完善了 HTTP 数据源和 Mock 服务器
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74
.vscode/settings.json
vendored
74
.vscode/settings.json
vendored
@ -1,70 +1,6 @@
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{
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||||
"C_Cpp_Runner.cCompilerPath": "/usr/bin/clang",
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||||
"C_Cpp_Runner.cppCompilerPath": "/usr/bin/clang++",
|
||||
"C_Cpp_Runner.debuggerPath": "/usr/bin/lldb",
|
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"C_Cpp_Runner.cStandard": "c17",
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|
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|
||||
"C_Cpp_Runner.warnings": [
|
||||
"-Wall",
|
||||
"-Wextra",
|
||||
"-Wpedantic",
|
||||
"-Wshadow",
|
||||
"-Wformat=2",
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||||
"-Wcast-align",
|
||||
"-Wconversion",
|
||||
"-Wsign-conversion",
|
||||
"-Wnull-dereference"
|
||||
],
|
||||
"C_Cpp_Runner.msvcWarnings": [
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||||
"/W4",
|
||||
"/permissive-",
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||||
"/w14242",
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"/w14287",
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"/w14296",
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"/w14311",
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"/w14826",
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"/w44062",
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"/w44242",
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"/w14905",
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"/w14263",
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"/w44265",
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"/w14928"
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],
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"C_Cpp_Runner.enableWarnings": true,
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"C_Cpp_Runner.excludeSearch": [
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"**/build",
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"C_Cpp_Runner.showCompilationTime": false,
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"C_Cpp_Runner.useLinkTimeOptimization": false,
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"C_Cpp_Runner.msvcSecureNoWarnings": false,
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"cmake.configureOnOpen": true,
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"cmake.buildDirectory": "${workspaceFolder}/build",
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"cmake.generator": "Unix Makefiles",
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"C_Cpp.default.configurationProvider": "ms-vscode.cmake-tools",
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"files.associations": {
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"*.h": "cpp",
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"*.hpp": "cpp",
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"*.cpp": "cpp"
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"C_Cpp.default.configurationProvider": "ms-vscode.cmake-tools",
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"cmake.configureOnOpen": true,
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"C_Cpp.errorSquiggles": "enabled",
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"C_Cpp.intelliSenseEngine": "default"
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}
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@ -9,21 +9,24 @@ set(CMAKE_CXX_STANDARD 17)
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set(CMAKE_CXX_STANDARD_REQUIRED ON)
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# MacOS 特定设置
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set(BOOST_ROOT "/opt/homebrew/Cellar/boost/1.86.0_2")
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message(STATUS "Setting BOOST_ROOT: ${BOOST_ROOT}")
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# 添加 Homebrew 安装的包含路径
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include_directories(
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${BOOST_ROOT}/include
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/opt/homebrew/include
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)
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link_directories(
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${BOOST_ROOT}/lib
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/opt/homebrew/lib
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)
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if(APPLE)
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# 设置 Boost 路径（因为 MacOS 使用 Homebrew 安装在特定位置）
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set(Boost_ROOT "/opt/homebrew/Cellar/boost/1.86.0_2")
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message(STATUS "Setting Boost_ROOT: ${Boost_ROOT}")
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# 添加 Homebrew 安装的包含路径
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include_directories(
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/opt/homebrew/include
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)
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link_directories(
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/opt/homebrew/lib
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)
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endif()
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# 查找依赖包
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# 设置策略以解决 Boost 警告
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cmake_policy(SET CMP0167 NEW)
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find_package(Boost REQUIRED COMPONENTS system)
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message(STATUS "Boost_INCLUDE_DIRS: ${Boost_INCLUDE_DIRS}")
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message(STATUS "Boost_LIBRARIES: ${Boost_LIBRARIES}")
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@ -37,30 +40,18 @@ set(SOURCES
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src/main.cpp
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src/collector/DataCollector.cpp
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src/network/HTTPDataSource.cpp
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)
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# 明确列出所有头文件
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set(HEADERS
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src/types/VehicleData.h
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src/collector/DataCollector.h
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src/collector/DataSource.h
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src/network/HTTPDataSource.h
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src/network/ConnectionConfig.h
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src/network/NetworkInterface.h
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src/concurrent/ThreadPool.h
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src/concurrent/LockFreeQueue.h
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src/concurrent/LockFreeQueue.hpp
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src/spatial/CoordinateConverter.cpp
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src/types/VehicleData.cpp
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)
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# 添加可执行文件
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add_executable(${PROJECT_NAME} ${SOURCES} ${HEADERS})
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add_executable(${PROJECT_NAME} ${SOURCES})
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# 设置包含目录
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target_include_directories(${PROJECT_NAME}
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PRIVATE
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${CMAKE_CURRENT_SOURCE_DIR}/src
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${Boost_INCLUDE_DIRS}
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${BOOST_ROOT}/include
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)
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# 链接依赖库
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@ -102,10 +93,4 @@ target_compile_definitions(${PROJECT_NAME}
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PRIVATE
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BOOST_ASIO_NO_DEPRECATED
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BOOST_ASIO_DISABLE_BOOST_ARRAY
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)
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# 打印所有包含目录
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get_property(dirs DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR} PROPERTY INCLUDE_DIRECTORIES)
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foreach(dir ${dirs})
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message(STATUS "Include dir: ${dir}")
|
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endforeach()
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)
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1
build/.cmake/api/v1/query/client-vscode/query.json
Normal file
1
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1311
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Normal file
1311
build/.cmake/api/v1/reply/cache-v2-10b6de4bb8ed98dc2023.json
Normal file
File diff suppressed because it is too large
Load Diff
@ -0,0 +1,330 @@
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|
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|
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|
||||
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|
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||||
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||||
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||||
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|
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|
||||
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|
||||
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
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|
||||
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
"path" : "/opt/homebrew/share/cmake/Modules/Compiler/AppleClang-CXX.cmake"
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
"isExternal" : true,
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
"path" : "/opt/homebrew/share/cmake/Modules/Platform/Apple-Clang.cmake"
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
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|
||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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||||
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||||
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||||
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||||
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|
||||
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||||
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||||
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||||
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|
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||||
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||||
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||||
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||||
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||||
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|
||||
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||||
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||||
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|
||||
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|
||||
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||||
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||||
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||||
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||||
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"command": "/usr/bin/clang++ -DBOOST_ASIO_DISABLE_BOOST_ARRAY -DBOOST_ASIO_NO_DEPRECATED -DBOOST_SYSTEM_DYN_LINK -DBOOST_SYSTEM_NO_LIB -I/Users/tianjianyong/apps/ObstacleAvoidance/src -isystem /opt/homebrew/include -isystem /opt/homebrew/Cellar/boost/1.86.0_2/include -g -std=gnu++17 -arch arm64 -isysroot /Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX15.1.sdk -mmacosx-version-min=15.0 -Wall -Wextra -o CMakeFiles/airport_collision_avoidance.dir/src/collector/DataCollector.cpp.o -c /Users/tianjianyong/apps/ObstacleAvoidance/src/collector/DataCollector.cpp",
|
||||
"file": "/Users/tianjianyong/apps/ObstacleAvoidance/src/collector/DataCollector.cpp",
|
||||
"output": "CMakeFiles/airport_collision_avoidance.dir/src/collector/DataCollector.cpp.o"
|
||||
},
|
||||
{
|
||||
"directory": "/Users/tianjianyong/apps/ObstacleAvoidance/build",
|
||||
"command": "/usr/bin/clang++ -DBOOST_ASIO_DISABLE_BOOST_ARRAY -DBOOST_ASIO_NO_DEPRECATED -DBOOST_SYSTEM_DYN_LINK -DBOOST_SYSTEM_NO_LIB -I/Users/tianjianyong/apps/ObstacleAvoidance/src -isystem /opt/homebrew/include -isystem /opt/homebrew/Cellar/boost/1.86.0_2/include -g -std=gnu++17 -arch arm64 -isysroot /Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX15.1.sdk -mmacosx-version-min=15.0 -Wall -Wextra -o CMakeFiles/airport_collision_avoidance.dir/src/network/HTTPDataSource.cpp.o -c /Users/tianjianyong/apps/ObstacleAvoidance/src/network/HTTPDataSource.cpp",
|
||||
"file": "/Users/tianjianyong/apps/ObstacleAvoidance/src/network/HTTPDataSource.cpp",
|
||||
"output": "CMakeFiles/airport_collision_avoidance.dir/src/network/HTTPDataSource.cpp.o"
|
||||
},
|
||||
{
|
||||
"directory": "/Users/tianjianyong/apps/ObstacleAvoidance/build",
|
||||
"command": "/usr/bin/clang++ -DBOOST_ASIO_DISABLE_BOOST_ARRAY -DBOOST_ASIO_NO_DEPRECATED -DBOOST_SYSTEM_DYN_LINK -DBOOST_SYSTEM_NO_LIB -I/Users/tianjianyong/apps/ObstacleAvoidance/src -isystem /opt/homebrew/include -isystem /opt/homebrew/Cellar/boost/1.86.0_2/include -g -std=gnu++17 -arch arm64 -isysroot /Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX15.1.sdk -mmacosx-version-min=15.0 -Wall -Wextra -o CMakeFiles/airport_collision_avoidance.dir/src/spatial/CoordinateConverter.cpp.o -c /Users/tianjianyong/apps/ObstacleAvoidance/src/spatial/CoordinateConverter.cpp",
|
||||
"file": "/Users/tianjianyong/apps/ObstacleAvoidance/src/spatial/CoordinateConverter.cpp",
|
||||
"output": "CMakeFiles/airport_collision_avoidance.dir/src/spatial/CoordinateConverter.cpp.o"
|
||||
},
|
||||
{
|
||||
"directory": "/Users/tianjianyong/apps/ObstacleAvoidance/build",
|
||||
"command": "/usr/bin/clang++ -DBOOST_ASIO_DISABLE_BOOST_ARRAY -DBOOST_ASIO_NO_DEPRECATED -DBOOST_SYSTEM_DYN_LINK -DBOOST_SYSTEM_NO_LIB -I/Users/tianjianyong/apps/ObstacleAvoidance/src -isystem /opt/homebrew/include -isystem /opt/homebrew/Cellar/boost/1.86.0_2/include -g -std=gnu++17 -arch arm64 -isysroot /Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX15.1.sdk -mmacosx-version-min=15.0 -Wall -Wextra -o CMakeFiles/airport_collision_avoidance.dir/src/types/VehicleData.cpp.o -c /Users/tianjianyong/apps/ObstacleAvoidance/src/types/VehicleData.cpp",
|
||||
"file": "/Users/tianjianyong/apps/ObstacleAvoidance/src/types/VehicleData.cpp",
|
||||
"output": "CMakeFiles/airport_collision_avoidance.dir/src/types/VehicleData.cpp.o"
|
||||
}
|
||||
]
|
||||
119
docs/design.md
119
docs/design.md
@ -13,11 +13,11 @@
|
||||
|
||||
```mermaid
|
||||
graph TD
|
||||
A[数据采集模块] --> B[数据处理模块]
|
||||
B --> C[碰撞检测模块]
|
||||
C --> D[指令控制模块]
|
||||
E[监控告警模块] --> F[整个系统]
|
||||
G[高可用管理] --> F
|
||||
A[数据采集层] --> B[坐标转换] --> C[数据处理层]
|
||||
C --> D[碰撞检测层]
|
||||
D --> E[指令控制层]
|
||||
F[监控告警模块] --> G[整个系统]
|
||||
H[高可用管理] --> G
|
||||
```
|
||||
|
||||
## 2. 技术架构
|
||||
@ -42,53 +42,102 @@ graph TD
|
||||
- 无锁队列缓存
|
||||
- 多线程采集
|
||||
|
||||
#### 2.2.2 数据处理层
|
||||
#### 2.2.2 坐标转换层
|
||||
|
||||
- 支持经纬度到平面坐标的转换
|
||||
- 使用等角投影方法
|
||||
- 考虑地球曲率影响
|
||||
- 基于机场参考点的相对坐标
|
||||
|
||||
#### 2.2.3 数据处理层
|
||||
|
||||
- 实时数据流处理
|
||||
- 内存池管理
|
||||
- 零拷贝技术
|
||||
- 批量处理优化
|
||||
|
||||
#### 2.2.3 碰撞检测层
|
||||
#### 2.2.4 碰撞检测层
|
||||
|
||||
- 空间索引（四叉树）
|
||||
- 并行计算
|
||||
- SIMD优化
|
||||
- 预测算法
|
||||
|
||||
#### 2.2.4 指令控制层
|
||||
#### 2.2.5 指令控制层
|
||||
|
||||
- 优先级队列
|
||||
- 指令重试机制
|
||||
- 实时响应
|
||||
- 状态确认
|
||||
|
||||
## 3. 高可用设计
|
||||
## 3. 坐标系统设计
|
||||
|
||||
### 3.1 系统高可用
|
||||
### 3.1 坐标表示
|
||||
|
||||
- 原始数据：WGS84经纬度坐标系
|
||||
- 内部处理：平面直角坐标系（米）
|
||||
- 高度数据：相对地面高度（米）
|
||||
|
||||
### 3.2 坐标转换
|
||||
|
||||
- 使用等角投影方法
|
||||
- 基于机场参考点（通常为跑道中心点）
|
||||
- 考虑地球曲率影响
|
||||
- WGS84椭球体参数
|
||||
|
||||
### 3.3 精度考虑
|
||||
|
||||
- 经纬度精度：至少6位小数
|
||||
- 平面坐标精度：厘米级
|
||||
- 转换误差：10km范围内误差<1m
|
||||
- 实时性要求：转换延迟<1ms
|
||||
|
||||
### 3.4 数据结构
|
||||
|
||||
```cpp
|
||||
struct GeoPosition {
|
||||
double latitude; // 纬度
|
||||
double longitude; // 经度
|
||||
};
|
||||
|
||||
struct Vector2D {
|
||||
double x; // 东西方向（米）
|
||||
double y; // 南北方向（米）
|
||||
};
|
||||
|
||||
struct VehicleData {
|
||||
GeoPosition geo; // 地理坐标
|
||||
Vector2D position; // 平面坐标
|
||||
double altitude; // 高度（米）
|
||||
};
|
||||
```
|
||||
|
||||
## 4. 高可用设计
|
||||
|
||||
### 4.1 系统高可用
|
||||
|
||||
- 主备切换
|
||||
- 故障检测
|
||||
- 自动恢复
|
||||
- 负载均衡
|
||||
|
||||
### 3.2 数据高可用
|
||||
### 4.2 数据高可用
|
||||
|
||||
- 内存数据备份
|
||||
- 实时同步
|
||||
- 数据校验
|
||||
- 故障恢复
|
||||
|
||||
### 3.3 监控告警
|
||||
### 4.3 监控告警
|
||||
|
||||
- 性能指标监控
|
||||
- 系统状态监控
|
||||
- 资源使用监控
|
||||
- 异常告警
|
||||
|
||||
## 4. 核心模块设计
|
||||
## 5. 核心模块设计
|
||||
|
||||
### 4.1 系统核心类
|
||||
### 5.1 系统核心类
|
||||
|
||||
```cpp
|
||||
class CollisionAvoidanceSystem {
|
||||
@ -107,7 +156,7 @@ private:
|
||||
};
|
||||
```
|
||||
|
||||
### 4.2 数据采集模块
|
||||
### 5.2 数据采集模块
|
||||
|
||||
```cpp
|
||||
class DataCollector {
|
||||
@ -128,100 +177,106 @@ private:
|
||||
};
|
||||
```
|
||||
|
||||
## 5. 性能优化
|
||||
## 6. 性能优化
|
||||
|
||||
### 5.1 内存优化
|
||||
### 6.1 内存优化
|
||||
|
||||
- 内存池管理
|
||||
- 对象复用
|
||||
- 内存对齐
|
||||
- 缓存友好
|
||||
|
||||
### 5.2 CPU优化
|
||||
### 6.2 CPU优化
|
||||
|
||||
- SIMD指令
|
||||
- 多线程并行
|
||||
- 锁优化
|
||||
- 分支预测优化
|
||||
|
||||
### 5.3 I/O优化
|
||||
### 6.3 I/O优化
|
||||
|
||||
- 异步I/O
|
||||
- 零拷贝
|
||||
- 批量处理
|
||||
- 本地缓存
|
||||
|
||||
## 6. 部署方案
|
||||
## 7. 部署方案
|
||||
|
||||
### 6.1 环境要求
|
||||
### 7.1 环境要求
|
||||
|
||||
- Linux服务器
|
||||
- 多核CPU
|
||||
- 大内存配置
|
||||
- 高速网络
|
||||
|
||||
### 6.2 编译部署
|
||||
### 7.2 编译部署
|
||||
|
||||
- CMake构建
|
||||
- Docker容器化
|
||||
- 自动化部署
|
||||
- 版本控制
|
||||
|
||||
## 7. 开发规范
|
||||
## 8. 开发规范
|
||||
|
||||
### 7.1 代码规范
|
||||
### 8.1 代码规范
|
||||
|
||||
- Google C++ Style
|
||||
- 智能指针管理
|
||||
- 异常安全
|
||||
- RAII原则
|
||||
|
||||
### 7.2 性能规范
|
||||
### 8.2 性能规范
|
||||
|
||||
- 避免虚函数滥用
|
||||
- 减少动态内存分配
|
||||
- 合理使用模板
|
||||
- 注意数据对齐
|
||||
|
||||
## 8. 测试策略
|
||||
## 9. 测试策略
|
||||
|
||||
### 8.1 单元测试
|
||||
### 9.1 单元测试
|
||||
|
||||
- 模块功能测试
|
||||
- 边界条件测试
|
||||
- 异常处理测试
|
||||
- 内存泄漏测试
|
||||
- 坐标转换精度测试
|
||||
|
||||
### 8.2 性能测试
|
||||
### 9.2 性能测试
|
||||
|
||||
- 延迟测试
|
||||
- 并发测试
|
||||
- 压力测试
|
||||
- 内存使用测试
|
||||
- 坐标转换性能测试
|
||||
|
||||
## 9. 风险控制
|
||||
## 10. 风险控制
|
||||
|
||||
### 9.1 技术风险
|
||||
### 10.1 技术风险
|
||||
|
||||
- 实时性保证
|
||||
- 内存管理
|
||||
- 多线程同步
|
||||
- 系统稳定性
|
||||
- 坐标转换精度
|
||||
|
||||
### 9.2 解决方案
|
||||
### 10.2 解决方案
|
||||
|
||||
- 性能优化
|
||||
- 资源监控
|
||||
- 故障恢复
|
||||
- 降级处理
|
||||
- 坐标转换验证
|
||||
|
||||
## 10. 后续优化
|
||||
## 11. 后续优化
|
||||
|
||||
1. 引入GPU加速计算
|
||||
2. 优化空间索引算法
|
||||
3. 改进故障检测机制
|
||||
4. 增加自适应负载均衡
|
||||
5. 完善监控告警系统
|
||||
6. 优化坐标转换算法
|
||||
7. 支持多种投影方式
|
||||
|
||||
使用纯C++实现可以获得：
|
||||
|
||||
|
||||
@ -7,7 +7,6 @@
|
||||
#include "DataSource.h"
|
||||
#include "concurrent/ThreadPool.h"
|
||||
#include "concurrent/LockFreeQueue.h"
|
||||
#include "concurrent/LockFreeQueue.hpp"
|
||||
#include "types/VehicleData.h"
|
||||
#include "network/ConnectionConfig.h"
|
||||
#include "network/HTTPDataSource.h"
|
||||
|
||||
BIN
src/concurrent/.DS_Store
vendored
Normal file
BIN
src/concurrent/.DS_Store
vendored
Normal file
Binary file not shown.
@ -7,18 +7,48 @@
|
||||
template<typename T>
|
||||
class LockFreeQueue {
|
||||
public:
|
||||
LockFreeQueue();
|
||||
~LockFreeQueue();
|
||||
LockFreeQueue() : head_(new Node(T())), tail_(head_.load()) {}
|
||||
|
||||
~LockFreeQueue() {
|
||||
while (Node* const old_head = head_.load()) {
|
||||
head_.store(old_head->next);
|
||||
delete old_head;
|
||||
}
|
||||
}
|
||||
|
||||
void push(T value);
|
||||
std::optional<T> pop();
|
||||
bool empty() const;
|
||||
void push(T value) {
|
||||
Node* new_node = new Node(std::move(value));
|
||||
Node* old_tail = tail_.load();
|
||||
while (!tail_.compare_exchange_weak(old_tail, new_node)) {
|
||||
old_tail = tail_.load();
|
||||
}
|
||||
old_tail->next.store(new_node);
|
||||
}
|
||||
|
||||
std::optional<T> pop() {
|
||||
Node* old_head = head_.load();
|
||||
Node* new_head;
|
||||
do {
|
||||
new_head = old_head->next;
|
||||
if (!new_head) {
|
||||
return std::nullopt;
|
||||
}
|
||||
} while (!head_.compare_exchange_weak(old_head, new_head));
|
||||
|
||||
T value = std::move(new_head->value);
|
||||
delete old_head;
|
||||
return value;
|
||||
}
|
||||
|
||||
bool empty() const {
|
||||
return head_.load()->next == nullptr;
|
||||
}
|
||||
|
||||
private:
|
||||
struct Node {
|
||||
T value;
|
||||
std::atomic<Node*> next;
|
||||
explicit Node(T v) : value(std::move(v)), next(nullptr) {}
|
||||
std::atomic<Node*> next{nullptr};
|
||||
explicit Node(T v) : value(std::move(v)) {}
|
||||
};
|
||||
|
||||
std::atomic<Node*> head_;
|
||||
|
||||
@ -1,50 +0,0 @@
|
||||
#ifndef AIRPORT_CONCURRENT_LOCK_FREE_QUEUE_HPP
|
||||
#define AIRPORT_CONCURRENT_LOCK_FREE_QUEUE_HPP
|
||||
|
||||
#include "LockFreeQueue.h"
|
||||
#include <atomic>
|
||||
#include <optional>
|
||||
|
||||
template<typename T>
|
||||
LockFreeQueue<T>::LockFreeQueue() : head_(new Node(T())), tail_(head_.load()) {}
|
||||
|
||||
template<typename T>
|
||||
LockFreeQueue<T>::~LockFreeQueue() {
|
||||
while (Node* const old_head = head_.load()) {
|
||||
head_.store(old_head->next);
|
||||
delete old_head;
|
||||
}
|
||||
}
|
||||
|
||||
template<typename T>
|
||||
void LockFreeQueue<T>::push(T value) {
|
||||
Node* new_node = new Node(std::move(value));
|
||||
Node* old_tail = tail_.load();
|
||||
while (!tail_.compare_exchange_weak(old_tail, new_node)) {
|
||||
old_tail = tail_.load();
|
||||
}
|
||||
old_tail->next.store(new_node);
|
||||
}
|
||||
|
||||
template<typename T>
|
||||
std::optional<T> LockFreeQueue<T>::pop() {
|
||||
Node* old_head = head_.load();
|
||||
Node* new_head;
|
||||
do {
|
||||
new_head = old_head->next;
|
||||
if (!new_head) {
|
||||
return std::nullopt;
|
||||
}
|
||||
} while (!head_.compare_exchange_weak(old_head, new_head));
|
||||
|
||||
T value = std::move(new_head->value);
|
||||
delete old_head;
|
||||
return value;
|
||||
}
|
||||
|
||||
template<typename T>
|
||||
bool LockFreeQueue<T>::empty() const {
|
||||
return head_.load()->next == nullptr;
|
||||
}
|
||||
|
||||
#endif // AIRPORT_CONCURRENT_LOCK_FREE_QUEUE_HPP
|
||||
@ -2,7 +2,8 @@
|
||||
#include <cmath>
|
||||
|
||||
CollisionDetector::CollisionDetector()
|
||||
: computePool_(4) // 4个计算线程
|
||||
: spatialIndex_(airportBounds) // 初始化四叉树
|
||||
, computePool_(4) // 4个计算线程
|
||||
{
|
||||
}
|
||||
|
||||
@ -53,6 +54,26 @@ bool CollisionDetector::checkCollision(const VehicleData& v1, const VehicleData&
|
||||
return distance < 50.0; // 50米警戒距离
|
||||
}
|
||||
|
||||
double CollisionDetector::calculateTimeToCollision(
|
||||
const VehicleData& v1, const VehicleData& v2) {
|
||||
|
||||
// 计算相对速度
|
||||
double dvx = v1.velocity.x - v2.velocity.x;
|
||||
double dvy = v1.velocity.y - v2.velocity.y;
|
||||
double relativeSpeed = std::sqrt(dvx * dvx + dvy * dvy);
|
||||
|
||||
if (relativeSpeed < 0.1) { // 相对速度太小
|
||||
return std::numeric_limits<double>::infinity();
|
||||
}
|
||||
|
||||
// 计算当前距离
|
||||
double dx = v1.position.x - v2.position.x;
|
||||
double dy = v1.position.y - v2.position.y;
|
||||
double distance = std::sqrt(dx * dx + dy * dy);
|
||||
|
||||
return distance / relativeSpeed; // 简单的线性预测
|
||||
}
|
||||
|
||||
Vector2D CollisionDetector::calculateAvoidanceVector(
|
||||
const VehicleData& v1, const VehicleData& v2) {
|
||||
|
||||
|
||||
@ -9,9 +9,9 @@
|
||||
class CollisionDetector {
|
||||
public:
|
||||
struct DetectionResult {
|
||||
bool hasCollision;
|
||||
double timeToCollision;
|
||||
Vector2D avoidanceVector;
|
||||
bool hasCollision{false};
|
||||
double timeToCollision{0.0};
|
||||
Vector2D avoidanceVector{0.0, 0.0};
|
||||
};
|
||||
|
||||
CollisionDetector();
|
||||
@ -19,10 +19,13 @@ public:
|
||||
const std::vector<VehicleData>& others);
|
||||
|
||||
private:
|
||||
// 定义四叉树的范围（假设机场范围是10km x 10km）
|
||||
const Bounds airportBounds{-5000.0, -5000.0, 10000.0, 10000.0};
|
||||
QuadTree<VehicleData> spatialIndex_;
|
||||
ThreadPool computePool_;
|
||||
|
||||
bool checkCollision(const VehicleData& v1, const VehicleData& v2);
|
||||
double calculateTimeToCollision(const VehicleData& v1, const VehicleData& v2);
|
||||
Vector2D calculateAvoidanceVector(const VehicleData& v1, const VehicleData& v2);
|
||||
};
|
||||
|
||||
|
||||
@ -1,7 +1,9 @@
|
||||
#include "HTTPDataSource.h"
|
||||
#include "utils/Logger.h"
|
||||
#include <sstream>
|
||||
#include <iostream>
|
||||
#include <regex>
|
||||
#include <thread>
|
||||
|
||||
using json = nlohmann::json;
|
||||
|
||||
@ -24,32 +26,67 @@ HTTPDataSource::~HTTPDataSource() {
|
||||
|
||||
bool HTTPDataSource::connect() {
|
||||
try {
|
||||
Logger::debug("Connecting to server");
|
||||
std::cerr << "Host: " << host_ << std::endl;
|
||||
std::cerr << "Port: " << port_ << std::endl;
|
||||
|
||||
// 确保之前的连接已关闭
|
||||
disconnect();
|
||||
|
||||
// 创建新的解析器和socket
|
||||
resolver_ = std::make_unique<asio::ip::tcp::resolver>(io_context_);
|
||||
socket_ = std::make_unique<asio::ip::tcp::socket>(io_context_);
|
||||
|
||||
// 解析地址
|
||||
std::cerr << "Resolving address..." << std::endl;
|
||||
auto endpoints = resolver_->resolve(host_, port_);
|
||||
|
||||
std::cerr << "Connecting to endpoint..." << std::endl;
|
||||
asio::connect(*socket_, endpoints);
|
||||
|
||||
// 设置 socket 选项
|
||||
socket_->set_option(asio::socket_base::keep_alive(false));
|
||||
socket_->set_option(asio::socket_base::linger(true, 0));
|
||||
|
||||
connected_ = true;
|
||||
std::cerr << "Connection established successfully" << std::endl;
|
||||
return true;
|
||||
}
|
||||
catch (const std::exception& e) {
|
||||
std::cerr << "Connection error: " << e.what() << std::endl;
|
||||
connected_ = false;
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
void HTTPDataSource::disconnect() {
|
||||
if (socket_ && socket_->is_open()) {
|
||||
boost::system::error_code ec;
|
||||
socket_->shutdown(asio::ip::tcp::socket::shutdown_both, ec);
|
||||
socket_->close();
|
||||
connected_ = false;
|
||||
Logger::debug("Closing connection");
|
||||
|
||||
if (socket_) {
|
||||
if (socket_->is_open()) {
|
||||
try {
|
||||
boost::system::error_code ec;
|
||||
socket_->shutdown(asio::ip::tcp::socket::shutdown_both, ec);
|
||||
socket_->close(ec);
|
||||
}
|
||||
catch (const std::exception& e) {
|
||||
Logger::error("Error during socket close: ", e.what());
|
||||
}
|
||||
}
|
||||
socket_.reset();
|
||||
}
|
||||
|
||||
if (resolver_) {
|
||||
resolver_.reset();
|
||||
}
|
||||
|
||||
connected_ = false;
|
||||
}
|
||||
|
||||
bool HTTPDataSource::isAvailable() const {
|
||||
return connected_ && socket_ && socket_->is_open();
|
||||
bool available = connected_ && socket_ && socket_->is_open();
|
||||
Logger::debug("Connection status: ", available ? "available" : "not available");
|
||||
return available;
|
||||
}
|
||||
|
||||
std::optional<VehicleData> HTTPDataSource::getData() {
|
||||
@ -75,159 +112,218 @@ std::optional<VehicleData> HTTPDataSource::getData() {
|
||||
|
||||
bool HTTPDataSource::fetchData() {
|
||||
try {
|
||||
if (!sendRequest()) {
|
||||
Logger::debug("Starting new data fetch cycle");
|
||||
|
||||
// 确保之前的连接已关闭
|
||||
disconnect();
|
||||
|
||||
// 建立新连接
|
||||
if (!connect()) {
|
||||
Logger::error("Failed to connect to server");
|
||||
return false;
|
||||
}
|
||||
|
||||
std::string response = readResponse();
|
||||
// 发送请求
|
||||
Logger::debug("Sending HTTP request");
|
||||
if (!sendRequest()) {
|
||||
Logger::error("Failed to send request");
|
||||
disconnect();
|
||||
return false;
|
||||
}
|
||||
|
||||
// 读取响应
|
||||
std::string response;
|
||||
if (!readResponseSafe(response)) {
|
||||
Logger::error("Failed to read response");
|
||||
disconnect();
|
||||
return false;
|
||||
}
|
||||
|
||||
// 解析数据
|
||||
std::vector<VehicleData> vehicles;
|
||||
if (parseResponse(response, vehicles)) {
|
||||
cacheData(vehicles);
|
||||
return true;
|
||||
Logger::info("Successfully processed ", vehicles.size(), " vehicles");
|
||||
}
|
||||
return false;
|
||||
|
||||
// 完成后主动关闭连接
|
||||
disconnect();
|
||||
return !vehicles.empty();
|
||||
}
|
||||
catch (const std::exception& e) {
|
||||
std::cerr << "Fetch error: " << e.what() << std::endl;
|
||||
connected_ = false;
|
||||
Logger::error("Exception in fetchData: ", e.what());
|
||||
disconnect();
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
bool HTTPDataSource::readResponseSafe(std::string& response) {
|
||||
try {
|
||||
Logger::debug("Reading response");
|
||||
|
||||
asio::streambuf response_buf;
|
||||
|
||||
// 1. 读取响应头
|
||||
Logger::debug("Reading response headers");
|
||||
boost::system::error_code ec;
|
||||
size_t header_length = asio::read_until(*socket_, response_buf, "\r\n\r\n", ec);
|
||||
|
||||
if (ec) {
|
||||
Logger::error("Failed to read headers: ", ec.message());
|
||||
return false;
|
||||
}
|
||||
|
||||
// 提取响应头
|
||||
std::string header{asio::buffers_begin(response_buf.data()),
|
||||
asio::buffers_begin(response_buf.data()) + header_length};
|
||||
Logger::debug("Header received:\n", header);
|
||||
|
||||
// 2. 解析 Content-Length
|
||||
std::regex content_length_regex("Content-Length: (\\d+)");
|
||||
std::smatch matches;
|
||||
if (!std::regex_search(header, matches, content_length_regex)) {
|
||||
Logger::error("No Content-Length found");
|
||||
return false;
|
||||
}
|
||||
|
||||
size_t content_length = std::stoul(matches[1]);
|
||||
Logger::debug("Content-Length: ", content_length);
|
||||
|
||||
// 3. 读取响应体
|
||||
std::string body;
|
||||
const size_t chunk_size = 1024; // 每次读取1KB
|
||||
size_t total_read = 0;
|
||||
const int max_retries = 3; // 最大重试次数
|
||||
|
||||
// 首先处理已经在缓冲区中的数据
|
||||
size_t available = response_buf.size() - header_length;
|
||||
if (available > 0) {
|
||||
body.append(
|
||||
asio::buffers_begin(response_buf.data()) + header_length,
|
||||
asio::buffers_begin(response_buf.data()) + header_length + available
|
||||
);
|
||||
total_read += available;
|
||||
Logger::debug("Read ", available, " bytes from buffer");
|
||||
}
|
||||
|
||||
// 读取剩余数据
|
||||
while (total_read < content_length) {
|
||||
std::vector<char> chunk(chunk_size);
|
||||
int retries = 0;
|
||||
bool chunk_read_success = false;
|
||||
|
||||
while (retries < max_retries && !chunk_read_success) {
|
||||
size_t to_read = std::min(chunk_size, content_length - total_read);
|
||||
size_t bytes_read = 0;
|
||||
|
||||
try {
|
||||
bytes_read = socket_->read_some(asio::buffer(chunk, to_read), ec);
|
||||
|
||||
if (!ec) {
|
||||
body.append(chunk.begin(), chunk.begin() + bytes_read);
|
||||
total_read += bytes_read;
|
||||
chunk_read_success = true;
|
||||
Logger::debug("Read ", total_read, " of ", content_length, " bytes");
|
||||
} else if (ec == asio::error::eof) {
|
||||
Logger::warning("EOF reached after reading ", total_read, " of ", content_length, " bytes");
|
||||
if (total_read >= content_length) {
|
||||
chunk_read_success = true;
|
||||
} else {
|
||||
retries++;
|
||||
}
|
||||
} else {
|
||||
Logger::error("Error reading chunk: ", ec.message());
|
||||
retries++;
|
||||
}
|
||||
}
|
||||
catch (const std::exception& e) {
|
||||
Logger::error("Exception while reading chunk: ", e.what());
|
||||
retries++;
|
||||
}
|
||||
|
||||
if (!chunk_read_success && retries < max_retries) {
|
||||
Logger::warning("Retrying chunk read, attempt ", retries + 1, " of ", max_retries);
|
||||
std::this_thread::sleep_for(std::chrono::milliseconds(100));
|
||||
}
|
||||
}
|
||||
|
||||
if (!chunk_read_success) {
|
||||
Logger::error("Failed to read chunk after ", max_retries, " attempts");
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
if (total_read < content_length) {
|
||||
Logger::error("Incomplete response: read ", total_read, " of ", content_length, " bytes");
|
||||
return false;
|
||||
}
|
||||
|
||||
response = body;
|
||||
Logger::info("Successfully read complete response");
|
||||
return true;
|
||||
}
|
||||
catch (const std::exception& e) {
|
||||
Logger::error("Exception in readResponseSafe: ", e.what());
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
bool HTTPDataSource::sendRequest() {
|
||||
std::stringstream request;
|
||||
request << "GET " << target_ << " HTTP/1.1\r\n"
|
||||
<< "Host: " << host_ << "\r\n"
|
||||
<< "Connection: keep-alive\r\n"
|
||||
<< "\r\n";
|
||||
|
||||
asio::write(*socket_, asio::buffer(request.str()));
|
||||
return true;
|
||||
}
|
||||
|
||||
std::string HTTPDataSource::readResponse() {
|
||||
try {
|
||||
asio::streambuf response;
|
||||
std::cerr << "\n=== Sending HTTP request ===" << std::endl;
|
||||
|
||||
// 读取响应头
|
||||
asio::read_until(*socket_, response, "\r\n\r\n");
|
||||
std::stringstream request;
|
||||
request << "GET " << target_ << " HTTP/1.1\r\n"
|
||||
<< "Host: " << host_ << "\r\n"
|
||||
<< "Connection: close\r\n"
|
||||
<< "Accept: application/json\r\n"
|
||||
<< "\r\n";
|
||||
|
||||
std::string request_str = request.str();
|
||||
std::cerr << "Request headers:\n" << request_str << std::endl;
|
||||
|
||||
size_t bytes_written = asio::write(*socket_, asio::buffer(request_str));
|
||||
std::cerr << "Sent " << bytes_written << " bytes" << std::endl;
|
||||
|
||||
// 解析响应头
|
||||
std::string header{asio::buffers_begin(response.data()),
|
||||
asio::buffers_end(response.data())};
|
||||
|
||||
// 检查状态码
|
||||
std::regex status_line_regex("HTTP/1\\.[01] (\\d{3})");
|
||||
std::smatch matches;
|
||||
if (!std::regex_search(header, matches, status_line_regex) || matches[1] != "200") {
|
||||
throw std::runtime_error("Invalid HTTP response: " + header);
|
||||
}
|
||||
|
||||
// 获取 Content-Length
|
||||
std::regex content_length_regex("Content-Length: (\\d+)");
|
||||
if (!std::regex_search(header, matches, content_length_regex)) {
|
||||
throw std::runtime_error("No Content-Length in response");
|
||||
}
|
||||
size_t content_length = std::stoul(matches[1]);
|
||||
|
||||
// 清除已读取的响应头
|
||||
response.consume(header.length());
|
||||
|
||||
// 读取剩余的响应体
|
||||
boost::system::error_code error;
|
||||
if (content_length > 0) {
|
||||
asio::read(*socket_, response, asio::transfer_exactly(content_length), error);
|
||||
if (error && error != asio::error::eof) {
|
||||
throw boost::system::system_error(error);
|
||||
}
|
||||
}
|
||||
|
||||
// 提取响应体
|
||||
std::string body{asio::buffers_begin(response.data()),
|
||||
asio::buffers_end(response.data())};
|
||||
|
||||
return body;
|
||||
return true;
|
||||
}
|
||||
catch (const std::exception& e) {
|
||||
std::cerr << "Error reading response: " << e.what() << std::endl;
|
||||
throw;
|
||||
std::cerr << "Error sending request: " << e.what() << std::endl;
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
bool HTTPDataSource::parseResponse(const std::string& response, std::vector<VehicleData>& vehicles) {
|
||||
try {
|
||||
if (response.empty()) {
|
||||
std::cerr << "Empty response received" << std::endl;
|
||||
return false;
|
||||
}
|
||||
|
||||
// 打印接收到的数据（调试用）
|
||||
// std::cout << "Received response: " << response << std::endl;
|
||||
|
||||
auto j = json::parse(response);
|
||||
|
||||
if (!j.contains("vehicles") || !j["vehicles"].is_array()) {
|
||||
std::cerr << "Invalid response format: missing or invalid 'vehicles' array" << std::endl;
|
||||
return false;
|
||||
}
|
||||
|
||||
for (const auto& vehicle : j["vehicles"]) {
|
||||
try {
|
||||
VehicleData data;
|
||||
|
||||
// 使用更安全的方式获取数据
|
||||
if (!vehicle.contains("id") || !vehicle["id"].is_string()) {
|
||||
continue; // 跳过无效数据
|
||||
}
|
||||
data.id = vehicle["id"].get<std::string>();
|
||||
|
||||
// 解析类型
|
||||
if (!vehicle.contains("type") || !vehicle["type"].is_string()) {
|
||||
continue;
|
||||
}
|
||||
std::string typeStr = vehicle["type"].get<std::string>();
|
||||
data.type = (typeStr == "AIRCRAFT") ? VehicleType::AIRCRAFT : VehicleType::VEHICLE;
|
||||
|
||||
// 解析位置
|
||||
if (vehicle.contains("position") && vehicle["position"].is_object()) {
|
||||
auto& pos = vehicle["position"];
|
||||
if (pos.contains("x") && pos.contains("y")) {
|
||||
data.position.x = pos["x"].get<double>();
|
||||
data.position.y = pos["y"].get<double>();
|
||||
}
|
||||
}
|
||||
|
||||
// 解析速度
|
||||
if (vehicle.contains("velocity") && vehicle["velocity"].is_object()) {
|
||||
auto& vel = vehicle["velocity"];
|
||||
if (vel.contains("x") && vel.contains("y")) {
|
||||
data.velocity.x = vel["x"].get<double>();
|
||||
data.velocity.y = vel["y"].get<double>();
|
||||
}
|
||||
}
|
||||
|
||||
// 解析其他属性
|
||||
if (vehicle.contains("heading")) {
|
||||
data.heading = vehicle["heading"].get<double>();
|
||||
}
|
||||
if (vehicle.contains("timestamp")) {
|
||||
data.timestamp = vehicle["timestamp"].get<uint64_t>();
|
||||
}
|
||||
|
||||
// 对于飞行器，解析高度
|
||||
if (data.type == VehicleType::AIRCRAFT && vehicle.contains("altitude")) {
|
||||
data.altitude = vehicle["altitude"].get<double>();
|
||||
}
|
||||
|
||||
vehicles.push_back(data);
|
||||
}
|
||||
catch (const std::exception& e) {
|
||||
std::cerr << "Error parsing vehicle data: " << e.what() << std::endl;
|
||||
continue; // 跳过错误的数据，继续处理下一条
|
||||
VehicleData data;
|
||||
|
||||
// 解析基本信息
|
||||
data.id = vehicle["id"].get<std::string>();
|
||||
std::string typeStr = vehicle["type"].get<std::string>();
|
||||
data.type = (typeStr == "AIRCRAFT") ? VehicleType::AIRCRAFT : VehicleType::VEHICLE;
|
||||
|
||||
// 解析地理坐标
|
||||
data.geo.latitude = vehicle["position"]["latitude"].get<double>();
|
||||
data.geo.longitude = vehicle["position"]["longitude"].get<double>();
|
||||
|
||||
// 转换为平面坐标
|
||||
data.updateLocalPosition(coordinateConverter_);
|
||||
|
||||
// 解析其他属性
|
||||
data.heading = vehicle["heading"].get<double>();
|
||||
data.timestamp = vehicle["timestamp"].get<uint64_t>();
|
||||
|
||||
if (data.type == VehicleType::AIRCRAFT) {
|
||||
data.altitude = vehicle["altitude"].get<double>();
|
||||
}
|
||||
|
||||
vehicles.push_back(data);
|
||||
}
|
||||
|
||||
return !vehicles.empty();
|
||||
return true;
|
||||
}
|
||||
catch (const std::exception& e) {
|
||||
std::cerr << "Error parsing response: " << e.what() << std::endl;
|
||||
@ -239,4 +335,24 @@ void HTTPDataSource::cacheData(const std::vector<VehicleData>& vehicles) {
|
||||
for (const auto& vehicle : vehicles) {
|
||||
dataCache_.push(vehicle);
|
||||
}
|
||||
}
|
||||
|
||||
bool HTTPDataSource::reconnect() {
|
||||
static constexpr int MAX_RETRIES = 3;
|
||||
static constexpr int RETRY_DELAY_MS = 1000;
|
||||
|
||||
for (int i = 0; i < MAX_RETRIES; ++i) {
|
||||
std::cerr << "Reconnecting attempt " << (i + 1) << " of " << MAX_RETRIES << std::endl;
|
||||
|
||||
disconnect();
|
||||
if (connect()) {
|
||||
std::cerr << "Reconnection successful" << std::endl;
|
||||
return true;
|
||||
}
|
||||
|
||||
std::this_thread::sleep_for(std::chrono::milliseconds(RETRY_DELAY_MS));
|
||||
}
|
||||
|
||||
std::cerr << "Failed to reconnect after " << MAX_RETRIES << " attempts" << std::endl;
|
||||
return false;
|
||||
}
|
||||
@ -3,6 +3,7 @@
|
||||
|
||||
#include "collector/DataSource.h"
|
||||
#include "types/VehicleData.h"
|
||||
#include "spatial/CoordinateConverter.h"
|
||||
#include "ConnectionConfig.h"
|
||||
#include <boost/asio.hpp>
|
||||
#include <nlohmann/json.hpp>
|
||||
@ -26,6 +27,7 @@ public:
|
||||
|
||||
private:
|
||||
ConnectionConfig config_;
|
||||
CoordinateConverter coordinateConverter_;
|
||||
asio::io_context io_context_;
|
||||
std::unique_ptr<asio::ip::tcp::socket> socket_;
|
||||
std::unique_ptr<asio::ip::tcp::resolver> resolver_;
|
||||
@ -42,9 +44,10 @@ private:
|
||||
|
||||
bool fetchData();
|
||||
bool sendRequest();
|
||||
std::string readResponse();
|
||||
bool readResponseSafe(std::string& response);
|
||||
bool parseResponse(const std::string& response, std::vector<VehicleData>& vehicles);
|
||||
void cacheData(const std::vector<VehicleData>& vehicles);
|
||||
bool reconnect();
|
||||
};
|
||||
|
||||
#endif // AIRPORT_HTTP_DATA_SOURCE_H
|
||||
35
src/spatial/CoordinateConverter.cpp
Normal file
35
src/spatial/CoordinateConverter.cpp
Normal file
@ -0,0 +1,35 @@
|
||||
#include "CoordinateConverter.h"
|
||||
#include <cmath>
|
||||
|
||||
void CoordinateConverter::setReferencePoint(double lat, double lon) {
|
||||
ref_lat_ = lat * M_PI / 180.0; // 转换为弧度
|
||||
ref_lon_ = lon * M_PI / 180.0;
|
||||
cos_ref_lat_ = std::cos(ref_lat_);
|
||||
}
|
||||
|
||||
Vector2D CoordinateConverter::toLocalXY(double lat, double lon) const {
|
||||
// 使用等角投影转换
|
||||
double lat_rad = lat * M_PI / 180.0;
|
||||
double lon_rad = lon * M_PI / 180.0;
|
||||
|
||||
// 计算相对于参考点的差值
|
||||
double d_lon = lon_rad - ref_lon_;
|
||||
double d_lat = lat_rad - ref_lat_;
|
||||
|
||||
// 转换为米（使用WGS84椭球体参数）
|
||||
Vector2D result;
|
||||
result.x = EARTH_RADIUS * d_lon * cos_ref_lat_; // 东西方向
|
||||
result.y = EARTH_RADIUS * d_lat; // 南北方向
|
||||
|
||||
return result;
|
||||
}
|
||||
|
||||
std::pair<double, double> CoordinateConverter::toLatLon(const Vector2D& xy) const {
|
||||
double d_lon = xy.x / (EARTH_RADIUS * cos_ref_lat_);
|
||||
double d_lat = xy.y / EARTH_RADIUS;
|
||||
|
||||
double lat = (ref_lat_ + d_lat) * 180.0 / M_PI;
|
||||
double lon = (ref_lon_ + d_lon) * 180.0 / M_PI;
|
||||
|
||||
return {lat, lon};
|
||||
}
|
||||
26
src/spatial/CoordinateConverter.h
Normal file
26
src/spatial/CoordinateConverter.h
Normal file
@ -0,0 +1,26 @@
|
||||
#ifndef AIRPORT_SPATIAL_COORDINATE_CONVERTER_H
|
||||
#define AIRPORT_SPATIAL_COORDINATE_CONVERTER_H
|
||||
|
||||
#include "../types/BasicTypes.h"
|
||||
#include <cmath>
|
||||
#include <utility>
|
||||
|
||||
class CoordinateConverter {
|
||||
public:
|
||||
// 设置机场参考点（通常是跑道中心点或机场中心点）
|
||||
void setReferencePoint(double lat, double lon);
|
||||
|
||||
// 将经纬度转换为相对于参考点的平面坐标（米）
|
||||
Vector2D toLocalXY(double lat, double lon) const;
|
||||
|
||||
// 将平面坐标（米）转换回经纬度
|
||||
std::pair<double, double> toLatLon(const Vector2D& xy) const;
|
||||
|
||||
private:
|
||||
static constexpr double EARTH_RADIUS = 6378137.0; // WGS84椭球体赤道半径（米）
|
||||
double ref_lat_{0.0}; // 参考点纬度（弧度）
|
||||
double ref_lon_{0.0}; // 参考点经度（弧度）
|
||||
double cos_ref_lat_{1.0}; // 参考点纬度的余弦值（预计算）
|
||||
};
|
||||
|
||||
#endif // AIRPORT_SPATIAL_COORDINATE_CONVERTER_H
|
||||
142
src/spatial/QuadTree.h
Normal file
142
src/spatial/QuadTree.h
Normal file
@ -0,0 +1,142 @@
|
||||
#ifndef AIRPORT_SPATIAL_QUADTREE_H
|
||||
#define AIRPORT_SPATIAL_QUADTREE_H
|
||||
|
||||
#include <vector>
|
||||
#include <memory>
|
||||
#include "types/VehicleData.h"
|
||||
|
||||
// 定义矩形区域
|
||||
struct Bounds {
|
||||
double x; // 左上角x坐标
|
||||
double y; // 左上角y坐标
|
||||
double width; // 宽度
|
||||
double height; // 高度
|
||||
|
||||
bool contains(const Vector2D& point) const {
|
||||
return point.x >= x && point.x <= (x + width) &&
|
||||
point.y >= y && point.y <= (y + height);
|
||||
}
|
||||
|
||||
bool intersects(const Bounds& other) const {
|
||||
return !(other.x > (x + width) ||
|
||||
(other.x + other.width) < x ||
|
||||
other.y > (y + height) ||
|
||||
(other.y + other.height) < y);
|
||||
}
|
||||
};
|
||||
|
||||
template<typename T>
|
||||
class QuadTree {
|
||||
public:
|
||||
explicit QuadTree(const Bounds& bounds, int capacity = 4)
|
||||
: bounds_(bounds), capacity_(capacity) {}
|
||||
|
||||
void insert(const T& item) {
|
||||
if (!bounds_.contains(getPosition(item))) {
|
||||
return;
|
||||
}
|
||||
|
||||
if (items_.size() < capacity_ && !divided_) {
|
||||
items_.push_back(item);
|
||||
return;
|
||||
}
|
||||
|
||||
if (!divided_) {
|
||||
subdivide();
|
||||
}
|
||||
|
||||
northwest_->insert(item);
|
||||
northeast_->insert(item);
|
||||
southwest_->insert(item);
|
||||
southeast_->insert(item);
|
||||
}
|
||||
|
||||
std::vector<T> queryRange(const Bounds& range) const {
|
||||
std::vector<T> found;
|
||||
if (!bounds_.intersects(range)) {
|
||||
return found;
|
||||
}
|
||||
|
||||
for (const auto& item : items_) {
|
||||
if (range.contains(getPosition(item))) {
|
||||
found.push_back(item);
|
||||
}
|
||||
}
|
||||
|
||||
if (divided_) {
|
||||
auto nw = northwest_->queryRange(range);
|
||||
auto ne = northeast_->queryRange(range);
|
||||
auto sw = southwest_->queryRange(range);
|
||||
auto se = southeast_->queryRange(range);
|
||||
|
||||
found.insert(found.end(), nw.begin(), nw.end());
|
||||
found.insert(found.end(), ne.begin(), ne.end());
|
||||
found.insert(found.end(), sw.begin(), sw.end());
|
||||
found.insert(found.end(), se.begin(), se.end());
|
||||
}
|
||||
|
||||
return found;
|
||||
}
|
||||
|
||||
std::vector<T> queryNearby(const Vector2D& point, double radius) const {
|
||||
Bounds range{
|
||||
point.x - radius,
|
||||
point.y - radius,
|
||||
radius * 2,
|
||||
radius * 2
|
||||
};
|
||||
return queryRange(range);
|
||||
}
|
||||
|
||||
void clear() {
|
||||
items_.clear();
|
||||
divided_ = false;
|
||||
northwest_.reset();
|
||||
northeast_.reset();
|
||||
southwest_.reset();
|
||||
southeast_.reset();
|
||||
}
|
||||
|
||||
private:
|
||||
Bounds bounds_;
|
||||
int capacity_;
|
||||
std::vector<T> items_;
|
||||
bool divided_ = false;
|
||||
|
||||
std::unique_ptr<QuadTree> northwest_;
|
||||
std::unique_ptr<QuadTree> northeast_;
|
||||
std::unique_ptr<QuadTree> southwest_;
|
||||
std::unique_ptr<QuadTree> southeast_;
|
||||
|
||||
void subdivide() {
|
||||
double x = bounds_.x;
|
||||
double y = bounds_.y;
|
||||
double w = bounds_.width / 2;
|
||||
double h = bounds_.height / 2;
|
||||
|
||||
Bounds nw{x, y, w, h};
|
||||
northwest_ = std::make_unique<QuadTree>(nw, capacity_);
|
||||
|
||||
Bounds ne{x + w, y, w, h};
|
||||
northeast_ = std::make_unique<QuadTree>(ne, capacity_);
|
||||
|
||||
Bounds sw{x, y + h, w, h};
|
||||
southwest_ = std::make_unique<QuadTree>(sw, capacity_);
|
||||
|
||||
Bounds se{x + w, y + h, w, h};
|
||||
southeast_ = std::make_unique<QuadTree>(se, capacity_);
|
||||
|
||||
divided_ = true;
|
||||
}
|
||||
|
||||
// 获取对象的位置
|
||||
static Vector2D getPosition(const T& item) {
|
||||
if constexpr (std::is_same_v<T, VehicleData>) {
|
||||
return item.position;
|
||||
} else {
|
||||
return item.getPosition(); // 对于其他类型，假设有getPosition方法
|
||||
}
|
||||
}
|
||||
};
|
||||
|
||||
#endif // AIRPORT_SPATIAL_QUADTREE_H
|
||||
14
src/types/BasicTypes.h
Normal file
14
src/types/BasicTypes.h
Normal file
@ -0,0 +1,14 @@
|
||||
#ifndef AIRPORT_TYPES_BASIC_TYPES_H
|
||||
#define AIRPORT_TYPES_BASIC_TYPES_H
|
||||
|
||||
struct Vector2D {
|
||||
double x; // 东西方向（米）
|
||||
double y; // 南北方向（米）
|
||||
};
|
||||
|
||||
struct GeoPosition {
|
||||
double latitude; // 纬度
|
||||
double longitude; // 经度
|
||||
};
|
||||
|
||||
#endif // AIRPORT_TYPES_BASIC_TYPES_H
|
||||
27
src/types/VehicleCommand.h
Normal file
27
src/types/VehicleCommand.h
Normal file
@ -0,0 +1,27 @@
|
||||
#ifndef AIRPORT_TYPES_VEHICLE_COMMAND_H
|
||||
#define AIRPORT_TYPES_VEHICLE_COMMAND_H
|
||||
|
||||
#include <string>
|
||||
#include "VehicleData.h"
|
||||
|
||||
enum class CommandType {
|
||||
CONTINUE, // 继续运行
|
||||
STOP, // 停止
|
||||
SLOW_DOWN, // 减速
|
||||
TURN_LEFT, // 左转
|
||||
TURN_RIGHT // 右转
|
||||
};
|
||||
|
||||
struct VehicleCommand {
|
||||
std::string vehicleId; // 车辆ID
|
||||
CommandType type; // 命令类型
|
||||
Vector2D avoidanceVector; // 避障向量
|
||||
double speed{0.0}; // 目标速度
|
||||
double heading{0.0}; // 目标航向
|
||||
uint64_t timestamp; // 时间戳
|
||||
|
||||
// 可选的优先级
|
||||
int priority{0}; // 数字越大优先级越高
|
||||
};
|
||||
|
||||
#endif // AIRPORT_TYPES_VEHICLE_COMMAND_H
|
||||
6
src/types/VehicleData.cpp
Normal file
6
src/types/VehicleData.cpp
Normal file
@ -0,0 +1,6 @@
|
||||
#include "VehicleData.h"
|
||||
#include "../spatial/CoordinateConverter.h"
|
||||
|
||||
void VehicleData::updateLocalPosition(const CoordinateConverter& converter) {
|
||||
position = converter.toLocalXY(geo.latitude, geo.longitude);
|
||||
}
|
||||
@ -3,25 +3,28 @@
|
||||
|
||||
#include <cstdint>
|
||||
#include <string>
|
||||
#include "BasicTypes.h"
|
||||
|
||||
struct Vector2D {
|
||||
double x;
|
||||
double y;
|
||||
};
|
||||
// 前向声明
|
||||
class CoordinateConverter;
|
||||
|
||||
enum class VehicleType {
|
||||
AIRCRAFT, // 飞行器
|
||||
VEHICLE // 地面车辆
|
||||
AIRCRAFT,
|
||||
VEHICLE
|
||||
};
|
||||
|
||||
struct VehicleData {
|
||||
std::string id; // 唯一标识
|
||||
VehicleType type; // 类型
|
||||
Vector2D position; // 位置
|
||||
Vector2D velocity; // 速度
|
||||
double heading; // 航向角
|
||||
GeoPosition geo; // 地理坐标（经纬度）
|
||||
Vector2D position; // 平面坐标（米）
|
||||
Vector2D velocity; // 速度（米/秒）
|
||||
double heading; // 航向角（度）
|
||||
uint64_t timestamp; // 时间戳
|
||||
double altitude{0.0}; // 高度（仅飞行器有效）
|
||||
double altitude{0.0}; // 高度（米，仅飞行器有效）
|
||||
|
||||
// 只保留声明
|
||||
void updateLocalPosition(const CoordinateConverter& converter);
|
||||
};
|
||||
|
||||
#endif // AIRPORT_TYPES_VEHICLE_DATA_H
|
||||
72
src/utils/Logger.h
Normal file
72
src/utils/Logger.h
Normal file
@ -0,0 +1,72 @@
|
||||
#ifndef AIRPORT_UTILS_LOGGER_H
|
||||
#define AIRPORT_UTILS_LOGGER_H
|
||||
|
||||
#include <iostream>
|
||||
#include <chrono>
|
||||
#include <iomanip>
|
||||
#include <sstream>
|
||||
|
||||
enum class LogLevel {
|
||||
DEBUG,
|
||||
INFO,
|
||||
WARNING,
|
||||
ERROR
|
||||
};
|
||||
|
||||
class Logger {
|
||||
public:
|
||||
static void setLogLevel(LogLevel level) {
|
||||
currentLevel_ = level;
|
||||
}
|
||||
|
||||
template<typename... Args>
|
||||
static void debug(Args... args) {
|
||||
if (currentLevel_ <= LogLevel::DEBUG) {
|
||||
log("DEBUG", args...);
|
||||
}
|
||||
}
|
||||
|
||||
template<typename... Args>
|
||||
static void info(Args... args) {
|
||||
if (currentLevel_ <= LogLevel::INFO) {
|
||||
log("INFO", args...);
|
||||
}
|
||||
}
|
||||
|
||||
template<typename... Args>
|
||||
static void warning(Args... args) {
|
||||
if (currentLevel_ <= LogLevel::WARNING) {
|
||||
log("WARNING", args...);
|
||||
}
|
||||
}
|
||||
|
||||
template<typename... Args>
|
||||
static void error(Args... args) {
|
||||
if (currentLevel_ <= LogLevel::ERROR) {
|
||||
log("ERROR", args...);
|
||||
}
|
||||
}
|
||||
|
||||
private:
|
||||
static LogLevel currentLevel_;
|
||||
|
||||
template<typename... Args>
|
||||
static void log(const char* level, Args... args) {
|
||||
auto now = std::chrono::system_clock::now();
|
||||
auto now_c = std::chrono::system_clock::to_time_t(now);
|
||||
auto now_ms = std::chrono::duration_cast<std::chrono::milliseconds>(
|
||||
now.time_since_epoch()) % 1000;
|
||||
|
||||
std::stringstream ss;
|
||||
ss << std::put_time(std::localtime(&now_c), "%Y-%m-%d %H:%M:%S")
|
||||
<< '.' << std::setfill('0') << std::setw(3) << now_ms.count()
|
||||
<< " [" << level << "] ";
|
||||
|
||||
(ss << ... << args) << std::endl;
|
||||
std::cerr << ss.str();
|
||||
}
|
||||
};
|
||||
|
||||
LogLevel Logger::currentLevel_ = LogLevel::INFO;
|
||||
|
||||
#endif // AIRPORT_UTILS_LOGGER_H
|
||||
@ -1,57 +1,134 @@
|
||||
from flask import Flask, jsonify
|
||||
from flask import Flask, jsonify, make_response, request
|
||||
import math
|
||||
import time
|
||||
import random
|
||||
import logging
|
||||
from werkzeug.serving import WSGIRequestHandler
|
||||
|
||||
# 配置日志
|
||||
logging.basicConfig(
|
||||
level=logging.INFO,
|
||||
format='%(asctime)s - %(name)s - %(levelname)s - %(message)s'
|
||||
)
|
||||
logger = logging.getLogger(__name__)
|
||||
|
||||
# 自定义请求处理器
|
||||
class CustomRequestHandler(WSGIRequestHandler):
|
||||
protocol_version = "HTTP/1.1"
|
||||
|
||||
def handle(self):
|
||||
try:
|
||||
logger.info("Starting to handle request")
|
||||
super().handle()
|
||||
logger.info("Finished handling request")
|
||||
except Exception as e:
|
||||
logger.error(f"Error handling request: {e}")
|
||||
finally:
|
||||
self.close_connection = True
|
||||
logger.info("Connection closed")
|
||||
|
||||
app = Flask(__name__)
|
||||
|
||||
# 机场参考点（浦东机场坐标）
|
||||
AIRPORT_LAT = 31.143494
|
||||
AIRPORT_LON = 121.805214
|
||||
|
||||
def generate_mock_data():
|
||||
current_time = int(time.time() * 1000) # 毫秒时间戳
|
||||
vehicles = []
|
||||
|
||||
# 生成3架飞机的数据
|
||||
for i in range(3):
|
||||
aircraft = {
|
||||
"id": f"AIRCRAFT_{i+1}",
|
||||
"type": "AIRCRAFT",
|
||||
"position": {
|
||||
"x": 1000 + math.sin(time.time() + i) * 500,
|
||||
"y": 1000 + math.cos(time.time() + i) * 500
|
||||
},
|
||||
"velocity": {
|
||||
"x": random.uniform(-10, 10),
|
||||
"y": random.uniform(-10, 10)
|
||||
},
|
||||
"heading": random.uniform(0, 360),
|
||||
"timestamp": current_time,
|
||||
"altitude": random.uniform(100, 1000)
|
||||
}
|
||||
vehicles.append(aircraft)
|
||||
|
||||
# 生成5辆车的数据
|
||||
for i in range(5):
|
||||
vehicle = {
|
||||
"id": f"VEHICLE_{i+1}",
|
||||
"type": "VEHICLE",
|
||||
"position": {
|
||||
"x": 500 + math.sin(time.time() + i) * 200,
|
||||
"y": 500 + math.cos(time.time() + i) * 200
|
||||
},
|
||||
"velocity": {
|
||||
"x": random.uniform(-5, 5),
|
||||
"y": random.uniform(-5, 5)
|
||||
},
|
||||
"heading": random.uniform(0, 360),
|
||||
"timestamp": current_time,
|
||||
"altitude": 0
|
||||
}
|
||||
vehicles.append(vehicle)
|
||||
|
||||
return {"vehicles": vehicles}
|
||||
"""生成模拟数据"""
|
||||
try:
|
||||
logger.info("Generating mock data")
|
||||
current_time = int(time.time() * 1000)
|
||||
vehicles = []
|
||||
|
||||
# 生成3架飞机的数据
|
||||
for i in range(3):
|
||||
lat_offset = math.sin(time.time() + i) * 0.001
|
||||
lon_offset = math.cos(time.time() + i) * 0.001
|
||||
|
||||
aircraft = {
|
||||
"id": f"AIRCRAFT_{i+1}",
|
||||
"type": "AIRCRAFT",
|
||||
"position": {
|
||||
"latitude": AIRPORT_LAT + lat_offset,
|
||||
"longitude": AIRPORT_LON + lon_offset
|
||||
},
|
||||
"velocity": {
|
||||
"x": random.uniform(-10, 10),
|
||||
"y": random.uniform(-10, 10)
|
||||
},
|
||||
"heading": random.uniform(0, 360),
|
||||
"timestamp": current_time,
|
||||
"altitude": random.uniform(100, 1000)
|
||||
}
|
||||
vehicles.append(aircraft)
|
||||
|
||||
# 生成5辆车的数据
|
||||
for i in range(5):
|
||||
lat_offset = math.sin(time.time() + i) * 0.0005
|
||||
lon_offset = math.cos(time.time() + i) * 0.0005
|
||||
|
||||
vehicle = {
|
||||
"id": f"VEHICLE_{i+1}",
|
||||
"type": "VEHICLE",
|
||||
"position": {
|
||||
"latitude": AIRPORT_LAT + lat_offset,
|
||||
"longitude": AIRPORT_LON + lon_offset
|
||||
},
|
||||
"velocity": {
|
||||
"x": random.uniform(-5, 5),
|
||||
"y": random.uniform(-5, 5)
|
||||
},
|
||||
"heading": random.uniform(0, 360),
|
||||
"timestamp": current_time,
|
||||
"altitude": 0
|
||||
}
|
||||
vehicles.append(vehicle)
|
||||
|
||||
logger.info(f"Generated {len(vehicles)} vehicles data")
|
||||
return {"vehicles": vehicles}
|
||||
except Exception as e:
|
||||
logger.error(f"Error generating mock data: {e}")
|
||||
return {"vehicles": []}
|
||||
|
||||
@app.route('/api/vehicles')
|
||||
def get_vehicles():
|
||||
return jsonify(generate_mock_data())
|
||||
"""处理获取车辆数据的请求"""
|
||||
try:
|
||||
logger.info(f"Received request from {request.remote_addr}")
|
||||
logger.info(f"Request headers: {dict(request.headers)}")
|
||||
|
||||
data = generate_mock_data()
|
||||
|
||||
# 使用 make_response 创建响应
|
||||
response = make_response(jsonify(data))
|
||||
|
||||
# 设置响应头
|
||||
response.headers['Content-Type'] = 'application/json'
|
||||
response.headers['Connection'] = 'close'
|
||||
response.headers['Cache-Control'] = 'no-cache'
|
||||
response.headers['Access-Control-Allow-Origin'] = '*'
|
||||
|
||||
logger.info(f"Response headers: {dict(response.headers)}")
|
||||
logger.info(f"Response data length: {len(str(data))}")
|
||||
logger.info("Sending response...")
|
||||
|
||||
return response
|
||||
except Exception as e:
|
||||
logger.error(f"Error handling request: {e}")
|
||||
logger.exception("Detailed error:")
|
||||
return make_response(jsonify({"error": str(e)}), 500)
|
||||
finally:
|
||||
logger.info("Request handling completed")
|
||||
|
||||
if __name__ == '__main__':
|
||||
app.run(host='0.0.0.0', port=8080)
|
||||
try:
|
||||
logger.info("Starting mock server on port 8080...")
|
||||
app.run(
|
||||
host='0.0.0.0',
|
||||
port=8080,
|
||||
threaded=True,
|
||||
use_reloader=False,
|
||||
request_handler=CustomRequestHandler
|
||||
)
|
||||
except Exception as e:
|
||||
logger.error(f"Failed to start server: {e}")
|
||||
Loading…
Reference in New Issue
Block a user