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修改了位置接口和日志级别控制

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This commit is contained in:
Tian jianyong 2024-12-27 15:56:09 +08:00
parent 24c14bcab2
commit c88f719e83
8 changed files with 78 additions and 96 deletions
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2
config/system_config.json
View File

@ -60,7 +60,7 @@
}
},
"logging": {
"level": "debug",
"level": "info",
"file": "logs/system.log",
"max_size_mb": 10,
"max_files": 5,

4
docs/official_api.md
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@ -32,7 +32,7 @@
| 1 | flightNo | 航班号 | String | 是 |
| 2 | longitude | 经度 | double | 是 |
| 3 | latitude | 纬度 | double | 是 |
| 4 | time | 时间戳 | double | 是 |
| 4 | time | 时间戳（UTC 时间） | long | 是 |
| 5 | altitude | 海拔高度 | double | 否 |
| 6 | trackNumber | 航迹号 | String | 否 |
@ -53,7 +53,7 @@
| 1 | vehicleNo | 车牌号 | String | 是 |
| 2 | longitude | 经度 | double | 是 |
| 3 | latitude | 纬度 | double | 是 |
| 4 | time | 时间戳 | double | 是 |
| 4 | time | 时间戳 | long | 是 |
| 5 | direction | 方向 | double | 否 |
| 6 | speed | 速度 | double | 否 |

13
src/config/SystemConfig.cpp
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@ -13,6 +13,19 @@ void SystemConfig::load(const std::string& filename) {
file >> j;
nlohmann::from_json(j, *this);
if (j.contains("logging") && j["logging"].contains("level")) {
std::string level = j["logging"]["level"];
if (level == "debug") {
Logger::setLogLevel(LogLevel::DEBUG);
} else if (level == "info") {
Logger::setLogLevel(LogLevel::INFO);
} else if (level == "warning") {
Logger::setLogLevel(LogLevel::WARNING);
} else if (level == "error") {
Logger::setLogLevel(LogLevel::ERROR);
}
}
Logger::info("Loaded system configuration from ", filename);
}
catch (const std::exception& e) {

60
src/core/System.cpp
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@ -294,12 +294,6 @@ void System::processLoop() {
} else {
// 正常的更新检查
for (const auto& veh : vehicles) {
// Logger::debug("处理车辆: ", veh.vehicleNo);
// Logger::debug(" - 位置: (", veh.geo.longitude, ", ", veh.geo.latitude, ")");
// Logger::debug(" - 速度: ", veh.speed, "m/s");
// Logger::debug(" - 时间戳: ", veh.timestamp);
// Logger::debug(" - 时间差: ", veh.timestamp - last_vehicle_timestamp);
if (veh.timestamp > last_vehicle_timestamp) {
has_new_vehicles = true;
if (veh.timestamp > max_timestamp) {
@ -328,60 +322,6 @@ void System::processLoop() {
Logger::debug("车辆位置更新检查结束 <<<<<<<<<<<<<<<");
}
// // 检查冲突更新
// auto collision_elapsed = std::chrono::duration_cast<std::chrono::milliseconds>(
// now - last_collision_update).count();
// if (collision_elapsed >= system_config.collision_detection.update_interval_ms) {
// // 只有有新的数据时才更新冲突检测
// if (last_aircraft_timestamp > last_collision_timestamp ||
// last_vehicle_timestamp > last_collision_timestamp) {
// // 更新冲突检测器
// collisionDetector_->updateTraffic(aircraft, vehicles);
// auto collisions = collisionDetector_->detectCollisions();
// if (!collisions.empty()) {
// Logger::debug("检测到 ", collisions.size(), "个碰撞风险");
// for (const auto& risk : collisions) {
// Logger::debug("碰撞风险详情: id1=", risk.id1,
// ", id2=", risk.id2,
// ", 距离=", risk.distance, "m, 预测最小距离=", risk.minDistance, "m, 风险等级=", static_cast<int>(risk.level),
// ", 区域类型=", static_cast<int>(risk.zoneType));
// }
// processCollisions(collisions);
// } else if (!lastVehiclesWithRisk_.empty()) {
// // 当前没有任何风险上次有风险车辆，需要处理恢复指令
// Logger::debug("当前无碰撞风险，检查是否需要发送恢复指令");
// for (const auto& vehicleId : lastVehiclesWithRisk_) {
// Logger::debug("车辆 ", vehicleId, " 当前没有风险，准备发送恢复指令");
// VehicleCommand cmd;
// cmd.vehicleId = vehicleId;
// cmd.type = CommandType::RESUME;
// cmd.reason = CommandReason::RESUME_TRAFFIC;
// cmd.timestamp = std::chrono::system_clock::now().time_since_epoch().count();
// broadcastVehicleCommand(cmd);
// controllableVehicles_->sendCommand(vehicleId, cmd);
// Logger::info("发送恢复指令到车辆: ", vehicleId);
// }
// // 清空风险车辆列表
// Logger::debug("清空风险车辆列表: 原数量=", lastVehiclesWithRisk_.size(),
// ", 原列表={", [&]() {
// std::string s;
// for (const auto& id : lastVehiclesWithRisk_) {
// s += id + ",";
// }
// return s;
// }(), "}");
// lastVehiclesWithRisk_.clear();
// }
// last_collision_timestamp = std::max(last_aircraft_timestamp, last_vehicle_timestamp);
// }
// last_collision_update = now;
// }
// 处理红绿灯信号
auto traffic_light_elapsed = std::chrono::duration_cast<std::chrono::milliseconds>(
now - last_traffic_light_update).count();

27
src/network/HTTPDataSource.cpp
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@ -322,13 +322,18 @@ bool HTTPDataSource::parseVehicleResponse(const std::string& response, std::vect
}
veh.timestamp = static_cast<uint64_t>(time);
// 解析可选字段
if (item.contains("direction")) {
veh.heading = item["direction"].get<double>();
}
if (item.contains("speed")) {
veh.speed = item["speed"].get<double>();
}
// 更新位置信息
veh.position = coordinateConverter_.toLocalXY(veh.geo.latitude, veh.geo.longitude);
veh.updateMotion(veh.geo, veh.timestamp); // 更新速度和航向
// Logger::debug("Parsed vehicle: id=", veh.id, " vehicleNo=", veh.vehicleNo,
// " timestamp=", veh.timestamp, " pos=(", veh.geo.longitude, ",", veh.geo.latitude, ")");
vehicles.push_back(veh);
}
@ -379,13 +384,23 @@ bool HTTPDataSource::parseAircraftResponse(const std::string& response, std::vec
}
ac.timestamp = static_cast<uint64_t>(time);
// 解析可选字段
if (item.contains("altitude")) {
ac.altitude = item["altitude"].get<double>();
} else {
ac.altitude = 0.0; // 默认值
}
if (item.contains("trackNumber")) {
ac.trackNumber = item["trackNumber"].get<std::string>();
} else {
ac.trackNumber = "TN" + ac.flightNo.substr(2); // 默认使用航班号生成跟踪号
}
// 更新位置信息
ac.position = coordinateConverter_.toLocalXY(ac.geo.latitude, ac.geo.longitude);
ac.updateMotion(ac.geo, ac.timestamp); // 更新速度和航向
Logger::debug("Parsed aircraft: id=", ac.id, " flightNo=", ac.flightNo,
" timestamp=", ac.timestamp, " pos=(", ac.geo.longitude, ",", ac.geo.latitude, ")");
aircraft.push_back(ac);
}

6
src/types/BasicTypes.cpp
View File

@ -104,12 +104,6 @@ void MovingObject::updateMotion(const GeoPosition& newPos, uint64_t newTime) {
double distance = calculateDistance(prev.geo, curr.geo); // 单位：米
double timeDiff = static_cast<double>(curr.timestamp - prev.timestamp) / 1000.0; // 转换为秒
// 只有当位置变化足够大且时间差足够长时才更新速度和航向
// Logger::debug("[Motion] Position update: ",
// "\n Current: lat=", curr.geo.latitude, ", lon=", curr.geo.longitude,
// "\n Previous: lat=", prev.geo.latitude, ", lon=", prev.geo.longitude,
// "\n Distance=", distance, "m, TimeDiff=", timeDiff, "s");
// 只有当位置变化足够大且时间差足够长时才更新速度和航向
static const double MIN_DISTANCE = 0.1; // 最小位置变化阈值（米）
static const double MIN_TIME = 0.05; // 最小时间差阈值（秒）

10
src/vehicle/ControllableVehicles.cpp
View File

@ -70,7 +70,15 @@ bool ControllableVehicles::sendCommand(const std::string& vehicleNo, const Vehic
try {
bool success = http_client_->sendCommand(vehicle->ip, vehicle->port, command);
if (success) {
Logger::info("Successfully sent command to vehicle ", vehicleNo, ": type=", static_cast<int>(command.type), ", reason=", static_cast<int>(command.reason));
Logger::info("Successfully sent command to vehicle ", vehicleNo, ": ",
command.type == CommandType::SIGNAL ? "SIGNAL" :
command.type == CommandType::ALERT ? "ALERT" :
command.type == CommandType::WARNING ? "WARNING" : "RESUME",
"/",
command.reason == CommandReason::TRAFFIC_LIGHT ? "TRAFFIC_LIGHT" :
command.reason == CommandReason::AIRCRAFT_CROSSING ? "AIRCRAFT_CROSSING" :
command.reason == CommandReason::SPECIAL_VEHICLE ? "SPECIAL_VEHICLE" :
command.reason == CommandReason::AIRCRAFT_PUSH ? "AIRCRAFT_PUSH" : "RESUME_TRAFFIC");
} else {
Logger::error("Failed to send command to vehicle ", vehicleNo);
}

52
tools/mock_server.py
View File

@ -88,14 +88,16 @@ if initial_dist > 0:
aircraft_data = [
{
"flightNo": "AC001", # 航空器
"latitude": POINT_T7["latitude"],
"longitude": POINT_T7["longitude"],
"latitude": POINT_T7["latitude"],
"time": int(time.time() * 1000),
"direction": { # 改用方向向量替代单一方向值
"altitude": 0.0,
"trackNumber": "TN001",
"speed": 36.0, # 内部使用的速度字段，不会在 API 返回中显示
"direction": { # 内部使用的方向字段，不会在 API 返回中显示
"lat": initial_target_lat,
"lon": initial_target_lon
},
"speed": 36.0 # 滑行速度 ，默认 50km/h
}
}
]
@ -118,33 +120,27 @@ if qn002_dist > 0:
vehicle_data = [
{
"vehicleNo": "QN001", # 无人车1
"latitude": POINT_T1["latitude"],
"longitude": POINT_T1["longitude"],
"latitude": POINT_T1["latitude"],
"time": int(time.time() * 1000),
"direction": -1, # -1表示向南
"speed": DEFAULT_VEHICLE_SPEED,
"phase": 0
"direction": 180.0, # 向南方向为180度
"speed": DEFAULT_VEHICLE_SPEED
},
{
"vehicleNo": "QN002", # 无人车2
"latitude": POINT_T12["latitude"], # 使用新的起点
"longitude": POINT_T12["longitude"],
"latitude": POINT_T12["latitude"],
"time": int(time.time() * 1000),
"direction": { # 改用方向向量
"lat": qn002_target_lat,
"lon": qn002_target_lon
},
"speed": DEFAULT_VEHICLE_SPEED,
"phase": 0
"direction": 135.0, # 东南方向约为135度
"speed": DEFAULT_VEHICLE_SPEED
},
{
"vehicleNo": "TQ001", # 特勤车
"latitude": POINT_T4["latitude"],
"longitude": POINT_T4["longitude"],
"latitude": POINT_T4["latitude"],
"time": int(time.time() * 1000),
"direction": -1, # -1表示向西
"speed": DEFAULT_VEHICLE_SPEED, # 使用默认速度
"phase": 0 # 初始化 phase
"direction": 270.0, # 向西方向为270度
"speed": DEFAULT_VEHICLE_SPEED
}
]
@ -746,8 +742,10 @@ def check_auth():
@app.route('/openApi/getCurrentFlightPositions', methods=['GET', 'OPTIONS'])
def get_flight_positions():
"""获取当前航空器位置信息"""
if request.method == 'OPTIONS':
return '', 204
if not check_auth():
return jsonify({
"status": 401,
@ -765,7 +763,20 @@ def get_flight_positions():
aircraft["time"] = int(current_time * 1000)
last_aircraft_update_time = current_time
return jsonify(aircraft_data)
# 创建符合 API 格式的响应数据
response_data = []
for aircraft in aircraft_data:
api_aircraft = {
"flightNo": aircraft["flightNo"],
"longitude": aircraft["longitude"],
"latitude": aircraft["latitude"],
"time": aircraft["time"],
"altitude": aircraft["altitude"],
"trackNumber": aircraft["trackNumber"]
}
response_data.append(api_aircraft)
return jsonify(response_data)
def switch_traffic_light_state():
"""统一处理红绿灯状态切换"""
@ -792,6 +803,7 @@ def switch_traffic_light_state():
@app.route('/openApi/getCurrentVehiclePositions', methods=['GET', 'OPTIONS'])
def get_vehicle_positions():
"""获取当前车辆位置信息"""
if request.method == 'OPTIONS':
return '', 204
if not check_auth():