#include "data_process.h"
#include "memory.h"
#include <qmath.h>
#include <iostream>
using namespace std;
/*******************************************************************************/
/*******************************************************************************/
/************************************用户接口函数*******************************/
/*******************************************************************************/
/*******************************************************************************/


//数据预处理
int Data_Process::data_preprocess(struct DataRev	Data_Input[150])
{
    beam_count=beam_count+1;							//3波束计数

    //取波束1数据 存入缓存 暂不处理
    if(beam_count%3==1)
    {
        beam_index[0]=Data_Input[0].Beam_index;
        data_num_1=Data_Input[0].Point_Sum;
        TAS_track_idx = Data_Input[0].TAS_track_index;
        for (int i=0; i<data_num_1;i++)
        {
            PointRecv Data_buffer_temp;
            Data_buffer_temp.Amplitude=Data_Input[i].Amplitude;
            Data_buffer_temp.Azimuth=Data_Input[i].Azimuth/180*PI;
            Data_buffer_temp.beam_index = Data_Input[i].Beam_index;
            Data_buffer_temp.snr = Data_Input[i].Snr;
            Data_buffer_temp.RCS = Data_Input[i].RCS;
            Data_buffer_temp.CPI_Time = Data_Input[i].CPI_time;
            Data_buffer_temp.Freq_index = Data_Input[i].Freq_index;
            Data_buffer_temp.PRF_index = Data_Input[i].PRI;
            Data_buffer_temp.Range = Data_Input[i].Range;
            Data_buffer_temp.Height= Data_Input[i].Range*sin(Data_Input[i].Elevation/180*PI);
            Data_buffer_temp.Use_Flag = 0;
            Data_buffer_temp.Velocity = Data_Input[i].Velocity;

            Data_buffer.push_back(Data_buffer_temp);
        }


        memset(&Data_Input[0],0,150*sizeof(DataRev));
        return 0;
    }

    //取波束2数据 存入缓存 暂不处理
    if(beam_count%3==2)
    {
        beam_index[1]=Data_Input[0].Beam_index;
        data_num_2=Data_Input[0].Point_Sum;
        TAS_track_idx = Data_Input[0].TAS_track_index;
        for (int i=0;i<data_num_2;i++)
        {
            PointRecv Data_buffer_temp;
            Data_buffer_temp.Amplitude=Data_Input[i].Amplitude;
            Data_buffer_temp.Azimuth=Data_Input[i].Azimuth/180*PI;
            Data_buffer_temp.beam_index = Data_Input[i].Beam_index;
            Data_buffer_temp.snr = Data_Input[i].Snr;
            Data_buffer_temp.RCS = Data_Input[i].RCS;
            Data_buffer_temp.CPI_Time = Data_Input[i].CPI_time;
            Data_buffer_temp.Freq_index = Data_Input[i].Freq_index;
            Data_buffer_temp.PRF_index = Data_Input[i].PRI;
            Data_buffer_temp.Range = Data_Input[i].Range;
            Data_buffer_temp.Height= Data_Input[i].Range*sin(Data_Input[i].Elevation/180*PI);
            Data_buffer_temp.Use_Flag = 0;
            Data_buffer_temp.Velocity = Data_Input[i].Velocity;

            Data_buffer.push_back(Data_buffer_temp);
        }


        memset(&Data_Input[0],0,150*sizeof(DataRev));
        return 0;
    }

    //取波束3数据 存入缓存 开始处理
    if(beam_count%3==0)
    {
        beam_index[2]=Data_Input[0].Beam_index;
        data_num_3=Data_Input[0].Point_Sum;
        TAS_track_idx = Data_Input[0].TAS_track_index;
        for (int i=0;i<data_num_3;i++)
        {
            PointRecv Data_buffer_temp;
            Data_buffer_temp.Amplitude=Data_Input[i].Amplitude;
            Data_buffer_temp.Azimuth=Data_Input[i].Azimuth/180*PI;
            Data_buffer_temp.beam_index = Data_Input[i].Beam_index;
            Data_buffer_temp.snr = Data_Input[i].Snr;
            Data_buffer_temp.RCS = Data_Input[i].RCS;
            Data_buffer_temp.CPI_Time = Data_Input[i].CPI_time;
            Data_buffer_temp.Freq_index = Data_Input[i].Freq_index;
            Data_buffer_temp.PRF_index = Data_Input[i].PRI;
            Data_buffer_temp.Range = Data_Input[i].Range;
            Data_buffer_temp.Height= Data_Input[i].Range*sin(Data_Input[i].Elevation/180*PI);
            Data_buffer_temp.Use_Flag = 0;
            Data_buffer_temp.Velocity = Data_Input[i].Velocity;

            Data_buffer.push_back(Data_buffer_temp);
        }

        memset(&Data_Input[0],0,150*sizeof(DataRev));

        if(beam_index[0]==600 || beam_index[1]==600 || beam_index[2]==600 )
        {
            return 2;   //TAS
        }
        else
        {
            return 1;   //TWS
        }


    }



    return 0;

}




//数据处理
int Data_Process::track_process(struct Track Trust_Track_Output[MAX_TRACK_NUM][10],
                                int         *Trust_track_num_Output,
                                int         Track_die_Index_Output[],
                                int         *Track_die_num_Output,
                                int         model)
{
    //TWS处理
    if(model==1)
    {
        *Trust_track_num_Output=0;		//航迹更新数
        *Track_die_num_Output=0;		//航迹消亡数目

        dot_coh.dot_coh_process(&Data_buffer,beam_index,&point_recv,Work_Parameter);	//点迹凝聚

        QVector<PointRecv>().swap(Data_buffer);//凝聚完毕 清除Data_buffer

        if (beam_index[0] == DOT_SECTION_1+2 )
        {
            //波束1
            // 点迹区1、9 关联航迹区9 ， 消亡航迹区9，  起始点迹区8
            track_asso.track_asso_process(&point_recv[1-1],
                                          &point_recv[9-1],
                                          &trust_track[9-1],
                                          Trust_Track_Output,
                                          Trust_track_num_Output,
                                          Work_Parameter
                                          );

            track_die.track_die_process( &trust_track[9-1],
                                         Track_die_Index_Output,
                                         Track_die_num_Output);

            track_init.track_init_process_logic( &point_recv[8-1],
                                                 &trust_track,
                                                 &temp_track[8-1],
                                                 Trust_Track_Output,
                                                 Trust_track_num_Output,
                                                 Work_Parameter);

            //波束2
            // 点迹区3、4 关联航迹区3 ， 消亡航迹区3，  起始点迹区2
            track_asso.track_asso_process(&point_recv[3-1],
                                          &point_recv[4-1],
                                          &trust_track[3-1],
                                          Trust_Track_Output,
                                          Trust_track_num_Output,
                                          Work_Parameter
                                          );//航迹关联

            track_die.track_die_process(  &trust_track[3-1],
                                          Track_die_Index_Output,
                                          Track_die_num_Output);



            track_init.track_init_process_logic( &point_recv[2-1],
                                                 &trust_track,
                                                 &temp_track[2-1],
                                                 Trust_Track_Output,
                                                 Trust_track_num_Output,
                                                 Work_Parameter);

            //波束3
            // 点迹区6、7 关联航迹区6 ， 消亡航迹区6，  起始点迹区5
            track_asso.track_asso_process(&point_recv[6-1],
                                          &point_recv[7-1],
                                          &trust_track[6-1],
                                          Trust_Track_Output,
                                          Trust_track_num_Output,
                                          Work_Parameter
                                          );//航迹关联

            track_die.track_die_process( &trust_track[6-1],
                                          Track_die_Index_Output,
                                          Track_die_num_Output);

            track_init.track_init_process_logic( &point_recv[5-1],
                                                 &trust_track,
                                                 &temp_track[5-1],
                                                 Trust_Track_Output,
                                                 Trust_track_num_Output,
                                                 Work_Parameter);


            Track_section_sort();
        }
        if (beam_index[0] == DOT_SECTION_2+2 )
        {
            //波束1
            // 点迹区1、2 关联航迹区1 ， 消亡航迹区1，  起始点迹区9
            track_asso.track_asso_process(&point_recv[1-1],
                                          &point_recv[2-1],
                                          &trust_track[1-1],
                                          Trust_Track_Output,
                                          Trust_track_num_Output,
                                          Work_Parameter
                                          );

            track_die.track_die_process( &trust_track[1-1],
                                         Track_die_Index_Output,
                                         Track_die_num_Output);

            track_init.track_init_process_logic( &point_recv[9-1],
                                                 &trust_track,
                                                 &temp_track[9-1],
                                                 Trust_Track_Output,
                                                 Trust_track_num_Output,
                                                 Work_Parameter);

            //波束2
            // 点迹区4、5 关联航迹区4 ， 消亡航迹区4，  起始点迹区3


            track_asso.track_asso_process(&point_recv[4-1],
                                          &point_recv[5-1],
                                          &trust_track[4-1],
                                          Trust_Track_Output,
                                          Trust_track_num_Output,
                                          Work_Parameter
                                          );

            track_die.track_die_process( &trust_track[4-1],
                                         Track_die_Index_Output,
                                         Track_die_num_Output);


            track_init.track_init_process_logic( &point_recv[3-1],
                                                 &trust_track,
                                                 &temp_track[3-1],
                                                 Trust_Track_Output,
                                                 Trust_track_num_Output,
                                                 Work_Parameter);
            //波束3
            // 点迹区7、8 关联航迹区7 ， 消亡航迹区7，  起始点迹区6
            track_asso.track_asso_process(&point_recv[7-1],
                                          &point_recv[8-1],
                                          &trust_track[7-1],
                                          Trust_Track_Output,
                                          Trust_track_num_Output,
                                          Work_Parameter
                                          );

            track_die.track_die_process( &trust_track[7-1],
                                         Track_die_Index_Output,
                                         Track_die_num_Output);

            track_init.track_init_process_logic( &point_recv[6-1],
                                                 &trust_track,
                                                 &temp_track[6-1],
                                                 Trust_Track_Output,
                                                 Trust_track_num_Output,
                                                 Work_Parameter);
            Track_section_sort();
        }
        if (beam_index[0] == 1 )
        {
            //波束1
            // 点迹区2、3 关联航迹区2 ， 消亡航迹区2，  起始点迹区1
            track_asso.track_asso_process(&point_recv[2-1],
                                          &point_recv[3-1],
                                          &trust_track[2-1],
                                          Trust_Track_Output,
                                          Trust_track_num_Output,
                                          Work_Parameter
                                          );

            track_die.track_die_process( &trust_track[2-1],
                                         Track_die_Index_Output,
                                         Track_die_num_Output);


            track_init.track_init_process_logic( &point_recv[1-1],
                                                 &trust_track,
                                                 &temp_track[1-1],
                                                 Trust_Track_Output,
                                                 Trust_track_num_Output,
                                                 Work_Parameter);



            //波束2
            // 点迹区5、6 关联航迹区5， 消亡航迹区5，  起始点迹区4
            track_asso.track_asso_process(&point_recv[5-1],
                                          &point_recv[6-1],
                                          &trust_track[5-1],
                                          Trust_Track_Output,
                                          Trust_track_num_Output,
                                          Work_Parameter
                                          );

            track_die.track_die_process( &trust_track[5-1],
                                         Track_die_Index_Output,
                                         Track_die_num_Output);

            track_init.track_init_process_logic( &point_recv[4-1],
                                                 &trust_track,
                                                 &temp_track[4-1],
                                                 Trust_Track_Output,
                                                 Trust_track_num_Output,
                                                 Work_Parameter);

            //波束3
            // 点迹区8、9 关联航迹区8 ， 消亡航迹区8，  起始点迹区7
            track_asso.track_asso_process(&point_recv[8-1],
                                          &point_recv[9-1],
                                          &trust_track[8-1],
                                          Trust_Track_Output,
                                          Trust_track_num_Output,
                                          Work_Parameter
                                          );

            track_die.track_die_process( &trust_track[8-1],
                                         Track_die_Index_Output,
                                         Track_die_num_Output);

            track_init.track_init_process_logic( &point_recv[7-1],
                                                 &trust_track,
                                                 &temp_track[7-1],
                                                 Trust_Track_Output,
                                                 Trust_track_num_Output,
                                                 Work_Parameter);
            Track_section_sort();
        }
    }

    //TAS处理
    else if (model==2)
    {
        *Trust_track_num_Output=0;		//航迹更新数
        *Track_die_num_Output=0;		//航迹消亡数目
        dot_coh_tas.dot_coh_tas_process(&Data_buffer,&point_recv_tas); //凝聚
        QVector<PointRecv>().swap(Data_buffer);//凝聚完毕 清除Data_buffer

        track_asso_tas.track_asso_process_tas(&point_recv_tas,          //航迹关联
                                              &trust_track,
                                               Trust_Track_Output,
                                               Trust_track_num_Output,
                                               Work_Parameter,
                                               TAS_track_idx);

        QVector<PointRecv>().swap(point_recv_tas);//关联完毕 清空point_recv_tas

        Track_section_sort();

    }

    return 0;
}



//波束控制
void Data_Process::Beam_Ctrl(struct TrackingBeam	*Tracking_beam,
                             struct Track           Trust_Track_Output[][10],
                             int                    *Trust_track_num_Output)
{
    if(beam_count%3==0)
    {
        tas_ctrl.tas_ctrl_process(&trust_track,Tracking_beam, Trust_Track_Output, Trust_track_num_Output,Work_Parameter);
    }
    else
    {
        Tracking_beam->open_flag=0;
    }

}




//数据处理参数初始化
int Data_Process::track_process_parameters_initial(struct RadarPara Radar_Parameter)
{
    //变量初始化
    Beam_num=Radar_Parameter.Beam_num;				//雷达波位数
    beam_count=0;									//波位计数
    memset(beam_index,0,3*sizeof(int));				//三个波位号


    //工作参数设置
    memcpy(&Work_Parameter, &Radar_Parameter, sizeof(RadarPara));


    //初始化容器
    for (int i=0;i<DOT_SECTION_NUM;i++)
        point_recv.push_back(QVector <PointRecv> ());

    for (int i=0;i<TRACK_SECTION_NUM;i++)
        trust_track.push_back(QVector <Trust_Track> ());

    for (int i=0;i<DOT_SECTION_NUM;i++)
        temp_track.push_back(QVector<QVector<Temp_track>> () );

    return 0;
}



//数据处理参数修改
int Data_Process::track_process_parameters_modify(struct RadarPara Radar_Parameter)
{
    memcpy(&Work_Parameter, &Radar_Parameter, sizeof(RadarPara));
    return 0;
}



//手动航迹删除函数
int Data_Process:: track_delete(int delete_track_num,					//手动删除的航迹数目
                                int delete_track_index[])			    //手动删除的航迹号
{
    for (int i=0;i<delete_track_num ;i++)
    {
        for (int j=0;j<trust_track.size();j++)
            for(int k=0;k<trust_track[j].size();k++)
            {
                if(trust_track[j][k].Track_Index == delete_track_index[i])
                {

                    trust_track[j][k].manual_delete_flag=1;
                }
            }
    }


    return 0;
}

    //手动转TAS跟踪函数
int Data_Process:: tracking_start(int track_index)				//需要手动转入TAS跟踪的航迹号
{

    for ( int i=0; i<trust_track.size();i++)
        for (int j=0;j<trust_track[i].size();j++)
        {
            if(trust_track[i][j].Track_Index==track_index)
            {
                trust_track[i][j].manual_tracking_flag = 1;
            }
        }

    return 0;
}

    //手动打跟踪波束
int  Data_Process::tracking_point(float Azimuth)//方位角
{
    return 0;
}



void Data_Process::Track_section_sort()
{
    for(int i=0;i<trust_track.size();i++)
        for(int j=0;j<trust_track[i].size(); )
        {
            if (trust_track[i][j].Track_section_idx!=i+1)
            {
                trust_track[trust_track[i][j].Track_section_idx-1].push_back(trust_track[i][j]);
                trust_track[i].erase(trust_track[i].begin()+j);
            }
            else
            {
                j++;
            }
        };
}