#if NEVER // 使用编译指令确保此文件永远不会被编译

// Matlab/Simulink集成示例代码 - .NET Assembly直接调用方式
// 
// 【适用场景】
// - Matlab R2019b或更高版本
// - 需要在Simulink模型中集成威胁源仿真
// - 实时仿真数据交换和时间同步
//
// 【前置条件】
// 1. 将 ThreatSource.dll 放入 Matlab 路径或指定目录
// 2. 将 data/ 目录复制到 Matlab 工作目录下
// 3. Matlab版本支持 .NET 8.0
//
// 展示如何将Matlab/Simulink与ThreatSource仿真系统集成
// 需要实现的核心功能: .NET Assembly加载、数据交换、时间同步

using ThreatSource.Simulation;
using ThreatSource.Data;
using ThreatSource.Missile;
using ThreatSource.Equipment;
using ThreatSource.Utils;
using System;
using System.Collections.Generic;

/// <summary>
/// Matlab/Simulink适配器类，演示如何将威胁源库集成到Matlab/Simulink中
/// </summary>
/// <remarks>
/// 该类提供以下功能：
/// - .NET Assembly方式的Matlab集成
/// - 简化的API接口，便于Matlab调用
/// - 实时数据交换和状态同步
/// - 事件处理和回调机制
/// - 与Simulink时间步长的协调
/// 本示例代码作为集成参考，可根据具体需求进行修改
/// </remarks>
public class MatlabSimulinkAdapter
{
    #region 私有字段
    /// <summary>
    /// 仿真管理器实例
    /// </summary>
    private ISimulationManager _simulationManager;

    /// <summary>
    /// 数据管理器实例
    /// </summary>
    private ThreatSourceDataManager _dataManager;

    /// <summary>
    /// Matlab创建的实体映射
    /// </summary>
    private Dictionary<string, object> _matlabEntities = new Dictionary<string, object>();

    /// <summary>
    /// 当前仿真时间
    /// </summary>
    private double _currentTime = 0.0;

    /// <summary>
    /// 仿真时间步长
    /// </summary>
    private double _timeStep = 0.01;

    /// <summary>
    /// 是否已初始化
    /// </summary>
    private bool _isInitialized = false;
    #endregion

    #region 构造函数
    /// <summary>
    /// 初始化Matlab/Simulink适配器的新实例
    /// </summary>
    public MatlabSimulinkAdapter()
    {
        InitializeSimulation();
    }

    /// <summary>
    /// 初始化仿真系统
    /// </summary>
    private void InitializeSimulation()
    {
        try
        {
            // 创建仿真管理器
            _simulationManager = new SimulationManager();
            
            // 创建数据管理器
            _dataManager = new ThreatSourceDataManager();
            
            Console.WriteLine("[MatlabAdapter] 威胁源仿真系统初始化完成");
        }
        catch (Exception ex)
        {
            Console.WriteLine($"[MatlabAdapter] 初始化失败: {ex.Message}");
            throw;
        }
    }
    #endregion

    #region Matlab公共接口
    /// <summary>
    /// 启动仿真系统
    /// </summary>
    /// <param name="timeStep">仿真时间步长（秒）</param>
    /// <returns>启动是否成功</returns>
    public bool StartSimulation(double timeStep = 0.01)
    {
        try
        {
            if (!_isInitialized)
            {
                _timeStep = timeStep;
                _simulationManager.StartSimulation(timeStep);
                _isInitialized = true;
                Console.WriteLine($"[MatlabAdapter] 仿真已启动，时间步长: {timeStep}s");
            }
            return true;
        }
        catch (Exception ex)
        {
            Console.WriteLine($"[MatlabAdapter] 启动仿真失败: {ex.Message}");
            return false;
        }
    }

    /// <summary>
    /// 更新仿真状态（在Simulink中每个时间步调用）
    /// </summary>
    /// <param name="deltaTime">时间步长</param>
    /// <returns>更新是否成功</returns>
    public bool UpdateSimulation(double deltaTime)
    {
        try
        {
            if (!_isInitialized) return false;

            _simulationManager.Update(deltaTime);
            _currentTime += deltaTime;
            return true;
        }
        catch (Exception ex)
        {
            Console.WriteLine($"[MatlabAdapter] 仿真更新失败: {ex.Message}");
            return false;
        }
    }

    /// <summary>
    /// 创建目标实体（供Matlab调用）
    /// </summary>
    /// <param name="entityId">实体ID</param>
    /// <param name="posX">X坐标</param>
    /// <param name="posY">Y坐标</param>
    /// <param name="posZ">Z坐标</param>
    /// <param name="velX">X方向速度</param>
    /// <param name="velY">Y方向速度</param>
    /// <param name="velZ">Z方向速度</param>
    /// <returns>创建是否成功</returns>
    public bool CreateTarget(string entityId, double posX, double posY, double posZ, 
                            double velX, double velY, double velZ)
    {
        try
        {
            var targetPos = new Vector3D(posX, posY, posZ);
            var targetVel = new Vector3D(velX, velY, velZ);

            var tankInitialMotion = new KinematicState
            {
                Position = targetPos,
                Orientation = new Orientation(0, 0, Math.Atan2(velY, velX)),
                Speed = targetVel.Magnitude()
            };

            var tankProperties = new EquipmentProperties
            {
                InfraredRadiationIntensity = 10.0,
                UltravioletRadiationIntensity = 10.0,
                MillimeterWaveRadiationIntensity = 10.0
            };

            var tank = new Tank(entityId, tankProperties, tankInitialMotion, _simulationManager);
            _simulationManager.RegisterEntity(entityId, tank);
            _matlabEntities[entityId] = tank;

            Console.WriteLine($"[MatlabAdapter] 成功创建目标: {entityId}");
            return true;
        }
        catch (Exception ex)
        {
            Console.WriteLine($"[MatlabAdapter] 创建目标失败: {ex.Message}");
            return false;
        }
    }

    /// <summary>
    /// 创建红外成像制导导弹
    /// </summary>
    /// <param name="entityId">导弹ID</param>
    /// <param name="posX">发射位置X</param>
    /// <param name="posY">发射位置Y</param>
    /// <param name="posZ">发射位置Z</param>
    /// <param name="targetId">目标ID</param>
    /// <returns>创建是否成功</returns>
    public bool CreateIRMissile(string entityId, double posX, double posY, double posZ, string targetId)
    {
        try
        {
            var launchPos = new Vector3D(posX, posY, posZ);
            
            var missileInitialMotion = new KinematicState
            {
                Position = launchPos,
                Orientation = new Orientation(0, 0, 0),
                Speed = 100
            };

            var properties = new MissileProperties
            {
                MaxSpeed = 1000,
                MaxFlightTime = 100,
                MaxFlightDistance = 10000,
                MaxAcceleration = 50,
                ProportionalNavigationCoefficient = 3,
                Mass = 100,
                ExplosionRadius = 10,
                HitProbability = 0.9,
                Type = MissileType.InfraredImagingTerminalGuidance
            };

            var guidanceConfig = new InfraredImagingGuidanceConfig
            {
                JammingResistanceThreshold = 1e-3
            };

            var missile = new InfraredImagingTerminalGuidanceMissile(
                entityId, properties, missileInitialMotion, guidanceConfig, _simulationManager);

            if (!string.IsNullOrEmpty(targetId))
            {
                missile.SetTarget(targetId);
            }

            _simulationManager.RegisterEntity(entityId, missile);
            _matlabEntities[entityId] = missile;

            Console.WriteLine($"[MatlabAdapter] 成功创建红外导弹: {entityId}");
            return true;
        }
        catch (Exception ex)
        {
            Console.WriteLine($"[MatlabAdapter] 创建红外导弹失败: {ex.Message}");
            return false;
        }
    }

    /// <summary>
    /// 创建毫米波制导导弹
    /// </summary>
    /// <param name="entityId">导弹ID</param>
    /// <param name="posX">发射位置X</param>
    /// <param name="posY">发射位置Y</param>
    /// <param name="posZ">发射位置Z</param>
    /// <param name="targetId">目标ID</param>
    /// <returns>创建是否成功</returns>
    public bool CreateMMWMissile(string entityId, double posX, double posY, double posZ, string targetId)
    {
        try
        {
            var launchPos = new Vector3D(posX, posY, posZ);
            
            var missileInitialMotion = new KinematicState
            {
                Position = launchPos,
                Orientation = new Orientation(0, 0, 0),
                Speed = 100
            };

            var properties = new MissileProperties
            {
                MaxSpeed = 1000,
                MaxFlightTime = 100,
                MaxFlightDistance = 10000,
                MaxAcceleration = 50,
                ProportionalNavigationCoefficient = 3,
                Mass = 100,
                ExplosionRadius = 10,
                HitProbability = 0.9,
                Type = MissileType.MillimeterWaveTerminalGuidance
            };

            var guidanceConfig = new MillimeterWaveGuidanceConfig
            {
                FieldOfViewAngle = 30,
                TransmitPower = 0.5,
                AntennaGainDB = 25,
                WaveFrequency = 94e9
            };

            var missile = new MillimeterWaveTerminalGuidedMissile(
                entityId, properties, missileInitialMotion, guidanceConfig, _simulationManager);

            if (!string.IsNullOrEmpty(targetId))
            {
                missile.SetTarget(targetId);
            }

            _simulationManager.RegisterEntity(entityId, missile);
            _matlabEntities[entityId] = missile;

            Console.WriteLine($"[MatlabAdapter] 成功创建毫米波导弹: {entityId}");
            return true;
        }
        catch (Exception ex)
        {
            Console.WriteLine($"[MatlabAdapter] 创建毫米波导弹失败: {ex.Message}");
            return false;
        }
    }

    /// <summary>
    /// 获取实体状态（供Matlab调用）
    /// </summary>
    /// <param name="entityId">实体ID</param>
    /// <returns>状态数组 [x, y, z, vx, vy, vz, roll, pitch, yaw, isActive]</returns>
    public double[] GetEntityState(string entityId)
    {
        try
        {
            var entity = _simulationManager.GetEntityById(entityId);
            if (entity is ISimulationElement simElement)
            {
                return ConvertToMatlabStateArray(simElement);
            }
            return new double[10]; // 返回零数组
        }
        catch (Exception ex)
        {
            Console.WriteLine($"[MatlabAdapter] 获取实体状态失败: {ex.Message}");
            return new double[10];
        }
    }

    /// <summary>
    /// 设置实体位置（供Matlab调用）
    /// </summary>
    /// <param name="entityId">实体ID</param>
    /// <param name="posX">X坐标</param>
    /// <param name="posY">Y坐标</param>
    /// <param name="posZ">Z坐标</param>
    /// <returns>设置是否成功</returns>
    public bool SetEntityPosition(string entityId, double posX, double posY, double posZ)
    {
        try
        {
            var entity = _simulationManager.GetEntityById(entityId);
            if (entity is ISimulationElement simElement)
            {
                simElement.KState.Position = new Vector3D(posX, posY, posZ);
                return true;
            }
            return false;
        }
        catch (Exception ex)
        {
            Console.WriteLine($"[MatlabAdapter] 设置实体位置失败: {ex.Message}");
            return false;
        }
    }

    /// <summary>
    /// 获取所有实体ID列表（供Matlab调用）
    /// </summary>
    /// <returns>实体ID字符串数组</returns>
    public string[] GetAllEntityIds()
    {
        try
        {
            var allEntities = _simulationManager.GetAllEntities();
            var entityIds = new List<string>();

            foreach (var entity in allEntities)
            {
                if (entity is ISimulationElement simElement)
                {
                    entityIds.Add(simElement.Id);
                }
            }

            return entityIds.ToArray();
        }
        catch (Exception ex)
        {
            Console.WriteLine($"[MatlabAdapter] 获取实体列表失败: {ex.Message}");
            return new string[0];
        }
    }

    /// <summary>
    /// 停止仿真
    /// </summary>
    public void StopSimulation()
    {
        try
        {
            _simulationManager.StopSimulation();
            _isInitialized = false;
            _matlabEntities.Clear();
            _currentTime = 0.0;
            Console.WriteLine("[MatlabAdapter] 仿真已停止");
        }
        catch (Exception ex)
        {
            Console.WriteLine($"[MatlabAdapter] 停止仿真失败: {ex.Message}");
        }
    }

    /// <summary>
    /// 获取当前仿真时间
    /// </summary>
    /// <returns>当前仿真时间（秒）</returns>
    public double GetCurrentTime()
    {
        return _currentTime;
    }

    /// <summary>
    /// 检查实体是否存在
    /// </summary>
    /// <param name="entityId">实体ID</param>
    /// <returns>实体是否存在</returns>
    public bool EntityExists(string entityId)
    {
        var entity = _simulationManager.GetEntityById(entityId);
        return entity != null;
    }
    #endregion

    #region 私有辅助方法
    /// <summary>
    /// 将仿真元素转换为Matlab状态数组
    /// </summary>
    /// <param name="element">仿真元素</param>
    /// <returns>状态数组 [x, y, z, vx, vy, vz, roll, pitch, yaw, isActive]</returns>
    private double[] ConvertToMatlabStateArray(ISimulationElement element)
    {
        var pos = element.KState.Position;
        var ori = element.KState.Orientation;
        var speed = element.KState.Speed;

        // 计算速度分量
        var vx = speed * Math.Cos(ori.Yaw) * Math.Cos(ori.Pitch);
        var vy = speed * Math.Sin(ori.Yaw) * Math.Cos(ori.Pitch);
        var vz = speed * Math.Sin(ori.Pitch);

        return new double[]
        {
            pos.X, pos.Y, pos.Z,           // 位置 [0-2]
            vx, vy, vz,                    // 速度 [3-5]
            ori.Roll, ori.Pitch, ori.Yaw,  // 姿态 [6-8]
            element.IsActive ? 1.0 : 0.0   // 活动状态 [9]
        };
    }
    #endregion
}

/// <summary>
/// Matlab/Simulink仿真示例类
/// </summary>
/// <remarks>
/// 该类演示了：
/// - Matlab/Simulink仿真系统的初始化
/// - 适配器的配置和使用
/// - 典型的导弹-目标仿真场景
/// 用于指导实际项目中的集成实现
/// </remarks>
public class MatlabSimulinkExample
{
    private MatlabSimulinkAdapter _adapter;

    /// <summary>
    /// 初始化示例
    /// </summary>
    public void Initialize()
    {
        _adapter = new MatlabSimulinkAdapter();
        Console.WriteLine("Matlab/Simulink ThreatSource集成示例初始化完成");
    }

    /// <summary>
    /// 运行基本仿真示例
    /// </summary>
    public void RunBasicSimulationExample()
    {
        try
        {
            // 启动仿真系统
            if (!_adapter.StartSimulation(0.01))
            {
                Console.WriteLine("仿真启动失败");
                return;
            }

            // 创建目标
            bool targetCreated = _adapter.CreateTarget(
                "target_001", 
                5000, 0, 1000,     // 位置: 5km距离，1km高度
                -50, 0, 0          // 速度: 50m/s向西移动
            );

            if (!targetCreated)
            {
                Console.WriteLine("目标创建失败");
                return;
            }

            // 创建红外制导导弹
            bool missileCreated = _adapter.CreateIRMissile(
                "missile_001",
                0, 0, 100,         // 发射位置: 起始位置，100m高度
                "target_001"       // 目标ID
            );

            if (missileCreated)
            {
                Console.WriteLine("基本仿真示例场景创建成功");
                
                // 运行仿真步骤示例
                for (int i = 0; i < 10; i++)
                {
                    _adapter.UpdateSimulation(0.01);
                    
                    // 获取导弹状态
                    var missileState = _adapter.GetEntityState("missile_001");
                    Console.WriteLine($"时间: {_adapter.GetCurrentTime():F2}s, 导弹位置: [{missileState[0]:F1}, {missileState[1]:F1}, {missileState[2]:F1}]");
                    
                    // 在实际Simulink中，这里会是Simulink的时间步进
                    System.Threading.Thread.Sleep(10);
                }
            }
            else
            {
                Console.WriteLine("导弹创建失败");
            }
        }
        catch (Exception ex)
        {
            Console.WriteLine($"运行仿真示例失败: {ex.Message}");
        }
    }

    /// <summary>
    /// 运行多导弹仿真示例
    /// </summary>
    public void RunMultiMissileExample()
    {
        try
        {
            // 启动仿真
            _adapter.StartSimulation(0.01);

            // 创建多个目标
            _adapter.CreateTarget("target_001", 3000, 1000, 800, -30, -10, 0);
            _adapter.CreateTarget("target_002", 4000, -500, 1200, -40, 20, 0);

            // 创建不同类型的导弹
            _adapter.CreateIRMissile("ir_missile_001", 0, 0, 100, "target_001");
            _adapter.CreateMMWMissile("mmw_missile_001", 100, 0, 100, "target_002");

            Console.WriteLine("多导弹仿真示例场景创建成功");

            // 显示所有实体
            var entityIds = _adapter.GetAllEntityIds();
            Console.WriteLine($"仿真中共有 {entityIds.Length} 个实体:");
            foreach (var id in entityIds)
            {
                Console.WriteLine($"  - {id}");
            }
        }
        catch (Exception ex)
        {
            Console.WriteLine($"运行多导弹示例失败: {ex.Message}");
        }
    }

    /// <summary>
    /// 清理资源
    /// </summary>
    public void Cleanup()
    {
        _adapter?.StopSimulation();
        Console.WriteLine("Matlab/Simulink ThreatSource集成示例已清理");
    }
}

#endif // 结束编译指令块