SimulationServer/SimulationServer/Entity/AircraftLandSJ.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;
using QuYuSaoMiao;

namespace SimulationServer;

public class AircraftLandSJ : AircraftEntity
{
    public bool IsOver;
    
    public LandSouJiuTask taskContent;
    public EquationHelper helper;
    public GetNCData getNCData;
    public bool isseePerson = false;
    
    
    
    public override void Reset()
    {
        base.Reset();
        IsOver = false;
        SearchTime = 0;
        TotalTime = 0;
    }

    public override void Start()
    {
        Velocitys = new double[5] { 220, 220, 60, 110, 0 }; // 速度
        
        // TODO 这些参数应该在任务配置文件中， 与王子涵确认
        List<double[]> route = ContourSearch.ContourSearch1(taskContent.Poly, taskContent.interval, taskContent.MinLength, taskContent.TrueH, taskContent.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();
        });
    }


    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;

    }
}

[ObjectSystem]
public class AircraftLandSJAwakeSystem : AwakeSystem<AircraftLandSJ, FlightPlanEditor>
{
    public override void Awake(AircraftLandSJ self, FlightPlanEditor flightPlanEditor)
    {
        self.FlightPlanEditor = flightPlanEditor;
        self.Awake();
    }
}