374 lines
14 KiB
C#
374 lines
14 KiB
C#
using ThreatSource.Utils;
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using ThreatSource.Simulation;
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using ThreatSource.Jammable;
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using System.Diagnostics;
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using ThreatSource.Jammer;
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using ThreatSource.Missile;
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namespace ThreatSource.Guidance
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{
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/// <summary>
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/// 基础制导系统类，实现了制导系统的基本功能框架
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/// </summary>
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/// <remarks>
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/// 该类提供了制导系统的通用实现：
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/// - 制导状态管理
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/// - 运动参数记录
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/// - 加速度限制
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/// - 比例导引系数
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/// - 干扰处理
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/// - 事件发布
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/// 是其他具体制导系统的基类
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/// </remarks>
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public abstract class BaseGuidanceSystem : SimulationElement, IGuidanceSystem, IJammable
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{
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/// <summary>
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/// 干扰处理组件
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/// </summary>
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protected readonly JammableComponent _jammingComponent;
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/// <summary>
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/// 获取设备支持的干扰类型
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/// </summary>
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public abstract IEnumerable<JammingType> SupportedJammingTypes { get; }
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/// <summary>
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/// 获取设备支持的阻塞干扰类型
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/// </summary>
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public abstract IEnumerable<JammingType> SupportedBlockingJammingTypes { get; }
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/// <summary>
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/// 获取设备当前是否处于被干扰状态
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/// </summary>
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public bool IsJammed => _jammingComponent.IsJammed;
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/// <summary>
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/// 获取设备当前是否正受到有效的阻塞式干扰
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/// </summary>
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public bool IsBlockingJammed => _jammingComponent.IsBlockingJammed;
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/// <summary>
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/// 获取或设置父实体ID
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/// </summary>
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/// <remarks>
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/// 记录所属导弹的ID
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/// 用于事件发布和状态关联
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/// </remarks>
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public string MissileId { get; set; }
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/// <summary>
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/// 获取或设置是否有有效的制导信息
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/// </summary>
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/// <remarks>
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/// true表示当前有可用的制导信息
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/// false表示无法获得有效制导
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/// 用于判断制导系统的工作状态
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/// </remarks>
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public bool HasGuidance { get; protected set; }
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/// <summary>
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/// 获取或设置最大加速度，单位：米/平方秒
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/// </summary>
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/// <remarks>
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/// 定义了制导加速度的上限
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/// 用于限制导弹的机动能力
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/// 考虑结构和动力限制
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/// </remarks>
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public double MaxAcceleration { get; set; }
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/// <summary>
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/// 获取或设置比例导引系数
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/// </summary>
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/// <remarks>
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/// 定义了制导指令的增益
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/// 影响制导系统的响应特性
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/// 通常取值3~5
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/// </remarks>
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public double ProportionalNavigationCoefficient { get; set; }
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/// <summary>
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/// 获取或设置制导加速度，单位：米/平方秒
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/// </summary>
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/// <remarks>
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/// 存储计算得到的制导指令
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/// 用于控制导弹的运动轨迹
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/// </remarks>
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protected Vector3D GuidanceAcceleration { get; set; }
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/// <summary>
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/// 初始化基础制导系统的新实例
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/// </summary>
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/// <param name="id">制导系统ID</param>
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/// <param name="missileId">导弹ID</param>
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/// <param name="maxAcceleration">最大加速度，单位：米/平方秒</param>
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/// <param name="proportionalNavigationCoefficient">比例导引系数</param>
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/// <param name="simulationManager">仿真管理器实例</param>
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/// <remarks>
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/// 构造过程：
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/// - 初始化基类参数
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/// - 初始化制导状态
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/// - 设置运动参数
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/// - 配置制导参数
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/// - 初始化干扰处理
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/// </remarks>
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public BaseGuidanceSystem(string id, string missileId, double maxAcceleration, double proportionalNavigationCoefficient, ISimulationManager simulationManager)
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: base(id, new KinematicState(), simulationManager)
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{
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MissileId = missileId;
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if (SimulationManager.GetEntityById(MissileId) is BaseMissile missile)
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{
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KState = missile.KState;
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}
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HasGuidance = false;
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GuidanceAcceleration = Vector3D.Zero;
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MaxAcceleration = maxAcceleration;
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ProportionalNavigationCoefficient = proportionalNavigationCoefficient;
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// 初始化干扰处理组件
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_jammingComponent = new JammableComponent(
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positionProvider: () => base.KState.Position
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);
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// Subscribe to the events instead
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_jammingComponent.JammingApplied += HandleJammingApplied;
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_jammingComponent.JammingCleared += HandleJammingCleared;
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// 子类需要在构造函数中设置支持的干扰类型和阈值
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}
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/// <summary>
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/// 激活制导系统 (基类处理干扰事件订阅)
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/// </summary>
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public override void Activate()
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{
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if (!IsActive)
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{
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IsActive = true;
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// 统一订阅 JammingEvent
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SimulationManager.SubscribeToEvent<JammingEvent>(HandleJammingEvent);
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SimulationManager.SubscribeToEvent<JammingStoppedEvent>(HandleJammingStoppedEvent);
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// 子类应在此方法中调用 base.Activate() 并订阅其他需要的事件
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}
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// 调用 SimulationElement 的基类 Activate (如果存在)
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// base.Activate(); // SimulationElement 似乎没有公开的 Activate
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}
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/// <summary>
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/// 停用制导系统 (基类处理干扰事件取消订阅)
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/// </summary>
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public override void Deactivate()
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{
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if (IsActive)
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{
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IsActive = false;
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// 统一取消订阅 JammingEvent和JammingStoppedEvent
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SimulationManager.UnsubscribeFromEvent<JammingEvent>(HandleJammingEvent);
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SimulationManager.UnsubscribeFromEvent<JammingStoppedEvent>(HandleJammingStoppedEvent);
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// 子类应在此方法中调用 base.Deactivate() 并取消订阅其他事件
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}
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HasGuidance = false; // 停用时失去制导
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GuidanceAcceleration = Vector3D.Zero;
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base.Deactivate();
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}
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/// <summary>
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/// 更新制导系统状态
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/// </summary>
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/// <param name="deltaTime">时间步长，单位：秒</param>
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/// <remarks>
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/// 实现 SimulationElement 的抽象方法
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/// </remarks>
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public override void Update(double deltaTime)
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{
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if (SimulationManager.GetEntityById(MissileId) is BaseMissile missile)
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{
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KState = missile.KState;
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}
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// 更新干扰状态
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_jammingComponent.UpdateJammingStatus(deltaTime);
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}
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/// <summary>
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/// 获取制导加速度指令
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/// </summary>
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/// <returns>三维制导加速度向量，单位：米/平方秒</returns>
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/// <remarks>
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/// 返回数据：
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/// - X分量：横向制导加速度
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/// - Y分量：垂直制导加速度
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/// - Z分量：纵向制导加速度
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/// 用于导弹的轨迹控制
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/// </remarks>
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public Vector3D GetGuidanceAcceleration()
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{
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return GuidanceAcceleration;
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}
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/// <summary>
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/// 获取制导系统的详细状态信息
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/// </summary>
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/// <returns>包含制导系统状态的信息对象</returns>
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public override ElementStatusInfo GetStatusInfo()
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{
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// 获取基类状态信息
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var statusInfo = base.GetStatusInfo();
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// 添加制导系统特有属性
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statusInfo.ExtendedProperties["HasGuidance"] = HasGuidance;
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statusInfo.ExtendedProperties["IsJammed"] = IsJammed;
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statusInfo.ExtendedProperties["IsBlockingJammed"] = IsBlockingJammed;
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statusInfo.ExtendedProperties["GuidanceAcceleration"] = GuidanceAcceleration;
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statusInfo.ExtendedProperties["MaxAcceleration"] = MaxAcceleration;
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statusInfo.ExtendedProperties["ProportionalNavigationCoefficient"] = ProportionalNavigationCoefficient;
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// 如果有父实体，添加父实体ID
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if (!string.IsNullOrEmpty(MissileId))
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{
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statusInfo.ExtendedProperties["ParentId"] = MissileId;
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}
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return statusInfo;
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}
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/// <summary>
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/// 处理干扰事件
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/// </summary>
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/// <param name="evt">干扰事件</param>
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protected virtual void HandleJammingEvent(JammingEvent evt)
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{
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if (evt != null)
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{
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// 在应用干扰前检查是否应该处理此干扰
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if (ShouldHandleJamming(evt.Parameters))
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{
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ApplyJamming(evt.Parameters);
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}
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}
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}
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/// <summary>
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/// 处理干扰事件
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/// </summary>
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/// <param name="evt">干扰事件</param>
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protected virtual void HandleJammingStoppedEvent(JammingStoppedEvent evt)
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{
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if (evt != null)
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{
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ClearJamming(evt.Parameters);
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}
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}
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/// <summary>
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/// 判断是否应该处理传入的干扰参数（可被子类重写以添加特定检查）
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/// </summary>
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/// <param name="parameters">干扰参数</param>
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/// <returns>如果应该处理则返回 true，否则返回 false</returns>
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protected virtual bool ShouldHandleJamming(JammingParameters parameters)
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{
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// 基类默认处理所有受支持类型的干扰
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// 子类可以重写此方法添加额外检查，如波长/编码匹配
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bool supported = SupportedJammingTypes.Contains(parameters.Type);
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// if(!supported) Debug.WriteLine($"[BaseGuidanceSystem] {Id} 不支持干扰类型: {parameters.Type}");
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return supported;
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}
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/// <summary>
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/// 设置干扰阈值
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/// </summary>
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/// <param name="type">干扰类型</param>
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/// <param name="threshold">阈值值（单位：瓦特）</param>
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protected void SetJammingThreshold(JammingType type, double threshold)
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{
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_jammingComponent.SetJammingThreshold(type, threshold);
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}
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/// <summary>
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/// 添加支持的干扰类型
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/// </summary>
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/// <param name="type">干扰类型</param>
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protected void AddSupportedJammingType(JammingType type)
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{
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_jammingComponent.AddSupportedJammingType(type);
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}
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/// <summary>
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/// 添加支持的阻塞干扰类型
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/// </summary>
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/// <param name="type">干扰类型</param>
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/// <param name="threshold">干扰阈值（单位：瓦特）</param>
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protected void AddSupportedBlockingJammingType(JammingType type, double threshold)
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{
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_jammingComponent.AddSupportedBlockingJammingType(type, threshold);
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}
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/// <summary>
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/// 应用干扰
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/// </summary>
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/// <param name="parameters">干扰参数</param>
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public virtual void ApplyJamming(JammingParameters parameters)
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{
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_jammingComponent.ApplyJamming(parameters);
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}
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/// <summary>
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/// 清除干扰
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/// </summary>
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/// <param name="parameters">干扰参数</param>
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public virtual void ClearJamming(JammingParameters parameters)
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{
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_jammingComponent.ClearJamming(parameters);
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}
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/// <summary>
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/// 处理制导系统被干扰的事件
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/// </summary>
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/// <param name="parameters">干扰参数</param>
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protected virtual void HandleJammingApplied(JammingParameters parameters)
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{
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// 子类可以重写此方法以实现特定的干扰响应
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// 阻塞干扰是硬干扰
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if (parameters.Mode == JammingMode.Blocking)
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{
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HasGuidance = false; // 硬干扰立即停止制导
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Trace.TraceInformation($"[{this.GetType().Name}] 硬干扰已应用: {parameters.Type}");
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}
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}
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/// <summary>
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/// 处理制导系统干扰被清除的事件
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/// </summary>
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/// <param name="parameters">干扰参数</param>
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protected virtual void HandleJammingCleared(JammingParameters parameters)
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{
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// 检查整体干扰状态
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if (!_jammingComponent.IsJammed)
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{
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HasGuidance = true;
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Trace.TraceInformation($"[{GetType().Name}] 所有干扰已清除。");
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}
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}
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/// <summary>
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/// 初始化干扰阈值和支持的干扰类型
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/// </summary>
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/// <param name="jammingResistanceThreshold">干扰抗性阈值，单位：瓦特</param>
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/// <param name="supportedTypes">支持的干扰类型</param>
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/// <param name="supportedBlockingTypes">支持的阻塞干扰类型</param>
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/// <remarks>
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/// 使用此方法初始化指示器的干扰处理参数：
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/// - 设置干扰抗性阈值
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/// - 配置支持的干扰类型
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/// 子类应在构造函数中调用此方法
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/// </remarks>
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protected void InitializeJamming(double jammingResistanceThreshold, IEnumerable<JammingType> supportedTypes, IEnumerable<JammingType> supportedBlockingTypes)
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{
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_jammingComponent.LoadJammingConfigFromThreshold(jammingResistanceThreshold, supportedBlockingTypes);
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foreach (var type in supportedTypes)
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{
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_jammingComponent.AddSupportedJammingType(type);
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}
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}
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}
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}
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