pji-desktop/electron/main.js

import {app, BrowserWindow, ipcMain, dialog} from 'electron';
import {exec, spawn} from 'child_process';
import path from 'path';
import {fileURLToPath} from 'url';
import fs from 'fs';
import axios from 'axios';
import {resolve} from "node:dns";
import {execSync} from "node:child_process";


const __filename = fileURLToPath(import.meta.url);
const __dirname = path.dirname(__filename);

function createWindow() {
    const win = new BrowserWindow({
        width: 800,
        height: 600,
        webPreferences: {
            preload: path.join(__dirname, 'preload.js'), // 确保路径正确
            contextIsolation: true,
            enableRemoteModule: false,
            nodeIntegration: false,
        }
    });

    win.webContents.openDevTools(); // 打开开发者工具进行调试
    win.loadURL('http://localhost:5173'); // 开发环境
    // win.loadURL('http://36.110.106.156:81'); // 生产环境
    console.log('Window created and URL loaded');
}

app.whenReady().then(createWindow);

app.on('window-all-closed', () => {
    if (process.platform !== 'darwin') {
        app.quit();
    }
});

app.on('activate', () => {
    if (BrowserWindow.getAllWindows().length === 0) {
        createWindow();
    }
});


// ------------- 进程通信 -------------
ipcMain.on('open-gazebo', (event, arg) => {
    console.log('Received open-gazebo event');
    exec('gazebo', (error, stdout, stderr) => {
        if (error) {
            console.error(`exec error: ${error}`);
            return;
        }
        console.log(`stdout: ${stdout}`);
        console.error(`stderr: ${stderr}`);
    });
});


ipcMain.on('open-rviz', (event, arg) => {
    console.log('Received open-rviz event');
    exec('rviz', (error, stdout, stderr) => {
        if (error) {
            console.error(`exec error: ${error}`);
            return;
        }
        console.log(`stdout: ${stdout}`);
        console.error(`stderr: ${stderr}`);
    });
});

ipcMain.on('close-gazebo', (event, arg) => {
    console.log('Received close-gazebo event');
    exec('pkill -f gzserver & pkill -f gzclient', (error, stdout, stderr) => {
        if (error) {
            console.error(`exec error: ${error}`);
            return;
        }
        console.log(`stdout: ${stdout}`);
        console.error(`stderr: ${stderr}`);
    });
});


ipcMain.on('close-rviz', (event, arg) => {
    console.log('Received close-rviz event');
    exec('pkill -f rviz', (error, stdout, stderr) => {
        if (error) {
            console.error(`exec error: ${error}`);
            return;
        }
        console.log(`stdout: ${stdout}`);
        console.error(`stderr: ${stderr}`);
    });
});


ipcMain.handle('dialog:open', async (event, options = {}) => {
    const result = await dialog.showOpenDialog(BrowserWindow.getFocusedWindow() || BrowserWindow.getAllWindows()[0], options);
    return result.canceled ? null : result.filePaths;
});


ipcMain.on('docker-import', (event, filePath, tag) => {
    const command = 'bash /home/cicv/work/pji_desktop/docker_import/run_docker_import.sh ' + filePath + ' pji_nav ' + tag
    console.log('导入算法镜像文件：', command);
    exec(command, (error, stdout, stderr) => {
        if (error) {
            console.error(`exec error: ${error}`);
            event.reply('docker-import-response', { success: false, message: error.message });
            return;
        } else {
            console.log(`stdout: ${stdout}`);
            console.error(`stderr: ${stderr}`);
            event.reply('docker-import-response', { success: true, message: 'Docker image imported successfully' });
        }
    });
});


ipcMain.on('generate-world', (event, {rosbag_path}) => {

    // 使用 spawn 启动脚本
    const serviceProcess = spawn('bash', ["/home/cicv/work/pji_desktop/simulation/run_map2gazebo.sh"], { detached: true });

    // 设置为后台进程
    serviceProcess.unref();

    // 监听输出
    serviceProcess.stdout.on('data', (data) => {
        console.log(`第一个脚本的输出: ${data}`);
        // 根据第一个脚本的输出判断其是否准备好
        if (data.toString().includes('Service map2gazebo started')) {
            startSecondScript();
        }
    });

    // 监听错误
    serviceProcess.stderr.on('data', (data) => {
        console.error(`执行第一个脚本时出错: ${data}`);
    });

    // 监听关闭
    serviceProcess.on('close', (data) => {
        console.log(`第一个脚本已关闭: ${data}`);
    });

    function startSecondScript() {
        // 启动第二个脚本
        const script2 = exec('bash /home/cicv/work/pji_desktop/simulation/play_rosbag.sh ' + rosbag_path, (error, stdout, stderr) => {
            if (error) {
                console.error(`执行第二个脚本时出错: ${error}`);
                event.sender.send('generate-world-result', { success: false, output: error });
                return;
            }
            console.log(`第二个脚本的输出: ${stdout}`);

            event.sender.send('generate-world-result', { success: true, output: stdout });
        });

        script2.on('exit', (code) => {
            console.log(`第二个脚本已退出，退出码: ${code}`);
        });
    }
});


ipcMain.on('start-container', (event, {zip_file_path, image_name, container_name}) => {

    // 使用 spawn 启动脚本
    const serviceProcess = spawn('bash', ["/home/cicv/work/pji_desktop/simulation/data_preparation.sh", zip_file_path], { detached: true });

    // 设置为后台进程
    serviceProcess.unref();

    // 监听输出
    serviceProcess.stdout.on('data', (data) => {
        console.log(`第一个脚本的输出: ${data}`);
        // 根据第一个脚本的输出判断其是否准备好
        if (data.toString().includes('Data preparation done')) {
            startSecondScript();
        }
    });

    // 监听错误
    serviceProcess.stderr.on('data', (data) => {
        console.error(`执行第一个脚本时出错: ${data}`);
    });

    // 监听关闭
    serviceProcess.on('close', (data) => {
        console.log(`第一个脚本已关闭: ${data}`);
    });

    function startSecondScript() {
        let command = "bash /home/cicv/work/pji_desktop/simulation/start_container.sh " + image_name + " " + container_name
        // 启动第二个脚本
        const script2 = exec(command, (error, stdout, stderr) => {
            if (error) {
                console.error(`执行第二个脚本时出错: ${error}`);
                event.sender.send('generate-world-result', { success: false, output: error });
                return;
            }
            console.log(`第二个脚本的输出: ${stdout}`);

            event.sender.send('start-container-result', { success: true, output: stdout });
        });

        script2.on('exit', (code) => {
            console.log(`第二个脚本已退出，退出码: ${code}`);
        });
    }
});

ipcMain.handle('run-simulation', (event, {obstacle_flag, default_start_flag, default_end_flag, start_point, end_point}) => {
    const command = 'bash /home/cicv/work/pji_desktop/simulation/run_simulation.sh ' + obstacle_flag + ' ' + default_start_flag + ' ' + default_end_flag +
        ' ' + start_point + ' ' + end_point;
    console.log('command：', command);

    // 异步
    // exec(command, (error, stdout, stderr) => {
    //     if (error) {
    //         console.error(`exec error: ${error}`);
    //         // event.reply('run-simulation-response', { success: false, message: error.message });
    //         return { success: false, message: error.message }
    //     } else {
    //         console.log(`stdout: ${stdout}`);
    //         console.error(`stderr: ${stderr}`);
    //         return { success: true, message: 'Run simulation successfully' }
    //     }
    // });

    // 同步
    try {
        const  output = execSync(command)
        console.log("output", output.toString());
        return { success: false, message: error.message }
    } catch (error) {
        console.error(`exec error: ${error}`);
        return { success: true, message: 'Run simulation successfully' }
    }
});

ipcMain.handle('download-file', async (event, { url, fileName, savePath, overwriteFlag }) => {
    try {
        // console.log("url", url)
        // console.log("response", response)

        const filePath = path.join(savePath, fileName);

        // 查找文件是否存在
        const fileExists = fs.existsSync(filePath)
        if (fileExists && !overwriteFlag) { // 已存在且不覆盖
            return {success: true, filePath}
        } else { // 不存在
            const response = await axios.get(url, {responseType: 'stream'});
            // 写入文件
            const writer = fs.createWriteStream(filePath);

            return new Promise((resolve, reject) => {
                response.data.pipe(writer);

                let error = null;
                writer.on('error', err => {
                    error = err;
                    writer.close();
                    reject(err);
                });

                writer.on('close', () => {
                    if (!error) {
                        resolve({success: true, filePath}); // 返回成功信息
                    } else {
                        reject({success: false, error: error.message}); // 返回错误信息
                    }
                });
            });
        }
    } catch (error) {
        // console.error('下载文件出错:', error);
        throw error;
    }
});


// 监听从渲染进程传来的删除文件请求
ipcMain.on('delete-file', (event, {fileName, savePath}) => {
    const filePath = path.join(savePath, fileName);
    // 检查文件是否存在
    if (fs.existsSync(filePath)) {
        // 文件存在，尝试删除
        fs.unlink(filePath, (err) => {
            if (err) {
                event.reply('delete-file-response', { success: false, message: err.message });
            } else {
                event.reply('delete-file-response', { success: true, message: 'File deleted successfully' });
            }
        });
    } else {
        // 文件不存在
        event.reply('delete-file-response', { success: false, message: 'File does not exist' });
    }
});