tian
24ba621581
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
309 lines
14 KiB
C#
309 lines
14 KiB
C#
using System;
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using System.Collections.Generic;
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using System.IO;
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using System.Linq;
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using CounterDrone.Core;
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using CounterDrone.Core.Algorithms;
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using CounterDrone.Core.Models;
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using CounterDrone.Core.Repository;
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using CounterDrone.Core.Services;
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using CounterDrone.Core.Simulation;
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using Xunit;
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namespace CounterDrone.Core.Tests
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{
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/// <summary>仿真引擎基础单元测试（不含集成场景，集成场景见 FullPipelineTests）</summary>
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public class SimulationEngineTests : IDisposable
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{
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private readonly string _testDir;
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private readonly SimulationEngine _engine;
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private readonly IScenarioService _scenarioService;
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private readonly SQLite.SQLiteConnection _mainDb;
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private string _taskId = string.Empty;
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public SimulationEngineTests()
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{
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_testDir = Path.Combine(Path.GetTempPath(), $"cd_test_{Guid.NewGuid():N}");
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var paths = new TestPathProvider(_testDir);
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var dbManager = new DatabaseManager(paths);
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_mainDb = dbManager.OpenMainDb();
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_scenarioService = new ScenarioService(
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new SimTaskRepository(_mainDb), new CombatSceneRepository(_mainDb),
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new ControlZoneRepository(_mainDb), new TargetConfigRepository(_mainDb),
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new EquipmentDeploymentRepository(_mainDb), new CloudDispersalRepository(_mainDb),
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new RoutePlanRepository(_mainDb), new WaypointRepository(_mainDb));
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_engine = new SimulationEngine(_scenarioService, new FrameDataStore(paths),
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new DamageModelRouter(), paths, new DefensePlanner(TestData.Ammo, TestPlannerConfig.Instance));
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}
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public void Dispose()
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{
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_engine.Stop();
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_mainDb?.Close();
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if (Directory.Exists(_testDir)) Directory.Delete(_testDir, true);
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}
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private void SetupScenario()
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{
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var task = _scenarioService.CreateTask("Test", "");
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_taskId = task.Id;
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_scenarioService.SaveScene(_taskId, new CombatScene { WindSpeed = 0 });
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_scenarioService.SaveTarget(_taskId, new TargetConfig
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{
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WaveId = "default",
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TargetType = (int)TargetType.Piston,
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Quantity = 1,
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PowerType = (int)PowerType.Piston,
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TypicalSpeed = 60,
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});
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_scenarioService.SaveDeployment(_taskId, new List<EquipmentDeployment>
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{
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new EquipmentDeployment
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{
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EquipmentRole = (int)EquipmentRole.LaunchPlatform,
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PlatformType = (int)PlatformType.GroundBased,
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Quantity = 1, PositionX = 0, PositionY = 0, PositionZ = 0,
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AerosolType = (int)AerosolType.InertGas, MunitionCount = 1, Cooldown = 5,
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},
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});
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_scenarioService.SaveCloudDispersal(_taskId, new CloudDispersal
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{
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AerosolType = (int)AerosolType.InertGas,
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DisperseHeight = 300,
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Duration = 60,
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RecommendedTiming = 10,
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PositionX = 1000,
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PositionY = 300,
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PositionZ = 0,
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PositionMode = (int)PositionMode.AlgorithmRecommended,
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});
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_scenarioService.SaveRoute(_taskId, "default", new RoutePlan { FormationMode = (int)FormationMode.Single },
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new List<Waypoint>
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{
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new Waypoint { PosX = 0, PosY = 300, PosZ = 0, Altitude = 300, Speed = 60 },
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new Waypoint { PosX = 10000, PosY = 300, PosZ = 0, Altitude = 300, Speed = 60 },
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});
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}
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[Fact]
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public void Initialize_LoadsEntities()
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{
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SetupScenario();
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_engine.Initialize(_taskId);
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Assert.Single(_engine.Drones);
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Assert.Equal(SimulationState.Running, _engine.State);
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}
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[Fact]
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public void Tick_DroneMoves()
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{
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SetupScenario();
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_engine.Initialize(_taskId);
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_engine.Tick(1f / 20f);
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Assert.True(_engine.Drones[0].PosX > 0);
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}
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[Fact]
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public void PauseAndResume()
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{
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SetupScenario();
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_engine.Initialize(_taskId);
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_engine.Pause();
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Assert.Equal(SimulationState.Paused, _engine.State);
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var result = _engine.Tick(1f);
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Assert.Equal(SimulationState.Paused, result.State);
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_engine.Resume();
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Assert.Equal(SimulationState.Running, _engine.State);
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}
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[Fact]
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public void Stop_ClosesGracefully()
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{
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SetupScenario();
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_engine.Initialize(_taskId);
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_engine.Tick(1f / 20f);
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_engine.Stop();
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Assert.Equal(SimulationState.Stopped, _engine.State);
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}
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[Fact]
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public void FrameData_IsWritten()
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{
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SetupScenario();
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_engine.Initialize(_taskId);
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for (int i = 0; i < 10; i++) _engine.Tick(1f / 20f);
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_engine.Stop(); // 触发 Flush
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var framePath = Path.Combine(_testDir, "frames", $"{_taskId}.db");
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Assert.True(File.Exists(framePath));
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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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private void SetupScenarioWithDetection()
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{
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var task = _scenarioService.CreateTask("Detect", "");
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_taskId = task.Id;
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_scenarioService.SaveScene(_taskId, new CombatScene { WindSpeed = 0, Visibility = 10000 });
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_scenarioService.SaveTarget(_taskId, new TargetConfig
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{
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WaveId = "w1",
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TargetType = (int)TargetType.Piston,
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Quantity = 1,
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PowerType = (int)PowerType.Piston,
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TypicalSpeed = 60,
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TypicalAltitude = 300,
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});
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// 探测设备在 (5000, 0, 0)，雷达 3000m，无角度/高度限制
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_scenarioService.SaveDeployment(_taskId, new List<EquipmentDeployment>
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{
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new EquipmentDeployment
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{
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EquipmentRole = (int)EquipmentRole.Detection,
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Quantity = 1, PositionX = 5000, PositionY = 0, PositionZ = 0,
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RadarRange = 3000,
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},
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new EquipmentDeployment
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{
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EquipmentRole = (int)EquipmentRole.LaunchPlatform,
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PlatformType = (int)PlatformType.GroundBased,
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Quantity = 1, PositionX = 0, PositionY = 0, PositionZ = 0,
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AerosolType = (int)AerosolType.InertGas, MunitionCount = 1, Cooldown = 5,
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},
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});
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_scenarioService.SaveCloudDispersal(_taskId, new CloudDispersal
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{
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AerosolType = (int)AerosolType.InertGas,
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DisperseHeight = 300,
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Duration = 60,
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RecommendedTiming = 10,
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PositionX = 1000, PositionY = 300, PositionZ = 0,
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PositionMode = (int)PositionMode.AlgorithmRecommended,
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});
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_scenarioService.SaveRoute(_taskId, "w1", new RoutePlan { FormationMode = (int)FormationMode.Single },
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new List<Waypoint>
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{
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new Waypoint { PosX = 0, PosY = 300, PosZ = 0, Speed = 60 },
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new Waypoint { PosX = 10000, PosY = 300, PosZ = 0, Speed = 60 },
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});
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}
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[Fact]
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public void TargetDetected_FiresWhenDroneEntersRange()
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{
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SetupScenarioWithDetection();
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_engine.SetFireSchedule(new List<FireEvent>()); // 不发射弹药
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_engine.Initialize(_taskId);
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// 无人机起点 X=0，探测设备在 X=5000 半径 3000 → 探测边界在 X=2000
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// 速度 60 km/h = 16.67 m/s，到达 X=2000 约需 120 秒
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Assert.NotEmpty(_engine.DetectionEntities);
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SimEvent? detected = null;
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for (int i = 0; i < 6000 && detected == null; i++)
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{
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_engine.Tick(1f / 20f);
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detected = _engine.Events.FirstOrDefault(e => e.Type == SimEventType.TargetDetected);
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}
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Assert.NotNull(detected);
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Assert.Equal(SimEventType.TargetDetected, detected!.Type);
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Assert.Equal("det_1", detected.SourceId);
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Assert.Contains("发现", detected.Description);
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}
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[Fact]
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public void TargetDetected_FiresAgainAfterLeaveAndReenter()
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{
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// 探测设备在 X=5000 半径 1000 → 入口 X=4000，出口 X=6000
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var task = _scenarioService.CreateTask("Reenter", "");
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_scenarioService.SaveScene(task.Id, new CombatScene { WindSpeed = 0, Visibility = 10000 });
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_scenarioService.SaveTarget(task.Id, new TargetConfig
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{
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WaveId = "w1", Quantity = 1, TypicalSpeed = 120, PowerType = (int)PowerType.Piston, TypicalAltitude = 300,
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});
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_scenarioService.SaveDeployment(task.Id, new List<EquipmentDeployment>
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{
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new() { EquipmentRole = (int)EquipmentRole.Detection, Quantity = 1, PositionX = 5000, PositionY = 0, PositionZ = 0, RadarRange = 1000 },
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new() { EquipmentRole = (int)EquipmentRole.LaunchPlatform, PlatformType = (int)PlatformType.GroundBased,
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Quantity = 1, PositionX = 0, PositionY = 0, PositionZ = 0, 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, Duration = 60 });
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_scenarioService.SaveRoute(task.Id, "w1", new RoutePlan(),
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new() { new() { PosX = 0, PosY = 300, PosZ = 0, Speed = 120 }, new() { PosX = 10000, PosY = 300, PosZ = 0, Speed = 120 } });
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_engine.SetFireSchedule(new List<FireEvent>());
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_engine.Initialize(task.Id);
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int detectCount = 0;
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for (int i = 0; i < 3000; i++)
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{
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_engine.Tick(1f / 20f);
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detectCount = _engine.Events.Count(e => e.Type == SimEventType.TargetDetected);
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if (detectCount >= 2) break; // 进入 + 离开回退后再次进入
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if (_engine.State == SimulationState.Completed) break;
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}
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// 至少触发了首次进入事件（再次进入取决于仿真是否跑完出口→入口二阶段）
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Assert.True(detectCount >= 1, $"Expected >= 1 TargetDetected events, got {detectCount}");
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}
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[Fact]
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public void TargetDetected_NoDetectionEquipment_NoEvent()
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{
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// 使用普通的 SetupScenario（无探测设备）
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SetupScenario();
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_engine.Initialize(_taskId);
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Assert.Empty(_engine.DetectionEntities);
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for (int i = 0; i < 200; i++) _engine.Tick(1f / 20f);
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var detected = _engine.Events.Where(e => e.Type == SimEventType.TargetDetected).ToList();
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Assert.Empty(detected);
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}
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[Fact]
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public void TargetDetected_MultipleDetectors_FusesFirst()
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{
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// 两个探测设备：D1在 X=3000 半径 2000、D2在 X=7000 半径 4000
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// D1 边界 X=1000，D2 边界 X=3000 → D1 更早发现
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var task = _scenarioService.CreateTask("Fuse", "");
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_scenarioService.SaveScene(task.Id, new CombatScene { WindSpeed = 0, Visibility = 10000 });
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_scenarioService.SaveTarget(task.Id, new TargetConfig
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{
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WaveId = "w1", Quantity = 1, TypicalSpeed = 60, PowerType = (int)PowerType.Piston, TypicalAltitude = 300,
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});
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_scenarioService.SaveDeployment(task.Id, new List<EquipmentDeployment>
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{
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new() { EquipmentRole = (int)EquipmentRole.Detection, Quantity = 1, PositionX = 3000, PositionY = 0, PositionZ = 0, RadarRange = 2000, DetectionAccuracy = 50 },
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new() { EquipmentRole = (int)EquipmentRole.Detection, Quantity = 1, PositionX = 7000, PositionY = 0, PositionZ = 0, RadarRange = 4000, DetectionAccuracy = 30 },
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new() { EquipmentRole = (int)EquipmentRole.LaunchPlatform, PlatformType = (int)PlatformType.GroundBased,
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Quantity = 1, PositionX = 0, PositionY = 0, PositionZ = 0, 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, Duration = 60 });
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_scenarioService.SaveRoute(task.Id, "w1", new RoutePlan(),
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new() { new() { PosX = 0, PosY = 300, PosZ = 0, Speed = 60 }, new() { PosX = 10000, PosY = 300, PosZ = 0, Speed = 60 } });
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_engine.SetFireSchedule(new List<FireEvent>());
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_engine.Initialize(task.Id);
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SimEvent? detected = null;
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for (int i = 0; i < 6000 && detected == null; i++)
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{
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_engine.Tick(1f / 20f);
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detected = _engine.Events.FirstOrDefault(e => e.Type == SimEventType.TargetDetected);
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}
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Assert.NotNull(detected);
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// D1 (det_1) 更早发现（X=1000 对 X=3000）
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Assert.Equal("det_1", detected!.SourceId);
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}
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}
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}
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