waiwaylee/radar_data_process
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases 1 Wiki Activity

更新：1、新增数据记录功能，将过程数据录入数据库；

Browse Source 
2、增加输入点迹数据、凝聚后点迹数据记录；

Signed-off-by: waiwaylee <waiwaylee@foxmail.com>
This commit is contained in:
waiwaylee
2026-09-30 09:02:28 +08:00
parent ff9b111d34
commit a4f32e4036
111 changed files with 321343 additions and 262 deletions
Download Patch File Download Diff File Expand all files Collapse all files
data_process_class_dll/data_process.cpp
+82 -33
View File
@@ -1,5 +1,7 @@
#include "data_process.h"
#include "rdp_log.h"
#include "rdp_record.h"
#include "rdp_record_entity.h"
#include <cstring>
#include <vector>
#include <cmath>
@@ -17,6 +19,7 @@ int Data_Process::data_preprocess(struct DataRev Data_Input[150])
{
// 更新当前系统时间
latest_timestamp = Data_Input[0].CPI_time;
frame_id++;
//数据存入缓存区域 Data_buffer
if(Data_Input[0].point_type == 0) //tws数据
@@ -26,24 +29,35 @@ int Data_Process::data_preprocess(struct DataRev Data_Input[150])
for (int i=0; i<data_num;i++)
{
PointRecv Data_buffer_temp;
Data_buffer_temp.Amplitude=Data_Input[i].Amplitude;
Data_buffer_temp.Azimuth=Data_Input[i].Azimuth/180*PI;
Data_buffer_temp.snr = Data_Input[i].Snr;
Data_buffer_temp.point_id = point_id++;
Data_buffer_temp.frame_id = frame_id;
Data_buffer_temp.amplitude=Data_Input[i].Amplitude;
Data_buffer_temp.azimuth=Data_Input[i].Azimuth/180*PI;
Data_buffer_temp.SNR = Data_Input[i].Snr;
Data_buffer_temp.RCS = Data_Input[i].RCS;
Data_buffer_temp.CPI_Time = Data_Input[i].CPI_time;
Data_buffer_temp.CPI_time = Data_Input[i].CPI_time;
Data_buffer_temp.GNSS_time = Data_Input[i].GNSS_time;
Data_buffer_temp.Freq_index = Data_Input[i].Freq_index;
Data_buffer_temp.freq_index = Data_Input[i].Freq_index;
Data_buffer_temp.PRF_index = Data_Input[i].PRI;
Data_buffer_temp.Range = Data_Input[i].Range;
Data_buffer_temp.Height= Data_Input[i].Range*sin(Data_Input[i].Elevation/180*PI);
Data_buffer_temp.Use_Flag = 0;
Data_buffer_temp.Velocity = Data_Input[i].Velocity;
Data_buffer_temp.pitch_num = Data_Input[i].pitch_num;
Data_buffer_temp.range = Data_Input[i].Range;
Data_buffer_temp.height= Data_Input[i].Range*sin(Data_Input[i].Elevation/180*PI);
Data_buffer_temp.use_flag = 0;
Data_buffer_temp.velocity = Data_Input[i].Velocity;
Data_buffer_temp.encoder_value = Data_Input[i].Encoder_value;
Data_buffer_temp.pitch_beam_index = Data_Input[i].pitch_num;
Data_buffer_temp.azimuth_beam_index = Data_Input[i].Beam_index_aiz;
Data_buffer_temp.point_type = Data_Input[i].point_type;
Data_buffer_temp.amp_asv_point = Data_Input[i].amp_asv;
Data_buffer_temp.prn_fftn_point = Data_Input[i].prn_fftn;
std::memcpy(Data_buffer_temp.speed_dim, Data_Input[i].speed_dim, sizeof(Data_buffer_temp.speed_dim));
std::memcpy(Data_buffer_temp.range_dim, Data_Input[i].range_dim, sizeof(Data_buffer_temp.range_dim));
//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）。
//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，
//用法与新增记录点配方见 rdp_record.h 与 docs/data_record_debug.md。
RDP_RECORD(RdpRecPoint(Data_buffer_temp));
Data_buffer.push_back(Data_buffer_temp);
}
@@ -59,17 +73,6 @@ int Data_Process::data_preprocess(struct DataRev Data_Input[150])
last_beam_num = Data_Input[0].Beam_index_aiz;
return 2;
}
// if(Data_Input[0].Beam_index_aiz < last_beam_num) //TWS
// {
// last_beam_num = Data_Input[0].Beam_index_aiz;
// return 1;
// }
// else
// {
// last_beam_num = Data_Input[0].Beam_index_aiz;
// return 2;
// }
}
else if(Data_Input[0].point_type == 1) //tas数据
@@ -82,22 +85,32 @@ int Data_Process::data_preprocess(struct DataRev Data_Input[150])
for (int i=0; i<data_num;i++)
{
PointRecv Data_buffer_temp;
Data_buffer_temp.Amplitude=Data_Input[i].Amplitude;
Data_buffer_temp.Azimuth=Data_Input[i].Azimuth/180*PI;
Data_buffer_temp.snr = Data_Input[i].Snr;
Data_buffer_temp.point_id = point_id++;
Data_buffer_temp.frame_id = frame_id;
Data_buffer_temp.amplitude=Data_Input[i].Amplitude;
Data_buffer_temp.azimuth=Data_Input[i].Azimuth/180*PI;
Data_buffer_temp.SNR = Data_Input[i].Snr;
Data_buffer_temp.RCS = Data_Input[i].RCS;
Data_buffer_temp.CPI_Time = Data_Input[i].CPI_time;
Data_buffer_temp.CPI_time = Data_Input[i].CPI_time;
Data_buffer_temp.GNSS_time = Data_Input[i].GNSS_time;
Data_buffer_temp.Freq_index = Data_Input[i].Freq_index;
Data_buffer_temp.freq_index = Data_Input[i].Freq_index;
Data_buffer_temp.PRF_index = Data_Input[i].PRI;
Data_buffer_temp.Range = Data_Input[i].Range;
Data_buffer_temp.Height= Data_Input[i].Range*sin(Data_Input[i].Elevation/180*PI);
Data_buffer_temp.Use_Flag = 0;
Data_buffer_temp.Velocity = Data_Input[i].Velocity;
Data_buffer_temp.pitch_num = Data_Input[i].pitch_num;
Data_buffer_temp.range = Data_Input[i].Range;
Data_buffer_temp.height= Data_Input[i].Range*sin(Data_Input[i].Elevation/180*PI);
Data_buffer_temp.use_flag = 0;
Data_buffer_temp.velocity = Data_Input[i].Velocity;
Data_buffer_temp.pitch_beam_index = Data_Input[i].pitch_num;
Data_buffer_temp.encoder_value = Data_Input[i].Encoder_value;
Data_buffer_temp.azimuth_beam_index = Data_Input[i].Beam_index_aiz;
Data_buffer_temp.point_type = Data_Input[i].point_type;
Data_buffer_temp.amp_asv_point = Data_Input[i].amp_asv;
Data_buffer_temp.prn_fftn_point = Data_Input[i].prn_fftn;
std::memcpy(Data_buffer_temp.speed_dim, Data_Input[i].speed_dim, sizeof(Data_buffer_temp.speed_dim));
std::memcpy(Data_buffer_temp.range_dim, Data_Input[i].range_dim, sizeof(Data_buffer_temp.range_dim));
RDP_RECORD(RdpRecPoint(Data_buffer_temp));
Data_buffer_tas.push_back(Data_buffer_temp);
// std::cout << "Azimuth:" << Data_Input[i].Azimuth
@@ -118,6 +131,35 @@ int Data_Process::data_preprocess(struct DataRev Data_Input[150])
}
#ifdef RDP_RECORD_ENABLE
//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）。
//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
static void rdp_record_output_tracks(struct Track Trust_Track_Output[][10], int track_num)
{
if (track_num <= 0)
{
return;
}
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）
{
track_num = MAX_TRACK_NUM;
}
std::vector<RdpRecTrackOut> recs;
recs.reserve(static_cast<size_t>(track_num));
for (int i = 0; i < track_num; ++i)
{
const struct Track &t = Trust_Track_Output[i][0]; //每行第 0 列为该航迹的主记录
recs.push_back(RdpRecTrackOut{0, t.Track_Index, t.Track_Mode, t.Point_Sum, t.Flag_Point,
t.Flag_Direction, t.GNSS_time, t.track_time,
t.x, t.y, t.z, t.v_x, t.v_y, t.v_z,
t.Range, t.Azimuth, t.Elevation, t.Range_V,
t.track_snr, t.track_rcs});
}
RDP_RECORD_BATCH(recs);
}
#endif
//数据处理
int Data_Process::track_process(struct Track Trust_Track_Output[MAX_TRACK_NUM][10],
int *Trust_track_num_Output,
@@ -131,7 +173,6 @@ int model)
{
dot_coh.dot_coh_process_buff(&Data_buffer,&point_recv,Work_Parameter);
//std::cout << "point_recv :" <<point_recv.size();
std::vector<PointRecv>().swap(Data_buffer);
}
@@ -188,6 +229,14 @@ int model)
//std::cout << "Extrapolate_round :" << trust_track[TAS_track_idx].Extrapolate_round;
}
//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）
#ifdef RDP_RECORD_ENABLE
if (model == 1 || model == 3)
{
rdp_record_output_tracks(Trust_Track_Output, *Trust_track_num_Output);
}
#endif
return 1;
}