[ { "id": "bev_pro_final_tab", "type": "tab", "label": "BEV感知", "disabled": false, "info": "" }, { "id": "group_bev_ctrl_final", "type": "group", "z": "bev_pro_final_tab", "name": "核心算法控制", "style": { "fill": "#e3f3d3", "fill-opacity": "0.6", "label": true }, "nodes": [ "inject_start_bev_final", "change_bev_config_final", "node_execute_bev_final", "inject_stop_bev_final", "debug_bev_log_final", "exec_init_bev_final" ], "x": 114, "y": 171.5, "w": 1052, "h": 169.5 }, { "id": "group_viz_bev_final", "type": "group", "z": "bev_pro_final_tab", "name": "结果可视化", "style": { "fill": "#d1e7f5", "fill-opacity": "0.6", "label": true }, "nodes": [ "inject_browser_bev_final", "open_browser_bev_final", "delay_preview_bev_final", "set_ws_url_bev_final", "video_preview_bev_final" ], "x": 114, "y": 399, "w": 612, "h": 129.5 }, { "id": "group_env_bev_final", "type": "group", "z": "bev_pro_final_tab", "name": "环境准备 & 说明", "style": { "fill": "#fff9c4", "fill-opacity": "0.6", "label": true }, "nodes": [ "inject_update_bev_final", "smart_update_bev_final", "change_notify_bev_final", "audio_notify_bev_final", "inject_doc_link", "open_doc_link", "comment_data_tip" ], "x": 94, "y": 39, "w": 992, "h": 122 }, { "id": "inject_doc_link", "type": "inject", "z": "bev_pro_final_tab", "g": "group_env_bev_final", "name": "📖 首次使用必读 (下载数据集)", "props": [ { "p": "payload" }, { "p": "topic", "vt": "str" } ], "repeat": "", "crontab": "", "once": false, "onceDelay": 0.1, "topic": "", "payload": "https://developer.d-robotics.cc/rdk_doc/Robot_development/boxs/perception/bev", "payloadType": "str", "x": 260, "y": 80, "wires": [ [ "open_doc_link" ] ] }, { "id": "open_doc_link", "type": "rdk-tools openurl", "z": "bev_pro_final_tab", "g": "group_env_bev_final", "name": "", "x": 520, "y": 80, "wires": [] }, { "id": "comment_data_tip", "type": "comment", "z": "bev_pro_final_tab", "g": "group_env_bev_final", "name": "⚠️ 注意：运行前请先点击左侧按钮，按官方文档手动下载数据集！", "info": "需要下载 nuscenes_bev_val.tar.gz 并解压到板端指定目录。", "x": 820, "y": 80, "wires": [] }, { "id": "inject_start_bev_final", "type": "inject", "z": "bev_pro_final_tab", "g": "group_bev_ctrl_final", "name": "启动 BEV 算法", "props": [ { "p": "payload" } ], "repeat": "", "crontab": "", "once": false, "onceDelay": 0.1, "topic": "", "payload": "", "payloadType": "date", "x": 240, "y": 220, "wires": [ [ "exec_init_bev_final" ] ] }, { "id": "exec_init_bev_final", "type": "exec", "z": "bev_pro_final_tab", "g": "group_bev_ctrl_final", "command": "source /opt/tros/humble/setup.bash && rm -rf qat nuscenes_bev_val && ln -s $(ros2 pkg prefix hobot_bev)/lib/hobot_bev/qat/ qat && ln -sf ~/hobot_bev_data/nuscenes_bev_val nuscenes_bev_val", "addpay": false, "append": "", "useSpawn": false, "timer": "", "oldrc": false, "name": "初始化环境 (链接数据)", "x": 480, "y": 220, "wires": [ [ "change_bev_config_final", "delay_preview_bev_final" ], [], [] ] }, { "id": "change_bev_config_final", "type": "change", "z": "bev_pro_final_tab", "g": "group_bev_ctrl_final", "name": "配置流参数", "rules": [ { "t": "set", "p": "launch", "pt": "msg", "to": "hobot_bev hobot_bev.launch.py", "tot": "str" }, { "t": "set", "p": "payload", "pt": "msg", "to": "", "tot": "str" } ], "action": "", "property": "", "from": "", "to": "", "reg": false, "x": 710, "y": 220, "wires": [ [ "node_execute_bev_final" ] ] }, { "id": "node_execute_bev_final", "type": "rdk-tools checkexecute", "z": "bev_pro_final_tab", "g": "group_bev_ctrl_final", "name": "执行算法", "x": 900, "y": 260, "wires": [ [ "debug_bev_log_final" ], [ "debug_bev_log_final" ] ] }, { "id": "inject_stop_bev_final", "type": "inject", "z": "bev_pro_final_tab", "g": "group_bev_ctrl_final", "name": "关闭服务", "props": [ { "p": "kill", "v": "", "vt": "str" } ], "repeat": "", "crontab": "", "once": false, "onceDelay": 0.1, "topic": "", "x": 220, "y": 300, "wires": [ [ "node_execute_bev_final" ] ] }, { "id": "debug_bev_log_final", "type": "debug", "z": "bev_pro_final_tab", "g": "group_bev_ctrl_final", "name": "系统日志", "active": true, "tosidebar": true, "console": false, "tostatus": false, "complete": "payload", "targetType": "msg", "statusVal": "", "statusType": "auto", "x": 1060, "y": 260, "wires": [] }, { "id": "inject_browser_bev_final", "type": "inject", "z": "bev_pro_final_tab", "g": "group_viz_bev_final", "name": "打开浏览器", "props": [ { "p": "payload" }, { "p": "topic", "vt": "str" } ], "repeat": "", "crontab": "", "once": false, "onceDelay": 0.1, "topic": "", "payload": "http://{host}:8000", "payloadType": "str", "x": 220, "y": 440, "wires": [ [ "open_browser_bev_final" ] ] }, { "id": "open_browser_bev_final", "type": "rdk-tools openurl", "z": "bev_pro_final_tab", "g": "group_viz_bev_final", "name": "", "x": 400, "y": 440, "wires": [] }, { "id": "delay_preview_bev_final", "type": "delay", "z": "bev_pro_final_tab", "g": "group_viz_bev_final", "name": "等待加载(8s)", "pauseType": "delay", "timeout": "8", "timeoutUnits": "seconds", "rate": "1", "nbRateUnits": "1", "rateUnits": "second", "randomFirst": "1", "randomLast": "5", "randomUnits": "seconds", "drop": false, "allowrate": false, "outputs": 1, "x": 240, "y": 480, "wires": [ [ "set_ws_url_bev_final" ] ] }, { "id": "set_ws_url_bev_final", "type": "change", "z": "bev_pro_final_tab", "g": "group_viz_bev_final", "name": "设定视频流", "rules": [ { "t": "set", "p": "payload", "pt": "msg", "to": "ws://{host}:8000", "tot": "str" } ], "action": "", "property": "", "from": "", "to": "", "reg": false, "x": 430, "y": 480, "wires": [ [ "video_preview_bev_final" ] ] }, { "id": "video_preview_bev_final", "type": "rdk-tools videows", "z": "bev_pro_final_tab", "g": "group_viz_bev_final", "name": "Web预览", "fps": "10", "width": "480", "active": true, "x": 620, "y": 480, "wires": [ [], [], [] ] }, { "id": "inject_update_bev_final", "type": "inject", "z": "bev_pro_final_tab", "g": "group_env_bev_final", "name": "检查更新", "props": [ { "p": "payload" }, { "p": "topic", "vt": "str" } ], "repeat": "", "crontab": "", "once": false, "onceDelay": 0.1, "topic": "", "payload": "", "payloadType": "date", "x": 220, "y": 120, "wires": [ [ "smart_update_bev_final" ] ] }, { "id": "smart_update_bev_final", "type": "rdk-tools smartupdate", "z": "bev_pro_final_tab", "g": "group_env_bev_final", "name": "", "x": 380, "y": 120, "wires": [ [ "change_notify_bev_final" ], [] ] }, { "id": "change_notify_bev_final", "type": "change", "z": "bev_pro_final_tab", "g": "group_env_bev_final", "name": "提示内容", "rules": [ { "t": "set", "p": "payload", "pt": "msg", "to": "环境检查完成", "tot": "str" } ], "action": "", "property": "", "from": "", "to": "", "reg": false, "x": 540, "y": 120, "wires": [ [ "audio_notify_bev_final" ] ] }, { "id": "audio_notify_bev_final", "type": "rdk-tools texttoaudio", "z": "bev_pro_final_tab", "g": "group_env_bev_final", "name": "", "x": 670, "y": 120, "wires": [] }, { "id": "d76b334752b6cfa9", "type": "global-config", "env": [], "modules": { "node-red-node-rdk-tools": "0.0.27" } } ]