From 4cc18fae346585f5dba3db556759acde71acd09a Mon Sep 17 00:00:00 2001
From: sladro <sladro@163.com>
Date: Mon, 2 Mar 2026 15:19:45 +0800
Subject: [PATCH] Enhance safety zone checks for unmanned vehicles and update
 build process documentation

---
 src/core/System.cpp | 13 +++++++++++++
 命令.md             |  8 +++++---
 2 files changed, 18 insertions(+), 3 deletions(-)

diff --git a/src/core/System.cpp b/src/core/System.cpp
index e8453f2..60c6670 100644
--- a/src/core/System.cpp
+++ b/src/core/System.cpp
@@ -443,6 +443,19 @@ void System::checkUnmannedVehicleSafetyZones(
                         continue;
                     }
 
+                    // 仅允许注册表内对象参与安全区风险计算：
+                    // - 航空器：必须在 VehicleRegistry 中标记为 HANGKONG
+                    // - 车辆目标：必须是受管车辆（WUREN/TEQIN）
+                    bool eligibleTarget = false;
+                    if (obj->isAircraft()) {
+                        eligibleTarget = controllableVehicles_.isSelectedAircraft(obj->id);
+                    } else if (obj->isSpecialVehicle()) {
+                        eligibleTarget = controllableVehicles_.isManagedVehicle(obj->id);
+                    }
+                    if (!eligibleTarget) {
+                        continue;
+                    }
+
                     if ((obj->isAircraft() || obj->isSpecialVehicle()) &&
                         zone->isObjectInZone(*obj)) {
                         // 创建风险对象
diff --git a/命令.md b/命令.md
index 42020ca..87a0a33 100644
--- a/命令.md
+++ b/命令.md
@@ -1,6 +1,8 @@
 
-
-rm -rf build
+## 打包流程
+先进入docker容器合成
+docker run -it --network host -v D:/App/C++/CollisionAvoidance:/src -w /src b601b0dd5f3f bash
+     rm -rf build
 
      export PATH=/opt/rh/devtoolset-9/root/usr/bin:$PATH
      export LD_LIBRARY_PATH=/opt/rh/devtoolset-9/root/usr/lib64:$LD_LIBRARY_PATH
@@ -23,8 +25,8 @@ ldd /opt/collision_avoidance/bin/collision_avoidancenew | grep "not found" || tr
 
 
 
-docker run -it --network host -v D:/App/C++/CollisionAvoidance:/src -w /src centos:7 bash
 
+### 之前自己制作的镜像，用来编译
 docker commit --pause=false 5f4a906adb1b  qdairporttestbackend:20260128