增强兼容性

src/config/SystemConfig.cpp

@@ -18,7 +18,7 @@ void SystemConfig::load(const std::string& filename) {
         airport.icao = j["airport"]["icao"];
         airport.reference_point.latitude = j["airport"]["reference_point"]["latitude"];
         airport.reference_point.longitude = j["airport"]["reference_point"]["longitude"];
-        airport.coordinate_points = j["airport"]["coordinate_points"].get<std::vector<SystemConfig::Airport::CoordinatePoint>>();
+        airport.coordinate_points = j["airport"]["coordinate_points"].get<std::vector<CoordinatePoint>>();
 
         // 加载数据源配置
         data_source.host = j["data_source"]["host"];
@@ -40,7 +40,7 @@ void SystemConfig::load(const std::string& filename) {
         // 加载碰撞检测配置
         collision_detection.update_interval_ms = j["collision_detection"]["update_interval_ms"];
         
-        // 加载碰撞预测配置
+        // 加<EFBFBD><EFBFBD><EFBFBD>碰撞预测配置
         collision_detection.prediction.time_window = j["collision_detection"]["prediction"]["time_window"];
         collision_detection.prediction.vehicle_size = j["collision_detection"]["prediction"]["vehicle_size"];
         collision_detection.prediction.aircraft_size = j["collision_detection"]["prediction"]["aircraft_size"];

src/config/SystemConfig.h

@@ -5,6 +5,13 @@
 
 class System;  // 前向声明
 
+// 前向声明所有需要序列化的结构体
+struct CoordinatePoint {
+    std::string point;
+    double latitude;
+    double longitude;
+};
+
 class SystemConfig {
 public:
     // 获取单例实例
@@ -24,18 +31,12 @@ public:
         std::string name;
         std::string iata;
         std::string icao;
-        struct {
+        struct ReferencePoint {
             double latitude;
             double longitude;
         } reference_point;
         
-        // 定义坐标点结构体
-        struct CoordinatePoint {
-            std::string point;
-            double latitude;
-            double longitude;
-        };
-        
+        // 使用前向声明的坐标点结构体
         std::vector<CoordinatePoint> coordinate_points;
     } airport;
 
@@ -96,4 +97,57 @@ private:
 }; 
 
 // JSON 序列化支持
-NLOHMANN_DEFINE_TYPE_NON_INTRUSIVE(SystemConfig::Airport::CoordinatePoint, point, latitude, longitude) 
+NLOHMANN_DEFINE_TYPE_NON_INTRUSIVE(CoordinatePoint, point, latitude, longitude);
+NLOHMANN_DEFINE_TYPE_NON_INTRUSIVE(SystemConfig::Airport::ReferencePoint, latitude, longitude);
+
+NLOHMANN_DEFINE_TYPE_NON_INTRUSIVE(
+    SystemConfig::Airport,
+    name, iata, icao, reference_point, coordinate_points
+);
+
+NLOHMANN_DEFINE_TYPE_NON_INTRUSIVE(
+    SystemConfig::DataSource,
+    host, port, aircraft_path, vehicle_path, traffic_light_path,
+    refresh_interval_ms, timeout_ms, read_timeout_ms
+);
+
+NLOHMANN_DEFINE_TYPE_NON_INTRUSIVE(
+    SystemConfig::WebSocket::PositionUpdate,
+    aircraft_interval_ms, vehicle_interval_ms, traffic_light_interval_ms
+);
+
+NLOHMANN_DEFINE_TYPE_NON_INTRUSIVE(
+    SystemConfig::WebSocket,
+    port, max_connections, ping_interval_ms, position_update
+);
+
+NLOHMANN_DEFINE_TYPE_NON_INTRUSIVE(
+    SystemConfig::CollisionDetection::Prediction,
+    time_window, vehicle_size, aircraft_size, min_unmanned_speed
+);
+
+NLOHMANN_DEFINE_TYPE_NON_INTRUSIVE(
+    SystemConfig::CollisionDetection,
+    update_interval_ms, prediction
+);
+
+NLOHMANN_DEFINE_TYPE_NON_INTRUSIVE(
+    SystemConfig::Logging,
+    level, file, max_size_mb, max_files, console_output
+);
+
+NLOHMANN_DEFINE_TYPE_NON_INTRUSIVE(
+    SystemConfig::Debug,
+    enable_mock_data, save_raw_data, profile_performance
+);
+
+NLOHMANN_DEFINE_TYPE_NON_INTRUSIVE(
+    SystemConfig::Warning,
+    warning_interval_ms, log_interval_ms
+);
+
+NLOHMANN_DEFINE_TYPE_NON_INTRUSIVE(
+    SystemConfig,
+    airport, data_source, websocket, collision_detection,
+    logging, debug, warning
+);

src/detector/CollisionDetector.cpp

@@ -5,6 +5,8 @@
 #include <cmath>
 #include <unordered_set>
 
+using namespace collision;
+
 CollisionDetector::CollisionDetector(const AirportBounds& bounds, const ControllableVehicles& controllableVehicles)
     : airportBounds_(bounds)
     , vehicleTree_(bounds.getAirportBounds(), 8)  // 使用机场总边界初始化四叉树
@@ -603,7 +605,7 @@ collision::CollisionResult CollisionDetector::predictCircleBasedCollision(
         // 3. 相对速度很小（说明速度接近）
         if (angle_diff < 30.0) {
             // 计算垂直于运动方向的向距离
-            // 航向角转换为学坐标系中的旋转角度（逆时针为正）
+            // 航向角转换为学坐标系中的<EFBFBD><EFBFBD><EFBFBD>转角度（逆时针为正）
             double rotation_angle = (90.0 - heading1) * M_PI / 180.0;
             
             // 使用标准的二维坐标旋转式
@@ -634,7 +636,7 @@ collision::CollisionResult CollisionDetector::predictCircleBasedCollision(
         }
     }
     
-    // 5. 在时间窗口内预测碰撞
+    // 5. <EFBFBD><EFBFBD><EFBFBD>时间窗口内预测碰撞
     const int STEPS = 120;  // 增加采样点数以提高精度
     double dt = timeWindow / STEPS;  // 时间步长
     

src/detector/CollisionDetector.h

@@ -11,6 +11,8 @@
 #include <vector>
 #include <unordered_map>
 
+using namespace collision;
+
 // 碰撞风险等级
 enum class RiskLevel {
     NONE = 0,        // 无风险
@@ -65,7 +67,7 @@ public:
     std::vector<CollisionRisk> detectCollisions();
     
     // 统一的碰撞检测函数
-    collision::CollisionResult checkCollision(
+    CollisionResult checkCollision(
         const MovingObject& obj1,
         const MovingObject& obj2,
         double timeWindow = 30.0) const;
@@ -102,7 +104,7 @@ private:
     
     // 统一的风险评估函数
     std::pair<RiskLevel, WarningZoneType> evaluateRisk(
-        const collision::CollisionResult& collisionResult,
+        const CollisionResult& collisionResult,
         const Vector2D& position,
         MovingObjectType type1,
         MovingObjectType type2) const;
@@ -144,7 +146,7 @@ private:
     }
     
     // 基于圆形的碰撞检测核心函数
-    collision::CollisionResult predictCircleBasedCollision(
+    CollisionResult predictCircleBasedCollision(
         const Vector2D& pos1, double radius1, double speed1, double heading1,
         const Vector2D& pos2, double radius2, double speed2, double heading2,
         double timeWindow) const;

src/detector/CollisionTypes.h

@@ -5,6 +5,7 @@
 
 #include "types/BasicTypes.h"
 #include <limits>
+#include <cmath>
 
 namespace collision {