qt5-legatus-legacy/Lts/Services/AreaEffectSimulation/EffectorFiringStrategy/dm72_firing_strategy.cpp

/**
  * Effector Firing Strategy for DM72
  * $Id$
  * $HeadURL$
  * $Author$
  * Created by Hannes Fritsche, ESZS, 2026-05-21
  */

#include "dm72_firing_strategy.h"

#include "main_handler.h"
#include "object_effector.h"

#include <LtsCoordTrans/lts_coord_trans.h>
#include <TrainingAreaBase/Plugins/AdlerJson/telegrams.h>
#include <Trajectory/trajectory_transform.h>

#include <QJsonArray>
#include <QJsonDocument>
#include <QJsonObject>
#include <QJsonValue>
#include <QTransform>

namespace AreaEffectSimulation
{

Dm72FiringStrategy::Dm72FiringStrategy(ObjectEffector *effector)
  : AbstractFiringStrategy(effector)
{
  init();

  DEBUG_LOG(m_logger) << "using Dm72FiringStrategy";
}

bool Dm72FiringStrategy::doFiring()
{
  m_transformedTrajectory = TrajectoryTransform::transformToNewTarget(m_effector->intendendTrajectory(), m_impactPoints.at(m_impactPointIndex++));

  if (m_transformedTrajectory.size() < 2)
  {
    ERROR_LOG(m_logger) << LOGFUNCTION << " transformedTrajectory is not sufficiant"
                        << ", m_transformedTrajectory.size()" << m_transformedTrajectory.size();
    return false;
  }

  if (m_impactPointIndex >= m_impactPoints.size())
    m_impactPointIndex = 0;

  const qint64 trajectoryStartTime = getStartTime();

  const auto geometry      = buildTrajectoryGeometry(m_transformedTrajectory);
  const auto trajTimeAware = buildTrajectoryTimeAware(geometry, trajectoryStartTime);

  QJsonObject props{{QStringLiteral("effectDurationMsec"), m_effectDurationMsec}};
  const int chargeEffectId = sendChargeEffect(trajTimeAware, props);
  if (chargeEffectId < 0)
  {
    ERROR_LOG(m_logger) << LOGFUNCTION << " sendChargeEffect failed";
    return false;
  }

  emit signalFired(m_effector->participantId(), m_effector->aesItemId(), {chargeEffectId});

  return true;
}

void Dm72FiringStrategy::init()
{
  DEBUG_LOG(m_logger) << LOGFUNCTION << " START"
                      << ", m_effector->participantId=" << m_effector->participantId()
                      << ", m_effector->aesItemId=" << m_effector->aesItemId();

  using namespace AdlerJson;
  using namespace LtsCoordTrans;

  m_impactPointIndex = 0;
  m_impactPoints.clear();

  bool bOk = false;
  WirkmittelFeuerkommandoRakete wirkmittel;

  const std::string propertiesStdStr = m_effector->effectorData().properties();
  DEBUG_LOG(m_logger) << LOGFUNCTION << " START" << ", propertiesStdStr= '" << propertiesStdStr << "'";

  const QJsonObject properties = QJsonDocument::fromJson(QByteArray::fromStdString(propertiesStdStr)).object();
  const Core::GeoPosition geoStartPos = participantPosition(m_effector->participantId());
  const UtmCoordinate utmStartPos = UtmCoordinate::fromGeographic(geoStartPos.lon(), geoStartPos.lat());

  wirkmittelFeuerkommandoRaketeFromJson(properties, wirkmittel, bOk);

  using UtmWithHeight = std::pair<UtmCoordinate, int>;

  m_effectDurationMsec = getFeuerkommandoRaketeEffectDurationMsec(properties);
  QVector<UtmWithHeight> tempUtmTreffpunkte;
  tempUtmTreffpunkte.reserve(wirkmittel.geschoss.anzahl);

  for (const Treffpunkt &treffpunkt : qAsConst(wirkmittel.treffpunkte))
  {
    const UtmCoordinate utmTreffpunkt = UtmCoordinate::fromGeographic(treffpunkt.koordinate.koordinate.longitude * deg2rad(),
                                                                      treffpunkt.koordinate.koordinate.latitude * deg2rad(),
                                                                      utmStartPos.zone);

    for (int anzahlCounter = 1; anzahlCounter <= treffpunkt.anzahl; ++anzahlCounter)
      tempUtmTreffpunkte.append({utmTreffpunkt, treffpunkt.koordinate.hoehe});
  }

  const QVector<QPointF> mineLayingCentroidDeviations = mineLayingCentroids();
  int deviationIndex = 0;

  for (const UtmWithHeight &tempUtmTreffpunkt : tempUtmTreffpunkte)
  {
    const QPointF &deviation = mineLayingCentroidDeviations.at(deviationIndex++);
    const LtsUtils::QPoint3D impactPoint(tempUtmTreffpunkt.first.x - utmStartPos.x + deviation.x(),
                                         tempUtmTreffpunkt.first.y - utmStartPos.y + deviation.y(),
                                         tempUtmTreffpunkt.second);

    m_impactPoints.append(impactPoint);

    if (deviationIndex >= mineLayingCentroidDeviations.size())
      deviationIndex = 0;
  }

  DEBUG_LOG(m_logger) << "Got " << m_impactPoints.size() << " impact points";

  TRACE_LOG(m_logger) << LOGFUNCTION << " END";
}

QVector<QPointF> Dm72FiringStrategy::mineLayingCentroids() const
{
  using namespace LtsCoordTrans;

  const int chargeTypeId = m_effector->effectorData().chargeStruct().chargeTypeId();
  const ProjectDataManagement::ChargeType &chargeType = m_effector->mainHandler()->dds()->pdmDtc()->chargeType(chargeTypeId);
  const QJsonObject chargeTypeProperties = QJsonDocument::fromJson(QByteArray::fromStdString(chargeType.properties())).object();
  const QJsonObject mineLaying = chargeTypeProperties.value(QStringLiteral("mineLaying")).toObject();
  const QJsonArray mineLayingPattern = mineLaying.value(QStringLiteral("pattern")).toArray();
  /* QMap is used here because it sort its entries by key.
   * Since each pattern has an id and we want the pattern sorted by id, adding them to a QMap
   * automatically sorts the pattern.
   */
  QMap<int, QPointF> centroidsMap;
  const UtmCoordinate mhpUtm = UtmCoordinate::fromGeographic(m_effector->effectorData().mhpPosition().lon(),
                                                             m_effector->effectorData().mhpPosition().lat());
  const double rotationAngle = angleToMhpUtm(mhpUtm.toPoint());
  QTransform rotation;

  rotation.rotate(rotationAngle);

  for (const QJsonValue &patternValue: mineLayingPattern)
  {
    const QJsonObject patternObject = patternValue.toObject();
    const int patternId = patternObject.value(QStringLiteral("id")).toInt();
    const QJsonArray patternPositionArray = patternObject.value(QStringLiteral("positions")).toArray();
    int sumNorthing = 0;
    int sumEasting = 0;

    for (const QJsonValue &positionValue : patternPositionArray)
    {
      const QJsonObject positionObject = positionValue.toObject();

      const int northing = positionObject.value(QStringLiteral("northing")).toInt();
      const int easting = positionObject.value(QStringLiteral("easting")).toInt();

      sumNorthing += northing;
      sumEasting += easting;
    }

    QPointF centroid(static_cast<double>(sumEasting) / patternPositionArray.size(), static_cast<double>(sumNorthing) / patternPositionArray.size());

    centroid = rotation.map(centroid);

    centroidsMap.insert(patternId, centroid);
  }

  if (centroidsMap.isEmpty())
  {
    WARNING_LOG(m_logger) << "Could not read mine laying patterns from DM72 ammunition properties for creation of DM72 trajectories.";

    return { QPointF(0.0, 0.0) }; // We have to return at least one QPointF(0.0, 0.0) to ensure later DM72 functionality
  }

  int vectorIndex = 0;
  QVector<QPointF> mineLayingCentroids;

  mineLayingCentroids.reserve(centroidsMap.size());

  for (auto it = centroidsMap.constBegin(); it != centroidsMap.constEnd(); ++it)
    mineLayingCentroids.insert(vectorIndex++, it.value()); // insert with index ensures sorting

  return mineLayingCentroids;
}

double Dm72FiringStrategy::angleToMhpUtm(const QPointF &mhpUtm) const
{
  const ParticipantManagement::ParticipantPosition &ownPosition = m_effector->mainHandler()->dds()->ppmDtc()->participantPosition(m_effector->participantId());
  const LtsCoordTrans::UtmCoordinate ownPositionUtm = LtsCoordTrans::UtmCoordinate::fromGeographic(ownPosition.pos().lon(), ownPosition.pos().lat());
  const double angle = QLineF(mhpUtm, ownPositionUtm.toPoint()).angle();
  double northAngle = 90 - angle;

  northAngle = std::fmod(northAngle, 360.0);

  if (northAngle < 0.0)
    northAngle += 360.0;

  DEBUG_LOG(m_logger) << "angleToMhpUtm:"
                      << "mhpUtm=" << mhpUtm
                      << ", ownPositionUtm=" << ownPositionUtm.toPoint()
                      << ", angle=" << angle
                      << ", northAngle=" << northAngle;

  return northAngle;
}

} // namespace AreaEffectSimulation