diff --git a/src/core/System.cpp b/src/core/System.cpp index 49b9129..580bb46 100644 --- a/src/core/System.cpp +++ b/src/core/System.cpp @@ -248,8 +248,41 @@ void System::processLoop() { if (has_new_data) { // 使用成员变量的引用构建 objects 向量 std::vector objects; - for (auto& ac : latest_aircraft_) { - objects.push_back(&ac); + // 仅计算前端选择的航空器（vehicleType == HANGKONG） + // - 注册表里未标记任何航空器（集合为空）: 不参与航空器相关碰撞检测 + auto selectedAircraftIds = controllableVehicles_.getSelectedAircraftIdsSnapshot(); + bool enableAircraftCollision = !selectedAircraftIds.empty(); + + // 兼容“前端将车辆标记为航空器(HANGKONG)”的模拟方式： + // - 若选中的 HANGKONG id 出现在车辆位置数据中，则将该车辆虚拟为航空器参与碰撞/安全区 + latest_virtual_aircraft_.clear(); + if (enableAircraftCollision) { + for (const auto& veh : latest_vehicles_) { + if (selectedAircraftIds.find(veh.vehicleNo) == selectedAircraftIds.end()) { + continue; + } + Aircraft ac; + ac.flightNo = veh.vehicleNo; + ac.id = veh.vehicleNo; + ac.geo = veh.geo; + ac.position = veh.position; + ac.heading = veh.heading; + ac.speed = veh.speed; + ac.timestamp = veh.timestamp; + ac.altitude = 0.0; + latest_virtual_aircraft_.push_back(ac); + } + } + + if (enableAircraftCollision) { + for (auto& ac : latest_aircraft_) { + if (selectedAircraftIds.find(ac.id) != selectedAircraftIds.end()) { + objects.push_back(&ac); + } + } + for (auto& ac : latest_virtual_aircraft_) { + objects.push_back(&ac); + } } for (auto& veh : latest_vehicles_) { bool controllable = controllableVehicles_.isControllable(veh.vehicleNo); @@ -280,8 +313,37 @@ void System::processLoop() { } // 检查和处理常规碰撞风险 - collisionDetector_->updateTraffic(latest_aircraft_, latest_vehicles_); - auto collisionRisks = collisionDetector_->detectCollisions(); + std::vector filteredAircraft; + if (enableAircraftCollision) { + filteredAircraft.reserve(latest_aircraft_.size() + latest_virtual_aircraft_.size()); + std::unordered_set added; + for (const auto& ac : latest_aircraft_) { + if (selectedAircraftIds.find(ac.id) != selectedAircraftIds.end()) { + if (added.insert(ac.id).second) { + filteredAircraft.push_back(ac); + } + } + } + for (const auto& ac : latest_virtual_aircraft_) { + if (selectedAircraftIds.find(ac.id) != selectedAircraftIds.end()) { + if (added.insert(ac.id).second) { + filteredAircraft.push_back(ac); + } + } + } + } + + std::vector collisionRisks; + if (enableAircraftCollision && !filteredAircraft.empty()) { + collisionDetector_->updateTraffic(filteredAircraft, latest_vehicles_); + collisionRisks = collisionDetector_->detectCollisions(); + } else { + if (!enableAircraftCollision) { + Logger::debug("Skip collision detection: no selected aircraft from frontend registry"); + } else { + Logger::debug("Skip collision detection: selected aircraft not found in aircraft/vehicle positions"); + } + } Logger::debug("碰撞检测器检测到风险数量: ", collisionRisks.size()); for (const auto& risk : collisionRisks) { @@ -312,6 +374,9 @@ void System::processLoop() { broadcastTrafficLightStatus(signal); trafficLightDetector_->processSignal(signal, latest_vehicles_); } + + // 车辆更新但红绿灯未推送新信号时，使用缓存信号补发近距离红灯（新上线车辆也能获知当前红灯） + trafficLightDetector_->processCachedSignals(latest_vehicles_); } // 等待下一次处理 diff --git a/src/core/System.h b/src/core/System.h index a8e4d31..5d7c3b0 100644 --- a/src/core/System.h +++ b/src/core/System.h @@ -132,6 +132,7 @@ private: // 存储最新数据的成员变量 std::vector latest_aircraft_; + std::vector latest_virtual_aircraft_; // 前端将车辆标记为 HANGKONG 时，将该车辆位置虚拟为航空器参与碰撞/安全区 std::vector latest_vehicles_; std::vector latest_traffic_lights_; }; \ No newline at end of file diff --git a/src/detector/TrafficLightDetector.cpp b/src/detector/TrafficLightDetector.cpp index 872aa53..b654d77 100644 --- a/src/detector/TrafficLightDetector.cpp +++ b/src/detector/TrafficLightDetector.cpp @@ -4,6 +4,14 @@ #include "core/System.h" #include +namespace { +// 红灯近距离下发阈值（米） +// 需求：保留原有“对所有受管车辆下发信号”的逻辑；并在红灯未变化的情况下， +// 若车辆进入近距离范围，则再对该车补发一次红灯信号。 +// 参考 docs/warning_strategy.md：距离路口 50 米处为停车点。 +constexpr double kTrafficLightRedSignalDistanceM = 50.0; +} // namespace + TrafficLightDetector::TrafficLightDetector(const IntersectionConfig& intersectionConfig, ControllableVehicles& controllableVehicles, System& system) @@ -11,6 +19,79 @@ TrafficLightDetector::TrafficLightDetector(const IntersectionConfig& intersectio , controllable_vehicles_(controllableVehicles) , system_(system) {} +void TrafficLightDetector::handleSignal(const TrafficLightSignal& signal, const Intersection* intersection, + const std::vector& vehicles, bool is_signal_updated) { + if (!intersection) { + return; + } + + if (is_signal_updated) { + // FIXME: 临时修改 - 仅根据南北向状态发送指令，未考虑车辆方向和东西向状态。 + // 需要根据车辆行驶方向判断应该参考 ns_status 还是 ew_status。 + GeoPosition intersectionGeo; + intersectionGeo.latitude = intersection->position.latitude; + intersectionGeo.longitude = intersection->position.longitude; + + for (const auto& vehicle : vehicles) { + if (!controllable_vehicles_.isManagedVehicle(vehicle.vehicleNo)) { + continue; + } + switch (signal.ns_status) { + case SignalStatus::RED: + sendSignalCommand(vehicle.vehicleNo, SignalState::RED); + break; + case SignalStatus::GREEN: + sendSignalCommand(vehicle.vehicleNo, SignalState::GREEN); + break; + case SignalStatus::YELLOW: + sendSignalCommand(vehicle.vehicleNo, SignalState::YELLOW); + break; + default: + Logger::warning("未知的信号灯状态"); + break; + } + + // 记录“红灯且接近路口”的状态，用于后续红灯未变化时的补发判断 + double dist_m = MovingObject::calculateDistance(vehicle.geo, intersectionGeo); + bool is_near = dist_m <= kTrafficLightRedSignalDistanceM; + std::string key = signal.trafficLightId + "|" + vehicle.vehicleNo; + was_near_red_by_vehicle_key_[key] = (signal.ns_status == SignalStatus::RED) && is_near; + } + return; + } + + // 信号未变化：若为红灯，车辆进入近距离范围时再补发一次红灯信号 + if (signal.ns_status != SignalStatus::RED) { + return; + } + + GeoPosition intersectionGeo; + intersectionGeo.latitude = intersection->position.latitude; + intersectionGeo.longitude = intersection->position.longitude; + + for (const auto& vehicle : vehicles) { + if (!controllable_vehicles_.isManagedVehicle(vehicle.vehicleNo)) { + continue; + } + + double dist_m = MovingObject::calculateDistance(vehicle.geo, intersectionGeo); + bool is_near = dist_m <= kTrafficLightRedSignalDistanceM; + + std::string key = signal.trafficLightId + "|" + vehicle.vehicleNo; + bool was_near = false; + auto it = was_near_red_by_vehicle_key_.find(key); + if (it != was_near_red_by_vehicle_key_.end()) { + was_near = it->second; + } + + if (is_near && !was_near) { + sendSignalCommand(vehicle.vehicleNo, SignalState::RED); + } + + was_near_red_by_vehicle_key_[key] = is_near; + } +} + void TrafficLightDetector::processSignal(const TrafficLightSignal& signal, const std::vector& vehicles) { // 根据红绿灯ID查找对应的路口 @@ -28,28 +109,42 @@ void TrafficLightDetector::processSignal(const TrafficLightSignal& signal, // 保存当前处理的信号 current_signal_ = signal; + last_signal_by_light_id_[signal.trafficLightId] = signal; - // 检查每个车辆 - for (const auto& vehicle : vehicles) { - if (controllable_vehicles_.isManagedVehicle(vehicle.vehicleNo)) { - // 根据信号灯状态发送指令 - // FIXME: 临时修改 - 仅根据南北向状态发送指令，未考虑车辆方向和东西向状态。 - // 需要根据车辆行驶方向判断应该参考 ns_status 还是 ew_status。 - switch (signal.ns_status) { - case SignalStatus::RED: - sendSignalCommand(vehicle.vehicleNo, SignalState::RED); - break; - case SignalStatus::GREEN: - sendSignalCommand(vehicle.vehicleNo, SignalState::GREEN); - break; - case SignalStatus::YELLOW: - sendSignalCommand(vehicle.vehicleNo, SignalState::YELLOW); - break; - default: - Logger::warning("未知的信号灯状态"); - break; - } + // 判断信号是否有更新：保持原有逻辑（有新信号时，对所有受管车辆下发红/黄/绿） + bool is_signal_updated = true; + { + int state = (static_cast(signal.ns_status) << 8) | static_cast(signal.ew_status); + auto it = last_signal_state_by_light_id_.find(signal.trafficLightId); + if (it != last_signal_state_by_light_id_.end() && it->second == state) { + is_signal_updated = false; } + last_signal_state_by_light_id_[signal.trafficLightId] = state; + } + + handleSignal(signal, intersection, vehicles, is_signal_updated); +} + +void TrafficLightDetector::processCachedSignals(const std::vector& vehicles) { + if (last_signal_by_light_id_.empty()) { + return; + } + + // 复制一份，避免 handleSignal 内部潜在更新造成遍历失效 + std::vector signals; + signals.reserve(last_signal_by_light_id_.size()); + for (const auto& kv : last_signal_by_light_id_) { + signals.push_back(kv.second); + } + + for (const auto& signal : signals) { + const Intersection* intersection = intersection_config_.findByTrafficLightId(signal.trafficLightId); + if (!intersection) { + continue; + } + // 使用缓存信号：视为“信号未变化”，仅触发红灯近距离补发逻辑 + current_signal_ = signal; + handleSignal(signal, intersection, vehicles, false); } } diff --git a/src/detector/TrafficLightDetector.h b/src/detector/TrafficLightDetector.h index d90124a..3823e65 100644 --- a/src/detector/TrafficLightDetector.h +++ b/src/detector/TrafficLightDetector.h @@ -3,6 +3,8 @@ #include "config/IntersectionConfig.h" #include "vehicle/ControllableVehicles.h" #include "types/TrafficLightTypes.h" +#include +#include #include class System; @@ -15,13 +17,27 @@ public: void processSignal(const TrafficLightSignal& signal, const std::vector& vehicles); + + // 使用缓存的最后一次红绿灯信号进行处理（用于车辆更新但红绿灯未推送新信号的场景） + void processCachedSignals(const std::vector& vehicles); private: const IntersectionConfig& intersection_config_; ControllableVehicles& controllable_vehicles_; System& system_; TrafficLightSignal current_signal_; + + // 记录每个红绿灯上一次处理的信号状态（用于判断信号是否有更新） + // state = (ns_status << 8) | ew_status + std::unordered_map last_signal_state_by_light_id_; + std::unordered_map last_signal_by_light_id_; + + // 记录“红灯且接近路口”状态，便于车辆从远到近时补发一次红灯信号 + std::unordered_map was_near_red_by_vehicle_key_; // 发送信号灯指令 void sendSignalCommand(const std::string& vehicleNo, SignalState state); + + void handleSignal(const TrafficLightSignal& signal, const Intersection* intersection, + const std::vector& vehicles, bool is_signal_updated); }; \ No newline at end of file diff --git a/src/vehicle/ControllableVehicles.cpp b/src/vehicle/ControllableVehicles.cpp index 8545e8e..02a4b31 100644 --- a/src/vehicle/ControllableVehicles.cpp +++ b/src/vehicle/ControllableVehicles.cpp @@ -40,12 +40,22 @@ void ControllableVehicles::updateRegistry(const std::vector #include #include +#include #include "types/VehicleCommand.h" #include "network/HTTPClient.h" @@ -26,6 +27,7 @@ private: std::unordered_map vehicle_type_by_id_; std::unordered_set controllable_vehicle_ids_; // vehicleType == WUREN std::unordered_set managed_vehicle_ids_; // vehicleType in {WUREN, TEQIN} + std::unordered_set selected_aircraft_ids_; // vehicleType == HANGKONG（前端选择参与碰撞的航空器 flightNo/id） std::unique_ptr http_client_; @@ -38,8 +40,10 @@ public: // 查询 std::optional getVehicleType(const std::string& vehicleID) const; std::unordered_set getControllableVehicleIdsSnapshot() const; + std::unordered_set getSelectedAircraftIdsSnapshot() const; bool isControllable(const std::string& vehicleNo) const; bool isManagedVehicle(const std::string& vehicleNo) const; + bool isSelectedAircraft(const std::string& aircraftId) const; bool sendCommand(const std::string& vehicleNo, const VehicleCommand& command); }; \ No newline at end of file diff --git a/~$信息_20251107.docx b/~$信息_20251107.docx deleted file mode 100644 index dd563d7..0000000 Binary files a/~$信息_20251107.docx and /dev/null differ diff --git a/命令.md b/命令.md index 272d327..42020ca 100644 --- a/命令.md +++ b/命令.md @@ -23,6 +23,65 @@ ldd /opt/collision_avoidance/bin/collision_avoidancenew | grep "not found" || tr -docker run --rm -it --network host -v D:/App/C++/CollisionAvoidance:/src -w /src centos:7 bash +docker run -it --network host -v D:/App/C++/CollisionAvoidance:/src -w /src centos:7 bash -docker commit --pause=false 5f4a906adb1b qdairporttestbackend:20260128 \ No newline at end of file +docker commit --pause=false 5f4a906adb1b qdairporttestbackend:20260128 + + +journalctl -u collision-avoidance.service --since "2026-02-05 10:50:00" --until "2026-02-07 11:10:00" -o cat --no-pager \ +| grep -nE "碰撞检测器检测到风险数量|开始处理碰撞风险，风险数量" + +journalctl -u collision-avoidance.service --since "2026-02-05 10:50:00" --until "2026-02-07 11:10:00" -o cat --no-pager \ +| grep -nE "准备发送指令|Skip sendCommand" + +journalctl -u collision-avoidance.service --since "2026-02-07 10:50:00" --until "2026-02-05 11:10:00" -o cat --no-pager \ +| grep -nE "HTTPClient sendCommand request|HTTPClient sendCommand response|Successfully sent command to vehicle|Failed to send command to vehicle" + +journalctl -u collision-avoidance.service --since "2026-02-05 10:50:00" --until "2026-02-07 11:10:00" -o cat --no-pager \ +| grep -nE "Vehicle registry updated|selectedAircraft\\(HANGKONG\\)=" + + +``` +#部署流程 +[root@5g ~]# cd /opt/collision_avoidance/bin +[root@5g bin]# ls +collision_avoidance collision_avoidance.20250308 collision_avoidance.20260128 collision_avoidance_20260130 collision_avoidance.20260204 version.txt +collision_avoidance.20241231 collision_avoidance.20250509 collision_avoidance.20260129 collision_avoidance_20260130_1 collision_avoidance.20260204_1 +collision_avoidance.20250110 collision_avoidance.20260127 collision_avoidance.20260129_1 collision_avoidance20260202 collision_avoidance.sha256 +[root@5g bin]# sha256sum collision_avoidance +e95d157fa487a131cc072747aac0b65bdda9700b917b7e2d2cddd78cffc74967 collision_avoidance +[root@5g bin]# mv collision_avoidance collision_avoidance.20260207 +[root@5g bin]# ls +collision_avoidance collision_avoidance.20250308 collision_avoidance.20260128 collision_avoidance_20260130 collision_avoidance.20260204 collision_avoidance.sha256 +collision_avoidance.20241231 collision_avoidance.20250509 collision_avoidance.20260129 collision_avoidance_20260130_1 collision_avoidance.20260204_1 version.txt +collision_avoidance.20250110 collision_avoidance.20260127 collision_avoidance.20260129_1 collision_avoidance20260202 collision_avoidance.20260207 +[root@5g bin]# sha256sum collision_avoidance +5e2ff929ec39530aa70e4ee205775aa91525ec53f7f2be8e9db6a31c4ec31e56 collision_avoidance +[root@5g bin]# ls +collision_avoidance collision_avoidance.20250308 collision_avoidance.20260128 collision_avoidance_20260130 collision_avoidance.20260204 collision_avoidance.sha256 +collision_avoidance.20241231 collision_avoidance.20250509 collision_avoidance.20260129 collision_avoidance_20260130_1 collision_avoidance.20260204_1 version.txt +collision_avoidance.20250110 collision_avoidance.20260127 collision_avoidance.20260129_1 collision_avoidance20260202 collision_avoidance.20260207 +[root@5g bin]# chmod +x collision_avoidance +[root@5g bin]# systemctl restart collision-avoidance.service +[root@5g bin]# systemctl status collision-avoidance.service +● collision-avoidance.service - Collision Avoidance Service + Loaded: loaded (/etc/systemd/system/collision-avoidance.service; enabled; vendor preset: disabled) + Active: active (running) since Sat 2026-02-07 11:33:14 CST; 10s ago + Main PID: 248907 (collision_avoid) + Tasks: 7 + CGroup: /system.slice/collision-avoidance.service + └─248907 /opt/collision_avoidance/bin/collision_avoidance + +Feb 07 11:33:24 5g.novalocal collision_avoidance[248907]: 2026-02-07 11:33:24.809 [DEBUG] 重置安全区类型为 NONE +Feb 07 11:33:24 5g.novalocal collision_avoidance[248907]: 2026-02-07 11:33:24.809 [DEBUG] 重置安全区类型为 NONE +Feb 07 11:33:24 5g.novalocal collision_avoidance[248907]: 2026-02-07 11:33:24.809 [DEBUG] 开始检查安全区冲突... +Feb 07 11:33:24 5g.novalocal collision_avoidance[248907]: 2026-02-07 11:33:24.809 [DEBUG] 安全区检测新增风险数量: 0 +Feb 07 11:33:24 5g.novalocal collision_avoidance[248907]: 2026-02-07 11:33:24.809 [DEBUG] Skip collision detection: no selected aircraft from frontend registry +Feb 07 11:33:24 5g.novalocal collision_avoidance[248907]: 2026-02-07 11:33:24.809 [DEBUG] 碰撞检测器检测到风险数量: 0 +Feb 07 11:33:24 5g.novalocal collision_avoidance[248907]: 2026-02-07 11:33:24.809 [DEBUG] 合并后新增风险数量: 0 +Feb 07 11:33:24 5g.novalocal collision_avoidance[248907]: 2026-02-07 11:33:24.809 [DEBUG] 开始处理碰撞风险，风险数量: 0 +Feb 07 11:33:24 5g.novalocal collision_avoidance[248907]: 2026-02-07 11:33:24.811 [INFO] 广播红绿灯状态: id=DI_PUSHED_T2路口, NS_Status=UNKNOWN, EW_Status=RED, intersection=T2路口, timestamp=1770435201052 +Feb 07 11:33:24 5g.novalocal collision_avoidance[248907]: 2026-02-07 11:33:24.811 [INFO] 收到红绿灯信号: trafficLightId=DI_PUSHED_T2路口, intersection=T2路口, ns_status=3, ew_status=0, timestamp=1770435201052 +[root@5g bin]# + +``` \ No newline at end of file diff --git a/账号信息_20251107.docx b/账号信息_20251107.docx deleted file mode 100644 index 02de1a8..0000000 Binary files a/账号信息_20251107.docx and /dev/null differ