From 5f2c0e4d864e765b4a155676fe375b38bb64313b Mon Sep 17 00:00:00 2001
From: Tian jianyong <11429339@qq.com>
Date: Tue, 6 May 2025 13:27:19 +0800
Subject: [PATCH] =?UTF-8?q?=E5=A2=9E=E5=8A=A0=E7=BA=A2=E7=BB=BF=E7=81=AF?=
 =?UTF-8?q?=E7=9A=84=E4=B8=A4=E4=B8=AA=E6=96=B9=E5=90=91=E7=9A=84=E4=BF=A1?=
 =?UTF-8?q?=E5=8F=B7=E7=8A=B6=E6=80=81=E5=A4=84=E7=90=86=E5=92=8C=E5=89=8D?=
 =?UTF-8?q?=E7=AB=AF=E9=A1=B5=E9=9D=A2=E6=98=BE=E7=A4=BA?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 src/core/System.cpp                   | 140 +++++++-----
 src/core/System.h                     |   6 +-
 src/detector/TrafficLightDetector.cpp |   4 +-
 src/network/HTTPDataSource.cpp        |   4 +-
 src/types/TrafficLightTypes.h         |  10 +-
 tests/DataCollectorTest.cpp           |   7 +-
 tests/TrafficLightDetectorTest.cpp    |   3 +-
 tools/map_websocket.html              | 297 ++++++++++++++------------
 8 files changed, 256 insertions(+), 215 deletions(-)

diff --git a/src/core/System.cpp b/src/core/System.cpp
index d829865..89848a1 100644
--- a/src/core/System.cpp
+++ b/src/core/System.cpp
@@ -9,6 +9,8 @@
 #include "network/TrafficLightHttpServer.h"
 #include "config/SystemConfig.h"
 #include "types/TrafficLightTypes.h"
+#include "network/WebSocketServer.h"
+#include <nlohmann/json.hpp>
 
 System* System::instance_ = nullptr;
 
@@ -494,6 +496,16 @@ void System::broadcastPositionUpdate(const MovingObject& obj) {
         " timestamp=", msg.timestamp);
 }
 
+// 新增辅助函数：将 SignalStatus 转换为字符串
+std::string signalStatusToString(SignalStatus status) {
+    switch (status) {
+    case SignalStatus::RED:    return "RED";
+    case SignalStatus::GREEN:  return "GREEN";
+    case SignalStatus::YELLOW: return "YELLOW";
+    default:                 return "UNKNOWN";
+    }
+}
+
 void System::broadcastTrafficLightStatus(const TrafficLightSignal& signal) {
     if (!ws_server_) {
         return;
@@ -505,8 +517,13 @@ void System::broadcastTrafficLightStatus(const TrafficLightSignal& signal) {
     nlohmann::json j = {
         {"type", "traffic_light_status"},
         {"id", signal.trafficLightId},
-        {"status", static_cast<int>(signal.status)},
-        {"timestamp", signal.timestamp} };
+        // 修改: 将 status 改为一个包含 ns 和 ew 状态的对象
+        {"status", {
+            {"ns", signalStatusToString(signal.ns_status)},
+            {"ew", signalStatusToString(signal.ew_status)}
+        }},
+        {"timestamp", signal.timestamp}
+    };
 
     // 添加路口信息
     if (intersection) {
@@ -517,12 +534,13 @@ void System::broadcastTrafficLightStatus(const TrafficLightSignal& signal) {
     }
 
     ws_server_->broadcast(j.dump());
+
+    // 修改日志记录
     Logger::debug("广播红绿灯状态: id=", signal.trafficLightId,
-        " status=", static_cast<int>(signal.status),
-        " intersection=", intersection ? intersection->id : "",
-        " position=(", intersection ? intersection->position.longitude : 0.0, ",",
-        intersection ? intersection->position.latitude : 0.0, ")",
-        " timestamp=", signal.timestamp);
+        ", NS_Status=", signalStatusToString(signal.ns_status),
+        ", EW_Status=", signalStatusToString(signal.ew_status),
+        ", intersection=", intersection ? intersection->id : "",
+        ", timestamp=", signal.timestamp);
 }
 
 std::string getRiskLevelString(RiskLevel level) {
@@ -774,61 +792,65 @@ bool System::handleSafetyZoneRisk(const Vehicle& vehicle,
 }
 
 void System::processPushedTrafficLightData(const nlohmann::json& di_data) {
-    const auto& config = SystemConfig::instance();
-    const std::string target_id = config.simulated_mobile_light_target_intersection_id;
-
-    if (target_id.empty()) {
-        Logger::warning("Target intersection ID for pushed traffic light data is not configured.");
-        return;
-    }
-
-    // 使用配置的 ID 查找路口信息
-    const Intersection* intersection = intersection_config_.findById(target_id);
-    if (!intersection) {
-        Logger::warning("Configured target intersection ID ", target_id, " not found.");
-        return;
-    }
-
-    // 解析 DI 数据获取当前状态 (简化: 只处理南北向)
-    SignalStatus current_status = SignalStatus::UNKNOWN;
     try {
-        // DI-13: 北绿 (NS Green)
+        const auto& config = SystemConfig::instance();
+        const std::string targetIntersectionId = config.simulated_mobile_light_target_intersection_id;
+        const Intersection* targetIntersection = intersection_config_.findById(targetIntersectionId);
+
+        if (!targetIntersection) {
+            Logger::warning("Configured target intersection ID not found in intersection config: ", targetIntersectionId);
+            return;
+        }
+
+        SignalStatus ns_status = SignalStatus::UNKNOWN;
+        SignalStatus ew_status = SignalStatus::UNKNOWN;
+
         if (di_data.contains("DI-13") && di_data.at("DI-13").get<int>() == 1) {
-            current_status = SignalStatus::GREEN;
-        }
-        // DI-12: 北黄 (NS Yellow)
-        else if (di_data.contains("DI-12") && di_data.at("DI-12").get<int>() == 1) {
-            current_status = SignalStatus::YELLOW;
-        }
-        // DI-11: 北红 (NS Red)
-        else if (di_data.contains("DI-11") && di_data.at("DI-11").get<int>() == 1) {
-            current_status = SignalStatus::RED;
-        }
-        // 可以添加东西向 DI-14 (E/W Red), DI-15 (E/W Yellow), DI-16 (E/W Green) 的解析逻辑
-        else {
+            ns_status = SignalStatus::GREEN;
+        } else if (di_data.contains("DI-12") && di_data.at("DI-12").get<int>() == 1) {
+            ns_status = SignalStatus::YELLOW;
+        } else if (di_data.contains("DI-11") && di_data.at("DI-11").get<int>() == 1) {
+            ns_status = SignalStatus::RED;
+        } else {
             Logger::warning("Received DI data has unknown or invalid N/S state: ", di_data.dump());
-            // 可以选择不广播或广播 UNKNOWN
-            // return; // 如果状态无效则不广播
         }
-    } catch (const json::exception& e) {
-        Logger::error("Error parsing DI data JSON: ", e.what(), ", Data: ", di_data.dump());
-        return;
+
+        if (di_data.contains("DI-16") && di_data.at("DI-16").get<int>() == 1) {
+            ew_status = SignalStatus::GREEN;
+        } else if (di_data.contains("DI-15") && di_data.at("DI-15").get<int>() == 1) {
+            ew_status = SignalStatus::YELLOW;
+        } else if (di_data.contains("DI-14") && di_data.at("DI-14").get<int>() == 1) {
+            ew_status = SignalStatus::RED;
+        } else {
+            Logger::warning("Received DI data has unknown or invalid E/W state: ", di_data.dump());
+        }
+
+        TrafficLightSignal signal;
+        signal.trafficLightId = "DI_PUSHED_" + targetIntersectionId;
+        signal.ns_status = ns_status;
+        signal.ew_status = ew_status;
+        signal.timestamp = std::chrono::duration_cast<std::chrono::milliseconds>(
+            std::chrono::system_clock::now().time_since_epoch()).count();
+
+        if (ws_server_) {
+            nlohmann::json messageJson;
+            messageJson["type"] = "intersection_traffic_light_status";
+            messageJson["intersection_id"] = targetIntersection->id;
+            messageJson["position"] = {
+                {"latitude", targetIntersection->position.latitude},
+                {"longitude", targetIntersection->position.longitude}
+            };
+            messageJson["ns_status"] = static_cast<int>(signal.ns_status);
+            messageJson["ew_status"] = static_cast<int>(signal.ew_status);
+            messageJson["timestamp"] = signal.timestamp;
+
+            ws_server_->broadcast(messageJson.dump());
+            Logger::debug("广播路口交通灯状态: ", messageJson.dump());
+        } else {
+            Logger::warning("WebSocket server is not available, cannot broadcast intersection status.");
+        }
+
+    } catch (const std::exception& e) {
+        Logger::error("处理推送的交通信号灯数据时出错: ", e.what());
     }
-
-    // 创建 TrafficLightSignal 结构体
-    TrafficLightSignal signal;
-    signal.trafficLightId = intersection->trafficLightId; // 使用找到的路口的红绿灯 ID
-    signal.status = current_status;
-    signal.timestamp = std::chrono::duration_cast<std::chrono::milliseconds>(
-        std::chrono::system_clock::now().time_since_epoch())
-        .count();
-    signal.intersectionId = intersection->id;
-    signal.latitude = intersection->position.latitude;
-    signal.longitude = intersection->position.longitude;
-
-    Logger::debug("Processing pushed traffic light data for intersection: ", intersection->id,
-        ", status: ", static_cast<int>(signal.status));
-
-    // 广播信号状态
-    broadcastTrafficLightStatus(signal);
 }
\ No newline at end of file
diff --git a/src/core/System.h b/src/core/System.h
index 8eb417d..ff4ee52 100644
--- a/src/core/System.h
+++ b/src/core/System.h
@@ -16,6 +16,7 @@
 #include "network/MessageTypes.h"
 #include "config/IntersectionConfig.h"
 #include "network/TrafficLightHttpServer.h"
+#include <nlohmann/json_fwd.hpp>
 
 // 前向声明
 class DataCollector;
@@ -43,9 +44,12 @@ public:
     const SystemConfig& getSystemConfig() const { return SystemConfig::instance(); }
     const IntersectionConfig& getIntersectionConfig() const { return intersection_config_; }
     
-    // 新增: 处理推送的红绿灯数据
+    // 新增: 处理推送的红绿灯数据 (改回接收 json 对象)
     void processPushedTrafficLightData(const nlohmann::json& di_data);
     
+    // 处理来自数据源的交通信号灯状态
+    void processTrafficLightStatus(const TrafficLightSignal& signal);
+    
 private:
     void processLoop();
     void processCollisions(const std::vector<CollisionRisk>& detectedRisks,
diff --git a/src/detector/TrafficLightDetector.cpp b/src/detector/TrafficLightDetector.cpp
index b6ff766..84e4f5a 100644
--- a/src/detector/TrafficLightDetector.cpp
+++ b/src/detector/TrafficLightDetector.cpp
@@ -27,7 +27,9 @@ void TrafficLightDetector::processSignal(const TrafficLightSignal& signal,
     for (const auto& vehicle : vehicles) {
         if (controllable_vehicles_.isControllable(vehicle.vehicleNo)) {
             // 根据信号灯状态发送指令
-            switch (signal.status) {
+            // FIXME: 临时修改 - 仅根据南北向状态发送指令，未考虑车辆方向和东西向状态。
+            // 需要根据车辆行驶方向判断应该参考 ns_status 还是 ew_status。
+            switch (signal.ns_status) {
             case SignalStatus::RED:
                 sendSignalCommand(vehicle.vehicleNo, SignalState::RED);
                 break;
diff --git a/src/network/HTTPDataSource.cpp b/src/network/HTTPDataSource.cpp
index 7582369..0f16b47 100644
--- a/src/network/HTTPDataSource.cpp
+++ b/src/network/HTTPDataSource.cpp
@@ -582,8 +582,8 @@ bool HTTPDataSource::parseTrafficLightResponse(const std::string& response, std:
         for (const auto& item : data) {
             TrafficLightSignal signal;
             signal.trafficLightId = item["id"].get<std::string>();
-            signal.status = [&]() {
-                int state = item["state"].get<int>();
+            signal.ns_status = [&]() {
+                int state = item["ns_status"].get<int>();
                 switch (state) {
                 case 0: return SignalStatus::RED;
                 case 1: return SignalStatus::GREEN;
diff --git a/src/types/TrafficLightTypes.h b/src/types/TrafficLightTypes.h
index 3c89fff..249c26c 100644
--- a/src/types/TrafficLightTypes.h
+++ b/src/types/TrafficLightTypes.h
@@ -12,16 +12,10 @@ enum class SignalStatus {
 
 struct TrafficLightSignal {
     std::string trafficLightId;  // 红绿灯设备 ID
-    SignalStatus status;         // 信号灯状态
+    SignalStatus ns_status = SignalStatus::UNKNOWN; // 南北向状态
+    SignalStatus ew_status = SignalStatus::UNKNOWN; // 东西向状态
     uint64_t timestamp;         // 时间戳
     std::string intersectionId; // 路口编号
     double latitude;           // 路口纬度
     double longitude;         // 路口经度
-    
-    static SignalStatus parseStatus(const std::string& status) {
-        if (status == "red") return SignalStatus::RED;
-        if (status == "green") return SignalStatus::GREEN;
-        if (status == "yellow") return SignalStatus::YELLOW;
-        return SignalStatus::UNKNOWN;
-    }
 }; 
\ No newline at end of file
diff --git a/tests/DataCollectorTest.cpp b/tests/DataCollectorTest.cpp
index 7529aea..2337aec 100644
--- a/tests/DataCollectorTest.cpp
+++ b/tests/DataCollectorTest.cpp
@@ -118,7 +118,8 @@ protected:
     TrafficLightSignal createTestTrafficLight(const std::string& id, int state) {
         TrafficLightSignal signal;
         signal.trafficLightId = id;
-        signal.status = static_cast<SignalStatus>(state);
+        signal.ns_status = static_cast<SignalStatus>(state);
+        signal.ew_status = static_cast<SignalStatus>(state);
         signal.timestamp = std::chrono::duration_cast<std::chrono::milliseconds>(
             std::chrono::system_clock::now().time_since_epoch()).count();
         return signal;
@@ -379,9 +380,9 @@ TEST_F(DataCollectorTest, TrafficLightSignalsTest) {
     EXPECT_EQ(signals.size(), 3);
     if (signals.size() >= 3) {
         EXPECT_EQ(signals[0].trafficLightId, "TL001");
-        EXPECT_EQ(signals[0].status, SignalStatus::RED);    // RED = 0
+        EXPECT_EQ(signals[0].ns_status, SignalStatus::RED);    // RED = 0
         EXPECT_EQ(signals[1].trafficLightId, "TL002");
-        EXPECT_EQ(signals[1].status, SignalStatus::GREEN);  // GREEN = 1
+        EXPECT_EQ(signals[1].ns_status, SignalStatus::GREEN);  // GREEN = 1
     }
     
     // 停止数据采集
diff --git a/tests/TrafficLightDetectorTest.cpp b/tests/TrafficLightDetectorTest.cpp
index dae325c..7a6561b 100644
--- a/tests/TrafficLightDetectorTest.cpp
+++ b/tests/TrafficLightDetectorTest.cpp
@@ -76,7 +76,8 @@ protected:
     TrafficLightSignal createTestSignal(const std::string& id, SignalStatus status) {
         TrafficLightSignal signal;
         signal.trafficLightId = id;
-        signal.status = status;
+        signal.ns_status = status;
+        signal.ew_status = status;
         signal.timestamp = std::chrono::system_clock::now().time_since_epoch().count();
         return signal;
     }
diff --git a/tools/map_websocket.html b/tools/map_websocket.html
index 377cc6e..3a2dbba 100644
--- a/tools/map_websocket.html
+++ b/tools/map_websocket.html
@@ -1,8 +1,9 @@
 <!DOCTYPE html>
 <html>
+
 <head>
     <title>机场车辆监控</title>
-    <link rel="stylesheet" href="https://unpkg.com/leaflet@1.9.4/dist/leaflet.css"/>
+    <link rel="stylesheet" href="https://unpkg.com/leaflet@1.9.4/dist/leaflet.css" />
     <script src="https://unpkg.com/leaflet@1.9.4/dist/leaflet.js"></script>
     <script src="https://unpkg.com/leaflet-rotatedmarker/leaflet.rotatedMarker.js"></script>
     <style>
@@ -11,15 +12,18 @@
             padding: 20px;
             font-family: Arial, sans-serif;
         }
+
         .container {
             display: flex;
             gap: 20px;
         }
+
         #map {
             height: 800px;
             width: 60%;
             border: 1px solid #ccc;
         }
+
         #messages {
             width: 40%;
             height: 800px;
@@ -28,15 +32,35 @@
             padding: 10px;
             font-family: monospace;
         }
+
         .controls {
             margin-top: 10px;
         }
-        .error { color: red; }
-        .success { color: green; }
-        .info { color: blue; }
-        .position { color: #666; }
-        .warning { color: #f90; }
-        .command { color: #800080; }
+
+        .error {
+            color: red;
+        }
+
+        .success {
+            color: green;
+        }
+
+        .info {
+            color: blue;
+        }
+
+        .position {
+            color: #666;
+        }
+
+        .warning {
+            color: #f90;
+        }
+
+        .command {
+            color: #800080;
+        }
+
         .vehicle-icon {
             width: 20px;
             height: 20px;
@@ -44,6 +68,7 @@
             clip-path: polygon(0% 0%, 100% 0%, 100% 100%, 0% 100%);
             border: 2px solid white;
         }
+
         .aircraft-icon {
             width: 50px;
             height: 50px;
@@ -52,6 +77,7 @@
             border: 2px solid white;
             position: relative;
         }
+
         .aircraft-icon::after {
             content: '';
             position: absolute;
@@ -63,6 +89,7 @@
             left: 50%;
             transform: translate(-50%, -50%);
         }
+
         .special-vehicle-icon {
             width: 20px;
             height: 20px;
@@ -70,6 +97,7 @@
             clip-path: polygon(0% 0%, 100% 0%, 100% 100%, 0% 100%);
             border: 2px solid white;
         }
+
         .intersection-icon {
             width: 30px;
             height: 30px;
@@ -77,6 +105,7 @@
             clip-path: polygon(40% 0%, 60% 0%, 60% 40%, 100% 40%, 100% 60%, 60% 60%, 60% 100%, 40% 100%, 40% 60%, 0% 60%, 0% 40%, 40% 40%);
             border: 2px solid white;
         }
+
         .traffic-light {
             width: 12px;
             height: 12px;
@@ -84,15 +113,19 @@
             border: 2px solid white;
             z-index: 1000;
         }
+
         .traffic-light-red {
             background-color: red;
         }
+
         .traffic-light-green {
             background-color: green;
         }
+
         .traffic-light-yellow {
             background-color: yellow;
         }
+
         .countdown-label {
             background: #000;
             border: 1px solid #666;
@@ -105,21 +138,25 @@
             padding: 1px 2px;
             line-height: 14px;
             min-width: 28px;
-            box-shadow: 0 0 2px rgba(0,0,0,0.5);
+            box-shadow: 0 0 2px rgba(0, 0, 0, 0.5);
             display: flex;
             align-items: center;
             justify-content: center;
             height: 14px;
         }
+
         .countdown-red {
             color: #ff3333;
         }
+
         .countdown-green {
             color: #33ff33;
         }
+
         .countdown-yellow {
             color: #ffff33;
         }
+
         .distance-label {
             background: none;
             border: none;
@@ -128,6 +165,7 @@
             text-align: center;
             white-space: nowrap;
         }
+
         .command-text {
             position: absolute;
             top: 0;
@@ -143,23 +181,28 @@
             pointer-events: none;
             z-index: 1000;
         }
+
         .safety-border {
             width: 100%;
             height: 100%;
             border: 2px solid;
             background: none;
         }
+
         .emergency-border {
             border-color: rgba(255, 0, 0, 0.8);
         }
+
         .core-border {
             border-color: rgba(255, 165, 0, 0.6);
         }
+
         .warning-border {
             border-color: rgba(255, 255, 0, 0.4);
         }
     </style>
 </head>
+
 <body>
     <h2>机场车辆监控系统</h2>
     <div class="container">
@@ -175,7 +218,7 @@
     <script>
         let ws = null;
         const messagesDiv = document.getElementById('messages');
-        
+
         // 初始化地图
         const map = L.map('map').setView([36.35305878, 120.08558121], 17);
         L.tileLayer('https://{s}.tile.openstreetmap.org/{z}/{x}/{y}.png', {
@@ -231,7 +274,7 @@
 
         // 存储所有标记
         const markers = new Map();
-        const trafficLights = new Map();
+        const intersectionMarkers = new Map();
         const intersections = new Map();
 
         // 创建自定义图标
@@ -246,7 +289,7 @@
             } else {
                 size = [20, 20];  // 其他图标保持原样
             }
-            
+
             // 如果有指令，创建带指令的图标
             if (command && className === 'vehicle-icon') {
                 const html = `
@@ -258,15 +301,15 @@
                     html: html,
                     className: '',
                     iconSize: size,
-                    iconAnchor: [size[0]/2, size[1]/2]
+                    iconAnchor: [size[0] / 2, size[1] / 2]
                 });
             }
-            
+
             // 没有指令时，创建普通图标
             return L.divIcon({
                 className: className,
                 iconSize: size,
-                iconAnchor: [size[0]/2, size[1]/2]
+                iconAnchor: [size[0] / 2, size[1] / 2]
             });
         }
 
@@ -287,29 +330,29 @@
             const id = data.object_id;
             const position = [data.position.latitude, data.position.longitude];
             let iconClass;
-            
+
             // 根据ID前缀确定图标类型
             if (data.object_type === 'aircraft') {
                 iconClass = 'aircraft-icon';
-                
+
                 // 创建或更新安全边框
                 const borders = [
-                    {size: 250, class: 'warning-border'},  // 外围预警区
-                    {size: 150, class: 'core-border'},      // 核心安全区
-                    {size: 100, class: 'emergency-border'}  // 紧急制动区
+                    { size: 250, class: 'warning-border' },  // 外围预警区
+                    { size: 150, class: 'core-border' },      // 核心安全区
+                    { size: 100, class: 'emergency-border' }  // 紧急制动区
                 ];
-                
+
                 borders.forEach(border => {
                     const borderId = id + '_' + border.class;
                     let borderMarker = markers.get(borderId);
-                    
+
                     if (!borderMarker) {
                         // 创建边框标记
                         borderMarker = L.marker(position, {
                             icon: L.divIcon({
                                 className: 'safety-border ' + border.class,
                                 iconSize: [border.size, border.size],
-                                iconAnchor: [border.size/2, border.size/2]
+                                iconAnchor: [border.size / 2, border.size / 2]
                             }),
                             rotationAngle: data.heading || 0,
                             rotationOrigin: 'center center'
@@ -349,90 +392,52 @@
         }
 
         // 添加红绿灯状态和倒计时变量
-        let lastTrafficLightState = null;
-        let countdownInterval = null;
-        let countdown = 10;  // 10秒倒计时
+        // let lastTrafficLightState = null;
+        // let countdownInterval = null;
+        // let countdown = 10;
 
-        function updateTrafficLight(data) {
-            const id = data.id;
+        // New function to update intersection traffic lights
+        function updateIntersectionTrafficLights(data) {
+            const intersectionId = data.intersection_id;
             const position = [data.position.latitude, data.position.longitude];
-            const state = data.status === 0 ? 'red' : data.status === 1 ? 'green' : 'yellow';
+            const nsStatus = data.ns_status; // 0: red, 1: green, 2: yellow
+            const ewStatus = data.ew_status; // 0: red, 1: green, 2: yellow
 
-            // 检查是否是西路口（TL001）的红绿灯状态变化
-            if (id === 'TL001' && lastTrafficLightState !== state) {
-                lastTrafficLightState = state;
-                // 重置倒计时
-                countdown = 10;
-                // 清除现有的倒计时
-                if (countdownInterval) {
-                    clearInterval(countdownInterval);
-                }
-                // 启动新的倒计时
-                countdownInterval = setInterval(() => {
-                    countdown = Math.max(0, countdown - 1);
-                    // 更新红绿灯标签显示
-                    const light = trafficLights.get(id);
-                    if (light) {
-                        // 格式化倒计时为 0:SS 格式
-                        const countdownStr = `0:${countdown.toString().padStart(2, '0')}`;
-                        const label = L.divIcon({
-                            className: `countdown-label countdown-${state}`,
-                            html: countdownStr,
-                            iconSize: [32, 16],
-                            iconAnchor: [16, 30]
-                        });
-                        // 更新或创建倒计时标签
-                        if (!light.countdownMarker) {
-                            light.countdownMarker = L.marker(position, {
-                                icon: label,
-                                interactive: false
-                            }).addTo(map);
-                        } else {
-                            light.countdownMarker.setIcon(label);
-                        }
-                    }
-                }, 1000);
-            }
+            const nsColor = nsStatus === 0 ? 'red' : nsStatus === 1 ? 'green' : 'yellow';
+            const ewColor = ewStatus === 0 ? 'red' : ewStatus === 1 ? 'green' : 'yellow';
 
-            let light = trafficLights.get(id);
-            if (!light) {
-                light = L.marker(position, {
-                    icon: createIcon(`traffic-light traffic-light-${state}`)
-                }).addTo(map);
-                // 为西路口添加倒计时显示
-                if (id === 'TL001') {
-                    const countdownStr = `0:${countdown.toString().padStart(2, '0')}`;
-                    const label = L.divIcon({
-                        className: `countdown-label countdown-${state}`,
-                        html: countdownStr,
-                        iconSize: [32, 16],
-                        iconAnchor: [16, 30]
-                    });
-                    light.countdownMarker = L.marker(position, {
-                        icon: label,
-                        interactive: false
-                    }).addTo(map);
-                }
-                trafficLights.set(id, light);
+            // Calculate offset positions for NS and EW lights
+            const nsPositionOffset = [position[0] + 0.00003, position[1]]; // Slightly north
+            const ewPositionOffset = [position[0], position[1] + 0.00003]; // Slightly east
+
+            let currentMarkers = intersectionMarkers.get(intersectionId);
+            if (!currentMarkers) {
+                // Create new marker group
+                currentMarkers = {};
+                currentMarkers.nsMarker = L.marker(nsPositionOffset, {
+                    icon: createIcon(`traffic-light traffic-light-${nsColor}`),
+                    pane: 'markerPane' // Ensure lights are above roads
+                }).addTo(map).bindTooltip(`Intersection ${intersectionId} (NS)`);
+
+                currentMarkers.ewMarker = L.marker(ewPositionOffset, {
+                    icon: createIcon(`traffic-light traffic-light-${ewColor}`),
+                    pane: 'markerPane'
+                }).addTo(map).bindTooltip(`Intersection ${intersectionId} (EW)`);
+
+                intersectionMarkers.set(intersectionId, currentMarkers);
             } else {
-                light.setIcon(createIcon(`traffic-light traffic-light-${state}`));
-                // 更新西路口的倒计时显示
-                if (id === 'TL001' && light.countdownMarker) {
-                    const countdownStr = `0:${countdown.toString().padStart(2, '0')}`;
-                    const label = L.divIcon({
-                        className: `countdown-label countdown-${state}`,
-                        html: countdownStr,
-                        iconSize: [32, 16],
-                        iconAnchor: [16, 30]
-                    });
-                    light.countdownMarker.setIcon(label);
-                }
+                // Update existing markers
+                currentMarkers.nsMarker.setLatLng(nsPositionOffset);
+                currentMarkers.nsMarker.setIcon(createIcon(`traffic-light traffic-light-${nsColor}`));
+
+                currentMarkers.ewMarker.setLatLng(ewPositionOffset);
+                currentMarkers.ewMarker.setIcon(createIcon(`traffic-light traffic-light-${ewColor}`));
             }
         }
 
         function updateVehicleCommand(vehicleId, commandType) {
             console.log('更新车辆指令:', vehicleId, commandType);
-            
+
             // 只处理无人车
             if (!vehicleId.startsWith('QN')) {
                 return;
@@ -446,7 +451,7 @@
 
             // 获取指令字母
             let commandText = '';
-            switch(commandType) {
+            switch (commandType) {
                 case 'ALERT':
                     commandText = 'A';
                     break;
@@ -501,23 +506,26 @@
                         if (data.type === 'heartbeat') {
                             return;
                         }
-                        
+
                         let type = 'info';  // 默认类型
                         let message = '';
-                        
+
                         switch (data.type) {
                             case 'position_update':
                                 type = 'position';
                                 updatePosition(data);
                                 message = `位置更新: ${data.object_id} (${data.object_type})\n` +
-                                         `位置: (${data.position.longitude.toFixed(6)}, ${data.position.latitude.toFixed(6)})\n` +
-                                         `航向: ${data.heading !== undefined ? data.heading.toFixed(2) + '°' : 'N/A'}\n` +
-                                         `速度: ${data.speed !== undefined ? data.speed.toFixed(2) + ' m/s' : 'N/A'}`;
+                                    `位置: (${data.position.longitude.toFixed(6)}, ${data.position.latitude.toFixed(6)})\n` +
+                                    `航向: ${data.heading !== undefined ? data.heading.toFixed(2) + '°' : 'N/A'}\n` +
+                                    `速度: ${data.speed !== undefined ? data.speed.toFixed(2) + ' m/s' : 'N/A'}`;
                                 break;
-                            case 'traffic_light_status':
+                            case 'intersection_traffic_light_status':
                                 type = 'info';
-                                updateTrafficLight(data);
-                                message = `红绿灯状态更新:\n信号灯: ${data.id}\n状态: ${data.status === 0 ? '红灯' : data.status === 1 ? '绿灯' : '黄灯'}`;
+                                updateIntersectionTrafficLights(data);
+                                message = `路口交通灯状态更新:\n` +
+                                    `路口 ID: ${data.intersection_id}\n` +
+                                    `南北状态: ${data.ns_status === 0 ? '红' : data.ns_status === 1 ? '绿' : '黄'}\n` +
+                                    `东西状态: ${data.ew_status === 0 ? '红' : data.ew_status === 1 ? '绿' : '黄'}`;
                                 break;
                             case 'collision_warning':
                                 type = 'warning';
@@ -544,17 +552,17 @@
                                     'PARKING_SIDE': '安全停靠'
                                 };
                                 message = `收到车辆控制指令:\n车辆: ${data.vehicleId}\n` +
-                                        `指令类型: ${commandTypes[data.commandType] || data.commandType}\n` +
-                                        `原因: ${reasons[data.reason] || data.reason}\n` +
-                                        (data.targetLatitude !== undefined ? `目标位置: (${data.targetLatitude}, ${data.targetLongitude})\n` : '') +
-                                        (data.signalState ? `信号灯状态: ${data.signalState}\n` : '') +
-                                        (data.intersectionId ? `路口ID: ${data.intersectionId}\n` : '') +
-                                        `时间戳: ${new Date(data.timestamp/1000000).toLocaleString()}`;
+                                    `指令类型: ${commandTypes[data.commandType] || data.commandType}\n` +
+                                    `原因: ${reasons[data.reason] || data.reason}\n` +
+                                    (data.targetLatitude !== undefined ? `目标位置: (${data.targetLatitude}, ${data.targetLongitude})\n` : '') +
+                                    (data.signalState ? `信号灯状态: ${data.signalState}\n` : '') +
+                                    (data.intersectionId ? `路口ID: ${data.intersectionId}\n` : '') +
+                                    `时间戳: ${new Date(data.timestamp / 1000000).toLocaleString()}`;
                                 break;
                             default:
                                 message = '收到未知类型消息:\n' + JSON.stringify(data, null, 2);
                         }
-                        
+
                         log(message, type);
                     } catch (e) {
                         log('消息解析错误: ' + e.message, 'error');
@@ -572,32 +580,40 @@
             }
 
             // 清除倒计时
-            if (countdownInterval) {
-                clearInterval(countdownInterval);
-                countdownInterval = null;
-            }
-            lastTrafficLightState = null;
-            countdown = 10;
+            // if (countdownInterval) {
+            //     clearInterval(countdownInterval);
+            //     countdownInterval = null;
+            // }
+            // lastTrafficLightState = null;
+            // countdown = 10;
 
             // 清除倒计时标记
-            trafficLights.forEach(light => {
-                if (light.countdownMarker) {
-                    map.removeLayer(light.countdownMarker);
-                    light.countdownMarker = null;
-                }
-            });
+            // trafficLights.forEach(light => {
+            //     if (light.countdownMarker) {
+            //         map.removeLayer(light.countdownMarker);
+            //         light.countdownMarker = null;
+            //     }
+            // });
 
             ws.close();
             ws = null;
-            
-            // 清除所有标记（包括边框标记）
+
+            // 清除所有车辆和安全边框标记
             markers.forEach((marker, key) => {
                 map.removeLayer(marker);
             });
             markers.clear();
-            
-            trafficLights.forEach(light => map.removeLayer(light));
-            trafficLights.clear();
+
+            // 清除旧的红绿灯标记
+            // trafficLights.forEach(light => map.removeLayer(light));
+            // trafficLights.clear();
+
+            // 清除路口红绿灯标记
+            intersectionMarkers.forEach((markers, id) => {
+                if (markers.nsMarker) map.removeLayer(markers.nsMarker);
+                if (markers.ewMarker) map.removeLayer(markers.ewMarker);
+            });
+            intersectionMarkers.clear();
         }
 
         // 添加道路刻度标记函数
@@ -607,26 +623,26 @@
             const lon1 = startPoint[1];
             const lat2 = endPoint[0];
             const lon2 = endPoint[1];
-            
+
             // 计算道路角度（考虑经纬度投影）
             const latMid = (lat1 + lat2) / 2;  // 使用中点纬度来算经度缩放
             const lonScale = Math.cos(latMid * Math.PI / 180);  // 经度缩放因子
             const dx = (lon2 - lon1) * lonScale;
             const dy = lat2 - lat1;
             const angle = Math.atan2(dy, dx);
-            
+
             // 计算垂直于道路的方向（只在右侧显示刻度）
             const perpAngle = angle + Math.PI / 2;
             const markLength = 0.00005;  // 保持您设置的较短刻度线长度
             const offset = 0.00004;  // 向右偏移一点，避免与道路重叠
-            
+
             // 计算总距离
             const dist = Math.sqrt(dx * dx + dy * dy);
-            
+
             // 每50米一个刻度
             const step = 0.0005;  // 约50米
             const steps = Math.floor(dist / step);
-            
+
             for (let i = 0; i <= steps; i++) {
                 // 计算刻度位置
                 const ratio = i / steps;
@@ -635,25 +651,25 @@
                     lat1 + dy * ratio,
                     lon1 + (dx / lonScale) * ratio
                 ];
-                
+
                 // 计算垂直偏移（考虑经纬度投影）
                 const offsetPos = [
                     pos[0] + Math.sin(perpAngle) * offset,
                     pos[1] + Math.cos(perpAngle) * offset / lonScale
                 ];
-                
+
                 // 计算刻度线终点（考虑经纬度投影）
                 const markEnd = [
                     offsetPos[0] + Math.sin(perpAngle) * markLength,
                     offsetPos[1] + Math.cos(perpAngle) * markLength / lonScale
                 ];
-                
+
                 // 添加刻度线
                 L.polyline([offsetPos, markEnd], {
                     color: '#666',
                     weight: 1.5
                 }).addTo(map);
-                
+
                 // 添加距离标签
                 const distance = Math.round(i * 50);
                 if (distance > 0) {
@@ -663,7 +679,7 @@
                         iconSize: [40, 20],
                         iconAnchor: [-5, 10]
                     });
-                    
+
                     L.marker(markEnd, {
                         icon: label,
                         interactive: false
@@ -720,4 +736,5 @@
         );
     </script>
 </body>
-</html> 
\ No newline at end of file
+
+</html>
\ No newline at end of file