feature: 实现与QT端websocket的交互，初步实现三维伴飞

src/assets/js/cesium-map/measureDistance.js

@@ -67,6 +67,7 @@ export default class MeasureDistance {
                         clampToGround: true,
                     },
                 })
+                this.analyseGraphs.push(line)
             }
             //通视分析仅支持选择两个点
             if(useStaticStore().analysisVars.analysisType===2&&profilePts.length===2){
@@ -97,7 +98,6 @@ export default class MeasureDistance {
             let endEntity = this._createPointEntity(position, count.toString())
             this.viewer.entities.add(endEntity)
             this.analyseGraphs.push(endEntity)
-            this.analyseGraphs.push(line)
             this.unRegisterEvents()
             useStaticStore().analysisVars.profilePts = profilePts
         }, Cesium.ScreenSpaceEventType.RIGHT_CLICK);

src/assets/js/websocketProtocol.ts

@@ -1,7 +1,7 @@
 import {Airline, AirlinePoint, UavDynamicInfo} from "@/types/entityoptions.ts";
 
 /**
- * 处理来自websocket的数据，返回所需数据
+ * 处理来自中心指控websocket的数据，返回所需数据
  * @param websocketDataCC
  * @return UavDynamicInfo
  */
@@ -30,6 +30,26 @@ function dataProcess(websocketDataCC:any): UavDynamicInfo|null {
     return data.lon==0? null: data
 }
 
+/**
+ * 处理来自QT端 websocket的数据，返回所需数据
+ * @param websocketDataQT
+ * @return UavDynamicInfo
+ */
+function dataProcess_fromQT(websocketDataQT:any): UavDynamicInfo|null {
+    let data:UavDynamicInfo = {
+        alt: 0, groundSpeed: 0, heading: 0, lat: 0, lon: 0, uavId: "", uavType: ""
+    }
+    data.uavId = websocketDataQT.uavId
+    data.uavType = websocketDataQT.uavType
+    data.heading = websocketDataQT.HeadAngle
+    data.lon = websocketDataQT.lon
+    data.lat = websocketDataQT.lat
+    data.alt = websocketDataQT.height
+    data.groundSpeed = websocketDataQT.groundSpeed   //km/h
+
+    return data.lon==0? null: data
+}
+
 function getAirline(data: any): Airline | null {
     let line: Airline = {totalDistance: 0, PtNum: 0, name: "", isClose: false, points: []}
     line.PtNum = data.PtNum
@@ -53,4 +73,4 @@ function getUavTypeStr(type: number) : string{
         default: return 'test'
     }
 }
-export {dataProcess,getAirline}
+export {dataProcess_fromQT,getAirline}

src/components/SpatialAnalysis.vue

@@ -8,7 +8,7 @@ import {nextTick, ref, watch} from "vue";
 import {
   drawEchartsProfileAnalyse,
   drawEchartsVisibility, elevationProfile,
-  profileAnalyse
+  profileAnalyse, visibilityAnalyse2
 } from "@/utils/map/SpatialAnalysis.ts";
 import {useStaticStore} from "@/store/staticOptions";
 import {useMessage} from "naive-ui";
@@ -23,8 +23,9 @@ let formParams = ref({
   interval: 100,
   startClearance: 40,   //起点离地高度
   endClearance: 10,   //起点离地高度
+  curve: true
 })
-
+let isVisible = ref(false)
 // 关闭地形分析结果窗口德回调
 const handleCloseProfile = ()=>{
   //移除图形元素
@@ -53,12 +54,15 @@ function executeTopographicAnalyse(polyline:Cartesian3[]) {
     let res = profileAnalyse(window.viewer, polyline,formParams.value.interval)
     // 计算视线起始点距离和高度
     let eyeRes = elevationProfile(window.viewer,polyline[0],polyline[1],-1)
-    eyeRes.elevationArray[0] += Number(formParams.value.startClearance)
+
-    eyeRes.elevationArray[1] += Number(formParams.value.endClearance)
     // 弹出图表窗口
     showResultModal.value = true
     nextTick(()=>{
-      drawEchartsVisibility(res.distanceArray, res.elevationArray, eyeRes.elevationArray[0],eyeRes.elevationArray[1])
+      drawEchartsVisibility(res.distanceArray, res.elevationArray,
+          eyeRes.elevationArray[0]+Number(formParams.value.startClearance),
+          eyeRes.elevationArray[1]+Number(formParams.value.endClearance))
+
+      isVisible.value = visibilityAnalyse2(res,true, Number(formParams.value.startClearance),Number(formParams.value.endClearance))
     })
   }
 
@@ -121,6 +125,11 @@ const afterCoordInput = ()=> {
            preset="card" draggable :mask-closable="false" :on-after-leave="handleCloseProfile"
            :title="store.analysisVars.analysisType==2? '通视分析结果':'剖面分析结果'">
     <template v-slot:default>
+      <n-row justify-content="center" :class="isVisible? 'ResGreen':'ResRed'"
+             v-show="store.analysisVars.analysisType==2">
+        <span style="font-size: larger;font-weight: bolder">
+        {{isVisible? '通视' : '不通视'}}</span>
+      </n-row>
       <div id="profileEChart"></div>
     </template>
   </n-modal>
@@ -154,6 +163,10 @@ const afterCoordInput = ()=> {
               </template>
             </n-input>
           </n-form-item>
+          <n-form-item label="考虑地球曲率" path="numberParam" v-show="store.analysisVars.analysisType==2">
+            <n-switch round v-model:value="formParams.curve">
+            </n-switch>
+          </n-form-item>
         </n-form>
       </n-space>
       <n-row justify-content="space-around">
@@ -193,4 +206,10 @@ const afterCoordInput = ()=> {
   position: relative;
   margin-top: -2rem;
 }
+.ResGreen{
+  color: #26c926;
+}
+.ResRed{
+  color: #FF0000;
+}
 </style>

src/components/toolbar.vue

@@ -11,8 +11,8 @@ import {DrawPolygon} from '@vicons/fa'
 import {useMessage} from 'naive-ui'
 import {ref} from "vue";
 import {useStaticStore} from "@/store/staticOptions.js";
-import {login, requestAirline} from "@/assets/js/request.js";
+import {requestAirline} from "@/assets/js/request.js";
-import {dataProcess, getAirline} from "@/assets/js/websocketProtocol.ts";
+import {dataProcess_fromQT, getAirline} from "@/assets/js/websocketProtocol.ts";
 import SpatialAnalysis from "@/components/SpatialAnalysis.vue";
 import LayerManager from "@/components/map/LayerManager.vue";
 
@@ -143,22 +143,15 @@ function measureArea() {
  * @returns {Promise<void>}
  */
 async function connectWebSocket() {
-  await login(store.temp.userName, store.temp.password).then(rsp => {
+  store.webskt.ws = new WebSocket('ws://'+store.webskt.ws_config.address+':'+store.webskt.ws_config.port);
-    let resData = JSON.parse(rsp.data.data)
+  store.webskt.ws.onopen = function(event){
-    console.log(resData)
+    console.log("Connection open ...");
-    sessionStorage.setItem('token',resData.jwtToken)
+    store.webskt.ws.send("hello QT!")
-  }).catch(err => {
+  }
-    console.log(err)
-    sessionStorage.setItem('token','err')
-
-  })
-  if(sessionStorage.getItem('token') === 'err')  return
 
-  store.webskt.ws = new WebSocket('ws://123.57.54.1:8048/htfp/websocket/uavGlobal/sysUser003', sessionStorage.getItem('token'))
-  // store.server.ws = new WebSocket('ws://'+store.server.ws_config.address+':'+store.server.ws_config.port);
   store.webskt.ws.onmessage = (event) => {
     //收到消息后的处理流程....
-    let data = dataProcess(JSON.parse(event.data))
+    let data = dataProcess_fromQT(JSON.parse(event.data))
     console.log(data);
     // 添加飞机三维图标
     if (!hasPlane.value && data != null) {

src/store/staticOptions.js

@@ -46,7 +46,7 @@ export const useStaticStore = defineStore('staticOptions',{
                 isOpen: false,
                 ws_config: {
                     address: '127.0.0.1',
-                    port: 8000,
+                    port: 9090,
                 },
             },
             models: {

src/utils/map/SpatialAnalysis.ts

@@ -106,7 +106,9 @@ export function visibilityAnalyse(viewer: Viewer, viewpoint:Cartesian3, target:C
  for (let i = 1; i <= breakNum; i++) {
   let breakP = Cartesian3.lerp(viewpoint, target, i/breakNum, new Cartesian3())
   let breakPH = getElevation(viewer, breakP)  //断点海拔
-  let breakPDis = getDistance(viewpoint,breakP)*1000  //断点与视点的距离
+  if(breakPH == -9999.2024) return false
+
+  let breakPDis = Math.floor(getDistance(viewpoint,breakP)*1000)  //断点与视点的距离
   // 计算断点与视点的斜率
   let breakPK = (breakPH-viewpointH)/breakPDis
   if(breakPK>visibleK){
@@ -121,6 +123,37 @@ export function visibilityAnalyse(viewer: Viewer, viewpoint:Cartesian3, target:C
  return true
 }
 
+/**
+ * 两点间通视分析（基于最大斜率的算法） <br>
+ * 返回值：通视为true，不通视为false
+ * @param profile   剖面分析的结果
+ * @param curvature 是否考虑地球曲率
+ * @param startExtraH 视点地面挂高 m
+ * @param endExtraH   目标点地面挂高 m
+ */
+export function visibilityAnalyse2(profile: ProfileResult, curvature:boolean, startExtraH:number,endExtraH:number)
+{
+ // 计算起点、终点的高度（海拔+挂高）m
+ let startH = profile.elevationArray[0] + startExtraH
+ let endH = profile.elevationArray.at(-1) + endExtraH
+ // 计算首尾点斜率
+ let visibleK = (endH - startH)/profile.distanceArray.at(-1)
+ // 逐个计算断点与视点的斜率
+ for (let i = 1; i < profile.elevationArray.length ; i++) {
+  let breakPK = (profile.elevationArray[i] - startH) / profile.distanceArray[i]
+  if(breakPK > visibleK)
+   return false
+ }
+
+ if(curvature){
+  let coefficient: number = 3.57  //考虑大气折射 4.12， 公司文件给出 2.898
+  let Rmax = coefficient * (Math.sqrt(startExtraH) + Math.sqrt(endExtraH))
+  if (Rmax < profile.distanceArray.at(-1)/1000.0)
+   return false
+ }
+ return true
+}
+
 /**
  *  绘制地形剖面折线图
  * @param xData x数组
@@ -319,11 +352,7 @@ export const drawEchartsAirlineDetect = (xData:number[],yData:number[],yData2:nu
  * @param endHeight  视线终点高度（包含地面挂高）
  */
 export const drawEchartsVisibility = (xData:number[], yData:number[],startHeight:number, endHeight:number) => {
- console.group()
+
- console.log(0, startHeight)
- console.log(xData.at(-1), endHeight)
- console.groupEnd()
- console.log(xData)
  let myChart = echarts.init(document.getElementById('profileEChart')) //Echarts-UnitTest
  // 绘制图表
  myChart.setOption({