45 Commits (a328093dbba8ae4acbb5d8d310652159b8c8b598)

 

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Author	SHA1	Message	Date
AetherPendragon	a328093dbb	删除多余文件	2 weeks ago
AetherPendragon	704b32335b	删除多余文件	2 weeks ago
AetherPendragon	b914aaa73c	新增 threat_fusion 模块，实现无人机多模态威胁检测与避障功能： ... 核心功能： - 多模态融合引擎：融合热成像、闪光检测、声源定位三种感知模态 - 空间关联算法：基于方位角（±15°窗口）关联不同模态的检测结果 - 威胁等级评估：SAFE/CAUTION/WARNING/DANGER/CRITICAL 五级威胁 - 避障控制器：基于斥力场算法生成 ENU 速度指令，与 uav_control 集成 - 云台追踪：支持 AT10 吊舱目标追踪（仿真模式） 仿真支持： - flash_detector_node.py: 闪光检测仿真节点（基于图像亮度突变） - acoustic_analyzer_node.py: 声源检测仿真节点（JSON格式威胁输出） - 完整 Gazebo/PX4 SITL 集成测试方案 技术细节： - C++17 实现，ROS Noetic 兼容 - 发布 prometheus_msgs/UAVCommand 避障指令 - 地理围栏检查与安全速度限制对齐 uav_control 配置 - 时间窗口缓存机制确保跨模态数据同步 编译： - 更新 compile_all.sh 添加 threat_fusion 模块编译 文档： - README.md: 模块使用说明 - docs/GAZEBO_TEST.md: 完整仿真测试指南"	2 weeks ago
pkx2w7qjn	e1e4159a23	Delete '适配程度评估报告.md'	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 ... 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 ... - 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	2 weeks ago
camelliamc	5582217733	闪光检测模块前端合并	2 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	2 weeks ago
camelliamc	711ab614e2	Merge remote-tracking branch 'origin/master' into mc_branch	2 weeks ago
camelliamc	945651ca14	添加闪光检测模块以及优化单兵终端APP	2 weeks ago
pkx2w7qjn	735f46766b	Merge pull request '添加声源分析模块' (#7) from zhaochang_branch into master	2 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	2 weeks ago
赵昌	e451d75ab5	feat(demo): Add --help, fix run_demo.bat path, add iostream to classifier ... - 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	2 weeks ago
赵昌	31e2470090	feat(tests): Add boundary tests, model error messages, gitattributes ... - 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	2 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	2 weeks ago
赵昌	25ce259113	feat(classifier): Add JSON label map support, fix encapsulation ... - 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	2 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	2 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)	2 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)	2 weeks ago
赵昌	9911ad279d	fix(tests): Rewrite all test files to match current API ... - 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	2 weeks ago
赵昌	40379d174f	perf(acoustic): Optimize classifier and demo, remove dead code ... - 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	2 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	2 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	2 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	2 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	2 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	2 weeks ago
camelliamc	b65beebb67	修改app.py	2 weeks ago
pkx2w7qjn	5b519ee358	Merge pull request '完成单兵终端初始版本' (#5) from zhaochang_branch into master	3 weeks ago
赵昌	c80538a00e	更新单兵终端APP	3 weeks ago
赵昌	8f2f100cb1	单兵终端APP初次提交	3 weeks ago
p82feo7wg	9937ca64c5	Merge pull request '提交电脑端初期设计和所有ui设计供参考' (#4) from wangjiaqi23 into master	3 weeks ago
Surponess	8e51aeb0ff	提交电脑端初期设计喝所有ui设计供参考	3 weeks ago
p82feo7wg	d5080c4aac	Merge pull request '修改需求报告' (#3) from wangjiaqi23 into master	3 weeks ago
Surponess	2b2ee3a8c9	修改构思文档补充内容	3 weeks ago
p82feo7wg	1d9c2c8ddd	新增软件前端初版	1 month ago
Surponess	a36b34837e	新增软件前端初版	1 month ago
p82feo7wg	d358997df8	新增文档	2 months ago
Surponess	424531a570	新增软件构思和软件需求规格说明书	2 months ago
p82feo7wg	6845b3572d	Initial commit	3 months ago