648 lines
21 KiB
C#
648 lines
21 KiB
C#
using DG.Tweening;
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using System;
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using System.Collections;
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using System.Collections.Generic;
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using UnityEngine;
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using AdamThinkDevicesData;
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using AdamSync;
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using System.Linq;
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using static InterfaceManager;
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using Newtonsoft.Json;
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/// <summary>
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/// 单个无人机蜂群控制
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/// </summary>
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public class UnmannedAerialVehicleManage : MonoBehaviour
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{
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/// <summary>
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/// 无人机状态
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/// </summary>
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public Pattern pattern = Pattern.待机;
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public static List<UnmannedAerialVehicleManage> unmannedAerialVehicleManages = new List<UnmannedAerialVehicleManage>();
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#region 启动暂停
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private bool _isStartRehearsing = false;
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/// <summary>
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/// 是否正在预演
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/// </summary>
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public bool isStartRehearsing
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{
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get { return _isStartRehearsing; }
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set
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{
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if (_isStartRehearsing != value)
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{
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_isStartRehearsing = value;
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OnActivationChanged?.Invoke(_isStartRehearsing);
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}
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}
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}
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/// <summary>
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/// 布尔值变化时触发的事件
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/// </summary>
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public event System.Action<bool> OnActivationChanged;
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/// <summary>
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/// 间隔时间
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/// </summary>
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public float interval = 5.0f;
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#endregion
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public EquipmentCommon equipmentCommon;
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/// <summary>
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/// 无人机预制体
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/// </summary>
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public GameObject UAVPrefab;
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/// <summary>
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/// 编队无人机数量
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/// </summary>
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public int totalObjects = 30; // 总共的物体数量
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/// <summary>
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/// 所有子物体无人机
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/// </summary>
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public List<UnmannedAerialVehicle> unmannedAerialVehicles = new List<UnmannedAerialVehicle>();
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/// <summary>
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/// 线预制体
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/// </summary>
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public GameObject LinePrefab;
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/// <summary>
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/// 航线
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/// </summary>
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public GameObject airRoute;
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/// <summary>
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/// 已有路径
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/// </summary>
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public Queue<Vector3> positions = new Queue<Vector3>();
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public Vector3 endPosition = new Vector3();
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/// <summary>
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/// 飞行速度
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/// </summary>
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public float FireSpeed = 20.0f;
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/// <summary>
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/// 检测范围半径
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/// </summary>
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public float detectionRadius = 80; //
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/// <summary>
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/// 是否正在攻击目标
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/// </summary>
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public bool isEngagedTarget = false;
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#region 无人机数据
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/// <summary>
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/// 续航时间
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/// </summary>
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public string batteryLife;
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/// <summary>
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/// 抗风等级
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/// </summary>
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public string classificationWindResistance;
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/// <summary>
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/// 最大飞行速度
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/// </summary>
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public string maximumFlyingSpeed;
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/// <summary>
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/// RCS
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/// </summary>
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public string RCS;
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/// <summary>
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/// 卫星定位频点
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/// </summary>
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public string satellitePositioningFrequency;
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/// <summary>
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/// 数据链通信频点
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/// </summary>
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public string dataLinkCommunicationFrequency;
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/// <summary>
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/// 电子侦察能力
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/// </summary>
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public string electronicReconnaissanceCapability;
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/// <summary>
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/// 光学侦察能力
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/// </summary>
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public string opticalReconnaissanceCapability;
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#endregion
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// Start is called before the first frame update
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void Start()
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{
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for (int i = 0; i < unmannedAerialVehicles.Count; i++)
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{
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unmannedAerialVehicles[i].serialNumber = (i + 1).ToString();
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}
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unmannedAerialVehicleManages.Add(this);
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equipmentCommon = GetComponent<EquipmentCommon>();
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Formation(1);//默认阵型
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// 订阅布尔值变化事件
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OnActivationChanged += OnActivationChangedHandler;
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}
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// Update is called once per frame
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void Update()
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{
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if (isStartRehearsing && equipmentCommon.isPlayer)
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{
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switch (pattern)
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{
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case Pattern.待机:
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break;
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case Pattern.警戒:
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SelectiveAttackDrone();
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break;
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case Pattern.攻击:
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SelectiveAttackDrone();
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if (airRoute)
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{
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StartMoveObjectAlongPath();
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}
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break;
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}
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var _unmannedAerialVehicle = unmannedAerialVehicles.FindAll(x => x != null);
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if (_unmannedAerialVehicle.Count == 0)
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{
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string nowData = string.Format("{0},{1}", "SetToBeDestroyed", equipmentCommon.deviceID);
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Debug.Log(nowData);
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_ = SyncCreateRoom.SendMessageAsync(string.Format("send2room {0}", nowData));
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UploadLog(equipmentCommon.deviceID);
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WWWForm headers = new WWWForm();
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headers.AddField("id", equipmentCommon.deviceID);
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StartCoroutine(PostString(Url_Deletepracticedevicedetail, headers, data =>
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{
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Debug.Log(data);
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Destroy(gameObject);
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}));
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}
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}
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}
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/// <summary>
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///上传日志
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/// </summary>
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/// <param name="deviceID"></param>
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public void UploadLog(string deviceID)
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{
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string currentTime = System.DateTime.Now.ToString();
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List<UploadLogMain> uploadLogMains = new List<UploadLogMain>();
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UploadLogMain uploadLogMain = new UploadLogMain();
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uploadLogMain.PracticeId = GlobalFlag.practiceSubjectID;
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uploadLogMain.ThinkId = GlobalFlag.currentThinkId;
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string log = currentTime + " " + equipmentCommon.equipmentType + "(" + deviceID + ")" + "被成建制销毁了 ";
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uploadLogMain.log = log;
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uploadLogMains.Add(uploadLogMain);
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string uploadLogMainJson = JsonConvert.SerializeObject(uploadLogMains);
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WWWForm wWWForm = new WWWForm();
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wWWForm.AddField("data", uploadLogMainJson);
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Debug.Log(uploadLogMainJson);
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StartCoroutine(PostString(Url_Addpracticelog, wWWForm, data =>
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{
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Debug.Log(data);
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}));
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}
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/// <summary>
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/// 模式切换
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/// </summary>
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public void modeSwitch(int patternCut)
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{
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switch (patternCut)
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{
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case 0://待机
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pattern = Pattern.待机;
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break;
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case 1:
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pattern = Pattern.警戒;
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break;
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case 2:
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pattern = Pattern.攻击;
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break;
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default:
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break;
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}
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}
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/// <summary>
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/// 攻击打击
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/// </summary>
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private void SelectiveAttackDrone()
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{
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if (isEngagedTarget) return;
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List<Collider> colliders = Physics.OverlapSphere(transform.position, detectionRadius).ToList(); // 检索范围内的所有碰撞体
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List<Collider> colliders1 = new List<Collider>();
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for (int i = 0; i < colliders.Count; i++)
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{
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if (colliders[i].transform.tag == "AttackTarget")
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colliders1.Add(colliders[i]);
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}
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if (colliders1.Count > 0)
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{
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isEngagedTarget = true;
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colliders1.ForEach(x => Debug.Log(x.transform.name));
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int _number = UnityEngine.Random.Range(0, colliders1.Count - 1);
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List<UnmannedAerialVehicle> _unmannedAerialVehicles = unmannedAerialVehicles.FindAll(x => x != null);
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SendMsg(colliders1[_number].transform);
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for (int i = 0; i < _unmannedAerialVehicles.Count; i++)
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{
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_unmannedAerialVehicles[i].AttAck(colliders1[_number].transform);
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}
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}
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}
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public void SendMsg(Transform attackTarget)
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{
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string nowData = GetSyncData(attackTarget);
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Debug.Log(nowData);
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_ = SyncCreateRoom.SendMessageAsync(string.Format("send2room {0}", nowData));
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}
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/// <summary>
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/// 无人机攻击目标传递
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/// </summary>
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/// <returns></returns>
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protected string GetSyncData(Transform attackTarget)
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{
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return string.Format("{0},{1},{2},{3},{4}", "SingleDronePosition", equipmentCommon.deviceID,
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attackTarget.position.x, attackTarget.position.y, attackTarget.position.z);
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}
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#region 启动暂停
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/// <summary>
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/// 导条变化调用
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/// </summary>
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/// <param name="newValue"></param>
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void OnActivationChangedHandler(bool newValue)
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{
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if (newValue)
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{
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}
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else
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{
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}
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}
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#endregion
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#region 数据写入
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/// <summary>
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/// 数据写入
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/// </summary>
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/// <param name="weaponitemone"></param>
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public void FillInTheData(List<List_paraItem> weaponitemone)
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{
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//if (equipmentCommon)
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//{
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// string msg = $"send2room {equipmentCommon.equipmentType}+{transform.position.ToString().Replace(" ", "").Replace("(", "").Replace(")", "")}+{transform.eulerAngles.ToString().Replace(" ", "").Replace("(", "").Replace(")", "")}";
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// Debug.Log(msg);
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// _ = SyncCreateRoom.SendMessageAsync(msg);
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//}
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for (int i = 0; i < weaponitemone.Count; i++)
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{
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switch (weaponitemone[i].para_name)
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{
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case "续航时间：":
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batteryLife = weaponitemone[i].para_value;
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break;
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case "抗风等级：":
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classificationWindResistance = weaponitemone[i].para_value;
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break;
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case "最大飞行速度：":
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maximumFlyingSpeed = weaponitemone[i].para_value;
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FireSpeed = float.Parse(maximumFlyingSpeed);
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break;
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case "RCS：":
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RCS = weaponitemone[i].para_value;
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break;
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case "卫星定位频点：":
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//satellitePositioningFrequency = weaponitemone[i].para_value;
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switch (weaponitemone[i].para_value)
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{
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case "0":
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satellitePositioningFrequency = "1227.60 MHz";
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break;
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case "1":
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satellitePositioningFrequency = "1381.05 MHz";
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break;
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case "2":
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satellitePositioningFrequency = "1575.42 MHz";
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break;
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default:
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break;
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}
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break;
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case "数据链通信频点:":
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//dataLinkCommunicationFrequency = weaponitemone[i].para_value;
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switch (weaponitemone[i].para_value)
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{
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case "0":
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dataLinkCommunicationFrequency = "2GHz";
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break;
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case "1":
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dataLinkCommunicationFrequency = "4GHz";
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break;
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case "2":
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dataLinkCommunicationFrequency = "5GHz";
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break;
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default:
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break;
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}
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break;
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case "电子侦察能力:":
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//electronicReconnaissanceCapability = weaponitemone[i].para_value;
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switch (weaponitemone[i].para_value)
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{
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case "0":
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electronicReconnaissanceCapability = "UHF";
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break;
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case "1":
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electronicReconnaissanceCapability = "L";
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break;
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case "2":
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electronicReconnaissanceCapability = "S";
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break;
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case "3":
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electronicReconnaissanceCapability = "C";
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break;
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case "4":
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electronicReconnaissanceCapability = "X";
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break;
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case "5":
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electronicReconnaissanceCapability = "Ku";
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break;
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case "6":
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electronicReconnaissanceCapability = "Ka";
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break;
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default:
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break;
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}
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break;
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case "光学侦察能力:":
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//opticalReconnaissanceCapability = weaponitemone[i].para_value;
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switch (weaponitemone[i].para_value)
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{
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case "0":
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opticalReconnaissanceCapability = "有";
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break;
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case "1":
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opticalReconnaissanceCapability = "无";
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break;
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default:
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break;
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}
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break;
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default:
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break;
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}
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if (i == (weaponitemone.Count - 1))
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{
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StartCoroutine(WeaponitemoneDataAddition());
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}
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}
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}
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/// <summary>
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/// 单个无人机数据写入
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/// </summary>
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/// <returns></returns>
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IEnumerator WeaponitemoneDataAddition()
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{
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yield return new WaitForSeconds(0.01f);
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for (int i = 0; i < unmannedAerialVehicles.Count; i++)
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{
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if (unmannedAerialVehicles[i] != null)
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{
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unmannedAerialVehicles[i].unmannedAerialVehicleManage = this;
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unmannedAerialVehicles[i].batteryLife = batteryLife;
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unmannedAerialVehicles[i].classificationWindResistance = classificationWindResistance;
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unmannedAerialVehicles[i].maximumFlyingSpeed = maximumFlyingSpeed;
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unmannedAerialVehicles[i].RCS = RCS;
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unmannedAerialVehicles[i].satellitePositioningFrequency = satellitePositioningFrequency;
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unmannedAerialVehicles[i].dataLinkCommunicationFrequency = dataLinkCommunicationFrequency;
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unmannedAerialVehicles[i].electronicReconnaissanceCapability = electronicReconnaissanceCapability;
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unmannedAerialVehicles[i].opticalReconnaissanceCapability = opticalReconnaissanceCapability;
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}
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}
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}
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#endregion
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#region 阵型编队
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/// <summary>
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/// 阵型选择
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/// </summary>
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/// <param name="number"></param>
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public void Formation(int number)
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{
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switch (number)
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{
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case 1:
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GenerateFormation();
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break;
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case 2:
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MatrixFormation(5);
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break;
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case 3:
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MatrixFormation(30);
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break;
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case 4:
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MatrixFormation(1);
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break;
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default:
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break;
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}
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}
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/// <summary>
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/// 无人机雁式阵型
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/// </summary>
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private void GenerateFormation()
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{
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int count = 1; // 每一排的物体数量
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int currentCount = 0;
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Vector3 startPos = new Vector3();
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for (int i = 0; i < Mathf.Ceil(Mathf.Sqrt(totalObjects)); i++)
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{
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//Debug.Log("剩余。。。：" + (totalObjects - currentCount));
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startPos = new Vector3(-i * 2, 0, -i * 2);
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for (int j = 0; j < count; j++)//每排物体个数
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{
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if (currentCount < totalObjects)
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{
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Vector3 _vector3 = startPos + new Vector3(j * 2, 0, 0);
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if (unmannedAerialVehicles[currentCount])
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unmannedAerialVehicles[currentCount].transform.localPosition = _vector3;
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currentCount++;
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}
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else
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{
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BoxCollider box = transform.GetComponent<BoxCollider>();
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if (box)
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{
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box.center = new Vector3(0, 0, -i);
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box.size = new Vector3(2 * count, 1, 2 * (i + 1));
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}
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}
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}
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count += 2; // 下一排增加两个物体
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}
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}
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/// <summary>
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/// 矩阵阵型
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/// </summary>
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private void MatrixFormation(int rows)
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{
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float offsetX = 2.0f; // 子物体之间的水平间距
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float offsetY = 2.0f; // 子物体之间的垂直间距
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float offsetZ = 2.0f; // 子物体之间的垂直间距
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int currentCount = 0;
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int cols = CanDivideEvenly(totalObjects, rows) ? totalObjects / rows : totalObjects / rows + 1;
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for (int row = 0; row < rows; row++)
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{
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for (int col = 0; col < cols; col++)
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{
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if (currentCount < totalObjects)
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{
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Vector3 position = new Vector3(col * offsetX, 0, -row * offsetZ);
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if (unmannedAerialVehicles[currentCount])
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unmannedAerialVehicles[currentCount].transform.localPosition = position;
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currentCount++;
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}
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}
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}
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BoxCollider box = transform.GetComponent<BoxCollider>();
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if (box)
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{
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Debug.Log("cols..:" + cols);
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Debug.Log("rows..:" + rows);
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box.center = new Vector3(cols - 1, 0, -(rows - 1));
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box.size = new Vector3(cols * 2, 1, 2 * rows);
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}
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}
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bool CanDivideEvenly(int dividend, int divisor)
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{
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return dividend % divisor == 0;
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}
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#endregion
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/// <summary>
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/// 关闭航线设置
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||
/// </summary>
|
||
public void TurnOffCourseSettings()
|
||
{
|
||
if (airRoute)
|
||
{
|
||
DistanceMeasurement distanceMeasurement = airRoute.GetComponent<DistanceMeasurement>();
|
||
if (distanceMeasurement)
|
||
{
|
||
distanceMeasurement.isPathCanBePlanned = false;
|
||
}
|
||
}
|
||
}
|
||
|
||
/// <summary>
|
||
/// 开启航线设置
|
||
/// </summary>
|
||
public void RouteSettings()
|
||
{
|
||
if (airRoute)
|
||
{
|
||
DistanceMeasurement distanceMeasurement = airRoute.GetComponent<DistanceMeasurement>();
|
||
if (distanceMeasurement)
|
||
{
|
||
distanceMeasurement.isPathCanBePlanned = true;
|
||
positions.Clear();
|
||
}
|
||
}
|
||
else
|
||
{
|
||
GameObject _object = Instantiate(LinePrefab);
|
||
airRoute = _object;
|
||
airRoute.transform.position = Vector3.zero;
|
||
DistanceMeasurement distanceMeasurement = airRoute.GetComponent<DistanceMeasurement>();
|
||
if (distanceMeasurement)
|
||
{
|
||
distanceMeasurement.isPathCanBePlanned = true;
|
||
distanceMeasurement.markers[0] = transform;
|
||
distanceMeasurement.unmannedAerialVehicleManage = this;
|
||
}
|
||
}
|
||
}
|
||
|
||
private bool isMove = true;
|
||
/// <summary>
|
||
/// 按规划路径开始移动
|
||
/// </summary>
|
||
public void StartMoveObjectAlongPath()
|
||
{
|
||
if (isMove && positions.Count > 0)
|
||
{
|
||
isMove = false;
|
||
Vector3 _positions = positions.Dequeue();
|
||
var nowData = GetSyncData(_positions);
|
||
_ = SyncCreateRoom.SendMessageAsync(string.Format("send2room {0}", nowData));
|
||
StartCoroutine(MoveObjectAlongPath(_positions)); // 启动协程，按规划的路线移动物体
|
||
}
|
||
}
|
||
|
||
public IEnumerator MoveObjectAlongPath(Vector3 _positions) // 协程：按路线移动物体
|
||
{
|
||
Vector3 targetPosition = new Vector3(_positions.x, 150, _positions.z);// 目标位置为当前顶点坐标
|
||
float _distance = Vector3.Distance(transform.position, targetPosition);
|
||
float _time = _distance / FireSpeed;
|
||
transform.LookAt(targetPosition);
|
||
transform.DOMove(targetPosition, _time).SetEase(Ease.Linear);
|
||
yield return new WaitForSeconds(_time); // 等待一帧时间
|
||
isMove = true;
|
||
}
|
||
public IEnumerator MoveObjectAlongPath(Vector3 _positions, bool _isMove) // 协程：按路线移动物体
|
||
{
|
||
Vector3 targetPosition = new Vector3(_positions.x, 200, _positions.z);// 目标位置为当前顶点坐标
|
||
float _distance = Vector3.Distance(transform.position, targetPosition);
|
||
float _time = _distance / FireSpeed;
|
||
transform.LookAt(targetPosition);
|
||
transform.DOMove(targetPosition, _time).SetEase(Ease.Linear);
|
||
yield return new WaitForSeconds(_time); // 等待一帧时间
|
||
equipmentCommon.isMove = _isMove;
|
||
}
|
||
|
||
/// <summary>
|
||
/// 无人机整体位置传递
|
||
/// </summary>
|
||
/// <returns></returns>
|
||
protected string GetSyncData(Vector3 _positions)
|
||
{
|
||
return string.Format("{0},{1},{2},{3},{4}", "DronePosition", equipmentCommon.deviceID, _positions.x, _positions.y, _positions.z);
|
||
}
|
||
private void OnDestroy()
|
||
{
|
||
Destroy(airRoute.gameObject);
|
||
OnActivationChanged -= OnActivationChangedHandler;
|
||
}
|
||
|
||
|
||
}
|
||
public enum Pattern
|
||
{
|
||
待机,
|
||
警戒,
|
||
攻击
|
||
} |