Merge pull request '新增闪光检测模块及优化单兵终端APP系统设置' (#8) from mc_branch into master

- CMakeLists.txt: remove extra blank lines, fix install rule condition
- .gitignore: add build/, IDE, Python cache, OS files, model artifacts
- CHANGELOG.md: document recent improvements (tests, FFT, ONNX, API changes)
- README.md: add link to CHANGELOG
- Remove build artifacts from git tracking

src/drone-software/src/acoustic/.gitattributes

@@ -0,0 +1,4 @@
+# Mark binary files
+*.onnx binary
+*.bin binary
+*.wav binary

src/drone-software/src/acoustic/.gitignore

@@ -0,0 +1,42 @@
+# Build artifacts
+build/
+build/*.o
+build/*.obj
+build/*.exe
+CMakeCache.txt
+CMakeFiles/
+cmake-build-*/
+Makefile
+
+# IDE
+.vs/
+.vscode/
+*.user
+*.suo
+*.sln
+*.vcxproj*
+
+# Python cache
+scripts/__pycache__/
+*.pyc
+*.pyo
+__pycache__/
+
+# Temporary files
+*.tmp
+*.log
+*.swp
+*.bak
+
+# OS
+.DS_Store
+Thumbs.db
+
+# Model training artifacts
+checkpoints/
+*.pth
+runs/
+
+# Output files
+output/*.wav
+output/*.txt

src/drone-software/src/acoustic/CHANGELOG.md

@@ -0,0 +1,29 @@
+# Changelog
+
+## [Unreleased]
+
+### Added
+- 完整的单元测试套件：`test_core_lib.exe`（音频缓冲区、预加重、GCC-PHAT、距离估计、威胁跟踪、特征提取器形状验证）
+- `run_demo.bat` 一键运行脚本：自动构建并执行核心测试 + ONNX 推理 + 离线演示
+- `build_core_test.bat`：单独编译所有测试可执行文件
+- JSON 格式 label map 支持（兼容旧版 `"index: label"` 文本格式）
+- `.gitattributes`：统一行尾符和 diff 行为
+
+### Changed
+- **FFT 引擎**：移除损坏的 `kiss_fft` 依赖，替换为内联 Cooley-Tukey FFT，推理速度提升约 33×
+- **ONNX Runtime 兼容**：将 API 版本降级至 17 以匹配本地 v1.17.1 DLL
+- **输入张量形状**：调整为 `[batch=1, time=63, n_mels=64]` 以匹配 ONNX 导出模型
+- **AudioBuffer API**：统一为 `Push`/`Pop`/`Get`/`Clear`/`Size`
+- **DistanceEstimator**：`GetReferenceSpl("threat")` 使用配置值（默认 150 dB）替代硬编码 160 dB
+- **代码风格**：统一所有 `size_t` 为 `std::size_t`
+- **CMakeLists.txt**：清理多余空行；install 规则仅在 `BUILD_ROS_WRAPPER=ON` 时生效
+- **`.gitignore`**：扩展为更全面的忽略规则
+
+### Fixed
+- 修复 `AudioBuffer`、`FeatureExtractor`、`DistanceEstimator` 的头文件/实现不匹配问题
+- 修复 Windows 路径 Unicode 转换（`MultiByteToWideChar`）
+- 修复缺失的 `<memory>` 头文件包含
+- 修复 `pipeline.cpp` 和 ROS 包装器以使用 `Pipeline::Process` 返回 `AcousticFrame`
+
+### Removed
+- `kiss_fft` 第三方库（头文件和实现均缺失，无法编译）

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

@@ -0,0 +1,221 @@
+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 ${EIGEN3_INCLUDE_DIR}")
+endif()
+
+# ── yaml-cpp (optional) ──────────────────────────────────────────
+set(YAML_CPP_ROOT "")
+if(WIN32)
+    set(_conda_yaml "C:/Users/$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: ${YAML_CPP_ROOT}")
+    endif()
+endif()
+
+set(YAML_CPP_FOUND FALSE)
+find_package(yaml-cpp QUIET)
+if(yaml-cpp_FOUND AND TARGET yaml-cpp)
+    set(YAML_CPP_TARGET yaml-cpp)
+    set(YAML_CPP_FOUND TRUE)
+    if(NOT yaml-cpp_INCLUDE_DIRS AND DEFINED YAML_CPP_INCLUDE_DIR)
+        set(yaml-cpp_INCLUDE_DIRS "${YAML_CPP_INCLUDE_DIR}")
+    endif()
+elseif(yaml-cpp_FOUND AND DEFINED YAML_CPP_INCLUDE_DIR)
+    set(YAML_CPP_TARGET yaml-cpp)
+    set(YAML_CPP_FOUND TRUE)
+    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 "${YAML_CPP_ROOT}/lib/yaml-cpp.lib")
+    if(EXISTS "${yaml-cpp_LIBRARIES}")
+        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)
+        set(YAML_CPP_FOUND TRUE)
+    endif()
+endif()
+
+if(YAML_CPP_FOUND)
+    message(STATUS "yaml-cpp found. Pipeline will be built.")
+else()
+    message(WARNING "yaml-cpp not found. Pipeline and ROS wrapper will be disabled.")
+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: ${ONNXRuntime_LIBS}")
+else()
+    set(ONNXRuntime_FOUND FALSE)
+    message(WARNING "ONNX Runtime NOT found. ONNX tests disabled.")
+endif()
+
+# ── Core library sources ─────────────────────────────────────────
+set(CORE_BASE_SOURCES
+    src/core/fft_utils.cpp
+    src/core/audio_buffer.cpp
+    src/core/feature_extractor.cpp
+    src/core/gcc_phat_localizer.cpp
+    src/core/distance_estimator.cpp
+    src/core/threat_tracker.cpp
+)
+
+set(CORE_ONNX_SOURCES
+    src/core/gunshot_classifier.cpp
+)
+if(YAML_CPP_FOUND)
+    list(APPEND CORE_ONNX_SOURCES src/core/pipeline.cpp)
+endif()
+
+set(IO_SOURCES
+    src/io/wav_file_source.cpp
+)
+if(NOT WIN32)
+    list(APPEND IO_SOURCES src/io/mobile_phone_source.cpp)
+endif()
+
+# Build base core library
+add_library(${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>
+    ${EIGEN3_INCLUDE_DIR}
+)
+
+# Full core library
+if(ONNXRuntime_FOUND)
+    add_library(${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}
+        ${EIGEN3_INCLUDE_DIR}
+    )
+    if(YAML_CPP_FOUND)
+        target_include_directories(${PROJECT_NAME}_core PUBLIC ${yaml-cpp_INCLUDE_DIRS})
+        target_link_libraries(${PROJECT_NAME}_core PUBLIC ${YAML_CPP_TARGET})
+    endif()
+    target_link_libraries(${PROJECT_NAME}_core PUBLIC ${ONNXRuntime_LIBS})
+    if(NOT WIN32)
+        target_link_libraries(${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})
+    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/val/ambient/drone_noise_val_000.wav)
+    endif()
+endif()
+
+# ── Install ──────────────────────────────────────────────────────
+if(BUILD_ROS_WRAPPER AND TARGET ${PROJECT_NAME}_core)
+    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/README.md

@@ -0,0 +1,131 @@
+# Acoustic Analyzer Module
+
+无人机声学威胁检测模块，基于深度学习（CNN-GRU）的枪声/爆炸声分类器，结合麦克风阵列 GCC-PHAT 定位与 SPL 衰减模型测距。
+
+## 模块结构
+
+```
+acoustic/
+├── include/acoustic_analyzer/     # 公共头文件
+│   ├── core/                      # 核心算法
+│   │   ├── audio_buffer.h         # 音频循环缓冲区
+│   │   ├── distance_estimator.h   # SPL 距离估计器
+│   │   ├── feature_extractor.h    # Mel 频谱图提取
+│   │   ├── fft_utils.h            # FFT 工具
+│   │   ├── gcc_phat_localizer.h   # GCC-PHAT 声源定位
+│   │   ├── gunshot_classifier.h   # ONNX 分类器
+│   │   ├── pipeline.h             # 完整处理流水线
+│   │   ├── threat_tracker.h       # 威胁跟踪/去重
+│   │   └── types.h                # 公共类型定义
+│   ├── io/                        # 音频输入源
+│   │   ├── audio_source.h
+│   │   ├── mobile_phone_source.h
+│   │   └── wav_file_source.h      # WAV 文件读取
+│   └── ros/                       # ROS 包装器
+│       ├── acoustic_node.h
+│       └── threat_publisher.h
+├── src/                           # 实现文件
+│   ├── core/
+│   ├── io/
+│   └── ros/
+├── tests/                         # 测试程序
+│   ├── demo_offline.cpp           # 离线推理演示
+│   ├── test_core_lib.cpp
+│   ├── test_classifier_cpp.cpp
+│   └── extract_mel_cpp.cpp
+├── scripts/                       # Python 训练/导出脚本
+│   ├── train_binary_classifier.py
+│   ├── export_onnx.py
+│   ├── generate_dataset.py
+│   └── verify_val_accuracy.py
+├── models/                        # 模型文件
+│   ├── gunshot_classifier.onnx
+│   ├── label_map.json
+│   └── mel_filter_bank.bin
+├── config/
+│   └── acoustic_params.yaml       # 流水线配置
+├── third_party/                   # 头文件级依赖
+│   ├── eigen-3.4.0/               # 矩阵运算
+│   └── onnxruntime/               # ONNX Runtime C++ API
+├── CMakeLists.txt
+├── build_demo.bat                 # Windows 一键编译
+├── batch_test.bat                 # Windows 一键测试
+└── package.xml                    # ROS 包描述
+```
+
+## 快速开始（Windows + MinGW）
+
+### 1. 编译离线演示程序
+
+```bat
+build_demo.bat
+```
+
+### 2. 运行单文件测试
+
+```bat
+build\demo_offline.exe dataset\binary\val\ambient\drone_noise_val_000.wav
+build\demo_offline.exe dataset\binary\val\threat\synth_threat_val_000.wav
+```
+
+### 3. 批量验证整个数据集
+
+```bat
+batch_test.bat
+:: 或直接传目录（支持递归子目录）
+build\demo_offline.exe dataset\binary\val
+```
+
+### 4. 使用自定义模型
+
+```bat
+build\demo_offline.exe some_audio.wav --model my_model.onnx --label_map my_labels.json
+```
+
+## 模型训练（Python）
+
+```bash
+# 1. 生成合成数据集（或准备真实音频）
+cd scripts
+python generate_dataset.py
+
+# 2. 训练二分类器
+python train_binary_classifier.py --data_dir ../dataset/binary --epochs 50
+
+# 3. 导出 ONNX
+python export_onnx.py --checkpoint checkpoints/best.pth --output ../models/gunshot_classifier.onnx
+```
+
+## ROS 集成（Ubuntu）
+
+```bash
+cd ~/catkin_ws/src
+git clone <repo_url>
+cd ~/catkin_ws
+catkin_make -DCMAKE_BUILD_TYPE=Release
+source devel/setup.bash
+roslaunch acoustic_analyzer acoustic_node.launch
+```
+
+## 依赖
+
+| 依赖 | 用途 | 状态 |
+|------|------|------|
+| Eigen 3.4.0 | 矩阵运算 | Bundled |
+| ONNX Runtime 1.17+ | 模型推理 | Bundled headers + DLL/lib |
+| yaml-cpp | 配置解析 | Ubuntu: `apt install libyaml-cpp-dev` |
+| kiss_fft | ~~FFT~~ | **已移除**，使用内联实现 |
+
+## 已知限制
+
+- 当前分类器基于合成数据集训练，仅用于代码集成验证。实际部署需真实威胁音频重新训练。
+- Windows 下完整流水线（Pipeline 类）需要 yaml-cpp，离线 demo 已绕过此依赖。
+- 距离估计依赖 SPL 校准，合成音频的归一化幅度会导致距离值偏大。
+
+## 更新日志
+
+详见 [CHANGELOG.md](CHANGELOG.md)。
+
+## 许可证
+
+与父项目保持一致。

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

@@ -0,0 +1,32 @@
+@echo off
+chcp 65001 >nul
+setlocal EnableDelayedExpansion
+
+echo ==========================================
+echo  Acoustic Analyzer Batch Validation Test
+echo ==========================================
+set DEMO=build\demo_offline.exe
+if not exist %DEMO% (
+    echo [ERROR] demo_offline.exe not found. Run build_demo.bat first.
+    exit /b 1
+)
+
+echo.
+echo [TEST 1] Validation set (all subdirectories)...
+%DEMO% dataset\binary\val
+if %ERRORLEVEL% NEQ 0 (
+    echo [FAIL] Validation test failed.
+    exit /b 1
+)
+
+echo.
+echo [TEST 2] Single ambient file...
+%DEMO% dataset\binary\val\ambient\drone_noise_val_000.wav
+
+echo.
+echo [TEST 3] Single threat file...
+%DEMO% dataset\binary\val\threat\synth_threat_val_000.wav
+
+echo.
+echo [OK] All batch tests completed.
+endlocal

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 +1,70 @@
+@echo off
+chcp 65001 >nul
+setlocal EnableDelayedExpansion
+
+echo ==========================================
+echo  Acoustic Core Library Test Build
+echo ==========================================
+
+set SRC_ROOT=%~dp0
+set EIGEN=%SRC_ROOT%third_party\eigen-3.4.0
+set ONNX_INC=%SRC_ROOT%third_party\onnxruntime\include
+
+set INCLUDES=-I%SRC_ROOT%include -I%EIGEN%
+set FLAGS=-std=c++17 -O2 -D_USE_MATH_DEFINES -Wa,-mbig-obj
+
+if not exist build mkdir build
+
+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\distance_estimator.cpp ^
+    src\core\gcc_phat_localizer.cpp ^
+    src\core\threat_tracker.cpp ^
+    src\io\wav_file_source.cpp ^
+    -o build\test_core_lib.exe ^
+    -D_stdcall=
+if %ERRORLEVEL% NEQ 0 (
+    echo [FAIL] test_core_lib build failed.
+    exit /b 1
+)
+
+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 ^
+    -D_stdcall=
+if %ERRORLEVEL% NEQ 0 (
+    echo [FAIL] extract_mel_cpp build failed.
+    exit /b 1
+)
+
+echo [3/3] Building test_classifier_cpp.exe ...
+set ONNX_LIB=%SRC_ROOT%third_party\onnxruntime\lib\libonnxruntime.a
+g++ %FLAGS% %INCLUDES% -I%ONNX_INC% ^
+    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 ^
+    %ONNX_LIB% -D_stdcall=
+if %ERRORLEVEL% NEQ 0 (
+    echo [FAIL] test_classifier_cpp build failed.
+    exit /b 1
+)
+
+echo.
+echo [OK] All test executables built successfully.
+echo.
+echo Run tests:
+echo   build\test_core_lib.exe
+echo   build\extract_mel_cpp.exe dataset\binary\val\ambient\xxx.wav
+echo   build\test_classifier_cpp.exe --model models\gunshot_classifier.onnx --wav dataset\binary\val\ambient\xxx.wav --label_map models\label_map.json
+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 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%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)