添加搜救模型

Models/SimulationCommon/EquationHelper.cs

@@ -1,12 +1,6 @@
 using BHJD.DEMdll.Entity;
 using BHJD.DEMdll.Public;
-using System;
-using System.Collections.Generic;
-using System.Data;
 using System.Diagnostics;
-using System.Linq;
-using System.Text;
-using System.Threading.Tasks;
 using static BHJD.DEMdll.Public.IHttpHelper;
 using Unity.Mathematics;
 using Newtonsoft.Json;
@@ -30,6 +24,104 @@ namespace MuShiApp
             m_HttpHelper = new HttpHelper();
             //this._db = db;
             //m_HttpHelper = Factory.Load();
+        }
+         /// <summary>
+        /// 
+        /// </summary>
+        /// <param name="aircraftPoint">飞机坐标</param>
+        /// <param name="targetPoint">目标点坐标</param>
+        /// <param name="course">航向（度数）</param>
+        /// <param name="currentDate">（当前日期）</param>
+        /// <param name="windspeed">风速（km/h）</param>
+        /// <param name="wavehigh">浪高（m）</param>
+        /// <param name="targetpye">遇险目标类型</param>
+        /// <param name="typee">救援场景类型</param>
+        /// <returns></returns>
+        public double getProbability(double3 aircraftPoint, double3 targetPoint, double course,double windspeed, double wavehigh, string targetpye, string type)
+        {
+            try
+            {
+                double Cw = 1;
+                
+                if (windspeed > 46 && wavehigh > 1.5)
+                {
+                    if (targetpye == "落水人员")
+                    {
+                        Cw = 0.25;
+                    }
+                    else
+                    {
+                        Cw = 0.6;
+                    }
+                }
+                else if (28 < windspeed && windspeed < 46 && 1 < wavehigh && wavehigh < 1.5)
+                {
+                    if (targetpye == "船")
+                    {
+                        Cw = 0.5;
+                    }
+                    else
+                    {
+                        Cw = 0.9;
+                    }
+                }
+                else if (0 < windspeed && windspeed < 28 && 0 < wavehigh && wavehigh < 1)
+                {
+                    Cw = 1;
+                }
+                double Cv = 1;
+                
+                System.Random ran = new System.Random();
+                double x = getx(aircraftPoint, targetPoint, course);
+                
+                double V = getVisibility(getCityName(targetPoint.x, targetPoint.y), DateTime.Now.ToString("yyyy-MM-dd HH"));
+                
+                
+                if (V < 6)
+                {
+                    Cv = 0.4;
+                }
+                else if (6 < V && V < 9)
+                {
+                    Cv = 0.6;
+                }
+                else if (9 < V && V < 19)
+                {
+                    Cv = 0.8;
+                }
+                else if (19 < V && V < 28)
+                {
+                    Cv = 0.9;
+                }
+                else if (37 < V)
+                {
+                    Cv = 1;
+                }
+
+              
+                double pt = this.nextDouble(ran, 0.800, 0.999, 8);
+                double pb = getPb(targetPoint.x, targetPoint.y);
+                double D = 0;
+                double C = Math.Round((double)((pt - pb) / pt), 8);
+                if(type =="陆地")
+                {
+                    D = (V / 3.912) * Math.Log10(C / 0.02);
+                }
+                else if(type =="海上")
+                {
+                    if(targetpye == "船")
+                    { D = 31*Cv*Cw; }
+                    else if(targetpye == "落水人员")
+                    { D =0.2 * Cv * Cw; }
+                }
+                double px = 1 - Math.Exp((-1 * D * D) / (4 * Math.PI * x * x));
+                return px;
+            }
+            catch (Exception ex)
+            {
+                Debug.Print("error!!!!!getProbability:" + ex.ToString());
+                return -1;
+            }
         }
         /// <summary>
         /// 
@@ -39,7 +131,7 @@ namespace MuShiApp
         /// <param name="course">航向（度数）</param>
         /// <param name="currentDate">（当前日期）</param>
         /// <returns></returns>
-        public double getProbability(double3 aircraftPoint, double3 targetPoint, double course, string currentDate)
+        public double getProbability(double3 aircraftPoint, double3 targetPoint, double course)
         {
             try
             {

Models/SimulationCommon/FlightPlanEditor.cs

@@ -41,6 +41,17 @@ public class FlightPlanEditor
         flightPlanEditor.firepoint = firepoint;
         return flightPlanEditor;
     }
+    
+    public static FlightPlanEditor Create(AircraftParameter aircraftparameter, CityWeather cityweather, Base originbase,  MissionPoint missionpoint, TargetPoint[] targetPoints)
+    {
+        FlightPlanEditor flightPlanEditor = new FlightPlanEditor();
+        flightPlanEditor.aircraftparameter = aircraftparameter;
+        flightPlanEditor.cityweather = cityweather;
+        flightPlanEditor.originbase = originbase;
+        flightPlanEditor.missionpoint = missionpoint;
+        flightPlanEditor.targetpoint = targetPoints;
+        return flightPlanEditor;
+    }
 }
 
 

SimulationServer/Entity/AircraftSJ.cs

@@ -1,13 +1,19 @@
-using BHJD.DEMdll.Public;
-using KYFramework;
+using KYFramework;
 using Model;
+using MuShiApp;
+using SimulationCommon;
+using SimulationSingleServer.Utils;
+using Unity.Mathematics;
+using Define = SimulationServer.Utils.Define;
+using Random = System.Random;
 
 namespace SimulationServer;
 
 public class AircraftSJ : AircraftEntity
 {
-    public MissionEndPoint MissionEndPoint;
-    
+    public bool IsOver;
+
+    private MissionEndPoint MissionEndPoint;
     private CurrentLocation currentLocation;
     private double temptime = 0;
     private double probability = 0;
@@ -15,86 +21,132 @@ public class AircraftSJ : AircraftEntity
     private Random random = new Random();
     private bool isseefire = false;
     private int fireIndex = -1; // 记录发现火点的位置
-    public bool IsOver;
+    public EquationHelper helper;
+
     public override void Start()
     {
-        FXJHGenerate.FromStartToMission(FlightPlanEditor, ref TurningPoints);//生成从起点到任务段起点的航路点
+        //TODO 计算 AirRoute[]
+
+        float[] longitudeArray = null;//：经度一维数组；
+        float[] latitudeArray = null;//：纬度一维数组；
+        float[][][] u10Arrayu = null;// 10Array：风的10米U分量三维数组_24（时间）*7（纬度）*10（经度）；
+        
+        float[][][] v10Array = null;// v10Array：风的10米V分量三维数组_24（时间）*7（纬度）*10（经度）；
+        
+        float[][][] p140208Array = null;//：海洋上空的自由对流速度_24（时间）*7（纬度）*10（经度）；
+        float[][][] mwdArray = null;//：平均波向_24（时间）*7（纬度）*10（经度）；
+        
+        WeatherResponse weatherResponse = new WeatherResponse() { };
+        
+        
+        
+        //
+        
+        
         
+        
+        
+
+        FXJHGenerate.FromStartToMission(FlightPlanEditor, ref TurningPoints); //生成从起点到任务段起点的航路点
+
+        FXJHGenerate.SeaSouJiu(FlightPlanEditor, ref TurningPoints);
+
         FXJHGenerate.FXJHTPDiedai(FlightPlanEditor, ref TurningPoints, Velocitys, FuelConsumptions);
-    }
 
-    public override void Update(double time)
-    {
-        if (!isseefire)
+        Task.Run(() =>
         {
-            (currentLocation, _) = FXJHGenerate.GetCurrentLocation(TurningPoints, FlightPlanEditor, temptime);// 获取飞机当前位置
-            //*******
-            probability = EquationHelper.getProbability(); // 计算发现概率，需要其他模型输入
+            bool isseefire = false;
+            double temptime = 0; // 自增时间，每次增加1s
+            CurrentLocation currentLocation = new CurrentLocation();
+            double probability = 0;
+            double finalProbability = 1.0;
+            Random random = new Random();
+            int fireIndex = -1; // 记录发现火点的位置
 
-            finalProbability *= (1 - probability);
-            double randomValue = random.NextDouble(); // 生成随机数比较概率
-            if (randomValue < (1 - finalProbability))
+            do
             {
-                isseefire = true;
-                fireIndex = currentLocation.Currentsegnum; // 记录当前航路点位置
-                IsOver = true;
-            }
-            else
+                (currentLocation, _) =
+                    FXJHGenerate.GetCurrentLocation(TurningPoints, FlightPlanEditor, temptime); // 获取飞机当前位置
+                double3 aricraftPoint = new double3(currentLocation.CurrentLon, currentLocation.CurrentLat,
+                    currentLocation.CurrentHei);
+
+                double3 targetPoint = new double3(FlightPlanEditor.targetpoint[0].TargetPointLongitude,
+                    FlightPlanEditor.targetpoint[0].TargetPointLatitude,
+                    FlightPlanEditor.targetpoint[0].TargetPointHeight);
+
+                //*******
+                probability = helper.getProbability(aricraftPoint, targetPoint, currentLocation.CurrentCourse,
+                    Define.WIND, 1, "落水人员", "陆地"); // 计算发现概率，需要其他模型输入 // 计算发现概率，需要其他模型输入
+
+                finalProbability *= (1 - probability);
+                    
+                Console.WriteLine($"海上任务： {Name} 当前时间：{temptime}，当前位置：{currentLocation.CurrentLon},{currentLocation.CurrentLat},{currentLocation.CurrentHei}，概率：{probability}，最终概率：{1 -finalProbability}，是否看到火点：{isseefire}");
+                
+                double randomValue = random.NextDouble(); // 生成随机数比较概率
+                if (randomValue < (1 - finalProbability))
+                {
+                    isseefire = true;
+                    fireIndex = currentLocation.Currentsegnum; // 记录当前航路点位置
+                    IsOver = true;
+                }
+                else
+                {
+                    isseefire = false;
+                }
+
+                if (temptime >= 7200) IsOver = true;
+
+                temptime += 1;
+            } while (!isseefire && IsOver == false);
+
+            finalProbability = 1 - finalProbability;
+
+            if (fireIndex != -1)
             {
-                isseefire = false;
+                // 删除目标点位置开始的所有后续航路点
+                TurningPoints.RemoveRange(fireIndex + 1, TurningPoints.Count - fireIndex - 1);
+
+
+                MissionPoint missionPoint = new MissionPoint
+                {
+                    MissionPointLongitude = currentLocation.CurrentLon,
+                    MissionPointLatitude = currentLocation.CurrentLat,
+                    MissionPointHeight = currentLocation.CurrentHei
+                };
+                FXJHGenerate.SeaSouJiu2(FlightPlanEditor, missionPoint, ref TurningPoints);
+
+                //*********
+                //更新任务终点
+                //发现的目标坐标，需要其他模型输入
+                FXJHGenerate.FromMissionToEnd(FlightPlanEditor, MissionEndPoint, ref TurningPoints);
             }
-            temptime += 1;
-        }
-      
+
+            FXJHGenerate.FXJHTPDiedai(FlightPlanEditor, ref TurningPoints, Velocitys, FuelConsumptions);
+            End();
+        });
     }
-    
+
+
     public override void End()
     {
-        finalProbability = 1 - finalProbability;
-        if (fireIndex != -1)
-        {
-            // 删除目标点位置开始的所有后续航路点
-            TurningPoints.RemoveRange(fireIndex + 1, TurningPoints.Count - fireIndex - 1);
 
-            
-            MissionPoint missionPoint = new MissionPoint
-            {
-                MissionPointLongitude = currentLocation.CurrentLon,
-                MissionPointLatitude = currentLocation.CurrentLat,
-                MissionPointHeight = currentLocation.CurrentHei
-            };
-                
-            FXJHGenerate.SeaSouJiu2(FlightPlanEditor, missionPoint, ref TurningPoints);
-        }
-        
-        
-        //*********
-        //更新任务终点
-        FXJHGenerate.FromMissionToEnd(FlightPlanEditor, MissionEndPoint, ref TurningPoints);
-                
-        FXJHGenerate.FXJHTPDiedai(FlightPlanEditor, ref TurningPoints, Velocitys, Velocitys);
-        
-        
-        for (int i = 0; i < currentLocation.Currentsegnum+2; i++)
+        for (int i = 0; i < currentLocation.Currentsegnum + 2; i++)
         {
             EffMisTime += TurningPoints[i].SegmentFlightTime;
         }
-        
-        TotalFuelConsumption = TurningPoints[0].RemainingFuel - TurningPoints[currentLocation.Currentsegnum+1].RemainingFuel;
-        
+
+        TotalFuelConsumption = TurningPoints[0].RemainingFuel -
+                               TurningPoints[currentLocation.Currentsegnum + 1].RemainingFuel;
     }
 }
 
-
-
-
 [ObjectSystem]
-public class AircraftSJAwakeSystem : AwakeSystem<AircraftSJ,FlightPlanEditor>
+public class AircraftSJAwakeSystem : AwakeSystem<AircraftSJ, FlightPlanEditor>
 {
-    public override void Awake(AircraftSJ self,FlightPlanEditor flightPlanEditor)
+    public override void Awake(AircraftSJ self, FlightPlanEditor flightPlanEditor)
     {
         self.FlightPlanEditor = flightPlanEditor;
-        
+        self.helper = new EquationHelper(HttpInterface.baseUrl);
         self.Awake();
     }
 }

SimulationServer/Entity/AircraftXH.cs

@@ -40,19 +40,44 @@ public class AircraftXH : Entity
         
         FXJHGenerate.XunHu(FlightPlanEditor,ref turningPoints);//生成巡航航路点
         FXJHGenerate.FXJHTPDiedai(FlightPlanEditor,ref turningPoints, Velocitys,FuelConsumptions);//生成从任务段终点到结束点的航路点
-    }
-    public void End()
-    {
-        for (int i = 0; i < currentLocation.Currentsegnum + 2; i++)
-        {
-            TotalTime += turningPoints[i].SegmentFlightTime;
-        }
-        TotalFuelConsumption = turningPoints[0].RemainingFuel - turningPoints[currentLocation.Currentsegnum + 1].RemainingFuel;
-    }
-    public void Update()
-    {
-        if (isOver)
+
+        Task.Run(() =>
         {
+            do
+            {
+                var location = FXJHGenerate.GetCurrentLocation(turningPoints, FlightPlanEditor, temptime);
+                currentLocation = location.Item1;
+            
+                double3 aricraftPoint = new double3(currentLocation.CurrentLon,currentLocation.CurrentLat,currentLocation.CurrentHei);
+         
+                double3 targetPoint = new double3(FlightPlanEditor.firepoint[0].FirePointLongitude,FlightPlanEditor.firepoint[0].FirePointLatitude, FlightPlanEditor.firepoint[0].FirePointHeight);
+            
+                probability = helper.getProbability(aricraftPoint,targetPoint,currentLocation.CurrentCourse);
+           
+                finalProbability *= (1 - probability);
+            
+                Console.WriteLine($"巡护任务： {Name} 当前时间：{temptime}，当前位置：{currentLocation.CurrentLon},{currentLocation.CurrentLat},{currentLocation.CurrentHei}，概率：{probability}，最终概率：{1 -finalProbability}，是否看到火点：{isSeeFire}");
+                var randomValue = random.NextDouble();
+            
+                if (randomValue < (1 - finalProbability))
+                {
+                    isSeeFire = true;
+                    isOver = true;
+                    Log.Info("发现火情");
+                }
+                else
+                {
+                    isSeeFire = false;
+                }
+            
+                if (temptime >= 7200)
+                {
+                    isOver = true;
+                }
+            
+                temptime++;
+            } while (!isSeeFire && isOver==false);
+            
             finalProbability = 1 - finalProbability;
         
             FXJHGenerate.FromMissionToEnd(FlightPlanEditor, new MissionEndPoint
@@ -64,44 +89,71 @@ public class AircraftXH : Entity
             
             FXJHGenerate.FXJHTPDiedai(FlightPlanEditor,ref turningPoints, Velocitys, FuelConsumptions);
             End();
-            isOver = false;
-            mission.EndMission();
-            return;
-        }
-        if (!isSeeFire) // 发现火情
+        });
+
+
+    }
+    public void End()
+    {
+        for (int i = 0; i < currentLocation.Currentsegnum + 2; i++)
         {
-            var location = FXJHGenerate.GetCurrentLocation(turningPoints, FlightPlanEditor, temptime);
-            currentLocation = location.Item1;
-            
-            double3 aricraftPoint = new double3(currentLocation.CurrentLon,currentLocation.CurrentLat,currentLocation.CurrentHei);
-         
-            double3 targetPoint = new double3(FlightPlanEditor.firepoint[0].FirePointLongitude,FlightPlanEditor.firepoint[0].FirePointLatitude, FlightPlanEditor.firepoint[0].FirePointHeight);
-            
-            probability = helper.getProbability(aricraftPoint,targetPoint,currentLocation.CurrentCourse,"");
-           
-            finalProbability *= (1 - probability);
-            
-            Console.WriteLine($"巡护任务： {Name} 当前时间：{temptime}，当前位置：{currentLocation.CurrentLon},{currentLocation.CurrentLat},{currentLocation.CurrentHei}，概率：{probability}，最终概率：{1 -finalProbability}，是否看到火点：{isSeeFire}");
-            var randomValue = random.NextDouble();
-            
-            if (randomValue < (1 - finalProbability))
-            {
-                isSeeFire = true;
-                isOver = true;
-                Log.Info("发现火情");
-            }
-            else
-            {
-                isSeeFire = false;
-            }
-            
-            if (temptime >= 7200)
-            {
-                isOver = true;
-            }
-            
-            temptime++;
+            TotalTime += turningPoints[i].SegmentFlightTime;
         }
+        TotalFuelConsumption = turningPoints[0].RemainingFuel - turningPoints[currentLocation.Currentsegnum + 1].RemainingFuel;
+    }
+    public void Update()
+    {
+        // if (isOver)
+        // {
+        //     finalProbability = 1 - finalProbability;
+        //
+        //     FXJHGenerate.FromMissionToEnd(FlightPlanEditor, new MissionEndPoint
+        //     {
+        //         MissionEndPointLongitude = currentLocation.CurrentLon,
+        //         MissionEndPointLatitude = currentLocation.CurrentLat,
+        //         MissionEndPointHeight = currentLocation.CurrentHei
+        //     }, ref turningPoints);
+        //     
+        //     FXJHGenerate.FXJHTPDiedai(FlightPlanEditor,ref turningPoints, Velocitys, FuelConsumptions);
+        //     End();
+        //     isOver = false;
+        //     mission.EndMission();
+        //     return;
+        // }
+        // if (!isSeeFire) // 发现火情
+        // {
+        //     var location = FXJHGenerate.GetCurrentLocation(turningPoints, FlightPlanEditor, temptime);
+        //     currentLocation = location.Item1;
+        //     
+        //     double3 aricraftPoint = new double3(currentLocation.CurrentLon,currentLocation.CurrentLat,currentLocation.CurrentHei);
+        //  
+        //     double3 targetPoint = new double3(FlightPlanEditor.firepoint[0].FirePointLongitude,FlightPlanEditor.firepoint[0].FirePointLatitude, FlightPlanEditor.firepoint[0].FirePointHeight);
+        //     
+        //     probability = helper.getProbability(aricraftPoint,targetPoint,currentLocation.CurrentCourse);
+        //    
+        //     finalProbability *= (1 - probability);
+        //     
+        //     Console.WriteLine($"巡护任务： {Name} 当前时间：{temptime}，当前位置：{currentLocation.CurrentLon},{currentLocation.CurrentLat},{currentLocation.CurrentHei}，概率：{probability}，最终概率：{1 -finalProbability}，是否看到火点：{isSeeFire}");
+        //     var randomValue = random.NextDouble();
+        //     
+        //     if (randomValue < (1 - finalProbability))
+        //     {
+        //         isSeeFire = true;
+        //         isOver = true;
+        //         Log.Info("发现火情");
+        //     }
+        //     else
+        //     {
+        //         isSeeFire = false;
+        //     }
+        //     
+        //     if (temptime >= 7200)
+        //     {
+        //         isOver = true;
+        //     }
+        //     
+        //     temptime++;
+        // }
     }
 }
 

SimulationServer/EventHandler/CreateTaskEventHandler.cs

@@ -229,8 +229,9 @@ public class CreateSeaSJEventHandler : AEvent<CreateSeaSJTask>
             //基地
             var originBase = config.EditorConfig.bases.Find(b => b.BaseId == aircraftParameter.AirportId);
             
+            TargetPoint targetPoint = config.EditorConfig.targetPoints.Find( t => t.TargetPointId == config.SeaSJTask.TargetPointId);
             //创建飞行计划编辑器
-            var flightPlanEditor = FlightPlanEditor.Create(aircraftParameter, config.EditorConfig.cityWeather,originBase,config.AirRoutes,config.EndPoint, new FirePoint[0]);
+            var flightPlanEditor = FlightPlanEditor.Create(aircraftParameter, config.EditorConfig.cityWeather,originBase,config.EndPoint,  new TargetPoint[]{ targetPoint });
             
             AircraftSJ aircraft = ComponentFactory.Create<AircraftSJ, FlightPlanEditor>( flightPlanEditor);
             aircraft.TaskReadyTime = config.SeaSJTask.missionInformation.TakeoffPreparationTime;