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红绿灯信号，增加了黄灯

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This commit is contained in:
Tian jianyong 2025-01-14 11:21:52 +08:00
parent 6ac931e802
commit 61b50c3bc0
5 changed files with 23 additions and 50 deletions
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2
docs/official_api.md
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@ -74,7 +74,7 @@
| vehicleID | string | 是 | 车辆 ID |
| commandType | string | 是 | 指令类型：ALERT：告警指令，SIGNAL：信号灯指令，WARNING：预警指令，RESUME：恢复指令 |
| commandReason | string | 是 | 指令原因：TRAFFIC_LIGHT：红绿灯控制，AIRCRAFT_CROSSING：航空器交叉，SPECIAL_VEHICLE：特勤车辆，AIRCRAFT_PUSH：航空器推出，RESUME_TRAFFIC：恢复通行 |
| signalState | string | 否 | 信号灯状态（仅当 commandType 为 SIGNAL 时有效）RED：红灯，GREEN：绿灯 |
| signalState | string | 否 | 信号灯状态（仅当 commandType 为 SIGNAL 时有效）RED：红灯，GREEN：绿灯，YELLOW：黄灯 |
| intersectionId | string | 否 | 路口 ID（仅当 commandType 为 SIGNAL 时有效） |
| latitude | double | 是 | 目标位置纬度（路口/航空器/特勤车） |
| longitude | double | 是 | 目标位置经度（路口/航空器/特勤车） |

37
src/detector/TrafficLightDetector.cpp
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@ -30,10 +30,13 @@ void TrafficLightDetector::processSignal(const TrafficLightSignal& signal,
// 根据信号灯状态发送指令
switch (signal.status) {
case SignalStatus::RED:
sendStopCommand(vehicle.vehicleNo);
sendSignalCommand(vehicle.vehicleNo, SignalState::RED);
break;
case SignalStatus::GREEN:
sendContinueCommand(vehicle.vehicleNo);
sendSignalCommand(vehicle.vehicleNo, SignalState::GREEN);
break;
case SignalStatus::YELLOW:
sendSignalCommand(vehicle.vehicleNo, SignalState::YELLOW);
break;
default:
Logger::warning("未知的信号灯状态");
@ -43,12 +46,12 @@ void TrafficLightDetector::processSignal(const TrafficLightSignal& signal,
}
}
void TrafficLightDetector::sendStopCommand(const std::string& vehicleNo) {
void TrafficLightDetector::sendSignalCommand(const std::string& vehicleNo, SignalState state) {
VehicleCommand cmd;
cmd.vehicleId = vehicleNo;
cmd.type = CommandType::SIGNAL;
cmd.reason = CommandReason::TRAFFIC_LIGHT;
cmd.signalState = SignalState::RED;
cmd.signalState = state;
cmd.timestamp = std::chrono::duration_cast<std::chrono::milliseconds>(
std::chrono::system_clock::now().time_since_epoch()).count();
@ -62,27 +65,7 @@ void TrafficLightDetector::sendStopCommand(const std::string& vehicleNo) {
controllable_vehicles_.sendCommand(vehicleNo, cmd);
system_.broadcastVehicleCommand(cmd);
Logger::debug("发送停止指令到车辆: ", vehicleNo, " 路口: ", cmd.intersectionId);
}
void TrafficLightDetector::sendContinueCommand(const std::string& vehicleNo) {
VehicleCommand cmd;
cmd.vehicleId = vehicleNo;
cmd.type = CommandType::SIGNAL;
cmd.reason = CommandReason::TRAFFIC_LIGHT;
cmd.signalState = SignalState::GREEN;
cmd.timestamp = std::chrono::duration_cast<std::chrono::milliseconds>(
std::chrono::system_clock::now().time_since_epoch()).count();
// 添加路口信息
const Intersection* intersection = intersection_config_.findByTrafficLightId(current_signal_.trafficLightId);
if (intersection) {
cmd.intersectionId = intersection->id;
cmd.latitude = intersection->position.latitude;
cmd.longitude = intersection->position.longitude;
}
controllable_vehicles_.sendCommand(vehicleNo, cmd);
system_.broadcastVehicleCommand(cmd);
Logger::debug("发送继续指令到车辆: ", vehicleNo, " 路口: ", cmd.intersectionId);
Logger::debug("发送信号灯指令到车辆: ", vehicleNo,
" 路口: ", cmd.intersectionId,
" 状态: ", state == SignalState::RED ? "红灯" : state == SignalState::GREEN ? "绿灯" : "黄灯");
}

29
src/detector/TrafficLightDetector.h
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@ -1,13 +1,10 @@
#pragma once
#include <memory>
#include "types/TrafficLightTypes.h"
#include "types/VehicleCommand.h"
#include "config/IntersectionConfig.h"
#include "vehicle/ControllableVehicles.h"
#include <optional>
#include "types/TrafficLightTypes.h"
#include <vector>
// 前向声明
class System;
class TrafficLightDetector {
@ -16,25 +13,15 @@ public:
const ControllableVehicles& controllableVehicles,
System& system);
// 处理红绿灯信号
void processSignal(const TrafficLightSignal& signal, const std::vector<Vehicle>& vehicles);
void processSignal(const TrafficLightSignal& signal,
const std::vector<Vehicle>& vehicles);
private:
// 发送车辆控制指令
void sendStopCommand(const std::string& vehicleId);
void sendContinueCommand(const std::string& vehicleId);
// 获取当前车辆的指令状态
std::optional<VehicleCommand> getCurrentCommand(const std::string& vehicleId) const;
// 检查是否可以发送绿灯继续指令
bool canSendContinueCommand(const std::string& vehicleId) const;
// 获取指令的优先级
static int getCommandPriority(const VehicleCommand& cmd);
const IntersectionConfig& intersection_config_;
const ControllableVehicles& controllable_vehicles_;
System& system_;
TrafficLightSignal current_signal_; // 当前处理的信号
TrafficLightSignal current_signal_;
// 发送信号灯指令
void sendSignalCommand(const std::string& vehicleNo, SignalState state);
};

2
src/types/TrafficLightTypes.h
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@ -6,6 +6,7 @@
enum class SignalStatus {
RED,
GREEN,
YELLOW,
UNKNOWN
};
@ -20,6 +21,7 @@ struct TrafficLightSignal {
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;
}
};

3
src/types/VehicleCommand.h
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@ -15,7 +15,8 @@ enum class CommandType {
// 信号灯状态
enum class SignalState {
RED, // 红灯
GREEN // 绿灯
GREEN, // 绿灯
YELLOW // 黄灯
};
// 指令原因