pycityagent 1.1.9__py3-none-any.whl → 1.1.11__py3-none-any.whl

pycityagent/brain/sence.py

@@ -13,83 +13,7 @@ from citystreetview import (
 )
 from .brainfc import BrainFunction
 from .static import POI_TYPE_DICT, LEVEL_ONE_PRE
-
-def point_on_line_given_distance(start_node, end_node, distance):
-    """
-    Given two points (start_point and end_point) defining a line, and a distance s to travel along the line,
-    return the coordinates of the point reached after traveling s units along the line, starting from start_point.
-
-    Args:
-        start_point (tuple): Tuple of (x, y) representing the starting point on the line.
-        end_point (tuple): Tuple of (x, y) representing the ending point on the line.
-        distance (float): Distance to travel along the line, starting from start_point.
-
-    Returns:
-        tuple: Tuple of (x, y) representing the new point reached after traveling s units along the line.
-    """
-
-    x1, y1 = start_node['x'], start_node['y']
-    x2, y2 = end_node['x'], end_node['y']
-
-    # Calculate the slope m and the y-intercept b of the line
-    if x1 == x2:
-        # Vertical line, distance is only along the y-axis
-        return (x1, y1 + distance if distance >= 0 else y1 - abs(distance))
-    else:
-        m = (y2 - y1) / (x2 - x1)
-        b = y1 - m * x1
-
-        # Calculate the direction vector (dx, dy) along the line
-        dx = (x2 - x1) / math.sqrt((x2 - x1)**2 + (y2 - y1)**2)
-        dy = (y2 - y1) / math.sqrt((x2 - x1)**2 + (y2 - y1)**2)
-
-        # Scale the direction vector by the given distance
-        scaled_dx = dx * distance
-        scaled_dy = dy * distance
-
-        # Calculate the new point's coordinates
-        x = x1 + scaled_dx
-        y = y1 + scaled_dy
-
-        return [x, y]
-
-def get_xy_in_lane(nodes, distance, direction:str='front'):
-    temp_sum = 0
-    remain_s = 0
-    if direction == 'front':
-        # 顺道路方向前进
-        if distance == 0:
-            return [nodes[0]['x'], nodes[0]['y']]
-        key_index = 0  # first node
-        for i in range(1, len(nodes)):
-            x1, y1 = nodes[i-1]['x'], nodes[i-1]['y']
-            x2, y2 = nodes[i]['x'], nodes[i]['y']
-            temp_sum += math.sqrt((x2 - x1)**2 + (y2-y1)**2)
-            if temp_sum > distance:
-                remain_s = distance - (temp_sum - math.sqrt((x2 - x1)**2 + (y2-y1)**2))
-                break;
-            key_index += 1
-        if remain_s < 0.5:
-            return [nodes[key_index]['x'], nodes[key_index]['y']]
-        longlat = point_on_line_given_distance(nodes[key_index], nodes[key_index+1], remain_s)
-        return longlat
-    else:
-        # 逆道路方向前进
-        if distance == 0:
-            return [nodes[-1]['x'], nodes[-1]['y']]
-        key_index = len(nodes)-1  # last node
-        for i in range(len(nodes)-1, 0, -1):
-            x1, y1 = nodes[i]['x'], nodes[i]['y']
-            x2, y2 = nodes[i-1]['x'], nodes[i-1]['y']
-            temp_sum += math.sqrt((x2 - x1)**2 + (y2-y1)**2)
-            if temp_sum > distance:
-                remain_s = distance - (temp_sum - math.sqrt((x2 - x1)**2 + (y2-y1)**2))
-                break;
-            key_index -= 1
-        if remain_s < 0.5:
-            return [nodes[key_index]['x'], nodes[key_index]['y']]
-        longlat = point_on_line_given_distance(nodes[key_index], nodes[key_index-1], remain_s)
-        return longlat
+from ..utils import point_on_line_given_distance, get_xy_in_lane
 
 class SencePlug:
     """
@@ -101,7 +25,6 @@ class SencePlug:
     - out (str): the output target in sence, the sence result will be insert to Sence.plug_buffer[out]
     """
     def __init__(self, user_func, out:str) -> None:
-        # TODO: 添加合法性检查
         self.user_func = user_func
         self.out = out
 
@@ -220,10 +143,15 @@ class Sence(BrainFunction):
             self.sence_buffer['time'] = self._agent._simulator.time
 
         # * pois
-        if self._sence_contents == None or 'poi' in self._sence_contents:
-            self.sence_buffer['pois'] = await self.PerceivePoi()
-            self.sence_buffer['poi_time_walk'] = sorted(self.sence_buffer['pois'], key=lambda x:x[2])
-            self.sence_buffer['poi_time_drive'] = sorted(self.sence_buffer['pois'], key=lambda x:x[4])
+        if self._sence_contents == None or 'poi' in self._sence_contents or 'poi_verbose' in self._sence_contents:
+            if self._sence_contents == None:
+                self.sence_buffer['pois'] = await self.PerceivePoi()
+            elif 'poi_verbose' in self._sence_contents:
+                self.sence_buffer['pois'] = await self.PerceivePoi_Verbose()
+                self.sence_buffer['poi_time_walk'] = sorted(self.sence_buffer['pois'], key=lambda x:x[2])
+                self.sence_buffer['poi_time_drive'] = sorted(self.sence_buffer['pois'], key=lambda x:x[4])
+            else:
+                self.sence_buffer['pois'] = await self.PerceivePoi()
 
         # * reachable positions
         if self._sence_contents == None or 'position' in self._sence_contents:
@@ -248,7 +176,7 @@ class Sence(BrainFunction):
 
         # * streetview
         if self._sence_contents == None or 'streetview' in self._sence_contents:
-            if self.enable_streeview:
+            if self.enable_streeview and 'lane_position' in self._agent.motion['position'].keys():
                 self.sence_buffer['streetview'] = self.PerceiveStreetView()
             else:
                 self.sence_buffer['streetview'] = None
@@ -261,15 +189,15 @@ class Sence(BrainFunction):
                 self.sence_buffer['user_messages'] = []
 
         # * agent message
-        if self._sence_contents == None or 'agent_message' in self._sence_contents:
-            self.sence_buffer['social_messages'] = await self.PerceiveMessageFromPerson()
+        # if self._sence_contents == None or 'agent_message' in self._sence_contents:
+        #     self.sence_buffer['social_messages'] = await self.PerceiveMessageFromPerson()
 
         # * 插件感知
-        if len(self.plugs) > 0:
-            for plug in self.plugs:
-                out_key = plug.out
-                out = plug.user_func(self.sence_buffer)
-                self.plug_buffer[out_key] = out
+        # if len(self.plugs) > 0:
+        #     for plug in self.plugs:
+        #         out_key = plug.out
+        #         out = plug.user_func(self.sence_buffer)
+        #         self.plug_buffer[out_key] = out
 
     # * AOI and POI Related
     async def PerceiveAoi(self, only_person:bool=False):
@@ -426,11 +354,45 @@ class Sence(BrainFunction):
                                'longlat': longlat, 
                                'type': type}]
         return positions
-
+    
     async def PerceivePoi(self, radius:int=None, category:str=None):
         """
         POI感知
         Sence POI
+        Args:
+        - radius: 感知范围, 默认使用统一感知半径. Sence raduis, default use basic radius
+        - category: 6位数字类型编码, 如果为None则获取所有类型POI. 6-digit coding which represents the poi type, if None, then sence all type of poi
+        Returns:
+        - List[Tuple[Any, float]]: poi列表, 每个元素为(poi, 距离). poi list, each element is (poi, distance).
+        """
+        radius_ = self._sence_radius
+        if radius != None:
+            radius_ = radius
+        if category != None:
+            category_prefix = category
+            resp = self._agent._simulator.map.query_pois(
+                center=(self._agent.motion['position']['xy_position']['x'], self._agent.motion['position']['xy_position']['y']),
+                radius=radius_,
+                category_prefix=category_prefix
+            )
+        else:
+            resp = []
+            for category_prefix in LEVEL_ONE_PRE:
+                resp += self._agent._simulator.map.query_pois(
+                    center=(self._agent.motion['position']['xy_position']['x'], self._agent.motion['position']['xy_position']['y']),
+                    radius=radius_,
+                    category_prefix=category_prefix
+                )
+        # * 从六位代码转变为具体类型
+        for poi in resp:
+            cate_str = poi[0]['category']
+            poi[0]['category'] = POI_TYPE_DICT[cate_str]
+        return resp
+
+    async def PerceivePoi_Verbose(self, radius:int=None, category:str=None):
+        """
+        POI感知
+        Sence POI
 
         Args:
         - radius: 感知范围, 默认使用统一感知半径. Sence raduis, default use basic radius
@@ -570,9 +532,6 @@ class Sence(BrainFunction):
     # * StreetView Related
     def PerceiveStreetView(
             self, 
-            # engine:str="baidumap", 
-            heading:str="front", 
-            save:bool=False, 
             save_dir:str=None
         ):
         """
@@ -600,52 +559,27 @@ class Sence(BrainFunction):
 
         coords = [(self._agent.motion['position']['longlat_position']['longitude'], self._agent.motion['position']['longlat_position']['latitude'])]
 
-        if heading == "front":
-            heading_direction = self._agent.motion['direction']
-        elif heading == "back":
-            heading_direction += 180
-        elif heading == "left":
-            heading_direction += -90
-        elif heading == "right":
-            heading_direction += 90
-        else:
-            print("Wrong HEADING, Use FRONT")
-        persp = []
-        if self._engine == "baidumap":
-            points = wgs842bd09mc(coords, self._baiduAK)
-            sv = BaiduStreetView.search(points[0][0], points[0][1])
-            eq = Equirectangular(sv)
-            persp.append(eq.get_perspective(120, heading_direction-90, 20, 256, 512))
-            persp.append(eq.get_perspective(120, heading_direction, 20, 256, 512))
-            persp.append(eq.get_perspective(120, heading_direction+90, 20, 256, 512))
-            persp.append(eq.get_perspective(120, heading_direction+180, 20, 256, 512))
-            if save:
-                date_time = datetime.now().strftime("%Y-%m-%d %H:%M:%S")
-                sv.panorama.save("{}/{}_{}_panorama_{}.jpg".format(save_dir, self._agent.name, date_time))
-                for i in range(len(persp)):
-                    persp[i].save("{}/{}_{}_persp_{}.jpg".format(save_dir, self._agent.name, date_time, i))
-            return persp
-        elif self._engine == "googlemap":
-            sv = GoogleStreetView.search(
-                    points[0][0],
-                    points[0][1],
-                    proxies=self._googleProxy,
-                    cache_dir=save_dir
-                )
-            eq = Equirectangular(sv)
-            persp = eq.get_perspective(120, heading_direction, 20, 256, 512)
-            if save:
-                date_time = datetime.now().strftime("%Y-%m-%d %H:%M:%S")
-                sv.panorama.save("{}/{}_{}_panorama_{}.jpg".format(save_dir, self._agent.name, date_time))
-                for i in range(len(persp)):
-                    persp[i].save("{}/{}_{}_persp_{}.jpg".format(save_dir, self._agent.name, date_time, i))
-            return persp
-    
-    # * Person Related
-    def PerceivePersonCircule(self, raduis=30):
-        """Person环形感知"""
-        print("Not Implemented")
-        pass
+        heading_direction = self._agent.motion['direction']
+        try:
+            if self._engine == "baidumap":
+                points = wgs842bd09mc(coords, self._baiduAK)
+                sv = BaiduStreetView.search(points[0][0], points[0][1])
+                eq = Equirectangular(sv)
+                persp = eq.get_perspective(120, heading_direction, 0, 300, 2100)
+                return persp
+            elif self._engine == "googlemap":
+                sv = GoogleStreetView.search(
+                        points[0][0],
+                        points[0][1],
+                        proxies=self._googleProxy,
+                        cache_dir=save_dir
+                    )
+                eq = Equirectangular(sv)
+                persp = eq.get_perspective(120, heading_direction, 0, 300, 2100)
+                return persp
+        except Exception as e:
+            print(f"Can't get streetview, error message: {e}")
+            return []
 
     async def PerceivePersonInLanes(self, lane_ids:list[int], only_id:bool=False):
         """

pycityagent/hubconnector/__init__.py

@@ -2,4 +2,4 @@
 
 from .hubconnector import *
 
-__all__ = [HubConnector]
+__all__ = [HubConnector, Waypoint]

pycityagent/hubconnector/hubconnector.py

@@ -1,10 +1,332 @@
 """Apphub客户端定义"""
 
+import base64
+from dataclasses import dataclass
+from io import BytesIO
+from typing import Any, Dict, Optional, List
+
+import requests
+from requests.auth import HTTPBasicAuth
 from typing import Optional
 import geojson
-from pycitysim.apphub import AppHubClient, AgentMessage, UserMessage
+from geojson import Feature, FeatureCollection, Point, LineString
 import PIL.Image as Image
-import traceback
+import time
+
+__all__ = ["HubConnector", "AppHubClient", "AgentMessage", "UserMessage", "Waypoint"]
+
+def _image2base64(image: Image) -> str:
+    buffered = BytesIO()
+    image.save(buffered, format="PNG")
+    return base64.b64encode(buffered.getvalue()).decode("utf-8")
+
+@dataclass
+class AgentMessage:
+    id: int
+    """
+    发送者Agent ID
+    Agent ID of sender
+    """
+    timestamp: int
+    """
+    消息时间戳（单位：毫秒）
+    Message timestamp (milliseconds)
+    """
+    content: str
+    """
+    消息内容
+    Message content
+    """
+    images: Optional[List[Image.Image]]
+    """
+    消息图片
+    Message images
+    """
+    sub_messages: Optional[List["AgentMessage"]]
+
+    def to_dict(self):
+        d = {
+            "id": self.id,
+            "timestamp": self.timestamp,
+            "content": self.content,
+        }
+        if self.images is not None:
+            d["images"] = [_image2base64(image) for image in self.images]
+        if self.sub_messages is not None:
+            d["subMessages"] = [message.to_dict() for message in self.sub_messages]
+        return d
+    
+@dataclass
+class Waypoint:
+    lnglat: List[float]
+    """
+    坐标位置
+    """
+
+    t: int
+    """
+    时间
+    """
+
+
+@dataclass
+class UserMessage:
+    id: int
+    """
+    发送者User ID对应的Agent ID
+    Agent ID corresponding to the sender User ID
+    """
+    timestamp: int
+    """
+    消息时间戳（单位：毫秒）
+    Message timestamp (milliseconds)
+    """
+    content: str
+    """
+    消息内容
+    Message content
+    """
+
+
+class AppHubClient:
+    """
+    AppHub客户端
+    AppHub client
+
+    # 操作流程
+    # Operating procedures
+
+    1. 初始化AppHubClient，填入从前端获得的app_id和app_secret
+    1. Initialize AppHubClient, fill in the app_id and app_secret obtained from the front end    
+    2. 调用bind_person/bind_org绑定模拟器内的人，获得agent_id
+    2. Call bind_person/bind_org to bind the person in the simulator, and obtain the agent_id
+    3. 调用update_agent_map更新agent的地图内容，以改变agent在地图上的显示
+    3. Call update_agent_map to update the agent's map content, to change the agent's display on the map
+    4. 调用update_agent_messages更新agent的消息内容，以改变agent的消息内容
+    4. Call update_agent_messages to update the agent's message content, to change the agent's message content
+    5. 定期调用fetch_user_message获取用户发送给agent的消息，并进行处理
+    5. Call fetch_user_message regularly to obtain the messages sent by the user to the agent, and process them
+    6. 如果不再使用agent，调用release_agent释放agent，以允许其他app绑定
+    6. If the agent is no longer used, call release_agent to release the agent to allow other apps to bind.
+    """
+
+    def __init__(
+        self,
+        app_hub_url: str,
+        app_id: int,
+        app_secret: str,
+        proxies: Optional[dict] = None,
+    ):
+        """
+        Args:
+        - app_id: app ID，从前端注册页面获取。app ID, obtained from the frontend registration page.
+        - app_secret: app secret，从前端注册页面获取。app secret, obtained from the frontend registration page.
+        """
+        self.app_hub_url = app_hub_url
+        self.app_id = app_id
+        self.app_secret = app_secret
+        self.proxies = proxies
+        self.agents = {}  # agent_id -> agent (bind body)
+
+        self._auth = HTTPBasicAuth(str(app_id), app_secret)
+
+    def _bind(self, foreign_id: int | None, type: str, name: str, avatar: Image) -> int:
+        if foreign_id == None:
+            foreign_id_ = -1
+        else:
+            foreign_id_ = foreign_id
+        body = {
+            "type": type,
+            "name": name,
+            "avatar": _image2base64(avatar),
+            "foreignID": foreign_id_,
+        }
+        res = requests.post(
+            self.app_hub_url + "/agents",
+            json=body,
+            auth=self._auth,
+            proxies=self.proxies,
+            timeout=5000
+        )
+        if res.status_code != 200:
+            raise Exception(f"[{res.status_code}] AppHub bind failed: " + res.text)
+        data = res.json()
+        agent_id = data["data"]["id"]
+        self.agents[agent_id] = body
+        return agent_id
+
+    def bind_person(self, person_id: int, name: str, avatar: Image):
+        """
+        绑定模拟器内的人，只有绑定的person才能被访问
+        Bind person in the simulator. Only bound person can be accessed
+
+        Args:
+        - person_id: 模拟器内的人的ID。The ID of the person in the simulator.
+        - name: 人的名字（前端显示）。Person's name (displayed on the front end).
+        - avatar: 人的头像（前端显示）。Person's avatar (displayed on the front end).
+
+        Returns:
+        - agent_id: 绑定后的agent ID。the bound agent ID.
+
+        Raises:
+        - Exception: 绑定失败。Binding failed.
+        """
+        return self._bind(person_id, "person", name, avatar)
+
+    def bind_org(self, org_id: int, name: str, avatar: Image):
+        """
+        绑定模拟器内的组织，只有绑定的org才能被访问
+        Bind the organization in the simulator. Only the bound org can be accessed
+
+        Args:
+        - org_id: 模拟器内的组织的ID。ID of the organization in the simulator
+        - name: 组织的名字（前端显示）。Organization's name (displayed on the front end).
+        - avatar: 组织的头像（前端显示）。Organization's avatar (displayed on the front end).
+
+        Returns:
+        - agent_id: 绑定后的agent ID。the bound agent ID.
+
+        Raises:
+        - Exception: 绑定失败。Binding failed.
+        """
+        return self._bind(org_id, "org", name, avatar)
+    
+    def bind_func(self, name:str, avatar:Image):
+        """
+        插入非模拟器相关的智能体——func类型智能体
+
+        Args:
+        - func_id (str): 该智能体的编号——唯一
+        - name (str): 该智能体的名字
+        - avatar (Image): 该智能体的头像
+        """
+        return self._bind(None, "func", name, avatar)
+
+    def release_agent(self, agent_id: int) -> bool:
+        """
+        释放agent(person/org), 释放后agent将不再被访问并允许其他app绑定
+        Release the agent (person/org). After the release, the agent will no longer be accessed and allows other apps to bind.
+
+        Args:
+        - agent_id: agent的ID。ID of the agent.
+
+        Returns:
+        - bool: 是否成功。whether succeed.
+        """
+        res = requests.delete(
+            self.app_hub_url + "/agents/" + str(agent_id),
+            auth=self._auth,
+            proxies=self.proxies,
+            timeout=5000
+        )
+        return res.status_code == 200
+
+    def update_agent_map(
+        self,
+        agent_id: int,
+        lnglat: List[float],
+        geojsons: Optional[geojson.FeatureCollection] = None,
+        street_view: Optional[Image.Image] = None,
+        direction: Optional[float] = None,
+        popup: Optional[str] = None,
+        waypoints: Optional[List[Waypoint]] = None,
+    ):
+        """
+        更新agent的地图内容
+        Update the agent’s map content
+
+        Args:
+        - agent_id: agent的ID。ID of the agent.
+        - lnglat: 经纬度，格式为 [lng, lat]。Latitude and longitude in [lng, lat].
+        - geojsons: geojson FeatureCollection，用于在地图上显示点线面。geojson FeatureCollection, used to display points, lines and polygons on the map.
+        - street_view: 街景图片。Street view images.
+        - popup: 弹出框内容。Pop-up box content.
+
+        Raises:
+        - Exception: 更新失败。Updating failed.
+        """
+
+        body: Dict[str, Any] = {
+            "lnglat": lnglat,
+        }
+        if geojsons is not None:
+            body["geojsons"] = geojsons
+        if street_view is not None:
+            body["streetView"] = _image2base64(street_view)
+        if direction is not None:
+            body["direction"] = direction
+        if popup is not None:
+            body["popup"] = popup
+        if waypoints is not None:
+            body["waypoints"] = [{'lnglat': wp.lnglat, 't': wp.t} for wp in waypoints]
+            waypoints[0].lnglat
+
+        res = requests.put(
+            self.app_hub_url + "/agents/" + str(agent_id) + "/map",
+            json=body,
+            auth=self._auth,
+            proxies=self.proxies,
+            timeout=5000
+        )
+        if res.status_code != 200:
+            raise Exception(
+                f"[{res.status_code}] AppHub update map failed: " + res.text
+            )
+
+    def update_agent_messages(self, agent_id: int, messages: List[AgentMessage]):
+        """
+        更新agent的消息
+        Update agent's messages
+
+        Args:
+        - agent_id: agent的ID。ID of the agent.
+        - messages: 消息列表（注意顺序，最新的消息在最后）。Message list (note the order, the latest message at the end).
+
+        Raises:
+        - Exception: 更新失败。Updating failed.
+        """
+        res = requests.put(
+            self.app_hub_url + "/agents/" + str(agent_id) + "/messages",
+            json={"messages": [message.to_dict() for message in messages]},
+            auth=self._auth,
+            proxies=self.proxies,
+            timeout=5000
+        )
+        if res.status_code != 200:
+            raise Exception(
+                f"[{res.status_code}] AppHub update messages failed: " + res.text
+            )
+
+    def fetch_user_messages(
+        self,
+        agent_id: int,
+    ) -> List[UserMessage]:
+        """
+        获取用户发送给agent的消息
+        Fetch the message sent by the user to the agent
+
+        Args:
+        - agent_id: agent的ID。ID of the agent.
+
+        Returns:
+        - messages: 消息列表。Message list.
+
+        Raises:
+        - Exception: 获取失败。Fetching failed.
+        """
+        res = requests.post(
+            self.app_hub_url + "/agents/" + str(agent_id) + "/fetch-user-messages",
+            auth=self._auth,
+            proxies=self.proxies,
+            timeout=5000
+        )
+        if res.status_code != 200:
+            raise Exception(
+                f"[{res.status_code}] AppHub fetch messages failed: " + res.text
+            )
+        data = res.json()
+        return [UserMessage(**message) for message in data["data"]]
+
 
 class HubConnector:
     """
@@ -62,12 +384,11 @@ class HubConnector:
         Insert the Func Agent to AppHub
         """
         self._agent_id = self._client.bind_func(
-            self._agent._id,
             self._agent._name,
             Image.open(self._profile_img)
         )
 
-    def Update(self, messages:Optional[list[AgentMessage]]=None, streetview:Image.Image=None, longlat:list[float]=None, pop:str=None):
+    def Update(self, messages:Optional[list[AgentMessage]]=None, streetview:Image=None, longlat:list[float]=None, pop:str=None):
         """
         交互更新
         FrontEnd Related Update
@@ -79,7 +400,7 @@ class HubConnector:
         - messages (Optional[list[AgentMessage]]): 
             - 需要传递到前端侧边栏的消息. Messsages that will be shown in the message bar in frontend
             - 默认为None(即当前无需传递消息). Default: None(i.e. No new messages need to be shown in frontend)
-        - streetview (PIL.Image.Image): 
+        - streetview (list[PIL.Image.Image]): 
             - 街景图片. Streetview Image
             - 默认为None(即本次更新不展示街景). Default: None(i.e. No streetview in this update)
         - longlat (list(float)): 
@@ -93,19 +414,27 @@ class HubConnector:
             print("AppHub: Not Bind Agent Yet")
             return
         else:
-            pop_ = self._agent._name
+            pop_ = None
             if pop != None:
                 pop_ = self._agent.agent_name + ": " + pop
             if longlat != None:
                 longlat_ = longlat
+                t_size = len(self._agent._history_trajectory)
+                self._agent._history_trajectory.append(Waypoint([longlat[0], longlat[1]], t_size*5000))
             else:
                 longlat_ = [self._agent.motion['position']['longlat_position']['longitude'], self._agent.motion['position']['longlat_position']['latitude']]
-            
+                
+            if 'direction' in self._agent.motion.keys():
+                direction = self._agent.motion['direction']
+            else:
+                direction = None
             self._client.update_agent_map(
                 agent_id = self._agent_id, 
                 lnglat = longlat_,
+                direction=direction,
                 street_view=streetview,
-                popup=pop_
+                popup=pop_,
+                waypoints=self._agent._history_trajectory
             )
             if messages != None:
                 self.messageBuffer += messages
@@ -114,6 +443,22 @@ class HubConnector:
                     messages=self.messageBuffer
                 )
 
+    def ShowGeo(self, geojsons: geojson.FeatureCollection):
+        """
+        - 发送地图展示要素
+
+        Args:
+        - geojsons (geojson.FeatureCollection): 需要展示的地图要素
+        """
+        if self._client == None:
+            print("AppHub: Not Bind Agent Yet")
+            return
+        self._client.update_agent_map(
+            agent_id=self._agent_id,
+            lnglat=[self._agent.motion['position']['longlat_position']['longitude'], self._agent.motion['position']['longlat_position']['latitude']],
+            geojsons=geojsons
+        )
+
     def GetMessageFromHub(self) -> list[UserMessage]:
         """
         获取前端messages