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Merge branch 'master' of http://101.43.238.71:3000/zouju/auto-solution

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This commit is contained in:
liangyun
2026-04-13 15:07:15 +08:00
parent ee019d3c0f 3946bc561a
commit bd62efca3f
8 changed files with 348 additions and 5 deletions
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13
auto-solution-admin/src/main/java/com/solution/web/controller/behaviour/BehaviortreeController.java
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@@ -97,6 +97,19 @@ public class BehaviortreeController extends BaseController
return toAjax(behaviortreeProcessor.create(behaviortree));
}
/**
* 复制行为树
*/
@ApiOperation("复制行为树")
@PreAuthorize("@ss.hasPermi('system:behaviortree:add')")
@Log(title = "行为树主", businessType = BusinessType.INSERT)
@PostMapping("/copy")
public AjaxResult copy(@RequestBody Behaviortree behaviortree)
{
//return toAjax(behaviortreeService.copy(behaviortree));
return toAjax(behaviortreeProcessor.copy(behaviortree));
}
/**
* 修改行为树主
*/

25
auto-solution-admin/src/main/java/com/solution/web/core/BehaviortreeProcessor.java
View File

@@ -8,8 +8,10 @@ package com.solution.web.core;
* that was distributed with this source code.
*/
import cn.hutool.core.util.ObjectUtil;
import com.fasterxml.jackson.databind.DeserializationFeature;
import com.fasterxml.jackson.databind.ObjectMapper;
import com.solution.common.constant.ExceptionConstants;
import com.solution.system.domain.*;
import com.solution.system.service.IBehaviortreeService;
import com.solution.system.service.INodeconnectionService;
@@ -20,6 +22,7 @@ import com.solution.web.core.graph.GraphEdge;
import com.solution.web.core.graph.GraphNode;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Component;
import org.springframework.transaction.annotation.Transactional;
import org.springframework.util.StringUtils;
import java.util.ArrayList;
@@ -56,6 +59,7 @@ public class BehaviortreeProcessor {
return result;
}
@Transactional(rollbackFor = Exception.class)
public int update(Behaviortree behaviortree) {
int result = behaviortreeService.updateBehaviortree(behaviortree);
@@ -74,7 +78,7 @@ public class BehaviortreeProcessor {
}
private void processGraph(Behaviortree behaviortree) {
//代码丢失 原:libertyspy 改:MHW
Graph graph = null;
try {
graph = objectMapper.readValue(behaviortree.getXmlContent(), Graph.class);
@@ -223,4 +227,23 @@ public class BehaviortreeProcessor {
}
/**
* 复制行为树
* @param behaviortree
* @return
*/
public int copy(Behaviortree behaviortree) {
if(ObjectUtil.isEmpty(behaviortree)){
throw new RuntimeException(ExceptionConstants.PARAMETER_EXCEPTION);
}
String name = behaviortree.getName();
String newName = name + "_" + behaviortree.getId();
String englishName = behaviortree.getEnglishName();
String newEnglishName = englishName + "_" + behaviortree.getId();
behaviortree.setEnglishName(newEnglishName);
behaviortree.setName(newName);
return this.create(behaviortree);
}
}

240
auto-solution-rule/src/main/java/com/solution/rule/utils/FireRuleRedWeaponOutputFillHelper.java
View File

@@ -20,16 +20,21 @@ import com.solution.rule.domain.ultimately.vo.FireRuleRedPlatformSlotVO;
import com.solution.rule.domain.ultimately.vo.FireRuleRedWeaponSlotVO;
import com.solution.rule.domain.ultimately.vo.FireRuleOutputVO;
import com.solution.rule.domain.ultimately.vo.FireRuleRouteTrackPointVO;
import com.solution.rule.domain.ultimately.vo.FireRuleSceneGroupNodeVO;
import com.solution.rule.domain.ultimately.vo.FireRuleSceneTaskNodeVO;
import com.solution.rule.domain.ultimately.vo.FireRuleSceneTaskPayloadVO;
import com.solution.rule.domain.ultimately.vo.FireRuleTrackParamVO;
import com.solution.rule.domain.ultimately.vo.FireRuleTrackRouteVO;
import com.solution.rule.domain.ultimately.vo.FireRuleWingmanDataVO;
import java.util.ArrayList;
import java.util.Collections;
import java.util.HashMap;
import java.util.HashSet;
import java.util.List;
import java.util.Locale;
import java.util.Map;
import java.util.Set;
import java.util.UUID;
import java.util.regex.Matcher;
import java.util.regex.Pattern;
@@ -231,6 +236,241 @@ public final class FireRuleRedWeaponOutputFillHelper {
}
}
/**
* 编组规则：按红方装备列表分组，写入 {@link FireRuleTrackParamVO#getGroups}（JSON 键 Groups），
* groupType=addGroup，drawName=领队装备名+后缀；僚机 wingmanData 中 name 为红方 equipmentId。
* 多蓝方任务循环时与航迹一致：在已有 Groups 上追加，且 group id 与已有项冲突时自动加后缀。
*/
@SuppressWarnings("rawtypes")
public static void fillTrackParamGroups(FireRuleOutputVO out, FireRuleTaskInputDTO blueTask, Map params) {
if (out == null || blueTask == null) {
return;
}
boolean enabled = Boolean.parseBoolean(String.valueOf(params.getOrDefault("groupRuleEnabled", true)));
if (!enabled) {
return;
}
List<FireRuleRedWeaponEquipmentVO> reds = out.getRedWeapons();
if (reds == null || reds.isEmpty()) {
return;
}
ensureTrackParam(out);
String dirMode = str(params, "trackPointDirectionMode", "head2next");
double fallbackBrg = readDouble(params, "trackFallbackBearingDeg", readDouble(params, "fallbackBearingDeg", 0d));
double mainBearing = computeTrackBearingDeg(blueTask, dirMode, fallbackBrg);
String mode = str(params, "groupFormationMode", "onePerRed");
int clusterSize = readInt(params, "groupClusterSize", 3);
if (clusterSize < 1) {
clusterSize = 1;
}
int minWing = readInt(params, "groupMinMembersForWingman", 2);
List<List<FireRuleRedWeaponEquipmentVO>> buckets = splitRedsIntoGroups(reds, mode, clusterSize);
List<FireRuleSceneGroupNodeVO> batch = new ArrayList<>();
String blueSeg = sanitizeRouteIdSegment(nz(blueTask.getId()));
int gidx = 0;
for (List<FireRuleRedWeaponEquipmentVO> bucket : buckets) {
if (bucket == null || bucket.isEmpty()) {
continue;
}
FireRuleRedWeaponEquipmentVO leader = pickGroupLeader(bucket, params);
if (leader == null) {
continue;
}
FireRuleSceneGroupNodeVO node = new FireRuleSceneGroupNodeVO();
String baseId = "group_" + blueSeg + "_" + gidx;
node.setId(ensureUniqueGroupId(out.getTrackParam(), baseId));
String suffix = str(params, "groupDrawNameSuffix", "编组");
boolean withIndex = Boolean.parseBoolean(String.valueOf(params.getOrDefault("groupDrawNameWithIndex", false)));
String drawName = nz(leader.getName()) + suffix;
if (withIndex) {
drawName += (gidx + 1);
}
node.setDrawName(drawName);
node.setGroupType("addGroup");
node.setName("addGroup");
node.setLeader(nz(leader.getEquipmentId()));
node.setSort(System.currentTimeMillis() + gidx);
node.setWingmanData(buildWingmanData(bucket, leader, mainBearing, params, minWing));
batch.add(node);
gidx++;
}
mergeGroupsIntoTrackParam(out.getTrackParam(), batch);
}
private static List<List<FireRuleRedWeaponEquipmentVO>> splitRedsIntoGroups(
List<FireRuleRedWeaponEquipmentVO> reds, String mode, int clusterSize) {
List<FireRuleRedWeaponEquipmentVO> clean = new ArrayList<>();
for (FireRuleRedWeaponEquipmentVO r : reds) {
if (r != null) {
clean.add(r);
}
}
List<List<FireRuleRedWeaponEquipmentVO>> out = new ArrayList<>();
if (clean.isEmpty()) {
return out;
}
if ("singleGroup".equalsIgnoreCase(mode)) {
out.add(clean);
return out;
}
if ("clusterByCount".equalsIgnoreCase(mode)) {
for (int i = 0; i < clean.size(); i += clusterSize) {
int end = Math.min(i + clusterSize, clean.size());
out.add(new ArrayList<>(clean.subList(i, end)));
}
return out;
}
for (FireRuleRedWeaponEquipmentVO r : clean) {
out.add(Collections.singletonList(r));
}
return out;
}
private static FireRuleRedWeaponEquipmentVO pickGroupLeader(List<FireRuleRedWeaponEquipmentVO> bucket, Map params) {
if (bucket == null || bucket.isEmpty()) {
return null;
}
String mode = str(params, "groupLeaderPickMode", "byHitRateThenId");
FireRuleRedWeaponEquipmentVO best = bucket.get(0);
for (int i = 1; i < bucket.size(); i++) {
FireRuleRedWeaponEquipmentVO cur = bucket.get(i);
if ("byId".equalsIgnoreCase(mode)) {
if (compareEquipmentId(cur, best) < 0) {
best = cur;
}
} else {
if (isBetterLeaderByHitRateThenId(cur, best)) {
best = cur;
}
}
}
return best;
}
private static boolean isBetterLeaderByHitRateThenId(FireRuleRedWeaponEquipmentVO cand, FireRuleRedWeaponEquipmentVO inc) {
double rc = leaderRad(cand);
double ri = leaderRad(inc);
int c = Double.compare(rc, ri);
if (c > 0) {
return true;
}
if (c < 0) {
return false;
}
return compareEquipmentId(cand, inc) < 0;
}
private static double leaderRad(FireRuleRedWeaponEquipmentVO w) {
if (w == null || w.getSuccessTargetRad() == null) {
return -1d;
}
return w.getSuccessTargetRad().doubleValue();
}
private static int compareEquipmentId(FireRuleRedWeaponEquipmentVO a, FireRuleRedWeaponEquipmentVO b) {
String sa = a != null ? nz(a.getEquipmentId()) : "";
String sb = b != null ? nz(b.getEquipmentId()) : "";
return sa.compareTo(sb);
}
private static List<FireRuleWingmanDataVO> buildWingmanData(
List<FireRuleRedWeaponEquipmentVO> bucket,
FireRuleRedWeaponEquipmentVO leader,
double mainBearing,
Map params,
int minMembersForWingman) {
if (bucket == null || leader == null || bucket.size() < minMembersForWingman) {
return Collections.emptyList();
}
double distBase = readDouble(params, "wingmanDistanceBaseMeters", 100);
double distStep = readDouble(params, "wingmanDistanceStepMeters", 50);
double angBase = readDouble(params, "wingmanAngleBaseDeg", 50);
double angStep = readDouble(params, "wingmanAngleStepDeg", 15);
double altBase = readDouble(params, "wingmanAltBaseMeters", 40);
double altScale = readDouble(params, "wingmanAltScale", 1.0);
List<FireRuleWingmanDataVO> list = new ArrayList<>();
int wmIdx = 0;
for (FireRuleRedWeaponEquipmentVO r : bucket) {
if (r == null || r == leader) {
continue;
}
FireRuleWingmanDataVO w = new FireRuleWingmanDataVO();
w.setKey(wmIdx);
w.setName(nz(r.getEquipmentId()));
w.setDistance((int) Math.round(distBase + wmIdx * distStep));
double deg = normDeg(mainBearing + angBase + wmIdx * angStep);
w.setAngle(String.format(Locale.US, "%.1f", deg));
Double lh = extractFirstPlatformHeight(leader);
Double wh = extractFirstPlatformHeight(r);
double delta = 0d;
if (lh != null && wh != null) {
delta = wh - lh;
}
w.setAlt((int) Math.round(altBase + altScale * delta));
list.add(w);
wmIdx++;
}
return list;
}
private static Double extractFirstPlatformHeight(FireRuleRedWeaponEquipmentVO red) {
if (red == null || red.getSubComponents() == null || red.getSubComponents().getPlatform() == null) {
return null;
}
for (FireRuleRedPlatformSlotVO pl : red.getSubComponents().getPlatform()) {
if (pl == null || pl.getPositions() == null || pl.getPositions().size() < 3) {
continue;
}
return pl.getPositions().get(2);
}
return null;
}
private static double normDeg(double deg) {
double a = deg % 360d;
if (a < 0) {
a += 360d;
}
return a;
}
private static String ensureUniqueGroupId(FireRuleTrackParamVO tp, String baseId) {
Set<String> seen = new HashSet<>();
if (tp.getGroups() != null) {
for (FireRuleSceneGroupNodeVO g : tp.getGroups()) {
if (g != null && !isBlank(g.getId())) {
seen.add(g.getId());
}
}
}
if (!seen.contains(baseId)) {
return baseId;
}
int k = 1;
while (seen.contains(baseId + "_" + k)) {
k++;
}
return baseId + "_" + k;
}
private static void mergeGroupsIntoTrackParam(FireRuleTrackParamVO tp, List<FireRuleSceneGroupNodeVO> batch) {
if (tp == null || batch == null || batch.isEmpty()) {
return;
}
List<FireRuleSceneGroupNodeVO> cur = tp.getGroups();
if (cur == null) {
cur = new ArrayList<>();
} else {
cur = new ArrayList<>(cur);
}
cur.addAll(batch);
tp.setGroups(cur);
}
private static void ensureTrackParam(FireRuleOutputVO out) {
if (out.getTrackParam() == null) {
out.setTrackParam(new FireRuleTrackParamVO());

16
auto-solution-rule/src/main/java/com/solution/rule/utils/RuleFunction.java
View File

@@ -245,6 +245,22 @@ public final class RuleFunction {
FireRuleRedWeaponOutputFillHelper.fillTrackParamAndBindMoveRoute(out, fact.getTask(), p);
}
/**
* 编组规则：填充 {@link com.solution.rule.domain.ultimately.vo.FireRuleTrackParamVO#getGroups}（groupType=addGroup）与僚机 wingmanData。
*/
@SuppressWarnings("rawtypes")
public static void groupFormation(DroolsFact fact, Map globalParams) {
if (fact == null || fact.getTask() == null || fact.getFireRuleOutputVO() == null) {
return;
}
Map<String, Object> p = castParams(globalParams);
boolean enabled = Boolean.parseBoolean(String.valueOf(p.getOrDefault("groupRuleEnabled", true)));
if (!enabled) {
return;
}
FireRuleRedWeaponOutputFillHelper.fillTrackParamGroups(fact.getFireRuleOutputVO(), fact.getTask(), p);
}
@SuppressWarnings("unchecked")
private static Map<String, Object> castParams(Map raw) {
return raw == null ? new java.util.HashMap<>() : (Map<String, Object>) raw;

34
auto-solution-rule/src/main/resources/rules/rule.drl
View File

@@ -7,6 +7,7 @@ import static com.solution.rule.utils.RuleFunction.equipmentRule;
import static com.solution.rule.utils.RuleFunction.target;
import static com.solution.rule.utils.RuleFunction.position;
import static com.solution.rule.utils.RuleFunction.trackRoute;
import static com.solution.rule.utils.RuleFunction.groupFormation;
global java.util.Map globalParams;
@@ -176,6 +177,29 @@ function Map buildParam(){
param.put("trackJamWobbleMeters", 400);
param.put("trackJamSegments", 4);
// ===================== 编组规则参数（写入 TrackParam.Groups + wingmanData） =====================
// groupRuleEnabled：是否生成编组节点。
param.put("groupRuleEnabled", true);
// groupDrawNameSuffix：drawName = 领队装备 Name + 此后缀（默认「编组」）
param.put("groupDrawNameSuffix", "编组");
// groupDrawNameWithIndex：是否在 drawName 末尾追加序号（避免多组同名），如 J15编组1
param.put("groupDrawNameWithIndex", false);
// groupFormationMode：onePerRed(每件红装一组) / clusterByCount(按固定人数分组) / singleGroup(全部一组)
param.put("groupFormationMode", "onePerRed");
// groupClusterSize：clusterByCount 模式下每组人数上限（>=1）
param.put("groupClusterSize", 3);
// groupLeaderPickMode：byHitRateThenId(命中率高优先，平手 equipmentId 小) / byId(equipmentId 字典序最小)
param.put("groupLeaderPickMode", "byHitRateThenId");
// groupMinMembersForWingman：组内人数达到该值才生成 wingmanData（否则仅 leader 壳，僚机列表为空）
param.put("groupMinMembersForWingman", 2);
// wingman 几何参数（相对蓝方主航向 mainBearing 叠加）
param.put("wingmanDistanceBaseMeters", 100);
param.put("wingmanDistanceStepMeters", 50);
param.put("wingmanAngleBaseDeg", 50);
param.put("wingmanAngleStepDeg", 15);
param.put("wingmanAltBaseMeters", 40);
param.put("wingmanAltScale", 1.0);
return param;
}
@@ -218,3 +242,13 @@ then
globalParams.putAll(buildParam());
trackRoute($fact, globalParams);
end
rule "编组匹配"
salience 60
when
$fact : DroolsFact(task != null)
then
// 显式编组规则：填充 TrackParam.Groups（groupType=addGroup）与 wingmanData
globalParams.putAll(buildParam());
groupFormation($fact, globalParams);
end

4
docker-compose.yml
View File

@@ -7,7 +7,7 @@
services:
mysql:
image: mysql:8.0
image: autosolution-mysql-preloaded:latest
container_name: autosolution-mysql
restart: unless-stopped
environment:
@@ -27,7 +27,7 @@ services:
test:
[
"CMD-SHELL",
"mysql -h 127.0.0.1 -uroot -p$${MYSQL_ROOT_PASSWORD:-root} -Nse \"SELECT 1 FROM information_schema.tables WHERE table_schema='$${MYSQL_DATABASE:-autosolution_db}' AND table_name='sys_config' LIMIT 1\" | grep -q 1",
"mysql -h 127.0.0.1 -uroot -p$MYSQL_ROOT_PASSWORD -Nse 'SELECT 1 FROM information_schema.tables WHERE table_schema=\"$MYSQL_DATABASE\" AND table_name=\"sys_config\" LIMIT 1' | grep -q 1",
]
interval: 10s
timeout: 5s

20
modeler/src/views/decision/designer/trees-card.vue
View File

@@ -29,6 +29,12 @@
</a-tooltip>
<a-flex class="ks-tree-actions">
<!-- <span style="margin-right: 10px"><EditFilled /></span>-->
<a-popconfirm
title="确定复制?"
@confirm="()=> handleCopy(item)"
>
<span class="ks-tree-action ks-tree-action-copy" @click.stop style="margin-right: 10px"><CopyOutlined /></span>
</a-popconfirm>
<a-popconfirm
title="确定删除?"
@confirm="()=> handleDelete(item)"
@@ -51,15 +57,16 @@
<script lang="ts">
import { defineComponent, onMounted, ref } from 'vue';
import { CheckOutlined, DeleteOutlined, EditFilled, PlusOutlined } from '@ant-design/icons-vue';
import { CheckOutlined, CopyOutlined, DeleteOutlined, EditFilled, PlusOutlined } from '@ant-design/icons-vue';
import type { BehaviorTree, BehaviorTreeRequest } from './tree';
import { deleteOneTreeById, findTreesByQuery } from './api';
import { copyTree, deleteOneTreeById, findTreesByQuery } from './api';
import { substring } from '@/utils/strings';
export default defineComponent({
emits: ['select-tree', 'create-tree'],
components: {
CheckOutlined,
CopyOutlined,
PlusOutlined,
DeleteOutlined,
EditFilled,
@@ -95,6 +102,14 @@ export default defineComponent({
});
};
const handleCopy = (item: BehaviorTree) => {
copyTree({ id: item.id }).then(r => {
if (r.code === 200) {
loadTress();
}
});
};
const columns = [
{
title: '名称',
@@ -133,6 +148,7 @@ export default defineComponent({
handleSelect,
handleChange,
handleDelete,
handleCopy,
};
},
});

1
modeler/src/views/decision/graph/canvas.ts
View File

@@ -104,6 +104,7 @@ export const createGraphConnectingAttributes = (): Partial<Connecting> => {
export const createGraphCanvas = (container: HTMLDivElement, readonly: boolean = false): Graph => {
const graph = new Graph({
container: container,
autoResize: true,
grid: {
size: 20,
visible: true,