ARS548 ARS548 RDI SDK(二)

最新推荐文章于 2024-07-10 16:47:58 发布

清凉山观雪客

最新推荐文章于 2024-07-10 16:47:58 发布

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本文链接：https://blog.csdn.net/Dayang88888/article/details/134658833

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Receiving Raw Radar Data
The messages sent by the ARS548 radar are:

Message ID Message Structure Description
he messages sent by the ARS548 radar are

See the documentation of each message body or the radar technical documentation for more details.

Raw Radar Data Callback
When a radar data packet is received, SDK passes the message body to the callback function registered by the user.

Example callback function code:

void CALLBACK OnRadarMessage(int nMsgId, const Ars548Msg *pMsg)
{
std::cout << "OnRadarMessage() - nMsgId = " << nMsgId << std::endl;

// Currently radar sends the following 4 message types
Ars548DetectionList *pDetectionList = NULL;
Ars548ObjectList *pObjectList = NULL;
Ars548SensorStatus *pSensorStatus = NULL;
Ars548FilterStatus *pFilterStatus = NULL;

// Based on nMsgId, cast the pMsg pointer to the right type and access the message body.
switch (nMsgId)
{
    case MSG_ID_DETECTION_LIST:
        pDetectionList = (Ars548DetectionList *)pMsg;
        // ... related handling code
        break;

    case MSG_ID_OBJECT_LIST:
        pObjectList = (Ars548ObjectList *)pMsg;
        // ... related handling code
        break;

    case MSG_ID_SENSOR_STATUS:
        pSensorStatus = (Ars548SensorStatus *)pMsg;
        // ... related handling code
        break;

    case MSG_ID_FILTER_STATUS:
        pFilterStatus = (Ars548FilterStatus *)pMsg;
        // ... related handling code
        break;

    default:
        break;
}

}
Receiving Parsed Target Data from SDK
The TargetList data provided by the SDK is parsed from Ars548DetectionList and Ars548ObjectList, and contains information like target horizontal/vertical distance and speed relative to the radar, for easier further processing by users.

Example callback function code:

void CALLBACK OnTargetListCallback(const TargetList *pTargetList)
{
// Determine if Detections or Objects based on TargetType
if (pTargetList->TargetType == TARGET_TYPE_DETECTION)
{
std::cout << "Ars548Dll::OnTargetListCallback() - Num Of Detections: " << pTargetList->NumOfTargets << std::endl;
}
else // TARGET_TYPE_OBJECT
{
std::cout << "Ars548Dll::OnTargetListCallback() - Num Of Objects: " << pTargetList->NumOfTargets << std::endl;
}
}