pkx2w7qjn
080a9c24c4
Delete 'software/后端操作手册.md'
2 weeks ago
pkx2w7qjn
6edc9096b9
Delete 'software/单兵终端+声源分析_问题清单.md'
2 weeks ago
pkx2w7qjn
96a301cbf7
Delete 'software/多模态融合_声学订阅补丁.md'
2 weeks ago
pkx2w7qjn
1ce73e6b94
Delete 'software/前后端对接文档.md'
2 weeks ago
pkx2w7qjn
f6c3b4107a
Delete 'software/适配程度评估报告.md'
2 weeks ago
pkx2w7qjn
42e5b8f301
Delete '基于C++的无人机声源分析模块设计与实现_技术博客.docx'
2 weeks ago
pkx2w7qjn
0d027e8df1
Delete '声源分析模块_项目交接文档.docx'
2 weeks ago
pkx2w7qjn
bbf35a9aaa
Delete '多模态融合_声学订阅补丁.md'
2 weeks ago
pkx2w7qjn
3ccc8a574a
Delete '文档模板：软件设计规格说明书.doc'
2 weeks ago
pkx2w7qjn
d651be268d
Delete '智途投送_软件开发方案.md'
2 weeks ago
pkx2w7qjn
9c074cce50
Delete '智途投送软件系统_软件设计规格说明书.docx'
2 weeks ago
pkx2w7qjn
9cb86a44fd
Delete '设计文档示例-空巢老人看护系统.doc'
2 weeks ago
pkx2w7qjn
d4abeca8d1
Delete '课程实践服务器资源_2026-05-12.xlsx'
2 weeks ago
pkx2w7qjn
6544f74ce1
Delete '适配程度评估报告.md'
2 weeks ago
pkx2w7qjn
94a5c848e4
Delete '后端操作手册.md'
2 weeks ago
pkx2w7qjn
3c9c2e29f6
Delete '单兵终端APP_架构与功能实现说明.docx'
2 weeks ago
pkx2w7qjn
9861fd333a
Delete '单兵终端+声源分析_问题清单.md'
2 weeks ago
pkx2w7qjn
6c9b21b816
Delete '前后端对接文档.md'
2 weeks ago
赵昌
47bc4fc6e9
移除过渡文档
2 weeks ago
赵昌
b4ffb53e89
恢复项目原有文件，清理多余过渡文档
...
- 恢复 README.md 和 document/（项目原有）
- 移除多余的过渡文档（diagrams/, 临时txt等）
- 只保留 software/ 源代码 + 必要项目文件
Co-Authored-By: Claude Opus 4.7 <noreply@anthropic.com>
2 weeks ago
赵昌
45a9456a8e
移除root级别非software文件
2 weeks ago
赵昌
a1a96e504c
清理仓库：仅保留 software/ 目录内容
2 weeks ago
赵昌
56bd9ec6e7
智途投送软件系统 - 完整初始提交
...
包含全部源代码和文档（修复子模块问题）
Co-Authored-By: Claude Opus 4.7 <noreply@anthropic.com>
2 weeks ago
赵昌
546e8424d4
智途投送软件系统 - 初始提交
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单兵终端APP: 任务/无人机动态页面、地图标注、需求实时跟踪
后端: 区域标注系统、安全系数计算、任务调度流程
电脑端: 安全区域面板、高德地图、无人机状态推送
Co-Authored-By: Claude Opus 4.7 <noreply@anthropic.com>
2 weeks ago
赵昌
aafa277b97
fix: 修复单兵终端APP + 声源分析模块严重问题
...
单兵终端APP：
- 修复 index.html 多余字符 </nav>1
- 补齐缺失函数 toggleTheme / showChangePasswordModal / selectDropPointFromMap
- 修复数量验证逻辑漏洞（parseInt + isNaN 检查）
- 移除 index.html 同步高德脚本，location.js Key 改为可配置
- 为 loadDroneStatus DOM 操作添加空值保护（setText 辅助函数）
声源分析模块：
- AudioBuffer: 构造函数防除零（capacity=0 时设为 1），head_/tail_/size_ 改为 atomic
- acoustic_node: 添加 expandFindPath() 展开 YAML 语法
- gcc_phat_localizer: 修复 nfft 整数溢出，循环索引统一用 size_t
- mobile_phone_source: UDP 接收队列加容量上限（5 秒音频），超限时丢弃旧数据
文档：
- 新增前后端对接文档
- 新增适配程度评估报告
- 新增单兵终端+声源分析问题清单
- 新增多模态融合声学订阅补丁（需协调其他组）
2 weeks ago
赵昌
a0ce10eee0
merge: 合并master分支，保留后端持久化+Token认证+前端修复
...
冲突解决：
- app.py: 保留SQLite持久化、Token认证、数据库计数器修复
- app.js: 保留公网API地址(121.41.216.243)、登录态管理
- api.js: 合并changePassword + setBase/setToken/getToken导出
2 weeks ago
赵昌
0d2dba3910
fix: 后端主键冲突修复 + Token持久化 + 部署脚本 + 操作手册
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- 修复需求上报/任务分配 500 错误：内存计数器改为数据库查询
- 修复危险区域 ID 错乱：改用 lastrowid 获取自增 ID
- 后端：SQLite 持久化 + Werkzeug 密码哈希 + Token 数据库存储
- 前端：API 统一封装 + Token 自动携带 + Mock 兜底
- 新增 deploy_safe.sh 自适应部署脚本
- 新增后端操作手册
2 weeks ago
p82feo7wg
3c18f57d01
Merge pull request '提交多模态融合和热成像' ( #10 ) from wangjiaqi23 into master
2 weeks ago
Surponess
31b1a378ad
新增热成像和多模态融合
2 weeks ago
pg6wepubk
3fc545d580
Merge pull request '闪光检测前端模块合并' ( #9 ) from mc_branch into master
3 weeks ago
5582217733
闪光检测模块前端合并
3 weeks ago
pg6wepubk
aa14a5f616
Merge pull request '新增闪光检测模块及优化单兵终端APP系统设置' ( #8 ) from mc_branch into master
3 weeks ago
711ab614e2
Merge remote-tracking branch 'origin/master' into mc_branch
3 weeks ago
945651ca14
添加闪光检测模块以及优化单兵终端APP
3 weeks ago
pkx2w7qjn
735f46766b
Merge pull request '添加声源分析模块' ( #7 ) from zhaochang_branch into master
3 weeks ago
赵昌
ed014e08a0
chore: cleanup CMakeLists, expand .gitignore, add CHANGELOG
...
- CMakeLists.txt: remove extra blank lines, fix install rule condition
- .gitignore: add build/, IDE, Python cache, OS files, model artifacts
- CHANGELOG.md: document recent improvements (tests, FFT, ONNX, API changes)
- README.md: add link to CHANGELOG
- Remove build artifacts from git tracking
3 weeks ago
赵昌
e451d75ab5
feat(demo): Add --help, fix run_demo.bat path, add iostream to classifier
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- Add --help/-h CLI option to demo_offline with usage description
- Fix run_demo.bat validation dataset path: dataset\val -> dataset\binary\val
- Add missing #include <iostream> to gunshot_classifier.cpp for error messages
- All tests pass: test_core_lib 9/9, demo_offline 20/20
3 weeks ago
赵昌
31e2470090
feat(tests): Add boundary tests, model error messages, gitattributes
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- Add model file existence check and ONNX error output in gunshot_classifier
- Add 3 new unit tests to test_core_lib:
- audio_buffer_overflow: verifies capacity capping behavior
- distance_estimator_multi_class: verifies gunshot/artillery/explosion refs
- threat_tracker_filtering: verifies min_event_interval deduplication
- Add .gitattributes to mark .onnx, .bin, .wav as binary files
- All 9 core tests pass
3 weeks ago
赵昌
6abe18d417
style(acoustic): Complete size_t -> std::size_t cleanup across all files
...
- Fix remaining bare 'size_t' in pipeline.cpp, gunshot_classifier.cpp,
threat_tracker.cpp, mobile_phone_source.cpp
- All tests pass: test_core_lib 6/6, demo_offline 20/20
3 weeks ago
赵昌
25ce259113
feat(classifier): Add JSON label map support, fix encapsulation
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- Rewrite LoadLabelMap to support both JSON object format and legacy line format
- Fix CMakeLists.txt test command to use existing WAV file path
- Move WavFileSource::parse_wav_header and resample_if_needed to private section
- Verify JSON label_map works: demo_offline correctly loads and classifies
- All tests pass: test_core_lib 6/6, demo_offline 20/20
3 weeks ago
赵昌
c5c16ad74b
style(acoustic): Unify size_t to std::size_t, fix hardcoded SPL, add threshold CLI
...
- Replace all bare 'size_t' with 'std::size_t' in core/*.cpp, io/*.cpp, headers
- Fix distance_estimator: 'threat' class now uses config.ref_spl_gunshot instead of hardcoded 150.0f
- Add --threshold CLI arg to demo_offline (default 0.5)
- Rewrite mobile_phone_source.cpp to match PIMPL header API
- All tests pass: test_core_lib 6/6, demo_offline 20/20, extract_mel_cpp, test_classifier_cpp
3 weeks ago
赵昌
4a6908df18
fix(ros): Update ROS wrapper to match current Pipeline API
...
- Rewrite acoustic_node.cpp:
- Use PipelineConfig instead of removed PipelineParams
- Use Pipeline::Process(flat_samples) returning AcousticFrame
- Remove obsolete init() and process_single_channel() calls
- Add flatten_audio helper for interleaved multi-channel data
- Rewrite threat_publisher.cpp:
- Implement ThreatPublisher::Impl PIMPL pattern
- Accept AcousticFrame instead of old TrackedThreat vector
- Add NumPublished() counter
- Fix CMakeLists.txt: remove stale KISSFFT_DIR from test includes
- Add build_core_test.bat for compiling all test targets on Windows
- All core tests pass (test_core_lib 6/6)
3 weeks ago
赵昌
81879be4bc
perf(fft): Replace DFT with Cooley-Tukey FFT (33x speedup)
...
- Implement iterative complex FFT in fft_utils.cpp (power-of-2 only)
- Replace O(n^2) DFT with O(n log n) FFT in compute_power_spectrum
- Validation time drops from ~3200ms to ~97ms total (~160ms -> ~5ms per file)
- All tests pass (test_core_lib 6/6, demo_offline 20/20)
3 weeks ago
赵昌
9911ad279d
fix(tests): Rewrite all test files to match current API
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- Rewrite test_core_lib.cpp: update AudioBuffer, FeatureExtractor, GccPhatLocalizer,
DistanceEstimator, ThreatTracker APIs
- Rewrite test_classifier_cpp.cpp: update FeatureExtractor and GunshotClassifier APIs
- Rewrite extract_mel_cpp.cpp: update FeatureExtractor API
- All tests compile and pass on Windows MinGW
- test_core_lib: 6/6 tests pass including GCC-PHAT azimuth=90 verification
- test_classifier_cpp: correctly classifies ambient sample
- extract_mel_cpp: outputs 64x63 Mel spectrogram with correct value range
3 weeks ago
赵昌
40379d174f
perf(acoustic): Optimize classifier and demo, remove dead code
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- Cache Ort::MemoryInfo and I/O names in gunshot_classifier (avoid per-inference alloc)
- Reuse single FeatureExtractor across all files in demo_offline
- Add per-file and total inference timing to demo_offline
- Remove third_party/kiss_fft directory (fully replaced by inline FFT)
- Update fft_utils.h comments to remove stale kiss_fft references
- Verify 20/20 validation accuracy maintained, ~160ms avg per file
3 weeks ago
赵昌
8dddc3fd48
refactor(acoustic): Add docs, gitignore, cleanup deps, enhance WAV reader
...
- Add README.md with module overview, build instructions, ROS integration
- Add .gitignore for build artifacts, IDE files, Python cache
- Remove kiss_fft references from build_demo.bat and CMakeLists.txt
- Enhance wav_file_source: support 8/16/24/32-bit PCM and 32-bit float WAV
- Verify 20/20 validation accuracy maintained after all changes
3 weeks ago
赵昌
6928e85232
refactor(acoustic): Multiple quality improvements
...
- Fix build_demo.bat syntax error (missing newline)
- Enhance demo_offline: recursive WAV traversal, accuracy report, confusion matrix
- Eliminate deprecated wstring_convert warning in gunshot_classifier (use MultiByteToWideChar)
- Optimize fft_utils: cache DFT twiddle factors per thread (avoid per-frame recompute)
- Make CMakeLists.txt gracefully skip yaml-cpp/pipeline when not available
- Replace kiss_fft dependency in gcc_phat_localizer with inline iterative FFT
- Add batch_test.bat for one-click validation
- Verify 20/20 correct on validation set
3 weeks ago
赵昌
e589cdd874
feat(acoustic): Recover full acoustic analyzer module with buildable demo
...
- Recover all 50+ source/header/script files from conversation history
- Regenerate synthetic binary dataset (ambient vs threat)
- Retrain CNN-GRU classifier: 15 epochs, 90.4% train / 100% val accuracy
- Export ONNX model with MaxPool1d workaround for opset 13 compatibility
- Fix recovered file API mismatches (AudioBuffer, Pipeline, demo_offline)
- Replace kiss_fft with inline DFT in fft_utils.cpp (no external lib needed)
- Add missing #include <memory> to PIMPL headers
- Fix ONNX input layout: [batch, time_frames, n_mels]
- Downgrade ORT_API_VERSION 20 -> 17 for local DLL compatibility
- Simplify build_demo.bat for Windows MinGW (no yaml-cpp dependency)
- Verify demo_offline.exe on validation set: 20/20 correct classifications
3 weeks ago
p5vjqsb6e
36ee57ecdd
Merge pull request '修改px4 ， 新添加自主路径规划模块(offline_task_manager)' ( #6 ) from luogang_branch into master
3 weeks ago
AetherPendragon
b13a8121fb
新增离线任务管理模块 offline_task_manager，实现无人机自主任务规划与执行
...
本提交新增了一个 PX4 内部模块，用于无人机的离线任务托管和自动航线执行。
主要功能：
- 从本地 JSON 文件读取离线规划任务点 (/tmp/offline_tasks.json)
- 基于最近邻算法进行路径规划，支持任务优先级和紧急任务插队
- 电池电量感知与低电量任务过滤（支持模拟和真实电池）
- 自动生成 PX4 mission 并写入 dataman 持久化存储
- 完整状态机：IDLE → 等待home点 → 等待GPS定位 → 加载任务文件
→ 验证任务 → 规划路径 → 写入mission → 启动任务 → 监控执行
- 自动发送解锁命令并切换至 AUTO_MISSION 飞行模式
模块组成：
- offline_task.hpp/cpp: 任务数据结构定义与路径规划器
- cJSON.h/c: 嵌入式 JSON 解析库（最小实现）
- offline_task_parser: JSON 文件读取与校验
- offline_task_manager: 主模块，集成 PX4 uORB、dataman 与参数系统
新增参数：
- OTM_ENABLE: 启用/禁用模块
- OTM_START: 触发任务执行
- OTM_LOW_BATT: 低电量阈值
- OTM_FILE_PATH: 任务文件路径
关键修复：
- 在切换 AUTO_MISSION 模式前先发送 ARM 解锁命令，确保无人机正常起飞
- 使用 haversine 公式计算地球表面两点距离
集成说明：
- 添加到 amovlab_sitl_default 和 px4_sitl_default 构建目标
- 订阅 uORB 主题：mission、vehicle_command、battery_status、
vehicle_global_position、home_position
- 通过 vehicle_command 主题发送 MAVLink 模式切换命令
- 使用 dataman 存储离线任务 mission items
测试验证：
- SITL 仿真环境验证通过
- 支持最多 32 个离线任务点
- 成功实现任务加载、路径规划、mission 写入和模式切换
3 weeks ago
camelliamc
