SimulationServer/SimulationServer/Entity/AircraftSJ.cs

using KYFramework;
using Model;
using MongoDB.Bson;
using MuShiApp;
using SimulationCommon;
using SimulationSingleServer.Utils;
using Unity.Mathematics;
using Define = SimulationServer.Utils.Define;
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 Random random = new Random();
    private bool isseefire = false;
    private int fireIndex = -1; // 记录发现火点的位置
    public EquationHelper helper;

    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();
        var nCread = text_ReadNC.windNCread;
        //漂移轨迹
        List<double[]> trajectory = SeaSJ.CalculateDriftTrajectory(nCread, initialPosition,dt, totalTime);
        
        // 生成任务终点
        MissionEndPoint = new MissionEndPoint
        {
            MissionEndPointLongitude = trajectory[trajectory.Count - 1][1],
            MissionEndPointLatitude = trajectory[trajectory.Count - 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);
        double sweepWidth = 0.2;
        // 生成航路点
        List<Point> waypoints = ParallellineSearch.parallellineSearch(basePoint, points, sweepWidth);
        
        
        // 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
            });
        }
        
        FlightPlanEditor.airroute = airRoutes.ToArray();

        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);

                //*******
                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);

            Log.Info(TurningPoints.ToJson());
            End();
        });
    }


    public override void End()
    {

        for (int i = 0; i < currentLocation.Currentsegnum + 2; i++)
        {
            EffMisTime += TurningPoints[i].SegmentFlightTime;
        }

        TotalFuelConsumption = TurningPoints[0].RemainingFuel -
                               TurningPoints[currentLocation.Currentsegnum + 1].RemainingFuel;
    }
}

[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();
    }
}