修改了无人车配置文件和 API 文档
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@ -145,9 +145,8 @@ message(STATUS "CMAKE_EXE_LINKER_FLAGS: ${CMAKE_EXE_LINKER_FLAGS}")
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# 复制配置文件到构建目录
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configure_file(${CMAKE_SOURCE_DIR}/config/system_config.json ${CMAKE_BINARY_DIR}/config/system_config.json COPYONLY)
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configure_file(${CMAKE_SOURCE_DIR}/config/intersections.json ${CMAKE_BINARY_DIR}/config/intersections.json COPYONLY)
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configure_file(${CMAKE_SOURCE_DIR}/config/vehicle_control.json ${CMAKE_BINARY_DIR}/config/vehicle_control.json COPYONLY)
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configure_file(${CMAKE_SOURCE_DIR}/config/airport_bounds.json ${CMAKE_BINARY_DIR}/config/airport_bounds.json COPYONLY)
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configure_file(${CMAKE_SOURCE_DIR}/config/unmanned_vehicles.json ${CMAKE_BINARY_DIR}/config/unmanned_vehicles.json COPYONLY)
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if(NOT APPLE)
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target_link_libraries(collision_avoidance
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PRIVATE
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@ -42,13 +42,14 @@
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"unmanned_vehicle": {
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"host": "localhost",
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"port": 8081,
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"status_path": "/openApi/getVehicleStatus",
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"command_path": "/openApi/sendVehicleCommand",
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"location_path": "/api/VehicleLocationInfo",
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"status_path": "/api/VehicleStateInfo",
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"command_path": "/api/VehicleCommandInfo",
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"refresh_interval_ms": 1000,
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"auth": {
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"username": "dianxin",
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"password": "dianxin@123",
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"auth_path": "/login",
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"auth_path": "/api/login",
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"auth_required": false
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},
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"timeout_ms": 5000,
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@ -62,7 +63,7 @@
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"auth": {
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"username": "dianxin",
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"password": "dianxin@123",
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"auth_path": "/login",
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"auth_path": "/api/login",
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"auth_required": false
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},
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"timeout_ms": 5000,
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@ -120,3 +120,106 @@ responseData:
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"transId": "68f79d1a-e27f-11ed-b28c-2cf05d9c2649",
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"timestamp": 1736175610
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}
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### 2.2 无人车位置上报
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1. 接口地址: <http://127.0.0.1:31140/api/VehicleLocationInfo>
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2. 请求方法：GET
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3. 返回值（以 List 数据返回，一次请求返回集合对象）：
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| 字段名称 | 类型 | 是否必填 | 说明 |
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|---------|------|----------|------|
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| transId | string | 是 | 消息唯一 id，消息的唯一标识符 |
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| timestamp | long | 是 | 时间戳（UTC 时间，单位：毫秒） |
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| vehicleID | string | 是 | 车辆 ID |
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| latitude | double | 是 | 纬度 |
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| longitude | double | 是 | 经度 |
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| speed | double | 是 | 速度（单位：m/s） |
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| direction | double | 是 | 车头航向角，正东为 0 度（弧度） |
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示例：
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requestData:
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[
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{
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"transId": "68f79d1a-e27f-11ed-b28c-2cf05d9c2649",
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"timestamp": 1736175610000,
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"vehicleID": "AT001",
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"latitude": 123.112,
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"longitude": 78.331,
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"speed": 3.2,
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"direction": 1.57
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}
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]
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### 2.3 无人车状态上报
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1. 接口地址: <http://127.0.0.1:31140/api/VehicleStateInfo>
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2. 请求方法：POST
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3. 请求参数：
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| 字段名称 | 类型 | 是否必填 | 说明 |
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|---------|------|----------|------|
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| transId | string | 是 | 消息唯一 id，消息的唯一标识符 |
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| timestamp | long | 是 | 时间戳（UTC 时间，单位：毫秒） |
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| vehicleID | string | 是 | 车辆 ID |
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| isSingle | boolean | 是 | True：单个车辆，False：所有车辆 |
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示例：
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requestData:
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{
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"transId": "68f79d1a-e27f-11ed-b28c-2cf05d9c2649",
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"timestamp": 1736175610000,
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"vehicleID": "AT001",
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"isSingle": true
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}
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4. 返回值（以 List 数据返回，一次请求返回集合对象）：
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| 字段名称 | 类型 | 是否必填 | 说明 |
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|---------|------|----------|------|
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| transId | string | 是 | 消息唯一 id，消息的唯一标识符 |
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| timestamp | long | 是 | 时间戳（UTC 时间，单位：毫秒） |
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| vehicleID | string | 是 | 车辆 ID |
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| loginState | boolean | 是 | 登录状态：True：登录，False：未登录 |
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| faultInfo | list | 是 | 故障信息，以列表返回，可能存在多个 |
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| activeSafety | boolean | 是 | 车辆最小风险策略触发（主动安全）：True：触发，False：未触发 |
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| RC | boolean | 是 | 被接管或干预相关信息，是否被远控RemoteControl，True：车辆在遥控器远控模式，False：车辆处于自动驾驶模式 |
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| Command | int | 是 | 接收的远程指令信息，0：恢复，1：急停，2：缓停 |
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| airportInfo | list | 否 | 机场特殊要求的其他信息 |
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| vehicleMode | int | 是 | 无人设备控制模式（底盘控制模式），1:手动（司机驾驶），2:自动，3:遥控器，4:远程，5：故障等待 |
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| gearState | int | 是 | 车辆当前档位，1:N，2:D，3:P，4:R, 5: 未知 |
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| chassisReady | boolean | 是 | 底盘是否准备就绪，True：车辆发控制指令就可以走，false: 其他 |
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| collisionStatus | boolean | 否 | 防撞梁是否触发，true：触发，false：未触发 |
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| clearance | int | 是 | 0：关闭，1：开启（示廓灯） |
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| turnSignalStstus | int | 是 | 转向灯状态，0：off , 1 : trun left , 2 : trun right, 3: 双闪 |
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| pointCloud | list | 否 | 点云数据字节流，每个点的长度，现在是12，每个坐标为float，长度4|
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示例：
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responseData:
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[
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{
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"transId": "68f79d1a-e27f-11ed-b28c-2cf05d9c2649",
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"timestamp": 1736175610000,
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"vehicleID": "AT001",
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"loginStatus":true,
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"faultInfo":[],
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"activeSafety":false,
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"RC":false,
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"Command":0,
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"airportInfo":[],
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"vehicleMode": 2,
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"gearState": 2,
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"chassisRaedy":true,
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"collisionStatus":false,
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"clearance":0,
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"turnSignalStstus":0,
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"pointCloud":[]
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}
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]
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@ -9,7 +9,7 @@ ControllableVehicles* ControllableVehicles::instance_ = nullptr;
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ControllableVehicles& ControllableVehicles::getInstance() {
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if (instance_ == nullptr) {
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instance_ = new ControllableVehicles("config/vehicle_control.json");
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instance_ = new ControllableVehicles("config/unmanned_vehicles.json");
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}
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return *instance_;
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}
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