#include "detector/CollisionDetector.h"
#include "vehicle/ControllableVehicles.h"
#include "spatial/AirportBounds.h"
#include <gtest/gtest.h>
#include <gmock/gmock.h>
#include "utils/Logger.h"
#include <chrono>

// Mock ControllableVehicles 类
class MockControllableVehicles : public ControllableVehicles {
public:
    MockControllableVehicles() : ControllableVehicles("") {}  // 使用空字符串，避免加载实际配置
    MOCK_METHOD(bool, isControllable, (const std::string& vehicleNo), (const));
};

// Mock AirportBounds 类
class MockAirportBounds : public AirportBounds {
public:
    MockAirportBounds() : AirportBounds("") {
        // 设置更大的测试边界，以包含所有测试数据
        airportBounds_ = Bounds(0, 0, 4000, 2000);  // 4000x2000 的测试区域
        Logger::info("MockAirportBounds initialized with bounds: ", 
            "x=", airportBounds_.x, ", y=", airportBounds_.y,
            ", width=", airportBounds_.width, ", height=", airportBounds_.height);
    }
    
    // 覆盖原有方法，返回测试用的配置
    AreaType getAreaType(const Vector2D& position) const override { 
        return AreaType::RUNWAY;  // 简化测试，总是返回跑道区域
    }
    
    const AreaConfig& getAreaConfig(AreaType type) const override {
        static const AreaConfig config{50.0, 100.0, 15.0};
        return config;
    }
    
    const Bounds& getAirportBounds() const override {
        return airportBounds_;
    }
};

class CollisionDetectorTest : public ::testing::Test {
protected:
    void SetUp() override {
        // 创建 Mock 对象
        airportBounds_ = std::make_unique<MockAirportBounds>();
        mockControllableVehicles_ = std::make_unique<MockControllableVehicles>();
        
        // 创建冲突检测器
        detector_ = std::make_unique<CollisionDetector>(*airportBounds_, *mockControllableVehicles_);
    }

    std::unique_ptr<MockAirportBounds> airportBounds_;
    std::unique_ptr<MockControllableVehicles> mockControllableVehicles_;
    std::unique_ptr<CollisionDetector> detector_;
};

// 测试可控车辆与航空器的冲突检测
TEST_F(CollisionDetectorTest, DetectControllableVehicleAircraftCollision) {
    // 设置 Mock 期望 - 在创建数据之前设置
    EXPECT_CALL(*mockControllableVehicles_, isControllable("VEH001"))
        .WillRepeatedly(testing::Return(true));
    Logger::info("Set mock expectation: VEH001 is controllable");

    // 设置���试数据
    Aircraft aircraft;
    aircraft.flightNo = "TEST001";
    aircraft.position = {100, 100};
    aircraft.speed = 10;
    aircraft.heading = 90;
    Logger::info("Created aircraft: flightNo=", aircraft.flightNo,
        ", position=(", aircraft.position.x, ", ", aircraft.position.y, ")");

    Vehicle vehicle;
    vehicle.vehicleNo = "VEH001";
    vehicle.position = {120, 100};  // 距离航空器20米
    vehicle.speed = 5;
    vehicle.heading = 270;
    Logger::info("Created vehicle: vehicleNo=", vehicle.vehicleNo,
        ", position=(", vehicle.position.x, ", ", vehicle.position.y, ")");

    // 更新交通数据
    detector_->updateTraffic({aircraft}, {vehicle});
    Logger::info("Updated traffic data");

    // 执行冲突检测
    auto risks = detector_->detectCollisions();

    // 验证结果
    ASSERT_EQ(risks.size(), 1);  // 应该检测到一个冲突风险
    if (!risks.empty()) {
        const auto& risk = risks[0];
        EXPECT_EQ(risk.id1, "TEST001");  // 航空器ID
        EXPECT_EQ(risk.id2, "VEH001");   // 车辆ID
        EXPECT_EQ(risk.distance, 20);     // 距离应该是20米
        EXPECT_EQ(risk.level, RiskLevel::CRITICAL);  // 20米距离应该是严重风险
        EXPECT_GT(risk.relativeSpeed, 0); // 相对速度应该大于0
    }
}

// 测试可控车辆与其他车辆的冲突检测
TEST_F(CollisionDetectorTest, DetectControllableVehicleOtherVehicleCollision) {
    // 设置 Mock 期望
    EXPECT_CALL(*mockControllableVehicles_, isControllable("VEH001"))
        .WillRepeatedly(testing::Return(true));
    EXPECT_CALL(*mockControllableVehicles_, isControllable("VEH002"))
        .WillRepeatedly(testing::Return(false));

    // 设置测试数据
    Vehicle controlVehicle;
    controlVehicle.vehicleNo = "VEH001";
    controlVehicle.position = {100, 100};
    controlVehicle.speed = 5;
    controlVehicle.heading = 90;

    Vehicle otherVehicle;
    otherVehicle.vehicleNo = "VEH002";
    otherVehicle.position = {120, 100};  // 距离可控车辆20米
    otherVehicle.speed = 5;
    otherVehicle.heading = 270;

    // 更新交通数据
    detector_->updateTraffic({}, {controlVehicle, otherVehicle});

    // 执行冲突检测
    auto risks = detector_->detectCollisions();

    // 验证结果
    ASSERT_EQ(risks.size(), 1);  // 应该检测到一个冲突风险
    if (!risks.empty()) {
        EXPECT_EQ(risks[0].id1, "VEH001");  // 可控车辆ID
        EXPECT_EQ(risks[0].id2, "VEH002");  // 其他车辆ID
        EXPECT_EQ(risks[0].distance, 20);    // 距离应该是20米
        EXPECT_EQ(risks[0].level, RiskLevel::CRITICAL);  // 20米距离应该是告警
    }
}

// 测试非可控车辆的冲突检测（不应该产生冲突风险）
TEST_F(CollisionDetectorTest, NonControllableVehicleCollision) {
    // 设置测试数据
    Vehicle vehicle1;
    vehicle1.vehicleNo = "VEH001";
    vehicle1.position = {100, 100};
    vehicle1.speed = 5;
    vehicle1.heading = 90;

    Vehicle vehicle2;
    vehicle2.vehicleNo = "VEH002";
    vehicle2.position = {120, 100};  // 距离20米
    vehicle2.speed = 5;
    vehicle2.heading = 270;

    // 设置 Mock 期望
    EXPECT_CALL(*mockControllableVehicles_, isControllable(testing::_))
        .WillRepeatedly(testing::Return(false));

    // 更新交通数据
    detector_->updateTraffic({}, {vehicle1, vehicle2});

    // 执行冲突检测
    auto risks = detector_->detectCollisions();

    // 验证结果
    EXPECT_EQ(risks.size(), 0);  // 非可控车辆之间的冲突不应该被检测
}

// 测试多个可控车辆之间的冲突检测
TEST_F(CollisionDetectorTest, MultipleControllableVehiclesCollision) {
    // 设置 Mock 期望 - 所有车辆都是可控的
    ON_CALL(*mockControllableVehicles_, isControllable(testing::_))
        .WillByDefault(testing::Return(true));
    EXPECT_CALL(*mockControllableVehicles_, isControllable(testing::_))
        .Times(testing::AtLeast(3));  // 至少调用3次，因为有3辆车
    Logger::info("Set mock expectation: all vehicles are controllable");

    // 设置测试数据
    std::vector<Vehicle> vehicles;
    
    // VEH001 在 (100, 100)
    Vehicle v1;
    v1.vehicleNo = "VEH001";
    v1.position = {100.0, 100.0};
    v1.speed = 5;
    v1.heading = 90;
    vehicles.push_back(v1);
    
    // VEH002 在 (120, 100)，与 VEH001 相距 20 米
    Vehicle v2;
    v2.vehicleNo = "VEH002";
    v2.position = {120.0, 100.0};
    v2.speed = 5;
    v2.heading = 90;
    vehicles.push_back(v2);
    
    // VEH003 在 (200, 100)，与其他车辆距离超过阈值
    Vehicle v3;
    v3.vehicleNo = "VEH003";
    v3.position = {200.0, 100.0};
    v3.speed = 5;
    v3.heading = 90;
    vehicles.push_back(v3);

    // 更新交通数据
    detector_->updateTraffic({}, vehicles);

    // 执行冲突检测
    auto risks = detector_->detectCollisions();

    // 验证结果
    EXPECT_EQ(risks.size(), 1);  // 应该只检测到1个冲突风险（VEH001和VEH002之间）
    
    if (risks.size() == 1) {
        // 验证冲突风险的详细信息
        EXPECT_TRUE((risks[0].id1 == "VEH001" && risks[0].id2 == "VEH002") ||
                   (risks[0].id1 == "VEH002" && risks[0].id2 == "VEH001"));
        EXPECT_EQ(risks[0].distance, 20.0);
        EXPECT_EQ(risks[0].level, RiskLevel::CRITICAL);  // 20米应该是告警级别
    }
}

// 性能测试：模拟真实机场场景
TEST_F(CollisionDetectorTest, PerformanceTest) {
    // 设置 Mock 期望 - 默认车辆不可控
    EXPECT_CALL(*mockControllableVehicles_, isControllable(testing::_))
        .WillRepeatedly(testing::Return(false));
    
    // 设置3辆可控车辆
    std::vector<std::string> controlVehicleNos = {
        "VEH001",  // 滑行道上的可控车辆
        "VEH002",  // 停机位的可控车辆
        "VEH003"   // 服务区的可控车辆
    };
    
    for (const auto& vehicleNo : controlVehicleNos) {
        EXPECT_CALL(*mockControllableVehicles_, isControllable(vehicleNo))
            .WillRepeatedly(testing::Return(true));
    }
    Logger::info("Set mock expectations for controllable vehicles");

    // 创建测试数据
    std::vector<Aircraft> aircraft;
    std::vector<Vehicle> vehicles;
    
    // 跑道区域：5架航空器
    for (int i = 0; i < 5; ++i) {
        Aircraft a;
        a.flightNo = "RW" + std::to_string(i + 1);
        a.position = {1800.0 + i * 500, 30.0};  // 跑道上等间距分布
        a.speed = 30;  // 较快速度
        a.heading = 90;
        aircraft.push_back(a);
    }
    
    // 滑行道：5架航空器
    for (int i = 0; i < 5; ++i) {
        Aircraft a;
        a.flightNo = "TW" + std::to_string(i + 1);
        a.position = {1800.0 + i * 500, 90.0};  // 滑行道上等间距分布
        a.speed = 10;  // 中等速度
        a.heading = 90;
        aircraft.push_back(a);
    }
    
    // 停机位区域：100架航空器，180辆车辆
    for (int i = 0; i < 100; ++i) {
        Aircraft a;
        a.flightNo = "GT" + std::to_string(i + 1);
        a.position = {
            750.0 + (i % 10) * 150,  // 10列
            500.0 + (i / 10) * 100   // 10行
        };
        a.speed = 0;  // 静止
        a.heading = 180;
        aircraft.push_back(a);
    }

    for (int i = 0; i < 180; ++i) {
        Vehicle v;
        v.vehicleNo = "GV" + std::to_string(i + 1);
        v.position = {
            750.0 + (i % 12) * 125,  // 12列
            500.0 + (i / 12) * 83    // 15行
        };
        v.speed = 5;  // 低速
        v.heading = (i % 4) * 90;  // 4个方向
        vehicles.push_back(v);
    }
    
    // 服务区：40架航空器，120辆车辆
    for (int i = 0; i < 40; ++i) {
        Aircraft a;
        a.flightNo = "SA" + std::to_string(i + 1);
        a.position = {
            1000.0 + (i % 8) * 250,  // 8列
            500.0 + (i / 8) * 200    // 5行
        };
        a.speed = 0;  // 静止
        a.heading = 180;
        aircraft.push_back(a);
    }
    
    for (int i = 0; i < 120; ++i) {
        Vehicle v;
        v.vehicleNo = "SV" + std::to_string(i + 1);
        v.position = {
            1000.0 + (i % 10) * 200,  // 10列
            500.0 + (i / 10) * 100    // 12行
        };
        v.speed = 8;  // 中等速度
        v.heading = (i % 8) * 45;  // 8个方向
        vehicles.push_back(v);
    }

    // 添加3辆可控车辆
    // 1. 滑行道上的可控车辆
    Vehicle taxiwayVehicle;
    taxiwayVehicle.vehicleNo = "VEH001";
    taxiwayVehicle.position = {1800.0, 90.0};  // 在滑行道上
    taxiwayVehicle.speed = 10;
    taxiwayVehicle.heading = 90;
    vehicles.push_back(taxiwayVehicle);
    
    // 2. 停机位的可控车辆
    Vehicle gateVehicle;
    gateVehicle.vehicleNo = "VEH002";
    gateVehicle.position = {750.0, 500.0};  // 在停机位区域
    gateVehicle.speed = 5;
    gateVehicle.heading = 180;
    vehicles.push_back(gateVehicle);
    
    // 3. 服务区的可控车辆
    Vehicle serviceVehicle;
    serviceVehicle.vehicleNo = "VEH003";
    serviceVehicle.position = {1000.0, 500.0};  // 在服务区
    serviceVehicle.speed = 8;
    serviceVehicle.heading = 270;
    vehicles.push_back(serviceVehicle);

    // 更新交通数据
    detector_->updateTraffic(aircraft, vehicles);
    Logger::info("Updated traffic data with ", aircraft.size(), " aircraft and ", 
            vehicles.size(), " vehicles (including 3 controllable vehicles)");

    // 执行冲突检测并记录时间
    auto start = std::chrono::high_resolution_clock::now();
    
    auto risks = detector_->detectCollisions();
    
    auto end = std::chrono::high_resolution_clock::now();
    auto duration = std::chrono::duration_cast<std::chrono::microseconds>(end - start);
    Logger::info("Collision detection completed in ", duration.count(), " microseconds");
    Logger::info("Found ", risks.size(), " risks");

    // 验证结果
    ASSERT_GT(risks.size(), 0);  // 应该检测到一些冲突风险
    
    // 验证性能要求
    EXPECT_LT(duration.count(), 100000);  // 期望处理时间小于100ms
}

// 测试轨迹预测的准确性
TEST_F(CollisionDetectorTest, TrajectoryPredictionAccuracy) {
    // 设置 Mock 期望
    EXPECT_CALL(*mockControllableVehicles_, isControllable(testing::_))
        .WillRepeatedly(testing::Return(true));

    // 测试场景1：正面相遇碰撞
    {
        Vector2D pos1{100, 100};  // 第一个物体的位置
        double speed1 = 10;       // 第一个物体的速度 (m/s)
        double heading1 = 90;     // 第一个物体的航向（正东，90度）
        
        Vector2D pos2{300, 100};  // 第二个物体的位置
        double speed2 = 10;       // 第二个物体的速度 (m/s)
        double heading2 = 270;    // 第二个物体的航向（正西，270度）
        
        double size1 = 5;         // 第一个物体的尺寸
        double size2 = 5;         // 第二个物体的尺寸
        double timeWindow = 30;   // 预测时间窗口
        
        auto prediction = detector_->predictTrajectoryCollision(
            pos1, speed1, heading1,
            pos2, speed2, heading2,
            size1, size2, timeWindow
        );
        
        // 验证结果：首先验证是否检测到碰撞
        EXPECT_TRUE(prediction.willCollide) << "应该检测到碰撞";
        if (prediction.willCollide) {
            // 验证碰撞点位置（允许1米的误差）
            EXPECT_NEAR(prediction.collisionPoint.x, 200.0, 1.0) << "碰撞点x坐标应该在中点附近";
            EXPECT_NEAR(prediction.collisionPoint.y, 100.0, 1.0) << "碰撞点y坐标应该保持不变";
        }
    }
    
    // 测试场景2：平行路径，不会碰撞
    {
        Vector2D pos1{100, 100};
        double speed1 = 10;
        double heading1 = 90;     // 正东（90度）
        
        Vector2D pos2{100, 120};  // 平行路径，距20米
        double speed2 = 10;
        double heading2 = 90;     // 正东（90度）
        
        double size1 = 5;
        double size2 = 5;
        double timeWindow = 30;
        
        auto prediction = detector_->predictTrajectoryCollision(
            pos1, speed1, heading1,
            pos2, speed2, heading2,
            size1, size2, timeWindow
        );
        
        // 验证结果：不应该检测到碰撞
        EXPECT_FALSE(prediction.willCollide) << "平行路径不应该碰撞";
        // 验证最小距离（允许1米的误差）
        EXPECT_NEAR(prediction.minDistance, 20.0, 1.0) << "平行路径应该保持20米的距离";
    }
    
    // 测试场景3：垂直相交路径
    {
        Vector2D pos1{0, 100};    // 第一个物体从左开始
        double speed1 = 10;
        double heading1 = 90;     // 正东（90度）
        
        Vector2D pos2{200, 300};  // 第二个物体从上开始
        double speed2 = 10;
        double heading2 = 180;    // 正南（180度）
        
        double size1 = 5;
        double size2 = 5;
        double timeWindow = 30;   // 30秒的预测窗口
        
        Logger::info("垂直路径测试参数:");
        Logger::info("  物体1: 位置=(" + std::to_string(pos1.x) + ", " + std::to_string(pos1.y) + 
                    "), 速度=" + std::to_string(speed1) + ", 航向=" + std::to_string(heading1));
        Logger::info("  物体2: 位置=(" + std::to_string(pos2.x) + ", " + std::to_string(pos2.y) + 
                    "), 速度=" + std::to_string(speed2) + ", 航向=" + std::to_string(heading2));
        
        // 计算速度分量用于调试
        double heading1Rad = heading1 * M_PI / 180.0;
        double heading2Rad = heading2 * M_PI / 180.0;
        double v1x = speed1 * std::sin(heading1Rad);  // 东向为x轴正方向
        double v1y = speed1 * std::cos(heading1Rad);  // 北向为y轴正方向
        double v2x = speed2 * std::sin(heading2Rad);
        double v2y = speed2 * std::cos(heading2Rad);
        Logger::info("速度分量:");
        Logger::info("  物体1: vx=" + std::to_string(v1x) + ", vy=" + std::to_string(v1y));
        Logger::info("  物体2: vx=" + std::to_string(v2x) + ", vy=" + std::to_string(v2y));
        
        auto prediction = detector_->predictTrajectoryCollision(
            pos1, speed1, heading1,
            pos2, speed2, heading2,
            size1, size2, timeWindow
        );
        
        Logger::info("预测结果:");
        Logger::info("  willCollide=" + std::to_string(prediction.willCollide));
        Logger::info("  minDistance=" + std::to_string(prediction.minDistance));
        if (prediction.willCollide) {
            Logger::info("  碰撞点=(" + std::to_string(prediction.collisionPoint.x) + ", " + 
                        std::to_string(prediction.collisionPoint.y) + ")");
            Logger::info("  碰撞时间=" + std::to_string(prediction.timeToCollision));
            
            // 计算理论碰撞点
            // 物体1：x = 0 + 10t, y = 100
            // 物体2：x = 200, y = 300 - 10t
            // 碰撞时：x1 = x2 = 200, y1 = y2
            double collisionTime = 20.0;  // t = 200/10 = 20秒
            double expectedX = 200.0;     // x = 0 + 10*20 = 200
            double expectedY = 100.0;     // y = 100 (物体1的y保持不变)
            
            // 验证碰撞点位置（允许5米的误差，考虑到物体尺寸）
            EXPECT_NEAR(prediction.collisionPoint.x, expectedX, 5.0) 
                << "碰撞点x坐标应该在交叉点附近";
            EXPECT_NEAR(prediction.collisionPoint.y, expectedY, 5.0) 
                << "碰撞点y坐标应该在交叉点附近";
            
            // 验证碰撞时间（允许1秒的误差）
            EXPECT_NEAR(prediction.timeToCollision, collisionTime, 1.0) 
                << "碰撞时间应该接近20秒";
        }
    }
    
    // 测试场景4：静止物体
    {
        Vector2D pos1{0, 100};    // 第一个物体从远处开始
        double speed1 = 10;
        double heading1 = 90;     // 正东（90度）
        
        Vector2D pos2{200, 100};  // 静止物体在目标位置
        double speed2 = 0;        // 静止物体
        double heading2 = 0;      // 航向无关紧要，因为是静止的
        
        double size1 = 5;
        double size2 = 5;
        double timeWindow = 30;   // 30秒的预测窗口
        
        Logger::info("静止物体测试参数:");
        Logger::info("  物体1: 位置=(" + std::to_string(pos1.x) + ", " + std::to_string(pos1.y) + 
                    "), 速度=" + std::to_string(speed1) + ", 航向=" + std::to_string(heading1));
        Logger::info("  物体2: 位置=(" + std::to_string(pos2.x) + ", " + std::to_string(pos2.y) + 
                    "), 速度=" + std::to_string(speed2) + ", 航向=" + std::to_string(heading2));
        
        // 计算速度分量用于调试
        double heading1Rad = heading1 * M_PI / 180.0;
        double heading2Rad = heading2 * M_PI / 180.0;
        double v1x = speed1 * std::sin(heading1Rad);  // 东向为x轴正方向
        double v1y = speed1 * std::cos(heading1Rad);  // 北向为y轴正方向
        double v2x = speed2 * std::sin(heading2Rad);
        double v2y = speed2 * std::cos(heading2Rad);
        Logger::info("速度分量:");
        Logger::info("  物体1: vx=" + std::to_string(v1x) + ", vy=" + std::to_string(v1y));
        Logger::info("  物体2: vx=" + std::to_string(v2x) + ", vy=" + std::to_string(v2y));
        
        auto prediction = detector_->predictTrajectoryCollision(
            pos1, speed1, heading1,
            pos2, speed2, heading2,
            size1, size2, timeWindow
        );
        
        Logger::info("预测结果:");
        Logger::info("  willCollide=" + std::to_string(prediction.willCollide));
        Logger::info("  minDistance=" + std::to_string(prediction.minDistance));
        if (prediction.willCollide) {
            Logger::info("  碰撞点=(" + std::to_string(prediction.collisionPoint.x) + ", " + 
                        std::to_string(prediction.collisionPoint.y) + ")");
            Logger::info("  碰撞时间=" + std::to_string(prediction.timeToCollision));
            
            // 计算理论碰撞点
            // 考虑物体尺寸：当两个物体中心点距离等于它们尺寸之和时就发生碰撞
            double safeDistance = size1 + size2;  // 10米
            double expectedX = pos2.x - safeDistance;  // 200 - 10 = 190米
            double expectedY = pos2.y;  // 100米
            double collisionTime = expectedX / speed1;  // 19秒
            
            // 验证碰撞点位置（允许5米的误差，考虑到数值计算的精度）
            EXPECT_NEAR(prediction.collisionPoint.x, expectedX, 5.0) 
                << "碰撞点应该在考虑物体尺寸后的位置";
            EXPECT_NEAR(prediction.collisionPoint.y, expectedY, 5.0) 
                << "碰撞点y坐标应该保持不变";
            
            // 验证碰撞时间（允许1秒的误差）
            EXPECT_NEAR(prediction.timeToCollision, collisionTime, 1.0) 
                << "碰撞时间应该接近19秒";
        }
    }
    
    // 测试场景5：超出时间窗口的碰撞
    {
        Vector2D pos1{100, 100};
        double speed1 = 10;
        double heading1 = 90;    // 向东
        
        Vector2D pos2{400, 100};
        double speed2 = 0;
        double heading2 = 0;     // 静止物体的航向可以是任意值
        
        double size1 = 5;
        double size2 = 5;
        double timeWindow = 20;   // 20秒的时间窗口（不足以到达碰撞点）
        
        auto prediction = detector_->predictTrajectoryCollision(
            pos1, speed1, heading1,
            pos2, speed2, heading2,
            size1, size2, timeWindow
        );
        
        // 验证结果：不应该检测到碰撞（因为超出时间窗口）
        EXPECT_FALSE(prediction.willCollide) << "超出时间窗口应该报告碰撞";
        EXPECT_GT(prediction.minDistance, 0) << "最小距离该大于0";
    }
    
    // 测试场景6：飞机和车辆垂直相交
    {
        // 飞机尺寸：波音737-800，翼展35.8米，长度39.5米
        double aircraftSize = 40.0;  // 使用较大的值以确保安全
        
        // 车辆尺寸：标准摆渡车，长度12米，宽度2.5米
        double vehicleSize = 12.0;
        
        // 飞机从西向东，车辆从南向北
        Vector2D aircraftPos{0, 200};  // 飞机初始位置
        double aircraftSpeed = 12;      // 飞机速度
        double aircraftHeading = 90;    // 向东飞行
        
        Vector2D vehiclePos{200, 100};  // 修改车辆初始位置，使其能与飞机相遇
        double vehicleSpeed = 6;        // 车辆速度
        double vehicleHeading = 0;      // 向北行驶
        
        double timeWindow = 60;          // 60秒的预测窗口，考虑到较低的速度
        
        Logger::info("飞机和车辆垂直相交测试参数:");
        Logger::info("  飞机: 位置=(" + std::to_string(aircraftPos.x) + ", " + std::to_string(aircraftPos.y) + 
                    "), 速度=" + std::to_string(aircraftSpeed) + ", 航向=" + std::to_string(aircraftHeading));
        Logger::info("  车辆: 位置=(" + std::to_string(vehiclePos.x) + ", " + std::to_string(vehiclePos.y) + 
                    "), 速度=" + std::to_string(vehicleSpeed) + ", 航向=" + std::to_string(vehicleHeading));
        
        // 计算速度分量
        double aircraftHeadingRad = aircraftHeading * M_PI / 180.0;
        double vehicleHeadingRad = vehicleHeading * M_PI / 180.0;
        double vax = aircraftSpeed * std::sin(aircraftHeadingRad);  // 东向为x轴正方向
        double vay = aircraftSpeed * std::cos(aircraftHeadingRad);  // 北向为y轴正方向
        double vvx = vehicleSpeed * std::sin(vehicleHeadingRad);
        double vvy = vehicleSpeed * std::cos(vehicleHeadingRad);
        
        Logger::info("速度分量:");
        Logger::info("  飞机: vx=" + std::to_string(vax) + ", vy=" + std::to_string(vay));
        Logger::info("  车辆: vx=" + std::to_string(vvx) + ", vy=" + std::to_string(vvy));
        
        // 计算相对运动方程的系数
        double dx = aircraftPos.x - vehiclePos.x;
        double dy = aircraftPos.y - vehiclePos.y;
        double dvx = vax - vvx;
        double dvy = vay - vvy;
        double safeDistance = aircraftSize + vehicleSize;
        double a = dvx * dvx + dvy * dvy;
        double b = 2.0 * (dx * dvx + dy * dvy);
        double c = dx * dx + dy * dy - safeDistance * safeDistance;
        
        Logger::info("二次方程系数:");
        Logger::info("  相对位置: dx=" + std::to_string(dx) + ", dy=" + std::to_string(dy));
        Logger::info("  相对速度: dvx=" + std::to_string(dvx) + ", dvy=" + std::to_string(dvy));
        Logger::info("  安全距离=" + std::to_string(safeDistance));
        Logger::info("  a=" + std::to_string(a) + ", b=" + std::to_string(b) + ", c=" + std::to_string(c));
        
        auto prediction = detector_->predictTrajectoryCollision(
            aircraftPos, aircraftSpeed, aircraftHeading,
            vehiclePos, vehicleSpeed, vehicleHeading,
            aircraftSize, vehicleSize, timeWindow
        );
        
        Logger::info("预测结果:");
        Logger::info("  willCollide=" + std::to_string(prediction.willCollide));
        Logger::info("  minDistance=" + std::to_string(prediction.minDistance));
        if (prediction.willCollide) {
            Logger::info("  碰撞点=(" + std::to_string(prediction.collisionPoint.x) + ", " + 
                        std::to_string(prediction.collisionPoint.y) + ")");
            Logger::info("  碰撞时间=" + std::to_string(prediction.timeToCollision));
        }
        
        // 验证结果
        EXPECT_TRUE(prediction.willCollide) << "应该检测到飞机和车的潜在碰撞";
        if (prediction.willCollide) {
            // 考虑安全距离的影响，碰撞点会在实际交叉点之前
            // 飞机从(0,200)出发，速度12m/s，12.79秒到达x=164.22
            // 车辆从(200,100)出发，速度6m/s，12.79秒到达y=194.63
            EXPECT_NEAR(prediction.collisionPoint.x, 164.22, 5.0) << "碰撞点x坐标应该考虑安全距离的影响";
            EXPECT_NEAR(prediction.collisionPoint.y, 194.63, 5.0) << "碰撞点y坐标应该考虑安全距离的影响";
            
            // 碰撞时间应该是12.79秒左右
            double expectedTime = 12.79;  // 考虑安全距离后的预期碰撞时间
            EXPECT_NEAR(prediction.timeToCollision, expectedTime, 2.0) << "碰撞时间应该接近预期值";
        }
    }
    
    // 测试场景7：斜向相交路径
    {
        // 第一个物体从西南向东北运动
        Vector2D pos1{0, 0};
        double speed1 = 10;
        double heading1 = 45;     // 东北方向（45度）
        
        // 第二个物体从东南向西北运动
        Vector2D pos2{200, 0};
        double speed2 = 10;
        double heading2 = 315;    // 西北方向（315度）
        
        double size1 = 5;
        double size2 = 5;
        double timeWindow = 30;
        
        Logger::info("斜向相交路径测试参数:");
        Logger::info("  物体1: 位置=(" + std::to_string(pos1.x) + ", " + std::to_string(pos1.y) + 
                    "), 速度=" + std::to_string(speed1) + ", 航向=" + std::to_string(heading1));
        Logger::info("  物体2: 位置=(" + std::to_string(pos2.x) + ", " + std::to_string(pos2.y) + 
                    "), 速度=" + std::to_string(speed2) + ", 航向=" + std::to_string(heading2));
        
        // 计算速度分量
        double heading1Rad = heading1 * M_PI / 180.0;
        double heading2Rad = heading2 * M_PI / 180.0;
        double v1x = speed1 * std::sin(heading1Rad);  // 东向为x轴正方向
        double v1y = speed1 * std::cos(heading1Rad);  // 北向为y轴正方向
        double v2x = speed2 * std::sin(heading2Rad);
        double v2y = speed2 * std::cos(heading2Rad);
        
        Logger::info("速度分量:");
        Logger::info("  物体1: vx=" + std::to_string(v1x) + ", vy=" + std::to_string(v1y));
        Logger::info("  物体2: vx=" + std::to_string(v2x) + ", vy=" + std::to_string(v2y));
        
        auto prediction = detector_->predictTrajectoryCollision(
            pos1, speed1, heading1,
            pos2, speed2, heading2,
            size1, size2, timeWindow
        );
        
        // 验证结果
        EXPECT_TRUE(prediction.willCollide) << "斜向相交路径应该检测到碰撞";
        if (prediction.willCollide) {
            // 考虑安全距离（两个物体各5米），碰撞检测会在实际交叉点之前触发
            // 由于两个物体速度相同且对称，碰撞点应该在中点附近，但会略低于理想位置
            EXPECT_NEAR(prediction.collisionPoint.x, 100.0, 5.0) << "碰撞点x坐标应该在预期位置";
            EXPECT_NEAR(prediction.collisionPoint.y, 95.0, 5.0) << "碰撞点y坐标应该考虑安全距离的影响";
            
            // 到达碰撞点的时间
            // 物体1需要移动：√((100-0)² + (95-0)²) ≈ 137.8米
            // 速度为10m/s，所以时间应该约为13.78秒
            double expectedTime = 13.78;
            EXPECT_NEAR(prediction.timeToCollision, expectedTime, 2.0) << "碰撞时间应该接近预期值";
        }
    }
}