初次提交，只有想定基本结构

2026-02-08 22:26:33 +08:00
parent f810ac44bb
commit fbb0fe1767
32 changed files with 5123 additions and 1 deletions
--- a/processors/randomCirclePatrol.txt
+++ b/processors/randomCirclePatrol.txt
@@ -0,0 +1,62 @@
+# File generated by Wizard 2.9.0 on Dec 22, 2024.
+processor randomCirclePoint WSF_SCRIPT_PROCESSOR 
+
+   script_variables
+      string centerPoint = "";
+      double Radius = 50000;
+      bool isOver = false;
+   end_script_variables
+   
+   script Array<WsfGeoPoint> generateCirclePoints(string Center , double radius)
+      WsfGeoPoint center= WsfGeoPoint.Construct(Center);
+      Array<WsfGeoPoint>circlePoints={};
+      double earthRadius =6371000.0;
+      double angularDistance =radius /earthRadius;
+      Array<double>angles ={0.0,120,240};
+      foreach(double angle in angles)
+      {
+         double latCenter=center.Latitude()* MATH.PI()/ 180.0;
+         double loncenter= center.Longitude()* MATH.PI()/ 180.0;
+         double lat= MATH.ASin(MATH.Sin(latCenter)
+                              * MATH.Cos(angularDistance)
+                              + MATH.Cos(latCenter)
+                              * MATH.Sin(angularDistance)
+                              * MATH.Cos(angle));
+         
+         double lon = loncenter +MATH.ATan2(MATH.Sin(angle)
+                                          * MATH.Sin(angularDistance)
+                                          * MATH.Cos(latCenter)
+                                          , MATH.Cos(angularDistance)
+                                          - MATH.Sin(latCenter)
+                                          * MATH.Sin(lat));
+         circlePoints.PushBack(WsfGeoPoint.Construct(lat*180.0/MATH.PI() , lon *180.0 / MATH.PI(),5000));
+      }
+      return circlePoints;
+   end_script
+
+   script void executecircularPatrol()
+      Array<WsfGeoPoint> circlePoints = generateCirclePoints(centerPoint,Radius);
+      WsfRoute route;
+      WsfRoute r1= route.Create("lx");
+      foreach(WsfGeoPoint vertex in circlePoints)
+      {
+         vertex.SetAltitudeHAE(10000);
+         r1.Append(vertex,1500);
+      }
+      
+      r1.Waypoint(0).SetLabel("start");
+      r1 .Waypoint(r1.Size()-1).SetGoToLabel("start");
+      PLATFORM.FollowRoute(r1);
+   #   r1.Print();
+      isOver =true;
+   end_script
+   
+   
+   update_interval 1 sec 
+   on_update
+      if(isOver != true)
+      {
+         executecircularPatrol();
+      }
+   end_on_update
+end_processor