UavPs/uavps-web/src/views/system/task/index.vue

<template>
  <div class="app-container">
    <el-form
      :model="queryParams"
      ref="queryForm"
      size="small"
      :inline="true"
      v-show="showSearch"
      label-width="68px"
    >
      <el-form-item label="任务名称" prop="bizName">
        <el-input
          v-model="queryParams.bizName"
          placeholder="请输入任务名称"
          clearable
          @keyup.enter.native="handleQuery"
        />
      </el-form-item>
      <el-form-item label="状态" prop="status">
        <el-select
          v-model="queryParams.status"
          placeholder="请选择状态"
          clearable
        >
          <el-option
            v-for="dict in dict.type.uavps_task_status"
            :key="dict.value"
            :label="dict.label"
            :value="dict.value"
          />
        </el-select>
      </el-form-item>
      <el-form-item label="开始时间" prop="startTime">
        <el-date-picker
          clearable
          v-model="queryParams.startTime"
          type="date"
          value-format="yyyy-MM-dd"
          placeholder="请选择开始时间"
        >
        </el-date-picker>
      </el-form-item>
      <el-form-item label="结束时间" prop="endTime">
        <el-date-picker
          clearable
          v-model="queryParams.endTime"
          type="date"
          value-format="yyyy-MM-dd"
          placeholder="请选择结束时间"
        >
        </el-date-picker>
      </el-form-item>
      <el-form-item label="创建时间">
        <el-date-picker
          v-model="daterangeCreateTime"
          style="width: 240px"
          value-format="yyyy-MM-dd"
          type="daterange"
          range-separator="-"
          start-placeholder="开始日期"
          end-placeholder="结束日期"
        ></el-date-picker>
      </el-form-item>
      <el-form-item>
        <el-button
          type="primary"
          icon="el-icon-search"
          size="mini"
          @click="handleQuery"
          >搜索</el-button
        >
        <el-button icon="el-icon-refresh" size="mini" @click="resetQuery"
          >重置</el-button
        >
      </el-form-item>
    </el-form>

    <el-row :gutter="10" class="mb8">
      <el-col :span="1.5">
        <el-button
          type="primary"
          plain
          icon="el-icon-plus"
          size="mini"
          @click="handleAdd"
          v-hasPermi="['system:task:add']"
          >新增</el-button
        >
      </el-col>
      <el-col :span="1.5">
        <el-button
          type="success"
          plain
          icon="el-icon-edit"
          size="mini"
          :disabled="single"
          @click="handleUpdate"
          v-hasPermi="['system:task:edit']"
          >修改</el-button
        >
      </el-col>
      <el-col :span="1.5">
        <el-button
          type="danger"
          plain
          icon="el-icon-delete"
          size="mini"
          :disabled="multiple"
          @click="handleDelete"
          v-hasPermi="['system:task:remove']"
          >删除</el-button
        >
      </el-col>
      <el-col :span="1.5">
        <el-button
          type="warning"
          plain
          icon="el-icon-download"
          size="mini"
          @click="handleExport"
          v-hasPermi="['system:task:export']"
          >导出</el-button
        >
      </el-col>
      <right-toolbar
        :showSearch.sync="showSearch"
        @queryTable="getList"
      ></right-toolbar>
    </el-row>

    <el-table
      v-loading="loading"
      :data="taskList"
      @selection-change="handleSelectionChange"
    >
      <el-table-column type="selection" width="55" align="center" />
      <el-table-column label="业务ID" align="center" prop="bizId" />
      <el-table-column label="任务名称" align="center" prop="bizName" />
      <el-table-column label="状态" align="center" prop="status">
        <template slot-scope="scope">
          <dict-tag
            :options="dict.type.uavps_task_status"
            :value="scope.row.status"
          />
        </template>
      </el-table-column>
      <el-table-column
        label="开始时间"
        align="center"
        prop="startTime"
        width="180"
      >
        <template slot-scope="scope">
          <span>{{
            parseTime(scope.row.startTime, "{y}-{m}-{d} {h}:{m}:{s}")
          }}</span>
        </template>
      </el-table-column>
      <el-table-column
        label="结束时间"
        align="center"
        prop="endTime"
        width="180"
      >
        <template slot-scope="scope">
          <span>{{
            parseTime(scope.row.endTime, "{y}-{m}-{d} {h}:{m}:{s}")
          }}</span>
        </template>
      </el-table-column>
      <el-table-column
        label="创建时间"
        align="center"
        prop="createTime"
        width="180"
      >
        <template slot-scope="scope">
          <span>{{
            parseTime(scope.row.createTime, "{y}-{m}-{d} {h}:{m}:{s}")
          }}</span>
        </template>
      </el-table-column>
      <el-table-column
        label="更新时间"
        align="center"
        prop="updateTime"
        width="180"
      >
        <template slot-scope="scope">
          <span>{{
            parseTime(scope.row.updateTime, "{y}-{m}-{d} {h}:{m}:{s}")
          }}</span>
        </template>
      </el-table-column>
      <el-table-column
        label="操作"
        align="center"
        class-name="small-padding fixed-width"
      >
        <template slot-scope="scope">
          <el-button
            v-hasPermi="['system:task:edit']"
            size="mini"
            type="text"
            icon="el-icon-s-operation"
            @click="handleRun(scope.row)"
            >运行</el-button
          >
          <el-button
            size="mini"
            type="text"
            icon="el-icon-view"
            @click="handlePlayback(scope.row)"
            v-hasPermi="['uavps:parameter:run']"
            :disabled="scope.row.status == '1'"
            >回放</el-button
          >
          <el-button
            size="mini"
            type="text"
            icon="el-icon-edit"
            @click="handleUpdate(scope.row)"
            v-hasPermi="['system:task:edit']"
            >修改</el-button
          >
          <el-button
            size="mini"
            type="text"
            icon="el-icon-delete"
            @click="handleDelete(scope.row)"
            v-hasPermi="['system:task:remove']"
            >删除</el-button
          >
        </template>
      </el-table-column>
    </el-table>

    <pagination
      v-show="total > 0"
      :total="total"
      :page.sync="queryParams.pageNum"
      :limit.sync="queryParams.pageSize"
      @pagination="getList"
    />

    <!-- 添加或修改算法任务对话框 -->
    <el-dialog
      :title="title"
      :visible.sync="open"
      width="75%"
      :close-on-click-modal="false"
      append-to-body
      :before-close="cancel"
    >
      <el-form
        ref="form"
        :inline="true"
        :model="form"
        :rules="rules"
        label-width="120px"
      >
        <el-row>
          <el-form-item label="任务名称" prop="bizName">
            <el-input v-model="form.bizName" placeholder="请输入任务名称" />
          </el-form-item>
          <el-form-item label="编队类型">
            <el-select
              v-model="form.multiTarget"
              @change="typeChange"
              placeholder="请选择"
              :disabled="form.multiTarget == '1' || title == '修改任务数据'"
            >
              <el-option
                v-for="item in formationTypeList"
                :key="item.value"
                :label="item.label"
                :value="item.value"
              >
              </el-option>
            </el-select>
          </el-form-item>
          <el-form-item label="智能算法" prop="smartAlgorithm">
            <el-checkbox
              v-model="form.smartAlgorithm"
              :true-label="'1'"
              :false-label="'0'"
            ></el-checkbox>
          </el-form-item>
        </el-row>
        <el-row>
          <el-form-item label="噪声类型">
            <el-select v-model="form.noiseType" placeholder="请选择">
              <el-option
                v-for="item in noiseTypeList"
                :key="item.value"
                :label="item.label"
                :value="item.value"
              >
              </el-option>
            </el-select>
          </el-form-item>
          <el-form-item label="噪声方差" prop="noiseVariance">
            <el-input
              v-model="form.noiseVariance"
              placeholder="请输入噪声方差"
            />
          </el-form-item>
          <el-form-item label="噪声均值" prop="noiseMean">
            <el-input v-model="form.noiseMean" placeholder="请输入噪声均值" />
          </el-form-item>
        </el-row>

        <el-divider content-position="left">平台无人机</el-divider>
        <el-form-item label="经度" prop="platformUav.longitude">
          <el-input
            v-model="form.platformUav.longitude"
            placeholder="请输入经度"
          />
        </el-form-item>
        <el-form-item label="纬度" prop="platformUav.latitude">
          <el-input
            v-model="form.platformUav.latitude"
            placeholder="请输入纬度"
          />
        </el-form-item>
        <el-form-item label="海拔" prop="platformUav.altitude">
          <el-input
            v-model="form.platformUav.altitude"
            placeholder="请输入海拔"
          />
        </el-form-item>
        <el-form-item label="东向速度" prop="platformUav.eastSpeed">
          <el-input
            v-model="form.platformUav.eastSpeed"
            placeholder="请输入东向速度"
          />
        </el-form-item>
        <el-form-item label="北向速度" prop="platformUav.northSpeed">
          <el-input
            v-model="form.platformUav.northSpeed"
            placeholder="请输入北向速度"
          />
        </el-form-item>
        <el-form-item label="天向速度" prop="platformUav.skySpeed">
          <el-input
            v-model="form.platformUav.skySpeed"
            placeholder="请输入天向速度"
          />
        </el-form-item>

        <div v-if="form.multiTarget == '1'">
          <el-divider content-position="left">固定编队无人机</el-divider>
          <el-form-item
            label="飞机数量"
            prop="fixedMultiTargetFormation.targetTotal"
          >
            <el-input-number
              v-model="form.fixedMultiTargetFormation.targetTotal"
              :min="1"
              :max="50"
              label="请输入飞机数量"
            ></el-input-number>
          </el-form-item>
          <el-form-item label="经度" prop="fixedMultiTargetFormation.longitude">
            <el-input
              v-model="form.fixedMultiTargetFormation.longitude"
              placeholder="请输入经度"
            />
          </el-form-item>
          <el-form-item label="纬度" prop="fixedMultiTargetFormation.latitude">
            <el-input
              v-model="form.fixedMultiTargetFormation.latitude"
              placeholder="请输入纬度"
            />
          </el-form-item>
          <el-form-item label="海拔" prop="fixedMultiTargetFormation.altitude">
            <el-input
              v-model="form.fixedMultiTargetFormation.altitude"
              placeholder="请输入海拔"
            />
          </el-form-item>
          <el-form-item
            label="东向速度"
            prop="fixedMultiTargetFormation.eastSpeed"
          >
            <el-input
              v-model="form.fixedMultiTargetFormation.eastSpeed"
              placeholder="请输入东向速度"
            />
          </el-form-item>
          <el-form-item
            label="北向速度"
            prop="fixedMultiTargetFormation.northSpeed"
          >
            <el-input
              v-model="form.fixedMultiTargetFormation.northSpeed"
              placeholder="请输入北向速度"
            />
          </el-form-item>
          <el-form-item
            label="天向速度"
            prop="fixedMultiTargetFormation.skySpeed"
          >
            <el-input
              v-model="form.fixedMultiTargetFormation.skySpeed"
              placeholder="请输入天向速度"
            />
          </el-form-item>
        </div>
        <div v-show="form.multiTarget == '2'" style="width: 100%">
          <el-divider content-position="left">自定义编队无人机</el-divider>
          <div style="width: 100%">
            <el-form
              ref="canvasInfoFormRef"
              :inline="true"
              :model="canvasInfo"
              :rules="infoRules"
              class="demo-form-inline"
              :disabled="submitInfoFlag"
              v-show="this.title == '修改任务数据' ? false : true"
            >
              <el-form-item label="中心点-经度" prop="centerLongitude">
                <el-input
                  v-model="canvasInfo.centerLongitude"
                  placeholder="中心点-经度"
                ></el-input>
              </el-form-item>
              <el-form-item label="中心点-纬度" prop="centerLatitude">
                <el-input
                  v-model="canvasInfo.centerLatitude"
                  placeholder="中心点-纬度"
                ></el-input>
              </el-form-item>
              <el-form-item label="边长距离" prop="lengthKm">
                <el-input v-model="canvasInfo.lengthKm" placeholder="边长距离">
                  <template slot="append">km</template>
                </el-input>
              </el-form-item>
              <el-form-item>
                <el-button type="primary" @click="canvasInfoSubmit"
                  >确 定</el-button
                >
              </el-form-item>
            </el-form>
          </div>
          <div
            style="
              width: 100%;
              height: 800px;
              display: flex;
              justify-content: space-evenly;
            "
          >
            <div
              ref="pixiCanvas"
              class="left"
              style="width: 800px; position: relative; height: 800px"
            >
              <div style="position: absolute; top: 5px; left: 5px">
                <span>经度：{{ nowlongitude }}</span
                ><br />
                <span>纬度：{{ nowlatitude }}</span>
              </div>
            </div>
            <div class="right" style="width: 25%; height: 800px">
              <el-divider content-position="left">编队信息</el-divider>
              <div style="overflow-y: scroll; width: 100%; height: 750px">
                <li
                  v-for="(item, index) in formationInfoList"
                  :key="index"
                  @dblclick="editFormationInfo(item)"
                >
                  <div style="cursor: pointer">
                    <div>
                      <span>编号：&nbsp;&nbsp;</span
                      ><label>{{ item.number }}</label>
                    </div>
                    <div>
                      <span>经度：&nbsp;&nbsp;</span
                      ><label>{{ item.longitude }}</label>
                    </div>
                    <div>
                      <span>纬度：&nbsp;&nbsp;</span
                      ><label>{{ item.latitude }}</label>
                    </div>
                    <div>
                      <span>海拔：&nbsp;&nbsp;</span
                      ><label>{{ item.altitude }}</label>
                    </div>
                    <div>
                      <span>东向速度：&nbsp;&nbsp;</span
                      ><label>{{ item.eastSpeed }}(m/s)</label>
                    </div>
                    <div>
                      <span>北向速度：&nbsp;&nbsp;</span
                      ><label>{{ item.northSpeed }}(m/s)</label>
                    </div>
                    <div>
                      <span>天向速度：&nbsp;&nbsp;</span
                      ><label>{{ item.skySpeed }}(m/s)</label>
                    </div>
                    <div>
                      <span>航线类型：&nbsp;&nbsp;</span
                      ><label>{{ item.flightPathType }}(m/s)</label>
                    </div>
                    <div>
                      <span>噪音：&nbsp;&nbsp;</span
                      ><label>{{ item.positionNoise }}(m/s)</label>
                    </div>
                  </div>
                </li>
              </div>
            </div>
          </div>
        </div>
      </el-form>
      <div slot="footer" class="dialog-footer">
        <el-button type="primary" @click="submitForm">确 定</el-button>
        <el-button @click="cancel">取 消</el-button>
      </div>
    </el-dialog>

    <el-drawer
      title="设置参数"
      size="20%"
      :visible.sync="drawerOpen"
      direction="rtl"
      :before-close="drawerClose"
      :show-close="false"
      :wrapperClosable="false"
    >
      <div class="demo-drawer__content" style="width: 80%; margin-left: 20px">
        <el-form
          label-width="80px"
          ref="formationInfoRef"
          :rules="formationInfoRules"
          :model="formationInfoForm"
        >
          <el-form-item label="编号" prop="number">
            <el-input
              v-model="formationInfoForm.number"
              placeholder="请输入编号"
              :disabled="this.addOrUpdate == 'update'"
            />
          </el-form-item>
          <el-form-item label="经度" prop="longitude">
            <el-input
              v-model="formationInfoForm.longitude"
              oninput="value=value.replace(/[^\d.]/g,'')"
              placeholder="请输入经度"
            />
          </el-form-item>
          <el-form-item label="纬度" prop="latitude">
            <el-input
              v-model="formationInfoForm.latitude"
              oninput="value=value.replace(/[^\d.]/g,'')"
              placeholder="请输入纬度"
            />
          </el-form-item>
          <el-form-item label="海拔" prop="altitude">
            <el-input
              v-model="formationInfoForm.altitude"
              placeholder="请输入海拔"
            />
          </el-form-item>
          <el-form-item label="东向速度" prop="eastSpeed">
            <el-input
              v-model="formationInfoForm.eastSpeed"
              placeholder="请输入东向速度"
            >
              <template slot="append">m/s</template>
            </el-input>
          </el-form-item>
          <el-form-item label="北向速度" prop="northSpeed">
            <el-input
              v-model="formationInfoForm.northSpeed"
              placeholder="请输入北向速度"
            >
              <template slot="append">m/s</template>
            </el-input>
          </el-form-item>
          <el-form-item label="天向速度" prop="skySpeed">
            <el-input
              v-model="formationInfoForm.skySpeed"
              placeholder="请输入天向速度"
            >
              <template slot="append">m/s</template>
            </el-input>
          </el-form-item>
          <el-form-item label="航线类型" prop="flightPathType">
            <el-select
              v-model="formationInfoForm.flightPathType"
              placeholder="航线类型"
            >
              <el-option label="直线" value="直线"></el-option>
            </el-select>
          </el-form-item>
          <el-form-item label="噪声" prop="positionNoise">
            <el-input
              v-model="formationInfoForm.positionNoise"
              placeholder="请输入噪声"
            />
          </el-form-item>
        </el-form>
        <div class="demo-drawer__footer">
          <el-button type="danger" @click="canvasInfoDel">删 除</el-button>
          <!-- :disabled="this.addOrUpdate == 'add'" -->
          <el-button type="primary" @click="handleDrawerSubmit"
            >确 定</el-button
          >
        </div>
        <ul style="color: rgb(125 121 121)">
          <li>
            <span class="info">左上角：</span><br />
            经度：{{ this.siJiaoInfo.leftTop.lng }}<br />
            纬度：{{ this.siJiaoInfo.leftTop.lat }}
          </li>
          <li>
            <span class="info">右上角：</span><br />
            经度：{{ this.siJiaoInfo.rightTop.lng }}<br />纬度：{{
              this.siJiaoInfo.rightTop.lat
            }}
          </li>
          <li>
            <span class="info">左下角：</span><br />
            经度：{{ this.siJiaoInfo.leftBottom.lng }}<br />纬度：{{
              this.siJiaoInfo.leftBottom.lat
            }}
          </li>
          <li>
            <span class="info">右下角：</span><br />
            经度：{{ this.siJiaoInfo.rightBottom.lng }}<br />纬度：{{
              this.siJiaoInfo.rightBottom.lat
            }}
          </li>
        </ul>
      </div>
    </el-drawer>

    <!-- 飞行轨迹展示对话框 -->
    <el-dialog
      :title="title"
      :visible.sync="showTrajectory"
      @opened="initTrajectory"
      :before-close="closeDialog"
      :fullscreen="true"
      append-to-body
      destroy-on-close
      :close-on-click-modal="false"
    >
      <div class="container">
        <div>
          <el-row type="flex" align="middle" style="height: 40px">
            <el-col :span="24">
              <el-button @click="handleCenter" type="primary">居中</el-button>
              <el-button
                v-if="!isUpdateView"
                @click="transFormation"
                type="warning"
                >转换队形</el-button
              >
              <el-button v-if="!isUpdateView" @click="endHandle" type="danger"
                >结束</el-button
              >

              <div class="distance">
                <el-select
                  v-model="firstAir"
                  @change="handleFirstAir"
                  placeholder="请选择"
                  style="width: 180px"
                >
                  <el-option
                    v-for="item in allSpriteInfo"
                    :key="item.id"
                    :label="item.label"
                    :value="item.id"
                  >
                  </el-option>
                </el-select>
                ---&gt;
                <el-select
                  v-model="secondAir"
                  @change="handleSecondAir"
                  placeholder="请选择"
                  style="width: 180px"
                  :disabled="!firstAir"
                >
                  <el-option
                    v-for="item in allSpriteInfo"
                    :key="item.id"
                    :label="item.label"
                    :value="item.id"
                  >
                  </el-option>
                </el-select>
                =
                <el-input
                  placeholder="距离"
                  v-model="airDistance"
                  :disabled="true"
                  style="width: 220px"
                >
                  <template slot="prepend">距离</template>
                  <template slot="append">m</template>
                </el-input>
                --
                <el-input
                  placeholder="夹角"
                  v-model="airAngle"
                  :disabled="true"
                  style="width: 220px"
                >
                  <template slot="prepend">夹角</template>
                </el-input>
              </div>
              <el-progress
                style="width: 450px; display: inline-block"
                :text-inside="true"
                :stroke-width="26"
                v-if="isUpdateView"
                :percentage="percentage > 100 ? 100 : percentage"
              ></el-progress>
            </el-col>
          </el-row>
          <el-row>
            <div ref="pixiContainer" class="pixi-container"></div>
          </el-row>
        </div>
        <div class="right-board">
          <div style="float: right">
            <el-link type="primary" @click="showConfig">显示配置</el-link>
          </div>
          <el-divider content-position="left">隐藏列表</el-divider>
          <div style="height: 30px">
            <div style="margin-left: 10px" v-if="hideList.length !== 0">
              <el-tag
                v-for="item in hideList"
                @click="showSprite(item)"
                style="cursor: pointer; margin-left: 5px"
                >{{ item }}</el-tag
              >
            </div>
            <div style="margin-left: 10px" v-else>暂无</div>
          </div>
          <el-divider content-position="left">平台无人机</el-divider>
          <div style="height: 190px; overflow: auto">
            <div v-if="configList.includes('经度')">
              <span>经度：&nbsp;&nbsp;</span
              ><label>{{ platformInfo.longitude }}</label>
            </div>
            <div v-if="configList.includes('纬度')">
              <span>纬度：&nbsp;&nbsp;</span
              ><label>{{ platformInfo.latitude }}</label>
            </div>
            <div v-if="configList.includes('海拔')">
              <span>海拔：&nbsp;&nbsp;</span
              ><label>{{ platformInfo.altitude }}m</label>
            </div>
            <div v-if="configList.includes('东向速度')">
              <span>东向速度：&nbsp;&nbsp;</span
              ><label>{{ platformInfo.eastSpeed }}m/s</label>
            </div>
            <div v-if="configList.includes('北向速度')">
              <span>北向速度：&nbsp;&nbsp;</span
              ><label>{{ platformInfo.northSpeed }}m/s</label>
            </div>
            <div v-if="configList.includes('天向速度')">
              <span>天向速度：&nbsp;&nbsp;</span
              ><label>{{ platformInfo.skySpeed }}m/s</label>
            </div>
            <div>
              <span>方位角：&nbsp;&nbsp;</span>
              <label>{{ platformInfo.azimuthAngle }}</label>
            </div>
            <div>
              <span>目标飞机：&nbsp;&nbsp;</span>
              <label>{{ platformInfo.targetAircraftNumber }}</label>
            </div>
            <div>
              <span>距离目标飞机距离：&nbsp;&nbsp;</span>
              <label>{{ platformInfo.distance }}m</label>
            </div>
            <div>
              <span>与目标飞机夹角：&nbsp;&nbsp;</span>
              <label>{{ platformInfo.bearing }}</label>
            </div>
          </div>
          <el-divider content-position="left">目标无人机群</el-divider>
          <div style="height: 480px; overflow: auto">
            <li v-for="(item, key) in targetLblAry" :key="key" class="item">
              <div
                v-if="!hideList.includes(item.id)"
                @click="showSprite(item.id)"
                style="cursor: pointer"
              >
                <div>
                  <span>编号：&nbsp;&nbsp;</span><label>{{ item.id }}</label>
                  <!-- <span style="margin-left: 10px" v-if="hideList.includes(item.id)"
                >( 隐 藏 )</span
              > -->
                </div>
                <div v-if="configList.includes('经度')">
                  <span>经度：&nbsp;&nbsp;</span
                  ><label>{{ item.longitude }}</label>
                </div>
                <div v-if="configList.includes('纬度')">
                  <span>纬度：&nbsp;&nbsp;</span
                  ><label>{{ item.latitude }}</label>
                </div>
                <div v-if="configList.includes('海拔')">
                  <span>海拔：&nbsp;&nbsp;</span
                  ><label>{{ item.altitude }}</label>
                </div>
                <div v-if="configList.includes('东向速度')">
                  <span>东向速度：&nbsp;&nbsp;</span
                  ><label>{{ item.eastSpeed }}</label>
                </div>
                <div v-if="configList.includes('北向速度')">
                  <span>北向速度：&nbsp;&nbsp;</span
                  ><label>{{ item.northSpeed }}</label>
                </div>
                <div v-if="configList.includes('天向速度')">
                  <span>天向速度：&nbsp;&nbsp;</span
                  ><label>{{ item.skySpeed }}</label>
                </div>
              </div>
            </li>
          </div>
        </div>
      </div>
    </el-dialog>

    <!-- 显示配置对话框 -->
    <el-dialog
      title="显示配置"
      :close-on-click-modal="false"
      :visible.sync="showConfigVisible"
      width="30%"
    >
      <el-checkbox-group
        v-model="showConfigList"
        style="display: flex; flex-direction: column"
      >
        <el-checkbox
          v-for="item in configData"
          :label="item.label"
        ></el-checkbox>
      </el-checkbox-group>
      <span slot="footer" class="dialog-footer">
        <el-button @click="showConfigVisible = false">取 消</el-button>
        <el-button type="primary" @click="selectConfigSubmit">确 定</el-button>
      </span>
    </el-dialog>
  </div>
</template>

<script>
import {
  listTask,
  getTask,
  delTask,
  addTask,
  updateTask,
} from "@/api/system/task";
import * as PIXI from "pixi.js";
import platformPNG from "../../textures/platform.png";
import uavTarPNG from "../../textures/uav-tar.png";
import noisePNG from "../../textures/noise.png";

export default {
  name: "Task",
  dicts: [
    "uavps_task_status",
    "uavps_target_formation_type",
    "uavps_task_nose_type",
  ],
  data() {
    return {
      // 遮罩层
      loading: true,
      // 选中数组
      ids: [],
      // 非单个禁用
      single: true,
      // 非多个禁用
      multiple: true,
      // 显示搜索条件
      showSearch: true,
      // 总条数
      total: 0,
      // 任务数据表格数据
      taskList: [],
      // 弹出层标题
      title: "",
      // 是否显示弹出层
      open: false,
      // 噪声数据文件路径时间范围
      daterangeCreateTime: [],
      // 查询参数
      queryParams: {
        pageNum: 1,
        pageSize: 10,
        bizName: null,
        status: null,
        startTime: null,
        endTime: null,
        createTime: null,
      },
      // 表单参数
      form: {
        platformUav: {},
        fixedMultiTargetFormation: {},
      },
      // 表单校验
      rules: {
        bizName: [
          { required: true, message: "任务名称不能为空", trigger: "blur" },
        ],
        multiTarget: [
          {
            required: true,
            message: "编队类型不能为空",
            trigger: "change",
          },
        ],
        noiseType: [
          {
            required: true,
            message: "噪声类型不能为空",
            trigger: "change",
          },
        ],
        noiseVariance: [
          { required: true, message: "噪声方差不能为空", trigger: "blur" },
        ],
        noiseMean: [
          { required: true, message: "噪声均值不能为空", trigger: "blur" },
        ],
        "platformUav.longitude": [
          {
            required: true,
            message: "平台无人机经度不能为空",
            trigger: "blur",
          },
        ],
        "platformUav.latitude": [
          {
            required: true,
            message: "平台无人机纬度不能为空",
            trigger: "blur",
          },
        ],
        "platformUav.altitude": [
          {
            required: true,
            message: "平台无人机海拔不能为空",
            trigger: "blur",
          },
        ],
        "platformUav.eastSpeed": [
          {
            required: true,
            message: "平台无人机东向速度不能为空",
            trigger: "blur",
          },
        ],
        "platformUav.northSpeed": [
          {
            required: true,
            message: "平台无人机北向速度不能为空",
            trigger: "blur",
          },
        ],
        "platformUav.skySpeed": [
          {
            required: true,
            message: "平台无人机天向速度不能为空",
            trigger: "blur",
          },
        ],
        "fixedMultiTargetFormation.targetTotal": [
          {
            required: true,
            message: "固定编队无人机飞机数量不能为空",
            trigger: "blur",
          },
        ],
        "fixedMultiTargetFormation.longitude": [
          {
            required: true,
            message: "固定编队无人机经度不能为空",
            trigger: "blur",
          },
        ],
        "fixedMultiTargetFormation.latitude": [
          {
            required: true,
            message: "固定编队无人机纬度不能为空",
            trigger: "blur",
          },
        ],
        "fixedMultiTargetFormation.altitude": [
          {
            required: true,
            message: "固定编队无人机海拔不能为空",
            trigger: "blur",
          },
        ],
        "fixedMultiTargetFormation.eastSpeed": [
          {
            required: true,
            message: "固定编队无人机东向速度不能为空",
            trigger: "blur",
          },
        ],
        "fixedMultiTargetFormation.northSpeed": [
          {
            required: true,
            message: "固定编队无人机北向速度不能为空",
            trigger: "blur",
          },
        ],
        "fixedMultiTargetFormation.skySpeed": [
          {
            required: true,
            message: "固定编队无人机天向速度不能为空",
            trigger: "blur",
          },
        ],
      },
      infoRules: {
        centerLongitude: [
          { required: true, message: "经度不能为空", trigger: "blur" },
        ],
        centerLatitude: [
          { required: true, message: "纬度不能为空", trigger: "blur" },
        ],
        lengthKm: [
          { required: true, message: "边长距离不能为空", trigger: "blur" },
        ],
      },
      formationInfoRules: {
        number: [{ required: true, message: "编号不能为空", trigger: "blur" }],
        longitude: [
          { required: true, message: "经度不能为空", trigger: "blur" },
        ],
        latitude: [
          { required: true, message: "纬度不能为空", trigger: "blur" },
        ],
        altitude: [
          { required: true, message: "海拔不能为空", trigger: "blur" },
        ],
        eastSpeed: [
          { required: true, message: "东向速度不能为空", trigger: "blur" },
        ],
        northSpeed: [
          { required: true, message: "北向速度不能为空", trigger: "blur" },
        ],
        skySpeed: [
          { required: true, message: "天向速度不能为空", trigger: "blur" },
        ],
        flightPathType: [
          { required: true, message: "航线类型不能为空", trigger: "change" },
        ],
        positionNoise: [
          { required: true, message: "噪音不能为空", trigger: "blur" },
        ],
      },
      parameterId: 0,
      // 是否显示轨迹
      showTrajectory: false,
      pixiApp: null,
      container: null,
      webSocket: null,
      curLongitude: null,
      curLatitude: null,
      curAltitude: null,
      targetTotal: null,
      formationTypeList: [
        {
          value: "1",
          label: "固定编队",
        },
        {
          value: "2",
          label: "自由编队",
        },
      ],
      noiseTypeList: [
        {
          value: "1",
          label: "高斯",
        },
        {
          value: "2",
          label: "瑞利",
        },
      ],
      // 自定义编队信息
      formationInfoList: [],
      formationInfoForm: {
        number: null,
        longitude: null,
        latitude: null,
        altitude: null,
        eastSpeed: null,
        northSpeed: null,
        skySpeed: null,
        flightPathType: "直线",
        positionNoise: null,
      },
      // 判断填写的编队信息是新增加的还是修改之前的
      addOrUpdate: "add",
      // 自定义编队的飞机信息集合
      formationInfoAirDataList: [],
      // 编辑编队信息的
      formationAirPiXiApp: null,
      // 设定的画布信息
      canvasInfo: {
        centerLongitude: null,
        centerLatitude: null,
        lengthKm: null,
      },
      // 编辑编队信息的画布
      pixiCanvas: null,
      // 是否提交了编队信息
      submitInfoFlag: false,
      // 鼠标当前的经纬度
      nowlongitude: null,
      nowlatitude: null,
      targetDataR: {},
      targetDataN: {},
      platformData: [],
      // 真实路径的集合
      pathGraphicsList: {},
      pathGraphicsPointList: {},
      isUpdateView: false, // 是否开启实现追踪，在回放时开启
      percentage: 0,
      // 多久更新一次轨迹
      updatePathFlag: 75,
      cycleCount: 0, // 循环计数
      updatePlatformPathFlag: 75,
      platformCycleCount: 0,
      showConfigVisible: false, //显示配置dialog
      showConfigList: [], // 选择要显示的值
      configList: ["经度", "纬度", "海拔", "东向速度", "北向速度", "天向速度"], // 显示的值
      configData: [
        // 可选择的值
        { key: "longitude", label: "经度" },
        { key: "latitude", label: "纬度" },
        { key: "altitude", label: "海拔" },
        { key: "eastSpeed", label: "东向速度" },
        { key: "northSpeed", label: "北向速度" },
        { key: "skySpeed", label: "天向速度" },
      ],
      hideList: [], // 当下隐藏的飞机数组
      allId: [], // 所有飞机的id
      changeNoList: [], // 需要改变的飞机编号,放有id和应该显示的编号
      targetLblAry: {},
      targetUavAry: [],
      targetUavCircleR: {},
      targetUavCircleN: {},
      targetUavCircleNumR: {},
      targetUavCircleNumN: {},
      drawerOpen: false,
      platformSprite: null, // 平台无人机
      // 平台无人机显示的数据
      platformInfo: {},
      platformPathData: {}, //平台无人机位置
      platformGraphics: null, //平台无人机轨迹
      playbackTime: null, // 回放的时间
      isClickGroup: false, // 是否点击了飞机，在计算两飞机距离时使用
      firstLng: null, // 第一次点击的飞机的经纬度
      firstLat: null,
      airDistance: null, // 两点间距离
      airAngle: null, // 两点间夹角
      allSpriteInfo: [], // 所有飞机的信息
      firstAir: "",
      secondAir: "",
      siJiaoInfo: {
        leftTop: {},
        rightTop: {},
        leftBottom: {},
        rightBottom: {},
      }, // 自定义画布四个角的经纬度信息
      trackGraphicsLine: null,
      // 是否持续更新选择的两个飞机的距离和夹角
      twoAirInfo: false,
    };
  },
  created() {
    this.getList();
  },
  methods: {
    /** 查询任务数据列表 */
    getList() {
      this.loading = true;
      this.queryParams.params = {};
      if (null != this.daterangeCreateTime && "" != this.daterangeCreateTime) {
        this.queryParams.params["beginCreateTime"] =
          this.daterangeCreateTime[0];
        this.queryParams.params["endCreateTime"] = this.daterangeCreateTime[1];
      }
      listTask(this.queryParams).then((response) => {
        this.taskList = response.rows;
        this.total = response.total;
        this.loading = false;
      });
    },
    // 取消按钮
    cancel() {
      this.open = false;
      this.reset();
      this.closeUpdataDialog();
    },
    // 表单重置
    reset() {
      this.form = {
        bizId: null,
        bizName: null,
        bizType: null,
        multiTarget: null,
        noiseType: null,
        noiseVariance: null,
        noiseMean: null,
        platformUav: {},
        smartAlgorithm: null,
        fixedMultiTargetFormation: {},
        customizedMultiTargetFormation: null,
        status: null,
        startTime: null,
        endTime: null,
        filePath: null,
        createBy: null,
        createTime: null,
        updateBy: null,
        updateTime: null,
      };
      this.siJiaoInfo = {
        leftTop: {},
        rightTop: {},
        leftBottom: {},
        rightBottom: {},
      };
      this.resetForm("form");
    },
    /** 搜索按钮操作 */
    handleQuery() {
      this.queryParams.pageNum = 1;
      this.getList();
    },
    /** 重置按钮操作 */
    resetQuery() {
      this.daterangeCreateTime = [];
      this.resetForm("queryForm");
      this.handleQuery();
    },
    // 多选框选中数据
    handleSelectionChange(selection) {
      this.ids = selection.map((item) => item.bizId);
      this.single = selection.length !== 1;
      this.multiple = !selection.length;
    },
    /** 新增按钮操作 */
    handleAdd() {
      this.reset();
      this.open = true;
      this.title = "添加任务数据";
    },
    /** 修改按钮操作 */
    handleUpdate(row) {
      this.reset();
      const bizId = row.bizId || this.ids;
      getTask(bizId).then((response) => {
        this.form = response.data;
        if (this.form.multiTarget == "2") {
          const info = this.form.customizedMultiTargetFormation[0];
          this.formationInfoList = this.form.customizedMultiTargetFormation;
          //自由编队
          this.$nextTick(() => {
            this.initFormationApp();
            this.canvasInfo = {
              centerLongitude: info.longitude,
              centerLatitude: info.latitude,
              lengthKm: 20,
            };
            this.airPosShow(
              this.form.customizedMultiTargetFormation,
              "fixedWing"
            );
            const leftTop = this.calculateLatLng(0, 800);
            const rightTop = this.calculateLatLng(800, 0);
            const leftBottom = this.calculateLatLng(0, 800);
            const rightBottom = this.calculateLatLng(800, 800);
            this.siJiaoInfo = { leftTop, rightTop, leftBottom, rightBottom };
            this.addAirSprite();
          });
        }
        this.title = "修改任务数据";
        this.open = true;
      });
    },
    // 根据后端返回的自定义编队信息，显示飞机位置
    airPosShow(info, type) {
      let texture = new PIXI.Texture.from(uavTarPNG);
      info.forEach((item) => {
        const { x, y } = this.calculateXY(item.longitude, item.latitude);

        const sprite = new PIXI.Sprite(texture); // 示例飞机图标
        sprite.anchor.set(0.5, 0.5);
        sprite.scale.set(0.04);
        sprite.x = x;
        sprite.y = y;
        sprite.id = item.number;

        this.formationAirPiXiApp.stage.addChild(sprite);
      });
    },
    calculateXY(longitude, latitude) {
      // 计算每像素对应的实际距离
      const kmPerPixel = this.canvasInfo.lengthKm / this.pixiCanvas.clientWidth;

      // 经纬度差值转实际距离
      const deltaY = (latitude - this.canvasInfo.centerLatitude) * 111;
      const deltaX =
        (longitude - this.canvasInfo.centerLongitude) *
        111 *
        Math.cos((this.canvasInfo.centerLatitude * Math.PI) / 180);

      // 实际距离转像素偏移量
      const offsetX = deltaX / kmPerPixel;
      const offsetY = deltaY / kmPerPixel;

      // 像素坐标
      const x = this.pixiCanvas.clientWidth / 2 + offsetX;
      const y = this.pixiCanvas.clientHeight / 2 - offsetY;

      return { x, y };
    },
    // 选择第一个飞机
    handleFirstAir(val) {
      this.secondAir = null;
      this.twoAirInfo = false;
    },
    // 选择第二个飞机
    handleSecondAir(val) {
      this.twoAirInfo = true;
      // let firstLng, firstLat, secondLng, secondLat;
      // if (this.firstAir == 100001) {
      //   firstLng = this.platformInfo.longitude;
      //   firstLat = this.platformInfo.latitude;
      // } else {
      //   firstLng = this.targetLblAry[`${this.firstAir}`].longitude;
      //   firstLat = this.targetLblAry[`${this.firstAir}`].latitude;
      // }
      // if (this.secondAir == 100001) {
      //   secondLng = this.platformInfo.longitude;
      //   secondLat = this.platformInfo.latitude;
      // } else {
      //   secondLng = this.targetLblAry[`${val}`].longitude;
      //   secondLat = this.targetLblAry[`${val}`].latitude;
      // }
      // this.airDistance = this.calculateDistance(
      //   firstLat,
      //   firstLng,
      //   secondLat,
      //   secondLng
      // );
    },
    /** 提交按钮 */
    submitForm() {
      this.$refs["form"].validate((valid) => {
        if (valid) {
          if (this.form.multiTarget == "2") {
            this.form.customizedMultiTargetFormation = this.formationInfoList;
          }
          if (this.form.bizId != null) {
            updateTask(this.form).then((response) => {
              this.$modal.msgSuccess("修改成功");
              this.open = false;
              this.closeUpdataDialog();
              this.getList();
            });
          } else {
            addTask(this.form).then((response) => {
              this.$modal.msgSuccess("新增成功");
              this.open = false;

              this.closeUpdataDialog();
              this.getList();
            });
          }
        }
      });
    },
    /** 删除按钮操作 */
    handleDelete(row) {
      const bizIds = row.bizId || this.ids;
      this.$modal
        .confirm('是否确认删除任务数据编号为"' + bizIds + '"的数据项？')
        .then(function () {
          return delTask(bizIds);
        })
        .then(() => {
          this.getList();
          this.$modal.msgSuccess("删除成功");
        })
        .catch(() => {});
    },
    /** 导出按钮操作 */
    handleExport() {
      this.download(
        "system/task/export",
        {
          ...this.queryParams,
        },
        `task_${new Date().getTime()}.xlsx`
      );
    },
    showConfig() {
      this.showConfigList = this.configList;
      this.showConfigVisible = true;
    },
    selectConfigSubmit() {
      this.configList = this.showConfigList;
      this.showConfigVisible = false;
    },
    // 选择编队类型
    typeChange(val) {
      if (val == "2") {
        this.$nextTick(() => {
          this.$message.warning(`请先输入画布信息!`);
          this.initFormationApp();
        });
      }
    },
    handleRun(row) {
      this.parameterId = row.bizId || this.ids;
      this.showTrajectory = true;
      this.title = "飞行轨迹";
    },
    handlePlayback(row) {
      this.parameterId = row.bizId || this.ids;
      this.playbackTime = row.totalDuration;
      this.title = "回放";
      this.showTrajectory = true;
      this.isUpdateView = true;
    },
    initWebSocket() {
      const wsUri = "ws://127.0.0.1:8080/websocket/message";
      this.webSocket = new WebSocket(wsUri);
      const self = this;
      this.webSocket.onopen = function (event) {
        if (self.title == "回放") {
          self.webSocket.send("REPLAY:" + self.parameterId);
        } else {
          self.webSocket.send("RUN:" + self.parameterId);
        }
        console.log("WebSocket连接成功!");
      };

      this.webSocket.onmessage = function (event) {
        self.processMessage(JSON.parse(event.data));
      };

      this.webSocket.onclose = function (event) {
        console.log("WebSocket连接断开!");
      };

      this.webSocket.onerror = function (event) {
        console.log(
          "WebSocket连接异常: " +
            event.code +
            " " +
            event.reason +
            " " +
            event.wasClean
        );
      };
    },
    transFormation() {
      let msg = "TRANSFORMATION:" + this.parameterId;
      console.info("transFormation", msg);
      this.webSocket.send(msg);
    },
    endHandle() {
      let msg = "END:" + this.parameterId;
      this.webSocket.send(msg);
      this.showTrajectory = false;
      this.loading = true;
      setTimeout(() => {
        this.getList();
      }, 1500);
    },

    // 居中
    handleCenter() {
      const firstKey = Object.keys(this.targetDataR)[0];
      // 获取到第一个飞机的位置
      const posX = this.targetDataR[`${firstKey}`].x;
      const posY = this.targetDataR[`${firstKey}`].y;
      // 获取画布的中心点的位置
      const centerX = this.container.clientWidth / 2;
      const centerY = this.container.clientHeight / 2;
      // 缩放的值
      const scaleX = this.pixiApp.stage.scale.x || 1;
      const scaleY = this.pixiApp.stage.scale.y || 1;
      // 计算需要移动的距离
      const offsetX = centerX - posX * scaleX;
      const offsetY = centerY - posY * scaleY;
      this.pixiApp.stage.position.set(offsetX, offsetY);
    },

    // 销毁画布信息
    destroyTrajectory() {
      if (this.webSocket) {
        this.webSocket.close();
      }
      if (this.pixiApp) {
        // 移除并销毁所有子对象
        const removedChildren = this.pixiApp.stage.removeChildren(
          0,
          this.pixiApp.stage.children.length
        );
        removedChildren.forEach((child) => {
          child.destroy({
            children: true,
            texture: false,
            baseTexture: false,
          });
        });
        this.pixiApp.stage.removeChildren();

        this.pixiApp.renderer.clear();
        this.pixiApp.destroy(true);
        this.pixiApp = null;
      }
      if (this.platformGraphics && this.platformGraphics.length) {
        if (this.platformGraphics.parent) {
          this.platformGraphics.parent.removeChild(this.platformGraphics);
        }
        this.platformGraphics.clear();
        this.platformGraphics.destroy(true);
        this.platformGraphics = null;
      }
      if (this.trackGraphicsLine && this.trackGraphicsLine.length) {
        if (this.trackGraphicsLine.parent) {
          this.trackGraphicsLine.parent.removeChild(this.trackGraphicsLine);
        }
        this.trackGraphicsLine.clear();
        this.trackGraphicsLine.destroy(true);
        this.trackGraphicsLine = null;
      }

      this.clearAllAry();
    },

    initTrajectory() {
      // this.clearAllAry();
      this.initPixi();
      this.initWebSocket();
    },
    // 处理WebSocket消息
    processMessage(data) {
      if (this.title == "回放") {
        this.percentage = Math.ceil((data.time / this.playbackTime) * 100);
      }
      // type:1平台无人机、2真实目标、3噪声目标
      switch (data.type) {
        case "1": //平台无人机
          this.showPlatformAir(data);

          break;
        case "2": //真实目标  R真实数据
          this.showTargetRAircraft(data, "R");

          break;
        case "3": //噪声目标  N噪声数据
          this.showTargetNAircraft(data, "N");
          break;

        default:
          break;
      }
    },
    initPixi() {
      this.container = this.$refs.pixiContainer;
      if (!this.container) return;

      // 创建Pixi应用
      this.pixiApp = new PIXI.Application({
        width: this.container.clientWidth,
        height: this.container.clientHeight,
        antialias: true,
        transparent: false,
        resolution: 1,
        backgroundAlpha: 0,
      });
      this.pixiApp.renderer.backgroundColor = 0x66ccff;
      this.container.appendChild(this.pixiApp.view);

      // 添加视窗控制
      this.enableViewControl(this.pixiApp);
      // 增加追踪线
      this.trackGraphicsLine = new PIXI.Graphics();
      this.trackGraphicsLine.lineStyle(1, 0xf5f7fa, 1);
      this.pixiApp.stage.addChild(this.trackGraphicsLine);
    },

    // 平台无人机展示
    showPlatformAir(platformData) {
      const data = platformData.platformAircraft;
      if (this.platformData.length == 0) {
        const platformTexture = new PIXI.Texture.from(platformPNG);
        this.platformSprite = new PIXI.Sprite(platformTexture);
        this.platformSprite.anchor.set(0.5, 0.5);
        this.platformSprite.scale.set(0.1);

        this.platformSprite.buttonMode = true; // 鼠标悬停时显示手型
        this.platformSprite.interactive = true;
        this.platformSprite.x = data.coordinateX;
        this.platformSprite.y = data.coordinateY;
        const label = "平台无人机";
        this.allSpriteInfo.push({
          id: 100001,
          label,
        });
        this.platformData.push(this.platformSprite);
        this.pixiApp.stage.addChild(this.platformSprite);
        // 创建路径
        this.platformGraphics = new PIXI.Graphics();
        this.platformGraphics.lineStyle(1, 0x00ee00, 1);
        const point = { x: this.platformSprite.x, y: this.platformSprite.y };
        this.platformPathData = point;
        this.platformInfo = data;
        this.pixiApp.stage.addChild(this.platformGraphics);
      } else {
        this.platformSprite.x = data.coordinateX;
        this.platformSprite.y = data.coordinateY;
        this.platformSprite.rotation = data.azimuthAngle * (Math.PI / 180);

        // this.platformSprite.rotation = Math.atan2(
        //   data.northSpeed,
        //   data.eastSpeed
        // );
        // this.platformInfo = data;
        Object.assign(this.platformInfo, data);
        if (this.platformCycleCount % this.updatePlatformPathFlag == 0) {
          // 更新路径绘制
          this.updatePlatformPath(this.platformSprite.x, this.platformSprite.y);
        }
      }

      this.platformCycleCount++;
    },

    // 无人机集群 真实数据
    showTargetRAircraft(data) {
      const targetData = data.targetAircraft[0];
      this.targetTotal = targetData.aircrafts.length;
      let empty = Object.keys(this.targetDataR);
      // 还没有真实数据时，先初始化数据。
      if (empty.length == 0) {
        for (let i = 0; i < this.targetTotal; i++) {
          const label = "目标无人机" + targetData.aircrafts[i].aircraftNumber;
          this.allSpriteInfo.push({
            id: targetData.aircrafts[i].aircraftNumber,
            label,
          });
          this.allId.push(targetData.aircrafts[i].aircraftNumber);
          // (飞机相关数据，，是否为真实数据)
          this.addAir(targetData.aircrafts[i], true);
          // 绑定鼠标事件，飞机隐藏
          // group.on("pointerdown", () => {
          //   this.hideSprite(group.id);
          // });
        }
      } else {
        // 每次更新
        const newData = data.targetAircraft[0].aircrafts;
        let isHide = false,
          targetDataKeys,
          flagCount = 0;
        if (this.title == "回放") {
          targetDataKeys = Object.keys(this.targetDataR);
          const count = targetDataKeys.length;
          // 当存的数据大于返回数据时，证明有数据隐藏
          if (count > newData.length) {
            isHide = true;
          }
        }
        if (this.twoAirInfo) {
          let firstLng, firstLat, secondLng, secondLat;
          if (this.firstAir == 100001) {
            firstLng = this.platformInfo.longitude;
            firstLat = this.platformInfo.latitude;
          } else {
            firstLng = this.targetLblAry[`${this.firstAir}`].longitude;
            firstLat = this.targetLblAry[`${this.firstAir}`].latitude;
          }
          if (this.secondAir == 100001) {
            secondLng = this.platformInfo.longitude;
            secondLat = this.platformInfo.latitude;
          } else {
            secondLng = this.targetLblAry[`${this.secondAir}`].longitude;
            secondLat = this.targetLblAry[`${this.secondAir}`].latitude;
          }
          this.airDistance = this.calculateDistance(
            firstLat,
            firstLng,
            secondLat,
            secondLng
          );
          this.airAngle = this.calculateDistance(
            firstLat,
            firstLng,
            secondLat,
            secondLng
          );
        }
        for (let i = 0; i < newData.length; i++) {
          const id = newData[i].aircraftNumber;
          const targetUav = this.targetDataR[`${id}`];
          if (this.title == "回放" && isHide) {
            targetDataKeys.splice(
              targetDataKeys.findIndex((item) => item === id),
              1
            );
            flagCount++;
            if (flagCount == newData.length) {
              this.delHideAir(targetDataKeys);
            }
          }
          if (targetUav) {
            targetUav.x = newData[i].coordinateX;
            targetUav.y = newData[i].coordinateY;
            const eastSpeed = newData[i].eastSpeed;
            const northSpeed = newData[i].northSpeed;
            targetUav.rotation = Math.atan2(northSpeed, eastSpeed);

            const cx = targetUav.x - 5;
            const cy = targetUav.y - 3;

            const circle = this.targetUavCircleR[`${id}`];
            circle.x = cx;
            circle.y = cy;

            const text = this.targetUavCircleNumR[`${id}`];
            text.x = cx;
            text.y = cy;
            if (this.platformInfo.targetAircraftNumber == id) {
              this.trackGraphicsLine.clear();
              this.trackGraphicsLine.lineStyle(1, 0xf5f7fa, 1);
              const returnData = this.calculateRelativePosition(
                this.platformInfo.latitude,
                this.platformInfo.longitude,
                0,
                newData[i].latitude,
                newData[i].longitude,
                0
              );
              this.platformInfo.distance = Number(
                returnData.distance.toFixed()
              );
              this.platformInfo.bearing = Number(returnData.bearing.toFixed(2));
              this.trackGraphicsLine.moveTo(
                this.platformInfo.coordinateX,
                this.platformInfo.coordinateY
              );
              this.trackGraphicsLine.lineTo(
                newData[i].coordinateX,
                newData[i].coordinateY
              );
            }
          } else {
            this.addAir(newData[i], true);
            const label = "目标无人机" + newData[i].aircraftNumber;
            this.allSpriteInfo.push({
              id: targetData.aircrafts[i].aircraftNumber,
              label,
            });
          }

          if (targetUav && this.cycleCount % this.updatePathFlag == 0) {
            // 更新路径绘制
            this.updatePath(id, targetUav.x, targetUav.y);
          }

          this.cycleCount++;
        }
        if (data.targetAircraft != null) {
          for (let i = 0; i < this.targetTotal; i++) {
            const id = targetData.aircrafts[i].aircraftNumber;
            let index = this.changeNoList.findIndex(
              (item) => item.changeNo == id
            );
            // 多目标集群信息显示
            const lbl = {
              id: id,
              longitude: targetData.aircrafts[i].longitude.toFixed(7),
              latitude: targetData.aircrafts[i].latitude.toFixed(7),
              altitude: targetData.aircrafts[i].altitude + " m",
              eastSpeed: targetData.aircrafts[i].eastSpeed.toFixed(1) + " m/s",
              northSpeed:
                targetData.aircrafts[i].northSpeed.toFixed(1) + " m/s",
              skySpeed: targetData.aircrafts[i].skySpeed.toFixed(1) + " m/s",
            };
            if (index !== -1) {
              const findItem = this.changeNoList[index];
              for (const key in this.targetLblAry) {
                if (this.targetLblAry.hasOwnProperty(key)) {
                  if (key === findItem.id) {
                    delete this.targetLblAry[key];
                    // 插入新属性和值
                    this.targetLblAry[findItem.changeNo] = lbl;
                    this.changeNoList.splice(index, 1);
                  }
                }
              }
            }
            this.targetLblAry[`${id}`] = lbl;

            // if (this.targetLblAry.length === 0) {
            //   this.targetLblAry.push(lbl);
            // } else {
            //   this.targetLblAry.splice(i, 1, lbl);
            // }
          }
        }
      }
    },

    // 新建一个飞机
    addAir(data, isZhen) {
      const targetTexture = new PIXI.Texture.from(uavTarPNG);
      const noiseTexture = new PIXI.Texture.from(noisePNG);
      const group = new PIXI.Container();
      group.id = data.aircraftNumber;

      // 创建无人机
      let dude;
      if (isZhen) {
        dude = new PIXI.Sprite(targetTexture);
        dude.anchor.set(0.5, 0.5);
        dude.scale.set(0.01);
      } else {
        dude = new PIXI.Sprite(noiseTexture);
        dude.anchor.set(0.5, 0.5);
        dude.scale.set(0.08);
      }

      dude.x = data.coordinateX;
      dude.y = data.coordinateY;

      dude.id = data.aircraftNumber;
      const id = dude.id + "";

      group.addChild(dude);

      // 创建圆圈  圆圈相对于飞机的位置
      const cx = dude.x - 5;
      const cy = dude.y - 3;

      //编号-圆圈
      const circle = new PIXI.Graphics();
      circle.beginFill(0xff0000); // 红色
      circle.drawCircle(0, 0, 8);
      circle.endFill();
      circle.x = cx;
      circle.y = cy;
      circle.scale.set(0.4);

      group.addChild(circle);

      //编号-数字
      const text = new PIXI.Text(data.aircraftNumber, {
        fontFamily: "Arial",
        fontSize: 12,
        fill: 0xffffff,
        align: "center",
      });
      text.anchor.set(0.5);
      // 计算文字位置以便在圆形内居中
      text.x = cx;
      text.y = cy;
      text.scale.set(0.4);

      group.addChild(text);
      if (isZhen) {
        group.typeName = "zhenshi";
        group.buttonMode = true; // 鼠标悬停时显示手型
        group.interactive = true;
        this.targetDataR[`${id}`] = dude;
        this.targetUavCircleR[`${id}`] = circle;
        this.targetUavCircleNumR[`${id}`] = text;
      } else {
        dude.alpha = 0.7;
        circle.alpha = 0.7;
        text.alpha = 0.7;
        this.targetDataN[`${id}`] = dude;
        this.targetUavCircleN[`${id}`] = circle;
        this.targetUavCircleNumN[`${id}`] = text;
      }
      this.pixiApp.stage.addChild(group);
      // 真实数据创建路径
      if (isZhen) {
        const pathGraphics = new PIXI.Graphics();
        pathGraphics.lineStyle(1, 0xeeee00, 1);
        const point = { x: dude.x, y: dude.y };
        pathGraphics.id = data.aircraftNumber;
        this.pathGraphicsPointList[`${id}`] = point;

        this.pathGraphicsList[`${id}`] = pathGraphics;
        this.pixiApp.stage.addChild(pathGraphics);
      }
    },

    // 删除回放时隐藏的飞机
    delHideAir(targetDataKeys) {
      const hideId = targetDataKeys[0];
      let group = [];
      this.pixiApp.stage.children.forEach((child) => {
        // 检查 child 是否是 Container 类型
        if (child instanceof PIXI.Container) {
          if (child.id == hideId) {
            group.push(child);
          }
        }
      });
      group.forEach((child) => {
        if (!(child instanceof PIXI.Graphics)) {
          if (child.parent) {
            child.parent.removeChild(child);
          }
          child.destroy();
          if (this.targetDataR[hideId]) {
            delete this.targetDataR[hideId];
          }
          if (this.targetLblAry[hideId]) {
            delete this.targetLblAry[hideId];
          }
          const idx = this.allSpriteInfo.findIndex((info) => {
            return info.id == hideId;
          });
          if (idx > -1) {
            this.allSpriteInfo.splice(idx, 1);
          }
        }
      });
    },

    // 无人机集群 噪音数据
    showTargetNAircraft(data) {
      const targetData = data.targetAircraft[0];
      // this.targetTotal = targetData.aircrafts.length;
      const targetTotal = targetData.aircrafts.length;
      let empty = Object.keys(this.targetDataN);
      // 还没有数据时，先初始化数据。
      if (empty.length == 0) {
        for (let i = 0; i < targetTotal; i++) {
          this.addAir(targetData.aircrafts[i], false);
        }
      } else {
        // 每次更新
        const newData = data.targetAircraft[0].aircrafts;
        let isHide = false,
          targetDataKeys,
          flagCount = 0;
        if (this.title == "回放") {
          targetDataKeys = Object.keys(this.targetDataR);
          const count = targetDataKeys.length;
          // 当存的数据大于返回数据时，证明有数据隐藏
          if (count > newData.length) {
            isHide = true;
          }
        }
        for (let i = 0; i < newData.length; i++) {
          const id = newData[i].aircraftNumber;
          const targetUav = this.targetDataN[`${id}`];
          // 有隐藏的话要删除飞机
          if (this.title == "回放" && isHide) {
            targetDataKeys.splice(
              targetDataKeys.findIndex((item) => item === id),
              1
            );
            flagCount++;
            if (flagCount == newData.length) {
              this.delHideAir(targetDataKeys);
            }
          }
          if (targetUav) {
            targetUav.x = newData[i].coordinateX;
            targetUav.y = newData[i].coordinateY;
            const eastSpeed = newData[i].eastSpeed;
            const northSpeed = newData[i].northSpeed;
            targetUav.rotation = Math.atan2(northSpeed, eastSpeed);

            const cx = targetUav.x - 5;
            const cy = targetUav.y - 3;

            const circle = this.targetUavCircleN[`${id}`];
            circle.x = cx;
            circle.y = cy;

            const text = this.targetUavCircleNumN[`${id}`];
            text.x = cx;
            text.y = cy;
          } else {
            this.addAir(newData[i], false);
          }
        }
      }
    },

    // 飞机的显示与隐藏
    hideSprite(id) {
      let group = [];
      this.pixiApp.stage.children.forEach((child) => {
        // 检查 child 是否是 Container 类型
        if (child instanceof PIXI.Container) {
          if (child.id == id) {
            group.push(child);
          }
        }
      });
      group.forEach((item) => {
        if (item.typeName) {
          const msg = "DISAPPEAR:" + item.id;
          this.webSocket.send(msg);
        }
        item.visible = false;
      });
      this.hideList.push(id);
      // this.changeNoList.push({ id: id, changeNo: id });
    },

    // 飞机的显示与隐藏
    showSprite(id) {
      if (this.isUpdateView) {
        // 表示是回放，不用隐藏
        return;
      }
      let group = [];
      this.pixiApp.stage.children.forEach((child) => {
        // 检查 child 是否是 Container 类型
        if (child instanceof PIXI.Container) {
          if (child.id == id) {
            group.push(child);
          }
        }
      });
      // group有三个，真实飞机、噪音飞机、轨迹
      if (this.hideList.includes(id)) {
        const maxNum = Math.max(...this.allId) + 1;
        group.forEach((item) => {
          // 已经隐藏了，要显示
          if (item.typeName) {
            const msg = "SHOW:" + item.id;
            this.webSocket.send(msg);
            this.changeNoList.push({ id: id, changeNo: maxNum });
            let index = this.hideList.indexOf(id);
            if (index > -1) {
              this.hideList.splice(index, 1);
            }
            this.allId.push(maxNum);
            if (item.parent) {
              item.parent.removeChild(item);
            }
            // 可选：销毁精灵并释放资源
            item.destroy();
            delete this.targetDataR[item.id];
          }

          // item.visible = true;
        });
      } else {
        // 隐藏
        group.forEach((item) => {
          if (item.typeName) {
            const msg = "DISAPPEAR:" + item.id;
            this.webSocket.send(msg);

            this.hideList.push(id);
            let index = this.allSpriteInfo.findIndex((info) => {
              return info.id == item.id;
            });
            this.allSpriteInfo.splice(index, 1);
          }
          // 只隐藏飞机，不隐藏轨迹
          if (!(item instanceof PIXI.Graphics)) {
            item.visible = false;
          }
        });

        // this.changeNoList.push({ id: id, changeNo: id });
      }
    },
    // 添加视窗控制
    enableViewControl(app) {
      app.stage.interactive = true;
      // 拖曳状态变量
      let dragging = false;

      let lastPosition = null; // 上一次鼠标的位置
      if (!(this.title == "添加任务数据" || this.title == "修改任务数据")) {
        // 鼠标按下事件
        app.view.addEventListener("mousedown", (event) => {
          dragging = true;
          lastPosition = { x: event.clientX, y: event.clientY };
        });
        // 鼠标移出画布时停止拖动
        app.view.addEventListener("mouseleave", () => {
          dragging = false;
        });

        // 鼠标移动事件
        app.view.addEventListener("mousemove", (event) => {
          if (dragging) {
            const currentPosition = { x: event.clientX, y: event.clientY };

            // 计算鼠标移动的距离
            const dx = currentPosition.x - lastPosition.x;
            const dy = currentPosition.y - lastPosition.y;

            // 更新舞台的位置
            app.stage.x += dx;
            app.stage.y += dy;

            // 更新上一次鼠标的位置
            lastPosition = currentPosition;
          }
        });

        // 鼠标松开事件
        app.view.addEventListener("mouseup", () => {
          dragging = false;
        });
      }

      // 鼠标滚轮缩放
      app.renderer.view.addEventListener("wheel", (e) => {
        e.preventDefault();
        const zoomFactor = e.deltaY > 0 ? 0.9 : 1.1;
        app.stage.scale.x *= zoomFactor;
        app.stage.scale.y *= zoomFactor;
      });
    },
    // 更新无人机飞行路径
    updatePath(id, x, y) {
      const lastPointX = this.pathGraphicsPointList[`${id}`].x;
      const lastPointY = this.pathGraphicsPointList[`${id}`].y;
      this.pathGraphicsList[`${id}`].moveTo(lastPointX, lastPointY);
      this.pathGraphicsList[`${id}`].lineTo(x, y);
      this.pathGraphicsPointList[`${id}`].x = x;
      this.pathGraphicsPointList[`${id}`].y = y;
    },
    // 更新平台无人机飞行路径
    updatePlatformPath(x, y) {
      const lastPointX = this.platformPathData.x;
      const lastPointY = this.platformPathData.y;
      this.platformGraphics.moveTo(lastPointX, lastPointY);
      this.platformGraphics.lineTo(x, y);
      this.platformPathData.x = x;
      this.platformPathData.y = y;
    },

    // 确定编队信息
    canvasInfoSubmit() {
      this.$refs["canvasInfoFormRef"].validate((valid) => {
        if (valid) {
          this.submitInfoFlag = true;
          this.addAirSprite();
        }
      });
    },

    // 初始化自定义编队的画布
    initFormationApp() {
      this.pixiCanvas = this.$refs.pixiCanvas;
      if (!this.pixiCanvas) return;
      // 创建Pixi应用
      this.formationAirPiXiApp = new PIXI.Application({
        width: this.pixiCanvas.clientWidth,
        height: this.pixiCanvas.clientHeight,
        antialias: true,
        transparent: false,
        resolution: 1,
        backgroundAlpha: 0,
      });
      this.formationAirPiXiApp.renderer.backgroundColor = 0x1099bb;
      this.pixiCanvas.appendChild(this.formationAirPiXiApp.view);
      // 绘制中心点
      const graphics = new PIXI.Graphics();
      graphics.beginFill(0xe53f32);

      // 绘制一个圆形，半径为 5 像素
      const centerX = this.pixiCanvas.clientWidth / 2;
      const centerY = this.pixiCanvas.clientHeight / 2;
      graphics.drawCircle(centerX, centerY, 3);
      graphics.endFill();
      this.formationAirPiXiApp.stage.addChild(graphics);
      // this.enableViewControl(this.formationAirPiXiApp);
    },
    // 增加飞机编队
    addAirSprite() {
      // 判断是哪个机型
      let texture = new PIXI.Texture.from(uavTarPNG);
      // 创建飞机
      const airSprite = new PIXI.Sprite(texture);
      airSprite.anchor.set(0.5, 0.5);
      airSprite.scale.set(0.04);
      airSprite.position.set(
        this.formationAirPiXiApp.screen.width / 2,
        this.formationAirPiXiApp.screen.height / 2
      );
      this.formationAirPiXiApp.stage.addChild(airSprite);
      this.formationAirPiXiApp.stage.eventMode = "static";
      this.formationAirPiXiApp.stage.hitArea = this.formationAirPiXiApp.screen;
      this.formationAirPiXiApp.view.addEventListener("pointermove", (e) => {
        airSprite.x = e.offsetX;
        airSprite.y = e.offsetY;
        // 计算对应经纬度
        const { lat, lng } = this.calculateLatLng(e.offsetX, e.offsetY);
        this.nowlongitude = lng;
        this.nowlatitude = lat;
      });
      this.formationAirPiXiApp.view.addEventListener("dblclick", (e) => {
        // 创建新精灵
        const newSprite = new PIXI.Sprite(texture);
        newSprite.anchor.set(0.5, 0.5);
        newSprite.scale.set(0.04);
        newSprite.x = e.offsetX;
        newSprite.y = e.offsetY;
        // 计算对应经纬度
        const { lat, lng } = this.calculateLatLng(e.offsetX, e.offsetY);
        this.formationInfoForm = {
          number: null,
          longitude: null,
          latitude: null,
          altitude: null,
          eastSpeed: null,
          northSpeed: null,
          skySpeed: null,
          flightPathType: "直线",
          positionNoise: null,
        };
        this.formationInfoForm.longitude = lng;
        this.formationInfoForm.latitude = lat;
        this.drawerOpen = true;
        this.addOrUpdate = "add";
        this.formationInfoAirDataList.push(newSprite);
        this.formationAirPiXiApp.stage.addChild(newSprite);
      });
    },

    calculateLatLng(x, y) {
      // 计算鼠标相对于画布中心的偏移量（单位：像素）
      const offsetX = x - this.pixiCanvas.clientWidth / 2;
      const offsetY = y - this.pixiCanvas.clientHeight / 2;
      // 将像素偏移量转换为实际距离（单位：公里）
      const kmPerPixel = this.canvasInfo.lengthKm / this.pixiCanvas.clientWidth;
      const deltaX = offsetX * kmPerPixel;
      const deltaY = -offsetY * kmPerPixel; // 注意 y 轴方向相反

      // 将实际距离转换为经纬度差值
      const deltaLat = deltaY / 111; // 每纬度约 111 公里
      const deltaLng =
        deltaX /
        (111 * Math.cos((this.canvasInfo.centerLatitude * Math.PI) / 180)); // 每经度约 111 * cos(lat) 公里

      // 计算最终经纬度
      const lat = Number(this.canvasInfo.centerLatitude) + Number(deltaLat);
      const lng = Number(this.canvasInfo.centerLongitude) + Number(deltaLng);

      return { lat, lng };
    },

    editFormationInfo(row) {
      this.formationInfoForm = row;
      this.drawerOpen = true;
      this.addOrUpdate = "update";
    },

    handleDrawerSubmit() {
      this.$refs["formationInfoRef"].validate((valid) => {
        if (valid) {
          this.formationInfoForm = this.ObjectStringToNumber(
            this.formationInfoForm
          );
          let index = this.formationInfoList.findIndex(
            (item) => item.number == this.formationInfoForm.number
          );
          // 查看是不是已在列表中
          if (index !== -1) {
            if (this.addOrUpdate == "add") {
              // 如果在,并且是新增加的
              this.$message.warning("该编号已存在，请重新输入");
              return;
            } else {
              // 在，是要修改的。修改的还不能列表中的编号相同
              this.formationInfoList[index] = this.formationInfoForm;
              let spriteIndex;
              this.formationAirPiXiApp.stage.children.forEach(
                (child, index) => {
                  // 检查 child 是否是 Container 类型
                  if (child instanceof PIXI.Sprite) {
                    if (child.id == this.formationInfoForm.number) {
                      spriteIndex = index;
                    }
                  }
                }
              );
              const sprite =
                this.formationAirPiXiApp.stage.children[spriteIndex];
              const { x, y } = this.calculateXY(
                this.formationInfoForm.longitude,
                this.formationInfoForm.latitude
              );
              sprite.x = x;
              sprite.y = y;
              this.drawerOpen = false;
            }
          } else {
            //不在列表中
            if (this.addOrUpdate == "add") {
              // 新增加的
              this.formationInfoList.push(this.formationInfoForm);
              const length = this.formationInfoAirDataList.length;
              this.$set(
                this.formationInfoAirDataList[length - 1],
                "id",
                this.formationInfoForm.number
              );

              this.drawerOpen = false;
            }
          }
        }
      });
    },

    // 删除编队信息
    canvasInfoDel() {
      this.$modal
        .confirm("是否确认删除该无人机")
        .then(() => {
          if (this.addOrUpdate == "add") {
            // 增加的时候要删除
            const len = this.formationAirPiXiApp.stage.children.length;
            this.formationAirPiXiApp.stage.children[len - 1].destroy();
            return;
          } else {
            this.formationInfoForm = this.ObjectStringToNumber(
              this.formationInfoForm
            );
            let index = this.formationInfoList.findIndex(
              (item) => item.number == this.formationInfoForm.number
            );
            if (index > -1) {
              this.formationInfoAirDataList =
                this.formationInfoAirDataList.filter((item) => {
                  return item.id !== this.formationInfoForm.number;
                });
              this.formationAirPiXiApp.stage.children.forEach(
                (child, index) => {
                  // 检查 child 是否是 Container 类型
                  if (child instanceof PIXI.Sprite) {
                    if (child.id == this.formationInfoForm.number) {
                      if (child.parent) {
                        child.parent.removeChild(child);
                      }
                      child.destroy();
                    }
                  }
                }
              );
              this.formationInfoList.splice(index, 1);
            }
          }
        })
        .then(() => {
          this.drawerOpen = false;
          this.$modal.msgSuccess("删除成功");
        })
        .catch((err) => {
          console.log(err);
        });
    },

    ObjectStringToNumber(obj) {
      for (let key in obj) {
        const parsedValue = Number(obj[key]); // 尝试将值转换为数字
        if (!isNaN(parsedValue)) {
          // 检查是否是有效的数字
          obj[key] = parsedValue; // 如果是数字，更新字段值
        }
      }
      return obj;
    },

    closeDialog() {
      if (!this.isUpdateView) {
        const msg = "END:" + this.parameterId;
        this.webSocket.send(msg);
      }
      this.destroyTrajectory();
      this.showTrajectory = false;
      this.isUpdateView = false;
      this.isClickGroup = false;
      this.twoAirInfo = false;
      this.loading = true;
      this.airDistance = null;
      this.airAngle = null;
      setTimeout(() => {
        this.getList();
      }, 1500);
    },

    closeUpdataDialog() {
      this.destroyTormationInfo();
      this.canvasInfo = {
        centerLongitude: null,
        centerLatitude: null,
        lengthKm: null,
      };
      this.submitInfoFlag = false;
      this.formationAirPiXiApp = null;
      this.pixiCanvas = null;
      this.nowlongitude = null;
      this.nowlatitude = null;
      this.formationInfoList = [];
      this.reset();
    },

    destroyTormationInfo() {
      if (this.formationAirPiXiApp) {
        const removedChildren = this.formationAirPiXiApp.stage.removeChildren(
          0,
          this.formationAirPiXiApp.stage.children.length
        );
        removedChildren.forEach((child) => {
          child.destroy({
            children: true,
            texture: false,
            baseTexture: false,
          });
        });
        this.formationAirPiXiApp.stage.removeChildren();
        this.formationAirPiXiApp.renderer.clear();
        this.formationAirPiXiApp.destroy(true);
        this.formationAirPiXiApp = null;
      }
    },

    drawerClose() {
      this.formationInfoForm = {
        number: null,
        longitude: null,
        latitude: null,
        altitude: null,
        eastSpeed: null,
        northSpeed: null,
        skySpeed: null,
        flightPathType: "直线",
        positionNoise: null,
      };
      this.addOrUpdate = "add";
    },

    clearAllAry() {
      this.targetLblAry = {};
      this.targetUavAry = [];
      this.targetUavCircleR = {};
      this.targetUavCircleN = {};
      this.targetUavCircleNumR = {};
      this.targetUavCircleNumN = {};
      this.configList = [
        "经度",
        "纬度",
        "海拔",
        "东向速度",
        "北向速度",
        "天向速度",
      ];
      this.lastPosition = {
        x: null,
        y: null,
      };
      this.hideList = [];
      this.allId = [];
      this.changeNoList = [];
      this.curLongitude = null;
      this.curLatitude = null;
      this.curAltitude = null;
      this.pathGraphics = null;
      this.cycleCount = 0;
      this.isUpdateView = false;
      this.pathGraphicsList = {};
      this.pathGraphicsPointList = {};
      this.targetDataR = {};
      this.targetDataN = {};
      this.nowlongitude = null;
      this.nowlatitude = null;
      this.submitInfoFlag = false;
      this.pixiCanvas = null;
      this.canvasInfo = {
        centerLongitude: null,
        centerLatitude: null,
        lengthKm: null,
        heightKm: null,
      };
      this.platformSprite = null;
      this.platformGraphics = null;
      this.platformPathData = {};
      this.platformInfo = {};
      this.platformData = [];
      this.allSpriteInfo = [];
      this.isClickGroup = false;
      this.firstLng = null;
      this.firstLat = null;
      this.playbackTime = null;
      this.firstAir = "";
      this.secondAir = "";
      this.percentage = 0;
    },
    // 综合计算（距离、方位角、航向夹角）
    calculateRelativePosition(lat1, lon1, heading1, lat2, lon2, heading2) {
      const distance = this.calculateDistance(lat1, lon1, lat2, lon2);
      const bearing = this.calculateBearing(lat1, lon1, lat2, lon2);
      // const headingDiff = this.calculateHeadingDiff(heading1, heading2);

      return {
        distance: distance, // 两飞机距离（米）
        bearing: bearing, // 飞机2相对于飞机1的方位角（0°~360°）
        // headingDiff: headingDiff, // 两飞机航向夹角（0°~180°）
      };
    },
    // 计算两架飞机的航向夹角（航向差）
    calculateHeadingDiff(heading1, heading2) {
      const diff = Math.abs(heading1 - heading2);
      return diff > 180 ? 360 - diff : diff;
    },
    // 计算飞机2相对于飞机1的方位角
    calculateBearing(lat1, lon1, lat2, lon2) {
      const phi1 = (lat1 * Math.PI) / 180;
      const lambda1 = (lon1 * Math.PI) / 180;
      const phi2 = (lat2 * Math.PI) / 180;
      const lambda2 = (lon2 * Math.PI) / 180;

      const y = Math.sin(lambda2 - lambda1) * Math.cos(phi2);
      const x =
        Math.cos(phi1) * Math.sin(phi2) -
        Math.sin(phi1) * Math.cos(phi2) * Math.cos(lambda2 - lambda1);
      let theta = (Math.atan2(y, x) * 180) / Math.PI;
      return (theta + 360) % 360; // 确保在0°~360°范围内
    },
    // 计算两架飞机之间的距离（Haversine 公式）
    calculateDistance(lat1, lon1, lat2, lon2) {
      const R = 6371000; // 地球半径（米）
      const phi1 = (lat1 * Math.PI) / 180;
      const phi2 = (lat2 * Math.PI) / 180;
      const deltaPhi = ((lat2 - lat1) * Math.PI) / 180;
      const deltaLambda = ((lon2 - lon1) * Math.PI) / 180;

      const a =
        Math.sin(deltaPhi / 2) * Math.sin(deltaPhi / 2) +
        Math.cos(phi1) *
          Math.cos(phi2) *
          Math.sin(deltaLambda / 2) *
          Math.sin(deltaLambda / 2);
      const c = 2 * Math.atan2(Math.sqrt(a), Math.sqrt(1 - a));
      return R * c; // 返回距离（米）
    },
  },
};
</script>

<style>
.el-dialog__body {
  /* padding: 0 !important; */
  padding-top: 10px !important;
}
.pixi-container {
  width: 100%;
  /* height: 750px; */
  height: calc(100vh - 140px);
  position: relative;
}

.pixi-container canvas {
  width: 100%;
  height: 100%;
}

.container {
  display: grid;
  grid-template-columns: 85% 15%; /* 两栏按比例分 */
}
.right-board {
  padding: 2px;
  margin: 2px;
  height: 800px;
  /* 当内容超出元素边界时显示滚动条 */
}
.distance {
  display: inline-block;
  width: 1000px;
  margin-left: 50px;
}
.info {
  font-weight: 700;
  color: #4f4a4a;
}
</style>