358 lines
12 KiB
C++
358 lines
12 KiB
C++
#include "detector/CollisionDetector.h"
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#include "vehicle/ControllableVehicles.h"
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#include "spatial/AirportBounds.h"
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#include <gtest/gtest.h>
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#include <gmock/gmock.h>
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#include "utils/Logger.h"
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#include <chrono>
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// Mock ControllableVehicles 类
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class MockControllableVehicles : public ControllableVehicles {
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public:
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MockControllableVehicles() : ControllableVehicles("") {} // 使用空字符串，避免加载实际配置
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MOCK_METHOD(bool, isControllable, (const std::string& vehicleNo), (const));
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};
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// Mock AirportBounds 类
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class MockAirportBounds : public AirportBounds {
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public:
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MockAirportBounds() : AirportBounds("") {
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// 设置更大的测试边界，以包含所有测试数据
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airportBounds_ = Bounds(0, 0, 4000, 2000); // 4000x2000 的测试区域
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Logger::info("MockAirportBounds initialized with bounds: ",
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"x=", airportBounds_.x, ", y=", airportBounds_.y,
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", width=", airportBounds_.width, ", height=", airportBounds_.height);
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}
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// 覆盖原有方法，返回测试用的配置
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AreaType getAreaType(const Vector2D& position) const override {
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return AreaType::RUNWAY; // 简化测试，总是返回跑道区域
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}
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const AreaConfig& getAreaConfig(AreaType type) const override {
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static const AreaConfig config{50.0, 100.0, 15.0};
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return config;
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}
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const Bounds& getAirportBounds() const override {
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return airportBounds_;
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}
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};
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class CollisionDetectorTest : public ::testing::Test {
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protected:
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void SetUp() override {
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// 创建 Mock 对象
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airportBounds_ = std::make_unique<MockAirportBounds>();
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mockControllableVehicles_ = std::make_unique<MockControllableVehicles>();
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// 创建碰撞检测器
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detector_ = std::make_unique<CollisionDetector>(*airportBounds_, *mockControllableVehicles_);
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}
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std::unique_ptr<MockAirportBounds> airportBounds_;
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std::unique_ptr<MockControllableVehicles> mockControllableVehicles_;
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std::unique_ptr<CollisionDetector> detector_;
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};
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// 测试可控车辆与航空器的碰撞检测
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TEST_F(CollisionDetectorTest, DetectControllableVehicleAircraftCollision) {
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// 设置 Mock 期望 - 在创建数据之前设置
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EXPECT_CALL(*mockControllableVehicles_, isControllable("VEH001"))
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.WillRepeatedly(testing::Return(true));
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Logger::info("Set mock expectation: VEH001 is controllable");
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// 设置测试数据
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Aircraft aircraft;
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aircraft.flightNo = "TEST001";
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aircraft.position = {100, 100};
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aircraft.speed = 10;
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aircraft.heading = 90;
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Logger::info("Created aircraft: flightNo=", aircraft.flightNo,
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", position=(", aircraft.position.x, ", ", aircraft.position.y, ")");
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Vehicle vehicle;
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vehicle.vehicleNo = "VEH001";
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vehicle.position = {120, 100}; // 距离航空器20米
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vehicle.speed = 5;
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vehicle.heading = 270;
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Logger::info("Created vehicle: vehicleNo=", vehicle.vehicleNo,
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", position=(", vehicle.position.x, ", ", vehicle.position.y, ")");
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// 更新交通数据
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detector_->updateTraffic({aircraft}, {vehicle});
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Logger::info("Updated traffic data");
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// 执行碰撞检测
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auto risks = detector_->detectCollisions();
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Logger::info("Collision detection completed, found ", risks.size(), " risks");
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// 验证结果
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ASSERT_EQ(risks.size(), 1); // 应该检测到一个碰撞风险
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if (!risks.empty()) {
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EXPECT_EQ(risks[0].id1, "TEST001"); // 航空器ID
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EXPECT_EQ(risks[0].id2, "VEH001"); // 车辆ID
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EXPECT_EQ(risks[0].distance, 20); // 距离应该是20米
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EXPECT_EQ(risks[0].level, RiskLevel::EMERGENCY); // 20米距离应该是严重风险
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}
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}
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// 测试可控车辆与其他车辆的碰撞检测
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TEST_F(CollisionDetectorTest, DetectControllableVehicleOtherVehicleCollision) {
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// 设置 Mock 期望
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EXPECT_CALL(*mockControllableVehicles_, isControllable("VEH001"))
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.WillRepeatedly(testing::Return(true));
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EXPECT_CALL(*mockControllableVehicles_, isControllable("VEH002"))
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.WillRepeatedly(testing::Return(false));
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// 设置测试数据
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Vehicle controlVehicle;
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controlVehicle.vehicleNo = "VEH001";
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controlVehicle.position = {100, 100};
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controlVehicle.speed = 5;
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controlVehicle.heading = 90;
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Vehicle otherVehicle;
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otherVehicle.vehicleNo = "VEH002";
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otherVehicle.position = {120, 100}; // 距离可控车辆20米
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otherVehicle.speed = 5;
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otherVehicle.heading = 270;
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// 更新交通数据
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detector_->updateTraffic({}, {controlVehicle, otherVehicle});
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// 执行碰撞检测
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auto risks = detector_->detectCollisions();
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// 验证结果
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ASSERT_EQ(risks.size(), 1); // 应该检测到一个碰撞风险
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if (!risks.empty()) {
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EXPECT_EQ(risks[0].id1, "VEH001"); // 可控车辆ID
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EXPECT_EQ(risks[0].id2, "VEH002"); // 其他车辆ID
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EXPECT_EQ(risks[0].distance, 20); // 距离应该是20米
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EXPECT_EQ(risks[0].level, RiskLevel::CRITICAL); // 20米距离应该是严重风险
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}
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}
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// 测试非可控车辆的碰撞检测（不应该产生碰撞风险）
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TEST_F(CollisionDetectorTest, NonControllableVehicleCollision) {
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// 设置测试数据
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Vehicle vehicle1;
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vehicle1.vehicleNo = "VEH001";
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vehicle1.position = {100, 100};
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vehicle1.speed = 5;
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vehicle1.heading = 90;
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Vehicle vehicle2;
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vehicle2.vehicleNo = "VEH002";
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vehicle2.position = {120, 100}; // 距离20米
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vehicle2.speed = 5;
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vehicle2.heading = 270;
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// 设置 Mock 期望
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EXPECT_CALL(*mockControllableVehicles_, isControllable(testing::_))
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.WillRepeatedly(testing::Return(false));
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// 更新交通数据
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detector_->updateTraffic({}, {vehicle1, vehicle2});
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// 执行碰撞检测
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auto risks = detector_->detectCollisions();
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// 验证结果
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EXPECT_EQ(risks.size(), 0); // 非可控车辆之间的碰撞不应该被检测
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}
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// 测试多个可控车辆之间的碰撞检测
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TEST_F(CollisionDetectorTest, MultipleControllableVehiclesCollision) {
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// 设置 Mock 期望 - 所有车辆都是可控的
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ON_CALL(*mockControllableVehicles_, isControllable(testing::_))
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.WillByDefault(testing::Return(true));
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EXPECT_CALL(*mockControllableVehicles_, isControllable(testing::_))
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.Times(testing::AtLeast(3)); // 至少调用3次，因为有3辆车
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Logger::info("Set mock expectation: all vehicles are controllable");
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// 设置测试数据
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std::vector<Vehicle> vehicles;
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// VEH001 在 (100, 100)
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Vehicle v1;
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v1.vehicleNo = "VEH001";
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v1.position = {100.0, 100.0};
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v1.speed = 5;
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v1.heading = 90;
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vehicles.push_back(v1);
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// VEH002 在 (120, 100)，与 VEH001 相距 20 米
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Vehicle v2;
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v2.vehicleNo = "VEH002";
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v2.position = {120.0, 100.0};
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v2.speed = 5;
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v2.heading = 90;
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vehicles.push_back(v2);
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// VEH003 在 (200, 100)，与其他车辆距离超过阈值
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Vehicle v3;
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v3.vehicleNo = "VEH003";
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v3.position = {200.0, 100.0};
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v3.speed = 5;
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v3.heading = 90;
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vehicles.push_back(v3);
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// 更新交通数据
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detector_->updateTraffic({}, vehicles);
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// 执行碰撞检测
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auto risks = detector_->detectCollisions();
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// 验证结果
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EXPECT_EQ(risks.size(), 1); // 应该只检测到1个碰撞风险（VEH001和VEH002之间）
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if (risks.size() == 1) {
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// 验证碰撞风险的详细信息
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EXPECT_TRUE((risks[0].id1 == "VEH001" && risks[0].id2 == "VEH002") ||
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(risks[0].id1 == "VEH002" && risks[0].id2 == "VEH001"));
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EXPECT_EQ(risks[0].distance, 20.0);
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EXPECT_EQ(risks[0].level, RiskLevel::CRITICAL); // 20米应该是危险级别
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}
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}
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// 性能测试：模拟真实机场场景
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TEST_F(CollisionDetectorTest, PerformanceTest) {
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// 设置 Mock 期望 - 默认车辆不可控
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EXPECT_CALL(*mockControllableVehicles_, isControllable(testing::_))
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.WillRepeatedly(testing::Return(false));
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// 设置3辆可控车辆
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std::vector<std::string> controlVehicleNos = {
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"VEH001", // 滑行道上的可控车辆
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"VEH002", // 停机位的可控车辆
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"VEH003" // 服务区的可控车辆
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};
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for (const auto& vehicleNo : controlVehicleNos) {
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EXPECT_CALL(*mockControllableVehicles_, isControllable(vehicleNo))
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.WillRepeatedly(testing::Return(true));
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}
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Logger::info("Set mock expectations for controllable vehicles");
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// 创建测试数据
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std::vector<Aircraft> aircraft;
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std::vector<Vehicle> vehicles;
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// 跑道区域：5架航空器
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for (int i = 0; i < 5; ++i) {
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Aircraft a;
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a.flightNo = "RW" + std::to_string(i + 1);
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a.position = {1800.0 + i * 500, 30.0}; // 跑道上等间距分布
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a.speed = 30; // 较快速度
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a.heading = 90;
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aircraft.push_back(a);
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}
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// 滑行道区域：5架航空器
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for (int i = 0; i < 5; ++i) {
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Aircraft a;
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a.flightNo = "TW" + std::to_string(i + 1);
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a.position = {1800.0 + i * 500, 90.0}; // 滑行道上等间距分布
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a.speed = 10; // 中等速度
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a.heading = 90;
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aircraft.push_back(a);
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}
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// 停机位区域：100架航空器，180辆车辆
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for (int i = 0; i < 100; ++i) {
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Aircraft a;
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a.flightNo = "GT" + std::to_string(i + 1);
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a.position = {
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750.0 + (i % 10) * 150, // 10列
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500.0 + (i / 10) * 100 // 10行
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};
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a.speed = 0; // 静止
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a.heading = 180;
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aircraft.push_back(a);
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}
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for (int i = 0; i < 180; ++i) {
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Vehicle v;
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v.vehicleNo = "GV" + std::to_string(i + 1);
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v.position = {
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750.0 + (i % 12) * 125, // 12列
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500.0 + (i / 12) * 83 // 15行
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};
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v.speed = 5; // 低速
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v.heading = (i % 4) * 90; // 4个方向
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vehicles.push_back(v);
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}
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// 服务区：40架航空器，120辆车辆
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for (int i = 0; i < 40; ++i) {
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Aircraft a;
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a.flightNo = "SA" + std::to_string(i + 1);
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a.position = {
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1000.0 + (i % 8) * 250, // 8列
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500.0 + (i / 8) * 200 // 5行
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};
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a.speed = 0; // 静止
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a.heading = 180;
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aircraft.push_back(a);
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}
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for (int i = 0; i < 120; ++i) {
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Vehicle v;
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v.vehicleNo = "SV" + std::to_string(i + 1);
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v.position = {
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1000.0 + (i % 10) * 200, // 10列
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500.0 + (i / 10) * 100 // 12行
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};
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v.speed = 8; // 中等速度
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v.heading = (i % 8) * 45; // 8个方向
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vehicles.push_back(v);
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}
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// 添加3辆可控车辆
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// 1. 滑行道上的可控车辆
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Vehicle taxiwayVehicle;
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taxiwayVehicle.vehicleNo = "VEH001";
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taxiwayVehicle.position = {1800.0, 90.0}; // 在滑行道上
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taxiwayVehicle.speed = 10;
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taxiwayVehicle.heading = 90;
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vehicles.push_back(taxiwayVehicle);
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// 2. 停机位的可控车辆
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Vehicle gateVehicle;
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gateVehicle.vehicleNo = "VEH002";
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gateVehicle.position = {750.0, 500.0}; // 在停机位区域
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gateVehicle.speed = 5;
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gateVehicle.heading = 180;
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vehicles.push_back(gateVehicle);
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// 3. 服务区的可控车辆
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Vehicle serviceVehicle;
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serviceVehicle.vehicleNo = "VEH003";
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serviceVehicle.position = {1000.0, 500.0}; // 在服务区
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serviceVehicle.speed = 8;
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serviceVehicle.heading = 270;
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vehicles.push_back(serviceVehicle);
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// 更新交通数据
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detector_->updateTraffic(aircraft, vehicles);
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Logger::info("Updated traffic data with ", aircraft.size(), " aircraft and ",
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vehicles.size(), " vehicles (including 3 controllable vehicles)");
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// 执行碰撞检测并记录时间
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auto start = std::chrono::high_resolution_clock::now();
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auto risks = detector_->detectCollisions();
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auto end = std::chrono::high_resolution_clock::now();
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auto duration = std::chrono::duration_cast<std::chrono::microseconds>(end - start);
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Logger::info("Collision detection completed in ", duration.count(), " microseconds");
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Logger::info("Found ", risks.size(), " risks");
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// 验证结果
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ASSERT_GT(risks.size(), 0); // 应该检测到一些碰撞风险
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// 验证性能要求
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EXPECT_LT(duration.count(), 100000); // 期望处理时间小于100ms
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}
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