From cff47a5f356df856790d2acf60346adfd2acc25a Mon Sep 17 00:00:00 2001 From: heyeuu <2829004293@qq.com> Date: Thu, 21 May 2026 06:52:39 +0800 Subject: [PATCH] feat: update decider logic --- src/module/tracker/decider.cpp | 53 ++++++++++++++++++++++++---------- 1 file changed, 37 insertions(+), 16 deletions(-) diff --git a/src/module/tracker/decider.cpp b/src/module/tracker/decider.cpp index 76ab219..dd855f0 100644 --- a/src/module/tracker/decider.cpp +++ b/src/module/tracker/decider.cpp @@ -6,7 +6,6 @@ #include #include #include -#include #include using namespace rmcs::tracker; @@ -16,6 +15,7 @@ using namespace std::chrono_literals; struct Decider::Impl { static constexpr auto kDefaultCleanupInterval = 1.0s; static constexpr auto kOutpostCleanupInterval = 1.5s; + static constexpr auto kLockLostTimeout = 150ms; static constexpr auto get_cleanup_interval(DeviceId device_id) { switch (device_id) { @@ -31,7 +31,7 @@ struct Decider::Impl { if (priority_mode.empty()) priority_mode = mode2; - return { }; + return {}; } auto set_priority_mode(PriorityMode const& mode) -> void { priority_mode = mode; } @@ -42,8 +42,8 @@ struct Decider::Impl { tracker->predict(t); } - auto observed_ids = std::unordered_set { }; - auto grouped_armors = std::unordered_map> { }; + auto fused_ids = DeviceIds::None(); + auto grouped_armors = std::unordered_map> {}; for (const auto& armor : armors) { grouped_armors[armor.genre].emplace_back(armor); @@ -60,7 +60,7 @@ struct Decider::Impl { bool fused = trackers[id]->update(grouped_span); if (fused) { - observed_ids.insert(id); + fused_ids.append(id); last_seen_times[id] = t; } } @@ -68,7 +68,7 @@ struct Decider::Impl { std::erase_if(trackers, [&](const auto& item) { auto last_seen_it = last_seen_times.find(item.first); auto cleanup_interval = get_cleanup_interval(item.first); - bool expired = last_seen_it == last_seen_times.end() + bool expired = last_seen_it == last_seen_times.end() || util::delta_time(t, last_seen_it->second) > cleanup_interval; if (expired) { last_seen_times.erase(item.first); @@ -77,9 +77,29 @@ struct Decider::Impl { return expired; }); - auto fresh_target_id = arbitrate(observed_ids); + // 优先保持已锁定且仍在短时失观测宽限期内的目标 + if (locked_target_id != DeviceId::UNKNOWN) { + auto locked_seen_it = last_seen_times.find(locked_target_id); + bool lock_alive = trackers.contains(locked_target_id) + && locked_seen_it != last_seen_times.end() + && util::delta_time(t, locked_seen_it->second) <= kLockLostTimeout; + + // 宽限期内即使本帧没观测到，也继续保持 target_id； + // 但 make_output 会把 allow_control 置为 false。 + if (lock_alive) + return make_output(locked_target_id, fused_ids.contains(locked_target_id)); + + locked_target_id = DeviceId::UNKNOWN; + } + + auto fresh_target_id = arbitrate(fused_ids); if (fresh_target_id != DeviceId::UNKNOWN) { - return make_output(fresh_target_id, trackers.at(fresh_target_id)->is_converged()); + bool allow_control = trackers.at(fresh_target_id)->is_converged(); + + // 只有收敛后的目标才会进入锁定；未收敛目标可以输出，但不会写成锁定目标。 + if (allow_control) locked_target_id = fresh_target_id; + + return make_output(fresh_target_id, true); } return Output { @@ -89,11 +109,11 @@ struct Decider::Impl { }; } - auto arbitrate(const std::unordered_set& observed_ids) -> DeviceId { + auto arbitrate(DeviceIds fused_ids) -> DeviceId { auto best_target_id = DeviceId::UNKNOWN; for (const auto& [device_id, _] : trackers) { - if (!observed_ids.contains(device_id)) continue; + if (!fused_ids.contains(device_id)) continue; if (best_target_id == DeviceId::UNKNOWN || is_better_target(device_id, best_target_id)) { @@ -104,11 +124,11 @@ struct Decider::Impl { return best_target_id; } - auto make_output(DeviceId device_id, bool allow_takeover) const -> Output { + auto make_output(DeviceId device_id, bool fused) const -> Output { return Output { .target_id = device_id, .snapshot = trackers.at(device_id)->get_snapshot(), - .allow_control = allow_takeover, + .allow_control = fused && trackers.at(device_id)->is_converged(), }; } @@ -126,11 +146,11 @@ struct Decider::Impl { auto safe_distance = std::isfinite(distance) ? distance : std::numeric_limits::infinity(); - // 比较顺序：优先级 -> 收敛状态 -> 距离 -> 固定 ID 兜底。 + // 比较顺序：距离 -> 收敛状态 -> 优先级 -> 固定 ID 兜底。 return std::tuple { - priority_of(device_id), // 数值越小，优先级越高。 - !tracker.is_converged(), // 收敛目标映射为 0，未收敛目标映射为 1。 safe_distance, // 非有限距离按无穷远处理，避免 NaN/Inf 干扰排序。 + !tracker.is_converged(), // 收敛目标映射为 0，未收敛目标映射为 1。 + priority_of(device_id), // 数值越小，优先级越高。 rmcs::to_index(device_id), // 完全相同时按固定顺序兜底，避免容器遍历顺序抖动。 }; }; @@ -140,6 +160,7 @@ struct Decider::Impl { std::unordered_map> trackers; std::unordered_map last_seen_times; + DeviceId locked_target_id { DeviceId::UNKNOWN }; PriorityMode priority_mode; @@ -163,7 +184,7 @@ struct Decider::Impl { { DeviceId::INFANTRY_5, 5 }, { DeviceId::SENTRY, 3 }, { DeviceId::OUTPOST, 1 }, - { DeviceId::BASE, 5 }, + { DeviceId::BASE, 4 }, { DeviceId::UNKNOWN, 5 }, }; };