radar_sdk/ChangingToVersion2.txt at main · ascendingnode-gh/radar_sdk · GitHub

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===============================================================================
            Navico BRPC Radar Software-Development-Kit Library
===============================================================================

This file documents the changes required to convert existing software using version 1.x
of the library to using version 2.x.

Overview:

  The following points summarise the main changes that have been made.

  * The core NRP protocol definitions (structures and enams) for image and target-
    tracking are now defined in a single file.
  * Several unnecessary namespaces have been removed, including State, GuardZone and
    TargetTracking.
  * All fields now have their units appended to their name in a more consistent manner,
    (e.g. _m for metres, _deg for degrees).
  * Support has been added for new or missing features (e.g. reporting of radar errors,
    and new multi-range radar support).


Changes:

  Most of the changes are simple renames that can be handled by just performing a search
  and replace in an editor. The following documents the old name (to the left of the ->)
  and what it has now changed to (to the right of the ->). Field names are listed indented
  below the name of the structure they belong too, which in some cases has also changed.


  NavRadarProtocolDefs.h    -> NavRadarProtocol.h
  NavRadarProtocolMarpaDefs.h -> NavRadarProtocol.h

  State::                   ->
  GuardZone::               ->
  TargetTracking::          ->
  tRadarAlarm               -> tGuardZoneAlarm
  eTotalGuardZones          -> cMaxGuardZones

  t9174SpokeHeader
    sampleSize              -> bitsPerSample
    sampleCellSize_mmPerSample -> rangeCellSize_mm
    rangeDiv2               -> rangeCellsDiv2

  tMode
    warmupTime              -> warmupTime_sec
    ttCount                 -> ttCount_sec

  tSetup
    targetEmphasis          -> targetStretch

  tProperties
    deviceId                -> gwRegVersionMinor, gwRegVersionMajor
    nprId                   -> gwVersionMinor, gwVersionMajor
    fesId                   -> gwCompileSource, scannerSwVersionBuild
    rspId                   ->
    psuId                   -> powerCycles
    driverIdMajor           -> driverVersionMajor
    driverIdMinor           -> driverVersionMinor
    operationTime           -> operationTime_hour
    warmupTime              -> warmupTime_sec
    swVersionMajor          -> radarSwVersionMajor
    swVersionMinor          -> radarSwVersionMinor
    swProtocolVersion       -> radarProtocolVersion
    fScannerDetailSupported -> supportsScannerDetail
    sectorTransmitAreas     -> supportsMaxStopTxSectors
    fParkingSupported       -> supportsParking

  tRadarAlarm               -> tGuardZoneAlarm
    id                      -> zone

  tGuardZone
    rangeStart              -> rangeStart_m
    rangeEnd                -> rangeEnd_m
    azimuth                 -> azimuth_ddeg
    width                   -> width_ddeg

  tConfiguration
    zeroRange               -> zeroRange_mm
    zeroBearing             -> zeroBearing_ddeg
    parkPosition            -> parkPosition_ddeg
    antennaHeight           -> antennaHeight_mm
    timedTxTxPeriod         -> timedTxTransmitPeriod_sec
    timedTxStbyPeriod       -> timedTxStandbyPeriod_sec

  tAdvancedSTCState
    rangeSTCTrim            -> rangeSTCTrim_dB
    seaSTCTrim              -> seaSTCTrim_dB
    rainSTCTrim             -> rainSTCTrim_dB
    apertureLevel           -> videoAperture_dB

  t9174TargetTrackingAlarmSetup -> tTargetTrackingAlarmSetup
    saveZoneDistance        -> safeZoneDistance_m
    safeZoneTime            -> safeZoneTime_sec

  t9174TargetTrackingAProperties -> tTargetTrackingProperties

  t9174TargetTrackingTarget -> tTrackedTarget
    relativeRange_meters          -> infoRelative.distance_m
    relativeBearing_degreesX10    -> infoRelative.bearing_ddeg
    relativeCourse_degreesX10     -> infoRelative.course_ddeg
    relativeSpeed_metersPerSecX10 -> infoRelative.speed_dmps
    absoluteRange_meters          -> infoAbsolute.distance_m
    absoluteBearing_degreesX10    -> infoAbsolute.bearing_ddeg
    absoluteCourse_degreesX10     -> infoAbsolute.course_ddeg
    absoluteSpeed_metersPerSecX10 -> infoAbsolute.speed_dmps
    CPA_meters              -> CPA_m
    TCPA_seconds            -> TCPA_sec

  iImageClientStateObserver
    UpdateAlarm             -> UpdateGuardZoneAlarm
                            -> void UpdateRadarError( const NRP::tRadarError* pError ) {}