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更新：1、将参数配置信息对象改为全局可访问，并避免通过函数参数传入；

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Signed-off-by: waiwaylee <waiwaylee@foxmail.com>
This commit is contained in:
waiwaylee
2026-10-27 15:56:02 +08:00
parent 76b0b460a5
commit 7e4cb2922d
34 changed files with 202 additions and 271 deletions
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data_process_class_dll/tas_ctrl.cpp
+9 -13
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@@ -27,14 +27,13 @@ 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,
const RDP_parameter& rdp_parameter,
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,rdp_parameter);
tas_target_del(trust_track, Trust_Track_Output, Trust_track_num_Output,rdp_parameter);
tas_beam_output(trust_track,Tracking_beam,rdp_parameter,latest_timestamp);
tas_target_add(trust_track, Trust_Track_Output, Trust_track_num_Output);
tas_target_del(trust_track, Trust_Track_Output, Trust_track_num_Output);
tas_beam_output(trust_track,Tracking_beam,latest_timestamp);
// //跟踪队列移位
// struct Tracking_Target tas_target_tmp;
@@ -48,8 +47,7 @@ void TAS_Ctrl::tas_ctrl_process(std::vector<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,
const RDP_parameter& rdp_parameter)
int *Trust_track_num_Output)
{
for (size_t i=0;i<trust_track->size();i++)
@@ -63,10 +61,10 @@ void TAS_Ctrl::tas_target_add(std::vector<Trust_Track> *trust_track,
azi=azi/PI*180;
//进入跟踪的条件： 1.手动跟踪的目标 或 满足速度、距离、高度条件满足 关联点数大于2 2.不在禁止跟踪区域
if( ( (*trust_track)[i].manual_tracking_flag == 1)//|| (tas_auto_start( v, r, h, rdp_parameter)==1 && (*trust_track)[i][k].associate_point_number>=2)
if( ( (*trust_track)[i].manual_tracking_flag == 1)//|| (tas_auto_start( v, r, h)==1 && (*trust_track)[i][k].associate_point_number>=2)
&& tas_target_num < rdp_parameter.tas_track_num_max
&& (*trust_track)[i].Track_Mode == 0
&& tas_prohibite_area( r, azi, v, h, rdp_parameter) == 0)
&& tas_prohibite_area( r, azi, v, h) == 0)
{
for(int j=0;j<RDP_TAS_QUEUE_CAPACITY;j++)
{
@@ -117,7 +115,7 @@ void TAS_Ctrl::tas_target_add(std::vector<Trust_Track> *trust_track,
// TAS 距离/速度/高度门限，这些参数未纳入新的 RDP_parameter，故原实现保持停用；
// 具体逻辑不再以注释代码形式保留（tas_ctrl.h 中保留声明，后续如需启用再按新参数补齐）。
int TAS_Ctrl::tas_prohibite_area(double r,double azi, double v, double h,const RDP_parameter& rdp_parameter)
int TAS_Ctrl::tas_prohibite_area(double r,double azi, double v, double h)
{
for (int i=0;i<rdp_parameter.tas_prohibite_area_num;i++)
@@ -134,8 +132,7 @@ int TAS_Ctrl::tas_prohibite_area(double r,double azi, double v, double h,const R
void TAS_Ctrl::tas_target_del(std::vector<Trust_Track> *trust_track,
struct Track Trust_Track_Output[][10],
int *Trust_track_num_Output,
const RDP_parameter& rdp_parameter)
int *Trust_track_num_Output)
{
//查找TAS目标是否已经消批 若消批则移出TAS队列
@@ -169,7 +166,7 @@ void TAS_Ctrl::tas_target_del(std::vector<Trust_Track> *trust_track,
// double v=sqrt(pow((*trust_track)[i].X[1],2)+pow((*trust_track)[i].X[4],2));
// double h=(*trust_track)[i].Height+rdp_parameter.radar_height;
// if((*trust_track)[i].manual_tracking_flag == 0 && (*trust_track)[i].Track_Mode == 1 && tas_auto_end(v,r,h,rdp_parameter) == 1) //满足结束跟踪条件
// if((*trust_track)[i].manual_tracking_flag == 0 && (*trust_track)[i].Track_Mode == 1 && tas_auto_end(v,r,h) == 1) //满足结束跟踪条件
// {
// int track_index=(*trust_track)[i].Track_Index;
@@ -218,7 +215,6 @@ void TAS_Ctrl::tas_target_del(std::vector<Trust_Track> *trust_track,
void TAS_Ctrl::tas_beam_output(std::vector<Trust_Track> *trust_track,
struct TrackingBeam *Tracking_beam,
const RDP_parameter& rdp_parameter,
long long latest_timestamp)
{