From 6676a48c4b61f6faae23136356de260897fdfe0c Mon Sep 17 00:00:00 2001 From: Tian jianyong <11429339@qq.com> Date: Fri, 20 Dec 2024 14:30:08 +0800 Subject: [PATCH] =?UTF-8?q?=E5=A2=9E=E5=BC=BA=E5=85=BC=E5=AE=B9=E6=80=A7?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- src/config/SystemConfig.cpp | 4 +- src/config/SystemConfig.h | 72 ++++++++++++++++++++++++++---- src/detector/CollisionDetector.cpp | 6 ++- src/detector/CollisionDetector.h | 8 ++-- src/detector/CollisionTypes.h | 1 + 5 files changed, 75 insertions(+), 16 deletions(-) diff --git a/src/config/SystemConfig.cpp b/src/config/SystemConfig.cpp index 11762c6..1f83b91 100644 --- a/src/config/SystemConfig.cpp +++ b/src/config/SystemConfig.cpp @@ -18,7 +18,7 @@ void SystemConfig::load(const std::string& filename) { airport.icao = j["airport"]["icao"]; airport.reference_point.latitude = j["airport"]["reference_point"]["latitude"]; airport.reference_point.longitude = j["airport"]["reference_point"]["longitude"]; - airport.coordinate_points = j["airport"]["coordinate_points"].get>(); + airport.coordinate_points = j["airport"]["coordinate_points"].get>(); // 加载数据源配置 data_source.host = j["data_source"]["host"]; @@ -40,7 +40,7 @@ void SystemConfig::load(const std::string& filename) { // 加载碰撞检测配置 collision_detection.update_interval_ms = j["collision_detection"]["update_interval_ms"]; - // 加载碰撞预测配置 + // 加���碰撞预测配置 collision_detection.prediction.time_window = j["collision_detection"]["prediction"]["time_window"]; collision_detection.prediction.vehicle_size = j["collision_detection"]["prediction"]["vehicle_size"]; collision_detection.prediction.aircraft_size = j["collision_detection"]["prediction"]["aircraft_size"]; diff --git a/src/config/SystemConfig.h b/src/config/SystemConfig.h index 7e504ad..97d7419 100644 --- a/src/config/SystemConfig.h +++ b/src/config/SystemConfig.h @@ -5,6 +5,13 @@ class System; // 前向声明 +// 前向声明所有需要序列化的结构体 +struct CoordinatePoint { + std::string point; + double latitude; + double longitude; +}; + class SystemConfig { public: // 获取单例实例 @@ -24,18 +31,12 @@ public: std::string name; std::string iata; std::string icao; - struct { + struct ReferencePoint { double latitude; double longitude; } reference_point; - // 定义坐标点结构体 - struct CoordinatePoint { - std::string point; - double latitude; - double longitude; - }; - + // 使用前向声明的坐标点结构体 std::vector coordinate_points; } airport; @@ -96,4 +97,57 @@ private: }; // JSON 序列化支持 -NLOHMANN_DEFINE_TYPE_NON_INTRUSIVE(SystemConfig::Airport::CoordinatePoint, point, latitude, longitude) \ No newline at end of file +NLOHMANN_DEFINE_TYPE_NON_INTRUSIVE(CoordinatePoint, point, latitude, longitude); +NLOHMANN_DEFINE_TYPE_NON_INTRUSIVE(SystemConfig::Airport::ReferencePoint, latitude, longitude); + +NLOHMANN_DEFINE_TYPE_NON_INTRUSIVE( + SystemConfig::Airport, + name, iata, icao, reference_point, coordinate_points +); + +NLOHMANN_DEFINE_TYPE_NON_INTRUSIVE( + SystemConfig::DataSource, + host, port, aircraft_path, vehicle_path, traffic_light_path, + refresh_interval_ms, timeout_ms, read_timeout_ms +); + +NLOHMANN_DEFINE_TYPE_NON_INTRUSIVE( + SystemConfig::WebSocket::PositionUpdate, + aircraft_interval_ms, vehicle_interval_ms, traffic_light_interval_ms +); + +NLOHMANN_DEFINE_TYPE_NON_INTRUSIVE( + SystemConfig::WebSocket, + port, max_connections, ping_interval_ms, position_update +); + +NLOHMANN_DEFINE_TYPE_NON_INTRUSIVE( + SystemConfig::CollisionDetection::Prediction, + time_window, vehicle_size, aircraft_size, min_unmanned_speed +); + +NLOHMANN_DEFINE_TYPE_NON_INTRUSIVE( + SystemConfig::CollisionDetection, + update_interval_ms, prediction +); + +NLOHMANN_DEFINE_TYPE_NON_INTRUSIVE( + SystemConfig::Logging, + level, file, max_size_mb, max_files, console_output +); + +NLOHMANN_DEFINE_TYPE_NON_INTRUSIVE( + SystemConfig::Debug, + enable_mock_data, save_raw_data, profile_performance +); + +NLOHMANN_DEFINE_TYPE_NON_INTRUSIVE( + SystemConfig::Warning, + warning_interval_ms, log_interval_ms +); + +NLOHMANN_DEFINE_TYPE_NON_INTRUSIVE( + SystemConfig, + airport, data_source, websocket, collision_detection, + logging, debug, warning +); \ No newline at end of file diff --git a/src/detector/CollisionDetector.cpp b/src/detector/CollisionDetector.cpp index 19ae56c..a51304a 100644 --- a/src/detector/CollisionDetector.cpp +++ b/src/detector/CollisionDetector.cpp @@ -5,6 +5,8 @@ #include #include +using namespace collision; + CollisionDetector::CollisionDetector(const AirportBounds& bounds, const ControllableVehicles& controllableVehicles) : airportBounds_(bounds) , vehicleTree_(bounds.getAirportBounds(), 8) // 使用机场总边界初始化四叉树 @@ -603,7 +605,7 @@ collision::CollisionResult CollisionDetector::predictCircleBasedCollision( // 3. 相对速度很小（说明速度接近） if (angle_diff < 30.0) { // 计算垂直于运动方向的向距离 - // 航向角转换为学坐标系中的旋转角度（逆时针为正） + // 航向角转换为学坐标系中的���转角度（逆时针为正） double rotation_angle = (90.0 - heading1) * M_PI / 180.0; // 使用标准的二维坐标旋转式 @@ -634,7 +636,7 @@ collision::CollisionResult CollisionDetector::predictCircleBasedCollision( } } - // 5. 在时间窗口内预测碰撞 + // 5. ���时间窗口内预测碰撞 const int STEPS = 120; // 增加采样点数以提高精度 double dt = timeWindow / STEPS; // 时间步长 diff --git a/src/detector/CollisionDetector.h b/src/detector/CollisionDetector.h index 4869e93..c2c3cf7 100644 --- a/src/detector/CollisionDetector.h +++ b/src/detector/CollisionDetector.h @@ -11,6 +11,8 @@ #include #include +using namespace collision; + // 碰撞风险等级 enum class RiskLevel { NONE = 0, // 无风险 @@ -65,7 +67,7 @@ public: std::vector detectCollisions(); // 统一的碰撞检测函数 - collision::CollisionResult checkCollision( + CollisionResult checkCollision( const MovingObject& obj1, const MovingObject& obj2, double timeWindow = 30.0) const; @@ -102,7 +104,7 @@ private: // 统一的风险评估函数 std::pair evaluateRisk( - const collision::CollisionResult& collisionResult, + const CollisionResult& collisionResult, const Vector2D& position, MovingObjectType type1, MovingObjectType type2) const; @@ -144,7 +146,7 @@ private: } // 基于圆形的碰撞检测核心函数 - collision::CollisionResult predictCircleBasedCollision( + CollisionResult predictCircleBasedCollision( const Vector2D& pos1, double radius1, double speed1, double heading1, const Vector2D& pos2, double radius2, double speed2, double heading2, double timeWindow) const; diff --git a/src/detector/CollisionTypes.h b/src/detector/CollisionTypes.h index 5a259a5..5a0cb3a 100644 --- a/src/detector/CollisionTypes.h +++ b/src/detector/CollisionTypes.h @@ -5,6 +5,7 @@ #include "types/BasicTypes.h" #include +#include namespace collision {