ARS548 ARS548 RDI SDK(五)

最新推荐文章于 2024-07-11 21:13:07 发布

清凉山观雪客

最新推荐文章于 2024-07-11 21:13:07 发布

阅读量3.9k

点赞数 25

文章标签：算法

本文链接：https://blog.csdn.net/Dayang88888/article/details/135333438

版权

MSG_ID_SENSOR_STATUS
Message IDs
Macros
#define METHOD_ID_DETECTION_LIST 336

#define METHOD_ID_OBJECT_LIST 329

#define METHOD_ID_SENSOR_STATUS 380

#define METHOD_ID_FILTER_STATUS 396

#define METHOD_ID_SENSOR_CONFIG 390

#define METHOD_ID_FILTER_CONFIG 395

#define MSG_ID_DETECTION_LIST METHOD_ID_DETECTION_LIST

#define MSG_ID_OBJECT_LIST METHOD_ID_OBJECT_LIST

#define MSG_ID_SENSOR_STATUS METHOD_ID_SENSOR_STATUS

#define MSG_ID_FILTER_STATUS METHOD_ID_FILTER_STATUS

Detailed Description
Struct definitions for ARS548 radar series communication protocol

Ars548SensorStatus

struct Ars548SensorStatus

Data Fields
UINT32 Timestamp_Nanoseconds
Timestamp Nanoseconds.

UINT32 Timestamp_Seconds
Timestamp Seconds.

UINT8 Timestamp_SyncStatus
Timestamp Sync Status.

UINT8 SWVersion_Major
Software version (major)

UINT8 SWVersion_Minor
Software version (minor)

UINT8 SWVersion_Patch
Software version (patch)

FLOAT32 Longitudinal
Longitudinal sensor position (AUTOSAR)

FLOAT32 Lateral
Lateral sensor position (AUTOSAR)

FLOAT32 Vertical
Vertical sensor position (AUTOSAR)

FLOAT32 Yaw
Sensor yaw angle (AUTOSAR)

FLOAT32 Pitch
Sensor pitch angle (AUTOSAR)

UINT8 PlugOrientation
Orientation of plug.

FLOAT32 Length
Vehicle length.

FLOAT32 Width
Vehicle width.

FLOAT32 Height
Vehicle height.

FLOAT32 Wheelbase
Vehicle wheelbase.

UINT16 MaximumDistance
Maximum detection distance.

UINT8 FrequencySlot
Center frequency.

UINT8 CycleTime
Cycle time.

UINT8 TimeSlot
Cycle offset.

UINT8 HCC
Country code.

UINT8 Powersave_Standstill
Power saving in standstill.

UINT32 SensorIPAddress_0
Sensor IP address.

UINT32 SensorIPAddress_1
Reserved.

UINT8 Configuration_counter
Counter that counts up if new configuration has been received and accepted.

UINT8 Status_LongitudinalVelocity
Signals if current VDY is OK or timed out.

UINT8 Status_LongitudinalAcceleration
Signals if current VDY is OK or timed out.

UINT8 Status_LateralAcceleration
Signals if current VDY is OK or timed out.

UINT8 Status_YawRate
Signals if current VDY is OK or timed out.

UINT8 Status_SteeringAngle
Signals if current VDY is OK or timed out.

UINT8 Status_DrivingDirection
Signals if current VDY is OK or timed out.

UINT8 Status_CharacteristicSpeed
Signals if current VDY is OK or timed out.

UINT8 Status_Radar
Signals if Radar Status is OK.

UINT8 Status_VoltageStatus
Bitfield to report under- and overvoltage errors.

UINT8 Status_TemperatureStatus
Bitfield to report under- and overtemperature errors.

UINT8 Status_BlockageStatus
Current blockage state and blockage self test state};.

Ars548FilterStatus
struct Ars548FilterStatus
在这里插入图片描述
Data Fields
UINT32 Timestamp_Nanoseconds
Timestamp Nanoseconds.

UINT32 Timestamp_Seconds
Timestamp Seconds.

UINT8 Timestamp_SyncStatus
Timestamp Sync Status.

UINT8 FilterConfigurationCounter
Counter that counts up if new filter configuration has been received and accepted.

UINT8 DetectionSortIndex
Detection list sorting index.

UINT8 ObjectSortIndex
Object list sorting index.

Ars548FilterStatusEntry DetectionFilter [7]
Detection filter entries (index 1 to 7)

Ars548FilterStatusEntry ObjectFilter [24]
Object filter entries (index 1 to 24)

◆ Ars548Detection
struct Ars548Detection
Data Fields
FLOAT32 f_AzimuthAngle
Detection Azimuth Angle.

FLOAT32 f_AzimuthAngleSTD
Azimuth Angle Std.

UINT8 u_InvalidFlags
Detection Invalid Flags.

FLOAT32 f_ElevationAngle
Detection Elevation Angle.

FLOAT32 f_ElevationAngleSTD
Elevation Angle Std.

FLOAT32 f_Range
Detection Radial Distance.

FLOAT32 f_RangeSTD
Radial Distance Std.

FLOAT32 f_RangeRate
Detection Radial Velocity.

FLOAT32 f_RangeRateSTD
Radial Velocity Std.

INT8 s_RCS
Detecion RCS.

UINT16 u_MeasurementID
Detection ID.

UINT8 u_PositivePredictiveValue
Existence Probability.

UINT8 u_Classification
Detection Classification.

UINT8 u_MultiTargetProbability
Multi-Target Probability.

UINT16 u_ObjectID
Associated Object.

UINT8 u_AmbiguityFlag
tbd

UINT16 u_SortIndex
tbd

◆ Ars548DetectionList
struct Ars548DetectionList
在这里插入图片描述

Data Fields
UINT64 CRC
Checksum (E2E Profile 7)

UINT32 Length
Len (E2E Profile 7)

UINT32 SQC
SQC (E2E Profile 7)

UINT32 DataID
Data ID (E2E Profile 7)

UINT32 Timestamp_Nanoseconds
Timestamp Nanoseconds.

UINT32 Timestamp_Seconds
Timestamp Seconds.

UINT8 Timestamp_SyncStatus
Timestamp Sync Status.

UINT32 EventDataQualifier
Event Data Qualifier.

UINT8 ExtendedQualifier
Extended Qualifier.

UINT16 Origin_InvalidFlags
Sensor Position Invalid flags.

FLOAT32 Origin_Xpos
Sensor X Position.

FLOAT32 Origin_Xstd
Sensor X Position STD.

FLOAT32 Origin_Ypos
Sensor Y Position.

FLOAT32 Origin_Ystd
Sensor Y Position STD.

FLOAT32 Origin_Zpos
Sensor Z Position.

FLOAT32 Origin_Zstd
Sensor Z Position STD.

FLOAT32 Origin_Roll
Sensor Roll Angle.

FLOAT32 Origin_Rollstd
Sensor Roll Angle STD.

FLOAT32 Origin_Pitch
Sensor Pitch Angle.

FLOAT32 Origin_Pitchstd
Sensor Pitch Angle STD.

FLOAT32 Origin_Yaw
Sensor Yaw Angle.

FLOAT32 Origin_Yawstd
Sensor Yaw Angle STD.

UINT8 List_InvalidFlags
Invalid flags.

Ars548Detection Detections [800]

FLOAT32 List_RadVelDomain_Min
Radial Velocity Domain Min.

FLOAT32 List_RadVelDomain_Max
Radial Velocity Domain Max.

UINT32 List_NumOfDetections
Number of Detections.

FLOAT32 Aln_AzimuthCorrection
Azimuth Correction.

FLOAT32 Aln_ElevationCorrection
Elevation Correction.

UINT8 Aln_Status
Status of alignment.

◆ Ars548Object
struct Ars548Object
在这里插入图片描述

Data Fields
UINT16 u_StatusSensor
tbd

UINT32 u_ID
ID of object.

UINT16 u_Age
Age of object.

UINT8 u_StatusMeasurement
Object Status.

UINT8 u_StatusMovement
Object Movement Status.

UINT16 u_Position_InvalidFlags
tbd

UINT8 u_Position_Reference
Reference point position.

FLOAT32 f_Position_X
X Position.

FLOAT32 f_Position_X_STD
X Position Std.

FLOAT32 f_Position_Y
Y Position.

FLOAT32 f_Position_Y_STD
Y Position Std.

FLOAT32 f_Position_Z
Z Position.

FLOAT32 f_Position_Z_STD
Z Position Std.

FLOAT32 f_Position_CovarianceXY
Covariance X Y.

FLOAT32 f_Position_Orientation
Object Orientation.

FLOAT32 f_Position_Orientation_STD
Orientation Std.

UINT8 u_Existence_InvalidFlags

FLOAT32 f_Existence_Probability
Probability of Existence.

FLOAT32 f_RCS
RCS.

UINT8 u_Classification_Car
Car Classification.

UINT8 u_Classification_Truck
Truck Classification.

UINT8 u_Classification_Motorcycle
Motorcycle Classification.

UINT8 u_Classification_Bicycle
Bicycle Classification.

UINT8 u_Classification_Pedestrian
Pedestrian Classification.

UINT8 u_Classification_Animal
Animal Classification.

UINT8 u_Classification_Hazard
Hazard Classification.

UINT8 u_Classification_Unknown
Unknown Classification.

UINT8 u_Classification_Overdrivable
Overdrivable Classification.

UINT8 u_Classification_Underdrivable
Underdrivable Classification.

UINT8 u_Dynamics_AbsVel_InvalidFlags
Invalid Flags AbsVel.

FLOAT32 f_Dynamics_AbsVel_X
X Abs Vel.

FLOAT32 f_Dynamics_AbsVel_X_STD
X Abs Vel Std.

FLOAT32 f_Dynamics_AbsVel_Y
Y Abs Vel.

FLOAT32 f_Dynamics_AbsVel_Y_STD
Y Abs Vel Std.

FLOAT32 f_Dynamics_AbsVel_CovarianceXY
Covariance Abs Vel X Y.

UINT8 u_Dynamics_RelVel_InvalidFlags
Invalid Flags RelVel.

FLOAT32 f_Dynamics_RelVel_X
X Rel Vel.

FLOAT32 f_Dynamics_RelVel_X_STD
X Rel Vel Std.

FLOAT32 f_Dynamics_RelVel_Y
Y Rel Vel.

FLOAT32 f_Dynamics_RelVel_Y_STD
Y Rel Vel Std.

FLOAT32 f_Dynamics_RelVel_CovarianceXY
Covariance Rel Vel X Y.

UINT8 u_Dynamics_AbsAccel_InvalidFlags
Invalid Flags AbsAccel.

FLOAT32 f_Dynamics_AbsAccel_X
X Abs Accel.

FLOAT32 f_Dynamics_AbsAccel_X_STD
X Abs Accel Std.

FLOAT32 f_Dynamics_AbsAccel_Y
Y Abs Accel.

FLOAT32 f_Dynamics_AbsAccel_Y_STD
Y Abs Accel Std.

FLOAT32 f_Dynamics_AbsAccel_CovarianceXY
Covariance Abs Accel X Y.

UINT8 u_Dynamics_RelAccel_InvalidFlags
Invalid Flags RelAccel.

FLOAT32 f_Dynamics_RelAccel_X
X Rel Accel.

FLOAT32 f_Dynamics_RelAccel_X_STD
X Rel Accel Std.

FLOAT32 f_Dynamics_RelAccel_Y
Y Rel Accel.

FLOAT32 f_Dynamics_RelAccel_Y_STD
Y Rel Accel Std.

FLOAT32 f_Dynamics_RelAccel_CovarianceXY
Covariance Rel Accel X Y.

UINT8 u_Dynamics_Orientation_InvalidFlags
Invalid Flags Orientation.

FLOAT32 u_Dynamics_Orientation_Rate_Mean
Object Orientation Rate.

FLOAT32 u_Dynamics_Orientation_Rate_STD
Orientation Rate Std.

UINT32 u_Shape_Length_Status
Shape Length Status.

UINT8 u_Shape_Length_Edge_InvalidFlags
Invalid Flags Shape Length.

FLOAT32 u_Shape_Length_Edge_Mean
Mean Shape Length.

FLOAT32 u_Shape_Length_Edge_STD
Shape Length Std.

UINT32 u_Shape_Width_Status
Shape Width Status.

UINT8 u_Shape_Width_Edge_InvalidFlags
Invalid Flags Shape Width.

FLOAT32 u_Shape_Width_Edge_Mean
Mean Shape Width.

FLOAT32 u_Shape_Width_Edge_STD
Shape Width Std.

◆ Ars548ObjectList
struct Ars548ObjectList

Data Fields
UINT64 CRC
Checksum (E2E Profile 7)

UINT32 Length
Len (E2E Profile 7)

UINT32 SQC
SQC (E2E Profile 7)

UINT32 DataID
Data ID (E2E Profile 7)

UINT32 Timestamp_Nanoseconds
Timestamp Nanoseconds.

UINT32 Timestamp_Seconds
Timestamp Seconds.

UINT8 Timestamp_SyncStatus
Timestamp Sync Status.

UINT32 EventDataQualifier
Event Data Qualifier.

UINT8 ExtendedQualifier
Extended Qualifier.

UINT8 ObjectList_NumOfObjects
Number of Objects.

Ars548Object Objects [50]

◆ Ars548SensorConfiguration
struct Ars548SensorConfiguration
在这里插入图片描述

Data Fields
FLOAT32 Longitudinal
Longitudinal sensor position (AUTOSAR)

FLOAT32 Lateral
Lateral sensor position (AUTOSAR)

FLOAT32 Vertical
Vertical sensor position (AUTOSAR)

FLOAT32 Yaw
Sensor yaw angle (AUTOSAR)

FLOAT32 Pitch
Sensor pitch angle (AUTOSAR)

UINT8 PlugOrientation
Orientation of plug.

FLOAT32 Length
Vehicle length.

FLOAT32 Width
Vehicle width.

FLOAT32 Height
Vehicle height.

FLOAT32 Wheelbase
Vehicle wheelbase.

UINT16 MaximumDistance
Maximum detection distance.

UINT8 FrequencySlot
Center frequency (if MaximumDistance < 190 m only Mid can be selected)

UINT8 CycleTime
Cycle time.

UINT8 TimeSlot
Cycle offset.

UINT8 HCC
Country code.

UINT8 Powersave_Standstill
Power saving in standstill.

UINT32 SensorIPAddress_0
Sensor IP address.

UINT32 SensorIPAddress_1
Reserved.

UINT8 NewSensorMounting
Flag if new sensor mounting position shall be configured.

UINT8 NewVehicleParameters
Flag if new vehicle parameters position shall be configured.

UINT8 NewRadarParameters
Flag if new radar parameter shall be configured.

UINT8 NewNetworkConfiguration
Flag if new IP address shall be configured.

◆ Ars548FilterConfigEntry
struct Ars548FilterConfigEntry
Data Fields
UINT8 Active
Flag to activate/deactivate filter (0=Inactive; 1=Active)

UINT8 FilterID
Filter data index (1-7 for Detection filters; 1-24 for Object filters)

UINT8 FilterType
Filter type (1=Detections; 2=Objects)

FLOAT32 MinimumValue
Minimum data value to pass the filter.

FLOAT32 MaximumValue
Maximum data value to pass the filter.

◆ Ars548FilterConfiguration
struct Ars548FilterConfiguration
在这里插入图片描述

Data Fields
UINT8 DetectionSortIndex
Detection list sorting index (0=None; 1=Range; 2=RCS)

UINT8 ObjectSortIndex
Object list sorting index (0=None; 1=Range; 2=RCS)

UINT8 FilterReset
Reset all filters (0=Ignore; 1=Reset)

UINT8 NumberOfFilters
Number of filters to follow.

Ars548FilterConfigEntry Filter [7+24]

================================================================
SDK Contents
Directory structure
Ars548_SDK
├─Doc
│ ├─html
│ └─Ars548SDK.chm
└─Samples
├─ars548_demo
├─ars548_qt_demo
├─ars548_qt_demo_filter_config
└─ars548_qt_demo_sensor_config
Doc
html
This directory contains HTML-format documentation for the SDK, please locate “index.html” and open it in your browser for reading.

Ars548SDK.chm
This is the help file format under Windows. It is a self-contained file that packages all the content of HTML documents together, and you can search the documentation contents through indexes.

Samples
This directory contains some example programs and tutorials.

‍NOTE: The programs in this directory are meant for demonstration purposes only. This means that they are built to be readable rather than reliable or functional.

These code samples are written in C++, and users can compile them on the Linux platform with x86 architecture using CMake and GCC build tools.

How to build
Install the compiler
On my Ubuntu 18.04, I installed the C++ compiler through the following command:

sudo apt-get install build-essential
And then you should install CMake:

sudo apt-get install cmake
Some of the code samples use Qt5, so in order to run those examples, your needs to have the relevant Qt5 development libraries and components installed.

apt install qt5-default
System component version
The versions of the system components that the code passed testing with are as follows:

Component Version
CMake 3.10.2
GCC 7.5.0
Qt 5.9.5
Build and Run
The building methods for all of these samples are the same. Using ars548_demo as an example.

Enter the directory of the sample:

cd ars548_demo
Create a build directory and navigate into it:

mkdir build
cd build
Build:

cmake …
make
Finally, try to use the newly built Tutorial with these commands:

./ars548_demo
ars548_demo
This is a console program that demonstrates the basic usage of the SDK, including initialization, data reception, data display, and sending sensor configurations and filter settings.

This program requires two command line arguments to run, which are the IP address of the local NIC (Network Interface Card) and the IP address of the radar. After the program starts running, it will start receiving and outputting the target information sent by the radar to the screen.

The user can send a few key presses to make the program perform other operations:

Press “s” and enter, the program will send a sensor configuration command to the radar. Please note that the code here is for demonstration purposes only, so the calling parameters are hardcoded. The user should write their own code for sensor configuration according to the SDK documentation to ensure the expected effect after understanding how to use the SDK.
Press “f” and enter, the program will send a filter configuration command to the radar. Similarly, the calling parameters in the code are hardcoded, which will set a filter on the radar to only send target data within the range of 0-10m.
Press “r” and enter, the program will send a reset filter command to the radar, so that the filter set earlier can be cleared.
Press “q” and enter, to quit the program.
ars548_qt_demo
This is a graphical interface example program based on Qt5, demonstrating the basic usage of the SDK: receiving radar target data and displaying it in a table. Users can sort columns of interest, indicating that you can obtain the data you need through the SDK and then further process and manipulate it to meet your specific business requirements.

ars548_qt_demo_filter_config
This is a graphical interface example program based on Qt5, demonstrating how to receive and display radar sensor configuration information and allowing modifications to a portion of the sensor data.

When modifying the radar sensor settings, note the several flags in the Ars548SensorConfiguration structure - NewSensorMounting, NewVehicleParameters, NewRadarParameters and NewNetworkConfiguration. When modifying the corresponding settings, the respective flag fields need to be set to 1.

ars548_qt_demo_sensor_config
This is a graphical interface example program based on Qt5, demonstrating how to receive and display radar filter configuration information and allowing modifications to a portion of the filter data.

==========================================
Topics
Here is a list of all topics with brief descriptions:
Error Codes
Message IDs
Raw Radar Data Structures
Parsed Data Structures

Error Codes
Variables
const int ARS548_OK = 0
Success.

const int ARS548_ERROR_STATE = 40001
Status errors, e.g. duplicate start of receiving.

const int ARS548_ERROR_RESOURCE_CREATION = 40002
Failed to create resources, e.g. failed to create threads.

const int ARS548_ERROR_NETWORK_INIT_FAILED = 40003
Network initialization failed.

const int ARS548_ERROR_NETWORK_BIND_FAILED = 40004
Failed to bind address or port.

const int ARS548_ERROR_NETWORK_MULTICAST_INIT_FAILED = 40005
Multicast initialization failed.

const int ARS548_ERROR_NETWORK_INVALID_MULTICAST_IP = 40006
Invalid multicast IP.

const int ARS548_ERROR_NOT_IMPLEMENTED = 40007
This feature is not yet implemented.

const int ARS548_SEND_FAILED = 40008
Send failed.

Detailed Description
Return value definitions for SDK functions

Message IDs
Macros
#define METHOD_ID_DETECTION_LIST 336

#define METHOD_ID_OBJECT_LIST 329

#define METHOD_ID_SENSOR_STATUS 380

#define METHOD_ID_FILTER_STATUS 396

#define METHOD_ID_SENSOR_CONFIG 390

#define METHOD_ID_FILTER_CONFIG 395

#define MSG_ID_DETECTION_LIST METHOD_ID_DETECTION_LIST

#define MSG_ID_OBJECT_LIST METHOD_ID_OBJECT_LIST

#define MSG_ID_SENSOR_STATUS METHOD_ID_SENSOR_STATUS

#define MSG_ID_FILTER_STATUS METHOD_ID_FILTER_STATUS

Detailed Description
Struct definitions for ARS548 radar series communication protocol

====
Raw Radar Data Structures
Data Structures
struct SomeIPHeader1stPart

struct SomeIPHeader2ndPart

struct E2eP07Header

struct Ars548Msg

struct SomeIPPackage

struct Ars548SensorStatusOlder

struct Ars548SensorStatus

struct Ars548FilterStatusEntry

struct Ars548FilterStatus

struct Ars548Detection

struct Ars548DetectionList

struct Ars548Object

struct Ars548ObjectList

struct Ars548SensorConfiguration

struct Ars548FilterConfigEntry

struct Ars548FilterConfiguration

Detailed Description
Struct definitions for ARS548 radar series communication protocol

Data Structure Documentation
◆ SomeIPHeader1stPart
struct SomeIPHeader1stPart
Data Fields
UINT16 service_id

UINT16 method_id

UINT32 length
The number of bytes after the header structure.

◆ SomeIPHeader2ndPart
struct SomeIPHeader2ndPart
Data Fields
UINT16 client_id

UINT16 session_id

BYTE protocol_version

BYTE interface_version

BYTE message_type

BYTE return_code

◆ E2eP07Header
struct E2eP07Header
Data Fields
UINT64 CRC
Checksum (E2E Profile 7)

UINT32 Length
Len (E2E Profile 7)

UINT32 SQC
SQC (E2E Profile 7)

UINT32 DataID
Data ID (E2E Profile 7)

◆ Ars548Msg
struct Ars548Msg

◆ SomeIPPackage
struct SomeIPPackage
Data Fields
SomeIPHeader1stPart header_part1

SomeIPHeader2ndPart header_part2
Optional.

E2eP07Header headerE2E
Optional.

Ars548Msg * pPayload

◆ Ars548SensorStatusOlder
struct Ars548SensorStatusOlder