#include "data_process.h"
#include "memory.h"
#include <QVector>
#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])
{
	//数据存入缓存区域 Data_buffer
	if(Data_Input[0].point_type == 0)        //tws数据
	{
		data_num=min(Data_Input[0].Point_Sum, 150);
		TAS_track_idx = Data_Input[0].TAS_track_index;
		for (int i=0; i<data_num;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.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_temp.pitch_num = Data_Input[i].pitch_num;

			std::memcpy(Data_buffer_temp.speed_dim, Data_Input[i].speed_dim, sizeof(Data_buffer_temp.speed_dim));
			std::memcpy(Data_buffer_temp.range_dim, Data_Input[i].range_dim, sizeof(Data_buffer_temp.range_dim));

			Data_buffer.push_back(Data_buffer_temp);
		}
		if(Data_Input[0].Beam_index_aiz % 16 == 0)              //TWS
		{
			 return 1;
		}
		else
		{
			 return 2;
		}
	}

	else if(Data_Input[0].point_type == 1)          //tas数据
	{
//        qDebug() << "TAS TARGET :" <<Data_Input[0].TAS_track_index;
//         qDebug() << "TAS POINT :" <<Data_Input[0].Point_Sum;

		data_num=Data_Input[0].Point_Sum;
		TAS_track_idx = Data_Input[0].TAS_track_index;
		for (int i=0; i<data_num;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.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_temp.pitch_num = Data_Input[i].pitch_num;
			std::memcpy(Data_buffer_temp.speed_dim, Data_Input[i].speed_dim, sizeof(Data_buffer_temp.speed_dim));
			std::memcpy(Data_buffer_temp.range_dim, Data_Input[i].range_dim, sizeof(Data_buffer_temp.range_dim));

			Data_buffer_tas.push_back(Data_buffer_temp);

//            qDebug() << "Azimuth:" << Data_Input[i].Azimuth
//                     << "Range:" << Data_Input[i].Range
//                      << "EL:" << Data_Input[i].Elevation
//                      << "CPI_Time"<< Data_Input[i].CPI_time
//                      << "data_num:" << data_num;

		}

		return 3;
	}

	else
	{
		 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==2)
	{

		 dot_coh.dot_coh_process_buff(&Data_buffer,&point_recv,Work_Parameter);
		 QVector<PointRecv>().swap(Data_buffer);
	}



	if(model==1)
	{
		*Trust_track_num_Output=0;      //航迹更新数
		*Track_die_num_Output=0;        //航迹消亡数目

		track_asso.track_asso_process(&point_recv,
									  &trust_track,
									  Trust_Track_Output,
									  Trust_track_num_Output,
									  Work_Parameter
									  );

		track_die.track_die_process( &trust_track,
									 Track_die_Index_Output,
									 Track_die_num_Output);

		track_init.track_init_process_logic( &point_recv,
											 &trust_track,
											 &temp_track,
											 Trust_Track_Output,
											 Trust_track_num_Output,
											 Work_Parameter);


	}

	// TAS处理
	if(model==3)
	{
		*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_tas,&point_recv_tas);  //点迹凝聚

//        if(point_recv_tas.size()>0)
//        {
//            qDebug() << "point_recv_tas :" <<point_recv_tas[0].Azimuth/PI*180<<" "<<point_recv_tas[0].Range;
//        }


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


		track_asso_tas.track_asso_process_tas(&point_recv_tas,                          //点迹文件
											  &trust_track,                             //航迹文件
											  Trust_Track_Output,                       //更新航迹信息
											  Trust_track_num_Output,                   //更新航迹数
											  Work_Parameter,                           //工作参数
											  TAS_track_idx);


		QVector<PointRecv>().swap(point_recv_tas); //清除 point_recv_tas

		track_die_tas.track_die_process_tas( &trust_track,
											 Track_die_Index_Output,
											 Track_die_num_Output);




	}



	return 1;
}



//波束控制
void Data_Process::Beam_Ctrl(struct TrackingBeam    *Tracking_beam,
							 struct Track           Trust_Track_Output[][10],
							 int                    *Trust_track_num_Output)
{

	tas_ctrl.tas_ctrl_process(&trust_track,Tracking_beam, Trust_Track_Output, Trust_track_num_Output,Work_Parameter);
}




//数据处理参数初始化
int Data_Process::track_process_parameters_initial(struct RadarPara Radar_Parameter)
{

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

	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;
}


//航迹清空函数
int Data_Process::track_clear_all(void)
{
	//清空可靠航迹

	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++)
		{
			if(trust_track[j].Track_Index == delete_track_index[i])
			{

				trust_track[j].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++)
		if(trust_track[i].Track_Index==track_index)
		{
			trust_track[i].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;
}