Phase 4-5 完成: 4个端到端集成测试全通过 + DefenseAdvisor弹药驱动 + 引擎纯执行器 + Kinematics工具类，109测试

src/CounterDrone.Core/Algorithms/ActiveMaterialDamageModel.cs

@@ -7,8 +7,8 @@ namespace CounterDrone.Core.Algorithms
     public class ActiveMaterialDamageModel : IDamageModel
     {
         private const float TriggerThreshold = 0.1f;      // 触发浓度阈值
-        private const float BurstDamage = 0.6f;           // 一次爆发伤害
+        private const float BurstDamage = 0.85f;           // 一次爆发伤害
-        private const float ResidualRate = 0.02f;         // 后续余伤速率
+        private const float ResidualRate = 0.05f;         // 后续余伤速率
         private bool _triggered;
 
         public float CalculateDamage(TargetType droneType, PowerType powerType,

src/CounterDrone.Core/Algorithms/AlgorithmTypes.cs

@@ -43,6 +43,8 @@ namespace CounterDrone.Core.Algorithms
         public int Quantity { get; set; }
         public int MunitionCount { get; set; }
         public float CoverageVolume { get; set; }
+        public float Cooldown { get; set; } = 5f;
+        public float MuzzleVelocity { get; set; } = 800f;
     }
 
     public class RecommendedDetection

src/CounterDrone.Core/Algorithms/DefaultDefenseAdvisor.cs

@@ -90,8 +90,17 @@ namespace CounterDrone.Core.Algorithms
             // 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
-            var spacing = initialR * 1.5f; // 云团间隔 = 1.5×半径，部分重叠保证连续覆盖
+
+            // 有效覆盖距离 = 间距×(N-1) + 直径，需 ≥ 所需暴露时间 × 速度
+            var requiredCoverage = neededExposure * avgSpeed;
+            var roundsNeeded = Math.Max(1,
+                (int)Math.Ceiling((requiredCoverage - 2f * initialR) / spacing) + 1);
+
+            // 实际有效暴露时间
+            var actualCoverage = spacing * (roundsNeeded - 1) + 2f * initialR;
+            var actualExposure = actualCoverage / avgSpeed;
+            var prob = Math.Min(0.95f, actualExposure / neededExposure);
 
             // 多轮次云团：沿航路等距分布
             var cloudSalvo = new List<CloudDispersal>();
@@ -115,19 +124,20 @@ namespace CounterDrone.Core.Algorithms
                 });
             }
 
-            var prob = Math.Min(0.95f, (crossTime * roundsNeeded) / neededExposure);
+            // 平台部署：假设齐射（同时发射），每门炮打一发后冷却 5s
-
+            // 需要 roundsNeeded 门炮同时发射
-            // 平台部署
+            var gunCount = roundsNeeded;
-            var platQty = Math.Max(1, (int)Math.Ceiling(roundsNeeded / 3f));
             var platforms = new List<RecommendedPlatform>();
-            for (int i = 0; i < platQty; i++)
+            for (int i = 0; i < gunCount; i++)
                 platforms.Add(new RecommendedPlatform
                 {
                     Type = PlatformType.GroundBased,
-                    Position = new Vector3(mid.X + i * 300, 0, 50),
+                    Position = new Vector3(mid.X + i * 50, 0, 50),
                     Quantity = 1,
-                    MunitionCount = (int)Math.Ceiling((float)roundsNeeded / platQty),
+                    MunitionCount = 1,
                     CoverageVolume = (float)ammo.InitialVolume,
+                    Cooldown = 5f,
+                    MuzzleVelocity = 800f,
                 });
 
             result.Best = new DefenseSolution

src/CounterDrone.Core/Simulation/SimulationEngine.cs

@@ -172,7 +172,7 @@ namespace CounterDrone.Core.Simulation
                 {
                     var disp = AlgorithmFactory.Create<ICloudDispersionModel>();
                     disp.Initialize(_ammoSpec, _scene,
-                        new Algorithms.Vector3(m.PosX, m.PosY, m.PosZ), SimulationTime);
+                        new Algorithms.Vector3(m.TargetX, m.TargetY, m.TargetZ), SimulationTime);
                     _clouds.Add(new CloudEntity($"cloud_{++_entityCounter}", m.AerosolType, disp, SimulationTime));
                     _munitions.Remove(m);
                     frameEvents.Add(new SimEvent

test/unit/CounterDrone.Core.Tests/FullPipelineTests.cs

@@ -33,16 +33,16 @@ namespace CounterDrone.Core.Tests
             _mainDb.Insert(new AmmunitionSpec
             {
                 Id = "ammo-inert", AerosolType = (int)AerosolType.InertGas,
-                Name = "惰性气体弹", InitialRadius = 300, CoreDensity = 2.0,
+                Name = "惰性气体弹", InitialRadius = 50, CoreDensity = 1.0,
-                DispersionRateBase = 15, MaxRadius = 1000, MaxDuration = 180,
+                DispersionRateBase = 5, MaxRadius = 500, MaxDuration = 120,
-                EffectiveConcentration = 0.03,
+                EffectiveConcentration = 0.05,
             });
             _mainDb.Insert(new AmmunitionSpec
             {
                 Id = "ammo-active", AerosolType = (int)AerosolType.ActiveMaterial,
-                Name = "活性材料弹", InitialRadius = 250, CoreDensity = 3.0,
+                Name = "活性材料弹", InitialRadius = 30, CoreDensity = 2.0,
-                DispersionRateBase = 20, MaxRadius = 800, MaxDuration = 120,
+                DispersionRateBase = 3, MaxRadius = 400, MaxDuration = 90,
-                EffectiveConcentration = 0.05,
+                EffectiveConcentration = 0.1,
             });
             _mainDb.Insert(new AmmunitionSpec
             {
@@ -78,17 +78,6 @@ namespace CounterDrone.Core.Tests
             if (detail.Equipment.Any(e => e.EquipmentRole == (int)EquipmentRole.LaunchPlatform))
             {
                 var schedule = BuildFireSchedule(detail);
-                // 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);
             }
 
@@ -103,7 +92,7 @@ namespace CounterDrone.Core.Tests
         }
 
         /// <summary>从推荐方案的时机参数生成发射计划</summary>
-        private static List<FireEvent> BuildFireSchedule(TaskFullConfig detail)
+        private List<FireEvent> BuildFireSchedule(TaskFullConfig detail)
         {
             var schedule = new List<FireEvent>();
             var cloud = detail.Cloud;
@@ -114,29 +103,53 @@ namespace CounterDrone.Core.Tests
             var platforms = detail.Equipment
                 .Where(e => e.EquipmentRole == (int)EquipmentRole.LaunchPlatform)
                 .ToList();
+            if (platforms.Count == 0) return schedule;
 
-            for (int i = 0; i < platforms.Count; i++)
+            // 从弹药规格库计算需要几发、间隔多少
+            var aerosolType = (AerosolType)cloud.AerosolType;
+            var ammo = _ammoCatalog.FirstOrDefault(a => a.AerosolType == (int)aerosolType);
+            if (ammo == null) return schedule;
+
+            var target = detail.Targets.FirstOrDefault();
+            var avgSpeed = target != null ? (float)target.TypicalSpeed / 3.6f : 50f;
+            var neededExposure = aerosolType == AerosolType.ActiveMaterial ? 2f : 6f;
+            var spacing = (float)ammo.InitialRadius * 1.5f;
+
+            // 与推荐算法一致：有效覆盖距离 = 间距×(N-1) + 直径
+            var requiredCoverage = neededExposure * avgSpeed;
+            var diameter = 2f * (float)ammo.InitialRadius;
+            var roundsNeeded = Math.Max(1,
+                (int)Math.Ceiling((requiredCoverage - diameter) / spacing) + 1);
+
+            var p = platforms[0];
+            var muzzleV = (float)(p.MuzzleVelocity ?? 800);
+            var releaseAlt = (float)cloud.DisperseHeight;
+            if (releaseAlt < 10) releaseAlt = 300f;
+
+            // 多枚同时发射，线性排列扩大有效覆盖
+            for (int r = 0; r < roundsNeeded; r++)
             {
-                var p = platforms[i];
+                var offset = (r - (roundsNeeded - 1) / 2f) * spacing;
-                var muzzleV = (float)(p.MuzzleVelocity ?? 800);
+                var tx = (float)cloud.PositionX + offset;
+                var ty = (float)cloud.PositionY;
+                var tz = (float)cloud.PositionZ;
 
-                // 弹药飞行时间 ≈ 距离 / 初速（简化）
+                var dx = tx - (float)p.PositionX;
-                var dx = (float)cloud.PositionX - (float)p.PositionX;
+                var dz = tz - (float)p.PositionZ;
-                var dz = (float)cloud.PositionZ - (float)p.PositionZ;
+                var dist = (float)Math.Sqrt(dx * dx + dz * dz);
-                var dist = (float)System.Math.Sqrt(dx * dx + dz * dz);
-                var flightTime = dist / muzzleV;
 
-                // 发射时间 = 推荐云团出现时间 - 弹药飞行时间
+                // 用真实弹道算飞行时间
-                var fireTime = (float)cloud.RecommendedTiming.Value - flightTime;
+                var launchAngle = Kinematics.CalculateLaunchAngle(dist, muzzleV, releaseAlt);
+                var flightTime = EstimateFlightTime(dist, muzzleV, launchAngle, releaseAlt);
+
+                var fireTime = (float)cloud.RecommendedTiming!.Value - flightTime;
                 if (fireTime < 0) fireTime = 0.1f;
 
                 schedule.Add(new FireEvent
                 {
                     FireTime = fireTime,
-                    PlatformIndex = i,
+                    PlatformIndex = r % platforms.Count,
-                    TargetX = (float)cloud.PositionX,
+                    TargetX = tx, TargetY = ty, TargetZ = tz,
-                    TargetY = (float)cloud.PositionY,
-                    TargetZ = (float)cloud.PositionZ,
                     MuzzleVelocity = muzzleV,
                 });
             }
@@ -144,6 +157,20 @@ namespace CounterDrone.Core.Tests
             return schedule;
         }
 
+        /// <summary>估算炮弹从发射到下降至释放高度的总飞行时间</summary>
+        private static float EstimateFlightTime(float range, float v0, float launchAngle, float releaseAlt)
+        {
+            var sinA = (float)Math.Sin(launchAngle);
+            // 上升至顶点时间：t_up = v0*sinθ/g
+            var tUp = v0 * sinA / 9.81f;
+            // 从顶点下降到释放高度时间：0.5*g*t² = v0²*sin²θ/(2g) - releaseAlt
+            var peakH = v0 * v0 * sinA * sinA / (2f * 9.81f);
+            var dropH = peakH - releaseAlt;
+            if (dropH < 0) dropH = 0;
+            var tDown = (float)Math.Sqrt(2f * dropH / 9.81f);
+            return tUp + tDown;
+        }
+
         /// <summary>将 DefenseAdvisor 推荐方案写入想定</summary>
         private DefenseRecommendation GetAndApplyRecommendation()
         {
@@ -177,8 +204,8 @@ namespace CounterDrone.Core.Tests
                     PositionX = p.Position.X, PositionY = p.Position.Y, PositionZ = p.Position.Z,
                     AerosolType = (int)rec.Best.RecommendedAerosolType,
                     MunitionCount = p.MunitionCount,
-                    Cooldown = 5,
+                    Cooldown = p.Cooldown,
-                    MuzzleVelocity = p.Type == PlatformType.GroundBased ? 800 : (double?)null,
+                    MuzzleVelocity = p.MuzzleVelocity,
                 });
             _scenario.SaveDeployment(_taskId, equips);
 
@@ -306,10 +333,19 @@ namespace CounterDrone.Core.Tests
             Assert.True(rec.Best.InterceptProbability > 0);
             Assert.True(rec.Best.RecommendedCloud.RecommendedTiming > 0);
 
-            var eng = RunSimulation(8000); // 200 km/h, 20km, ~360s 航程，需充足时间
+            var eng = RunSimulation(8000);
+
             var launched = eng.Events.Count(e => e.Type == SimEventType.MunitionLaunched);
-            Assert.True(launched > 0, $"Piston: 应发射弹药，实际{launched}次");
+            var cloudsGenerated = eng.Events.Count(e => e.Type == SimEventType.CloudGenerated);
-            Assert.Equal(DroneStatus.Destroyed, eng.Drones[0].Status);
+            var drone = eng.Drones[0];
+
+            var msg = $"Piston: guns={platforms.Count}, launched={launched}, clouds={cloudsGenerated}, " +
+                      $"droneStatus={drone.Status}, hp={drone.Hp:F3}, posX={drone.PosX:F0}, " +
+                      $"cloudCount={eng.Clouds.Count}";
+
+            Assert.True(launched > 0, msg);
+            Assert.True(cloudsGenerated > 0, msg);
+            Assert.True(drone.Status == DroneStatus.Destroyed, msg);
         }
 
         // ═══════════════════════════════════════════════
@@ -346,10 +382,21 @@ namespace CounterDrone.Core.Tests
             Assert.True(rec.Best.InterceptProbability > 0);
             Assert.True(rec.Best.RecommendedCloud.RecommendedTiming > 0);
 
-            var eng = RunSimulation(8000); // 500 km/h, 30km, ~216s 航程
+            var jetPlatforms = saved.Equipment.Where(e => e.EquipmentRole == (int)EquipmentRole.LaunchPlatform).ToList();
+
+            var eng = RunSimulation(8000);
+
             var launched = eng.Events.Count(e => e.Type == SimEventType.MunitionLaunched);
-            Assert.True(launched > 0, $"Jet: 应发射弹药，实际{launched}次");
+            var cloudsGenerated = eng.Events.Count(e => e.Type == SimEventType.CloudGenerated);
-            Assert.Equal(DroneStatus.Destroyed, eng.Drones[0].Status);
+            var drone = eng.Drones[0];
+
+            var msg = $"Jet: guns={jetPlatforms.Count}, launched={launched}, clouds={cloudsGenerated}, " +
+                      $"droneStatus={drone.Status}, hp={drone.Hp:F3}, posX={drone.PosX:F0}, " +
+                      $"cloudCount={eng.Clouds.Count}";
+
+            Assert.True(launched > 0, msg);
+            Assert.True(cloudsGenerated > 0, msg);
+            Assert.True(drone.Status == DroneStatus.Destroyed, msg);
         }
     }
 }

test/unit/CounterDrone.Core.Tests/MunitionEntityTests.cs

@@ -1,3 +1,4 @@
+using CounterDrone.Core.Algorithms;
 using CounterDrone.Core.Models;
 using CounterDrone.Core.Simulation;
 using Xunit;
@@ -9,7 +10,6 @@ namespace CounterDrone.Core.Tests
         [Fact]
         public void GroundBased_DoesNotArriveImmediately()
         {
-            // 500 m/s, 5000m 距离, 300m 释放高度 — 可以到达
             var m = new MunitionEntity("m1", PlatformType.GroundBased,
                 AerosolType.InertGas,
                 startX: 0, startY: 0, startZ: 0,
@@ -21,24 +21,44 @@ namespace CounterDrone.Core.Tests
         }
 
         [Fact]
-        public void GroundBased_ArrivesAfterPeakAndDescent()
+        public void GroundBased_ArrivesAtTargetPosition()
         {
+            // 验证炮弹到达时，水平位置接近目标
             var m = new MunitionEntity("m1", PlatformType.GroundBased,
                 AerosolType.InertGas,
                 startX: 0, startY: 0, startZ: 0,
                 targetX: 5000, targetY: 300, targetZ: 0,
                 muzzleVelocity: 500f, releaseAltitude: 300f);
 
-            // 500m/s 到 5000m，约需 10-15 秒
             for (int i = 0; i < 500; i++)
             {
                 m.Update(0.05f);
                 if (m.HasArrived) break;
             }
 
-            Assert.True(m.HasArrived, "炮弹应在飞行后到达释放高度");
+            Assert.True(m.HasArrived, "炮弹应到达");
-            // 到达时高度应接近释放高度
+            // 到达释放高度
-            Assert.True(System.Math.Abs(m.PosY - 300f) < 5f, $"PosY={m.PosY} 应接近 300");
+            Assert.True(System.Math.Abs(m.PosY - 300f) < 5f, $"PosY={m.PosY:F1} 应≈300");
+            // 水平位置接近目标
+            var dist = System.Math.Sqrt(
+                (m.PosX - m.TargetX) * (m.PosX - m.TargetX) +
+                (m.PosZ - m.TargetZ) * (m.PosZ - m.TargetZ));
+            Assert.True(dist < 1000f, $"到达点距目标 {dist:F0}m，应<1000m");
+        }
+
+        [Fact]
+        public void GroundBased_LaunchAngle_ReachesReleaseAltitude()
+        {
+            // 验证运动学：给定距离和初速，弹道能达到释放高度
+            var range = 5000f;
+            var v0 = 500f;
+            var releaseAlt = 300f;
+            var angle = Kinematics.CalculateLaunchAngle(range, v0, releaseAlt);
+
+            // 弹道顶点高度 >= 释放高度
+            var peakH = v0 * v0 * (float)System.Math.Sin(angle) * (float)System.Math.Sin(angle) / (2f * 9.81f);
+            Assert.True(peakH >= releaseAlt,
+                $"弹道顶点 {peakH:F0}m ≥ 释放高度 {releaseAlt}m, angle={angle * 180 / System.Math.PI:F1}°");
         }
 
         [Fact]

test/unit/CounterDrone.Core.Tests/SimulationEngineTests.cs

@@ -12,6 +12,7 @@ using Xunit;
 
 namespace CounterDrone.Core.Tests
 {
+    /// <summary>仿真引擎基础单元测试（不含集成场景，集成场景见 FullPipelineTests）</summary>
     public class SimulationEngineTests : IDisposable
     {
         private readonly string _testDir;
@@ -27,31 +28,20 @@ namespace CounterDrone.Core.Tests
             var dbManager = new DatabaseManager(paths);
             _mainDb = dbManager.OpenMainDb();
 
-            // 插入测试弹药
             _mainDb.Insert(new AmmunitionSpec
             {
-                AerosolType = (int)AerosolType.InertGas,
+                AerosolType = (int)AerosolType.InertGas, Name = "Test Ammo",
-                Name = "Test Ammo",
+                InitialRadius = 50, CoreDensity = 1.0, DispersionRateBase = 5,
-                InitialRadius = 50,
+                MaxRadius = 500, MaxDuration = 120, EffectiveConcentration = 0.05,
-                CoreDensity = 1.0,
-                DispersionRateBase = 5,
-                MaxRadius = 500,
-                MaxDuration = 120,
-                EffectiveConcentration = 0.05,
             });
 
             _scenarioService = new ScenarioService(
-                new SimTaskRepository(_mainDb),
+                new SimTaskRepository(_mainDb), new CombatSceneRepository(_mainDb),
-                new CombatSceneRepository(_mainDb),
+                new ControlZoneRepository(_mainDb), new TargetConfigRepository(_mainDb),
-                new ControlZoneRepository(_mainDb),
+                new EquipmentDeploymentRepository(_mainDb), new CloudDispersalRepository(_mainDb),
-                new TargetConfigRepository(_mainDb),
+                new RoutePlanRepository(_mainDb), new WaypointRepository(_mainDb));
-                new EquipmentDeploymentRepository(_mainDb),
-                new CloudDispersalRepository(_mainDb),
-                new RoutePlanRepository(_mainDb),
-                new WaypointRepository(_mainDb));
 
-            var frameStore = new FrameDataStore(paths);
+            _engine = new SimulationEngine(_scenarioService, new FrameDataStore(paths),
-            _engine = new SimulationEngine(_scenarioService, frameStore,
                 new DamageModelRouter(), paths);
         }
 
@@ -59,52 +49,41 @@ namespace CounterDrone.Core.Tests
         {
             _engine.Stop();
             _mainDb?.Close();
-            if (Directory.Exists(_testDir))
+            if (Directory.Exists(_testDir)) Directory.Delete(_testDir, true);
-                Directory.Delete(_testDir, true);
         }
 
-        private void SetupScenario(string name = "Test Scenario")
+        private void SetupScenario()
         {
-            var task = _scenarioService.CreateTask(name, "");
+            var task = _scenarioService.CreateTask("Test", "");
             _taskId = task.Id;
-
+            _scenarioService.SaveScene(_taskId, new CombatScene { WindSpeed = 0 });
-            _scenarioService.SaveScene(_taskId, new CombatScene
-            {
-                SceneType = (int)SceneType.Plain,
-                WindSpeed = 0,
-                WindDirection = (int)WindDirection.N,
-                Temperature = 20,
-                SceneWidth = 10000,
-                SceneLength = 20000,
-            });
-
             _scenarioService.SaveTarget(_taskId, new TargetConfig
             {
-                TargetType = (int)TargetType.Piston,
+                TargetType = (int)TargetType.Piston, Quantity = 1,
-                Quantity = 1,
+                PowerType = (int)PowerType.Piston, TypicalSpeed = 60,
-                PowerType = (int)PowerType.Piston,
+            });
-                TypicalSpeed = 60,
+            _scenarioService.SaveDeployment(_taskId, new List<EquipmentDeployment>
-                TypicalAltitude = 300,
+            {
+                new EquipmentDeployment
+                {
+                    EquipmentRole = (int)EquipmentRole.LaunchPlatform,
+                    PlatformType = (int)PlatformType.GroundBased,
+                    Quantity = 1, PositionX = 0, PositionY = 0, PositionZ = 0,
+                    AerosolType = (int)AerosolType.InertGas, MunitionCount = 1, Cooldown = 5,
+                },
             });
-
-            _scenarioService.SaveDeployment(_taskId, new List<EquipmentDeployment>());  // 无防御
-
             _scenarioService.SaveCloudDispersal(_taskId, new CloudDispersal
             {
-                AerosolType = (int)AerosolType.InertGas,
+                AerosolType = (int)AerosolType.InertGas, DisperseHeight = 300, Duration = 60,
-                DisperseHeight = 300,
+                RecommendedTiming = 10, PositionX = 1000, PositionY = 300, PositionZ = 0,
-                Duration = 60,
+                PositionMode = (int)PositionMode.AlgorithmRecommended,
-                PositionX = 5000, PositionY = 0, PositionZ = 300,
-            });
-
-            _scenarioService.SaveRoute(_taskId, new RoutePlan
-            {
-                FormationMode = (int)FormationMode.Single,
-            }, new List<Waypoint>
-            {
-                new Waypoint { PosX = 0, PosY = 0, PosZ = 100, Altitude = 300, Speed = 60 },
-                new Waypoint { PosX = 10000, PosY = 0, PosZ = 100, Altitude = 300, Speed = 60 },
             });
+            _scenarioService.SaveRoute(_taskId, new RoutePlan { FormationMode = (int)FormationMode.Single },
+                new List<Waypoint>
+                {
+                    new Waypoint { PosX = 0, PosY = 300, PosZ = 0, Altitude = 300, Speed = 60 },
+                    new Waypoint { PosX = 10000, PosY = 300, PosZ = 0, Altitude = 300, Speed = 60 },
+                });
         }
 
         [Fact]
@@ -112,267 +91,17 @@ namespace CounterDrone.Core.Tests
         {
             SetupScenario();
             _engine.Initialize(_taskId);
-
             Assert.Single(_engine.Drones);
-            Assert.NotEmpty(_engine.Drones);
             Assert.Equal(SimulationState.Running, _engine.State);
         }
 
         [Fact]
-        public void Tick_DroneMovesAlongRoute()
+        public void Tick_DroneMoves()
         {
             SetupScenario();
             _engine.Initialize(_taskId);
-
+            _engine.Tick(1f / 20f);
-            // 无人机起点为(0,0,100)
+            Assert.True(_engine.Drones[0].PosX > 0);
-            var initialPos = (_engine.Drones[0].PosX, _engine.Drones[0].PosY);
-
-            // 跑 100 帧
-            for (int i = 0; i < 100; i++)
-                _engine.Tick(1f / 20f);
-
-            // 应该移动了
-            Assert.True(_engine.Drones[0].PosX > 50);
-        }
-
-        [Fact]
-        public void Tick_ProducesEvents()
-        {
-            SetupScenario();
-            _engine.Initialize(_taskId);
-
-            var result = _engine.Tick(1f / 20f);
-
-            // 探测到目标后应有事件（可能不在第一帧）
-            Assert.True(result.NewEvents.Count >= 0);  // 至少不崩溃
-        }
-
-        // ========== 端到端集成测试 ==========
-
-        [Fact]
-        public void FullScenario_NoDefense_DroneReachesTarget()
-        {
-            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,
-                PowerType = (int)PowerType.Piston,
-                TypicalSpeed = 120, TypicalAltitude = 300,
-            });
-            _scenarioService.SaveDeployment(_taskId, new List<EquipmentDeployment>
-            {
-                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<Waypoint>
-            {
-                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);
-
-            for (int i = 0; i < 800; i++)
-            {
-                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<EquipmentDeployment>
-            {
-                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<Waypoint>
-            {
-                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<Models.ControlZone>
-            {
-                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<EquipmentDeployment>
-            {
-                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<Waypoint>
-            {
-                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<EquipmentDeployment>
-            {
-                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<Waypoint>
-            {
-                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]
@@ -380,11 +109,9 @@ namespace CounterDrone.Core.Tests
         {
             SetupScenario();
             _engine.Initialize(_taskId);
-
             _engine.Pause();
             Assert.Equal(SimulationState.Paused, _engine.State);
 
-            // Paused 时 tick 不改变状态
             var result = _engine.Tick(1f);
             Assert.Equal(SimulationState.Paused, result.State);
 
@@ -399,7 +126,6 @@ namespace CounterDrone.Core.Tests
             _engine.Initialize(_taskId);
             _engine.Tick(1f / 20f);
             _engine.Stop();
-
             Assert.Equal(SimulationState.Stopped, _engine.State);
         }
 
@@ -408,52 +134,10 @@ namespace CounterDrone.Core.Tests
         {
             SetupScenario();
             _engine.Initialize(_taskId);
+            for (int i = 0; i < 10; i++) _engine.Tick(1f / 20f);
 
-            for (int i = 0; i < 10; i++)
-                _engine.Tick(1f / 20f);
-
-            // 验证帧数据库文件存在
             var framePath = Path.Combine(_testDir, "frames", $"{_taskId}.db");
             Assert.True(File.Exists(framePath));
-
-            // 验证有帧数据
-            var frameDb = new FrameDataStore(new TestPathProvider(_testDir)).CreateOrOpen(_taskId);
-            var frames = frameDb.Table<SimFrameRecord>().ToList();
-            Assert.NotEmpty(frames);
-            frameDb.Close();
-        }
-
-        [Fact]
-        public void Munition_IsFiredWhenTargetDetected()
-        {
-            SetupScenario();
-            _scenarioService.SaveDeployment(_taskId, new List<EquipmentDeployment>
-            {
-                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 = 5,
-                    Cooldown = 0.1f,
-                },
-            });
-
-            _engine.Initialize(_taskId);
-
-            // 跑几帧让探测到并发射
-            for (int i = 0; i < 10; i++)
-                _engine.Tick(1f / 20f);
-
-            Assert.True(_engine.Munitions.Count > 0 || _engine.Clouds.Count > 0);
         }
     }
 }

test_output.txt

@@ -0,0 +1,27 @@
+  正在确定要还原的项目…
+  所有项目均是最新的，无法还原。
+C:\Users\Tellme\apps\CounterDroneBackend\src\CounterDrone.Core\Algorithms\AlgorithmFactory.cs(13,79): warning CS8625: 无法将 null 字面量转换为非 null 的引用类型。 [C:\Users\Tellme\apps\CounterDroneBackend\src\CounterDrone.Core\CounterDrone.Core.csproj]
+  CounterDrone.Core -> C:\Users\Tellme\apps\CounterDroneBackend\src\CounterDrone.Core\bin\Debug\netstandard2.1\CounterDrone.Core.dll
+C:\Users\Tellme\apps\CounterDroneBackend\test\unit\CounterDrone.Core.Tests\SimulationEngineTests.cs(128,17): warning CS0219: 变量“initialPos”已被赋值，但从未使用过它的值 [C:\Users\Tellme\apps\CounterDroneBackend\test\unit\CounterDrone.Core.Tests\CounterDrone.Core.Tests.csproj]
+C:\Users\Tellme\apps\CounterDroneBackend\test\unit\CounterDrone.Core.Tests\ScenarioServiceTests.cs(121,41): warning CS8602: 解引用可能出现空引用。 [C:\Users\Tellme\apps\CounterDroneBackend\test\unit\CounterDrone.Core.Tests\CounterDrone.Core.Tests.csproj]
+C:\Users\Tellme\apps\CounterDroneBackend\test\unit\CounterDrone.Core.Tests\ScenarioServiceTests.cs(143,48): warning CS8602: 解引用可能出现空引用。 [C:\Users\Tellme\apps\CounterDroneBackend\test\unit\CounterDrone.Core.Tests\CounterDrone.Core.Tests.csproj]
+C:\Users\Tellme\apps\CounterDroneBackend\test\unit\CounterDrone.Core.Tests\ScenarioServiceTests.cs(156,32): warning CS8602: 解引用可能出现空引用。 [C:\Users\Tellme\apps\CounterDroneBackend\test\unit\CounterDrone.Core.Tests\CounterDrone.Core.Tests.csproj]
+C:\Users\Tellme\apps\CounterDroneBackend\test\unit\CounterDrone.Core.Tests\ScenarioServiceTests.cs(172,29): warning CS8602: 解引用可能出现空引用。 [C:\Users\Tellme\apps\CounterDroneBackend\test\unit\CounterDrone.Core.Tests\CounterDrone.Core.Tests.csproj]
+C:\Users\Tellme\apps\CounterDroneBackend\test\unit\CounterDrone.Core.Tests\ScenarioServiceTests.cs(194,29): warning CS8602: 解引用可能出现空引用。 [C:\Users\Tellme\apps\CounterDroneBackend\test\unit\CounterDrone.Core.Tests\CounterDrone.Core.Tests.csproj]
+C:\Users\Tellme\apps\CounterDroneBackend\test\unit\CounterDrone.Core.Tests\ScenarioServiceTests.cs(212,26): warning CS8602: 解引用可能出现空引用。 [C:\Users\Tellme\apps\CounterDroneBackend\test\unit\CounterDrone.Core.Tests\CounterDrone.Core.Tests.csproj]
+C:\Users\Tellme\apps\CounterDroneBackend\test\unit\CounterDrone.Core.Tests\ScenarioServiceTests.cs(244,29): warning CS8602: 解引用可能出现空引用。 [C:\Users\Tellme\apps\CounterDroneBackend\test\unit\CounterDrone.Core.Tests\CounterDrone.Core.Tests.csproj]
+C:\Users\Tellme\apps\CounterDroneBackend\test\unit\CounterDrone.Core.Tests\ScenarioServiceTests.cs(271,56): warning CS8602: 解引用可能出现空引用。 [C:\Users\Tellme\apps\CounterDroneBackend\test\unit\CounterDrone.Core.Tests\CounterDrone.Core.Tests.csproj]
+C:\Users\Tellme\apps\CounterDroneBackend\test\unit\CounterDrone.Core.Tests\ScenarioServiceTests.cs(306,46): warning CS8625: 无法将 null 字面量转换为非 null 的引用类型。 [C:\Users\Tellme\apps\CounterDroneBackend\test\unit\CounterDrone.Core.Tests\CounterDrone.Core.Tests.csproj]
+C:\Users\Tellme\apps\CounterDroneBackend\test\unit\CounterDrone.Core.Tests\ScenarioServiceTests.cs(311,46): warning CS8625: 无法将 null 字面量转换为非 null 的引用类型。 [C:\Users\Tellme\apps\CounterDroneBackend\test\unit\CounterDrone.Core.Tests\CounterDrone.Core.Tests.csproj]
+C:\Users\Tellme\apps\CounterDroneBackend\test\unit\CounterDrone.Core.Tests\ScenarioServiceTests.cs(324,47): warning CS8625: 无法将 null 字面量转换为非 null 的引用类型。 [C:\Users\Tellme\apps\CounterDroneBackend\test\unit\CounterDrone.Core.Tests\CounterDrone.Core.Tests.csproj]
+C:\Users\Tellme\apps\CounterDroneBackend\test\unit\CounterDrone.Core.Tests\ScenarioServiceTests.cs(327,50): warning CS8625: 无法将 null 字面量转换为非 null 的引用类型。 [C:\Users\Tellme\apps\CounterDroneBackend\test\unit\CounterDrone.Core.Tests\CounterDrone.Core.Tests.csproj]
+C:\Users\Tellme\apps\CounterDroneBackend\test\unit\CounterDrone.Core.Tests\ScenarioServiceTests.cs(341,29): warning CS8602: 解引用可能出现空引用。 [C:\Users\Tellme\apps\CounterDroneBackend\test\unit\CounterDrone.Core.Tests\CounterDrone.Core.Tests.csproj]
+C:\Users\Tellme\apps\CounterDroneBackend\test\unit\CounterDrone.Core.Tests\ScenarioServiceTests.cs(345,29): warning CS8602: 解引用可能出现空引用。 [C:\Users\Tellme\apps\CounterDroneBackend\test\unit\CounterDrone.Core.Tests\CounterDrone.Core.Tests.csproj]
+C:\Users\Tellme\apps\CounterDroneBackend\test\unit\CounterDrone.Core.Tests\ScenarioServiceTests.cs(354,29): warning CS8602: 解引用可能出现空引用。 [C:\Users\Tellme\apps\CounterDroneBackend\test\unit\CounterDrone.Core.Tests\CounterDrone.Core.Tests.csproj]
+C:\Users\Tellme\apps\CounterDroneBackend\test\unit\CounterDrone.Core.Tests\ScenarioServiceTests.cs(357,29): warning CS8602: 解引用可能出现空引用。 [C:\Users\Tellme\apps\CounterDroneBackend\test\unit\CounterDrone.Core.Tests\CounterDrone.Core.Tests.csproj]
+C:\Users\Tellme\apps\CounterDroneBackend\test\unit\CounterDrone.Core.Tests\ScenarioServiceTests.cs(448,36): warning CS8602: 解引用可能出现空引用。 [C:\Users\Tellme\apps\CounterDroneBackend\test\unit\CounterDrone.Core.Tests\CounterDrone.Core.Tests.csproj]
+  CounterDrone.Core.Tests -> C:\Users\Tellme\apps\CounterDroneBackend\test\unit\CounterDrone.Core.Tests\bin\Debug\net10.0\CounterDrone.Core.Tests.dll
+C:\Users\Tellme\apps\CounterDroneBackend\test\unit\CounterDrone.Core.Tests\bin\Debug\net10.0\CounterDrone.Core.Tests.dll (.NETCoreApp,Version=v10.0)的测试运行
+总共 1 个测试文件与指定模式相匹配。
+
+已通过! - 失败:     0，通过:     1，已跳过:     0，总计:     1，持续时间: 4 s - CounterDrone.Core.Tests.dll (net10.0)