/****************************************************************************** * * Project: OpenCPN * Purpose: Radar Plugin * Author: David Register * Dave Cowell * Kees Verruijt * *************************************************************************** * 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 * * * * 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. * *************************************************************************** */ #include "radar_pi.h" #include "GuardZone.h" #include "RadarMarpa.h" PLUGIN_BEGIN_NAMESPACE #undef TEST_GUARD_ZONE_LOCATION GuardZone::GuardZone(radar_pi* pi, RadarInfo* ri, int zone) { m_pi = pi; m_ri = ri; m_log_name = wxString::Format(wxT("Radar %c GuardZone %d:"), (char)(m_ri->m_radar + 'A'), zone + 1); m_type = GZ_CIRCLE; m_start_bearing = 0; m_end_bearing = 0; m_inner_range = 0; m_outer_range = 0; m_arpa_on = 0; m_alarm_on = 0; m_show_time = 0; CLEAR_STRUCT(m_arpa_update_time); ResetBogeys(); } void GuardZone::ProcessSpoke(SpokeBearing angle, uint8_t* data, uint8_t* hist, size_t len) { size_t range_start = m_inner_range * m_ri->m_pixels_per_meter; // Convert from meters to [0..spoke_len_max> size_t range_end = m_outer_range * m_ri->m_pixels_per_meter; // Convert from meters to [0..spoke_len_max> bool in_guard_zone = false; AngleDegrees degAngle = SCALE_SPOKES_TO_DEGREES(angle); switch (m_type) { case GZ_ARC: if ((degAngle >= m_start_bearing && degAngle < m_end_bearing) || (m_start_bearing >= m_end_bearing && (degAngle >= m_start_bearing || degAngle < m_end_bearing))) { if (range_start < len) { if (range_end > len) { range_end = len; } for (size_t r = range_start; r <= range_end; r++) { if (data[r] >= m_pi->m_settings.threshold_blue) { m_running_count++; } #ifdef TEST_GUARD_ZONE_LOCATION // Zap guard zone computation location to green so this is visible on screen else { data[r] = m_pi->m_settings.threshold_green; } #endif } } in_guard_zone = true; } break; case GZ_CIRCLE: if (range_start < len) { if (range_end > len) { range_end = len; } for (size_t r = range_start; r <= range_end; r++) { if (data[r] >= m_pi->m_settings.threshold_blue) { m_running_count++; } #ifdef TEST_GUARD_ZONE_LOCATION // Zap guard zone computation location to green so this is visible on screen else { data[r] = m_pi->m_settings.threshold_green; } #endif } if (angle > m_last_angle) { in_guard_zone = true; } } break; default: in_guard_zone = false; break; } if (m_last_in_guard_zone && !in_guard_zone) { // last bearing that could add to m_running_count, so store as bogey_count; m_bogey_count = m_running_count; m_running_count = 0; LOG_GUARD(wxT("%s angle=%d last_angle=%d guardzone=%d..%d (%d - %d) bogey_count=%d"), m_log_name.c_str(), angle, m_last_angle, range_start, range_end, m_inner_range, m_outer_range, m_bogey_count); // When debugging with a static ship it is hard to find moving targets, so move // the guard zone instead. This slowly rotates the guard zone. if (m_pi->m_settings.guard_zone_debug_inc && m_type == GZ_ARC) { m_start_bearing += m_pi->m_settings.guard_zone_debug_inc; m_end_bearing += m_pi->m_settings.guard_zone_debug_inc; m_start_bearing %= DEGREES_PER_ROTATION; m_end_bearing %= DEGREES_PER_ROTATION; } } m_last_in_guard_zone = in_guard_zone; m_last_angle = angle; } // Search guard zone for ARPA targets void GuardZone::SearchTargets() { ExtendedPosition own_pos; if (!m_arpa_on) { return; } if (m_ri->m_arpa->GetTargetCount() >= MAX_NUMBER_OF_TARGETS - 2) { LOG_INFO(wxT("No more scanning for ARPA targets, maximum number of targets reached")); return; } if (!m_pi->m_settings.show // No radar shown || !m_ri->GetRadarPosition(&own_pos.pos)) { // No position return; } if (m_pi->m_radar[0] == 0 && m_pi->m_radar[1] == 0) { return; } for (size_t r = 0; r < RADARS; r++) { if (m_pi->m_radar[r] != 0) { if (m_pi->m_radar[r]->m_state.GetValue() == RADAR_TRANSMIT) // There is at least one radar transmitting break; } return; } if (m_ri->m_pixels_per_meter == 0.) { return; } size_t range_start = m_inner_range * m_ri->m_pixels_per_meter; // Convert from meters to 0..511 size_t range_end = m_outer_range * m_ri->m_pixels_per_meter; // Convert from meters to 0..511 SpokeBearing hdt = SCALE_DEGREES_TO_SPOKES(m_pi->GetHeadingTrue()); SpokeBearing start_bearing = SCALE_DEGREES_TO_SPOKES(m_start_bearing) + hdt; SpokeBearing end_bearing = SCALE_DEGREES_TO_SPOKES(m_end_bearing) + hdt; start_bearing = MOD_SPOKES(start_bearing); end_bearing = MOD_SPOKES(end_bearing); if (start_bearing > end_bearing) { end_bearing += m_ri->m_spokes; } if (m_type == GZ_CIRCLE) { start_bearing = 0; end_bearing = m_ri->m_spokes; } if (range_start < m_ri->m_spoke_len_max) { if (range_end > m_ri->m_spoke_len_max) { range_end = m_ri->m_spoke_len_max; } if (range_end < range_start) return; // loop with +2 increments as target must be larger than 2 pixels in width for (int angleIter = start_bearing; angleIter < end_bearing; angleIter += 2) { SpokeBearing angle = MOD_SPOKES(angleIter); wxLongLong time1 = m_ri->m_history[angle].time; // time2 must be timed later than the pass 2 in refresh, otherwise target may be found multiple times wxLongLong time2 = m_ri->m_history[MOD_SPOKES(angle + 3 * SCAN_MARGIN)].time; // check if target has been refreshed since last time // and if the beam has passed the target location with SCAN_MARGIN spokes if ((time1 > (m_arpa_update_time[angle] + SCAN_MARGIN2) && time2 >= time1)) { // the beam sould have passed our "angle" AND a // point SCANMARGIN further set new refresh time m_arpa_update_time[angle] = time1; for (int rrr = (int)range_start; rrr < (int)range_end; rrr++) { if (m_ri->m_arpa->GetTargetCount() >= MAX_NUMBER_OF_TARGETS - 1) { LOG_INFO(wxT("No more scanning for ARPA targets in loop, maximum number of targets reached")); return; } if (m_ri->m_arpa->MultiPix(angle, rrr, 0)) { bool next_r = false; if (next_r) continue; // pixel found that does not belong to a known target Polar pol; pol.angle = angle; pol.r = rrr; int target_i = m_ri->m_arpa->AcquireNewARPATarget(pol, 0, 0); if (target_i == -1) break; } } } } } return; } PLUGIN_END_NAMESPACE