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更新：1、适配四面阵机扫跟踪模式。

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Signed-off-by: waiwaylee <waiwaylee@foxmail.com>
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waiwaylee
2026-07-13 10:20:32 +08:00
parent ae3ef84441
commit 8b1896dd74
21 changed files with 521 additions and 7774 deletions
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@@ -2,3 +2,4 @@
build-data_process_class_dll-Desktop_Qt_5_7_0_MSVC2013_32bit-Release/
debug/
release/
build/
build/Makefile
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#############################################################################
# Makefile for building: data_process_class_dll
# Generated by qmake (3.0) (Qt 5.7.0)
# Project: ..\data_process_class_dll\data_process_class_dll.pro
# Template: lib
# Command: D:\APP\QT5_7\5.7\msvc2013\bin\qmake.exe -spec win32-msvc2013 -o Makefile ..\data_process_class_dll\data_process_class_dll.pro
#############################################################################
MAKEFILE = Makefile
first: release
install: release-install
uninstall: release-uninstall
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DEL_FILE = del
CHK_DIR_EXISTS= if not exist
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COPY = copy /y
COPY_FILE = copy /y
COPY_DIR = xcopy /s /q /y /i
INSTALL_FILE = copy /y
INSTALL_PROGRAM = copy /y
INSTALL_DIR = xcopy /s /q /y /i
DEL_FILE = del
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DEL_DIR = rmdir
MOVE = move
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release \
debug
release: FORCE
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$(MAKE) -f $(MAKEFILE).Release
release-make_first: FORCE
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$(MAKE) -f $(MAKEFILE).Release
release-all: FORCE
@set MAKEFLAGS=$(MAKEFLAGS)
$(MAKE) -f $(MAKEFILE).Release all
release-clean: FORCE
@set MAKEFLAGS=$(MAKEFLAGS)
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release-install: FORCE
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$(MAKE) -f $(MAKEFILE).Release install
release-uninstall: FORCE
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$(MAKE) -f $(MAKEFILE).Release uninstall
debug: FORCE
@set MAKEFLAGS=$(MAKEFLAGS)
$(MAKE) -f $(MAKEFILE).Debug
debug-make_first: FORCE
@set MAKEFLAGS=$(MAKEFLAGS)
$(MAKE) -f $(MAKEFILE).Debug
debug-all: FORCE
@set MAKEFLAGS=$(MAKEFLAGS)
$(MAKE) -f $(MAKEFILE).Debug all
debug-clean: FORCE
@set MAKEFLAGS=$(MAKEFLAGS)
$(MAKE) -f $(MAKEFILE).Debug clean
debug-distclean: FORCE
@set MAKEFLAGS=$(MAKEFLAGS)
$(MAKE) -f $(MAKEFILE).Debug distclean
debug-install: FORCE
@set MAKEFLAGS=$(MAKEFLAGS)
$(MAKE) -f $(MAKEFILE).Debug install
debug-uninstall: FORCE
@set MAKEFLAGS=$(MAKEFLAGS)
$(MAKE) -f $(MAKEFILE).Debug uninstall
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#pragma once
#ifndef DATA_PROCESS_CLASS_DLL_H
#define DATA_PROCESS_CLASS_DLL_H
#include "data_process_class_dll_global.h"
/***************************************************** 结构体 ********************************************************/
// 输入点迹的数据结构 用户可见
struct DATA_PROCESS_CLASS_DLLSHARED_EXPORT DataRev
{
float Range; //径向距离 （米）
float Azimuth; //方位 （度）
float Elevation; //俯仰 （度）
float Velocity; //速度 （m/s）
float Amplitude; //幅度
float Threshold; //目标门限
float Snr; //目标信噪比
float RCS; //目标RCS
float Encoder_value; //码盘值
int CPI_time; //CPI时间 该波位无点迹输入时也需要给出当前时间
int Beam_index_azi_0; //上一个cpi波位
int Beam_index_aiz; //方位波位号（0-24） 该波位无输入点迹时 也需要给出当前波位
int Beam_index_elev; //俯仰波位号（0-13）
int PRI; //PRI(us) 给0
int Freq_index; //频点号 给0
int Point_Sum; //输入点迹总数 若该波位无点迹输入 置为0
int Point_Num; //点迹号(1,2,3,4...)
int UseFlag; //点迹使用标记 使用1/未使用0 主程序存入数据时置为0
int TAS_track_index; //TAS的航迹号
int point_type; //点迹类型 TAS 1/TWS 0
int pitch_num; // 俯仰波位号
float speed_dim[129]; // 目标的十字星数据,目标点速度维129个点
float range_dim[8]; // 目标的十字星数据,目标点距离维8个点
};
//输出航迹的数据结构 用户可见
struct DATA_PROCESS_CLASS_DLLSHARED_EXPORT Track
{
float x; //x坐标
float y; //y坐标
float z; //z坐标
float v_x; //x速度
float v_y; //y速度
float v_z; //z速度
float Range; //径向距离
float Azimuth; //方位
float Elevation; //俯仰
float Range_V; //速度
float Amplitude; //幅度
int Track_Index; //航迹号
int Point_Sum; //本条航迹更新点的数目
int Flag_Direction; //方向标志1靠近/0远离
int Flag_Point; //点迹类型1实点/0补点
float x_Predict; //x坐标的一步预测
float y_Predict; //y坐标的一步预测
float z_Predict; //z坐标的一步预测
float Range_Predict; //径向距离的一步预测
float Azimuth_Predict; //方位的一步预测
float Elevation_Predict; //俯仰的一步预测
int Track_Mode; //跟踪模式,TAS 1/TWS 0
float Direction_Angle; //目标航向角
int Target_Type; //目标类型
int point_type; //点迹类型 TAS 1/TWS 0
float range_point; //关联上的点迹信息（距离、方位、俯仰、径向速度）
float azi_point;
float elev_point;
float vr_point;
float prf_point;
float track_time; //航迹时间 (单位 s)
float track_snr; //信噪比
float track_rcs; //rcs
int pitch_num; // 俯仰波位号
float speed_dim[129]; // 目标的十字星数据,目标点速度维129个点
float range_dim[8]; // 目标的十字星数据,目标点距离维8个点
};
// 跟踪波束信息的结构体
struct DATA_PROCESS_CLASS_DLLSHARED_EXPORT TrackingBeam
{
int open_flag; //是否开启 1开启 0不开启
int type; //类型
float Range; //跟踪目标距离
float Azi; //跟踪目标方位
float Elev; //跟踪目标俯仰
int TAS_track_index; //目标批号
};
//引导跟踪信息的结构体
struct DATA_PROCESS_CLASS_DLLSHARED_EXPORT Target_direct_tracking
{
int Track_ID; //引导目标批号
float Range; //引导目标距离
float Azi; //引导目标方位
float Elev; //引导目标俯仰
int open_flag; // 1 引导跟踪 0 结束引导跟踪
};
// 雷达参数结构体
struct DATA_PROCESS_CLASS_DLLSHARED_EXPORT RadarPara
{
int Beam_num; //波位数
float Height; //雷达平台高度 （m）
float Sys_delay; //系统延迟 (s)
float R_TAS_max; //TAS最大距离 （m）
float R_TAS_min; //TAS最小距离 (m)
float V_TAS_max; //TAS最大速度 (m/s)
float V_TAS_min; //TAS最小速度 (m/s)
float TAS_Height_1; //TAS跟踪高度1 (m)
float TAS_Height_2; //TAS跟踪高度2 (m)
float TAS_Height_3; //TAS跟踪高度3 (m)
float TAS_Height_4; //TAS跟踪高度4 (m)
float TAS_Height_5; //TAS跟踪高度5 (m)
int track_prohibite_area_num; //禁止航迹起始的区域数目
float R_max_track_prohibited[30]; //最大距离 (m)
float R_min_track_prohibited[30]; //最小距离 (m)
float Azimuth_max_track_prohibited[30]; //最大方位角 (度)
float Azimuth_min_track_prohibited[30]; //最小方位角 （度）
int TAS_prohibite_area_num; //禁止TAS的区域数目
float R_max_TAS_prohibited[30]; //最大距离 （m）
float R_min_TAS_prohibited[30]; //最小距离 (m)
float Azimuth_max_TAS_prohibited[30]; //最大方位角 (度)
float Azimuth_min_TAS_prohibited[30]; //最小方位角 (度)
int cfar_th; //cfar门限
int work_mode; //工作模式 0进程 1中程 3远程
int north_angle; //北偏角
float V_MAX; //最大速度
float V_MIN; //最小速度
float DATA_RATE_SHORT; //三种不同模式下的 数据率
float DATA_RATE_MIDDLE;
float DATA_RATE_FAR;
//数据关联参数
int track_start_point_num; //起批点数(典型值 3或4)
float track_start_threshold; //起航波门大小(典型值 3)
float track_asso_threshold; //关联波门大小(典型值 3)
float track_asso_threshold_tas; //关联波门大小tas (典型值 3)
//singer模型机动参数
float Model1_Q_fast; //0.00001
float Model1_Q_slow; //0.00001
float Model2_Q_fast; //0.1
float Model2_Q_slow; //0.001
float Model3_Q_fast; //0.8
float Model3_Q_slow; //0.4
};
class DATA_PROCESS_CLASS_DLLSHARED_EXPORT Data_process_class_dll
{
public:
// Data_process_class_dll();
//数据预处理函数
virtual int data_preprocess(struct DataRev Data_Input[150]) //雷达的输入点迹 主程序创建全局变量 输入数据
{
return 0;
}
//数据处理函数
virtual int track_process(struct Track Trust_Track_Output[][10], //数据处理输出的航迹更新信息 主程序创建全局变量 数据处理函数更新其中数据
int *Trust_track_num_Output, //数据处理后输出的航迹数目 主程序创建全局变量 数据处理函数更新其中数据
int Track_die_Index_Output[], //数据处理后要消亡的航迹 主程序创建全局变量 数据处理函数更新其中数据
int *Track_die_num_Output, //数据处理后要消亡的航迹数目
int model //模式 输入data_preprocess的返回值
)
{
return 0;
}
//波束控制
virtual void Beam_Ctrl(struct TrackingBeam *Tracking_beam,
struct Track Trust_Track_Output[][10],
int *Trust_track_num_Output)
{
}
//引导跟踪处理函数
virtual int direct_tracking_process(struct Target_direct_tracking Target_direct_info, //引导信息
struct DataRev Data_Input[150], //雷达的输入点迹
struct Track Trust_Track_Output[][10], //数据处理输出的航迹更新信息 主程序创建全局变量 数据处理函数更新其中数据
int *Trust_track_num_Output, //数据处理后输出的航迹数目 主程序创建全局变量 数据处理函数更新其中数据
int Track_die_Index_Output[], //数据处理后要消亡的航迹 主程序创建全局变量 数据处理函数更新其中数据
int *Track_die_num_Output, //数据处理后要消亡的航迹数目
struct TrackingBeam *Tracking_beam //波束控制信息
)
{
return 0;
}
//航迹清空函数
virtual int track_clear_all(void)
{
return 0;
}
//手动航迹删除函数
virtual int track_delete(int delete_track_num, //手动删除的航迹数目
int delete_track_index[]) //手动删除的航迹号
{
return 0;
}
//手动转TAS跟踪函数
virtual int tracking_start(int track_index) //需要手动转入TAS跟踪的航迹号
{
return 0;
}
//手动打跟踪波束
virtual int tracking_point(float Azimuth) //方位角
{
return 0;
}
//参数设置初始化函数
virtual int track_process_parameters_initial(struct RadarPara Radar_Parameter)
{
return 0;
}
//参数设置修改函数
virtual int track_process_parameters_modify(struct RadarPara Radar_Parameter)
{
return 0;
}
};
//工厂类 用户可见
class DATA_PROCESS_CLASS_DLLSHARED_EXPORT Data_Process_Factory
{
public:
static Data_process_class_dll *GetB(); //创建
static void Destroy(); //销毁
private:
static Data_process_class_dll *p;
};
#endif // DATA_PROCESS_CLASS_DLL_H
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#ifndef DATA_PROCESS_CLASS_DLL_GLOBAL_H
#define DATA_PROCESS_CLASS_DLL_GLOBAL_H
#include <QtCore/qglobal.h>
#if defined(DATA_PROCESS_CLASS_DLL_LIBRARY)
# define DATA_PROCESS_CLASS_DLLSHARED_EXPORT Q_DECL_EXPORT
#else
# define DATA_PROCESS_CLASS_DLLSHARED_EXPORT Q_DECL_IMPORT
#endif
//#if defined(DATA_PROCESS_CLASS_DLL_LIBRARY)
//# define DATA_PROCESS_CLASS_DLLSHARED_EXPORT __declspec(dllexport)
//#else
//# define DATA_PROCESS_CLASS_DLLSHARED_EXPORT __declspec(dllexport)
//#endif
//#if defined(DATA_PROCESS_CLASS_DLL_LIBRARY)
//#define DATA_PROCESS_CLASS_DLLSHARED_EXPORT __declspec(dllexport)
//#else
//#define DATA_PROCESS_CLASS_DLLSHARED_EXPORT __declspec(dllimport)
//#endif
#endif // DATA_PROCESS_CLASS_DLL_GLOBAL_H
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//数据预处理
int Data_Process::data_preprocess(struct DataRev Data_Input[150])
{
latest_timestamp = Data_Input[0].CPI_time;
//qDebug() << "latest_timestamp: " <<Data_Input[0].CPI_time;
//数据存入缓存区域 Data_buffer
if(Data_Input[0].point_type == 0) //tws数据
{
@@ -41,10 +44,13 @@ int Data_Process::data_preprocess(struct DataRev Data_Input[150])
std::memcpy(Data_buffer_temp.range_dim, Data_Input[i].range_dim, sizeof(Data_buffer_temp.range_dim));
Data_buffer.push_back(Data_buffer_temp);
qDebug() << "AZI: " <<Data_Input[i].Azimuth << "Encoder_value: " <<Data_Input[i].Encoder_value;
}
if(Data_Input[0].Beam_index_aiz < last_beam_num) //TWS
{
last_beam_num = Data_Input[0].Beam_index_aiz;
return 1;
}
else
@@ -57,7 +63,7 @@ int Data_Process::data_preprocess(struct DataRev Data_Input[150])
else if(Data_Input[0].point_type == 1) //tas数据
{
// qDebug() << "TAS TARGET :" <<Data_Input[0].TAS_track_index;
// qDebug() << "TAS POINT :" <<Data_Input[0].Point_Sum;
qDebug() << "TAS POINT :" <<Data_Input[0].Point_Sum;
data_num=Data_Input[0].Point_Sum;
TAS_track_idx = Data_Input[0].TAS_track_index;
@@ -162,11 +168,10 @@ int Data_Process::track_process(struct Track Trust_Track_Output[MAX_TRACK_NUM][1
// {
// qDebug() << "point_recv_tas :" <<point_recv_tas[0].Azimuth/PI*180<<" "<<point_recv_tas[0].Range;
// }
qDebug() << "TAS process :" << TAS_track_idx << "p a r:"<<point_recv_tas[0].Point_Sum<<" " <<point_recv_tas[0].Azimuth/PI*180<<" "<<point_recv_tas[0].Range;
QVector<PointRecv>().swap(Data_buffer_tas);//凝聚完毕 清除Data_buffer
track_asso_tas.track_asso_process_tas(&point_recv_tas, //点迹文件
&trust_track, //航迹文件
Trust_Track_Output, //更新航迹信息
@@ -182,12 +187,9 @@ int Data_Process::track_process(struct Track Trust_Track_Output[MAX_TRACK_NUM][1
Track_die_num_Output);
//qDebug() << "Extrapolate_round :" << trust_track[TAS_track_idx].Extrapolate_round;
}
return 1;
}
@@ -199,12 +201,9 @@ void Data_Process::Beam_Ctrl(struct TrackingBeam *Tracking_beam,
int *Trust_track_num_Output)
{
tas_ctrl.tas_ctrl_process(&trust_track,Tracking_beam, Trust_Track_Output, Trust_track_num_Output,Work_Parameter);
tas_ctrl.tas_ctrl_process(&trust_track,Tracking_beam, Trust_Track_Output, Trust_track_num_Output,Work_Parameter, latest_timestamp);
}
//数据处理参数初始化
int Data_Process::track_process_parameters_initial(struct RadarPara Radar_Parameter)
{
@@ -215,11 +214,6 @@ int Data_Process::track_process_parameters_initial(struct RadarPara Radar_Parame
return 0;
}
//数据处理参数修改
int Data_Process::track_process_parameters_modify(struct RadarPara Radar_Parameter)
{
@@ -249,6 +243,7 @@ int Data_Process:: track_delete(int delete_track_num, //手动
{
trust_track[j].manual_delete_flag=1;
qDebug() << "Delete :" << trust_track[j].Track_Index;
}
}
@@ -272,6 +267,21 @@ int Data_Process:: tracking_start(int track_index) //需要手动
return 0;
}
//手动取消TAS跟踪函数
int Data_Process:: tracking_stop(int track_index) //需要手动转入TAS跟踪的航迹号
{
for ( int i=0; i<trust_track.size();i++){
if(trust_track[i].Track_Index==track_index)
{
trust_track[i].manual_tracking_flag = 0;
trust_track[i].Track_Mode = 0;
}
}
return 0;
}
//手动打跟踪波束
int Data_Process::tracking_point(float Azimuth)//方位角
{
data_process_class_dll/data_process.h
+6 -1
View File
@@ -57,6 +57,9 @@ public:
//手动转TAS跟踪函数
int tracking_start(int track_index); //需要手动转入TAS跟踪的航迹号
//手动取消TAS跟踪函数
int tracking_stop(int track_index); //需要取消TAS跟踪的航迹号
//手动打跟踪波束
int tracking_point(float Azimuth); //方位角
@@ -88,7 +91,9 @@ private:
int Track_Mode; //跟踪模式 1TAS 0TWS
int last_beam_num = INT_MIN; //上一个波位号，用于判断是否搜索完一圈
int last_beam_num = INT_MAX; //上一个波位号，用于判断是否搜索完一圈
int latest_timestamp = 0; //最新时间戳
struct RadarPara Work_Parameter; //工作参数 参数设置函数外部输入
data_process_class_dll/data_process_class_dll.h
+5 -4
View File
@@ -225,9 +225,6 @@ public:
return 0;
}
//手动航迹删除函数
virtual int track_delete(int delete_track_num, //手动删除的航迹数目
int delete_track_index[]) //手动删除的航迹号
@@ -235,13 +232,17 @@ public:
return 0;
}
//手动转TAS跟踪函数
virtual int tracking_start(int track_index) //需要手动转入TAS跟踪的航迹号
{
return 0;
}
//手动取消TAS跟踪函数
virtual int tracking_stop(int track_index) //需要手动转入TAS跟踪的航迹号
{
return 0;
}
//手动打跟踪波束
virtual int tracking_point(float Azimuth) //方位角
data_process_class_dll/eigen-3.3.7/debug/gdb/__init__.py
-1
View File
@@ -1 +0,0 @@
# Intentionally empty
data_process_class_dll/eigen-3.3.7/debug/gdb/printers.py
-214
View File
@@ -1,214 +0,0 @@
# -*- coding: utf-8 -*-
# This file is part of Eigen, a lightweight C++ template library
# for linear algebra.
#
# Copyright (C) 2009 Benjamin Schindler <bschindler@inf.ethz.ch>
#
# This Source Code Form is subject to the terms of the Mozilla Public
# License, v. 2.0. If a copy of the MPL was not distributed with this
# file, You can obtain one at http://mozilla.org/MPL/2.0/.
# Pretty printers for Eigen::Matrix
# This is still pretty basic as the python extension to gdb is still pretty basic.
# It cannot handle complex eigen types and it doesn't support any of the other eigen types
# Such as quaternion or some other type.
# This code supports fixed size as well as dynamic size matrices
# To use it:
#
# * Create a directory and put the file as well as an empty __init__.py in
# that directory.
# * Create a ~/.gdbinit file, that contains the following:
# python
# import sys
# sys.path.insert(0, '/path/to/eigen/printer/directory')
# from printers import register_eigen_printers
# register_eigen_printers (None)
# end
import gdb
import re
import itertools
class EigenMatrixPrinter:
"Print Eigen Matrix or Array of some kind"
def __init__(self, variety, val):
"Extract all the necessary information"
# Save the variety (presumably "Matrix" or "Array") for later usage
self.variety = variety
# The gdb extension does not support value template arguments - need to extract them by hand
type = val.type
if type.code == gdb.TYPE_CODE_REF:
type = type.target()
self.type = type.unqualified().strip_typedefs()
tag = self.type.tag
regex = re.compile('\<.*\>')
m = regex.findall(tag)[0][1:-1]
template_params = m.split(',')
template_params = [x.replace(" ", "") for x in template_params]
if template_params[1] == '-0x00000000000000001' or template_params[1] == '-0x000000001' or template_params[1] == '-1':
self.rows = val['m_storage']['m_rows']
else:
self.rows = int(template_params[1])
if template_params[2] == '-0x00000000000000001' or template_params[2] == '-0x000000001' or template_params[2] == '-1':
self.cols = val['m_storage']['m_cols']
else:
self.cols = int(template_params[2])
self.options = 0 # default value
if len(template_params) > 3:
self.options = template_params[3];
self.rowMajor = (int(self.options) & 0x1)
self.innerType = self.type.template_argument(0)
self.val = val
# Fixed size matrices have a struct as their storage, so we need to walk through this
self.data = self.val['m_storage']['m_data']
if self.data.type.code == gdb.TYPE_CODE_STRUCT:
self.data = self.data['array']
self.data = self.data.cast(self.innerType.pointer())
class _iterator:
def __init__ (self, rows, cols, dataPtr, rowMajor):
self.rows = rows
self.cols = cols
self.dataPtr = dataPtr
self.currentRow = 0
self.currentCol = 0
self.rowMajor = rowMajor
def __iter__ (self):
return self
def next(self):
return self.__next__() # Python 2.x compatibility
def __next__(self):
row = self.currentRow
col = self.currentCol
if self.rowMajor == 0:
if self.currentCol >= self.cols:
raise StopIteration
self.currentRow = self.currentRow + 1
if self.currentRow >= self.rows:
self.currentRow = 0
self.currentCol = self.currentCol + 1
else:
if self.currentRow >= self.rows:
raise StopIteration
self.currentCol = self.currentCol + 1
if self.currentCol >= self.cols:
self.currentCol = 0
self.currentRow = self.currentRow + 1
item = self.dataPtr.dereference()
self.dataPtr = self.dataPtr + 1
if (self.cols == 1): #if it's a column vector
return ('[%d]' % (row,), item)
elif (self.rows == 1): #if it's a row vector
return ('[%d]' % (col,), item)
return ('[%d,%d]' % (row, col), item)
def children(self):
return self._iterator(self.rows, self.cols, self.data, self.rowMajor)
def to_string(self):
return "Eigen::%s<%s,%d,%d,%s> (data ptr: %s)" % (self.variety, self.innerType, self.rows, self.cols, "RowMajor" if self.rowMajor else "ColMajor", self.data)
class EigenQuaternionPrinter:
"Print an Eigen Quaternion"
def __init__(self, val):
"Extract all the necessary information"
# The gdb extension does not support value template arguments - need to extract them by hand
type = val.type
if type.code == gdb.TYPE_CODE_REF:
type = type.target()
self.type = type.unqualified().strip_typedefs()
self.innerType = self.type.template_argument(0)
self.val = val
# Quaternions have a struct as their storage, so we need to walk through this
self.data = self.val['m_coeffs']['m_storage']['m_data']['array']
self.data = self.data.cast(self.innerType.pointer())
class _iterator:
def __init__ (self, dataPtr):
self.dataPtr = dataPtr
self.currentElement = 0
self.elementNames = ['x', 'y', 'z', 'w']
def __iter__ (self):
return self
def next(self):
return self.__next__() # Python 2.x compatibility
def __next__(self):
element = self.currentElement
if self.currentElement >= 4: #there are 4 elements in a quanternion
raise StopIteration
self.currentElement = self.currentElement + 1
item = self.dataPtr.dereference()
self.dataPtr = self.dataPtr + 1
return ('[%s]' % (self.elementNames[element],), item)
def children(self):
return self._iterator(self.data)
def to_string(self):
return "Eigen::Quaternion<%s> (data ptr: %s)" % (self.innerType, self.data)
def build_eigen_dictionary ():
pretty_printers_dict[re.compile('^Eigen::Quaternion<.*>$')] = lambda val: EigenQuaternionPrinter(val)
pretty_printers_dict[re.compile('^Eigen::Matrix<.*>$')] = lambda val: EigenMatrixPrinter("Matrix", val)
pretty_printers_dict[re.compile('^Eigen::Array<.*>$')] = lambda val: EigenMatrixPrinter("Array", val)
def register_eigen_printers(obj):
"Register eigen pretty-printers with objfile Obj"
if obj == None:
obj = gdb
obj.pretty_printers.append(lookup_function)
def lookup_function(val):
"Look-up and return a pretty-printer that can print va."
type = val.type
if type.code == gdb.TYPE_CODE_REF:
type = type.target()
type = type.unqualified().strip_typedefs()
typename = type.tag
if typename == None:
return None
for function in pretty_printers_dict:
if function.search(typename):
return pretty_printers_dict[function](val)
return None
pretty_printers_dict = {}
build_eigen_dictionary ()
data_process_class_dll/eigen-3.3.7/debug/msvc/eigen.natvis
-235
View File
@@ -1,235 +0,0 @@
<?xml version="1.0" encoding="utf-8"?>
<AutoVisualizer xmlns="http://schemas.microsoft.com/vstudio/debugger/natvis/2010">
<!-- Fixed x Fixed Matrix -->
<Type Name="Eigen::Matrix&lt;*,*,*,*,*,*&gt;">
<AlternativeType Name="Eigen::Array&lt;*,-1,-1,*,*,*&gt;"/>
<DisplayString>[{$T2}, {$T3}] (fixed matrix)</DisplayString>
<Expand>
<ArrayItems Condition="Flags%2"> <!-- row major layout -->
<Rank>2</Rank>
<Size>$i==0 ? $T2 : $T3</Size>
<ValuePointer>m_storage.m_data.array</ValuePointer>
</ArrayItems>
<ArrayItems Condition="!(Flags%2)"> <!-- column major layout -->
<Direction>Backward</Direction>
<Rank>2</Rank>
<Size>$i==0 ? $T2 : $T3</Size>
<ValuePointer>m_storage.m_data.array</ValuePointer>
</ArrayItems>
</Expand>
</Type>
<!-- 2 x 2 Matrix -->
<Type Name="Eigen::Matrix&lt;*,2,2,*,*,*&gt;">
<AlternativeType Name="Eigen::Array&lt;*,2,2,*,*,*&gt;"/>
<DisplayString>[2, 2] (fixed matrix)</DisplayString>
<Expand>
<Synthetic Name="[row 0]" Condition="Flags%2">
<DisplayString>({m_storage.m_data.array[0]}, {m_storage.m_data.array[1]})</DisplayString>
</Synthetic>
<Synthetic Name="[row 0]" Condition="!(Flags%2)">
<DisplayString>({m_storage.m_data.array[0]}, {m_storage.m_data.array[2]})</DisplayString>
</Synthetic>
<Synthetic Name="[row 1]" Condition="Flags%2">
<DisplayString>({m_storage.m_data.array[2]}, {m_storage.m_data.array[3]})</DisplayString>
</Synthetic>
<Synthetic Name="[row 1]" Condition="!(Flags%2)">
<DisplayString>({m_storage.m_data.array[1]}, {m_storage.m_data.array[3]})</DisplayString>
</Synthetic>
</Expand>
</Type>
<!-- 3 x 3 Matrix -->
<Type Name="Eigen::Matrix&lt;*,3,3,*,*,*&gt;">
<AlternativeType Name="Eigen::Array&lt;*,3,3,*,*,*&gt;"/>
<DisplayString>[3, 3] (fixed matrix)</DisplayString>
<Expand>
<Synthetic Name="[row 0]" Condition="Flags%2">
<DisplayString>({m_storage.m_data.array[0]}, {m_storage.m_data.array[1]}, {m_storage.m_data.array[2]})</DisplayString>
</Synthetic>
<Synthetic Name="[row 0]" Condition="!(Flags%2)">
<DisplayString>({m_storage.m_data.array[0]}, {m_storage.m_data.array[3]}, {m_storage.m_data.array[6]})</DisplayString>
</Synthetic>
<Synthetic Name="[row 1]" Condition="Flags%2">
<DisplayString>({m_storage.m_data.array[3]}, {m_storage.m_data.array[4]}, {m_storage.m_data.array[5]})</DisplayString>
</Synthetic>
<Synthetic Name="[row 1]" Condition="!(Flags%2)">
<DisplayString>({m_storage.m_data.array[1]}, {m_storage.m_data.array[4]}, {m_storage.m_data.array[7]})</DisplayString>
</Synthetic>
<Synthetic Name="[row 2]" Condition="Flags%2">
<DisplayString>({m_storage.m_data.array[6]}, {m_storage.m_data.array[7]}, {m_storage.m_data.array[8]})</DisplayString>
</Synthetic>
<Synthetic Name="[row 2]" Condition="!(Flags%2)">
<DisplayString>({m_storage.m_data.array[2]}, {m_storage.m_data.array[5]}, {m_storage.m_data.array[8]})</DisplayString>
</Synthetic>
</Expand>
</Type>
<!-- 4 x 4 Matrix -->
<Type Name="Eigen::Matrix&lt;*,4,4,*,*,*&gt;">
<AlternativeType Name="Eigen::Array&lt;*,4,4,*,*,*&gt;"/>
<DisplayString>[4, 4] (fixed matrix)</DisplayString>
<Expand>
<Synthetic Name="[row 0]" Condition="Flags%2">
<DisplayString>({m_storage.m_data.array[0]}, {m_storage.m_data.array[1]}, {m_storage.m_data.array[2]}, {m_storage.m_data.array[3]})</DisplayString>
</Synthetic>
<Synthetic Name="[row 0]" Condition="!(Flags%2)">
<DisplayString>({m_storage.m_data.array[0]}, {m_storage.m_data.array[4]}, {m_storage.m_data.array[8]}, {m_storage.m_data.array[12]})</DisplayString>
</Synthetic>
<Synthetic Name="[row 1]" Condition="Flags%2">
<DisplayString>({m_storage.m_data.array[4]}, {m_storage.m_data.array[5]}, {m_storage.m_data.array[6]}, {m_storage.m_data.array[7]})</DisplayString>
</Synthetic>
<Synthetic Name="[row 1]" Condition="!(Flags%2)">
<DisplayString>({m_storage.m_data.array[1]}, {m_storage.m_data.array[5]}, {m_storage.m_data.array[9]}, {m_storage.m_data.array[13]})</DisplayString>
</Synthetic>
<Synthetic Name="[row 2]" Condition="Flags%2">
<DisplayString>({m_storage.m_data.array[8]}, {m_storage.m_data.array[9]}, {m_storage.m_data.array[10]}, {m_storage.m_data.array[11]})</DisplayString>
</Synthetic>
<Synthetic Name="[row 2]" Condition="!(Flags%2)">
<DisplayString>({m_storage.m_data.array[2]}, {m_storage.m_data.array[6]}, {m_storage.m_data.array[10]}, {m_storage.m_data.array[14]})</DisplayString>
</Synthetic>
<Synthetic Name="[row 3]" Condition="Flags%2">
<DisplayString>({m_storage.m_data.array[12]}, {m_storage.m_data.array[13]}, {m_storage.m_data.array[14]}, {m_storage.m_data.array[15]})</DisplayString>
</Synthetic>
<Synthetic Name="[row 3]" Condition="!(Flags%2)">
<DisplayString>({m_storage.m_data.array[3]}, {m_storage.m_data.array[7]}, {m_storage.m_data.array[11]}, {m_storage.m_data.array[15]})</DisplayString>
</Synthetic>
</Expand>
</Type>
<!-- Dynamic x Dynamic Matrix -->
<Type Name="Eigen::Matrix&lt;*,-1,-1,*,*,*&gt;">
<AlternativeType Name="Eigen::Array&lt;*,-1,-1,*,*,*&gt;"/>
<DisplayString Condition="m_storage.m_data == 0">empty</DisplayString>
<DisplayString Condition="m_storage.m_data != 0">[{m_storage.m_rows}, {m_storage.m_cols}] (dynamic matrix)</DisplayString>
<Expand>
<ArrayItems Condition="Flags%2"> <!-- row major layout -->
<Rank>2</Rank>
<Size>$i==0 ? m_storage.m_rows : m_storage.m_cols</Size>
<ValuePointer>m_storage.m_data</ValuePointer>
</ArrayItems>
<ArrayItems Condition="!(Flags%2)"> <!-- column major layout -->
<Direction>Backward</Direction>
<Rank>2</Rank>
<Size>$i==0 ? m_storage.m_rows : m_storage.m_cols</Size>
<ValuePointer>m_storage.m_data</ValuePointer>
</ArrayItems>
</Expand>
</Type>
<!-- Fixed x Dynamic Matrix -->
<Type Name="Eigen::Matrix&lt;*,*,-1,*,*,*&gt;">
<AlternativeType Name="Eigen::Array&lt;*,*,-1,*,*,*&gt;"/>
<DisplayString Condition="m_storage.m_data == 0">empty</DisplayString>
<DisplayString Condition="m_storage.m_data != 0">[{$T2}, {m_storage.m_cols}] (dynamic column matrix)</DisplayString>
<Expand>
<ArrayItems Condition="Flags%2"> <!-- row major layout -->
<Rank>2</Rank>
<Size>$i==0 ? $T2 : m_storage.m_cols</Size>
<ValuePointer>m_storage.m_data</ValuePointer>
</ArrayItems>
<ArrayItems Condition="!(Flags%2)"> <!-- column major layout -->
<Direction>Backward</Direction>
<Rank>2</Rank>
<Size>$i==0 ? $T2 : m_storage.m_cols</Size>
<ValuePointer>m_storage.m_data</ValuePointer>
</ArrayItems>
</Expand>
</Type>
<!-- Dynamic x Fixed Matrix -->
<Type Name="Eigen::Matrix&lt;*,-1,*,*,*,*&gt;">
<AlternativeType Name="Eigen::Array&lt;*,-1,*,*,*,*&gt;"/>
<DisplayString Condition="m_storage.m_data == 0">empty</DisplayString>
<DisplayString Condition="m_storage.m_data != 0">[{m_storage.m_rows}, {$T2}] (dynamic row matrix)</DisplayString>
<Expand>
<ArrayItems Condition="Flags%2"> <!-- row major layout -->
<Rank>2</Rank>
<Size>$i==0 ? m_storage.m_rows : $T2</Size>
<ValuePointer>m_storage.m_data</ValuePointer>
</ArrayItems>
<ArrayItems Condition="!(Flags%2)"> <!-- column major layout -->
<Direction>Backward</Direction>
<Rank>2</Rank>
<Size>$i==0 ? m_storage.m_rows : $T2</Size>
<ValuePointer>m_storage.m_data</ValuePointer>
</ArrayItems>
</Expand>
</Type>
<!-- Dynamic Column Vector -->
<Type Name="Eigen::Matrix&lt;*,1,-1,*,*,*&gt;">
<AlternativeType Name="Eigen::Array&lt;*,1,-1,*,*,*&gt;"/>
<DisplayString Condition="m_storage.m_data == 0">empty</DisplayString>
<DisplayString Condition="m_storage.m_data != 0">[{m_storage.m_cols}] (dynamic column vector)</DisplayString>
<Expand>
<Item Name="[size]">m_storage.m_cols</Item>
<ArrayItems>
<Size>m_storage.m_cols</Size>
<ValuePointer>m_storage.m_data</ValuePointer>
</ArrayItems>
</Expand>
</Type>
<!-- Dynamic Row Vector -->
<Type Name="Eigen::Matrix&lt;*,-1,1,*,*,*&gt;">
<AlternativeType Name="Eigen::Array&lt;*,-1,1,*,*,*&gt;"/>
<DisplayString Condition="m_storage.m_data == 0">empty</DisplayString>
<DisplayString Condition="m_storage.m_data != 0">[{m_storage.m_rows}] (dynamic row vector)</DisplayString>
<Expand>
<Item Name="[size]">m_storage.m_rows</Item>
<ArrayItems>
<Size>m_storage.m_rows</Size>
<ValuePointer>m_storage.m_data</ValuePointer>
</ArrayItems>
</Expand>
</Type>
<!-- Fixed Vector -->
<Type Name="Eigen::Matrix&lt;*,1,1,*,*,*&gt;">
<AlternativeType Name="Eigen::Array&lt;*,1,1,*,*,*&gt;"/>
<DisplayString>[1] ({m_storage.m_data.array[0]})</DisplayString>
<Expand>
<Item Name="[x]">m_storage.m_data.array[0]</Item>
</Expand>
</Type>
<Type Name="Eigen::Matrix&lt;*,2,1,*,*,*&gt;">
<AlternativeType Name="Eigen::Matrix&lt;*,1,2,*,*,*&gt;"/>
<AlternativeType Name="Eigen::Array&lt;*,2,1,*,*,*&gt;"/>
<AlternativeType Name="Eigen::Array&lt;*,1,2,*,*,*&gt;"/>
<DisplayString>[2] ({m_storage.m_data.array[0]}, {m_storage.m_data.array[1]})</DisplayString>
<Expand>
<Item Name="[x]">m_storage.m_data.array[0]</Item>
<Item Name="[y]">m_storage.m_data.array[1]</Item>
</Expand>
</Type>
<Type Name="Eigen::Matrix&lt;*,3,1,*,*,*&gt;">
<AlternativeType Name="Eigen::Matrix&lt;*,1,3,*,*,*&gt;"/>
<AlternativeType Name="Eigen::Array&lt;*,3,1,*,*,*&gt;"/>
<AlternativeType Name="Eigen::Array&lt;*,1,3,*,*,*&gt;"/>
<DisplayString>[3] ({m_storage.m_data.array[0]}, {m_storage.m_data.array[1]}, {m_storage.m_data.array[2]})</DisplayString>
<Expand>
<Item Name="[x]">m_storage.m_data.array[0]</Item>
<Item Name="[y]">m_storage.m_data.array[1]</Item>
<Item Name="[z]">m_storage.m_data.array[2]</Item>
</Expand>
</Type>
<Type Name="Eigen::Matrix&lt;*,4,1,*,*,*&gt;">
<AlternativeType Name="Eigen::Matrix&lt;*,1,4,*,*,*&gt;"/>
<AlternativeType Name="Eigen::Array&lt;*,4,1,*,*,*&gt;"/>
<AlternativeType Name="Eigen::Array&lt;*,1,4,*,*,*&gt;"/>
<DisplayString>[4] ({m_storage.m_data.array[0]}, {m_storage.m_data.array[1]}, {m_storage.m_data.array[2]}, {m_storage.m_data.array[3]})</DisplayString>
<Expand>
<Item Name="[x]">m_storage.m_data.array[0]</Item>
<Item Name="[y]">m_storage.m_data.array[1]</Item>
<Item Name="[z]">m_storage.m_data.array[2]</Item>
<Item Name="[w]">m_storage.m_data.array[3]</Item>
</Expand>
</Type>
</AutoVisualizer>
data_process_class_dll/eigen-3.3.7/debug/msvc/eigen_autoexp_part.dat
-295
View File
@@ -1,295 +0,0 @@
; ***************************************************************
; * Eigen Visualizer
; *
; * Author: Hauke Heibel <hauke.heibel@gmail.com>
; *
; * Support the enhanced debugging of the following Eigen
; * types (*: any, +:fixed dimension) :
; *
; * - Eigen::Matrix<*,4,1,*,*,*> and Eigen::Matrix<*,1,4,*,*,*>
; * - Eigen::Matrix<*,3,1,*,*,*> and Eigen::Matrix<*,1,3,*,*,*>
; * - Eigen::Matrix<*,2,1,*,*,*> and Eigen::Matrix<*,1,2,*,*,*>
; * - Eigen::Matrix<*,-1,-1,*,*,*>
; * - Eigen::Matrix<*,+,-1,*,*,*>
; * - Eigen::Matrix<*,-1,+,*,*,*>
; * - Eigen::Matrix<*,+,+,*,*,*>
; *
; * Matrices are displayed properly independantly of the memory
; * alignment (RowMajor vs. ColMajor).
; *
; * This file is distributed WITHOUT ANY WARRANTY. Please ensure
; * that your original autoexp.dat file is copied to a safe
; * place before proceeding with its modification.
; ***************************************************************
[Visualizer]
; Fixed size 4-vectors
Eigen::Matrix<*,4,1,*,*,*>|Eigen::Matrix<*,1,4,*,*,*>{
children
(
#(
[internals]: [$c,!],
x : ($c.m_storage.m_data.array)[0],
y : ($c.m_storage.m_data.array)[1],
z : ($c.m_storage.m_data.array)[2],
w : ($c.m_storage.m_data.array)[3]
)
)
preview
(
#(
"[",
4,
"](",
#array(expr: $e.m_storage.m_data.array[$i], size: 4),
")"
)
)
}
; Fixed size 3-vectors
Eigen::Matrix<*,3,1,*,*,*>|Eigen::Matrix<*,1,3,*,*,*>{
children
(
#(
[internals]: [$c,!],
x : ($c.m_storage.m_data.array)[0],
y : ($c.m_storage.m_data.array)[1],
z : ($c.m_storage.m_data.array)[2]
)
)
preview
(
#(
"[",
3,
"](",
#array(expr: $e.m_storage.m_data.array[$i], size: 3),
")"
)
)
}
; Fixed size 2-vectors
Eigen::Matrix<*,2,1,*,*,*>|Eigen::Matrix<*,1,2,*,*,*>{
children
(
#(
[internals]: [$c,!],
x : ($c.m_storage.m_data.array)[0],
y : ($c.m_storage.m_data.array)[1]
)
)
preview
(
#(
"[",
2,
"](",
#array(expr: $e.m_storage.m_data.array[$i], size: 2),
")"
)
)
}
; Fixed size 1-vectors
Eigen::Matrix<*,1,1,*,*,*>|Eigen::Matrix<*,1,1,*,*,*>{
children
(
#(
[internals]: [$c,!],
x : ($c.m_storage.m_data.array)[0]
)
)
preview
(
#(
"[",
1,
"](",
#array(expr: $e.m_storage.m_data.array[$i], size: 1),
")"
)
)
}
; Dynamic matrices (ColMajor and RowMajor support)
Eigen::Matrix<*,-1,-1,*,*,*>{
children
(
#(
[internals]: [$c,!],
rows: $c.m_storage.m_rows,
cols: $c.m_storage.m_cols,
; Check for RowMajorBit
#if ($c.Flags & 0x1) (
#array(
rank: 2,
base: 0,
expr: ($c.m_storage.m_data)[($i % $c.m_storage.m_rows)*$c.m_storage.m_cols + (($i- $i % $c.m_storage.m_rows)/$c.m_storage.m_rows)],
size: ($r==1)*$c.m_storage.m_rows+($r==0)*$c.m_storage.m_cols
)
) #else (
#array(
rank: 2,
base: 0,
expr: ($c.m_storage.m_data)[$i],
size: ($r==1)*$c.m_storage.m_rows+($r==0)*$c.m_storage.m_cols
)
)
)
)
preview
(
#(
"[",
$c.m_storage.m_rows,
",",
$c.m_storage.m_cols,
"](",
#array(
expr : [($c.m_storage.m_data)[$i],g],
size : $c.m_storage.m_rows*$c.m_storage.m_cols
),
")"
)
)
}
; Fixed rows, dynamic columns matrix (ColMajor and RowMajor support)
Eigen::Matrix<*,*,-1,*,*,*>{
children
(
#(
[internals]: [$c,!],
rows: $c.RowsAtCompileTime,
cols: $c.m_storage.m_cols,
; Check for RowMajorBit
#if ($c.Flags & 0x1) (
#array(
rank: 2,
base: 0,
expr: ($c.m_storage.m_data)[($i % $c.RowsAtCompileTime)*$c.m_storage.m_cols + (($i- $i % $c.RowsAtCompileTime)/$c.RowsAtCompileTime)],
size: ($r==1)*$c.RowsAtCompileTime+($r==0)*$c.m_storage.m_cols
)
) #else (
#array(
rank: 2,
base: 0,
expr: ($c.m_storage.m_data)[$i],
size: ($r==1)*$c.RowsAtCompileTime+($r==0)*$c.m_storage.m_cols
)
)
)
)
preview
(
#(
"[",
$c.RowsAtCompileTime,
",",
$c.m_storage.m_cols,
"](",
#array(
expr : [($c.m_storage.m_data)[$i],g],
size : $c.RowsAtCompileTime*$c.m_storage.m_cols
),
")"
)
)
}
; Dynamic rows, fixed columns matrix (ColMajor and RowMajor support)
Eigen::Matrix<*,-1,*,*,*,*>{
children
(
#(
[internals]: [$c,!],
rows: $c.m_storage.m_rows,
cols: $c.ColsAtCompileTime,
; Check for RowMajorBit
#if ($c.Flags & 0x1) (
#array(
rank: 2,
base: 0,
expr: ($c.m_storage.m_data)[($i % $c.m_storage.m_rows)*$c.ColsAtCompileTime + (($i- $i % $c.m_storage.m_rows)/$c.m_storage.m_rows)],
size: ($r==1)*$c.m_storage.m_rows+($r==0)*$c.ColsAtCompileTime
)
) #else (
#array(
rank: 2,
base: 0,
expr: ($c.m_storage.m_data)[$i],
size: ($r==1)*$c.m_storage.m_rows+($r==0)*$c.ColsAtCompileTime
)
)
)
)
preview
(
#(
"[",
$c.m_storage.m_rows,
",",
$c.ColsAtCompileTime,
"](",
#array(
expr : [($c.m_storage.m_data)[$i],g],
size : $c.m_storage.m_rows*$c.ColsAtCompileTime
),
")"
)
)
}
; Fixed size matrix (ColMajor and RowMajor support)
Eigen::Matrix<*,*,*,*,*,*>{
children
(
#(
[internals]: [$c,!],
rows: $c.RowsAtCompileTime,
cols: $c.ColsAtCompileTime,
; Check for RowMajorBit
#if ($c.Flags & 0x1) (
#array(
rank: 2,
base: 0,
expr: ($c.m_storage.m_data.array)[($i % $c.RowsAtCompileTime)*$c.ColsAtCompileTime + (($i- $i % $c.RowsAtCompileTime)/$c.RowsAtCompileTime)],
size: ($r==1)*$c.RowsAtCompileTime+($r==0)*$c.ColsAtCompileTime
)
) #else (
#array(
rank: 2,
base: 0,
expr: ($c.m_storage.m_data.array)[$i],
size: ($r==1)*$c.RowsAtCompileTime+($r==0)*$c.ColsAtCompileTime
)
)
)
)
preview
(
#(
"[",
$c.RowsAtCompileTime,
",",
$c.ColsAtCompileTime,
"](",
#array(
expr : [($c.m_storage.m_data.array)[$i],g],
size : $c.RowsAtCompileTime*$c.ColsAtCompileTime
),
")"
)
)
}
data_process_class_dll/parameters.h
+5 -3
View File
@@ -70,7 +70,8 @@
//#define DATA_RATE_MIDDLE 1
//#define DATA_RATE_FAR 1
#define DATA_RATE_TAS 0.33
//#define DATA_RATE_TAS 0.046875
#define DATA_RATE_TAS 0.0625
#define SIGMA_R 10.0 //测量误差
#define SIGMA_A 0.02
@@ -101,7 +102,7 @@
#define ALPHA_START 60 //起航夹角 120 越大越容易起批
#define TRACK_DIE_ROUND 4 // 航迹消亡时间
#define TRACK_DIE_ROUND_TAS 5
#define TRACK_DIE_ROUND_TAS 96 //
#define ASSO_THORD 3
@@ -111,7 +112,8 @@
#define TAS_QUEUE_LENGTH 1 //Tas调用的cpi数
#define MAX_TAS_NUM 1
#define T_TAS_PRED 0.33
//#define T_TAS_PRED 0.046875
#define T_TAS_PRED DATA_RATE_TAS
#define UNCONF_TARGET 0
data_process_class_dll/tas_ctrl.cpp
+30 -24
View File
@@ -3,6 +3,7 @@
#include <qmath.h>
#include"memory.h"
#include <QVector>
#include <QDebug>
using namespace std;
@@ -22,20 +23,21 @@ void TAS_Ctrl::tas_ctrl_process(QVector<Trust_Track> *trust_track,
struct TrackingBeam *Tracking_beam,
struct Track Trust_Track_Output[][10],
int *Trust_track_num_Output,
struct RadarPara Work_Parameter)
struct RadarPara Work_Parameter,
int latest_timestamp)
{
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);
tas_beam_output(trust_track,Tracking_beam,latest_timestamp);
//跟踪队列移位
struct Tracking_Target tas_target_tmp;
memcpy(&tas_target_tmp, &tas_target_queue[TAS_QUEUE_LENGTH-1], sizeof(Tracking_Target));
for (int i=TAS_QUEUE_LENGTH-1;i>0;i--)
{
memcpy(&tas_target_queue[i],&tas_target_queue[i-1],sizeof(Tracking_Target));
}
memcpy(&tas_target_queue[0], &tas_target_tmp, sizeof(Tracking_Target));
// //跟踪队列移位
// struct Tracking_Target tas_target_tmp;
// memcpy(&tas_target_tmp, &tas_target_queue[TAS_QUEUE_LENGTH-1], sizeof(Tracking_Target));
// for (int i=TAS_QUEUE_LENGTH-1;i>0;i--)
// {
// memcpy(&tas_target_queue[i],&tas_target_queue[i-1],sizeof(Tracking_Target));
// }
// memcpy(&tas_target_queue[0], &tas_target_tmp, sizeof(Tracking_Target));
@@ -66,7 +68,7 @@ void TAS_Ctrl::tas_target_add(QVector<Trust_Track> *trust_track,
{
for(int j=0;j<TAS_QUEUE_LENGTH;j++)
{
if(tas_target_queue[j].empty_flag==0 && j%2==0)
if(tas_target_queue[j].empty_flag==0)// && j%2==0)
{
//插入跟踪队列
tas_target_queue[j].Index=(*trust_track)[i].Track_Index;
@@ -159,13 +161,14 @@ void TAS_Ctrl::tas_target_del(QVector<Trust_Track> *trust_track,
{
//查找TAS队列里的目标是否存在
int flag=0;
for (int j=0;j<trust_track->size();j++)
for (int j=0;j<trust_track->size();j++){
{
if(tas_target_queue[i].Index==(*trust_track)[j].Track_Index && (*trust_track)[j].Track_Mode == 1)
if(tas_target_queue[i].Index==(*trust_track)[j].Track_Index && (*trust_track)[j].Track_Mode == 1 && (*trust_track)[j].manual_tracking_flag == 1)
{
flag=1;
}
}
}
//目标不存在 说明已消批 从队列里删除
if(flag == 0)
{
@@ -249,47 +252,50 @@ void TAS_Ctrl::tas_target_del(QVector<Trust_Track> *trust_track,
void TAS_Ctrl::tas_beam_output(QVector<Trust_Track> *trust_track,
struct TrackingBeam *Tracking_beam)
struct TrackingBeam *Tracking_beam,
int latest_timestamp)
{
if(tas_target_queue[0].empty_flag==1)
{
double H_track;
double X_now[6];
int CPI_time = 0;
for (int i=0;i<trust_track->size();i++ )
{
if((*trust_track)[i].Track_Index == tas_target_queue[0].Index)
{
H_track = (*trust_track)[i].Height;
CPI_time = (*trust_track)[i].T_track;
for(int ii=0;ii<6;ii++)
X_now[ii]=(*trust_track)[i].X[ii];
}
}
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
double x_track=X_now[0]+X_now[1]*T_TAS_PRED;
double y_track=X_now[3]+X_now[4]*T_TAS_PRED;
double x_track=X_now[0]+X_now[1]*delta_T;
double y_track=X_now[3]+X_now[4]*delta_T;
double amzi,range;
coor_trans Coor_trans;
Coor_trans.cart2polar(x_track,y_track,&range,&amzi);
//目标距离
Tracking_beam->Range=range;
//目标方位
Tracking_beam->Azi=amzi/PI*180;
// Tracking_beam->Azi+=6;
//目标俯仰角
double elev=asin(H_track/range)/PI*180;
if(elev<=0)
elev=0;
else if(elev>=40)
elev=40;
else
elev=elev;
// if(elev<=0)
// elev=0;
// else if(elev>=40)
// elev=40;
// else
// elev=elev;
Tracking_beam->Elev=elev;
data_process_class_dll/tas_ctrl.h
+4 -2
View File
@@ -18,7 +18,8 @@ public:
struct TrackingBeam *Tracking_beam,
struct Track Trust_Track_Output[][10],
int *Trust_track_num_Output,
struct RadarPara Work_Parameter);
struct RadarPara Work_Parameter,
int latest_timestamp);
private:
@@ -37,7 +38,8 @@ private:
//TAS队列信息输出
void tas_beam_output(QVector<Trust_Track> *trust_track,
struct TrackingBeam *Tracking_beam);
struct TrackingBeam *Tracking_beam,
int latest_timestamp);
//TAS 自动开启条件
int tas_auto_start(double v, double r, double h, struct RadarPara Work_Parameter);
data_process_class_dll/track_die_tas.cpp
+2
View File
@@ -4,6 +4,7 @@
#include <qmath.h>
#include"memory.h"
#include <QVector>
#include <QDebug>
using namespace std;
@@ -20,6 +21,7 @@ void Track_Die_Tas::track_die_process_tas( QVector <Trust_Track> *trust_track,
{
qDebug() << "remove tas target :" << (*Iter).Track_Index;
//输出消亡信息
*Track_die_num_Output=*Track_die_num_Output+1;
Track_die_Index_Output[*Track_die_num_Output-1]=(*Iter).Track_Index;