{"id":82344,"date":"2026-07-25T08:02:44","date_gmt":"2026-07-25T00:02:44","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/82344.html"},"modified":"2026-07-25T08:02:44","modified_gmt":"2026-07-25T00:02:44","slug":"afsim-%e7%9a%84%e6%97%b6%e9%97%b4%e5%88%b0%e5%ba%95%e6%98%af%e6%80%8e%e4%b9%88%e8%b5%b0%e7%9a%84%ef%bc%9f-%e4%bb%8e-2-9-0-%e6%ba%90%e7%a0%81%e6%8b%86%e8%a7%a3","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/82344.html","title":{"rendered":"AFSIM \u7684\u65f6\u95f4\u5230\u5e95\u662f\u600e\u4e48\u201c\u8d70\u201c\u7684\uff1f\u2014\u2014\u4ece 2.9.0 \u6e90\u7801\u62c6\u89e3\u79bb\u6563\u4e8b\u4ef6\u65f6\u949f"},"content":{"rendered":"<p>\u6587 \/ \u6c99\u76d8\u5ba2 \u00b7 \u516c\u4f17\u53f7\u300c\u4eff\u771f\u63a8\u6f14\u6846\u67b6\u300d<\/p>\n<p>\u5982\u679c\u6709\u4eba\u95ee\u4f60&#xff1a;\u201cAFSIM 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\u7684\u6e90\u7801&#xff08;swdev\/src\/core\/wsf&#xff09;&#xff0c;\u628a\u8fd9\u5957\u65f6\u95f4\u7ba1\u7406\u673a\u5236\u4e00\u5c42\u4e00\u5c42\u62c6\u5f00&#xff1a;\u65f6\u949f\u62bd\u8c61\u3001\u79bb\u6563\u4e8b\u4ef6\u961f\u5217\u3001\u4e09\u79cd\u65f6\u95f4\u5f62\u6001\u3001\u5b9e\u65f6\u540c\u6b65\u4e0e&#034;\u843d\u540e&#034;\u8865\u507f&#xff0c;\u4ee5\u53ca\u5899\u949f\u4e8b\u4ef6\u90a3\u5957\u72ec\u7acb\u4e8e\u4eff\u771f\u6682\u505c\u7684\u5fc3\u8df3\u3002<\/p>\n<p>\u8bfb\u5b8c\u4f60\u4f1a\u660e\u767d&#xff1a;\u4e3a\u4ec0\u4e48 AFSIM \u65e2\u80fd 10000 \u500d\u5feb\u8fdb\u56de\u653e&#xff0c;\u53c8\u80fd\u4e25\u683c 1:1 \u5b9e\u65f6&#xff0c;\u8fd8\u80fd\u88ab\u5916\u90e8 AI \u4e00\u4e2a\u4e8b\u4ef6\u4e00\u4e2a\u4e8b\u4ef6\u5730&#034;\u63a8&#034;\u7740\u8d70\u3002<\/p>\n<hr \/>\n<h3>\u4e00\u3001\u65f6\u95f4\u7684\u552f\u4e00\u771f\u76f8&#xff1a;\u4e00\u4e2a double&#xff0c;\u4ece 0 \u5f00\u59cb<\/h3>\n<p>\u5148\u8bf4\u6700\u6734\u7d20\u7684\u4e8b\u5b9e\u3002AFSIM \u7684&#034;\u5f53\u524d\u4eff\u771f\u65f6\u95f4&#034;\u5c31\u662f WsfSimulation \u91cc\u7684\u4e00\u4e2a\u6210\u5458\u53d8\u91cf&#xff1a;<\/p>\n<p><span class=\"token comment\">\/\/ WsfSimulation.hpp<\/span><br \/>\n<span class=\"token keyword\">double<\/span> mSimTime<span class=\"token punctuation\">{<\/span><span class=\"token number\">0.0<\/span><span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">;<\/span>          <span class=\"token comment\">\/\/ \u5f53\u524d\u4eff\u771f\u65f6\u95f4<\/span><br \/>\n<span class=\"token keyword\">double<\/span> mEndTime<span class=\"token punctuation\">;<\/span>               <span class=\"token comment\">\/\/ \u5b9a\u4e49\u7684\u7ed3\u675f\u65f6\u95f4<\/span><br \/>\n<span class=\"token keyword\">double<\/span> mRealTime<span class=\"token punctuation\">;<\/span>              <span class=\"token comment\">\/\/ \u6700\u8fd1\u4e00\u6b21\u91c7\u6837\u7684\u5b9e\u65f6\u949f<\/span><br \/>\n<span class=\"token keyword\">double<\/span> mTimeBehind<span class=\"token punctuation\">;<\/span>            <span class=\"token comment\">\/\/ \u4eff\u771f\u949f\u843d\u540e\u5b9e\u65f6\u949f\u591a\u5c11<\/span><br \/>\n<span class=\"token keyword\">double<\/span> mTimestep<span class=\"token punctuation\">;<\/span>              <span class=\"token comment\">\/\/ \u5e27\u6b65\u8fdb\u65f6\u7684\u6b65\u957f&#xff08;\u79bb\u6563\u4e8b\u4ef6\u6a21\u5f0f\u4e0b\u4e3a 0&#xff09;<\/span><br \/>\n<span class=\"token keyword\">double<\/span> mSyncTimestep<span class=\"token punctuation\">;<\/span>          <span class=\"token comment\">\/\/ DIS-NRT \u6a21\u5f0f\u4e0b\u7684\u540c\u6b65\u6b65\u957f<\/span><\/p>\n<p>\u5bf9\u5916\u53ea\u66b4\u9732\u4e00\u4e2a\u53d6\u503c\u53e3&#xff1a;<\/p>\n<p><span class=\"token keyword\">double<\/span> <span class=\"token function\">GetSimTime<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token keyword\">const<\/span> <span class=\"token punctuation\">{<\/span> <span class=\"token keyword\">return<\/span> mSimTime<span class=\"token punctuation\">;<\/span> <span class=\"token punctuation\">}<\/span><\/p>\n<p>\u6ce8\u610f\u7c7b\u578b\u662f double&#xff08;\u53cc\u7cbe\u5ea6\u6d6e\u70b9&#xff0c;\u5355\u4f4d&#xff1a;\u79d2&#xff09;&#xff0c;\u4e0d\u662f\u6574\u578b tick&#xff0c;\u4e5f\u4e0d\u662f\u67d0\u4e2a\u4ece\u7eaa\u5143\u8d77\u7b97\u7684\u7eb3\u79d2\u8ba1\u6570\u3002\u8fd9\u662f\u4e2a\u5f88\u6709\u8bb2\u7a76\u7684\u8bbe\u8ba1\u9009\u62e9\u2014\u2014<\/p>\n<ul>\n<li>\u7528 double \u800c\u4e0d\u662f int64 \u7684\u7eb3\u79d2&#xff0c;\u610f\u5473\u7740 AFSIM \u628a&#034;\u4eff\u771f\u65f6\u95f4&#034;\u5efa\u6a21\u4e3a\u8fde\u7eed\u5b9e\u6570\u8f74\u4e0a\u7684\u65f6\u523b&#xff0c;\u800c\u4e0d\u662f\u79bb\u6563\u7684\u6574\u578b\u7f16\u53f7\u3002\u6a21\u578b\u91cc\u5199 move at 300 m\/s for 12.37 s&#xff0c;\u65f6\u95f4\u76f4\u63a5\u53c2\u4e0e\u6d6e\u70b9\u8fd0\u7b97&#xff0c;\u7269\u7406\u79ef\u5206\u81ea\u7136\u3001\u76f4\u89c2\u3002<\/li>\n<li>\u4f46 double \u4e5f\u6709\u4ee3\u4ef7&#xff1a;\u6781\u5927\u65f6\u95f4\u8de8\u5ea6\u4e0b\u5c3e\u6570\u7cbe\u5ea6\u4f1a\u4e0b\u964d\u3002AFSIM \u9ed8\u8ba4\u628a \u201c0.0\u201d \u5f53\u4f5c\u4eff\u771f\u8d77\u70b9&#xff08;mSimTime{0.0}&#xff09;&#xff0c;end_time \u9ed8\u8ba4 60.0 \u79d2&#xff0c;\u5c31\u662f\u628a\u4eff\u771f\u65f6\u95f4\u8f74\u951a\u5b9a\u5728\u4e00\u4e2a\u53ef\u63a7\u7684\u5c0f\u8303\u56f4\u5185&#xff0c;\u907f\u5f00\u5927\u6570\u5403\u7cbe\u5ea6\u7684\u5751\u3002<\/li>\n<\/ul>\n<p>\u90a3\u4e48\u573a\u666f\u91cc\u90a3\u4e2a end_time \u548c clock_rate \u662f\u600e\u4e48\u8fdb\u5230\u8fd9\u4e9b\u53d8\u91cf\u91cc\u7684&#xff1f;\u7b54\u6848\u5728 WsfSimulationInput \u7684\u8f93\u5165\u89e3\u6790&#xff1a;<\/p>\n<p><span class=\"token comment\">\/\/ WsfSimulationInput.cpp<\/span><br \/>\n<span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>command <span class=\"token operator\">&#061;&#061;<\/span> <span class=\"token string\">&#034;end_time&#034;<\/span><span class=\"token punctuation\">)<\/span>   <span class=\"token punctuation\">{<\/span> aInput<span class=\"token punctuation\">.<\/span><span class=\"token function\">ReadValueOfType<\/span><span class=\"token punctuation\">(<\/span>mEndTime<span class=\"token punctuation\">,<\/span> UtInput<span class=\"token double-colon punctuation\">::<\/span>cTIME<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span> <span class=\"token punctuation\">}<\/span><br \/>\n<span class=\"token keyword\">else<\/span> <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>command <span class=\"token operator\">&#061;&#061;<\/span> <span class=\"token string\">&#034;clock_rate&#034;<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span> aInput<span class=\"token punctuation\">.<\/span><span class=\"token function\">ReadValue<\/span><span class=\"token punctuation\">(<\/span>mClockRate<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span> <span class=\"token punctuation\">}<\/span><br \/>\n<span class=\"token keyword\">else<\/span> <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>command <span class=\"token operator\">&#061;&#061;<\/span> <span class=\"token string\">&#034;realtime&#034;<\/span><span class=\"token punctuation\">)<\/span>  <span class=\"token punctuation\">{<\/span> mIsRealTime <span class=\"token operator\">&#061;<\/span> <span class=\"token boolean\">true<\/span><span class=\"token punctuation\">;<\/span> <span class=\"token punctuation\">}<\/span><br \/>\n<span class=\"token keyword\">else<\/span> <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>command <span class=\"token operator\">&#061;&#061;<\/span> <span class=\"token string\">&#034;non-realtime&#034;<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span> mIsRealTime <span class=\"token operator\">&#061;<\/span> <span class=\"token boolean\">false<\/span><span class=\"token punctuation\">;<\/span> <span class=\"token punctuation\">}<\/span><\/p>\n<p>\u4e5f\u5c31\u662f\u8bf4&#xff0c;\u4f60\u5728 .txt \u60f3\u5b9a\u91cc\u5199\u7684&#xff1a;<\/p>\n<p>end_time 3600<br \/>\nclock_rate 1<br \/>\nrealtime<\/p>\n<p>\u6700\u7ec8\u90fd\u843d\u5230\u4e86\u4e0a\u9762\u90a3\u7ec4 double \u4e0a\u3002<\/p>\n<h3>\u4e8c\u3001\u65f6\u949f\u62bd\u8c61&#xff1a;WsfClockSource \u4e0e&#034;\u88ab\u8bf7\u6c42\u7684\u65f6\u95f4&#034;<\/h3>\n<p>AFSIM \u628a&#034;\u65f6\u949f&#034;\u505a\u6210\u4e86\u53ef\u66ff\u6362\u7684\u62bd\u8c61\u3002WsfSimulation \u53ea\u6301\u6709\u4e00\u4e2a WsfClockSource \u6307\u9488&#xff1a;<\/p>\n<p>std<span class=\"token double-colon punctuation\">::<\/span>unique_ptr<span class=\"token operator\">&lt;<\/span>WsfClockSource<span class=\"token operator\">&gt;<\/span> mClockSourcePtr<span class=\"token punctuation\">{<\/span><span class=\"token keyword\">nullptr<\/span><span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">;<\/span><br \/>\nWsfRealTimeClockSource<span class=\"token operator\">*<\/span>         mRealTimeClockSourcePtr<span class=\"token punctuation\">{<\/span><span class=\"token keyword\">nullptr<\/span><span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>\u57fa\u7c7b\u7684 GetClock \u7b80\u5355\u5230\u8ba9\u4eba\u610f\u5916&#xff1a;<\/p>\n<p><span class=\"token comment\">\/\/ WsfClockSource.cpp<\/span><br \/>\n<span class=\"token keyword\">double<\/span> <span class=\"token class-name\">WsfClockSource<\/span><span class=\"token double-colon punctuation\">::<\/span><span class=\"token function\">GetClock<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">double<\/span> aClock<span class=\"token punctuation\">)<\/span> <span class=\"token keyword\">const<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n   <span class=\"token keyword\">double<\/span> clockNow <span class=\"token operator\">&#061;<\/span> aClock<span class=\"token punctuation\">;<\/span><br \/>\n   <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>clockNow <span class=\"token operator\">&gt;<\/span> mMaximumClock<span class=\"token punctuation\">)<\/span> clockNow <span class=\"token operator\">&#061;<\/span> mMaximumClock<span class=\"token punctuation\">;<\/span><br \/>\n   <span class=\"token keyword\">return<\/span> clockNow<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p>\u5b83\u51e0\u4e4e\u4ec0\u4e48\u90fd\u4e0d\u505a\u2014\u2014\u628a\u8c03\u7528\u8005&#034;\u60f3\u8981\u7684\u65f6\u95f4&#034;\u539f\u6837\u8fd4\u56de&#xff08;\u6700\u591a\u88ab mMaximumClock \u622a\u65ad&#xff09;\u3002\u8fd9\u6b63\u662f\u79bb\u6563\u4e8b\u4ef6\u6a21\u5f0f\u7684\u672c\u8d28&#xff1a;\u5728\u9ed8\u8ba4&#xff08;\u975e\u5b9e\u65f6&#xff09;\u4eff\u771f\u91cc&#xff0c;\u65f6\u949f\u5c31\u662f&#034;\u88ab\u8bf7\u6c42\u7684\u65f6\u95f4&#034;\u3002\u5f15\u64ce\u8bf4&#034;\u73b0\u5728\u8df3\u5230 12.37 \u79d2&#034;&#xff0c;\u65f6\u949f\u5c31\u62a5 12.37 \u79d2&#xff0c;\u6ca1\u6709&#034;\u6d41\u901d&#034;\u8fd9\u56de\u4e8b\u3002<\/p>\n<p>\u771f\u6b63\u8ba9\u65f6\u949f&#034;\u6d3b&#034;\u8d77\u6765\u7684\u662f\u6d3e\u751f\u7c7b WsfRealTimeClockSource\u3002\u5b83\u7684 GetClock \u662f\u8fd9\u6837\u5b9a\u4e49\u7684&#xff1a;<\/p>\n<p><span class=\"token comment\">\/\/ WsfRealTimeClockSource.cpp<\/span><br \/>\n<span class=\"token keyword\">double<\/span> <span class=\"token class-name\">WsfRealTimeClockSource<\/span><span class=\"token double-colon punctuation\">::<\/span><span class=\"token function\">GetClock<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">double<\/span> aClock<span class=\"token punctuation\">)<\/span> <span class=\"token keyword\">const<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n   <span class=\"token keyword\">double<\/span> simulationClock <span class=\"token operator\">&#061;<\/span> mTimeAccumulated<span class=\"token punctuation\">;<\/span>          <span class=\"token comment\">\/\/ \u4e0a\u6b21\u6682\u505c\u65f6\u7d2f\u8ba1\u7684\u4eff\u771f\u65f6\u95f4<\/span><br \/>\n   <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token operator\">!<\/span>mClockPaused<span class=\"token punctuation\">)<\/span><br \/>\n   <span class=\"token punctuation\">{<\/span><br \/>\n      simulationClock <span class=\"token operator\">&#043;&#061;<\/span> mWallClock<span class=\"token punctuation\">.<\/span><span class=\"token function\">GetClock<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token operator\">*<\/span> mClockRate<span class=\"token punctuation\">;<\/span>  <span class=\"token comment\">\/\/ \u5899\u949f\u6d41\u901d \u00d7 \u500d\u7387<\/span><br \/>\n      <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>simulationClock <span class=\"token operator\">&gt;<\/span> mMaximumClock<span class=\"token punctuation\">)<\/span> simulationClock <span class=\"token operator\">&#061;<\/span> mMaximumClock<span class=\"token punctuation\">;<\/span><br \/>\n   <span class=\"token punctuation\">}<\/span><br \/>\n   <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>aClock <span class=\"token operator\">&lt;<\/span> simulationClock<span class=\"token punctuation\">)<\/span> simulationClock <span class=\"token operator\">&#061;<\/span> aClock<span class=\"token punctuation\">;<\/span>  <span class=\"token comment\">\/\/ \u65f6\u949f\u4e0d\u80fd\u8d85\u524d\u4e8e&#034;\u8bf7\u6c42\u65f6\u95f4&#034;<\/span><br \/>\n   <span class=\"token keyword\">return<\/span> simulationClock<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p>\u8fd9\u4e00\u884c mWallClock.GetClock() * mClockRate \u5c31\u662f AFSIM \u5b9e\u65f6\u80fd\u529b\u7684\u5168\u90e8\u79d8\u5bc6&#xff1a;<\/p>\n<ul>\n<li>mWallClock \u662f\u771f\u6b63\u7684\u5899\u949f&#xff08;\u57fa\u4e8e UtWallClock&#xff0c;\u53ef\u5207\u6362 performance_counter\/system_time\/tick_count \u7b49\u8ba1\u65f6\u6e90&#xff09;&#xff1b;<\/li>\n<li>mClockRate \u5c31\u662f\u4f60\u5728\u60f3\u5b9a\u91cc\u5199\u7684 clock_rate\u3002clock_rate 1 \u662f 1:1 \u5b9e\u65f6&#xff1b;clock_rate 10 \u8868\u793a\u5899\u949f\u8d70 1 \u79d2\u3001\u4eff\u771f\u8d70 10 \u79d2\u2014\u2014\u5feb\u8fdb 10 \u500d&#xff1b;clock_rate 0.5 \u5219\u662f\u534a\u901f\u6162\u653e\u3002<\/li>\n<li>mTimeAccumulated \u8bb0\u5f55\u4e86&#034;\u4e0a\u6b21\u6682\u505c\u65f6\u523b\u5df2\u7ecf\u7d2f\u8ba1\u4e86\u591a\u5c11\u4eff\u771f\u65f6\u95f4&#034;&#xff0c;\u6062\u590d\u65f6\u4ece\u6b64\u63a5\u7eed&#xff0c;\u4e0d\u4f1a\u6e05\u96f6\u91cd\u6765\u3002<\/li>\n<\/ul>\n<p>\u800c\u4e14 SetClockRate \u652f\u6301\u8fd0\u884c\u4e2d\u52a8\u6001\u6539\u901f\u7387\u2014\u2014\u5b83\u4f1a\u5148\u628a\u5f53\u524d\u4eff\u771f\u949f&#034;\u7ed3\u7b97&#034;\u8fdb mTimeAccumulated&#xff0c;\u518d\u91cd\u7f6e\u5899\u949f\u8d77\u70b9\u3002\u8fd9\u610f\u5473\u7740\u4f60\u53ef\u4ee5\u8ba9\u4eff\u771f\u5148\u6162\u653e\u5b9a\u4f4d\u95ee\u9898&#xff0c;\u518d\u4e00\u952e\u52a0\u901f\u8dd1\u5b8c\u957f\u822a\u8ff9&#xff0c;\u5168\u7a0b\u65f6\u95f4\u8fde\u7eed\u4e0d\u8df3\u53d8\u3002<\/p>\n<hr \/>\n<h3>\u4e09\u3001\u79bb\u6563\u4e8b\u4ef6\u5f15\u64ce&#xff1a;\u65f6\u95f4\u662f\u5728&#034;\u8df3\u8dc3&#034;&#xff0c;\u4e0d\u662f&#034;\u6d41\u901d&#034;<\/h3>\n<p>\u73b0\u5728\u5230\u4e86\u6838\u5fc3\u3002AFSIM \u7684\u4e3b\u5faa\u73af\u85cf\u5728 WsfStandardApplication \u91cc&#xff0c;\u9aa8\u67b6\u6781\u7b80&#xff1a;<\/p>\n<p><span class=\"token comment\">\/\/ WsfStandardApplication.cpp<\/span><br \/>\n<span class=\"token keyword\">while<\/span> <span class=\"token punctuation\">(<\/span>aSimPtr<span class=\"token operator\">-&gt;<\/span><span class=\"token function\">IsActive<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n   aSimPtr<span class=\"token operator\">-&gt;<\/span><span class=\"token function\">WaitForAdvanceTime<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n   simTime <span class=\"token operator\">&#061;<\/span> aSimPtr<span class=\"token operator\">-&gt;<\/span><span class=\"token function\">AdvanceTime<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n   <span class=\"token comment\">\/\/ &#8230; \u65e5\u5fd7\u3001\u6d88\u606f\u5206\u53d1 &#8230;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><br \/>\naSimPtr<span class=\"token operator\">-&gt;<\/span><span class=\"token function\">Complete<\/span><span class=\"token punctuation\">(<\/span>aSimPtr<span class=\"token operator\">-&gt;<\/span><span class=\"token function\">GetEndTime<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>\u6bcf\u4e00\u8f6e\u5faa\u73af&#xff0c;AdvanceTime() \u5e72\u7684\u4e8b&#xff0c;\u662f\u6574\u7bc7\u7684\u7cbe\u534e&#xff08;WsfSimulation.cpp:186&#xff09;&#xff1a;<\/p>\n<p><span class=\"token keyword\">double<\/span> <span class=\"token class-name\">WsfSimulation<\/span><span class=\"token double-colon punctuation\">::<\/span><span class=\"token function\">AdvanceTime<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n   <span class=\"token keyword\">double<\/span> timeStart <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0.0<\/span><span class=\"token punctuation\">;<\/span><br \/>\n   <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>mIsRealTime <span class=\"token operator\">&amp;&amp;<\/span> <span class=\"token punctuation\">(<\/span>mRealTimeClockSourcePtr <span class=\"token operator\">!&#061;<\/span> <span class=\"token keyword\">nullptr<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">)<\/span><br \/>\n      timeStart <span class=\"token operator\">&#061;<\/span> mRealTimeClockSourcePtr<span class=\"token operator\">-&gt;<\/span><span class=\"token function\">GetElapsedWallTime<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>   WsfEvent<span class=\"token operator\">*<\/span> eventPtr <span class=\"token operator\">&#061;<\/span> mEventManager<span class=\"token punctuation\">.<\/span><span class=\"token function\">PeekEvent<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span>   <span class=\"token comment\">\/\/ \u2460 \u5077\u770b\u961f\u5217\u91cc&#034;\u6700\u65e9&#034;\u7684\u4e8b\u4ef6<\/span><br \/>\n   <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>eventPtr <span class=\"token operator\">!&#061;<\/span> <span class=\"token keyword\">nullptr<\/span><span class=\"token punctuation\">)<\/span><br \/>\n      mSimTime <span class=\"token operator\">&#061;<\/span> eventPtr<span class=\"token operator\">-&gt;<\/span><span class=\"token function\">GetTime<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span>                <span class=\"token comment\">\/\/ \u2461 \u65f6\u95f4\u76f4\u63a5\u8df3\u5230\u90a3\u4e2a\u4e8b\u4ef6\u7684\u65f6\u523b&#xff01;<\/span><br \/>\n   <span class=\"token keyword\">else<\/span><br \/>\n      mSimTime <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">GetEndTime<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token operator\">&#043;<\/span> <span class=\"token number\">0.1<\/span><span class=\"token punctuation\">;<\/span>                 <span class=\"token comment\">\/\/ \u6ca1\u6709\u4e8b\u4ef6\u4e86 \u2192 \u8d8a\u8fc7\u7ed3\u675f\u65f6\u95f4<\/span><\/p>\n<p>   mSimTime <span class=\"token operator\">&#061;<\/span> mClockSourcePtr<span class=\"token operator\">-&gt;<\/span><span class=\"token function\">GetClock<\/span><span class=\"token punctuation\">(<\/span>mSimTime<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span>   <span class=\"token comment\">\/\/ \u2462 \u8ba9\u65f6\u949f\u62bd\u8c61\u518d\u6821\u51c6\u4e00\u6b21<\/span><br \/>\n   <span class=\"token class-name\">WsfObserver<\/span><span class=\"token double-colon punctuation\">::<\/span><span class=\"token function\">AdvanceTime<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">this<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">(<\/span>mSimTime<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>   <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>mSimTime <span class=\"token operator\">&gt;<\/span> <span class=\"token function\">GetEndTime<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">)<\/span><br \/>\n      mState <span class=\"token operator\">&#061;<\/span> cPENDING_COMPLETE<span class=\"token punctuation\">;<\/span>                    <span class=\"token comment\">\/\/ \u2463 \u8d8a\u8fc7\u7ec8\u70b9 \u2192 \u51c6\u5907\u6536\u5c3e<\/span><\/p>\n<p>   <span class=\"token function\">DispatchEvents<\/span><span class=\"token punctuation\">(<\/span>mSimTime<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span>                         <span class=\"token comment\">\/\/ \u2464 \u628a\u6240\u6709&#034;\u5230\u70b9&#034;\u7684\u4e8b\u4ef6\u90fd\u6267\u884c\u6389<\/span><br \/>\n   <span class=\"token keyword\">return<\/span> mSimTime<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p>\u6ce8\u610f\u7b2c \u2461 \u6b65&#xff1a;mSimTime \u4e0d\u662f &#043;&#061; dt&#xff0c;\u800c\u662f\u88ab\u76f4\u63a5\u8d4b\u503c\u4e3a\u4e0b\u4e00\u4e2a\u4e8b\u4ef6\u7684\u65f6\u523b\u3002\u8fd9\u5c31\u662f&#034;\u79bb\u6563\u4e8b\u4ef6&#034;\u56db\u5b57\u7684\u5206\u91cf\u2014\u2014\u4eff\u771f\u4e0d\u4f1a\u5728 12.36\u300112.37\u300112.38\u2026\u2026\u91cc\u4e00\u6b65\u6b65\u722c&#xff0c;\u800c\u662f\u4ece 12.37 \u76f4\u63a5\u8df3\u5230\u4e0b\u4e00\u4e2a\u4e8b\u4ef6\u53d1\u751f\u7684 14.02\u3002\u4e24\u4e2a\u4e8b\u4ef6\u4e4b\u95f4\u7684&#034;\u7a7a\u767d&#034;\u91cc&#xff0c;\u4ec0\u4e48\u90fd\u6ca1\u53d1\u751f&#xff0c;\u6240\u4ee5 AFSIM \u6839\u672c\u4e0d\u6d6a\u8d39\u7b97\u529b\u53bb&#034;\u8d70&#034;\u90a3 1.65 \u79d2\u3002<\/p>\n<h4>\u4e8b\u4ef6\u961f\u5217&#xff1a;\u4e00\u4e2a\u6700\u5c0f\u5806<\/h4>\n<p>\u9a71\u52a8\u8fd9\u4e00\u5207\u7684&#034;\u4e0b\u4e00\u4e2a\u4e8b\u4ef6&#034;\u6765\u81ea\u54ea&#xff1f;\u6765\u81ea mEventManager&#xff0c;\u5b83\u7684\u5e95\u5c42\u662f C&#043;&#043; \u6807\u51c6\u5e93\u7684\u6700\u5c0f\u5806&#xff1a;<\/p>\n<p><span class=\"token comment\">\/\/ WsfEventManager.hpp<\/span><br \/>\n<span class=\"token keyword\">using<\/span> EventQueue <span class=\"token operator\">&#061;<\/span> std<span class=\"token double-colon punctuation\">::<\/span>priority_queue<span class=\"token operator\">&lt;<\/span>Event<span class=\"token punctuation\">,<\/span> std<span class=\"token double-colon punctuation\">::<\/span>vector<span class=\"token operator\">&lt;<\/span>Event<span class=\"token operator\">&gt;<\/span><span class=\"token punctuation\">,<\/span><br \/>\n                                       std<span class=\"token double-colon punctuation\">::<\/span>greater<span class=\"token operator\">&lt;<\/span>Event<span class=\"token operator\">&gt;&gt;<\/span><span class=\"token punctuation\">;<\/span> <span class=\"token comment\">\/\/ \u6700\u5c0f\u5143\u7d20\u5728\u5806\u9876<\/span><\/p>\n<p>\u4e8b\u4ef6\u7684\u6392\u5e8f\u952e\u662f\u4e00\u4e2a\u4e09\u5143\u7ec4&#xff0c;\u4fdd\u8bc1\u5148\u6309\u65f6\u95f4\u3001\u518d\u6309\u7a33\u5b9a\u6b21\u5e8f&#xff0c;\u907f\u514d\u540c\u523b\u4e8b\u4ef6\u4e71\u5e8f&#xff1a;<\/p>\n<p><span class=\"token keyword\">using<\/span> Key <span class=\"token operator\">&#061;<\/span> std<span class=\"token double-colon punctuation\">::<\/span>tuple<span class=\"token operator\">&lt;<\/span><span class=\"token keyword\">double<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token keyword\">int<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token keyword\">unsigned<\/span> <span class=\"token keyword\">int<\/span><span class=\"token operator\">&gt;<\/span><span class=\"token punctuation\">;<\/span> <span class=\"token comment\">\/\/ (\u65f6\u523b, \u7c7b\u578b\u4f18\u5148\u7ea7, \u5165\u961f\u5e8f\u53f7)<\/span><\/p>\n<p>\u961f\u5217\u8fd8\u52a0\u4e86 std::recursive_mutex&#xff0c;\u6240\u4ee5\u662f\u7ebf\u7a0b\u5b89\u5168\u7684\u2014\u2014\u5728\u591a\u6838\u5e76\u884c\u63a8\u6f14\u91cc&#xff0c;\u4e0d\u540c\u7ebf\u7a0b\u5f80\u91cc\u585e\u4e8b\u4ef6\u4e5f\u4e0d\u4f1a\u5d29\u3002<\/p>\n<h4>\u4e8b\u4ef6\u662f\u600e\u4e48&#034;\u8dd1&#034;\u8d77\u6765\u7684<\/h4>\n<p>AdvanceTime \u6700\u540e\u8c03\u7528\u7684 DispatchEvents&#xff0c;\u624d\u662f\u771f\u6b63\u6267\u884c\u903b\u8f91\u7684\u5730\u65b9&#xff1a;<\/p>\n<p><span class=\"token comment\">\/\/ WsfSimulation.cpp<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">DispatchEventsHelper<\/span><span class=\"token punctuation\">(<\/span>WsfEventManager<span class=\"token operator\">&amp;<\/span> aEventManager<span class=\"token punctuation\">,<\/span> <span class=\"token keyword\">double<\/span> aSimTime<span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n   WsfEvent<span class=\"token operator\">*<\/span> peekEventPtr <span class=\"token operator\">&#061;<\/span> aEventManager<span class=\"token punctuation\">.<\/span><span class=\"token function\">PeekEvent<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n   <span class=\"token keyword\">while<\/span> <span class=\"token punctuation\">(<\/span>peekEventPtr <span class=\"token operator\">&amp;&amp;<\/span> <span class=\"token punctuation\">(<\/span>peekEventPtr<span class=\"token operator\">-&gt;<\/span><span class=\"token function\">GetTime<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token operator\">&lt;&#061;<\/span> aSimTime<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">)<\/span><br \/>\n   <span class=\"token punctuation\">{<\/span><br \/>\n      <span class=\"token keyword\">auto<\/span> eventPtr <span class=\"token operator\">&#061;<\/span> aEventManager<span class=\"token punctuation\">.<\/span><span class=\"token function\">PopEvent<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n      <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>eventPtr<span class=\"token operator\">-&gt;<\/span><span class=\"token function\">ShouldExecute<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">)<\/span><br \/>\n      <span class=\"token punctuation\">{<\/span><br \/>\n         WsfEvent<span class=\"token double-colon punctuation\">::<\/span>EventDisposition disposition <span class=\"token operator\">&#061;<\/span> eventPtr<span class=\"token operator\">-&gt;<\/span><span class=\"token function\">Execute<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n         <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>disposition <span class=\"token operator\">&#061;&#061;<\/span> WsfEvent<span class=\"token double-colon punctuation\">::<\/span>cRESCHEDULE<span class=\"token punctuation\">)<\/span>   <span class=\"token comment\">\/\/ \u5173\u952e&#xff1a;\u5b9a\u65f6\u5668\u5c31\u662f\u8fd9\u4e48\u5b9e\u73b0\u7684<\/span><br \/>\n            aEventManager<span class=\"token punctuation\">.<\/span><span class=\"token function\">AddEvent<\/span><span class=\"token punctuation\">(<\/span>std<span class=\"token double-colon punctuation\">::<\/span><span class=\"token function\">move<\/span><span class=\"token punctuation\">(<\/span>eventPtr<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span> <span class=\"token comment\">\/\/ \u6539\u4e2a\u65f6\u95f4&#xff0c;\u91cd\u65b0\u5165\u961f<\/span><br \/>\n      <span class=\"token punctuation\">}<\/span><br \/>\n      peekEventPtr <span class=\"token operator\">&#061;<\/span> aEventManager<span class=\"token punctuation\">.<\/span><span class=\"token function\">PeekEvent<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n   <span class=\"token punctuation\">}<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p>\u8fd9\u91cc\u6709\u4e00\u4e2a\u5e38\u88ab\u5ffd\u7565\u7684\u5999\u5904&#xff1a;WsfEvent::Execute() \u7684\u8fd4\u56de\u503c\u5982\u679c\u662f cRESCHEDULE&#xff0c;\u4e8b\u4ef6\u4f1a\u88ab\u6539\u4e2a\u65f6\u95f4\u3001\u91cd\u65b0\u585e\u56de\u961f\u5217\u3002AFSIM \u91cc\u90a3\u4e9b&#034;\u6bcf 5 \u79d2\u626b\u63cf\u4e00\u6b21\u96f7\u8fbe&#034;&#034;\u6bcf 1 \u79d2\u5e7f\u64ad\u4e00\u6b21\u4f4d\u7f6e&#034;\u7684\u5468\u671f\u6027\u884c\u4e3a&#xff0c;\u672c\u8d28\u4e0a\u5c31\u662f\u9760\u8fd9\u4e2a\u81ea\u6211\u91cd\u6392\u7684\u4e8b\u4ef6\u5b9e\u73b0\u7684\u2014\u2014\u5e76\u6ca1\u6709\u4e00\u4e2a\u5168\u5c40 ticker \u5728\u540e\u53f0\u6ef4\u7b54\u3002<\/p>\n<h3>\u56db\u3001\u4e09\u79cd\u65f6\u95f4\u5f62\u6001&#xff1a;\u540c\u4e00\u5957\u5185\u6838&#xff0c;\u4e09\u79cd&#034;\u8d70\u6cd5&#034;<\/h3>\n<p>\u5149\u6709\u79bb\u6563\u4e8b\u4ef6\u8fd8\u4e0d\u591f\u3002AFSIM \u901a\u8fc7\u4e09\u4e2a WsfSimulation \u7684\u6d3e\u751f\u7c7b&#xff0c;\u628a\u540c\u4e00\u5957\u65f6\u949f\u4e0e\u4e8b\u4ef6\u673a\u5236&#xff0c;\u6f14\u7ece\u6210\u4e09\u79cd\u65f6\u95f4\u5f62\u6001&#xff1a;<\/p>\n<table>\n<tr>\u5f62\u6001\u7c7b\u65f6\u95f4\u600e\u4e48\u8d70\u5178\u578b\u7528\u9014<\/tr>\n<tbody>\n<tr>\n<td>\u79bb\u6563\u4e8b\u4ef6&#xff08;\u9ed8\u8ba4&#xff09;<\/td>\n<td>WsfSimulation<\/td>\n<td>\u8df3\u5230\u4e0b\u4e00\u4e2a\u4e8b\u4ef6<\/td>\n<td>\u7edd\u5927\u591a\u6570\u4f5c\u6218\u63a8\u6f14<\/td>\n<\/tr>\n<tr>\n<td>\u5e27\u6b65\u8fdb<\/td>\n<td>WsfFrameStepSimulation<\/td>\n<td>\u56fa\u5b9a mNextFrameTime \u6b65\u8fdb<\/td>\n<td>\u9700\u8981\u7b49\u95f4\u9694\u91c7\u6837\u7684\u573a\u666f<\/td>\n<\/tr>\n<tr>\n<td>\u4e8b\u4ef6\u6b65\u8fdb<\/td>\n<td>WsfEventStepSimulation<\/td>\n<td>\u4e00\u6b21\u53ea\u63a8\u8fdb\u4e00\u4e2a\u4e8b\u4ef6<\/td>\n<td>\u8c03\u8bd5\u3001\u5355\u6b65\u3001\u5916\u90e8 lock-step \u9a71\u52a8<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<h4>\u5e27\u6b65\u8fdb&#xff1a;\u628a&#034;\u8df3\u8dc3&#034;\u53d8\u6210&#034;\u7b49\u95f4\u9694\u53f0\u9636&#034;<\/h4>\n<p>WsfFrameStepSimulation::AdvanceTime() \u4e0d\u518d\u770b\u961f\u5217\u91cc\u4e0b\u4e00\u4e2a\u4e8b\u4ef6&#xff0c;\u800c\u662f\u770b mNextFrameTime&#xff1a;<\/p>\n<p><span class=\"token keyword\">double<\/span> <span class=\"token class-name\">WsfFrameStepSimulation<\/span><span class=\"token double-colon punctuation\">::<\/span><span class=\"token function\">AdvanceTime<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n   mSimTime <span class=\"token operator\">&#061;<\/span> mClockSourcePtr<span class=\"token operator\">-&gt;<\/span><span class=\"token function\">GetClock<\/span><span class=\"token punctuation\">(<\/span>mNextFrameTime <span class=\"token operator\">&#043;<\/span> <span class=\"token number\">0.000001<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n   <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>mSimTime <span class=\"token operator\">&gt;<\/span> mNextFrameTime<span class=\"token punctuation\">)<\/span><br \/>\n   <span class=\"token punctuation\">{<\/span><br \/>\n      mSimTime <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">AdvanceFrame<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span>   <span class=\"token comment\">\/\/ \u63a8\u8fdb\u4e00\u5e27&#xff0c;\u5904\u7406\u8fd9\u4e00\u5e27\u5185\u6240\u6709\u5bf9\u8c61<\/span><br \/>\n      <span class=\"token comment\">\/\/ &#8230;<\/span><br \/>\n   <span class=\"token punctuation\">}<\/span><br \/>\n   <span class=\"token keyword\">return<\/span> mSimTime<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p>\u4f60\u5728\u60f3\u5b9a\u91cc\u5199\u7684 time_step 1.0&#xff0c;\u5bf9\u5e94\u7684\u5c31\u662f\u8fd9\u79cd&#034;\u6bcf\u9694 1 \u79d2\u7b97\u4e00\u5e27&#034;\u7684\u7b49\u95f4\u9694\u6a21\u5f0f\u3002\u5b83\u727a\u7272\u4e86\u4e00\u70b9\u6548\u7387&#xff08;\u7a7a\u5e27\u4e5f\u8981\u8d70&#xff09;&#xff0c;\u6362\u6765\u7684\u662f\u8f93\u51fa\u8282\u594f\u89c4\u6574\u2014\u2014\u9002\u5408\u9700\u8981\u56fa\u5b9a\u91c7\u6837\u7387\u505a\u540e\u5904\u7406\u7684\u4efb\u52a1\u3002<\/p>\n<h4>\u4e8b\u4ef6\u6b65\u8fdb&#xff1a;\u4e00\u6b21\u4e00\u4e2a\u4e8b\u4ef6&#xff0c;\u4e14\u80fd\u5bf9\u9f50\u5899\u949f<\/h4>\n<p>WsfEventStepSimulation \u662f&#034;\u79bb\u6563\u4e8b\u4ef6&#034;\u7684\u7cbe\u7ec6\u5316\u7248&#xff1a;\u5b83\u4e00\u6b21\u53ea\u5f39\u51fa\u4e00\u4e2a\u4e8b\u4ef6\u5e76\u5904\u7406&#xff0c;\u56e0\u6b64\u53ef\u4ee5\u88ab\u5916\u90e8\u5355\u6b65\u9a71\u52a8\u3002\u66f4\u5173\u952e\u7684\u662f\u5b83\u7684 WaitForAdvanceTime() \u91cc\u6709\u4e00\u6bb5&#034;\u5bf9\u9f50\u5b9e\u65f6&#034;\u7684\u903b\u8f91&#xff1a;<\/p>\n<p><span class=\"token comment\">\/\/ WsfEventStepSimulation.cpp<\/span><br \/>\n<span class=\"token keyword\">double<\/span> nextEventTime <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">1.0E&#043;30<\/span><span class=\"token punctuation\">;<\/span><br \/>\nWsfEvent<span class=\"token operator\">*<\/span> eventPtr <span class=\"token operator\">&#061;<\/span> mEventManager<span class=\"token punctuation\">.<\/span><span class=\"token function\">PeekEvent<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>eventPtr<span class=\"token punctuation\">)<\/span> nextEventTime <span class=\"token operator\">&#061;<\/span> eventPtr<span class=\"token operator\">-&gt;<\/span><span class=\"token function\">GetTime<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>mRealTime  <span class=\"token operator\">&#061;<\/span> mClockSourcePtr<span class=\"token operator\">-&gt;<\/span><span class=\"token function\">GetClock<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">1.0E&#043;37<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">double<\/span> sleepTime <span class=\"token operator\">&#061;<\/span> nextEventTime <span class=\"token operator\">&#8211;<\/span> mRealTime<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>sleepTime <span class=\"token operator\">&gt;&#061;<\/span> <span class=\"token number\">0.0<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n   sleepTime <span class=\"token operator\">\/&#061;<\/span> <span class=\"token function\">GetClockRate<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span>   <span class=\"token comment\">\/\/ \u6362\u7b97\u6210\u5899\u949f\u8be5\u7761\u591a\u4e45<\/span><br \/>\n   <span class=\"token comment\">\/\/ &#8230; \u82e5\u7761\u5f97\u4e45&#xff0c;\u5148\u8ba9\u51fa CPU \u4e00\u4e0b&#xff0c;\u63d0\u5347\u8ba1\u65f6\u7cbe\u5ea6 &#8230;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><br \/>\n<span class=\"token keyword\">else<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n   mTimeBehind <span class=\"token operator\">&#061;<\/span> <span class=\"token operator\">&#8211;<\/span>sleepTime<span class=\"token punctuation\">;<\/span>      <span class=\"token comment\">\/\/ \u4eff\u771f\u843d\u540e\u4e86&#xff01;\u901a\u77e5\u89c2\u5bdf\u8005<\/span><br \/>\n   <span class=\"token class-name\">WsfObserver<\/span><span class=\"token double-colon punctuation\">::<\/span><span class=\"token function\">SimulationTimeBehind<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">this<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">(<\/span>mTimeBehind<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p>\u8fd9\u5c31\u662f AFSIM \u5728\u5b9e\u65f6\u6a21\u5f0f\u4e0b**\u201c\u7d27\u8ddf\u5899\u949f&#034;\u7684\u7b97\u6cd5&#xff1a;\u7b97\u51fa&#034;\u4e0b\u4e00\u4e2a\u4e8b\u4ef6\u65f6\u523b&#034;\u548c&#034;\u5f53\u524d\u5b9e\u65f6\u949f&#034;\u7684\u5dee\u8ddd&#xff0c;\u628a\u5dee\u8ddd\u6309 clock_rate \u6362\u7b97\u6210\u8be5 sleep \u7684\u5899\u949f\u65f6\u957f&#xff0c;\u7136\u540e\u8ba9\u7ebf\u7a0b\u7761\u8fc7\u53bb&#xff1b;\u7761\u9192\u4e86\u518d\u63a8\u8fdb\u3002\u5982\u679c\u7b97\u51fa\u6765\u662f\u8d1f\u6570&#xff08;\u4e8b\u4ef6\u65f6\u523b\u5df2\u7ecf\u65e9\u4e8e\u5b9e\u65f6\u949f&#xff09;&#xff0c;\u8bf4\u660e\u4eff\u771f\u843d\u540e\u4e8e\u5b9e\u65f6**&#xff0c;\u4e8e\u662f\u901a\u8fc7 SimulationTimeBehind \u89c2\u5bdf\u8005\u5e7f\u64ad&#034;\u6211\u843d\u540e\u4e86\u201d&#xff0c;\u8ba9\u5176\u5b83\u7ec4\u4ef6&#xff08;\u6bd4\u5982\u6e32\u67d3\u3001\u5916\u90e8\u63a5\u53e3&#xff09;\u51b3\u5b9a\u8981\u4e0d\u8981\u964d\u8d1f\u8f7d\u8ffd\u8d76\u3002<\/p>\n<h3>\u4e94\u3001\u53d7\u63a7\u6b65\u8fdb\u4e0e&#034;\u5899\u949f\u5fc3\u8df3&#034;&#xff1a;\u7ed9\u5916\u90e8 AI \u7559\u7684\u63a5\u53e3<\/h3>\n<p>\u524d\u9762\u8bb2\u7684\u90fd\u662f AFSIM \u201c\u81ea\u5df1\u8dd1\u201d\u3002\u4f46\u5982\u679c\u4f60\u60f3\u7528 Python \u7684\u5f3a\u5316\u5b66\u4e60\u667a\u80fd\u4f53\u3001\u6216\u8005\u7528 wsf_external_control \u63d2\u4ef6\u4ece\u5916\u90e8 TCP \u63a5\u7ba1\u5e73\u53f0&#xff0c;\u65f6\u95f4\u5c31\u5fc5\u987b\u80fd\u88ab\u5916\u90e8&#034;\u4e00\u6b65\u4e00\u6b65&#034;\u5730\u9a71\u52a8\u2014\u2014\u8fd9\u6b63\u662f SetTimeParameters \u4e0e PauseAndRequestAdvance \u7684\u7528\u6b66\u4e4b\u5730\u3002<\/p>\n<p><span class=\"token comment\">\/\/ WsfSimulation.cpp<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token class-name\">WsfSimulation<\/span><span class=\"token double-colon punctuation\">::<\/span><span class=\"token function\">SetTimeParameters<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">int<\/span> aTimeScheme<span class=\"token punctuation\">,<\/span> <span class=\"token keyword\">double<\/span> aSimTime<span class=\"token punctuation\">,<\/span><br \/>\n                                      <span class=\"token keyword\">double<\/span> aClockRate<span class=\"token punctuation\">,<\/span> <span class=\"token keyword\">double<\/span> aTimeStep<span class=\"token punctuation\">,<\/span> <span class=\"token keyword\">bool<\/span> aTimeAdvance<span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n   <span class=\"token function\">SetClockRate<\/span><span class=\"token punctuation\">(<\/span>aClockRate<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n   mSyncTimestep <span class=\"token operator\">&#061;<\/span> aTimeStep<span class=\"token punctuation\">;<\/span><br \/>\n   <span class=\"token comment\">\/\/ &#8230; \u8bbe\u5b9a\u65f6\u949f &#8230;<\/span><br \/>\n   <span class=\"token function\">AddEvent<\/span><span class=\"token punctuation\">(<\/span>ut<span class=\"token double-colon punctuation\">::<\/span><span class=\"token generic-function\"><span class=\"token function\">make_unique<\/span><span class=\"token generic class-name\"><span class=\"token operator\">&lt;<\/span>WsfOneShotEvent<span class=\"token operator\">&gt;<\/span><\/span><\/span><span class=\"token punctuation\">(<\/span>aSimTime<span class=\"token punctuation\">,<\/span><br \/>\n            <span class=\"token punctuation\">[<\/span><span class=\"token operator\">&#061;<\/span><span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span> <span class=\"token function\">PauseAndRequestAdvance<\/span><span class=\"token punctuation\">(<\/span>aSimTime<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span> <span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span> <span class=\"token comment\">\/\/ \u5230\u70b9\u5c31\u6682\u505c&#xff0c;\u7b49\u5916\u90e8\u53d1\u8bdd<\/span><br \/>\n   <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>aTimeAdvance <span class=\"token operator\">&amp;&amp;<\/span> <span class=\"token function\">GetClockSource<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token operator\">-&gt;<\/span><span class=\"token function\">IsStopped<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">)<\/span><br \/>\n   <span class=\"token punctuation\">{<\/span><br \/>\n      mSyncAccumulatedTime <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0.0<\/span><span class=\"token punctuation\">;<\/span><br \/>\n      <span class=\"token function\">Resume<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span>   <span class=\"token comment\">\/\/ \u9700\u8981\u7684\u8bdd\u6062\u590d<\/span><br \/>\n   <span class=\"token punctuation\">}<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p>PauseAndRequestAdvance \u4f1a\u5728\u6307\u5b9a\u65f6\u523b\u585e\u4e00\u4e2a&#034;\u6682\u505c\u4e8b\u4ef6&#034;&#xff0c;\u4e8e\u662f\u4eff\u771f\u63a8\u8fdb\u5230\u90a3\u4e00\u70b9\u5c31\u505c\u4e0b&#xff0c;\u901a\u8fc7 WaitForAdvanceTime() \u963b\u585e\u4f4f&#xff0c;\u76f4\u5230\u5916\u90e8\u8c03\u7528 Resume() \u624d\u7ee7\u7eed\u3002\u8fd9\u5c31\u662f AFSIM \u4e0e\u5916\u90e8\u63a7\u5236\u5668\u4e4b\u95f4\u7684 lock-step&#xff08;\u9501\u6b65&#xff09;\u65f6\u95f4\u534f\u8bae\u2014\u2014\u4e5f\u662f\u6211\u4eec\u5728\u300aAFSIM \u5916\u90e8\u63a7\u5236\u4e0e AI \u4f5c\u6218\u300b\u91cc\u8bb2\u7684 PyCMO\u3001RL \u667a\u80fd\u4f53\u80fd\u591f&#034;\u6bcf\u6b65\u89c2\u5bdf\u2014\u51b3\u7b56\u2014\u52a8\u4f5c&#034;\u7684\u5e95\u5c42\u652f\u70b9&#xff1a;\u65f6\u95f4\u4e0d\u662f AFSIM \u72ec\u5360\u7684&#xff0c;\u800c\u662f\u53ef\u4ee5\u88ab\u534f\u5546\u3001\u88ab\u6682\u505c\u3001\u88ab\u5916\u90e8\u63a8\u8fdb\u7684\u3002<\/p>\n<p>\u8fd8\u6709\u4e00\u4e2a\u5bb9\u6613\u88ab\u5ffd\u89c6\u7684\u7ec6\u8282&#xff1a;\u5899\u949f\u4e8b\u4ef6\u961f\u5217 mWallEventManager \u4e0e\u4eff\u771f\u4e8b\u4ef6\u961f\u5217\u662f\u5206\u5f00\u7684\u3002<\/p>\n<p><span class=\"token keyword\">void<\/span> <span class=\"token class-name\">WsfSimulation<\/span><span class=\"token double-colon punctuation\">::<\/span><span class=\"token function\">DispatchEvents<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">double<\/span> aSimTime<span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n   <span class=\"token function\">DispatchSimEvents<\/span><span class=\"token punctuation\">(<\/span>aSimTime<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span>   <span class=\"token comment\">\/\/ \u57fa\u4e8e\u4eff\u771f\u65f6\u95f4<\/span><br \/>\n   <span class=\"token function\">DispatchWallEvents<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span>          <span class=\"token comment\">\/\/ \u57fa\u4e8e\u5899\u949f\u65f6\u95f4<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p>\u5899\u949f\u4e8b\u4ef6\u5373\u4fbf\u4eff\u771f\u88ab\u6682\u505c&#xff0c;\u53ea\u8981\u5899\u949f\u8d70\u5230\u70b9&#xff0c;\u4e5f\u4f1a\u89e6\u53d1\u2014\u2014\u5b83\u662f\u4eff\u771f\u7ba1\u7406\u3001\u5916\u90e8\u5fc3\u8df3\u3001\u8fde\u63a5\u4fdd\u6d3b\u8fd9\u7c7b&#034;\u4e0d\u80fd\u56e0\u4e3a\u6682\u505c\u5c31\u505c\u6446&#034;\u7684\u903b\u8f91\u7684\u8f7d\u4f53\u3002\u6682\u505c\u7684\u662f&#034;\u4f5c\u6218\u4e16\u754c&#034;&#xff0c;\u4e0d\u505c\u7684\u662f&#034;\u63a7\u5236\u9762&#034;&#xff0c;\u8fd9\u4e2a\u5206\u79bb\u975e\u5e38\u5de5\u7a0b\u5316\u3002<\/p>\n<hr \/>\n<h3>\u516d\u3001\u4e3a\u4ec0\u4e48\u8fd9\u5957\u8bbe\u8ba1&#034;\u806a\u660e&#034;<\/h3>\n<p>\u628a\u6e90\u7801\u8bfb\u5230\u8fd9\u91cc&#xff0c;\u51e0\u4e2a\u5de5\u7a0b\u4e0a\u7684\u5de7\u601d\u503c\u5f97\u70b9\u51fa\u6765&#xff1a;<\/p>\n<p>1. double \u79d2\u800c\u975e\u6574\u578b tick\u3002 \u6a21\u578b\u4ee3\u7801\u91cc\u65f6\u95f4\u76f4\u63a5\u53c2\u4e0e\u7269\u7406\u8fd0\u7b97&#xff0c;\u79ef\u5206\u5668\u3001\u8fd0\u52a8\u5b66\u3001\u4f20\u64ad\u5ef6\u8fdf\u90fd\u80fd\u7528\u771f\u5b9e\u7269\u7406\u91cf\u8868\u8fbe&#xff1b;\u540c\u65f6\u901a\u8fc7\u628a\u8d77\u70b9\u951a\u5728 0 \u6765\u89c4\u907f\u5927\u6570\u7cbe\u5ea6\u95ee\u9898\u3002<\/p>\n<p>2. \u65f6\u949f\u4e0e\u6a21\u578b\u89e3\u8026\u3002 WsfClockSource \u662f\u4e00\u4e2a\u53ef\u66ff\u6362\u7684\u7b56\u7565\u5bf9\u8c61\u3002\u540c\u4e00\u5957\u5e73\u53f0\/\u4f20\u611f\u5668\/\u6b66\u5668\u6a21\u578b&#xff0c;\u65e2\u80fd\u5728\u79bb\u6563\u4e8b\u4ef6\u4e0b 10000 \u500d\u5feb\u8fdb\u505a\u8499\u7279\u5361\u6d1b&#xff0c;\u53c8\u80fd\u5728\u5b9e\u65f6\u6a21\u5f0f\u4e0b 1:1 \u63a5\u5165 HLA\/DIS \u6f14\u7ec3&#xff0c;\u6a21\u578b\u4ee3\u7801\u4e00\u884c\u90fd\u4e0d\u7528\u6539\u3002<\/p>\n<p>3. \u6700\u5c0f\u5806 &#043; \u7a33\u5b9a\u6392\u5e8f\u952e\u3002 \u53d6&#034;\u4e0b\u4e00\u4e2a\u4e8b\u4ef6&#034;\u662f O(log n)&#xff0c;\u540c\u523b\u4e8b\u4ef6\u9760 (\u65f6\u523b, \u7c7b\u578b\u4f18\u5148\u7ea7, \u5165\u961f\u5e8f\u53f7) \u4e09\u5143\u7ec4\u7a33\u5b9a\u5b9a\u5e8f&#xff0c;\u65e2\u5feb\u53c8\u786e\u5b9a\u3002<\/p>\n<p>4. \u53ef\u6682\u505c\u3001\u53ef\u534f\u5546\u7684\u65f6\u95f4\u3002 Pause\/Resume &#043; WaitForAdvanceTime \u7684\u9501\u6b65\u673a\u5236&#xff0c;\u8ba9 AFSIM \u5929\u7136\u9002\u5408\u505a\u4eba\u5728\u56de\u8def\u3001AI \u5728\u56de\u8def\u7684\u63a8\u6f14\u2014\u2014\u65f6\u95f4\u4e0d\u518d\u662f\u4e00\u4e2a\u9ed1\u76d2\u8ba1\u6570\u5668&#xff0c;\u800c\u662f\u4e00\u4e2a\u53ef\u4ee5\u88ab\u5916\u90e8\u63e1\u5728\u624b\u91cc\u7684\u603b\u7ebf\u3002<\/p>\n<p>5. \u786e\u5b9a\u6027\u56de\u653e\u6709\u6839\u57fa\u3002 \u56e0\u4e3a\u65f6\u95f4\u5b8c\u5168\u7531&#034;\u4e8b\u4ef6\u5e8f\u5217 &#043; \u65f6\u949f\u7b56\u7565&#034;\u51b3\u5b9a&#xff0c;\u7ed9\u5b9a\u76f8\u540c\u79cd\u5b50\u4e0e\u4e8b\u4ef6\u961f\u5217&#xff0c;\u4eff\u771f\u53ef\u4ee5\u590d\u73b0&#xff1b;real-time \u6a21\u5f0f\u4e0b\u7684&#034;\u843d\u540e&#034;\u4e5f\u53ea\u662f\u4e00\u4e2a\u53ef\u89c2\u6d4b\u3001\u53ef\u8865\u507f\u7684\u504f\u5dee&#xff0c;\u800c\u975e\u4e0d\u53ef\u63a7\u7684\u6df7\u6c8c\u3002<\/p>\n<hr \/>\n<h3>\u4e03\u3001\u5c0f\u7ed3\u4e0e\u5ef6\u4f38<\/h3>\n<p>\u628a\u5168\u7bc7\u4e32\u8d77\u6765&#xff0c;AFSIM \u7684\u65f6\u95f4\u7ba1\u7406\u53ef\u4ee5\u6d53\u7f29\u6210\u4e09\u53e5\u8bdd&#xff1a;<\/p>\n<ul>\n<li>\u65f6\u95f4\u91cc\u6ca1\u6709&#034;\u6d41\u901d&#034;&#xff0c;\u53ea\u6709&#034;\u88ab\u4e8b\u4ef6\u6539\u5199\u7684\u5750\u6807&#034;\u2014\u2014AdvanceTime() \u628a mSimTime \u76f4\u63a5\u8df3\u5230\u4e0b\u4e00\u4e8b\u4ef6\u65f6\u523b&#xff1b;<\/li>\n<li>\u65f6\u949f\u662f\u53ef\u66ff\u6362\u7684\u7b56\u7565\u2014\u2014WsfClockSource \u57fa\u7c7b\u539f\u6837\u8fd4\u56de\u8bf7\u6c42\u65f6\u95f4&#xff08;\u79bb\u6563\u4e8b\u4ef6&#xff09;&#xff0c;WsfRealTimeClockSource \u7528 \u5899\u949f \u00d7 clock_rate \u9020\u51fa\u5b9e\u65f6&#xff08;\u6216\u5feb\u8fdb\/\u6162\u653e&#xff09;&#xff1b;<\/li>\n<li>\u65f6\u95f4\u662f\u53ef\u4ee5\u88ab\u5916\u90e8\u63e1\u4f4f\u7684\u2014\u2014PauseAndRequestAdvance &#043; \u5899\u949f\u4e8b\u4ef6\u961f\u5217&#xff0c;\u8ba9\u4f5c\u6218\u4e16\u754c\u80fd\u6682\u505c\u3001\u63a7\u5236\u9762\u5374\u59cb\u7ec8\u5fc3\u8df3&#xff0c;\u4ece\u800c\u652f\u6491\u4eba\u5728\u56de\u8def\u4e0e AI \u5728\u56de\u8def\u3002<\/li>\n<\/ul>\n<p>\u7406\u89e3\u5b83&#xff0c;\u4f60\u5c31\u63e1\u4f4f\u4e86 AFSIM \u7684&#034;\u8282\u62cd\u5668&#034;&#xff1a;\u6240\u6709\u5e73\u53f0\u673a\u52a8\u3001\u4f20\u611f\u5668\u63a2\u6d4b\u3001\u6b66\u5668\u53d1\u5c04&#xff0c;\u672c\u8d28\u4e0a\u90fd\u662f\u5f80\u90a3\u6761\u6700\u5c0f\u5806\u4e8b\u4ef6\u961f\u5217\u91cc\u585e\u4e00\u4e2a\u4e2a\u5e26\u65f6\u523b\u7684\u7403&#xff0c;\u7136\u540e\u7b49\u7740\u5f15\u64ce\u628a\u5b83\u4eec\u4e00\u4e2a\u4e2a\u5f39\u51fa\u6765\u6267\u884c\u3002<\/p>\n<hr \/>\n<p>\u7cfb\u5217\u5bfc\u822a&#xff1a;\u672c\u6587\u662f\u300cAFSIM \u5de5\u7a0b\u7cbe\u8bfb\u300d\u7cfb\u5217\u4e4b\u4e00\u3002\u524d\u7f6e\u53ef\u53c2\u770b\u300a\u521d\u8bc6 AFSIM&#xff1a;\u4e00\u4e2a\u8ba9\u4f5c\u6218\u4eff\u771f&#034;\u8dd1\u8d77\u6765&#034;\u7684\u6846\u67b6\u300b\u300aAFSIM \u5916\u90e8\u63a7\u5236\u4e0e AI \u4f5c\u6218\u300b&#xff1b;\u5e73\u53f0\u5168\u666f\u89c1\u300a\u4e00\u5f20\u67b6\u6784\u56fe&#xff0c;\u770b\u61c2\u73b0\u4ee3\u4f5c\u6218\u4eff\u771f\u63a8\u6f14\u5e73\u53f0\u300b\u3002<\/p>\n<p>\u5982\u679c\u8fd9\u7bc7\u5bf9\u4f60\u7406\u6e05 AFSIM \u7684&#034;\u65f6\u95f4\u89c2&#034;\u6709\u5e2e\u52a9&#xff0c;\u70b9\u8d5e\u3001\u5728\u770b\u3001\u8f6c\u53d1\u8ba9\u66f4\u591a\u505a\u4eff\u771f\u63a8\u6f14\u7684\u540c\u884c\u770b\u5230\u3002\u5173\u6ce8\u300c\u4eff\u771f\u63a8\u6f14\u6846\u67b6\u300d&#xff0c;\u6301\u7eed\u62c6\u89e3\u4f5c\u6218\u4eff\u771f\u7684\u5de5\u7a0b\u5185\u6838\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u6587 \/ \u6c99\u76d8\u5ba2 \u00b7 \u516c\u4f17\u53f7\u300c\u4eff\u771f\u63a8\u6f14\u6846\u67b6\u300d\u5982\u679c\u6709\u4eba\u95ee\u4f60&#xff1a;\u201cAFSIM \u91cc\u7684\u65f6\u95f4\u662f\u600e\u4e48\u6d41\u52a8\u7684&#xff1f;\u201d<br \/>\n\u5927\u591a\u6570\u4eba\u7684\u7b2c\u4e00\u53cd\u5e94\u662f&#xff1a;\u548c\u73b0\u5b9e\u4e00\u6837\u554a&#xff0c;\u4e00\u79d2\u4e00\u79d2\u5730\u8d70&#xff0c;\u4eff\u771f\u8dd1\u4e86 60 \u79d2&#xff0c;\u5899\u4e0a\u7684\u949f\u4e5f\u8d70\u4e86 60 \u79d2\u3002<br \/>\n\u4f46\u8fd9\u4e2a\u76f4\u89c9\u662f\u9519\u7684\u3002<br \/>\nAFSIM \u91cc\\&#8221;\u6ca1\u6709\\&#8221;\u4e00\u6761\u5300\u901f\u6d41\u52a8\u7684\u6cb3\u3002\u5b83\u65e2\u6ca1\u6709\u64cd\u4f5c\u7cfb\u7edf\u91cc\u90a3\u4e2a\u6ef4\u7b54\u4f5c\u54cd\u7684\u65f6\u949f\u4e2d\u65ad&#xff0c;\u4e5f\u4e0d\u662f\u5728\u6bcf\u4e00\u5e27\u91cc\u7ed9\u4e00\u4e2a\u5168\u5c40\u8ba1\u6570\u5668 1\u3002\u5728\u5b83\u7684\u5185\u6838\u91cc&#xff0c;\u65f6\u95f4\u662f\u4e00\u79cd\u88ab\\&#8221;\u4e8b\u4ef6\\&#8221;<\/p>\n","protected":false},"author":2,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[1],"tags":[124],"topic":[],"class_list":["post-82344","post","type-post","status-publish","format-standard","hentry","category-server","tag-124"],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v20.3 - https:\/\/yoast.com\/wordpress\/plugins\/seo\/ -->\n<title>AFSIM \u7684\u65f6\u95f4\u5230\u5e95\u662f\u600e\u4e48\u201c\u8d70\u201c\u7684\uff1f\u2014\u2014\u4ece 2.9.0 \u6e90\u7801\u62c6\u89e3\u79bb\u6563\u4e8b\u4ef6\u65f6\u949f - \u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3<\/title>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" 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