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5f820987a9335000c2b741d850feff0893e6bf2b
radar_data_process/data_process_class_dll/tas_ctrl.cpp
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waiwaylee 5f820987a9 更新：1、修复全部C4819 / C4018 / C4244警告； 
2、更新项目文档；
2026-09-07 14:29:24 +08:00

350 lines
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#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 (size_t 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=static_cast<float>(r_output);
Trust_Track_Output[*Trust_track_num_Output-1][0].Azimuth=static_cast<float>(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=
static_cast<float>(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=static_cast<float>((*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=static_cast<float>(asin((*trust_track)[i].Height/r_output)/PI*180);
Trust_Track_Output[*Trust_track_num_Output-1][0].z=static_cast<float>((*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 = static_cast<float>((*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 (size_t 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=static_cast<float>(r_output);
// Trust_Track_Output[*Trust_track_num_Output-1][0].Azimuth=static_cast<float>(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=static_cast<float>(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=static_cast<float>((*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=static_cast<float>(asin((*trust_track)[i].Height/r_output)/PI*180);
// Trust_Track_Output[*Trust_track_num_Output-1][0].z=static_cast<float>((*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 = static_cast<float>((*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;
}
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