小车配置通讯说明
说明文档
1. 通讯 IP 与端口
-
UDP 通讯
IP：自动获取本地电脑 IP
端口：8001 -
WebsocketServer
IP：自动获取本地电脑 IP
端口：1883
2. 视频资源替换
- 视频存放路径：
Resources/Video - 视频格式：
mp4 - 视频按先后顺序排列，名称可自定义（例如
"00_待机"），首位视频为待机视频
程序内指令切换视频
-
通过 UDP 向
8001端口发送指令（UTF-8 编码）：
[SwitchAvProVideo_{视频下标}]
例如：- 切换待机视频：
SwitchAvProVideo_0 - 切换第一个视频：
SwitchAvProVideo_1 - 依此类推
- 切换待机视频：
-
也可通过 WebsocketServer 的
1883端口发送，指令内容相同。
3. HTML 与 Unity 通讯
通讯协议支持 WebSocket 和 UDP，UTF-8编码。
通讯指令说明
- 客户端连接Unity WebSocketServer后会接收到
REQUIRE_AUTH密码验证信息，客户端需要发送AUTH:{密码}才能够继续通信，密码错误或者未验证成功WebsocketServer会将该客户端断联。 - 向 Unity 发送 JSON 配置（string类型），可保存到 Unity 本地。
- 向 Unity 发送
lan_trigger_msg对应的 value 值，可触发 Unity 本地指令执行。 - 向 Unity 发送
stop_all_delay_send_cmd，可停止所有延时指令发送。 - 向 Unity 发送
pausethevideo，可暂停视频+停止所有指令。 - 向 Unity 发送
stopthedemonstration，可返回待机+停止所有指令。 - 向unity发送如下Json切换到图片模式，
folderPath为图片文件夹绝对路径，clearAfterLoad为是否在加载完成后清空文件夹所有文件，true为加载完成清空，false为不清空。
{
"type": "request_image_list",
"data": {
"folderPath": "C:/Users/Admin/Pictures",
"clearAfterLoad": true
}
}
- 图片模式下切换图片示例:
[SwitchTexture_{图片下标}]
例如：- 切换第1张图片：
SwitchTexture_1 - 切换第2张图片：
SwitchTexture_2 - 切换第3张图片：
SwitchTexture_3 - 依此类推
- 切换第1张图片：
- 向unity发送如下Json获取小车信息配置，
ip、port、msg自定义
{
"type": "queryCar",
"ip": "192.168.1.115",
"port": 22222,
"msg": "GetMM"
}
- 向 Unity 发送
PotNumQian获取前巡线数值； - 向 Unity 发送
PotNumHou获取后巡线数值； - 向 Unity 发送
GetMM获取两个电机转动频率； - 向 Unity 发送
AllBackTrue设置三个灯灭掉自动停车，启动默认； - 向 Unity 发送
AllBackFalse三个灯灭掉不自动停车；
小车在线状态和IP配置
- 1、配置小车IP，向 Unity 发送如下格式Json可设置需要监测的小车数量，监测数量可增删，发送给Unity后会保存在Unity本地并刷新监测IP，
ipAddress为小车的IP地址，remark为小车的备注，可自定义名称。
{
"ipList": [
{
"ipAddress": "192.168.3.28",
"remark": "小车1"
},
{
"ipAddress": "192.168.3.127",
"remark": "小车2"
},
{
"ipAddress": "192.168.3.129",
"remark": "小车3"
}
]
}
- 2、获取小车在线状态，当 Unity 监测到小车在线状态变化时，会向所有WebSocket Client发送如下Json,
ipAddress为小车IP，remark为小车备注,isOnlinetrue为小车在线，false为离线，pingTime为该IP的Ping延迟时间，单位是毫秒(ms)，failCount为记录该IP连续Ping失败的次数。
{
"ipList": [
{
"ipAddress": "192.168.3.28",
"remark": "小车1",
"isOnline": false,
"pingTime": 0.0,
"failCount": 0
},
{
"ipAddress": "192.168.3.127",
"remark": "小车2",
"isOnline": false,
"pingTime": 0.0,
"failCount": 0
},
{
"ipAddress": "192.168.3.129",
"remark": "小车3",
"isOnline": false,
"pingTime": 0.0,
"failCount": 0
}
]
}
获取配置指令
向 Unity 发送 get_config，可获取小车指令配置，返回格式如下（JSON）：
set_config{
"cars": [
{
"name": "小车 1",
"protocol": [
{
"type": "timeline",
"local_trigger_msg": "智能驾驶",
"lan_trigger_msg": "button1",
"timeline_commands": "1测试起步*0&1测试角度*2.32&2后退测试指令*4.51&3停车测试指令*6.08&1测试速度*7.68&小车1多指令1停车*9.69&小车1多指令1起步5*11.17&小车1多指令转弯6*14.01&小车1多指令1回正*16.56&返回待机*19.18"
},
{
"type": "timeline",
"local_trigger_msg": "车位到车位",
"lan_trigger_msg": "button2",
"timeline_commands": "转弯角度02*0&前进02*5.67"
},
{
"type": "timeline",
"local_trigger_msg": "自动泊车",
"lan_trigger_msg": "button3",
"timeline_commands": ""
},
{
"type": "timeline",
"local_trigger_msg": "山路共驾",
"lan_trigger_msg": "button4",
"timeline_commands": ""
},
{
"type": "timeline",
"local_trigger_msg": "主动安全",
"lan_trigger_msg": "button5",
"timeline_commands": ""
},
{
"type": "timeline",
"local_trigger_msg": "循迹倒车",
"lan_trigger_msg": "button6",
"timeline_commands": ""
},
{
"type": "udp",
"local_trigger_msg": "1测试起步",
"lan_trigger_msg": "",
"ip": "192.168.1.65",
"port": 22222,
"hex": false,
"delay": 0,
"relay_cmd": "QianJin"
},
{
"type": "udp",
"local_trigger_msg": "1测试角度",
"lan_trigger_msg": "",
"ip": "192.168.1.65",
"port": 22222,
"hex": false,
"delay": 0,
"relay_cmd": "JiaoDu*10*200*200*104"
},
{
"type": "udp",
"local_trigger_msg": "1测试速度",
"lan_trigger_msg": "",
"ip": "192.168.1.65",
"port": 22222,
"hex": false,
"delay": 0,
"relay_cmd": "ZhuanWan*1900*200*30"
},
{
"type": "udp",
"local_trigger_msg": "2后退测试指令",
"lan_trigger_msg": "",
"ip": "192.168.1.65",
"port": 22222,
"hex": false,
"delay": 0,
"relay_cmd": "HouTui"
},
{
"type": "udp",
"local_trigger_msg": "3停车测试指令",
"lan_trigger_msg": "",
"ip": "192.168.1.65",
"port": 22222,
"hex": false,
"delay": 0,
"relay_cmd": "TingChe"
},
{
"type": "udp",
"local_trigger_msg": "小车1多指令1停车",
"lan_trigger_msg": "",
"ip": "192.168.1.65",
"port": 22222,
"hex": false,
"delay": 0,
"relay_cmd": "TingChe"
},
{
"type": "udp",
"local_trigger_msg": "小车1多指令1起步5",
"lan_trigger_msg": "",
"ip": "192.168.1.65",
"port": 22222,
"hex": false,
"delay": 0,
"relay_cmd": "QianJin"
},
{
"type": "udp",
"local_trigger_msg": "小车1多指令转弯6",
"lan_trigger_msg": "",
"ip": "192.168.1.65",
"port": 22222,
"hex": false,
"delay": 0,
"relay_cmd": "JiaoDu*20*500*500*30"
},
{
"type": "udp",
"local_trigger_msg": "小车1多指令1回正",
"lan_trigger_msg": "",
"ip": "192.168.1.65",
"port": 22222,
"hex": false,
"delay": 0,
"relay_cmd": "JiaoDu*30*500*500*112"
},
{
"type": "udp",
"local_trigger_msg": "返回待机",
"lan_trigger_msg": "",
"ip": "192.168.3.121",
"port": 8001,
"hex": false,
"delay": 0,
"relay_cmd": "stopthedemonstration"
},
{
"type": "udp",
"local_trigger_msg": "前进02",
"lan_trigger_msg": "",
"ip": "192.168.1.65",
"port": 22222,
"hex": false,
"delay": 0,
"relay_cmd": "QianJin"
},
{
"type": "udp",
"local_trigger_msg": "转弯角度02",
"lan_trigger_msg": "",
"ip": "192.168.1.65",
"port": 22222,
"hex": false,
"delay": 0,
"relay_cmd": "JiaoDu*100*500*500*112"
}
]
},
{
"name": "小鹏 2",
"protocol": [
{
"type": "timeline",
"local_trigger_msg": "小鹏车2测修复多指令",
"lan_trigger_msg": "play_scene_car2",
"timeline_commands": "小车2时间轴1测试指令*0&小车2时间轴1测试*2.35"
},
{
"type": "udp",
"local_trigger_msg": "车2起步",
"lan_trigger_msg": "",
"ip": "192.168.1.63",
"port": 22222,
"hex": false,
"delay": 0,
"relay_cmd": "ceshi"
},
{
"type": "udp",
"local_trigger_msg": "车2测试",
"lan_trigger_msg": "",
"ip": "192.168.1.63",
"port": 22222,
"hex": false,
"delay": 0,
"relay_cmd": "ccc"
}
]
},
{
"name": "小车 3",
"protocol": [
{
"type": "timeline",
"local_trigger_msg": "车3时间轴1",
"lan_trigger_msg": "play_scene_car3",
"timeline_commands": "测试指令31*0&小车3测试指令2*1.51&小车3测试指令3*3.2"
},
{
"type": "timeline",
"local_trigger_msg": "车3时间轴2",
"lan_trigger_msg": "play_scene_car4",
"timeline_commands": "小车3时间轴2测试起步1*0&小车3时间轴2起步2*1.41"
},
{
"type": "udp",
"local_trigger_msg": "测试指令31",
"lan_trigger_msg": "",
"ip": "192.168.3.28",
"port": 22222,
"hex": false,
"delay": 0,
"relay_cmd": "测试"
},
{
"type": "udp",
"local_trigger_msg": "小车3测试指令2",
"lan_trigger_msg": "",
"ip": "192.168.3.28",
"port": 22222,
"hex": false,
"delay": 0,
"relay_cmd": "TingChe"
},
{
"type": "udp",
"local_trigger_msg": "小车3测试指令3",
"lan_trigger_msg": "",
"ip": "192.168.3.28",
"port": 22222,
"hex": false,
"delay": 0,
"relay_cmd": "QianJin"
},
{
"type": "udp",
"local_trigger_msg": "小车3时间轴2测试起步1",
"lan_trigger_msg": "",
"ip": "192.168.3.28",
"port": 22222,
"hex": false,
"delay": 0,
"relay_cmd": "JiaoDu*110*500*500*30"
},
{
"type": "udp",
"local_trigger_msg": "小车3时间轴2起步2",
"lan_trigger_msg": "",
"ip": "192.168.3.28",
"port": 22222,
"hex": false,
"delay": 0,
"relay_cmd": "QianJin"
}
]
}
]
}
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