feat(acoustic): Recover full acoustic analyzer module with buildable demo

- Recover all 50+ source/header/script files from conversation history
- Regenerate synthetic binary dataset (ambient vs threat)
- Retrain CNN-GRU classifier: 15 epochs, 90.4% train / 100% val accuracy
- Export ONNX model with MaxPool1d workaround for opset 13 compatibility
- Fix recovered file API mismatches (AudioBuffer, Pipeline, demo_offline)
- Replace kiss_fft with inline DFT in fft_utils.cpp (no external lib needed)
- Add missing #include <memory> to PIMPL headers
- Fix ONNX input layout: [batch, time_frames, n_mels]
- Downgrade ORT_API_VERSION 20 -> 17 for local DLL compatibility
- Simplify build_demo.bat for Windows MinGW (no yaml-cpp dependency)
- Verify demo_offline.exe on validation set: 20/20 correct classifications

src/drone-software/src/acoustic/CMakeLists.txt

@@ -0,0 +1,216 @@
+cmake_minimum_required(VERSION 3.10)
+project(acoustic_analyzer)
+
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+
+# ── Windows / MinGW fixes ────────────────────────────────────────
+if(WIN32)
+    add_compile_definitions(_USE_MATH_DEFINES)
+endif()
+if(CMAKE_CXX_COMPILER_ID MATCHES "GNU")
+    add_compile_options("-Wa,-mbig-obj")
+endif()
+
+option(BUILD_TESTS "Build unit tests" ON)
+option(BUILD_ROS_WRAPPER "Build ROS wrapper node" OFF)
+option(BUILD_ONNX_TESTS "Build ONNX classifier tests" ON)
+
+# ── Eigen3 (bundled) ─────────────────────────────────────────────
+set(EIGEN3_INCLUDE_DIR "${CMAKE_CURRENT_SOURCE_DIR}/third_party/eigen-3.4.0")
+if(NOT EXISTS "${EIGEN3_INCLUDE_DIR}/Eigen/Core")
+    message(FATAL_ERROR "Eigen3 not found at ${EIGEN3_INCLUDE_DIR}")
+endif()
+
+# ── yaml-cpp ─────────────────────────────────────────────────────
+set(YAML_CPP_ROOT "")
+if(WIN32)
+    set(_conda_yaml "C:/Users/$ENV{USERNAME}/miniconda3/Library")
+    if(EXISTS "${_conda_yaml}/include/yaml-cpp/yaml.h")
+        set(YAML_CPP_ROOT "${_conda_yaml}")
+        message(STATUS "Found yaml-cpp in conda: ${YAML_CPP_ROOT}")
+    endif()
+endif()
+
+find_package(yaml-cpp QUIET)
+if(yaml-cpp_FOUND AND TARGET yaml-cpp)
+    set(YAML_CPP_TARGET yaml-cpp)
+    if(NOT yaml-cpp_INCLUDE_DIRS AND DEFINED YAML_CPP_INCLUDE_DIR)
+        set(yaml-cpp_INCLUDE_DIRS "${YAML_CPP_INCLUDE_DIR}")
+    endif()
+elseif(yaml-cpp_FOUND AND DEFINED YAML_CPP_INCLUDE_DIR)
+    set(YAML_CPP_TARGET yaml-cpp)
+    add_library(yaml-cpp UNKNOWN IMPORTED)
+    set_target_properties(yaml-cpp PROPERTIES
+        IMPORTED_LOCATION "${YAML_CPP_LIBRARY_DIR}/yaml-cpp.lib"
+        INTERFACE_INCLUDE_DIRECTORIES "${YAML_CPP_INCLUDE_DIR}"
+    )
+    if(NOT yaml-cpp_INCLUDE_DIRS)
+        set(yaml-cpp_INCLUDE_DIRS "${YAML_CPP_INCLUDE_DIR}")
+    endif()
+elseif(YAML_CPP_ROOT)
+    set(yaml-cpp_INCLUDE_DIRS "${YAML_CPP_ROOT}/include")
+    set(yaml-cpp_LIBRARIES "${YAML_CPP_ROOT}/lib/yaml-cpp.lib")
+    if(NOT EXISTS "${yaml-cpp_LIBRARIES}")
+        message(FATAL_ERROR "yaml-cpp library not found at ${yaml-cpp_LIBRARIES}")
+    endif()
+    add_library(yaml-cpp UNKNOWN IMPORTED)
+    set_target_properties(yaml-cpp PROPERTIES
+        IMPORTED_LOCATION "${yaml-cpp_LIBRARIES}"
+        INTERFACE_INCLUDE_DIRECTORIES "${yaml-cpp_INCLUDE_DIRS}"
+    )
+    set(YAML_CPP_TARGET yaml-cpp)
+else()
+    message(FATAL_ERROR "yaml-cpp not found. Please install yaml-cpp.")
+endif()
+
+# ── ONNX Runtime ─────────────────────────────────────────────────
+set(ONNXRuntime_DIR "${CMAKE_CURRENT_SOURCE_DIR}/third_party/onnxruntime" CACHE PATH "ONNX Runtime root")
+set(ONNXRuntime_INCLUDE_DIRS "${ONNXRuntime_DIR}/include")
+
+if(WIN32)
+    if(CMAKE_CXX_COMPILER_ID MATCHES "GNU")
+        set(ONNXRuntime_LIB_CANDIDATE "${ONNXRuntime_DIR}/lib/libonnxruntime.a")
+    else()
+        set(ONNXRuntime_LIB_CANDIDATE "${ONNXRuntime_DIR}/lib/onnxruntime.lib")
+    endif()
+else()
+    set(ONNXRuntime_LIB_CANDIDATE "${ONNXRuntime_DIR}/lib/libonnxruntime.so")
+endif()
+
+if(EXISTS "${ONNXRuntime_LIB_CANDIDATE}")
+    set(ONNXRuntime_LIBS "${ONNXRuntime_LIB_CANDIDATE}")
+    set(ONNXRuntime_FOUND TRUE)
+    message(STATUS "ONNX Runtime found: ${ONNXRuntime_LIBS}")
+else()
+    set(ONNXRuntime_FOUND FALSE)
+    message(WARNING "ONNX Runtime NOT found. ONNX tests disabled.")
+endif()
+
+set(KISSFFT_DIR "${CMAKE_CURRENT_SOURCE_DIR}/third_party/kiss_fft" CACHE PATH "Kiss FFT root")
+
+# ── Core library sources ─────────────────────────────────────────
+set(CORE_BASE_SOURCES
+    src/core/fft_utils.cpp
+    src/core/audio_buffer.cpp
+    src/core/feature_extractor.cpp
+    src/core/gcc_phat_localizer.cpp
+    src/core/distance_estimator.cpp
+    src/core/threat_tracker.cpp
+)
+
+set(CORE_ONNX_SOURCES
+    src/core/gunshot_classifier.cpp
+    src/core/pipeline.cpp
+)
+
+set(IO_SOURCES
+    src/io/wav_file_source.cpp
+)
+if(NOT WIN32)
+    list(APPEND IO_SOURCES src/io/mobile_phone_source.cpp)
+endif()
+
+# Build base core library
+add_library(${PROJECT_NAME}_core_base STATIC ${CORE_BASE_SOURCES})
+target_include_directories(${PROJECT_NAME}_core_base PUBLIC
+    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+    $<INSTALL_INTERFACE:include>
+    ${EIGEN3_INCLUDE_DIR}
+    ${KISSFFT_DIR}
+)
+
+# Full core library
+if(ONNXRuntime_FOUND)
+    add_library(${PROJECT_NAME}_core STATIC ${CORE_BASE_SOURCES} ${CORE_ONNX_SOURCES} ${IO_SOURCES})
+    target_include_directories(${PROJECT_NAME}_core PUBLIC
+        $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+        $<INSTALL_INTERFACE:include>
+        ${ONNXRuntime_INCLUDE_DIRS}
+        ${EIGEN3_INCLUDE_DIR}
+        ${KISSFFT_DIR}
+        ${yaml-cpp_INCLUDE_DIRS}
+    )
+    target_link_libraries(${PROJECT_NAME}_core PUBLIC
+        ${YAML_CPP_TARGET}
+        ${ONNXRuntime_LIBS}
+    )
+    if(NOT WIN32)
+        target_link_libraries(${PROJECT_NAME}_core PUBLIC m)
+    endif()
+else()
+    add_library(${PROJECT_NAME}_core ALIAS ${PROJECT_NAME}_core_base)
+endif()
+
+# ── ROS Wrapper ──────────────────────────────────────────────────
+if(BUILD_ROS_WRAPPER)
+    find_package(catkin REQUIRED COMPONENTS
+        roscpp
+        std_msgs
+        sensor_msgs
+        geometry_msgs
+        message_generation
+    )
+
+    add_message_files(FILES AcousticThreat.msg AcousticThreatArray.msg)
+    generate_messages(DEPENDENCIES std_msgs)
+
+    catkin_package(CATKIN_DEPENDS roscpp std_msgs sensor_msgs message_runtime)
+
+    add_executable(${PROJECT_NAME}_node
+        src/ros/acoustic_node.cpp
+        src/ros/threat_publisher.cpp
+        src/main.cpp
+    )
+    target_include_directories(${PROJECT_NAME}_node PRIVATE ${catkin_INCLUDE_DIRS})
+    target_link_libraries(${PROJECT_NAME}_node ${PROJECT_NAME}_core ${catkin_LIBRARIES})
+    add_dependencies(${PROJECT_NAME}_node ${PROJECT_NAME}_generate_messages_cpp)
+endif()
+
+# ── Unit tests ───────────────────────────────────────────────────
+if(BUILD_TESTS)
+    enable_testing()
+
+    add_executable(test_core_lib tests/test_core_lib.cpp ${CORE_BASE_SOURCES})
+    target_include_directories(test_core_lib PRIVATE
+        ${CMAKE_CURRENT_SOURCE_DIR}/include ${EIGEN3_INCLUDE_DIR} ${KISSFFT_DIR})
+    if(NOT WIN32)
+        target_link_libraries(test_core_lib PRIVATE m)
+    endif()
+    add_test(NAME core_lib COMMAND test_core_lib)
+
+    add_executable(extract_mel_cpp tests/extract_mel_cpp.cpp
+        src/core/fft_utils.cpp src/core/feature_extractor.cpp)
+    target_include_directories(extract_mel_cpp PRIVATE
+        ${CMAKE_CURRENT_SOURCE_DIR}/include ${EIGEN3_INCLUDE_DIR})
+    if(NOT WIN32)
+        target_link_libraries(extract_mel_cpp PRIVATE m)
+    endif()
+
+    if(ONNXRuntime_FOUND AND BUILD_ONNX_TESTS)
+        add_executable(test_classifier_cpp tests/test_classifier_cpp.cpp
+            src/core/fft_utils.cpp src/core/feature_extractor.cpp src/core/gunshot_classifier.cpp)
+        target_include_directories(test_classifier_cpp PRIVATE
+            ${CMAKE_CURRENT_SOURCE_DIR}/include ${EIGEN3_INCLUDE_DIR} ${ONNXRuntime_INCLUDE_DIRS})
+        target_compile_definitions(test_classifier_cpp PRIVATE _stdcall=)
+        target_link_libraries(test_classifier_cpp PRIVATE ${ONNXRuntime_LIBS})
+        if(NOT WIN32)
+            target_link_libraries(test_classifier_cpp PRIVATE m)
+        endif()
+        add_test(NAME classifier_cpp COMMAND test_classifier_cpp
+                 --model ${CMAKE_CURRENT_SOURCE_DIR}/models/gunshot_classifier.onnx
+                 --wav ${CMAKE_CURRENT_SOURCE_DIR}/dataset/binary/train/ambient/drone_noise_simulated.wav)
+    endif()
+endif()
+
+# ── Install ──────────────────────────────────────────────────────
+if(NOT WIN32)
+    install(TARGETS ${PROJECT_NAME}_core
+        ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+        LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+        RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+    )
+    install(DIRECTORY include/${PROJECT_NAME}/ DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
+    install(DIRECTORY config/ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/config)
+    install(DIRECTORY models/ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/models)
+endif()

src/drone-software/src/acoustic/build_cmake_mingw.bat

@@ -0,0 +1,52 @@
+@echo off
+chcp 65001 >nul
+setlocal EnableDelayedExpansion
+
+echo ==========================================
+echo  Acoustic Module - CMake MinGW Build
+echo ==========================================
+
+set SRC_ROOT=%~dp0
+set TEMP_SRC=C:\temp\acoustic_src
+set TEMP_BUILD=C:\temp\acoustic_build
+set OUTPUT_DIR=%SRC_ROOT%build
+
+REM --- Copy source to temp English path (workaround for Chinese path issues) ---
+echo [INFO] Copying source to %TEMP_SRC% ...
+if exist %TEMP_SRC% rmdir /s /q %TEMP_SRC%
+if exist %TEMP_BUILD% rmdir /s /q %TEMP_BUILD%
+mkdir %TEMP_SRC%
+xcopy /s /e /i /q "%SRC_ROOT%*" "%TEMP_SRC%\" >nul
+
+echo [INFO] Running CMake ...
+mkdir %TEMP_BUILD%
+cd /d %TEMP_BUILD%
+cmake "%TEMP_SRC%" -G "MinGW Makefiles" ^
+    -DBUILD_TESTS=ON ^
+    -DBUILD_ONNX_TESTS=ON ^
+    -DBUILD_ROS_WRAPPER=OFF ^
+    -DCMAKE_BUILD_TYPE=Release
+if %ERRORLEVEL% NEQ 0 (
+    echo [FAIL] CMake configuration failed.
+    exit /b 1
+)
+
+echo [INFO] Building with mingw32-make ...
+mingw32-make -j4
+if %ERRORLEVEL% NEQ 0 (
+    echo [FAIL] Build failed.
+    exit /b 1
+)
+
+REM --- Copy executables back ---
+if not exist "%OUTPUT_DIR%" mkdir "%OUTPUT_DIR%"
+for %%E in (test_core_lib.exe extract_mel_cpp.exe test_classifier_cpp.exe demo_offline.exe) do (
+    if exist "%TEMP_BUILD%\%%E" (
+        copy /y "%TEMP_BUILD%\%%E" "%OUTPUT_DIR%\" >nul
+        echo [OK] Copied %%E
+    )
+)
+
+echo.
+echo [OK] CMake MinGW build complete. Executables in %OUTPUT_DIR%
+endlocal

src/drone-software/src/acoustic/build_core_test.bat

@@ -0,0 +1,69 @@
+@echo off
+chcp 65001 >nul
+setlocal EnableDelayedExpansion
+
+echo ==========================================
+echo  Acoustic Core Library - Quick Build
+echo ==========================================
+
+set SRC_ROOT=%~dp0
+set EIGEN=%SRC_ROOT%third_party\eigen-3.4.0
+set KISSFFT=%SRC_ROOT%third_party\kiss_fft
+set ONNX_INC=%SRC_ROOT%third_party\onnxruntime\include
+set ONNX_LIB=%SRC_ROOT%third_party\onnxruntime\lib\onnxruntime.lib
+
+set INCLUDES=-I%SRC_ROOT%include -I%EIGEN% -I%KISSFFT% -I%ONNX_INC%
+set FLAGS=-std=c++17 -O2 -D_USE_MATH_DEFINES -Wa,-mbig-obj
+set LIBS=%ONNX_LIB%
+
+if not exist build mkdir build
+
+REM --- test_core_lib ---
+echo [1/3] Building test_core_lib.exe ...
+g++ %FLAGS% %INCLUDES% ^
+    tests\test_core_lib.cpp ^
+    src\core\fft_utils.cpp ^
+    src\core\audio_buffer.cpp ^
+    src\core\feature_extractor.cpp ^
+    src\core\gcc_phat_localizer.cpp ^
+    src\core\distance_estimator.cpp ^
+    src\core\threat_tracker.cpp ^
+    -o build\test_core_lib.exe ^
+    %LIBS% -lws2_32
+if %ERRORLEVEL% NEQ 0 (
+    echo [FAIL] test_core_lib build failed.
+    exit /b 1
+)
+
+REM --- extract_mel_cpp ---
+echo [2/3] Building extract_mel_cpp.exe ...
+g++ %FLAGS% %INCLUDES% ^
+    tests\extract_mel_cpp.cpp ^
+    src\core\fft_utils.cpp ^
+    src\core\feature_extractor.cpp ^
+    src\io\wav_file_source.cpp ^
+    -o build\extract_mel_cpp.exe ^
+    %LIBS%
+if %ERRORLEVEL% NEQ 0 (
+    echo [FAIL] extract_mel_cpp build failed.
+    exit /b 1
+)
+
+REM --- test_classifier_cpp ---
+echo [3/3] Building test_classifier_cpp.exe ...
+g++ %FLAGS% %INCLUDES% ^
+    tests\test_classifier_cpp.cpp ^
+    src\core\fft_utils.cpp ^
+    src\core\feature_extractor.cpp ^
+    src\core\gunshot_classifier.cpp ^
+    src\io\wav_file_source.cpp ^
+    -o build\test_classifier_cpp.exe ^
+    %LIBS% -D_stdcall=
+if %ERRORLEVEL% NEQ 0 (
+    echo [FAIL] test_classifier_cpp build failed.
+    exit /b 1
+)
+
+echo.
+echo [OK] All core tests built successfully in build\
+endlocal

src/drone-software/src/acoustic/build_demo.bat

@@ -0,0 +1,40 @@
+@echo off
+chcp 65001 >nul
+setlocal EnableDelayedExpansion
+
+echo ==========================================
+echo  Acoustic Offline Demo Build (Windows)echo ==========================================
+
+set SRC_ROOT=%~dp0
+set EIGEN=%SRC_ROOT%third_party\eigen-3.4.0
+set KISSFFT=%SRC_ROOT%third_party\kiss_fft
+set ONNX_INC=%SRC_ROOT%third_party\onnxruntime\include
+set ONNX_LIB=%SRC_ROOT%third_party\onnxruntime\lib\libonnxruntime.a
+
+set INCLUDES=-I%SRC_ROOT%include -I%EIGEN% -I%KISSFFT% -I%ONNX_INC%
+set FLAGS=-std=c++17 -O2 -D_USE_MATH_DEFINES -Wa,-mbig-obj
+set LIBS=%ONNX_LIB%
+
+if not exist build mkdir build
+
+echo [1/1] Building demo_offline.exe (simplified, no yaml-cpp dependency) ...
+g++ %FLAGS% %INCLUDES% ^
+    tests\demo_offline.cpp ^
+    src\core\fft_utils.cpp ^
+    src\core\feature_extractor.cpp ^
+    src\core\distance_estimator.cpp ^
+    src\core\gunshot_classifier.cpp ^
+    src\io\wav_file_source.cpp ^
+    -o build\demo_offline.exe ^
+    %LIBS% -D_stdcall=
+if %ERRORLEVEL% NEQ 0 (
+    echo [FAIL] demo_offline build failed.
+    exit /b 1
+)
+
+echo.
+echo [OK] demo_offline.exe built successfully in build\
+echo.
+echo Usage: build\demo_offline.exe dataset\binary\val\ambient\xxx.wav
+echo        build\demo_offline.exe dataset\binary\val\threat\xxx.wav
+endlocal

src/drone-software/src/acoustic/config/acoustic_params.yaml

@@ -0,0 +1,74 @@
+# 声源分析模块默认配置
+# 本文件由 acoustic_node 通过 ros::param 或 Pipeline 直接加载
+
+# ── 音频参数 ───────────────────────────────
+audio:
+  sample_rate: 16000
+  chunk_duration: 2.0        # 分析窗口长度 (秒)
+  hop_duration: 0.5          # 步进 (秒)
+  n_channels: 4              # 麦克风数量
+
+# ── 音频源选择 ──────────────────────────────
+# [TEMP] 临时方案: 手机麦克风单通道测试
+# [FINAL] 最终方案: 麦克风阵列多通道定位
+# 可选值: "mic_array" (最终), "mobile_phone" (临时), "wav_file" (离线测试)
+source:
+  type: "mic_array"          # [FINAL] 最终方案：4 通道麦克风阵列
+  # 临时方案参数 (手机音频)
+  mobile_phone_topic: "/mobile_phone/audio"
+  mobile_phone_timeout: 10.0  # 等待连接超时 (秒)
+  # 离线测试参数
+  wav_file_path: ""           # 若 type="wav_file"，填写 WAV 路径
+
+# ── 麦克风阵列几何 (单位: 米) ──────────────
+# layout 可选: cross, linear, circular, custom
+# 使用 custom 时，需要填写 positions 数组 [x, y, z]
+# [TEMP] 临时方案（手机单通道）：num_mics=1, layout 任意
+# [FINAL] 最终方案（4 通道阵列）：num_mics=4, layout=cross
+mic_array:
+  num_mics: 4              # [FINAL] 4 通道十字阵列
+  layout: "cross"          # 单通道时此值被忽略
+  spacing: 0.15
+  positions:
+    - [0.0,   0.15, 0.0]    # Mic 1 (前)
+    - [0.15,  0.0,  0.0]    # Mic 2 (右)
+    - [0.0,  -0.15, 0.0]    # Mic 3 (后)
+    - [-0.15, 0.0,  0.0]    # Mic 4 (左)
+
+# ── 特征提取 ────────────────────────────────
+features:
+  n_mels: 64
+  n_fft: 2048
+  hop_length: 512
+  f_min: 0.0
+  f_max: 8000.0
+  preemphasis: 0.97
+
+# ── 分类器 ──────────────────────────────────
+classifier:
+  model_path: "$(find acoustic_analyzer)/models/gunshot_classifier.onnx"
+  label_map_path: "$(find acoustic_analyzer)/models/label_map.json"
+  threshold: 0.7
+  smoothing_window: 3
+
+# ── 定位 ────────────────────────────────────
+localization:
+  algorithm: "gcc_phat"
+  max_tdoa: 0.00044          # 最大时延 (0.15m / 343m/s)
+  interpolation_factor: 4    # 互相关插值倍数
+
+# ── 距离估计 ─────────────────────────────────
+distance:
+  reference_spl:
+    threat: 150              # [FINAL] 二分类模型统一使用 threat 参考 SPL
+    gunshot: 150             # 兼容 4 类模型
+    artillery: 180
+    explosion: 170
+  attenuation_alpha: 0.6
+  kalman_process_noise: 0.01
+  kalman_measurement_noise: 5.0
+
+# ── 输出 ────────────────────────────────────
+output:
+  publish_rate: 10           # 最大输出频率 (Hz)
+  min_event_interval: 0.3    # 同一威胁最小上报间隔 (秒)