node-red-node-rdk-tools

[ { "id": "670db0923361fca8", "type": "tab", "label": "TROS OriginBot Racing Line Follower", "disabled": false, "info": "", "env": [] }, { "id": "3fd1f66b90a92c39", "type": "group", "z": "670db0923361fca8", "name": "更新检测及提示", "style": { "fill": "#ffffbf", "label": true, "color": "#000000" }, "nodes": [ "95b7786d0bd8d625", "e0a7c0cf31ba0ff8", "aac440eb0f80f369" ], "x": 174, "y": 79, "w": 612, "h": 82 }, { "id": "801fd97381c4b9d5", "type": "group", "z": "670db0923361fca8", "name": "MIPI摄像头节点检查及启动", "style": { "stroke": "#d1d1d1", "label": true, "color": "#000000", "fill": "#bfdbef" }, "nodes": [ "329835ad4bb184f2", "3fd402978032a3f6" ], "x": 354, "y": 179, "w": 612, "h": 82 }, { "id": "6ed5ab1eadbcaae8", "type": "group", "z": "670db0923361fca8", "name": "感知功能节点检查及启动", "style": { "fill": "#e3f3d3", "label": true, "color": "#000000" }, "nodes": [ "7415f5c0420699e3", "4d7b4c565a93919b", "84714716441620be" ], "x": 354, "y": 279, "w": 612, "h": 82 }, { "id": "1e512f98e6722461", "type": "group", "z": "670db0923361fca8", "name": "控制功能节点检查及启动", "style": { "fill": "#ffefbf", "label": true, "color": "#000000" }, "nodes": [ "6b3aab7de2e8d72d", "cbaaebf450e30d70", "c25e310a036b5e87", "9f94e0ebff739e23" ], "x": 354, "y": 379, "w": 612, "h": 142 }, { "id": "ca144226b8b4a942", "type": "group", "z": "670db0923361fca8", "name": "底盘功能节点检查及启动", "style": { "fill": "#bfc7d7", "label": true, "color": "#000000" }, "nodes": [ "676f0e969a07922d", "208efc76bd57556a" ], "x": 354, "y": 539, "w": 612, "h": 82 }, { "id": "329835ad4bb184f2", "type": "change", "z": "670db0923361fca8", "g": "801fd97381c4b9d5", "name": "设定MIPI节点名称", "rules": [ { "t": "set", "p": "payload", "pt": "msg", "to": "tros-mipi-cam", "tot": "str" }, { "t": "set", "p": "launch", "pt": "msg", "to": "mipi_cam mipi_cam_640x480_nv12_hbmem.launch.py", "tot": "str" } ], "action": "", "property": "", "from": "", "to": "", "reg": false, "x": 470, "y": 220, "wires": [ [ "3fd402978032a3f6" ] ] }, { "id": "7415f5c0420699e3", "type": "change", "z": "670db0923361fca8", "g": "6ed5ab1eadbcaae8", "name": "设定感知节点名称", "rules": [ { "t": "set", "p": "payload", "pt": "msg", "to": "tros-racing-track-detection-resnet", "tot": "str" }, { "t": "set", "p": "launch", "pt": "msg", "to": "racing_track_detection_resnet racing_track_detection_resnet.launch.py", "tot": "str" } ], "action": "", "property": "", "from": "", "to": "", "reg": false, "x": 670, "y": 320, "wires": [ [ "4d7b4c565a93919b" ] ] }, { "id": "6b3aab7de2e8d72d", "type": "change", "z": "670db0923361fca8", "g": "1e512f98e6722461", "name": "设定控制节点名称", "rules": [ { "t": "set", "p": "payload", "pt": "msg", "to": "tros-racing-control", "tot": "str" }, { "t": "set", "p": "launch", "pt": "msg", "to": "$join(\t [\t 'racing_control racing_control.launch.py',\t ' avoid_angular_ratio:=',\t msg.avoid_angular_ratio,\t ' avoid_linear_speed:=',\t msg.avoid_linear_speed,\t ' follow_angular_ratio:=',\t msg.follow_angular_ratio,\t ' follow_linear_speed:=',\t msg.follow_linear_speed\t ]\t)", "tot": "jsonata" } ], "action": "", "property": "", "from": "", "to": "", "reg": false, "x": 670, "y": 480, "wires": [ [ "cbaaebf450e30d70" ] ] }, { "id": "676f0e969a07922d", "type": "change", "z": "670db0923361fca8", "g": "ca144226b8b4a942", "name": "设定底盘节点名称", "rules": [ { "t": "set", "p": "payload", "pt": "msg", "to": "tros-originbot-base tros-serial tros-originbot-msgs", "tot": "str" }, { "t": "set", "p": "launch", "pt": "msg", "to": "originbot_base robot.launch.py ", "tot": "str" } ], "action": "", "property": "", "from": "", "to": "", "reg": false, "x": 470, "y": 580, "wires": [ [ "208efc76bd57556a" ] ] }, { "id": "557130d22bf0c621", "type": "inject", "z": "670db0923361fca8", "name": "全部启动", "props": [ { "p": "payload" }, { "p": "topic", "vt": "str" } ], "repeat": "", "crontab": "", "once": false, "onceDelay": 0.1, "topic": "", "payload": "", "payloadType": "date", "x": 100, "y": 120, "wires": [ [ "95b7786d0bd8d625" ] ] }, { "id": "ab13719ae9c07c04", "type": "debug", "z": "670db0923361fca8", "name": "正常结束输出", "active": true, "tosidebar": true, "console": false, "tostatus": false, "complete": "payload", "targetType": "msg", "statusVal": "", "statusType": "auto", "x": 1080, "y": 340, "wires": [] }, { "id": "95b7786d0bd8d625", "type": "rdk-tools smartupdate", "z": "670db0923361fca8", "g": "3fd1f66b90a92c39", "name": "", "x": 260, "y": 120, "wires": [ [ "329835ad4bb184f2", "84714716441620be", "c25e310a036b5e87", "aac440eb0f80f369", "676f0e969a07922d" ], [] ] }, { "id": "f085f61d87a846af", "type": "inject", "z": "670db0923361fca8", "name": "全部关闭", "props": [ { "p": "kill", "v": "", "vt": "date" }, { "p": "topic", "vt": "str" } ], "repeat": "", "crontab": "", "once": false, "onceDelay": 0.1, "topic": "", "x": 100, "y": 200, "wires": [ [ "4d7b4c565a93919b", "cbaaebf450e30d70", "208efc76bd57556a", "3fd402978032a3f6" ] ] }, { "id": "fd1583b162ef03e9", "type": "debug", "z": "670db0923361fca8", "name": "异常结束输出", "active": true, "tosidebar": true, "console": false, "tostatus": false, "complete": "payload", "targetType": "msg", "statusVal": "", "statusType": "auto", "x": 1080, "y": 420, "wires": [] }, { "id": "3fd402978032a3f6", "type": "rdk-tools checkexecute", "z": "670db0923361fca8", "g": "801fd97381c4b9d5", "name": "", "x": 870, "y": 220, "wires": [ [ "ab13719ae9c07c04" ], [ "fd1583b162ef03e9" ] ] }, { "id": "4d7b4c565a93919b", "type": "rdk-tools checkexecute", "z": "670db0923361fca8", "g": "6ed5ab1eadbcaae8", "name": "", "x": 870, "y": 320, "wires": [ [ "ab13719ae9c07c04" ], [ "fd1583b162ef03e9" ] ] }, { "id": "cbaaebf450e30d70", "type": "rdk-tools checkexecute", "z": "670db0923361fca8", "g": "1e512f98e6722461", "name": "", "x": 870, "y": 480, "wires": [ [ "ab13719ae9c07c04" ], [ "fd1583b162ef03e9" ] ] }, { "id": "208efc76bd57556a", "type": "rdk-tools checkexecute", "z": "670db0923361fca8", "g": "ca144226b8b4a942", "name": "", "x": 870, "y": 580, "wires": [ [ "ab13719ae9c07c04" ], [ "fd1583b162ef03e9" ] ] }, { "id": "84714716441620be", "type": "delay", "z": "670db0923361fca8", "g": "6ed5ab1eadbcaae8", "name": "", "pauseType": "delay", "timeout": "3", "timeoutUnits": "seconds", "rate": "1", "nbRateUnits": "1", "rateUnits": "second", "randomFirst": "1", "randomLast": "5", "randomUnits": "seconds", "drop": false, "allowrate": false, "outputs": 1, "x": 440, "y": 320, "wires": [ [ "7415f5c0420699e3" ] ] }, { "id": "c25e310a036b5e87", "type": "delay", "z": "670db0923361fca8", "g": "1e512f98e6722461", "name": "", "pauseType": "delay", "timeout": "6", "timeoutUnits": "seconds", "rate": "1", "nbRateUnits": "1", "rateUnits": "second", "randomFirst": "1", "randomLast": "5", "randomUnits": "seconds", "drop": false, "allowrate": false, "outputs": 1, "x": 440, "y": 420, "wires": [ [ "9f94e0ebff739e23" ] ] }, { "id": "50d1e41ac9dc6344", "type": "inject", "z": "670db0923361fca8", "name": "打开控制节点", "props": [ { "p": "payload" }, { "p": "topic", "vt": "str" } ], "repeat": "", "crontab": "", "once": false, "onceDelay": 0.1, "topic": "", "payload": "", "payloadType": "date", "x": 230, "y": 420, "wires": [ [ "9f94e0ebff739e23" ] ] }, { "id": "d5244fbeb87a5a8e", "type": "inject", "z": "670db0923361fca8", "name": "关闭控制节点", "props": [ { "p": "kill", "v": "", "vt": "str" }, { "p": "topic", "vt": "str" } ], "repeat": "", "crontab": "", "once": false, "onceDelay": 0.1, "topic": "", "x": 230, "y": 480, "wires": [ [ "cbaaebf450e30d70" ] ] }, { "id": "e0a7c0cf31ba0ff8", "type": "rdk-tools texttoaudio", "z": "670db0923361fca8", "g": "3fd1f66b90a92c39", "name": "", "x": 690, "y": 120, "wires": [] }, { "id": "aac440eb0f80f369", "type": "change", "z": "670db0923361fca8", "g": "3fd1f66b90a92c39", "name": "提示", "rules": [ { "t": "set", "p": "payload", "pt": "msg", "to": "智能更新完成", "tot": "str" } ], "action": "", "property": "", "from": "", "to": "", "reg": false, "x": 450, "y": 120, "wires": [ [ "e0a7c0cf31ba0ff8" ] ] }, { "id": "9f94e0ebff739e23", "type": "change", "z": "670db0923361fca8", "g": "1e512f98e6722461", "name": "设定控制参数", "rules": [ { "t": "set", "p": "follow_angular_ratio", "pt": "msg", "to": "-1.0", "tot": "str" }, { "t": "set", "p": "follow_linear_speed", "pt": "msg", "to": "0.2", "tot": "str" }, { "t": "set", "p": "avoid_angular_ratio", "pt": "msg", "to": "0.2", "tot": "str" }, { "t": "set", "p": "avoid_linear_speed", "pt": "msg", "to": "0.1", "tot": "str" } ], "action": "", "property": "", "from": "", "to": "", "reg": false, "x": 460, "y": 480, "wires": [ [ "6b3aab7de2e8d72d" ] ] }, { "id": "b1f2048add97e83e", "type": "comment", "z": "670db0923361fca8", "name": "名称：巡线小车一键启动版本：0.0.2", "info": "更新时间：2024-03-28\n更新时间：2024-03-28", "x": 170, "y": 20, "wires": [] }, { "id": "bd7da660fb5923ef", "type": "comment", "z": "670db0923361fca8", "name": "注意：需要搭配OriginBot使用", "info": "", "x": 480, "y": 20, "wires": [] }, { "id": "c52c5cf52c191f06", "type": "inject", "z": "670db0923361fca8", "name": "进入论坛", "props": [ { "p": "payload" } ], "repeat": "", "crontab": "", "once": false, "onceDelay": 0.1, "topic": "", "payload": "https://developer.horizon.cc/forum", "payloadType": "str", "x": 720, "y": 20, "wires": [ [ "c70194e39eb486f0" ] ] }, { "id": "c70194e39eb486f0", "type": "rdk-tools openurl", "z": "670db0923361fca8", "name": "", "x": 860, "y": 20, "wires": [] }, { "id": "c1e8a56813c0e8fc", "type": "inject", "z": "670db0923361fca8", "name": "了解更多", "props": [ { "p": "payload" } ], "repeat": "", "crontab": "", "once": false, "onceDelay": 0.1, "topic": "", "payload": "https://developer.horizon.cc/nodehubdetail/189779578867385344", "payloadType": "str", "x": 100, "y": 680, "wires": [ [ "b639e45833ef78b1" ] ], "icon": "node-red/file.svg" }, { "id": "b639e45833ef78b1", "type": "rdk-tools openurl", "z": "670db0923361fca8", "name": "", "x": 300, "y": 680, "wires": [] } ]