添加路上搜救任务部分脚本

Models/SimulationCommon/Contour.cs

@@ -0,0 +1,16 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace QuYuSaoMiao.Entity
+{
+    public class Contour
+    {
+        private string wkt { get; set; }
+        public double elev { get; set; }
+        public bool ifclosed { get; set; }
+        public List<double[]> lstPoints { get; set; }
+    }
+}

Models/SimulationCommon/ContourMsg.cs

@@ -0,0 +1,20 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace QuYuSaoMiao.Entity
+{
+    public class ContourMsg
+    {
+        public string msg { get; set; }
+        public int code { get; set; }
+
+        public List<Contour> lstContours { get; set; }
+
+        public string contourPath { get; set; }
+
+        public List<double> maxPoint{ get; set; }
+}
+}

Models/SimulationCommon/GeDianShengCheng1.cs

@@ -0,0 +1,771 @@
+
+using Unity.Mathematics;
+using System;
+using System.Collections.Generic;
+using System.Drawing;
+using System.Reflection.Metadata.Ecma335;
+using System.Runtime.ExceptionServices;
+using System.Runtime.InteropServices;
+using System.Security.Cryptography.X509Certificates;
+using System.Diagnostics.Eventing.Reader;
+using BHJD.DEMdll.Public;
+using System.Reflection;
+using Newtonsoft.Json;
+using QuYuSaoMiao.Entity;
+using static BHJD.DEMdll.Public.IHttpHelper;
+
+namespace QuYuSaoMiao
+{
+
+    public class GeDianShengCheng1
+
+    {
+        //public static DemHelper DemHelper()
+        // {
+        //    IDbHelper db = Factory.Load("10.130.100.5", "5432", "postgres", "postgres", "rescue_patrol_platform");
+        //     DemHelper ddemHelper = new DemHelper(db);
+        //     return ddemHelper;
+        // }
+        public static double[,] MaxMinPoly(List<double[]> poly)//多边形矩形边界
+        {
+            List<double> PolyLon = new List<double>();
+            List<double> PolyLat = new List<double>();
+            foreach (double[] element in poly)
+            {
+                PolyLon.Add(element[0]);
+                PolyLat.Add(element[1]);
+            }
+            double[,] MM1 = new double[2, 2];
+            MM1[0, 0] = PolyLon.Min();//经度最小（西界）
+            MM1[0, 1] = PolyLon.Max();//经度最大（东界）
+            MM1[1, 0] = PolyLat.Min();//纬度最小（南界）
+            MM1[1, 1] = PolyLat.Max();//纬度最大（北界）
+            return MM1;
+        }
+
+        public static bool isinpoly(double[] zuobiao, List<double[]> poly, DemHelper demHelper)//已经替换成在边界内算法
+        {
+            double[,] polyOut = MaxMinPoly(poly);
+            if (zuobiao[0] <= polyOut[0, 0] || zuobiao[0] >= polyOut[0, 1] || zuobiao[1] <= polyOut[1, 0] || zuobiao[1] >= polyOut[1, 1])
+            { return false; }
+            else
+            {
+                string polystring = "MULTIPOLYGON(((";
+                foreach (double[] element in poly)
+                {
+                    double e0 = element[0];
+                    double e1 = element[1];
+                    polystring = polystring + element[0] + " " + element[1] + ",";
+
+                }
+                polystring = polystring + poly[0][0] + " " + poly[0][1] + ")))";
+                string pointstring = "POINT (" + zuobiao[0] + " " + zuobiao[1] + ")";
+                // Console.WriteLine("isinpoly?");
+                //Console.WriteLine(pointstring+polystring);
+                string r1 = demHelper.doDetermine(pointstring, polystring);
+                // Console.WriteLine(r1);
+                //double[,] polyOut = MaxMinPoly(poly);
+                //if (zuobiao[0] <= polyOut[0, 0] || zuobiao[0] >= polyOut[0, 1] || zuobiao[1] <= polyOut[1, 0] || zuobiao[1] >= polyOut[1, 1])
+                // { return false; }
+                // else
+                //{
+                return (r1 == "True" ? true : false);
+                // }
+            }
+
+
+
+
+
+        }
+        //格点生成方法：输入前四个为经纬度上下限，数组为多边形，后两个是经纬度分辨率。输出0经，1纬，2高，3是否被侦察的【01】变量。
+        public static List<double[]> NPGenerate(double lonmin, double lonmax, double latmin, double latmax, List<double[]> juxing, double netscalelon, double netscalelat, DemHelper demHelper)
+
+        {
+            Console.WriteLine("格点生成");
+
+            List<double[]> netpoints = new List<double[]>();
+            for (double[] netpointprev = new double[3] { lonmin, latmax, 0 }; netpointprev[1] >= latmin; netpointprev[1] = netpointprev[1] - netscalelat)
+            {
+                for (netpointprev[0] = lonmin; netpointprev[0] <= lonmax; netpointprev[0] = netpointprev[0] + netscalelon)
+                {
+
+                    if (isinpoly(netpointprev, juxing, demHelper) == true)
+                    {
+                        double HH = 0;//需要替换为该点【netpointprev[0], netpointprev[1]】高程
+                        double[] netpointtemp = new double[3] { netpointprev[0], netpointprev[1], HH };
+                        //netpointtemp = netpointprev;
+                        netpoints.Add(netpointtemp);
+                    }
+                }
+            }
+            return netpoints;
+
+        }
+        //格点初始化
+        public static List<bool> NPprem(List<double[]> NPcoo)
+        {
+            List<bool> NPprem0 = new List<bool>();
+            int i = 0;
+            foreach (double[] element in NPcoo)
+            {
+                //object[] NPrentemp = new object[4] { element[0], element[1], element[2], false };
+                NPprem0.Add(false);
+                i++;
+            }
+            return NPprem0;
+        }
+
+        //格点显示,可以不用
+        public static void ListPoints(List<double[]> NPtoRead)
+        {
+            int i1 = 0;
+            int i2 = 0;
+            int i3;
+            int irow;
+            int iLine = 1;
+            Console.Write("{");
+            foreach (double[] element in NPtoRead)
+            {
+                if (i1 != 0 && element[1] != NPtoRead[i1 - 1][1])
+                {
+                    i3 = i1 - 1;
+                    irow = i3 - i2 + 1;
+                    i2 = i1;
+                    iLine++;
+                    Console.Write("<本行格点数：" + irow + ">}" + Environment.NewLine + "{");
+                }
+                string lontax = element[0].ToString("F5");
+                string lattax = element[1].ToString("F5");
+                Console.Write("【E" + lontax + " | N" + lattax + " | h" + element[2] + "】\t");
+                i1++;
+            }
+            i3 = i1 - 1;
+            irow = i3 - i2 + 1;
+            i2 = i1;
+            Console.Write("<本行格点数：" + irow + ">}" + Environment.NewLine);
+            int numberP = NPtoRead.Count;
+            Console.WriteLine("行数:" + iLine + ";格点数量:" + numberP);
+        }
+        //两点间距计算，输出米
+        public static double distance(double[] P1, double[] P2, DemHelper demHelper)
+        {
+
+            //double DL = 6371.004 * Math.Acos(Math.Sin(Math.PI / 180 * P1[1]) * Math.Sin(Math.PI / 180 * P2[1]) + Math.Cos(Math.PI / 180 * P1[1]) * Math.Cos(Math.PI / 180 * P2[1]) * Math.Cos(Math.PI / 180 * (P1[0] - P2[0]))) * 1000;
+            //double D = Math.Pow(Math.Pow(DL, 2) + Math.Pow(P1[2] - P2[2], 2), 0.5);
+            //return D;
+            double3 p1 = new double3();
+            double3 p2 = new double3();
+            p1.x = P1[0];
+            p1.y = P1[1];
+            p1.z = P1[2];
+            p2.x = P2[0];
+            p2.y = P2[1];
+            p2.z = P2[2];
+
+
+            double D1 = demHelper.getDistance(p1, p2);
+            //double DD1 = D1;
+            //Console.WriteLine("距离：" + D1);
+            return D1;
+
+        }
+        //两点间高度角计算，从P1到P2
+        public static double angleH(double[] P1, double[] P2, DemHelper demHelper)
+        {
+
+            if (P1[2] == P2[2])
+            { return 0; }
+            else if (P1[0] == P2[0] && P1[1] == P2[1])
+            {
+                if (P1[2] < P2[2])
+                { return 90; }
+                else { return -90; }
+            }
+            else
+            {
+                //if (P1[2] < P2[2])
+                //{
+                double angleH = Math.Asin((P2[2] - P1[2]) / distance(P1, P2, demHelper)) * (180 / Math.PI);
+                return angleH;
+                //}
+                //else
+                //{
+                //    double angleH = Math.Asin((P2[2] - P1[2]) / distance(P1, P2)) * (180 / Math.PI);
+                //    return angleH;
+                //}
+            }
+        }
+
+        //MoveTo，输入单位坐标、目标坐标，输出时步结束时的单位坐标
+        public static double[] MoveTo(double[] aircraft, double[] target, double V, double TimeStep, DemHelper demHelper)
+        {
+            double[] direction = { (target[0] - aircraft[0]) / distance(aircraft, target, demHelper), (target[1] - aircraft[1]) / distance(aircraft, target, demHelper), (target[2] - aircraft[2]) / distance(aircraft, target, demHelper) };
+            double[] delta = { direction[0] * V * TimeStep, direction[1] * V * TimeStep, direction[2] * V * TimeStep };
+            double[] next = { aircraft[0] + delta[0], aircraft[1] + delta[1], aircraft[2] + delta[2] };
+
+            return next;
+        }
+        public static bool isBlocked(double[] P1, double[] P2, DemHelper demHelper)//是否被地形遮挡
+        {
+
+            double3 p1 = new double3();
+            double3 p2 = new double3();
+            p1.x = P1[0];
+            p1.y = P1[1];
+            p1.z = P1[2];
+            p2.x = P2[0];
+            p2.y = P2[1];
+            p2.z = P2[2];
+            //string r2 = demHelper.doIntervisibility(p1, p2);//这三行代码用于运行判定
+            // Console.WriteLine(r2);
+            //return (r2 == "True" ? false : true);
+            return false;
+        }
+        //是否符合观察条件
+        public static bool IsInSight(double[] aircraft, double[] netpoint, double LSight, double angleH0, double angleH1, DemHelper demHelper)//-90，-45
+
+        {
+            if (distance(aircraft, netpoint, demHelper) <= LSight && angleH0 <= angleH(aircraft, netpoint, demHelper) && angleH1 >= angleH(aircraft, netpoint, demHelper) && isBlocked(aircraft, netpoint, demHelper) == false)
+            { return true; }
+            else
+            { return false; }
+        }
+
+
+        //路径生成，输入区域边界，扫描线间距，扫描高度
+        public static List<double[]> scanroute(List<double[]> poly, double ScanRange, double hSC, bool isRealHeight, bool isSurround, int SurroundNum, DemHelper demHelper)
+        {
+            List<double[]> scanroute = new List<double[]>();
+            double HH = 1;//需要替换为该点高程
+            if (isSurround == false)
+            {
+
+                double[,] RactEdge = MaxMinPoly(poly);
+
+                double[] searchpoint = { RactEdge[0, 0] + 0.5 * (ScanRange / (6371004 * Math.Cos(RactEdge[1, 0] * Math.PI / 180) * 2 * Math.PI / 360)), RactEdge[1, 0], HH + hSC };
+                bool isLastIn = false;
+                int ZF = 1;
+                if (isinpoly(searchpoint, poly, demHelper) == true)
+                {
+                    scanroute.Add(searchpoint);
+                    isLastIn = true;
+                }
+                searchpoint[1] = searchpoint[1] + ZF * 0.5 * (ScanRange / (6371004 * 2 * Math.PI / 360));
+                for (; ; searchpoint[1] = searchpoint[1] + ZF * 0.5 * (ScanRange / (6371004 * 2 * Math.PI / 360)))
+                {
+                    double[] searchpoint1 = { searchpoint[0], searchpoint[1] - ZF * 0.5 * (ScanRange / (6371004 * 2 * Math.PI / 360)), isRealHeight == true ? HH + hSC : hSC };
+                    double[] searchpoint0 = { searchpoint[0], searchpoint[1], isRealHeight == true ? HH + hSC : hSC };
+                    if (isinpoly(searchpoint, poly, demHelper) == true && isLastIn == false)
+                    {
+                        scanroute.Add(searchpoint1);
+                        isLastIn = true;
+                    }
+                    else if (isLastIn == true && isinpoly(searchpoint, poly, demHelper) == false)
+                    {
+                        scanroute.Add(searchpoint0);
+                        isLastIn = false;
+                        if (ZF == 1)
+                        {
+                            searchpoint[0] = searchpoint[0] + ScanRange / (6371004 * Math.Cos(RactEdge[1, 0] * Math.PI / 180) * 2 * Math.PI / 360);
+                            searchpoint[1] = RactEdge[1, 1] + 0.5 * (ScanRange / (6371004 * 2 * Math.PI / 360));
+                        }
+                        else
+                        {
+                            searchpoint[0] = searchpoint[0] + ScanRange / (6371004 * Math.Cos(RactEdge[1, 0] * Math.PI / 180) * 2 * Math.PI / 360);
+                            searchpoint[1] = RactEdge[1, 0] - 0.5 * (ScanRange / (6371004 * 2 * Math.PI / 360));
+                        }
+                        ZF = -ZF;
+                    }
+                    if (searchpoint[0] > RactEdge[0, 1])
+                    { break; }
+                }
+
+                return scanroute;
+            }
+            else
+            {
+
+
+                int len = poly.Count;
+                for (int i = 0; i < len; i++)
+                {
+                    double[] p = poly[i];
+                    double[] p1 = poly[i == 0 ? len - 1 : i - 1];
+                    double[] p2 = poly[i == len - 1 ? 0 : i + 1];
+                    double v1EW = (p1[0] - p[0]) * (6371004 * Math.Cos(p[1] * Math.PI / 180) * 2 * Math.PI / 360);
+                    double v1SN = (p1[1] - p[1]) * (6371004 * 2 * Math.PI / 360);
+                    double n1 = Math.Sqrt(v1EW * v1EW + v1SN * v1SN);
+                    v1EW /= n1;
+                    v1SN /= n1;
+
+                    double v2EW = (p2[0] - p[0]) * (6371004 * Math.Cos(p[1] * Math.PI / 180) * 2 * Math.PI / 360);
+                    double v2SN = (p2[1] - p[1]) * (6371004 * 2 * Math.PI / 360);
+                    double n2 = Math.Sqrt(v2EW * v2EW + v2SN * v2SN);
+                    v2EW /= n2;
+                    v2SN /= n2;
+
+                    if (v1EW != v2EW)
+                    {
+                        double l = -ScanRange / Math.Sqrt((1 - (v1EW * v2EW + v1SN * v2SN)) / 2);
+
+                        double vEW = v1EW + v2EW;
+
+                        double vSN = v1SN + v2SN;
+
+                        double n = l / Math.Sqrt(vEW * vEW + vSN * vSN);
+                        vEW *= n;
+                        vSN *= n;
+                        double VEW = vEW / (6371004 * Math.Cos(p[1] * Math.PI / 180) * 2 * Math.PI / 360);
+                        double VSN = vSN / (6371004 * 2 * Math.PI / 360);
+
+                        double[] searchpoint = { p[0] + VEW, p[1] + VSN, isRealHeight == true ? HH + hSC : hSC };//H需替换为该点高程
+
+                        scanroute.Add(searchpoint);
+                    }
+                }
+                int len2 = scanroute.Count;
+                if (SurroundNum >= 2)
+                {
+                    for (int i = 2; i <= SurroundNum; i++)
+                    {
+                        for (int j = 0; j < len2; j++)
+                        {
+                            scanroute.Add(scanroute[j]);
+                        }
+                    }
+
+                }
+
+                return scanroute;
+
+            }
+        }
+        //航线转object
+        public static List<object[]> RouteInput(string TurningPointName, List<double[]> TurningPointLocation, string TurningPointType, double TurningPointVelocity, double SegmentFlightFuelConsumption, double SegmentFlightTime, double TurningRadius)
+        {
+            List<object[]> SCIP = new List<object[]>();
+            int i = 0;
+            foreach (double[] element in TurningPointLocation)
+            {
+                object[] SCIPtemt = { $"{TurningPointName}{i}", element, $"{TurningPointType}", TurningPointVelocity, SegmentFlightFuelConsumption, SegmentFlightTime, TurningRadius };
+                SCIP.Add(SCIPtemt);
+                i++;
+            }
+
+            return SCIP;
+        }
+        //扫描线显示，不用管
+        public static void ListscanRoute(List<double[]> SCtoRead)
+        {
+            Console.WriteLine("【showSC】");
+            foreach (double[] element in SCtoRead)
+            {
+                string lontax = element[0].ToString("F5");
+                string lattax = element[1].ToString("F5");
+                Console.WriteLine("【E" + lontax + " | N" + lattax + " | h" + element[2] + "】\t");
+            }
+        }
+        //最高点输入（等待替换）
+        public static double[] TopInPloy(List<double[]> poly)
+        {
+            double[] Top = new double[3] { 113.999, 39.9995, 220 };
+            return Top;
+        }
+
+        public static List<List<double[]>> ContourInPoly()
+        {
+            List<List<double[]>> ContourAdded = new List<List<double[]>>();
+            List<double[]> ContourAdding = new List<double[]>();
+
+            ContourAdding.Add(new double[3] { 113.9992, 39.9997, 100 });
+            ContourAdding.Add(new double[3] { 113.9992, 39.9993, 100 });
+            ContourAdding.Add(new double[3] { 113.9988, 39.9993, 100 });
+            ContourAdding.Add(new double[3] { 113.9988, 39.9997, 100 });
+            ContourAdded.Add(ContourAdding);
+            ContourAdding.Clear();
+
+            ContourAdding.Add(new double[3] { 113.9991, 39.9996, 200 });
+            ContourAdding.Add(new double[3] { 113.9991, 39.9994, 200 });
+            ContourAdding.Add(new double[3] { 113.9989, 39.9994, 200 });
+            ContourAdding.Add(new double[3] { 113.9989, 39.9996, 200 });
+            ContourAdded.Add(ContourAdding);
+
+            return ContourAdded;
+        }
+
+        public static List<object[]> ContourCatalogue()
+        //输出：0-编号
+        //1-（double）海拔高度
+        //2-是否为环线
+        //3-是否被搜索过
+        //4-被分割的第一个多边形（若为环线只放第一个，第二个空着）
+        //5-被分割的第二个多边形，
+        //顺序与等高线对应
+        {
+            List<double[]> Area1 = new List<double[]>();
+            List<double[]> Area2 = new List<double[]>();
+            Area1.Add(new double[2] { 113.9992, 39.9997 });
+            Area1.Add(new double[2] { 113.9992, 39.9993 });
+            Area1.Add(new double[2] { 113.9988, 39.9993 });
+            Area1.Add(new double[2] { 113.9988, 39.9997 });
+            List<object[]> Catalogue = new List<object[]>();
+            Catalogue.Add(new object[] { 0, (double)100, true, false, Area1, Area2 });
+            Area1.Clear();
+            Area2.Clear();
+
+            Area1.Add(new double[2] { 113.9991, 39.9996 });
+            Area1.Add(new double[2] { 113.9991, 39.9994 });
+            Area1.Add(new double[2] { 113.9989, 39.9994 });
+            Area1.Add(new double[2] { 113.9989, 39.9996 });
+            Catalogue.Add(new object[] { 1, (double)200, true, false, Area1, Area2 });
+            return Catalogue;
+        }
+
+        public static double distance1(double[] P1, double[] P2)
+        {
+
+            double DL = 6371.004 * Math.Acos(Math.Sin(Math.PI / 180 * P1[1]) * Math.Sin(Math.PI / 180 * P2[1]) + Math.Cos(Math.PI / 180 * P1[1]) * Math.Cos(Math.PI / 180 * P2[1]) * Math.Cos(Math.PI / 180 * (P1[0] - P2[0]))) * 1000;
+            double D = Math.Pow(Math.Pow(DL, 2) + Math.Pow(P1[2] - P2[2], 2), 0.5);
+            return D;
+
+        }
+        public static double Area(List<double[]> Area)//求面积（待替换）
+        {
+            Area.RemoveAt(Area.Count - 1);
+            double EarthRadius = 6371.004; // 地球半径，单位：千米
+            double area = 0;
+            int count = Area.Count;
+            double[] p0 = Area[0];
+            for (int i = 0; i < count; i++)
+            {
+                double[] p1 = Area[i];
+                double[] p2 = Area[(i + 1) % count];
+                double X1 = EarthRadius * Math.Cos(Math.PI / 180 * p0[1])*2*Math.PI / 360 * (p1[0] - p0[0]);
+                double Y1 = EarthRadius * 2 * Math.PI / 360 * (p1[1] - p0[1]);
+                double X2 = EarthRadius * Math.Cos(Math.PI / 180 * p0[1]) * 2 * Math.PI / 360 * (p2[0] - p0[0]);
+                double Y2 = EarthRadius * 2 * Math.PI / 360 * (p2[1] - p0[1]);
+                area +=( X1 * Y2 - X2 * Y1)/2;
+            }
+            //area = area * EarthRadius * EarthRadius / 2;
+            Console.WriteLine("A=" + area);
+            return Math.Abs(area);
+        }
+
+
+
+        /// <summary>
+        /// 获取搜寻次序
+        /// </summary>
+        /// <param name="ContourInPoly">多边形内等高线</param>
+        /// <param name="ContourCatalogue">多边形目录</param>
+        /// <param name="ContourHighest">最高等高线</param>
+        /// <param name="ContourInterval">等高线间隔</param>
+        /// <param name="HighestPoint">最高点</param>
+        /// <param name="poly">多边形边界</param>
+        /// <param name="demHelper">Demhelper</param>
+        /// <returns></returns>
+       
+            public static List<int> ContourOrder(List<List<double[]>> ContourInPoly, List<object[]> ContourCatalogue, double ContourHighest, double ContourLowest, double ContourInterval, double[] HighestPoint, List<double[]> poly, DemHelper demHelper)
+        //核心算法1
+        //输入：多边形内等高线，多边形目录，最高等高线，等高线间隔，最高点，多边形边界，Demhelper
+        //输出：搜寻次序
+        {
+            //总初始化
+            int ContourToSearch = -1;
+            double ContourHigh = ContourHighest;
+            double AreaToSrerch = -1;
+            double[] BasePiont = HighestPoint;
+            List<int> ContourOrder = new List<int>();
+            double Spoly = Area(poly);
+            int TotalContour = ContourInPoly.Count;//等高线条数
+            double ContourHighestSearching = ContourHighest;
+            
+                //输出等高线最高点距离
+                List<double> DistanceToTop = new List<double>();
+            double DTemp = -1;
+            foreach (List<double[]> element in ContourInPoly)
+            {
+                foreach (double[] element1 in element)
+                {
+                    //找的等高线点数组中，距离最高点距离最近的点
+                    if (DTemp < 0 || DTemp > distance1(HighestPoint, element1))
+                    {
+                        DTemp = distance1(HighestPoint, element1);
+                    }
+                }
+                DistanceToTop.Add(DTemp);
+                DTemp = -1;
+            }
+            //输出element【4】面积
+            List<double> Area4 = new List<double>();
+            foreach (object[] element in ContourCatalogue)
+            {
+                Area4.Add(Area((List<double[]>)element[4]));
+            }
+            //大循环
+            for (; ContourOrder.Count <= TotalContour;)
+            {
+                for (; ; )
+                {
+                    ContourToSearch = -1;
+                    AreaToSrerch = -1;
+                    foreach (object[] element in ContourCatalogue)
+                    {
+                        double[] BasePiont2 = new double[2] { BasePiont[0], BasePiont[1] };
+                        bool isin = isinpoly(BasePiont2, (List<double[]>)element[4], demHelper);
+                        if ((bool)element[2] == true && (double)element[1] <= ContourHigh + 1 && (double)element[1] >= ContourHigh - 1 && (bool)element[3] == false &&
+                            (isin == true)
+                            )//遍历最高的环形等高线，若某环线包含该点（含边缘），则搜索该线
+                        {
+
+                            ContourToSearch = (int)element[0];
+                            break;
+                        }
+                        //Console.WriteLine("搜索高度"+ ContourHigh);
+                        if ((double)element[1] <= ContourHigh+1 && (double)element[1] >= ContourHigh - 1 && (bool)element[3] == false 
+                            && (ContourToSearch <0 ||
+                            ((AreaToSrerch < 0 || Area4[(int)element[0]] <= AreaToSrerch) && isin== true) ||
+                        ((AreaToSrerch < 0 || Spoly - Area4[(int)element[0]] <= AreaToSrerch) && isin != true)
+                            ))//遍历最高的开放等高线及不包含点的环状等高线，若其包含该点的部分最小，搜索该线
+                        {
+                            //Console.WriteLine("点在外搜索");
+                            ContourToSearch = (int)element[0];
+                            if (isinpoly(BasePiont2, (List<double[]>)element[4], demHelper) == true)
+                            { AreaToSrerch = Area4[(int)element[0]]; }
+                            else
+                            { AreaToSrerch = Spoly - Area4[(int)element[0]]; }
+
+                        }
+                        
+                    }
+                   // Console.WriteLine("ATS=" + AreaToSrerch);
+                    if (ContourToSearch == -1)//找不到符合过滤条件的等高线后，结束循环
+                    {
+                        Console.WriteLine("大循环结束");
+                        break;
+                        
+                    }
+                    else//连续搜下一道
+                    {
+                        ContourOrder.Add(ContourToSearch);
+                        Console.WriteLine(ContourToSearch + "," + ContourCatalogue[ContourToSearch][1] + "," +"连续搜索");
+                        ContourCatalogue[ContourToSearch][3] = true;
+                        BasePiont = ContourInPoly[ContourToSearch][0];//上一级等高线满足搜索后，该级闭合等高线的第一个点，作为下级等高线搜索的初始化点
+                        ContourToSearch = -1;
+                        ContourHigh = ContourHigh - ContourInterval;
+                    }
+
+
+                }
+                double DToTop = -1;
+                foreach (object[] element in ContourCatalogue)
+                {
+
+                    if ((double)element[1] == ContourHighestSearching && (bool)element[3] == false && (DToTop < 0 || DistanceToTop[(int)element[0]] < DToTop))
+                    {
+                        DToTop = DistanceToTop[(int)element[0]];
+                        ContourToSearch = (int)element[0];
+                    }
+                }
+                if (DToTop >= 0)
+                {
+                    ContourOrder.Add(ContourToSearch);
+                    Console.WriteLine(ContourToSearch + "," + ContourCatalogue[ContourToSearch][1] + "," + "从头搜索");
+                    ContourCatalogue[ContourToSearch][3] = true;
+                    BasePiont = ContourInPoly[ContourToSearch][0];
+                    ContourToSearch = -1;
+                    ContourHigh = ContourHighestSearching - ContourInterval;
+                }
+                else
+                {
+                    ContourHighestSearching = ContourHighestSearching - ContourInterval;
+
+                }
+                if (ContourHighestSearching < ContourLowest)
+                {
+                    break;
+                }
+            }
+            return ContourOrder;
+
+        }
+
+        public static string wkt_route(string wkt, double interval, int MinLength, double TrueH, int JG, DemHelper demHelper)
+        //等高线搜寻整体算法！输入：【边界（wkt格式），等高线高度间隔，最小等高线节点数，真高，输出节点间隔，DemHelper】
+        {
+            //string wkt = "MULTIPOLYGON(((100.0035 30.9071,100.1728 30.9607,100.3523 30.8667,100.3512 30.6900,100.1569 30.6427,99.9509 30.7802,99.9907 30.8641,100.0035 30.9071)))";
+
+
+            List<double[]> juxing1 = new List<double[]>();
+            string wktstr = wkt.Replace("MULTIPOLYGON", "").Replace("(", "").Replace(")", "");
+            string[] pts = wktstr.Split(",");
+            for (int i = 0; i < pts.Count(); i++)// pts.Count()-1
+            {
+                string[] pt = pts[i].Split(" ");
+                double lon = Convert.ToDouble(pt[0]);
+                double lat = Convert.ToDouble(pt[1]);
+                juxing1.Add(new double[2] { lon, lat });
+            }
+
+            //（2）获取多边形内等高线
+            HttpCmd cmd = new HttpCmd
+            {
+                m_RequestType = HttpRequestType.POST,
+                m_Addr = "http://10.130.100.5:7785//rescue-platform-service/api/v1/dem/getContoursBywkt",
+                m_Args = new List<string> { "wkt", "interval" }
+            };
+
+            string jsonstr = "{\"wkt\":\"" + wkt + "\",\"interval\":" + interval + "}";
+            IHttpHelper m_HttpHelper = Factory.Load();
+            string response = m_HttpHelper.HttpPost(cmd, jsonstr);
+            ContourMsg data = JsonConvert.DeserializeObject<ContourMsg>(response);
+            List<List<double[]>> ContourInPoly = new List<List<double[]>>();
+            if (data == null || data.code != 200)
+            {
+                Console.WriteLine("******等高线生成出错！******");
+                return " ";
+            }
+            List<List<double[]>> ContourAdded = new List<List<double[]>>();
+            for (int i = 0; i < data.lstContours.Count; i++)
+            {
+                List<double[]> ContourAdding = data.lstContours[i].lstPoints;
+                ContourInPoly.Add(ContourAdding);
+            }
+
+            //（3）获取多边形内最高点              
+            List<double> maxPoint = data.maxPoint;
+            double[] TopInPloy = new double[3] { maxPoint[0], maxPoint[1], maxPoint[2] };
+            Console.WriteLine("******最高点******" + "\r\n" + maxPoint[0] + maxPoint[1] + maxPoint[2]);
+
+            //（4）等高线索引生成
+            List<object[]> ContourCatalogue = new List<object[]>();
+
+            for (int i = 0; i < data.lstContours.Count; i++)
+            {
+                Contour contour = data.lstContours[i];
+                List<double[]> lstPoints = contour.lstPoints;
+                double elev = contour.elev;
+                bool ifclosed = contour.ifclosed;
+                List<double[]> Area1 = new List<double[]>();
+                List<double[]> Area2 = new List<double[]>();
+                for (int j = 0; j < lstPoints.Count; j++)
+                {
+                    double lon = lstPoints[j][0];
+                    double lat = lstPoints[j][1];
+                    Area1.Add(new double[2] { lon, lat });
+                }
+                bool isCircle = false;
+                if (ContourInPoly[i][0] == ContourInPoly[i][ContourInPoly[i].Count - 1])
+                {
+                    isCircle = true;
+                }
+                bool isTooShort = false;
+                if (ContourInPoly[i].Count <= MinLength)
+                {
+                    isTooShort = true;
+                }
+                ContourCatalogue.Add(new object[] { i, elev, isCircle, isTooShort, Area1, Area2 });
+            }
+
+            //（5）遍历顺序生成
+            double maxElev = data.lstContours[0].elev;
+            double minElev = data.lstContours[data.lstContours.Count - 1].elev;
+            List<int> ContourOrder1 = ContourOrder(ContourInPoly, ContourCatalogue, maxElev, minElev, interval, TopInPloy, juxing1, demHelper);
+
+            //（6）生成航路点集合
+            List<double[]> routePoints = new List<double[]>();
+            string wkt_route = "";
+
+            double[] EndPiont = TopInPloy;
+            double[] StartPoint = new double[3];
+            //string csvFilePath = "output.csv";//需csv输出则取消注释1/5
+            //using (var writer = new StreamWriter(csvFilePath))//需csv输出则取消注释2/5
+            //{//需csv输出则取消注释3/5
+            foreach (int i in ContourOrder1)
+            {
+                //Console.WriteLine(i+ ","+ ContourCatalogue[i][1]);
+                object[] contourObj = ContourCatalogue[i];
+                List<double[]> contourPts = new List<double[]>();
+                //等高线起点终点排序算法
+                if ((bool)contourObj[2] == true)
+                {
+                    double Dtemp = -1;
+                    int StartPointMark = -1;
+
+                    for (int j = 0; j < ContourInPoly[i].Count; j++)
+                    {
+
+                        if (distance1(ContourInPoly[i][j], EndPiont) < Dtemp || Dtemp < 0)
+                        {
+                            StartPoint = ContourInPoly[i][j];
+                            Dtemp =distance1(ContourInPoly[i][j], EndPiont);
+                            StartPointMark = j;
+                        }
+                    }
+                    EndPiont = ContourInPoly[i][StartPointMark];//改变终点
+                    for (int j1 = StartPointMark; j1 < ContourInPoly[i].Count; j1 += JG)
+                    {
+                        double[] CIP1 = new double[3] { ContourInPoly[i][j1][0], ContourInPoly[i][j1][1], ContourInPoly[i][j1][2] + TrueH };
+                        contourPts.Add(CIP1);
+                    }
+                    for (int j1 = 0; j1 < StartPointMark; j1 += JG)
+                    {
+                        double[] CIP1 = new double[3] { ContourInPoly[i][j1][0], ContourInPoly[i][j1][1], ContourInPoly[i][j1][2] + TrueH };
+                        contourPts.Add(CIP1);
+                    }
+
+                }
+                else
+                {
+
+                    int StartPointMark = -1;
+                    if (distance1(ContourInPoly[i][0], EndPiont) > distance1(ContourInPoly[i][ContourInPoly[i].Count - 1], EndPiont))
+                    {
+                        StartPointMark = ContourInPoly[i].Count - 1;
+                        StartPoint = ContourInPoly[i][ContourInPoly[i].Count - 1];
+                        EndPiont = ContourInPoly[i][0];//改变终点
+                        for (int j = ContourInPoly[i].Count - 1; j >= 0; j -= JG)
+                        {
+                            double[] CIP1 = new double[3] { ContourInPoly[i][j][0], ContourInPoly[i][j][1], ContourInPoly[i][j][2] + TrueH };
+                            contourPts.Add(CIP1);
+                        }
+                    }
+                    else
+                    {
+                        StartPointMark = 0;
+                        StartPoint = ContourInPoly[i][0];
+                        EndPiont = ContourInPoly[i][ContourInPoly[i].Count - 1];//改变终点
+                        for (int j = 0; j < ContourInPoly[i].Count; j += JG)
+                        {
+                            double[] CIP1 = new double[3] { ContourInPoly[i][j][0], ContourInPoly[i][j][1], ContourInPoly[i][j][2] + TrueH };
+                            contourPts.Add(CIP1);
+                        }
+                    }
+                }
+
+
+                for (int k = 0; k < contourPts.Count; k++)
+                {
+                    double[] item = contourPts[k];
+                    wkt_route += String.Format(",{0} {1} {2}", item[0], item[1], item[2]);
+                    //writer.WriteLine(String.Format("{0} ,{1} ,{2}", item[0], item[1], item[2]));//需csv输出则取消注释4/5
+                }
+
+
+            }
+            //}//需csv输出则取消注释5/5
+            if (wkt_route.StartsWith(","))
+            {
+                wkt_route = "MULTILINESTRING ((" + wkt_route.Substring(1) + "))";
+            }
+            Console.WriteLine("******航路点生成******" + "\r\n" + wkt_route);
+            return wkt_route;
+        }
+
+
+
+
+
+    }
+}

Models/SimulationCommon/TaskConfig.cs

@@ -174,6 +174,52 @@ public class SeaSouJiuTask
     public string NextTaskId;
 }
 
+public class LandSouJiuTask
+{
+    [JsonProperty("任务信息")]
+    public MissionInformation missionInformation;
+    [JsonProperty("目标点ID")]
+    public int TargetPointId;
+    //搜索任务载荷
+    [JsonProperty("搜索任务载荷")]
+    public string SearchPayload;
+
+    //搜索方式
+    [JsonProperty("搜索方式")]
+    public string SearchMode;
+    //搜索扫视宽度
+    [JsonProperty("搜索扫视宽度")]
+    public double SearchWidth;
+
+    //探测波长(m)
+    [JsonProperty("探测波长(m)")]
+    public double DetectionWavelength;
+    //最小可检测信号(dBm)
+    [JsonProperty("最小可检测信号(dBm)")]
+    public double MinDetectionSignal;
+    //雷达发射机发射信号功率(dBm)
+    [JsonProperty("雷达发射机发射信号功率(dBm)")]
+    public double RadarTransmitterPower;
+    //发射天线增益(dB)
+    [JsonProperty("发射天线增益(dB)")]
+    public double TransmitAntennaGain;
+    //接受天线增益(dB)
+    [JsonProperty("接受天线增益(dB)")]
+    public double ReceiveAntennaGain;
+    //光电转塔水平范围
+    [JsonProperty("光电转塔水平范围")]
+    public double OpticalTowerHorizontalRange;
+    //红外探测器视场角
+    [JsonProperty("红外探测器视场角")]
+    public double InfraredDetectorFieldAngle;
+    //飞行高度
+    [JsonProperty("飞行高度")]
+    public double FlightHeight;
+
+    [JsonProperty("下一个任务ID")]
+    public string NextTaskId;
+}
+
 public class MHTaskConfig
 {
     [JsonProperty("总灭火任务编号")]
@@ -199,5 +245,7 @@ public class TaskConfig
     [JsonProperty("防火巡护任务")]
     public List<XHTask> xHTask = new List<XHTask>();
     [JsonProperty("海上搜救任务")]
-    public List<SeaSouJiuTask> seaSouJiuTasks = new List<SeaSouJiuTask>();  
+    public List<SeaSouJiuTask> seaSouJiuTasks = new List<SeaSouJiuTask>();
+    [JsonProperty("路上搜救任务")]
+    public List<LandSouJiuTask> LandSouJiuTasks = new List<LandSouJiuTask>();
 }

SimulationServer/Entity/AircraftLandSJ.cs

@@ -0,0 +1,91 @@
+using KYFramework;
+using Model;
+using MongoDB.Bson;
+using MuShiApp;
+using SimulationCommon;
+using SimulationSingleServer.Utils;
+using Unity.Mathematics;
+using Point = SimulationCommon.Point;
+using Random = System.Random;
+using QuYuSaoMiao;
+
+namespace SimulationServer;
+
+public class AircraftLandSJ : AircraftEntity
+{
+    public bool IsOver;
+    string wkt = "MULTIPOLYGON(((100.9258 30.0709,100.9650 30.1572,101.0646 30.1685,101.1220 30.1385,101.3326 30.1473,101.3385 30.0816,101.1251 30.0533,100.9602 30.0340,100.9258 30.0709)))";
+    double interval = 300;//等高线高度间隔
+    int MinLength = 1000;//最小等高线节点数
+    double TrueH = 200;//航线真实高度
+    int JG = 5;//输出等高线节点间隔
+
+    public GetNCData getNCData;
+    public override void Reset()
+    {
+        base.Reset();
+        IsOver = false;
+        SearchTime = 0;
+        TotalTime = 0;
+    }
+
+    public override void Start()
+    {
+
+    }
+
+
+    public override void End()
+    {
+        for (int i = 0; i < TurningPoints.Count - 2; i++)
+        {
+            EffMisTime += TurningPoints[i].SegmentFlightTime;
+        }
+
+        for (int i = 0; i < TurningPoints.Count - 3; i++)
+        {
+            SearchTime += TurningPoints[i].SegmentFlightTime; //搜索时间
+        }
+
+        for (int i = 0; i < TurningPoints.Count; i++)
+        {
+            TotalTime += TurningPoints[i].SegmentFlightTime; // 总时间
+        }
+
+
+        TotalFuelConsumption = TurningPoints[0].RemainingFuel -
+                               TurningPoints[TurningPoints.Count - 1].RemainingFuel;
+
+
+
+        //GetNCData getNCData = new GetNCData();
+        ////getNCData.GetData();
+
+        double time = TotalTime; //time——搜索时间，单位：秒；数据测试用
+
+        double latitude = FlightPlanEditor.targetpoint[0].TargetPointLatitude; //落水人员纬度；数据测试用
+        double longitude = FlightPlanEditor.targetpoint[0].TargetPointLongitude; //落水人员经度，数据测试用
+
+        double survivalTime = SurvivalTimeModel.SurvivalTime(getNCData.tempreadNC, latitude, longitude, time); //幸存时间
+
+        if (survivalTime * 3600 > time)
+        {
+            Success = true;
+        }
+        else
+        {
+            Success = false;
+        }
+    }
+}
+
+[ObjectSystem]
+public class AircraftSJAwakeSystem : AwakeSystem<AircraftSJ, FlightPlanEditor>
+{
+    public override void Awake(AircraftSJ self, FlightPlanEditor flightPlanEditor)
+    {
+        self.FlightPlanEditor = flightPlanEditor;
+        self.helper = new EquationHelper(HttpInterface.baseUrl);
+        self.Awake();
+    }
+}

SimulationServer/Entity/LandSJRescueMission.cs

@@ -0,0 +1,229 @@
+using KYFramework;
+using NPOI.SS.Formula.PTG;
+using SimulationServer.Utils;
+
+namespace SimulationServer;
+
+public class LandSJRescueMission : Entity
+{
+    public string MissionId; // 任务ID
+    public bool Success; // 任务是否成功
+    public List<AircraftSJ> aircrafts = new List<AircraftSJ>();
+
+    public bool IsRunning;
+    public double SimulationTime;
+
+    public Dictionary<string, Dictionary<string, Dictionary<string, List<string>>>> singleReport = new();
+    // 灭火的 整体能力
+    // <sheet,<指标名，值列表>>
+    public Dictionary<string, Dictionary<string, List<string>>> totalReport = new();
+
+    public Dictionary<string, Dictionary<string, List<string>>> aircraftSJDatas = new();
+
+    public bool IsOver = false;
+
+    private int currentExecuteCount = 1;
+    public int ExecutionContext = 0;
+    public void Start()
+    {
+        IsRunning = true;
+        aircrafts.ForEach(a => a.Start());
+        Log.Info($"{MissionId} 任务开始！");
+    }
+
+    public void Reset()
+    {
+        SimulationTime = 0;
+        aircrafts?.ForEach(a => a.Reset());
+    }
+
+    public void EndMission()
+    {
+        IsRunning = false;
+        Log.Info($"{MissionId} 任务结束！");
+
+        //SaveSJ();
+        //SaveTotalMH();
+        //ReportSJ();
+
+        if (currentExecuteCount > ExecutionContext)
+        {
+            return;
+        }
+
+        if (currentExecuteCount < ExecutionContext)
+        {
+            SaveSJ();
+            //SaveTotalMH();
+            SaveAircraftSJDatas();
+        }
+
+        if (currentExecuteCount == ExecutionContext)
+        {
+            SaveSJ();
+            SaveAircraftSJDatas();
+            //SaveTotalMH();
+            ReportSJ();
+            //this.StartAsyncMH();
+            IsOver = true;
+            return;
+        }
+
+        this.Reset();
+        this.Start();
+        currentExecuteCount++;
+
+
+
+        // var readyTime = AircraftXHs.First().TaskReadyTime;
+        // Task.Delay(TimeSpan.FromSeconds(readyTime)).ContinueWith(t => this.StartAsyncXH());
+    }
+
+    public void SaveAircraftSJDatas()
+    {
+        foreach (AircraftSJ aircraftEntity in aircrafts)
+        {
+            string key = aircraftEntity.AircraftId;
+            if (!aircraftSJDatas.ContainsKey(key))
+            {
+                aircraftSJDatas[key] = new Dictionary<string, List<string>>();
+            }
+            if (!aircraftSJDatas[key].ContainsKey("识别成功率"))
+                aircraftSJDatas[key]["识别成功率"] = new List<string>();
+            aircraftSJDatas[key]["识别成功率"].Add(aircraftEntity.isseePerson ? "1" : "0");
+            if (!aircraftSJDatas[key].ContainsKey("任务准备时间"))
+                aircraftSJDatas[key]["任务准备时间"] = new List<string>();
+            aircraftSJDatas[key]["任务准备时间"].Add(aircraftEntity.TaskReadyTime.ToString());
+            if (!aircraftSJDatas[key].ContainsKey("平均搜索时间"))
+                aircraftSJDatas[key]["平均搜索时间"] = new List<string>();
+            aircraftSJDatas[key]["平均搜索时间"].Add(aircraftEntity.SearchTime.ToString());
+            if (!aircraftSJDatas[key].ContainsKey("总飞行时间"))
+                aircraftSJDatas[key]["总飞行时间"] = new List<string>();
+            aircraftSJDatas[key]["总飞行时间"].Add(aircraftEntity.TotalTime.ToString());
+            if (!aircraftSJDatas[key].ContainsKey("人员存活率"))
+                aircraftSJDatas[key]["人员存活率"] = new List<string>();
+            aircraftSJDatas[key]["人员存活率"].Add(aircraftEntity.Success ? "1" : "0");
+        }
+    }
+
+    public void SaveSJ()
+    {
+        foreach (AircraftSJ aircraftEntity in aircrafts)
+        {
+            var staticCapacity = aircraftEntity.GetComponent<SJStaticCapacityComponent>();
+
+            if (staticCapacity == null) continue;
+
+            staticCapacity.FillData(aircraftEntity.Db);
+
+            string key = aircraftEntity.AircraftId;
+
+            if (!singleReport.ContainsKey(key))
+            {
+                singleReport[key] = new Dictionary<string, Dictionary<string, List<string>>>();
+            }
+
+            Dictionary<string, Dictionary<string, string>> staticReport = staticCapacity.GetReport();
+            foreach (var kv in staticReport)
+            {
+                if (!singleReport[key].ContainsKey(kv.Key)) singleReport[key][kv.Key] = new Dictionary<string, List<string>>();
+                foreach (var kv2 in kv.Value)
+                {
+                    if (!singleReport[key][kv.Key].ContainsKey(kv2.Key)) singleReport[key][kv.Key][kv2.Key] = new List<string>();
+                    singleReport[key][kv.Key][kv2.Key].Add(kv2.Value);
+                }
+            }
+        }
+        if (currentExecuteCount == ExecutionContext)
+        {
+            foreach (var kv in singleReport)
+            {
+                foreach (var kv2 in kv.Value)
+                {
+                    foreach (var kv3 in kv2.Value)
+                    {
+                        var sum = 0f;
+                        foreach (var kv4 in kv3.Value)
+                        {
+                            bool isfloat = float.TryParse(kv4, out float f);
+                            if (isfloat)
+                                sum += float.Parse(kv4);
+                            else
+                                sum = -1f;
+                        }
+                        if (sum != -1f)
+                            kv3.Value.Add((sum / kv3.Value.Count).ToString());
+                        else
+                            kv3.Value.Add("");
+                    }
+                }
+            }
+        }
+    }
+
+    public void SaveTotalMH()
+    {
+        var totalPerformance = GetComponent<SJTotalTaskPerformanceComponent>();
+        totalPerformance.FillData();
+        var totalPerformanceReport = totalPerformance.GetReport();
+        foreach (var kv in totalPerformanceReport)
+        {
+            if (!totalReport.ContainsKey(kv.Key)) totalReport[kv.Key] = new Dictionary<string, List<string>>();
+
+            foreach (var kv2 in kv.Value)
+            {
+                if (!totalReport[kv.Key].ContainsKey(kv2.Key)) totalReport[kv.Key][kv2.Key] = new List<string>();
+                totalReport[kv.Key][kv2.Key].Add(kv2.Value);
+            }
+        }
+    }
+
+    public void ReportSJ()
+    {
+        string data = DateTime.Now.ToString("yyyy-MM-dd");
+        string path = $"Reports/SJ/{data}/{MissionId}";
+        if (!Directory.Exists(path)) Directory.CreateDirectory(path);
+        foreach (var kv in singleReport)
+        {
+            string filePath = $"{path}/{kv.Key}搜救任务单机指标报告.xls";
+            DataTableExtensions.SaveToExcel(filePath, kv.Value, true);
+        }
+
+        //foreach (KeyValuePair<string, Dictionary<string, List<string>>> keyValuePair in totalReport)
+        //{
+        //    foreach (KeyValuePair<string, List<string>> kv in keyValuePair.Value)
+        //    {
+        //        List<string> values = kv.Value;
+        //        double sum = 0;
+        //        foreach (string value in values)
+        //        {
+        //            if (double.TryParse(value, out double num))
+        //            {
+        //                sum += num;
+        //            }
+        //        }
+        //        double average = sum / values.Count;
+        //        values.Add(average.ToString("#0.00"));
+        //    }
+        //}
+        //string totalPath = $"{path}/{"搜救任务总体指标报告"}.xls";
+        //DataTableExtensions.SaveToExcel(totalPath, totalReport, true);
+    }
+}
+
+
+[ObjectSystem]
+public class SeaSJRescueMissionUpdateSystem : UpdateSystem<SeaSJRescueMission>
+{
+    public override void Update(SeaSJRescueMission self)
+    {
+        if (!self.IsRunning) return;
+
+        self.aircrafts?.ForEach(a => a.Update(self.SimulationTime));
+
+        if (self.aircrafts.All(a => a.IsOver))
+        {
+            self.EndMission();
+        }
+    }
+}

SimulationServer/EventHandler/EventStruct.cs

@@ -25,6 +25,12 @@ public struct CreateSeaSJTask
     public SeaSouJiuTask SeaSJTask;
 }
 
+public struct CreateLandSJTask
+{
+    public EditorConfig EditorConfig;
+    public LandSouJiuTask LandSJTask;
+}
+
 public struct CreateXHTask
 {
     public EditorConfig EditorConfig;

SimulationServer/EventHandler/ServerStartEventHandler.cs

@@ -86,6 +86,12 @@ public class ServerStartEventHandler : AEvent<ServerStart>
             Game.EventSystem.Publish(new CreateSeaSJTask
             { EditorConfig = editorConfig, SeaSJTask = seaSJTask });
         }
+
+        foreach (var landSJTask in taskConfig.LandSouJiuTasks)
+        {
+            Game.EventSystem.Publish(new CreateLandSJTask
+            { EditorConfig = editorConfig, LandSJTask = landSJTask });
+        }
         taskSys.ExecutionContext = editorConfig.runCounts;
         taskSys.Start();
         return UniTask.CompletedTask;

SimulationServer/bin/Debug/net7.0/Missions/editor_config.json

@@ -1,5 +1,5 @@
 {
-    "仿真次数": 5,
+    "仿真次数": 10,
     "想定信息": {
         "想定日期": "2024年6月4日",
         "想定时间": "00时00分00秒"