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| """
AERIS-10 Python GUI 接口示例
功能：
1. 连接STM32串口获取目标数据
2. 实时显示目标在地图上的位置
3. 调整雷达参数（波形、PRF、CFAR阈值）
"""
import serial
import threading
import numpy as np
import matplotlib.pyplot as plt
from matplotlib.animation import FuncAnimation
class AERIS10Interface:
"""
AERIS-10 雷达控制与显示接口
通信协议：
- 串口波特率: 921600
- 数据帧: [HEADER(2)] [AZIMUTH(2)] [RANGE(4)] [DOPPLER(2)] [SNR(2)]
"""
HEADER = bytes([0xAA, 0x55])
def __init__(self, port: str = '/dev/ttyUSB0', baud: int = 921600):
self.serial = serial.Serial(port, baud, timeout=1.0)
self.targets = []
self.running = False
self.config = {
'pulse_width_us': 10,
'bandwidth_mhz': 100,
'prf_hz': 2000,
'cfar_threshold': 1e-6,
'beam_azimuth': 0,
'beam_elevation': 0
}
def send_config(self, config: dict):
"""发送配置到STM32"""
cmd = f"CFG,{config['prf_hz']},{config['pulse_width_us']},{config['bandwidth_mhz']}\n"
self.serial.write(cmd.encode())
def set_beam_direction(self, azimuth: float, elevation: float):
"""设置波束方向（度）"""
az_steps = int((azimuth + 45) / 90 * 127)
el_steps = int((elevation + 45) / 90 * 127)
cmd = f"BEAM,{az_steps},{el_steps}\n"
self.serial.write(cmd.encode())
def parse_frame(self, data: bytes) -> dict:
"""解析目标数据帧"""
if len(data) < 12:
return None
azimuth = int.from_bytes(data[2:4], 'little', signed=True) / 100.0
range_m = int.from_bytes(data[4:8], 'little') / 10.0
doppler = int.from_bytes(data[8:10], 'little', signed=True) / 10.0
snr = int.from_bytes(data[10:12], 'little') / 100.0
return {
'azimuth': azimuth,
'range': range_m,
'doppler': doppler,
'snr': snr
}
def receive_loop(self):
"""接收线程"""
buffer = b''
while self.running:
buffer += self.serial.read(self.serial.in_waiting or 1)
while len(buffer) >= 12:
if buffer[:2] == self.HEADER:
target = self.parse_frame(buffer[:12])
if target:
self.targets.append(target)
buffer = buffer[12:]
else:
buffer = buffer[1:]
def demo_realtime_display():
"""实时显示雷达目标"""
radar = AERIS10Interface()
radar.running = True
thread = threading.Thread(target=radar.receive_loop, daemon=True)
thread.start()
fig, ax = plt.subplots(figsize=(10, 8), subplot_kw={'projection': 'polar'})
def update(frame):
ax.clear()
ax.set_theta_zero_location('N')
ax.set_theta_direction(-1)
ax.set_rlim(0, 3000)
ax.set_xlabel('Range (m)')
if radar.targets:
azimuths = [np.radians(t['azimuth']) for t in radar.targets[-100:]]
ranges = [t['range'] for t in radar.targets[-100:]]
snrs = [t['snr'] for t in radar.targets[-100:]]
scatter = ax.scatter(azimuths, ranges, c=snrs,
cmap='viridis', s=50, vmin=0, vmax=30)
plt.colorbar(scatter, ax=ax, label='SNR (dB)')
ax.set_title('AERIS-10 Radar Display', pad=20)
anim = FuncAnimation(fig, update, interval=100, cache_frame_data=False)
plt.show()
radar.running = False
if __name__ == "__main__":
print("AERIS-10 Radar Interface Demo")
print("=" * 40)
demo_realtime_display()
|