SimulationServerYL/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;
using System.Threading;

namespace SimulationServer;

public class AircraftLandSJ : AircraftEntity
{
    public bool IsOver;

    public LandSouXunTask taskContent;
    public EquationHelper helper;
    public GetNCData getNCData;
    public bool isseePerson = false;

    public MissionEndPoint MissionEndPoint;
    public SearchMissionMode SearchMissionMode;
    public bool Success = false; //本目标搜救是否成功
    public SearchMissionPayload searchMissionPayload;

    public double resulttime;

    int Days;
    int Hour;

    public bool isEndWhile;

    public int targetCount;

    public int sbCount;

    public double landArea;

    public bool isReadNC;

    Text_readNC text_ReadNC;

    public override void Reset()
    {
        base.Reset();
        IsOver = false;
        isseePerson = false;
        Success = false;
        SearchTime = 0;
        TotalTime = 0;
        isEndWhile = false;
        resulttime = 0;
        targetCount = 0;
        sbCount = 0;
        landArea = 0;
    }

    public override void Start()
    {
        if (FlightPlanEditor.targetpoint[0].TargetType.Type == "遇险人员")
        {
            targetCount = FlightPlanEditor.targetpoint[0].TargetType.Count;
            sbCount = targetCount;
        }
        else
            sbCount = 1;

        landArea = SearchMissionMode.LandArea;

        int Year = Convert.ToInt32(taskContent.missionInformation.StartDate.Split("年")[0]);
        int Month = Convert.ToInt32(taskContent.missionInformation.StartDate.Split("年")[1].Split("月")[0]);
        int Day = Convert.ToInt32(taskContent.missionInformation.StartDate.Split("年")[1].Split("月")[1].Split("日")[0]);
        Hour = Convert.ToInt32(taskContent.missionInformation.StartTime.Split("时")[0]);
        Days = GetDaysInYear(Year, Month, Day);

        Velocitys = new double[5] { 220, 220, 60, 110, 0 }; // 速度


        List<double[]> route = new List<double[]>();

        if (SearchMissionMode.SearchMode == "扇形搜索")
        {
            List<double[]> trajectory = new List<double[]>();
            foreach (var item in SearchMissionMode.Poly)
            {
                trajectory.Add(new double[]
                {
                    item[1],item[0]
                });
            }

            var points = SeaSJ.getminEnclosingRect(trajectory);
            var startPoint1 = new Point
            {
                lat = points[0][0] / 2 + points[1][0] / 2,
                lon = points[0][1] / 2 + points[1][1] / 2
            };
            var startPoint2 = new Point
            {
                lat = points[2][0] / 2 + points[3][0] / 2,
                lon = points[2][1] / 2 + points[3][1] / 2
            };

            var centerPoint = new Point
            {
                lat = startPoint1.lat / 2 + startPoint2.lat / 2,
                lon = startPoint1.lon / 2 + startPoint2.lon / 2
            };
            List<Point> temp = SectorSearch.sectorSearch(centerPoint, 30, SearchMissionMode.SearchWidth);
            foreach (Point point in temp)
            {
                route.Add(new double[]
                {
                    point.lon, point.lat,3500
                });
            }
        }
        else if (SearchMissionMode.SearchMode == "等高线搜索")
        {
            route = ContourSearch.ContourSearch1(SearchMissionMode.Poly, SearchMissionMode.interval, SearchMissionMode.MinLength, SearchMissionMode.TrueH, SearchMissionMode.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],
                AirRouteHeight = item[2]
            });
        }

        FlightPlanEditor.airroute = airRoutes.ToArray();

        FlightPlanEditor.missionpoint = new MissionPoint()
        {
            MissionPointLongitude = FlightPlanEditor.airroute[0].AirRouteLongitude,
            MissionPointLatitude = FlightPlanEditor.airroute[0].AirRouteLatitude,
            MissionPointHeight = FlightPlanEditor.airroute[0].AirRouteHeight
        };

        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);

        double time = 0; // 第一次 搜寻结束
        for (int i = 0; i < TurningPoints.Count - 2; i++)
        {
            time += TurningPoints[i].SegmentFlightTime;
        }

        double3 targetPoint = new double3(FlightPlanEditor.targetpoint[0].TargetPointLongitude,
            FlightPlanEditor.targetpoint[0].TargetPointLatitude,
            FlightPlanEditor.targetpoint[0].TargetPointHeight);

        string cityName = helper.getCityName(targetPoint.x, targetPoint.y);
        //var visibility = helper.getVisibility(cityName, DateTime.Now.ToString("yyyy-MM-dd HH"));
        string year = taskContent.missionInformation.StartDate.Split("年")[0];
        string month = taskContent.missionInformation.StartDate.Split("年")[1].Split("月")[0];
        if (Convert.ToInt32(month) < 10) month = "0" + month;
        string day = taskContent.missionInformation.StartDate.Split("年")[1].Split("月")[1].Split("日")[0];
        if (Convert.ToInt32(day) < 10) day = "0" + day;
        //string hour = taskContent.missionInformation.StartTime.Split("时")[0];
        string date = year + "-" + month + "-" + day;// + " " + hour;
        //Console.Write(date);
        //Console.WriteLine(DateTime.Now.ToString("yyyy-MM-dd HH"));
        var visibility = helper.getVisibilityByDb(targetPoint.x, targetPoint.y, date); //DateTime.Now.ToString("yyyy-MM-dd HH")

        //getNCData = new GetNCData();
        //getNCData.initlatitudes = FlightPlanEditor.targetpoint[0].TargetPointLatitude;
        //getNCData.initlongitudes = FlightPlanEditor.targetpoint[0].TargetPointLongitude;
        //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
            //IsOver = true;
            do
            {

                if (!isseePerson && temptime >= time)
                {
                    FXJHGenerate.LandSouJiu(FlightPlanEditor, ref TurningPoints);
                    FXJHGenerate.FXJHTPDiedai(FlightPlanEditor, ref TurningPoints, Velocitys, FuelConsumptions);

                    time = 0;
                    for (int i = 0; i < TurningPoints.Count - 2; i++)
                    {
                        time += TurningPoints[i].SegmentFlightTime;
                    }
                    Log.Info($"+++++++++++搜寻结束 TurningPoints Count: {TurningPoints.Count} 下次结束的时间  {time}++++++++++++++++");
                }

                (currentLocation, _) =
                    FXJHGenerate.GetAllCurrentLocation(TurningPoints, temptime); // 获取飞机当前位置
                double3 aricraftPoint = new double3(currentLocation.CurrentLon, currentLocation.CurrentLat,
                    currentLocation.CurrentHei);

                var distance = Utils.Util.GetDistance(currentLocation.CurrentLon, targetPoint.x,
                    currentLocation.CurrentLat,
                    targetPoint.y);
                Log.Info("距离：====================" + distance);

                if (searchMissionPayload.SearchPayload == "雷达搜索")
                {
                    // Pd0 = 0.5 / Pf0 = Math.Pow(10,-6) / Pf = Math.Pow(10,-6) / R0 = 23645 / sigma0 = 5000 / sigma = Editor雷达截面面积 // R 单位m 
                    probability = helper.GetRadarPossibility(0.5, Math.Pow(10, -6), Math.Pow(10, -6), 23645, aricraftPoint, FlightPlanEditor.targetpoint[0], FlightPlanEditor.targetpoint[0].TargetType.RadarArea, 5000, visibility);
                }
                else if (searchMissionPayload.SearchPayload == "目视搜索")
                {
                    probability = helper.GetMushiLandProbability(aricraftPoint, visibility, FlightPlanEditor.targetpoint[0]);
                }
                else if (searchMissionPayload.SearchPayload == "光电（红外）搜索")
                {
                    // Lt = 探测目标亮度 Editor / At = 探测目标面积 Editor / τa = 1 / Lb = 3 / A0 = 1 / D0 = 0.075 / Dstar = 3 / τo = 0.8 / Ad = 0.0073728 / Δf = 0.125 / δ = 0.5 / Pf0 = Math.Pow(10, -6);
                    probability = helper.GetInfraredDetectionProbability(FlightPlanEditor.targetpoint[0].TargetType.TargetBrightness, FlightPlanEditor.targetpoint[0].TargetType.TargetArea, 1, 3, 1, aricraftPoint, FlightPlanEditor.targetpoint[0], 0.075, 3, 0.8, 0073728, 0.125, 0.5, Math.Pow(10, -6));
                }

                //probability =
                //    helper.GetMushiLandProbability(aricraftPoint, visibility, FlightPlanEditor.targetpoint[0]);
                //finalProbability *= (1 - probability); 


                if (probability > 0.8)
                {
                    probability -= 0.5f;

                    probability *= random.NextDouble();
                    double random1 = random.NextInt64(8000, 9200); // 生成随机数比较概率  调整概率使任务成功率降低 至 5%（0.05） 第一个参数越低概率越低 // 1000
                    random1 /= 10000;
                    probability += (0.5 * random1);
                }

                double randomValue = random.NextInt64(9006, 10000);  // 生成随机数比较概率  调整概率使任务成功率降低 至 5%（0.05） 第一个参数越高概率越低
                randomValue /= 10000;

                Log.Info(
                    $"陆上任务：{taskContent.missionInformation.MissionName} 机型： {AircraftId} 当前时间：{temptime}，当前位置：{currentLocation.CurrentLon},{currentLocation.CurrentLat},{currentLocation.CurrentHei}，概率：{probability}，是否看到遇险人员：{isseePerson}");

                if (randomValue < probability) // 1 - finalProbability
                {
                    isseePerson = true;
                    this.isseePerson = true;
                    fireIndex = currentLocation.Currentsegnum; // 记录当前航路点位置
                    //IsOver = true;
                    isEndWhile = true;
                    //Success = true;
                    //resulttime = get_result_time_rope(30, FlightPlanEditor.targetpoint[0].TargetType.Count, windSpeed, visibility, 0.75, 1.38).time; //调运时间
                    //Console.WriteLine("resulttime:" + resulttime);
                }
                else
                {
                    isseePerson = false;
                }

                temptime += 10;
                if (temptime >= taskContent.missionInformation.TaskEndConditions.TaskTime)
                {
                    //IsOver = true;
                    isEndWhile = true;
                    isseePerson = false;
                    fireIndex = currentLocation.Currentsegnum;
                }
            } while (!isseePerson && isEndWhile == 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);
            }

            if (isseePerson)
            {
                double seeTime = 0;
                if (FlightPlanEditor.targetpoint[0].TargetType.Type == "遇险人员")
                {
                    if (!isReadNC)
                    {
                        text_ReadNC = new Text_readNC();
                        text_ReadNC.initlatitudes = FlightPlanEditor.targetpoint[0].TargetPointLatitude;
                        text_ReadNC.initlongitudes = FlightPlanEditor.targetpoint[0].TargetPointLongitude;
                        //text_ReadNC = new Text_readNC();
                        bool isSuccess = false;
                        while (!isSuccess)
                        {
                            isSuccess = text_ReadNC.GetNCData();
                        }
                        isReadNC = true;
                    }
                    var nCread = text_ReadNC.windNCread;
                    var wind = SeaSJ.GetWindVelocityFromAPI(nCread, currentLocation.CurrentLat, currentLocation.CurrentLon,
                temptime, text_ReadNC.times, text_ReadNC.latitudes, text_ReadNC.longitudes, text_ReadNC.times1, text_ReadNC.latitudes1, text_ReadNC.longitudes1, Days, Hour);


                    double windSpeed = Math.Sqrt(wind[0] * wind[0] + wind[1] * wind[1]);

                    for (int i = 0; i < TurningPoints.Count - 1; i++)
                    {
                        seeTime += TurningPoints[i].SegmentFlightTime;
                    }

                    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 = FlightPlanEditor.targetpoint[0].TargetType.LiveTime;//幸存时间
                                                                                              //  SHJParameter.person_number = Eidtor里读取   SHJParameter.windspeed Nc/Editor目标气象信息读取时间先取任务初始时间
                    resulttime = get_result_time_rope(30, FlightPlanEditor.targetpoint[0].TargetType.Count, windSpeed, visibility, 0.75, 1.38).time; //调运时间
                    Console.WriteLine("resulttime:" + resulttime);
                    //Console.WriteLine("survivalTime:" + survivalTime);
                    if (survivalTime * 3600 > seeTime)
                    {
                        Success = true;
                    }
                    //Log.Info("TotalTime：" + TotalTime);
                    //Log.Info("幸存时间：" + survivalTime);
                }
            }

            //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}");
            Log.Info(
                $"陆上任务：{taskContent.missionInformation.MissionName} 机型： {AircraftId} 当前时间：{temptime}，当前位置：{currentLocation.CurrentLon},{currentLocation.CurrentLat},{currentLocation.CurrentHei}，概率：{probability}，是否看到遇险人员：{isseePerson}");

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

            End();
        });
    }

    public static handling_result get_result_time_rope(double H, int person_number, double windspeed, double vis, double upspeed, double downspeed)
    {

        handling_result result = new handling_result();

        if (windspeed < 8 && vis > 3)
        {
            result.time = (person_number * H) / downspeed + (person_number * H) / upspeed;
            result.success = true;
        }
        else
        {
            result.success = false;
        }
        return result;
    }

    public static int GetDaysInYear(int year, int month, int day)
    {
        int[] daysInMonths = { 31, 28, 31, 30, 31, 30, 31, 31, 30, 31, 30, 31 };
        if (IsLeapYear(year))
        {
            daysInMonths[1] = 29;
        }
        int days = day;
        for (int i = 0; i < month - 1; i++)
        {
            days += daysInMonths[i];
        }
        return days;
    }

    public static bool IsLeapYear(int year)
    {
        return (year % 4 == 0 && year % 100 != 0) || (year % 400 == 0);
    }

    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;

        IsOver = true;
    }
}

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