#include "stdafx.h"
#include "RFPCProcessCls.h"
#include "BaseConstVariable.h"
#include "SARSatelliteSimulationAbstractCls.h"
#include "SARSimulationTaskSetting.h"
#include "SatelliteOribtModel.h"
#include <QDebug>
#include "ImageOperatorBase.h"
#include "GeoOperator.h"
#include "EchoDataFormat.h"
#include <QDir>
#include <QDatetime>
#include <omp.h>
#include <QProgressDialog>
#include <QMessageBox>

#ifdef DEBUGSHOWDIALOG
#include "ImageShowDialogClass.h"
#endif

#ifdef __CUDANVCC___
#include "GPUTool.cuh"
#include "GPURFPC.cuh"
#include <cuda_runtime.h>
#include <cublas_v2.h>
#endif // __CUDANVCC___
#include <Imageshow/ImageShowDialogClass.h>







RFPCProcessCls::RFPCProcessCls()
{
	this->PluseCount = 0;
	this->PlusePoint = 0;
	this->TaskSetting = nullptr;
	this->EchoSimulationData = nullptr;
 	this->LandCoverPath = "";
 	this->OutEchoPath = "";

 
	this->LandCoverPath.clear();
 	this->OutEchoPath.clear();
	this->SigmaDatabasePtr = std::shared_ptr<SigmaDatabase>(new SigmaDatabase);

}

RFPCProcessCls::~RFPCProcessCls()
{
}

void RFPCProcessCls::setTaskSetting(std::shared_ptr < AbstractSARSatelliteModel> TaskSetting)
{
	this->TaskSetting = std::shared_ptr < AbstractSARSatelliteModel>(TaskSetting);
	qDebug() << "RFPCProcessCls::setTaskSetting";
}

void RFPCProcessCls::setEchoSimulationDataSetting(std::shared_ptr<EchoL0Dataset> EchoSimulationData)
{
	this->EchoSimulationData = std::shared_ptr<EchoL0Dataset>(EchoSimulationData);
	qDebug() << "RFPCProcessCls::setEchoSimulationDataSetting";
}

void RFPCProcessCls::setTaskFileName(QString EchoFileName)
{
	this->TaskFileName = EchoFileName;
}

void RFPCProcessCls::setDEMTiffPath(QString DEMTiffPath)
{
	this->demxyzPath = DEMTiffPath;
}

void RFPCProcessCls::setSloperPath(QString InSloperPath)
{
	this->demsloperPath = InSloperPath;
}

void RFPCProcessCls::setLandCoverPath(QString LandCoverPath)
{
	this->LandCoverPath = LandCoverPath;
}


void RFPCProcessCls::setOutEchoPath(QString OutEchoPath)
{
	this->OutEchoPath = OutEchoPath;
}



ErrorCode RFPCProcessCls::Process(long num_thread)
{
	// RFPC 算法
	qDebug() << u8"params init ....";
	ErrorCode stateCode = this->InitParams();
	if (stateCode != ErrorCode::SUCCESS) {
		return stateCode;
	}
	else {}
 
	qDebug() << "RFPCMainProcess";

	stateCode = this->InitEchoMaskArray();
	if (stateCode != ErrorCode::SUCCESS) {
		return stateCode;
	}
	else {}
	qDebug() << "InitEchoMaskArray";

	//stateCode = this->RFPCMainProcess(num_thread);
		// 初始化回波
	this->EchoSimulationData->initEchoArr(std::complex<double>(0, 0));
	stateCode = this->RFPCMainProcess_GPU();

	if (stateCode != ErrorCode::SUCCESS) {
		return stateCode;
	}
	else {}


	return ErrorCode::SUCCESS;
}

ErrorCode RFPCProcessCls::InitParams()
{
	if (nullptr == this->TaskSetting || this->demxyzPath.isEmpty() ||
		this->LandCoverPath.isEmpty() || this->demsloperPath.isEmpty()) {
		return ErrorCode::RFPC_PARAMSISEMPTY;
	}
	else {

	}

	// 归一化绝对路径

	this->OutEchoPath = QDir(this->OutEchoPath).absolutePath();
	// 回波大小
	double imgStart_end = this->TaskSetting->getSARImageEndTime() - this->TaskSetting->getSARImageStartTime();
	this->PluseCount = ceil(imgStart_end * this->TaskSetting->getPRF());

	double rangeTimeSample = (this->TaskSetting->getFarRange() - this->TaskSetting->getNearRange()) * 2.0 / LIGHTSPEED;
	this->PlusePoint = ceil(rangeTimeSample * this->TaskSetting->getFs());

	// 初始化回波存放位置
	qDebug() << "--------------Echo Data Setting ---------------------------------------";
	this->EchoSimulationData = std::shared_ptr<EchoL0Dataset>(new EchoL0Dataset);
	this->EchoSimulationData->setCenterFreq(this->TaskSetting->getCenterFreq());
	this->EchoSimulationData->setNearRange(this->TaskSetting->getNearRange());
	this->EchoSimulationData->setFarRange(this->TaskSetting->getFarRange());
	this->EchoSimulationData->setFs(this->TaskSetting->getFs());
	this->EchoSimulationData->setBandwidth(this->TaskSetting->getBandWidth());
	this->EchoSimulationData->setCenterAngle(this->TaskSetting->getCenterLookAngle());
	this->EchoSimulationData->setLookSide(this->TaskSetting->getIsRightLook() ? "R" : "L");
	this->EchoSimulationData->OpenOrNew(OutEchoPath, TaskFileName, PluseCount, PlusePoint);

	QString tmpfolderPath = QDir(OutEchoPath).filePath("tmp");
	if (QDir(tmpfolderPath).exists() == false) {
		QDir(OutEchoPath).mkpath(tmpfolderPath);
	}
	this->tmpfolderPath = tmpfolderPath;
	return ErrorCode::SUCCESS;
}
 
ErrorCode RFPCProcessCls::InitEchoMaskArray()
{
	QString name = this->EchoSimulationData->getSimulationTaskName();
	this->OutEchoMaskPath = JoinPath(this->OutEchoPath, name + "_echomask.bin");
	Eigen::MatrixXd gt(2, 3);
	gt(0, 0) = 0;
	gt(0, 1) = 1;
	gt(0, 2) = 0;
	gt(1, 0) = 0;
	gt(1, 1) = 0;
	gt(1, 2) = 1;
	gdalImage echomaskImg = CreategdalImage(this->OutEchoMaskPath,
		this->EchoSimulationData->getPluseCount(),
		this->EchoSimulationData->getPlusePoints(),
		1,
		gt, "",
		false, true, true);
	long cols = this->EchoSimulationData->getPlusePoints();
	long rows = this->EchoSimulationData->getPluseCount();
	long blocksize = Memory1GB / 8 / this->EchoSimulationData->getPlusePoints() * 4;
	for (long startid = 0; startid < rows; startid = startid + blocksize) {
		Eigen::MatrixXd data = echomaskImg.getData(startid, 0, blocksize, cols, 1);
		data = data.array() * 0;
		echomaskImg.saveImage(data, startid, 0, 1);
	}
	return ErrorCode::SUCCESS;
}


std::shared_ptr<SatelliteOribtNode[]> RFPCProcessCls::getSatelliteOribtNodes(double prf_time, double dt, bool antflag, long double imageStarttime)
{


	std::shared_ptr<SatelliteOribtNode[]> sateOirbtNodes(new SatelliteOribtNode[this->PluseCount], delArrPtr);
	{ // 姿态计算不同
		qDebug() << "Ant position finished started !!!";
		// 计算姿态
		std::shared_ptr<double> antpos = this->EchoSimulationData->getAntPos();
		double dAt = 1e-6;
		double prf_time_dt = 0;
		Landpoint InP{ 0,0,0 }, outP{ 0,0,0 };
		for (long prf_id = 0; prf_id < this->PluseCount; prf_id++) {
			prf_time = dt * prf_id;
			prf_time_dt = prf_time + dAt;
			SatelliteOribtNode sateOirbtNode;
			SatelliteOribtNode sateOirbtNode_dAt;
			this->TaskSetting->getSatelliteOribtNode(prf_time, sateOirbtNode, antflag);
			this->TaskSetting->getSatelliteOribtNode(prf_time_dt, sateOirbtNode_dAt, antflag);

			sateOirbtNode.AVx = (sateOirbtNode_dAt.Vx - sateOirbtNode.Vx) / dAt; // 加速度
			sateOirbtNode.AVy = (sateOirbtNode_dAt.Vy - sateOirbtNode.Vy) / dAt;
			sateOirbtNode.AVz = (sateOirbtNode_dAt.Vz - sateOirbtNode.Vz) / dAt;

			InP.lon = sateOirbtNode.Px;
			InP.lat = sateOirbtNode.Py;
			InP.ati = sateOirbtNode.Pz;

			outP = XYZ2LLA(InP);

			antpos.get()[prf_id * 19 + 0] = prf_time + imageStarttime;
			antpos.get()[prf_id * 19 + 1] = sateOirbtNode.Px;
			antpos.get()[prf_id * 19 + 2] = sateOirbtNode.Py;
			antpos.get()[prf_id * 19 + 3] = sateOirbtNode.Pz;
			antpos.get()[prf_id * 19 + 4] = sateOirbtNode.Vx;
			antpos.get()[prf_id * 19 + 5] = sateOirbtNode.Vy;
			antpos.get()[prf_id * 19 + 6] = sateOirbtNode.Vz;
			antpos.get()[prf_id * 19 + 7] = sateOirbtNode.AntDirecX;
			antpos.get()[prf_id * 19 + 8] = sateOirbtNode.AntDirecY;
			antpos.get()[prf_id * 19 + 9] = sateOirbtNode.AntDirecZ;
			antpos.get()[prf_id * 19 + 10] = sateOirbtNode.AVx;
			antpos.get()[prf_id * 19 + 11] = sateOirbtNode.AVy;
			antpos.get()[prf_id * 19 + 12] = sateOirbtNode.AVz;
			antpos.get()[prf_id * 19 + 13] = sateOirbtNode.zeroDopplerDirectX;
			antpos.get()[prf_id * 19 + 14] = sateOirbtNode.zeroDopplerDirectY;
			antpos.get()[prf_id * 19 + 15] = sateOirbtNode.zeroDopplerDirectZ;
			antpos.get()[prf_id * 19 + 16] = outP.lon;
			antpos.get()[prf_id * 19 + 17] = outP.lat;
			antpos.get()[prf_id * 19 + 18] = outP.ati;
			sateOirbtNodes[prf_id] = sateOirbtNode;
		}
		this->EchoSimulationData->saveAntPos(antpos);
		antpos.reset();
		qDebug() << "Ant position finished sucessfully !!!";
	}

	return sateOirbtNodes;
}


void RFPCProcessMain(long num_thread, QString TansformPatternFilePath, QString ReceivePatternFilePath, QString simulationtaskName, QString OutEchoPath, QString GPSXmlPath, QString TaskXmlPath,QString demTiffPath, QString sloperPath, QString LandCoverPath) 
{

	std::shared_ptr < AbstractSARSatelliteModel>  task = ReadSimulationSettingsXML(TaskXmlPath);

	if (nullptr == task)
	{
		return;
	}
	else {
		// 打印参数
		qDebug() << "--------------Task Seting ---------------------------------------";
		qDebug() << "SARImageStartTime: " << task->getSARImageStartTime();
		qDebug() << "SARImageEndTime: " << task->getSARImageEndTime();
		qDebug() << "BandWidth: " << task->getBandWidth();
		qDebug() << "CenterFreq: " << task->getCenterFreq();
		qDebug() << "PRF: " << task->getPRF();
		qDebug() << "Lamda: " << task->getCenterLamda();
		qDebug() << "Fs: " << task->getFs();
		qDebug() << "POLAR: " << task->getPolarType();
		qDebug() << "NearRange: " << task->getNearRange();
		qDebug() << "FarRange: " << task->getFarRange();
		qDebug() << (task->getFarRange() - task->getNearRange()) * 2 / LIGHTSPEED * task->getFs();
		qDebug() << "\n\n";
	}
	// 1.2 设置天线方向图
	std::vector<RadiationPatternGainPoint> TansformPatternGainpoints = ReadGainFile(TansformPatternFilePath);
	std::shared_ptr<AbstractRadiationPattern> TansformPatternGainPtr = CreateAbstractRadiationPattern(TansformPatternGainpoints);

	std::vector<RadiationPatternGainPoint> ReceivePatternGainpoints = ReadGainFile(ReceivePatternFilePath);
	std::shared_ptr<AbstractRadiationPattern> ReceivePatternGainPtr = CreateAbstractRadiationPattern(ReceivePatternGainpoints);

	task->setTransformRadiationPattern(TansformPatternGainPtr);
	task->setReceiveRadiationPattern(ReceivePatternGainPtr);

	//2. 读取GPS节点
	std::vector<SatelliteOribtNode> nodes;
	ErrorCode stateCode = ReadSateGPSPointsXML(GPSXmlPath, nodes);

	if (stateCode != ErrorCode::SUCCESS)
	{
		qWarning() << QString::fromStdString(errorCode2errInfo(stateCode));
		return;
	}
	else {}

	std::shared_ptr<AbstractSatelliteOribtModel> SatelliteOribtModel = CreataPolyfitSatelliteOribtModel(nodes, task->getSARImageStartTime(), 3); // 以成像开始时间作为 时间参考起点
	SatelliteOribtModel->setbeamAngle(task->getCenterLookAngle(), task->getIsRightLook()); // 设置天线方向图

	if (nullptr == SatelliteOribtModel)
	{
		return;
	}
	else {
		task->setSatelliteOribtModel(SatelliteOribtModel);
	}

	qDebug() << "--------------  RFPC init ---------------------------------------";
	RFPCProcessCls RFPC;
	RFPC.setTaskSetting(task);						//qDebug() << "setTaskSetting";
	RFPC.setTaskFileName(simulationtaskName);		//qDebug() << "setTaskFileName";
	RFPC.setDEMTiffPath(demTiffPath);				//qDebug() << "setDEMTiffPath";
	RFPC.setDEMTiffPath(demTiffPath);				//qDebug() << "setDEMTiffPath";
	RFPC.setLandCoverPath(LandCoverPath);			//qDebug() << "setLandCoverPath";
	RFPC.setOutEchoPath(OutEchoPath);				//qDebug() << "setOutEchoPath";
	qDebug() << "--------------  RFPC start---------------------------------------";
	RFPC.Process(num_thread); // 处理程序
	qDebug() << "--------------  RFPC end---------------------------------------";
}


ErrorCode RFPCProcessCls::RFPCMainProcess_GPU()
{
	double widthSpace = LIGHTSPEED / 2 / this->TaskSetting->getFs();
	double prf_time = 0;
	double dt = 1 / this->TaskSetting->getPRF();// 获取每次脉冲的时间间隔
	bool antflag = true; // 计算天线方向图
	Landpoint LandP{ 0,0,0 };
	Point3 GERpoint{ 0,0,0 };
	double R = 0;
	double dem_row = 0, dem_col = 0, dem_alt = 0;
	QVector<double> freqlist = this->TaskSetting->getFreqList();
	long freqnum = freqlist.count();
	std::shared_ptr<double> freqPtr(new double[freqnum], delArrPtr);
	for (long ii = 0; ii < freqlist.count(); ii++) {
		freqPtr.get()[ii] = freqlist[ii];
	}
	testOutAmpArr("freqlist.bin", (double*)(freqPtr.get()), freqnum, 1);

	float f0 = float(freqlist[0] / 1e9);
	float dfreq = float((freqlist[1] - freqlist[0]) / 1e9);

	long double imageStarttime = 0;
	imageStarttime = this->TaskSetting->getSARImageStartTime();
	//std::vector<SatelliteOribtNode> sateOirbtNodes(this->PluseCount);
	std::shared_ptr<SatelliteOribtNode[]> sateOirbtNodes = this->getSatelliteOribtNodes(prf_time, dt, antflag, imageStarttime); // 获取天线坐标

	long echoIdx = 0;
	double NearRange = this->EchoSimulationData->getNearRange(); // 近斜距
	double FarRange = this->EchoSimulationData->getFarRange();

	double TimgNearRange = 2 * NearRange / LIGHTSPEED;
	double TimgFarRange = 2 * FarRange / LIGHTSPEED;
	double dx = (FarRange - NearRange) / (PlusePoint - 1);
	double Fs = this->TaskSetting->getFs(); // 距离向采样率
	double Pt = this->TaskSetting->getPt() * this->TaskSetting->getGri();// 发射电压 1v
	//double GainAntLen = -3;// -3dB 为天线半径
	long pluseCount = this->PluseCount;
	double lamda = this->TaskSetting->getCenterLamda(); // 波长
	double refphaseRange = this->TaskSetting->getRefphaseRange(); // 参考相位斜距
	// 天线方向图
	std::shared_ptr<AbstractRadiationPattern> TransformPattern = this->TaskSetting->getTransformRadiationPattern(); // 发射天线方向图
	std::shared_ptr<AbstractRadiationPattern> ReceivePattern = this->TaskSetting->getReceiveRadiationPattern();   // 接收天线方向图
	long PlusePoint = this->EchoSimulationData->getPlusePoints();
	POLARTYPEENUM polartype = this->TaskSetting->getPolarType();
	gdalImage echoMaskImg(this->OutEchoMaskPath);


#ifndef __CUDANVCC___ 
	QMessageBox::information(this, u8"程序提示", u8"请确定安装了CUDA库");
#else

	// RFPC CUDA版本 
	if (pluseCount * 4 * 18 > Memory1MB * 100) {
		long max = Memory1MB * 100 / 4 / 20 / PluseCount;
		QMessageBox::warning(nullptr, u8"仿真场景太大了", u8"当前频点数下，脉冲数量最多为：" + QString::number(max));
	}

	gdalImage demxyz(this->demxyzPath);// 地面点坐标
	gdalImage demlandcls(this->LandCoverPath);// 地表覆盖类型 
	gdalImage demsloperxyz(this->demsloperPath);// 地面坡向
	// 参数与分块计算
	long demRow = demxyz.height;
	long demCol = demxyz.width;

	long blokline = 100;

	// 每块 250MB*16 = 4GB

	blokline = Memory1MB / 8 / demCol * 500;
	blokline = blokline < 1 ? 1 : blokline;
	bool bloklineflag = false;
	PatternImageDesc TantPatternDesc = {};
	double* h_TantPattern=nullptr;
	double* d_TantPattern=nullptr;
	
	{
		// 处理发射天线方向图
		double Tminphi = TransformPattern->getMinPhi();
		double Tmaxphi = TransformPattern->getMaxPhi();
		double Tmintheta = TransformPattern->getMinTheta();
		double Tmaxtheta = TransformPattern->getMaxTheta();

		long Tphinum = TransformPattern->getPhis().size();
		long Tthetanum = TransformPattern->getThetas().size();

		double TstartTheta = Tmintheta;
		double TstartPhi = Tminphi;

		double Tdtheta = (Tmaxtheta - Tmintheta) / (Tthetanum - 1);
		double Tdphi = (Tmaxphi - Tminphi) / (Tphinum - 1);

		double* h_TantPattern = (double*)mallocCUDAHost(sizeof(double) * Tthetanum * Tphinum);
		double* d_TantPattern = (double*)mallocCUDADevice(sizeof(double) * Tthetanum * Tphinum);

		for (long i = 0; i < Tthetanum; i++) {
			for (long j = Tphinum - 1; j >= 0; j--) {
				//h_TantPattern[i * Tphinum + j] = TransformPattern->getGainLearThetaPhi(TstartTheta + i * Tdtheta, TstartPhi + j * Tdphi);
				h_TantPattern[i * Tphinum + j] = TransformPattern->getGain(TstartTheta + i * Tdtheta, TstartPhi + j * Tdphi);
			}
		}

		testOutAntPatternTrans("TransPattern.bin", h_TantPattern, TstartTheta, Tdtheta, TstartPhi, Tdphi, Tthetanum, Tphinum);
		for (long i = 0; i < Tthetanum; i++) {
			for (long j = 0; j < Tphinum; j++) {
				h_TantPattern[i * Tphinum + j] = powf(10.0, h_TantPattern[i * Tphinum + j] / 10);
			}
		}
		HostToDevice(h_TantPattern, d_TantPattern, sizeof(double) * Tthetanum * Tphinum);
		TantPatternDesc.startTheta = TstartTheta;
		TantPatternDesc.startPhi = TstartPhi;
		TantPatternDesc.dtheta = Tdtheta;
		TantPatternDesc.dphi = Tdphi;
		TantPatternDesc.phinum = Tphinum;
		TantPatternDesc.thetanum = Tthetanum;
	}
	PatternImageDesc RantPatternDesc = {};
	double* h_RantPattern = nullptr;
	double* d_RantPattern = nullptr;
	{
		// 处理接收天线方向图
		double Rminphi = ReceivePattern->getMinPhi();
		double Rmaxphi = ReceivePattern->getMaxPhi();
		double Rmintheta = ReceivePattern->getMinTheta();
		double Rmaxtheta = ReceivePattern->getMaxTheta();

		long Rphinum = ReceivePattern->getPhis().size();
		long Rthetanum = ReceivePattern->getThetas().size();

		double RstartTheta = Rmintheta;
		double RstartPhi = Rminphi;

		double Rdtheta = (Rmaxtheta - Rmintheta) / (Rthetanum - 1);
		double Rdphi = (Rmaxphi - Rminphi) / (Rphinum - 1);

		double* h_RantPattern = (double*)mallocCUDAHost(sizeof(double) * Rthetanum * Rphinum);
		double* d_RantPattern = (double*)mallocCUDADevice(sizeof(double) * Rthetanum * Rphinum);

		for (long i = 0; i < Rthetanum; i++) {
			for (long j = 0; j < Rphinum; j++) {
				//h_RantPattern[i * Rphinum + j] = ReceivePattern->getGainLearThetaPhi(RstartTheta + i * Rdtheta, RstartPhi + j * Rdphi);
				h_RantPattern[i * Rphinum + j] = ReceivePattern->getGain(RstartTheta + i * Rdtheta, RstartPhi + j * Rdphi);
			}
		}

		testOutAntPatternTrans("ReceivePattern.bin", h_RantPattern, Rmintheta, Rdtheta, RstartPhi, Rdphi, Rthetanum, Rphinum);
		for (long i = 0; i < Rthetanum; i++) {
			for (long j = 0; j < Rphinum; j++) {
				h_RantPattern[i * Rphinum + j] = powf(10.0, h_RantPattern[i * Rphinum + j] / 10);
			}
		}
		HostToDevice(h_RantPattern, d_RantPattern, sizeof(double) * Rthetanum * Rphinum);
		RantPatternDesc.startTheta = RstartTheta;
		RantPatternDesc.startPhi = RstartPhi;
		RantPatternDesc.dtheta = Rdtheta;
		RantPatternDesc.dphi = Rdphi;
		RantPatternDesc.phinum = Rphinum;
		RantPatternDesc.thetanum = Rthetanum;
	}
	//处理地表覆盖
	QMap<long, long> clamap;
	long clamapid = 0;
	long startline = 0;

	for (startline = 0; startline < demRow; startline = startline + blokline) {
		Eigen::MatrixXd clsland = demlandcls.getData(startline, 0, blokline, demlandcls.width, 1);
		long clsrows = clsland.rows();
		long clscols = clsland.cols();
		long clsid = 0;
		for (long ii = 0; ii < clsrows; ii++) {
			for (long jj = 0; jj < clscols; jj++) {
				clsid = clsland(ii, jj);
				if (clamap.contains(clsid)) {}
				else {
					clamap.insert(clsid, clamapid);
					clamapid = clamapid + 1;
				}
			}
		}
	}

	std::cout << "class id recoding" << std::endl;
	for (long id : clamap.keys()) {
		std::cout << id << " -> " << clamap[id] << std::endl;
	}


	CUDASigmaParam* h_clsSigmaParam = (CUDASigmaParam*)mallocCUDAHost(sizeof(CUDASigmaParam) * clamapid);
	CUDASigmaParam* d_clsSigmaParam = (CUDASigmaParam*)mallocCUDADevice(sizeof(CUDASigmaParam) * clamapid);

	{
		std::map<long, SigmaParam> tempSigmaParam = this->SigmaDatabasePtr->getsigmaParams(polartype);
		for (long id : clamap.keys()) {
			SigmaParam tempp = tempSigmaParam[id];
			h_clsSigmaParam[clamap[id]].p1 = tempp.p1;
			h_clsSigmaParam[clamap[id]].p2 = tempp.p2;
			h_clsSigmaParam[clamap[id]].p3 = tempp.p3;
			h_clsSigmaParam[clamap[id]].p4 = tempp.p4;
			h_clsSigmaParam[clamap[id]].p5 = tempp.p5;
			h_clsSigmaParam[clamap[id]].p6 = tempp.p6;
		}

		// 打印日志
		std::cout << "sigma params:" << std::endl;
		std::cout << "classid:\tp1\tp2\tp3\tp4\tp5\tp6" << std::endl;
		for (long ii = 0; ii < clamapid; ii++) {
			std::cout << ii << ":\t" << h_clsSigmaParam[ii].p1;
			std::cout << "\t" << h_clsSigmaParam[ii].p2;
			std::cout << "\t" << h_clsSigmaParam[ii].p3;
			std::cout << "\t" << h_clsSigmaParam[ii].p4;
			std::cout << "\t" << h_clsSigmaParam[ii].p5;
			std::cout << "\t" << h_clsSigmaParam[ii].p6 << std::endl;
		}
		std::cout << "";
	}

	HostToDevice(h_clsSigmaParam, d_clsSigmaParam, sizeof(CUDASigmaParam) * clamapid);


	long blockwidth = demxyz.width;
#ifdef __PRFDEBUG__
	blokline = 1;
	blockwidth = 1;
#endif
	// 地面 XYZ
	Eigen::MatrixXd dem_x = demxyz.getData(0, 0, blokline, blockwidth, 1);  // 地面坐标
	long tempDemRows = dem_x.rows();
	long tempDemCols = dem_x.cols();

	Eigen::MatrixXd dem_y = Eigen::MatrixXd::Zero(tempDemRows, tempDemCols);
	Eigen::MatrixXd dem_z = Eigen::MatrixXd::Zero(tempDemRows, tempDemCols);
	Eigen::MatrixXd demsloper_x = Eigen::MatrixXd::Zero(tempDemRows, tempDemCols);
	Eigen::MatrixXd demsloper_y = Eigen::MatrixXd::Zero(tempDemRows, tempDemCols);
	Eigen::MatrixXd demsloper_z = Eigen::MatrixXd::Zero(tempDemRows, tempDemCols);

	double* h_dem_x = (double*)mallocCUDAHost(sizeof(double) * blokline * tempDemCols);
	double* h_dem_y = (double*)mallocCUDAHost(sizeof(double) * blokline * tempDemCols);
	double* h_dem_z = (double*)mallocCUDAHost(sizeof(double) * blokline * tempDemCols);
	double* h_demsloper_x = (double*)mallocCUDAHost(sizeof(double) * blokline * tempDemCols);
	double* h_demsloper_y = (double*)mallocCUDAHost(sizeof(double) * blokline * tempDemCols);
	double* h_demsloper_z = (double*)mallocCUDAHost(sizeof(double) * blokline * tempDemCols);

	double* d_dem_x = (double*)mallocCUDADevice(sizeof(double) * blokline * tempDemCols); // 7
	double* d_dem_y = (double*)mallocCUDADevice(sizeof(double) * blokline * tempDemCols);
	double* d_dem_z = (double*)mallocCUDADevice(sizeof(double) * blokline * tempDemCols);
	double* d_demsloper_x = (double*)mallocCUDADevice(sizeof(double) * blokline * tempDemCols);
	double* d_demsloper_y = (double*)mallocCUDADevice(sizeof(double) * blokline * tempDemCols);
	double* d_demsloper_z = (double*)mallocCUDADevice(sizeof(double) * blokline * tempDemCols);

	// 提前声明参数变量
	float* h_R = (float*)mallocCUDAHost(sizeof(float) * blokline * tempDemCols);
	float* d_R = (float*)mallocCUDADevice(sizeof(float) * blokline * tempDemCols);
	float* h_amp = (float*)mallocCUDAHost(sizeof(float) * blokline * tempDemCols);
	float* d_amp = (float*)mallocCUDADevice(sizeof(float) * blokline * tempDemCols);
	//double* h_phi = (double*)mallocCUDAHost(sizeof(double) * blokline * tempDemCols);
	//double* d_phi = (double*)mallocCUDADevice(sizeof(double) * blokline * tempDemCols);
	//double* h_real = (double*)mallocCUDAHost(sizeof(double) * blokline * tempDemCols);
	//double* d_real = (double*)mallocCUDADevice(sizeof(double) * blokline * tempDemCols);
	//double* h_imag = (double*)mallocCUDAHost(sizeof(double) * blokline * tempDemCols);
	//double* d_imag = (double*)mallocCUDADevice(sizeof(double) * blokline * tempDemCols);

	long echoblockline = Memory1GB / 8 / 2 / PlusePoint * 2;
	double* h_PRFEcho_real = (double*)mallocCUDAHost(sizeof(double) * echoblockline * PlusePoint);
	double* h_PRFEcho_imag = (double*)mallocCUDAHost(sizeof(double) * echoblockline * PlusePoint);
	double* d_PRFEcho_real = (double*)mallocCUDADevice(sizeof(double) * echoblockline * PlusePoint);
	double* d_PRFEcho_imag = (double*)mallocCUDADevice(sizeof(double) * echoblockline * PlusePoint);


	double* h_factorj = (double*)mallocCUDAHost(sizeof(double) * freqlist.size());
	double* h_freqlist = (double*)mallocCUDAHost(sizeof(double) * freqlist.size());
	for (long ii = 0; ii < freqlist.size(); ii++) {
		h_factorj[ii] = -4 * PI * freqlist[ii] / LIGHTSPEED;
		h_freqlist[ii] = freqlist[ii];
	}

	double* d_factorj = (double*)mallocCUDADevice(sizeof(double) * freqlist.size());
	double* d_freqlist = (double*)mallocCUDADevice(sizeof(double) * freqlist.size());
	HostToDevice(h_factorj, d_factorj, (sizeof(double) * freqlist.size()));
	HostToDevice(h_freqlist, d_freqlist, (sizeof(double) * freqlist.size()));

	testOutAmpArr("freqlist.bin", h_freqlist, freqlist.size(), 1);
	testOutAmpArr("factorj.bin", h_factorj, freqlist.size(), 1);
	// 地表覆盖类型
	Eigen::MatrixXd landcover = Eigen::MatrixXd::Zero(blokline, tempDemCols);// 地面覆盖类型
	long* h_demcls = (long*)mallocCUDAHost(sizeof(long) * blokline * tempDemCols);
	long* d_demcls = (long*)mallocCUDADevice(sizeof(long) * blokline * tempDemCols);

	for (startline = 0; startline < demRow; startline = startline + blokline) {
		long newblokline = blokline;
		if ((startline + blokline) >= demRow) {
			newblokline = demRow - startline;
			bloklineflag = true;
		}
		dem_x = demxyz.getData(startline, 0, newblokline, blockwidth, 1);  // 地面坐标
		dem_y = demxyz.getData(startline, 0, newblokline, blockwidth, 2);
		dem_z = demxyz.getData(startline, 0, newblokline, blockwidth, 3);
		demsloper_x = demsloperxyz.getData(startline, 0, newblokline, blockwidth, 1);
		demsloper_y = demsloperxyz.getData(startline, 0, newblokline, blockwidth, 2);
		demsloper_z = demsloperxyz.getData(startline, 0, newblokline, blockwidth, 3);

		landcover = demlandcls.getData(startline, 0, newblokline, blockwidth, 1);

		long calpluseFreqBufferLen = Memory1GB / 8 / 2 / PlusePoint * 2;
		if (calpluseFreqBufferLen < 1000) {
			qDebug() << "frequency point has morn than 50000";
			QMessageBox::warning(nullptr, u8"frequency point has morn than 50000", u8"frequency point has morn than 50000");
		}


		if (bloklineflag) {
			FreeCUDAHost(h_dem_x);						FreeCUDADevice(d_dem_x);
			FreeCUDAHost(h_dem_y);						FreeCUDADevice(d_dem_y);
			FreeCUDAHost(h_dem_z);						FreeCUDADevice(d_dem_z);
			FreeCUDAHost(h_demsloper_x);				FreeCUDADevice(d_demsloper_x);
			FreeCUDAHost(h_demsloper_y);				FreeCUDADevice(d_demsloper_y);
			FreeCUDAHost(h_demsloper_z);				FreeCUDADevice(d_demsloper_z); //6
			FreeCUDAHost(h_demcls);						FreeCUDADevice(d_demcls);
			FreeCUDAHost(h_R);							FreeCUDADevice(d_R);
			FreeCUDAHost(h_amp);						FreeCUDADevice(d_amp);
			//FreeCUDAHost(h_phi);						FreeCUDADevice(d_phi);
			//FreeCUDAHost(h_real);						FreeCUDADevice(d_real);
			//FreeCUDAHost(h_imag);						FreeCUDADevice(d_imag);

			h_dem_x = (double*)mallocCUDAHost(sizeof(double) * newblokline * tempDemCols);
			h_dem_y = (double*)mallocCUDAHost(sizeof(double) * newblokline * tempDemCols);
			h_dem_z = (double*)mallocCUDAHost(sizeof(double) * newblokline * tempDemCols);
			h_demsloper_x = (double*)mallocCUDAHost(sizeof(double) * newblokline * tempDemCols);
			h_demsloper_y = (double*)mallocCUDAHost(sizeof(double) * newblokline * tempDemCols);
			h_demsloper_z = (double*)mallocCUDAHost(sizeof(double) * newblokline * tempDemCols);
			h_demcls = (long*)mallocCUDAHost(sizeof(long) * newblokline * tempDemCols);



			d_dem_x = (double*)mallocCUDADevice(sizeof(double) * newblokline * tempDemCols);
			d_dem_y = (double*)mallocCUDADevice(sizeof(double) * newblokline * tempDemCols);
			d_dem_z = (double*)mallocCUDADevice(sizeof(double) * newblokline * tempDemCols);
			d_demsloper_x = (double*)mallocCUDADevice(sizeof(double) * newblokline * tempDemCols);
			d_demsloper_y = (double*)mallocCUDADevice(sizeof(double) * newblokline * tempDemCols);
			d_demsloper_z = (double*)mallocCUDADevice(sizeof(double) * newblokline * tempDemCols);//6
			d_demcls = (long*)mallocCUDADevice(sizeof(long) * newblokline * tempDemCols);

			// 临时变量
			h_R = (float*)mallocCUDAHost(sizeof(float) * newblokline * tempDemCols);
			d_R = (float*)mallocCUDADevice(sizeof(float) * newblokline * tempDemCols);
			h_amp = (float*)mallocCUDAHost(sizeof(float) * newblokline * tempDemCols);
			d_amp = (float*)mallocCUDADevice(sizeof(float) * newblokline * tempDemCols);
			//h_phi = (double*)mallocCUDAHost(sizeof(double) * newblokline * tempDemCols);
			//d_phi = (double*)mallocCUDADevice(sizeof(double) * newblokline * tempDemCols);
			//h_real = (double*)mallocCUDAHost(sizeof(double) * newblokline * tempDemCols);
			//d_real = (double*)mallocCUDADevice(sizeof(double) * newblokline * tempDemCols);
			//h_imag = (double*)mallocCUDAHost(sizeof(double) * newblokline * tempDemCols);
			//d_imag = (double*)mallocCUDADevice(sizeof(double) * newblokline * tempDemCols);


		}
		//#   pragma omp parallel for
		for (long i = 0; i < newblokline; i++) {
			for (long j = 0; j < blockwidth; j++) {
#ifdef __PRFDEBUG__
				h_dem_x[i * blockwidth + j] = -2028380.6250000; double(dem_x(i, j));
				h_dem_y[i * blockwidth + j] = 4139373.250000; double(dem_y(i, j));
				h_dem_z[i * blockwidth + j] = 4393382.500000; double(dem_z(i, j));
				h_demsloper_x[i * blockwidth + j] = 4393382.500000; double(demsloper_x(i, j));
				h_demsloper_y[i * blockwidth + j] = 446.923950; double(demsloper_y(i, j));
				h_demsloper_z[i * blockwidth + j] = -219.002213; double(demsloper_z(i, j));
				h_demcls[i * blockwidth + j] = clamap[80];// clamap[long(landcover(i, j))];
#else
				h_dem_x[i * blockwidth + j] = double(dem_x(i, j));
				h_dem_y[i * blockwidth + j] = double(dem_y(i, j));
				h_dem_z[i * blockwidth + j] = double(dem_z(i, j));
				h_demsloper_x[i * blockwidth + j] = double(demsloper_x(i, j));
				h_demsloper_y[i * blockwidth + j] = double(demsloper_y(i, j));
				h_demsloper_z[i * blockwidth + j] = double(demsloper_z(i, j));
				h_demcls[i * blockwidth + j] = clamap[long(landcover(i, j))];
#endif			


			}
		}
		HostToDevice((void*)h_dem_x, (void*)d_dem_x, sizeof(double) * newblokline * tempDemCols); // 复制 机器 -> GPU
		HostToDevice((void*)h_dem_y, (void*)d_dem_y, sizeof(double) * newblokline * tempDemCols);
		HostToDevice((void*)h_dem_z, (void*)d_dem_z, sizeof(double) * newblokline * tempDemCols);
		HostToDevice((void*)h_demsloper_x, (void*)d_demsloper_x, sizeof(double) * newblokline * tempDemCols);
		HostToDevice((void*)h_demsloper_y, (void*)d_demsloper_y, sizeof(double) * newblokline * tempDemCols);
		HostToDevice((void*)h_demsloper_z, (void*)d_demsloper_z, sizeof(double) * newblokline * tempDemCols);
		HostToDevice((void*)h_demcls, (void*)d_demcls, sizeof(long) * newblokline * tempDemCols);



#ifdef __PRFDEBUG__ && __PRFDEBUG_PRFINF__
		printf("tatgetPs=[%f,%f,%f]\n", h_dem_x[0], h_dem_y[0], h_dem_z[0]);
		std::shared_ptr<double> h_temp_R(new double[PluseCount], delArrPtr);
#endif // __PRFDEBUG__




		long pixelcount = newblokline * tempDemCols;
		long startprfid = 0;
		for (startprfid = 0; startprfid < pluseCount; startprfid = startprfid + echoblockline) {
			std::cout << "[" << QDateTime::currentDateTime().toString("yyyy-MM-dd hh:mm:ss.zzz").toStdString() << "]  dem:\t" << startline << "\t-\t" << startline + newblokline << "\t:\t pluse :\t" << startprfid << " / " << pluseCount << std::endl;
			long templine = startprfid + echoblockline < PluseCount ? echoblockline : PluseCount - startprfid;
			std::shared_ptr<std::complex<double>> echotemp = this->EchoSimulationData->getEchoArr(startprfid, templine);
			for (long tempprfid = 0; tempprfid < templine; tempprfid++) {
				for (long freqid = 0; freqid < PlusePoint; freqid++) {
					h_PRFEcho_real[tempprfid * PlusePoint + freqid] = 0;// echotemp.get()[tempprfid * PlusePoint + freqid].real();
					h_PRFEcho_imag[tempprfid * PlusePoint + freqid] = 0;// echotemp.get()[tempprfid * PlusePoint + freqid].imag();
				}
			}
			HostToDevice(h_PRFEcho_real, d_PRFEcho_real, sizeof(double) * echoblockline * PlusePoint);
			HostToDevice(h_PRFEcho_imag, d_PRFEcho_imag, sizeof(double) * echoblockline * PlusePoint);

			double* antpx = (double*)mallocCUDAHost(sizeof(double) * templine);
			double* antpy = (double*)mallocCUDAHost(sizeof(double) * templine);
			double* antpz = (double*)mallocCUDAHost(sizeof(double) * templine);
			double* antvx = (double*)mallocCUDAHost(sizeof(double) * templine);
			double* antvy = (double*)mallocCUDAHost(sizeof(double) * templine);
			double* antvz = (double*)mallocCUDAHost(sizeof(double) * templine);
			double* antdirectx = (double*)mallocCUDAHost(sizeof(double) * templine);
			double* antdirecty = (double*)mallocCUDAHost(sizeof(double) * templine);
			double* antdirectz = (double*)mallocCUDAHost(sizeof(double) * templine);
			double* antXaxisX = (double*)mallocCUDAHost(sizeof(double) * templine);
			double* antXaxisY = (double*)mallocCUDAHost(sizeof(double) * templine);
			double* antXaxisZ = (double*)mallocCUDAHost(sizeof(double) * templine);
			double* antYaxisX = (double*)mallocCUDAHost(sizeof(double) * templine);
			double* antYaxisY = (double*)mallocCUDAHost(sizeof(double) * templine);
			double* antYaxisZ = (double*)mallocCUDAHost(sizeof(double) * templine);
			double* antZaxisX = (double*)mallocCUDAHost(sizeof(double) * templine);
			double* antZaxisY = (double*)mallocCUDAHost(sizeof(double) * templine);
			double* antZaxisZ = (double*)mallocCUDAHost(sizeof(double) * templine);

			for (long tempprfid = 0; tempprfid < templine; tempprfid++) {
				long prfid = tempprfid + startprfid;
				antpx[tempprfid] = sateOirbtNodes[prfid].Px;
				antpy[tempprfid] = sateOirbtNodes[prfid].Py;
				antpz[tempprfid] = sateOirbtNodes[prfid].Pz;
				antvx[tempprfid] = sateOirbtNodes[prfid].Vx;
				antvy[tempprfid] = sateOirbtNodes[prfid].Vy;
				antvz[tempprfid] = sateOirbtNodes[prfid].Vz; //6
				antdirectx[tempprfid] = sateOirbtNodes[prfid].AntDirecX;
				antdirecty[tempprfid] = sateOirbtNodes[prfid].AntDirecY;
				antdirectz[tempprfid] = sateOirbtNodes[prfid].AntDirecZ; // 9 天线指向
				antXaxisX[tempprfid] = sateOirbtNodes[prfid].AntXaxisX;
				antXaxisY[tempprfid] = sateOirbtNodes[prfid].AntXaxisY;
				antXaxisZ[tempprfid] = sateOirbtNodes[prfid].AntXaxisZ;//12 天线坐标系
				antYaxisX[tempprfid] = sateOirbtNodes[prfid].AntYaxisX;
				antYaxisY[tempprfid] = sateOirbtNodes[prfid].AntYaxisY;
				antYaxisZ[tempprfid] = sateOirbtNodes[prfid].AntYaxisZ;//15
				antZaxisX[tempprfid] = sateOirbtNodes[prfid].AntZaxisX;
				antZaxisY[tempprfid] = sateOirbtNodes[prfid].AntZaxisY;
				antZaxisZ[tempprfid] = sateOirbtNodes[prfid].AntZaxisZ;//18
			}

			CUDA_RFPC_MainBlock(
				antpx, antpy, antpz, // 天线的坐标
				antXaxisX, antXaxisY, antXaxisZ, // 天线坐标系的X轴
				antYaxisX, antYaxisY, antYaxisZ,// 天线坐标系的Y轴
				antZaxisX, antZaxisY, antZaxisZ,// 天线坐标系的Z轴
				antdirectx, antdirecty, antdirectz,// 天线的指向
				templine, // 脉冲数
				//h_freqlist, h_factorj, PlusePoint,// 频率数
				f0, dfreq, PlusePoint,// 频率数
				d_dem_x, d_dem_y, d_dem_z, pixelcount, // 地面坐标
				d_demcls,
				d_demsloper_x, d_demsloper_y, d_demsloper_z, // 地表坡度矢量
				Pt,// 增益后发射能量
				refphaseRange,
				d_TantPattern, TstartTheta, TstartPhi, Tdtheta, Tdphi, Tthetanum, Tphinum, // 发射天线方向图
				d_RantPattern, RstartTheta, RstartPhi, Rdtheta, Rdphi, Rthetanum, Rphinum,//接收天线方向图
				NearRange, FarRange,
				d_clsSigmaParam, clamapid,
				d_PRFEcho_real, d_PRFEcho_imag,// 输出回波
				d_R, d_amp
				//,   d_phi,   d_real,   d_imag// 临时变量
			);


			FreeCUDAHost(antpx); // 回收局部数据
			FreeCUDAHost(antpy);
			FreeCUDAHost(antpz);
			FreeCUDAHost(antvx);
			FreeCUDAHost(antvy);
			FreeCUDAHost(antvz);
			FreeCUDAHost(antdirectx);
			FreeCUDAHost(antdirecty);
			FreeCUDAHost(antdirectz);
			FreeCUDAHost(antXaxisX);
			FreeCUDAHost(antXaxisY);
			FreeCUDAHost(antXaxisZ);
			FreeCUDAHost(antYaxisX);
			FreeCUDAHost(antYaxisY);
			FreeCUDAHost(antYaxisZ);
			FreeCUDAHost(antZaxisX);
			FreeCUDAHost(antZaxisY);
			FreeCUDAHost(antZaxisZ);

			DeviceToHost(h_PRFEcho_real, d_PRFEcho_real, sizeof(double) * echoblockline * PlusePoint);
			DeviceToHost(h_PRFEcho_imag, d_PRFEcho_imag, sizeof(double) * echoblockline * PlusePoint);
			for (long tempprfid = 0; tempprfid < templine; tempprfid++) {
				for (long freqid = 0; freqid < PlusePoint; freqid++) {
					echotemp.get()[tempprfid * PlusePoint + freqid].real(
						echotemp.get()[tempprfid * PlusePoint + freqid].real() + h_PRFEcho_real[tempprfid * PlusePoint + freqid]);

					echotemp.get()[tempprfid * PlusePoint + freqid].imag(
						echotemp.get()[tempprfid * PlusePoint + freqid].imag() + h_PRFEcho_imag[tempprfid * PlusePoint + freqid]);
				}
			}
			this->EchoSimulationData->saveEchoArr(echotemp, startprfid, templine);
		}

#ifdef __PRFDEBUG__ && __PRFDEBUG_PRFINF__
		break;
#endif // __PRFDEBUG__
	}

	std::cout << std::endl;

	// 地面数据释放
	FreeCUDAHost(h_dem_x);				FreeCUDADevice(d_dem_x);
	FreeCUDAHost(h_dem_y);				FreeCUDADevice(d_dem_y);
	FreeCUDAHost(h_dem_z);				FreeCUDADevice(d_dem_z);
	FreeCUDAHost(h_demsloper_x);		FreeCUDADevice(d_demsloper_x);
	FreeCUDAHost(h_demsloper_y);		FreeCUDADevice(d_demsloper_y);
	FreeCUDAHost(h_demsloper_z);		FreeCUDADevice(d_demsloper_z); //6

	// 临时变量释放
	FreeCUDAHost(h_R);					FreeCUDADevice(d_R);
	FreeCUDAHost(h_amp);				FreeCUDADevice(d_amp);
	FreeCUDAHost(h_demcls);				FreeCUDADevice(d_demcls);

	FreeCUDAHost(h_factorj);				FreeCUDADevice(d_factorj);
	FreeCUDAHost(h_freqlist);				FreeCUDADevice(d_freqlist);
	FreeCUDAHost(h_PRFEcho_real);			FreeCUDADevice(d_PRFEcho_real);
	FreeCUDAHost(h_PRFEcho_imag);			FreeCUDADevice(d_PRFEcho_imag);
	//FreeCUDAHost(h_phi);						FreeCUDADevice(d_phi);
	//FreeCUDAHost(h_real);						FreeCUDADevice(d_real);
	//FreeCUDAHost(h_imag);						FreeCUDADevice(d_imag);

#endif

	this->EchoSimulationData->saveToXml();
	return ErrorCode::SUCCESS;
}