599 lines
18 KiB
C#
599 lines
18 KiB
C#
#if NEVER // 使用编译指令确保此文件永远不会被编译
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// Matlab/Simulink集成示例代码 - .NET Assembly直接调用方式
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//
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// 【适用场景】
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// - Matlab R2019b或更高版本
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// - 需要在Simulink模型中集成威胁源仿真
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// - 实时仿真数据交换和时间同步
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//
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// 【前置条件】
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// 1. 将 ThreatSource.dll 放入 Matlab 路径或指定目录
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// 2. 将 data/ 目录复制到 Matlab 工作目录下
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// 3. Matlab版本支持 .NET 8.0
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//
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// 展示如何将Matlab/Simulink与ThreatSource仿真系统集成
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// 需要实现的核心功能: .NET Assembly加载、数据交换、时间同步
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using ThreatSource.Simulation;
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using ThreatSource.Data;
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using ThreatSource.Missile;
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using ThreatSource.Equipment;
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using ThreatSource.Utils;
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using System;
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using System.Collections.Generic;
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/// <summary>
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/// Matlab/Simulink适配器类，演示如何将威胁源库集成到Matlab/Simulink中
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/// </summary>
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/// <remarks>
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/// 该类提供以下功能：
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/// - .NET Assembly方式的Matlab集成
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/// - 简化的API接口，便于Matlab调用
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/// - 实时数据交换和状态同步
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/// - 事件处理和回调机制
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/// - 与Simulink时间步长的协调
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/// 本示例代码作为集成参考，可根据具体需求进行修改
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/// </remarks>
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public class MatlabSimulinkAdapter
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{
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#region 私有字段
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/// <summary>
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/// 仿真管理器实例
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/// </summary>
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private ISimulationManager _simulationManager;
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/// <summary>
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/// 数据管理器实例
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/// </summary>
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private ThreatSourceDataManager _dataManager;
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/// <summary>
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/// Matlab创建的实体映射
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/// </summary>
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private Dictionary<string, object> _matlabEntities = new Dictionary<string, object>();
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/// <summary>
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/// 当前仿真时间
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/// </summary>
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private double _currentTime = 0.0;
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/// <summary>
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/// 仿真时间步长
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/// </summary>
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private double _timeStep = 0.01;
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/// <summary>
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/// 是否已初始化
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/// </summary>
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private bool _isInitialized = false;
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#endregion
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#region 构造函数
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/// <summary>
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/// 初始化Matlab/Simulink适配器的新实例
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/// </summary>
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public MatlabSimulinkAdapter()
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{
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InitializeSimulation();
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}
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/// <summary>
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/// 初始化仿真系统
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/// </summary>
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private void InitializeSimulation()
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{
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try
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{
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// 创建仿真管理器
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_simulationManager = new SimulationManager();
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// 创建数据管理器
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_dataManager = new ThreatSourceDataManager();
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Console.WriteLine("[MatlabAdapter] 威胁源仿真系统初始化完成");
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}
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catch (Exception ex)
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{
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Console.WriteLine($"[MatlabAdapter] 初始化失败: {ex.Message}");
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throw;
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}
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}
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#endregion
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#region Matlab公共接口
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/// <summary>
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/// 启动仿真系统
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/// </summary>
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/// <param name="timeStep">仿真时间步长（秒）</param>
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/// <returns>启动是否成功</returns>
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public bool StartSimulation(double timeStep = 0.01)
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{
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try
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{
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if (!_isInitialized)
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{
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_timeStep = timeStep;
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_simulationManager.StartSimulation(timeStep);
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_isInitialized = true;
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Console.WriteLine($"[MatlabAdapter] 仿真已启动，时间步长: {timeStep}s");
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}
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return true;
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}
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catch (Exception ex)
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{
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Console.WriteLine($"[MatlabAdapter] 启动仿真失败: {ex.Message}");
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return false;
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}
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}
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/// <summary>
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/// 更新仿真状态（在Simulink中每个时间步调用）
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/// </summary>
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/// <param name="deltaTime">时间步长</param>
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/// <returns>更新是否成功</returns>
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public bool UpdateSimulation(double deltaTime)
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{
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try
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{
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if (!_isInitialized) return false;
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_simulationManager.Update(deltaTime);
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_currentTime += deltaTime;
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return true;
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}
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catch (Exception ex)
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{
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Console.WriteLine($"[MatlabAdapter] 仿真更新失败: {ex.Message}");
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return false;
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}
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}
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/// <summary>
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/// 创建目标实体（供Matlab调用）
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/// </summary>
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/// <param name="entityId">实体ID</param>
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/// <param name="posX">X坐标</param>
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/// <param name="posY">Y坐标</param>
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/// <param name="posZ">Z坐标</param>
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/// <param name="velX">X方向速度</param>
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/// <param name="velY">Y方向速度</param>
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/// <param name="velZ">Z方向速度</param>
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/// <returns>创建是否成功</returns>
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public bool CreateTarget(string entityId, double posX, double posY, double posZ,
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double velX, double velY, double velZ)
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{
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try
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{
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var targetPos = new Vector3D(posX, posY, posZ);
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var targetVel = new Vector3D(velX, velY, velZ);
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var tankInitialMotion = new KinematicState
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{
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Position = targetPos,
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Orientation = new Orientation(0, 0, Math.Atan2(velY, velX)),
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Speed = targetVel.Magnitude()
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};
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var tankProperties = new EquipmentProperties
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{
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InfraredRadiationIntensity = 10.0,
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UltravioletRadiationIntensity = 10.0,
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MillimeterWaveRadiationIntensity = 10.0
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};
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var tank = new Tank(entityId, tankProperties, tankInitialMotion, _simulationManager);
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_simulationManager.RegisterEntity(entityId, tank);
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_matlabEntities[entityId] = tank;
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Console.WriteLine($"[MatlabAdapter] 成功创建目标: {entityId}");
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return true;
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}
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catch (Exception ex)
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{
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Console.WriteLine($"[MatlabAdapter] 创建目标失败: {ex.Message}");
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return false;
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}
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}
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/// <summary>
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/// 创建红外成像制导导弹
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/// </summary>
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/// <param name="entityId">导弹ID</param>
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/// <param name="posX">发射位置X</param>
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/// <param name="posY">发射位置Y</param>
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/// <param name="posZ">发射位置Z</param>
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/// <param name="targetId">目标ID</param>
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/// <returns>创建是否成功</returns>
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public bool CreateIRMissile(string entityId, double posX, double posY, double posZ, string targetId)
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{
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try
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{
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var launchPos = new Vector3D(posX, posY, posZ);
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var missileInitialMotion = new KinematicState
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{
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Position = launchPos,
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Orientation = new Orientation(0, 0, 0),
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Speed = 100
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};
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var properties = new MissileProperties
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{
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MaxSpeed = 1000,
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MaxFlightTime = 100,
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MaxFlightDistance = 10000,
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MaxAcceleration = 50,
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ProportionalNavigationCoefficient = 3,
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Mass = 100,
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ExplosionRadius = 10,
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HitProbability = 0.9,
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Type = MissileType.InfraredImagingTerminalGuidance
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};
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var guidanceConfig = new InfraredImagingGuidanceConfig
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{
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JammingResistanceThreshold = 1e-3
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};
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var missile = new InfraredImagingTerminalGuidanceMissile(
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entityId, properties, missileInitialMotion, guidanceConfig, _simulationManager);
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if (!string.IsNullOrEmpty(targetId))
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{
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missile.SetTarget(targetId);
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}
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_simulationManager.RegisterEntity(entityId, missile);
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_matlabEntities[entityId] = missile;
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Console.WriteLine($"[MatlabAdapter] 成功创建红外导弹: {entityId}");
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return true;
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}
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catch (Exception ex)
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{
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Console.WriteLine($"[MatlabAdapter] 创建红外导弹失败: {ex.Message}");
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return false;
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}
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}
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/// <summary>
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/// 创建毫米波制导导弹
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/// </summary>
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/// <param name="entityId">导弹ID</param>
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/// <param name="posX">发射位置X</param>
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/// <param name="posY">发射位置Y</param>
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/// <param name="posZ">发射位置Z</param>
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/// <param name="targetId">目标ID</param>
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/// <returns>创建是否成功</returns>
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public bool CreateMMWMissile(string entityId, double posX, double posY, double posZ, string targetId)
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{
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try
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{
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var launchPos = new Vector3D(posX, posY, posZ);
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var missileInitialMotion = new KinematicState
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{
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Position = launchPos,
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Orientation = new Orientation(0, 0, 0),
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Speed = 100
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};
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var properties = new MissileProperties
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{
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MaxSpeed = 1000,
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MaxFlightTime = 100,
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MaxFlightDistance = 10000,
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MaxAcceleration = 50,
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ProportionalNavigationCoefficient = 3,
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Mass = 100,
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ExplosionRadius = 10,
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HitProbability = 0.9,
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Type = MissileType.MillimeterWaveTerminalGuidance
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};
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var guidanceConfig = new MillimeterWaveGuidanceConfig
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{
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FieldOfViewAngle = 30,
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TransmitPower = 0.5,
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AntennaGainDB = 25,
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WaveFrequency = 94e9
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};
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var missile = new MillimeterWaveTerminalGuidedMissile(
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entityId, properties, missileInitialMotion, guidanceConfig, _simulationManager);
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if (!string.IsNullOrEmpty(targetId))
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{
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missile.SetTarget(targetId);
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}
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_simulationManager.RegisterEntity(entityId, missile);
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_matlabEntities[entityId] = missile;
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Console.WriteLine($"[MatlabAdapter] 成功创建毫米波导弹: {entityId}");
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return true;
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}
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catch (Exception ex)
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{
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Console.WriteLine($"[MatlabAdapter] 创建毫米波导弹失败: {ex.Message}");
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return false;
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}
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}
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/// <summary>
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/// 获取实体状态（供Matlab调用）
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/// </summary>
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/// <param name="entityId">实体ID</param>
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/// <returns>状态数组 [x, y, z, vx, vy, vz, roll, pitch, yaw, isActive]</returns>
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public double[] GetEntityState(string entityId)
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{
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try
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{
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var entity = _simulationManager.GetEntityById(entityId);
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if (entity is ISimulationElement simElement)
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{
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return ConvertToMatlabStateArray(simElement);
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}
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return new double[10]; // 返回零数组
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}
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catch (Exception ex)
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{
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Console.WriteLine($"[MatlabAdapter] 获取实体状态失败: {ex.Message}");
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return new double[10];
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}
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}
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/// <summary>
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/// 设置实体位置（供Matlab调用）
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/// </summary>
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/// <param name="entityId">实体ID</param>
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/// <param name="posX">X坐标</param>
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/// <param name="posY">Y坐标</param>
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/// <param name="posZ">Z坐标</param>
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/// <returns>设置是否成功</returns>
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public bool SetEntityPosition(string entityId, double posX, double posY, double posZ)
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{
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try
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{
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var entity = _simulationManager.GetEntityById(entityId);
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if (entity is ISimulationElement simElement)
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{
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simElement.KState.Position = new Vector3D(posX, posY, posZ);
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return true;
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}
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return false;
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}
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catch (Exception ex)
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{
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Console.WriteLine($"[MatlabAdapter] 设置实体位置失败: {ex.Message}");
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return false;
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}
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}
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/// <summary>
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/// 获取所有实体ID列表（供Matlab调用）
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/// </summary>
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/// <returns>实体ID字符串数组</returns>
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public string[] GetAllEntityIds()
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{
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try
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{
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var allEntities = _simulationManager.GetAllEntities();
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var entityIds = new List<string>();
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foreach (var entity in allEntities)
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{
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if (entity is ISimulationElement simElement)
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{
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entityIds.Add(simElement.Id);
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}
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}
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return entityIds.ToArray();
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}
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catch (Exception ex)
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{
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Console.WriteLine($"[MatlabAdapter] 获取实体列表失败: {ex.Message}");
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return new string[0];
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}
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}
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/// <summary>
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/// 停止仿真
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/// </summary>
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public void StopSimulation()
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{
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try
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{
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_simulationManager.StopSimulation();
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_isInitialized = false;
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_matlabEntities.Clear();
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_currentTime = 0.0;
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Console.WriteLine("[MatlabAdapter] 仿真已停止");
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}
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catch (Exception ex)
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{
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Console.WriteLine($"[MatlabAdapter] 停止仿真失败: {ex.Message}");
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}
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}
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/// <summary>
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/// 获取当前仿真时间
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/// </summary>
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/// <returns>当前仿真时间（秒）</returns>
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public double GetCurrentTime()
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{
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return _currentTime;
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}
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/// <summary>
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/// 检查实体是否存在
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/// </summary>
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/// <param name="entityId">实体ID</param>
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/// <returns>实体是否存在</returns>
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public bool EntityExists(string entityId)
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{
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var entity = _simulationManager.GetEntityById(entityId);
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return entity != null;
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}
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#endregion
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#region 私有辅助方法
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/// <summary>
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/// 将仿真元素转换为Matlab状态数组
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/// </summary>
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/// <param name="element">仿真元素</param>
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/// <returns>状态数组 [x, y, z, vx, vy, vz, roll, pitch, yaw, isActive]</returns>
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private double[] ConvertToMatlabStateArray(ISimulationElement element)
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{
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var pos = element.KState.Position;
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var ori = element.KState.Orientation;
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var speed = element.KState.Speed;
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// 计算速度分量
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var vx = speed * Math.Cos(ori.Yaw) * Math.Cos(ori.Pitch);
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var vy = speed * Math.Sin(ori.Yaw) * Math.Cos(ori.Pitch);
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var vz = speed * Math.Sin(ori.Pitch);
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return new double[]
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{
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pos.X, pos.Y, pos.Z, // 位置 [0-2]
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vx, vy, vz, // 速度 [3-5]
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ori.Roll, ori.Pitch, ori.Yaw, // 姿态 [6-8]
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element.IsActive ? 1.0 : 0.0 // 活动状态 [9]
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};
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}
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#endregion
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}
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/// <summary>
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/// Matlab/Simulink仿真示例类
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/// </summary>
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/// <remarks>
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/// 该类演示了：
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/// - Matlab/Simulink仿真系统的初始化
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/// - 适配器的配置和使用
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/// - 典型的导弹-目标仿真场景
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/// 用于指导实际项目中的集成实现
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/// </remarks>
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public class MatlabSimulinkExample
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{
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private MatlabSimulinkAdapter _adapter;
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/// <summary>
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/// 初始化示例
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/// </summary>
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public void Initialize()
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{
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_adapter = new MatlabSimulinkAdapter();
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Console.WriteLine("Matlab/Simulink ThreatSource集成示例初始化完成");
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}
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/// <summary>
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/// 运行基本仿真示例
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/// </summary>
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public void RunBasicSimulationExample()
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{
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try
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{
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// 启动仿真系统
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if (!_adapter.StartSimulation(0.01))
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{
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Console.WriteLine("仿真启动失败");
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return;
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}
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// 创建目标
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bool targetCreated = _adapter.CreateTarget(
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"target_001",
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5000, 0, 1000, // 位置: 5km距离，1km高度
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-50, 0, 0 // 速度: 50m/s向西移动
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);
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if (!targetCreated)
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{
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Console.WriteLine("目标创建失败");
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return;
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}
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// 创建红外制导导弹
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bool missileCreated = _adapter.CreateIRMissile(
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"missile_001",
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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 |