修改了无人车的控制 API
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@ -61,66 +61,62 @@
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### 2.1 无人车控制指令
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2.1.1 接口地址: <http://IP:端口/openApi/emergency_control>
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2.1.1 接口地址: <http://127.0.0.1:31140/api/VehicleCommandInfo>
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2.1.2 请求方法：POST
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2.1.3 请求参数：
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| 序号 | 字段名字 | 是否必选 | 类型 | 说明 |
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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 |
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| vehicleID | string | 是 | 车辆 ID |
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| 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 |
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| 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 |
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| signalState | string | 否 | 信号灯状态（仅当 commandType 为 SIGNAL 时有效）RED：红灯，GREEN：绿灯 |
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| intersectionId | string | 否 | 路口 ID（仅当 commandType 为 SIGNAL 时有效） |
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| latitude | double | 是 | 目标位置纬度（路口/航空器/特勤车） |
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| longitude | double | 是 | 目标位置经度（路口/航空器/特勤车） |
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| relativeSpeed | double | 否 | 相对速度（仅当 commandType 为 ALERT/WARNING 时有效） |
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| relativeMotionX | double | 否 | 相对运动 X 分量（仅当 commandType 为 ALERT/WARNING 时有效） |
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| relativeMotionY | double | 否 | 相对运动 Y 分量（仅当 commandType 为 ALERT/WARNING 时有效） |
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| minDistance | double | 否 | 最小距离（仅当 commandType 为 ALERT/WARNING 时有效） |
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|-----|------|------|----------|----------|
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| 1 | messageName | 是 | string | messageName 是 EmergencyControl 固定值 |
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| 2 | messageUniqueId | 是 | string | messageUniqueId 是 string |
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| 3 | messageTimestamp | 是 | string | messageTimestamp 是 string 2023-04-24 17:15:44.276341 |
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| 4 | origin | 可选 | string | "Vehicle" |
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| 5 | vehicleID | 是 | string | 根据项目车号的格式 |
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| 6 | operationType | 是 | string | "RESUME" or "STOP" |
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| 7 | StopType | 是 | string | "jerk" : 急停 "slow" : 缓停 |
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| 8 | reason | 可选 | string | 停止/恢复的原因 |
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2.1.4 请求参数：
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``` http
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request : {
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"messageName" : "EmergencyControl",
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"messageUniqueId" : "68f79d1a-e27f-11ed-b28c-2cf05d9c2649", "messageTimestamp":"2023-04-24 17:15:44.276341",
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"origin" : "Vehicle",
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"vehicleID" : "A001",
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"operationType" : "RESUME", # RESUME | STOP
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"StopType" : "jerk"
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示例：
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requestData:
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{
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"messageUniqueId": "68f79d1a-e27f-11ed-b28c-2cf05d9c2649",
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"timestamp": 1736175610000,
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"vehicleID": "A001",
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"commandType": "SIGNAL",
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"commandReason": "TRAFFIC_LIGHT",
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"signalState":"RED",
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"intersectionId":"002",
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"latitude": 343.23,
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"longitude": 343.23,
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"relativeSpeed": 3,
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"relativeMotionX": 2002.12,
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"relativeMotionY":100.12,
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"minDistance":10.5
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}
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```
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返回值：
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2.1.5 返回格式：以 JSON 格式返回数据
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| 字段名 | 类型 | 是否必须 | 描述 |
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|---------|------|----------|------|
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| transId | string | 是 | 消息唯一id，消息的唯一标识符与请求id一致 |
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| timestamp | long | 是 | 时间戳 |
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| code | int | 是 | 接口返回的状态码：200 请求成功：400 请求失败，并在msg内返回原因 |
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| msg | string | 是 | 接口成功/失败的原因或者附加提示信息 |
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``` http
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response : {
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"code" : 200,
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"msg" : "success",
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"error" : ""
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示例：
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responseData:
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{
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"code": 200,
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"msg": "success",
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"transId": "68f79d1a-e27f-11ed-b28c-2cf05d9c2649",
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"timestamp": 1736175610
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}
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```
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@ -399,7 +399,8 @@ void System::processCollisions(const std::vector<CollisionRisk>& risks) {
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cmd.reason = otherId.substr(0, 2) == "AC" ?
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CommandReason::AIRCRAFT_CROSSING :
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CommandReason::SPECIAL_VEHICLE;
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cmd.timestamp = std::chrono::system_clock::now().time_since_epoch().count();
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cmd.timestamp = std::chrono::duration_cast<std::chrono::milliseconds>(
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std::chrono::system_clock::now().time_since_epoch()).count();
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// 设置目标位置（冲突对象的位置）
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const MovingObject* target = findVehicle(otherId);
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@ -429,7 +430,8 @@ void System::processCollisions(const std::vector<CollisionRisk>& risks) {
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cmd.reason = otherId.substr(0, 2) == "AC" ?
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CommandReason::AIRCRAFT_CROSSING :
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CommandReason::SPECIAL_VEHICLE;
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cmd.timestamp = std::chrono::system_clock::now().time_since_epoch().count();
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cmd.timestamp = std::chrono::duration_cast<std::chrono::milliseconds>(
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std::chrono::system_clock::now().time_since_epoch()).count();
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// 设置目标位置
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const MovingObject* target = findVehicle(otherId);
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@ -486,7 +488,8 @@ void System::processCollisions(const std::vector<CollisionRisk>& risks) {
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cmd.vehicleId = vehicleId;
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cmd.type = CommandType::RESUME;
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cmd.reason = CommandReason::RESUME_TRAFFIC;
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cmd.timestamp = std::chrono::system_clock::now().time_since_epoch().count();
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cmd.timestamp = std::chrono::duration_cast<std::chrono::milliseconds>(
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std::chrono::system_clock::now().time_since_epoch()).count();
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broadcastVehicleCommand(cmd);
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controllableVehicles_->sendCommand(vehicleId, cmd);
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@ -605,7 +608,8 @@ void System::broadcastCollisionWarning(const CollisionRisk& risk) {
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{"distance", risk.distance},
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{"relativeSpeed", risk.relativeSpeed},
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{"warningLevel", getRiskLevelString(risk.level)},
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{"timestamp", std::chrono::system_clock::now().time_since_epoch().count()}
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{"timestamp", std::chrono::duration_cast<std::chrono::milliseconds>(
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std::chrono::system_clock::now().time_since_epoch()).count()}
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};
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// 广播冲突预警消息
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@ -797,7 +801,8 @@ void System::checkUnmannedVehicleSafetyZones(const std::vector<Vehicle>& vehicle
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cmd.vehicleId = vehicle.id;
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cmd.type = CommandType::RESUME;
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cmd.reason = CommandReason::RESUME_TRAFFIC;
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cmd.timestamp = std::chrono::system_clock::now().time_since_epoch().count();
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cmd.timestamp = std::chrono::duration_cast<std::chrono::milliseconds>(
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std::chrono::system_clock::now().time_since_epoch()).count();
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broadcastVehicleCommand(cmd);
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controllableVehicles_->sendCommand(vehicle.id, cmd);
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@ -828,7 +833,8 @@ bool System::handleSafetyZoneRisk(const Vehicle& vehicle,
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cmd.reason = zone->getType() == SafetyZoneType::AIRCRAFT ?
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CommandReason::AIRCRAFT_CROSSING :
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CommandReason::SPECIAL_VEHICLE;
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cmd.timestamp = std::chrono::system_clock::now().time_since_epoch().count();
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cmd.timestamp = std::chrono::duration_cast<std::chrono::milliseconds>(
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std::chrono::system_clock::now().time_since_epoch()).count();
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// 查找触发安全区的目标物体
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const MovingObject* target = nullptr;
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@ -49,7 +49,8 @@ void TrafficLightDetector::sendStopCommand(const std::string& vehicleNo) {
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cmd.type = CommandType::SIGNAL;
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cmd.reason = CommandReason::TRAFFIC_LIGHT;
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cmd.signalState = SignalState::RED;
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cmd.timestamp = std::chrono::system_clock::now().time_since_epoch().count();
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cmd.timestamp = std::chrono::duration_cast<std::chrono::milliseconds>(
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std::chrono::system_clock::now().time_since_epoch()).count();
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// 添加路口信息
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const Intersection* intersection = intersection_config_.findByTrafficLightId(current_signal_.trafficLightId);
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@ -70,7 +71,8 @@ void TrafficLightDetector::sendContinueCommand(const std::string& vehicleNo) {
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cmd.type = CommandType::SIGNAL;
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cmd.reason = CommandReason::TRAFFIC_LIGHT;
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cmd.signalState = SignalState::GREEN;
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cmd.timestamp = std::chrono::system_clock::now().time_since_epoch().count();
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cmd.timestamp = std::chrono::duration_cast<std::chrono::milliseconds>(
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std::chrono::system_clock::now().time_since_epoch()).count();
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// 添加路口信息
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const Intersection* intersection = intersection_config_.findByTrafficLightId(current_signal_.trafficLightId);
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@ -32,12 +32,18 @@ bool HTTPClient::sendCommand(const std::string& ip, int port, const VehicleComma
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// 构造请求URL
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std::stringstream url;
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url << "http://" << ip << ":" << port << "/api/vehicle/command";
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url << "http://" << ip << ":" << port << "/api/VehicleCommandInfo";
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// 构造请求体
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// 生成消息唯一 id
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std::stringstream transId;
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transId << std::hex << std::chrono::system_clock::now().time_since_epoch().count();
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// 构造请求体（必填字段）
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nlohmann::json request = {
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{"vehicleId", command.vehicleId},
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{"type", [&]() {
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{"transId", transId.str()},
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{"timestamp", command.timestamp},
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{"vehicleID", command.vehicleId},
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{"commandType", [&]() {
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switch (command.type) {
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case CommandType::SIGNAL: return "SIGNAL";
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case CommandType::ALERT: return "ALERT";
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@ -46,7 +52,7 @@ bool HTTPClient::sendCommand(const std::string& ip, int port, const VehicleComma
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default: return "UNKNOWN";
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}
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}()},
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{"reason", [&]() {
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{"commandReason", [&]() {
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switch (command.reason) {
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case CommandReason::TRAFFIC_LIGHT: return "TRAFFIC_LIGHT";
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case CommandReason::AIRCRAFT_CROSSING: return "AIRCRAFT_CROSSING";
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@ -56,19 +62,23 @@ bool HTTPClient::sendCommand(const std::string& ip, int port, const VehicleComma
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default: return "UNKNOWN";
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}
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}()},
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{"timestamp", command.timestamp}
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{"latitude", command.latitude},
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{"longitude", command.longitude}
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};
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// 添加可选字段
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if (command.type == CommandType::SIGNAL) {
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// 信号灯指令的可选字段
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request["signalState"] = command.signalState == SignalState::RED ? "RED" : "GREEN";
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request["intersectionId"] = command.intersectionId;
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}
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if (command.type != CommandType::RESUME) {
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request["targetPosition"] = {
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{"latitude", command.latitude},
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{"longitude", command.longitude}
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};
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if (command.type == CommandType::ALERT || command.type == CommandType::WARNING) {
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// 告警/预警指令的可选字段
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request["relativeSpeed"] = command.relativeSpeed;
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request["relativeMotionX"] = command.relativeMotionX;
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request["relativeMotionY"] = command.relativeMotionY;
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request["minDistance"] = command.minDistance;
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}
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std::string request_body = request.dump();
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@ -100,8 +110,23 @@ bool HTTPClient::sendCommand(const std::string& ip, int port, const VehicleComma
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curl_easy_getinfo(curl_, CURLINFO_RESPONSE_CODE, &http_code);
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if (http_code == 200) {
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Logger::debug("Command sent successfully: ", request_body);
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return true;
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try {
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// 解析响应
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nlohmann::json response = nlohmann::json::parse(response_buffer_);
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int code = response["code"].get<int>();
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std::string msg = response["msg"].get<std::string>();
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if (code == 200) {
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Logger::debug("Command sent successfully: ", request_body);
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return true;
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} else {
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Logger::error("Command failed with code: ", code, " message: ", msg);
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return false;
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}
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} catch (const std::exception& e) {
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Logger::error("Failed to parse response: ", e.what());
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return false;
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}
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} else {
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Logger::error("Command failed with HTTP code: ", http_code, " response: ", response_buffer_);
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return false;
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@ -37,7 +37,8 @@ protected:
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a.geo.latitude = lat;
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a.geo.longitude = lon;
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a.altitude = 5.0;
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a.timestamp = std::chrono::system_clock::now().time_since_epoch().count();
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a.timestamp = std::chrono::duration_cast<std::chrono::milliseconds>(
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std::chrono::system_clock::now().time_since_epoch()).count();
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return a;
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}
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@ -47,7 +48,8 @@ protected:
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v.vehicleNo = id;
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v.geo.latitude = lat;
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v.geo.longitude = lon;
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v.timestamp = std::chrono::system_clock::now().time_since_epoch().count();
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v.timestamp = std::chrono::duration_cast<std::chrono::milliseconds>(
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std::chrono::system_clock::now().time_since_epoch()).count();
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return v;
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}
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@ -56,7 +58,8 @@ protected:
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TrafficLightSignal signal;
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signal.trafficLightId = id;
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signal.status = static_cast<SignalStatus>(state);
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signal.timestamp = std::chrono::system_clock::now().time_since_epoch().count();
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signal.timestamp = std::chrono::duration_cast<std::chrono::milliseconds>(
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std::chrono::system_clock::now().time_since_epoch()).count();
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return signal;
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}
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@ -483,7 +486,7 @@ TEST_F(DataCollectorTest, ReadTimeoutMechanism) {
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// 模拟读取超时
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EXPECT_CALL(*mockSource, fetchAircraftData(::testing::_))
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.WillRepeatedly(::testing::Invoke([](std::vector<Aircraft>& aircraft) {
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std::this_thread::sleep_for(std::chrono::milliseconds(60)); // 睡眠超过读取超时时间但小于连<EFBFBD><EFBFBD><EFBFBD>超时
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std::this_thread::sleep_for(std::chrono::milliseconds(60)); // 睡眠超过读取超时时间但小于连接超时
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return false;
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}));
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@ -283,13 +283,13 @@ def calculate_distance_to_target(vehicle, target_lat, target_lon):
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c = 2 * math.atan2(math.sqrt(a), math.sqrt(1-a))
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return R * c
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@app.route('/api/vehicle/command', methods=['POST'])
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@app.route('/api/VehicleCommandInfo', methods=['POST'])
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def handle_vehicle_command():
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try:
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data = request.json
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vehicle_id = data.get("vehicleId")
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command_type = data.get("type", "").upper()
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reason = data.get("reason", "").upper()
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vehicle_id = data.get("vehicleID")
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command_type = data.get("commandType", "").upper()
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reason = data.get("commandReason", "").upper()
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signal_state = data.get("signalState", "").upper()
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target_lat = data.get("latitude", None)
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target_lon = data.get("longitude", None)
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@ -307,8 +307,10 @@ def handle_vehicle_command():
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if not vehicle_state:
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print(f"未找到车辆: {vehicle_id}")
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return jsonify({
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"status": "error",
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"message": f"Vehicle {vehicle_id} not found"
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"code": 404,
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"msg": f"Vehicle {vehicle_id} not found",
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"transId": data.get("transId"),
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"timestamp": int(time.time() * 1000)
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}), 404
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# 打印当前车辆状态
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@ -320,15 +322,19 @@ def handle_vehicle_command():
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if command_type not in ["RED", "GREEN"]:
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print(f"特勤车辆忽略非红绿灯指令: {vehicle_id}")
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return jsonify({
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"status": "ok",
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"message": "Special vehicle only responds to traffic light signals"
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"code": 200,
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"msg": "Special vehicle only responds to traffic light signals",
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"transId": data.get("transId"),
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"timestamp": int(time.time() * 1000)
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})
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# 更新红绿灯状态和指令状态
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vehicle_state.update_command(command_type, target_lat, target_lon)
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print(f"特勤车 {vehicle_id} 更新状态: command={command_type}, traffic_light={vehicle_state.traffic_light_state}")
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return jsonify({
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"status": "ok",
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"message": "Traffic light state updated"
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"code": 200,
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"msg": "Traffic light state updated",
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"transId": data.get("transId"),
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"timestamp": int(time.time() * 1000)
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})
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# 检查指令优先级并添加详细日志
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@ -340,8 +346,10 @@ def handle_vehicle_command():
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print(f"指令优先级过低: vehicle={vehicle_id}, current_priority={vehicle_state.command_priority}, "
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f"command={command_type}")
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return jsonify({
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"status": "warning",
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"message": "Command priority too low"
|
||||
"code": 400,
|
||||
"msg": "Command priority too low",
|
||||
"transId": data.get("transId"),
|
||||
"timestamp": int(time.time() * 1000)
|
||||
})
|
||||
|
||||
# 处理不同类型的指令
|
||||
@ -364,7 +372,7 @@ def handle_vehicle_command():
|
||||
vehicle_state.target_lon = target_lon
|
||||
# 立即更新车辆速度
|
||||
current_vehicle["speed"] = 0
|
||||
|
||||
|
||||
elif command_type in ["RED", "GREEN"]:
|
||||
print(f"执行红绿灯指令: vehicle_id={vehicle_id}, state={command_type}")
|
||||
# 红绿灯状态的更新由 update_command 处理
|
||||
@ -406,10 +414,12 @@ def handle_vehicle_command():
|
||||
f"target_speed={vehicle_state.target_speed}, brake_mode={vehicle_state.brake_mode}")
|
||||
|
||||
return jsonify({
|
||||
"status": "ok",
|
||||
"message": "Command executed successfully"
|
||||
"code": 200,
|
||||
"msg": "Command executed successfully",
|
||||
"transId": data.get("transId"),
|
||||
"timestamp": int(time.time() * 1000)
|
||||
})
|
||||
|
||||
|
||||
# 更新车辆状态
|
||||
vehicle_state.update_command(command_type, target_lat, target_lon)
|
||||
vehicle_state.command_reason = reason
|
||||
@ -426,15 +436,19 @@ def handle_vehicle_command():
|
||||
f"target_speed={vehicle_state.target_speed}, brake_mode={vehicle_state.brake_mode}")
|
||||
|
||||
return jsonify({
|
||||
"status": "ok",
|
||||
"message": "Command executed successfully"
|
||||
"code": 200,
|
||||
"msg": "Command executed successfully",
|
||||
"transId": data.get("transId"),
|
||||
"timestamp": int(time.time() * 1000)
|
||||
})
|
||||
|
||||
except Exception as e:
|
||||
print(f"Error handling vehicle command: {str(e)}")
|
||||
return jsonify({
|
||||
"status": "error",
|
||||
"message": str(e)
|
||||
"code": 500,
|
||||
"msg": str(e),
|
||||
"transId": data.get("transId", ""),
|
||||
"timestamp": int(time.time() * 1000)
|
||||
}), 500
|
||||
|
||||
def calculate_distance_to_intersection(vehicle, intersection):
|
||||
|
||||
Loading…
Reference in New Issue
Block a user