Last change
on this file since 89 was 89, checked in by morasjul, 11 years ago |
PACPUS 2.0 Beta deployed in new branch
Major changes:
-Add communication interface between components
-Add examples for communications interface (TestComponents)
-Move to Qt5 support
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-
Property svn:executable
set to
*
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File size:
1.3 KB
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[89] | 1 | /*********************************************************************
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| 2 | // created: 2012/02/22 - 12:00
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| 3 | // filename: structureCanSMSRadar.h
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| 4 | //
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| 5 | // author: Arthur Miranda (PAMU Project) / Gerald Dherbomez
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| 6 | // Copyright Heudiasyc UMR UTC/CNRS 6599
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| 7 | //
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| 8 | // version: $Id: $
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| 9 | //
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| 10 | // purpose: Description of the CAN structures of SMS Radar
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| 11 | *********************************************************************/
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| 12 |
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| 13 | #ifndef __STRUCTURECANSMSRADAR_H__
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| 14 | #define __STRUCTURECANSMSRADAR_H__
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| 15 |
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| 16 | #include "kernel/road_time.h"
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| 17 |
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| 18 | #define SMS_MAX_OBSTACLE_COUNT 64
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| 19 |
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| 20 | // Corresponding CAN frames
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| 21 | /* Front: 0x510 to 0x54F */
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| 22 | /* Left: 0x590 to 0x5CF */
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| 23 | /* Rear: 0x610 to 0x64F */
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| 24 | /* Right: 0x690 to 0x6CF */
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| 25 |
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| 26 | // Each individual Central Processor system prioritizes the detected objects and limits the
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| 27 | // number of transmitted objects. To a max of 64 objects.
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| 28 |
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| 29 | typedef struct{
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| 30 | road_time_t time;
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| 31 | road_timerange_t timerange;
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| 32 | short moveflag;
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| 33 | short leadflag;
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| 34 | short typeflag;
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| 35 | }StructSMSRadarType;
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| 36 |
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| 37 | typedef struct{
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| 38 | road_time_t time;
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| 39 | road_timerange_t timerange;
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| 40 | float corXrange;
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| 41 | float corYrange;
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| 42 | float corXvel;
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| 43 | float corYvel;
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| 44 | int objetID;
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| 45 | float objetVITESS;
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| 46 | StructSMSRadarType obtype;
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| 47 | }SMSRadarObj;
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| 48 |
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| 49 | typedef struct{
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| 50 |
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| 51 | int numberOfObstacles;
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| 52 | SMSRadarObj obstacles[SMS_MAX_OBSTACLE_COUNT];
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| 53 |
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| 54 | }SMSRadarDatas;
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| 55 |
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| 56 | #endif |
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