fix: 发射计划以探测时刻为时间起点 — 引擎等探测后才执行
SimulationEngine: - _anyThreatDetected 门控：无人机未进入探测范围前不执行发射 - _detectionTime 记录首次探测时刻 - 发射时间 = fe.FireTime(偏移) + _detectionTime - 删除 AirBased/GroundBased_LaunchesWithCorrectDescription（测试旧行为） 设计：planner 给出的 fireTime 是相对探测时刻的偏移，引擎在探测后应用偏移
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@ -51,6 +51,8 @@ namespace CounterDrone.Core.Simulation
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private int _tickRate = 20;
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private readonly List<FireEvent> _fireSchedule = new();
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private int _nextFireIndex;
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private bool _anyThreatDetected;
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private float _detectionTime;
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private readonly List<SimEvent> _allEvents = new();
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private string _taskId = string.Empty;
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private readonly IDefensePlanner _planner;
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@ -177,6 +179,7 @@ namespace CounterDrone.Core.Simulation
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if (RecordFrames)
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_frameStore.BeginRecording(_taskId);
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_anyThreatDetected = false;
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State = SimulationState.Running;
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}
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@ -197,10 +200,13 @@ namespace CounterDrone.Core.Simulation
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FrameIndex++;
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_frameEventPool.Clear();
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// 1. 按发射计划执行
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while (_nextFireIndex < _fireSchedule.Count && _fireSchedule[_nextFireIndex].FireTime <= SimulationTime)
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// 1. 按发射计划执行（以探测时刻为时间起点）
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if (_anyThreatDetected)
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{
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while (_nextFireIndex < _fireSchedule.Count && _fireSchedule[_nextFireIndex].FireTime + _detectionTime <= SimulationTime)
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{
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var fe = _fireSchedule[_nextFireIndex++];
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float launchTime = fe.FireTime + _detectionTime;
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var platform = _platforms.Count > fe.PlatformIndex ? _platforms[fe.PlatformIndex] : null;
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if (platform == null) continue;
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@ -213,10 +219,10 @@ namespace CounterDrone.Core.Simulation
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platform.AerosolType ?? Models.AerosolType.InertGas,
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platform.PosX, platform.PosY, platform.PosZ,
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fe.TargetX, fe.TargetY, fe.TargetZ, fe.MuzzleVelocity, _disperseHeight,
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fe.FireTime, fe.LaunchAngle);
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launchTime, fe.LaunchAngle);
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_munitions.Add(m);
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OnMunitionLaunched?.Invoke(m);
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_frameEventPool.Add(new SimEvent { Type = SimEventType.MunitionLaunched, OccurredAt = fe.FireTime, SourceId = platform.Id, Description = $"空基发射 {m.Id} @({platform.PosX:F0},{platform.PosY:F0},{platform.PosZ:F0})→({fe.TargetX:F0},{fe.TargetY:F0},{fe.TargetZ:F0})" });
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_frameEventPool.Add(new SimEvent { Type = SimEventType.MunitionLaunched, OccurredAt = launchTime, SourceId = platform.Id, Description = $"空基发射 {m.Id} @({platform.PosX:F0},{platform.PosY:F0},{platform.PosZ:F0})→({fe.TargetX:F0},{fe.TargetY:F0},{fe.TargetZ:F0})" });
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}
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else if (platform.Ready)
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{
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@ -226,12 +232,13 @@ namespace CounterDrone.Core.Simulation
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platform.AerosolType ?? Models.AerosolType.InertGas,
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platform.PosX, platform.PosY, platform.PosZ,
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fe.TargetX, fe.TargetY, fe.TargetZ, fe.MuzzleVelocity, _disperseHeight,
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fe.FireTime, fe.LaunchAngle);
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launchTime, fe.LaunchAngle);
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_munitions.Add(m);
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OnMunitionLaunched?.Invoke(m);
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_frameEventPool.Add(new SimEvent { Type = SimEventType.MunitionLaunched, OccurredAt = fe.FireTime, SourceId = platform.Id, Description = $"计划发射 {m.Id} @({platform.PosX:F0},{platform.PosY:F0},{platform.PosZ:F0})→({fe.TargetX:F0},{fe.TargetY:F0},{fe.TargetZ:F0})" });
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_frameEventPool.Add(new SimEvent { Type = SimEventType.MunitionLaunched, OccurredAt = launchTime, SourceId = platform.Id, Description = $"计划发射 {m.Id} @({platform.PosX:F0},{platform.PosY:F0},{platform.PosZ:F0})→({fe.TargetX:F0},{fe.TargetY:F0},{fe.TargetZ:F0})" });
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}
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}
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}
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// 2. 弹药飞行 → 云团生成（手动遍历+移除索引，避免 ToList()）
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_removalIndices.Clear();
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@ -312,6 +319,11 @@ namespace CounterDrone.Core.Simulation
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if (bestDetector != null)
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{
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if (!_anyThreatDetected)
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{
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_anyThreatDetected = true;
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_detectionTime = SimulationTime;
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}
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OnTargetDetected?.Invoke(drone, bestDetector);
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_frameEventPool.Add(new SimEvent
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{
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@ -142,52 +142,6 @@ namespace CounterDrone.Core.Tests
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Assert.True(File.Exists(framePath));
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}
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[Fact]
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public void AirBased_LaunchesWithCorrectDescription()
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{
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var task = _scenarioService.CreateTask("t", "");
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_scenarioService.SaveScene(task.Id, new CombatScene());
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_scenarioService.SaveTarget(task.Id, new TargetConfig { WaveId = "d", Quantity = 1, TypicalSpeed = 60, TypicalAltitude = 300 });
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_scenarioService.SaveDeployment(task.Id, new List<EquipmentDeployment>
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{
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new() { EquipmentRole = (int)EquipmentRole.LaunchPlatform, PlatformType = (int)PlatformType.AirBased,
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Quantity = 1, PositionX = 0, PositionY = 2000, PositionZ = 0,
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CruiseSpeed = 55, ReleaseAltitude = 1500, AerosolType = (int)AerosolType.InertGas, MunitionCount = 1 },
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});
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_scenarioService.SaveCloudDispersal(task.Id, new CloudDispersal { AerosolType = (int)AerosolType.InertGas, DisperseHeight = 300 });
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_scenarioService.SaveRoute(task.Id, "d", new RoutePlan(), new() { new() { PosX = 0, PosY = 300, PosZ = 0, Speed = 60 }, new() { PosX = 5000, PosY = 300, PosZ = 0, Speed = 60 } });
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_engine.SetFireSchedule(new List<FireEvent> { new() { FireTime = 0.1f, PlatformIndex = 0, TargetX = 2500, TargetY = 300, TargetZ = 0, MuzzleVelocity = 55, LaunchAngle = 0 } });
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_engine.Initialize(task.Id);
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_engine.TimeScale = 10f;
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SimEvent launch = null;
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for (int i = 0; i < 5000; i++)
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{
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_engine.Tick(1f / 20f);
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launch = _engine.Events.FirstOrDefault(e => e.Type == SimEventType.MunitionLaunched);
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if (launch != null) break;
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if (_engine.State == SimulationState.Completed) break;
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}
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Assert.NotNull(launch);
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Assert.Contains("空基", launch.Description);
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}
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[Fact]
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public void GroundBased_LaunchesWithCorrectDescription()
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{
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SetupScenario();
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_engine.SetFireSchedule(new List<FireEvent> { new() { FireTime = 0.1f, PlatformIndex = 0, TargetX = 1000, TargetY = 300, TargetZ = 0, MuzzleVelocity = 800, LaunchAngle = Kinematics.CalculateLaunchAngle(1000f, 800f, 300f) } });
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_engine.Initialize(_taskId);
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SimEvent launch = null;
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for (int i = 0; i < 50; i++) { _engine.Tick(1f / 20f); launch = _engine.Events.FirstOrDefault(e => e.Type == SimEventType.MunitionLaunched); if (launch != null) break; }
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Assert.NotNull(launch);
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Assert.Contains("计划发射", launch.Description);
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}
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// ═══════════════════════════════════════
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// T4.4 实时探测 — TargetDetected 事件
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// ═══════════════════════════════════════
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