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';


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, sudoPassword, filePath, tag) => {
    const command = 'echo "' + sudoPassword + '" | sudo -S  docker import ' + 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}`);
            return;
        }
        console.log(`stdout: ${stdout}`);
        console.error(`stderr: ${stderr}`);
    });
});

// ipcMain.on('generate-world', (event, rosbag_path) => {
//
//     const serviceScript = 'nonhup bash /home/cicv/work/pji_desktop/run_map2gazabo.sh >/dev/null 2>&1 & '
//     const child1 = exec(serviceScript, (error, stdout, stderr) => {
//         if (error) {
//             console.error(`exec error: ${error}`);
//             return;
//         }
//         console.log(`stdout: ${stdout}`);
//         console.error(`stderr: ${stderr}`);
//
//         // 启动第二个脚本
//         const script2 = exec('/home/cicv/work/pji_desktop/play_rosbag.sh /home/cicv/work/pji_desktop/map_bag/map_anqing.bag', (error, stdout, stderr) => {
//             if (error) {
//                 console.error(`执行第二个脚本时出错: ${error}`);
//                 return;
//             }
//             console.log(`第二个脚本的输出: ${stdout}`);
//         });
//     });
// });

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

    // 使用 spawn 启动脚本
    const serviceProcess = spawn('bash', ["/home/cicv/work/pji_desktop/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(`第二个脚本已关闭: ${data}`);
    });

    function startSecondScript() {
        // 启动第二个脚本
        const script2 = exec('bash /home/cicv/work/pji_desktop/play_rosbag.sh /home/cicv/work/pji_desktop/map_bag/map.bag', (error, stdout, stderr) => {
            if (error) {
                console.error(`执行第二个脚本时出错: ${error}`);
                return;
            }
            console.log(`第二个脚本的输出: ${stdout}`);
        });

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