fix(driver_radar_conti_ars408):add more yaml file to setting radar

src/driver/driver_radar_continental_ARS408_SRR308/CollDetRegion_Cfg.yaml

@@ -0,0 +1,74 @@
+CollDetRegion_Cfg:
+  -CollDetRegionCfg_Rigion0 # max number of rigion is 8 (id:0-7)
+  -CollDetRegionCfg_Rigion1
+  -CollDetRegionCfg_Rigion2
+  -CollDetRegionCfg_Rigion3
+  -CollDetRegionCfg_Rigion4
+  -CollDetRegionCfg_Rigion5
+  -CollDetRegionCfg_Rigion6
+  -CollDetRegionCfg_Rigion7
+CollDetRegionCfg_Rigion0:
+  CollDetRegionCfg_Activation: 0
+  CollDetRegionCfg_Coordinates_Valid: 1
+  CollDetRegionCfg_RigionID: 0
+  CollDetRegionCfg_Poindt1X: 0.0 # point 1 is the near right point
+  CollDetRegionCfg_Poindt1Y: -204.6
+  CollDetRegionCfg_Poindt2X: 250.0 # point 2 is the far left point
+  CollDetRegionCfg_Poindt2Y: 204.8
+CollDetRegionCfg_Rigion1:
+  CollDetRegionCfg_Activation: 0
+  CollDetRegionCfg_Coordinates_Valid: 1
+  CollDetRegionCfg_RigionID: 1
+  CollDetRegionCfg_Poindt1X: 0.0 # point 1 is the near right point
+  CollDetRegionCfg_Poindt1Y: -204.6
+  CollDetRegionCfg_Poindt2X: 250.0 # point 2 is the far left point
+  CollDetRegionCfg_Poindt2Y: 204.8
+CollDetRegionCfg_Rigion2:
+  CollDetRegionCfg_Activation: 0
+  CollDetRegionCfg_Coordinates_Valid: 1
+  CollDetRegionCfg_RigionID: 2
+  CollDetRegionCfg_Poindt1X: 0.0 # point 1 is the near right point
+  CollDetRegionCfg_Poindt1Y: -204.6
+  CollDetRegionCfg_Poindt2X: 250.0 # point 2 is the far left point
+  CollDetRegionCfg_Poindt2Y: 204.8
+CollDetRegionCfg_Rigion3:
+  CollDetRegionCfg_Activation: 0
+  CollDetRegionCfg_Coordinates_Valid: 1
+  CollDetRegionCfg_RigionID: 3
+  CollDetRegionCfg_Poindt1X: 0.0 # point 1 is the near right point
+  CollDetRegionCfg_Poindt1Y: -204.6
+  CollDetRegionCfg_Poindt2X: 250.0 # point 2 is the far left point
+  CollDetRegionCfg_Poindt2Y: 204.8
+CollDetRegionCfg_Rigion4:
+  CollDetRegionCfg_Activation: 0
+  CollDetRegionCfg_Coordinates_Valid: 1
+  CollDetRegionCfg_RigionID: 4
+  CollDetRegionCfg_Poindt1X: 0.0 # point 1 is the near right point
+  CollDetRegionCfg_Poindt1Y: -204.6
+  CollDetRegionCfg_Poindt2X: 250.0 # point 2 is the far left point
+  CollDetRegionCfg_Poindt2Y: 204.8
+CollDetRegionCfg_Rigion5:
+  CollDetRegionCfg_Activation: 0
+  CollDetRegionCfg_Coordinates_Valid: 1
+  CollDetRegionCfg_RigionID: 5
+  CollDetRegionCfg_Poindt1X: 0.0 # point 1 is the near right point
+  CollDetRegionCfg_Poindt1Y: -204.6
+  CollDetRegionCfg_Poindt2X: 250.0 # point 2 is the far left point
+  CollDetRegionCfg_Poindt2Y: 204.8
+CollDetRegionCfg_Rigion6:
+  CollDetRegionCfg_Activation: 0
+  CollDetRegionCfg_Coordinates_Valid: 1
+  CollDetRegionCfg_RigionID: 6
+  CollDetRegionCfg_Poindt1X: 0.0 # point 1 is the near right point
+  CollDetRegionCfg_Poindt1Y: -204.6
+  CollDetRegionCfg_Poindt2X: 250.0 # point 2 is the far left point
+  CollDetRegionCfg_Poindt2Y: 204.8
+CollDetRegionCfg_Rigion7:
+  CollDetRegionCfg_Activation: 0
+  CollDetRegionCfg_Coordinates_Valid: 1
+  CollDetRegionCfg_RigionID: 7
+  CollDetRegionCfg_Poindt1X: 0.0 # point 1 is the near right point
+  CollDetRegionCfg_Poindt1Y: -204.6
+  CollDetRegionCfg_Poindt2X: 250.0 # point 2 is the far left point
+  CollDetRegionCfg_Poindt2Y: 204.8
+

src/driver/driver_radar_continental_ARS408_SRR308/CollDet_Cfg.yaml

@@ -0,0 +1,5 @@
+CollDetCfg_WarningRestet: 0 # true for resetting all warning
+CollDetCfg_Activation: 0 # enable or disable collecting detection
+CollDetCfg_MinTime_Valid: 0 # true means allow to change min_time
+CollDetCfg_ClearRegions: 0 # true to clear all regions
+CollDetCfg_MinTime: 0 # min time (second) to start warning when an object enter a region  

src/driver/driver_radar_continental_ARS408_SRR308/Filter_Cfg.yaml

@@ -0,0 +1,78 @@
+Filter_Cfg:
+  -FilterCfg_NofObj # max number of objects
+  -FilterCfg_Distance # r=sqrt(x^2+y^2)
+  -FilterCfg_Azimuth # a=arctan(y/x) deg
+  -FilterCfg_VrelOncome # not compatible for object mode on SRR308
+  -FilterCfg_VrelDepart
+  -FilterCfg_RCS
+  -FilterCfg_Lifetime
+  -FilterCfg_Size
+  -FilterCfg_ProbExists
+  -FilterCfg_Y # left is positive
+  -FilterCfg_X # front is positive
+  -FilterCfg_VYRightLeft # not compatible for object mode on SRR308
+  -FilterCfg_VXOncome # not compatible for object mode on SRR308
+  -FilterCfg_VYLeftRight # not compatible for object mode on SRR308
+  -FilterCfg_VXDepart # not compatible for object mode on SRR308
+# do not delete above items
+FilterCfg_NofObj:
+  FilterCfg_Active: 1
+  min_value: 0
+  max_value: 64
+FilterCfg_Distance:
+  FilterCfg_Active: 0
+  min_value: 0
+  max_value: 250
+FilterCfg_Azimuth:
+  FilterCfg_Active: 0
+  min_value: -50
+  max_value: 50
+FilterCfg_VrelOncome:
+  FilterCfg_Active: 0
+  min_value: 0
+  max_value: 128.9925
+FilterCfg_VrelDepart:
+  FilterCfg_Active: 0
+  min_value: 0
+  max_value: 128.9925
+FilterCfg_RCS:
+  FilterCfg_Active: 0
+  min_value: -10
+  max_value: 52.375
+FilterCfg_Lifetime:
+  FilterCfg_Active: 0
+  min_value: 0
+  max_value: 409.5
+FilterCfg_Size:
+  FilterCfg_Active: 0
+  min_value: 0
+  max_value: 102.375
+FilterCfg_ProbExists:
+  FilterCfg_Active: 0
+  min_value: 0
+  max_value: 7
+FilterCfg_Y:
+  FilterCfg_Active: 0
+  min_value: -409.5
+  max_value: 409.5
+FilterCfg_X:
+  FilterCfg_Active: 0
+  min_value: -500
+  max_value: 1138.2
+FilterCfg_VYRightLeft:
+  FilterCfg_Active: 0
+  min_value: 0
+  max_value: 128.9925
+FilterCfg_VXOncome:
+  FilterCfg_Active: 0
+  min_value: 0
+  max_value: 128.9925
+FilterCfg_VYLeftRight:
+  FilterCfg_Active: 0
+  min_value: 0
+  max_value: 128.9925
+FilterCfg_VXDepart:
+  FilterCfg_Active: 0
+  min_value: 0
+  max_value: 128.9925
+

src/driver/driver_radar_continental_ARS408_SRR308/PolygonFilter_Cfg.yaml

@@ -0,0 +1,27 @@
+PolygonFilter_Cfg:
+  -PolygonFilter_StoreInNvm # define object of polygon setting
+  -PolygonFilter_Reset # clear polygon setting, use it with StoreInNvm setting
+  -PolygonFilter_Active # true mean setting will be used
+  -PolygonFilter_Valid # true mean setting is allowed
+  -PolygonFilter_Point1 # point near left
+  -PolygonFilter_Point2 # point near right
+  -PolygonFilter_Point3 # point far right
+  -PolygonFilter_Point4 # point far left
+PolygonFilter_StoreInNvm: 0
+PolygonFilter_Reset: 1
+PolygonFilter_Active: 0
+PolygonFilter_Valid: 1
+PolygonFilter_Point1:
+  X: 0
+  Y: 204.8
+PolygonFilter_Point2:
+  X: 0
+  Y: -204.6
+PolygonFilter_Point3:
+  X: 250
+  Y: -204.6
+PolygonFilter_Point4:
+  X: 250
+  Y: 204.8
+
+

src/driver/driver_radar_continental_ARS408_SRR308/driver_radar_continental_ARS408_SRR308.xml

@@ -4,29 +4,39 @@
 		<param name="cansend" value="cansend0" />
 		<param name="radar_shm" value="radar_front" />
 		<param name="imu_shm" value="hcp2_gpsimu" />
-		<param name="Radar_Type" value="ARS408-21XX" /> <!-- ARS408-21XX/ARS408-21SC3/SRR308-21 -->
-		<param name="Radar_Cfg_apply" value="0" /> <!-- true for sending can message which setting radar -->
+		<param name="chassis_shm" value="chassis" />
+		<param name="Radar_Type" value="0" /> <!-- 0:ARS408-21XX/1:ARS408-21SC3/2:SRR308-21 -->
+		<param name="Radar_Azimuth" value="0" /> <!-- degrees from head of car to normal vector of radar emitted surface, ccw is positive -->
+		<param name="Radar_Cfg_Apply" value="0" /> <!-- true for sending can message which setting radar -->
 		<param name="RadarCfg_MaxDistance" value="260" /> <!-- 196-260m -->
-		<param name="RadarCfg_MaxDistance_valid" value="0" /> <!-- true for setting -->
+		<param name="RadarCfg_MaxDistance_Valid" value="0" /> <!-- true for setting -->
 		<param name="RadarCfg_SensorID" value="0" /> <!-- 0-7 -->
-		<param name="RadarCfg_SensorID_valid" value="0" /> <!-- true for setting -->
+		<param name="RadarCfg_SensorID_Valid" value="0" /> <!-- true for setting -->
 		<param name="RadarCfg_RadarPower" value="0" /> <!-- 0-3 but not for SRR308 -->
-		<param name="RadarCfg_RadarPower_valid" value="0" /> <!-- true for setting -->
+		<param name="RadarCfg_RadarPower_Valid" value="0" /> <!-- true for setting -->
 		<param name="RadarCfg_OutputType" value="1" /> <!-- 0:none 1:object 2:cluster -->
-		<param name="RadarCfg_OutputType_valid" value="0" /> <!-- true for setting -->
+		<param name="RadarCfg_OutputType_Valid" value="1" /> <!-- true for setting -->
 		<param name="RadarCfg_SendQuality" value="1" /> <!-- 1:sending quality info -->
-		<param name="RadarCfg_SendQuality_valid" value="0" /> <!-- true for setting -->
+		<param name="RadarCfg_SendQuality_Valid" value="1" /> <!-- true for setting -->
 		<param name="RadarCfg_SendExtInfo" value="1" /> <!-- 1:sending extra info -->
-		<param name="RadarCfg_SendExtInfo_valid" value="0" /> <!-- true for setting -->
-		<param name="RadarCfg_SortIndex" value="0" /> <!-- 0:none 1:range 2:RCS -->
-		<param name="RadarCfg_SortIndex_valid" value="0" /> <!-- true for setting -->
+		<param name="RadarCfg_SendExtInfo_Valid" value="1" /> <!-- true for setting -->
+		<param name="RadarCfg_SortIndex" value="1" /> <!-- 0:none 1:range 2:RCS -->
+		<param name="RadarCfg_SortIndex_Valid" value="1" /> <!-- true for setting -->
 		<param name="RadarCfg_CtrlRelay" value="0" /> <!-- 1:active -->
-		<param name="RadarCfg_CtrlRelay_valid" value="0" /> <!-- true for setting -->
-		<param name="RadarCfg_StoreInNVM" value="0" /> <!-- 1:store settings into memory -->
-		<param name="RadarCfg_StoreInNVM_valid" value="0" /> <!-- true for setting -->
+		<param name="RadarCfg_CtrlRelay_Valid" value="0" /> <!-- true for setting -->
+		<param name="RadarCfg_StoreInNVM" value="1" /> <!-- 1:store settings into memory -->
+		<param name="RadarCfg_StoreInNVM_Valid" value="1" /> <!-- true for setting -->
 		<param name="RadarCfg_RCS_Threshold" value="0" /> <!-- 1:high sensitivity in cluster mode -->
-		<param name="RadarCfg_RCS_Threshold_valid" value="0" /> <!-- true for setting -->
-		<param name="RadarCfg_InvalidClusters" value="0-255" /> <!-- only for SRR308 0:close cluster output- -->
-		<param name="RadarCfg_InvalidClusters_valid" value="0" /> <!-- true for setting -->
+		<param name="RadarCfg_RCS_Threshold_Valid" value="0" /> <!-- true for setting -->
+		<param name="RadarCfg_InvalidClusters" value="127" /> <!-- only for SRR308 0:close cluster output -->
+		<param name="RadarCfg_InvalidClusters_Valid" value="0" /> <!-- true for setting -->
+		<param name="Filter_Cfg_Apply" value="0" /> <!-- true for sending can message which setting filter -->
+		<param name="FilterCfg_YAML_Path" value="Filter_Cfg.yaml" /> <!-- setting file path -->
+		<param name="PolygonFilter_Cfg_Apply" value="0" /> <!-- true for setting, only for 408-21sc3 -->
+		<param name="PolygonFilterCfg_YAML_Path" value="PolygonFilter_Cfg.yaml" /> <!-- setting file path -->
+		<param name="CollDet_Cfg_Apply" value="0" /> <!-- true for sending can message which setting filter -->
+		<param name="CollDet_YAML_Path" value="CollDet_Cfg.yaml" /> <!-- setting file path -->
+		<param name="CollDetRegion_Cfg_Apply" value="0" /> <!-- true for sending can message which setting filter -->
+		<param name="CollDetRegion_YAML_Path" value="CollDetRegion_Cfg.yaml" /> <!-- setting file path -->
 	</node>
 </xml>