SimulationServer/SimulationServer/Entity/AircraftSJ.cs

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;

namespace SimulationServer;

public class AircraftSJ : AircraftEntity
{
    public bool IsOver;

    private MissionEndPoint MissionEndPoint;
    private CurrentLocation currentLocation;
    private double temptime = 0;
    private double probability = 0;
    private double finalProbability = 1.0;
    private bool isseefire = false;
    private int fireIndex = -1; // 记录发现火点的位置
    public EquationHelper helper;
    public SeaSouJiuTask taskContent;
    public bool Success = true; //本目标搜救是否成功

    public override void Start()
    {
        //TODO 计算 AirRoute[]
        double[] initialPosition =
        {
            FlightPlanEditor.targetpoint[0].TargetPointLatitude, FlightPlanEditor.targetpoint[0].TargetPointLongitude
        };
        double dt = 1;
        double totalTime = 24.0;

        Text_readNC text_ReadNC = new Text_readNC();
        text_ReadNC.GetNCData();
        text_ReadNC.GetWaveHighData();
        var nCread = text_ReadNC.windNCread;

        //漂移轨迹
        List<double[]> trajectory = SeaSJ.CalculateDriftTrajectory(nCread, initialPosition, dt, totalTime);

        Log.Info(trajectory.ToJson());
        // 生成任务终点
        MissionEndPoint = new MissionEndPoint
        {
            MissionEndPointLongitude = trajectory[^1][1],
            MissionEndPointLatitude = trajectory[^1][0],
            MissionEndPointHeight = 0
        };

        var temp = SeaSJ.getminEnclosingRect(trajectory);
        // temp 转成 List<Point>
        List<Point> points = new List<Point>();
        foreach (var item in temp)
        {
            points.Add(new Point(item[0], item[1]));
        }

        Point basePoint = new Point(FlightPlanEditor.originbase.BaseLatitude,
            FlightPlanEditor.originbase.BaseLongitude);
        List<Point> waypoints = new List<Point>();
        //*******
        if (taskContent.SearchMode == "平行线搜索")
        {
            waypoints = ParallellineSearch.parallellineSearch(basePoint, points, taskContent.SearchWidth);
        }

        if (taskContent.SearchMode == "扇形搜索")
        {
            waypoints = SectorSearch.PerformSearch(taskContent.SearchWidth);
        }

        if (taskContent.SearchMode == "扩展矩形搜索")
        {
            waypoints = TZFX.GenerateWaypoints(points[0], points[1], points[2], points[3], 20, taskContent.SearchWidth);
        }
        Log.Info("===========================");
        Log.Info( FlightPlanEditor.targetpoint[0].ToJson());
        Log.Info("===========================");
        Log.Info(points.ToJson());
        Log.Info("===========================");
        Log.Info(waypoints.ToJson());
        // List<Point> 转成 List<AirRoute>
        List<AirRoute> airRoutes = new List<AirRoute>();
        foreach (var item in waypoints)
        {
            airRoutes.Add(new AirRoute
            {
                AirRouteLatitude = item.lat,
                AirRouteLongitude = item.lon
            });
        }

        // var distance = Utils.Util.GetDistance(waypoints[0].lon,FlightPlanEditor.targetpoint[0].TargetPointLongitude, waypoints[0].lat,
        //     FlightPlanEditor.targetpoint[0].TargetPointLatitude);
        // var distance1 = Utils.Util.GetDistance(waypoints[0].lon,FlightPlanEditor.originbase.BaseLongitude, waypoints[0].lat,
        //     FlightPlanEditor.originbase.BaseLatitude);
        
        FlightPlanEditor.airroute = airRoutes.ToArray();

        MissionPoint missionPoint = new MissionPoint();
        missionPoint.MissionPointLatitude = waypoints[0].lat;
        missionPoint.MissionPointLongitude = waypoints[0].lon;
        
        FlightPlanEditor.missionpoint = missionPoint;

        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);

        Task.Run(() =>
        {
            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

            do
            {
                (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);


                var wind = SeaSJ.GetWindVelocityFromAPI(nCread, currentLocation.CurrentLat, currentLocation.CurrentLon,
                    temptime);


                var windSpeed = Math.Sqrt(wind[0] * wind[0] + wind[1] * wind[1]);
                
                var waveHigh = SeaSJ.GetWaveHeightFromAPI(nCread, currentLocation.CurrentLon,
                    currentLocation.CurrentLat, temptime);

                var distance = Utils.Util.GetDistance(currentLocation.CurrentLon,targetPoint.x, currentLocation.CurrentLat,
                    targetPoint.y);
                Log.Info("距离：====================" + distance);
                if (distance < 20)
                {
                    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
                }
                
                
                // 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
               
                // if (taskContent.SearchMode == "雷达搜索")
                // {
                //     probability = DectionModel.Radar(taskContent.DetectionWavelength, taskContent.MinDetectionSignal, taskContent.RadarTransmitterPower,taskContent.TransmitAntennaGain, taskContent.ReceiveAntennaGain, taskContent.)
                // }
                //
                // if (taskContent.SearchMode == "光电搜索")
                // {
                //     //搜寻目标相对搜救力量的侧向距离
                //     probability = DectionModel.GuangDian(taskContent.OpticalTowerHorizontalRange,
                //         taskContent.InfraredDetectorFieldAngle, taskContent.FlightHeight,,
                //         FlightPlanEditor.cityweather.Visibility);
                // }


                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：{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)
            {
                // 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
                FXJHGenerate.FromMissionToEnd(FlightPlanEditor, MissionEndPoint, ref TurningPoints);
            }

            FXJHGenerate.FXJHTPDiedai(FlightPlanEditor, ref TurningPoints, Velocitys, FuelConsumptions);

            End();
        });
    }


    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 > 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();
    }
}