#include <gtest/gtest.h>
#include "detector/CollisionDetector.h"
#include "types/BasicTypes.h"

class CollisionDetectorTest : public ::testing::Test {
protected:
    CollisionDetector detector;
    
    // 创建一个标准的航空器对象
    Aircraft createAircraft(const Vector2D& pos, double altitude) {
        Aircraft aircraft;
        aircraft.id = "CES2501";
        aircraft.flightNo = "CES2501";
        aircraft.position = pos;
        aircraft.altitude = altitude;
        aircraft.speed = 55.0;  // 标准速度
        aircraft.heading = 90.0;  // 向东
        return aircraft;
    }
    
    // 创建一个标准的车辆对象
    Vehicle createVehicle(const Vector2D& pos) {
        Vehicle vehicle;
        vehicle.id = "VEH001";
        vehicle.vehicleNo = "VEH001";
        vehicle.position = pos;
        vehicle.speed = 22.0;  // 标准速度
        vehicle.heading = 0.0;  // 向北
        return vehicle;
    }
};

// 测试安全距离外的情况
TEST_F(CollisionDetectorTest, NoCollisionWhenFarApart) {
    auto aircraft = createAircraft(Vector2D(0, 0), 5.0);
    auto vehicle = createVehicle(Vector2D(100, 0));  // 100米距离
    
    EXPECT_FALSE(detector.detect(aircraft, vehicle));
}

// 测试水平安全距离内的情况
TEST_F(CollisionDetectorTest, CollisionWhenHorizontallyClose) {
    auto aircraft = createAircraft(Vector2D(0, 0), 5.0);
    auto vehicle = createVehicle(Vector2D(30, 0));  // 30米距离
    
    EXPECT_TRUE(detector.detect(aircraft, vehicle));
}

// 测试垂直安全距离的影响
TEST_F(CollisionDetectorTest, NoCollisionWhenHighAltitude) {
    auto aircraft = createAircraft(Vector2D(0, 0), 100.0);  // 100米高度
    auto vehicle = createVehicle(Vector2D(30, 0));  // 30米水平距离
    
    EXPECT_FALSE(detector.detect(aircraft, vehicle));
}

// 测试边界条件
TEST_F(CollisionDetectorTest, BoundaryConditions) {
    // 测试水平边界（50米）
    {
        auto aircraft = createAircraft(Vector2D(0, 0), 5.0);
        auto vehicle = createVehicle(Vector2D(49, 0));  // 应该检测到碰撞
        EXPECT_TRUE(detector.detect(aircraft, vehicle));
    }
    
    {
        auto aircraft = createAircraft(Vector2D(0, 0), 5.0);
        auto vehicle = createVehicle(Vector2D(51, 0));  // 不应该检测到碰撞
        EXPECT_FALSE(detector.detect(aircraft, vehicle));
    }
    
    // 测试垂直边界（50米）
    {
        auto aircraft = createAircraft(Vector2D(0, 0), 49.0);  // 应该检测到碰撞
        auto vehicle = createVehicle(Vector2D(30, 0));
        EXPECT_TRUE(detector.detect(aircraft, vehicle));
    }
    
    {
        auto aircraft = createAircraft(Vector2D(0, 0), 51.0);  // 不应该检测到碰撞
        auto vehicle = createVehicle(Vector2D(30, 0));
        EXPECT_FALSE(detector.detect(aircraft, vehicle));
    }
}

// 测试对角线距离
TEST_F(CollisionDetectorTest, DiagonalDistance) {
    {
        auto aircraft = createAircraft(Vector2D(0, 0), 5.0);
        auto vehicle = createVehicle(Vector2D(30, 30));  // 对角线距离约为42.4米
        EXPECT_TRUE(detector.detect(aircraft, vehicle));
    }
    
    {
        auto aircraft = createAircraft(Vector2D(0, 0), 5.0);
        auto vehicle = createVehicle(Vector2D(50, 50));  // 对角线距离约为70.7米
        EXPECT_FALSE(detector.detect(aircraft, vehicle));
    }
}

// 测试零距离情况
TEST_F(CollisionDetectorTest, ZeroDistance) {
    auto aircraft = createAircraft(Vector2D(0, 0), 5.0);
    auto vehicle = createVehicle(Vector2D(0, 0));
    
    EXPECT_TRUE(detector.detect(aircraft, vehicle));
}