Align collision flow with platform vehicle registration

.codex/environments/environment.toml

@@ -0,0 +1,11 @@
+# THIS IS AUTOGENERATED. DO NOT EDIT MANUALLY
+version = 1
+name = "QAUP_Management"
+
+[setup]
+script = ""
+
+[[actions]]
+name = "运行"
+icon = "run"
+command = "mvn -pl qaup-admin -am clean package -DskipTests"

doc/frontend_platform_http_api_integration.md

@@ -0,0 +1,536 @@
+# 前端接入文档：新增平台 HTTP 接口
+
+## 1. 背景
+
+本次后端新增了一组 HTTP 接口，供前端在现有 WebSocket 交互之外，补充以下能力：
+
+- 同步“当前关心的对象及其类型”
+- 运行时修改部分碰撞检测相关参数
+
+## 2. 通用约定
+
+- 所有接口均为 `POST`
+- 所有请求和响应均为 `application/json`
+- 当前接口无鉴权、无 token、无签名校验
+- 当前后端未补 CORS
+  - 如果前端是浏览器并且跨域访问，后续可能还需要后端补 CORS
+- 配置修改仅在内存中生效
+  - 服务重启后恢复默认配置
+- `VehicleRegistry` 是“增量更新”
+  - 本次未传入的历史对象不会被清空
+
+建议前端统一配置接口基础地址，例如：
+
+```ts
+const API_BASE = 'http://<后端IP>:8080';
+```
+
+## 3. 接口一：对象注册同步
+
+### 3.1 接口地址
+
+```http
+POST /api/VehicleRegistry
+```
+
+### 3.2 用途
+
+前端将“当前关心的对象及其类型”增量同步给后端。
+
+该接口会直接影响：
+
+- 哪些对象参与碰撞检测
+- 哪些车辆可能被系统下发控制命令
+
+### 3.3 请求头
+
+```http
+Content-Type: application/json
+```
+
+### 3.4 请求体
+
+```json
+[
+  { "vehicleID": "QN001", "vehicleType": "WUREN" },
+  { "vehicleID": "TQ001", "vehicleType": "TEQIN" },
+  { "vehicleID": "AC001", "vehicleType": "HANGKONG" }
+]
+```
+
+### 3.5 字段说明
+
+| 字段 | 类型 | 必填 | 说明 |
+|---|---|---|---|
+| `vehicleID` | `string` | 是 | 对象唯一标识，不能为空 |
+| `vehicleType` | `string` | 是 | 对象类型，只允许固定枚举值 |
+
+### 3.6 `vehicleType` 可选值
+
+- `WUREN`
+- `TEQIN`
+- `HANGKONG`
+- `PUTONG`
+- `JIUYUAN`
+
+### 3.7 业务语义
+
+#### `WUREN`
+
+- 加入“可控车辆集合”
+- 加入“受管车辆集合”
+
+#### `TEQIN`
+
+- 加入“受管车辆集合”
+- 不属于“可控车辆集合”
+
+#### `HANGKONG`
+
+- 加入“已选中航空器集合”
+- 用于参与航空器相关碰撞/安全区计算
+
+#### `PUTONG`
+
+- 仅记录类型
+- 不进入可控/受管/已选航空器集合
+
+#### `JIUYUAN`
+
+- 仅记录类型
+- 不进入可控/受管/已选航空器集合
+
+### 3.8 成功响应
+
+```json
+{
+  "status": "success",
+  "updatedAt": 1742280000000,
+  "updated": 3,
+  "controllableCount": 1,
+  "typesCount": {
+    "WUREN": 1,
+    "TEQIN": 1,
+    "HANGKONG": 1
+  },
+  "controllableVehicleIDs": ["QN001"]
+}
+```
+
+### 3.9 响应字段说明
+
+| 字段 | 类型 | 说明 |
+|---|---|---|
+| `status` | `string` | 固定为 `success` |
+| `updatedAt` | `number` | 毫秒时间戳 |
+| `updated` | `number` | 本次成功处理的条目数 |
+| `controllableCount` | `number` | 当前系统内全部 `WUREN` 总数 |
+| `typesCount` | `object` | 本次请求内各类型数量统计 |
+| `controllableVehicleIDs` | `string[]` | 当前系统内全部可控车辆 ID 列表，即所有 `WUREN` |
+
+### 3.10 错误响应示例
+
+#### 请求体不是数组
+
+```json
+{
+  "status": "error",
+  "message": "Body must be an array"
+}
+```
+
+#### 参数非法
+
+```json
+{
+  "status": "error",
+  "message": "Invalid request",
+  "errors": [
+    "item must be an object",
+    "missing vehicleID",
+    "missing vehicleType",
+    "vehicleID must be string",
+    "vehicleType must be string",
+    "vehicleID must be non-empty",
+    "invalid vehicleType=xxx"
+  ]
+}
+```
+
+#### 非法 JSON
+
+```json
+{
+  "status": "error",
+  "message": "Invalid JSON",
+  "detail": "..."
+}
+```
+
+### 3.11 前端调用示例
+
+```ts
+await fetch(`${API_BASE}/api/VehicleRegistry`, {
+  method: 'POST',
+  headers: { 'Content-Type': 'application/json' },
+  body: JSON.stringify([
+    { vehicleID: 'QN001', vehicleType: 'WUREN' },
+    { vehicleID: 'TQ001', vehicleType: 'TEQIN' },
+    { vehicleID: 'AC001', vehicleType: 'HANGKONG' }
+  ])
+});
+```
+
+### 3.12 接入建议
+
+- 页面首次拿到关注对象列表后调用一次
+- 当前关注对象发生变化时再次调用
+- 请求体必须是数组，即使只有一条数据也必须传数组
+- 后端是“增量更新”，不要假设未传对象会被清空
+
+## 4. 接口二：跑道区域航空器预警区半径
+
+### 4.1 接口地址
+
+```http
+POST /config/runway/warning_zone_radius/aircraft
+```
+
+### 4.2 用途
+
+前端运行时修改跑道区域的“航空器预警区半径”。
+
+### 4.3 请求头
+
+```http
+Content-Type: application/json
+```
+
+### 4.4 请求体
+
+```json
+{ "value": 300 }
+```
+
+### 4.5 字段说明
+
+| 字段 | 类型 | 必填 | 说明 |
+|---|---|---|---|
+| `value` | `number` | 是 | 必须是大于 0 的有限数值 |
+
+### 4.6 成功响应
+
+```json
+{
+  "status": "success",
+  "area": "runway",
+  "field": "warning_zone_radius.aircraft",
+  "old": 200.0,
+  "new": 300.0
+}
+```
+
+### 4.7 错误响应示例
+
+#### 缺少字段
+
+```json
+{
+  "status": "error",
+  "message": "Missing field: value"
+}
+```
+
+#### 值非法
+
+```json
+{
+  "status": "error",
+  "message": "Invalid value: must be a finite number greater than 0"
+}
+```
+
+#### 非法 JSON
+
+```json
+{
+  "status": "error",
+  "message": "Invalid JSON",
+  "detail": "..."
+}
+```
+
+#### 字段类型错误
+
+```json
+{
+  "status": "error",
+  "message": "Invalid field type",
+  "detail": "..."
+}
+```
+
+### 4.8 前端调用示例
+
+```ts
+await fetch(`${API_BASE}/config/runway/warning_zone_radius/aircraft`, {
+  method: 'POST',
+  headers: { 'Content-Type': 'application/json' },
+  body: JSON.stringify({ value: 300 })
+});
+```
+
+## 5. 接口三：跑道区域航空器告警区半径
+
+### 5.1 接口地址
+
+```http
+POST /config/runway/alert_zone_radius/aircraft
+```
+
+### 5.2 用途
+
+前端运行时修改跑道区域的“航空器告警区半径”。
+
+### 5.3 请求体
+
+```json
+{ "value": 200 }
+```
+
+### 5.4 成功响应
+
+```json
+{
+  "status": "success",
+  "area": "runway",
+  "field": "alert_zone_radius.aircraft",
+  "old": 150.0,
+  "new": 200.0
+}
+```
+
+### 5.5 前端调用示例
+
+```ts
+await fetch(`${API_BASE}/config/runway/alert_zone_radius/aircraft`, {
+  method: 'POST',
+  headers: { 'Content-Type': 'application/json' },
+  body: JSON.stringify({ value: 200 })
+});
+```
+
+### 5.6 说明
+
+该接口的请求规则、错误规则与“预警区半径”接口一致，唯一差异是：
+
+- 路径不同
+- 成功响应中的 `field` 固定为 `alert_zone_radius.aircraft`
+
+## 6. 接口四：冲突解除距离阈值
+
+### 6.1 接口地址
+
+```http
+POST /config/collision/diverging_release_distance
+```
+
+### 6.2 用途
+
+前端运行时修改“冲突解除距离阈值”。
+
+### 6.3 请求体
+
+```json
+{ "value": 50 }
+```
+
+### 6.4 成功响应
+
+```json
+{
+  "status": "success",
+  "area": "collision",
+  "field": "collision.diverging_release_distance",
+  "old": 40.0,
+  "new": 50.0
+}
+```
+
+### 6.5 前端调用示例
+
+```ts
+await fetch(`${API_BASE}/config/collision/diverging_release_distance`, {
+  method: 'POST',
+  headers: { 'Content-Type': 'application/json' },
+  body: JSON.stringify({ value: 50 })
+});
+```
+
+### 6.6 说明
+
+该接口的请求规则、错误规则与前两个配置接口一致，唯一差异是：
+
+- 路径不同
+- 成功响应中的：
+  - `area` 固定为 `collision`
+  - `field` 固定为 `collision.diverging_release_distance`
+
+## 7. 推荐前端封装
+
+### 7.1 通用 POST JSON 请求
+
+```ts
+async function postJson<T>(url: string, body: unknown): Promise<T> {
+  const response = await fetch(url, {
+    method: 'POST',
+    headers: {
+      'Content-Type': 'application/json'
+    },
+    body: JSON.stringify(body)
+  });
+
+  const data = await response.json();
+
+  if (!response.ok) {
+    throw data;
+  }
+
+  return data as T;
+}
+```
+
+### 7.2 类型定义
+
+```ts
+type VehicleType = 'WUREN' | 'TEQIN' | 'HANGKONG' | 'PUTONG' | 'JIUYUAN';
+
+interface VehicleRegistryItem {
+  vehicleID: string;
+  vehicleType: VehicleType;
+}
+
+interface VehicleRegistryResponse {
+  status: 'success';
+  updatedAt: number;
+  updated: number;
+  controllableCount: number;
+  typesCount: Record<string, number>;
+  controllableVehicleIDs: string[];
+}
+
+interface ConfigUpdateResponse {
+  status: 'success';
+  area: string;
+  field: string;
+  old: number;
+  new: number;
+}
+
+interface ErrorResponse {
+  status: 'error';
+  message: string;
+  detail?: string;
+  errors?: string[];
+}
+```
+
+### 7.3 接口封装示例
+
+```ts
+export async function syncVehicleRegistry(items: VehicleRegistryItem[]) {
+  return postJson<VehicleRegistryResponse>(`${API_BASE}/api/VehicleRegistry`, items);
+}
+
+export async function updateRunwayWarningRadius(value: number) {
+  return postJson<ConfigUpdateResponse>(
+    `${API_BASE}/config/runway/warning_zone_radius/aircraft`,
+    { value }
+  );
+}
+
+export async function updateRunwayAlertRadius(value: number) {
+  return postJson<ConfigUpdateResponse>(
+    `${API_BASE}/config/runway/alert_zone_radius/aircraft`,
+    { value }
+  );
+}
+
+export async function updateDivergingReleaseDistance(value: number) {
+  return postJson<ConfigUpdateResponse>(
+    `${API_BASE}/config/collision/diverging_release_distance`,
+    { value }
+  );
+}
+```
+
+## 8. 前端联调注意事项
+
+### 8.1 `VehicleRegistry`
+
+- 请求体必须是数组
+- `vehicleID` 不能为空字符串
+- `vehicleType` 必须严格使用大写枚举值
+- 该接口是“增量更新”，未传对象不会被后端自动删除
+
+### 8.2 配置接口
+
+- `value` 必须是 `number`
+- 不要传字符串，例如 `"300"` 是错误的
+- 必须大于 `0`
+
+### 8.3 跨域问题
+
+- 当前后端未配置 CORS
+- 如果前端页面和后端接口不是同域同端口，浏览器可能拦截
+- 如出现跨域报错，需要后端后续补 CORS 配置
+
+### 8.4 生效方式
+
+- 这 3 个配置接口修改后立即在当前服务进程内生效
+- 服务重启后恢复默认值，不会持久化
+
+## 9. 联调建议流程
+
+### 9.1 第一步：先调对象注册接口
+
+确认前端能成功将当前关注对象同步给后端。
+
+### 9.2 第二步：再调配置接口
+
+确认预警半径、告警半径、冲突解除距离可运行时修改。
+
+### 9.3 第三步：观察业务联动
+
+重点观察：
+
+- 碰撞检测结果是否按新对象范围生效
+- 跑道区域预警/告警范围是否按新阈值变化
+- 冲突解除逻辑后续接入时是否读取当前运行时配置
+
+## 10. 最小联调示例
+
+```ts
+async function initPlatformObjects() {
+  await syncVehicleRegistry([
+    { vehicleID: 'QN001', vehicleType: 'WUREN' },
+    { vehicleID: 'TQ001', vehicleType: 'TEQIN' },
+    { vehicleID: 'AC001', vehicleType: 'HANGKONG' }
+  ]);
+}
+
+async function updateRuntimeConfig() {
+  await updateRunwayWarningRadius(300);
+  await updateRunwayAlertRadius(200);
+  await updateDivergingReleaseDistance(50);
+}
+```
+
+## 11. 接口清单汇总
+
+| 接口 | 方法 | 用途 |
+|---|---|---|
+| `/api/VehicleRegistry` | `POST` | 同步当前关心对象及类型 |
+| `/config/runway/warning_zone_radius/aircraft` | `POST` | 修改跑道区域航空器预警区半径 |
+| `/config/runway/alert_zone_radius/aircraft` | `POST` | 修改跑道区域航空器告警区半径 |
+| `/config/collision/diverging_release_distance` | `POST` | 修改冲突解除距离阈值 |

qaup-collision/pom.xml

@@ -42,6 +42,13 @@
             <version>${qaup.version}</version>
         </dependency>
 
+        <dependency>
+            <groupId>com.qaup</groupId>
+            <artifactId>qaup-framework</artifactId>
+            <version>${qaup.version}</version>
+            <scope>test</scope>
+        </dependency>
+
         <!-- Spring Boot Web -->
         <dependency>
             <groupId>org.springframework.boot</groupId>

qaup-collision/src/main/java/com/qaup/collision/controller/PlatformIntegrationController.java

@@ -0,0 +1,219 @@
+package com.qaup.collision.controller;
+
+import com.fasterxml.jackson.core.JsonProcessingException;
+import com.fasterxml.jackson.databind.JsonNode;
+import com.fasterxml.jackson.databind.ObjectMapper;
+import com.qaup.collision.service.PlatformRuntimeStateService;
+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.ArrayList;
+import java.util.LinkedHashMap;
+import java.util.List;
+import java.util.Map;
+
+@RestController
+@RequestMapping(produces = MediaType.APPLICATION_JSON_VALUE)
+public class PlatformIntegrationController {
+
+    private final ObjectMapper objectMapper;
+    private final PlatformRuntimeStateService platformRuntimeStateService;
+
+    public PlatformIntegrationController(
+        ObjectMapper objectMapper,
+        PlatformRuntimeStateService platformRuntimeStateService) {
+        this.objectMapper = objectMapper;
+        this.platformRuntimeStateService = platformRuntimeStateService;
+    }
+
+    @PostMapping(path = "/api/VehicleRegistry", consumes = MediaType.APPLICATION_JSON_VALUE)
+    public ResponseEntity<Map<String, Object>> registerVehicles(@RequestBody String requestBody) {
+        try {
+            JsonNode root = objectMapper.readTree(requestBody);
+            if (!root.isArray()) {
+                return error(HttpStatus.BAD_REQUEST, "Body must be an array");
+            }
+
+            List<String> errors = new ArrayList<>();
+            List<PlatformRuntimeStateService.VehicleRegistryEntry> entries = new ArrayList<>();
+            for (JsonNode item : root) {
+                validateVehicleRegistryItem(item, errors, entries);
+            }
+
+            if (!errors.isEmpty()) {
+                Map<String, Object> payload = new LinkedHashMap<>();
+                payload.put("status", "error");
+                payload.put("message", "Invalid request");
+                payload.put("errors", errors);
+                return ResponseEntity.badRequest().contentType(MediaType.APPLICATION_JSON).body(payload);
+            }
+
+            PlatformRuntimeStateService.VehicleRegistryUpdateResult result =
+                platformRuntimeStateService.updateVehicleRegistry(entries);
+
+            Map<String, Object> payload = new LinkedHashMap<>();
+            payload.put("status", "success");
+            payload.put("updatedAt", result.updatedAt());
+            payload.put("updated", result.updated());
+            payload.put("controllableCount", result.controllableCount());
+            payload.put("typesCount", result.typesCount());
+            payload.put("controllableVehicleIDs", result.controllableVehicleIDs());
+            return ResponseEntity.ok().contentType(MediaType.APPLICATION_JSON).body(payload);
+        } catch (JsonProcessingException e) {
+            return invalidJson(e);
+        } catch (Exception e) {
+            return internalError(e);
+        }
+    }
+
+    @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);
+    }
+
+    @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);
+    }
+
+    @PostMapping(path = "/config/collision/diverging_release_distance", consumes = MediaType.APPLICATION_JSON_VALUE)
+    public ResponseEntity<Map<String, Object>> updateCollisionDivergingReleaseDistance(@RequestBody String requestBody) {
+        return updateNumericConfig(requestBody, "collision", "collision.diverging_release_distance",
+            platformRuntimeStateService::updateCollisionDivergingReleaseDistance);
+    }
+
+    private void validateVehicleRegistryItem(
+        JsonNode item,
+        List<String> errors,
+        List<PlatformRuntimeStateService.VehicleRegistryEntry> entries) {
+
+        if (!item.isObject()) {
+            errors.add("item must be an object");
+            return;
+        }
+
+        JsonNode vehicleIdNode = item.get("vehicleID");
+        JsonNode vehicleTypeNode = item.get("vehicleType");
+
+        if (vehicleIdNode == null) {
+            errors.add("missing vehicleID");
+        }
+        if (vehicleTypeNode == null) {
+            errors.add("missing vehicleType");
+        }
+        if (vehicleIdNode == null || vehicleTypeNode == null) {
+            return;
+        }
+
+        if (!vehicleIdNode.isTextual()) {
+            errors.add("vehicleID must be string");
+        }
+        if (!vehicleTypeNode.isTextual()) {
+            errors.add("vehicleType must be string");
+        }
+        if (!vehicleIdNode.isTextual() || !vehicleTypeNode.isTextual()) {
+            return;
+        }
+
+        String vehicleId = vehicleIdNode.asText();
+        String vehicleType = vehicleTypeNode.asText();
+
+        if (vehicleId.trim().isEmpty()) {
+            errors.add("vehicleID must be non-empty");
+            return;
+        }
+
+        try {
+            PlatformRuntimeStateService.VehicleRegistryType parsedType =
+                PlatformRuntimeStateService.VehicleRegistryType.valueOf(vehicleType);
+            entries.add(new PlatformRuntimeStateService.VehicleRegistryEntry(vehicleId, parsedType));
+        } catch (IllegalArgumentException e) {
+            errors.add("invalid vehicleType=" + vehicleType);
+        }
+    }
+
+    private ResponseEntity<Map<String, Object>> updateNumericConfig(
+        String requestBody,
+        String area,
+        String field,
+        NumericUpdater updater) {
+
+        try {
+            JsonNode root = objectMapper.readTree(requestBody);
+            if (!root.isObject()) {
+                return invalidFieldType("Request body must be a JSON object");
+            }
+
+            JsonNode valueNode = root.get("value");
+            if (valueNode == null) {
+                return error(HttpStatus.BAD_REQUEST, "Missing field: value");
+            }
+            if (!valueNode.isNumber()) {
+                return invalidFieldType("Field 'value' must be a number");
+            }
+
+            double newValue = valueNode.asDouble();
+            if (!Double.isFinite(newValue) || newValue <= 0) {
+                return error(HttpStatus.BAD_REQUEST, "Invalid value: must be a finite number greater than 0");
+            }
+
+            double oldValue = updater.update(newValue);
+            Map<String, Object> payload = new LinkedHashMap<>();
+            payload.put("status", "success");
+            payload.put("area", area);
+            payload.put("field", field);
+            payload.put("old", oldValue);
+            payload.put("new", newValue);
+            return ResponseEntity.ok().contentType(MediaType.APPLICATION_JSON).body(payload);
+        } catch (JsonProcessingException e) {
+            return invalidJson(e);
+        } catch (Exception e) {
+            return internalError(e);
+        }
+    }
+
+    private ResponseEntity<Map<String, Object>> invalidJson(JsonProcessingException e) {
+        Map<String, Object> payload = new LinkedHashMap<>();
+        payload.put("status", "error");
+        payload.put("message", "Invalid JSON");
+        payload.put("detail", e.getOriginalMessage());
+        return ResponseEntity.badRequest().contentType(MediaType.APPLICATION_JSON).body(payload);
+    }
+
+    private ResponseEntity<Map<String, Object>> invalidFieldType(String detail) {
+        Map<String, Object> payload = new LinkedHashMap<>();
+        payload.put("status", "error");
+        payload.put("message", "Invalid field type");
+        payload.put("detail", detail);
+        return ResponseEntity.badRequest().contentType(MediaType.APPLICATION_JSON).body(payload);
+    }
+
+    private ResponseEntity<Map<String, Object>> error(HttpStatus status, String message) {
+        Map<String, Object> payload = new LinkedHashMap<>();
+        payload.put("status", "error");
+        payload.put("message", message);
+        return ResponseEntity.status(status).contentType(MediaType.APPLICATION_JSON).body(payload);
+    }
+
+    private ResponseEntity<Map<String, Object>> internalError(Exception e) {
+        Map<String, Object> payload = new LinkedHashMap<>();
+        payload.put("status", "error");
+        payload.put("message", "Internal error");
+        payload.put("detail", e.getMessage());
+        return ResponseEntity.status(HttpStatus.INTERNAL_SERVER_ERROR)
+            .contentType(MediaType.APPLICATION_JSON)
+            .body(payload);
+    }
+
+    @FunctionalInterface
+    private interface NumericUpdater {
+        double update(double newValue);
+    }
+}

qaup-collision/src/main/java/com/qaup/collision/datacollector/service/DataCollectorService.java

@@ -744,7 +744,8 @@ public class DataCollectorService {
                                 .missionStartTime(currentMission.getStartTime())
                                 .estimatedEndTime(currentMission.getEstimatedEndTime())
                                 .progress(currentMission.getProgress())
-                                .totalMileage(currentMission.getTotalMileage());
+                                .totalMileage(currentMission.getTotalMileage())
+                                .missionStatus(resolveMissionStatus(statusData, missionContext));
                         }
 
                         // 提取路径点信息
@@ -984,6 +985,7 @@ public class DataCollectorService {
                 unmannedVehicle.setEstimatedEndTime(currentMission.getEstimatedEndTime());
                 unmannedVehicle.setProgress(currentMission.getProgress());
                 unmannedVehicle.setTotalMileage(currentMission.getTotalMileage());
+                unmannedVehicle.setMissionStatus(resolveMissionStatus(null, missionContext));
             }
 
             // 更新路径点信息
@@ -1085,6 +1087,53 @@ public class DataCollectorService {
         return null;
     }
 
+    private UnmannedVehicle.MissionStatus resolveMissionStatus(
+        com.qaup.collision.datacollector.model.dto.UniversalVehicleStatusDTO statusData,
+        MissionContextDTO missionContext) {
+
+        if (missionContext == null || missionContext.getCurrentMission() == null) {
+            return UnmannedVehicle.MissionStatus.NONE;
+        }
+
+        MissionContextDTO.CurrentMissionDTO currentMission = missionContext.getCurrentMission();
+        if (currentMission.getMissionId() == null || currentMission.getMissionId().isBlank()) {
+            return UnmannedVehicle.MissionStatus.NONE;
+        }
+
+        if (currentMission.getProgress() != null && currentMission.getProgress() >= 100.0d) {
+            return UnmannedVehicle.MissionStatus.COMPLETED;
+        }
+
+        if (missionContext.getWaypoints() != null && !missionContext.getWaypoints().isEmpty()) {
+            boolean allFinished = missionContext.getWaypoints().stream()
+                .allMatch(waypoint -> {
+                    String status = waypoint.getStatus();
+                    return "COMPLETED".equalsIgnoreCase(status) || "SKIPPED".equalsIgnoreCase(status);
+                });
+            if (allFinished) {
+                return UnmannedVehicle.MissionStatus.COMPLETED;
+            }
+        }
+
+        if (statusData != null && statusData.getOperationalStatus() != null) {
+            String operationalMode = statusData.getOperationalStatus().getOperationalMode();
+            if (operationalMode != null) {
+                String normalized = operationalMode.trim().toUpperCase();
+                if (normalized.contains("CANCEL")) {
+                    return UnmannedVehicle.MissionStatus.CANCELLED;
+                }
+                if (normalized.contains("PAUSE")) {
+                    return UnmannedVehicle.MissionStatus.PAUSED;
+                }
+                if (normalized.contains("IDLE")) {
+                    return UnmannedVehicle.MissionStatus.ASSIGNED;
+                }
+            }
+        }
+
+        return UnmannedVehicle.MissionStatus.IN_PROGRESS;
+    }
+    
     /**
      * 通用车辆状态缓存条目
      */

qaup-collision/src/main/java/com/qaup/collision/datacollector/service/RoutePreparationService.java

@@ -0,0 +1,300 @@
+package com.qaup.collision.datacollector.service;
+
+import com.qaup.collision.common.model.MovingObject;
+import com.qaup.collision.common.model.UnmannedVehicle;
+import com.qaup.collision.datacollector.util.RouteGeometryProcessor;
+import com.qaup.collision.pathconflict.model.entity.ObjectRouteAssignment;
+import com.qaup.collision.pathconflict.model.entity.TransportRoute;
+import com.qaup.collision.pathconflict.repository.ObjectRouteAssignmentRepository;
+import com.qaup.collision.pathconflict.repository.TransportRouteRepository;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.locationtech.jts.geom.Coordinate;
+import org.locationtech.jts.geom.GeometryFactory;
+import org.locationtech.jts.geom.LineString;
+import org.locationtech.jts.geom.PrecisionModel;
+import org.springframework.stereotype.Service;
+import org.springframework.transaction.annotation.Transactional;
+
+import java.time.LocalDateTime;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.Objects;
+import java.util.Optional;
+
+/**
+ * Prepares route inputs before conflict detection.
+ * This service standardizes unmanned vehicle task waypoints into formal routes and assignments.
+ */
+@Slf4j
+@Service
+@RequiredArgsConstructor
+public class RoutePreparationService {
+
+    private static final String CREATED_BY = "RoutePreparationService";
+
+    private final TransportRouteRepository transportRouteRepository;
+    private final ObjectRouteAssignmentRepository objectRouteAssignmentRepository;
+    private final RouteGeometryProcessor routeGeometryProcessor;
+
+    private final GeometryFactory geometryFactory = new GeometryFactory(new PrecisionModel(), 4326);
+
+    @Transactional
+    public void synchronizeRoutes(List<MovingObject> activeObjects) {
+        if (activeObjects == null || activeObjects.isEmpty()) {
+            return;
+        }
+
+        for (MovingObject movingObject : activeObjects) {
+            if (movingObject instanceof UnmannedVehicle unmannedVehicle) {
+                synchronizeUnmannedVehicleRoute(unmannedVehicle);
+            }
+        }
+    }
+
+    @Transactional
+    public void synchronizeUnmannedVehicleRoute(UnmannedVehicle unmannedVehicle) {
+        if (unmannedVehicle == null || unmannedVehicle.getObjectId() == null || unmannedVehicle.getObjectId().isBlank()) {
+            return;
+        }
+
+        String objectName = normalizeObjectName(unmannedVehicle);
+        if (!shouldParticipateInConflictDetection(unmannedVehicle)) {
+            deactivatePreparedRouteIfPresent(objectName);
+            return;
+        }
+
+        LineString routeGeometry = buildUnmannedVehicleRouteGeometry(unmannedVehicle);
+
+        if (routeGeometry == null) {
+            deactivatePreparedRouteIfPresent(objectName);
+            return;
+        }
+
+        String routeName = buildUnmannedVehicleRouteName(unmannedVehicle);
+        Optional<TransportRoute> existingRouteOptional = transportRouteRepository
+            .findByRouteNameAndRouteType(routeName, TransportRoute.RouteType.UNMANNED_VEHICLE);
+
+        TransportRoute savedRoute = existingRouteOptional
+            .map(existing -> saveUpdatedRouteIfNeeded(existing, routeGeometry, unmannedVehicle))
+            .orElseGet(() -> transportRouteRepository.save(createNewRoute(routeName, routeGeometry, unmannedVehicle)));
+
+        saveAssignmentIfChanged(objectName, savedRoute.getId());
+        deactivateOtherPreparedRoutes(objectName, savedRoute.getId());
+    }
+
+    private TransportRoute createNewRoute(String routeName, LineString routeGeometry, UnmannedVehicle unmannedVehicle) {
+        return TransportRoute.builder()
+            .routeName(routeName)
+            .routeType(TransportRoute.RouteType.UNMANNED_VEHICLE)
+            .description(buildRouteDescription(unmannedVehicle, routeGeometry))
+            .routeGeometry(routeGeometry)
+            .maxSpeedKph(30.0)
+            .typicalSpeedKph(unmannedVehicle.getCurrentSpeed() != null ? unmannedVehicle.getCurrentSpeed() : 15.0)
+            .status(TransportRoute.RouteStatus.ACTIVE)
+            .isBidirectional(false)
+            .createdBy(CREATED_BY)
+            .updatedBy(CREATED_BY)
+            .createdAt(LocalDateTime.now())
+            .updatedAt(LocalDateTime.now())
+            .build();
+    }
+
+    private TransportRoute updateExistingRoute(TransportRoute existing, LineString routeGeometry, UnmannedVehicle unmannedVehicle) {
+        existing.setRouteGeometry(routeGeometry);
+        existing.setDescription(buildRouteDescription(unmannedVehicle, routeGeometry));
+        existing.setTypicalSpeedKph(unmannedVehicle.getCurrentSpeed() != null ? unmannedVehicle.getCurrentSpeed() : existing.getTypicalSpeedKph());
+        existing.setStatus(TransportRoute.RouteStatus.ACTIVE);
+        existing.setUpdatedBy(CREATED_BY);
+        existing.setUpdatedAt(LocalDateTime.now());
+        return existing;
+    }
+
+    private TransportRoute saveUpdatedRouteIfNeeded(TransportRoute existing, LineString routeGeometry, UnmannedVehicle unmannedVehicle) {
+        String newDescription = buildRouteDescription(unmannedVehicle, routeGeometry);
+        Double newTypicalSpeed = unmannedVehicle.getCurrentSpeed() != null ? unmannedVehicle.getCurrentSpeed() : existing.getTypicalSpeedKph();
+
+        boolean sameGeometry = sameLineString(existing.getRouteGeometry(), routeGeometry);
+        boolean sameDescription = Objects.equals(existing.getDescription(), newDescription);
+        boolean sameTypicalSpeed = Objects.equals(existing.getTypicalSpeedKph(), newTypicalSpeed);
+        boolean alreadyActive = existing.getStatus() == TransportRoute.RouteStatus.ACTIVE;
+
+        if (sameGeometry && sameDescription && sameTypicalSpeed && alreadyActive) {
+            return existing;
+        }
+
+        TransportRoute updatedRoute = updateExistingRoute(existing, routeGeometry, unmannedVehicle);
+        return Optional.ofNullable(transportRouteRepository.save(updatedRoute)).orElse(existing);
+    }
+
+    private void saveAssignmentIfChanged(String objectName, Long routeId) {
+        Optional<ObjectRouteAssignment> existingAssignment = objectRouteAssignmentRepository
+            .findFirstByObjectNameAndObjectTypeOrderByAssignedAtDesc(
+                objectName,
+                ObjectRouteAssignment.ObjectType.UNMANNED_VEHICLE
+            );
+
+        if (existingAssignment.isPresent() && Objects.equals(existingAssignment.get().getAssignedRouteId(), routeId)) {
+            return;
+        }
+
+        objectRouteAssignmentRepository.save(ObjectRouteAssignment.builder()
+            .objectType(ObjectRouteAssignment.ObjectType.UNMANNED_VEHICLE)
+            .objectName(objectName)
+            .assignedRouteId(routeId)
+            .assignedAt(LocalDateTime.now())
+            .build());
+    }
+
+    private void deactivatePreparedRouteIfPresent(String objectName) {
+        objectRouteAssignmentRepository
+            .findFirstByObjectNameAndObjectTypeOrderByAssignedAtDesc(
+                objectName,
+                ObjectRouteAssignment.ObjectType.UNMANNED_VEHICLE
+            )
+            .flatMap(assignment -> transportRouteRepository.findById(assignment.getAssignedRouteId()))
+            .filter(this::isPreparedUnmannedVehicleRoute)
+            .filter(route -> route.getStatus() == TransportRoute.RouteStatus.ACTIVE)
+            .ifPresent(route -> {
+                route.setStatus(TransportRoute.RouteStatus.INACTIVE);
+                route.setUpdatedBy(CREATED_BY);
+                route.setUpdatedAt(LocalDateTime.now());
+                transportRouteRepository.save(route);
+            });
+    }
+
+    private void deactivateOtherPreparedRoutes(String objectName, Long activeRouteId) {
+        List<ObjectRouteAssignment> assignments = objectRouteAssignmentRepository
+            .findByObjectNameAndObjectTypeOrderByAssignedAtDesc(
+                objectName,
+                ObjectRouteAssignment.ObjectType.UNMANNED_VEHICLE
+            );
+
+        for (ObjectRouteAssignment assignment : assignments) {
+            if (Objects.equals(assignment.getAssignedRouteId(), activeRouteId)) {
+                continue;
+            }
+            transportRouteRepository.findById(assignment.getAssignedRouteId())
+                .filter(this::isPreparedUnmannedVehicleRoute)
+                .filter(route -> route.getStatus() == TransportRoute.RouteStatus.ACTIVE)
+                .ifPresent(route -> {
+                    route.setStatus(TransportRoute.RouteStatus.INACTIVE);
+                    route.setUpdatedBy(CREATED_BY);
+                    route.setUpdatedAt(LocalDateTime.now());
+                    transportRouteRepository.save(route);
+                });
+        }
+    }
+
+    private boolean isPreparedUnmannedVehicleRoute(TransportRoute route) {
+        return route != null
+            && route.getRouteType() == TransportRoute.RouteType.UNMANNED_VEHICLE
+            && CREATED_BY.equals(route.getCreatedBy());
+    }
+
+    private boolean shouldParticipateInConflictDetection(UnmannedVehicle unmannedVehicle) {
+        if (unmannedVehicle.getMissionStatus() == UnmannedVehicle.MissionStatus.COMPLETED
+            || unmannedVehicle.getMissionStatus() == UnmannedVehicle.MissionStatus.CANCELLED
+            || unmannedVehicle.getMissionStatus() == UnmannedVehicle.MissionStatus.NONE) {
+            return false;
+        }
+
+        if (unmannedVehicle.getProgress() != null && unmannedVehicle.getProgress() >= 100.0d) {
+            return false;
+        }
+
+        if (unmannedVehicle.getMissionId() == null || unmannedVehicle.getMissionId().isBlank()) {
+            return false;
+        }
+
+        if (unmannedVehicle.getWaypoints() == null || unmannedVehicle.getWaypoints().isEmpty()) {
+            return false;
+        }
+
+        boolean allFinished = unmannedVehicle.getWaypoints().stream()
+            .allMatch(waypoint -> waypoint != null
+                && (waypoint.getStatus() == UnmannedVehicle.WaypointStatus.COMPLETED
+                || waypoint.getStatus() == UnmannedVehicle.WaypointStatus.SKIPPED));
+        return !allFinished;
+    }
+
+    private String buildUnmannedVehicleRouteName(UnmannedVehicle unmannedVehicle) {
+        String missionId = unmannedVehicle.getMissionId();
+        if (missionId != null && !missionId.isBlank()) {
+            return "UV_ROUTE_" + unmannedVehicle.getObjectId() + "_" + missionId;
+        }
+        return "UV_ROUTE_" + unmannedVehicle.getObjectId();
+    }
+
+    private String buildRouteDescription(UnmannedVehicle unmannedVehicle, LineString routeGeometry) {
+        return String.format(
+            "Unmanned vehicle route prepared from mission context, vehicle=%s, mission=%s, points=%d",
+            unmannedVehicle.getObjectId(),
+            unmannedVehicle.getMissionId(),
+            routeGeometry.getNumPoints()
+        );
+    }
+
+    private String normalizeObjectName(UnmannedVehicle unmannedVehicle) {
+        if (unmannedVehicle.getObjectName() != null && !unmannedVehicle.getObjectName().isBlank()) {
+            return unmannedVehicle.getObjectName();
+        }
+        return unmannedVehicle.getObjectId();
+    }
+
+    private LineString buildUnmannedVehicleRouteGeometry(UnmannedVehicle unmannedVehicle) {
+        List<Coordinate> coordinates = new ArrayList<>();
+
+        if (unmannedVehicle.getCurrentPosition() != null && !unmannedVehicle.getCurrentPosition().isEmpty()) {
+            coordinates.add(unmannedVehicle.getCurrentPosition().getCoordinate());
+        }
+
+        if (unmannedVehicle.getWaypoints() != null) {
+            for (UnmannedVehicle.WaypointInfo waypoint : unmannedVehicle.getWaypoints()) {
+                if (waypoint == null || waypoint.getLatitude() == null || waypoint.getLongitude() == null) {
+                    continue;
+                }
+                Coordinate coordinate = new Coordinate(waypoint.getLongitude(), waypoint.getLatitude());
+                if (coordinates.isEmpty() || !sameCoordinate(coordinates.get(coordinates.size() - 1), coordinate)) {
+                    coordinates.add(coordinate);
+                }
+            }
+        }
+
+        if (coordinates.size() < 2) {
+            return null;
+        }
+
+        LineString route = geometryFactory.createLineString(coordinates.toArray(Coordinate[]::new));
+        if (!routeGeometryProcessor.isValidLineString(route)) {
+            return null;
+        }
+        return routeGeometryProcessor.simplifyLineString(route, 0.000001d);
+    }
+
+    private boolean sameCoordinate(Coordinate left, Coordinate right) {
+        return left != null
+            && right != null
+            && Double.compare(left.x, right.x) == 0
+            && Double.compare(left.y, right.y) == 0;
+    }
+
+    private boolean sameLineString(LineString left, LineString right) {
+        if (left == null || right == null) {
+            return false;
+        }
+
+        Coordinate[] leftCoordinates = left.getCoordinates();
+        Coordinate[] rightCoordinates = right.getCoordinates();
+        if (leftCoordinates.length != rightCoordinates.length) {
+            return false;
+        }
+
+        for (int i = 0; i < leftCoordinates.length; i++) {
+            if (!sameCoordinate(leftCoordinates[i], rightCoordinates[i])) {
+                return false;
+            }
+        }
+        return true;
+    }
+}

qaup-collision/src/main/java/com/qaup/collision/dataprocessing/service/DataProcessingService.java

@@ -6,6 +6,7 @@ import com.qaup.collision.common.model.UnmannedVehicle;
 import com.qaup.collision.common.model.spatial.VehicleLocation;
 import com.qaup.collision.common.adapter.QuapDataAdapter;
 import com.qaup.collision.datacollector.service.VehicleDataPersistenceService;
+import com.qaup.collision.datacollector.service.RoutePreparationService;
 import com.qaup.collision.dataprocessing.parser.TrafficLightSignalParser;
 import com.qaup.collision.websocket.event.PositionUpdateEvent;
 import com.qaup.collision.websocket.message.PositionUpdatePayload;
@@ -14,6 +15,7 @@ import com.qaup.collision.websocket.message.VehicleStatusUpdatePayload;
 import com.qaup.collision.websocket.event.VehicleStatusUpdateEvent;
 import com.qaup.collision.datacollector.service.DataCollectorService;
 import com.qaup.collision.common.model.FlightNotification;
+import com.qaup.collision.service.PlatformRuntimeStateService;
 import com.qaup.collision.websocket.event.FlightNotificationEvent;
 import com.qaup.common.core.redis.RedisCache;
 import com.qaup.system.domain.SysVehicleInfo;
@@ -75,6 +77,9 @@ public class DataProcessingService {
     @Autowired
     private VehicleDataPersistenceService vehicleDataPersistenceService;
 
+    @Autowired
+    private RoutePreparationService routePreparationService;
+
     @Autowired
     private QuapDataAdapter quapDataAdapter;
 
@@ -88,6 +93,9 @@ public class DataProcessingService {
     @Autowired
     private RedisCache redisCache;
 
+    @Autowired
+    private PlatformRuntimeStateService platformRuntimeStateService;
+
     // 从DataCollectorService获取缓存的引用
     private Map<String, MovingObject> activeMovingObjectsCache;
 
@@ -147,18 +155,43 @@ 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();
 
-        // 第五步：执行路径冲突检测
-        pathConflictDetectionService.detectPathConflicts(currentActiveObjects);
+        List<MovingObject> collisionManagedObjects = filterCollisionManagedObjects(currentActiveObjects);
 
-        // 第六步：执行违规检测
+        // 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) {
+            routePreparationService.synchronizeRoutes(collisionManagedObjects);
+        }
+
+        // 第六步：执行路径冲突检测
+        pathConflictDetectionService.detectPathConflicts(collisionManagedObjects);
+
+        // 第七步：执行违规检测
         performViolationDetection(currentActiveObjects);
 
-        // 第七步：保存无人车数据到数据库
+        // 第八步：保存无人车数据到数据库
         saveUnmannedVehicleDataPeriodically(currentActiveObjects);
 
         log.info("周期性数据处理完成");
     }
 
+    private List<MovingObject> filterCollisionManagedObjects(List<MovingObject> activeObjects) {
+        if (activeObjects == null || activeObjects.isEmpty()) {
+            return List.of();
+        }
+
+        List<MovingObject> filteredObjects = activeObjects.stream()
+            .filter(Objects::nonNull)
+            .filter(object -> platformRuntimeStateService == null
+                || platformRuntimeStateService.isRegisteredForCollision(object.getObjectId(), object.getObjectType()))
+            .collect(Collectors.toList());
+
+        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;
+    }
+
     /**
      * 为所有缓存对象计算速度和方向
      */

qaup-collision/src/main/java/com/qaup/collision/pathconflict/service/PathConflictDetectionService.java

@@ -10,6 +10,7 @@ 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;
+import com.qaup.collision.service.PlatformRuntimeStateService;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.locationtech.jts.geom.Coordinate;
@@ -39,9 +40,8 @@ public class PathConflictDetectionService {
     private final ConflictAlertLogRepository conflictAlertLogRepository;
     private final ApplicationEventPublisher eventPublisher;
     private final CoordinateSystemService coordinateSystemService;
+    private final PlatformRuntimeStateService platformRuntimeStateService;
 
-    private static final double WARNING_DISTANCE_THRESHOLD = 200.0;
-    private static final double ALERT_DISTANCE_THRESHOLD = 100.0;
     private static final int MAX_PREDICTION_TIME_SECONDS = 300;
     private static final double MIN_TIME_GAP_SECONDS = 30.0;
 
@@ -76,7 +76,7 @@ public class PathConflictDetectionService {
     }
 
     private Optional<ConflictAlertEvent> detectConflictBetweenObjects(MovingObject obj1, MovingObject obj2) {
-        if (obj1.getObjectType() != MovingObjectType.UNMANNED_VEHICLE && obj2.getObjectType() != MovingObjectType.UNMANNED_VEHICLE) {
+        if (!isSupportedConflictPair(obj1.getObjectType(), obj2.getObjectType())) {
             return Optional.empty();
         }
 
@@ -200,6 +200,7 @@ public class PathConflictDetectionService {
 
         return assignmentOptional
             .map(assignment -> routeRepository.findById(assignment.getAssignedRouteId()).orElse(null))
+            .filter(route -> route.getStatus() == TransportRoute.RouteStatus.ACTIVE)
             .orElse(null);
     }
 
@@ -288,27 +289,25 @@ public class PathConflictDetectionService {
         double distance2,
         MovingObjectType obj2Type,
         double timeGap) {
-
-        boolean obj1IsUnmannedVehicle = MovingObjectType.UNMANNED_VEHICLE.equals(obj1Type);
-        boolean obj2IsUnmannedVehicle = MovingObjectType.UNMANNED_VEHICLE.equals(obj2Type);
-
-        if (!obj1IsUnmannedVehicle && !obj2IsUnmannedVehicle) {
+        if (!isSupportedConflictPair(obj1Type, obj2Type)) {
             return Optional.empty();
         }
 
         double distanceToEvaluate;
-
-        if (obj1IsUnmannedVehicle && obj2IsUnmannedVehicle) {
-            distanceToEvaluate = Math.min(distance1, distance2);
-        } else if (obj1IsUnmannedVehicle) {
+        if (obj1Type == MovingObjectType.AIRCRAFT) {
+            distanceToEvaluate = distance2;
+        } else if (obj2Type == MovingObjectType.AIRCRAFT) {
             distanceToEvaluate = distance1;
         } else {
-            distanceToEvaluate = distance2;
+            return Optional.empty();
         }
 
-        if (distanceToEvaluate <= ALERT_DISTANCE_THRESHOLD && timeGap <= MIN_TIME_GAP_SECONDS) {
+        double alertDistanceThreshold = platformRuntimeStateService.getRunwayAlertZoneRadiusAircraft();
+        double warningDistanceThreshold = platformRuntimeStateService.getRunwayWarningZoneRadiusAircraft();
+
+        if (distanceToEvaluate <= alertDistanceThreshold && timeGap <= MIN_TIME_GAP_SECONDS) {
             return Optional.of(ConflictAlertLog.AlertLevel.CRITICAL);
-        } else if (distanceToEvaluate <= WARNING_DISTANCE_THRESHOLD && timeGap <= MIN_TIME_GAP_SECONDS * 2) {
+        } else if (distanceToEvaluate <= warningDistanceThreshold && timeGap <= MIN_TIME_GAP_SECONDS * 2) {
             return Optional.of(ConflictAlertLog.AlertLevel.WARNING);
         } else {
             return Optional.empty();
@@ -370,6 +369,13 @@ public class PathConflictDetectionService {
         return dot >= HEADING_ALIGNMENT_MIN_COS;
     }
 
+    private boolean isSupportedConflictPair(MovingObjectType left, MovingObjectType right) {
+        return (left == MovingObjectType.UNMANNED_VEHICLE && right == MovingObjectType.AIRCRAFT)
+            || (left == MovingObjectType.AIRCRAFT && right == MovingObjectType.UNMANNED_VEHICLE)
+            || (left == MovingObjectType.SPECIAL_VEHICLE && right == MovingObjectType.AIRCRAFT)
+            || (left == MovingObjectType.AIRCRAFT && right == MovingObjectType.SPECIAL_VEHICLE);
+    }
+
     private Point toLocalPoint(Point wgs84Point) {
         try {
             double[] local = coordinateSystemService.convertToLocalCoordinate(wgs84Point.getX(), wgs84Point.getY());

qaup-collision/src/main/java/com/qaup/collision/service/PlatformRuntimeStateService.java

@@ -0,0 +1,148 @@
+package com.qaup.collision.service;
+
+import com.qaup.collision.common.model.MovingObject;
+import org.springframework.beans.factory.annotation.Value;
+import org.springframework.stereotype.Service;
+
+import java.util.ArrayList;
+import java.util.Collections;
+import java.util.EnumMap;
+import java.util.LinkedHashMap;
+import java.util.List;
+import java.util.Map;
+import java.util.Objects;
+import java.util.Set;
+import java.util.TreeSet;
+import java.util.concurrent.ConcurrentHashMap;
+
+@Service
+public class PlatformRuntimeStateService {
+
+    private final ConcurrentHashMap<String, VehicleRegistryType> vehicleTypes = new ConcurrentHashMap<>();
+
+    private volatile double runwayWarningZoneRadiusAircraft;
+    private volatile double runwayAlertZoneRadiusAircraft;
+    private volatile double collisionDivergingReleaseDistance;
+
+    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,
+        @Value("${qaup.runtime-config.collision.diverging-release-distance:40.0}") double collisionDivergingReleaseDistance) {
+
+        this.runwayWarningZoneRadiusAircraft = runwayWarningZoneRadiusAircraft;
+        this.runwayAlertZoneRadiusAircraft = runwayAlertZoneRadiusAircraft;
+        this.collisionDivergingReleaseDistance = collisionDivergingReleaseDistance;
+    }
+
+    public VehicleRegistryUpdateResult updateVehicleRegistry(List<VehicleRegistryEntry> entries) {
+        Objects.requireNonNull(entries, "entries");
+
+        EnumMap<VehicleRegistryType, Integer> requestTypeCounts = new EnumMap<>(VehicleRegistryType.class);
+        for (VehicleRegistryEntry entry : entries) {
+            vehicleTypes.put(entry.vehicleID(), entry.vehicleType());
+            requestTypeCounts.merge(entry.vehicleType(), 1, Integer::sum);
+        }
+
+        Set<String> controllableVehicleIds = new TreeSet<>();
+        for (Map.Entry<String, VehicleRegistryType> entry : vehicleTypes.entrySet()) {
+            if (entry.getValue() == VehicleRegistryType.WUREN) {
+                controllableVehicleIds.add(entry.getKey());
+            }
+        }
+
+        Map<String, Integer> responseTypeCounts = new LinkedHashMap<>();
+        for (VehicleRegistryType type : VehicleRegistryType.values()) {
+            Integer count = requestTypeCounts.get(type);
+            if (count != null && count > 0) {
+                responseTypeCounts.put(type.name(), count);
+            }
+        }
+
+        return new VehicleRegistryUpdateResult(
+            System.currentTimeMillis(),
+            entries.size(),
+            controllableVehicleIds.size(),
+            responseTypeCounts,
+            new ArrayList<>(controllableVehicleIds));
+    }
+
+    public List<String> getControllableVehicleIds() {
+        TreeSet<String> vehicleIds = new TreeSet<>();
+        for (Map.Entry<String, VehicleRegistryType> entry : vehicleTypes.entrySet()) {
+            if (entry.getValue() == VehicleRegistryType.WUREN) {
+                vehicleIds.add(entry.getKey());
+            }
+        }
+        return Collections.unmodifiableList(new ArrayList<>(vehicleIds));
+    }
+
+    public VehicleRegistryType getVehicleRegistryType(String vehicleId) {
+        if (vehicleId == null || vehicleId.isBlank()) {
+            return null;
+        }
+        return vehicleTypes.get(vehicleId);
+    }
+
+    public boolean isRegisteredForCollision(String vehicleId, MovingObject.MovingObjectType objectType) {
+        VehicleRegistryType registryType = getVehicleRegistryType(vehicleId);
+        if (registryType == null || objectType == null) {
+            return false;
+        }
+
+        return switch (registryType) {
+            case WUREN -> objectType == MovingObject.MovingObjectType.UNMANNED_VEHICLE;
+            case TEQIN -> objectType == MovingObject.MovingObjectType.SPECIAL_VEHICLE;
+            case HANGKONG -> objectType == MovingObject.MovingObjectType.AIRCRAFT;
+            case PUTONG, JIUYUAN -> false;
+        };
+    }
+
+    public double getRunwayWarningZoneRadiusAircraft() {
+        return runwayWarningZoneRadiusAircraft;
+    }
+
+    public double updateRunwayWarningZoneRadiusAircraft(double newValue) {
+        double oldValue = runwayWarningZoneRadiusAircraft;
+        runwayWarningZoneRadiusAircraft = newValue;
+        return oldValue;
+    }
+
+    public double getRunwayAlertZoneRadiusAircraft() {
+        return runwayAlertZoneRadiusAircraft;
+    }
+
+    public double updateRunwayAlertZoneRadiusAircraft(double newValue) {
+        double oldValue = runwayAlertZoneRadiusAircraft;
+        runwayAlertZoneRadiusAircraft = newValue;
+        return oldValue;
+    }
+
+    public double getCollisionDivergingReleaseDistance() {
+        return collisionDivergingReleaseDistance;
+    }
+
+    public double updateCollisionDivergingReleaseDistance(double newValue) {
+        double oldValue = collisionDivergingReleaseDistance;
+        collisionDivergingReleaseDistance = newValue;
+        return oldValue;
+    }
+
+    public record VehicleRegistryEntry(String vehicleID, VehicleRegistryType vehicleType) {
+    }
+
+    public record VehicleRegistryUpdateResult(
+        long updatedAt,
+        int updated,
+        int controllableCount,
+        Map<String, Integer> typesCount,
+        List<String> controllableVehicleIDs) {
+    }
+
+    public enum VehicleRegistryType {
+        WUREN,
+        TEQIN,
+        HANGKONG,
+        PUTONG,
+        JIUYUAN
+    }
+}

qaup-collision/src/test/java/com/qaup/collision/controller/PlatformIntegrationControllerTest.java

@@ -0,0 +1,117 @@
+package com.qaup.collision.controller;
+
+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.MediaType;
+import org.springframework.test.web.servlet.MockMvc;
+import org.springframework.test.web.servlet.setup.MockMvcBuilders;
+
+import static org.springframework.test.web.servlet.request.MockMvcRequestBuilders.post;
+import static org.springframework.test.web.servlet.result.MockMvcResultMatchers.content;
+import static org.springframework.test.web.servlet.result.MockMvcResultMatchers.jsonPath;
+import static org.springframework.test.web.servlet.result.MockMvcResultMatchers.status;
+
+class PlatformIntegrationControllerTest {
+
+    private MockMvc mockMvc;
+
+    @BeforeEach
+    void setUp() {
+        PlatformRuntimeStateService runtimeStateService = new PlatformRuntimeStateService(200.0, 150.0, 40.0);
+        PlatformIntegrationController controller =
+            new PlatformIntegrationController(new ObjectMapper(), runtimeStateService);
+        mockMvc = MockMvcBuilders.standaloneSetup(controller).build();
+    }
+
+    @Test
+    void shouldAcceptVehicleRegistryPayload() throws Exception {
+        mockMvc.perform(post("/api/VehicleRegistry")
+                .contentType(MediaType.APPLICATION_JSON)
+                .content("""
+                    [
+                      { "vehicleID": "QN001", "vehicleType": "WUREN" },
+                      { "vehicleID": "TQ001", "vehicleType": "TEQIN" },
+                      { "vehicleID": "AC001", "vehicleType": "HANGKONG" }
+                    ]
+                    """))
+            .andExpect(status().isOk())
+            .andExpect(content().contentTypeCompatibleWith(MediaType.APPLICATION_JSON))
+            .andExpect(jsonPath("$.status").value("success"))
+            .andExpect(jsonPath("$.updated").value(3))
+            .andExpect(jsonPath("$.controllableCount").value(1))
+            .andExpect(jsonPath("$.typesCount.WUREN").value(1))
+            .andExpect(jsonPath("$.typesCount.TEQIN").value(1))
+            .andExpect(jsonPath("$.typesCount.HANGKONG").value(1))
+            .andExpect(jsonPath("$.controllableVehicleIDs[0]").value("QN001"));
+    }
+
+    @Test
+    void shouldRejectInvalidVehicleRegistryPayload() throws Exception {
+        mockMvc.perform(post("/api/VehicleRegistry")
+                .contentType(MediaType.APPLICATION_JSON)
+                .content("""
+                    [
+                      { "vehicleID": "", "vehicleType": "WUREN" },
+                      { "vehicleID": "QN002", "vehicleType": "UNKNOWN" },
+                      1
+                    ]
+                    """))
+            .andExpect(status().isBadRequest())
+            .andExpect(jsonPath("$.status").value("error"))
+            .andExpect(jsonPath("$.message").value("Invalid request"))
+            .andExpect(jsonPath("$.errors[0]").value("vehicleID must be non-empty"))
+            .andExpect(jsonPath("$.errors[1]").value("invalid vehicleType=UNKNOWN"))
+            .andExpect(jsonPath("$.errors[2]").value("item must be an object"));
+    }
+
+    @Test
+    void shouldRejectNonArrayVehicleRegistryPayload() throws Exception {
+        mockMvc.perform(post("/api/VehicleRegistry")
+                .contentType(MediaType.APPLICATION_JSON)
+                .content("{\"vehicleID\":\"QN001\",\"vehicleType\":\"WUREN\"}"))
+            .andExpect(status().isBadRequest())
+            .andExpect(jsonPath("$.message").value("Body must be an array"));
+    }
+
+    @Test
+    void shouldUpdateRunwayWarningZoneRadius() throws Exception {
+        mockMvc.perform(post("/config/runway/warning_zone_radius/aircraft")
+                .contentType(MediaType.APPLICATION_JSON)
+                .content("{\"value\":300}"))
+            .andExpect(status().isOk())
+            .andExpect(jsonPath("$.status").value("success"))
+            .andExpect(jsonPath("$.area").value("runway"))
+            .andExpect(jsonPath("$.field").value("warning_zone_radius.aircraft"))
+            .andExpect(jsonPath("$.old").value(200.0))
+            .andExpect(jsonPath("$.new").value(300.0));
+    }
+
+    @Test
+    void shouldRejectMissingNumericConfigValue() throws Exception {
+        mockMvc.perform(post("/config/collision/diverging_release_distance")
+                .contentType(MediaType.APPLICATION_JSON)
+                .content("{}"))
+            .andExpect(status().isBadRequest())
+            .andExpect(jsonPath("$.message").value("Missing field: value"));
+    }
+
+    @Test
+    void shouldRejectInvalidNumericConfigValueType() throws Exception {
+        mockMvc.perform(post("/config/runway/alert_zone_radius/aircraft")
+                .contentType(MediaType.APPLICATION_JSON)
+                .content("{\"value\":\"oops\"}"))
+            .andExpect(status().isBadRequest())
+            .andExpect(jsonPath("$.message").value("Invalid field type"));
+    }
+
+    @Test
+    void shouldRejectInvalidJson() throws Exception {
+        mockMvc.perform(post("/config/runway/alert_zone_radius/aircraft")
+                .contentType(MediaType.APPLICATION_JSON)
+                .content("{\"value\":"))
+            .andExpect(status().isBadRequest())
+            .andExpect(jsonPath("$.message").value("Invalid JSON"));
+    }
+}

qaup-collision/src/test/java/com/qaup/collision/controller/PlatformIntegrationSecurityTest.java

@@ -0,0 +1,116 @@
+package com.qaup.collision.controller;
+
+import com.qaup.framework.config.SecurityConfig;
+import com.qaup.framework.config.properties.PermitAllUrlProperties;
+import com.qaup.framework.security.filter.JwtAuthenticationTokenFilter;
+import com.qaup.framework.security.handle.AuthenticationEntryPointImpl;
+import com.qaup.framework.security.handle.LogoutSuccessHandlerImpl;
+import com.qaup.collision.service.PlatformRuntimeStateService;
+import jakarta.servlet.FilterChain;
+import jakarta.servlet.http.HttpServletRequest;
+import jakarta.servlet.http.HttpServletResponse;
+import org.junit.jupiter.api.BeforeEach;
+import org.junit.jupiter.api.Test;
+import org.mockito.Mockito;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.boot.SpringBootConfiguration;
+import org.springframework.boot.autoconfigure.EnableAutoConfiguration;
+import org.springframework.boot.test.autoconfigure.web.servlet.WebMvcTest;
+import org.springframework.test.context.ContextConfiguration;
+import org.springframework.context.annotation.Import;
+import org.springframework.http.MediaType;
+import org.springframework.security.core.userdetails.User;
+import org.springframework.security.core.userdetails.UserDetailsService;
+import org.springframework.test.context.bean.override.mockito.MockitoBean;
+import org.springframework.test.web.servlet.MockMvc;
+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)
+@ContextConfiguration(classes = {
+    PlatformIntegrationSecurityTest.TestApplication.class,
+    PlatformIntegrationController.class,
+    SecurityConfig.class
+})
+@Import(SecurityConfig.class)
+class PlatformIntegrationSecurityTest {
+
+    @SpringBootConfiguration
+    @EnableAutoConfiguration
+    static class TestApplication {
+    }
+
+    @Autowired
+    private MockMvc mockMvc;
+
+    @MockitoBean
+    private PlatformRuntimeStateService platformRuntimeStateService;
+
+    @MockitoBean
+    private UserDetailsService userDetailsService;
+
+    @MockitoBean
+    private AuthenticationEntryPointImpl authenticationEntryPoint;
+
+    @MockitoBean
+    private LogoutSuccessHandlerImpl logoutSuccessHandler;
+
+    @MockitoBean
+    private JwtAuthenticationTokenFilter jwtAuthenticationTokenFilter;
+
+    @MockitoBean
+    private CorsFilter corsFilter;
+
+    @MockitoBean
+    private PermitAllUrlProperties permitAllUrlProperties;
+
+    @BeforeEach
+    void setUp() throws Exception {
+        Mockito.when(permitAllUrlProperties.getUrls()).thenReturn(List.of());
+        Mockito.when(userDetailsService.loadUserByUsername(Mockito.anyString()))
+            .thenReturn(User.withUsername("user").password("{noop}pwd").authorities("ROLE_USER").build());
+
+        Mockito.doAnswer(invocation -> {
+            HttpServletRequest request = invocation.getArgument(0);
+            HttpServletResponse response = invocation.getArgument(1);
+            FilterChain chain = invocation.getArgument(2);
+            chain.doFilter(request, response);
+            return null;
+        }).when(jwtAuthenticationTokenFilter).doFilter(
+            Mockito.any(HttpServletRequest.class),
+            Mockito.any(HttpServletResponse.class),
+            Mockito.any(FilterChain.class)
+        );
+
+        Mockito.doAnswer(invocation -> {
+            HttpServletRequest request = invocation.getArgument(0);
+            HttpServletResponse response = invocation.getArgument(1);
+            FilterChain chain = invocation.getArgument(2);
+            chain.doFilter(request, response);
+            return null;
+        }).when(corsFilter).doFilter(
+            Mockito.any(HttpServletRequest.class),
+            Mockito.any(HttpServletResponse.class),
+            Mockito.any(FilterChain.class)
+        );
+
+        Mockito.when(platformRuntimeStateService.updateCollisionDivergingReleaseDistance(Mockito.anyDouble()))
+            .thenReturn(40.0);
+    }
+
+    @Test
+    void shouldAllowAnonymousAccessToNewPlatformEndpoints() throws Exception {
+        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));
+    }
+}

qaup-collision/src/test/java/com/qaup/collision/datacollector/service/RoutePreparationServiceTest.java

@@ -0,0 +1,228 @@
+package com.qaup.collision.datacollector.service;
+
+import com.qaup.collision.common.model.UnmannedVehicle;
+import com.qaup.collision.datacollector.util.RouteGeometryProcessor;
+import com.qaup.collision.pathconflict.model.entity.ObjectRouteAssignment;
+import com.qaup.collision.pathconflict.model.entity.TransportRoute;
+import com.qaup.collision.pathconflict.repository.ObjectRouteAssignmentRepository;
+import com.qaup.collision.pathconflict.repository.TransportRouteRepository;
+import org.junit.jupiter.api.Test;
+import org.junit.jupiter.api.extension.ExtendWith;
+import org.locationtech.jts.geom.Coordinate;
+import org.locationtech.jts.geom.GeometryFactory;
+import org.locationtech.jts.geom.Point;
+import org.mockito.ArgumentCaptor;
+import org.mockito.Mock;
+import org.mockito.junit.jupiter.MockitoExtension;
+
+import java.util.List;
+import java.util.Optional;
+
+import static org.junit.jupiter.api.Assertions.assertEquals;
+import static org.junit.jupiter.api.Assertions.assertNotNull;
+import static org.junit.jupiter.api.Assertions.assertTrue;
+import static org.mockito.ArgumentMatchers.any;
+import static org.mockito.Mockito.never;
+import static org.mockito.Mockito.verify;
+import static org.mockito.Mockito.when;
+
+@ExtendWith(MockitoExtension.class)
+class RoutePreparationServiceTest {
+
+    @Mock
+    private TransportRouteRepository transportRouteRepository;
+
+    @Mock
+    private ObjectRouteAssignmentRepository objectRouteAssignmentRepository;
+
+    private RoutePreparationService routePreparationService;
+
+    private final GeometryFactory geometryFactory = new GeometryFactory();
+
+    private RoutePreparationService service() {
+        if (routePreparationService == null) {
+            routePreparationService = new RoutePreparationService(
+                transportRouteRepository,
+                objectRouteAssignmentRepository,
+                new RouteGeometryProcessor()
+            );
+        }
+        return routePreparationService;
+    }
+
+    @Test
+    void shouldPrepareFormalRouteForUnmannedVehicleMission() {
+        UnmannedVehicle vehicle = buildVehicleWithWaypoints("UV-100", "MISSION-1");
+
+        when(transportRouteRepository.findByRouteNameAndRouteType(
+            "UV_ROUTE_UV-100_MISSION-1",
+            TransportRoute.RouteType.UNMANNED_VEHICLE
+        )).thenReturn(Optional.empty());
+        when(transportRouteRepository.save(any(TransportRoute.class))).thenAnswer(invocation -> {
+            TransportRoute route = invocation.getArgument(0);
+            route.setId(11L);
+            return route;
+        });
+        when(objectRouteAssignmentRepository.findFirstByObjectNameAndObjectTypeOrderByAssignedAtDesc(
+            "UV-100",
+            ObjectRouteAssignment.ObjectType.UNMANNED_VEHICLE
+        )).thenReturn(Optional.empty());
+        when(objectRouteAssignmentRepository.findByObjectNameAndObjectTypeOrderByAssignedAtDesc(
+            "UV-100",
+            ObjectRouteAssignment.ObjectType.UNMANNED_VEHICLE
+        )).thenReturn(List.of());
+
+        service().synchronizeUnmannedVehicleRoute(vehicle);
+
+        ArgumentCaptor<TransportRoute> routeCaptor = ArgumentCaptor.forClass(TransportRoute.class);
+        verify(transportRouteRepository).save(routeCaptor.capture());
+        TransportRoute savedRoute = routeCaptor.getValue();
+        assertEquals(TransportRoute.RouteType.UNMANNED_VEHICLE, savedRoute.getRouteType());
+        assertEquals(TransportRoute.RouteStatus.ACTIVE, savedRoute.getStatus());
+        assertEquals("UV_ROUTE_UV-100_MISSION-1", savedRoute.getRouteName());
+        assertNotNull(savedRoute.getRouteGeometry());
+        assertTrue(savedRoute.getRouteGeometry().getNumPoints() >= 2);
+
+        ArgumentCaptor<ObjectRouteAssignment> assignmentCaptor = ArgumentCaptor.forClass(ObjectRouteAssignment.class);
+        verify(objectRouteAssignmentRepository).save(assignmentCaptor.capture());
+        assertEquals("UV-100", assignmentCaptor.getValue().getObjectName());
+        assertEquals(ObjectRouteAssignment.ObjectType.UNMANNED_VEHICLE, assignmentCaptor.getValue().getObjectType());
+        assertEquals(11L, assignmentCaptor.getValue().getAssignedRouteId());
+    }
+
+    @Test
+    void shouldDeactivatePreparedRouteWhenMissionPathMissing() {
+        UnmannedVehicle vehicle = UnmannedVehicle.builder()
+            .objectId("UV-200")
+            .objectName("UV-200")
+            .build();
+
+        ObjectRouteAssignment latestAssignment = ObjectRouteAssignment.builder()
+            .objectName("UV-200")
+            .objectType(ObjectRouteAssignment.ObjectType.UNMANNED_VEHICLE)
+            .assignedRouteId(21L)
+            .build();
+        TransportRoute existingRoute = TransportRoute.builder()
+            .id(21L)
+            .routeName("UV_ROUTE_UV-200_MISSION-X")
+            .routeType(TransportRoute.RouteType.UNMANNED_VEHICLE)
+            .status(TransportRoute.RouteStatus.ACTIVE)
+            .createdBy("RoutePreparationService")
+            .routeGeometry(geometryFactory.createLineString(new Coordinate[]{
+                new Coordinate(120.0, 36.0),
+                new Coordinate(120.1, 36.1)
+            }))
+            .build();
+
+        when(objectRouteAssignmentRepository.findFirstByObjectNameAndObjectTypeOrderByAssignedAtDesc(
+            "UV-200",
+            ObjectRouteAssignment.ObjectType.UNMANNED_VEHICLE
+        )).thenReturn(Optional.of(latestAssignment));
+        when(transportRouteRepository.findById(21L)).thenReturn(Optional.of(existingRoute));
+
+        service().synchronizeUnmannedVehicleRoute(vehicle);
+
+        verify(transportRouteRepository).save(existingRoute);
+        assertEquals(TransportRoute.RouteStatus.INACTIVE, existingRoute.getStatus());
+        verify(objectRouteAssignmentRepository, never()).save(any(ObjectRouteAssignment.class));
+    }
+
+    private UnmannedVehicle buildVehicleWithWaypoints(String vehicleId, String missionId) {
+        Point currentPosition = geometryFactory.createPoint(new Coordinate(120.0834104, 36.35406879));
+        return UnmannedVehicle.builder()
+            .objectId(vehicleId)
+            .objectName(vehicleId)
+            .missionId(missionId)
+            .missionStatus(UnmannedVehicle.MissionStatus.IN_PROGRESS)
+            .currentPosition(currentPosition)
+            .waypoints(List.of(
+                UnmannedVehicle.WaypointInfo.builder()
+                    .waypointId("1")
+                    .latitude(36.35416879)
+                    .longitude(120.0835104)
+                    .status(UnmannedVehicle.WaypointStatus.PENDING)
+                    .build(),
+                UnmannedVehicle.WaypointInfo.builder()
+                    .waypointId("2")
+                    .latitude(36.35426879)
+                    .longitude(120.0836104)
+                    .status(UnmannedVehicle.WaypointStatus.PENDING)
+                    .build()
+            ))
+            .build();
+    }
+
+    @Test
+    void shouldNotRewriteRouteWhenPreparedInputIsUnchanged() {
+        UnmannedVehicle vehicle = buildVehicleWithWaypoints("UV-300", "MISSION-3");
+        TransportRoute existingRoute = TransportRoute.builder()
+            .id(31L)
+            .routeName("UV_ROUTE_UV-300_MISSION-3")
+            .routeType(TransportRoute.RouteType.UNMANNED_VEHICLE)
+            .description("Unmanned vehicle route prepared from mission context, vehicle=UV-300, mission=MISSION-3, points=2")
+            .routeGeometry(new GeometryFactory().createLineString(new Coordinate[]{
+                new Coordinate(120.0834104, 36.35406879),
+                new Coordinate(120.0836104, 36.35426879)
+            }))
+            .typicalSpeedKph(15.0)
+            .status(TransportRoute.RouteStatus.ACTIVE)
+            .createdBy("RoutePreparationService")
+            .build();
+
+        when(transportRouteRepository.findByRouteNameAndRouteType(
+            "UV_ROUTE_UV-300_MISSION-3",
+            TransportRoute.RouteType.UNMANNED_VEHICLE
+        )).thenReturn(Optional.of(existingRoute));
+        when(objectRouteAssignmentRepository.findFirstByObjectNameAndObjectTypeOrderByAssignedAtDesc(
+            "UV-300",
+            ObjectRouteAssignment.ObjectType.UNMANNED_VEHICLE
+        )).thenReturn(Optional.of(ObjectRouteAssignment.builder()
+            .objectName("UV-300")
+            .objectType(ObjectRouteAssignment.ObjectType.UNMANNED_VEHICLE)
+            .assignedRouteId(31L)
+            .build()));
+        when(objectRouteAssignmentRepository.findByObjectNameAndObjectTypeOrderByAssignedAtDesc(
+            "UV-300",
+            ObjectRouteAssignment.ObjectType.UNMANNED_VEHICLE
+        )).thenReturn(List.of());
+
+        service().synchronizeUnmannedVehicleRoute(vehicle);
+
+        verify(transportRouteRepository, never()).save(any(TransportRoute.class));
+        verify(objectRouteAssignmentRepository, never()).save(any(ObjectRouteAssignment.class));
+    }
+
+    @Test
+    void shouldDeactivatePreparedRouteWhenMissionIsCompleted() {
+        UnmannedVehicle vehicle = buildVehicleWithWaypoints("UV-400", "MISSION-4");
+        vehicle.setMissionStatus(UnmannedVehicle.MissionStatus.COMPLETED);
+
+        ObjectRouteAssignment latestAssignment = ObjectRouteAssignment.builder()
+            .objectName("UV-400")
+            .objectType(ObjectRouteAssignment.ObjectType.UNMANNED_VEHICLE)
+            .assignedRouteId(41L)
+            .build();
+        TransportRoute existingRoute = TransportRoute.builder()
+            .id(41L)
+            .routeName("UV_ROUTE_UV-400_MISSION-4")
+            .routeType(TransportRoute.RouteType.UNMANNED_VEHICLE)
+            .status(TransportRoute.RouteStatus.ACTIVE)
+            .createdBy("RoutePreparationService")
+            .routeGeometry(new GeometryFactory().createLineString(new Coordinate[]{
+                new Coordinate(120.0, 36.0),
+                new Coordinate(120.1, 36.1)
+            }))
+            .build();
+
+        when(objectRouteAssignmentRepository.findFirstByObjectNameAndObjectTypeOrderByAssignedAtDesc(
+            "UV-400",
+            ObjectRouteAssignment.ObjectType.UNMANNED_VEHICLE
+        )).thenReturn(Optional.of(latestAssignment));
+        when(transportRouteRepository.findById(41L)).thenReturn(Optional.of(existingRoute));
+
+        service().synchronizeUnmannedVehicleRoute(vehicle);
+
+        verify(transportRouteRepository).save(existingRoute);
+        assertEquals(TransportRoute.RouteStatus.INACTIVE, existingRoute.getStatus());
+    }
+}

qaup-collision/src/test/java/com/qaup/collision/datacollector/service/VehicleStatusUpdateIntegrationTest.java

@@ -12,6 +12,7 @@ import com.qaup.collision.dataprocessing.service.SpeedCalculationService;
 import com.qaup.collision.datacollector.service.VehicleDataPersistenceService;
 import com.qaup.collision.pathconflict.service.PathConflictDetectionService;
 import com.qaup.collision.rule.service.RuleExecutionEngine;
+import com.qaup.collision.service.PlatformRuntimeStateService;
 import com.qaup.common.core.redis.RedisCache;
 import com.qaup.collision.websocket.event.VehicleStatusUpdateEvent;
 import org.junit.jupiter.api.BeforeEach;
@@ -55,6 +56,7 @@ class VehicleStatusUpdateIntegrationTest {
     private QuapDataAdapter quapDataAdapter;
     private RuleExecutionEngine ruleExecutionEngine;
     private RedisCache redisCache;
+    private PlatformRuntimeStateService platformRuntimeStateService;
 
     @Mock
     private ApplicationEventPublisher eventPublisher;
@@ -97,6 +99,7 @@ class VehicleStatusUpdateIntegrationTest {
         quapDataAdapter = mock(QuapDataAdapter.class);
         ruleExecutionEngine = mock(RuleExecutionEngine.class);
         redisCache = mock(RedisCache.class);
+        platformRuntimeStateService = mock(PlatformRuntimeStateService.class);
 
         lenient().when(speedCalculationService.calculateRealtimeSpeed(anyString(), anyDouble(), anyDouble(), anyLong()))
             .thenReturn(20.0);
@@ -117,7 +120,11 @@ class VehicleStatusUpdateIntegrationTest {
         ReflectionTestUtils.setField(dataProcessingService, "quapDataAdapter", quapDataAdapter);
         ReflectionTestUtils.setField(dataProcessingService, "ruleExecutionEngine", ruleExecutionEngine);
         ReflectionTestUtils.setField(dataProcessingService, "redisCache", redisCache);
+        ReflectionTestUtils.setField(dataProcessingService, "platformRuntimeStateService", platformRuntimeStateService);
         dataProcessingService.setActiveMovingObjectsCache(activeMovingObjectsCache);
+
+        lenient().when(platformRuntimeStateService.isRegisteredForCollision(anyString(), any()))
+            .thenReturn(true);
     }
 
     private UniversalVehicleStatusDTO buildSampleStatus(String vehicleId) {
@@ -280,6 +287,40 @@ class VehicleStatusUpdateIntegrationTest {
         }
     }
 
+    @Test
+    void testPathConflictDetectionUsesRegisteredObjectsOnly() {
+        String registeredUvId = "QN001";
+        String unregisteredUvId = "QN999";
+
+        activeMovingObjectsCache.put(registeredUvId, MovingObject.builder()
+            .objectId(registeredUvId)
+            .objectType(MovingObjectType.UNMANNED_VEHICLE)
+            .objectName(registeredUvId)
+            .currentPosition(geometryFactory.createPoint(new Coordinate(120.0834104, 36.35406879)))
+            .altitude(0.0)
+            .build());
+        activeMovingObjectsCache.put(unregisteredUvId, MovingObject.builder()
+            .objectId(unregisteredUvId)
+            .objectType(MovingObjectType.UNMANNED_VEHICLE)
+            .objectName(unregisteredUvId)
+            .currentPosition(geometryFactory.createPoint(new Coordinate(120.0844104, 36.35506879)))
+            .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);
+
+        dataProcessingService.performPeriodicDataProcessing();
+
+        @SuppressWarnings("unchecked")
+        ArgumentCaptor<List<MovingObject>> movingObjectsCaptor = ArgumentCaptor.forClass(List.class);
+        verify(pathConflictDetectionService).detectPathConflicts(movingObjectsCaptor.capture());
+        assertEquals(1, movingObjectsCaptor.getValue().size());
+        assertEquals(registeredUvId, movingObjectsCaptor.getValue().get(0).getObjectId());
+    }
+
     /**
      * 测试无活跃车辆情况的处理
      * 如果没有活跃车辆，应该跳过处理而不是报错

qaup-collision/src/test/java/com/qaup/collision/pathconflict/service/PathConflictDetectionDirectionalTest.java

@@ -8,6 +8,7 @@ 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;
+import com.qaup.collision.service.PlatformRuntimeStateService;
 import org.junit.jupiter.api.Test;
 import org.junit.jupiter.api.extension.ExtendWith;
 import org.locationtech.jts.geom.Coordinate;
@@ -46,6 +47,9 @@ class PathConflictDetectionDirectionalTest {
     @Mock
     private CoordinateSystemService coordinateSystemService;
 
+    @Mock
+    private PlatformRuntimeStateService platformRuntimeStateService;
+
     @InjectMocks
     private PathConflictDetectionService pathConflictDetectionService;
 
@@ -131,4 +135,34 @@ class PathConflictDetectionDirectionalTest {
         verify(conflictAlertLogRepository, never()).save(any());
         verify(eventPublisher, never()).publishEvent(any());
     }
+
+    @Test
+    void shouldIgnoreUnmannedVehicleAndSpecialVehiclePairWithoutAircraft() throws Exception {
+        GeometryFactory geometryFactory = new GeometryFactory();
+
+        MovingObject obj1 = MovingObject.builder()
+            .objectId("UV-1")
+            .objectName("UV-1")
+            .objectType(MovingObjectType.UNMANNED_VEHICLE)
+            .currentPosition(geometryFactory.createPoint(new Coordinate(0.0, 0.0)))
+            .currentSpeed(20.0)
+            .currentHeading(0.0)
+            .altitude(0.0)
+            .build();
+
+        MovingObject obj2 = MovingObject.builder()
+            .objectId("SV-1")
+            .objectName("SV-1")
+            .objectType(MovingObjectType.SPECIAL_VEHICLE)
+            .currentPosition(geometryFactory.createPoint(new Coordinate(0.0, 1.0)))
+            .currentSpeed(20.0)
+            .currentHeading(180.0)
+            .altitude(0.0)
+            .build();
+
+        pathConflictDetectionService.detectPathConflicts(List.of(obj1, obj2));
+
+        verify(conflictAlertLogRepository, never()).save(any());
+        verify(eventPublisher, never()).publishEvent(any());
+    }
 }

qaup-collision/src/test/java/com/qaup/collision/pathconflict/service/PathConflictDetectionServiceRuntimeConfigTest.java

@@ -0,0 +1,64 @@
+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.repository.ConflictAlertLogRepository;
+import com.qaup.collision.pathconflict.repository.ObjectRouteAssignmentRepository;
+import com.qaup.collision.pathconflict.repository.TransportRouteRepository;
+import com.qaup.collision.service.PlatformRuntimeStateService;
+import org.junit.jupiter.api.Test;
+import org.springframework.context.ApplicationEventPublisher;
+import org.springframework.test.util.ReflectionTestUtils;
+
+import java.util.Optional;
+
+import static org.junit.jupiter.api.Assertions.assertEquals;
+import static org.mockito.Mockito.mock;
+
+class PathConflictDetectionServiceRuntimeConfigTest {
+
+    @Test
+    void shouldUseRuntimeThresholdsWhenEvaluatingAlertLevel() {
+        PlatformRuntimeStateService runtimeStateService = new PlatformRuntimeStateService(200.0, 150.0, 40.0);
+        PathConflictDetectionService service = new PathConflictDetectionService(
+            mock(TransportRouteRepository.class),
+            mock(ObjectRouteAssignmentRepository.class),
+            mock(ConflictAlertLogRepository.class),
+            mock(ApplicationEventPublisher.class),
+            mock(CoordinateSystemService.class),
+            runtimeStateService
+        );
+
+        @SuppressWarnings("unchecked")
+        Optional<ConflictAlertLog.AlertLevel> beforeUpdate =
+            (Optional<ConflictAlertLog.AlertLevel>) ReflectionTestUtils.invokeMethod(
+                service,
+                "evaluateAlertLevel",
+                140.0,
+                MovingObject.MovingObjectType.UNMANNED_VEHICLE,
+                500.0,
+                MovingObject.MovingObjectType.AIRCRAFT,
+                20.0
+            );
+
+        assertEquals(Optional.of(ConflictAlertLog.AlertLevel.CRITICAL), beforeUpdate);
+
+        runtimeStateService.updateRunwayAlertZoneRadiusAircraft(100.0);
+        runtimeStateService.updateRunwayWarningZoneRadiusAircraft(130.0);
+
+        @SuppressWarnings("unchecked")
+        Optional<ConflictAlertLog.AlertLevel> afterUpdate =
+            (Optional<ConflictAlertLog.AlertLevel>) ReflectionTestUtils.invokeMethod(
+                service,
+                "evaluateAlertLevel",
+                140.0,
+                MovingObject.MovingObjectType.UNMANNED_VEHICLE,
+                500.0,
+                MovingObject.MovingObjectType.AIRCRAFT,
+                20.0
+            );
+
+        assertEquals(Optional.empty(), afterUpdate);
+    }
+}

qaup-collision/src/test/java/com/qaup/collision/service/PlatformRuntimeStateServiceTest.java

@@ -0,0 +1,72 @@
+package com.qaup.collision.service;
+
+import com.qaup.collision.common.model.MovingObject;
+import org.junit.jupiter.api.Test;
+
+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;
+
+class PlatformRuntimeStateServiceTest {
+
+    @Test
+    void shouldKeepPreviousVehicleRegistrationsOnIncrementalUpdate() {
+        PlatformRuntimeStateService service = new PlatformRuntimeStateService(200.0, 100.0, 40.0);
+
+        PlatformRuntimeStateService.VehicleRegistryUpdateResult first = 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)
+        ));
+
+        assertEquals(3, first.updated());
+        assertEquals(1, first.controllableCount());
+        assertEquals(List.of("QN001"), first.controllableVehicleIDs());
+        assertEquals(1, first.typesCount().get("WUREN"));
+        assertEquals(1, first.typesCount().get("TEQIN"));
+        assertEquals(1, first.typesCount().get("HANGKONG"));
+
+        PlatformRuntimeStateService.VehicleRegistryUpdateResult second = service.updateVehicleRegistry(List.of(
+            new PlatformRuntimeStateService.VehicleRegistryEntry("QN002", PlatformRuntimeStateService.VehicleRegistryType.WUREN)
+        ));
+
+        assertEquals(1, second.updated());
+        assertEquals(2, second.controllableCount());
+        assertEquals(List.of("QN001", "QN002"), second.controllableVehicleIDs());
+    }
+
+    @Test
+    void shouldUpdateRuntimeThresholdValuesInMemory() {
+        PlatformRuntimeStateService service = new PlatformRuntimeStateService(200.0, 150.0, 40.0);
+
+        assertEquals(200.0, service.updateRunwayWarningZoneRadiusAircraft(300.0));
+        assertEquals(300.0, service.getRunwayWarningZoneRadiusAircraft());
+
+        assertEquals(150.0, service.updateRunwayAlertZoneRadiusAircraft(220.0));
+        assertEquals(220.0, service.getRunwayAlertZoneRadiusAircraft());
+
+        assertEquals(40.0, service.updateCollisionDivergingReleaseDistance(55.0));
+        assertEquals(55.0, service.getCollisionDivergingReleaseDistance());
+    }
+
+    @Test
+    void shouldOnlyAllowRegisteredCollisionTypesToParticipate() {
+        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),
+            new PlatformRuntimeStateService.VehicleRegistryEntry("PT001", PlatformRuntimeStateService.VehicleRegistryType.PUTONG)
+        ));
+
+        assertTrue(service.isRegisteredForCollision("QN001", MovingObject.MovingObjectType.UNMANNED_VEHICLE));
+        assertTrue(service.isRegisteredForCollision("TQ001", MovingObject.MovingObjectType.SPECIAL_VEHICLE));
+        assertTrue(service.isRegisteredForCollision("AC001", MovingObject.MovingObjectType.AIRCRAFT));
+
+        assertFalse(service.isRegisteredForCollision("QN001", MovingObject.MovingObjectType.SPECIAL_VEHICLE));
+        assertFalse(service.isRegisteredForCollision("PT001", MovingObject.MovingObjectType.NORMAL_VEHICLE));
+        assertFalse(service.isRegisteredForCollision("UNKNOWN", MovingObject.MovingObjectType.AIRCRAFT));
+    }
+}

qaup-framework/src/main/java/com/qaup/framework/config/SecurityConfig.java

@@ -120,6 +120,12 @@ public class SecurityConfig
                 requests.requestMatchers("/login", "/register", "/captchaImage").permitAll()
                     // WebSocket端点，允许匿名访问
                     .requestMatchers("/collision", "/collision/**", "/VehicleCommandInfo", "/test/websocket/**").permitAll()
+                    .requestMatchers(
+                        "/api/VehicleRegistry",
+                        "/config/runway/warning_zone_radius/aircraft",
+                        "/config/runway/alert_zone_radius/aircraft",
+                        "/config/collision/diverging_release_distance"
+                    ).permitAll()
                     // 调试接口：仅在显式开启开关时放行（默认不放行）
                     .requestMatchers(runwayPathPlanningDebugEnabled ? "/debug/runway-path-planning/**" : "/__debug_disabled__").permitAll()
                     // 静态资源，可匿名访问

命令.md

@@ -374,3 +374,7 @@ Date: Sat, 28 Feb 2026 10:56:18 GMT
 root@root:/home/project_20250804/qaup# echo $TOKEN
 Bearer eyJ0eXAiOiJKV1QiLCJhbGciOiJIUzI1NiJ9.eyJleHAiOjE3NzIzNjA0NTYsInVzZXJuYW1lIjoiZGlhbnhpbiJ9.kTPxkoFR64eJT7eZOZWSN_ed-qvWbMFqr2WlGofBE60
 root@root:/home/project_20250804/qaup#
+
+
+
+docker logs --since 5m qaup-app 2>&1 | grep '处理航空器数据并更新缓存' | grep -E '([A-Z]{1,3})?4963\b'