From 0c309a8b0f1b28282010bd256f55bff6cb198ab3 Mon Sep 17 00:00:00 2001 From: Tian jianyong <11429339@qq.com> Date: Thu, 14 Nov 2024 11:16:00 +0800 Subject: [PATCH] =?UTF-8?q?=E5=AE=8C=E5=96=84=E4=BA=86=20HTTP=20=E6=95=B0?= =?UTF-8?q?=E6=8D=AE=E6=BA=90=E5=92=8C=20Mock=20=E6=9C=8D=E5=8A=A1?= =?UTF-8?q?=E5=99=A8?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .vscode/settings.json | 74 +- CMakeLists.txt | 55 +- .../api/v1/query/client-vscode/query.json | 1 + .../reply/cache-v2-10b6de4bb8ed98dc2023.json | 1311 +++ .../cmakeFiles-v1-00693eb160a0b41bbce8.json | 330 + .../codemodel-v2-01749297572fd92bd73a.json | 60 + ...irectory-.-Debug-f5ebdc15457944623624.json | 14 + .../reply/index-2024-11-14T02-24-50-0506.json | 132 + ..._avoidance-Debug-e2d9922ea31a2c02d76e.json | 247 + .../toolchains-v1-da245e480196a7d93324.json | 93 + build/CMakeCache.txt | 31 +- build/CMakeFiles/3.31.0/CMakeCCompiler.cmake | 8 +- 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src/types/BasicTypes.h create mode 100644 src/types/VehicleCommand.h create mode 100644 src/types/VehicleData.cpp create mode 100644 src/utils/Logger.h diff --git a/.vscode/settings.json b/.vscode/settings.json index e8bff28..ed71967 100644 --- a/.vscode/settings.json +++ b/.vscode/settings.json @@ -1,70 +1,6 @@ { - "C_Cpp_Runner.cCompilerPath": "/usr/bin/clang", - "C_Cpp_Runner.cppCompilerPath": "/usr/bin/clang++", - "C_Cpp_Runner.debuggerPath": "/usr/bin/lldb", - "C_Cpp_Runner.cStandard": "c17", - "C_Cpp_Runner.cppStandard": "c++17", - "C_Cpp_Runner.msvcBatchPath": "", - "C_Cpp_Runner.useMsvc": false, - "C_Cpp_Runner.warnings": [ - "-Wall", - "-Wextra", - "-Wpedantic", - "-Wshadow", - "-Wformat=2", - "-Wcast-align", - "-Wconversion", - "-Wsign-conversion", - "-Wnull-dereference" - ], - "C_Cpp_Runner.msvcWarnings": [ - "/W4", - "/permissive-", - "/w14242", - "/w14287", - "/w14296", - "/w14311", - "/w14826", - "/w44062", - "/w44242", - "/w14905", - "/w14906", - "/w14263", - "/w44265", 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CMP0167 NEW) + find_package(Boost REQUIRED COMPONENTS system) message(STATUS "Boost_INCLUDE_DIRS: ${Boost_INCLUDE_DIRS}") message(STATUS "Boost_LIBRARIES: ${Boost_LIBRARIES}") @@ -37,30 +40,18 @@ set(SOURCES src/main.cpp src/collector/DataCollector.cpp src/network/HTTPDataSource.cpp -) - -# 明确列出所有头文件 -set(HEADERS - src/types/VehicleData.h - src/collector/DataCollector.h - src/collector/DataSource.h - src/network/HTTPDataSource.h - src/network/ConnectionConfig.h - src/network/NetworkInterface.h - src/concurrent/ThreadPool.h - src/concurrent/LockFreeQueue.h - src/concurrent/LockFreeQueue.hpp + src/spatial/CoordinateConverter.cpp + src/types/VehicleData.cpp ) # 添加可执行文件 -add_executable(${PROJECT_NAME} ${SOURCES} ${HEADERS}) +add_executable(${PROJECT_NAME} ${SOURCES}) # 设置包含目录 target_include_directories(${PROJECT_NAME} PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/src ${Boost_INCLUDE_DIRS} - ${BOOST_ROOT}/include ) # 链接依赖库 @@ -102,10 +93,4 @@ target_compile_definitions(${PROJECT_NAME} PRIVATE 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+  /opt/homebrew/include/boost/asio/detail/object_pool.hpp \
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diff --git a/build/cmake_install.cmake b/build/cmake_install.cmake
index c3bd86e..39f101f 100644
--- a/build/cmake_install.cmake
+++ b/build/cmake_install.cmake
@@ -12,7 +12,7 @@ if(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
     string(REGEX REPLACE "^[^A-Za-z0-9_]+" ""
            CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}")
   else()
-    set(CMAKE_INSTALL_CONFIG_NAME "")
+    set(CMAKE_INSTALL_CONFIG_NAME "Debug")
   endif()
   message(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"")
 endif()
@@ -34,7 +34,7 @@ endif()
 
 # Set path to fallback-tool for dependency-resolution.
 if(NOT DEFINED CMAKE_OBJDUMP)
-  set(CMAKE_OBJDUMP "/Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/objdump")
+  set(CMAKE_OBJDUMP "/usr/bin/objdump")
 endif()
 
 string(REPLACE ";" "\n" CMAKE_INSTALL_MANIFEST_CONTENT
diff --git a/build/compile_commands.json b/build/compile_commands.json
new file mode 100644
index 0000000..e2e4e1b
--- /dev/null
+++ b/build/compile_commands.json
@@ -0,0 +1,32 @@
+[
+{
+  "directory": "/Users/tianjianyong/apps/ObstacleAvoidance/build",
+  "command": "/usr/bin/clang++ -DBOOST_ASIO_DISABLE_BOOST_ARRAY -DBOOST_ASIO_NO_DEPRECATED -DBOOST_SYSTEM_DYN_LINK -DBOOST_SYSTEM_NO_LIB -I/Users/tianjianyong/apps/ObstacleAvoidance/src -isystem /opt/homebrew/include -isystem /opt/homebrew/Cellar/boost/1.86.0_2/include -g -std=gnu++17 -arch arm64 -isysroot /Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX15.1.sdk -mmacosx-version-min=15.0 -Wall -Wextra -o CMakeFiles/airport_collision_avoidance.dir/src/main.cpp.o -c /Users/tianjianyong/apps/ObstacleAvoidance/src/main.cpp",
+  "file": "/Users/tianjianyong/apps/ObstacleAvoidance/src/main.cpp",
+  "output": "CMakeFiles/airport_collision_avoidance.dir/src/main.cpp.o"
+},
+{
+  "directory": "/Users/tianjianyong/apps/ObstacleAvoidance/build",
+  "command": "/usr/bin/clang++ -DBOOST_ASIO_DISABLE_BOOST_ARRAY -DBOOST_ASIO_NO_DEPRECATED -DBOOST_SYSTEM_DYN_LINK -DBOOST_SYSTEM_NO_LIB -I/Users/tianjianyong/apps/ObstacleAvoidance/src -isystem /opt/homebrew/include -isystem /opt/homebrew/Cellar/boost/1.86.0_2/include -g -std=gnu++17 -arch arm64 -isysroot /Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX15.1.sdk -mmacosx-version-min=15.0 -Wall -Wextra -o CMakeFiles/airport_collision_avoidance.dir/src/collector/DataCollector.cpp.o -c /Users/tianjianyong/apps/ObstacleAvoidance/src/collector/DataCollector.cpp",
+  "file": "/Users/tianjianyong/apps/ObstacleAvoidance/src/collector/DataCollector.cpp",
+  "output": "CMakeFiles/airport_collision_avoidance.dir/src/collector/DataCollector.cpp.o"
+},
+{
+  "directory": "/Users/tianjianyong/apps/ObstacleAvoidance/build",
+  "command": "/usr/bin/clang++ -DBOOST_ASIO_DISABLE_BOOST_ARRAY -DBOOST_ASIO_NO_DEPRECATED -DBOOST_SYSTEM_DYN_LINK -DBOOST_SYSTEM_NO_LIB -I/Users/tianjianyong/apps/ObstacleAvoidance/src -isystem /opt/homebrew/include -isystem /opt/homebrew/Cellar/boost/1.86.0_2/include -g -std=gnu++17 -arch arm64 -isysroot /Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX15.1.sdk -mmacosx-version-min=15.0 -Wall -Wextra -o CMakeFiles/airport_collision_avoidance.dir/src/network/HTTPDataSource.cpp.o -c /Users/tianjianyong/apps/ObstacleAvoidance/src/network/HTTPDataSource.cpp",
+  "file": "/Users/tianjianyong/apps/ObstacleAvoidance/src/network/HTTPDataSource.cpp",
+  "output": "CMakeFiles/airport_collision_avoidance.dir/src/network/HTTPDataSource.cpp.o"
+},
+{
+  "directory": "/Users/tianjianyong/apps/ObstacleAvoidance/build",
+  "command": "/usr/bin/clang++ -DBOOST_ASIO_DISABLE_BOOST_ARRAY -DBOOST_ASIO_NO_DEPRECATED -DBOOST_SYSTEM_DYN_LINK -DBOOST_SYSTEM_NO_LIB -I/Users/tianjianyong/apps/ObstacleAvoidance/src -isystem /opt/homebrew/include -isystem /opt/homebrew/Cellar/boost/1.86.0_2/include -g -std=gnu++17 -arch arm64 -isysroot /Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX15.1.sdk -mmacosx-version-min=15.0 -Wall -Wextra -o CMakeFiles/airport_collision_avoidance.dir/src/spatial/CoordinateConverter.cpp.o -c /Users/tianjianyong/apps/ObstacleAvoidance/src/spatial/CoordinateConverter.cpp",
+  "file": "/Users/tianjianyong/apps/ObstacleAvoidance/src/spatial/CoordinateConverter.cpp",
+  "output": "CMakeFiles/airport_collision_avoidance.dir/src/spatial/CoordinateConverter.cpp.o"
+},
+{
+  "directory": "/Users/tianjianyong/apps/ObstacleAvoidance/build",
+  "command": "/usr/bin/clang++ -DBOOST_ASIO_DISABLE_BOOST_ARRAY -DBOOST_ASIO_NO_DEPRECATED -DBOOST_SYSTEM_DYN_LINK -DBOOST_SYSTEM_NO_LIB -I/Users/tianjianyong/apps/ObstacleAvoidance/src -isystem /opt/homebrew/include -isystem /opt/homebrew/Cellar/boost/1.86.0_2/include -g -std=gnu++17 -arch arm64 -isysroot /Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX15.1.sdk -mmacosx-version-min=15.0 -Wall -Wextra -o CMakeFiles/airport_collision_avoidance.dir/src/types/VehicleData.cpp.o -c /Users/tianjianyong/apps/ObstacleAvoidance/src/types/VehicleData.cpp",
+  "file": "/Users/tianjianyong/apps/ObstacleAvoidance/src/types/VehicleData.cpp",
+  "output": "CMakeFiles/airport_collision_avoidance.dir/src/types/VehicleData.cpp.o"
+}
+]
\ No newline at end of file
diff --git a/docs/design.md b/docs/design.md
index fa4ddd7..9fe40ff 100644
--- a/docs/design.md
+++ b/docs/design.md
@@ -13,11 +13,11 @@
 
 ```mermaid
 graph TD
-    A[数据采集模块] --> B[数据处理模块]
-    B --> C[碰撞检测模块]
-    C --> D[指令控制模块]
-    E[监控告警模块] --> F[整个系统]
-    G[高可用管理] --> F
+    A[数据采集层] --> B[坐标转换] --> C[数据处理层]
+    C --> D[碰撞检测层]
+    D --> E[指令控制层]
+    F[监控告警模块] --> G[整个系统]
+    H[高可用管理] --> G
 ```
 
 ## 2. 技术架构
@@ -42,53 +42,102 @@ graph TD
 - 无锁队列缓存
 - 多线程采集
 
-#### 2.2.2 数据处理层
+#### 2.2.2 坐标转换层
+
+- 支持经纬度到平面坐标的转换
+- 使用等角投影方法
+- 考虑地球曲率影响
+- 基于机场参考点的相对坐标
+
+#### 2.2.3 数据处理层
 
 - 实时数据流处理
 - 内存池管理
 - 零拷贝技术
 - 批量处理优化
 
-#### 2.2.3 碰撞检测层
+#### 2.2.4 碰撞检测层
 
 - 空间索引（四叉树）
 - 并行计算
 - SIMD优化
 - 预测算法
 
-#### 2.2.4 指令控制层
+#### 2.2.5 指令控制层
 
 - 优先级队列
 - 指令重试机制
 - 实时响应
 - 状态确认
 
-## 3. 高可用设计
+## 3. 坐标系统设计
 
-### 3.1 系统高可用
+### 3.1 坐标表示
+
+- 原始数据：WGS84经纬度坐标系
+- 内部处理：平面直角坐标系（米）
+- 高度数据：相对地面高度（米）
+
+### 3.2 坐标转换
+
+- 使用等角投影方法
+- 基于机场参考点（通常为跑道中心点）
+- 考虑地球曲率影响
+- WGS84椭球体参数
+
+### 3.3 精度考虑
+
+- 经纬度精度：至少6位小数
+- 平面坐标精度：厘米级
+- 转换误差：10km范围内误差<1m
+- 实时性要求：转换延迟<1ms
+
+### 3.4 数据结构
+
+```cpp
+struct GeoPosition {
+    double latitude;   // 纬度
+    double longitude;  // 经度
+};
+
+struct Vector2D {
+    double x;  // 东西方向（米）
+    double y;  // 南北方向（米）
+};
+
+struct VehicleData {
+    GeoPosition geo;    // 地理坐标
+    Vector2D position;  // 平面坐标
+    double altitude;    // 高度（米）
+};
+```
+
+## 4. 高可用设计
+
+### 4.1 系统高可用
 
 - 主备切换
 - 故障检测
 - 自动恢复
 - 负载均衡
 
-### 3.2 数据高可用
+### 4.2 数据高可用
 
 - 内存数据备份
 - 实时同步
 - 数据校验
 - 故障恢复
 
-### 3.3 监控告警
+### 4.3 监控告警
 
 - 性能指标监控
 - 系统状态监控
 - 资源使用监控
 - 异常告警
 
-## 4. 核心模块设计
+## 5. 核心模块设计
 
-### 4.1 系统核心类
+### 5.1 系统核心类
 
 ```cpp
 class CollisionAvoidanceSystem {
@@ -107,7 +156,7 @@ private:
 };
 ```
 
-### 4.2 数据采集模块
+### 5.2 数据采集模块
 
 ```cpp
 class DataCollector {
@@ -128,100 +177,106 @@ private:
 };
 ```
 
-## 5. 性能优化
+## 6. 性能优化
 
-### 5.1 内存优化
+### 6.1 内存优化
 
 - 内存池管理
 - 对象复用
 - 内存对齐
 - 缓存友好
 
-### 5.2 CPU优化
+### 6.2 CPU优化
 
 - SIMD指令
 - 多线程并行
 - 锁优化
 - 分支预测优化
 
-### 5.3 I/O优化
+### 6.3 I/O优化
 
 - 异步I/O
 - 零拷贝
 - 批量处理
 - 本地缓存
 
-## 6. 部署方案
+## 7. 部署方案
 
-### 6.1 环境要求
+### 7.1 环境要求
 
 - Linux服务器
 - 多核CPU
 - 大内存配置
 - 高速网络
 
-### 6.2 编译部署
+### 7.2 编译部署
 
 - CMake构建
 - Docker容器化
 - 自动化部署
 - 版本控制
 
-## 7. 开发规范
+## 8. 开发规范
 
-### 7.1 代码规范
+### 8.1 代码规范
 
 - Google C++ Style
 - 智能指针管理
 - 异常安全
 - RAII原则
 
-### 7.2 性能规范
+### 8.2 性能规范
 
 - 避免虚函数滥用
 - 减少动态内存分配
 - 合理使用模板
 - 注意数据对齐
 
-## 8. 测试策略
+## 9. 测试策略
 
-### 8.1 单元测试
+### 9.1 单元测试
 
 - 模块功能测试
 - 边界条件测试
 - 异常处理测试
 - 内存泄漏测试
+- 坐标转换精度测试
 
-### 8.2 性能测试
+### 9.2 性能测试
 
 - 延迟测试
 - 并发测试
 - 压力测试
 - 内存使用测试
+- 坐标转换性能测试
 
-## 9. 风险控制
+## 10. 风险控制
 
-### 9.1 技术风险
+### 10.1 技术风险
 
 - 实时性保证
 - 内存管理
 - 多线程同步
 - 系统稳定性
+- 坐标转换精度
 
-### 9.2 解决方案
+### 10.2 解决方案
 
 - 性能优化
 - 资源监控
 - 故障恢复
 - 降级处理
+- 坐标转换验证
 
-## 10. 后续优化
+## 11. 后续优化
 
 1. 引入GPU加速计算
 2. 优化空间索引算法
 3. 改进故障检测机制
 4. 增加自适应负载均衡
 5. 完善监控告警系统
+6. 优化坐标转换算法
+7. 支持多种投影方式
 
 使用纯C++实现可以获得：
 
diff --git a/src/collector/DataCollector.h b/src/collector/DataCollector.h
index 0ba08ec..0e20837 100644
--- a/src/collector/DataCollector.h
+++ b/src/collector/DataCollector.h
@@ -7,7 +7,6 @@
 #include "DataSource.h"
 #include "concurrent/ThreadPool.h"
 #include "concurrent/LockFreeQueue.h"
-#include "concurrent/LockFreeQueue.hpp"
 #include "types/VehicleData.h"
 #include "network/ConnectionConfig.h"
 #include "network/HTTPDataSource.h"
diff --git a/src/concurrent/.DS_Store b/src/concurrent/.DS_Store
new file mode 100644
index 0000000000000000000000000000000000000000..70b2b75506b2617a10e09d0307eeb337e1121a4e
GIT binary patch
literal 6148
zcmeHKJx{|h5PgOYl~~Hgm|sA|$QG)?RDlp;r%fX$pb(`A5?g*c@6HDzB15ODs_rWL
zId}K`@uJ!>fG}-W7r+F-m_;y1W5C2c7&@|K!JvKIphm&pJ=%ee_R%GCKgAp$$nl21
z^DnrD0_S)^g{o?n^LEqJ%)Z1UHjLD)Q#4p(ffBEVU+k&GGb0P(Y0e#%#D<<6?_^%#
zlUZx5l$q0$GF~&9vIsxt*tKd|l9z5h$6K4@7AxAvm*I1A1zZ7Fz!lhu0z9+D#wQWI
zb_HAkSKwCx*&h-X!OXCWs9Ogsy#f$NbgQu~cM0JnhM8d(kr7&mRAQtCyJCb$r$4d0
z%&?0X=?FS9`>~OKE-yhxr$5njge;=hu7E4hSKv54PUQT*=3i#;lHaHJlPll~9GC)O
zG<%p$xhOkZ|1D3>+JxnaMNINKY0%j2eFX49_K`CU#&{xa=4FOmMCnERN+
 class LockFreeQueue {
 public:
-    LockFreeQueue();
-    ~LockFreeQueue();
+    LockFreeQueue() : head_(new Node(T())), tail_(head_.load()) {}
+    
+    ~LockFreeQueue() {
+        while (Node* const old_head = head_.load()) {
+            head_.store(old_head->next);
+            delete old_head;
+        }
+    }
 
-    void push(T value);
-    std::optional pop();
-    bool empty() const;
+    void push(T value) {
+        Node* new_node = new Node(std::move(value));
+        Node* old_tail = tail_.load();
+        while (!tail_.compare_exchange_weak(old_tail, new_node)) {
+            old_tail = tail_.load();
+        }
+        old_tail->next.store(new_node);
+    }
+
+    std::optional pop() {
+        Node* old_head = head_.load();
+        Node* new_head;
+        do {
+            new_head = old_head->next;
+            if (!new_head) {
+                return std::nullopt;
+            }
+        } while (!head_.compare_exchange_weak(old_head, new_head));
+
+        T value = std::move(new_head->value);
+        delete old_head;
+        return value;
+    }
+
+    bool empty() const {
+        return head_.load()->next == nullptr;
+    }
 
 private:
     struct Node {
         T value;
-        std::atomic next;
-        explicit Node(T v) : value(std::move(v)), next(nullptr) {}
+        std::atomic next{nullptr};
+        explicit Node(T v) : value(std::move(v)) {}
     };
 
     std::atomic head_;
diff --git a/src/concurrent/LockFreeQueue.hpp b/src/concurrent/LockFreeQueue.hpp
deleted file mode 100644
index 6d1d651..0000000
--- a/src/concurrent/LockFreeQueue.hpp
+++ /dev/null
@@ -1,50 +0,0 @@
-#ifndef AIRPORT_CONCURRENT_LOCK_FREE_QUEUE_HPP
-#define AIRPORT_CONCURRENT_LOCK_FREE_QUEUE_HPP
-
-#include "LockFreeQueue.h"
-#include 
-#include 
-
-template
-LockFreeQueue::LockFreeQueue() : head_(new Node(T())), tail_(head_.load()) {}
-
-template
-LockFreeQueue::~LockFreeQueue() {
-    while (Node* const old_head = head_.load()) {
-        head_.store(old_head->next);
-        delete old_head;
-    }
-}
-
-template
-void LockFreeQueue::push(T value) {
-    Node* new_node = new Node(std::move(value));
-    Node* old_tail = tail_.load();
-    while (!tail_.compare_exchange_weak(old_tail, new_node)) {
-        old_tail = tail_.load();
-    }
-    old_tail->next.store(new_node);
-}
-
-template
-std::optional LockFreeQueue::pop() {
-    Node* old_head = head_.load();
-    Node* new_head;
-    do {
-        new_head = old_head->next;
-        if (!new_head) {
-            return std::nullopt;
-        }
-    } while (!head_.compare_exchange_weak(old_head, new_head));
-
-    T value = std::move(new_head->value);
-    delete old_head;
-    return value;
-}
-
-template
-bool LockFreeQueue::empty() const {
-    return head_.load()->next == nullptr;
-}
-
-#endif // AIRPORT_CONCURRENT_LOCK_FREE_QUEUE_HPP 
\ No newline at end of file
diff --git a/src/detector/CollisionDetector.cpp b/src/detector/CollisionDetector.cpp
index 997ab9b..bcfc8d1 100644
--- a/src/detector/CollisionDetector.cpp
+++ b/src/detector/CollisionDetector.cpp
@@ -2,7 +2,8 @@
 #include 
 
 CollisionDetector::CollisionDetector()
-    : computePool_(4)  // 4个计算线程
+    : spatialIndex_(airportBounds)  // 初始化四叉树
+    , computePool_(4)  // 4个计算线程
 {
 }
 
@@ -53,6 +54,26 @@ bool CollisionDetector::checkCollision(const VehicleData& v1, const VehicleData&
     return distance < 50.0;  // 50米警戒距离
 }
 
+double CollisionDetector::calculateTimeToCollision(
+    const VehicleData& v1, const VehicleData& v2) {
+    
+    // 计算相对速度
+    double dvx = v1.velocity.x - v2.velocity.x;
+    double dvy = v1.velocity.y - v2.velocity.y;
+    double relativeSpeed = std::sqrt(dvx * dvx + dvy * dvy);
+    
+    if (relativeSpeed < 0.1) {  // 相对速度太小
+        return std::numeric_limits::infinity();
+    }
+    
+    // 计算当前距离
+    double dx = v1.position.x - v2.position.x;
+    double dy = v1.position.y - v2.position.y;
+    double distance = std::sqrt(dx * dx + dy * dy);
+    
+    return distance / relativeSpeed;  // 简单的线性预测
+}
+
 Vector2D CollisionDetector::calculateAvoidanceVector(
     const VehicleData& v1, const VehicleData& v2) {
     
diff --git a/src/detector/CollisionDetector.h b/src/detector/CollisionDetector.h
index cbee4bf..31e542d 100644
--- a/src/detector/CollisionDetector.h
+++ b/src/detector/CollisionDetector.h
@@ -9,9 +9,9 @@
 class CollisionDetector {
 public:
     struct DetectionResult {
-        bool hasCollision;
-        double timeToCollision;
-        Vector2D avoidanceVector;
+        bool hasCollision{false};
+        double timeToCollision{0.0};
+        Vector2D avoidanceVector{0.0, 0.0};
     };
 
     CollisionDetector();
@@ -19,10 +19,13 @@ public:
                          const std::vector& others);
 
 private:
+    // 定义四叉树的范围（假设机场范围是10km x 10km）
+    const Bounds airportBounds{-5000.0, -5000.0, 10000.0, 10000.0};
     QuadTree spatialIndex_;
     ThreadPool computePool_;
 
     bool checkCollision(const VehicleData& v1, const VehicleData& v2);
+    double calculateTimeToCollision(const VehicleData& v1, const VehicleData& v2);
     Vector2D calculateAvoidanceVector(const VehicleData& v1, const VehicleData& v2);
 };
 
diff --git a/src/network/HTTPDataSource.cpp b/src/network/HTTPDataSource.cpp
index f1d1490..c9371ee 100644
--- a/src/network/HTTPDataSource.cpp
+++ b/src/network/HTTPDataSource.cpp
@@ -1,7 +1,9 @@
 #include "HTTPDataSource.h"
+#include "utils/Logger.h"
 #include 
 #include 
 #include 
+#include 
 
 using json = nlohmann::json;
 
@@ -24,32 +26,67 @@ HTTPDataSource::~HTTPDataSource() {
 
 bool HTTPDataSource::connect() {
     try {
+        Logger::debug("Connecting to server");
+        std::cerr << "Host: " << host_ << std::endl;
+        std::cerr << "Port: " << port_ << std::endl;
+        
+        // 确保之前的连接已关闭
+        disconnect();
+
+        // 创建新的解析器和socket
         resolver_ = std::make_unique(io_context_);
         socket_ = std::make_unique(io_context_);
 
+        // 解析地址
+        std::cerr << "Resolving address..." << std::endl;
         auto endpoints = resolver_->resolve(host_, port_);
+        
+        std::cerr << "Connecting to endpoint..." << std::endl;
         asio::connect(*socket_, endpoints);
+
+        // 设置 socket 选项
+        socket_->set_option(asio::socket_base::keep_alive(false));
+        socket_->set_option(asio::socket_base::linger(true, 0));
         
         connected_ = true;
+        std::cerr << "Connection established successfully" << std::endl;
         return true;
     }
     catch (const std::exception& e) {
         std::cerr << "Connection error: " << e.what() << std::endl;
+        connected_ = false;
         return false;
     }
 }
 
 void HTTPDataSource::disconnect() {
-    if (socket_ && socket_->is_open()) {
-        boost::system::error_code ec;
-        socket_->shutdown(asio::ip::tcp::socket::shutdown_both, ec);
-        socket_->close();
-        connected_ = false;
+    Logger::debug("Closing connection");
+    
+    if (socket_) {
+        if (socket_->is_open()) {
+            try {
+                boost::system::error_code ec;
+                socket_->shutdown(asio::ip::tcp::socket::shutdown_both, ec);
+                socket_->close(ec);
+            }
+            catch (const std::exception& e) {
+                Logger::error("Error during socket close: ", e.what());
+            }
+        }
+        socket_.reset();
     }
+    
+    if (resolver_) {
+        resolver_.reset();
+    }
+    
+    connected_ = false;
 }
 
 bool HTTPDataSource::isAvailable() const {
-    return connected_ && socket_ && socket_->is_open();
+    bool available = connected_ && socket_ && socket_->is_open();
+    Logger::debug("Connection status: ", available ? "available" : "not available");
+    return available;
 }
 
 std::optional HTTPDataSource::getData() {
@@ -75,159 +112,218 @@ std::optional HTTPDataSource::getData() {
 
 bool HTTPDataSource::fetchData() {
     try {
-        if (!sendRequest()) {
+        Logger::debug("Starting new data fetch cycle");
+        
+        // 确保之前的连接已关闭
+        disconnect();
+        
+        // 建立新连接
+        if (!connect()) {
+            Logger::error("Failed to connect to server");
             return false;
         }
 
-        std::string response = readResponse();
+        // 发送请求
+        Logger::debug("Sending HTTP request");
+        if (!sendRequest()) {
+            Logger::error("Failed to send request");
+            disconnect();
+            return false;
+        }
+
+        // 读取响应
+        std::string response;
+        if (!readResponseSafe(response)) {
+            Logger::error("Failed to read response");
+            disconnect();
+            return false;
+        }
+
+        // 解析数据
         std::vector vehicles;
         if (parseResponse(response, vehicles)) {
             cacheData(vehicles);
-            return true;
+            Logger::info("Successfully processed ", vehicles.size(), " vehicles");
         }
-        return false;
+
+        // 完成后主动关闭连接
+        disconnect();
+        return !vehicles.empty();
     }
     catch (const std::exception& e) {
-        std::cerr << "Fetch error: " << e.what() << std::endl;
-        connected_ = false;
+        Logger::error("Exception in fetchData: ", e.what());
+        disconnect();
+        return false;
+    }
+}
+
+bool HTTPDataSource::readResponseSafe(std::string& response) {
+    try {
+        Logger::debug("Reading response");
+        
+        asio::streambuf response_buf;
+        
+        // 1. 读取响应头
+        Logger::debug("Reading response headers");
+        boost::system::error_code ec;
+        size_t header_length = asio::read_until(*socket_, response_buf, "\r\n\r\n", ec);
+        
+        if (ec) {
+            Logger::error("Failed to read headers: ", ec.message());
+            return false;
+        }
+        
+        // 提取响应头
+        std::string header{asio::buffers_begin(response_buf.data()),
+                          asio::buffers_begin(response_buf.data()) + header_length};
+        Logger::debug("Header received:\n", header);
+        
+        // 2. 解析 Content-Length
+        std::regex content_length_regex("Content-Length: (\\d+)");
+        std::smatch matches;
+        if (!std::regex_search(header, matches, content_length_regex)) {
+            Logger::error("No Content-Length found");
+            return false;
+        }
+        
+        size_t content_length = std::stoul(matches[1]);
+        Logger::debug("Content-Length: ", content_length);
+        
+        // 3. 读取响应体
+        std::string body;
+        const size_t chunk_size = 1024;  // 每次读取1KB
+        size_t total_read = 0;
+        const int max_retries = 3;  // 最大重试次数
+        
+        // 首先处理已经在缓冲区中的数据
+        size_t available = response_buf.size() - header_length;
+        if (available > 0) {
+            body.append(
+                asio::buffers_begin(response_buf.data()) + header_length,
+                asio::buffers_begin(response_buf.data()) + header_length + available
+            );
+            total_read += available;
+            Logger::debug("Read ", available, " bytes from buffer");
+        }
+        
+        // 读取剩余数据
+        while (total_read < content_length) {
+            std::vector chunk(chunk_size);
+            int retries = 0;
+            bool chunk_read_success = false;
+            
+            while (retries < max_retries && !chunk_read_success) {
+                size_t to_read = std::min(chunk_size, content_length - total_read);
+                size_t bytes_read = 0;
+                
+                try {
+                    bytes_read = socket_->read_some(asio::buffer(chunk, to_read), ec);
+                    
+                    if (!ec) {
+                        body.append(chunk.begin(), chunk.begin() + bytes_read);
+                        total_read += bytes_read;
+                        chunk_read_success = true;
+                        Logger::debug("Read ", total_read, " of ", content_length, " bytes");
+                    } else if (ec == asio::error::eof) {
+                        Logger::warning("EOF reached after reading ", total_read, " of ", content_length, " bytes");
+                        if (total_read >= content_length) {
+                            chunk_read_success = true;
+                        } else {
+                            retries++;
+                        }
+                    } else {
+                        Logger::error("Error reading chunk: ", ec.message());
+                        retries++;
+                    }
+                }
+                catch (const std::exception& e) {
+                    Logger::error("Exception while reading chunk: ", e.what());
+                    retries++;
+                }
+                
+                if (!chunk_read_success && retries < max_retries) {
+                    Logger::warning("Retrying chunk read, attempt ", retries + 1, " of ", max_retries);
+                    std::this_thread::sleep_for(std::chrono::milliseconds(100));
+                }
+            }
+            
+            if (!chunk_read_success) {
+                Logger::error("Failed to read chunk after ", max_retries, " attempts");
+                return false;
+            }
+        }
+        
+        if (total_read < content_length) {
+            Logger::error("Incomplete response: read ", total_read, " of ", content_length, " bytes");
+            return false;
+        }
+        
+        response = body;
+        Logger::info("Successfully read complete response");
+        return true;
+    }
+    catch (const std::exception& e) {
+        Logger::error("Exception in readResponseSafe: ", e.what());
         return false;
     }
 }
 
 bool HTTPDataSource::sendRequest() {
-    std::stringstream request;
-    request << "GET " << target_ << " HTTP/1.1\r\n"
-            << "Host: " << host_ << "\r\n"
-            << "Connection: keep-alive\r\n"
-            << "\r\n";
-
-    asio::write(*socket_, asio::buffer(request.str()));
-    return true;
-}
-
-std::string HTTPDataSource::readResponse() {
     try {
-        asio::streambuf response;
+        std::cerr << "\n=== Sending HTTP request ===" << std::endl;
         
-        // 读取响应头
-        asio::read_until(*socket_, response, "\r\n\r\n");
+        std::stringstream request;
+        request << "GET " << target_ << " HTTP/1.1\r\n"
+                << "Host: " << host_ << "\r\n"
+                << "Connection: close\r\n"
+                << "Accept: application/json\r\n"
+                << "\r\n";
+
+        std::string request_str = request.str();
+        std::cerr << "Request headers:\n" << request_str << std::endl;
+
+        size_t bytes_written = asio::write(*socket_, asio::buffer(request_str));
+        std::cerr << "Sent " << bytes_written << " bytes" << std::endl;
         
-        // 解析响应头
-        std::string header{asio::buffers_begin(response.data()),
-                          asio::buffers_end(response.data())};
-                          
-        // 检查状态码
-        std::regex status_line_regex("HTTP/1\\.[01] (\\d{3})");
-        std::smatch matches;
-        if (!std::regex_search(header, matches, status_line_regex) || matches[1] != "200") {
-            throw std::runtime_error("Invalid HTTP response: " + header);
-        }
-        
-        // 获取 Content-Length
-        std::regex content_length_regex("Content-Length: (\\d+)");
-        if (!std::regex_search(header, matches, content_length_regex)) {
-            throw std::runtime_error("No Content-Length in response");
-        }
-        size_t content_length = std::stoul(matches[1]);
-        
-        // 清除已读取的响应头
-        response.consume(header.length());
-        
-        // 读取剩余的响应体
-        boost::system::error_code error;
-        if (content_length > 0) {
-            asio::read(*socket_, response, asio::transfer_exactly(content_length), error);
-            if (error && error != asio::error::eof) {
-                throw boost::system::system_error(error);
-            }
-        }
-        
-        // 提取响应体
-        std::string body{asio::buffers_begin(response.data()),
-                        asio::buffers_end(response.data())};
-                        
-        return body;
+        return true;
     }
     catch (const std::exception& e) {
-        std::cerr << "Error reading response: " << e.what() << std::endl;
-        throw;
+        std::cerr << "Error sending request: " << e.what() << std::endl;
+        return false;
     }
 }
 
 bool HTTPDataSource::parseResponse(const std::string& response, std::vector& vehicles) {
     try {
-        if (response.empty()) {
-            std::cerr << "Empty response received" << std::endl;
-            return false;
-        }
-
-        // 打印接收到的数据（调试用）
-        // std::cout << "Received response: " << response << std::endl;
-        
         auto j = json::parse(response);
         
-        if (!j.contains("vehicles") || !j["vehicles"].is_array()) {
-            std::cerr << "Invalid response format: missing or invalid 'vehicles' array" << std::endl;
-            return false;
-        }
-
         for (const auto& vehicle : j["vehicles"]) {
-            try {
-                VehicleData data;
-                
-                // 使用更安全的方式获取数据
-                if (!vehicle.contains("id") || !vehicle["id"].is_string()) {
-                    continue;  // 跳过无效数据
-                }
-                data.id = vehicle["id"].get();
-                
-                // 解析类型
-                if (!vehicle.contains("type") || !vehicle["type"].is_string()) {
-                    continue;
-                }
-                std::string typeStr = vehicle["type"].get();
-                data.type = (typeStr == "AIRCRAFT") ? VehicleType::AIRCRAFT : VehicleType::VEHICLE;
-                
-                // 解析位置
-                if (vehicle.contains("position") && vehicle["position"].is_object()) {
-                    auto& pos = vehicle["position"];
-                    if (pos.contains("x") && pos.contains("y")) {
-                        data.position.x = pos["x"].get();
-                        data.position.y = pos["y"].get();
-                    }
-                }
-                
-                // 解析速度
-                if (vehicle.contains("velocity") && vehicle["velocity"].is_object()) {
-                    auto& vel = vehicle["velocity"];
-                    if (vel.contains("x") && vel.contains("y")) {
-                        data.velocity.x = vel["x"].get();
-                        data.velocity.y = vel["y"].get();
-                    }
-                }
-                
-                // 解析其他属性
-                if (vehicle.contains("heading")) {
-                    data.heading = vehicle["heading"].get();
-                }
-                if (vehicle.contains("timestamp")) {
-                    data.timestamp = vehicle["timestamp"].get();
-                }
-                
-                // 对于飞行器，解析高度
-                if (data.type == VehicleType::AIRCRAFT && vehicle.contains("altitude")) {
-                    data.altitude = vehicle["altitude"].get();
-                }
-                
-                vehicles.push_back(data);
-            }
-            catch (const std::exception& e) {
-                std::cerr << "Error parsing vehicle data: " << e.what() << std::endl;
-                continue;  // 跳过错误的数据，继续处理下一条
+            VehicleData data;
+            
+            // 解析基本信息
+            data.id = vehicle["id"].get();
+            std::string typeStr = vehicle["type"].get();
+            data.type = (typeStr == "AIRCRAFT") ? VehicleType::AIRCRAFT : VehicleType::VEHICLE;
+            
+            // 解析地理坐标
+            data.geo.latitude = vehicle["position"]["latitude"].get();
+            data.geo.longitude = vehicle["position"]["longitude"].get();
+            
+            // 转换为平面坐标
+            data.updateLocalPosition(coordinateConverter_);
+            
+            // 解析其他属性
+            data.heading = vehicle["heading"].get();
+            data.timestamp = vehicle["timestamp"].get();
+            
+            if (data.type == VehicleType::AIRCRAFT) {
+                data.altitude = vehicle["altitude"].get();
             }
+            
+            vehicles.push_back(data);
         }
         
-        return !vehicles.empty();
+        return true;
     }
     catch (const std::exception& e) {
         std::cerr << "Error parsing response: " << e.what() << std::endl;
@@ -239,4 +335,24 @@ void HTTPDataSource::cacheData(const std::vector& vehicles) {
     for (const auto& vehicle : vehicles) {
         dataCache_.push(vehicle);
     }
+}
+
+bool HTTPDataSource::reconnect() {
+    static constexpr int MAX_RETRIES = 3;
+    static constexpr int RETRY_DELAY_MS = 1000;
+    
+    for (int i = 0; i < MAX_RETRIES; ++i) {
+        std::cerr << "Reconnecting attempt " << (i + 1) << " of " << MAX_RETRIES << std::endl;
+        
+        disconnect();
+        if (connect()) {
+            std::cerr << "Reconnection successful" << std::endl;
+            return true;
+        }
+        
+        std::this_thread::sleep_for(std::chrono::milliseconds(RETRY_DELAY_MS));
+    }
+    
+    std::cerr << "Failed to reconnect after " << MAX_RETRIES << " attempts" << std::endl;
+    return false;
 } 
\ No newline at end of file
diff --git a/src/network/HTTPDataSource.h b/src/network/HTTPDataSource.h
index 68f440e..0890c4a 100644
--- a/src/network/HTTPDataSource.h
+++ b/src/network/HTTPDataSource.h
@@ -3,6 +3,7 @@
 
 #include "collector/DataSource.h"
 #include "types/VehicleData.h"
+#include "spatial/CoordinateConverter.h"
 #include "ConnectionConfig.h"
 #include 
 #include 
@@ -26,6 +27,7 @@ public:
 
 private:
     ConnectionConfig config_;
+    CoordinateConverter coordinateConverter_;
     asio::io_context io_context_;
     std::unique_ptr socket_;
     std::unique_ptr resolver_;
@@ -42,9 +44,10 @@ private:
 
     bool fetchData();
     bool sendRequest();
-    std::string readResponse();
+    bool readResponseSafe(std::string& response);
     bool parseResponse(const std::string& response, std::vector& vehicles);
     void cacheData(const std::vector& vehicles);
+    bool reconnect();
 };
 
 #endif // AIRPORT_HTTP_DATA_SOURCE_H 
\ No newline at end of file
diff --git a/src/spatial/CoordinateConverter.cpp b/src/spatial/CoordinateConverter.cpp
new file mode 100644
index 0000000..9d16c4b
--- /dev/null
+++ b/src/spatial/CoordinateConverter.cpp
@@ -0,0 +1,35 @@
+#include "CoordinateConverter.h"
+#include 
+
+void CoordinateConverter::setReferencePoint(double lat, double lon) {
+    ref_lat_ = lat * M_PI / 180.0;  // 转换为弧度
+    ref_lon_ = lon * M_PI / 180.0;
+    cos_ref_lat_ = std::cos(ref_lat_);
+}
+
+Vector2D CoordinateConverter::toLocalXY(double lat, double lon) const {
+    // 使用等角投影转换
+    double lat_rad = lat * M_PI / 180.0;
+    double lon_rad = lon * M_PI / 180.0;
+    
+    // 计算相对于参考点的差值
+    double d_lon = lon_rad - ref_lon_;
+    double d_lat = lat_rad - ref_lat_;
+    
+    // 转换为米（使用WGS84椭球体参数）
+    Vector2D result;
+    result.x = EARTH_RADIUS * d_lon * cos_ref_lat_;  // 东西方向
+    result.y = EARTH_RADIUS * d_lat;                 // 南北方向
+    
+    return result;
+}
+
+std::pair CoordinateConverter::toLatLon(const Vector2D& xy) const {
+    double d_lon = xy.x / (EARTH_RADIUS * cos_ref_lat_);
+    double d_lat = xy.y / EARTH_RADIUS;
+    
+    double lat = (ref_lat_ + d_lat) * 180.0 / M_PI;
+    double lon = (ref_lon_ + d_lon) * 180.0 / M_PI;
+    
+    return {lat, lon};
+} 
\ No newline at end of file
diff --git a/src/spatial/CoordinateConverter.h b/src/spatial/CoordinateConverter.h
new file mode 100644
index 0000000..80c1f80
--- /dev/null
+++ b/src/spatial/CoordinateConverter.h
@@ -0,0 +1,26 @@
+#ifndef AIRPORT_SPATIAL_COORDINATE_CONVERTER_H
+#define AIRPORT_SPATIAL_COORDINATE_CONVERTER_H
+
+#include "../types/BasicTypes.h"
+#include 
+#include 
+
+class CoordinateConverter {
+public:
+    // 设置机场参考点（通常是跑道中心点或机场中心点）
+    void setReferencePoint(double lat, double lon);
+
+    // 将经纬度转换为相对于参考点的平面坐标（米）
+    Vector2D toLocalXY(double lat, double lon) const;
+
+    // 将平面坐标（米）转换回经纬度
+    std::pair toLatLon(const Vector2D& xy) const;
+
+private:
+    static constexpr double EARTH_RADIUS = 6378137.0;  // WGS84椭球体赤道半径（米）
+    double ref_lat_{0.0};     // 参考点纬度（弧度）
+    double ref_lon_{0.0};     // 参考点经度（弧度）
+    double cos_ref_lat_{1.0}; // 参考点纬度的余弦值（预计算）
+};
+
+#endif // AIRPORT_SPATIAL_COORDINATE_CONVERTER_H 
\ No newline at end of file
diff --git a/src/spatial/QuadTree.h b/src/spatial/QuadTree.h
new file mode 100644
index 0000000..d1c2f38
--- /dev/null
+++ b/src/spatial/QuadTree.h
@@ -0,0 +1,142 @@
+#ifndef AIRPORT_SPATIAL_QUADTREE_H
+#define AIRPORT_SPATIAL_QUADTREE_H
+
+#include 
+#include 
+#include "types/VehicleData.h"
+
+// 定义矩形区域
+struct Bounds {
+    double x;      // 左上角x坐标
+    double y;      // 左上角y坐标
+    double width;  // 宽度
+    double height; // 高度
+
+    bool contains(const Vector2D& point) const {
+        return point.x >= x && point.x <= (x + width) &&
+               point.y >= y && point.y <= (y + height);
+    }
+
+    bool intersects(const Bounds& other) const {
+        return !(other.x > (x + width) ||
+                (other.x + other.width) < x ||
+                other.y > (y + height) ||
+                (other.y + other.height) < y);
+    }
+};
+
+template
+class QuadTree {
+public:
+    explicit QuadTree(const Bounds& bounds, int capacity = 4)
+        : bounds_(bounds), capacity_(capacity) {}
+
+    void insert(const T& item) {
+        if (!bounds_.contains(getPosition(item))) {
+            return;
+        }
+
+        if (items_.size() < capacity_ && !divided_) {
+            items_.push_back(item);
+            return;
+        }
+
+        if (!divided_) {
+            subdivide();
+        }
+
+        northwest_->insert(item);
+        northeast_->insert(item);
+        southwest_->insert(item);
+        southeast_->insert(item);
+    }
+
+    std::vector queryRange(const Bounds& range) const {
+        std::vector found;
+        if (!bounds_.intersects(range)) {
+            return found;
+        }
+
+        for (const auto& item : items_) {
+            if (range.contains(getPosition(item))) {
+                found.push_back(item);
+            }
+        }
+
+        if (divided_) {
+            auto nw = northwest_->queryRange(range);
+            auto ne = northeast_->queryRange(range);
+            auto sw = southwest_->queryRange(range);
+            auto se = southeast_->queryRange(range);
+
+            found.insert(found.end(), nw.begin(), nw.end());
+            found.insert(found.end(), ne.begin(), ne.end());
+            found.insert(found.end(), sw.begin(), sw.end());
+            found.insert(found.end(), se.begin(), se.end());
+        }
+
+        return found;
+    }
+
+    std::vector queryNearby(const Vector2D& point, double radius) const {
+        Bounds range{
+            point.x - radius,
+            point.y - radius,
+            radius * 2,
+            radius * 2
+        };
+        return queryRange(range);
+    }
+
+    void clear() {
+        items_.clear();
+        divided_ = false;
+        northwest_.reset();
+        northeast_.reset();
+        southwest_.reset();
+        southeast_.reset();
+    }
+
+private:
+    Bounds bounds_;
+    int capacity_;
+    std::vector items_;
+    bool divided_ = false;
+
+    std::unique_ptr northwest_;
+    std::unique_ptr northeast_;
+    std::unique_ptr southwest_;
+    std::unique_ptr southeast_;
+
+    void subdivide() {
+        double x = bounds_.x;
+        double y = bounds_.y;
+        double w = bounds_.width / 2;
+        double h = bounds_.height / 2;
+
+        Bounds nw{x, y, w, h};
+        northwest_ = std::make_unique(nw, capacity_);
+
+        Bounds ne{x + w, y, w, h};
+        northeast_ = std::make_unique(ne, capacity_);
+
+        Bounds sw{x, y + h, w, h};
+        southwest_ = std::make_unique(sw, capacity_);
+
+        Bounds se{x + w, y + h, w, h};
+        southeast_ = std::make_unique(se, capacity_);
+
+        divided_ = true;
+    }
+
+    // 获取对象的位置
+    static Vector2D getPosition(const T& item) {
+        if constexpr (std::is_same_v) {
+            return item.position;
+        } else {
+            return item.getPosition();  // 对于其他类型，假设有getPosition方法
+        }
+    }
+};
+
+#endif // AIRPORT_SPATIAL_QUADTREE_H 
\ No newline at end of file
diff --git a/src/types/BasicTypes.h b/src/types/BasicTypes.h
new file mode 100644
index 0000000..3bd5665
--- /dev/null
+++ b/src/types/BasicTypes.h
@@ -0,0 +1,14 @@
+#ifndef AIRPORT_TYPES_BASIC_TYPES_H
+#define AIRPORT_TYPES_BASIC_TYPES_H
+
+struct Vector2D {
+    double x;  // 东西方向（米）
+    double y;  // 南北方向（米）
+};
+
+struct GeoPosition {
+    double latitude;   // 纬度
+    double longitude;  // 经度
+};
+
+#endif // AIRPORT_TYPES_BASIC_TYPES_H 
\ No newline at end of file
diff --git a/src/types/VehicleCommand.h b/src/types/VehicleCommand.h
new file mode 100644
index 0000000..fb61684
--- /dev/null
+++ b/src/types/VehicleCommand.h
@@ -0,0 +1,27 @@
+#ifndef AIRPORT_TYPES_VEHICLE_COMMAND_H
+#define AIRPORT_TYPES_VEHICLE_COMMAND_H
+
+#include 
+#include "VehicleData.h"
+
+enum class CommandType {
+    CONTINUE,   // 继续运行
+    STOP,       // 停止
+    SLOW_DOWN,  // 减速
+    TURN_LEFT,  // 左转
+    TURN_RIGHT  // 右转
+};
+
+struct VehicleCommand {
+    std::string vehicleId;     // 车辆ID
+    CommandType type;          // 命令类型
+    Vector2D avoidanceVector;  // 避障向量
+    double speed{0.0};         // 目标速度
+    double heading{0.0};       // 目标航向
+    uint64_t timestamp;        // 时间戳
+    
+    // 可选的优先级
+    int priority{0};  // 数字越大优先级越高
+};
+
+#endif // AIRPORT_TYPES_VEHICLE_COMMAND_H 
\ No newline at end of file
diff --git a/src/types/VehicleData.cpp b/src/types/VehicleData.cpp
new file mode 100644
index 0000000..0e89656
--- /dev/null
+++ b/src/types/VehicleData.cpp
@@ -0,0 +1,6 @@
+#include "VehicleData.h"
+#include "../spatial/CoordinateConverter.h"
+
+void VehicleData::updateLocalPosition(const CoordinateConverter& converter) {
+    position = converter.toLocalXY(geo.latitude, geo.longitude);
+} 
\ No newline at end of file
diff --git a/src/types/VehicleData.h b/src/types/VehicleData.h
index cba3c2f..3c4a863 100644
--- a/src/types/VehicleData.h
+++ b/src/types/VehicleData.h
@@ -3,25 +3,28 @@
 
 #include 
 #include 
+#include "BasicTypes.h"
 
-struct Vector2D {
-    double x;
-    double y;
-};
+// 前向声明
+class CoordinateConverter;
 
 enum class VehicleType {
-    AIRCRAFT,    // 飞行器
-    VEHICLE      // 地面车辆
+    AIRCRAFT,
+    VEHICLE
 };
 
 struct VehicleData {
     std::string id;          // 唯一标识
     VehicleType type;        // 类型
-    Vector2D position;       // 位置
-    Vector2D velocity;       // 速度
-    double heading;          // 航向角
+    GeoPosition geo;         // 地理坐标（经纬度）
+    Vector2D position;       // 平面坐标（米）
+    Vector2D velocity;       // 速度（米/秒）
+    double heading;          // 航向角（度）
     uint64_t timestamp;      // 时间戳
-    double altitude{0.0};    // 高度（仅飞行器有效）
+    double altitude{0.0};    // 高度（米，仅飞行器有效）
+
+    // 只保留声明
+    void updateLocalPosition(const CoordinateConverter& converter);
 };
 
 #endif // AIRPORT_TYPES_VEHICLE_DATA_H 
\ No newline at end of file
diff --git a/src/utils/Logger.h b/src/utils/Logger.h
new file mode 100644
index 0000000..99a9325
--- /dev/null
+++ b/src/utils/Logger.h
@@ -0,0 +1,72 @@
+#ifndef AIRPORT_UTILS_LOGGER_H
+#define AIRPORT_UTILS_LOGGER_H
+
+#include 
+#include 
+#include 
+#include 
+
+enum class LogLevel {
+    DEBUG,
+    INFO,
+    WARNING,
+    ERROR
+};
+
+class Logger {
+public:
+    static void setLogLevel(LogLevel level) {
+        currentLevel_ = level;
+    }
+    
+    template
+    static void debug(Args... args) {
+        if (currentLevel_ <= LogLevel::DEBUG) {
+            log("DEBUG", args...);
+        }
+    }
+    
+    template
+    static void info(Args... args) {
+        if (currentLevel_ <= LogLevel::INFO) {
+            log("INFO", args...);
+        }
+    }
+    
+    template
+    static void warning(Args... args) {
+        if (currentLevel_ <= LogLevel::WARNING) {
+            log("WARNING", args...);
+        }
+    }
+    
+    template
+    static void error(Args... args) {
+        if (currentLevel_ <= LogLevel::ERROR) {
+            log("ERROR", args...);
+        }
+    }
+
+private:
+    static LogLevel currentLevel_;
+    
+    template
+    static void log(const char* level, Args... args) {
+        auto now = std::chrono::system_clock::now();
+        auto now_c = std::chrono::system_clock::to_time_t(now);
+        auto now_ms = std::chrono::duration_cast(
+            now.time_since_epoch()) % 1000;
+        
+        std::stringstream ss;
+        ss << std::put_time(std::localtime(&now_c), "%Y-%m-%d %H:%M:%S")
+           << '.' << std::setfill('0') << std::setw(3) << now_ms.count()
+           << " [" << level << "] ";
+        
+        (ss << ... << args) << std::endl;
+        std::cerr << ss.str();
+    }
+};
+
+LogLevel Logger::currentLevel_ = LogLevel::INFO;
+
+#endif // AIRPORT_UTILS_LOGGER_H 
\ No newline at end of file
diff --git a/tools/mock_server.py b/tools/mock_server.py
index 427f84c..4bc9ab3 100644
--- a/tools/mock_server.py
+++ b/tools/mock_server.py
@@ -1,57 +1,134 @@
-from flask import Flask, jsonify
+from flask import Flask, jsonify, make_response, request
 import math
 import time
 import random
+import logging
+from werkzeug.serving import WSGIRequestHandler
+
+# 配置日志
+logging.basicConfig(
+    level=logging.INFO,
+    format='%(asctime)s - %(name)s - %(levelname)s - %(message)s'
+)
+logger = logging.getLogger(__name__)
+
+# 自定义请求处理器
+class CustomRequestHandler(WSGIRequestHandler):
+    protocol_version = "HTTP/1.1"
+    
+    def handle(self):
+        try:
+            logger.info("Starting to handle request")
+            super().handle()
+            logger.info("Finished handling request")
+        except Exception as e:
+            logger.error(f"Error handling request: {e}")
+        finally:
+            self.close_connection = True
+            logger.info("Connection closed")
 
 app = Flask(__name__)
 
+# 机场参考点（浦东机场坐标）
+AIRPORT_LAT = 31.143494
+AIRPORT_LON = 121.805214
+
 def generate_mock_data():
-    current_time = int(time.time() * 1000)  # 毫秒时间戳
-    vehicles = []
-    
-    # 生成3架飞机的数据
-    for i in range(3):
-        aircraft = {
-            "id": f"AIRCRAFT_{i+1}",
-            "type": "AIRCRAFT",
-            "position": {
-                "x": 1000 + math.sin(time.time() + i) * 500,
-                "y": 1000 + math.cos(time.time() + i) * 500
-            },
-            "velocity": {
-                "x": random.uniform(-10, 10),
-                "y": random.uniform(-10, 10)
-            },
-            "heading": random.uniform(0, 360),
-            "timestamp": current_time,
-            "altitude": random.uniform(100, 1000)
-        }
-        vehicles.append(aircraft)
-    
-    # 生成5辆车的数据
-    for i in range(5):
-        vehicle = {
-            "id": f"VEHICLE_{i+1}",
-            "type": "VEHICLE",
-            "position": {
-                "x": 500 + math.sin(time.time() + i) * 200,
-                "y": 500 + math.cos(time.time() + i) * 200
-            },
-            "velocity": {
-                "x": random.uniform(-5, 5),
-                "y": random.uniform(-5, 5)
-            },
-            "heading": random.uniform(0, 360),
-            "timestamp": current_time,
-            "altitude": 0
-        }
-        vehicles.append(vehicle)
-    
-    return {"vehicles": vehicles}
+    """生成模拟数据"""
+    try:
+        logger.info("Generating mock data")
+        current_time = int(time.time() * 1000)
+        vehicles = []
+        
+        # 生成3架飞机的数据
+        for i in range(3):
+            lat_offset = math.sin(time.time() + i) * 0.001
+            lon_offset = math.cos(time.time() + i) * 0.001
+            
+            aircraft = {
+                "id": f"AIRCRAFT_{i+1}",
+                "type": "AIRCRAFT",
+                "position": {
+                    "latitude": AIRPORT_LAT + lat_offset,
+                    "longitude": AIRPORT_LON + lon_offset
+                },
+                "velocity": {
+                    "x": random.uniform(-10, 10),
+                    "y": random.uniform(-10, 10)
+                },
+                "heading": random.uniform(0, 360),
+                "timestamp": current_time,
+                "altitude": random.uniform(100, 1000)
+            }
+            vehicles.append(aircraft)
+        
+        # 生成5辆车的数据
+        for i in range(5):
+            lat_offset = math.sin(time.time() + i) * 0.0005
+            lon_offset = math.cos(time.time() + i) * 0.0005
+            
+            vehicle = {
+                "id": f"VEHICLE_{i+1}",
+                "type": "VEHICLE",
+                "position": {
+                    "latitude": AIRPORT_LAT + lat_offset,
+                    "longitude": AIRPORT_LON + lon_offset
+                },
+                "velocity": {
+                    "x": random.uniform(-5, 5),
+                    "y": random.uniform(-5, 5)
+                },
+                "heading": random.uniform(0, 360),
+                "timestamp": current_time,
+                "altitude": 0
+            }
+            vehicles.append(vehicle)
+        
+        logger.info(f"Generated {len(vehicles)} vehicles data")
+        return {"vehicles": vehicles}
+    except Exception as e:
+        logger.error(f"Error generating mock data: {e}")
+        return {"vehicles": []}
 
 @app.route('/api/vehicles')
 def get_vehicles():
-    return jsonify(generate_mock_data())
+    """处理获取车辆数据的请求"""
+    try:
+        logger.info(f"Received request from {request.remote_addr}")
+        logger.info(f"Request headers: {dict(request.headers)}")
+        
+        data = generate_mock_data()
+        
+        # 使用 make_response 创建响应
+        response = make_response(jsonify(data))
+        
+        # 设置响应头
+        response.headers['Content-Type'] = 'application/json'
+        response.headers['Connection'] = 'close'
+        response.headers['Cache-Control'] = 'no-cache'
+        response.headers['Access-Control-Allow-Origin'] = '*'
+        
+        logger.info(f"Response headers: {dict(response.headers)}")
+        logger.info(f"Response data length: {len(str(data))}")
+        logger.info("Sending response...")
+        
+        return response
+    except Exception as e:
+        logger.error(f"Error handling request: {e}")
+        logger.exception("Detailed error:")
+        return make_response(jsonify({"error": str(e)}), 500)
+    finally:
+        logger.info("Request handling completed")
 
 if __name__ == '__main__':
-    app.run(host='0.0.0.0', port=8080) 
\ No newline at end of file
+    try:
+        logger.info("Starting mock server on port 8080...")
+        app.run(
+            host='0.0.0.0',
+            port=8080,
+            threaded=True,
+            use_reloader=False,
+            request_handler=CustomRequestHandler
+        )
+    except Exception as e:
+        logger.error(f"Failed to start server: {e}") 
\ No newline at end of file

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