2239 lines
85 KiB
Python
2239 lines
85 KiB
Python
from flask import Flask, jsonify, request
|
||
import time
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||
import math
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||
import random
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import logging
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import os
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import uuid
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# 创建 logs 目录（如果不存在）
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if not os.path.exists('logs'):
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os.makedirs('logs')
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||
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||
# 配置日志
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logging.basicConfig(
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||
level=logging.DEBUG,
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||
format='%(asctime)s - %(levelname)s - %(message)s',
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handlers=[
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||
logging.FileHandler('logs/mock_server.log'),
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logging.StreamHandler()
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]
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)
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app = Flask(__name__)
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||
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# 地球半径（米）
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EARTH_RADIUS = 6378137.0
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||
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COMMAND_PRIORITIES = {
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||
"ALERT": 5,
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"WARNING": 3,
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||
"PARKING": 2,
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"RESUME": 1
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}
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def meters_to_degrees(meters, latitude):
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"""
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将米转换为度，考虑纬度的影响
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"""
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# 纬度方向：1度 = 111,319.9米
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meters_per_deg_lat = 111319.9
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# 经度方向：1度 = 111,319.9 * cos(latitude)米
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meters_per_deg_lon = meters_per_deg_lat * math.cos(math.radians(latitude))
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return meters / meters_per_deg_lat, meters / meters_per_deg_lon
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# 距离配置（米）
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DIST_300M = 300
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DIST_200M = 200
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DIST_150M = 150
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DIST_100M = 100
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DIST_50M = 50
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# 时间配置（秒）
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WAIT_TIME_AFTER_RETURN = 0.1 # 返回起点后的等待时间（进一步优化：减少到0.1秒）
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UPDATE_INTERVAL = 1.0 # 位置更新间隔, 默认 1 秒
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TRAFFIC_LIGHT_SWITCH_INTERVAL = 10.0 # 红绿灯切换间隔
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# 根据 route.md 定义的坐标点
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# 飞机 CA1234 路径
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CA_START = {"longitude": 120.086263, "latitude": 36.370484} # 飞机起点
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CA_END = {"longitude": 120.080996, "latitude": 36.369105} # 飞机终点
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# 飞机 MU5123 路径
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MU_START = {"longitude": 120.088076, "latitude": 36.374179} # 飞机起点
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MU_END = {"longitude": 120.077971, "latitude": 36.371503} # 飞机终点
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# 特勤车 鲁B123 路径
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SPECIAL_VEHICLE_START = {"longitude": 120.080801, "latitude": 36.366626} # 特勤车起点
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SPECIAL_VEHICLE_END = {"longitude": 120.083899, "latitude": 36.367403} # 特勤车终点
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# 普通车 鲁B234 路径
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NORMAL_VEHICLE_START = {"longitude": 120.087259, "latitude": 36.368299} # 普通车起点
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NORMAL_VEHICLE_END = {"longitude": 120.083899, "latitude": 36.367403} # 普通车终点
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# 无人车A 鲁B567 路径
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UNMANNED_A_START = {"longitude": 120.083084, "latitude": 36.369696} # 无人车A起点
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UNMANNED_A_END = {"longitude": 120.084637, "latitude": 36.365617} # 无人车A终点
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# 无人车B 鲁B579 路径
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UNMANNED_B_START = {"longitude": 120.086965, "latitude": 36.368599} # 无人车B起点
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UNMANNED_B_END = {"longitude": 120.086263, "latitude": 36.370484} # 无人车B终点
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# 飞机和车辆尺寸（半径 米）
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AIRCRAFT_SIZE_M = 30.0
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VEHICLE_SIZE_M = 10.0
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# CA3456 航空器路由参数配置
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aircraft_route_params = {
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"CA3456": {
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"arrival": { # 进港参数
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"inRunway": "35",
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"outRunway": "34",
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"contactCross": "F1",
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"seat": "138"
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},
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"departure": { # 出港参数
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"inRunway": "35",
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"outRunway": "34",
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"startSeat": "138"
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}
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},
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"CA1234": {
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"arrival": {
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"inRunway": "17",
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"outRunway": "35",
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"contactCross": "A2",
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"seat": "201"
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},
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"departure": {
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"inRunway": "17",
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"outRunway": "35",
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"startSeat": "201"
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}
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},
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"MU5123": {
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"arrival": {
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"inRunway": "35",
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"outRunway": "17",
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"contactCross": "B3",
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"seat": "156"
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},
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"departure": {
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"inRunway": "35",
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"outRunway": "17",
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"startSeat": "156"
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}
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}
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}
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@app.route('/aircraftRouteParamsController/getRouteParams', methods=['GET', 'OPTIONS'])
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def get_aircraft_route_params():
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"""获取航空器路由查询参数"""
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if request.method == 'OPTIONS':
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return '', 204
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if not check_auth():
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return jsonify({
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"status": 401,
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"msg": "认证失败",
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"data": None
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}), 401
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# 获取航班号和路由类型参数
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flight_no = request.args.get('flightNo')
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route_type = request.args.get('routeType', '').upper() # IN 或 OUT
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if not flight_no:
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return jsonify({
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"status": 400,
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"msg": "缺少flightNo参数",
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"data": None
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}), 400
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if route_type not in ['IN', 'OUT']:
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return jsonify({
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"status": 400,
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"msg": "routeType参数必须是IN或OUT",
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"data": None
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}), 400
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# 查找航班路由参数
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aircraft_params = aircraft_route_params.get(flight_no)
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if not aircraft_params:
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return jsonify({
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"status": 404,
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"msg": f"未找到航班 {flight_no} 的路由参数",
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"data": None
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}), 404
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# 根据路由类型返回对应参数
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if route_type == 'IN':
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route_params = aircraft_params.get('arrival')
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if not route_params:
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return jsonify({
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"status": 404,
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"msg": f"未找到航班 {flight_no} 的进港路由参数",
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"data": None
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||
}), 404
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logging.info(f"进港路由参数查询: flightNo={flight_no}, params={route_params}")
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return jsonify({
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"status": 200,
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"msg": "进港路由参数查询成功",
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"data": {
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"flightNo": flight_no,
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"routeType": "IN",
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"inRunway": route_params["inRunway"],
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"outRunway": route_params["outRunway"],
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"contactCross": route_params["contactCross"],
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"seat": route_params["seat"],
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"timestamp": int(time.time() * 1000)
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}
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})
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else: # OUT
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route_params = aircraft_params.get('departure')
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if not route_params:
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return jsonify({
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"status": 404,
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"msg": f"未找到航班 {flight_no} 的出港路由参数",
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"data": None
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||
}), 404
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logging.info(f"出港路由参数查询: flightNo={flight_no}, params={route_params}")
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return jsonify({
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"status": 200,
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"msg": "出港路由参数查询成功",
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"data": {
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"flightNo": flight_no,
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"routeType": "OUT",
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"inRunway": route_params["inRunway"],
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"outRunway": route_params["outRunway"],
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"startSeat": route_params["startSeat"],
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"timestamp": int(time.time() * 1000)
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}
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})
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ca3456_status = {
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"flightNo": "CA3456",
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"type": "IN", # IN: 进港, ARRIVED: 停留, OUT: 出港
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"inRunway": "35",
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"outRunway": "34",
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"contactCross": "F1",
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||
"seat": "138",
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"timestamp": int(time.time() * 1000),
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"status_start_time": time.time(),
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"cycle_duration": 77, # 总循环时间: 30+15+30+2=77秒
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"arrival_duration": 30, # 进港阶段持续时间
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"wait_duration": 15, # 停留时间(15秒，方便测试)
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"departure_duration": 30 # 出港阶段持续时间
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}
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# 航空器路由数据 - 使用API文档中的完整示例数据
|
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aircraft_routes = {
|
||
"arrival": {
|
||
"type": "IN",
|
||
"status": "COMPLETE",
|
||
"codes": "F1,L4,138",
|
||
"geometry": None,
|
||
"geoPath": {
|
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"type": "FeatureCollection",
|
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"features": [
|
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{
|
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"type": "Feature",
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"geometry": {
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"type": "LineString",
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"coordinates": [
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[4.050742275893088E7, 4026164.644604296],
|
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[4.050742342874898E7, 4026162.545793306]
|
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]
|
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},
|
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"properties": {
|
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"code": "L4"
|
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}
|
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},
|
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{
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"type": "Feature",
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"geometry": {
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"type": "LineString",
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|
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|
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|
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[4.050743757419489E7, 4026113.602043673],
|
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[4.050743755007106E7, 4026112.347252104],
|
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[4.050743733107493E7, 4026109.739264329],
|
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[4.050743688561112E7, 4026107.160287504]
|
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]
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"properties": {
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"code": "L4"
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]
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[4.050726278505515E7, 4026114.415332655],
|
||
[4.050725934642086E7, 4026115.009285077],
|
||
[4.050725586910526E7, 4026115.301280484],
|
||
[4.050725237957282E7, 4026115.289096617],
|
||
[4.050724890438099E7, 4026114.9728262],
|
||
[4.050724546997807E7, 4026114.354876244],
|
||
[4.050724210250195E7, 4026113.43994972],
|
||
[4.050722536188381E7, 4026108.097315812]
|
||
]
|
||
},
|
||
"properties": {
|
||
"code": "F1"
|
||
}
|
||
},
|
||
{
|
||
"type": "Feature",
|
||
"geometry": {
|
||
"type": "LineString",
|
||
"coordinates": [
|
||
[4.050727312768086E7, 4026112.160285922],
|
||
[4.050727144214725E7, 4026112.527790001]
|
||
]
|
||
},
|
||
"properties": {
|
||
"code": "F1"
|
||
}
|
||
},
|
||
{
|
||
"type": "Feature",
|
||
"geometry": {
|
||
"type": "LineString",
|
||
"coordinates": [
|
||
[4.050733913391775E7, 4026097.768664928],
|
||
[4.050731882638656E7, 4026102.196402456]
|
||
]
|
||
},
|
||
"properties": {
|
||
"code": "F1"
|
||
}
|
||
},
|
||
{
|
||
"type": "Feature",
|
||
"geometry": {
|
||
"type": "LineString",
|
||
"coordinates": [
|
||
[4.05074011833275E7, 4026084.239767811],
|
||
[4.050738651815705E7, 4026087.437277401]
|
||
]
|
||
},
|
||
"properties": {
|
||
"code": "F1"
|
||
}
|
||
},
|
||
{
|
||
"type": "Feature",
|
||
"geometry": {
|
||
"type": "LineString",
|
||
"coordinates": [
|
||
[4.05074011833275E7, 4026084.239767811],
|
||
[4.050740376230329E7, 4026083.794303922],
|
||
[4.050740637029002E7, 4026083.5753078],
|
||
[4.050740898743934E7, 4026083.584446135],
|
||
[4.050741162298967E7, 4026083.825606086]
|
||
]
|
||
},
|
||
"properties": {
|
||
"code": "F1"
|
||
}
|
||
},
|
||
{
|
||
"type": "Feature",
|
||
"geometry": {
|
||
"type": "LineString",
|
||
"coordinates": [
|
||
[4.050744870329395E7, 4026226.381394062],
|
||
[4.050744533581797E7, 4026225.466467002],
|
||
[4.050744206089737E7, 4026224.261526533],
|
||
[4.050743890345625E7, 4026222.775742978],
|
||
[4.050743588752466E7, 4026221.020424048],
|
||
[4.050743303605565E7, 4026219.00892878],
|
||
[4.050743037075064E7, 4026216.756565868],
|
||
[4.050742791189419E7, 4026214.280477153],
|
||
[4.050742567819968E7, 4026211.599507165],
|
||
[4.050742368666689E7, 4026208.734059705],
|
||
[4.050742195245258E7, 4026205.705942559],
|
||
[4.050742048875517E7, 4026202.538201526],
|
||
[4.050741930671428E7, 4026199.254945029],
|
||
[4.050741841532595E7, 4026195.88116063],
|
||
[4.050741782137419E7, 4026192.442524868],
|
||
[4.050741752937933E7, 4026188.965207836],
|
||
[4.050741754156362E7, 4026185.475674017],
|
||
[4.050741785783435E7, 4026182.000480871],
|
||
[4.050741847578449E7, 4026178.566076715],
|
||
[4.050741939071107E7, 4026175.198599438]
|
||
]
|
||
},
|
||
"properties": {
|
||
"code": ""
|
||
}
|
||
},
|
||
{
|
||
"type": "Feature",
|
||
"geometry": {
|
||
"type": "LineString",
|
||
"coordinates": [
|
||
[4.050684675534101E7, 4025987.268076611],
|
||
[4.050685643844293E7, 4025990.358360866],
|
||
[4.050689454491971E7, 4026002.519737061]
|
||
]
|
||
},
|
||
"properties": {
|
||
"code": "F1"
|
||
}
|
||
},
|
||
{
|
||
"type": "Feature",
|
||
"geometry": {
|
||
"type": "LineString",
|
||
"coordinates": [
|
||
[4.050703137036284E7, 4026046.18647901],
|
||
[4.05070295640735E7, 4026045.610016264],
|
||
[4.050701981996215E7, 4026042.500261312],
|
||
[4.050697623399237E7, 4026028.590148907],
|
||
[4.050697552118288E7, 4026028.362661481]
|
||
]
|
||
},
|
||
"properties": {
|
||
"code": "F1"
|
||
}
|
||
},
|
||
{
|
||
"type": "Feature",
|
||
"geometry": {
|
||
"type": "LineString",
|
||
"coordinates": [
|
||
[4.050704840096232E7, 4026051.621473066],
|
||
[4.050704221346159E7, 4026049.646966941]
|
||
]
|
||
},
|
||
"properties": {
|
||
"code": "F1"
|
||
}
|
||
},
|
||
{
|
||
"type": "Feature",
|
||
"geometry": {
|
||
"type": "LineString",
|
||
"coordinates": [
|
||
[4.050710556055213E7, 4026069.863682419],
|
||
[4.050708746004742E7, 4026064.087051627]
|
||
]
|
||
},
|
||
"properties": {
|
||
"code": "F1"
|
||
}
|
||
}
|
||
]
|
||
}
|
||
}
|
||
}
|
||
|
||
# 飞机数据 - 根据 route.md 配置
|
||
aircraft_data = [
|
||
{
|
||
"flightNo": "CA1234", # 根据route.md更新航班号
|
||
"longitude": CA_START["longitude"],
|
||
"latitude": CA_START["latitude"],
|
||
"time": int(time.time() * 1000),
|
||
"altitude": 0.0,
|
||
"trackNumber": 1001,
|
||
"speed": 50.0, # 根据route.md设置为50km/h
|
||
"start_point": CA_START, # 起点
|
||
"end_point": CA_END, # 终点
|
||
"moving_to_end": True # 当前是否向终点移动
|
||
},
|
||
{
|
||
"flightNo": "MU5123", # 根据route.md更新航班号
|
||
"longitude": MU_START["longitude"],
|
||
"latitude": MU_START["latitude"],
|
||
"time": int(time.time() * 1000),
|
||
"altitude": 0.0,
|
||
"trackNumber": 1002,
|
||
"speed": 50.0, # 根据route.md设置为50km/h
|
||
"start_point": MU_START, # 起点
|
||
"end_point": MU_END, # 终点
|
||
"moving_to_end": True # 当前是否向终点移动
|
||
}
|
||
]
|
||
|
||
# 车辆数据，根据 route.md 配置
|
||
DEFAULT_VEHICLE_SPEED = 30.0 # km/h，默认速度
|
||
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%)
|
||
|
||
vehicle_data = [
|
||
{
|
||
"vehicleNo": "鲁B123", # 特勤车，根据route.md更新
|
||
"longitude": SPECIAL_VEHICLE_START["longitude"],
|
||
"latitude": SPECIAL_VEHICLE_START["latitude"],
|
||
"time": int(time.time() * 1000),
|
||
"direction": 0.0, # 方向角
|
||
"speed": 30.0, # 根据route.md设置为30km/h
|
||
"start_point": SPECIAL_VEHICLE_START, # 起点
|
||
"end_point": SPECIAL_VEHICLE_END, # 终点
|
||
"moving_to_end": True # 当前是否向终点移动
|
||
},
|
||
{
|
||
"vehicleNo": "鲁B234", # 普通车，根据route.md更新
|
||
"longitude": NORMAL_VEHICLE_START["longitude"],
|
||
"latitude": NORMAL_VEHICLE_START["latitude"],
|
||
"time": int(time.time() * 1000),
|
||
"direction": 180.0, # 根据route.md设置为180度
|
||
"speed": 30.0, # 根据route.md设置为30km/h
|
||
"start_point": NORMAL_VEHICLE_START, # 起点
|
||
"end_point": NORMAL_VEHICLE_END, # 终点
|
||
"moving_to_end": True # 当前是否向终点移动
|
||
},
|
||
{
|
||
"vehicleNo": "鲁B567", # 无人车A，根据route.md更新
|
||
"longitude": UNMANNED_A_START["longitude"],
|
||
"latitude": UNMANNED_A_START["latitude"],
|
||
"time": int(time.time() * 1000),
|
||
"direction": 90.0, # 根据route.md设置为90度
|
||
"speed": 25.0, # 根据route.md设置为25km/h
|
||
"start_point": UNMANNED_A_START, # 起点
|
||
"end_point": UNMANNED_A_END, # 终点
|
||
"moving_to_end": True # 当前是否向终点移动
|
||
},
|
||
{
|
||
"vehicleNo": "鲁B579", # 无人车B，根据route.md更新
|
||
"longitude": UNMANNED_B_START["longitude"],
|
||
"latitude": UNMANNED_B_START["latitude"],
|
||
"time": int(time.time() * 1000),
|
||
"direction": 270.0, # 根据route.md设置为270度
|
||
"speed": 25.0, # 根据route.md设置为25km/h
|
||
"start_point": UNMANNED_B_START, # 起点
|
||
"end_point": UNMANNED_B_END, # 终点
|
||
"moving_to_end": True # 当前是否向终点移动
|
||
}
|
||
]
|
||
|
||
# 车辆分类
|
||
airport_vehicle_data = [v for v in vehicle_data if v["vehicleNo"] in ["鲁B123", "鲁B234"]] # 特勤车和普通车
|
||
unmanned_vehicle_data = [v for v in vehicle_data if v["vehicleNo"] in ["鲁B567", "鲁B579"]] # 无人车
|
||
|
||
# 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）"""
|
||
# 转换为弧度
|
||
lat1_rad = math.radians(vehicle["latitude"])
|
||
lon1_rad = math.radians(vehicle["longitude"])
|
||
lat2_rad = math.radians(target_lat)
|
||
lon2_rad = math.radians(target_lon)
|
||
|
||
dlat = lat2_rad - lat1_rad
|
||
dlon = lon2_rad - lon1_rad
|
||
|
||
# 使用 Haversine 公式计算距离
|
||
a = math.sin(dlat/2) * math.sin(dlat/2) + \
|
||
math.cos(lat1_rad) * math.cos(lat2_rad) * \
|
||
math.sin(dlon/2) * math.sin(dlon/2)
|
||
c = 2 * math.atan2(math.sqrt(a), math.sqrt(1-a))
|
||
return EARTH_RADIUS * 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（鲁B123）只响应红绿灯信号
|
||
if vehicle_id == "鲁B123":
|
||
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
|
||
# 注释掉：不再直接设置车辆速度为0，让位置更新逻辑统一处理
|
||
# 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")
|
||
# 注释掉：不再直接设置车辆速度，让位置更新逻辑统一处理
|
||
# 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
|
||
|
||
# 删除了复杂的红绿灯和路口计算函数，因为已简化为往复运动逻辑
|
||
|
||
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5米的判断距离转换为经纬度（优化：从15米减少到5米，减少颤抖）
|
||
check_dlat, check_dlon = meters_to_degrees(5, 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):
|
||
# 精确设置到目标点位置，避免位置偏差
|
||
obj["latitude"] = target_point["latitude"]
|
||
obj["longitude"] = target_point["longitude"]
|
||
|
||
if return_to_start:
|
||
# 返回起点并设置等待时间
|
||
obj["wait_until"] = current_time + WAIT_TIME_AFTER_RETURN
|
||
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:
|
||
# 设置短暂等待时间，避免立即切换方向导致的颤抖
|
||
obj["wait_until"] = current_time + 0.1 # 0.1秒的短暂等待
|
||
print(f"对象 {obj.get('flightNo', obj.get('vehicleNo'))} 到达目标点，等待0.1秒后切换方向")
|
||
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_object_position(obj, elapsed_time):
|
||
"""统一的位置更新函数 - 用于飞机和车辆的往复运动"""
|
||
# 获取对象类型和标识
|
||
obj_type = "航空器" if "flightNo" in obj else "车辆"
|
||
obj_id = obj.get("flightNo", obj.get("vehicleNo"))
|
||
|
||
# 根据移动方向确定目标点
|
||
if obj["moving_to_end"]:
|
||
target_point = obj["end_point"]
|
||
else:
|
||
target_point = obj["start_point"]
|
||
|
||
# 更新位置
|
||
reached_target = update_position_with_vector(
|
||
obj,
|
||
target_point,
|
||
obj["start_point"] if obj["moving_to_end"] else obj["end_point"],
|
||
obj["speed"],
|
||
elapsed_time,
|
||
return_to_start=False
|
||
)
|
||
|
||
if reached_target:
|
||
# 切换移动方向
|
||
obj["moving_to_end"] = not obj["moving_to_end"]
|
||
target_name = "终点" if not obj["moving_to_end"] else "起点"
|
||
print(f"{obj_type} {obj_id} 到达{'终点' if obj['moving_to_end'] else '起点'}，开始前往{target_name}")
|
||
# 注意：等待时间已经在update_position_with_vector中设置了，不需要重复设置
|
||
|
||
# 更新时间戳
|
||
obj["time"] = int(time.time() * 1000)
|
||
|
||
def update_aircraft_position(aircraft, elapsed_time):
|
||
"""更新航空器位置 - 使用统一的位置更新函数"""
|
||
update_object_position(aircraft, elapsed_time)
|
||
|
||
def update_vehicle_position(vehicle, elapsed_time):
|
||
"""更新车辆位置 - 使用统一的位置更新函数"""
|
||
update_object_position(vehicle, elapsed_time)
|
||
|
||
# 简化的路口信息（保留API兼容性）
|
||
INTERSECTIONS = {
|
||
"TL001": {
|
||
"id": "INT001",
|
||
"name": "路口1",
|
||
"latitude": 36.369696,
|
||
"longitude": 120.083084
|
||
},
|
||
"TL002": {
|
||
"id": "INT002",
|
||
"name": "路口2",
|
||
"latitude": 36.365617,
|
||
"longitude": 120.084637
|
||
}
|
||
}
|
||
|
||
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、机场车辆和无人车的上次更新时间
|
||
last_aircraft_update_time = time.time()
|
||
last_vehicle_update_time = time.time() # 机场车辆更新时间
|
||
last_unmanned_vehicle_update_time = time.time() # 无人车更新时间
|
||
last_light_switch_time = time.time()
|
||
|
||
def check_auth():
|
||
auth_header = request.headers.get('Authorization')
|
||
|
||
if not auth_header:
|
||
print("认证失败: 缺少Authorization头")
|
||
return False
|
||
|
||
# 检查是否包含Bearer前缀
|
||
if not auth_header.startswith('Bearer '):
|
||
print("认证失败: 不是Bearer格式")
|
||
return False
|
||
|
||
# 提取token部分
|
||
token = auth_header[7:] # 去掉 "Bearer " 前缀
|
||
expected_token = AUTH_TOKEN[7:] # 去掉 "Bearer " 前缀
|
||
|
||
result = token == expected_token
|
||
#print(f"认证结果: {result}")
|
||
return result
|
||
|
||
@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": round(aircraft["longitude"], 6), # 经纬度保留6位小数
|
||
"latitude": round(aircraft["latitude"], 6), # 经纬度保留6位小数
|
||
"time": aircraft["time"]
|
||
}
|
||
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（仅机场车辆）"""
|
||
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:
|
||
# 只在达到更新间隔时更新位置
|
||
if elapsed_time >= UPDATE_INTERVAL:
|
||
for vehicle in airport_vehicle_data:
|
||
update_vehicle_position(vehicle, UPDATE_INTERVAL)
|
||
vehicle["time"] = int(current_time * 1000)
|
||
last_vehicle_update_time = current_time
|
||
response_data = []
|
||
for v in airport_vehicle_data:
|
||
v_out = {
|
||
"vehicleNo": v.get("vehicleNo"),
|
||
"longitude": round(v.get("longitude"), 6), # 经纬度保留6位小数
|
||
"latitude": round(v.get("latitude"), 6), # 经纬度保留6位小数
|
||
"time": v.get("time")
|
||
}
|
||
response_data.append(v_out)
|
||
return jsonify({
|
||
"status": 200,
|
||
"msg": "当前车辆实时位置数据",
|
||
"data": response_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
|
||
|
||
# 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
|
||
|
||
# 支持多种方式获取用户名和密码
|
||
username = None
|
||
password = None
|
||
|
||
# 优先从 URL query parameters 中获取（符合API文档示例）
|
||
username = request.args.get('username')
|
||
password = request.args.get('password')
|
||
|
||
# 如果query参数中没有，尝试从form data中获取
|
||
if not username or not password:
|
||
username = request.form.get('username') or username
|
||
password = request.form.get('password') or password
|
||
|
||
# 如果form data中也没有，尝试从JSON body中获取
|
||
if not username or not password:
|
||
try:
|
||
json_data = request.get_json(silent=True)
|
||
if json_data:
|
||
username = json_data.get('username') or username
|
||
password = json_data.get('password') or password
|
||
except:
|
||
pass
|
||
|
||
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}")
|
||
print(f"请求表单: {request.form}")
|
||
print(f"请求JSON: {request.get_json(silent=True)}")
|
||
|
||
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 unmanned_vehicle_data:
|
||
location_info = {
|
||
"transId": str(uuid.uuid4()),
|
||
"timestamp": int(time.time() * 1000),
|
||
"vehicleID": vehicle["vehicleNo"],
|
||
"longitude": round(vehicle.get("longitude"), 6), # 经纬度保留6位小数
|
||
"latitude": round(vehicle.get("latitude"), 6) # 经纬度保留6位小数
|
||
}
|
||
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 unmanned_vehicle_data:
|
||
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:
|
||
current_time = time.time()
|
||
global last_unmanned_vehicle_update_time
|
||
elapsed_time = current_time - last_unmanned_vehicle_update_time
|
||
if elapsed_time >= UPDATE_INTERVAL:
|
||
for vehicle in unmanned_vehicle_data:
|
||
update_vehicle_position(vehicle, UPDATE_INTERVAL)
|
||
vehicle["time"] = int(current_time * 1000)
|
||
last_unmanned_vehicle_update_time = current_time
|
||
# 生成无人车位置数据
|
||
location_data = generate_unmanned_vehicle_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
|
||
|
||
def update_ca3456_status():
|
||
"""更新CA3456航空器状态 - 进港->停留1分钟->出港循环"""
|
||
global ca3456_status
|
||
current_time = time.time()
|
||
elapsed_time = current_time - ca3456_status["status_start_time"]
|
||
|
||
# 计算当前在循环中的位置
|
||
cycle_time = elapsed_time % ca3456_status["cycle_duration"]
|
||
|
||
if cycle_time < ca3456_status["arrival_duration"]:
|
||
# 进港阶段
|
||
ca3456_status["type"] = "IN"
|
||
logging.info(f"CA3456 进港阶段: {cycle_time:.1f}s")
|
||
elif cycle_time < ca3456_status["arrival_duration"] + ca3456_status["wait_duration"]:
|
||
# 停留阶段
|
||
ca3456_status["type"] = "ARRIVED"
|
||
logging.info(f"CA3456 停留阶段: {cycle_time:.1f}s")
|
||
else:
|
||
# 出港阶段
|
||
ca3456_status["type"] = "OUT"
|
||
logging.info(f"CA3456 出港阶段: {cycle_time:.1f}s")
|
||
|
||
ca3456_status["timestamp"] = int(current_time * 1000)
|
||
|
||
# 新增API端点
|
||
|
||
@app.route('/userInfoController/refreshToken', methods=['GET', 'OPTIONS'])
|
||
def refresh_token():
|
||
"""Token刷新接口"""
|
||
if request.method == 'OPTIONS':
|
||
return '', 204
|
||
|
||
if not check_auth():
|
||
return jsonify({
|
||
"status": 401,
|
||
"msg": "认证失败",
|
||
"data": None
|
||
}), 401
|
||
|
||
# 返回新的token（实际上还是同一个）
|
||
return jsonify({
|
||
"status": 200,
|
||
"msg": "Token刷新成功",
|
||
"data": {
|
||
"token": "Bearer dianxin-token-2024",
|
||
"expiresIn": 86400 # 24小时过期
|
||
}
|
||
})
|
||
|
||
@app.route('/runwayPathPlanningController/findArrTaxiwayByRunwayAndContactCrossAndSeat', methods=['GET', 'OPTIONS'])
|
||
def get_arrival_taxiway_route():
|
||
"""获取进港滑行路线"""
|
||
if request.method == 'OPTIONS':
|
||
return '', 204
|
||
|
||
if not check_auth():
|
||
return jsonify({
|
||
"status": 401,
|
||
"msg": "认证失败",
|
||
"data": None
|
||
}), 401
|
||
|
||
# 获取请求参数
|
||
in_runway = request.args.get('inRunway', '35')
|
||
out_runway = request.args.get('outRunway', '34')
|
||
contact_cross = request.args.get('contactCross', 'F1')
|
||
seat = request.args.get('seat', '138')
|
||
|
||
logging.info(f"进港路线查询: inRunway={in_runway}, outRunway={out_runway}, contactCross={contact_cross}, seat={seat}")
|
||
|
||
# 返回进港路线数据
|
||
return jsonify({
|
||
"status": 200,
|
||
"msg": "进港滑行路线查询成功",
|
||
"data": aircraft_routes["arrival"]
|
||
})
|
||
|
||
@app.route('/runwayPathPlanningController/findDepTaxiwayByRunwayAndContactCrossAndSeat', methods=['GET', 'OPTIONS'])
|
||
def get_departure_taxiway_route():
|
||
"""获取出港滑行路线"""
|
||
if request.method == 'OPTIONS':
|
||
return '', 204
|
||
|
||
if not check_auth():
|
||
return jsonify({
|
||
"status": 401,
|
||
"msg": "认证失败",
|
||
"data": None
|
||
}), 401
|
||
|
||
# 获取请求参数
|
||
in_runway = request.args.get('inRunway', '35')
|
||
out_runway = request.args.get('outRunway', '34')
|
||
start_seat = request.args.get('startSeat', '138')
|
||
|
||
logging.info(f"出港路线查询: inRunway={in_runway}, outRunway={out_runway}, startSeat={start_seat}")
|
||
|
||
# 返回出港路线数据
|
||
return jsonify({
|
||
"status": 200,
|
||
"msg": "出港滑行路线查询成功",
|
||
"data": aircraft_routes["departure"]
|
||
})
|
||
|
||
@app.route('/aircraftStatusController/getAircraftStatus', methods=['GET', 'OPTIONS'])
|
||
def get_aircraft_status():
|
||
"""获取航空器状态"""
|
||
if request.method == 'OPTIONS':
|
||
return '', 204
|
||
|
||
if not check_auth():
|
||
return jsonify({
|
||
"status": 401,
|
||
"msg": "认证失败",
|
||
"data": None
|
||
}), 401
|
||
|
||
# 更新CA3456状态
|
||
update_ca3456_status()
|
||
|
||
# 返回当前状态
|
||
return jsonify({
|
||
"status": 200,
|
||
"msg": "航空器状态查询成功",
|
||
"data": {
|
||
"type": ca3456_status["type"],
|
||
"flightNo": ca3456_status["flightNo"],
|
||
"inRunway": ca3456_status["inRunway"],
|
||
"outRunway": ca3456_status["outRunway"],
|
||
"contactCross": ca3456_status["contactCross"],
|
||
"seat": ca3456_status["seat"],
|
||
"timestamp": ca3456_status["timestamp"]
|
||
}
|
||
})
|
||
|
||
if __name__ == '__main__':
|
||
app.run(host='localhost', port=8090, debug=True) |