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PROPERTY INCLUDE_DIRECTORIES) -foreach(dir ${dirs}) - message(STATUS "Include dir: ${dir}") -endforeach() \ No newline at end of file +) \ No newline at end of file diff --git a/build/.cmake/api/v1/query/client-vscode/query.json b/build/.cmake/api/v1/query/client-vscode/query.json new file mode 100644 index 0000000..82bb964 --- /dev/null +++ b/build/.cmake/api/v1/query/client-vscode/query.json @@ -0,0 +1 @@ +{"requests":[{"kind":"cache","version":2},{"kind":"codemodel","version":2},{"kind":"toolchains","version":1},{"kind":"cmakeFiles","version":1}]} \ No newline at end of file diff --git a/build/.cmake/api/v1/reply/cache-v2-10b6de4bb8ed98dc2023.json b/build/.cmake/api/v1/reply/cache-v2-10b6de4bb8ed98dc2023.json new file mode 100644 index 0000000..3647caf --- /dev/null +++ b/build/.cmake/api/v1/reply/cache-v2-10b6de4bb8ed98dc2023.json @@ -0,0 +1,1311 @@ +{ + "entries" : + [ + { + "name" : "Boost_DIR", + "properties" : + [ + { + "name" : "ADVANCED", + "value" : "1" + }, + { + "name" : 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/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" +} +] \ No newline at end of file diff --git a/docs/design.md b/docs/design.md index fa4ddd7..9fe40ff 100644 --- a/docs/design.md +++ b/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： diff --git a/src/collector/DataCollector.h b/src/collector/DataCollector.h index 0ba08ec..0e20837 100644 --- a/src/collector/DataCollector.h +++ b/src/collector/DataCollector.h @@ -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" diff --git a/src/concurrent/.DS_Store b/src/concurrent/.DS_Store new file mode 100644 index 0000000..70b2b75 Binary files /dev/null and b/src/concurrent/.DS_Store differ diff --git a/src/concurrent/LockFreeQueue.h b/src/concurrent/LockFreeQueue.h index c66c257..967a793 100644 --- a/src/concurrent/LockFreeQueue.h +++ b/src/concurrent/LockFreeQueue.h @@ -7,18 +7,48 @@ template 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 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 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 next; - explicit Node(T v) : value(std::move(v)), next(nullptr) {} + std::atomic next{nullptr}; + explicit Node(T v) : value(std::move(v)) {} }; std::atomic head_; diff --git a/src/concurrent/LockFreeQueue.hpp b/src/concurrent/LockFreeQueue.hpp deleted file mode 100644 index 6d1d651..0000000 --- a/src/concurrent/LockFreeQueue.hpp +++ /dev/null @@ -1,50 +0,0 @@ -#ifndef AIRPORT_CONCURRENT_LOCK_FREE_QUEUE_HPP -#define AIRPORT_CONCURRENT_LOCK_FREE_QUEUE_HPP - -#include "LockFreeQueue.h" -#include -#include - -template -LockFreeQueue::LockFreeQueue() : head_(new Node(T())), tail_(head_.load()) {} - -template -LockFreeQueue::~LockFreeQueue() { - while (Node* const old_head = head_.load()) { - head_.store(old_head->next); - delete old_head; - } -} - -template -void LockFreeQueue::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 -std::optional LockFreeQueue::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 -bool LockFreeQueue::empty() const { - return head_.load()->next == nullptr; -} - -#endif // AIRPORT_CONCURRENT_LOCK_FREE_QUEUE_HPP \ No newline at end of file diff --git a/src/detector/CollisionDetector.cpp b/src/detector/CollisionDetector.cpp index 997ab9b..bcfc8d1 100644 --- a/src/detector/CollisionDetector.cpp +++ b/src/detector/CollisionDetector.cpp @@ -2,7 +2,8 @@ #include 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::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) { diff --git a/src/detector/CollisionDetector.h b/src/detector/CollisionDetector.h index cbee4bf..31e542d 100644 --- a/src/detector/CollisionDetector.h +++ b/src/detector/CollisionDetector.h @@ -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& 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 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); }; diff --git a/src/network/HTTPDataSource.cpp b/src/network/HTTPDataSource.cpp index f1d1490..c9371ee 100644 --- a/src/network/HTTPDataSource.cpp +++ b/src/network/HTTPDataSource.cpp @@ -1,7 +1,9 @@ #include "HTTPDataSource.h" +#include "utils/Logger.h" #include #include #include +#include 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(io_context_); socket_ = std::make_unique(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 HTTPDataSource::getData() { @@ -75,159 +112,218 @@ std::optional 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 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 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& 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(); - - // 解析类型 - if (!vehicle.contains("type") || !vehicle["type"].is_string()) { - continue; - } - std::string typeStr = vehicle["type"].get(); - 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(); - data.position.y = pos["y"].get(); - } - } - - // 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(); - data.velocity.y = vel["y"].get(); - } - } - - // 解析其他属性 - if (vehicle.contains("heading")) { - data.heading = vehicle["heading"].get(); - } - if (vehicle.contains("timestamp")) { - data.timestamp = vehicle["timestamp"].get(); - } - - // 对于飞行器，解析高度 - if (data.type == VehicleType::AIRCRAFT && vehicle.contains("altitude")) { - data.altitude = vehicle["altitude"].get(); - } - - 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 typeStr = vehicle["type"].get(); + data.type = (typeStr == "AIRCRAFT") ? VehicleType::AIRCRAFT : VehicleType::VEHICLE; + + // 解析地理坐标 + data.geo.latitude = vehicle["position"]["latitude"].get(); + data.geo.longitude = vehicle["position"]["longitude"].get(); + + // 转换为平面坐标 + data.updateLocalPosition(coordinateConverter_); + + // 解析其他属性 + data.heading = vehicle["heading"].get(); + data.timestamp = vehicle["timestamp"].get(); + + if (data.type == VehicleType::AIRCRAFT) { + data.altitude = vehicle["altitude"].get(); } + + 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& 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; } \ No newline at end of file diff --git a/src/network/HTTPDataSource.h b/src/network/HTTPDataSource.h index 68f440e..0890c4a 100644 --- a/src/network/HTTPDataSource.h +++ b/src/network/HTTPDataSource.h @@ -3,6 +3,7 @@ #include "collector/DataSource.h" #include "types/VehicleData.h" +#include "spatial/CoordinateConverter.h" #include "ConnectionConfig.h" #include #include @@ -26,6 +27,7 @@ public: private: ConnectionConfig config_; + CoordinateConverter coordinateConverter_; asio::io_context io_context_; std::unique_ptr socket_; std::unique_ptr 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& vehicles); void cacheData(const std::vector& vehicles); + bool reconnect(); }; #endif // AIRPORT_HTTP_DATA_SOURCE_H \ No newline at end of file diff --git a/src/spatial/CoordinateConverter.cpp b/src/spatial/CoordinateConverter.cpp new file mode 100644 index 0000000..9d16c4b --- /dev/null +++ b/src/spatial/CoordinateConverter.cpp @@ -0,0 +1,35 @@ +#include "CoordinateConverter.h" +#include + +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 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}; +} \ No newline at end of file diff --git a/src/spatial/CoordinateConverter.h b/src/spatial/CoordinateConverter.h new file mode 100644 index 0000000..80c1f80 --- /dev/null +++ b/src/spatial/CoordinateConverter.h @@ -0,0 +1,26 @@ +#ifndef AIRPORT_SPATIAL_COORDINATE_CONVERTER_H +#define AIRPORT_SPATIAL_COORDINATE_CONVERTER_H + +#include "../types/BasicTypes.h" +#include +#include + +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 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 \ No newline at end of file diff --git a/src/spatial/QuadTree.h b/src/spatial/QuadTree.h new file mode 100644 index 0000000..d1c2f38 --- /dev/null +++ b/src/spatial/QuadTree.h @@ -0,0 +1,142 @@ +#ifndef AIRPORT_SPATIAL_QUADTREE_H +#define AIRPORT_SPATIAL_QUADTREE_H + +#include +#include +#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 +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 queryRange(const Bounds& range) const { + std::vector 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 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 items_; + bool divided_ = false; + + std::unique_ptr northwest_; + std::unique_ptr northeast_; + std::unique_ptr southwest_; + std::unique_ptr 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(nw, capacity_); + + Bounds ne{x + w, y, w, h}; + northeast_ = std::make_unique(ne, capacity_); + + Bounds sw{x, y + h, w, h}; + southwest_ = std::make_unique(sw, capacity_); + + Bounds se{x + w, y + h, w, h}; + southeast_ = std::make_unique(se, capacity_); + + divided_ = true; + } + + // 获取对象的位置 + static Vector2D getPosition(const T& item) { + if constexpr (std::is_same_v) { + return item.position; + } else { + return item.getPosition(); // 对于其他类型，假设有getPosition方法 + } + } +}; + +#endif // AIRPORT_SPATIAL_QUADTREE_H \ No newline at end of file diff --git a/src/types/BasicTypes.h b/src/types/BasicTypes.h new file mode 100644 index 0000000..3bd5665 --- /dev/null +++ b/src/types/BasicTypes.h @@ -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 \ No newline at end of file diff --git a/src/types/VehicleCommand.h b/src/types/VehicleCommand.h new file mode 100644 index 0000000..fb61684 --- /dev/null +++ b/src/types/VehicleCommand.h @@ -0,0 +1,27 @@ +#ifndef AIRPORT_TYPES_VEHICLE_COMMAND_H +#define AIRPORT_TYPES_VEHICLE_COMMAND_H + +#include +#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 \ No newline at end of file diff --git a/src/types/VehicleData.cpp b/src/types/VehicleData.cpp new file mode 100644 index 0000000..0e89656 --- /dev/null +++ b/src/types/VehicleData.cpp @@ -0,0 +1,6 @@ +#include "VehicleData.h" +#include "../spatial/CoordinateConverter.h" + +void VehicleData::updateLocalPosition(const CoordinateConverter& converter) { + position = converter.toLocalXY(geo.latitude, geo.longitude); +} \ No newline at end of file diff --git a/src/types/VehicleData.h b/src/types/VehicleData.h index cba3c2f..3c4a863 100644 --- a/src/types/VehicleData.h +++ b/src/types/VehicleData.h @@ -3,25 +3,28 @@ #include #include +#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 \ No newline at end of file diff --git a/src/utils/Logger.h b/src/utils/Logger.h new file mode 100644 index 0000000..99a9325 --- /dev/null +++ b/src/utils/Logger.h @@ -0,0 +1,72 @@ +#ifndef AIRPORT_UTILS_LOGGER_H +#define AIRPORT_UTILS_LOGGER_H + +#include +#include +#include +#include + +enum class LogLevel { + DEBUG, + INFO, + WARNING, + ERROR +}; + +class Logger { +public: + static void setLogLevel(LogLevel level) { + currentLevel_ = level; + } + + template + static void debug(Args... args) { + if (currentLevel_ <= LogLevel::DEBUG) { + log("DEBUG", args...); + } + } + + template + static void info(Args... args) { + if (currentLevel_ <= LogLevel::INFO) { + log("INFO", args...); + } + } + + template + static void warning(Args... args) { + if (currentLevel_ <= LogLevel::WARNING) { + log("WARNING", args...); + } + } + + template + static void error(Args... args) { + if (currentLevel_ <= LogLevel::ERROR) { + log("ERROR", args...); + } + } + +private: + static LogLevel currentLevel_; + + template + 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( + 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 \ No newline at end of file diff --git a/tools/mock_server.py b/tools/mock_server.py index 427f84c..4bc9ab3 100644 --- a/tools/mock_server.py +++ b/tools/mock_server.py @@ -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) \ No newline at end of file + 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}") \ No newline at end of file