190 lines
7.4 KiB
C++
190 lines
7.4 KiB
C++
#include <gtest/gtest.h>
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#include "detector/SafetyZone.h"
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#include "utils/Logger.h"
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#include "config/SystemConfig.h"
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class SafetyZoneTest : public ::testing::Test {
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protected:
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void SetUp() override {
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// 确保 SystemConfig 已初始化
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SystemConfig::instance();
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// 创建一个安全区，中心点在(0,0)，飞机安全区半径50米，特勤车安全区半径30米
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safetyZone = std::make_unique<SafetyZone>(Vector2D{0, 0}, 50.0, 30.0);
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}
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std::unique_ptr<SafetyZone> safetyZone;
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// 创建测试用的移动对象
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Aircraft createAircraft(const std::string& id, double x, double y) {
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Aircraft obj;
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obj.id = id;
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obj.position = Vector2D{x, y};
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obj.geo.latitude = 0; // 这里的经纬度不重要
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obj.geo.longitude = 0;
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obj.type = MovingObjectType::AIRCRAFT; // 设置类型为航空器
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return obj;
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}
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Vehicle createSpecialVehicle(const std::string& id, double x, double y) {
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Vehicle obj;
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obj.id = id;
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obj.position = Vector2D{x, y};
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obj.geo.latitude = 0;
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obj.geo.longitude = 0;
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obj.type = MovingObjectType::SPECIAL; // 设置类型为特勤车
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obj.isControllable = false; // 设置为非可控车辆（即特勤车）
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return obj;
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}
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Vehicle createUnmannedVehicle(const std::string& id, double x, double y) {
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Vehicle obj;
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obj.id = id;
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obj.position = Vector2D{x, y};
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obj.geo.latitude = 0;
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obj.geo.longitude = 0;
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obj.type = MovingObjectType::UNMANNED; // 设置类型为无人车
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obj.isControllable = true; // 设置为可控车辆（即无人车）
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return obj;
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}
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// 获取飞机有效距离（安全区半径 + 飞机半长度）
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double getAircraftEffectiveDistance() const {
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const auto& config = SystemConfig::instance().collision_detection.prediction;
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return safetyZone->getAircraftRadius() + config.aircraft_size / 2.0;
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}
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// 获取特勤车有效距离（安全区半径 + 车辆半长度）
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double getVehicleEffectiveDistance() const {
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const auto& config = SystemConfig::instance().collision_detection.prediction;
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return safetyZone->getSpecialVehicleRadius() + config.vehicle_size / 2.0;
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}
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};
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// 测试初始状态
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TEST_F(SafetyZoneTest, InitialState) {
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EXPECT_EQ(safetyZone->getState(), SafetyZoneState::INACTIVE);
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EXPECT_EQ(safetyZone->getType(), SafetyZoneType::NONE);
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EXPECT_EQ(safetyZone->getCurrentRadius(), 0.0);
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}
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// 测试飞机进入安全区
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TEST_F(SafetyZoneTest, AircraftEntering) {
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double effectiveDistance = getAircraftEffectiveDistance();
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// 创建一个飞机，位置在安全区边缘内侧
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auto aircraft = createAircraft("AC001", effectiveDistance - 1.0, 0.0);
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// 检查飞机是否在安全区内
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EXPECT_TRUE(safetyZone->isObjectInZone(aircraft));
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// 尝试激活安全区
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EXPECT_TRUE(safetyZone->tryActivate(aircraft));
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EXPECT_EQ(safetyZone->getType(), SafetyZoneType::AIRCRAFT);
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EXPECT_EQ(safetyZone->getCurrentRadius(), 50.0);
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// 测试飞机完全离开安全区
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aircraft = createAircraft("AC001", effectiveDistance + 1.0, 0.0);
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EXPECT_FALSE(safetyZone->isObjectInZone(aircraft));
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}
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// 测试特勤车进入安全区
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TEST_F(SafetyZoneTest, SpecialVehicleEntering) {
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double effectiveDistance = getVehicleEffectiveDistance();
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// 创建一个特勤车，位置在安全区边缘内侧
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auto vehicle = createSpecialVehicle("TQ001", effectiveDistance - 1.0, 0.0);
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// 检查特勤车是否在安全区内
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EXPECT_TRUE(safetyZone->isObjectInZone(vehicle));
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// 尝试激活安全区
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EXPECT_TRUE(safetyZone->tryActivate(vehicle));
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EXPECT_EQ(safetyZone->getType(), SafetyZoneType::VEHICLE);
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EXPECT_EQ(safetyZone->getCurrentRadius(), 30.0);
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// 测试特勤车完全离开安全区
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vehicle = createSpecialVehicle("TQ001", effectiveDistance + 1.0, 0.0);
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EXPECT_FALSE(safetyZone->isObjectInZone(vehicle));
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}
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// 测试无人车进入安全区
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TEST_F(SafetyZoneTest, UnmannedVehicleEntering) {
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// 创建一个无人车，位置在安全区内
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auto vehicle = createUnmannedVehicle("UV001", 10.0, 0.0);
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// 检查无人车是否在安全区内（应该返回false，因为无人车不能设置安全区类型）
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EXPECT_TRUE(safetyZone->isObjectInZone(vehicle));
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EXPECT_FALSE(safetyZone->tryActivate(vehicle));
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EXPECT_EQ(safetyZone->getType(), SafetyZoneType::NONE);
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EXPECT_EQ(safetyZone->getCurrentRadius(), 0.0);
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}
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// 测试安全区类型锁定
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TEST_F(SafetyZoneTest, SafetyZoneTypeLocking) {
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double aircraftEffectiveDistance = getAircraftEffectiveDistance();
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double vehicleEffectiveDistance = getVehicleEffectiveDistance();
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// 先让飞机进入安全区
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auto aircraft = createAircraft("AC001", aircraftEffectiveDistance - 5.0, 0.0);
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EXPECT_TRUE(safetyZone->isObjectInZone(aircraft));
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EXPECT_TRUE(safetyZone->tryActivate(aircraft));
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EXPECT_EQ(safetyZone->getType(), SafetyZoneType::AIRCRAFT);
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// 尝试让特勤车进入已经被飞机设置类型的安全区
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auto vehicle = createSpecialVehicle("TQ001", vehicleEffectiveDistance - 5.0, 0.0);
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EXPECT_TRUE(safetyZone->isObjectInZone(vehicle));
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EXPECT_FALSE(safetyZone->tryActivate(vehicle));
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// 确认安全区类型和尺寸没有改变
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EXPECT_EQ(safetyZone->getType(), SafetyZoneType::AIRCRAFT);
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EXPECT_EQ(safetyZone->getCurrentRadius(), 50.0);
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}
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// 测试边界条件
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TEST_F(SafetyZoneTest, BoundaryConditions) {
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double aircraftEffectiveDistance = getAircraftEffectiveDistance();
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double vehicleEffectiveDistance = getVehicleEffectiveDistance();
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// 测试飞机在边界上
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auto aircraft1 = createAircraft("AC001", aircraftEffectiveDistance, 0.0);
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EXPECT_TRUE(safetyZone->isObjectInZone(aircraft1));
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EXPECT_TRUE(safetyZone->tryActivate(aircraft1));
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// 测试飞机在边界外
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auto aircraft2 = createAircraft("AC002", aircraftEffectiveDistance + 0.1, 0.0);
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EXPECT_FALSE(safetyZone->isObjectInZone(aircraft2));
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// 重新创建安全区用于测试特勤车
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safetyZone = std::make_unique<SafetyZone>(Vector2D{0, 0}, 50.0, 30.0);
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// 测试特勤车在边界上
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auto vehicle1 = createSpecialVehicle("TQ001", vehicleEffectiveDistance, 0.0);
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EXPECT_TRUE(safetyZone->isObjectInZone(vehicle1));
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EXPECT_TRUE(safetyZone->tryActivate(vehicle1));
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// 测试特勤车在边界外
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auto vehicle2 = createSpecialVehicle("TQ002", vehicleEffectiveDistance + 0.1, 0.0);
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EXPECT_FALSE(safetyZone->isObjectInZone(vehicle2));
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}
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// 测试状态重置
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TEST_F(SafetyZoneTest, StateReset) {
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double effectiveDistance = getAircraftEffectiveDistance();
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// 先让飞机进入安全区
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auto aircraft = createAircraft("AC001", effectiveDistance - 5.0, 0.0);
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EXPECT_TRUE(safetyZone->isObjectInZone(aircraft));
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EXPECT_TRUE(safetyZone->tryActivate(aircraft));
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// 设置状态为激活
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safetyZone->setState(SafetyZoneState::ACTIVE);
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EXPECT_EQ(safetyZone->getState(), SafetyZoneState::ACTIVE);
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// 重置状态
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safetyZone->setState(SafetyZoneState::INACTIVE);
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EXPECT_EQ(safetyZone->getState(), SafetyZoneState::INACTIVE);
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// 确认类型和尺寸保持不变
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EXPECT_EQ(safetyZone->getType(), SafetyZoneType::AIRCRAFT);
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EXPECT_EQ(safetyZone->getCurrentRadius(), 50.0);
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}
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