增加激光/红外成像复合制导导弹

ThreatSource/data/missiles/composite/cg_001.toml

@@ -29,7 +29,7 @@ CompositeWorkMode = "Serial" # 工作模式：Serial (串行) 或 Parallel (并
 # 第一个制导阶段：毫米波
 [[Properties.GuidanceSuite]]
 ComponentName = "MMW_Phase1_Cruise"
-GuidanceSystemType = "MillimeterWaveTerminalGuidance" # 必须与C#工厂中的类型字符串匹配
+GuidanceSystemType = "MillimeterWaveTerminalGuidance" # 必须与工厂中的类型字符串匹配
 ActivationTrigger = "OnLaunch"          # 激活触发器：OnLaunch, AfterFlightTime, DistanceToTargetThreshold, PreviousStageComplete
 ActivationValue = 0.0                   # 触发器关联值 (例如：飞行时间秒数，距离米数)
 Priority = 0                            # 优先级 (例如：0为最高)
@@ -40,7 +40,7 @@ ContinueChainOnFailure = true           # 失败后继续尝试下一个
 # 第二个制导阶段：红外成像末制导
 [[Properties.GuidanceSuite]]
 ComponentName = "IR_Phase2_Terminal"
-GuidanceSystemType = "InfraredImagingTerminalGuidance" # 必须与C#工厂中的类型字符串匹配
+GuidanceSystemType = "InfraredImagingTerminalGuidance" # 必须与工厂中的类型字符串匹配
 ActivationTrigger = "PreviousStageComplete"     # 例如：在飞行一段时间后切换 (或者 PreviousStageComplete)
 ActivationValue = 10.0                  # 例如：飞行10秒后激活红外阶段 (如果 CruiseTime 是 5s，这里可能需要调整)
 Priority = 1                            # 优先级低于毫米波

ThreatSource/data/missiles/composite/cg_002.toml

@@ -0,0 +1,86 @@
+# 毫米波-红外成像末制导导弹-001 配置
+Type = "CompositeGuidance"
+
+[Name]
+Zh = "毫米波-红外成像末制导导弹-001"
+En = "Millimeter Wave-IR Imaging Terminal Guided Missile-001"
+
+[Properties]
+Type = "CompositeGuidance"
+MaxSpeed = 250.0
+MaxFlightTime = 60.0
+MaxFlightDistance = 5000.0
+MaxAcceleration = 100.0
+ProportionalNavigationCoefficient = 4.0
+LaunchAcceleration = 100.0
+MaxEngineBurnTime = 2.5
+CruiseTime = 4.0
+Mass = 25.0
+ExplosionRadius = 5.0
+HitProbability = 0.9
+SelfDestructHeight = 0.0
+InfraredRadiationIntensity = 96.0 # 红外辐射强度 (瓦特/球面度)
+UltravioletRadiationIntensity = 100.0 # 紫外辐射强度 (瓦特/球面度)
+# --- 复合制导特定属性 ---
+CompositeWorkMode = "Serial" # 工作模式：Serial (串行) 或 Parallel (并行)
+# FusionStrategy = "UseHighestPriority" # 仅在并行模式下相关
+
+# --- 制导组件套件 (GuidanceSuite) ---
+# 第一个制导阶段：激光半主动制导
+[[Properties.GuidanceSuite]]
+ComponentName = "LaserSemiActive_Phase1_Terminal"
+GuidanceSystemType = "LaserSemiActiveGuidance" # 必须与工厂中的类型字符串匹配
+ActivationTrigger = "OnLaunch"          # 激活触发器：OnLaunch, AfterFlightTime, DistanceToTargetThreshold, PreviousStageComplete
+ActivationValue = 0.0                   # 触发器关联值 (例如：飞行时间秒数，距离米数)
+Priority = 0                            # 优先级 (例如：0为最高)
+MaxTimeToAcquireGuidanceSeconds = 5.0   # 获取制导的最大时间
+MinTimeWithGuidanceBeforeSwitchSeconds = 0.2  # 稳定跟踪0.2秒后切换（因为毫米波跟踪不稳定）
+ContinueChainOnFailure = true           # 失败后继续尝试下一个
+
+# 第二个制导阶段：红外成像末制导
+[[Properties.GuidanceSuite]]
+ComponentName = "IR_Phase2_Terminal"
+GuidanceSystemType = "InfraredImagingTerminalGuidance" # 必须与工厂中的类型字符串匹配
+ActivationTrigger = "PreviousStageComplete"     # 例如：在飞行一段时间后切换 (或者 PreviousStageComplete)
+ActivationValue = 10.0                  # 例如：飞行10秒后激活红外阶段 (如果 CruiseTime 是 5s，这里可能需要调整)
+Priority = 1                            # 优先级低于毫米波
+MaxTimeToAcquireGuidanceSeconds = 5.0   # 获取制导的最大时间
+MinTimeWithGuidanceBeforeSwitchSeconds = 60.0 # 设置为MaxFlightTime，使其持续制导
+ContinueChainOnFailure = false          # 这是最后一个，失败也无需继续
+
+# --- 各制导模式的详细配置 ---
+[LaserSemiActiveGuidanceConfig] # 激光半主动制导系统配置
+FieldOfViewAngle = 30.0 # 传感器视场角 (度)
+LensDiameter = 0.1 # 传感器透镜直径 (米)
+SensorDiameter = 0.03 # 探测器/传感器本身直径 (米)
+FocusedSpotDiameter = 0.006 # 传感器上聚焦激光光斑直径 (米)
+ReflectionCoefficient = 0.2 # 目标激光反射系数 (0.0 到 1.0)
+TargetReflectiveArea = 1.0 # 目标有效反射面积 (m^2)
+LockThreshold = 1.0e-8 # 锁定目标的最小接收功率 (瓦特, 例如 1.0e-8 W)
+SpotOffsetSensitivity = 0.05 # 对光斑偏移的敏感度，用于制导调整
+JammingResistanceThreshold = 1.0e-5 # 克服干扰所需的接收功率阈值 (瓦特, 例如 1e-5 W)
+TransmitterEfficiency = 0.85 # 激光指示器发射效率 (0.0 到 1.0)
+ReceiverEfficiency = 0.8 # 导弹激光接收器效率 (0.0 到 1.0)
+Wavelength = 1.06 # 激光波长 (微米, μm) 
+
+[LaserSemiActiveGuidanceConfig.LaserCodeConfig] # properties内部的激光编码配置
+IsCodeEnabled = true # 激光编码系统是否启用?
+IsCodeMatchRequired = true # 制导是否需要匹配激光编码?
+
+[LaserSemiActiveGuidanceConfig.LaserCodeConfig.Code] # 具体的激光编码详情
+CodeType = "PRF" # 激光编码类型 (例如 PRF)
+CodeValue = 1010 # 激光编码的实际值
+
+[InfraredImagingGuidanceConfig]
+MaxDetectionRange = 1000.0 # 最大探测距离 (米)
+SearchFieldOfView = 12.0  # 搜索视场角 (度)
+TrackFieldOfView = 6.0   # 跟踪视场角 (度)
+ImageWidth = 640           # 图像宽度 (像素)
+ImageHeight = 480          # 图像高度 (像素)
+BackgroundIntensity = 1.0e-4 # 背景辐射强度 (瓦特/球面度)
+SearchRecognitionProbability = 0.6 # 搜索模式目标识别概率阈值
+TrackRecognitionProbability = 0.8  # 跟踪模式目标识别概率阈值
+TargetLostTolerance = 0.3    # 目标丢失容忍时间 (秒)
+LockConfirmationTime = 0.5     # 锁定确认时间 (秒)
+JammingResistanceThreshold = 1.0e-5 # 干扰抗性阈值 (瓦特)
+Wavelength = 3.0           # 波长 (微米) 

ThreatSource/src/Data/ThreatSourceDataManager.cs

@@ -103,7 +103,7 @@ namespace ThreatSource.Data
                                         componentConfig.SpecificConfig = data.InfraredImagingGuidanceConfig;
                                         topLevelConfigName = nameof(data.InfraredImagingGuidanceConfig);
                                         break;
-                                    case "lasers semiactiveguidance":
+                                    case "lasersemiactiveguidance":
                                         assignedConfig = data.LaserSemiActiveGuidanceConfig;
                                         componentConfig.SpecificConfig = data.LaserSemiActiveGuidanceConfig;
                                         topLevelConfigName = nameof(data.LaserSemiActiveGuidanceConfig);
@@ -131,7 +131,7 @@ namespace ThreatSource.Data
                                 {
                                     if (assignedConfig == null && 
                                         (typeKey == "millimeterwaveterminalguidance" || typeKey == "millimeterwave" || 
-                                         typeKey == "infraredimagingterminalguidance" || typeKey == "lasers semiactiveguidance" ||
+                                         typeKey == "infraredimagingterminalguidance" || typeKey == "lasersemiactiveguidance" ||
                                          typeKey == "laserbeamriderguidance" || typeKey == "infraredcommandguidance"))
                                     {
                                         Debug.WriteLine($"[ThreatSourceDataManager] Error: SpecificConfig for component '{componentConfig.ComponentName}' (Type: {componentConfig.GuidanceSystemType}) remains NULL. The corresponding top-level config 'data.{topLevelConfigName}' was likely missing or null in the TOML file '{Path.GetFileName(file)}'.");

ThreatSource/src/Guidance/InfraredImagingGuidanceSystem.cs

@@ -501,7 +501,7 @@ namespace ThreatSource.Guidance
                             }
                             else // 窗口未满
                             {
-                                foundThisFrame = isRecognizedThisFrame; // foundThisFrame反映本帧直接识别结果
+                                foundThisFrame = isRecognizedThisFrame;
                                 if (isRecognizedThisFrame) targetPosition = currentEntity.KState.Position;
                                 Debug.WriteLine($"[IR IMAGING SEARCH] 目标 {searchModeFocusCandidateId} 正在收集数据，窗口 ({activeRecognitionHistory.Count}/{COMMON_RECOGNITION_WINDOW_SIZE}). 本帧识别: {isRecognizedThisFrame}");
                             }
@@ -510,10 +510,9 @@ namespace ThreatSource.Guidance
                         case WorkMode.Track:
                             if (currentlyTrackedTargetId == null || currentEntity.Id != currentlyTrackedTargetId)
                             {
-                                continue; // 不是当前正在跟踪的目标
+                                continue;
                             }
                             
-                            // 当前是跟踪目标，且已通过外层基本检查
                             var image_track = imageGenerator.GenerateImage(currentEntity, missilePosition, overallTransmittance, SimulationManager);
                             var trackResult = targetRecognizer.RecognizeTarget(image_track, currentEntity);
                             isRecognizedThisFrame = trackResult.Type == targetType && trackResult.Confidence >= config.TrackRecognitionProbability;
@@ -583,8 +582,7 @@ namespace ThreatSource.Guidance
                             Debug.WriteLine($"[IR IMAGING LOCK] 锁定目标 {currentlyTrackedTargetId} 通过基本检查。");
                             break; 
                     }
-                    
+
-                    // 如果在Search模式下成功切换到Track，或者在Track/Lock模式下处理了目标（无论成功与否），则不再继续遍历此帧中的其他实体
                     if (foundThisFrame || currentMode != WorkMode.Search || (currentMode == WorkMode.Search && currentlyTrackedTargetId != null) )
                     {
                          break;

ThreatSource/src/MIssile/CompositeGuidedMissile.cs

@@ -50,12 +50,12 @@ namespace ThreatSource.Missile
         /// <summary>
         /// 经过优先级排序的制导组件配置列表。
         /// </summary>
-        private List<GuidanceComponentConfig> sortedGuidanceConfigs = new List<GuidanceComponentConfig>();
+        private readonly List<GuidanceComponentConfig> sortedGuidanceConfigs = [];
         
         /// <summary>
         /// 经过优先级排序的制导系统实例列表，与 sortedGuidanceConfigs 一一对应。
         /// </summary>
-        private List<IGuidanceSystem> sortedGuidanceSystems = new List<IGuidanceSystem>();
+        private readonly List<IGuidanceSystem> sortedGuidanceSystems = [];
 
         /// <summary>
         /// 当前活动的制导组件配置。
@@ -99,12 +99,12 @@ namespace ThreatSource.Missile
         /// </summary>
         protected void InitializeGuidanceSuite()
         {
-            this.sortedGuidanceSystems.Clear();
+            sortedGuidanceSystems.Clear();
-            this.sortedGuidanceConfigs.Clear();
+            sortedGuidanceConfigs.Clear();
-            this.guidanceChainHaltedOrCompleted = false;
+            guidanceChainHaltedOrCompleted = false;
-            this.currentGuidancePhaseIndex = -1; // 重置索引，表示从头开始
+            currentGuidancePhaseIndex = -1;
-            this.currentActiveGuidance = null;
+            currentActiveGuidance = null;
-            this.currentActiveConfig = null;
+            currentActiveConfig = null;
 
             if (Properties.GuidanceSuite != null && Properties.GuidanceSuite.Count > 0)
             {
@@ -128,23 +128,23 @@ namespace ThreatSource.Missile
 
                 foreach (var tuple in tempGuidanceList)
                 {
-                    this.sortedGuidanceConfigs.Add(tuple.Item1);
+                    sortedGuidanceConfigs.Add(tuple.Item1);
-                    this.sortedGuidanceSystems.Add(tuple.Item2);
+                    sortedGuidanceSystems.Add(tuple.Item2);
                 }
                 
-                if (this.sortedGuidanceSystems.Count > 0)
+                if (sortedGuidanceSystems.Count > 0)
                 {
-                     this.currentGuidancePhaseIndex = -1; // 设置为-1，以便TryActivateNextGuidanceSystem能正确激活第一个
+                     currentGuidancePhaseIndex = -1;
                 }
                 else
                 {
-                    this.guidanceChainHaltedOrCompleted = true; // 没有可用的制导系统
+                    guidanceChainHaltedOrCompleted = true;
                     Debug.WriteLine("[CompositeGuidance.Initialize] 未配置或未能创建任何有效的制导系统。");
                 }
             }
             else
             {
-                this.guidanceChainHaltedOrCompleted = true;
+                guidanceChainHaltedOrCompleted = true;
                 Debug.WriteLine("[CompositeGuidance.Initialize] GuidanceSuite 为空。");
             }
             Debug.WriteLine($"[CompositeGuidance.Initialize] 初始化完成。排序后的制导系统数量: {sortedGuidanceSystems.Count}");
@@ -175,6 +175,15 @@ namespace ThreatSource.Missile
                     {
                         return null;
                     }
+                case "lasersemiactiveguidance":
+                    if (config.SpecificConfig is LaserSemiActiveGuidanceConfig laserConfig)
+                    {
+                        return new LaserSemiActiveGuidanceSystem(config.ComponentName, Id, Properties.MaxAcceleration, Properties.ProportionalNavigationCoefficient, laserConfig, SimulationManager);
+                    }
+                    else
+                    {
+                        return null;
+                    }
                 default:
                     return null;
             }
@@ -199,12 +208,7 @@ namespace ThreatSource.Missile
             
             if (currentActiveGuidance is SimulationElement se)
             {
-                se.Update(deltaTime); // Assuming Update is part of SimulationElement or BaseGuidanceSystem which inherits it
+                se.Update(deltaTime);
-            }
-            else
-            {
-                // Fallback or error if it's not a SimulationElement but Update is needed.
-                // For now, we assume all IGuidanceSystem are also SimulationElement for Update.
             }
 
             if (currentActiveConfig == null) 
@@ -233,7 +237,7 @@ namespace ThreatSource.Missile
                         // 如果不是最后一个制导阶段，则尝试切换到下一个
                         Debug.WriteLine($"[CompositeGuidance.Logic] 模块 {currentActiveConfig.ComponentName} 完成任务 (稳定制导持续达标)，切换到下一阶段。");
                         TryActivateNextGuidanceSystem(deactivatePrevious: true);
-                        return; // 切换后立即返回，避免同一帧内处理新激活的模块
+                        return;
                     }
                     else
                     {                        
@@ -242,9 +246,8 @@ namespace ThreatSource.Missile
                         if (!guidanceChainHaltedOrCompleted) // 避免重复打印
                         {
                             Debug.WriteLine($"[CompositeGuidance.Logic] 最后一个制导模块 {currentActiveConfig.ComponentName} 已满足稳定条件并将持续工作。");
-                            guidanceChainHaltedOrCompleted = true; // 标记配置的切换链已完成
+                            guidanceChainHaltedOrCompleted = true;
                         }
-                        // 不返回，允许后续的超时和干扰检查继续作用于这个最后一个阶段
                     }
                 }
             }
@@ -355,9 +358,7 @@ namespace ThreatSource.Missile
         public override void Update(double deltaTime)
         {
             if (!IsActive) return;
-
+            
-            // 更新飞行阶段 (Launch, Cruise, Terminal)
-            // 这部分逻辑保持不变，因为它控制导弹的物理飞行状态和阶段转换
             switch (currentFlightStage)
             {
                 case CompositeFlightStage.Launch:
@@ -377,10 +378,7 @@ namespace ThreatSource.Missile
             {
                  UpdateGuidanceLogic(deltaTime);
             }
-            // else if (Properties.CompositeWorkMode == CompositeWorkType.Parallel) { /* 未来可扩展并行逻辑 */ }
 
-
-            // 在所有逻辑更新后，统一设置导弹的制导状态和加速度
             if (currentActiveGuidance != null && currentActiveGuidance.HasGuidance)
             {
                 this.IsGuidance = true;
@@ -404,11 +402,7 @@ namespace ThreatSource.Missile
             currentFlightStage = CompositeFlightStage.Launch;
             
             // 重置制导链状态
-            InitializeGuidanceSuite(); // 重新初始化以获取最新的排序和重置内部状态
+            InitializeGuidanceSuite();
-            // currentGuidancePhaseIndex = -1; // InitializeGuidanceSuite 内部会处理
-            // guidanceChainHaltedOrCompleted = false; // InitializeGuidanceSuite 内部会处理
-            // currentActiveGuidance = null; // InitializeGuidanceSuite 内部会处理
-            // currentActiveConfig = null; // InitializeGuidanceSuite 内部会处理
             currentPhaseActivationTime = -1.0;
             currentPhaseStableGuidanceTime = -1.0;
 
@@ -460,10 +454,7 @@ namespace ThreatSource.Missile
                 }
                 currentActiveGuidance = null;
             }
-            // sortedGuidanceSystems 中的其他已创建但未活动的系统，如果它们有需要清理的状态，也应考虑
+            guidanceChainHaltedOrCompleted = true;
-            // 但通常 Deactivate 是针对活动组件的。InitializeGuidanceSuite 会在下次 Fire 时重建。
-            
-            guidanceChainHaltedOrCompleted = true; // 标记为不再活动
             currentActiveConfig = null;
             Debug.WriteLine($"[CompositeGuidedMissile.Deactivate] 导弹 {Id} 已停用. 活动制导系统已处理.");
         }
@@ -485,16 +476,14 @@ namespace ThreatSource.Missile
             for (int i = 0; i < sortedGuidanceSystems.Count; i++)
             {
                 var guidanceSystem = sortedGuidanceSystems[i];
-                if (guidanceSystem is SimulationElement simElement) // 检查并转换
+                if (guidanceSystem is SimulationElement simElement)
                 {
                     string statusString = simElement.GetStatusInfo().ToString();
                     string keyName = $"SubGuidanceSystem_Status_{i}";
                     statusInfo.ExtendedProperties[keyName] = statusString;
                 }
-                else if (guidanceSystem != null) // 如果不是SimulationElement但非null，记录一个警告或默认值
+                else if (guidanceSystem != null)
                 {
-                    string keyName = $"SubGuidanceSystem_Status_{i}";
-                    statusInfo.ExtendedProperties[keyName] = "错误: 制导系统不是 SimulationElement 或为null.";
                     Debug.WriteLine($"[CompositeGuidedMissile.GetStatusInfo] 警告: 制导系统 at index {i} (type: {guidanceSystem.GetType().Name}) 不是 SimulationElement 或为null.");
                 }
             }

tools/ComprehensiveMissileSimulator.cs

@@ -439,7 +439,7 @@ namespace ThreatSource.Tools.MissileSimulation
                 Speed = 10
             };
             string missileId = "CGGM_1";
-            var missile = _threatSourceFactory.CreateMissile(missileId, "cg_001", "Tank_1", motionParameters);
+            var missile = _threatSourceFactory.CreateMissile(missileId, "cg_002", "Tank_1", motionParameters);
             missiles[missileId] = missile;
             simulationManager.RegisterEntity(missileId, missile);
             Console.WriteLine($"注册复合制导导弹 {missileId}");

tools/Program.cs

@@ -42,8 +42,8 @@ namespace ThreatSource.Tools.MissileSimulation
                 }
 
                 Console.WriteLine($"1. 选择导弹 ({missileStatus})");
-                Console.WriteLine($"2. 配置传感器 {sensorStatusString}");
+                Console.WriteLine($"2. 选择指示器 {sensorStatusString}");
-                Console.WriteLine($"3. 配置干扰 {simulator.GetActiveJammingDescription()} {(string.IsNullOrEmpty(simulator.SelectedMissileId) ? "(需先选导弹)" : "")}");
+                Console.WriteLine($"3. 选择干扰方式 {simulator.GetActiveJammingDescription()} {(string.IsNullOrEmpty(simulator.SelectedMissileId) ? "(需先选导弹)" : "")}");
                 Console.WriteLine($"4. 设置日志级别 (当前级别: {simulator.CurrentLogLevel})");
                 Console.WriteLine($"5. 开始仿真 {(string.IsNullOrEmpty(simulator.SelectedMissileId) ? "(需先选导弹)" : "")}");
                 Console.WriteLine($"6. 设置仿真步长 (当前: {simulator.TimeStep}s)");
@@ -225,12 +225,12 @@ namespace ThreatSource.Tools.MissileSimulation
         {
             while (true)
             {
-                Console.WriteLine("\n--- 配置传感器和指示器 ---");
+                Console.WriteLine("\n--- 选择指示器 ---");
-                Console.WriteLine("当前传感器状态：");
+                Console.WriteLine("当前指示器状态：");
                 var indicators = simulator.GetActiveIndicators();
                 if (indicators.Length == 0)
                 {
-                    Console.WriteLine("当前导弹类型没有可配置的独立传感器/指示器，或未实现获取接口。");
+                    Console.WriteLine("当前导弹类型没有可配置的指示器，或未实现获取接口。");
                 }
                 else
                 {
@@ -240,7 +240,7 @@ namespace ThreatSource.Tools.MissileSimulation
                     }
                 }
                 Console.WriteLine("  0. 返回主菜单");
-                Console.Write("请选择切换状态的传感器，或返回: ");
+                Console.Write("请选择切换状态的指示器，或返回: ");
                 
                 string input = Console.ReadLine()?.ToLower() ?? string.Empty;
                 if (input == "0")
@@ -286,12 +286,12 @@ namespace ThreatSource.Tools.MissileSimulation
             
             while (true)
             {
-                Console.WriteLine("\n--- 配置干扰方式 ---");
+                Console.WriteLine("\n--- 选择干扰方式 ---");
                 Console.WriteLine($"当前导弹: {simulator.SelectedMissileDisplayName}");
                 
                 if (availableJammingOptions.Length == 0)
                 {
-                    Console.WriteLine("当前导弹类型没有可配置的干扰选项。");
+                    Console.WriteLine("当前导弹类型没有可选择的干扰方式。");
                 }
                 else
                 {