From 7a9e754be61aadfd9ba9cfcfed04f6175d81c805 Mon Sep 17 00:00:00 2001
From: liuao08 <2496556459@qq.com>
Date: Tue, 17 Mar 2026 18:13:38 +0800
Subject: [PATCH 1/6] =?UTF-8?q?=E5=AE=9E=E7=8E=B0V2X=E4=BF=A1=E6=81=AF?=
 =?UTF-8?q?=E6=94=B6=E5=8F=91?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .../collect_intersection_camera_lidar.py      | 239 ++++++++++++++----
 1 file changed, 183 insertions(+), 56 deletions(-)

diff --git a/waypoint_control/multi_obj_track/collect_intersection_camera_lidar.py b/waypoint_control/multi_obj_track/collect_intersection_camera_lidar.py
index 1b25d06..50f8f25 100644
--- a/waypoint_control/multi_obj_track/collect_intersection_camera_lidar.py
+++ b/waypoint_control/multi_obj_track/collect_intersection_camera_lidar.py
@@ -21,6 +21,9 @@
 import argparse
 import json
 import subprocess
+import pickle
+import struct
+from ultralytics import YOLO
 from queue import Queue
 from queue import Empty
 from scipy.spatial.transform import Rotation as R
@@ -31,6 +34,7 @@
 WAITE_NEXT_INTERSECTION_TIME = 300  # 等待一定时间后第二路口相机雷达开始记录数据
 # 定义全局变量
 global_time = 0.0
+base_frame = None
 
 relativePose_to_egoVehicle = {
        "back_camera": [-7.00, 0.00, 2.62, -180.00, 0.00, 0.00],    # 1
@@ -288,40 +292,39 @@ def dist(actor):
     return all_labels
 
 
-def send_v2x_message_lidar(lidar_data, sensor):
-    """
-    不进行任何降采样，直接将完整激光雷达帧发送出去
-    """
-    # # 提取点云数据 (使用 Numpy 安全读取底层内存)
-    # points = np.frombuffer(lidar_data.raw_data, dtype=np.dtype('f4'))
-    #
-    # # 把点云字节流转换成十六进制字符串 (hex string)
-    # payload_hex_str = points.tobytes().hex()
-    #
-    # # 组装接收端期望的字典结构
-    # v2x_msg_dict = {
-    #     "Message": {
-    #         "Header": {
-    #             "Station ID": "5",
-    #             "Msg Type": "LiDAR_PointCloud"
-    #         },
-    #         "Message": {
-    #             "Bytes": payload_hex_str  # 这里存的是十六进制长字符串
-    #         }
-    #     }
-    # }
-    #
-    # # 将字典转换为 JSON 文本字符串 (这就对应你代码里的 text)
-    # text = json.dumps(v2x_msg_dict)
-
-    # 【测试代码】：只发送一个极短的文本
-    text = '{"Message": {"Header": {"Station ID": 1001}, "Message": {"Bytes": "Hello"}}}'
-
-    # 使用底层 API 进行打包和发送！
-    msg = carla.CustomV2XBytes()
-    msg.set_bytes(bytearray(text, 'utf-8'))
-    # 触发 V2X 发送
-    sensor.send(msg)
+def send_v2x_message_lidar(lidar_data, sensor, pkl_file_path, junc):
+    try:
+        # 1. 读取 pkl 文件获取帧 ID
+        with open(pkl_file_path, 'rb') as f:
+            data = pickle.load(f)
+
+        if isinstance(data, list):
+            data = data[0]
+
+        # 获取 frame_id 并转为字符串 (如果没有则默认为 "0")
+        frame_id = str(data.get('frame_id', '0'))
+
+        # 2. 获取当前时间戳 (保留4位小数即可)
+        current_time = f"{time.time():.4f}"
+
+        # 3. 拼接成最简单的纯文本字符串，用逗号隔开
+        # 结果类似: "000001,1710660000.1234"
+        text_payload = f"{frame_id},{current_time},{junc},点云数据"
+
+        # 4. 没有任何多余操作，直接按照您要求的 utf-8 格式转换并发送！
+        msg = carla.CustomV2XBytes()
+        msg.set_bytes(bytearray(text_payload, 'utf-8'))
+        sensor.send(msg)
+
+        print(f"[V2X] 极简发送成功！")
+        print(f"发送的内容: '{text_payload}'")
+        print(f"占用字节数: {len(text_payload.encode('utf-8'))} 字节")
+
+    except Exception as e:
+        import traceback
+        traceback.print_exc()
+        print(f"[发包报错]: {e}")
+
 
 # 定义函数来保存雷达点云数据
 def save_radar_data(radar_data, world, ego_vehicle_transform, actual_vehicle_num, actual_pedestrian_num,lidar_to_world_inv, all_vehicle_labels, all_pedestrian_labels, junc, town_folder, file_num, sensors):
@@ -336,7 +339,8 @@ def save_radar_data(radar_data, world, ego_vehicle_transform, actual_vehicle_num
     all_labels = save_point_label(world, location, lidar_to_world_inv, timestamp, all_vehicle_labels, all_pedestrian_labels)
 
     sensor = sensors["v2x_point"]
-    send_v2x_message_lidar(radar_data, sensor)
+    pkl_file_path = "/home/yons/traffic_twin/waypoint_control/multi_obj_track/OpenPCDet/output/cfgs/custom_models/pv_rcnn/default/pv_rcnn/default/eval/epoch_no_number/val/default/result.pkl"
+    send_v2x_message_lidar(radar_data, sensor, pkl_file_path, junc)
     # 获取雷达数据并将其转化为numpy数组
     points = np.frombuffer(radar_data.raw_data, dtype=np.dtype('f4'))
     points = np.reshape(points, (len(points) // 4, 4))
@@ -450,7 +454,7 @@ def dist(actor):
     radar_folder = create_radar_folder_py(town_folder, junc)
     np.save(os.path.join(radar_folder, f"{file_num}.npy"), datalogpy)
     # 保存备份用于目标检测
-    target_dir = "OpenPCDet/data/custom/points"
+    target_dir = "/home/yons/traffic_twin/waypoint_control/multi_obj_track/OpenPCDet/data/custom/points"
     clear_folder_contents(target_dir)
     np.save(os.path.join(target_dir, f"{file_num}.npy"), datalogpy)
     # 2. 保存 label 为 .txt
@@ -473,7 +477,7 @@ def dist(actor):
             f.write(str(all_labels))
 
     # 保存备份用于目标检测
-    goal_dir = "OpenPCDet/data/custom/labels"
+    goal_dir = "/home/yons/traffic_twin/waypoint_control/multi_obj_track/OpenPCDet/data/custom/labels"
     clear_folder_contents(goal_dir)
     with open(os.path.join(goal_dir, f"{file_num}.txt"), 'w') as f:
         # 处理不同的数据结构
@@ -495,8 +499,8 @@ def dist(actor):
     with open("num.txt", 'a') as f:  # 'a' 表示追加模式
         f.write(str(file_num) + "\n")  # 添加换行符
     # 保存备份用于目标检测
-    dir_train = "OpenPCDet/data/custom/ImageSets/train.txt"
-    dir_val = "OpenPCDet/data/custom/ImageSets/val.txt"
+    dir_train = "/home/yons/traffic_twin/waypoint_control/multi_obj_track/OpenPCDet/data/custom/ImageSets/train.txt"
+    dir_val = "/home/yons/traffic_twin/waypoint_control/multi_obj_track/OpenPCDet/data/custom/ImageSets/val.txt"
     with open(dir_train, 'w') as f:
         f.write(str(file_num) + "\n")  # 添加换行符
     with open(dir_val, 'w') as f:
@@ -528,13 +532,48 @@ def clear_folder_contents(folder_path):
 
     print(f"文件夹内容已清空: {folder_path}")
 
-
 # 定义函数来保存相机图像数据
-def save_camera_data(image_data, camera_id, junc, town_folder):
+def save_camera_data(image_data, camera_id, junc, town_folder, model, sensors):
+    global base_frame
     current_frame = image_data.frame
+    # 如果是第一帧，就把它的 ID 存为基数
+    if base_frame is None:
+        base_frame = current_frame
+        print(f"收到第一帧数据！将原始帧 ID {base_frame} 设置为基数 0。")
+    # 计算重置后的当前帧
+    normalized_frame = current_frame - base_frame
+    frame_str = f"{normalized_frame:06d}"
+
     image = np.array(image_data.raw_data)
     image = image.reshape((image_data.height, image_data.width, 4))  # 4th channel is alpha
     image = image[:, :, :3]  # 去掉 alpha 通道，只保留 RGB
+    # 使用yolov8检测图片
+    results = model.predict(source=image, stream=True)
+    for r in results:
+        # 获取检测框、置信度和类别
+        boxes = r.boxes
+        for box in boxes:
+            # 获取坐标 (x1, y1, x2, y2)
+            b = box.xyxy[0].tolist()
+            cls = int(box.cls[0])
+            conf = float(box.conf[0])
+            print(f"检测到: {model.names[cls]}, 置信度: {conf:.2f}")
+
+    if camera_id == "back_camera":
+        sensor = sensors["v2x_back"]
+    elif camera_id == "front_camera":
+        sensor = sensors["v2x_front"]
+    elif camera_id == "right_camera":
+        sensor = sensors["v2x_front_left"]
+    elif camera_id == "front_right_camera":
+        sensor = sensors["v2x_front_right"]
+    elif camera_id == "left_camera":
+        sensor = sensors["v2x_left"]
+    elif camera_id == "front_left_camera":
+        sensor = sensors["v2x_right"]
+
+    send_v2x_message_camera(sensor, junc, frame_str)
+
     camera_folder = create_camera_folder(camera_id, junc, town_folder)
     file_name = os.path.join(camera_folder, f"{current_frame}.jpg")
     try:
@@ -545,6 +584,29 @@ def save_camera_data(image_data, camera_id, junc, town_folder):
     return image
 
 
+def send_v2x_message_camera(sensor, junc, frame_id):
+    try:
+        # 获取当前时间戳 (保留4位小数即可)
+        current_time = f"{time.time():.4f}"
+
+        # 拼接成最简单的纯文本字符串，用逗号隔开
+        # 结果类似: "000001,1710660000.1234"
+        text_payload = f"{frame_id},{current_time},{junc},图片数据"
+
+        # 4. 没有任何多余操作，直接按照您要求的 utf-8 格式转换并发送！
+        msg = carla.CustomV2XBytes()
+        msg.set_bytes(bytearray(text_payload, 'utf-8'))
+        sensor.send(msg)
+
+        print(f"[V2X] 极简发送成功！")
+        print(f"发送的内容: '{text_payload}'")
+        print(f"占用字节数: {len(text_payload.encode('utf-8'))} 字节")
+
+    except Exception as e:
+        import traceback
+        traceback.print_exc()
+        print(f"❌ [发包报错]: {e}")
+
 def sensor_callback(sensor_data, sensor_queue, sensor_name):
     sensor_queue.put((sensor_data, sensor_name))
 
@@ -713,15 +775,17 @@ def spawn_autonomous_pedestrians(world, num_pedestrians=100, random_seed=20):
 
     return pedestrian_list
 
-
-def spawn_v2x_sensors(world, lidar_transform, z_height=2.62):
+def spawn_v2x_sensors(world, lidar_transform, z_height=2.57):
     sensors = {}  # 字典
 
     # 用字典直接给坐标命名，明确区分
     coordinates = {
-        "v2x_left": (3.0, 4.0),
-        "v2x_right": (3.0, -4.0),
-        "v2x_center": (1.0, 0.0),
+        "v2x_back": (-7.0, 0.0),
+        "v2x_front": (7.0, 0.0),
+        "v2x_front_left": (7.0, 4.0),
+        "v2x_front_right": (7.0, -4.0),
+        "v2x_left": (0.0, 4.0),
+        "v2x_right": (0.0, -4.0),
         "v2x_point": (0.5, 0.5)
     }
 
@@ -737,12 +801,15 @@ def spawn_v2x_sensors(world, lidar_transform, z_height=2.62):
         # 生成V2X传感器
         sensor = world.spawn_actor(bp, transform)
         # 激活传感器
-        sensor.listen(lambda data: _on_v2x_received(data))
+        sensor.listen(lambda data: do_nothing(data))
         # 将生成的传感器以名字存入字典
         sensors[name] = sensor
 
     return sensors
 
+def do_nothing(data):
+    pass
+
 def spawn_v2x_receiver(world):
     location = carla.Location(x=0, y=0, z=2.62)
     transform = carla.Transform(location, carla.Rotation(yaw=0))
@@ -757,14 +824,66 @@ def spawn_v2x_receiver(world):
 
     return receiver
 
-def _on_v2x_received(sensor_data):
-    print(f"收到消息")
-    for data in sensor_data:
-        msg_dict = data.get()
-        raw_bytes = msg_dict["Message"]["Message"]["Bytes"]
-        content = raw_bytes.decode('utf-8', errors='ignore')
-        print(f"  [接收端] 收到消息 ")
+def _on_v2x_received(event):
+    """
+    接收端回调函数：将所有帧的数据保存在同一个文件夹下的独立 txt 中
+    """
+    if event.get_message_count() == 0:
+        return
 
+    for i, custom_data in enumerate(event):
+        try:
+            # 1. 获取底层数据
+            parsed_data = custom_data.get()
+            text_payload = ""
+
+            # 2. 智能提取文本内容
+            if isinstance(parsed_data, dict):
+                payload = parsed_data.get("Message", {}).get("Message", {}).get("Bytes", "")
+                if isinstance(payload, (bytes, bytearray)):
+                    text_payload = payload.decode('utf-8')
+                elif isinstance(payload, str):
+                    text_payload = payload
+            elif isinstance(parsed_data, (bytes, bytearray)):
+                text_payload = parsed_data.decode('utf-8')
+            elif isinstance(parsed_data, str):
+                text_payload = parsed_data
+            else:
+                continue
+
+            # 3. 解析逗号分隔的 "帧ID,发送时间"
+            if ',' not in text_payload:
+                continue
+
+            frame_id_str, send_time_str, JUNC_ID, data_type = text_payload.split(',')
+            frame_id = int(frame_id_str)
+            send_time = float(send_time_str)
+
+            # 4. 计算当前延迟
+            receive_time = time.time()
+            latency_ms = (receive_time - send_time) * 1000
+
+            print(f"✅ [V2X 接收] 帧 ID: {frame_id:06d} | 延迟: {latency_ms:.2f} ms")
+
+            # 核心保存逻辑：扁平化保存，按帧号命名 txt
+            # 直接在总文件夹下生成对应的 txt 文件路径
+            BASE_SAVE_DIR = "./v2x_latency_logs"
+            txt_file_path = os.path.join(BASE_SAVE_DIR, f"frame_{frame_id:06d}.txt")
+
+            # 追加写入模式 'a'：如果该帧的 txt 文件不存在，会自动创建；
+            # 如果已经存在（即收到了同一帧其他车辆发来的数据），则会在下一行继续写入。
+            with open(txt_file_path, "a", encoding="utf-8") as f:
+                log_line = (f"路口号: {JUNC_ID}, "
+                            f"发送时间: {send_time:.6f}, "
+                            f"接收时间: {receive_time:.6f}, "
+                            f"延迟(ms): {latency_ms:.2f}, "
+                            f"数据类型: {data_type}\n")
+                f.write(log_line)
+
+        except ValueError:
+            pass
+        except Exception as e:
+            print(f"❌ [解析与保存报错]: {e}")
 def destroy_actor(lidar, camera_dict, vehicles, sensor_queue, pedestrians):
     if lidar is not None:
         lidar.stop()  # 确保停止传感器线程
@@ -834,7 +953,7 @@ def run_shell_script():
     # 定义脚本的绝对路径
     script_path = "/home/yons/object_detection.sh"
 
-    # 定义工作目录（脚本在哪里运行很重要！）
+    # 定义工作目录
     work_dir = "/mnt/mydrive/traffic_twin/waypoint_control/multi_obj_track"
     print("开始执行 Shell 脚本...")
     try:
@@ -936,6 +1055,10 @@ def main():
         'points_per_second': '4000000',
         'rotation_frequency': '20'
     }
+
+    # 加载yolo模型
+    model = YOLO('yolov8n.pt')
+
     try:
         # 设置随机种子
         random_seed = 20
@@ -978,6 +1101,10 @@ def main():
         sensors = spawn_v2x_sensors(world, lidar_transform, z_height=2.62)
         # 生成并启动V2X数据收集端
         receiver = spawn_v2x_receiver(world)
+        # 定义保存数据的唯一总文件夹
+        BASE_SAVE_DIR = "./v2x_latency_logs"
+        # 在程序启动时，确保总文件夹存在（如果不存在则创建）
+        os.makedirs(BASE_SAVE_DIR, exist_ok=True)
         actual_vehicle_num = []
         actual_pedestrian_num = []
         all_vehicle_labels = []
@@ -1019,7 +1146,7 @@ def main():
                 if "lidar" in sensor_name:  # lidar数据
                     save_radar_data(data, world, ego_transform, actual_vehicle_num, actual_pedestrian_num, lidar_to_world_inv, all_vehicle_labels, all_pedestrian_labels, junc, town_folder, file_num, sensors)
                 else:
-                    save_camera_data(data, sensor_name, junc, town_folder)
+                    save_camera_data(data, sensor_name, junc, town_folder, model, sensors)
             # time.sleep(0.05)
             folder_index += 1
 

From 55b6048a5d1250e4cdf1c352eda9514d788a33a3 Mon Sep 17 00:00:00 2001
From: liuao08 <2496556459@qq.com>
Date: Wed, 18 Mar 2026 17:45:34 +0800
Subject: [PATCH 2/6] =?UTF-8?q?=E5=B0=86openpcdet=E8=BF=90=E8=A1=8C?=
 =?UTF-8?q?=E6=97=B6=E9=97=B4=E6=8E=92=E9=99=A4=E5=9C=A8=E6=95=B0=E6=8D=AE?=
 =?UTF-8?q?=E4=BC=A0=E8=BE=93=E6=97=B6=E9=97=B4=E4=B9=8B=E5=A4=96?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .../collect_intersection_camera_lidar.py      | 49 ++++++++++++++-----
 1 file changed, 36 insertions(+), 13 deletions(-)

diff --git a/waypoint_control/multi_obj_track/collect_intersection_camera_lidar.py b/waypoint_control/multi_obj_track/collect_intersection_camera_lidar.py
index 50f8f25..753d492 100644
--- a/waypoint_control/multi_obj_track/collect_intersection_camera_lidar.py
+++ b/waypoint_control/multi_obj_track/collect_intersection_camera_lidar.py
@@ -35,6 +35,8 @@
 # 定义全局变量
 global_time = 0.0
 base_frame = None
+# openpcdet进行目标识别所用时间
+extra_time = 0
 
 relativePose_to_egoVehicle = {
        "back_camera": [-7.00, 0.00, 2.62, -180.00, 0.00, 0.00],    # 1
@@ -305,7 +307,8 @@ def send_v2x_message_lidar(lidar_data, sensor, pkl_file_path, junc):
         frame_id = str(data.get('frame_id', '0'))
 
         # 2. 获取当前时间戳 (保留4位小数即可)
-        current_time = f"{time.time():.4f}"
+
+        current_time = f"{time.time() - extra_time:.4f}"
 
         # 3. 拼接成最简单的纯文本字符串，用逗号隔开
         # 结果类似: "000001,1710660000.1234"
@@ -327,7 +330,7 @@ def send_v2x_message_lidar(lidar_data, sensor, pkl_file_path, junc):
 
 
 # 定义函数来保存雷达点云数据
-def save_radar_data(radar_data, world, ego_vehicle_transform, actual_vehicle_num, actual_pedestrian_num,lidar_to_world_inv, all_vehicle_labels, all_pedestrian_labels, junc, town_folder, file_num, sensors):
+def save_radar_data(radar_data, world, ego_vehicle_transform, actual_vehicle_num, actual_pedestrian_num,lidar_to_world_inv, all_vehicle_labels, all_pedestrian_labels, junc, town_folder, file_num, sensors, num):
     global global_time
     # 获取当前帧编号
     current_frame = radar_data.frame
@@ -338,9 +341,9 @@ def save_radar_data(radar_data, world, ego_vehicle_transform, actual_vehicle_num
     location = ego_vehicle_transform.location
     all_labels = save_point_label(world, location, lidar_to_world_inv, timestamp, all_vehicle_labels, all_pedestrian_labels)
 
-    sensor = sensors["v2x_point"]
-    pkl_file_path = "/home/yons/traffic_twin/waypoint_control/multi_obj_track/OpenPCDet/output/cfgs/custom_models/pv_rcnn/default/pv_rcnn/default/eval/epoch_no_number/val/default/result.pkl"
-    send_v2x_message_lidar(radar_data, sensor, pkl_file_path, junc)
+    # sensor = sensors["v2x_point"]
+    # pkl_file_path = "/home/yons/traffic_twin/waypoint_control/multi_obj_track/OpenPCDet/output/cfgs/custom_models/pv_rcnn/default/pv_rcnn/default/eval/epoch_no_number/val/default/result.pkl"
+    # send_v2x_message_lidar(radar_data, sensor, pkl_file_path, junc)
     # 获取雷达数据并将其转化为numpy数组
     points = np.frombuffer(radar_data.raw_data, dtype=np.dtype('f4'))
     points = np.reshape(points, (len(points) // 4, 4))
@@ -506,8 +509,14 @@ def dist(actor):
     with open(dir_val, 'w') as f:
         f.write(str(file_num) + "\n")  # 添加换行符
 
-    # 运行自动化目标检测脚本
-    run_shell_script()
+    # # 运行自动化目标检测脚本
+    # duration = run_shell_script()
+    # global extra_time
+    # extra_time += duration
+
+    sensor = sensors["v2x_point"]
+    pkl_file_path = "/home/yons/traffic_twin/waypoint_control/multi_obj_track/OpenPCDet/output/cfgs/custom_models/pv_rcnn/default/pv_rcnn/default/eval/epoch_no_number/val/default/result.pkl"
+    send_v2x_message_lidar(radar_data, sensor, pkl_file_path, junc)
 
 # 更新目标检测的文件夹
 def clear_folder_contents(folder_path):
@@ -533,7 +542,7 @@ def clear_folder_contents(folder_path):
     print(f"文件夹内容已清空: {folder_path}")
 
 # 定义函数来保存相机图像数据
-def save_camera_data(image_data, camera_id, junc, town_folder, model, sensors):
+def save_camera_data(image_data, camera_id, junc, town_folder, model, sensors, num):
     global base_frame
     current_frame = image_data.frame
     # 如果是第一帧，就把它的 ID 存为基数
@@ -587,7 +596,7 @@ def save_camera_data(image_data, camera_id, junc, town_folder, model, sensors):
 def send_v2x_message_camera(sensor, junc, frame_id):
     try:
         # 获取当前时间戳 (保留4位小数即可)
-        current_time = f"{time.time():.4f}"
+        current_time = f"{time.time() - extra_time:.4f}"
 
         # 拼接成最简单的纯文本字符串，用逗号隔开
         # 结果类似: "000001,1710660000.1234"
@@ -860,7 +869,7 @@ def _on_v2x_received(event):
             send_time = float(send_time_str)
 
             # 4. 计算当前延迟
-            receive_time = time.time()
+            receive_time = time.time() - extra_time
             latency_ms = (receive_time - send_time) * 1000
 
             print(f"✅ [V2X 接收] 帧 ID: {frame_id:06d} | 延迟: {latency_ms:.2f} ms")
@@ -956,6 +965,8 @@ def run_shell_script():
     # 定义工作目录
     work_dir = "/mnt/mydrive/traffic_twin/waypoint_control/multi_obj_track"
     print("开始执行 Shell 脚本...")
+    # 记录开始时间 (高精度)
+    start_time = time.time()
     try:
         # 使用 subprocess.run 执行脚本
         # cwd=work_dir 确保脚本是在 OpenPCDet 根目录下运行的
@@ -970,6 +981,11 @@ def run_shell_script():
 
         print("✅ 脚本执行成功！输出如下：")
         print(result.stdout)
+        # 记录结束时间
+        end_time = time.time()
+        # 计算耗时
+        duration = end_time - start_time
+        return duration
 
     except subprocess.CalledProcessError as e:
         print("❌ 脚本执行失败！")
@@ -1011,7 +1027,7 @@ def main():
     argparser.add_argument(
         '-i', '--intersection',
         metavar='INTERSECTION',
-        default='road_intersection_5',  # 默认路口
+        default='road_intersection_2',  # 默认路口
         help='Name of the intersection within the town (default: road_intersection_1)'
     )
     args = argparser.parse_args()
@@ -1112,8 +1128,11 @@ def main():
         vehicles_traj = {}
         pedestrians_traj = {}
         folder_index = 0
+        # 设置变量
+        num = 0
         for _ in range(DATA_MUN):
             world.tick()
+            num += 1
             actor_list_vehicle = world.get_actors().filter('vehicle.*')
             for actor in actor_list_vehicle:
                 vehicle_id = actor.id
@@ -1141,12 +1160,16 @@ def main():
                     pedestrians_traj[pedestrian_id].append([x, y, z])
             # 同步保存多传感器数据
             file_num = f"{folder_index:06d}"
+            # 运行自动化目标检测脚本
+            duration = run_shell_script()
+            global extra_time
+            extra_time += duration
             for _ in range(1 + len(camera_dict)):
                 data, sensor_name = sensor_queue.get(True, 1.0)
                 if "lidar" in sensor_name:  # lidar数据
-                    save_radar_data(data, world, ego_transform, actual_vehicle_num, actual_pedestrian_num, lidar_to_world_inv, all_vehicle_labels, all_pedestrian_labels, junc, town_folder, file_num, sensors)
+                    save_radar_data(data, world, ego_transform, actual_vehicle_num, actual_pedestrian_num, lidar_to_world_inv, all_vehicle_labels, all_pedestrian_labels, junc, town_folder, file_num, sensors, num)
                 else:
-                    save_camera_data(data, sensor_name, junc, town_folder, model, sensors)
+                    save_camera_data(data, sensor_name, junc, town_folder, model, sensors, num)
             # time.sleep(0.05)
             folder_index += 1
 

From c42ddd5877e28fa35a11ff0a423d4d998fe908bc Mon Sep 17 00:00:00 2001
From: liuao08 <2496556459@qq.com>
Date: Thu, 19 Mar 2026 18:21:09 +0800
Subject: [PATCH 3/6] =?UTF-8?q?=E8=AE=A1=E7=AE=97=E6=80=BB=E4=BC=A0?=
 =?UTF-8?q?=E8=BE=93=E6=97=B6=E9=97=B4=E5=B9=B6=E5=89=94=E9=99=A4=E4=B8=8D?=
 =?UTF-8?q?=E5=AE=8C=E6=95=B4=E7=9A=84=E5=B8=A7?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .../collect_intersection_camera_lidar.py      |  18 +--
 .../multi_obj_track/process_v2x_data.py       | 138 ++++++++++++++++++
 2 files changed, 147 insertions(+), 9 deletions(-)
 create mode 100644 waypoint_control/multi_obj_track/process_v2x_data.py

diff --git a/waypoint_control/multi_obj_track/collect_intersection_camera_lidar.py b/waypoint_control/multi_obj_track/collect_intersection_camera_lidar.py
index 753d492..ba27066 100644
--- a/waypoint_control/multi_obj_track/collect_intersection_camera_lidar.py
+++ b/waypoint_control/multi_obj_track/collect_intersection_camera_lidar.py
@@ -509,10 +509,10 @@ def dist(actor):
     with open(dir_val, 'w') as f:
         f.write(str(file_num) + "\n")  # 添加换行符
 
-    # # 运行自动化目标检测脚本
-    # duration = run_shell_script()
-    # global extra_time
-    # extra_time += duration
+    # 运行自动化目标检测脚本
+    duration = run_shell_script()
+    global extra_time
+    extra_time += duration
 
     sensor = sensors["v2x_point"]
     pkl_file_path = "/home/yons/traffic_twin/waypoint_control/multi_obj_track/OpenPCDet/output/cfgs/custom_models/pv_rcnn/default/pv_rcnn/default/eval/epoch_no_number/val/default/result.pkl"
@@ -1027,7 +1027,7 @@ def main():
     argparser.add_argument(
         '-i', '--intersection',
         metavar='INTERSECTION',
-        default='road_intersection_2',  # 默认路口
+        default='road_intersection_1',  # 默认路口
         help='Name of the intersection within the town (default: road_intersection_1)'
     )
     args = argparser.parse_args()
@@ -1160,10 +1160,10 @@ def main():
                     pedestrians_traj[pedestrian_id].append([x, y, z])
             # 同步保存多传感器数据
             file_num = f"{folder_index:06d}"
-            # 运行自动化目标检测脚本
-            duration = run_shell_script()
-            global extra_time
-            extra_time += duration
+            # # 运行自动化目标检测脚本
+            # duration = run_shell_script()
+            # global extra_time
+            # extra_time += duration
             for _ in range(1 + len(camera_dict)):
                 data, sensor_name = sensor_queue.get(True, 1.0)
                 if "lidar" in sensor_name:  # lidar数据
diff --git a/waypoint_control/multi_obj_track/process_v2x_data.py b/waypoint_control/multi_obj_track/process_v2x_data.py
new file mode 100644
index 0000000..bbae104
--- /dev/null
+++ b/waypoint_control/multi_obj_track/process_v2x_data.py
@@ -0,0 +1,138 @@
+import os
+import re
+import shutil
+import scipy.io as sio
+
+
+def get_min_send_time(file_path):
+    """提取文件中的最早发送时间"""
+    pattern = re.compile(r"发送时间:\s*([0-9\.]+)")
+    times = []
+    try:
+        with open(file_path, 'r', encoding='utf-8') as file:
+            for line in file:
+                match = pattern.search(line)
+                if match:
+                    times.append(float(match.group(1)))
+        return min(times) if times else None
+    except Exception as e:
+        print(f"读取 {file_path} 出错: {e}")
+        return None
+
+
+def get_max_receive_time(file_path):
+    """提取文件中的最晚接收时间"""
+    pattern = re.compile(r"接收时间:\s*([0-9\.]+)")
+    times = []
+    try:
+        with open(file_path, 'r', encoding='utf-8') as file:
+            for line in file:
+                match = pattern.search(line)
+                if match:
+                    times.append(float(match.group(1)))
+        return max(times) if times else None
+    except Exception as e:
+        print(f"读取 {file_path} 出错: {e}")
+        return None
+
+
+def calculate_simulation_time(folder_path):
+    """
+    计算指定文件夹内所有帧数据的总耗时，并将结果保存为 mat 和 txt
+    """
+    all_files = [f for f in os.listdir(folder_path) if f.startswith("frame_") and f.endswith(".txt")]
+
+    if not all_files:
+        print("错误：在指定文件夹中没有找到匹配的数据文件！")
+        return False
+
+    all_files.sort()
+    first_file = os.path.join(folder_path, all_files[0])
+    last_file = os.path.join(folder_path, all_files[-1])
+
+    print(f"原始第一帧: {all_files[0]}")
+    print(f"原始最后一帧: {all_files[-1]}")
+
+    start_time = get_min_send_time(first_file)
+    end_time = get_max_receive_time(last_file)
+
+    if start_time and end_time:
+        total_seconds = end_time - start_time
+        print(f"数据传输总耗时: {total_seconds:.4f} 秒")
+
+        # 保存结果到原始文件夹中
+        mat_filename = os.path.join(folder_path, "simulation_total_time.mat")
+        sio.savemat(mat_filename, {'total_time': total_seconds})
+        print(f"已保存为 MATLAB 原生文件: {mat_filename}")
+
+        txt_filename = os.path.join(folder_path, "simulation_total_time_pure.txt")
+        with open(txt_filename, 'w') as f:
+            f.write(f"{total_seconds:.4f}")
+        print(f"已保存为 txt 备用文件: {txt_filename}")
+        return True
+    else:
+        print("错误：未能成功提取时间。如果首尾帧数据完全损坏，可能会导致此错误。")
+        return False
+
+
+def clean_and_resort_frames(source_folder, target_folder, required_lines=35):
+    """
+    清洗并重排帧数据，剔除不完整的帧
+    """
+
+    if not os.path.exists(target_folder):
+        os.makedirs(target_folder)
+        print(f" 创建了新的目标文件夹: {target_folder}")
+    else:
+        print(f" 目标文件夹已存在: {target_folder}")
+
+    all_files = [f for f in os.listdir(source_folder) if f.startswith("frame_") and f.endswith(".txt")]
+    all_files.sort()
+
+    valid_count = 0
+    discarded_count = 0
+
+    for original_filename in all_files:
+        source_filepath = os.path.join(source_folder, original_filename)
+
+        with open(source_filepath, 'r', encoding='utf-8') as f:
+            lines = f.readlines()
+            valid_lines = [line.strip() for line in lines if line.strip()]
+
+        line_count = len(valid_lines)
+
+        if line_count == required_lines:
+            new_filename = f"frame_{valid_count:06d}.txt"
+            target_filepath = os.path.join(target_folder, new_filename)
+            shutil.copy2(source_filepath, target_filepath)
+            valid_count += 1
+        else:
+            print(f"  剔除: {original_filename} (仅包含 {line_count} 条数据)")
+            discarded_count += 1
+
+    print(f" 完成数据清洗！保留并重排: {valid_count} 个文件，剔除: {discarded_count} 个文件。")
+
+
+def main():
+    # 配置文件路径
+    raw_data_folder = "./v2x_latency_logs"  # 含有全部原始数据的文件夹
+    cleaned_data_folder = "./v2x_clean_logs"  # 清洗并重排后存放数据的目标文件夹
+
+    # 假设每帧完整应该有的条数
+    REQUIRED_LINES_PER_FRAME = 7
+
+    # 计算总耗时
+    calculate_simulation_time(folder_path=raw_data_folder)
+
+    # 清洗数据，剔除坏帧并重排
+    clean_and_resort_frames(
+        source_folder=raw_data_folder,
+        target_folder=cleaned_data_folder,
+        required_lines=REQUIRED_LINES_PER_FRAME
+    )
+
+    print("\n 全部数据处理完毕！")
+
+
+if __name__ == "__main__":
+    main()
\ No newline at end of file

From 9e9522e94c0ca3a3c3edb642d211de5907342f58 Mon Sep 17 00:00:00 2001
From: liuao08 <2496556459@qq.com>
Date: Fri, 20 Mar 2026 17:57:42 +0800
Subject: [PATCH 4/6] =?UTF-8?q?=E5=BE=97=E5=88=B0=E6=9C=80=E7=BB=88?=
 =?UTF-8?q?=E5=AD=AA=E7=94=9F=E5=BC=80=E5=A7=8B=E8=BF=90=E8=A1=8C=E7=9A=84?=
 =?UTF-8?q?=E6=97=B6=E9=97=B4?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .../collect_intersection_camera_lidar.py      |  2 +-
 waypoint_control/multi_obj_track/demo.m       | 37 ++++++++----
 .../navigation/generate_trajectories.py       | 58 ++++++++++++++++++
 .../multi_obj_track/reID/Utils/DEMO.m         | 60 +++++++------------
 4 files changed, 108 insertions(+), 49 deletions(-)

diff --git a/waypoint_control/multi_obj_track/collect_intersection_camera_lidar.py b/waypoint_control/multi_obj_track/collect_intersection_camera_lidar.py
index ba27066..6511edd 100644
--- a/waypoint_control/multi_obj_track/collect_intersection_camera_lidar.py
+++ b/waypoint_control/multi_obj_track/collect_intersection_camera_lidar.py
@@ -1027,7 +1027,7 @@ def main():
     argparser.add_argument(
         '-i', '--intersection',
         metavar='INTERSECTION',
-        default='road_intersection_1',  # 默认路口
+        default='road_intersection_3',  # 默认路口
         help='Name of the intersection within the town (default: road_intersection_1)'
     )
     args = argparser.parse_args()
diff --git a/waypoint_control/multi_obj_track/demo.m b/waypoint_control/multi_obj_track/demo.m
index 3db14c8..2663600 100644
--- a/waypoint_control/multi_obj_track/demo.m
+++ b/waypoint_control/multi_obj_track/demo.m
@@ -4,8 +4,12 @@
 
 % 用户输入地图名和路口编号
 townName = 'Town10';                 % 例如 Town01 或 Town10）
-juncNum = 1;                         % 请输入路口编号（1 或 2）
+juncNum = 4;                         % 请输入路口编号（1 或 2）
 
+data = load('/mnt/mydrive/traffic_twin/waypoint_control/multi_obj_track/v2x_latency_logs/simulation_total_time.mat');
+t_start = data.last_receive_time;
+% 获取程序开始时间
+sys_time_before = posixtime(datetime('now'));
 % 根据输入选择配置
 if isfield(dataset, townName)
     townConfig = dataset.(townName);
@@ -33,20 +37,31 @@
         convertTrackToCarlaCoordinate(junc, transMatrix);
         
         %% 计算单个路口跟踪指标并保存
-        %currentPath = fileparts(mfilename('fullpath'));
-        %folderPath = fullfile(currentPath, 'Evaluation');
-        % 将文件夹添加到路径
-        %addpath(folderPath);
-        %demoSingleJuncEvaluation(junc, juncConfig.juncNum);
-        %if strcmp(townName, 'Town10')
+        % currentPath = fileparts(mfilename('fullpath'));
+        % folderPath = fullfile(currentPath, 'Evaluation');
+        %% 将文件夹添加到路径
+        % addpath(folderPath);
+        % demoSingleJuncEvaluation(junc, juncConfig.juncNum);
+        % if strcmp(townName, 'Town10')
         %    townPath = [townName 'HD_Opt_Metric'];
-        %else
+        % else
         %    townPath = [townName '_Metric'];
-        %end
-        %MCTPResults = demoMultiSensorEvaluation(townPath);
+        % end
+        % MCTPResults = demoMultiSensorEvaluation(townPath);
     else
         error('路口编号不存在！');
     end
 else
     error('地图名不存在！');
-end
\ No newline at end of file
+end
+
+% 获取程序结束时间
+sys_time_after = posixtime(datetime('now'));
+% 计算程序耗时
+program_run_time = sys_time_after - sys_time_before;
+% 得出在线结束时间
+t_end = t_start + program_run_time;
+% 保存为.mat 文件
+save_folder = '/mnt/mydrive/traffic_twin/waypoint_control/multi_obj_track';
+mat_save_path = fullfile(save_folder, 'matlab_final_timeline.mat');
+save(mat_save_path, 't_start', 't_end', 'program_run_time');
\ No newline at end of file
diff --git a/waypoint_control/multi_obj_track/navigation/generate_trajectories.py b/waypoint_control/multi_obj_track/navigation/generate_trajectories.py
index f3d5692..f147011 100644
--- a/waypoint_control/multi_obj_track/navigation/generate_trajectories.py
+++ b/waypoint_control/multi_obj_track/navigation/generate_trajectories.py
@@ -8,6 +8,7 @@
 import os
 import random
 import time
+import re
 from fastdtw import fastdtw
 from config import IntersectionConfig, town_configurations
 from global_route_planner import GlobalRoutePlanner
@@ -251,6 +252,52 @@ def create_pedestrian_move(start_location, end_location, world, totaltime):
     return position_history
 
 
+def read_matlab_timeline(file_path):
+    """
+    读取 matlab_final.txt 文件，提取起始时间、终止时间和总耗时
+    """
+    # 初始化一个字典来存放提取到的数据
+    extracted_data = {
+        "start_time": None,
+        "end_time": None,
+        "total_cost": None
+    }
+
+    if not os.path.exists(file_path):
+        print(f"错误：找不到文件 {file_path}")
+        return extracted_data
+
+    # 定义正则表达式，兼容中文全角冒号 "：" 和英文半角冒号 ":"
+    # 匹配规则：找到指定文字和冒号，然后提取后面的所有数字和小数点
+    pattern_start = re.compile(r"起始时间[：:]\s*([0-9\.]+)")
+    pattern_end = re.compile(r"终止时间[：:]\s*([0-9\.]+)")
+    pattern_total = re.compile(r"总耗时[：:]\s*([0-9\.]+)")
+
+    try:
+        with open(file_path, 'r', encoding='utf-8') as file:
+            content = file.read()
+
+            # 提取起始时间
+            match_start = pattern_start.search(content)
+            if match_start:
+                extracted_data["start_time"] = float(match_start.group(1))
+
+            # 提取终止时间
+            match_end = pattern_end.search(content)
+            if match_end:
+                extracted_data["end_time"] = float(match_end.group(1))
+
+            # 提取总耗时
+            match_total = pattern_total.search(content)
+            if match_total:
+                extracted_data["total_cost"] = float(match_total.group(1))
+
+        return extracted_data
+
+    except Exception as e:
+        print(f"读取文件出错: {e}")
+        return extracted_data
+
 def main():
     argparser = argparse.ArgumentParser(
         description=__doc__)
@@ -275,6 +322,10 @@ def main():
     args = argparser.parse_args()
     np.random.seed(42)
     random.seed(42)
+    # 读取起始时间
+    file_path = "../matlab_final.txt"
+    all_time = read_matlab_timeline(file_path)
+    str_time = time.time()
     # 连接到Carla服务器
     client = carla.Client(args.host, args.port)
     client.set_timeout(10.0)
@@ -717,6 +768,13 @@ def main():
         for line in sorted_lines:
             file.write(line)
 
+    # 保存最终时间
+    end_time = time.time()
+    duration = end_time - str_time
+    final_time = all_time['end_time'] + duration
+    with open("final.txt", "w") as f:
+        f.write(f"{final_time:.2f}")
+
 
 if __name__ == '__main__':
     main()
diff --git a/waypoint_control/multi_obj_track/reID/Utils/DEMO.m b/waypoint_control/multi_obj_track/reID/Utils/DEMO.m
index 823b26a..b948e67 100644
--- a/waypoint_control/multi_obj_track/reID/Utils/DEMO.m
+++ b/waypoint_control/multi_obj_track/reID/Utils/DEMO.m
@@ -1,49 +1,26 @@
 %% 将生成的轨迹与外观特征绑定
 %% 匹配轨迹之前，处理单个路口的轨迹id变化的情况
 config;
-townNameFull = 'Town10HD_Opt';   % 可以修改城镇和路口
 
-if strcmp(townName, 'Town10HD_Opt')
-   townName = erase(townName, "HD_Opt");
-end
-%% 获取跟踪轨迹路径
-currentPath = fileparts(mfilename('fullpath'));
-% 获取当前路径的上级目录
-parentPath = fileparts(currentPath);
-% 再次获取上级目录，即上上级目录
-grandparentPath = fileparts(parentPath);
-addpath(grandparentPath)
-dataPath = fullfile(grandparentPath, townNameFull);
-
-%% 获取路口数量
-d = dir(dataPath);
-% 筛选出文件夹（排除 . 和 ..）
-isDir = [d.isdir] & ~ismember({d.name}, {'.','..'});
-% 文件夹数量
-numFolders = sum(isDir);
+data = load('/mnt/mydrive/traffic_twin/waypoint_control/multi_obj_track/matlab_final_timeline.mat');
+t_start = data.t_end;
+% 获取程序开始时间
+sys_time_before = posixtime(datetime('now'));
 
+townName = 'Town10';   % 可以修改城镇和；路口
+dataSets = {'Town10HD_Opt/test_data_junc1', 'Town10HD_Opt/test_data_junc2', 'Town10HD_Opt/test_data_junc3', 'Town10HD_Opt/test_data_junc4', 'Town10HD_Opt/test_data_junc5'};
 
-dataSets = arrayfun(@(i) fullfile(dataPath, sprintf('test_data_junc%d', i)), ...
-                    1:numFolders, 'UniformOutput', false);
-dirParts = strsplit(dataSets{1}, '\');
+dirParts = strsplit(dataSets{1}, filesep);
 townConfig = dataset.(townName);
-
 for i = 1:length(dataSets)
-    [p, last1, ~] = fileparts(dataSets{i});          % 'test_data_junc1'
-
-    [p, last2, ~] = fileparts(p);                    % 'Town10HD_Opt'
-    % 合并
-    lastTwo = fullfile(last2, last1);                % 'Town10HD_Opt\test_data_junc1'
-
     juncField = sprintf('intersection_%d', i);
     juncConfig = townConfig.(juncField);
     transMatrix = juncConfig.TransformationMatrix;
-    loadAllTraj(lastTwo, transMatrix);
+    loadAllTraj(dataSets{i}, transMatrix);
 end
-
 %% 加载所有轨迹
 currentPath = fileparts(mfilename('fullpath'));
-juncTracksFolderPath = fullfile(currentPath, townNameFull);
+juncTracksFolderPath = fullfile(currentPath, dirParts{1});
 % 获取所有轨迹文件
 matFiles = dir(fullfile(juncTracksFolderPath, "*.mat"));
 numMatFiles = length(matFiles);
@@ -56,15 +33,24 @@
 end
 
 %% 轨迹匹配，链接全部路口的轨迹
-matchThreshold = 0.7;  % 车辆匹配阈值
+matchThreshold = 0.65;  % 车辆匹配阈值
 traj = linkIdentities(juncTrajCell, matchThreshold);
 
+% 获取程序结束时间
+sys_time_after = posixtime(datetime('now'));
+% 计算程序耗时
+program_run_time = sys_time_after - sys_time_before;
+% 得出在线结束时间
+t_end = t_start + program_run_time;
+% 保存为.mat 文件
+save_folder = '/mnt/mydrive/traffic_twin/waypoint_control/multi_obj_track';
+txt_save_path = fullfile(save_folder, 'matlab_final.txt');
+fileID = fopen(txt_save_path, 'w');
+fprintf(fileID, '起始时间：%.6f\n终止时间：%.6f\n总耗时：%.4f', t_start, t_end, program_run_time);
+fclose(fileID);
+
 % 获取当前目录
 currentFileDir = fileparts(mfilename('fullpath')); 
 
 % 保存 traj 到当前目录下的 traj.mat 文件
 save(fullfile(currentFileDir, 'traj.mat'), 'traj');
-
-computeSpeedCorrelations(townName)
-
-computeDelay(townName)
\ No newline at end of file

From f969a0730d36baa6eb838242a69f66c21c7c80e4 Mon Sep 17 00:00:00 2001
From: liuao08 <2496556459@qq.com>
Date: Mon, 23 Mar 2026 18:59:24 +0800
Subject: [PATCH 5/6] =?UTF-8?q?=E6=B7=BB=E5=8A=A0=E6=89=A7=E8=A1=8Cmatlab?=
 =?UTF-8?q?=E8=84=9A=E6=9C=AC=E7=9A=84=E8=87=AA=E5=8A=A8=E5=8C=96=E7=9B=91?=
 =?UTF-8?q?=E5=90=AC=E8=84=9A=E6=9C=AC?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .../multi_obj_track/run_matlab.sh             | 51 +++++++++++++++++++
 1 file changed, 51 insertions(+)
 create mode 100755 waypoint_control/multi_obj_track/run_matlab.sh

diff --git a/waypoint_control/multi_obj_track/run_matlab.sh b/waypoint_control/multi_obj_track/run_matlab.sh
new file mode 100755
index 0000000..05c6fb1
--- /dev/null
+++ b/waypoint_control/multi_obj_track/run_matlab.sh
@@ -0,0 +1,51 @@
+#!/bin/bash
+
+# MATLAB 脚本名字 
+
+MATLAB_SCRIPT="demo"
+
+# 2. MATLAB 可执行文件的路径
+# 如果你在终端直接输入 matlab 能打开，这里保持 "matlab" 即可。
+# 如果不行，请改成绝对路径，例如 "/usr/local/MATLAB/R2023a/bin/matlab"
+MATLAB_CMD="/home/yons/matlab/2024B/bin/matlab"
+
+# 3. 日志文件名 (运行结果会保存在这个文件里，方便你以后查看)
+LOG_FILE="matlab_output.log"
+
+# ==========================================
+# 🚀 执行区 (以下代码不需要修改)
+# ==========================================
+
+# 获取当前 .sh 脚本所在的绝对路径，并切换过去
+# (这一步非常关键！防止你在其他文件夹运行这个脚本时，MATLAB 找不到相对路径下的数据文件)
+WORK_DIR="$(cd "$(dirname "$0")" && pwd)"
+cd "$WORK_DIR" || exit 1
+
+echo "========================================"
+echo "▶ 开始时间: $(date)"
+echo "▶ 工作目录: $WORK_DIR"
+echo "▶ 运行脚本: ${MATLAB_SCRIPT}.m"
+echo "========================================"
+echo "正在后台调用 MATLAB，请稍候..."
+
+# 组合 MATLAB 运行命令
+# -nodisplay: 不加载图形界面 (纯命令行运行)
+# -nosplash: 不显示启动时的 MATLAB Logo
+# -logfile: 将所有终端输出保存到日志文件中
+# -batch: 执行代码并在完成后自动退出 MATLAB
+$MATLAB_CMD -nodisplay -nosplash -logfile "$LOG_FILE" -batch "$MATLAB_SCRIPT"
+
+# 检查上一条命令 (MATLAB) 的退出状态码
+EXIT_CODE=$?
+
+echo "========================================"
+if [ $EXIT_CODE -eq 0 ]; then
+    echo "✅ 运行成功！"
+    echo "结束时间: $(date)"
+    echo "详细输出已保存至: $WORK_DIR/$LOG_FILE"
+else
+    echo "❌ 运行失败！(退出码: $EXIT_CODE)"
+    echo "请检查日志文件排查错误: $WORK_DIR/$LOG_FILE"
+    exit 1
+fi
+echo "========================================"
\ No newline at end of file

From 901875d7c808a329e9d146d58660b7661a2d1cf8 Mon Sep 17 00:00:00 2001
From: liuao08 <2496556459@qq.com>
Date: Mon, 23 Mar 2026 19:03:21 +0800
Subject: [PATCH 6/6] =?UTF-8?q?=E6=9B=B4=E6=96=B0=E8=87=AA=E5=8A=A8?=
 =?UTF-8?q?=E5=8C=96=E8=84=9A=E6=9C=AC?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .../multi_obj_track/run_matlab.sh             | 81 +++++++++----------
 1 file changed, 39 insertions(+), 42 deletions(-)

diff --git a/waypoint_control/multi_obj_track/run_matlab.sh b/waypoint_control/multi_obj_track/run_matlab.sh
index 05c6fb1..4adac60 100755
--- a/waypoint_control/multi_obj_track/run_matlab.sh
+++ b/waypoint_control/multi_obj_track/run_matlab.sh
@@ -1,51 +1,48 @@
 #!/bin/bash
 
-# MATLAB 脚本名字 
-
-MATLAB_SCRIPT="demo"
-
-# 2. MATLAB 可执行文件的路径
-# 如果你在终端直接输入 matlab 能打开，这里保持 "matlab" 即可。
-# 如果不行，请改成绝对路径，例如 "/usr/local/MATLAB/R2023a/bin/matlab"
-MATLAB_CMD="/home/yons/matlab/2024B/bin/matlab"
-
-# 3. 日志文件名 (运行结果会保存在这个文件里，方便你以后查看)
+# 配置路径
+MATLAB_SCRIPT_DIR="/mnt/mydrive/traffic_twin/waypoint_control/multi_obj_track"
+MATLAB_SCRIPT_NAME="demo"
 LOG_FILE="matlab_output.log"
 
-# ==========================================
-# 🚀 执行区 (以下代码不需要修改)
-# ==========================================
+# 定义触发条件
+TRIGGER_FILE="$MATLAB_SCRIPT_DIR/start_signal.txt"
 
-# 获取当前 .sh 脚本所在的绝对路径，并切换过去
-# (这一步非常关键！防止你在其他文件夹运行这个脚本时，MATLAB 找不到相对路径下的数据文件)
-WORK_DIR="$(cd "$(dirname "$0")" && pwd)"
-cd "$WORK_DIR" || exit 1
+# 切换目录
+cd "$MATLAB_SCRIPT_DIR" || { echo "切换目录失败！"; exit 1; }
 
 echo "========================================"
-echo "▶ 开始时间: $(date)"
-echo "▶ 工作目录: $WORK_DIR"
-echo "▶ 运行脚本: ${MATLAB_SCRIPT}.m"
+echo " 监听模式已启动..."
+echo "正在等待触发条件满足 (按 Ctrl+C 退出)..."
 echo "========================================"
-echo "正在后台调用 MATLAB，请稍候..."
 
-# 组合 MATLAB 运行命令
-# -nodisplay: 不加载图形界面 (纯命令行运行)
-# -nosplash: 不显示启动时的 MATLAB Logo
-# -logfile: 将所有终端输出保存到日志文件中
-# -batch: 执行代码并在完成后自动退出 MATLAB
-$MATLAB_CMD -nodisplay -nosplash -logfile "$LOG_FILE" -batch "$MATLAB_SCRIPT"
-
-# 检查上一条命令 (MATLAB) 的退出状态码
-EXIT_CODE=$?
-
-echo "========================================"
-if [ $EXIT_CODE -eq 0 ]; then
-    echo "✅ 运行成功！"
-    echo "结束时间: $(date)"
-    echo "详细输出已保存至: $WORK_DIR/$LOG_FILE"
-else
-    echo "❌ 运行失败！(退出码: $EXIT_CODE)"
-    echo "请检查日志文件排查错误: $WORK_DIR/$LOG_FILE"
-    exit 1
-fi
-echo "========================================"
\ No newline at end of file
+# 开启条件判定循环
+while true; do
+    
+    # 判断 TRIGGER_FILE 是否存在 
+    if [ -f "$TRIGGER_FILE" ]; then
+        
+        echo ""
+        echo " [$(date)] 触发条件已满足！开始执行 MATLAB 脚本..."
+        
+        # 执行 MATLAB 代码
+        matlab -nodisplay -nosplash -logfile "$LOG_FILE" -batch "$MATLAB_SCRIPT_NAME"
+        
+        EXIT_CODE=$?
+        if [ $EXIT_CODE -eq 0 ]; then
+            echo " 执行成功！"
+        else
+            echo " 执行失败！(退出码: $EXIT_CODE)"
+        fi
+
+        # 重置触发条件
+        rm -f "$TRIGGER_FILE"
+        
+        echo " 继续监听中..."
+        
+    else
+        # 如果条件不满足，让脚本睡 1 秒钟再查。
+        sleep 1
+    fi
+
+done
\ No newline at end of file