//------------------------------------------------------------------------------
// process() -- process the TWS reports
//------------------------------------------------------------------------------
void Radar::process(const LCreal dt)
{
BaseClass::process(dt);
// Find the track manager
TrackManager* tm = getTrackManager();
if (tm == nullptr) {
// No track manager! Then just flush the input queue.
lcLock(myLock);
for (Emission* em = rptQueue.get(); em != nullptr; em = rptQueue.get()) {
em->unref();
rptSnQueue.get();
}
lcUnlock(myLock);
}
// ---
// When end of scan, send all unsent reports to the track manager
// ---
if (endOfScanFlg) {
endOfScanFlg = false;
lcLock(myLock);
for (unsigned int i = 0; i < numReports && i < MAX_REPORTS; i++) {
if (tm != nullptr) {
tm->newReport(reports[i], rptMaxSn[i]);
}
reports[i]->unref();
reports[i] = nullptr;
rptMaxSn[i] = 0;
}
numReports = 0;
lcUnlock(myLock);
}
// ---
// Process our returned emissions into reports for the track manager
// 1) Match each emission with existing reports
// 2) On emission/report matches, if the S/N value of the new emission
// is greater than the report, use the new emission
// 3) Create new reports for unmatched emissions
// ---
lcLock(myLock);
while (rptQueue.isNotEmpty()) {
// Get the emission
Emission* em = rptQueue.get();
LCreal snDbl = rptSnQueue.get();
if (em != nullptr) {
// ---
// 1) Match the emission with existing reports
// ---
int matched = -1;
for (unsigned int i = 0; i < numReports && matched < 0; i++) {
// Compare targets
if ( em->getTarget() == reports[i]->getTarget() ) {
// We have a match!!!
matched = i;
}
}
// ---
// 2) On emission/report match
// ---
if (matched >= 0) {
if (snDbl > rptMaxSn[matched]) {
// When the S/N value of the new emission is greater than the report,
// we use the new emission
reports[matched]->unref();
em->ref();
reports[matched] = em;
rptMaxSn[matched] = snDbl;
}
}
// ---
// 3) Create a new report entry for the unmatched emission
// ---
if (matched < 0 && numReports < MAX_REPORTS) {
em->ref();
reports[numReports] = em;
rptMaxSn[numReports] = snDbl;
numReports++;
}
// finished
em->unref();
}
}
lcUnlock(myLock);
}
//------------------------------------------------------------------------------
// receive() -- process received emissions
//------------------------------------------------------------------------------
void Rwr::receive(const LCreal dt)
{
BaseClass::receive(dt);
// clear the back buffer
clearRays(0);
// Receiver losses
#if 0
LCreal noise = getRfRecvNoise();
#else
LCreal noise = getRfRecvNoise() * getRfReceiveLoss();
#endif
// Process received emissions
TrackManager* tm = getTrackManager();
Emission* em = 0;
LCreal signal = 0;
// Get an emission from the queue
lcLock(packetLock);
if (np > 0) {
np--; // Decrement 'np', now the array index
em = packets[np];
signal = signals[np];
}
lcUnlock(packetLock);
while (em != 0) {
//std::cout << "Rwr::receive(" << em->getOwnship() << "): ";
//std::cout << " pwr=" << em->getPower();
//std::cout << " gain=" << em->getGain();
//std::cout << " rl=" << rl;
//std::cout << " pulses=" << pulses;
//std::cout << " losses=" << losses;
//std::cout << " signal=" << signal;
//std::cout << " recvN=" << getRfRecvNoise();
//std::cout << " sn=" << sn;
//std::cout << " snDbl=" << snDbl;
//std::cout << " thrs=" << getRfThreshold();
//std::cout << std::endl;
// CGB, if "signal <= 0.0", then "snDbl" is probably invalid
if (signal > 0.0 && dt != 0.0) {
// Signal over noise (equation 3-5)
LCreal sn = signal / noise;
LCreal snDbl = 10.0f * lcLog10(sn);
// Is S/N above receiver threshold ## dpg -- for now, don't include ECM emissions
if (snDbl > getRfThreshold() && !em->isECM() && rptQueue.isNotFull()) {
// Send report to the track manager
if (tm != 0) {
tm->newReport(em, snDbl);
}
// Get Angle Of Arrival
LCreal aoa= em->getAzimuthAoi();
// Store received power for real-beam display
LCreal sigDbl = 10.0f * lcLog10(signal);
LCreal signal10 = (sigDbl + 50.0f)/50.f;
int idx = getRayIndex( static_cast<LCreal>(Basic::Angle::R2DCC * aoa) );
rays[0][idx] = lim01(rays[0][idx] + signal10);
//if (idx == 0 && getOwnship()->getID() == 1011) {
// std::cout << "sig = " << signal10 << std::endl;
//}
// Send to the track list processor
em->ref(); // ref() for track list processing
rptQueue.put(em);
}
}
// finished
em->unref(); // this unref() undoes the ref() done by RfSystem::rfReceivedEmission
em = 0;
// Get another emission from the queue
lcLock(packetLock);
if (np > 0) {
np--;
em = packets[np];
signal = signals[np];
}
lcUnlock(packetLock);
}
// Transfer the rays
xferRays();
}
