387 lines
13 KiB
C++
387 lines
13 KiB
C++
#include <gtest/gtest.h>
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#include "detector/CollisionDetector.h"
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#include "spatial/AirportBounds.h"
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#include "types/BasicTypes.h"
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#include "utils/Logger.h"
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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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bounds = std::make_unique<AirportBounds>("config/airport_bounds.json");
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detector = std::make_unique<CollisionDetector>(*bounds);
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}
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// 创建一个标准的航空器对象
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Aircraft createAircraft(const Vector2D& pos) {
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Aircraft aircraft;
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aircraft.id = "CES2501";
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aircraft.flightNo = "CES2501";
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aircraft.position = pos;
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aircraft.speed = 55.0; // 标准速度
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aircraft.heading = 90.0; // 向东
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return aircraft;
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}
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// 创建一个标准的车辆对象
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Vehicle createVehicle(const Vector2D& pos, const std::string& id = "VEH001") {
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Vehicle vehicle;
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vehicle.id = id;
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vehicle.vehicleNo = id; // 使用相同的 ID 作为车牌号
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vehicle.position = pos;
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vehicle.speed = 22.0; // 标准速度
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vehicle.heading = 0.0; // 向北
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return vehicle;
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}
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std::unique_ptr<AirportBounds> bounds;
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std::unique_ptr<CollisionDetector> detector;
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};
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// 测试跑道上的碰撞检测
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TEST_F(CollisionDetectorTest, RunwayCollisionDetection) {
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Vector2D runwayPos(2500, 1530); // 跑道中心点
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std::vector<Aircraft> aircraft = {createAircraft(runwayPos)};
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std::vector<Vehicle> vehicles = {
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createVehicle(Vector2D(2580, 1530)) // 距离80米，小于跑道区域的100米阈值
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};
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detector->updateTraffic(aircraft, vehicles);
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auto risks = detector->detectCollisions();
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EXPECT_FALSE(risks.empty());
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if (!risks.empty()) {
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const auto& risk = risks[0];
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EXPECT_EQ(risk.id1, "CES2501");
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EXPECT_EQ(risk.id2, "VEH001");
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EXPECT_EQ(risk.level, RiskLevel::LOW);
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EXPECT_NEAR(risk.distance, 80.0, 0.1);
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}
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}
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// 测试滑行道上的碰撞检测
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TEST_F(CollisionDetectorTest, TaxiwayCollisionDetection) {
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Vector2D taxiwayPos(2500, 1000); // 滑行道上的位置
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std::vector<Aircraft> aircraft = {createAircraft(taxiwayPos)};
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std::vector<Vehicle> vehicles = {
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createVehicle(Vector2D(2540, 1000)) // 距离40米，小于滑行道区域的50米阈值
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};
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detector->updateTraffic(aircraft, vehicles);
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auto risks = detector->detectCollisions();
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EXPECT_FALSE(risks.empty());
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if (!risks.empty()) {
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const auto& risk = risks[0];
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EXPECT_EQ(risk.id1, "CES2501");
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EXPECT_EQ(risk.id2, "VEH001");
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EXPECT_EQ(risk.level, RiskLevel::LOW);
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EXPECT_NEAR(risk.distance, 40.0, 0.1);
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}
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}
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// 测试停机位的碰撞检测
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TEST_F(CollisionDetectorTest, GateCollisionDetection) {
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Vector2D gatePos(2500, 2500); // 停机位区域
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std::vector<Aircraft> aircraft = {createAircraft(gatePos)};
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std::vector<Vehicle> vehicles = {
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createVehicle(Vector2D(2535, 2500)) // 距离35米，小于停机位区域的40米阈值
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};
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detector->updateTraffic(aircraft, vehicles);
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auto risks = detector->detectCollisions();
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EXPECT_FALSE(risks.empty());
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if (!risks.empty()) {
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const auto& risk = risks[0];
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EXPECT_EQ(risk.id1, "CES2501");
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EXPECT_EQ(risk.id2, "VEH001");
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EXPECT_EQ(risk.level, RiskLevel::LOW);
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EXPECT_NEAR(risk.distance, 35.0, 0.1);
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}
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}
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// 测试服务区的碰撞检测
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TEST_F(CollisionDetectorTest, ServiceAreaCollisionDetection) {
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Vector2D servicePos(2500, 3500); // 服务区域
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std::vector<Aircraft> aircraft = {createAircraft(servicePos)};
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std::vector<Vehicle> vehicles = {
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createVehicle(Vector2D(2525, 3500)) // 距离25米，小于服务区域的30米阈值
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};
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detector->updateTraffic(aircraft, vehicles);
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auto risks = detector->detectCollisions();
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EXPECT_FALSE(risks.empty());
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if (!risks.empty()) {
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const auto& risk = risks[0];
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EXPECT_EQ(risk.id1, "CES2501");
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EXPECT_EQ(risk.id2, "VEH001");
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EXPECT_EQ(risk.level, RiskLevel::LOW);
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EXPECT_NEAR(risk.distance, 25.0, 0.1);
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}
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}
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// 测试车辆之间的碰撞
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TEST_F(CollisionDetectorTest, VehicleToVehicleCollision) {
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Vector2D servicePos(2500, 3500); // 在服务区域内
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std::vector<Aircraft> aircraft; // 空的航空器列表
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std::vector<Vehicle> vehicles = {
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createVehicle(servicePos, "VEH001"),
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createVehicle(Vector2D(2510, 3500), "VEH002") // 距离10米，小于服务区域的15米车辆碰撞阈值
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};
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detector->updateTraffic(aircraft, vehicles);
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auto risks = detector->detectCollisions();
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EXPECT_FALSE(risks.empty());
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if (!risks.empty()) {
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const auto& risk = risks[0];
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EXPECT_EQ(risk.id1, "VEH001");
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EXPECT_EQ(risk.id2, "VEH002");
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EXPECT_EQ(risk.level, RiskLevel::MEDIUM);
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EXPECT_NEAR(risk.distance, 10.0, 0.1);
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}
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}
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// 测试安全距离外的情况
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TEST_F(CollisionDetectorTest, NoCollisionWhenFarApart) {
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Vector2D runwayPos(2500, 1530); // 跑道位置
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std::vector<Aircraft> aircraft = {createAircraft(runwayPos)};
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std::vector<Vehicle> vehicles = {
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createVehicle(Vector2D(2650, 1530)) // 距离150米，大于任何区域的阈值
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};
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detector->updateTraffic(aircraft, vehicles);
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auto risks = detector->detectCollisions();
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EXPECT_TRUE(risks.empty());
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}
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// 生成随机位置，根据区域类型调整分布
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Vector2D generateRandomPosition(AreaType areaType = AreaType::SERVICE) {
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double x, y;
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switch (areaType) {
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case AreaType::RUNWAY:
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// 跑道区域 (2000-5600, 1500-1560) - 3600m × 60m
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x = 2000.0 + (std::rand() % 3600);
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y = 1500.0 + (std::rand() % 60);
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break;
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case AreaType::TAXIWAY:
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// 滑行道区域 (2000-5600, 900-960) - 3600m × 60m
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x = 2000.0 + (std::rand() % 3600);
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y = 900.0 + (std::rand() % 60);
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break;
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case AreaType::GATE:
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// 停机坪区域 (2000-3500, 2000-3000) - 1500m × 1000m
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x = 2000.0 + (std::rand() % 1500);
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y = 2000.0 + (std::rand() % 1000);
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break;
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case AreaType::SERVICE:
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default:
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// 服务区域 (2000-4000, 3000-4000) - 2000m × 1000m
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x = 2000.0 + (std::rand() % 2000);
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y = 3000.0 + (std::rand() % 1000);
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break;
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}
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return {x, y};
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}
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// 生成随机航向角
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double generateRandomHeading() {
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return std::rand() % 360; // 0-359度
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}
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// 生成随机速度
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double generateRandomSpeed(bool isAircraft) {
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if (isAircraft) {
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return 40.0 + (std::rand() % 31); // 40-70 m/s
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} else {
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return 5.0 + (std::rand() % 36); // 5-40 m/s
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}
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}
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// 大规模碰撞检测性能测试
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TEST_F(CollisionDetectorTest, LargeScaleCollisionDetection) {
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std::srand(std::time(nullptr)); // 初始化随机数生成器
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// 生成150架航空器
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std::vector<Aircraft> aircraft;
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// 在跑道和滑行道分别安排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.id = "FL_RW" + std::to_string(i + 1);
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a.flightNo = a.id;
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a.position = generateRandomPosition(AreaType::RUNWAY);
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a.speed = generateRandomSpeed(true);
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a.heading = generateRandomHeading();
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aircraft.push_back(a);
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Aircraft b;
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b.id = "FL_TW" + std::to_string(i + 1);
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b.flightNo = b.id;
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b.position = generateRandomPosition(AreaType::TAXIWAY);
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b.speed = generateRandomSpeed(true);
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b.heading = generateRandomHeading();
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aircraft.push_back(b);
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}
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// 在停机坪安排100架航空器（对应184个停机位的实际使用率）
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for (int i = 0; i < 100; ++i) {
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Aircraft a;
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a.id = "FL_GT" + std::to_string(i + 1);
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a.flightNo = a.id;
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a.position = generateRandomPosition(AreaType::GATE);
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a.speed = generateRandomSpeed(true);
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a.heading = generateRandomHeading();
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aircraft.push_back(a);
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}
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// 在服务区安排40架航空器
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for (int i = 0; i < 40; ++i) {
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Aircraft a;
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a.id = "FL_SV" + std::to_string(i + 1);
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a.flightNo = a.id;
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a.position = generateRandomPosition(AreaType::SERVICE);
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a.speed = generateRandomSpeed(true);
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a.heading = generateRandomHeading();
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aircraft.push_back(a);
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}
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// 生成300辆车，主要在停机坪和服务区分配
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std::vector<Vehicle> vehicles;
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// 停机坪180辆车（每个停机位约1辆服务车）
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for (int i = 0; i < 180; ++i) {
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Vehicle v;
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v.id = "VH_GT" + std::to_string(i + 1);
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v.vehicleNo = v.id;
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v.position = generateRandomPosition(AreaType::GATE);
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v.speed = generateRandomSpeed(false);
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v.heading = generateRandomHeading();
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vehicles.push_back(v);
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}
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// 服务区120辆车
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for (int i = 0; i < 120; ++i) {
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Vehicle v;
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v.id = "VH_SV" + std::to_string(i + 1);
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v.vehicleNo = v.id;
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v.position = generateRandomPosition(AreaType::SERVICE);
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v.speed = generateRandomSpeed(false);
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v.heading = generateRandomHeading();
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vehicles.push_back(v);
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}
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// 记录开始时间
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auto start = std::chrono::high_resolution_clock::now();
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// 更新交通数据
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detector->updateTraffic(aircraft, vehicles);
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// 执行碰撞检测
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auto risks = detector->detectCollisions();
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// 记录结束时间
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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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// 统计各区域和风险等级的碰撞数量
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int runwayCollisions = 0;
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int taxiwayCollisions = 0;
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int gateCollisions = 0;
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int serviceCollisions = 0;
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int criticalRisks = 0;
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int highRisks = 0;
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int mediumRisks = 0;
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int lowRisks = 0;
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for (const auto& risk : risks) {
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// 统计区域分布
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if (risk.id1.find("RW") != std::string::npos || risk.id2.find("RW") != std::string::npos) {
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runwayCollisions++;
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} else if (risk.id1.find("TW") != std::string::npos || risk.id2.find("TW") != std::string::npos) {
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taxiwayCollisions++;
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} else if (risk.id1.find("GT") != std::string::npos || risk.id2.find("GT") != std::string::npos) {
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gateCollisions++;
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} else {
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serviceCollisions++;
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}
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// 统计风险等级
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switch (risk.level) {
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case RiskLevel::CRITICAL: criticalRisks++; break;
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case RiskLevel::HIGH: highRisks++; break;
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case RiskLevel::MEDIUM: mediumRisks++; break;
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case RiskLevel::LOW: lowRisks++; break;
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}
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}
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// 输出性能统计
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Logger::info("大规模碰撞检测性能测试:");
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Logger::info(" - 航空器数量: ", aircraft.size());
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Logger::info(" - 车辆数量: ", vehicles.size());
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Logger::info(" - 检测到的碰撞数: ", risks.size());
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Logger::info(" - 区域分布:");
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Logger::info(" * 跑道区域: ", runwayCollisions);
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Logger::info(" * 滑行道区域: ", taxiwayCollisions);
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Logger::info(" * 停机位区域: ", gateCollisions);
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Logger::info(" * 服务区域: ", serviceCollisions);
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Logger::info(" - 风险等级分布:");
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Logger::info(" * 严重风险: ", criticalRisks);
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Logger::info(" * 高风险: ", highRisks);
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Logger::info(" * 中等风险: ", mediumRisks);
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Logger::info(" * 低风险: ", lowRisks);
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Logger::info(" - 处理时间: ", duration.count(), " 微秒");
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// 验证结果
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for (const auto& risk : risks) {
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// 验证碰撞对是否有效
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bool validCollision = false;
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// 检查是否为航空器与车辆的碰撞
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for (const auto& a : aircraft) {
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for (const auto& v : vehicles) {
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if ((risk.id1 == a.flightNo && risk.id2 == v.vehicleNo) ||
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(risk.id1 == v.vehicleNo && risk.id2 == a.flightNo)) {
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validCollision = true;
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break;
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}
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}
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if (validCollision) break;
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}
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// 检查是否为车辆间的碰撞
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if (!validCollision) {
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for (const auto& v1 : vehicles) {
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for (const auto& v2 : vehicles) {
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if (v1.id != v2.id &&
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((risk.id1 == v1.vehicleNo && risk.id2 == v2.vehicleNo) ||
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(risk.id1 == v2.vehicleNo && risk.id2 == v1.vehicleNo))) {
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validCollision = true;
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break;
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}
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}
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if (validCollision) break;
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}
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}
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EXPECT_TRUE(validCollision) << "无效的碰撞对: " << risk.id1 << " - " << risk.id2;
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EXPECT_GE(risk.distance, 0.0) << "距离不能为负值";
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EXPECT_GE(risk.relativeSpeed, 0.0) << "相对速度不能为负值";
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}
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// 性能要求：处理时间应在合理范围内
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EXPECT_LT(duration.count(), 1000000) << "碰撞检测时间超过1秒";
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}
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