Drive/sr71_drive/core/radar_obj.h

/**
  ******************************************************************************
  * @file           : radar_obj.h
  * @author         : wangyingjie
  * @brief          : None
  * @attention      : None
  * @date           : 2025/6/20
  ******************************************************************************
  */

#ifndef RADAR_OBJ_H
#define RADAR_OBJ_H

#include "project_marco.h"

struct TargetListHeader
{
    uint8_t object_num; // 目标数量
    uint16_t measurement_count; // 循环计数
    uint8_t interface_version; // CAN接口版本号，默认为0
};

struct TargetInfo
{
    uint8_t id; // 目标ID
    float distance_long; // 目标纵向距离 (m)
    float distance_lat; // 目标横向距离 (m)
    float velocity_long; // 目标纵向速度 (m/s)
    uint8_t dyn_prop; // 动态属性
    float velocity_lat; // 目标横向速度 (m/s)
    float rcs; // RCS
};

struct RadarData
{
  unsigned id;
  unsigned timestamp;
  std::vector<unsigned char> data;
};

// 数据接收器接口
class IDataReceiver
{
public:
  virtual ~IDataReceiver() = default;
  virtual bool Initialize() = 0;
  virtual void Start() = 0;
  virtual void Stop() = 0;
  virtual void SetDataCallback(std::function<void(const RadarData &)> callback) = 0;
};



#endif //RADAR_OBJ_H