更新：1、增加航迹指纹计算，TAS控制命令下发航迹指纹，不再下发批号，实现TAS正常回放；

Signed-off-by: waiwaylee <waiwaylee@foxmail.com>

data_process_class_dll/data_process.cpp

@@ -97,11 +97,8 @@ int Data_Process::data_preprocess(struct DataRev    Data_Input[150])
 	}
 	else if(Data_Input[0].point_type == 1)          //tas数据
 	{
-		//        std::cout << "TAS TARGET :" <<Data_Input[0].TAS_track_index;
-		//std::cout << "TAS time :" <<Data_Input[0].CPI_time;
-
 		data_num = min(max(Data_Input[0].Point_Sum, 0), 150);
-		TAS_track_idx = Data_Input[0].TAS_track_index;
+		TAS_track_fingerprint = Data_Input[0].TAS_track_index;
 #ifdef RDP_RECORD_ENABLE
 		//记录输入点迹：处理线程内先收集源结构体，循环结束后一次入队（构造实体与写库由记录写线程完成）
 		std::vector<PointRecv> rec_points;
@@ -209,6 +206,17 @@ int         model)
 		*Trust_track_num_Output=0;      //航迹更新数
 		*Track_die_num_Output=0;        //航迹消亡数目
 
+		//查找指定指纹的Track_idx
+		int tas_track_idx = -1;
+		for(auto& t : trust_track){
+			if(t.Track_fingerprint == TAS_track_fingerprint){
+				tas_track_idx = t.Track_Index;
+				t.manual_tracking_flag = 1;
+				t.Track_Mode = 1;
+				break;
+			}
+		}
+
 		dot_coh_tas.dot_coh_tas_process(&Data_buffer_tas,&point_recv_tas);  //点迹凝聚
 
 		std::vector<PointRecv>().swap(Data_buffer_tas);//凝聚完毕 清除Data_buffer
@@ -217,7 +225,7 @@ int         model)
 		                                      &trust_track,                             //航迹文件
 		                                      Trust_Track_Output,                       //更新航迹信息
 		                                      Trust_track_num_Output,                   //更新航迹数
-		                                      TAS_track_idx,
+		                                      tas_track_idx,
 		                                      latest_timestamp		//最新时间戳
 		                                      );
 

data_process_class_dll/data_process.h

@@ -90,7 +90,7 @@ private:
 
 	int     beam_index[3];                          //3个波位号(当前帧)
 
-	int     TAS_track_idx;                          //TAS数据的目标批号
+	int     TAS_track_fingerprint;                          //TAS数据的目标批号
 
 	int     Track_Mode;                             //跟踪模式 1TAS 0TWS
 

data_process_class_dll/struct.h

@@ -44,6 +44,7 @@ struct  Trust_Track
 	long long circle_id;						//处理圈数ID
 
 	int     Track_Index;                        //航迹号
+	int 	Track_fingerprint;				//航迹指纹
 
 	double  Range;						  //距离
 	double  Azimuth;                        //方位

data_process_class_dll/tas_ctrl.cpp

@@ -300,10 +300,10 @@ void  TAS_Ctrl::tas_beam_output(std::vector<Trust_Track>            *trust_track
 	Tracking_beam->type=rdp_parameter.default_track_beam_type;
 
 	//跟踪目标批号
-	Tracking_beam->TAS_track_index = (*trust_track)[earliest_track_idx].Track_Index;
+	Tracking_beam->TAS_track_index = (*trust_track)[earliest_track_idx].Track_fingerprint;
 
 	//跟踪波束开关开启
 	Tracking_beam->open_flag=1;
 
-	//RDP_LOG_DEBUG("TAS <{}> output: range: {} azi: {} pit: {}", (*trust_track)[earliest_track_idx].Track_Index, Tracking_beam->Range, Tracking_beam->Azi, Tracking_beam->Elev);
+	// RDP_LOG_INFO("TAS <{}> output: range: {} azi: {} pit: {}", Tracking_beam->TAS_track_index, Tracking_beam->Range, Tracking_beam->Azi, Tracking_beam->Elev);
 }

data_process_class_dll/track_init.cpp

@@ -484,23 +484,6 @@ void Track_Init::tmp_track_to_trust_track(std::vector<Trust_Track>    *trust_tra
 		double azi=(*Iter)[L-1].azi/PI*180;
 		double quality = (*Iter)[L-1].quality;
 
-		// //计算航迹初始质量
-		// double average_snr = 0;
-		// for(int i=0;i<L;i++)
-		// {
-		// 	average_snr += (*Iter)[i].SNR;
-		// }
-		// average_snr /= L;
-		// double snr_tmp = 1/(1+exp(-(average_snr - 16) / 1.2));
-		// double &d = (*Iter)[L-1].d;
-		// double d_tmp = exp(-d);
-		// double quality_tmp = d_tmp * rdp_parameter.track_quality_d_weight + snr_tmp * rdp_parameter.track_quality_snr_weight;
-		// quality_tmp /= (rdp_parameter.track_quality_d_weight + rdp_parameter.track_quality_snr_weight);
-		// for(int i=0;i<L;i++)
-		// {
-		// 	(*Iter)[i].quality = quality_tmp;
-		// }
-
 		//航迹起批条件判断
 		bool track_init_flag = true;
 
@@ -648,6 +631,9 @@ void Track_Init::tmp_track_to_trust_track(std::vector<Trust_Track>    *trust_tra
 				Trust_Track trust_track_tmp = {};
 				memcpy(trust_track_tmp.X, X, 6*sizeof(double));
 				memcpy(trust_track_tmp.P, P, 6*6*sizeof(double));
+
+				//计算航迹指纹
+				trust_track_tmp.Track_fingerprint = computeFingerprint(Track_to_start[i][L-1].r, Track_to_start[i][L-1].azi, Track_to_start[i][L-1].vr, Track_to_start[i][L-1].RCS, Track_to_start[i][L-1].CPI_time);
 				
 				trust_track_tmp.track_id = Track_to_start[i][L-1].temp_track_id;
 				trust_track_tmp.point_id = Track_to_start[i][L-1].point_id;
@@ -794,6 +780,51 @@ int Track_Init::track_init_prohibit(double r, double azi)
 
 }
 
+uint64_t Track_Init::mix64(uint64_t x) {
+	x ^= x >> 30; x *= 0xBF58476D1CE4E5B9ULL;
+	x ^= x >> 27; x *= 0x94D049BB133111EBULL;
+	x ^= x >> 31;
+	return x;
+}
+
+uint64_t Track_Init::quantize(double v, double scale) {
+	if (std::isnan(v)) return 0x9E3779B97F4A7C15ULL;
+	if (std::isinf(v))
+		return v > 0 ? 0x2C08A6D5E3F1B907ULL : 0xD5E3F1B9072C08A6ULL;
+
+	double q = std::round(v * scale);           // half away from zero
+	constexpr double kLim = 9.0e18;             // < 2^63，避免转 int64 溢出
+	if (q >  kLim) q =  kLim;
+	if (q < -kLim) q = -kLim;
+	return static_cast<uint64_t>(static_cast<int64_t>(q));
+}
+
+uint64_t Track_Init::bits_of(double v) {
+	if (std::isnan(v)) return 0x7FF8000000000000ULL;
+	if (v == 0.0)      return 0ULL;
+	uint64_t b;
+	std::memcpy(&b, &v, sizeof(b));
+	return b;
+}
+
+uint16_t Track_Init::fold16(uint64_t h) {
+	h ^= h >> 32;
+	h ^= h >> 16;
+	return static_cast<uint16_t>(h);
+}
+
+uint16_t Track_Init::computeFingerprint(double r, double azi, double vr, double RCS,
+                                   long long CPI_time)
+{
+    uint64_t h = kSeed;
+    h = mix64(h ^ quantize(r,   100.0));    // 距离：保留 0.01 m
+    h = mix64(h ^ quantize(azi, 1000.0));   // 方位：保留 0.001°
+    h = mix64(h ^ quantize(vr,  100.0));    // 径向速度：保留 0.01 m/s
+    h = mix64(h ^ quantize(RCS, 10.0));     // RCS：保留 0.1 dBsm
+    h = mix64(h ^ static_cast<uint64_t>(CPI_time));
+    return fold16(h);
+}
+
 Track_Init::Track_Init()
 {
 

data_process_class_dll/track_init.h

@@ -45,6 +45,13 @@ private:
 
 	int track_init_prohibit(double r, double azi); //判断目标是否位于航迹起始屏蔽区 是返回1 否返回0
 
+	const uint64_t kSeed = 0x243F6A8885A308D3ULL;		
+	uint64_t mix64(uint64_t x);					// splitmix64 混合函数：对任意 64bit 输入产生雪崩均匀的 64bit 输出
+	uint64_t quantize(double v, double scale);	// 量化：把 double 映射到整数域，可容忍 ±0.5/scale 的浮点噪声
+	uint64_t bits_of(double v);					// bit-exact：直接使用 IEEE754 位模式（-0.0 归一为 +0.0，NaN 归一）
+	uint16_t fold16(uint64_t h);				// 把 64bit 折叠成 16bit，充分使用全部熵
+	uint16_t computeFingerprint(double r, double azi, double vr, double RCS, long long CPI_time); //计算航迹指纹
+
 	Track_Ind_Mangement track_index_mangement;
 
 };