#include "tas_ctrl.h"
#include "coor_trans.h"
#include <cmath>
#include <cstring>
#include <vector>

using namespace std;

// parameters.h 中定义了 DATA_RATE_TAS 宏（相扫0.3/机扫0.0625），
// 而本模块的波束门控必须使用 RadarPara 结构体成员 Work_Parameter.DATA_RATE_TAS
// （由dll调用者经 track_process_parameters_initial 输入），故取消该宏定义，
// 否则 Work_Parameter.DATA_RATE_TAS 会被预处理器展开为非法常量表达式。
#undef DATA_RATE_TAS

TAS_Ctrl::TAS_Ctrl()
{
	memset(tas_target_queue,0,TAS_QUEUE_LENGTH*sizeof(Tracking_Target));

	tas_target_num=0;
}

void TAS_Ctrl::reset()
{
	memset(tas_target_queue,0,sizeof(tas_target_queue));
	tas_target_num=0;
}


void TAS_Ctrl::tas_ctrl_process(std::vector<Trust_Track>            *trust_track,
								struct TrackingBeam             *Tracking_beam,
								struct Track                    Trust_Track_Output[][10],
								int                             *Trust_track_num_Output,
                                struct  RadarPara               Work_Parameter,
                                long long								latest_timestamp)
{
	if (Trust_track_num_Output == 0) return;
	*Trust_track_num_Output = 0;
	tas_target_add(trust_track, Trust_Track_Output, Trust_track_num_Output,Work_Parameter);
	tas_target_del(trust_track, Trust_Track_Output, Trust_track_num_Output,Work_Parameter);
	tas_beam_output(trust_track,Tracking_beam,Work_Parameter,latest_timestamp);

	// //跟踪队列移位
	// struct Tracking_Target tas_target_tmp;
	// memcpy(&tas_target_tmp, &tas_target_queue[TAS_QUEUE_LENGTH-1], sizeof(Tracking_Target));
	// for (int i=TAS_QUEUE_LENGTH-1;i>0;i--)
	// {
	// 	memcpy(&tas_target_queue[i],&tas_target_queue[i-1],sizeof(Tracking_Target));
	// }
	// memcpy(&tas_target_queue[0], &tas_target_tmp, sizeof(Tracking_Target));
};

void TAS_Ctrl::tas_target_add(std::vector<Trust_Track>          *trust_track,
							  struct Track                  Trust_Track_Output[][10],
							  int                           *Trust_track_num_Output,
							  struct  RadarPara             Work_Parameter)
{

	for (int i=0;i<trust_track->size();i++)
		{
			double r=sqrt(pow((*trust_track)[i].X[0],2)+pow((*trust_track)[i].X[3],2));
			double v=sqrt(pow((*trust_track)[i].X[1],2)+pow((*trust_track)[i].X[4],2));
			double h=(*trust_track)[i].Height+Work_Parameter.Height;
			double azi = atan2((*trust_track)[i].X[3],(*trust_track)[i].X[0]);
			if(azi<0)
				azi=azi+2*PI;
			azi=azi/PI*180;

			//进入跟踪的条件：  1.手动跟踪的目标   或  满足速度、距离、高度条件满足 关联点数大于2    2.不在禁止跟踪区域
			if( ( (*trust_track)[i].manual_tracking_flag == 1)//|| (tas_auto_start( v,  r,  h, Work_Parameter)==1 && (*trust_track)[i][k].associate_point_number>=2)
				&& tas_target_num < MAX_TAS_NUM
				&& (*trust_track)[i].Track_Mode == 0
				&& tas_prohibite_area( r, azi,  v,  h, Work_Parameter) == 0)
			{
				for(int j=0;j<TAS_QUEUE_LENGTH;j++)
				{
					if(tas_target_queue[j].empty_flag==0)// && j%2==0)
					{
						if (*Trust_track_num_Output >= MAX_TRACK_NUM)
							break;

						//插入跟踪队列
						tas_target_queue[j].Index=(*trust_track)[i].Track_Index;
						tas_target_queue[j].empty_flag=1;
						tas_target_queue[j].last_track_time=(*trust_track)[i].T_track;

						//跟踪目标数目加一
						tas_target_num=tas_target_num+1;

						//TAS跟踪标志置1
						(*trust_track)[i].Track_Mode=1;

						//目标跟踪状态发生改变 对外输出航迹更新信息
						*Trust_track_num_Output= *Trust_track_num_Output+1;
						double r_output,azmi_output;
						coor_trans Coor_trans;
						Coor_trans.cart2polar((*trust_track)[i].X[0],(*trust_track)[i].X[3],&r_output,&azmi_output);
						Trust_Track_Output[*Trust_track_num_Output-1][0].Point_Sum=1;
						Trust_Track_Output[*Trust_track_num_Output-1][0].Range=r_output;
						Trust_Track_Output[*Trust_track_num_Output-1][0].Azimuth=azmi_output/PI*180;
						Trust_Track_Output[*Trust_track_num_Output-1][0].Track_Index=(*trust_track)[i].Track_Index; //航迹号
						Trust_Track_Output[*Trust_track_num_Output-1][0].Range_V=
								sqrt((*trust_track)[i].X[1]*(*trust_track)[i].X[1]+(*trust_track)[i].X[4]*(*trust_track)[i].X[4]);
						Trust_Track_Output[*Trust_track_num_Output-1][0].Amplitude=(*trust_track)[i].Amplitude;
						Trust_Track_Output[*Trust_track_num_Output-1][0].Flag_Point=(*trust_track)[i].point_flag;
						Trust_Track_Output[*Trust_track_num_Output-1][0].Track_Mode=(*trust_track)[i].Track_Mode;
						Trust_Track_Output[*Trust_track_num_Output-1][0].Elevation=asin((*trust_track)[i].Height/r_output)/PI*180;
						Trust_Track_Output[*Trust_track_num_Output-1][0].z=(*trust_track)[i].Height+Work_Parameter.Height;
						Trust_Track_Output[*Trust_track_num_Output-1][0].Target_Type=(*trust_track)[i].Target_Type;
						Trust_Track_Output[*Trust_track_num_Output-1][0].track_snr = (*trust_track)[i].snr_point;
						break;

					}
				}
			}
	}

};

//int TAS_Ctrl:: tas_auto_start(double v, double r, double h, struct  RadarPara     Work_Parameter)
//{

////    if(r>Work_Parameter.R_TAS_min && r<Work_Parameter.R_TAS_max && v<Work_Parameter.V_TAS_max && v>Work_Parameter.V_TAS_min
////        && ( (r<=1000 && h>=Work_Parameter.TAS_Height_1) || (r<=2000 && r>1000 && h>=Work_Parameter.TAS_Height_2) || (r<=3000 && r>2000 && h>=Work_Parameter.TAS_Height_3)  || (r<=4000 && r>3000 && h>=Work_Parameter.TAS_Height_4) || (r>4000 && h>=Work_Parameter.TAS_Height_5)  )
////       )
//    if( r>Work_Parameter.R_TAS_min  && r<Work_Parameter.R_TAS_max && v<Work_Parameter.V_TAS_max && v>Work_Parameter.V_TAS_min
//        && ( (r<=1000 && h>=Work_Parameter.TAS_Height_1) || (r<=2000 && r>1000 && h>=Work_Parameter.TAS_Height_2) || (r<=3000 && r>2000 && h>=Work_Parameter.TAS_Height_3)  || (r<=4000 && r>3000 && h>=Work_Parameter.TAS_Height_4) || (r>4000 && h>=Work_Parameter.TAS_Height_5)  ) )
//    {
//        return 1;
//    }
//    else
//    {
//        return 0;
//    }

////    return 0;

//};

int TAS_Ctrl::tas_prohibite_area(double r,double azi, double v, double h,struct  RadarPara      Work_Parameter)
{

	for (int i=0;i<Work_Parameter.TAS_prohibite_area_num;i++)
	{
		if(r<Work_Parameter.R_max_TAS_prohibited[i] && r>Work_Parameter.R_min_TAS_prohibited[i] && azi<Work_Parameter.Azimuth_max_TAS_prohibited[i] && azi>Work_Parameter.Azimuth_min_TAS_prohibited[i])
		{
			return 1;
		}
	}

	return 0;

}

void TAS_Ctrl::tas_target_del(std::vector<Trust_Track>          *trust_track,
							struct Track                     Trust_Track_Output[][10],
							int                             *Trust_track_num_Output,
							struct  RadarPara               Work_Parameter)
{

	//查找TAS目标是否已经消批  若消批则移出TAS队列
	for (int i=0;i<TAS_QUEUE_LENGTH;i++)
	{
		if(tas_target_queue[i].empty_flag == 1)
		{
			//查找TAS队列里的目标是否存在
			int flag=0;
			for (int j=0;j<trust_track->size();j++){
				{
					if(tas_target_queue[i].Index==(*trust_track)[j].Track_Index && (*trust_track)[j].Track_Mode == 1 && (*trust_track)[j].manual_tracking_flag == 1)
					{
						flag=1;
					}
				}
			}
			//目标不存在 说明已消批  从队列里删除
			if(flag == 0)
			{
				memset(&tas_target_queue[i],0,sizeof(Tracking_Target));
				tas_target_num=tas_target_num-1;
			}
		}
	}

	//判断TAS目标是否满足自动跟踪条件  若不满足移除TAS队列   通知界面改变目标状态
//    for ( int i=0;i<trust_track->size();i++)
//        {
//            double r=sqrt(pow((*trust_track)[i].X[0],2)+pow((*trust_track)[i].X[3],2));
//            double v=sqrt(pow((*trust_track)[i].X[1],2)+pow((*trust_track)[i].X[4],2));
//            double h=(*trust_track)[i].Height+Work_Parameter.Height;

//            if((*trust_track)[i].manual_tracking_flag == 0 && (*trust_track)[i].Track_Mode == 1 &&  tas_auto_end(v,r,h,Work_Parameter) == 1)  //满足结束跟踪条件
//            {

//            int track_index=(*trust_track)[i].Track_Index;

//                for (int ii=0;ii<TAS_QUEUE_LENGTH;ii++)
//                {
//                    if(tas_target_queue[ii].Index == track_index)
//                    {
//                        //从队列中删除
//                        memset(&tas_target_queue[ii],0,sizeof(Tracking_Target));
//                        tas_target_num=tas_target_num-1;

//                        //TAS跟踪标志置零
//                        (*trust_track)[i].Track_Mode=0;

//                        //目标类型设为地面目标
//                        (*trust_track)[i].Target_Type = 0;

//                        //航迹状态发生改变 对外输出航迹更新信息
//                        *Trust_track_num_Output= *Trust_track_num_Output+1;
//                        double r_output,azmi_output;
//                        coor_trans Coor_trans;
//                        Coor_trans.cart2polar((*trust_track)[i].X[0],(*trust_track)[i].X[3],&r_output,&azmi_output);
//                        Trust_Track_Output[*Trust_track_num_Output-1][0].Point_Sum=1;
//                        Trust_Track_Output[*Trust_track_num_Output-1][0].Range=r_output;
//                        Trust_Track_Output[*Trust_track_num_Output-1][0].Azimuth=azmi_output/PI*180;
//                        Trust_Track_Output[*Trust_track_num_Output-1][0].Track_Index=(*trust_track)[i].Track_Index;   //航迹号
//                        Trust_Track_Output[*Trust_track_num_Output-1][0].Range_V=sqrt((*trust_track)[i].X[1]*(*trust_track)[i].X[1]+(*trust_track)[i].X[4]*(*trust_track)[i].X[4]);
//                        Trust_Track_Output[*Trust_track_num_Output-1][0].Amplitude=(*trust_track)[i].Amplitude;
//                        Trust_Track_Output[*Trust_track_num_Output-1][0].Flag_Point=(*trust_track)[i].point_flag;
//                        Trust_Track_Output[*Trust_track_num_Output-1][0].Track_Mode=(*trust_track)[i].Track_Mode;
//                        Trust_Track_Output[*Trust_track_num_Output-1][0].Elevation=asin((*trust_track)[i].Height/r_output)/PI*180;
//                        Trust_Track_Output[*Trust_track_num_Output-1][0].z=(*trust_track)[i].Height+Work_Parameter.Height;
//                        Trust_Track_Output[*Trust_track_num_Output-1][0].Target_Type=(*trust_track)[i].Target_Type;
//                        Trust_Track_Output[*Trust_track_num_Output-1][0].track_snr = (*trust_track)[i].snr_point;
//                    }
//                }
//            }

//        }

};

//int TAS_Ctrl::tas_auto_end(double v, double r, double h, struct  RadarPara        Work_Parameter)
//{
//    if((r<=1000 && h<Work_Parameter.TAS_Height_1) || (r<=2000 && r>1000 && h<Work_Parameter.TAS_Height_2) || (r<=3000 && r>2000 && h<Work_Parameter.TAS_Height_3)  || (r<=4000 && r>3000 && h<Work_Parameter.TAS_Height_4) || (r>4000 && h<Work_Parameter.TAS_Height_5)
//        ||  v<Work_Parameter.V_TAS_min  || v>Work_Parameter.V_TAS_max
//        )
//    {
//        return 1;

//    }
//    else
//    {

//        return 0;
//    }

//    return 0;

//};

void  TAS_Ctrl::tas_beam_output(std::vector<Trust_Track>            *trust_track,
                                struct TrackingBeam             *Tracking_beam,
                                struct  RadarPara               Work_Parameter,
                                long long latest_timestamp)
{

	long long CPI_time = 0;
	long long earliest_CPI_time = LLONG_MAX;
	float delta_T = 0;
	double H_track = 0;
	int earliest_track_idx=-1;
	int earliest_tas_queue_idx=-1;
	double X_now[6] = {0};

	//查找TAS队列中CPI时间最早的目标且满足TAS数据率的目标
	for(int tas_idx=0;tas_idx<TAS_QUEUE_LENGTH;tas_idx++)
	{
		if(tas_target_queue[tas_idx].empty_flag==0)
		{
			continue;
		}

		for (size_t track_idx=0;track_idx<trust_track->size();track_idx++ )
		{
			if((*trust_track)[track_idx].Track_Index == tas_target_queue[tas_idx].Index)
			{
				CPI_time = (*trust_track)[track_idx].T_track;
				delta_T = (latest_timestamp - CPI_time) / 1000.0f;
				
				//查找最早的CPI时间, 航迹时间与当前最新时间戳的差值大于 1/DATA_RATE_TAS 时才输出TAS跟踪波束
				if(CPI_time < earliest_CPI_time && (latest_timestamp - tas_target_queue[tas_idx].last_track_time) / 1000.0f > 1.0f / Work_Parameter.DATA_RATE_TAS && delta_T > 1.0f / Work_Parameter.DATA_RATE_TAS)
				{
					earliest_CPI_time = CPI_time;
					H_track = (*trust_track)[track_idx].Height;

					earliest_track_idx = track_idx;
					earliest_tas_queue_idx = tas_idx;
				
					for(int ii=0;ii<6;ii++){
						X_now[ii]=(*trust_track)[track_idx].X[ii];
					}
						
					printf("TAS: earliest_track_idx: %d, CPI_time: %lld, delta_T: %.3f\n", earliest_track_idx, CPI_time, delta_T);
					
				}

				break;
			}
		}
	}

	//没有满足条件的TAS目标，关闭跟踪波束
	if(earliest_track_idx == -1)
	{
		Tracking_beam->open_flag = 0;
		return;
	}

	//更新目标最后跟踪时间
	tas_target_queue[earliest_tas_queue_idx].last_track_time = latest_timestamp;

	//预测目标位置 计算跟踪波束波位号 俯仰角
	double x_track=X_now[0]+X_now[1]*delta_T;
	double y_track=X_now[3]+X_now[4]*delta_T;
	double amzi,range;
	coor_trans Coor_trans;
	Coor_trans.cart2polar(x_track,y_track,&range,&amzi);

	//目标距离
	Tracking_beam->Range=(float)range;
	//目标方位
	Tracking_beam->Azi=(float)amzi/PI*180;
//		Tracking_beam->Azi+=6;
	//目标俯仰角
	double elev=asin(H_track/range)/PI*180;

//		if(elev<=0)
//			elev=0;
//		else if(elev>=40)
//			elev=40;
//		else
//			elev=elev;

	Tracking_beam->Elev=(float)elev;

	//跟踪波束类型
	Tracking_beam->type=1;

	//跟踪目标批号
	Tracking_beam->TAS_track_index = earliest_track_idx;

	//跟踪波束开关开启
	Tracking_beam->open_flag=1;

	//std::cout << "TAS: range: " <<Tracking_beam->Range << "azi: " <<Tracking_beam->Azi <<"pit: " <<Tracking_beam->Elev;
}