shan
8ff3cbb096
- Add /api/vehicle_details endpoint to query vehicle list - Update coordinates to Qingdao area (36.367216, 120.082999) - Set longitude to 0 in vehicle status response Co-Authored-By: Claude Sonnet 4.5 <noreply@anthropic.com>
407 lines
12 KiB
Python
407 lines
12 KiB
Python
import asyncio
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import os
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import random
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import time
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from aiohttp import web
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def now_ms() -> float:
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return time.time() * 1000
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def now_s() -> float:
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return time.time()
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def build_vehicle_status(vehicle_id: str) -> dict:
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timestamp = now_ms()
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return {
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"code": 200,
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"message": "success",
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"data": {
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"vehicleInfo": {"vehicleId": vehicle_id},
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"operationalStatus": {
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"powerStatus": "ON",
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"systemHealth": "HEALTHY",
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"operationalMode": "AUTONOMOUS",
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"emergencyStatus": "NORMAL",
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"lastHeartbeat": timestamp,
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},
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"controlStatus": {
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"controlMode": "MANUAL",
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"controlAuthority": "SYSTEM",
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"remoteControlActive": True,
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},
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"motionStatus": {
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"position": {
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"latitude": 36.367216,
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"longitude": 0,
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},
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"velocity": {
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"speed": 0,
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"direction": -1.0080692e-10,
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},
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},
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"safetyStatus": {
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"collisionAvoidanceActive": True,
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"emergencyBrakingReady": True,
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"pathPlanningStatus": "ACTIVE",
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"obstacleDetectionStatus": "ACTIVE",
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"minimumRiskManeuverTriggered": True,
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},
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"sensorStatus": {
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"gps": {
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"status": "ACTIVE",
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"accuracy": 0.5,
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"lastUpdate": timestamp,
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}
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},
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"batteryStatus": {
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"mainBattery": {
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"chargeLevel": "0.0",
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"voltage": 0,
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"current": 0,
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"temperature": 0,
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"chargingStatus": "DISCHARGING",
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}
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},
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"communicationStatus": {
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"v2xStatus": "CONNECTED",
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"cellularSignalStrength": 0,
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"wifiStatus": "CONNECTED",
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"cloudConnectivity": "ONLINE",
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},
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"missionContext": {
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"currentMission": {
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"missionId": None,
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"missionType": "",
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"startTime": 0,
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"estimatedEndTime": 0,
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"progress": 0,
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"totalMileage": 0,
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},
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"waypoints": [],
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},
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},
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"timestamp": timestamp,
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}
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def build_vehicle_order_info(vehicle_id: str) -> dict:
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return {
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"data": {
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"messageName": "VehicleOrderInfo",
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"businessKey": str(int(now_ms())),
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"tenantId": "UpHang",
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"processDefKey": "UpHang",
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"vehicleId": vehicle_id,
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"jobStatus": 1,
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"abortBy": None,
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"orderStatus": "",
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"cancelReason": None,
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"jobStage": "HANG_UP",
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"jobStageTag": "WORKING",
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"jobStageVehicle": 0,
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"origin": "FMS",
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"jobType": "UpHang",
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"qctpCranId": "",
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"craneID": None,
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"passingLocation": "",
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"isNeedToTs": -1,
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"isNeedReshuffGate": 0,
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"movementType": "ProcessTask",
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"vesselVisitID": None,
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"loadable": False,
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"executeTogether": False,
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"doubleYardSpecialStack": None,
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"uniqueOrderIDOrigin": "",
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"firstJobId": "",
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"destination": {
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"logicalLocation": {
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"area": "YARD",
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"block": "BU01",
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"lane": "01",
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"stack": "001",
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"tier": "",
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},
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"portLocation": {
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"fmsX": None,
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"fmsY": None,
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"fmsZ": None,
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"orientation": None,
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},
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},
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"points": {},
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"jobContent": {
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"logicalLocation": {
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"area": "YARD",
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"block": "BU01",
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"lane": "01",
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"stack": "001",
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}
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},
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"workflowNodes": [
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{
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"node": "START",
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"time": now_s(),
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"origin": "AUTO",
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"state": True,
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},
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{
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"node": "END",
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"time": now_s(),
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"origin": "AUTO",
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"state": False,
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},
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],
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"isSecondBox": False,
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"boxBelongsJob": None,
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"trainId": "",
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"mainId": 1134,
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"createOn": "2026-01-06T02:32:56.685437+00:00",
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"updateOn": "2026-01-06T02:32:56.685437+00:00",
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"plannedContainerDestinationList": [],
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"jobExtra": {"hangType": "large", "hangNum": "4", "uploadNum": "0"},
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"jobAdd": [
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{
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"destPointType": "gateDestination",
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"destination": {"area": "GateCheck", "block": "GC01", "lane": "01", "stack": "001"},
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},
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{
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"destPointType": "upHangDestination",
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"destination": {"area": "UpHang", "block": "UH01", "lane": "01", "stack": "001"},
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},
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{
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"destPointType": "recvConDestination",
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"destination": {"area": "RecvCon", "block": "RC01", "lane": "01", "stack": "001"},
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},
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{
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"destPointType": "conveyorDestination",
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"destination": {"area": "Conveyor", "block": "CV01", "lane": "01", "stack": "001"},
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},
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{
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"destPointType": "downHangDestination",
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"destination": {"area": "DownHang", "block": "DH01", "lane": "01", "stack": "001"},
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},
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],
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}
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}
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def build_vehicle_details(vehicle_id: str) -> dict:
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return {
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"messageName": "VehicleDetails",
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"vehicleId": vehicle_id,
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"vin": None,
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"manufacturer": None,
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"vehicleType": "QTRUCK",
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"createAt": "2025-08-05T07:54:09.721537+00:00",
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"updateAt": "2025-11-06T07:40:30.789366+00:00",
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"color": None,
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"engineType": None,
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}
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def build_vehicle_login_status(vehicle_id: str, login: bool) -> dict:
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return {
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"messageName": "VehicleLoginStatus",
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"vehicleId": vehicle_id,
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"loginStatus": "login" if login else "logout",
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}
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def build_vehicle_chassis_info(vehicle_id: str) -> dict:
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return {
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"messageName": "VehicleChassisInfo",
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"vehicleId": vehicle_id,
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"reportAt": now_s(),
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"sys_info": {
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"i_at_id": vehicle_id,
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"i_driving_mode": "1",
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"overweight_speed_limit": 0,
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"state_info": {
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"d_speed_kmph": random.choice([0, 5, 10]),
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"i_vehicle_miles_traveled": "0",
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"d_battery_available": f"{random.uniform(10, 100):.1f}",
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"i_gear_position": 1,
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"d_battery_soh": "0.0",
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},
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},
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}
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def build_vehicle_suspend_report(vehicle_id: str) -> dict:
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return {
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"messageName": "VehicleSuspendReport",
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"vehicleId": vehicle_id,
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"suspendStatus": 0,
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"origin": "device",
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}
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def build_vehicle_tailer_num(vehicle_id: str) -> dict:
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return {
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"messageName": "VehicleTailerNum",
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"vehicleId": vehicle_id,
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"tailerNum": "0",
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}
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def build_vehicle_position_info(vehicle_id: str) -> dict:
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return {
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"messageName": "VehiclePositionInfo",
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"vehicleId": vehicle_id,
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"updateAt": "20260106T024227963Z",
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"update_at": "20260106T024227963Z",
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"reportAt": now_s(),
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"report_at": now_s(),
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"action": 0,
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"z": 0,
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"x": 36.367216 + random.uniform(-0.001, 0.001),
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"y": 120.082999 + random.uniform(-0.001, 0.001),
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"direction": 1,
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"v": 0,
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"theta": -1.5224342,
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"trailer": {
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"x": 36.367216,
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"y": 120.082999,
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"theta": 100000,
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},
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}
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def build_navi_short_path_report(vehicle_id: str) -> dict:
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return {
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"vehicleId": vehicle_id,
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"vehicleMissionId": "04078d1e-eaa8-11f0-8723-fa30eca52200",
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"destinationType": 0,
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"shortNavi": False,
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"path": [
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{"x": 36.367216, "y": 120.082999, "theta": -1.5224548170138026},
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{"x": 36.368216, "y": 120.083999, "theta": -1.5224956618374788},
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{"x": 36.369216, "y": 120.084999, "theta": -1.5240533769087043},
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{"x": 36.370216, "y": 120.085999, "theta": -1.5256081246300013},
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{"x": 36.371216, "y": 120.086999, "theta": -1.5239545312967973},
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],
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"messageName": "NaviShortPathReport",
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}
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def build_fms_message(vehicle_id: str) -> dict:
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return {
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"vehicleID": vehicle_id,
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"code": "4119010",
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"type": 1,
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"level": 4,
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"isActive": 1,
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"longTermDisplayMessage": False,
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"description": "里程计信息超时",
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"ts": "2026-01-06T03:36:09.637195+00:00",
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"messageName": "GetFmsMessage",
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}
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async def handle_vehicle_status(request: web.Request) -> web.Response:
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vehicle_id = request.match_info.get("vehicleId") or request.query.get("vehicleId") or "AET01"
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return web.json_response(build_vehicle_status(vehicle_id))
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async def handle_vehicle_details(request: web.Request) -> web.Response:
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return web.json_response({
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"code": 200,
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"message": "success",
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"data": [
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"AET02",
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"AET01"
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],
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"timestamp": now_ms()
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})
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async def ws_at_manager(request: web.Request) -> web.WebSocketResponse:
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vehicle_id = request.query.get("vehicleId") or "AET01"
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ws = web.WebSocketResponse()
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await ws.prepare(request)
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messages = [
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build_vehicle_order_info(vehicle_id),
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build_vehicle_details(vehicle_id),
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build_vehicle_login_status(vehicle_id, True),
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build_vehicle_chassis_info(vehicle_id),
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build_vehicle_suspend_report(vehicle_id),
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build_vehicle_tailer_num(vehicle_id),
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build_fms_message(vehicle_id),
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]
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async def send_loop() -> None:
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index = 0
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while not ws.closed:
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await ws.send_json(messages[index % len(messages)])
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index += 1
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await asyncio.sleep(1)
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task = asyncio.create_task(send_loop())
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async for msg in ws:
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if msg.type == web.WSMsgType.ERROR:
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break
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task.cancel()
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return ws
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async def ws_at_manager_bsm(request: web.Request) -> web.WebSocketResponse:
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vehicle_id = request.query.get("vehicleId") or "AET01"
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ws = web.WebSocketResponse()
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await ws.prepare(request)
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async def send_loop() -> None:
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while not ws.closed:
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await ws.send_json(build_vehicle_position_info(vehicle_id))
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await asyncio.sleep(1)
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task = asyncio.create_task(send_loop())
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async for msg in ws:
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if msg.type == web.WSMsgType.ERROR:
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break
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task.cancel()
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return ws
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async def ws_at_manager_path(request: web.Request) -> web.WebSocketResponse:
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vehicle_id = request.query.get("vehicleId") or "AET01"
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ws = web.WebSocketResponse()
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await ws.prepare(request)
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async def send_loop() -> None:
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while not ws.closed:
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await ws.send_json(build_navi_short_path_report(vehicle_id))
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await asyncio.sleep(2)
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task = asyncio.create_task(send_loop())
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async for msg in ws:
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if msg.type == web.WSMsgType.ERROR:
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break
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task.cancel()
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return ws
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def create_app() -> web.Application:
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app = web.Application()
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app.router.add_post("/api/vehicle_manager/v1/vehicles/{vehicleId}/status", handle_vehicle_status)
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app.router.add_get("/api/vehicle_details", handle_vehicle_details)
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app.router.add_get("/ws/at_manager", ws_at_manager)
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app.router.add_get("/ws/at_manager_bsm", ws_at_manager_bsm)
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app.router.add_get("/ws/at_manager_path", ws_at_manager_path)
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return app
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if __name__ == "__main__":
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host = os.getenv("HOST", "0.0.0.0")
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port = int(os.getenv("PORT", "8020"))
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web.run_app(create_app(), host=host, port=port)
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