/****************************************************************************** * * Project: OpenCPN * Purpose: Radar Plugin * Author: David Register * Dave Cowell * Kees Verruijt * Douwe Fokkema * Sean D'Epagnier *************************************************************************** * Copyright (C) 2010 by David S. Register bdbcat@yahoo.com * * Copyright (C) 2012-2013 by Dave Cowell * * Copyright (C) 2012-2016 by Kees Verruijt canboat@verruijt.net * * Copyright (C) 2013-2016 by Douwe Fokkkema df@percussion.nl* * * * This program is free software; you can redistribute it and/or modify * * it under the terms of the GNU General Public License as published by * * the Free Software Foundation; either version 2 of the License, or * * (at your option) any later version. * * * * This program is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * * GNU General Public License for more details. * * * * You should have received a copy of the GNU General Public License * * along with this program; if not, write to the * * Free Software Foundation, Inc., * * 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. * *************************************************************************** */ #ifndef _RADAR_MARPA_H_ #define _RADAR_MARPA_H_ //#include "pi_common.h" //#include "radar_pi.h" #include "Kalman.h" #include "Matrix.h" #include "RadarInfo.h" PLUGIN_BEGIN_NAMESPACE // Forward definitions class KalmanFilter; #define MAX_NUMBER_OF_TARGETS (100) // #define TARGET_SEARCH_RADIUS1 (2) // radius of target search area for pass 1 (on top of the size of the blob) #define TARGET_SEARCH_RADIUS2 (15) // radius of target search area for pass 1 #define SCAN_MARGIN (150) // number of lines that a next scan of the target may have moved #define SCAN_MARGIN2 (1000) // if target is refreshed after this time you will be shure it is the next sweep #define MAX_CONTOUR_LENGTH (500) // defines maximal size of target contour in pixels #define MAX_TARGET_DIAMETER (200) // target will be set lost if diameter in pixels is larger than this value #define MAX_LOST_COUNT (3) // number of sweeps that target can be missed before it is set to lost #define FOR_DELETION (-2) // status of a duplicate target used to delete a target #define LOST (-1) #define ACQUIRE0 (0) // 0 under acquisition, first seen, no contour yet #define ACQUIRE1 (1) // 1 under acquisition, contour found, first position FOUND #define ACQUIRE2 (2) // 2 under acquisition, speed and course taken #define ACQUIRE3 \ (3) // 3 under acquisition, speed and course verified, next time active // >=4 active #define Q_NUM (4) // status Q to OCPN at target status #define T_NUM (6) // status T to OCPN at target status #define TARGET_SPEED_DIV_SDEV 2. #define STATUS_TO_OCPN (5) // First status to be send to OCPN #define START_UP_SPEED (0.5) // maximum allowed speed (m/sec) for new target, real format with . #define DISTANCE_BETWEEN_TARGETS (4) // minimum separation between targets typedef int target_status; enum OCPN_target_status { Q, // acquiring T, // active L // lost }; enum TargetProcessStatus { UNKNOWN, NOT_FOUND_IN_PASS1 }; enum PassN { PASS1, PASS2 }; class ArpaTarget { friend class RadarArpa; // Allow RadarArpa access to private members public: ArpaTarget(radar_pi* pi, RadarInfo* ri); ArpaTarget(); ~ArpaTarget(); int GetContour(Polar* p); void set(radar_pi* pi, RadarInfo* ri); bool FindNearestContour(Polar* pol, int dist); bool FindContourFromInside(Polar* p); bool GetTarget(Polar* pol, int dist); void RefreshTarget(int dist); void PassARPAtoOCPN(Polar* p, OCPN_target_status s); void SetStatusLost(); void ResetPixels(); bool Pix(int ang, int rad); bool MultiPix(int ang, int rad); private: RadarInfo* m_ri; radar_pi* m_pi; KalmanFilter* m_kalman; int m_target_id; target_status m_status; // radar position at time of last target fix, the polars in the contour refer to this origin GeoPosition m_radar_pos; ExtendedPosition m_position; // holds actual position of target double m_speed_kn; // Average speed of target. TODO: Merge with m_position.speed? wxLongLong m_refresh; // time of last refresh double m_course; int m_stationary; // number of sweeps target was stationary int m_lost_count; bool m_check_for_duplicate; TargetProcessStatus m_pass1_result; PassN m_pass_nr; Polar m_contour[MAX_CONTOUR_LENGTH + 1]; // contour of target, only valid immediately after finding it int m_contour_length; Polar m_max_angle, m_min_angle, m_max_r, m_min_r; // charasterictics of contour Polar m_expected; bool m_automatic; // True for ARPA, false for MARPA. uint8_t m_doppler_target; // 0: no doppler, 1 approaching, 2 receiding; 3 any ExtendedPosition Polar2Pos(Polar pol, ExtendedPosition own_ship); Polar Pos2Polar(ExtendedPosition p, ExtendedPosition own_ship); }; class RadarArpa { public: RadarArpa(radar_pi* pi, RadarInfo* ri); ~RadarArpa(); void DrawArpaTargetsOverlay(double scale, double arpa_rotate); void DrawArpaTargetsPanel(double scale, double arpa_rotate); void RefreshArpaTargets(); int AcquireNewARPATarget(Polar pol, int status, uint8_t doppler); void AcquireNewMARPATarget(ExtendedPosition p); void DeleteTarget(ExtendedPosition p); bool MultiPix(int ang, int rad, bool doppler); void DeleteAllTargets(); void CleanUpLostTargets(); void RadarLost() { DeleteAllTargets(); // Let ARPA targets disappear } void ClearContours(); int GetTargetCount() { return m_number_of_targets; } private: int m_number_of_targets; ArpaTarget* m_targets[MAX_NUMBER_OF_TARGETS]; wxLongLong m_doppler_arpa_update_time[SPOKES_MAX]; radar_pi* m_pi; RadarInfo* m_ri; void AcquireOrDeleteMarpaTarget(ExtendedPosition p, int status); void CalculateCentroid(ArpaTarget* t); void DrawContour(ArpaTarget* t); bool Pix(int ang, int rad, bool doppler); void SearchDopplerTargets(); bool IsAtLeastOneRadarTransmitting(); }; PLUGIN_END_NAMESPACE #endif