385 lines
13 KiB
C++
385 lines
13 KiB
C++
#include "data_process.h"
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#include "rdp_log.h"
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#include "rdp_record.h"
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#include "rdp_record_entity.h"
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#include <cstring>
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#include <vector>
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#include <cmath>
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#include <iostream>
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using namespace std;
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/*******************************************************************************/
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/*******************************************************************************/
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/************************************用户接口函数*******************************/
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/*******************************************************************************/
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/*******************************************************************************/
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//数据预处理
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int Data_Process::data_preprocess(struct DataRev Data_Input[150])
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{
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// 更新当前系统时间
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latest_timestamp = Data_Input[0].CPI_time;
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frame_id++;
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//数据存入缓存区域 Data_buffer
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if(Data_Input[0].point_type == 0) //tws数据
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{
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data_num=min(Data_Input[0].Point_Sum, 150);
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//std::cout << "TARGET azi beam idx:" <<Data_Input[0].Beam_index_aiz;
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for (int i=0; i<data_num;i++)
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{
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PointRecv Data_buffer_temp;
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Data_buffer_temp.point_id = point_id++;
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Data_buffer_temp.frame_id = frame_id;
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Data_buffer_temp.amplitude=Data_Input[i].Amplitude;
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Data_buffer_temp.azimuth=Data_Input[i].Azimuth/180*PI;
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Data_buffer_temp.SNR = Data_Input[i].Snr;
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Data_buffer_temp.RCS = Data_Input[i].RCS;
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Data_buffer_temp.CPI_time = Data_Input[i].CPI_time;
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Data_buffer_temp.GNSS_time = Data_Input[i].GNSS_time;
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Data_buffer_temp.freq_index = Data_Input[i].Freq_index;
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Data_buffer_temp.PRF_index = Data_Input[i].PRI;
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Data_buffer_temp.range = Data_Input[i].Range;
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Data_buffer_temp.height= Data_Input[i].Range*sin(Data_Input[i].Elevation/180*PI);
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Data_buffer_temp.use_flag = 0;
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Data_buffer_temp.velocity = Data_Input[i].Velocity;
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Data_buffer_temp.encoder_value = Data_Input[i].Encoder_value;
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Data_buffer_temp.pitch_beam_index = Data_Input[i].pitch_num;
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Data_buffer_temp.azimuth_beam_index = Data_Input[i].Beam_index_aiz;
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Data_buffer_temp.point_type = Data_Input[i].point_type;
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Data_buffer_temp.amp_asv_point = Data_Input[i].amp_asv;
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Data_buffer_temp.prn_fftn_point = Data_Input[i].prn_fftn;
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std::memcpy(Data_buffer_temp.speed_dim, Data_Input[i].speed_dim, sizeof(Data_buffer_temp.speed_dim));
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std::memcpy(Data_buffer_temp.range_dim, Data_Input[i].range_dim, sizeof(Data_buffer_temp.range_dim));
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//数据记录示例①：把本次接收的输入点迹写入表 RdpRecPointTws（字段为示例，可按需增删）。
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//记录功能关闭时该语句展开为空操作（实参不求值），交付构建不产生任何代码，
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//用法与新增记录点配方见 rdp_record.h 与 docs/data_record_debug.md。
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RDP_RECORD(RdpRecPoint(Data_buffer_temp));
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Data_buffer.push_back(Data_buffer_temp);
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}
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// 修改一周扫描完成的判断条件，原来采用判断波位号变小为一周扫描完成，但机扫模式下，可能存在转台反转的情况，导致波位号变小，但并未扫描一周，因此改为判断波位号为0时，表示扫描一周完成
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if(Data_Input[0].Beam_index_aiz == 0) //TWS
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{
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last_beam_num = Data_Input[0].Beam_index_aiz;
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return 1;
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}
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else
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{
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last_beam_num = Data_Input[0].Beam_index_aiz;
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return 2;
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}
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}
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else if(Data_Input[0].point_type == 1) //tas数据
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{
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// std::cout << "TAS TARGET :" <<Data_Input[0].TAS_track_index;
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//std::cout << "TAS time :" <<Data_Input[0].CPI_time;
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data_num = min(max(Data_Input[0].Point_Sum, 0), 150);
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TAS_track_idx = Data_Input[0].TAS_track_index;
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for (int i=0; i<data_num;i++)
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{
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PointRecv Data_buffer_temp;
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Data_buffer_temp.point_id = point_id++;
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Data_buffer_temp.frame_id = frame_id;
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Data_buffer_temp.amplitude=Data_Input[i].Amplitude;
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Data_buffer_temp.azimuth=Data_Input[i].Azimuth/180*PI;
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Data_buffer_temp.SNR = Data_Input[i].Snr;
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Data_buffer_temp.RCS = Data_Input[i].RCS;
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Data_buffer_temp.CPI_time = Data_Input[i].CPI_time;
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Data_buffer_temp.GNSS_time = Data_Input[i].GNSS_time;
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Data_buffer_temp.freq_index = Data_Input[i].Freq_index;
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Data_buffer_temp.PRF_index = Data_Input[i].PRI;
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Data_buffer_temp.range = Data_Input[i].Range;
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Data_buffer_temp.height= Data_Input[i].Range*sin(Data_Input[i].Elevation/180*PI);
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Data_buffer_temp.use_flag = 0;
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Data_buffer_temp.velocity = Data_Input[i].Velocity;
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Data_buffer_temp.pitch_beam_index = Data_Input[i].pitch_num;
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Data_buffer_temp.encoder_value = Data_Input[i].Encoder_value;
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Data_buffer_temp.azimuth_beam_index = Data_Input[i].Beam_index_aiz;
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Data_buffer_temp.point_type = Data_Input[i].point_type;
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Data_buffer_temp.amp_asv_point = Data_Input[i].amp_asv;
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Data_buffer_temp.prn_fftn_point = Data_Input[i].prn_fftn;
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std::memcpy(Data_buffer_temp.speed_dim, Data_Input[i].speed_dim, sizeof(Data_buffer_temp.speed_dim));
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std::memcpy(Data_buffer_temp.range_dim, Data_Input[i].range_dim, sizeof(Data_buffer_temp.range_dim));
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RDP_RECORD(RdpRecPoint(Data_buffer_temp));
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Data_buffer_tas.push_back(Data_buffer_temp);
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// std::cout << "Azimuth:" << Data_Input[i].Azimuth
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// << "Range:" << Data_Input[i].Range
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// << "EL:" << Data_Input[i].Elevation
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// << "CPI_Time"<< Data_Input[i].CPI_time
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// << "data_num:" << data_num;
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}
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return 3;
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}
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else
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{
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return 0;
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}
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}
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#ifdef RDP_RECORD_ENABLE
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//数据记录示例②：把本圈输出的航迹批量写入表 RdpRecTrackOut（TWS/TAS 共用一张表，用 track_mode 区分）。
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//该辅助函数只在记录功能开启时编译（RDP_RECORD_ENABLE 由构建系统定义），交付构建完全不参与编译
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static void rdp_record_output_tracks(struct Track Trust_Track_Output[][10], int track_num)
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{
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if (track_num <= 0)
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{
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return;
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}
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if (track_num > MAX_TRACK_NUM) //防御：输出行数理论上不应超过航迹容量（见 README 11.2 BUG-08）
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{
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track_num = MAX_TRACK_NUM;
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}
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std::vector<RdpRecTrackOut> recs;
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recs.reserve(static_cast<size_t>(track_num));
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for (int i = 0; i < track_num; ++i)
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{
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const struct Track &t = Trust_Track_Output[i][0]; //每行第 0 列为该航迹的主记录
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recs.push_back(RdpRecTrackOut{0, t.Track_Index, t.Track_Mode, t.Point_Sum, t.Flag_Point,
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t.Flag_Direction, t.GNSS_time, t.track_time,
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t.x, t.y, t.z, t.v_x, t.v_y, t.v_z,
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t.Range, t.Azimuth, t.Elevation, t.Range_V,
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t.track_snr, t.track_rcs});
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}
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RDP_RECORD_BATCH(recs);
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}
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#endif
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//数据处理
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int Data_Process::track_process(struct Track Trust_Track_Output[MAX_TRACK_NUM][10],
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int *Trust_track_num_Output,
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int Track_die_Index_Output[],
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int *Track_die_num_Output,
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int model)
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{
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//TWS处理
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if(model==2)
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{
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dot_coh.dot_coh_process_buff(&Data_buffer,&point_recv,Work_Parameter);
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std::vector<PointRecv>().swap(Data_buffer);
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}
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if(model==1)
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{
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*Trust_track_num_Output=0; //航迹更新数
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*Track_die_num_Output=0; //航迹消亡数目
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track_asso.track_asso_process(&point_recv,
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&trust_track,
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Trust_Track_Output,
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Trust_track_num_Output,
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Work_Parameter
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);
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track_die.track_die_process( &trust_track,
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Track_die_Index_Output,
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Track_die_num_Output);
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track_init.track_init_process_logic( &point_recv,
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&trust_track,
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&temp_track,
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Trust_Track_Output,
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Trust_track_num_Output,
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Work_Parameter);
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}
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// TAS处理
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if(model==3)
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{
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*Trust_track_num_Output=0; //航迹更新数
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*Track_die_num_Output=0; //航迹消亡数目
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dot_coh_tas.dot_coh_tas_process(&Data_buffer_tas,&point_recv_tas); //点迹凝聚
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std::vector<PointRecv>().swap(Data_buffer_tas);//凝聚完毕 清除Data_buffer
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track_asso_tas.track_asso_process_tas(&point_recv_tas, //点迹文件
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&trust_track, //航迹文件
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Trust_Track_Output, //更新航迹信息
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Trust_track_num_Output, //更新航迹数
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Work_Parameter, //工作参数
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TAS_track_idx,
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latest_timestamp //最新时间戳
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);
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std::vector<PointRecv>().swap(point_recv_tas); //清除 point_recv_tas
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track_die_tas.track_die_process_tas( &trust_track,
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Track_die_Index_Output,
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Track_die_num_Output);
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//std::cout << "Extrapolate_round :" << trust_track[TAS_track_idx].Extrapolate_round;
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}
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//数据记录示例②：本圈输出的航迹（仅 TWS/TAS 处理帧有输出；记录功能关闭时不产生任何代码）
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#ifdef RDP_RECORD_ENABLE
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if (model == 1 || model == 3)
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{
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rdp_record_output_tracks(Trust_Track_Output, *Trust_track_num_Output);
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}
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#endif
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return 1;
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}
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//波束控制
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void Data_Process::Beam_Ctrl(struct TrackingBeam *Tracking_beam,
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struct Track Trust_Track_Output[][10],
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int *Trust_track_num_Output)
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{
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tas_ctrl.tas_ctrl_process(&trust_track,Tracking_beam, Trust_Track_Output, Trust_track_num_Output,Work_Parameter, latest_timestamp);
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}
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//数据处理参数初始化
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int Data_Process::track_process_parameters_initial(struct RadarPara Radar_Parameter)
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{
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//工作参数设置
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if (Radar_Parameter.track_start_point_num < 3 || Radar_Parameter.track_start_point_num > 9)
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return -1;
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memcpy(&Work_Parameter, &Radar_Parameter, sizeof(RadarPara));
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return 0;
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}
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//数据处理参数修改
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int Data_Process::track_process_parameters_modify(struct RadarPara Radar_Parameter)
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{
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if (Radar_Parameter.track_start_point_num < 3 || Radar_Parameter.track_start_point_num > 9)
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return -1;
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memcpy(&Work_Parameter, &Radar_Parameter, sizeof(RadarPara));
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return 0;
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}
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//航迹清空函数
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int Data_Process::track_clear_all(void)
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{
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//清空可靠航迹
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Data_buffer.clear();
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Data_buffer_tas.clear();
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point_recv.clear();
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point_recv_tas.clear();
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trust_track.clear();
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temp_track.clear();
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// 同步清理内部缓存和状态，避免重连后输出幽灵航迹/幽灵波束
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dot_coh.reset();
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track_asso.reset();
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track_asso_tas.reset();
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track_init.reset();
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tas_ctrl.reset();
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last_beam_num = INT_MAX;
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return 0;
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}
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//手动航迹删除函数
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int Data_Process:: track_delete(int delete_track_num, //手动删除的航迹数目
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int delete_track_index[]) //手动删除的航迹号
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{
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for (int i=0;i<delete_track_num ;i++)
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{
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for (size_t j=0;j<trust_track.size();j++)
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{
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if(trust_track[j].Track_Index == delete_track_index[i])
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{
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trust_track[j].manual_delete_flag=1;
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// RDP_LOG << "Delete :" << trust_track[j].Track_Index << std::endl;
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}
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}
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}
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return 0;
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}
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//手动添加重点目标
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int Data_Process::primary_target_add(int track_index)
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{
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for ( size_t i=0; i<trust_track.size();i++){
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if(trust_track[i].Track_Index==track_index)
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{
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trust_track[i].primary_target_flag = 1;
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//std::cout<< "Add primary target :" << trust_track[i].Track_Index << std::endl;
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break;
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}
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}
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return 0;
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}
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//手动取消重点目标
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int Data_Process::primary_target_cancel(int track_index)
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{
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for ( size_t i=0; i<trust_track.size();i++){
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if(trust_track[i].Track_Index==track_index)
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{
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trust_track[i].primary_target_flag = 0;
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//std::cout<< "Cancel primary target :" << trust_track[i].Track_Index << std::endl;
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break;
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}
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}
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return 0;
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}
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//手动转TAS跟踪函数
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int Data_Process:: tracking_start(int track_index) //需要手动转入TAS跟踪的航迹号
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{
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for ( size_t i=0; i<trust_track.size();i++){
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if(trust_track[i].Track_Index==track_index)
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{
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trust_track[i].manual_tracking_flag = 1;
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break;
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}
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}
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return 0;
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}
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//手动取消TAS跟踪函数
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int Data_Process:: tracking_stop(int track_index) //需要手动转入TAS跟踪的航迹号
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{
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for ( size_t i=0; i<trust_track.size();i++){
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if(trust_track[i].Track_Index==track_index)
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{
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trust_track[i].manual_tracking_flag = 0;
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trust_track[i].Track_Mode = 0;
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break;
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}
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}
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return 0;
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}
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//手动打跟踪波束
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int Data_Process::tracking_point(float Azimuth)//方位角（当前接口未启用，保留空实现）
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{
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return 0;
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}
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