refactor: 推荐算法统一处理空基/地基平台类型
- ThreatProfile 新增 PreferredPlatformType 字段 - DefaultDefenseAdvisor 根据平台类型正确计算 FireTime/CruiseSpeed/ReleaseAltitude - 空基：FireTime 提前扣除飞行+下落时间；地基：保持原逻辑 - 删除 SimulationEngine.AdjustFireTimesForAirBased（引擎不再做适配） - 集成测试直接用 PreferredPlatformType 驱动空基方案 - 实施文档同步
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@ -160,7 +160,7 @@ Phase 8 ⬜ 待开发
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| 8.1.1 | 探测设备搜索逻辑 | `DetectionEntity` 类已存在，需接入 `SimulationEngine` 实现探测→火控链路闭环 |
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| 8.1.2 | 蜂群运动模型 | `FormationMode.Swarm` 枚举已定义，需差异化行为（随机扰动、个体差异） |
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| 8.1.3 | 空基平台飞行动态 | `PlatformEntity` 状态机（Idle→FlyingToTarget→ReadyToRelease），巡航飞行，弹药继承载机速度下落，`Kinematics` 工具类支撑，集成测试通过 | ✅ |
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| 8.1.3 | 空基平台飞行动态 | ✅ `PlatformEntity` 状态机，巡航飞行，弹药继承载机速度。**推荐算法统一处理平台类型**，`ThreatProfile.PreferredPlatformType` 驱动，`DefaultDefenseAdvisor` 根据类型正确计算 `FireTime`/`CruiseSpeed`/`ReleaseAltitude`。引擎零适配逻辑 | ✅ |
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| 8.1.4 | 预置典型目标库 | 具体无人机型号 JSON 配置（如 DJI Mavic 3、Shahed-136 等），导入 `TargetConfig` 默认值 |
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| 8.1.5 | 毁伤曲线参数校准 | 三种毁伤模型的 damageRate/threshold/burstDamage 需甲方/领域专家确认后写入 |
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@ -11,6 +11,8 @@ namespace CounterDrone.Core.Algorithms
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public RoutePlan Route { get; set; } = new();
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public List<Waypoint> Waypoints { get; set; } = new();
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public List<ControlZone> ControlZones { get; set; } = new();
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/// <summary>偏好平台类型（null = 算法自行决定，当前默认地基）</summary>
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public PlatformType? PreferredPlatformType { get; set; }
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}
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/// <summary>防御推荐方案</summary>
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@ -105,21 +105,59 @@ namespace CounterDrone.Core.Algorithms
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var expansionTime = (float)Math.Pow((effectiveR - r0) / k, 2);
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var recommendedTiming = halfTime - expansionTime;
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// 生成发射计划
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// 平台类型
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var platType = threat.PreferredPlatformType ?? PlatformType.GroundBased;
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var isAirBased = platType == PlatformType.AirBased;
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// 空基参数
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var cruiseSpeed = 55f; // ~200 km/h
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var releaseAlt = isAirBased ? (float)target.TypicalAltitude + 500f : 0f;
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var fallTime = isAirBased ? Kinematics.AirDropFallTime(releaseAlt, (float)target.TypicalAltitude) : 0f;
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// 生成发射计划和平台部署
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var fireSchedule = new List<FireEvent>();
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var platforms = new List<RecommendedPlatform>();
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var gunCount = roundsNeeded;
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for (int i = 0; i < roundsNeeded; i++)
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{
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var offset = (i - (roundsNeeded - 1) / 2f) * spacing;
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fireSchedule.Add(new FireEvent
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var tx = mid.X + offset; var ty = mid.Y; var tz = mid.Z;
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if (isAirBased)
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{
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FireTime = recommendedTiming,
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PlatformIndex = i % roundsNeeded,
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TargetX = mid.X + offset,
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TargetY = mid.Y,
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TargetZ = mid.Z,
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MuzzleVelocity = 800f,
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// 巡逻点：防御圈边缘，偏离目标侧方
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var patrolX = mid.X - 2000;
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var patrolY = 2500f;
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var patrolZ = mid.Z - 2000;
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var flightDist = Kinematics.Distance3D(patrolX, patrolY, patrolZ, tx, releaseAlt, tz);
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var flightTime = flightDist / cruiseSpeed;
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var fireTime = recommendedTiming - flightTime - fallTime;
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if (fireTime < 0.1f) fireTime = 0.1f;
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fireSchedule.Add(new FireEvent { FireTime = fireTime, PlatformIndex = i, TargetX = tx, TargetY = ty, TargetZ = tz, MuzzleVelocity = 0f });
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platforms.Add(new RecommendedPlatform
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{
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Type = PlatformType.AirBased,
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Position = new Vector3(patrolX + i * 30, patrolY, patrolZ),
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Quantity = 1, MunitionCount = 1,
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CruiseSpeed = cruiseSpeed, ReleaseAltitude = releaseAlt,
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Cooldown = 5f, CoverageVolume = (float)ammo.InitialVolume,
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});
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}
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else
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{
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fireSchedule.Add(new FireEvent { FireTime = recommendedTiming, PlatformIndex = i, TargetX = tx, TargetY = ty, TargetZ = tz, MuzzleVelocity = 800f });
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platforms.Add(new RecommendedPlatform
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{
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Type = PlatformType.GroundBased,
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Position = new Vector3(mid.X + i * 50, 0, 50),
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Quantity = 1, MunitionCount = 1,
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MuzzleVelocity = 800f, Cooldown = 5f,
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CoverageVolume = (float)ammo.InitialVolume,
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});
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}
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}
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var bestCloud = new CloudDispersal
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{
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@ -138,22 +176,6 @@ namespace CounterDrone.Core.Algorithms
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EstimatedProbability = prob,
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};
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// 平台部署：假设齐射（同时发射），每门炮打一发后冷却 5s
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// 需要 roundsNeeded 门炮同时发射
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var gunCount = roundsNeeded;
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var platforms = new List<RecommendedPlatform>();
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for (int i = 0; i < gunCount; i++)
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platforms.Add(new RecommendedPlatform
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{
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Type = PlatformType.GroundBased,
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Position = new Vector3(mid.X + i * 50, 0, 50),
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Quantity = 1,
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MunitionCount = 1,
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CoverageVolume = (float)ammo.InitialVolume,
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Cooldown = 5f,
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MuzzleVelocity = 800f,
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});
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result.Best = new DefenseSolution
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{
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RecommendedAerosolType = aerosolType,
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@ -114,7 +114,6 @@ namespace CounterDrone.Core.Simulation
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SimulationTime = 0;
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_entityCounter = 0;
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_nextFireIndex = 0;
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AdjustFireTimesForAirBased();
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_frameDb = _frameStore.CreateOrOpen(_taskId);
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State = SimulationState.Running;
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}
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@ -265,31 +264,6 @@ namespace CounterDrone.Core.Simulation
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public void Resume() { if (State == SimulationState.Paused) State = SimulationState.Running; }
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public void Stop() { State = SimulationState.Stopped; _frameDb?.Close(); }
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/// <summary>为空基平台提前发射时间，补偿飞行耗时</summary>
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private void AdjustFireTimesForAirBased()
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{
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for (int i = 0; i < _fireSchedule.Count; i++)
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{
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var fe = _fireSchedule[i];
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if (fe.PlatformIndex >= _platforms.Count) continue;
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var p = _platforms[fe.PlatformIndex];
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if (p.PlatformType != Models.PlatformType.AirBased) continue;
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var releaseAlt = p.ReleaseAltitude > 0 ? p.ReleaseAltitude : _disperseHeight;
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float dx = fe.TargetX - p.PatrolX;
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float dy = releaseAlt - p.PatrolY;
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float dz = fe.TargetZ - p.PatrolZ;
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float flightDist = (float)Math.Sqrt(dx * dx + dy * dy + dz * dz);
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float flightTime = flightDist / (p.CruiseSpeed > 0.1f ? p.CruiseSpeed : 55f);
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float fallTime = Kinematics.AirDropFallTime(releaseAlt, _disperseHeight);
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fe.FireTime -= flightTime + fallTime;
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if (fe.FireTime < 0) fe.FireTime = 0.1f;
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}
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_fireSchedule.Sort((a, b) => a.FireTime.CompareTo(b.FireTime));
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_nextFireIndex = 0;
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}
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private List<EntitySnapshot> CollectSnapshots()
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{
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var list = new List<EntitySnapshot>();
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@ -78,7 +78,7 @@ namespace CounterDrone.Core.Tests
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}
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/// <summary>将 DefenseAdvisor 推荐方案写入想定</summary>
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private DefenseRecommendation GetAndApplyRecommendation()
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private DefenseRecommendation GetAndApplyRecommendation(PlatformType? preferredPlatform = null)
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{
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var detail = _scenario.GetTaskDetail(_taskId)!;
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var threat = new ThreatProfile
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@ -87,6 +87,7 @@ namespace CounterDrone.Core.Tests
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Targets = detail.Targets,
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Route = detail.Routes[0],
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Waypoints = detail.WaypointGroups["default"],
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PreferredPlatformType = preferredPlatform,
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};
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var rec = new DefaultDefenseAdvisor(_ammoCatalog).Recommend(threat);
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@ -115,7 +116,9 @@ namespace CounterDrone.Core.Tests
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AerosolType = (int)rec.Best.RecommendedAerosolType,
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MunitionCount = p.MunitionCount,
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Cooldown = p.Cooldown,
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MuzzleVelocity = p.MuzzleVelocity,
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MuzzleVelocity = p.MuzzleVelocity > 0 ? p.MuzzleVelocity : null,
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CruiseSpeed = p.CruiseSpeed > 0 ? p.CruiseSpeed : null,
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ReleaseAltitude = p.ReleaseAltitude > 0 ? p.ReleaseAltitude : null,
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});
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_scenario.SaveDeployment(_taskId, equips);
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_lastFireSchedule = rec.Best.FireSchedule;
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@ -364,30 +367,13 @@ namespace CounterDrone.Core.Tests
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new Waypoint { PosX = 15000, PosY = 500, PosZ = 0, Speed = 300 },
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});
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// 先用推荐算法生成方案
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var rec = GetAndApplyRecommendation();
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// 用推荐算法生成空基方案
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var rec = GetAndApplyRecommendation(PlatformType.AirBased);
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Assert.NotNull(rec.Best.FireSchedule);
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Assert.True(rec.Best.FireSchedule.Count > 0);
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Assert.Equal(PlatformType.AirBased, rec.Best.Platforms[0].Type);
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Assert.True(rec.Best.Platforms[0].CruiseSpeed > 0);
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// 将推荐的地基平台改为空基：巡逻点在防御圈边缘空中
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var saved = _scenario.GetTaskDetail(_taskId)!;
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var midX = (float)(saved.Cloud.PositionX);
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var airEquips = new List<EquipmentDeployment>();
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foreach (var e in saved.Equipment.Where(eq => eq.EquipmentRole == (int)EquipmentRole.LaunchPlatform))
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{
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e.PlatformType = (int)Models.PlatformType.AirBased;
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// 巡逻点：防御圈边缘，侧方 2000m，高度 2500m 巡航
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e.PositionX = midX - 2000;
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e.PositionY = 2500;
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e.PositionZ = -2000;
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e.CruiseSpeed = 55; // ~200 km/h
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e.ReleaseAltitude = 1500; // 投放高度
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e.MuzzleVelocity = null; // 空基不需要炮口初速
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airEquips.Add(e);
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}
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_scenario.SaveDeployment(_taskId, airEquips);
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// 更新 FireSchedule：引擎初始化时会自动 AdjustFireTimesForAirBased
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_lastFireSchedule = rec.Best.FireSchedule;
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var eng = RunSimulation(8000);
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@ -396,7 +382,7 @@ namespace CounterDrone.Core.Tests
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var cloudsGenerated = eng.Events.Count(e => e.Type == SimEventType.CloudGenerated);
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var drone = eng.Drones[0];
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var msg = $"AirBased: platforms={airEquips.Count}, launched={launched}, clouds={cloudsGenerated}, " +
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var msg = $"AirBased: platforms={rec.Best.Platforms.Count}, launched={launched}, clouds={cloudsGenerated}, " +
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$"droneStatus={drone.Status}, hp={drone.Hp:F3}, simTime={eng.SimulationTime:F1}s";
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Assert.True(launched > 0, msg);
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