From 615c2bea3b3bbe8be28276eeb56c4f8327521b3e Mon Sep 17 00:00:00 2001 From: tian <11429339@qq.com> Date: Thu, 11 Jun 2026 15:24:25 +0800 Subject: [PATCH] =?UTF-8?q?Phase=204-5:=20DefenseAdvisor=E9=87=8D=E6=9E=84?= =?UTF-8?q?=20=E2=80=94=20=E5=BC=B9=E8=8D=AF=E8=A7=84=E6=A0=BC=E9=A9=B1?= =?UTF-8?q?=E5=8A=A8=E3=80=81=E8=BE=93=E5=85=A5=E6=A0=A1=E9=AA=8C=E3=80=81?= =?UTF-8?q?=E5=A4=9A=E8=BD=AE=E6=AC=A1CloudSalvo=EF=BC=9B=E5=BC=95?= =?UTF-8?q?=E6=93=8E=E6=94=B9=E4=B8=BA=E7=BA=AF=E6=89=A7=E8=A1=8C=E5=99=A8?= =?UTF-8?q?=EF=BC=9BKinematics=E5=B7=A5=E5=85=B7=E7=B1=BB?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../Algorithms/AlgorithmFactory.cs | 22 +- .../Algorithms/AlgorithmTypes.cs | 2 + .../Algorithms/DefaultDefenseAdvisor.cs | 245 +++++++++--------- .../AlgorithmFactoryTests.cs | 8 +- .../DefenseAdvisorRealityTests.cs | 8 +- .../DefenseAdvisorTests.cs | 126 +++------ .../FireScheduleDiagnostics.cs | 92 +++++++ .../FullPipelineTests.cs | 49 +++- .../SimulationEngineTests.cs | 218 +++++++++++++++- 9 files changed, 513 insertions(+), 257 deletions(-) create mode 100644 test/unit/CounterDrone.Core.Tests/FireScheduleDiagnostics.cs diff --git a/src/CounterDrone.Core/Algorithms/AlgorithmFactory.cs b/src/CounterDrone.Core/Algorithms/AlgorithmFactory.cs index 03e7a3c..b4bb48a 100644 --- a/src/CounterDrone.Core/Algorithms/AlgorithmFactory.cs +++ b/src/CounterDrone.Core/Algorithms/AlgorithmFactory.cs @@ -6,27 +6,23 @@ namespace CounterDrone.Core.Algorithms /// 算法工厂 — 统一管理算法组件的创建与替换 public static class AlgorithmFactory { - private static readonly Dictionary _registry = new() + private static readonly Dictionary> _registry = new() { - { typeof(ICloudDispersionModel), typeof(GaussianPuffDispersion) }, - { typeof(IDamageModel), typeof(DamageModelRouter) }, - { typeof(IDefenseAdvisor), typeof(DefaultDefenseAdvisor) }, + [typeof(ICloudDispersionModel)] = () => new GaussianPuffDispersion(), + [typeof(IDamageModel)] = () => new DamageModelRouter(), + [typeof(IDefenseAdvisor)] = () => new DefaultDefenseAdvisor(null), }; - /// 替换某个算法实现（第三方接入点） - public static void Register() where TImpl : TInterface, new() + public static void Register(Func factory) { - _registry[typeof(TInterface)] = typeof(TImpl); + _registry[typeof(TInterface)] = factory; } - /// 创建算法实例 public static T Create() where T : class { - if (_registry.TryGetValue(typeof(T), out var implType)) - return (T)Activator.CreateInstance(implType)!; - - throw new InvalidOperationException( - $"No implementation registered for {typeof(T).Name}"); + if (_registry.TryGetValue(typeof(T), out var factory)) + return (T)factory(); + throw new InvalidOperationException($"No implementation for {typeof(T).Name}"); } } } diff --git a/src/CounterDrone.Core/Algorithms/AlgorithmTypes.cs b/src/CounterDrone.Core/Algorithms/AlgorithmTypes.cs index 77aec26..8782b58 100644 --- a/src/CounterDrone.Core/Algorithms/AlgorithmTypes.cs +++ b/src/CounterDrone.Core/Algorithms/AlgorithmTypes.cs @@ -26,6 +26,8 @@ namespace CounterDrone.Core.Algorithms public AerosolType RecommendedAerosolType { get; set; } public string AerosolRationale { get; set; } = string.Empty; public CloudDispersal RecommendedCloud { get; set; } = new(); + /// 多轮次云团列表（含主云团） + public List CloudSalvo { get; set; } = new(); public List Platforms { get; set; } = new(); public List Detections { get; set; } = new(); diff --git a/src/CounterDrone.Core/Algorithms/DefaultDefenseAdvisor.cs b/src/CounterDrone.Core/Algorithms/DefaultDefenseAdvisor.cs index c96bb9f..6dbee4a 100644 --- a/src/CounterDrone.Core/Algorithms/DefaultDefenseAdvisor.cs +++ b/src/CounterDrone.Core/Algorithms/DefaultDefenseAdvisor.cs @@ -7,6 +7,13 @@ namespace CounterDrone.Core.Algorithms { public class DefaultDefenseAdvisor : IDefenseAdvisor { + private readonly List _ammoCatalog; + + public DefaultDefenseAdvisor(List ammoCatalog) + { + _ammoCatalog = ammoCatalog ?? new List(); + } + private static readonly Dictionary MatchTable = new() { { PowerType.Electric, AerosolType.InertGas }, @@ -16,161 +23,155 @@ namespace CounterDrone.Core.Algorithms public DefenseRecommendation Recommend(ThreatProfile threat) { - if (threat.Targets.Count == 0 || threat.Waypoints.Count < 2) - return new DefenseRecommendation(); + var result = new DefenseRecommendation + { + Best = new DefenseSolution(), + Critical = new DefenseSolution(), + }; + + // ===== 输入校验 ===== + if (threat.Targets.Count == 0) + { + result.Best.SummaryRationale = "失败：未配置威胁目标"; + return result; + } + if (threat.Waypoints.Count < 2) + { + result.Best.SummaryRationale = "失败：需要至少两个航路点"; + return result; + } var target = threat.Targets[0]; - var route = threat.Waypoints; + if (target.TypicalSpeed <= 0) + { + result.Best.SummaryRationale = "失败：目标速度为 0"; + return result; + } - // Step A：气溶胶选型 + // ===== Step A：气溶胶选型 ===== var powerType = (PowerType)target.PowerType; var aerosolType = MatchTable.TryGetValue(powerType, out var match) ? match : AerosolType.InertGas; + var ammo = _ammoCatalog.FirstOrDefault(a => a.AerosolType == (int)aerosolType); + if (ammo == null) + { + result.Best.SummaryRationale = $"失败：弹药库中未找到 {aerosolType} 类型的弹药规格"; + return result; + } + var rationale = powerType switch { PowerType.Electric or PowerType.Piston => - $"{powerType}发动机依赖氧气，推荐惰性气体窒息方案（吸入式灭火）", + $"{powerType}发动机依赖氧气，推荐惰性气体窒息方案", PowerType.Jet => $"{powerType}发动机高温表面可触发活性材料爆燃反应", _ => "默认推荐惰性气体方案", }; - // Step B：时空交汇优化 - var start = ToV3(route[0]); - var end = ToV3(route[^1]); + // ===== Step B：时空交汇优化 ===== + var start = ToV3(threat.Waypoints[0]); + var end = ToV3(threat.Waypoints[^1]); var mid = new Vector3((start.X + end.X) / 2f, (start.Y + end.Y) / 2f, (start.Z + end.Z) / 2f); var routeLength = start.DistanceTo(end); - var avgSpeed = (float)target.TypicalSpeed / 3.6f; // km/h → m/s - var flightTime = routeLength / avgSpeed; + var avgSpeed = (float)target.TypicalSpeed / 3.6f; + var totalFlightTime = routeLength / avgSpeed; - // 最佳值：航路中点 - var bestCloud = new CloudDispersal + if (routeLength < 100) { - AerosolType = (int)aerosolType, - PositionX = mid.X, - PositionY = mid.Y, - PositionZ = mid.Z, - DisperseHeight = (float)target.TypicalAltitude, - TriggerMode = (int)TriggerMode.Time, - Duration = 60, - Source = "Algorithm", - PositionMode = (int)PositionMode.AlgorithmRecommended, - RecommendedTiming = flightTime / 2f, - }; + result.Best.SummaryRationale = "失败：航路太短（<100m）"; + return result; + } - var bestProb = EstimateInterceptProbability(route, avgSpeed, mid, 50f, 60f); + // 弹药参数 + var initialR = (float)ammo.InitialRadius; + var maxDur = (float)ammo.MaxDuration; - // 最危险值：航路 1/4 处 - var criticalPos = new Vector3( - start.X + (end.X - start.X) * 0.25f, - start.Y + (end.Y - start.Y) * 0.25f, - start.Z + (end.Z - start.Z) * 0.25f); + // 无人机穿过单个云团的时间 + var crossTime = (2f * initialR) / avgSpeed; + var neededExposure = aerosolType == AerosolType.ActiveMaterial ? 2f : 6f; + var roundsNeeded = Math.Max(1, (int)Math.Ceiling(neededExposure / Math.Max(0.5f, crossTime))); + var spacing = initialR * 1.5f; // 云团间隔 = 1.5×半径，部分重叠保证连续覆盖 - var criticalCloud = new CloudDispersal + // 多轮次云团：沿航路等距分布 + var cloudSalvo = new List(); + for (int i = 0; i < roundsNeeded; i++) { - AerosolType = (int)aerosolType, - PositionX = criticalPos.X, - PositionY = criticalPos.Y, - PositionZ = criticalPos.Z, - DisperseHeight = (float)target.TypicalAltitude, - TriggerMode = (int)TriggerMode.Time, - Duration = 60, - Source = "Algorithm", - PositionMode = (int)PositionMode.AlgorithmRecommended, - RecommendedTiming = flightTime / 4f, - }; - - var criticalProb = EstimateInterceptProbability(route, avgSpeed, criticalPos, 50f, 60f); - - // Step C：反推平台部署 - var bestPlatforms = RecommendPlatforms(bestCloud, target); - - return new DefenseRecommendation - { - Best = new DefenseSolution + var offset = (i - (roundsNeeded - 1) / 2f) * spacing; + cloudSalvo.Add(new CloudDispersal { - RecommendedAerosolType = aerosolType, - AerosolRationale = rationale, - RecommendedCloud = bestCloud, - Platforms = bestPlatforms, - Detections = new List - { - new RecommendedDetection - { - Position = new Vector3(mid.X, mid.Y, 0), - DetectionRadius = System.Math.Max(3000f, routeLength * 0.4f), - Quantity = 1, - } - }, - InterceptProbability = bestProb, - SummaryRationale = $"最佳方案：{aerosolType}方案，预计拦截概率 {bestProb:P0}", - }, - Critical = new DefenseSolution - { - RecommendedAerosolType = aerosolType, - AerosolRationale = "临界方案", - RecommendedCloud = criticalCloud, - Platforms = RecommendPlatforms(criticalCloud, target), - Detections = new List(), - InterceptProbability = criticalProb, - SummaryRationale = $"最危险方案：拦截概率仅 {criticalProb:P0}", - }, - }; - } - - private List RecommendPlatforms(CloudDispersal cloud, TargetConfig target) - { - // 简化：默认地基火炮 - var platforms = new List(); - var targetCount = target.Quantity; - var platformsNeeded = Math.Max(1, (int)Math.Ceiling(targetCount / 2.0)); - - for (int i = 0; i < platformsNeeded; i++) - { - platforms.Add(new RecommendedPlatform - { - Type = PlatformType.GroundBased, - Position = new Vector3((float)(cloud.PositionX + i * 200), 0, 50), - Quantity = 1, - MunitionCount = 3, - CoverageVolume = 500000f, + AerosolType = (int)aerosolType, + PositionX = mid.X + offset, + PositionY = mid.Y, + PositionZ = mid.Z, + DisperseHeight = (float)target.TypicalAltitude, + TriggerMode = (int)TriggerMode.Time, + Duration = (int)maxDur, + InitialScale = ammo.InitialVolume, + ReleaseMode = (int)ReleaseMode.Single, + Source = "Algorithm", + PositionMode = (int)PositionMode.AlgorithmRecommended, + RecommendedTiming = totalFlightTime / 2f, }); } - return platforms; - } + var prob = Math.Min(0.95f, (crossTime * roundsNeeded) / neededExposure); - private float EstimateInterceptProbability(List route, float avgSpeed, - Vector3 cloudPos, float cloudRadius, float cloudDuration) - { - // 简化估算：计算目标在云团中的穿越时间比例 - float totalDist = 0; - float inCloudDist = 0; + // 平台部署 + var platQty = Math.Max(1, (int)Math.Ceiling(roundsNeeded / 3f)); + var platforms = new List(); + for (int i = 0; i < platQty; i++) + platforms.Add(new RecommendedPlatform + { + Type = PlatformType.GroundBased, + Position = new Vector3(mid.X + i * 300, 0, 50), + Quantity = 1, + MunitionCount = (int)Math.Ceiling((float)roundsNeeded / platQty), + CoverageVolume = (float)ammo.InitialVolume, + }); - for (int i = 0; i < route.Count - 1; i++) + result.Best = new DefenseSolution { - var segStart = ToV3(route[i]); - var segEnd = ToV3(route[i + 1]); - var segLen = segStart.DistanceTo(segEnd); - totalDist += segLen; + RecommendedAerosolType = aerosolType, + AerosolRationale = rationale, + RecommendedCloud = cloudSalvo[0], + CloudSalvo = cloudSalvo, + Platforms = platforms, + Detections = new List + { + new RecommendedDetection + { + Position = new Vector3(mid.X, mid.Y, 0), + DetectionRadius = Math.Max(3000f, routeLength * 0.4f), + Quantity = 1, + } + }, + InterceptProbability = prob, + SummaryRationale = $"{aerosolType}方案，{roundsNeeded}发，预计拦截概率 {prob:P0}", + }; - // 简化：检查线段中点是否在云团内 - var segMid = new Vector3( - (segStart.X + segEnd.X) / 2f, - (segStart.Y + segEnd.Y) / 2f, - (segStart.Z + segEnd.Z) / 2f); + result.Critical = new DefenseSolution + { + RecommendedAerosolType = aerosolType, + RecommendedCloud = new CloudDispersal + { + AerosolType = (int)aerosolType, + PositionX = start.X + (end.X - start.X) * 0.25f, + PositionY = start.Y, PositionZ = start.Z, + DisperseHeight = (float)target.TypicalAltitude, + Duration = (int)maxDur, + Source = "Algorithm", + PositionMode = (int)PositionMode.AlgorithmRecommended, + RecommendedTiming = totalFlightTime * 0.25f, + }, + Platforms = platforms, + InterceptProbability = prob * 0.3f, + SummaryRationale = $"临界方案：拦截概率仅 {prob * 0.3f:P0}", + }; - if (segMid.DistanceTo(cloudPos) <= cloudRadius) - inCloudDist += segLen; - } - - return totalDist > 0 ? System.Math.Min(0.95f, inCloudDist / totalDist) : 0f; + return result; } - private static Vector3 ToV3(Waypoint wp) - { - return new Vector3((float)wp.PosX, (float)wp.PosY, (float)wp.PosZ); - } + private static Vector3 ToV3(Waypoint wp) => new((float)wp.PosX, (float)wp.PosY, (float)wp.PosZ); } } diff --git a/test/unit/CounterDrone.Core.Tests/AlgorithmFactoryTests.cs b/test/unit/CounterDrone.Core.Tests/AlgorithmFactoryTests.cs index 74e869a..38afe8c 100644 --- a/test/unit/CounterDrone.Core.Tests/AlgorithmFactoryTests.cs +++ b/test/unit/CounterDrone.Core.Tests/AlgorithmFactoryTests.cs @@ -21,14 +21,10 @@ namespace CounterDrone.Core.Tests [Fact] public void Register_ReplacesImplementation() { - // 替换为自定义实现 - AlgorithmFactory.Register(); - + AlgorithmFactory.Register(() => new MockDispersion()); var instance = AlgorithmFactory.Create(); Assert.IsType(instance); - - // 还原 - AlgorithmFactory.Register(); + AlgorithmFactory.Register(() => new GaussianPuffDispersion()); } } diff --git a/test/unit/CounterDrone.Core.Tests/DefenseAdvisorRealityTests.cs b/test/unit/CounterDrone.Core.Tests/DefenseAdvisorRealityTests.cs index 3bd4fd0..160b89d 100644 --- a/test/unit/CounterDrone.Core.Tests/DefenseAdvisorRealityTests.cs +++ b/test/unit/CounterDrone.Core.Tests/DefenseAdvisorRealityTests.cs @@ -7,6 +7,12 @@ namespace CounterDrone.Core.Tests { public class DefenseAdvisorRealityTests { + private static readonly List TestAmmo = new() + { + new AmmunitionSpec { AerosolType = (int)AerosolType.InertGas, InitialRadius = 50, CoreDensity = 1.0, DispersionRateBase = 5, MaxRadius = 200, MaxDuration = 60 }, + new AmmunitionSpec { AerosolType = (int)AerosolType.ActiveMaterial, InitialRadius = 30, CoreDensity = 2.0, DispersionRateBase = 3, MaxRadius = 150, MaxDuration = 45 }, + }; + [Fact] public void PistonDrone_RecommendsReachableCloudPosition() { @@ -34,7 +40,7 @@ namespace CounterDrone.Core.Tests }, }; - var advisor = new DefaultDefenseAdvisor(); + var advisor = new DefaultDefenseAdvisor(TestAmmo); var rec = advisor.Recommend(threat); // 1. 选型正确 diff --git a/test/unit/CounterDrone.Core.Tests/DefenseAdvisorTests.cs b/test/unit/CounterDrone.Core.Tests/DefenseAdvisorTests.cs index 91c45fb..d998e6b 100644 --- a/test/unit/CounterDrone.Core.Tests/DefenseAdvisorTests.cs +++ b/test/unit/CounterDrone.Core.Tests/DefenseAdvisorTests.cs @@ -7,119 +7,65 @@ namespace CounterDrone.Core.Tests { public class DefenseAdvisorTests { + private static readonly List TestAmmo = new() + { + new AmmunitionSpec { AerosolType = (int)AerosolType.InertGas, InitialRadius = 50, CoreDensity = 1.0, DispersionRateBase = 5, MaxRadius = 200, MaxDuration = 60, EffectiveConcentration = 0.05 }, + new AmmunitionSpec { AerosolType = (int)AerosolType.ActiveMaterial, InitialRadius = 30, CoreDensity = 2.0, DispersionRateBase = 3, MaxRadius = 150, MaxDuration = 45, EffectiveConcentration = 0.1 }, + new AmmunitionSpec { AerosolType = (int)AerosolType.ActiveFuel, InitialRadius = 40, CoreDensity = 1.5, DispersionRateBase = 4, MaxRadius = 180, MaxDuration = 50, EffectiveConcentration = 0.03 }, + }; + private ThreatProfile CreateSimpleThreat(PowerType powerType = PowerType.Piston) { return new ThreatProfile { - Environment = new CombatScene - { - WindSpeed = 5.0, - WindDirection = (int)WindDirection.E, - }, + Environment = new CombatScene { WindSpeed = 5.0, WindDirection = (int)WindDirection.E }, Targets = new List { - new TargetConfig - { - TargetType = (int)TargetType.Piston, - PowerType = (int)powerType, - Quantity = 3, - TypicalSpeed = 120.0, - TypicalAltitude = 500.0, - }, + new TargetConfig { TargetType = (int)TargetType.Piston, PowerType = (int)powerType, Quantity = 3, TypicalSpeed = 120.0, TypicalAltitude = 500.0 }, }, Route = new RoutePlan { FormationMode = (int)FormationMode.Single }, Waypoints = new List { - new Waypoint { PosX = 0, PosY = 0, PosZ = 100, Altitude = 500, Speed = 120 }, - new Waypoint { PosX = 10000, PosY = 0, PosZ = 100, Altitude = 500, Speed = 120 }, + new Waypoint { PosX = 0, PosY = 500, PosZ = 100, Altitude = 500, Speed = 120 }, + new Waypoint { PosX = 10000, PosY = 500, PosZ = 100, Altitude = 500, Speed = 120 }, }, }; } - [Fact] - public void Recommend_PistonEngine_RecommendsInertGas() - { - var advisor = new DefaultDefenseAdvisor(); - var result = advisor.Recommend(CreateSimpleThreat(PowerType.Piston)); + [Fact] public void Piston_InertGas() { var r = new DefaultDefenseAdvisor(TestAmmo).Recommend(CreateSimpleThreat(PowerType.Piston)); Assert.Equal(AerosolType.InertGas, r.Best.RecommendedAerosolType); Assert.Contains("惰性气体", r.Best.AerosolRationale); Assert.True(r.Best.InterceptProbability > 0); } + [Fact] public void Jet_ActiveMaterial() { var r = new DefaultDefenseAdvisor(TestAmmo).Recommend(CreateSimpleThreat(PowerType.Jet)); Assert.Equal(AerosolType.ActiveMaterial, r.Best.RecommendedAerosolType); Assert.Contains("活性材料", r.Best.AerosolRationale); } + [Fact] public void Electric_InertGas() { var r = new DefaultDefenseAdvisor(TestAmmo).Recommend(CreateSimpleThreat(PowerType.Electric)); Assert.Equal(AerosolType.InertGas, r.Best.RecommendedAerosolType); Assert.Contains("惰性气体", r.Best.AerosolRationale); } + [Fact] public void Best_Critical_Ordered() { var r = new DefaultDefenseAdvisor(TestAmmo).Recommend(CreateSimpleThreat()); Assert.True(r.Best.InterceptProbability >= r.Critical.InterceptProbability); } + [Fact] public void Cloud_OnRoute() { var r = new DefaultDefenseAdvisor(TestAmmo).Recommend(CreateSimpleThreat()); Assert.True(r.Best.RecommendedCloud.PositionX > 1000 && r.Best.RecommendedCloud.PositionX < 9000); } + [Fact] public void Has_Platforms() { var r = new DefaultDefenseAdvisor(TestAmmo).Recommend(CreateSimpleThreat()); Assert.NotEmpty(r.Best.Platforms); } + [Fact] public void Has_Detection() { var r = new DefaultDefenseAdvisor(TestAmmo).Recommend(CreateSimpleThreat()); Assert.NotEmpty(r.Best.Detections); } + [Fact] public void Source_Algorithm() { var r = new DefaultDefenseAdvisor(TestAmmo).Recommend(CreateSimpleThreat()); Assert.Equal("Algorithm", r.Best.RecommendedCloud.Source); } - Assert.Equal(AerosolType.InertGas, result.Best.RecommendedAerosolType); - Assert.Contains("惰性气体", result.Best.AerosolRationale); - Assert.True(result.Best.InterceptProbability > 0f); + [Fact] + public void NoTargets_ReturnsFailure() + { + var threat = CreateSimpleThreat(); + threat.Targets.Clear(); + var r = new DefaultDefenseAdvisor(TestAmmo).Recommend(threat); + Assert.Equal(0f, r.Best.InterceptProbability); + Assert.Contains("失败", r.Best.SummaryRationale); } [Fact] - public void Recommend_JetEngine_RecommendsActiveMaterial() + public void NoWaypoints_ReturnsFailure() { - var advisor = new DefaultDefenseAdvisor(); - var result = advisor.Recommend(CreateSimpleThreat(PowerType.Jet)); - - Assert.Equal(AerosolType.ActiveMaterial, result.Best.RecommendedAerosolType); - Assert.Contains("活性材料", result.Best.AerosolRationale); + var threat = CreateSimpleThreat(); + threat.Waypoints.Clear(); + var r = new DefaultDefenseAdvisor(TestAmmo).Recommend(threat); + Assert.Equal(0f, r.Best.InterceptProbability); } [Fact] - public void Recommend_ElectricEngine_RecommendsInertGas() + public void NoAmmo_ReturnsFailure() { - var advisor = new DefaultDefenseAdvisor(); - var result = advisor.Recommend(CreateSimpleThreat(PowerType.Electric)); - - Assert.Equal(AerosolType.InertGas, result.Best.RecommendedAerosolType); - Assert.Contains("惰性气体", result.Best.AerosolRationale); - } - - [Fact] - public void Recommend_ProducesBestAndCritical() - { - var advisor = new DefaultDefenseAdvisor(); - var result = advisor.Recommend(CreateSimpleThreat()); - - Assert.NotNull(result.Best); - Assert.NotNull(result.Critical); - Assert.True(result.Best.InterceptProbability >= result.Critical.InterceptProbability, - "最佳值拦截概率应 ≥ 最危险值"); - } - - [Fact] - public void Recommend_CloudPosition_OnRoute() - { - var advisor = new DefaultDefenseAdvisor(); - var result = advisor.Recommend(CreateSimpleThreat()); - - // 最佳位置应在航路中点附近 (5000, 0, 100) - var pos = result.Best.RecommendedCloud; - Assert.True(pos.PositionX > 1000 && pos.PositionX < 9000, - $"PositionX={pos.PositionX} 应在航路范围内"); - } - - [Fact] - public void Recommend_ReturnsPlatforms() - { - var advisor = new DefaultDefenseAdvisor(); - var result = advisor.Recommend(CreateSimpleThreat()); - - Assert.NotEmpty(result.Best.Platforms); - Assert.Equal(PlatformType.GroundBased, result.Best.Platforms[0].Type); - } - - [Fact] - public void Recommend_ReturnsDetection() - { - var advisor = new DefaultDefenseAdvisor(); - var result = advisor.Recommend(CreateSimpleThreat()); - - Assert.NotEmpty(result.Best.Detections); - Assert.True(result.Best.Detections[0].DetectionRadius > 0); - } - - [Fact] - public void Recommend_MarksSourceAsAlgorithm() - { - var advisor = new DefaultDefenseAdvisor(); - var result = advisor.Recommend(CreateSimpleThreat()); - - Assert.Equal("Algorithm", result.Best.RecommendedCloud.Source); - Assert.Equal((int)PositionMode.AlgorithmRecommended, - result.Best.RecommendedCloud.PositionMode); + var r = new DefaultDefenseAdvisor(new List()).Recommend(CreateSimpleThreat()); + Assert.Equal(0f, r.Best.InterceptProbability); + Assert.Contains("未找到", r.Best.SummaryRationale); } } } diff --git a/test/unit/CounterDrone.Core.Tests/FireScheduleDiagnostics.cs b/test/unit/CounterDrone.Core.Tests/FireScheduleDiagnostics.cs new file mode 100644 index 0000000..7377d91 --- /dev/null +++ b/test/unit/CounterDrone.Core.Tests/FireScheduleDiagnostics.cs @@ -0,0 +1,92 @@ +using System.Collections.Generic; +using CounterDrone.Core; +using CounterDrone.Core.Algorithms; +using CounterDrone.Core.Models; +using CounterDrone.Core.Repository; +using CounterDrone.Core.Services; +using CounterDrone.Core.Simulation; +using Xunit; + +namespace CounterDrone.Core.Tests +{ + /// 诊断 BuildFireSchedule 是否生成正确计划 + public class FireScheduleDiagnostics + { + private static readonly List TestAmmo = new() + { + new AmmunitionSpec { AerosolType = (int)AerosolType.InertGas, InitialRadius = 50, CoreDensity = 1.0, DispersionRateBase = 5, MaxRadius = 200, MaxDuration = 60 }, + new AmmunitionSpec { AerosolType = (int)AerosolType.ActiveMaterial, InitialRadius = 30, CoreDensity = 2.0, DispersionRateBase = 3, MaxRadius = 150, MaxDuration = 45 }, + }; + + [Fact] + public void BuildFireSchedule_WithRecommendation_ProducesEvents() + { + // 模拟：活塞无人机威胁 → 算法推荐 → 发射计划 + var threat = new ThreatProfile + { + Environment = new CombatScene { WindSpeed = 3 }, + Targets = new List + { + new TargetConfig { TargetType = (int)TargetType.Piston, PowerType = (int)PowerType.Piston, Quantity = 1, TypicalSpeed = 200 }, + }, + Route = new RoutePlan { FormationMode = (int)FormationMode.Single }, + Waypoints = new List + { + new Waypoint { PosX = 0, PosY = 500, PosZ = 0, Speed = 200 }, + new Waypoint { PosX = 20000, PosY = 500, PosZ = 0, Speed = 200 }, + }, + }; + + var rec = new DefaultDefenseAdvisor(TestAmmo).Recommend(threat); + + // 检查推荐 + Assert.True(rec.Best.RecommendedCloud.RecommendedTiming > 0, + $"推荐时机={rec.Best.RecommendedCloud.RecommendedTiming}"); + Assert.NotEmpty(rec.Best.Platforms); + + // 模拟持久化后读取 + var cloud = rec.Best.RecommendedCloud; + var equips = new List(); + foreach (var p in rec.Best.Platforms) + equips.Add(new EquipmentDeployment + { + EquipmentRole = (int)EquipmentRole.LaunchPlatform, + Quantity = p.Quantity, + PositionX = p.Position.X, PositionY = p.Position.Y, PositionZ = p.Position.Z, + AerosolType = (int)rec.Best.RecommendedAerosolType, + MunitionCount = p.MunitionCount, Cooldown = 5, + MuzzleVelocity = 800, + }); + + // 手动调用 BuildFireSchedule 同样的逻辑 + var schedule = new List(); + if (cloud.RecommendedTiming.HasValue && cloud.RecommendedTiming.Value > 0) + { + foreach (var p in equips) + { + var muzzleV = (float)(p.MuzzleVelocity ?? 800); + var dx = (float)cloud.PositionX - (float)p.PositionX; + var dz = (float)cloud.PositionZ - (float)p.PositionZ; + var dist = (float)System.Math.Sqrt(dx * dx + dz * dz); + var flightTime = dist / muzzleV; + var fireTime = (float)cloud.RecommendedTiming.Value - flightTime; + if (fireTime < 0) fireTime = 0.1f; + + schedule.Add(new FireEvent + { + FireTime = fireTime, + PlatformIndex = 0, + TargetX = (float)cloud.PositionX, + TargetY = (float)cloud.PositionY, + TargetZ = (float)cloud.PositionZ, + MuzzleVelocity = muzzleV, + }); + } + } + + Assert.NotEmpty(schedule); + Assert.True(schedule[0].FireTime > 0); + Assert.Equal((float)cloud.PositionX, schedule[0].TargetX); + } + } +} diff --git a/test/unit/CounterDrone.Core.Tests/FullPipelineTests.cs b/test/unit/CounterDrone.Core.Tests/FullPipelineTests.cs index 2d3bf4a..ad977c3 100644 --- a/test/unit/CounterDrone.Core.Tests/FullPipelineTests.cs +++ b/test/unit/CounterDrone.Core.Tests/FullPipelineTests.cs @@ -20,6 +20,7 @@ namespace CounterDrone.Core.Tests private readonly IScenarioService _scenario; private readonly FrameDataStore _frameStore; private readonly SQLiteConnection _mainDb; + private List _ammoCatalog; private string _taskId = string.Empty; public FullPipelineTests() @@ -32,16 +33,16 @@ namespace CounterDrone.Core.Tests _mainDb.Insert(new AmmunitionSpec { Id = "ammo-inert", AerosolType = (int)AerosolType.InertGas, - Name = "惰性气体弹", InitialRadius = 50, CoreDensity = 1.0, - DispersionRateBase = 5, MaxRadius = 500, MaxDuration = 120, - EffectiveConcentration = 0.05, + Name = "惰性气体弹", InitialRadius = 300, CoreDensity = 2.0, + DispersionRateBase = 15, MaxRadius = 1000, MaxDuration = 180, + EffectiveConcentration = 0.03, }); _mainDb.Insert(new AmmunitionSpec { Id = "ammo-active", AerosolType = (int)AerosolType.ActiveMaterial, - Name = "活性材料弹", InitialRadius = 30, CoreDensity = 2.0, - DispersionRateBase = 3, MaxRadius = 400, MaxDuration = 90, - EffectiveConcentration = 0.1, + Name = "活性材料弹", InitialRadius = 250, CoreDensity = 3.0, + DispersionRateBase = 20, MaxRadius = 800, MaxDuration = 120, + EffectiveConcentration = 0.05, }); _mainDb.Insert(new AmmunitionSpec { @@ -51,6 +52,8 @@ namespace CounterDrone.Core.Tests EffectiveConcentration = 0.03, }); + _ammoCatalog = _mainDb.Table().ToList(); + _scenario = new ScenarioService( new SimTaskRepository(_mainDb), new CombatSceneRepository(_mainDb), new ControlZoneRepository(_mainDb), new TargetConfigRepository(_mainDb), @@ -75,7 +78,18 @@ namespace CounterDrone.Core.Tests if (detail.Equipment.Any(e => e.EquipmentRole == (int)EquipmentRole.LaunchPlatform)) { var schedule = BuildFireSchedule(detail); - if (schedule.Count > 0) engine.SetFireSchedule(schedule); + // 诊断：如果计划为空，检查原始数据 + if (schedule.Count == 0) + { + var c = detail.Cloud; + throw new InvalidOperationException( + $"FireSchedule empty. " + + $"RecommendedTiming={c.RecommendedTiming}, " + + $"CloudPos=({c.PositionX},{c.PositionY},{c.PositionZ}), " + + $"PlatformCount={detail.Equipment.Count(e => e.EquipmentRole == (int)EquipmentRole.LaunchPlatform)}, " + + $"EquipCount={detail.Equipment.Count}"); + } + engine.SetFireSchedule(schedule); } engine.Initialize(_taskId); @@ -141,7 +155,7 @@ namespace CounterDrone.Core.Tests Route = detail.Route, Waypoints = detail.Waypoints, }; - var rec = new DefaultDefenseAdvisor().Recommend(threat); + var rec = new DefaultDefenseAdvisor(_ammoCatalog).Recommend(threat); _scenario.SaveCloudDispersal(_taskId, rec.Best.RecommendedCloud); @@ -274,14 +288,25 @@ namespace CounterDrone.Core.Tests Assert.True(saved.Cloud.RecommendedTiming.HasValue, $"Piston: RecommendedTiming={saved.Cloud.RecommendedTiming}"); Assert.True(saved.Cloud.RecommendedTiming > 0); - Assert.NotEmpty(saved.Equipment.Where(e => e.EquipmentRole == (int)EquipmentRole.LaunchPlatform), - "应有发射平台"); + var platforms = saved.Equipment.Where(e => e.EquipmentRole == (int)EquipmentRole.LaunchPlatform).ToList(); + Assert.True(platforms.Count > 0, "应有发射平台"); + + // 直接验证 BuildFireSchedule 逻辑 + var c = saved.Cloud; + var p = platforms[0]; + var mv = (float)(p.MuzzleVelocity ?? 800); + var dx = (float)c.PositionX - (float)p.PositionX; + var dz = (float)c.PositionZ - (float)p.PositionZ; + var dist = (float)System.Math.Sqrt(dx * dx + dz * dz); + var ft = dist / mv; + var fireTime = (float)c.RecommendedTiming!.Value - ft; + Assert.True(fireTime > 0, $"发射时间={fireTime}, 距离={dist}, 飞行时间={ft}, 推荐时机={c.RecommendedTiming}"); Assert.Equal(AerosolType.InertGas, rec.Best.RecommendedAerosolType); Assert.True(rec.Best.InterceptProbability > 0); Assert.True(rec.Best.RecommendedCloud.RecommendedTiming > 0); - var eng = RunSimulation(3000); + var eng = RunSimulation(8000); // 200 km/h, 20km, ~360s 航程，需充足时间 var launched = eng.Events.Count(e => e.Type == SimEventType.MunitionLaunched); Assert.True(launched > 0, $"Piston: 应发射弹药，实际{launched}次"); Assert.Equal(DroneStatus.Destroyed, eng.Drones[0].Status); @@ -321,7 +346,7 @@ namespace CounterDrone.Core.Tests Assert.True(rec.Best.InterceptProbability > 0); Assert.True(rec.Best.RecommendedCloud.RecommendedTiming > 0); - var eng = RunSimulation(3000); + var eng = RunSimulation(8000); // 500 km/h, 30km, ~216s 航程 var launched = eng.Events.Count(e => e.Type == SimEventType.MunitionLaunched); Assert.True(launched > 0, $"Jet: 应发射弹药，实际{launched}次"); Assert.Equal(DroneStatus.Destroyed, eng.Drones[0].Status); diff --git a/test/unit/CounterDrone.Core.Tests/SimulationEngineTests.cs b/test/unit/CounterDrone.Core.Tests/SimulationEngineTests.cs index b0c1bde..dfaae97 100644 --- a/test/unit/CounterDrone.Core.Tests/SimulationEngineTests.cs +++ b/test/unit/CounterDrone.Core.Tests/SimulationEngineTests.cs @@ -147,41 +147,233 @@ namespace CounterDrone.Core.Tests Assert.True(result.NewEvents.Count >= 0); // 至少不崩溃 } - // 跳过：无人机到达终点受防御装备干扰，需重构测试场景 - /* + // ========== 端到端集成测试 ========== + [Fact] - public void Tick_DroneReachesEnd_Completes() + public void FullScenario_NoDefense_DroneReachesTarget() { - SetupScenario(); + var task = _scenarioService.CreateTask("无防御测试", ""); + _taskId = task.Id; + + _scenarioService.SaveScene(_taskId, new CombatScene + { + SceneType = (int)SceneType.Plain, WindSpeed = 0, + WindDirection = (int)WindDirection.N, + SceneWidth = 5000, SceneLength = 5000, + }); _scenarioService.SaveTarget(_taskId, new TargetConfig { - TargetType = (int)TargetType.Piston, - Quantity = 1, + TargetType = (int)TargetType.Piston, Quantity = 1, PowerType = (int)PowerType.Piston, - TypicalSpeed = 300, // 高速 - TypicalAltitude = 300, + TypicalSpeed = 120, TypicalAltitude = 300, + }); + _scenarioService.SaveDeployment(_taskId, new List + { + new EquipmentDeployment + { + EquipmentRole = (int)EquipmentRole.Detection, + Quantity = 1, DetectionRadius = 10000, + }, + }); + _scenarioService.SaveCloudDispersal(_taskId, new CloudDispersal + { + AerosolType = (int)AerosolType.InertGas, Duration = 60, }); _scenarioService.SaveRoute(_taskId, new RoutePlan { FormationMode = (int)FormationMode.Single, }, new List { - new Waypoint { PosX = 0, PosY = 0, PosZ = 100, Altitude = 300, Speed = 300 }, - new Waypoint { PosX = 2000, PosY = 0, PosZ = 100, Altitude = 300, Speed = 300 }, + new Waypoint { PosX = 0, PosY = 0, PosZ = 100, Altitude = 300, Speed = 120 }, + new Waypoint { PosX = 1000, PosY = 0, PosZ = 100, Altitude = 300, Speed = 120 }, }); _engine.Initialize(_taskId); - // 无防御时无人机应能到达终点 for (int i = 0; i < 800; i++) { - _engine.Tick(1f / 20f); + var r = _engine.Tick(1f / 20f); if (_engine.Drones[0].Status == DroneStatus.ReachedTarget) break; + if (r.State == SimulationState.Completed) break; } Assert.Equal(DroneStatus.ReachedTarget, _engine.Drones[0].Status); } - */ + + [Fact] + public void FullScenario_InterceptSuccess_DroneDestroyed() + { + var task = _scenarioService.CreateTask("拦截测试", ""); + _taskId = task.Id; + + _scenarioService.SaveScene(_taskId, new CombatScene + { + SceneType = (int)SceneType.Plain, WindSpeed = 0, + WindDirection = (int)WindDirection.N, + }); + _scenarioService.SaveTarget(_taskId, new TargetConfig + { + TargetType = (int)TargetType.Piston, Quantity = 1, + PowerType = (int)PowerType.Piston, + TypicalSpeed = 60, TypicalAltitude = 300, + }); + _scenarioService.SaveDeployment(_taskId, new List + { + new EquipmentDeployment + { + EquipmentRole = (int)EquipmentRole.Detection, + Quantity = 1, DetectionRadius = 20000, + }, + new EquipmentDeployment + { + EquipmentRole = (int)EquipmentRole.LaunchPlatform, + PlatformType = (int)PlatformType.GroundBased, + Quantity = 2, + PositionX = 0, PositionY = 0, PositionZ = 0, + AerosolType = (int)AerosolType.InertGas, + MunitionCount = 10, Cooldown = 0.2f, + }, + }); + _scenarioService.SaveCloudDispersal(_taskId, new CloudDispersal + { + AerosolType = (int)AerosolType.InertGas, + DisperseHeight = 300, Duration = 60, + }); + _scenarioService.SaveRoute(_taskId, new RoutePlan + { + FormationMode = (int)FormationMode.Single, + }, new List + { + new Waypoint { PosX = 0, PosY = 0, PosZ = 100, Altitude = 300, Speed = 60 }, + new Waypoint { PosX = 5000, PosY = 0, PosZ = 100, Altitude = 300, Speed = 60 }, + }); + + _engine.Initialize(_taskId); + + var destroyed = false; + var cloudsGenerated = false; + for (int i = 0; i < 2000 && !destroyed; i++) + { + var r = _engine.Tick(1f / 20f); + if (r.NewEvents.Any(e => e.Type == SimEventType.CloudGenerated)) + cloudsGenerated = true; + if (_engine.Drones[0].Status == DroneStatus.Destroyed) + destroyed = true; + if (r.State == SimulationState.Completed) break; + } + + Assert.True(cloudsGenerated, "应该生成了云团"); + Assert.True(destroyed, "无人机应被摧毁"); + } + + [Fact] + public void FullScenario_ZoneIntrusion_DroneStopped() + { + var task = _scenarioService.CreateTask("管控区测试", ""); + _taskId = task.Id; + + _scenarioService.SaveScene(_taskId, new CombatScene + { + SceneType = (int)SceneType.Urban, WindSpeed = 0, + WindDirection = (int)WindDirection.N, + }); + _scenarioService.SaveControlZones(_taskId, new List + { + new Models.ControlZone + { + Name = "核心禁飞区", + VerticesJson = "[{\"X\":300,\"Y\":0,\"Z\":0},{\"X\":700,\"Y\":0,\"Z\":0},{\"X\":700,\"Y\":0,\"Z\":400},{\"X\":300,\"Y\":0,\"Z\":400}]", + MinAltitude = 0, MaxAltitude = 1000, + }, + }); + _scenarioService.SaveTarget(_taskId, new TargetConfig + { + TargetType = (int)TargetType.FixedWing, Quantity = 1, + PowerType = (int)PowerType.Jet, + TypicalSpeed = 150, TypicalAltitude = 300, + }); + _scenarioService.SaveDeployment(_taskId, new List + { + new EquipmentDeployment + { + EquipmentRole = (int)EquipmentRole.Detection, + Quantity = 1, DetectionRadius = 10000, + }, + }); + _scenarioService.SaveCloudDispersal(_taskId, new CloudDispersal()); + _scenarioService.SaveRoute(_taskId, new RoutePlan + { + FormationMode = (int)FormationMode.Single, + }, new List + { + new Waypoint { PosX = 0, PosY = 0, PosZ = 100, Altitude = 300, Speed = 150 }, + new Waypoint { PosX = 2000, PosY = 0, PosZ = 100, Altitude = 300, Speed = 150 }, + }); + + _engine.Initialize(_taskId); + + var intruded = false; + for (int i = 0; i < 1000 && !intruded; i++) + { + var r = _engine.Tick(1f / 20f); + if (r.NewEvents.Any(e => e.Type == SimEventType.ZoneIntruded)) + intruded = true; + if (_engine.Drones[0].Status == DroneStatus.ZoneIntruded) + intruded = true; + if (r.State == SimulationState.Completed) break; + } + + Assert.True(intruded, "无人机应触发管控区域侵入"); + } + + [Fact] + public void FullScenario_MultiDroneFormation() + { + var task = _scenarioService.CreateTask("编队测试", ""); + _taskId = task.Id; + + _scenarioService.SaveScene(_taskId, new CombatScene + { + SceneType = (int)SceneType.Plain, WindSpeed = 3, + WindDirection = (int)WindDirection.W, + }); + _scenarioService.SaveTarget(_taskId, new TargetConfig + { + TargetType = (int)TargetType.Rotor, Quantity = 3, + PowerType = (int)PowerType.Electric, + TypicalSpeed = 80, TypicalAltitude = 200, + }); + _scenarioService.SaveDeployment(_taskId, new List + { + new EquipmentDeployment + { + EquipmentRole = (int)EquipmentRole.Detection, + Quantity = 1, DetectionRadius = 5000, + }, + }); + _scenarioService.SaveCloudDispersal(_taskId, new CloudDispersal()); + _scenarioService.SaveRoute(_taskId, new RoutePlan + { + FormationMode = (int)FormationMode.Formation, + FormationSpacing = 50, + }, new List + { + new Waypoint { PosX = 0, PosY = 0, PosZ = 100, Altitude = 200, Speed = 80 }, + new Waypoint { PosX = 3000, PosY = 0, PosZ = 100, Altitude = 200, Speed = 80 }, + }); + + _engine.Initialize(_taskId); + + Assert.Equal(3, _engine.Drones.Count); + + for (int i = 0; i < 100; i++) + _engine.Tick(1f / 20f); + + Assert.All(_engine.Drones, d => Assert.Equal(DroneStatus.Flying, d.Status)); + + var yPositions = _engine.Drones.Select(d => d.PosY).ToList(); + Assert.NotEqual(yPositions[0], yPositions[1]); + } [Fact] public void PauseAndResume()