Implement native ESP-IDF radar firmware

main/target_tracker.h

@@ -0,0 +1,85 @@
+#ifndef RADICK_TARGET_TRACKER_H
+#define RADICK_TARGET_TRACKER_H
+
+#include "radar_protocol.h"
+
+#include <stdbool.h>
+#include <stddef.h>
+#include <stdint.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#define TARGET_TRACKER_CAPACITY RD03D_MAX_TARGETS
+
+typedef struct {
+    float position_ema_alpha;
+    float speed_ema_alpha;
+    float motion_ema_alpha;
+    float max_association_distance_mm;
+    uint16_t max_missed_frames;
+} target_tracker_config_t;
+
+typedef struct {
+    uint32_t id;
+    float x_mm;
+    float y_mm;
+    float speed_cm_s;
+    uint16_t resolution_mm;
+    uint32_t age_frames;
+    uint16_t last_seen_age_frames;
+    bool visible;
+    bool observed_this_frame;
+} target_snapshot_t;
+
+/* Public state keeps the module allocator-free; consumers should use snapshot. */
+typedef struct {
+    target_snapshot_t snapshot;
+    float last_observed_x_mm;
+    float last_observed_y_mm;
+    float velocity_x_mm_per_frame;
+    float velocity_y_mm_per_frame;
+    bool active;
+} target_track_state_t;
+
+typedef struct {
+    target_tracker_config_t config;
+    target_track_state_t tracks[TARGET_TRACKER_CAPACITY];
+    uint32_t next_id;
+} target_tracker_t;
+
+void target_tracker_default_config(target_tracker_config_t *config);
+
+/* A NULL config selects conservative defaults suitable for the 10 Hz stream. */
+void target_tracker_init(target_tracker_t *tracker,
+                         const target_tracker_config_t *config);
+
+/* Clear tracks and restart IDs at one while preserving the current config. */
+void target_tracker_reset(target_tracker_t *tracker);
+
+/*
+ * Advance the tracker by exactly one radar frame. Only detections with valid
+ * set participate, and at most the first three valid detections are used.
+ * Returns the number of tracks retained after the update.
+ */
+size_t target_tracker_update(target_tracker_t *tracker,
+                             const rd03d_target_t *detections,
+                             size_t detection_count);
+
+size_t target_tracker_update_frame(target_tracker_t *tracker,
+                                   const rd03d_frame_t *frame);
+
+/*
+ * Copy visible tracks ordered by stable ID. Passing NULL/zero capacity is a
+ * valid way to query the number of visible tracks.
+ */
+size_t target_tracker_snapshot(const target_tracker_t *tracker,
+                               target_snapshot_t *out,
+                               size_t capacity);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* RADICK_TARGET_TRACKER_H */