修改车辆动画位置更新与方向更新不同步

2025-07-28 16:00:20 +08:00 · 2025-07-28 16:00:20 +08:00 · 26fdd3742e
commit 26fdd3742e
parent e2f92ab293
8 changed files with 75 additions and 33 deletions
--- a/.env.development
+++ b/.env.development
@ -8,4 +8,4 @@ VITE_APP_ENV = 'development'
 VITE_APP_BASE_API = '/dev-api'

 # WebSocket配置
-VITE_APP_WEBSOCKET_URL=ws://10.0.0.126:8080/collision
+VITE_APP_WEBSOCKET_URL=ws://10.0.0.122:8080/collision
--- a/.env.production
+++ b/.env.production
@ -5,9 +5,9 @@ VITE_APP_TITLE = 青岛机场无人驾驶车辆协同云平台
 VITE_APP_ENV = 'production'

 # 青岛机场无人驾驶车辆协同云平台/生产环境
-VITE_APP_BASE_API = 'http://10.0.0.126:8080'
+VITE_APP_BASE_API = 'http://10.0.0.122:8080'

-VITE_APP_WEBSOCKET_URL='ws://10.0.0.124:8080/collision'
+VITE_APP_WEBSOCKET_URL='ws://10.0.0.122:8080/collision'

 # 是否在打包时开启压缩，支持 gzip 和 brotli
 VITE_BUILD_COMPRESS = gzip
--- a/src/components/map/OpenLayersMap.vue
+++ b/src/components/map/OpenLayersMap.vue
@ -76,7 +76,7 @@ function handleSetCategoryVisibility(type, settings) {
 // 注册 EPSG:4528 投影
 proj4.defs(
  "EPSG:4528",
-  "+proj=tmerc +lat_0=0 +lon_0=120 +k=1 +x_0=40500000 +y_0=0 +ellps=GRS80 +units=m +no_defs"
+  "+proj=tmerc +lat_0=0 +lon_0=120 +k=1 +x_0=40500000 +y_0=0 +ellps=GRS80 +units=m +no_defs",
 );
 register(proj4);
 const projection = getProjection("EPSG:4528");
--- a/src/components/map/controls/VehicleAnimationSystem.vue
+++ b/src/components/map/controls/VehicleAnimationSystem.vue
@ -86,6 +86,8 @@ function updateVehicleAnimations(deltaTime) {
    if (!animData) return;
    
    // 确保车辆持续移动
+    //这个函数检查车辆是否长时间没有收到新的位置更新，
+    // 如果是，则基于历史移动方向继续移动车辆，避免车辆在屏幕上突然停止。
    ensureContinuousMovement(animData, vehicle, currentTime, deltaTime);
    
    // 平滑速度过渡
@ -157,9 +159,11 @@ function updateVehicleAnimations(deltaTime) {
      
      // 更新车辆样式
      if (props.getVehicleStyle) {
-        const currentHeading = vehicle ? vehicle.heading : 0;
+        // const currentHeading = vehicle ? vehicle.heading : 0;
+        // //优先使用动画系统内部的heading值
+        const currentHeading = animData.heading !== undefined ? animData.heading : (vehicle ? vehicle.heading : 0);
        
-        if (!animData.lastHeading || Math.abs(animData.lastHeading - currentHeading) > 1) {
+        if (!animData.lastHeading || Math.abs(animData.lastHeading - currentHeading) > 5) {
          feature.setStyle(props.getVehicleStyle(id, currentSpeed, currentHeading));
          animData.lastHeading = currentHeading;
        }
@ -182,7 +186,7 @@ function updateVehiclePathHistory(id, animData, currentTime) {
  }
  
  // 每150ms记录一次位置，提高记录频率
-  if (!animData.lastPathRecordTime || currentTime - animData.lastPathRecordTime > 150) {
+  if (!animData.lastPathRecordTime || currentTime - animData.lastPathRecordTime > 100) {
    // 添加当前位置到历史轨迹
    animData.pathHistory.push({
      time: currentTime,
@ -209,23 +213,25 @@ function ensureContinuousMovement(animData, vehicle, currentTime, deltaTime) {
    // 简单的预测：基于最后的移动方向继续移动
    if (!animData.predictionVector) {
      // 如果没有预测向量，使用历史轨迹的最后方向
-      if (animData.pathHistory && animData.pathHistory.length >= 2) {
+      if (animData.pathHistory && animData.pathHistory.length >= 2) {//检查是否存在历史轨迹，并且至少有两个点
+       //获取历史轨迹中最后两个点数据
        const latest = animData.pathHistory[animData.pathHistory.length - 1];
        const previous = animData.pathHistory[animData.pathHistory.length - 2];
-        
+        //position:[x,y]表示车辆在地图上的平面坐标
+        //计算两点之间的位移向量的向量长度
        const dx = latest.position[0] - previous.position[0];
        const dy = latest.position[1] - previous.position[1];
        const len = Math.sqrt(dx * dx + dy * dy);
        
        if (len > 0) {
          // 创建单位方向向量 
-          animData.predictionVector = [dx / len, dy / len];
+          animData.predictionVector = [dx / len, dy / len];  //根据历史向量的两个点创建预测向量
        } else {
-          // 默认向前移动
+          // 默认向前（上）移动
          animData.predictionVector = [0, 1];
        }
      } else {
-        // 默认向前移动
+        // 默认向前（上）移动（没有历史轨迹数据）
        animData.predictionVector = [0, 1];
      }
    }
@ -235,7 +241,21 @@ function ensureContinuousMovement(animData, vehicle, currentTime, deltaTime) {
    animData.targetPosition = [
      animData.position[0] + animData.predictionVector[0] * moveDistance,
      animData.position[1] + animData.predictionVector[1] * moveDistance
-    ];
+    ];//根据预测向量的方向和距离，设置新的目标位置
+
+  // ========== 关键：同步方向与预测移动方向 ==========
+  if (animData.predictionVector[0] !== 0 || animData.predictionVector[1] !== 0) {
+    // 计算预测移动方向的角度
+    const moveAngle = Math.atan2(animData.predictionVector[1], animData.predictionVector[0]);
+    // 转换为heading值（根据地图坐标系调整）
+    let predictedHeading = (moveAngle * 180 / Math.PI + 72) % 360; // 72是地图旋转角度
+    if (predictedHeading < 0) predictedHeading += 360;
+    
+    // // 更新方向为预测方向
+    animData.targetHeading = predictedHeading;
+    // 可以选择立即更新或逐渐更新
+    // animData.heading = predictedHeading; // 立即更新
+  }

    // 缓慢降低速度，但保持最低速度
    if (!animData.lastSpeedReduction || currentTime - animData.lastSpeedReduction > 2000) {
@ -246,9 +266,9 @@ function ensureContinuousMovement(animData, vehicle, currentTime, deltaTime) {
 }

 // 基于历史轨迹预测未来路径
-function predictFuturePath(animData) {
+function predictFuturePath(animData) {//animData是车辆动画数据
  if (!animData.pathHistory || animData.pathHistory.length < 3) {
-    return null;
+    return null;//少于三个点无法进行有效预测
  }
  
  // 获取最近的几个历史点
@ -261,6 +281,7 @@ function predictFuturePath(animData) {
  let totalWeight = 0;
  
  // 从最近的点开始，给予更高权重
+  //根据历史轨迹，计算一个带权重的平均运动向量，用来预测车辆未来 1~2 秒的继续移动方向与速度
  for (let i = points - 2; i >= 0; i--) {
    const curr = history[i + 1];
    const prev = history[i];
@ -307,7 +328,7 @@ function predictFuturePath(animData) {
  const predictionVector = [
    normalizedDx * speedFactor,
    normalizedDy * speedFactor
-  ];
+  ];//生成最终的预测向量
  
  // 计算预测位置，增加预测距离
  const predictedPosition = [
@ -318,7 +339,7 @@ function predictFuturePath(animData) {
  return {
    vector: predictionVector,
    position: predictedPosition
-  };
+  };//返回预测变量和预测距离
 }

 // 初始化车辆动画数据
@ -344,9 +365,9 @@ function initVehicleAnimation(id, coordinates, heading, speed) {
  vehicleMotionHistory.value[id] = [];
 }

-// 更新车辆动画目标 - 简化版本，专注于平滑过渡
+// 更新车辆动画目标 - 简化版本，专注于平滑过渡 接收到新的车辆位置，朝向或者速度时调用
 function updateVehicleAnimationTarget(id, coordinates, heading, speed) {
-  const animData = vehicleAnimations.value[id] || {};
+  const animData = vehicleAnimations.value[id] || {};//获取指定ID车辆的当前动画数据，如果不存在则创建空对象
  const now = Date.now();
  
  // 简化的预测向量计算
@ -357,7 +378,7 @@ function updateVehicleAnimationTarget(id, coordinates, heading, speed) {
    const dx = coordinates[0] - animData.position[0];
    const dy = coordinates[1] - animData.position[1];
    const distance = Math.sqrt(dx * dx + dy * dy);
-    
+    //计算位移向量和距离
    if (distance > 0.0001) {
      // 创建单位方向向量
      predictionVector = [dx / distance, dy / distance];
@ -370,7 +391,7 @@ function updateVehicleAnimationTarget(id, coordinates, heading, speed) {
  } else {
    animData.speedHistory.push(speed);
    if (animData.speedHistory.length > 3) {
-      animData.speedHistory.shift();
+      animData.speedHistory.shift();//始终保留3个元素，满了则删除最早的值
    }
  }
  
@ -383,7 +404,8 @@ function updateVehicleAnimationTarget(id, coordinates, heading, speed) {
    ...animData,
    targetPosition: coordinates,
    targetHeading: heading,
-    heading: animData.heading || heading,
+    // heading: animData.heading || heading,
+    heading: animData.heading !== undefined ? animData.heading : heading,
    position: animData.position || coordinates,
    speed: smoothedSpeed,
    lastUpdated: now,
@ -402,10 +424,10 @@ function stopAnimationLoop() {

 // 重置动画数据
 function resetAnimations() {
-  vehicleAnimations.value = {};
-  vehicleMotionHistory.value = {};
+  vehicleAnimations.value = {};//清空所有车辆的动画数据
+  vehicleMotionHistory.value = {};//清空所有车辆的运动历史轨迹
  
-  Object.keys(props.vehicles).forEach(id => {
+  Object.keys(props.vehicles).forEach(id => {//基于props.vehicles对象的键值，遍历所有的车辆ID
    const vehicle = props.vehicles[id];
    if (vehicle) {
      vehicleAnimations.value[id] = {
--- a/src/components/map/controls/VehicleMovementControlRefactored.vue
+++ b/src/components/map/controls/VehicleMovementControlRefactored.vue
@ -1,4 +1,5 @@
 <template>
+  <!-- 包含航空器路由的绘制 -->
  <!-- 气象监测站弹窗 -->
  <WeatherStationPopup 
    :visible="weatherStationVisible" 
@ -51,6 +52,9 @@ import Feature from 'ol/Feature';
 import Point from 'ol/geom/Point';
 import { LineString } from 'ol/geom';
 import { transform } from 'ol/proj';
+import proj4 from 'proj4';
+import { register } from 'ol/proj/proj4.js';
+import { get as getProj } from 'ol/proj';
 import WebSocketService, { createWebSocket, resetWebSocketInstance } from '../../../utils/websocket.js';

 // 导入子组件
@ -89,6 +93,21 @@ const props = defineProps({
  map: Object
 });

+// 注册 CGCS2000 / 3-degree Gauss-Kruger CM 120E (EPSG:4547)
+if (typeof window !== 'undefined' && proj4) {
+  // 检查是否已经注册过该坐标系
+  if (!proj4.defs('EPSG:4528')) {
+   proj4.defs(
+  "EPSG:4528",
+  "+proj=tmerc +lat_0=0 +lon_0=120 +k=1 +x_0=40500000 +y_0=0 +ellps=GRS80 +units=m +no_defs",
+);
+    console.log('已注册 EPSG:4528 坐标系');
+  }
+  
+  // 注册到 OpenLayers
+  register(proj4);
+}
+console.log("注册EPSG:4528",getProj('EPSG:4528'));
 // 子组件引用
 const animationSystem = ref(null);
 const labelSystem = ref(null);
@ -484,7 +503,7 @@ function updateVehiclePosition(vehicleData) {
    }
    
    // 应用当前分类设置到新创建的车辆
-    applyCurrentCategorySettings(object_id);
+    // applyCurrentCategorySettings(object_id);
  } else {
    // 更新动画目标
    if (animationSystem.value) {
@ -679,12 +698,12 @@ function parseLineStringGeometry(lineString) {
 // 更新或创建飞机路线
 function updateAircraftRoute(flightNo, coordinates, routeType, routeStatus) {
  if (!aircraftRouteSource || !props.map) return;
-  
+  console.log('原始航线坐标:', coordinates);
  // 转换坐标系
  const projectedCoords = coordinates.map(coord => 
-    transform(coord, 'EPSG:4326', props.map.getView().getProjection())
+    transform(coord, 'EPSG:4528', props.map.getView().getProjection())
  );
-  
+    console.log('处理后的坐标:', projectedCoords);
  // 获取起点和终点坐标
  const startPoint = projectedCoords[0];
  const endPoint = projectedCoords[projectedCoords.length - 1];
--- a/src/utils/test_websocket.html
+++ b/src/utils/test_websocket.html
@ -104,7 +104,7 @@
            <div class="control-group">
                <label>服务器地址：</label>
                <select id="collisionServerSelect">
-                    <option value="ws://10.0.0.126:8080/collision">10.0.0.126:8080/collision</option>
+                    <option value="ws://10.0.0.122:8080/collision">10.0.0.122:8080/collision</option>
                </select>
            </div>
            
--- a/src/views/platform/index.vue
+++ b/src/views/platform/index.vue
@ -334,7 +334,7 @@ watch(() => mapRef.value?.map, (newMap) => {
 /* 告警统计卡片 */
 .alarm-stats-card {
  position: absolute;
-  top: 177px;
+  top: 23%;
  left: 28px;
  width: 246px;
  height: 147px;
@ -348,6 +348,7 @@ watch(() => mapRef.value?.map, (newMap) => {
  overflow: hidden;
 }
 
+
 .stats-header {
  display: flex;
  justify-content: space-between;
--- a/vite.config.js
+++ b/vite.config.js
@ -32,7 +32,7 @@ export default defineConfig(({ mode, command }) => {
        // https://cn.vitejs.dev/config/#server-proxy
        '/dev-api': {
          // target: 'http://10.0.0.17:8099',//昊天
-          target: 'http://10.0.0.126:8080',//田哥
+          target: 'http://10.0.0.122:8080',//田哥
          changeOrigin: true,
          rewrite: (p) => p.replace(/^\/dev-api/, '')
        }