1162 lines
45 KiB
Python
1162 lines
45 KiB
Python
from flask import Flask, jsonify, request
|
||
import time
|
||
import math
|
||
import random
|
||
import logging
|
||
import os
|
||
import uuid
|
||
|
||
# 创建 logs 目录（如果不存在）
|
||
if not os.path.exists('logs'):
|
||
os.makedirs('logs')
|
||
|
||
# 配置日志
|
||
logging.basicConfig(
|
||
level=logging.DEBUG,
|
||
format='%(asctime)s - %(levelname)s - %(message)s',
|
||
handlers=[
|
||
logging.FileHandler('logs/mock_server.log'),
|
||
logging.StreamHandler()
|
||
]
|
||
)
|
||
|
||
app = Flask(__name__)
|
||
|
||
# 地球半径（米）
|
||
EARTH_RADIUS = 6378137.0
|
||
|
||
COMMAND_PRIORITIES = {
|
||
"ALERT": 5,
|
||
"WARNING": 3,
|
||
"PARKING": 2,
|
||
"RESUME": 1
|
||
}
|
||
|
||
def meters_to_degrees(meters, latitude):
|
||
"""
|
||
将米转换为度，考虑纬度的影响
|
||
"""
|
||
# 纬度方向：1度 = 111,319.9米
|
||
meters_per_deg_lat = 111319.9
|
||
# 经度方向：1度 = 111,319.9 * cos(latitude)米
|
||
meters_per_deg_lon = meters_per_deg_lat * math.cos(math.radians(latitude))
|
||
return meters / meters_per_deg_lat, meters / meters_per_deg_lon
|
||
|
||
# 距离配置（米）
|
||
DIST_300M = 300
|
||
DIST_200M = 200
|
||
DIST_150M = 150
|
||
DIST_100M = 100
|
||
DIST_50M = 50
|
||
|
||
# 时间配置（秒）
|
||
WAIT_TIME_AFTER_RETURN = 10.0 # 返回起点后的等待时间
|
||
UPDATE_INTERVAL = 1.0 # 位置更新间隔, 默认 1 秒
|
||
TRAFFIC_LIGHT_SWITCH_INTERVAL = 10.0 # 红绿灯切换间隔
|
||
|
||
# 两个路口的位置
|
||
T2_INTERSECTION = {"longitude": 120.08502054, "latitude": 36.35448347}
|
||
T6_INTERSECTION = {"longitude": 120.08649105, "latitude": 36.35074527}
|
||
|
||
# 坐标点
|
||
# 无人车1起点
|
||
POINT_T1 = {"longitude": 120.0868853, "latitude": 36.35496367}
|
||
# 冲突点 1
|
||
POINT_T2 = {"longitude": 120.08502054, "latitude": 36.35448347}
|
||
# 特勤车终点
|
||
POINT_T3 = {"longitude": 120.08341044, "latitude": 36.35406879}
|
||
# 无人车1终点, 无人车 2 起点，特勤车起点
|
||
POINT_T4 = {"longitude": 120.08558121, "latitude": 36.35305878}
|
||
POINT_T5 = {"longitude": 120.08400957, "latitude": 36.35265197}
|
||
# 冲突点 2
|
||
POINT_T6 = {"longitude": 120.08649105, "latitude": 36.35074527}
|
||
# 航空器 1终点
|
||
POINT_T7 = {"longitude": 120.08562915, "latitude": 36.35052372}
|
||
# 无人车 2终点
|
||
POINT_T8 = {"longitude": 120.08676664, "latitude": 36.35004529}
|
||
POINT_T9 = {"longitude": 120.08520616, "latitude": 36.34964473}
|
||
POINT_T10 = {"longitude": 120.08710569, "latitude": 36.34917893}
|
||
# 航空器 1终点
|
||
POINT_T11 = {"longitude": 120.0873865, "latitude": 36.3509885}
|
||
|
||
# QN002 新起点（距离 T6 路口 150 米）
|
||
POINT_T12 = {"longitude": 120.08603613, "latitude": 36.35190217} # T4 和 T6 之间，距 T6 150米
|
||
|
||
# AC001 新起点（距离 T6 路口 200 米）
|
||
POINT_T13 = {"longitude": 120.08509148, "latitude": 36.35041247} # T6向南 200 米
|
||
|
||
# 飞机和车辆尺寸（半径 米）
|
||
AIRCRAFT_SIZE_M = 30.0
|
||
VEHICLE_SIZE_M = 10.0
|
||
|
||
# 计算初始方向向量
|
||
initial_target_lat = POINT_T11["latitude"] - POINT_T7["latitude"]
|
||
initial_target_lon = POINT_T11["longitude"] - POINT_T7["longitude"]
|
||
|
||
# 归一化方向向量
|
||
initial_dist = math.sqrt(initial_target_lat * initial_target_lat + initial_target_lon * initial_target_lon)
|
||
if initial_dist > 0:
|
||
initial_target_lat /= initial_dist
|
||
initial_target_lon /= initial_dist
|
||
|
||
# 修改航空器数据的初始位置和方向
|
||
aircraft_data = [
|
||
{
|
||
"flightNo": "AC001", # 航空器
|
||
"longitude": POINT_T7["longitude"],
|
||
"latitude": POINT_T7["latitude"],
|
||
"time": int(time.time() * 1000),
|
||
"altitude": 0.0,
|
||
"trackNumber": 1001, # 改为数字格式
|
||
"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
|
||
}
|
||
}
|
||
]
|
||
|
||
# 添加默认速度常量
|
||
DEFAULT_VEHICLE_SPEED = 18.0 # km/h，默认 36km/h
|
||
EMERGENCY_BRAKE_DECELERATION = 0.8 # 紧急制动减速度 (每次更新减速 80%)
|
||
NORMAL_BRAKE_DECELERATION = 0.2 # 正常制动减速度 (每次更新减速 20%)
|
||
|
||
# 计算 QN002 的初始方向向量
|
||
qn002_target_lat = POINT_T8["latitude"] - POINT_T4["latitude"]
|
||
qn002_target_lon = POINT_T8["longitude"] - POINT_T4["longitude"]
|
||
|
||
# 归一化方向向量
|
||
qn002_dist = math.sqrt(qn002_target_lat * qn002_target_lat + qn002_target_lon * qn002_target_lon)
|
||
if qn002_dist > 0:
|
||
qn002_target_lat /= qn002_dist
|
||
qn002_target_lon /= qn002_dist
|
||
|
||
# 修改车辆数据中 QN002 的初始位置和方向
|
||
vehicle_data = [
|
||
{
|
||
"vehicleNo": "QN001", # 无人车1
|
||
"longitude": POINT_T1["longitude"],
|
||
"latitude": POINT_T1["latitude"],
|
||
"time": int(time.time() * 1000),
|
||
"direction": 180.0, # 向南方向为180度
|
||
"speed": DEFAULT_VEHICLE_SPEED
|
||
},
|
||
{
|
||
"vehicleNo": "QN002", # 无人车2
|
||
"longitude": POINT_T12["longitude"],
|
||
"latitude": POINT_T12["latitude"],
|
||
"time": int(time.time() * 1000),
|
||
"direction": 90.0, # 向东方向为90度
|
||
"speed": DEFAULT_VEHICLE_SPEED
|
||
},
|
||
{
|
||
"vehicleNo": "TQ001", # 特勤车
|
||
"longitude": POINT_T4["longitude"],
|
||
"latitude": POINT_T4["latitude"],
|
||
"time": int(time.time() * 1000),
|
||
"direction": 270.0, # 向西方向为270度
|
||
"speed": DEFAULT_VEHICLE_SPEED
|
||
}
|
||
]
|
||
|
||
# 添加车辆状态类
|
||
class VehicleState:
|
||
def __init__(self, vehicle_no):
|
||
self.vehicle_no = vehicle_no
|
||
self.is_running = True # 运行状态
|
||
self.current_command = None # 当前执行的指令
|
||
self.command_priority = 0 # 当前指令优先级
|
||
self.target_speed = DEFAULT_VEHICLE_SPEED # 目标速度
|
||
self.brake_mode = None # 制动模式：'emergency' 或 'normal'
|
||
self.command_reason = None # 指令原因
|
||
self.last_command_time = time.time() # 最后一次指令时间
|
||
self.traffic_light_state = None # 当前红绿灯状态
|
||
self.target_lat = None # 目标纬度
|
||
self.target_lon = None # 目标经度
|
||
self.is_traffic_light_stop = False # 是否因红灯停车
|
||
|
||
def can_be_overridden_by(self, command_type):
|
||
"""判断当前指令是否可以被新指令覆盖"""
|
||
# 红绿灯信号不参与指令优先级判断
|
||
if command_type in ["RED", "GREEN", "YELLOW"]:
|
||
return True
|
||
|
||
new_priority = COMMAND_PRIORITIES.get(command_type, 0)
|
||
current_priority = COMMAND_PRIORITIES.get(self.current_command, 0)
|
||
|
||
# 相同类型的指令可以覆盖（因为需要持续发送）
|
||
if command_type == self.current_command:
|
||
return True
|
||
|
||
# ALERT 指令可以被 RESUME 解除
|
||
if self.current_command == "ALERT":
|
||
return command_type == "RESUME"
|
||
|
||
# WARNING 指令可以被 RESUME 或相同及更高优先级指令覆盖
|
||
if self.current_command == "WARNING":
|
||
return command_type == "RESUME" or new_priority >= current_priority
|
||
|
||
# 其他情况下，相同或更高优先级可以覆盖
|
||
return new_priority >= current_priority
|
||
|
||
def update_command(self, command_type, target_lat=None, target_lon=None):
|
||
"""更新指令状态"""
|
||
# 更新目标位置
|
||
if target_lat is not None and target_lon is not None:
|
||
self.target_lat = target_lat
|
||
self.target_lon = target_lon
|
||
|
||
# 如果是红绿灯状态，只更新状态，不影响其他指令
|
||
if command_type in ["RED", "GREEN", "YELLOW"]:
|
||
old_state = self.traffic_light_state
|
||
self.traffic_light_state = command_type
|
||
|
||
# 更新红灯停车状态
|
||
if command_type == "RED":
|
||
self.is_traffic_light_stop = True
|
||
elif command_type in ["GREEN", "YELLOW"]:
|
||
self.is_traffic_light_stop = False
|
||
|
||
print(f"车辆 {self.vehicle_no} 收到红绿灯信号: {command_type} (原状态: {old_state})")
|
||
else:
|
||
# 其他指令正常更新
|
||
self.current_command = command_type
|
||
self.command_priority = COMMAND_PRIORITIES.get(command_type, 0)
|
||
|
||
# RESUME 指令不清除红绿灯状态，红绿灯状态由信号灯独立控制
|
||
if command_type == "RESUME":
|
||
# 清除其他状态
|
||
self.brake_mode = None
|
||
self.command_reason = None
|
||
|
||
# 更新运行状态
|
||
self.is_running = self.can_move()
|
||
print(f"更新车辆 {self.vehicle_no} 状态: command={self.current_command}, traffic_light={self.traffic_light_state}, priority={self.command_priority}, is_running={self.is_running}")
|
||
|
||
def can_move(self):
|
||
"""检查车辆是否可以移动"""
|
||
# 如果有告警指令，不能移动
|
||
if self.current_command == "ALERT":
|
||
return False
|
||
|
||
# 如果有预警指令，不能移动
|
||
if self.current_command == "WARNING":
|
||
return False
|
||
|
||
# 如果有安全停靠指令，不能移动
|
||
if self.current_command == "PARKING":
|
||
return False
|
||
|
||
# 如果是红灯停车状态，不能移动
|
||
if self.is_traffic_light_stop:
|
||
return False
|
||
|
||
# 其他情况可以移动
|
||
return True
|
||
|
||
def log_state(self):
|
||
"""记录当前车辆状态"""
|
||
print(f"""
|
||
车辆状态:
|
||
- 车辆编号: {self.vehicle_no}
|
||
- 运行状态: {'运行中' if self.is_running else '已停止'}
|
||
- 当前指令: {self.current_command}
|
||
- 红绿灯状态: {self.traffic_light_state}
|
||
- 红灯停车: {'是' if self.is_traffic_light_stop else '否'}
|
||
- 指令优先级: {self.command_priority}
|
||
- 目标速度: {self.target_speed}
|
||
- 制动模式: {self.brake_mode}
|
||
- 指令原因: {self.command_reason}
|
||
- 目标位置: ({self.target_lat}, {self.target_lon})
|
||
""")
|
||
|
||
# 添加车辆状态管理
|
||
vehicle_states = {}
|
||
for vehicle in vehicle_data:
|
||
vehicle_states[vehicle["vehicleNo"]] = VehicleState(vehicle["vehicleNo"])
|
||
|
||
def calculate_distance_to_target(vehicle, target_lat, target_lon):
|
||
"""计算车辆到目标位的距离（米）"""
|
||
dlat = target_lat - vehicle["latitude"]
|
||
dlon = target_lon - vehicle["longitude"]
|
||
|
||
# 使用 Haversine 公式计算距离
|
||
R = 6371000 # 地球半径（米）
|
||
a = math.sin(dlat/2) * math.sin(dlat/2) + \
|
||
math.cos(math.radians(vehicle["latitude"])) * math.cos(math.radians(target_lat)) * \
|
||
math.sin(dlon/2) * math.sin(dlon/2)
|
||
c = 2 * math.atan2(math.sqrt(a), math.sqrt(1-a))
|
||
return R * c
|
||
|
||
@app.route('/api/VehicleCommandInfo', methods=['POST'])
|
||
def handle_vehicle_command():
|
||
try:
|
||
data = request.json
|
||
vehicle_id = data.get("vehicleID")
|
||
command_type = data.get("commandType", "").upper()
|
||
reason = data.get("commandReason", "").upper()
|
||
signal_state = data.get("signalState", "").upper()
|
||
target_lat = data.get("latitude", None)
|
||
target_lon = data.get("longitude", None)
|
||
|
||
print(f"收到车辆控制指令: vehicle_id={vehicle_id}, type={command_type}, reason={reason}, signal_state={signal_state}")
|
||
print(f"完整请求数据: {data}")
|
||
|
||
# 检查 SIGNAL 类型命令必须包含 signalState
|
||
if command_type == "SIGNAL" and not signal_state:
|
||
print(f"SIGNAL 类型命令缺少 signalState")
|
||
return jsonify({
|
||
"code": 400,
|
||
"msg": "SIGNAL command must include signalState",
|
||
"transId": data.get("transId"),
|
||
"timestamp": int(time.time() * 1000)
|
||
}), 400
|
||
|
||
# 检查车辆是否存在
|
||
vehicle_state = vehicle_states.get(vehicle_id)
|
||
if not vehicle_state:
|
||
print(f"未找到车辆: {vehicle_id}")
|
||
return jsonify({
|
||
"code": 404,
|
||
"msg": f"Vehicle {vehicle_id} not found",
|
||
"transId": data.get("transId"),
|
||
"timestamp": int(time.time() * 1000)
|
||
}), 404
|
||
|
||
# 打印当前车辆状态
|
||
print(f"当前车辆状态: vehicle={vehicle_id}")
|
||
vehicle_state.log_state()
|
||
|
||
# 特勤车只响应红绿灯信号
|
||
if vehicle_id.startswith("TQ"):
|
||
if command_type != "SIGNAL":
|
||
print(f"特勤车辆忽略非红绿灯指令: {vehicle_id}")
|
||
return jsonify({
|
||
"code": 200,
|
||
"msg": "Special vehicle only responds to traffic light signals",
|
||
"transId": data.get("transId"),
|
||
"timestamp": int(time.time() * 1000)
|
||
})
|
||
# 更新红绿灯状态和指令状态
|
||
vehicle_state.update_command(signal_state, target_lat, target_lon)
|
||
print(f"特勤车 {vehicle_id} 更新状态: command={command_type}, traffic_light={vehicle_state.traffic_light_state}")
|
||
return jsonify({
|
||
"code": 200,
|
||
"msg": "Traffic light state updated",
|
||
"transId": data.get("transId"),
|
||
"timestamp": int(time.time() * 1000)
|
||
})
|
||
|
||
# 检查指令优先级并添加详细日志
|
||
check_command = signal_state if command_type == "SIGNAL" else command_type
|
||
can_override = vehicle_state.can_be_overridden_by(check_command)
|
||
print(f"指令优先级检查: vehicle={vehicle_id}, current_command={vehicle_state.current_command}, "
|
||
f"new_command={check_command}, can_override={can_override}")
|
||
|
||
if not can_override:
|
||
print(f"指令优先级过低: vehicle={vehicle_id}, current_priority={vehicle_state.command_priority}, "
|
||
f"command={check_command}")
|
||
return jsonify({
|
||
"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
|
||
if command_type == "SIGNAL":
|
||
# 更新红绿灯状态和指令状态
|
||
vehicle_state.update_command(signal_state, target_lat, target_lon)
|
||
print(f"车辆 {vehicle_id} 更新状态: command={command_type}, traffic_light={vehicle_state.traffic_light_state}")
|
||
return jsonify({
|
||
"code": 200,
|
||
"msg": "Traffic light state updated",
|
||
"transId": data.get("transId"),
|
||
"timestamp": int(time.time() * 1000)
|
||
})
|
||
elif command_type in ["ALERT", "WARNING"]:
|
||
# 查找当前车辆
|
||
current_vehicle = None
|
||
for v in vehicle_data:
|
||
if v["vehicleNo"] == vehicle_id:
|
||
current_vehicle = v
|
||
break
|
||
|
||
# 执行告警指令直接停车
|
||
print(f"执行{'紧急' if command_type == 'ALERT' else '正常'}制动: vehicle={vehicle_id}")
|
||
vehicle_state.current_command = command_type
|
||
vehicle_state.command_priority = COMMAND_PRIORITIES.get(command_type, 0)
|
||
vehicle_state.is_running = False
|
||
vehicle_state.target_speed = 0
|
||
vehicle_state.brake_mode = "emergency" if command_type == "ALERT" else "normal"
|
||
vehicle_state.target_lat = target_lat
|
||
vehicle_state.target_lon = target_lon
|
||
# 立即更新车辆速度
|
||
if current_vehicle:
|
||
current_vehicle["speed"] = 0
|
||
|
||
return jsonify({
|
||
"code": 200,
|
||
"msg": "Command executed successfully",
|
||
"transId": data.get("transId"),
|
||
"timestamp": int(time.time() * 1000)
|
||
})
|
||
|
||
elif command_type == "RESUME":
|
||
print(f"执行恢复指令: vehicle_id={vehicle_id}")
|
||
# 检查当前车辆
|
||
current_vehicle = None
|
||
for v in vehicle_data:
|
||
if v["vehicleNo"] == vehicle_id:
|
||
current_vehicle = v
|
||
break
|
||
|
||
# 清除限制性指令
|
||
if vehicle_state.current_command in ["ALERT", "WARNING"]:
|
||
print(f"清除限制性指令: vehicle={vehicle_id}")
|
||
vehicle_state.current_command = None
|
||
vehicle_state.command_priority = 0
|
||
vehicle_state.is_running = True
|
||
vehicle_state.target_speed = DEFAULT_VEHICLE_SPEED
|
||
vehicle_state.brake_mode = None
|
||
vehicle_state.target_lat = None
|
||
vehicle_state.target_lon = None
|
||
|
||
# 更新车辆运行状态
|
||
vehicle_state.is_running = vehicle_state.can_move()
|
||
if vehicle_state.is_running and current_vehicle:
|
||
print(f"车辆 {vehicle_id} 恢复运行")
|
||
current_vehicle["speed"] = DEFAULT_VEHICLE_SPEED
|
||
|
||
# 记录状态变化但不更新指令
|
||
vehicle_state.command_reason = reason
|
||
vehicle_state.last_command_time = time.time()
|
||
|
||
print(f"Vehicle {vehicle_id} state updated: running={vehicle_state.is_running}, "
|
||
f"command={vehicle_state.current_command}, traffic_light={vehicle_state.traffic_light_state}, "
|
||
f"reason={reason}, priority={vehicle_state.command_priority}, "
|
||
f"target_speed={vehicle_state.target_speed}, brake_mode={vehicle_state.brake_mode}")
|
||
|
||
return jsonify({
|
||
"code": 200,
|
||
"msg": "Command executed successfully",
|
||
"transId": data.get("transId"),
|
||
"timestamp": int(time.time() * 1000)
|
||
})
|
||
|
||
return jsonify({
|
||
"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({
|
||
"code": 500,
|
||
"msg": str(e),
|
||
"transId": data.get("transId", ""),
|
||
"timestamp": int(time.time() * 1000)
|
||
}), 500
|
||
|
||
def calculate_distance_to_intersection(vehicle, intersection):
|
||
"""计算车辆到路口的距离（米）"""
|
||
vehicle_lat = vehicle["latitude"]
|
||
vehicle_lon = vehicle["longitude"]
|
||
intersection_lat = intersection["latitude"]
|
||
intersection_lon = intersection["longitude"]
|
||
|
||
# 使用经纬度计算距离
|
||
lat_diff = (vehicle_lat - intersection_lat) * 111319.9
|
||
lon_diff = (vehicle_lon - intersection_lon) * (111319.9 * math.cos(math.radians(vehicle_lat)))
|
||
return math.sqrt(lat_diff * lat_diff + lon_diff * lon_diff)
|
||
|
||
def calculate_path_direction(start_point, end_point):
|
||
"""计算两点之间的方向角度（相对于正北方向，顺时针）"""
|
||
dlat = end_point["latitude"] - start_point["latitude"]
|
||
dlon = end_point["longitude"] - start_point["longitude"]
|
||
angle_rad = math.atan2(dlon, dlat) # 使用 atan2 计算角度
|
||
angle_deg = math.degrees(angle_rad)
|
||
# 转换为顺时针方向（正北为0度）
|
||
return (90 - angle_deg) % 360
|
||
|
||
def get_front_traffic_light(vehicle, distance_to_west, distance_to_east):
|
||
"""获取车辆前方的红绿灯状态"""
|
||
# 根据车辆的位置和方向判断前方路口
|
||
if vehicle["vehicleNo"] == "QN001":
|
||
# 确保 phase 属性存在
|
||
if "phase" not in vehicle:
|
||
vehicle["phase"] = 0
|
||
|
||
# QN001 的路线：T1 -> T2 -> T4
|
||
if vehicle["phase"] == 0: # T1 -> T2 阶段
|
||
# 计算 T1 到 T2 的实际方向
|
||
actual_direction = calculate_path_direction(POINT_T1, POINT_T2)
|
||
# 允许 15 度的误差范围
|
||
direction_diff = abs(vehicle["direction"] - actual_direction)
|
||
direction_diff = min(direction_diff, 360 - direction_diff)
|
||
|
||
# 在西路口以北时，向 T2 移动需要判断西路口红绿灯
|
||
if direction_diff <= 15 and vehicle["latitude"] > T2_INTERSECTION["latitude"]:
|
||
return traffic_light_data[0], distance_to_west # 西路口红绿灯
|
||
|
||
elif vehicle["vehicleNo"] == "QN002":
|
||
# 计算 T12 到 T8 的实际方向
|
||
actual_direction = calculate_path_direction(POINT_T12, POINT_T8)
|
||
# 允许 15 度的误差范围
|
||
direction_diff = abs(vehicle["direction"] - actual_direction)
|
||
direction_diff = min(direction_diff, 360 - direction_diff)
|
||
|
||
# 在东路口以西时，向 T8 移动需要判断东路红绿灯
|
||
if direction_diff <= 15 and vehicle["longitude"] < T6_INTERSECTION["longitude"]:
|
||
return traffic_light_data[1], distance_to_east # 东路口红绿灯
|
||
|
||
elif vehicle["vehicleNo"] == "TQ001":
|
||
# 确保 phase 属性存在
|
||
if "phase" not in vehicle:
|
||
vehicle["phase"] = 0
|
||
|
||
# TQ001 的路线：T4 -> T2 -> T3
|
||
if vehicle["phase"] == 0: # T4 -> T2 阶段
|
||
# 计算 T4 到 T2 的实际方向
|
||
actual_direction = calculate_path_direction(POINT_T4, POINT_T2)
|
||
# 允许 15 度的误差范围
|
||
direction_diff = abs(vehicle["direction"] - actual_direction)
|
||
direction_diff = min(direction_diff, 360 - direction_diff)
|
||
|
||
# 在西路口以东时，向 T2 移动需要判断西路口红绿灯
|
||
if direction_diff <= 15 and vehicle["longitude"] > T2_INTERSECTION["longitude"]:
|
||
return traffic_light_data[0], distance_to_west # 西路口红绿灯
|
||
|
||
# 其他情况，表示车辆已经过路口或不需要判断红绿灯
|
||
return None, float('inf')
|
||
|
||
def update_position_with_vector(obj, target_point, start_point, speed, elapsed_time, return_to_start=False):
|
||
"""
|
||
基于向量的位置更新逻辑
|
||
|
||
Args:
|
||
obj: 需要更新位置的对象（航空器或车辆）
|
||
target_point: 目标点坐标 {"latitude": float, "longitude": float}
|
||
start_point: 起点坐标 {"latitude": float, "longitude": float}
|
||
speed: 移动速度（km/h）
|
||
elapsed_time: 经过的时间（秒）
|
||
return_to_start: 是否在到达目标点时返回起点
|
||
"""
|
||
# 检查是否在等待状态
|
||
if "wait_until" not in obj:
|
||
obj["wait_until"] = 0
|
||
|
||
current_time = time.time()
|
||
if current_time < obj["wait_until"]:
|
||
return False # 还在等待中，不更新位置
|
||
|
||
# 计算这一步要移动的距离（米）并转换为经纬度
|
||
speed_mps = speed * 1000 / 3600
|
||
distance = speed_mps * elapsed_time
|
||
|
||
# 将移动距离转换为经纬度变化量
|
||
move_dlat, move_dlon = meters_to_degrees(distance, obj["latitude"])
|
||
|
||
# 将15米的判断距离转换为经纬度
|
||
check_dlat, check_dlon = meters_to_degrees(15, obj["latitude"])
|
||
|
||
# 计算当前位置到终点的向量
|
||
vector_lat = target_point["latitude"] - obj["latitude"]
|
||
vector_lon = target_point["longitude"] - obj["longitude"]
|
||
|
||
# 计算向量长度（经纬度空间）
|
||
vector_length = math.sqrt(vector_lat * vector_lat + vector_lon * vector_lon)
|
||
|
||
# 检查是否到达终点
|
||
if vector_length <= math.sqrt(check_dlat * check_dlat + check_dlon * check_dlon):
|
||
if return_to_start:
|
||
# 返回起点并设置等待时间
|
||
obj["latitude"] = start_point["latitude"]
|
||
obj["longitude"] = start_point["longitude"]
|
||
obj["wait_until"] = current_time + WAIT_TIME_AFTER_RETURN # 使用常量
|
||
print(f"对象 {obj.get('flightNo', obj.get('vehicleNo'))} 返回起点，等待{WAIT_TIME_AFTER_RETURN}秒后继续")
|
||
else:
|
||
# 否则就停在目标点
|
||
obj["latitude"] = target_point["latitude"]
|
||
obj["longitude"] = target_point["longitude"]
|
||
return True # 表示已到达终点
|
||
else:
|
||
# 归一化方向向量
|
||
unit_lat = vector_lat / vector_length
|
||
unit_lon = vector_lon / vector_length
|
||
|
||
# 计算这一步的位置变化
|
||
dlat = move_dlat * unit_lat
|
||
dlon = move_dlon * unit_lon
|
||
|
||
# 更新位置
|
||
obj["latitude"] += dlat
|
||
obj["longitude"] += dlon
|
||
return False # 表示正在移动中
|
||
|
||
def update_aircraft_position(aircraft, elapsed_time):
|
||
"""更新航空器位置"""
|
||
reached_target = update_position_with_vector(
|
||
aircraft,
|
||
POINT_T11, # 目标点
|
||
POINT_T13, # 起点
|
||
aircraft["speed"],
|
||
elapsed_time,
|
||
return_to_start=True # 航空器需要返回起点
|
||
)
|
||
|
||
if reached_target:
|
||
print(f"航空器 {aircraft['flightNo']} 到达终点，返回起点 T7")
|
||
|
||
def update_vehicle_position(vehicle, elapsed_time):
|
||
"""更新车辆位置"""
|
||
# 获取车辆状态
|
||
vehicle_state = vehicle_states.get(vehicle["vehicleNo"])
|
||
if not vehicle_state:
|
||
return
|
||
|
||
# 确保所有车辆都有 phase 属性
|
||
if "phase" not in vehicle:
|
||
vehicle["phase"] = 0
|
||
print(f"初始化车辆 {vehicle['vehicleNo']} 的 phase 属性为 0")
|
||
|
||
# 获取前方红绿灯状态和距离
|
||
traffic_light, distance = get_front_traffic_light(vehicle,
|
||
calculate_distance_to_intersection(vehicle, T2_INTERSECTION),
|
||
calculate_distance_to_intersection(vehicle, T6_INTERSECTION))
|
||
|
||
# 特勤车只响应红绿灯
|
||
if vehicle["vehicleNo"].startswith("TQ"):
|
||
# 红灯且距离停止线小于等于 50 米时停车
|
||
if traffic_light and traffic_light["state"] == 0 and distance <= DIST_50M:
|
||
vehicle["speed"] = 0
|
||
print(f"特勤车 {vehicle['vehicleNo']} 遇红灯在停止线前停车，距路口 {distance:.1f}米")
|
||
return
|
||
# 其他情况正常行驶
|
||
vehicle["speed"] = DEFAULT_VEHICLE_SPEED
|
||
print(f"特勤车 {vehicle['vehicleNo']} 正常行驶，速度={vehicle['speed']}km/h")
|
||
else:
|
||
# 普通车辆的移动逻辑
|
||
# 红灯且距离停止线小于等于 50 米时必须停车
|
||
if traffic_light and traffic_light["state"] == 0 and distance <= DIST_50M:
|
||
vehicle["speed"] = 0
|
||
vehicle_state.current_command = "RED" # 设置当前指令为红灯
|
||
vehicle_state.is_running = False # 设置为停止状态
|
||
print(f"车辆 {vehicle['vehicleNo']} 遇红灯在停止线前停车，距路口 {distance:.1f}米")
|
||
return
|
||
elif vehicle_state.current_command in ["ALERT", "WARNING"]:
|
||
# 其他停车指令
|
||
vehicle["speed"] = 0
|
||
print(f"车辆 {vehicle['vehicleNo']} 不能移动: command={vehicle_state.current_command}")
|
||
return
|
||
|
||
# 可以移动，设置正常速度
|
||
vehicle["speed"] = DEFAULT_VEHICLE_SPEED
|
||
print(f"车辆 {vehicle['vehicleNo']} 可以移动，速度={vehicle['speed']}km/h")
|
||
|
||
# 更新位置
|
||
if vehicle["vehicleNo"].startswith("QN"):
|
||
# 无人车的路径更新逻辑
|
||
if vehicle["vehicleNo"] == "QN001":
|
||
if vehicle["phase"] == 0: # T1 -> T2
|
||
reached_target = update_position_with_vector(
|
||
vehicle,
|
||
POINT_T2, # 目标点（西路口）
|
||
POINT_T1, # 起点
|
||
vehicle["speed"],
|
||
elapsed_time,
|
||
return_to_start=False # 不返回起点，继续到下一个点
|
||
)
|
||
|
||
if reached_target:
|
||
vehicle["phase"] = 1 # 切换到下一阶段
|
||
print(f"无人车 {vehicle['vehicleNo']} 到达 T2，开始前往 T4")
|
||
|
||
elif vehicle["phase"] == 1: # T2 -> T4
|
||
reached_target = update_position_with_vector(
|
||
vehicle,
|
||
POINT_T4, # 目标点
|
||
POINT_T2, # 起点
|
||
vehicle["speed"],
|
||
elapsed_time,
|
||
return_to_start=False # 不返回起点，继续到下一个点
|
||
)
|
||
|
||
if reached_target:
|
||
# 到达 T4 后直接跳回起点 T1
|
||
vehicle["latitude"] = POINT_T1["latitude"]
|
||
vehicle["longitude"] = POINT_T1["longitude"]
|
||
vehicle["phase"] = 0 # 重置到初始阶段
|
||
print(f"无人车 {vehicle['vehicleNo']} 到达 T4，直接返回起点 T1")
|
||
|
||
else: # QN002
|
||
reached_target = update_position_with_vector(
|
||
vehicle,
|
||
POINT_T8, # 目标点
|
||
POINT_T12, # 使用新的起点
|
||
vehicle["speed"],
|
||
elapsed_time,
|
||
return_to_start=True # QN002 需要返回起点
|
||
)
|
||
|
||
if reached_target:
|
||
print(f"无人车 {vehicle['vehicleNo']} 到达终点，返回起点 T12")
|
||
|
||
elif vehicle["vehicleNo"].startswith("TQ"):
|
||
# 特勤车的路径更新逻辑
|
||
if vehicle["phase"] == 0: # T4 -> T2
|
||
reached_target = update_position_with_vector(
|
||
vehicle,
|
||
POINT_T2, # 目标点（西路口）
|
||
POINT_T4, # 起点
|
||
vehicle["speed"],
|
||
elapsed_time,
|
||
return_to_start=False # 不返回起点，继续到下一个点
|
||
)
|
||
|
||
if reached_target:
|
||
vehicle["phase"] = 1 # 切换到下一阶段
|
||
print(f"特勤车 {vehicle['vehicleNo']} 到达 T2，开始前往 T3")
|
||
|
||
elif vehicle["phase"] == 1: # T2 -> T3
|
||
reached_target = update_position_with_vector(
|
||
vehicle,
|
||
POINT_T3, # 目标点（特勤车终点）
|
||
POINT_T2, # 起点
|
||
vehicle["speed"],
|
||
elapsed_time,
|
||
return_to_start=False # 不返回起点，继续到下一个点
|
||
)
|
||
|
||
if reached_target:
|
||
# 到达 T3 后直接跳回起点 T4
|
||
vehicle["latitude"] = POINT_T4["latitude"]
|
||
vehicle["longitude"] = POINT_T4["longitude"]
|
||
vehicle["phase"] = 0 # 重置到初始阶段
|
||
print(f"特勤车 {vehicle['vehicleNo']} 到达 T3，直接返回起点 T4")
|
||
|
||
# 新时间戳
|
||
vehicle["time"] = int(time.time() * 1000)
|
||
|
||
# 定义路口信息
|
||
INTERSECTIONS = {
|
||
"TL001": {
|
||
"id": "INT001",
|
||
"name": "西路口",
|
||
"latitude": T2_INTERSECTION["latitude"],
|
||
"longitude": T2_INTERSECTION["longitude"]
|
||
},
|
||
"TL002": {
|
||
"id": "INT002",
|
||
"name": "东路口",
|
||
"latitude": T6_INTERSECTION["latitude"],
|
||
"longitude": T6_INTERSECTION["longitude"]
|
||
}
|
||
}
|
||
|
||
def generate_traffic_light_data():
|
||
"""生成红绿灯数据"""
|
||
traffic_light_data = []
|
||
|
||
# 生成两个固定路口的红绿灯数据
|
||
for tl_id, intersection in INTERSECTIONS.items():
|
||
signal = {
|
||
"id": tl_id,
|
||
"state": 1, # 0: RED, 1: GREEN，测试时保持绿灯
|
||
"timestamp": int(time.time() * 1000),
|
||
"intersection": intersection["id"],
|
||
"position": {
|
||
"latitude": intersection["latitude"],
|
||
"longitude": intersection["longitude"]
|
||
}
|
||
}
|
||
traffic_light_data.append(signal)
|
||
|
||
return traffic_light_data
|
||
|
||
# 红绿灯数据
|
||
traffic_light_data = generate_traffic_light_data()
|
||
|
||
# 分别记录航空器和车辆的上次更新时间
|
||
last_aircraft_update_time = time.time()
|
||
last_vehicle_update_time = time.time()
|
||
last_light_switch_time = time.time()
|
||
|
||
def check_auth():
|
||
auth_header = request.headers.get('Authorization')
|
||
if not auth_header or auth_header != AUTH_TOKEN:
|
||
return False
|
||
return True
|
||
|
||
@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,
|
||
"msg": "认证失败",
|
||
"data": None
|
||
}), 401
|
||
global last_aircraft_update_time
|
||
current_time = time.time()
|
||
elapsed_time = current_time - last_aircraft_update_time
|
||
|
||
# 只在达到更新间隔时更新位置
|
||
if elapsed_time >= UPDATE_INTERVAL:
|
||
for aircraft in aircraft_data:
|
||
update_aircraft_position(aircraft, UPDATE_INTERVAL)
|
||
aircraft["time"] = int(current_time * 1000)
|
||
last_aircraft_update_time = current_time
|
||
|
||
# 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({
|
||
"status": 200,
|
||
"msg": "当前航空器实时位置数据",
|
||
"data": response_data
|
||
})
|
||
|
||
def switch_traffic_light_state():
|
||
"""统一处理红绿灯状态切换"""
|
||
global last_light_switch_time
|
||
current_time = time.time()
|
||
|
||
# 西路口红绿灯每15秒切换一次
|
||
elapsed_since_switch = current_time - last_light_switch_time
|
||
if elapsed_since_switch >= TRAFFIC_LIGHT_SWITCH_INTERVAL: # 使用常量
|
||
# 获取当前状态
|
||
current_state = traffic_light_data[0]["state"]
|
||
|
||
# 根据当前状态决定下一个状态
|
||
if current_state == 0: # 当前是红灯
|
||
# 切换到黄灯（表示红绿灯故障）
|
||
traffic_light_data[0]["state"] = 2 # 2 表示黄灯
|
||
print(f"西路口红绿灯状态切换为: 黄灯（红绿灯故障）")
|
||
elif current_state == 2: # 当前是黄灯
|
||
# 从黄灯切换到绿灯
|
||
traffic_light_data[0]["state"] = 1 # 1 表示绿灯
|
||
print(f"西路口红绿灯状态切换为: 绿灯")
|
||
else: # 当前是绿灯
|
||
# 从绿灯切换到红灯
|
||
traffic_light_data[0]["state"] = 0 # 0 表示红灯
|
||
print(f"西路口红绿灯状态切换为: 红灯")
|
||
|
||
last_light_switch_time = current_time
|
||
|
||
# 更新东路口红绿灯（根据航空器位置）
|
||
if aircraft_data:
|
||
aircraft = aircraft_data[0]
|
||
lat_diff = abs(aircraft["latitude"] - T6_INTERSECTION["latitude"]) * 111319.9
|
||
|
||
old_state = traffic_light_data[1]["state"]
|
||
traffic_light_data[1]["state"] = 1 if lat_diff > DIST_50M else 1
|
||
|
||
if old_state != traffic_light_data[1]["state"]:
|
||
print(f"东路口红绿灯状态切换为: {'绿灯' if traffic_light_data[1]['state'] == 1 else '红灯'}")
|
||
|
||
@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():
|
||
return jsonify({
|
||
"status": 401,
|
||
"msg": "认证失败",
|
||
"data": None
|
||
}), 401
|
||
global last_vehicle_update_time
|
||
current_time = time.time()
|
||
elapsed_time = current_time - last_vehicle_update_time
|
||
|
||
try:
|
||
# 统一处理红绿灯状态切换
|
||
# switch_traffic_light_state() # 采用模拟的红绿灯脚本，注释掉此处的调用
|
||
|
||
# 只在达到更新间隔时更新位置
|
||
if elapsed_time >= UPDATE_INTERVAL:
|
||
for vehicle in vehicle_data:
|
||
update_vehicle_position(vehicle, UPDATE_INTERVAL)
|
||
vehicle["time"] = int(current_time * 1000)
|
||
last_vehicle_update_time = current_time
|
||
|
||
return jsonify({
|
||
"status": 200,
|
||
"msg": "当前车辆实时位置数据",
|
||
"data": vehicle_data
|
||
})
|
||
|
||
except Exception as e:
|
||
print(f"Error in get_vehicle_positions: {str(e)}")
|
||
return jsonify({
|
||
"status": 500,
|
||
"msg": str(e),
|
||
"data": None
|
||
}), 500
|
||
|
||
@app.route('/openApi/getTrafficLightSignals', methods=['GET', 'OPTIONS'])
|
||
def get_traffic_light_signals():
|
||
"""获取红绿灯信号状态 (旧的轮询接口)"""
|
||
if request.method == 'OPTIONS':
|
||
return '', 204
|
||
|
||
# --- 注释掉原有逻辑 (2025-05-06 by AI Assistant) ---
|
||
# 原因: 为了测试新的 TrafficLightHttpServer 推送机制，暂时禁用此轮询接口返回数据。
|
||
# 模拟和发送红绿灯状态的功能现在由 tools/mock_traffic_light_client.py 负责。
|
||
# 如需恢复轮询测试，请取消下面的注释并注释掉新的 return 语句。
|
||
# # 更新红绿灯状态
|
||
# # switch_traffic_light_state() # 采用模拟的红绿灯脚本，注释掉此处的调用
|
||
#
|
||
# # 更新时间戳
|
||
# for signal in traffic_light_data:
|
||
# signal[\"timestamp\"] = int(time.time() * 1000)
|
||
#
|
||
# return jsonify({
|
||
# \"status\": 200,
|
||
# \"msg\": \"获取红绿灯信号成功\",
|
||
# \"data\": traffic_light_data
|
||
# })
|
||
# --- 注释结束 ---
|
||
|
||
# 新增: 返回空数据，以禁用轮询数据源
|
||
return jsonify({
|
||
"status": 200,
|
||
"msg": "Traffic light polling endpoint disabled to test push mechanism.",
|
||
"data": []
|
||
})
|
||
|
||
@app.after_request
|
||
def add_cors_headers(response):
|
||
response.headers['Access-Control-Allow-Origin'] = '*'
|
||
response.headers['Access-Control-Allow-Headers'] = 'Content-Type, Authorization'
|
||
response.headers['Access-Control-Allow-Methods'] = 'GET, POST, OPTIONS'
|
||
response.headers['Access-Control-Max-Age'] = '3600'
|
||
return response
|
||
|
||
def check_vehicle_states():
|
||
"""定期检查所有车辆状态"""
|
||
for vehicle_no, state in vehicle_states.items():
|
||
state.log_state()
|
||
|
||
# 认证相关配置
|
||
AUTH_USERNAME = "dianxin"
|
||
AUTH_PASSWORD = "dianxin@123"
|
||
AUTH_TOKEN = "Bearer eyJ0eXAiOiJKV1QiLCJhbGciOiJIUzI1NiJ9.eyJleHAiOjE3MzI3ODMwOTAsInVzZXJuYW1lIjoiYWRtaW4ifQ.y9feEL_9NT8UzED9NNkb0Ln6C-PBoufiSHWobWe5vWY"
|
||
|
||
@app.route('/login', methods=['POST', 'OPTIONS'])
|
||
def login():
|
||
if request.method == 'OPTIONS':
|
||
return '', 204
|
||
|
||
# 从 URL query parameters 中获取用户名和密码
|
||
username = request.args.get('username')
|
||
password = request.args.get('password')
|
||
|
||
print(f"收到登录请求: username={username}, password={password}")
|
||
print(f"请求 URL: {request.url}")
|
||
print(f"请求方法: {request.method}")
|
||
print(f"请求参数: {request.args}")
|
||
|
||
if not username or not password:
|
||
return jsonify({
|
||
"status": 400,
|
||
"msg": "缺少用户名或密码",
|
||
"data": None
|
||
}), 400
|
||
|
||
if username == AUTH_USERNAME and password == AUTH_PASSWORD:
|
||
return jsonify({
|
||
"status": 200,
|
||
"msg": "登入成功",
|
||
"data": AUTH_TOKEN
|
||
})
|
||
else:
|
||
return jsonify({
|
||
"status": 401,
|
||
"msg": "用户名或密码错误",
|
||
"data": None
|
||
}), 401
|
||
|
||
@app.route('/openApi/getVehicleStatus', methods=['GET', 'OPTIONS'])
|
||
def get_vehicle_status():
|
||
"""获取无人车状态信息"""
|
||
if request.method == 'OPTIONS':
|
||
return '', 204
|
||
|
||
vehicle_id = request.args.get('vehicleId')
|
||
if not vehicle_id:
|
||
return jsonify({
|
||
"status": 400,
|
||
"msg": "缺少 vehicleId 参数",
|
||
"data": None
|
||
}), 400
|
||
|
||
# 查找对应的车辆
|
||
vehicle_state = vehicle_states.get(vehicle_id)
|
||
if not vehicle_state:
|
||
return jsonify({
|
||
"status": 404,
|
||
"msg": f"未找到车辆 {vehicle_id}",
|
||
"data": None
|
||
}), 404
|
||
|
||
# 返回车辆状态
|
||
return jsonify({
|
||
"status": 200,
|
||
"msg": "获取车辆状态成功",
|
||
"data": {
|
||
"vehicleId": vehicle_id,
|
||
"status": "NORMAL" if vehicle_state.is_running else "STOPPED",
|
||
"command": vehicle_state.current_command,
|
||
"commandPriority": vehicle_state.command_priority,
|
||
"trafficLightState": vehicle_state.traffic_light_state,
|
||
"timestamp": int(time.time() * 1000)
|
||
}
|
||
})
|
||
|
||
# 无人车位置数据生成函数
|
||
def generate_unmanned_vehicle_location_data():
|
||
"""生成无人车位置数据，符合官方API格式"""
|
||
unmanned_vehicles = []
|
||
|
||
# 从现有vehicle_data中筛选无人车（QN开头的车辆）
|
||
for vehicle in vehicle_data:
|
||
if vehicle["vehicleNo"].startswith("QN"):
|
||
location_info = {
|
||
"transId": str(uuid.uuid4()),
|
||
"timestamp": int(time.time() * 1000),
|
||
"vehicleID": vehicle["vehicleNo"],
|
||
"latitude": vehicle["latitude"],
|
||
"longitude": vehicle["longitude"],
|
||
"speed": vehicle["speed"] / 3.6, # 转换为m/s
|
||
"direction": math.radians(vehicle["direction"]) # 转换为弧度
|
||
}
|
||
unmanned_vehicles.append(location_info)
|
||
|
||
return unmanned_vehicles
|
||
|
||
# 无人车状态数据生成函数
|
||
def generate_unmanned_vehicle_state_data(vehicle_id=None, is_single=True):
|
||
"""生成无人车状态数据，符合官方API格式"""
|
||
vehicle_states_data = []
|
||
|
||
if is_single and vehicle_id:
|
||
# 单个车辆状态查询
|
||
vehicle_state = vehicle_states.get(vehicle_id)
|
||
if vehicle_state:
|
||
state_info = {
|
||
"transId": str(uuid.uuid4()),
|
||
"timestamp": int(time.time() * 1000),
|
||
"vehicleID": vehicle_id,
|
||
"loginState": True,
|
||
"faultInfo": [],
|
||
"activeSafety": not vehicle_state.is_running,
|
||
"RC": False,
|
||
"Command": 1 if vehicle_state.current_command == "ALERT" else 0,
|
||
"airportInfo": [],
|
||
"vehicleMode": 2, # 自动模式
|
||
"gearState": 2, # D档
|
||
"chassisReady": vehicle_state.is_running,
|
||
"collisionStatus": False,
|
||
"clearance": 1 if vehicle_state.is_running else 0,
|
||
"turnSignalStstus": 0,
|
||
"pointCloud": []
|
||
}
|
||
vehicle_states_data.append(state_info)
|
||
else:
|
||
# 所有车辆状态查询
|
||
for vehicle in vehicle_data:
|
||
if vehicle["vehicleNo"].startswith("QN"):
|
||
vehicle_state = vehicle_states.get(vehicle["vehicleNo"])
|
||
state_info = {
|
||
"transId": str(uuid.uuid4()),
|
||
"timestamp": int(time.time() * 1000),
|
||
"vehicleID": vehicle["vehicleNo"],
|
||
"loginState": True,
|
||
"faultInfo": [],
|
||
"activeSafety": not vehicle_state.is_running if vehicle_state else False,
|
||
"RC": False,
|
||
"Command": 1 if vehicle_state and vehicle_state.current_command == "ALERT" else 0,
|
||
"airportInfo": [],
|
||
"vehicleMode": 2,
|
||
"gearState": 2,
|
||
"chassisReady": vehicle_state.is_running if vehicle_state else True,
|
||
"collisionStatus": False,
|
||
"clearance": 1 if vehicle_state and vehicle_state.is_running else 0,
|
||
"turnSignalStstus": 0,
|
||
"pointCloud": []
|
||
}
|
||
vehicle_states_data.append(state_info)
|
||
|
||
return vehicle_states_data
|
||
|
||
# 无人车API接口
|
||
@app.route('/api/VehicleLocationInfo', methods=['GET', 'OPTIONS'])
|
||
def get_unmanned_vehicle_location():
|
||
"""无人车位置上报接口"""
|
||
if request.method == 'OPTIONS':
|
||
return '', 204
|
||
|
||
try:
|
||
# 更新车辆位置
|
||
current_time = time.time()
|
||
global last_vehicle_update_time
|
||
elapsed_time = current_time - last_vehicle_update_time
|
||
|
||
if elapsed_time >= UPDATE_INTERVAL:
|
||
for vehicle in vehicle_data:
|
||
update_vehicle_position(vehicle, UPDATE_INTERVAL)
|
||
vehicle["time"] = int(current_time * 1000)
|
||
last_vehicle_update_time = current_time
|
||
|
||
# 生成无人车位置数据
|
||
location_data = generate_unmanned_vehicle_location_data()
|
||
|
||
print(f"返回无人车位置数据，数量: {len(location_data)}")
|
||
return jsonify(location_data)
|
||
|
||
except Exception as e:
|
||
print(f"Error in get_unmanned_vehicle_location: {str(e)}")
|
||
return jsonify([]), 500
|
||
|
||
@app.route('/api/VehicleStateInfo', methods=['POST', 'OPTIONS'])
|
||
def get_unmanned_vehicle_state():
|
||
"""无人车状态查询接口"""
|
||
if request.method == 'OPTIONS':
|
||
return '', 204
|
||
|
||
try:
|
||
data = request.json
|
||
vehicle_id = data.get("vehicleID") if data else None
|
||
is_single = data.get("isSingle", True) if data else False
|
||
|
||
print(f"收到无人车状态查询请求: vehicle_id={vehicle_id}, is_single={is_single}")
|
||
|
||
# 生成无人车状态数据
|
||
state_data = generate_unmanned_vehicle_state_data(vehicle_id, is_single)
|
||
|
||
print(f"返回无人车状态数据，数量: {len(state_data)}")
|
||
return jsonify(state_data)
|
||
|
||
except Exception as e:
|
||
print(f"Error in get_unmanned_vehicle_state: {str(e)}")
|
||
return jsonify([]), 500
|
||
|
||
if __name__ == '__main__':
|
||
app.run(host='localhost', port=8090, debug=True) |