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

auto-solution-admin/src/main/java/com/solution/web/controller/behaviour/BehaviortreeController.java

@@ -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
      */

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

@@ -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);
+    }
 }

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

@@ -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());

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

@@ -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;

auto-solution-rule/src/main/resources/rules/rule.drl

@@ -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

docker-compose.yml

@@ -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

modeler/src/views/decision/designer/trees-card.vue

@@ -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,
     };
   },
 });

modeler/src/views/decision/graph/canvas.ts

@@ -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,