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TestWaitForADASDetectedObjectSpeed

CAPL Functions » ADAS » TestWaitForADASDetectedObjectSpeed Valid for: CANoe DE

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Changes

This function was renamed from TestWaitForADASSpeed in CANoe DE product version 16 SP3.

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Function Syntax

  • long TestWaitForADASDetectedObjectSpeed (long overUnder, float threshold, long aTimeout) // form 1
  • long TestWaitForADASDetectedObjectSpeed (long overUnder, float threshold, int64 trackingId, long aTimeout) // form 2
  • long TestWaitForADASDetectedObjectSpeed (long overUnder, float threshold, float minLateralOffset, float maxLateralOffset, long aTimeout) // form 3
  • long TestWaitForADASDetectedObjectSpeed (long overUnder, float threshold, float minLateralOffset, float maxLateralOffset, int64 trackingId, long aTimeout) // form 4

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Description

Waits for the occurrence of the first Detected Object matching the speed conditions passed as arguments. Should the Detected Object not occur before the expiration of the time aTimeout, the wait condition is resolved nevertheless.

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Parameters

  • overUnder: Specifies if the relative speed should be over or under the specified value.
  • threshold: Specified value that determines the maximum or minimum relative speed. An object moving towards the sensor has a negative relative speed. An object moving away from the sensor has a positive relative speed. The unit is specified in m/s.
  • trackingId: TrackingId of the Detected Object. Only a Detected Object with this trackingId triggers the wait condition.
  • minLateralOffset: Specifies the minimum lateral offset [m] of the Detected Object. The lateral offset is positive for an offset to the left.
  • maxLateralOffset: Specifies the maximum lateral offset [m] of the Detected Object. The lateral offset is positive for an offset to the left.
  • aTimeout: Maximum time that should be waited [ms]. Transmission of 0: no timeout controlling.

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Return Values

  • -1: General error, for example, functionality is not available.
  • 0: Resume due to timeout.
  • 1: Resume due to event occurred.

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Example

enum VWaitThreshold
{
  kUnderThreshold = 0,
  kOverThreshold = 1
};

// form 1
if(TestWaitForADASDetectedObjectSpeed(kUnderThreshold, -30, 3000)) 
{
  // Detected Object with relative speed less than –30 m/s detected
}
else
{
  // Timeout
}

// form 2
if(TestWaitForADASDetectedObjectSpeed(kUnderThreshold, -30, 42,3000))
{
  // Detected Object with a trackingId of 42 and a relative speed less than –30 m/s detected
}

// form 3
if (TestWaitForADASDetectedObjectSpeed(kUnderThreshold, -9, -1, 1, 1000))
{
  // Detected Object with relative speed less than –9 m/s and a lateral Offset to the host vehicle between -1 m and 1 m detected.
}

// form 4
if(TestWaitForADASDetectedObjectSpeed(kUnderThreshold, -9, 2, 4, 3 , 1000))
{
  // Detected Object with trackingId 3 and relative speed less than –9 m/s and a lateral Offset to the host vehicle between 2 m and 4 m detected.
}