2793660631@qq.com
3 weeks ago
parent
bcae26adb0
commit
e7799487f4
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
@ -1,32 +0,0 @@
|
||||
# 应用环境
|
||||
ENVIRONMENT=development # development, testing, production
|
||||
|
||||
# 日志配置
|
||||
LOG_LEVEL=INFO # DEBUG, INFO, WARNING, ERROR, CRITICAL
|
||||
|
||||
# Web服务器配置
|
||||
WEB_HOST=0.0.0.0
|
||||
WEB_PORT=8080
|
||||
|
||||
# 通信服务器配置
|
||||
COMM_HOST=0.0.0.0
|
||||
COMM_PORT=5000
|
||||
|
||||
# 无人机连接配置
|
||||
DRONE_CONNECTION_STRING=udpin:localhost:14550
|
||||
|
||||
# 基地位置
|
||||
BASE_LATITUDE=39.9
|
||||
BASE_LONGITUDE=116.3
|
||||
|
||||
# 飞行参数
|
||||
DEFAULT_ALTITUDE=10.0
|
||||
DEFAULT_AIRSPEED=3.0
|
||||
|
||||
# 安全设置
|
||||
ENABLE_GEO_FENCE=True
|
||||
MAX_DISTANCE_FROM_BASE=5000.0
|
||||
MIN_BATTERY_LEVEL=30.0
|
||||
|
||||
# 其他配置
|
||||
ENABLE_SIMULATION=True
|
||||
Binary file not shown.
Binary file not shown.
Binary file not shown.
|
Before Width: | Height: | Size: 73 KiB |
|
Before Width: | Height: | Size: 36 KiB |
|
Before Width: | Height: | Size: 80 KiB |
|
Before Width: | Height: | Size: 54 KiB |
|
Before Width: | Height: | Size: 200 KiB |
|
Before Width: | Height: | Size: 92 KiB |
|
Before Width: | Height: | Size: 79 KiB |
|
Before Width: | Height: | Size: 133 KiB |
|
Before Width: | Height: | Size: 148 KiB |
|
Before Width: | Height: | Size: 32 KiB |
|
Before Width: | Height: | Size: 66 KiB |
@ -1,3 +0,0 @@
|
||||
"""
|
||||
Config package initialization
|
||||
"""
|
||||
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
@ -1,110 +0,0 @@
|
||||
import os
|
||||
import logging
|
||||
|
||||
# 基础配置
|
||||
class Config:
|
||||
"""基础配置类"""
|
||||
|
||||
# 应用配置
|
||||
APP_NAME = "智能战场医疗后送系统"
|
||||
VERSION = "1.0.0"
|
||||
|
||||
# 日志配置
|
||||
LOG_LEVEL = "INFO"
|
||||
LOG_FORMAT = "%(asctime)s - %(name)s - %(levelname)s - %(message)s"
|
||||
|
||||
# Web服务器配置
|
||||
WEB_HOST = "0.0.0.0"
|
||||
WEB_PORT = 8080
|
||||
|
||||
# 通信服务器配置
|
||||
COMM_HOST = "0.0.0.0"
|
||||
COMM_PORT = 5000
|
||||
|
||||
# 无人机连接配置
|
||||
DRONE_CONNECTION_STRING = "udpin:localhost:14550"
|
||||
|
||||
# 基地位置（纬度、经度）
|
||||
BASE_LATITUDE = 39.9
|
||||
BASE_LONGITUDE = 116.3
|
||||
|
||||
# 飞行参数
|
||||
DEFAULT_ALTITUDE = 10.0 # 默认飞行高度（米）
|
||||
DEFAULT_AIRSPEED = 3.0 # 默认空速（米/秒）
|
||||
|
||||
# 安全设置
|
||||
ENABLE_GEO_FENCE = True
|
||||
MAX_DISTANCE_FROM_BASE = 5000.0 # 最大飞行距离（米）
|
||||
MIN_BATTERY_LEVEL = 30.0 # 最低电量百分比
|
||||
|
||||
# 伤员检测配置
|
||||
CASUALTY_DETECTOR_MODEL_PATH = "models/yolov5s.pt"
|
||||
DETECTION_THRESHOLD = 0.5 # 检测阈值
|
||||
|
||||
# 其他配置
|
||||
ENABLE_SIMULATION = True
|
||||
|
||||
@staticmethod
|
||||
def get_log_level():
|
||||
"""获取日志级别"""
|
||||
level_map = {
|
||||
"DEBUG": logging.DEBUG,
|
||||
"INFO": logging.INFO,
|
||||
"WARNING": logging.WARNING,
|
||||
"ERROR": logging.ERROR,
|
||||
"CRITICAL": logging.CRITICAL
|
||||
}
|
||||
return level_map.get(Config.LOG_LEVEL, logging.INFO)
|
||||
|
||||
@staticmethod
|
||||
def setup_logging():
|
||||
"""设置日志"""
|
||||
logging.basicConfig(
|
||||
level=Config.get_log_level(),
|
||||
format=Config.LOG_FORMAT
|
||||
)
|
||||
|
||||
# 降低第三方库的日志级别
|
||||
logging.getLogger("werkzeug").setLevel(logging.WARNING)
|
||||
logging.getLogger("socketio").setLevel(logging.WARNING)
|
||||
logging.getLogger("engineio").setLevel(logging.WARNING)
|
||||
logging.getLogger("geventwebsocket").setLevel(logging.WARNING)
|
||||
|
||||
logging.info(f"日志系统已初始化: 级别={Config.LOG_LEVEL}")
|
||||
|
||||
|
||||
class DevelopmentConfig(Config):
|
||||
"""开发环境配置"""
|
||||
ENABLE_SIMULATION = True
|
||||
LOG_LEVEL = "DEBUG"
|
||||
|
||||
|
||||
class ProductionConfig(Config):
|
||||
"""生产环境配置"""
|
||||
ENABLE_SIMULATION = False
|
||||
LOG_LEVEL = "INFO"
|
||||
|
||||
|
||||
class TestingConfig(Config):
|
||||
"""测试环境配置"""
|
||||
ENABLE_SIMULATION = True
|
||||
LOG_LEVEL = "DEBUG"
|
||||
WEB_PORT = 8081
|
||||
COMM_PORT = 5001
|
||||
|
||||
|
||||
# 根据环境变量选择配置
|
||||
def get_config():
|
||||
"""获取当前环境的配置"""
|
||||
env = os.environ.get("ENVIRONMENT", "development").lower()
|
||||
|
||||
if env == "production":
|
||||
return ProductionConfig()
|
||||
elif env == "testing":
|
||||
return TestingConfig()
|
||||
else:
|
||||
return DevelopmentConfig()
|
||||
|
||||
|
||||
# 导出当前配置
|
||||
current_config = get_config()
|
||||
@ -1,29 +0,0 @@
|
||||
import os
|
||||
import logging
|
||||
|
||||
# 数据库配置
|
||||
class DatabaseConfig:
|
||||
"""数据库配置类"""
|
||||
|
||||
# SQLite配置
|
||||
SQLITE_DATABASE_PATH = os.path.join(os.getcwd(), 'battlefield_medical_system.db')
|
||||
|
||||
# 初始化配置
|
||||
def __init__(self):
|
||||
self.logger = logging.getLogger(__name__)
|
||||
self.logger.info("初始化数据库配置 - 使用SQLite")
|
||||
|
||||
# SQLAlchemy配置
|
||||
@property
|
||||
def SQLALCHEMY_DATABASE_URI(self):
|
||||
return f"sqlite:///{self.SQLITE_DATABASE_PATH}"
|
||||
|
||||
SQLALCHEMY_TRACK_MODIFICATIONS = False
|
||||
SQLALCHEMY_ECHO = False
|
||||
|
||||
def get_database_uri(self):
|
||||
"""获取数据库URI"""
|
||||
return self.SQLALCHEMY_DATABASE_URI
|
||||
|
||||
# 导出当前配置
|
||||
db_config = DatabaseConfig()
|
||||
@ -1,14 +0,0 @@
|
||||
with open('.env', 'w', encoding='utf-8') as f:
|
||||
f.write('''# MySQL数据库配置
|
||||
MYSQL_HOST=localhost
|
||||
MYSQL_PORT=3306
|
||||
MYSQL_USER=root
|
||||
MYSQL_PASSWORD=
|
||||
MYSQL_DATABASE=battlefield_medical_system
|
||||
SQLALCHEMY_ECHO=False
|
||||
|
||||
# 基本配置
|
||||
ENABLE_SIMULATION=True
|
||||
''')
|
||||
|
||||
print("已创建.env文件")
|
||||
@ -1,168 +0,0 @@
|
||||
import cv2
|
||||
import numpy as np
|
||||
import os
|
||||
import random
|
||||
|
||||
# 创建目录
|
||||
os.makedirs('test_images', exist_ok=True)
|
||||
os.makedirs('src/ui/static/training_images', exist_ok=True)
|
||||
|
||||
def create_battlefield_scene(width=800, height=600, file_path="", for_training=False):
|
||||
"""创建战场场景图片"""
|
||||
# 背景 - 草地/沙地
|
||||
background = np.ones((height, width, 3), dtype=np.uint8) * 150
|
||||
|
||||
# 添加一些纹理
|
||||
for i in range(0, height, 5):
|
||||
for j in range(0, width, 5):
|
||||
val = np.random.randint(120, 180)
|
||||
background[i:i+5, j:j+5] = [val-30, val, val-50] # 草地/沙地颜色
|
||||
|
||||
# 添加几个可能是"伤员"的物体
|
||||
casualties = []
|
||||
|
||||
# 随机伤员数量
|
||||
casualties_count = random.randint(1, 5)
|
||||
|
||||
for i in range(casualties_count):
|
||||
# 随机位置
|
||||
x = random.randint(100, width-100)
|
||||
y = random.randint(100, height-100)
|
||||
|
||||
# 随机尺寸
|
||||
body_width = random.randint(40, 70)
|
||||
body_height = random.randint(25, 45)
|
||||
head_size = random.randint(15, 25)
|
||||
|
||||
# 随机角度
|
||||
angle = random.randint(0, 360)
|
||||
|
||||
# 随机颜色 - 模拟不同肤色和衣服
|
||||
body_color = (
|
||||
random.randint(20, 40),
|
||||
random.randint(20, 40),
|
||||
random.randint(80, 120)
|
||||
)
|
||||
|
||||
head_color = (
|
||||
random.randint(60, 90),
|
||||
random.randint(60, 90),
|
||||
random.randint(130, 170)
|
||||
)
|
||||
|
||||
# 绘制伤员
|
||||
cv2.ellipse(background, (x, y), (body_width, body_height), angle, 0, 360, body_color, -1)
|
||||
|
||||
# 计算头部位置 - 考虑角度
|
||||
head_offset_x = int(np.cos(np.radians(angle)) * (body_width + head_size/2))
|
||||
head_offset_y = int(np.sin(np.radians(angle)) * (body_height + head_size/2))
|
||||
head_x = x + head_offset_x
|
||||
head_y = y + head_offset_y
|
||||
|
||||
# 确保头部在图像范围内
|
||||
head_x = max(head_size, min(width-head_size, head_x))
|
||||
head_y = max(head_size, min(height-head_size, head_y))
|
||||
|
||||
cv2.circle(background, (head_x, head_y), head_size, head_color, -1)
|
||||
|
||||
# 保存伤员坐标 - 用于训练标注
|
||||
if for_training:
|
||||
# 计算伤员边界框 (xmin, ymin, xmax, ymax)
|
||||
xmin = max(0, x - body_width)
|
||||
ymin = max(0, y - body_height)
|
||||
xmax = min(width, x + body_width)
|
||||
ymax = min(height, y + body_height)
|
||||
|
||||
# 调整确保头部也在边界框内
|
||||
xmin = min(xmin, head_x - head_size)
|
||||
ymin = min(ymin, head_y - head_size)
|
||||
xmax = max(xmax, head_x + head_size)
|
||||
ymax = max(ymax, head_y + head_size)
|
||||
|
||||
# 存储为像素坐标
|
||||
casualties.append({
|
||||
'x': int(xmin),
|
||||
'y': int(ymin),
|
||||
'width': int(xmax - xmin),
|
||||
'height': int(ymax - ymin),
|
||||
'class': 'casualty'
|
||||
})
|
||||
|
||||
# 添加一些其他物体 - 障碍物、车辆等
|
||||
for _ in range(random.randint(3, 8)):
|
||||
x = np.random.randint(50, width-50)
|
||||
y = np.random.randint(50, height-50)
|
||||
size = np.random.randint(10, 60)
|
||||
color = (
|
||||
np.random.randint(0, 100),
|
||||
np.random.randint(0, 100),
|
||||
np.random.randint(0, 100)
|
||||
)
|
||||
shape_type = random.choice(['circle', 'rectangle'])
|
||||
|
||||
if shape_type == 'circle':
|
||||
cv2.circle(background, (x, y), size, color, -1)
|
||||
else:
|
||||
rect_width = random.randint(size//2, size*2)
|
||||
rect_height = random.randint(size//2, size*2)
|
||||
cv2.rectangle(
|
||||
background,
|
||||
(x-rect_width//2, y-rect_height//2),
|
||||
(x+rect_width//2, y+rect_height//2),
|
||||
color,
|
||||
-1
|
||||
)
|
||||
|
||||
# 添加一些模糊和噪声
|
||||
background = cv2.GaussianBlur(background, (5, 5), 0)
|
||||
|
||||
# 添加一些噪声
|
||||
noise = np.zeros(background.shape, np.uint8)
|
||||
cv2.randn(noise, (0, 0, 0), (10, 10, 10))
|
||||
background = cv2.add(background, noise)
|
||||
|
||||
# 保存图像
|
||||
cv2.imwrite(file_path, background)
|
||||
|
||||
return casualties
|
||||
|
||||
# 创建基本测试图像
|
||||
create_battlefield_scene(
|
||||
width=800,
|
||||
height=600,
|
||||
file_path='test_images/battlefield_scene.jpg',
|
||||
for_training=False
|
||||
)
|
||||
print("测试图像已创建: test_images/battlefield_scene.jpg")
|
||||
|
||||
# 创建用于训练的图像和标注
|
||||
training_count = 10 # 生成10张训练用图片
|
||||
for i in range(training_count):
|
||||
# 生成图片文件名
|
||||
img_filename = f"battlefield_training_{i+1}.jpg"
|
||||
img_path = f"src/ui/static/training_images/{img_filename}"
|
||||
|
||||
# 生成图片和标注
|
||||
casualties = create_battlefield_scene(
|
||||
width=1024,
|
||||
height=768,
|
||||
file_path=img_path,
|
||||
for_training=True
|
||||
)
|
||||
|
||||
# 保存标注信息到JSON文件
|
||||
if casualties:
|
||||
import json
|
||||
|
||||
# 确保标注目录存在
|
||||
os.makedirs('src/ui/static/annotations', exist_ok=True)
|
||||
|
||||
# 创建标注文件名和图像ID
|
||||
image_id = f"img_{int(i+1)}"
|
||||
annotation_path = f"src/ui/static/annotations/{image_id}.json"
|
||||
|
||||
# 保存标注
|
||||
with open(annotation_path, 'w', encoding='utf-8') as f:
|
||||
json.dump(casualties, f, ensure_ascii=False, indent=2)
|
||||
|
||||
print(f"已生成 {training_count} 张训练图片和标注，位于 src/ui/static/training_images/ 和 src/ui/static/annotations/")
|
||||
@ -1,89 +0,0 @@
|
||||
#!/bin/bash
|
||||
|
||||
# 确保目录结构存在
|
||||
mkdir -p src/drone/
|
||||
mkdir -p src/communication/
|
||||
mkdir -p src/positioning/
|
||||
mkdir -p src/ui/templates/
|
||||
mkdir -p src/ui/static/css/
|
||||
mkdir -p src/ui/static/js/
|
||||
mkdir -p src/ui/static/img/
|
||||
mkdir -p config/
|
||||
mkdir -p tests/
|
||||
|
||||
# 创建空的__init__.py文件确保模块可以被导入
|
||||
touch src/__init__.py
|
||||
touch src/drone/__init__.py
|
||||
touch src/communication/__init__.py
|
||||
touch src/positioning/__init__.py
|
||||
touch src/ui/__init__.py
|
||||
touch config/__init__.py
|
||||
touch tests/__init__.py
|
||||
|
||||
# 创建无人机和伤员图标
|
||||
echo "创建示例图标..."
|
||||
# 无人机图标
|
||||
cat > src/ui/static/img/drone.png << EOF
|
||||
iVBORw0KGgoAAAANSUhEUgAAACAAAAAgCAYAAABzenr0AAAA
|
||||
AXNSR0IArs4c6QAAAARnQU1BAACxjwv8YQUAAAAJcEhZcwAA
|
||||
DsMAAA7DAcdvqGQAAAKDSURBVFhHxZdPSBRhGMZnZ/9o/9xd
|
||||
d1ddT0GHUiGDoEMQhEGHOhR0COoQdKhLHToEXYIuQYc8BR3q
|
||||
VNChQ9Ch6BAEHaJDRIeIVNBW27Vd/7XrzrwzO9O8M9/MfLM7
|
||||
s+sXPPDyvO/7vd+8O7PrjrFGnMP+vgZ0dnZmzs/Pb0aj0QBG
|
||||
e97QJyqRSOB8Po8WFxcPAZcYehD0H9GRy+WyiAcpM4BvuKn/
|
||||
qCiKKkVRphgacCrYcRFPOHWQxpPJ5HWn/lZQFYkHQYWC0mJU
|
||||
wkk8CAqgKvHyIMchCDGqkuPQoEQQJMehAWLUiSAYZJbfb5TN
|
||||
Zvc45zrQCfN+NiC0iG4RoQUQIYi7xMuDHIcgxKhKjkODEkGQ
|
||||
HIcGiFF1iECQWbqDZmZmWs+0w2P9osBJtBvQCQdxXRA4wE5g
|
||||
NZvNcpzjnMsTlHQA12q1E4CfAF47OTnp5TgvJCh6jO5Fh4eH
|
||||
Wcj7gPfAHx1APB7/heMxdH9lZeUaJz00CrgYCCGb8/PzF7PZ
|
||||
7KKqqsfGzMuHVAECyePj428qlconY+blQwbQBXg3nU4/xgXk
|
||||
G6/CILtgjGgX8AGOBYyJ14YxoxeZqrPwkN2CfUQDbI2yGRGx
|
||||
lI+FdAuwM1qtVhPbIxmPx28ZMxdEAXbGW1tbK81m81MqlRox
|
||||
Zi6ILoB3wpOTk0cAj8Hr7e3t58bMBa/nQAdxPB/GA/nU1dV1
|
||||
wZhZIP8GaJBMJge2t7efxWKxH9PT0/nBwcFOjnPCi4EQYYLZ
|
||||
WVb8FZIpE0D89MTERO/Ozs55o+TlQ7YLsJPvPEbrOA7X6/XL
|
||||
uCZrxk4P2QDojPgf0wlgEvB+aWlpbWho6J/REqA6Rv8B0U+G
|
||||
YRp/6oQAAAAASUVORK5CYII=
|
||||
EOF
|
||||
|
||||
# 伤员图标
|
||||
cat > src/ui/static/img/casualty.png << EOF
|
||||
iVBORw0KGgoAAAANSUhEUgAAACAAAAAgCAYAAABzenr0AAAA
|
||||
AXNSR0IArs4c6QAAAARnQU1BAACxjwv8YQUAAAAJcEhZcwAA
|
||||
DsMAAA7DAcdvqGQAAAKDSURBVFhHxZdPSBRhGMZnZ/9o/9xd
|
||||
d1ddT0GHUiGDoEMQhEGHOhR0COoQdKhLHToEXYIuQYc8BR3q
|
||||
VNChQ9Ch6BAEHaJDRIeIVNBW27Vd/7XrzrwzO9O8M9/MfLM7
|
||||
s+sXPPDyvO/7vd+8O7PrjrFGnMP+vgZ0dnZmzs/Pb0aj0QBG
|
||||
e97QJyqRSOB8Po8WFxcPAZcYehD0H9GRy+WyiAcpM4BvuKn/
|
||||
qCiKKkVRphgacCrYcRFPOHWQxpPJ5HWn/lZQFYkHQYWC0mJU
|
||||
wkk8CAqgKvHyIMchCDGqkuPQoEQQJMehAWLUiSAYZJbfb5TN
|
||||
Zvc45zrQCfN+NiC0iG4RoQUQIYi7xMuDHIcgxKhKjkODEkGQ
|
||||
HIcGiFF1iECQWbqDZmZmWs+0w2P9osBJtBvQCQdxXRA4wE5g
|
||||
NZvNcpzjnMsTlHQA12q1E4CfAF47OTnp5TgvJCh6jO5Fh4eH
|
||||
Wcj7gPfAHx1APB7/heMxdH9lZeUaJz00CrgYCCGb8/PzF7PZ
|
||||
7KKqqsfGzMuHVAECyePj428qlconY+blQwbQBXg3nU4/xgXk
|
||||
G6/CILtgjGgX8AGOBYyJ14YxoxeZqrPwkN2CfUQDbI2yGRGx
|
||||
lI+FdAuwM1qtVhPbIxmPx28ZMxdEAXbGW1tbK81m81MqlRox
|
||||
Zi6ILoB3wpOTk0cAj8Hr7e3t58bMBa/nQAdxPB/GA/nU1dV1
|
||||
wZhZIP8GaJBMJge2t7efxWKxH9PT0/nBwcFOjnPCi4EQYYLZ
|
||||
WVb8FZIpE0D89MTERO/Ozs55o+TlQ7YLsJPvPEbrOA7X6/XL
|
||||
uCZrxk4P2QDojPgf0wlgEvB+aWlpbWho6J/REqA6Rv8B0U+G
|
||||
YRp/6oQAAAAASUVORK5CYII=
|
||||
EOF
|
||||
|
||||
# 创建环境变量文件
|
||||
cp .env.example .env
|
||||
|
||||
# 创建一个简单的运行脚本
|
||||
cat > run.sh << EOF
|
||||
#!/bin/bash
|
||||
python simulation.py "\$@"
|
||||
EOF
|
||||
chmod +x run.sh
|
||||
|
||||
echo "项目初始化完成！"
|
||||
echo "运行以下命令安装依赖:"
|
||||
echo " pip install -r requirements.txt"
|
||||
echo "运行系统:"
|
||||
echo " ./run.sh"
|
||||
@ -1,9 +0,0 @@
|
||||
pymavlink==2.4.35
|
||||
dronekit==2.9.2
|
||||
pyserial==3.5
|
||||
flask==2.3.3
|
||||
flask-socketio==5.3.6
|
||||
python-dotenv==1.0.0
|
||||
geopy==2.4.1
|
||||
numpy==1.24.3
|
||||
pandas==2.0.3
|
||||
@ -1,199 +0,0 @@
|
||||
#!/usr/bin/env python3
|
||||
import os
|
||||
import sys
|
||||
import time
|
||||
import logging
|
||||
import random
|
||||
import threading
|
||||
import signal
|
||||
import argparse
|
||||
|
||||
# 添加项目根目录到Python路径
|
||||
current_dir = os.path.dirname(os.path.abspath(__file__))
|
||||
sys.path.append(current_dir)
|
||||
|
||||
from config.config import current_config as config
|
||||
|
||||
# 确保环境变量设置为启用模拟
|
||||
os.environ['ENABLE_SIMULATION'] = 'True'
|
||||
|
||||
# 设置日志
|
||||
config.setup_logging()
|
||||
logger = logging.getLogger(__name__)
|
||||
|
||||
|
||||
class DroneSimulator:
|
||||
"""无人机模拟器"""
|
||||
|
||||
def __init__(self, port=14550):
|
||||
"""初始化模拟器"""
|
||||
self.port = port
|
||||
self.running = False
|
||||
self.thread = None
|
||||
self.latitude = config.BASE_LATITUDE
|
||||
self.longitude = config.BASE_LONGITUDE
|
||||
self.altitude = 0.0
|
||||
self.battery = 100.0
|
||||
self.armed = False
|
||||
self.mode = "GUIDED"
|
||||
|
||||
def start(self):
|
||||
"""启动模拟器"""
|
||||
if self.running:
|
||||
return
|
||||
|
||||
self.running = True
|
||||
self.thread = threading.Thread(target=self._simulation_loop, daemon=True)
|
||||
self.thread.start()
|
||||
logger.info(f"模拟器已启动在端口 {self.port}")
|
||||
|
||||
def stop(self):
|
||||
"""停止模拟器"""
|
||||
if not self.running:
|
||||
return
|
||||
|
||||
self.running = False
|
||||
if self.thread:
|
||||
self.thread.join(timeout=2)
|
||||
logger.info("模拟器已停止")
|
||||
|
||||
def _simulation_loop(self):
|
||||
"""模拟循环"""
|
||||
while self.running:
|
||||
# 模拟电池消耗
|
||||
if self.armed and self.battery > 0:
|
||||
self.battery -= 0.01
|
||||
if self.battery < 0:
|
||||
self.battery = 0
|
||||
|
||||
# 模拟位置变化
|
||||
if self.armed and self.mode == "GUIDED" and self.altitude > 0:
|
||||
# 随机漂移
|
||||
self.latitude += random.uniform(-0.00001, 0.00001)
|
||||
self.longitude += random.uniform(-0.00001, 0.00001)
|
||||
|
||||
time.sleep(0.1)
|
||||
|
||||
def arm(self):
|
||||
"""解锁无人机"""
|
||||
self.armed = True
|
||||
logger.info("模拟无人机已解锁")
|
||||
|
||||
def disarm(self):
|
||||
"""锁定无人机"""
|
||||
self.armed = False
|
||||
logger.info("模拟无人机已锁定")
|
||||
|
||||
def set_mode(self, mode):
|
||||
"""设置模式"""
|
||||
self.mode = mode
|
||||
logger.info(f"模拟无人机模式已设置为 {mode}")
|
||||
|
||||
def takeoff(self, altitude):
|
||||
"""起飞"""
|
||||
self.arm()
|
||||
self.altitude = altitude
|
||||
logger.info(f"模拟无人机起飞到高度 {altitude}m")
|
||||
|
||||
def land(self):
|
||||
"""降落"""
|
||||
self.altitude = 0
|
||||
self.disarm()
|
||||
logger.info("模拟无人机已降落")
|
||||
|
||||
def goto(self, lat, lon, alt):
|
||||
"""飞往指定位置"""
|
||||
logger.info(f"模拟无人机飞往 ({lat}, {lon}, {alt})")
|
||||
|
||||
# 模拟飞行时间
|
||||
distance = ((lat - self.latitude) ** 2 + (lon - self.longitude) ** 2) ** 0.5 * 111000
|
||||
speed = 5.0 # 假设速度为5m/s
|
||||
flight_time = distance / speed
|
||||
|
||||
# 模拟飞行过程
|
||||
start_lat = self.latitude
|
||||
start_lon = self.longitude
|
||||
start_alt = self.altitude
|
||||
|
||||
for i in range(10):
|
||||
progress = (i + 1) / 10
|
||||
self.latitude = start_lat + (lat - start_lat) * progress
|
||||
self.longitude = start_lon + (lon - start_lon) * progress
|
||||
self.altitude = start_alt + (alt - start_alt) * progress
|
||||
time.sleep(flight_time / 10)
|
||||
|
||||
self.latitude = lat
|
||||
self.longitude = lon
|
||||
self.altitude = alt
|
||||
logger.info(f"模拟无人机已到达 ({lat}, {lon}, {alt})")
|
||||
|
||||
|
||||
def setup_simulation():
|
||||
"""设置模拟环境"""
|
||||
# 启动模拟器
|
||||
simulator = DroneSimulator()
|
||||
simulator.start()
|
||||
|
||||
# 创建SITL连接字符串和覆盖环境变量
|
||||
os.environ['DRONE_CONNECTION_STRING'] = f'udpin:localhost:{simulator.port}'
|
||||
|
||||
return simulator
|
||||
|
||||
|
||||
def run_simulation():
|
||||
"""运行模拟"""
|
||||
# 设置参数解析
|
||||
parser = argparse.ArgumentParser(description='智能战场医疗后送系统模拟器')
|
||||
parser.add_argument('--web-port', type=int, default=8080, help='Web服务端口')
|
||||
parser.add_argument('--comm-port', type=int, default=5000, help='通信服务端口')
|
||||
parser.add_argument('--drone-port', type=int, default=14550, help='无人机模拟器端口')
|
||||
args = parser.parse_args()
|
||||
|
||||
# 设置环境变量
|
||||
os.environ['WEB_PORT'] = str(args.web_port)
|
||||
os.environ['COMM_PORT'] = str(args.comm_port)
|
||||
|
||||
# 启动模拟器
|
||||
simulator = DroneSimulator(port=args.drone_port)
|
||||
simulator.start()
|
||||
|
||||
# 导入主程序模块
|
||||
from main import MedicalEvacuationSystem
|
||||
|
||||
# 创建系统实例
|
||||
system = MedicalEvacuationSystem()
|
||||
|
||||
# 注册信号处理
|
||||
def signal_handler(sig, frame):
|
||||
logger.info("接收到停止信号，正在关闭模拟器...")
|
||||
system.stop()
|
||||
simulator.stop()
|
||||
sys.exit(0)
|
||||
|
||||
signal.signal(signal.SIGINT, signal_handler)
|
||||
signal.signal(signal.SIGTERM, signal_handler)
|
||||
|
||||
# 启动系统
|
||||
try:
|
||||
if system.start():
|
||||
logger.info("系统启动成功，运行在模拟模式")
|
||||
|
||||
# 保持程序运行
|
||||
while True:
|
||||
time.sleep(1)
|
||||
else:
|
||||
logger.error("系统启动失败")
|
||||
simulator.stop()
|
||||
return 1
|
||||
except Exception as e:
|
||||
logger.error(f"模拟运行错误: {str(e)}")
|
||||
system.stop()
|
||||
simulator.stop()
|
||||
return 1
|
||||
|
||||
return 0
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
exit_code = run_simulation()
|
||||
sys.exit(exit_code)
|
||||
Binary file not shown.
@ -1,140 +0,0 @@
|
||||
import socket
|
||||
import json
|
||||
import logging
|
||||
from threading import Thread, Lock
|
||||
|
||||
class CommunicationManager:
|
||||
def __init__(self, host='0.0.0.0', port=5000):
|
||||
"""
|
||||
初始化通信管理器
|
||||
:param host: 服务器主机地址
|
||||
:param port: 服务器端口
|
||||
"""
|
||||
self.host = host
|
||||
self.port = port
|
||||
self.server_socket = None
|
||||
self.clients = []
|
||||
self.lock = Lock()
|
||||
self.logger = logging.getLogger(__name__)
|
||||
self.casualty_handler = None
|
||||
self.supply_handler = None
|
||||
|
||||
def set_casualty_handler(self, handler):
|
||||
"""
|
||||
设置伤员处理回调函数
|
||||
:param handler: 处理函数
|
||||
"""
|
||||
self.casualty_handler = handler
|
||||
self.logger.info("已设置伤员处理回调函数")
|
||||
|
||||
def set_supply_handler(self, handler):
|
||||
"""
|
||||
设置物资处理回调函数
|
||||
:param handler: 处理函数
|
||||
"""
|
||||
self.supply_handler = handler
|
||||
self.logger.info("已设置物资处理回调函数")
|
||||
|
||||
def start_server(self):
|
||||
"""启动通信服务器"""
|
||||
try:
|
||||
self.server_socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
|
||||
self.server_socket.bind((self.host, self.port))
|
||||
self.server_socket.listen(5)
|
||||
self.logger.info(f"通信服务器启动在 {self.host}:{self.port}")
|
||||
|
||||
# 启动客户端接受线程
|
||||
Thread(target=self._accept_clients, daemon=True).start()
|
||||
|
||||
except Exception as e:
|
||||
self.logger.error(f"启动服务器失败: {str(e)}")
|
||||
|
||||
def _accept_clients(self):
|
||||
"""接受新的客户端连接"""
|
||||
while True:
|
||||
try:
|
||||
client_socket, address = self.server_socket.accept()
|
||||
self.logger.info(f"新客户端连接: {address}")
|
||||
|
||||
with self.lock:
|
||||
self.clients.append(client_socket)
|
||||
|
||||
# 为每个客户端启动一个处理线程
|
||||
Thread(target=self._handle_client, args=(client_socket,), daemon=True).start()
|
||||
|
||||
except Exception as e:
|
||||
self.logger.error(f"接受客户端连接失败: {str(e)}")
|
||||
|
||||
def _handle_client(self, client_socket):
|
||||
"""处理客户端消息"""
|
||||
while True:
|
||||
try:
|
||||
data = client_socket.recv(1024).decode('utf-8')
|
||||
if not data:
|
||||
break
|
||||
|
||||
message = json.loads(data)
|
||||
self._process_message(message)
|
||||
|
||||
except Exception as e:
|
||||
self.logger.error(f"处理客户端消息失败: {str(e)}")
|
||||
break
|
||||
|
||||
# 客户端断开连接
|
||||
with self.lock:
|
||||
if client_socket in self.clients:
|
||||
self.clients.remove(client_socket)
|
||||
client_socket.close()
|
||||
|
||||
def _process_message(self, message):
|
||||
"""
|
||||
处理接收到的消息
|
||||
:param message: 消息内容
|
||||
"""
|
||||
message_type = message.get('type')
|
||||
if message_type == 'casualty_location':
|
||||
self._handle_casualty_location(message)
|
||||
elif message_type == 'medical_supply_request':
|
||||
self._handle_medical_supply_request(message)
|
||||
elif message_type == 'drone_status':
|
||||
self._handle_drone_status(message)
|
||||
|
||||
def _handle_casualty_location(self, message):
|
||||
"""处理伤员位置信息"""
|
||||
location = message.get('location')
|
||||
self.logger.info(f"收到伤员位置: {location}")
|
||||
if self.casualty_handler:
|
||||
self.casualty_handler(message)
|
||||
|
||||
def _handle_medical_supply_request(self, message):
|
||||
"""处理医疗物资请求"""
|
||||
supplies = message.get('supplies')
|
||||
location = message.get('location')
|
||||
self.logger.info(f"收到医疗物资请求: {supplies} 送往 {location}")
|
||||
if self.supply_handler:
|
||||
self.supply_handler(message)
|
||||
|
||||
def _handle_drone_status(self, message):
|
||||
"""处理无人机状态信息"""
|
||||
status = message.get('status')
|
||||
self.logger.info(f"收到无人机状态: {status}")
|
||||
# TODO: 实现无人机状态处理逻辑
|
||||
|
||||
def broadcast_message(self, message):
|
||||
"""
|
||||
广播消息给所有客户端
|
||||
:param message: 要广播的消息
|
||||
"""
|
||||
message_str = json.dumps(message)
|
||||
with self.lock:
|
||||
for client in self.clients:
|
||||
try:
|
||||
client.send(message_str.encode('utf-8'))
|
||||
except Exception as e:
|
||||
self.logger.error(f"发送消息失败: {str(e)}")
|
||||
|
||||
def close(self):
|
||||
"""关闭通信服务器"""
|
||||
if self.server_socket:
|
||||
self.server_socket.close()
|
||||
self.logger.info("通信服务器已关闭")
|
||||
@ -1,19 +0,0 @@
|
||||
from flask import Flask
|
||||
from config.database import db_config
|
||||
from src.db.models import db
|
||||
|
||||
def init_db(app: Flask):
|
||||
"""初始化数据库"""
|
||||
# 配置SQLAlchemy
|
||||
app.config['SQLALCHEMY_DATABASE_URI'] = db_config.SQLALCHEMY_DATABASE_URI
|
||||
app.config['SQLALCHEMY_TRACK_MODIFICATIONS'] = db_config.SQLALCHEMY_TRACK_MODIFICATIONS
|
||||
app.config['SQLALCHEMY_ECHO'] = db_config.SQLALCHEMY_ECHO
|
||||
|
||||
# 初始化SQLAlchemy
|
||||
db.init_app(app)
|
||||
|
||||
# 创建所有表（如果不存在）
|
||||
with app.app_context():
|
||||
db.create_all()
|
||||
|
||||
return db
|
||||
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
@ -1,271 +0,0 @@
|
||||
import logging
|
||||
import time
|
||||
from enum import Enum
|
||||
from typing import Dict, List, Optional, Tuple
|
||||
from queue import Queue
|
||||
from threading import Thread, Lock
|
||||
|
||||
class MissionType(Enum):
|
||||
"""任务类型枚举"""
|
||||
IDLE = 0
|
||||
MEDICAL_SUPPLY = 1
|
||||
SURVEILLANCE = 2
|
||||
RETURN_TO_BASE = 3
|
||||
|
||||
class MissionStatus(Enum):
|
||||
"""任务状态枚举"""
|
||||
PENDING = 0
|
||||
IN_PROGRESS = 1
|
||||
COMPLETED = 2
|
||||
FAILED = 3
|
||||
|
||||
class Mission:
|
||||
"""任务类"""
|
||||
def __init__(self,
|
||||
mission_id: str,
|
||||
mission_type: MissionType,
|
||||
target_location: Tuple[float, float],
|
||||
altitude: float = 10.0,
|
||||
payload: Dict = None):
|
||||
"""
|
||||
初始化任务
|
||||
:param mission_id: 任务ID
|
||||
:param mission_type: 任务类型
|
||||
:param target_location: 目标位置(纬度, 经度)
|
||||
:param altitude: 飞行高度(米)
|
||||
:param payload: 任务负载(如物资信息)
|
||||
"""
|
||||
self.mission_id = mission_id
|
||||
self.mission_type = mission_type
|
||||
self.target_location = target_location
|
||||
self.altitude = altitude
|
||||
self.payload = payload or {}
|
||||
self.status = MissionStatus.PENDING
|
||||
self.start_time = None
|
||||
self.end_time = None
|
||||
self.error_message = None
|
||||
|
||||
def to_dict(self) -> Dict:
|
||||
"""转换成字典"""
|
||||
return {
|
||||
'mission_id': self.mission_id,
|
||||
'mission_type': self.mission_type.name,
|
||||
'target_location': self.target_location,
|
||||
'altitude': self.altitude,
|
||||
'payload': self.payload,
|
||||
'status': self.status.name,
|
||||
'start_time': self.start_time,
|
||||
'end_time': self.end_time,
|
||||
'error_message': self.error_message
|
||||
}
|
||||
|
||||
|
||||
class MissionPlanner:
|
||||
"""任务规划器"""
|
||||
def __init__(self, drone_controller):
|
||||
"""
|
||||
初始化任务规划器
|
||||
:param drone_controller: 无人机控制器
|
||||
"""
|
||||
self.logger = logging.getLogger(__name__)
|
||||
self.drone_controller = drone_controller
|
||||
self.mission_queue = Queue()
|
||||
self.current_mission = None
|
||||
self.mission_history = []
|
||||
self.lock = Lock()
|
||||
self.running = False
|
||||
self.worker_thread = None
|
||||
|
||||
def start(self):
|
||||
"""启动任务规划器"""
|
||||
if self.running:
|
||||
self.logger.warning("任务规划器已经在运行")
|
||||
return
|
||||
|
||||
self.running = True
|
||||
self.worker_thread = Thread(target=self._mission_worker, daemon=True)
|
||||
self.worker_thread.start()
|
||||
self.logger.info("任务规划器已启动")
|
||||
|
||||
def stop(self):
|
||||
"""停止任务规划器"""
|
||||
if not self.running:
|
||||
return
|
||||
|
||||
self.running = False
|
||||
if self.worker_thread:
|
||||
self.worker_thread.join(timeout=5)
|
||||
self.logger.info("任务规划器已停止")
|
||||
|
||||
def add_mission(self, mission: Mission) -> bool:
|
||||
"""
|
||||
添加任务到队列
|
||||
:param mission: 任务对象
|
||||
:return: 是否添加成功
|
||||
"""
|
||||
try:
|
||||
self.mission_queue.put(mission)
|
||||
self.logger.info(f"添加任务: ID={mission.mission_id}, 类型={mission.mission_type.name}")
|
||||
return True
|
||||
except Exception as e:
|
||||
self.logger.error(f"添加任务失败: {str(e)}")
|
||||
return False
|
||||
|
||||
def get_current_mission(self) -> Optional[Mission]:
|
||||
"""
|
||||
获取当前执行的任务
|
||||
:return: 当前任务或None
|
||||
"""
|
||||
with self.lock:
|
||||
return self.current_mission
|
||||
|
||||
def get_mission_queue_size(self) -> int:
|
||||
"""
|
||||
获取任务队列大小
|
||||
:return: 队列中的任务数
|
||||
"""
|
||||
return self.mission_queue.qsize()
|
||||
|
||||
def get_mission_history(self) -> List[Dict]:
|
||||
"""
|
||||
获取任务历史
|
||||
:return: 任务历史记录列表
|
||||
"""
|
||||
with self.lock:
|
||||
return [mission.to_dict() for mission in self.mission_history]
|
||||
|
||||
def _mission_worker(self):
|
||||
"""任务工作线程"""
|
||||
while self.running:
|
||||
try:
|
||||
if not self.mission_queue.empty():
|
||||
# 从队列中获取下一个任务
|
||||
mission = self.mission_queue.get()
|
||||
|
||||
with self.lock:
|
||||
self.current_mission = mission
|
||||
self.current_mission.status = MissionStatus.IN_PROGRESS
|
||||
self.current_mission.start_time = time.time()
|
||||
|
||||
self.logger.info(f"开始执行任务: ID={mission.mission_id}, 类型={mission.mission_type.name}")
|
||||
|
||||
# 根据任务类型执行不同操作
|
||||
success = self._execute_mission(mission)
|
||||
|
||||
with self.lock:
|
||||
if success:
|
||||
self.current_mission.status = MissionStatus.COMPLETED
|
||||
self.logger.info(f"任务完成: ID={mission.mission_id}")
|
||||
else:
|
||||
self.current_mission.status = MissionStatus.FAILED
|
||||
self.logger.error(f"任务失败: ID={mission.mission_id}")
|
||||
|
||||
self.current_mission.end_time = time.time()
|
||||
self.mission_history.append(self.current_mission)
|
||||
self.current_mission = None
|
||||
|
||||
self.mission_queue.task_done()
|
||||
else:
|
||||
# 无任务时等待
|
||||
time.sleep(1)
|
||||
|
||||
except Exception as e:
|
||||
self.logger.error(f"任务执行过程出错: {str(e)}")
|
||||
if self.current_mission:
|
||||
with self.lock:
|
||||
self.current_mission.status = MissionStatus.FAILED
|
||||
self.current_mission.error_message = str(e)
|
||||
self.current_mission.end_time = time.time()
|
||||
self.mission_history.append(self.current_mission)
|
||||
self.current_mission = None
|
||||
|
||||
def _execute_mission(self, mission: Mission) -> bool:
|
||||
"""
|
||||
执行任务
|
||||
:param mission: 任务对象
|
||||
:return: 是否执行成功
|
||||
"""
|
||||
try:
|
||||
if mission.mission_type == MissionType.MEDICAL_SUPPLY:
|
||||
return self._execute_medical_supply_mission(mission)
|
||||
elif mission.mission_type == MissionType.SURVEILLANCE:
|
||||
return self._execute_surveillance_mission(mission)
|
||||
elif mission.mission_type == MissionType.RETURN_TO_BASE:
|
||||
return self._execute_return_to_base_mission(mission)
|
||||
else:
|
||||
self.logger.warning(f"未知任务类型: {mission.mission_type}")
|
||||
return False
|
||||
except Exception as e:
|
||||
self.logger.error(f"执行任务失败: {str(e)}")
|
||||
mission.error_message = str(e)
|
||||
return False
|
||||
|
||||
def _execute_medical_supply_mission(self, mission: Mission) -> bool:
|
||||
"""
|
||||
执行医疗物资运送任务
|
||||
:param mission: 任务对象
|
||||
:return: 是否执行成功
|
||||
"""
|
||||
try:
|
||||
# 飞往目标位置
|
||||
lat, lon = mission.target_location
|
||||
self.drone_controller.goto_location(lat, lon, mission.altitude)
|
||||
|
||||
# 模拟投放物资（实际应该有硬件操作）
|
||||
self.logger.info(f"投放医疗物资: {mission.payload.get('supply_name', '未知物资')}")
|
||||
time.sleep(2) # 模拟投放时间
|
||||
|
||||
# 返回基地
|
||||
return self._execute_return_to_base_mission(mission)
|
||||
|
||||
except Exception as e:
|
||||
self.logger.error(f"医疗物资任务执行失败: {str(e)}")
|
||||
mission.error_message = str(e)
|
||||
return False
|
||||
|
||||
def _execute_surveillance_mission(self, mission: Mission) -> bool:
|
||||
"""
|
||||
执行侦察任务
|
||||
:param mission: 任务对象
|
||||
:return: 是否执行成功
|
||||
"""
|
||||
try:
|
||||
# 飞往目标位置
|
||||
lat, lon = mission.target_location
|
||||
self.drone_controller.goto_location(lat, lon, mission.altitude)
|
||||
|
||||
# 模拟侦察（实际应该有摄像头操作）
|
||||
self.logger.info(f"进行区域侦察: ({lat}, {lon})")
|
||||
time.sleep(5) # 模拟侦察时间
|
||||
|
||||
# 返回基地
|
||||
return self._execute_return_to_base_mission(mission)
|
||||
|
||||
except Exception as e:
|
||||
self.logger.error(f"侦察任务执行失败: {str(e)}")
|
||||
mission.error_message = str(e)
|
||||
return False
|
||||
|
||||
def _execute_return_to_base_mission(self, mission: Mission) -> bool:
|
||||
"""
|
||||
执行返回基地任务
|
||||
:param mission: 任务对象
|
||||
:return: 是否执行成功
|
||||
"""
|
||||
try:
|
||||
# 获取基地位置（这里应该从配置中读取）
|
||||
base_lat, base_lon = 39.9, 116.3 # 默认位置，实际应该从配置获取
|
||||
|
||||
# 飞往基地
|
||||
self.logger.info("返回基地")
|
||||
self.drone_controller.goto_location(base_lat, base_lon, mission.altitude)
|
||||
|
||||
# 降落
|
||||
self.drone_controller.land()
|
||||
|
||||
return True
|
||||
|
||||
except Exception as e:
|
||||
self.logger.error(f"返回基地任务执行失败: {str(e)}")
|
||||
mission.error_message = str(e)
|
||||
return False
|
||||
Binary file not shown.
Binary file not shown.
@ -1,9 +0,0 @@
|
||||
[
|
||||
{
|
||||
"x": 192.75340195819638,
|
||||
"y": 269.1060189546518,
|
||||
"width": 442.41011984021304,
|
||||
"height": 100.79002079002078,
|
||||
"class": "casualty"
|
||||
}
|
||||
]
|
||||
@ -1,9 +0,0 @@
|
||||
[
|
||||
{
|
||||
"x": 11.985121427837171,
|
||||
"y": 117.62776025236593,
|
||||
"width": 335.2926315789474,
|
||||
"height": 184.41640378548897,
|
||||
"class": "casualty"
|
||||
}
|
||||
]
|
||||
@ -1,9 +0,0 @@
|
||||
[
|
||||
{
|
||||
"x": 12.780651033233484,
|
||||
"y": 53.81395348837209,
|
||||
"width": 707.7720207253885,
|
||||
"height": 412.9186046511628,
|
||||
"class": "casualty"
|
||||
}
|
||||
]
|
||||
@ -1,9 +0,0 @@
|
||||
[
|
||||
{
|
||||
"x": 112.26251631820757,
|
||||
"y": 376.3773436462995,
|
||||
"width": 446.6321243523316,
|
||||
"height": 147.99805825242714,
|
||||
"class": "casualty"
|
||||
}
|
||||
]
|
||||
@ -1,9 +0,0 @@
|
||||
[
|
||||
{
|
||||
"x": 677.3609536917098,
|
||||
"y": 894.9805757837389,
|
||||
"width": 1138.0725388601036,
|
||||
"height": 442.63106796116494,
|
||||
"class": "casualty"
|
||||
}
|
||||
]
|
||||
@ -1,9 +0,0 @@
|
||||
[
|
||||
{
|
||||
"x": 194.732217611838,
|
||||
"y": 293.69761911478724,
|
||||
"width": 268.61626248216834,
|
||||
"height": 167.63714902807772,
|
||||
"class": "casualty"
|
||||
}
|
||||
]
|
||||
@ -1,9 +0,0 @@
|
||||
[
|
||||
{
|
||||
"x": 142.80639735506196,
|
||||
"y": 558.0339801654405,
|
||||
"width": 488.30242510699003,
|
||||
"height": 295.6647791619479,
|
||||
"class": "casualty"
|
||||
}
|
||||
]
|
||||
@ -1,9 +0,0 @@
|
||||
[
|
||||
{
|
||||
"x": 436.9429980658497,
|
||||
"y": 254.91261424833132,
|
||||
"width": 492.4352331606218,
|
||||
"height": 341.12621359223294,
|
||||
"class": "casualty"
|
||||
}
|
||||
]
|
||||
@ -1,9 +0,0 @@
|
||||
[
|
||||
{
|
||||
"x": 225.6994747497875,
|
||||
"y": 360.23300615329185,
|
||||
"width": 537.2020725388602,
|
||||
"height": 142.60194174757282,
|
||||
"class": "casualty"
|
||||
}
|
||||
]
|
||||
@ -1,9 +0,0 @@
|
||||
[
|
||||
{
|
||||
"x": 16.974595112047698,
|
||||
"y": 179.43037974683543,
|
||||
"width": 453.0442105263158,
|
||||
"height": 135.56962025316457,
|
||||
"class": "casualty"
|
||||
}
|
||||
]
|
||||
@ -1,342 +0,0 @@
|
||||
/* 全局样式 */
|
||||
body {
|
||||
font-family: 'Segoe UI', Tahoma, Geneva, Verdana, sans-serif;
|
||||
background-color: #f0f4f8;
|
||||
color: #333;
|
||||
margin: 0;
|
||||
padding: 0;
|
||||
}
|
||||
|
||||
.navbar {
|
||||
background: linear-gradient(90deg, #1a3a5f 0%, #2d5f8b 100%);
|
||||
box-shadow: 0 3px 10px rgba(0, 0, 0, 0.2);
|
||||
padding: 15px 0;
|
||||
}
|
||||
|
||||
.navbar-brand {
|
||||
font-weight: bold;
|
||||
font-size: 1.5rem;
|
||||
letter-spacing: 0.5px;
|
||||
color: white !important;
|
||||
}
|
||||
|
||||
.container {
|
||||
padding: 20px;
|
||||
}
|
||||
|
||||
/* 地图样式 */
|
||||
#map {
|
||||
height: 550px;
|
||||
width: 100%;
|
||||
border-radius: 8px;
|
||||
box-shadow: 0 4px 12px rgba(0, 0, 0, 0.15);
|
||||
border: 1px solid #e0e0e0;
|
||||
}
|
||||
|
||||
/* 状态面板样式 */
|
||||
.status-panel {
|
||||
background-color: white;
|
||||
padding: 15px;
|
||||
border-radius: 8px;
|
||||
margin-bottom: 15px;
|
||||
box-shadow: 0 2px 8px rgba(0, 0, 0, 0.1);
|
||||
border-left: 4px solid #3498db;
|
||||
}
|
||||
|
||||
.status-panel p {
|
||||
margin-bottom: 8px;
|
||||
display: flex;
|
||||
justify-content: space-between;
|
||||
}
|
||||
|
||||
.card {
|
||||
margin-bottom: 20px;
|
||||
box-shadow: 0 4px 12px rgba(0, 0, 0, 0.1);
|
||||
border: none;
|
||||
border-radius: 8px;
|
||||
overflow: hidden;
|
||||
}
|
||||
|
||||
.card-header {
|
||||
font-weight: 600;
|
||||
background-color: #f8fafc;
|
||||
padding: 15px;
|
||||
border-bottom: 1px solid #e0e6ed;
|
||||
display: flex;
|
||||
align-items: center;
|
||||
}
|
||||
|
||||
.card-header i {
|
||||
margin-right: 8px;
|
||||
color: #3498db;
|
||||
}
|
||||
|
||||
.card-body {
|
||||
padding: 20px;
|
||||
background-color: white;
|
||||
}
|
||||
|
||||
/* 按钮样式 */
|
||||
.btn-primary {
|
||||
background: linear-gradient(45deg, #2d5f8b 0%, #3498db 100%);
|
||||
border: none;
|
||||
box-shadow: 0 2px 5px rgba(0, 0, 0, 0.2);
|
||||
padding: 10px 16px;
|
||||
border-radius: 5px;
|
||||
font-weight: 500;
|
||||
transition: all 0.3s ease;
|
||||
}
|
||||
|
||||
.btn-primary:hover {
|
||||
background: linear-gradient(45deg, #3498db 0%, #2d5f8b 100%);
|
||||
transform: translateY(-2px);
|
||||
box-shadow: 0 4px 8px rgba(0, 0, 0, 0.2);
|
||||
}
|
||||
|
||||
.btn-secondary {
|
||||
background-color: #f8f9fa;
|
||||
color: #495057;
|
||||
border: 1px solid #ced4da;
|
||||
transition: all 0.3s ease;
|
||||
}
|
||||
|
||||
.btn-secondary:hover {
|
||||
background-color: #e2e6ea;
|
||||
}
|
||||
|
||||
/* 列表样式 */
|
||||
.casualty-item, .supply-item {
|
||||
padding: 15px;
|
||||
margin-bottom: 10px;
|
||||
background-color: white;
|
||||
border-radius: 8px;
|
||||
box-shadow: 0 2px 5px rgba(0, 0, 0, 0.1);
|
||||
border-left: 4px solid #e74c3c;
|
||||
transition: all 0.3s ease;
|
||||
}
|
||||
|
||||
.supply-item {
|
||||
border-left-color: #2ecc71;
|
||||
}
|
||||
|
||||
.casualty-item:hover, .supply-item:hover {
|
||||
transform: translateY(-2px);
|
||||
box-shadow: 0 4px 8px rgba(0, 0, 0, 0.15);
|
||||
}
|
||||
|
||||
/* 状态指示器 */
|
||||
.status-indicator {
|
||||
width: 12px;
|
||||
height: 12px;
|
||||
border-radius: 50%;
|
||||
display: inline-block;
|
||||
margin-right: 8px;
|
||||
position: relative;
|
||||
}
|
||||
|
||||
.status-idle {
|
||||
background-color: #95a5a6;
|
||||
}
|
||||
|
||||
.status-in-flight {
|
||||
background-color: #3498db;
|
||||
animation: pulse 1.5s infinite;
|
||||
}
|
||||
|
||||
.status-warning {
|
||||
background-color: #f39c12;
|
||||
}
|
||||
|
||||
.status-error {
|
||||
background-color: #e74c3c;
|
||||
}
|
||||
|
||||
@keyframes pulse {
|
||||
0% { opacity: 1; }
|
||||
50% { opacity: 0.5; }
|
||||
100% { opacity: 1; }
|
||||
}
|
||||
|
||||
/* 任务列表样式 */
|
||||
.mission-list {
|
||||
max-height: 300px;
|
||||
overflow-y: auto;
|
||||
padding-right: 5px;
|
||||
}
|
||||
|
||||
.mission-list::-webkit-scrollbar {
|
||||
width: 6px;
|
||||
}
|
||||
|
||||
.mission-list::-webkit-scrollbar-track {
|
||||
background: #f1f1f1;
|
||||
border-radius: 10px;
|
||||
}
|
||||
|
||||
.mission-list::-webkit-scrollbar-thumb {
|
||||
background: #c1c1c1;
|
||||
border-radius: 10px;
|
||||
}
|
||||
|
||||
.mission-item {
|
||||
padding: 12px 15px;
|
||||
margin-bottom: 8px;
|
||||
border-radius: 6px;
|
||||
background-color: white;
|
||||
display: flex;
|
||||
justify-content: space-between;
|
||||
align-items: center;
|
||||
box-shadow: 0 1px 3px rgba(0, 0, 0, 0.08);
|
||||
}
|
||||
|
||||
.mission-pending {
|
||||
border-left: 4px solid #95a5a6;
|
||||
}
|
||||
|
||||
.mission-in-progress {
|
||||
border-left: 4px solid #3498db;
|
||||
}
|
||||
|
||||
.mission-completed {
|
||||
border-left: 4px solid #2ecc71;
|
||||
}
|
||||
|
||||
.mission-failed {
|
||||
border-left: 4px solid #e74c3c;
|
||||
}
|
||||
|
||||
/* 自定义地图标记样式 */
|
||||
.casualty-marker .leaflet-popup-content-wrapper {
|
||||
background-color: white;
|
||||
border-radius: 8px;
|
||||
border-left: 4px solid #e74c3c;
|
||||
box-shadow: 0 3px 10px rgba(0, 0, 0, 0.2);
|
||||
}
|
||||
|
||||
.drone-marker .leaflet-popup-content-wrapper {
|
||||
background-color: white;
|
||||
border-radius: 8px;
|
||||
border-left: 4px solid #3498db;
|
||||
box-shadow: 0 3px 10px rgba(0, 0, 0, 0.2);
|
||||
}
|
||||
|
||||
/* 响应式布局调整 */
|
||||
@media (max-width: 768px) {
|
||||
#map {
|
||||
height: 400px;
|
||||
}
|
||||
|
||||
.col-md-4 {
|
||||
margin-top: 20px;
|
||||
}
|
||||
|
||||
.card-header {
|
||||
padding: 12px;
|
||||
}
|
||||
|
||||
.card-body {
|
||||
padding: 15px;
|
||||
}
|
||||
}
|
||||
|
||||
/* 地图标记样式 */
|
||||
.map-marker {
|
||||
width: 30px;
|
||||
height: 30px;
|
||||
border-radius: 50%;
|
||||
display: flex;
|
||||
align-items: center;
|
||||
justify-content: center;
|
||||
box-shadow: 0 2px 5px rgba(0, 0, 0, 0.3);
|
||||
}
|
||||
|
||||
.casualty-marker {
|
||||
background-color: rgba(231, 76, 60, 0.9);
|
||||
color: white;
|
||||
font-size: 14px;
|
||||
border: 2px solid white;
|
||||
}
|
||||
|
||||
.drone-marker {
|
||||
background-color: rgba(52, 152, 219, 0.9);
|
||||
color: white;
|
||||
font-size: 16px;
|
||||
border: 2px solid white;
|
||||
animation: pulse 1.5s infinite;
|
||||
}
|
||||
|
||||
.popup-content {
|
||||
min-width: 200px;
|
||||
padding: 5px;
|
||||
}
|
||||
|
||||
.popup-content h6 {
|
||||
margin-bottom: 10px;
|
||||
font-weight: 600;
|
||||
border-bottom: 1px solid #eee;
|
||||
padding-bottom: 5px;
|
||||
}
|
||||
|
||||
.status-counter {
|
||||
background-color: white;
|
||||
border-radius: 8px;
|
||||
padding: 15px;
|
||||
box-shadow: 0 2px 8px rgba(0, 0, 0, 0.1);
|
||||
transition: all 0.3s ease;
|
||||
}
|
||||
|
||||
.status-counter:hover {
|
||||
transform: translateY(-3px);
|
||||
box-shadow: 0 4px 12px rgba(0, 0, 0, 0.15);
|
||||
}
|
||||
|
||||
.status-counter span {
|
||||
font-size: 24px;
|
||||
font-weight: bold;
|
||||
color: #3498db;
|
||||
}
|
||||
|
||||
.status-counter p {
|
||||
margin-top: 5px;
|
||||
margin-bottom: 0;
|
||||
color: #7f8c8d;
|
||||
font-size: 0.9rem;
|
||||
}
|
||||
|
||||
/* 警告提示 */
|
||||
.alert {
|
||||
border-radius: 8px;
|
||||
padding: 12px 15px;
|
||||
margin-bottom: 15px;
|
||||
border: none;
|
||||
}
|
||||
|
||||
.alert-info {
|
||||
background-color: #e9f7fe;
|
||||
color: #3498db;
|
||||
}
|
||||
|
||||
/* 高级表单控件 */
|
||||
.form-label {
|
||||
font-weight: 500;
|
||||
margin-bottom: 8px;
|
||||
color: #34495e;
|
||||
}
|
||||
|
||||
.form-control, .form-select {
|
||||
border-radius: 6px;
|
||||
padding: 10px 12px;
|
||||
border: 1px solid #dcdfe6;
|
||||
transition: all 0.3s ease;
|
||||
}
|
||||
|
||||
.form-control:focus, .form-select:focus {
|
||||
border-color: #3498db;
|
||||
box-shadow: 0 0 0 3px rgba(52, 152, 219, 0.25);
|
||||
}
|
||||
|
||||
.badge {
|
||||
padding: 6px 10px;
|
||||
font-weight: 500;
|
||||
border-radius: 6px;
|
||||
}
|
||||
@ -1 +0,0 @@
|
||||
This is a placeholder for a real YOLO model file
|
||||
@ -1,9 +0,0 @@
|
||||
# YOLOv5 数据集配置
|
||||
path: src/ui/static/models\dataset
|
||||
train: images/train
|
||||
val: images/val
|
||||
test: # 暂无测试集
|
||||
|
||||
# 类别
|
||||
nc: 1 # 类别数量
|
||||
names: ['casualty'] # 类别名称
|
||||
|
Before Width: | Height: | Size: 73 KiB |
|
Before Width: | Height: | Size: 36 KiB |
|
Before Width: | Height: | Size: 80 KiB |
|
Before Width: | Height: | Size: 54 KiB |
|
Before Width: | Height: | Size: 200 KiB |
|
Before Width: | Height: | Size: 92 KiB |
|
Before Width: | Height: | Size: 79 KiB |
|
Before Width: | Height: | Size: 133 KiB |
|
Before Width: | Height: | Size: 148 KiB |
|
Before Width: | Height: | Size: 32 KiB |
@ -1 +0,0 @@
|
||||
0 0.5519446158377372 0.6656271444784629 0.5898801597869507 0.20997920997920996
|
||||
@ -1 +0,0 @@
|
||||
0 0.3789692768297698 0.6640378548895899 0.7073684210526316 0.583596214511041
|
||||
@ -1 +0,0 @@
|
||||
0 0.4583333267449097 0.4874031007751938 0.8847150259067357 0.7732558139534884
|
||||
@ -1 +0,0 @@
|
||||
0 0.4194732231179667 0.844983813832107 0.5582901554404145 0.2776699029126213
|
||||
@ -1 +0,0 @@
|
||||
0 0.6085923941024227 0.8177993478126897 0.555699481865285 0.3242718446601941
|
||||
@ -1 +0,0 @@
|
||||
0 0.4700576412184603 0.8171346182442123 0.38373751783166904 0.36285097192224613
|
||||
@ -1 +0,0 @@
|
||||
0 0.5527965855836527 0.8003020065152091 0.6975748930099858 0.33522083805209507
|
||||
@ -1 +0,0 @@
|
||||
0 0.632556124672371 0.590938501450622 0.455958549222798 0.4737864077669902
|
||||
@ -1 +0,0 @@
|
||||
0 0.4576856583511274 0.599352745870942 0.49740932642487057 0.19805825242718447
|
||||
@ -1 +0,0 @@
|
||||
0 0.5137061189350329 0.7848101265822786 0.9557894736842105 0.4303797468354431
|
||||
@ -1,170 +0,0 @@
|
||||
{
|
||||
"id": "train_1746536145",
|
||||
"model_type": "yolov5s",
|
||||
"epochs": 50,
|
||||
"batch_size": 16,
|
||||
"train_split": 80,
|
||||
"model_name": "casualty_detector_v1",
|
||||
"status": "completed",
|
||||
"created_at": 1746536145.3327265,
|
||||
"model_path": "src/ui/static/models\\casualty_detector_v1.pt",
|
||||
"results": {
|
||||
"epochs": [
|
||||
1,
|
||||
2,
|
||||
3,
|
||||
4,
|
||||
5,
|
||||
6,
|
||||
7,
|
||||
8,
|
||||
9,
|
||||
10,
|
||||
11,
|
||||
12,
|
||||
13,
|
||||
14,
|
||||
15,
|
||||
16,
|
||||
17,
|
||||
18,
|
||||
19,
|
||||
20,
|
||||
21,
|
||||
22,
|
||||
23,
|
||||
24,
|
||||
25,
|
||||
26,
|
||||
27,
|
||||
28,
|
||||
29,
|
||||
30,
|
||||
31,
|
||||
32,
|
||||
33,
|
||||
34,
|
||||
35,
|
||||
36,
|
||||
37,
|
||||
38,
|
||||
39,
|
||||
40,
|
||||
41,
|
||||
42,
|
||||
43,
|
||||
44,
|
||||
45,
|
||||
46,
|
||||
47,
|
||||
48,
|
||||
49,
|
||||
50
|
||||
],
|
||||
"map": [
|
||||
0.2346910205281687,
|
||||
0.2465911830219659,
|
||||
0.2573409338308947,
|
||||
0.283949214087783,
|
||||
0.29985140911865305,
|
||||
0.3133456542772132,
|
||||
0.3414636954072322,
|
||||
0.3404219065408789,
|
||||
0.3394574027871224,
|
||||
0.3660841833106289,
|
||||
0.38276835276908183,
|
||||
0.4164534097991227,
|
||||
0.39504794443286423,
|
||||
0.41696871543371894,
|
||||
0.42355650398958544,
|
||||
0.4620468536652084,
|
||||
0.4581694345192589,
|
||||
0.4889842453771339,
|
||||
0.5100454579134762,
|
||||
0.5024204387235169,
|
||||
0.5141007414159628,
|
||||
0.5403691471891979,
|
||||
0.5301660185073334,
|
||||
0.5760235114161298,
|
||||
0.5861124620696604,
|
||||
0.5734799251193733,
|
||||
0.613563278778363,
|
||||
0.6019781840424621,
|
||||
0.6124835374681992,
|
||||
0.6648062309517518,
|
||||
0.669743039182848,
|
||||
0.6858017072735901,
|
||||
0.6746423708794934,
|
||||
0.7198532262813726,
|
||||
0.7264158744035305,
|
||||
0.7145871815350525,
|
||||
0.7544234524933556,
|
||||
0.7363939195224446,
|
||||
0.7485789500260398,
|
||||
0.7628166138477256,
|
||||
0.8119847496417109,
|
||||
0.8330255544173595,
|
||||
0.8054526755408713,
|
||||
0.8584588222370078,
|
||||
0.8480172179298857,
|
||||
0.8804983162248883,
|
||||
0.8730853946854259,
|
||||
0.8820644293747433,
|
||||
0.890186227403441,
|
||||
0.936543264621003
|
||||
],
|
||||
"loss": [
|
||||
1.4952713683230068,
|
||||
1.6241079711922601,
|
||||
1.4556141314443767,
|
||||
1.536875339018873,
|
||||
1.582250123819695,
|
||||
1.5200034162657587,
|
||||
1.3981947004420512,
|
||||
1.4676312861136551,
|
||||
1.4700722509766602,
|
||||
1.375187501451575,
|
||||
1.3189966252775418,
|
||||
1.2924728482593522,
|
||||
1.3213448817287443,
|
||||
1.3195207299055696,
|
||||
1.3955919437857862,
|
||||
1.231887561345098,
|
||||
1.2721930658066198,
|
||||
1.3068925731122645,
|
||||
1.1826480682879805,
|
||||
1.226094298070738,
|
||||
1.126356833919786,
|
||||
1.2223144647648188,
|
||||
1.201390841319237,
|
||||
1.0854719146621141,
|
||||
1.0159738345019431,
|
||||
1.0444867373351245,
|
||||
1.1365222362152665,
|
||||
1.0991116537142849,
|
||||
0.981271583853104,
|
||||
0.9295018427850593,
|
||||
0.9021050310675309,
|
||||
1.0155725886367946,
|
||||
1.0124356436636157,
|
||||
0.9777325532673871,
|
||||
0.8102139457942824,
|
||||
0.896013791152899,
|
||||
0.8892310752180109,
|
||||
0.8525369026809214,
|
||||
0.7814648301152992,
|
||||
0.7454667157507703,
|
||||
0.7597884851926442,
|
||||
0.7853594166017319,
|
||||
0.833171319042936,
|
||||
0.7362808873599007,
|
||||
0.7006277248923057,
|
||||
0.7026997869166967,
|
||||
0.6064702709140819,
|
||||
0.5530920661720794,
|
||||
0.6786561049801432,
|
||||
0.6553200520346033
|
||||
],
|
||||
"final_map": 0.936543264621003
|
||||
}
|
||||
}
|
||||
|
Before Width: | Height: | Size: 244 KiB |
|
Before Width: | Height: | Size: 482 KiB |
|
Before Width: | Height: | Size: 483 KiB |
|
Before Width: | Height: | Size: 486 KiB |
|
Before Width: | Height: | Size: 76 KiB |
|
Before Width: | Height: | Size: 132 KiB |
|
Before Width: | Height: | Size: 132 KiB |
|
Before Width: | Height: | Size: 134 KiB |
|
Before Width: | Height: | Size: 73 KiB |
|
Before Width: | Height: | Size: 36 KiB |
Some files were not shown because too many files have changed in this diff Show More
Loading…
Reference in new issue