cluon-ARS300

Microservice for reading data from an ARS-300 radar module over CAN and sending frames (list of targets) to a cluon multicast group using pycluon

Data description

For each target, the following data values will be sent

Signal	[unit]	description
sample_time	[s]	time since epoch in (according to computer running micro service)
Tar_Dist_rms	[m]	Target range standard deviation
Tar_Ang_rms	[deg]	Target angle standard deviation
Tar_Vrel_rms	[m/s]	Target relative velocity standard deviation (to/from radar)
Tar_Vrel	[m/s]	Target relative velocity (to/from radar; positive likely towards radar, negative away from)
Tar_Dist	[m]	Target range
Tar_PdH0	[%]	Target false alarm probability
Tar_Length	[m]	Target length (likely range direction)
Tar_Width	[m]	Target width (likely azimuth direction)
Tar_Type	[N/A]	Target type - 0:No target, 1:Oncoming, 2:Stationary, 3:Traced (targets moving in the same direction)
Tar_Ang_stat	[N/A]	Target angle status - 0:Expanded target, 1:Point target, 2:Digital, 3:Invalid (should be ignored, because it is invalid)
Tar_Ang	[deg]	Target angle
Tar_RCSValue	[dBm2]	Radar cross section

Production setup

version: '3'
services:
  ars300-radar:
    image: ghcr.io/mo-rise/cluon-ars300
    restart: unless-stopped
    network_mode: "host"
    environment:
      - CLUON_CID=121
      - CANBUS_CHANNEL=can0
      - CANBUS_TYPE=socketcan
    devices:
      - "/dev/ttyUSB0:/dev/ttyUSB0"

Note: On socketcan, the can interface must be "enabled" by issuing the following command: ip link set can0 up

Development setup

To setup the development environment:

python3 -m venv venv
source ven/bin/activate

Install everything thats needed for development:

pip install -r requirements.txt -r requirements_dev.txt

To run the linters:

black main.py tests
pylint --extension-pkg-allow-list=pycluon  main.py

To run the tests:

python -m pytest --verbose tests