private bool CorelateTrack(TargetTrack track, Sector sector)
{
bool ret = false;
if (track.IsFake) //假航迹，满分，直接返回
{
track.ScoreAdd(TargetTrack.ScoreMaximum);
return(false);
}
PolarCoordinate predictCoordinate = track.PredictCoordinate(DateTime.Now); //预测的位置
foreach (TargetDot newDot in sector.NewDots)
{
if (newDot.Adopted || !newDot.IsClotDot) //被之前的航迹相关上了,或者不是凝聚点
{
continue;
}
if (!(predictCoordinate.DistanceTo(newDot.CurrentCoordinate) < track.GetCorelateRadius()))
{
continue;
}
newDot.Adopted = true;
track.Update(newDot.CurrentCoordinate);
track.ScoreAdd(3);
ret = true;
break; //已经相关上，返回上层循环
}
return(ret);
}
protected virtual bool CorelateDotToSector(TargetDot oldDot, Sector sector) //自由点和一个扇区的新点相关，返回true表示相关成功
{
bool ret = false;
if (!oldDot.IsClotDot)
{
return(false);
}
foreach (TargetDot newDot in sector.NewDots)
{
if (newDot.Adopted || !newDot.IsClotDot) //已经被航迹相关上的点不作处理
{
continue;
}
if (oldDot.IsDotRelated(newDot) && DotsCanCorelate(oldDot, newDot)) //两个点是否相关成功
{
TargetTrack track =
TargetTrack.CreateTargetTrack(newDot, oldDot, 3);
if (track == null) //创建航迹失败，航迹编号满
{
continue;
}
//newDot.Adopted = true; //自由点相关时，一个目标点可以与多个自由点相关
oldDot.Adopted = true;
sector.AddTrack(track);
ret = true;
break; //相关成功，返回上层循环
}
}
return(ret);
}
public void RegisterTrack(TargetTrack track)
{
UnregisterTrack(track);
subjectTrack = track;
ChangeSectorHandler(track, track.SectorIndex);
track.ChangeSector += ChangeSectorHandler;
}
public void UnregisterTrack(TargetTrack track)
{
if (subjectTrack != null && subjectTrack == track)
{
subjectTrack.ChangeSector -= ChangeSectorHandler;
}
subjectTrack = null;
}
public void AddTrack(TargetTrack track)
{
lock (_locker)
{
track.SectorIndex = Index;
StableTracks.Add(track);
}
}
public void AcceptTrackFromOtherSector(TargetTrack track)
{
lock (_locker)
{
ExchangeTracks.Add(track);
track.SectorIndex = Index;
}
}
public void RemoveTrack(TargetTrack track)
{
lock (_locker)
{
if (track != null)
{
StableTracks.Remove(track);
}
}
}
private int GetTrackSectorId(TargetTrack t)
{
foreach (var s in targetManager.Sectors)
{
if (s.IsAngleInArea(t.Az))
{
return(s.Index);
}
}
return(-1);
}
public void SendTrack(TargetTrack t)
{
//List<byte> cmdBytes = new List<byte> {0x68, 0x2, 0x1, 0x1, (byte) t.trackID};
//cmdBytes.AddRange(SystemCommunicator.IntToByteLsb((int)t.Dis, 4));
//cmdBytes.AddRange(SystemCommunicator.IntToByteLsb((int)(t.AZ * 100),2));
//cmdBytes.AddRange(SystemCommunicator.IntToByteLsb((int)(t.EL * 100), 2));
//cmdBytes.AddRange(CRC16(cmdBytes.ToArray()));
//SendData(cmdBytes.ToArray());
SendData(new X68Command(t).Serialize());
}
public TrackGenerator(TargetManager targetManager, PolarCoordinate coordinate)
{
this.targetManager = targetManager;
//track = new TargetTrack(coordinate);
track = TargetTrack.CreateTargetTrack(new TargetDot(coordinate.Az, coordinate.El, coordinate.Dis), null, 13);
int sectorIndex = GetTrackSectorId(track);
targetManager.Sectors[sectorIndex].AddTrack(track);
track.IsFake = true;
track.SectorIndex = GetTrackSectorId(track);
targetManager.NotifyAllObservers(track, NotifyType.Add);
center = coordinate;
}
public void MoveTrack()
{
track.Update(NextStraightCoordinate());
TargetTrack.SetTrackHeight(track, MouseTargetTracker.TrackHeight);
int sectorIndex = GetTrackSectorId(track);
if (track.SectorIndex != sectorIndex)
{
//targetManager.NotifyAllObservers(track, NotifyType.Delete);
targetManager.Sectors[track.SectorIndex].RemoveTrack(track);
track.SectorIndex = sectorIndex;
targetManager.Sectors[sectorIndex].AddTrack(track);
}
//targetManager.NotifyAllObservers(track, NotifyType.Update);
}
public X68Command(TargetTrack track) : base(0x68, 0x2, 0x1)
{
_track = track;
}
public TrackManager_TestCase_Random()
{
mode = TargetManagerMode.Auto;
tracks = new List <TargetTrack>();
dots = new List <TargetDot>();
obs = new List <ITargetObserver>();
timerDot = new Timer();
timerDot.Interval = 1000;
timerDot.Tick += TimerDot_Tick;
timerDot.Start();
timerTrack = new Timer();
timerTrack.Interval = 1000;
timerTrack.Tick += TimerTrack_Tick;
timerTrack.Start();
if (dot1 == null) //dot1是静态成员，只有第一次实例化时才对dot1赋值
{
Random rd = new Random();
dot1 = new TargetDot();
dot1.AZ = rd.Next(0, 180);
dot1.EL = rd.Next(10, 19);
dot1.Dis = rd.Next(2000, 4000);
dot2 = new TargetDot();
dot2.AZ = dot1.AZ + 2;
dot2.EL = dot1.EL + 1;
dot2.Dis = dot1.Dis + 100;
}
dots.Add(dot1);
NotifyAllObservers(dot1, NotifyType.Add);
dots.Add(dot2);
NotifyAllObservers(dot2, NotifyType.Add);
if (track1 == null)
{
Random rd = new Random();
track1 = new TargetTrack();
track1.trackID = 15;
track1.AZ = rd.Next(180, 360);
track1.EL = rd.Next(20, 89);
track1.Dis = rd.Next(100, 4000);
}
float dis = 4000;
float el = 10;
float az = 0;
float azStep = 30;
for (int i = 1; az < 360; i++)
{
TargetTrack t = new TargetTrack();
az = 15 + azStep * i;
t.AZ = az;
t.Dis = dis;
t.EL = el;
t.trackID = i;
tracks.Add(t);
NotifyAllObservers(t, NotifyType.Add);
}
tracks.Add(track1);
NotifyAllObservers(track1, NotifyType.Add);
}
public X80Data(TargetTrack t) : base(0x80, LocalDeviceCode, SystmDeviceCode)
{
_track = t;
}
public static void Send0X80Cmd(TargetTrack t)
{
byte[] cmdBytes = new X80Data(t).Serialize();
UdpEthernetCenter.SendData(cmdBytes, LocalIpAndPortString, SystemIpAndPortString);
}
public static void DeleteTrack(TargetTrack track)
{
track.Dis = 0;
Send0X80Cmd(track);
}
public static void UpdateTrack(TargetTrack track)
{
Send0X80Cmd(track);
}
