更新

Assets/Scripts/Components/AGV/AGVDemoV2.cs

+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+using Zeus.DTC;
+
+public class AGVDemoV2 : MonoBehaviour
+{
+    public LoginManager manager;
+
+    public DTAGVManager AGVManager;
+
+    public void Update()
+    {
+        UpdatePosition();
+    }
+
+    private void UpdatePosition()
+    {
+        AGVManager.AddMoveMsg("AGV1", manager.position);
+    }
+}

Assets/Scripts/Components/AGV/AGVDemoV2.cs.meta

+fileFormatVersion: 2
+guid: 70ce38d3ef83a1f438e6ed87bac54356
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

Assets/Scripts/Components/AGV/CrrcSimManager.cs

+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+using UnityEngine.UI;
+using Zeus.SQLite;
+using LitJson;
+using System.IO;
+using System.Diagnostics;
+using System.Linq;
+using Debug = UnityEngine.Debug;
+using System;
+
+/// <summary>
+/// 模拟数据功能中心
+/// </summary>
+public class CrrcSimManager : MonoBehaviour  
+{
+    public bool IsRecord;
+
+    public string DBName = "crrc";
+
+    protected SQLiteConnection _connection;
+
+    public LoginManager Manager;
+
+    public TMPro.TMP_Text Msg;
+
+    public TMPro.TMP_Text Error;
+
+    public Button StartBtn;
+
+    public Button StopBtn;
+
+    public Button QuitBtn;
+
+    public Button OpenFile;
+
+    [Header("模拟播放设置")]
+
+    [Tooltip("加载数据的开始时间")]
+    public float StartTime = 0;
+
+    [Tooltip("时间尺度，越小时间越快")]
+    public float TimeScale = 1;
+
+    [Tooltip("初始加载数据的时间间隔")]
+    public int PreLoadSecond = 100;
+
+    private string _dbName;
+
+    private int _errorNumber;
+
+    private System.DateTime _startTime;
+
+    private int _dataNumber;
+
+    private bool _isRecording = false;
+
+    private float _recordTime = 0;
+
+    private float _playTime = 0;
+
+    /// <summary>
+    /// 加载的数据
+    /// </summary>
+    private IEnumerable<IGrouping<float, SimJsonData>> _rsBuffer;
+
+    private Dictionary<float, IEnumerable<SimJsonData>> _dataDic;
+
+
+    void Start()
+    {
+        if (IsRecord)
+        {
+            Manager.OnReceiveMsg.AddListener(_saveData);
+            Manager.OnReceiveError.AddListener(_onError);
+            StartBtn?.onClick.AddListener(StartRecord);
+            StopBtn?.onClick.AddListener(StopRecord);
+            QuitBtn?.onClick.AddListener(() => { Application.Quit(); });
+            OpenFile.onClick.AddListener(_openFile);
+            //Manager.LoadConfig();
+        }
+        else
+        {
+            
+        }
+
+        
+    }
+
+    public virtual void StartPlay()
+    {
+        string path = DBName + ".db";
+        if (!File.Exists(path))
+        {
+            Debug.Log($"数据库:{path}不存在");
+
+        }
+        _connection = new SQLiteConnection(path, SQLiteOpenFlags.ReadOnly);
+        var start_time = StartTime;
+        var end_time = start_time + PreLoadSecond;
+
+        Debug.Log($"{start_time}-{end_time}");
+        _selectDataSet(start_time, end_time);
+        StartSendSimMsg();
+        //Debug.Log(_rsBuffer.Count());
+
+
+        //foreach (var item in _rsBuffer)
+        //{
+        //    Debug.Log(item.Key.ToString("G"));
+        //    foreach (var item2 in item)
+        //    {
+        //        Debug.Log(item2.DataType);
+
+        //    }
+
+        //}
+
+    }
+
+    /// <summary>
+    /// 从数据库中选择延迟时间在指定范围内的数据，并按照延迟时间进行分组，最终将结果存储在 _rsBuffer 变量中。
+    /// </summary>
+    /// <param name="start_time"></param>
+    /// <param name="end_time"></param>
+    private void _selectDataSet(float start_time, float end_time)
+    {
+        _rsBuffer = _connection.Table<SimJsonData>()
+                    .Where(x => x.DelaySecond >= start_time && x.DelaySecond < end_time)
+                    .GroupBy(x => x.DelaySecond);
+    }
+
+    private bool _isSending = false;
+    public void StartSendSimMsg()
+    {
+        if (_isSending)
+        {
+            return;
+        }
+        _isSending = true;
+        StartCoroutine(_startSend());
+    }
+
+    public void StopSendSimMsg()
+    {
+        _isSending = false;
+
+    }
+
+    private IEnumerator _startSend()
+    {
+        var em = _rsBuffer.GetEnumerator();
+        em.MoveNext();
+
+        if (_rsBuffer.Count()<1)
+        {
+            Debug.LogError("没有数据");
+
+            yield break;
+        }
+
+        _playTime = _rsBuffer.First().Key;
+
+        Debug.Log(_playTime);
+
+
+        while (_isSending)
+        {
+
+            var current = em.Current;
+            var ctime = current.Key*TimeScale;
+           
+            if (ctime<=_playTime)
+            {
+                
+                foreach (var item in current)
+                {
+                    if (item.DataType.Equals("LitJson.JsonData"))
+                    {
+                        var msg = JsonMapper.ToObject(item.JsonValue);
+                        Manager.OnReceiveMsg.Invoke(msg, item.Param);
+                    }
+                    else
+                    {
+                        var tt = System.Type.GetType(item.Param);
+                        var msg = JsonMapper.ToObject(item.JsonValue, tt);
+                        Manager.OnReceiveMsg.Invoke(msg, null);
+                    }
+                }
+
+                if (!em.MoveNext())
+                {
+                    var start_time = ctime;
+                    var end_time = start_time + PreLoadSecond;
+
+                    //Debug.Log($"{start_time}-{end_time}");
+
+                    _selectDataSet(start_time,end_time);
+
+                    
+                    em = _rsBuffer.GetEnumerator();
+                    em.MoveNext();
+
+                }
+            }
+
+            _playTime += Time.deltaTime;
+
+            
+            yield return null;
+        }
+    }
+
+
+    #region 记录相关逻辑
+    public virtual void StartRecord()
+    {
+
+        Msg.text = "开始";
+        Error.text = "";
+        _errorNumber = 0;
+        _dataNumber = 0;
+        _startTime = System.DateTime.Now;
+        _dbName = DBName + System.DateTime.Now.ToString("yyyy-MM-dd-hhmmss") + ".db";
+        try
+        {
+            _connection = new SQLiteConnection(_dbName, SQLiteOpenFlags.ReadWrite | SQLiteOpenFlags.Create);
+        }
+        catch(Exception e){
+            Msg.text = e.ToString();
+        }
+        _connection.CreateTable<SimJsonData>();
+
+        _isRecording = true;
+        _recordTime = 0;
+
+        Manager.StartLogin();
+    }
+
+    public virtual void StopRecord()
+    {
+        _connection.Dispose();
+        _isRecording = false;
+        //Manager.StopRequestData();
+    }
+
+    protected void _onError(string eeror)
+    {
+        _errorNumber++;
+        Error.text = $"采集失败：{_errorNumber}";
+    }
+
+    protected void _saveData(object data, string parameter)
+    {
+        SimJsonData js = new SimJsonData() { JsonValue = JsonMapper.ToJson(data), DelaySecond = _recordTime, DataType = data.GetType().ToString(), Param = parameter };
+        _connection.Insert(js);
+        _dataNumber++;
+    }
+
+    protected void _openFile()
+    {
+
+
+        if (File.Exists(_dbName))
+        {
+            Process.Start("explorer", "/select,\"" + _dbName + "\"");
+        }
+
+
+    }
+    #endregion
+
+    private void Update()
+    {
+        if (_isRecording)
+        {
+            Msg.text = $"采集时长:{_recordTime.ToString("0")}，采集数据:{_dataNumber}";
+            _recordTime += Time.deltaTime;
+        }
+    }
+
+
+    private void OnDisable()
+    {
+        if (_connection != null)
+        {
+            _connection.Dispose();
+        }
+    }
+
+    [System.Serializable]
+    public class SimJsonData
+    {
+        [PrimaryKey, AutoIncrement]
+        public int Id { get; set; }
+
+        public float DelaySecond { get; set; }
+
+        public string DataType { get; set; }
+        public string JsonValue { get; set; }
+
+        public string Param { get; set; }
+    }
+
+}

Assets/Scripts/Components/AGV/CrrcSimManager.cs.meta

+fileFormatVersion: 2
+guid: 15ea17d1782e6ce46946baa53e2270a6
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
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+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

Assets/Scripts/Components/AGV/DatabaseReader.cs

+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+using Zeus.SQLite;
+using System.Linq;
+using LitJson;
+using System.IO;
+
+/// <summary>
+/// 读取db文件数据
+/// </summary>
+public class DatabaseReader : MonoBehaviour
+{
+    [Tooltip("db文件的名字")]
+    public string DBName;
+    [Tooltip("获取信息管理器")]
+    public LoginManager Manager;
+
+    [Header("模拟播放设置")]
+    [Tooltip("加载数据的开始时间")]
+    public float StartTime = 0;
+    [Tooltip("时间尺度，越小时间越快")]
+    public float TimeScale = 1; // 模拟数据的播放速度
+    [Tooltip("初始加载数据的时间间隔")]
+    public int PreLoadSecond = 100; // 控制在开始播放模拟数据时预先加载的时间范围，确保模拟数据的流畅播放。
+    [Tooltip("存储模拟数据的数据结构")]
+    private IEnumerable<IGrouping<float, SimJsonData>> _rsBuffer;//存储模拟数据并按延迟时间进行分组的数据结构，为模拟数据的加载和处理提供了便利。
+    [Tooltip("是否正在发送模拟消息")]
+    private bool _isSending = false;
+    [Tooltip("记录模拟数据播放的当前时间")]
+    private float _playTime = 0;
+
+    [Tooltip("SQLite连接对象")]
+    private SQLiteConnection connection;
+
+
+    // Start is called before the first frame update
+    void Start()
+    {
+        StartPlay();
+    }
+
+    /// <summary>
+    /// 读取db文件中的测试数据
+    /// </summary>
+    public virtual void StartPlay()
+    {
+        string path = DBName + ".db";
+        if (!File.Exists(path))
+        {
+            Debug.Log($"数据库:{path}不存在");
+
+        }
+        connection = new SQLiteConnection(path, SQLiteOpenFlags.ReadOnly);
+        var start_time = StartTime;
+        var end_time = start_time + PreLoadSecond;
+
+        Debug.Log($"{start_time}-{end_time}");
+        _selectDataSet(start_time, end_time);
+        StartSendSimMsg();
+    }
+
+
+    /// <summary>
+    /// 负责从数据库中选择数据并按延迟时间进行分组，为后续模拟数据的加载和处理提供了准备工作。
+    /// </summary>
+    /// <param name="start_time"></param>
+    /// <param name="end_time"></param>
+    private void _selectDataSet(float start_time, float end_time)
+    {
+        _rsBuffer = connection.Table<SimJsonData>()
+                    .Where(x => x.DelaySecond >= start_time && x.DelaySecond < end_time)
+                    .GroupBy(x => x.DelaySecond);
+    }
+
+    /// <summary>
+    /// 启动模拟消息的发送过程，从而触发模拟数据的播放或发送，用于模拟特定场景下的消息传递、事件触发等情况。
+    /// </summary>
+    public void StartSendSimMsg()
+    {
+        if (_isSending)
+        {
+            return;
+        }
+        _isSending = true;
+        StartCoroutine(_startSend());
+    }
+
+    /// <summary>
+    /// 用于模拟数据的发送过程。
+    /// </summary>
+    /// <returns></returns>
+    private IEnumerator _startSend()
+    {
+        var em = _rsBuffer.GetEnumerator();
+        em.MoveNext();
+
+        if (_rsBuffer.Count() < 1)
+        {
+            Debug.LogError("没有数据");
+
+            yield break;
+        }
+
+        _playTime = _rsBuffer.First().Key;
+
+        Debug.Log(_playTime);
+
+
+        while (_isSending)
+        {
+
+            var current = em.Current;
+            var ctime = current.Key * TimeScale;
+
+            if (ctime <= _playTime)
+            {
+
+                foreach (var item in current)
+                {
+                    if (item.DataType.Equals("LitJson.JsonData"))
+                    {
+                        var msg = JsonMapper.ToObject(item.JsonValue);
+                        Manager.OnReceiveMsg.Invoke(msg, item.Param);
+                    }
+                    else
+                    {
+                        var tt = System.Type.GetType(item.Param);
+                        var msg = JsonMapper.ToObject(item.JsonValue, tt);
+                        Manager.OnReceiveMsg.Invoke(msg, null);
+                    }
+                }
+
+                if (!em.MoveNext())
+                {
+                    var start_time = ctime;
+                    var end_time = start_time + PreLoadSecond;
+
+                    //Debug.Log($"{start_time}-{end_time}");
+
+                    _selectDataSet(start_time, end_time);
+
+
+                    em = _rsBuffer.GetEnumerator();
+                    em.MoveNext();
+
+                }
+            }
+
+            _playTime += Time.deltaTime;
+
+
+            yield return null;
+        }
+    }
+
+    /// <summary>
+    /// 用于标识模拟数据中的一条记录
+    /// </summary>
+    [System.Serializable]
+    public class SimJsonData
+    {
+        [PrimaryKey, AutoIncrement]
+        public int Id { get; set; }
+
+        public float DelaySecond { get; set; }
+
+        public string DataType { get; set; }
+        public string JsonValue { get; set; }
+
+        public string Param { get; set; }
+    }
+}

Assets/Scripts/Components/AGV/DatabaseReader.cs.meta

+fileFormatVersion: 2
+guid: 688aa349ad8f0444fa5e8033f6379dee
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

Assets/Scripts/Components/AGV/LoginManager.cs

 using System.Collections;
 using UnityEngine.Networking;
 using UnityEngine;
+using TMPro;
 
 public class LoginManager : MonoBehaviour
 {
+    public TMP_InputField productionlineID;
     public string ProductionlineID;
 
     private RobotPositionData positionData;
 
     [Header("收到服务器信息事件")]
     public ReceiveMsgEvent<object, string> OnReceiveMsg = new ReceiveMsgEvent<object, string>();
+    public ReceiveMsgEvent<string> OnReceiveError = new ReceiveMsgEvent<string>();
 
     [Space]
     [Header("获取的信息")]
     public Vector3 position;
-
     private void Awake()
     {
         OnReceiveMsg.AddListener(_getData);
@@ -25,6 +27,10 @@ public class LoginManager : MonoBehaviour
         StartCoroutine(GetPositionData());
     }
 
+    public void StartLogin()
+    {
+        StartCoroutine(GetPositionData());
+    }
 
     protected void _getData(object data, string parameter)
     {
@@ -40,7 +46,8 @@ public class LoginManager : MonoBehaviour
     {
         while (true)
         {
-            using (UnityWebRequest request = UnityWebRequest.Get(ProductionlineID))
+
+            using (UnityWebRequest request = UnityWebRequest.Get(productionlineID.text))
             {
                 // 设置请求头
                 request.SetRequestHeader("Content-Type", "application/json");

Assets/Scripts/Components/AGV/advancedPointList2.json

+{
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+
+}
\ No newline at end of file

Assets/Scripts/Components/AGV/advancedPointList2.json.meta

+fileFormatVersion: 2
+guid: 2b6b1e3fbd74e734f83f4c1db822d90f
+TextScriptImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
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Assets/Scripts/Components/TouristModeController.cs

@@ -18,12 +18,11 @@ public class TouristModeController : MonoBehaviour
     public GameObject FreeCamera;
     [Tooltip("固定摄像头中动画的名字")]
     public string animName;
-    [Tooltip("模式选择UI")]
-    public GameObject ModeSelectionUI;
-    [Tooltip("导览模式UI")]
-    public GameObject VisitUI;
-    [Tooltip("机器巡检模式UI")]
-    public GameObject MachineInspectionUI;
+    [Tooltip("人物模式UI")]
+    public GameObject CharacterModeUI;
+    [Tooltip("人物模式UI")]
+    public GameObject ReturnUI;
+
     [Tooltip("复位按钮")]
     public Button ResetBtn;
     [Tooltip("播/放按钮")]
@@ -78,6 +77,11 @@ public class TouristModeController : MonoBehaviour
             // 将Animator的播放位置转换为Slider的数值
             float value = planeAnimator.GetCurrentAnimatorStateInfo(0).normalizedTime;
             slider.value = value;
+            // 检查动画是否播放完毕
+            if (value >= 1.0f)
+            {
+                Restart();
+            }
         }
     }
 
@@ -89,8 +93,8 @@ public class TouristModeController : MonoBehaviour
         ExitObserve();
         RobotInspection.SetActive(true);
         IsArtificial = true;
-        ModeSelectionUI.SetActive(false);
-        MachineInspectionUI.SetActive(true);
+        CharacterModeUI.SetActive(false);
+        ReturnUI.SetActive(true);
     }
 
 
@@ -101,7 +105,10 @@ public class TouristModeController : MonoBehaviour
     public void SetEncircle()
     {
         ExitObserve();
+
         Player.AutoRotate = true;
+        CharacterModeUI.SetActive(false);
+        ReturnUI.SetActive(true);
     }
 
 
@@ -112,11 +119,11 @@ public class TouristModeController : MonoBehaviour
     {
         ExitObserve();
         FixCamera.SetActive(true);
-        VisitUI.SetActive(true);
-        ModeSelectionUI.SetActive(false);
-        MachineInspectionUI.SetActive(false);
         Player.BackToInitPosition();
         Player.IsPause = true;
+        PauseOrResumeAnimator();
+        CharacterModeUI.SetActive(false);
+        ReturnUI.SetActive(true);
     }
 
     /// <summary>
@@ -203,14 +210,13 @@ public class TouristModeController : MonoBehaviour
         PauseOrResumeAnimator();
         //FreeCamera.SetActive(false);
         FixCamera.SetActive(false);
-        VisitUI.SetActive(false);
-        ModeSelectionUI.SetActive(true);
-        MachineInspectionUI.SetActive(false);
         Player.BackToInitPosition();
         Player.IsPause = false;
         Player.AutoRotate = false;
         RobotInspection.SetActive(false);
         IsArtificial = false;
+        CharacterModeUI.SetActive(true);
+        ReturnUI.SetActive(false);
     }
 
     /// <summary>
@@ -237,6 +243,7 @@ public class TouristModeController : MonoBehaviour
         slider.value = 0f;
         planeAnimator.Play(animName, 0, 0); // 将Animator的播放位置设置为0
 
+        planeAnimator.speed = speeds; // 确保动画按照当前设置的速度播放
     }
 
     /// <summary>

Assets/URP设置/URP-Balanced.asset

@@ -103,7 +103,7 @@ MonoBehaviour:
   m_PrefilterSSAOSampleCountHigh: 1
   m_PrefilterDBufferMRT1: 1
   m_PrefilterDBufferMRT2: 1
-  m_PrefilterDBufferMRT3: 1
+  m_PrefilterDBufferMRT3: 0
   m_PrefilterSoftShadowsQualityLow: 1
   m_PrefilterSoftShadowsQualityMedium: 1
   m_PrefilterSoftShadowsQualityHigh: 1

Assets/URP设置/URP-HighFidelity.asset

@@ -103,7 +103,7 @@ MonoBehaviour:
   m_PrefilterSSAOSampleCountHigh: 0
   m_PrefilterDBufferMRT1: 1
   m_PrefilterDBufferMRT2: 1
-  m_PrefilterDBufferMRT3: 1
+  m_PrefilterDBufferMRT3: 0
   m_PrefilterSoftShadowsQualityLow: 1
   m_PrefilterSoftShadowsQualityMedium: 1
   m_PrefilterSoftShadowsQualityHigh: 1

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