(name, filterOption = {}) { + // let { ctx } = this; + //facet 查询结果的同时显示总数 + let modelObj = await this.findModelByName(name) + let facet = { + $facet: { + total: [{ + $count: "total" + }], + results: [] + } + }; + //sort 排序用 + if (!_.isEmpty(filterOption.sort)) { + facet.$facet.results.push({ + $sort: filterOption.sort + }); + } + //skip 排序用 + facet.$facet.results.push({ + $skip: _.get(filterOption, ["skip"], 0) || 0 + }); + //limit 排序用 + if (_.get(filterOption, ["limit"], 1)) { + facet.$facet.results.push({ + $limit: filterOption.limit + }); + } + let agg = []; + //转换字符串_id为objectid，目前只能转第一层和第二层的id，要改为迭代查找 + for (let key in (_.get(filterOption, ["filters"], {}) || {})) { + if (key === '_id' && _.isString(filterOption.filters[key]) && ObjectId.isValid(filterOption.filters[key])) { + //值是一个 mongodb id字符串 + filterOption.filters[key] = ObjectId(filterOption.filters[key]); + } + else if (key === 'create_at' || key === 'update_at') { + filterOption.filters[key]["$gte"] = new Date(filterOption.filters[key]["$gte"]); + filterOption.filters[key]["$lt"] = new Date(filterOption.filters[key]["$lt"]); + } + } + agg.push({ + $match: { delete: 0, ...(_.get(filterOption, ["filters"], {}) || {}) } + }); + if (filterOption.hasOwnProperty('project') && !_.isEmpty(filterOption.project)) { + facet.$facet.results.push({ + $project: filterOption.project + }); + } + //当results ===0 时， 只保留统计 + let aggTotal = [] + let aggResults = [] + aggTotal = [...agg, ...facet["$facet"]["total"]] + aggResults = [...agg, ...facet["$facet"]["results"]] + // ctx.logger.debug(modelObj.modelName, JSON.stringify(aggResults)); + let resultRecords = []; + //allowDiskUse:解决管道内数据量超过100M时报错问题 + let resultTotal = await modelObj.collection.aggregate(aggTotal, { allowDiskUse: true }).toArray(); + if (filterOption.results !== 0) { + resultRecords = await modelObj.collection.aggregate(aggResults, { allowDiskUse: true }).toArray(); + } + let r = resultTotal[0] ? resultTotal[0] : { total: 0 } + r["results"] = resultRecords + return r; + } + //修改数据 + async update(name, updateData, filter = {}) { + let modelObj = await this.findModelByName(name) + updateData['update_at'] = Date.now(); + //转换子路径是因为更新子路径要用.点的形式，不能用字典形式 + if ("submission" in updateData) { + _.forEach(updateData.submission, function (value, key) { + updateData["submission." + key] = value; + }) + updateData = _.omit(updateData, "submission") + } + updateData = { + $set: updateData + }; + filter = _.isEmpty(filter) ? { "_id": updateData["$set"]._id } : filter + delete updateData["$set"]['_id'] + return await modelObj.findOneAndUpdate( + filter + , updateData, { + lean: true + }).exec(); + + } + //新增数据 + async save(name, addOption) { + let modelObj = await this.findModelByName(name) + if (!_.isArray(addOption)) { + addOption = [addOption] + } + let saveData = await modelObj.create(addOption) + return saveData + } + //modbus生成crc校验 + /** + * MODBUS-RTU CRC校验 + * @param data 命令(不带crc16循环冗余码的命令) + * @returns {any[]} 十六进制高低位 + * @constructor + */ + MODBUS_CRC(data, isAll = false, type = "string") { + let trimStr = _.replace(data, /[\s]/g, '') + let res = crc16(trimStr, 'hex') + let dataBuffer = Buffer.from(trimStr, "HEX") + let crcValue = 0xFFFF; + for (let i = 0; i < dataBuffer.length; i++) { + crcValue ^= dataBuffer[i] + for (let j = 0; j < 8; j++) { + if (crcValue & 0x0001) { + crcValue >>= 1 + crcValue ^= 0xA001 + } else { + crcValue >>= 1 + } + } + } + crcValue = crcValue.toString(16) + crcValue = _.padStart(crcValue, 4, "0") + //处理进来的字符串 + if (type === "string") { + let result = ""; + for (let i = 0; i < trimStr.length; i++) { + result += trimStr[i]; + if (i % 2 === 1) result += ' '; + } + + + let returnData = `${crcValue.substring(2, 4)} ${crcValue.substring(0, 2)}` + if (isAll) { + returnData = `${result}${crcValue.substring(2, 4)} ${crcValue.substring(0, 2)}` + } + return returnData + + } else { + let result = []; + for (let i = 0; i < trimStr.length; i++) { + if (i % 2 === 1) { + let item = trimStr.substr(i - 1, 2) + result.push(parseInt(`0x${item}`, 16)) + }; + } + let returnDataArr = [parseInt(`0x${crcValue.substring(2, 4)}`, 16), parseInt(`0x${crcValue.substring(0, 2)}`, 16)] + result.push(returnDataArr[0]) + result.push(returnDataArr[1]) + if (isAll) { + return Buffer.from(result) + } else { + return Buffer.from(returnDataArr) + } + } + } + sleep(time) { + return new Promise((resolve) => setTimeout(resolve, time)); + } + async checkPerssion(model, filter) { + let { ctx } = this + try { + let res = await ctx.model[model].find(filter) + if (res && res.length) { + return true + } else { + return false + } + } catch (err) { + return false + } + } +} + +module.exports = UtilsService; \ No newline at end of file diff --git a/developedcode/cegongji/back/app/udp/controller/index.js b/developedcode/cegongji/back/app/udp/controller/index.js new file mode 100644 index 0000000..b081c00 --- /dev/null +++ b/developedcode/cegongji/back/app/udp/controller/index.js @@ -0,0 +1,24 @@ +module.exports = app => { + return { + async handle(udp) { + udp.on('error', (err) => { + console.log(`udp error:\n${err.stack}`); + }); + + udp.on('message', (msg, rinfo) => { + //cantest接口 + if (app.cantest1) { + app.mqttServe.publish(`/cantest1`, msg.toString(), { + qos: 2, + retain: false, + }) + } + }); + + udp.on('listening', () => { + let address = udp.address(); + console.log(`udp listening ${address.address}:${address.port}`); + }); + }, + }; +}; \ No newline at end of file diff --git a/developedcode/cegongji/back/config/config.default.js b/developedcode/cegongji/back/config/config.default.js new file mode 100644 index 0000000..2a277c8 --- /dev/null +++ b/developedcode/cegongji/back/config/config.default.js @@ -0,0 +1,73 @@ +/* eslint valid-jsdoc: "off" */ + +'use strict'; + +/** + * @param {Egg.EggAppInfo} appInfo app info + */ +module.exports = appInfo => { + /** + * built-in config + * @type {Egg.EggAppConfig} + **/ + const config = exports = {}; + + // use for cookie sign key, should change to your own and keep security + config.keys = appInfo.name + '_1690006251624_276'; + + // add your middleware config here + config.middleware = []; + + // add your user config here + const userConfig = { + // myAppName: 'egg', + }; + config.mongoose = { + url: "mongodb://127.0.0.1:27020/cegongji", + options: { + useUnifiedTopology: true, + useNewUrlParser: true, + } + }; + + // 加载 errorHandler 中间件 + config.middleware = ['errorHandler']; + // 只对 /api 前缀的 url 路径生效 + config.errorHandler = { + match: '/api', + }; + //udp + config.udp = { + port: 5000 + }; + //跨域 + config.security = { + csrf: { + enable: false, + ignoreJSON: true + }, + domainWhiteList: ['http://localhost:80'] + }; + config.cors = { + origin: '*', + allowMethods: 'GET,HEAD,PUT,POST,DELETE,PATCH' + }; + config.io = { + init: {}, + namespace: { + // 命名空间 + '/message/': { + connectionMiddleware: [], + packetMiddleware: [] + } + } + } + config.jwt = { + secret: 'xby123456', //自定义token的加密条件字符串，可按各自的需求填写 + }; + + return { + ...config, + ...userConfig, + }; +}; diff --git a/developedcode/cegongji/back/config/plugin.js b/developedcode/cegongji/back/config/plugin.js new file mode 100644 index 0000000..dccbd9e --- /dev/null +++ b/developedcode/cegongji/back/config/plugin.js @@ -0,0 +1,29 @@ +"use strict"; +/** @type Egg.EggPlugin */ +module.exports = { + // had enabled by egg + // static: { + // enable: true, + // } + + jwt: { + enable: true, + package: 'egg-jwt', + }, + mongoose: { + enable: true, + package: "egg-mongoose", + }, + validate: { + enable: true, + package: 'egg-validate', + }, + udp: { + enable: true, + package: 'egg-udp', + }, + cors: { + enable: true, + package: 'egg-cors', + }, +}; diff --git a/developedcode/cegongji/back/jsconfig.json b/developedcode/cegongji/back/jsconfig.json new file mode 100644 index 0000000..1bbed3f --- /dev/null +++ b/developedcode/cegongji/back/jsconfig.json @@ -0,0 +1,5 @@ +{ + "include": [ + "**/*" + ] +} \ No newline at end of file diff --git a/developedcode/cegongji/back/package.json b/developedcode/cegongji/back/package.json new file mode 100644 index 0000000..592c648 --- /dev/null +++ b/developedcode/cegongji/back/package.json @@ -0,0 +1,56 @@ +{ + "name": "cegongji", + "version": "1.0.0", + "description": "cegongji back", + "private": true, + "egg": { + "declarations": true + }, + "dependencies": { + "crc": "^4.3.2", + "dayjs": "^1.11.9", + "egg": "^3", + "egg-cors": "^2.2.3", + "egg-jwt": "^3.1.7", + "egg-mongoose": "^3.3.1", + "egg-scripts": "^2", + "egg-udp": "^1.1.0", + "egg-validate": "^2.0.2", + "js-md5": "^0.7.3", + "lodash": "^4.17.21", + "mongoose": "^7.4.2", + "mqtt": "4.1.0", + "serialport": "^10.5.0" + }, + "devDependencies": { + "egg-bin": "^5", + "egg-ci": "^2", + "egg-mock": "^5", + "eslint": "^8", + "eslint-config-egg": "^12" + }, + "engines": { + "node": ">=16.0.0" + }, + "scripts": { + "start": "egg-scripts start --daemon --title=egg-server-cegongji", + "stop": "egg-scripts stop --title=egg-server-cegongji", + "dev": "egg-bin dev", + "debug": "egg-bin debug", + "test": "npm run lint -- --fix && npm run test-local", + "test-local": "egg-bin test", + "cov": "egg-bin cov", + "lint": "eslint .", + "ci": "npm run lint && npm run cov" + }, + "ci": { + "version": "16, 18", + "type": "github" + }, + "repository": { + "type": "git", + "url": "" + }, + "author": "lichong", + "license": "MIT" +} diff --git a/developedcode/cegongji/back/test/app/controller/home.test.js b/developedcode/cegongji/back/test/app/controller/home.test.js new file mode 100644 index 0000000..a4f0fc9 --- /dev/null +++ b/developedcode/cegongji/back/test/app/controller/home.test.js @@ -0,0 +1,20 @@ +'use strict'; + +const { app, assert } = require('egg-mock/bootstrap'); + +describe('test/app/controller/home.test.js', () => { + it('should assert', async () => { + const pkg = require('../../../package.json'); + assert(app.config.keys.startsWith(pkg.name)); + + // const ctx = app.mockContext({}); + // yield ctx.service.xx(); + }); + + it('should GET /', async () => { + return app.httpRequest() + .get('/') + .expect('hi, egg') + .expect(200); + }); +}); diff --git a/developedcode/cegongji/front/.browserslistrc b/developedcode/cegongji/front/.browserslistrc new file mode 100644 index 0000000..dc3bc09 --- /dev/null +++ b/developedcode/cegongji/front/.browserslistrc @@ -0,0 +1,4 @@ +> 1% +last 2 versions +not dead +not ie 11 diff --git a/developedcode/cegongji/front/.editorconfig b/developedcode/cegongji/front/.editorconfig new file mode 100644 index 0000000..7053c49 --- /dev/null +++ b/developedcode/cegongji/front/.editorconfig @@ -0,0 +1,5 @@ +[*.{js,jsx,ts,tsx,vue}] +indent_style = space +indent_size = 2 +trim_trailing_whitespace = true +insert_final_newline = true diff --git a/developedcode/cegongji/front/.gitignore b/developedcode/cegongji/front/.gitignore new file mode 100644 index 0000000..403adbc --- /dev/null +++ b/developedcode/cegongji/front/.gitignore @@ -0,0 +1,23 @@ +.DS_Store +node_modules +/dist + + +# local env files +.env.local +.env.*.local + +# Log files +npm-debug.log* +yarn-debug.log* +yarn-error.log* +pnpm-debug.log* + +# Editor directories and files +.idea +.vscode +*.suo +*.ntvs* +*.njsproj +*.sln +*.sw? diff --git a/developedcode/cegongji/front/README.md b/developedcode/cegongji/front/README.md new file mode 100644 index 0000000..50b30e0 --- /dev/null +++ b/developedcode/cegongji/front/README.md @@ -0,0 +1,44 @@ +# default + +## Project setup + +``` +# yarn +yarn + +# npm +npm install + +# pnpm +pnpm install +``` + +### Compiles and hot-reloads for development + +``` +# yarn +yarn dev + +# npm +npm run dev + +# pnpm +pnpm dev +``` + +### Compiles and minifies for production + +``` +# yarn +yarn build + +# npm +npm run build + +# pnpm +pnpm build +``` + +### Customize configuration + +See [Configuration Reference](https://vitejs.dev/config/). diff --git a/developedcode/cegongji/front/index.html b/developedcode/cegongji/front/index.html new file mode 100644 index 0000000..895c399 --- /dev/null +++ b/developedcode/cegongji/front/index.html @@ -0,0 +1,16 @@ + + + + + + + + 测功机 + + + +
+ + + + \ No newline at end of file diff --git a/developedcode/cegongji/front/jsconfig.json b/developedcode/cegongji/front/jsconfig.json new file mode 100644 index 0000000..4aafc5f --- /dev/null +++ b/developedcode/cegongji/front/jsconfig.json @@ -0,0 +1,19 @@ +{ + "compilerOptions": { + "target": "es5", + "module": "esnext", + "baseUrl": "./", + "moduleResolution": "node", + "paths": { + "@/*": [ + "src/*" + ] + }, + "lib": [ + "esnext", + "dom", + "dom.iterable", + "scripthost" + ] + } +} diff --git a/developedcode/cegongji/front/package.json b/developedcode/cegongji/front/package.json new file mode 100644 index 0000000..c0c0329 --- /dev/null +++ b/developedcode/cegongji/front/package.json @@ -0,0 +1,34 @@ +{ + "name": "cegongji", + "version": "0.0.0", + "scripts": { + "dev": "vite", + "build": "vite build", + "preview": "vite preview" + }, + "dependencies": { + "@mdi/font": "7.0.96", + "@soerenmartius/vue3-clipboard": "^0.1.2", + "axios": "^1.4.0", + "dayjs": "^1.11.7", + "element-plus": "^2.3.9", + "js-md5": "^0.7.3", + "lodash": "^4.17.21", + "mqtt": "4.1.0", + "nprogress": "^0.2.0", + "pinia": "^2.0.35", + "pinia-plugin-persist": "^1.0.0", + "qs": "^6.11.1", + "screenfull": "^6.0.2", + "ulid": "^2.3.0", + "vue": "^3.2.47", + "vue-router": "^4.1.6", + "vuetify": "^3.3.13" + }, + "devDependencies": { + "@vitejs/plugin-vue": "^4.2.1", + "sass": "^1.62.1", + "vite": "^4.3.4", + "vite-plugin-vuetify": "^1.0.0" + } +} diff --git a/developedcode/cegongji/front/public/favicon.png b/developedcode/cegongji/front/public/favicon.png new file mode 100644 index 0000000..3b89289 Binary files /dev/null and b/developedcode/cegongji/front/public/favicon.png differ diff --git a/developedcode/cegongji/front/src/App.vue b/developedcode/cegongji/front/src/App.vue new file mode 100644 index 0000000..f955d39 --- /dev/null +++ b/developedcode/cegongji/front/src/App.vue @@ -0,0 +1,43 @@ + + + + diff --git a/developedcode/cegongji/front/src/api/dualFlowMotor.js b/developedcode/cegongji/front/src/api/dualFlowMotor.js new file mode 100644 index 0000000..00bc3d6 --- /dev/null +++ b/developedcode/cegongji/front/src/api/dualFlowMotor.js @@ -0,0 +1,31 @@ +import _axios from "@/plugins/axios"; + +//初始化轮毂电机页面 +export function initDualFlowMotor(data) { + return _axios({ + url: `v1/initDualFlowMotor`, + method: "POST", + data, + }); +} +//轮毂电机发送数据 +export function sendDualFlowMotor(data) { + return _axios({ + url: `v1/sendDualFlowMotor`, + method: "POST", + data, + }); +} +//todo 保存轮毂电机数据 +export function saveDualFlowMotor(data) { + return _axios({ + url: `v1/saveDualFlowMotor`, + method: "POST", + data, + }); +} + + + + + diff --git a/developedcode/cegongji/front/src/api/home.js b/developedcode/cegongji/front/src/api/home.js new file mode 100644 index 0000000..46814d7 --- /dev/null +++ b/developedcode/cegongji/front/src/api/home.js @@ -0,0 +1,26 @@ +import _axios from "@/plugins/axios"; +//初始化发送一次命令 +export function startSendOnce(data) { + return _axios({ + url: `v1/startSendOnce`, + method: "POST", + data + }); +} +//启动定时发送命令 +export function startSend(data) { + return _axios({ + url: `v1/startSend`, + method: "POST", + data + }); +} +//清除定时发送命令 +export function endSend() { + return _axios({ + url: `v1/endSend`, + method: "get" + }); +} + + diff --git a/developedcode/cegongji/front/src/api/hubMotor.js b/developedcode/cegongji/front/src/api/hubMotor.js new file mode 100644 index 0000000..e8e4004 --- /dev/null +++ b/developedcode/cegongji/front/src/api/hubMotor.js @@ -0,0 +1,23 @@ +import _axios from "@/plugins/axios"; + +//初始化轮毂电机页面 +export function initHubMotor(data) { + return _axios({ + url: `v1/initHubMotor`, + method: "POST", + data, + }); +} +//初始化轮毂电机页面 +export function saveHubMotor(data) { + return _axios({ + url: `v1/saveHubMotor`, + method: "POST", + data, + }); +} + + + + + diff --git a/developedcode/cegongji/front/src/api/message.js b/developedcode/cegongji/front/src/api/message.js new file mode 100644 index 0000000..a7fdd5b --- /dev/null +++ b/developedcode/cegongji/front/src/api/message.js @@ -0,0 +1,30 @@ +import _axios from "@/plugins/axios"; + +//打开端口 +export function openCom(data) { + return _axios({ + url: `v1/openCom`, + method: "POST", + data, + }); +} +//打开端口 +export function closeCom(data) { + return _axios({ + url: `v1/closeCom`, + method: "POST", + data, + }); +} +//发送指令 +export function tranRip(data) { + return _axios({ + url: `v1/message`, + method: "POST", + data, + }); +} + + + + diff --git a/developedcode/cegongji/front/src/api/user.js b/developedcode/cegongji/front/src/api/user.js new file mode 100644 index 0000000..ec8bf68 --- /dev/null +++ b/developedcode/cegongji/front/src/api/user.js @@ -0,0 +1,36 @@ +import _axios from "@/plugins/axios"; + +//登录 +export function login(data) { + return _axios({ + url: `v1/auth`, + method: "POST", + data, + }); +} +//注册 +export function registe(data) { + return _axios({ + url: `v1/adduser`, + method: "POST", + data, + }); +} +//注册列表 +export function registeList(data) { + return _axios({ + url: `v1/getUserList`, + method: "POST", + data, + }); +} +//登陆历史列表 +export function loginHistoryList(data) { + return _axios({ + url: `v1/getUserLoginList`, + method: "POST", + data, + }); +} + + diff --git a/developedcode/cegongji/front/src/assets/css/base.css b/developedcode/cegongji/front/src/assets/css/base.css new file mode 100644 index 0000000..642b65b --- /dev/null +++ b/developedcode/cegongji/front/src/assets/css/base.css @@ -0,0 +1,16 @@ +html::-webkit-scrollbar { + width: 10px; +} + +html::-webkit-scrollbar-thumb { + background: #ccc; + border-radius: 5px; +} + +html { + scrollbar-width: 10px; +} + +.v-container { + max-width: 1490px !important; +} \ No newline at end of file diff --git a/developedcode/cegongji/front/src/assets/img/login-bg.jpg b/developedcode/cegongji/front/src/assets/img/login-bg.jpg new file mode 100644 index 0000000..97ba68e Binary files /dev/null and b/developedcode/cegongji/front/src/assets/img/login-bg.jpg differ diff --git a/developedcode/cegongji/front/src/assets/img/login-logo.png b/developedcode/cegongji/front/src/assets/img/login-logo.png new file mode 100644 index 0000000..da5063d Binary files /dev/null and b/developedcode/cegongji/front/src/assets/img/login-logo.png differ diff --git a/developedcode/cegongji/front/src/assets/img/login-welcom.png b/developedcode/cegongji/front/src/assets/img/login-welcom.png new file mode 100644 index 0000000..f490738 Binary files /dev/null and b/developedcode/cegongji/front/src/assets/img/login-welcom.png differ diff --git a/developedcode/cegongji/front/src/main.js b/developedcode/cegongji/front/src/main.js new file mode 100644 index 0000000..b2795f6 --- /dev/null +++ b/developedcode/cegongji/front/src/main.js @@ -0,0 +1,34 @@ +import App from "./App.vue"; +import { createApp } from "vue"; +// 引入vuetify实例 +import { registerPlugins } from "@/plugins/vuetify"; +import { elementPlugins } from "@/plugins/element"; +// 引入pinia 实例 +import pinia from "@/store/index.js"; +// 引入路由实例 +import router from "@/router/index.js"; +// 剪切板 +import { VueClipboard } from "@soerenmartius/vue3-clipboard"; +//全局引入lodash +import _ from "lodash"; +//全局挂在axios +import axios from "@/plugins/axios"; +//全局挂在axios +import "@/assets/css/base.css"; +import dayjs from "dayjs"; +import "@/utils/permission"; +import 'element-plus/dist/index.css' +const app = createApp(App); +// 去掉Vue warn警告 +// app.config.warnHandler = () => null; + +app.config.globalProperties.$_ = _; //挂载到app实例上 +app.config.globalProperties.$axios = axios; //挂载到app实例上 +app.config.globalProperties.$dayjs = dayjs; //挂载到app实例上 +registerPlugins(app); +elementPlugins(app); +app + .use(pinia) //中央仓库pinia + .use(router) //路由 + .use(VueClipboard); //剪切板 +app.mount("#app"); diff --git a/developedcode/cegongji/front/src/mixin/totalmixin.js b/developedcode/cegongji/front/src/mixin/totalmixin.js new file mode 100644 index 0000000..83bde42 --- /dev/null +++ b/developedcode/cegongji/front/src/mixin/totalmixin.js @@ -0,0 +1,42 @@ +import { userStore, snackbarStore, fullscreenStore, } from "@/store"; +export default { + data() { + return { + userObj: userStore(), + snackbarsObj: snackbarStore(), + fullscreenObj: fullscreenStore(), + }; + }, + methods: { + // snackBar + openSnackbar(params) { + return this.snackbarsObj.openSnackbar(params); + }, + closeSnackbar(index) { + return this.snackbarsObj.closeSnackbar(index); + }, + openSuccessSnackbar(message) { + return this.snackbarsObj.openSuccessSnackbar(message); + }, + openFailureSnackbar(message) { + return this.snackbarsObj.openFailureSnackbar(message); + }, + openInfoSnackbar(message) { + return this.snackbarsObj.openInfoSnackbar(message); + }, + cleanSnackbar() { + return this.snackbarsObj.cleanSnackbar(); + }, + setFullscreen(bol) { + this.fullscreenObj.setFullscreen(bol) + }, + }, + computed: { + snackbars() { + return this.snackbarsObj.snackbars; + }, + fullscreen() { + return this.fullscreenObj.fullscreen; + }, + }, +}; diff --git a/developedcode/cegongji/front/src/plugins/axios.js b/developedcode/cegongji/front/src/plugins/axios.js new file mode 100644 index 0000000..96d4827 --- /dev/null +++ b/developedcode/cegongji/front/src/plugins/axios.js @@ -0,0 +1,65 @@ +import axios from "axios"; +import qs from "qs"; +import { getToken, removeToken, setTime, getTime, getExpTime } from "../utils/auth"; +import snackbarStore from "@/store/snackbar"; +import router from "@/router"; +import { remove } from "nprogress"; +let config = { + baseURL: "", + timeout: 600 * 1000, + withCredentials: true, // Check cross-site Access-Control + /* `paramsSerializer` 是一个负责 `params` 序列化的函数 + qs.stringify({ a: ['b', 'c'] }, { arrayFormat: 'indices' }) + // 'a[0]=b&a[1]=c' + qs.stringify({ a: ['b', 'c'] }, { arrayFormat: 'brackets' }) + // 'a[]=b&a[]=c' + qs.stringify({ a: ['b', 'c'] }, { arrayFormat: 'repeat' }) + // 'a=b&a=c' + */ + paramsSerializer: (params) => { + return qs.stringify(params, { arrayFormat: "indices" }); + }, +}; + +const _axios = axios.create(config); + +_axios.interceptors.request.use( + (config) => { + let token = getToken() + let nowDate = Date.now() + let lastDate = getTime() + let expDate = getExpTime() + if (nowDate - lastDate > expDate) { + removeToken() + } + if (token) { + config.headers.authorization = token + } + return config; + }, + (error) => { + return Promise.reject(error); + } +); +_axios.interceptors.response.use( + (response) => { + if (response.status === 200) { + if (response.data.statusCode === 403) { + //无权限时退出登录 + // removeToken() + snackbarStore().openFailureSnackbar(response.data.errMsg) + // router.push("/login") + } else { + setTime() + return Promise.resolve(response.data); + } + } else { + return Promise.reject(response.data); + } + }, + (error) => { + console.log("error", error) + return Promise.reject(error); + } +); +export default _axios; diff --git a/developedcode/cegongji/front/src/plugins/element.js b/developedcode/cegongji/front/src/plugins/element.js new file mode 100644 index 0000000..f73bbef --- /dev/null +++ b/developedcode/cegongji/front/src/plugins/element.js @@ -0,0 +1,5 @@ +import ElementPlus from 'element-plus' +import 'element-plus/dist/index.css' +export function elementPlugins(app) { + app.use(ElementPlus); +} diff --git a/developedcode/cegongji/front/src/plugins/mqtt.js b/developedcode/cegongji/front/src/plugins/mqtt.js new file mode 100644 index 0000000..e1a7271 --- /dev/null +++ b/developedcode/cegongji/front/src/plugins/mqtt.js @@ -0,0 +1,122 @@ +import * as mqtt from "mqtt/dist/mqtt.min"; +import { ulid } from "ulid"; +class MQTT { + url = `ws://localhost:8083/mqtt`; // mqtt地址 + //初始化mqtt + init() { + let options = { + clean: true, + clientId: ulid(), // 客户端分类唯一 + connectTimeout: 4000, // 超时时间 + }; + if (!window.mqttClient) { + window.mqttClient = mqtt.connect(this.url, options); + window.mqttClient.setMaxListeners(100)//表示没有限制。 + window.mqttClient.on("connect", () => { + console.log("成功连接"); + }); + window.mqttClient.on("error", (error) => { + console.log(this.url + "异常中断" + error); + }); + window.mqttClient.on("reconnect", (error) => { + console.log(this.url + "重新连接" + error); + }); + } + } + //取消订阅 + unsubscribes(topic) { + window.mqttClient.unsubscribe(topic, (error) => { + if (!error) { + console.log(topic + "取消订阅成功"); + } else { + console.log(topic + "取消订阅失败"); + } + }); + } + + //连接 + link(topic, params) { + window.mqttClient.subscribe(topic, + params, + (error) => { + if (!error) { + console.log(topic + "订阅成功"); + } else { + console.log(topic + "订阅失败" + error); + } + } + ); + } + //发布函数 + pubCommonFn( + topic, + jobj, + qos, + retain, + successCallback = () => { }, + failCallback = (e) => { } + ) { + if (window.mqttClient === null) return; + var timeNow = new Date(); + jobj.timestamp = timeNow.getTime(); + window.mqttClient.publish(`/mqtt/${topic}`, + JSON.stringify(jobj), + { qos: qos, retain: retain, cbStorePut: successCallback }, + failCallback + ); + } + + //收到的消息 + get(callback) { + window.mqttClient.on("message", callback); + } + //结束链接 + over() { + window.mqttClient.end(); + } +} + +export default function useMqtt() { + let startMqtt = (val, params, callback) => { + //设置订阅地址 + if (!window.PublicMqtt) { + window.PublicMqtt = new MQTT(); + //初始化mqtt + window.PublicMqtt.init(); + //链接mqtt + } + window.PublicMqtt.link(val, params); + getMessage(callback); + }; + let pubCommonFn = ( + topic, + jobj, + qos, + retain, + successCallback, + failCallback + ) => { + console.log("发布", topic); + //发布mqtt + window.PublicMqtt.pubCommonFn( + topic, + jobj, + qos, + retain, + successCallback, + failCallback + ); + }; + let endMqtt = (val) => { + //取消链接mqtt + window.PublicMqtt.unsubscribes(val); + }; + let getMessage = (callback) => { + window.PublicMqtt?.get(callback); + }; + return { + startMqtt, + endMqtt, + pubCommonFn, + }; +} diff --git a/developedcode/cegongji/front/src/plugins/vuetify.js b/developedcode/cegongji/front/src/plugins/vuetify.js new file mode 100644 index 0000000..d1bf45f --- /dev/null +++ b/developedcode/cegongji/front/src/plugins/vuetify.js @@ -0,0 +1,29 @@ +// Styles +import "@mdi/font/css/materialdesignicons.css"; +import "vuetify/styles"; +import zhHans from "vuetify/lib/locale/zh-Hans.mjs"; +// Composables +import { createVuetify } from "vuetify"; +// https://vuetifyjs.com/en/introduction/why-vuetify/#feature-guides +const vuetify = createVuetify({ + theme: { + themes: { + light: { + colors: { + primary: "#1867C0", + secondary: "#5CBBF6", + }, + }, + }, + }, + ssr: true, + lang: { + locales: { + zhHans, + }, + current: "zhHans", + }, +}); +export function registerPlugins(app) { + app.use(vuetify); +} diff --git a/developedcode/cegongji/front/src/router/index.js b/developedcode/cegongji/front/src/router/index.js new file mode 100644 index 0000000..b329835 --- /dev/null +++ b/developedcode/cegongji/front/src/router/index.js @@ -0,0 +1,88 @@ +import { createRouter, createWebHistory } from "vue-router"; +import { close, start } from "@/utils/nprogress"; +const routes = [ + { + path: "/", + name: "home", + component: () => import("../views/home.vue"), + redirect: "/index", + children: [ + { + path: "index", + name: "index", + meta: { + zhtitle: "首页", + }, + component: () => import("../views/index.vue"), + }, + { + path: "hubMotor", + name: "hubMotor", + meta: { + zhtitle: "轮毂电机", + }, + component: () => import("../views/hubMotor/index.vue"), + }, + { + path: "dualFlowMotor", + name: "dualFlowMotor", + meta: { + zhtitle: "双流电机", + }, + // which is lazy-loaded when the route is visited. + component: () => import("../views/dualFlowMotor/index.vue"), + }, + { + path: "setting", + name: "setting", + meta: { + zhtitle: "自定义指令", + }, + // which is lazy-loaded when the route is visited. + component: () => import("../views/setting/index.vue"), + }, + { + path: "user", + name: "user", + meta: { + zhtitle: "用户列表", + }, + // which is lazy-loaded when the route is visited. + component: () => import("../views/user/index.vue"), + }, + { + path: "userLogin", + name: "userLogin", + meta: { + zhtitle: "登录历史", + }, + // which is lazy-loaded when the route is visited. + component: () => import("../views/userLogin/index.vue"), + }, + ], + }, + + { name: "重定向", path: "/:catchAll(.*)", redirect: "/index" }, + { + path: "/login", + name: "login", + component: () => import("../views/login.vue"), + }, +]; + +// 创建路由实例 +const router = createRouter({ + history: createWebHistory(), + routes, //路由表 +}); +let witheRouter = ["login"]; +router.beforeEach((pre, next) => { + if (witheRouter.indexOf(pre.name) !== -1) { + } + start(); +}); + +router.afterEach(() => { + close(); +}); +export default router; diff --git a/developedcode/cegongji/front/src/store/fullscreen.js b/developedcode/cegongji/front/src/store/fullscreen.js new file mode 100644 index 0000000..8c3ea7b --- /dev/null +++ b/developedcode/cegongji/front/src/store/fullscreen.js @@ -0,0 +1,19 @@ +import { defineStore } from "pinia"; +import _ from "lodash"; +const fullscreenStore = defineStore("fullscreen", { + // other options... + state() { + return { + fullscreen: false, + }; + }, + actions: { + getFullscreen() { + return this.fullscreen; + }, + setFullscreen(bol) { + this.fullscreen = bol; + }, + }, +}); +export default fullscreenStore; diff --git a/developedcode/cegongji/front/src/store/index.js b/developedcode/cegongji/front/src/store/index.js new file mode 100644 index 0000000..777405a --- /dev/null +++ b/developedcode/cegongji/front/src/store/index.js @@ -0,0 +1,9 @@ +import { createPinia } from "pinia"; +import piniaPersist from 'pinia-plugin-persist' +import userStore from "./user"; +import snackbarStore from "./snackbar"; +import fullscreenStore from "./fullscreen"; +const pinia = createPinia(); +pinia.use(piniaPersist) +export { userStore, snackbarStore, fullscreenStore }; +export default pinia; diff --git a/developedcode/cegongji/front/src/store/snackbar.js b/developedcode/cegongji/front/src/store/snackbar.js new file mode 100644 index 0000000..ca28e3b --- /dev/null +++ b/developedcode/cegongji/front/src/store/snackbar.js @@ -0,0 +1,59 @@ +import { defineStore } from "pinia"; +import _ from "lodash"; +const snackbarStore = defineStore("snackbar", { + state() { + return { + snackbars: [], + }; + }, + actions: { + openSnackbar(params) { + let { snackbar_message, color, timeout = -1 } = params; + this.snackbars.push({ + snackbar: true, + snackbar_message: snackbar_message, + snackbar_color: color, + location: "top", + timeout: timeout, + id: Date.now(), + }); + }, + closeSnackbar(index) { + this.snackbars.splice(index, 1); + }, + openSuccessSnackbar(message) { + this.snackbars.push({ + snackbar: true, + snackbar_message: message, + snackbar_color: "success", + location: "top", + timeout: 5000, + id: Date.now(), + }); + }, + openFailureSnackbar(message) { + this.snackbars.push({ + snackbar: true, + snackbar_message: message, + snackbar_color: "error", + location: "top", + timeout: -1, //不自动关闭 + id: Date.now(), + }); + }, + openInfoSnackbar(message) { + this.snackbars.push({ + snackbar: true, + snackbar_message: message, + snackbar_color: "warning", + location: "top", + timeout: 5000, + id: Date.now(), + }); + }, + cleanSnackbar() { + this.snackbars = this.snackbars.filter((item) => item.snackbar); + }, + }, +}); +export default snackbarStore; diff --git a/developedcode/cegongji/front/src/store/user.js b/developedcode/cegongji/front/src/store/user.js new file mode 100644 index 0000000..99e4175 --- /dev/null +++ b/developedcode/cegongji/front/src/store/user.js @@ -0,0 +1,61 @@ +import { defineStore } from "pinia"; +import { login as userLogin, registe } from "@/api/user"; +import { setToken, removeToken } from "@/utils/auth"; +import md5 from "js-md5"; +const userStore = defineStore("user", { + state: () => { + return { + userInfo: { + role: "", + username: "", + _id: "", + } + }; + }, + actions: { + async login(loginForm = {}) { + try { + let loginRes = {} + let params = { + username: loginForm.username, + password: md5(loginForm.password) + } + if (loginForm.type === "submit") { + loginRes = await userLogin(params); + } else if (loginForm.type === "registe") { + loginRes = await registe(params); + } + if (!loginRes.haserror) { + setToken(`Bearer ${loginRes.token}`); + let userInfo = { + username: loginRes.username, + _id: loginRes._id, + role: loginRes.role, + } + this.setUserInfo(userInfo) + } else { + this.setUserInfo() + removeToken() + } + return loginRes; + } catch (err) { + this.setUserInfo() + removeToken(); + throw err; + } + }, + getUserInfo() { + return this.userInfo + }, + setUserInfo(userInfo = {}) { + this.userInfo = { ...userInfo }; + }, + }, + persist: { + enabled: true, + strategies: [ + { storage: localStorage, paths: ['userInfo'] }, + ], + }, +}); +export default userStore; diff --git a/developedcode/cegongji/front/src/utils/auth.js b/developedcode/cegongji/front/src/utils/auth.js new file mode 100644 index 0000000..52fb180 --- /dev/null +++ b/developedcode/cegongji/front/src/utils/auth.js @@ -0,0 +1,29 @@ +const TokenKey = `token`; +let EXPIRESTIME = 1000 * 60 * 60 * 24 +let lastTime = "lastTime" + +const getExpTime = () => { + return EXPIRESTIME; +}; +const setTime = () => { + localStorage.setItem(lastTime, Date.now()); +}; +const getTime = () => { + return localStorage.getItem(lastTime); +}; +const isLogin = () => { + return !!localStorage.getItem(TokenKey); +}; +const getToken = () => { + return localStorage.getItem(TokenKey); +}; + +const setToken = (token) => { + localStorage.setItem(TokenKey, token); +}; + +const removeToken = () => { + localStorage.removeItem(TokenKey); +}; + +export { getExpTime, setTime, getTime, isLogin, getToken, setToken, removeToken }; diff --git a/developedcode/cegongji/front/src/utils/nprogress.js b/developedcode/cegongji/front/src/utils/nprogress.js new file mode 100644 index 0000000..45f0f74 --- /dev/null +++ b/developedcode/cegongji/front/src/utils/nprogress.js @@ -0,0 +1,19 @@ +import NProgress from 'nprogress' +import 'nprogress/nprogress.css' +NProgress.configure({ + easing: 'ease', // 动画方式 + speed: 1000, // 递增进度条的速度 + showSpinner: false, // 是否显示加载ico + trickleSpeed: 200, // 自动递增间隔 + minimum: 0.3, // 更改启动时使用的最小百分比 + parent: 'body', //指定进度条的父容器 +}) +// 打开进度条 +export let start = () => { + NProgress.start() +} + +// 关闭进度条 +export let close = () => { + NProgress.done() +} \ No newline at end of file diff --git a/developedcode/cegongji/front/src/utils/permission.js b/developedcode/cegongji/front/src/utils/permission.js new file mode 100644 index 0000000..d051940 --- /dev/null +++ b/developedcode/cegongji/front/src/utils/permission.js @@ -0,0 +1,27 @@ +import router from "@/router/index"; +import { close, start } from "./nprogress"; +import { getToken } from "./auth"; + +let whiteList = ["/login"]; +router.beforeEach(async (to, from, next) => { + start(); + let token = getToken(); + if (token) { + if (to.path === "/login") { + next({ path: "/" }); + close(); + } else { + next(); + } + } else { + if (whiteList.includes(to.path)) { + next(); + } else { + next(`/login?redirect=${to.path}`); + } + } +}); + +router.afterEach((to) => { + close(); +}); diff --git a/developedcode/cegongji/front/src/utils/utils.js b/developedcode/cegongji/front/src/utils/utils.js new file mode 100644 index 0000000..023c00f --- /dev/null +++ b/developedcode/cegongji/front/src/utils/utils.js @@ -0,0 +1,55 @@ + +const hextonumber10 = function (value, offset = 0, mul = 1) { + value = value.replace(/ /g, '') + let returnValue = 0 + if (value) { + if (value.substr(0, 1) === "f" || value.substr(0, 1) === "F") { + let num = parseInt(value, 16); + num = num | 0xFFFF0000; + return num; + } else { + + returnValue = parseInt(value, 16) * mul - offset + } + } + return returnValue +} +const number10tohex = function (value, length = 4, offset = 0, type = "normal") { + value = Number(value) + offset + if (value) { + if (value < 0) { + value = Math.pow(2, 16) + value + } + let hex = value.toString(16).padStart(4, "0"); + let hesStr = "" + if (type === "normal") { + for (let i = 0; i < length; i++) { + if (i % 2 === 0 && i !== length - 2) { + hesStr += `${hex.substr(i, 2)} ` + } else if (i === length - 2) { + hesStr += `${hex.substr(i, 2)}` + } + } + } else { + for (let i = length - 1; i >= 0; i--) { + if (i % 2 === 0 && i !== length - 2) { + hesStr += `${hex.substr(i, 2)}` + } else if (i === length - 2) { + hesStr += `${hex.substr(i, 2)} ` + } + } + } + return hesStr; + } else { + let hexArr = [] + for (let i = 0; i < length; i++) { + if (i % 2 === 0) { + hexArr.push("00") + } + } + return hexArr.join(" ") + } + +} + +export { hextonumber10, number10tohex }; diff --git a/developedcode/cegongji/front/src/views/dualFlowMotor/index.vue b/developedcode/cegongji/front/src/views/dualFlowMotor/index.vue new file mode 100644 index 0000000..2761acb --- /dev/null +++ b/developedcode/cegongji/front/src/views/dualFlowMotor/index.vue @@ -0,0 +1,659 @@ + + + + \ No newline at end of file diff --git a/developedcode/cegongji/front/src/views/home.vue b/developedcode/cegongji/front/src/views/home.vue new file mode 100644 index 0000000..5111869 --- /dev/null +++ b/developedcode/cegongji/front/src/views/home.vue @@ -0,0 +1,123 @@ + + + diff --git a/developedcode/cegongji/front/src/views/hubMotor/index.vue b/developedcode/cegongji/front/src/views/hubMotor/index.vue new file mode 100644 index 0000000..3e480d0 --- /dev/null +++ b/developedcode/cegongji/front/src/views/hubMotor/index.vue @@ -0,0 +1,621 @@ + + + + \ No newline at end of file diff --git a/developedcode/cegongji/front/src/views/index.vue b/developedcode/cegongji/front/src/views/index.vue new file mode 100644 index 0000000..72aa81f --- /dev/null +++ b/developedcode/cegongji/front/src/views/index.vue @@ -0,0 +1,774 @@ + + + + \ No newline at end of file diff --git a/developedcode/cegongji/front/src/views/login.vue b/developedcode/cegongji/front/src/views/login.vue new file mode 100644 index 0000000..9db5e67 --- /dev/null +++ b/developedcode/cegongji/front/src/views/login.vue @@ -0,0 +1,132 @@ + + + diff --git a/developedcode/cegongji/front/src/views/setting/index.vue b/developedcode/cegongji/front/src/views/setting/index.vue new file mode 100644 index 0000000..ae55603 --- /dev/null +++ b/developedcode/cegongji/front/src/views/setting/index.vue @@ -0,0 +1,669 @@ + + + + \ No newline at end of file diff --git a/developedcode/cegongji/front/src/views/user/index.vue b/developedcode/cegongji/front/src/views/user/index.vue new file mode 100644 index 0000000..c77b098 --- /dev/null +++ b/developedcode/cegongji/front/src/views/user/index.vue @@ -0,0 +1,234 @@ + + + + + + + \ No newline at end of file diff --git a/developedcode/cegongji/front/src/views/userLogin/index.vue b/developedcode/cegongji/front/src/views/userLogin/index.vue new file mode 100644 index 0000000..387e12c --- /dev/null +++ b/developedcode/cegongji/front/src/views/userLogin/index.vue @@ -0,0 +1,218 @@ + + + + + + + \ No newline at end of file diff --git a/developedcode/cegongji/front/vite.config.js b/developedcode/cegongji/front/vite.config.js new file mode 100644 index 0000000..73db581 --- /dev/null +++ b/developedcode/cegongji/front/vite.config.js @@ -0,0 +1,40 @@ +// Plugins +import vue from "@vitejs/plugin-vue"; +import vuetify, { transformAssetUrls } from "vite-plugin-vuetify"; +require('events').EventEmitter.defaultMaxListeners = 0; // 解除限制 +// Utilities +import { defineConfig } from "vite"; +import { fileURLToPath, URL } from "node:url"; +// https://vitejs.dev/config/ +export default defineConfig({ + plugins: [ + vue({ + template: { transformAssetUrls }, + }), + // https://github.com/vuetifyjs/vuetify-loader/tree/next/packages/vite-plugin + vuetify({ + autoImport: true, + }), + ], + define: { "process.env": {} }, + resolve: { + alias: { + "@": fileURLToPath(new URL("./src", import.meta.url)), + }, + extensions: [".js", ".json", ".jsx", ".mjs", ".ts", ".tsx", ".vue"], + }, + server: { + port: 80, + // open: true, + proxy: { + "/v1": { + target: "http://127.0.0.1:7001/api/v1", + changeOrigin: true, + rewrite: (path) => path.replace(/^\/v1/, ""), + }, + }, + }, + build: { + sourcemap: true, + }, +}); diff --git a/developedcode/cutpng/index.js b/developedcode/cutpng/index.js new file mode 100644 index 0000000..ace67c0 --- /dev/null +++ b/developedcode/cutpng/index.js @@ -0,0 +1,81 @@ +const sizeOf = require('image-size'); +const _ = require('lodash'); +const jimp = require('jimp'); +const progress = require('progress'); +const fs = require('fs'); +let pngList = fs.readdirSync('./respng') +// 该函数是一个异步函数，用于将指定路径下的PNG图片按照一定规则进行切割，并保存为多个小图。 +// 该函数使用了sizeOf函数来获取图片的大小，使用了jimp库来进行图片的裁剪和保存操作，还使用了lodash库来克隆图片对象。 +async function cutPng() { + for (let layer = 0; layer < pngList.length; layer++) { + let urlStr = `./respng/${pngList[layer]}` + const currentImageInfo = sizeOf(urlStr) // 加载一张图，获取图片的高度和宽度。 + let clientHeight = currentImageInfo.height + let clientWidth = currentImageInfo.width + + const heights = [] + const widths = [] + const SPLIT_HEIGHT = 256 + // 根据高度和宽度计算出需要切割的行数和列数。 + while (clientHeight > 0) { + // 切图高度充足时 + if (clientHeight >= SPLIT_HEIGHT) { + heights.push(SPLIT_HEIGHT) + clientHeight -= SPLIT_HEIGHT + + } else { + // 切割高度不够时，直接切成一张 + heights.push(clientHeight) + clientHeight = 0 + } + } + while (clientWidth > 0) { + // 切图宽度充足时 + if (clientWidth >= SPLIT_HEIGHT) { + widths.push(SPLIT_HEIGHT) + clientWidth -= SPLIT_HEIGHT + } else { + // 切割宽度不够时，直接切成一张 + widths.push(clientWidth) + clientWidth = 0 + } + } + let counti = 0 + let countiNumber = 0 + let savePngArr = [] + for (let i of widths) { + let conutj = 0 + let conutjNumber = 0 + for (let j of heights) { + savePngArr.push({ + z: layer, + x: counti, + y: conutj, + countiNumber, + conutjNumber, + width: i, + height: j, + }) + + conutj++ + conutjNumber += j + } + counti++ + countiNumber += i + } + let conutBar = savePngArr.length + let bar = new progress(':bar :current/:total', { total: conutBar }); + let imageAll = await jimp.read(urlStr) + for (let i = 0; i < conutBar; i++) { + let imageTemp = _.cloneDeep(imageAll) + let elei = savePngArr[i]; + let cropTemp = imageTemp.crop(elei.countiNumber, elei.conutjNumber, elei.width, elei.height) + //保存图片 + cropTemp.write(`./dealpng/${elei.z}/${elei.x}/${elei.y}.png`) + bar.tick(); + } + } + console.log(8774, "切割结束") + +} +cutPng() diff --git a/developedcode/cutpng/indextest.js b/developedcode/cutpng/indextest.js new file mode 100644 index 0000000..38e9298 --- /dev/null +++ b/developedcode/cutpng/indextest.js @@ -0,0 +1,85 @@ +const sizeOf = require('image-size'); +const _ = require('lodash'); +const jimp = require('jimp'); +const progress = require('progress'); +let layerMaxStart = 4 +let layerMax = 5 + +async function cutPng() { + for (let layer = layerMaxStart; layer < layerMax; layer++) { + let urlStr = `./dealpng/layer_${layer}.png` + const currentImageInfo = sizeOf(urlStr) // 加载一张图 + let clientHeight = currentImageInfo.height + let clientWidth = currentImageInfo.width + console.log(111, currentImageInfo) + + const heights = [] + const widths = [] + const SPLIT_HEIGHT = 256 + while (clientHeight > 0) { + // 切图高度充足时 + if (clientHeight >= SPLIT_HEIGHT) { + heights.push(SPLIT_HEIGHT) + + clientHeight -= SPLIT_HEIGHT + + } else { + // 切割高度不够时，直接切成一张 + heights.push(clientHeight) + + clientHeight = 0 + } + } + while (clientWidth > 0) { + // 切图宽度充足时 + if (clientWidth >= SPLIT_HEIGHT) { + widths.push(SPLIT_HEIGHT) + clientWidth -= SPLIT_HEIGHT + } else { + // 切割宽度不够时，直接切成一张 + widths.push(clientWidth) + clientWidth = 0 + } + } + let counti = 0 + let countiNumber = 0 + let savePngArr = [] + for (let i of widths) { + let conutj = 0 + let conutjNumber = 0 + for (let j of heights) { + // let imageTemp = await jimp.read(urlStr) + // let cropTemp = imageTemp.crop(countiNumber, conutjNumber, i, j) + // cropTemp.write(`./dealpng/${layer}/${counti}/${conutj}.png`) + savePngArr.push({ + z: layer, + x: counti, + y: conutj, + countiNumber, + conutjNumber, + width: i, + height: j, + }) + + conutj++ + conutjNumber += j + } + counti++ + countiNumber += i + } + let conutBar = savePngArr.length + let bar = new progress(':bar :current/:total', { total: conutBar }); + let imageTemp = await jimp.read(urlStr) + console.log(8777,imageTemp) + // for (let i = 0; i < conutBar; i++) { + // let imageTemp = await jimp.read(urlStr) + // let elei = savePngArr[i]; + // let cropTemp = imageTemp.crop(elei.countiNumber, elei.conutjNumber, elei.width, elei.height) + // cropTemp.write(`./dealpng/${elei.z}/${elei.x}/${elei.y}.png`) + // bar.tick(); + // } + } + console.log(8774, "切割结束") + +} +cutPng() diff --git a/developedcode/cutpng/package.json b/developedcode/cutpng/package.json new file mode 100644 index 0000000..31d0de5 --- /dev/null +++ b/developedcode/cutpng/package.json @@ -0,0 +1,18 @@ +{ + "name": "cutpng", + "version": "1.0.0", + "description": "lichong", + "main": "index.js", + "scripts": { + "deal": "node index.js", + "dealtest": "node indextest.js" + }, + "author": "", + "license": "ISC", + "dependencies": { + "image-size": "^1.1.1", + "jimp": "^0.22.10", + "lodash": "^4.17.21", + "progress": "^2.0.3" + } +} diff --git a/developedcode/cutpng/respng/layer_0.png b/developedcode/cutpng/respng/layer_0.png new file mode 100644 index 0000000..955ee93 Binary files /dev/null and b/developedcode/cutpng/respng/layer_0.png differ diff --git a/developedcode/cutpng/respng/layer_1.png b/developedcode/cutpng/respng/layer_1.png new file mode 100644 index 0000000..d9a583e Binary files /dev/null and b/developedcode/cutpng/respng/layer_1.png differ diff --git a/developedcode/cutpng/respng/layer_2.png b/developedcode/cutpng/respng/layer_2.png new file mode 100644 index 0000000..3fef43c Binary files /dev/null and b/developedcode/cutpng/respng/layer_2.png differ diff --git a/developedcode/cutpng/respng/layer_3.png b/developedcode/cutpng/respng/layer_3.png new file mode 100644 index 0000000..50b8a36 Binary files /dev/null and b/developedcode/cutpng/respng/layer_3.png differ diff --git a/developedcode/cutpng/respng/layer_4.png b/developedcode/cutpng/respng/layer_4.png new file mode 100644 index 0000000..f1f47e5 Binary files /dev/null and b/developedcode/cutpng/respng/layer_4.png differ diff --git a/developedcode/driverlessCarnew/.browserslistrc b/developedcode/driverlessCarnew/.browserslistrc new file mode 100644 index 0000000..dc3bc09 --- /dev/null +++ b/developedcode/driverlessCarnew/.browserslistrc @@ -0,0 +1,4 @@ +> 1% +last 2 versions +not dead +not ie 11 diff --git a/developedcode/driverlessCarnew/.editorconfig b/developedcode/driverlessCarnew/.editorconfig new file mode 100644 index 0000000..7053c49 --- /dev/null +++ b/developedcode/driverlessCarnew/.editorconfig @@ -0,0 +1,5 @@ +[*.{js,jsx,ts,tsx,vue}] +indent_style = space +indent_size = 2 +trim_trailing_whitespace = true +insert_final_newline = true diff --git a/developedcode/driverlessCarnew/.gitignore b/developedcode/driverlessCarnew/.gitignore new file mode 100644 index 0000000..403adbc --- /dev/null +++ b/developedcode/driverlessCarnew/.gitignore @@ -0,0 +1,23 @@ +.DS_Store +node_modules +/dist + + +# local env files +.env.local +.env.*.local + +# Log files +npm-debug.log* +yarn-debug.log* +yarn-error.log* +pnpm-debug.log* + +# Editor directories and files +.idea +.vscode +*.suo +*.ntvs* +*.njsproj +*.sln +*.sw? diff --git a/developedcode/driverlessCarnew/README.md b/developedcode/driverlessCarnew/README.md new file mode 100644 index 0000000..50b30e0 --- /dev/null +++ b/developedcode/driverlessCarnew/README.md @@ -0,0 +1,44 @@ +# default + +## Project setup + +``` +# yarn +yarn + +# npm +npm install + +# pnpm +pnpm install +``` + +### Compiles and hot-reloads for development + +``` +# yarn +yarn dev + +# npm +npm run dev + +# pnpm +pnpm dev +``` + +### Compiles and minifies for production + +``` +# yarn +yarn build + +# npm +npm run build + +# pnpm +pnpm build +``` + +### Customize configuration + +See [Configuration Reference](https://vitejs.dev/config/). diff --git a/developedcode/driverlessCarnew/index.html b/developedcode/driverlessCarnew/index.html new file mode 100644 index 0000000..999abef --- /dev/null +++ b/developedcode/driverlessCarnew/index.html @@ -0,0 +1,16 @@ + + + + + + + 路网编辑器 + + + +
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b/developedcode/driverlessCarnew/src/api/editor.js new file mode 100644 index 0000000..460e022 --- /dev/null +++ b/developedcode/driverlessCarnew/src/api/editor.js @@ -0,0 +1,38 @@ +import _axios from "@/plugins/axios"; +//获机器人端对应瓦片地图的详细信息 +/* map=地图名 */ +export function getDetails(params) { + return _axios({ + url: `/v1/tilemap/details`, + method: "GET", + params, + }); +} +//获机器人端对应瓦片地图的渲染信息 +/* map=地图名 */ +export function getGeojson(params) { + return _axios({ + url: `/v1/roadmap/geojson`, + method: "GET", + params, + }); +} +//保存器人端对应瓦片地图 +/* map=地图名 */ +export function postGeojson(data) { + return _axios({ + url: `/v1/roadmap/geojson`, + method: "POST", + data, + }); +} +//获机器人端对应地图中的瓦片图片 +/* 层级 : 起始值为1,代表第一层级 + x索引 : 列索引，起始值为0,增长方向为垂直向下 + y索引 : 行索引，起始值为0,增长方向为水平向右 */ +export function getTilemap(data) { + return _axios({ + url: `/v1/tilemap/tile/${data.mapName}/${data.zoom}/${xIndex}/${yIndex}`, + method: "GET", + }); +} diff --git a/developedcode/driverlessCarnew/src/api/ldmqttability.js b/developedcode/driverlessCarnew/src/api/ldmqttability.js new file mode 100644 index 0000000..1fb5b5b --- /dev/null +++ b/developedcode/driverlessCarnew/src/api/ldmqttability.js @@ -0,0 +1,11 @@ +import useMqtt from "@/plugins/mqtt"; +const { startMqtt, endMqtt } = useMqtt(); + +// 远程调用机载能力 /ability/function/action/exec | 订阅 | QoS2 | Retain0 +export function actionExec(callback) { + return startMqtt( + "ability/function/action/exec", + { qos: 2, retain: 0 }, + callback + ); +} diff --git a/developedcode/driverlessCarnew/src/api/ldmqttbuild.js b/developedcode/driverlessCarnew/src/api/ldmqttbuild.js new file mode 100644 index 0000000..e27037f --- /dev/null +++ b/developedcode/driverlessCarnew/src/api/ldmqttbuild.js @@ -0,0 +1,63 @@ +import useMqtt from "@/plugins/mqtt"; +const { startMqtt, endMqtt, pubCommonFn } = useMqtt(); +//订阅地图状态 +export function mappingState(callback) { + return startMqtt("slam/mapping/state", { qos: 0 }, callback); +} + +//取消订阅地图状态 +export function endMappingState(callback) { + return endMqtt("slam/mapping/state"); +} + +//订阅构建进程 +export function recordProgress(callback) { + return startMqtt("map/record/progress", { qos: 2, retain: 0 }, callback); +} + +//取消订阅订阅构建进程 +export function endRecordProgress(callback) { + return endMqtt("map/record/progress"); +} +//订阅当前地图 +export function current_map(callback) { + return startMqtt("map/property/current_map", { qos: 2, retain: 1 }, callback); +} +//取消订阅当前地图 +export function endCurrent_map(callback) { + return endMqtt("map/property/current_map"); +} + +// 构建地图 slam/mapping/action/start | 发布 | QoS2 | Retain0 +export function pubSlamStart(map, map_type) { + return pubCommonFn( + "slam/mapping/action/start", + { + args: [map, map_type], + }, + 2, + 0 + ); +} +// 结束构建地图 slam/mapping/action/finish | 发布 | QoS2 | Retain0 +export function pubSlamFinish() { + return pubCommonFn( + "slam/mapping/action/finish", + { + args: null, + }, + 2, + 0 + ); +} +// 取消构建地图 slam/mapping/action/cancel | 发布 | QoS2 | Retain0 +export function pubSlamCancel(map, map_type) { + return pubCommonFn( + "slam/mapping/action/cancel", + { + args: null, + }, + 2, + 0 + ); +} diff --git a/developedcode/driverlessCarnew/src/api/ldmqttio.js b/developedcode/driverlessCarnew/src/api/ldmqttio.js new file mode 100644 index 0000000..2901574 --- /dev/null +++ b/developedcode/driverlessCarnew/src/api/ldmqttio.js @@ -0,0 +1,11 @@ +import useMqtt from "@/plugins/mqtt"; +const { startMqtt, endMqtt } = useMqtt(); + +// IO量操作 /io/common/state/action/set | 订阅 | QoS2 | Retain0 +export function ioActionSet(callback) { + return startMqtt( + "io/common/state/action/set", + { qos: 2, retain: 0 }, + callback + ); +} diff --git a/developedcode/driverlessCarnew/src/api/ldmqttlocalization.js b/developedcode/driverlessCarnew/src/api/ldmqttlocalization.js new file mode 100644 index 0000000..501d908 --- /dev/null +++ b/developedcode/driverlessCarnew/src/api/ldmqttlocalization.js @@ -0,0 +1,36 @@ +import useMqtt from "@/plugins/mqtt"; +const { startMqtt, endMqtt, pubCommonFn } = useMqtt(); + +// 机器人位姿 /localization/pose | 订阅 | QoS2 | Retain0 +export function locPose(callback) { + return startMqtt("localization/pose", { qos: 0, retain: 0 }, callback); +} +// 取消机器人位姿 /localization/pose | 订阅 | QoS2 | Retain0 +export function endLocPose() { + return endMqtt("localization/pose"); +} +// 位姿初始化 /localization/action/init | 订阅 | QoS2 | Retain0 +export function actionInit(x, y, yaw, callback) { + return pubCommonFn( + "localization/action/init", + { + args: [ + { + pose: { + xyz: [x, y, 0], + rpy: [0, 0, yaw], + blh: null, + }, + }, + ], + }, + 2, + 0, + callback + ); +} + +// 取消位姿初始化 /localization/action/init | 订阅 | QoS2 | Retain0 +export function endActionInit() { + return startMqtt("localization/action/init"); +} diff --git a/developedcode/driverlessCarnew/src/api/ldmqttmessage.js b/developedcode/driverlessCarnew/src/api/ldmqttmessage.js new file mode 100644 index 0000000..8dab847 --- /dev/null +++ b/developedcode/driverlessCarnew/src/api/ldmqttmessage.js @@ -0,0 +1,34 @@ +import useMqtt from "@/plugins/mqtt"; +const { startMqtt, endMqtt, pubCommonFn } = useMqtt(); + + + +// 机器人位姿 /localization/pose | 订阅 | QoS2 | Retain0 +export function locPose(callback) { + return startMqtt("localization/pose", { qos: 0, retain: 0 }, callback); +} + +// 错误消息 [ /message/error | 发布 | QoS2 | Retain0 ] +export function messageError(callback) { + return startMqtt("message/error", { qos: 2, retain: 0 }, callback); +} +// 警告消息 [ /message/warn | 发布 | QoS2 | Retain0 ] +export function messageWarn(callback) { + return startMqtt("message/warn", { qos: 2, retain: 0 }, callback); +} +// 日志消息 [ /message/info | 发布 | QoS0 | Retain0 ] +export function messageInfo(callback) { + return startMqtt("message/info", { qos: 0, retain: 0 }, callback); +} +// 错误消息 [ /message/error | 发布 | QoS2 | Retain0 ] +export function endMessageError(callback) { + return endMqtt("message/error"); +} +// 警告消息 [ /message/warn | 发布 | QoS2 | Retain0 ] +export function endMessageWarn(callback) { + return endMqtt("message/warn"); +} +// 日志消息 [ /message/info | 发布 | QoS0 | Retain0 ] +export function endMessageInfo(callback) { + return endMqtt("message/info"); +} diff --git a/developedcode/driverlessCarnew/src/api/ldmqttnavigation.js b/developedcode/driverlessCarnew/src/api/ldmqttnavigation.js new file mode 100644 index 0000000..c235dff --- /dev/null +++ b/developedcode/driverlessCarnew/src/api/ldmqttnavigation.js @@ -0,0 +1,83 @@ +import useMqtt from "@/plugins/mqtt"; +const { startMqtt, endMqtt, pubCommonFn } = useMqtt(); + +// // 导航控制- 开启导航 /navigation/stack/action/start | 订阅 | QoS2 | Retain0 +// export function subActionStart(callback) { +// return startMqtt( +// "task/procedure/action/start/reply", +// { qos: 2, retain: 0 }, +// callback +// ); +// } +// 导航控制- 结束导航 /navigation/stack/action/stop | 订阅 | QoS2 | Retain0 +export function actionStop() { + return pubCommonFn( + "navigation/stack/action/stop", + { + args: null, + }, + 2, + 0 + ); +} +// 导航控制- 重启导航 /navigation/stack/action/restart | 订阅 | QoS2 | Retain0 +export function actionRestart(mapName) { + return pubCommonFn( + "navigation/stack/action/restart", + { + args: [mapName], + }, + 2, + 0 + ); +} +// 前往目标点 [ /task/target/action/goto | 订阅 | QoS2 | Retain0 ] +export function actionGoto(callback) { + return startMqtt("task/target/action/goto", { qos: 2, retain: 0 }, callback); +} +// 到达目标点 [ /task/target/action/arrive | 订阅 | QoS2 | Retain1 ] +export function actionArrive(callback) { + return startMqtt("task/target/event/arrive", { qos: 2, retain: 1 }, callback); +} +// 重启导航 [ task/procedure/action/start | 订阅 | QoS2 | Retain0 ] +export function actionStart(map, task) { + return pubCommonFn( + "task/procedure/action/start", + { + args: [ + { + roadmap: map, + task: task, + }, + ], + }, + 2, + 0 + ); +} +// 继续任务 [ /task/procedure/action/resume | 订阅 | QoS2 | Retain0 ] +export function actionResume(callback) { + return startMqtt( + "task/procedure/action/resume", + { qos: 2, retain: 0 }, + callback + ); +} + +// 暂停任务 [ /task/procedure/action/pause | 订阅 | QoS1 | Retain0 ] +export function actionPause(callback) { + return startMqtt( + "task/procedure/action/pause", + { qos: 1, retain: 0 }, + callback + ); +} + +// 取消任务 [ /task/procedure/action/cancel | 订阅 | QoS1 | Retain0 ] +export function actionCancel(callback) { + return startMqtt( + "task/procedure/action/cancel", + { qos: 1, retain: 0 }, + callback + ); +} diff --git a/developedcode/driverlessCarnew/src/api/ldmqttplanning.js b/developedcode/driverlessCarnew/src/api/ldmqttplanning.js new file mode 100644 index 0000000..03dfb88 --- /dev/null +++ b/developedcode/driverlessCarnew/src/api/ldmqttplanning.js @@ -0,0 +1,19 @@ +import useMqtt from "@/plugins/mqtt"; +const { startMqtt, endMqtt } = useMqtt(); + +// 路径规划 /planning/service/plan/request | 订阅 | QoS2 | Retain0 +export function actionPlant(callback) { + return startMqtt( + "planning/service/plan/request", + { qos: 2, retain: 0 }, + callback + ); +} +// 遇障重规划 /planning/action/replan | 订阅 | QoS2 | Retain0 +export function actionReplan(callback) { + return startMqtt( + "planning/action/replan", + { qos: 2, retain: 0 }, + callback + ); +} diff --git a/developedcode/driverlessCarnew/src/api/ldmqttsensor.js b/developedcode/driverlessCarnew/src/api/ldmqttsensor.js new file mode 100644 index 0000000..aa38711 --- /dev/null +++ b/developedcode/driverlessCarnew/src/api/ldmqttsensor.js @@ -0,0 +1,12 @@ +import useMqtt from "@/plugins/mqtt"; +const { startMqtt, endMqtt, pubCommonFn } = useMqtt(); + +// 电池信息 sensor/battery | 订阅 | QoS2 | Retain0 +export function sensorBattery(callback) { + return startMqtt("sensor/battery", { qos: 2, retain: 0 }, callback); +} + +// 取消电池信息 sensor/battery | 订阅 | QoS2 | Retain0 +export function endSensorBattery() { + return endMqtt("sensor/battery"); +} diff --git a/developedcode/driverlessCarnew/src/api/map.js b/developedcode/driverlessCarnew/src/api/map.js new file mode 100644 index 0000000..7d42f87 --- /dev/null +++ b/developedcode/driverlessCarnew/src/api/map.js @@ -0,0 +1,116 @@ +import _axios from "@/plugins/axios"; +//获取地图列表 +export function getMapList() { + return _axios({ + url: `/v1/map/list`, + method: "get", + }); +} +//获取当前地图 +export function getMapUsing() { + return { + data: { + status: true, + name: "ys202011_hc", + }, + }; +} +//新建地图 +export function createMap(data) { + return _axios({ + url: `/v1/map/create`, + method: "POST", + data, + }); +} +//获取地图缩略图 +// map=地图名 +export function getMapThumbnail(params) { + return { + data: { + status: true, + name: "图片", + }, + }; +} +//地图重命名 +/* { + "map" : "立得厂区地图", + "rename": "厂房室内地图" +} */ +export function postMapRename(data) { + return _axios({ + url: `/v1/map/rename`, + method: "post", + data, + }); +} +//删除地图工程 +/* { + "map" : "立得厂区地图" +} */ +export function delMap(data) { + return _axios({ + url: `/v1/map/delete`, + method: "delete", + data, + }); +} +//地图工程下载前压缩 +/* { + "map" : "立得厂区地图", + "ignore": ['pcap'] +} */ +export function postMapExportCompress(data) { + return _axios({ + url: `/v1/map/export/compress`, + method: "post", + data, + }); +} +//停止创建 +// map=地图名 +export function postRecordStop(data) { + return _axios({ + url: `/v1/map/record/stop`, + method: "POST", + data, + }); +} +//停止构建 +// map=地图名 +export function postBuildStop(data) { + return _axios({ + url: `/v1/map/build/stop`, + method: "POST", + data, + }); +} +//导入地图工程 +// filedata=地图工程压缩包文件内容 +export function postMapImport(data) { + return _axios({ + url: `/v1/map/import`, + method: "post", + headers: { + "Content-Type": "multipart/form-data", + }, + data, + }); +} +//地图工程组件列表 +// map=地图名 +export function getMapComponents(params) { + return _axios({ + url: `/v1/map/components`, + method: "get", + params, + }); +} +//地图工程任意文件获取 +/* 一个地图工程包含许多文件，如路网、地图瓦片、八叉树地图等，可以下载一个地图工程， +查看具体目录文件结构，本接口用于获取指定地图工程目录下的任意文件， +如/v1/map/file/map_test/tilemap/0/0.png，获取map_test地图工程tilemap/0/目录下的0.png文件。 */ +export function getMapFile(mapName) { + return `/v1/tilemap/tile/${mapName}/{z}/{x}/{y}.png`; +} diff --git a/developedcode/driverlessCarnew/src/api/nav.js b/developedcode/driverlessCarnew/src/api/nav.js new file mode 100644 index 0000000..a53d961 --- /dev/null +++ b/developedcode/driverlessCarnew/src/api/nav.js @@ -0,0 +1,69 @@ +import _axios from "@/plugins/axios"; +//生成任务 +/* { + "map": "guangchang", + "path": "1", + "coord_type": "local", + "cron": "00 55 15 ? * 1 *", + "coord": [ + [ + 2.33, + -6.9 + ] + ], + "plan": [ + "free" + ], + "repeate": 1 +} */ +export function postV1Path(data) { + return _axios({ + url: `/v1/path`, + method: "POST", + data, + }); +} +//获取任务列表 +/* { + "map": "guangchang", + "path": "1" +} */ +export function getV1Path(params) { + return _axios({ + url: `/v1/path/list`, + method: "GET", + params, + }); +} +//获取当前任务 +/* { + "map": "guangchang", + "path": "1" +} */ +export function getV1(params) { + return _axios({ + url: `/v1/path`, + method: "GET", + params, + }); +} + +//删除任务 +/* { + "map": "guangchang", + "path": "1" +} */ +export function delV1Path(data) { + return _axios({ + url: `/v1/path`, + method: "DELETE", + data, + }); +} +export function udp(data) { + return _axios({ + url: `/udp`, + method: "post", + data, + }); +} diff --git a/developedcode/driverlessCarnew/src/api/player.js b/developedcode/driverlessCarnew/src/api/player.js new file mode 100644 index 0000000..c51bb21 --- /dev/null +++ b/developedcode/driverlessCarnew/src/api/player.js @@ -0,0 +1,9 @@ +import _axios from "@/plugins/axios"; +//获取地图列表 +export function getPreviewUrl(params) { + return _axios({ + url: `/ay-video-manage/video/monitor/getRealTimeMonitorVideo`, + method: "post", + params, + }); +} diff --git a/developedcode/driverlessCarnew/src/api/roadmap.js b/developedcode/driverlessCarnew/src/api/roadmap.js new file mode 100644 index 0000000..97d59ee --- /dev/null +++ b/developedcode/driverlessCarnew/src/api/roadmap.js @@ -0,0 +1,25 @@ +import _axios from "@/plugins/axios"; +//登录 +export function login(data) { + return _axios({ + url: `/api/user/login`, + method: "post", + data, + }); +} +//登出 +export function logout(data) { + return _axios({ + url: `/api/user/logout`, + method: "post", + data, + }); +} +//获取用户信息 +export function getUserInfo(data) { + return _axios({ + url: `/api/user/info`, + method: "post", + data, + }); +} diff --git a/developedcode/driverlessCarnew/src/api/robot.js b/developedcode/driverlessCarnew/src/api/robot.js new file mode 100644 index 0000000..97d59ee --- /dev/null +++ b/developedcode/driverlessCarnew/src/api/robot.js @@ -0,0 +1,25 @@ +import _axios from "@/plugins/axios"; +//登录 +export function login(data) { + return _axios({ + url: `/api/user/login`, + method: "post", + data, + }); +} +//登出 +export function logout(data) { + return _axios({ + url: `/api/user/logout`, + method: "post", + data, + }); +} +//获取用户信息 +export function getUserInfo(data) { + return _axios({ + url: `/api/user/info`, + method: "post", + data, + }); +} diff --git a/developedcode/driverlessCarnew/src/api/sensing.js b/developedcode/driverlessCarnew/src/api/sensing.js new file mode 100644 index 0000000..fa76eab --- /dev/null +++ b/developedcode/driverlessCarnew/src/api/sensing.js @@ -0,0 +1,5 @@ +import axios from "axios"; +//获取地图列表 +export function getPointcloud3d() { + return axios.get(`/v1/sensor/pointcloud/3d`, { responseType: "arraybuffer" }); +} diff --git a/developedcode/driverlessCarnew/src/api/tilemap.js b/developedcode/driverlessCarnew/src/api/tilemap.js new file mode 100644 index 0000000..97d59ee --- /dev/null +++ b/developedcode/driverlessCarnew/src/api/tilemap.js @@ -0,0 +1,25 @@ +import _axios from "@/plugins/axios"; +//登录 +export function login(data) { + return _axios({ + url: `/api/user/login`, + method: "post", + data, + }); +} +//登出 +export function logout(data) { + return _axios({ + url: `/api/user/logout`, + method: "post", + data, + }); +} +//获取用户信息 +export function getUserInfo(data) { + return _axios({ + url: `/api/user/info`, + method: "post", + data, + }); +} diff --git a/developedcode/driverlessCarnew/src/api/user.js b/developedcode/driverlessCarnew/src/api/user.js new file mode 100644 index 0000000..c6cf652 --- /dev/null +++ b/developedcode/driverlessCarnew/src/api/user.js @@ -0,0 +1,25 @@ +import _axios from "@/plugins/axios"; + +//登录 +export function login(data) { + return _axios({ + url: `v1/user/auth`, + method: "POST", + data, + }); +} +//修改用户信息 +export function getUserInfo(data) { + return _axios({ + url: `/v1/user/info`, + method: "post", + data, + }); +} +//获取机器人MQTT信息 +export function getRobotInfo() { + return _axios({ + url: `/v1/robot/mqtt`, + method: "get", + }); +} diff --git a/developedcode/driverlessCarnew/src/assets/img/dir_backward.png b/developedcode/driverlessCarnew/src/assets/img/dir_backward.png new file mode 100644 index 0000000..fd4b924 Binary files /dev/null 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b/developedcode/driverlessCarnew/src/assets/img/login-logo.png new file mode 100644 index 0000000..da5063d Binary files /dev/null and b/developedcode/driverlessCarnew/src/assets/img/login-logo.png differ diff --git a/developedcode/driverlessCarnew/src/assets/img/login-welcom.png b/developedcode/driverlessCarnew/src/assets/img/login-welcom.png new file mode 100644 index 0000000..f490738 Binary files /dev/null and b/developedcode/driverlessCarnew/src/assets/img/login-welcom.png differ diff --git a/developedcode/driverlessCarnew/src/assets/img/map-building.png b/developedcode/driverlessCarnew/src/assets/img/map-building.png new file mode 100644 index 0000000..363ffb3 Binary files /dev/null and b/developedcode/driverlessCarnew/src/assets/img/map-building.png differ diff --git a/developedcode/driverlessCarnew/src/assets/img/map-recording.png b/developedcode/driverlessCarnew/src/assets/img/map-recording.png new file mode 100644 index 0000000..adc4d85 Binary files /dev/null and b/developedcode/driverlessCarnew/src/assets/img/map-recording.png differ diff --git a/developedcode/driverlessCarnew/src/assets/img/map-unavailable.png b/developedcode/driverlessCarnew/src/assets/img/map-unavailable.png new file mode 100644 index 0000000..509fa26 Binary files /dev/null and b/developedcode/driverlessCarnew/src/assets/img/map-unavailable.png differ diff --git a/developedcode/driverlessCarnew/src/assets/img/normal_point.png b/developedcode/driverlessCarnew/src/assets/img/normal_point.png new file mode 100644 index 0000000..f2756a7 Binary files /dev/null and b/developedcode/driverlessCarnew/src/assets/img/normal_point.png differ diff --git a/developedcode/driverlessCarnew/src/assets/img/robot.png b/developedcode/driverlessCarnew/src/assets/img/robot.png new file mode 100644 index 0000000..2f16c7f Binary files /dev/null and b/developedcode/driverlessCarnew/src/assets/img/robot.png differ diff --git a/developedcode/driverlessCarnew/src/assets/img/target.png b/developedcode/driverlessCarnew/src/assets/img/target.png new file mode 100644 index 0000000..3e1502d Binary files /dev/null and b/developedcode/driverlessCarnew/src/assets/img/target.png differ diff --git a/developedcode/driverlessCarnew/src/assets/img/target_filled.png b/developedcode/driverlessCarnew/src/assets/img/target_filled.png new file mode 100644 index 0000000..c2e8da8 Binary files /dev/null and b/developedcode/driverlessCarnew/src/assets/img/target_filled.png differ diff --git a/developedcode/driverlessCarnew/src/assets/json/mapdetail.json b/developedcode/driverlessCarnew/src/assets/json/mapdetail.json new file mode 100644 index 0000000..f915502 --- /dev/null +++ b/developedcode/driverlessCarnew/src/assets/json/mapdetail.json @@ -0,0 +1,13 @@ +{ + "status": true, + "min_zoom": 1, + "projection": { + "extent": [ + -76.3218753, + -128.075505, + 333.27812470000003, + 281.524495 + ] + }, + "layer_cnt": 5 +} \ No newline at end of file diff --git a/developedcode/driverlessCarnew/src/assets/json/mapgeo.json b/developedcode/driverlessCarnew/src/assets/json/mapgeo.json new file mode 100644 index 0000000..52eaf4e --- /dev/null +++ b/developedcode/driverlessCarnew/src/assets/json/mapgeo.json @@ -0,0 +1,11357 @@ +{ + "status": true, + "type": "FeatureCollection", + "features": [ + { + "geometry": { + "type": "Point", + "coordinates": [ + 122.33, + 109.2, + 0 + ] + }, + "type": "Feature", + "properties": { + "name": "", + "yaw": 0, + "pitch": 0, + "roll": 0, + "isyawfix": false, + "taskid": 0, + "offset": 0, + "id": "p_209" + } + }, + { + "geometry": { + "type": "Point", + "coordinates": [ + 114.74, + 120.78, + 0 + ] + }, + "type": "Feature", + "properties": { + "name": "", + "yaw": 0, + "pitch": 0, + "roll": 0, + "isyawfix": false, + "taskid": 0, + "offset": 0, + "id": "p_210" + } + }, + { + "geometry": { + "type": "MultiPoint", + "coordinates": [ + [ + 116.89, + 38.99 + ], + [ + 123.98652741411871, + 39.621348055594005 + ], + [ + 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+ "endid": "p_271", + "roadwidth": 0, + "obstype": 0, + "slowdis": 2, + "startid": "p_266" + } + }, + { + "geometry": { + "type": "Point", + "coordinates": [ + 16.63, + -27, + 0 + ] + }, + "type": "Feature", + "properties": { + "name": "", + "yaw": 0, + "pitch": 0, + "roll": 0, + "isyawfix": false, + "taskid": 0, + "offset": 0, + "id": "p_271" + } + }, + { + "geometry": { + "type": "Point", + "coordinates": [ + 11.42, + -21.82, + 0 + ] + }, + "type": "Feature", + "properties": { + "name": "", + "yaw": 0, + "pitch": 0, + "roll": 0, + "isyawfix": false, + "taskid": 0, + "offset": 0, + "id": "p_266" + } + }, + { + "geometry": { + "type": "LineString", + "coordinates": [ + [ + 18.37, + -7.42 + ], + [ + 18.37, + -10.28 + ] + ] + }, + "type": "Feature", + "properties": { + "maxspeed": 8, + "s2eforward": 0, + "thtolerance": 0.2, + "direct": 110, + "lanewidth": 1, + "controltype": 0, + "chassistype": 10, + "mintheta": -1, + "id": "l_120", + "minspeed": 0, + "obsvalue": 200, + "followdis": 0.4, + "e2sforward": 0, + "selftheta": 0.5, + "runtype": 0, + "xytolerance": 0.2, + "name": "", + "maxtheta": 1, + "leftlanenum": 0, + "plantype": 0, + "rightlanenum": 0, + "endid": "p_61", + "roadwidth": 0, + "obstype": 0, + "slowdis": 2, + "startid": "p_118" + } + }, + { + "geometry": { + "type": "LineString", + "coordinates": [ + [ + 18.37, + -5.08 + ], + [ + 18.37, + -7.42 + ] + ] + }, + "type": "Feature", + "properties": { + "maxspeed": 8, + "s2eforward": 0, + "thtolerance": 0.2, + "direct": 110, + "lanewidth": 1, + "controltype": 0, + "chassistype": 10, + "mintheta": -1, + "id": "l_119", + "minspeed": 0, + "obsvalue": 200, + "followdis": 0.4, + "e2sforward": 0, + "selftheta": 0.5, + "runtype": 0, + "xytolerance": 0.2, + "name": "", + "maxtheta": 1, + "leftlanenum": 0, + "plantype": 0, + "rightlanenum": 0, + "endid": "p_118", + "roadwidth": 0, + "obstype": 0, + "slowdis": 2, + "startid": "p_117" + } + }, + { + "geometry": { + "type": "Polygon", + "coordinates": [ + [ + [ + -62.92, + -83.33 + ], + [ + -62.92, + 170.78 + ], + [ + 219.3, + 170.78 + ], + [ + 219.3, + -83.33 + ], + [ + -62.92, + -83.33 + ] + ] + ] + }, + "type": "Feature", + "properties": { + "color": "#cccccc", + "type": 0, + "id": "s_auto", + "name": "auto", + "transparent": 50 + } + } + ] +} \ No newline at end of file diff --git a/developedcode/driverlessCarnew/src/main.js b/developedcode/driverlessCarnew/src/main.js new file mode 100644 index 0000000..add5306 --- /dev/null +++ b/developedcode/driverlessCarnew/src/main.js @@ -0,0 +1,30 @@ +import App from "./App.vue"; +import { createApp } from "vue"; +// 引入acro实例 +import { registerPlugins } from "@/plugins/vuetify"; +//全局使用message +import { ElMessage } from "element-plus"; +// 引入pinia 实例 +import pinia from "@/store/index.js"; +// 引入路由实例 +import router from "@/router/index.js"; +// 剪切板 +import { VueClipboard } from "@soerenmartius/vue3-clipboard"; +//全局引入lodash +import _ from "lodash"; +//全局挂在axios +import axios from "@/plugins/axios"; +import dayjs from "dayjs"; +import "@/utils/permission"; +const app = createApp(App); +app.config.globalProperties.$_ = _; //挂载到app实例上 +app.config.globalProperties.$axios = axios; //挂载到app实例上 +app.config.globalProperties.$dayjs = dayjs; //挂载到app实例上 +app.config.globalProperties.$message = ElMessage; //挂载到app实例上 + +registerPlugins(app); +app + .use(pinia) //中央仓库pinia + .use(router) //路由 + .use(VueClipboard); //剪切板 +app.mount("#app"); diff --git a/developedcode/driverlessCarnew/src/mixin/totalmixin.js b/developedcode/driverlessCarnew/src/mixin/totalmixin.js new file mode 100644 index 0000000..e54122d --- /dev/null +++ b/developedcode/driverlessCarnew/src/mixin/totalmixin.js @@ -0,0 +1,69 @@ +import { + userStore, + snackbarStore, + breadcrumbsStore, + dialogFullscreenStore, +} from "@/store"; +export default { + data() { + return { + userObj: userStore(), + snackbarsObj: snackbarStore(), + breadcrumbsObj: breadcrumbsStore(), + dialogFullscreenObj: dialogFullscreenStore(), + }; + }, + methods: { + // snackBar + openSnackbar(params) { + return this.snackbarsObj.openSnackbar(params); + }, + closeSnackbar(index) { + return this.snackbarsObj.closeSnackbar(index); + }, + openSuccessSnackbar(message) { + return this.snackbarsObj.openSuccessSnackbar(message); + }, + openFailureSnackbar(message) { + return this.snackbarsObj.openFailureSnackbar(message); + }, + openInfoSnackbar(message) { + return this.snackbarsObj.openInfoSnackbar(message); + }, + cleanSnackbar() { + return this.snackbarsObj.cleanSnackbar(); + }, + // breadcrumbs + editBreadcrumbs(breadcrumbsList) { + return this.breadcrumbsObj.editBreadcrumbs(breadcrumbsList); + }, + // breadcrumbs + setDialogFullscreen(bol = false) { + return this.dialogFullscreenObj.setDialogFullscreen(bol); + }, + // breadcrumbs + setRobot(robot) { + return this.userObj.setRobot(robot); + }, + setBattery(battery) { + return this.userObj.setBattery(battery); + }, + }, + computed: { + snackbars() { + return this.snackbarsObj.snackbars; + }, + breadcrumbsList() { + return this.breadcrumbsObj.breadcrumbsList; + }, + dialogFullscreen() { + return this.dialogFullscreenObj.dialogFullscreen; + }, + robotObj() { + return this.userObj.robot; + }, + batteryObj() { + return this.userObj.battery; + }, + }, +}; diff --git a/developedcode/driverlessCarnew/src/plugins/axios.js b/developedcode/driverlessCarnew/src/plugins/axios.js new file mode 100644 index 0000000..a008707 --- /dev/null +++ b/developedcode/driverlessCarnew/src/plugins/axios.js @@ -0,0 +1,47 @@ +import axios from "axios"; +import qs from "qs"; +import { ElMessage } from "element-plus"; +let config = { + baseURL: "", + timeout: 600 * 1000, + withCredentials: true, // Check cross-site Access-Control + /* `paramsSerializer` 是一个负责 `params` 序列化的函数 + qs.stringify({ a: ['b', 'c'] }, { arrayFormat: 'indices' }) + // 'a[0]=b&a[1]=c' + qs.stringify({ a: ['b', 'c'] }, { arrayFormat: 'brackets' }) + // 'a[]=b&a[]=c' + qs.stringify({ a: ['b', 'c'] }, { arrayFormat: 'repeat' }) + // 'a=b&a=c' + */ + paramsSerializer: (params) => { + return qs.stringify(params, { arrayFormat: "indices" }); + }, +}; + +const _axios = axios.create(config); + +_axios.interceptors.request.use( + (config) => { + return config; + }, + (error) => { + return Promise.reject(error); + } +); +_axios.interceptors.response.use( + (response) => { + if (response.status === 200) { + if (!response.data.status) { + ElMessage.error(response.data.msg); + } + return Promise.resolve(response.data); + } else { + ElMessage.error(response.msg); + return Promise.reject(response.data); + } + }, + (error) => { + ElMessage.error(error); + } +); +export default _axios; diff --git a/developedcode/driverlessCarnew/src/plugins/mqtt.js b/developedcode/driverlessCarnew/src/plugins/mqtt.js new file mode 100644 index 0000000..d8396ba --- /dev/null +++ b/developedcode/driverlessCarnew/src/plugins/mqtt.js @@ -0,0 +1,199 @@ +import * as mqtt from "mqtt/dist/mqtt.min"; +import { ulid } from "ulid"; +let robot = { + did: "ede2a4d227b81d36", + pid: "robot4inspection", +}; +const mqttSlamPID = "slam_server"; +let client = null; +let PublicMqtt = null; + +class MQTT { + // url = `ws://s3.s100.vip:8083/mqtt`; // mqtt地址 + url = `ws://192.168.1.141:8083/mqtt`; // mqtt地址 + //初始化mqtt + init() { + let options = { + clean: true, + clientId: ulid(), // 客户端分类唯一 + username: "map-editor", + password: "leador", + connectTimeout: 4000, // 超时时间 + }; + client = mqtt.connect(this.url, options); + client.on("connect", () => {}); + client.on("error", (error) => { + console.log(this.url + "异常中断"); + }); + client.on("reconnect", (error) => { + console.log(this.url + "重新连接"); + }); + } + //取消订阅 + unsubscribes(topic) { + if (topic.indexOf("slam/") === 0) { + client.unsubscribe(`/${mqttSlamPID}/${robot.did}/${topic}`, (error) => { + if (!error) { + console.log(`/${mqttSlamPID}/${robot.did}/${topic}` + "取消订阅成功"); + } else { + console.log(`/${mqttSlamPID}/${robot.did}/${topic}` + "取消订阅失败"); + } + }); + } else if (topic.indexOf("other/") === 0) { + client.unsubscribe(`/${topic}`, (error) => { + if (!error) { + console.log(`/${robot.pid}/${robot.did}/${topic}` + "取消订阅成功"); + } else { + console.log(`/${robot.pid}/${robot.did}/${topic}` + "取消订阅失败"); + } + }); + } else { + client.unsubscribe(`/${robot.pid}/${robot.did}/${topic}`, (error) => { + if (!error) { + console.log(`/${robot.pid}/${robot.did}/${topic}` + "取消订阅成功"); + } else { + console.log(`/${robot.pid}/${robot.did}/${topic}` + "取消订阅失败"); + } + }); + } + } + + //连接 + link(topic, params) { + if (topic.indexOf("slam/") === 0) { + client.subscribe( + `/${mqttSlamPID}/${robot.did}/${topic}`, + params, + (error) => { + if (!error) { + console.log( + `/${mqttSlamPID}/${robot.did}/${topic}` + "订阅成功", + JSON.stringify(params) + ); + } else { + console.log( + `/${mqttSlamPID}/${robot.did}/${topic}` + "订阅失败", + JSON.stringify(params) + ); + } + } + ); + } else if (topic.indexOf("other/") === 0) { + client.subscribe(`/${topic}`, params, (error) => { + if (!error) { + console.log(`/${topic}` + "订阅成功", JSON.stringify(params)); + } else { + console.log(`/${topic}` + "订阅失败", JSON.stringify(params)); + } + }); + } else { + client.subscribe( + `/${robot.pid}/${robot.did}/${topic}`, + params, + (error) => { + if (!error) { + console.log( + `/${robot.pid}/${robot.did}/${topic}` + "订阅成功", + JSON.stringify(params) + ); + } else { + console.log( + `/${robot.pid}/${robot.did}/${topic}` + "订阅失败", + JSON.stringify(params) + ); + } + } + ); + } + } + //发布函数 + pubCommonFn( + topic, + jobj, + qos, + retain, + successCallback = () => {}, + failCallback = (e) => {} + ) { + if (client === null) return; + var timeNow = new Date(); + jobj.timestamp = timeNow.getTime(); + if (topic.indexOf("slam/") === 0) { + client.publish( + `/${mqttSlamPID}/${robot.did}/${topic}`, + JSON.stringify(jobj), + { qos: qos, retain: retain, cbStorePut: successCallback }, + failCallback + ); + } else if (topic.indexOf("other/") === 0) { + client.publish( + `/${topic}`, + JSON.stringify(jobj), + { qos: qos, retain: retain, cbStorePut: successCallback }, + failCallback + ); + } else { + client.publish( + `/${robot.pid}/${robot.did}/${topic}`, + JSON.stringify(jobj), + { qos: qos, retain: retain, cbStorePut: successCallback }, + failCallback + ); + } + } + + //收到的消息 + get(callback) { + client.on("message", callback); + } + //结束链接 + over() { + client.end(); + } +} + +export default function useMqtt() { + let startMqtt = (val, params, callback) => { + //设置订阅地址 + if (!PublicMqtt) { + PublicMqtt = new MQTT(); + //初始化mqtt + PublicMqtt.init(); + //链接mqtt + } + PublicMqtt.link(val, params); + getMessage(callback); + }; + let pubCommonFn = ( + topic, + jobj, + qos, + retain, + successCallback, + failCallback + ) => { + console.log("发布", topic); + //发布mqtt + PublicMqtt.pubCommonFn( + topic, + jobj, + qos, + retain, + successCallback, + failCallback + ); + }; + let endMqtt = (val) => { + //取消链接mqtt + PublicMqtt.unsubscribes(val); + }; + let getMessage = (callback) => { + PublicMqtt?.get(callback); + }; + + return { + startMqtt, + endMqtt, + pubCommonFn, + }; +} diff --git a/developedcode/driverlessCarnew/src/plugins/vuetify.js b/developedcode/driverlessCarnew/src/plugins/vuetify.js new file mode 100644 index 0000000..fddda4f --- /dev/null +++ b/developedcode/driverlessCarnew/src/plugins/vuetify.js @@ -0,0 +1,38 @@ +/** + * plugins/vuetify.js + * + * Framework documentation: https://vuetifyjs.com` + */ + +// Styles +import "@mdi/font/css/materialdesignicons.css"; +import "vuetify/styles"; +import { loadFonts } from "./webfontloader"; +import zhHans from "vuetify/lib/locale/zh-Hans.mjs"; +// Composables +import { createVuetify } from "vuetify"; + +// https://vuetifyjs.com/en/introduction/why-vuetify/#feature-guides +const vuetify = createVuetify({ + theme: { + themes: { + light: { + colors: { + primary: "#1867C0", + secondary: "#5CBBF6", + }, + }, + }, + }, + ssr: true, + lang: { + locales: { + zhHans, + }, + current: "zhHans", + }, +}); +export function registerPlugins(app) { + loadFonts(); + app.use(vuetify); +} diff --git a/developedcode/driverlessCarnew/src/plugins/webfontloader.js b/developedcode/driverlessCarnew/src/plugins/webfontloader.js new file mode 100644 index 0000000..92afa8a --- /dev/null +++ b/developedcode/driverlessCarnew/src/plugins/webfontloader.js @@ -0,0 +1,15 @@ +/** + * plugins/webfontloader.js + * + * webfontloader documentation: https://github.com/typekit/webfontloader + */ + + export async function loadFonts () { + const webFontLoader = await import(/* webpackChunkName: "webfontloader" */'webfontloader') + + webFontLoader.load({ + google: { + families: ['Roboto:100,300,400,500,700,900&display=swap'], + }, + }) +} diff --git a/developedcode/driverlessCarnew/src/router/index.js b/developedcode/driverlessCarnew/src/router/index.js new file mode 100644 index 0000000..8c0ec23 --- /dev/null +++ b/developedcode/driverlessCarnew/src/router/index.js @@ -0,0 +1,64 @@ +import { createRouter, createWebHistory } from "vue-router"; +import { close, start } from "@/utils/nprogress"; +import HomeView from "@/views/Home.vue"; +const routes = [ + { + path: "/", + name: "home", + component: HomeView, + redirect: "/driverlessCars", + children: [ + { + path: "driverlessCars", + name: "driverlessCars", + meta: { + zhtitle: "首页", + }, + // which is lazy-loaded when the route is visited. + component: () => import("../views/driverlessCars/index.vue"), + }, + { + path: "navigation", + name: "navigation", + meta: { + zhtitle: "导航", + }, + // which is lazy-loaded when the route is visited. + component: () => import("../views/driverlessCars/navigation.vue"), + }, + { + path: "editor", + name: "editor", + meta: { + zhtitle: "编辑", + }, + // which is lazy-loaded when the route is visited. + component: () => import("../views/driverlessCars/editor.vue"), + }, + ], + }, + + { name: "重定向", path: "/:catchAll(.*)", redirect: "/" }, + { + path: "/login", + name: "login", + component: () => import("../views/login.vue"), + }, +]; + +// 创建路由实例 +const router = createRouter({ + history: createWebHistory(), + routes, //路由表 +}); +let witheRouter = ["login"]; +router.beforeEach((pre, next) => { + if (witheRouter.indexOf(pre.name) !== -1) { + } + start(); +}); + +router.afterEach(() => { + close(); +}); +export default router; diff --git a/developedcode/driverlessCarnew/src/store/breadcrumbs.js b/developedcode/driverlessCarnew/src/store/breadcrumbs.js new file mode 100644 index 0000000..17e7126 --- /dev/null +++ b/developedcode/driverlessCarnew/src/store/breadcrumbs.js @@ -0,0 +1,35 @@ +import { defineStore } from "pinia"; +import _ from "lodash"; +const breadcrumbsStore = defineStore("breadcrumbs", { + // other options... + state() { + return { + breadcrumbsList: [ + { + title: "首页", + href: "/driverlessCars", + id: Date.now(), + }, + ], + }; + }, + actions: { + getBreadcrumbs() { + return this.breadcrumbsList; + }, + editBreadcrumbs(breadcrumbsList) { + this.breadcrumbsList = []; + for (let i = 0; i < breadcrumbsList.length; i++) { + let ele = breadcrumbsList[i]; + this.breadcrumbsList.push({ + ...ele, + id: Date.now() + 1000 * i, + }); + } + }, + }, + persist: { + enabled: true, // true 表示开启持久化保存 + }, +}); +export default breadcrumbsStore; diff --git a/developedcode/driverlessCarnew/src/store/fullscreen.js b/developedcode/driverlessCarnew/src/store/fullscreen.js new file mode 100644 index 0000000..9d919b6 --- /dev/null +++ b/developedcode/driverlessCarnew/src/store/fullscreen.js @@ -0,0 +1,19 @@ +import { defineStore } from "pinia"; +import _ from "lodash"; +const dialogFullscreenStore = defineStore("dialogFullscreen", { + // other options... + state() { + return { + dialogFullscreen: false, + }; + }, + actions: { + getDialogFullscreen() { + return this.dialogFullscreen; + }, + setDialogFullscreen(bol) { + this.dialogFullscreen = bol; + }, + }, +}); +export default dialogFullscreenStore; diff --git a/developedcode/driverlessCarnew/src/store/index.js b/developedcode/driverlessCarnew/src/store/index.js new file mode 100644 index 0000000..c1bad36 --- /dev/null +++ b/developedcode/driverlessCarnew/src/store/index.js @@ -0,0 +1,10 @@ +import { createPinia } from "pinia"; +import piniaPersist from "pinia-plugin-persist"; +import userStore from "./user"; +import snackbarStore from "./snackbar"; +import breadcrumbsStore from "./breadcrumbs"; +import dialogFullscreenStore from "./fullscreen"; +const pinia = createPinia(); +pinia.use(piniaPersist); +export { userStore, snackbarStore, breadcrumbsStore, dialogFullscreenStore }; +export default pinia; diff --git a/developedcode/driverlessCarnew/src/store/snackbar.js b/developedcode/driverlessCarnew/src/store/snackbar.js new file mode 100644 index 0000000..a4b6efc --- /dev/null +++ b/developedcode/driverlessCarnew/src/store/snackbar.js @@ -0,0 +1,60 @@ +import { defineStore } from "pinia"; +import _ from "lodash"; +const snackbarStore = defineStore("snackbar", { + // other options... + state() { + return { + snackbars: [], + }; + }, + actions: { + openSnackbar(params) { + let { snackbar_message, color, timeout = -1 } = params; + this.snackbars.push({ + snackbar: true, + snackbar_message: snackbar_message, + snackbar_color: color, + location: "top", + timeout: timeout, + id: Date.now(), + }); + }, + closeSnackbar(index) { + this.snackbars.splice(index, 1); + }, + openSuccessSnackbar(message) { + this.snackbars.push({ + snackbar: true, + snackbar_message: message, + snackbar_color: "success", + location: "top", + timeout: 5000, + id: Date.now(), + }); + }, + openFailureSnackbar(message) { + this.snackbars.push({ + snackbar: true, + snackbar_message: message, + snackbar_color: "error", + location: "top", + timeout: -1, //不自动关闭 + id: Date.now(), + }); + }, + openInfoSnackbar(message) { + this.snackbars.push({ + snackbar: true, + snackbar_message: message, + snackbar_color: "warning", + location: "top", + timeout: 5000, + id: Date.now(), + }); + }, + cleanSnackbar() { + this.snackbars = this.snackbars.filter((item) => item.snackbar); + }, + }, +}); +export default snackbarStore; diff --git a/developedcode/driverlessCarnew/src/store/user.js b/developedcode/driverlessCarnew/src/store/user.js new file mode 100644 index 0000000..319995e --- /dev/null +++ b/developedcode/driverlessCarnew/src/store/user.js @@ -0,0 +1,51 @@ +import { defineStore } from "pinia"; +import { login as userLogin, getRobotInfo } from "@/api/user"; +import { setToken, removeToken } from "@/utils/auth"; +const userStore = defineStore("user", { + // other options... + state() { + return { + name: "", + robot: { + did: "ede2a4d227b81d36", + pid: "robot4inspection", + }, + battery: {}, + }; + }, + getters: { + userInfo(state) { + return { ...state }; + }, + }, + actions: { + // Login + async login(loginForm) { + try { + setToken(true); + let loginRes = await userLogin(loginForm); + if (loginRes.status) { + setToken(loginRes.token); + let robotRes = await getRobotInfo(); + this.robot = { + ...robotRes, + }; + } + return loginRes; + } catch (err) { + removeToken(); + throw err; + } + }, + async setRobot(robot) { + this.robot = robot; + }, + async setBattery(battery) { + this.battery = battery; + }, + }, + persist: { + enabled: true, // true 表示开启持久化保存 + }, +}); +export default userStore; diff --git a/developedcode/driverlessCarnew/src/utils/auth.js b/developedcode/driverlessCarnew/src/utils/auth.js new file mode 100644 index 0000000..5c68cf8 --- /dev/null +++ b/developedcode/driverlessCarnew/src/utils/auth.js @@ -0,0 +1,19 @@ +const TokenKey = `wurenche-token`; + +const isLogin = () => { + return !!localStorage.getItem(TokenKey); +}; + +const getToken = () => { + return localStorage.getItem(TokenKey); +}; + +const setToken = (token) => { + localStorage.setItem(TokenKey, token); +}; + +const removeToken = () => { + localStorage.removeItem(TokenKey); +}; + +export { isLogin, getToken, setToken, removeToken }; diff --git a/developedcode/driverlessCarnew/src/utils/nprogress.js b/developedcode/driverlessCarnew/src/utils/nprogress.js new file mode 100644 index 0000000..6b5f15a --- /dev/null +++ b/developedcode/driverlessCarnew/src/utils/nprogress.js @@ -0,0 +1,19 @@ +import NProgress from 'nprogress' +import 'nprogress/nprogress.css' +NProgress.configure({ + easing: 'ease', // 动画方式 + speed: 1000, // 递增进度条的速度 + showSpinner: false, // 是否显示加载ico + trickleSpeed: 200, // 自动递增间隔 + minimum: 0.3, // 更改启动时使用的最小百分比 + parent: 'body', //指定进度条的父容器 +}) +// 打开进度条 +export const start = () => { + NProgress.start() +} + +// 关闭进度条 +export const close = () => { + NProgress.done() +} \ No newline at end of file diff --git a/developedcode/driverlessCarnew/src/utils/permission.js b/developedcode/driverlessCarnew/src/utils/permission.js new file mode 100644 index 0000000..b30d482 --- /dev/null +++ b/developedcode/driverlessCarnew/src/utils/permission.js @@ -0,0 +1,27 @@ +import router from "@/router/index"; +import { close, start } from "./nprogress"; +import { getToken } from "./auth"; + +const whiteList = ["/login"]; +router.beforeEach(async (to, from, next) => { + start(); + const token = getToken(); + if (token) { + if (to.path === "/login") { + next({ path: "/" }); + close(); + } else { + next(); + } + } else { + if (whiteList.includes(to.path)) { + next(); + } else { + next(`/login?redirect=${to.path}`); + } + } +}); + +router.afterEach((to) => { + close(); +}); diff --git a/developedcode/driverlessCarnew/src/utils/util.js b/developedcode/driverlessCarnew/src/utils/util.js new file mode 100644 index 0000000..a6cc5fe --- /dev/null +++ b/developedcode/driverlessCarnew/src/utils/util.js @@ -0,0 +1,8 @@ +// 获取assets静态资源 +const getAssetsFile = (url) => { + return new URL(`../assets/${url}`, import.meta.url).href; +}; + +export default { + getAssetsFile, +}; diff --git a/developedcode/driverlessCarnew/src/views/Home.vue b/developedcode/driverlessCarnew/src/views/Home.vue new file mode 100644 index 0000000..bda157c --- /dev/null +++ b/developedcode/driverlessCarnew/src/views/Home.vue @@ -0,0 +1,582 @@ + + + diff --git a/developedcode/driverlessCarnew/src/views/driverlessCars/editor.vue b/developedcode/driverlessCarnew/src/views/driverlessCars/editor.vue new file mode 100644 index 0000000..8299862 --- /dev/null +++ b/developedcode/driverlessCarnew/src/views/driverlessCars/editor.vue @@ -0,0 +1,1880 @@ + + + diff --git a/developedcode/driverlessCarnew/src/views/driverlessCars/index.vue b/developedcode/driverlessCarnew/src/views/driverlessCars/index.vue new file mode 100644 index 0000000..c19e031 --- /dev/null +++ b/developedcode/driverlessCarnew/src/views/driverlessCars/index.vue @@ -0,0 +1,804 @@ + + + diff --git a/developedcode/driverlessCarnew/src/views/driverlessCars/navigation.vue b/developedcode/driverlessCarnew/src/views/driverlessCars/navigation.vue new file mode 100644 index 0000000..f328b01 --- /dev/null +++ b/developedcode/driverlessCarnew/src/views/driverlessCars/navigation.vue @@ -0,0 +1,2161 @@ + + + diff --git a/developedcode/driverlessCarnew/src/views/login.vue b/developedcode/driverlessCarnew/src/views/login.vue new file mode 100644 index 0000000..745b32d --- /dev/null +++ b/developedcode/driverlessCarnew/src/views/login.vue @@ -0,0 +1,156 @@ + + + diff --git a/developedcode/driverlessCarnew/vite.config.js b/developedcode/driverlessCarnew/vite.config.js new file mode 100644 index 0000000..ecbdae5 --- /dev/null +++ b/developedcode/driverlessCarnew/vite.config.js @@ -0,0 +1,65 @@ +// Plugins +import vue from "@vitejs/plugin-vue"; +import vuetify, { transformAssetUrls } from "vite-plugin-vuetify"; + +// Utilities +import { defineConfig } from "vite"; +import { fileURLToPath, URL } from "node:url"; +import AutoImport from "unplugin-auto-import/vite"; +import Components from "unplugin-vue-components/vite"; +import { ElementPlusResolver } from "unplugin-vue-components/resolvers"; + +// https://vitejs.dev/config/ +export default defineConfig({ + plugins: [ + vue({ + template: { transformAssetUrls }, + }), + // https://github.com/vuetifyjs/vuetify-loader/tree/next/packages/vite-plugin + vuetify({ + autoImport: true, + }), + AutoImport({ + resolvers: [ElementPlusResolver()], + }), + Components({ + resolvers: [ElementPlusResolver()], + }), + ], + define: { "process.env": {} }, + resolve: { + alias: { + "@": fileURLToPath(new URL("./src", import.meta.url)), + }, + extensions: [".js", ".json", ".jsx", ".mjs", ".ts", ".tsx", ".vue"], + }, + server: { + port: 3000, + proxy: { + "/v1": { + // target: "http://s3.s100.vip:26381/v1", + target: "http://192.168.1.141:8086/v1", + // target: "http://127.0.0.1:3000/v1", + changeOrigin: true, + rewrite: (path) => path.replace(/^\/v1/, ""), + }, + "/udp": { + // target: "http://s3.s100.vip:26381/v1", + // target: "http://192.168.1.55:8001/", + target: "http://127.0.0.1:9010/udp", + // target: "http://192.168.8.109:9010/udp", + changeOrigin: true, + rewrite: (path) => path.replace(/^\/udp/, ""), + }, + // "/vedio": { + // target: "http://192.168.1.64/vedio", + // // target: "http://192.168.1.141:8086/v1", + // changeOrigin: true, + // rewrite: (path) => path.replace(/^\/vedio/, ""), + // }, + }, + }, + build: { + sourcemap: true, + }, +}); diff --git a/developedcode/driverlessCarold/.browserslistrc b/developedcode/driverlessCarold/.browserslistrc new file mode 100644 index 0000000..dc3bc09 --- /dev/null +++ b/developedcode/driverlessCarold/.browserslistrc @@ -0,0 +1,4 @@ +> 1% +last 2 versions +not dead +not ie 11 diff --git a/developedcode/driverlessCarold/.editorconfig b/developedcode/driverlessCarold/.editorconfig new file mode 100644 index 0000000..7053c49 --- /dev/null +++ b/developedcode/driverlessCarold/.editorconfig @@ -0,0 +1,5 @@ +[*.{js,jsx,ts,tsx,vue}] +indent_style = space +indent_size = 2 +trim_trailing_whitespace = true +insert_final_newline = true diff --git a/developedcode/driverlessCarold/.gitignore b/developedcode/driverlessCarold/.gitignore new file mode 100644 index 0000000..403adbc --- /dev/null +++ b/developedcode/driverlessCarold/.gitignore @@ -0,0 +1,23 @@ +.DS_Store +node_modules +/dist + + +# local env files +.env.local +.env.*.local + +# Log files +npm-debug.log* +yarn-debug.log* +yarn-error.log* +pnpm-debug.log* + +# Editor directories and files +.idea +.vscode +*.suo +*.ntvs* +*.njsproj +*.sln +*.sw? diff --git a/developedcode/driverlessCarold/README.md b/developedcode/driverlessCarold/README.md new file mode 100644 index 0000000..50b30e0 --- /dev/null +++ b/developedcode/driverlessCarold/README.md @@ -0,0 +1,44 @@ +# default + +## Project setup + +``` +# yarn +yarn + +# npm +npm install + +# pnpm +pnpm install +``` + +### Compiles and hot-reloads for development + +``` +# yarn +yarn dev + +# npm +npm run dev + +# pnpm +pnpm dev +``` + +### Compiles and minifies for production + +``` +# yarn +yarn build + +# npm +npm run build + +# pnpm +pnpm build +``` + +### Customize configuration + +See [Configuration Reference](https://vitejs.dev/config/). diff --git a/developedcode/driverlessCarold/index.html b/developedcode/driverlessCarold/index.html new file mode 100644 index 0000000..999abef --- /dev/null +++ b/developedcode/driverlessCarold/index.html @@ -0,0 +1,16 @@ + + + + + + + 路网编辑器 + + + +
+ + + + + diff --git a/developedcode/driverlessCarold/jsconfig.json b/developedcode/driverlessCarold/jsconfig.json new file mode 100644 index 0000000..4aafc5f --- /dev/null +++ b/developedcode/driverlessCarold/jsconfig.json @@ -0,0 +1,19 @@ +{ + "compilerOptions": { + "target": "es5", + "module": "esnext", + "baseUrl": "./", + "moduleResolution": "node", + "paths": { + "@/*": [ + "src/*" + ] + }, + "lib": [ + "esnext", + "dom", + "dom.iterable", + "scripthost" + ] + } +} diff --git a/developedcode/driverlessCarold/package.json b/developedcode/driverlessCarold/package.json new file mode 100644 index 0000000..c67997a --- /dev/null +++ b/developedcode/driverlessCarold/package.json @@ -0,0 +1,40 @@ +{ + "name": "driverlessCar", + "version": "0.0.0", + "scripts": { + "dev": "vite", + "build": "vite build", + "preview": "vite preview" + }, + "dependencies": { + "@mdi/font": "7.0.96", + "@soerenmartius/vue3-clipboard": "^0.1.2", + "axios": "^1.4.0", + "dayjs": "^1.11.7", + "element-plus": "^2.3.4", + "js-md5": "^0.7.3", + "jsencrypt": "^3.3.2", + "lodash": "^4.17.21", + "mqtt": "^4.3.7", + "nprogress": "^0.2.0", + "ol": "^7.3.0", + "pinia": "^2.0.35", + "pinia-plugin-persist": "^1.0.0", + "qs": "^6.11.1", + "roboto-fontface": "*", + "screenfull": "^6.0.2", + "ulid": "^2.3.0", + "vue": "^3.2.47", + "vue-router": "^4.1.6", + "vuetify": "^3.0.0", + "webfontloader": "^1.0.0" + }, + "devDependencies": { + "@vitejs/plugin-vue": "^4.2.1", + "sass": "^1.62.1", + "unplugin-auto-import": "^0.15.3", + "unplugin-vue-components": "^0.24.1", + "vite": "^4.3.4", + "vite-plugin-vuetify": "^1.0.0" + } +} diff --git a/developedcode/driverlessCarold/public/assets/js/jquery-1.7.1.min.js b/developedcode/driverlessCarold/public/assets/js/jquery-1.7.1.min.js new file mode 100644 index 0000000..835d77d --- /dev/null +++ b/developedcode/driverlessCarold/public/assets/js/jquery-1.7.1.min.js @@ -0,0 +1,4 @@ +/*! jQuery v1.7.1 jquery.com | jquery.org/license */ +(function(a,b){function cy(a){return f.isWindow(a)?a:a.nodeType===9?a.defaultView||a.parentWindow:!1}function cv(a){if(!ck[a]){var b=c.body,d=f("<"+a+">").appendTo(b),e=d.css("display");d.remove();if(e==="none"||e===""){cl||(cl=c.createElement("iframe"),cl.frameBorder=cl.width=cl.height=0),b.appendChild(cl);if(!cm||!cl.createElement)cm=(cl.contentWindow||cl.contentDocument).document,cm.write((c.compatMode==="CSS1Compat"?"":"")+""),cm.close();d=cm.createElement(a),cm.body.appendChild(d),e=f.css(d,"display"),b.removeChild(cl)}ck[a]=e}return ck[a]}function cu(a,b){var c={};f.each(cq.concat.apply([],cq.slice(0,b)),function(){c[this]=a});return c}function ct(){cr=b}function cs(){setTimeout(ct,0);return cr=f.now()}function cj(){try{return new a.ActiveXObject("Microsoft.XMLHTTP")}catch(b){}}function ci(){try{return new a.XMLHttpRequest}catch(b){}}function cc(a,c){a.dataFilter&&(c=a.dataFilter(c,a.dataType));var d=a.dataTypes,e={},g,h,i=d.length,j,k=d[0],l,m,n,o,p;for(g=1;g0){if(c!=="border")for(;g=0===c})}function S(a){return!a||!a.parentNode||a.parentNode.nodeType===11}function K(){return!0}function J(){return!1}function n(a,b,c){var d=b+"defer",e=b+"queue",g=b+"mark",h=f._data(a,d);h&&(c==="queue"||!f._data(a,e))&&(c==="mark"||!f._data(a,g))&&setTimeout(function(){!f._data(a,e)&&!f._data(a,g)&&(f.removeData(a,d,!0),h.fire())},0)}function m(a){for(var b in a){if(b==="data"&&f.isEmptyObject(a[b]))continue;if(b!=="toJSON")return!1}return!0}function l(a,c,d){if(d===b&&a.nodeType===1){var e="data-"+c.replace(k,"-$1").toLowerCase();d=a.getAttribute(e);if(typeof d=="string"){try{d=d==="true"?!0:d==="false"?!1:d==="null"?null:f.isNumeric(d)?parseFloat(d):j.test(d)?f.parseJSON(d):d}catch(g){}f.data(a,c,d)}else d=b}return d}function h(a){var b=g[a]={},c,d;a=a.split(/\s+/);for(c=0,d=a.length;c)[^>]*$|#([\w\-]*)$)/,j=/\S/,k=/^\s+/,l=/\s+$/,m=/^<(\w+)\s*\/?>(?:<\/\1>)?$/,n=/^[\],:{}\s]*$/,o=/\\(?:["\\\/bfnrt]|u[0-9a-fA-F]{4})/g,p=/"[^"\\\n\r]*"|true|false|null|-?\d+(?:\.\d*)?(?:[eE][+\-]?\d+)?/g,q=/(?:^|:|,)(?:\s*\[)+/g,r=/(webkit)[ \/]([\w.]+)/,s=/(opera)(?:.*version)?[ \/]([\w.]+)/,t=/(msie) ([\w.]+)/,t2=/(trident.*rv:)([\w.]+)/,u=/(mozilla)(?:.*? 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b/developedcode/driverlessCarold/src/api/editor.js new file mode 100644 index 0000000..460e022 --- /dev/null +++ b/developedcode/driverlessCarold/src/api/editor.js @@ -0,0 +1,38 @@ +import _axios from "@/plugins/axios"; +//获机器人端对应瓦片地图的详细信息 +/* map=地图名 */ +export function getDetails(params) { + return _axios({ + url: `/v1/tilemap/details`, + method: "GET", + params, + }); +} +//获机器人端对应瓦片地图的渲染信息 +/* map=地图名 */ +export function getGeojson(params) { + return _axios({ + url: `/v1/roadmap/geojson`, + method: "GET", + params, + }); +} +//保存器人端对应瓦片地图 +/* map=地图名 */ +export function postGeojson(data) { + return _axios({ + url: `/v1/roadmap/geojson`, + method: "POST", + data, + }); +} +//获机器人端对应地图中的瓦片图片 +/* 层级 : 起始值为1,代表第一层级 + x索引 : 列索引，起始值为0,增长方向为垂直向下 + y索引 : 行索引，起始值为0,增长方向为水平向右 */ +export function getTilemap(data) { + return _axios({ + url: `/v1/tilemap/tile/${data.mapName}/${data.zoom}/${xIndex}/${yIndex}`, + method: "GET", + }); +} diff --git a/developedcode/driverlessCarold/src/api/ldmqttability.js b/developedcode/driverlessCarold/src/api/ldmqttability.js new file mode 100644 index 0000000..1fb5b5b --- /dev/null +++ b/developedcode/driverlessCarold/src/api/ldmqttability.js @@ -0,0 +1,11 @@ +import useMqtt from "@/plugins/mqtt"; +const { startMqtt, endMqtt } = useMqtt(); + +// 远程调用机载能力 /ability/function/action/exec | 订阅 | QoS2 | Retain0 +export function actionExec(callback) { + return startMqtt( + "ability/function/action/exec", + { qos: 2, retain: 0 }, + callback + ); +} diff --git a/developedcode/driverlessCarold/src/api/ldmqttbuild.js b/developedcode/driverlessCarold/src/api/ldmqttbuild.js new file mode 100644 index 0000000..e27037f --- /dev/null +++ b/developedcode/driverlessCarold/src/api/ldmqttbuild.js @@ -0,0 +1,63 @@ +import useMqtt from "@/plugins/mqtt"; +const { startMqtt, endMqtt, pubCommonFn } = useMqtt(); +//订阅地图状态 +export function mappingState(callback) { + return startMqtt("slam/mapping/state", { qos: 0 }, callback); +} + +//取消订阅地图状态 +export function endMappingState(callback) { + return endMqtt("slam/mapping/state"); +} + +//订阅构建进程 +export function recordProgress(callback) { + return startMqtt("map/record/progress", { qos: 2, retain: 0 }, callback); +} + +//取消订阅订阅构建进程 +export function endRecordProgress(callback) { + return endMqtt("map/record/progress"); +} +//订阅当前地图 +export function current_map(callback) { + return startMqtt("map/property/current_map", { qos: 2, retain: 1 }, callback); +} +//取消订阅当前地图 +export function endCurrent_map(callback) { + return endMqtt("map/property/current_map"); +} + +// 构建地图 slam/mapping/action/start | 发布 | QoS2 | Retain0 +export function pubSlamStart(map, map_type) { + return pubCommonFn( + "slam/mapping/action/start", + { + args: [map, map_type], + }, + 2, + 0 + ); +} +// 结束构建地图 slam/mapping/action/finish | 发布 | QoS2 | Retain0 +export function pubSlamFinish() { + return pubCommonFn( + "slam/mapping/action/finish", + { + args: null, + }, + 2, + 0 + ); +} +// 取消构建地图 slam/mapping/action/cancel | 发布 | QoS2 | Retain0 +export function pubSlamCancel(map, map_type) { + return pubCommonFn( + "slam/mapping/action/cancel", + { + args: null, + }, + 2, + 0 + ); +} diff --git a/developedcode/driverlessCarold/src/api/ldmqttio.js b/developedcode/driverlessCarold/src/api/ldmqttio.js new file mode 100644 index 0000000..2901574 --- /dev/null +++ b/developedcode/driverlessCarold/src/api/ldmqttio.js @@ -0,0 +1,11 @@ +import useMqtt from "@/plugins/mqtt"; +const { startMqtt, endMqtt } = useMqtt(); + +// IO量操作 /io/common/state/action/set | 订阅 | QoS2 | Retain0 +export function ioActionSet(callback) { + return startMqtt( + "io/common/state/action/set", + { qos: 2, retain: 0 }, + callback + ); +} diff --git a/developedcode/driverlessCarold/src/api/ldmqttlocalization.js b/developedcode/driverlessCarold/src/api/ldmqttlocalization.js new file mode 100644 index 0000000..501d908 --- /dev/null +++ b/developedcode/driverlessCarold/src/api/ldmqttlocalization.js @@ -0,0 +1,36 @@ +import useMqtt from "@/plugins/mqtt"; +const { startMqtt, endMqtt, pubCommonFn } = useMqtt(); + +// 机器人位姿 /localization/pose | 订阅 | QoS2 | Retain0 +export function locPose(callback) { + return startMqtt("localization/pose", { qos: 0, retain: 0 }, callback); +} +// 取消机器人位姿 /localization/pose | 订阅 | QoS2 | Retain0 +export function endLocPose() { + return endMqtt("localization/pose"); +} +// 位姿初始化 /localization/action/init | 订阅 | QoS2 | Retain0 +export function actionInit(x, y, yaw, callback) { + return pubCommonFn( + "localization/action/init", + { + args: [ + { + pose: { + xyz: [x, y, 0], + rpy: [0, 0, yaw], + blh: null, + }, + }, + ], + }, + 2, + 0, + callback + ); +} + +// 取消位姿初始化 /localization/action/init | 订阅 | QoS2 | Retain0 +export function endActionInit() { + return startMqtt("localization/action/init"); +} diff --git a/developedcode/driverlessCarold/src/api/ldmqttmessage.js b/developedcode/driverlessCarold/src/api/ldmqttmessage.js new file mode 100644 index 0000000..8dab847 --- /dev/null +++ b/developedcode/driverlessCarold/src/api/ldmqttmessage.js @@ -0,0 +1,34 @@ +import useMqtt from "@/plugins/mqtt"; +const { startMqtt, endMqtt, pubCommonFn } = useMqtt(); + + + +// 机器人位姿 /localization/pose | 订阅 | QoS2 | Retain0 +export function locPose(callback) { + return startMqtt("localization/pose", { qos: 0, retain: 0 }, callback); +} + +// 错误消息 [ /message/error | 发布 | QoS2 | Retain0 ] +export function messageError(callback) { + return startMqtt("message/error", { qos: 2, retain: 0 }, callback); +} +// 警告消息 [ /message/warn | 发布 | QoS2 | Retain0 ] +export function messageWarn(callback) { + return startMqtt("message/warn", { qos: 2, retain: 0 }, callback); +} +// 日志消息 [ /message/info | 发布 | QoS0 | Retain0 ] +export function messageInfo(callback) { + return startMqtt("message/info", { qos: 0, retain: 0 }, callback); +} +// 错误消息 [ /message/error | 发布 | QoS2 | Retain0 ] +export function endMessageError(callback) { + return endMqtt("message/error"); +} +// 警告消息 [ /message/warn | 发布 | QoS2 | Retain0 ] +export function endMessageWarn(callback) { + return endMqtt("message/warn"); +} +// 日志消息 [ /message/info | 发布 | QoS0 | Retain0 ] +export function endMessageInfo(callback) { + return endMqtt("message/info"); +} diff --git a/developedcode/driverlessCarold/src/api/ldmqttnavigation.js b/developedcode/driverlessCarold/src/api/ldmqttnavigation.js new file mode 100644 index 0000000..c235dff --- /dev/null +++ b/developedcode/driverlessCarold/src/api/ldmqttnavigation.js @@ -0,0 +1,83 @@ +import useMqtt from "@/plugins/mqtt"; +const { startMqtt, endMqtt, pubCommonFn } = useMqtt(); + +// // 导航控制- 开启导航 /navigation/stack/action/start | 订阅 | QoS2 | Retain0 +// export function subActionStart(callback) { +// return startMqtt( +// "task/procedure/action/start/reply", +// { qos: 2, retain: 0 }, +// callback +// ); +// } +// 导航控制- 结束导航 /navigation/stack/action/stop | 订阅 | QoS2 | Retain0 +export function actionStop() { + return pubCommonFn( + "navigation/stack/action/stop", + { + args: null, + }, + 2, + 0 + ); +} +// 导航控制- 重启导航 /navigation/stack/action/restart | 订阅 | QoS2 | Retain0 +export function actionRestart(mapName) { + return pubCommonFn( + "navigation/stack/action/restart", + { + args: [mapName], + }, + 2, + 0 + ); +} +// 前往目标点 [ /task/target/action/goto | 订阅 | QoS2 | Retain0 ] +export function actionGoto(callback) { + return startMqtt("task/target/action/goto", { qos: 2, retain: 0 }, callback); +} +// 到达目标点 [ /task/target/action/arrive | 订阅 | QoS2 | Retain1 ] +export function actionArrive(callback) { + return startMqtt("task/target/event/arrive", { qos: 2, retain: 1 }, callback); +} +// 重启导航 [ task/procedure/action/start | 订阅 | QoS2 | Retain0 ] +export function actionStart(map, task) { + return pubCommonFn( + "task/procedure/action/start", + { + args: [ + { + roadmap: map, + task: task, + }, + ], + }, + 2, + 0 + ); +} +// 继续任务 [ /task/procedure/action/resume | 订阅 | QoS2 | Retain0 ] +export function actionResume(callback) { + return startMqtt( + "task/procedure/action/resume", + { qos: 2, retain: 0 }, + callback + ); +} + +// 暂停任务 [ /task/procedure/action/pause | 订阅 | QoS1 | Retain0 ] +export function actionPause(callback) { + return startMqtt( + "task/procedure/action/pause", + { qos: 1, retain: 0 }, + callback + ); +} + +// 取消任务 [ /task/procedure/action/cancel | 订阅 | QoS1 | Retain0 ] +export function actionCancel(callback) { + return startMqtt( + "task/procedure/action/cancel", + { qos: 1, retain: 0 }, + callback + ); +} diff --git a/developedcode/driverlessCarold/src/api/ldmqttplanning.js b/developedcode/driverlessCarold/src/api/ldmqttplanning.js new file mode 100644 index 0000000..03dfb88 --- /dev/null +++ b/developedcode/driverlessCarold/src/api/ldmqttplanning.js @@ -0,0 +1,19 @@ +import useMqtt from "@/plugins/mqtt"; +const { startMqtt, endMqtt } = useMqtt(); + +// 路径规划 /planning/service/plan/request | 订阅 | QoS2 | Retain0 +export function actionPlant(callback) { + return startMqtt( + "planning/service/plan/request", + { qos: 2, retain: 0 }, + callback + ); +} +// 遇障重规划 /planning/action/replan | 订阅 | QoS2 | Retain0 +export function actionReplan(callback) { + return startMqtt( + "planning/action/replan", + { qos: 2, retain: 0 }, + callback + ); +} diff --git a/developedcode/driverlessCarold/src/api/ldmqttsensor.js b/developedcode/driverlessCarold/src/api/ldmqttsensor.js new file mode 100644 index 0000000..aa38711 --- /dev/null +++ b/developedcode/driverlessCarold/src/api/ldmqttsensor.js @@ -0,0 +1,12 @@ +import useMqtt from "@/plugins/mqtt"; +const { startMqtt, endMqtt, pubCommonFn } = useMqtt(); + +// 电池信息 sensor/battery | 订阅 | QoS2 | Retain0 +export function sensorBattery(callback) { + return startMqtt("sensor/battery", { qos: 2, retain: 0 }, callback); +} + +// 取消电池信息 sensor/battery | 订阅 | QoS2 | Retain0 +export function endSensorBattery() { + return endMqtt("sensor/battery"); +} diff --git a/developedcode/driverlessCarold/src/api/map.js b/developedcode/driverlessCarold/src/api/map.js new file mode 100644 index 0000000..7d42f87 --- /dev/null +++ b/developedcode/driverlessCarold/src/api/map.js @@ -0,0 +1,116 @@ +import _axios from "@/plugins/axios"; +//获取地图列表 +export function getMapList() { + return _axios({ + url: `/v1/map/list`, + method: "get", + }); +} +//获取当前地图 +export function getMapUsing() { + return { + data: { + status: true, + name: "ys202011_hc", + }, + }; +} +//新建地图 +export function createMap(data) { + return _axios({ + url: `/v1/map/create`, + method: "POST", + data, + }); +} +//获取地图缩略图 +// map=地图名 +export function getMapThumbnail(params) { + return { + data: { + status: true, + name: "图片", + }, + }; +} +//地图重命名 +/* { + "map" : "立得厂区地图", + "rename": "厂房室内地图" +} */ +export function postMapRename(data) { + return _axios({ + url: `/v1/map/rename`, + method: "post", + data, + }); +} +//删除地图工程 +/* { + "map" : "立得厂区地图" +} */ +export function delMap(data) { + return _axios({ + url: `/v1/map/delete`, + method: "delete", + data, + }); +} +//地图工程下载前压缩 +/* { + "map" : "立得厂区地图", + "ignore": ['pcap'] +} */ +export function postMapExportCompress(data) { + return _axios({ + url: `/v1/map/export/compress`, + method: "post", + data, + }); +} +//停止创建 +// map=地图名 +export function postRecordStop(data) { + return _axios({ + url: `/v1/map/record/stop`, + method: "POST", + data, + }); +} +//停止构建 +// map=地图名 +export function postBuildStop(data) { + return _axios({ + url: `/v1/map/build/stop`, + method: "POST", + data, + }); +} +//导入地图工程 +// filedata=地图工程压缩包文件内容 +export function postMapImport(data) { + return _axios({ + url: `/v1/map/import`, + method: "post", + headers: { + "Content-Type": "multipart/form-data", + }, + data, + }); +} +//地图工程组件列表 +// map=地图名 +export function getMapComponents(params) { + return _axios({ + url: `/v1/map/components`, + method: "get", + params, + }); +} +//地图工程任意文件获取 +/* 一个地图工程包含许多文件，如路网、地图瓦片、八叉树地图等，可以下载一个地图工程， +查看具体目录文件结构，本接口用于获取指定地图工程目录下的任意文件， +如/v1/map/file/map_test/tilemap/0/0.png，获取map_test地图工程tilemap/0/目录下的0.png文件。 */ +export function getMapFile(mapName) { + return `/v1/tilemap/tile/${mapName}/{z}/{x}/{y}.png`; +} diff --git a/developedcode/driverlessCarold/src/api/nav.js b/developedcode/driverlessCarold/src/api/nav.js new file mode 100644 index 0000000..a53d961 --- /dev/null +++ b/developedcode/driverlessCarold/src/api/nav.js @@ -0,0 +1,69 @@ +import _axios from "@/plugins/axios"; +//生成任务 +/* { + "map": "guangchang", + "path": "1", + "coord_type": "local", + "cron": "00 55 15 ? * 1 *", + "coord": [ + [ + 2.33, + -6.9 + ] + ], + "plan": [ + "free" + ], + "repeate": 1 +} */ +export function postV1Path(data) { + return _axios({ + url: `/v1/path`, + method: "POST", + data, + }); +} +//获取任务列表 +/* { + "map": "guangchang", + "path": "1" +} */ +export function getV1Path(params) { + return _axios({ + url: `/v1/path/list`, + method: "GET", + params, + }); +} +//获取当前任务 +/* { + "map": "guangchang", + "path": "1" +} */ +export function getV1(params) { + return _axios({ + url: `/v1/path`, + method: "GET", + params, + }); +} + +//删除任务 +/* { + "map": "guangchang", + "path": "1" +} */ +export function delV1Path(data) { + return _axios({ + url: `/v1/path`, + method: "DELETE", + data, + }); +} +export function udp(data) { + return _axios({ + url: `/udp`, + method: "post", + data, + }); +} diff --git a/developedcode/driverlessCarold/src/api/player.js b/developedcode/driverlessCarold/src/api/player.js new file mode 100644 index 0000000..c51bb21 --- /dev/null +++ b/developedcode/driverlessCarold/src/api/player.js @@ -0,0 +1,9 @@ +import _axios from "@/plugins/axios"; +//获取地图列表 +export function getPreviewUrl(params) { + return _axios({ + url: `/ay-video-manage/video/monitor/getRealTimeMonitorVideo`, + method: "post", + params, + }); +} diff --git a/developedcode/driverlessCarold/src/api/roadmap.js b/developedcode/driverlessCarold/src/api/roadmap.js new file mode 100644 index 0000000..97d59ee --- /dev/null +++ b/developedcode/driverlessCarold/src/api/roadmap.js @@ -0,0 +1,25 @@ +import _axios from "@/plugins/axios"; +//登录 +export function login(data) { + return _axios({ + url: `/api/user/login`, + method: "post", + data, + }); +} +//登出 +export function logout(data) { + return _axios({ + url: `/api/user/logout`, + method: "post", + data, + }); +} +//获取用户信息 +export function getUserInfo(data) { + return _axios({ + url: `/api/user/info`, + method: "post", + data, + }); +} diff --git a/developedcode/driverlessCarold/src/api/robot.js b/developedcode/driverlessCarold/src/api/robot.js new file mode 100644 index 0000000..97d59ee --- /dev/null +++ b/developedcode/driverlessCarold/src/api/robot.js @@ -0,0 +1,25 @@ +import _axios from "@/plugins/axios"; +//登录 +export function login(data) { + return _axios({ + url: `/api/user/login`, + method: "post", + data, + }); +} +//登出 +export function logout(data) { + return _axios({ + url: `/api/user/logout`, + method: "post", + data, + }); +} +//获取用户信息 +export function getUserInfo(data) { + return _axios({ + url: `/api/user/info`, + method: "post", + data, + }); +} diff --git a/developedcode/driverlessCarold/src/api/sensing.js b/developedcode/driverlessCarold/src/api/sensing.js new file mode 100644 index 0000000..fa76eab --- /dev/null +++ b/developedcode/driverlessCarold/src/api/sensing.js @@ -0,0 +1,5 @@ +import axios from "axios"; +//获取地图列表 +export function getPointcloud3d() { + return axios.get(`/v1/sensor/pointcloud/3d`, { responseType: "arraybuffer" }); +} diff --git a/developedcode/driverlessCarold/src/api/tilemap.js b/developedcode/driverlessCarold/src/api/tilemap.js new file mode 100644 index 0000000..97d59ee --- /dev/null +++ b/developedcode/driverlessCarold/src/api/tilemap.js @@ -0,0 +1,25 @@ +import _axios from "@/plugins/axios"; +//登录 +export function login(data) { + return _axios({ + url: `/api/user/login`, + method: "post", + data, + }); +} +//登出 +export function logout(data) { + return _axios({ + url: `/api/user/logout`, + method: "post", + data, + }); +} +//获取用户信息 +export function getUserInfo(data) { + return _axios({ + url: `/api/user/info`, + method: "post", + data, + }); +} diff --git a/developedcode/driverlessCarold/src/api/user.js b/developedcode/driverlessCarold/src/api/user.js new file mode 100644 index 0000000..c6cf652 --- /dev/null +++ b/developedcode/driverlessCarold/src/api/user.js @@ -0,0 +1,25 @@ +import _axios from "@/plugins/axios"; + +//登录 +export function login(data) { + return _axios({ + url: `v1/user/auth`, + method: "POST", + data, + }); +} +//修改用户信息 +export function getUserInfo(data) { + return _axios({ + url: `/v1/user/info`, + method: "post", + data, + }); +} +//获取机器人MQTT信息 +export function getRobotInfo() { + return _axios({ + url: `/v1/robot/mqtt`, + method: "get", + }); +} diff --git a/developedcode/driverlessCarold/src/assets/img/dir_backward.png b/developedcode/driverlessCarold/src/assets/img/dir_backward.png new file mode 100644 index 0000000..fd4b924 Binary files /dev/null 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b/developedcode/driverlessCarold/src/assets/img/login-logo.png new file mode 100644 index 0000000..da5063d Binary files /dev/null and b/developedcode/driverlessCarold/src/assets/img/login-logo.png differ diff --git a/developedcode/driverlessCarold/src/assets/img/login-welcom.png b/developedcode/driverlessCarold/src/assets/img/login-welcom.png new file mode 100644 index 0000000..f490738 Binary files /dev/null and b/developedcode/driverlessCarold/src/assets/img/login-welcom.png differ diff --git a/developedcode/driverlessCarold/src/assets/img/map-building.png b/developedcode/driverlessCarold/src/assets/img/map-building.png new file mode 100644 index 0000000..363ffb3 Binary files /dev/null and b/developedcode/driverlessCarold/src/assets/img/map-building.png differ diff --git a/developedcode/driverlessCarold/src/assets/img/map-recording.png b/developedcode/driverlessCarold/src/assets/img/map-recording.png new file mode 100644 index 0000000..adc4d85 Binary files /dev/null and b/developedcode/driverlessCarold/src/assets/img/map-recording.png differ diff --git a/developedcode/driverlessCarold/src/assets/img/map-unavailable.png b/developedcode/driverlessCarold/src/assets/img/map-unavailable.png new file mode 100644 index 0000000..509fa26 Binary files /dev/null and b/developedcode/driverlessCarold/src/assets/img/map-unavailable.png differ diff --git a/developedcode/driverlessCarold/src/assets/img/normal_point.png b/developedcode/driverlessCarold/src/assets/img/normal_point.png new file mode 100644 index 0000000..f2756a7 Binary files /dev/null and b/developedcode/driverlessCarold/src/assets/img/normal_point.png differ diff --git a/developedcode/driverlessCarold/src/assets/img/robot.png b/developedcode/driverlessCarold/src/assets/img/robot.png new file mode 100644 index 0000000..2f16c7f Binary files /dev/null and b/developedcode/driverlessCarold/src/assets/img/robot.png differ diff --git a/developedcode/driverlessCarold/src/assets/img/target.png b/developedcode/driverlessCarold/src/assets/img/target.png new file mode 100644 index 0000000..3e1502d Binary files /dev/null and b/developedcode/driverlessCarold/src/assets/img/target.png differ diff --git a/developedcode/driverlessCarold/src/assets/img/target_filled.png b/developedcode/driverlessCarold/src/assets/img/target_filled.png new file mode 100644 index 0000000..c2e8da8 Binary files /dev/null and b/developedcode/driverlessCarold/src/assets/img/target_filled.png differ diff --git a/developedcode/driverlessCarold/src/assets/json/mapdetail.json b/developedcode/driverlessCarold/src/assets/json/mapdetail.json new file mode 100644 index 0000000..f915502 --- /dev/null +++ b/developedcode/driverlessCarold/src/assets/json/mapdetail.json @@ -0,0 +1,13 @@ +{ + "status": true, + "min_zoom": 1, + "projection": { + "extent": [ + -76.3218753, + -128.075505, + 333.27812470000003, + 281.524495 + ] + }, + "layer_cnt": 5 +} \ No newline at end of file diff --git a/developedcode/driverlessCarold/src/assets/json/mapgeo.json b/developedcode/driverlessCarold/src/assets/json/mapgeo.json new file mode 100644 index 0000000..52eaf4e --- /dev/null +++ b/developedcode/driverlessCarold/src/assets/json/mapgeo.json @@ -0,0 +1,11357 @@ +{ + "status": true, + "type": "FeatureCollection", + "features": [ + { + "geometry": { + "type": "Point", + "coordinates": [ + 122.33, + 109.2, + 0 + ] + }, + "type": "Feature", + "properties": { + "name": "", + "yaw": 0, + "pitch": 0, + "roll": 0, + "isyawfix": false, + "taskid": 0, + "offset": 0, + "id": "p_209" + } + }, + { + "geometry": { + "type": "Point", + "coordinates": [ + 114.74, + 120.78, + 0 + ] + }, + "type": "Feature", + "properties": { + "name": "", + "yaw": 0, + "pitch": 0, + "roll": 0, + "isyawfix": false, + "taskid": 0, + "offset": 0, + "id": "p_210" + } + }, + { + "geometry": { + "type": "MultiPoint", + "coordinates": [ + [ + 116.89, + 38.99 + ], + [ + 123.98652741411871, + 39.621348055594005 + ], + [ + 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+ "endid": "p_271", + "roadwidth": 0, + "obstype": 0, + "slowdis": 2, + "startid": "p_266" + } + }, + { + "geometry": { + "type": "Point", + "coordinates": [ + 16.63, + -27, + 0 + ] + }, + "type": "Feature", + "properties": { + "name": "", + "yaw": 0, + "pitch": 0, + "roll": 0, + "isyawfix": false, + "taskid": 0, + "offset": 0, + "id": "p_271" + } + }, + { + "geometry": { + "type": "Point", + "coordinates": [ + 11.42, + -21.82, + 0 + ] + }, + "type": "Feature", + "properties": { + "name": "", + "yaw": 0, + "pitch": 0, + "roll": 0, + "isyawfix": false, + "taskid": 0, + "offset": 0, + "id": "p_266" + } + }, + { + "geometry": { + "type": "LineString", + "coordinates": [ + [ + 18.37, + -7.42 + ], + [ + 18.37, + -10.28 + ] + ] + }, + "type": "Feature", + "properties": { + "maxspeed": 8, + "s2eforward": 0, + "thtolerance": 0.2, + "direct": 110, + "lanewidth": 1, + "controltype": 0, + "chassistype": 10, + "mintheta": -1, + "id": "l_120", + "minspeed": 0, + "obsvalue": 200, + "followdis": 0.4, + "e2sforward": 0, + "selftheta": 0.5, + "runtype": 0, + "xytolerance": 0.2, + "name": "", + "maxtheta": 1, + "leftlanenum": 0, + "plantype": 0, + "rightlanenum": 0, + "endid": "p_61", + "roadwidth": 0, + "obstype": 0, + "slowdis": 2, + "startid": "p_118" + } + }, + { + "geometry": { + "type": "LineString", + "coordinates": [ + [ + 18.37, + -5.08 + ], + [ + 18.37, + -7.42 + ] + ] + }, + "type": "Feature", + "properties": { + "maxspeed": 8, + "s2eforward": 0, + "thtolerance": 0.2, + "direct": 110, + "lanewidth": 1, + "controltype": 0, + "chassistype": 10, + "mintheta": -1, + "id": "l_119", + "minspeed": 0, + "obsvalue": 200, + "followdis": 0.4, + "e2sforward": 0, + "selftheta": 0.5, + "runtype": 0, + "xytolerance": 0.2, + "name": "", + "maxtheta": 1, + "leftlanenum": 0, + "plantype": 0, + "rightlanenum": 0, + "endid": "p_118", + "roadwidth": 0, + "obstype": 0, + "slowdis": 2, + "startid": "p_117" + } + }, + { + "geometry": { + "type": "Polygon", + "coordinates": [ + [ + [ + -62.92, + -83.33 + ], + [ + -62.92, + 170.78 + ], + [ + 219.3, + 170.78 + ], + [ + 219.3, + -83.33 + ], + [ + -62.92, + -83.33 + ] + ] + ] + }, + "type": "Feature", + "properties": { + "color": "#cccccc", + "type": 0, + "id": "s_auto", + "name": "auto", + "transparent": 50 + } + } + ] +} \ No newline at end of file diff --git a/developedcode/driverlessCarold/src/main.js b/developedcode/driverlessCarold/src/main.js new file mode 100644 index 0000000..add5306 --- /dev/null +++ b/developedcode/driverlessCarold/src/main.js @@ -0,0 +1,30 @@ +import App from "./App.vue"; +import { createApp } from "vue"; +// 引入acro实例 +import { registerPlugins } from "@/plugins/vuetify"; +//全局使用message +import { ElMessage } from "element-plus"; +// 引入pinia 实例 +import pinia from "@/store/index.js"; +// 引入路由实例 +import router from "@/router/index.js"; +// 剪切板 +import { VueClipboard } from "@soerenmartius/vue3-clipboard"; +//全局引入lodash +import _ from "lodash"; +//全局挂在axios +import axios from "@/plugins/axios"; +import dayjs from "dayjs"; +import "@/utils/permission"; +const app = createApp(App); +app.config.globalProperties.$_ = _; //挂载到app实例上 +app.config.globalProperties.$axios = axios; //挂载到app实例上 +app.config.globalProperties.$dayjs = dayjs; //挂载到app实例上 +app.config.globalProperties.$message = ElMessage; //挂载到app实例上 + +registerPlugins(app); +app + .use(pinia) //中央仓库pinia + .use(router) //路由 + .use(VueClipboard); //剪切板 +app.mount("#app"); diff --git a/developedcode/driverlessCarold/src/mixin/totalmixin.js b/developedcode/driverlessCarold/src/mixin/totalmixin.js new file mode 100644 index 0000000..e54122d --- /dev/null +++ b/developedcode/driverlessCarold/src/mixin/totalmixin.js @@ -0,0 +1,69 @@ +import { + userStore, + snackbarStore, + breadcrumbsStore, + dialogFullscreenStore, +} from "@/store"; +export default { + data() { + return { + userObj: userStore(), + snackbarsObj: snackbarStore(), + breadcrumbsObj: breadcrumbsStore(), + dialogFullscreenObj: dialogFullscreenStore(), + }; + }, + methods: { + // snackBar + openSnackbar(params) { + return this.snackbarsObj.openSnackbar(params); + }, + closeSnackbar(index) { + return this.snackbarsObj.closeSnackbar(index); + }, + openSuccessSnackbar(message) { + return this.snackbarsObj.openSuccessSnackbar(message); + }, + openFailureSnackbar(message) { + return this.snackbarsObj.openFailureSnackbar(message); + }, + openInfoSnackbar(message) { + return this.snackbarsObj.openInfoSnackbar(message); + }, + cleanSnackbar() { + return this.snackbarsObj.cleanSnackbar(); + }, + // breadcrumbs + editBreadcrumbs(breadcrumbsList) { + return this.breadcrumbsObj.editBreadcrumbs(breadcrumbsList); + }, + // breadcrumbs + setDialogFullscreen(bol = false) { + return this.dialogFullscreenObj.setDialogFullscreen(bol); + }, + // breadcrumbs + setRobot(robot) { + return this.userObj.setRobot(robot); + }, + setBattery(battery) { + return this.userObj.setBattery(battery); + }, + }, + computed: { + snackbars() { + return this.snackbarsObj.snackbars; + }, + breadcrumbsList() { + return this.breadcrumbsObj.breadcrumbsList; + }, + dialogFullscreen() { + return this.dialogFullscreenObj.dialogFullscreen; + }, + robotObj() { + return this.userObj.robot; + }, + batteryObj() { + return this.userObj.battery; + }, + }, +}; diff --git a/developedcode/driverlessCarold/src/plugins/axios.js b/developedcode/driverlessCarold/src/plugins/axios.js new file mode 100644 index 0000000..a008707 --- /dev/null +++ b/developedcode/driverlessCarold/src/plugins/axios.js @@ -0,0 +1,47 @@ +import axios from "axios"; +import qs from "qs"; +import { ElMessage } from "element-plus"; +let config = { + baseURL: "", + timeout: 600 * 1000, + withCredentials: true, // Check cross-site Access-Control + /* `paramsSerializer` 是一个负责 `params` 序列化的函数 + qs.stringify({ a: ['b', 'c'] }, { arrayFormat: 'indices' }) + // 'a[0]=b&a[1]=c' + qs.stringify({ a: ['b', 'c'] }, { arrayFormat: 'brackets' }) + // 'a[]=b&a[]=c' + qs.stringify({ a: ['b', 'c'] }, { arrayFormat: 'repeat' }) + // 'a=b&a=c' + */ + paramsSerializer: (params) => { + return qs.stringify(params, { arrayFormat: "indices" }); + }, +}; + +const _axios = axios.create(config); + +_axios.interceptors.request.use( + (config) => { + return config; + }, + (error) => { + return Promise.reject(error); + } +); +_axios.interceptors.response.use( + (response) => { + if (response.status === 200) { + if (!response.data.status) { + ElMessage.error(response.data.msg); + } + return Promise.resolve(response.data); + } else { + ElMessage.error(response.msg); + return Promise.reject(response.data); + } + }, + (error) => { + ElMessage.error(error); + } +); +export default _axios; diff --git a/developedcode/driverlessCarold/src/plugins/mqtt.js b/developedcode/driverlessCarold/src/plugins/mqtt.js new file mode 100644 index 0000000..d8396ba --- /dev/null +++ b/developedcode/driverlessCarold/src/plugins/mqtt.js @@ -0,0 +1,199 @@ +import * as mqtt from "mqtt/dist/mqtt.min"; +import { ulid } from "ulid"; +let robot = { + did: "ede2a4d227b81d36", + pid: "robot4inspection", +}; +const mqttSlamPID = "slam_server"; +let client = null; +let PublicMqtt = null; + +class MQTT { + // url = `ws://s3.s100.vip:8083/mqtt`; // mqtt地址 + url = `ws://192.168.1.141:8083/mqtt`; // mqtt地址 + //初始化mqtt + init() { + let options = { + clean: true, + clientId: ulid(), // 客户端分类唯一 + username: "map-editor", + password: "leador", + connectTimeout: 4000, // 超时时间 + }; + client = mqtt.connect(this.url, options); + client.on("connect", () => {}); + client.on("error", (error) => { + console.log(this.url + "异常中断"); + }); + client.on("reconnect", (error) => { + console.log(this.url + "重新连接"); + }); + } + //取消订阅 + unsubscribes(topic) { + if (topic.indexOf("slam/") === 0) { + client.unsubscribe(`/${mqttSlamPID}/${robot.did}/${topic}`, (error) => { + if (!error) { + console.log(`/${mqttSlamPID}/${robot.did}/${topic}` + "取消订阅成功"); + } else { + console.log(`/${mqttSlamPID}/${robot.did}/${topic}` + "取消订阅失败"); + } + }); + } else if (topic.indexOf("other/") === 0) { + client.unsubscribe(`/${topic}`, (error) => { + if (!error) { + console.log(`/${robot.pid}/${robot.did}/${topic}` + "取消订阅成功"); + } else { + console.log(`/${robot.pid}/${robot.did}/${topic}` + "取消订阅失败"); + } + }); + } else { + client.unsubscribe(`/${robot.pid}/${robot.did}/${topic}`, (error) => { + if (!error) { + console.log(`/${robot.pid}/${robot.did}/${topic}` + "取消订阅成功"); + } else { + console.log(`/${robot.pid}/${robot.did}/${topic}` + "取消订阅失败"); + } + }); + } + } + + //连接 + link(topic, params) { + if (topic.indexOf("slam/") === 0) { + client.subscribe( + `/${mqttSlamPID}/${robot.did}/${topic}`, + params, + (error) => { + if (!error) { + console.log( + `/${mqttSlamPID}/${robot.did}/${topic}` + "订阅成功", + JSON.stringify(params) + ); + } else { + console.log( + `/${mqttSlamPID}/${robot.did}/${topic}` + "订阅失败", + JSON.stringify(params) + ); + } + } + ); + } else if (topic.indexOf("other/") === 0) { + client.subscribe(`/${topic}`, params, (error) => { + if (!error) { + console.log(`/${topic}` + "订阅成功", JSON.stringify(params)); + } else { + console.log(`/${topic}` + "订阅失败", JSON.stringify(params)); + } + }); + } else { + client.subscribe( + `/${robot.pid}/${robot.did}/${topic}`, + params, + (error) => { + if (!error) { + console.log( + `/${robot.pid}/${robot.did}/${topic}` + "订阅成功", + JSON.stringify(params) + ); + } else { + console.log( + `/${robot.pid}/${robot.did}/${topic}` + "订阅失败", + JSON.stringify(params) + ); + } + } + ); + } + } + //发布函数 + pubCommonFn( + topic, + jobj, + qos, + retain, + successCallback = () => {}, + failCallback = (e) => {} + ) { + if (client === null) return; + var timeNow = new Date(); + jobj.timestamp = timeNow.getTime(); + if (topic.indexOf("slam/") === 0) { + client.publish( + `/${mqttSlamPID}/${robot.did}/${topic}`, + JSON.stringify(jobj), + { qos: qos, retain: retain, cbStorePut: successCallback }, + failCallback + ); + } else if (topic.indexOf("other/") === 0) { + client.publish( + `/${topic}`, + JSON.stringify(jobj), + { qos: qos, retain: retain, cbStorePut: successCallback }, + failCallback + ); + } else { + client.publish( + `/${robot.pid}/${robot.did}/${topic}`, + JSON.stringify(jobj), + { qos: qos, retain: retain, cbStorePut: successCallback }, + failCallback + ); + } + } + + //收到的消息 + get(callback) { + client.on("message", callback); + } + //结束链接 + over() { + client.end(); + } +} + +export default function useMqtt() { + let startMqtt = (val, params, callback) => { + //设置订阅地址 + if (!PublicMqtt) { + PublicMqtt = new MQTT(); + //初始化mqtt + PublicMqtt.init(); + //链接mqtt + } + PublicMqtt.link(val, params); + getMessage(callback); + }; + let pubCommonFn = ( + topic, + jobj, + qos, + retain, + successCallback, + failCallback + ) => { + console.log("发布", topic); + //发布mqtt + PublicMqtt.pubCommonFn( + topic, + jobj, + qos, + retain, + successCallback, + failCallback + ); + }; + let endMqtt = (val) => { + //取消链接mqtt + PublicMqtt.unsubscribes(val); + }; + let getMessage = (callback) => { + PublicMqtt?.get(callback); + }; + + return { + startMqtt, + endMqtt, + pubCommonFn, + }; +} diff --git a/developedcode/driverlessCarold/src/plugins/vuetify.js b/developedcode/driverlessCarold/src/plugins/vuetify.js new file mode 100644 index 0000000..fddda4f --- /dev/null +++ b/developedcode/driverlessCarold/src/plugins/vuetify.js @@ -0,0 +1,38 @@ +/** + * plugins/vuetify.js + * + * Framework documentation: https://vuetifyjs.com` + */ + +// Styles +import "@mdi/font/css/materialdesignicons.css"; +import "vuetify/styles"; +import { loadFonts } from "./webfontloader"; +import zhHans from "vuetify/lib/locale/zh-Hans.mjs"; +// Composables +import { createVuetify } from "vuetify"; + +// https://vuetifyjs.com/en/introduction/why-vuetify/#feature-guides +const vuetify = createVuetify({ + theme: { + themes: { + light: { + colors: { + primary: "#1867C0", + secondary: "#5CBBF6", + }, + }, + }, + }, + ssr: true, + lang: { + locales: { + zhHans, + }, + current: "zhHans", + }, +}); +export function registerPlugins(app) { + loadFonts(); + app.use(vuetify); +} diff --git a/developedcode/driverlessCarold/src/plugins/webfontloader.js b/developedcode/driverlessCarold/src/plugins/webfontloader.js new file mode 100644 index 0000000..92afa8a --- /dev/null +++ b/developedcode/driverlessCarold/src/plugins/webfontloader.js @@ -0,0 +1,15 @@ +/** + * plugins/webfontloader.js + * + * webfontloader documentation: https://github.com/typekit/webfontloader + */ + + export async function loadFonts () { + const webFontLoader = await import(/* webpackChunkName: "webfontloader" */'webfontloader') + + webFontLoader.load({ + google: { + families: ['Roboto:100,300,400,500,700,900&display=swap'], + }, + }) +} diff --git a/developedcode/driverlessCarold/src/router/index.js b/developedcode/driverlessCarold/src/router/index.js new file mode 100644 index 0000000..8c0ec23 --- /dev/null +++ b/developedcode/driverlessCarold/src/router/index.js @@ -0,0 +1,64 @@ +import { createRouter, createWebHistory } from "vue-router"; +import { close, start } from "@/utils/nprogress"; +import HomeView from "@/views/Home.vue"; +const routes = [ + { + path: "/", + name: "home", + component: HomeView, + redirect: "/driverlessCars", + children: [ + { + path: "driverlessCars", + name: "driverlessCars", + meta: { + zhtitle: "首页", + }, + // which is lazy-loaded when the route is visited. + component: () => import("../views/driverlessCars/index.vue"), + }, + { + path: "navigation", + name: "navigation", + meta: { + zhtitle: "导航", + }, + // which is lazy-loaded when the route is visited. + component: () => import("../views/driverlessCars/navigation.vue"), + }, + { + path: "editor", + name: "editor", + meta: { + zhtitle: "编辑", + }, + // which is lazy-loaded when the route is visited. + component: () => import("../views/driverlessCars/editor.vue"), + }, + ], + }, + + { name: "重定向", path: "/:catchAll(.*)", redirect: "/" }, + { + path: "/login", + name: "login", + component: () => import("../views/login.vue"), + }, +]; + +// 创建路由实例 +const router = createRouter({ + history: createWebHistory(), + routes, //路由表 +}); +let witheRouter = ["login"]; +router.beforeEach((pre, next) => { + if (witheRouter.indexOf(pre.name) !== -1) { + } + start(); +}); + +router.afterEach(() => { + close(); +}); +export default router; diff --git a/developedcode/driverlessCarold/src/store/breadcrumbs.js b/developedcode/driverlessCarold/src/store/breadcrumbs.js new file mode 100644 index 0000000..17e7126 --- /dev/null +++ b/developedcode/driverlessCarold/src/store/breadcrumbs.js @@ -0,0 +1,35 @@ +import { defineStore } from "pinia"; +import _ from "lodash"; +const breadcrumbsStore = defineStore("breadcrumbs", { + // other options... + state() { + return { + breadcrumbsList: [ + { + title: "首页", + href: "/driverlessCars", + id: Date.now(), + }, + ], + }; + }, + actions: { + getBreadcrumbs() { + return this.breadcrumbsList; + }, + editBreadcrumbs(breadcrumbsList) { + this.breadcrumbsList = []; + for (let i = 0; i < breadcrumbsList.length; i++) { + let ele = breadcrumbsList[i]; + this.breadcrumbsList.push({ + ...ele, + id: Date.now() + 1000 * i, + }); + } + }, + }, + persist: { + enabled: true, // true 表示开启持久化保存 + }, +}); +export default breadcrumbsStore; diff --git a/developedcode/driverlessCarold/src/store/fullscreen.js b/developedcode/driverlessCarold/src/store/fullscreen.js new file mode 100644 index 0000000..9d919b6 --- /dev/null +++ b/developedcode/driverlessCarold/src/store/fullscreen.js @@ -0,0 +1,19 @@ +import { defineStore } from "pinia"; +import _ from "lodash"; +const dialogFullscreenStore = defineStore("dialogFullscreen", { + // other options... + state() { + return { + dialogFullscreen: false, + }; + }, + actions: { + getDialogFullscreen() { + return this.dialogFullscreen; + }, + setDialogFullscreen(bol) { + this.dialogFullscreen = bol; + }, + }, +}); +export default dialogFullscreenStore; diff --git a/developedcode/driverlessCarold/src/store/index.js b/developedcode/driverlessCarold/src/store/index.js new file mode 100644 index 0000000..c1bad36 --- /dev/null +++ b/developedcode/driverlessCarold/src/store/index.js @@ -0,0 +1,10 @@ +import { createPinia } from "pinia"; +import piniaPersist from "pinia-plugin-persist"; +import userStore from "./user"; +import snackbarStore from "./snackbar"; +import breadcrumbsStore from "./breadcrumbs"; +import dialogFullscreenStore from "./fullscreen"; +const pinia = createPinia(); +pinia.use(piniaPersist); +export { userStore, snackbarStore, breadcrumbsStore, dialogFullscreenStore }; +export default pinia; diff --git a/developedcode/driverlessCarold/src/store/snackbar.js b/developedcode/driverlessCarold/src/store/snackbar.js new file mode 100644 index 0000000..a4b6efc --- /dev/null +++ b/developedcode/driverlessCarold/src/store/snackbar.js @@ -0,0 +1,60 @@ +import { defineStore } from "pinia"; +import _ from "lodash"; +const snackbarStore = defineStore("snackbar", { + // other options... + state() { + return { + snackbars: [], + }; + }, + actions: { + openSnackbar(params) { + let { snackbar_message, color, timeout = -1 } = params; + this.snackbars.push({ + snackbar: true, + snackbar_message: snackbar_message, + snackbar_color: color, + location: "top", + timeout: timeout, + id: Date.now(), + }); + }, + closeSnackbar(index) { + this.snackbars.splice(index, 1); + }, + openSuccessSnackbar(message) { + this.snackbars.push({ + snackbar: true, + snackbar_message: message, + snackbar_color: "success", + location: "top", + timeout: 5000, + id: Date.now(), + }); + }, + openFailureSnackbar(message) { + this.snackbars.push({ + snackbar: true, + snackbar_message: message, + snackbar_color: "error", + location: "top", + timeout: -1, //不自动关闭 + id: Date.now(), + }); + }, + openInfoSnackbar(message) { + this.snackbars.push({ + snackbar: true, + snackbar_message: message, + snackbar_color: "warning", + location: "top", + timeout: 5000, + id: Date.now(), + }); + }, + cleanSnackbar() { + this.snackbars = this.snackbars.filter((item) => item.snackbar); + }, + }, +}); +export default snackbarStore; diff --git a/developedcode/driverlessCarold/src/store/user.js b/developedcode/driverlessCarold/src/store/user.js new file mode 100644 index 0000000..ecff4ca --- /dev/null +++ b/developedcode/driverlessCarold/src/store/user.js @@ -0,0 +1,51 @@ +import { defineStore } from "pinia"; +import { login as userLogin, getRobotInfo } from "@/api/user"; +import { setToken, removeToken } from "@/utils/auth"; +const userStore = defineStore("user", { + // other options... + state() { + return { + name: "", + robot: { + did: "ede2a4d227b81d36", + pid: "robot4inspection", + }, + battery: {}, + }; + }, + getters: { + userInfo(state) { + return { ...state }; + }, + }, + actions: { + // Login + async login(loginForm) { + try { + // setToken(true); + let loginRes = await userLogin(loginForm); + if (loginRes.status) { + setToken(loginRes.token); + let robotRes = await getRobotInfo(); + this.robot = { + ...robotRes, + }; + } + return loginRes; + } catch (err) { + removeToken(); + throw err; + } + }, + async setRobot(robot) { + this.robot = robot; + }, + async setBattery(battery) { + this.battery = battery; + }, + }, + persist: { + enabled: true, // true 表示开启持久化保存 + }, +}); +export default userStore; diff --git a/developedcode/driverlessCarold/src/utils/auth.js b/developedcode/driverlessCarold/src/utils/auth.js new file mode 100644 index 0000000..5c68cf8 --- /dev/null +++ b/developedcode/driverlessCarold/src/utils/auth.js @@ -0,0 +1,19 @@ +const TokenKey = `wurenche-token`; + +const isLogin = () => { + return !!localStorage.getItem(TokenKey); +}; + +const getToken = () => { + return localStorage.getItem(TokenKey); +}; + +const setToken = (token) => { + localStorage.setItem(TokenKey, token); +}; + +const removeToken = () => { + localStorage.removeItem(TokenKey); +}; + +export { isLogin, getToken, setToken, removeToken }; diff --git a/developedcode/driverlessCarold/src/utils/nprogress.js b/developedcode/driverlessCarold/src/utils/nprogress.js new file mode 100644 index 0000000..6b5f15a --- /dev/null +++ b/developedcode/driverlessCarold/src/utils/nprogress.js @@ -0,0 +1,19 @@ +import NProgress from 'nprogress' +import 'nprogress/nprogress.css' +NProgress.configure({ + easing: 'ease', // 动画方式 + speed: 1000, // 递增进度条的速度 + showSpinner: false, // 是否显示加载ico + trickleSpeed: 200, // 自动递增间隔 + minimum: 0.3, // 更改启动时使用的最小百分比 + parent: 'body', //指定进度条的父容器 +}) +// 打开进度条 +export const start = () => { + NProgress.start() +} + +// 关闭进度条 +export const close = () => { + NProgress.done() +} \ No newline at end of file diff --git a/developedcode/driverlessCarold/src/utils/permission.js b/developedcode/driverlessCarold/src/utils/permission.js new file mode 100644 index 0000000..b30d482 --- /dev/null +++ b/developedcode/driverlessCarold/src/utils/permission.js @@ -0,0 +1,27 @@ +import router from "@/router/index"; +import { close, start } from "./nprogress"; +import { getToken } from "./auth"; + +const whiteList = ["/login"]; +router.beforeEach(async (to, from, next) => { + start(); + const token = getToken(); + if (token) { + if (to.path === "/login") { + next({ path: "/" }); + close(); + } else { + next(); + } + } else { + if (whiteList.includes(to.path)) { + next(); + } else { + next(`/login?redirect=${to.path}`); + } + } +}); + +router.afterEach((to) => { + close(); +}); diff --git a/developedcode/driverlessCarold/src/utils/util.js b/developedcode/driverlessCarold/src/utils/util.js new file mode 100644 index 0000000..a6cc5fe --- /dev/null +++ b/developedcode/driverlessCarold/src/utils/util.js @@ -0,0 +1,8 @@ +// 获取assets静态资源 +const getAssetsFile = (url) => { + return new URL(`../assets/${url}`, import.meta.url).href; +}; + +export default { + getAssetsFile, +}; diff --git a/developedcode/driverlessCarold/src/views/Home.vue b/developedcode/driverlessCarold/src/views/Home.vue new file mode 100644 index 0000000..bda157c --- /dev/null +++ b/developedcode/driverlessCarold/src/views/Home.vue @@ -0,0 +1,582 @@ + + + diff --git a/developedcode/driverlessCarold/src/views/driverlessCars/editor.vue b/developedcode/driverlessCarold/src/views/driverlessCars/editor.vue new file mode 100644 index 0000000..df6f2e5 --- /dev/null +++ b/developedcode/driverlessCarold/src/views/driverlessCars/editor.vue @@ -0,0 +1,1880 @@ + + + diff --git a/developedcode/driverlessCarold/src/views/driverlessCars/index.vue b/developedcode/driverlessCarold/src/views/driverlessCars/index.vue new file mode 100644 index 0000000..b90e36e --- /dev/null +++ b/developedcode/driverlessCarold/src/views/driverlessCars/index.vue @@ -0,0 +1,804 @@ + + + diff --git a/developedcode/driverlessCarold/src/views/driverlessCars/navigation.vue b/developedcode/driverlessCarold/src/views/driverlessCars/navigation.vue new file mode 100644 index 0000000..dec3227 --- /dev/null +++ b/developedcode/driverlessCarold/src/views/driverlessCars/navigation.vue @@ -0,0 +1,2161 @@ + + + diff --git a/developedcode/driverlessCarold/src/views/login.vue b/developedcode/driverlessCarold/src/views/login.vue new file mode 100644 index 0000000..745b32d --- /dev/null +++ b/developedcode/driverlessCarold/src/views/login.vue @@ -0,0 +1,156 @@ + + + diff --git a/developedcode/driverlessCarold/vite.config.js b/developedcode/driverlessCarold/vite.config.js new file mode 100644 index 0000000..ecbdae5 --- /dev/null +++ b/developedcode/driverlessCarold/vite.config.js @@ -0,0 +1,65 @@ +// Plugins +import vue from "@vitejs/plugin-vue"; +import vuetify, { transformAssetUrls } from "vite-plugin-vuetify"; + +// Utilities +import { defineConfig } from "vite"; +import { fileURLToPath, URL } from "node:url"; +import AutoImport from "unplugin-auto-import/vite"; +import Components from "unplugin-vue-components/vite"; +import { ElementPlusResolver } from "unplugin-vue-components/resolvers"; + +// https://vitejs.dev/config/ +export default defineConfig({ + plugins: [ + vue({ + template: { transformAssetUrls }, + }), + // https://github.com/vuetifyjs/vuetify-loader/tree/next/packages/vite-plugin + vuetify({ + autoImport: true, + }), + AutoImport({ + resolvers: [ElementPlusResolver()], + }), + Components({ + resolvers: [ElementPlusResolver()], + }), + ], + define: { "process.env": {} }, + resolve: { + alias: { + "@": fileURLToPath(new URL("./src", import.meta.url)), + }, + extensions: [".js", ".json", ".jsx", ".mjs", ".ts", ".tsx", ".vue"], + }, + server: { + port: 3000, + proxy: { + "/v1": { + // target: "http://s3.s100.vip:26381/v1", + target: "http://192.168.1.141:8086/v1", + // target: "http://127.0.0.1:3000/v1", + changeOrigin: true, + rewrite: (path) => path.replace(/^\/v1/, ""), + }, + "/udp": { + // target: "http://s3.s100.vip:26381/v1", + // target: "http://192.168.1.55:8001/", + target: "http://127.0.0.1:9010/udp", + // target: "http://192.168.8.109:9010/udp", + changeOrigin: true, + rewrite: (path) => path.replace(/^\/udp/, ""), + }, + // "/vedio": { + // target: "http://192.168.1.64/vedio", + // // target: "http://192.168.1.141:8086/v1", + // changeOrigin: true, + // rewrite: (path) => path.replace(/^\/vedio/, ""), + // }, + }, + }, + build: { + sourcemap: true, + }, +}); diff --git a/developedcode/editmap/.browserslistrc b/developedcode/editmap/.browserslistrc new file mode 100644 index 0000000..dc3bc09 --- /dev/null +++ b/developedcode/editmap/.browserslistrc @@ -0,0 +1,4 @@ +> 1% +last 2 versions +not dead +not ie 11 diff --git a/developedcode/editmap/.editorconfig b/developedcode/editmap/.editorconfig new file mode 100644 index 0000000..7053c49 --- /dev/null +++ b/developedcode/editmap/.editorconfig @@ -0,0 +1,5 @@ +[*.{js,jsx,ts,tsx,vue}] +indent_style = space +indent_size = 2 +trim_trailing_whitespace = true +insert_final_newline = true diff --git a/developedcode/editmap/.gitignore b/developedcode/editmap/.gitignore new file mode 100644 index 0000000..403adbc --- /dev/null +++ b/developedcode/editmap/.gitignore @@ -0,0 +1,23 @@ +.DS_Store +node_modules +/dist + + +# local env files +.env.local +.env.*.local + +# Log files +npm-debug.log* +yarn-debug.log* +yarn-error.log* +pnpm-debug.log* + +# Editor directories and files +.idea +.vscode +*.suo +*.ntvs* +*.njsproj +*.sln +*.sw? diff --git a/developedcode/editmap/README.md b/developedcode/editmap/README.md new file mode 100644 index 0000000..50b30e0 --- /dev/null +++ b/developedcode/editmap/README.md @@ -0,0 +1,44 @@ +# default + +## Project setup + +``` +# yarn +yarn + +# npm +npm install + +# pnpm +pnpm install +``` + +### Compiles and hot-reloads for development + +``` +# yarn +yarn dev + +# npm +npm run dev + +# pnpm +pnpm dev +``` + +### Compiles and minifies for production + +``` +# yarn +yarn build + +# npm +npm run build + +# pnpm +pnpm build +``` + +### Customize configuration + +See [Configuration Reference](https://vitejs.dev/config/). diff --git a/developedcode/editmap/index.html b/developedcode/editmap/index.html new file mode 100644 index 0000000..f1b52c8 --- /dev/null +++ b/developedcode/editmap/index.html @@ -0,0 +1,16 @@ + + + + + + + + 线路编辑 + + + +
+ + + + \ No newline at end of file diff --git a/developedcode/editmap/jsconfig.json b/developedcode/editmap/jsconfig.json new file mode 100644 index 0000000..4aafc5f --- /dev/null +++ b/developedcode/editmap/jsconfig.json @@ -0,0 +1,19 @@ +{ + "compilerOptions": { + "target": "es5", + "module": "esnext", + "baseUrl": "./", + "moduleResolution": "node", + "paths": { + "@/*": [ + "src/*" + ] + }, + "lib": [ + "esnext", + "dom", + "dom.iterable", + "scripthost" + ] + } +} diff --git a/developedcode/editmap/package.json b/developedcode/editmap/package.json new file mode 100644 index 0000000..7f41814 --- /dev/null +++ b/developedcode/editmap/package.json @@ -0,0 +1,24 @@ +{ + "name": "editmap", + "version": "0.0.0", + "scripts": { + "start": "electron-vite preview", + "elecdev": "electron-vite dev", + "prebuild": "electron-vite build", + "dev": "vite", + "build": "vite build", + "preview": "vite preview" + }, + "dependencies": { + "electron": "^23.3.13", + "lodash": "^4.17.21", + "ol": "^7.3.0", + "vue": "^3.2.47" + }, + "devDependencies": { + "@vitejs/plugin-vue": "^4.2.1", + "electron-vite": "^1.0.28", + "sass": "^1.62.1", + "vite": "^4.3.4" + } +} diff --git a/developedcode/editmap/public/favicon.png b/developedcode/editmap/public/favicon.png new file mode 100644 index 0000000..3b89289 Binary files /dev/null and b/developedcode/editmap/public/favicon.png differ diff --git a/developedcode/editmap/src/App.vue b/developedcode/editmap/src/App.vue new file mode 100644 index 0000000..01c884a --- /dev/null +++ b/developedcode/editmap/src/App.vue @@ -0,0 +1,991 @@ + + + diff --git a/developedcode/editmap/src/assets/css/base.css b/developedcode/editmap/src/assets/css/base.css new file mode 100644 index 0000000..293d3b1 --- /dev/null +++ b/developedcode/editmap/src/assets/css/base.css @@ -0,0 +1,3 @@ +body { + margin: 0; +} diff --git a/developedcode/editmap/src/assets/img/dir_backward.png b/developedcode/editmap/src/assets/img/dir_backward.png new file mode 100644 index 0000000..fd4b924 Binary files /dev/null and b/developedcode/editmap/src/assets/img/dir_backward.png differ diff --git a/developedcode/editmap/src/assets/img/dir_forward.png b/developedcode/editmap/src/assets/img/dir_forward.png new file mode 100644 index 0000000..6686959 Binary files /dev/null and b/developedcode/editmap/src/assets/img/dir_forward.png differ diff --git a/developedcode/editmap/src/assets/img/dir_two_way.png b/developedcode/editmap/src/assets/img/dir_two_way.png new file mode 100644 index 0000000..263d6c0 Binary files /dev/null and b/developedcode/editmap/src/assets/img/dir_two_way.png differ diff --git a/developedcode/editmap/src/assets/img/normal_point.png b/developedcode/editmap/src/assets/img/normal_point.png new file mode 100644 index 0000000..f2756a7 Binary files /dev/null and b/developedcode/editmap/src/assets/img/normal_point.png differ diff --git a/developedcode/editmap/src/assets/json/mapdetail.json b/developedcode/editmap/src/assets/json/mapdetail.json new file mode 100644 index 0000000..9566ba6 --- /dev/null +++ b/developedcode/editmap/src/assets/json/mapdetail.json @@ -0,0 +1,11 @@ +{ + "min_zoom": 1, + "max_zoom": 6, + "zoom": 3, + "extent": [ + 0, + 0, + 1920, + 900 + ] +} \ No newline at end of file diff --git a/developedcode/editmap/src/assets/json/mapgeo.json b/developedcode/editmap/src/assets/json/mapgeo.json new file mode 100644 index 0000000..705b381 --- /dev/null +++ b/developedcode/editmap/src/assets/json/mapgeo.json @@ -0,0 +1,181 @@ +{ + "type": "FeatureCollection", + "features": [ + { + "geometry": { + "type": "Point", + "coordinates": [ + 600, + 400, + 0 + ] + }, + "type": "Feature", + "properties": { + "name": "", + "yaw": 0, + "pitch": 0, + "roll": 0, + "isyawfix": false, + "taskid": 0, + "offset": 0, + "id": "p_207" + } + }, + { + "geometry": { + "type": "Point", + "coordinates": [ + 700, + 500, + 0 + ] + }, + "type": "Feature", + "properties": { + "name": "", + "yaw": 0, + "pitch": 0, + "roll": 0, + "isyawfix": false, + "taskid": 0, + "offset": 0, + "id": "p_190" + } + }, + { + "geometry": { + "type": "Point", + "coordinates": [ + 800, + 400, + 0 + ] + }, + "type": "Feature", + "properties": { + "name": "", + "yaw": 0, + "pitch": 0, + "roll": 0, + "isyawfix": false, + "taskid": 0, + "offset": 0, + "id": "p_202" + } + }, + { + "geometry": { + "type": "Point", + "coordinates": [ + 800, + 450, + 0 + ] + }, + "type": "Feature", + "properties": { + "name": "", + "yaw": 0, + "pitch": 0, + "roll": 0, + "isyawfix": false, + "taskid": 0, + "offset": 0, + "id": "p_206" + } + }, + { + "geometry": { + "type": "LineString", + "coordinates": [ + [ + 800, + 450 + ], + [ + 800, + 400 + ] + ] + }, + "type": "Feature", + "properties": { + "maxspeed": 8, + "s2eforward": 0, + "thtolerance": 0.2, + "xytolerance": 0.2, + "direct": 110, + "lanewidth": 1, + "controltype": 0, + "chassistype": 10, + "mintheta": -1, + "id": "l_236", + "obsvalue": 200, + "followdis": 0.4, + "e2sforward": 0, + "selftheta": 0.5, + "runtype": 0, + "name": "", + "minspeed": 0, + "maxtheta": 1, + "leftlanenum": 0, + "plantype": 0, + "rightlanenum": 0, + "endid": "p_202", + "roadwidth": 0, + "obstype": 0, + "slowdis": 2, + "startid": "p_206" + } + }, + { + "geometry": { + "type": "MultiPoint", + "coordinates": [ + [ + 700, + 500 + ], + [ + 650, + 450 + ], + [ + 600, + 400 + ] + ] + }, + "type": "Feature", + "properties": { + "maxspeed": 8, + "s2eforward": 0, + "thtolerance": 0.2, + "direct": 110, + "lanewidth": 1, + "controltype": 0, + "chassistype": 10, + "mintheta": -1, + "id": "b_65", + "name": "", + "obsvalue": 200, + "followdis": 0.4, + "e2sforward": 0, + "selftheta": 0.5, + "runtype": 0, + "minspeed": 0, + "xytolerance": 0.2, + "maxtheta": 1, + "leftlanenum": 0, + "plantype": 0, + "rightlanenum": 0, + "endid": "p_207", + "roadwidth": 0, + "obstype": 0, + "slowdis": 2, + "startid": "p_190" + } + } + ] +} \ No newline at end of file diff --git a/developedcode/editmap/src/main.js b/developedcode/editmap/src/main.js new file mode 100644 index 0000000..6e1f2a4 --- /dev/null +++ b/developedcode/editmap/src/main.js @@ -0,0 +1,10 @@ +import App from "./App.vue"; +import { createApp } from "vue"; +//全局引入lodash +import _ from "lodash"; +import "@/assets/css/base.css"; +//全局挂在axios +const app = createApp(App); +app.config.globalProperties.$_ = _; //挂载到app实例上 + +app.mount("#app"); diff --git a/developedcode/editmap/vite.config.js b/developedcode/editmap/vite.config.js new file mode 100644 index 0000000..8bf0b04 --- /dev/null +++ b/developedcode/editmap/vite.config.js @@ -0,0 +1,33 @@ +// Plugins +import vue from "@vitejs/plugin-vue"; +import { defineConfig } from "vite"; +import { fileURLToPath, URL } from "node:url"; +import electron from "vite-plugin-electron"; +import electronRenderer from "vite-plugin-electron/renderer"; +import polyfillExports from "vite-plugin-electron/polyfill-exports"; + +export default defineConfig({ + plugins: [ + vue(), + electron({ + main: { + entry: "electron-main/index.ts", // 主进程文件 + }, + preload: { + input: fileURLToPath(new URL("./index.js", import.meta.url)), // 预加载文件 + }, + }), + electronRenderer(), + polyfillExports(), + ], + define: { "process.env": {} }, + resolve: { + alias: { + "@": fileURLToPath(new URL("./src", import.meta.url)), + }, + extensions: [".js", ".json", ".jsx", ".mjs", ".ts", ".tsx", ".vue"], + }, + build: { + sourcemap: true, + }, +}); diff --git a/developedcode/egg_udp/.eslintignore b/developedcode/egg_udp/.eslintignore new file mode 100644 index 0000000..4ebc8ae --- /dev/null +++ b/developedcode/egg_udp/.eslintignore @@ -0,0 +1 @@ +coverage diff --git a/developedcode/egg_udp/.eslintrc b/developedcode/egg_udp/.eslintrc new file mode 100644 index 0000000..f304bdd --- /dev/null +++ b/developedcode/egg_udp/.eslintrc @@ -0,0 +1,4 @@ +{ + "extends": "eslint-config-egg", + "root": true +} diff --git a/developedcode/egg_udp/.gitignore b/developedcode/egg_udp/.gitignore new file mode 100644 index 0000000..652759b --- /dev/null +++ b/developedcode/egg_udp/.gitignore @@ -0,0 +1,15 @@ +logs/ +npm-debug.log +yarn-error.log +node_modules/ +*-lock.json +*-lock.yaml +yarn.lock +coverage/ +.idea/ +run/ +.DS_Store +*.sw* +*.un~ +typings/ +.nyc_output/ diff --git a/developedcode/egg_udp/README.md b/developedcode/egg_udp/README.md new file mode 100644 index 0000000..d4da78e --- /dev/null +++ b/developedcode/egg_udp/README.md @@ -0,0 +1,33 @@ +# egg_udp + + + +## QuickStart + + + +see [egg docs][egg] for more detail. + +### Development + +```bash +$ npm i +$ npm run dev +$ open http://localhost:7001/ +``` + +### Deploy + +```bash +$ npm start +$ npm stop +``` + +### npm scripts + +- Use `npm run lint` to check code style. +- Use `npm test` to run unit test. +- Use `npm run autod` to auto detect dependencies upgrade, see [autod](https://www.npmjs.com/package/autod) for more detail. + + +[egg]: https://eggjs.org \ No newline at end of file diff --git a/developedcode/egg_udp/app/controller/home.js b/developedcode/egg_udp/app/controller/home.js new file mode 100644 index 0000000..395bddf --- /dev/null +++ b/developedcode/egg_udp/app/controller/home.js @@ -0,0 +1,23 @@ +"use strict"; + +const { Controller } = require("egg"); + +class HomeController extends Controller { + async index() { + const { ctx } = this; + let array = ctx.request.body.hex.split(" "); + let hex_array = array.map((el) => parseInt(el, 16)); + let uarray = new Uint8Array(hex_array); + let buf = Buffer.from(uarray); + const dgram = require("dgram"); + + const clientSocket = dgram.createSocket("udp4"); + + //监听指定地址以及端口 + //第一个参数是发送数据，第二个参是位端口号，第三个参数为ip地址 + clientSocket.send(buf, 80, "192.168.1.64"); + // ctx.body = "发送"; + } +} + +module.exports = HomeController; diff --git a/developedcode/egg_udp/app/router.js b/developedcode/egg_udp/app/router.js new file mode 100644 index 0000000..1c4e8d6 --- /dev/null +++ b/developedcode/egg_udp/app/router.js @@ -0,0 +1,9 @@ +'use strict'; + +/** + * @param {Egg.Application} app - egg application + */ +module.exports = app => { + const { router, controller } = app; + router.post('/udp', controller.home.index); +}; diff --git a/developedcode/egg_udp/config/config.default.js b/developedcode/egg_udp/config/config.default.js new file mode 100644 index 0000000..4986afe --- /dev/null +++ b/developedcode/egg_udp/config/config.default.js @@ -0,0 +1,46 @@ +/* eslint valid-jsdoc: "off" */ + +"use strict"; + +/** + * @param {Egg.EggAppInfo} appInfo app info + */ +module.exports = (appInfo) => { + /** + * built-in config + * @type {Egg.EggAppConfig} + **/ + const config = (exports = {}); + + // use for cookie sign key, should change to your own and keep security + config.keys = appInfo.name + "_1686280994314_6082"; + config.cluster = { + listen: { + path: "", + port: 9010, + }, + }; + config.security = { + csrf: { + enable: false, + }, + domainWhiteList: ["/udp"], //允许访问接口的白名单，例如：http://localhost:8080 *表示均可访问 + }; + + config.cors = { + origin: "*", + allowMethods: "GET", + }; + // add your middleware config here + config.middleware = []; + + // add your user config here + const userConfig = { + // myAppName: 'egg', + }; + + return { + ...config, + ...userConfig, + }; +}; diff --git a/developedcode/egg_udp/config/plugin.js b/developedcode/egg_udp/config/plugin.js new file mode 100644 index 0000000..d59db1a --- /dev/null +++ b/developedcode/egg_udp/config/plugin.js @@ -0,0 +1,13 @@ +"use strict"; + +/** @type Egg.EggPlugin */ +module.exports = { + // had enabled by egg + // static: { + // enable: true, + // } + cors: { + enable: true, + package: "egg-cors", + }, +}; diff --git a/developedcode/egg_udp/jsconfig.json b/developedcode/egg_udp/jsconfig.json new file mode 100644 index 0000000..1bbed3f --- /dev/null +++ b/developedcode/egg_udp/jsconfig.json @@ -0,0 +1,5 @@ +{ + "include": [ + "**/*" + ] +} \ No newline at end of file diff --git a/developedcode/egg_udp/package.json b/developedcode/egg_udp/package.json new file mode 100644 index 0000000..cdb3d5b --- /dev/null +++ b/developedcode/egg_udp/package.json @@ -0,0 +1,47 @@ +{ + "name": "egg_udp", + "version": "1.0.0", + "description": "", + "private": true, + "egg": { + "declarations": true + }, + "dependencies": { + "egg": "^3", + "egg-cors": "^2.2.3", + "egg-scripts": "^2", + "node-media-server": "^2.6.2" + }, + "devDependencies": { + "egg-bin": "^5", + "egg-ci": "^2", + "egg-mock": "^5", + "eslint": "^8", + "eslint-config-egg": "^12" + }, + "engines": { + "node": ">=16.0.0" + }, + "scripts": { + "start": "egg-scripts start --daemon --title=egg-server-egg_udp", + "stop": "egg-scripts stop --title=egg-server-egg_udp", + "dev": "egg-bin dev", + "build": "npm install --production && tar -zcvf ../release.tgz .", + "debug": "egg-bin debug", + "test": "npm run lint -- --fix && npm run test-local", + "test-local": "egg-bin test", + "cov": "egg-bin cov", + "lint": "eslint .", + "ci": "npm run lint && npm run cov" + }, + "ci": { + "version": "16, 18", + "type": "github" + }, + "repository": { + "type": "git", + "url": "" + }, + "author": "", + "license": "MIT" +} diff --git a/developedcode/egg_udp/test/app/controller/home.test.js b/developedcode/egg_udp/test/app/controller/home.test.js new file mode 100644 index 0000000..a4f0fc9 --- /dev/null +++ b/developedcode/egg_udp/test/app/controller/home.test.js @@ -0,0 +1,20 @@ +'use strict'; + +const { app, assert } = require('egg-mock/bootstrap'); + +describe('test/app/controller/home.test.js', () => { + it('should assert', async () => { + const pkg = require('../../../package.json'); + assert(app.config.keys.startsWith(pkg.name)); + + // const ctx = app.mockContext({}); + // yield ctx.service.xx(); + }); + + it('should GET /', async () => { + return app.httpRequest() + .get('/') + .expect('hi, egg') + .expect(200); + }); +}); diff --git a/developedcode/electronEditmap/.editorconfig b/developedcode/electronEditmap/.editorconfig new file mode 100644 index 0000000..3dce414 --- /dev/null +++ b/developedcode/electronEditmap/.editorconfig @@ -0,0 +1,9 @@ +root = true + +[*] +charset = utf-8 +indent_style = space +indent_size = 2 +end_of_line = lf +insert_final_newline = true +trim_trailing_whitespace = true \ No newline at end of file diff --git a/developedcode/electronEditmap/.eslintignore b/developedcode/electronEditmap/.eslintignore new file mode 100644 index 0000000..a6f34fe --- /dev/null +++ b/developedcode/electronEditmap/.eslintignore @@ -0,0 +1,4 @@ +node_modules +dist +out +.gitignore diff --git a/developedcode/electronEditmap/.eslintrc.cjs b/developedcode/electronEditmap/.eslintrc.cjs new file mode 100644 index 0000000..55db58d --- /dev/null +++ b/developedcode/electronEditmap/.eslintrc.cjs @@ -0,0 +1,15 @@ +/* eslint-env node */ +require('@rushstack/eslint-patch/modern-module-resolution') + +module.exports = { + extends: [ + 'eslint:recommended', + 'plugin:vue/vue3-recommended', + '@electron-toolkit', + '@vue/eslint-config-prettier' + ], + rules: { + 'vue/require-default-prop': 'off', + 'vue/multi-word-component-names': 'off' + } +} diff --git a/developedcode/electronEditmap/.gitignore b/developedcode/electronEditmap/.gitignore new file mode 100644 index 0000000..e7c3088 --- /dev/null +++ b/developedcode/electronEditmap/.gitignore @@ -0,0 +1,4 @@ +node_modules +dist +out +*.log* diff --git a/developedcode/electronEditmap/.npmrc b/developedcode/electronEditmap/.npmrc new file mode 100644 index 0000000..30df4ad --- /dev/null +++ b/developedcode/electronEditmap/.npmrc @@ -0,0 +1,2 @@ +ELECTRON_MIRROR=https://npmmirror.com/mirrors/electron/ +registry =https://registry.npm.taobao.org diff --git a/developedcode/electronEditmap/.prettierignore b/developedcode/electronEditmap/.prettierignore new file mode 100644 index 0000000..9c6b791 --- /dev/null +++ b/developedcode/electronEditmap/.prettierignore @@ -0,0 +1,6 @@ +out +dist +pnpm-lock.yaml +LICENSE.md +tsconfig.json +tsconfig.*.json diff --git a/developedcode/electronEditmap/.prettierrc.yaml b/developedcode/electronEditmap/.prettierrc.yaml new file mode 100644 index 0000000..35893b3 --- /dev/null +++ b/developedcode/electronEditmap/.prettierrc.yaml @@ -0,0 +1,4 @@ +singleQuote: true +semi: false +printWidth: 100 +trailingComma: none diff --git a/developedcode/electronEditmap/README.md b/developedcode/electronEditmap/README.md new file mode 100644 index 0000000..89e5547 --- /dev/null +++ b/developedcode/electronEditmap/README.md @@ -0,0 +1,34 @@ +# electroneditmap + +An Electron application with Vue + +## Recommended IDE Setup + +- [VSCode](https://code.visualstudio.com/) + [ESLint](https://marketplace.visualstudio.com/items?itemName=dbaeumer.vscode-eslint) + [Prettier](https://marketplace.visualstudio.com/items?itemName=esbenp.prettier-vscode) + [Volar](https://marketplace.visualstudio.com/items?itemName=Vue.volar) + +## Project Setup + +### Install + +```bash +$ npm install +``` + +### Development + +```bash +$ npm run dev +``` + +### Build + +```bash +# For windows +$ npm run build:win + +# For macOS +$ npm run build:mac + +# For Linux +$ npm run build:linux +``` diff --git a/developedcode/electronEditmap/dev-app-update.yml b/developedcode/electronEditmap/dev-app-update.yml new file mode 100644 index 0000000..44df3e9 --- /dev/null +++ b/developedcode/electronEditmap/dev-app-update.yml @@ -0,0 +1,3 @@ +provider: generic +url: https://example.com/auto-updates +updaterCacheDirName: electroneditmap-updater diff --git a/developedcode/electronEditmap/electron-builder.yml b/developedcode/electronEditmap/electron-builder.yml new file mode 100644 index 0000000..eb501c4 --- /dev/null +++ b/developedcode/electronEditmap/electron-builder.yml @@ -0,0 +1,42 @@ +appId: com.electron.app +productName: electroneditmap +directories: + buildResources: build +files: + - '!**/.vscode/*' + - '!src/*' + - '!electron.vite.config.{js,ts,mjs,cjs}' + - '!{.eslintignore,.eslintrc.cjs,.prettierignore,.prettierrc.yaml,dev-app-update.yml,CHANGELOG.md,README.md}' + - '!{.env,.env.*,.npmrc,pnpm-lock.yaml}' +asarUnpack: + - resources/** +win: + executableName: electroneditmap +nsis: + artifactName: ${name}-${version}-setup.${ext} + shortcutName: ${productName} + uninstallDisplayName: ${productName} + createDesktopShortcut: always +mac: + entitlementsInherit: build/entitlements.mac.plist + extendInfo: + - NSCameraUsageDescription: Application requests access to the device's camera. + - NSMicrophoneUsageDescription: Application requests access to the device's microphone. + - NSDocumentsFolderUsageDescription: Application requests access to the user's Documents folder. + - NSDownloadsFolderUsageDescription: Application requests access to the user's Downloads folder. + notarize: false +dmg: + artifactName: ${name}-${version}.${ext} +linux: + target: + - AppImage + - snap + - deb + maintainer: electronjs.org + category: Utility +appImage: + artifactName: ${name}-${version}.${ext} +npmRebuild: false +publish: + provider: generic + url: https://example.com/auto-updates diff --git a/developedcode/electronEditmap/electron.vite.config.js b/developedcode/electronEditmap/electron.vite.config.js new file mode 100644 index 0000000..470c4a0 --- /dev/null +++ b/developedcode/electronEditmap/electron.vite.config.js @@ -0,0 +1,20 @@ +import { resolve } from 'path' +import { defineConfig, externalizeDepsPlugin } from 'electron-vite' +import vue from '@vitejs/plugin-vue' + +export default defineConfig({ + main: { + plugins: [externalizeDepsPlugin()] + }, + preload: { + plugins: [externalizeDepsPlugin()] + }, + renderer: { + resolve: { + alias: { + '@renderer': resolve('src/renderer/src') + } + }, + plugins: [vue()] + } +}) diff --git a/developedcode/electronEditmap/package.json b/developedcode/electronEditmap/package.json new file mode 100644 index 0000000..792d096 --- /dev/null +++ b/developedcode/electronEditmap/package.json @@ -0,0 +1,41 @@ +{ + "name": "electroneditmap", + "version": "1.0.0", + "description": "An Electron application with Vue", + "main": "./out/main/index.js", + "author": "example.com", + "homepage": "https://www.electronjs.org", + "scripts": { + "format": "prettier --write .", + "lint": "eslint . --ext .js,.jsx,.cjs,.mjs,.ts,.tsx,.cts,.mts --fix", + "start": "electron-vite preview", + "dev": "electron-vite dev", + "build": "electron-vite build", + "postinstall": "electron-builder install-app-deps", + "build:win": "npm run build && electron-builder --win --config", + "build:mac": "npm run build && electron-builder --mac --config", + "build:linux": "npm run build && electron-builder --linux --config" + }, + "dependencies": { + "@electron-toolkit/preload": "^2.0.0", + "@electron-toolkit/utils": "^2.0.0", + "electron-updater": "^6.1.1", + "lodash": "^4.17.21", + "ol": "^7.5.2" + }, + "devDependencies": { + "@electron-toolkit/eslint-config": "^1.0.1", + "@rushstack/eslint-patch": "^1.3.3", + "@vitejs/plugin-vue": "^4.3.1", + "@vue/eslint-config-prettier": "^8.0.0", + "electron": "^25.6.0", + "electron-builder": "^24.6.3", + "electron-vite": "^1.0.27", + "eslint": "^8.47.0", + "eslint-plugin-vue": "^9.17.0", + "less": "^4.2.0", + "prettier": "^3.0.2", + "vite": "^4.4.9", + "vue": "^3.3.4" + } +} diff --git a/developedcode/electronEditmap/resources/icon.png b/developedcode/electronEditmap/resources/icon.png new file mode 100644 index 0000000..cf9e8b2 Binary files /dev/null and b/developedcode/electronEditmap/resources/icon.png differ diff --git a/developedcode/electronEditmap/src/main/index.js b/developedcode/electronEditmap/src/main/index.js new file mode 100644 index 0000000..c666c8b --- /dev/null +++ b/developedcode/electronEditmap/src/main/index.js @@ -0,0 +1,71 @@ +import { app, shell, BrowserWindow } from 'electron' +import { join } from 'path' +import { electronApp, optimizer, is } from '@electron-toolkit/utils' +import icon from '../../resources/icon.png?asset' + +function createWindow() { + // Create the browser window. + const mainWindow = new BrowserWindow({ + width: 900, + height: 670, + show: false, + autoHideMenuBar: true, + ...(process.platform === 'linux' ? { icon } : {}), + webPreferences: { + preload: join(__dirname, '../preload/index.js'), + sandbox: false + } + }) + + mainWindow.on('ready-to-show', () => { + mainWindow.show() + }) + + mainWindow.webContents.setWindowOpenHandler((details) => { + shell.openExternal(details.url) + return { action: 'deny' } + }) + + // HMR for renderer base on electron-vite cli. + // Load the remote URL for development or the local html file for production. + if (is.dev && process.env['ELECTRON_RENDERER_URL']) { + mainWindow.loadURL(process.env['ELECTRON_RENDERER_URL']) + } else { + mainWindow.loadFile(join(__dirname, '../renderer/index.html')) + } +} + +// This method will be called when Electron has finished +// initialization and is ready to create browser windows. +// Some APIs can only be used after this event occurs. +app.whenReady().then(() => { + // Set app user model id for windows + electronApp.setAppUserModelId('com.electron') + + // Default open or close DevTools by F12 in development + // and ignore CommandOrControl + R in production. + // see https://github.com/alex8088/electron-toolkit/tree/master/packages/utils + app.on('browser-window-created', (_, window) => { + optimizer.watchWindowShortcuts(window) + }) + + createWindow() + + app.on('activate', function () { + // On macOS it's common to re-create a window in the app when the + // dock icon is clicked and there are no other windows open. + if (BrowserWindow.getAllWindows().length === 0) createWindow() + }) +}) + +// Quit when all windows are closed, except on macOS. There, it's common +// for applications and their menu bar to stay active until the user quits +// explicitly with Cmd + Q. +app.on('window-all-closed', () => { + if (process.platform !== 'darwin') { + app.quit() + } +}) + +// In this file you can include the rest of your app"s specific main process +// code. You can also put them in separate files and require them here. diff --git a/developedcode/electronEditmap/src/preload/index.js b/developedcode/electronEditmap/src/preload/index.js new file mode 100644 index 0000000..8d62cb9 --- /dev/null +++ b/developedcode/electronEditmap/src/preload/index.js @@ -0,0 +1,20 @@ +import { contextBridge } from 'electron' +import { electronAPI } from '@electron-toolkit/preload' + +// Custom APIs for renderer +const api = {} + +// Use `contextBridge` APIs to expose Electron APIs to +// renderer only if context isolation is enabled, otherwise +// just add to the DOM global. +if (process.contextIsolated) { + try { + contextBridge.exposeInMainWorld('electron', electronAPI) + contextBridge.exposeInMainWorld('api', api) + } catch (error) { + console.error(error) + } +} else { + window.electron = electronAPI + window.api = api +} diff --git a/developedcode/electronEditmap/src/renderer/index.html b/developedcode/electronEditmap/src/renderer/index.html new file mode 100644 index 0000000..ce5875b --- /dev/null +++ b/developedcode/electronEditmap/src/renderer/index.html @@ -0,0 +1,23 @@ + + + + + Electron + + + + + + + +
+ + + diff --git a/developedcode/electronEditmap/src/renderer/src/App.vue b/developedcode/electronEditmap/src/renderer/src/App.vue new file mode 100644 index 0000000..8b1007c --- /dev/null +++ b/developedcode/electronEditmap/src/renderer/src/App.vue @@ -0,0 +1,1023 @@ + + + diff --git a/developedcode/electronEditmap/src/renderer/src/assets/css/base.css b/developedcode/electronEditmap/src/renderer/src/assets/css/base.css new file mode 100644 index 0000000..293d3b1 --- /dev/null +++ b/developedcode/electronEditmap/src/renderer/src/assets/css/base.css @@ -0,0 +1,3 @@ +body { + margin: 0; +} diff --git a/developedcode/electronEditmap/src/renderer/src/assets/img/dir_backward.png b/developedcode/electronEditmap/src/renderer/src/assets/img/dir_backward.png new file mode 100644 index 0000000..fd4b924 Binary files /dev/null and b/developedcode/electronEditmap/src/renderer/src/assets/img/dir_backward.png differ diff --git a/developedcode/electronEditmap/src/renderer/src/assets/img/dir_forward.png b/developedcode/electronEditmap/src/renderer/src/assets/img/dir_forward.png new file mode 100644 index 0000000..6686959 Binary files /dev/null and b/developedcode/electronEditmap/src/renderer/src/assets/img/dir_forward.png differ diff --git a/developedcode/electronEditmap/src/renderer/src/assets/img/dir_two_way.png b/developedcode/electronEditmap/src/renderer/src/assets/img/dir_two_way.png new file mode 100644 index 0000000..263d6c0 Binary files /dev/null and b/developedcode/electronEditmap/src/renderer/src/assets/img/dir_two_way.png differ diff --git a/developedcode/electronEditmap/src/renderer/src/assets/img/normal_point.png b/developedcode/electronEditmap/src/renderer/src/assets/img/normal_point.png new file mode 100644 index 0000000..f2756a7 Binary files /dev/null and b/developedcode/electronEditmap/src/renderer/src/assets/img/normal_point.png differ diff --git a/developedcode/electronEditmap/src/renderer/src/assets/json/mapdetail.json b/developedcode/electronEditmap/src/renderer/src/assets/json/mapdetail.json new file mode 100644 index 0000000..ef19041 --- /dev/null +++ b/developedcode/electronEditmap/src/renderer/src/assets/json/mapdetail.json @@ -0,0 +1,11 @@ +{ + "min_zoom": 1, + "max_zoom": 6, + "zoom": 3, + "extent": [ + -10, + -10, + 10, + 10 + ] +} \ No newline at end of file diff --git a/developedcode/electronEditmap/src/renderer/src/assets/json/mapgeo.json b/developedcode/electronEditmap/src/renderer/src/assets/json/mapgeo.json new file mode 100644 index 0000000..705b381 --- /dev/null +++ b/developedcode/electronEditmap/src/renderer/src/assets/json/mapgeo.json @@ -0,0 +1,181 @@ +{ + "type": "FeatureCollection", + "features": [ + { + "geometry": { + "type": "Point", + "coordinates": [ + 600, + 400, + 0 + ] + }, + "type": "Feature", + "properties": { + "name": "", + "yaw": 0, + "pitch": 0, + "roll": 0, + "isyawfix": false, + "taskid": 0, + "offset": 0, + "id": "p_207" + } + }, + { + "geometry": { + "type": "Point", + "coordinates": [ + 700, + 500, + 0 + ] + }, + "type": "Feature", + "properties": { + "name": "", + "yaw": 0, + "pitch": 0, + "roll": 0, + "isyawfix": false, + "taskid": 0, + "offset": 0, + "id": "p_190" + } + }, + { + "geometry": { + "type": "Point", + "coordinates": [ + 800, + 400, + 0 + ] + }, + "type": "Feature", + "properties": { + "name": "", + "yaw": 0, + "pitch": 0, + "roll": 0, + "isyawfix": false, + "taskid": 0, + "offset": 0, + "id": "p_202" + } + }, + { + "geometry": { + "type": "Point", + "coordinates": [ + 800, + 450, + 0 + ] + }, + "type": "Feature", + "properties": { + "name": "", + "yaw": 0, + "pitch": 0, + "roll": 0, + "isyawfix": false, + "taskid": 0, + "offset": 0, + "id": "p_206" + } + }, + { + "geometry": { + "type": "LineString", + "coordinates": [ + [ + 800, + 450 + ], + [ + 800, + 400 + ] + ] + }, + "type": "Feature", + "properties": { + "maxspeed": 8, + "s2eforward": 0, + "thtolerance": 0.2, + "xytolerance": 0.2, + "direct": 110, + "lanewidth": 1, + "controltype": 0, + "chassistype": 10, + "mintheta": -1, + "id": "l_236", + "obsvalue": 200, + "followdis": 0.4, + "e2sforward": 0, + "selftheta": 0.5, + "runtype": 0, + "name": "", + "minspeed": 0, + "maxtheta": 1, + "leftlanenum": 0, + "plantype": 0, + "rightlanenum": 0, + "endid": "p_202", + "roadwidth": 0, + "obstype": 0, + "slowdis": 2, + "startid": "p_206" + } + }, + { + "geometry": { + "type": "MultiPoint", + "coordinates": [ + [ + 700, + 500 + ], + [ + 650, + 450 + ], + [ + 600, + 400 + ] + ] + }, + "type": "Feature", + "properties": { + "maxspeed": 8, + "s2eforward": 0, + "thtolerance": 0.2, + "direct": 110, + "lanewidth": 1, + "controltype": 0, + "chassistype": 10, + "mintheta": -1, + "id": "b_65", + "name": "", + "obsvalue": 200, + "followdis": 0.4, + "e2sforward": 0, + "selftheta": 0.5, + "runtype": 0, + "minspeed": 0, + "xytolerance": 0.2, + "maxtheta": 1, + "leftlanenum": 0, + "plantype": 0, + "rightlanenum": 0, + "endid": "p_207", + "roadwidth": 0, + "obstype": 0, + "slowdis": 2, + "startid": "p_190" + } + } + ] +} \ No newline at end of file diff --git a/developedcode/electronEditmap/src/renderer/src/main.js b/developedcode/electronEditmap/src/renderer/src/main.js new file mode 100644 index 0000000..7e0d6e1 --- /dev/null +++ b/developedcode/electronEditmap/src/renderer/src/main.js @@ -0,0 +1,10 @@ +import App from "./App.vue"; +import { createApp } from "vue"; +//全局引入lodash +import _ from "lodash"; +import "@renderer/assets/css/base.css"; +//全局挂在axios +const app = createApp(App); +app.config.globalProperties.$_ = _; //挂载到app实例上 + +app.mount("#app"); diff --git a/developedcode/haikangweishi/README.md b/developedcode/haikangweishi/README.md new file mode 100644 index 0000000..51630d2 --- /dev/null +++ b/developedcode/haikangweishi/README.md @@ -0,0 +1,32 @@ +# mqtttohttp + + +## QuickStart + + + +see [egg docs][egg] for more detail. + +### Development + +```bash +$ npm i +$ npm run dev +$ open http://localhost:7001/ +``` + +### Deploy + +```bash +$ npm start +$ npm stop +``` + +### npm scripts + +- Use `npm run lint` to check code style. +- Use `npm test` to run unit test. +- Use `npm run autod` to auto detect dependencies upgrade, see [autod](https://www.npmjs.com/package/autod) for more detail. + + +[egg]: https://eggjs.org \ No newline at end of file diff --git a/developedcode/haikangweishi/app.js b/developedcode/haikangweishi/app.js new file mode 100644 index 0000000..07154b0 --- /dev/null +++ b/developedcode/haikangweishi/app.js @@ -0,0 +1,31 @@ +class AppBootHook { + constructor(app) { + this.app = app; + } + + configWillLoad() { + // 此时 config 文件已经被读取并合并，但是还并未生效 + // 这是应用层修改配置的最后时机 + // 注意：此函数只支持同步调用 + } + + async didLoad() { + // 所有的配置已经加载完毕 + // 可以用来加载应用自定义的文件，启动自定义的服务 + } + + async willReady() { + // 所有的插件都已启动完毕，但是应用整体还未 ready + // 可以做一些数据初始化等操作，这些操作成功才会启动应用 + } + + async didReady() {} + + async serverDidReady() { + // http / https server 已启动，开始接受外部请求 + // 此时可以从 app.server 拿到 server 的实例 + // 应用已经启动完毕 + } +} + +module.exports = AppBootHook; diff --git a/developedcode/haikangweishi/app/controller/haikangweishi.js b/developedcode/haikangweishi/app/controller/haikangweishi.js new file mode 100644 index 0000000..67a09a7 --- /dev/null +++ b/developedcode/haikangweishi/app/controller/haikangweishi.js @@ -0,0 +1,49 @@ +"use strict"; + +const { Controller } = require("egg"); +class HaikangweishiController extends Controller { + //旋转 + async continuous() { + let { ctx, service } = this; + let res = await service.haikangweishi.continuous(ctx.query); + ctx.body = res; + } + //到达预置点 + async goto() { + let { ctx, service } = this; + let res = await service.haikangweishi.goto(ctx.query); + ctx.body = res; + } + //设置预置点 + async presets() { + let { ctx, service } = this; + let res = await service.haikangweishi.presets(ctx.query); + ctx.body = res; + } + //删除预置点 + async delPresets() { + let { ctx, service } = this; + let res = await service.haikangweishi.delPresets(ctx.query); + ctx.body = res; + } + //调焦 + async zoom() { + let { ctx, service } = this; + let res = await service.haikangweishi.zoom(ctx.query); + ctx.body = res; + } + //聚焦 + async focus() { + let { ctx, service } = this; + let res = await service.haikangweishi.focus(ctx.query); + ctx.body = res; + } + //曝光度 + async iris() { + let { ctx, service } = this; + let res = await service.haikangweishi.iris(ctx.query); + ctx.body = res; + } +} + +module.exports = HaikangweishiController; diff --git a/developedcode/haikangweishi/app/controller/home.js b/developedcode/haikangweishi/app/controller/home.js new file mode 100644 index 0000000..fcc7dad --- /dev/null +++ b/developedcode/haikangweishi/app/controller/home.js @@ -0,0 +1,13 @@ +"use strict"; + +const { Controller } = require("egg"); +class HaikangweishiController extends Controller { + //获取权限 + async index() { + let { ctx, service } = this; + let res = await service.home.index(); + ctx.body = res; + } +} + +module.exports = HaikangweishiController; diff --git a/developedcode/haikangweishi/app/router.js b/developedcode/haikangweishi/app/router.js new file mode 100644 index 0000000..aeb6f8a --- /dev/null +++ b/developedcode/haikangweishi/app/router.js @@ -0,0 +1,24 @@ +"use strict"; + +/** + * @param {Egg.Application} app - egg application + */ +module.exports = (app) => { + const { router, controller } = app; + //获取权限 + router.get("/", controller.home.index); + //旋转 + router.get("/continuous", controller.haikangweishi.continuous); + //到达预置点 + router.get("/goto", controller.haikangweishi.goto); + //设置预置点 + router.get("/presets", controller.haikangweishi.presets); + //删除预置点 + router.get("/delPresets", controller.haikangweishi.delPresets); + //调焦 + router.get("/zoom", controller.haikangweishi.zoom); + //聚焦 + router.get("/focus", controller.haikangweishi.focus); + //曝光度 + router.get("/iris", controller.haikangweishi.iris); +}; diff --git a/developedcode/haikangweishi/app/service/haikangweishi.js b/developedcode/haikangweishi/app/service/haikangweishi.js new file mode 100644 index 0000000..40e0fce --- /dev/null +++ b/developedcode/haikangweishi/app/service/haikangweishi.js @@ -0,0 +1,137 @@ +// app/service/user.js +const Service = require("egg").Service; +const parseString = require("xml2js").parseString; +const _ = require("lodash"); +class HaikangweishiService extends Service { + //旋转 + async continuous(params) { + let paramsTemp = { + url: `http://192.168.1.64/ISAPI/PTZCtrl/channels/${ + _.get(params, ["channels"], 1) || 1 + }/continuous`, + method: "PUT", + data: `${_.get( + params, + ["pan"], + 0 + )}${_.get(params, ["tilt"], 0)}`, + }; + return await this.togetherCurl(paramsTemp); + } + //到达预置点 + async goto(params) { + let paramsTemp = { + url: `http://192.168.1.64/ISAPI/PTZCtrl/channels/${ + _.get(params, ["channels"], 1) || 1 + }/presets/${_.get(params, ["presets"], 1) || 1}/goto`, + method: "PUT", + }; + return await this.togetherCurl(paramsTemp); + } + //设置预置点 + async presets(params) { + let paramsTemp = { + url: `http://192.168.1.64/ISAPI/PTZCtrl/channels/${ + _.get(params, ["channels"], 1) || 1 + }/presets/${_.get(params, ["presets"], 1) || 1}`, + method: "PUT", + data: `${ + _.get(params, ["presets"], 1) || 1 + }${ + _.get( + params, + ["presetsName"], + "预置点 " + _.get(params, ["presets"], 1) + ) || "预置点 1" + }`, + }; + return await this.togetherCurl(paramsTemp); + } + //删除预置点 + async delPresets(params) { + let paramsTemp = { + url: `http://192.168.1.64/ISAPI/PTZCtrl/channels/${ + _.get(params, ["channels"], 1) || 1 + }/presets/${_.get(params, ["presets"], 1) || 1}`, + method: "DELETE", + }; + return await this.togetherCurl(paramsTemp); + } + //调焦 + async zoom(params) { + let paramsTemp = { + url: `http://192.168.1.64/ISAPI/PTZCtrl/channels/${ + _.get(params, ["channels"], 1) || 1 + }/continuous`, + method: "PUT", + data: `${ + _.get(params, ["zoom"], 0) || 0 + }`, + }; + return await this.togetherCurl(paramsTemp); + } + //聚焦 + async focus(params) { + let paramsTemp = { + url: `http://192.168.1.64/ISAPI/System/Video/inputs/channels/${ + _.get(params, ["channels"], 1) || 1 + }/focus`, + method: "PUT", + data: `${ + _.get(params, ["focus"], 0) || 0 + }`, + }; + return await this.togetherCurl(paramsTemp); + } + //曝光度 + async iris(params) { + let paramsTemp = { + url: `http://192.168.1.64/ISAPI/System/Video/inputs/channels/${ + _.get(params, ["channels"], 1) || 1 + }/iris`, + method: "PUT", + data: `${ + _.get(params, ["iris"], 0) || 0 + }`, + }; + return await this.togetherCurl(paramsTemp); + } + //统一请求 + async togetherCurl(params) { + let { ctx } = this; + try { + const loginResult1 = await ctx.curl(params.url, { + method: params.method, + data: params.data, + headers: { + Cookie: this.config.cookie, + }, + }); + this.config.duplicateReq++; + let resData1 = {}; + let resDataStr = ""; + parseString(loginResult1.data.toString(), function (err, result) { + resData1 = result; + resDataStr = JSON.stringify(result); + }); + if (resDataStr.indexOf("Unauthorized") === -1) { + this.config.duplicateReq = 0; + return { + haserror: false, + data: resData1, + }; + } else { + await ctx.service.home.index(); + if (this.config.duplicateReq < 10) { + return await this.togetherCurl(params); + } else { + return { haserror: true, msg: "请求次数过多，请稍后重试" }; + } + } + } catch (error) { + return { haserror: true, msg: error }; + } + } +} + +module.exports = HaikangweishiService; diff --git a/developedcode/haikangweishi/app/service/home.js b/developedcode/haikangweishi/app/service/home.js new file mode 100644 index 0000000..ef18076 --- /dev/null +++ b/developedcode/haikangweishi/app/service/home.js @@ -0,0 +1,98 @@ +const md5 = require("md5"); +const parseString = require("xml2js").parseString; +const _ = require("lodash"); +const Service = require("egg").Service; +class HomeService extends Service { + //登录 + async index() { + let { ctx } = this; + let loginResult1 = {}; + try { + loginResult1 = await ctx.curl( + "http://admin:xby123456@192.168.1.64/ISAPI/Security/sessionLogin/capabilities", + { + // 必须指定 method + method: "GET", + data: { + username: "admin", + }, + } + ); + } catch (error) { + this.config.cookie = ""; + return { + haserror: true, + msg: "请链接海康相机", + }; + } + let randomFirst = md5("" + new Date().getTime()).substring(0, 8); + let random = ("" + parseInt(randomFirst.replace("#", ""), 16)).substring( + 0, + 8 + ); + const loginResult2 = await ctx.curl( + "http://admin:xby123456@192.168.1.64/ISAPI/Security/sessionLogin/capabilities", + { + // 必须指定 method + method: "GET", + data: { + username: "admin", + random, + }, + } + ); + let resData1 = {}; + let resData2 = {}; + parseString(loginResult1.data.toString(), function (err, result) { + resData1 = result; + }); + parseString(loginResult2.data.toString(), function (err, result) { + resData2 = result; + }); + let passwordEncode = await ctx.service.utils.encodePwd( + "xby123456", + { + challenge: _.get(resData2, ["SessionLoginCap", "challenge", 0], ""), + userName: "admin", + salt: _.get(resData2, ["SessionLoginCap", "salt", 0], ""), + iIterate: parseInt( + _.get(resData2, ["SessionLoginCap", "iterations", 0], 100), + 10 + ), + }, + "true" === + _.get(resData2, ["SessionLoginCap", "isIrreversible", 0], "true") + ); + let dataStr = `admin${passwordEncode}${_.get( + resData2, + ["SessionLoginCap", "sessionID", 0], + "" + )}${ + "true" === + _.get( + resData2, + ["SessionLoginCap", "isSessionIDValidLongTerm", 0], + "true" + ) + }${parseInt( + _.get(resData2, ["SessionLoginCap", "sessionIDVersion", 0], "2"), + 10 + )}`; + const loginRes = await ctx.curl( + "http://192.168.1.64/ISAPI/Security/sessionLogin", + { + // 必须指定 method + method: "POST", + data: dataStr, + } + ); + let loginResData = {}; + parseString(loginRes.data.toString(), function (err, result) { + loginResData = result; + }); + this.config.cookie = _.get(loginRes, ["headers", "set-cookie", 0]); + return _.get(loginRes, ["headers", "set-cookie", 0]); + } +} + +module.exports = HomeService; diff --git a/developedcode/haikangweishi/app/service/utils.js b/developedcode/haikangweishi/app/service/utils.js new file mode 100644 index 0000000..8fb5c51 --- /dev/null +++ b/developedcode/haikangweishi/app/service/utils.js @@ -0,0 +1,24 @@ +const Service = require("egg").Service; +const SHA256 = require("sha256"); + +class UtilsService extends Service { + //密码加密 + async encodePwd(password, params, bol) { + let newPassword = ""; + if (bol) { + let newPasswordTemp = SHA256(params.userName + params.salt + password); + newPassword = SHA256(newPasswordTemp + params.challenge); + for (let n = 2; params.iIterate > n; n++) { + newPassword = SHA256(newPassword); + } + } else { + newPassword = SHA256(password) + params.challenge; + for (let n = 1; params.iIterate > n; n++) { + newPassword = SHA256(newPassword); + } + } + return newPassword; + } +} + +module.exports = UtilsService; diff --git a/developedcode/haikangweishi/config/config.default.js b/developedcode/haikangweishi/config/config.default.js new file mode 100644 index 0000000..9dff9e6 --- /dev/null +++ b/developedcode/haikangweishi/config/config.default.js @@ -0,0 +1,45 @@ +/* eslint valid-jsdoc: "off" */ + +"use strict"; + +/** + * @param {Egg.EggAppInfo} appInfo app info + */ +module.exports = (appInfo) => { + /** + * built-in config + * @type {Egg.EggAppConfig} + **/ + const config = (exports = {}); + + // use for cookie sign key, should change to your own and keep security + config.keys = appInfo.name + "_1687851227654_4638"; + config.cookie = ""; + config.duplicateReq = 0; + // add your middleware config here + config.middleware = []; + config.cluster = { + listen: { + port: 7006, + }, + }; + // add your user config here + const userConfig = { + // myAppName: 'egg', + }; + config.cors = { + //允许跨域的网址，*表示所有网址都可以跨域请求文件资源，也可以指定域名 + origin: "*", + allowMethods: "POST,GET", + }; + config.security = { + csrf: { + enable: false, + }, + }; + + return { + ...config, + ...userConfig, + }; +}; diff --git a/developedcode/haikangweishi/config/plugin.js b/developedcode/haikangweishi/config/plugin.js new file mode 100644 index 0000000..2c16191 --- /dev/null +++ b/developedcode/haikangweishi/config/plugin.js @@ -0,0 +1,14 @@ +"use strict"; + +/** @type Egg.EggPlugin */ +module.exports = { + // had enabled by egg + // static: { + // enable: true, + // } + cors:{ + enable: true, + package: 'egg-cors', + } + +}; diff --git a/developedcode/haikangweishi/jsconfig.json b/developedcode/haikangweishi/jsconfig.json new file mode 100644 index 0000000..1bbed3f --- /dev/null +++ b/developedcode/haikangweishi/jsconfig.json @@ -0,0 +1,5 @@ +{ + "include": [ + "**/*" + ] +} \ No newline at end of file diff --git a/developedcode/haikangweishi/package.json b/developedcode/haikangweishi/package.json new file mode 100644 index 0000000..37fe2f0 --- /dev/null +++ b/developedcode/haikangweishi/package.json @@ -0,0 +1,51 @@ +{ + "name": "haikangweishi", + "version": "1.0.0", + "description": "", + "private": true, + "egg": { + "declarations": true + }, + "dependencies": { + "egg": "^3", + "egg-cors": "^2.2.3", + "egg-scripts": "^2", + "lodash": "^4.17.21", + "md5": "^2.3.0", + "sha256": "^0.2.0", + "xml2js": "^0.6.2" + }, + "devDependencies": { + "egg-bin": "^5", + "egg-ci": "^2", + "egg-mock": "^5", + "eslint": "^8", + "eslint-config-egg": "^12" + }, + "engines": { + "node": ">=16.0.0" + }, + "scripts": { + "start": "egg-scripts start --daemon --title=egg-server-haikangweishi", + "stop": "egg-scripts stop --title=egg-server-haikangweishi", + "dev": "egg-bin dev", + "npmPro": "npm install --production", + "build": "tar -zcvf ../release.tgz .", + "debug": "egg-bin debug", + "test": "npm run lint -- --fix && npm run test-local", + "test-local": "egg-bin test", + "cov": "egg-bin cov", + "lint": "eslint .", + "ci": "npm run lint && npm run cov" + }, + "ci": { + "version": "16, 18", + "type": "github" + }, + "repository": { + "type": "git", + "url": "" + }, + "author": "", + "license": "MIT" +} \ No newline at end of file diff --git a/developedcode/haikangweishi/typings/app/controller/index.d.ts b/developedcode/haikangweishi/typings/app/controller/index.d.ts new file mode 100644 index 0000000..b38d9e3 --- /dev/null +++ b/developedcode/haikangweishi/typings/app/controller/index.d.ts @@ -0,0 +1,14 @@ +// This file is created by egg-ts-helper@1.35.1 +// Do not modify this file!!!!!!!!! +/* eslint-disable */ + +import 'egg'; +import ExportHaikangweishi = require('../../../app/controller/haikangweishi'); +import ExportHome = require('../../../app/controller/home'); + +declare module 'egg' { + interface IController { + haikangweishi: ExportHaikangweishi; + home: ExportHome; + } +} diff --git a/developedcode/haikangweishi/typings/app/index.d.ts b/developedcode/haikangweishi/typings/app/index.d.ts new file mode 100644 index 0000000..c604948 --- /dev/null +++ b/developedcode/haikangweishi/typings/app/index.d.ts @@ -0,0 +1,7 @@ +// This file is created by egg-ts-helper@1.35.1 +// Do not modify this file!!!!!!!!! +/* eslint-disable */ + +import 'egg'; +export * from 'egg'; +export as namespace Egg; diff --git a/developedcode/haikangweishi/typings/app/service/index.d.ts b/developedcode/haikangweishi/typings/app/service/index.d.ts new file mode 100644 index 0000000..e1daeca --- /dev/null +++ b/developedcode/haikangweishi/typings/app/service/index.d.ts @@ -0,0 +1,20 @@ +// This file is created by egg-ts-helper@1.35.1 +// Do not modify this file!!!!!!!!! +/* eslint-disable */ + +import 'egg'; +type AnyClass = new (...args: any[]) => any; +type AnyFunc = (...args: any[]) => T; +type CanExportFunc = AnyFunc> | AnyFunc>; +type AutoInstanceType : T> = U extends AnyClass ? InstanceType : U; +import ExportHaikangweishi = require('../../../app/service/haikangweishi'); +import ExportHome = require('../../../app/service/home'); +import ExportUtils = require('../../../app/service/utils'); + +declare module 'egg' { + interface IService { + haikangweishi: AutoInstanceType; + home: AutoInstanceType; + utils: AutoInstanceType; + } +} diff --git a/developedcode/haikangweishi/typings/config/index.d.ts b/developedcode/haikangweishi/typings/config/index.d.ts new file mode 100644 index 0000000..a8add35 --- /dev/null +++ b/developedcode/haikangweishi/typings/config/index.d.ts @@ -0,0 +1,12 @@ +// This file is created by egg-ts-helper@1.35.1 +// Do not modify this file!!!!!!!!! +/* eslint-disable */ + +import 'egg'; +import { EggAppConfig } from 'egg'; +import ExportConfigDefault = require('../../config/config.default'); +type ConfigDefault = ReturnType; +type NewEggAppConfig = ConfigDefault; +declare module 'egg' { + interface EggAppConfig extends NewEggAppConfig { } +} \ No newline at end of file diff --git a/developedcode/haikangweishi/typings/config/plugin.d.ts b/developedcode/haikangweishi/typings/config/plugin.d.ts new file mode 100644 index 0000000..ea17565 --- /dev/null +++ b/developedcode/haikangweishi/typings/config/plugin.d.ts @@ -0,0 +1,36 @@ +// This file is created by egg-ts-helper@1.35.1 +// Do not modify this file!!!!!!!!! +/* eslint-disable */ + +import 'egg'; +import 'egg-onerror'; +import 'egg-session'; +import 'egg-i18n'; +import 'egg-watcher'; +import 'egg-multipart'; +import 'egg-security'; +import 'egg-development'; +import 'egg-logrotator'; +import 'egg-schedule'; +import 'egg-static'; +import 'egg-jsonp'; +import 'egg-view'; +import 'egg-cors'; +import { EggPluginItem } from 'egg'; +declare module 'egg' { + interface EggPlugin { + onerror?: EggPluginItem; + session?: EggPluginItem; + i18n?: EggPluginItem; + watcher?: EggPluginItem; + multipart?: EggPluginItem; + security?: EggPluginItem; + development?: EggPluginItem; + logrotator?: EggPluginItem; + schedule?: EggPluginItem; + static?: EggPluginItem; + jsonp?: EggPluginItem; + view?: EggPluginItem; + cors?: EggPluginItem; + } +} \ No newline at end of file diff --git a/developedcode/map-client/.browserslistrc b/developedcode/map-client/.browserslistrc new file mode 100644 index 0000000..dc3bc09 --- /dev/null +++ b/developedcode/map-client/.browserslistrc @@ -0,0 +1,4 @@ +> 1% +last 2 versions +not dead +not ie 11 diff --git a/developedcode/map-client/.editorconfig b/developedcode/map-client/.editorconfig new file mode 100644 index 0000000..7053c49 --- /dev/null +++ b/developedcode/map-client/.editorconfig @@ -0,0 +1,5 @@ +[*.{js,jsx,ts,tsx,vue}] +indent_style = space +indent_size = 2 +trim_trailing_whitespace = true +insert_final_newline = true diff --git a/developedcode/map-client/.gitignore b/developedcode/map-client/.gitignore new file mode 100644 index 0000000..403adbc --- /dev/null +++ b/developedcode/map-client/.gitignore @@ -0,0 +1,23 @@ +.DS_Store +node_modules +/dist + + +# local env files +.env.local +.env.*.local + +# Log files +npm-debug.log* +yarn-debug.log* +yarn-error.log* +pnpm-debug.log* + +# Editor directories and files +.idea +.vscode +*.suo +*.ntvs* +*.njsproj +*.sln +*.sw? diff --git a/developedcode/map-client/README.md b/developedcode/map-client/README.md new file mode 100644 index 0000000..50b30e0 --- /dev/null +++ b/developedcode/map-client/README.md @@ -0,0 +1,44 @@ +# default + +## Project setup + +``` +# yarn +yarn + +# npm +npm install + +# pnpm +pnpm install +``` + +### Compiles and hot-reloads for development + +``` +# yarn +yarn dev + +# npm +npm run dev + +# pnpm +pnpm dev +``` + +### Compiles and minifies for production + +``` +# yarn +yarn build + +# npm +npm run build + +# pnpm +pnpm build +``` + +### Customize configuration + +See [Configuration Reference](https://vitejs.dev/config/). diff --git a/developedcode/map-client/index.html b/developedcode/map-client/index.html new file mode 100644 index 0000000..57b8c4f --- /dev/null +++ b/developedcode/map-client/index.html @@ -0,0 +1,14 @@ + + + + + + + 路网编辑器 + + + +
+ + + diff --git a/developedcode/map-client/jsconfig.json b/developedcode/map-client/jsconfig.json new file mode 100644 index 0000000..4aafc5f --- /dev/null +++ b/developedcode/map-client/jsconfig.json @@ -0,0 +1,19 @@ +{ + "compilerOptions": { + "target": "es5", + "module": "esnext", + "baseUrl": "./", + "moduleResolution": "node", + "paths": { + "@/*": [ + "src/*" + ] + }, + "lib": [ + "esnext", + "dom", + "dom.iterable", + "scripthost" + ] + } +} diff --git a/developedcode/map-client/package.json b/developedcode/map-client/package.json new file mode 100644 index 0000000..694498d --- /dev/null +++ b/developedcode/map-client/package.json @@ -0,0 +1,42 @@ +{ + "name": "driverlessCar", + "version": "0.0.0", + "scripts": { + "dev": "vite", + "build": "vite build", + "preview": "vite preview", + "npmi": "npm i" + }, + "dependencies": { + "@kjgl77/datav-vue3": "^1.7.1", + "@mdi/font": "^7.2.96", + "@soerenmartius/vue3-clipboard": "^0.1.2", + "axios": "^1.4.0", + "dayjs": "^1.11.7", + "echarts": "^5.4.3", + "element-plus": "^2.3.4", + "js-md5": "^0.7.3", + "lodash": "^4.17.21", + "mqtt": "^4.3.7", + "nprogress": "^0.2.0", + "ol": "^7.3.0", + "pinia": "^2.0.35", + "pinia-plugin-persist": "^1.0.0", + "qs": "^6.11.1", + "roboto-fontface": "*", + "screenfull": "^6.0.2", + "ulid": "^2.3.0", + "vue": "^3.2.47", + "vue-router": "^4.1.6", + "vuetify": "^3.0.0", + "webfontloader": "^1.0.0" + }, + "devDependencies": { + "@vitejs/plugin-vue": "^4.2.1", + "sass": "^1.62.1", + "unplugin-auto-import": "^0.15.3", + "unplugin-vue-components": "^0.24.1", + "vite": "^4.3.4", + "vite-plugin-vuetify": "^1.0.0" + } +} diff --git a/developedcode/map-client/public/favicon.png b/developedcode/map-client/public/favicon.png new file mode 100644 index 0000000..3b89289 Binary files /dev/null and b/developedcode/map-client/public/favicon.png differ diff --git a/developedcode/map-client/src/App.vue b/developedcode/map-client/src/App.vue new file mode 100644 index 0000000..e1fcb95 --- /dev/null +++ b/developedcode/map-client/src/App.vue @@ -0,0 +1,35 @@ + + + diff --git a/developedcode/map-client/src/api/download.js b/developedcode/map-client/src/api/download.js new file mode 100644 index 0000000..69c478e --- /dev/null +++ b/developedcode/map-client/src/api/download.js @@ -0,0 +1,10 @@ +import _axios from "@/plugins/axios"; +//获取地图列表 +//获取机器人MQTT信息 +export function getFile(params) { + return _axios({ + url: `/self/getFile`, + method: "get", + params, + }); +} \ No newline at end of file diff --git a/developedcode/map-client/src/api/editor.js b/developedcode/map-client/src/api/editor.js new file mode 100644 index 0000000..460e022 --- /dev/null +++ b/developedcode/map-client/src/api/editor.js @@ -0,0 +1,38 @@ +import _axios from "@/plugins/axios"; +//获机器人端对应瓦片地图的详细信息 +/* map=地图名 */ +export function getDetails(params) { + return _axios({ + url: `/v1/tilemap/details`, + method: "GET", + params, + }); +} +//获机器人端对应瓦片地图的渲染信息 +/* map=地图名 */ +export function getGeojson(params) { + return _axios({ + url: `/v1/roadmap/geojson`, + method: "GET", + params, + }); +} +//保存器人端对应瓦片地图 +/* map=地图名 */ +export function postGeojson(data) { + return _axios({ + url: `/v1/roadmap/geojson`, + method: "POST", + data, + }); +} +//获机器人端对应地图中的瓦片图片 +/* 层级 : 起始值为1,代表第一层级 + x索引 : 列索引，起始值为0,增长方向为垂直向下 + y索引 : 行索引，起始值为0,增长方向为水平向右 */ +export function getTilemap(data) { + return _axios({ + url: `/v1/tilemap/tile/${data.mapName}/${data.zoom}/${xIndex}/${yIndex}`, + method: "GET", + }); +} diff --git a/developedcode/map-client/src/api/ldmqttability.js b/developedcode/map-client/src/api/ldmqttability.js new file mode 100644 index 0000000..1fb5b5b --- /dev/null +++ b/developedcode/map-client/src/api/ldmqttability.js @@ -0,0 +1,11 @@ +import useMqtt from "@/plugins/mqtt"; +const { startMqtt, endMqtt } = useMqtt(); + +// 远程调用机载能力 /ability/function/action/exec | 订阅 | QoS2 | Retain0 +export function actionExec(callback) { + return startMqtt( + "ability/function/action/exec", + { qos: 2, retain: 0 }, + callback + ); +} diff --git a/developedcode/map-client/src/api/ldmqttbuild.js b/developedcode/map-client/src/api/ldmqttbuild.js new file mode 100644 index 0000000..e27037f --- /dev/null +++ b/developedcode/map-client/src/api/ldmqttbuild.js @@ -0,0 +1,63 @@ +import useMqtt from "@/plugins/mqtt"; +const { startMqtt, endMqtt, pubCommonFn } = useMqtt(); +//订阅地图状态 +export function mappingState(callback) { + return startMqtt("slam/mapping/state", { qos: 0 }, callback); +} + +//取消订阅地图状态 +export function endMappingState(callback) { + return endMqtt("slam/mapping/state"); +} + +//订阅构建进程 +export function recordProgress(callback) { + return startMqtt("map/record/progress", { qos: 2, retain: 0 }, callback); +} + +//取消订阅订阅构建进程 +export function endRecordProgress(callback) { + return endMqtt("map/record/progress"); +} +//订阅当前地图 +export function current_map(callback) { + return startMqtt("map/property/current_map", { qos: 2, retain: 1 }, callback); +} +//取消订阅当前地图 +export function endCurrent_map(callback) { + return endMqtt("map/property/current_map"); +} + +// 构建地图 slam/mapping/action/start | 发布 | QoS2 | Retain0 +export function pubSlamStart(map, map_type) { + return pubCommonFn( + "slam/mapping/action/start", + { + args: [map, map_type], + }, + 2, + 0 + ); +} +// 结束构建地图 slam/mapping/action/finish | 发布 | QoS2 | Retain0 +export function pubSlamFinish() { + return pubCommonFn( + "slam/mapping/action/finish", + { + args: null, + }, + 2, + 0 + ); +} +// 取消构建地图 slam/mapping/action/cancel | 发布 | QoS2 | Retain0 +export function pubSlamCancel(map, map_type) { + return pubCommonFn( + "slam/mapping/action/cancel", + { + args: null, + }, + 2, + 0 + ); +} diff --git a/developedcode/map-client/src/api/ldmqttio.js b/developedcode/map-client/src/api/ldmqttio.js new file mode 100644 index 0000000..2901574 --- /dev/null +++ b/developedcode/map-client/src/api/ldmqttio.js @@ -0,0 +1,11 @@ +import useMqtt from "@/plugins/mqtt"; +const { startMqtt, endMqtt } = useMqtt(); + +// IO量操作 /io/common/state/action/set | 订阅 | QoS2 | Retain0 +export function ioActionSet(callback) { + return startMqtt( + "io/common/state/action/set", + { qos: 2, retain: 0 }, + callback + ); +} diff --git a/developedcode/map-client/src/api/ldmqttlocalization.js b/developedcode/map-client/src/api/ldmqttlocalization.js new file mode 100644 index 0000000..f4e900d --- /dev/null +++ b/developedcode/map-client/src/api/ldmqttlocalization.js @@ -0,0 +1,40 @@ +import useMqtt from "@/plugins/mqtt"; +const { startMqtt, endMqtt, pubCommonFn } = useMqtt(); + +// 机器人位姿 /localization/pose | 订阅 | QoS2 | Retain0 +export function locPose(callback) { + return startMqtt("localization/pose", { qos: 0, retain: 0 }, callback); +} +//添加图片 /channel/img | 订阅 | QoS2 | Retain0 +export function addVedioImge(callback) { + return startMqtt("channel/img", { qos: 0, retain: 0 }, callback); +} +// 取消机器人位姿 /localization/pose | 订阅 | QoS2 | Retain0 +export function endLocPose() { + return endMqtt("localization/pose"); +} +// 位姿初始化 /localization/action/init | 订阅 | QoS2 | Retain0 +export function actionInit(x, y, yaw, callback) { + return pubCommonFn( + "localization/action/init", + { + args: [ + { + pose: { + xyz: [x, y, 0], + rpy: [0, 0, yaw], + blh: null, + }, + }, + ], + }, + 2, + 0, + callback + ); +} + +// 取消位姿初始化 /localization/action/init | 订阅 | QoS2 | Retain0 +export function endActionInit() { + return startMqtt("localization/action/init"); +} diff --git a/developedcode/map-client/src/api/ldmqttmessage.js b/developedcode/map-client/src/api/ldmqttmessage.js new file mode 100644 index 0000000..8dab847 --- /dev/null +++ b/developedcode/map-client/src/api/ldmqttmessage.js @@ -0,0 +1,34 @@ +import useMqtt from "@/plugins/mqtt"; +const { startMqtt, endMqtt, pubCommonFn } = useMqtt(); + + + +// 机器人位姿 /localization/pose | 订阅 | QoS2 | Retain0 +export function locPose(callback) { + return startMqtt("localization/pose", { qos: 0, retain: 0 }, callback); +} + +// 错误消息 [ /message/error | 发布 | QoS2 | Retain0 ] +export function messageError(callback) { + return startMqtt("message/error", { qos: 2, retain: 0 }, callback); +} +// 警告消息 [ /message/warn | 发布 | QoS2 | Retain0 ] +export function messageWarn(callback) { + return startMqtt("message/warn", { qos: 2, retain: 0 }, callback); +} +// 日志消息 [ /message/info | 发布 | QoS0 | Retain0 ] +export function messageInfo(callback) { + return startMqtt("message/info", { qos: 0, retain: 0 }, callback); +} +// 错误消息 [ /message/error | 发布 | QoS2 | Retain0 ] +export function endMessageError(callback) { + return endMqtt("message/error"); +} +// 警告消息 [ /message/warn | 发布 | QoS2 | Retain0 ] +export function endMessageWarn(callback) { + return endMqtt("message/warn"); +} +// 日志消息 [ /message/info | 发布 | QoS0 | Retain0 ] +export function endMessageInfo(callback) { + return endMqtt("message/info"); +} diff --git a/developedcode/map-client/src/api/ldmqttnavigation.js b/developedcode/map-client/src/api/ldmqttnavigation.js new file mode 100644 index 0000000..01decd3 --- /dev/null +++ b/developedcode/map-client/src/api/ldmqttnavigation.js @@ -0,0 +1,93 @@ +import useMqtt from "@/plugins/mqtt"; +const { startMqtt, endMqtt, pubCommonFn } = useMqtt(); + +// // 导航控制- 开启导航 /navigation/stack/action/start | 订阅 | QoS2 | Retain0 +// export function subActionStart(callback) { +// return startMqtt( +// "task/procedure/action/start/reply", +// { qos: 2, retain: 0 }, +// callback +// ); +// } +// 导航控制- 结束导航 /navigation/stack/action/stop | 订阅 | QoS2 | Retain0 +export function actionStop() { + return pubCommonFn( + "navigation/stack/action/stop", + { + args: null, + }, + 2, + 0 + ); +} +// 导航控制- 重启导航 /navigation/stack/action/restart | 订阅 | QoS2 | Retain0 +export function actionRestart(mapName) { + return pubCommonFn( + "navigation/stack/action/restart", + { + args: [mapName], + }, + 2, + 0 + ); +} +// 前往目标点 [ /task/target/action/goto | 订阅 | QoS2 | Retain0 ] +export function actionGoto(callback) { + return startMqtt("task/target/action/goto", { qos: 2, retain: 0 }, callback); +} +// 到达目标点 [ /task/target/action/arrive | 订阅 | QoS2 | Retain1 ] +export function actionArrive(callback) { + return startMqtt("task/target/event/arrive", { qos: 2, retain: 1 }, callback); +} +// 重启导航 [ task/procedure/action/start | 订阅 | QoS2 | Retain0 ] +export function actionStart(map, task) { + return pubCommonFn( + "task/procedure/action/start", + { + args: [ + { + roadmap: map, + task: task, + }, + ], + }, + 2, + 0 + ); +} + +// 继续任务 [ /task/procedure/action/resume | 订阅 | QoS2 | Retain0 ] +export function actionResume() { + return pubCommonFn( + "task/procedure/action/resume", + { + args: null, + }, + 2, + 0 + ); +} + +// 暂停任务 [ /task/procedure/action/pause | 订阅 | QoS1 | Retain0 ] +export function actionPause() { + return pubCommonFn( + "task/procedure/action/pause", + { + args: null, + }, + 2, + 0 + ); +} + +// 取消任务 [ /task/procedure/action/cancel | 订阅 | QoS1 | Retain0 ] +export function actionCancel() { + return pubCommonFn( + "task/procedure/action/cancel", + { + args: null, + }, + 2, + 0 + ); +} diff --git a/developedcode/map-client/src/api/ldmqttplanning.js b/developedcode/map-client/src/api/ldmqttplanning.js new file mode 100644 index 0000000..03dfb88 --- /dev/null +++ b/developedcode/map-client/src/api/ldmqttplanning.js @@ -0,0 +1,19 @@ +import useMqtt from "@/plugins/mqtt"; +const { startMqtt, endMqtt } = useMqtt(); + +// 路径规划 /planning/service/plan/request | 订阅 | QoS2 | Retain0 +export function actionPlant(callback) { + return startMqtt( + "planning/service/plan/request", + { qos: 2, retain: 0 }, + callback + ); +} +// 遇障重规划 /planning/action/replan | 订阅 | QoS2 | Retain0 +export function actionReplan(callback) { + return startMqtt( + "planning/action/replan", + { qos: 2, retain: 0 }, + callback + ); +} diff --git a/developedcode/map-client/src/api/ldmqttsensor.js b/developedcode/map-client/src/api/ldmqttsensor.js new file mode 100644 index 0000000..aa38711 --- /dev/null +++ b/developedcode/map-client/src/api/ldmqttsensor.js @@ -0,0 +1,12 @@ +import useMqtt from "@/plugins/mqtt"; +const { startMqtt, endMqtt, pubCommonFn } = useMqtt(); + +// 电池信息 sensor/battery | 订阅 | QoS2 | Retain0 +export function sensorBattery(callback) { + return startMqtt("sensor/battery", { qos: 2, retain: 0 }, callback); +} + +// 取消电池信息 sensor/battery | 订阅 | QoS2 | Retain0 +export function endSensorBattery() { + return endMqtt("sensor/battery"); +} diff --git a/developedcode/map-client/src/api/map.js b/developedcode/map-client/src/api/map.js new file mode 100644 index 0000000..b418dbd --- /dev/null +++ b/developedcode/map-client/src/api/map.js @@ -0,0 +1,114 @@ +import _axios from "@/plugins/axios"; +//获取地图列表 +export function getMapList() { + return _axios({ + url: `/v1/map/list`, + method: "get", + }); +} +//获取当前地图 +export function getMapUsing() { + return _axios({ + url: `/v1/map/using`, + method: "get", + }); +} +//新建地图 +export function createMap(data) { + return _axios({ + url: `/v1/map/create`, + method: "POST", + data, + }); +} +//获取地图缩略图 +// map=地图名 +export function getMapThumbnail(params) { + return { + data: { + status: true, + name: "图片", + }, + }; +} +//地图重命名 +/* { + "map" : "立得厂区地图", + "rename": "厂房室内地图" +} */ +export function postMapRename(data) { + return _axios({ + url: `/v1/map/rename`, + method: "post", + data, + }); +} +//删除地图工程 +/* { + "map" : "立得厂区地图" +} */ +export function delMap(data) { + return _axios({ + url: `/v1/map/delete`, + method: "delete", + data, + }); +} +//地图工程下载前压缩 +/* { + "map" : "立得厂区地图", + "ignore": ['pcap'] +} */ +export function postMapExportCompress(data) { + return _axios({ + url: `/v1/map/export/compress`, + method: "post", + data, + }); +} +//停止创建 +// map=地图名 +export function postRecordStop(data) { + return _axios({ + url: `/v1/map/record/stop`, + method: "POST", + data, + }); +} +//停止构建 +// map=地图名 +export function postBuildStop(data) { + return _axios({ + url: `/v1/map/build/stop`, + method: "POST", + data, + }); +} +//导入地图工程 +// filedata=地图工程压缩包文件内容 +export function postMapImport(data) { + return _axios({ + url: `/v1/map/import`, + method: "post", + headers: { + "Content-Type": "multipart/form-data", + }, + data, + }); +} +//地图工程组件列表 +// map=地图名 +export function getMapComponents(params) { + return _axios({ + url: `/v1/map/components`, + method: "get", + params, + }); +} +//地图工程任意文件获取 +/* 一个地图工程包含许多文件，如路网、地图瓦片、八叉树地图等，可以下载一个地图工程， +查看具体目录文件结构，本接口用于获取指定地图工程目录下的任意文件， +如/v1/map/file/map_test/tilemap/0/0.png，获取map_test地图工程tilemap/0/目录下的0.png文件。 */ +export function getMapFile(mapName) { + return `/v1/tilemap/tile/${mapName}/{z}/{x}/{y}.png`; +} diff --git a/developedcode/map-client/src/api/nav.js b/developedcode/map-client/src/api/nav.js new file mode 100644 index 0000000..1c6a3de --- /dev/null +++ b/developedcode/map-client/src/api/nav.js @@ -0,0 +1,94 @@ +import _axios from "@/plugins/axios"; +//生成任务 +/* { + "map": "guangchang", + "path": "1", + "coord_type": "local", + "cron": "00 55 15 ? * 1 *", + "coord": [ + [ + 2.33, + -6.9 + ] + ], + "plan": [ + "free" + ], + "repeate": 1 +} */ +export function postV1Path(data) { + return _axios({ + url: `/v1/path`, + method: "POST", + data, + }); +} +//获取任务列表 +/* { + "map": "guangchang", + "path": "1" +} */ +export function getV1Path(params) { + return _axios({ + url: `/v1/path/list`, + method: "GET", + params, + }); +} +//获取当前任务 +/* { + "map": "guangchang", + "path": "1" +} */ +export function getV1(params) { + return _axios({ + url: `/v1/path`, + method: "GET", + params, + }); +} + +//删除任务 +/* { + "map": "guangchang", + "path": "1" +} */ +export function delV1Path(data) { + return _axios({ + url: `/v1/path`, + method: "DELETE", + data, + }); +} +//三色灯 +export function udp(data) { + return _axios({ + url: `/udp`, + method: "post", + data, + }); +} +//音乐列表 +export function mp3List() { + return _axios({ + url: `/mp3/getmp3List`, + method: "get", + }); +} + +//播放 +export function mp3Play(mp3Name) { + return _axios({ + url: `/mp3/play/${mp3Name}`, + method: "get", + }); +} + +//取消 +export function cancelmp3() { + return _axios({ + url: `/mp3/cancelmp3`, + method: "get", + }); +} + diff --git a/developedcode/map-client/src/api/player.js b/developedcode/map-client/src/api/player.js new file mode 100644 index 0000000..c51bb21 --- /dev/null +++ b/developedcode/map-client/src/api/player.js @@ -0,0 +1,9 @@ +import _axios from "@/plugins/axios"; +//获取地图列表 +export function getPreviewUrl(params) { + return _axios({ + url: `/ay-video-manage/video/monitor/getRealTimeMonitorVideo`, + method: "post", + params, + }); +} diff --git a/developedcode/map-client/src/api/roadmap.js b/developedcode/map-client/src/api/roadmap.js new file mode 100644 index 0000000..97d59ee --- /dev/null +++ b/developedcode/map-client/src/api/roadmap.js @@ -0,0 +1,25 @@ +import _axios from "@/plugins/axios"; +//登录 +export function login(data) { + return _axios({ + url: `/api/user/login`, + method: "post", + data, + }); +} +//登出 +export function logout(data) { + return _axios({ + url: `/api/user/logout`, + method: "post", + data, + }); +} +//获取用户信息 +export function getUserInfo(data) { + return _axios({ + url: `/api/user/info`, + method: "post", + data, + }); +} diff --git a/developedcode/map-client/src/api/robot.js b/developedcode/map-client/src/api/robot.js new file mode 100644 index 0000000..97d59ee --- /dev/null +++ b/developedcode/map-client/src/api/robot.js @@ -0,0 +1,25 @@ +import _axios from "@/plugins/axios"; +//登录 +export function login(data) { + return _axios({ + url: `/api/user/login`, + method: "post", + data, + }); +} +//登出 +export function logout(data) { + return _axios({ + url: `/api/user/logout`, + method: "post", + data, + }); +} +//获取用户信息 +export function getUserInfo(data) { + return _axios({ + url: `/api/user/info`, + method: "post", + data, + }); +} diff --git a/developedcode/map-client/src/api/sensing.js b/developedcode/map-client/src/api/sensing.js new file mode 100644 index 0000000..fa76eab --- /dev/null +++ b/developedcode/map-client/src/api/sensing.js @@ -0,0 +1,5 @@ +import axios from "axios"; +//获取地图列表 +export function getPointcloud3d() { + return axios.get(`/v1/sensor/pointcloud/3d`, { responseType: "arraybuffer" }); +} diff --git a/developedcode/map-client/src/api/tilemap.js b/developedcode/map-client/src/api/tilemap.js new file mode 100644 index 0000000..97d59ee --- /dev/null +++ b/developedcode/map-client/src/api/tilemap.js @@ -0,0 +1,25 @@ +import _axios from "@/plugins/axios"; +//登录 +export function login(data) { + return _axios({ + url: `/api/user/login`, + method: "post", + data, + }); +} +//登出 +export function logout(data) { + return _axios({ + url: `/api/user/logout`, + method: "post", + data, + }); +} +//获取用户信息 +export function getUserInfo(data) { + return _axios({ + url: `/api/user/info`, + method: "post", + data, + }); +} diff --git a/developedcode/map-client/src/api/user.js b/developedcode/map-client/src/api/user.js new file mode 100644 index 0000000..4e6c188 --- /dev/null +++ b/developedcode/map-client/src/api/user.js @@ -0,0 +1,41 @@ +import _axios from "@/plugins/axios"; + +//登录 +export function login(data) { + return _axios({ + url: `v1/user/auth`, + method: "POST", + data, + }); +} +//修改用户信息 +export function getUserInfo(data) { + return _axios({ + url: `/v1/user/info`, + method: "post", + data, + }); +} +//获取机器人MQTT信息 +export function getRobotInfo() { + return _axios({ + url: `/v1/robot/mqtt`, + method: "get", + }); +} +//获取机器人MQTT信息 +export function setRouterFav(data) { + return _axios({ + url: `/self/setRouterFav`, + method: "post", + data, + }); +} +//获取机器人MQTT信息 +export function getRouterFav(data) { + return _axios({ + url: `/self/getRouterFav`, + method: "post", + data, + }); +} diff --git a/developedcode/map-client/src/assets/img/carLogo.png b/developedcode/map-client/src/assets/img/carLogo.png new file mode 100644 index 0000000..ba9491d Binary files /dev/null and b/developedcode/map-client/src/assets/img/carLogo.png differ diff --git a/developedcode/map-client/src/assets/img/carrotate.gif 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"p_118", + "roadwidth": 0, + "obstype": 0, + "slowdis": 2, + "startid": "p_117" + } + }, + { + "geometry": { + "type": "Polygon", + "coordinates": [ + [ + [ + -62.92, + -83.33 + ], + [ + -62.92, + 170.78 + ], + [ + 219.3, + 170.78 + ], + [ + 219.3, + -83.33 + ], + [ + -62.92, + -83.33 + ] + ] + ] + }, + "type": "Feature", + "properties": { + "color": "#cccccc", + "type": 0, + "id": "s_auto", + "name": "auto", + "transparent": 50 + } + } + ] +} \ No newline at end of file diff --git a/developedcode/map-client/src/main.js b/developedcode/map-client/src/main.js new file mode 100644 index 0000000..81f92d1 --- /dev/null +++ b/developedcode/map-client/src/main.js @@ -0,0 +1,32 @@ +import App from "./App.vue"; +import { createApp } from "vue"; +// 引入acro实例 +import { registerPlugins } from "@/plugins/vuetify"; +//全局使用message +import { ElMessage } from "element-plus"; +// 引入pinia 实例 +import pinia from "@/store/index.js"; +// 引入路由实例 +import router from "@/router/index.js"; +// 剪切板 +import { VueClipboard } from "@soerenmartius/vue3-clipboard"; +//全局引入lodash +import _ from "lodash"; +//全局引入大屏组件 +import DataVVue3 from '@kjgl77/datav-vue3' +//全局挂在axios +import axios from "@/plugins/axios"; +import dayjs from "dayjs"; +import "@/utils/permission"; +const app = createApp(App); +app.config.globalProperties.$_ = _; //挂载到app实例上 +app.config.globalProperties.$axios = axios; //挂载到app实例上 +app.config.globalProperties.$dayjs = dayjs; //挂载到app实例上 +app.config.globalProperties.$message = ElMessage; //挂载到app实例上 +registerPlugins(app); +app + .use(pinia) //中央仓库pinia + .use(router) //路由 + .use(VueClipboard)//剪切板 + .use(DataVVue3); //大屏 +app.mount("#app"); diff --git a/developedcode/map-client/src/mixin/totalmixin.js b/developedcode/map-client/src/mixin/totalmixin.js new file mode 100644 index 0000000..e5c7aa2 --- /dev/null +++ b/developedcode/map-client/src/mixin/totalmixin.js @@ -0,0 +1,75 @@ +import { + userStore, + snackbarStore, + breadcrumbsStore, + dialogFullscreenStore, +} from "@/store"; +export default { + data() { + return { + userObj: userStore(), + snackbarsObj: snackbarStore(), + breadcrumbsObj: breadcrumbsStore(), + dialogFullscreenObj: dialogFullscreenStore(), + }; + }, + methods: { + // snackBar + openSnackbar(params) { + return this.snackbarsObj.openSnackbar(params); + }, + closeSnackbar(index) { + return this.snackbarsObj.closeSnackbar(index); + }, + openSuccessSnackbar(message) { + return this.snackbarsObj.openSuccessSnackbar(message); + }, + openFailureSnackbar(message, timeout) { + return this.snackbarsObj.openFailureSnackbar(message, timeout); + }, + openInfoSnackbar(message) { + return this.snackbarsObj.openInfoSnackbar(message); + }, + cleanSnackbar() { + return this.snackbarsObj.cleanSnackbar(); + }, + // breadcrumbs + editBreadcrumbs(breadcrumbsList) { + return this.breadcrumbsObj.editBreadcrumbs(breadcrumbsList); + }, + // breadcrumbs + setDialogFullscreen(bol = false) { + return this.dialogFullscreenObj.setDialogFullscreen(bol); + }, + // breadcrumbs + setRobot(robot) { + return this.userObj.setRobot(robot); + }, + setBattery(battery) { + return this.userObj.setBattery(battery); + }, + setRouteList(routeList, isSave) { + return this.userObj.setRouteList(routeList, isSave); + }, + }, + computed: { + snackbars() { + return this.snackbarsObj.snackbars; + }, + breadcrumbsList() { + return this.breadcrumbsObj.breadcrumbsList; + }, + dialogFullscreen() { + return this.dialogFullscreenObj.dialogFullscreen; + }, + robotObj() { + return this.userObj.robot; + }, + batteryObj() { + return this.userObj.battery; + }, + routeListObj() { + return this.userObj.routeList; + }, + }, +}; diff --git a/developedcode/map-client/src/plugins/axios.js b/developedcode/map-client/src/plugins/axios.js new file mode 100644 index 0000000..a008707 --- /dev/null +++ b/developedcode/map-client/src/plugins/axios.js @@ -0,0 +1,47 @@ +import axios from "axios"; +import qs from "qs"; +import { ElMessage } from "element-plus"; +let config = { + baseURL: "", + timeout: 600 * 1000, + withCredentials: true, // Check cross-site Access-Control + /* `paramsSerializer` 是一个负责 `params` 序列化的函数 + qs.stringify({ a: ['b', 'c'] }, { arrayFormat: 'indices' }) + // 'a[0]=b&a[1]=c' + qs.stringify({ a: ['b', 'c'] }, { arrayFormat: 'brackets' }) + // 'a[]=b&a[]=c' + qs.stringify({ a: ['b', 'c'] }, { arrayFormat: 'repeat' }) + // 'a=b&a=c' + */ + paramsSerializer: (params) => { + return qs.stringify(params, { arrayFormat: "indices" }); + }, +}; + +const _axios = axios.create(config); + +_axios.interceptors.request.use( + (config) => { + return config; + }, + (error) => { + return Promise.reject(error); + } +); +_axios.interceptors.response.use( + (response) => { + if (response.status === 200) { + if (!response.data.status) { + ElMessage.error(response.data.msg); + } + return Promise.resolve(response.data); + } else { + ElMessage.error(response.msg); + return Promise.reject(response.data); + } + }, + (error) => { + ElMessage.error(error); + } +); +export default _axios; diff --git a/developedcode/map-client/src/plugins/mqtt.js b/developedcode/map-client/src/plugins/mqtt.js new file mode 100644 index 0000000..72788ef --- /dev/null +++ b/developedcode/map-client/src/plugins/mqtt.js @@ -0,0 +1,224 @@ +import * as mqtt from "mqtt/dist/mqtt.min"; +import { ulid } from "ulid"; +import { snackbarStore } from "@/store"; +import _ from "lodash"; +let robot = { + did: "ede2a4d227b81d36", + pid: "robot4inspection", +}; +const mqttSlamPID = "slam_server"; +let client = null; +let PublicMqtt = null; +let urlLocal = "ws://42.235.239.240:8004/mqtt" +class MQTT { + url = urlLocal; // mqtt地址 + connectedSuccess = false + //初始化mqtt + init() { + let options = { + clean: true, + keepalive: 5, + clientId: ulid(), // 客户端分类唯一 + username: "map-editor", + password: "leador", + connectTimeout: 1000, // 超时时间 + }; + client = mqtt.connect(this.url, options); + if (client.connected) { + this.connectedSuccess = true + } + client.on("connect", (connack) => { + let iseExit = _.filter(snackbarStore().snackbars, { + snackbar: true, snackbar_message: "网络连接错误，请检查是否连接网络", + }) + if (iseExit.length) { + iseExit[0].snackbar = false + } + }); + if (!this.connectedSuccess) { + client.on("error", (error) => { + console.log(this.url + "异常中断"); + }); + client.on("reconnect", (error) => { + let iseExit = _.filter(snackbarStore().snackbars, { + snackbar: true, snackbar_message: "网络连接错误，请检查是否连接网络", + }) + if (iseExit.length) { + } else { + snackbarStore().openFailureSnackbar("网络连接错误，请检查是否连接网络") + } + console.log(this.url + "需要重新连接", error); + }); + } + } + //取消订阅 + unsubscribes(topic) { + if (topic.indexOf("slam/") === 0) { + client.unsubscribe(`/${mqttSlamPID}/${robot.did}/${topic}`, (error) => { + if (!error) { + console.log(`/${mqttSlamPID}/${robot.did}/${topic}` + "取消订阅成功"); + } else { + console.log(`/${mqttSlamPID}/${robot.did}/${topic}` + "取消订阅失败"); + } + }); + } else if (topic.indexOf("other/") === 0) { + client.unsubscribe(`/${topic}`, (error) => { + if (!error) { + console.log(`/${robot.pid}/${robot.did}/${topic}` + "取消订阅成功"); + } else { + console.log(`/${robot.pid}/${robot.did}/${topic}` + "取消订阅失败"); + } + }); + } else { + client.unsubscribe(`/${robot.pid}/${robot.did}/${topic}`, (error) => { + if (!error) { + console.log(`/${robot.pid}/${robot.did}/${topic}` + "取消订阅成功"); + } else { + console.log(`/${robot.pid}/${robot.did}/${topic}` + "取消订阅失败"); + } + }); + } + } + + //连接 + link(topic, params) { + if (topic.indexOf("slam/") === 0) { + client.subscribe( + `/${mqttSlamPID}/${robot.did}/${topic}`, + params, + (error) => { + if (!error) { + console.log( + `/${mqttSlamPID}/${robot.did}/${topic}` + "订阅成功", + JSON.stringify(params) + ); + } else { + console.log( + `/${mqttSlamPID}/${robot.did}/${topic}` + "订阅失败", + JSON.stringify(params) + ); + } + } + ); + } else if (topic.indexOf("other/") === 0) { + client.subscribe(`/${topic}`, params, (error) => { + if (!error) { + console.log(`/${topic}` + "订阅成功", JSON.stringify(params)); + } else { + console.log(`/${topic}` + "订阅失败", JSON.stringify(params)); + } + }); + } else { + client.subscribe( + `/${robot.pid}/${robot.did}/${topic}`, + params, + (error) => { + if (!error) { + console.log( + `/${robot.pid}/${robot.did}/${topic}` + "订阅成功", + JSON.stringify(params) + ); + } else { + console.log( + `/${robot.pid}/${robot.did}/${topic}` + "订阅失败", + JSON.stringify(params) + ); + } + } + ); + } + } + //发布函数 + pubCommonFn( + topic, + jobj, + qos, + retain, + successCallback = () => { }, + failCallback = (e) => { } + ) { + if (client === null) return; + var timeNow = new Date(); + jobj.timestamp = timeNow.getTime(); + if (topic.indexOf("slam/") === 0) { + client.publish( + `/${mqttSlamPID}/${robot.did}/${topic}`, + JSON.stringify(jobj), + { qos: qos, retain: retain, cbStorePut: successCallback }, + failCallback + ); + } else if (topic.indexOf("other/") === 0) { + client.publish( + `/${topic}`, + JSON.stringify(jobj), + { qos: qos, retain: retain, cbStorePut: successCallback }, + failCallback + ); + } else { + client.publish( + `/${robot.pid}/${robot.did}/${topic}`, + JSON.stringify(jobj), + { qos: qos, retain: retain, cbStorePut: successCallback }, + failCallback + ); + } + } + + //收到的消息 + get(callback) { + client.on("message", callback); + } + //结束链接 + over() { + client.end(); + } +} + +export default function useMqtt() { + let startMqtt = (val, params, callback) => { + //设置订阅地址 + if (!PublicMqtt) { + PublicMqtt = new MQTT(); + //初始化mqtt + PublicMqtt.init(); + //链接mqtt + } + PublicMqtt.link(val, params); + getMessage(callback); + }; + let pubCommonFn = ( + topic, + jobj, + qos, + retain, + successCallback, + failCallback + ) => { + console.log("发布", topic); + //发布mqtt + PublicMqtt.pubCommonFn( + topic, + jobj, + qos, + retain, + successCallback, + failCallback + ); + }; + let endMqtt = (val) => { + //取消链接mqtt + PublicMqtt.unsubscribes(val); + }; + let getMessage = (callback) => { + if (PublicMqtt) { + PublicMqtt.get(callback); + } + + }; + + return { + startMqtt, + endMqtt, + pubCommonFn, + }; +} diff --git a/developedcode/map-client/src/plugins/vuetify.js b/developedcode/map-client/src/plugins/vuetify.js new file mode 100644 index 0000000..fddda4f --- /dev/null +++ b/developedcode/map-client/src/plugins/vuetify.js @@ -0,0 +1,38 @@ +/** + * plugins/vuetify.js + * + * Framework documentation: https://vuetifyjs.com` + */ + +// Styles +import "@mdi/font/css/materialdesignicons.css"; +import "vuetify/styles"; +import { loadFonts } from "./webfontloader"; +import zhHans from "vuetify/lib/locale/zh-Hans.mjs"; +// Composables +import { createVuetify } from "vuetify"; + +// https://vuetifyjs.com/en/introduction/why-vuetify/#feature-guides +const vuetify = createVuetify({ + theme: { + themes: { + light: { + colors: { + primary: "#1867C0", + secondary: "#5CBBF6", + }, + }, + }, + }, + ssr: true, + lang: { + locales: { + zhHans, + }, + current: "zhHans", + }, +}); +export function registerPlugins(app) { + loadFonts(); + app.use(vuetify); +} diff --git a/developedcode/map-client/src/plugins/webfontloader.js b/developedcode/map-client/src/plugins/webfontloader.js new file mode 100644 index 0000000..79c7ac7 --- /dev/null +++ b/developedcode/map-client/src/plugins/webfontloader.js @@ -0,0 +1,15 @@ +/** + * plugins/webfontloader.js + * + * webfontloader documentation: https://github.com/typekit/webfontloader + */ + + export async function loadFonts () { + const webFontLoader = await import(/* webpackChunkName: "webfontloader" */'webfontloader') + + webFontLoader.load({ + // google: { + // families: ['Roboto:100,300,400,500,700,900&display=swap'], + // }, + }) +} diff --git a/developedcode/map-client/src/router/index.js b/developedcode/map-client/src/router/index.js new file mode 100644 index 0000000..53612dc --- /dev/null +++ b/developedcode/map-client/src/router/index.js @@ -0,0 +1,68 @@ +import { createRouter, createWebHistory } from "vue-router"; +import { close, start } from "@/utils/nprogress"; +import HomeView from "@/views/Home.vue"; +const routes = [ + { + path: "/", + name: "home", + component: HomeView, + children: [ + { + path: "driverlessCars", + name: "driverlessCars", + meta: { + zhtitle: "首页", + }, + // which is lazy-loaded when the route is visited. + component: () => import("../views/driverlessCars/index.vue"), + }, + { + path: "navigation", + name: "navigation_dataV", + meta: { + zhtitle: "导航", + }, + // which is lazy-loaded when the route is visited. + component: () => import("../views/driverlessCars/navigation_dataV.vue"), + }, + { + path: "editor", + name: "editor", + meta: { + zhtitle: "编辑", + }, + // which is lazy-loaded when the route is visited. + component: () => import("../views/driverlessCars/editor.vue"), + }, + ], + }, + + { name: "重定向", path: "/:catchAll(.*)", redirect: "/" }, + { + path: "/login", + name: "login", + component: () => import("../views/login.vue"), + }, + { + path: "/download", + name: "download", + component: () => import("../views/download.vue"), + }, +]; + +// 创建路由实例 +const router = createRouter({ + history: createWebHistory(), + routes, //路由表 +}); +let witheRouter = ["login", "download"]; +router.beforeEach((pre, next) => { + if (witheRouter.indexOf(pre.name) !== -1) { + } + start(); +}); + +router.afterEach(() => { + close(); +}); +export default router; diff --git a/developedcode/map-client/src/store/breadcrumbs.js b/developedcode/map-client/src/store/breadcrumbs.js new file mode 100644 index 0000000..17e7126 --- /dev/null +++ b/developedcode/map-client/src/store/breadcrumbs.js @@ -0,0 +1,35 @@ +import { defineStore } from "pinia"; +import _ from "lodash"; +const breadcrumbsStore = defineStore("breadcrumbs", { + // other options... + state() { + return { + breadcrumbsList: [ + { + title: "首页", + href: "/driverlessCars", + id: Date.now(), + }, + ], + }; + }, + actions: { + getBreadcrumbs() { + return this.breadcrumbsList; + }, + editBreadcrumbs(breadcrumbsList) { + this.breadcrumbsList = []; + for (let i = 0; i < breadcrumbsList.length; i++) { + let ele = breadcrumbsList[i]; + this.breadcrumbsList.push({ + ...ele, + id: Date.now() + 1000 * i, + }); + } + }, + }, + persist: { + enabled: true, // true 表示开启持久化保存 + }, +}); +export default breadcrumbsStore; diff --git a/developedcode/map-client/src/store/fullscreen.js b/developedcode/map-client/src/store/fullscreen.js new file mode 100644 index 0000000..9d919b6 --- /dev/null +++ b/developedcode/map-client/src/store/fullscreen.js @@ -0,0 +1,19 @@ +import { defineStore } from "pinia"; +import _ from "lodash"; +const dialogFullscreenStore = defineStore("dialogFullscreen", { + // other options... + state() { + return { + dialogFullscreen: false, + }; + }, + actions: { + getDialogFullscreen() { + return this.dialogFullscreen; + }, + setDialogFullscreen(bol) { + this.dialogFullscreen = bol; + }, + }, +}); +export default dialogFullscreenStore; diff --git a/developedcode/map-client/src/store/index.js b/developedcode/map-client/src/store/index.js new file mode 100644 index 0000000..c1bad36 --- /dev/null +++ b/developedcode/map-client/src/store/index.js @@ -0,0 +1,10 @@ +import { createPinia } from "pinia"; +import piniaPersist from "pinia-plugin-persist"; +import userStore from "./user"; +import snackbarStore from "./snackbar"; +import breadcrumbsStore from "./breadcrumbs"; +import dialogFullscreenStore from "./fullscreen"; +const pinia = createPinia(); +pinia.use(piniaPersist); +export { userStore, snackbarStore, breadcrumbsStore, dialogFullscreenStore }; +export default pinia; diff --git a/developedcode/map-client/src/store/snackbar.js b/developedcode/map-client/src/store/snackbar.js new file mode 100644 index 0000000..30c6a4f --- /dev/null +++ b/developedcode/map-client/src/store/snackbar.js @@ -0,0 +1,60 @@ +import { defineStore } from "pinia"; +import _ from "lodash"; +const snackbarStore = defineStore("snackbar", { + // other options... + state() { + return { + snackbars: [], + }; + }, + actions: { + openSnackbar(params) { + let { snackbar_message, color, timeout = -1 } = params; + this.snackbars.push({ + snackbar: true, + snackbar_message: snackbar_message, + snackbar_color: color, + location: "top", + timeout: timeout, + id: Date.now(), + }); + }, + closeSnackbar(index) { + this.snackbars.splice(index, 1); + }, + openSuccessSnackbar(message) { + this.snackbars.push({ + snackbar: true, + snackbar_message: message, + snackbar_color: "success", + location: "top", + timeout: 5000, + id: Date.now(), + }); + }, + openFailureSnackbar(message, timeout = -1) { + this.snackbars.push({ + snackbar: true, + snackbar_message: message, + snackbar_color: "error", + location: "top", + timeout: timeout, //不自动关闭 + id: Date.now(), + }); + }, + openInfoSnackbar(message) { + this.snackbars.push({ + snackbar: true, + snackbar_message: message, + snackbar_color: "warning", + location: "top", + timeout: 5000, + id: Date.now(), + }); + }, + cleanSnackbar() { + this.snackbars = this.snackbars.filter((item) => item.snackbar); + }, + }, +}); +export default snackbarStore; diff --git a/developedcode/map-client/src/store/user.js b/developedcode/map-client/src/store/user.js new file mode 100644 index 0000000..ea40598 --- /dev/null +++ b/developedcode/map-client/src/store/user.js @@ -0,0 +1,66 @@ +import { defineStore } from "pinia"; +import { login as userLogin, getRobotInfo } from "@/api/user"; +import { setToken, removeToken } from "@/utils/auth"; +import { setRouterFav } from "@/api/user"; +const userStore = defineStore("user", { + // other options... + state() { + return { + name: "", + robotid: { + did: "", + pid: "", + }, + robot: {}, + battery: {}, + routeList: [] + }; + }, + getters: { + userInfo(state) { + return { ...state }; + }, + }, + actions: { + // Login + async login(loginForm) { + try { + // setToken(true); + let loginRes = await userLogin(loginForm); + if (loginRes && loginRes.status) { + setToken(loginRes.token); + let robotRes = await getRobotInfo(); + this.robotid = { + ...robotRes, + }; + } + return loginRes; + } catch (err) { + removeToken(); + throw err; + } + }, + async setRobot(robot) { + this.robot = robot; + }, + async setBattery(battery) { + this.battery = battery; + }, + async setRouteList(routeList, isSave = true) { + this.routeList = routeList; + let params = { pid: this.robotid.pid, did: this.robotid.did, routeList } + if (isSave) { + setRouterFav(params) + } + }, + }, + persist: { + enabled: true, // true 表示开启持久化保存 + strategies: [ + { + storage: localStorage, + }, + ], + }, +}); +export default userStore; diff --git a/developedcode/map-client/src/utils/auth.js b/developedcode/map-client/src/utils/auth.js new file mode 100644 index 0000000..5c68cf8 --- /dev/null +++ b/developedcode/map-client/src/utils/auth.js @@ -0,0 +1,19 @@ +const TokenKey = `wurenche-token`; + +const isLogin = () => { + return !!localStorage.getItem(TokenKey); +}; + +const getToken = () => { + return localStorage.getItem(TokenKey); +}; + +const setToken = (token) => { + localStorage.setItem(TokenKey, token); +}; + +const removeToken = () => { + localStorage.removeItem(TokenKey); +}; + +export { isLogin, getToken, setToken, removeToken }; diff --git a/developedcode/map-client/src/utils/nprogress.js b/developedcode/map-client/src/utils/nprogress.js new file mode 100644 index 0000000..6b5f15a --- /dev/null +++ b/developedcode/map-client/src/utils/nprogress.js @@ -0,0 +1,19 @@ +import NProgress from 'nprogress' +import 'nprogress/nprogress.css' +NProgress.configure({ + easing: 'ease', // 动画方式 + speed: 1000, // 递增进度条的速度 + showSpinner: false, // 是否显示加载ico + trickleSpeed: 200, // 自动递增间隔 + minimum: 0.3, // 更改启动时使用的最小百分比 + parent: 'body', //指定进度条的父容器 +}) +// 打开进度条 +export const start = () => { + NProgress.start() +} + +// 关闭进度条 +export const close = () => { + NProgress.done() +} \ No newline at end of file diff --git a/developedcode/map-client/src/utils/permission.js b/developedcode/map-client/src/utils/permission.js new file mode 100644 index 0000000..18bd583 --- /dev/null +++ b/developedcode/map-client/src/utils/permission.js @@ -0,0 +1,28 @@ +import router from "@/router/index"; +import { close, start } from "./nprogress"; +import { getToken } from "./auth"; + +const whiteList = ["/login"]; +router.beforeEach(async (to, from, next) => { + start(); + next(); + // const token = getToken(); + // if (token) { + // if (to.path === "/login") { + // next({ path: "/" }); + // close(); + // } else { + // next(); + // } + // } else { + // if (whiteList.includes(to.path)) { + // next(); + // } else { + // next(`/login?redirect=${to.path}`); + // } + // } +}); + +router.afterEach((to) => { + close(); +}); diff --git a/developedcode/map-client/src/utils/util.js b/developedcode/map-client/src/utils/util.js new file mode 100644 index 0000000..a6cc5fe --- /dev/null +++ b/developedcode/map-client/src/utils/util.js @@ -0,0 +1,8 @@ +// 获取assets静态资源 +const getAssetsFile = (url) => { + return new URL(`../assets/${url}`, import.meta.url).href; +}; + +export default { + getAssetsFile, +}; diff --git a/developedcode/map-client/src/views/Home.vue b/developedcode/map-client/src/views/Home.vue new file mode 100644 index 0000000..b32d669 --- /dev/null +++ b/developedcode/map-client/src/views/Home.vue @@ -0,0 +1,541 @@ + + + diff --git a/developedcode/map-client/src/views/download.vue b/developedcode/map-client/src/views/download.vue new file mode 100644 index 0000000..b38dfe1 --- /dev/null +++ b/developedcode/map-client/src/views/download.vue @@ -0,0 +1,44 @@ + + + diff --git a/developedcode/map-client/src/views/driverlessCars/editor.vue b/developedcode/map-client/src/views/driverlessCars/editor.vue new file mode 100644 index 0000000..60bb5a1 --- /dev/null +++ b/developedcode/map-client/src/views/driverlessCars/editor.vue @@ -0,0 +1,1712 @@ + + + diff --git a/developedcode/map-client/src/views/driverlessCars/index.vue b/developedcode/map-client/src/views/driverlessCars/index.vue new file mode 100644 index 0000000..973e27d --- /dev/null +++ b/developedcode/map-client/src/views/driverlessCars/index.vue @@ -0,0 +1,700 @@ + + + diff --git a/developedcode/map-client/src/views/driverlessCars/navigation.vue b/developedcode/map-client/src/views/driverlessCars/navigation.vue new file mode 100644 index 0000000..08e9e67 --- /dev/null +++ b/developedcode/map-client/src/views/driverlessCars/navigation.vue @@ -0,0 +1,1817 @@ + + + diff --git a/developedcode/map-client/src/views/driverlessCars/navigation_dataV.vue b/developedcode/map-client/src/views/driverlessCars/navigation_dataV.vue new file mode 100644 index 0000000..f972314 --- /dev/null +++ b/developedcode/map-client/src/views/driverlessCars/navigation_dataV.vue @@ -0,0 +1,2554 @@ + + + diff --git a/developedcode/map-client/src/views/login.vue b/developedcode/map-client/src/views/login.vue new file mode 100644 index 0000000..2ad10f3 --- /dev/null +++ b/developedcode/map-client/src/views/login.vue @@ -0,0 +1,135 @@ + + + diff --git a/developedcode/map-client/vite.config.js b/developedcode/map-client/vite.config.js new file mode 100644 index 0000000..8076c12 --- /dev/null +++ b/developedcode/map-client/vite.config.js @@ -0,0 +1,93 @@ +// Plugins +import vue from "@vitejs/plugin-vue"; +import vuetify, { transformAssetUrls } from "vite-plugin-vuetify"; + +// Utilities +import { defineConfig } from "vite"; +import { fileURLToPath, URL } from "node:url"; +import AutoImport from "unplugin-auto-import/vite"; +import Components from "unplugin-vue-components/vite"; +import { ElementPlusResolver } from "unplugin-vue-components/resolvers"; + +// https://vitejs.dev/config/ +export default defineConfig({ + plugins: [ + vue({ + template: { transformAssetUrls }, + }), + // https://github.com/vuetifyjs/vuetify-loader/tree/next/packages/vite-plugin + vuetify({ + autoImport: true, + }), + AutoImport({ + resolvers: [ElementPlusResolver()], + }), + Components({ + resolvers: [ElementPlusResolver()], + }), + ], + define: { "process.env": {} }, + resolve: { + alias: { + "@": fileURLToPath(new URL("./src", import.meta.url)), + }, + extensions: [".js", ".json", ".jsx", ".mjs", ".ts", ".tsx", ".vue"], + }, + server: { + port: 3000, + proxy: { + "/v1": { + target: "http://42.235.239.240:8003/v1", + // target: "http://s3.s100.vip:26381/v1", + // target: "http://192.168.1.141:8086/v1", + // target: "http://127.0.0.1:3000/v1", + changeOrigin: true, + rewrite: (path) => path.replace(/^\/v1/, ""), + }, + //228 215 208 140 141 + "/udp": { + target: "http://42.235.239.240:8005/udp", + // target: "http://s3.s100.vip:26381/udp", + // target: "http://192.168.1.55:8001/", + // target: "http://192.168.1.141:9010/udp", + // target: "http://192.168.1.102:9010/udp", + // target: "http://192.168.8.109:9010/udp", + // target: "http://127.0.0.1:9010/udp", + changeOrigin: true, + rewrite: (path) => path.replace(/^\/udp/, ""), + }, + "/mp3": { + // target: "http://42.235.239.240:8005/mp3", + // target: "http://s3.s100.vip:26381/mp3", + // target: "http://192.168.1.55:8001/mp3", + // target: "http://192.168.1.141:9010/mp3", + // target: "http://192.168.1.102:9010/mp3", + // target: "http://192.168.8.109:9010/mp3", + target: "http://127.0.0.1:9010/mp3", + changeOrigin: true, + rewrite: (path) => path.replace(/^\/mp3/, ""), + }, + "/self": { + // target: "http://42.235.239.240:8005/self", + // target: "http://s3.s100.vip:26381/self", + // target: "http://192.168.1.55:8001/self", + // target: "http://192.168.1.141:9010/self", + // target: "http://192.168.1.102:9010/self", + // target: "http://192.168.1.119:9010/self", + target: "http://127.0.0.1:9001/self", + // target: "http://42.235.239.240:8016/self", + changeOrigin: true, + rewrite: (path) => path.replace(/^\/self/, ""), + }, + // "/vedio": { + // target: "http://192.168.1.64/vedio", + // // target: "http://192.168.1.141:8086/v1", + // changeOrigin: true, + // rewrite: (path) => path.replace(/^\/vedio/, ""), + // }, + }, + }, + build: { + sourcemap: true, + }, +}); diff --git a/developedcode/setgetdata/README.md b/developedcode/setgetdata/README.md new file mode 100644 index 0000000..2ce860b --- /dev/null +++ b/developedcode/setgetdata/README.md @@ -0,0 +1,32 @@ +# setgetdata + + +## QuickStart + + + +see [egg docs][egg] for more detail. + +### Development + +```bash +$ npm i +$ npm run dev +$ open http://localhost:9001/ +``` + +### Deploy + +```bash +$ npm start +$ npm stop +``` + +### npm scripts + +- Use `npm run lint` to check code style. +- Use `npm test` to run unit test. +- Use `npm run autod` to auto detect dependencies upgrade, see [autod](https://www.npmjs.com/package/autod) for more detail. + + +[egg]: https://eggjs.org \ No newline at end of file diff --git a/developedcode/setgetdata/app.js b/developedcode/setgetdata/app.js new file mode 100644 index 0000000..02070dd --- /dev/null +++ b/developedcode/setgetdata/app.js @@ -0,0 +1,34 @@ +const fs = require("fs") +const path = require("path") +class AppBootHook { + constructor(app) { + this.app = app; + } + + configWillLoad() { + // 此时 config 文件已经被读取并合并，但是还并未生效 + // 这是应用层修改配置的最后时机 + // 注意：此函数只支持同步调用 + } + + async didLoad() { + // 所有的配置已经加载完毕 + // 可以用来加载应用自定义的文件，启动自定义的服务 + } + + async willReady() { + // 所有的插件都已启动完毕，但是应用整体还未 ready + // 可以做一些数据初始化等操作，这些操作成功才会启动应用 + } + + async didReady() { + } + + async serverDidReady() { + // http / https server 已启动，开始接受外部请求 + // 此时可以从 app.server 拿到 server 的实例 + // 应用已经启动完毕 + } +} + +module.exports = AppBootHook; diff --git a/developedcode/setgetdata/app/controller/home.js b/developedcode/setgetdata/app/controller/home.js new file mode 100644 index 0000000..ab5ba65 --- /dev/null +++ b/developedcode/setgetdata/app/controller/home.js @@ -0,0 +1,56 @@ +"use strict"; +const fs = require("fs") +const path = require("path") +const _ = require("lodash"); +const { Controller } = require("egg"); +const { promisify } = require("util"); +class setgetdataController extends Controller { + //设置收藏数据 + async setRouterFav() { + let { ctx, service } = this; + let params = ctx.request.body + let res = await service.home.setRouterFav(params); + ctx.body = res; + } + //获取收藏数据 + async getRouterFav() { + let { ctx, service } = this; + let params = ctx.request.body + let res = await service.home.getRouterFav(params); + ctx.body = res; + } + //获取文件 + async getFile() { + let { ctx } = this; + let url = ctx.request.url + let fileNameArr = _.split(url, "=") + let filePath = `${ctx.app.baseDir}/app/public/file/${_.get(fileNameArr, [1])}` + // let fileSize = (await promisify(fs.stat)(filePath)).size.toString() + // ctx.attachment(filePath); + // ctx.set('Content-Length', fileSize); + // ctx.set('content-Type', 'application/octet-stream'); + // ctx.set('Content-Disposition', `attachment; filename=${_.get(fileNameArr, [1])}`) + console.log(9744, await ctx.downloader(filePath)) + ctx.boby = await ctx.downloader(filePath); + } + //获取瓦片地图 + async getMapPng() { + let { ctx, service } = this; + let params = { + url: ctx.request.url + } + console.log(7878774,params) + let pathRes = await service.home.getMapPng(params); + ctx.set('content-type', 'image/jpeg') + if (pathRes) { + try { + ctx.body = fs.createReadStream(pathRes); + } catch (e) { + console.log(e) + } + + } + } +} + +module.exports = setgetdataController; diff --git a/developedcode/setgetdata/app/public/file/xbyzydh.apk b/developedcode/setgetdata/app/public/file/xbyzydh.apk new file mode 100644 index 0000000..6434502 Binary files /dev/null and b/developedcode/setgetdata/app/public/file/xbyzydh.apk differ diff --git a/developedcode/setgetdata/app/public/map/xby/0/0/0.png b/developedcode/setgetdata/app/public/map/xby/0/0/0.png new file mode 100644 index 0000000..6eeb0b6 Binary files /dev/null and b/developedcode/setgetdata/app/public/map/xby/0/0/0.png differ diff --git a/developedcode/setgetdata/app/public/map/xby/0/0/1.png b/developedcode/setgetdata/app/public/map/xby/0/0/1.png new file mode 100644 index 0000000..941b93d Binary files /dev/null and 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"route"], + "repeate": 3 + }, + { + "map": "xby", + "path": "全厂3圈", + "coord_type": "local", + "cron": "", + "coord": [ + [64.49, -33.23], + [74.38, 1.73], + [99.05, 38.88], + [121.64, -2.67], + [95.57, -33.32], + [74.37, 3.35], + [95.57, 38.86], + [122.2, 81.56], + [102.53, 120.61], + [74.55, 81.08], + [57.51, 38.95], + [39.69, 6.14], + [48.95, -33.09] + ], + "plan": [ + "route", + "route", + "route", + "route", + "route", + "route", + "route", + "route", + "route", + "route", + "route", + "route", + "route" + ], + "repeate": 3 + }, + { + "map": "xby", + "path": "全厂循环", + "coord_type": "local", + "cron": "", + "coord": [ + [64.49, -33.23], + [74.38, 1.73], + [99.05, 38.88], + [121.64, -2.67], + [95.57, -33.32], + [74.37, 3.35], + [95.57, 38.86], + [122.2, 81.56], + [102.53, 120.61], + [74.55, 81.08], + [57.51, 38.95], + [39.69, 6.14], + [48.95, -33.09] + ], + "plan": [ + "route", + "route", + "route", + "route", + "route", + "route", + "route", + "route", + "route", + "route", + "route", + "route", + "route" + ], + "repeate": 100 + } + ] +} diff --git a/developedcode/setgetdata/app/router.js b/developedcode/setgetdata/app/router.js new file mode 100644 index 0000000..8558b81 --- /dev/null +++ b/developedcode/setgetdata/app/router.js @@ -0,0 +1,18 @@ +"use strict"; + +/** + * @param {Egg.Application} app - egg application + */ +module.exports = (app) => { + const { router, controller } = app; + //设置收藏数据 + router.post('/self/setRouterFav', controller.home.setRouterFav); + //获取收藏数据 + router.post("/self/getRouterFav", controller.home.getRouterFav); + //获取瓦片地图 + router.get("/self/:mapName/:z/:x/:y", controller.home.getMapPng); + //获取文件 + router.get("/self/getFile", controller.home.getFile); + + +}; diff --git a/developedcode/setgetdata/app/service/home.js b/developedcode/setgetdata/app/service/home.js new file mode 100644 index 0000000..63b988e --- /dev/null +++ b/developedcode/setgetdata/app/service/home.js @@ -0,0 +1,39 @@ +const fs = require("fs") +const _ = require("lodash"); +const Service = require("egg").Service; +class HomeService extends Service { + //设置收藏数据 + async setRouterFav(params) { + let { ctx } = this + let pathStr = `${ctx.app.baseDir}/app/public/task/${_.get(params, ["routeList", 0, "map"])}/${params.did}/${params.pid}` + fs.mkdirSync(pathStr, { recursive: true, }) + fs.writeFileSync(`${pathStr}/routeList.json`, JSON.stringify(params, null, 2)) + return { haserror: false, msg: `${pathStr}/routeList.json：成功写入。` } + } + //获取收藏数据 + async getRouterFav(params) { + let { ctx } = this + try { + let pathStr = `${ctx.app.baseDir}/app/public/task/${_.get(params, ["mapName"])}/${params.did}/${params.pid}/routeList.json` + let readResult = fs.readFileSync(pathStr, { encoding: "utf8" }) + return readResult + } catch (error) { + return { + ...params, + routeList: [] + } + } + } + //获取瓦片地图 + async getMapPng(params) { + let { ctx } = this + let pathObj = _.drop(_.compact(_.split(params.url, "/"))) + let z = parseInt(pathObj[1]) - 1 + let y = parseInt(pathObj[2]) + let x = parseInt(pathObj[3]) + let pngPath = `${ctx.app.baseDir}/app/public/map/${pathObj[0]}/${z}/${y}/${x}.png` + return pngPath + } +} + +module.exports = HomeService; diff --git a/developedcode/setgetdata/config/config.default.js b/developedcode/setgetdata/config/config.default.js new file mode 100644 index 0000000..5c90389 --- /dev/null +++ b/developedcode/setgetdata/config/config.default.js @@ -0,0 +1,45 @@ +/* eslint valid-jsdoc: "off" */ + +"use strict"; + +/** + * @param {Egg.EggAppInfo} appInfo app info + */ +module.exports = (appInfo) => { + /** + * built-in config + * @type {Egg.EggAppConfig} + **/ + const config = (exports = {}); + + // use for cookie sign key, should change to your own and keep security + config.keys = appInfo.name + "_1687851227654_4638"; + config.cookie = ""; + config.duplicateReq = 0; + // add your middleware config here + config.middleware = []; + config.cluster = { + listen: { + port: 9001, + }, + }; + // add your user config here + const userConfig = { + // myAppName: 'egg', + }; + config.cors = { + //允许跨域的网址，*表示所有网址都可以跨域请求文件资源，也可以指定域名 + origin: "*", + allowMethods: "POST,GET", + }; + config.security = { + csrf: { + enable: false, + }, + }; + + return { + ...config, + ...userConfig, + }; +}; diff --git a/developedcode/setgetdata/config/plugin.js b/developedcode/setgetdata/config/plugin.js new file mode 100644 index 0000000..e891d1d --- /dev/null +++ b/developedcode/setgetdata/config/plugin.js @@ -0,0 +1,17 @@ +"use strict"; + +/** @type Egg.EggPlugin */ +module.exports = { + // had enabled by egg + // static: { + // enable: true, + // } + cors: { + enable: true, + package: 'egg-cors', + }, + downloader: { + enable: true, + package: 'egg-downloader', + } +}; diff --git a/developedcode/setgetdata/jsconfig.json b/developedcode/setgetdata/jsconfig.json new file mode 100644 index 0000000..1bbed3f --- /dev/null +++ b/developedcode/setgetdata/jsconfig.json @@ -0,0 +1,5 @@ +{ + "include": [ + "**/*" + ] +} \ No newline at end of file diff --git a/developedcode/setgetdata/package.json b/developedcode/setgetdata/package.json new file mode 100644 index 0000000..d7c5720 --- /dev/null +++ b/developedcode/setgetdata/package.json @@ -0,0 +1,45 @@ +{ + "name": "setgetdata", + "version": "1.0.0", + "description": "", + "private": true, + "egg": { + "declarations": true + }, + "dependencies": { + "cnpm": "^9.4.0", + "egg": "^3", + "egg-cors": "^2.2.3", + "egg-downloader": "^1.0.5", + "egg-scripts": "^2", + "lodash": "^4.17.21" + }, + "devDependencies": { + "egg-bin": "^5", + "egg-ci": "^2", + "egg-mock": "^5", + "eslint": "^8", + "eslint-config-egg": "^12" + }, + "engines": { + "node": ">=16.0.0" + }, + "scripts": { + "start": "egg-scripts start --daemon --title=egg-server-setgetdata", + "stop": "egg-scripts stop --title=egg-server-setgetdata", + "dev": "egg-bin dev", + "npmPro": "npm install --production", + "build": "tar -zcvf ../release.tgz .", + "npmi": "npm i" + }, + "ci": { + "version": "16, 18", 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+ "POST" + ], + "paramNames": [], + "path": "/self/setRouterFav", + "regexp": "/^\\/self\\/setRouterFav(?:\\/(?=$))?$/", + "stack": [ + "wrappedController" + ] + }, + { + "name": null, + "methods": [ + "POST" + ], + "paramNames": [], + "path": "/self/getRouterFav", + "regexp": "/^\\/self\\/getRouterFav(?:\\/(?=$))?$/", + "stack": [ + "wrappedController" + ] + }, + { + "name": null, + "methods": [ + "HEAD", + "GET" + ], + "paramNames": [ + { + "name": "mapName", + "prefix": "/", + "delimiter": "/", + "optional": false, + "repeat": false, + "partial": false, + "asterisk": false, + "pattern": "[^\\/]+?" + }, + { + "name": "z", + "prefix": "/", + "delimiter": "/", + "optional": false, + "repeat": false, + "partial": false, + "asterisk": false, + "pattern": "[^\\/]+?" + }, + { + "name": "x", + "prefix": "/", + "delimiter": "/", + "optional": false, + "repeat": false, + "partial": false, + "asterisk": false, + "pattern": "[^\\/]+?" + }, + { + "name": "y", + "prefix": "/", + "delimiter": "/", + "optional": false, + "repeat": false, + "partial": false, + "asterisk": false, + "pattern": "[^\\/]+?" + } + ], + "path": "/self/:mapName/:z/:x/:y", + "regexp": "/^\\/self\\/((?:[^\\/]+?))\\/((?:[^\\/]+?))\\/((?:[^\\/]+?))\\/((?:[^\\/]+?))(?:\\/(?=$))?$/", + "stack": [ + "wrappedController" + ] + }, + { + "name": null, + "methods": [ + "HEAD", + "GET" + ], + "paramNames": [], + "path": "/self/getFile", + "regexp": "/^\\/self\\/getFile(?:\\/(?=$))?$/", + "stack": [ + "wrappedController" + ] + } +] \ No newline at end of file diff --git a/developedcode/setgetdata/typings/app/controller/index.d.ts b/developedcode/setgetdata/typings/app/controller/index.d.ts new file mode 100644 index 0000000..7dad0e3 --- /dev/null +++ b/developedcode/setgetdata/typings/app/controller/index.d.ts @@ -0,0 +1,12 @@ +// This file is created by egg-ts-helper@1.35.1 +// Do not modify this file!!!!!!!!! +/* eslint-disable */ + +import 'egg'; +import ExportHome = require('../../../app/controller/home'); + +declare module 'egg' { + interface IController { + home: ExportHome; + } +} diff --git a/developedcode/setgetdata/typings/app/index.d.ts b/developedcode/setgetdata/typings/app/index.d.ts new file mode 100644 index 0000000..c604948 --- /dev/null +++ b/developedcode/setgetdata/typings/app/index.d.ts @@ -0,0 +1,7 @@ +// This file is created by egg-ts-helper@1.35.1 +// Do not modify this file!!!!!!!!! +/* eslint-disable */ + +import 'egg'; +export * from 'egg'; +export as namespace Egg; diff --git a/developedcode/setgetdata/typings/app/service/index.d.ts b/developedcode/setgetdata/typings/app/service/index.d.ts new file mode 100644 index 0000000..e5140dc --- /dev/null +++ b/developedcode/setgetdata/typings/app/service/index.d.ts @@ -0,0 +1,16 @@ +// This file is created by egg-ts-helper@1.35.1 +// Do not modify this file!!!!!!!!! +/* eslint-disable */ + +import 'egg'; +type AnyClass = new (...args: any[]) => any; +type AnyFunc = (...args: any[]) => T; +type CanExportFunc = AnyFunc> | AnyFunc>; +type AutoInstanceType : T> = U extends AnyClass ? InstanceType : U; +import ExportHome = require('../../../app/service/home'); + +declare module 'egg' { + interface IService { + home: AutoInstanceType; + } +} diff --git a/developedcode/setgetdata/typings/config/index.d.ts b/developedcode/setgetdata/typings/config/index.d.ts new file mode 100644 index 0000000..a8add35 --- /dev/null +++ b/developedcode/setgetdata/typings/config/index.d.ts @@ -0,0 +1,12 @@ +// This file is created by egg-ts-helper@1.35.1 +// Do not modify this file!!!!!!!!! +/* eslint-disable */ + +import 'egg'; +import { EggAppConfig } from 'egg'; +import ExportConfigDefault = require('../../config/config.default'); +type ConfigDefault = ReturnType; +type NewEggAppConfig = ConfigDefault; +declare module 'egg' { + interface EggAppConfig extends NewEggAppConfig { } +} \ No newline at end of file diff --git a/developedcode/setgetdata/typings/config/plugin.d.ts b/developedcode/setgetdata/typings/config/plugin.d.ts new file mode 100644 index 0000000..c276226 --- /dev/null +++ b/developedcode/setgetdata/typings/config/plugin.d.ts @@ -0,0 +1,38 @@ +// This file is created by egg-ts-helper@1.35.1 +// Do not modify this file!!!!!!!!! +/* eslint-disable */ + +import 'egg'; +import 'egg-onerror'; +import 'egg-session'; +import 'egg-i18n'; +import 'egg-watcher'; +import 'egg-multipart'; +import 'egg-security'; +import 'egg-development'; +import 'egg-logrotator'; +import 'egg-schedule'; +import 'egg-static'; +import 'egg-jsonp'; +import 'egg-view'; +import 'egg-cors'; +import 'egg-downloader'; +import { EggPluginItem } from 'egg'; +declare module 'egg' { + interface EggPlugin { + onerror?: EggPluginItem; + session?: EggPluginItem; + i18n?: EggPluginItem; + watcher?: EggPluginItem; + multipart?: EggPluginItem; + security?: EggPluginItem; + development?: EggPluginItem; + logrotator?: EggPluginItem; + schedule?: EggPluginItem; + static?: EggPluginItem; + jsonp?: EggPluginItem; + view?: EggPluginItem; + cors?: EggPluginItem; + downloader?: EggPluginItem; + } +} \ No newline at end of file diff --git a/developedcode/sfykf/.browserslistrc b/developedcode/sfykf/.browserslistrc new file mode 100644 index 0000000..dc3bc09 --- /dev/null +++ b/developedcode/sfykf/.browserslistrc @@ -0,0 +1,4 @@ +> 1% +last 2 versions +not dead +not ie 11 diff --git a/developedcode/sfykf/.editorconfig b/developedcode/sfykf/.editorconfig new file mode 100644 index 0000000..7053c49 --- /dev/null +++ b/developedcode/sfykf/.editorconfig @@ -0,0 +1,5 @@ +[*.{js,jsx,ts,tsx,vue}] +indent_style = space +indent_size = 2 +trim_trailing_whitespace = true +insert_final_newline = true diff --git a/developedcode/sfykf/.gitignore b/developedcode/sfykf/.gitignore new file mode 100644 index 0000000..837579e --- /dev/null +++ b/developedcode/sfykf/.gitignore @@ -0,0 +1,23 @@ +.DS_Store +node_modules +/dist +package-lock.json + +# local env files +.env.local +.env.*.local + +# Log files +npm-debug.log* +yarn-debug.log* +yarn-error.log* +pnpm-debug.log* + +# Editor directories and files +.idea +.vscode +*.suo +*.ntvs* +*.njsproj +*.sln +*.sw? diff --git a/developedcode/sfykf/README.md b/developedcode/sfykf/README.md new file mode 100644 index 0000000..dc877c6 --- /dev/null +++ b/developedcode/sfykf/README.md @@ -0,0 +1,92 @@ +# sfykf + + + +## Getting started + +To make it easy for you to get started with GitLab, here's a list of recommended next steps. + +Already a pro? Just edit this README.md and make it your own. Want to make it easy? [Use the template at the bottom](#editing-this-readme)! + +## Add your files + +- [ ] [Create](https://docs.gitlab.com/ee/user/project/repository/web_editor.html#create-a-file) or [upload](https://docs.gitlab.com/ee/user/project/repository/web_editor.html#upload-a-file) files +- [ ] [Add files using the command line](https://docs.gitlab.com/ee/gitlab-basics/add-file.html#add-a-file-using-the-command-line) or push an existing Git repository with the following command: + +``` +cd existing_repo +git remote add origin http://114.132.224.5:8800/sfy/sfykf.git +git branch -M main +git push -uf origin main +``` + +## Integrate with your tools + +- [ ] [Set up project integrations](http://7cc4038b9860/sfy/sfykf/-/settings/integrations) + +## Collaborate with your team + +- [ ] [Invite team members and collaborators](https://docs.gitlab.com/ee/user/project/members/) +- [ ] [Create a new merge request](https://docs.gitlab.com/ee/user/project/merge_requests/creating_merge_requests.html) +- [ ] [Automatically close issues from merge requests](https://docs.gitlab.com/ee/user/project/issues/managing_issues.html#closing-issues-automatically) +- [ ] [Enable merge request approvals](https://docs.gitlab.com/ee/user/project/merge_requests/approvals/) +- [ ] [Automatically merge when pipeline succeeds](https://docs.gitlab.com/ee/user/project/merge_requests/merge_when_pipeline_succeeds.html) + +## Test and Deploy + +Use the built-in continuous integration in GitLab. + +- [ ] [Get started with GitLab CI/CD](https://docs.gitlab.com/ee/ci/quick_start/index.html) +- [ ] [Analyze your code for known vulnerabilities with Static Application Security Testing(SAST)](https://docs.gitlab.com/ee/user/application_security/sast/) +- [ ] [Deploy to Kubernetes, Amazon EC2, or Amazon ECS using Auto Deploy](https://docs.gitlab.com/ee/topics/autodevops/requirements.html) +- [ ] [Use pull-based deployments for improved Kubernetes management](https://docs.gitlab.com/ee/user/clusters/agent/) +- [ ] [Set up protected environments](https://docs.gitlab.com/ee/ci/environments/protected_environments.html) + +*** + +# Editing this README + +When you're ready to make this README your own, just edit this file and use the handy template below (or feel free to structure it however you want - this is just a starting point!). Thank you to [makeareadme.com](https://www.makeareadme.com/) for this template. + +## Suggestions for a good README +Every project is different, so consider which of these sections apply to yours. The sections used in the template are suggestions for most open source projects. Also keep in mind that while a README can be too long and detailed, too long is better than too short. If you think your README is too long, consider utilizing another form of documentation rather than cutting out information. + +## Name +Choose a self-explaining name for your project. + +## Description +Let people know what your project can do specifically. Provide context and add a link to any reference visitors might be unfamiliar with. A list of Features or a Background subsection can also be added here. If there are alternatives to your project, this is a good place to list differentiating factors. + +## Badges +On some READMEs, you may see small images that convey metadata, such as whether or not all the tests are passing for the project. You can use Shields to add some to your README. Many services also have instructions for adding a badge. + +## Visuals +Depending on what you are making, it can be a good idea to include screenshots or even a video (you'll frequently see GIFs rather than actual videos). Tools like ttygif can help, but check out Asciinema for a more sophisticated method. + +## Installation +Within a particular ecosystem, there may be a common way of installing things, such as using Yarn, NuGet, or Homebrew. However, consider the possibility that whoever is reading your README is a novice and would like more guidance. Listing specific steps helps remove ambiguity and gets people to using your project as quickly as possible. If it only runs in a specific context like a particular programming language version or operating system or has dependencies that have to be installed manually, also add a Requirements subsection. + +## Usage +Use examples liberally, and show the expected output if you can. It's helpful to have inline the smallest example of usage that you can demonstrate, while providing links to more sophisticated examples if they are too long to reasonably include in the README. + +## Support +Tell people where they can go to for help. It can be any combination of an issue tracker, a chat room, an email address, etc. + +## Roadmap +If you have ideas for releases in the future, it is a good idea to list them in the README. + +## Contributing +State if you are open to contributions and what your requirements are for accepting them. + +For people who want to make changes to your project, it's helpful to have some documentation on how to get started. Perhaps there is a script that they should run or some environment variables that they need to set. Make these steps explicit. These instructions could also be useful to your future self. + +You can also document commands to lint the code or run tests. These steps help to ensure high code quality and reduce the likelihood that the changes inadvertently break something. Having instructions for running tests is especially helpful if it requires external setup, such as starting a Selenium server for testing in a browser. + +## Authors and acknowledgment +Show your appreciation to those who have contributed to the project. + +## License +For open source projects, say how it is licensed. + +## Project status +If you have run out of energy or time for your project, put a note at the top of the README saying that development has slowed down or stopped completely. Someone may choose to fork your project or volunteer to step in as a maintainer or owner, allowing your project to keep going. You can also make an explicit request for maintainers. diff --git a/developedcode/sfykf/index.html b/developedcode/sfykf/index.html new file mode 100644 index 0000000..b26b2e7 --- /dev/null +++ b/developedcode/sfykf/index.html @@ -0,0 +1,16 @@ + + + + + + + 新乡医学院康复学院 + + + +
+ + + diff --git a/developedcode/sfykf/jsconfig.json b/developedcode/sfykf/jsconfig.json new file mode 100644 index 0000000..4aafc5f --- /dev/null +++ b/developedcode/sfykf/jsconfig.json @@ -0,0 +1,19 @@ +{ + "compilerOptions": { + "target": "es5", + "module": "esnext", + "baseUrl": "./", + "moduleResolution": "node", + "paths": { + "@/*": [ + "src/*" + ] + }, + "lib": [ + "esnext", + "dom", + "dom.iterable", + "scripthost" + ] + } +} diff --git a/developedcode/sfykf/package.json b/developedcode/sfykf/package.json new file mode 100644 index 0000000..f9372d9 --- /dev/null +++ b/developedcode/sfykf/package.json @@ -0,0 +1,31 @@ +{ + "name": "sfykf", + "version": "0.0.1", + "scripts": { + "dev": "vite", + "build": "vite build --mode staging", + "preview": "vite preview" + }, + "dependencies": { + "@mdi/font": "7.0.96", + "axios": "^1.4.0", + "dayjs": "^1.11.9", + "element-plus": "^2.3.4", + "lodash": "^4.17.21", + "pinia": "^2.0.23", + "qs": "^6.11.2", + "roboto-fontface": "*", + "vue": "^3.2.0", + "vue-router": "^4.0.0", + "vuetify": "^3.0.0", + "webfontloader": "^1.0.0" + }, + "devDependencies": { + "@vitejs/plugin-vue": "^3.0.3", + "terser": "^5.26.0", + "unplugin-auto-import": "^0.16.0", + "unplugin-vue-components": "^0.24.1", + "vite": "^4.2.0", + "vite-plugin-vuetify": "^1.0.0" + } +} diff --git a/developedcode/sfykf/src/App.vue b/developedcode/sfykf/src/App.vue new file mode 100644 index 0000000..37522aa --- /dev/null +++ b/developedcode/sfykf/src/App.vue @@ -0,0 +1,7 @@ + + + diff --git a/developedcode/sfykf/src/api/education.js b/developedcode/sfykf/src/api/education.js new file mode 100644 index 0000000..faf9ea2 --- /dev/null +++ b/developedcode/sfykf/src/api/education.js @@ -0,0 +1,9 @@ +import { getSimple, getDetail } from "./index"; +//获取教育教学详情 +export function getEducationDetailData(data) { + return getDetail(data) +} +//获取教育教学列表 +export function getEducationData(data) { + return getSimple("646828a2e4a4e12cee0da08a", data) +} diff --git a/developedcode/sfykf/src/api/expert.js b/developedcode/sfykf/src/api/expert.js new file mode 100644 index 0000000..b5807d1 --- /dev/null +++ b/developedcode/sfykf/src/api/expert.js @@ -0,0 +1,9 @@ +import { getSimple, getDetail } from "./index"; +//获取新闻详情 +export function getExpertDetailData(data) { + return getDetail(data) +} +//获取新闻列表 +export function getExpertData(data) { + return getSimple("646828f0e4a4e12cee0da1db", data) +} diff --git a/developedcode/sfykf/src/api/home.js b/developedcode/sfykf/src/api/home.js new file mode 100644 index 0000000..49aec43 --- /dev/null +++ b/developedcode/sfykf/src/api/home.js @@ -0,0 +1,22 @@ +import { getDetail, getSimple } from "./index"; +//获取首页图片和通知公告图片 +export function getHomeData(data) { + return getDetail(data) +} +//获取notice标题和时间 +export function getNoticeData(data) { + return getSimple("64682049e4a4e12cee0d9eaf", data) +} + +//获取名师介绍的简易 +export function getDocData(data) { + return getSimple("646828f0e4a4e12cee0da1db", data) +} +//获取科学研究标题和时间 +export function getScienceData(data) { + return getSimple("646828cae4a4e12cee0da12f", data) +} +//获取教育教学标题和时间 +export function getEducationData(data) { + return getSimple("646828a2e4a4e12cee0da08a", data) +} diff --git a/developedcode/sfykf/src/api/index.js b/developedcode/sfykf/src/api/index.js new file mode 100644 index 0000000..2db9d1d --- /dev/null +++ b/developedcode/sfykf/src/api/index.js @@ -0,0 +1,19 @@ +import _axios from "@/plugins/axios"; +let url = `/biobank/public/workflowlaunchsAnonymous` +let method = "POST" +//获取详细数据 +export function getDetail(data) { + return _axios({ + url: url, + method: method, + data, + }); +} +//获取简易数据 +export function getSimple(id, params) { + return _axios({ + url: `/biobank/public/getDict/${id}`, + method: "get", + params, + }); +} diff --git a/developedcode/sfykf/src/api/news.js b/developedcode/sfykf/src/api/news.js new file mode 100644 index 0000000..dab7779 --- /dev/null +++ b/developedcode/sfykf/src/api/news.js @@ -0,0 +1,9 @@ +import { getSimple, getDetail } from "./index"; +//获取新闻详情 +export function getNewsDetailData(data) { + return getDetail(data) +} +//获取新闻列表 +export function getNewsData(data) { + return getSimple("64682049e4a4e12cee0d9eaf", data) +} diff --git a/developedcode/sfykf/src/api/scientific.js b/developedcode/sfykf/src/api/scientific.js new file mode 100644 index 0000000..fad305d --- /dev/null +++ b/developedcode/sfykf/src/api/scientific.js @@ -0,0 +1,9 @@ +import { getSimple, getDetail } from "./index"; +//获取新闻详情 +export function getScientificDetailData(data) { + return getDetail(data) +} +//获取新闻列表 +export function getScientificData(data) { + return getSimple("646828cae4a4e12cee0da12f", data) +} diff --git a/developedcode/sfykf/src/api/university.js b/developedcode/sfykf/src/api/university.js new file mode 100644 index 0000000..a3525cb --- /dev/null +++ b/developedcode/sfykf/src/api/university.js @@ -0,0 +1,11 @@ +import { getDetail } from "./index"; +//获取学校概况 +export function getUniversityData(data) { + return getDetail(data) +} + +//获取现任领导列表 +export function getCurrentLeaderData(data) { + return getDetail(data) +} + diff --git a/developedcode/sfykf/src/assets/css/base.css b/developedcode/sfykf/src/assets/css/base.css new file mode 100644 index 0000000..59b26d4 --- /dev/null +++ b/developedcode/sfykf/src/assets/css/base.css @@ -0,0 +1,82 @@ +.mainMidBgColor { + background-color: #fff; + padding: 0 12px; +} +.newsTitle { + background-image: url("@/assets/img/newsbg.png"); + background-size: cover; + height: 120px; + color: #fff; +} +.homeHeight { + height: calc(100vh - 490px); +} +.appMain::-webkit-scrollbar { + width: 10px; +} + +.appMain::-webkit-scrollbar-thumb { + background: #ccc; + border-radius: 5px; +} + +.appMain::-webkit-scrollbar-thumb:hover { + background: #722420; +} +.mainHeight { + min-height: calc(100vh - 448px); + /* height: calc(100vh - 465px); */ +} +.mainHeight::-webkit-scrollbar { + width: 10px; +} + +.mainHeight::-webkit-scrollbar-thumb { + background: #ccc; + border-radius: 5px; +} + +.mainHeight::-webkit-scrollbar-thumb:hover { + background: #722420; +} +.mainContent { + height: calc(100vh - 382px); + overflow-y: auto; +} +.mainContent::-webkit-scrollbar { + width: 10px; +} + +.mainContent::-webkit-scrollbar-thumb { + background: #ccc; + border-radius: 5px; +} + +.mainContent::-webkit-scrollbar-thumb:hover { + background: #722420; +} +.mainDetailContent { + height: calc(100vh - 325px); + overflow-y: auto; +} +.mainDetailContent::-webkit-scrollbar { + width: 10px; +} + +.mainDetailContent::-webkit-scrollbar-thumb { + background: #ccc; + border-radius: 5px; +} + +.mainDetailContent::-webkit-scrollbar-thumb:hover { + background: #722420; +} +.breadcrumb { + background-color: #f6f6f6; +} +.content { + min-height: calc(100vh - 465px); +} +.nextBg { + background-color: #722420 !important; +} diff --git a/developedcode/sfykf/src/assets/img/logo.jpg b/developedcode/sfykf/src/assets/img/logo.jpg new file mode 100644 index 0000000..d9e0299 Binary files /dev/null and b/developedcode/sfykf/src/assets/img/logo.jpg differ diff --git a/developedcode/sfykf/src/assets/img/newsbg.png b/developedcode/sfykf/src/assets/img/newsbg.png new file mode 100644 index 0000000..196cb31 Binary files /dev/null and b/developedcode/sfykf/src/assets/img/newsbg.png differ diff --git a/developedcode/sfykf/src/assets/img/notice.png b/developedcode/sfykf/src/assets/img/notice.png new file mode 100644 index 0000000..9b8e65d Binary files /dev/null and b/developedcode/sfykf/src/assets/img/notice.png differ diff --git a/developedcode/sfykf/src/assets/img/universitybg.png b/developedcode/sfykf/src/assets/img/universitybg.png new file mode 100644 index 0000000..4be10dd Binary files /dev/null and b/developedcode/sfykf/src/assets/img/universitybg.png differ diff --git a/developedcode/sfykf/src/layouts/default/view.vue b/developedcode/sfykf/src/layouts/default/view.vue new file mode 100644 index 0000000..a288976 --- /dev/null +++ b/developedcode/sfykf/src/layouts/default/view.vue @@ -0,0 +1,267 @@ + + + + diff --git a/developedcode/sfykf/src/main.js b/developedcode/sfykf/src/main.js new file mode 100644 index 0000000..fd4c024 --- /dev/null +++ b/developedcode/sfykf/src/main.js @@ -0,0 +1,27 @@ +/** + * main.js + * + * Bootstraps Vuetify and other plugins then mounts the App` + */ + +// Components +import App from './App.vue' +import _ from "lodash" +import dayjs from "dayjs" +import "./assets/css/base.css" +// Composables +import { createApp } from 'vue' + +// Plugins +import { registerPlugins } from '@/plugins' + +import { ElMessage } from "element-plus"; +import "element-plus/es/components/message/style/css"; + +const app = createApp(App) +app.config.globalProperties.$ElMessage = ElMessage; //挂载到app实例上 +app.config.globalProperties.$_ = _; //挂载到app实例上 +app.config.globalProperties.$dayjs = dayjs; //挂载到app实例上 +registerPlugins(app) + +app.mount('#app') diff --git a/developedcode/sfykf/src/plugins/axios.js b/developedcode/sfykf/src/plugins/axios.js new file mode 100644 index 0000000..1efa49a --- /dev/null +++ b/developedcode/sfykf/src/plugins/axios.js @@ -0,0 +1,45 @@ +import axios from "axios"; +import qs from "qs"; +let config = { + baseURL: "http://114.132.224.5:7001", + // timeout: 60 * 1000, // Timeout + timeout: 60 * 1000, + withCredentials: true, // Check cross-site Access-Control + /* `paramsSerializer` 是一个负责 `params` 序列化的函数 + qs.stringify({ a: ['b', 'c'] }, { arrayFormat: 'indices' }) + // 'a[0]=b&a[1]=c' + qs.stringify({ a: ['b', 'c'] }, { arrayFormat: 'brackets' }) + // 'a[]=b&a[]=c' + qs.stringify({ a: ['b', 'c'] }, { arrayFormat: 'repeat' }) + // 'a=b&a=c' + */ + paramsSerializer: (params) => { + return qs.stringify(params, { arrayFormat: "indices" }); + }, +}; + +const _axios = axios.create(config); + +_axios.interceptors.request.use( + + (config) => { + return config; + }, + (error) => { + return Promise.reject(error); + } +); +_axios.interceptors.response.use( + (response) => { + if (response.status === 200) { + if (!response.data.status) { + } + return Promise.resolve(response.data); + } else { + return Promise.reject(response.data); + } + }, + (error) => { + } +); +export default _axios; diff --git a/developedcode/sfykf/src/plugins/index.js b/developedcode/sfykf/src/plugins/index.js new file mode 100644 index 0000000..23c3677 --- /dev/null +++ b/developedcode/sfykf/src/plugins/index.js @@ -0,0 +1,19 @@ +/** + * plugins/index.js + * + * Automatically included in `./src/main.js` + */ + +// Plugins +import { loadFonts } from './webfontloader' +import vuetify from './vuetify' +import pinia from '../store' +import router from '../router' + +export function registerPlugins (app) { + loadFonts() + app + .use(vuetify) + .use(pinia) + .use(router) +} diff --git a/developedcode/sfykf/src/plugins/vuetify.js b/developedcode/sfykf/src/plugins/vuetify.js new file mode 100644 index 0000000..34c17ab --- /dev/null +++ b/developedcode/sfykf/src/plugins/vuetify.js @@ -0,0 +1,26 @@ +/** + * plugins/vuetify.js + * + * Framework documentation: https://vuetifyjs.com` + */ + +// Styles +import '@mdi/font/css/materialdesignicons.css' +import 'vuetify/dist/vuetify.min.css'; + +// Composables +import { createVuetify } from 'vuetify' + +// https://vuetifyjs.com/en/introduction/why-vuetify/#feature-guides +export default createVuetify({ + theme: { + themes: { + light: { + colors: { + primary: '#1867C0', + secondary: '#5CBBF6', + }, + }, + }, + }, +}) diff --git a/developedcode/sfykf/src/plugins/webfontloader.js b/developedcode/sfykf/src/plugins/webfontloader.js new file mode 100644 index 0000000..92afa8a --- /dev/null +++ b/developedcode/sfykf/src/plugins/webfontloader.js @@ -0,0 +1,15 @@ +/** + * plugins/webfontloader.js + * + * webfontloader documentation: https://github.com/typekit/webfontloader + */ + + export async function loadFonts () { + const webFontLoader = await import(/* webpackChunkName: "webfontloader" */'webfontloader') + + webFontLoader.load({ + google: { + families: ['Roboto:100,300,400,500,700,900&display=swap'], + }, + }) +} diff --git a/developedcode/sfykf/src/router/index.js b/developedcode/sfykf/src/router/index.js new file mode 100644 index 0000000..1e9fa15 --- /dev/null +++ b/developedcode/sfykf/src/router/index.js @@ -0,0 +1,78 @@ +// Composables +import { createRouter, createWebHashHistory } from 'vue-router' + +const routes = [ + { + path: '/', + component: () => import('@/layouts/default/view.vue'), + redirect: "/home", + children: [ + { + path: 'home', + name: 'home', + component: () => import('@/views/home.vue'), + }, + { + path: 'university', + name: 'university', + component: () => import('@/views/university.vue'), + }, + { + path: 'news', + name: 'news', + component: () => import('@/views/news.vue'), + children: [ + { + path: 'newsDetail/:id', + name: 'newsDetail', + component: () => import('@/views/newsDetail.vue'), + }, + ], + }, + { + path: 'education', + name: 'education', + component: () => import('@/views/education.vue'), + children: [ + { + path: 'educationDetail/:id', + name: 'educationDetail', + component: () => import('@/views/educationDetail.vue'), + }, + ], + }, + { + path: 'scientific', + name: 'scientific', + component: () => import('@/views/scientific.vue'), + children: [ + { + path: 'scientificDetail/:id', + name: 'scientificDetail', + component: () => import('@/views/scientificDetail.vue'), + }, + ], + }, + { + path: 'expert', + name: 'expert', + component: () => import('@/views/expert.vue'), + children: [ + { + path: 'expertDetail/:id', + name: 'expertDetail', + component: () => import('@/views/expertDetail.vue'), + }, + ], + }, + ], + }, + { name: '重定向', path: '/:catchAll(.*)', redirect: '/home', } +] + +const router = createRouter({ + history: createWebHashHistory(process.env.BASE_URL), + routes, +}) + +export default router diff --git a/developedcode/sfykf/src/store/app.js b/developedcode/sfykf/src/store/app.js new file mode 100644 index 0000000..7429543 --- /dev/null +++ b/developedcode/sfykf/src/store/app.js @@ -0,0 +1,8 @@ +// Utilities +import { defineStore } from 'pinia' + +export const useAppStore = defineStore('app', { + state: () => ({ + // + }), +}) diff --git a/developedcode/sfykf/src/store/index.js b/developedcode/sfykf/src/store/index.js new file mode 100644 index 0000000..1536252 --- /dev/null +++ b/developedcode/sfykf/src/store/index.js @@ -0,0 +1,4 @@ +// Utilities +import { createPinia } from 'pinia' + +export default createPinia() diff --git a/developedcode/sfykf/src/views/education.vue b/developedcode/sfykf/src/views/education.vue new file mode 100644 index 0000000..9396bbb --- /dev/null +++ b/developedcode/sfykf/src/views/education.vue @@ -0,0 +1,197 @@ + + + + diff --git a/developedcode/sfykf/src/views/educationDetail.vue b/developedcode/sfykf/src/views/educationDetail.vue new file mode 100644 index 0000000..6fc15e8 --- /dev/null +++ b/developedcode/sfykf/src/views/educationDetail.vue @@ -0,0 +1,122 @@ + + + + diff --git a/developedcode/sfykf/src/views/expert.vue b/developedcode/sfykf/src/views/expert.vue new file mode 100644 index 0000000..127004b --- /dev/null +++ b/developedcode/sfykf/src/views/expert.vue @@ -0,0 +1,226 @@ + + + + diff --git a/developedcode/sfykf/src/views/expertDetail.vue b/developedcode/sfykf/src/views/expertDetail.vue new file mode 100644 index 0000000..c014920 --- /dev/null +++ b/developedcode/sfykf/src/views/expertDetail.vue @@ -0,0 +1,163 @@ + + + + diff --git a/developedcode/sfykf/src/views/home.vue b/developedcode/sfykf/src/views/home.vue new file mode 100644 index 0000000..55379dd --- /dev/null +++ b/developedcode/sfykf/src/views/home.vue @@ -0,0 +1,383 @@ + + + + diff --git a/developedcode/sfykf/src/views/news.vue b/developedcode/sfykf/src/views/news.vue new file mode 100644 index 0000000..f5dbb12 --- /dev/null +++ b/developedcode/sfykf/src/views/news.vue @@ -0,0 +1,201 @@ + + + + diff --git a/developedcode/sfykf/src/views/newsDetail.vue b/developedcode/sfykf/src/views/newsDetail.vue new file mode 100644 index 0000000..9d3efc0 --- /dev/null +++ b/developedcode/sfykf/src/views/newsDetail.vue @@ -0,0 +1,116 @@ + + + + diff --git a/developedcode/sfykf/src/views/scientific.vue b/developedcode/sfykf/src/views/scientific.vue new file mode 100644 index 0000000..dd93ac7 --- /dev/null +++ b/developedcode/sfykf/src/views/scientific.vue @@ -0,0 +1,201 @@ + + + + diff --git a/developedcode/sfykf/src/views/scientificDetail.vue b/developedcode/sfykf/src/views/scientificDetail.vue new file mode 100644 index 0000000..a693e63 --- /dev/null +++ b/developedcode/sfykf/src/views/scientificDetail.vue @@ -0,0 +1,116 @@ + + + + diff --git a/developedcode/sfykf/src/views/university.vue b/developedcode/sfykf/src/views/university.vue new file mode 100644 index 0000000..7a3e9b7 --- /dev/null +++ b/developedcode/sfykf/src/views/university.vue @@ -0,0 +1,268 @@ + + + + diff --git a/developedcode/sfykf/vite.config.js b/developedcode/sfykf/vite.config.js new file mode 100644 index 0000000..30a05ee --- /dev/null +++ b/developedcode/sfykf/vite.config.js @@ -0,0 +1,86 @@ +// Plugins +import vue from '@vitejs/plugin-vue' +import vuetify, { transformAssetUrls } from 'vite-plugin-vuetify' +import AutoImport from 'unplugin-auto-import/vite' +import Components from 'unplugin-vue-components/vite' +import { ElementPlusResolver } from 'unplugin-vue-components/resolvers' + +// Utilities +import { defineConfig } from 'vite' +import { fileURLToPath, URL } from 'node:url' + +// https://vitejs.dev/config/ +export default defineConfig({ + build: { + rollupOptions: { + output: { + chunkFileNames: 'js/[name]-[hash].js', // 引入文件名的名称 + entryFileNames: 'js/[name]-[hash].js', // 包的入口文件名称 + // assetFileNames: '[ext]/[name].[ext]', // 资源文件像 字体，图片等 + // chunkFileNames: 'js/[name]-[hash].js', // 引入文件名的名称 + // entryFileNames: 'js/[name]-[hash].js', // 包的入口文件名称 + // assetFileNames: '[ext]/[name]-[hash].[ext]', // 资源文件像 字体，图片等 + manualChunks(id) { + // if (id.includes("node_modules")) { + // return "vendor" //代码分割为第三方包 + // } + // if (id.includes("src")) { + // return "views" //代码分割为业务视图 + // } + if (id.includes("sfykf")) { + return "sfykf" //代码分割为common页面登录页 + } + } + } + }, + // lib: { + // entry: resolve(__dirname, './src/main.js'), // 设置入口文件【这里也可以直接引用插件.vue根组件】 + // name: 'helloword', // 起个名字，安装、引入用 + // fileName: (format) => `helloword.${format}.js`, // 打包后的文件名【可以自定义】 + // formats: ['umd'] + // }, + cssCodeSplit: false, + // jsCodeSplit: false, + chunkSizeWarningLimit: 512 + }, + plugins: [ + vue({ + template: { transformAssetUrls } + }), + // https://github.com/vuetifyjs/vuetify-loader/tree/next/packages/vite-plugin + vuetify({ + autoImport: true, + }), + AutoImport({ + resolvers: [ElementPlusResolver()], + }), + Components({ + resolvers: [ElementPlusResolver()], + }), + ], + define: { 'process.env': {} }, + resolve: { + alias: { + '@': fileURLToPath(new URL('./src', import.meta.url)) + }, + extensions: [ + '.js', + '.json', + '.jsx', + '.mjs', + '.ts', + '.tsx', + '.vue', + ], + }, + server: { + port: 3000, + // proxy: { + // "/biobank": { + // target: "http://114.132.224.5:7001/biobank", + // changeOrigin: true, + // rewrite: (path) => path.replace(/^\/biobank/, ""), + // }, + // }, + }, +}) diff --git a/developedcode/vediocheck/config.txt b/developedcode/vediocheck/config.txt new file mode 100644 index 0000000..5cc4f85 --- /dev/null +++ b/developedcode/vediocheck/config.txt @@ -0,0 +1,10 @@ +rtsp1 rtsp://admin:xby123456@42.235.239.240:8008/Streaming/Channels/101 +rtsp2 rtsp://admin:xby123456@192.168.1.64:554/Streaming/Channels/101 +tcpPort1 8965 +tcpPort2 8966 +udpPort1 8967 +udpPort2 8968 +yasuolv1 90 +yasuolv2 90 +confidence1 0.8 +confidence2 0.8 \ No newline at end of file diff --git a/developedcode/vediocheck/requirements.txt b/developedcode/vediocheck/requirements.txt new file mode 100644 index 0000000..21cfef6 Binary files /dev/null and b/developedcode/vediocheck/requirements.txt differ diff --git a/developedcode/vediocheck/vedioclient1.py b/developedcode/vediocheck/vedioclient1.py new file mode 100644 index 0000000..f9b7d0d --- /dev/null +++ b/developedcode/vediocheck/vedioclient1.py @@ -0,0 +1,80 @@ +# 导入 socket、sys 模块 +import socket +import numpy as np +import cv2 +import time + + +def read_and_process_txt(file_path): + processed_data = [] + with open(file_path, "r") as file: + for line in file: + # 去除每行末尾的换行符 + line = line.strip() + # 按空格分割每行 + items = line.split() + # 这里简单地将分割后的数据作为一个列表加入到结果列表中 + # 实际应用中，你可能需要根据具体数据结构进行更复杂的处理 + processed_data.append(items) + + # 如果你确实需要将这些数据转换为JSON，可能需要构造一个合适的结构 + # 例如，如果你的文本文件每行代表一个对象的属性，你可能需要构建字典 + # 下面是一个假设的例子，将每行转换为字典并尝试转为JSON字符串 + json_data = {items[0]: items[1] for items in processed_data} + try: + return json_data + except TypeError as e: + print(f"Error converting to JSON: {e}") + + +config = read_and_process_txt("./config.txt") +print(config) +# 创建 socket 对象 +socketlocal = socket.socket(socket.AF_INET, socket.SOCK_STREAM) + +# 获取本地主机名 +host = "127.0.0.1" +# host = "42.235.239.240" +# 设置端口号 +port = int(config["tcpPort1"]) +# port = 8015 + +# 连接服务，指定主机和端口 +socketlocal.connect((host, port)) + +prev_frame_time = 0 +new_frame_time = 0 +count = 0 +countTotal = 0 +while True: + # 接收数据: + data = socketlocal.recv(1219112 * 2) + # print("recv data",data) + # 解码 + + nparr = np.frombuffer(data, np.uint8) + # 解码成图片numpy + img_decode = cv2.imdecode(nparr, cv2.IMREAD_COLOR) + # 帧率计算 + new_frame_time = time.time() + if new_frame_time - prev_frame_time < 1: + count += 1 + else: + countTotal = count + count = 0 + prev_frame_time = new_frame_time + if count != 0: + countTotal = max([countTotal, count]) + cv2.putText( + img_decode, + "FPS:{}".format(countTotal), + (30, 45), + cv2.FONT_HERSHEY_SIMPLEX, + 0.5, + (0, 0, 255), + 1, + ) + if img_decode is not None and img_decode.shape[0] > 0 and img_decode.shape[1] > 0: + cv2.imshow("result1", img_decode) + if cv2.waitKey(1) & 0xFF == ord("q"): + break diff --git a/developedcode/vediocheck/vedioclient2.py b/developedcode/vediocheck/vedioclient2.py new file mode 100644 index 0000000..c19679f --- /dev/null +++ b/developedcode/vediocheck/vedioclient2.py @@ -0,0 +1,77 @@ +# 导入 socket、sys 模块 +import socket +import numpy as np +import cv2 +import time + + +def read_and_process_txt(file_path): + processed_data = [] + with open(file_path, "r") as file: + for line in file: + # 去除每行末尾的换行符 + line = line.strip() + # 按空格分割每行 + items = line.split() + # 这里简单地将分割后的数据作为一个列表加入到结果列表中 + # 实际应用中，你可能需要根据具体数据结构进行更复杂的处理 + processed_data.append(items) + + # 如果你确实需要将这些数据转换为JSON，可能需要构造一个合适的结构 + # 例如，如果你的文本文件每行代表一个对象的属性，你可能需要构建字典 + # 下面是一个假设的例子，将每行转换为字典并尝试转为JSON字符串 + json_data = {items[0]: items[1] for items in processed_data} + try: + return json_data + except TypeError as e: + print(f"Error converting to JSON: {e}") + + +config = read_and_process_txt("./config.txt") +# 创建 socket 对象 +socketlocal = socket.socket(socket.AF_INET, socket.SOCK_STREAM) + +# 获取本地主机名 +host = "127.0.0.1" + +# 设置端口号 +port = int(config["tcpPort2"]) + +# 连接服务，指定主机和端口 +socketlocal.connect((host, port)) + +prev_frame_time = 0 +new_frame_time = 0 +count = 0 +countTotal = 0 +while True: + # 接收数据: + data = socketlocal.recv(1219112 * 2) + # print("recv data",data) + # 解码 + nparr = np.frombuffer(data, np.uint8) + # 解码成图片numpy + img_decode = cv2.imdecode(nparr, cv2.IMREAD_COLOR) + # 帧率计算 + new_frame_time = time.time() + if new_frame_time - prev_frame_time < 1: + count += 1 + else: + countTotal = count + count = 0 + prev_frame_time = new_frame_time + if count != 0: + countTotal = max([countTotal, count]) + cv2.putText( + img_decode, + "FPS:{}".format(countTotal), + (30, 45), + cv2.FONT_HERSHEY_SIMPLEX, + 0.5, + (0, 0, 255), + 1, + ) + if img_decode is not None and img_decode.shape[0] > 0 and img_decode.shape[1] > 0: + cv2.imshow("result2", img_decode) + if cv2.waitKey(1) & 0xFF == ord("q"): + break diff --git a/developedcode/vediocheck/vedioserve1.py b/developedcode/vediocheck/vedioserve1.py new file mode 100644 index 0000000..4baee45 --- /dev/null +++ b/developedcode/vediocheck/vedioserve1.py @@ -0,0 +1,208 @@ +import socket +import threading +from ultralytics import YOLO +import ffmpegcv +import cv2 +import time +import ctypes +import json + +# 加载YOLOv8模型 +model = YOLO("yolov8n.pt") # yolov8i默认目标检测（i= n,m,l,x）尾缀有-pose,-seg +print("模型加载成功") +isconnected = False +data_thread = None +count = 1 +# 1.创建一个udp套接字 +udp_socket = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) + + +# 假设你的文本文件每行都是由空格分隔的数据项，且你想将这些数据以某种结构处理（这里仅作演示，实际情况可能需要调整） +def read_and_process_txt(file_path): + processed_data = [] + with open(file_path, "r") as file: + for line in file: + # 去除每行末尾的换行符 + line = line.strip() + # 按空格分割每行 + items = line.split() + # 这里简单地将分割后的数据作为一个列表加入到结果列表中 + # 实际应用中，你可能需要根据具体数据结构进行更复杂的处理 + processed_data.append(items) + + # 如果你确实需要将这些数据转换为JSON，可能需要构造一个合适的结构 + # 例如，如果你的文本文件每行代表一个对象的属性，你可能需要构建字典 + # 下面是一个假设的例子，将每行转换为字典并尝试转为JSON字符串 + json_data = {items[0]: items[1] for items in processed_data} + try: + return json_data + except TypeError as e: + print(f"Error converting to JSON: {e}") + + +config = read_and_process_txt("./config.txt") + + +def stop_thread(thread): + """尝试强制停止一个线程""" + if not thread.is_alive(): + return + tid = ctypes.c_long(thread.ident) + res = ctypes.pythonapi.PyThreadState_SetAsyncExc(tid, ctypes.py_object(SystemExit)) + if res == 0: + raise ValueError("线程可能已经终止") + elif res > 1: + # 如果返回值大于1，说明有多个线程ID与给定ID相同，需要清理 + ctypes.pythonapi.PyThreadState_SetAsyncExc(tid, None) + raise SystemError("未知错误") + + +# 定义发送数据的函数 +def send_data(client_socket, video_path1, yasuo=90, confident=0.8, udpPort=8967): + global count + global udp_socket + print("第" + str(count) + "次连接" + " " + video_path1) + count += 1 + global isconnected + cap = ffmpegcv.ReadLiveLast(ffmpegcv.VideoCaptureStreamRT, video_path1) # 不缓存 + print("第" + str(count - 1) + "次连接" + " " + video_path1 + "成功") + isconnected = True + frame_rate_divider = 8 # 设置帧率除数 + frame_count = 0 # 初始化帧计数器 + while True: + try: + ret, frame = cap.read() + if ret: + frameCopy = frame.copy() + # 在该帧上运行YOLOv8推理 + if frame_count % frame_rate_divider == 0: + # 获取处理结果 + texts = [] + results = model(frame) + data = results[0].boxes.data + # 解析检测结果 + for i in range(data.shape[0]): + label_id = int(data[i, 5]) + label = results[0].names[label_id] + confidence = float(data[i, 4]) + bbox = data[i, :4] + texts.append( + { + "label": label, + "confidence": confidence, + "bbox": "({:.2f}, {:.2f}, {:.2f}, {:.2f})".format( + bbox[0], bbox[1], bbox[2], bbox[3] + ), + } + ) + frame_count += 1 # 更新帧计数器 + personList = [] + # 处理结果转换为图片 + + for text in texts: + if text["label"] == "person" and text["confidence"] > confident: + personList.append(text) + bbox = eval(text["bbox"]) + cv2.rectangle( + frameCopy, + (int(bbox[0]), int(bbox[1])), + (int(bbox[2]), int(bbox[3])), + (255, 0, 0), + 2, + ) + cv2.putText( + frameCopy, + f"person:{'%.2f' % text['confidence']}", + (int(bbox[0]) + 5, int(bbox[1]) + 25), + cv2.FONT_HERSHEY_SIMPLEX, + 1, + (255, 0, 0), + 2, + ) + if len(personList) != 0: + message_bytes = json.dumps(personList).encode("utf-8") + udp_socket.sendto(message_bytes, ("127.0.0.1", udpPort)) + _, img_buffer = cv2.imencode( + ".jpg", frameCopy, [cv2.IMWRITE_JPEG_QUALITY, yasuo] + ) + client_socket.sendall(img_buffer) + # 如果按下'q'则中断循环 + if cv2.waitKey(1) & 0xFF == ord("q"): + break + else: + isconnected = False + except BrokenPipeError: + # 当客户端断开连接时，发送数据会抛出 BrokenPipeError + print("Client disconnected. Stopping data sending.") + break + except Exception as e: + print(f"An error occurred while sending data: {e}") + break + + +def continue_start(client_socket, video_path1, yasuo, confident, udpPort): + while True: + time.sleep(5) + global isconnected + global data_thread + global count + if isconnected == False: + print("已断开正在尝试第" + str(count) + "次连接" + " " + video_path1) + stop_thread(data_thread) + data_thread = threading.Thread( + target=send_data, + args=(client_socket, video_path1, yasuo, confident, udpPort), + daemon=True, + ) + data_thread.start() + + +def main(video_path1, port=8965, yasuo=90, confident=0.8, udpPort=8967): + global data_thread + # host = "192.168.1.194" # 服务器 IP 地址，这里使用 localhost + host = "127.0.0.1" # 服务器 IP 地址，这里使用 localhost + # 创建 TCP 服务器套接字 + server_socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM) + # 绑定服务器地址和端口 + server_socket.bind((host, port)) + # 开始监听连接，最大连接队列长度为 5 + server_socket.listen(5) + print(f"Server listening on {host}:{port}.") + + # 接受客户端连接请求 + while True: + client_socket, client_addr = server_socket.accept() + print(f"Accepted connection from {client_addr[0]}:{client_addr[1]}.") + # 创建并启动发送数据的线程 + data_thread = threading.Thread( + target=send_data, + args=(client_socket, video_path1, yasuo, confident, udpPort), + daemon=True, + ) + data_thread.start() + # 在这里可以处理其他客户端逻辑，如接收客户端数据等 + # ... + time.sleep(1) + data_thread2 = threading.Thread( + target=continue_start, + args=(client_socket, video_path1, yasuo, confident, udpPort), + ) + data_thread2.start() + # 如果需要在某个条件满足时关闭连接，可以在此处添加相应代码 + # ... + # 关闭客户端连接 + # client_socket.close() + # print(f"Connection from {client_addr[0]}:{client_addr[1]} conneted.") + + +if __name__ == "__main__": + # rtsp流 + video_path = config["rtsp1"] + # 本地启动端口 + port = int(config["tcpPort1"]) + # 压缩率 + yasuo = int(config["yasuolv1"]) + print(config["confidence1"]) + confident = float(config["confidence1"]) + udpPort = int(config["udpPort1"]) + main(video_path, port, yasuo, confident, udpPort) diff --git a/developedcode/vediocheck/vedioserve2.py b/developedcode/vediocheck/vedioserve2.py new file mode 100644 index 0000000..fda92fc --- /dev/null +++ b/developedcode/vediocheck/vedioserve2.py @@ -0,0 +1,207 @@ +import socket +import threading +from ultralytics import YOLO +import ffmpegcv +import cv2 +import time +import ctypes +import json + +# 加载YOLOv8模型 +model = YOLO("yolov8n.pt") # yolov8i默认目标检测（i= n,m,l,x）尾缀有-pose,-seg +print("模型加载成功") +isconnected = False +data_thread = None +count = 1 +# 1.创建一个udp套接字 +udp_socket = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) + + +# 假设你的文本文件每行都是由空格分隔的数据项，且你想将这些数据以某种结构处理（这里仅作演示，实际情况可能需要调整） +def read_and_process_txt(file_path): + processed_data = [] + with open(file_path, "r") as file: + for line in file: + # 去除每行末尾的换行符 + line = line.strip() + # 按空格分割每行 + items = line.split() + # 这里简单地将分割后的数据作为一个列表加入到结果列表中 + # 实际应用中，你可能需要根据具体数据结构进行更复杂的处理 + processed_data.append(items) + + # 如果你确实需要将这些数据转换为JSON，可能需要构造一个合适的结构 + # 例如，如果你的文本文件每行代表一个对象的属性，你可能需要构建字典 + # 下面是一个假设的例子，将每行转换为字典并尝试转为JSON字符串 + json_data = {items[0]: items[1] for items in processed_data} + try: + return json_data + except TypeError as e: + print(f"Error converting to JSON: {e}") + + +config = read_and_process_txt("./config.txt") + + +def stop_thread(thread): + """尝试强制停止一个线程""" + if not thread.is_alive(): + return + tid = ctypes.c_long(thread.ident) + res = ctypes.pythonapi.PyThreadState_SetAsyncExc(tid, ctypes.py_object(SystemExit)) + if res == 0: + raise ValueError("线程可能已经终止") + elif res > 1: + # 如果返回值大于1，说明有多个线程ID与给定ID相同，需要清理 + ctypes.pythonapi.PyThreadState_SetAsyncExc(tid, None) + raise SystemError("未知错误") + + +# 定义发送数据的函数 +def send_data(client_socket, video_path1, yasuo=90, confident=0.8, udpPort=8967): + global count + global udp_socket + print("第" + str(count) + "次连接" + " " + video_path1) + count += 1 + global isconnected + cap = ffmpegcv.ReadLiveLast(ffmpegcv.VideoCaptureStreamRT, video_path1) # 不缓存 + print("第" + str(count - 1) + "次连接" + " " + video_path1 + "成功") + isconnected = True + frame_rate_divider = 8 # 设置帧率除数 + frame_count = 0 # 初始化帧计数器 + while True: + try: + ret, frame = cap.read() + if ret: + frameCopy = frame.copy() + # 在该帧上运行YOLOv8推理 + if frame_count % frame_rate_divider == 0: + # 获取处理结果 + texts = [] + results = model(frame) + data = results[0].boxes.data + # 解析检测结果 + for i in range(data.shape[0]): + label_id = int(data[i, 5]) + label = results[0].names[label_id] + confidence = float(data[i, 4]) + bbox = data[i, :4] + texts.append( + { + "label": label, + "confidence": confidence, + "bbox": "({:.2f}, {:.2f}, {:.2f}, {:.2f})".format( + bbox[0], bbox[1], bbox[2], bbox[3] + ), + } + ) + frame_count += 1 # 更新帧计数器 + personList = [] + # 处理结果转换为图片 + + for text in texts: + if text["label"] == "person" and text["confidence"] > confident: + personList.append(text) + bbox = eval(text["bbox"]) + cv2.rectangle( + frameCopy, + (int(bbox[0]), int(bbox[1])), + (int(bbox[2]), int(bbox[3])), + (255, 0, 0), + 2, + ) + cv2.putText( + frameCopy, + f"person:{'%.2f' % text['confidence']}", + (int(bbox[0]) + 5, int(bbox[1]) + 25), + cv2.FONT_HERSHEY_SIMPLEX, + 1, + (255, 0, 0), + 2, + ) + if len(personList) != 0: + message_bytes = json.dumps(personList).encode("utf-8") + udp_socket.sendto(message_bytes, ("127.0.0.1", udpPort)) + _, img_buffer = cv2.imencode( + ".jpg", frameCopy, [cv2.IMWRITE_JPEG_QUALITY, yasuo] + ) + client_socket.sendall(img_buffer) + # 如果按下'q'则中断循环 + if cv2.waitKey(1) & 0xFF == ord("q"): + break + else: + isconnected = False + except BrokenPipeError: + # 当客户端断开连接时，发送数据会抛出 BrokenPipeError + print("Client disconnected. Stopping data sending.") + break + except Exception as e: + print(f"An error occurred while sending data: {e}") + break + + +def continue_start(client_socket, video_path1, yasuo, confident, udpPort): + while True: + time.sleep(5) + global isconnected + global data_thread + global count + if isconnected == False: + print("已断开正在尝试第" + str(count) + "次连接" + " " + video_path1) + stop_thread(data_thread) + data_thread = threading.Thread( + target=send_data, + args=(client_socket, video_path1, yasuo, confident, udpPort), + daemon=True, + ) + data_thread.start() + + +def main(video_path1, port=8965, yasuo=90, confident=0.8, udpPort=8967): + global data_thread + # host = "192.168.1.194" # 服务器 IP 地址，这里使用 localhost + host = "127.0.0.1" # 服务器 IP 地址，这里使用 localhost + # 创建 TCP 服务器套接字 + server_socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM) + # 绑定服务器地址和端口 + server_socket.bind((host, port)) + # 开始监听连接，最大连接队列长度为 5 + server_socket.listen(5) + print(f"Server listening on {host}:{port}.") + + # 接受客户端连接请求 + while True: + client_socket, client_addr = server_socket.accept() + print(f"Accepted connection from {client_addr[0]}:{client_addr[1]}.") + # 创建并启动发送数据的线程 + data_thread = threading.Thread( + target=send_data, + args=(client_socket, video_path1, yasuo, confident, udpPort), + daemon=True, + ) + data_thread.start() + # 在这里可以处理其他客户端逻辑，如接收客户端数据等 + # ... + time.sleep(1) + data_thread2 = threading.Thread( + target=continue_start, + args=(client_socket, video_path1, yasuo, confident, udpPort), + ) + data_thread2.start() + # 如果需要在某个条件满足时关闭连接，可以在此处添加相应代码 + # ... + # 关闭客户端连接 + # client_socket.close() + # print(f"Connection from {client_addr[0]}:{client_addr[1]} conneted.") + + +if __name__ == "__main__": + # rtsp流 + video_path = config["rtsp2"] + # 本地启动端口 + port = int(config["tcpPort2"]) + # 压缩率 + yasuo = int(config["yasuolv2"]) + confident = float(config["confidence2"]) + udpPort = int(config["udpPort2"]) + main(video_path, port, yasuo, confident, udpPort) diff --git a/developedcode/vediocheck/yolov8n.pt b/developedcode/vediocheck/yolov8n.pt new file mode 100644 index 0000000..d61ef50 Binary files /dev/null and b/developedcode/vediocheck/yolov8n.pt differ diff --git a/developedcode/vediocheck_udp/base.txt b/developedcode/vediocheck_udp/base.txt new file mode 100644 index 0000000..c885a0a --- /dev/null +++ b/developedcode/vediocheck_udp/base.txt @@ -0,0 +1,8 @@ +rtsp1 rtsp://admin:xby123456@42.235.239.240:8008/Streaming/Channels/102 +rtsp2 rtsp://admin:xby123456@42.235.239.240:8008/Streaming/Channels/202 +udpPngPort1 10001 +notPng1 0 +udpLabelPort1 10002 +udpPngPort2 10003 +notPng2 0 +udpLabelPort2 10004 diff --git a/developedcode/vediocheck_udp/config.txt b/developedcode/vediocheck_udp/config.txt new file mode 100644 index 0000000..42183ae --- /dev/null +++ b/developedcode/vediocheck_udp/config.txt @@ -0,0 +1,4 @@ +yasuolv1 60 +yasuolv2 35 +confidence1 0.8 +confidence2 0.8 \ No newline at end of file diff --git a/developedcode/vediocheck_udp/requirements.txt b/developedcode/vediocheck_udp/requirements.txt new file mode 100644 index 0000000..21cfef6 Binary files /dev/null and b/developedcode/vediocheck_udp/requirements.txt differ diff --git a/developedcode/vediocheck_udp/vedioclient1.py b/developedcode/vediocheck_udp/vedioclient1.py new file mode 100644 index 0000000..eadc767 --- /dev/null +++ b/developedcode/vediocheck_udp/vedioclient1.py @@ -0,0 +1,80 @@ +# 导入 socket、sys 模块 +import socket +import numpy as np +import cv2 +import time + + +def read_and_process_txt(file_path): + processed_data = [] + with open(file_path, "r") as file: + for line in file: + # 去除每行末尾的换行符 + line = line.strip() + # 按空格分割每行 + items = line.split() + # 这里简单地将分割后的数据作为一个列表加入到结果列表中 + # 实际应用中，你可能需要根据具体数据结构进行更复杂的处理 + processed_data.append(items) + + # 如果你确实需要将这些数据转换为JSON，可能需要构造一个合适的结构 + # 例如，如果你的文本文件每行代表一个对象的属性，你可能需要构建字典 + # 下面是一个假设的例子，将每行转换为字典并尝试转为JSON字符串 + json_data = {items[0]: items[1] for items in processed_data} + try: + return json_data + except TypeError as e: + print(f"Error converting to JSON: {e}") + + +baseConfig = read_and_process_txt("./base.txt") +print(baseConfig) +# 创建 socket 对象 +socketlocal = socket.socket(socket.AF_INET, socket.SOCK_STREAM) + +# 设置本地主机名 +host = "127.0.0.1" +# 设置端口号 +port = int(baseConfig["udpPngPort1"]) + +# 1.创建一个udp套接字 +udp_socket = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) +local_addr = (host, port) +udp_socket.bind(local_addr) + +prev_frame_time = 0 +new_frame_time = 0 +count = 0 +countTotal = 0 +while True: + # 接收数据: + data = udp_socket.recv(1219112 * 2) + # print("recv data",data) + # 解码 + + nparr = np.frombuffer(data, np.uint8) + # 解码成图片numpy + img_decode = cv2.imdecode(nparr, cv2.IMREAD_COLOR) + # 帧率计算 + new_frame_time = time.time() + if new_frame_time - prev_frame_time < 1: + count += 1 + else: + countTotal = count + count = 0 + prev_frame_time = new_frame_time + if count != 0: + countTotal = max([countTotal, count]) + cv2.putText( + img_decode, + "FPS:{}".format(countTotal), + (30, 45), + cv2.FONT_HERSHEY_SIMPLEX, + 0.5, + (0, 0, 255), + 1, + ) + if img_decode is not None and img_decode.shape[0] > 0 and img_decode.shape[1] > 0: + cv2.imshow("result1", img_decode) + if cv2.waitKey(1) & 0xFF == ord("q"): + break diff --git a/developedcode/vediocheck_udp/vedioclient2.py b/developedcode/vediocheck_udp/vedioclient2.py new file mode 100644 index 0000000..e96dcfc --- /dev/null +++ b/developedcode/vediocheck_udp/vedioclient2.py @@ -0,0 +1,80 @@ +# 导入 socket、sys 模块 +import socket +import numpy as np +import cv2 +import time + + +def read_and_process_txt(file_path): + processed_data = [] + with open(file_path, "r") as file: + for line in file: + # 去除每行末尾的换行符 + line = line.strip() + # 按空格分割每行 + items = line.split() + # 这里简单地将分割后的数据作为一个列表加入到结果列表中 + # 实际应用中，你可能需要根据具体数据结构进行更复杂的处理 + processed_data.append(items) + + # 如果你确实需要将这些数据转换为JSON，可能需要构造一个合适的结构 + # 例如，如果你的文本文件每行代表一个对象的属性，你可能需要构建字典 + # 下面是一个假设的例子，将每行转换为字典并尝试转为JSON字符串 + json_data = {items[0]: items[1] for items in processed_data} + try: + return json_data + except TypeError as e: + print(f"Error converting to JSON: {e}") + + +baseConfig = read_and_process_txt("./base.txt") +print(baseConfig) +# 创建 socket 对象 +socketlocal = socket.socket(socket.AF_INET, socket.SOCK_STREAM) + +# 设置本地主机名 +host = "127.0.0.1" +# 设置端口号 +port = int(baseConfig["udpPngPort2"]) + +# 1.创建一个udp套接字 +udp_socket = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) +local_addr = (host, port) +udp_socket.bind(local_addr) + +prev_frame_time = 0 +new_frame_time = 0 +count = 0 +countTotal = 0 +while True: + # 接收数据: + data = udp_socket.recv(1219112 * 2) + # print("recv data",data) + # 解码 + + nparr = np.frombuffer(data, np.uint8) + # 解码成图片numpy + img_decode = cv2.imdecode(nparr, cv2.IMREAD_COLOR) + # 帧率计算 + new_frame_time = time.time() + if new_frame_time - prev_frame_time < 1: + count += 1 + else: + countTotal = count + count = 0 + prev_frame_time = new_frame_time + if count != 0: + countTotal = max([countTotal, count]) + cv2.putText( + img_decode, + "FPS:{}".format(countTotal), + (30, 45), + cv2.FONT_HERSHEY_SIMPLEX, + 0.5, + (0, 0, 255), + 1, + ) + if img_decode is not None and img_decode.shape[0] > 0 and img_decode.shape[1] > 0: + cv2.imshow("result1", img_decode) + if cv2.waitKey(1) & 0xFF == ord("q"): + break diff --git a/developedcode/vediocheck_udp/vedioserve1.py b/developedcode/vediocheck_udp/vedioserve1.py new file mode 100644 index 0000000..90846a4 --- /dev/null +++ b/developedcode/vediocheck_udp/vedioserve1.py @@ -0,0 +1,195 @@ +import socket +import threading +from ultralytics import YOLO +import ffmpegcv +import cv2 +import time +import ctypes +import json + +# 加载YOLOv8模型 +model = YOLO("yolov8n.pt") # yolov8i默认目标检测（i= n,m,l,x）尾缀有-pose,-seg +print("模型加载成功") +isconnected = False +data_thread = None +count = 1 +# 1.创建一个udp套接字 +udp_socket = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) + + +# 假设你的文本文件每行都是由空格分隔的数据项，且你想将这些数据以某种结构处理（这里仅作演示，实际情况可能需要调整） +def read_and_process_txt(file_path): + processed_data = [] + with open(file_path, "r") as file: + for line in file: + # 去除每行末尾的换行符 + line = line.strip() + # 按空格分割每行 + items = line.split() + # 这里简单地将分割后的数据作为一个列表加入到结果列表中 + # 实际应用中，你可能需要根据具体数据结构进行更复杂的处理 + processed_data.append(items) + + # 如果你确实需要将这些数据转换为JSON，可能需要构造一个合适的结构 + # 例如，如果你的文本文件每行代表一个对象的属性，你可能需要构建字典 + # 下面是一个假设的例子，将每行转换为字典并尝试转为JSON字符串 + json_data = {items[0]: items[1] for items in processed_data} + try: + return json_data + except TypeError as e: + print(f"Error converting to JSON: {e}") + + +baseConfig = read_and_process_txt("./base.txt") +config = read_and_process_txt("./config.txt") +notPng = int(baseConfig["notPng1"]) + + +def stop_thread(thread): + """尝试强制停止一个线程""" + if not thread.is_alive(): + return + tid = ctypes.c_long(thread.ident) + res = ctypes.pythonapi.PyThreadState_SetAsyncExc(tid, ctypes.py_object(SystemExit)) + if res == 0: + raise ValueError("线程可能已经终止") + elif res > 1: + # 如果返回值大于1，说明有多个线程ID与给定ID相同，需要清理 + ctypes.pythonapi.PyThreadState_SetAsyncExc(tid, None) + raise SystemError("未知错误") + + +# 定义发送数据的函数 +def send_data(video_path, udpPngPort, udpLabelPort, yasuo, confident): + global count + global udp_socket + global notPng + print("第" + str(count) + "次连接" + " " + video_path) + count += 1 + global isconnected + cap = ffmpegcv.ReadLiveLast(ffmpegcv.VideoCaptureStreamRT, video_path) # 不缓存 + print("第" + str(count - 1) + "次连接" + " " + video_path + "成功") + isconnected = True + frame_rate_divider = 3 # 设置帧率除数 + frame_count = 0 # 初始化帧计数器 + while True: + try: + ret, frame = cap.read() + if ret: + frameCopy = frame.copy() + # 在该帧上运行YOLOv8推理 + if frame_count % frame_rate_divider == 0: + # 获取处理结果 + texts = [] + results = model(frame) + data = results[0].boxes.data + # 解析检测结果 + for i in range(data.shape[0]): + label_id = int(data[i, 5]) + label = results[0].names[label_id] + confidence = float(data[i, 4]) + bbox = data[i, :4] + texts.append( + { + "label": label, + "confidence": confidence, + "bbox": "({:.2f}, {:.2f}, {:.2f}, {:.2f})".format( + bbox[0], bbox[1], bbox[2], bbox[3] + ), + } + ) + frame_count += 1 # 更新帧计数器 + personList = [] + # 处理结果转换为图片 + for text in texts: + if text["label"] == "person" and text["confidence"] > confident: + personList.append(text) + bbox = eval(text["bbox"]) + cv2.rectangle( + frameCopy, + (int(bbox[0]), int(bbox[1])), + (int(bbox[2]), int(bbox[3])), + (0, 0, 255), + 2, + ) + # cv2.putText( + # frameCopy, + # f"person:{'%.2f' % text['confidence']}", + # (int(bbox[0]) + 5, int(bbox[1]) + 25), + # cv2.FONT_HERSHEY_SIMPLEX, + # 1, + # (255, 0, 0), + # 2, + # ) + if len(personList) != 0: + message_bytes = json.dumps(personList).encode("utf-8") + udp_socket.sendto(message_bytes, ("127.0.0.1", udpLabelPort)) + _, img_buffer = cv2.imencode( + ".jpg", frameCopy, [cv2.IMWRITE_JPEG_QUALITY, yasuo] + ) + if notPng == 0: + print(7777, img_buffer.size) + udp_socket.sendto(img_buffer, ("127.0.0.1", udpPngPort)) + # 如果按下'q'则中断循环 + if cv2.waitKey(1) & 0xFF == ord("q"): + break + else: + isconnected = False + except BrokenPipeError: + # 当客户端断开连接时，发送数据会抛出 BrokenPipeError + print("Client disconnected. Stopping data sending.") + break + except Exception as e: + print(f"An error occurred while sending data: {e}") + break + + +def continue_start(video_path, udpPngPort, udpLabelPort, yasuo, confident): + while True: + time.sleep(5) + global isconnected + global data_thread + global count + if isconnected == False: + print("已断开正在尝试第" + str(count) + "次连接" + " " + video_path) + stop_thread(data_thread) + data_thread = threading.Thread( + target=send_data, + args=(video_path, udpPngPort, udpLabelPort, yasuo, confident), + daemon=True, + ) + data_thread.start() + + +def main(video_path, udpPngPort, udpLabelPort, yasuo, confident): + global data_thread + # 创建并启动发送数据的线程 + data_thread = threading.Thread( + target=send_data, + args=(video_path, udpPngPort, udpLabelPort, yasuo, confident), + daemon=True, + ) + data_thread.start() + # 在这里可以处理其他客户端逻辑，如接收客户端数据等 + # ... + time.sleep(1) + data_thread2 = threading.Thread( + target=continue_start, + args=(video_path, udpPngPort, udpLabelPort, yasuo, confident), + ) + data_thread2.start() + + +if __name__ == "__main__": + # rtsp流 + video_path = baseConfig["rtsp1"] + # 图片传输端口udpPngPort + udpPngPort = int(baseConfig["udpPngPort1"]) + # 标签传输端口udpPngPort + udpLabelPort = int(baseConfig["udpLabelPort1"]) + # 压缩率 + yasuo = int(config["yasuolv1"]) + # 置信度 + confident = float(config["confidence1"]) + print("启动", video_path, udpPngPort, udpLabelPort, yasuo, confident) + main(video_path, udpPngPort, udpLabelPort, yasuo, confident) diff --git a/developedcode/vediocheck_udp/vedioserve2.py b/developedcode/vediocheck_udp/vedioserve2.py new file mode 100644 index 0000000..b0fc694 --- /dev/null +++ b/developedcode/vediocheck_udp/vedioserve2.py @@ -0,0 +1,194 @@ +import socket +import threading +from ultralytics import YOLO +import ffmpegcv +import cv2 +import time +import ctypes +import json + +# 加载YOLOv8模型 +model = YOLO("yolov8n.pt") # yolov8i默认目标检测（i= n,m,l,x）尾缀有-pose,-seg +print("模型加载成功") +isconnected = False +data_thread = None +count = 1 +# 1.创建一个udp套接字 +udp_socket = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) + + +# 假设你的文本文件每行都是由空格分隔的数据项，且你想将这些数据以某种结构处理（这里仅作演示，实际情况可能需要调整） +def read_and_process_txt(file_path): + processed_data = [] + with open(file_path, "r") as file: + for line in file: + # 去除每行末尾的换行符 + line = line.strip() + # 按空格分割每行 + items = line.split() + # 这里简单地将分割后的数据作为一个列表加入到结果列表中 + # 实际应用中，你可能需要根据具体数据结构进行更复杂的处理 + processed_data.append(items) + + # 如果你确实需要将这些数据转换为JSON，可能需要构造一个合适的结构 + # 例如，如果你的文本文件每行代表一个对象的属性，你可能需要构建字典 + # 下面是一个假设的例子，将每行转换为字典并尝试转为JSON字符串 + json_data = {items[0]: items[1] for items in processed_data} + try: + return json_data + except TypeError as e: + print(f"Error converting to JSON: {e}") + + +baseConfig = read_and_process_txt("./base.txt") +config = read_and_process_txt("./config.txt") +notPng = int(baseConfig["notPng2"]) + + +def stop_thread(thread): + """尝试强制停止一个线程""" + if not thread.is_alive(): + return + tid = ctypes.c_long(thread.ident) + res = ctypes.pythonapi.PyThreadState_SetAsyncExc(tid, ctypes.py_object(SystemExit)) + if res == 0: + raise ValueError("线程可能已经终止") + elif res > 1: + # 如果返回值大于1，说明有多个线程ID与给定ID相同，需要清理 + ctypes.pythonapi.PyThreadState_SetAsyncExc(tid, None) + raise SystemError("未知错误") + + +# 定义发送数据的函数 +def send_data(video_path, udpPngPort, udpLabelPort, yasuo, confident): + global count + global udp_socket + global notPng + print("第" + str(count) + "次连接" + " " + video_path) + count += 1 + global isconnected + cap = ffmpegcv.ReadLiveLast(ffmpegcv.VideoCaptureStreamRT, video_path) # 不缓存 + print("第" + str(count - 1) + "次连接" + " " + video_path + "成功") + isconnected = True + frame_rate_divider = 3 # 设置帧率除数 + frame_count = 0 # 初始化帧计数器 + while True: + try: + ret, frame = cap.read() + if ret: + frameCopy = frame.copy() + # 在该帧上运行YOLOv8推理 + if frame_count % frame_rate_divider == 0: + # 获取处理结果 + texts = [] + results = model(frame) + data = results[0].boxes.data + # 解析检测结果 + for i in range(data.shape[0]): + label_id = int(data[i, 5]) + label = results[0].names[label_id] + confidence = float(data[i, 4]) + bbox = data[i, :4] + texts.append( + { + "label": label, + "confidence": confidence, + "bbox": "({:.2f}, {:.2f}, {:.2f}, {:.2f})".format( + bbox[0], bbox[1], bbox[2], bbox[3] + ), + } + ) + frame_count += 1 # 更新帧计数器 + personList = [] + # 处理结果转换为图片 + for text in texts: + if text["label"] == "person" and text["confidence"] > confident: + personList.append(text) + bbox = eval(text["bbox"]) + cv2.rectangle( + frameCopy, + (int(bbox[0]), int(bbox[1])), + (int(bbox[2]), int(bbox[3])), + (0, 0, 255), + 2, + ) + # cv2.putText( + # frameCopy, + # f"person:{'%.2f' % text['confidence']}", + # (int(bbox[0]) + 5, int(bbox[1]) + 25), + # cv2.FONT_HERSHEY_SIMPLEX, + # 1, + # (255, 0, 0), + # 2, + # ) + message_bytes = json.dumps(personList).encode("utf-8") + udp_socket.sendto(message_bytes, ("127.0.0.1", udpLabelPort)) + _, img_buffer = cv2.imencode( + ".jpg", frameCopy, [cv2.IMWRITE_JPEG_QUALITY, yasuo] + ) + if notPng == 0: + print(888, img_buffer.size) + udp_socket.sendto(img_buffer, ("127.0.0.1", udpPngPort)) + # 如果按下'q'则中断循环 + if cv2.waitKey(1) & 0xFF == ord("q"): + break + else: + isconnected = False + except BrokenPipeError: + # 当客户端断开连接时，发送数据会抛出 BrokenPipeError + print("Client disconnected. Stopping data sending.") + break + except Exception as e: + print(f"An error occurred while sending data: {e}") + break + + +def continue_start(video_path, udpPngPort, udpLabelPort, yasuo, confident): + while True: + time.sleep(5) + global isconnected + global data_thread + global count + if isconnected == False: + print("已断开正在尝试第" + str(count) + "次连接" + " " + video_path) + stop_thread(data_thread) + data_thread = threading.Thread( + target=send_data, + args=(video_path, udpPngPort, udpLabelPort, yasuo, confident), + daemon=True, + ) + data_thread.start() + + +def main(video_path, udpPngPort, udpLabelPort, yasuo, confident): + global data_thread + # 创建并启动发送数据的线程 + data_thread = threading.Thread( + target=send_data, + args=(video_path, udpPngPort, udpLabelPort, yasuo, confident), + daemon=True, + ) + data_thread.start() + # 在这里可以处理其他客户端逻辑，如接收客户端数据等 + # ... + time.sleep(1) + data_thread2 = threading.Thread( + target=continue_start, + args=(video_path, udpPngPort, udpLabelPort, yasuo, confident), + ) + data_thread2.start() + + +if __name__ == "__main__": + # rtsp流 + video_path = baseConfig["rtsp2"] + # 图片传输端口udpPngPort + udpPngPort = int(baseConfig["udpPngPort2"]) + # 标签传输端口udpPngPort + udpLabelPort = int(baseConfig["udpLabelPort2"]) + # 压缩率 + yasuo = int(config["yasuolv2"]) + # 置信度 + confident = float(config["confidence2"]) + print("启动", video_path, udpPngPort, udpLabelPort, yasuo, confident) + main(video_path, udpPngPort, udpLabelPort, yasuo, confident) diff --git a/developedcode/vediocheck_udp/yolov8n.pt b/developedcode/vediocheck_udp/yolov8n.pt new file mode 100644 index 0000000..d61ef50 Binary files /dev/null and b/developedcode/vediocheck_udp/yolov8n.pt differ diff --git a/developedcode/vediocheck_udp/新建文本文档.txt b/developedcode/vediocheck_udp/新建文本文档.txt new file mode 100644 index 0000000..e69de29 diff --git a/developedcode/weiqin/README.md b/developedcode/weiqin/README.md new file mode 100644 index 0000000..0c37989 --- /dev/null +++ b/developedcode/weiqin/README.md @@ -0,0 +1,33 @@ +# mqtttohttp + + + +## QuickStart + + + +see [egg docs][egg] for more detail. + +### Development + +```bash +$ npm i +$ npm run dev +$ open http://localhost:7001/ +``` + +### Deploy + +```bash +$ npm start +$ npm stop +``` + +### npm scripts + +- Use `npm run lint` to check code style. +- Use `npm test` to run unit test. +- Use `npm run autod` to auto detect dependencies upgrade, see [autod](https://www.npmjs.com/package/autod) for more detail. + + +[egg]: https://eggjs.org \ No newline at end of file diff --git a/developedcode/weiqin/agent.js b/developedcode/weiqin/agent.js new file mode 100644 index 0000000..c4fd171 --- /dev/null +++ b/developedcode/weiqin/agent.js @@ -0,0 +1,280 @@ +const mqtt = require("mqtt"); +const _ = require("lodash") +const proj4 = require("proj4") +module.exports = (agent) => { + agent.messenger.on("egg-ready", () => { + const client = mqtt.connect("mqtt://192.168.1.102:1883", { + // const client = mqtt.connect("mqtt://127.0.0.1:1883", { + clean: true, + connectTimeout: 4000, + clientId: 'map-editor-' + Math.random().toString(16).substr(2), + username: 'map-editor', + password: 'leador', + }); + client.on("connect", function () { + console.log("agentmqtt服务器连接成功"); + //本系统 + client.subscribe(`/robot4inspection/fa49e558574df1ec/sensor/battery`, { qos: 0 }, (a, b, c) => { + }); // 订阅电池电量 + client.subscribe(`/robot4inspection/fa49e558574df1ec/sensor/gps`, { qos: 0 }, (a, b, c) => { + }); // 订阅位置信息 + client.subscribe(`/robot4inspection/fa49e558574df1ec/localization/pose`, { qos: 0 }, (a, b, c) => { + }); // 订阅位姿信息 + client.subscribe(`/robot4inspection/fa49e558574df1ec/message/error`, { qos: 0 }, (a, b, c) => { + }); // 订阅错误消息 + client.subscribe(`/robot4inspection/fa49e558574df1ec/message/warn`, { qos: 0 }, (a, b, c) => { + }); // 订阅警告消息 + client.subscribe(`/robot4inspection/fa49e558574df1ec/message/info`, { qos: 0 }, (a, b, c) => { + }); // 订阅日志消息 + client.subscribe(`/robot4inspection/fa49e558574df1ec/planning/service/plan/request`, { qos: 2 }, (a, b, c) => { + }); // 订阅路径规划 + client.subscribe(`/robot4inspection/fa49e558574df1ec/planning/trajectory/2d/compact`, { qos: 2, retain: 0 }, (a, b, c) => { + }); // 订阅当前行驶轨迹 + client.subscribe(`/robot4inspection/fa49e558574df1ec/task/target/action/goto`, { qos: 2, retain: 0 }, (a, b, c) => { + }); // 订阅前往目标点 + //指控中心 + client.subscribe(`/Plan`, { qos: 2 }, (a, b, c) => { + }); // 订阅生成任务 + client.subscribe(`/startPlan`, { qos: 0 }, (a, b, c) => { + }); // 订阅开始任务 + client.subscribe(`/pausePlan`, { qos: 0 }, (a, b, c) => { + }); // 订阅暂停任务 + client.subscribe(`/overPlan`, { qos: 0 }, (a, b, c) => { + }); // 订阅取消任务 + client.subscribe(`/delPlan`, { qos: 0 }, (a, b, c) => { + }); // 订阅删除任务 + }); + let current = { + lon: 0, + lat: 0, + x: 0, + y: 0, + } + const lonlatToxy = function (lon, lat) { + let detx = Number(lon - current.lon) * 100000 + Number(current.x) + let dety = Number(lat - current.lat) * 100000 + Number(current.y) + return [detx, dety] + } + const batteryThrottle = _.throttle(function (message) { + let resObj = JSON.parse(message.toString()) + let retMessage = resObj.args[0] + let timestamp = resObj.timestamp + let postMessagr = { + message: { + capacity: retMessage.capacity, + charging: retMessage.charging, + current: retMessage.current, + temperature: retMessage.temperature, + voltage: retMessage.voltage, + }, + timestamp, + } + let messStr = JSON.stringify(postMessagr) + // client.publish("/battery", messStr, { + // qos: 1, + // retain: true, + // }) + }, 3000, { leading: true }) + const temperatureThrottle = _.throttle(function (message) { + let resObj = JSON.parse(message.toString()) + let retMessage = resObj.args[0] + let timestamp = resObj.timestamp + let postMessagr = { + message: { + humidity: retMessage.humidity, + env: retMessage.env, + cpu: retMessage.cpu, + }, + timestamp, + } + let messStr = JSON.stringify(postMessagr) + // client.publish("/temperature", messStr, { + // qos: 1, + // retain: true, + // }) + }, 3000, { leading: true }) + const gpsThrottle = _.throttle(function (message) { + let resObj = JSON.parse(message.toString()) + let retMessage = resObj.args[0] + let timestamp = resObj.timestamp + let postMessagr = { + message: { + lat: retMessage.blh[0], + lon: retMessage.blh[1], + height: retMessage.blh[2], + heading: retMessage.heading, + speed: retMessage.speed, + star: retMessage.star, + status: retMessage.status, + }, + timestamp, + } + let messStr = JSON.stringify(postMessagr) + + // client.publish("/location", messStr, { + // qos: 1, + // retain: true, + // }) + + }, 100, { leading: true }) + const poseThrottle = _.throttle(function (message) { + let resObj = JSON.parse(message.toString()) + let retMessage = resObj.args[0] + let timestamp = resObj.timestamp + let postMessagr = { + message: { + confidence: retMessage.confidence, + odometer: retMessage.odometer, + poseB: retMessage.pose.blh[0], + poseL: retMessage.pose.blh[1], + poseH: retMessage.pose.blh[2], + + poseR: retMessage.pose.rpy[0], + poseP: retMessage.pose.rpy[1], + poseY: retMessage.pose.rpy[2], + + posex1: retMessage.pose.xyz[0], + posey1: retMessage.pose.xyz[1], + posez1: retMessage.pose.xyz[2], + + heading: retMessage.pose.heading, + replan: retMessage.replan, + star: retMessage.rtk.star, + status: retMessage.rtk.status, + run_state: retMessage.run_state, + score: retMessage.score, + sequence: retMessage.sequence, + enu: retMessage.vel.enu, + velheading: retMessage.vel.heading, + }, + timestamp, + } + current = { + lon: retMessage.pose.blh[1], + lat: retMessage.pose.blh[0], + x: retMessage.pose.xyz[0], + y: retMessage.pose.xyz[1], + } + // client.publish("/pose", JSON.stringify(postMessagr), { + // qos: 1, + // retain: true, + // }) + + }, 100, { leading: true }) + const PlanThrottle = _.throttle(function (message) { + let strJson = JSON.parse(message.toString()).data + let taskName = JSON.parse(message.toString()).handlerId + let mapName = JSON.parse(message.toString()).mapName + console.log(6666, strJson, taskName, mapName) + let params = { + map: mapName || "test", + path: taskName || "task1", + repeate: _.get(strJson, ["repeate"], 1) || 1, + coord_type: "local", + cron: _.get(strJson, ["cron"], "") || "", + coord: [], + plan: [], + "action": [ + [] + ], + } + let coord = [] + let plan = [] + if (_.get(strJson, ["type"], "xy") === "xy") { + if (strJson.start_lon && strJson.start_lat) { + coord = [[strJson.start_lon, strJson.start_lat]] + plan = ["route"] + } + let pointSort = _.sortBy(strJson.way_points, "id") + for (let index = 0; index < pointSort.length; index++) { + let element = pointSort[index]; + coord.push([element.lon, element.lat]) + plan.push("route") + } + if (strJson.end_lon && strJson.end_lat) { + coord.push([strJson.end_lon, strJson.end_lat]) + plan.push("route") + } + } else if (_.get(strJson, ["type"], "xy") === "lonlat") { + if (strJson.start_lon && strJson.start_lat) { + coord = [lonlatToxy(strJson.start_lon, strJson.start_lat)] + plan = ["route"] + } + let pointSort = _.sortBy(strJson.way_points, "id") + for (let index = 0; index < pointSort.length; index++) { + let element = pointSort[index]; + coord.push(lonlatToxy(element.lon, element.lat)) + plan.push("route") + } + if (strJson.end_lon && strJson.end_lat) { + coord.push(lonlatToxy(strJson.end_lon, strJson.end_lat)) + plan.push("route") + } + } + params.coord = coord + params.plan = plan + agent.messenger.sendToApp('plan_action', params); + }, 3000, { leading: true }) + client.on("message", async function (top, message) { + if (_.endsWith(top, "/sensor/battery")) { + batteryThrottle(message) + } else if (_.endsWith(top, "/sensor/temperature")) { + temperatureThrottle(message) + } else if (_.endsWith(top, "/sensor/gps")) { + gpsThrottle(message) + } else if (_.endsWith(top, "/localization/pose")) { + poseThrottle(message) + } else if (_.endsWith(top, "/message/error")) { + let msg = JSON.parse(message.toString()); + // client.publish("/errorMessage", JSON.stringify(msg), { qos: 1, }) + } else if (_.endsWith(top, "/message/warn")) { + let msg = JSON.parse(message.toString()); + // client.publish("/warnMessage", JSON.stringify(msg), { qos: 1, }) + } else if (_.endsWith(top, "/message/info")) { + let msg = JSON.parse(message.toString()); + // client.publish("/infoMessage", JSON.stringify(msg), { qos: 1, }) + } else if (_.endsWith(top, "/Plan")) { + PlanThrottle(message) + } else if (_.endsWith(top, "/startPlan")) { + let strJson = JSON.parse(message.toString()).data + let job = { + args: [ + { + roadmap: _.get(strJson, ["mapName"], "TestNJ1") || "TestNJ1", + task: _.get(strJson, ["taskName"], "task1") || "task1", + }, + ], + timestamp: Date.now() + } + console.log(66661,job,strJson) + // client.publish("/robot4inspection/fa49e558574df1ec/task/procedure/action/start", JSON.stringify(job), { qos: 2, retain: 0, }) + } else if (_.endsWith(top, "/pausePlan")) { + let job = { + args: null, + timestamp: Date.now() + } + // client.publish("/robot4inspection/fa49e558574df1ec/task/procedure/action/pause", JSON.stringify(job), { qos: 1, retain: 0, }) + } else if (_.endsWith(top, "/overPlan")) { + let job = { + args: null, + timestamp: Date.now() + } + // client.publish("/robot4inspection/fa49e558574df1ec/task/procedure/action/cancel", JSON.stringify(job), { qos: 2, retain: 0 }) + + } else if (_.endsWith(top, "/delPlan")) { + let strJson = JSON.parse(message.toString()).data + let params = { + map: _.get(strJson, ["mapName"], "TestNJ1") || "TestNJ1", + path: _.get(strJson, ["taskName"], "task1") || "task1", + } + agent.messenger.sendToApp('plan_delete', params); + } else if (_.endsWith(top, "/planning/service/plan/request")) { + let msg = JSON.parse(message.toString()); + } else if (_.endsWith(top, "/trajectory/2d/compact")) { + let msg = JSON.parse(message.toString()); + } else if (_.endsWith(top, "/task/target/action/goto")) { + let msg = JSON.parse(message.toString()); + } + }); + }); +}; diff --git a/developedcode/weiqin/app.js b/developedcode/weiqin/app.js new file mode 100644 index 0000000..4f1ca3c --- /dev/null +++ b/developedcode/weiqin/app.js @@ -0,0 +1,110 @@ +// app.js +const mqtt = require("mqtt"); +const _ = require("lodash") +// const aedes = require("aedes")(); +// const mqttserver = require("net").createServer(aedes.handle); +class AppBootHook { + constructor(app) { + this.app = app; + } + + configWillLoad() { + // 此时 config 文件已经被读取并合并，但是还并未生效 + // 这是应用层修改配置的最后时机 + // 注意：此函数只支持同步调用 + } + + async didLoad() { + // 所有的配置已经加载完毕 + // 可以用来加载应用自定义的文件，启动自定义的服务 + } + + async willReady() { + // 所有的插件都已启动完毕，但是应用整体还未 ready + // 可以做一些数据初始化等操作，这些操作成功才会启动应用 + } + + async didReady() { + + const client = mqtt.connect("mqtt://192.168.1.102:1883", { + // const client = mqtt.connect("mqtt://127.0.0.1:1883", { + clean: true, + connectTimeout: 4000, + clientId: 'map-editor-' + Math.random().toString(16).substr(2), + username: 'map-editor', + password: 'leador', + }); + client.on("connect", function () { + console.log("appmqtt服务器连接成功"); + }); + + this.app.messenger.on('plan_action', async data => { + let result = await this.app.curl('http://192.168.1.102:8086/v1/path', { + // let result = await this.app.curl('http://127.0.0.1:8086/v1/path', { + // 必须指定 method + method: 'POST', + // 通过 contentType 声明以 JSON 格式发送 + contentType: 'json', + data, + // 明确告诉 HttpClient 以 JSON 格式处理返回的响应 body + dataType: 'json', + }); + let getmapdata = { + map: data.map + } + let mapResult = await this.app.curl(`http://192.168.1.102:8086/v1/roadmap/geojson?map=${getmapdata.map}`, { + // let mapResult = await this.app.curl(`http://127.0.0.1:8086/v1/roadmap/geojson?map=${getmapdata.map}`, { + // 必须指定 method + method: 'GET', + // 通过 contentType 声明以 JSON 格式发送 + contentType: 'json', + // 明确告诉 HttpClient 以 JSON 格式处理返回的响应 body + dataType: 'json', + }); + let plaPparams = { + mapData: mapResult.data + } + console.log(7441, data, getmapdata, plaPparams) + // client.publish("/planResult", JSON.stringify( + + // ), { qos: 1, retain: 0, }) + // let params = { + // "timestamp": Date.now(), + // "pub_timestamp": Date.now(), + // "status": "ok", + // "args": [ + // { + // nid: [], + // "roadmap": data.map, + // "coord": data.coord + // } + // ] + // } + // console.log(741, result, data) + // client.publish("/robot4inspection/fa49e558574df1ec/planning/service/plan/response", JSON.stringify(params), { qos: 2, retain: 0, }) + }); + this.app.messenger.on('plan_delete', async data => { + const result = await this.app.curl('http://192.168.1.102:8086/v1/path', { + // const result = await this.app.curl('http://127.0.0.1:8086/v1/path', { + // 必须指定 method + method: 'DELETE', + // 通过 contentType 声明以 JSON 格式发送 + contentType: 'json', + data, + // 明确告诉 HttpClient 以 JSON 格式处理返回的响应 body + dataType: 'json', + }); + // client.publish("/delPlanResult", JSON.stringify(result.data), { + // qos: 1, + // retain: 1, + // }) + console.log(7411, result) + }); + } + async serverDidReady() { + // http / https server 已启动，开始接受外部请求 + // 此时可以从 app.server 拿到 server 的实例 + } +} + +module.exports = AppBootHook; diff --git a/developedcode/weiqin/app/controller/home.js b/developedcode/weiqin/app/controller/home.js new file mode 100644 index 0000000..4227970 --- /dev/null +++ b/developedcode/weiqin/app/controller/home.js @@ -0,0 +1,11 @@ +'use strict'; + +const { Controller } = require('egg'); +const _ = require("lodash") +class HomeController extends Controller { + async index() { + + } +} + +module.exports = HomeController; diff --git a/developedcode/weiqin/app/router.js b/developedcode/weiqin/app/router.js new file mode 100644 index 0000000..ccb9ae5 --- /dev/null +++ b/developedcode/weiqin/app/router.js @@ -0,0 +1,9 @@ +'use strict'; + +/** + * @param {Egg.Application} app - egg application + */ +module.exports = app => { + const { router, controller } = app; + router.post('/', controller.home.index); +}; diff --git a/developedcode/weiqin/config/config.default.js b/developedcode/weiqin/config/config.default.js new file mode 100644 index 0000000..32ef2b9 --- /dev/null +++ b/developedcode/weiqin/config/config.default.js @@ -0,0 +1,36 @@ +/* eslint valid-jsdoc: "off" */ + +"use strict"; + +/** + * @param {Egg.EggAppInfo} appInfo app info + */ +module.exports = (appInfo) => { + /** + * built-in config + * @type {Egg.EggAppConfig} + **/ + const config = (exports = {}); + + // use for cookie sign key, should change to your own and keep security + config.keys = appInfo.name + "_1687851227647_4638"; + + // add your middleware config here + config.middleware = []; + config.cluster = { + listen: { + port: 7020 + } + } + // add your user config here + const userConfig = { + // myAppName: 'egg', + }; + + + + return { + ...config, + ...userConfig, + }; +}; diff --git a/developedcode/weiqin/config/plugin.js b/developedcode/weiqin/config/plugin.js new file mode 100644 index 0000000..d0ecaae --- /dev/null +++ b/developedcode/weiqin/config/plugin.js @@ -0,0 +1,10 @@ +"use strict"; + +/** @type Egg.EggPlugin */ +module.exports = { + // had enabled by egg + // static: { + // enable: true, + // } + +}; diff --git a/developedcode/weiqin/jsconfig.json b/developedcode/weiqin/jsconfig.json new file mode 100644 index 0000000..1bbed3f --- /dev/null +++ b/developedcode/weiqin/jsconfig.json @@ -0,0 +1,5 @@ +{ + "include": [ + "**/*" + ] +} \ No newline at end of file diff --git a/developedcode/weiqin/package.json b/developedcode/weiqin/package.json new file mode 100644 index 0000000..a749294 --- /dev/null +++ b/developedcode/weiqin/package.json @@ -0,0 +1,51 @@ +{ + "name": "mqtttohttp", + "version": "1.0.0", + "description": "", + "private": true, + "egg": { + "declarations": true + }, + "dependencies": { + "aedes": "^0.49.0", + "egg": "^3", + "egg-scripts": "^2", + "lodash": "^4.17.21", + "mqtt": "^4.3.7", + "proj4": "^2.9.0", + "ulid": "^2.3.0" + }, + 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b/developedcode/weiqin/run/application_timing_12508.json new file mode 100644 index 0000000..13f4efa --- /dev/null +++ b/developedcode/weiqin/run/application_timing_12508.json @@ -0,0 +1,546 @@ +[ + { + "name": "Process Start", + "start": 1689833490588, + "end": 1689833491743, + "duration": 1155, + "pid": 12508, + "index": 0 + }, + { + "name": "Application Start", + "start": 1689833491744, + "end": 1689833492299, + "duration": 555, + "pid": 12508, + "index": 1 + }, + { + "name": "Load Plugin", + "start": 1689833491761, + "end": 1689833491776, + "duration": 15, + "pid": 12508, + "index": 2 + }, + { + "name": "Load Config", + "start": 1689833491776, + "end": 1689833491801, + "duration": 25, + "pid": 12508, + "index": 3 + }, + { + "name": "Require(0) config/config.default.js", + "start": 1689833491777, + "end": 1689833491778, + "duration": 1, + "pid": 12508, + "index": 4 + }, + { + "name": "Require(1) node_modules/egg-session/config/config.default.js", + "start": 1689833491780, + "end": 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"end": 1689833492241, + "duration": 0, + "pid": 12508, + "index": 65 + }, + { + "name": "Before Start in node_modules/egg-core/lib/egg.js:304:10", + "start": 1689833492241, + "end": 1689833492255, + "duration": 14, + "pid": 12508, + "index": 66 + }, + { + "name": "Will Ready in app.js:willReady", + "start": 1689833492275, + "end": 1689833492275, + "duration": 0, + "pid": 12508, + "index": 67 + } +] \ No newline at end of file diff --git a/developedcode/weiqin/run/router.json b/developedcode/weiqin/run/router.json new file mode 100644 index 0000000..0ad7725 --- /dev/null +++ b/developedcode/weiqin/run/router.json @@ -0,0 +1,14 @@ +[ + { + "name": null, + "methods": [ + "POST" + ], + "paramNames": [], + "path": "/", + "regexp": "/^(?:\\/(?=$))?$/", + "stack": [ + "wrappedController" + ] + } +] \ No newline at end of file diff --git a/developedcode/weiqin/test/app/controller/home.test.js b/developedcode/weiqin/test/app/controller/home.test.js new file mode 100644 index 0000000..a4f0fc9 --- /dev/null +++ b/developedcode/weiqin/test/app/controller/home.test.js @@ -0,0 +1,20 @@ +'use strict'; + +const { app, assert } = require('egg-mock/bootstrap'); + +describe('test/app/controller/home.test.js', () => { + it('should assert', async () => { + const pkg = require('../../../package.json'); + assert(app.config.keys.startsWith(pkg.name)); + + // const ctx = app.mockContext({}); + // yield ctx.service.xx(); + }); + + it('should GET /', async () => { + return app.httpRequest() + .get('/') + .expect('hi, egg') + .expect(200); + }); +}); diff --git a/developedcode/weiqin/typings/app/controller/index.d.ts b/developedcode/weiqin/typings/app/controller/index.d.ts new file mode 100644 index 0000000..c49e6c0 --- /dev/null +++ b/developedcode/weiqin/typings/app/controller/index.d.ts @@ -0,0 +1,12 @@ +// This file is created by egg-ts-helper@1.34.7 +// Do not modify this file!!!!!!!!! +/* eslint-disable */ + +import 'egg'; +import ExportHome = require('../../../app/controller/home'); + +declare module 'egg' { + interface IController { + home: ExportHome; + } +} diff --git a/developedcode/weiqin/typings/app/index.d.ts b/developedcode/weiqin/typings/app/index.d.ts new file mode 100644 index 0000000..92fbc98 --- /dev/null +++ b/developedcode/weiqin/typings/app/index.d.ts @@ -0,0 +1,7 @@ +// This file is created by egg-ts-helper@1.34.7 +// Do not modify this file!!!!!!!!! +/* eslint-disable */ + +import 'egg'; +export * from 'egg'; +export as namespace Egg; diff --git a/developedcode/weiqin/typings/config/index.d.ts b/developedcode/weiqin/typings/config/index.d.ts new file mode 100644 index 0000000..cf12b7b --- /dev/null +++ b/developedcode/weiqin/typings/config/index.d.ts @@ -0,0 +1,12 @@ +// This file is created by egg-ts-helper@1.34.7 +// Do not modify this file!!!!!!!!! +/* eslint-disable */ + +import 'egg'; +import { EggAppConfig } from 'egg'; +import ExportConfigDefault = require('../../config/config.default'); +type ConfigDefault = ReturnType; +type NewEggAppConfig = ConfigDefault; +declare module 'egg' { + interface EggAppConfig extends NewEggAppConfig { } +} \ No newline at end of file diff --git a/developedcode/weiqin/typings/config/plugin.d.ts b/developedcode/weiqin/typings/config/plugin.d.ts new file mode 100644 index 0000000..686a19b --- /dev/null +++ b/developedcode/weiqin/typings/config/plugin.d.ts @@ -0,0 +1,34 @@ +// This file is created by egg-ts-helper@1.34.7 +// Do not modify this file!!!!!!!!! +/* eslint-disable */ + +import 'egg'; +import 'egg-onerror'; +import 'egg-session'; +import 'egg-i18n'; +import 'egg-watcher'; +import 'egg-multipart'; +import 'egg-security'; +import 'egg-development'; +import 'egg-logrotator'; +import 'egg-schedule'; +import 'egg-static'; +import 'egg-jsonp'; +import 'egg-view'; +import { EggPluginItem } from 'egg'; +declare module 'egg' { + interface EggPlugin { + onerror?: EggPluginItem; + session?: EggPluginItem; + i18n?: EggPluginItem; + watcher?: EggPluginItem; + multipart?: EggPluginItem; + security?: EggPluginItem; + development?: EggPluginItem; + logrotator?: EggPluginItem; + schedule?: EggPluginItem; + static?: EggPluginItem; + jsonp?: EggPluginItem; + view?: EggPluginItem; + } +} \ No newline at end of file diff --git a/developedcode/海康相机原码.zip b/developedcode/海康相机原码.zip new file mode 100644 index 0000000..7e4b8c2 Binary files /dev/null and b/developedcode/海康相机原码.zip differ