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- using ProjectBase.Data.Logs;
- using SIASUN.Autopilot.Device;
- using SIASUN.Autopilot.Device.Command;
- using SIASUN.Autopilot.Device.Message;
- using System;
- using System.Collections.Generic;
- using System.Linq;
- using System.Text;
- using System.Threading.Tasks;
- namespace SIASUN.Autopilot.BLL
- {
- public class BlCanBusPerception
- {
- public static BlCanBusPerception Instance { get; private set; }
- /// <summary>
- /// 车辆状态1事件
- /// </summary>
- private VehicleStatus1 comVehicleStatus1;
- /// <summary>
- /// 车辆状态2事件
- /// </summary>
- private VehicleStatus2 comVehicleStatus2;
- /// <summary>
- /// 车辆状态3事件
- /// </summary>
- private VehicleStatus3 comVehicleStatus3;
- // 实际车速
- private long realSpeed = 0;
- // 获取当前实际速度
- public long GetRealSpeed
- {
- get { return realSpeed; }
- }
- // 实际角度
- private long realAng = 0;
- // 获取当前实际角度
- public long GetRealAng
- {
- get { return realAng; }
- }
- static BlCanBusPerception()
- {
- if (Instance != null)
- return;
- Instance = new BlCanBusPerception();
- CanFactory.Instance.Initialize();
- }
- public void Init()
- {
- comVehicleStatus1 = new VehicleStatus1();
- comVehicleStatus1.ReceiveMessage += ComVehicleStatus1_ReceiveMessage;
- comVehicleStatus1.Subscribe();
- comVehicleStatus2 = new VehicleStatus2();
- comVehicleStatus2.ReceiveMessage += ComVehicleStatus2_ReceiveMessage;
- comVehicleStatus2.Subscribe();
- comVehicleStatus3 = new VehicleStatus3();
- comVehicleStatus3.ReceiveMessage += ComVehicleStatus3_ReceiveMessage;
- comVehicleStatus3.Subscribe();
- }
-
- /// <summary>
- /// 车辆状态1响应函数
- /// </summary>
- /// <param name="e"></param>
- private void ComVehicleStatus1_ReceiveMessage(ReceiveMessageEventArgs e)
- {
- try
- {
- var m = e.Message as 车辆状态1;
- }
- catch (Exception ex)
- {
- LogHelper.log.Error("接收到车辆状态1的数据感知层出现错误",ex);
- }
- }
- /// <summary>
- /// 车辆状态2响应函数
- /// </summary>
- /// <param name="e"></param>
- private void ComVehicleStatus2_ReceiveMessage(ReceiveMessageEventArgs e)
- {
- try
- {
- var m = e.Message as 车辆状态2;
- realSpeed = Convert.ToInt64(m.实际车速);
- realAng = Convert.ToInt64(m.实际方向盘转角);
- }
- catch (Exception ex)
- {
- LogHelper.log.Error("接收到车辆状态2的数据感知层出现错误", ex);
- }
- }
- /// <summary>
- /// 车辆状态3响应函数
- /// </summary>
- /// <param name="e"></param>
- private void ComVehicleStatus3_ReceiveMessage(ReceiveMessageEventArgs e)
- {
- try
- {
- var m = e.Message as 车辆状态3;
- }
- catch (Exception ex)
- {
- LogHelper.log.Error("接收到车辆状态3的数据感知层出现错误", ex);
- }
- }
- /// <summary>
- /// 输入加速度,调用加速度接口
- /// </summary>
- /// <param name="accelerate">计算的加速度</param>
- public void SetAccelerate(double accelerate)
- {
- }
- /// <summary>
- ///
- /// </summary>
- /// <param name="angle"></param>
- public void Angle(double angle)
- {
- }
- // 制动
- public void Brake(double brake)
- {
- }
- }
- }
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