SimulationServerYL/SimulationServer/Entity/AircraftSJ.cs

using KYFramework;
using Model;
using MongoDB.Bson;
using MuShiApp;
using Org.BouncyCastle.Asn1.Pkcs;
using SimulationCommon;
using SimulationSingleServer.Utils;
using System.Threading;
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;
    public bool isseePerson = false;
    private int fireIndex = -1; // 记录发现火点的位置
    public EquationHelper helper;
    public SeaSouJiuTask taskContent;
    public bool Success = false; //本目标搜救是否成功
    public GetNCData getNCData;
    public double resulttime;
    public SearchMissionPayload searchMissionPayload;

    //private bool isbool;
    //private bool isbool2;
    //Text_readNC text_ReadNC;

    public SearchMissionMode SearchMode;
    int Days;
    int Hour;

    public int targetCount;

    public bool isEndWhile;

    public int sbCount;

    public double seaArea;

    public bool isReadNC;

    Text_readNC text_ReadNC;

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

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

        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);
        //Console.WriteLine("Day:" + Days);

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

        //TODO 计算 AirRoute[]
        double[] initialPosition =
        {
            FlightPlanEditor.targetpoint[0].TargetPointLatitude, FlightPlanEditor.targetpoint[0].TargetPointLongitude
        };
        double dt = 1;
        double totalTime = 24.0;


        if (!isReadNC)
        {
            //if (!isbool2)
            //{
            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();
            }

            bool isSuccess2 = false;
            while (!isSuccess2)
            {
                isSuccess2 = text_ReadNC.GetWaveHighData();
            }

            //isbool2 = true;
            //}

            getNCData = new GetNCData();
            getNCData.initlatitudes = FlightPlanEditor.targetpoint[0].TargetPointLatitude;
            getNCData.initlongitudes = FlightPlanEditor.targetpoint[0].TargetPointLongitude;
            bool isSuccess3 = false;
            while(!isSuccess3)
            {
                isSuccess3 = getNCData.GetData();
            }

            isReadNC = true;
        }
        var nCread = text_ReadNC.windNCread;

        //漂移轨迹
        List<double[]> trajectory = SeaSJ.CalculateDriftTrajectory(nCread, initialPosition, dt, totalTime, text_ReadNC.times, text_ReadNC.latitudes, text_ReadNC.longitudes, text_ReadNC.times1, text_ReadNC.latitudes1, text_ReadNC.longitudes1, text_ReadNC.times2, text_ReadNC.latitudes2, text_ReadNC.longitudes2, text_ReadNC.times3, text_ReadNC.latitudes3, text_ReadNC.longitudes3, Days, Hour, text_ReadNC.initlatitudes, text_ReadNC.initlongitudes);
        //foreach ( var trajectoryItem in trajectory)
        //{
        //    Console.WriteLine("trajectory:" + trajectoryItem[0] + "_" + trajectoryItem[1]);
        //}

        // 生成任务终点
        MissionEndPoint = new MissionEndPoint
        {
            MissionEndPointLongitude = trajectory[^1][1],
            MissionEndPointLatitude = trajectory[^1][0],
            MissionEndPointHeight = 0
        };

        var temp = SeaSJ.getminEnclosingRect(trajectory); // 

        seaArea = Rectangular_Area_Search_Function.min_area;
        // temp 转成 List<Point>
        List<Point> points = new List<Point>();
        foreach (var item in temp)
        {
            points.Add(new Point(item[0], item[1]));
        }
        //foreach (var item in points)
        //{
        //    Console.WriteLine("item:" + item.lat + "-" + item.lon);
        //}
        Point basePoint = new Point(FlightPlanEditor.originbase.BaseLatitude,
            FlightPlanEditor.originbase.BaseLongitude);
        List<Point> waypoints = new List<Point>();

        //*******
        if (SearchMode.SearchMode == "平行线搜索")
        {
            waypoints = ParallellineSearch.parallellineSearch(basePoint, points, SearchMode.SearchWidth);
        }

        if (SearchMode.SearchMode == "扇形搜索")
        {
            // 求 points 的中心点
            var startPoint1 = new Point
            {
                lat = points[0].lat / 2 + points[1].lat / 2,
                lon = points[0].lon / 2 + points[1].lon / 2
            };
            var startPoint2 = new Point
            {
                lat = points[2].lat / 2 + points[3].lat / 2,
                lon = points[2].lon / 2 + points[3].lon / 2
            };

            var centerPoint = new Point
            {
                lat = startPoint1.lat / 2 + startPoint2.lat / 2,
                lon = startPoint1.lon / 2 + startPoint2.lon / 2
            };
            waypoints = SectorSearch.sectorSearch(centerPoint, 30, SearchMode.SearchWidth);
        }

        if (SearchMode.SearchMode == "扩展矩形搜索")
        {
            // 求 points 的中心点
            var startPoint1 = new Point
            {
                lat = points[0].lat / 2 + points[1].lat / 2,
                lon = points[0].lon / 2 + points[1].lon / 2
            };
            //Console.WriteLine("startPoint1:" + startPoint1.lat + "-" + startPoint1.lon);
            var startPoint2 = new Point
            {
                lat = points[2].lat / 2 + points[3].lat / 2,
                lon = points[2].lon / 2 + points[3].lon / 2
            };
            //Console.WriteLine("startPoint2:" + startPoint2.lat + "-" + startPoint2.lon);
            var centerPoint = new Point
            {
                lat = startPoint1.lat / 2 + startPoint2.lat / 2,
                lon = startPoint1.lon / 2 + startPoint2.lon / 2
            };
            //Console.WriteLine("centerPoint:" + centerPoint.lat + "-" + centerPoint.lon);
            // 以 centerPoint 为中心，生成正方形区域
            var lonD = Math.Abs(points[0].lon - points[1].lon);
            var latD1 = Math.Abs(points[1].lat - points[2].lat);
            var max = Math.Max(lonD, latD1);
            //Console.WriteLine("max:" + max);
            // 以 distance 为边长 以 centerPoint 为中心点的正方形

            var temp0 = new Point(centerPoint.lat + max / 2, centerPoint.lon - max / 2);
            var temp1 = new Point(centerPoint.lat + max / 2, centerPoint.lon + max / 2);
            var temp2 = new Point(centerPoint.lat - max / 2, centerPoint.lon + max / 2);
            var temp3 = new Point(centerPoint.lat - max / 2, centerPoint.lon - max / 2);
            //Console.WriteLine("temp0:" + temp0.lat + "-" + temp0.lon);
            //Console.WriteLine("temp1:" + temp1.lat + "-" + temp1.lon);
            //Console.WriteLine("temp2:" + temp2.lat + "-" + temp2.lon);
            //Console.WriteLine("temp3:" + temp3.lat + "-" + temp3.lon);
            //Console.WriteLine("SearchWidth:" + SearchMode.SearchWidth);
            waypoints = TZFX.GenerateWaypoints(temp0, temp1, temp2, temp3, max, SearchMode.SearchWidth);
        }
        //foreach (var item in waypoints)
        //{
        //    Console.WriteLine("item.lat :" + item.lat + "-" + "item.lon:" + item.lon);
        //}
        // 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();

        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);

        //foreach (var item in TurningPoints)
        //{
        //    Console.WriteLine("TurningPointLatitude:" + item.TurningPointLatitude + "_" + "TurningPointLongitude:" + item.TurningPointLongitude);
        //}

        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 vis = 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 vis = helper.getVisibilityByDb(targetPoint.x, targetPoint.y, date); //DateTime.Now.ToString("yyyy-MM-dd HH")

        //if (!isbool)
        //{
        //getNCData = new GetNCData();
        //getNCData.initlatitudes = FlightPlanEditor.targetpoint[0].TargetPointLatitude;
        //getNCData.initlongitudes = FlightPlanEditor.targetpoint[0].TargetPointLongitude;
        //getNCData.GetData();
        //isbool = true;
        //}

        Task.Run(() =>
        {
            bool isseePerson = false; // 输出表格平均救助时间没看到人是0看到人调用下面get_result_time_rope方法 //人员存活率需要重新算读取Editor搜救目标点初始坐标人数 //任务准备时间取值所有任务最小
            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
            double windSpeed = 0;
            do
            {
                if (!isseePerson && temptime >= time)
                {
                    FXJHGenerate.SeaSouJiu(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);

                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, text_ReadNC.times, text_ReadNC.latitudes, text_ReadNC.longitudes, text_ReadNC.times1, text_ReadNC.latitudes1, text_ReadNC.longitudes1, Days, Hour);


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

                var waveHigh = SeaSJ.GetWaveHeightFromAPI(nCread, currentLocation.CurrentLon,
                    currentLocation.CurrentLat, temptime, text_ReadNC.times4, text_ReadNC.latitudes4, text_ReadNC.longitudes4, Days, Hour);

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

                //Console.WriteLine("searchMissionPayload.SearchPayload:" + searchMissionPayload.SearchPayload);
                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, vis);
                }
                else if (searchMissionPayload.SearchPayload == "目视搜索")
                {
                    probability = helper.GetMushiSeaProbability(aricraftPoint, vis, waveHigh, 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.getProbability(aricraftPoint, targetPoint,pb, 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);

                // 到搜寻航路点的最后一个点 （？）
                Log.Info(
                    $"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}，是否看到目标：{isseePerson}");
                double randomValue = random.NextInt64(9006, 10000); // 生成随机数比较概率 //0.05 第一个参数越高概率越低 / 8985 0.212 100 / 9000 0.16 100 / 8995 0.14 100 / 8997 0.12 100 / 8999  0.18 100 / 9006 0.11 100 / 9010 0.12 100 / 9030 0.03 100 / 9026 0.07 0.04 100 / 9028 0.03 100 / 9027 0.04 100 / 9025 0.05 100 /
                //9025 0.02 100 / 9015 0.02 100 / 9020 0.04 100 / 9022 0.05 100 / 9022 0.04 100 / 9022 0 100 /9018 0.01 100 / 9021 0.01 100 / 9023 0.03 100 / 9000 0.08 100 / 9006
                randomValue /= 10000;
                //randomValue = 0.8;
                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;
                }
                else
                {
                    isseePerson = false;
                }
                if (temptime >= taskContent.missionInformation.TaskEndConditions.TaskTime)
                {
                    //IsOver = true;
                    isEndWhile = true;
                    isseePerson = false;
                    fireIndex = currentLocation.Currentsegnum;
                }
                temptime += 10;
            } while (!isseePerson && !isEndWhile); //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);
            }

            if (isseePerson)
            {
                double seeTime = 0;
                if (FlightPlanEditor.targetpoint[0].TargetType.Type == "落水人员")
                {
                    for (int i = 0; i < TurningPoints.Count - 1; i++)
                    {
                        seeTime += TurningPoints[i].SegmentFlightTime;
                    }

                    //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, text_ReadNC.times, text_ReadNC.latitudes, text_ReadNC.longitudes, Days, Hour); //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, vis, 0.75, 1.38).time; //调运时间
                    Console.WriteLine("resulttime:" + resulttime);
                    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(
                $"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}，是否看到目标：{isseePerson}，人员是否幸存：{Success}");

            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;


        //GetNCData getNCData = new GetNCData();
        ////getNCData.GetData();

        IsOver = true;
    }
}

[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();
    }
}