using System;
using System.Collections.Generic;
using ActiveProtect.Models;
using Model;

namespace ActiveProtect.SimulationEnvironment
{
    /// <summary>
    /// 仿真配置类,包含整个仿真所需的所有配置信息
    /// </summary>
    public class SimulationConfig
    {
        /// <summary>
        /// 坦克配置列表
        /// </summary>
        public List<TankConfig> TankConfigs { get; set; }

        /// <summary>
        /// 导弹配置列表
        /// </summary>
        public List<MissileConfig> MissileConfigs { get; set; }

        /// <summary>
        /// 激光指示器配置列表
        /// </summary>
        public LaserDesignatorConfig LaserDesignatorConfig { get; set; }

        /// <summary>
        /// 激光驾束仪配置列表
        /// </summary>
        public LaserBeamRiderConfig LaserBeamRiderConfig { get; set; }

        /// <summary>
        /// 激光告警器配置
        /// </summary>
        public LaserWarnerConfig LaserWarnerConfig { get; set; }

        /// <summary>
        /// 激光干扰器配置
        /// </summary>
        public LaserJammerConfig LaserJammerConfig { get; set; }

        /// <summary>
        /// 仿真时间步长(秒)
        /// </summary>
        public double SimulationTimeStep { get; set; }

        /// <summary>
        /// 红外测角仪配置
        /// </summary>
        public InfraredTrackerConfig InfraredTrackerConfig { get; set; }

        /// <summary>
        /// 构造函数,初始化默认配置
        /// </summary>
        public SimulationConfig()
        {
            TankConfigs = new List<TankConfig>();
            MissileConfigs = new List<MissileConfig>();
            LaserDesignatorConfig = new LaserDesignatorConfig();
            LaserBeamRiderConfig = new LaserBeamRiderConfig();
            LaserWarnerConfig = new LaserWarnerConfig();
            LaserJammerConfig = new LaserJammerConfig();
            InfraredTrackerConfig = new InfraredTrackerConfig();
            SimulationTimeStep = 0.1; // 默认时间步长为0.1秒
        }
    }

    /// <summary>
    /// 坦克配置类
    /// </summary>
    public class TankConfig
    {
        /// <summary>
        /// 坦克ID
        /// </summary>
        public string Id { get; set; }

        /// <summary>
        /// 初始位置
        /// </summary>
        public Vector3D InitialPosition { get; set; }

        /// <summary>
        /// 初���向
        /// </summary>
        public Orientation InitialOrientation { get; set; }

        /// <summary>
        /// 初始速度(米/秒)
        /// </summary>
        public double InitialSpeed { get; set; }

        /// <summary>
        /// 最大速度(米/秒)
        /// </summary>
        public double MaxSpeed { get; set; }

        /// <summary>
        /// 最大装甲值
        /// </summary>
        public double MaxArmor { get; set; }

        /// <summary>
        /// 是否装备激光告警器
        /// </summary>
        public bool HasLaserWarner { get; set; }

        /// <summary>
        /// 是否装备激光干扰器
        /// </summary>
        public bool HasLaserJammer { get; set; }

        /// <summary>
        /// 构造函数,设置默认值
        /// </summary>
        public TankConfig()
        {
            SetDefaultValues();

            Id = "";
            InitialPosition = new Vector3D(0, 0, 0);
            InitialOrientation = new Orientation(0, 0, 0);
        }

        public TankConfig(TankInfo tankInfo){
            SetDefaultValues();

            Id = $"Tank_{tankInfo.TankID}";
            InitialPosition = new Vector3D(tankInfo.xp, tankInfo.yp, tankInfo.zp);
            InitialOrientation = new Orientation(0, 0, 0);
        }

        public void SetDefaultValues(){
            InitialSpeed = 0;
            MaxSpeed = 0;
            MaxArmor = 0;
            HasLaserWarner = false;
            HasLaserJammer = false;
        }

        // 验证方法
        public bool Validate()
        {
            // 实现验证逻辑
            return true;
        }
    }

    /// <summary>
    /// 导弹配置类
    /// </summary>
    public class MissileConfig
    {
        /// <summary>
        /// 导弹ID
        /// </summary>
        public string Id { get; set; }

        /// <summary>
        /// 初始位置
        /// </summary>
        public Vector3D InitialPosition { get; set; }

        /// <summary>
        /// 初始朝向
        /// </summary>
        public Orientation InitialOrientation { get; set; }

        /// <summary>
        /// 初始速度(米/秒)
        /// </summary>
        public double InitialSpeed { get; set; }

        /// <summary>
        /// 最大速度(米/秒)
        /// </summary>
        public double MaxSpeed { get; set; }

        /// <summary>
        /// 目标索引
        /// </summary>
        public int TargetIndex { get; set; }

        

        /// <summary>
        /// 最大飞行时间(秒)
        /// </summary>
        public double MaxFlightTime { get; set; }

        /// <summary>
        /// 最大飞行距离(米)
        /// </summary>
        public double MaxFlightDistance { get; set; }

        /// <summary>
        /// 最大加速度(米/秒²)
        /// </summary>
        public double MaxAcceleration { get; set; }
        
        /// <summary>
        /// 比例导引系数
        /// </summary>
        public double ProportionalNavigationCoefficient { get; set; }

        /// <summary>
        /// 发射推力加速度(米/秒²)
        /// </summary>
        public double LaunchAcceleration { get; set; }

        /// <summary>
        /// 最大发动机燃烧时间(秒)
        /// </summary>
        public double MaxEngineBurnTime { get; set; }

        /// <summary>
        /// 导弹质量(千克)
        /// </summary>
        public double Mass { get; set; }

        /// <summary>
        /// 爆炸半径(米)
        /// </summary>
        public double ExplosionRadius { get; set; }

        /// <summary>
        /// 导弹类型
        /// </summary>
        public MissileType Type { get; set; }

        /// <summary>
        /// 比例增益
        /// </summary>
        public double Kp { get; set; }

        /// <summary>
        /// 积分增益
        /// </summary>
        public double Ki { get; set; }

        /// <summary>
        /// 微分增益
        /// </summary>
        public double Kd { get; set; }

        /// <summary>
        /// 自适应速率
        /// </summary>
        public double AdaptiveRate { get; set; }

        /// <summary>
        /// 期望性能指标
        /// </summary>
        public double DesiredPerformance { get; set; }

        /// <summary>
        /// 构造函数,设置默认值
        /// </summary>
        public MissileConfig()
        {
            SetDefaultValues();

            Id = "";
            InitialPosition = new Vector3D(0, 0, 0);
            InitialOrientation = new Orientation(0, 0, 0);
        }
        /// <summary>
        /// 构造函数,根据导弹初始信息初始化导弹配置
        /// </summary>
        /// <param name="mIniInfo">导弹初始信息</param>
        public MissileConfig(MIniInfo mIniInfo){
            SetDefaultValues();

            Id = $"Missile_{mIniInfo.nMisID}";
            InitialPosition = new Vector3D(mIniInfo.xm, mIniInfo.ym, mIniInfo.zm);
            InitialOrientation = new Orientation(mIniInfo.psi_m, mIniInfo.theta_m, 0);
            InitialSpeed = mIniInfo.vm;
        }
        /// <summary>
        /// 设置默认值
        /// </summary>
        public void SetDefaultValues(){
            InitialSpeed = 0;
            MaxSpeed = 0;
            TargetIndex = 0;
            MaxFlightTime = 0;
            MaxFlightDistance = 0;
            LaunchAcceleration = 0;
            MaxEngineBurnTime = 0;
            MaxAcceleration = 0;
            ExplosionRadius = 0;
            ProportionalNavigationCoefficient = 0;
            Type = MissileType.StandardMissile;
        }
    }

    /// <summary>
    /// 激光指示器配置类
    /// </summary>
    public class LaserDesignatorConfig
    {
        /// <summary>
        /// 激光指示器ID
        /// </summary>
        public string Id { get; set; }

        /// <summary>
        /// 初始位置
        /// </summary>
        public Vector3D InitialPosition { get; set; }

        /// <summary>
        /// 激光功率（瓦特）
        /// </summary>
        public double LaserPower { get; set; }

        /// <summary>
        /// 激光发散角
        /// </summary>
        public double LaserDivergenceAngle { get; set; }

        /// <summary>
        /// 构造函数,设置默认值
        /// </summary>
        public LaserDesignatorConfig()
        {
            Id = "";
            InitialPosition = new Vector3D(0, 0, 0);
            LaserPower = 0;
            LaserDivergenceAngle = 0;
        }
    }

    /// <summary>
    /// 激光驾束仪配置类
    /// </summary>
    public class LaserBeamRiderConfig
    {
        /// <summary>
        /// 激光驾束仪ID
        /// </summary>
        public string Id { get; set; }

        /// <summary>
        /// 初始位置
        /// </summary>
        public Vector3D InitialPosition { get; set; }

        /// <summary>
        /// 激光功率（瓦特）
        /// </summary>
        public double LaserPower { get; set; }

        /// <summary>
        /// 控制场直径（米）
        /// </summary>
        public double ControlFieldDiameter { get; set; }

        /// <summary>
        /// 最大导引距离（米）
        /// </summary>
        public double MaxGuidanceDistance { get; set; }


        /// <summary>
        /// 构造函数,设置默认值
        /// </summary>
        public LaserBeamRiderConfig()
        {
            Id = "";
            InitialPosition = new Vector3D(0, 0, 0);
            LaserPower = 0;
            ControlFieldDiameter = 0;
        }
    }

    /// <summary>
    /// 导弹类型枚举
    /// </summary>
    public enum MissileType
    {
        StandardMissile, // 标准导弹
        LaserSemiActiveGuidance, // 激光半主动制导
        LaserBeamRiderGuidance, // 激光驾束制导
        InfraredCommandGuidance, // 红外指令制导
        InfraredImagingTerminalGuidance, // 红外成像末制导
        MillimeterWaveTerminalGuidance, // 毫米波末制导
        TerminalSensitiveMissile // 末敏弹
    }


    /// <summary>
    /// 激光告警器配置类
    /// </summary>
    public class LaserWarnerConfig
    {
        /// <summary>
        /// 激光告警器ID
        /// </summary>
        public string Id { get; set; }

        /// <summary>
        /// 警报持续时间(秒)
        /// </summary>
        public double AlarmDuration { get; set; }

        /// <summary>
        /// 构造函数,设置默认值
        /// </summary>
        public LaserWarnerConfig()
        {
            Id = "";
            AlarmDuration = 5.0; // 默认警报持续5秒
        }
    }

    /// <summary>
    /// 激光干扰器配置类
    /// </summary>
    public class LaserJammerConfig
    {
        /// <summary>
        /// 激光干扰器ID
        /// </summary>
        public string Id { get; set; }

        /// <summary>
        /// 最大干扰冷却时间(秒)
        /// </summary>
        public double MaxJammingCooldown { get; set; }

        /// <summary>
        /// 最大干扰功率(瓦特)
        /// </summary>
        public double MaxJammingPower { get; set; }

        /// <summary>
        /// 初始干扰功率(瓦特)
        /// </summary>
        public double InitialJammingPower { get; set; }

        /// <summary>
        /// 功率增加速率(瓦特/秒)
        /// </summary>
        public double PowerIncreaseRate { get; set; }

        /// <summary>
        /// 构造函数,设置默认值
        /// </summary>
        public LaserJammerConfig()
        {
            Id = "";
            MaxJammingCooldown = 5.0;
            MaxJammingPower = 10000.0;
            InitialJammingPower = 4000.0;
            PowerIncreaseRate = 2000.0; // 每秒增加的功率
        }
    }

    /// <summary>
    /// 红外测角仪配置类
    /// </summary>
    public class InfraredTrackerConfig
    {
        /// <summary>
        /// 红外测角仪ID
        /// </summary>
        public string Id { get; set; }

        /// <summary>
        /// 初始位置
        /// </summary>
        public Vector3D InitialPosition { get; set; }

        /// <summary>
        /// 初始朝向
        /// </summary>
        public Orientation InitialOrientation { get; set; }

        /// <summary>
        /// 最大跟踪距离(米)
        /// </summary>
        public double MaxTrackingRange { get; set; }

        /// <summary>
        /// 视场角(弧度)
        /// </summary>
        public double FieldOfView { get; set; }

        /// <summary>
        /// 角度测量精度(弧度)
        /// </summary>
        public double AngleMeasurementAccuracy { get; set; }

        /// <summary>
        /// 更新频率(赫兹)
        /// </summary>
        public double UpdateFrequency { get; set; }

        /// <summary>
        /// 构造函数,设置默认值
        /// </summary>
        public InfraredTrackerConfig()
        {
            Id = "";
            InitialPosition = new Vector3D(0, 0, 0);
            InitialOrientation = new Orientation(0, 0, 0);
            MaxTrackingRange = 10000; // 10公里
            FieldOfView = Math.PI / 3; // 60度
            AngleMeasurementAccuracy = 0.001; // 0.001弧度 (约0.057度)
            UpdateFrequency = 10; // 10赫兹
        }
    }
}