功能 完善陆上搜救

Models/SimulationCommon/GeDianShengCheng1.cs → Models/SimulationCommon/ContourSearch.cs

@@ -17,15 +17,14 @@ using static BHJD.DEMdll.Public.IHttpHelper;
 namespace QuYuSaoMiao
 {
 
-    public class GeDianShengCheng1
-
+    public class ContourSearch
     {
-        //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 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>();
@@ -591,12 +590,24 @@ namespace QuYuSaoMiao
 
         }
 
-        public static string wkt_route(string wkt, double interval, int MinLength, double TrueH, int JG, DemHelper demHelper)
+        public static List<double[]> ContourSearch1(List<double[]> Poly, 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)))";
-
-
+            //数组转string
+            string wkt= "MULTIPOLYGON(((";
+            int stringcount = 0;
+            foreach (double[]polyPiont in Poly)
+            {
+                wkt += polyPiont[0] + " " + polyPiont[1] ;
+                stringcount++;
+                if(stringcount<Poly.Count)
+                { wkt += ","; }
+            }
+            wkt += ")))";
+            Console.WriteLine(wkt);
+            //数组转string end
+            List<double[]> routePoints = new List<double[]>();
             List<double[]> juxing1 = new List<double[]>();
             string wktstr = wkt.Replace("MULTIPOLYGON", "").Replace("(", "").Replace(")", "");
             string[] pts = wktstr.Split(",");
@@ -624,7 +635,7 @@ namespace QuYuSaoMiao
             if (data == null || data.code != 200)
             {
                 Console.WriteLine("******等高线生成出错！******");
-                return " ";
+                return routePoints;
             }
             List<List<double[]>> ContourAdded = new List<List<double[]>>();
             for (int i = 0; i < data.lstContours.Count; i++)
@@ -674,7 +685,7 @@ namespace QuYuSaoMiao
             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;
@@ -748,6 +759,7 @@ namespace QuYuSaoMiao
                 for (int k = 0; k < contourPts.Count; k++)
                 {
                     double[] item = contourPts[k];
+                    routePoints.Add(item);
                     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
                 }
@@ -760,7 +772,8 @@ namespace QuYuSaoMiao
                 wkt_route = "MULTILINESTRING ((" + wkt_route.Substring(1) + "))";
             }
             Console.WriteLine("******航路点生成******" + "\r\n" + wkt_route);
-            return wkt_route;
+            ListscanRoute(routePoints);
+            return routePoints;
         }
 
 

Models/SimulationCommon/FXJHGenenrate.cs

@@ -338,6 +338,26 @@ namespace Model
                 RemainingFuel = 0,
             });
         }
+        
+        public static void LandSouJiu(FlightPlanEditor editor, ref List<TurningPoint> turningPoints)
+        {
+            int i;
+            for (i = 0; i < editor.airroute.Length; i++)
+            {
+                turningPoints.Add(new TurningPoint
+                {
+                    TurningPointName = "巡航",
+                    TurningPointLongitude = editor.airroute[i].AirRouteLongitude,
+                    TurningPointLatitude = editor.airroute[i].AirRouteLatitude,
+                    TurningPointHeight = 2000,
+                    TurningPointType = "普通",
+                    SegmentFlightFuelConsumption = 3,
+                    SegmentFlightTime = 0,
+                    RemainingFuel = 0,
+                });
+            }
+
+        }
 
         public static void FromMissionToEnd(FlightPlanEditor editor, MissionEndPoint missionEndPoint, ref List<TurningPoint> turningPoints) //生成从任务段终点到基地的航路点
         {

SimulationServer/Entity/AircraftLandSJ.cs

@@ -14,14 +14,24 @@ namespace SimulationServer;
 public class AircraftLandSJ : AircraftEntity
 {
     public bool IsOver;
+    
+    // 这些参数不用写在这里
     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
+    
+    
+    
+    // 模型的输入（就是上面那些参数）应该在这个任务配置文件中
     public LandSouJiuTask taskContent;
-
+    public EquationHelper helper;
     public GetNCData getNCData;
+    public bool isseePerson = false;
+    
+    
+    
     public override void Reset()
     {
         base.Reset();
@@ -32,7 +42,119 @@ public class AircraftLandSJ : AircraftEntity
 
     public override void Start()
     {
+        Velocitys = new double[5] { 220, 220, 60, 110, 0 }; // 速度
+        List<double[]> Poly = new List<double[]>();
+        
+        List<double[]> route = ContourSearch.ContourSearch1(Poly, interval, MinLength, TrueH, JG, ContourSearch.DemHelper());
+        
+        
+        // route 转成 List<AirRoute>
+        List<AirRoute> airRoutes = new List<AirRoute>();
+        foreach (var item in route)
+        {
+            airRoutes.Add(new AirRoute
+            {
+                AirRouteLatitude = item[1],
+                AirRouteLongitude = item[0]
+            });
+        }
+
+        FlightPlanEditor.airroute = airRoutes.ToArray();
+
 
+        FXJHGenerate.FromStartToMission(FlightPlanEditor, ref TurningPoints); //生成从起点到任务段起点的航路点
+
+        // TODO 与王子涵确认这个方法
+        FXJHGenerate.LandSouJiu(FlightPlanEditor, ref TurningPoints);
+
+        FXJHGenerate.FXJHTPDiedai(FlightPlanEditor, ref TurningPoints, Velocitys, FuelConsumptions);
+
+        getNCData = new GetNCData();
+        getNCData.GetData();
+        Task.Run(() =>
+        {
+            bool isseePerson = 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
+
+            do
+            {
+                (currentLocation, _) =
+                    FXJHGenerate.GetAllCurrentLocation(TurningPoints, 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);
+
+
+
+                var distance = Utils.Util.GetDistance(currentLocation.CurrentLon, targetPoint.x, currentLocation.CurrentLat,
+                    targetPoint.y);
+                Log.Info("距离：====================" + distance);
+                if (distance < 20)
+                {
+                    //TODO 和学生对接确认， 发现概率算法
+                    probability = helper.getProbability(aricraftPoint, targetPoint, currentLocation.CurrentCourse,
+                        windSpeed, waveHigh, "落水人员", "海上"); // 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：{taskContent.missionInformation.MissionName} 机型： {AircraftId} 当前时间：{temptime}，当前位置：{currentLocation.CurrentLon},{currentLocation.CurrentLat},{currentLocation.CurrentHei}，概率：{probability}，最终概率：{1 - finalProbability}，是否看到落水人员：{isseePerson}");
+
+                double randomValue = random.NextDouble(); // 生成随机数比较概率
+                if (randomValue < (1 - finalProbability))
+                {
+                    isseePerson = true;
+                    this.isseePerson = true;
+                    fireIndex = currentLocation.Currentsegnum; // 记录当前航路点位置
+                    IsOver = true;
+                }
+                else
+                {
+                    isseePerson = false;
+                }
+
+                temptime += 10;
+            } while (!isseePerson && IsOver == false);
+            //Console.WriteLine(
+            //    $"海上任务1：{taskContent.missionInformation.MissionName} 机型： {AircraftId} 当前时间：{temptime}，当前位置：{currentLocation.CurrentLon},{currentLocation.CurrentLat},{currentLocation.CurrentHei}，概率：{probability}，最终概率：{1 - finalProbability}，是否看到落水人员：{isseePerson}");
+            Console.WriteLine(
+                $"海上任务：{taskContent.missionInformation.MissionName} 机型： {AircraftId} 当前时间：{temptime}，当前位置：{currentLocation.CurrentLon},{currentLocation.CurrentLat},{currentLocation.CurrentHei}，概率：{probability}，最终概率：{1 - finalProbability}，是否看到落水人员：{isseePerson}，人员是否幸存：{Success}");
+
+            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);
+
+                //发现的目标坐标，需要其他模型输入
+                // TODO 与王子涵确认这个方法
+                FXJHGenerate.FromMissionToEnd(FlightPlanEditor, MissionEndPoint, ref TurningPoints);
+            }
+
+            FXJHGenerate.FXJHTPDiedai(FlightPlanEditor, ref TurningPoints, Velocitys, FuelConsumptions);
+
+            End();
+        });
     }
 
 
@@ -57,26 +179,6 @@ public class AircraftLandSJ : AircraftEntity
         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;
-        }
     }
 }