#include "dot_coh.h"
#include <qmath.h>
#include"memory.h"
#include <QVector>
using namespace std;


int Dot_Coh::dot_coh_process(QVector <PointRecv>                *data_input,
							 QVector <PointRecv>                 *point_recv,
							struct  RadarPara                   Work_Parameter)
{

	if(data_input->size()>1)
	{

		for (unsigned int loop_of_point=0; loop_of_point<data_input->size()-1;loop_of_point++ )
		{
			if( (*data_input)[loop_of_point].Use_Flag!=1)
			{
				float point_0_R=(*data_input)[loop_of_point].Range;
				float point_0_V=(*data_input)[loop_of_point].Velocity;
				float point_0_F=(*data_input)[loop_of_point].Azimuth;
				float point_0_A=(*data_input)[loop_of_point].Amplitude;
				for (unsigned int i=loop_of_point+1;i<data_input->size();i++)
				{
					if((*data_input)[loop_of_point].Use_Flag!=1)
					{
						float point_1_R=(*data_input)[i].Range;
						float point_1_V=(*data_input)[i].Velocity;
						float point_1_F=(*data_input)[i].Azimuth;
						float point_1_A=(*data_input)[i].Amplitude;

						//凝聚条件： 距离、方位接近
						if(Work_Parameter.work_mode == 0)
						{
							if( (fabs(point_0_R-point_1_R)<=DOT_COH_RANGE && fabs(point_0_F-point_1_F) <=DOT_COH_AZI/180.0*PI && fabs(point_0_V-point_1_V)<=DOT_COH_V)//
								&&  point_0_A <point_1_A  )//
							{
								point_0_R=(*data_input)[i].Range;
								point_0_V=(*data_input)[i].Velocity;
								point_0_A=(*data_input)[i].Amplitude;
								point_0_F=(*data_input)[i].Azimuth;
								(*data_input)[loop_of_point].Use_Flag=1;
							}
							else if( (fabs(point_0_R-point_1_R)<=DOT_COH_RANGE && fabs(point_0_F-point_1_F) <=DOT_COH_AZI/180.0*PI && fabs(point_0_V-point_1_V)<=DOT_COH_V)//
								&&  point_0_A >= point_1_A)//
							{
								(*data_input)[i].Use_Flag=1;
							}
						}
						else
						{
							float delta_F = fabs(point_0_F-point_1_F)<2*PI-fabs(point_0_F-point_1_F) ? fabs(point_0_F-point_1_F) :2*PI-fabs(point_0_F-point_1_F);
							if( (fabs(point_0_R-point_1_R)<=DOT_COH_RANGE && delta_F <=DOT_COH_AZI/180.0*PI )//
								&&  point_0_A <point_1_A  )//
							{
								point_0_R=(*data_input)[i].Range;
								point_0_V=(*data_input)[i].Velocity;
								point_0_A=(*data_input)[i].Amplitude;
								point_0_F=(*data_input)[i].Azimuth;
								(*data_input)[loop_of_point].Use_Flag=1;
							}
							else if( (fabs(point_0_R-point_1_R)<=DOT_COH_RANGE && delta_F <=DOT_COH_AZI/180.0*PI )//
								&&  point_0_A >= point_1_A)//
							{
								(*data_input)[i].Use_Flag=1;
							}



						}
					}
				}
			}
		}
	}

	//删除凝聚点 和 量程范围外点
	QVector <PointRecv>::iterator Iter;
	for (Iter=data_input->begin(); Iter!=data_input->end();)
	{
		if((*Iter).Use_Flag==1 || (*Iter).Range <R_MIN  ||  (*Iter).Range > R_MAX   )
		{
			data_input->erase(Iter);
			Iter=data_input->begin();
		}
		else
		{
			Iter++;
		}
	}

	for (int i=0;i<data_input->size();i++)      //data_buffer_2 ---> point_recv
	{
			(*point_recv).push_back((*data_input)[i]);
	}

	return 0;
}




int Dot_Coh::dot_coh_process_buff( QVector <PointRecv>       *data_input,            //输入的点迹
						  QVector <PointRecv>                *point_recv,             //输出点迹
						  struct  RadarPara                   Work_Parameter                             //工作参数
)
{



	//1. data_input与data_input_buff进行凝聚

	//1.1 data_input、data_input_buff中的数据放在一起
	QVector <PointRecv> data_tmp;
	for (int i=0;i<data_input_buff.size();i++)
	{
			data_tmp.push_back(data_input_buff[i]);
			data_tmp[data_tmp.size()-1].point_section_asso = 1;

	}
	for (int i=0;i<data_input->size();i++)
	{
			data_tmp.push_back((*data_input)[i]);
			data_tmp[data_tmp.size()-1].point_section_asso = 2;
	}

	//1.2 把data_input、data_input_buff清空

	QVector<PointRecv>().swap(data_input_buff);
	QVector<PointRecv>().swap(*data_input);


	//1.3 对data_tmp进行凝聚
	if(data_tmp.size()>1)
	{

		for (unsigned int loop_of_point=0; loop_of_point<data_tmp.size()-1;loop_of_point++ )
		{
			if( data_tmp[loop_of_point].Use_Flag!=1)
			{
				float point_0_R=data_tmp[loop_of_point].Range;
				float point_0_V=data_tmp[loop_of_point].Velocity;
				float point_0_F=data_tmp[loop_of_point].Azimuth;
				float point_0_A=data_tmp[loop_of_point].Amplitude;
				for (unsigned int i=loop_of_point+1;i<data_tmp.size();i++)
				{
					if(data_tmp[loop_of_point].Use_Flag!=1)
					{
						float point_1_R=data_tmp[i].Range;
						float point_1_V=data_tmp[i].Velocity;
						float point_1_F=data_tmp[i].Azimuth;
						float point_1_A=data_tmp[i].Amplitude;

						//凝聚条件： 距离、方位接近
						if(Work_Parameter.work_mode == 0)
						{
							if( (fabs(point_0_R-point_1_R)<=DOT_COH_RANGE && fabs(point_0_F-point_1_F) <=DOT_COH_AZI/180.0*PI && fabs(point_0_V-point_1_V)<=DOT_COH_V)//
								&&  point_0_A <point_1_A  )//
							{
								point_0_R=data_tmp[i].Range;
								point_0_V=data_tmp[i].Velocity;
								point_0_A=data_tmp[i].Amplitude;
								point_0_F=data_tmp[i].Azimuth;
								data_tmp[loop_of_point].Use_Flag=1;
							}
							else if( (fabs(point_0_R-point_1_R)<=DOT_COH_RANGE && fabs(point_0_F-point_1_F) <=DOT_COH_AZI/180.0*PI && fabs(point_0_V-point_1_V)<=DOT_COH_V)//
								&&  point_0_A >= point_1_A)//
							{
								data_tmp[i].Use_Flag=1;
							}
						}
						else
						{
							float delta_F = fabs(point_0_F-point_1_F)<2*PI-fabs(point_0_F-point_1_F) ? fabs(point_0_F-point_1_F) :2*PI-fabs(point_0_F-point_1_F);
							if( (fabs(point_0_R-point_1_R)<=DOT_COH_RANGE && delta_F <=DOT_COH_AZI/180.0*PI )//
								&&  point_0_A <point_1_A  )//
							{
								point_0_R=data_tmp[i].Range;
								point_0_V=data_tmp[i].Velocity;
								point_0_A=data_tmp[i].Amplitude;
								point_0_F=data_tmp[i].Azimuth;
								data_tmp[loop_of_point].Use_Flag=1;
							}
							else if( (fabs(point_0_R-point_1_R)<=DOT_COH_RANGE && delta_F <=DOT_COH_AZI/180.0*PI )//
								&&  point_0_A >= point_1_A)//
							{
								data_tmp[i].Use_Flag=1;
							}



						}
					}
				}
			}
		}
	}

	//1.4 删除凝聚点 和 量程范围外点
	QVector <PointRecv>::iterator Iter;
	for (Iter=data_tmp.begin(); Iter!=data_tmp.end();)
	{
		if((*Iter).Use_Flag==1 || (*Iter).Range <R_MIN  ||  (*Iter).Range > R_MAX   )
		{
			data_tmp.erase(Iter);
			Iter=data_tmp.begin();
		}
		else
		{
			Iter++;
		}
	}

	//1.5 将data_tmp中凝聚后的点再分到 data_input_buff和data_input中
	for (int i=0;i<data_tmp.size();i++)
	{
		if(data_tmp[i].point_section_asso==1)
		{
			data_input_buff.push_back(data_tmp[i]);
		}

		if(data_tmp[i].point_section_asso==2)
		{
		  (*data_input).push_back(data_tmp[i]);
		}
	}
	QVector<PointRecv>().swap(data_tmp);



	//2.data_input_buff数据输出给point_recv

	for (int i=0;i<data_input_buff.size();i++)
	{
			(*point_recv).push_back(data_input_buff[i]);
	}

	QVector<PointRecv>().swap(data_input_buff);


	//3.data_input数据输出给data_input_buff
	for (int i=0;i<data_input->size();i++)
	{
			data_input_buff.push_back((*data_input)[i]);
	}




	return 0;
}




Dot_Coh::Dot_Coh(void)
{

}