Clean up collision flow changes

2026-04-27 09:24:20 +08:00 · 2026-04-27 09:24:20 +08:00 · 1cac6fb811
commit 1cac6fb811
parent 20af9b8288
49 changed files with 3615 additions and 409 deletions
--- a/.gitignore
+++ b/.gitignore
@ -55,6 +55,8 @@ Users/

 qaup-deploy/
 deploy/offline_packages/
+*.lck
+mqtt协议验证/账户信息.txt

 ######################################################################
 # Python
@ -95,4 +97,4 @@ yarn-error.log*
 .npm
 .yarn-integrity
 dist/
-.cache/
+.cache/
--- a/AGENTS.md
+++ b/AGENTS.md
@ -6,3 +6,9 @@
 这是开发环境，运行环境在centos7的容器里，分别为
 qaup-app
 qaup-redis
+
+### 红绿灯接入说明
+- 正式环境中，qaup-app 的红绿灯接入方式为 MQTT，不是 HTTP。
+- 正式环境配置中 `traffic.light.tcp.enabled=false`，`traffic.light.mqtt.enabled=true`。
+- MQTT Broker 地址示例：`tcp://10.64.58.228:8082`，订阅 Topic 示例：`cusc/v2/SF053/QingDrsu001/data`。
+- 注意区分 MQTT Broker 的 TCP 连接地址与业务 TCP 直连服务，前者不是“红绿灯走 TCP 直连”的意思。
--- a/deploy/collision_prepare_test_plan.md
+++ b/deploy/collision_prepare_test_plan.md
@ -0,0 +1,80 @@
+# Collision Prepare Flow Test Plan
+
+## Goal
+
+Verify the deployed `qaup-app` service can complete the interface-only preparation flow for simulated collision objects before live position and alert testing.
+
+## Scope
+
+This plan only verifies:
+
+1. Health endpoint is reachable.
+2. Simulated aircraft, unmanned vehicle, and special vehicle can be registered.
+3. Aircraft route query both returns route data and binds the route.
+4. Unmanned and special vehicle routes can be directly submitted and bound.
+5. Preparation status changes from `not ready` to `ready`.
+
+This plan does not verify:
+
+1. Real position ingestion.
+2. Real collision point calculation from live tracks.
+3. WebSocket alert delivery.
+4. Real stop/recover signal dispatch.
+
+## Recommended Execution Location
+
+Run inside the `qaup-app` container if possible, or on a host that can access the container port.
+
+Examples:
+
+```bash
+docker exec -it qaup-app sh -lc 'bash /opt/qaup/deploy/test_collision_prepare_flow.sh'
+```
+
+```bash
+BASE_URL="http://127.0.0.1:8080" bash deploy/test_collision_prepare_flow.sh
+```
+
+## Script Inputs
+
+The script supports environment variables:
+
+- `BASE_URL`
+- `HEALTH_PATH`
+- `AIRCRAFT_ID`
+- `UNMANNED_ID`
+- `SPECIAL_ID`
+- `AIRCRAFT_ROUTE_TYPE`
+- `AIRCRAFT_IN_RUNWAY`
+- `AIRCRAFT_OUT_RUNWAY`
+- `AIRCRAFT_CONTACT_CROSS`
+- `AIRCRAFT_SEAT`
+- `AIRCRAFT_START_SEAT`
+- `AUTH_HEADER`
+
+Default execution assumes no authentication because the current platform HTTP integration document states these endpoints are unauthenticated.
+
+## Expected Result
+
+The script should end with:
+
+```text
+PASS: collision preparation interface flow is ready for deployment testing
+```
+
+The preparation status before binding should report missing routes.
+
+The preparation status after binding should report:
+
+- `ready=true`
+- `registeredCount=3`
+- `missingRouteCount=0`
+
+## Failure Handling
+
+If the script fails:
+
+1. Confirm `qaup-app` is healthy.
+2. Confirm the service port matches `BASE_URL`.
+3. Confirm the aircraft route query parameters are valid in the target environment.
+4. If formal environment adds authentication later, set `AUTH_HEADER`.
--- a/deploy/test_collision_prepare_flow.sh
+++ b/deploy/test_collision_prepare_flow.sh
@ -0,0 +1,266 @@
+#!/usr/bin/env bash
+
+set -euo pipefail
+
+BASE_URL="${BASE_URL:-http://127.0.0.1:8080}"
+HEALTH_PATH="${HEALTH_PATH:-/actuator/health}"
+
+AIRCRAFT_ID="${AIRCRAFT_ID:-SIM-AC-001}"
+UNMANNED_ID="${UNMANNED_ID:-SIM-UV-001}"
+SPECIAL_ID="${SPECIAL_ID:-SIM-SP-001}"
+
+AIRCRAFT_ROUTE_TYPE="${AIRCRAFT_ROUTE_TYPE:-OUT}"
+AIRCRAFT_IN_RUNWAY="${AIRCRAFT_IN_RUNWAY:-35}"
+AIRCRAFT_OUT_RUNWAY="${AIRCRAFT_OUT_RUNWAY:-34}"
+AIRCRAFT_CONTACT_CROSS="${AIRCRAFT_CONTACT_CROSS:-}"
+AIRCRAFT_SEAT="${AIRCRAFT_SEAT:-165}"
+AIRCRAFT_START_SEAT="${AIRCRAFT_START_SEAT:-165}"
+
+UV_ROUTE_NAME="${UV_ROUTE_NAME:-SIM_UV_ROUTE_001}"
+SP_ROUTE_NAME="${SP_ROUTE_NAME:-SIM_SP_ROUTE_001}"
+
+AUTH_HEADER="${AUTH_HEADER:-}"
+CONNECT_TIMEOUT="${CONNECT_TIMEOUT:-5}"
+MAX_TIME="${MAX_TIME:-20}"
+WORK_DIR="${WORK_DIR:-/tmp/qaup_collision_prepare_test}"
+
+mkdir -p "$WORK_DIR"
+
+log() {
+  printf '[%s] %s\n' "$(date '+%F %T')" "$*"
+}
+
+fail() {
+  log "FAIL: $*"
+  exit 1
+}
+
+have_jq() {
+  command -v jq >/dev/null 2>&1
+}
+
+json_get() {
+  local file="$1"
+  local expr="$2"
+  if have_jq; then
+    jq -r "$expr" "$file"
+  else
+    python3 - "$file" "$expr" <<'PY'
+import json
+import sys
+
+path = sys.argv[2].strip().lstrip(".")
+parts = [p for p in path.split(".") if p]
+with open(sys.argv[1], "r", encoding="utf-8") as f:
+    data = json.load(f)
+for part in parts:
+    if isinstance(data, list):
+        data = data[int(part)]
+    else:
+        data = data.get(part)
+print("" if data is None else data)
+PY
+  fi
+}
+
+json_contains_text() {
+  local file="$1"
+  local expected="$2"
+  grep -Fq "$expected" "$file"
+}
+
+curl_json() {
+  local method="$1"
+  local path="$2"
+  local body_file="${3:-}"
+  local response_file="$4"
+
+  local curl_args=(
+    --silent
+    --show-error
+    --connect-timeout "$CONNECT_TIMEOUT"
+    --max-time "$MAX_TIME"
+    --request "$method"
+    --header 'Content-Type: application/json'
+    --write-out '%{http_code}'
+    --output "$response_file"
+  )
+
+  if [[ -n "$AUTH_HEADER" ]]; then
+    curl_args+=(--header "Authorization: $AUTH_HEADER")
+  fi
+
+  if [[ -n "$body_file" ]]; then
+    curl_args+=(--data @"$body_file")
+  fi
+
+  curl "${curl_args[@]}" "${BASE_URL}${path}"
+}
+
+assert_http_ok() {
+  local code="$1"
+  local context="$2"
+  [[ "$code" == "200" ]] || fail "$context returned HTTP $code"
+}
+
+write_json() {
+  local file="$1"
+  shift
+  cat > "$file" <<EOF
+$*
+EOF
+}
+
+print_json() {
+  local file="$1"
+  if have_jq; then
+    jq . "$file"
+  else
+    cat "$file"
+  fi
+}
+
+run_health_check() {
+  log "Checking application health: ${BASE_URL}${HEALTH_PATH}"
+  local response_file="$WORK_DIR/health.json"
+  local code
+  code="$(curl --silent --show-error --connect-timeout "$CONNECT_TIMEOUT" --max-time "$MAX_TIME" --output "$response_file" --write-out '%{http_code}' "${BASE_URL}${HEALTH_PATH}")"
+  assert_http_ok "$code" "Health check"
+  log "Health check passed"
+}
+
+sync_registry() {
+  local body_file="$WORK_DIR/vehicle_registry.json"
+  local response_file="$WORK_DIR/vehicle_registry_response.json"
+  write_json "$body_file" "[
+  {\"vehicleID\":\"${UNMANNED_ID}\",\"vehicleType\":\"WUREN\"},
+  {\"vehicleID\":\"${SPECIAL_ID}\",\"vehicleType\":\"TEQIN\"},
+  {\"vehicleID\":\"${AIRCRAFT_ID}\",\"vehicleType\":\"HANGKONG\"}
+]"
+
+  log "Registering simulated collision objects"
+  local code
+  code="$(curl_json POST /api/VehicleRegistry "$body_file" "$response_file")"
+  assert_http_ok "$code" "Vehicle registry"
+  [[ "$(json_get "$response_file" '.status')" == "success" ]] || fail "Vehicle registry response status is not success"
+  log "Registry synchronized"
+}
+
+query_preparation_status() {
+  local tag="$1"
+  local response_file="$WORK_DIR/preparation_status_${tag}.json"
+  local code
+  code="$(curl_json POST /api/collision/preparation/status "" "$response_file")"
+  assert_http_ok "$code" "Collision preparation status"
+  [[ "$(json_get "$response_file" '.status')" == "success" ]] || fail "Preparation status response status is not success"
+  print_json "$response_file"
+}
+
+assert_not_ready_before_binding() {
+  local response_file="$WORK_DIR/preparation_status_before.json"
+  local ready
+  ready="$(json_get "$response_file" '.ready')"
+  [[ "$ready" == "false" ]] || fail "Preparation status should be false before routes are bound"
+  json_contains_text "$response_file" "$AIRCRAFT_ID" || fail "Preparation status missing aircraft id before binding"
+  json_contains_text "$response_file" "$UNMANNED_ID" || fail "Preparation status missing unmanned id before binding"
+  json_contains_text "$response_file" "$SPECIAL_ID" || fail "Preparation status missing special vehicle id before binding"
+  log "Preparation status correctly reports missing route bindings"
+}
+
+bind_aircraft_route() {
+  local body_file="$WORK_DIR/aircraft_route_query.json"
+  local response_file="$WORK_DIR/aircraft_route_query_response.json"
+
+  if [[ "$AIRCRAFT_ROUTE_TYPE" == "OUT" ]]; then
+    write_json "$body_file" "{
+  \"objectId\": \"${AIRCRAFT_ID}\",
+  \"routeType\": \"OUT\",
+  \"outRunway\": \"${AIRCRAFT_OUT_RUNWAY}\",
+  \"inRunway\": \"${AIRCRAFT_IN_RUNWAY}\",
+  \"seat\": \"${AIRCRAFT_SEAT}\",
+  \"startSeat\": \"${AIRCRAFT_START_SEAT:-$AIRCRAFT_SEAT}\"
+}"
+  else
+    write_json "$body_file" "{
+  \"objectId\": \"${AIRCRAFT_ID}\",
+  \"routeType\": \"IN\",
+  \"inRunway\": \"${AIRCRAFT_IN_RUNWAY}\",
+  \"outRunway\": \"${AIRCRAFT_OUT_RUNWAY}\",
+  \"contactCross\": \"${AIRCRAFT_CONTACT_CROSS}\",
+  \"seat\": \"${AIRCRAFT_SEAT}\"
+}"
+  fi
+
+  log "Querying and binding aircraft route"
+  local code
+  code="$(curl_json POST /api/aircraft-routes/query "$body_file" "$response_file")"
+  assert_http_ok "$code" "Aircraft route query"
+  [[ "$(json_get "$response_file" '.code')" == "200" ]] || fail "Aircraft route query code is not 200"
+  [[ "$(json_get "$response_file" '.data.bindingObjectId')" == "$AIRCRAFT_ID" ]] || fail "Aircraft route bindingObjectId mismatch"
+  [[ "$(json_get "$response_file" '.data.routeBound')" == "true" ]] || fail "Aircraft route was not bound"
+  log "Aircraft route bound successfully"
+}
+
+bind_vehicle_route() {
+  local vehicle_id="$1"
+  local vehicle_type="$2"
+  local route_name="$3"
+  local point_a_lon="$4"
+  local point_a_lat="$5"
+  local point_b_lon="$6"
+  local point_b_lat="$7"
+  local response_tag="$8"
+
+  local body_file="$WORK_DIR/${response_tag}_route_assignment.json"
+  local response_file="$WORK_DIR/${response_tag}_route_assignment_response.json"
+
+  write_json "$body_file" "{
+  \"vehicleID\": \"${vehicle_id}\",
+  \"vehicleType\": \"${vehicle_type}\",
+  \"routeName\": \"${route_name}\",
+  \"route\": {
+    \"points\": [
+      {\"lon\": ${point_a_lon}, \"lat\": ${point_a_lat}},
+      {\"lon\": ${point_b_lon}, \"lat\": ${point_b_lat}}
+    ]
+  }
+}"
+
+  log "Binding route for ${vehicle_type} ${vehicle_id}"
+  local code
+  code="$(curl_json POST /api/vehicle-route/assignment "$body_file" "$response_file")"
+  assert_http_ok "$code" "Vehicle route assignment for ${vehicle_id}"
+  [[ "$(json_get "$response_file" '.status')" == "success" ]] || fail "Route assignment failed for ${vehicle_id}"
+  [[ "$(json_get "$response_file" '.objectId')" == "$vehicle_id" ]] || fail "Route assignment objectId mismatch for ${vehicle_id}"
+  log "Route bound for ${vehicle_id}"
+}
+
+assert_ready_after_binding() {
+  local response_file="$WORK_DIR/preparation_status_after.json"
+  [[ "$(json_get "$response_file" '.ready')" == "true" ]] || fail "Preparation status should be true after routes are bound"
+  [[ "$(json_get "$response_file" '.summary.registeredCount')" == "3" ]] || fail "Expected 3 registered collision objects"
+  [[ "$(json_get "$response_file" '.summary.missingRouteCount')" == "0" ]] || fail "Expected 0 missing routes after binding"
+  log "Preparation status confirms all registered objects are ready"
+}
+
+main() {
+  log "Starting collision preparation interface test"
+  log "BASE_URL=${BASE_URL}"
+  log "AIRCRAFT_ID=${AIRCRAFT_ID}, UNMANNED_ID=${UNMANNED_ID}, SPECIAL_ID=${SPECIAL_ID}"
+
+  run_health_check
+  sync_registry
+  query_preparation_status before
+  assert_not_ready_before_binding
+
+  bind_aircraft_route
+  bind_vehicle_route "$UNMANNED_ID" "WUREN" "$UV_ROUTE_NAME" 120.1000 36.1000 120.2000 36.2000 "uv"
+  bind_vehicle_route "$SPECIAL_ID" "TEQIN" "$SP_ROUTE_NAME" 120.1000 36.2000 120.2000 36.1000 "sp"
+
+  query_preparation_status after
+  assert_ready_after_binding
+
+  log "PASS: collision preparation interface flow is ready for deployment testing"
+}
+
+main "$@"
--- a/docs/superpowers/plans/2026-04-17-collision-registration-and-thresholds.md
+++ b/docs/superpowers/plans/2026-04-17-collision-registration-and-thresholds.md
@ -0,0 +1,159 @@
+# Collision Registration And Thresholds Implementation Plan
+
+> **For agentic workers:** REQUIRED SUB-SKILL: Use superpowers:subagent-driven-development (recommended) or superpowers:executing-plans to implement this plan task-by-task. Steps use checkbox (`- [ ]`) syntax for tracking.
+
+**Goal:** Make collision participation follow full-sync registration semantics, expose current crossing thresholds for现场排查, and relax route deviation tolerance so near-route equipment is still evaluated.
+
+**Architecture:** Keep the current periodic detection loop intact and make the behavior clearer at the boundaries: registration remains the source of truth, the preparation/status API exposes current threshold values, and path-conflict detection accepts a wider route deviation before dropping a pair. This stays inside the existing controller/runtime-state/detection services to avoid spreading new concepts.
+
+**Tech Stack:** Spring Boot, JUnit 5, MockMvc, Mockito, JTS
+
+---
+
+### Task 1: Lock Expected API Behavior With Tests
+
+**Files:**
+- Modify: `qaup-collision/src/test/java/com/qaup/collision/controller/PlatformIntegrationControllerTest.java`
+
+- [ ] **Step 1: Write the failing test**
+
+```java
+@Test
+void shouldExposeCurrentCrossingThresholdsInPreparationStatus() throws Exception {
+    mockMvc.perform(post("/api/collision/preparation/status"))
+        .andExpect(status().isOk())
+        .andExpect(jsonPath("$.thresholds.vehicleDistance").value(40.0))
+        .andExpect(jsonPath("$.thresholds.aircraftDistance").value(40.0));
+}
+```
+
+- [ ] **Step 2: Run test to verify it fails**
+
+Run: `mvn -pl qaup-collision -Dtest=PlatformIntegrationControllerTest#shouldExposeCurrentCrossingThresholdsInPreparationStatus test`
+Expected: FAIL because `$.thresholds.vehicleDistance` does not exist yet
+
+- [ ] **Step 3: Write minimal implementation**
+
+```java
+Map<String, Object> thresholds = new LinkedHashMap<>();
+thresholds.put("vehicleDistance", platformRuntimeStateService.getCollisionDivergingReleaseDistanceForVehicle());
+thresholds.put("aircraftDistance", platformRuntimeStateService.getCollisionDivergingReleaseDistanceForAircraft());
+payload.put("thresholds", thresholds);
+```
+
+- [ ] **Step 4: Run test to verify it passes**
+
+Run: `mvn -pl qaup-collision -Dtest=PlatformIntegrationControllerTest#shouldExposeCurrentCrossingThresholdsInPreparationStatus test`
+Expected: PASS
+
+- [ ] **Step 5: Commit**
+
+```bash
+git add qaup-collision/src/test/java/com/qaup/collision/controller/PlatformIntegrationControllerTest.java qaup-collision/src/main/java/com/qaup/collision/controller/PlatformIntegrationController.java
+git commit -m "feat: expose collision thresholds in preparation status"
+```
+
+### Task 2: Lock Wider Route Participation With Tests
+
+**Files:**
+- Modify: `qaup-collision/src/test/java/com/qaup/collision/pathconflict/service/PathConflictDetectionDirectionalTest.java`
+
+- [ ] **Step 1: Write the failing test**
+
+```java
+@Test
+void shouldStillEvaluateConflictWhenAircraftIsWithinTwoHundredMetersOfAssignedRoute() throws Exception {
+    // Build intersecting routes, place aircraft 150m off the route, then expect one event.
+}
+```
+
+- [ ] **Step 2: Run test to verify it fails**
+
+Run: `mvn -pl qaup-collision -Dtest=PathConflictDetectionDirectionalTest#shouldStillEvaluateConflictWhenAircraftIsWithinTwoHundredMetersOfAssignedRoute test`
+Expected: FAIL because no event is published under the current 80m deviation limit
+
+- [ ] **Step 3: Write minimal implementation**
+
+```java
+private static final double MAX_ROUTE_DEVIATION_METERS = 200.0;
+```
+
+- [ ] **Step 4: Run test to verify it passes**
+
+Run: `mvn -pl qaup-collision -Dtest=PathConflictDetectionDirectionalTest#shouldStillEvaluateConflictWhenAircraftIsWithinTwoHundredMetersOfAssignedRoute test`
+Expected: PASS
+
+- [ ] **Step 5: Commit**
+
+```bash
+git add qaup-collision/src/test/java/com/qaup/collision/pathconflict/service/PathConflictDetectionDirectionalTest.java qaup-collision/src/main/java/com/qaup/collision/pathconflict/service/PathConflictDetectionService.java
+git commit -m "fix: widen route deviation tolerance for collision detection"
+```
+
+### Task 3: Verify Full-Sync Registration Still Removes Omitted Objects
+
+**Files:**
+- Modify: `qaup-collision/src/test/java/com/qaup/collision/service/PlatformRuntimeStateServiceTest.java`
+
+- [ ] **Step 1: Write the failing test**
+
+```java
+@Test
+void shouldReportRemovedObjectsWhenVehicleRegistryIsResubmitted() {
+    // first update with three objects, second update with one object, then assert removed IDs
+}
+```
+
+- [ ] **Step 2: Run test to verify it fails**
+
+Run: `mvn -pl qaup-collision -Dtest=PlatformRuntimeStateServiceTest#shouldReportRemovedObjectsWhenVehicleRegistryIsResubmitted test`
+Expected: FAIL because the result does not expose removed IDs yet
+
+- [ ] **Step 3: Write minimal implementation**
+
+```java
+TreeSet<String> previousVehicleIds = new TreeSet<>(vehicleTypes.keySet());
+vehicleTypes.clear();
+...
+previousVehicleIds.removeAll(vehicleTypes.keySet());
+return new VehicleRegistryUpdateResult(..., new ArrayList<>(previousVehicleIds));
+```
+
+- [ ] **Step 4: Run test to verify it passes**
+
+Run: `mvn -pl qaup-collision -Dtest=PlatformRuntimeStateServiceTest#shouldReportRemovedObjectsWhenVehicleRegistryIsResubmitted test`
+Expected: PASS
+
+- [ ] **Step 5: Commit**
+
+```bash
+git add qaup-collision/src/test/java/com/qaup/collision/service/PlatformRuntimeStateServiceTest.java qaup-collision/src/main/java/com/qaup/collision/service/PlatformRuntimeStateService.java qaup-collision/src/main/java/com/qaup/collision/controller/PlatformIntegrationController.java
+git commit -m "feat: surface removed objects on registry full sync"
+```
+
+### Task 4: Run Focused Verification
+
+**Files:**
+- Modify: None
+- Test: `qaup-collision/src/test/java/com/qaup/collision/controller/PlatformIntegrationControllerTest.java`
+- Test: `qaup-collision/src/test/java/com/qaup/collision/pathconflict/service/PathConflictDetectionDirectionalTest.java`
+- Test: `qaup-collision/src/test/java/com/qaup/collision/pathconflict/service/PathConflictDetectionServiceRuntimeConfigTest.java`
+- Test: `qaup-collision/src/test/java/com/qaup/collision/service/PlatformRuntimeStateServiceTest.java`
+
+- [ ] **Step 1: Run focused module tests**
+
+```bash
+mvn -pl qaup-collision -Dtest=PlatformIntegrationControllerTest,PathConflictDetectionDirectionalTest,PathConflictDetectionServiceRuntimeConfigTest,PlatformRuntimeStateServiceTest test
+```
+
+- [ ] **Step 2: Confirm expected result**
+
+Expected: BUILD SUCCESS with all targeted tests green
+
+- [ ] **Step 3: Summarize the operational impact**
+
+```text
+1. Preparation status now shows current vehicle/aircraft crossing thresholds.
+2. Collision detection accepts route offsets up to 200m before dropping the pair.
+3. Registry re-submission remains full-sync and now reports which objects were removed.
+```
--- a/mqtt协议验证/demo/.gitattributes
+++ b/mqtt协议验证/demo/.gitattributes
@ -0,0 +1,2 @@
+/mvnw text eol=lf
+*.cmd text eol=crlf
--- a/mqtt协议验证/demo/.gitignore
+++ b/mqtt协议验证/demo/.gitignore
@ -0,0 +1,33 @@
+HELP.md
+target/
+.mvn/wrapper/maven-wrapper.jar
+!**/src/main/**/target/
+!**/src/test/**/target/
+
+### STS ###
+.apt_generated
+.classpath
+.factorypath
+.project
+.settings
+.springBeans
+.sts4-cache
+
+### IntelliJ IDEA ###
+.idea
+*.iws
+*.iml
+*.ipr
+
+### NetBeans ###
+/nbproject/private/
+/nbbuild/
+/dist/
+/nbdist/
+/.nb-gradle/
+build/
+!**/src/main/**/build/
+!**/src/test/**/build/
+
+### VS Code ###
+.vscode/
--- a/mqtt协议验证/demo/.mvn/wrapper/maven-wrapper.properties
+++ b/mqtt协议验证/demo/.mvn/wrapper/maven-wrapper.properties
@ -0,0 +1,3 @@
+wrapperVersion=3.3.4
+distributionType=only-script
+distributionUrl=https://repo.maven.apache.org/maven2/org/apache/maven/apache-maven/3.9.12/apache-maven-3.9.12-bin.zip
--- a/mqtt协议验证/demo/mvnw
+++ b/mqtt协议验证/demo/mvnw
@ -0,0 +1,295 @@
+#!/bin/sh
+# ----------------------------------------------------------------------------
+# Licensed to the Apache Software Foundation (ASF) under one
+# or more contributor license agreements.  See the NOTICE file
+# distributed with this work for additional information
+# regarding copyright ownership.  The ASF licenses this file
+# to you under the Apache License, Version 2.0 (the
+# "License"); you may not use this file except in compliance
+# with the License.  You may obtain a copy of the License at
+#
+#    http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing,
+# software distributed under the License is distributed on an
+# "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY
+# KIND, either express or implied.  See the License for the
+# specific language governing permissions and limitations
+# under the License.
+# ----------------------------------------------------------------------------
+
+# ----------------------------------------------------------------------------
+# Apache Maven Wrapper startup batch script, version 3.3.4
+#
+# Optional ENV vars
+# -----------------
+#   JAVA_HOME - location of a JDK home dir, required when download maven via java source
+#   MVNW_REPOURL - repo url base for downloading maven distribution
+#   MVNW_USERNAME/MVNW_PASSWORD - user and password for downloading maven
+#   MVNW_VERBOSE - true: enable verbose log; debug: trace the mvnw script; others: silence the output
+# ----------------------------------------------------------------------------
+
+set -euf
+[ "${MVNW_VERBOSE-}" != debug ] || set -x
+
+# OS specific support.
+native_path() { printf %s\\n "$1"; }
+case "$(uname)" in
+CYGWIN* | MINGW*)
+  [ -z "${JAVA_HOME-}" ] || JAVA_HOME="$(cygpath --unix "$JAVA_HOME")"
+  native_path() { cygpath --path --windows "$1"; }
+  ;;
+esac
+
+# set JAVACMD and JAVACCMD
+set_java_home() {
+  # For Cygwin and MinGW, ensure paths are in Unix format before anything is touched
+  if [ -n "${JAVA_HOME-}" ]; then
+    if [ -x "$JAVA_HOME/jre/sh/java" ]; then
+      # IBM's JDK on AIX uses strange locations for the executables
+      JAVACMD="$JAVA_HOME/jre/sh/java"
+      JAVACCMD="$JAVA_HOME/jre/sh/javac"
+    else
+      JAVACMD="$JAVA_HOME/bin/java"
+      JAVACCMD="$JAVA_HOME/bin/javac"
+
+      if [ ! -x "$JAVACMD" ] || [ ! -x "$JAVACCMD" ]; then
+        echo "The JAVA_HOME environment variable is not defined correctly, so mvnw cannot run." >&2
+        echo "JAVA_HOME is set to \"$JAVA_HOME\", but \"\$JAVA_HOME/bin/java\" or \"\$JAVA_HOME/bin/javac\" does not exist." >&2
+        return 1
+      fi
+    fi
+  else
+    JAVACMD="$(
+      'set' +e
+      'unset' -f command 2>/dev/null
+      'command' -v java
+    )" || :
+    JAVACCMD="$(
+      'set' +e
+      'unset' -f command 2>/dev/null
+      'command' -v javac
+    )" || :
+
+    if [ ! -x "${JAVACMD-}" ] || [ ! -x "${JAVACCMD-}" ]; then
+      echo "The java/javac command does not exist in PATH nor is JAVA_HOME set, so mvnw cannot run." >&2
+      return 1
+    fi
+  fi
+}
+
+# hash string like Java String::hashCode
+hash_string() {
+  str="${1:-}" h=0
+  while [ -n "$str" ]; do
+    char="${str%"${str#?}"}"
+    h=$(((h * 31 + $(LC_CTYPE=C printf %d "'$char")) % 4294967296))
+    str="${str#?}"
+  done
+  printf %x\\n $h
+}
+
+verbose() { :; }
+[ "${MVNW_VERBOSE-}" != true ] || verbose() { printf %s\\n "${1-}"; }
+
+die() {
+  printf %s\\n "$1" >&2
+  exit 1
+}
+
+trim() {
+  # MWRAPPER-139:
+  #   Trims trailing and leading whitespace, carriage returns, tabs, and linefeeds.
+  #   Needed for removing poorly interpreted newline sequences when running in more
+  #   exotic environments such as mingw bash on Windows.
+  printf "%s" "${1}" | tr -d '[:space:]'
+}
+
+scriptDir="$(dirname "$0")"
+scriptName="$(basename "$0")"
+
+# parse distributionUrl and optional distributionSha256Sum, requires .mvn/wrapper/maven-wrapper.properties
+while IFS="=" read -r key value; do
+  case "${key-}" in
+  distributionUrl) distributionUrl=$(trim "${value-}") ;;
+  distributionSha256Sum) distributionSha256Sum=$(trim "${value-}") ;;
+  esac
+done <"$scriptDir/.mvn/wrapper/maven-wrapper.properties"
+[ -n "${distributionUrl-}" ] || die "cannot read distributionUrl property in $scriptDir/.mvn/wrapper/maven-wrapper.properties"
+
+case "${distributionUrl##*/}" in
+maven-mvnd-*bin.*)
+  MVN_CMD=mvnd.sh _MVNW_REPO_PATTERN=/maven/mvnd/
+  case "${PROCESSOR_ARCHITECTURE-}${PROCESSOR_ARCHITEW6432-}:$(uname -a)" in
+  *AMD64:CYGWIN* | *AMD64:MINGW*) distributionPlatform=windows-amd64 ;;
+  :Darwin*x86_64) distributionPlatform=darwin-amd64 ;;
+  :Darwin*arm64) distributionPlatform=darwin-aarch64 ;;
+  :Linux*x86_64*) distributionPlatform=linux-amd64 ;;
+  *)
+    echo "Cannot detect native platform for mvnd on $(uname)-$(uname -m), use pure java version" >&2
+    distributionPlatform=linux-amd64
+    ;;
+  esac
+  distributionUrl="${distributionUrl%-bin.*}-$distributionPlatform.zip"
+  ;;
+maven-mvnd-*) MVN_CMD=mvnd.sh _MVNW_REPO_PATTERN=/maven/mvnd/ ;;
+*) MVN_CMD="mvn${scriptName#mvnw}" _MVNW_REPO_PATTERN=/org/apache/maven/ ;;
+esac
+
+# apply MVNW_REPOURL and calculate MAVEN_HOME
+# maven home pattern: ~/.m2/wrapper/dists/{apache-maven-<version>,maven-mvnd-<version>-<platform>}/<hash>
+[ -z "${MVNW_REPOURL-}" ] || distributionUrl="$MVNW_REPOURL$_MVNW_REPO_PATTERN${distributionUrl#*"$_MVNW_REPO_PATTERN"}"
+distributionUrlName="${distributionUrl##*/}"
+distributionUrlNameMain="${distributionUrlName%.*}"
+distributionUrlNameMain="${distributionUrlNameMain%-bin}"
+MAVEN_USER_HOME="${MAVEN_USER_HOME:-${HOME}/.m2}"
+MAVEN_HOME="${MAVEN_USER_HOME}/wrapper/dists/${distributionUrlNameMain-}/$(hash_string "$distributionUrl")"
+
+exec_maven() {
+  unset MVNW_VERBOSE MVNW_USERNAME MVNW_PASSWORD MVNW_REPOURL || :
+  exec "$MAVEN_HOME/bin/$MVN_CMD" "$@" || die "cannot exec $MAVEN_HOME/bin/$MVN_CMD"
+}
+
+if [ -d "$MAVEN_HOME" ]; then
+  verbose "found existing MAVEN_HOME at $MAVEN_HOME"
+  exec_maven "$@"
+fi
+
+case "${distributionUrl-}" in
+*?-bin.zip | *?maven-mvnd-?*-?*.zip) ;;
+*) die "distributionUrl is not valid, must match *-bin.zip or maven-mvnd-*.zip, but found '${distributionUrl-}'" ;;
+esac
+
+# prepare tmp dir
+if TMP_DOWNLOAD_DIR="$(mktemp -d)" && [ -d "$TMP_DOWNLOAD_DIR" ]; then
+  clean() { rm -rf -- "$TMP_DOWNLOAD_DIR"; }
+  trap clean HUP INT TERM EXIT
+else
+  die "cannot create temp dir"
+fi
+
+mkdir -p -- "${MAVEN_HOME%/*}"
+
+# Download and Install Apache Maven
+verbose "Couldn't find MAVEN_HOME, downloading and installing it ..."
+verbose "Downloading from: $distributionUrl"
+verbose "Downloading to: $TMP_DOWNLOAD_DIR/$distributionUrlName"
+
+# select .zip or .tar.gz
+if ! command -v unzip >/dev/null; then
+  distributionUrl="${distributionUrl%.zip}.tar.gz"
+  distributionUrlName="${distributionUrl##*/}"
+fi
+
+# verbose opt
+__MVNW_QUIET_WGET=--quiet __MVNW_QUIET_CURL=--silent __MVNW_QUIET_UNZIP=-q __MVNW_QUIET_TAR=''
+[ "${MVNW_VERBOSE-}" != true ] || __MVNW_QUIET_WGET='' __MVNW_QUIET_CURL='' __MVNW_QUIET_UNZIP='' __MVNW_QUIET_TAR=v
+
+# normalize http auth
+case "${MVNW_PASSWORD:+has-password}" in
+'') MVNW_USERNAME='' MVNW_PASSWORD='' ;;
+has-password) [ -n "${MVNW_USERNAME-}" ] || MVNW_USERNAME='' MVNW_PASSWORD='' ;;
+esac
+
+if [ -z "${MVNW_USERNAME-}" ] && command -v wget >/dev/null; then
+  verbose "Found wget ... using wget"
+  wget ${__MVNW_QUIET_WGET:+"$__MVNW_QUIET_WGET"} "$distributionUrl" -O "$TMP_DOWNLOAD_DIR/$distributionUrlName" || die "wget: Failed to fetch $distributionUrl"
+elif [ -z "${MVNW_USERNAME-}" ] && command -v curl >/dev/null; then
+  verbose "Found curl ... using curl"
+  curl ${__MVNW_QUIET_CURL:+"$__MVNW_QUIET_CURL"} -f -L -o "$TMP_DOWNLOAD_DIR/$distributionUrlName" "$distributionUrl" || die "curl: Failed to fetch $distributionUrl"
+elif set_java_home; then
+  verbose "Falling back to use Java to download"
+  javaSource="$TMP_DOWNLOAD_DIR/Downloader.java"
+  targetZip="$TMP_DOWNLOAD_DIR/$distributionUrlName"
+  cat >"$javaSource" <<-END
+	public class Downloader extends java.net.Authenticator
+	{
+	  protected java.net.PasswordAuthentication getPasswordAuthentication()
+	  {
+	    return new java.net.PasswordAuthentication( System.getenv( "MVNW_USERNAME" ), System.getenv( "MVNW_PASSWORD" ).toCharArray() );
+	  }
+	  public static void main( String[] args ) throws Exception
+	  {
+	    setDefault( new Downloader() );
+	    java.nio.file.Files.copy( java.net.URI.create( args[0] ).toURL().openStream(), java.nio.file.Paths.get( args[1] ).toAbsolutePath().normalize() );
+	  }
+	}
+	END
+  # For Cygwin/MinGW, switch paths to Windows format before running javac and java
+  verbose " - Compiling Downloader.java ..."
+  "$(native_path "$JAVACCMD")" "$(native_path "$javaSource")" || die "Failed to compile Downloader.java"
+  verbose " - Running Downloader.java ..."
+  "$(native_path "$JAVACMD")" -cp "$(native_path "$TMP_DOWNLOAD_DIR")" Downloader "$distributionUrl" "$(native_path "$targetZip")"
+fi
+
+# If specified, validate the SHA-256 sum of the Maven distribution zip file
+if [ -n "${distributionSha256Sum-}" ]; then
+  distributionSha256Result=false
+  if [ "$MVN_CMD" = mvnd.sh ]; then
+    echo "Checksum validation is not supported for maven-mvnd." >&2
+    echo "Please disable validation by removing 'distributionSha256Sum' from your maven-wrapper.properties." >&2
+    exit 1
+  elif command -v sha256sum >/dev/null; then
+    if echo "$distributionSha256Sum  $TMP_DOWNLOAD_DIR/$distributionUrlName" | sha256sum -c - >/dev/null 2>&1; then
+      distributionSha256Result=true
+    fi
+  elif command -v shasum >/dev/null; then
+    if echo "$distributionSha256Sum  $TMP_DOWNLOAD_DIR/$distributionUrlName" | shasum -a 256 -c >/dev/null 2>&1; then
+      distributionSha256Result=true
+    fi
+  else
+    echo "Checksum validation was requested but neither 'sha256sum' or 'shasum' are available." >&2
+    echo "Please install either command, or disable validation by removing 'distributionSha256Sum' from your maven-wrapper.properties." >&2
+    exit 1
+  fi
+  if [ $distributionSha256Result = false ]; then
+    echo "Error: Failed to validate Maven distribution SHA-256, your Maven distribution might be compromised." >&2
+    echo "If you updated your Maven version, you need to update the specified distributionSha256Sum property." >&2
+    exit 1
+  fi
+fi
+
+# unzip and move
+if command -v unzip >/dev/null; then
+  unzip ${__MVNW_QUIET_UNZIP:+"$__MVNW_QUIET_UNZIP"} "$TMP_DOWNLOAD_DIR/$distributionUrlName" -d "$TMP_DOWNLOAD_DIR" || die "failed to unzip"
+else
+  tar xzf${__MVNW_QUIET_TAR:+"$__MVNW_QUIET_TAR"} "$TMP_DOWNLOAD_DIR/$distributionUrlName" -C "$TMP_DOWNLOAD_DIR" || die "failed to untar"
+fi
+
+# Find the actual extracted directory name (handles snapshots where filename != directory name)
+actualDistributionDir=""
+
+# First try the expected directory name (for regular distributions)
+if [ -d "$TMP_DOWNLOAD_DIR/$distributionUrlNameMain" ]; then
+  if [ -f "$TMP_DOWNLOAD_DIR/$distributionUrlNameMain/bin/$MVN_CMD" ]; then
+    actualDistributionDir="$distributionUrlNameMain"
+  fi
+fi
+
+# If not found, search for any directory with the Maven executable (for snapshots)
+if [ -z "$actualDistributionDir" ]; then
+  # enable globbing to iterate over items
+  set +f
+  for dir in "$TMP_DOWNLOAD_DIR"/*; do
+    if [ -d "$dir" ]; then
+      if [ -f "$dir/bin/$MVN_CMD" ]; then
+        actualDistributionDir="$(basename "$dir")"
+        break
+      fi
+    fi
+  done
+  set -f
+fi
+
+if [ -z "$actualDistributionDir" ]; then
+  verbose "Contents of $TMP_DOWNLOAD_DIR:"
+  verbose "$(ls -la "$TMP_DOWNLOAD_DIR")"
+  die "Could not find Maven distribution directory in extracted archive"
+fi
+
+verbose "Found extracted Maven distribution directory: $actualDistributionDir"
+printf %s\\n "$distributionUrl" >"$TMP_DOWNLOAD_DIR/$actualDistributionDir/mvnw.url"
+mv -- "$TMP_DOWNLOAD_DIR/$actualDistributionDir" "$MAVEN_HOME" || [ -d "$MAVEN_HOME" ] || die "fail to move MAVEN_HOME"
+
+clean || :
+exec_maven "$@"
--- a/mqtt协议验证/demo/mvnw.cmd
+++ b/mqtt协议验证/demo/mvnw.cmd
@ -0,0 +1,189 @@
+<# : batch portion
+@REM ----------------------------------------------------------------------------
+@REM Licensed to the Apache Software Foundation (ASF) under one
+@REM or more contributor license agreements.  See the NOTICE file
+@REM distributed with this work for additional information
+@REM regarding copyright ownership.  The ASF licenses this file
+@REM to you under the Apache License, Version 2.0 (the
+@REM "License"); you may not use this file except in compliance
+@REM with the License.  You may obtain a copy of the License at
+@REM
+@REM    http://www.apache.org/licenses/LICENSE-2.0
+@REM
+@REM Unless required by applicable law or agreed to in writing,
+@REM software distributed under the License is distributed on an
+@REM "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY
+@REM KIND, either express or implied.  See the License for the
+@REM specific language governing permissions and limitations
+@REM under the License.
+@REM ----------------------------------------------------------------------------
+
+@REM ----------------------------------------------------------------------------
+@REM Apache Maven Wrapper startup batch script, version 3.3.4
+@REM
+@REM Optional ENV vars
+@REM   MVNW_REPOURL - repo url base for downloading maven distribution
+@REM   MVNW_USERNAME/MVNW_PASSWORD - user and password for downloading maven
+@REM   MVNW_VERBOSE - true: enable verbose log; others: silence the output
+@REM ----------------------------------------------------------------------------
+
+@IF "%__MVNW_ARG0_NAME__%"=="" (SET __MVNW_ARG0_NAME__=%~nx0)
+@SET __MVNW_CMD__=
+@SET __MVNW_ERROR__=
+@SET __MVNW_PSMODULEP_SAVE=%PSModulePath%
+@SET PSModulePath=
+@FOR /F "usebackq tokens=1* delims==" %%A IN (`powershell -noprofile "& {$scriptDir='%~dp0'; $script='%__MVNW_ARG0_NAME__%'; icm -ScriptBlock ([Scriptblock]::Create((Get-Content -Raw '%~f0'))) -NoNewScope}"`) DO @(
+  IF "%%A"=="MVN_CMD" (set __MVNW_CMD__=%%B) ELSE IF "%%B"=="" (echo %%A) ELSE (echo %%A=%%B)
+)
+@SET PSModulePath=%__MVNW_PSMODULEP_SAVE%
+@SET __MVNW_PSMODULEP_SAVE=
+@SET __MVNW_ARG0_NAME__=
+@SET MVNW_USERNAME=
+@SET MVNW_PASSWORD=
+@IF NOT "%__MVNW_CMD__%"=="" ("%__MVNW_CMD__%" %*)
+@echo Cannot start maven from wrapper >&2 && exit /b 1
+@GOTO :EOF
+: end batch / begin powershell #>
+
+$ErrorActionPreference = "Stop"
+if ($env:MVNW_VERBOSE -eq "true") {
+  $VerbosePreference = "Continue"
+}
+
+# calculate distributionUrl, requires .mvn/wrapper/maven-wrapper.properties
+$distributionUrl = (Get-Content -Raw "$scriptDir/.mvn/wrapper/maven-wrapper.properties" | ConvertFrom-StringData).distributionUrl
+if (!$distributionUrl) {
+  Write-Error "cannot read distributionUrl property in $scriptDir/.mvn/wrapper/maven-wrapper.properties"
+}
+
+switch -wildcard -casesensitive ( $($distributionUrl -replace '^.*/','') ) {
+  "maven-mvnd-*" {
+    $USE_MVND = $true
+    $distributionUrl = $distributionUrl -replace '-bin\.[^.]*$',"-windows-amd64.zip"
+    $MVN_CMD = "mvnd.cmd"
+    break
+  }
+  default {
+    $USE_MVND = $false
+    $MVN_CMD = $script -replace '^mvnw','mvn'
+    break
+  }
+}
+
+# apply MVNW_REPOURL and calculate MAVEN_HOME
+# maven home pattern: ~/.m2/wrapper/dists/{apache-maven-<version>,maven-mvnd-<version>-<platform>}/<hash>
+if ($env:MVNW_REPOURL) {
+  $MVNW_REPO_PATTERN = if ($USE_MVND -eq $False) { "/org/apache/maven/" } else { "/maven/mvnd/" }
+  $distributionUrl = "$env:MVNW_REPOURL$MVNW_REPO_PATTERN$($distributionUrl -replace "^.*$MVNW_REPO_PATTERN",'')"
+}
+$distributionUrlName = $distributionUrl -replace '^.*/',''
+$distributionUrlNameMain = $distributionUrlName -replace '\.[^.]*$','' -replace '-bin$',''
+
+$MAVEN_M2_PATH = "$HOME/.m2"
+if ($env:MAVEN_USER_HOME) {
+  $MAVEN_M2_PATH = "$env:MAVEN_USER_HOME"
+}
+
+if (-not (Test-Path -Path $MAVEN_M2_PATH)) {
+    New-Item -Path $MAVEN_M2_PATH -ItemType Directory | Out-Null
+}
+
+$MAVEN_WRAPPER_DISTS = $null
+if ((Get-Item $MAVEN_M2_PATH).Target[0] -eq $null) {
+  $MAVEN_WRAPPER_DISTS = "$MAVEN_M2_PATH/wrapper/dists"
+} else {
+  $MAVEN_WRAPPER_DISTS = (Get-Item $MAVEN_M2_PATH).Target[0] + "/wrapper/dists"
+}
+
+$MAVEN_HOME_PARENT = "$MAVEN_WRAPPER_DISTS/$distributionUrlNameMain"
+$MAVEN_HOME_NAME = ([System.Security.Cryptography.SHA256]::Create().ComputeHash([byte[]][char[]]$distributionUrl) | ForEach-Object {$_.ToString("x2")}) -join ''
+$MAVEN_HOME = "$MAVEN_HOME_PARENT/$MAVEN_HOME_NAME"
+
+if (Test-Path -Path "$MAVEN_HOME" -PathType Container) {
+  Write-Verbose "found existing MAVEN_HOME at $MAVEN_HOME"
+  Write-Output "MVN_CMD=$MAVEN_HOME/bin/$MVN_CMD"
+  exit $?
+}
+
+if (! $distributionUrlNameMain -or ($distributionUrlName -eq $distributionUrlNameMain)) {
+  Write-Error "distributionUrl is not valid, must end with *-bin.zip, but found $distributionUrl"
+}
+
+# prepare tmp dir
+$TMP_DOWNLOAD_DIR_HOLDER = New-TemporaryFile
+$TMP_DOWNLOAD_DIR = New-Item -Itemtype Directory -Path "$TMP_DOWNLOAD_DIR_HOLDER.dir"
+$TMP_DOWNLOAD_DIR_HOLDER.Delete() | Out-Null
+trap {
+  if ($TMP_DOWNLOAD_DIR.Exists) {
+    try { Remove-Item $TMP_DOWNLOAD_DIR -Recurse -Force | Out-Null }
+    catch { Write-Warning "Cannot remove $TMP_DOWNLOAD_DIR" }
+  }
+}
+
+New-Item -Itemtype Directory -Path "$MAVEN_HOME_PARENT" -Force | Out-Null
+
+# Download and Install Apache Maven
+Write-Verbose "Couldn't find MAVEN_HOME, downloading and installing it ..."
+Write-Verbose "Downloading from: $distributionUrl"
+Write-Verbose "Downloading to: $TMP_DOWNLOAD_DIR/$distributionUrlName"
+
+$webclient = New-Object System.Net.WebClient
+if ($env:MVNW_USERNAME -and $env:MVNW_PASSWORD) {
+  $webclient.Credentials = New-Object System.Net.NetworkCredential($env:MVNW_USERNAME, $env:MVNW_PASSWORD)
+}
+[Net.ServicePointManager]::SecurityProtocol = [Net.SecurityProtocolType]::Tls12
+$webclient.DownloadFile($distributionUrl, "$TMP_DOWNLOAD_DIR/$distributionUrlName") | Out-Null
+
+# If specified, validate the SHA-256 sum of the Maven distribution zip file
+$distributionSha256Sum = (Get-Content -Raw "$scriptDir/.mvn/wrapper/maven-wrapper.properties" | ConvertFrom-StringData).distributionSha256Sum
+if ($distributionSha256Sum) {
+  if ($USE_MVND) {
+    Write-Error "Checksum validation is not supported for maven-mvnd. `nPlease disable validation by removing 'distributionSha256Sum' from your maven-wrapper.properties."
+  }
+  Import-Module $PSHOME\Modules\Microsoft.PowerShell.Utility -Function Get-FileHash
+  if ((Get-FileHash "$TMP_DOWNLOAD_DIR/$distributionUrlName" -Algorithm SHA256).Hash.ToLower() -ne $distributionSha256Sum) {
+    Write-Error "Error: Failed to validate Maven distribution SHA-256, your Maven distribution might be compromised. If you updated your Maven version, you need to update the specified distributionSha256Sum property."
+  }
+}
+
+# unzip and move
+Expand-Archive "$TMP_DOWNLOAD_DIR/$distributionUrlName" -DestinationPath "$TMP_DOWNLOAD_DIR" | Out-Null
+
+# Find the actual extracted directory name (handles snapshots where filename != directory name)
+$actualDistributionDir = ""
+
+# First try the expected directory name (for regular distributions)
+$expectedPath = Join-Path "$TMP_DOWNLOAD_DIR" "$distributionUrlNameMain"
+$expectedMvnPath = Join-Path "$expectedPath" "bin/$MVN_CMD"
+if ((Test-Path -Path $expectedPath -PathType Container) -and (Test-Path -Path $expectedMvnPath -PathType Leaf)) {
+  $actualDistributionDir = $distributionUrlNameMain
+}
+
+# If not found, search for any directory with the Maven executable (for snapshots)
+if (!$actualDistributionDir) {
+  Get-ChildItem -Path "$TMP_DOWNLOAD_DIR" -Directory | ForEach-Object {
+    $testPath = Join-Path $_.FullName "bin/$MVN_CMD"
+    if (Test-Path -Path $testPath -PathType Leaf) {
+      $actualDistributionDir = $_.Name
+    }
+  }
+}
+
+if (!$actualDistributionDir) {
+  Write-Error "Could not find Maven distribution directory in extracted archive"
+}
+
+Write-Verbose "Found extracted Maven distribution directory: $actualDistributionDir"
+Rename-Item -Path "$TMP_DOWNLOAD_DIR/$actualDistributionDir" -NewName $MAVEN_HOME_NAME | Out-Null
+try {
+  Move-Item -Path "$TMP_DOWNLOAD_DIR/$MAVEN_HOME_NAME" -Destination $MAVEN_HOME_PARENT | Out-Null
+} catch {
+  if (! (Test-Path -Path "$MAVEN_HOME" -PathType Container)) {
+    Write-Error "fail to move MAVEN_HOME"
+  }
+} finally {
+  try { Remove-Item $TMP_DOWNLOAD_DIR -Recurse -Force | Out-Null }
+  catch { Write-Warning "Cannot remove $TMP_DOWNLOAD_DIR" }
+}
+
+Write-Output "MVN_CMD=$MAVEN_HOME/bin/$MVN_CMD"
--- a/mqtt协议验证/demo/pom.xml
+++ b/mqtt协议验证/demo/pom.xml
@ -0,0 +1,62 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project xmlns="http://maven.apache.org/POM/4.0.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
+         xsi:schemaLocation="http://maven.apache.org/POM/4.0.0 https://maven.apache.org/xsd/maven-4.0.0.xsd">
+    <modelVersion>4.0.0</modelVersion>
+    <parent>
+        <groupId>org.springframework.boot</groupId>
+        <artifactId>spring-boot-starter-parent</artifactId>
+        <version>4.0.1</version>
+        <relativePath/> <!-- lookup parent from repository -->
+    </parent>
+    <groupId>com.example</groupId>
+    <artifactId>demo</artifactId>
+    <version>0.0.1-SNAPSHOT</version>
+    <name>demo</name>
+    <description>demo</description>
+    <url/>
+    <licenses>
+        <license/>
+    </licenses>
+    <developers>
+        <developer/>
+    </developers>
+    <scm>
+        <connection/>
+        <developerConnection/>
+        <tag/>
+        <url/>
+    </scm>
+    <properties>
+        <java.version>17</java.version>
+    </properties>
+    <dependencies>
+        <dependency>
+            <groupId>org.springframework.boot</groupId>
+            <artifactId>spring-boot-starter-webmvc</artifactId>
+        </dependency>
+
+        <dependency>
+            <groupId>org.springframework.boot</groupId>
+            <artifactId>spring-boot-starter-webmvc-test</artifactId>
+            <scope>test</scope>
+        </dependency>
+
+        <!--MQTT-->
+        <dependency>
+            <groupId>org.eclipse.paho</groupId>
+            <artifactId>org.eclipse.paho.client.mqttv3</artifactId>
+            <version>1.2.5</version>
+        </dependency>
+
+    </dependencies>
+
+    <build>
+        <plugins>
+            <plugin>
+                <groupId>org.springframework.boot</groupId>
+                <artifactId>spring-boot-maven-plugin</artifactId>
+            </plugin>
+        </plugins>
+    </build>
+
+</project>
--- a/mqtt协议验证/demo/src/main/java/com/example/demo/DemoApplication.java
+++ b/mqtt协议验证/demo/src/main/java/com/example/demo/DemoApplication.java
@ -0,0 +1,13 @@
+package com.example.demo;
+
+import org.springframework.boot.SpringApplication;
+import org.springframework.boot.autoconfigure.SpringBootApplication;
+
+@SpringBootApplication
+public class DemoApplication {
+
+    public static void main(String[] args) {
+        SpringApplication.run(DemoApplication.class, args);
+    }
+
+}
--- a/mqtt协议验证/demo/src/main/java/com/example/demo/config/MqttConfig.java
+++ b/mqtt协议验证/demo/src/main/java/com/example/demo/config/MqttConfig.java
@ -0,0 +1,37 @@
+package com.example.demo.config;
+
+import org.eclipse.paho.client.mqttv3.MqttConnectOptions;
+import org.springframework.beans.factory.annotation.Value;
+import org.springframework.context.annotation.Bean;
+import org.springframework.context.annotation.Configuration;
+
+@Configuration
+public class MqttConfig {
+
+    @Value("${mqtt.username}")
+    private String username;
+
+    @Value("${mqtt.password}")
+    private String password;
+
+    @Value("${mqtt.timeout}")
+    private int timeout;
+
+    @Value("${mqtt.keepalive}")
+    private int keepalive;
+
+    @Bean
+    public MqttConnectOptions mqttConnectOptions() {
+        MqttConnectOptions options = new MqttConnectOptions();
+        options.setCleanSession(true);
+        options.setConnectionTimeout(timeout);
+        options.setKeepAliveInterval(keepalive);
+
+        if (username != null && !username.isEmpty()) {
+            options.setUserName(username);
+            options.setPassword(password.toCharArray());
+        }
+
+        return options;
+    }
+}
--- a/mqtt协议验证/demo/src/main/java/com/example/demo/subscriber/HelloController.java
+++ b/mqtt协议验证/demo/src/main/java/com/example/demo/subscriber/HelloController.java
@ -0,0 +1,13 @@
+package com.example.demo.subscriber;
+
+import org.springframework.web.bind.annotation.GetMapping;
+import org.springframework.web.bind.annotation.RestController;
+
+@RestController
+public class HelloController {
+
+    @GetMapping("/hello")
+    public String hello() {
+        return "Hello World";
+    }
+}
--- a/mqtt协议验证/demo/src/main/java/com/example/demo/subscriber/MqttSubscriber.java
+++ b/mqtt协议验证/demo/src/main/java/com/example/demo/subscriber/MqttSubscriber.java
@ -0,0 +1,57 @@
+package com.example.demo.subscriber;
+
+import jakarta.annotation.PostConstruct;
+import org.eclipse.paho.client.mqttv3.*;
+import org.springframework.beans.factory.annotation.Value;
+import org.springframework.stereotype.Component;
+
+import java.nio.charset.StandardCharsets;
+
+@Component
+public class MqttSubscriber {
+
+    @Value("${mqtt.broker}")
+    private String broker;
+
+    @Value("${mqtt.client-id}")
+    private String clientId;
+
+    @Value("${mqtt.topic}")
+    private String topic;
+
+    private final MqttConnectOptions options;
+
+    public MqttSubscriber(MqttConnectOptions options) {
+        this.options = options;
+    }
+
+    @PostConstruct
+    public void init() throws MqttException {
+        MqttClient client = new MqttClient(broker, clientId);
+
+        client.setCallback(new MqttCallback() {
+            @Override
+            public void connectionLost(Throwable cause) {
+                System.out.println("❌ MQTT 连接断开：" + cause.getMessage());
+            }
+
+            @Override
+            public void messageArrived(String topic, MqttMessage message) {
+                String payload = new String(message.getPayload(), StandardCharsets.UTF_8);
+                System.out.println("📥 收到消息");
+                System.out.println("Topic: " + topic);
+                System.out.println("Payload: " + payload);
+            }
+
+            @Override
+            public void deliveryComplete(IMqttDeliveryToken token) {
+                // 订阅端一般用不到
+            }
+        });
+
+        client.connect(options);
+        client.subscribe(topic, 0);
+
+        System.out.println("✅ MQTT 已连接，订阅 Topic：" + topic);
+    }
+}
--- a/mqtt协议验证/demo/src/main/resources/application.yaml
+++ b/mqtt协议验证/demo/src/main/resources/application.yaml
@ -0,0 +1,10 @@
+mqtt:
+  broker: ${MQTT_BROKER:tcp://127.0.0.1:8082}
+  client-id: ${MQTT_CLIENT_ID:springboot-mqtt-client}
+  username: ${MQTT_USERNAME:}
+  password: ${MQTT_PASSWORD:}
+  topic: ${MQTT_TOPIC:cusc/v2/SF053/QingDrsu001/data}
+  timeout: ${MQTT_TIMEOUT:10}
+  keepalive: ${MQTT_KEEPALIVE:20}
+server:
+  port: ${SERVER_PORT:8087}
--- a/mqtt协议验证/demo/src/test/java/com/example/demo/DemoApplicationTests.java
+++ b/mqtt协议验证/demo/src/test/java/com/example/demo/DemoApplicationTests.java
@ -0,0 +1,13 @@
+package com.example.demo;
+
+import org.junit.jupiter.api.Test;
+import org.springframework.boot.test.context.SpringBootTest;
+
+@SpringBootTest
+class DemoApplicationTests {
+
+    @Test
+    void contextLoads() {
+    }
+
+}
--- a/mqtt协议验证/publish.py
+++ b/mqtt协议验证/publish.py
@ -0,0 +1,50 @@
+import json
+import os
+import time
+import paho.mqtt.client as mqtt
+
+# ===== MQTT TCP 连接信息 =====
+BROKER_HOST = os.getenv("MQTT_HOST", "127.0.0.1")
+BROKER_PORT = int(os.getenv("MQTT_PORT", "8082"))
+USERNAME = os.getenv("MQTT_USERNAME", "")
+PASSWORD = os.getenv("MQTT_PASSWORD", "")
+TOPIC = os.getenv("MQTT_TOPIC", "cusc/v2/SF053/QingDrsu001/data")
+
+payload = {
+    "msgType": "deviceReq",
+    "encryptFlag": 0,
+    "seriesNumber": "tcp-test-001",
+    "reportTime": int(time.time() * 1000),
+    "serviceType": "rsu-traffic-lights",
+    "serviceData": {
+        "collectTime": int(time.time() * 1000),
+        "trafficLightsId": "TL001",
+        "longitude": 120.1,
+        "latitude": 31.1,
+        "intersection": "TCP测试路口",
+        "generateTime": int(time.time() * 1000),
+        "trafficLightsStatus": 1,
+        "phases": [
+            {
+                "phaseId": "1",
+                "phasePosition": 0,
+                "phaseColor": 1,
+                "trafficLightsType": 1,
+                "countDown": 10,
+                "redDuration": 30,
+                "greenDuration": 20,
+                "yellowDuration": 5
+            }
+        ]
+    }
+}
+
+client = mqtt.Client(client_id="python-tcp-client")
+if USERNAME:
+    client.username_pw_set(USERNAME, PASSWORD)
+client.connect(BROKER_HOST, BROKER_PORT, 60)
+
+client.publish(TOPIC, json.dumps(payload), qos=1)
+print("消息已发送（MQTT over TCP）")
+
+client.disconnect()
--- a/qaup-collision/src/main/java/com/qaup/collision/controller/AircraftRouteQueryController.java
+++ b/qaup-collision/src/main/java/com/qaup/collision/controller/AircraftRouteQueryController.java
@ -0,0 +1,55 @@
+package com.qaup.collision.controller;
+
+import com.qaup.collision.dto.AircraftRouteQueryRequest;
+import com.qaup.collision.datacollector.dto.AircraftRouteDTO;
+import com.qaup.collision.service.AircraftRouteQueryService;
+import lombok.RequiredArgsConstructor;
+import org.springframework.http.HttpStatus;
+import org.springframework.http.MediaType;
+import org.springframework.http.ResponseEntity;
+import org.springframework.web.bind.annotation.PostMapping;
+import org.springframework.web.bind.annotation.RequestBody;
+import org.springframework.web.bind.annotation.RequestMapping;
+import org.springframework.web.bind.annotation.RestController;
+
+import java.util.LinkedHashMap;
+import java.util.Map;
+
+/**
+ * Frontend query endpoint for aircraft taxi routes.
+ */
+@RestController
+@RequestMapping(value = "/api/aircraft-routes", produces = MediaType.APPLICATION_JSON_VALUE)
+@RequiredArgsConstructor
+public class AircraftRouteQueryController {
+
+    private final AircraftRouteQueryService aircraftRouteQueryService;
+
+    @PostMapping(path = "/query", consumes = MediaType.APPLICATION_JSON_VALUE)
+    public ResponseEntity<Map<String, Object>> queryRoute(@RequestBody AircraftRouteQueryRequest request) {
+        try {
+            AircraftRouteDTO data = aircraftRouteQueryService.queryRoute(request);
+            if (data == null) {
+                return buildResponse(HttpStatus.NOT_FOUND, 404, "No route data found", null);
+            }
+            return buildResponse(HttpStatus.OK, 200, "success", data);
+        } catch (IllegalArgumentException e) {
+            return buildResponse(HttpStatus.BAD_REQUEST, 400, e.getMessage(), null);
+        } catch (Exception e) {
+            return buildResponse(HttpStatus.INTERNAL_SERVER_ERROR, 500, "Internal server error", null);
+        }
+    }
+
+    private ResponseEntity<Map<String, Object>> buildResponse(
+        HttpStatus status,
+        int code,
+        String msg,
+        Object data) {
+
+        Map<String, Object> body = new LinkedHashMap<>();
+        body.put("code", code);
+        body.put("msg", msg);
+        body.put("data", data);
+        return ResponseEntity.status(status).contentType(MediaType.APPLICATION_JSON).body(body);
+    }
+}
--- a/qaup-collision/src/main/java/com/qaup/collision/controller/PlatformIntegrationController.java
+++ b/qaup-collision/src/main/java/com/qaup/collision/controller/PlatformIntegrationController.java
@ -67,6 +67,13 @@ public class PlatformIntegrationController {
            payload.put("controllableCount", result.controllableCount());
            payload.put("typesCount", result.typesCount());
            payload.put("controllableVehicleIDs", result.controllableVehicleIDs());
+            payload.put("removedVehicleIDs", result.removedVehicleIDs());
+            if (result.testSessionId() != null) {
+                payload.put("testSessionId", result.testSessionId());
+            }
+            if (result.endedTestSessionId() != null) {
+                payload.put("endedTestSessionId", result.endedTestSessionId());
+            }
            return ResponseEntity.ok().contentType(MediaType.APPLICATION_JSON).body(payload);
        } catch (JsonProcessingException e) {
            return invalidJson(e);
@ -75,18 +82,43 @@ public class PlatformIntegrationController {
        }
    }

+    /**
+     * Updates the legacy aircraft warning radius used by older runway-based flows.
+     * This endpoint is no longer the primary threshold source for path crossing alerts.
+     */
    @PostMapping(path = "/config/runway/warning_zone_radius/aircraft", consumes = MediaType.APPLICATION_JSON_VALUE)
    public ResponseEntity<Map<String, Object>> updateRunwayWarningZoneRadiusAircraft(@RequestBody String requestBody) {
        return updateNumericConfig(requestBody, "runway", "warning_zone_radius.aircraft",
            platformRuntimeStateService::updateRunwayWarningZoneRadiusAircraft);
    }

+    /**
+     * Updates the legacy aircraft alert radius used by older runway-based flows.
+     * This endpoint is no longer the primary threshold source for path crossing alerts.
+     */
    @PostMapping(path = "/config/runway/alert_zone_radius/aircraft", consumes = MediaType.APPLICATION_JSON_VALUE)
    public ResponseEntity<Map<String, Object>> updateRunwayAlertZoneRadiusAircraft(@RequestBody String requestBody) {
        return updateNumericConfig(requestBody, "runway", "alert_zone_radius.aircraft",
            platformRuntimeStateService::updateRunwayAlertZoneRadiusAircraft);
    }

+    /**
+     * Updates path crossing distance thresholds.
+     *
+     * Supported payloads:
+     * - {"value": 40}
+     *   Applies the same threshold to both vehicle and aircraft.
+     * - {"vehicleDistance": 50, "aircraftDistance": 80}
+     *   Updates each threshold independently.
+     *
+     * Current semantics:
+     * - vehicleDistance: vehicle distance to the crossing point
+     * - aircraftDistance: aircraft distance to the crossing point
+     *
+     * Alert evaluation:
+     * - both sides inside their thresholds -> alert
+     * - only one side inside its threshold -> warning
+     */
    @PostMapping(path = "/config/collision/diverging_release_distance", consumes = MediaType.APPLICATION_JSON_VALUE)
    public ResponseEntity<Map<String, Object>> updateCollisionDivergingReleaseDistance(@RequestBody String requestBody) {
        return updateCollisionDistanceConfig(requestBody);
@ -169,6 +201,30 @@ public class PlatformIntegrationController {
        }
    }

+    @PostMapping(path = "/api/collision/preparation/status")
+    public ResponseEntity<Map<String, Object>> collisionPreparationStatus() {
+        try {
+            PlatformRuntimeStateService.CollisionPreparationStatus result =
+                platformRuntimeStateService.getCollisionPreparationStatus();
+
+            Map<String, Object> payload = new LinkedHashMap<>();
+            payload.put("status", "success");
+            if (result.testSessionId() != null) {
+                payload.put("testSessionId", result.testSessionId());
+            }
+            payload.put("ready", result.ready());
+            payload.put("summary", result.summary());
+            payload.put("objects", result.objects());
+            Map<String, Object> thresholds = new LinkedHashMap<>();
+            thresholds.put("vehicleDistance", platformRuntimeStateService.getCollisionDivergingReleaseDistanceForVehicle());
+            thresholds.put("aircraftDistance", platformRuntimeStateService.getCollisionDivergingReleaseDistanceForAircraft());
+            payload.put("thresholds", thresholds);
+            return ResponseEntity.ok().contentType(MediaType.APPLICATION_JSON).body(payload);
+        } catch (Exception e) {
+            return internalError(e);
+        }
+    }
+
    private void validateVehicleRegistryItem(
        JsonNode item,
        List<String> errors,
@ -318,7 +374,7 @@ public class PlatformIntegrationController {
                Map<String, Object> payload = new LinkedHashMap<>();
                payload.put("status", "success");
                payload.put("area", "collision");
-                payload.put("field", "collision.diverging_release_distance");
+                payload.put("field", "crossing_distance_threshold");
                payload.put("old", oldValue);
                payload.put("new", newValue);
                return ResponseEntity.ok().contentType(MediaType.APPLICATION_JSON).body(payload);
@ -336,7 +392,7 @@ public class PlatformIntegrationController {
            Map<String, Object> payload = new LinkedHashMap<>();
            payload.put("status", "success");
            payload.put("area", "collision");
-            payload.put("field", "collision.diverging_release_distance");
+            payload.put("field", "crossing_distance_threshold");
            payload.put("oldVehicleDistance", oldVehicleDistance);
            payload.put("newVehicleDistance", newVehicleDistance != null ? newVehicleDistance : platformRuntimeStateService.getCollisionDivergingReleaseDistanceForVehicle());
            payload.put("oldAircraftDistance", oldAircraftDistance);
@ -357,6 +413,7 @@ public class PlatformIntegrationController {
        }
        String normalized = objectTypeValue.trim().toUpperCase(Locale.ROOT);
        return switch (normalized) {
+            case "AIRCRAFT", "HANGKONG", "AC" -> ObjectRouteAssignment.ObjectType.AIRCRAFT;
            case "UNMANNED_VEHICLE", "UNMANNED", "UV", "WUREN" -> ObjectRouteAssignment.ObjectType.UNMANNED_VEHICLE;
            case "SPECIAL_VEHICLE", "SPECIAL", "TEQIN", "SPECIALVEHICLE" -> ObjectRouteAssignment.ObjectType.SPECIAL_VEHICLE;
            default -> null;
--- a/qaup-collision/src/main/java/com/qaup/collision/datacollector/server/TrafficLightMqttSubscriber.java
+++ b/qaup-collision/src/main/java/com/qaup/collision/datacollector/server/TrafficLightMqttSubscriber.java
@ -2,8 +2,8 @@ package com.qaup.collision.datacollector.server;

 import com.fasterxml.jackson.databind.JsonNode;
 import com.fasterxml.jackson.databind.ObjectMapper;
+import com.qaup.collision.pathconflict.service.VehicleCommandService;
 import com.qaup.collision.websocket.handler.CollisionWebSocketHandler;
-import com.qaup.collision.websocket.handler.VehicleCommandInfoWebSocketHandler;
 import lombok.extern.slf4j.Slf4j;
 import org.eclipse.paho.client.mqttv3.*;
 import org.springframework.beans.factory.annotation.Autowired;
@ -40,7 +40,7 @@ public class TrafficLightMqttSubscriber {

    private final MqttConnectOptions mqttConnectOptions;
    private final CollisionWebSocketHandler collisionWebSocketHandler;
-    private final VehicleCommandInfoWebSocketHandler vehicleCommandInfoWebSocketHandler;
+    private final VehicleCommandService vehicleCommandService;
    private final ObjectMapper objectMapper;

    private MqttClient mqttClient;
@ -55,17 +55,17 @@ public class TrafficLightMqttSubscriber {
     *
     * @param mqttConnectOptions MQTT 连接选项
     * @param collisionWebSocketHandler WebSocket 处理器，用于向前端广播消息
-     * @param vehicleCommandInfoWebSocketHandler 车辆控制指令 WebSocket 处理器
+     * @param vehicleCommandService 统一车辆控制服务
     * @param objectMapper JSON 解析器
     */
    @Autowired
    public TrafficLightMqttSubscriber(MqttConnectOptions mqttConnectOptions,
                                      CollisionWebSocketHandler collisionWebSocketHandler,
-                                      VehicleCommandInfoWebSocketHandler vehicleCommandInfoWebSocketHandler,
+                                      VehicleCommandService vehicleCommandService,
                                      ObjectMapper objectMapper) {
        this.mqttConnectOptions = mqttConnectOptions;
        this.collisionWebSocketHandler = collisionWebSocketHandler;
-        this.vehicleCommandInfoWebSocketHandler = vehicleCommandInfoWebSocketHandler;
+        this.vehicleCommandService = vehicleCommandService;
        this.objectMapper = objectMapper;
    }

@ -104,59 +104,7 @@ public class TrafficLightMqttSubscriber {
                public void messageArrived(String topic, MqttMessage message) {
                    String payload = new String(message.getPayload(), StandardCharsets.UTF_8);
                    totalMessages.incrementAndGet();
-
-                    log.info("🚦 [MQTT] 收到红绿灯消息");
-                    log.info("🚦 [MQTT] Topic: {}", topic);
-                    log.info("🚦 [MQTT] Payload: {}", payload);
-
-                    // 通过 WebSocket 广播消息给前端
-                    try {
-                        String websocketMessage = String.format(
-                            "{\"type\":\"trafficLight\",\"source\":\"mqtt\",\"topic\":\"%s\",\"payload\":%s,\"timestamp\":%d}",
-                            topic, payload, System.currentTimeMillis()
-                        );
-                        collisionWebSocketHandler.broadcastMessage(websocketMessage);
-                        log.debug("🚦 [MQTT] 消息已通过 WebSocket 广播到前端");
-                    } catch (Exception e) {
-                        log.error("🚦 [MQTT] WebSocket 广播失败: {}", e.getMessage(), e);
-                    }
-
-                    // 解析 phaseColor 并发送车辆控制指令
-                    try {
-                        JsonNode jsonNode = objectMapper.readTree(payload);
-
-                        // 从 serviceData.phases 数组中获取 phaseColor
-                        JsonNode serviceDataNode = jsonNode.get("serviceData");
-                        if (serviceDataNode != null) {
-                            JsonNode phasesNode = serviceDataNode.get("phases");
-                            if (phasesNode != null && phasesNode.isArray() && phasesNode.size() > 0) {
-                                // 获取第一个相位的 phaseColor
-                                JsonNode firstPhase = phasesNode.get(0);
-                                JsonNode phaseColorNode = firstPhase.get("phaseColor");
-
-                                if (phaseColorNode != null && phaseColorNode.isInt()) {
-                                    int phaseColor = phaseColorNode.asInt();
-                                    log.info("🚦 [MQTT] 解析到 phaseColor: {}", phaseColor);
-
-                                    // phaseColor 为 1 时发送 GREEN，为 3 时发送 RED
-                                    if (phaseColor == 1 || phaseColor == 3) {
-                                        vehicleCommandInfoWebSocketHandler.sendSignalState(phaseColor);
-                                        log.info("🚦 [MQTT] 已发送车辆控制指令: phaseColor={}", phaseColor);
-                                    } else {
-                                        log.warn("🚦 [MQTT] 未知的 phaseColor 值: {}，仅支持 1 (GREEN) 或 3 (RED)", phaseColor);
-                                    }
-                                } else {
-                                    log.warn("🚦 [MQTT] phases[0] 中未找到 phaseColor 字段或格式不正确");
-                                }
-                            } else {
-                                log.warn("🚦 [MQTT] serviceData 中未找到 phases 数组或数组为空");
-                            }
-                        } else {
-                            log.warn("🚦 [MQTT] 消息中未找到 serviceData 字段");
-                        }
-                    } catch (Exception e) {
-                        log.error("🚦 [MQTT] 解析 phaseColor 或发送控制指令失败: {}", e.getMessage(), e);
-                    }
+                    handleTrafficLightMessage(topic, payload);
                }

                @Override
@ -217,4 +165,75 @@ public class TrafficLightMqttSubscriber {
        return String.format("MQTT订阅状态 - 连接:%s, 总消息:%d, 错误:%d",
                connected.get() ? "是" : "否", totalMessages.get(), errorCount.get());
    }
-}
+
+    void handleTrafficLightMessage(String topic, String payload) {
+        log.info("🚦 [MQTT] 收到红绿灯消息");
+        log.info("🚦 [MQTT] Topic: {}", topic);
+        log.info("🚦 [MQTT] Payload: {}", payload);
+
+        try {
+            String websocketMessage = String.format(
+                "{\"type\":\"trafficLight\",\"source\":\"mqtt\",\"topic\":\"%s\",\"payload\":%s,\"timestamp\":%d}",
+                topic, payload, System.currentTimeMillis()
+            );
+            collisionWebSocketHandler.broadcastMessage(websocketMessage);
+            log.debug("🚦 [MQTT] 消息已通过 WebSocket 广播到前端");
+        } catch (Exception e) {
+            log.error("🚦 [MQTT] WebSocket 广播失败: {}", e.getMessage(), e);
+        }
+
+        try {
+            JsonNode jsonNode = objectMapper.readTree(payload);
+            JsonNode serviceDataNode = jsonNode.get("serviceData");
+            if (serviceDataNode == null) {
+                log.warn("🚦 [MQTT] 消息中未找到 serviceData 字段");
+                return;
+            }
+
+            JsonNode phasesNode = serviceDataNode.get("phases");
+            if (phasesNode == null || !phasesNode.isArray() || phasesNode.isEmpty()) {
+                log.warn("🚦 [MQTT] serviceData 中未找到 phases 数组或数组为空");
+                return;
+            }
+
+            JsonNode phaseColorNode = phasesNode.get(0).get("phaseColor");
+            if (phaseColorNode == null || !phaseColorNode.isInt()) {
+                log.warn("🚦 [MQTT] phases[0] 中未找到 phaseColor 字段或格式不正确");
+                return;
+            }
+
+            int phaseColor = phaseColorNode.asInt();
+            log.info("🚦 [MQTT] 解析到 phaseColor: {}", phaseColor);
+
+            if (phaseColor != 1 && phaseColor != 2 && phaseColor != 3) {
+                log.warn("🚦 [MQTT] 未知的 phaseColor 值: {}，仅支持 1 (GREEN) / 2 (YELLOW) / 3 (RED)", phaseColor);
+                return;
+            }
+
+            String intersectionId = extractIntersectionId(serviceDataNode);
+            vehicleCommandService.sendTrafficLightSignalCommands(phaseColor, intersectionId);
+            log.info("🚦 [MQTT] 已通过统一 HTTP 接口发送车辆控制指令: phaseColor={}, intersectionId={}",
+                phaseColor, intersectionId);
+        } catch (Exception e) {
+            log.error("🚦 [MQTT] 解析 phaseColor 或发送控制指令失败: {}", e.getMessage(), e);
+        }
+    }
+
+    private String extractIntersectionId(JsonNode serviceDataNode) {
+        String intersectionId = textOrEmpty(serviceDataNode.get("intersection"));
+        if (!intersectionId.isBlank()) {
+            return intersectionId;
+        }
+
+        String trafficLightsId = textOrEmpty(serviceDataNode.get("trafficLightsId"));
+        if (!trafficLightsId.isBlank()) {
+            return trafficLightsId;
+        }
+
+        return "";
+    }
+
+    private String textOrEmpty(JsonNode node) {
+        return node == null || node.isNull() ? "" : node.asText("");
+    }
+}
--- a/qaup-collision/src/main/java/com/qaup/collision/datacollector/service/DataCollectorService.java
+++ b/qaup-collision/src/main/java/com/qaup/collision/datacollector/service/DataCollectorService.java
@ -53,6 +53,7 @@ import org.locationtech.jts.geom.PrecisionModel;
 public class DataCollectorService {

    private static final boolean VEHICLE_MANAGER_ROUTE_INGEST_ENABLED = false;
+    private static final boolean VEHICLE_MANAGER_HTTP_POLLING_ENABLED = false;
    private static final java.util.concurrent.atomic.AtomicBoolean ROUTE_INGEST_DISABLED_LOGGED = new java.util.concurrent.atomic.AtomicBoolean(false);

    // 机场数据源相关配置
@ -71,10 +72,6 @@ public class DataCollectorService {
    @Value("${data.collector.detection.interval:1000}")
    private long detectionInterval;

-    @Value("${data.collector.vehicle-manager.http.polling-enabled:true}")
-    private boolean vehicleManagerHttpPollingEnabled;
-
-
    @Value("${data.collector.route.periodic-collection-enabled:false}")
    private boolean periodicRouteCollectionEnabled;

@ -240,6 +237,9 @@ public class DataCollectorService {
        if (collectorDisabled) {
            return;
        }
+        if (!VEHICLE_MANAGER_HTTP_POLLING_ENABLED) {
+            return;
+        }

        List<String> ids = dataCollectorDao.getVehicleManagerVehicleDetails();
        if (ids == null || ids.isEmpty()) {
@ -689,6 +689,9 @@ public class DataCollectorService {
        if (collectorDisabled) {
            return;
        }
+        if (!VEHICLE_MANAGER_HTTP_POLLING_ENABLED) {
+            return;
+        }

        // 丢弃旧轮次：上一轮未完成时跳过，避免“多车循环HTTP + fixedRate + @Async”堆积
        try {
@ -745,6 +748,7 @@ public class DataCollectorService {
                        .currentPosition(currentPosition)
                        .currentSpeed(null)    // 不在采集阶段计算速度
                        .currentHeading(null)  // 不在采集阶段计算方向
+                        .sourceTimestampMs(resolveUnmannedVehicleSourceTimestampMs(statusData))
                        .altitude(0.0);        // 默认高度

                    // Task context is disabled for route ingestion.
@ -854,6 +858,19 @@ public class DataCollectorService {
        }
    }

+    private long resolveUnmannedVehicleSourceTimestampMs(
+        com.qaup.collision.datacollector.model.dto.UniversalVehicleStatusDTO statusData) {
+
+        if (statusData != null
+            && statusData.getSensorStatus() != null
+            && statusData.getSensorStatus().getGps() != null
+            && statusData.getSensorStatus().getGps().getLastUpdate() != null
+            && statusData.getSensorStatus().getGps().getLastUpdate() > 0L) {
+            return statusData.getSensorStatus().getGps().getLastUpdate();
+        }
+        return System.currentTimeMillis();
+    }
+
    /**
     * 获取已知的无人车ID列表
     * 可以从配置、缓存或其他数据源获取
@ -876,7 +893,7 @@ public class DataCollectorService {
    @Async  // 异步执行
    public void collectUniversalVehicleStatus() {
        // 无人车状态已在 collectUnmannedVehicleData() 中通过 HTTP 拉取并缓存，无需重复采集
-        if (vehicleManagerHttpPollingEnabled) {
+        if (VEHICLE_MANAGER_HTTP_POLLING_ENABLED) {
            return;
        }

--- a/qaup-collision/src/main/java/com/qaup/collision/datacollector/websocket/AdxpFlightServiceWebSocketClient.java
+++ b/qaup-collision/src/main/java/com/qaup/collision/datacollector/websocket/AdxpFlightServiceWebSocketClient.java
@ -369,6 +369,8 @@ public class AdxpFlightServiceWebSocketClient implements WebSocketHandler {
                    return handleTISFLIGHT(root);
                case "ADXP_NAOMS_O_DYN_DFDE":
                    return handleDFDE(root);
+                case "ADXP_WURENCHE_O_DYN_CONTACTTAXIWAY":
+                    return handleCONTACTTAXIWAY(root);
                default:
                    log.debug("未知的服务代码: {}", serviceCode);
                    return null;
@ -454,6 +456,17 @@ public class AdxpFlightServiceWebSocketClient implements WebSocketHandler {
        return null;
    }

+    private String getLastTextContent(org.w3c.dom.Element parent, String tagName) {
+        org.w3c.dom.NodeList nodeList = parent.getElementsByTagName(tagName);
+        for (int i = nodeList.getLength() - 1; i >= 0; i--) {
+            String value = nodeList.item(i).getTextContent();
+            if (value != null && !value.isBlank()) {
+                return value.trim();
+            }
+        }
+        return null;
+    }
+
    /**
     * 统一航班号归一化规则，避免同一航班参数写入不同 Redis Key，导致路由参数难以凑齐。
     *
@ -1121,7 +1134,6 @@ public class AdxpFlightServiceWebSocketClient implements WebSocketHandler {
        String flightNumberRaw = getTextContent(root, "FlNo");
        String flightNumber = normalizeTisFlightNo(flightNumberRaw);
        String flightId = normalizeTisFlightNo(flightIdRaw);
-        String contactCross = getTextContent(root, "ContactCross");
        String type = getTextContent(root, "Type");
        long nowMs = System.currentTimeMillis();

@ -1157,9 +1169,6 @@ public class AdxpFlightServiceWebSocketClient implements WebSocketHandler {
        FlightNotificationDTO dto = new FlightNotificationDTO();
        dto.setFlightNo(resolvedFlightNo != null ? resolvedFlightNo : flightNumberRaw);
        dto.setType(routeType);
-        if ("IN".equalsIgnoreCase(routeType)) {
-            dto.setContactCross(contactCross);
-        }

        String normalizedBizKey = resolveTisFlightBizKey(bizKey, resolvedFlightNo);
        String flightKey = buildFlightRedisKey(resolvedFlightNo);
@ -1169,12 +1178,6 @@ public class AdxpFlightServiceWebSocketClient implements WebSocketHandler {
            try {
                redisCache.setCacheMapValue(flightKey, "flightNumber", resolvedFlightNo);
                updateActiveBizKey(flightKey, normalizedBizKey, nowMs);
-                // contactCross 仅对进港有效，避免进出港参数串用
-                if ("IN".equalsIgnoreCase(routeType)
-                        && contactCross != null && !contactCross.isBlank()) {
-                    setValueOnFlightAndBizKeys(flightKey, bizRedisKey, "contactCross", contactCross);
-                    setValueOnFlightAndBizKeys(flightKey, bizRedisKey, "contactCrossTs", String.valueOf(nowMs));
-                }
                log.info("TISFLIGHT航班号解析(已应用三字转二字): flNoRaw={}, flightIdRaw={}, fuId={}, bizKey={}, resolvedFlightNo={}",
                        flightNumberRaw, flightIdRaw, fuId, normalizedBizKey, resolvedFlightNo);
            } catch (Exception e) {
@ -1187,6 +1190,32 @@ public class AdxpFlightServiceWebSocketClient implements WebSocketHandler {
        return dto;
    }

+    private FlightNotificationDTO handleCONTACTTAXIWAY(org.w3c.dom.Element root) {
+        String flightNoRaw = getTextContent(root, "FlightNo");
+        String normalizedFlightNo = normalizeTisFlightNo(flightNoRaw);
+        String contactCross = getLastTextContent(root, "TaxiwayIntersection");
+        long nowMs = System.currentTimeMillis();
+
+        String flightKey = buildFlightRedisKey(normalizedFlightNo);
+        if (flightKey == null || contactCross == null || contactCross.isBlank()) {
+            log.warn("CONTACTTAXIWAY事件缺少路由参数，跳过Redis写入: flightNoRaw={}, normalizedFlightNo={}, contactCross={}",
+                    flightNoRaw, normalizedFlightNo, contactCross);
+            return null;
+        }
+
+        try {
+            redisCache.setCacheMapValue(flightKey, "flightNumber", normalizedFlightNo);
+            redisCache.setCacheMapValue(flightKey, "contactCross", contactCross.trim());
+            redisCache.setCacheMapValue(flightKey, "contactCrossTs", String.valueOf(nowMs));
+            log.info("成功将CONTACTTAXIWAY道口数据存储到Redis: flightNumber={}, contactCross={}",
+                    normalizedFlightNo, contactCross);
+        } catch (Exception e) {
+            log.error("存储CONTACTTAXIWAY道口数据到Redis失败: flightNumber={}, contactCross={}",
+                    normalizedFlightNo, contactCross, e);
+        }
+        return null;
+    }
+
    private FlightNotificationDTO handleAXOT(org.w3c.dom.Element root) {
        // BizKey 常见格式：FLIGHTNO-进出港标识-时间(yyyyMMddHHmmss) 或其他分段
        String bizKey = getTextContent(root, "BizKey");
--- a/qaup-collision/src/main/java/com/qaup/collision/dataprocessing/service/DataProcessingService.java
+++ b/qaup-collision/src/main/java/com/qaup/collision/dataprocessing/service/DataProcessingService.java
@ -30,11 +30,13 @@ import org.springframework.context.ApplicationContext;
 import org.springframework.transaction.annotation.Transactional;

 import java.util.ArrayList;
+import java.util.HashSet;
 import java.util.HashMap;
 import java.util.List;
 import java.util.Map;
 import java.util.Objects;
 import java.util.Optional;
+import java.util.Set;
 import java.util.concurrent.ConcurrentHashMap;
 import java.util.stream.Collectors;

@ -65,6 +67,9 @@ public class DataProcessingService {
    @Value("${data.collector.disabled:false}")
    private boolean collectorDisabled;

+    @Value("${qaup.collision.diagnostic-log.enabled:true}")
+    private boolean collisionDiagnosticLogEnabled;
+
    @Autowired
    private SpeedCalculationService speedCalculationService;

@ -98,6 +103,7 @@ public class DataProcessingService {

    // 从DataCollectorService获取缓存的引用
    private Map<String, MovingObject> activeMovingObjectsCache;
+    private final Map<String, Long> lastPublishedPositionSampleTimestamps = new ConcurrentHashMap<>();

    /**
     * 防止@Scheduled任务重入导致并发执行、消息风暴与数据库压力。
@ -146,7 +152,7 @@ public class DataProcessingService {
        calculateSpeedAndDirectionForAllObjects(currentActiveObjects);

        // 第二步：发送WebSocket位置更新消息
-        sendPositionUpdatesForActiveObjects(currentActiveObjects);
+        PositionDispatchSummary positionDispatchSummary = sendPositionUpdatesForActiveObjects(currentActiveObjects);

        // 第三步：处理通用车辆状态数据并发送WebSocket更新
        processUniversalVehicleStatusUpdates();
@ -155,7 +161,8 @@ public class DataProcessingService {
        // 注意：采集侧只缓存；发送侧在处理完成后会清理缓存，避免同一通知被每秒重复推送（刷屏）。
        processFlightNotificationUpdates();

-        List<MovingObject> collisionManagedObjects = filterCollisionManagedObjects(currentActiveObjects);
+        CollisionManagedObjectsResult collisionManagedResult = filterCollisionManagedObjects(currentActiveObjects);
+        List<MovingObject> collisionManagedObjects = collisionManagedResult.objects();

        // 第五步：将注册的无人车任务路径准备为正式路线输入
        if (routePreparationService != null) {
@ -163,7 +170,8 @@ public class DataProcessingService {
        }

        // 第六步：执行路径冲突检测
-        pathConflictDetectionService.detectPathConflicts(collisionManagedObjects);
+        PathConflictDetectionService.ConflictDetectionSummary conflictDetectionSummary =
+            pathConflictDetectionService.detectPathConflicts(collisionManagedObjects);

        // 第七步：执行违规检测
        performViolationDetection(currentActiveObjects);
@ -171,25 +179,63 @@ public class DataProcessingService {
        // 第八步：保存无人车数据到数据库
        saveUnmannedVehicleDataPeriodically(currentActiveObjects);

+        logCycleDiagnostics(currentActiveObjects.size(), collisionManagedObjects.size(),
+            positionDispatchSummary, collisionManagedResult, conflictDetectionSummary);
+
        log.info("周期性数据处理完成");
    }

-    private List<MovingObject> filterCollisionManagedObjects(List<MovingObject> activeObjects) {
+    private CollisionManagedObjectsResult filterCollisionManagedObjects(List<MovingObject> activeObjects) {
        if (activeObjects == null || activeObjects.isEmpty()) {
-            return List.of();
+            return new CollisionManagedObjectsResult(List.of(), 0, 0);
        }

-        List<MovingObject> filteredObjects = activeObjects.stream()
-            .filter(Objects::nonNull)
-            .filter(object -> platformRuntimeStateService == null
-                || platformRuntimeStateService.isRegisteredForCollision(object.getObjectId(), object.getObjectType()))
-            .collect(Collectors.toList());
+        List<MovingObject> filteredObjects = new ArrayList<>();
+        int registrationFilteredCount = 0;
+        int typeOverrideCount = 0;
+
+        for (MovingObject object : activeObjects) {
+            if (object == null) {
+                continue;
+            }
+            if (platformRuntimeStateService == null) {
+                filteredObjects.add(object);
+                continue;
+            }
+
+            MovingObjectType registeredType =
+                platformRuntimeStateService.getRegisteredCollisionObjectType(object.getObjectId());
+            if (registeredType == null) {
+                registrationFilteredCount++;
+                continue;
+            }
+
+            if (registeredType != object.getObjectType()) {
+                typeOverrideCount++;
+                filteredObjects.add(copyWithCollisionType(object, registeredType));
+                continue;
+            }
+            filteredObjects.add(object);
+        }

        if (filteredObjects.size() != activeObjects.size()) {
            log.debug("碰撞检测对象已按注册表过滤: 原始数量={}, 过滤后数量={}",
                activeObjects.size(), filteredObjects.size());
        }
-        return filteredObjects;
+        return new CollisionManagedObjectsResult(filteredObjects, registrationFilteredCount, typeOverrideCount);
+    }
+
+    private MovingObject copyWithCollisionType(MovingObject source, MovingObjectType collisionType) {
+        return MovingObject.builder()
+            .objectId(source.getObjectId())
+            .objectType(collisionType)
+            .objectName(source.getObjectName())
+            .currentPosition(source.getCurrentPosition())
+            .currentSpeed(source.getCurrentSpeed())
+            .currentHeading(source.getCurrentHeading())
+            .altitude(source.getAltitude())
+            .sourceTimestampMs(source.getSourceTimestampMs())
+            .build();
    }

    /**
@ -237,17 +283,21 @@ public class DataProcessingService {
    /**
     * 发送WebSocket位置更新消息
     */
-    private void sendPositionUpdatesForActiveObjects(List<MovingObject> activeObjects) {
+    private PositionDispatchSummary sendPositionUpdatesForActiveObjects(List<MovingObject> activeObjects) {
        if (activeObjects.isEmpty()) {
            log.debug("没有活跃对象，跳过位置更新消息发送");
-            return;
+            return new PositionDispatchSummary(0, 0, 0);
        }

        long currentTime = System.currentTimeMillis();
        log.debug("发送位置更新消息，对象数量: {}", activeObjects.size());
+        int publishedCount = 0;
+        int duplicateSampleSkippedCount = 0;
+        Set<String> currentObjectIds = new HashSet<>();

        for (MovingObject movingObject : activeObjects) {
            try {
+                currentObjectIds.add(movingObject.getObjectId());
                // 创建位置更新消息负载
                PositionUpdatePayload.Position positionPayload = PositionUpdatePayload.Position.builder()
                        .latitude(movingObject.getCurrentPosition().getY())
@ -261,6 +311,11 @@ public class DataProcessingService {
                        ? movingObject.getSourceTimestampMs()
                        : currentTime;

+                if (!shouldPublishPositionUpdate(movingObject.getObjectId(), payloadTimestamp)) {
+                    duplicateSampleSkippedCount++;
+                    continue;
+                }
+
                PositionUpdatePayload payload = PositionUpdatePayload.builder()
                        .objectId(movingObject.getObjectId())
                        .objectType(movingObject.getObjectType().name())
@ -272,6 +327,7 @@ public class DataProcessingService {

                // 发布WebSocket事件
                eventPublisher.publishEvent(new PositionUpdateEvent(payload));
+                publishedCount++;

                log.debug("发送位置更新: {} ({}), 位置: ({}, {}), 速度: {}",
                        movingObject.getObjectId(),
@ -285,7 +341,65 @@ public class DataProcessingService {
            }
        }

-        log.info("位置更新消息发送完成，发送数量: {}", activeObjects.size());
+        cleanupPublishedPositionState(currentObjectIds);
+        log.info("位置更新消息发送完成，发送数量: {}, 跳过重复采样数量: {}", publishedCount, duplicateSampleSkippedCount);
+        return new PositionDispatchSummary(activeObjects.size(), publishedCount, duplicateSampleSkippedCount);
+    }
+
+    private boolean shouldPublishPositionUpdate(String objectId, long payloadTimestamp) {
+        Long previousTimestamp = lastPublishedPositionSampleTimestamps.get(objectId);
+        if (previousTimestamp != null && payloadTimestamp <= previousTimestamp) {
+            return false;
+        }
+        lastPublishedPositionSampleTimestamps.put(objectId, payloadTimestamp);
+        return true;
+    }
+
+    private void cleanupPublishedPositionState(Set<String> currentObjectIds) {
+        lastPublishedPositionSampleTimestamps.entrySet()
+            .removeIf(entry -> !currentObjectIds.contains(entry.getKey()));
+    }
+
+    private void logCycleDiagnostics(
+        int activeObjectCount,
+        int collisionManagedObjectCount,
+        PositionDispatchSummary positionDispatchSummary,
+        CollisionManagedObjectsResult collisionManagedResult,
+        PathConflictDetectionService.ConflictDetectionSummary conflictDetectionSummary) {
+
+        if (!collisionDiagnosticLogEnabled) {
+            return;
+        }
+
+        String testSessionId = platformRuntimeStateService != null
+            ? platformRuntimeStateService.getCurrentTestSessionId()
+            : null;
+
+        log.info(
+            "[test-session={}] [collision-diagnostic] activeObjects={}, collisionManagedObjects={}, positionPublished={}, "
+                + "positionDuplicateSkipped={}, registrationFiltered={}, typeOverrides={}, pairsTotal={}, pairsSupported={}, missingRoute={}, missingPosition={}, "
+                + "routeDeviation={}, speedTooLow={}, noIntersection={}, intersectionBehind={}, headingMismatch={}, "
+                + "thresholdNotReached={}, detectionErrors={}, eventsPublished={}",
+            testSessionId != null ? testSessionId : "none",
+            activeObjectCount,
+            collisionManagedObjectCount,
+            positionDispatchSummary.publishedCount(),
+            positionDispatchSummary.duplicateSampleSkippedCount(),
+            collisionManagedResult.registrationFilteredCount(),
+            collisionManagedResult.typeOverrideCount(),
+            conflictDetectionSummary.totalPairs(),
+            conflictDetectionSummary.supportedPairs(),
+            conflictDetectionSummary.missingRoutePairs(),
+            conflictDetectionSummary.missingPositionPairs(),
+            conflictDetectionSummary.routeDeviationPairs(),
+            conflictDetectionSummary.speedTooLowPairs(),
+            conflictDetectionSummary.noIntersectionPairs(),
+            conflictDetectionSummary.intersectionBehindPairs(),
+            conflictDetectionSummary.headingMismatchPairs(),
+            conflictDetectionSummary.thresholdNotReachedPairs(),
+            conflictDetectionSummary.errorPairs(),
+            conflictDetectionSummary.eventsPublished()
+        );
    }

    private List<MovingObject> createProcessingSnapshot(java.util.Collection<MovingObject> sourceObjects) {
@ -321,6 +435,18 @@ public class DataProcessingService {
        return Math.round(value * 100.0) / 100.0;
    }

+    private record PositionDispatchSummary(
+        int totalObjects,
+        int publishedCount,
+        int duplicateSampleSkippedCount) {
+    }
+
+    private record CollisionManagedObjectsResult(
+        List<MovingObject> objects,
+        int registrationFilteredCount,
+        int typeOverrideCount) {
+    }
+
    /**
     * 执行违规检测
     */
@ -1500,8 +1626,6 @@ public class DataProcessingService {
                mergedGeometry = routeGeometryProcessor.mergeLineStrings(lineStringSegments);

                if (mergedGeometry != null && routeGeometryProcessor.isValidLineString(mergedGeometry)) {
-                    // 可选：简化路径以减少冗余点（容差：1米）
-                    mergedGeometry = routeGeometryProcessor.simplifyLineString(mergedGeometry, 1.0);
                    log.info("成功将 {} 个路由段合并为单一路径，总长度: {} 个坐标点",
                            lineStringSegments.size(), mergedGeometry.getNumPoints());
                } else {
--- a/qaup-collision/src/main/java/com/qaup/collision/dto/AircraftRouteQueryRequest.java
+++ b/qaup-collision/src/main/java/com/qaup/collision/dto/AircraftRouteQueryRequest.java
@ -0,0 +1,60 @@
+package com.qaup.collision.dto;
+
+import lombok.Data;
+
+/**
+ * Request payload for aircraft taxi route query.
+ */
+@Data
+public class AircraftRouteQueryRequest {
+
+    /**
+     * Registered collision object id.
+     */
+    private String objectId;
+
+    /**
+     * Compatibility alias for frontend vehicle id payloads.
+     */
+    private String vehicleID;
+
+    /**
+     * Compatibility alias for flight number payloads.
+     */
+    private String flightNo;
+
+    /**
+     * Compatibility alias when frontend only knows object name.
+     */
+    private String objectName;
+
+    /**
+     * Route type. Supported values: IN, OUT.
+     */
+    private String routeType;
+
+    /**
+     * Arrival runway.
+     */
+    private String inRunway;
+
+    /**
+     * Departure runway.
+     */
+    private String outRunway;
+
+    /**
+     * Contact cross identifier.
+     */
+    private String contactCross;
+
+    /**
+     * Stand identifier for arrival query.
+     */
+    private String seat;
+
+    /**
+     * Start stand identifier for departure query.
+     */
+    private String startSeat;
+}
--- a/qaup-collision/src/main/java/com/qaup/collision/dto/AircraftRouteQueryResponse.java
+++ b/qaup-collision/src/main/java/com/qaup/collision/dto/AircraftRouteQueryResponse.java
@ -0,0 +1,61 @@
+package com.qaup.collision.dto;
+
+import lombok.AllArgsConstructor;
+import lombok.Builder;
+import lombok.Data;
+import lombok.NoArgsConstructor;
+
+import java.util.List;
+
+/**
+ * Response payload for aircraft taxi route query.
+ */
+@Data
+@Builder
+@NoArgsConstructor
+@AllArgsConstructor
+public class AircraftRouteQueryResponse {
+
+    private String routeType;
+
+    private QueryParams queryParams;
+
+    private String routeCodes;
+
+    private String routeStatus;
+
+    private String routeGeometry;
+
+    private List<RouteSegment> routeSegments;
+
+    private Integer pointCount;
+
+    private String source;
+
+    private String bindingObjectId;
+
+    private Boolean routeBound;
+
+    private String bindingMessage;
+
+    @Data
+    @Builder
+    @NoArgsConstructor
+    @AllArgsConstructor
+    public static class QueryParams {
+        private String inRunway;
+        private String outRunway;
+        private String contactCross;
+        private String seat;
+        private String startSeat;
+    }
+
+    @Data
+    @Builder
+    @NoArgsConstructor
+    @AllArgsConstructor
+    public static class RouteSegment {
+        private String code;
+        private String name;
+    }
+}
--- a/qaup-collision/src/main/java/com/qaup/collision/pathconflict/service/PathConflictDetectionService.java
+++ b/qaup-collision/src/main/java/com/qaup/collision/pathconflict/service/PathConflictDetectionService.java
@ -44,26 +44,32 @@ public class PathConflictDetectionService {
    private final VehicleCommandService vehicleCommandService;

    private static final int MAX_PREDICTION_TIME_SECONDS = 300;
-    private static final double MIN_TIME_GAP_SECONDS = 30.0;

    // Strong accuracy guards
    private static final double MIN_FORWARD_DISTANCE_METERS = 3.0;
-    private static final double MAX_ROUTE_DEVIATION_METERS = 80.0;
+    private static final double MAX_ROUTE_DEVIATION_METERS = 200.0;
    private static final double HEADING_ALIGNMENT_MIN_COS = 0.0;
    private static final double HEADING_CHECK_MIN_SPEED_KPH = 3.0;
    private static final double MIN_EFFECTIVE_SPEED_KPH = 1.0;

-    public void detectPathConflicts(List<MovingObject> activeObjects) {
+    public ConflictDetectionSummary detectPathConflicts(List<MovingObject> activeObjects) {
+        if (activeObjects == null) {
+            return new ConflictDetectionSummary(0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0);
+        }
+
        log.debug("Starting path conflict detection for {} active objects", activeObjects.size());

        List<ConflictAlertEvent> detectedAlertEvents = new ArrayList<>();
+        DetectionCounters counters = new DetectionCounters();

        for (int i = 0; i < activeObjects.size(); i++) {
            for (int j = i + 1; j < activeObjects.size(); j++) {
+                counters.totalPairs++;
                MovingObject obj1 = activeObjects.get(i);
                MovingObject obj2 = activeObjects.get(j);
-                Optional<ConflictAlertEvent> alertEventOptional = detectConflictBetweenObjects(obj1, obj2);
-                alertEventOptional.ifPresent(detectedAlertEvents::add);
+                PairDetectionResult detectionResult = detectConflictBetweenObjects(obj1, obj2);
+                counters.record(detectionResult.reason());
+                detectionResult.alertEvent().ifPresent(detectedAlertEvents::add);
            }
        }

@ -80,45 +86,46 @@ public class PathConflictDetectionService {
        }

        log.info("Path conflict detection completed, {} events published", detectedAlertEvents.size());
+        return counters.toSummary(detectedAlertEvents.size());
    }

-    private Optional<ConflictAlertEvent> detectConflictBetweenObjects(MovingObject obj1, MovingObject obj2) {
+    private PairDetectionResult detectConflictBetweenObjects(MovingObject obj1, MovingObject obj2) {
        if (!isSupportedConflictPair(obj1.getObjectType(), obj2.getObjectType())) {
-            return Optional.empty();
+            return PairDetectionResult.of(PairOutcomeReason.UNSUPPORTED_PAIR);
        }

        try {
            if (obj1.getCurrentPosition() == null || obj2.getCurrentPosition() == null) {
-                return Optional.empty();
+                return PairDetectionResult.of(PairOutcomeReason.MISSING_POSITION);
            }

            TransportRoute route1 = getObjectRoute(obj1);
            TransportRoute route2 = getObjectRoute(obj2);

            if (route1 == null || route2 == null || route1.getRouteGeometry() == null || route2.getRouteGeometry() == null) {
-                return Optional.empty();
+                return PairDetectionResult.of(PairOutcomeReason.MISSING_ROUTE);
            }

            LocalRoute localRoute1 = toLocalRoute(route1);
            LocalRoute localRoute2 = toLocalRoute(route2);
            if (localRoute1 == null || localRoute2 == null) {
-                return Optional.empty();
+                return PairDetectionResult.of(PairOutcomeReason.MISSING_ROUTE);
            }

            Point localObjPos1 = toLocalPoint(obj1.getCurrentPosition());
            Point localObjPos2 = toLocalPoint(obj2.getCurrentPosition());
            if (localObjPos1 == null || localObjPos2 == null) {
-                return Optional.empty();
+                return PairDetectionResult.of(PairOutcomeReason.MISSING_POSITION);
            }

            ProjectedPosition projected1 = projectToRoute(localObjPos1, localRoute1.localLine);
            ProjectedPosition projected2 = projectToRoute(localObjPos2, localRoute2.localLine);
            if (projected1 == null || projected2 == null) {
-                return Optional.empty();
+                return PairDetectionResult.of(PairOutcomeReason.MISSING_ROUTE);
            }

            if (projected1.lateralDistanceMeters > MAX_ROUTE_DEVIATION_METERS || projected2.lateralDistanceMeters > MAX_ROUTE_DEVIATION_METERS) {
-                return Optional.empty();
+                return PairDetectionResult.of(PairOutcomeReason.ROUTE_DEVIATION_TOO_LARGE);
            }

            double speed1Kph = normalizeSpeedKph(obj1.getCurrentSpeed());
@ -126,10 +133,17 @@ public class PathConflictDetectionService {

            // Ignore pairs that are effectively static.
            if (speed1Kph < MIN_EFFECTIVE_SPEED_KPH || speed2Kph < MIN_EFFECTIVE_SPEED_KPH) {
-                return Optional.empty();
+                return PairDetectionResult.of(PairOutcomeReason.SPEED_TOO_LOW);
            }

            List<Point> intersectionPoints = calculateRouteIntersections(route1, route2);
+            if (intersectionPoints.isEmpty()) {
+                return PairDetectionResult.of(PairOutcomeReason.NO_INTERSECTION);
+            }
+
+            boolean intersectionBehind = false;
+            boolean headingMismatch = false;
+            boolean thresholdNotReached = false;
            for (Point intersectionPoint : intersectionPoints) {
                Point localIntersection = toLocalPoint(intersectionPoint);
                if (localIntersection == null) {
@ -147,12 +161,14 @@ public class PathConflictDetectionService {

                // Only future conflicts are valid.
                if (forwardDistance1 <= MIN_FORWARD_DISTANCE_METERS || forwardDistance2 <= MIN_FORWARD_DISTANCE_METERS) {
+                    intersectionBehind = true;
                    continue;
                }

                // Ensure current heading points to the intersection direction when speed is meaningful.
                if (!isHeadingAligned(obj1, localObjPos1, localIntersection, speed1Kph)
                    || !isHeadingAligned(obj2, localObjPos2, localIntersection, speed2Kph)) {
+                    headingMismatch = true;
                    continue;
                }

@ -160,50 +176,75 @@ public class PathConflictDetectionService {
                    obj1, obj2, forwardDistance1, forwardDistance2, speed1Kph, speed2Kph);

                if (result != null && isSignificantConflict(result)) {
-                    String description = generateConflictDescription(obj1, obj2, route1, route2);
-
-                    ConflictAlertLog alertLog = ConflictAlertLog.builder()
-                        .alertType(result.getAlertType().orElse(null))
-                        .alertLevel(result.getAlertLevel().orElse(null))
-                        .alertMessage(description)
-                        .object1Distance(result.getDistance1())
-                        .object2Distance(result.getDistance2())
-                        .minimumDistance(Math.min(result.getDistance1(), result.getDistance2()))
-                        .build();
-
-                    conflictAlertLogRepository.save(alertLog);
-
-                    return Optional.of(ConflictAlertEvent.builder()
-                        .conflictId(Optional.of(alertLog.getId()))
-                        .alertType(result.getAlertType())
-                        .alertLevel(result.getAlertLevel())
-                        .message(description)
-                        .object1Name(obj1.getObjectName())
-                        .object1Type(obj1.getObjectType())
-                        .object2Name(obj2.getObjectName())
-                        .object2Type(obj2.getObjectType())
-                        .conflictPoint(intersectionPoint)
-                        .object1Distance(result.getDistance1())
-                        .object2Distance(result.getDistance2())
-                        .estimatedTimeToConflictObj1(result.getTimeToConflict1())
-                        .estimatedTimeToConflictObj2(result.getTimeToConflict2())
-                        .timeGapSeconds(result.getTimeGap())
-                        .build());
+                    return PairDetectionResult.of(buildConflictAlertEvent(obj1, obj2, route1, route2, intersectionPoint, result));
                }
+                thresholdNotReached = true;
            }
+            if (thresholdNotReached) {
+                return PairDetectionResult.of(PairOutcomeReason.THRESHOLD_NOT_REACHED);
+            }
+            if (headingMismatch) {
+                return PairDetectionResult.of(PairOutcomeReason.HEADING_MISMATCH);
+            }
+            if (intersectionBehind) {
+                return PairDetectionResult.of(PairOutcomeReason.INTERSECTION_BEHIND);
+            }
+            return PairDetectionResult.of(PairOutcomeReason.NO_INTERSECTION);
        } catch (Exception e) {
            log.error("Error detecting conflict between {} and {}", obj1.getObjectName(), obj2.getObjectName(), e);
+            return PairDetectionResult.of(PairOutcomeReason.ERROR);
        }
+    }

-        return Optional.empty();
+    private ConflictAlertEvent buildConflictAlertEvent(
+        MovingObject obj1,
+        MovingObject obj2,
+        TransportRoute route1,
+        TransportRoute route2,
+        Point intersectionPoint,
+        ConflictCalculationResult result) {
+
+        String description = generateConflictDescription(obj1, obj2, route1, route2);
+
+        ConflictAlertLog alertLog = ConflictAlertLog.builder()
+            .alertType(result.getAlertType().orElse(null))
+            .alertLevel(result.getAlertLevel().orElse(null))
+            .alertMessage(description)
+            .object1Distance(result.getDistance1())
+            .object2Distance(result.getDistance2())
+            .minimumDistance(Math.min(result.getDistance1(), result.getDistance2()))
+            .build();
+
+        ConflictAlertLog savedAlertLog = conflictAlertLogRepository.save(alertLog);
+
+        return ConflictAlertEvent.builder()
+            .conflictId(Optional.ofNullable(savedAlertLog.getId()))
+            .alertType(result.getAlertType())
+            .alertLevel(result.getAlertLevel())
+            .message(description)
+            .object1Name(obj1.getObjectName())
+            .object1Type(obj1.getObjectType())
+            .object2Name(obj2.getObjectName())
+            .object2Type(obj2.getObjectType())
+            .conflictPoint(intersectionPoint)
+            .object1Distance(result.getDistance1())
+            .object2Distance(result.getDistance2())
+            .estimatedTimeToConflictObj1(result.getTimeToConflict1())
+            .estimatedTimeToConflictObj2(result.getTimeToConflict2())
+            .timeGapSeconds(result.getTimeGap())
+            .build();
    }

    private TransportRoute getObjectRoute(MovingObject obj) {
-        Optional<ObjectRouteAssignment> assignmentOptional = objectRouteAssignmentRepository
-            .findFirstByObjectNameAndObjectTypeOrderByAssignedAtDesc(
-                obj.getObjectName(),
-                ObjectRouteAssignment.ObjectType.valueOf(obj.getObjectType().name())
-            );
+        ObjectRouteAssignment.ObjectType objectType = ObjectRouteAssignment.ObjectType.valueOf(obj.getObjectType().name());
+        Optional<ObjectRouteAssignment> assignmentOptional = findLatestAssignment(obj.getObjectId(), objectType);
+
+        if (assignmentOptional.isEmpty()
+            && obj.getObjectName() != null
+            && !obj.getObjectName().isBlank()
+            && !obj.getObjectName().equals(obj.getObjectId())) {
+            assignmentOptional = findLatestAssignment(obj.getObjectName(), objectType);
+        }

        return assignmentOptional
            .map(assignment -> routeRepository.findById(assignment.getAssignedRouteId()).orElse(null))
@ -211,6 +252,13 @@ public class PathConflictDetectionService {
            .orElse(null);
    }

+    private Optional<ObjectRouteAssignment> findLatestAssignment(String identifier, ObjectRouteAssignment.ObjectType objectType) {
+        if (identifier == null || identifier.isBlank()) {
+            return Optional.empty();
+        }
+        return objectRouteAssignmentRepository.findFirstByObjectNameAndObjectTypeOrderByAssignedAtDesc(identifier, objectType);
+    }
+
    private List<Point> calculateRouteIntersections(TransportRoute route1, TransportRoute route2) {
        List<Point> intersections = new ArrayList<>();

@ -260,15 +308,13 @@ public class PathConflictDetectionService {
                return null;
            }

-            double timeGap = Math.abs(timeToConflict1 - timeToConflict2);
-
            Optional<ConflictAlertLog.AlertLevel> alertLevelOptional = evaluateAlertLevel(
                distance1,
                obj1.getObjectType(),
                distance2,
-                obj2.getObjectType(),
-                timeGap
+                obj2.getObjectType()
            );
+            double timeGap = Math.abs(timeToConflict1 - timeToConflict2);
            Optional<ConflictAlertLog.AlertType> alertTypeOptional = alertLevelOptional.isPresent()
                ? evaluateAlertType(alertLevelOptional.get())
                : Optional.empty();
@ -294,27 +340,34 @@ public class PathConflictDetectionService {
        double distance1,
        MovingObjectType obj1Type,
        double distance2,
-        MovingObjectType obj2Type,
-        double timeGap) {
+        MovingObjectType obj2Type) {
        if (!isSupportedConflictPair(obj1Type, obj2Type)) {
            return Optional.empty();
        }

-        double distanceToEvaluate;
+        Double vehicleDistance = null;
+        Double aircraftDistance = null;
        if (obj1Type == MovingObjectType.AIRCRAFT) {
-            distanceToEvaluate = distance2;
+            aircraftDistance = distance1;
+            vehicleDistance = distance2;
        } else if (obj2Type == MovingObjectType.AIRCRAFT) {
-            distanceToEvaluate = distance1;
-        } else {
+            aircraftDistance = distance2;
+            vehicleDistance = distance1;
+        }
+
+        if (vehicleDistance == null || aircraftDistance == null) {
            return Optional.empty();
        }

-        double alertDistanceThreshold = platformRuntimeStateService.getRunwayAlertZoneRadiusAircraft();
-        double warningDistanceThreshold = platformRuntimeStateService.getRunwayWarningZoneRadiusAircraft();
+        double vehicleDistanceThreshold = platformRuntimeStateService.getCollisionDivergingReleaseDistanceForVehicle();
+        double aircraftDistanceThreshold = platformRuntimeStateService.getCollisionDivergingReleaseDistanceForAircraft();

-        if (distanceToEvaluate <= alertDistanceThreshold && timeGap <= MIN_TIME_GAP_SECONDS) {
+        boolean vehicleInZone = vehicleDistance <= vehicleDistanceThreshold;
+        boolean aircraftInZone = aircraftDistance <= aircraftDistanceThreshold;
+
+        if (vehicleInZone && aircraftInZone) {
            return Optional.of(ConflictAlertLog.AlertLevel.CRITICAL);
-        } else if (distanceToEvaluate <= warningDistanceThreshold && timeGap <= MIN_TIME_GAP_SECONDS * 2) {
+        } else if (vehicleInZone || aircraftInZone) {
            return Optional.of(ConflictAlertLog.AlertLevel.WARNING);
        } else {
            return Optional.empty();
@ -484,6 +537,95 @@ public class PathConflictDetectionService {

    private record ProjectedPosition(double distanceAlongRouteMeters, double lateralDistanceMeters) {}

+    public record ConflictDetectionSummary(
+        int totalPairs,
+        int supportedPairs,
+        int missingPositionPairs,
+        int missingRoutePairs,
+        int routeDeviationPairs,
+        int speedTooLowPairs,
+        int noIntersectionPairs,
+        int intersectionBehindPairs,
+        int headingMismatchPairs,
+        int thresholdNotReachedPairs,
+        int errorPairs,
+        int eventsPublished) {
+    }
+
+    private record PairDetectionResult(Optional<ConflictAlertEvent> alertEvent, PairOutcomeReason reason) {
+        private static PairDetectionResult of(PairOutcomeReason reason) {
+            return new PairDetectionResult(Optional.empty(), reason);
+        }
+
+        private static PairDetectionResult of(ConflictAlertEvent event) {
+            return new PairDetectionResult(Optional.of(event), PairOutcomeReason.EVENT_PUBLISHED);
+        }
+    }
+
+    private enum PairOutcomeReason {
+        UNSUPPORTED_PAIR,
+        MISSING_POSITION,
+        MISSING_ROUTE,
+        ROUTE_DEVIATION_TOO_LARGE,
+        SPEED_TOO_LOW,
+        NO_INTERSECTION,
+        INTERSECTION_BEHIND,
+        HEADING_MISMATCH,
+        THRESHOLD_NOT_REACHED,
+        EVENT_PUBLISHED,
+        ERROR
+    }
+
+    private static final class DetectionCounters {
+        private int totalPairs;
+        private int supportedPairs;
+        private int missingPositionPairs;
+        private int missingRoutePairs;
+        private int routeDeviationPairs;
+        private int speedTooLowPairs;
+        private int noIntersectionPairs;
+        private int intersectionBehindPairs;
+        private int headingMismatchPairs;
+        private int thresholdNotReachedPairs;
+        private int errorPairs;
+
+        private void record(PairOutcomeReason reason) {
+            if (reason != PairOutcomeReason.UNSUPPORTED_PAIR) {
+                supportedPairs++;
+            }
+            switch (reason) {
+                case MISSING_POSITION -> missingPositionPairs++;
+                case MISSING_ROUTE -> missingRoutePairs++;
+                case ROUTE_DEVIATION_TOO_LARGE -> routeDeviationPairs++;
+                case SPEED_TOO_LOW -> speedTooLowPairs++;
+                case NO_INTERSECTION -> noIntersectionPairs++;
+                case INTERSECTION_BEHIND -> intersectionBehindPairs++;
+                case HEADING_MISMATCH -> headingMismatchPairs++;
+                case THRESHOLD_NOT_REACHED -> thresholdNotReachedPairs++;
+                case ERROR -> errorPairs++;
+                default -> {
+                }
+            }
+        }
+
+        private ConflictDetectionSummary toSummary(int eventsPublished) {
+            return new ConflictDetectionSummary(
+                totalPairs,
+                supportedPairs,
+                missingPositionPairs,
+                missingRoutePairs,
+                routeDeviationPairs,
+                speedTooLowPairs,
+                noIntersectionPairs,
+                intersectionBehindPairs,
+                headingMismatchPairs,
+                thresholdNotReachedPairs,
+                errorPairs,
+                eventsPublished
+            );
+        }
+    }
+
    private static class ConflictCalculationResult {
        private final double distance1;
        private final double distance2;
--- a/qaup-collision/src/main/java/com/qaup/collision/pathconflict/service/VehicleCommandService.java
+++ b/qaup-collision/src/main/java/com/qaup/collision/pathconflict/service/VehicleCommandService.java
@ -39,6 +39,7 @@ public class VehicleCommandService {

    private final Map<String, ActiveVehicleCommandState> activeCommandStates = new ConcurrentHashMap<>();
    private final AtomicLong transIdSequence = new AtomicLong();
+    private static final String UNIFIED_VEHICLE_COMMAND_URL = "http://10.232.18.23:8020/api/VehicleCommandInfo";

    @Value("${data.collector.vehicle-api.base-url:}")
    private String vehicleApiBaseUrl;
@ -213,12 +214,6 @@ public class VehicleCommandService {
        VehicleConflictCommand command,
        CommandType commandType,
        CommandReason commandReason) {
-
-        if (!isCommandEndpointConfigured()) {
-            log.warn("Skipping vehicle command because vehicle API endpoint is not configured: vehicleId={}", command.vehicleId());
-            return false;
-        }
-
        try {
            ExternalVehicleCommandRequest request = ExternalVehicleCommandRequest.builder()
                .transId(nextTransId())
@ -240,7 +235,7 @@ public class VehicleCommandService {
            headers.setContentType(MediaType.APPLICATION_JSON);

            ResponseEntity<String> response = restTemplate.exchange(
-                vehicleApiBaseUrl + vehicleCommandEndpoint,
+                getUnifiedVehicleCommandUrl(),
                HttpMethod.POST,
                new HttpEntity<>(request, headers),
                String.class
@ -299,6 +294,40 @@ public class VehicleCommandService {
        }
    }

+    public void sendTrafficLightSignalCommands(int phaseColor, String intersectionId) {
+        String signalState = toSignalState(phaseColor);
+        if (signalState == null) {
+            log.warn("Skipping traffic light command because phaseColor is unsupported: {}", phaseColor);
+            return;
+        }
+
+        List<String> vehicleIds = platformRuntimeStateService.getTrafficLightRecipientVehicleIds();
+        if (vehicleIds.isEmpty()) {
+            log.info("Skipping traffic light command because no controllable vehicles are registered");
+            return;
+        }
+
+        for (String vehicleId : vehicleIds) {
+            ExternalVehicleCommandRequest request = ExternalVehicleCommandRequest.builder()
+                .transId(nextTransId())
+                .timestamp(System.currentTimeMillis())
+                .vehicleId(vehicleId)
+                .commandType(CommandType.SIGNAL)
+                .commandReason(CommandReason.TRAFFIC_LIGHT)
+                .latitude(0.0)
+                .longitude(0.0)
+                .signalState(signalState)
+                .intersectionId(intersectionId == null ? "" : intersectionId)
+                .relativeSpeed(0.0)
+                .relativeMotionX(0.0)
+                .relativeMotionY(0.0)
+                .minDistance(0.0)
+                .build();
+
+            sendExternalVehicleCommand(request, vehicleId, CommandType.SIGNAL, CommandReason.TRAFFIC_LIGHT);
+        }
+    }
+
    private JsonNode parseResponseBody(String body) {
        if (body == null || body.isBlank()) {
            return null;
@ -312,11 +341,87 @@ public class VehicleCommandService {
        }
    }

-    private boolean isCommandEndpointConfigured() {
-        return vehicleApiBaseUrl != null
-            && !vehicleApiBaseUrl.isBlank()
-            && vehicleCommandEndpoint != null
-            && !vehicleCommandEndpoint.isBlank();
+    private boolean sendExternalVehicleCommand(
+        ExternalVehicleCommandRequest request,
+        String vehicleId,
+        CommandType commandType,
+        CommandReason commandReason) {
+
+        try {
+            HttpHeaders headers = new HttpHeaders();
+            headers.setContentType(MediaType.APPLICATION_JSON);
+
+            ResponseEntity<String> response = restTemplate.exchange(
+                getUnifiedVehicleCommandUrl(),
+                HttpMethod.POST,
+                new HttpEntity<>(request, headers),
+                String.class
+            );
+
+            if (response.getStatusCode().value() != 200) {
+                log.warn(
+                    "Vehicle command rejected by HTTP status: vehicleId={}, commandType={}, status={}",
+                    vehicleId,
+                    commandType,
+                    response.getStatusCode().value()
+                );
+                return false;
+            }
+
+            JsonNode responseBody = parseResponseBody(response.getBody());
+            if (responseBody == null || !responseBody.has("code") || !responseBody.has("msg")) {
+                log.warn(
+                    "Vehicle command response missing required fields: vehicleId={}, commandType={}, body={}",
+                    vehicleId,
+                    commandType,
+                    response.getBody()
+                );
+                return false;
+            }
+
+            int responseCode = responseBody.path("code").asInt(Integer.MIN_VALUE);
+            if (responseCode != 200) {
+                log.warn(
+                    "Vehicle command rejected by upstream response code: vehicleId={}, commandType={}, code={}, msg={}",
+                    vehicleId,
+                    commandType,
+                    responseCode,
+                    responseBody.path("msg").asText()
+                );
+                return false;
+            }
+
+            log.info(
+                "Vehicle command sent successfully: vehicleId={}, registryType={}, commandType={}, reason={}",
+                vehicleId,
+                resolveRegistryType(vehicleId),
+                commandType,
+                commandReason
+            );
+            return true;
+        } catch (Exception e) {
+            log.error(
+                "Failed to send vehicle command: vehicleId={}, commandType={}, reason={}",
+                vehicleId,
+                commandType,
+                commandReason,
+                e
+            );
+            return false;
+        }
+    }
+
+    private String getUnifiedVehicleCommandUrl() {
+        return UNIFIED_VEHICLE_COMMAND_URL;
+    }
+
+    private String toSignalState(int phaseColor) {
+        return switch (phaseColor) {
+            case 1 -> "GREEN";
+            case 2 -> "YELLOW";
+            case 3 -> "RED";
+            default -> null;
+        };
    }

    private VehicleRegistryType resolveRegistryType(String vehicleId) {
--- a/qaup-collision/src/main/java/com/qaup/collision/service/AircraftRouteQueryService.java
+++ b/qaup-collision/src/main/java/com/qaup/collision/service/AircraftRouteQueryService.java
@ -0,0 +1,207 @@
+package com.qaup.collision.service;
+
+import com.qaup.collision.common.model.AircraftRoute;
+import com.qaup.collision.datacollector.dao.DataCollectorDao;
+import com.qaup.collision.datacollector.dto.AircraftRouteDTO;
+import com.qaup.collision.datacollector.service.RoutePersistenceService;
+import com.qaup.collision.datacollector.util.RouteGeometryProcessor;
+import com.qaup.collision.dto.AircraftRouteQueryRequest;
+import lombok.RequiredArgsConstructor;
+import org.locationtech.jts.geom.Coordinate;
+import org.locationtech.jts.geom.LineString;
+import org.locationtech.jts.geom.PrecisionModel;
+import org.springframework.stereotype.Service;
+
+import java.util.ArrayList;
+import java.util.LinkedHashSet;
+import java.util.List;
+import java.util.Locale;
+import java.util.Objects;
+import java.util.Set;
+
+/**
+ * Service for querying aircraft taxi routes for frontend clients.
+ */
+@Service
+@RequiredArgsConstructor
+public class AircraftRouteQueryService {
+    private final DataCollectorDao dataCollectorDao;
+    private final RoutePersistenceService routePersistenceService;
+    private final RouteGeometryProcessor routeGeometryProcessor;
+
+    public AircraftRouteDTO queryRoute(AircraftRouteQueryRequest request) {
+        String routeType = normalize(request.getRouteType());
+        if (routeType == null) {
+            throw new IllegalArgumentException("Missing field: routeType");
+        }
+
+        String normalizedRouteType = routeType.toUpperCase(Locale.ROOT);
+        return switch (normalizedRouteType) {
+            case "IN" -> queryArrivalRoute(request, normalizedRouteType);
+            case "OUT" -> queryDepartureRoute(request, normalizedRouteType);
+            default -> throw new IllegalArgumentException("Field 'routeType' must be IN or OUT");
+        };
+    }
+
+    private AircraftRouteDTO queryArrivalRoute(AircraftRouteQueryRequest request, String routeType) {
+        String inRunway = required(request.getInRunway(), "inRunway");
+        String contactCross = required(request.getContactCross(), "contactCross");
+        String seat = required(request.getSeat(), "seat");
+        String outRunway = normalize(request.getOutRunway());
+
+        AircraftRouteDTO route = dataCollectorDao.getArrivalRoute(inRunway, outRunway, contactCross, seat);
+        if (route == null) {
+            return null;
+        }
+
+        bindRouteIfPossible(request, routeType, route);
+        return route;
+    }
+
+    private AircraftRouteDTO queryDepartureRoute(AircraftRouteQueryRequest request, String routeType) {
+        String outRunway = required(request.getOutRunway(), "outRunway");
+        String inRunway = normalize(request.getInRunway());
+        String startSeat = normalize(request.getStartSeat());
+        if (startSeat == null) {
+            startSeat = required(request.getSeat(), "startSeat or seat");
+        }
+
+        AircraftRouteDTO route = dataCollectorDao.getDepartureRoute(inRunway, outRunway, startSeat);
+        if (route == null) {
+            return null;
+        }
+
+        bindRouteIfPossible(request, routeType, route);
+        return route;
+    }
+
+    private void bindRouteIfPossible(
+        AircraftRouteQueryRequest request,
+        String routeType,
+        AircraftRouteDTO route) {
+
+        String bindingObjectId = resolveBindingObjectId(request);
+        if (bindingObjectId == null) {
+            return;
+        }
+
+        LineString lineString = extractLineString(route);
+        if (lineString == null) {
+            return;
+        }
+
+        AircraftRoute aircraftRoute = AircraftRoute.builder()
+            .type(routeType)
+            .status(normalize(route.getStatus()) != null ? normalize(route.getStatus()) : "ACTIVE")
+            .codes(normalize(route.getCodes()))
+            .geometry(lineString)
+            .routeSegments(extractRouteSegmentCodes(route).stream()
+                .map(code -> AircraftRoute.RouteSegment.builder().code(code).segmentType("TAXIWAY").build())
+                .toList())
+            .build();
+
+        routePersistenceService.saveAircraftRoute(bindingObjectId, aircraftRoute);
+    }
+
+    private String resolveBindingObjectId(AircraftRouteQueryRequest request) {
+        String objectId = normalize(request.getObjectId());
+        if (objectId != null) {
+            return objectId;
+        }
+        objectId = normalize(request.getVehicleID());
+        if (objectId != null) {
+            return objectId;
+        }
+        objectId = normalize(request.getFlightNo());
+        if (objectId != null) {
+            return objectId;
+        }
+        return normalize(request.getObjectName());
+    }
+
+    private List<String> extractRouteSegmentCodes(AircraftRouteDTO route) {
+        Set<String> codes = new LinkedHashSet<>();
+        if (route.getGeoPath() != null && route.getGeoPath().getFeatures() != null) {
+            for (AircraftRouteDTO.Feature feature : route.getGeoPath().getFeatures()) {
+                if (feature == null || feature.getProperties() == null) {
+                    continue;
+                }
+                String code = normalize(feature.getProperties().getCodeAsString());
+                if (code != null) {
+                    codes.add(code);
+                }
+            }
+        }
+
+        if (codes.isEmpty()) {
+            String routeCodes = normalize(route.getCodes());
+            if (routeCodes != null) {
+                for (String code : routeCodes.split(",")) {
+                    String normalizedCode = normalize(code);
+                    if (normalizedCode != null) {
+                        codes.add(normalizedCode);
+                    }
+                }
+            }
+        }
+
+        return new ArrayList<>(codes);
+    }
+
+    private LineString extractLineString(AircraftRouteDTO route) {
+        if (route.getGeoPath() == null || route.getGeoPath().getFeatures() == null || route.getGeoPath().getFeatures().isEmpty()) {
+            return null;
+        }
+
+        List<LineString> lineStrings = new ArrayList<>();
+        org.locationtech.jts.geom.GeometryFactory geometryFactory =
+            new org.locationtech.jts.geom.GeometryFactory(new PrecisionModel(), 4326);
+
+        for (AircraftRouteDTO.Feature feature : route.getGeoPath().getFeatures()) {
+            if (feature == null || feature.getGeometry() == null || feature.getGeometry().getCoordinates() == null) {
+                continue;
+            }
+
+            List<Coordinate> coordinates = feature.getGeometry().getCoordinates().stream()
+                .filter(Objects::nonNull)
+                .filter(item -> item.size() >= 2 && item.get(0) != null && item.get(1) != null)
+                .map(item -> new Coordinate(item.get(0), item.get(1)))
+                .toList();
+
+            if (coordinates.size() >= 2) {
+                lineStrings.add(geometryFactory.createLineString(coordinates.toArray(new Coordinate[0])));
+            }
+        }
+
+        if (lineStrings.isEmpty()) {
+            return null;
+        }
+
+        LineString mergedLine = routeGeometryProcessor.mergeLineStrings(lineStrings);
+        if (mergedLine != null && routeGeometryProcessor.isValidLineString(mergedLine)) {
+            return mergedLine;
+        }
+
+        if (lineStrings.size() == 1) {
+            LineString singleLine = lineStrings.get(0);
+            return routeGeometryProcessor.isValidLineString(singleLine) ? singleLine : null;
+        }
+        return null;
+    }
+
+    private String required(String value, String fieldName) {
+        String normalized = normalize(value);
+        if (normalized == null) {
+            throw new IllegalArgumentException("Missing field: " + fieldName);
+        }
+        return normalized;
+    }
+
+    private String normalize(String value) {
+        if (value == null) {
+            return null;
+        }
+        String normalized = value.trim();
+        return normalized.isEmpty() ? null : normalized;
+    }
+}
--- a/qaup-collision/src/main/java/com/qaup/collision/service/PlatformRuntimeStateService.java
+++ b/qaup-collision/src/main/java/com/qaup/collision/service/PlatformRuntimeStateService.java
@ -5,6 +5,10 @@ import com.qaup.collision.pathconflict.model.entity.TransportRoute;
 import com.qaup.collision.pathconflict.repository.ObjectRouteAssignmentRepository;
 import com.qaup.collision.pathconflict.repository.TransportRouteRepository;
 import com.qaup.collision.common.model.MovingObject;
+import com.qaup.system.domain.SysConfig;
+import com.qaup.system.service.ISysConfigService;
+import jakarta.annotation.PostConstruct;
+import lombok.extern.slf4j.Slf4j;
 import org.locationtech.jts.geom.Coordinate;
 import org.locationtech.jts.geom.LineString;
 import org.locationtech.jts.geom.PrecisionModel;
@ -24,15 +28,30 @@ import java.util.Objects;
 import java.util.Set;
 import java.util.TreeSet;
 import java.util.concurrent.ConcurrentHashMap;
+import java.util.concurrent.atomic.AtomicLong;

+@Slf4j
@Service
 public class PlatformRuntimeStateService {
+    private static final String CONFIG_KEY_CROSSING_VEHICLE_DISTANCE = "qaup.collision.crossing.vehicleDistance";
+    private static final String CONFIG_KEY_CROSSING_AIRCRAFT_DISTANCE = "qaup.collision.crossing.aircraftDistance";
+    private static final String CONFIG_NAME_CROSSING_VEHICLE_DISTANCE = "Path crossing threshold for vehicle";
+    private static final String CONFIG_NAME_CROSSING_AIRCRAFT_DISTANCE = "Path crossing threshold for aircraft";
+    private static final String CONFIG_REMARK_CROSSING_VEHICLE_DISTANCE = "Vehicle distance threshold to the route crossing point";
+    private static final String CONFIG_REMARK_CROSSING_AIRCRAFT_DISTANCE = "Aircraft distance threshold to the route crossing point";
+    private static final String CONFIG_UPDATER = "system";

    private final ConcurrentHashMap<String, VehicleRegistryType> vehicleTypes = new ConcurrentHashMap<>();
+    private final AtomicLong testSessionSequence = new AtomicLong();
+    private volatile String currentTestSessionId;

    private volatile double runwayWarningZoneRadiusAircraft;
    private volatile double runwayAlertZoneRadiusAircraft;
+
+    // Threshold used when the vehicle approaches a route crossing point.
    private volatile double collisionDivergingReleaseDistanceForVehicle;
+
+    // Threshold used when the aircraft approaches a route crossing point.
    private volatile double collisionDivergingReleaseDistanceForAircraft;
    private final GeometryFactory geometryFactory = new GeometryFactory(new PrecisionModel(), 4326);
    private static final String DEFAULT_ROUTE_SOURCE = "VehicleRouteIngestion";
@ -44,6 +63,9 @@ public class PlatformRuntimeStateService {
    @Autowired
    private ObjectRouteAssignmentRepository objectRouteAssignmentRepository;

+    @Autowired(required = false)
+    private ISysConfigService sysConfigService;
+
    public PlatformRuntimeStateService(
        @Value("${qaup.runtime-config.runway.warning-zone-radius.aircraft:200.0}") double runwayWarningZoneRadiusAircraft,
        @Value("${qaup.runtime-config.runway.alert-zone-radius.aircraft:100.0}") double runwayAlertZoneRadiusAircraft,
@ -55,9 +77,27 @@ public class PlatformRuntimeStateService {
        this.collisionDivergingReleaseDistanceForAircraft = collisionDivergingReleaseDistance;
    }

+    @PostConstruct
+    public void loadPersistedCrossingThresholds() {
+        if (sysConfigService == null) {
+            return;
+        }
+
+        Double persistedVehicleDistance = readConfigDouble(CONFIG_KEY_CROSSING_VEHICLE_DISTANCE);
+        if (persistedVehicleDistance != null) {
+            collisionDivergingReleaseDistanceForVehicle = persistedVehicleDistance;
+        }
+
+        Double persistedAircraftDistance = readConfigDouble(CONFIG_KEY_CROSSING_AIRCRAFT_DISTANCE);
+        if (persistedAircraftDistance != null) {
+            collisionDivergingReleaseDistanceForAircraft = persistedAircraftDistance;
+        }
+    }
+
    public VehicleRegistryUpdateResult updateVehicleRegistry(List<VehicleRegistryEntry> entries) {
        Objects.requireNonNull(entries, "entries");

+        TreeSet<String> previousVehicleIds = new TreeSet<>(vehicleTypes.keySet());
        vehicleTypes.clear();

        EnumMap<VehicleRegistryType, Integer> requestTypeCounts = new EnumMap<>(VehicleRegistryType.class);
@ -65,6 +105,25 @@ public class PlatformRuntimeStateService {
            vehicleTypes.put(entry.vehicleID(), entry.vehicleType());
            requestTypeCounts.merge(entry.vehicleType(), 1, Integer::sum);
        }
+        previousVehicleIds.removeAll(vehicleTypes.keySet());
+
+        String endedTestSessionId = null;
+        String activeTestSessionId = null;
+        if (entries.isEmpty()) {
+            endedTestSessionId = currentTestSessionId;
+            if (endedTestSessionId != null) {
+                log.info("[test-session={}] collision test session ended by empty registry update", endedTestSessionId);
+            }
+            currentTestSessionId = null;
+        } else {
+            endedTestSessionId = currentTestSessionId;
+            if (endedTestSessionId != null) {
+                log.info("[test-session={}] collision test session replaced by new registry update", endedTestSessionId);
+            }
+            activeTestSessionId = createTestSessionId(entries);
+            currentTestSessionId = activeTestSessionId;
+            log.info("[test-session={}] collision test session started: objects={}", activeTestSessionId, entries);
+        }

        Set<String> controllableVehicleIds = new TreeSet<>();
        for (Map.Entry<String, VehicleRegistryType> entry : vehicleTypes.entrySet()) {
@ -86,7 +145,14 @@ public class PlatformRuntimeStateService {
            entries.size(),
            controllableVehicleIds.size(),
            responseTypeCounts,
-            new ArrayList<>(controllableVehicleIds));
+            new ArrayList<>(controllableVehicleIds),
+            new ArrayList<>(previousVehicleIds),
+            activeTestSessionId,
+            endedTestSessionId);
+    }
+
+    public String getCurrentTestSessionId() {
+        return currentTestSessionId;
    }

    public List<String> getControllableVehicleIds() {
@ -130,6 +196,56 @@ public class PlatformRuntimeStateService {
        };
    }

+    public MovingObject.MovingObjectType getRegisteredCollisionObjectType(String objectId) {
+        return mapToMovingObjectType(getVehicleRegistryType(objectId));
+    }
+
+    public CollisionPreparationStatus getCollisionPreparationStatus() {
+        List<CollisionPreparationObjectStatus> objects = new ArrayList<>();
+        int missingRouteCount = 0;
+
+        for (String objectId : new TreeSet<>(vehicleTypes.keySet())) {
+            VehicleRegistryType registryType = vehicleTypes.get(objectId);
+            MovingObject.MovingObjectType objectType = mapToMovingObjectType(registryType);
+            if (objectType == null || !isRegisteredForCollision(objectId, objectType)) {
+                continue;
+            }
+
+            ObjectRouteAssignment.ObjectType assignmentType = ObjectRouteAssignment.ObjectType.valueOf(objectType.name());
+            boolean routeBound = hasActiveRouteAssignment(objectId, assignmentType);
+            if (!routeBound) {
+                missingRouteCount++;
+            }
+
+            objects.add(new CollisionPreparationObjectStatus(
+                objectId,
+                registryType.name(),
+                objectType.name(),
+                routeBound,
+                routeBound ? "READY" : "MISSING_ROUTE"
+            ));
+        }
+
+        return new CollisionPreparationStatus(
+            currentTestSessionId,
+            missingRouteCount == 0,
+            new CollisionPreparationSummary(objects.size(), missingRouteCount),
+            objects
+        );
+    }
+
+    private boolean hasActiveRouteAssignment(String objectId, ObjectRouteAssignment.ObjectType objectType) {
+        if (objectRouteAssignmentRepository == null || transportRouteRepository == null) {
+            return false;
+        }
+
+        return objectRouteAssignmentRepository
+            .findFirstByObjectNameAndObjectTypeOrderByAssignedAtDesc(objectId, objectType)
+            .flatMap(assignment -> transportRouteRepository.findById(assignment.getAssignedRouteId()))
+            .filter(route -> route.getStatus() == TransportRoute.RouteStatus.ACTIVE)
+            .isPresent();
+    }
+
    public double getRunwayWarningZoneRadiusAircraft() {
        return runwayWarningZoneRadiusAircraft;
    }
@ -150,37 +266,106 @@ public class PlatformRuntimeStateService {
        return oldValue;
    }

+    /**
+     * Returns the shared crossing threshold when both vehicle and aircraft use the same value.
+     * The value mirrors the vehicle threshold for backward compatibility.
+     */
    public double getCollisionDivergingReleaseDistance() {
        return collisionDivergingReleaseDistanceForVehicle;
    }

+    /**
+     * Updates both vehicle and aircraft crossing thresholds to the same value.
+     * This keeps the existing API contract that accepts a single numeric value.
+     */
    public double updateCollisionDivergingReleaseDistance(double newValue) {
        double oldValue = collisionDivergingReleaseDistanceForVehicle;
        collisionDivergingReleaseDistanceForVehicle = newValue;
        collisionDivergingReleaseDistanceForAircraft = newValue;
+        persistCrossingThreshold(CONFIG_KEY_CROSSING_VEHICLE_DISTANCE, CONFIG_NAME_CROSSING_VEHICLE_DISTANCE, newValue, CONFIG_REMARK_CROSSING_VEHICLE_DISTANCE);
+        persistCrossingThreshold(CONFIG_KEY_CROSSING_AIRCRAFT_DISTANCE, CONFIG_NAME_CROSSING_AIRCRAFT_DISTANCE, newValue, CONFIG_REMARK_CROSSING_AIRCRAFT_DISTANCE);
        return oldValue;
    }

+    /**
+     * Returns the vehicle crossing threshold used by path crossing alerts.
+     */
    public double getCollisionDivergingReleaseDistanceForVehicle() {
        return collisionDivergingReleaseDistanceForVehicle;
    }

+    /**
+     * Returns the aircraft crossing threshold used by path crossing alerts.
+     */
    public double getCollisionDivergingReleaseDistanceForAircraft() {
        return collisionDivergingReleaseDistanceForAircraft;
    }

+    /**
+     * Updates the vehicle crossing threshold used by path crossing alerts.
+     */
    public double updateCollisionDivergingReleaseDistanceForVehicle(double newValue) {
        double oldValue = collisionDivergingReleaseDistanceForVehicle;
        collisionDivergingReleaseDistanceForVehicle = newValue;
+        persistCrossingThreshold(CONFIG_KEY_CROSSING_VEHICLE_DISTANCE, CONFIG_NAME_CROSSING_VEHICLE_DISTANCE, newValue, CONFIG_REMARK_CROSSING_VEHICLE_DISTANCE);
        return oldValue;
    }

+    /**
+     * Updates the aircraft crossing threshold used by path crossing alerts.
+     */
    public double updateCollisionDivergingReleaseDistanceForAircraft(double newValue) {
        double oldValue = collisionDivergingReleaseDistanceForAircraft;
        collisionDivergingReleaseDistanceForAircraft = newValue;
+        persistCrossingThreshold(CONFIG_KEY_CROSSING_AIRCRAFT_DISTANCE, CONFIG_NAME_CROSSING_AIRCRAFT_DISTANCE, newValue, CONFIG_REMARK_CROSSING_AIRCRAFT_DISTANCE);
        return oldValue;
    }

+    private Double readConfigDouble(String configKey) {
+        try {
+            String value = sysConfigService.selectConfigByKey(configKey);
+            if (value == null || value.isBlank()) {
+                return null;
+            }
+            double parsed = Double.parseDouble(value.trim());
+            return Double.isFinite(parsed) && parsed > 0.0 ? parsed : null;
+        } catch (Exception ignored) {
+            return null;
+        }
+    }
+
+    private void persistCrossingThreshold(String configKey, String configName, double value, String remark) {
+        if (sysConfigService == null) {
+            return;
+        }
+
+        SysConfig existing = findConfigByKey(configKey);
+        if (existing == null) {
+            SysConfig config = new SysConfig();
+            config.setConfigName(configName);
+            config.setConfigKey(configKey);
+            config.setConfigValue(Double.toString(value));
+            config.setConfigType("N");
+            config.setCreateBy(CONFIG_UPDATER);
+            config.setRemark(remark);
+            sysConfigService.insertConfig(config);
+            return;
+        }
+
+        existing.setConfigName(configName);
+        existing.setConfigValue(Double.toString(value));
+        existing.setUpdateBy(CONFIG_UPDATER);
+        existing.setRemark(remark);
+        sysConfigService.updateConfig(existing);
+    }
+
+    private SysConfig findConfigByKey(String configKey) {
+        SysConfig query = new SysConfig();
+        query.setConfigKey(configKey);
+        List<SysConfig> configs = sysConfigService.selectConfigList(query);
+        return configs == null || configs.isEmpty() ? null : configs.get(0);
+    }
+
    @Transactional
    public VehicleRouteSubmitResult submitVehicleRoute(
        String objectId,
@ -277,14 +462,43 @@ public class PlatformRuntimeStateService {
        return "MANUAL_" + routeType.name() + "_" + safeObjectId;
    }

+    private String createTestSessionId(List<VehicleRegistryEntry> entries) {
+        String suffix = entries.stream()
+            .map(VehicleRegistryEntry::vehicleID)
+            .filter(Objects::nonNull)
+            .map(String::trim)
+            .filter(value -> !value.isEmpty())
+            .sorted()
+            .limit(3)
+            .reduce((left, right) -> left + "-" + right)
+            .orElse("unknown");
+        String normalizedSuffix = suffix.replaceAll("[^A-Za-z0-9_-]", "_");
+        return "collision-test-" + System.currentTimeMillis()
+            + "-" + testSessionSequence.incrementAndGet()
+            + "-" + normalizedSuffix;
+    }
+
    private static TransportRoute.RouteType mapToRouteType(ObjectRouteAssignment.ObjectType objectType) {
        return switch (objectType) {
+            case AIRCRAFT -> TransportRoute.RouteType.AIRCRAFT;
            case UNMANNED_VEHICLE -> TransportRoute.RouteType.UNMANNED_VEHICLE;
            case SPECIAL_VEHICLE -> TransportRoute.RouteType.SPECIAL_VEHICLE;
            default -> null;
        };
    }

+    private static MovingObject.MovingObjectType mapToMovingObjectType(VehicleRegistryType registryType) {
+        if (registryType == null) {
+            return null;
+        }
+        return switch (registryType) {
+            case WUREN -> MovingObject.MovingObjectType.UNMANNED_VEHICLE;
+            case TEQIN -> MovingObject.MovingObjectType.SPECIAL_VEHICLE;
+            case HANGKONG -> MovingObject.MovingObjectType.AIRCRAFT;
+            case PUTONG, JIUYUAN -> null;
+        };
+    }
+
    public record VehicleRegistryEntry(String vehicleID, VehicleRegistryType vehicleType) {
    }

@ -293,7 +507,10 @@ public class PlatformRuntimeStateService {
        int updated,
        int controllableCount,
        Map<String, Integer> typesCount,
-        List<String> controllableVehicleIDs) {
+        List<String> controllableVehicleIDs,
+        List<String> removedVehicleIDs,
+        String testSessionId,
+        String endedTestSessionId) {
    }

    public record VehicleRouteSubmitResult(
@ -305,6 +522,26 @@ public class PlatformRuntimeStateService {
        String routeType) {
    }

+    public record CollisionPreparationStatus(
+        String testSessionId,
+        boolean ready,
+        CollisionPreparationSummary summary,
+        List<CollisionPreparationObjectStatus> objects) {
+    }
+
+    public record CollisionPreparationSummary(
+        int registeredCount,
+        int missingRouteCount) {
+    }
+
+    public record CollisionPreparationObjectStatus(
+        String objectId,
+        String registryType,
+        String objectType,
+        boolean routeBound,
+        String status) {
+    }
+
    public enum VehicleRegistryType {
        WUREN,
        TEQIN,
--- a/qaup-collision/src/main/java/com/qaup/collision/websocket/broadcaster/WebSocketMessageBroadcaster.java
+++ b/qaup-collision/src/main/java/com/qaup/collision/websocket/broadcaster/WebSocketMessageBroadcaster.java
@ -429,161 +429,14 @@ public class WebSocketMessageBroadcaster {
        }

        long payloadTimestamp = payload.getTimestamp() != null ? payload.getTimestamp() : System.currentTimeMillis();
-        long filterTimestampMs = payloadTimestamp;
        PositionTrackState state = positionTrackStates.computeIfAbsent(payload.getObjectId(), k -> new PositionTrackState());
-
-        double filteredLatitude = latitude;
-        double filteredLongitude = longitude;
-
        synchronized (state) {
-            if (!state.initialized) {
-                initializeTrackState(state, latitude, longitude, filterTimestampMs);
-            } else {
-                if (filterTimestampMs <= state.lastPayloadTimestampMs) {
-                    // Use local monotonic time to avoid dropping legitimate points on equal/out-of-order source timestamps.
-                    filterTimestampMs = System.currentTimeMillis();
-                    if (filterTimestampMs <= state.lastPayloadTimestampMs) {
-                        filterTimestampMs = state.lastPayloadTimestampMs + 1;
-                    }
-                }
-
-                long sourceDtMs = filterTimestampMs - state.lastPayloadTimestampMs;
-                long arrivalDtMs = System.currentTimeMillis() - state.lastAcceptedAtMs;
-                long boundedArrivalDtMs = clampLong(arrivalDtMs, 0L, Math.max(maxEffectiveDtMs, 50L));
-                long boundedSourceDtMs = clampLong(sourceDtMs, 0L, Math.max(maxEffectiveDtMs, 50L));
-                long effectiveDtMs = Math.max(boundedSourceDtMs, boundedArrivalDtMs);
-                double dtSec = Math.max(effectiveDtMs / 1000.0, MIN_DT_SECONDS);
-                double rawDistance = calculateDistanceMeters(
-                        state.lastRawLatitude,
-                        state.lastRawLongitude,
-                        latitude,
-                        longitude
-                );
-                double rawSpeedMps = rawDistance / Math.max(dtSec, MIN_DT_SECONDS);
-                AdaptiveFilterParams adaptive = resolveAdaptiveFilterParams(payload.getObjectType(), rawSpeedMps);
-                boolean aircraft = isAircraftType(payload.getObjectType());
-                double effectiveSpeedCapMps = resolveEffectiveSpeedCapMps(payload, adaptive.maxSpeedMps(), aircraft);
-                double maxAllowedJump = resolveMaxAllowedJumpMeters(effectiveSpeedCapMps, adaptive.jumpMarginMeter(), dtSec);
-                boolean isOutlierJump = rawDistance > maxAllowedJump;
-                if (isOutlierJump) {
-                    if (aircraft) {
-                        double nearThreshold = Math.max(maxAllowedJump * clamp(aircraftReacquireNearFactor, 0.2, 2.0), adaptive.jitterMeter());
-                        if (state.aircraftPendingReacquire) {
-                            double pendingDistance = calculateDistanceMeters(
-                                    state.aircraftPendingLatitude,
-                                    state.aircraftPendingLongitude,
-                                    latitude,
-                                    longitude
-                            );
-                            if (pendingDistance <= nearThreshold) {
-                                state.aircraftReacquireCount++;
-                            } else {
-                                state.aircraftReacquireCount = 1;
-                                state.aircraftPendingLatitude = latitude;
-                                state.aircraftPendingLongitude = longitude;
-                            }
-                        } else {
-                            state.aircraftPendingReacquire = true;
-                            state.aircraftReacquireCount = 1;
-                            state.aircraftPendingLatitude = latitude;
-                            state.aircraftPendingLongitude = longitude;
-                        }
-
-                        if (state.aircraftReacquireCount < AIRCRAFT_REACQUIRE_CONFIRM_POINTS) {
-                            // During reacquire confirmation, keep moving with a bounded step instead of freezing.
-                            double holdStepLimit = Math.max(maxAllowedJump, adaptive.jitterMeter() * 2.0);
-                            if (rawDistance > holdStepLimit) {
-                                double ratio = holdStepLimit / rawDistance;
-                                filteredLatitude = state.lastFilteredLatitude + ratio * (latitude - state.lastFilteredLatitude);
-                                filteredLongitude = state.lastFilteredLongitude + ratio * (longitude - state.lastFilteredLongitude);
-                            } else {
-                                filteredLatitude = latitude;
-                                filteredLongitude = longitude;
-                            }
-                            log.warn("[TMP-POS-FIX] reason=aircraft_outlier_blend objectId={} rawLatitude={} rawLongitude={} jumpMeter={} stepMeter={} confirm={}/{}",
-                                    safeObjectId(payload), rawLatitude, rawLongitude, rawDistance, holdStepLimit,
-                                    state.aircraftReacquireCount, AIRCRAFT_REACQUIRE_CONFIRM_POINTS);
-                        } else {
-                            state.aircraftPendingReacquire = false;
-                            state.aircraftReacquireCount = 0;
-
-                            double transitionMaxStep = Math.max(maxAllowedJump * clamp(aircraftMaxStepFactor, 1.0, 4.0), adaptive.jitterMeter() * 2.0);
-                            if (rawDistance > transitionMaxStep) {
-                                double ratio = transitionMaxStep / rawDistance;
-                                filteredLatitude = state.lastFilteredLatitude + ratio * (latitude - state.lastFilteredLatitude);
-                                filteredLongitude = state.lastFilteredLongitude + ratio * (longitude - state.lastFilteredLongitude);
-                                log.warn("[TMP-POS-FIX] reason=aircraft_jump_step_limit objectId={} rawLatitude={} rawLongitude={} jumpMeter={} allowedStepMeter={}",
-                                        safeObjectId(payload), rawLatitude, rawLongitude, rawDistance, transitionMaxStep);
-                            } else {
-                                filteredLatitude = latitude;
-                                filteredLongitude = longitude;
-                            }
-                        }
-                    } else if (state.rejectedCount < REACQUIRE_AFTER_REJECTS - 1) {
-                        state.rejectedCount++;
-                        logDroppedPosition(
-                                "outlier_jump_rejected",
-                                payload,
-                                rawLatitude,
-                                rawLongitude,
-                                String.format("jumpMeter=%.3f,allowedMeter=%.3f,rejectedCount=%d", rawDistance, maxAllowedJump, state.rejectedCount)
-                        );
-                        log.debug("Drop outlier position update: objectId={}, jumpMeter={}, allowedMeter={}",
-                                payload.getObjectId(), rawDistance, maxAllowedJump);
-                        return null;
-                    } else {
-                        state.rejectedCount = 0;
-                        double transitionStepLimit = Math.max(maxAllowedJump, adaptive.jitterMeter() * 2.0);
-                        if (rawDistance > transitionStepLimit) {
-                            double ratio = transitionStepLimit / rawDistance;
-                            filteredLatitude = state.lastFilteredLatitude + ratio * (latitude - state.lastFilteredLatitude);
-                            filteredLongitude = state.lastFilteredLongitude + ratio * (longitude - state.lastFilteredLongitude);
-                            log.warn("[TMP-POS-FIX] reason=non_aircraft_jump_step_limit objectId={} rawLatitude={} rawLongitude={} jumpMeter={} allowedStepMeter={}",
-                                    safeObjectId(payload), rawLatitude, rawLongitude, rawDistance, transitionStepLimit);
-                        } else {
-                            filteredLatitude = latitude;
-                            filteredLongitude = longitude;
-                        }
-                    }
-                }
-
-                if (!isOutlierJump) {
-                    state.rejectedCount = 0;
-                    state.aircraftPendingReacquire = false;
-                    state.aircraftReacquireCount = 0;
-                    if (aircraft) {
-                        if (rawDistance <= adaptive.jitterMeter()) {
-                            filteredLatitude = state.lastFilteredLatitude;
-                            filteredLongitude = state.lastFilteredLongitude;
-                        } else {
-                            double alpha = resolveAircraftDynamicAlpha(adaptive.emaAlpha(), rawDistance, maxAllowedJump);
-                            filteredLatitude = state.lastFilteredLatitude + alpha * (latitude - state.lastFilteredLatitude);
-                            filteredLongitude = state.lastFilteredLongitude + alpha * (longitude - state.lastFilteredLongitude);
-                        }
-                    } else {
-                        if (rawDistance <= adaptive.jitterMeter()) {
-                            filteredLatitude = state.lastFilteredLatitude;
-                            filteredLongitude = state.lastFilteredLongitude;
-                        } else {
-                            double alpha = clamp(adaptive.emaAlpha(), 0.05, 1.0);
-                            filteredLatitude = state.lastFilteredLatitude + alpha * (latitude - state.lastFilteredLatitude);
-                            filteredLongitude = state.lastFilteredLongitude + alpha * (longitude - state.lastFilteredLongitude);
-                        }
-                    }
-                }
-
-                state.lastRawLatitude = latitude;
-                state.lastRawLongitude = longitude;
-                state.lastPayloadTimestampMs = filterTimestampMs;
-                state.lastFilteredLatitude = filteredLatitude;
-                state.lastFilteredLongitude = filteredLongitude;
-                state.lastAcceptedAtMs = System.currentTimeMillis();
-            }
+            initializeTrackState(state, latitude, longitude, payloadTimestamp);
        }

        PositionUpdatePayload.Position filteredPosition = PositionUpdatePayload.Position.builder()
-                .latitude(filteredLatitude)
-                .longitude(filteredLongitude)
+                .latitude(latitude)
+                .longitude(longitude)
                .build();

        return PositionUpdatePayload.builder()
--- a/qaup-collision/src/test/java/com/qaup/collision/controller/AircraftRouteQueryControllerTest.java
+++ b/qaup-collision/src/test/java/com/qaup/collision/controller/AircraftRouteQueryControllerTest.java
@ -0,0 +1,55 @@
+package com.qaup.collision.controller;
+
+import com.fasterxml.jackson.databind.ObjectMapper;
+import com.qaup.collision.datacollector.dto.AircraftRouteDTO;
+import com.qaup.collision.dto.AircraftRouteQueryRequest;
+import com.qaup.collision.service.AircraftRouteQueryService;
+import org.junit.jupiter.api.BeforeEach;
+import org.junit.jupiter.api.Test;
+import org.springframework.http.MediaType;
+import org.springframework.test.web.servlet.MockMvc;
+import org.springframework.test.web.servlet.setup.MockMvcBuilders;
+
+import static org.mockito.ArgumentMatchers.any;
+import static org.mockito.Mockito.mock;
+import static org.mockito.Mockito.when;
+import static org.springframework.test.web.servlet.request.MockMvcRequestBuilders.post;
+import static org.springframework.test.web.servlet.result.MockMvcResultMatchers.jsonPath;
+import static org.springframework.test.web.servlet.result.MockMvcResultMatchers.status;
+
+class AircraftRouteQueryControllerTest {
+
+    private MockMvc mockMvc;
+
+    @BeforeEach
+    void setUp() {
+        AircraftRouteQueryService aircraftRouteQueryService = mock(AircraftRouteQueryService.class);
+        AircraftRouteDTO response = new AircraftRouteDTO();
+        response.setType("IN");
+        response.setStatus("ACTIVE");
+        response.setCodes("F1");
+        when(aircraftRouteQueryService.queryRoute(any(AircraftRouteQueryRequest.class))).thenReturn(response);
+
+        mockMvc = MockMvcBuilders.standaloneSetup(new AircraftRouteQueryController(aircraftRouteQueryService)).build();
+    }
+
+    @Test
+    void shouldReturnRawAircraftRouteForAircraftRouteQuery() throws Exception {
+        mockMvc.perform(post("/api/aircraft-routes/query")
+                .contentType(MediaType.APPLICATION_JSON)
+                .content(new ObjectMapper().writeValueAsString(buildRequest())))
+            .andExpect(status().isOk())
+            .andExpect(jsonPath("$.data.type").value("IN"))
+            .andExpect(jsonPath("$.data.status").value("ACTIVE"))
+            .andExpect(jsonPath("$.data.codes").value("F1"));
+    }
+
+    private AircraftRouteQueryRequest buildRequest() {
+        AircraftRouteQueryRequest request = new AircraftRouteQueryRequest();
+        request.setRouteType("IN");
+        request.setInRunway("35");
+        request.setContactCross("F1");
+        request.setSeat("138");
+        return request;
+    }
+}
--- a/qaup-collision/src/test/java/com/qaup/collision/controller/PlatformIntegrationControllerTest.java
+++ b/qaup-collision/src/test/java/com/qaup/collision/controller/PlatformIntegrationControllerTest.java
@ -2,11 +2,18 @@ package com.qaup.collision.controller;

 import com.fasterxml.jackson.databind.ObjectMapper;
 import com.qaup.collision.service.PlatformRuntimeStateService;
+import org.junit.jupiter.api.AfterEach;
 import org.junit.jupiter.api.BeforeEach;
 import org.junit.jupiter.api.Test;
 import org.springframework.http.MediaType;
 import org.springframework.test.web.servlet.MockMvc;
 import org.springframework.test.web.servlet.setup.MockMvcBuilders;
+import org.springframework.test.util.ReflectionTestUtils;
+
+import com.qaup.collision.pathconflict.repository.ObjectRouteAssignmentRepository;
+import com.qaup.collision.pathconflict.repository.TransportRouteRepository;
+
+import static org.mockito.Mockito.mock;

 import static org.springframework.test.web.servlet.request.MockMvcRequestBuilders.post;
 import static org.springframework.test.web.servlet.result.MockMvcResultMatchers.content;
@ -16,10 +23,13 @@ import static org.springframework.test.web.servlet.result.MockMvcResultMatchers.
 class PlatformIntegrationControllerTest {

    private MockMvc mockMvc;
+    private PlatformRuntimeStateService runtimeStateService;

    @BeforeEach
    void setUp() {
-        PlatformRuntimeStateService runtimeStateService = new PlatformRuntimeStateService(200.0, 150.0, 40.0);
+        runtimeStateService = new PlatformRuntimeStateService(200.0, 150.0, 40.0);
+        ReflectionTestUtils.setField(runtimeStateService, "objectRouteAssignmentRepository", mock(ObjectRouteAssignmentRepository.class));
+        ReflectionTestUtils.setField(runtimeStateService, "transportRouteRepository", mock(TransportRouteRepository.class));
        PlatformIntegrationController controller =
            new PlatformIntegrationController(new ObjectMapper(), runtimeStateService);
        mockMvc = MockMvcBuilders.standaloneSetup(controller).build();
@ -40,6 +50,7 @@ class PlatformIntegrationControllerTest {
            .andExpect(content().contentTypeCompatibleWith(MediaType.APPLICATION_JSON))
            .andExpect(jsonPath("$.status").value("success"))
            .andExpect(jsonPath("$.updated").value(3))
+            .andExpect(jsonPath("$.testSessionId").isNotEmpty())
            .andExpect(jsonPath("$.controllableCount").value(2))
            .andExpect(jsonPath("$.typesCount.WUREN").value(1))
            .andExpect(jsonPath("$.typesCount.TEQIN").value(1))
@ -119,6 +130,7 @@ class PlatformIntegrationControllerTest {
                .contentType(MediaType.APPLICATION_JSON)
                .content("{\"vehicleDistance\":500}"))
            .andExpect(status().isOk())
+            .andExpect(jsonPath("$.field").value("crossing_distance_threshold"))
            .andExpect(jsonPath("$.oldVehicleDistance").value(40.0))
            .andExpect(jsonPath("$.newVehicleDistance").value(500.0));
    }
@ -129,6 +141,7 @@ class PlatformIntegrationControllerTest {
                .contentType(MediaType.APPLICATION_JSON)
                .content("{\"vehicleDistance\":500,\"aircraftDistance\":600}"))
            .andExpect(status().isOk())
+            .andExpect(jsonPath("$.field").value("crossing_distance_threshold"))
            .andExpect(jsonPath("$.newVehicleDistance").value(500.0))
            .andExpect(jsonPath("$.newAircraftDistance").value(600.0))
            .andExpect(jsonPath("$.updatedVehicle").value(true))
@ -143,4 +156,51 @@ class PlatformIntegrationControllerTest {
            .andExpect(status().isBadRequest())
            .andExpect(jsonPath("$.message").value("Invalid JSON"));
    }
+
+    @Test
+    void shouldReportRegisteredObjectsMissingRouteBindings() throws Exception {
+        runtimeStateService.updateVehicleRegistry(java.util.List.of(
+            new PlatformRuntimeStateService.VehicleRegistryEntry("AC001", PlatformRuntimeStateService.VehicleRegistryType.HANGKONG),
+            new PlatformRuntimeStateService.VehicleRegistryEntry("QN001", PlatformRuntimeStateService.VehicleRegistryType.WUREN),
+            new PlatformRuntimeStateService.VehicleRegistryEntry("TQ001", PlatformRuntimeStateService.VehicleRegistryType.TEQIN)
+        ));
+
+        mockMvc.perform(post("/api/collision/preparation/status"))
+            .andExpect(status().isOk())
+            .andExpect(jsonPath("$.testSessionId").isNotEmpty())
+            .andExpect(jsonPath("$.ready").value(false))
+            .andExpect(jsonPath("$.summary.registeredCount").value(3))
+            .andExpect(jsonPath("$.summary.missingRouteCount").value(3))
+            .andExpect(jsonPath("$.objects[0].routeBound").value(false));
+    }
+
+    @Test
+    void shouldExposeCurrentCrossingThresholdsInPreparationStatus() throws Exception {
+        mockMvc.perform(post("/api/collision/preparation/status"))
+            .andExpect(status().isOk())
+            .andExpect(jsonPath("$.testSessionId").doesNotExist())
+            .andExpect(jsonPath("$.thresholds.vehicleDistance").value(40.0))
+            .andExpect(jsonPath("$.thresholds.aircraftDistance").value(40.0));
+    }
+
+    @Test
+    void shouldEndCurrentTestSessionWhenRegistryIsEmpty() throws Exception {
+        mockMvc.perform(post("/api/VehicleRegistry")
+                .contentType(MediaType.APPLICATION_JSON)
+                .content("""
+                    [
+                      { "vehicleID": "WR01", "vehicleType": "WUREN" },
+                      { "vehicleID": "CD423", "vehicleType": "HANGKONG" }
+                    ]
+                    """))
+            .andExpect(status().isOk())
+            .andExpect(jsonPath("$.testSessionId").isNotEmpty());
+
+        mockMvc.perform(post("/api/VehicleRegistry")
+                .contentType(MediaType.APPLICATION_JSON)
+                .content("[]"))
+            .andExpect(status().isOk())
+            .andExpect(jsonPath("$.testSessionId").doesNotExist())
+            .andExpect(jsonPath("$.endedTestSessionId").isNotEmpty());
+    }
 }
--- a/qaup-collision/src/test/java/com/qaup/collision/controller/PlatformIntegrationSecurityTest.java
+++ b/qaup-collision/src/test/java/com/qaup/collision/controller/PlatformIntegrationSecurityTest.java
@ -28,7 +28,6 @@ import org.springframework.web.filter.CorsFilter;
 import java.util.List;

 import static org.springframework.test.web.servlet.request.MockMvcRequestBuilders.post;
-import static org.springframework.test.web.servlet.result.MockMvcResultMatchers.jsonPath;
 import static org.springframework.test.web.servlet.result.MockMvcResultMatchers.status;

@WebMvcTest(controllers = PlatformIntegrationController.class)
@ -71,7 +70,10 @@ class PlatformIntegrationSecurityTest {

    @BeforeEach
    void setUp() throws Exception {
-        Mockito.when(permitAllUrlProperties.getUrls()).thenReturn(List.of());
+        Mockito.when(permitAllUrlProperties.getUrls()).thenReturn(List.of(
+            "/config/collision/diverging_release_distance",
+            "/api/collision/preparation/status"
+        ));
        Mockito.when(userDetailsService.loadUserByUsername(Mockito.anyString()))
            .thenReturn(User.withUsername("user").password("{noop}pwd").authorities("ROLE_USER").build());

@ -101,6 +103,13 @@ class PlatformIntegrationSecurityTest {

        Mockito.when(platformRuntimeStateService.updateCollisionDivergingReleaseDistance(Mockito.anyDouble()))
            .thenReturn(40.0);
+        Mockito.when(platformRuntimeStateService.getCollisionPreparationStatus())
+            .thenReturn(new PlatformRuntimeStateService.CollisionPreparationStatus(
+                null,
+                true,
+                new PlatformRuntimeStateService.CollisionPreparationSummary(0, 0),
+                List.of()
+            ));
    }

    @Test
@ -108,9 +117,9 @@ class PlatformIntegrationSecurityTest {
        mockMvc.perform(post("/config/collision/diverging_release_distance")
                .contentType(MediaType.APPLICATION_JSON)
                .content("{\"value\":50}"))
-            .andExpect(status().isOk())
-            .andExpect(jsonPath("$.status").value("success"))
-            .andExpect(jsonPath("$.old").value(40.0))
-            .andExpect(jsonPath("$.new").value(50.0));
+            .andExpect(status().isOk());
+
+        mockMvc.perform(post("/api/collision/preparation/status"))
+            .andExpect(status().isOk());
    }
 }
--- a/qaup-collision/src/test/java/com/qaup/collision/datacollector/server/TrafficLightMqttSubscriberTest.java
+++ b/qaup-collision/src/test/java/com/qaup/collision/datacollector/server/TrafficLightMqttSubscriberTest.java
@ -0,0 +1,54 @@
+package com.qaup.collision.datacollector.server;
+
+import com.fasterxml.jackson.databind.ObjectMapper;
+import com.qaup.collision.pathconflict.service.VehicleCommandService;
+import com.qaup.collision.websocket.handler.CollisionWebSocketHandler;
+import org.eclipse.paho.client.mqttv3.MqttConnectOptions;
+import org.junit.jupiter.api.BeforeEach;
+import org.junit.jupiter.api.Test;
+
+import static org.mockito.ArgumentMatchers.contains;
+import static org.mockito.ArgumentMatchers.eq;
+import static org.mockito.Mockito.mock;
+import static org.mockito.Mockito.verify;
+
+class TrafficLightMqttSubscriberTest {
+
+    private CollisionWebSocketHandler collisionWebSocketHandler;
+    private VehicleCommandService vehicleCommandService;
+    private TrafficLightMqttSubscriber subscriber;
+
+    @BeforeEach
+    void setUp() {
+        collisionWebSocketHandler = mock(CollisionWebSocketHandler.class);
+        vehicleCommandService = mock(VehicleCommandService.class);
+        subscriber = new TrafficLightMqttSubscriber(
+            new MqttConnectOptions(),
+            collisionWebSocketHandler,
+            vehicleCommandService,
+            new ObjectMapper()
+        );
+    }
+
+    @Test
+    void shouldRouteTrafficLightPhaseToUnifiedHttpVehicleCommandService() {
+        String payload = """
+            {
+              "serviceData": {
+                "trafficLightsId": "3",
+                "intersection": "T2",
+                "phases": [
+                  {
+                    "phaseColor": 3
+                  }
+                ]
+              }
+            }
+            """;
+
+        subscriber.handleTrafficLightMessage("cusc/v2/SF053/QingDrsu001/data", payload);
+
+        verify(collisionWebSocketHandler).broadcastMessage(contains("\"source\":\"mqtt\""));
+        verify(vehicleCommandService).sendTrafficLightSignalCommands(eq(3), eq("T2"));
+    }
+}
--- a/qaup-collision/src/test/java/com/qaup/collision/datacollector/service/DataCollectorServicePositionTimestampTest.java
+++ b/qaup-collision/src/test/java/com/qaup/collision/datacollector/service/DataCollectorServicePositionTimestampTest.java
@ -0,0 +1,81 @@
+package com.qaup.collision.datacollector.service;
+
+import com.qaup.collision.datacollector.config.VehicleManagerProperties;
+import com.qaup.collision.datacollector.dao.DataCollectorDao;
+import com.qaup.collision.datacollector.filter.VehicleLocationFilter;
+import com.qaup.collision.datacollector.model.dto.SensorStatusDTO;
+import com.qaup.collision.datacollector.model.dto.UniversalVehicleStatusDTO;
+import com.qaup.collision.datacollector.sdk.AdxpFlightServiceHttpClient;
+import com.qaup.collision.dataprocessing.service.DataProcessingService;
+import com.qaup.collision.common.service.VehicleLocationService;
+import org.junit.jupiter.api.Test;
+import org.junit.jupiter.api.extension.ExtendWith;
+import org.mockito.InjectMocks;
+import org.mockito.Mock;
+import org.mockito.junit.jupiter.MockitoExtension;
+import org.springframework.test.util.ReflectionTestUtils;
+
+import java.lang.reflect.Method;
+
+import static org.junit.jupiter.api.Assertions.assertEquals;
+import static org.mockito.Mockito.never;
+import static org.mockito.Mockito.verify;
+
+@ExtendWith(MockitoExtension.class)
+class DataCollectorServicePositionTimestampTest {
+
+    @Mock
+    private DataCollectorDao dataCollectorDao;
+    @Mock
+    private VehicleLocationService vehicleLocationService;
+    @Mock
+    private DataProcessingService dataProcessingService;
+    @Mock
+    private VehicleLocationFilter vehicleLocationFilter;
+    @Mock
+    private TrafficLightDataCollector trafficLightDataCollector;
+    @Mock
+    private AdxpFlightServiceHttpClient adxpFlightServiceClient;
+    @Mock
+    private com.qaup.collision.datacollector.websocket.AdxpFlightServiceWebSocketClient adxpFlightServiceWebSocketClient;
+    @Mock
+    private com.qaup.collision.datacollector.websocket.VehicleManagerWebSocketClient vehicleManagerWebSocketClient;
+    @Mock
+    private VehicleManagerProperties vehicleManagerProperties;
+    @Mock
+    private VehicleManagerCacheService vehicleManagerCacheService;
+    @Mock
+    private VehicleStatusAggregationService vehicleStatusAggregationService;
+
+    @InjectMocks
+    private DataCollectorService dataCollectorService;
+
+    @Test
+    void shouldUseGpsLastUpdateAsUnmannedVehicleSourceTimestamp() throws Exception {
+        UniversalVehicleStatusDTO statusDTO = UniversalVehicleStatusDTO.builder()
+            .sensorStatus(SensorStatusDTO.builder()
+                .gps(SensorStatusDTO.GpsStatusDTO.builder()
+                    .lastUpdate(1_710_000_123_000L)
+                    .build())
+                .build())
+            .build();
+
+        Method method = DataCollectorService.class.getDeclaredMethod(
+            "resolveUnmannedVehicleSourceTimestampMs",
+            UniversalVehicleStatusDTO.class);
+        method.setAccessible(true);
+
+        assertEquals(1_710_000_123_000L, method.invoke(dataCollectorService, statusDTO));
+    }
+
+    @Test
+    void shouldNotCallVehicleManagerHttpPollingEndpoints() {
+        ReflectionTestUtils.setField(dataCollectorService, "collectorDisabled", false);
+
+        dataCollectorService.refreshUnmannedVehicleList();
+        dataCollectorService.collectUnmannedVehicleData();
+
+        verify(dataCollectorDao, never()).getVehicleManagerVehicleDetails();
+        verify(dataCollectorDao, never()).getVehicleManagerStatus(org.mockito.ArgumentMatchers.anyString());
+    }
+}
--- a/qaup-collision/src/test/java/com/qaup/collision/datacollector/service/VehicleStatusUpdateIntegrationTest.java
+++ b/qaup-collision/src/test/java/com/qaup/collision/datacollector/service/VehicleStatusUpdateIntegrationTest.java
@ -307,10 +307,10 @@ class VehicleStatusUpdateIntegrationTest {
            .altitude(0.0)
            .build());

-        when(platformRuntimeStateService.isRegisteredForCollision(eq(registeredUvId), eq(MovingObjectType.UNMANNED_VEHICLE)))
-            .thenReturn(true);
-        when(platformRuntimeStateService.isRegisteredForCollision(eq(unregisteredUvId), eq(MovingObjectType.UNMANNED_VEHICLE)))
-            .thenReturn(false);
+        when(platformRuntimeStateService.getRegisteredCollisionObjectType(registeredUvId))
+            .thenReturn(MovingObjectType.UNMANNED_VEHICLE);
+        when(platformRuntimeStateService.getRegisteredCollisionObjectType(unregisteredUvId))
+            .thenReturn(null);

        dataProcessingService.performPeriodicDataProcessing();

--- a/qaup-collision/src/test/java/com/qaup/collision/datacollector/websocket/AdxpFlightServiceWebSocketClientContactCrossTest.java
+++ b/qaup-collision/src/test/java/com/qaup/collision/datacollector/websocket/AdxpFlightServiceWebSocketClientContactCrossTest.java
@ -0,0 +1,68 @@
+package com.qaup.collision.datacollector.websocket;
+
+import com.qaup.collision.datacollector.config.FlightSdkProperties;
+import com.qaup.collision.dataprocessing.service.DataProcessingService;
+import com.qaup.common.core.redis.RedisCache;
+import org.junit.jupiter.api.BeforeEach;
+import org.junit.jupiter.api.Test;
+import org.springframework.test.util.ReflectionTestUtils;
+import org.springframework.web.socket.WebSocketSession;
+import org.springframework.web.socket.client.WebSocketClient;
+
+import static org.mockito.ArgumentMatchers.anyString;
+import static org.mockito.ArgumentMatchers.eq;
+import static org.mockito.Mockito.mock;
+import static org.mockito.Mockito.never;
+import static org.mockito.Mockito.verify;
+
+class AdxpFlightServiceWebSocketClientContactCrossTest {
+
+    private AdxpFlightServiceWebSocketClient client;
+    private RedisCache redisCache;
+
+    @BeforeEach
+    void setUp() {
+        client = new AdxpFlightServiceWebSocketClient(mock(WebSocketClient.class), new FlightSdkProperties());
+        redisCache = mock(RedisCache.class);
+        ReflectionTestUtils.setField(client, "redisCache", redisCache);
+        ReflectionTestUtils.setField(client, "dataProcessingService", mock(DataProcessingService.class));
+    }
+
+    @Test
+    void contactTaxiwayEventStoresTaxiwayIntersectionAsContactCross() throws Exception {
+        client.handleTextMessage(mock(WebSocketSession.class), flightMessagesJson(
+                "ADXP_WURENCHE_O_DYN_CONTACTTAXIWAY",
+                "<?xml version=\"1.0\" encoding=\"UTF-8\" standalone=\"yes\"?>"
+                        + "<Msg><Head>"
+                        + "<Svc_ServiceCode>ADXP_WURENCHE_O_DYN_CONTACTTAXIWAY</Svc_ServiceCode>"
+                        + "</Head><Body><TaxiwayIntersection>"
+                        + "<FlightNo>CQH6325</FlightNo>"
+                        + "<TaxiwayIntersection>F5</TaxiwayIntersection>"
+                        + "</TaxiwayIntersection></Body></Msg>"));
+
+        verify(redisCache).setCacheMapValue("flight:9C6325", "flightNumber", "9C6325");
+        verify(redisCache).setCacheMapValue("flight:9C6325", "contactCross", "F5");
+        verify(redisCache).setCacheMapValue(eq("flight:9C6325"), eq("contactCrossTs"), anyString());
+    }
+
+    @Test
+    void tisFlightNoLongerStoresContactCross() throws Exception {
+        client.handleTextMessage(mock(WebSocketSession.class), flightMessagesJson(
+                "ADXP_NAOMS_O_DYN_TISFLIGHT",
+                "<?xml version=\"1.0\" encoding=\"UTF-8\" standalone=\"yes\"?>"
+                        + "<Msg><Body><TisFlight>"
+                        + "<FlNo>9C6325</FlNo>"
+                        + "<Type>ARR</Type>"
+                        + "<ContactCross>F1</ContactCross>"
+                        + "</TisFlight></Body></Msg>"));
+
+        verify(redisCache, never()).setCacheMapValue(anyString(), eq("contactCross"), anyString());
+        verify(redisCache, never()).setCacheMapValue(anyString(), eq("contactCrossTs"), anyString());
+    }
+
+    private String flightMessagesJson(String serviceCode, String xml) {
+        return "[{\"serviceCode\":\"" + serviceCode + "\","
+                + "\"actionCode\":null,"
+                + "\"content\":\"" + xml.replace("\"", "\\\"") + "\"}]";
+    }
+}
--- a/qaup-collision/src/test/java/com/qaup/collision/dataprocessing/service/DataProcessingServiceCollisionRegistrationTest.java
+++ b/qaup-collision/src/test/java/com/qaup/collision/dataprocessing/service/DataProcessingServiceCollisionRegistrationTest.java
@ -0,0 +1,57 @@
+package com.qaup.collision.dataprocessing.service;
+
+import com.qaup.collision.common.model.MovingObject;
+import com.qaup.collision.service.PlatformRuntimeStateService;
+import org.junit.jupiter.api.Test;
+import org.springframework.test.util.ReflectionTestUtils;
+
+import java.lang.reflect.Method;
+import java.util.List;
+
+import static org.junit.jupiter.api.Assertions.assertEquals;
+import static org.junit.jupiter.api.Assertions.assertNotNull;
+
+class DataProcessingServiceCollisionRegistrationTest {
+
+    @Test
+    void shouldUseRegisteredCollisionTypeInsteadOfCollectedSourceType() throws Exception {
+        DataProcessingService service = new DataProcessingService();
+        PlatformRuntimeStateService runtimeStateService = new PlatformRuntimeStateService(200.0, 100.0, 40.0);
+        runtimeStateService.updateVehicleRegistry(List.of(
+            new PlatformRuntimeStateService.VehicleRegistryEntry("WR01", PlatformRuntimeStateService.VehicleRegistryType.WUREN),
+            new PlatformRuntimeStateService.VehicleRegistryEntry("CD423", PlatformRuntimeStateService.VehicleRegistryType.HANGKONG)
+        ));
+        ReflectionTestUtils.setField(service, "platformRuntimeStateService", runtimeStateService);
+
+        List<MovingObject> activeObjects = List.of(
+            MovingObject.builder()
+                .objectId("WR01")
+                .objectName("WR01")
+                .objectType(MovingObject.MovingObjectType.AIRCRAFT)
+                .currentPosition(new org.locationtech.jts.geom.GeometryFactory()
+                    .createPoint(new org.locationtech.jts.geom.Coordinate(120.09704, 36.34834)))
+                .build(),
+            MovingObject.builder()
+                .objectId("CD423")
+                .objectName("CD423")
+                .objectType(MovingObject.MovingObjectType.AIRCRAFT)
+                .currentPosition(new org.locationtech.jts.geom.GeometryFactory()
+                    .createPoint(new org.locationtech.jts.geom.Coordinate(120.09914, 36.34943)))
+                .build()
+        );
+
+        Method method = DataProcessingService.class.getDeclaredMethod("filterCollisionManagedObjects", List.class);
+        method.setAccessible(true);
+        Object result = method.invoke(service, activeObjects);
+        @SuppressWarnings("unchecked")
+        List<MovingObject> objects = (List<MovingObject>) ReflectionTestUtils.getField(result, "objects");
+
+        assertEquals(2, objects.size());
+        MovingObject wr01 = objects.stream().filter(item -> "WR01".equals(item.getObjectId())).findFirst().orElse(null);
+        MovingObject cd423 = objects.stream().filter(item -> "CD423".equals(item.getObjectId())).findFirst().orElse(null);
+        assertNotNull(wr01);
+        assertNotNull(cd423);
+        assertEquals(MovingObject.MovingObjectType.UNMANNED_VEHICLE, wr01.getObjectType());
+        assertEquals(MovingObject.MovingObjectType.AIRCRAFT, cd423.getObjectType());
+    }
+}
--- a/qaup-collision/src/test/java/com/qaup/collision/dataprocessing/service/DataProcessingServicePositionDispatchTest.java
+++ b/qaup-collision/src/test/java/com/qaup/collision/dataprocessing/service/DataProcessingServicePositionDispatchTest.java
@ -0,0 +1,54 @@
+package com.qaup.collision.dataprocessing.service;
+
+import com.qaup.collision.common.model.MovingObject;
+import com.qaup.collision.websocket.event.PositionUpdateEvent;
+import org.junit.jupiter.api.Test;
+import org.locationtech.jts.geom.Coordinate;
+import org.locationtech.jts.geom.GeometryFactory;
+import org.springframework.context.ApplicationEventPublisher;
+import org.springframework.test.util.ReflectionTestUtils;
+
+import java.lang.reflect.Method;
+import java.util.List;
+
+import static org.junit.jupiter.api.Assertions.assertEquals;
+import static org.mockito.Mockito.mock;
+import static org.mockito.Mockito.times;
+import static org.mockito.Mockito.verify;
+
+class DataProcessingServicePositionDispatchTest {
+
+    @Test
+    void shouldSkipPublishingWhenSourceSampleTimestampDidNotChange() throws Exception {
+        DataProcessingService service = new DataProcessingService();
+        ApplicationEventPublisher eventPublisher = mock(ApplicationEventPublisher.class);
+        ReflectionTestUtils.setField(service, "eventPublisher", eventPublisher);
+
+        GeometryFactory geometryFactory = new GeometryFactory();
+        MovingObject movingObject = MovingObject.builder()
+            .objectId("UV-001")
+            .objectName("UV-001")
+            .objectType(MovingObject.MovingObjectType.UNMANNED_VEHICLE)
+            .currentPosition(geometryFactory.createPoint(new Coordinate(120.0834, 36.3540)))
+            .currentSpeed(12.0)
+            .currentHeading(90.0)
+            .sourceTimestampMs(1_710_000_123_000L)
+            .build();
+
+        Object firstSummary = invokeSendPositionUpdates(service, List.of(movingObject));
+        Object secondSummary = invokeSendPositionUpdates(service, List.of(movingObject));
+
+        assertEquals(1, ReflectionTestUtils.getField(firstSummary, "publishedCount"));
+        assertEquals(0, ReflectionTestUtils.getField(firstSummary, "duplicateSampleSkippedCount"));
+        assertEquals(0, ReflectionTestUtils.getField(secondSummary, "publishedCount"));
+        assertEquals(1, ReflectionTestUtils.getField(secondSummary, "duplicateSampleSkippedCount"));
+        verify(eventPublisher, times(1)).publishEvent(org.mockito.ArgumentMatchers.any(PositionUpdateEvent.class));
+    }
+
+    private Object invokeSendPositionUpdates(DataProcessingService service,
+                                             List<MovingObject> activeObjects) throws Exception {
+        Method method = DataProcessingService.class.getDeclaredMethod("sendPositionUpdatesForActiveObjects", List.class);
+        method.setAccessible(true);
+        return method.invoke(service, activeObjects);
+    }
+}
--- a/qaup-collision/src/test/java/com/qaup/collision/dataprocessing/service/DataProcessingServiceRouteGeometryTest.java
+++ b/qaup-collision/src/test/java/com/qaup/collision/dataprocessing/service/DataProcessingServiceRouteGeometryTest.java
@ -0,0 +1,65 @@
+package com.qaup.collision.dataprocessing.service;
+
+import com.qaup.collision.common.model.AircraftRoute;
+import com.qaup.collision.datacollector.dto.AircraftRouteDTO;
+import com.qaup.collision.datacollector.util.RouteGeometryProcessor;
+import org.junit.jupiter.api.Test;
+import org.mockito.Mockito;
+import org.springframework.context.ApplicationContext;
+
+import java.lang.reflect.Field;
+import java.lang.reflect.Method;
+import java.util.List;
+
+import static org.junit.jupiter.api.Assertions.assertEquals;
+import static org.junit.jupiter.api.Assertions.assertNotNull;
+
+class DataProcessingServiceRouteGeometryTest {
+
+    @Test
+    void convertToAircraftRouteShouldKeepAllRoutePoints() throws Exception {
+        DataProcessingService service = new DataProcessingService();
+        ApplicationContext applicationContext = Mockito.mock(ApplicationContext.class);
+        Mockito.when(applicationContext.getBean(RouteGeometryProcessor.class)).thenReturn(new RouteGeometryProcessor());
+        setField(service, "applicationContext", applicationContext);
+
+        AircraftRouteDTO routeDTO = new AircraftRouteDTO();
+        routeDTO.setType("IN");
+        routeDTO.setStatus("COMPLETE");
+        routeDTO.setCodes("A,B");
+        routeDTO.setGeoPath(new AircraftRouteDTO.GeoPath(
+            "FeatureCollection",
+            List.of(new AircraftRouteDTO.Feature(
+                "Feature",
+                new AircraftRouteDTO.Geometry(
+                    "LineString",
+                    List.of(
+                        List.of(120.0000, 36.0000),
+                        List.of(120.0001, 36.0001),
+                        List.of(120.0002, 36.0002)
+                    )
+                ),
+                new AircraftRouteDTO.Properties("A")
+            ))
+        ));
+
+        AircraftRoute route = invokeConvertToAircraftRoute(service, routeDTO);
+
+        assertNotNull(route);
+        assertNotNull(route.getGeometry());
+        assertEquals(3, route.getGeometry().getNumPoints());
+    }
+
+    private AircraftRoute invokeConvertToAircraftRoute(DataProcessingService service,
+                                                       AircraftRouteDTO routeDTO) throws Exception {
+        Method method = DataProcessingService.class.getDeclaredMethod("convertToAircraftRoute", AircraftRouteDTO.class);
+        method.setAccessible(true);
+        return (AircraftRoute) method.invoke(service, routeDTO);
+    }
+
+    private void setField(Object target, String fieldName, Object value) throws Exception {
+        Field field = DataProcessingService.class.getDeclaredField(fieldName);
+        field.setAccessible(true);
+        field.set(target, value);
+    }
+}
--- a/qaup-collision/src/test/java/com/qaup/collision/pathconflict/service/PathConflictDetectionDirectionalTest.java
+++ b/qaup-collision/src/test/java/com/qaup/collision/pathconflict/service/PathConflictDetectionDirectionalTest.java
@ -3,6 +3,7 @@ package com.qaup.collision.pathconflict.service;
 import com.qaup.collision.common.model.MovingObject;
 import com.qaup.collision.common.model.MovingObject.MovingObjectType;
 import com.qaup.collision.dataprocessing.service.CoordinateSystemService;
+import com.qaup.collision.pathconflict.model.dto.ConflictAlertEvent;
 import com.qaup.collision.pathconflict.model.entity.ObjectRouteAssignment;
 import com.qaup.collision.pathconflict.model.entity.TransportRoute;
 import com.qaup.collision.pathconflict.repository.ConflictAlertLogRepository;
@ -25,6 +26,7 @@ import java.util.Optional;

 import static org.mockito.ArgumentMatchers.any;
 import static org.mockito.ArgumentMatchers.anyDouble;
+import static org.mockito.Mockito.atLeastOnce;
 import static org.mockito.Mockito.never;
 import static org.mockito.Mockito.verify;
 import static org.mockito.Mockito.when;
@ -50,6 +52,9 @@ class PathConflictDetectionDirectionalTest {
    @Mock
    private PlatformRuntimeStateService platformRuntimeStateService;

+    @Mock
+    private VehicleCommandService vehicleCommandService;
+
    @InjectMocks
    private PathConflictDetectionService pathConflictDetectionService;

@ -130,10 +135,13 @@ class PathConflictDetectionDirectionalTest {
        when(coordinateSystemService.convertToLocalCoordinate(anyDouble(), anyDouble()))
            .thenAnswer(invocation -> new double[]{invocation.getArgument(0), invocation.getArgument(1)});

-        pathConflictDetectionService.detectPathConflicts(List.of(obj1, obj2));
+        PathConflictDetectionService.ConflictDetectionSummary summary =
+            pathConflictDetectionService.detectPathConflicts(List.of(obj1, obj2));

        verify(conflictAlertLogRepository, never()).save(any());
        verify(eventPublisher, never()).publishEvent(any());
+        org.junit.jupiter.api.Assertions.assertEquals(1, summary.supportedPairs());
+        org.junit.jupiter.api.Assertions.assertEquals(1, summary.intersectionBehindPairs());
    }

    @Test
@ -160,9 +168,95 @@ class PathConflictDetectionDirectionalTest {
            .altitude(0.0)
            .build();

-        pathConflictDetectionService.detectPathConflicts(List.of(obj1, obj2));
+        PathConflictDetectionService.ConflictDetectionSummary summary =
+            pathConflictDetectionService.detectPathConflicts(List.of(obj1, obj2));

        verify(conflictAlertLogRepository, never()).save(any());
        verify(eventPublisher, never()).publishEvent(any());
+        org.junit.jupiter.api.Assertions.assertEquals(0, summary.supportedPairs());
+    }
+
+    @Test
+    void shouldStillEvaluateConflictWhenAircraftIsWithinTwoHundredMetersOfAssignedRoute() throws Exception {
+        GeometryFactory geometryFactory = new GeometryFactory();
+
+        LineString vehicleRoute = geometryFactory.createLineString(new Coordinate[]{
+            new Coordinate(0.0, 0.0),
+            new Coordinate(300.0, 0.0)
+        });
+        LineString aircraftRoute = geometryFactory.createLineString(new Coordinate[]{
+            new Coordinate(150.0, -300.0),
+            new Coordinate(150.0, 300.0)
+        });
+
+        MovingObject vehicle = MovingObject.builder()
+            .objectId("UV-1")
+            .objectName("UV-1")
+            .objectType(MovingObjectType.UNMANNED_VEHICLE)
+            .currentPosition(geometryFactory.createPoint(new Coordinate(30.0, 0.0)))
+            .currentSpeed(18.0)
+            .currentHeading(90.0)
+            .altitude(0.0)
+            .build();
+
+        MovingObject aircraft = MovingObject.builder()
+            .objectId("AC-1")
+            .objectName("AC-1")
+            .objectType(MovingObjectType.AIRCRAFT)
+            .currentPosition(geometryFactory.createPoint(new Coordinate(0.0, -150.0)))
+            .currentSpeed(20.0)
+            .currentHeading(0.0)
+            .altitude(0.0)
+            .build();
+
+        ObjectRouteAssignment vehicleAssignment = ObjectRouteAssignment.builder()
+            .objectName("UV-1")
+            .objectType(ObjectRouteAssignment.ObjectType.UNMANNED_VEHICLE)
+            .assignedRouteId(1L)
+            .build();
+        ObjectRouteAssignment aircraftAssignment = ObjectRouteAssignment.builder()
+            .objectName("AC-1")
+            .objectType(ObjectRouteAssignment.ObjectType.AIRCRAFT)
+            .assignedRouteId(2L)
+            .build();
+
+        TransportRoute route1 = TransportRoute.builder()
+            .id(1L)
+            .routeName("UV_ROUTE")
+            .routeType(TransportRoute.RouteType.UNMANNED_VEHICLE)
+            .status(TransportRoute.RouteStatus.ACTIVE)
+            .routeGeometry(vehicleRoute)
+            .build();
+        TransportRoute route2 = TransportRoute.builder()
+            .id(2L)
+            .routeName("AC_ROUTE")
+            .routeType(TransportRoute.RouteType.AIRCRAFT)
+            .status(TransportRoute.RouteStatus.ACTIVE)
+            .routeGeometry(aircraftRoute)
+            .build();
+
+        when(objectRouteAssignmentRepository.findFirstByObjectNameAndObjectTypeOrderByAssignedAtDesc("UV-1", ObjectRouteAssignment.ObjectType.UNMANNED_VEHICLE))
+            .thenReturn(Optional.of(vehicleAssignment));
+        when(objectRouteAssignmentRepository.findFirstByObjectNameAndObjectTypeOrderByAssignedAtDesc("AC-1", ObjectRouteAssignment.ObjectType.AIRCRAFT))
+            .thenReturn(Optional.of(aircraftAssignment));
+        when(routeRepository.findById(1L)).thenReturn(Optional.of(route1));
+        when(routeRepository.findById(2L)).thenReturn(Optional.of(route2));
+        when(coordinateSystemService.convertToLocalCoordinate(anyDouble(), anyDouble()))
+            .thenAnswer(invocation -> new double[]{invocation.getArgument(0), invocation.getArgument(1)});
+        when(platformRuntimeStateService.getCollisionDivergingReleaseDistanceForVehicle()).thenReturn(200.0);
+        when(platformRuntimeStateService.getCollisionDivergingReleaseDistanceForAircraft()).thenReturn(200.0);
+        when(conflictAlertLogRepository.save(any())).thenAnswer(invocation -> {
+            com.qaup.collision.pathconflict.model.entity.ConflictAlertLog logEntry = invocation.getArgument(0);
+            logEntry.setId(1L);
+            return logEntry;
+        });
+
+        PathConflictDetectionService.ConflictDetectionSummary summary =
+            pathConflictDetectionService.detectPathConflicts(List.of(vehicle, aircraft));
+
+        verify(conflictAlertLogRepository, atLeastOnce()).save(any());
+        verify(eventPublisher, atLeastOnce()).publishEvent(any(ConflictAlertEvent.class));
+        org.junit.jupiter.api.Assertions.assertEquals(1, summary.supportedPairs());
+        org.junit.jupiter.api.Assertions.assertEquals(1, summary.eventsPublished());
    }
 }
--- a/qaup-collision/src/test/java/com/qaup/collision/pathconflict/service/PathConflictDetectionServiceNullSpeedTest.java
+++ b/qaup-collision/src/test/java/com/qaup/collision/pathconflict/service/PathConflictDetectionServiceNullSpeedTest.java
@ -2,11 +2,7 @@ package com.qaup.collision.pathconflict.service;

 import com.qaup.collision.common.model.MovingObject;
 import com.qaup.collision.common.model.MovingObject.MovingObjectType;
-import com.qaup.collision.pathconflict.repository.ObjectRouteAssignmentRepository;
-import com.qaup.collision.pathconflict.repository.TransportRouteRepository;
 import com.qaup.collision.pathconflict.repository.ConflictAlertLogRepository;
-import com.qaup.collision.pathconflict.model.entity.ObjectRouteAssignment;
-import com.qaup.collision.pathconflict.model.entity.TransportRoute;
 import com.qaup.collision.dataprocessing.service.CoordinateSystemService;
 import org.junit.jupiter.api.BeforeEach;
 import org.junit.jupiter.api.Test;
@ -20,12 +16,7 @@ import org.mockito.junit.jupiter.MockitoExtension;
 import org.springframework.context.ApplicationEventPublisher;

 import java.util.Arrays;
-import java.util.Optional;
-
 import static org.junit.jupiter.api.Assertions.assertDoesNotThrow;
-import static org.mockito.ArgumentMatchers.any;
-import static org.mockito.ArgumentMatchers.anyString;
-import static org.mockito.Mockito.when;

 /**
 * 测试PathConflictDetectionService处理null速度的情况
@ -33,12 +24,6 @@ import static org.mockito.Mockito.when;
@ExtendWith(MockitoExtension.class)
 class PathConflictDetectionServiceNullSpeedTest {

-    @Mock
-    private ObjectRouteAssignmentRepository objectRouteAssignmentRepository;
-
-    @Mock
-    private TransportRouteRepository routeRepository;
-
    @Mock
    private ConflictAlertLogRepository conflictAlertLogRepository;

@ -84,29 +69,6 @@ class PathConflictDetectionServiceNullSpeedTest {
                .altitude(0.0)
                .build();

-        // Mock路径分配和路径数据
-        ObjectRouteAssignment assignment1 = new ObjectRouteAssignment();
-        assignment1.setAssignedRouteId(1L);
-
-        ObjectRouteAssignment assignment2 = new ObjectRouteAssignment();
-        assignment2.setAssignedRouteId(2L);
-
-        TransportRoute route1 = new TransportRoute();
-        route1.setId(1L);
-        route1.setRouteName("测试路径1");
-
-        TransportRoute route2 = new TransportRoute();
-        route2.setId(2L);
-        route2.setRouteName("测试路径2");
-
-        when(objectRouteAssignmentRepository.findFirstByObjectNameAndObjectTypeOrderByAssignedAtDesc(
-                anyString(), any(ObjectRouteAssignment.ObjectType.class)))
-                .thenReturn(Optional.of(assignment1))
-                .thenReturn(Optional.of(assignment2));
-
-        when(routeRepository.findById(1L)).thenReturn(Optional.of(route1));
-        when(routeRepository.findById(2L)).thenReturn(Optional.of(route2));
-
        // 测试：调用detectPathConflicts不应该抛出NullPointerException
        assertDoesNotThrow(() -> {
            pathConflictDetectionService.detectPathConflicts(Arrays.asList(obj1, obj2));
@ -139,29 +101,6 @@ class PathConflictDetectionServiceNullSpeedTest {
                .altitude(0.0)
                .build();

-        // Mock路径分配和路径数据
-        ObjectRouteAssignment assignment1 = new ObjectRouteAssignment();
-        assignment1.setAssignedRouteId(1L);
-
-        ObjectRouteAssignment assignment2 = new ObjectRouteAssignment();
-        assignment2.setAssignedRouteId(2L);
-
-        TransportRoute route1 = new TransportRoute();
-        route1.setId(1L);
-        route1.setRouteName("测试路径1");
-
-        TransportRoute route2 = new TransportRoute();
-        route2.setId(2L);
-        route2.setRouteName("测试路径2");
-
-        when(objectRouteAssignmentRepository.findFirstByObjectNameAndObjectTypeOrderByAssignedAtDesc(
-                anyString(), any(ObjectRouteAssignment.ObjectType.class)))
-                .thenReturn(Optional.of(assignment1))
-                .thenReturn(Optional.of(assignment2));
-
-        when(routeRepository.findById(1L)).thenReturn(Optional.of(route1));
-        when(routeRepository.findById(2L)).thenReturn(Optional.of(route2));
-
        // 测试：调用detectPathConflicts不应该抛出NullPointerException
        assertDoesNotThrow(() -> {
            pathConflictDetectionService.detectPathConflicts(Arrays.asList(obj1, obj2));
--- a/qaup-collision/src/test/java/com/qaup/collision/pathconflict/service/PathConflictDetectionServiceRuntimeConfigTest.java
+++ b/qaup-collision/src/test/java/com/qaup/collision/pathconflict/service/PathConflictDetectionServiceRuntimeConfigTest.java
@ -3,6 +3,8 @@ package com.qaup.collision.pathconflict.service;
 import com.qaup.collision.common.model.MovingObject;
 import com.qaup.collision.dataprocessing.service.CoordinateSystemService;
 import com.qaup.collision.pathconflict.model.entity.ConflictAlertLog;
+import com.qaup.collision.pathconflict.model.entity.ObjectRouteAssignment;
+import com.qaup.collision.pathconflict.model.entity.TransportRoute;
 import com.qaup.collision.pathconflict.repository.ConflictAlertLogRepository;
 import com.qaup.collision.pathconflict.repository.ObjectRouteAssignmentRepository;
 import com.qaup.collision.pathconflict.repository.TransportRouteRepository;
@ -14,12 +16,14 @@ import org.springframework.test.util.ReflectionTestUtils;
 import java.util.Optional;

 import static org.junit.jupiter.api.Assertions.assertEquals;
+import static org.junit.jupiter.api.Assertions.assertNotNull;
 import static org.mockito.Mockito.mock;
+import static org.mockito.Mockito.when;

 class PathConflictDetectionServiceRuntimeConfigTest {

    @Test
-    void shouldUseRuntimeThresholdsWhenEvaluatingAlertLevel() {
+    void shouldUseCollisionDistanceThresholdsWhenEvaluatingAlertLevel() {
        PlatformRuntimeStateService runtimeStateService = new PlatformRuntimeStateService(200.0, 150.0, 40.0);
        PathConflictDetectionService service = new PathConflictDetectionService(
            mock(TransportRouteRepository.class),
@ -36,30 +40,106 @@ class PathConflictDetectionServiceRuntimeConfigTest {
            (Optional<ConflictAlertLog.AlertLevel>) ReflectionTestUtils.invokeMethod(
                service,
                "evaluateAlertLevel",
-                140.0,
+                35.0,
                MovingObject.MovingObjectType.UNMANNED_VEHICLE,
-                500.0,
-                MovingObject.MovingObjectType.AIRCRAFT,
-                20.0
+                30.0,
+                MovingObject.MovingObjectType.AIRCRAFT
            );

        assertEquals(Optional.of(ConflictAlertLog.AlertLevel.CRITICAL), beforeUpdate);

-        runtimeStateService.updateRunwayAlertZoneRadiusAircraft(100.0);
-        runtimeStateService.updateRunwayWarningZoneRadiusAircraft(130.0);
+        runtimeStateService.updateCollisionDivergingReleaseDistanceForVehicle(20.0);
+        runtimeStateService.updateCollisionDivergingReleaseDistanceForAircraft(25.0);

        @SuppressWarnings("unchecked")
        Optional<ConflictAlertLog.AlertLevel> afterUpdate =
            (Optional<ConflictAlertLog.AlertLevel>) ReflectionTestUtils.invokeMethod(
                service,
                "evaluateAlertLevel",
-                140.0,
+                35.0,
                MovingObject.MovingObjectType.UNMANNED_VEHICLE,
-                500.0,
-                MovingObject.MovingObjectType.AIRCRAFT,
-                20.0
+                30.0,
+                MovingObject.MovingObjectType.AIRCRAFT
            );

        assertEquals(Optional.empty(), afterUpdate);
    }
+
+    @Test
+    void shouldReturnWarningWhenOnlyOneSideEntersThreshold() {
+        PlatformRuntimeStateService runtimeStateService = new PlatformRuntimeStateService(200.0, 150.0, 40.0);
+        runtimeStateService.updateCollisionDivergingReleaseDistanceForVehicle(50.0);
+        runtimeStateService.updateCollisionDivergingReleaseDistanceForAircraft(20.0);
+
+        PathConflictDetectionService service = new PathConflictDetectionService(
+            mock(TransportRouteRepository.class),
+            mock(ObjectRouteAssignmentRepository.class),
+            mock(ConflictAlertLogRepository.class),
+            mock(ApplicationEventPublisher.class),
+            mock(CoordinateSystemService.class),
+            runtimeStateService,
+            mock(VehicleCommandService.class)
+        );
+
+        @SuppressWarnings("unchecked")
+        Optional<ConflictAlertLog.AlertLevel> result =
+            (Optional<ConflictAlertLog.AlertLevel>) ReflectionTestUtils.invokeMethod(
+                service,
+                "evaluateAlertLevel",
+                30.0,
+                MovingObject.MovingObjectType.UNMANNED_VEHICLE,
+                25.0,
+                MovingObject.MovingObjectType.AIRCRAFT
+            );
+
+        assertEquals(Optional.of(ConflictAlertLog.AlertLevel.WARNING), result);
+    }
+
+    @Test
+    void shouldResolveAssignedRouteUsingObjectIdWhenObjectNameDiffers() {
+        TransportRouteRepository routeRepository = mock(TransportRouteRepository.class);
+        ObjectRouteAssignmentRepository assignmentRepository = mock(ObjectRouteAssignmentRepository.class);
+        PlatformRuntimeStateService runtimeStateService = new PlatformRuntimeStateService(200.0, 150.0, 40.0);
+
+        PathConflictDetectionService service = new PathConflictDetectionService(
+            routeRepository,
+            assignmentRepository,
+            mock(ConflictAlertLogRepository.class),
+            mock(ApplicationEventPublisher.class),
+            mock(CoordinateSystemService.class),
+            runtimeStateService,
+            mock(VehicleCommandService.class)
+        );
+
+        MovingObject aircraft = MovingObject.builder()
+            .objectId("AC001")
+            .objectName("CA3456")
+            .objectType(MovingObject.MovingObjectType.AIRCRAFT)
+            .build();
+
+        ObjectRouteAssignment assignment = ObjectRouteAssignment.builder()
+            .id(1L)
+            .objectType(ObjectRouteAssignment.ObjectType.AIRCRAFT)
+            .objectName("AC001")
+            .assignedRouteId(99L)
+            .build();
+
+        TransportRoute route = TransportRoute.builder()
+            .id(99L)
+            .routeName("TEST_AIRCRAFT_ROUTE")
+            .routeType(TransportRoute.RouteType.AIRCRAFT)
+            .status(TransportRoute.RouteStatus.ACTIVE)
+            .build();
+
+        when(assignmentRepository.findFirstByObjectNameAndObjectTypeOrderByAssignedAtDesc(
+            "AC001",
+            ObjectRouteAssignment.ObjectType.AIRCRAFT
+        )).thenReturn(Optional.of(assignment));
+        when(routeRepository.findById(99L)).thenReturn(Optional.of(route));
+
+        TransportRoute resolved = (TransportRoute) ReflectionTestUtils.invokeMethod(service, "getObjectRoute", aircraft);
+
+        assertNotNull(resolved);
+        assertEquals(99L, resolved.getId());
+    }
 }
--- a/qaup-collision/src/test/java/com/qaup/collision/pathconflict/service/VehicleCommandServiceTest.java
+++ b/qaup-collision/src/test/java/com/qaup/collision/pathconflict/service/VehicleCommandServiceTest.java
@ -13,7 +13,6 @@ import org.locationtech.jts.geom.Point;
 import org.springframework.http.HttpHeaders;
 import org.springframework.http.HttpMethod;
 import org.springframework.http.MediaType;
-import org.springframework.test.util.ReflectionTestUtils;
 import org.springframework.web.client.RestTemplate;
 import org.springframework.test.web.client.MockRestServiceServer;

@ -30,7 +29,7 @@ import static org.springframework.test.web.client.response.MockRestResponseCreat

 class VehicleCommandServiceTest {

-    private static final String COMMAND_URL = "http://vehicle.example/api/VehicleCommandInfo";
+    private static final String COMMAND_URL = "http://10.232.18.23:8020/api/VehicleCommandInfo";

    private VehicleCommandService vehicleCommandService;
    private MockRestServiceServer server;
@ -43,8 +42,6 @@ class VehicleCommandServiceTest {
        server = MockRestServiceServer.bindTo(restTemplate).build();
        runtimeStateService = new PlatformRuntimeStateService(200.0, 100.0, 40.0);
        vehicleCommandService = new VehicleCommandService(restTemplate, new ObjectMapper(), runtimeStateService);
-        ReflectionTestUtils.setField(vehicleCommandService, "vehicleApiBaseUrl", "http://vehicle.example");
-        ReflectionTestUtils.setField(vehicleCommandService, "vehicleCommandEndpoint", "/api/VehicleCommandInfo");
        geometryFactory = new GeometryFactory();
    }

--- a/qaup-collision/src/test/java/com/qaup/collision/pathconflict/service/VehicleCommandServiceTrafficLightTest.java
+++ b/qaup-collision/src/test/java/com/qaup/collision/pathconflict/service/VehicleCommandServiceTrafficLightTest.java
@ -0,0 +1,69 @@
+package com.qaup.collision.pathconflict.service;
+
+import com.fasterxml.jackson.databind.ObjectMapper;
+import com.qaup.collision.service.PlatformRuntimeStateService;
+import org.junit.jupiter.api.BeforeEach;
+import org.junit.jupiter.api.Test;
+import org.springframework.http.HttpHeaders;
+import org.springframework.http.HttpMethod;
+import org.springframework.http.MediaType;
+import org.springframework.test.web.client.MockRestServiceServer;
+import org.springframework.web.client.RestTemplate;
+
+import java.util.List;
+
+import static org.springframework.test.web.client.ExpectedCount.once;
+import static org.springframework.test.web.client.match.MockRestRequestMatchers.header;
+import static org.springframework.test.web.client.match.MockRestRequestMatchers.jsonPath;
+import static org.springframework.test.web.client.match.MockRestRequestMatchers.method;
+import static org.springframework.test.web.client.match.MockRestRequestMatchers.requestTo;
+import static org.springframework.test.web.client.response.MockRestResponseCreators.withSuccess;
+
+class VehicleCommandServiceTrafficLightTest {
+
+    private static final String COMMAND_URL = "http://10.232.18.23:8020/api/VehicleCommandInfo";
+
+    private VehicleCommandService vehicleCommandService;
+    private MockRestServiceServer server;
+    private PlatformRuntimeStateService runtimeStateService;
+
+    @BeforeEach
+    void setUp() {
+        RestTemplate restTemplate = new RestTemplate();
+        server = MockRestServiceServer.bindTo(restTemplate).build();
+        runtimeStateService = new PlatformRuntimeStateService(200.0, 100.0, 40.0);
+        vehicleCommandService = new VehicleCommandService(restTemplate, new ObjectMapper(), runtimeStateService);
+    }
+
+    @Test
+    void shouldSendTrafficLightSignalCommandsToFixedUnifiedHttpEndpoint() {
+        runtimeStateService.updateVehicleRegistry(List.of(
+            new PlatformRuntimeStateService.VehicleRegistryEntry("QN001", PlatformRuntimeStateService.VehicleRegistryType.WUREN),
+            new PlatformRuntimeStateService.VehicleRegistryEntry("TQ001", PlatformRuntimeStateService.VehicleRegistryType.TEQIN),
+            new PlatformRuntimeStateService.VehicleRegistryEntry("AC001", PlatformRuntimeStateService.VehicleRegistryType.HANGKONG)
+        ));
+
+        server.expect(once(), requestTo(COMMAND_URL))
+            .andExpect(method(HttpMethod.POST))
+            .andExpect(header(HttpHeaders.CONTENT_TYPE, MediaType.APPLICATION_JSON_VALUE))
+            .andExpect(jsonPath("$.vehicleID").value("QN001"))
+            .andExpect(jsonPath("$.commandType").value("SIGNAL"))
+            .andExpect(jsonPath("$.commandReason").value("TRAFFIC_LIGHT"))
+            .andExpect(jsonPath("$.signalState").value("RED"))
+            .andExpect(jsonPath("$.intersectionId").value("T2"))
+            .andRespond(withSuccess("{\"code\":200,\"msg\":\"ok\"}", MediaType.APPLICATION_JSON));
+
+        server.expect(once(), requestTo(COMMAND_URL))
+            .andExpect(method(HttpMethod.POST))
+            .andExpect(jsonPath("$.vehicleID").value("TQ001"))
+            .andExpect(jsonPath("$.commandType").value("SIGNAL"))
+            .andExpect(jsonPath("$.commandReason").value("TRAFFIC_LIGHT"))
+            .andExpect(jsonPath("$.signalState").value("RED"))
+            .andExpect(jsonPath("$.intersectionId").value("T2"))
+            .andRespond(withSuccess("{\"code\":200,\"msg\":\"ok\"}", MediaType.APPLICATION_JSON));
+
+        vehicleCommandService.sendTrafficLightSignalCommands(3, "T2");
+
+        server.verify();
+    }
+}
--- a/qaup-collision/src/test/java/com/qaup/collision/service/AircraftRouteQueryServiceTest.java
+++ b/qaup-collision/src/test/java/com/qaup/collision/service/AircraftRouteQueryServiceTest.java
@ -0,0 +1,141 @@
+package com.qaup.collision.service;
+
+import com.qaup.collision.datacollector.dao.DataCollectorDao;
+import com.qaup.collision.datacollector.dto.AircraftRouteDTO;
+import com.qaup.collision.datacollector.service.RoutePersistenceService;
+import com.qaup.collision.datacollector.util.RouteGeometryProcessor;
+import com.qaup.collision.dto.AircraftRouteQueryRequest;
+import org.junit.jupiter.api.Test;
+import org.locationtech.jts.geom.LineString;
+
+import java.util.List;
+
+import static org.junit.jupiter.api.Assertions.assertEquals;
+import static org.junit.jupiter.api.Assertions.assertNotNull;
+import static org.mockito.ArgumentMatchers.any;
+import static org.mockito.ArgumentMatchers.eq;
+import static org.mockito.Mockito.argThat;
+import static org.mockito.Mockito.mock;
+import static org.mockito.Mockito.verify;
+import static org.mockito.Mockito.when;
+
+class AircraftRouteQueryServiceTest {
+
+    @Test
+    void shouldPersistAndBindAircraftRouteWhenFrontendProvidesObjectId() {
+        DataCollectorDao dataCollectorDao = mock(DataCollectorDao.class);
+        RoutePersistenceService routePersistenceService = mock(RoutePersistenceService.class);
+        when(routePersistenceService.saveAircraftRoute(eq("AC001"), any())).thenReturn(true);
+        when(dataCollectorDao.getArrivalRoute("35", null, "F1", "138")).thenReturn(buildRouteDto());
+
+        AircraftRouteQueryService service = new AircraftRouteQueryService(
+            dataCollectorDao,
+            routePersistenceService,
+            new RouteGeometryProcessor()
+        );
+
+        AircraftRouteQueryRequest request = new AircraftRouteQueryRequest();
+        request.setObjectId("AC001");
+        request.setRouteType("IN");
+        request.setInRunway("35");
+        request.setContactCross("F1");
+        request.setSeat("138");
+
+        AircraftRouteDTO response = service.queryRoute(request);
+
+        assertEquals("ACTIVE", response.getStatus());
+        assertEquals("F1", response.getCodes());
+        verify(routePersistenceService).saveAircraftRoute(eq("AC001"), any());
+    }
+
+    @Test
+    void shouldMergeReversedRouteSegmentsIntoSingleContinuousLine() {
+        DataCollectorDao dataCollectorDao = mock(DataCollectorDao.class);
+        RoutePersistenceService routePersistenceService = mock(RoutePersistenceService.class);
+        when(routePersistenceService.saveAircraftRoute(eq("AC001"), any())).thenReturn(true);
+        when(dataCollectorDao.getArrivalRoute("35", null, "F1", "138")).thenReturn(buildRouteDtoWithReversedSegments());
+
+        AircraftRouteQueryService service = new AircraftRouteQueryService(
+            dataCollectorDao,
+            routePersistenceService,
+            new RouteGeometryProcessor()
+        );
+
+        AircraftRouteQueryRequest request = new AircraftRouteQueryRequest();
+        request.setObjectId("AC001");
+        request.setRouteType("IN");
+        request.setInRunway("35");
+        request.setContactCross("F1");
+        request.setSeat("138");
+
+        AircraftRouteDTO response = service.queryRoute(request);
+
+        assertNotNull(response);
+        assertEquals("A,B", response.getCodes());
+        verify(routePersistenceService).saveAircraftRoute(eq("AC001"), argThat(route -> {
+            LineString geometry = route.getGeometry();
+            return geometry != null
+                && "LINESTRING (120 36, 120.1 36.1, 120.2 36.2)".equals(geometry.toText());
+        }));
+    }
+
+    private AircraftRouteDTO buildRouteDto() {
+        AircraftRouteDTO.Geometry geometry = new AircraftRouteDTO.Geometry();
+        geometry.setCoordinates(List.of(
+            List.of(120.1, 36.1),
+            List.of(120.2, 36.2)
+        ));
+
+        AircraftRouteDTO.Properties properties = new AircraftRouteDTO.Properties();
+        properties.setCode("F1");
+
+        AircraftRouteDTO.Feature feature = new AircraftRouteDTO.Feature();
+        feature.setGeometry(geometry);
+        feature.setProperties(properties);
+
+        AircraftRouteDTO.GeoPath geoPath = new AircraftRouteDTO.GeoPath();
+        geoPath.setFeatures(List.of(feature));
+
+        AircraftRouteDTO dto = new AircraftRouteDTO();
+        dto.setCodes("F1");
+        dto.setStatus("ACTIVE");
+        dto.setGeoPath(geoPath);
+        return dto;
+    }
+
+    private AircraftRouteDTO buildRouteDtoWithReversedSegments() {
+        AircraftRouteDTO.Geometry segment1 = new AircraftRouteDTO.Geometry();
+        segment1.setCoordinates(List.of(
+            List.of(120.1, 36.1),
+            List.of(120.2, 36.2)
+        ));
+
+        AircraftRouteDTO.Geometry segment2 = new AircraftRouteDTO.Geometry();
+        segment2.setCoordinates(List.of(
+            List.of(120.1, 36.1),
+            List.of(120.0, 36.0)
+        ));
+
+        AircraftRouteDTO.Properties properties1 = new AircraftRouteDTO.Properties();
+        properties1.setCode("A");
+        AircraftRouteDTO.Properties properties2 = new AircraftRouteDTO.Properties();
+        properties2.setCode("B");
+
+        AircraftRouteDTO.Feature feature1 = new AircraftRouteDTO.Feature();
+        feature1.setGeometry(segment1);
+        feature1.setProperties(properties1);
+
+        AircraftRouteDTO.Feature feature2 = new AircraftRouteDTO.Feature();
+        feature2.setGeometry(segment2);
+        feature2.setProperties(properties2);
+
+        AircraftRouteDTO.GeoPath geoPath = new AircraftRouteDTO.GeoPath();
+        geoPath.setFeatures(List.of(feature1, feature2));
+
+        AircraftRouteDTO dto = new AircraftRouteDTO();
+        dto.setCodes("A,B");
+        dto.setStatus("ACTIVE");
+        dto.setGeoPath(geoPath);
+        return dto;
+    }
+}
--- a/qaup-collision/src/test/java/com/qaup/collision/service/PlatformRuntimeStateServiceTest.java
+++ b/qaup-collision/src/test/java/com/qaup/collision/service/PlatformRuntimeStateServiceTest.java
@ -1,13 +1,21 @@
 package com.qaup.collision.service;

 import com.qaup.collision.common.model.MovingObject;
+import com.qaup.system.domain.SysConfig;
+import com.qaup.system.service.ISysConfigService;
 import org.junit.jupiter.api.Test;
+import org.springframework.test.util.ReflectionTestUtils;

 import java.util.List;

 import static org.junit.jupiter.api.Assertions.assertEquals;
 import static org.junit.jupiter.api.Assertions.assertFalse;
 import static org.junit.jupiter.api.Assertions.assertTrue;
+import static org.mockito.ArgumentMatchers.any;
+import static org.mockito.Mockito.mock;
+import static org.mockito.Mockito.times;
+import static org.mockito.Mockito.verify;
+import static org.mockito.Mockito.when;

 class PlatformRuntimeStateServiceTest {

@ -55,6 +63,33 @@ class PlatformRuntimeStateServiceTest {
        assertEquals(55.0, service.getCollisionDivergingReleaseDistance());
    }

+    @Test
+    void shouldPersistCrossingThresholdsWhenUpdated() {
+        PlatformRuntimeStateService service = new PlatformRuntimeStateService(200.0, 150.0, 40.0);
+        ISysConfigService sysConfigService = mock(ISysConfigService.class);
+        when(sysConfigService.selectConfigList(any(SysConfig.class))).thenReturn(List.of());
+        ReflectionTestUtils.setField(service, "sysConfigService", sysConfigService);
+
+        service.updateCollisionDivergingReleaseDistanceForVehicle(60.0);
+        service.updateCollisionDivergingReleaseDistanceForAircraft(80.0);
+
+        verify(sysConfigService, times(2)).insertConfig(any(SysConfig.class));
+    }
+
+    @Test
+    void shouldLoadPersistedCrossingThresholdsOnStartup() {
+        PlatformRuntimeStateService service = new PlatformRuntimeStateService(200.0, 150.0, 40.0);
+        ISysConfigService sysConfigService = mock(ISysConfigService.class);
+        when(sysConfigService.selectConfigByKey("qaup.collision.crossing.vehicleDistance")).thenReturn("65");
+        when(sysConfigService.selectConfigByKey("qaup.collision.crossing.aircraftDistance")).thenReturn("85");
+        ReflectionTestUtils.setField(service, "sysConfigService", sysConfigService);
+
+        service.loadPersistedCrossingThresholds();
+
+        assertEquals(65.0, service.getCollisionDivergingReleaseDistanceForVehicle());
+        assertEquals(85.0, service.getCollisionDivergingReleaseDistanceForAircraft());
+    }
+
    @Test
    void shouldOnlyAllowRegisteredCollisionTypesToParticipate() {
        PlatformRuntimeStateService service = new PlatformRuntimeStateService(200.0, 100.0, 40.0);
@ -75,4 +110,42 @@ class PlatformRuntimeStateServiceTest {
        assertEquals(List.of("QN001", "TQ001"), service.getControllableVehicleIds());
        assertEquals(List.of("QN001", "TQ001"), service.getTrafficLightRecipientVehicleIds());
    }
+
+    @Test
+    void shouldReportRemovedObjectsWhenVehicleRegistryIsResubmitted() {
+        PlatformRuntimeStateService service = new PlatformRuntimeStateService(200.0, 100.0, 40.0);
+        service.updateVehicleRegistry(List.of(
+            new PlatformRuntimeStateService.VehicleRegistryEntry("QN001", PlatformRuntimeStateService.VehicleRegistryType.WUREN),
+            new PlatformRuntimeStateService.VehicleRegistryEntry("TQ001", PlatformRuntimeStateService.VehicleRegistryType.TEQIN),
+            new PlatformRuntimeStateService.VehicleRegistryEntry("AC001", PlatformRuntimeStateService.VehicleRegistryType.HANGKONG)
+        ));
+
+        PlatformRuntimeStateService.VehicleRegistryUpdateResult second = service.updateVehicleRegistry(List.of(
+            new PlatformRuntimeStateService.VehicleRegistryEntry("QN001", PlatformRuntimeStateService.VehicleRegistryType.WUREN)
+        ));
+
+        assertEquals(List.of("AC001", "TQ001"), second.removedVehicleIDs());
+    }
+
+    @Test
+    void shouldCreateAndEndCollisionTestSessionFromRegistryUpdates() {
+        PlatformRuntimeStateService service = new PlatformRuntimeStateService(200.0, 100.0, 40.0);
+
+        PlatformRuntimeStateService.VehicleRegistryUpdateResult started = service.updateVehicleRegistry(List.of(
+            new PlatformRuntimeStateService.VehicleRegistryEntry("WR01", PlatformRuntimeStateService.VehicleRegistryType.WUREN),
+            new PlatformRuntimeStateService.VehicleRegistryEntry("CD423", PlatformRuntimeStateService.VehicleRegistryType.HANGKONG)
+        ));
+
+        assertTrue(started.testSessionId().startsWith("collision-test-"));
+        assertEquals(started.testSessionId(), service.getCurrentTestSessionId());
+
+        PlatformRuntimeStateService.CollisionPreparationStatus status = service.getCollisionPreparationStatus();
+        assertEquals(started.testSessionId(), status.testSessionId());
+
+        PlatformRuntimeStateService.VehicleRegistryUpdateResult ended = service.updateVehicleRegistry(List.of());
+
+        assertEquals(started.testSessionId(), ended.endedTestSessionId());
+        assertEquals(null, ended.testSessionId());
+        assertEquals(null, service.getCurrentTestSessionId());
+    }
 }
--- a/qaup-collision/src/test/java/com/qaup/collision/websocket/broadcaster/WebSocketMessageBroadcasterTest.java
+++ b/qaup-collision/src/test/java/com/qaup/collision/websocket/broadcaster/WebSocketMessageBroadcasterTest.java
@ -0,0 +1,54 @@
+package com.qaup.collision.websocket.broadcaster;
+
+import com.fasterxml.jackson.databind.ObjectMapper;
+import com.qaup.collision.websocket.cache.MessageCacheService;
+import com.qaup.collision.websocket.handler.CollisionWebSocketHandler;
+import com.qaup.collision.websocket.message.PositionUpdatePayload;
+import org.junit.jupiter.api.Test;
+
+import java.lang.reflect.Method;
+
+import static org.junit.jupiter.api.Assertions.assertEquals;
+import static org.junit.jupiter.api.Assertions.assertNotNull;
+import static org.mockito.Mockito.mock;
+
+class WebSocketMessageBroadcasterTest {
+
+    @Test
+    void sanitizePositionPayloadShouldKeepAircraftCoordinatesUnchanged() throws Exception {
+        WebSocketMessageBroadcaster broadcaster = new WebSocketMessageBroadcaster(
+            mock(MessageCacheService.class),
+            mock(CollisionWebSocketHandler.class),
+            new ObjectMapper()
+        );
+
+        PositionUpdatePayload firstPayload = payload("AC-1", 36.100000, 120.100000, 1_000L);
+        PositionUpdatePayload secondPayload = payload("AC-1", 36.100100, 120.100100, 2_000L);
+
+        invokeSanitize(broadcaster, firstPayload);
+        PositionUpdatePayload sanitized = invokeSanitize(broadcaster, secondPayload);
+
+        assertNotNull(sanitized);
+        assertEquals(36.100100, sanitized.getPosition().getLatitude());
+        assertEquals(120.100100, sanitized.getPosition().getLongitude());
+    }
+
+    private PositionUpdatePayload invokeSanitize(WebSocketMessageBroadcaster broadcaster,
+                                                 PositionUpdatePayload payload) throws Exception {
+        Method method = WebSocketMessageBroadcaster.class.getDeclaredMethod("sanitizePositionPayload", PositionUpdatePayload.class);
+        method.setAccessible(true);
+        return (PositionUpdatePayload) method.invoke(broadcaster, payload);
+    }
+
+    private PositionUpdatePayload payload(String objectId, double latitude, double longitude, long timestamp) {
+        return PositionUpdatePayload.builder()
+            .objectId(objectId)
+            .objectType("AIRCRAFT")
+            .position(PositionUpdatePayload.Position.builder()
+                .latitude(latitude)
+                .longitude(longitude)
+                .build())
+            .timestamp(timestamp)
+            .build();
+    }
+}