waiwaylee/radar_data_process
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更新：1、使用VS code+cmake重新编译，编译器保持不变；

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2、修复若干逻辑bug，具体参考BUG_FIX_REPORT.md

Signed-off-by: waiwaylee <waiwaylee@foxmail.com>
This commit is contained in:
waiwaylee
2026-08-18 11:26:19 +08:00
parent 60ad5c136f
commit 01d28e0d28
49 changed files with 1452 additions and 957 deletions
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data_process_class_dll/tas_ctrl.cpp
+35 -35
View File
@@ -1,17 +1,11 @@
#include <tas_ctrl.h>
#include "tas_ctrl.h"
#include "coor_trans.h"
#include <qmath.h>
#include"memory.h"
#include <QVector>
#include <QDebug>
#include <cmath>
#include <cstring>
#include <vector>
using namespace std;
TAS_Ctrl::TAS_Ctrl()
{
memset(tas_target_queue,0,TAS_QUEUE_LENGTH*sizeof(Tracking_Target));
@@ -19,13 +13,22 @@ TAS_Ctrl::TAS_Ctrl()
tas_target_num=0;
}
void TAS_Ctrl::tas_ctrl_process(QVector<Trust_Track> *trust_track,
void TAS_Ctrl::reset()
{
memset(tas_target_queue,0,sizeof(tas_target_queue));
tas_target_num=0;
}
void TAS_Ctrl::tas_ctrl_process(std::vector<Trust_Track> *trust_track,
struct TrackingBeam *Tracking_beam,
struct Track Trust_Track_Output[][10],
int *Trust_track_num_Output,
struct RadarPara Work_Parameter,
qint64 latest_timestamp)
long long latest_timestamp)
{
if (Trust_track_num_Output == 0) return;
*Trust_track_num_Output = 0;
tas_target_add(trust_track, Trust_Track_Output, Trust_track_num_Output,Work_Parameter);
tas_target_del(trust_track, Trust_Track_Output, Trust_track_num_Output,Work_Parameter);
tas_beam_output(trust_track,Tracking_beam,latest_timestamp);
@@ -40,8 +43,7 @@ void TAS_Ctrl::tas_ctrl_process(QVector<Trust_Track> *trust_track,
memcpy(&tas_target_queue[0], &tas_target_tmp, sizeof(Tracking_Target));
};
void TAS_Ctrl::tas_target_add(QVector<Trust_Track> *trust_track,
void TAS_Ctrl::tas_target_add(std::vector<Trust_Track> *trust_track,
struct Track Trust_Track_Output[][10],
int *Trust_track_num_Output,
struct RadarPara Work_Parameter)
@@ -67,6 +69,9 @@ void TAS_Ctrl::tas_target_add(QVector<Trust_Track> *trust_track,
{
if(tas_target_queue[j].empty_flag==0)// && j%2==0)
{
if (*Trust_track_num_Output >= MAX_TRACK_NUM)
break;
//插入跟踪队列
tas_target_queue[j].Index=(*trust_track)[i].Track_Index;
tas_target_queue[j].empty_flag=1;
@@ -102,12 +107,8 @@ void TAS_Ctrl::tas_target_add(QVector<Trust_Track> *trust_track,
}
}
};
//int TAS_Ctrl:: tas_auto_start(double v, double r, double h, struct RadarPara Work_Parameter)
//{
@@ -128,7 +129,6 @@ void TAS_Ctrl::tas_target_add(QVector<Trust_Track> *trust_track,
//};
int TAS_Ctrl::tas_prohibite_area(double r,double azi, double v, double h,struct RadarPara Work_Parameter)
{
@@ -142,10 +142,9 @@ int TAS_Ctrl::tas_prohibite_area(double r,double azi, double v, double h,struct
return 0;
}
void TAS_Ctrl::tas_target_del(QVector<Trust_Track> *trust_track,
void TAS_Ctrl::tas_target_del(std::vector<Trust_Track> *trust_track,
struct Track Trust_Track_Output[][10],
int *Trust_track_num_Output,
struct RadarPara Work_Parameter)
@@ -224,7 +223,6 @@ void TAS_Ctrl::tas_target_del(QVector<Trust_Track> *trust_track,
// }
};
//int TAS_Ctrl::tas_auto_end(double v, double r, double h, struct RadarPara Work_Parameter)
@@ -246,18 +244,17 @@ void TAS_Ctrl::tas_target_del(QVector<Trust_Track> *trust_track,
//};
void TAS_Ctrl::tas_beam_output(QVector<Trust_Track> *trust_track,
void TAS_Ctrl::tas_beam_output(std::vector<Trust_Track> *trust_track,
struct TrackingBeam *Tracking_beam,
int latest_timestamp)
long long latest_timestamp)
{
if(tas_target_queue[0].empty_flag==1)
{
double H_track;
double X_now[6];
int CPI_time = 0;
double H_track = 0;
double X_now[6] = {0};
long long CPI_time = 0;
bool found_track = false;
for (int i=0;i<trust_track->size();i++ )
{
if((*trust_track)[i].Track_Index == tas_target_queue[0].Index)
@@ -266,9 +263,16 @@ void TAS_Ctrl::tas_beam_output(QVector<Trust_Track> *trust_track,
CPI_time = (*trust_track)[i].T_track;
for(int ii=0;ii<6;ii++)
X_now[ii]=(*trust_track)[i].X[ii];
found_track = true;
}
}
if (!found_track)
{
Tracking_beam->open_flag = 0;
return;
}
float delta_T = (latest_timestamp - CPI_time) / 1000.0f;
//预测目标位置 计算跟踪波束波位号 俯仰角
@@ -286,7 +290,6 @@ void TAS_Ctrl::tas_beam_output(QVector<Trust_Track> *trust_track,
//目标俯仰角
double elev=asin(H_track/range)/PI*180;
// if(elev<=0)
// elev=0;
// else if(elev>=40)
@@ -294,7 +297,6 @@ void TAS_Ctrl::tas_beam_output(QVector<Trust_Track> *trust_track,
// else
// elev=elev;
Tracking_beam->Elev=elev;
//跟踪波束类型
@@ -306,7 +308,7 @@ void TAS_Ctrl::tas_beam_output(QVector<Trust_Track> *trust_track,
//跟踪波束开关开启
Tracking_beam->open_flag=1;
//qDebug() << "TAS: range: " <<Tracking_beam->Range << "azi: " <<Tracking_beam->Azi <<"pit: " <<Tracking_beam->Elev;
//std::cout << "TAS: range: " <<Tracking_beam->Range << "azi: " <<Tracking_beam->Azi <<"pit: " <<Tracking_beam->Elev;
}
else
{
@@ -314,6 +316,4 @@ void TAS_Ctrl::tas_beam_output(QVector<Trust_Track> *trust_track,
Tracking_beam->open_flag=0;
}
}