feature: 实时飞行高度与地形高度折线图绘制

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

@@ -298,7 +298,7 @@ export default class MeasureDistance {
     }
 
     /**
-     * 显示飞行航线
+     * 显示航线
      * @param line Airline
      */
     showAirLine(line){
@@ -307,17 +307,34 @@ export default class MeasureDistance {
             let coord = new Cartesian3.fromDegrees(line.points[i].lon,line.points[i].lat,line.points[i].alt)
             degreesArr.push(coord)
         }
+        if(line.isClose)
+            degreesArr.push(new Cartesian3.fromDegrees(line.points[0].lon,line.points[0].lat,line.points[0].alt))
+
         let airlineEntity = new Cesium.Entity({
             name: line.name,
-            id: line.name+line.totalDistance,
+            id: line.name + line.totalDistance,
             polyline: {
                 positions: degreesArr,
-                width: 2,
+                width: 3,
                 material: Cesium.Color.ORANGE,
-                clampToGround: true,
+                clampToGround: false,
-            },
+            }
         })
         this.viewer.entities.add(airlineEntity)
+        for (let pt in degreesArr) {
+            let vertexEntity = new Cesium.Entity({
+                // id: "航点" + ,
+                position:  pt,
+                point: {
+                    color: Cesium.Color.FUCHSIA,
+                    pixelSize: 6,
+                    disableDepthTestDistance:99000000,
+                    // heightReference:Cesium.HeightReference.CLAMP_TO_GROUND,
+                }
+            });
+            this.viewer.entities.add(vertexEntity)
+        }
+
     }
 
     addAirplaneEntity(modelPath,StrUavTypeID){
@@ -334,7 +351,7 @@ export default class MeasureDistance {
                 return new Cesium.Transforms.headingPitchRollQuaternion(
                     new Cesium.Cartesian3.fromDegrees(this.dynamicData.lon, this.dynamicData.lat, this.dynamicData.alt),
                     new Cesium.HeadingPitchRoll(
-                        Cesium.Math.toRadians(this.dynamicData.heading-90),    // 0是正东，顺时针增加
+                        Cesium.Math.toRadians(this.dynamicData.heading-0),    // 0：调整该值（不同模型的正方向不同）
                         Cesium.Math.toRadians(0),
                         Cesium.Math.toRadians(0)
                     ))
@@ -342,8 +359,9 @@ export default class MeasureDistance {
 
             model: {
                 uri: modelPath,
+                scale: 0.001,
                 minimumPixelSize: 100,
-                maximumScale: 2000,
+                maximumScale: 1,
                 runAnimations: true,
                 clampAnimations: true,
                 color: Cesium.Color.fromAlpha(Cesium.Color.RED, parseFloat(1.0)),

src/assets/js/websocketProtocol.ts

@@ -45,7 +45,7 @@ function dataProcess_fromQT(websocketDataQT:any): UavDynamicInfo|null {
     data.heading = websocketDataQT.pos.HeadAngle
     data.lon = websocketDataQT.pos.lon
     data.lat = websocketDataQT.pos.lat
-    data.alt = websocketDataQT.pos.height
+    data.alt = Number(websocketDataQT.pos.height) + useLayerStore().navi.hFactor
     data.groundSpeed = websocketDataQT.pos.groundSpeed   //km/h
 
     useLayerStore().navi.currentRouteID = websocketDataQT.navi.currentRouteID
@@ -53,8 +53,8 @@ function dataProcess_fromQT(websocketDataQT:any): UavDynamicInfo|null {
     useLayerStore().navi.nextPoint = websocketDataQT.navi.nextPoint
     useLayerStore().navi.distonext = websocketDataQT.navi.distonext
 
-    console.log(data.lon,data.lat, data.alt)
+    // console.log(data.lon,data.lat, data.alt)
-
+    //
     return data.lon==0? null: data
 }
 
@@ -63,24 +63,23 @@ function dataProcess_fromQT_route(websocketDataQT:any): Airline|null {
         code: 0, PtNum: 0, isClose: false, name: "", points: [], totalDistance: 0
     }
     if(!websocketDataQT.route)  return null
-    data.PtNum = websocketDataQT.route.length
+    data.PtNum = websocketDataQT.route.points.length
-    for (let i = 1; i < websocketDataQT.route.length; i++) {
+    data.isClose = websocketDataQT.route.isClose
+    for (let i = 1; i < websocketDataQT.route.points.length; i++) {
         let aPt: AirlinePoint = {alt: 0, ch1: 0, ch2: 0, lat: 0, lon: 0, nPt: 0, speed: 0}
-        aPt.lon = websocketDataQT.route[i].lon
+        aPt.lon = websocketDataQT.route.points[i].lon
-        aPt.lat = websocketDataQT.route[i].lat
+        aPt.lat = websocketDataQT.route.points[i].lat
-        aPt.alt = websocketDataQT.route[i].height
+        aPt.alt = websocketDataQT.route.points[i].height
-        aPt.ch1 = websocketDataQT.route[i].ch1
+        aPt.ch1 = websocketDataQT.route.points[i].ch1
-        aPt.ch2 = websocketDataQT.route[i].ch2
+        aPt.ch2 = websocketDataQT.route.points[i].ch2
-        aPt.nPt = websocketDataQT.route[i].nPt
+        aPt.nPt = websocketDataQT.route.points[i].nPt
-        aPt.speed = websocketDataQT.route[i].nV
+        aPt.speed = websocketDataQT.route.points[i].nV
-        data.code = websocketDataQT.route[i].nL
+        data.code = websocketDataQT.route.points[i].nL
         data.points.push(aPt)
     }
-    if(data.points[data.PtNum-2].ch1 ==2)
-        data.isClose = true
-
     data.name = "lineID-" + data.code.toString()
     console.log(data)
+
     return data.PtNum==0? null: data
 }
 

src/components/CollisionDetection.vue

@@ -1,21 +1,24 @@
 <script setup lang="ts">
 import {
   drawEcharts_CollisionDetection,
+  drawEcharts_CollisionDetection2,
   profileAnalyse
 } from "@/utils/map/SpatialAnalysis.ts";
 import {Cartesian3} from "cesium";
-import {nextTick, onMounted} from "vue";
+import {onMounted} from "vue";
 import * as echarts from "echarts";
 import {EChartsType} from "echarts";
-
+import {useLayerStore} from "@/store/layerManagerStore.ts";
+let l_store = useLayerStore()
 let myChart: EChartsType = undefined
-
+let uavDisArr: number[] = []
+let uavHeightArr: number[] = []
+let terrainArr: number[] = []
 onMounted(()=>{
   myChart = echarts.init(document.getElementById('detection-chart'))
-  // nextTick(()=>{
-  //
-  // })
 })
+
+const props = defineProps(['groundHeight'])
 /**
  * 绘制地形碰撞检测折线图
  * @param height 飞机高度，作为检测线
@@ -26,19 +29,46 @@ const drawDetection = (height: number, currentPos:Cartesian3, nextPos: Cartesian
   // 计算地形剖面
   let res = profileAnalyse(window.viewer, [currentPos, nextPos], 10)
   // 弹出图表窗口
-  nextTick(()=>{
+  drawEcharts_CollisionDetection(myChart, res.distanceArray, res.elevationArray, height)
-    drawEcharts_CollisionDetection(myChart, res.distanceArray, res.elevationArray, height)
+
-  })
+}
+
+/**
+ * 绘制地形碰撞检测折线图
+ * @param uavH 飞机高度
+ * @param uavDis 飞机当前位置与上一位置的距离 米
+ * @param terrainH 飞机当前地面投影点的地形高度
+ */
+const drawDetection2 = (uavH: number, uavDis:number, terrainH: number) => {
+  if(uavDisArr.length == 0){
+    uavDisArr.push(Math.round(uavDis))
+  }
+  else{
+    uavDisArr.push(Math.round(uavDis + uavDisArr[uavDisArr.length - 1]))
+  }
+
+  uavHeightArr.push(Math.round(uavH))
+  terrainArr.push(Math.round(terrainH))
+
+  // 更新ECharts图表
+  drawEcharts_CollisionDetection2(myChart, uavDisArr, terrainArr, uavHeightArr)
+
 }
 
 defineExpose({
   drawDetection,
+  drawDetection2,
 })
 
 </script>
 
 <template>
-<div id="detection-chart"></div>
+  <n-space>
+    <span style="font-weight: bolder">
+      飞机对地高度：{{props.groundHeight}}
+    </span>
+    <div id="detection-chart"></div>
+  </n-space>
 </template>
 
 <style scoped>

src/components/toolbar.vue

@@ -9,7 +9,7 @@ import {RulerAlt} from '@vicons/carbon'
 import {TerrainSharp} from '@vicons/material'
 import {DrawPolygon} from '@vicons/fa'
 import {useMessage} from 'naive-ui'
-import {nextTick, ref} from "vue";
+import {ref} from "vue";
 import {useStaticStore} from "@/store/staticOptions.js";
 import {dataProcess_fromQT, dataProcess_fromQT_route} from "@/assets/js/websocketProtocol.ts";
 import SpatialAnalysis from "@/components/SpatialAnalysis.vue";
@@ -17,7 +17,7 @@ import LayerManager from "@/components/map/LayerManager.vue";
 import CollisionDetection from "@/components/CollisionDetection.vue";
 import {useLayerStore} from "@/store/layerManagerStore.ts";
 import {Cartesian3} from "cesium";
-import * as echarts from "echarts";
+import {getDistance, getElevation} from "@/utils/map/geocomputation.ts";
 
 const message = useMessage();
 let SceneValue;
@@ -26,13 +26,13 @@ let showDetection = ref(false);
 let hasPlane = ref(false);
 let store = useStaticStore();
 let lStore = useLayerStore();
-
+let groundHeight = ref(-1)
 const spatialAnalyse = ref(null)
 const layerManager = ref(null)
 const collisionDetection = ref(null)
 SceneValue = ref('untrace');
 let frameCount = 0
-
+let lastPos = undefined;  //飞机上一时点的坐标
 function handleSceneSelect(key){
   if(!hasPlane.value)   return;
 
@@ -168,43 +168,54 @@ async function connectWebSocket() {
         window.measureViewer.updateDynamicData(ycData)
         // 添加飞机三维图标
         if(!hasPlane.value){
-          window.measureViewer.addAirplaneEntity(store.models.defaultAirPlane, ycData.uavId + ycData.uavType)
+          window.measureViewer.addAirplaneEntity(store.models.fp98, ycData.uavId + ycData.uavType)
           SceneValue.value = 'fallow'
           hasPlane.value = true;
         }
-        /************************测试代码（以下）******************/
+        console.log(frameCount)
-        // if(frameCount>50) {   //(50帧更新一次)
+        // 加载和更新碰撞检测图(50帧更新一次)
-        //   frameCount = 0
+        if(frameCount>50){
-        //   //TODO: 调用子组件函数、测试
+          showDetection.value = true
-        //   let cartesianTarget = Cartesian3.fromDegrees(114.6, 37.8)
-        //   let cartesianCurr = Cartesian3.fromDegrees(ycData.lon, ycData.lat, ycData.alt)
-        //   collisionDetection.value?.drawDetection(ycData.alt, cartesianCurr, cartesianTarget)
-        // }
-
-        /************************测试代码（以上）******************/
-        // 加载和更新碰撞检测图(20帧更新一次)
-        if(lStore.navi.airlines.length>0 && frameCount>50){
           frameCount = 0
-          lStore.navi.airlines.forEach(airline => {
+          let currentPos = Cartesian3.fromDegrees(ycData.lon, ycData.lat,ycData.alt)
-            if(airline.code === lStore.navi.currentRouteID){
+          new Promise(resolve => {
-              let targetPos = airline.points[lStore.navi.nextPoint]
+            // 计算对地高度 m
-              //TODO: 调用子组件函数、测试
+            groundHeight.value = ycData.alt - getElevation(window.viewer, currentPos)
-              let cartesianTarget = Cartesian3.fromDegrees(targetPos.lon, targetPos.lat,targetPos.alt)
+            // 计算当前点与上一点的距离 米
-              let cartesianCurr = Cartesian3.fromDegrees(ycData.lon, ycData.lat,ycData.alt)
+            if(lastPos===undefined){
-              collisionDetection.value?.drawDetection(ycData.alt, cartesianCurr, cartesianTarget)
+              lastPos = currentPos;
-
             }
+            let dis = getDistance(currentPos, lastPos) * 1000
+            lastPos = currentPos
+            resolve(dis)
+          }).then(res=>{
+            collisionDetection.value.drawDetection2(ycData.alt, res, ycData.alt-groundHeight.value)
           })
         }
       }
     }
     if(sktData.type === 1){
       let routeData = dataProcess_fromQT_route(sktData)
-      lStore.navi.airlines.push(routeData)
-      console.log(routeData)
       if(routeData != null){
+        lStore.navi.airlines.push(routeData)
+        lStore.navi.currentRouteID = routeData.code
+        console.log(routeData)
+
         window.measureViewer.showAirLine(routeData)
+
+        //计算航线的地形剖面，并存储到store中
+        // FIXME: 当前逻辑有待更新
+        /*
+        profileAnalyse_promise(window.viewer, routeData,100).then((result) => {
+          let routeTerr = {}
+          routeTerr.routeID = routeData.code
+          routeTerr.distanceArray = result.distanceArray
+          routeTerr.elevationArray = result.elevationArray
+          lStore.routesTerrain.push(routeTerr)
+        })
+        */
       }
+
     }
   };
 }
@@ -304,7 +315,7 @@ function manageLayer(){
     </n-row>
   </n-space>
   <n-space id="detectionGraph" v-show="showDetection">
-    <CollisionDetection ref="collisionDetection"></CollisionDetection>
+    <CollisionDetection ref="collisionDetection" :groundHeight="groundHeight"></CollisionDetection>
   </n-space>
 
   <n-modal v-model:show="showModal"
@@ -356,6 +367,6 @@ function manageLayer(){
   width: 100rem;
   height: 15rem;
   border-radius: 7px;
-  background: rgba(21, 21, 21, 0.94);
+  background: rgba(255, 255, 255, 0.94);
 }
 </style>

src/store/layerManagerStore.ts

@@ -1,5 +1,5 @@
 import {defineStore} from "pinia";
-import {Airline} from "@/types/entityoptions.ts";
+import {Airline, routeTerrain} from "@/types/entityoptions.ts";
 type layer = {
     lName: string
     lId: string
@@ -14,11 +14,13 @@ export const useLayerStore = defineStore('LayerStore', {
             Layers: [] as layer[],
             navi: {
                 airlines: [] as Airline[],
-                currentRouteID: undefined,  //当前航线号
+                currentRouteID: -1,  //当前航线号
-                nextRouteID: undefined,     //下一航线号
+                nextRouteID: -1,     //下一航线号
-                nextPoint: undefined,       //下一航点号
+                nextPoint: -1,       //下一航点号
-                distonext: undefined,       //待飞距离
+                distonext: -1,       //待飞距离
+                hFactor: 3         //高度修正数
             },
+            routesTerrain: [] as routeTerrain[]
         }
     },
     actions: {

src/store/staticOptions.js

@@ -1,5 +1,7 @@
 import {defineStore} from "pinia";
 import cesiumAirPlane from "@/assets/models/Cesium_Air.glb";
+import fp985Plane from "@/assets/models/FP-985.gltf";
+import fp98Plane from "@/assets/models/fp-98.gltf";
 
 export const useStaticStore = defineStore('staticOptions',{
     state: ()=>{
@@ -51,6 +53,8 @@ export const useStaticStore = defineStore('staticOptions',{
             },
             models: {
                 defaultAirPlane: cesiumAirPlane,
+                fp985: fp985Plane,
+                fp98: fp98Plane
             },
             hasPlane: false,
             uav: {

src/types/entityoptions.ts

@@ -53,3 +53,9 @@ export type Airline = {
   totalDistance: number,
   points: AirlinePoint[],
 }
+
+export type routeTerrain = {
+  routeID: number,
+  distanceArray: number[],
+  elevationArray: number[],
+}

src/utils/map/SpatialAnalysis.ts

@@ -8,10 +8,12 @@ import {getDistance, getElevation} from "@/utils/map/geocomputation.ts";
 import {Cartesian3, Viewer} from "cesium";
 import * as echarts from "echarts";
 import {EChartsType} from "echarts";
+import {Airline, AirlinePoint} from "@/types/entityoptions.ts";
 type ProfileResult = {
  distanceArray:number[],
  elevationArray:number[],
 }
+
 /**
  * 两点间地形剖面分析数值计算
  * @param viewer 地图Viewer
@@ -74,6 +76,36 @@ export function profileAnalyse(viewer: Viewer, polyline:Cartesian3[], interval:
  return result
 }
 
+/**
+ * 折线段地形剖面分析数值计算（异步处理函数）
+ * @param viewer 地图Viewer
+ * @param route 航线
+ * @param interval 线段采样间隔 m为单位
+ * @return 从折线起点至终点剖面线的海拔高度数组
+ */
+export function profileAnalyse_promise(viewer: Viewer, route: Airline, interval: number){
+ return new Promise((resolve, reject) => {
+  let result: ProfileResult = { distanceArray:[], elevationArray:[] }
+  let polyline = []
+  //航线转为坐标点数组
+  route.points.forEach(point => {
+   polyline.push(Cartesian3.fromDegrees(point.lon, point.lat,point.alt))
+  })
+  let temp_dis = 0  //每两点之间的距离
+  for (let i = 0; i <= polyline.length - 2; i++) {
+   let temp = elevationProfile(viewer, polyline[i], polyline[i+1], interval)
+   result.elevationArray = result.elevationArray.concat(temp.elevationArray)
+   temp.distanceArray.forEach(distance => {
+    result.distanceArray.push(distance+temp_dis)
+   })
+   if(temp.distanceArray.length > 0){
+    temp_dis += temp.distanceArray[temp.distanceArray.length-1]
+   }
+  }
+  resolve(result)
+ })
+}
+
 /**
  * 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，异常返回undefined
@@ -394,6 +426,120 @@ export function drawEcharts_CollisionDetection(myChart: EChartsType, xData:numbe
  }, false);
 }
 
+/**
+ *  绘制（更新）地形碰撞检测剖面图
+ * @param myChart ECharts对象
+ * @param xData x数组
+ * @param yData y数组，以面积线绘制
+ * @param yData2 y数组2，以折线绘制
+ */
+export function drawEcharts_CollisionDetection2(myChart: EChartsType, xData:number[], yData:number[], yData2: number[]) {
+ // 绘制图表
+ myChart.setOption({
+  legend: {
+   show: true,
+   type: 'plain',
+   top: '5%',
+   data:[
+    {
+     name: '地表高度',
+     itemStyle: 'inherit',
+     lineStyle: 'inherit',
+    },
+    {
+     name: '飞机高度',
+     lineStyle: {
+      type: 'dotted',
+      width: 3,
+      color: '#f8364d'
+     },
+     itemStyle: {
+      fontSize: 18
+     }
+    }
+    ]
+  },
+  tooltip: {
+   show: true,
+   trigger: 'axis',
+   axisPointer: {
+    type: 'cross'
+   },
+   formatter:'地表高度: {c0}<br>飞机高度: {c1}'
+  },
+  xAxis: {
+   data: xData,
+   name: '距离/米',
+   nameTextStyle: {
+    fontWeight:'bolder',
+    fontSize: 14
+   },
+   nameLocation: 'end',
+   axisLine:{
+    onZero: false,
+    show: true,    // 是否显示坐标轴轴线
+    symbol: ['none', 'arrow'],
+    symbolSize: [7, 10]
+   },
+   axisLabel: {
+    formatter: '{value}',
+    margin: 5,
+   },
+   axisTick: {
+    show: true,    // 是否显示坐标轴刻度
+    inside: true,     // 坐标轴刻度是否朝内，默认朝外
+    alignWithLabel: true,
+    lineStyle: {
+     color: '#000000',     //刻度线的颜色
+     type: 'solid',    //坐标轴线线的类型（solid实线类型；dashed虚线类型；dotted点状类型）
+    },
+   }
+  },
+  yAxis: {
+   max: (value:any)=>{
+    return Math.floor(value.max * 1.01)
+   },
+   min: (value:any)=>{
+    return Math.floor(value.min * 0.99)
+   },
+   type: 'value',
+   name: '高度/米',
+   nameTextStyle: {
+    fontWeight:'bolder',
+    fontSize: 14
+   },
+   nameLocation: 'end',
+   position: 'left',
+   axisLabel: {
+    formatter: '{value}'
+   },
+   axisLine: {
+    show: true,
+    symbol: ['none', 'arrow'],
+    symbolSize: [7, 10]
+   }
+  },
+  series: [
+   {
+    name:'地表高度',
+    type: 'line',
+    data: yData,
+    areaStyle: {
+     color: '#37a5fb',
+     opacity: 0.5
+    },
+   },
+   {
+    name: '飞机高度',
+    type: 'line',
+    symbol: 'none',
+    color: 'red',
+    data: yData2,
+   }
+  ]
+ }, false);
+}
+
 
 /**
  *  绘制通视分析图 面积线和直线